functions for auto

[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);
}

[curtis0gj]

Originally Posted by 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);
}

Would this be okay?

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

And when I have this in do I need to put r in front of everything still?

[Arhowk]

Originally Posted by curtis0gj

Would this be okay?

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

And when I have this in do I need to put r in front of everything still?

yeah thats fine. If you don't want to put r in front of everything, you can either

1) rename r to robot (atleast it looks more professional...)
2)

public class Auto {
	
	static Robot r
        static RobotDrive drive
        static DigitalInput upperLimitSwitch
        //and so on for other stuff
	public static void setRobot(Robot rob) {
		r = rob;
                drive = r.drive;
                upperLimitSwitch = r.limit4;
	}

[curtis0gj]

Originally Posted by Arhowk

yeah thats fine. If you don't want to put r in front of everything, you can either

1) rename r to robot (atleast it looks more professional...)
2)

public class Auto {
	
	static Robot r
        static RobotDrive drive
        static DigitalInput upperLimitSwitch
        //and so on for other stuff
	public static void setRobot(Robot rob) {
		r = rob;
                drive = r.drive;
                upperLimitSwitch = r.limit4;
	}

Also I was wondering how I can call the new turn function you showed me do I just call turn(r, deg that I want to turn???); And you also said there was an ugly block in robot will it be an issue?

      public void autonomous() {
          autoMethod = (Defines.Autos) autoChooser.getSelected();
          Auto.run(this, autoMethod);
          if (autoMethod == Defines.Autos.AUTO_GRAB_ONE_BIN_BLUE_SIDE) {
               return;
          } else if (autoMethod == Defines.Autos.AUTO_GRAB_ONE_BIN_RED_SIDE) {
               return;
          } else if (autoMethod == Defines.Autos.AUTO_MOVE_TO_ZONE) {
               return;
          } else if (autoMethod == Defines.Autos.AUTO_GRAB_TWO_BINS_RED_SIDE) {
               return;
          } else if (autoMethod == Defines.Autos.AUTO_GRAB_TWO_BINS_BLUE_SIDE) {
               return;
          }
}

	public static void angleError(double setpointDegressZeroToThreeSixty, double experimentalDegrees) {
		double err = setpointDegressZeroToThreeSixty - experimentalDegrees; // 0 TO 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(Robot r, double deg) {
		while(true) {
			double deltaAngle = angleError(deg, gyro.getAngle());
			if(Math.abs(deg - deltaAngle) < MAX_ERROR) {
				break;
			} else {
				r.robot.drive(0, deltaAngle * kp_rotate);
			}
			Timer.delay(0.02);
		}
	}

https://github.com/curtis0gj/5033-2014-15

[Arhowk]

          if (autoMethod == Defines.Autos.AUTO_GRAB_ONE_BIN_BLUE_SIDE) {
               return;
          } else if (autoMethod == Defines.Autos.AUTO_GRAB_ONE_BIN_RED_SIDE) {
               return;
          } else if (autoMethod == Defines.Autos.AUTO_MOVE_TO_ZONE) {
               return;
          } else if (autoMethod == Defines.Autos.AUTO_GRAB_TWO_BINS_RED_SIDE) {
               return;
          } else if (autoMethod == Defines.Autos.AUTO_GRAB_TWO_BINS_BLUE_SIDE) {
               return;
          }

this block of code does nothing. Not only does it check every single possible auto state (the entire block is equivalent to autoMethod != null), returning does nothing since there is no more code to be executed. So, all this code does is stall the processor for a few microseconds.

To call the turn() code, the "deg" argument will be the angle in reference to the gyro. So if the gyro has just been reset and you call turn(90), the robot will turn untill the gyro reads 90, which will be a 90 degree turn to the right(?). If you call turn(90) when the gyro hasn't been reset and the gyro is, for example 135, the gyro will turn 45 degrees to the left(?). Note that I wrote all of that code in the text editor and it hasn't come anywhere close to being tested.

[curtis0gj]

Originally Posted by Arhowk

          if (autoMethod == Defines.Autos.AUTO_GRAB_ONE_BIN_BLUE_SIDE) {
               return;
          } else if (autoMethod == Defines.Autos.AUTO_GRAB_ONE_BIN_RED_SIDE) {
               return;
          } else if (autoMethod == Defines.Autos.AUTO_MOVE_TO_ZONE) {
               return;
          } else if (autoMethod == Defines.Autos.AUTO_GRAB_TWO_BINS_RED_SIDE) {
               return;
          } else if (autoMethod == Defines.Autos.AUTO_GRAB_TWO_BINS_BLUE_SIDE) {
               return;
          }

this block of code does nothing. Not only does it check every single possible auto state (the entire block is equivalent to autoMethod != null), returning does nothing since there is no more code to be executed. So, all this code does is stall the processor for a few microseconds.

To call the turn() code, the "deg" argument will be the angle in reference to the gyro. So if the gyro has just been reset and you call turn(90), the robot will turn untill the gyro reads 90, which will be a 90 degree turn to the right(?). If you call turn(90) when the gyro hasn't been reset and the gyro is, for example 135, the gyro will turn 45 degrees to the left(?). Note that I wrote all of that code in the text editor and it hasn't come anywhere close to being tested.

Ah now I see that the block does nothing.
But will my auto chooser still work without the block or will it be fine. Also just to make sure I understand, say I wanted to turn right(?) I would say turn(90);???? and If I want a left turn could I call turn(-90)??? and do I need turn(r, 90)? And should I change all my auto functions to public or keep them all private static voids?