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Reordered auto if statements

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This commit is contained in:
Austen Adler 2014-10-18 16:27:42 -04:00
parent 4a84b99fff
commit ffd89bb0b8
1 changed files with 23 additions and 21 deletions
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44
src/HHRobot.cpp
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@ -44,6 +44,17 @@ void HHRobot::RunAuto(){
compressorSystem->ExtendCollector(); compressorSystem->ExtendCollector();
//TODO I have no idea what rate this loop runs at so we are going to have to fine tune the times //TODO I have no idea what rate this loop runs at so we are going to have to fine tune the times
//Drive for 51 inches/cm/units (or time) //Drive for 51 inches/cm/units (or time)
if(step==2){
return;
}
if(step==1 && time<300){
//TODO Pass the shooting power and sonar distance as variables to the RunAuto function
//Shoot at a power
shooter->StartShootingSequence(0.78);
}else{
time=0;
step=2;
}
if(step==0 && time<200){ if(step==0 && time<200){
if(sonar->GetInches("FRONTLEFT")>=51){ if(sonar->GetInches("FRONTLEFT")>=51){
DriveRobot(0,-.5); DriveRobot(0,-.5);
@ -51,18 +62,9 @@ void HHRobot::RunAuto(){
DriveRobot(0,0); DriveRobot(0,0);
} }
}else{ }else{
time=0;
step=1; step=1;
} }
//TODO Pass the shooting power and sonar distance as variables to the RunAuto function
//Shoot at a power
if(step==1 && time<500){
shooter->StartShootingSequence(0.78);
}else{
step=2;
}
if(step==2){
return;
}
//Important periodic things //Important periodic things
netTable->PutNumber("AutoStep",step); //Debugging purposes netTable->PutNumber("AutoStep",step); //Debugging purposes
time++; time++;
@ -99,16 +101,16 @@ void HHRobot::Handler(){
compressorSystem->RetractCollector(); compressorSystem->RetractCollector();
} }
if(ControlSystem->leftJoystickValues[SHOOTER_ANGLE_ONE]){ if(ControlSystem->leftJoystickValues[SHOOTER_ANGLE_ONE]){
targetAngle=100; targetAngle=100;
} }
if(ControlSystem->leftJoystickValues[SHOOTER_ANGLE_TWO]){ if(ControlSystem->leftJoystickValues[SHOOTER_ANGLE_TWO]){
targetAngle=120; targetAngle=120;
} }
if(ControlSystem->leftJoystickValues[SHOOTER_ANGLE_THREE]){ if(ControlSystem->leftJoystickValues[SHOOTER_ANGLE_THREE]){
targetAngle=90; targetAngle=90;
} }
if(ControlSystem->leftJoystickValues[SHOOTER_ANGLE_FOUR]){ if(ControlSystem->leftJoystickValues[SHOOTER_ANGLE_FOUR]){
targetAngle=130; targetAngle=130;
} }
if(ControlSystem->rightJoystickValues[DISABLE_COMPRESSOR]){ if(ControlSystem->rightJoystickValues[DISABLE_COMPRESSOR]){
allowCompressing=false; allowCompressing=false;
@ -116,13 +118,13 @@ void HHRobot::Handler(){
allowCompressing=true; allowCompressing=true;
} }
if(ControlSystem->rightJoystickValues[DRIVE_FOR_DISTANCE]){ if(ControlSystem->rightJoystickValues[DRIVE_FOR_DISTANCE]){
targetAngle=100; targetAngle=100;
if(sonar->GetInches("FRONTLEFT")>=45){ if(sonar->GetInches("FRONTLEFT")>=45){
DriveRobot(0,-.5); DriveRobot(0,-.5);
} }
else{ else{
DriveRobot(0,0); DriveRobot(0,0);
} }
} }
} }
// vim: ts=2:sw=2:et // vim: ts=2:sw=2:et