RA12_RobotCode/BallCollector.cpp at main · RAR1741/RA12_RobotCode · GitHub

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#include "BallCollector.h"
#include <fstream>
#include "Config.h"


BallCollector::BallCollector(int tb, int mb, int bb, int roll)
{
	//SwitchTop= new DigitalInput(5);
	//SwitchMid= new DigitalInput(6);
	//SwitchBot= new DigitalInput(7);
	TopBelt= new CANJaguar(tb);
	MidBelt= new CANJaguar(mb);
	//BotBelt= new CANJaguar(bb);
	TopBelt->ConfigNeutralMode(CANJaguar::kNeutralMode_Coast);
	MidBelt->ConfigNeutralMode(CANJaguar::kNeutralMode_Coast);
	BotBelt = NULL;
	Rollers= new CANJaguar(roll);
	Rollers->ConfigNeutralMode(CANJaguar::kNeutralMode_Coast);
	Manual= false;
}

void BallCollector::SetTopBeltSpeed(double tbs)
{
	TopBelt->Set(tbs);
}

void BallCollector::SetMidBeltSpeed(double mbs)
{
	MidBelt->Set(mbs);
}

void BallCollector::SetBotBeltSpeed(double bbs)
{
	//BotBelt->Set(bbs);
}

void BallCollector::SetRollerSpeed(double rs)
{
	Rollers->Set(rs);
}

void BallCollector::LogHeaders(ofstream &fout)
{
	fout << "SwitchTop,";
	fout << "SwitchMid,";
	fout << "SwitchBot,";
	fout << "TopBelt Voltage,";
	fout << "TopBelt Current,";
	fout << "MidBelt Voltage,";
	fout << "MidBelt Current,";
	/*fout << "BotBelt Voltage,";
	fout << "BotBelt Current,"; */
	fout << "Rollers Voltage,";
	fout << "Rollers Current,";
}

void BallCollector::LogMotors(ofstream &fout)
{
	fout<< SwitchTop->Get() << ",";
	fout<< SwitchMid->Get() << ",";
	fout<< SwitchBot->Get() << ",";
	fout<< TopBelt->GetOutputVoltage() << ",";
	fout<< TopBelt->GetOutputCurrent() << ",";
	fout<< MidBelt->GetOutputVoltage() <<",";
	fout<< MidBelt->GetOutputCurrent() << ",";
	/*fout<< BotBelt->GetOutputVoltage() << ",";
	fout<< BotBelt->GetOutputCurrent() << ","; */
	fout<< Rollers->GetOutputVoltage() << ",";
	fout<< Rollers->GetOutputCurrent() << ",";
}

void BallCollector::Process(bool Shoot, bool Load)
{
	//This calculates the state based on assigning each input to a multiple of 2
	int State= SwitchBot->Get()*16+SwitchMid->Get()*8+SwitchTop->Get()*4+Shoot*2+Load;
	//TODO: Initialize these with the output from last state

	//cout<<"State: "<<State<<endl;

	switch(State)
	{
	case 0:
		//Bot=off Mid=off Top=off Shoot=off Load=off
		TopBelt->Set(0);
		MidBelt->Set(0);
		//BotBelt->Set(0);
		Rollers->Set(0);
		break;
	case 1:
		//Bot=off Mid=off Top=off Shoot=off Load=on
		//BotBelt->Set(BELTMOTORSPEED);
		Rollers->Set(STARMOTORSPEED);
		break;
	case 2:
		//Bot=off Mid=off Top=off Shoot=on Load=off
		//Want to ignore if the top belt isn't filled
		cout<<"No ball present in top belt"<<endl;
		break;
	case 3:
		cout<<"No ball present on top belt"<<endl;
		//BotBelt->Set(BELTMOTORSPEED);
		Rollers->Set(STARMOTORSPEED);
		break;
	case 4:
		//Bot=off Mid=off Top=on Shoot=off Load=off
		TopBelt->Set(0);
		MidBelt->Set(0);
		//BotBelt->Set(0);
		Rollers->Set(0);
		break;
	case 5:
		//Bot=off Mid=off Top=on Shoot=off Load=on
		TopBelt->Set(0);
		MidBelt->Set(0);
		//BotBelt->Set(BELTMOTORSPEED);
		Rollers->Set(STARMOTORSPEED);
		break;
	case 6:
		//Bot=off Mid=off Top=on Shoot=on Load=off
		TopBelt->Set(BELTMOTORSPEED);
		MidBelt->Set(0);
		//BotBelt->Set(0);
		Rollers->Set(0);
		break;
	case 7:
		//Bot=off Mid=on Top=on Shoot=on Load=on
		TopBelt->Set(BELTMOTORSPEED);
		MidBelt->Set(0);
		//BotBelt->Set(BELTMOTORSPEED);
		Rollers->Set(STARMOTORSPEED);
		break;
	case 8:
		//Bot=off Mid=on Top=off Shoot=off Load=off
		TopBelt->Set(BELTMOTORSPEED);
		MidBelt->Set(BELTMOTORSPEED);
		//BotBelt->Set(0);
		Rollers->Set(0);
		break;
	case 9:
		//Bot=off Mid=on Top=off Shoot=off Load=on
		TopBelt->Set(BELTMOTORSPEED);
		MidBelt->Set(BELTMOTORSPEED);
		//BotBelt->Set(BELTMOTORSPEED);
		Rollers->Set(STARMOTORSPEED);
		break;
	case 10:
		//Bot=off Mid=on Top=off Shoot=on Load=off
		TopBelt->Set(BELTMOTORSPEED);
		MidBelt->Set(BELTMOTORSPEED);
		//BotBelt->Set(0);
		Rollers->Set(0);
		break;
	case 11:
		//Bot=off Mid=on Top=off Shoot=on Load=on
		TopBelt->Set(BELTMOTORSPEED);
		MidBelt->Set(BELTMOTORSPEED);
		//BotBelt->Set(BELTMOTORSPEED);
		Rollers->Set(STARMOTORSPEED);
		break;
	case 12:
		//Bot=off Mid=on Top=on Shoot=off Load=off
		TopBelt->Set(0);
		MidBelt->Set(0);
		//BotBelt->Set(0);
		Rollers->Set(0);
		break;
	case 13:
		//Bot=off Mid=on Top=on Shoot=off Load=on
		TopBelt->Set(0);
		MidBelt->Set(0);
		//BotBelt->Set(BELTMOTORSPEED);
		Rollers->Set(STARMOTORSPEED);
		break;
	case 14:
		//Bot=off Mid=on Top=on Shoot=on Load=off
		TopBelt->Set(BELTMOTORSPEED);
		MidBelt->Set(STARMOTORSPEED);
		//BotBelt->Set(0);
		Rollers->Set(0);
		break;
	case 15:
		//Bot=off Mid=on Top=on Shoot=on Load=on
		TopBelt->Set(BELTMOTORSPEED);
		MidBelt->Set(BELTMOTORSPEED);
		//BotBelt->Set(BELTMOTORSPEED);
		Rollers->Set(STARMOTORSPEED);
		break;
	case 16:
		//Bot=on Mid=off Top=off Shoot=off Load=off
		TopBelt->Set(BELTMOTORSPEED);
		MidBelt->Set(BELTMOTORSPEED);
		//BotBelt->Set(BELTMOTORSPEED);
		Rollers->Set(0);
		break;
	case 17:
		//Bot=on Mid=off Top=off Shoot=off Load=on
		TopBelt->Set(BELTMOTORSPEED);
		MidBelt->Set(BELTMOTORSPEED);
		//BotBelt->Set(BELTMOTORSPEED);
		Rollers->Set(STARMOTORSPEED);
		break;
	case 18:
		//Bot=on Mid=off Top=off Shoot=on Load=off
		TopBelt->Set(BELTMOTORSPEED);
		MidBelt->Set(BELTMOTORSPEED);
		//BotBelt->Set(BELTMOTORSPEED);
		Rollers->Set(0);
		break;
	case 19:
		//Bot=on Mid=off Top=off Shoot=on Load=on
		TopBelt->Set(BELTMOTORSPEED);
		MidBelt->Set(BELTMOTORSPEED);
		//BotBelt->Set(BELTMOTORSPEED);
		Rollers->Set(STARMOTORSPEED);
		break;
	case 20:
		//Bot=on Mid=off Top=on Shoot=off Load=off
		TopBelt->Set(0);
		MidBelt->Set(BELTMOTORSPEED);
		//BotBelt->Set(BELTMOTORSPEED);
		Rollers->Set(0);
		break;
	case 21:
		//Bot=on Mid=off Top=on Shoot=off Load=on
		TopBelt->Set(0);
		MidBelt->Set(BELTMOTORSPEED);
		//BotBelt->Set(BELTMOTORSPEED);
		Rollers->Set(STARMOTORSPEED);
		break;
	case 22:
		//Bot=on Mid=off Top=on Shoot=on Load=off
		TopBelt->Set(BELTMOTORSPEED);
		MidBelt->Set(BELTMOTORSPEED);
		//BotBelt->Set(BELTMOTORSPEED);
		Rollers->Set(0);
		break;
	case 23:
		//Bot=on Mid=off Top=on Shoot=on Load=on
		TopBelt->Set(BELTMOTORSPEED);
		MidBelt->Set(BELTMOTORSPEED);
		//BotBelt->Set(BELTMOTORSPEED);
		Rollers->Set(STARMOTORSPEED);
		break;
	case 24:
		//Bot=on Mid=on Top=off Shoot=off Load=off
		TopBelt->Set(BELTMOTORSPEED);
		MidBelt->Set(BELTMOTORSPEED);
		//BotBelt->Set(BELTMOTORSPEED);
		Rollers->Set(0);
		break;
	case 25:
		//Bot=on Mid=on Top=off Shoot=off Load=on
		TopBelt->Set(BELTMOTORSPEED);
		MidBelt->Set(BELTMOTORSPEED);
		//BotBelt->Set(BELTMOTORSPEED);
		Rollers->Set(STARMOTORSPEED);
		break;
	case 26:
		//Bot=on Mid=on Top=off Shoot=on Load=off
		TopBelt->Set(BELTMOTORSPEED);
		MidBelt->Set(BELTMOTORSPEED);
		//BotBelt->Set(BELTMOTORSPEED);
		Rollers->Set(0);
		break;
	case 27:
		//Bot=on Mid=on Top=off Shoot=on Load=on
		TopBelt->Set(BELTMOTORSPEED);
		MidBelt->Set(BELTMOTORSPEED);
		//BotBelt->Set(BELTMOTORSPEED);
		Rollers->Set(STARMOTORSPEED);
		break;
	case 28:
		//Bot=on Mid=on Top=on Shoot=off Load=off
		TopBelt->Set(0);
		MidBelt->Set(0);
		//BotBelt->Set(0);
		Rollers->Set(0);
		break;
	case 29:
		//Bot=on Mid=on Top=on Shoot=off Load=on
		TopBelt->Set(0);
		MidBelt->Set(0);
		//BotBelt->Set(0);
		Rollers->Set(-STARMOTORSPEED);
		break;
	case 30:
		//Bot=on Mid=on Top=on Shoot=on Load=off
		TopBelt->Set(BELTMOTORSPEED);
		MidBelt->Set(0);
		//BotBelt->Set(0);
		Rollers->Set(0);
		break;
	case 31:
		//Bot=on Mid=on Top=on Shoot=on Load=on
		TopBelt->Set(BELTMOTORSPEED);
		MidBelt->Set(0);
		//BotBelt->Set(0);
		Rollers->Set(-STARMOTORSPEED);
		break;
	default:
		cout<<"YOU BROKE BALL COLLECTION!"<<endl;
		break;
	}
}

bool SwitchManual(bool &Manual)
{
	if(Manual == false)
	{
		Manual = true;
		return true;
	}
	else
	{
		Manual = false;
		return false;
	}
}