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Code Issues Releases Wiki Activity

Fixed autonomous code, now there are three sequences

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This commit is contained in:
Austen Adler 2014-03-10 20:05:16 -04:00
parent 9f14e2dbd2
commit 47012760aa
1 changed files with 30 additions and 23 deletions
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53
MyRobot.cpp
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@ -300,8 +300,6 @@ public:
driveRobot(1.0f,correction); driveRobot(1.0f,correction);
}else{ }else{
driveRobot(0.0f,0.0f); driveRobot(0.0f,0.0f);
currentStep=1;
c=0;
} }
if(c==SmartDashboard::GetNumber("Inital Drive Timeout")*200){ if(c==SmartDashboard::GetNumber("Inital Drive Timeout")*200){
driveRobot(0.0f,0.0f); driveRobot(0.0f,0.0f);
@ -317,8 +315,10 @@ public:
}else{ }else{
shootRobot(0.0f); shootRobot(0.0f);
} }
setMotorValue(6, 1, 1);
if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){ if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){
shootRobot(0.0f); shootRobot(0.0f);
setMotorValue(6, 1, 0);
currentStep++; currentStep++;
c=0; c=0;
} }
@ -328,8 +328,12 @@ public:
if(currentStep==2&&c>SmartDashboard::GetNumber("Reverse direction start")*200){ if(currentStep==2&&c>SmartDashboard::GetNumber("Reverse direction start")*200){
driveRobot(-1.0f,correction); driveRobot(-1.0f,correction);
if(40.0f<=potToDegrees(armPot.GetAverageVoltage())){ if(40.0f<=potToDegrees(armPot.GetAverageVoltage())){
driveRobot(0.0f,0.0f); shootRobot(-0.3f);
shootRobot(-0.1f); }else{
shootRobot(0.0f);
}
if(c==(3.0f)*200){
shootRobot(0.0f);
currentStep++; currentStep++;
c=0; c=0;
} }
@ -344,8 +348,6 @@ public:
driveRobot(1.0f,correction); driveRobot(1.0f,correction);
}else{ }else{
driveRobot(0.0f,0.0f); driveRobot(0.0f,0.0f);
currentStep=1;
c=0;
} }
if(c==SmartDashboard::GetNumber("Inital Drive Timeout")*200){ if(c==SmartDashboard::GetNumber("Inital Drive Timeout")*200){
driveRobot(0.0f,0.0f); driveRobot(0.0f,0.0f);
@ -361,8 +363,10 @@ public:
}else{ }else{
shootRobot(0.0f); shootRobot(0.0f);
} }
setMotorValue(6, 1, 1);
if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){ if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){
shootRobot(0.0f); shootRobot(0.0f);
setMotorValue(6, 1, 0);
currentStep++; currentStep++;
c=0; c=0;
} }
@ -371,9 +375,14 @@ public:
//Drive Backwards{{{ //Drive Backwards{{{
if(currentStep==2&&c>SmartDashboard::GetNumber("Reverse direction start")*200){ if(currentStep==2&&c>SmartDashboard::GetNumber("Reverse direction start")*200){
driveRobot(-1.0f,correction); driveRobot(-1.0f,correction);
if(40.0f<=potToDegrees(armPot.GetAverageVoltage())){
shootRobot(-0.2f);
}else{
shootRobot(0.0f);
}
if(c==(SmartDashboard::GetNumber("Reverse direction stop"))*200){ if(c==(SmartDashboard::GetNumber("Reverse direction stop"))*200){
driveRobot(0.0f,0.0f); driveRobot(0.0f,0.0f);
shootRobot(-0.1f); shootRobot(0.0f);
currentStep++; currentStep++;
c=0; c=0;
} }
@ -385,8 +394,6 @@ public:
driveRobot(1.0f,correction); driveRobot(1.0f,correction);
}else{ }else{
driveRobot(0.0f,0.0f); driveRobot(0.0f,0.0f);
currentStep++;
c=0;
} }
if(c==(SmartDashboard::GetNumber("Inital Drive Timeout"))*200){ if(c==(SmartDashboard::GetNumber("Inital Drive Timeout"))*200){
driveRobot(0.0f,0.0f); driveRobot(0.0f,0.0f);
@ -402,8 +409,10 @@ public:
}else{ }else{
shootRobot(0.0f); shootRobot(0.0f);
} }
setMotorValue(6, 1, 1);
if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){ if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){
shootRobot(0.0f); shootRobot(0.0f);
setMotorValue(6, 1, 0);
currentStep++; currentStep++;
c=0; c=0;
} }
@ -416,14 +425,8 @@ public:
if(currentStep==0){ if(currentStep==0){
if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=40.0f){ if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=40.0f){
driveRobot(1.0f,correction); driveRobot(1.0f,correction);
shootRobot(0.0f);
setMotorValue(6, 1, 0);
}else{ }else{
driveRobot(0.0f,0.0f); driveRobot(0.0f,0.0f);
shootRobot(0.0f);
setMotorValue(6, 1, 0);
currentStep++;
c=0;
} }
if(c==SmartDashboard::GetNumber("Inital Drive Timeout")*200){ if(c==SmartDashboard::GetNumber("Inital Drive Timeout")*200){
driveRobot(0.0f,0.0f); driveRobot(0.0f,0.0f);
@ -435,8 +438,6 @@ public:
//Release Ball{{{ //Release Ball{{{
if(currentStep==1){ if(currentStep==1){
setMotorValue(6, 1, 102); setMotorValue(6, 1, 102);
shootRobot(0.0f);
driveRobot(0.0f,0.0f);
if(c==50){ if(c==50){
currentStep++; currentStep++;
c=0; c=0;
@ -450,8 +451,10 @@ public:
}else{ }else{
shootRobot(0.0f); shootRobot(0.0f);
} }
setMotorValue(6, 1, 1);
if(c==SmartDashboard::GetNumber("First Shot Stop")*200){ if(c==SmartDashboard::GetNumber("First Shot Stop")*200){
shootRobot(0.0f); shootRobot(0.0f);
setMotorValue(6, 1, 0);
currentStep++; currentStep++;
c=0; c=0;
} }
@ -459,7 +462,11 @@ public:
//}}} //}}}
//Lower Shooter{{{ //Lower Shooter{{{
if(currentStep==3){ if(currentStep==3){
shootRobot(0.1f); if(40.0f<=potToDegrees(armPot.GetAverageVoltage())){
shootRobot(-0.3f);
}else{
shootRobot(0.0f);
}
if(c==1*200){ if(c==1*200){
shootRobot(0.0f); shootRobot(0.0f);
currentStep++; currentStep++;
@ -469,13 +476,11 @@ public:
//}}} //}}}
//Collect Ball{{{ //Collect Ball{{{
if(currentStep==4&&c>SmartDashboard::GetNumber("Second Shot Start")){ if(currentStep==4&&c>SmartDashboard::GetNumber("Second Shot Start")){
if(){
shootRobot(1.0f);
}
setMotorValue(6, 1, 1); setMotorValue(6, 1, 1);
if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){
}
if(c==SmartDashboard::GetNumber("Second Shot Stop")*200){ if(c==SmartDashboard::GetNumber("Second Shot Stop")*200){
setMotorValue(6, 1, 0);
currentStep++;
c=0;
} }
} }
//}}} //}}}
@ -486,7 +491,9 @@ public:
}else{ }else{
shootRobot(0.0f); shootRobot(0.0f);
} }
setMotorValue(6, 1, 1);
if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){ if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){
setMotorValue(6, 1, 0);
shootRobot(0.0f); shootRobot(0.0f);
currentStep++; currentStep++;
c=0; c=0;