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Chimichanga.cpp
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Chimichanga.cpp
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#include "Constants.h"
#include "Kicker.h"
#include "IterativeRobot.h"
#include "RobotDrive.h"
#include "Joystick.h"
#include "Compressor.h"
#include "Encoder.h"
/**
* This is a copy of the robot of Team 1261's 2010 robot - the Chimichanga
*
* Useful Link: http://www.chiefdelphi.com/forums/showthread.php?t=81064
*/
class Chimichanga : public IterativeRobot
{
RobotDrive *drivetrain;
Compressor *compressor;
Encoder *leftDrivetrainEncoder;
Encoder *rightDrivetrainEncoder;
Joystick *driverJoystick;
Kicker *kicker;
static const float autonomousForwardPower = 0.5;
public:
Chimichanga(void)
{
//Hardware
drivetrain = new RobotDrive(PWM_DRIVE_FL, PWM_DRIVE_RL, PWM_DRIVE_FR, PWM_DRIVE_RR);
drivetrain->SetInvertedMotor(drivetrain->kFrontLeftMotor, false);
drivetrain->SetInvertedMotor(drivetrain->kRearLeftMotor, false);
drivetrain->SetInvertedMotor(drivetrain->kFrontRightMotor, false);
drivetrain->SetInvertedMotor(drivetrain->kRearRightMotor, false);
compressor = new Compressor(DIO_PRESSURE, RELAY_COMPRESSOR);
//Sensors
leftDrivetrainEncoder = new Encoder(DIO_ENCODER_DRIVE_LEFT_A, DIO_ENCODER_DRIVE_LEFT_B);
rightDrivetrainEncoder = new Encoder(DIO_ENCODER_DRIVE_RIGHT_A, DIO_ENCODER_DRIVE_RIGHT_B);
driverJoystick = new Joystick(JOYSTICK_DRIVE);
//Systems
kicker = new Kicker();
}
/********************************* INIT FUNCTIONS *********************************/
void RobotInit(void) {
printf("Robot initializing...\n");
GetWatchdog().Feed();
printf("Robot initialization complete.\n");
}
void DisabledInit(void) {
printf("Robot disabled initializing...\n");
GetWatchdog().Feed();
//Stop the presses...
drivetrain->Drive(0.0, 0.0);
compressor->Stop();
printf("Robot disabled initialization complete.\n");
}
void AutonomousInit(void) {
printf("Robot autonomous initializing...\n");
GetWatchdog().Feed();
compressor->Start();
kicker->Reset();
printf("Robot autonomous initialization complete.\n");
}
void TeleopInit(void) {
printf("Robot teleop initializing...\n");
GetWatchdog().Feed();
compressor->Start();
kicker->SafeReset();
leftDrivetrainEncoder->Start();
rightDrivetrainEncoder->Start();
printf("Robot teleop initialization complete.\n");
}
/********************************* PERIODIC ROUTINES *********************************/
void DisabledPeriodic(void) {
//Stuff
}
void AutonomousPeriodic(void) {
//Stuff
}
void TeleopPeriodic(void) {
//Stuff
}
/******************************** CONTINUOUS ROUTINES ********************************/
void DisabledContinuous(void) {
printf("Running in disabled continuous...\n");
GetWatchdog().Feed();
//Stop the presses...
drivetrain->Drive(0.0, 0.0);
compressor->Stop();
}
void AutonomousContinuous(void) {
printf("Running in autonomous continuous...\n");
GetWatchdog().Feed();
if (kicker->HasBall())
{
//We have a ball, thus stop moving and kick the ball
drivetrain->Drive(0.0, 0.0);
kicker->SetKickerMode(KICKER_MODE_KICK);
} else {
//We do not have a ball
if (kicker->IsKickerInPosition())
{
//Move forward!
drivetrain->ArcadeDrive(autonomousForwardPower, 0.0);
} else {
//If not in position, wait for it to be there...
drivetrain->ArcadeDrive(0.0, 0.0);
kicker->SetKickerMode(KICKER_MODE_ARM);
}
}
//Run the kicker
kicker->Act();
}
void TeleopContinuous(void) {
printf("Running in teleop continuous...\n");
GetWatchdog().Feed();
//Drive the robot
drivetrain->ArcadeDrive(driverJoystick->GetRawAxis(2) * -1,driverJoystick->GetRawAxis(4) * -1);
//Run the kicker
kicker->Act();
}
};
START_ROBOT_CLASS(Chimichanga);