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https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
Merged develop with final dashboard values from Palmetto
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commit
a8ab3b239f
@ -25,7 +25,16 @@ Autonomous::Autonomous(int seq){
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AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
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AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
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break;
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break;
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case 2:
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case 2:
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// Collect a tote, turn, drive to Auto Zone (TM)
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// Lower BinElevator, collect bin, turn, drive to AutoZone (TM)
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AddSequential(new BinLower(0.5));
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AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Bin Distance"), 0, 0.75));
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AddSequential(new BinRaise(1.0));
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AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
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AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0.0, -0.75));
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AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
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break;
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case 3:
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// Collect a tote with BinElevator, turn, drive to Auto Zone (TM)
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Wait(SmartDashboard::GetNumber("Auto Wait Time"));
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Wait(SmartDashboard::GetNumber("Auto Wait Time"));
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AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
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AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
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AddSequential(new BinRaise(1.2));
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AddSequential(new BinRaise(1.2));
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@ -33,29 +42,41 @@ Autonomous::Autonomous(int seq){
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AddSequential(new BinLower(1.0));
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AddSequential(new BinLower(1.0));
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AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
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AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
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break;
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break;
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case 3:
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case 4:
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// Collect three totes, drive to Auto Zone (TM)
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// Collect one, two, or three totes, drive to Auto Zone (TM), release totes
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printf("Waiting: %f\n", SmartDashboard::GetNumber("Auto Wait Time"));
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printf("Waiting: %f\n", SmartDashboard::GetNumber("Auto Wait Time"));
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Wait(SmartDashboard::GetNumber("Auto Wait Time"));
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Wait(SmartDashboard::GetNumber("Auto Wait Time"));
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printf("Done");
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printf("Done");
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AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), 0, 0.75));
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AddSequential(new CollectTote());
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AddSequential(new CollectTote());
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AddSequential(new Raise());
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if(SmartDashboard::GetBoolean("Two totes")){
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AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), 0, 0.75));
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AddSequential(new Raise());
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AddSequential(new CollectTote());
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AddSequential(new Lower());
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AddSequential(new Raise());
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printf("Three totes?: %d\n", SmartDashboard::GetBoolean("Three totes"));
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if(SmartDashboard::GetBoolean("Three totes")){
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AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), 0, 0.75));
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AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), 0, 0.75));
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AddSequential(new CollectTote());
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AddSequential(new CollectTote());
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AddSequential(new Lower());
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AddSequential(new Lower());
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AddSequential(new Raise());
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AddSequential(new Raise());
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if(SmartDashboard::GetBoolean("Three totes")){
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AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), 0, 0.75));
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AddSequential(new CollectTote());
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AddSequential(new Lower());
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AddSequential(new Raise());
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}
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}
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}
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AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
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AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
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AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0, 0.75));
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AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0, 0.75));
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AddSequential(new ReleaseTote());
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AddSequential(new ReleaseTote());
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break;
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break;
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case 5:
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// Same as auto 4, but navigate around bins
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//TODO: Implement this
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break;
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case 6:
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// Collect 1 bin and 1 tote
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//TODO: Implement this
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break;
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case 7:
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// Same as auto 4 with (Three|Two) totes checked, collect bin, drive to Auto Zone (TM), release totes
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//TODO: Implement this
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break;
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default:
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default:
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printf("Invalid seq: %d\n", seq);
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printf("Invalid seq: %d\n", seq);
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break;
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break;
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@ -1,7 +1,7 @@
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#include "Turn.h"
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#include "Turn.h"
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#include "../../DentRobot.h"
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#include "../../DentRobot.h"
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// Drive for a short while then stop. Just for testing
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// Drive for a short while then stop. Just for testing
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Turn::Turn(int k) : Command("Turn"){
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Turn::Turn(double k) : Command("Turn"){
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Requires(DentRobot::drivetrain);
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Requires(DentRobot::drivetrain);
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SetTimeout(k);
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SetTimeout(k);
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}
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}
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@ -10,7 +10,7 @@ class Turn: public Command{
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private:
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private:
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int degrees;
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int degrees;
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public:
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public:
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Turn(int);
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Turn(double);
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void Initialize();
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void Initialize();
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void Execute();
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void Execute();
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bool IsFinished();
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bool IsFinished();
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@ -4,11 +4,10 @@
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BinCloseArms::BinCloseArms() : Command("BinCloseArms"){
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BinCloseArms::BinCloseArms() : Command("BinCloseArms"){
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}
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}
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void BinCloseArms::Initialize(){
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void BinCloseArms::Initialize(){
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//Should never need to use this
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SetTimeout(0.5);
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SetTimeout(0.5);
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}
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}
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void BinCloseArms::Execute(){
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void BinCloseArms::Execute(){
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DentRobot::pneumatics->SetOpen(true);
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DentRobot::pneumatics->SetOpen(false);
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}
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}
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bool BinCloseArms::IsFinished(){
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bool BinCloseArms::IsFinished(){
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return true;
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return true;
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@ -1,7 +1,7 @@
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#include "BinLower.h"
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#include "BinLower.h"
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#include "../../DentRobot.h"
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#include "../../DentRobot.h"
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#include "../../OI.h"
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#include "../../OI.h"
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BinLower::BinLower(float t) : Command("BinLower"){
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BinLower::BinLower(double t) : Command("BinLower"){
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timeout=t;
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timeout=t;
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}
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}
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void BinLower::Initialize(){
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void BinLower::Initialize(){
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@ -6,9 +6,9 @@
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class BinLower: public Command{
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class BinLower: public Command{
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private:
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private:
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float timeout;
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double timeout;
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public:
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public:
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BinLower(float);
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BinLower(double);
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void Initialize();
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void Initialize();
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void Execute();
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void Execute();
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bool IsFinished();
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bool IsFinished();
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@ -4,7 +4,6 @@
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BinOpenArms::BinOpenArms() : Command("BinOpenArms"){
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BinOpenArms::BinOpenArms() : Command("BinOpenArms"){
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}
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}
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void BinOpenArms::Initialize(){
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void BinOpenArms::Initialize(){
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//Should never need to use this
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SetTimeout(0.5);
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SetTimeout(0.5);
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}
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}
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void BinOpenArms::Execute(){
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void BinOpenArms::Execute(){
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@ -1,7 +1,7 @@
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#include "BinRaise.h"
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#include "BinRaise.h"
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#include "../../DentRobot.h"
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#include "../../DentRobot.h"
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#include "../../OI.h"
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#include "../../OI.h"
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BinRaise::BinRaise(float t) : Command("BinRaise"){
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BinRaise::BinRaise(double t) : Command("BinRaise"){
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timeout=t;
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timeout=t;
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}
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}
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void BinRaise::Initialize(){
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void BinRaise::Initialize(){
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@ -6,9 +6,9 @@
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class BinRaise: public Command{
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class BinRaise: public Command{
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private:
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private:
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float timeout;
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double timeout;
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public:
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public:
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BinRaise(float);
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BinRaise(double);
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void Initialize();
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void Initialize();
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void Execute();
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void Execute();
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bool IsFinished();
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bool IsFinished();
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@ -25,14 +25,16 @@ void DentRobot::RobotInit(){
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// Autonomous
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// Autonomous
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// Sequence of autonomous command
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// Sequence of autonomous command
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SmartDashboard::PutNumber("Auto Sequence", 1.0);
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SmartDashboard::PutNumber("Auto Sequence", 1.0);
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SmartDashboard::PutNumber("Auto Wait Time", 3.0);
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SmartDashboard::PutNumber("Auto Wait Time", 2.0);
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// If the robot will be picking up three totes in sequence 3
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// If the robot will be picking up three totes in sequence 3
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SmartDashboard::PutBoolean("Three totes", true);
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SmartDashboard::PutBoolean("Two totes", true);
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SmartDashboard::PutBoolean("Three totes", false);
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// TODO: Calibrate the following two values
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// TODO: Calibrate the following two values
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// Distance (in time) to auto zone
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// Distance (in time) to auto zone
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SmartDashboard::PutNumber("Auto Zone Distance", 2.1);
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SmartDashboard::PutNumber("Auto Zone Distance", 2.1);
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// Distance (in time) to auto tote (used in sequence 3)
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// Distance (in time) to auto tote (used in sequence 3)
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SmartDashboard::PutNumber("Auto Tote Distance", 0.5);
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SmartDashboard::PutNumber("Auto Tote Distance", 0.5);
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SmartDashboard::PutNumber("Auto Bin Distance", 0.25);
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SmartDashboard::PutNumber("TurnAmount", 1.8);
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SmartDashboard::PutNumber("TurnAmount", 1.8);
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// Elevators
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// Elevators
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@ -11,7 +11,7 @@ Drivetrain::Drivetrain() : Subsystem("Drivetrain"){
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void Drivetrain::InitDefaultCommand(){
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void Drivetrain::InitDefaultCommand(){
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SetDefaultCommand(new Drive());
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SetDefaultCommand(new Drive());
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}
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}
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void Drivetrain::DriveMecanum(float x, float y, float z, float sensitivity, float gyro){
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void Drivetrain::DriveMecanum(double x, double y, double z, double sensitivity, double gyro){
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double correctX = -(sensitivity*(pow(x, 3))+(1-sensitivity)*x);
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double correctX = -(sensitivity*(pow(x, 3))+(1-sensitivity)*x);
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double correctY = -(sensitivity*(pow(y, 3))+(1-sensitivity)*y);
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double correctY = -(sensitivity*(pow(y, 3))+(1-sensitivity)*y);
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double correctZ = -z * 0.5;
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double correctZ = -z * 0.5;
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@ -25,7 +25,7 @@ void Drivetrain::DriveMecanum(float x, float y, float z, float sensitivity, floa
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}
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}
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//Used in pretest
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//Used in pretest
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void Drivetrain::TestMotor(e_motors motor, float power){
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void Drivetrain::TestMotor(e_motors motor, double power){
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switch(motor){
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switch(motor){
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case FRONTRIGHT:
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case FRONTRIGHT:
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rightFront->Set(power);
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rightFront->Set(power);
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@ -15,9 +15,9 @@ class Drivetrain: public Subsystem{
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BACKLEFT
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BACKLEFT
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};
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};
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void InitDefaultCommand();
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void InitDefaultCommand();
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void DriveMecanum(float, float, float, float, float);
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void DriveMecanum(double, double, double, double, double);
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void DriveArcade(float, float);
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void DriveArcade(double, double);
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void TestMotor(e_motors, float);
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void TestMotor(e_motors, double);
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};
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};
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#endif
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#endif
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// vim: ts=2:sw=2:et
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// vim: ts=2:sw=2:et
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