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#include <ch.h> // needs for all ChibiOS programs
#include <hal.h> // hardware abstraction layer header
#include <vex.h> // vex library header
#include "config.h" // motor and digital configs
#include "lift.hpp" // lift system
#include "claw.hpp"
// missing stdlib functions
extern "C" {
void _exit(int code) {
vexLcdPrintf(0, 0, "exit(%d)!", code);
vexLcdPrintf(0, 1, "halting...");
while (1);
}
void _kill(int pid) {
(void)pid; // TODO...?
}
int _getpid(void) {
return 0; // TODO..?
}
}
void reset(void)
{
uint32_t aircr = *((uint32_t *)0xE000ED0C);
aircr = (aircr & 0xFFFF) | (0x5FA << 16) | 5;
*((volatile uint32_t *)0xE000ED0C) = aircr;
asm("DSB");
while (1);
}
// music for autonomous
static char *getiton =
"GetItOn:d=8,0=5,b=125:16d#5,16d5,16c5,16p,2f4.,16d#5,16d5,16c5,16p,2f4.,16d#5,16d5,16c5,16p,2f4.,16d#5,16d5,16a#4,16p,2c5.,1f4";
// called once
void vexUserSetup(void)
{
vexDigitalConfigure(const_cast<vexDigiCfg*>(dConfig), DIG_CONFIG_SIZE(dConfig));
vexMotorConfigure(const_cast<vexMotorCfg*>(mConfig), MOT_CONFIG_SIZE(mConfig));
}
static int autonToUse = 2;
static char *autons[3] = {
"basic (3)",
"fence push (3-5)",
"bag drop (4-6)"
};
void vexUserInit(void)
{
lift::init(); // start the lift system
claw::init(); // start the claw system
// if in disabled autonomous, prompt for a selection
if (vexSpiGetControl() & (kFlagCompetitionSwitch | kFlagAutonomousMode)) {
int timeout = 100, sel = autonToUse;
while (1) {
vexLcdPrintf(0, 0, "select auton: %2d", (timeout / 10));
if (timeout-- <= 0)
break;
vexLcdPrintf(0, 1, autons[sel]);
auto btn = vexLcdButtonGet(0);
if ((btn & kLcdButtonLeft) && sel > 0)
sel--;
else if ((btn & kLcdButtonRight) && sel < 2)
sel++;
else if (btn & kLcdButtonCenter) {
autonToUse = sel;
break;
}
vexSleep(100);
}
vexLcdPrintf(0, 0, "auton selected: ");
vexLcdPrintf(0, 1, autons[autonToUse]);
}
}
msg_t vexAutonomous(void *arg)
{
(void)arg;
vexTaskRegister("auton");
// jam out
vexAudioPlayRtttl(getiton, 100, 0);
// drop the star
claw::unhook(); // 500ms
if (autonToUse == 0) {
// pushy push push
vexMotorSet(mDriveLeft, 127); // drive forward
vexMotorSet(mDriveRight, -127);
vexSleep(2200);
vexMotorSet(mDriveLeft, -127); // back up
vexMotorSet(mDriveRight, 127);
vexSleep(1200);
} else if( autonToUse == 1 ) {
lift::set(60);
vexMotorSet(mDriveLeft, 127); // forward
vexMotorSet(mDriveRight, -127);
vexSleep(2800);
vexMotorSet(mDriveLeft, -40); // back up
vexMotorSet(mDriveRight, 40);
vexSleep(2300);
vexMotorSet(mDriveLeft, -80); // turn
vexMotorSet(mDriveRight, -80);
lift::set(0);
} else if( autonToUse == 2 ) {
lift::set(-10);
vexMotorSet(mDriveLeft, 127); // straight
vexMotorSet(mDriveRight, -127);
vexSleep(1000); // 2200ms
vexMotorSet(mDriveLeft, 0); // stop
vexMotorSet(mDriveRight, 0);
claw::hold(); // 3100ms
lift::set(90);
vexMotorSet(mDriveLeft, -80); // turn
vexMotorSet(mDriveRight, -80);
vexSleep(500); // 3600ms
vexMotorSet(mDriveLeft, 127); // forward
vexMotorSet(mDriveRight, -127);
vexSleep(1400); // 5000ms
vexMotorSet(mDriveLeft, 0); // stop
vexMotorSet(mDriveRight, 0);
claw::open();
vexSleep(500); // 5500ms
vexMotorSet(mDriveLeft, -40); // back
vexMotorSet(mDriveRight, 40);
vexSleep(800); // 6300ms
// DRAFT
vexMotorSet(mDriveLeft, -80); // turn
vexMotorSet(mDriveRight, -80);
vexSleep(1400); // 7700ms
lift::set(0);
vexMotorSet(mDriveLeft, 127); // straight
vexMotorSet(mDriveRight, -127);
vexSleep(800); // 8500ms
vexMotorSet(mDriveLeft, 0); // stop
vexMotorSet(mDriveRight, 0);
lift::set(-10);
claw::hold(); // 9400ms
lift::set(90);
vexSleep(400); // 9800ms
vexMotorSet(mDriveLeft, -80); // turn
vexMotorSet(mDriveRight, -80);
vexSleep(1000); // 10,800ms
}
vexMotorStopAll();
while (1)
vexSleep(25);
return (msg_t)0;
}
static char waVexLcdTask[512];
msg_t vexLcdTask(void *arg)
{
(void)arg;
vexTaskRegister("lcdt");
while (!chThdShouldTerminate()) {
vexLcdPrintf(0, 0, "%3.0f%% / %3.0f%%",
(float)(vexSpiGetMainBattery() - 5000) / 32.0f, (float)(vexSpiGetBackupBattery() - 6000) / 40.0f);
vexSleep(500);
}
return (msg_t)0;
}
msg_t vexOperator(void *arg)
{
(void)arg;
auto joy = reinterpret_cast<jsdata2*>(vexSpiGetJoystickDataPtr(1));
// Must call this
vexTaskRegister("operator");
chThdCreateStatic(waVexLcdTask, 512, NORMALPRIO - 1, vexLcdTask, nullptr);
// Run until asked to terminate
while (!chThdShouldTerminate()) {
if (joy->Btn7R)
reset();
int dy = vexControllerGet(Ch3);
int dx = vexControllerGet(Ch4);
vexMotorSet(mDriveLeft, dy - dx);
vexMotorSet(mDriveRight, -dy - dx);
if (joy->Btn5U)
lift::raise();
else if (joy->Btn5D)
lift::lower();
if (joy->Btn8D)
lift::set(0);
else if (joy->Btn8L)
lift::set(30);
else if (joy->Btn8R)
lift::set(60);
else if (joy->Btn8U)
lift::set(90);
int claw = (joy->Btn6U ? 127 : (joy->Btn6D ? -127 : 0));
vexMotorSet(mClaw, claw);
// Don't hog cpu
vexSleep(100);
}
return (msg_t)0;
}
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