/**
* Runs the motors with Mecanum drive.
*/
void OperatorControl()//teleop code
{
robotDrive.SetSafetyEnabled(false);
gyro.Reset();
grabEncoder.Reset();
timer.Start();
timer.Reset();
double liftHeight = 0; //variable for lifting thread
int liftHeightBoxes = 0; //another variable for lifting thread
int liftStep = 0; //height of step in inches
int liftRamp = 0; //height of ramp in inches
double grabPower;
bool backOut;
uint8_t toSend[10];//array of bytes to send over I2C
uint8_t toReceive[10];//array of bytes to receive over I2C
uint8_t numToSend = 1;//number of bytes to send
uint8_t numToReceive = 0;//number of bytes to receive
toSend[0] = 1;//set the byte to send to 1
i2c.Transaction(toSend, 1, toReceive, 0);//send over I2C
bool isGrabbing = false;//whether or not grabbing thread is running
bool isLifting = false;//whether or not lifting thread is running
bool isBraking = false;//whether or not braking thread is running
float driveX = 0;
float driveY = 0;
float driveZ = 0;
float driveGyro = 0;
bool liftLastState = false;
bool liftState = false; //button pressed
double liftLastTime = 0;
double liftTime = 0;
bool liftRan = true;
Timer switchTimer;
Timer grabTimer;
switchTimer.Start();
grabTimer.Start();
while (IsOperatorControl() && IsEnabled())
{
// Use the joystick X axis for lateral movement, Y axis for forward movement, and Z axis for rotation.
// This sample does not use field-oriented drive, so the gyro input is set to zero.
toSend[0] = 1;
numToSend = 1;
driveX = driveStick.GetRawAxis(Constants::driveXAxis);//starts driving code
driveY = driveStick.GetRawAxis(Constants::driveYAxis);
driveZ = driveStick.GetRawAxis(Constants::driveZAxis);
driveGyro = gyro.GetAngle() + Constants::driveGyroTeleopOffset;
if (driveStick.GetRawButton(Constants::driveOneAxisButton)) {//if X is greater than Y and Z, then it will only go in the direction of X
toSend[0] = 6;
numToSend = 1;
if (fabs(driveX) > fabs(driveY) && fabs(driveX) > fabs(driveZ)) {
driveY = 0;
driveZ = 0;
}
else if (fabs(driveY) > fabs(driveX) && fabs(driveY) > fabs(driveZ)) {//if Y is greater than X and Z, then it will only go in the direction of Y
driveX = 0;
driveZ = 0;
}
else {//if Z is greater than X and Y, then it will only go in the direction of Z
driveX = 0;
driveY = 0;
}
}
if (driveStick.GetRawButton(Constants::driveXYButton)) {//Z lock; only lets X an Y function
toSend[0] = 7;
driveZ = 0;//Stops Z while Z lock is pressed
}
if (!driveStick.GetRawButton(Constants::driveFieldLockButton)) {//robot moves based on the orientation of the field
driveGyro = 0;//gyro stops while field lock is enabled
}
driveX = Constants::scaleJoysticks(driveX, Constants::driveXDeadZone, Constants::driveXMax * (.5 - (driveStick.GetRawAxis(Constants::driveThrottleAxis) / 2)), Constants::driveXDegree);
driveY = Constants::scaleJoysticks(driveY, Constants::driveYDeadZone, Constants::driveYMax * (.5 - (driveStick.GetRawAxis(Constants::driveThrottleAxis) / 2)), Constants::driveYDegree);
driveZ = Constants::scaleJoysticks(driveZ, Constants::driveZDeadZone, Constants::driveZMax * (.5 - (driveStick.GetRawAxis(Constants::driveThrottleAxis) / 2)), Constants::driveZDegree);
robotDrive.MecanumDrive_Cartesian(driveX, driveY, driveZ, driveGyro);//makes the robot drive
if (pdp.GetCurrent(Constants::grabPdpChannel) < Constants::grabManualCurrent) {
pickup.setGrabber(Constants::scaleJoysticks(grabStick.GetX(), Constants::grabDeadZone, Constants::grabMax, Constants::grabDegree)); //defines the grabber
if(grabTimer.Get() < 1) {
toSend[0] = 6;
}
}
else {
pickup.setGrabber(0);
grabTimer.Reset();
toSend[0] = 6;
}
if (Constants::grabLiftInverted) {
pickup.setLifter(-Constants::scaleJoysticks(grabStick.GetY(), Constants::liftDeadZone, Constants::liftMax, Constants::liftDegree)); //defines the lifter
}
else {
pickup.setLifter(Constants::scaleJoysticks(grabStick.GetY(), Constants::liftDeadZone, Constants::liftMax, Constants::liftDegree)); //defines the lifter
}
SmartDashboard::PutNumber("Lift Power", Constants::scaleJoysticks(grabStick.GetY(), Constants::liftDeadZone, Constants::liftMax, Constants::liftDegree));
SmartDashboard::PutBoolean("Is Lifting", isLifting);
if (Constants::scaleJoysticks(grabStick.GetY(), Constants::liftDeadZone, Constants::liftMax, Constants::liftDegree) != 0 || isLifting) { //if the robot is lifting
isBraking = false; //stop braking thread
SmartDashboard::PutBoolean("Braking", false);
}
else if(!isBraking) {
isBraking = true; //run braking thread
pickup.lifterBrake(isBraking);//brake the pickup
}
if (grabStick.GetRawButton(Constants::liftFloorButton)) {
liftHeight = 0;
pickup.lifterPosition(liftHeight, isLifting, grabStick);//start lifting thread
liftRan = true;
}
liftTime = timer.Get();
liftState = grabStick.GetRawButton(Constants::liftButton);
if (liftState) { //if button is pressed
if (!liftLastState) {
if (liftTime - liftLastTime < Constants::liftMaxTime) {
if (liftHeightBoxes < Constants::liftMaxHeightBoxes) {
liftHeightBoxes++; //adds 1 to liftHeightBoxes
}
}
else {
liftHeightBoxes = 1;
liftRamp = 0;
liftStep = 0;
}
}
liftLastTime = liftTime;
liftLastState = true;
liftRan = false;
}
else if (grabStick.GetRawButton(Constants::liftRampButton)) {
if (liftTime - liftLastTime > Constants::liftMaxTime) {
liftHeight = 0;
liftStep = 0;
}
liftRamp = 1; //prepares to go up ramp
liftLastTime = liftTime;
liftRan = false;
}
else if (grabStick.GetRawButton(Constants::liftStepButton)) {
if (liftTime - liftLastTime > Constants::liftMaxTime) {
liftHeight = 0;
liftRamp = 0;
}
liftStep = 1; //prepares robot for step
liftLastTime = liftTime;
liftRan = false;
}
else {
if (liftTime - liftLastTime > Constants::liftMaxTime && !liftRan) {
liftHeight = liftHeightBoxes * Constants::liftBoxHeight + liftRamp * Constants::liftRampHeight + liftStep * Constants::liftStepHeight; //sets liftHeight
if (liftHeightBoxes > 0) {
liftHeight -= Constants::liftBoxLip;
}
pickup.lifterPosition(liftHeight, isLifting, grabStick);//start lifting thread
liftRan = true;
}
liftLastState = false;
}
if (grabStick.GetRawButton(Constants::grabToteButton)) {//if grab button is pressed
grabPower = Constants::grabToteCurrent;
backOut = true;
if (!isGrabbing) {
pickup.grabberGrab(isGrabbing, grabPower, backOut, grabStick);//start grabber thread
}
}
else if (grabStick.GetRawButton(Constants::grabBinButton)) {//if grab button is pressed
grabPower = Constants::grabBinCurrent;
backOut = false;
if (!isGrabbing) {
pickup.grabberGrab(isGrabbing, grabPower, backOut, grabStick);//start grabber thread
}
}
else if (grabStick.GetRawButton(Constants::grabChuteButton)) {//if grab button is presset
SmartDashboard::PutBoolean("Breakpoint -2", false);
SmartDashboard::PutBoolean("Breakpoint -1", false);
SmartDashboard::PutBoolean("Breakpoint 0", false);
SmartDashboard::PutBoolean("Breakpoint 1", false);
SmartDashboard::PutBoolean("Breakpoint 2", false);
SmartDashboard::PutBoolean("Breakpoint 3", false);
SmartDashboard::PutBoolean("Breakpoint 4", false);
//Wait(.5);
if (!isGrabbing) {
//pickup.grabberChute(isGrabbing, grabStick);//start grabber thread
}
}
//determines what the LED's look like based on what the Robot is doing
if (isGrabbing) {
toSend[0] = 5;
numToSend = 1;
}
if (isLifting) {//if the grabbing thread is running
if (Constants::encoderToDistance(liftEncoder.Get(),Constants::liftEncoderTicks, Constants::liftEncoderBase, Constants::liftEncoderRadius) < liftHeight) {
toSend[0] = 3;
}
else {
toSend[0] = 4;
}
numToSend = 1;//sends 1 byte to I2C
}
if(!grabOuterLimit.Get()) { //tells if outer limit is hit with lights
if(switchTimer.Get() < 1) {
toSend[0] = 6;
}
}
else {
switchTimer.Reset();
}
if (driveStick.GetRawButton(Constants::sneakyMoveButton)) {
toSend[0] = 0;
numToSend = 1;
}
float distance = prox.GetVoltage() * Constants::ultrasonicVoltageToInches / 12; // distance from ultrasonic sensor
float rotations = (float) liftEncoder.Get(); // rotations on encoder
SmartDashboard::PutNumber("Distance", distance); // write stuff to smart dash
SmartDashboard::PutNumber("Current", pdp.GetCurrent(Constants::grabPdpChannel));
SmartDashboard::PutNumber("LED Current", pdp.GetCurrent(Constants::ledPdpChannel));
SmartDashboard::PutNumber("Lift Encoder", rotations);
SmartDashboard::PutNumber("Lift Height", liftHeight);
SmartDashboard::PutNumber("Grab Encoder", grabEncoder.Get());
SmartDashboard::PutBoolean("Grab Inner", grabInnerLimit.Get());
SmartDashboard::PutBoolean("Grab Outer", grabOuterLimit.Get());
SmartDashboard::PutNumber("Drive Front Left Current", pdp.GetCurrent(Constants::driveFrontLeftPin));
SmartDashboard::PutNumber("Drive Front Right Current", pdp.GetCurrent(Constants::driveFrontRightPin));
SmartDashboard::PutNumber("Drive Rear Left Current", pdp.GetCurrent(Constants::driveRearLeftPin));
SmartDashboard::PutNumber("Drive Rear Right Current", pdp.GetCurrent(Constants::driveRearRightPin));
SmartDashboard::PutNumber("Throttle", grabStick.GetZ());
i2c.Transaction(toSend, 1, toReceive, 0);//send and receive information from arduino over I2C
Wait(0.005); // wait 5ms to avoid hogging CPU cycles
} //end of teleop
isBraking = false;
toSend[0] = 0;
i2c.Transaction(toSend, numToSend, toReceive, numToReceive);
}
void Autonomous()
{
Timer timer;
float power = 0;
bool isLifting = false;
bool isGrabbing = false;
double liftHeight = Constants::liftBoxHeight-Constants::liftBoxLip;
double grabPower = Constants::grabAutoCurrent;
bool backOut;
uint8_t toSend[1];//array of bytes to send over I2C
uint8_t toReceive[0];//array of bytes to receive over I2C
uint8_t numToSend = 1;//number of bytes to send
uint8_t numToReceive = 0;//number of bytes to receive
toSend[0] = 2;//set the byte to send to 1
i2c.Transaction(toSend, numToSend, toReceive, numToReceive);//send over I2C
bool isSettingUp = true;
//pickup.setGrabber(-1); //open grabber all the way
pickup.setLifter(0.8);
while (isSettingUp && IsEnabled() && IsAutonomous()) {
isSettingUp = false;
/*if (grabOuterLimit.Get() == false) {
pickup.setGrabber(0); //open until limit
}
else {
isSettingUp = true;
}*/
if (liftLowerLimit.Get()) {
pickup.setLifter(0); //down till bottom
}
else {
isSettingUp = true;
}
}
gyro.Reset();
liftEncoder.Reset();
grabEncoder.Reset();
if (grabStick.GetZ() > .8) {
timer.Reset();
timer.Start();
while (timer.Get() < 1) {
robotDrive.MecanumDrive_Cartesian(0, power, 0, gyro.GetAngle()); // drive back
if(power>-.4){
power-=0.005;
Wait(.005);
}
}
robotDrive.MecanumDrive_Cartesian(0, 0, 0, gyro.GetAngle()); // STOP!!!
timer.Stop();
timer.Reset();
Wait(1);
}
power = 0;
while (isLifting && IsEnabled() && IsAutonomous()) {
Wait(.005);
}
backOut = Constants::autoBackOut;
pickup.grabberGrab(isGrabbing, grabPower, backOut, grabStick);
Wait(.005);
while (isGrabbing && IsEnabled() && IsAutonomous()) {
Wait(.005);
}
liftHeight = 3*Constants::liftBoxHeight;
Wait(.005);
pickup.lifterPosition(liftHeight, isLifting, grabStick);
Wait(.005);
while (isLifting && IsEnabled() && IsAutonomous()) {
Wait(.005);
}
while(prox.GetVoltage() * Constants::ultrasonicVoltageToInches / 12 < 2 && IsEnabled() && IsAutonomous()); // while the nearest object is closer than 2 feet
timer.Start();
while(prox.GetVoltage() * Constants::ultrasonicVoltageToInches < Constants::autoBackupDistance && timer.Get() < Constants::autoMaxDriveTime && IsEnabled() && IsAutonomous()) { // while the nearest object is further than 12 feet
if (power < .45) { //ramp up the power slowly
power += .00375;
}
robotDrive.MecanumDrive_Cartesian(0, power, 0, gyro.GetAngle()); // drive back
float distance = prox.GetVoltage() * Constants::ultrasonicVoltageToInches / 12; // distance from ultrasonic sensor
SmartDashboard::PutNumber("Distance", distance); // write stuff to smart dash
SmartDashboard::PutNumber("Drive Front Left Current", pdp.GetCurrent(Constants::driveFrontLeftPin));
SmartDashboard::PutNumber("Drive Front Right Current", pdp.GetCurrent(Constants::driveFrontRightPin));
SmartDashboard::PutNumber("Drive Rear Left Current", pdp.GetCurrent(Constants::driveRearLeftPin));
SmartDashboard::PutNumber("Drive Rear Right Current", pdp.GetCurrent(Constants::driveRearRightPin));
SmartDashboard::PutNumber("Gyro Angle", gyro.GetAngle());
SmartDashboard::PutNumber("Distance (in)", prox.GetVoltage() * Constants:: ultrasonicVoltageToInches);
Wait(.005);
}
timer.Reset();
while(timer.Get() < Constants::autoBrakeTime && IsEnabled() && IsAutonomous()) { // while the nearest object is further than 12 feet
robotDrive.MecanumDrive_Cartesian(0,Constants::autoBrakePower,0); ///Brake
}
float turn = 0;
while (fabs(turn) < 85 && IsEnabled() && IsAutonomous()) { //turn 90(ish) degrees
robotDrive.MecanumDrive_Cartesian(0,0,.1);
turn = gyro.GetAngle();
if (turn > 180) {
turn -= 360;
}
}
robotDrive.MecanumDrive_Cartesian(0,0,0); ///STOP!!!
timer.Stop();
toSend[0] = 8;
i2c.Transaction(toSend, numToSend, toReceive, numToReceive);
while(IsAutonomous() && IsEnabled());
toSend[0] = 0;
i2c.Transaction(toSend, numToSend, toReceive, numToReceive);
}