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Merge pull request #113 from ad101-lab/ad-awp-states
Working on getting AWP working, lots of intake problems with too many rings
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,87 @@ | ||
| #pragma once | ||
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| #include "odometry/odometry.hpp" | ||
| #include "api.h" | ||
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| namespace Pronounce { | ||
| class GpsOdometry : public Odometry { | ||
| private: | ||
| pros::Gps* gps; | ||
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| pros::c::gps_status_s_t lastPos; | ||
| bool goodFixBool = false; | ||
| int32_t lastGoodFix = -10000; | ||
| int32_t lastUpdate = 0; | ||
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| double gpsX = 0; | ||
| double gpsY = 0; | ||
| double gpsOrientation = 0; | ||
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| double convertToLocal(double x) { | ||
| return (x - 1.8) * 39.37; | ||
| } | ||
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| double convertToGlobal(double x) { | ||
| return (x / 39.37) + 1.8; | ||
| } | ||
| public: | ||
| GpsOdometry(); | ||
| GpsOdometry(pros::Gps* gps); | ||
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| void update(); | ||
| void update(Position* position); | ||
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| void reset(Position* position) { | ||
| this->setPosition(position); | ||
| this->setResetPosition(position); | ||
| gps->initialize_full(convertToGlobal(position->getX()), convertToGlobal(position->getY()), toDegrees(position->getTheta()) + gpsOrientation, gpsX, gpsY); | ||
| } | ||
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| pros::Gps* getGps() { | ||
| return gps; | ||
| } | ||
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| void setGps(pros::Gps* gps) { | ||
| this->gps = gps; | ||
| } | ||
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| bool goodFix() { | ||
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| pros::c::gps_status_s_t currentPos = gps->get_status(); | ||
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| if (pros::millis() - lastUpdate < 50) { | ||
| if (goodFixBool && pros::millis() - lastGoodFix > 2000) { | ||
| return true; | ||
| } | ||
| return false; | ||
| } | ||
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| // If our position is 0 we invalidate it | ||
| if (sqrt(pow(currentPos.x, 2) + pow(currentPos.y, 2)) == 0.0) { | ||
| goodFixBool = false; | ||
| return false; | ||
| } | ||
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| // If the robot isn't moving too far start the timer | ||
| if (sqrt(pow(currentPos.x - lastPos.x, 2) + pow(currentPos.y - lastPos.y, 2)) < (2.0 / (1000.0 / (double)(pros::millis() - lastUpdate))) && !goodFixBool) { | ||
| if (!goodFixBool) { | ||
| lastGoodFix = pros::millis(); | ||
| } | ||
| goodFixBool = true; | ||
| } | ||
| else { | ||
| goodFixBool = false; | ||
| return false; | ||
| } | ||
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| // Wait to return a good fix until we know that it is good for a while | ||
| if (goodFixBool && pros::millis() - lastGoodFix > 2000) { | ||
| return true; | ||
| } | ||
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| return false; | ||
| } | ||
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| ~GpsOdometry(); | ||
| }; | ||
| } // namespace Pronounce |
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