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Code Issues Releases Wiki Activity

Robot has working master code

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This commit is contained in:
Austen Adler 2014-03-13 18:31:51 -07:00
parent bf44c95b23
commit 7f3687aafa
1 changed files with 14 additions and 10 deletions
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24
MyRobot.cpp
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@ -80,16 +80,19 @@ public:
SmartDashboard::PutNumber("Throttle", throttle);
SmartDashboard::PutNumber("upLimit", 120.0f);
SmartDashboard::PutNumber("armPot", potToDegrees(armPot.GetAverageVoltage()));
SmartDashboard::PutNumber("Log Level", 1);
SmartDashboard::PutNumber("Log Level", 1.0f);
//Ultrasonic
SmartDashboard::PutNumber("Wall Left", voltToDistance(WallSonicLeft.GetAverageVoltage(),true));
SmartDashboard::PutNumber("Wall Right", voltToDistance(WallSonicRight.GetAverageVoltage(),true));
SmartDashboard::PutNumber("Ball Left", voltToDistance(BallSonicLeft.GetAverageVoltage()));
SmartDashboard::PutNumber("Ball Right", voltToDistance(BallSonicRight.GetAverageVoltage()));
//Autonomous values
SmartDashboard::PutNumber("Auto Distance",70.0f);
SmartDashboard::PutNumber("Collector Speed",1.0f);
SmartDashboard::PutNumber("AutoPower",0.455f);
SmartDashboard::PutNumber("AutoCorrection",0.06f);
SmartDashboard::PutNumber("Inital Drive Timeout", 2.5f);
SmartDashboard::PutNumber("Initial Drive Delay",2.0f);
SmartDashboard::PutNumber("Inital Drive Timeout", 4.5f);
SmartDashboard::PutNumber("First Shot Start", 0.5f);
SmartDashboard::PutNumber("First Shot Stop", 1.0f);
SmartDashboard::PutNumber("Reverse direction start",0.0f);
@ -99,7 +102,7 @@ public:
SmartDashboard::PutNumber("Second Shot Start", 0.5f);
SmartDashboard::PutNumber("Second Shot Stop", 1.0f);
SmartDashboard::PutNumber("Autonomous step",0.0f);
SmartDashboard::PutNumber("Autonomous sequence", 0.0f);
SmartDashboard::PutNumber("Autonomous sequence", 2.0f);
//Shooter presets
SmartDashboard::PutNumber("ShortRange",0.465f); //Power for the shooter when against the low goal
SmartDashboard::PutNumber("ShooterButtonPower10",0.605f);
@ -271,7 +274,7 @@ public:
//Autonomous0{{{
//Drive{{{
if(currentStep==0){
if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=40.0f){
if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=SmartDashboard::GetNumber("Auto Distance")){
driveRobot(-1.0f,correction);
}else{
driveRobot(0.0f,0.0f);
@ -301,7 +304,6 @@ public:
//}}}
//Lower Shooter{{{
if(currentStep==2&&c>SmartDashboard::GetNumber("Reverse direction start")*200){
driveRobot(-1.0f,correction);
if(40.0f<=potToDegrees(armPot.GetAverageVoltage())){
shootRobot(-0.3f);
}else{
@ -319,7 +321,7 @@ public:
//Autonomous1{{{
//Drive{{{
if(currentStep==0){
if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=40.0f){
if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=SmartDashboard::GetNumber("Auto Distance")){
driveRobot(-1.0f,correction);
}else{
driveRobot(0.0f,0.0f);
@ -365,7 +367,7 @@ public:
//}}}
//Drive{{{
if(currentStep==3&&c>SmartDashboard::GetNumber("Second Drive Start")*200){
if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=40.0f){
if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=SmartDashboard::GetNumber("Auto Distance")){
driveRobot(-1.0f,correction);
}else{
driveRobot(0.0f,0.0f);
@ -397,13 +399,15 @@ public:
}else if(SmartDashboard::GetNumber("Autonomous sequence")==2){
//Autonomous2{{{
//Drive{{{
if(currentStep==0){
if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=40.0f){
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,correction);
}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;
@ -547,7 +551,7 @@ public:
shootRobot(throttle);
setMotorValue(6, 1, 1);
}else{
shooting = true;
shooting = false;
shootRobot(0.0f);
setMotorValue(6, 1, 0);
}