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adjust constants, tune exit conditions

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ary 2023-12-12 08:05:55 -05:00
parent dcadd3580d
commit d404d7339f
2 changed files with 24 additions and 7 deletions
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9
CLOUDS/include/superstructure.hpp
View File

@ -1,8 +1,8 @@
#include "main.h"
#define DRIVE_SPEED 120
#define TURN_SPEED 105
#define SWING_SPEED 90
#define DRIVE_SPEED 127
#define TURN_SPEED 120
#define SWING_SPEED 120
// R1 -> WINGS, L1 -> CATA, L2 -> PTO, R2 -> INTAKE
// Renu's control preferences
#define RENU_PTO_TOGGLE DIGITAL_R1
@ -10,6 +10,8 @@
#define RENU_INTAKE_CONTROL_INTAKE DIGITAL_L1
#define RENU_INTAKE_CONTROL_OUTTAKE DIGITAL_L2
#define RENU_WING_CONTROL DIGITAL_R2
#define RENU_CLIMB_CONTROL_ONE DIGITAL_Y
#define RENU_CLIMB_CONTROL_TWO DIGITAL_B
// Ria's control preferences
#define RIA_PTO_TOGGLE DIGITAL_LEFT
@ -52,6 +54,7 @@ namespace superstruct {
void runIntake(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 wingsControl(pros::controller_digital_e_t wingControlButton);
void actuateClimb();
/* Controls */
void renu_control();

22
CLOUDS/src/superstructure.cpp
View File

@ -44,14 +44,14 @@ namespace superstruct {
// Adjust exit conditions to allow for quick movements
void configureExitConditions() {
chassis.set_exit_condition(chassis.turn_exit, 50, 2, 220, 3, 500, 500);
chassis.set_exit_condition(chassis.swing_exit, 100, 3, 500, 7, 500, 500);
chassis.set_exit_condition(chassis.drive_exit, 40, 80, 300, 150, 500, 500);
chassis.set_exit_condition(chassis.turn_exit, 50, 2, 220, 3, 150, 500);
chassis.set_exit_condition(chassis.swing_exit, 100, 3, 500, 7, 150, 500);
chassis.set_exit_condition(chassis.drive_exit, 40, 80, 300, 150, 150, 500);
}
// Adjust PID constants for accurate movements
void configureConstants() {
chassis.set_slew_min_power(80, 80);
chassis.set_slew_min_power(100, 100);
chassis.set_slew_distance(7, 7);
chassis.set_pid_constants(&chassis.headingPID, 16, 0, 32, 0);
chassis.set_pid_constants(&chassis.forward_drivePID, 0.5, 0, 5, 0);
@ -198,21 +198,35 @@ namespace superstruct {
}
}
void actuateClimb() {
climb_piston_one.set_value(1);
climb_piston_two.set_value(1);
}
void climbControl(pros::controller_digital_e_t but1, pros::controller_digital_e_t but2) {
if (globals::master.get_digital(but1) && globals::master.get_digital(but2)) {
actuateClimb();
}
}
/*
Controls -> For whoever is controlling the robot
*/
void renu_control() {
subsysControl(RENU_PTO_TOGGLE, RENU_CATA_CONTROL, RENU_INTAKE_CONTROL_INTAKE, RENU_INTAKE_CONTROL_OUTTAKE);
wingsControl(RENU_WING_CONTROL);
climbControl(RENU_CLIMB_CONTROL_ONE, RENU_CLIMB_CONTROL_TWO);
}
void ria_control() {
subsysControl(RENU_PTO_TOGGLE, RENU_CATA_CONTROL, RENU_INTAKE_CONTROL_INTAKE, RENU_INTAKE_CONTROL_OUTTAKE);
wingsControl(RENU_WING_CONTROL);
climbControl(RENU_CLIMB_CONTROL_ONE, RENU_CLIMB_CONTROL_TWO);
}
void chris_control() {
subsysControl(RENU_PTO_TOGGLE, RENU_CATA_CONTROL, RENU_INTAKE_CONTROL_INTAKE, RENU_INTAKE_CONTROL_OUTTAKE);
wingsControl(RENU_WING_CONTROL);
climbControl(RENU_CLIMB_CONTROL_ONE, RENU_CLIMB_CONTROL_TWO);
}
}