mirror of
https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
86 lines
3.3 KiB
C++
86 lines
3.3 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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//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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// Strafe at .25 power
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AddSequential(new AutoDrive(0.5, 0.25, 0.0));
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break;
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case 1:
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// 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"), 0.0, -0.8));
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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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// Lower BinElevator, collect bin, turn, drive to AutoZone (TM)
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AddSequential(new BinLower(0.5));
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AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Bin Distance"), 0, 0.75));
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AddSequential(new BinRaise(1.0));
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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 Turn(SmartDashboard::GetNumber("TurnAmount")));
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break;
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case 3:
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// Collect a tote with BinElevator, turn, drive to Auto Zone (TM)
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Wait(SmartDashboard::GetNumber("Auto Wait Time"));
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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 4:
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// Collect one, two, or three totes, drive to Auto Zone (TM), release totes
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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 CollectTote());
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if(SmartDashboard::GetBoolean("Two totes")){
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AddSequential(new Raise(3.5));
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AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), 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 AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), 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, 0.75));
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AddSequential(new ReleaseTote());
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break;
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case 5:
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// Same as auto 4, but navigate around bins
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//TODO: Implement this
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break;
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case 6:
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// Collect 1 bin and 1 tote
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//TODO: Implement this
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break;
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case 7:
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// Same as auto 4 with (Three|Two) totes checked, collect bin, drive to Auto Zone (TM), release totes
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//TODO: Implement this
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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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