shark/38535A
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

d

Browse Source
This commit is contained in:
Cole Deck 2020-02-27 16:02:47 -06:00
parent 5e0a0ffd7d
commit a64b12e7a7
5 changed files with 761 additions and 739 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

BIN
build/38535A4.bin
View File

Binary file not shown.

BIN
build/38535A4.elf
View File

Binary file not shown.

1470
build/38535A4.map
View File

File diff suppressed because it is too large Load Diff

BIN
build/src/main.o
View File

Binary file not shown.

28
src/main.cpp
View File

@ -41,6 +41,7 @@ drivetrain Drivetrain = drivetrain(LeftDriveSmart, RightDriveSmart, 319.19, 295,
motor LiftMotor = motor(PORT18, ratio18_1, true); motor LiftMotor = motor(PORT18, ratio18_1, true);
motor LiftMotor2 = motor(PORT12, ratio18_1, false); motor LiftMotor2 = motor(PORT12, ratio18_1, false);
motor TiltMotor = motor(PORT3, ratio18_1, false); motor TiltMotor = motor(PORT3, ratio18_1, false);
motor TiltMotor2 = motor(PORT10, ratio18_1, true);
controller Controller1 = controller(primary); controller Controller1 = controller(primary);
motor IntakeR = motor(PORT17, ratio18_1, false); motor IntakeR = motor(PORT17, ratio18_1, false);
motor IntakeL = motor(PORT8, ratio18_1, true); motor IntakeL = motor(PORT8, ratio18_1, true);
@ -95,6 +96,7 @@ void autonomous(void) {
LiftMotor.resetRotation(); LiftMotor.resetRotation();
LiftMotor2.resetRotation(); LiftMotor2.resetRotation();
TiltMotor.resetRotation(); TiltMotor.resetRotation();
TiltMotor2.resetRotation();
IntakeL.resetRotation(); IntakeL.resetRotation();
IntakeR.resetRotation(); IntakeR.resetRotation();
LeftDriveSmart.resetRotation(); LeftDriveSmart.resetRotation();
@ -118,7 +120,13 @@ void autonomous(void) {
instructions = instructions.substr(y + 1); instructions = instructions.substr(y + 1);
Controller1.Screen.print(vel); Controller1.Screen.print(vel);
LeftDriveSmart.setVelocity(vel, percent); LeftDriveSmart.setVelocity(vel, percent);
LeftDriveSmart.startSpinTo(pos, degrees); if(LeftDriveSmart.rotation(degrees) < pos && vel > 0)
LeftDriveSmart.spin(forward);
else if(LeftDriveSmart.rotation(degrees) > pos && vel < 0)
LeftDriveSmart.spin(forward);
else
LeftDriveSmart.stop();
//LeftDriveSmart.startSpinTo(pos, degrees);
y = instructions.find(" ", 5); y = instructions.find(" ", 5);
vel = strtod(instructions.substr(0, y).c_str(), NULL); vel = strtod(instructions.substr(0, y).c_str(), NULL);
@ -128,7 +136,12 @@ void autonomous(void) {
instructions = instructions.substr(y + 1); instructions = instructions.substr(y + 1);
Controller1.Screen.print(vel); Controller1.Screen.print(vel);
RightDriveSmart.setVelocity(vel, percent); RightDriveSmart.setVelocity(vel, percent);
RightDriveSmart.startSpinTo(pos, degrees); if(RightDriveSmart.rotation(degrees) < pos && vel > 0)
RightDriveSmart.spin(forward);
else if(RightDriveSmart.rotation(degrees) > pos && vel < 0)
RightDriveSmart.spin(forward);
else
RightDriveSmart.stop();
y = instructions.find(" ", 5); y = instructions.find(" ", 5);
vel = strtod(instructions.substr(0, y).c_str(), NULL); vel = strtod(instructions.substr(0, y).c_str(), NULL);
@ -151,6 +164,7 @@ void autonomous(void) {
y = instructions.find(" ", 5); y = instructions.find(" ", 5);
pos = strtod(instructions.substr(0, y).c_str(), NULL); pos = strtod(instructions.substr(0, y).c_str(), NULL);
TiltMotor.rotateTo(pos, degrees, vel, velocityUnits::pct, false); TiltMotor.rotateTo(pos, degrees, vel, velocityUnits::pct, false);
TiltMotor2.rotateTo(pos, degrees, vel, velocityUnits::pct, false);
wait(10, msec); wait(10, msec);
} }
ifs.close(); ifs.close();
@ -228,6 +242,7 @@ void usercontrol(void) {
LiftMotor.setVelocity(100, percent); LiftMotor.setVelocity(100, percent);
LiftMotor2.setVelocity(100, percent); LiftMotor2.setVelocity(100, percent);
TiltMotor.setVelocity(30, percent); TiltMotor.setVelocity(30, percent);
TiltMotor2.setVelocity(30, percent);
Controller1.Screen.clearScreen(); Controller1.Screen.clearScreen();
Controller1.Screen.setCursor(0, 0); Controller1.Screen.setCursor(0, 0);
Controller1.Screen.clearLine(); Controller1.Screen.clearLine();
@ -289,6 +304,7 @@ void usercontrol(void) {
LiftMotor.resetRotation(); LiftMotor.resetRotation();
LiftMotor2.resetRotation(); LiftMotor2.resetRotation();
TiltMotor.resetRotation(); TiltMotor.resetRotation();
TiltMotor2.resetRotation();
IntakeL.resetRotation(); IntakeL.resetRotation();
IntakeR.resetRotation(); IntakeR.resetRotation();
if (Brain.SDcard.isInserted()) { if (Brain.SDcard.isInserted()) {
@ -343,7 +359,7 @@ void usercontrol(void) {
thisReading += output; thisReading += output;
thisReading += " \n"; thisReading += " \n";
ofs << thisReading; ofs << thisReading;
//wait(30, msec);
//data = (uint8_t*)realloc(data, sizeof(uint8_t) * 5 * count + 5); //data = (uint8_t*)realloc(data, sizeof(uint8_t) * 5 * count + 5);
//uint8_t* thisReading; //uint8_t* thisReading;
//thisReading = new uint8_t[5]; //thisReading = new uint8_t[5];
@ -369,7 +385,7 @@ void usercontrol(void) {
} }
} }
controllerBaseInput(); controllerBaseInput();
wait(20, msec); // Sleep the task for a short amount of time to wait(50, msec); // Sleep the task for a short amount of time to
// prevent wasted resources. // prevent wasted resources.
} }
} }
@ -397,6 +413,7 @@ void STOPCODE_DEBUG() {
IntakeR.stop(); IntakeR.stop();
IntakeL.stop(); IntakeL.stop();
TiltMotor.stop(); TiltMotor.stop();
TiltMotor2.stop();
while(true) wait(20, msec); while(true) wait(20, msec);
} }
@ -557,12 +574,15 @@ void controllerBaseInput() {
// check the Right Shoulder Buttons status to control TiltMotor // check the Right Shoulder Buttons status to control TiltMotor
if (Controller1.ButtonR1.pressing()) { if (Controller1.ButtonR1.pressing()) {
TiltMotor.spin(forward); TiltMotor.spin(forward);
TiltMotor2.spin(forward);
Controller1UpDownButtonsControlMotorsStopped = false; Controller1UpDownButtonsControlMotorsStopped = false;
} else if (Controller1.ButtonR2.pressing()) { } else if (Controller1.ButtonR2.pressing()) {
TiltMotor.spin(reverse); TiltMotor.spin(reverse);
TiltMotor2.spin(reverse);
Controller1UpDownButtonsControlMotorsStopped = false; Controller1UpDownButtonsControlMotorsStopped = false;
} else if (!Controller1UpDownButtonsControlMotorsStopped){ } else if (!Controller1UpDownButtonsControlMotorsStopped){
TiltMotor.stop(hold); TiltMotor.stop(hold);
TiltMotor2.stop(hold);
// set the toggle so that we don't constantly tell the motor to stop when the buttons are released // set the toggle so that we don't constantly tell the motor to stop when the buttons are released
Controller1UpDownButtonsControlMotorsStopped = true; Controller1UpDownButtonsControlMotorsStopped = true;
} }