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InventorXtreme 2024-02-24 12:00:25 -05:00
parent a7404de94c
commit 5f8419afad
2 changed files with 270 additions and 73 deletions
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20
docs/auton.org
View file

@ -35,8 +35,22 @@
Drives forward grabbing triball in center of field. Then pulls triball back, rotates right, and pushes two triballs towards our side. Then reverses and knocks triball into goal. Drives forward grabbing triball in center of field. Then pulls triball back, rotates right, and pushes two triballs towards our side. Then reverses and knocks triball into goal.
+ Opposing side + Opposing side
+ Scores 9 points + Scores 9 points
+ Can counter other teams + Can counter other teams
+ Currently a legacy auton
6. AUTON 6 6. AUTON 6
Push auton. Moves 2ft backward then 0.5ft forward. Push auton. Moves the same amount as auton 0 forward, then reverses.
+ Utility auton + Utility auton
7. AUTON 7
Allows us to bowl triballs off the top of the robot, then drives forward to push them into goal.
+ Skills auton
8. AUTON 8
Drives forward, grabs triball, then turns around and pushes two field triballs to other side.
+ Opposing Side
+ Elim auton
+ Refined version of AUTON 5
+ Can counter other teams
9. AUTON 9
Drives forward and pushes three triballs into the goal. Also attempts to score our match load.
+ Our side
+ Can counter other teams
+ Elim auton

323
src/main.cpp
View file

@ -9,7 +9,9 @@
/** /**
* You should add more #includes here * You should add more #includes here
*/ */
#include "display/lv_core/lv_obj.h"
#include "display/lv_misc/lv_task.h" #include "display/lv_misc/lv_task.h"
#include "display/lv_objx/lv_img.h"
#include "okapi/api.hpp" #include "okapi/api.hpp"
#include "okapi/api/device/motor/abstractMotor.hpp" #include "okapi/api/device/motor/abstractMotor.hpp"
#include "okapi/api/units/QLength.hpp" #include "okapi/api/units/QLength.hpp"
@ -27,6 +29,62 @@
// 1 2 3 5 //left // 1 2 3 5 //left
// 7 8 9 10 //right // 7 8 9 10 //right
// FILE HANDLE CODE:
typedef FILE *pc_file_t;
static lv_fs_res_t pcfs_open(void *file_p, const char *fn, lv_fs_mode_t mode) {
errno = 0;
const char *flags = "";
if (mode == LV_FS_MODE_WR)
flags = "wb";
else if (mode == LV_FS_MODE_RD)
flags = "rb";
else if (mode == (LV_FS_MODE_WR | LV_FS_MODE_RD))
flags = "a+";
char buf[256];
sprintf(buf, "/%s", fn);
pc_file_t f = fopen(buf, flags);
if (f == NULL)
return LV_FS_RES_UNKNOWN;
else {
fseek(f, 0, SEEK_SET);
pc_file_t *fp = (pc_file_t *)file_p;
*fp = f;
}
return LV_FS_RES_OK;
}
static lv_fs_res_t pcfs_close(void *file_p) {
pc_file_t *fp = (pc_file_t *)file_p;
fclose(*fp);
return LV_FS_RES_OK;
}
static lv_fs_res_t pcfs_read(void *file_p, void *buf, uint32_t btr,
uint32_t *br) {
pc_file_t *fp = (pc_file_t *)file_p;
*br = fread(buf, 1, btr, *fp);
return LV_FS_RES_OK;
}
static lv_fs_res_t pcfs_seek(void *file_p, uint32_t pos) {
pc_file_t *fp = (pc_file_t *)file_p;
fseek(*fp, pos, SEEK_SET);
return LV_FS_RES_OK;
}
static lv_fs_res_t pcfs_tell(void *file_p, uint32_t *pos_p) {
pc_file_t *fp = (pc_file_t *)file_p;
*pos_p = ftell(*fp);
return LV_FS_RES_OK;
}
// end file drivers
int autonpick = 0; int autonpick = 0;
int automod = 0; int automod = 0;
lv_res_t sa0(lv_obj_t *btn) { lv_res_t sa0(lv_obj_t *btn) {
@ -125,7 +183,8 @@ bool is_held(bool *log, bool ap) {
* to keep execution time for this mode under a few seconds. * to keep execution time for this mode under a few seconds.
*/ */
void initialize() { void initialize() {
pros::lcd::initialize(); // pros::lcd::initialize();
// pros::lcd::set_text(1, "Hello PROS User!"); // pros::lcd::set_text(1, "Hello PROS User!");
pros::lcd::register_btn1_cb(on_center_button); pros::lcd::register_btn1_cb(on_center_button);
@ -148,7 +207,7 @@ void disabled() {}
* starts. * starts.
*/ */
void competition_initialize() { void competition_initialize() {
pros::Imu IMU(19); pros::Imu IMU(19);
IMU.reset(true); IMU.reset(true);
IMU.tare(); IMU.tare();
pros::delay(200); pros::delay(200);
@ -226,7 +285,7 @@ void autonomous() {
upflap.set_value(false); upflap.set_value(false);
pros::Imu IMU(19); pros::Imu IMU(19);
//IMU.reset(true); // IMU.reset(true);
IMU.tare(); IMU.tare();
pros::delay(200); pros::delay(200);
@ -247,7 +306,8 @@ void autonomous() {
std::printf("yaw: %f\n", yaw); std::printf("yaw: %f\n", yaw);
// double turn = -92 - yaw; // double turn = -92 - yaw;
double turn = 45 - yaw; double turn = 45 - yaw;
std:printf("turn: %f\n", turn); std:
printf("turn: %f\n", turn);
drive->setMaxVelocity(300); drive->setMaxVelocity(300);
drive->turnAngle(turn * 1_deg); drive->turnAngle(turn * 1_deg);
drive->moveDistanceAsync(4.1_ft); drive->moveDistanceAsync(4.1_ft);
@ -316,7 +376,7 @@ void autonomous() {
(900 - (900 -
temp), // pull.moveRelative((1800 temp), // pull.moveRelative((1800
//- //-
//std::fmod(pull.getPosition(), 1800)), // std::fmod(pull.getPosition(), 1800)),
10000000); 10000000);
reqtopull = false; reqtopull = false;
@ -394,9 +454,9 @@ void autonomous() {
funnypiston.set_value(true); funnypiston.set_value(true);
pros::delay(500); pros::delay(500);
auto starttime = Timer().millis(); auto starttime = Timer().millis();
while (Timer().millis() < starttime + 1.5_s ) { while (Timer().millis() < starttime + 1.5_s) {
drive->getModel()->curvature(-12000 , IMU.get_rotation() * -0.04); drive->getModel()->curvature(-12000, IMU.get_rotation() * -0.04);
// printf("%i\n", distforward.get()); // printf("%i\n", distforward.get());
pros::delay(10); pros::delay(10);
@ -406,56 +466,57 @@ void autonomous() {
funnypiston.set_value(true); funnypiston.set_value(true);
pros::delay(500); pros::delay(500);
drive->moveDistance(1_in); drive->moveDistance(1_in);
// drive->turnAngle(15_deg); // drive->turnAngle(15_deg);
//drive->moveDistance(-3.8_ft); // drive->moveDistance(-3.8_ft);
//drive->turnAngle(90_deg); // drive->turnAngle(90_deg);
bool imuholdarray[10]; bool imuholdarray[10];
while (!is_held(imuholdarray, (abs(68.0 - IMU.get_rotation()) < 1)) ) {
drive->getModel()->rotate((68.0 - IMU.get_rotation()) * 0.008 );
pros::delay(10);
}
drive->getModel()->stop(); while (!is_held(imuholdarray, (abs(68.0 - IMU.get_rotation()) < 1))) {
drive->getModel()->rotate((68.0 - IMU.get_rotation()) * 0.008);
pros::delay(10);
}
funnypiston.set_value(false); drive->getModel()->stop();
funnypiston.set_value(false);
drive->moveDistance(2_ft); drive->moveDistance(2_ft);
drive->moveDistance(-2_ft); drive->moveDistance(-2_ft);
funnypiston.set_value(true); funnypiston.set_value(true);
drive->moveDistance(2_ft); drive->moveDistance(2_ft);
drive->moveDistance(-2_ft);
funnypiston.set_value(false);
drive->turnAngle(45_deg);
drive->moveDistance(-2_ft); drive->moveDistance(-2_ft);
drive->moveDistance(1_ft); funnypiston.set_value(false);
drive->turnAngle(45_deg);
drive->moveDistance(-2_ft);
drive->moveDistance(1_ft);
} }
if (autonpick == 6) { if (autonpick == 6) {
drive->setMaxVelocity(600); float x = -2.7;
float x = 2; drive->moveDistanceAsync(x * 1_ft);
drive->moveDistance(x * -1_ft); pros::delay(2500);
pros::delay(500);
drive->moveDistance(0.5_ft); drive->moveDistance(0.5_ft);
} }
if (autonpick == 7) { if (autonpick == 7) {
drive->moveDistance(-1_ft); drive->moveDistance(-1_ft);
piston.set_value(true); piston.set_value(true);
pros::delay(44500); pros::delay(44500);
drive->moveDistance(1_ft);
piston.set_value(true); drive->moveDistance(1_ft);
drive->turnAngle(-45_deg);
funnypiston.set_value(true); piston.set_value(false);
pros::delay(500); drive->turnAngle(-45_deg);
drive->moveDistance(6.5_ft); funnypiston.set_value(true);
drive->turnAngle(-45_deg); pros::delay(500);
drive->moveDistance(1_ft); drive->moveDistance(7.5_ft);
drive->moveDistance(-1_ft); drive->turnAngle(-45_deg);
drive->moveDistance(1_ft); drive->moveDistance(2_ft);
drive->moveDistance(-1_ft); drive->moveDistance(-2_ft);
} drive->moveDistance(2_ft);
if (autonpick == 8) { drive->moveDistance(-2_ft);
}
if (autonpick == 8) {
pros::Distance distforward(17); pros::Distance distforward(17);
// drive->moveDistanceAsync(500_ft); // drive->moveDistanceAsync(500_ft);
drive->getModel()->setBrakeMode(okapi::AbstractMotor::brakeMode::hold); drive->getModel()->setBrakeMode(okapi::AbstractMotor::brakeMode::hold);
@ -474,9 +535,9 @@ void autonomous() {
funnypiston.set_value(true); funnypiston.set_value(true);
pros::delay(500); pros::delay(500);
auto starttime = Timer().millis(); auto starttime = Timer().millis();
while (Timer().millis() < starttime + 1.5_s ) { while (Timer().millis() < starttime + 1.5_s) {
drive->getModel()->curvature(-6000 , IMU.get_rotation() * -0.04); drive->getModel()->curvature(-6000, IMU.get_rotation() * -0.04);
// printf("%i\n", distforward.get()); // printf("%i\n", distforward.get());
pros::delay(10); pros::delay(10);
@ -486,36 +547,132 @@ void autonomous() {
funnypiston.set_value(true); funnypiston.set_value(true);
pros::delay(500); pros::delay(500);
drive->moveDistance(1_in); drive->moveDistance(1_in);
// drive->turnAngle(15_deg); // drive->turnAngle(15_deg);
//drive->moveDistance(-3.8_ft); // drive->moveDistance(-3.8_ft);
//drive->turnAngle(90_deg); // drive->turnAngle(90_deg);
bool imuholdarray[10]; bool imuholdarray[10];
while (!is_held(imuholdarray, (abs(70.0 - IMU.get_rotation()) < 1)) ) { while (!is_held(imuholdarray, (abs(70.0 - IMU.get_rotation()) < 1))) {
drive->getModel()->rotate((70.0 - IMU.get_rotation()) * 0.008 ); drive->getModel()->rotate((70.0 - IMU.get_rotation()) * 0.008);
pros::delay(10); pros::delay(10);
} }
drive->getModel()->stop();
funnypiston.set_value(false);
drive->moveDistance(2_ft);
drive->moveDistance(-2_ft);
funnypiston.set_value(true);
drive->moveDistance(2_ft);
drive->moveDistance(-2_ft);
funnypiston.set_value(false);
// //drive->moveDistance(0_ft);
// pros::delay(300);
// drive->turnAngle(50_deg);
// pros::delay(300);
// drive->moveDistance(-1.5_ft);
}
if (autonpick == 9) {
piston.set_value(true);
pros::delay(300);
piston.set_value(false);
pros::Distance distforward(17);
// drive->moveDistanceAsync(500_ft);
drive->getModel()->setBrakeMode(okapi::AbstractMotor::brakeMode::hold);
// piston.set_value(true);
// NEED TO WRTIE IMU CENTER CODE
// update IMU each cycle to get true rotation
while (distforward.get() > 300) {
drive->getModel()->curvature(12000, IMU.get_rotation() * -0.04);
// printf("%i\n", distforward.get());
pros::delay(10);
}
drive->stop();
funnypiston.set_value(true);
pros::delay(500);
drive->setMaxVelocity(200);
drive->moveDistance(-1_in);
bool imuholdarray[10];
drive->setMaxVelocity(600);
// while (!is_held(imuholdarray, (abs(100.0 - IMU.get_rotation()) < 1))) {
// drive->getModel()->rotate((100.0 - IMU.get_rotation()) * 0.008);
// pros::delay(10);
// }
drive->turnAngle(100_deg);
drive->getModel()->stop();
funnypiston.set_value(false);
drive->moveDistanceAsync(2_ft);
pros::delay(1000);
drive->moveDistance(-1_ft);
while (!is_held(imuholdarray, (abs(-110.0 - IMU.get_rotation()) < 3))) {
drive->getModel()->rotate((-110.0 - IMU.get_rotation()) * 0.008);
pros::delay(10);
}
drive->getModel()->stop();
while (distforward.get() > 300) {
drive->getModel()->curvature(12000, (IMU.get_rotation()+110) * -0.04);
// printf("%i\n", distforward.get());
pros::delay(10);
}
drive->stop();
funnypiston.set_value(true);
pros::delay(500);
drive->moveDistance(-1_ft);
while (!is_held(imuholdarray, (abs(75.0 - IMU.get_rotation()) < 3))) {
drive->getModel()->rotate((75.0 - IMU.get_rotation()) * 0.008);
pros::delay(10);
}
drive->getModel()->stop(); drive->getModel()->stop();
funnypiston.set_value(false); funnypiston.set_value(false);
drive->moveDistance(2_ft);
drive->moveDistance(-2_ft); drive->moveDistanceAsync(3_ft);
pros::delay(1000);
drive->moveDistance(-1_ft);
while (!is_held(imuholdarray, (abs(-70.0 - IMU.get_rotation()) < 3))) {
drive->getModel()->rotate((-70.0 - IMU.get_rotation()) * 0.008);
pros::delay(10);
}
drive->getModel()->stop();
drive->moveDistance(1_ft);
funnypiston.set_value(true); funnypiston.set_value(true);
drive->moveDistance(2_ft); pros::delay(300);
drive->moveDistance(-2_ft);
drive->turnAngle(180_deg);
funnypiston.set_value(false); funnypiston.set_value(false);
// //drive->moveDistance(0_ft); drive->moveDistanceAsync(3_ft);
// pros::delay(300); pros::delay(1000);
// drive->turnAngle(50_deg); drive->moveDistanceAsync(-1_ft);
// pros::delay(300);
// drive->moveDistance(-1.5_ft);
}
// piston.set_value(false);
}
} }
/** /**
@ -694,6 +851,31 @@ void opcontrol() {
bool intakebool; bool intakebool;
intakebool = false; intakebool = false;
lv_fs_drv_t pcfs_drv; /*A driver descriptor*/
memset(&pcfs_drv, 0, sizeof(lv_fs_drv_t)); /*Initialization*/
pcfs_drv.file_size = sizeof(pc_file_t); /*Set up fields...*/
pcfs_drv.letter = 'S';
pcfs_drv.open = pcfs_open;
pcfs_drv.close = pcfs_close;
pcfs_drv.read = pcfs_read;
pcfs_drv.seek = pcfs_seek;
pcfs_drv.tell = pcfs_tell;
lv_fs_add_drv(&pcfs_drv);
lv_obj_clean(lv_scr_act());
lv_obj_t *img_var = lv_img_create(lv_scr_act(), NULL);
lv_obj_t *dog_var = lv_img_create(lv_scr_act(), NULL);
lv_img_set_src(img_var, "S:/usd/raa.bin");
lv_obj_set_pos(img_var, 200, 0);
lv_obj_set_size(img_var, 200, 200);
lv_img_set_src(dog_var, "S:/usd/dog2.bin");
lv_obj_set_pos(dog_var, 200, 0);
lv_obj_set_size(dog_var, 200, 200);
while (true) { while (true) {
// Tank drive with left and right sticks. // Tank drive with left and right sticks.
drive->getModel()->tank(controller.getAnalog(ControllerAnalog::leftY), drive->getModel()->tank(controller.getAnalog(ControllerAnalog::leftY),
@ -753,6 +935,7 @@ void opcontrol() {
if (is_tapped(funnyarr, L2.isPressed())) { if (is_tapped(funnyarr, L2.isPressed())) {
funnypistonstatus = !funnypistonstatus; funnypistonstatus = !funnypistonstatus;
lv_obj_set_hidden(dog_var, !funnypistonstatus);
} }
if (is_tapped(upflaparr, R2.isPressed())) { if (is_tapped(upflaparr, R2.isPressed())) {