Fix public and private placement
Also fix using LogCSVData and UpdateDrive before they are declared
This commit is contained in:
parent
7422635b49
commit
56f043bcd0
250
src/Robot.cpp
250
src/Robot.cpp
@ -36,6 +36,7 @@
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class Robot: public IterativeRobot
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{
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private:
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TalonSRX left_drive, right_drive;
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CANTalon shooter1, shooter2,
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ramp,
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@ -43,6 +44,131 @@ class Robot: public IterativeRobot
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RobotDrive drive;
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Shooter shooter;
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Joystick driver_stick, operator_stick;
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// instance variables
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bool pickupRunning; // don't want to spam the Talon with set messages. Toggle the pickup when a button is pressed or released.
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bool inverting;
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bool ramping;
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bool shooting;
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bool unjamming;
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bool arming;
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bool arcade;
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float shooter_power;
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LiveWindow *lw = LiveWindow::GetInstance();
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SendableChooser *chooser;
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const std::string autoNameDefault = "Default";
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const std::string autoNameCustom = "My Auto";
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std::string autoSelected;
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void LogCSVData()
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{
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static PowerDistributionPanel pdp; // preparing to read from the pdp
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static std::vector<CANTalon*> motors;
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static std::ofstream logA, logB, logC;
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timeval tm;
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SmartDashboard::PutBoolean("log A", logA.is_open());
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SmartDashboard::PutBoolean("log B", logB.is_open());
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SmartDashboard::PutBoolean("log C", logC.is_open());
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if (!logA.is_open() && !logB.is_open() && !logC.is_open())
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{
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std::fstream logNumFile;
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int logNum;
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logNumFile.open("/home/lvuser/logNum");
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logNumFile >> logNum;
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logNum++;
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logNumFile.seekp(0);
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logNumFile << logNum;
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// writing to /home/lvuser/logs/[unixtime].log
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logA.open("/media/sda1/logs/log" + std::to_string(logNum) + ".csv");
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std::cerr << (logA.is_open() ? "Opened" : "Failed to open") << "log A." << std::endl;
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logB.open("/media/sdb1/logs/log" + std::to_string(logNum) + ".csv");
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std::cerr << (logB.is_open() ? "Opened" : "Failed to open") << "log B." << std::endl;
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logC.open("/home/lvuser/logs/log" + std::to_string(logNum) + ".csv");
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std::cerr << (logC.is_open() ? "Opened" : "Failed to open") << "log C." << std::endl;
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LOG("Time\tpdpInput voltage\tpdpTemperature\tpdpTotal Current\t");
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for (int ii = 0; ii < 16; ii++)
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{
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LOG("pdpChannel " << ii << " current\t");
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}
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LOG("tlaunch_spinny Bus Voltage\ttlaunch_spinny Output Current\ttlaunch_spinny Output Voltage\ttlaunch_spinny Temperature");
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motors.push_back(&ramp);
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LOG("\tShooter1 Bus Voltage\tShooter1 Output Current\tShooter1 Output Voltage\tShooter1 Temperature");
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motors.push_back(&shooter1);
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LOG("\tShooter2 Bus Voltage\tShooter2 Output Current\tShooter2 Output Voltage\tShooter2 Temperature");
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motors.push_back(&shooter2);
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LOG("\tJoystick X\tJoystick Y\tJoystick Twist");
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LOG("\tAlliance\tLocation\tMatch Time\tFMS Attached\tBrowned Out");
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LOG("\tTestStage");
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LOG(std::endl);
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}
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gettimeofday(&tm, NULL);
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LOG(time(0) << '.' << std::setfill('0') << std::setw(3) << tm.tv_usec/1000);
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// Some general information
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LOG("\t" << pdp.GetVoltage());
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LOG("\t" << pdp.GetTemperature());
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LOG("\t" << pdp.GetTotalCurrent());
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// current on each channel
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for (int ii = 0; ii < 16; ii++)
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{
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LOG("\t" << pdp.GetCurrent(ii));
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}
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//Talon Data
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for(int ii = 0; ii < motors.size(); ii++)
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{
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LOG("\t" << motors[ii]->GetBusVoltage());
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LOG("\t" << motors[ii]->GetOutputVoltage());
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LOG("\t" << motors[ii]->GetOutputCurrent());
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LOG("\t" << motors[ii]->GetTemperature());
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}
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//control data
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LOG("\t" << driver_stick.GetX());
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LOG("\t" << driver_stick.GetY());
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LOG("\t" << driver_stick.GetTwist());
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//DriverStation Data
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LOG("\t" << DriverStation::GetInstance().GetAlliance());
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LOG("\t" << DriverStation::GetInstance().GetLocation());
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LOG("\t" << DriverStation::GetInstance().GetMatchTime());
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LOG("\t" << DriverStation::GetInstance().IsFMSAttached());
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LOG("\t" << DriverStation::GetInstance().IsSysBrownedOut());
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LOG(std::endl);
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}
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/**
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* Takes the gross raw throttle input from joystick and returns a
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* value between 0.0-1.0 (no negative values)
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*/
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float SaneThrottle(float rawThrottle)
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{
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return ((1.0 - rawThrottle) / 2.0);
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}
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void UpdateDrive()
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{
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float x = -driver_stick.GetX();
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float y = -driver_stick.GetY();
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if (x > 0)
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{
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float right = y * SaneThrottle(driver_stick.GetThrottle());
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float left = (1-x)*y * SaneThrottle(driver_stick.GetThrottle());
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drive.TankDrive(left, right);
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}
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else
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{
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float left = y * SaneThrottle(driver_stick.GetThrottle());
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float right = (1+x)*y * SaneThrottle(driver_stick.GetThrottle());
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drive.TankDrive(left, right);
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}
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}
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public:
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Robot():
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left_drive(0), // Left DriveTrain Talons plug into PWM channel 1 with a Y-splitter
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@ -60,23 +186,6 @@ public:
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}
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private:
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// instance variables
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bool pickupRunning; // don't want to spam the Talon with set messages. Toggle the pickup when a button is pressed or released.
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bool inverting;
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bool ramping;
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bool shooting;
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bool unjamming;
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bool arming;
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bool arcade;
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float shooter_power;
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LiveWindow *lw = LiveWindow::GetInstance();
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SendableChooser *chooser;
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const std::string autoNameDefault = "Default";
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const std::string autoNameCustom = "My Auto";
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std::string autoSelected;
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void RobotInit()
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{
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chooser = new SendableChooser();
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@ -281,118 +390,11 @@ private:
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}
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}
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/**
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* Takes the gross raw throttle input from joystick and returns a
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* value between 0.0-1.0 (no negative values)
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*/
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float SaneThrottle(float rawThrottle)
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{
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return ((1.0 - rawThrottle) / 2.0);
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}
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void TestPeriodic()
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{
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lw->Run();
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LogCSVData();
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}
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void LogCSVData()
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{
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static PowerDistributionPanel pdp; // preparing to read from the pdp
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static std::vector<CANTalon*> motors;
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static std::ofstream logA, logB, logC;
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timeval tm;
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SmartDashboard::PutBoolean("log A", logA.is_open());
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SmartDashboard::PutBoolean("log B", logB.is_open());
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SmartDashboard::PutBoolean("log C", logC.is_open());
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if (!logA.is_open() && !logB.is_open() && !logC.is_open())
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{
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std::fstream logNumFile;
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int logNum;
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logNumFile.open("/home/lvuser/logNum");
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logNumFile >> logNum;
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logNum++;
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logNumFile.seekp(0);
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logNumFile << logNum;
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// writing to /home/lvuser/logs/[unixtime].log
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logA.open("/media/sda1/logs/log" + std::to_string(logNum) + ".csv");
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std::cerr << (logA.is_open() ? "Opened" : "Failed to open") << "log A." << std::endl;
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logB.open("/media/sdb1/logs/log" + std::to_string(logNum) + ".csv");
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std::cerr << (logB.is_open() ? "Opened" : "Failed to open") << "log B." << std::endl;
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logC.open("/home/lvuser/logs/log" + std::to_string(logNum) + ".csv");
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std::cerr << (logC.is_open() ? "Opened" : "Failed to open") << "log C." << std::endl;
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LOG("Time\tpdpInput voltage\tpdpTemperature\tpdpTotal Current\t");
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for (int ii = 0; ii < 16; ii++)
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{
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LOG("pdpChannel " << ii << " current\t");
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}
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LOG("tlaunch_spinny Bus Voltage\ttlaunch_spinny Output Current\ttlaunch_spinny Output Voltage\ttlaunch_spinny Temperature");
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motors.push_back(&ramp);
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LOG("\tShooter1 Bus Voltage\tShooter1 Output Current\tShooter1 Output Voltage\tShooter1 Temperature");
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motors.push_back(&shooter1);
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LOG("\tShooter2 Bus Voltage\tShooter2 Output Current\tShooter2 Output Voltage\tShooter2 Temperature");
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motors.push_back(&shooter2);
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LOG("\tJoystick X\tJoystick Y\tJoystick Twist");
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LOG("\tAlliance\tLocation\tMatch Time\tFMS Attached\tBrowned Out");
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LOG("\tTestStage");
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LOG(std::endl);
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}
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gettimeofday(&tm, NULL);
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LOG(time(0) << '.' << std::setfill('0') << std::setw(3) << tm.tv_usec/1000);
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// Some general information
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LOG("\t" << pdp.GetVoltage());
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LOG("\t" << pdp.GetTemperature());
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LOG("\t" << pdp.GetTotalCurrent());
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// current on each channel
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for (int ii = 0; ii < 16; ii++)
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{
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LOG("\t" << pdp.GetCurrent(ii));
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}
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//Talon Data
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for(int ii = 0; ii < motors.size(); ii++)
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{
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LOG("\t" << motors[ii]->GetBusVoltage());
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LOG("\t" << motors[ii]->GetOutputVoltage());
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LOG("\t" << motors[ii]->GetOutputCurrent());
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LOG("\t" << motors[ii]->GetTemperature());
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}
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//control data
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LOG("\t" << driver_stick.GetX());
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LOG("\t" << driver_stick.GetY());
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LOG("\t" << driver_stick.GetTwist());
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//DriverStation Data
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LOG("\t" << DriverStation::GetInstance().GetAlliance());
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LOG("\t" << DriverStation::GetInstance().GetLocation());
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LOG("\t" << DriverStation::GetInstance().GetMatchTime());
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LOG("\t" << DriverStation::GetInstance().IsFMSAttached());
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LOG("\t" << DriverStation::GetInstance().IsSysBrownedOut());
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LOG(std::endl);
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}
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void UpdateDrive()
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{
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float x = -driver_stick.GetX();
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float y = -driver_stick.GetY();
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if (x > 0)
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{
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float right = y * SaneThrottle(driver_stick.GetThrottle());
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float left = (1-x)*y * SaneThrottle(driver_stick.GetThrottle());
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drive.TankDrive(left, right);
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}
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else
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{
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float left = y * SaneThrottle(driver_stick.GetThrottle());
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float right = (1+x)*y * SaneThrottle(driver_stick.GetThrottle());
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drive.TankDrive(left, right);
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}
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}
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};
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START_ROBOT_CLASS(Robot)
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