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armliftfunctions.c
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armliftfunctions.c
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//Move Lift Functions
//Raise Lift Function
void setLift(word power,bool debug=true)
{
if( debug ) writeDebugStreamLine("%06d Lift %4d", nPgmTime,power );
motor[liftL] = motor[liftR] = power;
writeDebugStreamLine("%d", power);
}
void setArm(word power,bool debug=true)
{
if( debug ) writeDebugStreamLine("%06d Arm %4d", nPgmTime,power );
motor[arm] = power;
writeDebugStreamLine("%d", power);
}
void armHolding(int pos)
{
if(SensorValue[armPoti] > pos)
setArm(-15);
else if(SensorValue[armPoti] < pos)
setArm(15);
}
void liftHolding(int pos)
{
if(SensorValue[liftPoti] > pos)
{
setLift(-15);
}
else
{
setLift(15);
}
}
void ArmRaiseSimple(int pos, bool hardstop)
{
if(hardstop)
{
while(SensorValue[armPoti] < pos-100)
{
setArm(127);
writeDebugStreamLine("Arm position set as %4d", "pos");
}
writeDebugStreamLine("Arm Reached position of %4d", "pos");
}
if(pos==ARM_TOP)
setArm(15);
else
setArm(-15);
if(!hardstop)
{
while(SensorValue[armPoti] < pos)
{
if(SensorValue[armPoti] < pos-400)
setArm(127);
else if(SensorValue[armPoti] < pos-200)
setArm(60);
else if(SensorValue[liftPoti] == pos-100)
armHolding(pos);
}
}
}
void ArmLowerSimple(int pos, bool hardstop)
{
while(SensorValue[armPoti] > pos+100)
{
setArm(-127);
writeDebugStreamLine("Arm position set as %4d", "pos");
}
writeDebugStreamLine("Arm Reached position of %4d", "pos");
if(pos==ARM_BOTTOM)
setArm(-15);
else
setArm(15);
}
void LiftRaisePID(int pos, float kp, float ki, float kd)
{
float error = 0;
float last_error = 0;
float integral = 0;
float derivative = 0;
unsigned long lastTime = nPgmTime;
while(SensorValue[liftPoti] < pos)
{
unsigned long curTime = nPgmTime;
error = pos-SensorValue[liftPoti];
unsigned long timeElapsed = curTime - lastTime;
integral += error * timeElapsed;
if (timeElapsed > 0)
derivative = (error - last_error) / timeElapsed;
last_error = error;
lastTime = curTime;
setLift(kp * error + ki * integral + kd * derivative);
sleep(1);
}
}
void LiftLowerSimple(int pos)
{
while(SensorValue[liftPoti] > pos)
{
if(SensorValue[liftPoti] > pos+400)
setLift(-127);
else if(SensorValue[liftPoti] > pos+200)
setLift(-60);
}
setLift(15);
}
void setMobile(word power,bool debug=true)
{
if( debug ) writeDebugStreamLine("%06d Mobile %4d", nPgmTime,power );
motor[mobile] = power;
writeDebugStreamLine("%d", power);
}
void mobileOuttake()
{
if(SensorValue[mobilePoti]>MOBILE_HALFWAY)
{
while(SensorValue[mobilePoti]>MOBILE_BOTTOM)
{
setMobile(-127);
}
setMobile(-15);
}
else
{
while(SensorValue[mobilePoti]< MOBILE_TOP)
{
setMobile(127);
}
setMobile(15);
}
}
void mobileMiddleDown()
{
while(SensorValue[mobilePoti] > MOBILE_MIDDLE_DOWN)
{
if(SensorValue[mobilePoti] > MOBILE_MIDDLE_DOWN+200)
{setMobile(-127);}
else
{setMobile(-127);}
}
setMobile(15);
}