TeamAVersion2

TODO

Major Stuff

• autonomous
  • 2 side
  • 3 side (DONE needs testing)

Minor Stuff:

• print launcher motor speed to controller screen
• draw kewl image to brain screen
• REMEMBER SD CARD!

Reference

Gear Ratios:

• red, 200 rpm, ratio6_1
• green, 400 rpm, ratio18_1
• blue, 600 rpm, ratio36_1
• special black, max 3600 rpm, just set as blue but when need rpm multiply by 6

Roller Specs:

- Flex Wheel  
	- 3 inch diameter  
	- 9.42477 circumference  

Roller

- 2.4 inch diameter  
- 7.53982 circumference  

Ratio

9.42477 / 7.53982 = 1.24999 roller rotations per 1 flex rotations  
need to move roller 1/4 rotations so...  
1.24999^-1 = 0.800  
0.800 * 1/4 = 0.20  

        aka to move roller precisely 1/4 turn, move motor by 0.2 rotations
            



Controls:
    ---- Buttons on Back ----
    L1 - emergency untoggles intake and while held reverses intake, aka emergency clear
    L2 - Toggle, turns on intake and sucks disks (pun intended)
    R1 -  
    R2 - disk launcher motor, toggle

    ---- Arrow Pad ----
    Up - Endgame string thing clockwise, launch
    Down - Endgame string thing clockwise, reset
    Left - 
    Right - 

    ---- Letter Pad ----
    X (top) - 
    B (bottom) - roller back
    Y (left) - launch disk
    A (right) - roller fwd

    ---- Axis ----
    Axis 4 (Left Knob X-Direction) -
    Axis 3 (Left Knob Y-Direction) - Left Drivetrain Motors fwd/back
    Axis 1 (Right Knob X-Direction) -
    Axis 2 (Right Knob Y-Direction) - Right Drivetrain Motors fwd/back


Robot Class:

    Functions:
        robot();
            - Constructor

        void resetToDefault();
            - reset all variables to default
    
        void updateUserControl();
            - general function for all of user control stuff
    
        void getUserInput();
            - gets input from button objects / axis
    
        int processAxis(int input, int cutoff);
            - Process axis for reasons
    
        void firingProtocol();
            - firing checklist for firing a disk
    
        void updateDriveMotors();
            - applies input to drivechain motors
    
        void updateRollerMotor();
            - applies input to roller motor
    
        void updateIntakeMotor();
            - applies input to intake motor
    
        void adjustLauncherMotor();
            - makes adjustments to Launcher motor speed, automatically called by updateLauncherMotor()
    
        void updateLauncherMotor();
            - applies input to launcher motor
    
        void triggerEndgameLauncher();
            - Trigger Endgame


customButton Class:
    
    Functions:
        customButton(bool toggle, std::string buttonName);
            - constructor
        
        void onPressInput();
            - function called when callback occurs
    
        void checkRelease();
            - called once per frame, holds logic for if it is realeased
    
        bool isReleased();
            - called by above, is master list for determining if button is being pressed