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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
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src/main.cpp
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@ -41,6 +41,7 @@ drivetrain Drivetrain = drivetrain(LeftDriveSmart, RightDriveSmart, 319.19, 295,
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 IntakeL = motor(PORT8, ratio18_1, true);
@ -95,6 +96,7 @@ void autonomous(void) {
LiftMotor.resetRotation();
LiftMotor2.resetRotation();
TiltMotor.resetRotation();
TiltMotor2.resetRotation();
IntakeL.resetRotation();
IntakeR.resetRotation();
LeftDriveSmart.resetRotation();
@ -118,7 +120,13 @@ void autonomous(void) {
instructions = instructions.substr(y + 1);
Controller1.Screen.print(vel);
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);
vel = strtod(instructions.substr(0, y).c_str(), NULL);
@ -128,7 +136,12 @@ void autonomous(void) {
instructions = instructions.substr(y + 1);
Controller1.Screen.print(vel);
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);
vel = strtod(instructions.substr(0, y).c_str(), NULL);
@ -151,6 +164,7 @@ void autonomous(void) {
y = instructions.find(" ", 5);
pos = strtod(instructions.substr(0, y).c_str(), NULL);
TiltMotor.rotateTo(pos, degrees, vel, velocityUnits::pct, false);
TiltMotor2.rotateTo(pos, degrees, vel, velocityUnits::pct, false);
wait(10, msec);
}
ifs.close();
@ -228,6 +242,7 @@ void usercontrol(void) {
LiftMotor.setVelocity(100, percent);
LiftMotor2.setVelocity(100, percent);
TiltMotor.setVelocity(30, percent);
TiltMotor2.setVelocity(30, percent);
Controller1.Screen.clearScreen();
Controller1.Screen.setCursor(0, 0);
Controller1.Screen.clearLine();
@ -289,6 +304,7 @@ void usercontrol(void) {
LiftMotor.resetRotation();
LiftMotor2.resetRotation();
TiltMotor.resetRotation();
TiltMotor2.resetRotation();
IntakeL.resetRotation();
IntakeR.resetRotation();
if (Brain.SDcard.isInserted()) {
@ -343,7 +359,7 @@ void usercontrol(void) {
thisReading += output;
thisReading += " \n";
ofs << thisReading;
//wait(30, msec);
//data = (uint8_t*)realloc(data, sizeof(uint8_t) * 5 * count + 5);
//uint8_t* thisReading;
//thisReading = new uint8_t[5];
@ -369,7 +385,7 @@ void usercontrol(void) {
}
}
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.
}
}
@ -397,6 +413,7 @@ void STOPCODE_DEBUG() {
IntakeR.stop();
IntakeL.stop();
TiltMotor.stop();
TiltMotor2.stop();
while(true) wait(20, msec);
}
@ -557,12 +574,15 @@ 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);
TiltMotor2.stop(hold);
// set the toggle so that we don't constantly tell the motor to stop when the buttons are released
Controller1UpDownButtonsControlMotorsStopped = true;
}