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Update formatting
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@Ethanol5455
Ethanol5455 committed Feb 19, 2024
1 parent 2b4a52f commit bc92ac8
Showing 1 changed file with 74 additions and 70 deletions.
144 changes: 74 additions & 70 deletions src/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -242,15 +242,15 @@ struct AutoStep {
};

class AutonomousSequence {
private:
private:
std::vector<AutoStep> autonomous_steps;
public:

public:
void move_position(double drive_target, double drive_speed,
double timeout_ms)
double timeout_ms)
{
move_position(drive_target, drive_target, drive_speed,
drive_speed, timeout_ms);
drive_speed, timeout_ms);
}

void move_position(
Expand Down Expand Up @@ -292,7 +292,7 @@ class AutonomousSequence {
}

void set_intake_extension(bool intake_extend, double rpm,
double timeout_ms)
double timeout_ms)
{
AutoStep new_action;

Expand All @@ -304,8 +304,7 @@ class AutonomousSequence {
autonomous_steps.push_back(new_action);
}

void set_intake_spin(double intake_spin_voltage,
double timeout_ms)
void set_intake_spin(double intake_spin_voltage, double timeout_ms)
{
AutoStep new_action;

Expand Down Expand Up @@ -369,7 +368,8 @@ class AutonomousSequence {
autonomous_steps.push_back(new_action);
}

void run_auto() {
void run_auto()
{
Timer auto_change_timer;
for (const auto &step : autonomous_steps) {
auto_change_timer.Restart();
Expand All @@ -394,11 +394,13 @@ class AutonomousSequence {
step.left_drive_speed);

if (double_abs(
left_drive_group
.get_positions()[0] -
step.left_drive_target) <=
1.0)
num_ready_to_procede += 1;
left_drive_group
.get_positions()
[0] -
step.left_drive_target) <=
1.0)
num_ready_to_procede +=
1;
break;
case MotorAction::Brake:
left_drive_group.brake();
Expand All @@ -415,11 +417,13 @@ class AutonomousSequence {
step.right_drive_speed);

if (double_abs(
right_drive_group
.get_positions()[0] -
step.right_drive_target) <=
1.0)
num_ready_to_procede += 1;
right_drive_group
.get_positions()
[0] -
step.right_drive_target) <=
1.0)
num_ready_to_procede +=
1;
break;
case MotorAction::Brake:
right_drive_group.brake();
Expand All @@ -438,15 +442,16 @@ class AutonomousSequence {
}
break;
case AutoActionType::IntakeSpin:
intake_spin_group.move(step.intake_spin_speed);
intake_spin_group.move(
step.intake_spin_speed);
break;
case AutoActionType::DeployCatapult:
catapult_deployed_in_auto = true;
set_deploy_catapult();
break;
case AutoActionType::WaitForCatapultDeploy:
if (catapult_deploy_status ==
CatapultDeployStatus::NotDeploying) {
CatapultDeployStatus::NotDeploying) {
num_ready_to_procede += 1;
}
break;
Expand All @@ -456,25 +461,28 @@ class AutonomousSequence {
case AutoActionType::WaitForCatapultEngage:
catapult_group.move(MAX_VOLTAGE);
catapult_block.brake();
if (catapult_group.get_current_draws()[0] >
500) {
if (catapult_group
.get_current_draws()[0] >
500) {
num_ready_to_procede += 1;
}
break;
case AutoActionType::WaitForCatapultSlip:
catapult_group.move(MAX_VOLTAGE);
catapult_block.brake();
if (catapult_group.get_current_draws()[0] <
300) {
if (catapult_group
.get_current_draws()[0] <
300) {
num_ready_to_procede += 1;
}
break;
}
pros::delay(5);
if (num_ready_to_procede >=
step.required_num_to_procede ||
auto_change_timer.GetElapsedTime().AsMilliseconds() >
step.timeout_ms) {
step.required_num_to_procede ||
auto_change_timer.GetElapsedTime()
.AsMilliseconds() >
step.timeout_ms) {
switch (step.action_type) {
case AutoActionType::WaitForCatapultSlip:
catapult_group.brake();
Expand Down Expand Up @@ -511,85 +519,81 @@ void autonomous()

AutonomousSequence auto_sequence;

// #define SKILLS_AUTO
// #define SKILLS_AUTO

#ifndef SKILLS_AUTO
// Grab starting triball
auto_sequence.move_position(
-DRIVE_UNITS_PER_INCH * 1.5, MAX_RPM / 4.0, 1500);
auto_sequence.move_position(-DRIVE_UNITS_PER_INCH * 1.5, MAX_RPM / 4.0,
1500);
auto_sequence.set_intake_spin(-MAX_VOLTAGE, 0);
auto_sequence.set_intake_extension(true, MAX_RPM / 2.0, 1000);
auto_sequence.set_intake_extension(false, MAX_RPM / 2.0, 500);
auto_sequence.set_intake_spin(0, 0);
auto_sequence.move_position(
DRIVE_UNITS_PER_INCH * -2.5, MAX_RPM / 4.0, 500);
auto_sequence.move_position(DRIVE_UNITS_PER_INCH * -2.5, MAX_RPM / 4.0,
500);
// Move towards goal
auto_sequence.move_position(
DRIVE_UNITS_PER_DEGREE * -110, DRIVE_UNITS_PER_DEGREE * 110,
MAX_RPM / 4.0, MAX_RPM / 4.0, 1500);
auto_sequence.move_position(DRIVE_UNITS_PER_DEGREE * -110,
DRIVE_UNITS_PER_DEGREE * 110, MAX_RPM / 4.0,
MAX_RPM / 4.0, 1500);
auto_sequence.set_intake_spin(-MAX_VOLTAGE * 0.5, 0);
auto_sequence.move_position(
DRIVE_UNITS_PER_INCH * -13, MAX_RPM / 4.0, 2500);
auto_sequence.move_position(
DRIVE_UNITS_PER_DEGREE * -125, DRIVE_UNITS_PER_DEGREE * 125,
MAX_RPM / 4.0, MAX_RPM / 4.0, 1500);
auto_sequence.move_position(DRIVE_UNITS_PER_INCH * -13, MAX_RPM / 4.0,
2500);
auto_sequence.move_position(DRIVE_UNITS_PER_DEGREE * -125,
DRIVE_UNITS_PER_DEGREE * 125, MAX_RPM / 4.0,
MAX_RPM / 4.0, 1500);
auto_sequence.set_intake_spin(-MAX_VOLTAGE, 0);
auto_sequence.move_position(
DRIVE_UNITS_PER_INCH * 12, MAX_RPM, 2000);
auto_sequence.move_position(DRIVE_UNITS_PER_INCH * 12, MAX_RPM, 2000);
// Go back to matchload zone
auto_sequence.set_intake_spin(0, 0);
auto_sequence.deploy_catapult();
auto_sequence.move_position(
DRIVE_UNITS_PER_INCH * -10, MAX_RPM / 4.0, 2500);
auto_sequence.move_position(
DRIVE_UNITS_PER_DEGREE * -35, DRIVE_UNITS_PER_DEGREE * 35,
MAX_RPM / 4.0, MAX_RPM / 4.0, 1000);
auto_sequence.move_position(
DRIVE_UNITS_PER_INCH * -13, MAX_RPM / 4.0, 2500);
auto_sequence.move_position(
DRIVE_UNITS_PER_DEGREE * 45, DRIVE_UNITS_PER_DEGREE * -120,
MAX_RPM / 6.0, MAX_RPM / 4.0, 2500);
auto_sequence.move_position(DRIVE_UNITS_PER_INCH * -10, MAX_RPM / 4.0,
2500);
auto_sequence.move_position(DRIVE_UNITS_PER_DEGREE * -35,
DRIVE_UNITS_PER_DEGREE * 35, MAX_RPM / 4.0,
MAX_RPM / 4.0, 1000);
auto_sequence.move_position(DRIVE_UNITS_PER_INCH * -13, MAX_RPM / 4.0,
2500);
auto_sequence.move_position(DRIVE_UNITS_PER_DEGREE * 45,
DRIVE_UNITS_PER_DEGREE * -120,
MAX_RPM / 6.0, MAX_RPM / 4.0, 2500);
auto_sequence.drive_speed(-MAX_VOLTAGE * 0.25, 1200);
auto_sequence.move_position(DRIVE_UNITS_PER_DEGREE * 25, 0,
MAX_RPM / 4.0, MAX_RPM / 4.0, 500);
MAX_RPM / 4.0, MAX_RPM / 4.0, 500);
// Fire catapult
auto_sequence.fire_catapult_time(20000);
auto_sequence.wait_for_catapult_engage();
auto_sequence.wait_for_catapult_slip();
// Home after firing
auto_sequence.drive_speed(-MAX_VOLTAGE * 0.35, 1200);
// Contact overhead pipe
auto_sequence.move_position(
300.0, 0, MAX_RPM / 4.0, 0, 1000, MotorAction::MoveAbsolute,
MotorAction::Brake);
auto_sequence.move_position(
DRIVE_UNITS_PER_INCH * 20, MAX_RPM / 4.0, 4000);
auto_sequence.move_position(
DRIVE_UNITS_PER_INCH * 36, MAX_RPM, 4000);
auto_sequence.move_position(300.0, 0, MAX_RPM / 4.0, 0, 1000,
MotorAction::MoveAbsolute,
MotorAction::Brake);
auto_sequence.move_position(DRIVE_UNITS_PER_INCH * 20, MAX_RPM / 4.0,
4000);
auto_sequence.move_position(DRIVE_UNITS_PER_INCH * 36, MAX_RPM, 4000);
#else
auto_sequence.set_intake_extension(true, MAX_RPM, 250);
auto_sequence.set_intake_extension(false, MAX_RPM, 250);
auto_sequence.deploy_catapult();
auto_sequence.wait_for_catapult_deploy();
auto_sequence.move_position(DRIVE_UNITS_PER_DEGREE * 25, 0,
MAX_RPM / 4.0, MAX_RPM / 4.0, 500);
MAX_RPM / 4.0, MAX_RPM / 4.0, 500);
// Fire catapult
auto_sequence.fire_catapult_time(42000);
auto_sequence.wait_for_catapult_engage();
auto_sequence.wait_for_catapult_slip();
// Home after firing
auto_sequence.drive_speed(-MAX_VOLTAGE * 0.35, 1200);
// Go to center
auto_sequence.move_position(
0, DRIVE_UNITS_PER_DEGREE * 25, 0, MAX_RPM / 2.0, 2500);
auto_sequence.move_position(0, DRIVE_UNITS_PER_DEGREE * 25, 0,
MAX_RPM / 2.0, 2500);
auto_sequence.set_intake_spin(MAX_VOLTAGE, 0);
auto_sequence.move_position(
DRIVE_UNITS_PER_INCH * 60, MAX_RPM, 1500);
auto_sequence.move_position(
DRIVE_UNITS_PER_DEGREE * 55, DRIVE_UNITS_PER_DEGREE * -55,
MAX_RPM / 2.0, MAX_RPM / 2.0, 750);
auto_sequence.move_position(
DRIVE_UNITS_PER_INCH * 90, MAX_RPM, 5000);
auto_sequence.move_position(DRIVE_UNITS_PER_INCH * 60, MAX_RPM, 1500);
auto_sequence.move_position(DRIVE_UNITS_PER_DEGREE * 55,
DRIVE_UNITS_PER_DEGREE * -55, MAX_RPM / 2.0,
MAX_RPM / 2.0, 750);
auto_sequence.move_position(DRIVE_UNITS_PER_INCH * 90, MAX_RPM, 5000);
auto_sequence.set_intake_spin(0, 0);
#endif

Expand Down

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