Right steal right

alexDickhans · Dec 11, 2021 · 6166bbb · 6166bbb
1 parent fc5e4b6
commit 6166bbb
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Showing 6 changed files with 159 additions and 87 deletions.
diff --git a/include/auton/autonSelector.hpp b/include/auton/autonSelector.hpp
@@ -11,6 +11,9 @@ namespace Pronounce {
         std::vector<Auton> autons;
         Auton defaultAuton;
 
+        Auton preAuton;
+        Auton postAuton;
+
         Pronounce::Controller* controller;
 
         int autonIndex = 0;
@@ -27,13 +30,18 @@ namespace Pronounce {
         }
 
         int run() {
+            preAuton.run();
+            int result = 0;
             if (autonIndex >= autons.size()) {
-                return defaultAuton.run();
+                result = defaultAuton.run();
             }
-            return autons[autonIndex].run();
+            result = autons[autonIndex].run();
+            postAuton.run();
+            return result;
         }
 
         Auton getAuton(int index) {
+            int result = 0;
             if (index < 0 || index >= autons.size()) {
                 return defaultAuton;
             }
@@ -56,6 +64,22 @@ namespace Pronounce {
             this->defaultAuton = defaultAuton;
         }
 
+        Auton getPreAuton() {
+            return preAuton;
+        }
+
+        void setPreAuton(Auton preAuton) {
+            this->preAuton = preAuton;
+        }
+
+        Auton getPostAuton() {
+            return postAuton;
+        }
+
+        void setPostAuton(Auton postAuton) {
+            this->postAuton = postAuton;
+        }
+
         void setController(Pronounce::Controller* controller) {
             this->controller = controller;
         }

diff --git a/include/driver/button.hpp b/include/driver/button.hpp
@@ -20,7 +20,7 @@ namespace Pronounce {
         pros::controller_digital_e_t positiveButton, negativeButton;
 
         bool singleToggle = false;
-        bool retainOnNeutral = true;
+        bool retainOnNeutral = false;
 
     public:
         Button(pros::Controller* cotroller);
@@ -62,6 +62,14 @@ namespace Pronounce {
             this->retainOnNeutral = retainOnNeutral;
         }
 
+        bool getAutonomous() {
+            return this->autonomous;
+        }
+
+        void setAutonomous(bool autonomous) {
+            this->autonomous = autonomous;
+        }
+
         ~Button();
     };
 } // namespace Pronounce
diff --git a/include/driver/motorButton.hpp b/include/driver/motorButton.hpp
@@ -10,10 +10,14 @@ namespace Pronounce {
     private:
         bool goToImmediately = false;
 
+        bool autonomousButton = false;
+
         int positiveAuthority = 0;
         int neutralAuthority = 0;
         int negativeAuthority = 0;
 
+        int autonomousAuthority = 0;
+
         int min = 0;
         int max = 0;
         pros::Motor* motor;
@@ -39,6 +43,22 @@ namespace Pronounce {
             this->goToImmediately = goToImmediately;
         }
 
+        int getAutonomousAuthority() {
+            return this->autonomousAuthority;
+        }
+
+        void setAutonomousAuthority(int autonomousAuthority) {
+            this->autonomousAuthority = autonomousAuthority;
+        }
+
+        bool getAutonomousButton() {
+            return this->autonomousButton;
+        }
+
+        void setAutonomousButton(bool autonomousButton) {
+            this->autonomousButton = autonomousButton;
+        }
+
         ~MotorButton();
     };
 

diff --git a/src/auton/autonSelector.cpp b/src/auton/autonSelector.cpp
@@ -3,6 +3,9 @@
 namespace Pronounce {
     AutonSelector::AutonSelector() {
         controller = new Pronounce::Controller(pros::E_CONTROLLER_MASTER);
+        preAuton = Auton();
+        postAuton = Auton();
+        defaultAuton = Auton();
     }
 
     AutonSelector::AutonSelector(std::vector<Auton> autons, Auton defaultAuton) : AutonSelector() {
@@ -21,7 +24,11 @@ namespace Pronounce {
 
         controller->setIsRendering(false);
 
+        printf("Auton selector\n");
+
         while (!done) {
+            controller->clear();
+
             if (controller->get_digital(pros::E_CONTROLLER_DIGITAL_A)) {
                 done = true;
             }
@@ -40,11 +47,14 @@ namespace Pronounce {
                 }
             }
 
-            pros::lcd::print(0, "Auton: %s", autons[autonIndex].getName().c_str());
+            controller->set_text(0, 0, autons[autonIndex].getName());
+
+            pros::Task::delay(50);
 
-            pros::Task::delay(20);
         }
 
+        printf("Auton selected: %s", autons[autonIndex].getName().c_str());
+
         controller->setIsRendering(true);
     }
 

diff --git a/src/driver/motorButton.cpp b/src/driver/motorButton.cpp
@@ -25,6 +25,12 @@ namespace Pronounce {
             return;
         }
 
+        if (this->getAutonomous() && !this->autonomousButton) {
+            this->motor->move_absolute(this->autonomousAuthority, abs(this->positiveAuthority));
+            printf("MotorButton: autonomous authority: %d\n", this->autonomousAuthority);
+            return;
+        }
+
         switch (this->getButtonStatus()) {
         case NEGATIVE:
             if (goToImmediately) {