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https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
Updated bin collector code to reflect electrical changes made to board.
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4a967bc892
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@ -7,18 +7,18 @@ BinIn::BinIn(float timeout): Command("BinIn"){
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void BinIn::Initialize(){
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void BinIn::Initialize(){
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}
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}
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void BinIn::Execute(){
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void BinIn::Execute(){
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DentRobot::binCollector->Set(0.75);
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DentRobot::binCollector->MoveArms(0.75);
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End();
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}
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}
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bool BinIn::IsFinished(){
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bool BinIn::IsFinished(){
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if(IsTimedOut()){
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if(IsTimedOut()){
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printf("Robot stoped collecting bin.\n");
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printf("Robot stopped collecting bin.\n");
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return true;
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return true;
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}else{
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}else{
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return false;
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return false;
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}
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}
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}
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}
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void BinIn::End(){
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void BinIn::End(){
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DentRobot::binCollector->MoveArms(0.0);
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}
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}
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void BinIn::Interrupted(){
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void BinIn::Interrupted(){
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End();
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End();
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@ -7,18 +7,18 @@ BinOut::BinOut(double timeout): Command("BinOut"){
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void BinOut::Initialize(){
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void BinOut::Initialize(){
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}
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}
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void BinOut::Execute(){
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void BinOut::Execute(){
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DentRobot::binCollector->Set(0.1);
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DentRobot::binCollector->MoveArms(-0.1);
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End();
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}
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}
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bool BinOut::IsFinished(){
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bool BinOut::IsFinished(){
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if(IsTimedOut()){
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if(IsTimedOut()){
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printf("Robot stoped ejecting bin.\n");
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printf("Robot stopped ejecting bin.\n");
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return true;
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return true;
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}else{
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}else{
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return false;
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return false;
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}
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}
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}
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}
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void BinOut::End(){
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void BinOut::End(){
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DentRobot::binCollector->MoveArms(0.0);
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}
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}
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void BinOut::Interrupted(){
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void BinOut::Interrupted(){
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End();
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End();
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@ -17,7 +17,6 @@
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#define BINELEVATOR_LEFT_CAN 13
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#define BINELEVATOR_LEFT_CAN 13
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#define BINELEVATOR_RIGHT_CAN 14
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#define BINELEVATOR_RIGHT_CAN 14
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#define BINELEVATOR_BOTTOM_DIO 6
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#define BINELEVATOR_BOTTOM_DIO 6
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#define BINELEVATOR_COLELCT_BIN_DIO 7
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#define BINELEVATOR_TOP_DIO 12
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#define BINELEVATOR_TOP_DIO 12
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#define BINELEVATOR_ENCODERA 10
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#define BINELEVATOR_ENCODERA 10
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#define BINELEVATOR_ENCODERB 11
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#define BINELEVATOR_ENCODERB 11
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@ -39,7 +38,8 @@
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#define COLLECTOR_SONAR_ANALOG 3
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#define COLLECTOR_SONAR_ANALOG 3
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// BinCollector
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// BinCollector
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#define BINCOLLECTOR 0
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#define BINCOLLECTOR_RIGHT_CAN 6
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#define BINCOLLECTOR_LEFT_CAN 10
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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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@ -2,15 +2,13 @@
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#include "../RobotMap.h"
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#include "../RobotMap.h"
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BinCollector::BinCollector(): Subsystem("BinCollector"){
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BinCollector::BinCollector(): Subsystem("BinCollector"){
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binCollectorMotor = new Servo(BINCOLLECTOR);
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leftBinCollectorMotor = new CANTalon(BINCOLLECTOR_LEFT_CAN);
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rightBinCollectorMotor = new CANTalon(BINCOLLECTOR_RIGHT_CAN);
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}
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}
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void BinCollector::InitDefaultCommand(){
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void BinCollector::InitDefaultCommand(){
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}
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}
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void BinCollector::Set(double pos){
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void BinCollector::MoveArms(double speed){
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binCollectorMotor->Set(pos);
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leftBinCollectorMotor->Set(speed);
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printf("BinCollector angle: %f\n", pos);
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rightBinCollectorMotor->Set(-speed);
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}
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double BinCollector::Get(){
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return binCollectorMotor->Get();
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}
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}
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// vim: ts=2:sw=2:et
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// vim: ts=2:sw=2:et
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@ -9,7 +9,8 @@
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*/
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*/
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class BinCollector: public Subsystem{
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class BinCollector: public Subsystem{
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private:
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private:
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Servo *binCollectorMotor; //<! BinCollector motor
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CANTalon *leftBinCollectorMotor, //<<! Left bin collector motor
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*rightBinCollectorMotor; //<<! Right bin collector motor
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public:
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public:
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/**
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/**
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* @brief Constructs BinCollector
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* @brief Constructs BinCollector
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@ -20,17 +21,11 @@ class BinCollector: public Subsystem{
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*/
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*/
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void InitDefaultCommand();
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void InitDefaultCommand();
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/**
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/**
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* @brief Sets the servo angle
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* @brief Moves bin collector arms at given speed
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*
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*
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* @param pos The angle of the servo (0.0 to 1.0)
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* @param speed the speed to move the bin collector arms
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*/
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*/
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void Set(double pos);
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void MoveArms(double speed);
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/**
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* @brief Gets the servo angle
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*
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* @return The servo angle (0.0 to 1.0)
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*/
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double Get();
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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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