// Real Autonomous
// * Code to be run autonomously for the first ten (10) seconds of the match.
// * Launch catapult
// * Drive robot forward ENCODER_DIST ticks.
void Autonomous()
{
robotDrive.SetSafetyEnabled(false);
// STEP 1: Set all of the states.
// SAFETY AND SANITY - SET ALL TO ZERO
loaded = winchSwitch.Get();
loading = false;
intake.Set(0.0);
rightWinch.Set(0.0);
leftWinch.Set(0.0);
// STEP 2: Move forward to optimum shooting position
Drive(-AUTO_DRIVE_SPEED, SHOT_POSN_DIST);
// STEP 3: Drop the arm for a clean shot
arm.Set(DoubleSolenoid::kForward);
Wait(1.0); // Ken
// STEP 4: Launch the catapult
LaunchCatapult();
Wait (1.0); // Ken
// Get us fully into the zone for 5 points
Drive(-AUTO_DRIVE_SPEED, INTO_ZONE_DIST - SHOT_POSN_DIST);
// SAFETY AND SANITY - SET ALL TO ZERO
intake.Set(0.0);
rightWinch.Set(0.0);
leftWinch.Set(0.0);
}
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;
}
}
}
// CheckLoad
// * Checks if the winch switch has been pressed.
// ----> If yes, makes sure the state of the motors and variables is correct.
// * Should be called every tick of an operator control loop to ensure that
// the motor is shut off as soon as possible.
bool CheckLoad()
{
if (!IsEnabled())
{
winch.Set(0.0);
loaded = false;
loading = false;
return false;
}
// Switch is normally closed
if (loading && winchSwitch.Get())
{
winch.Set(0.0);
// Stop and reset the timer
loadingTimer.Stop();
loadingTimer.Reset();
loaded = true;
loading = false;
return false;
}
// Did the timer expire? Yikes shut down the winch
if (loadingTimer.HasPeriodPassed(10))
{
winch.Set(0.0);
// Stop and reset the timer
loadingTimer.Stop();
loadingTimer.Reset();
loaded = false;
loading = false;
return false;
}
return true;
}
// Test Autonomous
void Autonomous()
{
robotDrive.SetSafetyEnabled(false);
// STEP 1: Set all of the states.
// SAFETY AND SANITY - SET ALL TO ZERO
loaded = winchSwitch.Get();
loading = false;
intake.Set(0.0);
rightWinch.Set(0.0);
leftWinch.Set(0.0);
// STEP 2: Move forward to optimum shooting position
Drive(-AUTO_DRIVE_SPEED, SHOT_POSN_DIST);
// STEP 3: Drop the arm for a clean shot
arm.Set(DoubleSolenoid::kForward);
Wait(1.0); // Ken
// STEP 4: Launch the catapult
LaunchCatapult();
Wait (1.0); // Ken
if (ds->GetDigitalIn(1))
{
// STEP 5: Start the intake motor and backup to our origin position to pick up another ball
InitiateLoad();
intake.Set(-INTAKE_COLLECT);
while (CheckLoad());
Drive(AUTO_DRIVE_SPEED, SHOT_POSN_DIST);
Wait(1.0); // For the ball to collect
// STEP 6: Shut off the intake, bring up the arm and move to shooting position
intake.Set(0.0);
arm.Set(DoubleSolenoid::kReverse);
Wait (1.0); // "Settle down"
Drive(-AUTO_DRIVE_SPEED, SHOT_POSN_DIST);
// Step 7: drop the arm for a clean shot and shoot
arm.Set(DoubleSolenoid::kForward);
Drive(AUTO_DRIVE_SPEED, SHOT_POSN_DIST);
// UNTESTED KICKED OFF FIELD
Wait(1.0); // For arm to go down
LaunchCatapult();
}
// Get us fully into the zone for 5 points
Drive(-AUTO_DRIVE_SPEED, INTO_ZONE_DIST - SHOT_POSN_DIST);
// SAFETY AND SANITY - SET ALL TO ZERO
intake.Set(0.0);
rightWinch.Set(0.0);
leftWinch.Set(0.0);
}
// Code to be run during the remaining 2:20 of the match (after Autonomous())
//
// OperatorControl
// * Calls all the above methods
void OperatorControl()
{
// SAFETY AND SANITY - SET ALL TO ZERO
intake.Set(0.0);
rightWinch.Set(0.0);
leftWinch.Set(0.0);
arm.Set(DoubleSolenoid::kReverse);
/* TODO: Investigate. At least year's (GTR East) competition, we reached the conclusion that disabling this was
* the only way we could get out robot code to work (reliably). Should this be set to false?
*/
robotDrive.SetSafetyEnabled(false);
Timer clock;
int sanity = 0;
int bigSanity = 0;
loading = false;
loaded = winchSwitch.Get();
RegisterButtons();
gamepad.Update();
leftStick.Update();
compressor.Start();
while (IsOperatorControl() && IsEnabled())
{
clock.Start();
HandleDriverInputs();
HandleShooter();
HandleArm();
// HandleEject();
while (!clock.HasPeriodPassed(LOOP_PERIOD)); // add an IsEnabled???
clock.Reset();
sanity++;
if (sanity >= 100)
{
bigSanity++;
sanity = 0;
dsLCD->PrintfLine(DriverStationLCD::kUser_Line4, "%d", bigSanity);
}
gamepad.Update();
leftStick.Update();
dsLCD->UpdateLCD();
}
// SAFETY AND SANITY - SET ALL TO ZERO
intake.Set(0.0);
rightWinch.Set(0.0);
leftWinch.Set(0.0);
}
void OperatorControl(void)
{
myRobot.SetSafetyEnabled(true);
gamepad.EnableButton(BUTTON_COLLECTOR_FWD);
gamepad.EnableButton(BUTTON_COLLECTOR_REV);
gamepad.EnableButton(BUTTON_SHOOTER);
gamepad.EnableButton(BUTTON_CLAW_1_LOCKED);
gamepad.EnableButton(BUTTON_CLAW_2_LOCKED);
gamepad.EnableButton(BUTTON_CLAW_1_UNLOCKED);
gamepad.EnableButton(BUTTON_CLAW_2_UNLOCKED);
stick2.EnableButton(BUTTON_SHIFT);
// Set inital states for all switches and buttons
gamepad.Update();
indexSwitch.Update();
stick2.Update();
// Set initial states for all pneumatic actuators
shifter.Set(DoubleSolenoid::kReverse);
greenClaw.Set(DoubleSolenoid::kReverse);
yellowClaw.Set(DoubleSolenoid::kReverse);
compressor.Start ();
while (IsOperatorControl())
{
gamepad.Update();
stick2.Update();
indexSwitch.Update();
HandleCollectorInputs();
HandleDriverInputsManual();
HandleArmInputs();
HandleShooterInputs();
dsLCD->PrintfLine(DriverStationLCD::kUser_Line2, "Voltage: %f", potentiometer.GetVoltage()); dsLCD->UpdateLCD();
Wait(0.005); // wait for a motor update time
}
}
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");
}
void OperatorControl(void)
{
myRobot.SetSafetyEnabled(true);
gamepad.EnableButton(BUTTON_COLLECTOR_FWD);
gamepad.EnableButton(BUTTON_COLLECTOR_REV);
gamepad.EnableButton(BUTTON_SHOOTER);
gamepad.EnableButton(BUTTON_CLAW_1_LOCKED);
gamepad.EnableButton(BUTTON_CLAW_2_LOCKED);
gamepad.EnableButton(BUTTON_CLAW_1_UNLOCKED);
gamepad.EnableButton(BUTTON_CLAW_2_UNLOCKED);
gamepad.EnableButton(BUTTON_STOP_ALL);
gamepad.EnableButton(BUTTON_JOG_FWD);
gamepad.EnableButton(BUTTON_JOG_REV);
stick2.EnableButton(BUTTON_SHIFT);
// Set inital states for all switches and buttons
gamepad.Update();
indexSwitch.Update();
greenClawLockSwitch.Update();
yellowClawLockSwitch.Update();
stick2.Update();
// Set initial states for all pneumatic actuators
shifter.Set(DoubleSolenoid::kReverse);
greenClaw.Set(DoubleSolenoid::kReverse);
yellowClaw.Set(DoubleSolenoid::kReverse);
compressor.Start ();
while (IsOperatorControl())
{
gamepad.Update();
stick2.Update();
indexSwitch.Update();
greenClawLockSwitch.Update();
yellowClawLockSwitch.Update();
HandleCollectorInputs();
HandleDriverInputsManual();
HandleArmInputs();
HandleShooterInputs();
HandleResetButton();
UpdateStatusDisplays();
dsLCD->UpdateLCD();
Wait(0.005); // wait for a motor update time
}
}
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;
}
}
}
