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work on two autonomous paths

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corrected test_auton (1)
added:
test_second (2) -> scores preload and combines movements from test_auton

(this actually took less time than i thought it would)

it is now a matter of working on tuning exit conditions so movements don't use up too much time
This commit is contained in:
ary 2023-09-22 20:05:27 -04:00
parent ebe3c7af00
commit 6c8487ad99
3 changed files with 54 additions and 7 deletions
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1
RELENTLESS-Lite/include/autons.hpp
View File

@ -3,6 +3,7 @@
#include "arylib/drive/drive.hpp" #include "arylib/drive/drive.hpp"
void test_auton(); void test_auton();
void test_second();
void default_constants(); void default_constants();
void exit_condition_defaults(); void exit_condition_defaults();

59
RELENTLESS-Lite/src/autons.cpp
View File

@ -9,8 +9,8 @@ using namespace superstruct;
// **CONSTANTS** // // **CONSTANTS** //
const int DRIVE_SPEED = 110; const int DRIVE_SPEED = 110;
const int TURN_SPEED = 90; const int TURN_SPEED = 101.5;
const int SWING_SPEED = 90; const int SWING_SPEED = 101.5;
void default_constants() { void default_constants() {
chassis.set_slew_min_power(80, 80); chassis.set_slew_min_power(80, 80);
@ -18,14 +18,14 @@ void default_constants() {
chassis.set_pid_constants(&chassis.headingPID, 11, 0, 17.5, 0); chassis.set_pid_constants(&chassis.headingPID, 11, 0, 17.5, 0);
chassis.set_pid_constants(&chassis.forward_drivePID, 2, 0, 5, 0); chassis.set_pid_constants(&chassis.forward_drivePID, 2, 0, 5, 0);
chassis.set_pid_constants(&chassis.backward_drivePID, 2, 0, 5, 0); chassis.set_pid_constants(&chassis.backward_drivePID, 2, 0, 5, 0);
chassis.set_pid_constants(&chassis.turnPID, 5, 0.003, 30, 15); chassis.set_pid_constants(&chassis.turnPID, 8, 0.003, 27, 15);
chassis.set_pid_constants(&chassis.swingPID, 6, 0, 40, 0); chassis.set_pid_constants(&chassis.swingPID, 7, 0, 35, 0);
} }
void exit_condition_defaults() { void exit_condition_defaults() {
chassis.set_exit_condition(chassis.turn_exit, 50, 2, 220, 3, 500, 500);//100, 3, 500, 7, 500, 500 //100, 2, 500, 4, 500, 500// 70, 1, 220, 3, 500, 500 chassis.set_exit_condition(chassis.turn_exit, 50, 2, 220, 3, 500, 500);//100, 3, 500, 7, 500, 500 //100, 2, 500, 4, 500, 500// 70, 1, 220, 3, 500, 500
chassis.set_exit_condition(chassis.swing_exit, 100, 3, 500, 7, 500, 500);//100, 3, 500, 7, 500, 500 chassis.set_exit_condition(chassis.swing_exit, 100, 3, 500, 7, 500, 500);//100, 3, 500, 7, 500, 500
chassis.set_exit_condition(chassis.drive_exit, 20, 40, 300, 150, 500, 500);//80, 50, 300, 150, 500, 500//20, 60, 300, 150, 500, 500 chassis.set_exit_condition(chassis.drive_exit, 40, 80, 300, 150, 500, 500);//80, 50, 300, 150, 500, 500//20, 60, 300, 150, 500, 500
} }
// ** other stufff** // // ** other stufff** //
@ -43,10 +43,57 @@ void test_auton() {
chassis.wait_drive(); chassis.wait_drive();
chassis.set_turn_pid(57, TURN_SPEED); chassis.set_turn_pid(57, TURN_SPEED);
chassis.wait_drive(); chassis.wait_drive();
chassis.set_drive_pid(48, DRIVE_SPEED, true, true); chassis.set_drive_pid(43, DRIVE_SPEED, true, true);
chassis.wait_drive(); chassis.wait_drive();
chassis.set_swing_pid(LEFT_SWING, 80, SWING_SPEED); chassis.set_swing_pid(LEFT_SWING, 80, SWING_SPEED);
chassis.wait_drive(); chassis.wait_drive();
chassis.set_drive_pid(2, DRIVE_SPEED, false, true); chassis.set_drive_pid(2, DRIVE_SPEED, false, true);
chassis.wait_drive(); chassis.wait_drive();
chassis.set_drive_pid(-26, DRIVE_SPEED, true, true);
chassis.wait_drive();
chassis.set_turn_pid(-45, TURN_SPEED);
chassis.wait_drive();
}
void test_second() {
chassis.set_drive_pid(107, DRIVE_SPEED, true, true);
chassis.wait_drive();
//chassis.set_swing_pid(LEFT_SWING, 100, SWING_SPEED);
//chassis.wait_drive();
chassis.set_drive_pid(-38, DRIVE_SPEED, true, true);
chassis.wait_drive();
chassis.set_turn_pid(-99, TURN_SPEED);
chassis.wait_drive();
chassis.set_drive_pid(95, DRIVE_SPEED, true, true);
chassis.wait_drive();
chassis.set_drive_pid(-10, DRIVE_SPEED, false, true);
chassis.wait_drive();
chassis.set_turn_pid(15, TURN_SPEED);
chassis.wait_drive();
chassis.set_drive_pid(40, DRIVE_SPEED, true, true);
chassis.wait_drive();
chassis.set_swing_pid(LEFT_SWING, 60, SWING_SPEED);
chassis.wait_drive();
chassis.set_drive_pid(-48, DRIVE_SPEED, true, true);
chassis.wait_drive();
chassis.set_turn_pid(-90, TURN_SPEED);
chassis.wait_drive();
chassis.set_drive_pid(12, DRIVE_SPEED, false, true);
chassis.wait_drive();
// chassis.set_drive_pid(2, DRIVE_SPEED, false, true);
// chassis.wait_drive();
} }

1
RELENTLESS/src/autons.cpp
View File

@ -43,4 +43,3 @@ void test_auton() {
chassis.set_turn_pid(130, TURN_SPEED); chassis.set_turn_pid(130, TURN_SPEED);
//pros::task_t intakeTask(run_intake_for, (void*) malloc(sizeof(double)), TASK_PRIORITY_DEFAULT, TASK_STACK_DEPTH_DEFAULT, "runIntakeFor"); //pros::task_t intakeTask(run_intake_for, (void*) malloc(sizeof(double)), TASK_PRIORITY_DEFAULT, TASK_STACK_DEPTH_DEFAULT, "runIntakeFor");
}