// 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);
}
// 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);
}
// InitiateLoad
// * Begins a load of the catapult by running the winch motor.
void InitiateLoad()
{
if (!loaded)
{
rightWinch.Set(WINCH_FWD);
leftWinch.Set(-WINCH_FWD);
// Start a timer
loadingTimer.Start();
loading = true;
}
}
// LaunchCatapult
// * If in the correct state to launch (loaded), launches the catapult.
void LaunchCatapult()
{
if (loaded)
{
winch.Set(WINCH_FWD);
for (int i = 0; i < 75; i++)
{
if (IsOperatorControl())
{
robotDrive.ArcadeDrive(rightStick.GetY(), -rightStick.GetX());
}
Wait (0.01);
}
// Wait(CATAPULT_SHOOT_WAIT);
winch.Set(0.0);
loaded = false;
}
}
// LaunchCatapult
// * If in the correct state to launch (loaded), launches the catapult.
void LaunchCatapult()
{
if (loaded)
{
rightWinch.Set(WINCH_FWD);
leftWinch.Set(-WINCH_FWD);
// Change if "limit switch not hitting" problem occurs. make 75.
for (int i = 0; i < 37; i++)
{
if (IsOperatorControl())
{
robotDrive.ArcadeDrive(rightStick.GetY(), -rightStick.GetX());
}
Wait (0.01);
}
// Wait(CATAPULT_SHOOT_WAIT);
rightWinch.Set(0.0);
leftWinch.Set(0.0);
loaded = false;
}
}
