Robot::LadyBrown Class Reference

The LadyBrown class represents the robot lady brown subsystem. More...

#include <ladybrown.h>

Public Types
enum	LADYBROWN_STATE { BASE_STATE = 1 , LOAD_STATE = 2 , ATTACK_STATE = 3 , SIZECHECK_STATE = 4 }

Public Member Functions
void	run (bool async=true, int timeout=1000)
void	MoveToPoint (LadyBrown::LADYBROWN_STATE state, int max_error=150, int timeout=1000)
	LadyBrown ()
int	get_target ()

Private Attributes
lemlib::PID	MoveToPointPID
lemlib::PID	ActiveBrakePID
int	brake_target
int	target
bool	isPIDRunning
bool	manualControl

Static Private Attributes
static LADYBROWN_STATE	current_state = LadyBrown::BASE_STATE

Detailed Description

The LadyBrown class represents the robot lady brown subsystem.

Definition at line 9 of file ladybrown.h.

Member Enumeration Documentation

LADYBROWN_STATE

enum Robot::LadyBrown::LADYBROWN_STATE

Enumerator
BASE_STATE
LOAD_STATE
ATTACK_STATE
SIZECHECK_STATE

Definition at line 12 of file ladybrown.h.

{ BASE_STATE = 1, LOAD_STATE = 2, ATTACK_STATE = 3, SIZECHECK_STATE = 4 };

Constructor & Destructor Documentation

LadyBrown()

LadyBrown::LadyBrown

(

)

Definition at line 15 of file ladybrown.cpp.

                     : MoveToPointPID(2, 0, 0, 2, false), ActiveBrakePID(0.8, 0, 1, 6, true) {
   LadyBrownRotation.set_position(0);
   bool manualControl = false;
   LadyBrownMotor.set_brake_mode(pros::E_MOTOR_BRAKE_HOLD);
}

References ActiveBrakePID, Robot::Globals::LadyBrownMotor(), Robot::Globals::LadyBrownRotation(), manualControl, and MoveToPointPID.

Member Function Documentation

get_target()

int LadyBrown::get_target

(

)

Definition at line 81 of file ladybrown.cpp.

{ return target; }

References target.

MoveToPoint()

void LadyBrown::MoveToPoint	(	LadyBrown::LADYBROWN_STATE	state,
		int	max_error = 150,
		int	timeout = 1000 )

Definition at line 83 of file ladybrown.cpp.

                                                                             {
 
   std::cout << "state: " << current_state << std::endl;
   constexpr double base_location = 30;
   constexpr double load_location = -1900;
   constexpr double attack_location = -15500;
 
   int target;
 
   std::cout << "state: " << state << std::endl;
   std::cout << "pid: " << isPIDRunning << std::endl;
 
   if (!isPIDRunning) {
 
      std::cout << "inner pid: " << isPIDRunning << std::endl;
      LadyBrown::isPIDRunning = true;
 
      switch (state) {
      case LADYBROWN_STATE::BASE_STATE:
         target = base_location;
         break;
      case LADYBROWN_STATE::LOAD_STATE:
         target = load_location;
         break;
      case LADYBROWN_STATE::ATTACK_STATE:
         target = attack_location;
         break;
      case LADYBROWN_STATE::SIZECHECK_STATE:
         target = -12550;
         break;
      }
 
      std::cout << "target: " << target << std::endl;
 
      MoveToPointPID.reset();
 
      lemlib::Timer timer(timeout);
 
      while (LadyBrown::isPIDRunning == true) {
         double error = target - LadyBrownRotation.get_position();
         double motor_voltage = MoveToPointPID.update(error);
 
         // motor_voltage = lemlib::slew(motor_voltage, LadyBrownMotor.get_voltage(), 1500);
 
         if (std::abs(error) < max_error || timer.isDone()) {
            LadyBrownMotor.brake();
            LadyBrown::isPIDRunning = false;
            LadyBrown::current_state = state;
            break;
         }
 
         LadyBrownMotor.move_voltage(motor_voltage);
         LadyBrown::isPIDRunning = true;
 
         if (!LadyBrown::isPIDRunning) {
            return;
         }
 
         pros::delay(20);
      }
   }
}

References ATTACK_STATE, BASE_STATE, current_state, isPIDRunning, Robot::Globals::LadyBrownMotor(), Robot::Globals::LadyBrownRotation(), LOAD_STATE, MoveToPointPID, SIZECHECK_STATE, and target.

Referenced by run().

run()

void LadyBrown::run	(	bool	async = true,
		int	timeout = 1000 )

Definition at line 22 of file ladybrown.cpp.

                                           {
   LADYBROWN_STATE move_to;
 
   if (!isPIDRunning) {      
 
      if (controller.get_digital(pros::E_CONTROLLER_DIGITAL_R2)) {
         LadyBrown::isPIDRunning = false;
         LadyBrownMotor.set_brake_mode(pros::E_MOTOR_BRAKE_COAST);
 
         //delay to exit the previous PID inside this control flow
         pros::delay(50);
         manualControl = true;
         LadyBrownMotor.move_velocity(-200);
 
         if (LadyBrownRotation.get_position() > -10000) {
            LadyBrown::brake_target = LadyBrownRotation.get_position() - 4500;
         } else {
            LadyBrown::brake_target = LadyBrownRotation.get_position() - 2300;
         }
 
      }
      else {
         if (!manualControl) {
            LadyBrownMotor.move_velocity(0);
         } else {
            LadyBrownMotor.move_voltage(ActiveBrakePID.update(LadyBrown::brake_target - LadyBrownRotation.get_position()));
         }
      }
   } 
   
   if (controller.get_digital_new_press(pros::E_CONTROLLER_DIGITAL_L2)) {
      LadyBrown::isPIDRunning = false;
      LadyBrownMotor.set_brake_mode(pros::E_MOTOR_BRAKE_HOLD);
      manualControl = false;
      //delay to exit the previous PID inside this control flow
      pros::delay(50);
 
      if (current_state == BASE_STATE) {
         move_to = LOAD_STATE;
      } else {
         move_to = BASE_STATE;
      }
 
      std::cout << "Moving to: " << move_to << std::endl;
      std::cout << "current state: " << current_state << std::endl;
 
 
      if (!async) {
         MoveToPoint(move_to);
      } else {
         pros::Task move([move_to, this]() { MoveToPoint(move_to); }, "LadyBrownMove");
      }
 
      if (!isPIDRunning) {
         current_state = move_to;
      }
   }
}

References ActiveBrakePID, BASE_STATE, brake_target, Robot::Globals::controller(), current_state, isPIDRunning, Robot::Globals::LadyBrownMotor(), Robot::Globals::LadyBrownRotation(), LOAD_STATE, manualControl, and MoveToPoint().

Member Data Documentation

ActiveBrakePID

lemlib::PID Robot::LadyBrown::ActiveBrakePID

private

Definition at line 25 of file ladybrown.h.

Referenced by LadyBrown(), and run().

brake_target

int Robot::LadyBrown::brake_target

private

Definition at line 27 of file ladybrown.h.

Referenced by run().

current_state

LadyBrown::LADYBROWN_STATE LadyBrown::current_state = LadyBrown::BASE_STATE

staticprivate

Definition at line 29 of file ladybrown.h.

Referenced by MoveToPoint(), and run().

isPIDRunning

bool Robot::LadyBrown::isPIDRunning

private

Definition at line 33 of file ladybrown.h.

Referenced by MoveToPoint(), and run().

manualControl

bool Robot::LadyBrown::manualControl

private

Definition at line 35 of file ladybrown.h.

Referenced by LadyBrown(), and run().

MoveToPointPID

lemlib::PID Robot::LadyBrown::MoveToPointPID

private

Definition at line 23 of file ladybrown.h.

Referenced by LadyBrown(), and MoveToPoint().

target

int Robot::LadyBrown::target

private

Definition at line 31 of file ladybrown.h.

Referenced by get_target(), and MoveToPoint().

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

• include/robot/ladybrown.h
• src/subsystems/ladybrown.cpp