zaphod/MyRobot.cpp

//Add a button on joystick that activates "auto" to drive to 40 inches away and another to shoot when at 40 inches away (use the little joystick on both drive and shooter stick)
//Sonar in auto: drive till 40in away (dashboard value) and shoot
//Includes{{{
#include "WPILib.h"
#include "SmartDashboard/SmartDashboard.h"
#include <iostream>
#include <math.h>
#include <vector>
#include <sstream>
//}}}
class RobotDemo : public SimpleRobot
{
  //Declarations{{{
  RobotDrive myRobot;
  float potVal, multiplier, throttle;
  bool collectorExtended, shooting, compressing, allowCompressing;
  float upLimit;
  Joystick Rstick, Lstick;
  Solenoid collectorSole1, collectorSole2;
  Compressor compressor;
  Jaguar Left1, Left2, Left3, Right1, Right2, Right3, RightArmMotor1, RightArmMotor2, LeftArmMotor1, LeftArmMotor2, CollectorMotor1;
  AnalogChannel armPot;
  AnalogChannel BallSonicLeft, BallSonicRight, WallSonicLeft, WallSonicRight;
  DigitalOutput BallLeft, BallRight, WallLeft, WallRight;
  //}}}
public:
  RobotDemo():
    //Initializations{{{
    //Joysticks
    Rstick(1),
    Lstick(2),
    //Pot
    armPot(6),
    //Ultrasonic
    BallSonicLeft(1),
    BallSonicRight(2),
    WallSonicLeft(3),
    WallSonicRight(4),
    BallLeft(1,4),
    WallLeft(1,5),
    BallRight(2,4),
    WallRight(2,5),
    //Compressor
    compressor(2, 5, 1, 1),
    //Solenoids
    collectorSole1(1),
    collectorSole2(2),
    //Drive Motors
    Left1(1,1),
    Left2(1,2),
    Left3(1,3),
    Right1(2,1),
    Right2(2,2),
    Right3(2,3),
    //Shooter Motors
    LeftArmMotor1(1, 4),
    LeftArmMotor2(1, 5),
    RightArmMotor1(2, 4),
    RightArmMotor2(2, 5),
    //Collector Motor
    CollectorMotor1(1, 6),
    myRobot(Left1, Left2, Right1, Right2) {
      GetWatchdog().SetEnabled(false);
    }
    //}}}
  //RobotInit{{{
  void RobotInit() {
    DashboardSetup();
    multiplier = 1.0f;
    upLimit = 130.0;
    compressor.Start();
    shooting = false;
    compressing = true;
    allowCompressing = true;
    throttle=0;
  }
  //}}}
  //DashboardSetup{{{
  void DashboardSetup() {
    SmartDashboard::PutNumber("Throttle", throttle);
    SmartDashboard::PutNumber("upLimit", 120.0f);
    SmartDashboard::PutNumber("armPot", potToDegrees(armPot.GetAverageVoltage()));
    SmartDashboard::PutNumber("Log Level", 1);
    //Ultrasonic
    SmartDashboard::PutNumber("Wall Left", voltToDistance(WallSonicLeft.GetAverageVoltage(),true));
    SmartDashboard::PutNumber("Wall Right", voltToDistance(WallSonicRight.GetAverageVoltage(),true));
    SmartDashboard::PutNumber("Ball Left", voltToDistance(BallSonicLeft.GetAverageVoltage()));
    SmartDashboard::PutNumber("Ball Right", voltToDistance(BallSonicRight.GetAverageVoltage()));
    //Autonomous values
    SmartDashboard::PutNumber("AutoPower",0.455f);
    SmartDashboard::PutNumber("AutoCorrection",0.06f);
    SmartDashboard::PutNumber("Inital Drive Timeout", 2.5f);
    SmartDashboard::PutNumber("First Shot Start", 0.5f);
    SmartDashboard::PutNumber("First Shot Stop", 1.0f);
    SmartDashboard::PutNumber("Reverse direction start",0.0f);
    SmartDashboard::PutNumber("Reverse direction stop",2.5f);
    SmartDashboard::PutNumber("Second Drive Start", 1.0f);
    SmartDashboard::PutNumber("Second Drive Timeout", 2.5f);
    SmartDashboard::PutNumber("Second Shot Start", 0.5f);
    SmartDashboard::PutNumber("Second Shot Stop", 1.0f);
    SmartDashboard::PutNumber("Autonomous step",0.0f);
    SmartDashboard::PutNumber("Autonomous sequence", 0.0f);
    //Shooter presets
    SmartDashboard::PutNumber("ShortRange",0.465f); //Power for the shooter when against the low goal
    SmartDashboard::PutNumber("ShooterButtonPower10",0.605f);
    SmartDashboard::PutNumber("ShooterButtonPower7",1.0f);
    SmartDashboard::PutNumber("ShooterButtonPower8",0.5f);
    //Bool switches
    SmartDashboard::PutBoolean("OneBallAuto",false);
    SmartDashboard::PutBoolean("Use Ultrasonic",true);
    SmartDashboard::PutBoolean("Daniel Mode",false);
    SmartDashboard::PutBoolean("CollectorState",false);
    SmartDashboard::PutBoolean("Compressor Enabled", allowCompressing);
    SmartDashboard::PutBoolean("Compressor Running", compressing);
    SmartDashboard::PutBoolean("Ignore Pot",false);
    //Battery voltage
  }
  //}}}
  //updateDashboard{{{
  void updateDashboard() {
    SmartDashboard::PutNumber("Throttle", throttle);
    SmartDashboard::PutNumber("armPot", potToDegrees(armPot.GetAverageVoltage()));
    SmartDashboard::PutNumber("Wall Left", voltToDistance(WallSonicLeft.GetAverageVoltage(),true));
    SmartDashboard::PutNumber("Wall Right", voltToDistance(WallSonicRight.GetAverageVoltage(),true));
    SmartDashboard::PutNumber("Ball Left", voltToDistance(BallSonicLeft.GetAverageVoltage()));
    SmartDashboard::PutNumber("Ball Right", voltToDistance(BallSonicRight.GetAverageVoltage()));
    SmartDashboard::PutNumber("upLimit", upLimit);
    SmartDashboard::PutBoolean("Compressor Running", compressing);
    allowCompressing = SmartDashboard::GetBoolean("Compressor Enabled");
    if(upLimit > 167) {
      upLimit = 167;
    }
  }
  //}}}
    //shootRobot{{{
    void shootRobot(float power=0) {
      setMotorValue(4, 1, cvt(power));
      setMotorValue(5, 1, cvt(power));
      setMotorValue(4, 2, cvt(-power));
      setMotorValue(5, 2, cvt(-power));
    }
  //}}}
  //logMsg{{{
  void logMsg(std::string message, int level) {
    if((int)SmartDashboard::GetNumber("Log Level") % level == 0) {
      printf((message+"\n").c_str());
    }
  }
  //}}}
    //toString{{{
    template<typename numbertype> string toString(numbertype a) {
      stringstream ss;
      ss<<a;
      string s = ss.str();
      return s;
    }
  //}}}
    //driveRobot{{{
    void driveRobot(float x, float y) {
      if(y>1.0f) {
        y=1.0f;
      } else if(y!=0.0f&&y<-1.0f) {
        y=-1.0f;
      }
      int leftPower = ((y+x)/2+1)*127+1;
      int rightPower = ((y-x)/2+1)*127+1;
      //logMsg("leftPower: "+toString<int>(leftPower),3);
      //logMsg("rightPower: "+toString<int>(rightPower),3);
      //logMsg("JoyX: "+toString<float>(Rstick.GetX()),3);
      //logMsg("JoyY: "+toString<float>(Rstick.GetY()),3);
      setMotorValue(1, 1, leftPower);
      setMotorValue(2, 1, leftPower);
      setMotorValue(3, 1, leftPower);
      setMotorValue(1, 2, rightPower);
      setMotorValue(2, 2, rightPower);
      setMotorValue(3, 2, rightPower);
    }
  //}}}
  //voltToDistance{{{
  float voltToDistance(float a,bool wall=false) {
    if(wall) {
      return (a / 0.00488f) / 2.54f;
    } else {
      return (a / 0.000976562f) / 25.4f;
    }
  }
  //}}}
  //potToDegrees{{{
  float potToDegrees(float a) {
    float max = -.0003948;
    float min = 5.0245547;
    float b = a - max;
    min = min - max; // ~5.0027
    max = max - max; //=0
    return 300 - ((b + max) * (300 / min));
  }
  //}}}
  //cvt{{{
  int cvt(float input) {
    return input * 127.0f + 128;
  }
  //}}}
  //setMotorValue{{{
  void setMotorValue(int motor, int subwayStation = 1, int value = 127) {
    if(subwayStation == 1) {
      //subwayStation1{{{
      switch(motor) {
        case 1:
          Left1.SetRaw(value);
          break;
        case 2:
          Left2.SetRaw(value);
          break;
        case 3:
          Left3.SetRaw(value);
          break;
        case 4:
          LeftArmMotor1.SetRaw(value);
          break;
        case 5:
          LeftArmMotor2.SetRaw(value);
          break;
        case 6:
          CollectorMotor1.SetRaw(value);
          break;
        case 7:
          break;
        case 8:
          break;
        case 9:
          break;
        case 10:
          break;
      }
      //}}}
    } else if(subwayStation == 2) {
      //subwayStation2{{{
      switch(motor) {
          //Shooter motors
        case 1:
          Right1.SetRaw(value);
          break;
        case 2:
          Right2.SetRaw(value);
          break;
        case 3:
          Right3.SetRaw(value);
          break;
        case 4:
          RightArmMotor1.SetRaw(value);
          break;
        case 5:
          RightArmMotor2.SetRaw(value);
          break;
        case 6:
          break;
        case 7:
          break;
        case 8:
          break;
        case 9:
          break;
        case 10:
          break;
      }
      //}}}
    }
  }
  //}}}
  //Test{{{
  void Test() {
  }
  //}}}
  //Autonomous{{{
  void Autonomous() {
    //Initializations{{{
    myRobot.SetSafetyEnabled(false);
    int i=0;
    int c=0;
    float power=SmartDashboard::GetNumber("AutoPower");
    float correction=SmartDashboard::GetNumber("AutoCorrection");
    int currentStep=0;
    compressing=false;
    collectorSole1.Set(false);
    collectorSole2.Set(true);
    WallLeft.Set(1);
    BallLeft.Set(0);
    WallRight.Set(1);
    BallRight.Set(0);
    SmartDashboard::PutBoolean("CollectorState",true);
    //}}}
    while(IsEnabled()&&IsAutonomous()) {
      if(SmartDashboard::GetNumber("Autonomous Sequence")==0){
        //Autonomous0{{{
        //Drive{{{
        if(currentStep==0){
          if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=40.0f){
            driveRobot(1.0f,correction);
          }else{
            driveRobot(0.0f,0.0f);
          }
          if(c==SmartDashboard::GetNumber("Inital Drive Timeout")*200){
            driveRobot(0.0f,0.0f);
            currentStep++;
            c=0;
          }
        }
        //}}}
        //Shoot{{{
        if(currentStep==1&&c>SmartDashboard::GetNumber("First Shot Start")*200){
          if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){
            shootRobot(power);
          }else{
            shootRobot(0.0f);
          }
          setMotorValue(6, 1, 1);
          if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){
            shootRobot(0.0f);
            setMotorValue(6, 1, 0);
            currentStep++;
            c=0;
          }
        }
        //}}}
        //Lower Shooter{{{
        if(currentStep==2&&c>SmartDashboard::GetNumber("Reverse direction start")*200){
          driveRobot(-1.0f,correction);
          if(40.0f<=potToDegrees(armPot.GetAverageVoltage())){
            shootRobot(-0.3f);
          }else{
            shootRobot(0.0f);
          }
          if(c==(3.0f)*200){
            shootRobot(0.0f);
            currentStep++;
            c=0;
          }
        }
        //}}}
        //}}}
      }else if(SmartDashboard::GetNumber("Autonomous Sequence")==1){
        //Autonomous1{{{
        //Drive{{{
        if(currentStep==0){
          if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=40.0f){
            driveRobot(1.0f,correction);
          }else{
            driveRobot(0.0f,0.0f);
          }
          if(c==SmartDashboard::GetNumber("Inital Drive Timeout")*200){
            driveRobot(0.0f,0.0f);
            currentStep++;
            c=0;
          }
        }
        //}}}
        //Shoot{{{
        if(currentStep==1&&c>SmartDashboard::GetNumber("First Shot Start")*200){
          if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){
            shootRobot(power);
          }else{
            shootRobot(0.0f);
          }
          setMotorValue(6, 1, 1);
          if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){
            shootRobot(0.0f);
            setMotorValue(6, 1, 0);
            currentStep++;
            c=0;
          }
        }
        //}}}
        //Drive Backwards{{{
        if(currentStep==2&&c>SmartDashboard::GetNumber("Reverse direction start")*200){
          driveRobot(-1.0f,correction);
          if(40.0f<=potToDegrees(armPot.GetAverageVoltage())){
            shootRobot(-0.2f);
          }else{
            shootRobot(0.0f);
          }
          if(c==(SmartDashboard::GetNumber("Reverse direction stop"))*200){
            driveRobot(0.0f,0.0f);
            shootRobot(0.0f);
            currentStep++;
            c=0;
          }
        }
        //}}}
        //Drive{{{
        if(currentStep==3&&c>SmartDashboard::GetNumber("Second Drive Start")*200){
          if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=40.0f){
            driveRobot(1.0f,correction);
          }else{
            driveRobot(0.0f,0.0f);
          }
          if(c==(SmartDashboard::GetNumber("Inital Drive Timeout"))*200){
            driveRobot(0.0f,0.0f);
            currentStep++;
            c=0;
          }
        }
        //}}}
        //Shoot{{{
        if(currentStep==4&&c>(SmartDashboard::GetNumber("Second Shot Start"))*200){
          if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){
            shootRobot(power);
          }else{
            shootRobot(0.0f);
          }
          setMotorValue(6, 1, 1);
          if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){
            shootRobot(0.0f);
            setMotorValue(6, 1, 0);
            currentStep++;
            c=0;
          }
        }
        //}}}
        //}}}
      }else if(SmartDashboard::GetNumber("Autonomous Sequence")==2){
        //Autonomous2{{{
        //Drive{{{
        if(currentStep==0){
          if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=40.0f){
            driveRobot(1.0f,correction);
          }else{
            driveRobot(0.0f,0.0f);
          }
          if(c==SmartDashboard::GetNumber("Inital Drive Timeout")*200){
            driveRobot(0.0f,0.0f);
            currentStep++;
            c=0;
          }
        }
        //}}}
        //Release Ball{{{
        if(currentStep==1){
          setMotorValue(6, 1, 102);
          if(c==50){
            currentStep++;
            c=0;
          }
        }
        //}}}
        //Shoot{{{
        if(currentStep==2&&c>SmartDashboard::GetNumber("First Shot Start")*200){
          if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){
            shootRobot(power);
          }else{
            shootRobot(0.0f);
          }
          setMotorValue(6, 1, 1);
          if(c==SmartDashboard::GetNumber("First Shot Stop")*200){
            shootRobot(0.0f);
            setMotorValue(6, 1, 0);
            currentStep++;
            c=0;
          }
        }
        //}}}
        //Lower Shooter{{{
        if(currentStep==3){
          if(40.0f<=potToDegrees(armPot.GetAverageVoltage())){
            shootRobot(-0.3f);
          }else{
            shootRobot(0.0f);
          }
          if(c==1*200){
            shootRobot(0.0f);
            currentStep++;
            c=0;
          }
        }
        //}}}
        //Collect Ball{{{
        if(currentStep==4&&c>SmartDashboard::GetNumber("Second Shot Start")){
          setMotorValue(6, 1, 1);
          if(c==SmartDashboard::GetNumber("Second Shot Stop")*200){
            setMotorValue(6, 1, 0);
            currentStep++;
            c=0;
          }
        }
        //}}}
        //Shoot{{{
        if(currentStep==5&&c>(SmartDashboard::GetNumber("Second Shot Start"))*200){
          if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){
            shootRobot(power);
          }else{
            shootRobot(0.0f);
          }
          setMotorValue(6, 1, 1);
          if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){
            setMotorValue(6, 1, 0);
            shootRobot(0.0f);
            currentStep++;
            c=0;
          }
        }
        //}}}
        //}}}
      }
      SmartDashboard::PutNumber("Autonomous step", currentStep);
      updateDashboard();
      //Compressor{{{
      if(i % 100 == 0 && compressing && compressor.GetPressureSwitchValue() == 1) {
        compressor.Stop();
        compressing = false;
        logMsg("Stopping the compressor",2);
      }
      if(i % 100 == 0 && !compressing && compressor.GetPressureSwitchValue() == 0) {
        compressor.Start();
        compressing = true;
        logMsg("Starting the compressor",2);
      }
      //}}}
      i++;
      c++;
      Wait(0.005f);
    }
    compressing = false;
    compressor.Stop();
  }
  //}}}
  //Teleop{{{
  void OperatorControl() {
    //Initializations{{{
    myRobot.SetSafetyEnabled(false);
    int i = 0;
    int cur=0;
    bool swap=false;
    collectorSole1.Set(true);
    collectorSole2.Set(false);
    compressing = false;
    logMsg("Starting Teleop",1);
    SmartDashboard::PutBoolean("CollectorState",false);
    //}}}
    while(IsEnabled() && IsOperatorControl()) {
      //Joystick{{{
      if(Lstick.GetRawButton(9)==1){
        throttle = (-Lstick.GetRawAxis(4)+1)/2;
      }else if(Lstick.GetRawButton(10)){
        throttle = SmartDashboard::GetNumber("ShooterButtonPower10");
      }else if(Lstick.GetRawButton(7)){
        throttle = SmartDashboard::GetNumber("ShooterButtonPower7");
      }else if(Lstick.GetRawButton(8)){
        throttle = SmartDashboard::GetNumber("ShooterButtonPower8");
      }
      if(Lstick.GetRawButton(3)){
        upLimit=100.0f;
      }
      if(Lstick.GetRawButton(4)){
        upLimit=120.0f;
      }
      if(Lstick.GetRawButton(5)){
        upLimit=90.0f;
      }
      if(Lstick.GetRawButton(6)){
        upLimit=130.0f;
      }
      if(Lstick.GetRawButton(1)==1) {
        //Shoot{{{
        shooting = true;
        logMsg("Firing",13);
        logMsg("Collector is extended, going to fire",17);
        shootRobot(throttle);
        setMotorValue(6, 1, 1);
        if(collectorExtended == false) {
          shooting = false;
          logMsg("Collector is NOT extended, not going to fire",17);
        }
        if(collectorExtended == true&&(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage()))) {
          shooting = true;
          logMsg("Firing",13);
          logMsg("Collector is extended, going to fire",17);
          shootRobot(throttle);
          setMotorValue(6, 1, 1);
        }
        //}}}
      } else if(Lstick.GetRawButton(2)==1) {
        //Lower Shooter{{{
        shooting = false;
        shootRobot(-0.1f);
        if(collectorExtended == false) {
          logMsg("Collector is not extended, not going to fire",17);
        }
        if(collectorExtended == true) {
          shootRobot(-0.1f);
          logMsg("Collector is extended, going to fire",17);
        }
        //}}}
      } else {
        //Stop Shooting{{{
        shooting = false;
        shootRobot(0);
        //}}}
      }
      if(Rstick.GetRawButton(9)==1) {
        //Extend Collector{{{
        SmartDashboard::PutBoolean("CollectorState",true);
        collectorExtended = true;
        collectorSole1.Set(false);
        collectorSole2.Set(true);
        //}}}
      } else if(Rstick.GetRawButton(10)==1) {
        //Retract Collector{{{
        SmartDashboard::PutBoolean("CollectorState",false);
        collectorExtended = false;
        collectorSole1.Set(true);
        collectorSole2.Set(false);
        //}}}
      }
      //Collector Motor{{{
      if(Lstick.GetRawButton(11)==1) {
        setMotorValue(6, 1, 1);
      } else if(Lstick.GetRawButton(12)==1) {
        setMotorValue(6, 1, 255);
      } else if(!shooting) {
        setMotorValue(6, 1, 0);
      }
      //}}}
      //}}}
      //Driving{{{
      if(Rstick.GetRawButton(1)){
        if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=40.0f){
          driveRobot(1.0f,SmartDashboard::GetNumber("AutoCorrection"));
        }else{
          driveRobot(0.0f,0.0f);
        }
      }else{
        if(SmartDashboard::GetBoolean("Daniel Mode")) {
          driveRobot(-Rstick.GetY(),Rstick.GetZ()+Rstick.GetX());
        } else {
          driveRobot(Rstick.GetY(),Rstick.GetZ()+Rstick.GetX());
        }
      }
      //}}}
      //Compressor{{{
      if(SmartDashboard::GetBoolean("Compressor Enabled")){
        if(i % 100 == 0 && compressing && compressor.GetPressureSwitchValue() == 1) {
          compressor.Stop();
          compressing = false;
          logMsg("Stopping the compressor",2);
        }
        if(i % 100 == 0 && !compressing && compressor.GetPressureSwitchValue() == 0) {
          compressor.Start();
          compressing = true;
          logMsg("Starting the compressor... again",2);
        }
      }
      //}}}
      updateDashboard();
      cur++;
      i++;
      Wait(0.005f);
    }
    compressing = false;
    compressor.Stop();
  }
  //}}}
};
START_ROBOT_CLASS(RobotDemo);