mirror of
https://github.com/team2059/Zaphod
synced 2024-12-18 20:12:28 -05:00
Added zaphod code
This commit is contained in:
commit
66c6c76104
497
MyRobot.cpp
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497
MyRobot.cpp
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@ -0,0 +1,497 @@
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//TODO:
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//Vim-like command propmpt thingy
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//about line 334
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//Auto
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//Sonar code
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#include "WPILib.h"
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#include "SmartDashboard/SmartDashboard.h"
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#include "Command.h"
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#include <iostream>
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#include <math.h>
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class RobotDemo : public SimpleRobot
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{
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RobotDrive myRobot;
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//Joystick button inputs
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int buttonOneState, buttonTwoState, buttonFiveState, buttonSixState, buttonEightState, buttonSevenState, buttonNineState, buttonTenState, buttonTwelveState, LbuttonOneState, LbuttonTwoState, LbuttonSevenState, LbuttonEightState,LbuttonNineState, LbuttonTenState, LbuttonElevenState, LbuttonTwelveState;
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float potVal,multiplier, servoXState, servoYState, x, y, throttle, ServoXJoyPos, ServoYJoyPos;
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int leftPower, rightPower, cameraMode;
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int cameraPreset, collectorSpeed;
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bool collectorExtended,toggleCollector;
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int lastToggle;
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bool compressorb, compressing;
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float DownSpeed;
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string cmd, debug;
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Joystick Rstick, Lstick;
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Servo Servo1, Servo2;
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Compressor compressor;
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Solenoid collectorSole1, collectorSole2;
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DigitalInput pneumaticLS, shootTopLS, shootBottomLS;
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Relay collectorSpike, lightingSpike;
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Jaguar Left1,Left2,Left3,Right1,Right2,Right3, RightArmMotor1,RightArmMotor2, LeftArmMotor1,LeftArmMotor2,CollectorMotor1;
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//Pot
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AnalogChannel armPot;
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//Ultrasonic
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AnalogChannel BallSonicLeft,BallSonicRight,WallSonicLeft,WallSonicRight;
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public:
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RobotDemo():
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//Joysticks
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Rstick(1),
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Lstick(2),
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//Pot
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armPot(5),
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//Ultrasonic
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BallSonicLeft(1),
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BallSonicRight(2),
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WallSonicLeft(3),
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WallSonicRight(4),
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//Compressor
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//compressor(2,3,1,1),
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compressor(2,5,1,1),//Solenoids
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collectorSole1(1),
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collectorSole2(2),
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//Limit switches
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pneumaticLS(1),
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shootTopLS(2),
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shootBottomLS(3),
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//Driver Motors
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Left1(1,1),
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Left2(1,2),
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Left3(1,3),
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Right1(2,1),
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Right2(2,2),
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Right3(2,3),
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//Servos
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Servo1(1,7),
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Servo2(1,8),
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//Spikes
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collectorSpike(2,7),
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lightingSpike(2,8),
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//Shooter Motors
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LeftArmMotor1(1,4),
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LeftArmMotor2(1,5),
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RightArmMotor1(2,4),
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RightArmMotor2(2,5),
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//Collector Motor
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CollectorMotor1(1,6),
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myRobot(Left1,Left2,Right1,Right2) {
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GetWatchdog().SetEnabled(false);
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}
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void RobotInit() {
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//Initializing robot
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lastToggle = 0;
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DashboardSetup();
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cameraMode = 0;
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servoXState = 90;
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servoYState = 90;
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multiplier = 1.0f;
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cameraPreset = 0;
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compressor.Start();
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compressorb = true;
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compressing = true;
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toggleCollector=false;
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debug="";
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}
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void DashboardSetup() {
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SmartDashboard::PutNumber("Throttle", throttle);
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SmartDashboard::PutNumber("DownSpeed", 0.100);
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SmartDashboard::PutString("Auto", cmd);
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SmartDashboard::PutString("Debuggin:", debug);
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SmartDashboard::PutNumber("collectorSpeed",127);
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SmartDashboard::PutNumber("armPot", armPot.GetAverageVoltage()*10000.0f);
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//FOR DA SAMPLE TEXT BOT POT
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//min: 0.04803774
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//max: 0.05024723
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//(#-0.04803774)/0.05024723
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//Ultrasonic
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SmartDashboard::PutNumber("Wall Left",voltToDistance(WallSonicLeft.GetAverageVoltage()));
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SmartDashboard::PutNumber("Wall Right",voltToDistance(WallSonicRight.GetAverageVoltage()));
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SmartDashboard::PutNumber("Ball Left",voltToDistance(BallSonicLeft.GetAverageVoltage()));
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SmartDashboard::PutNumber("Ball Right",voltToDistance(BallSonicRight.GetAverageVoltage()));
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}
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void updateDashboard() {
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SmartDashboard::PutNumber("Throttle", throttle);
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collectorSpeed = SmartDashboard::GetNumber("collectorSpeed");
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SmartDashboard::PutNumber("armPot", armPot.GetAverageVoltage()*10000.0f);
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//Ultrasonic
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SmartDashboard::PutNumber("Wall Left",voltToDistance(WallSonicLeft.GetAverageVoltage()));
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SmartDashboard::PutNumber("Wall Right",voltToDistance(WallSonicRight.GetAverageVoltage()));
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SmartDashboard::PutNumber("Ball Left",voltToDistance(BallSonicLeft.GetAverageVoltage()));
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SmartDashboard::PutNumber("Ball Right",voltToDistance(BallSonicRight.GetAverageVoltage()));
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SmartDashboard::PutNumber("Tanval",tan((WallSonicLeft.GetAverageVoltage()-WallSonicRight.GetAverageVoltage())/18.0f));
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DownSpeed = SmartDashboard::GetNumber("DownSpeed");
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}
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void buttonUpdate() {
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//Right joystick input
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buttonOneState=Rstick.GetRawButton(1);
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buttonTwoState=Rstick.GetRawButton(2);
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buttonFiveState=Rstick.GetRawButton(5);
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buttonSixState=Rstick.GetRawButton(6);
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buttonSevenState=Rstick.GetRawButton(7);
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buttonEightState=Rstick.GetRawButton(8);
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buttonNineState=Rstick.GetRawButton(9);
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buttonTenState=Rstick.GetRawButton(10);
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buttonTwelveState=Rstick.GetRawButton(12);
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//Left joystick input
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LbuttonOneState=Lstick.GetRawButton(1);
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LbuttonTwoState=Lstick.GetRawButton(2);
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LbuttonSevenState=Lstick.GetRawButton(7);
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LbuttonEightState=Lstick.GetRawButton(8);
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LbuttonNineState=Lstick.GetRawButton(9);
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LbuttonTenState=Lstick.GetRawButton(10);
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LbuttonElevenState=Lstick.GetRawButton(11);
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LbuttonTwelveState=Lstick.GetRawButton(12);
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}
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void getJoystickAxis() {
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y=Rstick.GetX()*multiplier;
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x=-Rstick.GetY()*multiplier;
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throttle=(-Lstick.GetRawAxis(4)+1.0f)/2.0f;
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leftPower=((y+x)/2+1)*127+1;
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rightPower=((y-x)/2+1)*127+1;
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}
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void updateMotors() {
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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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setMotorValue(1,2,rightPower);
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setMotorValue(2,2,rightPower);
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setMotorValue(3,2,rightPower);
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}
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//camera functions
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void camerafaceManual(int changex,int changey) {
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servoYState=changey;
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servoXState=changex;
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setMotorValue(7,2,servoXState);
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Wait(0.003);
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setMotorValue(8,2,servoYState);
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}
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void cameraReset() {
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servoXState = 90;
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servoYState = 90;
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setMotorValue(7,2,servoXState);
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setMotorValue(8,2,servoYState);
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}
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float voltToDistance(float a) {
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return a/0.00488f/2.54f;
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}
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int cvt(float input) {
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return input*127.0f+128;
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}
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void setDigitalValue(int device,int subwayStation=1,int value=127) {
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if(subwayStation==1) {
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switch(device) {
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case 1:
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break;
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case 2:
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break;
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case 3:
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break;
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case 4:
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break;
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case 5:
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break;
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case 6:
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break;
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case 7:
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break;
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case 8:
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break;
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case 9:
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break;
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case 10:
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break;
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case 11:
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break;
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case 12:
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break;
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case 13:
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break;
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case 14:
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break;
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default:
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break;
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}
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} else if(subwayStation==2) {
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switch(device) {
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case 1:
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break;
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case 2:
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break;
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case 3:
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break;
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case 4:
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break;
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case 5:
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break;
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case 6:
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break;
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case 7:
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break;
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case 8:
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break;
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case 9:
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break;
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case 10:
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break;
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case 11:
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break;
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case 12:
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break;
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case 13:
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break;
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case 14:
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break;
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default:
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break;
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}
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}
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}
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void setMotorValue(int motor,int subwayStation=1,int value=127) {
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if(subwayStation==1) {
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switch(motor) {
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//Drive motors
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case 1:
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Left1.SetRaw(value);
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break;
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case 2:
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Left2.SetRaw(value);
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break;
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case 3:
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Left3.SetRaw(value);
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break;
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case 4:
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LeftArmMotor1.SetRaw(value);
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break;
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case 5:
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LeftArmMotor2.SetRaw(value);
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break;
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case 6:
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CollectorMotor1.SetRaw(value);
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break;
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case 7:
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Servo1.SetAngle(value);
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break;
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case 8:
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Servo2.SetAngle(value);
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break;
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case 9:
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break;
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case 10:
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break;
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}
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} else if(subwayStation==2) {
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switch(motor) {
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//Shooter motors
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case 1:
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Right1.SetRaw(value);
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break;
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case 2:
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Right2.SetRaw(value);
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break;
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case 3:
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Right3.SetRaw(value);
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break;
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case 4:
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RightArmMotor1.SetRaw(value);
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break;
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case 5:
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RightArmMotor2.SetRaw(value);
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break;
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case 6:
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break;
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case 7:
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break;
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case 8:
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break;
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case 9:
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break;
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case 10:
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break;
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}
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}
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}
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bool checkSafety() {
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//Some function that will be called to make sure the collector is out before the shooter is raised
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if(collectorExtended == true) {
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debug += "Collector is extended, not going to fire\n";
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return false;
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}
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if(collectorExtended == false) {
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debug += "Collector is NOT extended, going to fire\n";
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return true;
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}
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}
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void alignRobot() {
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float yoyo=atan(voltToDistance(WallSonicLeft.GetAverageVoltage())-voltToDistance(WallSonicRight.GetAverageVoltage()))/18.0f;
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SmartDashboard::PutNumber("Distance", yoyo);
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}
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//Active functions
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void Test() {
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//code for sonar
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int i=0;
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while(IsEnabled()&&IsTest()) {
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i++;
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if(i%250==0) {
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SmartDashboard::PutNumber("armPot", armPot.GetAverageVoltage()*1000.0f);
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}
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}
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}
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void Autonomous() {
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myRobot.SetSafetyEnabled(false);
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compressor.Start();
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cmd=SmartDashboard::GetString("Auto");
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vector<cCommand> cmds = getCommands((std::string)cmd);
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//printf(((std::string)cmd).c_str());
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//10d drive 10 feet
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//10w wait 10 seconds
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//90t turn 90 degrees, yo
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//3c collect ball and retract after 3 seconds
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//255s shoot at power 255
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//3a align robit for 3 seconds (uses ultrasonic to align robit)
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int commandIndex = 0;
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int i = 0;
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while(IsEnabled()&&IsAutonomous()) {
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if(commandIndex < cmds.size()) {
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if(cmds[commandIndex].Function == "d") {
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if(i*1000 < cmds[commandIndex].Amount) {
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setMotorValue(4,1,255);
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setMotorValue(5,1,255);
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setMotorValue(4,2,255);
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setMotorValue(5,2,255);
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} else {
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commandIndex++;
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i=0;
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}
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} else if(cmds[commandIndex].Function == "w") {
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if(!(i*1000 < cmds[commandIndex].Amount)) {
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commandIndex++;
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i=0;
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}
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}
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}
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potVal=420.0f;
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updateDashboard();
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if(compressor.GetPressureSwitchValue()==1) {
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compressor.Stop();
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}
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i++;
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Wait(0.005f);
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}
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compressor.Stop();
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}
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void OperatorControl() {
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myRobot.SetSafetyEnabled(false);
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int i=0;
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collectorSole1.Set(true);
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collectorSole2.Set(false);
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compressor.Start();
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while(IsEnabled()&&IsOperatorControl()) {
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getJoystickAxis();
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//Log things
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if(i%500==0) {
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printf("Throttle values: (%f,%f,%f)\n", throttle,128-(throttle*127.0f),(throttle*127.0f)+128);
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printf("X,Y: (%f,%f)\n", x, y);
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printf("Pitchfork values: (%f,%f)\n", leftPower, rightPower);
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}
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if(compressing && compressor.GetPressureSwitchValue()) {
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compressor.Stop();
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compressing = false;
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printf("Stopping the compressor\n");
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}
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if(!compressing && compressor.GetPressureSwitchValue()==0) {
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compressor.Start();
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compressing=true;
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printf("Starting the compressor again\n");
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Wait(0.05f);
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}
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updateMotors();
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buttonUpdate();
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updateDashboard();
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if(LbuttonSevenState) {
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cameraPreset++;
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if(cameraPreset>3) {
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cameraPreset=0;
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}
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switch(cameraPreset) {
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case 0:
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camerafaceManual(-90,0);
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break;
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case 1:
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camerafaceManual(90,0);
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break;
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case 2:
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camerafaceManual(0,-90);
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break;
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||||
case 3:
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camerafaceManual(0,90);
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break;
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}
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Wait(.0005f);
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}
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if(LbuttonOneState==1) {
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//Move arm motors based on throttle
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if(collectorExtended == false) {
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debug += "Collector is extended, not going to fire\n";
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}
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if(collectorExtended == true) {
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setMotorValue(4,1,cvt(throttle));
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setMotorValue(5,1,cvt(throttle));
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setMotorValue(4,2,cvt(-throttle));
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setMotorValue(5,2,cvt(-throttle));
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debug += "Collector is NOT extended, going to fire\n";
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}
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} else if(LbuttonTwoState==1) {
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//Reverse the arm motors
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if(collectorExtended == false) {
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debug += "Collector is not extended, not going to fire\n";
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}
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if(collectorExtended == true) {
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setMotorValue(4,1,-cvt(DownSpeed));
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setMotorValue(5,1,-cvt(DownSpeed));
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setMotorValue(4,2,cvt(DownSpeed));
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setMotorValue(5,2,cvt(DownSpeed));
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debug += "Collector is extended, going to fire\n";
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}
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} else {
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//Stop all motors
|
||||
setMotorValue(4,1,127);
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setMotorValue(5,1,127);
|
||||
setMotorValue(4,2,127);
|
||||
setMotorValue(5,2,127);
|
||||
}
|
||||
|
||||
if(LbuttonTenState) {
|
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collectorExtended = true;
|
||||
collectorSole1.Set(false);
|
||||
collectorSole2.Set(true);
|
||||
|
||||
} else if(LbuttonNineState) {
|
||||
collectorExtended = false;
|
||||
collectorSole1.Set(true);
|
||||
collectorSole2.Set(false);
|
||||
}
|
||||
if(LbuttonEightState&&i-lastToggle>200) {
|
||||
lastToggle=i;
|
||||
collectorExtended = !collectorExtended;
|
||||
collectorSole1.Set(collectorExtended);
|
||||
collectorSole2.Set(!collectorExtended);
|
||||
//setMotorValue(6,1,collectorExtended?);
|
||||
}
|
||||
if(LbuttonElevenState) {
|
||||
setMotorValue(6,1,1);
|
||||
} else if(LbuttonTwelveState) {
|
||||
setMotorValue(6,1,255);
|
||||
} else {
|
||||
setMotorValue(6,1,0);
|
||||
}
|
||||
//Camera directions
|
||||
camerafaceManual(LbuttonTwelveState-LbuttonElevenState,LbuttonEightState-LbuttonTenState);
|
||||
if(LbuttonNineState==1) {
|
||||
cameraReset();
|
||||
}
|
||||
i++;
|
||||
Wait(0.005f);
|
||||
}
|
||||
}
|
||||
};
|
||||
START_ROBOT_CLASS(RobotDemo);
|
||||
|
||||
Loading…
Reference in New Issue
Block a user