mirror of
https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
81 lines
3.1 KiB
C++
81 lines
3.1 KiB
C++
#include "Autonomous.h"
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#include "Commands/CommandGroup.h"
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#include "../../DentRobot.h"
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#include "../Elevator/Raise.h"
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#include "../Elevator/Lower.h"
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#include "../BinElevator/BinRaise.h"
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#include "../BinElevator/BinLower.h"
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#include "AutoDrive.h"
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#include "Turn.h"
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#include "../Collector/RollIn.h"
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#include "CollectTote.h"
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#include "ReleaseTote.h"
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Autonomous::Autonomous(int seq){
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Wait(SmartDashboard::GetNumber("Auto Wait Time"));
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switch(seq){
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case 0:
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// Just for testing
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// Turn testing
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AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
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break;
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case 1:
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// Drive to Auto Zone (TM)
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AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0.0, -0.8, 0.01));
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AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
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break;
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case 2:
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// Collect a tote with BinElevator, turn, drive to Auto Zone (TM)
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AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
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AddSequential(new BinRaise(1.2));
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AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0.0, -0.75));
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AddSequential(new BinLower(1.0));
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AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
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break;
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case 3:
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// Collect one, two, or three totes, drive to Auto Zone (TM), release totes
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AddSequential(new CollectTote(SmartDashboard::GetNumber("CollectToteTurn")));
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if(SmartDashboard::GetBoolean("Two totes")){
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AddParallel(new Turn(0.81));
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AddSequential(new Raise(3.5));
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AddSequential(new AutoDrive(SmartDashboard::GetNumber("Two Tote Distance"), 0.0, 0.75));
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AddSequential(new CollectTote());
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AddSequential(new Lower(3.0));
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AddSequential(new Raise(3.5));
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if(SmartDashboard::GetBoolean("Three totes")){
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AddSequential(new Turn(3.8));
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AddSequential(new AutoDrive(SmartDashboard::GetNumber("Three Tote Distance"), 0.0, 0.75));
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AddSequential(new CollectTote());
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AddSequential(new Lower(3.0));
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AddSequential(new Raise(3.5));
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}
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}
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AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
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AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0.0, 0.75));
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AddSequential(new ReleaseTote());
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break;
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case 4:
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//Use rear elevator to move tote
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AddSequential(new Turn(1.8));
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AddSequential(new AutoDrive(2.3, 0.0, -0.75));
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AddSequential(new Turn(1.8));
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break;
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case 5:
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//Use rear elevator to move bin
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AddSequential(new BinLower(0.1));
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AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0.0, 0.75));
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AddSequential(new Turn(2.1));
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break;
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case 6:
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//Drive forward and collect a single gray tote
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AddSequential(new Lower(3.0));
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AddSequential(new CollectTote(SmartDashboard::GetNumber("CollectToteTurn")));
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AddSequential(new Lower(3.0));
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AddSequential(new Raise(3.5));
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AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0.0, -0.75));
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default:
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printf("Invalid seq: %d\n", seq);
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break;
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}
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}
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// vim: ts=2:sw=2:et
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