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Adam Long 7e95ca8469 added arcade drive
2015-09-17 19:59:58 +00:00
Commands added arcade drive 2015-09-17 19:59:58 +00:00
Subsystems added arcade drive 2015-09-17 19:59:58 +00:00
.gitignore Created cmake file (untested) 2015-04-19 13:56:13 -04:00
autoformat.sh Added autoformat script/documentation 2015-07-31 12:52:03 -04:00
CMakeLists.txt Added cmake WPILIB variable 2015-04-19 14:10:21 -04:00
DentRobot.cpp Autoformatted project 2015-07-31 12:52:15 -04:00
DentRobot.h Autoformatted project 2015-07-31 12:52:15 -04:00
Doxyfile Added doxyfile 2015-03-01 16:04:03 -05:00
LICENSE Added license. 2015-03-27 16:59:06 -04:00
mainpage.dox Added BinIn, BinOut commands, BinCollector subsystem for collecting bins, mapped left button 3 and 4 to move BinCollector elevator. Works 100% 2015-04-06 20:36:35 -04:00
OI.cpp Autoformatted project 2015-07-31 12:52:15 -04:00
OI.h Autoformatted project 2015-07-31 12:52:15 -04:00
README.md Added autoformat script/documentation 2015-07-31 12:52:03 -04:00
RobotMap.h Updated bin collector code to reflect electrical changes made to board. 2015-04-18 09:03:06 +00:00

README.md

Dent

The Hitchhikers 2015 robot

Features

Subsystems

Sensors

Automated Commands

  • AutoDrive to drive forward without a joystick
  • CollectTote to drive forwards and roll in collectors in parallel
  • ReleaseTote to drive backwards and roll out collectors in parallel
  • Turn to turn the robot

Running the code

Setup (for Linux)

  • Make sure you have the toolchain 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

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 - Runs an elevator cycle
  • Button 12 - Cancel raising and lowering for both elevators

Dashboard

Configuration

  • 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 90 degrees
  • Elevator Bottom - Status of the bottom elevator sensor
  • Elevator Top - Status of the top elevator sensor
  • Auto Sequence - The sequence of autonomous to run

Autonomous

  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)

Contributing

This project uses 1TBS (Astyle Google variant with -j) and the -xc -xn -xl -xG -j -s2 -C -S -K -N Astyle (2.04+) flags.