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Add gimble control code 

Untested, but did previously work
This commit is contained in:
Adam Goldsmith 2016-03-10 09:04:45 -05:00
parent 08fcf3b048
commit 9f6bfd3c10
1 changed files with 35 additions and 1 deletions
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36
Robot2016/src/Robot.cpp
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@ -18,6 +18,13 @@
#define RAMP_RAISE 5 // Button 3 for Raising Ramp #define RAMP_RAISE 5 // Button 3 for Raising Ramp
#define RAMP_LOWER 3 // Button 4 to lower ramp. #define RAMP_LOWER 3 // Button 4 to lower ramp.
#define UNJAM 11 #define UNJAM 11
#define GIM_UP 7
#define GIM_DOWN 9
#define GIM_ZERO 10
#define GIM_SHOOT 8
#define GIMB_DEFAULT 768 //Default position of the gimble (*1000)
#define GIMB_DELTA 2 //Amount to increment by
#define ARMS_SCALE 0.75 #define ARMS_SCALE 0.75
@ -47,6 +54,8 @@ private:
Shooter shooter; Shooter shooter;
Joystick driver_stick, operator_stick; Joystick driver_stick, operator_stick;
Timer auto_clock; Timer auto_clock;
Servo gimbs;
int gimba; // angle of the gimble as a value of from 0 to 1000
// instance variables // instance variables
bool pickupRunning; // don't want to spam the Talon with set messages. Toggle the pickup when a button is pressed or released. bool pickupRunning; // don't want to spam the Talon with set messages. Toggle the pickup when a button is pressed or released.
@ -92,6 +101,8 @@ private:
SmartDashboard::PutBoolean("Arms Limit F", !arms.IsFwdLimitSwitchClosed()); SmartDashboard::PutBoolean("Arms Limit F", !arms.IsFwdLimitSwitchClosed());
SmartDashboard::PutBoolean("Arms Limit R", !arms.IsRevLimitSwitchClosed()); SmartDashboard::PutBoolean("Arms Limit R", !arms.IsRevLimitSwitchClosed());
SmartDashboard::PutNumber("angle of camera", gimba);
if (!logA.is_open() && !logB.is_open() && !logC.is_open()) if (!logA.is_open() && !logB.is_open() && !logC.is_open())
{ {
std::fstream logNumFile; std::fstream logNumFile;
@ -200,7 +211,9 @@ public:
shooter( // initialize Shooter object. shooter( // initialize Shooter object.
&shooter1, &shooter2, &ramp), &shooter1, &shooter2, &ramp),
driver_stick(0), // right stick (operator) driver_stick(0), // right stick (operator)
operator_stick(1) // left stick (driver) operator_stick(1), // left stick (driver)
gimbs(3),
gimba(GIMB_DEFAULT)
{ {
} }
@ -228,6 +241,9 @@ public:
shooter_power = 0; shooter_power = 0;
arcade = false; arcade = false;
// Initialize the number so we can get it later
SmartDashboard::PutNumber("shooting angle", GIMB_DEFAULT);
} }
void AutonomousInit() void AutonomousInit()
@ -277,6 +293,7 @@ public:
break; break;
} }
} }
gimbs.Set(gimba/1000.0);
} }
void TeleopInit() void TeleopInit()
@ -359,6 +376,23 @@ public:
shooter.PickUp(false); shooter.PickUp(false);
unjamming = false; unjamming = false;
} }
/*
* This is for controlling the gimbal.
*/
if(operator_stick.GetRawButton(GIM_UP))
{
gimba += GIMB_DELTA;
}
else if(operator_stick.GetRawButton(GIM_DOWN)){
gimba -= GIMB_DELTA;
}
else if(operator_stick.GetRawButton(GIM_SHOOT))
{
gimba = SmartDashboard::GetNumber("shooting angle", GIMB_DEFAULT);
}
gimbs.Set(gimba/1000.0);
/* /*
* Run the Shooter only while the THUMB button is held down on the operator stick. * Run the Shooter only while the THUMB button is held down on the operator stick.
* the 'pickupRunning' boolean is there to prevent the shooter from calling PickUp * the 'pickupRunning' boolean is there to prevent the shooter from calling PickUp