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Code Issues Releases Wiki Activity

Removed dan's joystick, added auto speed

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This commit is contained in:
Austen Adler 2014-03-14 14:53:48 -04:00
parent f447ab6ee3
commit 7afb0a99fb
1 changed files with 2 additions and 96 deletions
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98
MyRobot.cpp
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@ -1,7 +1,3 @@
//STABLE CODE
//as of 3/14 at 8:07am
//Add a button on joystick that activates "auto" to drive to 40 inches away and another to shoot when at 40 inches away (use the little joystick on both drive and shooter stick)
//Sonar in auto: drive till 40in away (dashboard value) and shoot
//Includes{{{ //Includes{{{
#include "WPILib.h" #include "WPILib.h"
#include "SmartDashboard/SmartDashboard.h" #include "SmartDashboard/SmartDashboard.h"
@ -89,6 +85,7 @@ public:
SmartDashboard::PutNumber("Ball Left", voltToDistance(BallSonicLeft.GetAverageVoltage())); SmartDashboard::PutNumber("Ball Left", voltToDistance(BallSonicLeft.GetAverageVoltage()));
SmartDashboard::PutNumber("Ball Right", voltToDistance(BallSonicRight.GetAverageVoltage())); SmartDashboard::PutNumber("Ball Right", voltToDistance(BallSonicRight.GetAverageVoltage()));
//Autonomous values //Autonomous values
SmartDashboard::PutNumber("AutoSpeed",0.8f);
SmartDashboard::PutNumber("Auto Distance",80.0f); SmartDashboard::PutNumber("Auto Distance",80.0f);
SmartDashboard::PutNumber("Collector Speed",1.0f); SmartDashboard::PutNumber("Collector Speed",1.0f);
SmartDashboard::PutNumber("AutoPower",0.440f); SmartDashboard::PutNumber("AutoPower",0.440f);
@ -404,7 +401,7 @@ public:
if(currentStep==0&&c>SmartDashboard::GetNumber("Initial Drive Delay")*200){ if(currentStep==0&&c>SmartDashboard::GetNumber("Initial Drive Delay")*200){
setMotorValue(6, 1, SmartDashboard::GetNumber("Collector Speed")); setMotorValue(6, 1, SmartDashboard::GetNumber("Collector Speed"));
if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=SmartDashboard::GetNumber("Auto Distance")){ if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=SmartDashboard::GetNumber("Auto Distance")){
driveRobot(-1.0f,correction); driveRobot(-1*(SmartDashboard::GetNumber("AutoSpeed")),correction);
}else{ }else{
driveRobot(0.0f,0.0f); driveRobot(0.0f,0.0f);
} }
@ -511,8 +508,6 @@ public:
collectorSole2.Set(false); collectorSole2.Set(false);
compressing = false; compressing = false;
SmartDashboard::PutBoolean("CollectorState",false); SmartDashboard::PutBoolean("CollectorState",false);
int c=0;
int currentStep=0;
//}}} //}}}
while(IsEnabled() && IsOperatorControl()) { while(IsEnabled() && IsOperatorControl()) {
//Joystick{{{ //Joystick{{{
@ -588,95 +583,6 @@ public:
collectorSole2.Set(false); collectorSole2.Set(false);
//}}} //}}}
} }
if(Rstick.GetRawButton(2)==1){
c++;
//Autonomous From Joystick{{{
//Drive{{{
if(currentStep==0&&c>SmartDashboard::GetNumber("Initial Drive Delay")*200){
setMotorValue(6, 1, SmartDashboard::GetNumber("Collector Speed"));
if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=SmartDashboard::GetNumber("Auto Distance")){
driveRobot(-1.0f,SmartDashboard::GetNumber("AutoCorrection"));
}else{
driveRobot(0.0f,0.0f);
}
if(c==SmartDashboard::GetNumber("Inital Drive Timeout")*200){
setMotorValue(6, 1, 0);
driveRobot(0.0f,0.0f);
currentStep++;
c=0;
}
}
//}}}
//Release Ball{{{
if(currentStep==1){
setMotorValue(6, 1, 102);
if(c==50){
currentStep++;
c=0;
}
}
//}}}
//Shoot{{{
if(currentStep==2&&c>SmartDashboard::GetNumber("First Shot Start")*200){
if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){
shootRobot(SmartDashboard::GetNumber("AutoPower"));
}else{
shootRobot(0.0f);
}
setMotorValue(6, 1, 1);
if(c==SmartDashboard::GetNumber("First Shot Stop")*200){
shootRobot(0.0f);
setMotorValue(6, 1, 0);
currentStep++;
c=0;
}
}
//}}}
//Lower Shooter{{{
if(currentStep==3){
if(40.0f<=potToDegrees(armPot.GetAverageVoltage())){
shootRobot(-0.3f);
}else{
shootRobot(0.0f);
}
if(c==1*200){
shootRobot(0.0f);
currentStep++;
c=0;
}
}
//}}}
//Collect Ball{{{
if(currentStep==4&&c>SmartDashboard::GetNumber("Second Shot Start")){
setMotorValue(6, 1, 1);
if(c==SmartDashboard::GetNumber("Second Shot Stop")*200){
setMotorValue(6, 1, 0);
currentStep++;
c=0;
}
}
//}}}
//Shoot{{{
if(currentStep==5&&c>(SmartDashboard::GetNumber("Second Shot Start"))*200){
if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){
shootRobot(SmartDashboard::GetNumber("AutoPower"));
}else{
shootRobot(0.0f);
}
setMotorValue(6, 1, 1);
if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){
setMotorValue(6, 1, 0);
shootRobot(0.0f);
currentStep++;
c=0;
}
}
//}}}
//}}}
}else{
c=0;
currentStep=0;
}
//Collector Motor{{{ //Collector Motor{{{
if(Lstick.GetRawButton(11)==1) { if(Lstick.GetRawButton(11)==1) {
setMotorValue(6, 1, 1); setMotorValue(6, 1, 1);