mirror of
https://github.com/team2059/Zaphod
synced 2024-12-18 20:12:28 -05:00
641 lines
19 KiB
C++
641 lines
19 KiB
C++
//Includes{{{
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#include "WPILib.h"
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#include "SmartDashboard/SmartDashboard.h"
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#include <iostream>
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#include <math.h>
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#include <sstream>
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//}}}
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class RobotDemo : public SimpleRobot
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{
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//Declarations{{{
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RobotDrive myRobot;
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bool collectorExtended,shooting,compressing,allowCompressing;
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float upLimit,throttle;
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Joystick Rstick,Lstick;
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Solenoid collectorSole1,collectorSole2;
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Compressor compressor;
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Jaguar Left1,Left2,Left3,Right1,Right2,Right3,RightArmMotor1,RightArmMotor2,LeftArmMotor1,LeftArmMotor2,CollectorMotor1;
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AnalogChannel armPot,BallSonicLeft,BallSonicRight,WallSonicLeft,WallSonicRight;
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DigitalOutput BallLeft,BallRight,WallLeft,WallRight;
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//}}}
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public:
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RobotDemo():
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//Initializations{{{
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//Joysticks
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Rstick(1),
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Lstick(2),
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//Pot
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armPot(6),
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//Ultrasonic
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BallSonicLeft(1),
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BallSonicRight(2),
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WallSonicLeft(3),
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WallSonicRight(4),
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BallLeft(1,4),
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WallLeft(1,5),
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BallRight(2,4),
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WallRight(2,5),
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//Compressor
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compressor(2,5,1,1),
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//Solenoids
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collectorSole1(1),
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collectorSole2(2),
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//Drive Motors
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Left1(1,1),
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Left2(1,2),
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Left3(1,3),
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Right1(2,1),
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Right2(2,2),
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Right3(2,3),
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//Shooter Motors
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LeftArmMotor1(1,4),
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LeftArmMotor2(1,5),
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RightArmMotor1(2,4),
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RightArmMotor2(2,5),
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//Collector Motor
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CollectorMotor1(1,6),
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myRobot(Left1,Left2,Right1,Right2){
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GetWatchdog().SetEnabled(false);
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}
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//}}}
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//RobotInit{{{
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void RobotInit(){
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DashboardSetup();
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upLimit=130.0;
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compressor.Start();
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shooting=false;
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compressing=true;
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allowCompressing=true;
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throttle=(-Lstick.GetRawAxis(4)+1)/2;
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}
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//}}}
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//DashboardSetup{{{
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void DashboardSetup(){
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SmartDashboard::PutNumber("Throttle",throttle);
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SmartDashboard::PutNumber("upLimit",120.0f);
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SmartDashboard::PutNumber("armPot",potToDegrees(armPot.GetAverageVoltage()));
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SmartDashboard::PutNumber("Log Level",1.0f);
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//Ultrasonic
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SmartDashboard::PutNumber("Wall Left",voltToDistance(WallSonicLeft.GetAverageVoltage(),true));
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SmartDashboard::PutNumber("Wall Right",voltToDistance(WallSonicRight.GetAverageVoltage(),true));
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SmartDashboard::PutNumber("Ball Left",voltToDistance(BallSonicLeft.GetAverageVoltage()));
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SmartDashboard::PutNumber("Ball Right",voltToDistance(BallSonicRight.GetAverageVoltage()));
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//Autonomous values
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SmartDashboard::PutNumber("AutoSpeed",0.95f);
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SmartDashboard::PutNumber("Auto Distance",65.0f);
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SmartDashboard::PutNumber("Collector Speed",1.0f);
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SmartDashboard::PutNumber("AutoPower",0.46f);
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SmartDashboard::PutNumber("AutoCorrection",0.032f);
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SmartDashboard::PutNumber("Initial Drive Delay",2.0f);
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SmartDashboard::PutNumber("Inital Drive Timeout",4.5f);
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SmartDashboard::PutNumber("First Shot Start",0.5f);
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SmartDashboard::PutNumber("First Shot Stop",1.0f);
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SmartDashboard::PutNumber("Reverse direction start",0.0f);
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SmartDashboard::PutNumber("Reverse direction stop",2.5f);
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SmartDashboard::PutNumber("Second Drive Start",1.0f);
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SmartDashboard::PutNumber("Second Drive Timeout",2.5f);
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SmartDashboard::PutNumber("Second Shot Start",0.5f);
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SmartDashboard::PutNumber("Second Shot Stop",1.0f);
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SmartDashboard::PutNumber("Autonomous step",0.0f);
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SmartDashboard::PutNumber("Autonomous sequence",2.0f);
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//Shooter presets
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SmartDashboard::PutNumber("ShortRange",0.465f); //Power for the shooter when against the low goal
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SmartDashboard::PutNumber("ShooterButtonPower10",0.605f);
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SmartDashboard::PutNumber("ShooterButtonPower7",1.0f);
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SmartDashboard::PutNumber("ShooterButtonPower8",0.5f);
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//Bool switches
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SmartDashboard::PutBoolean("HalfPower",false);
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SmartDashboard::PutBoolean("OneBallAuto",false);
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SmartDashboard::PutBoolean("Use Ultrasonic",true);
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SmartDashboard::PutBoolean("Daniel Mode",false);
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SmartDashboard::PutBoolean("CollectorState",false);
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SmartDashboard::PutBoolean("Compressor Enabled",allowCompressing);
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SmartDashboard::PutBoolean("Compressor Running",compressing);
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SmartDashboard::PutBoolean("Ignore Pot",false);
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//Battery voltage
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}
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//}}}
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//updateDashboard{{{
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void updateDashboard(){
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SmartDashboard::PutNumber("Throttle",throttle);
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SmartDashboard::PutNumber("armPot",potToDegrees(armPot.GetAverageVoltage()));
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SmartDashboard::PutNumber("Wall Left",voltToDistance(WallSonicLeft.GetAverageVoltage(),true));
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SmartDashboard::PutNumber("Wall Right",voltToDistance(WallSonicRight.GetAverageVoltage(),true));
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SmartDashboard::PutNumber("Ball Left",voltToDistance(BallSonicLeft.GetAverageVoltage()));
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SmartDashboard::PutNumber("Ball Right",voltToDistance(BallSonicRight.GetAverageVoltage()));
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SmartDashboard::PutNumber("upLimit",upLimit);
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SmartDashboard::PutBoolean("Compressor Running",compressing);
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allowCompressing=SmartDashboard::GetBoolean("Compressor Enabled");
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if(upLimit > 167){
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upLimit=167;
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}
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}
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//}}}
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//shootRobot{{{
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void shootRobot(float power=0){
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setMotorValue(4,1,cvt(power));
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setMotorValue(5,1,cvt(power));
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setMotorValue(4,2,cvt(-power));
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setMotorValue(5,2,cvt(-power));
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}
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//}}}
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//driveRobot{{{
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void driveRobot(float x,float y){
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if(y>1.0f){
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y=1.0f;
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}else if(y!=0.0f&&y<-1.0f){
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y=-1.0f;
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}
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int leftPower=((y+x)/2+1)*127+1;
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int rightPower=((y-x)/2+1)*127+1;
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if(SmartDashboard::GetBoolean("HalfPower")){
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leftPower/=2;
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rightPower/=2;
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}
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setMotorValue(1,1,leftPower);
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setMotorValue(2,1,leftPower);
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setMotorValue(3,1,leftPower);
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setMotorValue(1,2,rightPower);
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setMotorValue(2,2,rightPower);
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setMotorValue(3,2,rightPower);
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}
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//}}}
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//voltToDistance{{{
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float voltToDistance(float a,bool wall=false){
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if(wall){
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return (a/0.00488f)/2.54f;
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}else{
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return (a/0.000976562f)/25.4f;
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}
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}
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//}}}
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//potToDegrees{{{
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float potToDegrees(float a){
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float max=-.0003948;
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float min=5.0245547;
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return 300-(a*(300/(min-max)));
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}
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//}}}
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//cvt{{{
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int cvt(float input){
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return input * 127.0f + 128;
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}
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//}}}
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//setMotorValue{{{
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void setMotorValue(int motor,int subwayStation=1,int value=127){
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if(subwayStation==1){
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//subwayStation1{{{
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switch(motor){
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case 1:
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Left1.SetRaw(value);
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break;
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case 2:
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Left2.SetRaw(value);
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break;
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case 3:
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Left3.SetRaw(value);
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break;
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case 4:
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LeftArmMotor1.SetRaw(value);
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break;
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case 5:
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LeftArmMotor2.SetRaw(value);
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break;
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case 6:
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CollectorMotor1.SetRaw(value);
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break;
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case 7:
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break;
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case 8:
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break;
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case 9:
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break;
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case 10:
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break;
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}
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//}}}
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}else if(subwayStation==2){
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//subwayStation2{{{
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switch(motor){
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//Shooter motors
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case 1:
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Right1.SetRaw(value);
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break;
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case 2:
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Right2.SetRaw(value);
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break;
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case 3:
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Right3.SetRaw(value);
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break;
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case 4:
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RightArmMotor1.SetRaw(value);
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break;
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case 5:
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RightArmMotor2.SetRaw(value);
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break;
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case 6:
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break;
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case 7:
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break;
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case 8:
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break;
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case 9:
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break;
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case 10:
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break;
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}
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//}}}
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}
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}
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//}}}
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//runCompressor{{{
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void runCompressor(int timer, int refreshInterval){
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if(timer%refreshInterval==0&compressing&comressor.GetPressureSwitchValue()==1){
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compressing=false;
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compressor.Stop();
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}
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if(timer%refreshInterval==0&!compressing&comressor.GetPressureSwitchValue()==0){
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compressing=true;
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compressor.Start();
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}
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//}}}
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//Autonomous{{{
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void Autonomous(){
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//Initializations{{{
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myRobot.SetSafetyEnabled(false);
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int i=0;
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int c=0;
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float power=SmartDashboard::GetNumber("AutoPower");
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float correction=SmartDashboard::GetNumber("AutoCorrection");
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int currentStep=0;
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compressing=false;
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collectorSole1.Set(false);
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collectorSole2.Set(true);
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WallLeft.Set(1);
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BallLeft.Set(0);
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WallRight.Set(1);
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BallRight.Set(0);
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SmartDashboard::PutBoolean("CollectorState",true);
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//}}}
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while(IsEnabled()&&IsAutonomous()){
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if(!SmartDashboard::GetBoolean("HalfPower")){
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if(SmartDashboard::GetNumber("Autonomous sequence")==0){
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//Autonomous0{{{
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//Drive{{{
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if(currentStep==0){
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if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=SmartDashboard::GetNumber("Auto Distance")){
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driveRobot(-1.0f,correction);
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}else{
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driveRobot(0.0f,0.0f);
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}
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if(c==SmartDashboard::GetNumber("Inital Drive Timeout")*200){
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driveRobot(0.0f,0.0f);
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currentStep++;
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c=0;
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}
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}
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//}}}
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//Shoot{{{
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if(currentStep==1&&c>SmartDashboard::GetNumber("First Shot Start")*200){
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if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){
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shootRobot(power);
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}else{
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shootRobot(0.0f);
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}
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setMotorValue(6, 1, 1);
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if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){
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shootRobot(0.0f);
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setMotorValue(6, 1, 0);
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currentStep++;
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c=0;
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}
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}
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//}}}
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//Lower Shooter{{{
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if(currentStep==2&&c>SmartDashboard::GetNumber("Reverse direction start")*200){
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if(40.0f<=potToDegrees(armPot.GetAverageVoltage())){
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shootRobot(-0.3f);
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}else{
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shootRobot(0.0f);
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}
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if(c==(3.0f)*200){
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shootRobot(0.0f);
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currentStep++;
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c=0;
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}
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}
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//}}}
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//}}}
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}else if(SmartDashboard::GetNumber("Autonomous sequence")==1){
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//Autonomous1{{{
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//Drive{{{
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if(currentStep==0){
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if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=SmartDashboard::GetNumber("Auto Distance")){
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driveRobot(-1.0f,correction);
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}else{
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driveRobot(0.0f,0.0f);
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}
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if(c==SmartDashboard::GetNumber("Inital Drive Timeout")*200){
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driveRobot(0.0f,0.0f);
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currentStep++;
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c=0;
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}
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}
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//}}}
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//Shoot{{{
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if(currentStep==1&&c>SmartDashboard::GetNumber("First Shot Start")*200){
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if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){
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shootRobot(power);
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}else{
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shootRobot(0.0f);
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}
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setMotorValue(6, 1, 1);
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if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){
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shootRobot(0.0f);
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setMotorValue(6, 1, 0);
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currentStep++;
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c=0;
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}
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}
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//}}}
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//Drive Backwards{{{
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if(currentStep==2&&c>SmartDashboard::GetNumber("Reverse direction start")*200){
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driveRobot(1.0f,correction);
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if(40.0f<=potToDegrees(armPot.GetAverageVoltage())){
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shootRobot(-0.2f);
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}else{
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shootRobot(0.0f);
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}
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if(c==(SmartDashboard::GetNumber("Reverse direction stop"))*200){
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driveRobot(0.0f,0.0f);
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shootRobot(0.0f);
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currentStep++;
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c=0;
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}
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}
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//}}}
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//Drive{{{
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if(currentStep==3&&c>SmartDashboard::GetNumber("Second Drive Start")*200){
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if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=SmartDashboard::GetNumber("Auto Distance")){
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driveRobot(-1.0f,correction);
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}else{
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driveRobot(0.0f,0.0f);
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}
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if(c==(SmartDashboard::GetNumber("Inital Drive Timeout"))*200){
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driveRobot(0.0f,0.0f);
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currentStep++;
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c=0;
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}
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}
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//}}}
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//Shoot{{{
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if(currentStep==4&&c>(SmartDashboard::GetNumber("Second Shot Start"))*200){
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if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){
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shootRobot(power);
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}else{
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shootRobot(0.0f);
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}
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setMotorValue(6, 1, 1);
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if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){
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shootRobot(0.0f);
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setMotorValue(6, 1, 0);
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currentStep++;
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c=0;
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}
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}
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//}}}
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//}}}
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}else if(SmartDashboard::GetNumber("Autonomous sequence")==2){
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//Autonomous2{{{
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//Drive{{{
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if(currentStep==0&&c>SmartDashboard::GetNumber("Initial Drive Delay")*200){
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setMotorValue(6, 1, SmartDashboard::GetNumber("Collector Speed"));
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if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=SmartDashboard::GetNumber("Auto Distance")){
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driveRobot(-1*(SmartDashboard::GetNumber("AutoSpeed")),correction);
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}else{
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driveRobot(0.0f,0.0f);
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}
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if(c==SmartDashboard::GetNumber("Inital Drive Timeout")*200){
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setMotorValue(6, 1, 0);
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driveRobot(0.0f,0.0f);
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currentStep++;
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c=0;
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}
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}
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//}}}
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//Release Ball{{{
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if(currentStep==1){
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setMotorValue(6, 1, 102);
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if(c==50){
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currentStep++;
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c=0;
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}
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}
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//}}}
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//Shoot{{{
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if(currentStep==2&&c>SmartDashboard::GetNumber("First Shot Start")*200){
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if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){
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shootRobot(power);
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}else{
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shootRobot(0.0f);
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}
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if(c==SmartDashboard::GetNumber("First Shot Stop")*200){
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shootRobot(0.0f);
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setMotorValue(6, 1, 0);
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currentStep++;
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c=0;
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}
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}
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//}}}
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//Lower Shooter{{{
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if(currentStep==3){
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if(40.0f<=potToDegrees(armPot.GetAverageVoltage())){
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shootRobot(-0.3f);
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}else{
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shootRobot(0.0f);
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}
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if(c==1*200){
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shootRobot(0.0f);
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currentStep++;
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c=0;
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}
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}
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//}}}
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//Collect Ball{{{
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if(currentStep==4&&c>SmartDashboard::GetNumber("Second Shot Start")){
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setMotorValue(6, 1, 1);
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if(c==SmartDashboard::GetNumber("Second Shot Stop")*200){
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setMotorValue(6, 1, 0);
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currentStep++;
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c=0;
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}
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}
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//}}}
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//Shoot{{{
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if(currentStep==5&&c>(SmartDashboard::GetNumber("Second Shot Start"))*200){
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if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){
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shootRobot(power);
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}else{
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shootRobot(0.0f);
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}
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setMotorValue(6, 1, 1);
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if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){
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setMotorValue(6, 1, 0);
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shootRobot(0.0f);
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currentStep++;
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c=0;
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}
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}
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//}}}
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//}}}
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}
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SmartDashboard::PutNumber("Autonomous step", currentStep);
|
|
updateDashboard();
|
|
//Compressor{{{
|
|
if(SmartDashboard::GetBoolean("Compressor Enabled")){
|
|
runCompressor(i,100);
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|
}
|
|
//}}}
|
|
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);
|
|
//}}}
|
|
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);
|
|
//}}}
|
|
}
|
|
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){
|
|
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);
|