Beispiel #1
0
	void HandleShooterInputs()
	{	
		if (shooterTimer.HasPeriodPassed(SPINUP_TIME))
		{
			shooterTimer.Stop();
			shooterTimer.Reset();
			
			indexerMotor.Set(INDEXER_FWD);
		}
		else if (!m_collectorMotorRunning && !m_shooterMotorRunning)
		{
			if (kEventClosed == gamepad.GetEvent(BUTTON_SHOOTER))
			{
				shooterMotor.Set(SHOOTER_FWD);
				shooterTimer.Start();
				m_shooterMotorRunning  = true;
			}
		}
		else	
		{
			if (indexSwitch.GetEvent() == kEventOpened)
			{
				indexerMotor.Set(0.0);
				shooterMotor.Set(0.0);
				m_shooterMotorRunning  = false;
			}
		}		
	}
Beispiel #2
0
	void HandleShooterInputs()
	{	
		if (!m_collectorMotorRunning && !m_shooterMotorRunning)
		{
			if (kEventClosed == gamepad.GetEvent(BUTTON_SHOOTER))
			{
				shooterMotor.Set(-0.5);
				indexerMotor.Set(-0.5);
				m_shooterMotorRunning  = true;
			}
		}
		else	
		{
			if (indexSwitch.GetEvent() == kEventClosed)
			{
				indexerMotor.Set(0.0);
				shooterMotor.Set(0.0);
				m_shooterMotorRunning  = false;
			}
		}		
	}
Beispiel #3
0
	void Autonomous(void)
	{
		myRobot.SetSafetyEnabled(false);
		
		// Move the arm to a level position
		armMotor.Set(ARM_FWD);
		while (!((potentiometer.GetVoltage() > 2.4) && (potentiometer.GetVoltage() < 2.6))) 
		{
			// Check to make sure we don't overrotate the arm in either direction
			if (potentiometer.GetVoltage() > 4.5 || potentiometer.GetVoltage() < 0.5)
			{
				armMotor.Set(0.0);
				return;
			}
			Wait(0.2);
			UpdateStatusDisplays();
		}
		armMotor.Set(0.0);
		
		// Drive robot 
		
		DoAutonomousMoveStep(&m_autoForward[0], "Moving...");
		DoAutonomousMoveStep(&m_autoForward[1], "Moving...");
		
		//Shoot for five seconds
		Timer* t = new Timer();
		t->Start();
		
		shooterMotor.Set(SHOOTER_FWD);
		indexerMotor.Set(INDEXER_FWD);

		while(!t->HasPeriodPassed(5.0))
		{
			Wait(0.02);
		}
		shooterMotor.Set(0.0);
		indexerMotor.Set(0.0);
	}
Beispiel #4
0
	void HandleResetButton(void)
	{
		if (gamepad.GetEvent(BUTTON_STOP_ALL) == kEventClosed)
		{
			collectorMotor.Set(0.0);
			m_collectorMotorRunning = false;

			shooterMotor.Set(0.0);
			m_shooterMotorRunning  = false;

			indexerMotor.Set(0.0);
			armMotor.Set(0.0);
			
			jogTimer.Stop();
			jogTimer.Reset();
			m_jogTimerRunning = false;
		}
	}
Beispiel #5
0
	void UpdateStatusDisplays(void)
	{		
		// Joystick values
		SmartDashboard::PutNumber("stickX", stick.GetX());
		SmartDashboard::PutNumber("stickY", stick.GetY());
		SmartDashboard::PutBoolean("shift", stick2.GetState(BUTTON_SHIFT) ? kStateClosed : kStateOpen);
		
		// Shooter/Indexer values
		SmartDashboard::PutBoolean("indexSwitch", indexSwitch.GetState() ? kStateClosed : kStateOpen);
		SmartDashboard::PutNumber("shooterMotor", shooterMotor.Get());
		SmartDashboard::PutNumber("indexerMotor", indexerMotor.Get());

		// Misc Motor Values
		SmartDashboard::PutNumber("collectorMotor", collectorMotor.Get());
		SmartDashboard::PutNumber("armMotor", armMotor.Get());

		// Arm position via potentiometer voltage (2.5 volts is center position)
		dsLCD->PrintfLine(DriverStationLCD::kUser_Line3, "Voltage: %3.1f", potentiometer.GetVoltage());
		SmartDashboard::PutNumber("Potentiometer", potentiometer.GetVoltage());
		
		// Claw lock states
		SmartDashboard::PutBoolean("Green Claw State", greenClawLockSwitch.GetState());
		SmartDashboard::PutBoolean("Yellow Claw State", yellowClawLockSwitch.GetState());
		dsLCD->PrintfLine(DriverStationLCD::kUser_Line4, "Green : %s", 
			greenClawLockSwitch.GetState() ? "Locked" : "Unlocked");
		dsLCD->PrintfLine(DriverStationLCD::kUser_Line5, "Yellow: %s", 
			yellowClawLockSwitch.GetState() ? "Locked" : "Unlocked");
		
		// Pneumatic shifter count
		SmartDashboard::PutNumber("Shift Count", m_shiftCount);
		
		// State viariables
		dsLCD->PrintfLine(DriverStationLCD::kUser_Line6, "CMR: %s SMR: %s JTR: %s",
			m_collectorMotorRunning ? "T" : "F",
			m_shooterMotorRunning ? "T" : "F",   
			m_jogTimerRunning ? "T" : "F");
	}