team2059/zaphod
2
0
Fork 0
mirror of https://github.com/team2059/Zaphod synced 2024-12-18 20:12:28 -05:00
Code Issues Releases Wiki Activity

Removed extra code, added collectorstate indicator, formatted dashboard

Browse Source
This commit is contained in:
Austen Adler 2014-03-01 16:54:04 +00:00
parent a55955ca48
commit 81c2603c7c
1 changed files with 84 additions and 58 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

142
MyRobot.cpp
View File

@ -11,9 +11,8 @@ class RobotDemo : public SimpleRobot
RobotDrive myRobot;
float potVal, multiplier, servoXState, servoYState, throttle, ServoXJoyPos, ServoYJoyPos;
int lastToggle;
int collectorSpeed;
bool collectorExtended, toggleCollector, shooting, compressing;
float DownSpeed, downLimit, upLimit;
float upLimit;
//string cmd;
Joystick Rstick, Lstick;
Servo Servo1, Servo2;
@ -26,8 +25,12 @@ class RobotDemo : public SimpleRobot
//Ultrasonic
AnalogChannel BallSonicLeft, BallSonicRight, WallSonicLeft, WallSonicRight;
DigitalOutput BallLeft, BallRight, WallLeft, WallRight;
//DigitalInput ballLimit;
public:
RobotDemo():
//Limit Switches
//TODO
//ballLimit(),
//Joysticks
Rstick(1),
Lstick(2),
@ -81,7 +84,6 @@ public:
servoXState = 90;
servoYState = 90;
multiplier = 1.0f;
downLimit = 40;
upLimit = 130.0;
compressor.Start();
shooting = false;
@ -91,11 +93,8 @@ public:
}
void DashboardSetup() {
SmartDashboard::PutNumber("Throttle", throttle);
SmartDashboard::PutNumber("downLimit", 35.0f);
SmartDashboard::PutNumber("upLimit", 120.0f);
SmartDashboard::PutNumber("DownSpeed", 0.1f);
//SmartDashboard::PutString("Auto", cmd);
SmartDashboard::PutNumber("collectorSpeed", 127);
SmartDashboard::PutNumber("armPot", potToDegrees(armPot.GetAverageVoltage()));
SmartDashboard::PutNumber("Log Level", 1);
//Ultrasonic
@ -104,13 +103,11 @@ public:
SmartDashboard::PutNumber("Ball Left", voltToDistance(BallSonicLeft.GetAverageVoltage()));
SmartDashboard::PutNumber("Ball Right", voltToDistance(BallSonicRight.GetAverageVoltage()));
SmartDashboard::PutNumber("AutoXVale",70.0f);
SmartDashboard::PutNumber("AutoDistance",70.0f);
SmartDashboard::PutNumber("AutoYValue",150.0f);
SmartDashboard::PutNumber("AutoZValue",150.0f);
SmartDashboard::PutNumber("AutoPower",0.50f);
SmartDashboard::PutNumber("AutoPower",0.54f);
SmartDashboard::PutNumber("AutoAngle",130.0f);
SmartDashboard::PutNumber("AutoCorrectionForward",0.06f);
SmartDashboard::PutNumber("AutoCorrectionBackward",0.09f);
SmartDashboard::PutNumber("AutoCorrection",0.06f);
SmartDashboard::PutNumber("ShortRange",0.465f);
SmartDashboard::PutNumber("ShooterButtonPower10",0.605f);
@ -118,28 +115,22 @@ public:
SmartDashboard::PutNumber("ShooterButtonPower8",0.5f);
SmartDashboard::PutBoolean("Use Ultrasonic",false);
SmartDashboard::PutBoolean("TestDrive",false);
SmartDashboard::PutBoolean("Daniel Mode",false);
SmartDashboard::PutBoolean("CollectorState",false);
}
void updateDashboard() {
SmartDashboard::PutNumber("Throttle", throttle);
collectorSpeed = SmartDashboard::GetNumber("collectorSpeed");
SmartDashboard::PutNumber("armPot", potToDegrees(armPot.GetAverageVoltage()));
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()));
SmartDashboard::PutNumber("upLimit", upLimit);
DownSpeed = SmartDashboard::GetNumber("DownSpeed");
downLimit = SmartDashboard::GetNumber("downLimit");
if(downLimit < 35) {
downLimit = 35;
}
if(upLimit > 167) {
upLimit = 167;
}
}
void shootRobot(float power=0.0f) {
void shootRobot(float power=0) {
//Needs a limit to help the driver aim
//In this case its checking that we are no more than 15 degrees off
//The override is in place in case an ultrasonic becomes damaged and we are unable to validate the distance through software
@ -286,41 +277,72 @@ public:
BallLeft.Set(0);
WallRight.Set(1);
BallRight.Set(0);
int stoppedTime=-1;
SmartDashboard::PutBoolean("CollectorState",true);
while(IsEnabled()&&IsAutonomous()) {
int x=SmartDashboard::GetNumber("AutoXVale");
int y=SmartDashboard::GetNumber("AutoYValue");
int z=SmartDashboard::GetNumber("AutoZValue");
float power=SmartDashboard::GetNumber("AutoPower");
int angle=SmartDashboard::GetNumber("AutoAngle");
float correctionForward=SmartDashboard::GetNumber("AutoCorrectionForward");
float correctionBackward=SmartDashboard::GetNumber("AutoCorrectionBackward");
//Drive initial amount of time
//if(i<=initalDriveTime*200) {
//setMotorValue(6, 1, 1);
if(SmartDashboard::GetBoolean("Use Ultrasonic")){
if(/*i<400&&*/voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>40.0f){
driveRobot(1.0f,correctionForward);
shootRobot(0.0f);
}else if(/*i<200&&*/voltToDistance(WallSonicLeft.GetAverageVoltage(),true)<=40.0f){
driveRobot(0.0f,0.0f);
shootRobot(0.0f);
if(voltToDistance(WallSonicRight.GetAverageVoltage())<40.0f){
driveRobot(1.0f,0.0f);
}
}else if(SmartDashboard::GetBoolean("TestDrive")){
if(cur<100){
//Collect left average values from cur values 0 to 12
if(cur<12){
avgRight+=WallSonicRight.GetAverageVoltage();
}else if(cur==12){
avgRight/=12;
cur=0;
if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=40.0f){
printf("Cur!!: %d\n",cur);
}else{
printf("NoCur: %d\n",cur);
}
thisIsATest=avgRight;
}
if(i==12){
avgDist=thisIsATest;
}
//Calculate the inital distance and average it averageAmount times.
if(i<averageAmount){
avgDist+=(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)+voltToDistance(WallSonicRight.GetAverageVoltage(),true)/2);
}else{
printf("Cur: %d\n",cur);
avgDist/=averageAmount;
}
//Calculate the average distance from the wall
curDist=thisIsATest;
if(i%100==0){
printf("Difference: %f\n",avgDist-curDist);
}
if (i>=5&&avgDist-curDist<=36.0f) {
float xPower, yPower;
xPower=1;
yPower=(avgDist-curDist)/36.0f;
if(yPower>1){
yPower=1;
}
//driveRobot(yPower, xPower);
//setMotorValue(6, 1, 1);
} else if (i>1400&&i<1600&&125>=potToDegrees(armPot.GetAverageVoltage())) {
//driveRobot(0, 0);
//shootRobot(1);
//setMotorValue(6, 1, 1);
} else if (i>1500&&i<1700) {
//shootRobot(.1);
//driveRobot(-1,0);
} else {
/*
driveRobot(0, 0);
shootRobot(0);
setMotorValue(6, 1, 0);
*/
}
}else{
if(i<1700+x+y+z){
int x=SmartDashboard::GetNumber("AutoDistance");
int y=SmartDashboard::GetNumber("AutoYValue");
float power=SmartDashboard::GetNumber("AutoPower");
int angle=SmartDashboard::GetNumber("AutoAngle");
float correction=SmartDashboard::GetNumber("AutoCorrection");
if(i<1700+3*x+2*y){
setMotorValue(6, 1, 1);
}
if(i<200+x) {
//Forward
driveRobot(-1.0f,0.07f);
//Forward .5s
driveRobot(-1.0f,correction);
shootRobot(0.0f);
}else if(i>=200+x&&i<=400+x){
//Wait
@ -334,38 +356,38 @@ public:
//Wait
driveRobot(0.0f, 0.0f);
shootRobot(0.0f);
} else if(i>500+x&&i<700+x+y) {
//Drive backward
} else if(i>500+x&&i<700+2*x+y) {
//Drive backward 1s, Collect ball
if(40.0f<=potToDegrees(armPot.GetAverageVoltage())){
shootRobot(-0.30f);
}
driveRobot(0.6f,correctionBackward);
driveRobot(0.6f,correction);
shootRobot(0.0f);
} else if(i>=700+x+y&&i<=1300+x+y){
} else if(i>=700+2*x+y&&i<=1300+2*x+y){
//Wait
driveRobot(0.0f,0.0f);
shootRobot(0.0f);
} else if(i>1300+x+y&&i<1500+x+y+z) {
//Drive forward
driveRobot(-0.9f,0.063f);
} else if(i>1300+2*x+y&&i<1500+3*x+2*y) {
//Drive forward 1s
driveRobot(-1.0f,correction);
shootRobot(0.0f);
} else if(i>=1500+x+y+z&&i<=1600+x+y+z){
} else if(i>=1500+3*x+2*y&&i<=1600+3*x+2*y){
//Wait
driveRobot(0.0f,0.0f);
shootRobot(0.0f);
} else if(i>1600+x+y+z&&i<1700+x+y+z&&/*120*/angle>=potToDegrees(armPot.GetAverageVoltage())){
} else if(i>1600+3*x+2*y&&i<1700+3*x+2*y&&/*120*/angle>=potToDegrees(armPot.GetAverageVoltage())){
//Shoot
driveRobot(0.0f,0.0f);
shootRobot(power);
} else if(i>1600+x+y+z&&i<1700+x+y+z&&/*120*/angle<=potToDegrees(armPot.GetAverageVoltage())){
} else if(i>1600+3*x+2*y&&i<1700+3*x+2*y&&/*120*/angle<=potToDegrees(armPot.GetAverageVoltage())){
//Wait
driveRobot(0.0f,0.0f);
shootRobot(0.0f);
} else if(i>1700+x+y+z&&40.0f<=potToDegrees(armPot.GetAverageVoltage())) {
} else if(i>1700+3*x+2*y&&40.0f<=potToDegrees(armPot.GetAverageVoltage())) {
//Stop robot after auto, let down shooter
driveRobot(0.0f,0.0f);
shootRobot(-0.15);
} else if(i>1700+x+y+z&&40.0f>=potToDegrees(armPot.GetAverageVoltage())) {
} else if(i>1700+3*x+2*y&&40.0f>=potToDegrees(armPot.GetAverageVoltage())) {
//Stop all motors
driveRobot(0.0f,0.0f);
shootRobot(0.0f);
@ -399,6 +421,7 @@ public:
collectorSole2.Set(false);
compressing = false;
logMsg("Starting Teleop",1);
SmartDashboard::PutBoolean("CollectorState",false);
while(IsEnabled() && IsOperatorControl()) {
if(cur==50) {
cur=0;
@ -450,10 +473,11 @@ public:
if(Lstick.GetRawButton(6)){
upLimit=130.0f;
}
//TODO
updateDashboard();
if(Lstick.GetRawButton(1)==1&&Lstick.GetRawButton(2)==1){
throttle=SmartDashboard::GetNumber("ShortRange");
if(!collectorExtended){
if(collectorExtended){
shooting = true;
logMsg("Firing",13);
logMsg("Collector is extended, going to fire",17);
@ -488,7 +512,7 @@ public:
logMsg("Collector is not extended, not going to fire",17);
}
if(collectorExtended == true) {
shootRobot(-DownSpeed);
shootRobot(-0.1f);
logMsg("Collector is extended, going to fire",17);
}
} else {
@ -497,10 +521,12 @@ public:
shootRobot(0);
}
if(Rstick.GetRawButton(9)==1) {
SmartDashboard::PutBoolean("CollectorState",true);
collectorExtended = true;
collectorSole1.Set(false);
collectorSole2.Set(true);
} else if(Rstick.GetRawButton(10)==1) {
SmartDashboard::PutBoolean("CollectorState",false);
collectorExtended = false;
collectorSole1.Set(true);
collectorSole2.Set(false);