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rename and works #10

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9a87a61
rename and works
6758Bot Feb 28, 2020
4d0573d
clean up
6758Bot Feb 28, 2020
5ce186d
?
6758Bot Feb 28, 2020
3662293
idk what is wrong
6758Guy Feb 29, 2020
1d897ee
wtf is this version anymore
6758Guy Feb 29, 2020
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145 changes: 115 additions & 30 deletions src/main/cpp/Auton/Auton.h → src/main/cpp/Auton/Autown.cpp
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Original file line number Diff line number Diff line change
@@ -1,8 +1,11 @@
#pragma once
#include <Robot.h>
#include <C:\Users\xv63yk\Documents\GitHub\2020BasicDriveCode\src\main\Variables\Variables.h>
#include <C:\Users\robok\Documents\2020BasicDriveCode\src\main\cpp\Variables\Variables.h>

void Robot::AutonomousInit2()
//#define USSide
//#define USStraight
#define TwoBalls

void Robot::AutownInit()
{
m_autoSelected = m_chooser.GetSelected();
// m_autoSelected = SmartDashboard::GetString("Auto Selector",
Expand All @@ -17,30 +20,34 @@ void Robot::AutonomousInit2()
}*/

step = forward1;
driveboi2.Follow(driveboi1, /*invert*/ false);
driveboi4.Follow(driveboi3, /*invert*/ false);
driveboi5.Follow(driveboi1, /*invert*/ false);
driveboi6.Follow(driveboi3, /*invert*/ false);
driveboi2->Follow(*driveboi1, /*invert*/ false);
driveboi4->Follow(*driveboi3, /*invert*/ false);
driveboi5->Follow(*driveboi1, /*invert*/ false);
driveboi6->Follow(*driveboi3, /*invert*/ false);

//auton variables
forwardBackwardDistance = 46; //23 is about 5 ft
turnDistance = 29; //25 is about 360 degrees on shop floors, 29 is about 360 on carpet
}

void Robot::AutonomousPeriodic2()
void Robot::AutownPeriodic()
{

double forwardBackward = spinReader1.GetPosition() - spinReader3.GetPosition();
double turn = spinReader1.GetPosition() + spinReader3.GetPosition();
/*if (m_autoSelected == kAutoNameCustom) {
/*if (m_autoSelected == kAutoNameCustom) {
// Custom Auto goes here
}
else {
// Default Auto goes here
}*/

// Ultra Sonic Straight Shot (Best Option) (Not Tested)
// Ultra Sonic Straight Shot (Best Option) (Not Tested)
#ifdef USStraight
double turn = spinReader1.GetPosition() + spinReader3.GetPosition();
switch (step)
{
case forward1:
{
if (batman.GetValue() > 375) //230 - 630 usable range
if (batman->GetValue() > 375) //230 - 630 usable range
{
Robot::Forwards();
}
Expand All @@ -53,9 +60,9 @@ void Robot::AutonomousPeriodic2()
}
case dump:
{
roboMyRio.Set(true);
roboMyRio->Set(true);
Wait(.5);
roboMyRio.Set(false);
roboMyRio->Set(false);
step = back1;
break;
}
Expand Down Expand Up @@ -87,7 +94,7 @@ void Robot::AutonomousPeriodic2()
}
case forward2:
{
if (batman.GetValue() > 250)
if (batman->GetValue() > 250)
{
Robot::Forwards();
}
Expand Down Expand Up @@ -140,25 +147,27 @@ void Robot::AutonomousPeriodic2()
default:
break;
}
#endif

//UltraSonic Side Shot (2nd Best Option) (Not Tested)
/*
switch (step)
//UltraSonic Side Shot (2nd Best Option) (Not Tested)
#ifdef USSide
double turn = spinReader1.GetPosition() + spinReader3.GetPosition();
switch (step)
{
case forwardfromside:
case forward1:
{
if (forwardBackward < 92)
{
Robot::Forwards();
}
Robot::Forwards();
}
else
{
ZeroMotors();
step = turnsideshot;
step = turn1;
}
break;
}
case turnsideshot:
case turn1:
{
if (turn < 14.5)
{
Expand All @@ -172,7 +181,7 @@ switch (step)
}
case forward1:
{
if (batman.GetValue() > 375) //230 - 630 usable range
if (batman->GetValue() > 375) //230 - 630 usable range
{
Robot::Forwards();
}
Expand All @@ -185,9 +194,9 @@ switch (step)
}
case dump:
{
roboMyRio.Set(true);
roboMyRio->Set(true);
Wait(.5);
roboMyRio.Set(false);
roboMyRio->Set(false);
step = back1;
break;
}
Expand Down Expand Up @@ -219,7 +228,7 @@ switch (step)
}
case forward2:
{
if (batman.GetValue() > 250)
if (batman->GetValue() > 250)
{
Robot::Forwards();
}
Expand Down Expand Up @@ -272,5 +281,81 @@ switch (step)
default:
break;
}
*/
}
#endif

//basic auton to collect 2 balls only
#ifdef TwoBalls
switch (step)
{
case forward1:
{
if (forwardBackward < 198.49)
{
Robot::Forwards();
}
else
{
ZeroMotors();
step = back1;
}
break;
}
case back1:
if (forwardBackward > 198.49)
{
Robot::Backwards();
}
else
{
ZeroMotors();
step = null;
}
break;

default:

break;
}
#endif
}

void Robot::ZeroMotors()
{
driveboi1->Set(0);
driveboi3->Set(0);
spinReader1.SetPosition(0);
spinReader2.SetPosition(0);
spinReader3.SetPosition(0);
spinReader4.SetPosition(0);
spinReader5.SetPosition(0);
spinReader6.SetPosition(0);
}

void Robot::Forwards()
{
driveboi1->Set(-.5);
driveboi3->Set(.5);
}
void Robot::Backwards()
{
driveboi1->Set(.5);
driveboi3->Set(-.5);
}
void Robot::Clock()
{
driveboi1->Set(.5);
driveboi3->Set(.5);
}
void Robot::CounterClock()
{
driveboi1->Set(-.5);
driveboi3->Set(-.5);
}
void Robot::Wait(double seconds)
{
clock_t endwait;
endwait = clock() + seconds * CLOCKS_PER_SEC;
while (clock() < endwait)
{
}
}
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