mirror of
https://github.com/team2059/Zaphod
synced 2024-12-18 20:12:28 -05:00
463 lines
15 KiB
C++
463 lines
15 KiB
C++
//Sonar code
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#include "WPILib.h"
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#include "SmartDashboard/SmartDashboard.h"
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//#include "Command.h"
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#include <iostream>
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#include <math.h>
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#include <vector>
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#include <sstream>
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class RobotDemo : public SimpleRobot
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{
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RobotDrive myRobot;
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float potVal, multiplier, servoXState, servoYState, throttle, ServoXJoyPos, ServoYJoyPos;
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int lastToggle;
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int collectorSpeed;
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bool collectorExtended, toggleCollector, shooting, compressing;
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float DownSpeed, downLimit, upLimit;
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//string cmd;
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Joystick Rstick, Lstick;
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Servo Servo1, Servo2;
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Solenoid collectorSole1, collectorSole2;
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DigitalInput pneumaticLS, shootTopLS, shootBottomLS;
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Relay collectorSpike, lightingSpike;
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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;
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//Ultrasonic
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AnalogChannel BallSonicLeft, BallSonicRight, WallSonicLeft, WallSonicRight;
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DigitalOutput BallLeft, BallRight, WallLeft, WallRight;
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//DigitalInput ballLimit;
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public:
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RobotDemo():
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//Limit Switches
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//TODO
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//ballLimit(),
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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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//Limit switches
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pneumaticLS(1),
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shootTopLS(2),
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shootBottomLS(3),
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//Driver 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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//Servos
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Servo1(1, 7),
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Servo2(1, 8),
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//Spikes
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collectorSpike(2, 7),
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lightingSpike(2, 8),
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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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void RobotInit() {
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//Initializing robot
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lastToggle = 0;
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DashboardSetup();
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servoXState = 90;
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servoYState = 90;
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multiplier = 1.0f;
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downLimit = 40;
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upLimit = 130;
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compressor.Start();
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shooting = false;
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compressing = true;
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toggleCollector = false;
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throttle=0;
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}
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void DashboardSetup() {
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SmartDashboard::PutNumber("Throttle", throttle);
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SmartDashboard::PutNumber("downLimit", downLimit);
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SmartDashboard::PutNumber("upLimit", upLimit);
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SmartDashboard::PutNumber("DownSpeed", 0.100);
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//SmartDashboard::PutString("Auto", cmd);
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SmartDashboard::PutNumber("collectorSpeed", 127);
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SmartDashboard::PutNumber("armPot", potToDegrees(armPot.GetAverageVoltage()));
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SmartDashboard::PutNumber("Log Level", 1);
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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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SmartDashboard::PutBoolean("Use Ultrasonic",false);
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SmartDashboard::PutBoolean("Daniel Mode",false);
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}
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void updateDashboard() {
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SmartDashboard::PutNumber("Throttle", throttle);
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collectorSpeed = SmartDashboard::GetNumber("collectorSpeed");
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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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DownSpeed = SmartDashboard::GetNumber("DownSpeed");
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downLimit = SmartDashboard::GetNumber("downLimit");
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upLimit = SmartDashboard::GetNumber("upLimit");
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if(downLimit < 35) {
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downLimit = 35;
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}
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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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void calcRobot(){
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}
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void shootRobot(float power=0, bool override=false) {
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override=true;
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//Needs a limit to help the driver aim
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//In this case its checking that we are no more than 15 degrees off
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//The override is in place in case an ultrasonic becomes damaged and we are unable to validate the distance through software
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float averageAtan = atan((abs(voltToDistance(BallSonicLeft.GetAverageVoltage()) - voltToDistance(BallSonicRight.GetAverageVoltage())))/20.0f)*360.0f/(2.0f*3.141592653589793f);
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if(override==true) {
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printf("%f\n",power);
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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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} else if(averageAtan<=30.0f&&(voltToDistance(WallSonicLeft.GetAverageVoltage(),true))<=100&&(voltToDistance(WallSonicRight.GetAverageVoltage(),true))<=100) {
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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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if(averageAtan>=16.0f&&(voltToDistance(WallSonicLeft.GetAverageVoltage(),true))<=100&&(voltToDistance(WallSonicRight.GetAverageVoltage(),true))) {
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//printf/smartdashboard: warning
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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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//Allow shooting regardless of the angle or distance
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}
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void logMsg(std::string message, int level) {
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if((int)SmartDashboard::GetNumber("Log Level") % level == 0) {
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printf((message+"\n").c_str());
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}
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}
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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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//logMsg("leftPower: "+toString<int>(leftPower),3);
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//logMsg("rightPower: "+toString<int>(rightPower),3);
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//logMsg("JoyX: "+toString<float>(Rstick.GetX()),3);
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//logMsg("JoyY: "+toString<float>(Rstick.GetY()),3);
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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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template<typename numbertype> string toString(numbertype a) {
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//TODO
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stringstream ss;
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ss<<a;
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string s = ss.str();
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return s;
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}
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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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float potToDegrees(float a) {
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float max = -.0003948;
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float min = 5.0245547;
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float b = a - max;
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min = min - max; // ~5.0027
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max = max - max; //=0
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return 300 - ((b + max) * (300 / min));
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}
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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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void setMotorValue(int motor, int subwayStation = 1, int value = 127) {
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if(subwayStation == 1) {
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switch(motor) {
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//Drive motors
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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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} else if(subwayStation == 2) {
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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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Servo1.SetAngle(value);
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break;
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case 8:
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Servo2.SetAngle(value);
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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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void alignRobot() {
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float yoyo = atan((abs(voltToDistance(BallSonicLeft.GetAverageVoltage()) - voltToDistance(BallSonicRight.GetAverageVoltage())))/20.0f)*360.0f/(2.0f*3.141592653589793f);
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SmartDashboard::PutNumber("Distance", yoyo);
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}
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void Test() {
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}
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void Autonomous() {
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myRobot.SetSafetyEnabled(false);
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//cmd = SmartDashboard::GetString("Auto");
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int avgDist;
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int commandIndex=0;
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int i=0;
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int cur=0;
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int averageAmount=5;
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float initalDriveTime=1.4; //The amount of time in seconds that we will drive forward at the start of the match
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float shooterMaxAngle=125; //The maximum angle that the arm can shoot to during all of auto
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float shooterDelay = 4; //The amount of time in seconds between the inital drive time and the shooter firing
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float shooterDuration = .5;//The amount of time in seconds that the shooter motors will be moving
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shooterDelay = (initalDriveTime*200)+(shooterDelay*4); //Do math to figure out the times to start the shooting
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float sampleCount=12;
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float avgLeft=0;
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float avgRight=0;
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float curDist;
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float thisIsATest;
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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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while(IsEnabled()&&IsAutonomous()) {
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if(SmartDashboard::GetBoolean("Use Ultrasonic")) {
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if(cur<sampleCount) {
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WallLeft.Set(1);
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WallRight.Set(0);
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avgLeft+=voltToDistance(WallSonicLeft.GetAverageVoltage(),true);
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} else if(cur==sampleCount) {
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avgLeft/=12;
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} else if(cur<sampleCount*4&&cur>3*sampleCount) {
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WallLeft.Set(0);
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WallRight.Set(1);
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avgRight+=voltToDistance(WallSonicRight.GetAverageVoltage(),true);
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} else if(cur==sampleCount*4) {
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avgRight/=12;
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thisIsATest=atan((abs(avgLeft-avgRight))/20.0f)*360.0f/(2.0f*3.141592653589793f);
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} else if(cur==sampleCount*6) {
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cur=0;
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}
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if(i>164) {
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SmartDashboard::PutNumber("Tanval", thisIsATest);
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}
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} else {
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if(i<=initalDriveTime*200) {
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driveRobot(1.0f,0.0f);
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//setMotorValue(6, 1, 1);
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} else if(i>shooterDelay&&i<shooterDelay+(shooterDuration*200)&&shooterMaxAngle>=potToDegrees(armPot.GetAverageVoltage())) {
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driveRobot(0, 0);
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shootRobot(1, true);
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setMotorValue(6, 1, 1);
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}
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if(i>480&&i<430+initalDriveTime){
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driveRobot(-1,0);
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//TODO
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} else if(i>430+initalDriveTime/*&&ballLimit.Get()==1*/) {
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driveRobot(-0.6f,0.0f);
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setMotorValue(6, 1, 1);
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//TODO
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} else if(/*ballLimit.Get()==1&&*/i>430+initalDriveTime) {
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driveRobot(1.0f,0.0f);
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}
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if(i>480&&i<480){
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shootRobot(0.25f,true);
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}
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}
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updateDashboard();
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if(i % 100 == 0 && compressing && compressor.GetPressureSwitchValue() == 1) {
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compressor.Stop();
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compressing = false;
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logMsg("Stopping the compressor",2);
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}
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if(i % 100 == 0 && !compressing && compressor.GetPressureSwitchValue() == 0) {
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compressor.Start();
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compressing = true;
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logMsg("Starting the compressor",2);
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}
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Wait(0.005f);
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i++;
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cur++;
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}
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compressing = false;
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compressor.Stop();
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}
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void OperatorControl() {
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myRobot.SetSafetyEnabled(false);
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int i = 0;
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int cur=0;
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bool swap=false;
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collectorSole1.Set(true);
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collectorSole2.Set(false);
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compressing = false;
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logMsg("Starting Teleop",1);
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while(IsEnabled() && IsOperatorControl()) {
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if(cur==50) {
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cur=0;
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WallLeft.Set(swap?1:0);
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BallRight.Set(swap?1:0);
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WallRight.Set(swap?0:1);
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BallRight.Set(swap?0:1);
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swap=!swap;
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}
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throttle = (-Lstick.GetRawAxis(4)+1)/2;
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if(SmartDashboard::GetBoolean("Daniel Mode")) {
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driveRobot(-Rstick.GetY(),Rstick.GetZ()+Rstick.GetX());
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} else {
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driveRobot(Rstick.GetY(),Rstick.GetZ()+Rstick.GetX());
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}
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//Log things
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if(i % 200 == 0) {
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//logMsg(toString(compressor.GetPressureSwitchValue()),2);
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//logMsg("armPot value: "+toString(armPot.GetAverageVoltage(),11));
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//logMsg("Converted armPot value: "+toString(armPot.GetAverageVoltage(),11));
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}
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if(i % 100 == 0 && compressing && compressor.GetPressureSwitchValue() == 1) {
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compressor.Stop();
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compressing = false;
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logMsg("Stopping the compressor",2);
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}
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if(i % 100 == 0 && !compressing && compressor.GetPressureSwitchValue() == 0) {
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compressor.Start();
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compressing = true;
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logMsg("Starting the compressor... again",2);
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}
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updateDashboard();
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if(Lstick.GetRawButton(1)==1&&(upLimit>=potToDegrees(armPot.GetAverageVoltage()))) {
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//Move arm motors based on throttle
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if(collectorExtended == false) {
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shooting = false;
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logMsg("Collector is NOT extended, not going to fire",17);
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}
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if(collectorExtended == true) {
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shooting = true;
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logMsg("Firing",13);
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logMsg("Collector is extended, going to fire",17);
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shootRobot(throttle, false);
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setMotorValue(6, 1, 1);
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}
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} else if(Lstick.GetRawButton(1)==1&&(upLimit<=potToDegrees(armPot.GetAverageVoltage()))) {
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shooting = false;
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logMsg("Stopping shooter motor",13);
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logMsg("Stopping collector motor",17);
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shootRobot(0, true);
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} else if(Lstick.GetRawButton(2)==1) {
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//Reverse the arm motors
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shooting = false;
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if(collectorExtended == false) {
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logMsg("Collector is not extended, not going to fire",17);
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}
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if(collectorExtended == true) {
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shootRobot(-DownSpeed, false);
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logMsg("Collector is extended, going to fire",17);
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}
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} else {
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shooting = false;
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//Stop all motors
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shootRobot(0, true);
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}
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if(Rstick.GetRawButton(9)==1) {
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collectorExtended = true;
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collectorSole1.Set(false);
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collectorSole2.Set(true);
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} else if(Rstick.GetRawButton(10)==1) {
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collectorExtended = false;
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collectorSole1.Set(true);
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collectorSole2.Set(false);
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}
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if(Lstick.GetRawButton(11)==1) {
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setMotorValue(6, 1, 1);
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} else if(Lstick.GetRawButton(12)==1) {
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setMotorValue(6, 1, 255);
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} else if(!shooting) {
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setMotorValue(6, 1, 0);
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}
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cur++;
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i++;
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Wait(0.005f);
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}
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}
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};
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START_ROBOT_CLASS(RobotDemo);
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