void PIDArmControl()
{
if((vexRT[Btn6D] - vexRT[Btn6U])!= 0)
{
setArmSpeed((vexRT[Btn5D] - vexRT[Btn5U]) * maxArm);
disable(PID);
}
else
{
setArmSpeed(calcPID(PID));
}
if(vexRT[Btn7U] == 1)
{
setSetpoint(PID, highScore);
enable(PID);
}
else if (vexRT[Btn7D] == 1)
{
setSetpoint(PID, lowScore);
enable(PID);
}
else if (vexRT[Btn7L] == 1)
{
setSetpoint(PID, midScore);
enable(PID);
}
else if (vexRT[Btn7R] == 1)
{
disable(PID);
}
}
CHYSTBlock::CHYSTBlock(const char* configString)
: CBlock(configString)
{
CString tempString;
float setpoint=0.0, delta=0.0, Min=0.0, Max=0.0;
//Get HYST type and parameters
m_LibIniReader.GetConfigParamString( configString, "TYPE", &tempString, "HYST");
for (int i = 0; i < HYST_TYPE_NUM_TOT; i++)
{
if (tempString == HYST_Type_Strings[i])
{
m_HYSTType = (e_HYSTType)i;
m_LibIniReader.GetConfigParamFloat( configString, "SETPOINT", &setpoint, 0.0);
m_LibIniReader.GetConfigParamFloat( configString, "DELTA", &delta, 0.0);
m_LibIniReader.GetConfigParamFloat( configString, "MIN", &Min, 0.0);
m_LibIniReader.GetConfigParamFloat( configString, "MAX", &Max, 0.0);
setSetpoint(&setpoint);
setDelta(&delta);
setLastOutput(&Min);
setMin(&Min);
setMax(&Max);
}
}
}
void AM3DCoordinatedSystemControl::updateSetpoint()
{
if(globalXAxis_ && globalYAxis_ && globalZAxis_) {
QVector3D globalSetpoints(globalXAxis_->setpoint(), globalYAxis_->setpoint(), globalZAxis_->setpoint());
QVector3D primeSetpoints = globalAxisToPrime(globalSetpoints);
double newSetpoint = designatedAxisValue(primeSetpoints);
setSetpoint(newSetpoint);
}
}
void pre_auton()
{
startpoint = SensorValue[pot];
goal_value = startpoint + change;
//PID:
init(test);
setPIDs(test, k_P, k_I, k_D);
setSetpoint(test, goal_value);
enable(test);
}
void Manager::setSetpoint(uint8_t devid, int16_t setpoint) {
// Lookup device
auto dev = m_registry->getDevice(devid);
if (dev == nullptr) return;
// Get group and offset for device
auto group = m_registry->getGroup(dev->getGroup());
if (group == nullptr) return;
auto offset = dev->getOffset();
// Write new setpoint
group->setSetpoint(offset, setpoint);
}
AMBeamlineFiducializationMoveAction::AMBeamlineFiducializationMoveAction(int fiducializationIndex, QObject *parent) :
AMBeamlineControlSetMoveAction(AMBeamline::bl()->currentSamplePositioner(), parent)
{
fiducializationIndex_ = fiducializationIndex;
sampleDescription_ = "";
if(fiducializationIndex_ < AMBeamline::bl()->currentFiducializations().count()){
//Change 0-indexed source list to 1-indexed human-readable format
sampleDescription_ = QString("Spot #%1").arg(fiducializationIndex_+1);
setDescription(QString("Move to sample spot #%1").arg(fiducializationIndex_+1));
setSetpoint(AMBeamline::bl()->currentFiducializations().at(fiducializationIndex_));
}
else{
setDescription(QString("Error"));
AMErrorMon::report(AMErrorReport(this,
AMErrorReport::Alert,
AMBEAMLINEACTIONITEM_INVALID_FIDUCIALIZATION_INDEX,
"Error, fiducialization index is invalid. Please report this bug to the Acquaman developers."));
}
}
int highScore = armGround// + value still to be tested;
/////////////////////////////////////////////////////////////////////////////////////////
//
// Pre-Autonomous Functions
//
// You may want to perform some actions before the competition starts. Do them in the
// following function.
//
/////////////////////////////////////////////////////////////////////////////////////////
void pre_auton()
{
encoderConfigure(4,2,90,127,(14.375/12.0),(4.0/12.0));
init(PID,potArm,port4);
setSetpoint(PID, highScore);
setPIDs(PID, KP, KI, KD);
enable(PID);
}
