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Unread 08-02-2017, 20:40
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charlier999 charlier999 is offline
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FRC #1662 (Raptor Force Engineering)
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Join Date: Feb 2017
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Post Pneumatics code problems.

Recently, I have been dealing with newly written pneumatics code not actuating Cylinders for a gear holder and shifters.
This is what I am trying to do
PHP Code:
"A" button is pressed Cylinder extends > "A" button is pressed again Cylinder retracts 
I have tried to use a bool to act as a to swich between True and False when the cylinder extends or retracts, but that didn't do what I wanted above. Is there any other way of doing this.

Please ignore spelling mistakes in comments in code
If there is any other mistakes in the code that are not related to Pneumatics, feel free to say so.
Robot Code \/
Code:
#include <iostream>
#include <memory>
#include <string>
#include <IterativeRobot.h>
#include <LiveWindow/LiveWindow.h>
#include <SmartDashboard/SendableChooser.h>
#include <SmartDashboard/SmartDashboard.h>
#include "WPILib.h"
#include "CANTalon.h"

class Robot: public frc::IterativeRobot {
public:
//-------------------------------------------------------//
//    Other Decerations                                  //
//-------------------------------------------------------//
	bool shifter_varable = true;
	bool gear_enabled = false;
//-------------------------------------------------------//
//   Deceration of Objects                               //
//-------------------------------------------------------//
	Joystick *driver;
	Joystick *driverV2;
	Joystick *op;

	CANTalon *drive_right_a, *drive_right_b, *drive_left_a, *drive_left_b;
	CANTalon *intake;
	CANTalon *aggitater;
	CANTalon *shooter;
	CANTalon *climber;

	RobotDrive *drive_base;

	Compressor *compressor;

	DoubleSolenoid *gear;
	DoubleSolenoid *shifter;

	//WIP  \/
	//Encoder *shooter_encoder;

	Robot() {
//-------------------------------------------------------//
//    Asigning Objects to Componints and Electronics     //
//-------------------------------------------------------//
		driver = new Joystick(0);
		op = new Joystick(1);
		driverV2 = new Joystick(2);

		drive_right_a = new CANTalon(8);
		drive_right_b = new CANTalon(9);
		drive_left_a = new CANTalon(1);
		drive_left_b = new CANTalon(2);

		intake = new CANTalon(4);
		shooter = new CANTalon(7);
		climber = new CANTalon(6);
		aggitater = new CANTalon(3);

		drive_base = new RobotDrive(drive_right_a, drive_right_b, drive_left_a, drive_left_b);

		compressor = new Compressor(0);

		gear = new DoubleSolenoid(1, 3);
		shifter = new DoubleSolenoid(2, 4);
	}
	void RobotInit() {
//-------------------------------------------------------//
//                Robot vision Code                      //
//-------------------------------------------------------//
		auto cam = frc::CameraServer::GetInstance();
		cam->StartAutomaticCapture();
//-------------------------------------------------------//
//                Robot Compressor                       //
//-------------------------------------------------------//
		compressor->SetClosedLoopControl(true);
	}

	void AutonomousInit() override {}

	void AutonomousPeriodic() {
		drive_right_a->Set(1.0);
	}

	void TeleopInit() {}

	void TeleopPeriodic() {

		// drive train; (left joystick; y axis; left drive) (right joystick: y axis; right drive)
		drive_base->TankDrive(-driver->GetRawAxis(1), -driver->GetRawAxis(5));
//-------------------------------------------------------//
//                 Drive Remote                          //
//-------------------------------------------------------//

		//shooter; left bumper
		if(driver->GetRawButton(5)) {
			shooter->Set(0.60);
		}else{
			shooter->Set(0.0);
		}

		//intake in; right trigger
		if (driver->GetRawButton(7)) {
			intake->Set(-1.0);
		}else{
			intake->Set(0.0);
		}

		//aggitator; "B" button
		if (driver->GetRawButton(3)){
			aggitater->Set(1.0);
		}else{
			aggitater->Set(0.0);
		}

		//shifters; "A" button
		if (driver->GetRawButton(2)){
			if (shifter_varable==true){
				shifter->Set(DoubleSolenoid::Value::kReverse);
				shifter_varable = false;
			}else{
				shifter->Set(DoubleSolenoid::Value::kForward);
				shifter_varable = true;
			}
		}
		//Gear open close; "Y" button
		if (driver->GetRawButton(4)){
			if (gear_enabled == true){
				gear->Set(DoubleSolenoid::Value::kReverse);
				gear_enabled = false;
			}else{
				gear->Set(DoubleSolenoid::Value::kForward);
				gear_enabled = true;
			}
		}
//-------------------------------------------------------//
//  		       Operator Remote                       //
//-------------------------------------------------------//
		//climber up; right bumper; op
		if (op->GetRawAxis(1)){
			climber->Set(1.0);
		}
	}
private:
};
START_ROBOT_CLASS(Robot);
Sorry for being a long post

Thx.
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