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https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
Removed unused autos, removed unused dashboard values, fixed doxygen documentation to meet guidelines
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98d6f7e4b5
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@ -16,7 +16,7 @@ Autonomous::Autonomous(int seq){
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case 0:
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// Just for testing
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// Turn testing
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AddSequential(new Turn(3.8));
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AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
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break;
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case 1:
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// Drive to Auto Zone (TM)
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@ -24,15 +24,6 @@ Autonomous::Autonomous(int seq){
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AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
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break;
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case 2:
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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, 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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AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
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AddSequential(new BinRaise(1.2));
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@ -40,7 +31,7 @@ Autonomous::Autonomous(int seq){
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AddSequential(new BinLower(1.0));
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AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
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break;
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case 4:
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case 3:
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// Collect one, two, or three totes, drive to Auto Zone (TM), release totes
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AddSequential(new CollectTote(SmartDashboard::GetNumber("CollectToteTurn")));
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if(SmartDashboard::GetBoolean("Two totes")){
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@ -62,25 +53,13 @@ Autonomous::Autonomous(int seq){
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AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0.0, 0.75));
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AddSequential(new ReleaseTote());
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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, then 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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case 8:
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case 4:
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//Use rear elevator to move tote
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AddSequential(new Turn(1.8));
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AddSequential(new AutoDrive(2.3, 0.0, -0.75));
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AddSequential(new Turn(1.8));
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break;
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case 9:
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case 5:
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//Use rear elevator to move bin
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AddSequential(new BinLower(0.1));
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AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0.0, 0.75));
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@ -15,7 +15,7 @@
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class ElevatorCycle: public CommandGroup{
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public:
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/**
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* @brief Constructs Elevatorcycle
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* @brief Constructs ElevatorCycle
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*/
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ElevatorCycle();
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};
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@ -9,13 +9,12 @@
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*/
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class Lower: public Command{
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private:
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bool softLimits;
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bool softLimits; //<! Enables/Disables hall effect sensors
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public:
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/**
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* @brief Constructs Lower
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*
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* @param timeout Timeout in seconds (default: 3.0)
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*
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* @param useSoftLimits Enables/Disables soft limits via hall effect sensors (default: true)
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*/
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Lower(double timeout = 3.0, bool useSoftLimits = true);
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@ -29,7 +29,7 @@ void DentRobot::RobotInit(){
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// Amount of time to collect a tote
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SmartDashboard::PutNumber("DriveTime", 1.3);
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// Sequence of autonomous command
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SmartDashboard::PutNumber("Auto Sequence", 9.0);
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SmartDashboard::PutNumber("Auto Sequence", 1.0);
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SmartDashboard::PutNumber("Auto Wait Time", 0.5);
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// If the robot will be picking up three totes in sequence 3
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SmartDashboard::PutBoolean("Two totes", false);
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@ -42,12 +42,8 @@ void DentRobot::RobotInit(){
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SmartDashboard::PutNumber("Auto Tote Distance", 0.5);
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SmartDashboard::PutNumber("TurnAmount", 2.6);
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// Elevators
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SmartDashboard::PutBoolean("Bin Elevator Bottom", false);
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SmartDashboard::PutBoolean("Bin Elevator Top", false);
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SmartDashboard::PutBoolean("Elevator Bottom", false);
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SmartDashboard::PutBoolean("Elevator Top", false);
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//Drive speed
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SmartDashboard::PutNumber("DriveSpeedReductionThresh", 2.0);
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//Gyro
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SmartDashboard::PutNumber("Gyro kP", -0.02);
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}
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@ -37,15 +37,13 @@
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+ Throttle - Adjusts collector speed
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+ Button 1 - Collect totes
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+ Button 2 - Eject totes
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+ Button 7 - Check robot
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#### Right Joystick (USB 1)
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+ Button 3 - Lowers bin elevator
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+ Button 4 - Lowers main elevator
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+ Button 5 - Raises bin elevator
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+ Button 6 - Raises main elevator
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+ Button 7 - Opens bin arms (unused)
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+ Button 8 - Closes bin arms (unused)
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+ Button 7 - Runs an elevator cycle
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+ Button 12 - Cancel raising and lowering for both elevators
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### Dashboard
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@ -57,12 +55,9 @@
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+ Auto Zone Distance - Amount of time in seconds to drive to the auto zone (default: 2.1)
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+ Auto Tote Distance - Amount of time in seconds to drive to a second or third tote if using Auto Sequence 4, 5, or 7 (default: 0.5)
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+ Auto Bin Distance - Amount of time in seconds to drive to a bin if using Auto Sequence 6 or 7 (default: 0.5)
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+ TurnAmount - Amount of time in seconds to turn the robot (default: 1.8)
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+ Bin Elevator Bottom - Status of the bottom bin elevator sensor (unused)
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+ Bin Elevator Top - Status of the top bin elevator sensor (unused)
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+ TurnAmount - Amount of time in seconds to turn the robot 90 degrees
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+ Elevator Bottom - Status of the bottom elevator sensor
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+ Elevator Top - Status of the top elevator sensor
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+ DriveSpeedReductionThresh - Maximum y value of the joystick when driving
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+ Auto Sequence - The sequence of autonomous to run
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#### Autonomous
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@ -18,11 +18,9 @@ double BinElevator::GetHeight(){
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return elevatorEncoder->Get();
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}
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bool BinElevator::GetElevatorBottom(){
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SmartDashboard::PutBoolean("Bin Elevator Bottom", elevatorBottom->Get());
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return elevatorBottom->Get();
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}
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bool BinElevator::GetElevatorTop(){
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SmartDashboard::PutBoolean("Bin Elevator Top", elevatorTop->Get());
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return elevatorTop->Get();
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}
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// vim: ts=2:sw=2:et
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@ -24,7 +24,7 @@ void Drivetrain::DriveMecanum(double x, double y, double z, double sensitivity,
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correctZ = -z * 0.5;
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}
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if(DentRobot::oi->GetLeftStick()->GetRawButton(9)){
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correctY /= SmartDashboard::GetNumber("DriveSpeedReductionThresh");
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correctY /= 2.0;
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}
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rightFront->Set((-correctX + correctY - correctZ));
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leftFront->Set((correctX + correctY + correctZ)*-1);
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