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Fixed minor errors in the last rev

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This commit is contained in:
Adam Long 2014-03-07 00:30:25 +00:00
parent 00a560968d
commit aab9572a48
1 changed files with 40 additions and 9 deletions
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49
MyRobot.cpp
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@ -10,14 +10,13 @@ class RobotDemo : public SimpleRobot
{
RobotDrive myRobot;
float potVal, multiplier, throttle;
bool collectorExtended, shooting, compressing;
bool collectorExtended, shooting, compressing, allowCompressing;
float upLimit;
Joystick Rstick, Lstick;
Solenoid collectorSole1, collectorSole2;
Compressor compressor;
Jaguar Left1, Left2, Left3, Right1, Right2, Right3, RightArmMotor1, RightArmMotor2, LeftArmMotor1, LeftArmMotor2, CollectorMotor1;
AnalogChannel armPot;
//Ultrasonic
AnalogChannel BallSonicLeft, BallSonicRight, WallSonicLeft, WallSonicRight;
DigitalOutput BallLeft, BallRight, WallLeft, WallRight;
public:
@ -65,6 +64,7 @@ public:
compressor.Start();
shooting = false;
compressing = true;
allowCompressing = true;
throttle=0;
}
void DashboardSetup() {
@ -99,7 +99,7 @@ public:
SmartDashboard::PutBoolean("Use Ultrasonic",true);
SmartDashboard::PutBoolean("Daniel Mode",false);
SmartDashboard::PutBoolean("CollectorState",false);
SmartDashboard::PutBoolean("Compressor Enabled", true);
SmartDashboard::PutBoolean("Compressor Enabled", allowCompressing);
SmartDashboard::PutBoolean("Compressor Running", compressing);
//Battery voltage
}
@ -112,6 +112,7 @@ public:
SmartDashboard::PutNumber("Ball Right", voltToDistance(BallSonicRight.GetAverageVoltage()));
SmartDashboard::PutNumber("upLimit", upLimit);
SmartDashboard::PutBoolean("Compressor Running", compressing);
allowCompressing = SmartDashboard::GetBoolean("Compressor Enabled");
if(upLimit > 167) {
upLimit = 167;
}
@ -238,21 +239,23 @@ public:
myRobot.SetSafetyEnabled(false);
int avgDist;
int commandIndex=0;
int averageAmount=5;
int i=0;
int c=0;
float initalDriveTimeout=(SmartDashboard::GetNumber("Inital Drive Timeout"))*200;
//Incase the wall ultrasonic fails, there will be a timeout that will force the motors to stop after a given time.
float initalDriveTimeout=(SmartDashboard::GetNumber("Inital Drive Timeout"))*200;
//The time when the shooter motors will begin to fire the ball
float startShootingFirst=(SmartDashboard::GetNumber("First Shot Start"))*200;
//The time when the shooter motors will stop (set power to 0)
//The time when the shooter motors will begin to fire the ball
float stopShootingFirst=(SmartDashboard::GetNumber("First Shot Stop"))*200;
//The time to start when getting the second ball
//The time when the shooter motors will stop (set power to 0)
float getSecondBallStart=(SmartDashboard::GetNumber("Reverse direction start"))*200;
//The time to stop when getting the second ball
//The time to start when getting the second ball
float getSecondBallStop=(SmartDashboard::GetNumber("Reverse direction stop"))*200;
//The power the shooter will use (in a percent)
//The time to stop when getting the second ball
float power=SmartDashboard::GetNumber("AutoPower");
//The power the shooter will use (in a percent)
float correction=SmartDashboard::GetNumber("AutoCorrection");
//The correction value for the X axis
compressing=false;
collectorSole1.Set(false);
collectorSole2.Set(true);
@ -370,6 +373,16 @@ public:
logMsg("Collector is extended, going to fire",17);
shootRobot(throttle);
setMotorValue(6, 1, 1);
// if(collectorExtended){
// shooting = true;
// logMsg("Firing",13);
// logMsg("Collector is extended, going to fire",17);
// shootRobot(throttle);
// setMotorValue(6, 1, 1);
// }else{
// shooting = false;
// logMsg("Collector is NOT extended, not going to fire",17);
// }
}else if(Lstick.GetRawButton(1)==1) {
//Move arm motors based on throttle
shooting = true;
@ -377,6 +390,17 @@ public:
logMsg("Collector is extended, going to fire",17);
shootRobot(throttle);
setMotorValue(6, 1, 1);
// if(collectorExtended == false) {
// shooting = false;
// logMsg("Collector is NOT extended, not going to fire",17);
// }
// if(collectorExtended == true&&(upLimit>=potToDegrees(armPot.GetAverageVoltage()))) {
// shooting = true;
// logMsg("Firing",13);
// logMsg("Collector is extended, going to fire",17);
// shootRobot(throttle);
// setMotorValue(6, 1, 1);
// }
} else if(Lstick.GetRawButton(1)==1&&(upLimit<=potToDegrees(armPot.GetAverageVoltage()))) {
shooting = false;
logMsg("Stopping shooter motor",13);
@ -386,6 +410,13 @@ public:
//Reverse the arm motors
shooting = false;
shootRobot(-0.1f);
// if(collectorExtended == false) {
// logMsg("Collector is not extended, not going to fire",17);
// }
// if(collectorExtended == true) {
// shootRobot(-0.1f);
// logMsg("Collector is extended, going to fire",17);
// }
} else {
shooting = false;
//Stop all motors