void UpdateDashboard() {
float r = 0.00001 * i;
SmartDashboard::PutNumber("State", currentState + r);
SmartDashboard::PutNumber("PID Turn Error",
turnController->GetError() + r);
SmartDashboard::PutNumber("PID Target",
turnController->GetSetpoint() + r);
// SmartDashboard::PutBoolean("Straight", straight);
SmartDashboard::PutData("test", turnController);
SmartDashboard::PutNumber("Yaw:", ahrs->GetYaw() + r);
SmartDashboard::PutNumber("Roll:", ahrs->GetRoll() + r);
SmartDashboard::PutNumber("Pitch", ahrs->GetPitch() + r);
SmartDashboard::PutNumber("Scissor 1", pdp->GetCurrent(1) + r);
SmartDashboard::PutNumber("Scissor 2", pdp->GetCurrent(2) + r);
SmartDashboard::PutNumber("Left Drive 1", pdp->GetCurrent(12) + r);
SmartDashboard::PutNumber("Left Drive 2", pdp->GetCurrent(13) + r);
SmartDashboard::PutNumber("Right Drive 1", pdp->GetCurrent(14) + r);
SmartDashboard::PutNumber("Right Drive 2", pdp->GetCurrent(15) + r);
SmartDashboard::PutNumber("Constant Lift", constantLift);
SmartDashboard::PutNumber("Rotate Rate", rotateRate + r);
i = (i + 1) % 2;
printf("2.1");
// .PutLong("test1.2", 1337);
printf("2.2");
// mqServer.PutDouble("test",DriverStation::GetInstance().GetMatchTime());
printf("2.3");
// mqServer.PutString("test1.1","YOLO_SWAGINS");
printf("2.4");
// SmartDashboard::PutString("test1.2", mqServer.GetString("test1.1"));
// SmartDashboard::PutNumber("test1", mqServer.GetDouble("test"));
// SmartDashboard::PutNumber("test1.3", mqServer.GetLong("test1.2"));
// SmartDashboard::PutNumber("test2", DriverStation::GetInstance().GetMatchTime());
}
/**
* Drive based upon joystick inputs, and automatically control
* motors if the robot begins tipping.
*/
void OperatorControl()
{
robotDrive.SetSafetyEnabled(false);
while (IsOperatorControl() && IsEnabled()) {
double xAxisRate = stick.GetX();
double yAxisRate = stick.GetY();
double pitchAngleDegrees = ahrs->GetPitch();
double rollAngleDegrees = ahrs->GetRoll();
if ( !autoBalanceXMode &&
(fabs(pitchAngleDegrees) >=
fabs(kOffBalanceThresholdDegrees))) {
autoBalanceXMode = true;
}
else if ( autoBalanceXMode &&
(fabs(pitchAngleDegrees) <=
fabs(kOnBalanceThresholdDegrees))) {
autoBalanceXMode = false;
}
if ( !autoBalanceYMode &&
(fabs(pitchAngleDegrees) >=
fabs(kOffBalanceThresholdDegrees))) {
autoBalanceYMode = true;
}
else if ( autoBalanceYMode &&
(fabs(pitchAngleDegrees) <=
fabs(kOnBalanceThresholdDegrees))) {
autoBalanceYMode = false;
}
// Control drive system automatically,
// driving in reverse direction of pitch/roll angle,
// with a magnitude based upon the angle
if ( autoBalanceXMode ) {
double pitchAngleRadians = pitchAngleDegrees * (M_PI / 180.0);
xAxisRate = sin(pitchAngleRadians) * -1;
}
if ( autoBalanceYMode ) {
double rollAngleRadians = rollAngleDegrees * (M_PI / 180.0);
yAxisRate = sin(rollAngleRadians) * -1;
}
try {
// Use the joystick X axis for lateral movement, Y axis for forward movement, and Z axis for rotation.
robotDrive.MecanumDrive_Cartesian(xAxisRate, yAxisRate,stick.GetZ());
} catch (std::exception ex ) {
std::string err_string = "Drive system error: ";
err_string += ex.what();
DriverStation::ReportError(err_string.c_str());
}
Wait(0.005); // wait 5ms to avoid hogging CPU cycles
}
}
