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

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#include "Shooter.h"
#include "WPIlib.h"
#include <fstream>
#include <iomanip>

Shooter::Shooter(int CANJagTOP, int CANJagBOTTOM, int solenoid1, int solenoid2)
{
	top = new CANJaguar(CANJagTOP);
	bottom = new CANJaguar(CANJagBOTTOM);
	sol = new DoubleSolenoid(solenoid1,solenoid2);

	this->ResetCanJags();

	shooterPosition = false;

	OldTop = 0;
	OldBot = 0;
}
void Shooter::ResetCanJags()
{
	SetUpCANJaguar(top);
	SetUpCANJaguar(bottom);
}
void Shooter::LogHeaders(ofstream &fout)
{
	fout<< "TopShooter Target,";
	fout<< "TopShooter Actual,";
	fout<< "TopShooter Voltage,";
	fout<< "TopShooter Current,";
	fout<< "TopShooter Fault,";
	fout<< "BottomShooter Target,";
	fout<< "BottomShooter Actual,";
	fout<< "BottomShooter Voltage,";
	fout<< "BottomShooter Current,";
	fout << "BottomShooter Fault,";
	fout<< "Shooter Solenoid,";
}
void Shooter::LogMotors(ofstream &fout)
{
	fout<< top->Get()<< ",";
	fout<< top->GetSpeed()<< ",";
	fout<< top->GetOutputVoltage()<< ",";
	fout<< top->GetOutputCurrent()<< ",";
	fout<< top->GetFaults() << ",";
	fout<< bottom->Get()<< ",";
	fout<< bottom->GetSpeed()<< ",";
	fout<< bottom->GetOutputVoltage()<< ",";
	fout<< bottom->GetOutputCurrent()<< ",";
	fout << bottom->GetFaults() << ",";
	fout<< int(GetPosition())<<",";
}

void Shooter::SetPosition(bool upbutton, bool downbutton)
{
	//position == true : 80 degree
	//position == false : 45 degrees
	if(upbutton)
	{
		sol->Set(DoubleSolenoid::kReverse);
		shooterPosition = true;
	}
	else if(downbutton)
	{
		sol->Set(DoubleSolenoid::kForward);
		shooterPosition = false;
	}
	else
	{
		sol->Set(DoubleSolenoid::kOff);
	}

}
bool Shooter::GetPosition()
{
	return shooterPosition;
}
void Shooter::SetWheelSpeed(double top_RPM, double bottom_RPM)
{
	RateLimit(top_RPM,bottom_RPM);

	top->Set(top_RPM);
	bottom->Set(bottom_RPM);

	//cout << "Shooter: " << top_RPM << "     " << bottom_RPM << endl;
}

void Shooter::RateLimit(double &TopAxis, double &BotAxis)
{
	const double SHOOTER_MAX_RATE = (Config::GetSetting("Shooter_SetPointRateLimit",125));

	if(TopAxis > (OldTop+SHOOTER_MAX_RATE))
		TopAxis = OldTop+SHOOTER_MAX_RATE;
	else if(TopAxis < (OldTop-SHOOTER_MAX_RATE))
		TopAxis = OldTop-SHOOTER_MAX_RATE;

	if(BotAxis > (OldBot+SHOOTER_MAX_RATE))
		BotAxis = OldBot+SHOOTER_MAX_RATE;
	else if(BotAxis < (OldBot-SHOOTER_MAX_RATE))
		BotAxis = OldBot-SHOOTER_MAX_RATE;

	OldTop = TopAxis;
	OldBot = BotAxis;
}
void Shooter::ManualControl(double tAxis, double bAxis) {
	int shooter_increment = (int) Config::GetSetting("Shooter_Wheel_Increment",100);
	double top_speed = (1.0-((1.0 + tAxis)/2.0)) * Shooter_MAX_SPEED;
	double bot_speed = (1.0-((1.0 + bAxis)/2.0)) * Shooter_MAX_SPEED;

	int wheel_speed_processed_top = (int)top_speed;
	int wheel_speed_processed_bot = (int)bot_speed;
	// Chomp off speeds
	wheel_speed_processed_top /= shooter_increment;
	wheel_speed_processed_top *= shooter_increment;

	wheel_speed_processed_bot /= shooter_increment;
	wheel_speed_processed_bot *= shooter_increment;

	float top_wheel, bottom_wheel;
	top_wheel = (float) wheel_speed_processed_top;
	bottom_wheel = (float) wheel_speed_processed_bot;
	SetWheelSpeed(top_wheel,bottom_wheel);
	//cout<<"Top Wheel:"<< setw(10)<< top_wheel << " Bottom Wheel:" << setw(10) << bottom_wheel << endl;
}
void Shooter::ManualControl(double zAxis)
{
	// With only one speed, set to both
	ManualControl(zAxis, zAxis);
}

void Shooter::SetUpCANJaguar(CANJaguar* motor)
{
	for (int i = 0; i < 10; ++i) {
		motor->ChangeControlMode(CANJaguar::kSpeed);
		motor->SetSpeedReference(CANJaguar::kSpeedRef_QuadEncoder);
		motor->ConfigEncoderCodesPerRev(int(LINES_PER_REV));
		motor->SetPID(ShooterKP,ShooterKI,ShooterKD);
		motor->ConfigNeutralMode(CANJaguar::kNeutralMode_Coast);
		motor->EnableControl(0.0);

		if (motor->GetSpeedReference() == CANJaguar::kSpeedRef_QuadEncoder)
			break;

	}
}