Ejemplo n.º 1
0
 public void storeLoaderAngle(String sPosition) {
   float volts = (float) leftAngleCh.getVoltage();
   float voltsR = (float) rightAngleCh.getVoltage();
   m_preferences.putFloat(sPosition, volts);
   m_preferences.putFloat(sPosition + "R", voltsR);
   System.out.println(sPosition + " = " + volts);
 }
 public void autonomousPeriodic() {
   relay.set(Relay.Value.kOn);
   smart.putNumber("distance", ultrasonic.getVoltage());
   drive.setRun(false);
   loadAndShoot.setRun(false);
   //    relay.set(Relay.Value.kOn);
   if (autoTimer.get() < autoMoveForwardTime) {
     System.out.println(
         "Moving forward, Timer at "
             + autoTimer.get()
             + ", Ultrasonic at "
             + ultrasonic.getAverageVoltage());
   }
   if (autoTimer.get() >= autoMoveForwardTime && ultrasonic.getAverageVoltage() <= AUTO_DISTANCE) {
     stop();
     if (!autonomousStopped) {
       autonomousStopped = true;
       autoTimeAtStop = autoTimer.get();
     }
     System.out.println("Stopped, Ultrasonic at " + ultrasonic.getAverageVoltage());
   }
   if (autoTimer.get() >= autoTimeAtStop + 1 && ultrasonic.getAverageVoltage() <= AUTO_DISTANCE) {
     autoStop = true;
     shoot();
     System.out.println("Shooting, Ultrasonic at " + ultrasonic.getAverageVoltage());
   }
 }
Ejemplo n.º 3
0
 // basic arcadeDrive: y=forward/backward speed, x=left/right speed
 public void arcadeDrive(double y, double x) {
   Preferences p = Preferences.getInstance();
   final boolean kReverseDirection = p.getBoolean("DriveTrainReverseDirection", false);
   robotDrive.setInvertedMotor(RobotDrive.MotorType.kRearLeft, kReverseDirection);
   robotDrive.setInvertedMotor(RobotDrive.MotorType.kRearRight, kReverseDirection);
   robotDrive.arcadeDrive(y, x + 0.05);
   SmartDashboard.putNumber("DriveTrainGyro", -gyro.getAngle()); // upside down
   SmartDashboard.putNumber("RangefinderVoltage", ultraDist.getVoltage());
 } // end arcadeDrive
  public void teleopPeriodic() {
    smart.putNumber("distance", ultrasonic.getVoltage());
    setSuckingLED();
    setLEDTeamColour();

    // smart dashboard stuff
    smart.putBoolean("Fully Pressurized", compressor.getPressureSwitchValue());

    smart.putBoolean("fast gear", sol1.get() == true && sol2.get() == false);
    smart.putBoolean("slow gear", sol1.get() == false && sol2.get() == true);

    if (gyro.getAngle() > 360 || gyro.getAngle() < -360) {
      gyro.reset();
    }
    smart.putBoolean("good angle", gyro.getAngle() < 30 && gyro.getAngle() > -30);
    smart.putBoolean(
        "too far right", (gyro.getAngle() > 30 && gyro.getAngle() < 180) || gyro.getAngle() < -180);
    smart.putBoolean(
        "too far left", (gyro.getAngle() < -30 && gyro.getAngle() > -180) || gyro.getAngle() > 180);

    if (ultrasonic.getVoltage() < 0.55) {
      tooClose = true;
    } else {
      tooClose = false;
    }
    smart.putBoolean("Too close", tooClose);

    if (ultrasonic.getVoltage() > 0.8) {
      tooFar = true;
    } else {
      tooFar = false;
    }
    smart.putBoolean("Too far", tooFar);

    if (ultrasonic.getVoltage() >= 0.55 && ultrasonic.getVoltage() <= 0.8) {
      inRange = true;
    } else {
      inRange = false;
    }
    smart.putBoolean("In range", inRange);
  }
Ejemplo n.º 5
0
 // aligns robot for shooting
 public void alignToShoot(double left, double right) {
   Preferences p = Preferences.getInstance();
   final double kShootLimitVoltage = p.getDouble("DriveTrainShootLimitVoltage", 0.0);
   double maxVoltage = ultraDist.getVoltage();
   for (int i = 0; i < 10; i++) {
     double voltage = ultraDist.getVoltage();
     if (voltage > maxVoltage) {
       maxVoltage = voltage;
     }
   }
   SmartDashboard.putNumber(
       "RangefinderVoltage", maxVoltage); // want to see on competition dashboard!!
   System.out.println(
       "RangefinderVoltage: " + maxVoltage + " kShootLimitVoltage: " + kShootLimitVoltage);
   if (maxVoltage <= kShootLimitVoltage) {
     hasBeenAchieved = true;
   }
   if (left <= 0.0 && hasBeenAchieved) {
     left = 0.0;
   }
   arcadeDrive(left, right);
 } // end alignToShoot