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7th Wheel Code that may or may not actually work in any way shape or form #80

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b2a841a
So this code is Jank as heck
CharlesCDietzel Dec 3, 2014
d2ade51
HAHA IT'S ALIVE
CharlesCDietzel Dec 10, 2014
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54 changes: 46 additions & 8 deletions Shooter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -16,13 +16,16 @@ Shooter::Shooter(main_robot* r,uint8_t axisCan,
uint8_t clampMod, uint32_t clampFChan, uint32_t clampRChan,
uint8_t wormCan,
uint8_t punchMod,uint32_t punchFChan,uint32_t punchRChan,
uint8_t bobMod)
uint8_t bobMod,
Pneumatics* pnum7Wheel, DoubleSolenoid* solenoid7Wheel)
:isPickingUp(false),isPitchingUp(false),
isPitchingDown(false),wormIsPulling(false),winching(false),
hasTilted(false),isPickingUpStopping(false),autoPulling(false),
smartFiring(false),accelWorking(true),smartFireTimer(new Timer())
{
robot = r;
pnum_7Wheel = pnum7Wheel;
solenoid_7Wheel = solenoid7Wheel;
axis = new CANJaguar(axisCan);
attractor = new Talon(attractMod, attractChan);
clamper = new DoubleSolenoid(clampMod, clampFChan, clampRChan);
Expand All @@ -31,6 +34,8 @@ Shooter::Shooter(main_robot* r,uint8_t axisCan,
bobTheAccelerometer = new ADXL345_I2C_612(bobMod);
// bobThePot = new AnalogChannel(1,5);
isPickingUp = false;
//7WheelExtend = false;
//7WheelOldState = false;
shooterJoy = robot -> gunnerJoy;
shooterJoy -> addJoyFunctions(&buttonHelper,(void*)this,CLAMP);
shooterJoy -> addJoyFunctions(&buttonHelper,(void*)this,ENERGIZE);
Expand All @@ -45,6 +50,7 @@ Shooter::Shooter(main_robot* r,uint8_t axisCan,
Shooter::~Shooter()
{
delete axis;
delete pnum_7Wheel;
delete attractor;
delete clamper;
delete bobTheAccelerometer;
Expand Down Expand Up @@ -153,17 +159,47 @@ void Shooter::clampUp()
clamp = up;
}

void Shooter::wormPull()
void Shooter::auto7Wheel()
{
if(wormDone())
{
return;
/*if(!(ShooterJoy -> GetSmoothButton(CLAMP))
{
7WheelOldState = false;
}
else
{
if(!7WheelOldState)
{
7WheelOldState = true;
7WheelExtend = !7WheelExtend;
}
}
if(7WheelExtend)
{
pnum_7Wheel->setVectorValues(TIME, solenoid_7Wheel, DoubleSolenoid::kForward);
}
else
{
pnum_7Wheel->setVectorValues(TIME, solenoid_7Wheel, DoubleSolenoid::kReverse);
}*/
if(sevenWheel == up)
{
sevenWheelDown();
}
if(!wormIsPulling)
else
{
robot -> pnum -> setVectorValues(PUNCH_TIME, puncher, DoubleSolenoid::kForward);
sevenWheelUp();
}
wormIsPulling = true;
}
void Shooter::sevenWheelDown()
{
robot -> pnum->setVectorValues(TIME, solenoid_7Wheel, DoubleSolenoid::kForward);
sevenWheel = down;
}

void Shooter::sevenWheelUp()
{
robot -> pnum->setVectorValues(TIME, solenoid_7Wheel, DoubleSolenoid::kReverse);
sevenWheel = up;
}

void Shooter::wormStop()
Expand Down Expand Up @@ -218,6 +254,8 @@ void Shooter::buttonHelper(void* objPtr, uint32_t button)
if(button==CLAMP)
{
shooterObj->autoClamp();
shooterObj->auto7Wheel();//Not actually sure what button this should go on. Feel free to move this method
// if you arent happy. I dont think the clamp actually does anthing, however, so it should be fine.
}
if(button==ENERGIZE)
{
Expand Down
13 changes: 12 additions & 1 deletion Shooter.h
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Original file line number Diff line number Diff line change
Expand Up @@ -23,10 +23,19 @@ class Shooter
uint8_t clampMod, uint32_t clampFChan, uint32_t clampRChan,
uint8_t wormCan,
uint8_t punchMod,uint32_t punchFChan,uint32_t punchRChan,
uint8_t bobMod);
uint8_t bobMod,
Pneumatics* pnum_7Wheel, DoubleSolenoid* solenoid_7Wheel);
~Shooter();
enum Clamp {down, up};
Clamp clamp;
Clamp sevenWheel;
//enum SevenWheel {down, up};
//SevenWheel sevenWheel;
Pneumatics* pnum_7Wheel;
DoubleSolenoid* solenoid_7Wheel;
void auto7Wheel();
void sevenWheelUp();
void sevenWheelDown();
void pitchUp();
void pitchDown();
void pitchStop();
Expand Down Expand Up @@ -63,6 +72,8 @@ class Shooter
bool isPitchingUp;
bool isPitchingDown;
bool wormIsPulling;
//bool 7WheelExtend;
//bool 7WheelOldState;
bool winching;
bool hasTilted;
bool isPickingUpStopping;
Expand Down
5 changes: 4 additions & 1 deletion main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,8 @@ void main_robot::RobotInit()
driverJoy = new SmoothJoystick(this, DRIVER_JOY_PORT);
gunnerJoy = new SmoothJoystick(this, GUNNER_JOY_PORT);
pnum = new Pneumatics(this, PNUM_DIGIN_MODULE, PNUM_DIGIN_CHANNEL, PNUM_RELAY_MODULE, PNUM_RELAY_CHANNEL);
pnum_7Wheel = new Pneumatics(this, PNUM_7WHEEL_MODULE, PNUM_7WHEEL_CHANNEL, PNUM_7WHEEL_MODULE, PNUM_7WHEEL_CHANNEL);
solenoid_7Wheel = new DoubleSolenoid(SHOOT_7WHEEL_MODULE, SHOOT_7WHEEL_FCHAN, SHOOT_7WHEEL_RCHAN);
shift = new Shifter(this, SHIFT_MOD, SHIFT_FCHAN, SHIFT_RCHAN);
shift->setHigh();
drive = new DriveTrain(this, TALON_FL_MODULE, TALON_FL_CHANNEL,
Expand All @@ -36,7 +38,8 @@ void main_robot::RobotInit()
SHOOT_SLNOID_MODULE, SHOOT_SLNOID_FCHAN, SHOOT_SLNOID_RCHAN,
WORM_JAG_CAN,
PUNCH_SLNOID_MODULE, PUNCH_SLNOID_FCHAN, PUNCH_SLNOID_RCHAN,
SHOOT_ACCEL_MODULE);
SHOOT_ACCEL_MODULE,
pnum_7Wheel, solenoid_7Wheel);
sensors = new Sensors(this, USMODNUMBER, USCHANNEL, ISMODNUMBER, ISCHANNEL, ILMODNUMBER, ILCHANNEL, GYMOD, GYCHAN);
sensors->setGyroSens(1.0f); //default sensitivity
printf("Welcome to 612-2014 AERIAL ASSIST\n");
Expand Down
4 changes: 4 additions & 0 deletions main.h
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Original file line number Diff line number Diff line change
Expand Up @@ -35,7 +35,11 @@ class main_robot: public IterativeRobot
void TestPeriodic();
SmoothJoystick* driverJoy;
SmoothJoystick* gunnerJoy;

Pneumatics* pnum;
Pneumatics* pnum_7Wheel;
DoubleSolenoid* solenoid_7Wheel;

Shifter* shift;
DriveTrain* drive;
Shooter* shoot;
Expand Down
7 changes: 6 additions & 1 deletion ports.h
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Original file line number Diff line number Diff line change
Expand Up @@ -15,10 +15,11 @@ const static uint8_t TALON_RR_MODULE = 1;
// Pneumatics Channels
const static uint32_t PNUM_DIGIN_CHANNEL = 8;
const static uint32_t PNUM_RELAY_CHANNEL = 8;
const static uint32_t PNUM_7WHEEL_CHANNEL= 10;
// Pneumatics Modules
const static uint8_t PNUM_DIGIN_MODULE = 1;
const static uint8_t PNUM_RELAY_MODULE = 1;

const static uint8_t PNUM_7WHEEL_MODULE = 1;
// Shifter
const static uint32_t SHIFT_FCHAN = 7;
const static uint32_t SHIFT_RCHAN = 8;
Expand All @@ -34,6 +35,10 @@ const static uint8_t SHOOT_SLNOID_MODULE = 1; // clamp
const static uint32_t SHOOT_SLNOID_FCHAN = 5;
const static uint32_t SHOOT_SLNOID_RCHAN = 6;

const static uint8_t SHOOT_7WHEEL_MODULE = 1; // 7th wheel
const static uint32_t SHOOT_7WHEEL_FCHAN = 8;
const static uint32_t SHOOT_7WHEEL_RCHAN = 9;

const static uint32_t WORM_JAG_CAN = 2; // worm drive

const static uint8_t PUNCH_SLNOID_MODULE = 1; // dog clutch piston
Expand Down