mirror of
https://github.com/team2059/Zaphod
synced 2024-12-18 20:12:28 -05:00
Changed the auto sequencing to a switch-case instead of a bunch of if statements
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parent
3fa5c4bcc0
commit
5030b06c38
11
MyRobot.cpp
11
MyRobot.cpp
@ -254,6 +254,7 @@ public:
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int c=0;
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float power=SmartDashboard::GetNumber("AutoPower");
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float correction=SmartDashboard::GetNumber("AutoCorrection");
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float autoSeq=SmartDashboard::GetNumber("Autonomous Sequence");
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int currentStep=0;
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compressing=false;
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collectorSole1.Set(false);
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@ -265,8 +266,9 @@ public:
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SmartDashboard::PutBoolean("CollectorState",true);
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//}}}
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while(IsEnabled()&&IsAutonomous()) {
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if(SmartDashboard::GetNumber("Autonomous sequence")==0){
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switch (autoSeq) {
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//Autonomous0{{{
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case 0:
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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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@ -311,9 +313,10 @@ public:
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}
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}
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//}}}
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break;
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//}}}
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}else if(SmartDashboard::GetNumber("Autonomous sequence")==1){
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//Autonomous1{{{
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case 1:
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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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@ -390,9 +393,10 @@ public:
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}
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}
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//}}}
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break;
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//}}}
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}else if(SmartDashboard::GetNumber("Autonomous sequence")==2){
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//Autonomous2{{{
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case 2:
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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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@ -473,6 +477,7 @@ public:
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}
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}
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//}}}
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break;
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//}}}
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}
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SmartDashboard::PutNumber("Autonomous step", currentStep);
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