Robot::Autonomous Class Reference

The Autonomous class contains classes and functions related to the robot's autonomous behavior. More...

#include <auton.h>

Public Types
enum	AUTON_ROUTINE {   RED_LEFT = 1 , RED_RIGHT = 2 , BLUE_LEFT = -1 , BLUE_RIGHT = -2 ,   SKILLS = 0 }

Public Member Functions
void	AutoDrive (Intake &intake, Latch &latch)
	Drives the robot autonomously.

Static Public Member Functions
static void	AutonSwitcher (int autonNum)
	Switches the autonomous program.

Static Public Attributes
static AUTON_ROUTINE	auton = RED_LEFT
	Sets the number of the autonomous program to use.
static std::string	autonName
	The name of the autonomous program.

Private Member Functions
void	Auton1 (Intake &intake, Latch &latch)
	Runs the autonomous path for the far side defensive game strategy.
void	Auton2 (Intake &intake, Latch &latch)
	Runs the autonomous path for the near side offensive game strategy.
void	Auton3 (Intake &intake, Latch &latch)
	Runs the puncher routine for the Skills Challenge.
void	Auton4 (Intake &intake, Latch &latch)
	Runs the autonomous path for the far side offensive game strategy. This function executes the autonomous path for the far side offensive game strategy. It contains the specific actions and movements required for this strategy.
void	Auton5 (Intake &intake, Latch &latch)

Detailed Description

The Autonomous class contains classes and functions related to the robot's autonomous behavior.

We use Lemlib extensively for our documentation. You can find the documentation for Lemlib at Lemlib documentation.

Definition at line 14 of file auton.h.

Member Enumeration Documentation

AUTON_ROUTINE

enum Robot::Autonomous::AUTON_ROUTINE

Enumerator
RED_LEFT
RED_RIGHT
BLUE_LEFT
BLUE_RIGHT
SKILLS

Definition at line 16 of file auton.h.

{ RED_LEFT = 1, RED_RIGHT = 2, BLUE_LEFT = -1, BLUE_RIGHT = -2, SKILLS = 0};

Member Function Documentation

AutoDrive()

void Autonomous::AutoDrive	(	Intake &	intake,
		Latch &	latch )

Drives the robot autonomously.

This function drives the robot autonomously based on the selected autonomous program. It takes a reference to a Puncher object and a boolean value indicating whether to use autonomous mode.

Parameters

puncher	A reference to the Puncher object.
autono	A boolean value indicating whether to use autonomous mode.

Definition at line 108 of file auton.cpp.

{
   // Keep the switcher running while the controller down button has not been pressed and the time period is not
   // autonomous Compare the current auton value to run the auton routine
   switch (Autonomous::auton) {
   case RED_LEFT:
      Auton1(intake, latch);
      break;
   case RED_RIGHT:
      Auton2(intake, latch);
      break;
   case BLUE_LEFT:
      Auton3(intake, latch);
      break;
   case BLUE_RIGHT:
      Auton4(intake, latch);
      break;
   case SKILLS:
      Auton5(intake, latch);
      break;
   }
}

References auton, Auton1(), Auton2(), Auton3(), Auton4(), Auton5(), BLUE_LEFT, BLUE_RIGHT, RED_LEFT, RED_RIGHT, and SKILLS.

Referenced by autonomous().

Auton1()

void Autonomous::Auton1 ( Intake & intake, Latch & latch )

private

Runs the autonomous path for the far side defensive game strategy.

This function executes the autonomous path for the far side defensive game strategy. It contains the specific actions and movements required for this strategy.

Definition at line 23 of file auton.cpp.

{
   chassis.setPose(-148.132, -58.408, 190);
   // robot backs up into wallstake and is ready to outake
   chassis.follow(red_right_pt1_txt, 15, 5000);
 
   intake.score();
   intake.toggle();
   // robot moves forward and intakes red ring on top of stack
   chassis.follow(red_right_pt2_txt, 15, 5000);
 
   // robot moves backward and stops at mobile goal. ready to latch and outake
   // ring
   chassis.follow(red_right_pt3_txt, 15, 5000);
   latch.toggle();
   intake.score();
   intake.toggle();
 
   // robot drags mobile goal and intakes bottom of ring of 2ring stack then
   // stops. ready to outake to mobile goal
   //  then unlatches mobile goal
   chassis.follow(red_right_pt4_txt, 15, 5000);
   intake.score();
   latch.toggle();
 
   // robot ends in contact with tower
   chassis.follow(red_right_pt5_txt, 15, 5000);
}

References Robot::Globals::chassis(), Robot::Intake::score(), Robot::Intake::toggle(), and Robot::Latch::toggle().

Referenced by AutoDrive().

Auton2()

void Autonomous::Auton2 ( Intake & intake, Latch & latch )

private

Runs the autonomous path for the near side offensive game strategy.

This function executes the autonomous path for the near side offensive game strategy. It contains the specific actions and movements required for this strategy.

Definition at line 53 of file auton.cpp.

{
   chassis.setPose(-146.76, 63.046, 10);
   // robot backs up into wallstake and is ready to outake
   chassis.follow(red_left_pt1_txt, 15, 5000);
   intake.score();
   intake.toggle();
 
   // robot moves and intakes ring from top of 2ring stack.
   chassis.follow(red_left_pt2_txt, 15, 5000);
   intake.toggle();
 
   // robot moves backward toward mobile goal. Ready to latch then score.
   chassis.follow(red_left_pt3_txt, 15, 5000);
   latch.toggle();
   intake.score();
 
   // robot turns around and intakes ring from bottom of 2ring stack.
   chassis.follow(red_left_pt4_txt, 15, 5000);
   intake.score();
   latch.toggle();
 
   // robot ends in contact with mobile goal
   chassis.follow(red_left_pt5_txt, 15, 5000);
}

References Robot::Globals::chassis(), Robot::Intake::score(), Robot::Intake::toggle(), and Robot::Latch::toggle().

Referenced by AutoDrive().

Auton3()

void Autonomous::Auton3 ( Intake & intake, Latch & latch )

private

Runs the puncher routine for the Skills Challenge.

This function executes the puncher routine for the Skills Challenge. It takes a reference to a Puncher object and performs the necessary actions for the challenge.

Parameters

puncher

A reference to the Puncher object.

Definition at line 80 of file auton.cpp.

{
}

Referenced by AutoDrive().

Auton4()

void Autonomous::Auton4 ( Intake & intake, Latch & latch )

private

Runs the autonomous path for the far side offensive game strategy. This function executes the autonomous path for the far side offensive game strategy. It contains the specific actions and movements required for this strategy.

Todo

Make the autonomous more fleshed out, building it properly for the competition

Definition at line 88 of file auton.cpp.

{
   chassis.setBrakeMode(pros::E_MOTOR_BRAKE_BRAKE);
 
   chassis.setPose(0, 0, 0);
   // move 48" forwards
   chassis.moveToPoint(0, 72, 3500, { .maxSpeed = 110 }, true);
   chassis.turnToHeading(180, 1000, { .maxSpeed = 90 }, false);
 
   chassis.setPose(0, 0, 0);
   chassis.moveToPoint(0, 24, 1000, { .maxSpeed = 110 });
   chassis.turnToHeading(0, 1200, { .maxSpeed = 110 }, false);
}

References Robot::Globals::chassis().

Referenced by AutoDrive().

Auton5()

void Autonomous::Auton5 ( Intake & intake, Latch & latch )

private

Executes the Skills challenge autonomous.

This function controls the robot's actions during autonomous routine 5. It takes references to the Intake and Latch objects as parameters.

Parameters

intake	The reference to the Intake object.
latch	The reference to the Latch object.

Definition at line 102 of file auton.cpp.

{
   // Autonomous routine for the Skills challenge
}

Referenced by AutoDrive().

AutonSwitcher()

void Autonomous::AutonSwitcher ( int autonNum )

static

Switches the autonomous program.

This function switches the autonomous program to the next available program. It allows the user to cycle through different autonomous programs during runtime.

Definition at line 131 of file auton.cpp.

{
   switch (autonNum) {
   case 1:
      Autonomous::autonName = "Red Left";
      Autonomous::auton   = RED_LEFT;
      break;
   case 2:
      Autonomous::autonName = "Red Right";
      Autonomous::auton   = RED_RIGHT;
      break;
   case -1:
      Autonomous::autonName = "Blue Left";
      Autonomous::auton   = BLUE_LEFT;
      break;
   case -2:
      Autonomous::autonName = "Blue Right";
      Autonomous::auton   = BLUE_RIGHT;
      break;
   case 0:
      Autonomous::autonName = "Skills";
      Autonomous::auton   = SKILLS;
   }
   std::cout << "Current auton: " + Autonomous::autonName << std::endl;
}

References auton, autonName, BLUE_LEFT, BLUE_RIGHT, RED_LEFT, RED_RIGHT, and SKILLS.

Member Data Documentation

auton

Autonomous::AUTON_ROUTINE Autonomous::auton = RED_LEFT

static

Sets the number of the autonomous program to use.

This function allows the user to specify the autonomous program to be executed by the robot. The autonomous program number determines the specific actions and movements the robot will perform.

Parameters

auton

The number of the autonomous program to use.

Definition at line 26 of file auton.h.

Referenced by AutoDrive(), and AutonSwitcher().

autonName

std::string Autonomous::autonName

static

The name of the autonomous program.

This variable stores the name of the autonomous program currently selected. It is handled by the switching functions and the screen.

Definition at line 33 of file auton.h.

Referenced by AutonSwitcher().

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The documentation for this class was generated from the following files:

• include/robot/auton.h
• src/routines/auton.cpp