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/**
* Copyright (c) 2017 Luke Shumaker.
* Copyright (c) 2017 Thomas Griffith.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the FIRST nor the
* names of its contributors may be used to endorse or promote products
* derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY FIRST AND CONTRIBUTORS``AS IS'' AND ANY
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package org.usfirst.frc.team4272.robot2017;
public class Autonomous {
private final HwRobot robot;
public Autonomous(HwRobot robot) {
this.robot = robot;
robot.lDriveE.reset();
robot.rDriveE.reset();
}
public Control run(Control c) {
double lDist = robot.lDriveE.getDistance();
double rDist = robot.rDriveE.getDistance();
double speed = 0.6;
double thresh = 10;
double target = 15;
double max = 16;
if (lDist < thresh) {
c.lDrive = speed;
} else if (lDist < max) {
c.lDrive = speed*Math.sqrt((target-lDist)/(target-thresh));
} else {
c.lDrive = 0;
}
if (rDist < thresh) {
c.rDrive = speed;
} else if (rDist < max) {
c.rDrive = speed*Math.sqrt((target-rDist)/(target-thresh));
} else {
c.rDrive = 0;
}
if (Math.abs(lDist - rDist) > 0.25) {
if (lDist > rDist) {
c.lDrive *= 0.2;
} else {
c.rDrive *= 0.2;
}
}
return c;
}
}
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