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resolving merge conflicts #11

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19 changes: 5 additions & 14 deletions tthhiinnggyy.py → camera.py
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
#Will your code should be at the bottom. Fill in the stuff in HooBoyShoot. Also I think the calls to AutonTankDrive are wrong.
Camera#Will your code should be at the bottom. Fill in the stuff in HooBoyShoot. Also I think the calls to AutonTankDrive are wrong.

import math
import serial
Expand All @@ -19,12 +19,12 @@
MUZZLE_VELOCITY = 30 #meters/second
COMPLETELY_ARBITRARY_CONSTANT = 1

class Tthhinnggyy:
class Camera:
old_x = 0
mid_x = None
mid_y = None
theta = None
distance = None
distance = None #returnss in meters
ser = None
driveDelay = 0

Expand Down Expand Up @@ -77,15 +77,6 @@ def uncode(self, string):
number += char
return stuff


def centerLine(self):
if(abs(self.distance - REF_DIST) > DDZ_MOV): #meters, arbitrary deadzone value
spd = math.copysign(0.1, self.distance - REF_DIST)#max(MIN_MOV_SPD, abs(distance))*math.copysign(1.0, distance)
self.autonTankDrive(spd,spd)
return False
return True


#max(MIN_ROT_SPD, min(MAX_ROT_SPD, abs(self.theta - REF_THETA)))
''' def ShootDistance(self): #I *guarantee* this does *not* work
angle = math.arcsin(((REF_TOW_H - REF_CAM_H)/self.distance+4.9*self.distance)/MUZZLE_VELOCITY)
Expand All @@ -96,7 +87,7 @@ def centerLine(self):
#it can be changed, but it's not important anyway
'''
'''
thng.receive()
if thng.centerSide() and thng.centerLine() : #this works because of short-circuiting
cam.receive()
if cam.centerSide() and cam.centerLine() : #this works because of short-circuiting
HooBoyShoot()
'''
25 changes: 14 additions & 11 deletions components/drive.py
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Original file line number Diff line number Diff line change
Expand Up @@ -11,8 +11,8 @@
from ctre.cantalon import CANTalon
from wpilib.interfaces import Gyro
from . import Component
import tthhiinnggyy
from tthhiinnggyy import Tthhinnggyy
import camera
from camera import Camera
import math


Expand Down Expand Up @@ -53,7 +53,7 @@ def __init__(self, robot):
self.rbmotor.setPosition(0)
self.lbmotor.setPosition(0)
self.myInertia = 0
self.thng = Tthhinnggyy()
self.cam = Camera()

def drive_forward(self, speed) :
self.drive.tankDrive(speed, speed, True)
Expand Down Expand Up @@ -99,20 +99,20 @@ def turnAngle(self, degrees, speed=0.2):
return False

def visionLineUp(self):
self.thng.receive()
if self.thng.centerSide():#and self.thng.centerLine() : #this works because of short-circuiting
self.cam.receive()
if self.cam.centerSide():#and self.cam.centerLine() : #this works because of short-circuiting
print("hooboyshoot")
self.reset()
#oh what fun it is to ride

def findGoal(self):
x = 25
self.thng.receive()
self.cam.receive()
if x < 25:
x += 1
self.autonTankDrive(0,0)
return False
if self.centerSide():#and self.thng.centerLine() : #this works because of short-circuiting #in a one-horse open sleigh
if self.centerSide():#and self.cam.centerLine() : #this works because of short-circuiting #in a one-horse open sleigh
self.reset()
x = 0
return True
Expand Down Expand Up @@ -156,14 +156,14 @@ def convertEncoderRaw(self, selectedEncoderValue):
return selectedEncoderValue * self.INCHES_PER_REV

def centerSide(self):
if(self.thng.mid_x == None):
if(self.cam.mid_x == None):
self.autonTankDrive(0, 0)

if(self.myInertia > 0):
self.myInertia -= 1
return False
elif(abs(self.thng.mid_x) > tthhiinnggyy.DDZ_ROT): #radians, arbitrary deadzone value
if(abs(self.thng.mid_x) > 0.15):
elif(abs(self.cam.mid_x) > camera.DDZ_ROT): #radians, arbitrary deadzone value
if(abs(self.cam.mid_x) > 0.15):
spdMag = 0.15
else:
spdMag = 0.09
Expand All @@ -173,10 +173,13 @@ def centerSide(self):
self.myInertia = 0
if(self.myInertia <= 5):
self.myInertia += 1
spd = math.copysign(spdMag, self.thng.mid_x)#min(max(MIN_ROT_SPD, abs(self.mid_x)), MAX_ROT_SPD), self.mid_x) #again arbitrary numbers
spd = math.copysign(spdMag, self.cam.mid_x)#min(max(MIN_ROT_SPD, abs(self.mid_x)), MAX_ROT_SPD), self.mid_x) #again arbitrary numbers
self.autonTankDrive(spd, -spd)
return False
self.autonTankDrive(0, 0)
if(self.myInertia > 0):
self.myInertia -= 1
return True

def convert(self, x):#converting meters to inches
return x*39.37