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Change units #165

Merged
merged 16 commits into from
Jul 26, 2022
Merged

Change units #165

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89494ef
Remove button classes
alexDickhans May 26, 2022
1ea8236
Almost done with robot implementation
alexDickhans May 31, 2022
d270150
Almost done with robot specific code, for some reason the pros motor …
alexDickhans May 31, 2022
8b3c337
Done with driver control code
alexDickhans May 31, 2022
9777e27
Done with driver control code
alexDickhans May 31, 2022
6b985e3
Driver control done
alexDickhans Jun 1, 2022
6a04dd6
PIDF Values working, need to tune odom before we can fully test field…
alexDickhans Jun 2, 2022
5c0bf52
Code ready for testing
alexDickhans Jun 9, 2022
d9a6fd9
Getting code ready for reveal
alexDickhans Jul 6, 2022
07d8094
Add tape odometry and a bunch of other stuff, should have split up co…
alexDickhans Jul 22, 2022
213facc
Fix a bunch of errors
alexDickhans Jul 22, 2022
8ee8bad
Remove a lot of errors
alexDickhans Jul 24, 2022
509199f
Remove pros-grafana-lib
alexDickhans Jul 25, 2022
04f9566
Fix errors
alexDickhans Jul 25, 2022
1721097
Do unit stuff
alexDickhans Jul 26, 2022
a05256c
Fix build errors
alexDickhans Jul 26, 2022
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Binary file removed firmware/okapilib.a
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Binary file removed firmware/pros-grafana-lib.a
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1 change: 0 additions & 1 deletion firmware/squiggles.mk
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95 changes: 0 additions & 95 deletions include/auton/autonSelector.hpp
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6 changes: 3 additions & 3 deletions include/chassis/abstractHolonomicDrivetrain.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -11,14 +11,14 @@ namespace Pronounce
class AbstractHolonomicDrivetrain : public AbstractDrivetrain {
private:
public:
AbstractHolonomicDrivetrain();
AbstractHolonomicDrivetrain() {}

virtual double getSpeed() { return 0; }
virtual QSpeed getSpeed() { return 0.0; }

virtual void setDriveVectorVelocity(Vector vector) {}
virtual void setDriveVectorVelocity(Vector vector, double rotation) {}

~AbstractHolonomicDrivetrain();
~AbstractHolonomicDrivetrain() {}
};

} // namespace Pronounce
3 changes: 2 additions & 1 deletion include/chassis/abstractTankDrivetrain.hpp
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Expand Up @@ -2,6 +2,7 @@

#include "abstractDrivetrain.hpp"
#include "utils/utils.hpp"
#include "units/units.hpp"
#include <iostream>

namespace Pronounce {
Expand All @@ -12,7 +13,7 @@ namespace Pronounce {
AbstractTankDrivetrain();
AbstractTankDrivetrain(double trackWidth);

virtual double getSpeed() { return 0; }
virtual QSpeed getSpeed() { return 0.0; }

double getTrackWidth() {
return trackWidth;
Expand Down
4 changes: 1 addition & 3 deletions include/chassis/drivetrain.hpp
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Expand Up @@ -25,9 +25,7 @@ namespace Pronounce {
*/
virtual double getSpeed() { return 0; }

~Drivetrain() {

}
~Drivetrain() {}
};
} // namespace Pronounce

107 changes: 0 additions & 107 deletions include/chassis/mecanumDrivetrain.hpp
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44 changes: 0 additions & 44 deletions include/chassis/simDrivetrain.hpp
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38 changes: 0 additions & 38 deletions include/chassis/simTankDrivetrain.hpp
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31 changes: 26 additions & 5 deletions include/chassis/xdrive.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@
#include "utils/vector.hpp"

namespace Pronounce {
class XDrive : public Drivetrain, AbstractHolonomicDrivetrain {
class XDrive : public Drivetrain, public AbstractHolonomicDrivetrain {
private:

pros::Motor* frontLeftMotor;
Expand Down Expand Up @@ -43,10 +43,29 @@ namespace Pronounce {
}

void setDriveVectorVelocity(Vector vector, double rotation) {
this->frontLeftMotor->move_velocity(vector.getCartesian().getY() + vector.getCartesian().getX() + rotation);
this->frontRightMotor->move_velocity(vector.getCartesian().getY() - vector.getCartesian().getX() - rotation);
this->backLeftMotor->move_velocity(vector.getCartesian().getY() - vector.getCartesian().getX() + rotation);
this->backRightMotor->move_velocity(vector.getCartesian().getY() + vector.getCartesian().getX() - rotation);
double frontLeftVelocity = (vector.getCartesian().getY() + vector.getCartesian().getX()).getValue() + rotation;
double frontRightVelocity = (vector.getCartesian().getY() - vector.getCartesian().getX()).getValue() - rotation;
double backLeftVelocity = (vector.getCartesian().getY() - vector.getCartesian().getX()).getValue() + rotation;
double backRightVelocity = (vector.getCartesian().getY() + vector.getCartesian().getX()).getValue() - rotation;

double maxVal = abs(frontLeftVelocity);
maxVal = maxVal > abs(frontRightVelocity) ? maxVal : abs(frontRightVelocity);
maxVal = maxVal > abs(backLeftVelocity) ? maxVal : abs(backLeftVelocity);
maxVal = maxVal > abs(backRightVelocity) ? maxVal : abs(backRightVelocity);

if (maxVal > 200.0) {
double adjustment = maxVal/200.0;

frontLeftVelocity *= adjustment;
frontRightVelocity *= adjustment;
backLeftVelocity *= adjustment;
backRightVelocity *= adjustment;
}

this->frontLeftMotor->move_velocity(frontLeftVelocity);
this->frontRightMotor->move_velocity(frontRightVelocity);
this->backLeftMotor->move_velocity(backLeftVelocity);
this->backRightMotor->move_velocity(backRightVelocity);
}

void setDriveVectorVelocity(Vector vector) {
Expand All @@ -66,5 +85,7 @@ namespace Pronounce {
return total / 4;
}

~XDrive() {}

};
}
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