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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
// 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(dConfig, DIG_CONFIG_SIZE(dConfig));
vexMotorConfigure(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)
{
// if in disabled autonomous, prompt for a selection
if (vexSpiGetControl() & (kFlagCompetitionSwitch | kFlagAutonomousMode)) {
int timeout = 100, sel = 0;
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
vexMotorSet(mClaw, 127);
vexSleep(200);
vexMotorSet(mClaw, -127);
vexSleep(500);
vexMotorSet(mClaw, 0);
vexSleep(500);
if (autonToUse == 0) {
// pushy push push
vexMotorSet(mDriveLeft, 127); // drive forward
vexMotorSet(mDriveRight, -127);
vexSleep(2500);
vexMotorSet(mDriveLeft, -127); // back up
vexMotorSet(mDriveRight, 127);
vexSleep(1500);
vexMotorStopAll();
} else if( autonToUse == 1 ) {
vexMotorSet(mLiftLowLeft, 60); // lift up
vexMotorSet(mLiftHighLeft, 60);
vexMotorSet(mLiftLowRight, 60);
vexMotorSet(mLiftHighRight, 60);
vexSleep(500);
vexMotorSet(mLiftLowLeft, 10); // lift steady
vexMotorSet(mLiftHighLeft, 10);
vexMotorSet(mLiftLowRight, 10);
vexMotorSet(mLiftHighRight, 10);
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);
vexMotorSet(mLiftLowLeft, -60); // drop lift
vexMotorSet(mLiftHighLeft, -60);
vexMotorSet(mLiftLowRight, -60);
vexMotorSet(mLiftHighRight, -60);
vexSleep(500);
vexMotorStopAll();
} else if( autonToUse == 2 ) {
vexMotorSet(mLiftLowLeft, -40); // lift down
vexMotorSet(mLiftHighLeft, -40);
vexMotorSet(mLiftLowRight, -40);
vexMotorSet(mLiftHighRight, -40);
vexMotorSet(mDriveLeft, 127); // straight
vexMotorSet(mDriveRight, -127);
vexSleep(2000);
vexMotorSet(mDriveLeft, 0); // stop
vexMotorSet(mDriveRight, 0);
vexMotorSet(mClaw, 127); // grab
vexSleep(500);
vexMotorSet(mClaw, 50); // steady
vexMotorSet(mLiftLowLeft, 127); // lift
vexMotorSet(mLiftHighLeft, 127);
vexMotorSet(mLiftLowRight, 127);
vexMotorSet(mLiftHighRight, 127);
vexSleep(850);
vexMotorSet(mLiftLowLeft, 10); // steady
vexMotorSet(mLiftHighLeft, 10);
vexMotorSet(mLiftLowRight, 10);
vexMotorSet(mLiftHighRight, 10);
vexMotorSet(mDriveLeft, 80); // turn
vexMotorSet(mDriveRight, 80);
vexSleep(500);
vexMotorSet(mDriveLeft, 127); // forward
vexMotorSet(mDriveRight, -127);
vexSleep(1500);
vexMotorSet(mDriveLeft, 0); // stop
vexMotorSet(mDriveRight, 0);
vexMotorSet(mClaw, -127); // drop
vexSleep(1000);
vexMotorSet(mDriveLeft, -40); // back
vexMotorSet(mDriveRight, 40);
vexSleep(1000);
vexMotorStopAll();
}
while (1)
vexSleep(25);
return (msg_t)0;
}
static char waVexLcdTask[512];
msg_t vexLcdTask(void *arg)
{
(void)arg;
vexTaskRegister("lcdtask");
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;
}
constexpr const int liftMaxSpeed = 60;
static int liftTargetLoc = 0;
static char waVexLiftTask[512];
msg_t vexLiftTask(void *arg)
{
(void)arg;
vexTaskRegister("lcdtask");
//static int timeout = -1;
while (!chThdShouldTerminate()) {
int actual = vexEncoderGet(kVexQuadEncoder_1);
int diff = liftTargetLoc - actual;
int speed = 0;
if (diff != 0) {
/*if (timeout == -1)
timeout = 10;
else if (timeout > 0)
timeout--;
else
diff *= 2;*/
speed = 2 * diff;
} else {
/*timeout = -1,*/ speed = 0;
}
//vexLcdPrintf(0, 1, "A%02d T%02d S%d", actual, timeout, speed);
vexMotorSet(mLiftLowLeft, speed);
vexMotorSet(mLiftHighLeft, speed);
vexMotorSet(mLiftLowRight, speed);
vexMotorSet(mLiftHighRight, speed);
vexSleep(50);
}
return (msg_t)0;
}
msg_t vexOperator(void *arg)
{
(void)arg;
// Must call this
vexTaskRegister("operator");
chThdCreateStatic(waVexLcdTask, 512, NORMALPRIO - 1, vexLcdTask, nullptr);
chThdCreateStatic(waVexLiftTask, 512, NORMALPRIO - 1, vexLiftTask, nullptr);
// Run until asked to terminate
while (!chThdShouldTerminate()) {
if (vexControllerGet(Btn7R))
reset();
int dy = vexControllerGet(Ch3);
int dx = -vexControllerGet(Ch4);
vexMotorSet(mDriveLeft, dy + dx);
vexMotorSet(mDriveRight, -dy + dx);
if (vexControllerGet(Btn5U))
liftTargetLoc += 5;
else if (vexControllerGet(Btn5D))
liftTargetLoc -= 5;
if (vexControllerGet(Btn8D))
liftTargetLoc = 0;
else if (vexControllerGet(Btn8L))
liftTargetLoc = 30;
else if (vexControllerGet(Btn8R))
liftTargetLoc = 60;
else if (vexControllerGet(Btn8U))
liftTargetLoc = 90;
int claw = (vexControllerGet(Btn6U) ? 127 : (vexControllerGet(Btn6D) ? -127 : 0));
vexMotorSet(mClaw, claw);
// Don't hog cpu
vexSleep(100);
}
return (msg_t)0;
}
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