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

Committed code before finals match 1

Browse Source
This commit is contained in:
Austen Adler 2014-03-01 18:37:42 +00:00
parent 81c2603c7c
commit 87952d9881
1 changed files with 31 additions and 52 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

83
MyRobot.cpp
View File

@ -103,9 +103,9 @@ public:
SmartDashboard::PutNumber("Ball Left", voltToDistance(BallSonicLeft.GetAverageVoltage()));
SmartDashboard::PutNumber("Ball Right", voltToDistance(BallSonicRight.GetAverageVoltage()));
SmartDashboard::PutNumber("AutoDistance",70.0f);
SmartDashboard::PutNumber("AutoYValue",150.0f);
SmartDashboard::PutNumber("AutoPower",0.54f);
SmartDashboard::PutNumber("AutoDistance",350.0f);
SmartDashboard::PutNumber("AutoYValue",350.0f);
SmartDashboard::PutNumber("AutoPower",0.455f);
SmartDashboard::PutNumber("AutoAngle",130.0f);
SmartDashboard::PutNumber("AutoCorrection",0.06f);
@ -114,7 +114,7 @@ public:
SmartDashboard::PutNumber("ShooterButtonPower7",1.0f);
SmartDashboard::PutNumber("ShooterButtonPower8",0.5f);
SmartDashboard::PutBoolean("Use Ultrasonic",false);
SmartDashboard::PutBoolean("OneBallAuto",true);
SmartDashboard::PutBoolean("Daniel Mode",false);
SmartDashboard::PutBoolean("CollectorState",false);
}
@ -282,54 +282,33 @@ public:
//Drive initial amount of time
//if(i<=initalDriveTime*200) {
//setMotorValue(6, 1, 1);
if(SmartDashboard::GetBoolean("Use Ultrasonic")){
if(voltToDistance(WallSonicRight.GetAverageVoltage())<40.0f){
driveRobot(1.0f,0.0f);
}
//Collect left average values from cur values 0 to 12
if(cur<12){
avgRight+=WallSonicRight.GetAverageVoltage();
}else if(cur==12){
avgRight/=12;
cur=0;
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{
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);
*/
if(SmartDashboard::GetBoolean("OneBallAuto")){
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");
setMotorValue(6, 1, 1);
if(i<200+x) {
//Forward .5s
driveRobot(-1.0f,correction);
shootRobot(0.0f);
}else if(i>=200+x&&i<=400+x){
//Wait
driveRobot(0.0f, 0.0f);
shootRobot(0.0f);
} else if(i>400+x&&i<500+x&&/*120*/angle>=potToDegrees(armPot.GetAverageVoltage())) {
//Shoot
driveRobot(0.0f, 0.0f);
shootRobot(power);
} else if(i>400+x&&i<500+x&&/*120*/angle<=potToDegrees(armPot.GetAverageVoltage())) {
//Wait
driveRobot(0.0f, 0.0f);
shootRobot(0.0f);
} else if(i>=500) {
//Kill robit
driveRobot(0.0f, 0.0f);
shootRobot(0.0f);
}
}else{
int x=SmartDashboard::GetNumber("AutoDistance");