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merged master into shooter

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This commit is contained in:
Aidan Ferguson 2016-02-19 15:55:13 -05:00
commit 39d7ff7c4d
2 changed files with 242 additions and 81 deletions
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134
src/Robot.cpp
View File

@ -8,6 +8,11 @@
#define THUMB 2 // Thumb button number
#define RAMP_RAISE 3 // Button 3 for Raising Ramp
#define RAMP_LOWER 4 // Button 4 to lower ramp.
#define UNJAM 11
#define DEADZONE_RADIUS 0.01 // Deadzone Radius prevents tiny twitches in the joystick's value from
// affecting the robot. Use this for cleaning up drive train and shooter.
// Also used for detecting changes in an axis' value.
#endif // BUTTON_LAYOUT
@ -15,22 +20,20 @@ class Robot: public IterativeRobot
{
TalonSRX left_drive, right_drive;
CANTalon shooter1, shooter2,
ramp;
launch_spinny;
RobotDrive drive;
Shooter shooter;
Joystick driver_stick, operator_stick;
Counter ramp_height;
public:
Robot():
left_drive(0), // Left DriveTrain Talons plug into PWM channel 1 with a Y-spliter
left_drive(0), // Left DriveTrain Talons plug into PWM channel 1 with a Y-splitter
right_drive(1), // Right DriveTrain Talons plug // left wheel 2
shooter1(10), // shooter drive 1
shooter2(11), // shooter drive 2
ramp(12),
shooter1(11), // shooter drive 1
shooter2(10), // shooter drive 2
launch_spinny(12),
drive(&left_drive, &right_drive),
ramp_height(),
shooter( // initialize Shooter object.
&shooter1, &shooter2, &ramp, &ramp_height),
&shooter1, &shooter2, &launch_spinny),
driver_stick(0), // right stick (operator)
operator_stick(1) // left stick (driver)
{
@ -42,6 +45,10 @@ private:
bool pickupRunning; // don't want to spam the Talon with set messages. Toggle the pickup when a button is pressed or released.
bool inverting;
float oldXY;
bool ramping;
bool shooting;
bool unjamming;
float shooter_power;
LiveWindow *lw = LiveWindow::GetInstance();
SendableChooser *chooser;
@ -55,13 +62,18 @@ private:
chooser->AddDefault(autoNameDefault, (void*)&autoNameDefault);
chooser->AddObject(autoNameCustom, (void*)&autoNameCustom);
SmartDashboard::PutData("Auto Modes", chooser);
ramp_height.SetUpSource(1);
ramp.Enable();
shooter1.Enable();
shooter2.Enable();
left_drive.SetInverted(true);
right_drive.SetInverted(true);
//launch_spinny.SetInverted(true);
inverting = false;
pickupRunning = false;
ramping = false;
shooting = false;
unjamming = false;
shooter_power = 0;
}
@ -76,9 +88,6 @@ private:
*/
void AutonomousInit()
{
shooter.CalibrateRamp();
shooter.SetRamp(Shoot);
autoSelected = *((std::string*)chooser->GetSelected());
//std::string autoSelected = SmartDashboard::GetString("Auto Selector", autoNameDefault);
std::cout << "Auto selected: " << autoSelected << std::endl;
@ -101,8 +110,7 @@ private:
void TeleopInit()
{
shooter.CalibrateRamp();
shooter.SetRamp(Shoot); // start in the full up position!
}
void TeleopPeriodic()
@ -116,33 +124,76 @@ private:
{
UpdateDrive();
}
if(operator_stick.GetRawButton(RAMP_RAISE))
//bool rampDoing = false;
// This is shit code for testing. Replace it with real code.
if(!ramping && operator_stick.GetRawButton(RAMP_RAISE))
{
ramp.Set(1);
std::cout << "Raising Ramp.";
//launch_spinny.Set(1);
shooter.RaiseRamp();
ramping =true;
}
else if(operator_stick.GetRawButton(RAMP_LOWER))
else if(!ramping && operator_stick.GetRawButton(RAMP_LOWER))
{
ramp.Set(-1);
std::cout << "Lowering Ramp.";
//launch_spinny.Set(-1);
shooter.LowerRamp();
ramping = true;
}
else
/*else if(!ramping && operator_stick.GetRawButton(TRIGGER))
{
ramp.Set(0);
shooter.BoostRamp();
ramping = true;
}*/
else if(ramping
&& !operator_stick.GetRawButton(RAMP_LOWER)
&& !operator_stick.GetRawButton(RAMP_RAISE))
{
std::cout << "Stopping Ramp.";
shooter.StopRamp();
ramping = false;
}
if(!unjamming && operator_stick.GetRawButton(UNJAM))
{
unjamming = true;
shooter.Unjam();
}
else if(unjamming && !operator_stick.GetRawButton(UNJAM))
{
shooter.PickUp(false);
unjamming = false;
}
/*
* 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
* every itteration of the TeleopPeriodic method (once every 10ms!)
* The pickup is disabled when the thumb button is released, but the code still
* has 'pickupRunning' as true.
*/
if(operator_stick.GetRawButton(THUMB) && !pickupRunning)
{
shooter.PickUp();
pickupRunning = true;
}
else if(pickupRunning)
else if(!operator_stick.GetRawButton(THUMB) && pickupRunning)
{
shooter.PickUp(false);
pickupRunning = false;
}
/*
* The 'inverting' variable is used to make sure that the drive train isn't getting
* inverted every itteration of the TeleopPeriodic method while the button is held down.
* This is important because the TeleopPeriodic method executes something like once every 10ms.
* Thus, this if-else if pair make the button a toggle.
*/
if(driver_stick.GetRawButton(THUMB) && !inverting)
{
std::cout << "Inverting Drive Train.";
left_drive.SetInverted(!left_drive.GetInverted());
right_drive.SetInverted(!right_drive.GetInverted());
inverting = true;
@ -152,8 +203,41 @@ private:
inverting = false;
}
float power = (1.0 - operator_stick.GetThrottle()) / 2.0;
shooter.SetPower(power);
/*
* Unlike the previous actions, this method does need to be called every itteration of
* TeleopPeriodic. This is because the logic running this operation needs to be checked
* Every time the method is called. This cannot be a loop in the Shoot method because
* that would lock the robot every time the trigger is hit.
*/
if(operator_stick.GetRawButton(TRIGGER))
{
shooting = true;
shooter.Shoot();
}
else if(shooting && !operator_stick.GetRawButton(TRIGGER))
{
shooting = false;
shooter.StopShooter();
}
// This code will become obsolete after the Shooter logic is complete.
float opThrottle = SaneThrottle(operator_stick.GetThrottle());
if(!pickupRunning && ( opThrottle > shooter_power + DEADZONE_RADIUS
|| opThrottle < shooter_power - DEADZONE_RADIUS))
{
shooter.SetPower(opThrottle);
}
}
/**
* Takes the gross raw throttle input from joystick and returns a
* value between 0.0-1.0 (no negative values)
*/
float SaneThrottle(float rawThrottle)
{
return ((1.0 - rawThrottle) / 2.0);
}
void TestPeriodic()

183
src/Shooter.h
View File

@ -9,77 +9,151 @@
#define SRC_SHOOTER_H_
#define PICKUP_POWER 0.5
#define RAMP_LOWER_DURATION 2 //Rotations.
#define LAUNCH_POWER 1
#define SPINUP_TIME 1.5 // seconds.
#define LAUNCH_TIME 0.5
/**
* You can use the values assigned to each of these values as the number
* of rotations to run the motor down from the "Shoot" position.
*
* This might not be the best way to do it, and also requires that we
* figure out how to read the Hall Effect signal from the motor.
*/
enum RampState {
Shoot = 0, // 0 rotations
Half = (RAMP_LOWER_DURATION / 2), // 1 rotation?
Down = RAMP_LOWER_DURATION, // 2 rotations?
Uncalibrated = -1,
Transitioning = -2
};
class Shooter {
class Shooter
{
public:
/**
* Shooter talons and ramp talon.
* Shooter talons and launch-spinny talon.
* s2 is also for the pickup-mechanism and can be controlled independently.
*
*/
Shooter(CANTalon *s1, CANTalon *s2, CANTalon *r, Counter *h) {
shooterDrive = new RobotDrive(s1, s2);
enum ShooterState
{
READY,
ON_FIRE,
SPINNINGUP,
LAUNCH,
LAUNCHING,
RESETTING
};
Shooter(CANTalon *s1, CANTalon *s2, CANTalon *r)
{
// shooterDrive = new RobotDrive(s1, s2);
launcher = s1;
pickup = s2;
ramp = r;
rampState = Uncalibrated;
rampHeight = h;
launch_spinny = r;
ready = true;
state = READY;
}
/**
* Call this method on TeleopInit so that the ramp is properly
* set at the beginning of the match.
*/
RampState CalibrateRamp() {
// TODO:
// Raise ramp until limit switch is triggered,
// then lower the ramp to its lower limit.
return Down;
}
virtual ~Shooter() {
delete shooterDrive;
virtual ~Shooter()
{
delete launcher;
delete pickup;
delete ramp;
delete rampHeight;
delete launch_spinny;
}
void PickUp(bool state = true) {
pickup->Set((float) (state * PICKUP_POWER));
void StopShooter()
{
ready = true;
launch_spinny->Set(0);
launcher->Set(0);
pickup->Set(0);
}
void SetRamp(RampState state) {
// TODO:
// Move the Ramp to the set position.
void LowerRamp()
{
launch_spinny->Set(-1);
}
void RaiseRamp()
{
launch_spinny->Set(1);
}
void StopRamp()
{
launch_spinny->Set(0);
}
void BoostRamp()
{
launch_spinny->Set(1);
}
void Shoot()
{
// TODO: Shooter Logic should go as follows:
/*
Assuming a ball is held in the shooter. When the trigger is pulled,
the launch-spinny should be STOPPED. Start a Timer object counting
When... too hard to write.. I emailed you a flow chart.
*/
switch (state)
{
case Shoot:
if (ramp->GetForwardLimitOK())
case READY:
{
ramp->Set(1);
state = SPINNINGUP;
launch_spinny->Set(-1);
launcher->Set(LAUNCH_POWER);
pickup->Set(LAUNCH_POWER);
shotClock.Reset();
shotClock.Start();
break;
}
case SPINNINGUP:
{
if (shotClock.Get() > SPINUP_TIME)
{
state = LAUNCH;
shotClock.Reset();
shotClock.Start();
} else
{
ramp->Set(0);
rampHeight->Reset();
std::cout << "*Goku noises*\n";
}
break;
}
case LAUNCH:
{
launch_spinny->Set(LAUNCH_POWER);
state = LAUNCHING;
break;
}
case LAUNCHING:
{
if (shotClock.Get() > LAUNCH_TIME)
{
state = RESETTING;
}
break;
}
case RESETTING:
{
launch_spinny->Set(0);
launcher->Set(0);
pickup->Set(0);
state = READY;
break;
}
case ON_FIRE:
{
std::cout << "Something is wrong with the launch sequence.\n";
break;
}
}
}
void PickUp(bool state = true)
{
pickup->Set((float) (state * PICKUP_POWER));
launcher->Set((float) (state * PICKUP_POWER * -1));
//launch_spinny->Set(-1.0*PICKUP_POWER);
//std::cout << "picking up!\n";
}
/**
@ -90,19 +164,22 @@ public:
pickup->Set(-1 * PICKUP_POWER);
}
void SetPower(float power) {
shooterDrive->TankDrive(power, -power, false);
void SetPower(float power)
{
pickup->Set(power);
launcher->Set(power);
//std::cout << "setting shooter power" << std::endl;
}
private:
RobotDrive *shooterDrive;
//RobotDrive *shooterDrive;
CANTalon *launcher;
CANTalon *pickup;
CANTalon *ramp;
Counter *rampHeight;
CANTalon *launch_spinny;
ShooterState state;
RampState rampState;
RampState targetState;
RampState previousState;
Timer shotClock;
bool ready;
};
#endif /* SRC_SHOOTER_H_ */