Removed unused autos, removed unused dashboard values, fixed doxygen documentation to meet guidelines

Commands/Autonomous/Autonomous.cpp

@@ -16,7 +16,7 @@ Autonomous::Autonomous(int seq){
     case 0:
       // Just for testing
       // Turn testing
-      AddSequential(new Turn(3.8));
+      AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
       break;
     case 1:
       // Drive to Auto Zone (TM)
@@ -24,15 +24,6 @@ Autonomous::Autonomous(int seq){
       AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
       break;
     case 2:
-      // Lower BinElevator, collect bin, turn, drive to AutoZone (TM)
-      AddSequential(new BinLower(0.5));
-      AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Bin Distance"), 0.0, 0.75));
-      AddSequential(new BinRaise(1.0));
-      AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
-      AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0.0, -0.75));
-      AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
-      break;
-    case 3:
       // Collect a tote with BinElevator, turn, drive to Auto Zone (TM)
       AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
       AddSequential(new BinRaise(1.2));
@@ -40,7 +31,7 @@ Autonomous::Autonomous(int seq){
       AddSequential(new BinLower(1.0));
       AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
       break;
-    case 4:
+    case 3:
       // Collect one, two, or three totes, drive to Auto Zone (TM), release totes
       AddSequential(new CollectTote(SmartDashboard::GetNumber("CollectToteTurn")));
       if(SmartDashboard::GetBoolean("Two totes")){
@@ -62,25 +53,13 @@ Autonomous::Autonomous(int seq){
       AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0.0, 0.75));
       AddSequential(new ReleaseTote());
       break;
-    case 5:
+    case 4:
-      // Same as auto 4, but navigate around bins
-      //TODO: Implement this
-      break;
-    case 6:
-      // Collect 1 bin and 1 tote
-      //TODO: Implement this
-      break;
-    case 7:
-      // Same as auto 4, then collect bin, drive to Auto Zone (TM), release totes
-      //TODO: Implement this
-      break;
-    case 8:
       //Use rear elevator to move tote
       AddSequential(new Turn(1.8));
       AddSequential(new AutoDrive(2.3, 0.0, -0.75));
       AddSequential(new Turn(1.8));
       break;
-    case 9:
+    case 5:
       //Use rear elevator to move bin
       AddSequential(new BinLower(0.1));
       AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0.0, 0.75));

Commands/Elevator/ElevatorCycle.h

@@ -15,7 +15,7 @@
 class ElevatorCycle: public CommandGroup{
   public:
     /**
-     * @brief Constructs Elevatorcycle
+     * @brief Constructs ElevatorCycle
      */
     ElevatorCycle();
 };

Commands/Elevator/Lower.h

@@ -9,13 +9,12 @@
  */
 class Lower: public Command{
   private:
-    bool softLimits;
+    bool softLimits; //<! Enables/Disables hall effect sensors
   public:
     /**
      * @brief Constructs Lower
      *
      * @param timeout Timeout in seconds (default: 3.0)
-     *
      * @param useSoftLimits Enables/Disables soft limits via hall effect sensors (default: true)
      */
     Lower(double timeout = 3.0, bool useSoftLimits = true);

DentRobot.cpp

@@ -29,7 +29,7 @@ void DentRobot::RobotInit(){
   // Amount of time to collect a tote
   SmartDashboard::PutNumber("DriveTime", 1.3);
   // Sequence of autonomous command
-  SmartDashboard::PutNumber("Auto Sequence", 9.0);
+  SmartDashboard::PutNumber("Auto Sequence", 1.0);
   SmartDashboard::PutNumber("Auto Wait Time", 0.5);
   // If the robot will be picking up three totes in sequence 3
   SmartDashboard::PutBoolean("Two totes", false);
@@ -42,12 +42,8 @@ void DentRobot::RobotInit(){
   SmartDashboard::PutNumber("Auto Tote Distance", 0.5);
   SmartDashboard::PutNumber("TurnAmount", 2.6);
   // Elevators
-  SmartDashboard::PutBoolean("Bin Elevator Bottom", false);
-  SmartDashboard::PutBoolean("Bin Elevator Top", false);
   SmartDashboard::PutBoolean("Elevator Bottom", false);
   SmartDashboard::PutBoolean("Elevator Top", false);
-  //Drive speed
-  SmartDashboard::PutNumber("DriveSpeedReductionThresh", 2.0);
   //Gyro
   SmartDashboard::PutNumber("Gyro kP", -0.02);
 }

README.md

@@ -37,15 +37,13 @@
 + Throttle - Adjusts collector speed
 + Button 1 - Collect totes
 + Button 2 - Eject totes
-+ Button 7 - Check robot
 
 #### Right Joystick (USB 1)
 + Button 3 - Lowers bin elevator
 + Button 4 - Lowers main elevator
 + Button 5 - Raises bin elevator
 + Button 6 - Raises main elevator
-+ Button 7 - Opens bin arms (unused)
++ Button 7 - Runs an elevator cycle
-+ Button 8 - Closes bin arms (unused)
 + Button 12 - Cancel raising and lowering for both elevators
 
 ### Dashboard
@@ -57,12 +55,9 @@
 + Auto Zone Distance - Amount of time in seconds to drive to the auto zone (default: 2.1)
 + 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)
 + Auto Bin Distance - Amount of time in seconds to drive to a bin if using Auto Sequence 6 or 7 (default: 0.5)
-+ TurnAmount - Amount of time in seconds to turn the robot (default: 1.8)
++ TurnAmount - Amount of time in seconds to turn the robot 90 degrees
-+ Bin Elevator Bottom - Status of the bottom bin elevator sensor (unused)
-+ Bin Elevator Top - Status of the top bin elevator sensor (unused)
 + Elevator Bottom - Status of the bottom elevator sensor
 + Elevator Top - Status of the top elevator sensor
-+ DriveSpeedReductionThresh - Maximum y value of the joystick when driving
 + Auto Sequence - The sequence of autonomous to run
 
 #### Autonomous

Subsystems/BinElevator.cpp

@@ -18,11 +18,9 @@ double BinElevator::GetHeight(){
   return elevatorEncoder->Get();
 }
 bool BinElevator::GetElevatorBottom(){
-  SmartDashboard::PutBoolean("Bin Elevator Bottom", elevatorBottom->Get());
   return elevatorBottom->Get();
 }
 bool BinElevator::GetElevatorTop(){
-  SmartDashboard::PutBoolean("Bin Elevator Top", elevatorTop->Get());
   return elevatorTop->Get();
 }
 // vim: ts=2:sw=2:et

Subsystems/Drivetrain.cpp

@@ -24,7 +24,7 @@ void Drivetrain::DriveMecanum(double x, double y, double z, double sensitivity,
     correctZ = -z * 0.5;
   }
   if(DentRobot::oi->GetLeftStick()->GetRawButton(9)){
-    correctY /= SmartDashboard::GetNumber("DriveSpeedReductionThresh");
+    correctY /= 2.0;
   }
   rightFront->Set((-correctX + correctY - correctZ));
   leftFront->Set((correctX + correctY + correctZ)*-1);