mirror of
https://github.com/team2059/Zaphod
synced 2025-01-07 22:14:14 -05:00
Fixed up code after car voyage... Preparing to add ultrasonic code
This commit is contained in:
parent
938a8b74f8
commit
0b57a289ce
206
MyRobot.cpp
206
MyRobot.cpp
@ -1,4 +1,3 @@
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//TODO this
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//Sonar code
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#include "WPILib.h"
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#include "SmartDashboard/SmartDashboard.h"
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@ -27,8 +26,12 @@ class RobotDemo : public SimpleRobot
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//Ultrasonic
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AnalogChannel BallSonicLeft, BallSonicRight, WallSonicLeft, WallSonicRight;
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DigitalOutput BallLeft, BallRight, WallLeft, WallRight;
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//DigitalInput ballLimit;
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public:
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RobotDemo():
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//Limit Switches
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//TODO
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//ballLimit(),
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//Joysticks
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Rstick(1),
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Lstick(2),
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@ -44,8 +47,8 @@ public:
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BallRight(2,4),
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WallRight(2,5),
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//Compressor
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//compressor(2,3,1,1),
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compressor(2, 5, 1, 1), //Solenoids
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compressor(2, 5, 1, 1),
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//Solenoids
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collectorSole1(1),
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collectorSole2(2),
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//Limit switches
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@ -105,7 +108,7 @@ public:
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SmartDashboard::PutNumber("Ball Left", voltToDistance(BallSonicLeft.GetAverageVoltage()));
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SmartDashboard::PutNumber("Ball Right", voltToDistance(BallSonicRight.GetAverageVoltage()));
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SmartDashboard::PutBoolean("Use Ultrasonic",false);
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SmartDashboard::PutBoolean("Reverse Robot",false);
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SmartDashboard::PutBoolean("Daniel Mode",false);
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}
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void updateDashboard() {
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SmartDashboard::PutNumber("Throttle", throttle);
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@ -118,10 +121,10 @@ public:
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DownSpeed = SmartDashboard::GetNumber("DownSpeed");
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downLimit = SmartDashboard::GetNumber("downLimit");
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upLimit = SmartDashboard::GetNumber("upLimit");
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if (downLimit < 35) {
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if(downLimit < 35) {
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downLimit = 35;
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}
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if (upLimit > 167) {
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if(upLimit > 167) {
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upLimit = 167;
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}
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}
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@ -131,19 +134,19 @@ public:
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//In this case its checking that we are no more than 15 degrees off
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//The override is in place in case an ultrasonic becomes damaged and we are unable to validate the distance through software
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float averageAtan = atan((abs(voltToDistance(BallSonicLeft.GetAverageVoltage()) - voltToDistance(BallSonicRight.GetAverageVoltage())))/20.0f)*360.0f/(2.0f*3.141592653589793f);
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if(override==true){
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if(override==true) {
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printf("%f\n",power);
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setMotorValue(4, 1, cvt(power));
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setMotorValue(5, 1, cvt(power));
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setMotorValue(4, 2, cvt(-power));
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setMotorValue(5, 2, cvt(-power));
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}else if(averageAtan<=30.0f&&(voltToDistance(WallSonicLeft.GetAverageVoltage(),true))<=100&&(voltToDistance(WallSonicRight.GetAverageVoltage(),true))<=100){
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} else if(averageAtan<=30.0f&&(voltToDistance(WallSonicLeft.GetAverageVoltage(),true))<=100&&(voltToDistance(WallSonicRight.GetAverageVoltage(),true))<=100) {
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setMotorValue(4, 1, cvt(power));
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setMotorValue(5, 1, cvt(power));
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setMotorValue(4, 2, cvt(-power));
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setMotorValue(5, 2, cvt(-power));
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}
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if(averageAtan>=16.0f&&(voltToDistance(WallSonicLeft.GetAverageVoltage(),true))<=100&&(voltToDistance(WallSonicRight.GetAverageVoltage(),true))){
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if(averageAtan>=16.0f&&(voltToDistance(WallSonicLeft.GetAverageVoltage(),true))<=100&&(voltToDistance(WallSonicRight.GetAverageVoltage(),true))) {
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//printf/smartdashboard: warning
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setMotorValue(4, 1, cvt(power));
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setMotorValue(5, 1, cvt(power));
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@ -152,15 +155,15 @@ public:
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}
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//Allow shooting regardless of the angle or distance
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}
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void logMsg(std::string message, int level){
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if((int)SmartDashboard::GetNumber("Log Level") % level == 0){
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void logMsg(std::string message, int level) {
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if((int)SmartDashboard::GetNumber("Log Level") % level == 0) {
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printf((message+"\n").c_str());
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}
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}
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void driveRobot(float x, float y) {
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if(y>1.0f){
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if(y>1.0f) {
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y=1.0f;
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}else if(y!=0.0f&&y<-1.0f){
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} else if(y!=0.0f&&y<-1.0f) {
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y=-1.0f;
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}
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int leftPower = ((y+x)/2+1)*127+1;
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@ -176,7 +179,7 @@ public:
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setMotorValue(2, 2, rightPower);
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setMotorValue(3, 2, rightPower);
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}
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template<typename numbertype> string toString(numbertype a){
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template<typename numbertype> string toString(numbertype a) {
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//TODO
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stringstream ss;
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ss<<a;
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@ -184,9 +187,9 @@ public:
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return s;
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}
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float voltToDistance(float a,bool wall=false) {
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if(wall){
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if(wall) {
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return (a / 0.00488f) / 2.54f;
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}else{
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} else {
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return (a / 0.000976562f) / 25.4f;
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}
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}
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@ -202,8 +205,8 @@ public:
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return input * 127.0f + 128;
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}
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void setMotorValue(int motor, int subwayStation = 1, int value = 127) {
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if (subwayStation == 1) {
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switch (motor) {
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if(subwayStation == 1) {
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switch(motor) {
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//Drive motors
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case 1:
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Left1.SetRaw(value);
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@ -232,8 +235,8 @@ public:
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case 10:
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break;
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}
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} else if (subwayStation == 2) {
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switch (motor) {
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} else if(subwayStation == 2) {
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switch(motor) {
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//Shooter motors
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case 1:
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Right1.SetRaw(value);
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@ -269,8 +272,6 @@ public:
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float yoyo = atan((abs(voltToDistance(BallSonicLeft.GetAverageVoltage()) - voltToDistance(BallSonicRight.GetAverageVoltage())))/20.0f)*360.0f/(2.0f*3.141592653589793f);
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SmartDashboard::PutNumber("Distance", yoyo);
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}
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// float getSonar(int sonar){
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// switch(sonar){
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void Test() {
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}
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void Autonomous() {
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@ -298,52 +299,57 @@ public:
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BallLeft.Set(0);
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WallRight.Set(1);
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BallRight.Set(0);
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while(IsEnabled()&&IsAutonomous()){
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if(SmartDashboard::GetBoolean("Use Ultrasonic")){
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while(IsEnabled()&&IsAutonomous()) {
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if(SmartDashboard::GetBoolean("Use Ultrasonic")) {
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if(cur<sampleCount) {
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WallLeft.Set(1);
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WallRight.Set(0);
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avgLeft+=voltToDistance(WallSonicLeft.GetAverageVoltage(),true);
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}else if(cur==sampleCount){
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} else if(cur==sampleCount) {
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avgLeft/=12;
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}else if(cur<sampleCount*4&&cur>3*sampleCount){
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} else if(cur<sampleCount*4&&cur>3*sampleCount) {
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WallLeft.Set(0);
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WallRight.Set(1);
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avgRight+=voltToDistance(WallSonicRight.GetAverageVoltage(),true);
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}else if(cur==sampleCount*4){
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} else if(cur==sampleCount*4) {
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avgRight/=12;
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thisIsATest=atan((abs(avgLeft-avgRight))/20.0f)*360.0f/(2.0f*3.141592653589793f);
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}else if(cur==sampleCount*6){
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} else if(cur==sampleCount*6) {
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cur=0;
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}
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if(i>164){
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if(i>164) {
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SmartDashboard::PutNumber("Tanval", thisIsATest);
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}
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}else{
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if (i<=initalDriveTime*200) {
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setMotorValue(6, 1, 1);
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} else if (i>shooterDelay&&i<shooterDelay+(shooterDuration*200)&&shooterMaxAngle>=potToDegrees(armPot.GetAverageVoltage())) {
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} else {
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if(i<=initalDriveTime*200) {
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driveRobot(1.0f,0.0f);
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//setMotorValue(6, 1, 1);
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} else if(i>shooterDelay&&i<shooterDelay+(shooterDuration*200)&&shooterMaxAngle>=potToDegrees(armPot.GetAverageVoltage())) {
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driveRobot(0, 0);
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shootRobot(1, true);
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setMotorValue(6, 1, 1);
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} else if (i>1500&&i<1700) {
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shootRobot(.1,true);
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//driveRobot(-1,0);
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} else {
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/*
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driveRobot(0, 0);
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shootRobot(0, true);
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setMotorValue(6, 1, 0);
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*/
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}
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if(i>480&&i<430+initalDriveTime){
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driveRobot(-1,0);
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//TODO
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} else if(i>430+initalDriveTime/*&&ballLimit.Get()==1*/) {
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driveRobot(-0.6f,0.0f);
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setMotorValue(6, 1, 1);
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//TODO
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} else if(/*ballLimit.Get()==1&&*/i>430+initalDriveTime) {
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driveRobot(1.0f,0.0f);
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}
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if(i>480&&i<480){
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shootRobot(0.25f,true);
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}
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}
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updateDashboard();
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if (i % 100 == 0 && compressing && compressor.GetPressureSwitchValue() == 1) {
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if(i % 100 == 0 && compressing && compressor.GetPressureSwitchValue() == 1) {
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compressor.Stop();
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compressing = false;
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logMsg("Stopping the compressor",2);
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}
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if (i % 100 == 0 && !compressing && compressor.GetPressureSwitchValue() == 0) {
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if(i % 100 == 0 && !compressing && compressor.GetPressureSwitchValue() == 0) {
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compressor.Start();
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compressing = true;
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logMsg("Starting the compressor",2);
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@ -354,80 +360,6 @@ public:
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}
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compressing = false;
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compressor.Stop();
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// while (IsEnabled() && IsAutonomous()) {
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// //Collect left average values from cur values 0 to 12
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// if(cur<12){
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// WallLeft.Set(1);
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// BallLeft.Set(1);
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// WallRight.Set(0);
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// BallRight.Set(0);
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// avgLeft+=voltToDistance(WallSonicLeft.GetAverageVoltage(),true);
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// //After 12 cur iterations, find the average (data was recorded 12 times, divide by 12)
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// }else if(cur==12){
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// avgLeft/=12;
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// //Collect right average values from cur values 38 to 50
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// }else if(cur<100&&cur>88){
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// WallLeft.Set(0);
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// BallLeft.Set(0);
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// WallRight.Set(1);
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// BallRight.Set(1);
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// avgRight+=voltToDistance(WallSonicRight.GetAverageVoltage(),true);
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// //After 50 cur iterations, find the average (data was recorded 12 times, divide by 12)
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// }else if(cur==100){
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// cur=0;
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// avgRight/=12;
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// thisIsATest=atan((abs(avgLeft-avgRight))/20.0f)*360.0f/(2.0f*3.141592653589793f);
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// SmartDashboard::PutNumber("Tanval", atan((abs(avgLeft-avgRight))/20.0f)*360.0f/(2.0f*3.141592653589793f));
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// }
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// //Calculate the inital distance and average it averageAmount times.
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// if(i<averageAmount){
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// avgDist+=(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)+voltToDistance(WallSonicRight.GetAverageVoltage(),true)/2);
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// }else{
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// avgDist/=averageAmount;
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// }
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// //Calculate the average distance from the wall
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// curDist=thisIsATest;
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// if(i%100==0){
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// printf("Difference: %f\n",avgDist-curDist);
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// }
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// if (i>=5&&avgDist-curDist<=36.0f) {
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// float xPower, yPower;
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// xPower=1;
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// yPower=(avgDist-curDist)/36.0f;
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// if(yPower>1){
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// yPower=1;
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// }
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// driveRobot(yPower, xPower);
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// setMotorValue(6, 1, 1);
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// } else if (i>1400&&i<1600&&125>=potToDegrees(armPot.GetAverageVoltage())) {
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// driveRobot(0, 0);
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// shootRobot(1, false);
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// setMotorValue(6, 1, 1);
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// } else if (i>1500&&i<1700) {
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// shootRobot(.1,false);
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// //driveRobot(-1,0);
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// } else {
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// /*
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// driveRobot(0, 0);
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// shootRobot(0, true);
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// setMotorValue(6, 1, 0);
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// */
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// }
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// updateDashboard();
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// if (i % 100 == 0 && compressing && compressor.GetPressureSwitchValue() == 1) {
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// compressor.Stop();
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// compressing = false;
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// logMsg("Stopping the compressor",2);
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// }
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// if (i % 100 == 0 && !compressing && compressor.GetPressureSwitchValue() == 0) {
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// compressor.Start();
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// compressing = true;
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// logMsg("Starting the compressor",2);
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// }
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// Wait(0.005f);
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// i++;
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// cur++;
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//}
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}
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void OperatorControl() {
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myRobot.SetSafetyEnabled(false);
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@ -438,8 +370,8 @@ public:
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collectorSole2.Set(false);
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compressing = false;
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logMsg("Starting Teleop",1);
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while (IsEnabled() && IsOperatorControl()) {
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if(cur==50){
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while(IsEnabled() && IsOperatorControl()) {
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if(cur==50) {
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cur=0;
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WallLeft.Set(swap?1:0);
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BallRight.Set(swap?1:0);
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@ -448,31 +380,31 @@ public:
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swap=!swap;
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}
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throttle = (-Lstick.GetRawAxis(4)+1)/2;
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if(SmartDashboard::GetBoolean("Reverse Robot")){
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if(SmartDashboard::GetBoolean("Daniel Mode")) {
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driveRobot(-Rstick.GetY(),Rstick.GetZ()+Rstick.GetX());
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}else{
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} else {
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driveRobot(Rstick.GetY(),Rstick.GetZ()+Rstick.GetX());
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}
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//Log things
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if (i % 200 == 0) {
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if(i % 200 == 0) {
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//logMsg(toString(compressor.GetPressureSwitchValue()),2);
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//logMsg("armPot value: "+toString(armPot.GetAverageVoltage(),11));
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//logMsg("Converted armPot value: "+toString(armPot.GetAverageVoltage(),11));
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}
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if (i % 100 == 0 && compressing && compressor.GetPressureSwitchValue() == 1) {
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if(i % 100 == 0 && compressing && compressor.GetPressureSwitchValue() == 1) {
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compressor.Stop();
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compressing = false;
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logMsg("Stopping the compressor",2);
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}
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if (i % 100 == 0 && !compressing && compressor.GetPressureSwitchValue() == 0) {
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if(i % 100 == 0 && !compressing && compressor.GetPressureSwitchValue() == 0) {
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compressor.Start();
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compressing = true;
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logMsg("Starting the compressor... again",2);
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}
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updateDashboard();
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if (Lstick.GetRawButton(1)==1&&(upLimit>=potToDegrees(armPot.GetAverageVoltage()))) {
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if(Lstick.GetRawButton(1)==1&&(upLimit>=potToDegrees(armPot.GetAverageVoltage()))) {
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//Move arm motors based on throttle
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if (collectorExtended == false) {
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if(collectorExtended == false) {
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shooting = false;
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logMsg("Collector is NOT extended, not going to fire",17);
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}
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@ -488,34 +420,35 @@ public:
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logMsg("Stopping shooter motor",13);
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logMsg("Stopping collector motor",17);
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shootRobot(0, true);
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} else if (Lstick.GetRawButton(2)==1) {
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} else if(Lstick.GetRawButton(2)==1) {
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//Reverse the arm motors
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shooting = false;
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if (collectorExtended == false) {
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if(collectorExtended == false) {
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logMsg("Collector is not extended, not going to fire",17);
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}
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if (collectorExtended == true) {
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if(collectorExtended == true) {
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shootRobot(-DownSpeed, false);
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logMsg("Collector is extended, going to fire",17);
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} } else {
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}
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} else {
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shooting = false;
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//Stop all motors
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shootRobot(0, true);
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}
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if (Rstick.GetRawButton(9)==1) {
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if(Rstick.GetRawButton(9)==1) {
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collectorExtended = true;
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collectorSole1.Set(false);
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collectorSole2.Set(true);
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} else if (Rstick.GetRawButton(10)==1) {
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} else if(Rstick.GetRawButton(10)==1) {
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collectorExtended = false;
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collectorSole1.Set(true);
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collectorSole2.Set(false);
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}
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if (Lstick.GetRawButton(11)==1) {
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if(Lstick.GetRawButton(11)==1) {
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setMotorValue(6, 1, 1);
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} else if (Lstick.GetRawButton(12)==1) {
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} else if(Lstick.GetRawButton(12)==1) {
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setMotorValue(6, 1, 255);
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} else if (!shooting) {
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} else if(!shooting) {
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setMotorValue(6, 1, 0);
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}
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cur++;
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@ -525,4 +458,3 @@ public:
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}
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};
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START_ROBOT_CLASS(RobotDemo);
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