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Fixed MyRobot.cpp timing and added SmartDashboard value to change it

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This commit is contained in:
Austen Adler 2014-02-28 03:20:15 +00:00
parent e4211b4923
commit 2314d8be90
1 changed files with 20 additions and 29 deletions
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49
MyRobot.cpp
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@ -346,65 +346,56 @@ public:
*/
}
}else{
int x=0;
setMotorValue(6, 1, 1);
if(i<200) {
if(i<200+x) {
//Forward .5s
driveRobot(-1.0f,0.1f);
shootRobot(0.0f, true);
}else if(i>=200&&i<=300){
}else if(i>=200+x&&i<=400+x){
//Wait
driveRobot(0.0f, 0.0f);
shootRobot(0.0f, true);
} else if(i>800&&i<900&&/*120*/120.0f>=potToDegrees(armPot.GetAverageVoltage())) {
} else if(i>400+x&&i<500+x&&/*120*/120.0f>=potToDegrees(armPot.GetAverageVoltage())) {
//Shoot .45 power
driveRobot(0.0f, 0.0f);
shootRobot(0.52f, true);
} else if(i>800&&i<900&&/*120*/120.0f<=potToDegrees(armPot.GetAverageVoltage())) {
} else if(i>400+x&&i<500+x&&/*120*/120.0f<=potToDegrees(armPot.GetAverageVoltage())) {
//Wait
driveRobot(0.0f, 0.0f);
shootRobot(0.0f, true);
} else if(i>900&&i<1060&&40.0f<=potToDegrees(armPot.GetAverageVoltage())) {
//Lower shooter .15 power
driveRobot(0.0f,0.0f);
shootRobot(-0.15f, true);
} else if(i>900&&i<1060&&40.0f>=potToDegrees(armPot.GetAverageVoltage())) {
//Wait
driveRobot(0.0f,0.0f);
shootRobot(0.0f, true);
} else if(i>=1070&&i<=1080) {
//Wait
driveRobot(0.0f,0.0f);
shootRobot(0.0f, true);
} else if(i>1080&&i<1180) {
//Drive backward .5s
//Collect ball
} else if(i>500+x&&i<700+2*x) {
//Drive backward 1s, Collect ball
if(40.0f<=potToDegrees(armPot.GetAverageVoltage())){
shootRobot(-0.15f);
}
driveRobot(1.0f,0.1f);
shootRobot(0.0f,true);
}else if(i>=1180&&i<=1380){
}else if(i>=700+2*x&&i<=900+2*x){
//Wait
driveRobot(0.0f,0.0f);
shootRobot(0.0f,true);
} else if(i>1380&&i<1480) {
//Drive forward .5s
} else if(i>900+2*x&&i<1100+3*x) {
//Drive forward 1s
driveRobot(-1.0f,0.1f);
shootRobot(0.0f,true);
} else if(i>=1480&&i<=1680){//zero
//Zero
} else if(i>=1100+3*x&&i<=1200+3*x){
//Wait
driveRobot(0.0f,0.0f);
shootRobot(0.0f,true);
} else if(i>1760&&i<1860&&/*120*/130.0f>=potToDegrees(armPot.GetAverageVoltage())){
} else if(i>1200+3*x&&i<1300+3*x&&/*120*/130.0f>=potToDegrees(armPot.GetAverageVoltage())){
//Shoot at .45 power
driveRobot(0.0f,0.0f);
shootRobot(SmartDashboard::GetNumber("AutoShootSpeed"),true);
} else if(i>1760&&i<1860&&/*120*/130.0f<=potToDegrees(armPot.GetAverageVoltage())){
//Zero
} else if(i>1200+3*x&&i<1300+3*x&&/*120*/130.0f<=potToDegrees(armPot.GetAverageVoltage())){
//Wait
driveRobot(0.0f,0.0f);
shootRobot(0.0f,true);
} else if(i>1860&&40.0f>=potToDegrees(armPot.GetAverageVoltage())) {
} else if(i>1300+3*x&&40.0f>=potToDegrees(armPot.GetAverageVoltage())) {
//Stop robot after auto, let down shooter
driveRobot(0.0f,0.0f);
shootRobot(-0.15f,true);
} else if(i>1860&&40.0f<=potToDegrees(armPot.GetAverageVoltage())) {
} else if(i>1300+3*x&&40.0f<=potToDegrees(armPot.GetAverageVoltage())) {
//Stop all motors
driveRobot(0.0f,0.0f);
shootRobot(0.0f,true);