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basic antiblock control

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This commit is contained in:
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
void intakeControl(pros::controller_digital_e_t intakeButton);
void togglePto();
void runCata();
void cataControl(pros::controller_digital_e_t ptoToggleButton, pros::controller_digital_e_t cataRunButton);
void runCata(double inpt);
void runAntiBlock(double inpt);
void subsysControl(pros::controller_digital_e_t ptoToggleButton, pros::controller_digital_e_t cataRunButton);
void wingsControl();
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);

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_tlb(5, MOTOR_GEARSET_06, false);
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_brb(4, MOTOR_GEARSET_06, false);

28
HVN-ON-EARTH/src/superstructure.cpp
View File

@ -190,12 +190,22 @@ namespace superstruct {
void runCata(double inpt) {
if (!ptoEnabled) return;
cata_left = inpt;
//cata_left = inpt;
cata_right = inpt;
}
void runAntiBlock(double inpt) {
if (!ptoEnabled) return;
cata_left = inpt;
}
/*
TODO:
- Make anti block passable button
*/
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
togglePto(!ptoEnabled); // Toggle the PTO so that cataput is useable
lock = 1;
@ -208,6 +218,14 @@ namespace superstruct {
} else {
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) {
@ -234,19 +252,19 @@ namespace superstruct {
*/
void renu_control() {
cataControl(RENU_PTO_TOGGLE, RENU_CATA_CONTROL);
subsysControl(RENU_PTO_TOGGLE, RENU_CATA_CONTROL);
wingsControlSingle(RENU_WING_CONTROL);
intakeControl(RENU_INTAKE_CONTROL);
}
void ria_control() {
cataControl(RIA_PTO_TOGGLE, RIA_CATA_CONTROL);
subsysControl(RIA_PTO_TOGGLE, RIA_CATA_CONTROL);
wingsControlSingle(RIA_WINGS_CONTROL);
intakeControl(RIA_INTAKE_CONTROL);
}
void chris_control() {
cataControl(RENU_PTO_TOGGLE, RENU_CATA_CONTROL);
subsysControl(RENU_PTO_TOGGLE, RENU_CATA_CONTROL);
wingsControlSingle(RENU_WING_CONTROL);
intakeControl(RENU_INTAKE_CONTROL);
}