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Code now compiles. Completed refactorign of HHBase and Compressor. Continuing with refactoring. (Untested)

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This commit is contained in:
Austen Adler 2014-06-10 20:29:12 -04:00
parent 9490e32ef6
commit 8478154307
5 changed files with 109 additions and 130 deletions
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4
src/HHBase.cpp
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@ -1,7 +1,7 @@
#include "HHBase.h"
ZaphodBase::HHBase():
hHBot(new HHRobot()){
HHBase::HHBase():
hHBot(new ZaphodRobot()){
printf("Done\n");
}
void HHBase::RobotInit(){

9
src/HHBase.h
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@ -1,22 +1,21 @@
#ifndef __HH_BASE_H__
#define __HH_BASE_H__
#include <WPILib.h>
#include "HHRobot.h"
#include "ZaphodRobot.h"
#include "Subsystems/Controller.h"
#include "Subsystems/Shooter.h"
#include "Subsystems/Collector.h"
#include "Subsystems/Compressor.h"
#include "Subsystems/Dashboard.h"
//Because this is the first header to be included, classes need to be declared here
class HHRobot;
class ZaphodRobot;
class HHShooter;
class HHCollector;
class HHCompressor;
class JoystickController;
class ZaphodBase : public IterativeRobot
{
class HHBase : public IterativeRobot{
private:
HHRobot* hHBot;
ZaphodRobot* hHBot;
public:
HHBase();
void RobotInit();

8
src/Subsystems/Compressor.h
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@ -15,8 +15,8 @@ class HHCompressor
}e_CollectorSolenoidState;
HHCompressor();
void compressorSystemPeriodic();
void extendCollector();
void retractCollector();
void startCompressing();
void stopCompressing();
void ExtendCollector();
void RetractCollector();
void StartCompressing();
void StopCompressing();
};

206
src/ZaphodRobot.cpp
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@ -1,121 +1,105 @@
#include "ZaphodRobot.h"
#include "ZaphodBase.h"
#include "HHBase.h"
ZaphodRobot::ZaphodRobot():
ControlSystem(new JoystickController()),
shooter(new ZaphodShooter()),
collector(new ZaphodCollector()),
compressorSystem(new ZaphodCompressor()),
dashboard(new ZaphodDashboard())
{
left1 = new Jaguar(DRIVE_LEFT_SIDECAR, DRIVE_LEFT_MOTOR_ONE);
left2 = new Jaguar(DRIVE_LEFT_SIDECAR, DRIVE_LEFT_MOTOR_TWO);
left3 = new Jaguar(DRIVE_LEFT_SIDECAR, DRIVE_LEFT_MOTOR_THREE);
right1 = new Jaguar(DRIVE_RIGHT_SIDECAR, DRIVE_RIGHT_MOTOR_ONE);
right2 = new Jaguar(DRIVE_RIGHT_SIDECAR, DRIVE_RIGHT_MOTOR_ONE);
right3 = new Jaguar(DRIVE_RIGHT_SIDECAR, DRIVE_RIGHT_MOTOR_ONE);
frontSonarLeftD = new DigitalOutput(SONAR_LEFT_DIO_SIDECAR, SONAR_FRONT_LEFT_DIO);
frontSonarRightD = new DigitalOutput(SONAR_RIGHT_DIO_SIDECAR, SONAR_FRONT_RIGHT_DIO);
rearSonarLeftD = new DigitalOutput(SONAR_LEFT_DIO_SIDECAR, SONAR_REAR_LEFT_DIO);
rearSonarRightD = new DigitalOutput(SONAR_RIGHT_DIO_SIDECAR, SONAR_REAR_RIGHT_DIO);
frontSonarLeftA = new AnalogChannel(SONAR_FRONT_LEFT_ANA);
frontSonarRightA = new AnalogChannel(SONAR_FRONT_RIGHT_ANA);
rearSonarLeftA = new AnalogChannel(SONAR_REAR_LEFT_ANA);
rearSonarRightA = new AnalogChannel(SONAR_REAR_RIGHT_ANA);
}
ControlSystem(new JoystickController()),
shooter(new ZaphodShooter()),
collector(new ZaphodCollector()),
compressorSystem(new HHCompressor()),
dashboard(new ZaphodDashboard()){
left1=new Jaguar(DRIVE_LEFT_SIDECAR, DRIVE_LEFT_MOTOR_ONE);
left2=new Jaguar(DRIVE_LEFT_SIDECAR, DRIVE_LEFT_MOTOR_TWO);
left3=new Jaguar(DRIVE_LEFT_SIDECAR, DRIVE_LEFT_MOTOR_THREE);
right1=new Jaguar(DRIVE_RIGHT_SIDECAR, DRIVE_RIGHT_MOTOR_ONE);
right2=new Jaguar(DRIVE_RIGHT_SIDECAR, DRIVE_RIGHT_MOTOR_ONE);
right3=new Jaguar(DRIVE_RIGHT_SIDECAR, DRIVE_RIGHT_MOTOR_ONE);
frontSonarLeftD=new DigitalOutput(SONAR_LEFT_DIO_SIDECAR, SONAR_FRONT_LEFT_DIO);
frontSonarRightD=new DigitalOutput(SONAR_RIGHT_DIO_SIDECAR, SONAR_FRONT_RIGHT_DIO);
rearSonarLeftD=new DigitalOutput(SONAR_LEFT_DIO_SIDECAR, SONAR_REAR_LEFT_DIO);
rearSonarRightD=new DigitalOutput(SONAR_RIGHT_DIO_SIDECAR, SONAR_REAR_RIGHT_DIO);
frontSonarLeftA=new AnalogChannel(SONAR_FRONT_LEFT_ANA);
frontSonarRightA=new AnalogChannel(SONAR_FRONT_RIGHT_ANA);
rearSonarLeftA=new AnalogChannel(SONAR_REAR_LEFT_ANA);
rearSonarRightA=new AnalogChannel(SONAR_REAR_RIGHT_ANA);
}
//Functions to get sonar values and return as INCH values
float ZaphodRobot::getFrontSonar()
{
frontSonarLeftD->Set(1);
frontSonarLeftV = (frontSonarLeftA->GetAverageVoltage()/0.00488f)/2.54f;
frontSonarLeftD->Set(0);
//Probably need some sort of delay here
frontSonarRightD->Set(1);
frontSonarRightV = (frontSonarRightA->GetAverageVoltage()/0.00488f)/2.54f;
frontSonarRightD->Set(0);
//Returns the average (useful for throwing out useless readings)
return (frontSonarRightV+frontSonarLeftV)/2;
float ZaphodRobot::getFrontSonar(){
frontSonarLeftD->Set(1);
frontSonarLeftV=(frontSonarLeftA->GetAverageVoltage()/0.00488f)/2.54f;
frontSonarLeftD->Set(0);
//Probably need some sort of delay here
frontSonarRightD->Set(1);
frontSonarRightV=(frontSonarRightA->GetAverageVoltage()/0.00488f)/2.54f;
frontSonarRightD->Set(0);
//Returns the average (useful for throwing out useless readings)
return (frontSonarRightV+frontSonarLeftV)/2;
}
float ZaphodRobot::getRearSonar()
{
rearSonarLeftD->Set(1);
rearSonarLeftV = (rearSonarLeftA->GetAverageVoltage()/0.00488f)/2.54f;
rearSonarLeftD->Set(0);
//Probably need some sort of delay here
rearSonarRightD->Set(1);
rearSonarRightV = (rearSonarRightA->GetAverageVoltage()/0.00488f)/2.54f;
rearSonarRightD->Set(0);
//Returns the average (useful for throwing out useless readings)
return (rearSonarRightV+rearSonarLeftV)/2;
float ZaphodRobot::getRearSonar(){
rearSonarLeftD->Set(1);
rearSonarLeftV=(rearSonarLeftA->GetAverageVoltage()/0.00488f)/2.54f;
rearSonarLeftD->Set(0);
//Probably need some sort of delay here
rearSonarRightD->Set(1);
rearSonarRightV=(rearSonarRightA->GetAverageVoltage()/0.00488f)/2.54f;
rearSonarRightD->Set(0);
//Returns the average (useful for throwing out useless readings)
return (rearSonarRightV+rearSonarLeftV)/2;
}
bool ZaphodRobot::checkJoystickValues()
{
float x = ControlSystem->rightJoystickAxisValues[1];
float y = ControlSystem->rightJoystickAxisValues[2];
if((-.1 < x && x < .1) && (-.1 < y && y < .1)) {
dashboard->putBoolValue("Joysticks Valid", true);
return true;
} else {
dashboard->putBoolValue("Joysticks Valid", false);
return true;
return false;
}
bool ZaphodRobot::checkJoystickValues(){
float x=ControlSystem->rightJoystickAxisValues[1];
float y=ControlSystem->rightJoystickAxisValues[2];
if((-.1 < x && x < .1) && (-.1 < y && y < .1)) {
dashboard->putBoolValue("Joysticks Valid", true);
return true;
} else {
dashboard->putBoolValue("Joysticks Valid", false);
return true;
return false;
}
}
void ZaphodRobot::driveRobot(float x, float y)
{
if(y>1.0f) {
y=1.0f;
} else if(y!=0.0f&&y<-1.0f) {
y=-1.0f;
}
float leftPower=((y+x)/2+1)*127+1;
float rightPower=((y-x)/2+1)*127+1;
right1->SetRaw(int(rightPower));
right2->SetRaw(int(rightPower));
right3->SetRaw(int(rightPower));
left1->SetRaw(int(leftPower));
left2->SetRaw(int(leftPower));
left3->SetRaw(int(leftPower));
void ZaphodRobot::driveRobot(float x, float y){
if(y>1.0f) {
y=1.0f;
} else if(y!=0.0f&&y<-1.0f) {
y=-1.0f;
}
float leftPower=((y+x)/2+1)*127+1;
float rightPower=((y-x)/2+1)*127+1;
right1->SetRaw(int(rightPower));
right2->SetRaw(int(rightPower));
right3->SetRaw(int(rightPower));
left1->SetRaw(int(leftPower));
left2->SetRaw(int(leftPower));
left3->SetRaw(int(leftPower));
}
void ZaphodRobot::updateDashboard()
{
dashboard->putFloatValue("Shooting Power", ControlSystem->throttle);
void ZaphodRobot::updateDashboard(){
dashboard->putFloatValue("Shooting Power", ControlSystem->throttle);
}
//Main function used to handle periodic tasks on the robot
void ZaphodRobot::handler()
{
//Periodic tasks that should be run by every loop
ControlSystem->updateJoysticks();
shooter->updateShooterPosition();
//TODO Need to implement a timing system to not break the spike (this function doesn't run the compressor at the moment)
compressorSystem->compressorSystemPeriodic();
collector->updateCollector(shooter->isShooting, shooter->getAngle());
if(checkJoystickValues()) {
driveRobot(ControlSystem->rightJoystickAxisValues[3]+ControlSystem->rightJoystickAxisValues[1], -ControlSystem->rightJoystickAxisValues[2]);
}
updateDashboard();
//Button assignments to actions
if(ControlSystem->leftJoystickValues[SHOOTER_FIRE]) {
shooter->startShootingSequence(ControlSystem->throttle);
}
if(ControlSystem->rightJoystickValues[COLLECTOR_INTAKE]) {
collector->collectBall();
}
if(ControlSystem->rightJoystickValues[COLLECTOR_OUTTAKE]) {
collector->releaseBall();
}
if(ControlSystem->rightJoystickValues[COLLECTOR_EXTEND]) {
compressorSystem->extendCollector();
}
if(ControlSystem->rightJoystickValues[COLLECTOR_RETRACT]) {
compressorSystem->retractCollector();
}
void ZaphodRobot::handler(){
//Periodic tasks that should be run by every loop
ControlSystem->updateJoysticks();
shooter->updateShooterPosition();
//TODO Need to implement a timing system to not break the spike (this function doesn't run the compressor at the moment)
compressorSystem->compressorSystemPeriodic();
collector->updateCollector(shooter->isShooting, shooter->getAngle());
if(checkJoystickValues()) {
driveRobot(ControlSystem->rightJoystickAxisValues[3]+ControlSystem->rightJoystickAxisValues[1], -ControlSystem->rightJoystickAxisValues[2]);
}
updateDashboard();
//Button assignments to actions
if(ControlSystem->leftJoystickValues[SHOOTER_FIRE]) {
shooter->startShootingSequence(ControlSystem->throttle);
}
if(ControlSystem->rightJoystickValues[COLLECTOR_INTAKE]) {
collector->collectBall();
}
if(ControlSystem->rightJoystickValues[COLLECTOR_OUTTAKE]) {
collector->releaseBall();
}
if(ControlSystem->rightJoystickValues[COLLECTOR_EXTEND]) {
compressorSystem->extendCollector();
}
if(ControlSystem->rightJoystickValues[COLLECTOR_RETRACT]) {
compressorSystem->retractCollector();
}
}

12
src/ZaphodRobot.h
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@ -1,19 +1,15 @@
#ifndef __ZAPHOD_ROBOT_H__
#define __ZAPHOD_ROBOT_H__
#include <WPILib.h>
#include "ZaphodBase.h"
#include "HHBase.h"
#include "Definitions.h"
class JoystickController;
class ZaphodShooter;
class ZaphodCollector;
class ZaphodCompressor;
class HHCompressor;
class ZaphodDashboard;
class ZaphodRobot;
class ZaphodRobot
{
class ZaphodRobot{
private:
Jaguar *right1, *right2, *right3, *left1, *left2, *left3;
DigitalOutput *frontSonarLeftD, *frontSonarRightD, *rearSonarLeftD, *rearSonarRightD;
@ -21,7 +17,7 @@ class ZaphodRobot
JoystickController *ControlSystem;
ZaphodShooter *shooter;
ZaphodCollector *collector;
ZaphodCompressor *compressorSystem;
HHCompressor *compressorSystem;
ZaphodDashboard *dashboard;
public:
ZaphodRobot();