/**
* Runs the motors with Mecanum drive.
*/
void OperatorControl()
{
robotDrive.SetSafetyEnabled(false);
while (IsOperatorControl() && IsEnabled())
{
bool collisionDetected = false;
double curr_world_linear_accel_x = ahrs->GetWorldLinearAccelX();
double currentJerkX = curr_world_linear_accel_x - last_world_linear_accel_x;
last_world_linear_accel_x = curr_world_linear_accel_x;
double curr_world_linear_accel_y = ahrs->GetWorldLinearAccelY();
double currentJerkY = curr_world_linear_accel_y - last_world_linear_accel_y;
last_world_linear_accel_y = curr_world_linear_accel_y;
if ( ( fabs(currentJerkX) > COLLISION_THRESHOLD_DELTA_G ) ||
( fabs(currentJerkY) > COLLISION_THRESHOLD_DELTA_G) ) {
collisionDetected = true;
}
SmartDashboard::PutBoolean( "CollisionDetected", collisionDetected);
try {
/* Use the joystick X axis for lateral movement, */
/* Y axis for forward movement, and Z axis for rotation. */
/* Use navX MXP yaw angle to define Field-centric transform */
robotDrive.MecanumDrive_Cartesian(stick.GetX(), stick.GetY(),
stick.GetZ(),ahrs->GetAngle());
} catch (std::exception ex ) {
std::string err_string = "Error communicating with Drive System: ";
err_string += ex.what();
DriverStation::ReportError(err_string.c_str());
}
Wait(0.005); // wait 5ms to avoid hogging CPU cycles
}
}
/**
* Runs the motors with Mecanum drive.
*/
void OperatorControl()
{
robotDrive.SetSafetyEnabled(false);
while (IsOperatorControl() && IsEnabled())
{
bool reset_yaw_button_pressed = stick.GetRawButton(1);
if ( reset_yaw_button_pressed ) {
ahrs->ZeroYaw();
}
bool rotateToAngle = false;
if ( stick.GetRawButton(2)) {
turnController->SetSetpoint(0.0f);
rotateToAngle = true;
} else if ( stick.GetRawButton(3)) {
turnController->SetSetpoint(90.0f);
rotateToAngle = true;
} else if ( stick.GetRawButton(4)) {
turnController->SetSetpoint(179.9f);
rotateToAngle = true;
} else if ( stick.GetRawButton(5)) {
turnController->SetSetpoint(-90.0f);
rotateToAngle = true;
}
double currentRotationRate;
if ( rotateToAngle ) {
turnController->Enable();
currentRotationRate = rotateToAngleRate;
} else {
turnController->Disable();
currentRotationRate = stick.GetTwist();
}
try {
/* Use the joystick X axis for lateral movement, */
/* Y axis for forward movement, and the current */
/* calculated rotation rate (or joystick Z axis), */
/* depending upon whether "rotate to angle" is active. */
robotDrive.MecanumDrive_Cartesian(stick.GetX(), stick.GetY(),
currentRotationRate ,ahrs->GetAngle());
} catch (std::exception ex ) {
std::string err_string = "Error communicating with Drive System: ";
err_string += ex.what();
DriverStation::ReportError(err_string.c_str());
}
Wait(0.005); // wait 5ms to avoid hogging CPU cycles
}
}
/**
* Runs the motors with Mecanum drive.
*/
void OperatorControl()
{
robotDrive.SetSafetyEnabled(false);
while (IsOperatorControl() && IsEnabled())
{
bool motionDetected = ahrs->IsMoving();
SmartDashboard::PutBoolean("MotionDetected", motionDetected);
try {
/* Use the joystick X axis for lateral movement, */
/* Y axis for forward movement, and Z axis for rotation. */
/* Use navX MXP yaw angle to define Field-centric transform */
robotDrive.MecanumDrive_Cartesian(stick.GetX(), stick.GetY(),
stick.GetZ(),ahrs->GetAngle());
} catch (std::exception ex ) {
std::string err_string = "Error communicating with Drive System: ";
err_string += ex.what();
DriverStation::ReportError(err_string.c_str());
}
Wait(0.005); // wait 5ms to avoid hogging CPU cycles
}
}
