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Code Issues Releases Wiki Activity

Removed unused vars and added a step counter to the dashboard

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This commit is contained in:
Adam Long 2014-03-07 00:54:28 +00:00
parent aab9572a48
commit 04dbdde8b5
1 changed files with 13 additions and 17 deletions
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30
MyRobot.cpp
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@ -70,7 +70,6 @@ public:
void DashboardSetup() {
SmartDashboard::PutNumber("Throttle", throttle);
SmartDashboard::PutNumber("upLimit", 120.0f);
//SmartDashboard::PutString("Auto", cmd);
SmartDashboard::PutNumber("armPot", potToDegrees(armPot.GetAverageVoltage()));
SmartDashboard::PutNumber("Log Level", 1);
//Ultrasonic
@ -79,16 +78,12 @@ public:
SmartDashboard::PutNumber("Ball Left", voltToDistance(BallSonicLeft.GetAverageVoltage()));
SmartDashboard::PutNumber("Ball Right", voltToDistance(BallSonicRight.GetAverageVoltage()));
//Autonomous values
SmartDashboard::PutNumber("AutoDistance",350.0f);
SmartDashboard::PutNumber("AutoYValue",350.0f);
SmartDashboard::PutNumber("AutoPower",0.455f);
SmartDashboard::PutNumber("AutoAngle",130.0f);
SmartDashboard::PutNumber("AutoCorrection",0.06f);
SmartDashboard::PutNumber("Inital Drive Timeout", 2);
SmartDashboard::PutNumber("First Shot Start", 2.5);
SmartDashboard::PutNumber("First Shot Stop", 3);
SmartDashboard::PutNumber("Reverse direction start",3.5);
SmartDashboard::PutNumber("Reverse direction stop",5.5);
SmartDashboard::PutNumber("Autonomous step",0);
//Shooter presets
SmartDashboard::PutNumber("ShortRange",0.465f); //Power for the shooter when against the low goal
SmartDashboard::PutNumber("ShooterButtonPower10",0.605f);
@ -237,25 +232,22 @@ public:
}
void Autonomous() {
myRobot.SetSafetyEnabled(false);
int avgDist;
int commandIndex=0;
int averageAmount=5;
int i=0;
int c=0;
float initalDriveTimeout=(SmartDashboard::GetNumber("Inital Drive Timeout"))*200;
//Incase the wall ultrasonic fails, there will be a timeout that will force the motors to stop after a given time.
float startShootingFirst=(SmartDashboard::GetNumber("First Shot Start"))*200;
float initalDriveTimeout=(SmartDashboard::GetNumber("Inital Drive Timeout"))*200;
//The time when the shooter motors will begin to fire the ball
float stopShootingFirst=(SmartDashboard::GetNumber("First Shot Stop"))*200;
float startShootingFirst=(SmartDashboard::GetNumber("First Shot Start"))*200;
//The time when the shooter motors will stop (set power to 0)
float getSecondBallStart=(SmartDashboard::GetNumber("Reverse direction start"))*200;
float stopShootingFirst=(SmartDashboard::GetNumber("First Shot Stop"))*200;
//The time to start when getting the second ball
float getSecondBallStop=(SmartDashboard::GetNumber("Reverse direction stop"))*200;
float getSecondBallStart=(SmartDashboard::GetNumber("Reverse direction start"))*200;
//The time to stop when getting the second ball
float power=SmartDashboard::GetNumber("AutoPower");
float getSecondBallStop=(SmartDashboard::GetNumber("Reverse direction stop"))*200;
//The power the shooter will use (in a percent)
float correction=SmartDashboard::GetNumber("AutoCorrection");
float power=SmartDashboard::GetNumber("AutoPower");
//The correction value for the X axis
float correction=SmartDashboard::GetNumber("AutoCorrection");
compressing=false;
collectorSole1.Set(false);
collectorSole2.Set(true);
@ -266,6 +258,8 @@ public:
SmartDashboard::PutBoolean("CollectorState",true);
while(IsEnabled()&&IsAutonomous()) {
if(i-c==0){ //The first statement to check for. Will run at start because i-c will be 0 (shouldn't need to be changed)
//Displays the step that is currently running in Autonomous
SmartDashboard::PutNumber("Autonomous step", i-c);
if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=40.0f){ //Particular only to the first drive step
driveRobot(1.0f,correction);
}
@ -276,11 +270,13 @@ public:
}
}
if(i-c==1&&c>startShootingFirst){ //The next 'step' in auto, shooting the motors when startShootingFirst is true
//Displays the step that is currently running in Autonomous
SmartDashboard::PutNumber("Autonomous step", i-c);
shootRobot(power);
if(c==stopShootingFirst){ //Stop the motors when the end time is reached
shootRobot(0.0f);
i=2; //Run step 2 next
c=0;
c=0; //Reset the timer again
}
}
updateDashboard();