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38535A-4.v5code

@@ -1 +1 @@
-{"title":"38535A-4","description":"Empty V5 C++ Project","icon":"USER921x.bmp","version":"19.10.1015","sdk":"20200203_11_00_00","language":"cpp","competition":false,"files":[{"name":"include/robot-config.h","type":"File","specialType":"device_config"},{"name":"include/vex.h","type":"File","specialType":""},{"name":"makefile","type":"File","specialType":""},{"name":"src/main.cpp","type":"File","specialType":""},{"name":"src/robot-config.cpp","type":"File","specialType":"device_config"},{"name":"vex/mkenv.mk","type":"File","specialType":""},{"name":"vex/mkrules.mk","type":"File","specialType":""},{"name":"include","type":"Directory"},{"name":"src","type":"Directory"},{"name":"vex","type":"Directory"}],"device":{"slot":2,"uid":"276-4810","options":{}},"isExpertMode":true,"isExpertModeRC":true,"isVexFileImport":false,"robotconfig":[],"neverUpdate":null}
+{"title":"38535A-4","description":"Empty V5 C++ Project","icon":"USER921x.bmp","version":"19.10.1015","sdk":"20200203_11_00_00","language":"cpp","competition":false,"files":[{"name":"include/robot-config.h","type":"File","specialType":"device_config"},{"name":"include/vex.h","type":"File","specialType":""},{"name":"makefile","type":"File","specialType":""},{"name":"src/main.cpp","type":"File","specialType":""},{"name":"src/robot-config.cpp","type":"File","specialType":"device_config"},{"name":"vex/mkenv.mk","type":"File","specialType":""},{"name":"vex/mkrules.mk","type":"File","specialType":""},{"name":"include","type":"Directory"},{"name":"src","type":"Directory"},{"name":"vex","type":"Directory"}],"device":{"slot":3,"uid":"276-4810","options":{}},"isExpertMode":true,"isExpertModeRC":true,"isVexFileImport":false,"robotconfig":[],"neverUpdate":null}

src/main.cpp

@@ -43,8 +43,9 @@ drivetrain Drivetrain =
 motor LiftMotor = motor(PORT18, ratio18_1, true);
 motor LiftMotor2 = motor(PORT12, ratio18_1, false);
 motor TiltMotor = motor(PORT3, ratio18_1, false);
+motor TiltMotor2 = motor(PORT10, ratio18_1, true);
 controller Controller1 = controller(primary);
-motor IntakeR = motor(PORT17, ratio18_1, false);
+motor IntakeR = motor(PORT15, ratio18_1, false);
 motor IntakeL = motor(PORT8, ratio18_1, true);
 
 bool Controller1LeftShoulderControlMotorsStopped = true;
@@ -87,6 +88,7 @@ void pre_auton(void) {
 std::ifstream ifs;
 void goToPos(motor m, double vel, double pos);
 void playback();
+int filenum = 1;
 std::string instructions;
 void autonomous(void) {
   // ..........................................................................
@@ -111,7 +113,11 @@ void autonomous(void) {
   // uint8_t * instructions = nullptr;
   // Brain.SDcard.loadfile("recording.bin", instructions, 2500); // size in
   // bytes
-  ifs.open("recording.txt", std::ofstream::in);
+  char filename[1] = "";
+  snprintf(filename, 2, "%d", filenum);
+  std::string fn = filename;
+  fn += ".txt";
+  ifs.open(fn, std::ofstream::in);
   Controller1.Screen.print("File opened");
   timer tim;
   tim.clear();
@@ -226,6 +232,7 @@ void playback() {
   y = instructions.find(" ", 5);
   pos = strtod(instructions.substr(0, y).c_str(), NULL);
   goToPos(TiltMotor, vel, pos);
+  goToPos(TiltMotor2, -vel, pos);
   //TiltMotor.rotateTo(pos, degrees, vel, velocityUnits::pct, false);
   //wait(10, msec);
 }
@@ -241,9 +248,19 @@ void playback() {
 std::ofstream ofs;
 
 void usercontrol(void) {
+  Controller1.Screen.setCursor(4, 0);
+        // Controller1.Screen.clearLine();
+  Controller1.Screen.print(filenum);
   LiftMotor.setVelocity(100, percent);
+  LiftMotor.stop();
   LiftMotor2.setVelocity(100, percent);
+  LiftMotor2.stop();
   TiltMotor.setVelocity(30, percent);
+  TiltMotor2.setVelocity(30, percent);
+  TiltMotor.stop();
+  TiltMotor2.stop();
+  LeftDriveSmart.stop();
+  RightDriveSmart.stop();
   Controller1.Screen.clearScreen();
   Controller1.Screen.setCursor(0, 0);
   Controller1.Screen.clearLine();
@@ -304,17 +321,36 @@ void usercontrol(void) {
       LiftMotor.resetRotation();
       LiftMotor2.resetRotation();
       TiltMotor.resetRotation();
+      TiltMotor2.resetRotation();
       IntakeL.resetRotation();
       IntakeR.resetRotation();
       if (Brain.SDcard.isInserted()) {
         // create a file with long filename
-        ofs.open("recording.txt", std::ofstream::out);
+        char filename[1] = "";
+        snprintf(filename, 2, "%d", filenum);
+        std::string fn = filename;
+        fn += ".txt";
+        ofs.open(fn, std::ofstream::out);
       }
       tim2.clear();
     }
     if (Controller1.ButtonRight.pressing()) {
       donerecording = true;
     }
+    if (Controller1.ButtonUp.pressing()) {
+      filenum ++;
+      Controller1.Screen.setCursor(4, 0);
+        // Controller1.Screen.clearLine();
+      Controller1.Screen.print(filenum);
+      wait(250, msec);
+    }
+    if (Controller1.ButtonDown.pressing()) {
+      filenum --;
+      Controller1.Screen.setCursor(4, 0);
+        // Controller1.Screen.clearLine();
+      Controller1.Screen.print(filenum);
+      wait(250, msec);
+    }
     controllerBaseInput();
     if (recording) {
       while (tim2.value() < 0.075) {
@@ -420,6 +456,7 @@ void STOPCODE_DEBUG() {
   IntakeR.stop();
   IntakeL.stop();
   TiltMotor.stop();
+  TiltMotor2.stop();
   while (true)
     wait(20, msec);
 }
@@ -521,14 +558,18 @@ void controllerBaseInput() {
     Controller1.Screen.setCursor(2, 0);
     // Controller1.Screen.clearLine();
     Controller1.Screen.print("Fast intake");
+    Controller1.Screen.setCursor(4, 0);
+    Controller1.Screen.print(filenum);
   } else {
     Controller1.Screen.setCursor(2, 0);
     // Controller1.Screen.clearLine();
     Controller1.Screen.print("Slow intake");
+    Controller1.Screen.setCursor(4, 0);
+    Controller1.Screen.print(filenum);
     IntakeSpeed /= 4;
   }
 
-  if (Controller1.ButtonDown.pressing()) {
+  /*if (Controller1.ButtonDown.pressing()) {
     drivetrainLeftSideSpeed = -20;
     drivetrainRightSideSpeed = -20;
     IntakeStop = true;
@@ -538,10 +579,10 @@ void controllerBaseInput() {
     drivetrainRightSideSpeed = 20;
     IntakeStop = true;
     IntakeSpeed = 20;
-  } else {
+  } else {*/
     drivetrainLeftSideSpeed *= driveMultiplier;
     drivetrainRightSideSpeed *= driveMultiplier;
-  }
+  //}
   if (IntakeStop) {
     IntakeL.setVelocity(IntakeSpeed, percent);
     IntakeR.setVelocity(IntakeSpeed, percent);
@@ -626,11 +667,14 @@ void controllerBaseInput() {
   // check the Right Shoulder Buttons status to control TiltMotor
   if (Controller1.ButtonR1.pressing()) {
     TiltMotor.spin(forward);
+    TiltMotor2.spin(forward);
     Controller1UpDownButtonsControlMotorsStopped = false;
   } else if (Controller1.ButtonR2.pressing()) {
     TiltMotor.spin(reverse);
+    TiltMotor2.spin(reverse);
     Controller1UpDownButtonsControlMotorsStopped = false;
   } else if (!Controller1UpDownButtonsControlMotorsStopped) {
+    TiltMotor.stop(hold);
     TiltMotor.stop(hold);
     // set the toggle so that we don't constantly tell the motor to stop when
     // the buttons are released