functions for auto

[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);
    }
}

[curtis0gj]

Originally Posted by Arhowk

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);
    }
}

Does this turn function replace left turn and right turn?

[Arhowk]

Originally Posted by curtis0gj

Does this turn function replace left turn and right turn?

The new turn function does, yes, since the error will be positive or negative depending on where the setpoint is in comparison to the experimental and thus doesn't need seperate cases depending on left or right.

[curtis0gj]

Originally Posted by Arhowk

The new turn function does, yes, since the error will be positive or negative depending on where the setpoint is in comparison to the experimental and thus doesn't need seperate cases depending on left or right.

Should I change the static voids to private and add Robot r. Also I wanted to know how I can make the wait function work so the robot waits between certain functions.

[Arhowk]

apologies, wrapped up in poe.

Should I change the static voids to private and add Robot r.

For now, yeah. End game shouldn't have that "Robot r" parameter

Also I wanted to know how I can make the wait function work so the robot waits between certain functions.

hm?

Timer.delay will wait the desired time. For the new loops, they automatically wait untill finished so this isn't needed. If you wanted to add an extra wait, just throw in a Timer.delay() before turn, drive, etc. calls

[curtis0gj]

Originally Posted by Arhowk

apologies, wrapped up in poe.


For now, yeah. End game shouldn't have that "Robot r" parameter



hm?

Timer.delay will wait the desired time. For the new loops, they automatically wait untill finished so this isn't needed. If you wanted to add an extra wait, just throw in a Timer.delay() before turn, drive, etc. calls

Alright thanks, to replace the Robot r parameter could I extend my public class auto to robot or is there another way to do it?

[Arhowk]

Something like this

static Robot r
public static void setRobot(Robot rob){
    r = rob;
}


//in Robot.java
AutonManager.setRobot(this);

or

Robot robot
public AutonManager(Robot r){
    this.robot =r;
}

//in Robot.java
AutonManager autonManager;
public void robotInit(){
    autonManager = new AutonManager(this);
}