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Code Issues Releases Wiki Activity

Removed the switch for a small period of time

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This commit is contained in:
Adam Long 2014-03-31 17:21:18 -07:00
parent c1babe139a
commit a461330371
1 changed files with 0 additions and 217 deletions
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217
MyRobot.cpp
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@ -269,223 +269,6 @@ public:
//}}} //}}}
while(IsEnabled()&&IsAutonomous()){ while(IsEnabled()&&IsAutonomous()){
if(!SmartDashboard::GetBoolean("HalfPower")){ if(!SmartDashboard::GetBoolean("HalfPower")){
switch (SmartDashboard::GetNumber("Autonomous Sequence")){
//Autonomous0{{{
case 0:
//Drive{{{
if(currentStep==0){
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){
driveRobot(0.0f,0.0f);
currentStep++;
c=0;
}
}
//}}}
//Shoot{{{
if(currentStep==1&&c>SmartDashboard::GetNumber("First Shot Start")*200){
if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){
shootRobot(power);
}else{
shootRobot(0.0f);
}
setMotorValue(6,1,1);
if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){
shootRobot(0.0f);
setMotorValue(6,1,0);
currentStep++;
c=0;
}
}
//}}}
//Lower Shooter{{{
if(currentStep==2&&c>SmartDashboard::GetNumber("Reverse direction start")*200){
if(40.0f<=potToDegrees(armPot.GetAverageVoltage())){
shootRobot(-0.3f);
}else{
shootRobot(0.0f);
}
if(c==(3.0f)*200){
shootRobot(0.0f);
currentStep++;
c=0;
}
}
//}}}
break;
//}}}
//Autonomous1{{{
case 1:
//Drive{{{
if(currentStep==0){
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){
driveRobot(0.0f,0.0f);
currentStep++;
c=0;
}
}
//}}}
//Shoot{{{
if(currentStep==1&&c>SmartDashboard::GetNumber("First Shot Start")*200){
if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){
shootRobot(power);
}else{
shootRobot(0.0f);
}
setMotorValue(6,1,1);
if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){
shootRobot(0.0f);
setMotorValue(6,1,0);
currentStep++;
c=0;
}
}
//}}}
//Drive Backwards{{{
if(currentStep==2&&c>SmartDashboard::GetNumber("Reverse direction start")*200){
driveRobot(1.0f,correction);
if(40.0f<=potToDegrees(armPot.GetAverageVoltage())){
shootRobot(-0.2f);
}else{
shootRobot(0.0f);
}
if(c==(SmartDashboard::GetNumber("Reverse direction stop"))*200){
driveRobot(0.0f,0.0f);
shootRobot(0.0f);
currentStep++;
c=0;
}
}
//}}}
//Drive{{{
if(currentStep==3&&c>SmartDashboard::GetNumber("Second Drive Start")*200){
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){
driveRobot(0.0f,0.0f);
currentStep++;
c=0;
}
}
//}}}
//Shoot{{{
if(currentStep==4&&c>(SmartDashboard::GetNumber("Second Shot Start"))*200){
if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){
shootRobot(power);
}else{
shootRobot(0.0f);
}
setMotorValue(6,1,1);
if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){
shootRobot(0.0f);
setMotorValue(6,1,0);
currentStep++;
c=0;
}
}
//}}}
break;
//}}}
//Autonomous2{{{
case 2:
//Drive{{{
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*(SmartDashboard::GetNumber("AutoSpeed")),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;
}
}
//}}}
//Release Ball{{{
if(currentStep==1){
setMotorValue(6,1,102);
if(c==50){
currentStep++;
c=0;
}
}
//}}}
//Shoot{{{
if(currentStep==2&&c>SmartDashboard::GetNumber("First Shot Start")*200){
if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){
shootRobot(power);
}else{
shootRobot(0.0f);
}
if(c==SmartDashboard::GetNumber("First Shot Stop")*200){
shootRobot(0.0f);
setMotorValue(6,1,0);
currentStep++;
c=0;
}
}
//}}}
//Lower Shooter{{{
if(currentStep==3){
if(40.0f<=potToDegrees(armPot.GetAverageVoltage())){
shootRobot(-0.3f);
}else{
shootRobot(0.0f);
}
if(c==1*200){
shootRobot(0.0f);
currentStep++;
c=0;
}
}
//}}}
//Collect Ball{{{
if(currentStep==4&&c>SmartDashboard::GetNumber("Second Shot Start")){
setMotorValue(6,1,1);
if(c==SmartDashboard::GetNumber("Second Shot Stop")*200){
setMotorValue(6,1,0);
currentStep++;
c=0;
}
}
//}}}
//Shoot{{{
if(currentStep==5&&c>(SmartDashboard::GetNumber("Second Shot Start"))*200){
if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){
shootRobot(power);
}else{
shootRobot(0.0f);
}
setMotorValue(6,1,1);
if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){
setMotorValue(6,1,0);
shootRobot(0.0f);
currentStep++;
c=0;
}
}
//}}}
break;
//}}}
}
}
SmartDashboard::PutNumber("Autonomous step",currentStep);
updateDashboard();
//Compressor{{{ //Compressor{{{
if(i % 100 == 0 && compressing && compressor.GetPressureSwitchValue() == 1){ if(i % 100 == 0 && compressing && compressor.GetPressureSwitchValue() == 1){
compressor.Stop(); compressor.Stop();