Added feature to disable the compressor on the fly

src/Definitions.h

@@ -43,6 +43,7 @@
 #define SHOOTER_ANGLE_POT       6
 
 //Ultrasonic (DIO, Analog, etc)
+ 
 #define SONAR_FRONT_RIGHT_DIO   4
 #define SONAR_FRONT_LEFT_DIO    4
 #define SONAR_BACK_LEFT_DIO     5
@@ -61,6 +62,7 @@
 //Static button assignments
 
 #define SHOOTER_FIRE            1
+#define DISABLE_COMPRESSOR	2
 #define COLLECTOR_INTAKE        1
 #define COLLECTOR_OUTTAKE       2
 #define COLLECTOR_EXTEND        9
@@ -69,6 +71,10 @@
 #define SHOOTER_ANGLE_TWO		4
 #define SHOOTER_ANGLE_THREE		5
 #define SHOOTER_ANGLE_FOUR		6
+//#define SHOOTER_POWER_ONE	
+//#define SHOOTER_POWER_TWO
+//#define SHOOTER_POWER_THREE
+//#define SHOOTER_POWER_FOUR
 #define DRIVE_FOR_DISTANCE		11
 
 //Drive threshold definitions

src/HHRobot.cpp

@@ -53,11 +53,12 @@ void HHRobot::RunAuto(){
 //Main function used to handle periodic tasks on the robot
 void HHRobot::Handler(){
   int targetAngle;
+  bool allowCompressing = true;
   //Periodic tasks that should be run by every loop
   ControlSystem->UpdateJoysticks();
   shooter->UpdateShooterPosition(targetAngle);
   //TODO Need to implement a timing system to not break the spike (this function doesn't run the compressor at the moment)
-  compressorSystem->CompressorSystemPeriodic();
+  compressorSystem->CompressorSystemPeriodic(alowCompressing);
   collector->UpdateCollector(shooter->isShooting, shooter->GetAngle());
   if(CheckJoystickValues()) {
     DriveRobot(ControlSystem->rightJoystickAxisValues[3]+ControlSystem->rightJoystickAxisValues[1], -ControlSystem->rightJoystickAxisValues[2]);
@@ -83,14 +84,18 @@ void HHRobot::Handler(){
 	  targetAngle = 100;
   }
   if(ControlSystem->leftJoystickValues[SHOOTER_ANGLE_TWO]){
-  	  targetAngle = 120;
+	  targetAngle = 120;
   }
   if(ControlSystem->leftJoystickValues[SHOOTER_ANGLE_THREE]){
-  	  targetAngle = 90;
+	  targetAngle = 90;
   }
   if(ControlSystem->leftJoystickValues[SHOOTER_ANGLE_FOUR]){
-  	  targetAngle = 130;
+	  targetAngle = 130;
   }
+  if(ControlSystem->rightJoystickValues[DISABLE_COMPRESSOR]){
+    allowCompressing = false;
+  }else{
+    allowCompressing = true;
   if(ControlSystem->rightJoystickValues[DRIVE_FOR_DISTANCE]){
 	  targetAngle = 100;
 	  if(sonar->GetInches("FRONTLEFT") >= 45){

src/Subsystems/Collector.cpp

@@ -20,7 +20,7 @@ void HHCollector::UpdateCollector(bool shooting, float angle){
   }
 }
 void HHCollector::CollectBallAtSpeed(float speed){
-	collectorMotor->Set(speed);
+  collectorMotor->Set(speed);
 }
 void HHCollector::CollectBall(){
   collectorMotor->Set(1);

src/Subsystems/Compressor.cpp

@@ -4,7 +4,7 @@ HHCompressor::HHCompressor(){
   solenoid1=new Solenoid(COMPRESSOR_SOLENOID_ONE);
   solenoid2=new Solenoid(COMPRESSOR_SOLENOID_TWO);
 }
-void HHCompressor::CompressorSystemPeriodic(){
+void HHCompressor::CompressorSystemPeriodic(bool compressorEnabled){
   switch(e_CollectorSolenoidState){
     case EXTENDED:
       solenoid1->Set(false);
@@ -19,8 +19,12 @@ void HHCompressor::CompressorSystemPeriodic(){
     default:
       break;
   }
-  if(compressor->GetPressureSwitchValue()==1){
-    compressor->Start();
+  if(compressorEnabled){
+    if(compressor->GetPressureSwitchValue()==1){
+      compressor->Start();
+    }else{
+      compressor->Stop();
+    }
   }else{
     compressor->Stop();
   }

src/Subsystems/Compressor.h

@@ -5,7 +5,6 @@ class HHCompressor{
   private:
     Compressor *compressor;
     Solenoid *solenoid1, *solenoid2;
-    time_t t;
   public:
     enum{
       EXTENDED,
@@ -13,7 +12,7 @@ class HHCompressor{
       IDLE
     }e_CollectorSolenoidState;
     HHCompressor();
-    void CompressorSystemPeriodic();
+    void CompressorSystemPeriodic(bool compressorEnabled);
     void ExtendCollector();
     void RetractCollector();
 };