From 724d3ec74812eff57019e8b975e541903a96078f Mon Sep 17 00:00:00 2001 From: Jason Date: Mon, 30 Mar 2020 23:35:05 -0400 Subject: [PATCH] V9 --- V8_24.v5code | 1 - V9_24_2.v5code | 1 + compile_commands.json | 2 +- include/AllianceSelect.h | 9 +-- include/ArcadeControl.h | 38 +++++++++++-- include/RedBlue1.h | 41 ++++++++------ include/defines.h | 6 +- include/functions.h | 4 +- include/usercontrol.h | 14 ++--- src/main.cpp | 119 +++++++++++++-------------------------- 10 files changed, 117 insertions(+), 118 deletions(-) delete mode 100644 V8_24.v5code create mode 100644 V9_24_2.v5code diff --git a/V8_24.v5code b/V8_24.v5code deleted file mode 100644 index 6a43855..0000000 --- a/V8_24.v5code +++ /dev/null @@ -1 +0,0 @@ -{"title":"V8_24","description":"Robot Tweaking and start 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\ No newline at end of file diff --git a/V9_24_2.v5code b/V9_24_2.v5code new file mode 100644 index 0000000..3695469 --- /dev/null +++ b/V9_24_2.v5code @@ -0,0 +1 @@ +{"title":"V9_24_2","description":"Bug Fixes and Functionality Improvements","icon":"USER921x.bmp","version":"19.10.0715","sdk":"20191206_14_00_00","language":"cpp","competition":false,"files":[{"name":"include/vex.h","type":"File","specialType":""},{"name":"include/AllianceSelect.h","type":"File","specialType":""},{"name":"include/autonincludes.h","type":"File","specialType":""},{"name":"include/RedBlue1.h","type":"File","specialType":""},{"name":"include/Blue2.h","type":"File","specialType":""},{"name":"include/Blue3.h","type":"File","specialType":""},{"name":"include/Blue4.h","type":"File","specialType":""},{"name":"include/defines.h","type":"File","specialType":""},{"name":"include/pre_auton.h","type":"File","specialType":""},{"name":"include/Red1.h","type":"File","specialType":""},{"name":"include/Red2.h","type":"File","specialType":""},{"name":"include/Red3.h","type":"File","specialType":""},{"name":"include/Red4.h","type":"File","specialType":""},{"name":"include/usercontrol.h","type":"File","specialType":""},{"name":"include/Blue1.h","type":"File","specialType":""},{"name":"include/functions.h","type":"File","specialType":""},{"name":"include/VisionDef.h","type":"File","specialType":"vision_config"},{"name":"include/Blue5.h","type":"File","specialType":""},{"name":"include/ArcadeControl.h","type":"File","specialType":""},{"name":"include/Blue6.h","type":"File","specialType":""},{"name":"makefile","type":"File","specialType":""},{"name":"src/main.cpp","type":"File","specialType":""},{"name":"vex/mkenv.mk","type":"File","specialType":""},{"name":"vex/mkrules.mk","type":"File","specialType":""},{"name":"include","type":"Directory"},{"name":"src","type":"Directory"},{"name":"vex","type":"Directory"}],"device":{"slot":2,"uid":"276-4810"},"isExpertMode":true,"isExpertModeRC":true,"isVexFileImport":false,"robotconfig":[],"neverUpdate":null} 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+printscreen.resume(); +wait(1000); #endif \ No newline at end of file diff --git a/include/ArcadeControl.h b/include/ArcadeControl.h index a4bf1e2..ef2edff 100644 --- a/include/ArcadeControl.h +++ b/include/ArcadeControl.h @@ -45,10 +45,10 @@ while (1) StopDrive(hold); //Defend Position } - else if (AutoRunning == 0 && (abs(ch3) > 10 || abs(ch1) > 10)) + else if (AutoRunning == 0 && (abs(ch3) > 10 || abs(ch4) > 10)) { FSpeed =ch3; - TSpeed =0.33*ch1; + TSpeed =0.33*ch4; CubeTrack=off; ToCube=off; run(LF, (FSpeed + TSpeed)); run(LM, (FSpeed + TSpeed)); @@ -82,7 +82,7 @@ while (1) else {DontLiftStack=off;DontDropStack=off;} //if (bL2==1){CubeTrack=on;} - if (bX){task cubeload (CubeLoad);} + if (bX){vex::task cubeload (CubeLoad);} else if (bLeft){cubeload.suspend();} if (bRight){vex::task stack (AutoStack);} else if (bX){stack.stop();} @@ -134,7 +134,37 @@ while (1) arm.resume(); IntakeController.resume(); } - wait(5); + + if (bL1&&bL2&&bR1&&bR2) + { + StopDrive(hold); + arm.suspend(); + rampcontroller.suspend(); + IntakeController.suspend(); + timer2.suspend(); + gyrotrack.suspend(); + rampwheel.suspend(); + printscreen.suspend(); + intake= off; + RunRamp=off; + CubeTrack =off; + OTrack=off; + PTrack=off; + GTrack=off; + ToCube=off; + DontLiftStack=off; + DontDropStack=off; +ramp = bwrd; + wait(500); + arm.resume(); + rampcontroller.resume(); + IntakeController.resume(); + timer2.resume(); + gyrotrack.resume(); + rampwheel.resume(); + printscreen.resume(); + } + wait(5); } wait(5); } \ No newline at end of file diff --git a/include/RedBlue1.h b/include/RedBlue1.h index a63ba23..ce39c23 100644 --- a/include/RedBlue1.h +++ b/include/RedBlue1.h @@ -3,7 +3,7 @@ using namespace std; using namespace vex; using namespace G; -Color=Blue; + AutoRunning=1; intake=off; @@ -13,17 +13,23 @@ RampWheelL.resetRotation(); RampWheelR.resetRotation(); rightDrive(-10); leftDrive(-10); +arm.suspend(); ArmL.setVelocity(100,vex::velocityUnits::pct); ArmR.setVelocity(100,vex::velocityUnits::pct); - arm.suspend(); + + ArmR.startRotateTo(300,rotationUnits::deg); + ArmL.rotateTo(300,rotationUnits::deg); + ManualSpeed=-100; + intake=manual; ArmR.startRotateTo(600,rotationUnits::deg); ArmL.rotateTo(600,rotationUnits::deg); + intake=on; RampWheelL.setVelocity(60,vex::velocityUnits::pct); RampWheelR.setVelocity(60,vex::velocityUnits::pct); RampWheelR.startRotateTo(-150,rotationUnits::deg); RampWheelL.startRotateTo(-150,rotationUnits::deg); - ArmL.setVelocity(50,vex::velocityUnits::pct); - ArmR.setVelocity(50,vex::velocityUnits::pct); + //ArmL.setVelocity(50,vex::velocityUnits::pct); + //ArmR.setVelocity(50,vex::velocityUnits::pct); ArmR.startRotateTo(0,rotationUnits::deg); ArmL.rotateTo(0,rotationUnits::deg); arm.suspend(); @@ -89,10 +95,10 @@ Move(60,-5.5,1,brake,5000);//4-5cubes(3green, maybe 1purp) Move(45,4.2,1,coast,10000); ManualSpeed=-50; intake=manual; - Move(45,2.1,0,brake,10000); + Move(65,2.1,0,brake,10000); //double tempG=-GlobalGyro/10; //Turn(tempG,20,10000); - Move(45,-5.14104,0,brake,10000); + Move(65,-5.14104,0,brake,10000); ArmR.startRotateTo(0,rotationUnits::deg); ArmL.rotateTo(0,rotationUnits::deg); intake=on; @@ -129,30 +135,30 @@ T(180*Color,30,5000); // CubeTrack=on; // while(CubeTrack==on){wait(100);} wait(100); -Move(40,12,1,brake,8000); +Move(60,12,1,brake,8000); wait(100); T(130*Color,30,5000);//135 wait(100); Move(60,12.25,1,brake,8000); wait(100); -Turn(-10*Color,30,5000);//-35 +Turn(-20*Color,30,5000);//-35 // GTrack=off; // PTrack=on; // OTrack=off; // CubeTrack=on; // while(CubeTrack==on){wait(100);} // wait(100); -Move(50,17,1,brake,8000); +Move(60,17,1,brake,8000); // CubeTrack=on; // while(CubeTrack==on){wait(100);} // wait(100); -Move(30,10,1,brake,8000); +Move(60,11,1,brake,8000); wait(200); -Move(60, -3,1,brake,3000); +/*Move(60, -3,1,brake,3000); wait(100); Turn(-45*Color,30,5000); wait(100); -Move(60,-7,1,brake,8000); +Move(60,-8,1,brake,8000); wait(100); Turn(50*Color,30,5000); // GTrack=on; @@ -161,15 +167,16 @@ Turn(50*Color,30,5000); // CubeTrack=on; // while(CubeTrack==on){wait(100);} wait(100); -Move(30, 15,1,brake,3000); -wait(100); -Move(60, -22,1,brake,3000); +Move(60, 17,1,brake,3000); +wait(100);*/ +Move(60, -16,1,brake,3000);//22 wait(100); //T(0*Color,30,5000); //T(-88*Color,30,5000);//-92 -Turn(-175,30,5000); +Turn(-187*Color,30,5000); wait(100); -Move(25, 23,1,brake,3000); +Move(60, 19,1,brake,3000); +Move(10, 4,1,brake,1500); AutoStack(); /*Move(60,-4.1575,1,brake,5000); diff --git a/include/defines.h b/include/defines.h index 8b75317..f883da3 100644 --- a/include/defines.h +++ b/include/defines.h @@ -16,7 +16,7 @@ #include "v5_vcs.h" #ifndef DEBUG -#define DEBUG +//#define DEBUG #endif #ifndef ENUMS @@ -35,7 +35,7 @@ ToggleMode ContinueStack=off; ToggleMode ControlIntake=off; typedef enum _directional {fwrd=-1,bwrd=1} directional; directional ramp = bwrd; -typedef enum _Alliance {Red=2,Blue=1} Alliance; +typedef enum _Alliance {Red=-1,Blue=1} Alliance; Alliance Color = Blue; #endif @@ -198,6 +198,6 @@ void Colors(ToggleMode,ToggleMode,ToggleMode); vex::task controllerprint (PrintController); vex::task cubes (TurnToCube); vex::task rampwheel (RampWheels); - vex::task cubeload (CubeLoad); + vex::task cubeload; vex::task stack; #endif \ No newline at end of file diff --git a/include/functions.h b/include/functions.h index c0fc57c..806fd17 100644 --- a/include/functions.h +++ b/include/functions.h @@ -82,7 +82,7 @@ int PrintScreen() { Brain.Screen.printAt(1, 160, "RunRamp: %1.2f", RunRamp); Brain.Screen.printAt(1, 180, "ramp: %d", ramp); Brain.Screen.printAt(1, 200, "RampL: %1.2f", enc(RampL)); - //Brain.Screen.printAt(1, 220, "NULL: %1.2f", false); + Brain.Screen.printAt(1, 220, "Color (R -1, B 1): %d", Color); //Brain.Screen.printAt(1, 240, "NULL: %1.2f", false); //Brain.Screen.printAt(1, 90, "%f", Gyro.value(vex::rotationUnits::raw)); //Brain.Screen.printAt(340, 20, "ARM: %1.1f", enc(ArmR)); @@ -524,7 +524,7 @@ int AutoStack() ramp=bwrd; Move(20,-6,1,coast,3000); RunRamp=on; - Move(40,-2.8,0,brake,3000); + Move(40,-3.5,0,brake,3000); ArmR.startRotateTo(0,rotationUnits::deg); ArmL.startRotateTo(0,rotationUnits::deg); wait(1000); diff --git a/include/usercontrol.h b/include/usercontrol.h index 841a40d..3e7dfa0 100644 --- a/include/usercontrol.h +++ b/include/usercontrol.h @@ -35,15 +35,15 @@ while (1) { if (bUp==1) { StopDrive(hold);} - else if (AutoRunning == 0 && (abs(ch3) > 10 || abs(ch1) > 10)) { + else if (AutoRunning == 0 && (abs(ch3) > 10 || abs(ch4) > 10)) { CubeTrack=off; ToCube=off; - run(LF, (ch3 + ch1/3)); //(Axis3+Axis4)/2 - run(LM, (ch3 + ch1/3)); - run(LB, (ch3 + ch1/3)); //(Axis3+Axis4)/2 - run(RF, (ch3 - ch1/3)); //(Axis3-Axis4)/2 - run(RM, (ch3 - ch1/3)); - run(RB, (ch3 - ch1/3)); //(Axis3-Axis4)/2 + run(LF, (ch3 + ch4/3)); //(Axis3+Axis4)/2 + run(LM, (ch3 + ch4/3)); + run(LB, (ch3 + ch4/3)); //(Axis3+Axis4)/2 + run(RF, (ch3 - ch4/3)); //(Axis3-Axis4)/2 + run(RM, (ch3 - ch4/3)); + run(RB, (ch3 - ch4/3)); //(Axis3-Axis4)/2 } else if (AutoRunning == 0&&CubeTrack==off&&ToCube==off) { StopDrive(brake); diff --git a/src/main.cpp b/src/main.cpp index da84326..3edf16a 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -15,6 +15,9 @@ /* */ /* */ /*----------------------------------------------------------------------------*/ +#ifndef DEBUG +//#define DEBUG +#endif #include "defines.h" //variable and function initialization and definitions vex::competition Competition; //tell robot to use competition file format @@ -25,6 +28,17 @@ using namespace G; //using global namespace // ---- PRE AUTO ---- /// void pre_auton(void) { preautoL=true; //set pre auto latch + ArmL.resetRotation(); + ArmR.resetRotation(); + LF.setMaxTorque(100, percentUnits::pct); + RF.setMaxTorque(100, percentUnits::pct); + LB.setMaxTorque(100, percentUnits::pct); + RB.setMaxTorque(100, percentUnits::pct); + LM.setMaxTorque(100, percentUnits::pct); + RM.setMaxTorque(100, percentUnits::pct); + RampL.resetRotation(); + RampR.resetRotation(); + ramp=bwrd; //ramp direction starts as 'backward', the next step of enable will cause ramp to move forward #include "pre_auton.h" //include pre auto code } ///////////////////////// @@ -35,15 +49,16 @@ void auton(void) { preautoL=false; //reset pre auto latch G::MATCHTIMER=0; //reset Match timer AutoRunning=1; - printscreen.resume(); - rampcontroller.resume(); - rampwheel.resume(); - IntakeController.resume(); - arm.suspend(); - cubes.resume(); + // printscreen.resume(); + // rampcontroller.resume(); + // rampwheel.resume(); + // IntakeController.resume(); + // arm.suspend(); + // cubes.resume(); //#include "autonincludes.h" //include auto code -//#include "RedBlue1.h" +//Color=Red; +#include "RedBlue1.h" //#include "Blue1.h" //#include "Blue2.h" //#include "Blue3.h" @@ -55,34 +70,7 @@ void auton(void) { //Move(80,20.01,1,coast,5000); //#include "Blue6.h" //Working 11 points 11/30/19 -intake=off; -DontLiftStack=on; - rampwheel.suspend(); -RampWheelL.resetRotation(); - RampWheelR.resetRotation(); -//rightDrive(-10); -//leftDrive(-10); - ArmL.setVelocity(100,vex::velocityUnits::pct); - ArmR.setVelocity(100,vex::velocityUnits::pct); - arm.suspend(); - ArmR.startRotateTo(300,rotationUnits::deg); - ArmL.rotateTo(300,rotationUnits::deg); - ManualSpeed=-100; - intake=manual; - ArmR.startRotateTo(600,rotationUnits::deg); - ArmL.rotateTo(600,rotationUnits::deg); - intake=on; - RampWheelL.setVelocity(60,vex::velocityUnits::pct); - RampWheelR.setVelocity(60,vex::velocityUnits::pct); - RampWheelR.startRotateTo(-150,rotationUnits::deg); - RampWheelL.startRotateTo(-150,rotationUnits::deg); - //ArmL.setVelocity(50,vex::velocityUnits::pct); - //ArmR.setVelocity(50,vex::velocityUnits::pct); - ArmR.startRotateTo(0,rotationUnits::deg); - ArmL.rotateTo(0,rotationUnits::deg); - arm.suspend(); - StopArm(hold); -intake=on; + } @@ -92,12 +80,12 @@ intake=on; void usercontrol(void) { preautoL=false; //reset pre auto latch MATCHTIMER=0; //reset timer - printscreen.resume(); - rampcontroller.resume(); - rampwheel.resume(); - IntakeController.resume(); - arm.resume(); - cubes.suspend(); + // printscreen.resume(); + // rampcontroller.resume(); + // rampwheel.resume(); + // IntakeController.resume(); + // arm.resume(); + // cubes.suspend(); //#include "usercontrol.h" #include "ArcadeControl.h" @@ -107,18 +95,18 @@ void usercontrol(void) { // ----- MAIN -----// int main() { - LF.setMaxTorque(100, percentUnits::pct); - RF.setMaxTorque(100, percentUnits::pct); - LB.setMaxTorque(100, percentUnits::pct); - RB.setMaxTorque(100, percentUnits::pct); - LM.setMaxTorque(100, percentUnits::pct); - RM.setMaxTorque(100, percentUnits::pct); + // LF.setMaxTorque(100, percentUnits::pct); + // RF.setMaxTorque(100, percentUnits::pct); + // LB.setMaxTorque(100, percentUnits::pct); + // RB.setMaxTorque(100, percentUnits::pct); + // LM.setMaxTorque(100, percentUnits::pct); + // RM.setMaxTorque(100, percentUnits::pct); - ramp=bwrd; //ramp direction starts as 'backward', the next step of enable will cause ramp to move forward - AutoRunning = 0; //auto latch off + // ramp=bwrd; //ramp direction starts as 'backward', the next step of enable will cause ramp to move forward + // AutoRunning = 0; //auto latch off - ArmL.resetRotation(); - ArmR.resetRotation(); + // ArmL.resetRotation(); + // ArmR.resetRotation(); //wait (X) ms pre_auton(); //Run the pre-autonomous function. //Set up callbacks for autonomous and driver control periods. @@ -128,34 +116,7 @@ int main() //Prevent main from exiting with an infinite loop. while (1) { wait(100);//Sleep the task for a short amount of time to prevent wasted resources. - if (bL1&&bL2&&bR1&&bR2) - { - arm.suspend(); - rampcontroller.suspend(); - IntakeController.suspend(); - timer2.suspend(); - gyrotrack.suspend(); - rampwheel.suspend(); - printscreen.suspend(); - intake= off; - RunRamp=off; - CubeTrack =off; - OTrack=off; - PTrack=off; - GTrack=off; - ToCube=off; - DontLiftStack=off; - DontDropStack=off; -ramp = bwrd; - wait(500); - arm.resume(); - rampcontroller.resume(); - IntakeController.resume(); - timer2.resume(); - gyrotrack.resume(); - rampwheel.resume(); - printscreen.resume(); - } + } return 0; }