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mirror of https://github.com/team2059/Dent synced 2024-12-18 20:52:29 -05:00
dent/Commands/Autonomous/Autonomous.cpp
2015-02-27 12:46:14 +00:00

62 lines
2.3 KiB
C++

#include "Autonomous.h"
#include "Commands/CommandGroup.h"
#include "../../DentRobot.h"
#include "../Elevator/Raise.h"
#include "../Elevator/Lower.h"
#include "../BinElevator/BinRaise.h"
#include "../BinElevator/BinLower.h"
#include "AutoDrive.h"
#include "Turn.h"
#include "../Collector/RollIn.h"
#include "CollectTote.h"
#include "ReleaseTote.h"
Autonomous::Autonomous(int seq){
//SmartDashboard::GetNumber("Auto Wait Time");
switch(seq){
case 0:
// Just for testing
AddSequential(new AutoDrive(.5,0,.25));
break;
case 1:
// Wait a desigated value, drive to Auto Zone (TM)
Wait(SmartDashboard::GetNumber("Auto Wait Time"));
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), -.8,0));
break;
case 2:
// Wait a desigated value, drive to Auto Zone (TM)
Wait(SmartDashboard::GetNumber("Auto Wait Time"));
AddSequential(new BinRaise(1.2));
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0,1));
AddSequential(new BinLower(.9));
//AddSequential(new AutoDrive(1.2, -0.75,0));
break;
case 3:
// Collect three totes, drive to Auto Zone (TM)
printf("Waiting: %f\n",SmartDashboard::GetNumber("Auto Wait Time"));
Wait(SmartDashboard::GetNumber("Auto Wait Time"));
printf("Done");
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), -0.75,0));
AddSequential(new CollectTote());
AddSequential(new Raise());
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), -0.75,0));
AddSequential(new CollectTote());
AddSequential(new Lower());
AddSequential(new Raise());
printf("Three totes?: %d\n",SmartDashboard::GetBoolean("Three totes"));
if(SmartDashboard::GetBoolean("Three totes")){
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), -0.75,0));
AddSequential(new CollectTote());
AddSequential(new Lower());
AddSequential(new Raise());
}
AddSequential(new Turn(90));
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), -0.75,0));
AddSequential(new ReleaseTote());
break;
default:
printf("Invalid seq: %d\n", seq);
break;
}
}
// vim: ts=2:sw=2:et