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basic antiblock control

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ary 2023-11-10 02:31:44 -05:00
parent 7c3b025969
commit 50460a1e30
3 changed files with 27 additions and 8 deletions
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5
HVN-ON-EARTH/include/superstructure.hpp
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@ -51,8 +51,9 @@ namespace superstruct {
//- Structure methods //- Structure methods
void intakeControl(pros::controller_digital_e_t intakeButton); void intakeControl(pros::controller_digital_e_t intakeButton);
void togglePto(); void togglePto();
void runCata(); void runCata(double inpt);
void cataControl(pros::controller_digital_e_t ptoToggleButton, pros::controller_digital_e_t cataRunButton); void runAntiBlock(double inpt);
void subsysControl(pros::controller_digital_e_t ptoToggleButton, pros::controller_digital_e_t cataRunButton);
void wingsControl(); void wingsControl();
void wingsControlSingle(pros::controller_digital_e_t wingControlButton); void wingsControlSingle(pros::controller_digital_e_t wingControlButton);
void wingsControlComplex(pros::controller_analog_e_t leftWingButton, pros::controller_analog_e_t rightWingButton, pros::controller_analog_e_t wingButton); void wingsControlComplex(pros::controller_analog_e_t leftWingButton, pros::controller_analog_e_t rightWingButton, pros::controller_analog_e_t wingButton);

2
HVN-ON-EARTH/src/globals.cpp
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@ -22,7 +22,7 @@ namespace globals {
pros::Motor motor_blf(2, MOTOR_GEARSET_06, true); pros::Motor motor_blf(2, MOTOR_GEARSET_06, true);
pros::Motor motor_tlb(5, MOTOR_GEARSET_06, false); pros::Motor motor_tlb(5, MOTOR_GEARSET_06, false);
pros::Motor motor_trf(16, MOTOR_GEARSET_06, true); pros::Motor motor_trf(16, MOTOR_GEARSET_06, true);
pros::Motor motor_trb(3, MOTOR_GEARSET_06, true); pros::Motor motor_trb(3, MOTOR_GEARSET_06, true); // cata running
pros::Motor motor_brf(1, MOTOR_GEARSET_06, false); pros::Motor motor_brf(1, MOTOR_GEARSET_06, false);
pros::Motor motor_brb(4, MOTOR_GEARSET_06, false); pros::Motor motor_brb(4, MOTOR_GEARSET_06, false);

28
HVN-ON-EARTH/src/superstructure.cpp
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@ -190,12 +190,22 @@ namespace superstruct {
void runCata(double inpt) { void runCata(double inpt) {
if (!ptoEnabled) return; if (!ptoEnabled) return;
cata_left = inpt; //cata_left = inpt;
cata_right = inpt; cata_right = inpt;
} }
void runAntiBlock(double inpt) {
if (!ptoEnabled) return;
cata_left = inpt;
}
/*
TODO:
- Make anti block passable button
*/
int lock = 0; int lock = 0;
void cataControl(pros::controller_digital_e_t ptoToggleButton, pros::controller_digital_e_t cataRunButton) { void subsysControl(pros::controller_digital_e_t ptoToggleButton, pros::controller_digital_e_t cataRunButton) {
if (globals::master.get_digital(ptoToggleButton) && lock == 0) { // If the PTO button has been pressed and the PTO is not engaged if (globals::master.get_digital(ptoToggleButton) && lock == 0) { // If the PTO button has been pressed and the PTO is not engaged
togglePto(!ptoEnabled); // Toggle the PTO so that cataput is useable togglePto(!ptoEnabled); // Toggle the PTO so that cataput is useable
lock = 1; lock = 1;
@ -208,6 +218,14 @@ namespace superstruct {
} else { } else {
runCata(0); runCata(0);
} }
if (globals::master.get_digital(DIGITAL_UP)) {
runAntiBlock(-12000);
} else if (globals::master.get_digital(DIGITAL_UP)) {
runAntiBlock(12000);
} else {
runAntiBlock(0);
}
} }
void wingsControlSingle(pros::controller_digital_e_t wingControlButton) { void wingsControlSingle(pros::controller_digital_e_t wingControlButton) {
@ -234,19 +252,19 @@ namespace superstruct {
*/ */
void renu_control() { void renu_control() {
cataControl(RENU_PTO_TOGGLE, RENU_CATA_CONTROL); subsysControl(RENU_PTO_TOGGLE, RENU_CATA_CONTROL);
wingsControlSingle(RENU_WING_CONTROL); wingsControlSingle(RENU_WING_CONTROL);
intakeControl(RENU_INTAKE_CONTROL); intakeControl(RENU_INTAKE_CONTROL);
} }
void ria_control() { void ria_control() {
cataControl(RIA_PTO_TOGGLE, RIA_CATA_CONTROL); subsysControl(RIA_PTO_TOGGLE, RIA_CATA_CONTROL);
wingsControlSingle(RIA_WINGS_CONTROL); wingsControlSingle(RIA_WINGS_CONTROL);
intakeControl(RIA_INTAKE_CONTROL); intakeControl(RIA_INTAKE_CONTROL);
} }
void chris_control() { void chris_control() {
cataControl(RENU_PTO_TOGGLE, RENU_CATA_CONTROL); subsysControl(RENU_PTO_TOGGLE, RENU_CATA_CONTROL);
wingsControlSingle(RENU_WING_CONTROL); wingsControlSingle(RENU_WING_CONTROL);
intakeControl(RENU_INTAKE_CONTROL); intakeControl(RENU_INTAKE_CONTROL);
} }