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Tuning autonomous

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This commit is contained in:
Adam Long 2015-02-26 12:45:35 +00:00
parent 57ef72d403
commit c3e5b0cc5b
4 changed files with 9 additions and 4 deletions
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5
Commands/Autonomous/Autonomous.cpp
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@ -34,12 +34,17 @@ Autonomous::Autonomous(int seq){
printf("Done"); printf("Done");
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), -0.75)); AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), -0.75));
AddSequential(new CollectTote()); AddSequential(new CollectTote());
AddSequential(new Raise());
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), -0.75)); AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), -0.75));
AddSequential(new CollectTote()); AddSequential(new CollectTote());
AddSequential(new Lower());
AddSequential(new Raise());
printf("Three totes?: %d\n",SmartDashboard::GetBoolean("Three totes")); printf("Three totes?: %d\n",SmartDashboard::GetBoolean("Three totes"));
if(SmartDashboard::GetBoolean("Three totes")){ if(SmartDashboard::GetBoolean("Three totes")){
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), -0.75)); AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), -0.75));
AddSequential(new CollectTote()); AddSequential(new CollectTote());
AddSequential(new Lower());
AddSequential(new Raise());
} }
AddSequential(new Turn(90)); AddSequential(new Turn(90));
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), -0.75)); AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), -0.75));

2
Commands/Elevator/Lower.cpp
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@ -4,7 +4,7 @@
Lower::Lower() : Command("Lower"){ Lower::Lower() : Command("Lower"){
} }
void Lower::Initialize(){ void Lower::Initialize(){
SetTimeout(2.5); SetTimeout(3.0);
} }
void Lower::Execute(){ void Lower::Execute(){
DentRobot::elevator->Run(-1.0); DentRobot::elevator->Run(-1.0);

2
Commands/Elevator/Raise.cpp
View File

@ -4,7 +4,7 @@
Raise::Raise() : Command("Raise"){ Raise::Raise() : Command("Raise"){
} }
void Raise::Initialize(){ void Raise::Initialize(){
SetTimeout(3.0); SetTimeout(3.5);
} }
void Raise::Execute(){ void Raise::Execute(){
DentRobot::elevator->Run(1.0); DentRobot::elevator->Run(1.0);

4
RobotMap.h
View File

@ -20,8 +20,8 @@
#define BINELEVATOR_TOP_DIO 8 #define BINELEVATOR_TOP_DIO 8
#define BINELEVATOR_ENCODERA 10 #define BINELEVATOR_ENCODERA 10
#define BINELEVATOR_ENCODERB 11 #define BINELEVATOR_ENCODERB 11
#define BINELEVATOR_SOLDENOID_ONE 1 #define BINELEVATOR_SOLDENOID_ONE 6
#define BINELEVATOR_SOLDENOID_TWO 2 #define BINELEVATOR_SOLDENOID_TWO 7
// Drivetrain // Drivetrain
#define DRIVE_FRONT_LEFT_CAN 2 #define DRIVE_FRONT_LEFT_CAN 2