274 lines
7.7 KiB
C++
274 lines
7.7 KiB
C++
#include "WPILib.h"
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#include "Shooter.h"
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#include <ctime>
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#include <iostream>
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#include <iomanip>
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#include <fstream>
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#include <string>
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#include <sys/time.h>
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#include <vector>
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#include <cmath>
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#ifndef BUTTON_LAYOUT
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#define BUTTON_LAYOUT
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#define TRIGGER 1 // Trigger button number
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#define THUMB 2 // Thumb button number
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#define RAMP_RAISE 3 // Button 3 for Raising Ramp
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#define RAMP_LOWER 4 // Button 4 to lower ramp.
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#endif // BUTTON_LAYOUT
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#ifndef LOG
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#define LOG(X) logA << X; logB << X; logC << X //for writing data to the csv file
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#endif
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class Robot: public IterativeRobot
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{
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Talon left_drive, right_drive;
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CANTalon shooter1, shooter2,
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ramp;
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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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//DriverStation DriverStation::GetInstance();
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float power;
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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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right_drive(1), // Right DriveTrain Talons plug // left wheel 2
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shooter1(11), // shooter drive 1
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shooter2(10), // shooter drive 2
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ramp(12),
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drive(&left_drive, &right_drive),
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shooter( // initialize Shooter object.
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&shooter1, &shooter2, &ramp),
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driver_stick(0), // right stick (operator)
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operator_stick(1) // left stick (driver)
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{
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//DriverStation::GetInstance().GetInstance();
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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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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 LogData()
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{
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static PowerDistributionPanel pdp;
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static DriverStation DriverStation::GetInstance() = DriverStation::GetInstance();
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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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}*/
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void RobotInit()
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{
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chooser = new SendableChooser();
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chooser->AddDefault(autoNameDefault, (void*)&autoNameDefault);
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chooser->AddObject(autoNameCustom, (void*)&autoNameCustom);
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SmartDashboard::PutData("Auto Modes", chooser);
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ramp.Enable();
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shooter1.Enable();
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shooter2.Enable();
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left_drive.SetInverted(true);
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right_drive.SetInverted(true);
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inverting = false;
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}
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/**
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* This autonomous (along with the chooser code above) shows how to select between different autonomous modes
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* using the dashboard. The sendable chooser code works with the Java SmartDashboard. If you prefer the LabVIEW
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* Dashboard, remove all of the chooser code and uncomment the GetString line to get the auto name from the text box
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* below the Gyro
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*
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* You can add additional auto modes by adding additional comparisons to the if-else structure below with additional strings.
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* If using the SendableChooser make sure to add them to the chooser code above as well.
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*/
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void AutonomousInit()
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{
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shooter.CalibrateRamp();
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shooter.SetRamp(Shoot);
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autoSelected = *((std::string*)chooser->GetSelected());
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//std::string autoSelected = SmartDashboard::GetString("Auto Selector", autoNameDefault);
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std::cout << "Auto selected: " << autoSelected << std::endl;
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if(autoSelected == autoNameCustom){
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//Custom Auto goes here
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} else {
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//Default Auto goes here
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}
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}
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void AutonomousPeriodic()
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{
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LogCSVData();
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if(autoSelected == autoNameCustom){
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//Custom Auto goes here
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} else {
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//Default Auto goes here
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}
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}
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void TeleopInit()
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{
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shooter.CalibrateRamp();
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shooter.SetRamp(Shoot); // start in the full up position!
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power = 0;
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}
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void TeleopPeriodic()
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{
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LogCSVData();
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std::cout << "Ramp position: "<< ramp.GetEncPosition() << std::endl;
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drive.ArcadeDrive(&driver_stick, true);
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// This is shit code for testing. Replace it with real code.
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if(operator_stick.GetRawButton(RAMP_RAISE))
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{
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ramp.Set(1);
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}
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else if(operator_stick.GetRawButton(RAMP_LOWER))
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{
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ramp.Set(-1);
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}
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else
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{
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ramp.Set(0);
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}
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if(operator_stick.GetRawButton(THUMB) && !pickupRunning)
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{
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shooter.PickUp();
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pickupRunning = true;
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}
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else if(pickupRunning)
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{
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shooter.PickUp(false);
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pickupRunning = false;
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}
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if(driver_stick.GetRawButton(THUMB) && !inverting)
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{
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left_drive.SetInverted(!left_drive.GetInverted());
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right_drive.SetInverted(!right_drive.GetInverted());
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inverting = true;
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}
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else if(!driver_stick.GetRawButton(THUMB))
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{
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inverting = false;
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}
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if(((1.0 - operator_stick.GetThrottle()) / 2.0) > power + 0.005||((1.0 - operator_stick.GetThrottle()) / 2.0) < power -0.005)
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{
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power = (1.0 - operator_stick.GetThrottle()) / 2.0;
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shooter.SetPower(power);
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}
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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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};
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START_ROBOT_CLASS(Robot)
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