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Code Issues Releases Wiki Activity

Fixed autonomous with time, not ultrasonic

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This commit is contained in:
Austen Adler 2014-02-27 22:10:36 +00:00
parent 8a26401145
commit 971c10ac14
1 changed files with 65 additions and 30 deletions
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95
MyRobot.cpp
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@ -86,7 +86,7 @@ public:
servoYState = 90;
multiplier = 1.0f;
downLimit = 40;
upLimit = 130;
upLimit = 130.0;
compressor.Start();
shooting = false;
compressing = true;
@ -120,7 +120,7 @@ public:
SmartDashboard::PutNumber("Ball Right", voltToDistance(BallSonicRight.GetAverageVoltage()));
DownSpeed = SmartDashboard::GetNumber("DownSpeed");
downLimit = SmartDashboard::GetNumber("downLimit");
upLimit = SmartDashboard::GetNumber("upLimit");
SmartDashboard::PutNumber("upLimit",upLimit);
if(downLimit < 35) {
downLimit = 35;
}
@ -135,7 +135,6 @@ public:
//The override is in place in case an ultrasonic becomes damaged and we are unable to validate the distance through software
float averageAtan = atan((abs(voltToDistance(BallSonicLeft.GetAverageVoltage()) - voltToDistance(BallSonicRight.GetAverageVoltage())))/20.0f)*360.0f/(2.0f*3.141592653589793f);
if(override==true) {
printf("%f\n",power);
setMotorValue(4, 1, cvt(power));
setMotorValue(5, 1, cvt(power));
setMotorValue(4, 2, cvt(-power));
@ -295,33 +294,68 @@ public:
WallRight.Set(1);
BallRight.Set(0);
while(IsEnabled()&&IsAutonomous()) {
//Drive initial amount of time
//if(i<=initalDriveTime*200) {
if(i<280) {
driveRobot(-0.6f,0.0f);
//} else if(i>shooterDelay&&i<shooterDelay+(shooterDuration*200)&&shooterMaxAngle>=potToDegrees(armPot.GetAverageVoltage())) {
} else if(i>720&&i<820&&125>=potToDegrees(armPot.GetAverageVoltage())) {
//Shooting
//Drive initial amount of time
//if(i<=initalDriveTime*200) {
setMotorValue(6, 1, 1);
if(SmartDashboard::GetBoolean("Use Ultrasonic")){
}else{
if(i<100) {
//Forward .5s
driveRobot(-1.0f,0.0f);
shootRobot(0.0f, true);
}else if(i>=100&&i<=200){//zero
driveRobot(0.0f, 0.0f);
shootRobot(0.0f, true);
} else if(i>700&&i<800&&/*120*/95.0f>=potToDegrees(armPot.GetAverageVoltage())) {
//Shoot .45 power
driveRobot(0.0f, 0.0f);
shootRobot(0.45f, true);
setMotorValue(6, 1, 1);
}
//if(i>480&&i<430+initalDriveTime){
if(i>820&&i<980){
} else if(i>700&&i<800&&/*120*/95.0f<=potToDegrees(armPot.GetAverageVoltage())) {
driveRobot(0.0f, 0.0f);
shootRobot(0.0f, true);
} else if(i>800&&i<960&&40.0f<=potToDegrees(armPot.GetAverageVoltage())) {
//Lower shooter .15 power
driveRobot(0.0f,0.0f);
shootRobot(-0.15f, true);
} else if(i>800&&i<960&&40.0f>=potToDegrees(armPot.GetAverageVoltage())) {
driveRobot(0.0f,0.0f);
shootRobot(0.0f, true);
} else if(i>=970&&i<=980) {//zero
driveRobot(0.0f,0.0f);
shootRobot(0.0f, true);
} else if(i>980&&i<1080) {
//Drive backward .5s
//Collect ball
driveRobot(1.0f,0.0f);
shootRobot(0.0f,true);
}else if(i>=1080&&i<=1280){//zero
//Collect ball
driveRobot(0.0f,0.0f);
shootRobot(0.0f,true);
} else if(i>1280&&i<1380) {
//Drive forward .5s
driveRobot(-1.0f,0.0f);
shootRobot(0.0f,true);
} else if(i>=1380&&i<=1580){//zero
driveRobot(0.0f,0.0f);
shootRobot(0.0f,true);
} else if(i>1660&&i<1760&&/*120*/95.0f>=potToDegrees(armPot.GetAverageVoltage())){
//Shoot at .45 power
driveRobot(0.0f,0.0f);
setMotorValue(6, 1, 0);
shootRobot(-0.4f, true);
//} else if(i>430+initalDriveTime/*&&ballLimit.Get()==1*/) {
} else if(i<900&&i>1200) {
driveRobot(0.6f,0.0f);
setMotorValue(6, 1, 1);
//} else if(/*ballLimit.Get()==1&&*/i>430+initalDriveTime) {
} else if(i<1200&&i>1480) {
driveRobot(-0.6f,0.0f);
setMotorValue(6, 1, 0);
}else if(i>1480&&i<1580&&125>=potToDegrees(armPot.GetAverageVoltage())){
shootRobot(0.45f,true);
} else if(i>1660&&i<1760&&/*120*/95.0f<=potToDegrees(armPot.GetAverageVoltage())){
driveRobot(0.0f,0.0f);
shootRobot(0.0f,true);
} else if(i>1760&&40.0f>=potToDegrees(armPot.GetAverageVoltage())) {
//Stop robot after auto, let down shooter
driveRobot(0.0f,0.0f);
shootRobot(-0.15f,true);
} else if(i>1760&&40.0f<=potToDegrees(armPot.GetAverageVoltage())) {
//Stop all motors
driveRobot(0.0f,0.0f);
shootRobot(0.0f,true);
}
}
updateDashboard();
if(i % 100 == 0 && compressing && compressor.GetPressureSwitchValue() == 1) {
compressor.Stop();
@ -337,6 +371,7 @@ public:
i++;
cur++;
}
i=0;
compressing = false;
compressor.Stop();
}
@ -380,19 +415,19 @@ public:
compressing = true;
logMsg("Starting the compressor... again",2);
}
updateDashboard();
if(Lstick.GetRawButton(3)){
SmartDashboard::PutNumber("upLimit",100.0f);
upLimit=100.0f;
}
if(Lstick.GetRawButton(4)){
SmartDashboard::PutNumber("upLimit",120.0f);
upLimit=120.0f;
}
if(Lstick.GetRawButton(5)){
SmartDashboard::PutNumber("upLimit",90.0f);
upLimit=90.0f;
}
if(Lstick.GetRawButton(6)){
SmartDashboard::PutNumber("upLimit",130.0f);
upLimit=130.0f;
}
updateDashboard();
if(Lstick.GetRawButton(1)==1&&(upLimit>=potToDegrees(armPot.GetAverageVoltage()))) {
//Move arm motors based on throttle
if(collectorExtended == false) {