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https://github.com/team2059/Zaphod
synced 2024-12-18 20:12:28 -05:00
Updated MyRobot.cpp (merged from Athens Drive auto code... Giving Christian write perms... double check before committing again)
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MyRobot.cpp
292
MyRobot.cpp
@ -1,6 +1,4 @@
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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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@ -8,6 +6,7 @@
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#include "Command.h"
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#include <iostream>
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#include <math.h>
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#include <vector>
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class RobotDemo : public SimpleRobot
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{
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RobotDrive myRobot;
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@ -18,17 +17,18 @@ class RobotDemo : public SimpleRobot
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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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bool shooting, compressing;
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float DownSpeed, downLimit, upLimit;
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string cmd;
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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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Compressor compressor;
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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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AnalogChannel armPot;
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//Ultrasonic
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AnalogChannel BallSonicLeft,BallSonicRight,WallSonicLeft,WallSonicRight;
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@ -38,7 +38,7 @@ public:
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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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armPot(6),
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//Ultrasonic
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BallSonicLeft(1),
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BallSonicRight(2),
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@ -85,19 +85,21 @@ public:
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servoYState = 90;
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multiplier = 1.0f;
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cameraPreset = 0;
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downLimit = 40;
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upLimit = 130;
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compressor.Start();
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compressorb = true;
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shooting = false;
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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("downLimit", downLimit);
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SmartDashboard::PutNumber("upLimit", upLimit);
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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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SmartDashboard::PutNumber("armPot", potToDegrees(armPot.GetAverageVoltage()));
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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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@ -107,11 +109,12 @@ public:
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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("Log Level",1);
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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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SmartDashboard::PutNumber("armPot", potToDegrees(armPot.GetAverageVoltage()));
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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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@ -119,6 +122,14 @@ public:
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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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downLimit = SmartDashboard::GetNumber("downLimit");
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upLimit = SmartDashboard::GetNumber("upLimit");
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if(downLimit < 35){
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downLimit = 35;
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}
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if(upLimit > 167){
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upLimit = 167;
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}
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}
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void buttonUpdate() {
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//Right joystick input
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@ -161,7 +172,6 @@ public:
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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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@ -173,78 +183,17 @@ public:
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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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float potToDegrees(float a){ // a 5.024
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float max = -.0003948;
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float min = 5.0245547;
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float b = a-max;
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min = min-max; // ~5.0027
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max=max-max; //=0
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return 300-((b+max)*(300/min));
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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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@ -268,10 +217,8 @@ public:
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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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@ -299,8 +246,10 @@ public:
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case 6:
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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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@ -312,11 +261,15 @@ public:
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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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if((int)SmartDashboard::GetNumber("Log Level")%17==0){
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printf("Collector is extended, not going to fire\n");
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}
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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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if((int)SmartDashboard::GetNumber("Log Level")%17==0){
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printf("Collector is NOT extended, going to fire\n");
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}
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return true;
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}
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}
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@ -324,23 +277,18 @@ public:
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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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//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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//vector<cCommand> cmds = getCommands((std::string)cmd);
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if((int)SmartDashboard::GetNumber("Log Level")%7==0){
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printf(((std::string)cmd).c_str());
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}
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//d-p255-d10;w-t10
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//(10,255)d
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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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@ -349,7 +297,54 @@ public:
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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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collectorSole1.Set(true);
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collectorSole2.Set(false);
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compressor.Start();
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while(IsEnabled()&&IsAutonomous()) {
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if(200>i){
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leftPower=1;
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rightPower=255;
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}else if(i==200){
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leftPower=127;
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rightPower=127;
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collectorSole1.Set(false);
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collectorSole2.Set(true);
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}else if(i>600&&120>=potToDegrees(armPot.GetAverageVoltage())){
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leftPower=127;
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rightPower=127;
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setMotorValue(4,1,cvt(1));
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setMotorValue(5,1,cvt(1));
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setMotorValue(4,2,cvt(-1));
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setMotorValue(5,2,cvt(-1));
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setMotorValue(6,1,1);
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}else{
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leftPower=127;
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rightPower=127;
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setMotorValue(4,1,127);
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setMotorValue(5,1,127);
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setMotorValue(4,2,127);
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setMotorValue(5,2,127);
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setMotorValue(6,1,127);
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}
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updateMotors();
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updateDashboard();
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i++;
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if(i%100==0 && compressing && compressor.GetPressureSwitchValue()==1) {
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compressor.Stop();
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compressing = false;
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if((int)SmartDashboard::GetNumber("Log Level")%2==0){
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printf("Stopping the compressor\n");
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}
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}
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if(i%100==0 && !compressing && compressor.GetPressureSwitchValue()==0) {
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compressor.Start();
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compressing=true;
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if((int)SmartDashboard::GetNumber("Log Level")%2==0){
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printf("Starting the compressor again\n");
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}
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}
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Wait(0.005f);
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/*
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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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@ -368,14 +363,9 @@ public:
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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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}
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compressing=false;
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compressor.Stop();
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}
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void OperatorControl() {
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@ -383,29 +373,45 @@ public:
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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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compressing=false;
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if((int)SmartDashboard::GetNumber("Log Level")%1==0){
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printf("Starting Teleop\n");
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}
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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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if(i%200==0) {
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if((int)SmartDashboard::GetNumber("Log Level")%2==0){
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printf("%d",compressor.GetPressureSwitchValue());
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}
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if((int)SmartDashboard::GetNumber("Log Level")%3==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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if((int)SmartDashboard::GetNumber("Log Level")%11==0){
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printf("armPot value: %f\n",armPot.GetAverageVoltage());
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printf("Converted armPot value: %f\n",potToDegrees(armPot.GetAverageVoltage()));
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}
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}
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if(i%100==0 && compressing && compressor.GetPressureSwitchValue()==1) {
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compressor.Stop();
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compressing = false;
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if((int)SmartDashboard::GetNumber("Log Level")%2==0){
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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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}
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if(i%100==0 && !compressing && compressor.GetPressureSwitchValue()==0) {
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compressor.Start();
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compressing=true;
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if((int)SmartDashboard::GetNumber("Log Level")%2==0){
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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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}
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updateMotors();
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buttonUpdate();
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updateDashboard();
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/*
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if(LbuttonSevenState) {
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cameraPreset++;
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if(cameraPreset>3) {
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@ -425,68 +431,87 @@ public:
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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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*/
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if(LbuttonOneState==1&&upLimit>=potToDegrees(armPot.GetAverageVoltage())) {
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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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shooting=false;
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if((int)SmartDashboard::GetNumber("Log Level")%17==0){
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printf("Collector is notextended, not going to fire\n");
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}
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}
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if(collectorExtended == true) {
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shooting = true;
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if((int)SmartDashboard::GetNumber("Log Level")%13==0){
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printf("Firing %d\n",cvt(-throttle));
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}
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if((int)SmartDashboard::GetNumber("Log Level")%17==0){
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printf("Collector is NOT not extended, going to fire\n");
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}
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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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setMotorValue(6,1,1);
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}
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} else if (LbuttonOneState==1&&upLimit<=potToDegrees(armPot.GetAverageVoltage())) {
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shooting = false;
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if((int)SmartDashboard::GetNumber("Log Level")%13==0){
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printf("Stopping Shooter Motor\n");
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}
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if((int)SmartDashboard::GetNumber("Log Level")%17==0){
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printf("Stopping Collector Motor");
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}
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setMotorValue(4,1,127);//arms
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setMotorValue(5,1,127);
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setMotorValue(4,2,127);
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setMotorValue(5,2,127);
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} else if(LbuttonTwoState==1) {
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//Reverse the arm motors
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shooting = false;
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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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if((int)SmartDashboard::GetNumber("Log Level")%17==0){
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printf("Collector is not extended, not going to fire\n");
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}
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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(4,1,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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if((int)SmartDashboard::GetNumber("Log Level")%17==0){
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printf("Collector is extended, going to fire\n");
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}
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}
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} else {
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shooting=false;
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//Stop all motors
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setMotorValue(4,1,127);
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setMotorValue(5,1,127);
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setMotorValue(4,2,127);
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setMotorValue(5,2,127);
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}
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if(LbuttonTenState) {
|
||||
if(buttonNineState) {
|
||||
collectorExtended = true;
|
||||
collectorSole1.Set(false);
|
||||
collectorSole2.Set(true);
|
||||
|
||||
} else if(LbuttonNineState) {
|
||||
} else if(buttonTenState) {
|
||||
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);
|
||||
} else if(!shooting){
|
||||
setMotorValue(6,1,127);
|
||||
}
|
||||
//Camera directions
|
||||
camerafaceManual(LbuttonTwelveState-LbuttonElevenState,LbuttonEightState-LbuttonTenState);
|
||||
if(LbuttonNineState==1) {
|
||||
cameraReset();
|
||||
if(buttonNineState==1) {
|
||||
//cameraReset();
|
||||
}
|
||||
i++;
|
||||
Wait(0.005f);
|
||||
@ -494,4 +519,3 @@ public:
|
||||
}
|
||||
};
|
||||
START_ROBOT_CLASS(RobotDemo);
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user