# Dent [The Hitchhikers](http://team2059.org) 2015 robot ### Features #### Subsystems + [Mecanum drivetrain](Subsystems/Drivetrain.cpp) + [Collector](Subsystems/Collector.cpp) to collect totes in main elevator + [Internal elevator](Subsystems/Elevator.cpp) for totes + [External elevator](Subsystems/BinElevator.cpp) for bins or totes + [Pneumatics](Subsystems/Pneumatics.cpp) for opening/closing bin elevator arms (unused) #### Sensors + [Ultrasonic](Subsystems/Collector.cpp#L9) to check if a tote is in the robot (unused) + [hall effect sensors](Subsystems/Elevator.cpp#L6-L8) to check the elevator's position #### Automated Commands + [AutoDrive](Commands/Autonomous/AutoDrive.cpp) to drive forward without a joystick + [CollectTote](Commands/Autonomous/CollectTote.cpp) to drive forwards and roll in collectors in parallel + [ReleaseTote](Commands/Autonomous/ReleaseTote.cpp) to drive backwards and roll out collectors in parallel + [Turn](Commands/Autonomous/Turn.cpp) to turn the robot ### Running the code #### Setup (for Linux) + Make sure you have the [toolchain](http://first.wpi.edu/FRC/roborio/toolchains/) installed + Edit the path of WPILib and the REMOTEIP on the Makefile + Run `make putkey` to put the public key on the rrio for faster deploying (optional) #### Building + Run `make && make deploy` + Run `ssh admin@rrio-ip.local '/home/lvuser/FRCUserProgram'` to execute the program ### Usage ##### Left Joystick (USB 0) + X-Axis - Drive forwards and backwards + Y-Axis - Strafes left and right + Z-Axis - Turns left and right + 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 8 - Closes bin arms (unused) + Button 12 - Cancel raising and lowering for both elevators #### Dashboard + CodeVersion - The current version of the code + Auto Wait Time - The amount of time to wait for any autonomous to run (default: 2.0) + Two totes - Collect a second tote if using Auto Sequence 4 or 5 (default: true) + Three totes - Collect a third tote if using Auto Sequence 4 or 5 (default: false) + 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) + 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 ##### Auto 1. Drive to auto zone, turn 2. Lower BinElevator, collect bin, turn, drive to AutoZone, turn 3. Raise BinElevator, turn, drive to AutoZone, turn 4. Collect 1, 2, or 3 totes, turn, drive to AutoZone, turn 5. Same as auto 4, but navigate around bins (not implemented) 6. Collect 1 bin then 1 tote (not implemented) 7. Collect 3 totes, collect bin, drive to AutoZone (not implemented)