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https://github.com/team2059/Zaphod
synced 2024-12-18 20:12:28 -05:00
Fixed autonomous code, now there are three sequences
This commit is contained in:
parent
9f14e2dbd2
commit
47012760aa
53
MyRobot.cpp
53
MyRobot.cpp
@ -300,8 +300,6 @@ public:
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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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currentStep=1;
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c=0;
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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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@ -317,8 +315,10 @@ public:
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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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@ -328,8 +328,12 @@ public:
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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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driveRobot(0.0f,0.0f);
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shootRobot(-0.1f);
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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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@ -344,8 +348,6 @@ public:
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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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currentStep=1;
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c=0;
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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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@ -361,8 +363,10 @@ public:
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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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@ -371,9 +375,14 @@ public:
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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(-0.1f);
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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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@ -385,8 +394,6 @@ public:
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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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currentStep++;
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c=0;
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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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@ -402,8 +409,10 @@ public:
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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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@ -416,14 +425,8 @@ public:
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if(currentStep==0){
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if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=40.0f){
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driveRobot(1.0f,correction);
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shootRobot(0.0f);
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setMotorValue(6, 1, 0);
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}else{
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driveRobot(0.0f,0.0f);
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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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if(c==SmartDashboard::GetNumber("Inital Drive Timeout")*200){
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driveRobot(0.0f,0.0f);
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@ -435,8 +438,6 @@ public:
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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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shootRobot(0.0f);
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driveRobot(0.0f,0.0f);
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if(c==50){
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currentStep++;
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c=0;
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@ -450,8 +451,10 @@ public:
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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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@ -459,7 +462,11 @@ public:
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//}}}
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//Lower Shooter{{{
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if(currentStep==3){
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shootRobot(0.1f);
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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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@ -469,13 +476,11 @@ public:
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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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if(){
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shootRobot(1.0f);
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}
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setMotorValue(6, 1, 1);
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if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){
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}
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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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@ -486,7 +491,9 @@ public:
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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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