Review: Auto stages #37
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…mplements basic functions in respective cpp file
…reqs of autopaths also moved johnathans old autopaths into auto folder and renamed it. there is still 1 error i cant figure out about the map but ill fix it l8r
…ude files but no actual code errors
…s code to SwerveAutoPath and elsewhere
…-robot into auto-stages
…-robot into auto-stages
src/main/cpp/Auto/AutoStage.cpp
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| allPaths[i] = a.path; | ||
| if (i == startPathIdx) | ||
| continue; | ||
| cueToPath[a.cue] = {i, 0.0, &a.path}; |
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check index isn't a.cue + i
src/main/cpp/Auto/AutoStage.cpp
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| continue; | ||
| cueToPath[a.cue] = {i, 0.0, &a.path}; | ||
| } | ||
| StartPath({startPathIdx, 0.0, &allPaths[startPathIdx]}); |
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missing m_startIDx = start, prolly should put it in StartPath
src/main/cpp/Auto/AutoStage.cpp
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| i.path->AutonomousPeriodic(); | ||
| auto itr = cueToPath.lower_bound(i.index+i.lastCompletion); | ||
| double curCompletion = i.path->GetCompletionPercentage(); | ||
| while (true){ |
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Will run into out of bounds error
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also this check should be done outside the for loop, where you just store the maximum index within the loop
| while (true){ | ||
| double curCue = itr->first; | ||
| if (curCue <= i.index + curCompletion){ | ||
| StartPath(itr->second); |
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this will start paths already started (is that ok?)
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also might cause infinite adding to the set if the equals operator is not working
src/main/cpp/Auto/AutoStage.cpp
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| } else break; | ||
| itr++; | ||
| } | ||
| i.lastCompletion = curCompletion; |
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Sorta unnecessary because of prolly less than 20ms delay, doesn't hurt tho
| double y_completion = calcGenericCompletion(previous_waypoint.getPos().at(1), curr_y, current_waypoint.getPos().at(1)); | ||
| double averaged = (x_completion + y_completion) / 2.0; | ||
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| if (averaged == 1.0) { |
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bro's not reaching target ever
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I would also recommend using the time to figure out what segment you're on, instead of incrementing whenever it reaches the target. (your choice)
| } | ||
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| double SwerveAutoPath::calcGenericCompletion(double start, double current, double end) { | ||
| double frac = abs(current_distance - start) / abs(end - start); |
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don't use absolute value (you don't need it). Also do the math correctly: (end - current)/(end - start), don't return 1.0 - that
| // double y_completion = curr_y / current_waypoint.getPos().at(1); | ||
| double x_completion = calcGenericCompletion(previous_waypoint.getPos().at(0), curr_x, current_waypoint.getPos().at(0)); | ||
| double y_completion = calcGenericCompletion(previous_waypoint.getPos().at(1), curr_y, current_waypoint.getPos().at(1)); | ||
| double averaged = (x_completion + y_completion) / 2.0; |
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Might want to use geometric average
| * @param ang Current angle | ||
| */ | ||
| void AutoPath::UpdateOdom(vec::Vector2D curPos, double curAng) { | ||
| void SwerveAutoPath::UpdateOdom(vec::Vector2D curPos, double curAng) { |
| void SwerveAutoPath::AutonomousPeriodic() { | ||
| // does the calculations | ||
| Periodic(); | ||
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