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zaphod/MyRobot.cpp

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//Add a button on joystick that activates "auto" to drive to 40 inches away and another to shoot when at 40 inches away (use the little joystick on both drive and shooter stick)
//Sonar in auto: drive till 40in away (dashboard value) and shoot
//Includes{{{
#include "WPILib.h"
#include "SmartDashboard/SmartDashboard.h"
#include <iostream>
#include <math.h>
#include <vector>
#include <sstream>
//}}}
class RobotDemo : public SimpleRobot
{
//Declarations{{{
RobotDrive myRobot;
float potVal, multiplier, throttle;
bool collectorExtended, shooting, compressing, allowCompressing;
float upLimit;
Joystick Rstick, Lstick;
Solenoid collectorSole1, collectorSole2;
Compressor compressor;
Jaguar Left1, Left2, Left3, Right1, Right2, Right3, RightArmMotor1, RightArmMotor2, LeftArmMotor1, LeftArmMotor2, CollectorMotor1;
AnalogChannel armPot;
AnalogChannel 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();
multiplier = 1.0f;
upLimit = 130.0;
compressor.Start();
shooting = false;
compressing = true;
allowCompressing = true;
throttle=0;
}
//}}}
//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("Auto Distance",65.0f);
SmartDashboard::PutNumber("Collector Speed",1.0f);
SmartDashboard::PutNumber("AutoPower",0.455f);
SmartDashboard::PutNumber("AutoCorrection",0.06f);
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("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;
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;
}
//}}}
}
}
//}}}
//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::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(-1.0f,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(i % 100 == 0 && compressing && compressor.GetPressureSwitchValue() == 1) {
compressor.Stop();
compressing = false;
}
if(i % 100 == 0 && !compressing && compressor.GetPressureSwitchValue() == 0) {
compressor.Start();
compressing = true;
}
//}}}
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);
int c=0;
int currentStep=0;
//}}}
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;
shootRobot(throttle);
setMotorValue(6, 1, 1);
if(collectorExtended == false) {
shooting = false;
}
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);
//}}}
}
if(Rstick.GetRawButton(2)==1){
c++;
//Autonomous From Joystick{{{
//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(-1.0f,SmartDashboard::GetNumber("AutoCorrection"));
}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(SmartDashboard::GetNumber("AutoPower"));
}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==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(SmartDashboard::GetNumber("AutoPower"));
}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;
}
}
//}}}
//}}}
}else{
c=0;
currentStep=0;
}
//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")){
if(i % 100 == 0 && compressing && compressor.GetPressureSwitchValue() == 1) {
compressor.Stop();
compressing = false;
}
if(i % 100 == 0 && !compressing && compressor.GetPressureSwitchValue() == 0) {
compressor.Start();
compressing = true;
}
}
//}}}
updateDashboard();
i++;
Wait(0.005f);
}
compressing = false;
compressor.Stop();
}
//}}}
//Test{{{
void Test() {
}
//}}}
};
START_ROBOT_CLASS(RobotDemo);
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