mirror of
https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
59 lines
2.1 KiB
C++
59 lines
2.1 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 "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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//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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AddSequential(new CollectTote());
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AddSequential(new Turn(90));
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break;
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case 1:
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// Wait a desigated value, drive to Auto Zone (TM)
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Wait(SmartDashboard::GetNumber("Auto Wait Time"));
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AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), -0.75));
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break;
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case 2:
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// Get one tote and go to Auto Zone (TM)
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AddSequential(new CollectTote());
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AddSequential(new Turn(90));
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AddSequential(new ReleaseTote());
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break;
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case 3:
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// Collect three totes, drive to Auto Zone (TM)
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printf("Waiting: %f\n",SmartDashboard::GetNumber("Auto Wait Time"));
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Wait(SmartDashboard::GetNumber("Auto Wait Time"));
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printf("Done");
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AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), -0.75));
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AddSequential(new CollectTote());
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AddSequential(new Raise());
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AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), -0.75));
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AddSequential(new CollectTote());
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AddSequential(new Lower());
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AddSequential(new Raise());
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printf("Three totes?: %d\n",SmartDashboard::GetBoolean("Three totes"));
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if(SmartDashboard::GetBoolean("Three totes")){
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AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), -0.75));
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AddSequential(new CollectTote());
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AddSequential(new Lower());
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AddSequential(new Raise());
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}
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AddSequential(new Turn(90));
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AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), -0.75));
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AddSequential(new ReleaseTote());
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break;
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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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