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ShooterPowerControl.c
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ShooterPowerControl.c
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#include "Filter.c"
#include "MockRobotPowerTable.c"
#include "StopLightControl.c"
int shooter_target_speed = 0;
// Global Variables for shooter control
// These are set by the joystick methods
task shooter_power_control(){
int last_right_clicks = 0;
int last_left_clicks = 0;
int last_read_time = -10;
int print_value = 0;
int left_power = 0;
int right_power = 0;
while(true)
{
// Variables for power control
int current_right_clicks = SensorValue[rightShooter];
int current_left_clicks = SensorValue[leftShooter];
int current_read_time = nPgmTime;
// current raw speed
int elapsed_right_clicks = current_right_clicks - last_right_clicks;
int elapsed_left_clicks = current_left_clicks - last_left_clicks;
// int elapsed_time = current_read_time - last_read_time;
// filtered speed
int current_right_speed = filterRight(elapsed_right_clicks);
int current_left_speed = filterLeft(elapsed_left_clicks);
// Stoplight color controls
int left_color = NONE;
int right_color = NONE;
// Do power control with filtered values;
if(shooter_target_speed == 0){
right_color = NONE;
right_power = 0;
}
// Speed is more than 25% below target
else if(current_right_speed < (shooter_target_speed * 0.75)){
right_color = RED;
right_power = 127;
}
// Speed is more than 25% above target
else if(current_right_speed > (shooter_target_speed * 1.25)){
right_color = RED;
right_power = getRightShooterPower(shooter_target_speed);
}
// Speed is between 10% and 1% below target
else if(current_right_speed < (shooter_target_speed * 0.99)){
right_color = YELLOW;
right_power = right_power + 1;
}
// Speed is between 1% and 10% above target
else if(current_right_speed > (shooter_target_speed * 1.01)){
right_color = YELLOW;
right_power = right_power - 1;
}
// Speed is in the 2% sweet spot
else {
right_color = GREEN;
}
// Motors are stopped
if(shooter_target_speed == 0){
left_color = NONE;
left_power = 0;
}
// Speed is MORE THAN 25% BELOW target
else if(current_left_speed < (shooter_target_speed * 0.75)){
left_color = RED;
left_power = 127;
}
// Speed is MORE THAN 25% ABOVE target
else if(current_left_speed > (shooter_target_speed * 1.25)){
left_color = RED;
left_power = getLeftShooterPower(shooter_target_speed);
}
// Speed is 10% BELOW target
else if(current_left_speed < (shooter_target_speed * 0.99)){
left_color = YELLOW;
left_power = left_power + 1;
}
// Speed is 10% ABOVE target
else if(current_left_speed > (shooter_target_speed * 1.01)){
left_color = YELLOW;
left_power = left_power - 1;
}
// Speed is within 2% sweet spot
else {
left_color = GREEN;
}
// Set Stoplight
if((right_color == NONE) && (left_color == NONE)){
setStopLight(NONE);
}
else if((right_color == GREEN) && (left_color == GREEN)){
setStopLight(GREEN);
}
else if((right_color == RED) || (left_color == RED)){
setStopLight(RED);
}
else {
setStopLight(YELLOW);
}
// Control motor power
motor[leftTopShooter] = left_power;
motor[rightTopShooter] = right_power;
// End of power control work.
// Save values for next reading time.
last_left_clicks = current_left_clicks;
last_right_clicks = current_right_clicks;
last_read_time = current_read_time;
delay(100);
print_value = (print_value + 1);
if(print_value == 10){
//writeDebugStreamLine("current_right_clicks: %d", current_right_clicks);
//writeDebugStreamLine("elapsed_right_clicks: %d", elapsed_right_clicks);
//writeDebugStreamLine("elapsed_time: %d", elapsed_time);
//writeDebugStreamLine("current_read_time: %d", current_read_time);
writeDebugStreamLine("************************************");
writeDebugStreamLine("shooter_target_speed: %d", shooter_target_speed);
writeDebugStreamLine("left shooter power: %d", left_power);
writeDebugStreamLine("current_left_speed: %d", current_left_speed);
writeDebugStreamLine("right shooter power: %d", right_power);
writeDebugStreamLine("current_right_speed: %d", current_right_speed);
print_value = 0;
}
}
}
void set_shooter_targets(int speed){
// For now, set value and print a debug statement
shooter_target_speed = speed;
// shooter_target_power = power;
writeDebugStreamLine("Shooter Target Speed: %d", shooter_target_speed);
}
void adjust_shooter_targets(int adjust_speed){
// For now, adjust value a bit, and print a debug statement
shooter_target_speed = shooter_target_speed + adjust_speed;
// shooter_target_power = shooter_target_power + adjust_power;
writeDebugStreamLine("Shooter Target Speed: %d", shooter_target_speed);
}
void setIntakeSpeed(int speed){
motor[leftIntake] = speed;
motor[rightIntake] = speed;
}