autons.hpp File Reference

Autonomous routine declarations. More...

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Functions
Setup functions
Called once by initialize() in main. Do not rename these.
void	default_constants ()
	Tune PID gains, exit conditions, and slew rates.
void	default_positions ()
	Set starting piston / mechanism states.
Autonomous routines
Competition autonomous entry points.
void	run_jerryio_path_1 ()
	Run the path generated by the JerryIO path planner (path 1).
Example autons
One short routine per motion type. Copy and edit when writing real autons.
void	ex_drive ()
	pid_drive_set: straight forward + reverse.
void	ex_turn ()
	pid_turn_set: in-place pivots to absolute headings.
void	ex_swing ()
	pid_swing_set: single-side sweeping arcs.
void	ex_chain ()
	pid_wait_quick_chain: flow drive→turn→drive.
void	ex_odom_ptp ()
	pid_odom_set: drive to one field coordinate.
void	ex_odom_path ()
	pid_odom_set: chain a path of odom waypoints.
void	ex_move_to_point ()
	light::moveToPoint: simple odom move w/ timeout.
void	ramsete_demo_s_curve ()
	followTrajectory: smooth RAMSETE S-curve.
void	ramsete_char_kVkAkS ()
	Characterize feedforward kV/kA/kS.
void	ramsete_char_trackwidth ()
	Characterize track width.
void	ramsete_char_alat ()
	Characterize max lateral accel.
Test / tuning routines
Useful during practice for dialing in PID. Register these in auton_config.cpp during tuning sessions; remove them before competition.
void	con_test ()
	Basic connectivity / control check.
void	drive_test (int inches)
	Drive straight N inches — tune drive PID.
void	turn_test (int degrees)
	Turn to N degrees — tune turn PID.
void	swing_test (int degrees)
	Swing to N degrees — tune swing PID.
void	heading_test (int degrees)
	Drive while fighting a heading offset.
void	odom_test (int degrees)
	Zero odom then drive 24 in — test odometry.

Detailed Description

Autonomous routine declarations.

Three files work together to set up autonomous:

• autons.hpp — declare every auton function (this file)
• autons.cpp — write the actual autonomous code
• auton_config.cpp — register each auton with the brain-screen picker

Workflow for adding a new routine:

1. Declare it here: void my_auton();
2. Write it in autons.cpp
3. Register it in auton_config.cpp: light::auton_selector.add("Label", "na", my_auton);

Definition in file autons.hpp.

Function Documentation

con_test()

void con_test

(

)

Basic connectivity / control check.

default_constants()

void default_constants

(

)

Tune PID gains, exit conditions, and slew rates.

default_positions()

void default_positions

(

)

Set starting piston / mechanism states.

drive_test()

void drive_test

(

int

inches

)

Drive straight N inches — tune drive PID.

ex_chain()

void ex_chain

(

)

pid_wait_quick_chain: flow drive→turn→drive.

ex_drive()

void ex_drive

(

)

pid_drive_set: straight forward + reverse.

ex_move_to_point()

void ex_move_to_point

(

)

light::moveToPoint: simple odom move w/ timeout.

ex_odom_path()

void ex_odom_path

(

)

pid_odom_set: chain a path of odom waypoints.

ex_odom_ptp()

void ex_odom_ptp

(

)

pid_odom_set: drive to one field coordinate.

ex_swing()

void ex_swing

(

)

pid_swing_set: single-side sweeping arcs.

ex_turn()

void ex_turn

(

)

pid_turn_set: in-place pivots to absolute headings.

heading_test()

void heading_test

(

int

degrees

)

Drive while fighting a heading offset.

odom_test()

void odom_test

(

int

degrees

)

Zero odom then drive 24 in — test odometry.

ramsete_char_alat()

void ramsete_char_alat

(

)

Characterize max lateral accel.

ramsete_char_kVkAkS()

void ramsete_char_kVkAkS

(

)

Characterize feedforward kV/kA/kS.

ramsete_char_trackwidth()

void ramsete_char_trackwidth

(

)

Characterize track width.

ramsete_demo_s_curve()

void ramsete_demo_s_curve

(

)

followTrajectory: smooth RAMSETE S-curve.

run_jerryio_path_1()

void run_jerryio_path_1

(

)

Run the path generated by the JerryIO path planner (path 1).

swing_test()

void swing_test

(

int

degrees

)

Swing to N degrees — tune swing PID.

turn_test()

void turn_test

(

int

degrees

)

Turn to N degrees — tune turn PID.