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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{{{ //Declarations{{{
RobotDrive myRobot; RobotDrive myRobot;
bool collectorExtended,shooting,compressing,allowCompressing, hasShot, waitingToFire, shooter_idle; bool collectorExtended,shooting,compressing, compressorEnabled, hasShot, waitingToFire, shooter_idle;
float upLimit,throttle; float upLimit,throttle;
Joystick Rstick,Lstick; Joystick Rstick,Lstick;
Solenoid collectorSole1,collectorSole2; Solenoid collectorSole1,collectorSole2;
@ -73,7 +73,7 @@ public:
//compressor.Start(); //compressor.Start();
shooting=false; shooting=false;
compressing=true; compressing=true;
allowCompressing=true; compressorEnabled = true;
hasShot=false; hasShot=false;
waitingToFire=false; waitingToFire=false;
shooter_idle=true; shooter_idle=true;
@ -118,9 +118,9 @@ public:
SmartDashboard::PutBoolean("Use Ultrasonic",true); SmartDashboard::PutBoolean("Use Ultrasonic",true);
SmartDashboard::PutBoolean("Daniel Mode",false); SmartDashboard::PutBoolean("Daniel Mode",false);
SmartDashboard::PutBoolean("CollectorState",false); SmartDashboard::PutBoolean("CollectorState",false);
SmartDashboard::PutBoolean("Compressor Enabled",allowCompressing);
SmartDashboard::PutBoolean("Compressor Running",compressing); SmartDashboard::PutBoolean("Compressor Running",compressing);
SmartDashboard::PutBoolean("Ignore Pot",false); SmartDashboard::PutBoolean("Ignore Pot",false);
SmartDashboard::PutBoolean("Compressor Enabled",compressorEnabled);
} }
//}}} //}}}
//updateDashboard{{{ //updateDashboard{{{
@ -133,7 +133,7 @@ public:
SmartDashboard::PutNumber("Ball Right",voltToDistance(BallSonicRight.GetAverageVoltage())); SmartDashboard::PutNumber("Ball Right",voltToDistance(BallSonicRight.GetAverageVoltage()));
SmartDashboard::PutNumber("upLimit",upLimit); SmartDashboard::PutNumber("upLimit",upLimit);
SmartDashboard::PutBoolean("Compressor Running",compressing); SmartDashboard::PutBoolean("Compressor Running",compressing);
allowCompressing=SmartDashboard::GetBoolean("Compressor Enabled"); SmartDashboard::PutBoolean("Compressor Enabled",compressorEnabled);
if(upLimit > 167){ if(upLimit > 167){
upLimit=167; upLimit=167;
} }
@ -254,11 +254,11 @@ public:
//}}} //}}}
//runCompressor{{{ //runCompressor{{{
void runCompressor(int i, int refreshInterval){ 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; compressing=false;
compressor.Stop(); 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; compressing=true;
compressor.Start(); compressor.Start();
} }
@ -316,6 +316,7 @@ public:
}else{ }else{
//Important part the stops the whole shooting sequence and tells the user that the shooter is back at its original state //Important part the stops the whole shooting sequence and tells the user that the shooter is back at its original state
shooter_idle=true; shooter_idle=true;
compressorEnabled = true;
shooter_fired(0); shooter_fired(0);
} }
} }
@ -632,8 +633,7 @@ public:
//}}} //}}}
//Shoot{{{ //Shoot{{{
if(Lstick.GetRawButton(1)==1){ if(Lstick.GetRawButton(1)==1){
compressing=false; compressorEnabled= false;
compressor.Stop();
shooter_idle=false; //Cause the robot to start the shooting sequence shooter_idle=false; //Cause the robot to start the shooting sequence
} }
//}}} //}}}