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https://github.com/team2059/Zaphod
synced 2024-12-18 20:12:28 -05:00
Added ultrasonic code in auto, doesn't work
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115
MyRobot.cpp
115
MyRobot.cpp
@ -26,12 +26,8 @@ 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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@ -108,11 +104,13 @@ 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::PutNumber("AutoDistance",70.0f);
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SmartDashboard::PutNumber("AutoXVale",70.0f);
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SmartDashboard::PutNumber("AutoYValue",150.0f);
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SmartDashboard::PutNumber("AutoPower",0.54f);
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SmartDashboard::PutNumber("AutoZValue",150.0f);
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SmartDashboard::PutNumber("AutoPower",0.50f);
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SmartDashboard::PutNumber("AutoAngle",130.0f);
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SmartDashboard::PutNumber("AutoCorrection",0.06f);
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SmartDashboard::PutNumber("AutoCorrectionForward",0.06f);
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SmartDashboard::PutNumber("AutoCorrectionBackward",0.09f);
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SmartDashboard::PutNumber("ShortRange",0.465f);
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SmartDashboard::PutNumber("ShooterButtonPower10",0.605f);
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@ -120,6 +118,7 @@ public:
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SmartDashboard::PutNumber("ShooterButtonPower8",0.5f);
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SmartDashboard::PutBoolean("Use Ultrasonic",false);
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SmartDashboard::PutBoolean("TestDrive",false);
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SmartDashboard::PutBoolean("Daniel Mode",false);
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}
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void updateDashboard() {
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@ -287,71 +286,44 @@ 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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int stoppedTime=-1;
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while(IsEnabled()&&IsAutonomous()) {
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//Drive initial amount of time
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//if(i<=initalDriveTime*200) {
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//setMotorValue(6, 1, 1);
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int x=SmartDashboard::GetNumber("AutoXVale");
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int y=SmartDashboard::GetNumber("AutoYValue");
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int z=SmartDashboard::GetNumber("AutoZValue");
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float power=SmartDashboard::GetNumber("AutoPower");
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int angle=SmartDashboard::GetNumber("AutoAngle");
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float correctionForward=SmartDashboard::GetNumber("AutoCorrectionForward");
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float correctionBackward=SmartDashboard::GetNumber("AutoCorrectionBackward");
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if(SmartDashboard::GetBoolean("Use Ultrasonic")){
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if(voltToDistance(WallSonicRight.GetAverageVoltage())<40.0f){
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driveRobot(1.0f,0.0f);
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if(i<400&&voltToDistance(WallSonicLeft.GetAverageVoltage()>40.0f,true)){
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driveRobot(1.0f,correctionForward);
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shootRobot(0.0f,0.0f);
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}else if(i<200&&voltToDistance(WallSonicLeft.GetAverageVoltage()<=40.0f,true)){
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driveRobot(0.0f,0.0f);
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shootRobot(0.0f,0.0f);
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}
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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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avgRight+=WallSonicRight.GetAverageVoltage();
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}else if(cur==12){
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avgRight/=12;
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}else if(SmartDashboard::GetBoolean("TestDrive")){
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if(cur<100){
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cur=0;
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thisIsATest=avgRight;
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}
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if(i==12){
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avgDist=thisIsATest;
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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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if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)<=40.0f){
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printf("Cur!!: %d\n",cur);
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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);
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//setMotorValue(6, 1, 1);
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} else if (i>1500&&i<1700) {
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//shootRobot(.1);
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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);
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setMotorValue(6, 1, 0);
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*/
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}
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}else{
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int x=SmartDashboard::GetNumber("AutoDistance");
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int x=SmartDashboard::GetNumber("AutoXVale");
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int y=SmartDashboard::GetNumber("AutoYValue");
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int z=SmartDashboard::GetNumber("AutoZValue");
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float power=SmartDashboard::GetNumber("AutoPower");
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int angle=SmartDashboard::GetNumber("AutoAngle");
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float correction=SmartDashboard::GetNumber("AutoCorrection");
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if(i<1700+3*x+2*y){
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float correctionForward=SmartDashboard::GetNumber("AutoCorrectionForward");
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float correctionBackward=SmartDashboard::GetNumber("AutoCorrectionBackward");
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if(i<1700+x+y+z){
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setMotorValue(6, 1, 1);
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}
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if(i<200+x) {
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//Forward .5s
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driveRobot(-1.0f,correction);
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//Forward
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driveRobot(-1.0f,0.07f);
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shootRobot(0.0f);
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}else if(i>=200+x&&i<=400+x){
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//Wait
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@ -365,38 +337,38 @@ public:
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//Wait
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driveRobot(0.0f, 0.0f);
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shootRobot(0.0f);
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} else if(i>500+x&&i<700+2*x+y) {
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//Drive backward 1s, Collect ball
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} else if(i>500+x&&i<700+x+y) {
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//Drive backward
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if(40.0f<=potToDegrees(armPot.GetAverageVoltage())){
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shootRobot(-0.30f);
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}
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driveRobot(0.6f,correction);
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driveRobot(0.6f,correctionBackward);
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shootRobot(0.0f);
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} else if(i>=700+2*x+y&&i<=1300+2*x+y){
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} else if(i>=700+x+y&&i<=1300+x+y){
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//Wait
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driveRobot(0.0f,0.0f);
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shootRobot(0.0f);
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} else if(i>1300+2*x+y&&i<1500+3*x+2*y) {
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//Drive forward 1s
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driveRobot(-1.0f,correction);
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} else if(i>1300+x+y&&i<1500+x+y+z) {
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//Drive forward
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driveRobot(-0.9f,0.063f);
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shootRobot(0.0f);
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} else if(i>=1500+3*x+2*y&&i<=1600+3*x+2*y){
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} else if(i>=1500+x+y+z&&i<=1600+x+y+z){
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//Wait
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driveRobot(0.0f,0.0f);
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shootRobot(0.0f);
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} else if(i>1600+3*x+2*y&&i<1700+3*x+2*y&&/*120*/angle>=potToDegrees(armPot.GetAverageVoltage())){
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} else if(i>1600+x+y+z&&i<1700+x+y+z&&/*120*/angle>=potToDegrees(armPot.GetAverageVoltage())){
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//Shoot
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driveRobot(0.0f,0.0f);
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shootRobot(power);
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} else if(i>1600+3*x+2*y&&i<1700+3*x+2*y&&/*120*/angle<=potToDegrees(armPot.GetAverageVoltage())){
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} else if(i>1600+x+y+z&&i<1700+x+y+z&&/*120*/angle<=potToDegrees(armPot.GetAverageVoltage())){
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//Wait
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driveRobot(0.0f,0.0f);
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shootRobot(0.0f);
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} else if(i>1700+3*x+2*y&&40.0f<=potToDegrees(armPot.GetAverageVoltage())) {
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} else if(i>1700+x+y+z&&40.0f<=potToDegrees(armPot.GetAverageVoltage())) {
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//Stop robot after auto, let down shooter
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driveRobot(0.0f,0.0f);
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shootRobot(-0.15);
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} else if(i>1700+3*x+2*y&&40.0f>=potToDegrees(armPot.GetAverageVoltage())) {
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} else if(i>1700+x+y+z&&40.0f>=potToDegrees(armPot.GetAverageVoltage())) {
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//Stop all motors
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driveRobot(0.0f,0.0f);
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shootRobot(0.0f);
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@ -481,7 +453,6 @@ public:
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if(Lstick.GetRawButton(6)){
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upLimit=130.0f;
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}
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//TODO
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updateDashboard();
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if(Lstick.GetRawButton(1)==1&&Lstick.GetRawButton(2)==1){
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throttle=SmartDashboard::GetNumber("ShortRange");
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