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Worlds autons + skills changes 4-15 #252

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Apr 16, 2024
Merged

Worlds autons + skills changes 4-15 #252

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9084cc8
ready for new bot changes
alexDickhans Apr 15, 2024
ca8f569
Working on 6 ball
alexDickhans Apr 16, 2024
347746b
6 ball ready for worlds
alexDickhans Apr 16, 2024
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2 changes: 1 addition & 1 deletion include/auton.h
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Original file line number Diff line number Diff line change
@@ -1 +1 @@
#define AUTON 0
#define AUTON 2
2 changes: 1 addition & 1 deletion include/stateMachine/behaviors/intake/initIntake.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
namespace Pronounce {
auto intakeStopped = std::make_shared<Intake>("IntakeStopped", intakeMotors, 0.0);
auto intakeIntaking = std::make_shared<Intake>("IntakeIntaking", intakeMotors, 1.0);
auto intakeHold = std::make_shared<Intake>("IntakeHold", intakeMotors, 0.55);
auto intakeHold = std::make_shared<Intake>("IntakeHold", intakeMotors, 0.65);
auto intakeEject = std::make_shared<Intake>("IntakeEject", intakeMotors, -1.0);

auto intakeStateController = std::make_shared<StateController>("IntakeStateController", intakeStopped);
Expand Down
9 changes: 6 additions & 3 deletions include/stateMachine/state/competition/auton.hpp
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Expand Up @@ -83,15 +83,18 @@ namespace Pronounce {
class Auton : public Enabled {
private:
pros::task_fn_t auton;
void* args;
pros::Task task;
public:
Auton(pros::task_fn_t auton) : task([=]() -> void { return; }), Enabled("Auton") {
Auton(pros::task_fn_t auton, void* args = nullptr) : task([=]() -> void { return; }), Enabled("Auton") {
this->auton = auton;
this->args = args;
}

void setAuton(pros::task_fn_t auton) {
void setAuton(pros::task_fn_t auton, void* args = nullptr) {
Log("Set auton");
this->auton = auton;
this->args = args;
}

void initialize() override {
Expand All @@ -103,7 +106,7 @@ namespace Pronounce {
if (task.get_state() == 2)
task.remove();

task = pros::Task(auton, nullptr, TASK_PRIORITY_MAX-1, TASK_STACK_DEPTH_DEFAULT, "User auton");
task = pros::Task(auton, args, TASK_PRIORITY_MAX-1, TASK_STACK_DEPTH_DEFAULT, "User auton");
}

void update() override {
Expand Down
141 changes: 72 additions & 69 deletions src/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -4,24 +4,24 @@
std::shared_ptr<lv_obj_t> tabview;

// SECTION Auton
SMOOTH_SPLINE_PATH_ASSET(close_mid_rush);
SMOOTH_SPLINE_PATH_ASSET(safe_close_awp);
SMOOTH_SPLINE_PATH_ASSET(far_6_1);
SMOOTH_SPLINE_PATH_ASSET(far_6_2);
SMOOTH_SPLINE_PATH_ASSET(far_6_3);
SMOOTH_SPLINE_PATH_ASSET(far_6_4);
SMOOTH_SPLINE_PATH_ASSET(skills_1);
SMOOTH_SPLINE_PATH_ASSET(skills_2);
SMOOTH_SPLINE_PATH_ASSET(skills_3);
SMOOTH_SPLINE_PATH_ASSET(skills_5);
SMOOTH_SPLINE_PATH_ASSET(skills_6);
SMOOTH_SPLINE_PATH_ASSET(skills_6_5);
SMOOTH_SPLINE_PATH_ASSET(skills_7);
SMOOTH_SPLINE_PATH_ASSET(skills_7_5);
SMOOTH_SPLINE_PATH_ASSET(skills_8);
SMOOTH_SPLINE_PATH_ASSET(skills_9);
SMOOTH_SPLINE_PATH_ASSET(close_mid_rush_elim);
SMOOTH_SPLINE_PATH_ASSET(close_rush_mid_2);
SMOOTH_SPLINE_PATH_ASSET(close_rush_mid_awp)
SMOOTH_SPLINE_PATH_ASSET(close_rush_mid_triball)
SMOOTH_SPLINE_PATH_ASSET(close_rush_mid_no_triball)
SMOOTH_SPLINE_PATH_ASSET(safe_close_awp)
SMOOTH_SPLINE_PATH_ASSET(far_6_1)
SMOOTH_SPLINE_PATH_ASSET(far_6_2)
SMOOTH_SPLINE_PATH_ASSET(far_6_3)
SMOOTH_SPLINE_PATH_ASSET(far_6_4)
SMOOTH_SPLINE_PATH_ASSET(skills_1)
SMOOTH_SPLINE_PATH_ASSET(skills_2)
SMOOTH_SPLINE_PATH_ASSET(skills_3)
SMOOTH_SPLINE_PATH_ASSET(skills_5)
SMOOTH_SPLINE_PATH_ASSET(skills_6)
SMOOTH_SPLINE_PATH_ASSET(skills_6_5)
SMOOTH_SPLINE_PATH_ASSET(skills_7)
SMOOTH_SPLINE_PATH_ASSET(skills_7_5)
SMOOTH_SPLINE_PATH_ASSET(skills_8)
SMOOTH_SPLINE_PATH_ASSET(skills_9)

void turnTo(Angle angle, QTime waitTimeMS, RotationOptimizer rotationOptimizer = none, double idleSpeed = 0.0) {
auto angleRotation = std::make_shared<RotationController>("AngleTurn", drivetrain,
Expand All @@ -30,7 +30,7 @@ void turnTo(Angle angle, QTime waitTimeMS, RotationOptimizer rotationOptimizer =

drivetrainStateController->sb(angleRotation);

pros::Task::delay(waitTimeMS.Convert(millisecond));
pros::Task::delay(static_cast<uint32_t>(waitTimeMS.Convert(millisecond)));

drivetrainStateController->ud();
pros::Task::delay(10);
Expand Down Expand Up @@ -61,7 +61,9 @@ void far6Ball(void* args) {

intakeExtensionStateController->sb(deploySequence);

move(51_in, speedProfileConstraints, 0.0, -120.5_deg);
move(56_in, speedProfileConstraints, 0.0, -120.5_deg);

pros::Task::delay(200);

intakeExtensionStateController->ud();

Expand All @@ -70,14 +72,14 @@ void far6Ball(void* args) {

turnTo(-180_deg, 0.4_s);
intakeStateController->sb(intakeIntaking);
move(5_in, speedProfileConstraints, 0.0, -180_deg);
move(7_in, speedProfileConstraints, 0.0, -180_deg);

pathFollower->setMotionProfile(far_6_2);
drivetrainStateController->sb(pathFollower)->wait();

backRightWingStateController->ud();
move(15_in, speedProfileConstraints, 0.0, -250_deg);
turnTo(-430_deg, 0.6_s);
turnTo(-45_deg, 0.6_s, counterclockwise);

frontLeftWingStateController->sb(frontLeftWingOut);

Expand All @@ -88,7 +90,12 @@ void far6Ball(void* args) {

move(-15_in, defaultProfileConstraints, 0.0, -430_deg);

frontLeftWingStateController->ud();
// frontLeftWingStateController->ud();

}

void far6BallElim(void* args) {
far6Ball(args);

pathFollower->setMotionProfile(far_6_3);
drivetrainStateController->sb(pathFollower)->wait();
Expand All @@ -97,7 +104,8 @@ void far6Ball(void* args) {
}

void far6BallAWP(void* args) {
far6Ball(args);
pathFollower->setMotionProfile(far_6_4);
drivetrainStateController->sb(pathFollower)->wait();
}

void skills(void *args) {
Expand Down Expand Up @@ -129,22 +137,24 @@ void skills(void *args) {
frontRightWingStateController->sb(frontRightWingIn);
frontLeftWingStateController->sb(frontLeftWingIn);

turnTo(-15.0_deg, 600_ms, clockwise);
turnTo(180.0_deg, 600_ms, clockwise);

catapultStateController->sb(catapultHoldHigh);

pathFollower->setMotionProfile(skills_3);
drivetrainStateController->sb(pathFollower)->wait();

move(20_in, speedProfileConstraints, 0.0, 100_deg);
move(20_in, speedProfileConstraints, 0.0, -80_deg);

turnTo(115_deg, 1.0_s, closest, -12000);
turnTo(-70_deg, 1.0_s, closest, -12000);

move(20_in, speedProfileConstraints, 0.0, 100_deg);
move(20_in, speedProfileConstraints, 0.0, -80_deg);
backRightWingStateController->ud();
backLeftWingStateController->ud();

turnTo(115_deg, 1.0_s, closest, -12000);
turnTo(-70_deg, 1.0_s, closest, -12000);

turnTo(-170_deg, 0.4_s, closest);

pathFollower->setMotionProfile(skills_5);
drivetrainStateController->sb(pathFollower)->wait();
Expand Down Expand Up @@ -194,22 +204,22 @@ void skills(void *args) {
pushingProfileConstraints)}));
drivetrainStateController->sb(pathFollower)->wait();

turnTo(125_deg, 0.4_s, closest);
turnTo(-55_deg, 0.4_s, closest);

pathFollower->setMotionProfile(skills_8);
drivetrainStateController->sb(pathFollower)->wait();

move(20_in, speedProfileConstraints, 0.0, -100_deg);
move(20_in, speedProfileConstraints, 0.0, 90_deg);

turnTo(-115_deg, 1.0_s, closest, -12000);
turnTo(80_deg, 1.0_s, closest, -12000);

winchStateController->sb(winchUp);

move(20_in, speedProfileConstraints, 0.0, -100_deg);
move(20_in, speedProfileConstraints, 0.0, 90_deg);

backLeftWingStateController->ud();

turnTo(-115_deg, 1.0_s, closest, -12000);
turnTo(80_deg, 1.0_s, closest, -12000);

pathFollower->setMotionProfile(skills_9);
drivetrainStateController->sb(pathFollower)->wait();
Expand Down Expand Up @@ -238,7 +248,7 @@ void safeCloseAWPDelay(void *args) {

}

void closeRushMid(void *args) {
void closeRushMidAwp(void *args) {
imuOrientation.setRotation(-75.7_deg);

frontLeftWingStateController->sb(std::make_shared<Wait>(frontLeftWingOut, 300_ms));
Expand All @@ -247,48 +257,38 @@ void closeRushMid(void *args) {

move(41_in, speedProfileConstraints, 0.0, -75.7_deg);

intakeExtensionStateController->ud();
intakeStateController->sb(intakeIntaking);

move(-13_in, speedProfileConstraints, 0.0, -75.7_deg);

turnTo(104.3_deg, 600_ms);

intakeStateController->sb(intakeEject);

turnTo(104.3_deg, 200_ms);

turnTo(-35.3_deg, 600_ms);

pathFollower->setMotionProfile(PathPlanner::SmoothSplineProfile::build(close_mid_rush_json));
pathFollower->setMotionProfile(close_rush_mid_awp);
drivetrainStateController->sb(pathFollower)->wait();

move(-10_in, speedProfileConstraints, 0.0, 56_deg);

intakeStateController->sb(intakeEject);

pathFollower->setMotionProfile(PathPlanner::SmoothSplineProfile::build(close_rush_mid_2_json));
drivetrainStateController->sb(pathFollower)->wait();
pros::Task::delay(15000);
}

void closeRushMidElim(void *args) {
closeRushMid(args);
imuOrientation.setRotation(-75.7_deg);

turnTo(-180_deg, 800_ms);
frontLeftWingStateController->sb(std::make_shared<Wait>(frontLeftWingOut, 300_ms));

intakeStateController->sb(intakeIntaking);
intakeExtensionStateController->sb(deploySequence);

pathFollower->setMotionProfile(PathPlanner::SmoothSplineProfile::build(close_mid_rush_elim_json));
drivetrainStateController->sb(pathFollower)->wait();
}
move(41_in, speedProfileConstraints, 0.0, -75.7_deg);

void tuneTurnPid(void *args) {
imuOrientation.setRotation(0.0_deg);
for (int i = 0; i < 5; ++i) {
turnTo(180_deg, 2_s);
turnTo(0.0_deg, 2_s);
move(-10_in, speedProfileConstraints, 0.0, -75.7_deg);

if (hopperDistanceSensor.get() * 1_mm < 160_mm) {
// Has triball in the intake
pathFollower->setMotionProfile(close_rush_mid_triball);
turnTo(50_deg, 0.5_s);
drivetrainStateController->sb(pathFollower)->wait();
} else {
// Doesn't have a triball in the intake
pathFollower->setMotionProfile(close_rush_mid_no_triball);
turnTo(0_deg, 0.4_s);
drivetrainStateController->sb(pathFollower)->wait();
}

pros::Task::delay(15000);
}

// !SECTION

// SECTION INIT
Expand Down Expand Up @@ -401,15 +401,18 @@ void initialize() {
#elif AUTON == 1
auton->setAuton(far6BallAWP);
#elif AUTON == 2
auton->setAuton(safeCloseAWPDelay);
auton->setAuton(safeCloseAWP);
#elif AUTON == 3
auton->setAuton(closeRushMidElim);
auton->setAuton(safeCloseAWPDelay);
#elif AUTON == 4
auton->setAuton(closeRushMid);
auton->setAuton(closeRushMidElim);
#elif AUTON == 5
auton->setAuton(closeRushMidAwp);
#elif AUTON == 6
auton->setAuton(skills);
#endif // !1


// Initialize functions
initHardware();
initIntake();
Expand Down
6 changes: 0 additions & 6 deletions static/close_mid_rush.json
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1 change: 0 additions & 1 deletion static/close_mid_rush_elim.json
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42 changes: 0 additions & 42 deletions static/close_rush_mid_2.json
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