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mirror of https://github.com/team2059/Dent synced 2024-12-18 20:52:29 -05:00

Merged with feature/command-based

This commit is contained in:
Adam Long 2015-02-13 13:02:38 +00:00
commit e657226af5
45 changed files with 303 additions and 128 deletions

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.OI.swp Normal file

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15
.env
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@ -1,15 +0,0 @@
function mb(){
vagrant ssh -c "cd /vagrant/src;make clean 2>&1 >/dev/null;make"
}
function mc(){
vagrant ssh -c "cd /vagrant/src;make clean 2>&1 >/dev/null"
}
function mk(){
vagrant ssh -c "cd /vagrant/src;make"
}
function me(){
vagrant ssh -c "cd /vagrant/src;make deploy"
}
function ma(){
vagrant ssh -c "cd /vagrant/src;make clean 2>&1 >/dev/null;make;make deploy"
}

3
.gitmodules vendored
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@ -1,3 +0,0 @@
[submodule "src/hhlib"]
path = src/hhlib
url = git@github.com:team2059/hhlib.git

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@ -2,9 +2,11 @@
#include "Subsystems/Drivetrain.h" #include "Subsystems/Drivetrain.h"
#include "Subsystems/Collector.h" #include "Subsystems/Collector.h"
#include "Subsystems/Elevator.h" #include "Subsystems/Elevator.h"
#include "Subsystems/BinElevator.h"
Drivetrain* CommandBase::drivetrain = NULL; Drivetrain* CommandBase::drivetrain = NULL;
Collector* CommandBase::collector = NULL; Collector* CommandBase::collector = NULL;
Elevator* CommandBase::elevator = NULL; Elevator* CommandBase::elevator = NULL;
BinElevator* CommandBase::binElevator = NULL;
OI* CommandBase::oi = NULL; OI* CommandBase::oi = NULL;
CommandBase::CommandBase(char const *name) : Command(name) { CommandBase::CommandBase(char const *name) : Command(name) {
} }
@ -14,6 +16,7 @@ void CommandBase::init(){
drivetrain = new Drivetrain(); drivetrain = new Drivetrain();
collector = new Collector(); collector = new Collector();
elevator = new Elevator(); elevator = new Elevator();
binElevator = new BinElevator();
oi = new OI(); oi = new OI();
} }
// vim: ts2:sw=2:et // vim: ts=2:sw=2:et

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@ -5,6 +5,7 @@
#include "Subsystems/Drivetrain.h" #include "Subsystems/Drivetrain.h"
#include "Subsystems/Collector.h" #include "Subsystems/Collector.h"
#include "Subsystems/Elevator.h" #include "Subsystems/Elevator.h"
#include "Subsystems/BinElevator.h"
#include "OI.h" #include "OI.h"
#include "WPILib.h" #include "WPILib.h"
@ -16,7 +17,8 @@ class CommandBase: public Command {
static Drivetrain *drivetrain; static Drivetrain *drivetrain;
static Collector *collector; static Collector *collector;
static Elevator *elevator; static Elevator *elevator;
static BinElevator *binElevator;
static OI *oi; static OI *oi;
}; };
#endif #endif
// vim: ts2:sw=2:et // vim: ts=2:sw=2:et

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@ -1,16 +1,15 @@
#include "AutoDrive.h" #include "AutoDrive.h"
#include <cmath>
#include "../../DentRobot.h" #include "../../DentRobot.h"
// Drive for a short while then stop. Just for testing // Drive for a short while then stop. Just for testing
AutoDrive::AutoDrive() : Command("AutoDrive"){ AutoDrive::AutoDrive() : Command("AutoDrive"){
Requires(DentRobot::drivetrain); Requires(DentRobot::drivetrain);
SetTimeout(1.0); SetTimeout(0.5);
} }
void AutoDrive::Initialize(){ void AutoDrive::Initialize(){
} }
void AutoDrive::Execute(){ void AutoDrive::Execute(){
//X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle), gyro //X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle), gyro
DentRobot::drivetrain->DriveMecanum(0.5,0,0,0.9,0); DentRobot::drivetrain->DriveMecanum(0.0,-.75,0.0,0.9,0.0);
} }
bool AutoDrive::IsFinished(){ bool AutoDrive::IsFinished(){
return IsTimedOut(); return IsTimedOut();
@ -20,4 +19,4 @@ void AutoDrive::End(){
void AutoDrive::Interrupted(){ void AutoDrive::Interrupted(){
End(); End();
} }
// vim: ts2:sw=2:et // vim: ts=2:sw=2:et

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@ -16,4 +16,4 @@ class AutoDrive: public Command{
void Interrupted(); void Interrupted();
}; };
#endif #endif
// vim: ts2:sw=2:et // vim: ts=2:sw=2:et

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@ -1,11 +1,22 @@
#include "Autonomous.h" #include "Autonomous.h"
#include "Commands/CommandGroup.h" #include "Commands/CommandGroup.h"
#include "../../DentRobot.h" #include "../../DentRobot.h"
#include "AutoDrive.h"
#include "../../DentRobot.h"
#include "../Elevator/Raise.h" #include "../Elevator/Raise.h"
#include "../Elevator/Lower.h"
#include "AutoDrive.h"
#include "Turn.h"
#include "../Collector/CloseCollector.h"
#include "../Collector/OpenCollector.h"
#include "../Collector/CollectTote.h"
Autonomous::Autonomous(){ Autonomous::Autonomous(){
AddSequential(new AutoDrive());
AddSequential(new Raise()); AddSequential(new Raise());
AddSequential(new Lower());
AddParallel(new OpenCollector());
AddParallel(new CloseCollector());
AddSequential(new Turn());
AddParallel(new AutoDrive());
AddParallel(new CloseCollector());
AddParallel(new CollectTote());
AddSequential(new Turn());
} }
// vim: ts2:sw=2:et // vim: ts=2:sw=2:et

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@ -11,4 +11,4 @@ class Autonomous: public CommandGroup{
Autonomous(); Autonomous();
}; };
#endif #endif
// vim: ts2:sw=2:et // vim: ts=2:sw=2:et

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@ -0,0 +1,22 @@
#include "Turn.h"
#include "../../DentRobot.h"
// Drive for a short while then stop. Just for testing
Turn::Turn() : Command("Turn"){
Requires(DentRobot::drivetrain);
SetTimeout(0.25);
}
void Turn::Initialize(){
}
void Turn::Execute(){
//X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle), gyro
DentRobot::drivetrain->DriveMecanum(0.0,0.0,0.5,0.9,0.0);
}
bool Turn::IsFinished(){
return IsTimedOut();
}
void Turn::End(){
}
void Turn::Interrupted(){
End();
}
// vim: ts=2:sw=2:et

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@ -0,0 +1,19 @@
#ifndef TURN_H
#define TURN_H
#include "Commands/Command.h"
#include "../../CommandBase.h"
#include "../../DentRobot.h"
#include "WPILib.h"
class Turn: public Command{
public:
Turn();
void Initialize();
void Execute();
bool IsFinished();
void End();
void Interrupted();
};
#endif
// vim: ts=2:sw=2:et

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@ -0,0 +1,26 @@
#include "BinLower.h"
#include "../../DentRobot.h"
#include "../../OI.h"
BinLower::BinLower() : Command("BinLower"){
}
void BinLower::Initialize(){
SetTimeout(2.5);
}
void BinLower::Execute(){
DentRobot::binElevator->Run(-1.0);
}
bool BinLower::IsFinished(){
if (!DentRobot::binElevator->GetElevatorBottom()||IsTimedOut()){
printf("Robot stoped BinLowering. Sensor based? %d\n", !DentRobot::binElevator->GetElevatorBottom());
return true;
}else{
return false;
}
}
void BinLower::End(){
DentRobot::binElevator->Run(0.0f);
}
void BinLower::Interrupted(){
End();
}
// vim: ts=2:sw=2:et

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@ -1,12 +1,12 @@
#ifndef CALIBRATE_H #ifndef BINLOWER_H
#define CALIBRATE_H #define BINLOWER_H
#include "Commands/Command.h" #include "Commands/Command.h"
#include "WPILib.h" #include "WPILib.h"
class Calibrate: public Command{ class BinLower: public Command{
public: public:
Calibrate(); BinLower();
void Initialize(); void Initialize();
void Execute(); void Execute();
bool IsFinished(); bool IsFinished();
@ -14,4 +14,4 @@ class Calibrate: public Command{
void Interrupted(); void Interrupted();
}; };
#endif #endif
// vim: ts2:sw=2:et // vim: ts=2:sw=2:et

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@ -0,0 +1,26 @@
#include "BinRaise.h"
#include "../../DentRobot.h"
#include "../../OI.h"
BinRaise::BinRaise() : Command("BinRaise"){
}
void BinRaise::Initialize(){
SetTimeout(3.0);
}
void BinRaise::Execute(){
DentRobot::binElevator->Run(1.0);
}
bool BinRaise::IsFinished(){
if (!DentRobot::binElevator->GetElevatorTop()||IsTimedOut()){
printf("Robot stoped raising. Sensor based? %d\n", !DentRobot::binElevator->GetElevatorTop());
return true;
}else{
return false;
}
}
void BinRaise::End(){
DentRobot::binElevator->Run(0.0f);
}
void BinRaise::Interrupted(){
End();
}
// vim: ts=2:sw=2:et

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@ -0,0 +1,18 @@
#ifndef BINRAISE_H
#define BINRAISE_H
#include "Commands/Command.h"
#include "WPILib.h"
class BinRaise: public Command{
public:
BinRaise();
void Initialize();
void Execute();
bool IsFinished();
void End();
void Interrupted();
};
#endif
// vim: ts=2:sw=2:et

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@ -3,13 +3,21 @@ CloseCollector::CloseCollector() : Command("CloseCollector"){
Requires(DentRobot::collector); Requires(DentRobot::collector);
} }
void CloseCollector::Initialize(){ void CloseCollector::Initialize(){
SetTimeout(0.5); printf("Initialized collector: 0.5\n");
SetTimeout(2.5);
} }
void CloseCollector::Execute(){ void CloseCollector::Execute(){
DentRobot::collector->MoveArms(0.2f); //printf("Closing collector: -0.5f\n");
DentRobot::collector->MoveArms(-0.5);
//DentRobot::collector->MoveArms(-(-DentRobot::oi->GetRightStick()->GetRawAxis(3)+1)/2*.3/.5);
} }
bool CloseCollector::IsFinished(){ bool CloseCollector::IsFinished(){
return DentRobot::collector->ArmSensor(); if(DentRobot::collector->ArmSensor()||IsTimedOut()){
printf("Stopped Closing: %d, %d\n",DentRobot::collector->ArmSensor(), IsTimedOut());
return true;
}else{
return false;
}
} }
void CloseCollector::End(){ void CloseCollector::End(){
DentRobot::collector->MoveArms(0.0f); DentRobot::collector->MoveArms(0.0f);
@ -17,4 +25,4 @@ void CloseCollector::End(){
void CloseCollector::Interrupted(){ void CloseCollector::Interrupted(){
End(); End();
} }
// vim: ts2:sw=2:et // vim: ts=2:sw=2:et

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@ -17,4 +17,4 @@ class CloseCollector: public Command{
}; };
#endif #endif
// vim: ts2:sw=2:et // vim: ts=2:sw=2:et

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@ -3,6 +3,7 @@ CollectTote::CollectTote() : Command("CollectTote"){
Requires(DentRobot::collector); Requires(DentRobot::collector);
} }
void CollectTote::Initialize(){ void CollectTote::Initialize(){
printf("Initialized CollectTote\n");
SetTimeout(2.0); SetTimeout(2.0);
} }
void CollectTote::Execute(){ void CollectTote::Execute(){
@ -10,7 +11,7 @@ void CollectTote::Execute(){
DentRobot::collector->MoveRollers(-(-DentRobot::oi->GetLeftStick()->GetRawAxis(3)+1.0)/2); DentRobot::collector->MoveRollers(-(-DentRobot::oi->GetLeftStick()->GetRawAxis(3)+1.0)/2);
} }
bool CollectTote::IsFinished(){ bool CollectTote::IsFinished(){
return DentRobot::collector->BoxCollected(); return DentRobot::collector->BoxCollected()||IsTimedOut();
} }
void CollectTote::End(){ void CollectTote::End(){
DentRobot::collector->MoveRollers(0.0); DentRobot::collector->MoveRollers(0.0);
@ -18,4 +19,4 @@ void CollectTote::End(){
void CollectTote::Interrupted(){ void CollectTote::Interrupted(){
End(); End();
} }
// vim: ts2:sw=2:et // vim: ts=2:sw=2:et

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@ -17,4 +17,4 @@ class CollectTote: public Command{
}; };
#endif #endif
// vim: ts2:sw=2:et // vim: ts=2:sw=2:et

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@ -6,11 +6,12 @@ void OpenCollector::Initialize(){
SetTimeout(0.5); SetTimeout(0.5);
} }
void OpenCollector::Execute(){ void OpenCollector::Execute(){
//TODO check this value to move the motors in the right direction DentRobot::collector->MoveArms(0.35);
DentRobot::collector->MoveArms(-0.2f); //DentRobot::collector->MoveArms((-DentRobot::oi->GetRightStick()->GetRawAxis(3)+1)/2*.3/.5);
} }
bool OpenCollector::IsFinished(){ bool OpenCollector::IsFinished(){
return DentRobot::collector->ArmSensor(); //return DentRobot::collector->ArmSensor();
return IsTimedOut();
} }
void OpenCollector::End(){ void OpenCollector::End(){
DentRobot::collector->MoveArms(0.0f); DentRobot::collector->MoveArms(0.0f);
@ -18,4 +19,4 @@ void OpenCollector::End(){
void OpenCollector::Interrupted(){ void OpenCollector::Interrupted(){
End(); End();
} }
// vim: ts2:sw=2:et // vim: ts=2:sw=2:et

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@ -17,4 +17,4 @@ class OpenCollector: public Command{
}; };
#endif #endif
// vim: ts2:sw=2:et // vim: ts=2:sw=2:et

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@ -19,4 +19,4 @@ void ReleaseTote::End(){
void ReleaseTote::Interrupted(){ void ReleaseTote::Interrupted(){
End(); End();
} }
// vim: ts2:sw=2:et // vim: ts=2:sw=2:et

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@ -17,4 +17,4 @@ class ReleaseTote: public Command{
}; };
#endif #endif
// vim: ts2:sw=2:et // vim: ts=2:sw=2:et

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@ -1,5 +1,4 @@
#include "Drive.h" #include "Drive.h"
#include <cmath>
#include "../../DentRobot.h" #include "../../DentRobot.h"
Drive::Drive() : Command("Drive"){ Drive::Drive() : Command("Drive"){
Requires(DentRobot::drivetrain); Requires(DentRobot::drivetrain);
@ -12,12 +11,12 @@ void Drive::Execute(){
x = DentRobot::oi->GetLeftStick()->GetRawAxis(0); x = DentRobot::oi->GetLeftStick()->GetRawAxis(0);
z = DentRobot::oi->GetLeftStick()->GetRawAxis(2); z = DentRobot::oi->GetLeftStick()->GetRawAxis(2);
y = DentRobot::oi->GetLeftStick()->GetRawAxis(1); y = DentRobot::oi->GetLeftStick()->GetRawAxis(1);
if (DentRobot::oi->GetLeftStick()->GetRawButton(1)){ //if (DentRobot::oi->GetLeftStick()->GetRawButton(1)){
x=0; // x=0;
} //}
if (DentRobot::oi->GetLeftStick()->GetRawButton(2)){ //if (DentRobot::oi->GetLeftStick()->GetRawButton(2)){
y=0; // y=0;
} //}
//X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle), gyro //X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle), gyro
DentRobot::drivetrain->DriveMecanum(x,y,z,0.9,0); DentRobot::drivetrain->DriveMecanum(x,y,z,0.9,0);
} }
@ -29,4 +28,4 @@ void Drive::End(){
void Drive::Interrupted(){ void Drive::Interrupted(){
End(); End();
} }
// vim: ts2:sw=2:et // vim: ts=2:sw=2:et

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@ -16,4 +16,4 @@ class Drive: public Command{
void Interrupted(); void Interrupted();
}; };
#endif #endif
// vim: ts2:sw=2:et // vim: ts=2:sw=2:et

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@ -1,26 +0,0 @@
#include "Calibrate.h"
#include "../../DentRobot.h"
// Lowers elevator until it hits the limit switch then sets the height of the elevator to the height of the limit switches
Calibrate::Calibrate() : Command("Calibrate"){
}
void Calibrate::Initialize(){
}
void Calibrate::Execute(){
// Lower collector until End()
DentRobot::elevator->Run(-0.4f);
}
bool Calibrate::IsFinished(){
if(DentRobot::elevator->GetElevatorBottom()){
DentRobot::elevator->ResetEncoder();
DentRobot::elevator->SetOffset(0.99);
return true;
}
return false;
}
void Calibrate::End(){
DentRobot::elevator->Run(0.0f);
}
void Calibrate::Interrupted(){
End();
}
// vim: ts2:sw=2:et

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@ -4,7 +4,7 @@
Lower::Lower() : Command("Lower"){ Lower::Lower() : Command("Lower"){
} }
void Lower::Initialize(){ void Lower::Initialize(){
SetTimeout(1.0); SetTimeout(2.5);
} }
void Lower::Execute(){ void Lower::Execute(){
DentRobot::elevator->Run(-1.0); DentRobot::elevator->Run(-1.0);
@ -23,4 +23,4 @@ void Lower::End(){
void Lower::Interrupted(){ void Lower::Interrupted(){
End(); End();
} }
// vim: ts2:sw=2:et // vim: ts=2:sw=2:et

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@ -14,4 +14,4 @@ class Lower: public Command{
void Interrupted(); void Interrupted();
}; };
#endif #endif
// vim: ts2:sw=2:et // vim: ts=2:sw=2:et

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@ -4,7 +4,7 @@
Raise::Raise() : Command("Raise"){ Raise::Raise() : Command("Raise"){
} }
void Raise::Initialize(){ void Raise::Initialize(){
SetTimeout(2.5); SetTimeout(3.0);
} }
void Raise::Execute(){ void Raise::Execute(){
DentRobot::elevator->Run(1.0); DentRobot::elevator->Run(1.0);
@ -18,9 +18,13 @@ bool Raise::IsFinished(){
} }
} }
void Raise::End(){ void Raise::End(){
// If the elevator is at the top
if(DentRobot::elevator->GetElevatorTop()){
DentRobot::elevator->SetUseEncoder(true);
}
DentRobot::elevator->Run(0.0f); DentRobot::elevator->Run(0.0f);
} }
void Raise::Interrupted(){ void Raise::Interrupted(){
End(); End();
} }
// vim: ts2:sw=2:et // vim: ts=2:sw=2:et

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@ -15,4 +15,4 @@ class Raise: public Command{
}; };
#endif #endif
// vim: ts2:sw=2:et // vim: ts=2:sw=2:et

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@ -1,16 +1,21 @@
#include "DentRobot.h" #include "DentRobot.h"
#include "OI.h"
#include "Commands/Autonomous/Autonomous.h" #include "Commands/Autonomous/Autonomous.h"
OI* DentRobot::oi=NULL; OI* DentRobot::oi=NULL;
Collector* DentRobot::collector=NULL; Collector* DentRobot::collector=NULL;
Drivetrain* DentRobot::drivetrain=NULL; Drivetrain* DentRobot::drivetrain=NULL;
Elevator* DentRobot::elevator=NULL; Elevator* DentRobot::elevator=NULL;
BinElevator* DentRobot::binElevator=NULL;
CommandGroup* DentRobot::aut=NULL; CommandGroup* DentRobot::aut=NULL;
DentRobot::DentRobot(){ DentRobot::DentRobot(){
oi=new OI(); oi=new OI();
collector=new Collector(); collector=new Collector();
drivetrain=new Drivetrain(); drivetrain=new Drivetrain();
elevator=new Elevator(); elevator=new Elevator();
binElevator=new BinElevator();
aut=new Autonomous(); aut=new Autonomous();
CameraServer::GetInstance()->SetQuality(25);
CameraServer::GetInstance()->StartAutomaticCapture("cam0");
printf("Initialized"); printf("Initialized");
} }
void DentRobot::RobotInit(){ void DentRobot::RobotInit(){
@ -28,14 +33,19 @@ void DentRobot::AutonomousPeriodic(){
Scheduler::GetInstance()->Run(); Scheduler::GetInstance()->Run();
} }
void DentRobot::TeleopInit(){ void DentRobot::TeleopInit(){
//if (aut != NULL){ if (aut != NULL){
// aut->Cancel(); aut->Cancel();
//} }
} }
void DentRobot::TeleopPeriodic(){ void DentRobot::TeleopPeriodic(){
Scheduler::GetInstance()->Run(); Scheduler::GetInstance()->Run();
// TODO: Calibrate 1.0 to the height we want the elevator to automatically raise
if(elevator->GetUseEncoder()&&elevator->GetHeight()<=-1.0){
// Raise the elevator if it dips below elevatorTop
oi->raise->Start();
}
} }
void DentRobot::TestPeriodic(){ void DentRobot::TestPeriodic(){
} }
START_ROBOT_CLASS(DentRobot); START_ROBOT_CLASS(DentRobot);
// vim: ts2:sw=2:et // vim: ts=2:sw=2:et

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@ -3,6 +3,7 @@
#include "WPILib.h" #include "WPILib.h"
#include "OI.h" #include "OI.h"
#include "Subsystems/Elevator.h" #include "Subsystems/Elevator.h"
#include "Subsystems/BinElevator.h"
#include "Subsystems/Drivetrain.h" #include "Subsystems/Drivetrain.h"
#include "Subsystems/Collector.h" #include "Subsystems/Collector.h"
#include "Commands/Autonomous/Autonomous.h" #include "Commands/Autonomous/Autonomous.h"
@ -15,6 +16,7 @@ class DentRobot: public IterativeRobot {
static Collector* collector; static Collector* collector;
static Drivetrain* drivetrain; static Drivetrain* drivetrain;
static Elevator* elevator; static Elevator* elevator;
static BinElevator* binElevator;
static CommandGroup* aut; static CommandGroup* aut;
void RobotInit(); void RobotInit();
void DisabledPeriodic(); void DisabledPeriodic();

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@ -9,6 +9,7 @@ EXEC=bin/FRCUserProgram
CLEANSER=rm -r CLEANSER=rm -r
all : $(OBJECTS) all : $(OBJECTS)
if [ ! -d bin ];then mkdir bin; fi
$(CC) -L$(WPILIB)/lib $(LDFLAGS) -o $(EXEC) $(OBJECTS) -lwpi $(CC) -L$(WPILIB)/lib $(LDFLAGS) -o $(EXEC) $(OBJECTS) -lwpi
%.o : %.cpp %.o : %.cpp
@ -17,10 +18,10 @@ all : $(OBJECTS)
clean: clean:
$(CLEANSER) $(OBJECTS) bin/FRCUserProgram $(CLEANSER) $(OBJECTS) bin/FRCUserProgram
deploy: deploy: all
@cat bin/FRCUserProgram | ssh admin@$(REMOTEIP) 'cat > /home/lvuser/FRCUserProgram2&&rm /home/lvuser/FRCUserProgram;mv /home/lvuser/FRCUserProgram2 /home/lvuser/FRCUserProgram&&. /etc/profile.d/natinst-path.sh;chmod a+x /home/lvuser/FRCUserProgram' @cat bin/FRCUserProgram | ssh admin@$(REMOTEIP) 'cat > /home/lvuser/FRCUserProgram2&&rm /home/lvuser/FRCUserProgram;mv /home/lvuser/FRCUserProgram2 /home/lvuser/FRCUserProgram&&. /etc/profile.d/natinst-path.sh;chmod a+x /home/lvuser/FRCUserProgram'
debug: debug: all
@cat bin/FRCUserProgram | ssh admin@$(REMOTEIP) 'cat > /home/lvuser/FRCUserProgram2&&rm /home/lvuser/FRCUserProgram;mv /home/lvuser/FRCUserProgram2 /home/lvuser/FRCUserProgram&&. /etc/profile.d/natinst-path.sh;chmod a+x /home/lvuser/FRCUserProgram;/home/lvuser/run.sh' @cat bin/FRCUserProgram | ssh admin@$(REMOTEIP) 'cat > /home/lvuser/FRCUserProgram2&&rm /home/lvuser/FRCUserProgram;mv /home/lvuser/FRCUserProgram2 /home/lvuser/FRCUserProgram&&. /etc/profile.d/natinst-path.sh;chmod a+x /home/lvuser/FRCUserProgram;/home/lvuser/run.sh'
putkey: putkey:

18
OI.cpp
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@ -14,15 +14,15 @@ OI::OI() {
// Collector // Collector
JoystickButton *right1=new JoystickButton(rightStick, 1); JoystickButton *right1=new JoystickButton(rightStick, 1);
JoystickButton *right2=new JoystickButton(rightStick, 2); JoystickButton *right2=new JoystickButton(rightStick, 2);
JoystickButton *left3=new JoystickButton(leftStick, 3); JoystickButton *left1=new JoystickButton(leftStick, 1);
JoystickButton *left4=new JoystickButton(leftStick, 4); JoystickButton *left2=new JoystickButton(leftStick, 2);
right1->WhileHeld(new OpenCollector()); right1->WhileHeld(new CloseCollector());
right2->WhileHeld(new CloseCollector()); right2->WhileHeld(new OpenCollector());
left3->WhileHeld(new CollectTote()); left1->WhileHeld(new CollectTote());
left4->WhileHeld(new ReleaseTote()); left2->WhileHeld(new ReleaseTote());
// Elevator // Elevator
Raise* raise=new Raise(); raise=new Raise();
Lower* lower=new Lower(); lower=new Lower();
JoystickButton *right3=new JoystickButton(rightStick, 3); JoystickButton *right3=new JoystickButton(rightStick, 3);
JoystickButton *right4=new JoystickButton(rightStick, 4); JoystickButton *right4=new JoystickButton(rightStick, 4);
JoystickButton *right5=new JoystickButton(rightStick, 5); JoystickButton *right5=new JoystickButton(rightStick, 5);
@ -50,4 +50,4 @@ Joystick* OI::GetRightStick(){
Joystick* OI::GetLeftStick(){ Joystick* OI::GetLeftStick(){
return leftStick; return leftStick;
} }
// vim: ts2:sw=2:et // vim: ts=2:sw=2:et

4
OI.h
View File

@ -2,6 +2,7 @@
#define OI_H #define OI_H
#include "WPILib.h" #include "WPILib.h"
#include "Commands/Command.h"
class OI class OI
{ {
@ -11,6 +12,7 @@ class OI
OI(); OI();
Joystick* GetRightStick(); Joystick* GetRightStick();
Joystick* GetLeftStick(); Joystick* GetLeftStick();
Command *raise, *lower;
}; };
#endif #endif
// vim: ts2:sw=2:et // vim: ts=2:sw=2:et

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@ -8,9 +8,17 @@
#define ELEVATOR_BOTTOM_DIO 0 #define ELEVATOR_BOTTOM_DIO 0
#define ELEVATOR_COLELCT_TOTE_DIO 1 #define ELEVATOR_COLELCT_TOTE_DIO 1
#define ELEVATOR_READY_TOTE_DIO 2 #define ELEVATOR_READY_TOTE_DIO 2
#define ELEVATOR_COLELCT_CAN_DIO 3
#define ELEVATOR_READY_CAN_DIO 4
#define ELEVATOR_TOP_DIO 5 #define ELEVATOR_TOP_DIO 5
#define ELEVATOR_ENCODERA 0
#define ELEVATOR_ENCODERB 1
// BinElevator
#define BINELEVATOR_CAN 11
#define BINELEVATOR_BOTTOM_DIO 6
#define BINELEVATOR_COLELCT_BIN_DIO 7
#define BINELEVATOR_TOP_DIO 8
#define BINELEVATOR_ENCODERA 2
#define BINELEVATOR_ENCODERB 3
// Drivetrain // Drivetrain
#define DRIVE_FRONT_LEFT_CAN 2 #define DRIVE_FRONT_LEFT_CAN 2
@ -22,7 +30,8 @@
#define COLLECTOR_WINDOW_LEFT_CAN 6 #define COLLECTOR_WINDOW_LEFT_CAN 6
#define COLLECTOR_WINDOW_RIGHT_CAN 7 #define COLLECTOR_WINDOW_RIGHT_CAN 7
#define COLLECTOR_LEFT_CAN 8 #define COLLECTOR_LEFT_CAN 8
#define COLLECTOR_BOTTOM_CAN 10
#define COLLECTOR_RIGHT_CAN 9 #define COLLECTOR_RIGHT_CAN 9
#endif #endif
// vim: ts2:sw=2:et // vim: ts=2:sw=2:et

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@ -0,0 +1,26 @@
#include "BinElevator.h"
#include "../RobotMap.h"
BinElevator::BinElevator(){
motor=new CANTalon(BINELEVATOR_CAN);
elevatorEncoder=new Encoder(BINELEVATOR_ENCODERA,BINELEVATOR_ENCODERB,false);
elevatorBottom=new DigitalInput(BINELEVATOR_BOTTOM_DIO);
elevatorTop=new DigitalInput(BINELEVATOR_TOP_DIO);
}
void BinElevator::InitDefaultCommand(){
}
void BinElevator::Run(double power){
motor->Set(power);
}
void BinElevator::ResetEncoder(){
elevatorEncoder->Reset();
}
double BinElevator::GetHeight(){
return elevatorEncoder->Get();
}
bool BinElevator::GetElevatorBottom(){
return elevatorBottom->Get();
}
bool BinElevator::GetElevatorTop(){
return elevatorTop->Get();
}
// vim: ts=2:sw=2:et

22
Subsystems/BinElevator.h Normal file
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@ -0,0 +1,22 @@
#ifndef BINELEVATOR_H
#define BINELEVATOR_H
#include "WPILib.h"
#include "Commands/PIDSubsystem.h"
class BinElevator{
private:
CANTalon *motor;
Encoder *elevatorEncoder;
static constexpr double kP_real=4, kI_real=.0f, kP_simulation=18, kI_simulation=.2;
DigitalInput *elevatorBottom, *elevatorTop;
public:
BinElevator();
void InitDefaultCommand();
void Run(double);
void ResetEncoder();
double GetHeight();
bool GetElevatorTop();
bool GetElevatorBottom();
};
#endif
// vim: ts=2:sw=2:et

View File

@ -5,6 +5,7 @@ Collector::Collector() : Subsystem("Collector") {
windowMotorLeft=new CANTalon(COLLECTOR_WINDOW_LEFT_CAN); windowMotorLeft=new CANTalon(COLLECTOR_WINDOW_LEFT_CAN);
windowMotorRight=new CANTalon(COLLECTOR_WINDOW_RIGHT_CAN); windowMotorRight=new CANTalon(COLLECTOR_WINDOW_RIGHT_CAN);
collectorMotorLeft=new CANTalon(COLLECTOR_LEFT_CAN); collectorMotorLeft=new CANTalon(COLLECTOR_LEFT_CAN);
collectorMotorBottom=new CANTalon(COLLECTOR_BOTTOM_CAN);
collectorMotorRight=new CANTalon(COLLECTOR_RIGHT_CAN); collectorMotorRight=new CANTalon(COLLECTOR_RIGHT_CAN);
} }
void Collector::InitDefaultCommand() { void Collector::InitDefaultCommand() {
@ -15,6 +16,7 @@ void Collector::MoveArms(double a){
} }
void Collector::MoveRollers(double a){ void Collector::MoveRollers(double a){
collectorMotorLeft->Set(a); collectorMotorLeft->Set(a);
collectorMotorBottom->Set(a);
collectorMotorRight->Set(-a); collectorMotorRight->Set(-a);
} }
bool Collector::ArmSensor(){ bool Collector::ArmSensor(){
@ -25,4 +27,4 @@ bool Collector::BoxCollected(){
return false; return false;
//return boxSwitch->Get(); //return boxSwitch->Get();
} }
// vim: ts2:sw=2:et // vim: ts=2:sw=2:et

View File

@ -5,7 +5,7 @@
class Collector: public Subsystem class Collector: public Subsystem
{ {
private: private:
CANTalon *windowMotorLeft, *windowMotorRight, *collectorMotorLeft, *collectorMotorRight; CANTalon *windowMotorLeft, *windowMotorRight, *collectorMotorLeft, *collectorMotorBottom, *collectorMotorRight;
public: public:
Collector(); Collector();
void InitDefaultCommand(); void InitDefaultCommand();
@ -15,4 +15,4 @@ class Collector: public Subsystem
bool BoxCollected(); bool BoxCollected();
}; };
#endif #endif
// vim: ts2:sw=2:et // vim: ts=2:sw=2:et

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@ -40,4 +40,4 @@ void Drivetrain::TestMotor(e_motors motor, float power){
break; break;
} }
} }
// vim: ts2:sw=2:et // vim: ts=2:sw=2:et

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@ -20,4 +20,4 @@ class Drivetrain: public Subsystem{
void TestMotor(e_motors,float); void TestMotor(e_motors,float);
}; };
#endif #endif
// vim: ts2:sw=2:et // vim: ts=2:sw=2:et

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@ -2,26 +2,26 @@
#include "../RobotMap.h" #include "../RobotMap.h"
Elevator::Elevator(){ Elevator::Elevator(){
motor=new CANTalon(ELEVATOR_CAN); motor=new CANTalon(ELEVATOR_CAN);
elevatorEncoder=new Encoder(0,1,false); elevatorEncoder=new Encoder(ELEVATOR_ENCODERA,ELEVATOR_ENCODERB,false);
offset=0;
height=0;
elevatorBottom=new DigitalInput(ELEVATOR_BOTTOM_DIO); elevatorBottom=new DigitalInput(ELEVATOR_BOTTOM_DIO);
elevatorTop=new DigitalInput(ELEVATOR_TOP_DIO); elevatorTop=new DigitalInput(ELEVATOR_TOP_DIO);
//SetAbsoluteTolerance(0.004); // Checks if the elevator is drifting
useEncoder=false;
} }
void Elevator::InitDefaultCommand(){ void Elevator::InitDefaultCommand(){
} }
void Elevator::Run(double power){ void Elevator::Run(double power){
motor->Set(power); // If we're not telling it to stop
if(power != 0.0){
SetUseEncoder(false);
} }
void Elevator::SetOffset(double ht){ motor->Set(power);
offset=ht;
} }
void Elevator::ResetEncoder(){ void Elevator::ResetEncoder(){
elevatorEncoder->Reset(); elevatorEncoder->Reset();
} }
double Elevator::GetHeight(){ double Elevator::GetHeight(){
return elevatorEncoder->Get()+offset; return elevatorEncoder->Get();
} }
bool Elevator::GetElevatorBottom(){ bool Elevator::GetElevatorBottom(){
return elevatorBottom->Get(); return elevatorBottom->Get();
@ -29,4 +29,10 @@ bool Elevator::GetElevatorBottom(){
bool Elevator::GetElevatorTop(){ bool Elevator::GetElevatorTop(){
return elevatorTop->Get(); return elevatorTop->Get();
} }
// vim: ts2:sw=2:et void Elevator::SetUseEncoder(bool param){
useEncoder=param;
}
bool Elevator::GetUseEncoder(){
return useEncoder;
}
// vim: ts=2:sw=2:et

View File

@ -8,17 +8,18 @@ class Elevator{
CANTalon *motor; CANTalon *motor;
Encoder *elevatorEncoder; Encoder *elevatorEncoder;
static constexpr double kP_real=4, kI_real=.0f, kP_simulation=18, kI_simulation=.2; static constexpr double kP_real=4, kI_real=.0f, kP_simulation=18, kI_simulation=.2;
double offset, height;
DigitalInput *elevatorBottom, *elevatorTop; DigitalInput *elevatorBottom, *elevatorTop;
bool useEncoder;
public: public:
Elevator(); Elevator();
void InitDefaultCommand(); void InitDefaultCommand();
void Run(double); void Run(double);
void SetOffset(double);
void ResetEncoder(); void ResetEncoder();
double GetHeight(); double GetHeight();
bool GetElevatorTop(); bool GetElevatorTop();
bool GetElevatorBottom(); bool GetElevatorBottom();
void SetUseEncoder(bool);
bool GetUseEncoder();
}; };
#endif #endif
// vim: ts2:sw=2:et // vim: ts=2:sw=2:et

1
hhlib

@ -1 +0,0 @@
Subproject commit 787733b3d4204d061620c7906af0cf4777c47e34