void initRobot () {
cerr << "running init\n";
Dlf->EnableControl(0);
Dlb->EnableControl(0);
Drf->EnableControl(0);
Drb->EnableControl(0);
arm1->EnableControl();
arm1_sec->EnableControl();
arm2->EnableControl();
Dlf->ConfigEncoderCodesPerRev(250);
Dlf->SetPID(1,0,0);
Dlb->ConfigEncoderCodesPerRev(250);
Dlb->SetPID(1,0,0);
Drf->ConfigEncoderCodesPerRev(250);
Drf->SetPID(1,0,0);
Drb->ConfigEncoderCodesPerRev(250);
Drb->SetPID(1,0,0);
Wait(.1);
if(robotInted==false) {
int count=220;
arm2->Set(-.3);
while(count-->0 && LimitClaw.Get() == 1) Wait(.005);
arm2->Set(.15);
while(count-->0 && LimitClaw.Get() == 0) Wait(.005);
arm2->Set(0);
if(count>0)
EncClaw.Reset();
arm1->Set(-.3);
arm1_sec->Set(-.3);
while(count-->0 && LimitArm.Get() == 1) Wait(.005);
arm1->Set(.5);
arm1_sec->Set(.5);
while(count-->0 && LimitArm.Get() == 0) Wait(.005);
if(count>0)
EncArm.Reset();
arm1->Set(0);
arm1_sec->Set(0);
robotInted = true;
}
}
void RawControl::resetArm()
{
arm->SetPID(-5, 0, 0);
arm->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
arm->SetSafetyEnabled(false);
arm->SetPositionReference(CANJaguar::kPosRef_Potentiometer);
arm->ConfigEncoderCodesPerRev(1);
arm->EnableControl(0);
}
void MecanumDrive::InitMotor( CANJaguar& motor )
{
motor.ChangeControlMode( m_currControlMode );
if ( m_currControlMode == CANJaguar::kSpeed )
{
motor.ConfigEncoderCodesPerRev(360);
motor.ConfigMaxOutputVoltage(12.0);
motor.ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
motor.SetPID(.7,.004,0);
motor.SetSpeedReference(CANJaguar::kSpeedRef_QuadEncoder);
}
motor.EnableControl();
}
void RawControl::checkJag()
{
if(frontRight->GetFaults()!=0)
{
frontRight->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
frontRight->SetSafetyEnabled(false);
frontRight->ConfigEncoderCodesPerRev(360);
frontRight->EnableControl(0);
}
if(frontLeft->GetFaults()!=0)
{
frontLeft->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
frontLeft->SetSafetyEnabled(false);
frontLeft->ConfigEncoderCodesPerRev(360);
frontLeft->EnableControl(0);
}
if(backLeft->GetFaults()!=0)
{
backLeft->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
backLeft->SetSafetyEnabled(false);
backLeft->ConfigEncoderCodesPerRev(360);
backLeft->EnableControl(0);
}
if(backRight->GetFaults()!=0)
{
backRight->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
backRight->SetSafetyEnabled(false);
backRight->ConfigEncoderCodesPerRev(360);
backRight->EnableControl(0);
}
if(arm->GetFaults()!=0)
{
arm->SetPID(ARM_P, -.02, 0);
arm->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
arm->SetSafetyEnabled(false);
arm->ConfigMaxOutputVoltage(13);
arm->SetPositionReference(CANJaguar::kPosRef_Potentiometer);
arm->ConfigPotentiometerTurns(1);
arm->EnableControl(0);
}
}
//CHECK THIS OUT!!
void RawControl::configJags() {
//will need to be tuned on the new robot
frontLeft->SetPID(3, .07, 0);//tested values are 1,.02,0
frontRight->SetPID(3, .09, 0);
backLeft->SetPID(1, .013, 0);
backRight->SetPID(1.2, .013, 0);
arm->SetPID(ARM_P, -.02, 0);
backLeft->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
frontLeft->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
frontRight->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
backRight->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
arm->ConfigNeutralMode(CANJaguar::kNeutralMode_Brake);
//shoot everything remotely safety related
backLeft->SetSafetyEnabled(false);
backRight->SetSafetyEnabled(false);
frontLeft->SetSafetyEnabled(false);
frontRight->SetSafetyEnabled(false);
arm->SetSafetyEnabled(false);
frontLeft->ConfigMaxOutputVoltage(13);
frontRight->ConfigMaxOutputVoltage(13);
backLeft->ConfigMaxOutputVoltage(13);
backRight->ConfigMaxOutputVoltage(13);
arm->ConfigMaxOutputVoltage(13);
frontLeft->SetSpeedReference(CANJaguar::kSpeedRef_Encoder);
frontRight->SetSpeedReference(CANJaguar::kSpeedRef_Encoder);
backRight->SetSpeedReference(CANJaguar::kSpeedRef_Encoder);
backLeft->SetSpeedReference(CANJaguar::kSpeedRef_Encoder);
arm->SetPositionReference(CANJaguar::kPosRef_Potentiometer);
//not sure on these values either
frontLeft->ConfigEncoderCodesPerRev(360);
frontRight->ConfigEncoderCodesPerRev(360);
backLeft->ConfigEncoderCodesPerRev(360);
backRight->ConfigEncoderCodesPerRev(360);
arm->ConfigPotentiometerTurns(1);
frontLeft->ChangeControlMode(CANJaguar::kPercentVbus);
frontRight->ChangeControlMode(CANJaguar::kPercentVbus);
backLeft->ChangeControlMode(CANJaguar::kPercentVbus);
backRight->ChangeControlMode(CANJaguar::kPercentVbus);
frontLeft->EnableControl(0);
frontRight->EnableControl(0);
backLeft->EnableControl(0);
backRight->EnableControl(0);
frontLeft->ConfigFaultTime(0);
backLeft->ConfigFaultTime(0);
backRight->ConfigFaultTime(0);
frontRight->ConfigFaultTime(0);
arm->ConfigFaultTime(0);
arm->EnableControl(0);
arm->EnableControl(0);
/*
fl=new CANJaguar(2,CANJaguar::kSpeed);
fr=new CANJaguar(3,CANJaguar::kSpeed);
bl=new CANJaguar(4,CANJaguar::kSpeed);
br=new CANJaguar(1,CANJaguar::kSpeed);
fl->SetSpeedReference(CANJaguar::kSpeedRef_Encoder);
fr->SetSpeedReference(CANJaguar::kSpeedRef_Encoder);
br->SetSpeedReference(CANJaguar::kSpeedRef_Encoder);
bl->SetSpeedReference(CANJaguar::kSpeedRef_Encoder);
fl->ConfigEncoderCodesPerRev(1440);
fr->ConfigEncoderCodesPerRev(1440);
bl->ConfigEncoderCodesPerRev(1440);
br->ConfigEncoderCodesPerRev(1440);
*/
}
void RunWheels()
{
// uint32_t t0, t1, t2, t3;
// schedule updates to avoid overloading CAN bus or CPU
switch (report++) {
case 12: // 240 milliseconds
report = 0; // reset counter
case 0:
// Update PID parameters
double newP = SmartDashboard::GetNumber("Shooter P");
double newI = SmartDashboard::GetNumber("Shooter I");
double newD = SmartDashboard::GetNumber("Shooter D");
if (newP != kP || newI != kI || newD != kD) {
kP = newP;
kI = newI;
kD = newD;
#ifdef HAVE_TOP_WHEEL
if (topPID) {
#ifdef HAVE_TOP_CAN1
; // topWheel1->SetPID( kP, kI, kD );
#endif
#ifdef HAVE_TOP_CAN2
topWheel2->SetPID( kP, kI, kD );
#endif
}
#endif
#ifdef HAVE_BOTTOM_WHEEL
if (bottomPID) {
#ifdef HAVE_BOTTOM_CAN1
; // bottomWheel1->SetPID( kP, kI, kD );
#endif
#ifdef HAVE_BOTTOM_CAN2
bottomWheel2->SetPID( kP, kI, kD );
#endif
}
#endif
}
break;
case 4: // 80 milliseconds
#ifdef HAVE_TOP_WHEEL
//t0 = GetFPGATime();
// Get top output voltage, current and measured speed
#ifdef HAVE_TOP_CAN1
double topI1 = topWheel1->GetOutputCurrent();
#endif
#ifdef HAVE_TOP_CAN2
double topI2 = topWheel2->GetOutputCurrent();
topJagSpeed = topWheel2->GetSpeed();
#endif
//t1 = GetFPGATime();
topTachSpeed = topTach->PIDGet();
#ifdef HAVE_TOP_CAN1
// stupid floating point!
Log(LOG_CURRENT, 1, (uint32_t)(topI1 * 1000 + 0.5));
#endif
#ifdef HAVE_TOP_CAN2
Log(LOG_CURRENT, 2, (uint32_t)(topI2 * 1000 + 0.5));
Log(LOG_SPEED, 2, (uint32_t)(topJagSpeed + 0.5));
#endif
// Send values to SmartDashboard
#ifdef HAVE_TOP_CAN1
SmartDashboard::PutNumber("Top Current 1", topI1);
#endif
#ifdef HAVE_TOP_CAN2
SmartDashboard::PutNumber("Top Current 2", topI2);
SmartDashboard::PutNumber("Top Jag ", topJagSpeed);
#endif
SmartDashboard::PutNumber("Top Tach ", topTachSpeed);
// Get setpoint
topSpeed = SmartDashboard::GetNumber("Top Set ");
//t2 = GetFPGATime();
if (spinFastNow) {
if (topPID) {
if (topJagSpeed < topSpeed * vbusThreshold) {
topPID = false;
// below threshold: switch both motors to full output
#ifdef HAVE_TOP_CAN1
jagVbus(topWheel1, maxOutput);
Log(LOG_MODE, 1, 1);
#endif
#ifdef HAVE_TOP_PWM1
topWheel1->Set(maxOutput);
Log(LOG_MODE, 1, 1);
#endif
#ifdef HAVE_TOP_CAN2
jagVbus(topWheel2, maxOutput);
Log(LOG_MODE, 2, 1);
#endif
} else {
; // above threshold: run motor 1 off, PID on motor 2
#ifdef HAVE_TOP_CAN1
topWheel1->Set(0.0);
#endif
#ifdef HAVE_TOP_PWM1
topWheel1->Set(0.0);
#endif
#ifdef HAVE_TOP_CAN2
topWheel2->Set(topSpeed);
#endif
}
} else {
if (topJagSpeed >= topSpeed * pidThreshold) {
; // above threshold: switch motor 1 off, motor 2 PID
topPID = true;
#ifdef HAVE_TOP_CAN1
topWheel1->Set(0.0);
#endif
#ifdef HAVE_TOP_PWM1
topWheel1->Set(0.0);
#endif
#ifdef HAVE_TOP_CAN2
jagPID(topWheel2, topSpeed);
Log(LOG_MODE, 2, 2);
#endif
} else {
; // below threshold: run both motors at full output
#ifdef HAVE_TOP_CAN1
topWheel1->Set(maxOutput);
#endif
#ifdef HAVE_TOP_PWM1
topWheel1->Set(maxOutput);
#endif
#ifdef HAVE_TOP_CAN2
topWheel2->Set(maxOutput);
#endif
}
}
//t3 = GetFPGATime();
//printf("%10u %10u %10u\n", (uint32_t)(t1 - t0), (uint32_t)(t2 - t1), (uint32_t)(t3 - t2));
}
#endif
break;
case 8: // 160 milliseconds
#ifdef HAVE_BOTTOM_WHEEL
// Get bottom output voltage, current and measured speed
//t0 = GetFPGATime();
#ifdef HAVE_BOTTOM_CAN1
double bottomI1 = bottomWheel1->GetOutputCurrent();
#endif
#ifdef HAVE_BOTTOM_CAN2
double bottomI2 = bottomWheel2->GetOutputCurrent();
bottomJagSpeed = bottomWheel2->GetSpeed();
#endif
//t1 = GetFPGATime();
bottomTachSpeed = bottomTach->PIDGet();
#ifdef HAVE_BOTTOM_CAN1
Log(LOG_CURRENT, 3, (uint32_t)(bottomI1 * 1000 + 0.5));
#endif
#ifdef HAVE_BOTTOM_CAN2
Log(LOG_CURRENT, 4, (uint32_t)(bottomI2 * 1000 + 0.5));
Log(LOG_SPEED, 4, (uint32_t)(bottomJagSpeed + 0.5));
#endif
// Send values to SmartDashboard
#ifdef HAVE_BOTTOM_CAN1
SmartDashboard::PutNumber("Bottom Current 1", bottomI1);
#endif
#ifdef HAVE_BOTTOM_CAN2
SmartDashboard::PutNumber("Bottom Current 2", bottomI2);
SmartDashboard::PutNumber("Bottom Jag ", bottomJagSpeed);
#endif
SmartDashboard::PutNumber("Bottom Tach ", bottomTachSpeed);
// Get setpoint
bottomSpeed = SmartDashboard::GetNumber("Bottom Set ");
//t2 = GetFPGATime();
if (spinFastNow) {
if (bottomPID) {
if (bottomJagSpeed < bottomSpeed * vbusThreshold) {
bottomPID = false;
// below threshold: switch both motors to full output
#ifdef HAVE_BOTTOM_CAN1
jagVbus(bottomWheel1, maxOutput);
Log(LOG_MODE, 3, 1);
#endif
#ifdef HAVE_BOTTOM_PWM1
bottomWheel1->Set(maxOutput);
Log(LOG_MODE, 3, 1);
#endif
#ifdef HAVE_BOTTOM_CAN2
jagVbus(bottomWheel2, maxOutput);
Log(LOG_MODE, 4, 1);
#endif
} else {
; // above threshold: run motor 1 off, PID on motor 2
#ifdef HAVE_BOTTOM_CAN1
bottomWheel1->Set(0.0);
#endif
#ifdef HAVE_BOTTOM_PWM1
bottomWheel1->Set(0.0);
#endif
#ifdef HAVE_BOTTOM_CAN2
bottomWheel2->Set(bottomSpeed);
#endif
}
} else {
if (bottomJagSpeed >= bottomSpeed * pidThreshold) {
// above threshold: switch motor 1 off, motor 2 PID
bottomPID = true;
#ifdef HAVE_BOTTOM_CAN1
bottomWheel1->Set(0.0);
#endif
#ifdef HAVE_BOTTOM_PWM1
bottomWheel1->Set(0.0);
#endif
#ifdef HAVE_BOTTOM_CAN2
jagPID(bottomWheel2, bottomSpeed);
Log(LOG_MODE, 4, 2);
#endif
} else {
; // below threshold: run both motors at full output
#ifdef HAVE_BOTTOM_CAN1
bottomWheel1->Set(maxOutput);
#endif
#ifdef HAVE_BOTTOM_PWM1
bottomWheel1->Set(maxOutput);
#endif
#ifdef HAVE_BOTTOM_CAN2
bottomWheel2->Set(maxOutput);
#endif
}
}
//t3 = GetFPGATime();
//printf("%10u %10u %10u\n", (uint32_t)(t1 - t0), (uint32_t)(t2 - t1), (uint32_t)(t3 - t2));
}
#endif
break;
}
}
// Shamelessly stolen from PCVideoServer
int DashboardCommandServer()
{
/* Setup to PC sockets */
struct sockaddr_in serverAddr;
int sockAddrSize = sizeof(serverAddr);
int pcSock = ERROR;
bzero ((char *) &serverAddr, sockAddrSize);
serverAddr.sin_len = (u_char) sockAddrSize;
serverAddr.sin_family = AF_INET;
serverAddr.sin_port = htons (kDashboardCommandPort);
serverAddr.sin_addr.s_addr = htonl (INADDR_ANY);
while (true)
{
taskSafe();
// Create the socket.
if ((pcSock = socket (AF_INET, SOCK_STREAM, 0)) == ERROR)
{
perror ("socket");
continue;
}
// Set the TCP socket so that it can be reused if it is in the wait state.
int reuseAddr = 1;
setsockopt(pcSock, SOL_SOCKET, SO_REUSEADDR, reinterpret_cast<char*>(&reuseAddr), sizeof(reuseAddr));
// Bind socket to local address.
if (bind (pcSock, (struct sockaddr *) &serverAddr, sockAddrSize) == ERROR)
{
perror ("bind");
close (pcSock);
continue;
}
// Create queue for client connection requests.
if (listen (pcSock, 1) == ERROR)
{
perror ("listen");
close (pcSock);
continue;
}
struct sockaddr_in clientAddr;
int clientAddrSize;
int newPCSock = accept (pcSock, reinterpret_cast<sockaddr*>(&clientAddr), &clientAddrSize);
if (newPCSock == ERROR)
{
close(pcSock);
continue;
}
char cmdBuffer[32];
char *pBuffer;
while(1)
{
int numBytes = 0;
pBuffer = cmdBuffer;
while (numBytes < 2 || (*(pBuffer-2) != '\r' && *(pBuffer-1) != '\n'))
{
numBytes += read(newPCSock, pBuffer++, 1);
}
char command = cmdBuffer[0];
switch (command)
{
case 'E':
speedJag.EnableControl();
//printf("Enable\n");
break;
case 'D':
speedJag.DisableControl();
//printf("Disable\n");
break;
case 'G':
{
double P, I, D;
memcpy((char*)&P, cmdBuffer+1, sizeof(double));
memcpy((char*)&I, cmdBuffer+9, sizeof(double));
memcpy((char*)&D, cmdBuffer+17, sizeof(double));
speedJag.SetPID(P, I, D);
//printf("Set- P: %f I: %f D: %f\n", P, I, D);
//P = speedJag.GetP();
//I = speedJag.GetI();
//D = speedJag.GetD();
//printf("Get- P: %f I: %f D: %f\n", P, I, D);
}
break;
}
//no point in running too fast -
Wait(0.01);
}
// Clean up
close (newPCSock);
newPCSock = ERROR;
close (pcSock);
pcSock = ERROR;
taskUnsafe();
Wait(0.1);
}
return (OK);
}