mirror of
https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
83 lines
3.2 KiB
C++
83 lines
3.2 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){
|
|
Wait(SmartDashboard::GetNumber("Auto Wait Time"));
|
|
switch(seq){
|
|
case 0:
|
|
// Just for testing
|
|
// Turn testing
|
|
AddSequential(new Turn(3.8));
|
|
break;
|
|
case 1:
|
|
// Drive to Auto Zone (TM)
|
|
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0.0, -0.8, 0.01));
|
|
AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
|
|
break;
|
|
case 2:
|
|
// Lower BinElevator, collect bin, turn, drive to AutoZone (TM)
|
|
AddSequential(new BinLower(0.5));
|
|
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Bin Distance"), 0.0, 0.75));
|
|
AddSequential(new BinRaise(1.0));
|
|
AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
|
|
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0.0, -0.75));
|
|
AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
|
|
break;
|
|
case 3:
|
|
// Collect a tote with BinElevator, turn, drive to Auto Zone (TM)
|
|
AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
|
|
AddSequential(new BinRaise(1.2));
|
|
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0.0, -0.75));
|
|
AddSequential(new BinLower(1.0));
|
|
AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
|
|
break;
|
|
case 4:
|
|
// Collect one, two, or three totes, drive to Auto Zone (TM), release totes
|
|
AddSequential(new CollectTote(SmartDashboard::GetNumber("CollectToteTurn")));
|
|
if(SmartDashboard::GetBoolean("Two totes")){
|
|
AddParallel(new Turn(0.81));
|
|
AddSequential(new Raise(3.5));
|
|
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Two Tote Distance"), 0.0, 0.75));
|
|
AddSequential(new CollectTote());
|
|
AddSequential(new Lower(3.0));
|
|
AddSequential(new Raise(3.5));
|
|
if(SmartDashboard::GetBoolean("Three totes")){
|
|
AddSequential(new Turn(3.8));
|
|
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Three Tote Distance"), 0.0, 0.75));
|
|
AddSequential(new CollectTote());
|
|
AddSequential(new Lower(3.0));
|
|
AddSequential(new Raise(3.5));
|
|
}
|
|
}
|
|
AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
|
|
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0.0, 0.75));
|
|
AddSequential(new ReleaseTote());
|
|
break;
|
|
case 5:
|
|
// Same as auto 4, but navigate around bins
|
|
//TODO: Implement this
|
|
break;
|
|
case 6:
|
|
// Collect 1 bin and 1 tote
|
|
//TODO: Implement this
|
|
break;
|
|
case 7:
|
|
// Same as auto 4 with (Three|Two) totes checked, collect bin, drive to Auto Zone (TM), release totes
|
|
//TODO: Implement this
|
|
break;
|
|
default:
|
|
printf("Invalid seq: %d\n", seq);
|
|
break;
|
|
}
|
|
}
|
|
// vim: ts=2:sw=2:et
|