functions for auto

[curtis0gj]

Hey guys I just finished my autonomous program on bag night and the next day realised how long and messy it was. So I got some help and made functions but I can't test them . So if anyone is able to help me here's the github link https://github.com/curtis0gj/5033-2014-15?files=1.

[Arhowk]

FYI you can build them to search for syntax errors... like this

	private static void wait(Robot r, double waittime) {
		while (true) {
			if (!.risAutonomous() || !r.isEnabled()) return;
			r.Timer.delay(waittime); //r or just timer?
			return;
		}
		private static void reset(Robot r) {

missing a } and i assume you mean ""!r.is..." not "!.ris..." (also, its just Timer.delay)

passing in Robot for everything is ugh-ly. just make Robot a singleton... or use a static initializer

			while (true) {
				double distance = r.encoder.get();
				double angle = r.gyro.getAngle();
				if (!r.isAutonomous() || !r.isEnabled()) return;
				r.robot.drive(-0.25, angle * r.Kp);
				//r.robot.drive(-0.40, 0);
				if (distance < -d) {
					reset(r);
					return;
				}
			}

the closed loop structure of this will hurt the robot, periodic ms timers are necessary

r.robot.drive(-.40, -1)

not Java-standard formatting

				Boolean maxarmlimit = r.limit4.get();

capital boolean (also that name scheme is bad, both on the variable and the limit)

					r.armmotor.set(Defines.ARM_SPEED);
					r.leftarmwheel.set(Relay.Value.kForward);
					r.rightarmwheel.set(Relay.Value.kReverse);

non-standard formatting (camelcase, descriptive names)

				if (angle > deg) {

comparing a double and an int

				r.robot.drive(-.40, -1);

constant loop? atleast a P loop, preferably PID

your "turn" and "turn2" functions are quite ineffective, basic angle averaging schemes should be used

other than that I'm losing my focus, but there are alot more issues

[curtis0gj]

Originally Posted by Arhowk

FYI you can build them to search for syntax errors... like this

	private static void wait(Robot r, double waittime) {
		while (true) {
			if (!.risAutonomous() || !r.isEnabled()) return;
			r.Timer.delay(waittime); //r or just timer?
			return;
		}
		private static void reset(Robot r) {

missing a } and i assume you mean ""!r.is..." not "!.ris..." (also, its just Timer.delay)

passing in Robot for everything is ugh-ly. just make Robot a singleton... or use a static initializer

			while (true) {
				double distance = r.encoder.get();
				double angle = r.gyro.getAngle();
				if (!r.isAutonomous() || !r.isEnabled()) return;
				r.robot.drive(-0.25, angle * r.Kp);
				//r.robot.drive(-0.40, 0);
				if (distance < -d) {
					reset(r);
					return;
				}
			}

the closed loop structure of this will hurt the robot, periodic ms timers are necessary

r.robot.drive(-.40, -1)

not Java-standard formatting

				Boolean maxarmlimit = r.limit4.get();

capital boolean (also that name scheme is bad, both on the variable and the limit)

					r.armmotor.set(Defines.ARM_SPEED);
					r.leftarmwheel.set(Relay.Value.kForward);
					r.rightarmwheel.set(Relay.Value.kReverse);

non-standard formatting (camelcase, descriptive names)

				if (angle > deg) {

comparing a double and an int

				r.robot.drive(-.40, -1);

constant loop? atleast a P loop, preferably PID

your "turn" and "turn2" functions are quite ineffective, basic angle averaging schemes should be used

other than that I'm losing my focus, but there are alot more issues

Alright thanks I am going to make those changes.

[curtis0gj]

should distance be an int or a double and how should I add the periodic timer?

[Arhowk]

Originally Posted by curtis0gj

should distance be an int or a double and how should I add the periodic timer?

don't double post, use the edit button.

for distance, i usually go with doubles for most things so I don't accidentally mess data up with division.

don't know what the second thing you asked is in reference to. If it's the closed loop, than just do a Timer.delay(0.02) (20ms, standard 50hz operating cycle) inside the while(true) loop

[curtis0gj]

Originally Posted by Arhowk

don't double post, use the edit button.

for distance, i usually go with doubles for most things so I don't accidentally mess data up with division.

don't know what the second thing you asked is in reference to. If it's the closed loop, than just do a Timer.delay(0.02) (20ms, standard 50hz operating cycle) inside the while(true) loop

Alright I added in some delays inside the while(true) loop. I just put the delay as the first line in the loop I don't know if it matters.
https://github.com/curtis0gj/5033-20...ster/Auto.java

[Arhowk]

Preferably it would be the last line (with it at the first, theres a 20ms delay before any actions are performed)

Your indenting for everything after "wait" is now wrong

AUTOS should not be capitalized (and should be descriptive: "AutonMode", "SelectedAutonMode", "AutonEnum", etc)

turn and turn2 still need to be turned into feedback loops but for now rename them to turnLeft and turnRight and make one function- turn- that if gyro < desired than turnLeft(angle) else turnRight(angle)

capitalization schemes are wrong in Robot.java (http://java.about.com/od/javasyntax/...onventions.htm)

		if (autoMethod == Defines.AUTOS.AUTO_ONE) {
			return;
		} else if (autoMethod == Defines.AUTOS.AUTO_MOVE) {
			return;
		} else if (autoMethod == Defines.AUTOS.AUTO_TWORED) {
			return;
		} else if (autoMethod == Defines.AUTOS.AUTO_TWOBLUE) {
			return;
		}

this block of code is rather... erm...

Why is your wait function inside of a while(true) loop?

[curtis0gj]

Originally Posted by Arhowk

Preferably it would be the last line (with it at the first, theres a 20ms delay before any actions are performed)

Your indenting for everything after "wait" is now wrong

AUTOS should not be capitalized (and should be descriptive: "AutonMode", "SelectedAutonMode", "AutonEnum", etc)

turn and turn2 still need to be turned into feedback loops but for now rename them to turnLeft and turnRight and make one function- turn- that if gyro < desired than turnLeft(angle) else turnRight(angle)

capitalization schemes are wrong in Robot.java (http://java.about.com/od/javasyntax/...onventions.htm)

		if (autoMethod == Defines.AUTOS.AUTO_ONE) {
			return;
		} else if (autoMethod == Defines.AUTOS.AUTO_MOVE) {
			return;
		} else if (autoMethod == Defines.AUTOS.AUTO_TWORED) {
			return;
		} else if (autoMethod == Defines.AUTOS.AUTO_TWOBLUE) {
			return;
		}

this block of code is rather... erm...

Why is your wait function inside of a while(true) loop?

lol I did a very lousy job of naming things, sorry for that and I will change the names to be more descriptive and properly cased. Anyway how can I get the waits to work again? This is the function,

	public static void turn(Robot r, double deg) {
		while (true) {
			double angle = r.gyro.getAngle();
			if (!r.isAutonomous() || !r.isEnabled()) return;
			if(angle < 70) {
				turnRight(r, 70);
			} else {
				turnLeft(r, -70);
				reset(r);
				break;
			}
	}

I'm not sure how to program it, sorry I'm still fairly new to programming.

[Arhowk]

Originally Posted by curtis0gj

lol I did a very lousy job of naming things, sorry for that and I will change the names to be more descriptive and properly cased. Anyway how can I get the waits to work again? This is the function,


I'm not sure how to program it, sorry I'm still fairly new to programming.

here's what I'd do

public static void turn(Robot r, double deg) {
   if(deg < gyro.getAngle()){ //this is not right, need to have a function to handle rollovers
   //example for such a function: if Math.abs(deg-gyro.getAngle()) < 90 || Math.abs(deg-gyro.getAngle()) > 270
   //i dont know, just thinking to myself. see here for further instructions -> http://stackoverflow.com/questions/1878907/the-smallest-difference-between-2-angles
         turnLeft(r,deg);
   }else{
         turnRight(r,deg);
   }
}
public static void turnRight(Robot r, double deg){
   while(true){
       //turn right
       if(distanceBetweenAngles(getGyro(),deg) <= MAX_ROTATE_ERROR){
           return; //or break; whatever
       }
       Timer.delay(0.02);
    }
}

except without the broken formatting since I made that in this text editor and not a code editor

E/ misunderstood the point of the code, fixed.

[curtis0gj]

Originally Posted by Arhowk

here's what I'd do

public static void turn(Robot r, double deg) {
   if(deg < gyro.getAngle()){ //this is not right, need to have a function to handle rollovers
   //example for such a function: if Math.abs(deg-gyro.getAngle()) < 90 || Math.abs(deg-gyro.getAngle()) > 270
   //i dont know, just thinking to myself. see here for further instructions -> http://stackoverflow.com/questions/1878907/the-smallest-difference-between-2-angles
         turnLeft(r,deg);
   }else{
         turnRight(r,deg);
   }
}

except without the broken formatting since I made that in this text editor and not a code editor

E/ misunderstood the point of the code, fixed.

So what will this whole function be used for calculating turns?

[Arhowk]

Originally Posted by curtis0gj

So what will this whole function be used for calculating turns?

hm?

note that I edited that post like 5 times.

Anyway, heres a (maybe) working function

public static double angleError(double setpointDegressZeroToThreeSixty, double experimentalDegrees){
    double err = setpointDegressZeroToThreeSixty - experimentalDegrees; //0 360
    if(err < -180){
        err += 360;
    }else if(err > 180){
	err -= 360;
    }
    return err;
}

double kp_rotate = 0.01;
double MAX_ERROR = 5;

public static void turn(double deg){
    while(true){
        double deltaAngle = angleError(deg, gyro.getAngle());
        if(Math.abs(deg-deltaAngle) < MAX_ERROR){
            break;
        }else{
            robot.drive(0, deltaAngle*kp_rotate); //drive taking a move and a rotate value
        }
        Timer.delay(0.02);
    }
}