-
Notifications
You must be signed in to change notification settings - Fork 0
Expand file tree
/
Copy pathJakeAutonMAIN.c
More file actions
3290 lines (2790 loc) · 58.1 KB
/
JakeAutonMAIN.c
File metadata and controls
3290 lines (2790 loc) · 58.1 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
/*
* This file was written by Jacob Bradberry from the Gwinnett School of Mathematics, Science, and Technology for his 2012 - 2013 Senior Project
* Please give credit where credit is due
* If you have any problems or comments you can reach me at the email address jake1.gsmst@gmail.com
*/
#define maxPower 127
/* FUNCTION PROTOTYPES
* ALSO A LIST OF THE FUNCTIONS IN THIS CODE
*/
void setWatchdogTimerInterval(float interval);
void printWatchdogTimerInterval();
float getWatchdogTimerInterval();
bool watchdogResetOccured();
void DriveMotors(int leftPower, int rightPower);
void timeMove(int time,int power, bool brake);
void lineFollow(int startingPower, int encoder, int sensitivity);
void lineFollower(int startingPower, int time, int sensitivity);
void setupPID(float pe, float ie, float de, int integralLim, string system);
void changeKp(string system, float n);
void changeKi(string system, float n);
void changeKd(string system, float n);
void changeIntegralLimit(string system, float n);
float getKp(string system);
float getKi(string system);
float getKd(string system);
int getIntegralLimit(string system);
bool systemSetup(string system);
void eraseSystem(string system);
void eraseCustomSystem();
void changeIntakeTarget(int newTarget);
void changeIntakeSensorValue(int q);
void intakePID(bool constant);
void DrivePID(int sensorVal, int target);
void eraseIntakeSystem();
void eraseArmSystem();
void eraseDriveSystem();
void doNothing(int time);
void delayMsec(int time);
void delayTenMsec(int time);
int systemTime();
int getTime(int timer, int msecInterval);
int getTimeMsec(int timer);
int getTimeTenMsec(int timer);
void clearTime(int num);
void clearAllTimers();
void printString(string s);
void printInt(int y);
void printFloat(float y);
void printNewLine();
void printBatteryVoltageContinuous(int frequency);
void clearScreen();
void printAverageBatteryVoltage();
void printCurrentBatteryVoltage();
void printBackupBatteryVoltage();
int getBatteryVoltage();
int getBackupBatteryVoltage();
void setMotorArrayNum(int time, int motorNum, int power);
void setAllMotorsHiSpeed();
void setMotorHighSpeed(int port);
void setAllMotors(int power);
void setMotor(int time, int motorNum, int power);
int motorValueArrayNum(int portNum);
int motorValue(int num);
int motorPower(tMotor t);
void maximizeAllMotors();
void zeroAllMotors();
void printAllMotorValues();
void printMotorValueArrayNum(int motorNum);
void printMotorValue(int motorNum);
bool isMotorReversedArrayNum(int port);
bool isMotorReversed(int port);
void setMotorReversedArrayNum(bool reversed, int port);
void setMotorReversed(bool reversed, int port);
void flipMotorArrayNum(int port);
void flipMotor(int port);
void flipMotor(tMotor t);
void setMotor(tMotor t, int power);
void setMotorType(tMotor t, int type);
void setMotorTypeHighSpeed(tMotor t);
bool isMotorReversed(tMotor t);
void setupPotentiometerCalculations(int ground, bool reverse);
void changePotentiometerReversed();
void changePotentiometerGround(int new);
int getPotentiometerGround();
int calculatePotentiometerValues(int angle);
int potSelector(int regions, int potValue);
bool exceedsLimits(tSensors t);
bool closeToExceedingLimits(tSensors t, int sensitivity);
void setExceedingLimitSensitivity(int sensitivity);
bool limitSensitivitySet();
int getExceedingLimitSensitivity();
bool closeToLimits(tSensors t);
bool closeToLowLimit(tSensors t, int sensitivity);
bool closeLowLimit(tSensors t);
bool closeToHighLimit(tSensors t, int sensitivity);
bool closeHighLimit(tSensors t);
void setPotentiometerLowLimit(int lim);
void setPotentiometerHighLimit(int lim);
task monitorForPotentiometerDanger();
void setupEncoder(int revPerRot, int wheelDiameter, string name);
void printCurrentEncoderValues();
bool isRightEncoder(string name);
int getRevPerPot();
int getWheelDiameter();
bool isEncoderSetup();
int encoderValues(int desiredDistance);
void setupGyro(int port, int bias);
void setupGyroPort(int port);
int getGyroValue(int port);
bool checkSetup(int port);
void rotate(int degrees, int bias, int port, int leftPower, int rightPower);
void setupTouch(int port);
int returnValue(int port);
void waitForPress();
void waitForPressPort(int port);
bool isTouchPressedPort(int port);
bool isTouchPressed();
void clearLCD();
void LCDClearLine(int num);
void LCDClearLineOne();
void LCDClearLineTwo();
void LCDLineOne(string a);
void LCDLineTwo(string a);
void setPosition(int line, int pos);
void displayFileLineOne();
void displayFileLineTwo();
void LCDdisplayStringHere(string x);
void LCDdisplayNumberHere(int x);
bool stringFitOnLine(string x);
bool lcdButtonPressed();
int LCDButtonPressed();
bool LCDLeftPressed();
bool LCDCenterPressed();
bool LCDRightPressed();
bool LCDBacklightStatus();
void turnLCDBacklightOff();
void turnLCDBacklightOn();
/* SPECIAL FUNCTIONS */
// Triangle Functions
void setAngleOne(float a);
bool angleTwoDefined();
void setAngleTwo(float a);
bool angleOneDefined();
void setSideOne(float a);
bool sideOneDefined();
void setSideTwo(float a);
bool sideTwoDefined();
void setSideHypotunuse(float a);
bool hypotunuseDefined();
void solveSidesWithTwo();
bool twoSidesDefinedCheck();
void solveAnglesWithTwo();
bool triangleSolveable();
bool triangleComplete();
void printTriangleResults();
float getSideOne();
float getSideTwo();
float getHypotunuse();
float getAngleOne();
float getAngleTwo();
// Circle/ARC Functions
void driveCircle(); // MAY REQUIRE YOU TO USE THE PID LOOPS IF SO DO THE ONE BELOW WILL REQUIRE
void setRadius(float radius);
void setDiameter(float diameter);
void setCircumference(float circumference);
void solveCircle();
float getArcLength(float degrees);
float getRadius();
float getDiameter();
float getArea();
bool diameterDefined();
bool radiusDefined();
bool circumferenceDefined();
bool areaDefined();
bool circleSolveable();
void printCircle();
/* CHANGE TO THE USER CONTROL WORLD */
void setupChannelDeadzone(int channelNumber, int deadZoneLimit); // Partner marked by 5,6,7,8
void setupUniversalDeadzone(int deadzoneLimit);
void setupDriveScaling(int scaleFactor);
int getDriveScaleFactor();
int getDeadzoneLimit();
int getDeadzoneLimitChannel(int channelNumber);
int getChannelOneDedzone();
int getChannelOnePartnerDeadzone();
int getChannelTwoDeadzone();
int getChannelTwoPartnerDeadzone();
int getChannelThreeDeadzone();
int getChannelThreePartnerDeadzone();
int getChannelFourDeadzone();
int getChannelFourPartnerDeadzone();
bool channelOneDeadzoneActive();
bool channelTwoDeadzoneActive();
bool channelThreeDeadzoneActive();
bool channelFourDeadzoneActive();
bool channelOnePartnerDeadzoneActive();
bool channelTwoPartnerDeadzoneActive();
bool channelThreePartnerDeadzoneActive();
bool channelFourPartnerDeadzoneActive();
/* Channels and Buttons */
int channelOneValue();
int channelTwoValue();
int channelThreeValue();
int channelFourValue();
int button8U();
int button8D();
int button8L();
int button8R();
int button7U();
int button7D();
int button7L();
int button7R();
int button6U();
int button6D();
int button5U();
int button5D();
int xAcceler();
int yAcceler();
int zAcceler();
bool button8UPressed();
bool button8DPressed();
bool button8LPressed();
bool button8RPressed();
bool button7UPressed();
bool button7DPressed();
bool button7LPressed();
bool button7RPressed();
bool button6UPressed();
bool button6DPressed();
bool button5UPressed();
bool button5DPressed();
// PARTNER JOYSTICK STUFF
bool partnerJoystickActive();
int partnerChannelOneValue();
int partnerChannelTwoValue();
int partnerChannelThreeValue();
int partnerChannelFourValue();
int partnerButton8U();
int partnerButton8D();
int partnerButton8L();
int partnerButton8R();
int partnerButton7U();
int partnerButton7D();
int partnerButton7L();
int partnerButton7R();
int partnerButton6U();
int partnerButton6D();
int partnerButton5U();
int partnerButton5D();
int partnerXAccel();
int partnerYAccel();
int partnerZAccel();
bool partnerButton8UPressed();
bool partnerButton8DPressed();
bool partnerButton8LPressed();
bool partnerButton8RPressed();
bool partnerButton7UPressed();
bool partnerButton7DPressed();
bool partnerButton7LPressed();
bool partnerButton7RPressed();
bool partnerButton6UPressed();
bool partnerButton6DPressed();
bool partnerButton5UPressed();
bool partnerButton5DPressed();
bool anyControlsPressed();
bool anyMainPressed();
bool anyPartnerPressed();
task LCDMotorFlipScreen();
void runMechanum(tMotor leftFront, tMotor rightFront, tMotor leftBack, tMotor rightBack);
void runStandardTank(tMotor leftFront, tMotor rightFront, tMotor leftBack, tMotor rightBack);
void runStandardArcade(tMotor leftFront, tMotor rightFront, tMotor leftBack, tMotor rightBack);
void runSixMotorTank(tMotor leftFront, tMotor leftMid, tMotor leftBack, tMotor rightFront, tMotor rightMid, tMotor rightBack);
void runSixMotorArcade(tMotor leftFront, tMotor leftMid, tMotor leftBack, tMotor rightFront, tMotor rightMid, tMotor rightBack);
void runMechanumHalf(tMotor leftFront, tMotor rightFront, tMotor leftBack, tMotor rightBack);
void runStandardTankHalf(tMotor leftFront, tMotor rightFront, tMotor leftBack, tMotor rightBack);
void runStandardArcadeHalf(tMotor leftFront, tMotor rightFront, tMotor leftBack, tMotor rightBack);
void runSixMotorTankHalf(tMotor leftFront, tMotor leftMid, tMotor leftBack, tMotor rightFront, tMotor rightMid, tMotor rightBack);
void runSixMotorArcadeHalf(tMotor leftFront, tMotor leftMid, tMotor leftBack, tMotor rightFront, tMotor rightMid, tMotor rightBack);
void runMechanumMotor(int LF, int RF, int LB, int RB);
void runStandardTankMotor(int LF, int RF, int LB, int RB);
void runStandardArcadeMotor(int LF, int RF, int LB, int RB);
void runSixMotorTankMotor(int LF, int LM, int LB, int RF, int RM, int RB );
void runSixMotorArcadeMotor(int LF, int LM, int LB, int RF, int RM, int RB);
void runMechanumMotorHalf(int LF, int RF, int LB, int RB);
void runStandardTankMotorHalf(int LF, int RF, int LB, int RB);
void runStandardArcadeMotorHalf(int LF, int RF, int LB, int RB);
void runSixMotorTankMotorHalf(int LF, int LM, int LB, int RF, int RM, int RB );
void runSixMotorArcadeMotorHalf(int LF, int LM, int LB, int RF, int RM, int RB);
bool halfPowerEnabled();
int returnHalfPowerCount();
void checkHalfPowerButton(int button);
/*
SCORE KEEPERS
*/
//Vex Sack Attack
// Vex Tossup
void redAutonomousBonus();
void blueAutonomousBonus();
bool autonomousWinner();
void addBBMiddleRed();
void addBBMiddleBlue();
void addBBGoalRed();
void addBBGoalBlue();
void addBBCylinderRed();
void addBBCylinderBlue();
void addLBMiddleRed();
void addLBMiddleBlue();
void addLBGoalRed();
void addLBGoalBlue();
void addLBCylinderRed();
void addLBCylinderBlue();
void addRedLowHang();
void addBlueLowHang();
void addRedHighHang();
void addBlueHighHang();
void addRedHangingBall();
void addBlueHangingBall();
void setRedHanging(int low, int high);
void setBlueHanging(int low, int high);
void setHanging(int redLow, int redHigh, int blueLow, int blueHigh);
void setHangingBalls(int red, int blue);
void setRedMiddle(int BB, int LB);
void setBlueMiddle(int BB, int LB);
void setMiddle(int redBB, int blueBB, int redLB, int blueLB);
int getRedMiddleScore();
int getBlueMiddleScore();
int redMiddleBBs();
int redMiddleLBs();
int blueMiddleBBs();
int blueMiddleLBs();
void setRedGoal(int BB, int LB);
void setBlueGoal(int BB, int LB);
void setGoal(int redBB, int redLB, int blueBB, int blueLB);
int redGoalBBs();
int redGoalLBs();
int redGoalScore();
int blueGoalBBs();
int blueGoalLBs();
int blueGoalScore();
void setRedCylinder(int BB, int LB);
void setBlueCylinder(int BB, int LB);
void setCylinders(int redBB, int redLB, int blueBB, int blueLB);
int redCylinderBBs();
int redCylinderLBs();
int redCylinderPoints();
int blueCylinderBBs();
int blueCylinderLBs();
int blueCylinderPoints();
int calculateArmTorque(int motorTorque, int motorNumber, int gearRatio, int armLength)
{
return (motorTorque * motorNumber * gearRatio) / armLength;
}
int calculateArmRPMs(int motorSpeed, int gearRatio)
{
return motorSpeed / gearRatio;
}
void setWatchdogTimerInterval(float interval)
{
nWatchdogTimeoutInterval = interval;
}
void printWatchdogTimerInterval()
{
printFloat(nWatchdogTimeoutInterval);
}
float getWatchdogTimerInterval()
{
return nWatchdogTimeoutInterval;
}
bool watchdogResetOccured()
{
return bResetFromWatchdogTimeout;
}
void DriveMotors(int leftPower, int rightPower)
{
motor[port2] = leftPower;
motor[port10] = leftPower;
motor[port1] = rightPower;
motor[port9] = rightPower;
}
void lineFollow(int startingPower, int encoder, int sensitivity)
{
int rightPower = startingPower;
int leftPower = startingPower;
while(SensorValue(dgtl1) < encoder)
{
int powerAdd = (SensorValue(in4) / sensitivity) - (SensorValue(in6) / sensitivity);
rightPower = rightPower + powerAdd;
leftPower = leftPower - powerAdd;
DriveMotors(leftPower, rightPower);
wait1Msec(5);
}
DriveMotors(0,0);
}
void lineFollower(int startingPower, int time, int sensitivity)
{
int startTime = nSysTime;
int rightPower = startingPower;
int leftPower = startingPower;
while(nSysTime < (startTime + time))
{
int powerAdd = (SensorValue(in4) / sensitivity) - (SensorValue(in6) / sensitivity);
rightPower = rightPower + powerAdd;
leftPower = leftPower - powerAdd;
DriveMotors(leftPower, rightPower);
wait1Msec(5);
}
DriveMotors(0,0);
}
void timeMove(int time,int power, bool brake)
{
while(time1[T4] < time)
DriveMotors(power,power);
if(brake)
{
int y = sgn(power);
if(y == 1)
{
DriveMotors(-37,-37);
wait1Msec(300);
}
else if(y == -1)
{
DriveMotors(37,37);
wait1Msec(300);
}
}
}
void doNothing(int time)
{
int startTime = nSysTime;
while(nSysTime < (startTime + time))
noOp();
}
/*
*
*
PID FUNCTIONS
*
*
*/
typedef struct
{
float kp;
float ki;
float kd;
float integral;
float derivative;
float previousError;
float error;
float target;
int integralLimit;
int sensorVal;
bool setup;
}PIDValues;
PIDValues driveSystem;
PIDValues armSystem;
PIDValues IntakeSystem;
PIDValues customSystem;
void setupPID(float pe, float ie, float de, int integralLim, string system)
{
if(strcmp(system, "Drive") == 0)
{
driveSystem.kp = pe;
driveSystem.ki = ie;
driveSystem.kd = de;
driveSystem.integralLimit = integralLim;
driveSystem.setup = true;
}
else if(strcmp(system, "Intake") == 0)
{
IntakeSystem.kp = pe;
IntakeSystem.ki = ie;
IntakeSystem.kd = de;
IntakeSystem.integralLimit = integralLim;
IntakeSystem.setup = true;
}
else if(strcmp(system, "Arm") == 0)
{
armSystem.kp = pe;
armSystem.ki = ie;
armSystem.kd = de;
armSystem.integralLimit = integralLim;
armSystem.setup = true;
}
else
{
customSystem.kp = pe;
customSystem.ki = ie;
customSystem.kd = de;
customSystem.integralLimit = integralLim;
customSystem.setup = true;
}
}
void changeIntakeTarget(int newTarget)
{
IntakeSystem.target = newTarget;
}
void changeIntakeSensorValue(int q)
{
IntakeSystem.sensorVal = q;
}
void intakePID(bool constant)
{
if(constant)
{
while(true)
{
IntakeSystem.error = IntakeSystem.target - IntakeSystem.sensorVal;
IntakeSystem.integral = IntakeSystem.integral + IntakeSystem.error;
IntakeSystem.derivative = IntakeSystem.error - IntakeSystem.previousError;
if(IntakeSystem.integral > IntakeSystem.integralLimit)
IntakeSystem.integral = 0;
int power = floor(IntakeSystem.error * IntakeSystem.kp + IntakeSystem.integral * IntakeSystem.ki + IntakeSystem.derivative * IntakeSystem.kd);
DriveMotors(power, power);
IntakeSystem.previousError = IntakeSystem.error;
}
}
else if(!constant)
{
string error = "ERROR This function only works on a constant basis";
printString(error);
}
}
void DrivePID(int sensorVal, int target)
{
driveSystem.previousError = 0;
while(sensorVal < target)
{
driveSystem.error = target - sensorVal;
driveSystem.integral = driveSystem.integral + driveSystem.error;
driveSystem.derivative = driveSystem.error - driveSystem.previousError;
if(driveSystem.integral > driveSystem.integralLimit)
driveSystem.integral = 0;
int power = floor(driveSystem.error * driveSystem.kp + driveSystem.integral * driveSystem.ki + driveSystem.derivative * driveSystem.kd);
DriveMotors(power, power);
driveSystem.previousError = driveSystem.error;
}
}
void changeKp(string system, float n)
{
if(strcmp(system, "Drive") == 0)
driveSystem.kp = n;
else if(strcmp(system, "Intake") == 0)
IntakeSystem.kp = n;
else if(strcmp(system, "Arm") == 0)
armSystem.kp = n;
else
customSystem.kp = n;
}
void changeKi(string system, float n)
{
if(strcmp(system, "Drive") == 0)
driveSystem.ki = n;
else if(strcmp(system, "Intake") == 0)
IntakeSystem.ki = n;
else if(strcmp(system, "Arm") == 0)
armSystem.ki = n;
else
customSystem.ki = n;
}
void changeKd(string system, float n)
{
if(strcmp(system, "Drive") == 0)
driveSystem.kd = n;
else if(strcmp(system, "Intake") == 0)
IntakeSystem.kd = n;
else if(strcmp(system, "Arm") == 0)
armSystem.kd = n;
else
customSystem.kd = n;
}
void changeIntegralLimit(string system, float n)
{
if(strcmp(system, "Drive") == 0)
driveSystem.integralLimit = n;
else if(strcmp(system, "Intake") == 0)
IntakeSystem.integralLimit = n;
else if(strcmp(system, "Arm") == 0)
armSystem.integralLimit = n;
else
customSystem.integralLimit = n;
}
float getKp(string system)
{
if(strcmp(system, "Drive") == 0)
return driveSystem.kp;
else if(strcmp(system, "Intake") == 0)
return IntakeSystem.kp;
else if(strcmp(system, "Arm") == 0)
return armSystem.kp;
else
return customSystem.kp;
}
float getKi(string system)
{
if(strcmp(system, "Drive") == 0)
return driveSystem.ki;
else if(strcmp(system, "Intake") == 0)
return IntakeSystem.ki;
else if(strcmp(system, "Arm") == 0)
return armSystem.ki;
else
return customSystem.ki;
}
float getKd(string system)
{
if(strcmp(system, "Drive") == 0)
return driveSystem.kd;
else if(strcmp(system, "Intake") == 0)
return IntakeSystem.kd;
else if(strcmp(system, "Arm") == 0)
return armSystem.kd;
else
return customSystem.kd;
}
int getIntegralLimit(string system)
{
if(strcmp(system, "Drive") == 0)
return driveSystem.integralLimit;
else if(strcmp(system, "Intake") == 0)
return IntakeSystem.integralLimit;
else if(strcmp(system, "Arm") == 0)
return armSystem.integralLimit;
else
return customSystem.integralLimit;
}
bool systemSetup(string system)
{
if(strcmp(system, "Drive") == 0)
return driveSystem.setup;
else if(strcmp(system, "Intake") == 0)
return IntakeSystem.setup
else if(strcmp(system, "Arm") == 0)
return armSystem.setup;
else
return customSystem.setup;
}
void eraseSystem(string system)
{
if(strcmp(system, "Drive") == 0)
eraseDriveSystem();
else if(strcmp(system, "Intake") == 0)
eraseIntakeSystem();
else if(strcmp(system, "Arm") == 0)
eraseArmSystem();
else
eraseCustomSystem();
}
void eraseIntakeSystem()
{
IntakeSystem.kp = 0;
IntakeSystem.ki = 0;
IntakeSystem.kd = 0;
IntakeSystem.integral = 0;
IntakeSystem.derivative = 0;
IntakeSystem.previousError = 0;
IntakeSystem.error = 0;
IntakeSystem.target = 0;
IntakeSystem.integralLimit = 0;
IntakeSystem.sensorVal = 0;
IntakeSystem.setup = false;
}
void eraseArmSystem()
{
armSystem.kp = 0;
armSystem.ki = 0;
armSystem.kd = 0;
armSystem.integral = 0;
armSystem.derivative = 0;
armSystem.previousError = 0;
armSystem.error = 0;
armSystem.target = 0;
armSystem.integralLimit = 0;
armSystem.sensorVal = 0;
armSystem.setup = false;
}
void eraseDriveSystem()
{
driveSystem.kp = 0;
driveSystem.ki = 0;
driveSystem.kd = 0;
driveSystem.integral = 0;
driveSystem.derivative = 0;
driveSystem.previousError = 0;
driveSystem.error = 0;
driveSystem.target = 0;
driveSystem.integralLimit = 0;
driveSystem.sensorVal = 0;
driveSystem.setup = false;
}
void eraseCustomSystem()
{
customSystem.kp = 0;
customSystem.ki = 0;
customSystem.kd = 0;
customSystem.integral = 0;
customSystem.derivative = 0;
customSystem.previousError = 0;
customSystem.error = 0;
customSystem.target = 0;
customSystem.integralLimit = 0;
customSystem.sensorVal = 0;
customSystem.setup = false;
}
/*
*
*
* TIME FUNCTIONS
*
*
*/
void delayMsec(int time)
{
wait1Msec(time);
}
void delayTenMsec(int time)
{
wait10Msec(time);
}
int systemTime()
{
return nSysTime;
}
int getTime(int timer, int msecInterval)
{
if(timer == 1)
return ceil(time1(T1) / msecInterval);
else if(timer == 2)
return ceil(time1(T2) / msecInterval);
else if(timer == 3)
return ceil(time1(T3) / msecInterval);
else if(timer == 4)
return ceil(time1(T4) / msecInterval);
else
{
string error = "ERROR getTime: The timer you have sent does not exist";
printString(error);
printNewLine();
string u = "You are attempting to call Timer #";
printString(u);
printInt(timer);
printNewLine();
string a = "You can only call timers numbered 1,2,3, and 4";
printString(a);
return -999999999;
}
}
int getTimeMsec(int timer)
{
return getTime(timer, 1);
}
int getTimeTenMsec(int timer)
{
return getTime(timer, 10);
}
void clearTime(int num)
{
num--;
switch(num)
{
case 0:
ClearTimer(T1);
break;
case 1:
ClearTimer(T2);
break;
case 2:
ClearTimer(T3);
break;
case 3:
ClearTimer(T4);
break;
}
}
void clearAllTimers()
{
ClearTimer(T1);
ClearTimer(T2);
ClearTimer(T3);
ClearTimer(T4);
}
/*
*
*
*
*DEBUGGING FUNCTIONS
*
*
*/
void printString(string s)
{
writeDebugStream(s);
}
void printInt(int y)
{
writeDebugStream("%d", y);
}
void printFloat(float y)
{
writeDebugStream("%f", y);
}
void printNewLine()
{
writeDebugStream("\n");
}
void printBatteryVoltageContinuous(int frequency)
{
if(time1[T1] % frequency > 5)
{
writeDebugStreamLine("%d", nAvgBatteryLevel);
}
}
void clearScreen()
{
clearDebugStream();
}
void printAverageBatteryVoltage()
{
printInt(nAvgBatteryLevel);
}
void printCurrentBatteryVoltage()
{
printInt(nImmediateBatteryLevel);
}
void printBackupBatteryVoltage()
{
printInt(BackupBatteryLevel);
}
int getBatteryVoltage()
{
return nAvgBatteryLevel;
}
int getBackupBatteryVoltage()
{
return BackupBatteryLevel;
}
// MOTORVALUES
void setMotorArrayNum(int time, int motorNum, int power)
{
int startTime = nSysTime;
while(nSysTime < (startTime + time))
motor[motorNum] = power;
}
void setAllMotorsHiSpeed()
{
for(int i = 0; i < 10; i++)
motorType[i] = 8;
}
void setMotorHighSpeed(int port)
{
motorType[port - 1] = 8;
}
void setAllMotors(int power)
{
for(int i = 0; i < 10; i++)
motor[i] = power;
}
void setMotor(int time, int motorNum, int power)
{
int startTime = nSysTime;
while(nSysTime < (time + startTime))
motor[motorNum - 1] = power;
}
int motorValueArrayNum(int portNum)
{
return motor[portNum];
}
int motorValue(int num)
{
return motor[num - 1];
}
void maximizeAllMotors()
{
for(int i = 0; i < 10; i++)
motor[i] = maxPower;
}
void zeroAllMotors()
{
for(int i = 0; i < 10; i++)
motor[i] = 0;
}