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testing sutff

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This commit is contained in:
ary 2023-10-14 17:55:42 -04:00
parent 4db0295f42
commit b0add85062
5 changed files with 129 additions and 77 deletions
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1
RELENTLESS-Lite/include/autons.hpp
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@ -4,6 +4,7 @@
void test_auton(); void test_auton();
void test_second(); void test_second();
void arc_testing();
void default_constants(); void default_constants();
void exit_condition_defaults(); void exit_condition_defaults();

5
RELENTLESS-Lite/include/globals.hpp
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@ -5,6 +5,8 @@
#define DRIVE_RPM 450 #define DRIVE_RPM 450
#define WHEEL_SIZE 2.75 #define WHEEL_SIZE 2.75
extern pros::Task swing_other;
namespace globals { namespace globals {
extern pros::Controller master; extern pros::Controller master;
@ -19,7 +21,8 @@ namespace globals {
extern pros::Motor_Group right_drive; extern pros::Motor_Group right_drive;
extern lemlib::Drivetrain_t chassis_odom; extern lemlib::Drivetrain_t chassis_odom;
extern Drive chassis; extern Drive chassisRight;
extern Drive chassisLeft;
extern pros::Motor cata_left; extern pros::Motor cata_left;
extern pros::Motor cata_right; extern pros::Motor cata_right;

136
RELENTLESS-Lite/src/autons.cpp
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@ -12,20 +12,39 @@ const int DRIVE_SPEED = 110;
const int TURN_SPEED = 101.5; const int TURN_SPEED = 101.5;
const int SWING_SPEED = 101.5; const int SWING_SPEED = 101.5;
void swingOther(void* p) {
chassisLeft.initialize();
chassisLeft.set_swing_pid(LEFT_SWING, 180, SWING_SPEED);
}
pros::Task swing_other(swingOther);
void default_constants() { void default_constants() {
chassis.set_slew_min_power(80, 80); chassisRight.set_slew_min_power(80, 80);
chassis.set_slew_distance(7, 7); chassisRight.set_slew_distance(7, 7);
chassis.set_pid_constants(&chassis.headingPID, 11, 0, 17.5, 0); chassisRight.set_pid_constants(&chassisRight.headingPID, 11, 0, 17.5, 0);
chassis.set_pid_constants(&chassis.forward_drivePID, 2, 0, 5, 0); chassisRight.set_pid_constants(&chassisRight.forward_drivePID, 2, 0, 6.5, 0);
chassis.set_pid_constants(&chassis.backward_drivePID, 2, 0, 5, 0); chassisRight.set_pid_constants(&chassisRight.backward_drivePID, 2, 0, 6.5, 0);
chassis.set_pid_constants(&chassis.turnPID, 8, 0.003, 27, 15); chassisRight.set_pid_constants(&chassisRight.turnPID, 8, 0.003, 27, 15);
chassis.set_pid_constants(&chassis.swingPID, 7, 0, 35, 0); chassisRight.set_pid_constants(&chassisRight.swingPID, 7, 0, 35, 0);
chassisLeft.set_slew_min_power(80, 80);
chassisLeft.set_slew_distance(7, 7);
chassisLeft.set_pid_constants(&chassisRight.headingPID, 11, 0, 17.5, 0);
chassisLeft.set_pid_constants(&chassisRight.forward_drivePID, 2, 0, 6.5, 0);
chassisLeft.set_pid_constants(&chassisRight.backward_drivePID, 2, 0, 6.5, 0);
chassisLeft.set_pid_constants(&chassisRight.turnPID, 8, 0.003, 27, 15);
chassisLeft.set_pid_constants(&chassisRight.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 chassisRight.set_exit_condition(chassisRight.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 chassisRight.set_exit_condition(chassisRight.swing_exit, 100, 3, 500, 7, 500, 500);//100, 3, 500, 7, 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 chassisRight.set_exit_condition(chassisRight.drive_exit, 40, 80, 300, 150, 500, 500);//80, 50, 300, 150, 500, 500//20, 60, 300, 150, 500, 500
chassisLeft.set_exit_condition(chassisRight.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
chassisLeft.set_exit_condition(chassisRight.swing_exit, 100, 3, 500, 7, 500, 500);//100, 3, 500, 7, 500, 500
chassisLeft.set_exit_condition(chassisRight.drive_exit, 40, 80, 300, 150, 500, 500);//80, 50, 300, 150, 500, 500//20, 60, 300, 150, 500, 500
} }
// ** other stufff** // // ** other stufff** //
@ -33,67 +52,72 @@ void exit_condition_defaults() {
// ** AUTONS ** // // ** AUTONS ** //
void test_auton() { void test_auton() {
chassis.set_drive_pid(48, DRIVE_SPEED, true, true); chassisRight.set_drive_pid(48, DRIVE_SPEED, true, true);
chassis.wait_drive(); chassisRight.wait_drive();
chassis.set_turn_pid(-65, TURN_SPEED); chassisRight.set_turn_pid(-65, TURN_SPEED);
chassis.wait_drive(); chassisRight.wait_drive();
chassis.set_drive_pid(60, DRIVE_SPEED, true, true); chassisRight.set_drive_pid(60, DRIVE_SPEED, true, true);
chassis.wait_drive(); chassisRight.wait_drive();
chassis.set_drive_pid(-10, DRIVE_SPEED, false, true); chassisRight.set_drive_pid(-10, DRIVE_SPEED, false, true);
chassis.wait_drive(); chassisRight.wait_drive();
chassis.set_turn_pid(57, TURN_SPEED); chassisRight.set_turn_pid(57, TURN_SPEED);
chassis.wait_drive(); chassisRight.wait_drive();
chassis.set_drive_pid(43, DRIVE_SPEED, true, true); chassisRight.set_drive_pid(43, DRIVE_SPEED, true, true);
chassis.wait_drive(); chassisRight.wait_drive();
chassis.set_swing_pid(LEFT_SWING, 80, SWING_SPEED); chassisRight.set_swing_pid(LEFT_SWING, 80, SWING_SPEED);
chassis.wait_drive(); chassisRight.wait_drive();
chassis.set_drive_pid(2, DRIVE_SPEED, false, true); chassisRight.set_drive_pid(2, DRIVE_SPEED, false, true);
chassis.wait_drive(); chassisRight.wait_drive();
chassis.set_drive_pid(-26, DRIVE_SPEED, true, true); chassisRight.set_drive_pid(-26, DRIVE_SPEED, true, true);
chassis.wait_drive(); chassisRight.wait_drive();
chassis.set_turn_pid(-45, TURN_SPEED); chassisRight.set_turn_pid(-45, TURN_SPEED);
chassis.wait_drive(); chassisRight.wait_drive();
} }
void test_second() { void test_second() {
chassis.set_drive_pid(107, DRIVE_SPEED, true, true); chassisRight.set_drive_pid(107, DRIVE_SPEED, true, true);
chassis.wait_drive(); chassisRight.wait_drive();
//chassis.set_swing_pid(LEFT_SWING, 100, SWING_SPEED); //chassisRight.set_swing_pid(LEFT_SWING, 100, SWING_SPEED);
//chassis.wait_drive(); //chassisRight.wait_drive();
chassis.set_drive_pid(-38, DRIVE_SPEED, true, true); chassisRight.set_drive_pid(-38, DRIVE_SPEED, true, true);
chassis.wait_drive(); chassisRight.wait_drive();
chassis.set_turn_pid(-99, TURN_SPEED); chassisRight.set_turn_pid(-99, TURN_SPEED);
chassis.wait_drive(); chassisRight.wait_drive();
chassis.set_drive_pid(95, DRIVE_SPEED, true, true); chassisRight.set_drive_pid(95, DRIVE_SPEED, true, true);
chassis.wait_drive(); chassisRight.wait_drive();
chassis.set_drive_pid(-10, DRIVE_SPEED, false, true); chassisRight.set_drive_pid(-10, DRIVE_SPEED, false, true);
chassis.wait_drive(); chassisRight.wait_drive();
chassis.set_turn_pid(15, TURN_SPEED); chassisRight.set_turn_pid(15, TURN_SPEED);
chassis.wait_drive(); chassisRight.wait_drive();
chassis.set_drive_pid(40, DRIVE_SPEED, true, true); chassisRight.set_drive_pid(40, DRIVE_SPEED, true, true);
chassis.wait_drive(); chassisRight.wait_drive();
chassis.set_swing_pid(LEFT_SWING, 60, SWING_SPEED); chassisRight.set_swing_pid(LEFT_SWING, 60, SWING_SPEED);
chassis.wait_drive(); chassisRight.wait_drive();
chassis.set_drive_pid(-48, DRIVE_SPEED, true, true); chassisRight.set_drive_pid(-48, DRIVE_SPEED, true, true);
chassis.wait_drive(); chassisRight.wait_drive();
chassis.set_turn_pid(-90, TURN_SPEED); chassisRight.set_turn_pid(-90, TURN_SPEED);
chassis.wait_drive(); chassisRight.wait_drive();
chassis.set_drive_pid(12, DRIVE_SPEED, false, true); chassisRight.set_drive_pid(12, DRIVE_SPEED, false, true);
chassis.wait_drive(); chassisRight.wait_drive();
// chassis.set_drive_pid(2, DRIVE_SPEED, false, true); // chassisRight.set_drive_pid(2, DRIVE_SPEED, false, true);
// chassis.wait_drive(); // chassisRight.wait_drive();
}
void arc_testing() {
chassisRight.set_swing_pid(RIGHT_SWING, 180, SWING_SPEED);
swing_other.resume();
} }

11
RELENTLESS-Lite/src/globals.cpp
View File

@ -27,7 +27,16 @@ namespace globals {
DRIVE_RPM DRIVE_RPM
}; };
Drive chassis( Drive chassisRight(
{-20, -17, 8},
{12, 1, -4},
10,
2.75,
600,
0.75
);
Drive chassisLeft(
{-20, -17, 8}, {-20, -17, 8},
{12, 1, -4}, {12, 1, -4},
10, 10,

53
RELENTLESS-Lite/src/main.cpp
View File

@ -21,28 +21,38 @@ void initialize() {
- -
*/ */
chassis.set_curve_buttons(pros::E_CONTROLLER_DIGITAL_LEFT, pros::E_CONTROLLER_DIGITAL_RIGHT); chassisRight.set_curve_buttons(pros::E_CONTROLLER_DIGITAL_LEFT, pros::E_CONTROLLER_DIGITAL_RIGHT);
chassis.toggle_modify_curve_with_controller(true); chassisRight.toggle_modify_curve_with_controller(true);
chassis.set_active_brake(0.1); chassisRight.set_active_brake(0.1);
chassis.set_curve_default(0.5, 0.5); chassisRight.set_curve_default(0.5, 0.5);
chassis.set_joystick_drivescale(1.0); chassisRight.set_joystick_drivescale(1.0);
chassis.set_joystick_turnscale(1.0); chassisRight.set_joystick_turnscale(1.0);
chassisLeft.set_curve_buttons(pros::E_CONTROLLER_DIGITAL_LEFT, pros::E_CONTROLLER_DIGITAL_RIGHT);
chassisLeft.toggle_modify_curve_with_controller(true);
chassisLeft.set_active_brake(0.1);
chassisLeft.set_curve_default(0.5, 0.5);
chassisLeft.set_joystick_drivescale(1.0);
chassisLeft.set_joystick_turnscale(1.0);
default_constants(); default_constants();
exit_condition_defaults(); exit_condition_defaults();
ary::autonselector::auton_selector.add_autons({ ary::autonselector::auton_selector.add_autons({
Auton("Test Auton\n\nTesting Autonomous on field", test_auton), Auton("Test Auton\n\nTesting Autonomous on field", test_auton),
Auton("Test Auton - The Sequel\n\nyo mama", test_second) // TODO: Change this before putting this in the notebook LOL Auton("Test Auton - The Sequel\n\nyo mama", test_second), // TODO: Change this before putting this in the notebook LOL
Auton("CURVATURE, ARCING, AND EVERYTHING IN BETWEEN", arc_testing)
}); });
chassis.set_drive_brake(MOTOR_BRAKE_COAST); chassisRight.set_drive_brake(MOTOR_BRAKE_COAST);
chassisLeft.set_drive_brake(MOTOR_BRAKE_COAST);
//handle pto and stuff //handle pto and stuff
//chassis.pto_add(); //chassisRight.pto_add();
chassis.initialize(); chassisRight.initialize();
ary::autonselector::initialize(); ary::autonselector::initialize();
} }
@ -61,23 +71,28 @@ void competition_initialize() {
} }
void autonomous() { void autonomous() {
chassis.reset_pid_targets(); chassisRight.reset_pid_targets();
chassis.reset_gyro(); chassisRight.reset_gyro();
chassis.reset_drive_sensor(); chassisRight.reset_drive_sensor();
chassis.set_drive_brake(MOTOR_BRAKE_COAST); chassisRight.set_drive_brake(MOTOR_BRAKE_COAST);
chassisLeft.reset_pid_targets();
chassisLeft.reset_gyro();
chassisLeft.reset_drive_sensor();
chassisLeft.set_drive_brake(MOTOR_BRAKE_COAST);
default_constants(); default_constants();
ary::autonselector::auton_selector.call_selected_auton(); ary::autonselector::auton_selector.call_selected_auton();
} }
void opcontrol() { void opcontrol() {
chassis.set_drive_brake(MOTOR_BRAKE_COAST); chassisRight.set_drive_brake(MOTOR_BRAKE_COAST);
chassis.set_active_brake(0); chassisRight.set_active_brake(0);
while (true) { while (true) {
//chassis.arcade_standard(ary::SdPLIT, ary::DEFAULT); //chassisRight.arcade_standard(ary::SdPLIT, ary::DEFAULT);
//chassis.arcade_standard(ary::SPLIT, ary::DEFAULT); //chassisRight.arcade_standard(ary::SPLIT, ary::DEFAULT);
chassis.tank(); chassisRight.tank();
// if (globals::master.get_digital(DIGITAL_R1)) { // if (globals::master.get_digital(DIGITAL_R1)) {
// cata_left.move_voltage(12000); // cata_left.move_voltage(12000);