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Minor breakage (untested, needs testing, not working)

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This commit is contained in:
Adam Long 2015-02-15 13:36:19 +00:00
parent 9490b8fb9b
commit fd144410a9
3 changed files with 13 additions and 12 deletions
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19
Commands/Elevator/Raise.cpp
View File

@ -10,15 +10,16 @@ void Raise::Execute(){
DentRobot::elevator->Run(1.0);
}
bool Raise::IsFinished(){
if(!DentRobot::elevator->GetElevatorMiddle()){
DentRobot::elevator->stoppedAtSensor=true;
}
if ((DentRobot::elevator->stoppedAtSensor)){
printf("Stopped at the middle sensor\n");
DentRobot::elevator->stoppedAtSensor=false;
return true;
}else if (!DentRobot::elevator->GetElevatorTop()) {
printf("Stopping at the top sensor\n");
//if(!DentRobot::elevator->GetElevatorMiddle()){
// DentRobot::elevator->stoppedAtSensor=true;
//}
//if ((DentRobot::elevator->stoppedAtSensor)){
// printf("Stopped at the middle sensor\n");
// 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());
return true;
}else{
return false;

4
RobotMap.h
View File

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

2
Subsystems/Collector.cpp
View File

@ -19,6 +19,6 @@ void Collector::MoveRollers(double a){
GetSonarDistance();
}
float Collector::GetSonarDistance(){
printf("Sonar Distance %f\n",sonarAnalog->GetAverageValue());
printf("Sonar Distance %f\n",sonarAnalog->GetAverageVoltage());
}
// vim: ts=2:sw=2:et