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Code Issues Releases Wiki Activity

Minor improvements on ultrasonic code

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This commit is contained in:
Austen Adler 2014-02-22 23:14:01 +00:00
parent d9de47f247
commit 034d3450f1
1 changed files with 119 additions and 100 deletions
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219
MyRobot.cpp
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@ -1,8 +1,8 @@
//TODO:
//Auto
//Sonar code
#include "WPILib.h"
#include "SmartDashboard/SmartDashboard.h"
//Sonar code
#include "WPILib.h"
#include "SmartDashboard/SmartDashboard.h"
#include "Command.h"
#include <iostream>
#include <math.h>
@ -12,8 +12,8 @@ class RobotDemo : public SimpleRobot
{
RobotDrive myRobot;
float potVal, multiplier, servoXState, servoYState, throttle, ServoXJoyPos, ServoYJoyPos;
int cameraMode, lastToggle;
int cameraPreset, collectorSpeed;
int lastToggle;
int collectorSpeed;
bool collectorExtended, toggleCollector;
bool shooting, compressing;
float DownSpeed, downLimit, upLimit;
@ -26,7 +26,9 @@ class RobotDemo : public SimpleRobot
Compressor compressor;
Jaguar Left1, Left2, Left3, Right1, Right2, Right3, RightArmMotor1, RightArmMotor2, LeftArmMotor1, LeftArmMotor2, CollectorMotor1;
AnalogChannel armPot;
//Ultrasonic
AnalogChannel BallSonicLeft, BallSonicRight, WallSonicLeft, WallSonicRight;
DigitalOutput BallLeft, BallRight, WallLeft, WallRight;
public:
RobotDemo():
//Joysticks
@ -39,6 +41,11 @@ public:
BallSonicRight(2),
WallSonicLeft(3),
WallSonicRight(4),
BallLeft(1,4),
WallLeft(1,5),
BallRight(2,4),
WallRight(2,5),
//Compressor
//compressor(2,3,1,1),
compressor(2, 5, 1, 1), //Solenoids
@ -67,19 +74,17 @@ public:
RightArmMotor1(2, 4),
RightArmMotor2(2, 5),
//Collector Motor
CollectorMotor1(1,6),
myRobot(Left1,Left2,Right1,Right2) {
GetWatchdog().SetEnabled(false);
}
CollectorMotor1(1, 6),
myRobot(Left1, Left2, Right1, Right2) {
GetWatchdog().SetEnabled(false);
}
void RobotInit() {
//Initializing robot
lastToggle = 0;
DashboardSetup();
cameraMode = 0;
servoXState = 90;
servoYState = 90;
multiplier = 1.0f;
cameraPreset = 0;
downLimit = 40;
upLimit = 130;
compressor.Start();
@ -98,21 +103,21 @@ public:
SmartDashboard::PutNumber("armPot", potToDegrees(armPot.GetAverageVoltage()));
SmartDashboard::PutNumber("Log Level", 1);
//Ultrasonic
SmartDashboard::PutNumber("Wall Left", voltToDistance(WallSonicLeft.GetAverageVoltage()));
SmartDashboard::PutNumber("Wall Right", voltToDistance(WallSonicRight.GetAverageVoltage()));
SmartDashboard::PutNumber("Ball Left", voltToDistance(BallSonicLeft.GetAverageVoltage(),false));
SmartDashboard::PutNumber("Ball Right", voltToDistance(BallSonicRight.GetAverageVoltage(),false));
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::PutBoolean("Use ultrasonic",false);
}
void updateDashboard() {
SmartDashboard::PutNumber("Throttle", throttle);
collectorSpeed = SmartDashboard::GetNumber("collectorSpeed");
SmartDashboard::PutNumber("armPot", potToDegrees(armPot.GetAverageVoltage()));
//Ultrasonic
SmartDashboard::PutNumber("Wall Left", voltToDistance(WallSonicLeft.GetAverageVoltage()));
SmartDashboard::PutNumber("Wall Right", voltToDistance(WallSonicRight.GetAverageVoltage()));
SmartDashboard::PutNumber("Ball Left", voltToDistance(BallSonicLeft.GetAverageVoltage(),false));
SmartDashboard::PutNumber("Ball Right", voltToDistance(BallSonicRight.GetAverageVoltage(),false));
SmartDashboard::PutNumber("Tanval", tan((WallSonicLeft.GetAverageVoltage() - WallSonicRight.GetAverageVoltage()) / 18.0f));
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()));
DownSpeed = SmartDashboard::GetNumber("DownSpeed");
downLimit = SmartDashboard::GetNumber("downLimit");
upLimit = SmartDashboard::GetNumber("upLimit");
@ -124,19 +129,26 @@ public:
}
}
void shootRobot(float power=0, bool override=false) {
override=true;
if(!SmartDashboard::GetBoolean("Use ultrasonic")){
override=true;
}
//Needs a limit to help the driver aim
//In this case its checking that we are no more than 15 degrees off
//The override is in place in case an ultrasonic becomes damaged and we are unable to validate the distance through software
float averageAtan = (atan(voltToDistance(WallSonicLeft.GetAverageVoltage())-voltToDistance(WallSonicRight.GetAverageVoltage()))/18.0f);
if(averageAtan<=15&&(voltToDistance(WallSonicLeft.GetAverageVoltage()))<=100&&(voltToDistance(WallSonicRight.GetAverageVoltage()))<=100&&(override==false)){
float averageAtan = atan((abs(voltToDistance(BallSonicLeft.GetAverageVoltage()) - voltToDistance(BallSonicRight.GetAverageVoltage())))/20.0f)*360.0f/(2.0f*3.141592653589793f);
if(override==true){
printf("%f\n",power);
setMotorValue(4, 1, cvt(power));
setMotorValue(5, 1, cvt(power));
setMotorValue(4, 2, cvt(-power));
setMotorValue(5, 2, cvt(-power));
}else if(averageAtan<=30.0f&&(voltToDistance(WallSonicLeft.GetAverageVoltage(),true))<=100&&(voltToDistance(WallSonicRight.GetAverageVoltage(),true))<=100){
setMotorValue(4, 1, cvt(power));
setMotorValue(5, 1, cvt(power));
setMotorValue(4, 2, cvt(-power));
setMotorValue(5, 2, cvt(-power));
}
if(averageAtan>=16.0f&&(voltToDistance(WallSonicLeft.GetAverageVoltage()))<=100&&(voltToDistance(WallSonicRight.GetAverageVoltage()))<=100&&(override==false)){
//If it is above the limit, display a warning but still give the shooter a chance to run
if(averageAtan>=16.0f&&(voltToDistance(WallSonicLeft.GetAverageVoltage(),true))<=100&&(voltToDistance(WallSonicRight.GetAverageVoltage(),true))){
//printf/smartdashboard: warning
setMotorValue(4, 1, cvt(power));
setMotorValue(5, 1, cvt(power));
@ -144,17 +156,10 @@ public:
setMotorValue(5, 2, cvt(-power));
}
//Allow shooting regardless of the angle or distance
if(override==true){
printf("%f\n",power);
setMotorValue(4, 1, cvt(power));
setMotorValue(5, 1, cvt(power));
setMotorValue(4, 2, cvt(-power));
setMotorValue(5, 2, cvt(-power));
}
}
void logMsg(std::string message, int level){
if((int)SmartDashboard::GetNumber("Log Level") % level == 0){
printf((message.append("\n")).c_str());
printf((message+"\n").c_str());
}
}
void driveRobot(float x, float y) {
@ -183,35 +188,13 @@ public:
string s = ss.str();
return s;
}
//camera functions
void camerafaceManual(int changex, int changey) {
servoYState = changey;
servoXState = changex;
setMotorValue(7, 2, servoXState);
setMotorValue(8, 2, servoYState);
}
void cameraReset() {
servoXState = 90;
servoYState = 90;
setMotorValue(7, 2, servoXState);
setMotorValue(8, 2, servoYState);
}
float voltToDistance(float a, bool type=true) {
if(type){
return a / 0.00488f / 2.54f;
float voltToDistance(float a,bool wall=false) {
if(wall){
return (a / 0.00488f) / 2.54f;
}else{
return a / 0.00097656f / 25.4f;
return (a / 0.000976562f) / 25.4f;
}
}
float getAverageDistance(float tests, bool type = true){
float avg = 0;
for(int i = 0;i<tests;i++)
{
avg += (voltToDistance(WallSonicLeft.GetAverageVoltage(),type)+voltToDistance(WallSonicRight.GetAverageVoltage(),type)/2);
}
avg = avg/tests;
return avg;
}
float potToDegrees(float a) {
float max = -.0003948;
float min = 5.0245547;
@ -288,31 +271,78 @@ public:
}
}
void alignRobot() {
float yoyo = atan(voltToDistance(WallSonicLeft.GetAverageVoltage()) - voltToDistance(WallSonicRight.GetAverageVoltage())) / 18.0f;
float yoyo = atan((abs(voltToDistance(BallSonicLeft.GetAverageVoltage()) - voltToDistance(BallSonicRight.GetAverageVoltage())))/20.0f)*360.0f/(2.0f*3.141592653589793f);
SmartDashboard::PutNumber("Distance", yoyo);
}
void Test() {}
// float getSonar(int sonar){
// switch(sonar){
void Test() {
}
void Autonomous() {
int last=(voltToDistance(WallSonicLeft.GetAverageVoltage())+voltToDistance(WallSonicRight.GetAverageVoltage())/2);
myRobot.SetSafetyEnabled(false);
cmd = SmartDashboard::GetString("Auto");
int commandIndex = 0;
int i = 0;
int commandIndex=0;
int i=0;
int cur=0;
int averageAmount=5;
compressing=false;
collectorSole1.Set(false);
collectorSole2.Set(true);
int avgDist=0;
int curDist=0;
int avgDist;
float avgLeft=0;
float avgRight=0;
float curDist;
WallLeft.Set(1);
BallLeft.Set(1);
WallRight.Set(0);
BallRight.Set(0);
float thisIsATest;
while (IsEnabled() && IsAutonomous()) {
if(i<5){
avgDist+=(voltToDistance(WallSonicLeft.GetAverageVoltage())+voltToDistance(WallSonicRight.GetAverageVoltage())/2);
}else if(i==5){
avgDist/=5;
//Collect left average values from cur values 0 to 12
if(cur<12){
WallLeft.Set(1);
BallLeft.Set(1);
WallRight.Set(0);
BallRight.Set(0);
avgLeft+=voltToDistance(WallSonicLeft.GetAverageVoltage());
//After 12 cur iterations, find the average (data was recorded 12 times, divide by 12)
}else if(cur==12){
avgLeft/=12;
//Collect right average values from cur values 38 to 50
}else if(cur<50&&cur>38){
WallLeft.Set(0);
BallLeft.Set(0);
WallRight.Set(1);
BallRight.Set(1);
avgRight+=voltToDistance(WallSonicRight.GetAverageVoltage());
//After 50 cur iterations, find the average (data was recorded 12 times, divide by 12)
}else if(cur==50){
cur=0;
avgRight/=12;
thisIsATest=atan((abs(avgLeft-avgRight))/20.0f)*360.0f/(2.0f*3.141592653589793f);
SmartDashboard::PutNumber("Tanval", atan((abs(avgLeft-avgRight))/20.0f)*360.0f/(2.0f*3.141592653589793f));
}
int tmp=(voltToDistance(WallSonicLeft.GetAverageVoltage())+voltToDistance(WallSonicRight.GetAverageVoltage())/2);
if (i>=10&&tmp>=avgDist-36&&abs(tmp-last)<10.0f) {
driveRobot(1, 0);
} else if (i>1400&&i < 1600 && 125 >= potToDegrees(armPot.GetAverageVoltage())) {
//Calculate the inital distance and average it averageAmount times.
if(i<averageAmount){
avgDist+=(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)+voltToDistance(WallSonicRight.GetAverageVoltage(),true)/2);
}else{
avgDist/=averageAmount;
}
//Calculate the average distance from the wall
curDist=thisIsATest;
if(i%100==0){
printf("Difference: %f\n",avgDist-curDist);
}
if (i>=5&&avgDist-curDist<=36.0f) {
float xPower, yPower;
xPower=1;
yPower=(avgDist-curDist)/36.0f;
if(yPower>1){
yPower=1;
}
driveRobot(yPower, xPower);
setMotorValue(6, 1, 1);
} else if (i>1400&&i<1600&&125>=potToDegrees(armPot.GetAverageVoltage())) {
driveRobot(0, 0);
shootRobot(1, false);
setMotorValue(6, 1, 1);
@ -334,21 +364,31 @@ public:
compressing = true;
logMsg("Starting the compressor",2);
}
last=(voltToDistance(WallSonicLeft.GetAverageVoltage())+voltToDistance(WallSonicRight.GetAverageVoltage())/2);
Wait(0.005f);
printf("%d\n",i);
i++;
cur++;
}
compressing = false;
compressor.Stop();
}
void OperatorControl() {
myRobot.SetSafetyEnabled(false);
int i = 0;
int cur=0;
bool swap=false;
collectorSole1.Set(true);
collectorSole2.Set(false);
compressing = false;
logMsg("Starting Teleop",1);
while (IsEnabled() && IsOperatorControl()) {
if(cur==50){
cur=0;
WallLeft.Set(swap?1:0);
BallRight.Set(swap?1:0);
WallRight.Set(swap?0:1);
BallRight.Set(swap?0:1);
swap=!swap;
}
throttle = (-Lstick.GetRawAxis(4)+1)/2;
driveRobot(Rstick.GetY(),Rstick.GetZ()+Rstick.GetX());
//Log things
@ -368,28 +408,6 @@ public:
logMsg("Starting the compressor... again",2);
}
updateDashboard();
/*
if(LbuttonSevenState) {
cameraPreset++;
if(cameraPreset>3) {
cameraPreset=0;
}
switch(cameraPreset) {
case 0:
camerafaceManual(-90,0);
break;
case 1:
camerafaceManual(90,0);
break;
case 2:
camerafaceManual(0,-90);
break;
case 3:
camerafaceManual(0,90);
break;
}
}
*/
if (Lstick.GetRawButton(1)==1&&(upLimit>=potToDegrees(armPot.GetAverageVoltage()))) {
//Move arm motors based on throttle
if (collectorExtended == false) {
@ -417,8 +435,7 @@ public:
if (collectorExtended == true) {
shootRobot(-DownSpeed, false);
logMsg("Collector is extended, going to fire",17);
}
} else {
} } else {
shooting = false;
//Stop all motors
shootRobot(0, true);
@ -439,9 +456,11 @@ public:
} else if (!shooting) {
setMotorValue(6, 1, 0);
}
cur++;
i++;
Wait(0.005f);
}
}
};
START_ROBOT_CLASS(RobotDemo);