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LordSwerve.c
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LordSwerve.c
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#ifndef LordSwerve_h
#define LordSwerve_h
#include "FTC_PID.c"
//#include "FTC_Gyro.c"
#include "drivers/HTSPB-driver.h"
typedef struct
{
PID turnPID;
int driveSpeed;
TServoIndex turnMotor;
int turnZeroOffset;
tMotor driveMotor;
bool inverted;
int pos;
bool driveMotorInverted;
int number;
} SwerveModule;
/*
float atan2(float x, float y)
{
float a;
if (x>0) a = atan(y/x);
if (y>=0 && x<0) a = atan(y/x) + PI;
if (y<0 && x<0) a = atan(y/x) - PI;
if (y>0 && x==0) a = PI/2.0;
if (y<0 && x==0) a =-PI/2.0;
if (x==0 && y==0) a = 0;
return a;
}*/
void initSwerveModule(int number, tMotor driveMotor, TServoIndex turnMotor, bool inverted = false, int turnZeroOffset);
void updateSwerveModule(SwerveModule &swerveModule);
SwerveModule modules[4];
/* Swerve Drive */
void initSwerveDrive()
{
initSwerveModule(0, 1, pod0Steer, false, -5);
initSwerveModule(1, 2, pod1Steer, false, 0);
initSwerveModule(2, 3, pod2Steer, true, 0);
initSwerveModule(3, 4, pod3Steer, false, 0);
servo[pod0Steer] = 127;
servo[pod1Steer] = 127;
servo[pod2Steer] = 127;
servo[pod3Steer] = 127;
}
void updateSwerveDrive()
{
updateSwerveModule(modules[0]);
}
/* Swerve module library */
void initSwerveModule(int number, tMotor driveMotor, TServoIndex turnMotor, bool inverted, int turnZeroOffset)
{
initPID(modules[number].turnPID, 0.01, 0, 0);
modules[number].turnPID.target = 200;
modules[number].turnMotor = turnMotor;
modules[number].driveMotor = driveMotor;
modules[number].number = number;
modules[number].inverted = inverted;
modules[number].turnZeroOffset = turnZeroOffset;
int reading = HTSPBreadADC(proto, number, 8);
}
void setModuleTarget(int module, int target)
{
if ( modules[module].inverted )
target = 255-target;
modules[module].turnPID.target = target;
}
void setRawModuleTarget(int module, int target)
{
modules[module].turnPID.target = target;
}
void setModuleSpeed(int module, int target)
{
modules[module].driveSpeed = target;
}
bool moduleAtTarget(int module)
{
return abs(modules[module].turnPID.error) < 180;
}
void updateSwerveModule(SwerveModule &swerveModule)
{
int reading = HTSPBreadADC(proto, swerveModule.number, 8);
int turnSpeed = calcPID(swerveModule.turnPID, reading);
if ( swerveModule.inverted )
turnSpeed = -turnSpeed;
servo[swerveModule.turnMotor] = -(turnSpeed+(swerveModule.turnZeroOffset+127));
nxtDisplayString(5, "%i", -(turnSpeed+(swerveModule.turnZeroOffset+127)));
/*
if ( abs(swerveModule.driveSpeed) > 10 )
motor[swerveModule.driveMotor] = (swerveModule.driveMotorInverted?-swerveModule.driveSpeed:swerveModule.driveSpeed);
else if ( turnSpeed > 10 )
motor[swerveModule.driveMotor] = -13;
else if ( turnSpeed < -10 )
motor[swerveModule.driveMotor] = 13;
else
motor[swerveModule.driveMotor] = 0;
*/
}
/* Drive Modes */
/*
void fieldCentricCrab()
{
int magnitude = sqrt(pow(joystick.joy1_y1, 2)+pow(joystick.joy1_x1, 2));
int angle = radiansToDegrees(atan2(joystick.joy1_x1,joystick.joy1_y1));
int target = (int)floor(1.41666666*angle);
if (magnitude > 30 )
magnitude = 30;
if ( joystick.joy1_y1 < 0 )
magnitude = -magnitude;
if ( !(moduleAtTarget(0)&&moduleAtTarget(1)&&moduleAtTarget(2)&&moduleAtTarget(3)) )
magnitude = 0;
setModuleTarget(0, target);
/* for ( int i = 0; i < 4; i++ )
{
//setModuleSpeed(i, magnitude);
//nxtDisplayString(i, "%i - %i", i, HTSPBreadADC(proto, i, 10));
}
}
void chassisRotation()
{
int magnitude = joystick.joy1_x2;
// Turn diags together
setRawModuleTarget(0, 212);
setRawModuleTarget(2, 311);
setRawModuleTarget(1, 231);
setRawModuleTarget(3, 276);
if ( !(moduleAtTarget(0)&&moduleAtTarget(1)&&moduleAtTarget(2)&&moduleAtTarget(3)) )
magnitude = 0;
for ( int i = 0; i < 4; i++ )
{
setModuleSpeed(i, magnitude);
}
}
*/
/*
void snakeDrive()
{
float insideA = 0;
float outsideA = 0;
static float l = 18;
static float w = 18;
float Acl = 0;
Acl = toRadians(10);
float Rcl = l/(2*sin(Acl));
float Rcp = (l/2)/tan(Acl);
outsideA = atan((l/2)/(Rcp+(w/2)));
if ( Rcp == w/2 )
{
insideA = PI/2;
}
else if ( Rcp > w/2 )
{
insideA = atan((l/2)/(Rcp-w/2));
}
else if ( Rcp < w/2 )
{
insideA = PI-atan((l/2)/(Rcp-w/2));
}
outsideA = radiansToDegrees(outsideA);
insideA = radiansToDegrees(insideA);
}
*/
#endif