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Add intake and drive controls for stacking

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This commit is contained in:
Cole Deck 2020-02-27 12:41:08 -06:00
parent 9c717e5456
commit 8a75f10c2f
5 changed files with 778 additions and 772 deletions
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src/main.cpp
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@ -10,12 +10,13 @@
// ---- START VEXCODE CONFIGURED DEVICES ----
// Robot Configuration:
// [Name] [Type] [Port(s)]
// Drivetrain drivetrain 10, 1
// LiftMotor motor 9
// TiltMotor motor 8
// Drivetrain drivetrain 1, 2
// LiftMotor motor 18
// LiftMotor2 motor 12
// TiltMotor motor 3
// Controller1 controller
// IntakeR motor 2
// IntakeL motor 3
// IntakeR motor 17
// IntakeL motor 8
// ---- END VEXCODE CONFIGURED DEVICES ----
#include "vex.h"
@ -231,7 +232,6 @@ void usercontrol(void) {
Controller1.Screen.print("Normal Driving ");
bool recording = false;
bool donerecording = false;
//uint8_t * data = (uint8_t*)malloc(sizeof(uint8_t) * 5);
// User control code here, inside the loop
while (1) {
@ -435,18 +435,54 @@ void controllerBaseInput() {
drivetrainLeftSideSpeed = -powerLevel;
drivetrainRightSideSpeed = powerLevel;
}
int IntakeSpeed = Controller1.Axis2.position();
if (IntakeSpeed < 5 && IntakeSpeed > -5) {
// check if the left motor has already been stopped
if (IntakeStop) {
// stop the left drive motor
IntakeL.stop();
IntakeR.stop();
// tell the code that the left motor has been stopped
IntakeStop = false;
}
} else {
// reset the toggle so that the deadband code knows to stop the left motor next time the input is in the deadband range
IntakeStop = true;
}
// only tell the left drive motor to spin if the values are not in the deadband range
if(speedin) {
Controller1.Screen.setCursor(2, 0);
//Controller1.Screen.clearLine();
Controller1.Screen.print("Fast intake");
} else {
Controller1.Screen.setCursor(2, 0);
//Controller1.Screen.clearLine();
Controller1.Screen.print("Slow intake");
IntakeSpeed /= 4;
}
if(Controller1.ButtonDown.pressing()) {
drivetrainLeftSideSpeed = -33;
drivetrainRightSideSpeed = -33;
drivetrainLeftSideSpeed = -20;
drivetrainRightSideSpeed = -20;
IntakeStop = true;
IntakeSpeed = -20;
}
else if(Controller1.ButtonUp.pressing()) {
drivetrainLeftSideSpeed = 33;
drivetrainRightSideSpeed = 33;
drivetrainLeftSideSpeed = 20;
drivetrainRightSideSpeed = 20;
IntakeStop = true;
IntakeSpeed = 20;
}
else {
drivetrainLeftSideSpeed *= driveMultiplier;
drivetrainRightSideSpeed *= driveMultiplier;
}
if (IntakeStop) {
IntakeL.setVelocity(IntakeSpeed, percent);
IntakeR.setVelocity(IntakeSpeed, percent);
IntakeL.spin(forward);
IntakeR.spin(forward);
}
// check if the value is inside of the deadband range
if (drivetrainLeftSideSpeed < 5 && drivetrainLeftSideSpeed > -5) {
// check if the left motor has already been stopped
@ -498,37 +534,7 @@ void controllerBaseInput() {
// set the toggle so that we don't constantly tell the motor to stop when the buttons are released
Controller1LeftShoulderControlMotorsStopped = true;
}
int IntakeSpeed = Controller1.Axis2.position();
if (IntakeSpeed < 5 && IntakeSpeed > -5) {
// check if the left motor has already been stopped
if (IntakeStop) {
// stop the left drive motor
IntakeL.stop();
IntakeR.stop();
// tell the code that the left motor has been stopped
IntakeStop = false;
}
} else {
// reset the toggle so that the deadband code knows to stop the left motor next time the input is in the deadband range
IntakeStop = true;
}
// only tell the left drive motor to spin if the values are not in the deadband range
if(speedin) {
Controller1.Screen.setCursor(2, 0);
//Controller1.Screen.clearLine();
Controller1.Screen.print("Fast intake");
} else {
Controller1.Screen.setCursor(2, 0);
//Controller1.Screen.clearLine();
Controller1.Screen.print("Slow intake");
IntakeSpeed /= 4;
}
if (IntakeStop) {
IntakeL.setVelocity(IntakeSpeed, percent);
IntakeR.setVelocity(IntakeSpeed, percent);
IntakeL.spin(forward);
IntakeR.spin(forward);
}
// only tell the right drive motor to spin if the values are not in the deadband range
// check the ButtonR1/ButtonR2 status to control Intake