mirror of
https://github.com/team2059/Dent
synced 2024-12-28 21:02:30 -05:00
71 lines
3.1 KiB
Markdown
71 lines
3.1 KiB
Markdown
# Dent
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[The Hitchhikers](http://team2059.org) 2015 robot
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### Features
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#### Subsystems
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+ [Mecanum drivetrain](Subsystems/Drivetrain.cpp)
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+ [Collector](Subsystems/Collector.cpp) to collect totes in main elevator
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+ [Internal elevator](Subsystems/Elevator.cpp) for totes
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+ [External elevator](Subsystems/BinElevator.cpp) for bins or totes
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+ [Pneumatics](Subsystems/Pneumatics.cpp) for opening/closing bin elevator arms (unused)
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#### Sensors
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+ [Ultrasonic](Subsystems/Collector.cpp#L9) to check if a tote is in the robot (unused)
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+ [hall effect sensors](Subsystems/Elevator.cpp#L6-L8) to check the elevator's position
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#### Automated Commands
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+ [AutoDrive](Commands/Autonomous/AutoDrive.cpp) to drive forward without a joystick
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+ [CollectTote](Commands/Autonomous/CollectTote.cpp) to drive forwards and roll in collectors in parallel
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+ [ReleaseTote](Commands/Autonomous/ReleaseTote.cpp) to drive backwards and roll out collectors in parallel
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+ [Turn](Commands/Autonomous/Turn.cpp) to turn the robot
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### Running the code
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#### Setup (for Linux)
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+ Make sure you have the [toolchain](http://first.wpi.edu/FRC/roborio/toolchains/) installed
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+ Edit the path of WPILib and the REMOTEIP on the Makefile
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+ Run `make putkey` to put the public key on the rrio for faster deploying (optional)
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#### Building
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+ Run `make && make deploy`
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+ Run `ssh admin@rrio-ip.local '/home/lvuser/FRCUserProgram'` to execute the program
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### Usage
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#### Left Joystick (USB 0)
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+ X-Axis - Drive forwards and backwards
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+ Y-Axis - Strafes left and right
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+ Z-Axis - Turns left and right
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+ Throttle - Adjusts collector speed
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+ Button 1 - Collect totes
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+ Button 2 - Eject totes
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#### Right Joystick (USB 1)
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+ Button 3 - Lowers bin elevator
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+ Button 4 - Lowers main elevator
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+ Button 5 - Raises bin elevator
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+ Button 6 - Raises main elevator
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+ Button 7 - Runs an elevator cycle
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+ Button 12 - Cancel raising and lowering for both elevators
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### Dashboard
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#### Configuration
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+ CodeVersion - The current version of the code
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+ Auto Wait Time - The amount of time to wait for any autonomous to run (default: 2.0)
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+ Two totes - Collect a second tote if using Auto Sequence 4 or 5 (default: true)
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+ Three totes - Collect a third tote if using Auto Sequence 4 or 5 (default: false)
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+ Auto Zone Distance - Amount of time in seconds to drive to the auto zone (default: 2.1)
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+ 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)
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+ Auto Bin Distance - Amount of time in seconds to drive to a bin if using Auto Sequence 6 or 7 (default: 0.5)
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+ TurnAmount - Amount of time in seconds to turn the robot 90 degrees
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+ Elevator Bottom - Status of the bottom elevator sensor
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+ Elevator Top - Status of the top elevator sensor
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+ Auto Sequence - The sequence of autonomous to run
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#### Autonomous
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1. Drive to auto zone, turn
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2. Lower BinElevator, collect bin, turn, drive to AutoZone, turn
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3. Raise BinElevator, turn, drive to AutoZone, turn
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4. Collect 1, 2, or 3 totes, turn, drive to AutoZone, turn
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5. Same as auto 4, but navigate around bins (not implemented)
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6. Collect 1 bin then 1 tote (not implemented)
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7. Collect 3 totes, collect bin, drive to AutoZone (not implemented)
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