Datasets:
AscendRobotics
/
AscendData

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Controller1.Screen.setCursor(3, 1);
}
//graphing data, used for PID tuning
void graphPID(std::vector<int> errorHistory, std::vector<float> powerHistory, int goal, float error, int time) {
//goal is the PID goal
//error history is a list of all of the errors
//powerHistory is -1 to 1 of the power applied
//setup: clear screen and draw the target line
Brain.Screen.clearScreen();
Brain.Screen.setPenWidth(2);
Brain.Screen.setPenColor(white);
Brain.Screen.drawLine(0, 60, 480, 60);
Brain.Screen.setPenWidth(1);
Brain.Screen.setPenColor(green);
//also display amps
Brain.Screen.setCursor(1, 1);
Brain.Screen.clearLine(1);
Brain.Screen.print(" Final Error: ");
Brain.Screen.print(error);
Brain.Screen.print(" Time: ");
Brain.Screen.print(time);
//y positions
//bottom (0) is 215
//top (100) is 60
//above (110) (overshoot) is <60
int minY = 60;
int maxY = 230;
//for x, start at 30 and end at 450
int minX = 10;
int maxX = 470;
for (int i = 0; i < errorHistory.size() - 1; i++) {
int x = minX + (maxX - minX) * i / errorHistory.size();
//graph velocity
Brain.Screen.setPenColor(green);
Brain.Screen.drawLine(x, minY + (float)errorHistory.at(i) / goal * (maxY - minY), x + (float)(maxX - minX) / errorHistory.size(), minY + (float)errorHistory.at(i + 1) / goal * (maxY - minY));
//graph power
//change color based on direction
if (powerHistory.at(i) > 0) {
Brain.Screen.setPenColor(orange);
} else {
Brain.Screen.setPenColor(yellow);
}
Brain.Screen.drawLine(x, maxY - std::abs(powerHistory.at(i)) * (maxY - minY), x + (float)(maxX - minX) / errorHistory.size(), maxY - std::abs(powerHistory.at(i + 1)) * (maxY - minY));
}
}
void drawRobotPath(std::vector<int> x, std::vector<int> y) {
//draws the path of the robot (as discerned from odometry) on the brain of the robot
Brain.Screen.clearScreen();
Brain.Screen.setPenWidth(1);
Brain.Screen.setPenColor(green);
Brain.Screen.drawLine(0, 120, 480, 120);
Brain.Screen.drawLine(240, 0, 240, 240);
Brain.Screen.setPenColor(white);
Brain.Screen.setPenWidth(2);
int originX = 240;
int originY = 120;
float scale = 2;
for (int i = 0; i < x.size() - 1; i++) {
Brain.Screen.drawLine(x.at(i) * scale + originX, 240 - (y.at(i) * scale + originY), x.at(i + 1) * scale + originX, 240 - (y.at(i + 1) * scale + originY));
}
//draw robot as dot
Brain.Screen.setPenColor(red);
Brain.Screen.drawCircle(x.at(x.size() - 1) * scale + originX, 240 - (y.at(x.size() - 1) * scale + originY), 5);
}
/*template for a thread/task (task is a higher level abstraction of thread):
int myTaskCallback() {
while (true) {
//do something
wait(25, msec);
}
// A task's callback must return an int, even though the code will never get
// here. You must return an int here. Tasks can exit, but this one does not.
return 0;
}
in some other function like main():
task myTask = task(myTaskCallback);
*/
void driveCode() {
//drives the robot around based on controller input, double arcade controls
//don't drive if the robot is currently being controlled autonomously
if (auton) return;
Left1.spin(forward);
Left2.spin(forward);
Left3.spin(forward);
Right1.spin(forward);
Right2.spin(forward);
Right3.spin(forward);
int forward1 = Controller1.Axis3.value();
int turn = Controller1.Axis1.value();
//fix drift
if (std::abs(forward1) < 7) forward1 = 0;
if (std::abs(turn) < 7) turn = 0;
//calculate proper motor powers
int left;
int right;
int curveTime = 0;
if (curveDrive) {
//curvature drive, yay
//adjust the straight variable to be non-linear
/*