mirror of
https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
85 lines
2.9 KiB
C++
85 lines
2.9 KiB
C++
#include "DentRobot.h"
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#include "OI.h"
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#include "RobotMap.h"
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#include "Commands/Autonomous/Autonomous.h"
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OI* DentRobot::oi = NULL;
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Collector* DentRobot::collector = NULL;
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Drivetrain* DentRobot::drivetrain = NULL;
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Elevator* DentRobot::elevator = NULL;
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BinElevator* DentRobot::binElevator = NULL;
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CommandGroup* DentRobot::aut = NULL;
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Pneumatics* DentRobot::pneumatics = NULL;
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DentRobot::DentRobot(){
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oi = new OI();
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collector = new Collector();
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drivetrain = new Drivetrain();
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elevator = new Elevator();
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binElevator = new BinElevator();
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pneumatics = new Pneumatics();
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//CameraServer::GetInstance()->SetQuality(25);
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//CameraServer::GetInstance()->StartAutomaticCapture("cam0");
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printf("The robot is on\n");
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}
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void DentRobot::RobotInit(){
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SmartDashboard::PutNumber("CodeVersion", CODE_VERSION);
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// Autonomous
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// Calibration
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// Amount to turn while collecting the initial tote in auto 4
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SmartDashboard::PutNumber("CollectToteTurn", 0.25);
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// Amount of time to collect a tote
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SmartDashboard::PutNumber("DriveTime", 1.3);
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// Sequence of autonomous command
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SmartDashboard::PutNumber("Auto Sequence", 9.0);
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SmartDashboard::PutNumber("Auto Wait Time", 0.5);
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// If the robot will be picking up three totes in sequence 3
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SmartDashboard::PutBoolean("Two totes", false);
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SmartDashboard::PutBoolean("Three totes", false);
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// Distance (in time) to auto zone
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SmartDashboard::PutNumber("Auto Zone Distance", 2.1);
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// Distance (in time) to auto tote (used in sequence 3)
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SmartDashboard::PutNumber("Two Tote Distance", 1.0);
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SmartDashboard::PutNumber("Three Tote Distance", 2.5);
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SmartDashboard::PutNumber("Auto Tote Distance", 0.5);
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SmartDashboard::PutNumber("TurnAmount", 2.6);
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// Elevators
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SmartDashboard::PutBoolean("Bin Elevator Bottom", false);
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SmartDashboard::PutBoolean("Bin Elevator Top", false);
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SmartDashboard::PutBoolean("Elevator Bottom", false);
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SmartDashboard::PutBoolean("Elevator Top", false);
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//Drive speed
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SmartDashboard::PutNumber("DriveSpeedReductionThresh", 2.0);
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//Gyro
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SmartDashboard::PutNumber("Gyro kP", -0.02);
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}
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void DentRobot::DisabledPeriodic(){
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Scheduler::GetInstance()->Run();
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}
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void DentRobot::AutonomousInit(){
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aut = new Autonomous(SmartDashboard::GetNumber("Auto Sequence"));
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printf("Enabling Auto Sequence %f\n", SmartDashboard::GetNumber("Auto Sequence"));
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if(aut != NULL){
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aut->Start();
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}
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}
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void DentRobot::AutonomousPeriodic(){
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printf("Running auto.\n");
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Scheduler::GetInstance()->Run();
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}
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void DentRobot::TeleopInit(){
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if(aut != NULL){
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aut->Cancel();
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}
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}
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void DentRobot::TeleopPeriodic(){
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Scheduler::GetInstance()->Run();
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if(elevator->GetUseEncoder()&&elevator->GetHeight() <= -1.0){
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// Raise the elevator if it dips below elevatorTop
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oi->raise->Start();
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}
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SmartDashboard::PutNumber("CollectorThrottle", oi->GetLeftThrottle());
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}
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void DentRobot::TestPeriodic(){
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}
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START_ROBOT_CLASS(DentRobot);
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// vim: ts=2:sw=2:et
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