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Changed some formatting and added sonar distance to auto

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This commit is contained in:
Adam Long 2014-10-11 21:51:52 -04:00
parent a7f201d1f3
commit 265e3d1ac9
1 changed files with 15 additions and 11 deletions
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16
src/HHRobot.cpp
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@ -40,14 +40,18 @@ void HHRobot::UpdateDashboard(){
} }
void HHRobot::RunAuto(){ void HHRobot::RunAuto(){
int step, time; int step, time;
if(step == 0 && time < 200){
compressorSystem->ExtendCollector(); compressorSystem->ExtendCollector();
collector->CollectBallAtSpeed(50); //TODO I have no idea what rate this loop runs at so we are going to have to fine tune the times
//Drive for 51 inches/cm/units (or time)
if(step == 0 && time < 200){
if(sonar->GetInches("FRONTLEFT") >= 51){
DriveRobot(0,-.5);
}else{
DriveRobot(0,0);
} }
else{ }else{
step = 1; step = 1;
} }
time++;
} }
//Main function used to handle periodic tasks on the robot //Main function used to handle periodic tasks on the robot
@ -58,7 +62,7 @@ void HHRobot::Handler(){
ControlSystem->UpdateJoysticks(); ControlSystem->UpdateJoysticks();
shooter->UpdateShooterPosition(targetAngle); shooter->UpdateShooterPosition(targetAngle);
//TODO Need to implement a timing system to not break the spike (this function doesn't run the compressor at the moment) //TODO Need to implement a timing system to not break the spike (this function doesn't run the compressor at the moment)
compressorSystem->CompressorSystemPeriodic(alowCompressing); compressorSystem->CompressorSystemPeriodic(allowCompressing);
collector->UpdateCollector(shooter->isShooting, shooter->GetAngle()); collector->UpdateCollector(shooter->isShooting, shooter->GetAngle());
if(CheckJoystickValues()) { if(CheckJoystickValues()) {
DriveRobot(ControlSystem->rightJoystickAxisValues[3]+ControlSystem->rightJoystickAxisValues[1], -ControlSystem->rightJoystickAxisValues[2]); DriveRobot(ControlSystem->rightJoystickAxisValues[3]+ControlSystem->rightJoystickAxisValues[1], -ControlSystem->rightJoystickAxisValues[2]);
@ -96,6 +100,7 @@ void HHRobot::Handler(){
allowCompressing = false; allowCompressing = false;
}else{ }else{
allowCompressing = true; allowCompressing = true;
}
if(ControlSystem->rightJoystickValues[DRIVE_FOR_DISTANCE]){ if(ControlSystem->rightJoystickValues[DRIVE_FOR_DISTANCE]){
targetAngle = 100; targetAngle = 100;
if(sonar->GetInches("FRONTLEFT") >= 45){ if(sonar->GetInches("FRONTLEFT") >= 45){
@ -103,7 +108,6 @@ void HHRobot::Handler(){
} }
else{ else{
DriveRobot(0,0); DriveRobot(0,0);
shooter->StartShootingSequence(0.855);
} }
} }
} }