diff options
Diffstat (limited to 'Nate's Position Testing/Shooter Testing/src')
| -rw-r--r-- | Nate's Position Testing/Shooter Testing/src/Makefile | 50 | ||||
| -rw-r--r-- | Nate's Position Testing/Shooter Testing/src/auto.c | 52 | ||||
| -rw-r--r-- | Nate's Position Testing/Shooter Testing/src/init.c | 84 | ||||
| -rw-r--r-- | Nate's Position Testing/Shooter Testing/src/opcontrol.c | 125 |
4 files changed, 311 insertions, 0 deletions
diff --git a/Nate's Position Testing/Shooter Testing/src/Makefile b/Nate's Position Testing/Shooter Testing/src/Makefile new file mode 100644 index 0000000..865f1e7 --- /dev/null +++ b/Nate's Position Testing/Shooter Testing/src/Makefile @@ -0,0 +1,50 @@ +# Makefile for compiling PROS projects
+
+# Path to project root (NO trailing slash!)
+ROOT=..
+# Binary output directory
+BINDIR=$(ROOT)/bin
+
+# Nothing below here needs to be modified by typical users
+
+# Include common aspects of this project
+-include $(ROOT)/common.mk
+
+ASMSRC:=$(wildcard *.$(ASMEXT))
+ASMOBJ:=$(patsubst %.o,$(BINDIR)/%.o,$(ASMSRC:.$(ASMEXT)=.o))
+HEADERS:=$(wildcard *.$(HEXT))
+### Special section for Cortex projects ###
+HEADERS_2:=$(wildcard ../include/*.$(HEXT))
+### End special section ###
+CSRC=$(wildcard *.$(CEXT))
+COBJ:=$(patsubst %.o,$(BINDIR)/%.o,$(CSRC:.$(CEXT)=.o))
+CPPSRC:=$(wildcard *.$(CPPEXT))
+CPPOBJ:=$(patsubst %.o,$(BINDIR)/%.o,$(CPPSRC:.$(CPPEXT)=.o))
+OUT:=$(BINDIR)/$(OUTNAME)
+
+.PHONY: all
+
+# By default, compile program
+all: .
+
+# Compiles the program if anything is changed
+.: $(ASMOBJ) $(COBJ) $(CPPOBJ)
+ @touch .
+
+# Assembly source file management
+$(ASMOBJ): $(BINDIR)/%.o: %.$(ASMEXT)
+ @echo AS $<
+ @$(AS) $(AFLAGS) -o $@ $<
+
+### Special section for Cortex projects ###
+
+# Object management
+$(COBJ): $(BINDIR)/%.o: %.$(CEXT) $(HEADERS) $(HEADERS_2)
+ @echo CC $(INCLUDE) $<
+ @$(CC) $(INCLUDE) $(CFLAGS) -o $@ $<
+
+$(CPPOBJ): $(BINDIR)/%.o: %.$(CPPEXT) $(HEADERS) $(HEADERS_2)
+ @echo CPC $(INCLUDE) $<
+ @$(CPPCC) $(INCLUDE) $(CPPFLAGS) -o $@ $<
+
+### End special section ###
diff --git a/Nate's Position Testing/Shooter Testing/src/auto.c b/Nate's Position Testing/Shooter Testing/src/auto.c new file mode 100644 index 0000000..9df57af --- /dev/null +++ b/Nate's Position Testing/Shooter Testing/src/auto.c @@ -0,0 +1,52 @@ +/** @file auto.c
+ * @brief File for autonomous code
+ *
+ * This file should contain the user autonomous() function and any functions related to it.
+ *
+ * Copyright (c) 2011-2014, Purdue University ACM SIG BOTS.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ * * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * * Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * * Neither the name of Purdue University ACM SIG BOTS nor the
+ * names of its contributors may be used to endorse or promote products
+ * derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL PURDUE UNIVERSITY ACM SIG BOTS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ * Purdue Robotics OS contains FreeRTOS (http://www.freertos.org) whose source code may be
+ * obtained from http://sourceforge.net/projects/freertos/files/ or on request.
+ */
+
+#include "main.h"
+
+/*
+ * Runs the user autonomous code. This function will be started in its own task with the default
+ * priority and stack size whenever the robot is enabled via the Field Management System or the
+ * VEX Competition Switch in the autonomous mode. If the robot is disabled or communications is
+ * lost, the autonomous task will be stopped by the kernel. Re-enabling the robot will restart
+ * the task, not re-start it from where it left off.
+ *
+ * Code running in the autonomous task cannot access information from the VEX Joystick. However,
+ * the autonomous function can be invoked from another task if a VEX Competition Switch is not
+ * available, and it can access joystick information if called in this way.
+ *
+ * The autonomous task may exit, unlike operatorControl() which should never exit. If it does
+ * so, the robot will await a switch to another mode or disable/enable cycle.
+ */
+void autonomous() {
+}
diff --git a/Nate's Position Testing/Shooter Testing/src/init.c b/Nate's Position Testing/Shooter Testing/src/init.c new file mode 100644 index 0000000..fd9eeb4 --- /dev/null +++ b/Nate's Position Testing/Shooter Testing/src/init.c @@ -0,0 +1,84 @@ +/** @file init.c
+ * @brief File for initialization code
+ *
+ * This file should contain the user initialize() function and any functions related to it.
+ *
+ * Copyright (c) 2011-2014, Purdue University ACM SIG BOTS.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ * * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * * Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * * Neither the name of Purdue University ACM SIG BOTS nor the
+ * names of its contributors may be used to endorse or promote products
+ * derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL PURDUE UNIVERSITY ACM SIG BOTS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ * Purdue Robotics OS contains FreeRTOS (http://www.freertos.org) whose source code may be
+ * obtained from http://sourceforge.net/projects/freertos/files/ or on request.
+ */
+
+#include "main.h"
+Encoder encoder1,encoder2;
+/*
+ * Runs pre-initialization code. This function will be started in kernel mode one time while the
+ * VEX Cortex is starting up. As the scheduler is still paused, most API functions will fail.
+ *
+ * The purpose of this function is solely to set the default pin modes (pinMode()) and port
+ * states (digitalWrite()) of limit switches, push buttons, and solenoids. It can also safely
+ * configure a UART port (usartOpen()) but cannot set up an LCD (lcdInit()).
+ */
+void initializeIO() {
+
+
+ pinMode(1,INPUT);
+ pinMode(2,INPUT);
+ pinMode(3,INPUT);
+ pinMode(4,INPUT);
+ pinMode(5,INPUT);
+ pinMode(6,INPUT);
+ pinMode(7,INPUT);
+ pinMode(8,INPUT);
+
+
+
+
+// Setup sensors.
+
+
+
+
+}/*
+ * Runs user initialization code. This function will be started in its own task with the default
+ * priority and stack size once when the robot is starting up. It is possible that the VEXnet
+ * communication link may not be fully established at this time, so reading from the VEX
+ * Joystick may fail.
+ *
+ * This function should initialize most sensors (gyro, encoders, ultrasonics), LCDs, global
+ * variables, and IMEs.
+ *
+ * This function must exit relatively promptly, or the operatorControl() and autonomous() tasks
+ * will not start. An autonomous mode selection menu like the pre_auton() in other environments
+ * can be implemented in this task if desired.
+ */
+void initialize() {
+ lcdInit(uart2);
+ lcdClear(uart2);
+ lcdSetBacklight(uart2,1);
+ encoder1 = encoderInit(3,4,true);
+ encoder2 = encoderInit(5,6,true);
+}
diff --git a/Nate's Position Testing/Shooter Testing/src/opcontrol.c b/Nate's Position Testing/Shooter Testing/src/opcontrol.c new file mode 100644 index 0000000..66fe496 --- /dev/null +++ b/Nate's Position Testing/Shooter Testing/src/opcontrol.c @@ -0,0 +1,125 @@ +/** @file opcontrol.c
+ * @brief File for operator control code
+ *
+ * This file should contain the user operatorControl() function and any functions related to it.
+ *
+ * Copyright (c) 2011-2014, Purdue University ACM SIG BOTS.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ * * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * * Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * * Neither the name of Purdue University ACM SIG BOTS nor the
+ * names of its contributors may be used to endorse or promote products
+ * derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL PURDUE UNIVERSITY ACM SIG BOTS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ * Purdue Robotics OS contains FreeRTOS (http://www.freertos.org) whose source code may be
+ * obtained from http://sourceforge.net/projects/freertos/files/ or on request.
+ */
+#include "main.h"
+#define round(x) ((x)>=0?(long)((x)+0.5):(long)((x)-0.5))
+/*
+ * Runs the user operator control code. This function will be started in its own task with the
+ * default priority and stack size whenever the robot is enabled via the Field Management System
+ * or the VEX Competition Switch in the operator control mode. If the robot is disabled or
+ * communications is lost, the operator control task will be stopped by the kernel. Re-enabling
+ * the robot will restart the task, not resume it from where it left off.
+ *
+ * If no VEX Competition Switch or Field Management system is plugged in, the VEX Cortex will
+ * run the operator control task. Be warned that this will also occur if the VEX Cortex is
+ * tethered directly to a computer via the USB A to A cable without any VEX Joystick attached.
+ *
+ * Code running in this task can take almost any action, as the VEX Joystick is available and
+ * the scheduler is operational. However, proper use of delay() or taskDelayUntil() is highly
+ * recommended to give other tasks (including system tasks such as updating LCDs) time to run.
+ *
+ * This task should never exit; it should end with some kind of infinite loop, even if empty.
+ *
+lDist*r=theta
+rDist*(r+15)=theta
+cDist*(r+7.5)=theta
+theta/lDist=r
+rDist*(theta/lDist+15)=theta
+rDist*theta/lDist+15*rDist=theta
+rDist/lDist+15*rDist/theta=1
+1-15*rDist/theta=rDist/lDist
+theta=(1-15*rDist)*lDist/rDist
+theta=(lDist-15*rDist*lDist)/rDist
+theta=lDist/rDist-heading*lDist
+theta=
+*/
+static int rRot,lRot,cRot,time1,time2,iHeading;
+static float lDist,
+ theta,
+ rDist,
+ cDist,
+ wheelD=3,
+ pi=3.14159,
+ heading=15,
+ startTheta,
+ fHeading;
+/* notes for Clyne:
+ * Other processes should not interupt the collection of data:
+ * rotation calculation should be and data collection should be a high priority/primary task
+ * Main task= manages tasks, init variables, reset functions (sensors, etc)
+ * Primary = sensor data collections and calculations
+ * Secondary = drive tasks
+ *
+ *
+ *
+ */
+void operatorControl() {
+ heading=startTheta;
+ while (1) {
+ time1=micros();
+ cRot=(encoderGet(encoder1)-encoderGet(encoder2));
+ cDist=(cRot*pi)/120;
+ fHeading=(cDist/12)*(360/(2*pi));
+ iHeading=round(fHeading)%360;
+
+ lcdPrint(uart2,1,"iHeading: %d",iHeading);
+
+ if(fHeading<360){
+ motorSet(10,-60);
+ motorSet(1,20);
+
+ }else{
+ motorSet(10,0);
+ motorSet(1,0);
+
+ }
+ /* lRot=encoderGet(encoder1);
+ rRot=encoderGet(encoder2);
+ lDist=(lRot*pi)/120;
+ rDist=(rRot*pi)/120;
+ lcdPrint(uart2,1,"iHeading: %d",iHeading);
+ if(digitalRead(1)==0){
+ motorSet(1,120);
+ }
+ else if(digitalRead(2)==0){
+ motorSet(10,-120);
+ }
+ else{
+ motorSet(1,0);
+ motorSet(10,0);
+ }
+ */
+ delay(20);
+
+ }
+}
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