mirror of
https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
77 lines
2.5 KiB
C++
77 lines
2.5 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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// Sequence of autonomous command
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SmartDashboard::PutNumber("Auto Sequence", 2.0);
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SmartDashboard::PutNumber("Auto Wait Time", 3.0);
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// If the robot will be picking up three totes in sequence 3
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SmartDashboard::PutBoolean("Three totes", true);
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// TODO: Calibrate the following two values
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// Distance (in time) to auto zone
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SmartDashboard::PutNumber("Auto Zone Distance", 2.8);
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// Distance (in time) to auto tote (used in sequence 3)
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SmartDashboard::PutNumber("Auto Tote Distance", 0.5);
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SmartDashboard::PutNumber("TurnAmount", 2.0);
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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);
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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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// TODO: Calibrate 1.0 to the height we want the elevator to automatically raise
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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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}
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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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