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Merge branch 'cleanup' of git://10.17.86.101/home/adam/Programs/FRC2016/ into cleanup

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This commit is contained in:
Aidan Ferguson 2016-03-05 12:26:58 -05:00
commit cc99328dec
2 changed files with 150 additions and 161 deletions
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34
Makefile Normal file
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@ -0,0 +1,34 @@
LIBS=wpi
CXX=arm-frc-linux-gnueabi-g++
override CPPFLAGS +=-std=c++14
LDFLAGS=-l$(LIBS)
TEAM=1786
SSH_OPTIONS=-q -o UserKnownHostsFile=/dev/null -o StrictHostKeyChecking=no
SSH_SSHPASS=$(shell command -v sshpass >/dev/null 2>&1 && echo -n "sshpass -p ''")
all: deploy
build: FRCUserProgram
FRCUserProgram: src/Robot.cpp
@echo "Building FRCUserProgram"
$(CXX) $(CPPFLAGS) $< -o $@ $(LDFLAGS)
clean:
rm FRCUserProgram
deploy: build
@echo "Copying FRCUserProgram"
@ssh $(SSH_OPTIONS) lvuser@10.17.86.20 'rm -f /home/lvuser/FRCUserProgram'
@scp $(SSH_OPTIONS) -o "LogLevel QUIET" FRCUserProgram lvuser@10.17.86.20:/home/lvuser/FRCUserProgram
@echo "Restarting FRCUserProgram"
@$(SSH_SSHPASS) ssh $(SSH_OPTIONS) admin@10.17.86.20 '. /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t -r'
restart: FRCUserProgram
@echo "Restarting FRCUserProgram"
@$(SSH_SSHPASS) ssh $(SSH_OPTIONS) admin@10.17.86.20 '. /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t -r'
stop:
@echo "Restarting FRCUserProgram"
@$(SSH_SSHPASS) ssh $(SSH_OPTIONS) admin@10.17.86.20 '. /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t'y

277
src/Robot.cpp
View File

@ -36,6 +36,7 @@
class Robot: public IterativeRobot class Robot: public IterativeRobot
{ {
private:
TalonSRX left_drive, right_drive; TalonSRX left_drive, right_drive;
CANTalon shooter1, shooter2, CANTalon shooter1, shooter2,
ramp, ramp,
@ -43,26 +44,7 @@ class Robot: public IterativeRobot
RobotDrive drive; RobotDrive drive;
Shooter shooter; Shooter shooter;
Joystick driver_stick, operator_stick; Joystick driver_stick, operator_stick;
//DriverStation DriverStation::GetInstance();
//float power;
public:
Robot():
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(11), // shooter drive 1
shooter2(10), // shooter drive 2
ramp(12),
arms(13),
drive(&left_drive, &right_drive),
shooter( // initialize Shooter object.
&shooter1, &shooter2, &ramp),
driver_stick(0), // right stick (operator)
operator_stick(1) // left stick (driver)
{
}
private:
// 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.
bool inverting; bool inverting;
@ -79,10 +61,9 @@ private:
const std::string autoNameCustom = "My Auto"; const std::string autoNameCustom = "My Auto";
std::string autoSelected; std::string autoSelected;
/*void LogData() void LogCSVData()
{ {
static PowerDistributionPanel pdp; static PowerDistributionPanel pdp; // preparing to read from the pdp
static DriverStation DriverStation::GetInstance() = DriverStation::GetInstance();
static std::vector<CANTalon*> motors; static std::vector<CANTalon*> motors;
static std::ofstream logA, logB, logC; static std::ofstream logA, logB, logC;
@ -91,7 +72,119 @@ private:
SmartDashboard::PutBoolean("log A", logA.is_open()); SmartDashboard::PutBoolean("log A", logA.is_open());
SmartDashboard::PutBoolean("log B", logB.is_open()); SmartDashboard::PutBoolean("log B", logB.is_open());
SmartDashboard::PutBoolean("log C", logC.is_open()); SmartDashboard::PutBoolean("log C", logC.is_open());
}*/
if (!logA.is_open() && !logB.is_open() && !logC.is_open())
{
std::fstream logNumFile;
int logNum;
logNumFile.open("/home/lvuser/logNum");
logNumFile >> logNum;
logNum++;
logNumFile.seekp(0);
logNumFile << logNum;
// writing to /home/lvuser/logs/[unixtime].log
logA.open("/media/sda1/logs/log" + std::to_string(logNum) + ".csv");
std::cerr << (logA.is_open() ? "Opened" : "Failed to open") << "log A." << std::endl;
logB.open("/media/sdb1/logs/log" + std::to_string(logNum) + ".csv");
std::cerr << (logB.is_open() ? "Opened" : "Failed to open") << "log B." << std::endl;
logC.open("/home/lvuser/logs/log" + std::to_string(logNum) + ".csv");
std::cerr << (logC.is_open() ? "Opened" : "Failed to open") << "log C." << std::endl;
LOG("Time\tpdpInput voltage\tpdpTemperature\tpdpTotal Current\t");
for (int ii = 0; ii < 16; ii++)
{
LOG("pdpChannel " << ii << " current\t");
}
LOG("tlaunch_spinny Bus Voltage\ttlaunch_spinny Output Current\ttlaunch_spinny Output Voltage\ttlaunch_spinny Temperature");
motors.push_back(&ramp);
LOG("\tShooter1 Bus Voltage\tShooter1 Output Current\tShooter1 Output Voltage\tShooter1 Temperature");
motors.push_back(&shooter1);
LOG("\tShooter2 Bus Voltage\tShooter2 Output Current\tShooter2 Output Voltage\tShooter2 Temperature");
motors.push_back(&shooter2);
LOG("\tJoystick X\tJoystick Y\tJoystick Twist");
LOG("\tAlliance\tLocation\tMatch Time\tFMS Attached\tBrowned Out");
LOG("\tTestStage");
LOG(std::endl);
}
gettimeofday(&tm, NULL);
LOG(time(0) << '.' << std::setfill('0') << std::setw(3) << tm.tv_usec/1000);
// Some general information
LOG("\t" << pdp.GetVoltage());
LOG("\t" << pdp.GetTemperature());
LOG("\t" << pdp.GetTotalCurrent());
// current on each channel
for (int ii = 0; ii < 16; ii++)
{
LOG("\t" << pdp.GetCurrent(ii));
}
//Talon Data
for(int ii = 0; ii < motors.size(); ii++)
{
LOG("\t" << motors[ii]->GetBusVoltage());
LOG("\t" << motors[ii]->GetOutputVoltage());
LOG("\t" << motors[ii]->GetOutputCurrent());
LOG("\t" << motors[ii]->GetTemperature());
}
//control data
LOG("\t" << driver_stick.GetX());
LOG("\t" << driver_stick.GetY());
LOG("\t" << driver_stick.GetTwist());
//DriverStation Data
LOG("\t" << DriverStation::GetInstance().GetAlliance());
LOG("\t" << DriverStation::GetInstance().GetLocation());
LOG("\t" << DriverStation::GetInstance().GetMatchTime());
LOG("\t" << DriverStation::GetInstance().IsFMSAttached());
LOG("\t" << DriverStation::GetInstance().IsSysBrownedOut());
LOG(std::endl);
}
/**
* 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 UpdateDrive()
{
float x = -driver_stick.GetX();
float y = -driver_stick.GetY();
if (x > 0)
{
float right = y * SaneThrottle(driver_stick.GetThrottle());
float left = (1-x)*y * SaneThrottle(driver_stick.GetThrottle());
drive.TankDrive(left, right);
}
else
{
float left = y * SaneThrottle(driver_stick.GetThrottle());
float right = (1+x)*y * SaneThrottle(driver_stick.GetThrottle());
drive.TankDrive(left, right);
}
}
public:
Robot():
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(11), // shooter drive 1
shooter2(10), // shooter drive 2
ramp(12),
arms(13),
drive(&left_drive, &right_drive),
shooter( // initialize Shooter object.
&shooter1, &shooter2, &ramp),
driver_stick(0), // right stick (operator)
operator_stick(1) // left stick (driver)
{
}
void RobotInit() void RobotInit()
{ {
@ -115,16 +208,6 @@ private:
} }
/**
* This autonomous (along with the chooser code above) shows how to select between different autonomous modes
* using the dashboard. The sendable chooser code works with the Java SmartDashboard. If you prefer the LabVIEW
* Dashboard, remove all of the chooser code and uncomment the GetString line to get the auto name from the text box
* below the Gyro
*
* You can add additional auto modes by adding additional comparisons to the if-else structure below with additional strings.
* If using the SendableChooser make sure to add them to the chooser code above as well.
*/
void AutonomousInit() void AutonomousInit()
{ {
autoSelected = *((std::string*)chooser->GetSelected()); autoSelected = *((std::string*)chooser->GetSelected());
@ -307,139 +390,11 @@ private:
} }
} }
/**
* 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() void TestPeriodic()
{ {
lw->Run(); lw->Run();
LogCSVData(); LogCSVData();
} }
void LogCSVData()
{
static PowerDistributionPanel pdp; // preparing to read from the pdp
static std::vector<CANTalon*> motors;
static std::ofstream logA, logB, logC;
timeval tm;
SmartDashboard::PutBoolean("log A", logA.is_open());
SmartDashboard::PutBoolean("log B", logB.is_open());
SmartDashboard::PutBoolean("log C", logC.is_open());
if (!logA.is_open() && !logB.is_open() && !logC.is_open())
{
std::fstream logNumFile;
int logNum;
logNumFile.open("/home/lvuser/logNum");
logNumFile >> logNum;
logNum++;
logNumFile.seekp(0);
logNumFile << logNum;
// writing to /home/lvuser/logs/[unixtime].log
logA.open("/media/sda1/logs/log" + std::to_string(logNum) + ".csv");
std::cerr << (logA.is_open() ? "Opened" : "Failed to open") << "log A." << std::endl;
logB.open("/media/sdb1/logs/log" + std::to_string(logNum) + ".csv");
std::cerr << (logB.is_open() ? "Opened" : "Failed to open") << "log B." << std::endl;
logC.open("/home/lvuser/logs/log" + std::to_string(logNum) + ".csv");
std::cerr << (logC.is_open() ? "Opened" : "Failed to open") << "log C." << std::endl;
LOG("Time\tpdpInput voltage\tpdpTemperature\tpdpTotal Current\t");
for (int ii = 0; ii < 16; ii++)
{
LOG("pdpChannel " << ii << " current\t");
}
LOG("tlaunch_spinny Bus Voltage\ttlaunch_spinny Output Current\ttlaunch_spinny Output Voltage\ttlaunch_spinny Temperature");
motors.push_back(&ramp);
LOG("\tShooter1 Bus Voltage\tShooter1 Output Current\tShooter1 Output Voltage\tShooter1 Temperature");
motors.push_back(&shooter1);
LOG("\tShooter2 Bus Voltage\tShooter2 Output Current\tShooter2 Output Voltage\tShooter2 Temperature");
motors.push_back(&shooter2);
LOG("\tJoystick X\tJoystick Y\tJoystick Twist");
LOG("\tAlliance\tLocation\tMatch Time\tFMS Attached\tBrowned Out");
LOG("\tTestStage");
LOG(std::endl);
}
gettimeofday(&tm, NULL);
LOG(time(0) << '.' << std::setfill('0') << std::setw(3) << tm.tv_usec/1000);
// Some general information
LOG("\t" << pdp.GetVoltage());
LOG("\t" << pdp.GetTemperature());
LOG("\t" << pdp.GetTotalCurrent());
// current on each channel
for (int ii = 0; ii < 16; ii++)
{
LOG("\t" << pdp.GetCurrent(ii));
}
//Talon Data
for(int ii = 0; ii < motors.size(); ii++)
{
LOG("\t" << motors[ii]->GetBusVoltage());
LOG("\t" << motors[ii]->GetOutputVoltage());
LOG("\t" << motors[ii]->GetOutputCurrent());
LOG("\t" << motors[ii]->GetTemperature());
}
//control data
LOG("\t" << driver_stick.GetX());
LOG("\t" << driver_stick.GetY());
LOG("\t" << driver_stick.GetTwist());
//DriverStation Data
LOG("\t" << DriverStation::GetInstance().GetAlliance());
LOG("\t" << DriverStation::GetInstance().GetLocation());
LOG("\t" << DriverStation::GetInstance().GetMatchTime());
LOG("\t" << DriverStation::GetInstance().IsFMSAttached());
LOG("\t" << DriverStation::GetInstance().IsSysBrownedOut());
LOG(std::endl);
}
void SimpleDrive()
{
float x = -driver_stick.GetX();
float y = -driver_stick.GetY();
float left = 0;
float right = 0;
if (x > 0)
{
right = y;
left = (1- x*TURN_FACTOR)*y ;
}
else
{
left = y;
right = (1+x*TURN_FACTOR)*y;
}
drive.TankDrive(left, right);
}
void UpdateDrive()
{
float x = -driver_stick.GetX();
float y = -driver_stick.GetY();
if (x > 0)
{
float right = y * SaneThrottle(driver_stick.GetThrottle());
float left = (1-x)*y * SaneThrottle(driver_stick.GetThrottle());
drive.TankDrive(left, right);
}
else
{
float left = y * SaneThrottle(driver_stick.GetThrottle());
float right = (1+x)*y * SaneThrottle(driver_stick.GetThrottle());
drive.TankDrive(left, right);
}
}
}; };
START_ROBOT_CLASS(Robot) START_ROBOT_CLASS(Robot)