Compare commits
4 Commits
master
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cleanup-un
| Author | SHA1 | Date |
|---|---|---|
 Adam Goldsmith
|
7b3a2ded92 | |
|
Adam Goldsmith
|
eaf240eb62 | |
|
Adam Goldsmith
|
6574401dff | |
|
Adam Goldsmith
|
3076436202 |
283
.cproject
283
.cproject
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@ -1,283 +0,0 @@
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|
||||
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||||
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|
||||
<tool command=""C:\Program Files (x86)\Microsoft Visual Studio 12.0\vc\bin\link"" commandLinePattern="${COMMAND} /ignore:4099 /LIBPATH:"C:\Program Files\Gazebo\FreeImage-vc12-x64-release-debug\x64\Debug\DLL" /LIBPATH:"C:\Program Files (x86)\Windows Kits\8.1\Lib\winv6.3\um\x64" /LIBPATH:"C:\Program Files\Gazebo\boost_1_56_0\lib64-msvc-12.0" /LIBPATH:"${WPILIB}\simulation\lib" /LIBPATH:"C:\Program Files\Gazebo\dlfcn-win32-vc12-x64-release-debug\build\install\Debug\lib" /LIBPATH:"C:\Program Files\Gazebo\pthread-w32\lib\x64" /LIBPATH:"C:\Program Files\Gazebo\ign-math\build\install\Debug\lib" /LIBPATH:"C:\Program Files\Gazebo\libcurl-vc12-x64-release-debug-static-ipv6-sspi-winssl\Debug\lib" /LIBPATH:"C:\Program Files\Gazebo\sdformat\build\install\Debug\lib" /LIBPATH:"C:\Program Files\Gazebo\protobuf-2.6.0-win64-vc12\vsprojects\Debug" /LIBPATH:"C:\Program Files\Gazebo\gazebo\build\install\Debug\lib" /LIBPATH:"C:\Program Files\Gazebo\tbb43_20141023oss\lib\intel64\vc12" /LIBPATH:"C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC\lib\amd64" /LIBPATH:"C:\Program Files (x86)\Windows Kits\8.1\Lib\winv6.3\um\x64" ${FLAGS} /OUT:${OUTPUT_PREFIX}${OUTPUT} ${INPUTS} /DEBUG WPILibSim.lib gazebo.lib gazebo_transport.lib gazebo_msgs.lib gazebo_common.lib gazebo_util.lib gazebo_client.lib gazebo_math.lib libprotobuf.lib sdformat.lib dl.lib libcurl_a_debug.lib ignition-math2.lib pthreadVC2.lib gz_msgs.lib IPHlpApi.lib /NODEFAULTLIB:libboost_system-vc120-mt-gd-1_56.lib /NODEFAULTLIB:libboost_thread-vc120-mt-gd-1_56.lib FreeImaged.lib" errorParsers="" id="cdt.managedbuild.tool.gnu.cross.cpp.linker.680547965" name="Cross G++ Linker" superClass="cdt.managedbuild.tool.gnu.cross.cpp.linker">
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</tool>
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<tool id="cdt.managedbuild.tool.gnu.cross.archiver.976699519" name="Cross GCC Archiver" superClass="cdt.managedbuild.tool.gnu.cross.archiver"/>
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<tool command="as" commandLinePattern="${COMMAND} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT} ${INPUTS}" errorParsers="" id="cdt.managedbuild.tool.gnu.cross.assembler.10555843" name="Cross GCC Assembler" superClass="cdt.managedbuild.tool.gnu.cross.assembler">
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<inputType id="cdt.managedbuild.tool.gnu.assembler.input.219135409" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
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</tool>
|
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</toolChain>
|
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</folderInfo>
|
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<sourceEntries>
|
||||
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="src"/>
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</sourceEntries>
|
||||
</configuration>
|
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</storageModule>
|
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<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
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</cconfiguration>
|
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</storageModule>
|
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<storageModule moduleId="cdtBuildSystem" version="4.0.0">
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<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
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<storageModule moduleId="refreshScope" versionNumber="2">
|
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<configuration configurationName="Windows Simulate"/>
|
||||
<configuration configurationName="Simulate">
|
||||
<resource resourceType="PROJECT" workspacePath="/GearsBotCPP"/>
|
||||
</configuration>
|
||||
<configuration configurationName="Debug">
|
||||
<resource resourceType="PROJECT" workspacePath="/GearsBotCPP"/>
|
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</configuration>
|
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|
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<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
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<scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.cross.exe.debug.1104744751;cdt.managedbuild.config.gnu.cross.exe.debug.1104744751.;cdt.managedbuild.tool.gnu.cross.c.compiler.1261239456;cdt.managedbuild.tool.gnu.c.compiler.input.1793678673">
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<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
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<scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128;cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128.;org.eclipse.cdt.msvc.cl.c.dll.debug.1658947706;org.eclipse.cdt.msvc.cl.inputType.c.2076377067">
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<scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128;cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128.;cdt.managedbuild.tool.gnu.c.compiler.mingw.base.510224028;cdt.managedbuild.tool.gnu.c.compiler.input.323654435">
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|
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</cproject>
|
||||
|
|
@ -1 +0,0 @@
|
|||
/Debug/
|
||||
28
.project
28
.project
|
|
@ -1,28 +0,0 @@
|
|||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<projectDescription>
|
||||
<name>Robot2016</name>
|
||||
<comment></comment>
|
||||
<projects>
|
||||
</projects>
|
||||
<buildSpec>
|
||||
<buildCommand>
|
||||
<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
|
||||
<triggers>clean,full,incremental,</triggers>
|
||||
<arguments>
|
||||
</arguments>
|
||||
</buildCommand>
|
||||
<buildCommand>
|
||||
<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
|
||||
<triggers>full,incremental,</triggers>
|
||||
<arguments>
|
||||
</arguments>
|
||||
</buildCommand>
|
||||
</buildSpec>
|
||||
<natures>
|
||||
<nature>org.eclipse.cdt.core.cnature</nature>
|
||||
<nature>org.eclipse.cdt.core.ccnature</nature>
|
||||
<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
|
||||
<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
|
||||
<nature>edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature</nature>
|
||||
</natures>
|
||||
</projectDescription>
|
||||
35
Makefile
35
Makefile
|
|
@ -1,35 +0,0 @@
|
|||
LIBS=wpi
|
||||
CXX=arm-frc-linux-gnueabi-g++
|
||||
override CPPFLAGS +=-std=c++14
|
||||
LDFLAGS=-l$(LIBS)
|
||||
TEAM=1786
|
||||
SSH_OPTIONS=-o UserKnownHostsFile=/dev/null -o StrictHostKeyChecking=no
|
||||
SSH_SSHPASS=$(shell command -v sshpass >/dev/null 2>&1 && echo -n "sshpass -p ''")
|
||||
SSH_HOST=roborio-1786-frc.local
|
||||
|
||||
all: deploy
|
||||
|
||||
build: FRCUserProgram
|
||||
|
||||
FRCUserProgram: src/Robot.cpp
|
||||
@echo "Building FRCUserProgram"
|
||||
$(CXX) $(CPPFLAGS) $< -o $@ $(LDFLAGS)
|
||||
|
||||
clean:
|
||||
rm FRCUserProgram
|
||||
|
||||
deploy: build
|
||||
@echo "Copying FRCUserProgram"
|
||||
ssh $(SSH_OPTIONS) lvuser@$(SSH_HOST) 'rm -f /home/lvuser/FRCUserProgram'
|
||||
scp $(SSH_OPTIONS) -o "LogLevel QUIET" FRCUserProgram lvuser@$(SSH_HOST):/home/lvuser/FRCUserProgram
|
||||
@echo "Restarting FRCUserProgram"
|
||||
$(SSH_SSHPASS) ssh $(SSH_OPTIONS) admin@$(SSH_HOST) '. /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t -r'
|
||||
|
||||
restart: FRCUserProgram
|
||||
echo "Restarting FRCUserProgram"
|
||||
$(SSH_SSHPASS) ssh $(SSH_OPTIONS) admin@$(SSH_HOST) '. /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t -r'
|
||||
|
||||
stop:
|
||||
@echo "Restarting FRCUserProgram"
|
||||
$(SSH_SSHPASS) ssh $(SSH_OPTIONS) admin@$(SSH_HOST) '. /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t'y
|
||||
|
||||
|
|
@ -1,11 +0,0 @@
|
|||
# Build information
|
||||
out=FRCUserProgram
|
||||
src.dir=src
|
||||
build.dir=build
|
||||
out.exe=Debug/${out}
|
||||
|
||||
# Simulation
|
||||
simulation.world.file=/usr/share/frcsim/worlds/GearsBotDemo.world
|
||||
|
||||
# Use the current C++ library by default
|
||||
cpp-version=current
|
||||
28
build.xml
28
build.xml
|
|
@ -1,28 +0,0 @@
|
|||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
|
||||
<project name="FRC Deployment" default="deploy">
|
||||
|
||||
<!--
|
||||
The following properties can be defined to override system level
|
||||
settings. These should not be touched unless you know what you're
|
||||
doing. The primary use is to override the wpilib version when
|
||||
working with older robots that can't compile with the latest
|
||||
libraries.
|
||||
-->
|
||||
|
||||
<!-- By default the system version of WPI is used -->
|
||||
<!-- <property name="version" value=""/> -->
|
||||
|
||||
<!-- By default the system team number is used -->
|
||||
<!-- <property name="team-number" value=""/> -->
|
||||
|
||||
<!-- By default the target is set to 10.TE.AM.2 -->
|
||||
<!-- <property name="target" value=""/> -->
|
||||
|
||||
<property file="${user.home}/wpilib/wpilib.properties"/>
|
||||
<property file="build.properties"/>
|
||||
<property file="${user.home}/wpilib/cpp/${version}/ant/build.properties"/>
|
||||
|
||||
<import file="${wpilib.ant.dir}/build.xml"/>
|
||||
|
||||
</project>
|
||||
597
src/Robot.cpp
597
src/Robot.cpp
|
|
@ -1,597 +0,0 @@
|
|||
#include "WPILib.h"
|
||||
#include "Shooter.h"
|
||||
#include <ctime>
|
||||
#include <iostream>
|
||||
#include <iomanip>
|
||||
#include <fstream>
|
||||
#include <string>
|
||||
#include <sys/time.h>
|
||||
#include <vector>
|
||||
#include <cmath>
|
||||
#include <math.h>
|
||||
|
||||
#ifndef BUTTON_LAYOUT
|
||||
#define BUTTON_LAYOUT
|
||||
|
||||
#define TRIGGER 1 // Trigger button number
|
||||
#define THUMB 2 // Thumb button number
|
||||
#define RAMP_RAISE 5 // Button 3 for Raising Ramp
|
||||
#define RAMP_LOWER 3 // Button 4 to lower ramp.
|
||||
#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 DEADZONE_RADIUS 0.05 // 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.
|
||||
|
||||
#define TURN_FACTOR 1.5 // Left(x,y) = y*(1 + TF*x) : x < 0
|
||||
// = y : x >= 0
|
||||
// Right(x,y) = y : x < 0
|
||||
// = y*(1 - TF*x) : x >= 0
|
||||
|
||||
#endif // BUTTON_LAYOUT
|
||||
|
||||
#ifndef LOG
|
||||
#define LOG(X) logA << X; logB << X; logC << X //for writing data to the csv file
|
||||
#endif
|
||||
|
||||
class Robot: public IterativeRobot
|
||||
{
|
||||
private:
|
||||
TalonSRX left_drive, right_drive;
|
||||
CANTalon shooter1, shooter2,
|
||||
ramp,
|
||||
arms;
|
||||
RobotDrive drive;
|
||||
Shooter shooter;
|
||||
Joystick driver_stick, operator_stick;
|
||||
Timer auto_clock;
|
||||
Servo gimbs;
|
||||
int gimba; // angle of the gimble as a value of from 0 to 1000
|
||||
|
||||
// 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 inverting;
|
||||
bool ramping;
|
||||
bool shooting;
|
||||
bool unjamming;
|
||||
bool arming;
|
||||
bool arcade;
|
||||
float shooter_power;
|
||||
|
||||
enum auto_states
|
||||
{
|
||||
START,
|
||||
DRIVING_FORWARD,
|
||||
STOP
|
||||
};
|
||||
|
||||
auto_states auto_status;
|
||||
|
||||
LiveWindow *lw = LiveWindow::GetInstance();
|
||||
SendableChooser *chooser;
|
||||
const std::string autoNameDefault = "1.7 Seconds (Slightly Longer)";
|
||||
const std::string autoNameShort = "1.5 Seconds (Short, good on the moat)";
|
||||
const std::string autoNameOne = "1 Seconds";
|
||||
const std::string autoNameDisable = "Disable Autonomous (set time to 0)";
|
||||
std::string autoSelected;
|
||||
|
||||
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());
|
||||
|
||||
SmartDashboard::PutBoolean("Ramp Limit F", !ramp.IsFwdLimitSwitchClosed());
|
||||
SmartDashboard::PutBoolean("Ramp Limit R", !ramp.IsRevLimitSwitchClosed());
|
||||
SmartDashboard::PutBoolean("Arms Limit F", !arms.IsFwdLimitSwitchClosed());
|
||||
SmartDashboard::PutBoolean("Arms Limit R", !arms.IsRevLimitSwitchClosed());
|
||||
|
||||
SmartDashboard::PutNumber("angle of camera", gimba);
|
||||
|
||||
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)
|
||||
gimbs(3),
|
||||
gimba(GIMB_DEFAULT)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
void RobotInit()
|
||||
{
|
||||
chooser = new SendableChooser();
|
||||
|
||||
chooser->AddDefault(autoNameDefault, (void*)&autoNameDefault);
|
||||
chooser->AddObject(autoNameShort, (void*)&autoNameShort);
|
||||
chooser->AddObject(autoNameOne, (void*)&autoNameOne);
|
||||
chooser->AddObject(autoNameDisable, (void*)&autoNameDisable);
|
||||
SmartDashboard::PutData("Auto Modes", chooser);
|
||||
shooter1.Enable();
|
||||
shooter2.Enable();
|
||||
left_drive.SetInverted(true);
|
||||
right_drive.SetInverted(true);
|
||||
//ramp.SetInverted(true);
|
||||
inverting = false;
|
||||
pickupRunning = false;
|
||||
ramping = false;
|
||||
shooting = false;
|
||||
unjamming = false;
|
||||
arming = false;
|
||||
shooter_power = 0;
|
||||
arcade = false;
|
||||
|
||||
// Initialize the number so we can get it later
|
||||
SmartDashboard::PutNumber("shooting angle", GIMB_DEFAULT);
|
||||
|
||||
}
|
||||
|
||||
void AutonomousInit()
|
||||
{
|
||||
autoSelected = *((std::string*)chooser->GetSelected());
|
||||
//std::string autoSelected = SmartDashboard::GetString("Auto Selector", autoNameDefault);
|
||||
std::cout << "Auto selected: " << autoSelected << std::endl;
|
||||
|
||||
auto_status = START;
|
||||
}
|
||||
|
||||
void AutonomousPeriodic()
|
||||
{
|
||||
const float drivePower = 1;
|
||||
float driveTime = 1.7;
|
||||
LogCSVData();
|
||||
if (autoSelected == autoNameDisable) driveTime = 0;
|
||||
else if (autoSelected == autoNameShort) driveTime = 1.5;
|
||||
else if (autoSelected == autoNameOne) driveTime = 1;
|
||||
else driveTime = 1.7;
|
||||
|
||||
//Default Auto goes here
|
||||
switch (auto_status)
|
||||
{
|
||||
case START:
|
||||
{
|
||||
auto_clock.Start();
|
||||
auto_status = DRIVING_FORWARD;
|
||||
break;
|
||||
}
|
||||
case DRIVING_FORWARD:
|
||||
{
|
||||
if (auto_clock.Get() > driveTime)
|
||||
{
|
||||
drive.TankDrive(0.0, 0.0);
|
||||
auto_status = STOP;
|
||||
}
|
||||
else
|
||||
{
|
||||
drive.TankDrive(drivePower, drivePower);
|
||||
}
|
||||
break;
|
||||
}
|
||||
case STOP:
|
||||
{
|
||||
std::cout << "All done!\n" ;
|
||||
break;
|
||||
}
|
||||
}
|
||||
gimbs.Set(gimba/1000.0);
|
||||
}
|
||||
|
||||
void TeleopInit()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
void TeleopPeriodic()
|
||||
{
|
||||
LogCSVData();
|
||||
std::cout << "arm encoder position: " << arms.GetEncPosition() << std::endl;
|
||||
std::cout << "arm encoder velocity: " << arms.GetEncVel() << std::endl;
|
||||
|
||||
if(driver_stick.GetRawButton(7))
|
||||
{
|
||||
arcade = true;
|
||||
}
|
||||
if(driver_stick.GetRawButton(8))
|
||||
{
|
||||
arcade = false;
|
||||
}
|
||||
if (arcade)
|
||||
{
|
||||
drive.ArcadeDrive(driver_stick);
|
||||
}
|
||||
else
|
||||
{
|
||||
if (driver_stick.GetRawButton(THUMB))
|
||||
{
|
||||
float left = driver_stick.GetTwist();
|
||||
float right = -driver_stick.GetTwist();
|
||||
drive.TankDrive(left, right);
|
||||
}
|
||||
else
|
||||
{
|
||||
UpdateDrive();
|
||||
}
|
||||
}
|
||||
//bool rampDoing = false;
|
||||
// This is shit code for testing. Replace it with real code.
|
||||
if(!ramping && operator_stick.GetRawButton(RAMP_RAISE))
|
||||
{
|
||||
std::cout << "Raising Ramp.";
|
||||
//ramp.Set(1);
|
||||
shooter.RaiseRamp();
|
||||
ramping =true;
|
||||
}
|
||||
else if(!ramping && operator_stick.GetRawButton(RAMP_LOWER))
|
||||
{
|
||||
std::cout << "Lowering Ramp.";
|
||||
//ramp.Set(-1);
|
||||
shooter.LowerRamp();
|
||||
ramping = true;
|
||||
}
|
||||
/*else if(!ramping && operator_stick.GetRawButton(TRIGGER))
|
||||
{
|
||||
shooter.BoostRamp();
|
||||
ramping = true;
|
||||
}*/
|
||||
else if(ramping && !operator_stick.GetRawButton(RAMP_RAISE)
|
||||
&& !operator_stick.GetRawButton(RAMP_LOWER))
|
||||
{
|
||||
shooter.StopRamp();
|
||||
ramping = false;
|
||||
}
|
||||
|
||||
|
||||
if(!unjamming && operator_stick.GetRawButton(UNJAM))
|
||||
{
|
||||
unjamming = true;
|
||||
shooter.Unjam();
|
||||
}
|
||||
else if(!unjamming && operator_stick.GetRawButton(TRIGGER))
|
||||
{
|
||||
shooter.ShootLow();
|
||||
unjamming = true;
|
||||
}
|
||||
else if(unjamming && !operator_stick.GetRawButton(UNJAM) && !operator_stick.GetRawButton(TRIGGER))
|
||||
{
|
||||
shooter.PickUp(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.
|
||||
* the 'pickupRunning' boolean is there to prevent the shooter from calling PickUp
|
||||
* every iteration 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(!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 iteration 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(TRIGGER) && !inverting)
|
||||
{
|
||||
std::cout << "Inverting Drive Train.";
|
||||
left_drive.SetInverted(!left_drive.GetInverted());
|
||||
right_drive.SetInverted(!right_drive.GetInverted());
|
||||
inverting = true;
|
||||
}
|
||||
else if(!driver_stick.GetRawButton(TRIGGER))
|
||||
{
|
||||
inverting = false;
|
||||
}
|
||||
|
||||
if(operator_stick.GetRawButton(4))
|
||||
{
|
||||
arms.Set(-operator_stick.GetY() * ARMS_SCALE);
|
||||
}
|
||||
else
|
||||
{
|
||||
arms.Set(0);
|
||||
}
|
||||
|
||||
// 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);
|
||||
}
|
||||
}
|
||||
|
||||
void TestPeriodic()
|
||||
{
|
||||
const int driveTime = 5; //Drive for 5 seconds
|
||||
const float drivePower = 0.5, armPower=.35, rampPower=.4; //Arbitrary powers to test at
|
||||
static Timer t;
|
||||
enum test_stages {
|
||||
INIT,
|
||||
ARMS_UP,
|
||||
ARMS_DOWN,
|
||||
RAMP_UP,
|
||||
RAMP_DOWN,
|
||||
DRIVE_FORWARD,
|
||||
DRIVE_BACKWARD,
|
||||
TURN_CW,
|
||||
TURN_CCW,
|
||||
END};
|
||||
|
||||
static enum test_stages test_stage, old_test_stage;
|
||||
|
||||
if (old_test_stage != test_stage)
|
||||
{
|
||||
//Reset timer between stages
|
||||
t.Stop();
|
||||
t.Reset();
|
||||
|
||||
//Wait for a button press between stages
|
||||
if (operator_stick.GetRawButton(TRIGGER))
|
||||
old_test_stage = test_stage;
|
||||
}
|
||||
else
|
||||
{
|
||||
if(!t.Get()) t.Start();
|
||||
|
||||
switch (test_stage)
|
||||
{
|
||||
case INIT:
|
||||
{
|
||||
break;
|
||||
}
|
||||
|
||||
case ARMS_UP:
|
||||
{
|
||||
if (arms.GetForwardLimitOK())
|
||||
arms.Set(1);
|
||||
else
|
||||
{
|
||||
arms.Set(0);
|
||||
test_stage = ARMS_DOWN;
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
case ARMS_DOWN:
|
||||
{
|
||||
if (arms.GetReverseLimitOK())
|
||||
arms.Set(-1);
|
||||
else
|
||||
{
|
||||
arms.Set(0);
|
||||
test_stage = RAMP_UP;
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
case RAMP_UP:
|
||||
{
|
||||
if (arms.GetForwardLimitOK())
|
||||
ramp.Set(1);
|
||||
else
|
||||
{
|
||||
ramp.Set(0);
|
||||
test_stage = RAMP_DOWN;
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
case RAMP_DOWN:
|
||||
{
|
||||
if (arms.GetReverseLimitOK())
|
||||
ramp.Set(-1);
|
||||
else
|
||||
{
|
||||
ramp.Set(0);
|
||||
test_stage = DRIVE_FORWARD;
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
case DRIVE_FORWARD:
|
||||
{
|
||||
if (t.Get() < driveTime)
|
||||
drive.TankDrive(drivePower, drivePower);
|
||||
else
|
||||
{
|
||||
drive.TankDrive(0.0, 0.0);
|
||||
test_stage = DRIVE_BACKWARD;
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
case DRIVE_BACKWARD:
|
||||
{
|
||||
if (t.Get() < driveTime)
|
||||
drive.TankDrive(-drivePower, -drivePower);
|
||||
else
|
||||
{
|
||||
drive.TankDrive(0.0, 0.0);
|
||||
test_stage = TURN_CW;
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
case TURN_CW:
|
||||
{
|
||||
if (t.Get() < driveTime)
|
||||
drive.TankDrive(drivePower, -drivePower);
|
||||
else
|
||||
{
|
||||
drive.TankDrive(0.0, 0.0);
|
||||
test_stage = TURN_CCW;
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
case TURN_CCW:
|
||||
{
|
||||
if (t.Get() < driveTime)
|
||||
drive.TankDrive(-drivePower, drivePower);
|
||||
else
|
||||
{
|
||||
drive.TankDrive(0.0, 0.0);
|
||||
test_stage = END;
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
case END:
|
||||
{
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
LogCSVData();
|
||||
}
|
||||
};
|
||||
|
||||
START_ROBOT_CLASS(Robot)
|
||||
197
src/Shooter.h
197
src/Shooter.h
|
|
@ -1,197 +0,0 @@
|
|||
/*
|
||||
* Shooter.h
|
||||
*
|
||||
* Created on: Feb 2, 2016
|
||||
* Author: Jason
|
||||
*/
|
||||
|
||||
#ifndef SRC_SHOOTER_H_
|
||||
#define SRC_SHOOTER_H_
|
||||
|
||||
#define PICKUP_POWER 0.75
|
||||
#define LAUNCH_POWER 1
|
||||
#define SPINUP_TIME 1.5 // seconds.
|
||||
#define LAUNCH_TIME 0.5
|
||||
#define RAMP_POWER 0.3
|
||||
|
||||
class Shooter
|
||||
{
|
||||
public:
|
||||
|
||||
/**
|
||||
* Shooter talons and launch-spinny talon.
|
||||
* s2 is also for the pickup-mechanism and can be controlled independently.
|
||||
*
|
||||
*/
|
||||
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;
|
||||
ready = true;
|
||||
state = READY;
|
||||
}
|
||||
|
||||
/**
|
||||
* Call this method on TeleopInit so that the ramp is properly
|
||||
* set at the beginning of the match.
|
||||
*/
|
||||
|
||||
virtual ~Shooter()
|
||||
{
|
||||
delete launcher;
|
||||
delete pickup;
|
||||
delete ramp;
|
||||
}
|
||||
|
||||
void StopShooter()
|
||||
{
|
||||
ready = true;
|
||||
ramp->Set(0);
|
||||
launcher->Set(0);
|
||||
pickup->Set(0);
|
||||
}
|
||||
|
||||
void LowerRamp()
|
||||
{
|
||||
ramp->Set(-RAMP_POWER);
|
||||
if(ramp->Limits::kReverseLimit){
|
||||
SmartDashboard::PutNumber("ramp", 2); //going to put a circlar dial to show where the ramp could be
|
||||
} else {
|
||||
SmartDashboard::PutNumber("ramp", 1);
|
||||
}
|
||||
}
|
||||
|
||||
void RaiseRamp()
|
||||
{
|
||||
ramp->Set(RAMP_POWER);
|
||||
if(ramp->Limits::kForwardLimit){
|
||||
SmartDashboard::PutNumber("ramp", 0); //going to put a circlar dial to show where the ramp could be
|
||||
} else {
|
||||
SmartDashboard::PutNumber("ramp", 1);
|
||||
}
|
||||
}
|
||||
|
||||
void StopRamp()
|
||||
{
|
||||
ramp->Set(0);
|
||||
}
|
||||
void Shoot()
|
||||
{
|
||||
if (shotClock.Get() > (SPINUP_TIME + 0.1))
|
||||
{
|
||||
state = RESETTING;
|
||||
}
|
||||
switch (state)
|
||||
{
|
||||
case READY:
|
||||
{
|
||||
state = SPINNINGUP;
|
||||
ramp->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
|
||||
{
|
||||
//std::cout << "*Goku noises*\n";
|
||||
}
|
||||
break;
|
||||
}
|
||||
case LAUNCH:
|
||||
{
|
||||
ramp->Set(LAUNCH_POWER);
|
||||
state = LAUNCHING;
|
||||
break;
|
||||
}
|
||||
case LAUNCHING:
|
||||
{
|
||||
if (shotClock.Get() > LAUNCH_TIME)
|
||||
{
|
||||
|
||||
state = RESETTING;
|
||||
}
|
||||
break;
|
||||
}
|
||||
case RESETTING:
|
||||
{
|
||||
ramp->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));
|
||||
//std::cout << "picking up!\n";
|
||||
}
|
||||
|
||||
/**
|
||||
* Call this to run the pickup backwards if the ball gets jammed somehow...
|
||||
*/
|
||||
void Unjam()
|
||||
{
|
||||
pickup->Set(-1 * PICKUP_POWER);
|
||||
}
|
||||
|
||||
void ShootLow()
|
||||
{
|
||||
pickup->Set(-1);
|
||||
}
|
||||
|
||||
void SetPower(float power)
|
||||
{
|
||||
pickup->Set(power);
|
||||
launcher->Set(power);
|
||||
//std::cout << "setting shooter power" << std::endl;
|
||||
}
|
||||
|
||||
int GetState()
|
||||
{
|
||||
return state;
|
||||
}
|
||||
private:
|
||||
|
||||
//RobotDrive *shooterDrive;
|
||||
CANTalon *launcher;
|
||||
CANTalon *pickup;
|
||||
CANTalon *ramp;
|
||||
ShooterState state;
|
||||
|
||||
Timer shotClock;
|
||||
bool ready;
|
||||
int fake_position;
|
||||
};
|
||||
|
||||
#endif /* SRC_SHOOTER_H_ */
|
||||
Reference in New Issue