/****************************************
* MainRobot: (The constructor)
* Mandatory method.
* TODO:
* - Tweak anything related to the scissor lift - verify values.
* - Find out how to configure Victor.
*/
MainRobot(void):
// Below: The constructor needs to know which port connects to which
// motor so it can control the Jaguars correctly.
// See constants at top.
robotDrive(LEFT_FRONT_MOTOR_PORT, LEFT_REAR_MOTOR_PORT,
RIGHT_FRONT_MOTOR_PORT, RIGHT_REAR_MOTOR_PORT)
{
SmartDashboard::init();
GetWatchdog().SetExpiration(0.1); // In seconds.
stick1 = new Joystick(MOVE_JOYSTICK_USB); // Joystick 1
stick2 = new Joystick(LIFT_JOYSTICK_USB); // Joystick 2
minibot = new MinibotDeployment (
MINIBOT_DEPLOY_PORT,
MINIBOT_DEPLOYED_DIO,
MINIBOT_RETRACTED_DIO);
lineSensors = new LineSensors (
LEFT_CAMERA_PORT,
MIDDLE_CAMERA_PORT,
RIGHT_CAMERA_PORT);
lift = new LiftController (
LIFT_MOTOR_PORT,
HIGH_LIFT_DIO,
LOW_LIFT_DIO);
lift->initButtons(
kJSButton_2, // Botton top button
kJSButton_4, // Left top button
kJSButton_3, // Center top button
kJSButton_5); // Right top button
// The wiring was inverted on the left motors, so the below
// is necessary.
robotDrive.SetInvertedMotor(RobotDrive::kFrontLeftMotor, true);
robotDrive.SetInvertedMotor(RobotDrive::kRearLeftMotor, true);
isFastSpeedOn = false;
isSafetyModeOn = true;
isLiftHigh = false;
// isSafetyModeOn: Controlled by the driver -- should only have to
// choose once.
// isLiftHigh: Controlled by the program -- turns true only
// when height is too high, otherwise turns false.
isDoingPreset = false;
GetWatchdog().SetEnabled(true);
UpdateDashboard("TestingTestingTestingTesting"
"TestingTestingTestingTestingTesting");
UpdateDashboard("Finished initializing.");
}
/****************************************
* UpdateDashboard:
* Overloading: Updates the dashboard, but with text also.
* Input = string to be displayed.
* Output = See UpdateDashboard(void)
* String from program.
* TODO:
* - Test
*/
void UpdateDashboard(const char *outputText)
{
// Call to base dashboard updater.
UpdateDashboard();
SmartDashboard::Log(outputText, "Message:");
}
void TabWidget::updateTorrentStats ()
{
if (Core::Instance ()->GetCurrentTorrent () == -1)
return;
UpdateTorrentControl ();
UpdateDashboard ();
UpdateOverallStats ();
TorrentSelectionChanged_ = false;
}
/****************************************
* OperatorControl:
* Input = Data from driver station or field
* Output = Robot movements
* Mandatory method.
* TODO:
* None
*/
void OperatorControl(void)
{
//GetWatchdog().SetEnabled(true);
timer.Reset();
timer.Start();
GetWatchdog().Feed();
isFastSpeedOn = false;
isSafetyModeOn = false;
bool isLiftGood;
UpdateDashboard("Starting Operator Control");
while(IsOperatorControl()) {
FatalityChecks(stick1, stick2);
DriveHost(stick1);
isLiftGood = ManualLift(stick2);
MinibotDeploy(stick1);
GetWatchdog().Feed();
UpdateDashboard(isLiftGood ? " " : "Scissor Error");
Wait(DELAY_VALUE);
}
}
/****************************************
* FatalityChecks:
* Input = Both joysticks, error codes from ManualLift
* Output = None
* Handles
* - Joystick disconnects
* - Toggling safety mode
* TODO:
* - Find out how 'wpi_fatal' works
* - Replace NULL with '0'? (zero)
*/
void FatalityChecks(GenericHID *moveStick, GenericHID *liftStick)
{
// Terminate if a joystick is disconnected.
bool badMove = (NULL == moveStick);
bool badLift = (NULL == liftStick);
if (badMove || badLift) {
if (badMove && !badLift) {
UpdateDashboard("ERROR: Stick 1 disconnected");
} else if (!badMove && badLift) {
UpdateDashboard("ERROR: Stick 2 disconnected");
} else if (badMove && badLift) {
UpdateDashboard("ERROR: Stick 1 and stick 2 disconnected");
}
wpi_fatal(NullParameter);
return;
}
if (false == GetWatchdog().IsAlive()) {
UpdateDashboard("ERROR: The watchdog died");
GetWatchdog().Kill();
wpi_fatal(NullParameter);
return;
}
if (moveStick->GetRawButton(ENABLE_SAFETY_BUTTON) ||
liftStick->GetRawButton(ENABLE_SAFETY_BUTTON)) {
isSafetyModeOn = true;
}
if (moveStick->GetRawButton(DISABLE_SAFETY_BUTTON) ||
liftStick->GetRawButton(DISABLE_SAFETY_BUTTON)) {
isSafetyModeOn = false;
}
// If the scissor-lift is too high, it might topple at higher speeds.
isLiftHigh = lift->isAtTop();
}
TabWidget::TabWidget (QWidget *parent)
: QWidget { parent }
{
Ui_.setupUi (this);
TagsChangeCompleter_ = new Util::TagsCompleter { Ui_.TorrentTags_ };
Ui_.TorrentTags_->AddSelector ();
connect (Core::Instance (),
SIGNAL (dataChanged (QModelIndex, QModelIndex)),
this,
SLOT (updateTorrentStats (QModelIndex, QModelIndex)));
UpdateDashboard ();
}
void TorrentTabWidget::updateTorrentStats ()
{
UpdateDashboard ();
UpdateOverallStats ();
UpdateTorrentControl ();
}