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update intake, fix bugs w/ pto

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ary 2023-12-01 21:17:58 -05:00
parent 28a9adf08f
commit 780ecedcdf
2 changed files with 6 additions and 26 deletions
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12
CLOUDS/include/superstructure.hpp
View File

@ -5,14 +5,11 @@
#define SWING_SPEED 90 #define SWING_SPEED 90
// R1 -> WINGS, L1 -> CATA, L2 -> PTO, R2 -> INTAKE // R1 -> WINGS, L1 -> CATA, L2 -> PTO, R2 -> INTAKE
// Renu's control preferences // Renu's control preferences
#define RENU_PTO_TOGGLE DIGITAL_R2 #define RENU_PTO_TOGGLE DIGITAL_R1
#define RENU_CATA_CONTROL DIGITAL_R1 #define RENU_CATA_CONTROL DIGITAL_A
#define RENU_INTAKE_CONTROL_INTAKE DIGITAL_L1 #define RENU_INTAKE_CONTROL_INTAKE DIGITAL_L1
#define RENU_INTAKE_CONTROL_OUTTAKE DIGITAL_B #define RENU_INTAKE_CONTROL_OUTTAKE DIGITAL_L2
#define RENU_LEFT_WING_CONTROL DIGITAL_LEFT #define RENU_WING_CONTROL DIGITAL_R2
#define RENU_RIGHT_WING_CONTROL DIGITAL_RIGHT
#define RENU_WING_CONTROL DIGITAL_L2
#define RENU_CLIMB_CONTROL DIGITAL_A
// Ria's control preferences // Ria's control preferences
#define RIA_PTO_TOGGLE DIGITAL_LEFT #define RIA_PTO_TOGGLE DIGITAL_LEFT
@ -55,7 +52,6 @@ namespace superstruct {
void runAntiBlock(double inpt); void runAntiBlock(double inpt);
void subsysControl(pros::controller_digital_e_t ptoToggleButton, pros::controller_digital_e_t cataRunButton, pros::controller_digital_e_t intakeButton, pros::controller_digital_e_t outtakeButton); void subsysControl(pros::controller_digital_e_t ptoToggleButton, pros::controller_digital_e_t cataRunButton, pros::controller_digital_e_t intakeButton, pros::controller_digital_e_t outtakeButton);
void wingsControl(pros::controller_digital_e_t wingControlButton); void wingsControl(pros::controller_digital_e_t wingControlButton);
void climbControl(pros::controller_digital_e_t climbButton);
/* Controls */ /* Controls */
void renu_control(); void renu_control();

20
CLOUDS/src/superstructure.cpp
View File

@ -3,9 +3,8 @@
using namespace ary; using namespace ary;
using namespace globals; using namespace globals;
bool ptoEnabled = false; bool ptoEnabled = true;
bool wingsOpen = false; bool wingsOpen = false;
bool intakeEngaged = false;
/* /*
SCALE SPEEDS: Determines what percentage speeds of autonomous movements should move at SCALE SPEEDS: Determines what percentage speeds of autonomous movements should move at
@ -166,7 +165,7 @@ namespace superstruct {
intake_mtr = inpt; intake_mtr = inpt;
} }
int lock = 0; int lock = 1;
void subsysControl(pros::controller_digital_e_t ptoToggleButton, pros::controller_digital_e_t cataRunButton, pros::controller_digital_e_t intakeButton, pros::controller_digital_e_t outtakeButton) { void subsysControl(pros::controller_digital_e_t ptoToggleButton, pros::controller_digital_e_t cataRunButton, pros::controller_digital_e_t intakeButton, pros::controller_digital_e_t outtakeButton) {
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
@ -190,19 +189,6 @@ namespace superstruct {
} }
} }
int climb_state = 0;
void climbControl(pros::controller_digital_e_t climbButton) {
if (globals::master.get_digital_new_press(climbButton)) {
if (climb_state == 0) {
climb_piston.set_value(1);
climb_state = 1;
} else if (climb_state == 1) {
climb_piston.set_value(0);
climb_state = 0;
}
}
}
void wingsControl(pros::controller_digital_e_t wingControlButton) { void wingsControl(pros::controller_digital_e_t wingControlButton) {
if (globals::master.get_digital_new_press(wingControlButton)) { if (globals::master.get_digital_new_press(wingControlButton)) {
if (wings.getState() == 0) // A value of 0 indicates that both wings are closed if (wings.getState() == 0) // A value of 0 indicates that both wings are closed
@ -218,13 +204,11 @@ namespace superstruct {
void renu_control() { void renu_control() {
subsysControl(RENU_PTO_TOGGLE, RENU_CATA_CONTROL, RENU_INTAKE_CONTROL_INTAKE, RENU_INTAKE_CONTROL_OUTTAKE); subsysControl(RENU_PTO_TOGGLE, RENU_CATA_CONTROL, RENU_INTAKE_CONTROL_INTAKE, RENU_INTAKE_CONTROL_OUTTAKE);
wingsControl(RENU_WING_CONTROL); wingsControl(RENU_WING_CONTROL);
climbControl(RENU_CLIMB_CONTROL);
} }
void ria_control() { void ria_control() {
subsysControl(RENU_PTO_TOGGLE, RENU_CATA_CONTROL, RENU_INTAKE_CONTROL_INTAKE, RENU_INTAKE_CONTROL_OUTTAKE); subsysControl(RENU_PTO_TOGGLE, RENU_CATA_CONTROL, RENU_INTAKE_CONTROL_INTAKE, RENU_INTAKE_CONTROL_OUTTAKE);
wingsControl(RENU_WING_CONTROL); wingsControl(RENU_WING_CONTROL);
climbControl(RENU_CLIMB_CONTROL);
} }
void chris_control() { void chris_control() {