rivera is dumb

Ri3D 2024.v5code

@@ -1 +1 @@
-{"title":"Ri3D 2024","description":"Empty V5 C++ Project","icon":"USER921x.bmp","version":"23.09.1216","sdk":"20220726_10_00_00","language":"cpp","competition":false,"files":[{"name":"include/robot-config.h","type":"File","specialType":"device_config"},{"name":"include/vex.h","type":"File","specialType":""},{"name":"include/joystick.cpp","type":"File","specialType":""},{"name":"makefile","type":"File","specialType":""},{"name":"src/main.cpp","type":"File","specialType":""},{"name":"src/robot-config.cpp","type":"File","specialType":"device_config"},{"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":1,"uid":"276-4810","options":{}},"isVexFileImport":false,"robotconfig":[]}
+{"title":"Ri3D 2024","description":"Empty V5 C++ Project","icon":"USER921x.bmp","version":"23.09.1216","sdk":"20220726_10_00_00","language":"cpp","competition":false,"files":[{"name":"include/robot-config.h","type":"File","specialType":"device_config"},{"name":"include/vex.h","type":"File","specialType":""},{"name":"include/joystick.cpp","type":"File","specialType":""},{"name":"makefile","type":"File","specialType":""},{"name":"src/main.cpp","type":"File","specialType":""},{"name":"src/robot-config.cpp","type":"File","specialType":"device_config"},{"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":4,"uid":"276-4810","options":{}},"isExpertMode":false,"isExpertModeRC":false,"isVexFileImport":false,"robotconfig":[],"neverUpdate":null}

include/joystick.cpp

@@ -2,8 +2,9 @@
 #include <cmath>
 
 
+
 /* 
-  this class was made by Cole Huffine class of 2024
+  this class was made by Cole Huffine, class of 2024
   lets hope rivera gives this to future classes bc
   i think it would be useful for everyone
 */
@@ -14,21 +15,16 @@
 
   Usage:
     If you need to get the value of a joystick fixed to account for the physical limitations
-      getLeftX();
-      getLeftY();
-      getRightX();
-      getRightY();
+      getLeftX(con, deadband);
+      getLeftY(con, deadband);
+      getRightX(con, deadband);
+      getRightY(con, deadband);
 
     If you need to get the REAL value of a joystick, as inputted into the brain
-      getTrueLeftX();
-      getTrueLeftY();
-      getTrueRightX();
-      getTrueRightY();
-*/
-
-/*
-  If you want to use a second controller, or name your controller something else other than Controller1,
-  then go to all of the getTrue methods, and change the name to what you have as your config
+      getTrueLeftX(con, deadband);
+      getTrueLeftY(con, deadband);
+      getTrueRightX(con, deadband);
+      getTrueRightY(con, deadband);
 */
 
 
@@ -39,22 +35,37 @@ int signum(double val) {
   return (val >= 0) ? 1 : -1;
 }
 
-
 //use these if you need to get the true value of any joystick
-double getTrueLeftX() {
-  return Controller1.Axis4.position(pct);
+double getTrueLeftX(vex::controller con, int deadband) {
+  if (abs(con.Axis4.position(pct)) > deadband) {
+    return con.Axis4.position(pct);
+  } else {
+    return 0;
+  }
 }
 
-double getTrueLeftY() {
-  return Controller1.Axis3.position(pct);
+double getTrueLeftY(vex::controller con, int deadband) {
+  if (abs(con.Axis3.position(pct)) > deadband) {
+    return con.Axis3.position(pct);
+  } else {
+    return 0;
+  }
 }
 
-double getTrueRightX() {
-  return Controller1.Axis1.position(pct);
+double getTrueRightX(vex::controller con, int deadband) {
+  if (abs(con.Axis1.position(pct)) > deadband) {
+    return con.Axis1.position(pct);
+  } else {
+    return 0;
+  }
 }
 
-double getTrueRightY() {
-  return Controller1.Axis2.position(pct);
+double getTrueRightY(vex::controller con, int deadband) {
+ if (abs(con.Axis2.position(pct)) > deadband) {
+    return con.Axis2.position(pct);
+  } else {
+    return 0;
+  }
 }
 
 /*
@@ -63,10 +74,10 @@ double getTrueRightY() {
   * forces the joystick into a circle, its impossible to reach the the corner of the box.
   * This method fixes that issue.
 */  
-double joystickFix(bool isLeft, bool isX) {
+double joystickFix(bool isLeft, bool isX, vex::controller con) {
   double root2 = sqrt(2);
-  double x = isLeft ? getTrueLeftX() : getTrueRightX();
-  double y = isLeft ? getTrueLeftY() : getTrueRightY();
+  double x = isLeft ? getTrueLeftX(con, 0) : getTrueRightX(con, 0);
+  double y = isLeft ? getTrueLeftY(con, 0) : getTrueRightY(con, 0);
   double magnitude = sqrt(x*x + y*y);
   double values[2] = {
     signum(x) * fmin(fabs(x*root2), magnitude),
@@ -77,20 +88,37 @@ double joystickFix(bool isLeft, bool isX) {
 
 
 // these return the fixed value of all of the joysticks
-double getLeftX() {
-  return joystickFix(true, true);
+double getLeftX(vex::controller con, int deadband) {
+  if(fabs(joystickFix(true, true, con)) > deadband){
+    return joystickFix(true, true, con);
+  } else {
+    return 0;
+  }
 }
 
-double getLeftY() {
-  return joystickFix(true, false);
+double getLeftY(vex::controller con, int deadband) {
+  if(fabs(joystickFix(true, false, con)) > deadband){
+    return joystickFix(true, false, con);
+  } else {
+    return 0;
+  }
 }
 
-double getRightX() {
-  return joystickFix(false, true);
+double getRightX(vex::controller con, int deadband) {
+  if(fabs(joystickFix(false, true, con)) > deadband){
+    return joystickFix(false, true, con);
+  } else {
+    return 0;
+  }
 }
 
-double getRightY() {
-  return joystickFix(false, false);
+double getRightY(vex::controller con, int deadband) {
+  if(fabs(joystickFix(false, false, con)) > deadband){
+    return joystickFix(false, false, con);
+  } else {
+    return 0;
+  }
 }
 
 
+

src/main.cpp

@@ -20,114 +20,126 @@ using namespace vex;
 
 competition  Competition;
 
-motor LeftDriveMotor = motor(1, ratio18_1, false);
-motor RightDriveMotor = motor(2, ratio18_1, false);
-motor FrontDriveMotor = motor(3, ratio18_1, false);
-motor BackDriveMotor = motor(4, ratio18_1, false);
-inertial Inertial = inertial(5);
-motor arm = motor(7, ratio36_1, false);
-motor deploy = motor(8, ratio18_1, false);
-motor climbMotorA = motor(9, ratio18_1, false);
-motor climbMotorB = motor(10, ratio18_1, true);
+motor leftFrontDriveMotor = motor(PORT16, ratio18_1, false);
+motor leftBackDriveMotor = motor(PORT11, ratio18_1, false);
+motor rightFrontDriveMotor = motor(PORT6, ratio18_1, false);
+motor rightBackDriveMotor = motor(PORT12, ratio18_1, false);
+motor frontDriveMotor = motor(PORT3, ratio18_1, true);
+motor backDriveMotor = motor(PORT4, ratio18_1, false);
+inertial inertialSens = inertial(PORT21);
+motor arm = motor(PORT7, ratio36_1, false);
+motor deploy = motor(PORT8, ratio18_1, false);
+motor climbMotorA = motor(PORT9, ratio18_1, false);
+motor climbMotorB = motor(PORT10, ratio36_1, true);
 motor_group climb = motor_group(climbMotorA, climbMotorB);
-controller Controller1 = controller(primary);
+motor_group leftDrive = motor_group(leftFrontDriveMotor, leftBackDriveMotor);
+motor_group rightDrive = motor_group(rightFrontDriveMotor, rightBackDriveMotor);
+//using the climb group to run the new arm group to have two different motor carts run in tandem
+controller con1 = controller(primary);
 
 
 class Drives {
   public:
-    void static robotOirented() {
-      double yInput = getLeftY();
-      double xInput = getLeftX();
-      double turning = getTrueRightX();
-      double leftMotor = yInput + turning;
-      double rightMotor = yInput - turning;
-      double frontMotor = xInput + turning;
-      double backMotor = xInput - turning;
-
-      LeftDriveMotor.spin(fwd, leftMotor, velocityUnits::pct);
-      RightDriveMotor.spin(fwd, rightMotor, velocityUnits::pct);
-      FrontDriveMotor.spin(fwd, frontMotor, velocityUnits::pct);
-      BackDriveMotor.spin(fwd, backMotor, velocityUnits::pct);
-    }
-
-    void static autonDrive(double xIn, double yIn, double turnIn) {
-      double yInput = yIn;
-      double xInput = xIn;
-      double turning = turnIn;
-      double leftMotor = yInput + turning;
-      double rightMotor = yInput - turning;
-      double frontMotor = xInput + turning;
-      double backMotor = xInput - turning;
-
-      LeftDriveMotor.spin(fwd, leftMotor, velocityUnits::pct);
-      RightDriveMotor.spin(fwd, rightMotor, velocityUnits::pct);
-      FrontDriveMotor.spin(fwd, frontMotor, velocityUnits::pct);
-      BackDriveMotor.spin(fwd, backMotor, velocityUnits::pct);
+    void static robotOriented(double xIn, double yIn, double turnIn) {
+      double leftMotor = yIn + turnIn;
+      double rightMotor = -yIn + turnIn;
+      double frontMotor = xIn + turnIn;
+      double backMotor = -xIn + turnIn;
+
+      leftDrive.spin(fwd, leftMotor, velocityUnits::pct);
+      rightDrive.spin(fwd, rightMotor, velocityUnits::pct);
+      frontDriveMotor.spin(fwd, frontMotor, velocityUnits::pct);
+      backDriveMotor.spin(fwd, backMotor, velocityUnits::pct);
     }
 
     void static fieldOriented() {
-      double headingRadians = Inertial.heading() * 3.141592/180;
-      double yInput = getLeftY();
-      double xInput = getLeftX();
+      double headingRadians = inertialSens.heading() * 3.141592/180;
+      double yInput = getLeftY(con1, 5);
+      double xInput = getLeftX(con1, 5);
       double sineHeading = sin(headingRadians);
       double cosHeading = cos(headingRadians);
       double rotatedYInput = xInput * sineHeading + yInput * cosHeading;
       double rotatedXInput = xInput * cosHeading - yInput * sineHeading;
-      double turning = getTrueRightX();
+      double turning = getTrueRightX(con1, 5);
       double leftMotor = rotatedYInput + turning;
       double rightMotor = -rotatedYInput + turning;
       double FrontMotor = rotatedXInput + turning;
       double backMotor = -rotatedXInput + turning;
 
-      LeftDriveMotor.spin(fwd, leftMotor, velocityUnits::pct);
-      RightDriveMotor.spin(fwd, rightMotor, velocityUnits::pct);
-      FrontDriveMotor.spin(fwd, FrontMotor, velocityUnits::pct);
-      BackDriveMotor.spin(fwd, backMotor, velocityUnits::pct);
+      leftDrive.spin(fwd, leftMotor, velocityUnits::pct);
+      rightDrive.spin(fwd, rightMotor, velocityUnits::pct);
+      frontDriveMotor.spin(fwd, FrontMotor, velocityUnits::pct);
+      backDriveMotor.spin(fwd, backMotor, velocityUnits::pct);
     }
 };
 
-void pre_auton(void) {
-  Inertial.setHeading(0.0, degrees);
-  Inertial.setRotation(0.0, degrees);
-  Inertial.startCalibration();
-  while(Inertial.isCalibrating()) {
+void usercontrol(void) {
+  inertialSens.setHeading(0.0, degrees);
+  inertialSens.setRotation(0.0, degrees);
+  inertialSens.startCalibration();
+  while(inertialSens.isCalibrating()) {
     task::sleep(10);
   }
-  Inertial.setHeading(0.0, degrees);
-  Inertial.setRotation(0.0, degrees);
-
-  // Initializing Robot Configuration. DO NOT REMOVE!
-  vexcodeInit();
-}
-
-void usercontrol(void) {
+  inertialSens.setHeading(0.0, degrees);
+  inertialSens.setRotation(0.0, degrees);
   while(true) {
     Drives::fieldOriented();
-
     //zeroes inertial sensor
-    if(Controller1.ButtonY.pressing()) {
-      Inertial.setHeading(0.0, degrees);
-      Inertial.setRotation(0.0, degrees);
-      Inertial.startCalibration();
-      while (Inertial.isCalibrating()) {
+    if(con1.ButtonY.pressing()) {
+      inertialSens.setHeading(0.0, degrees);
+      inertialSens.setRotation(0.0, degrees);
+      inertialSens.startCalibration();
+      while (inertialSens.isCalibrating()) {
           task::sleep(10);
       }
-      Inertial.setHeading(0.0, degrees);
-      Inertial.setRotation(0.0, degrees);
+      inertialSens.setHeading(0.0, degrees);
+      inertialSens.setRotation(0.0, degrees);
+    }
+    if(con1.ButtonLeft.pressing()) {
+      climbMotorA.setStopping(brake);
+      climbMotorB.setStopping(brake);
+    }
+    if(con1.ButtonRight.pressing()) {
+      climbMotorA.setStopping(hold);
+      climbMotorB.setStopping(hold);
+    }
+    if(con1.ButtonUp.pressing()) {
+      climb.setStopping(hold);
+    }
+    if(con1.ButtonDown.pressing()) {
+      climb.setStopping(coast);
+    }
+    if (con1.ButtonR1.pressing()) {
+      climb.spin(forward);
+      climb.setStopping(hold);
+    } else if (con1.ButtonR2.pressing()) {
+      climb.spin(reverse);
+      climb.setStopping(hold);
+    } else  {
+      climb.stop();
+    }
+    wait(20,msec);
     }
-
   }
-}
+
 
 void auton(void) {
-  Drives::autonDrive(0.0, 0.5, 0);
+  Drives::robotOriented(0.0, 50, 0);
   task::sleep(4000);
-  Drives::autonDrive(0.0, 0.0, 0);
+  Drives::robotOriented(0.0, 0.0, 0);
 }
 
 int main() {
-  pre_auton();
-
+  climb.setMaxTorque(100, pct);
+  climb.setVelocity(100, pct);
+  climbMotorA.setVelocity(100, rpm);
+  climbMotorB.setVelocity(100, rpm);
+  climbMotorA.setMaxTorque(100, pct);
+  climbMotorB.setMaxTorque(100, pct);
+  climb.setStopping(coast);
+
+  // Initializing Robot Configuration. DO NOT REMOVE!
+  vexcodeInit();
   Competition.autonomous(auton);
   Competition.drivercontrol(usercontrol);