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zaphod/MyRobot.cpp

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//Includes{{{
#include "WPILib.h"
#include "SmartDashboard/SmartDashboard.h"
#include <iostream>
#include <math.h>
#include <sstream>
//}}}
class RobotDemo : public SimpleRobot
{
//Declarations{{{
RobotDrive myRobot;
bool collectorExtended,shooting,compressing,allowCompressing;
float upLimit,throttle;
Joystick Rstick,Lstick;
Solenoid collectorSole1,collectorSole2;
Compressor compressor;
Jaguar Left1,Left2,Left3,Right1,Right2,Right3,RightArmMotor1,RightArmMotor2,LeftArmMotor1,LeftArmMotor2,CollectorMotor1;
AnalogChannel armPot,BallSonicLeft,BallSonicRight,WallSonicLeft,WallSonicRight;
DigitalOutput BallLeft,BallRight,WallLeft,WallRight;
//}}}
public:
RobotDemo():
//Initializations{{{
//Joysticks
Rstick(1),
Lstick(2),
//Pot
armPot(6),
//Ultrasonic
BallSonicLeft(1),
BallSonicRight(2),
WallSonicLeft(3),
WallSonicRight(4),
BallLeft(1,4),
WallLeft(1,5),
BallRight(2,4),
WallRight(2,5),
//Compressor
compressor(2,5,1,1),
//Solenoids
collectorSole1(1),
collectorSole2(2),
//Drive Motors
Left1(1,1),
Left2(1,2),
Left3(1,3),
Right1(2,1),
Right2(2,2),
Right3(2,3),
//Shooter Motors
LeftArmMotor1(1,4),
LeftArmMotor2(1,5),
RightArmMotor1(2,4),
RightArmMotor2(2,5),
//Collector Motor
CollectorMotor1(1,6),
myRobot(Left1,Left2,Right1,Right2){
GetWatchdog().SetEnabled(false);
}
//}}}
//RobotInit{{{
void RobotInit(){
DashboardSetup();
upLimit=130.0;
compressor.Start();
shooting=false;
compressing=true;
allowCompressing=true;
throttle=(-Lstick.GetRawAxis(4)+1)/2;
}
//}}}
//DashboardSetup{{{
void DashboardSetup(){
SmartDashboard::PutNumber("Throttle",throttle);
SmartDashboard::PutNumber("upLimit",120.0f);
SmartDashboard::PutNumber("armPot",potToDegrees(armPot.GetAverageVoltage()));
SmartDashboard::PutNumber("Log Level",1.0f);
//Ultrasonic
SmartDashboard::PutNumber("Wall Left",voltToDistance(WallSonicLeft.GetAverageVoltage(),true));
SmartDashboard::PutNumber("Wall Right",voltToDistance(WallSonicRight.GetAverageVoltage(),true));
SmartDashboard::PutNumber("Ball Left",voltToDistance(BallSonicLeft.GetAverageVoltage()));
SmartDashboard::PutNumber("Ball Right",voltToDistance(BallSonicRight.GetAverageVoltage()));
//Autonomous values
SmartDashboard::PutNumber("AutoSpeed",0.95f);
SmartDashboard::PutNumber("Auto Distance",65.0f);
SmartDashboard::PutNumber("Collector Speed",1.0f);
SmartDashboard::PutNumber("AutoPower",0.46f);
SmartDashboard::PutNumber("AutoCorrection",0.032f);
SmartDashboard::PutNumber("Initial Drive Delay",2.0f);
SmartDashboard::PutNumber("Inital Drive Timeout",4.5f);
SmartDashboard::PutNumber("First Shot Start",0.5f);
SmartDashboard::PutNumber("First Shot Stop",1.0f);
SmartDashboard::PutNumber("Reverse direction start",0.0f);
SmartDashboard::PutNumber("Reverse direction stop",2.5f);
SmartDashboard::PutNumber("Second Drive Start",1.0f);
SmartDashboard::PutNumber("Second Drive Timeout",2.5f);
SmartDashboard::PutNumber("Second Shot Start",0.5f);
SmartDashboard::PutNumber("Second Shot Stop",1.0f);
SmartDashboard::PutNumber("Autonomous step",0.0f);
SmartDashboard::PutNumber("Autonomous sequence",2.0f);
//Shooter presets
SmartDashboard::PutNumber("ShortRange",0.465f); //Power for the shooter when against the low goal
SmartDashboard::PutNumber("ShooterButtonPower10",0.605f);
SmartDashboard::PutNumber("ShooterButtonPower7",1.0f);
SmartDashboard::PutNumber("ShooterButtonPower8",0.5f);
//Bool switches
SmartDashboard::PutBoolean("HalfPower",false);
SmartDashboard::PutBoolean("OneBallAuto",false);
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);
//Battery voltage
}
//}}}
//updateDashboard{{{
void updateDashboard(){
SmartDashboard::PutNumber("Throttle",throttle);
SmartDashboard::PutNumber("armPot",potToDegrees(armPot.GetAverageVoltage()));
SmartDashboard::PutNumber("Wall Left",voltToDistance(WallSonicLeft.GetAverageVoltage(),true));
SmartDashboard::PutNumber("Wall Right",voltToDistance(WallSonicRight.GetAverageVoltage(),true));
SmartDashboard::PutNumber("Ball Left",voltToDistance(BallSonicLeft.GetAverageVoltage()));
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;
}
}
//}}}
//shootRobot{{{
void shootRobot(float power=0){
setMotorValue(4,1,cvt(power));
setMotorValue(5,1,cvt(power));
setMotorValue(4,2,cvt(-power));
setMotorValue(5,2,cvt(-power));
}
//}}}
//driveRobot{{{
void driveRobot(float x,float y){
if(y>1.0f){
y=1.0f;
}else if(y!=0.0f&&y<-1.0f){
y=-1.0f;
}
int leftPower=((y+x)/2+1)*127+1;
int rightPower=((y-x)/2+1)*127+1;
if(SmartDashboard::GetBoolean("HalfPower")){
leftPower/=2;
rightPower/=2;
}
setMotorValue(1,1,leftPower);
setMotorValue(2,1,leftPower);
setMotorValue(3,1,leftPower);
setMotorValue(1,2,rightPower);
setMotorValue(2,2,rightPower);
setMotorValue(3,2,rightPower);
}
//}}}
//voltToDistance{{{
float voltToDistance(float a,bool wall=false){
if(wall){
return (a/0.00488f)/2.54f;
}else{
return (a/0.000976562f)/25.4f;
}
}
//}}}
//potToDegrees{{{
float potToDegrees(float a) {
float max = -.0003948;
float min = 5.0245547;
float b = a - max;
min = min - max; // ~5.0027
max = max - max; //=0
return 300 - ((b + max) * (300 / min));
}
//}}}
//cvt{{{
int cvt(float input){
return input * 127.0f + 128;
}
//}}}
//setMotorValue{{{
void setMotorValue(int motor,int subwayStation=1,int value=127){
if(subwayStation==1){
//subwayStation1{{{
switch(motor){
case 1:
Left1.SetRaw(value);
break;
case 2:
Left2.SetRaw(value);
break;
case 3:
Left3.SetRaw(value);
break;
case 4:
LeftArmMotor1.SetRaw(value);
break;
case 5:
LeftArmMotor2.SetRaw(value);
break;
case 6:
CollectorMotor1.SetRaw(value);
break;
case 7:
break;
case 8:
break;
case 9:
break;
case 10:
break;
}
//}}}
}else if(subwayStation==2){
//subwayStation2{{{
switch(motor){
//Shooter motors
case 1:
Right1.SetRaw(value);
break;
case 2:
Right2.SetRaw(value);
break;
case 3:
Right3.SetRaw(value);
break;
case 4:
RightArmMotor1.SetRaw(value);
break;
case 5:
RightArmMotor2.SetRaw(value);
break;
case 6:
break;
case 7:
break;
case 8:
break;
case 9:
break;
case 10:
break;
}
//}}}
}
}
//}}}
//runCompressor{{{
void runCompressor(int i, int refreshInterval){
if(i%refreshInterval==0&compressing&compressor.GetPressureSwitchValue()==1){
compressing=false;
compressor.Stop();
}
if(i%refreshInterval==0&!compressing&compressor.GetPressureSwitchValue()==0){
compressing=true;
compressor.Start();
}
}
//}}}
//updateJoystick{{{
int updateJoystick(*stick){
for(i=1,i<=12,i++){
state[i] = stick.GetRawButton(i);
}
return state;
}
//}}}
//Autonomous{{{
void Autonomous(){
//Initializations{{{
myRobot.SetSafetyEnabled(false);
int i=0;
int c=0;
float power=SmartDashboard::GetNumber("AutoPower");
float correction=SmartDashboard::GetNumber("AutoCorrection");
int currentStep=0;
compressing=false;
collectorSole1.Set(false);
collectorSole2.Set(true);
WallLeft.Set(1);
BallLeft.Set(0);
WallRight.Set(1);
BallRight.Set(0);
SmartDashboard::PutBoolean("CollectorState",true);
//}}}
while(IsEnabled()&&IsAutonomous()){
if(!SmartDashboard::GetBoolean("HalfPower")){
if(SmartDashboard::GetNumber("Autonomous sequence")==0){
//Autonomous0{{{
//Drive{{{
if(currentStep==0){
if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=SmartDashboard::GetNumber("Auto Distance")){
driveRobot(-1.0f,correction);
}else{
driveRobot(0.0f,0.0f);
}
if(c==SmartDashboard::GetNumber("Inital Drive Timeout")*200){
driveRobot(0.0f,0.0f);
currentStep++;
c=0;
}
}
//}}}
//Shoot{{{
if(currentStep==1&&c>SmartDashboard::GetNumber("First Shot Start")*200){
if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){
shootRobot(power);
}else{
shootRobot(0.0f);
}
setMotorValue(6, 1, 1);
if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){
shootRobot(0.0f);
setMotorValue(6, 1, 0);
currentStep++;
c=0;
}
}
//}}}
//Lower Shooter{{{
if(currentStep==2&&c>SmartDashboard::GetNumber("Reverse direction start")*200){
if(40.0f<=potToDegrees(armPot.GetAverageVoltage())){
shootRobot(-0.3f);
}else{
shootRobot(0.0f);
}
if(c==(3.0f)*200){
shootRobot(0.0f);
currentStep++;
c=0;
}
}
//}}}
//}}}
}else if(SmartDashboard::GetNumber("Autonomous sequence")==1){
//Autonomous1{{{
//Drive{{{
if(currentStep==0){
if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=SmartDashboard::GetNumber("Auto Distance")){
driveRobot(-1.0f,correction);
}else{
driveRobot(0.0f,0.0f);
}
if(c==SmartDashboard::GetNumber("Inital Drive Timeout")*200){
driveRobot(0.0f,0.0f);
currentStep++;
c=0;
}
}
//}}}
//Shoot{{{
if(currentStep==1&&c>SmartDashboard::GetNumber("First Shot Start")*200){
if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){
shootRobot(power);
}else{
shootRobot(0.0f);
}
setMotorValue(6, 1, 1);
if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){
shootRobot(0.0f);
setMotorValue(6, 1, 0);
currentStep++;
c=0;
}
}
//}}}
//Drive Backwards{{{
if(currentStep==2&&c>SmartDashboard::GetNumber("Reverse direction start")*200){
driveRobot(1.0f,correction);
if(40.0f<=potToDegrees(armPot.GetAverageVoltage())){
shootRobot(-0.2f);
}else{
shootRobot(0.0f);
}
if(c==(SmartDashboard::GetNumber("Reverse direction stop"))*200){
driveRobot(0.0f,0.0f);
shootRobot(0.0f);
currentStep++;
c=0;
}
}
//}}}
//Drive{{{
if(currentStep==3&&c>SmartDashboard::GetNumber("Second Drive Start")*200){
if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=SmartDashboard::GetNumber("Auto Distance")){
driveRobot(-1.0f,correction);
}else{
driveRobot(0.0f,0.0f);
}
if(c==(SmartDashboard::GetNumber("Inital Drive Timeout"))*200){
driveRobot(0.0f,0.0f);
currentStep++;
c=0;
}
}
//}}}
//Shoot{{{
if(currentStep==4&&c>(SmartDashboard::GetNumber("Second Shot Start"))*200){
if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){
shootRobot(power);
}else{
shootRobot(0.0f);
}
setMotorValue(6, 1, 1);
if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){
shootRobot(0.0f);
setMotorValue(6, 1, 0);
currentStep++;
c=0;
}
}
//}}}
//}}}
}else if(SmartDashboard::GetNumber("Autonomous sequence")==2){
//Autonomous2{{{
//Drive{{{
if(currentStep==0&&c>SmartDashboard::GetNumber("Initial Drive Delay")*200){
setMotorValue(6, 1, SmartDashboard::GetNumber("Collector Speed"));
if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=SmartDashboard::GetNumber("Auto Distance")){
driveRobot(-1*(SmartDashboard::GetNumber("AutoSpeed")),correction);
}else{
driveRobot(0.0f,0.0f);
}
if(c==SmartDashboard::GetNumber("Inital Drive Timeout")*200){
setMotorValue(6, 1, 0);
driveRobot(0.0f,0.0f);
currentStep++;
c=0;
}
}
//}}}
//Release Ball{{{
if(currentStep==1){
setMotorValue(6, 1, 102);
if(c==50){
currentStep++;
c=0;
}
}
//}}}
//Shoot{{{
if(currentStep==2&&c>SmartDashboard::GetNumber("First Shot Start")*200){
if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){
shootRobot(power);
}else{
shootRobot(0.0f);
}
if(c==SmartDashboard::GetNumber("First Shot Stop")*200){
shootRobot(0.0f);
setMotorValue(6, 1, 0);
currentStep++;
c=0;
}
}
//}}}
//Lower Shooter{{{
if(currentStep==3){
if(40.0f<=potToDegrees(armPot.GetAverageVoltage())){
shootRobot(-0.3f);
}else{
shootRobot(0.0f);
}
if(c==1*200){
shootRobot(0.0f);
currentStep++;
c=0;
}
}
//}}}
//Collect Ball{{{
if(currentStep==4&&c>SmartDashboard::GetNumber("Second Shot Start")){
setMotorValue(6, 1, 1);
if(c==SmartDashboard::GetNumber("Second Shot Stop")*200){
setMotorValue(6, 1, 0);
currentStep++;
c=0;
}
}
//}}}
//Shoot{{{
if(currentStep==5&&c>(SmartDashboard::GetNumber("Second Shot Start"))*200){
if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){
shootRobot(power);
}else{
shootRobot(0.0f);
}
setMotorValue(6, 1, 1);
if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){
setMotorValue(6, 1, 0);
shootRobot(0.0f);
currentStep++;
c=0;
}
}
//}}}
//}}}
}
SmartDashboard::PutNumber("Autonomous step", currentStep);
updateDashboard();
//Compressor{{{
if(SmartDashboard::GetBoolean("Compressor Enabled")){
runCompressor(i,100);
}
//}}}
i++;
c++;
Wait(0.005f);
}
compressing=false;
compressor.Stop();
}
}
//}}}
//Teleop{{{
void OperatorControl(){
//Initializations{{{
myRobot.SetSafetyEnabled(false);
int i=0;
collectorSole1.Set(true);
collectorSole2.Set(false);
compressing=false;
SmartDashboard::PutBoolean("CollectorState",false);
ShootStick = *updateJoystick(joystick &Lstick);
DriveStick = *updateJoystick(joystick &Rstick);
//}}}
while(IsEnabled()&&IsOperatorControl()){
//Joystick{{{
//Throttle values{{{
if(Lstick.GetRawButton(9)==1){
throttle=(-Lstick.GetRawAxis(4)+1)/2;
}else if(Lstick.GetRawButton(10)){
throttle=SmartDashboard::GetNumber("ShooterButtonPower10");
}else if(Lstick.GetRawButton(7)){
throttle=SmartDashboard::GetNumber("ShooterButtonPower7");
}else if(Lstick.GetRawButton(8)){
throttle=SmartDashboard::GetNumber("ShooterButtonPower8");
}
//}}}
//Shooter upLimit{{{
if(Lstick.GetRawButton(3)){
upLimit=100.0f;
}
if(Lstick.GetRawButton(4)){
upLimit=120.0f;
}
if(Lstick.GetRawButton(5)){
upLimit=90.0f;
}
if(Lstick.GetRawButton(6)){
upLimit=130.0f;
}
//}}}
if(Lstick.GetRawButton(1)==1){
//Shoot{{{
shooting=true;
setMotorValue(6,1,1);
if(collectorExtended==false){
shooting=false;
}
//shootRobot(throttle);
//TODO: test this code, we don't know if it works, but if it does not, run this code: ^
if(collectorExtended==true&&(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage()))){
shooting=true;
shootRobot(throttle);
setMotorValue(6,1,1);
}else{
shooting=false;
shootRobot(0.0f);
setMotorValue(6,1,0);
}
//}}}
}else if(Lstick.GetRawButton(2)==1){
//Lower Shooter{{{
shooting=false;
shootRobot(-0.1f);
if(collectorExtended==true){
shootRobot(-0.1f);
}
//}}}
}else{
//Stop Shooting{{{
shooting=false;
shootRobot(0.0f);
//}}}
}
if(Rstick.GetRawButton(9)==1){
//Extend Collector{{{
SmartDashboard::PutBoolean("CollectorState",true);
collectorExtended=true;
collectorSole1.Set(false);
collectorSole2.Set(true);
//}}}
}else if(Rstick.GetRawButton(10)==1){
//Retract Collector{{{
SmartDashboard::PutBoolean("CollectorState",false);
collectorExtended=false;
collectorSole1.Set(true);
collectorSole2.Set(false);
//}}}
}
//Collector Motor{{{
if(Lstick.GetRawButton(11)==1&&50<=potToDegrees(armPot.GetAverageVoltage())){
setMotorValue(6,1,1);
}else if(Lstick.GetRawButton(12)==1){
setMotorValue(6,1,255);
}else if(!shooting){
setMotorValue(6,1,0);
}
//}}}
//}}}
//Driving{{{
if(Rstick.GetRawButton(1)){
if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=40.0f){
driveRobot(1.0f,SmartDashboard::GetNumber("AutoCorrection"));
}else{
driveRobot(0.0f,0.0f);
}
}else{
if(SmartDashboard::GetBoolean("Daniel Mode")){
driveRobot(-Rstick.GetY(),Rstick.GetZ()+Rstick.GetX());
}else{
driveRobot(Rstick.GetY(),Rstick.GetZ()+Rstick.GetX());
}
}
//}}}
//Compressor{{{
if(SmartDashboard::GetBoolean("Compressor Enabled")){
runCompressor(i,100);
}
//}}}
updateDashboard();
i++;
Wait(0.005f);
}
compressing=false;
compressor.Stop();
}
//}}}
//Test{{{
void Test(){
int i=0;
while(IsEnabled()&&IsTest()){
i++;
Wait(0.005f);
}
}
//}}}
};
START_ROBOT_CLASS(RobotDemo);
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