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First ultrasoninc that works

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This commit is contained in:
Austen Adler 2014-03-01 13:42:52 +00:00
parent 24fcae0d6f
commit a55955ca48
1 changed files with 10 additions and 13 deletions
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23
MyRobot.cpp
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@ -139,7 +139,7 @@ public:
upLimit = 167;
}
}
void shootRobot(float power=0) {
void shootRobot(float power=0.0f) {
//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
@ -296,28 +296,25 @@ public:
float correctionForward=SmartDashboard::GetNumber("AutoCorrectionForward");
float correctionBackward=SmartDashboard::GetNumber("AutoCorrectionBackward");
if(SmartDashboard::GetBoolean("Use Ultrasonic")){
if(i<400&&voltToDistance(WallSonicLeft.GetAverageVoltage()>40.0f,true)){
if(/*i<400&&*/voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>40.0f){
driveRobot(1.0f,correctionForward);
shootRobot(0.0f,0.0f);
}else if(i<200&&voltToDistance(WallSonicLeft.GetAverageVoltage()<=40.0f,true)){
shootRobot(0.0f);
}else if(/*i<200&&*/voltToDistance(WallSonicLeft.GetAverageVoltage(),true)<=40.0f){
driveRobot(0.0f,0.0f);
shootRobot(0.0f,0.0f);
shootRobot(0.0f);
}
}else if(SmartDashboard::GetBoolean("TestDrive")){
if(cur<100){
cur=0;
if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)<=40.0f){
if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=40.0f){
printf("Cur!!: %d\n",cur);
}else{
printf("NoCur: %d\n",cur);
}
}else{
printf("Cur: %d\n",cur);
}
}else{
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");
if(i<1700+x+y+z){
setMotorValue(6, 1, 1);
}