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a motorized intake

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This commit is contained in:
ary 2023-11-17 08:26:48 -05:00
parent 2ce727fd40
commit cc2e38062d
4 changed files with 38 additions and 38 deletions
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4
HVN-ON-EARTH/include/globals.hpp
View File

@ -57,8 +57,8 @@ namespace globals {
extern Drive chassis;
extern pros::Motor& cata_left;
extern pros::Motor& cata_right;
extern pros::Motor& intake_mtr;
extern pros::Motor& cata_mtr;
enum e_controlsch {
RENU,

7
HVN-ON-EARTH/include/superstructure.hpp
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@ -7,7 +7,8 @@
// Renu's control preferences
#define RENU_PTO_TOGGLE DIGITAL_R2
#define RENU_CATA_CONTROL DIGITAL_R1
#define RENU_INTAKE_CONTROL DIGITAL_L1
#define RENU_INTAKE_CONTROL_INTAKE DIGITAL_L1
#define RENU_INTAKE_CONTROL_OUTTAKE DIGITAL_B
#define RENU_LEFT_WING_CONTROL DIGITAL_LEFT
#define RENU_RIGHT_WING_CONTROL DIGITAL_RIGHT
#define RENU_WING_CONTROL DIGITAL_L2
@ -50,11 +51,11 @@ namespace superstruct {
void setSwingScale(double val);
//- Structure methods
void intakeControl(pros::controller_digital_e_t intakeButton);
//void intakeControl(pros::controller_digital_e_t intakeButton);
void togglePto(bool toggle);
void runCata(double inpt);
void runAntiBlock(double inpt);
void subsysControl(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, pros::controller_digital_e_t intakeButton, pros::controller_digital_e_t outtakeButton);
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);

4
HVN-ON-EARTH/src/globals.cpp
View File

@ -91,6 +91,6 @@ namespace globals {
lemlib::Chassis chassis_odom(dt_odom, latController, angController, chassis_sensors);
pros::Motor& cata_left = chassis.left_motors[3];
pros::Motor& cata_right = chassis.right_motors[3];
pros::Motor& intake_mtr = chassis.left_motors[3];
pros::Motor& cata_mtr = chassis.right_motors[3];
}

61
HVN-ON-EARTH/src/superstructure.cpp
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@ -165,38 +165,37 @@ namespace superstruct {
}
// Structure methods
void intakeControl(pros::controller_digital_e_t intakeButton) {
if (globals::master.get_digital_new_press(intakeButton)) {
if (intakeEngaged == false) {
intake_piston.set_value(1);
intakeEngaged = true;
} else if (intakeEngaged == true) {
intake_piston.set_value(0);
intakeEngaged = false;
}
}
}
// void intakeControl(pros::controller_digital_e_t intakeButton) {
// if (globals::master.get_digital_new_press(intakeButton)) {
// if (intakeEngaged == false) {
// intake_piston.set_value(1);
// intakeEngaged = true;
// } else if (intakeEngaged == true) {
// intake_piston.set_value(0);
// intakeEngaged = false;
// }
// }
// }
void togglePto(bool toggle) {
ptoEnabled = toggle;
chassis.pto_toggle({cata_left, cata_right}, toggle); // Configure the listed PTO motors to whatever value toggle is.
chassis.pto_toggle({intake_mtr, cata_mtr}, toggle); // Configure the listed PTO motors to whatever value toggle is.
pto_piston.set_value(toggle);
if (toggle) {
cata_left.set_brake_mode(MOTOR_BRAKE_COAST);
cata_right.set_brake_mode(MOTOR_BRAKE_COAST);
intake_mtr.set_brake_mode(MOTOR_BRAKE_COAST);
cata_mtr.set_brake_mode(MOTOR_BRAKE_COAST);
}
}
void runCata(double inpt) {
if (!ptoEnabled) return;
//cata_left = inpt;
cata_right = inpt;
cata_mtr = inpt;
}
void runAntiBlock(double inpt) {
void runIntake(double inpt) {
if (!ptoEnabled) return;
cata_left = inpt;
intake_mtr = inpt;
}
/*
@ -205,7 +204,7 @@ namespace superstruct {
*/
int lock = 0;
void subsysControl(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, 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
togglePto(!ptoEnabled); // Toggle the PTO so that cataput is useable
lock = 1;
@ -219,12 +218,12 @@ namespace superstruct {
runCata(0);
}
if (globals::master.get_digital(DIGITAL_UP)) {
runAntiBlock(-12000);
} else if (globals::master.get_digital(DIGITAL_LEFT)) {
runAntiBlock(12000);
if (globals::master.get_digital(intakeButton)) {
runIntake(-12000);
} else if (globals::master.get_digital(outtakeButton)) {
runIntake(12000);
} else {
runAntiBlock(0);
runIntake(-1000);
}
}
@ -265,21 +264,21 @@ namespace superstruct {
*/
void renu_control() {
subsysControl(RENU_PTO_TOGGLE, RENU_CATA_CONTROL);
subsysControl(RENU_PTO_TOGGLE, RENU_CATA_CONTROL, RENU_INTAKE_CONTROL_INTAKE, RENU_INTAKE_CONTROL_OUTTAKE);
wingsControlSingle(RENU_WING_CONTROL);
intakeControl(RENU_INTAKE_CONTROL);
//intakeControl(RENU_INTAKE_CONTROL);
climbControl(RENU_CLIMB_CONTROL);
}
void ria_control() {
subsysControl(RIA_PTO_TOGGLE, RIA_CATA_CONTROL);
wingsControlSingle(RIA_WINGS_CONTROL);
intakeControl(RIA_INTAKE_CONTROL);
// subsysControl(RIA_PTO_TOGGLE, RIA_CATA_CONTROL);
// wingsControlSingle(RIA_WINGS_CONTROL);
//intakeControl(RIA_INTAKE_CONTROL);
}
void chris_control() {
subsysControl(RENU_PTO_TOGGLE, RENU_CATA_CONTROL);
subsysControl(RENU_PTO_TOGGLE, RENU_CATA_CONTROL, RENU_INTAKE_CONTROL_INTAKE, RENU_INTAKE_CONTROL_OUTTAKE);
wingsControlSingle(RENU_WING_CONTROL);
intakeControl(RENU_INTAKE_CONTROL);
//intakeControl(RENU_INTAKE_CONTROL);
}
}