Merge remote-tracking branch 'refs/remotes/origin/master'

Author: RushilGhosh

2024/prototype/intake_mechanisms/include/Iclimb.h

@@ -9,13 +9,12 @@
 class Iclimb {
   public:
     /**
-     * Makes the climb hooks activate and go up. The hooks are down by
-     * default and we don't need them during auton, so there is no need to
-     * make the hooks go back down after the piston is activated.
-     * Additionally, since the piston is activated to make the hooks go up,
-     * the set boolean will always be true. Lastly, the button only needs to
-     * be pressed once, even though the function is being called over and
-     * over again in the teleop function.
+     * This code was initially for the climb hooks, which have been defeatured.
+     * Now, the climb pneumatics are being used for a doinker. The doinker is a
+     * hammer on the front right of the robot that can come down and grab onto
+     * mobile goals for the robot to drag around.
+     * 
+     * @param active true to deploy the doinker, false to retract it
      */
-    virtual void activateClimb() = 0;
+    virtual void activateClimb(bool active) = 0;
 };

2024/prototype/intake_mechanisms/include/autonomous_task_tree.h

@@ -259,4 +259,17 @@ class MobileGoalIntakeTask: public WaitMillisecondsTask {
     bool clamp_;
 };
 
+class DeployDoinkerTask: public WaitMillisecondsTask {
+  public:
+    DeployDoinkerTask(Iclimb& doinker, bool clamp);
+
+    bool done() const;
+
+    void start();
+
+  private:
+    Iclimb& doinkerObject;
+    bool clamp_;
+};
+
 #endif // (ifndef __AUTONOMOUS_TASK_TREE_H_INCLUDED__)

2024/prototype/intake_mechanisms/include/prototypes.h

@@ -49,8 +49,8 @@ class PivotRampPrototype : public Idrive, public Iintake, public Ilift,
          *               setLiftRotationsDebug()).
          * @param pneumaticsClamp A digital_out object connected to a double
          *               solenoid for controlling pneumatic mobile goal grabber.
-         * @param pneumaticsClimb A digital_out object connected to the
-         *               pneumatics responsible for the climb hooks.
+         * @param pneumaticsDoinker A digital_out object connected to the
+         *               pneumatics responsible for the doinker.
          * @param limitSwitch A limit switch at the bottom of the lift that will
          *               transition us out of the MOBILE_GOAL_DOWN state into the
          *               DEFAULT_STATE.
@@ -60,7 +60,7 @@ class PivotRampPrototype : public Idrive, public Iintake, public Ilift,
                            const std::vector<vex::motor>& right_motors_,
                            const std::vector<vex::motor>& intake, const std::vector<vex::motor>& lift,
                            double rotationsToTop, const vex::digital_out& pneumaticsClamp, 
-                           const vex::digital_out& pneumaticsClimb, const vex::limit& limitSwitch);
+                           const vex::digital_out& pneumaticsDoinker, const vex::limit& limitSwitch);
 
         /**
          * Drive the robot at the given speeds.
@@ -138,7 +138,7 @@ class PivotRampPrototype : public Idrive, public Iintake, public Ilift,
         */
         void clamp(bool active);
 
-        void activateClimb();
+        void activateClimb(bool active);
 
     private:
         std::vector<vex::motor> left_motors;
@@ -151,7 +151,7 @@ class PivotRampPrototype : public Idrive, public Iintake, public Ilift,
 
     public: // Temporary for testing
         vex::digital_out pneumaticClamp;
-        vex::digital_out pneumaticClimb;
+        vex::digital_out pneumaticDoinker;
         vex::limit limitSwitch;
 };
 

2024/prototype/intake_mechanisms/src/autonomous_task_tree.cpp

@@ -393,8 +393,26 @@ bool DriveStraightTask::done() const {
     }
 
     bool MobileGoalIntakeTask::done() const {
-        
         bool result = WaitMillisecondsTask::done();
-        
         return result;
     }
+
+    // Definitions for DeployDoinkerTask
+    DeployDoinkerTask::DeployDoinkerTask(Iclimb& doinker, bool clamp) : 
+      WaitMillisecondsTask(0), doinkerObject{doinker}, clamp_(clamp) {
+      modifyTaskName("DeployDoinkerTask");
+    }
+
+    void DeployDoinkerTask::start() {
+      WaitMillisecondsTask::start();
+      // redefining the doinker port here to avoid memory errors as described
+      // with MobileGoalIntakeTask
+      vex::triport::port DOINKER_PORT = Seventeen59A.ThreeWirePort.D;
+      digital_out pneumaticDoinker(DOINKER_PORT);
+      pneumaticDoinker.set(clamp_);
+    }
+
+    bool DeployDoinkerTask::done() const {
+      bool result = WaitMillisecondsTask::done();
+      return result;
+    }

2024/prototype/intake_mechanisms/src/main.cpp

@@ -139,6 +139,9 @@ PivotRampPrototype makePivotRampPrototype() {
   vex::triport::port CLIMB_PORT = Seventeen59A.ThreeWirePort.G;
   digital_out pneumaticClimb(CLIMB_PORT);
 
+  vex::triport::port DOINKER_PORT = Seventeen59A.ThreeWirePort.D;
+  digital_out pneumaticDoinker(DOINKER_PORT);
+
   vex::triport::port SWITCH_PORT = Seventeen59A.ThreeWirePort.B;
   vex::limit limitSwitch(SWITCH_PORT);
 
@@ -148,7 +151,7 @@ PivotRampPrototype makePivotRampPrototype() {
                        liftMotors,
                        rotationsToTop,
                        pneumaticClamp,
-                       pneumaticClimb,
+                       pneumaticDoinker,
                        limitSwitch);
   p.setLiftHeights({
     // These values have been determined experimentally.
@@ -175,13 +178,18 @@ void updateClampState(ImobileGoalIntake& p) {
   }
 }
 /**
- * Encapsulates climb functionality for teleop in one function.
+ * Encapsulates doinker functionality for teleop in one function.
  * @param p a reference to an Iclimb instance (the prototype)
  */
-void updateClimbState(Iclimb& p) {
+void updateDoinkerState(Iclimb& p) {
   bool buttonDown = Controller.ButtonX.pressing();
+  bool buttonUp = Controller.ButtonY.pressing();
+
   if (buttonDown) {
-    p.activateClimb();
+    p.activateClimb(true);
+  }
+  if (buttonUp) {
+    p.activateClimb(false);
   }
 }
 
@@ -252,31 +260,22 @@ void autonomous() {
   // // Leg 6: Driving forward to reach the wall and scoring the autonomous win point.
   // addTask(Q, R);
 
-  // This is a fallback task tree to use in case fullAutonRootTask is not tested before competition
-  //auto simpleRootTask = make_shared<TurnTask>(36.56, gyro, prototype);
-  
-  auto rootTask = make_shared<WaitMillisecondsTask>(0);
-  auto driveTask1 = make_shared<DriveStraightTask>(-20, prototype);
+  // This is a trajectory that 
+  auto singleRingRootTask = make_shared<WaitMillisecondsTask>(0);
+  auto driveBackward = make_shared<DriveStraightTask>(-20, prototype);
   auto clampTask = make_shared<MobileGoalIntakeTask>(prototype, true);
-  auto turnTask = make_shared<TurnTask>(-45, inertialSensor, prototype);
-  auto driveTask2 = make_shared<DriveStraightTask>(10, prototype);
   auto intakeTask = make_shared <IntakeMillisecondsTask>(prototype, 1000, 1);
-  //auto turnTest = make_shared<TurnTask>(90, inertialSensor, prototype);
-  // auto DriveTask = make_shared<TestDriveTask>(2, prototype);
-  // auto stopTask = make_shared<DriveStraightTask>(0, prototype);
-  // addTask(rootTask, DriveTask);
-  // addTask(DriveTask, stopTask);
-  addTask(rootTask, driveTask1);
-  addTask(driveTask1, clampTask);
-  addTask(clampTask, turnTask);
-  addTask(turnTask, driveTask2);
-  addTask(turnTask, intakeTask);
-  // addTask(clampTask, turnTask);
-  // addTask(turnTask, driveTask2);
-  // addTask(driveTask2, intakeTask);
-  
+
+  // This trajectory's purpose is to do something else
+  auto goalRushRootTask = make_shared<WaitMillisecondsTask>(0);
+  auto driveForward = make_shared<DriveStraightTask>(20, prototype);
+  auto doinkerDown = make_shared<DeployDoinkerTask>(prototype, true);
+  // auto intakeTask = make_shared <IntakeMillisecondsTask>(prototype, 1000, 1);
+  // auto driveBack = make_shared<DriveStraightTask>(10, prototype);
+
+
   // execute(fullAutonRootTask);
-  execute(rootTask);
+  execute(singleRingRootTask);
 }
 
 /**
@@ -303,7 +302,7 @@ void teleop() {
     updateClampState(prototype);
 
     // Allows controlling the climb hooks.
-    updateClimbState(prototype);
+    updateDoinkerState(prototype);
 
     // // Allow the driver to control the lift position.
     bool buttonUp = Controller.ButtonUp.pressing();

2024/prototype/intake_mechanisms/src/prototypes.cpp

@@ -91,10 +91,10 @@ PivotRampPrototype::PivotRampPrototype(const std::vector<vex::motor>& left_motor
                                        const std::vector<vex::motor>& right_motors_,
                                        const std::vector<vex::motor>& intake_, const std::vector<vex::motor>& lift_,
                                        double rotToTop, const vex::digital_out& pneumaticClamp_, 
-                                       const vex::digital_out& pneumaticClimb_, const vex::limit& limitSwitch_)
+                                       const vex::digital_out& pneumaticDoinker_, const vex::limit& limitSwitch_)
     : left_motors(left_motors_), right_motors(right_motors_),
       intake_motors(intake_), lift_motors(lift_), rotationsToTop(rotToTop), pneumaticClamp(pneumaticClamp_), 
-      pneumaticClimb(pneumaticClimb_), limitSwitch(limitSwitch_) {
+      pneumaticDoinker(pneumaticDoinker_), limitSwitch(limitSwitch_) {
     // Where we are right now -- the initialLiftPosition -- will now
     // correspond to an encoder value of zero.
     for_each(lift_motors.begin(), lift_motors.end(), [](motor& current_motor) {
@@ -234,6 +234,6 @@ void PivotRampPrototype::clamp(bool active) {
     this->pneumaticClamp.set(active);
 }
 
-void PivotRampPrototype::activateClimb() {
-    this->pneumaticClimb.set(true);
+void PivotRampPrototype::activateClimb(bool active) {
+    this->pneumaticDoinker.set(active);
 }