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https://github.com/team2059/Zaphod
synced 2024-12-18 20:12:28 -05:00
Formatted code
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286
MyRobot.cpp
286
MyRobot.cpp
@ -9,14 +9,14 @@ class RobotDemo : public SimpleRobot
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{
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//Declarations{{{
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RobotDrive myRobot;
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bool collectorExtended, shooting, compressing, allowCompressing;
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float upLimit, throttle;
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Joystick Rstick, Lstick;
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Solenoid collectorSole1, collectorSole2;
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bool collectorExtended,shooting,compressing,allowCompressing;
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float upLimit,throttle;
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Joystick Rstick,Lstick;
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Solenoid collectorSole1,collectorSole2;
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Compressor compressor;
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Jaguar Left1, Left2, Left3, Right1, Right2, Right3, RightArmMotor1, RightArmMotor2, LeftArmMotor1, LeftArmMotor2, CollectorMotor1;
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AnalogChannel armPot, BallSonicLeft, BallSonicRight, WallSonicLeft, WallSonicRight;
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DigitalOutput BallLeft, BallRight, WallLeft, WallRight;
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Jaguar Left1,Left2,Left3,Right1,Right2,Right3,RightArmMotor1,RightArmMotor2,LeftArmMotor1,LeftArmMotor2,CollectorMotor1;
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AnalogChannel armPot,BallSonicLeft,BallSonicRight,WallSonicLeft,WallSonicRight;
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DigitalOutput BallLeft,BallRight,WallLeft,WallRight;
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//}}}
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public:
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RobotDemo():
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@ -36,7 +36,7 @@ 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, 5, 1, 1),
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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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@ -48,38 +48,38 @@ public:
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Right2(2,2),
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Right3(2,3),
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//Shooter Motors
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LeftArmMotor1(1, 4),
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LeftArmMotor2(1, 5),
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RightArmMotor1(2, 4),
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RightArmMotor2(2, 5),
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LeftArmMotor1(1,4),
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LeftArmMotor2(1,5),
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RightArmMotor1(2,4),
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RightArmMotor2(2,5),
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//Collector Motor
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CollectorMotor1(1, 6),
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myRobot(Left1, Left2, Right1, Right2) {
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CollectorMotor1(1,6),
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myRobot(Left1,Left2,Right1,Right2){
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GetWatchdog().SetEnabled(false);
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}
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//}}}
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//RobotInit{{{
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void RobotInit() {
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void RobotInit(){
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DashboardSetup();
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upLimit = 130.0;
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upLimit=130.0;
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compressor.Start();
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shooting = false;
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compressing = true;
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allowCompressing = true;
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shooting=false;
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compressing=true;
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allowCompressing=true;
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throttle=(-Lstick.GetRawAxis(4)+1)/2;
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}
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//}}}
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//DashboardSetup{{{
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void DashboardSetup() {
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SmartDashboard::PutNumber("Throttle", throttle);
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SmartDashboard::PutNumber("upLimit", 120.0f);
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SmartDashboard::PutNumber("armPot", potToDegrees(armPot.GetAverageVoltage()));
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SmartDashboard::PutNumber("Log Level", 1.0f);
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void DashboardSetup(){
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SmartDashboard::PutNumber("Throttle",throttle);
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SmartDashboard::PutNumber("upLimit",120.0f);
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SmartDashboard::PutNumber("armPot",potToDegrees(armPot.GetAverageVoltage()));
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SmartDashboard::PutNumber("Log Level",1.0f);
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//Ultrasonic
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SmartDashboard::PutNumber("Wall Left", voltToDistance(WallSonicLeft.GetAverageVoltage(),true));
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SmartDashboard::PutNumber("Wall Right", voltToDistance(WallSonicRight.GetAverageVoltage(),true));
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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::PutNumber("Wall Left",voltToDistance(WallSonicLeft.GetAverageVoltage(),true));
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SmartDashboard::PutNumber("Wall Right",voltToDistance(WallSonicRight.GetAverageVoltage(),true));
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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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//Autonomous values
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SmartDashboard::PutNumber("AutoSpeed",0.95f);
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SmartDashboard::PutNumber("Auto Distance",65.0f);
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@ -87,17 +87,17 @@ public:
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SmartDashboard::PutNumber("AutoPower",0.46f);
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SmartDashboard::PutNumber("AutoCorrection",0.032f);
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SmartDashboard::PutNumber("Initial Drive Delay",2.0f);
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SmartDashboard::PutNumber("Inital Drive Timeout", 4.5f);
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SmartDashboard::PutNumber("First Shot Start", 0.5f);
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SmartDashboard::PutNumber("First Shot Stop", 1.0f);
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SmartDashboard::PutNumber("Inital Drive Timeout",4.5f);
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SmartDashboard::PutNumber("First Shot Start",0.5f);
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SmartDashboard::PutNumber("First Shot Stop",1.0f);
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SmartDashboard::PutNumber("Reverse direction start",0.0f);
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SmartDashboard::PutNumber("Reverse direction stop",2.5f);
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SmartDashboard::PutNumber("Second Drive Start", 1.0f);
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SmartDashboard::PutNumber("Second Drive Timeout", 2.5f);
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SmartDashboard::PutNumber("Second Shot Start", 0.5f);
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SmartDashboard::PutNumber("Second Shot Stop", 1.0f);
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SmartDashboard::PutNumber("Second Drive Start",1.0f);
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SmartDashboard::PutNumber("Second Drive Timeout",2.5f);
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SmartDashboard::PutNumber("Second Shot Start",0.5f);
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SmartDashboard::PutNumber("Second Shot Stop",1.0f);
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SmartDashboard::PutNumber("Autonomous step",0.0f);
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SmartDashboard::PutNumber("Autonomous sequence", 2.0f);
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SmartDashboard::PutNumber("Autonomous sequence",2.0f);
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//Shooter presets
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SmartDashboard::PutNumber("ShortRange",0.465f); //Power for the shooter when against the low goal
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SmartDashboard::PutNumber("ShooterButtonPower10",0.605f);
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@ -108,80 +108,80 @@ public:
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SmartDashboard::PutBoolean("Use Ultrasonic",true);
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SmartDashboard::PutBoolean("Daniel Mode",false);
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SmartDashboard::PutBoolean("CollectorState",false);
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SmartDashboard::PutBoolean("Compressor Enabled", allowCompressing);
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SmartDashboard::PutBoolean("Compressor Running", compressing);
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SmartDashboard::PutBoolean("Compressor Enabled",allowCompressing);
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SmartDashboard::PutBoolean("Compressor Running",compressing);
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SmartDashboard::PutBoolean("Ignore Pot",false);
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//Battery voltage
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}
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//}}}
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//updateDashboard{{{
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void updateDashboard() {
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SmartDashboard::PutNumber("Throttle", throttle);
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SmartDashboard::PutNumber("armPot", potToDegrees(armPot.GetAverageVoltage()));
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SmartDashboard::PutNumber("Wall Left", voltToDistance(WallSonicLeft.GetAverageVoltage(),true));
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SmartDashboard::PutNumber("Wall Right", voltToDistance(WallSonicRight.GetAverageVoltage(),true));
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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::PutNumber("upLimit", upLimit);
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SmartDashboard::PutBoolean("Compressor Running", compressing);
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allowCompressing = SmartDashboard::GetBoolean("Compressor Enabled");
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if(upLimit > 167) {
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upLimit = 167;
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void updateDashboard(){
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SmartDashboard::PutNumber("Throttle",throttle);
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SmartDashboard::PutNumber("armPot",potToDegrees(armPot.GetAverageVoltage()));
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SmartDashboard::PutNumber("Wall Left",voltToDistance(WallSonicLeft.GetAverageVoltage(),true));
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SmartDashboard::PutNumber("Wall Right",voltToDistance(WallSonicRight.GetAverageVoltage(),true));
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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::PutNumber("upLimit",upLimit);
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SmartDashboard::PutBoolean("Compressor Running",compressing);
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allowCompressing=SmartDashboard::GetBoolean("Compressor Enabled");
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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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//}}}
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//shootRobot{{{
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void shootRobot(float power=0) {
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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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void shootRobot(float power=0){
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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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//}}}
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//driveRobot{{{
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void driveRobot(float x, float y) {
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if(y>1.0f) {
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void driveRobot(float x,float y){
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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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int rightPower = ((y-x)/2+1)*127+1;
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setMotorValue(1, 1, leftPower);
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setMotorValue(2, 1, leftPower);
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setMotorValue(3, 1, leftPower);
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setMotorValue(1, 2, rightPower);
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setMotorValue(2, 2, rightPower);
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setMotorValue(3, 2, rightPower);
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int leftPower=((y+x)/2+1)*127+1;
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int rightPower=((y-x)/2+1)*127+1;
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setMotorValue(1,1,leftPower);
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setMotorValue(2,1,leftPower);
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setMotorValue(3,1,leftPower);
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setMotorValue(1,2,rightPower);
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setMotorValue(2,2,rightPower);
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setMotorValue(3,2,rightPower);
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}
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//}}}
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//voltToDistance{{{
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float voltToDistance(float a,bool wall=false) {
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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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return (a / 0.000976562f) / 25.4f;
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float voltToDistance(float a,bool wall=false){
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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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return (a/0.000976562f)/25.4f;
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}
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}
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//}}}
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//potToDegrees{{{
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//TODO: Test this!
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float potToDegrees(float a) {
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float max = -.0003948;
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float min = 5.0245547;
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float potToDegrees(float a){
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float max=-.0003948;
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float min=5.0245547;
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return 300-(a*(300/(min-max)));
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}
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//}}}
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//cvt{{{
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int cvt(float input) {
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int cvt(float input){
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return input * 127.0f + 128;
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}
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//}}}
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//setMotorValue{{{
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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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void setMotorValue(int motor,int subwayStation=1,int value=127){
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if(subwayStation == 1){
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//subwayStation1{{{
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switch(motor) {
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switch(motor){
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case 1:
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Left1.SetRaw(value);
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break;
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@ -210,9 +210,9 @@ public:
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break;
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}
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//}}}
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} else if(subwayStation == 2) {
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}else if(subwayStation == 2){
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//subwayStation2{{{
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switch(motor) {
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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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@ -245,7 +245,7 @@ public:
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}
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//}}}
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//Autonomous{{{
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void Autonomous() {
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void Autonomous(){
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//Initializations{{{
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myRobot.SetSafetyEnabled(false);
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int i=0;
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@ -262,7 +262,7 @@ public:
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BallRight.Set(0);
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SmartDashboard::PutBoolean("CollectorState",true);
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//}}}
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while(IsEnabled()&&IsAutonomous()) {
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while(IsEnabled()&&IsAutonomous()){
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switch (SmartDashboard::GetNumber("Autonomous Sequence")){
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//Autonomous0{{{
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case 0:
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@ -287,10 +287,10 @@ public:
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}else{
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shootRobot(0.0f);
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}
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setMotorValue(6, 1, 1);
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setMotorValue(6,1,1);
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if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){
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shootRobot(0.0f);
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setMotorValue(6, 1, 0);
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setMotorValue(6,1,0);
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currentStep++;
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c=0;
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}
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@ -335,10 +335,10 @@ public:
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}else{
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shootRobot(0.0f);
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}
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setMotorValue(6, 1, 1);
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setMotorValue(6,1,1);
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if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){
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shootRobot(0.0f);
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setMotorValue(6, 1, 0);
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setMotorValue(6,1,0);
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currentStep++;
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c=0;
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}
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@ -381,10 +381,10 @@ public:
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}else{
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shootRobot(0.0f);
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}
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setMotorValue(6, 1, 1);
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setMotorValue(6,1,1);
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if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){
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shootRobot(0.0f);
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setMotorValue(6, 1, 0);
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setMotorValue(6,1,0);
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currentStep++;
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c=0;
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}
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@ -396,14 +396,14 @@ public:
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case 2:
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//Drive{{{
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if(currentStep==0&&c>SmartDashboard::GetNumber("Initial Drive Delay")*200){
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setMotorValue(6, 1, SmartDashboard::GetNumber("Collector Speed"));
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setMotorValue(6,1,SmartDashboard::GetNumber("Collector Speed"));
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if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=SmartDashboard::GetNumber("Auto Distance")){
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driveRobot(-1*(SmartDashboard::GetNumber("AutoSpeed")),correction);
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}else{
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driveRobot(0.0f,0.0f);
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}
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if(c==SmartDashboard::GetNumber("Inital Drive Timeout")*200){
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setMotorValue(6, 1, 0);
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setMotorValue(6,1,0);
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driveRobot(0.0f,0.0f);
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currentStep++;
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c=0;
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@ -412,7 +412,7 @@ public:
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//}}}
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//Release Ball{{{
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if(currentStep==1){
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setMotorValue(6, 1, 102);
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setMotorValue(6,1,102);
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if(c==50){
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currentStep++;
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c=0;
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@ -428,7 +428,7 @@ public:
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}
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if(c==SmartDashboard::GetNumber("First Shot Stop")*200){
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shootRobot(0.0f);
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setMotorValue(6, 1, 0);
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setMotorValue(6,1,0);
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currentStep++;
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c=0;
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}
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@ -450,9 +450,9 @@ public:
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//}}}
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//Collect Ball{{{
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if(currentStep==4&&c>SmartDashboard::GetNumber("Second Shot Start")){
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setMotorValue(6, 1, 1);
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setMotorValue(6,1,1);
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if(c==SmartDashboard::GetNumber("Second Shot Stop")*200){
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setMotorValue(6, 1, 0);
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setMotorValue(6,1,0);
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currentStep++;
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c=0;
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}
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@ -465,9 +465,9 @@ public:
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}else{
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shootRobot(0.0f);
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}
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setMotorValue(6, 1, 1);
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setMotorValue(6,1,1);
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if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){
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setMotorValue(6, 1, 0);
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setMotorValue(6,1,0);
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shootRobot(0.0f);
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currentStep++;
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c=0;
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@ -477,47 +477,47 @@ public:
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break;
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//}}}
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}
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SmartDashboard::PutNumber("Autonomous step", currentStep);
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SmartDashboard::PutNumber("Autonomous step",currentStep);
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updateDashboard();
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//Compressor{{{
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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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compressing=false;
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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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compressing=true;
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}
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//}}}
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i++;
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c++;
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Wait(0.005f);
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}
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compressing = false;
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compressing=false;
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compressor.Stop();
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}
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//}}}
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//Teleop{{{
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void OperatorControl() {
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void OperatorControl(){
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//Initializations{{{
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myRobot.SetSafetyEnabled(false);
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int i = 0;
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int i=0;
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collectorSole1.Set(true);
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collectorSole2.Set(false);
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compressing = false;
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compressing=false;
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SmartDashboard::PutBoolean("CollectorState",false);
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//}}}
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while(IsEnabled() && IsOperatorControl()) {
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while(IsEnabled() && IsOperatorControl()){
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//Joystick{{{
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//Throttle values{{{
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if(Lstick.GetRawButton(9)==1){
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throttle = (-Lstick.GetRawAxis(4)+1)/2;
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throttle=(-Lstick.GetRawAxis(4)+1)/2;
|
||||
}else if(Lstick.GetRawButton(10)){
|
||||
throttle = SmartDashboard::GetNumber("ShooterButtonPower10");
|
||||
throttle=SmartDashboard::GetNumber("ShooterButtonPower10");
|
||||
}else if(Lstick.GetRawButton(7)){
|
||||
throttle = SmartDashboard::GetNumber("ShooterButtonPower7");
|
||||
throttle=SmartDashboard::GetNumber("ShooterButtonPower7");
|
||||
}else if(Lstick.GetRawButton(8)){
|
||||
throttle = SmartDashboard::GetNumber("ShooterButtonPower8");
|
||||
throttle=SmartDashboard::GetNumber("ShooterButtonPower8");
|
||||
}
|
||||
//}}}
|
||||
//Shooter upLimit{{{
|
||||
@ -534,60 +534,60 @@ public:
|
||||
upLimit=130.0f;
|
||||
}
|
||||
//}}}
|
||||
if(Lstick.GetRawButton(1)==1) {
|
||||
if(Lstick.GetRawButton(1)==1){
|
||||
//Shoot{{{
|
||||
shooting = true;
|
||||
shooting=true;
|
||||
shootRobot(throttle);
|
||||
setMotorValue(6, 1, 1);
|
||||
if(collectorExtended == false) {
|
||||
shooting = false;
|
||||
setMotorValue(6,1,1);
|
||||
if(collectorExtended == false){
|
||||
shooting=false;
|
||||
}
|
||||
if(collectorExtended == true&&(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage()))) {
|
||||
shooting = true;
|
||||
if(collectorExtended == true&&(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage()))){
|
||||
shooting=true;
|
||||
shootRobot(throttle);
|
||||
setMotorValue(6, 1, 1);
|
||||
setMotorValue(6,1,1);
|
||||
}else{
|
||||
shooting = false;
|
||||
shooting=false;
|
||||
shootRobot(0.0f);
|
||||
setMotorValue(6, 1, 0);
|
||||
setMotorValue(6,1,0);
|
||||
}
|
||||
//}}}
|
||||
} else if(Lstick.GetRawButton(2)==1) {
|
||||
}else if(Lstick.GetRawButton(2)==1){
|
||||
//Lower Shooter{{{
|
||||
shooting = false;
|
||||
shooting=false;
|
||||
shootRobot(-0.1f);
|
||||
if(collectorExtended == true) {
|
||||
if(collectorExtended == true){
|
||||
shootRobot(-0.1f);
|
||||
}
|
||||
//}}}
|
||||
} else {
|
||||
}else{
|
||||
//Stop Shooting{{{
|
||||
shooting = false;
|
||||
shooting=false;
|
||||
shootRobot(0);
|
||||
//}}}
|
||||
}
|
||||
if(Rstick.GetRawButton(9)==1) {
|
||||
if(Rstick.GetRawButton(9)==1){
|
||||
//Extend Collector{{{
|
||||
SmartDashboard::PutBoolean("CollectorState",true);
|
||||
collectorExtended = true;
|
||||
collectorExtended=true;
|
||||
collectorSole1.Set(false);
|
||||
collectorSole2.Set(true);
|
||||
//}}}
|
||||
} else if(Rstick.GetRawButton(10)==1) {
|
||||
}else if(Rstick.GetRawButton(10)==1){
|
||||
//Retract Collector{{{
|
||||
SmartDashboard::PutBoolean("CollectorState",false);
|
||||
collectorExtended = 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);
|
||||
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);
|
||||
}
|
||||
//}}}
|
||||
//}}}
|
||||
@ -599,22 +599,22 @@ public:
|
||||
driveRobot(0.0f,0.0f);
|
||||
}
|
||||
}else{
|
||||
if(SmartDashboard::GetBoolean("Daniel Mode")) {
|
||||
if(SmartDashboard::GetBoolean("Daniel Mode")){
|
||||
driveRobot(-Rstick.GetY(),Rstick.GetZ()+Rstick.GetX());
|
||||
} else {
|
||||
}else{
|
||||
driveRobot(Rstick.GetY(),Rstick.GetZ()+Rstick.GetX());
|
||||
}
|
||||
}
|
||||
//}}}
|
||||
//Compressor{{{
|
||||
if(SmartDashboard::GetBoolean("Compressor Enabled")){
|
||||
if(i % 100 == 0 && compressing && compressor.GetPressureSwitchValue() == 1) {
|
||||
if(i % 100 == 0 && compressing && compressor.GetPressureSwitchValue() == 1){
|
||||
compressor.Stop();
|
||||
compressing = false;
|
||||
compressing=false;
|
||||
}
|
||||
if(i % 100 == 0 && !compressing && compressor.GetPressureSwitchValue() == 0) {
|
||||
if(i % 100 == 0 && !compressing && compressor.GetPressureSwitchValue() == 0){
|
||||
compressor.Start();
|
||||
compressing = true;
|
||||
compressing=true;
|
||||
}
|
||||
}
|
||||
//}}}
|
||||
@ -622,12 +622,12 @@ public:
|
||||
i++;
|
||||
Wait(0.005f);
|
||||
}
|
||||
compressing = false;
|
||||
compressing=false;
|
||||
compressor.Stop();
|
||||
}
|
||||
//}}}
|
||||
//Test{{{
|
||||
void Test() {
|
||||
void Test(){
|
||||
}
|
||||
//}}}
|
||||
};
|
||||
|
||||
Loading…
Reference in New Issue
Block a user