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final-2013botcode_03-18-13.cpp
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final-2013botcode_03-18-13.cpp
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#include "WPILib.h"
#include "Math.h"
#include <PIDcontroller.h>
#define SHOOTER_COUNT 1
#define BOTDRIVE 1
/*
* Diary:
* 2/2/13 We made this diary.
2/9/13 We decided that this diary may end in a few days.
2/11/13 We ended this diary because we're too lazy to write.
2/12/13 Added 'dumb code' for Autonomous
also improved tank and arcade drive code.
2-18-13 autonomous code............... :D
2-19-13 Atonomous code is smarter..... :D
13/3/16 fixed some problems from Madera
TODO
- DSLCD rate experiment
- smart auton
- vision
*/
#define YEAR_2013 1
#define CAMERA 0
#define DUMB_DRIVE_CODE 0
#define INTELLIGENT_AUTONOMOUS 0
#define SHOOTER_STOP 1
#define JAGUAR_SWITCH 1
#define TIMER_RESET 0
//PWMs
#if YEAR_2013
const int left_drive_motor_A_PWM = 5;//1
const int left_drive_motor_B_PWM = 6;//2
const int right_drive_motor_A_PWM = 1;//5
const int right_drive_motor_B_PWM = 2;//6
const int shooter_front_motor = 4;//3
const int shooter_back_motor = 3; //4
const int climbing_motor_PWM = 7;
#else
const int left_drive_motor_A_PWM = 3;
const int right_drive_motor_A_PWM = 1;
const int shooter_front_motor = 4;
const int shooter_back_motor = 6;
#endif
// Joysticks
const int operator_joystick = 3;
const int right_stick = 2;
const int left_stick = 1;
// Joystick Buttons
// Driver Stick 1ls
const int arcade_button = 10;
const int tank_button = 11;
// Driver Stick 2
const int climber_off_button = 1;
const int climber_hold_down = 2;
const int climber_hold_up = 3;
const int climber_send_bottom = 10;
const int climber_send_top = 11;
// Operator Stick
const int shooter_piston_button = 1;
const int tilt_up_button = 5;
const int tilt_down_button = 4;
const int front_position_button = 3;
const int back_position_button_1 = 2;
const int back_position_button_2 = 6;
const int back_position_button_3 = 7;
const int back_position_button_4 = 11;
const int back_position_button_5 = 10;
const int dumper_button_A = 8;
const int dumper_button_B = 9;
//Speeds
const float front_position_RPS = 55;
const float back_position_RPS_1 = 46;// was 36.5 at 34 degrees
const float back_position_RPS_2 = 36.5;
const float back_position_RPS_3 = 38.0;
const float back_position_RPS_4 = 36.8;
const float back_position_RPS_5 = 36.9;
const float dumper_RPS = 20;
//Limit Switches -DI
const int top_claw_limit_switch_port = 6;
const int bottom_claw_limit_switch_port = 7;//7
//Encoders DI
const int shooter_motor_front_encoder_A_port = 1;//not changed
const int shooter_motor_front_encoder_B_port = 2;
#if YEAR_2013
const int shooter_motor_back_encoder_A_port = 8;//3 -> changed for testing
const int shooter_motor_back_encoder_B_port = 9;//4
#else
const int shooter_motor_back_encoder_A_port = 7;
const int shooter_motor_back_encoder_B_port = 8;
#endif
enum STATES
{
stabilizing, unstable, retracting, retract, fire
};
enum CLIMBER
{
sendup, go_up, go_down, stop
};
enum CLIMBER smart_climber_state = sendup;
enum STATES smart_autonomous_state = unstable;
//Solenoids
const int SHOOTER_ANGLE_SOLENOID_1 = 3;
const int SHOOTER_ANGLE_SOLENOID_2 = 4;
#if YEAR_2013
const int shooter_fire_piston_solenoid_A = 1;
const int shooter_fire_piston_solenoid_B = 2;
#else
const int shooter_fire_piston_solenoid_A = 4;
const int shooter_fire_piston_solenoid_B = 5;
#endif
//Variables
const double shooter_piston_delay = 1.0;
const float first_pterm = .4;
const float iterm = 0.0005;
const float dterm = 0.0;
//for auton fire- ask tony 4 more info
//fires
const int first_fire = 5;
const int second_fire = 9;
const int third_fire =13;
//retracts
const int first_retract = 6;
const int second_retract = 11;
const int third_retract = 14;
const float pidtime = 0.2;//0.03
const int Array_size = 32;
const int PRESSURE_SWITCH = 14;
const int compressor_enable = 2;
#if CAMERA
const char *AxisCameraIpAddr = "10.26.43.11";
#endif
const float shooter_motor_speed = 1.0;//this is for testing purposes, should be 1.0
const float piston_wait = 1.0;
const float fire_wait = 4.0;
const float up_to_speed_wait = 5.0;
const float Adjustment_Speed = 0.5;
//Arrays
const float distance_lookup_array[Array_size] =
{ 0.0, 1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0, 10.0, 11.0, 12.0, 13.0,
14.0, 15.0, 16.0, 17.0, 18.0, 19.0, 20.0, 21.0, 22.0, 23.0, 24.0, 25.0,
26.0, 27.0, 28.0, 29.0, 30.0, 31.0 };// placeholder values
class RobotDemo: public SimpleRobot
{
#if BOTDRIVE
RobotDrive *drive; // robot drive base object
#endif
DriverStation *ds; // driver station object for getting selections
//Joysticks
Joystick *drive_stick_sec;
Joystick *drive_stick_prim;
Joystick *operator_stick;
//Motors
#if JAGUAR_SWITCH
Jaguar *shooter_motor_front;
Jaguar *shooter_motor_back;
#else
Talon *shooter_motor_front;
Talon *shooter_motor_back;
#endif
Victor *climbing_motor;
#if DUMB_DRIVE_CODE
Victor *left_drive_motor_A;
Victor *left_drive_motor_B;
Victor *right_drive_motor_A;
Victor *right_drive_motor_B;
#endif
//Limit Swithes
DigitalInput *top_claw_limit_switch;
DigitalInput *bottom_claw_limit_switch;
//Encoders
//Encoder *RPS_encoder_1;
Encoder *front_shooter_encoder;
Encoder *back_shooter_encoder;
//Solenoids
Solenoid *left_shift_solenoid_1;
Solenoid *left_shift_solenoid_2;
Solenoid *shooter_angle_1;
Solenoid *shooter_angle_2;
Solenoid *shooter_fire_piston_A;
Solenoid *shooter_fire_piston_B;
//Timer
Timer *shooter_piston_timer;
Timer *loop_time_measure_timer;
Timer *VC_timer;
Timer *shooter_reset;
Timer *pid_code_timer;
Timer *autonomous_timer;
Timer *error_timer;
Timer *retraction_timer;
Timer *stabilizing_timer;
Timer *override_timer;
Timer *shooter_stop_timer;
//Compressor
Compressor *compressor1;
#if CAMERA
//Camera
AxisCamera *camera;
ColorImage *image;
#endif
//Driver Station
DriverStationLCD *dsLCD;
//Variables
int test_encoder_value;
int total_test_encoder_value;
int second_count;
int old_encoder_value;
int additive_error;
int counter;
int number;
int average_counter;
int cycle_counter;
float prev_desired_RPS;
float RPS_back;
float RPS_front;
float turret_speed;
float set_speed;
float speed2;
float old_RPS;
float new_RPS;
float average;
float test_speed;
float RPS_speed_front;
float RPS_speed_back;
float divided;
float ROC;
float error_front;
float error_back;
float integral_front;
float integral_back;
float derivitive_front;
float derivitive_back;
float prev_error_front;
float prev_error_back;
float shooter_motor_back_RPS;
float shooter_motor_front_RPS;
float accumerror;
float VC_error;
float preverror;
float current;
float dt;
float P;
float I;
float D;
float F;
float out;
float desired_RPS_control;
double old_timer;
bool first_press;
bool arcadedrive;
bool claw_;
bool claw_go_down;
bool button;
bool pickup_on;
bool switch_on;
bool kicker_piston_on;
bool kicker_button_on;
bool constant_;
bool constant_desired_RPS;
bool test_RPS;
bool slow_control;
public:
RobotDemo()
{
#if YEAR_2013
drive = new RobotDrive(left_drive_motor_A_PWM, left_drive_motor_B_PWM,
right_drive_motor_A_PWM, right_drive_motor_B_PWM);
drive->SetExpiration(15);
drive->SetSafetyEnabled(false);
#endif
drive->SetInvertedMotor(RobotDrive::kFrontRightMotor, true);
drive->SetInvertedMotor(RobotDrive::kFrontLeftMotor, true);
drive->SetInvertedMotor(RobotDrive::kRearRightMotor, true);
drive->SetInvertedMotor(RobotDrive::kRearLeftMotor, true);
//Joystick
//ds = new DriverStation();
drive_stick_sec = new Joystick(right_stick);
drive_stick_prim = new Joystick(left_stick);
operator_stick = new Joystick(operator_joystick);
//Motors
#if JAGUAR_SWITCH
shooter_motor_front = new Jaguar(shooter_front_motor);
shooter_motor_back = new Jaguar(shooter_back_motor);
#else
shooter_motor_front = new Talon(shooter_front_motor);
shooter_motor_back = new Talon(shooter_back_motor);
#endif
#if DUMB_DRIVE_CODE
left_drive_motor_A = new Victor(left_drive_motor_A_PWM);
left_drive_motor_B = new Victor(left_drive_motor_B_PWM);
right_drive_motor_A = new Victor(right_drive_motor_A_PWM);
right_drive_motor_B = new Victor(right_drive_motor_B_PWM);
#endif
#if YEAR_2013
climbing_motor = new Victor(climbing_motor_PWM);
#endif
//limit switches
top_claw_limit_switch = new DigitalInput(top_claw_limit_switch_port);
bottom_claw_limit_switch = new DigitalInput(
bottom_claw_limit_switch_port);
//Encoders
front_shooter_encoder = new Encoder(shooter_motor_front_encoder_A_port,
shooter_motor_front_encoder_B_port, false);
back_shooter_encoder = new Encoder(shooter_motor_back_encoder_A_port,
shooter_motor_back_encoder_B_port, false);
//solenoids
shooter_angle_1 = new Solenoid(SHOOTER_ANGLE_SOLENOID_1);
shooter_angle_2 = new Solenoid(SHOOTER_ANGLE_SOLENOID_2);
shooter_fire_piston_A = new Solenoid(shooter_fire_piston_solenoid_A);
shooter_fire_piston_B = new Solenoid(shooter_fire_piston_solenoid_B);
//Timers
shooter_piston_timer = new Timer();
VC_timer = new Timer();
loop_time_measure_timer = new Timer();
shooter_reset = new Timer();
pid_code_timer = new Timer();
autonomous_timer = new Timer();
error_timer = new Timer();
retraction_timer = new Timer();
override_timer = new Timer();
stabilizing_timer = new Timer();
shooter_stop_timer = new Timer();
//Compressor
compressor1 = new Compressor(PRESSURE_SWITCH, compressor_enable);
#if CAMERA
//Camera
camera = &(AxisCamera::GetInstance(AxisCameraIpAddr));
camera->WriteResolution(AxisCamera::kResolution_640x480);
AxisCamera::GetInstance();
#endif
//Function starter
compressor1 ->Start();
//float RPS;
//PIDController pid1 (0.1 , 0.001 ,0.0 , &RPS , test_motor );
loop_time_measure_timer ->Start();
VC_timer ->Start();
//Variable Initialization
arcadedrive = true;
test_encoder_value = 0;
total_test_encoder_value = 0;
old_RPS = 0;
new_RPS = 0;
second_count = 0;
set_speed = 0.5;
cycle_counter = 0;
//test_motor ->Set(set_speed);
// float RPS;
//int old_encoder_value;
//double old_timer;
speed2 = 0.0;
test_speed = 0.3;
button = false;
pickup_on = false;
switch_on = false;
kicker_piston_on = false;
kicker_button_on = false;
average_counter = 0;
counter = 1;
number = 1;
additive_error = 0;
prev_error_front = 0;
prev_desired_RPS = 0;
ROC = 0;
claw_ = false;
claw_go_down = false;
constant_ = false;
constant_desired_RPS = false;
divided = 0;
//RPS_encoder_1 = new Encoder(9, 10);// for 2012 robot
shooter_motor_back_RPS = shooter_motor_back->Get();
//RPS_encoder_1 -> SetDistancePerPulse(1 / 250);//TODO figure out how this works
first_press = true;
test_RPS = false;
desired_RPS_control = 0.0;
slow_control = 0;
//RPS_encoder_1 ->Start();
pid_code_timer ->Start();
front_shooter_encoder->Start();
back_shooter_encoder->Start();
autonomous_timer ->Start();
error_timer ->Start();
retraction_timer->Start();
stabilizing_timer->Start();
override_timer->Start();
}
void DriverLCD();
float lookup_distance_array(float distance);
void interpolated_test_code();
void pneumatic_feeder_code();
void pneumatic_shooter_angler_code();
void RPS_control_code(float desired_RPS);
void arcade_tank_code();
float cin_code_get();
void z_axis_control();
void climber_code();
void camera_test();
void printfs();
void dumb_drive_code();
void integral_reset();
void dump_code();
void constant_RPS_code();
void dumb_climber_code();
void intelligent_shooter();
void climber_state();
void pointer_test(Talon *Test_motor);
/*
* This function is called once each time the robot enters autonomous mode.
*/
void Autonomous()
{
GetWatchdog().SetEnabled(true);
autonomous_timer->Reset();
#if TIMER_RESET
pid_code_timer->Reset();
#endif
front_shooter_encoder->Reset();
back_shooter_encoder->Reset();
shooter_angle_1 ->Set(true);
shooter_angle_2 ->Set(false);
retraction_timer->Reset();
stabilizing_timer->Reset();
override_timer->Reset();
//shooter_motor_front->Set(0.8);
//shooter_motor_front->Set(0.8);
integral_back = 0.0;
integral_front = 0.0;
error_back = 0.0;
error_front = 0.0;
desired_RPS_control = back_position_RPS_1;
smart_autonomous_state = unstable;//default is unstable
while (IsAutonomous() && IsEnabled())
{
printfs();
GetWatchdog().Feed();
RPS_control_code(desired_RPS_control);
Wait(.001);
if (autonomous_timer->Get() >= first_fire && autonomous_timer->Get() <(first_fire + 1))//fire
{
shooter_fire_piston_A ->Set(false);
shooter_fire_piston_B ->Set(true);
}
if (autonomous_timer->Get() >= first_retract && autonomous_timer->Get() < (first_retract + 2))//retract
{
shooter_fire_piston_A ->Set(true);
shooter_fire_piston_B ->Set(false);
}
if (autonomous_timer->Get() >= second_fire && autonomous_timer->Get() < (second_fire + 1))//fire
{
shooter_fire_piston_A ->Set(false);
shooter_fire_piston_B ->Set(true);
}
if (autonomous_timer->Get() >= second_retract && autonomous_timer->Get() < (second_retract +2))//retract
{
shooter_fire_piston_A ->Set(true);
shooter_fire_piston_B ->Set(false);
}
if (autonomous_timer->Get() >= third_fire && autonomous_timer->Get() < (third_fire + 1))//fire
{
shooter_fire_piston_A ->Set(false);
shooter_fire_piston_B ->Set(true);
}
if (autonomous_timer->Get() >= third_retract)//final retract
{
shooter_fire_piston_A ->Set(true);
shooter_fire_piston_B ->Set(false);
}
}
autonomous_timer->Reset();
}
void OperatorControl()//TODO remember that this is the beginning of operator controll
{
printf(
"****************************VERSION .00017****************************\n");
#if CAMERA
AxisCamera &camera = AxisCamera::GetInstance("10.26.43.11");
#endif
GetWatchdog().SetEnabled(true);
shooter_reset ->Start();
#if TIMER_RESET
pid_code_timer->Reset();
#endif
front_shooter_encoder->Reset();
back_shooter_encoder->Reset();
/*float prev_error_front = 0;
float prev_error_back = 0;
int test_back = 5;
int test_front = 6;*/
integral_back = 0.0;
integral_front = 0.0;
desired_RPS_control = 0.0;
//RETRACTS PISTON WHEN TELEOP STARTS
override_timer->Reset();
stabilizing_timer ->Reset();
retraction_timer ->Reset();
shooter_fire_piston_A ->Set(true);
shooter_fire_piston_B ->Set(false);
shooter_stop_timer->Start();
while (IsOperatorControl() && IsEnabled())
{
GetWatchdog().Feed();
//---------------------Display Output---------------------------
dsLCD = DriverStationLCD::GetInstance();
DriverLCD();
//printf("PRINTFS\n");
printfs();
//-------------------------Climber-----------------------------
//climber_code();
//dumb_climber_code();
climber_state();
//---------------------------Drive-----------------------------
arcade_tank_code();
constant_RPS_code();
//dumb_drive_code(); // In case our smart code doesnt work
//--------------------------PID-------------------------------
integral_reset();
//-------------------------Shooter----------------------------
pneumatic_shooter_angler_code();
pneumatic_feeder_code();
//dump_code();
//intelligent_shooter();
//-------------------------Test Code--------------------------
//camera_test();
//cin_code_get();
//prev_error_back = RPS_control_code(shooter_motor_back, back_shooter_encoder, prev_error_back, desired_RPS_control);
//interpolated_test_code();
//pointer_test(shooter_motor_front);
//PIDController(first_pterm, iterm, dterm, front_shooter_encoder, shooter_motor_front);
//------------cRIO Housekeeping Timing-MUST HAVE--------------
Wait(0.005);
}//while operator
}//operator ctrl
};//class robot demo
void RobotDemo::DriverLCD()
{
if (cycle_counter >= 50)
{
dsLCD->Printf(DriverStationLCD::kUser_Line1, 1, "RPS Back:%f ",
RPS_back);
dsLCD->Printf(DriverStationLCD::kUser_Line2, 1, "RPS Front:%f ",
RPS_front);
dsLCD->Printf(DriverStationLCD::kUser_Line3, 1, "RPS DRPS:%f ",
desired_RPS_control);
#if 0
if (shooter_fire_piston_A->Get())
{
dsLCD->Printf(DriverStationLCD::kUser_Line4, 1,"Fire ");
}
else
{
dsLCD->Printf(DriverStationLCD::kUser_Line4, 1,"Retracting... ");
}
#endif
//dsLCD->Printf(DriverStationLCD::kUser_Line4, 1,"TopLS:%i BotLS:%i ", top_claw_limit_switch->Get(),
// bottom_claw_limit_switch ->Get());
if (top_claw_limit_switch->Get())
{
dsLCD->Printf(DriverStationLCD::kUser_Line4, 1, "!TOP");
}
else if (!bottom_claw_limit_switch->Get())
{
dsLCD->Printf(DriverStationLCD::kUser_Line4, 1, "!BOTTOM");
}
else
{
dsLCD->Printf(DriverStationLCD::kUser_Line4, 1, "Neither");
}
if (shooter_angle_1->Get())
{
dsLCD->Printf(DriverStationLCD::kUser_Line5, 1, "Up ");
}
else
{
dsLCD->Printf(DriverStationLCD::kUser_Line5, 1, "Down ");
}
if (arcadedrive)
{
dsLCD->Printf(DriverStationLCD::kUser_Line6, 1, "Arcade ");
}
else
{
dsLCD->Printf(DriverStationLCD::kUser_Line6, 1, "Tank ");
}
dsLCD->UpdateLCD();
//cycle_counter = 0;
}
//cycle_counter++;
}
void RobotDemo::climber_state()
{
switch (smart_climber_state)
{
case sendup:
if (top_claw_limit_switch->Get() != 1)
{
climbing_motor ->Set(1.0);
}
else
{
smart_climber_state = stop;
}
if (drive_stick_prim ->GetRawButton(3))
{
smart_climber_state = go_up;
}
if (drive_stick_prim ->GetRawButton(2))
{
smart_climber_state = go_down;
}
break;
case go_up:
if (drive_stick_prim ->GetRawButton(3)
&& bottom_claw_limit_switch->Get() != 1)
{
climbing_motor ->Set(1.0);
}
else
{
smart_climber_state = stop;
}
if (drive_stick_prim ->GetRawButton(2)
&& bottom_claw_limit_switch->Get() != 1)
{
smart_climber_state = go_down;
}
break;
case go_down:
if (drive_stick_prim ->GetRawButton(2)
&& bottom_claw_limit_switch->Get() != 1)
{
climbing_motor ->Set(-1.0);
}
else
{
smart_climber_state = stop;
}
break;
case stop:
climbing_motor ->Set(0.0);
if (drive_stick_prim ->GetRawButton(2)
&& bottom_claw_limit_switch->Get() != 1)
{
smart_climber_state = go_down;
}
if (drive_stick_prim ->GetRawButton(3) && top_claw_limit_switch->Get()
!= 1)
{
smart_climber_state = go_up;
}
if (drive_stick_prim ->GetRawButton(10) && top_claw_limit_switch->Get()
!= 1)
{
smart_climber_state = sendup;
}
}
}
void RobotDemo::intelligent_shooter()
{
RPS_control_code(37.5);
switch (smart_autonomous_state)
{
case unstable:
cout << "State Unstable" << endl;
printf("%i %i", fabs(error_back) < 4, fabs(error_front) < 4);
if (fabs(error_back) < 4 || fabs(error_front) < 4)
{
smart_autonomous_state = stabilizing;
stabilizing_timer->Reset();
}
if (override_timer->Get() > 4)
{
smart_autonomous_state = fire;
}
break;
case stabilizing:
cout << "State Stabilizing " << endl;
if (stabilizing_timer->Get() > 1 || override_timer->Get() > 4)
{
smart_autonomous_state = fire;
}
if (fabs(error_back) > 4 || fabs(error_front) > 4)
{
smart_autonomous_state = unstable;
}
break;
case fire:
cout << "State Firing " << endl;
shooter_fire_piston_A ->Set(false);//piston -->
shooter_fire_piston_B ->Set(true);
smart_autonomous_state = retracting;
retraction_timer->Reset();
break;
case retracting:
cout << "State Retracting " << endl;
if (retraction_timer->Get() > 1)
{
smart_autonomous_state = retract;
break;
}
break;
case retract:
cout << "State Has Retracted " << endl;
shooter_fire_piston_A ->Set(true);//piston <--
shooter_fire_piston_B ->Set(false);
smart_autonomous_state = unstable;
override_timer->Reset();
break;
}
printf("%i\n", smart_autonomous_state);
}
void RobotDemo::constant_RPS_code()
{
if (operator_stick->GetRawButton(front_position_button))
{
desired_RPS_control = front_position_RPS;
}
else
{
if (operator_stick->GetRawButton(back_position_button_1))
{
desired_RPS_control = back_position_RPS_1;
}
else if (operator_stick->GetRawButton(back_position_button_2))
{
desired_RPS_control = back_position_RPS_2;
}
else if (operator_stick->GetRawButton(back_position_button_3))
{
desired_RPS_control = back_position_RPS_3;
}
else if (operator_stick->GetRawButton(back_position_button_4))
{
desired_RPS_control = back_position_RPS_4;
}
else if (operator_stick->GetRawButton(back_position_button_5))
{
desired_RPS_control = back_position_RPS_5;
}
else
{
if (operator_stick->GetRawButton(dumper_button_A)
|| operator_stick->GetRawButton(dumper_button_B))
{
desired_RPS_control = dumper_RPS;
}
else
{
desired_RPS_control = ((-operator_stick->GetZ() + 1) / 2) * 75;
}
}
}
RPS_control_code(desired_RPS_control);
}
float RobotDemo::lookup_distance_array(float distance)// this function gets
{
if (distance > 31)
return distance_lookup_array[31];
if (distance < 0)
return distance_lookup_array[0];
int lower_distance = int(distance);
int upper_distance = lower_distance + 1;
float lower_value = distance_lookup_array[lower_distance];
float upper_value = distance_lookup_array[upper_distance];
float difference = distance - lower_value;
float interpolation = lower_value + difference
* (upper_value - lower_value);
return interpolation;
}
void RobotDemo::interpolated_test_code()
{
float Test_Distance_Input = (((drive_stick_sec->GetZ() + 1) / 2.0) * 33.0)
- 1;
float Test_Distance_Output = lookup_distance_array(Test_Distance_Input);
printf("input:%f output:%f\n", Test_Distance_Input, Test_Distance_Output);
}
void RobotDemo::dumb_climber_code()
{
//printf("Top:%i Bottom:%i " , top_claw_limit_switch->Get() , bottom_claw_limit_switch->Get());
if (drive_stick_prim ->GetRawButton(climber_hold_up))
{
if (top_claw_limit_switch->Get() == 1)
{
climbing_motor->Set(0.0);
//printf("STOPPED\n");
}
else
{
climbing_motor->Set(1);
//printf("GOING UP\n");
}
} // not climber hold up
else if (drive_stick_prim->GetRawButton(climber_hold_down))
{
if (bottom_claw_limit_switch->Get() == 0)
{
climbing_motor->Set(0.0);
//printf("STOPED\n");
}
else
{
climbing_motor->Set(-1);
//printf("GOING DOWN\n");
}
} // hold down button
else
{ // no js buttons pushed
climbing_motor->Set(0.0);
}
}
void RobotDemo::pneumatic_feeder_code()
{
if (operator_stick ->GetRawButton(shooter_piston_button)) //Button 1
{
if (kicker_button_on == false)
{
shooter_reset ->Reset();
kicker_button_on = true;
//kicker_piston_on = false;
shooter_piston_timer->Start();
shooter_fire_piston_A ->Set(false);//pushes
shooter_fire_piston_B ->Set(true);
cout << "out" << endl;
}
}
else
{
kicker_button_on = false;
}
if (shooter_piston_timer->Get() >= shooter_piston_delay)
{
shooter_fire_piston_A ->Set(true);//retracts
shooter_fire_piston_B ->Set(false);
shooter_piston_timer ->Reset();
shooter_piston_timer ->Stop();
cout << "back" << endl;
}
}
void RobotDemo::pneumatic_shooter_angler_code()
{
if (operator_stick ->GetRawButton(tilt_up_button))
{
shooter_angle_1 ->Set(true);
shooter_angle_2 ->Set(false);
}
else
{
if (operator_stick ->GetRawButton(tilt_down_button))
{
shooter_angle_1 ->Set(false);
shooter_angle_2 ->Set(true);
}
}
}
// the following is the motor set code
void RobotDemo::RPS_control_code(float desired_RPS)
// THE 360 COUNT PER REVOLUTION ENCODERS ARE GOOD FOR 10K RPM, BUT THE CIM motor MAXIMUM SPEED IS APPROXIMATELY 5K.
{
#if 1
/* If the difference between the old and new RPS (typ ~35) by greater than 1 either way,
* reset the ingegral terms to prevent stale values from affecting our PID calculations
*/
if (desired_RPS != prev_desired_RPS)
{
if (fabs(prev_desired_RPS - desired_RPS) >= 1.0)
{
integral_back = 0;
integral_front = 0;
}
cout << desired_RPS << " " << prev_desired_RPS << endl;
prev_desired_RPS = desired_RPS;
}
#endif
//motor = new Victor(motor_pwm);
//test_encoder = new Encoder(encoder_pwm1, encoder_pwm2, true);
if ((pid_code_timer->Get()) >= pidtime)
{
float actual_time = pid_code_timer ->Get();
prev_error_back = error_back;
prev_error_front = error_front;
RPS_back = (back_shooter_encoder->Get() / 360.0) / actual_time;
RPS_front = (front_shooter_encoder->Get() / 360.0) / actual_time;
error_back = desired_RPS - RPS_back;
error_front = desired_RPS - RPS_front;
integral_back = integral_back + (error_back * actual_time);
integral_front = integral_front + (error_front * actual_time);
derivitive_back = (error_back - prev_error_back) / actual_time;
derivitive_front = (error_front - prev_error_front) / actual_time;
//take error and set it to motors
{
RPS_speed_back = (error_back * first_pterm) + (integral_back
* iterm) + (derivitive_back * dterm);
RPS_speed_front = (error_front * first_pterm) + (integral_front
* iterm) + (derivitive_front * dterm);
}
if (RPS_speed_back > 1)
{
RPS_speed_back = 1;
}
if (RPS_speed_front > 1)
{
RPS_speed_front = 1;
}
if (RPS_speed_back < 0)
{
RPS_speed_back = 0;
}
if (RPS_speed_front < 0)
{
RPS_speed_front = 0;
}
//cout << RPS_speed << endl;
//cout << autonomous_timer->Get() << " RPS_back: " << RPS_back
//<< " RPS_front: " << RPS_front << " Desired RPS:"
//<< autonomous_desired_RPS << endl;
shooter_motor_back ->Set(RPS_speed_back);
shooter_motor_front ->Set(RPS_speed_front);
counter++;
#if 0
if (counter == 5)
{