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Minor improvements

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This commit is contained in:
Austen Adler 2015-02-15 17:10:20 -05:00
parent 324ae06417
commit f01373de39
8 changed files with 25 additions and 12 deletions
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9
Commands/Collector/RollIn.cpp
View File

@ -6,8 +6,13 @@ void RollIn::Initialize(){
SetTimeout(2.0);
}
void RollIn::Execute(){
//TODO check this value to move the motors in the right direction
DentRobot::collector->MoveRollers((-DentRobot::oi->GetLeftStick()->GetRawAxis(3)+1.0)/2);
double throttle=DentRobot::oi->GetLeftThrottle();
double cvt=throttle*DentRobot::collector->GetSonarDistance()/0.4/5;
if(cvt>=1.0){
DentRobot::collector->MoveRollers(1.0);
}else{
DentRobot::collector->MoveRollers(cvt);
}
}
bool RollIn::IsFinished(){
return IsTimedOut();

2
Commands/Collector/RollOut.cpp
View File

@ -8,7 +8,7 @@ void RollOut::Initialize(){
void RollOut::Execute(){
//TODO check this value to move the motors in the right direction
// Devide by 2 twice because this speed should be half the collector speed
DentRobot::collector->MoveRollers(-(-DentRobot::oi->GetLeftStick()->GetRawAxis(3)+1.0)/2);
DentRobot::collector->MoveRollers(-DentRobot::oi->GetLeftThrottle());
}
bool RollOut::IsFinished(){
return IsTimedOut();

4
Commands/Elevator/Raise.cpp
View File

@ -18,8 +18,8 @@ bool Raise::IsFinished(){
// DentRobot::elevator->stoppedAtSensor=false;
// return true;
//}else if (!DentRobot::elevator->GetElevatorTop()) {
if (!DentRobot::elevator->GetElevatorTop()||IsTimedOut()){
printf("Robot stopped raising. Sensor based? %d\n", !DentRobot::elevator->GetElevatorTop());
if (!DentRobot::elevator->GetElevatorTop()||!DentRobot::elevator->GetElevatorMiddle()||IsTimedOut()){
printf("Robot stopped raising. Sensor based? %d\n", !DentRobot::elevator->GetElevatorTop()||!DentRobot::elevator->GetElevatorMiddle());
return true;
}else{
return false;

6
OI.cpp
View File

@ -46,4 +46,10 @@ Joystick* OI::GetRightStick(){
Joystick* OI::GetLeftStick(){
return leftStick;
}
double OI::GetRightThrottle(){
return (-rightStick->GetRawAxis(3)+1.0)/2;
}
double OI::GetLeftThrottle(){
return (-leftStick->GetRawAxis(3)+1.0)/2;
}
// vim: ts=2:sw=2:et

4
OI.h
View File

@ -10,9 +10,11 @@ class OI
Joystick *leftStick, *rightStick;
public:
OI();
Command *raise, *lower, *binLower, *binRaise;
Joystick* GetRightStick();
Joystick* GetLeftStick();
Command *raise, *lower, *binLower, *binRaise;
double GetLeftThrottle();
double GetRightThrottle();
};
#endif
// vim: ts=2:sw=2:et

4
RobotMap.h
View File

@ -6,8 +6,8 @@
// Elevator
#define ELEVATOR_CAN 1
#define ELEVATOR_BOTTOM_DIO 9
#define ELEVATOR_MIDDLE_DIO 7
#define ELEVATOR_TOP_DIO 8
#define ELEVATOR_MIDDLE_DIO 8
#define ELEVATOR_TOP_DIO 7
#define ELEVATOR_ENCODERA 4
#define ELEVATOR_ENCODERB 9

6
Subsystems/Collector.cpp
View File

@ -15,9 +15,9 @@ void Collector::MoveRollers(double a){
collectorMotorBottom->Set(a);
collectorMotorRamp->Set(a);
collectorMotorRight->Set(-a);
GetSonarDistance();
printf("%f\n",GetSonarDistance());
}
float Collector::GetSonarDistance(){
printf("Sonar Distance %f\n",sonarAnalog->GetAverageVoltage());
double Collector::GetSonarDistance(){
return sonarAnalog->GetAverageVoltage();
}
// vim: ts=2:sw=2:et

2
Subsystems/Collector.h
View File

@ -12,7 +12,7 @@ class Collector: public Subsystem
Collector();
void InitDefaultCommand();
void MoveRollers(double);
float GetSonarDistance();
double GetSonarDistance();
};
#endif
// vim: ts=2:sw=2:et