Skip to content

Commit

Permalink
Added toggles to set drive / print for auton (#36)
Browse files Browse the repository at this point in the history
  • Loading branch information
@ssejrog
ssejrog committed Jan 6, 2022
1 parent 3de6367 commit 55fc9d5
Show file tree
Hide file tree
Showing 6 changed files with 88 additions and 66 deletions.
97 changes: 54 additions & 43 deletions include/EZ-Template/drive/drive.hpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -24,12 +24,12 @@ class Drive {
int JOYSTICK_THRESHOLD;

/**
* Global current brake mode.
* Global current brake mode.
*/
pros::motor_brake_mode_e_t CURRENT_BRAKE = pros::E_MOTOR_BRAKE_COAST;

/**
* Global current mA.
* Global current mA.
*/
int CURRENT_MA = 2500;

Expand All @@ -39,17 +39,17 @@ class Drive {
e_swing current_swing;

/**
* Vector of pros motors for the left chassis.
* Vector of pros motors for the left chassis.
*/
std::vector<pros::Motor> left_motors;

/**
* Vector of pros motors for the right chassis.
* Vector of pros motors for the right chassis.
*/
std::vector<pros::Motor> right_motors;

/**
* Vector of pros motors that are disconnected from the drive.
* Vector of pros motors that are disconnected from the drive.
*/
std::vector<int> pto_active;

Expand All @@ -59,22 +59,22 @@ class Drive {
pros::Imu imu;

/**
* Left tracking wheel.
* Left tracking wheel.
*/
pros::ADIEncoder left_tracker;

/**
* Right tracking wheel.
* Right tracking wheel.
*/
pros::ADIEncoder right_tracker;

/**
* Left rotation tracker.
* Left rotation tracker.
*/
pros::Rotation left_rotation;

/**
* Right rotation tracker.
* Right rotation tracker.
*/
pros::Rotation right_rotation;

Expand All @@ -89,9 +89,8 @@ class Drive {
PID backward_drivePID;
PID swingPID;


/**
* Calibrates imu and initializes sd card to curve.
* Calibrates imu and initializes sd card to curve.
*/
void initialize();

Expand All @@ -102,13 +101,13 @@ class Drive {

/**
* Creates a Drive Controller using internal encoders.
*
*
* \param left_motor_ports
* Input {1, -2...}. Make ports negative if reversed!
* \param right_motor_ports
* Input {-3, 4...}. Make ports negative if reversed!
* \param imu_port
* Port the IMU is plugged into.
* Port the IMU is plugged into.
* \param wheel_diameter
* Diameter of your drive wheels. Remember 4" is 4.125"!
* \param ticks
Expand All @@ -120,13 +119,13 @@ class Drive {

/**
* Creates a Drive Controller using encoders plugged into the brain.
*
*
* \param left_motor_ports
* Input {1, -2...}. Make ports negative if reversed!
* \param right_motor_ports
* Input {-3, 4...}. Make ports negative if reversed!
* \param imu_port
* Port the IMU is plugged into.
* Port the IMU is plugged into.
* \param wheel_diameter
* Diameter of your sensored wheels. Remember 4" is 4.125"!
* \param ticks
Expand All @@ -141,14 +140,14 @@ class Drive {
Drive(std::vector<int> left_motor_ports, std::vector<int> right_motor_ports, int imu_port, double wheel_diameter, double ticks, double ratio, std::vector<int> left_tracker_ports, std::vector<int> right_tracker_ports);

/**
* Creates a Drive Controller using encoders plugged into a 3 wire expander.
*
* Creates a Drive Controller using encoders plugged into a 3 wire expander.
*
* \param left_motor_ports
* Input {1, -2...}. Make ports negative if reversed!
* \param right_motor_ports
* Input {-3, 4...}. Make ports negative if reversed!
* \param imu_port
* Port the IMU is plugged into.
* Port the IMU is plugged into.
* \param wheel_diameter
* Diameter of your sensored wheels. Remember 4" is 4.125"!
* \param ticks
Expand All @@ -160,19 +159,19 @@ class Drive {
* \param right_tracker_ports
* Input {3, 4}. Make ports negative if reversed!
* \param expander_smart_port
* Port the expander is plugged into.
* Port the expander is plugged into.
*/
Drive(std::vector<int> left_motor_ports, std::vector<int> right_motor_ports, int imu_port, double wheel_diameter, double ticks, double ratio, std::vector<int> left_tracker_ports, std::vector<int> right_tracker_ports, int expander_smart_port);

/**
* Creates a Drive Controller using rotation sensors.
*
* Creates a Drive Controller using rotation sensors.
*
* \param left_motor_ports
* Input {1, -2...}. Make ports negative if reversed!
* \param right_motor_ports
* Input {-3, 4...}. Make ports negative if reversed!
* \param imu_port
* Port the IMU is plugged into.
* Port the IMU is plugged into.
* \param wheel_diameter
* Diameter of your sensored wheels. Remember 4" is 4.125"!
* \param ratio
Expand All @@ -185,7 +184,7 @@ class Drive {
Drive(std::vector<int> left_motor_ports, std::vector<int> right_motor_ports, int imu_port, double wheel_diameter, double ratio, int left_rotation_port, int right_rotation_port);

/**
* Sets drive defaults.
* Sets drive defaults.
*/
void set_defaults();

Expand Down Expand Up @@ -296,41 +295,41 @@ class Drive {

/////
//
// PTO
// PTO
//
/////

/**
* Checks if the motor is currently in pto_list. Returns true if it's already in pto_list.
* Checks if the motor is currently in pto_list. Returns true if it's already in pto_list.
*
* \param check_if_pto
* motor to check.
* motor to check.
*/
bool pto_check(pros::Motor check_if_pto);

/**
* Adds motors to the pto list, removing them from the drive.
* Adds motors to the pto list, removing them from the drive.
*
* \param pto_list
* list of motors to remove from the drive.
* list of motors to remove from the drive.
*/
void pto_add(std::vector<pros::Motor> pto_list);

/**
* Removes motors from the pto list, adding them to the drive. You cannot use the first index in a pto.
*
* \param pto_list
* list of motors to add to the drive.
* list of motors to add to the drive.
*/
void pto_remove(std::vector<pros::Motor> pto_list);

/**
* Adds/removes motors from drive. You cannot use the first index in a pto.
*
* \param pto_list
* list of motors to add/remove from the drive.
* list of motors to add/remove from the drive.
* \param toggle
* if true, adds to list. if false, removes from list.
* if true, adds to list. if false, removes from list.
*/
void pto_toggle(std::vector<pros::Motor> pto_list, bool toggle);

Expand Down Expand Up @@ -366,6 +365,16 @@ class Drive {
*/
void set_drive_current_limit(int mA);

/**
* Toggles set drive in autonomous. True enables, false disables.
*/
void toggle_auto_drive(bool toggle);

/**
* Toggles printing in autonomous. True enables, false disables.
*/
void toggle_auto_print(bool toggle);

/////
//
// Telemetry
Expand Down Expand Up @@ -418,7 +427,7 @@ class Drive {
void reset_drive_sensor();

/**
* Resets the current gyro value. Defaults to 0, reccomended to run at the start of your autonomous routine.
* Resets the current gyro value. Defaults to 0, reccomended to run at the start of your autonomous routine.
*
* \param new_heading
* New heading value.
Expand All @@ -436,7 +445,7 @@ class Drive {
bool imu_calibrate();

/**
* Loading display while the IMU calibrates.
* Loading display while the IMU calibrates.
*/
void imu_loading_display(int iter);

Expand Down Expand Up @@ -512,7 +521,7 @@ class Drive {
* Set Either the headingPID, turnPID, forwardPID, backwardPID, activeBrakePID, or swingPID
* IF NOT DONE PID WILL DEFAULT TO 0!
*/
void set_pid_constants(PID* pid, double p, double i, double d, double p_start_i);
void set_pid_constants(PID *pid, double p, double i, double d, double p_start_i);

/**
* Sets minimum slew speed constants.
Expand Down Expand Up @@ -568,6 +577,8 @@ class Drive {
const int drive_exit = 3;

private: // !Auton
bool drive_toggle = true;
bool print_toggle = true;

/**
* Resets drive sensors at the start of opcontrol.
Expand All @@ -590,7 +601,7 @@ class Drive {
bool heading_on = true;

/**
* Active brake kp constant.
* Active brake kp constant.
*/
double active_brake_kp = 0;

Expand All @@ -617,9 +628,9 @@ class Drive {
* \param input
* slew_ enum
* \param slew_on
* is slew on?
* is slew on?
* \param max_speed
* target speed during the slew
* target speed during the slew
* \param target
* target sensor value
* \param current
Expand All @@ -632,7 +643,7 @@ class Drive {
void slew_initialize(slew_ &input, bool slew_on, double max_speed, double target, double current, double start, bool backwards);

/**
* Calculate slew.
* Calculate slew.
*
* \param input
* slew_ enum
Expand All @@ -655,10 +666,10 @@ class Drive {
double WHEEL_DIAMETER;

/**
* Max speed for autonomous.
* Max speed for autonomous.
*/
int max_speed;

/**
* Tasks
*/
Expand Down Expand Up @@ -689,9 +700,9 @@ class Drive {
*/
bool is_tank;

#define DRIVE_INTEGRATED 1
#define DRIVE_ADI_ENCODER 2
#define DRIVE_ROTATION 3
#define DRIVE_INTEGRATED 1
#define DRIVE_ADI_ENCODER 2
#define DRIVE_ROTATION 3

/**
* Is tracking?
Expand Down
2 changes: 1 addition & 1 deletion include/EZ-Template/util.hpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -90,7 +90,7 @@ bool is_reversed(double input);
/**
* Returns input restricted to min-max threshold
*/
double clip_num(double input, double min, double max);
double clip_num(double input, double max, double min);

/**
* Is the SD card plugged in?
Expand Down
9 changes: 8 additions & 1 deletion src/EZ-Template/drive/drive.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -164,6 +164,10 @@ void Drive::set_defaults() {
// Left / Right modify buttons
set_left_curve_buttons(pros::E_CONTROLLER_DIGITAL_LEFT, pros::E_CONTROLLER_DIGITAL_RIGHT);
set_right_curve_buttons(pros::E_CONTROLLER_DIGITAL_Y, pros::E_CONTROLLER_DIGITAL_A);

// Enable auto printing and drive motors moving
toggle_auto_drive(true);
toggle_auto_print(true);
}

double Drive::get_tick_per_inch() {
Expand Down Expand Up @@ -313,4 +317,7 @@ void Drive::initialize() {
init_curve_sd();
imu_calibrate();
reset_drive_sensor();
}
}

void Drive::toggle_auto_drive(bool toggle) { drive_toggle = toggle; }
void Drive::toggle_auto_print(bool toggle) { print_toggle = toggle; }
Loading

0 comments on commit 55fc9d5

Please sign in to comment.