feat (Distance Sensor): Distance Sensor class w/ Autonomous interop (#66)

Co-authored-by: Jay9971 <robertmasked@gmail.com>

Author: aswsub

include/electronic/distance.h

@@ -0,0 +1,14 @@
+#pragma once
+
+namespace Robot {
+
+class DistanceSensor {
+public: 
+
+
+DistanceSensor();
+
+int get_distance();
+
+};
+}

include/globals.h

@@ -68,6 +68,7 @@ extern pros::vision_signature_s_t RED_SIG;
 extern pros::vision_signature_s_t BLUE_SIG;
 extern pros::vision_signature_s_t BLUE_DARK_SIG;
 
+extern pros::Distance distance_sensor;
 extern pros::Rotation lateral_sensor;
 extern pros::Rotation horizontal_sensor;
 // forward/backward PID

include/main.h

@@ -36,6 +36,7 @@
 
 #include "api.h"
 #include "electronic/controller.h"
+#include "electronic/distance.h"
 #include "globals.h"
 #include "pros/apix.h"
 #include "robot/auton.h"

include/robot/auton.h

@@ -3,6 +3,7 @@
 
 #include "robot/intake.h"
 #include "robot/latch.h"
+#include "electronic/distance.h"
 
 namespace Robot {
 /**
@@ -41,7 +42,7 @@ class Autonomous {
     * @param puncher A reference to the Puncher object.
     * @param autono A boolean value indicating whether to use autonomous mode.
     */
-   void AutoDrive(Intake &intake, Latch &latch);
+   void AutoDrive(Intake &intake, Latch &latch, DistanceSensor &distance);
 
    /**
     * @brief Switches the autonomous program.
@@ -61,7 +62,7 @@ class Autonomous {
     * strategy. It contains the specific actions and movements required for this
     * strategy.
     */
-   void Auton1(Intake &intake, Latch &latch);
+   void Auton1(Intake &intake, Latch &latch, DistanceSensor &distance);
 
    /**
     * @brief Runs the autonomous path for the near side offensive game strategy.
@@ -70,7 +71,7 @@ class Autonomous {
     * strategy. It contains the specific actions and movements required for this
     * strategy.
     */
-   void Auton2(Intake &intake, Latch &latch);
+   void Auton2(Intake &intake, Latch &latch, DistanceSensor &distance);
 
    /**
     * @brief Runs the puncher routine for the Skills Challenge.
@@ -81,7 +82,7 @@ class Autonomous {
     *
     * @param puncher A reference to the Puncher object.
     */
-   void Auton3(Intake &intake, Latch &latch);
+   void Auton3(Intake &intake, Latch &latch, DistanceSensor &distance);
 
    /**
     * @brief Runs the autonomous path for the far side offensive game strategy.
@@ -91,7 +92,7 @@ class Autonomous {
     * @todo Make the autonomous more fleshed out, building it properly for the
     * competition
     */
-   void Auton4(Intake &intake, Latch &latch);
+   void Auton4(Intake &intake, Latch &latch, DistanceSensor &distance);
 
    /**
     * Executes the Skills challenge autonomous.
@@ -102,6 +103,6 @@ class Autonomous {
     * @param intake The reference to the `Intake` object.
     * @param latch The reference to the `Latch` object.
     */
-   void Auton5(Intake &intake, Latch &latch);
+   void Auton5(Intake &intake, Latch &latch, DistanceSensor &distance);
 };
 } // namespace Robot

src/electronics/distance.cpp

@@ -0,0 +1,13 @@
+#include "globals.h"
+#include "pros/misc.h"
+#include "electronic/distance.h"
+
+using namespace Robot;
+using namespace Robot::Globals;
+
+
+DistanceSensor::DistanceSensor() { ; }
+
+int DistanceSensor::get_distance() {
+    return distance_sensor.get();
+}

src/globals.cpp

@@ -36,6 +36,8 @@ pros::adi::Pneumatics LatchControl('A', false);
 pros::adi::Pneumatics HangControl('C', false);
 pros::adi::Pneumatics SweeperControl('B', false);
 
+
+pros::Distance distance_sensor(10);
 pros::Rotation lateral_sensor(16);
 pros::Rotation horizontal_sensor(17);
 

src/main.cpp

@@ -44,6 +44,7 @@ struct RobotScreen {
 
 struct Electronics {
    Robot::Controller controllers;
+   Robot::DistanceSensor distance_sensor;
 } electronic;
 
 /**
@@ -123,11 +124,7 @@ void autonomous() {
    //    }
    // });
 
-   subsystem.autonomous.AutoDrive(subsystem.intake, subsystem.latch);
-
-   // chassis.turnToHeading(90, 100000);
-   //  chassis.turnToHeading(180, 2000);
-   // chassis.moveToPoint(0, 24, 10000);
+   subsystem.autonomous.AutoDrive(subsystem.intake, subsystem.latch, electronic.distance_sensor);
 }
 
 /**

src/routines/auton.cpp

@@ -8,43 +8,43 @@ Autonomous::AUTON_ROUTINE Autonomous::auton = RED_LEFT;
 std::string Autonomous::autonName;
 
 // Red Left
-void Autonomous::Auton1(Intake &intake, Latch &latch) {}
+void Autonomous::Auton1(Intake &intake, Latch &latch, DistanceSensor &distance) {}
 
 // Red Right
-void Autonomous::Auton2(Intake &intake, Latch &latch) {}
+void Autonomous::Auton2(Intake &intake, Latch &latch, DistanceSensor &distance) {}
 
 // Blue left
-void Autonomous::Auton3(Intake &intake, Latch &latch) {}
+void Autonomous::Auton3(Intake &intake, Latch &latch, DistanceSensor &distance) {}
 
 /*
  * @todo Flesh out this method before the competition in order to make it a full
  * solo awp autonomous. Blue right
  */
-void Autonomous::Auton4(Intake &intake, Latch &latch) {}
+void Autonomous::Auton4(Intake &intake, Latch &latch, DistanceSensor &distance) {}
 
-void Autonomous::Auton5(Intake &intake, Latch &latch) {
+void Autonomous::Auton5(Intake &intake, Latch &latch, DistanceSensor &distance) {
    // Autonomous routine for the Skills challenge
 }
 
 // Takes in two parameters: The autonomous value as well as the puncher object.
-void Autonomous::AutoDrive(Intake &intake, Latch &latch) {
+void Autonomous::AutoDrive(Intake &intake, Latch &latch, DistanceSensor &distance) {
    // Keep the switcher running while the controller down button has not been pressed and the time period is not
    // autonomous Compare the current auton value to run the auton routine
    switch (Autonomous::auton) {
    case RED_LEFT:
-      Auton1(intake, latch);
+      Auton1(intake, latch, distance);
       break;
    case RED_RIGHT:
-      Auton2(intake, latch);
+      Auton2(intake, latch, distance);
       break;
    case BLUE_LEFT:
-      Auton3(intake, latch);
+      Auton3(intake, latch, distance);
       break;
    case BLUE_RIGHT:
-      Auton4(intake, latch);
+      Auton4(intake, latch, distance);
       break;
    case SKILLS:
-      Auton5(intake, latch);
+      Auton5(intake, latch, distance);
       break;
    }
 }