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Code Issues Releases Wiki Activity

Closes issue #5 with compressorEnabled

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This commit is contained in:
Adam Long 2014-10-10 11:31:49 -04:00
parent 839643cc08
commit b8b3e06347
1 changed files with 8 additions and 8 deletions
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16
src/Zaphod.cpp
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@ -9,7 +9,7 @@ class RobotDemo : public SimpleRobot
{
//Declarations{{{
RobotDrive myRobot;
bool collectorExtended,shooting,compressing,allowCompressing, hasShot, waitingToFire, shooter_idle;
bool collectorExtended,shooting,compressing, compressorEnabled, hasShot, waitingToFire, shooter_idle;
float upLimit,throttle;
Joystick Rstick,Lstick;
Solenoid collectorSole1,collectorSole2;
@ -73,7 +73,7 @@ public:
//compressor.Start();
shooting=false;
compressing=true;
allowCompressing=true;
compressorEnabled = true;
hasShot=false;
waitingToFire=false;
shooter_idle=true;
@ -118,9 +118,9 @@ public:
SmartDashboard::PutBoolean("Use Ultrasonic",true);
SmartDashboard::PutBoolean("Daniel Mode",false);
SmartDashboard::PutBoolean("CollectorState",false);
SmartDashboard::PutBoolean("Compressor Enabled",allowCompressing);
SmartDashboard::PutBoolean("Compressor Running",compressing);
SmartDashboard::PutBoolean("Ignore Pot",false);
SmartDashboard::PutBoolean("Compressor Enabled",compressorEnabled);
}
//}}}
//updateDashboard{{{
@ -133,7 +133,7 @@ public:
SmartDashboard::PutNumber("Ball Right",voltToDistance(BallSonicRight.GetAverageVoltage()));
SmartDashboard::PutNumber("upLimit",upLimit);
SmartDashboard::PutBoolean("Compressor Running",compressing);
allowCompressing=SmartDashboard::GetBoolean("Compressor Enabled");
SmartDashboard::PutBoolean("Compressor Enabled",compressorEnabled);
if(upLimit > 167){
upLimit=167;
}
@ -254,11 +254,11 @@ public:
//}}}
//runCompressor{{{
void runCompressor(int i, int refreshInterval){
if(i%refreshInterval==0&&compressing&&compressor.GetPressureSwitchValue()==1){
if(i%refreshInterval==0&&compressing&&compressor.GetPressureSwitchValue()==1&&compressorEnabled){
compressing=false;
compressor.Stop();
}
if(i%refreshInterval==0&&!compressing&&compressor.GetPressureSwitchValue()==0&&shooter_idle){
if(i%refreshInterval==0&&!compressing&&compressor.GetPressureSwitchValue()==0&&shooter_idle&&compressorEnabled){
compressing=true;
compressor.Start();
}
@ -316,6 +316,7 @@ public:
}else{
//Important part the stops the whole shooting sequence and tells the user that the shooter is back at its original state
shooter_idle=true;
compressorEnabled = true;
shooter_fired(0);
}
}
@ -632,8 +633,7 @@ public:
//}}}
//Shoot{{{
if(Lstick.GetRawButton(1)==1){
compressing=false;
compressor.Stop();
compressorEnabled= false;
shooter_idle=false; //Cause the robot to start the shooting sequence
}
//}}}