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Code Issues Releases Wiki Activity

Changed build script to bash. Removed AutoMain.

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This commit is contained in:
Austen Adler 2014-10-18 15:43:20 -04:00
parent ca3e5f513c
commit 4a84b99fff
5 changed files with 35 additions and 76 deletions
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51
build
View File

@ -1,39 +1,12 @@
#!/usr/bin/python -tt
import sys,os
#Should be changed to the name of the *.out file produced in /bin
ROBOT_NAME = 'Zaphod'
RRIO_IPADDRESS = '10.20.59.2'
#Global functions for the actions
def build():
os.system('cd src && make && cd ..')
def clean():
os.system('cd src && make clean && cd ..')
def deploy():
command = 'cd bin && wput '+ ROBOT_NAME+'.out ftp://frc:frc@'+RRIO_IPADDRESS+'/ni-rt/system/FRC_UserProgram.out'
os.system(command)
#Check that there is actually an action to perform
if len(sys.argv) == 1:
print("Requires an argument")
exit()
#Bulk of the program that checks for the actions it needs to do
if sys.argv[1] == 'build':
build()
if sys.argv[1] == 'clean':
clean()
if sys.argv[1] == 'buildclean':
clean()
build()
if sys.argv[1] == 'deploy':
deploy()
# vim: ts=4:sw=4:noet
#!/bin/bash
OUTFILE='Zaphod.out'
RRIO_IPADDRESS='10.20.59.2'
if [ "$1" = "build" ];then
cd src && make
elif [ "$1" = "clean" ];then
cd src&&make clean
elif [ "$1" = "buildclean" ];then
cd src&&make clean;make
elif [ "$1" = "deploy" ];then
cd bin&&wput $OUTFILE ftp://frc:frc@10.20.59.2/ni-rt/system/FRC_UserProgram.out
fi

5
src/Auto/AutoMain.cpp
View File

@ -1,5 +0,0 @@
#include "AutoMain.h"
HHAuto::HHAuto(){
}

6
src/Auto/AutoMain.h
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@ -1,6 +0,0 @@
#include <WPILib.h>
#include "../Definitions.h"
class HHAuto{
public:
HHAuto();
};

47
src/HHRobot.cpp
View File

@ -7,22 +7,21 @@ HHRobot::HHRobot():
collector(new HHCollector()),
compressorSystem(new HHCompressor()),
dashboard(new HHDashboard()),
autoseq(new HHAuto()),
sonar(new HHSonar()){
netTable = NetworkTable::GetTable("datatable");
netTable=NetworkTable::GetTable("datatable");
}
bool HHRobot::CheckJoystickValues(){
float x=ControlSystem->rightJoystickAxisValues[1];
float y=ControlSystem->rightJoystickAxisValues[2];
if((-.1 < x && x < .1) && (-.1 < y && y < .1)) {
dashboard->PutBoolValue("Joysticks Valid", true);
if((-.1<x && x<.1) && (-.1<y && y<.1)) {
dashboard->PutBoolValue("Joysticks Valid",true);
return true;
}else{
dashboard->PutBoolValue("Joysticks Valid", false);
dashboard->PutBoolValue("Joysticks Valid",false);
return false;
}
}
void HHRobot::DriveRobot(float x, float y){
void HHRobot::DriveRobot(float x,float y){
if(y>1.0f){
y=1.0f;
}else if(y!=0.0f&&y<-1.0f){
@ -38,30 +37,30 @@ void HHRobot::DriveRobot(float x, float y){
left3->SetRaw(int(leftPower));
}
void HHRobot::UpdateDashboard(){
dashboard->PutFloatValue("Shooting Power", ControlSystem->throttle);
dashboard->PutFloatValue("Shooting Power",ControlSystem->throttle);
}
void HHRobot::RunAuto(){
int step, time;
int step,time;
compressorSystem->ExtendCollector();
//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){
if(step==0 && time<200){
if(sonar->GetInches("FRONTLEFT")>=51){
DriveRobot(0,-.5);
}else{
DriveRobot(0,0);
}
}else{
step = 1;
step=1;
}
//TODO Pass the shooting power and sonar distance as variables to the RunAuto function
//Shoot at a power
if(step == 1 && time < 500){
if(step==1 && time<500){
shooter->StartShootingSequence(0.78);
}else{
step = 2;
step=2;
}
if(step == 2){
if(step==2){
return;
}
//Important periodic things
@ -78,9 +77,9 @@ void HHRobot::Handler(){
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)
compressorSystem->CompressorSystemPeriodic(allowCompressing);
collector->UpdateCollector(shooter->isShooting, shooter->GetAngle());
collector->UpdateCollector(shooter->isShooting,shooter->GetAngle());
if(CheckJoystickValues()) {
DriveRobot(ControlSystem->rightJoystickAxisValues[3]+ControlSystem->rightJoystickAxisValues[1], -ControlSystem->rightJoystickAxisValues[2]);
DriveRobot(ControlSystem->rightJoystickAxisValues[3]+ControlSystem->rightJoystickAxisValues[1],-ControlSystem->rightJoystickAxisValues[2]);
}
UpdateDashboard();
//Button assignments to actions
@ -100,25 +99,25 @@ void HHRobot::Handler(){
compressorSystem->RetractCollector();
}
if(ControlSystem->leftJoystickValues[SHOOTER_ANGLE_ONE]){
targetAngle = 100;
targetAngle=100;
}
if(ControlSystem->leftJoystickValues[SHOOTER_ANGLE_TWO]){
targetAngle = 120;
targetAngle=120;
}
if(ControlSystem->leftJoystickValues[SHOOTER_ANGLE_THREE]){
targetAngle = 90;
targetAngle=90;
}
if(ControlSystem->leftJoystickValues[SHOOTER_ANGLE_FOUR]){
targetAngle = 130;
targetAngle=130;
}
if(ControlSystem->rightJoystickValues[DISABLE_COMPRESSOR]){
allowCompressing = false;
allowCompressing=false;
}else{
allowCompressing = true;
allowCompressing=true;
}
if(ControlSystem->rightJoystickValues[DRIVE_FOR_DISTANCE]){
targetAngle = 100;
if(sonar->GetInches("FRONTLEFT") >= 45){
targetAngle=100;
if(sonar->GetInches("FRONTLEFT")>=45){
DriveRobot(0,-.5);
}
else{

2
src/HHRobot.h
View File

@ -2,7 +2,6 @@
#define __ZAPHOD_ROBOT_H__
#include <WPILib.h>
#include "HHBase.h"
#include "Auto/AutoMain.h"
#include "Definitions.h"
class JoystickController;
class HHShooter;
@ -20,7 +19,6 @@ class HHRobot{
HHCollector *collector;
HHCompressor *compressorSystem;
HHDashboard *dashboard;
HHAuto *autoseq;
HHSonar *sonar;
public:
HHRobot();