mirror of
https://github.com/team2059/Zaphod
synced 2024-12-18 20:12:28 -05:00
Fixed half speed in auto and in teleop (Untested)
This commit is contained in:
parent
087604037e
commit
3668bf318d
438
MyRobot.cpp
438
MyRobot.cpp
@ -146,12 +146,12 @@ public:
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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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if(SmartDashboard::GetBoolean("HalfPower")){
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x/=2;
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y/=2;
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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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if(SmartDashboard::GetBoolean("HalfPower")){
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leftPower/=2;
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rightPower/=2;
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}
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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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@ -262,15 +262,15 @@ public:
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compressor.Start();
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}
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}
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//}}}
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//updateJoystick{{{
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int updateJoystick(*stick){
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for(i=1,i<=12,i++){
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state[i] = stick.GetRawButton(i);
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}
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return state;
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//}}}
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//updateJoystick{{{
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int updateJoystick(*stick){
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for(i=1,i<=12,i++){
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state[i]=stick.GetRawButton(i);
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}
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//}}}
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return state;
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}
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//}}}
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//Autonomous{{{
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void Autonomous(){
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//Initializations{{{
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@ -291,215 +291,216 @@ public:
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//}}}
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while(IsEnabled()&&IsAutonomous()){
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if(!SmartDashboard::GetBoolean("HalfPower")){
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if(SmartDashboard::GetNumber("Autonomous sequence")==0){
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//Autonomous0{{{
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//Drive{{{
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if(currentStep==0){
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if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=SmartDashboard::GetNumber("Auto Distance")){
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driveRobot(-1.0f,correction);
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}else{
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driveRobot(0.0f,0.0f);
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if(SmartDashboard::GetNumber("Autonomous sequence")==0){
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//Autonomous0{{{
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//Drive{{{
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if(currentStep==0){
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if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=SmartDashboard::GetNumber("Auto Distance")){
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driveRobot(-1.0f,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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driveRobot(0.0f,0.0f);
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currentStep++;
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c=0;
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}
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}
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if(c==SmartDashboard::GetNumber("Inital Drive Timeout")*200){
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driveRobot(0.0f,0.0f);
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currentStep++;
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c=0;
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//}}}
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//Shoot{{{
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if(currentStep==1&&c>SmartDashboard::GetNumber("First Shot Start")*200){
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if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){
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shootRobot(power);
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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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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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currentStep++;
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c=0;
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}
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}
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//}}}
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//Lower Shooter{{{
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if(currentStep==2&&c>SmartDashboard::GetNumber("Reverse direction start")*200){
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if(40.0f<=potToDegrees(armPot.GetAverageVoltage())){
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shootRobot(-0.3f);
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}else{
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shootRobot(0.0f);
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}
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if(c==(3.0f)*200){
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shootRobot(0.0f);
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currentStep++;
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c=0;
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}
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}
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//}}}
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//}}}
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}else if(SmartDashboard::GetNumber("Autonomous sequence")==1){
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//Autonomous1{{{
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//Drive{{{
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if(currentStep==0){
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if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=SmartDashboard::GetNumber("Auto Distance")){
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driveRobot(-1.0f,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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driveRobot(0.0f,0.0f);
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currentStep++;
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c=0;
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}
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}
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//}}}
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//Shoot{{{
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if(currentStep==1&&c>SmartDashboard::GetNumber("First Shot Start")*200){
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if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){
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shootRobot(power);
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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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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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currentStep++;
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c=0;
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}
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}
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//}}}
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//Drive Backwards{{{
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if(currentStep==2&&c>SmartDashboard::GetNumber("Reverse direction start")*200){
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driveRobot(1.0f,correction);
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if(40.0f<=potToDegrees(armPot.GetAverageVoltage())){
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shootRobot(-0.2f);
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}else{
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shootRobot(0.0f);
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}
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if(c==(SmartDashboard::GetNumber("Reverse direction stop"))*200){
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driveRobot(0.0f,0.0f);
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shootRobot(0.0f);
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currentStep++;
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c=0;
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}
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}
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//}}}
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//Drive{{{
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if(currentStep==3&&c>SmartDashboard::GetNumber("Second Drive Start")*200){
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if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=SmartDashboard::GetNumber("Auto Distance")){
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driveRobot(-1.0f,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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driveRobot(0.0f,0.0f);
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currentStep++;
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c=0;
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}
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}
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//}}}
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//Shoot{{{
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if(currentStep==4&&c>(SmartDashboard::GetNumber("Second Shot Start"))*200){
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if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){
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shootRobot(power);
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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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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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currentStep++;
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c=0;
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}
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}
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//}}}
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//}}}
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}else if(SmartDashboard::GetNumber("Autonomous sequence")==2){
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//Autonomous2{{{
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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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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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driveRobot(0.0f,0.0f);
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currentStep++;
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c=0;
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}
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}
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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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if(c==50){
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currentStep++;
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c=0;
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}
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}
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//}}}
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//Shoot{{{
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if(currentStep==2&&c>SmartDashboard::GetNumber("First Shot Start")*200){
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if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){
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shootRobot(power);
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}else{
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shootRobot(0.0f);
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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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currentStep++;
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c=0;
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}
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}
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//}}}
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//Lower Shooter{{{
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if(currentStep==3){
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if(40.0f<=potToDegrees(armPot.GetAverageVoltage())){
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shootRobot(-0.3f);
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}else{
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shootRobot(0.0f);
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}
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if(c==1*200){
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shootRobot(0.0f);
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currentStep++;
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c=0;
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}
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}
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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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if(c==SmartDashboard::GetNumber("Second Shot Stop")*200){
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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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}
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//}}}
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//Shoot{{{
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if(currentStep==5&&c>(SmartDashboard::GetNumber("Second Shot Start"))*200){
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if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){
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shootRobot(power);
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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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if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){
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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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}
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}
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//}}}
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//}}}
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}
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//}}}
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//Shoot{{{
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if(currentStep==1&&c>SmartDashboard::GetNumber("First Shot Start")*200){
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if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){
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shootRobot(power);
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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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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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currentStep++;
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c=0;
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}
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}
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//}}}
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//Lower Shooter{{{
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if(currentStep==2&&c>SmartDashboard::GetNumber("Reverse direction start")*200){
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if(40.0f<=potToDegrees(armPot.GetAverageVoltage())){
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shootRobot(-0.3f);
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}else{
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shootRobot(0.0f);
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}
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if(c==(3.0f)*200){
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shootRobot(0.0f);
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currentStep++;
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c=0;
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}
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}
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//}}}
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//}}}
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}else if(SmartDashboard::GetNumber("Autonomous sequence")==1){
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//Autonomous1{{{
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//Drive{{{
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if(currentStep==0){
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if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=SmartDashboard::GetNumber("Auto Distance")){
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driveRobot(-1.0f,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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driveRobot(0.0f,0.0f);
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currentStep++;
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c=0;
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}
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}
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//}}}
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//Shoot{{{
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if(currentStep==1&&c>SmartDashboard::GetNumber("First Shot Start")*200){
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if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){
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shootRobot(power);
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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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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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currentStep++;
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c=0;
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}
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}
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//}}}
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//Drive Backwards{{{
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if(currentStep==2&&c>SmartDashboard::GetNumber("Reverse direction start")*200){
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driveRobot(1.0f,correction);
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if(40.0f<=potToDegrees(armPot.GetAverageVoltage())){
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shootRobot(-0.2f);
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}else{
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shootRobot(0.0f);
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}
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if(c==(SmartDashboard::GetNumber("Reverse direction stop"))*200){
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driveRobot(0.0f,0.0f);
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shootRobot(0.0f);
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currentStep++;
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c=0;
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}
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}
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//}}}
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//Drive{{{
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if(currentStep==3&&c>SmartDashboard::GetNumber("Second Drive Start")*200){
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if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=SmartDashboard::GetNumber("Auto Distance")){
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driveRobot(-1.0f,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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driveRobot(0.0f,0.0f);
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currentStep++;
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c=0;
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}
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}
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//}}}
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//Shoot{{{
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if(currentStep==4&&c>(SmartDashboard::GetNumber("Second Shot Start"))*200){
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if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){
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shootRobot(power);
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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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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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currentStep++;
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c=0;
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}
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}
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//}}}
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//}}}
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}else if(SmartDashboard::GetNumber("Autonomous sequence")==2){
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//Autonomous2{{{
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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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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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driveRobot(0.0f,0.0f);
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currentStep++;
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c=0;
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}
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}
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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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if(c==50){
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currentStep++;
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c=0;
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}
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}
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//}}}
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//Shoot{{{
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if(currentStep==2&&c>SmartDashboard::GetNumber("First Shot Start")*200){
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if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){
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shootRobot(power);
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}else{
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shootRobot(0.0f);
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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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currentStep++;
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c=0;
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}
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}
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//}}}
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//Lower Shooter{{{
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if(currentStep==3){
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if(40.0f<=potToDegrees(armPot.GetAverageVoltage())){
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shootRobot(-0.3f);
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}else{
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shootRobot(0.0f);
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}
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if(c==1*200){
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shootRobot(0.0f);
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currentStep++;
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c=0;
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}
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}
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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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if(c==SmartDashboard::GetNumber("Second Shot Stop")*200){
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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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}
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//}}}
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//Shoot{{{
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if(currentStep==5&&c>(SmartDashboard::GetNumber("Second Shot Start"))*200){
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if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){
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shootRobot(power);
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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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if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){
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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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}
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}
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//}}}
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//}}}
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}
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SmartDashboard::PutNumber("Autonomous step", currentStep);
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updateDashboard();
|
||||
@ -511,7 +512,6 @@ public:
|
||||
i++;
|
||||
c++;
|
||||
Wait(0.005f);
|
||||
}
|
||||
compressing=false;
|
||||
compressor.Stop();
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user