Robot::Utility Namespace Reference

Contains utility functions for controlling the screen and toggling subsystems. More...

Functions
void	displayLocation ()
	Displays current position of the robot.
void	displayMotorVel ()
	Displays current velocity of the robot.
void	toggleSubsystemOptions (Autonomous &auton, Drivetrain &drive, Puncher &punch)
	Toggles subsystems, drive mode auton routine, and puncher.

Detailed Description

Contains utility functions for controlling the screen and toggling subsystems.

Test

The Utility namespace is a group of unrelated methods that have functions that are important independently.

Function Documentation

displayLocation()

void Robot::Utility::displayLocation

(

)

Displays current position of the robot.

Definition at line 42 of file utility.cpp.

                              {
    while (true) {
        lemlib::Pose pose = chassis.getPose(); // get the current position of the robot
        pros::lcd::print(0, "x: %f", pose.x); // print the x position
        pros::lcd::print(1, "y: %f", pose.y); // pri∟nt the y position
        pros::lcd::print(2, "heading: %f", pose.theta); // print the heading
        pros::delay(10);
    }
}

References Robot::Globals::chassis.

Referenced by initialize().

displayMotorVel()

void Robot::Utility::displayMotorVel

(

)

Displays current velocity of the robot.

Definition at line 28 of file utility.cpp.

                              {
    while (true) {
   // std::vector<std::int32_t> currents = drive_.get_current_draws();// get the current position of the robot
        pros::lcd::print(0, "Motor velocity draw");
        pros::lcd::print(1, "motor 1 vel: %lf", LeftFront.get_actual_velocity());
        pros::lcd::print(2, "motor 2 vel: %lf", RightFront.get_actual_velocity());
        pros::lcd::print(3, "motor 3 vel: %lf", LeftMid.get_actual_velocity());
        pros::lcd::print(4, "motor 4 vel: %lf", RightMid.get_actual_velocity());
        pros::lcd::print(5, "motor 5 vel: %lf", LeftBack.get_actual_velocity());
        pros::lcd::print(6, "motor 6 vel: %lf", RightBack.get_actual_velocity()); // print the x position// print the heading
        pros::delay(10);
    }
}

References Robot::Globals::LeftBack, Robot::Globals::LeftFront, Robot::Globals::LeftMid, Robot::Globals::RightBack, Robot::Globals::RightFront, and Robot::Globals::RightMid.

Referenced by initialize().

toggleSubsystemOptions()

void Robot::Utility::toggleSubsystemOptions	(	Autonomous &	auton,
		Drivetrain &	drive,
		Puncher &	punch )

Toggles subsystems, drive mode auton routine, and puncher.

Parameters

Autonomous	auton Auton object.
Drivetrain	drive Drivetrain object.
Puncher	punch Puncher object.

Todo

Figure out a way to send an event to the different objects to toggle between the different subsystems.

Definition at line 10 of file utility.cpp.

                                                                                         {
    // Allows the user to select the autonomous routine, drive control type as well as whether the distance puncher is enabled.
   // The user can select the auton routine by pressing the right buttons on the controller.
   // The user can select the drive control type by pressing the down button on the controller.
   // The user can select the distance puncher by pressing the left button on the controller.
   // The state of each subsystem is displayed on the controller screen.
   while (true)
   {
      auton.AutonSwitcher();
      drive.SwitchDrive();
      punch.PuncherSwitch();
 
      // Exits the loop if the up button is pressed
 
      pros::delay(10);
   }
}

References Robot::Autonomous::AutonSwitcher(), Robot::Puncher::PuncherSwitch(), and Robot::Drivetrain::SwitchDrive().

Referenced by toggles().