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Fix issues from testing PLC integration.

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This commit is contained in:
Patrick Fairbank
2018-08-25 14:54:13 -07:00
parent 29033af025
commit 0082ea5d0b
4 changed files with 19 additions and 9 deletions
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11
field/arena.go
View File

@@ -733,9 +733,9 @@ func (arena *Arena) handlePlcInput() {
// Handle scale and switch ownership. // Handle scale and switch ownership.
scale, redSwitch, blueSwitch := arena.Plc.GetScaleAndSwitches() scale, redSwitch, blueSwitch := arena.Plc.GetScaleAndSwitches()
arena.Scale.UpdateState(scale, currentTime) ownershipChanged := arena.Scale.UpdateState(scale, currentTime)
arena.RedSwitch.UpdateState(redSwitch, currentTime) ownershipChanged = arena.RedSwitch.UpdateState(redSwitch, currentTime) || ownershipChanged
arena.BlueSwitch.UpdateState(blueSwitch, currentTime) ownershipChanged = arena.BlueSwitch.UpdateState(blueSwitch, currentTime) || ownershipChanged
if arena.MatchState == AutoPeriod { if arena.MatchState == AutoPeriod {
redScore.AutoOwnershipPoints = 2 * int(arena.RedSwitch.GetRedSeconds(matchStartTime, currentTime)+ redScore.AutoOwnershipPoints = 2 * int(arena.RedSwitch.GetRedSeconds(matchStartTime, currentTime)+
arena.Scale.GetRedSeconds(matchStartTime, currentTime)) arena.Scale.GetRedSeconds(matchStartTime, currentTime))
@@ -773,7 +773,7 @@ func (arena *Arena) handlePlcInput() {
arena.PlaySoundNotifier.Notify("match-" + newBluePowerUp) arena.PlaySoundNotifier.Notify("match-" + newBluePowerUp)
} }
if !oldRedScore.Equals(redScore) || !oldBlueScore.Equals(blueScore) { if !oldRedScore.Equals(redScore) || !oldBlueScore.Equals(blueScore) || ownershipChanged {
arena.RealtimeScoreNotifier.Notify(nil) arena.RealtimeScoreNotifier.Notify(nil)
} }
} }
@@ -789,8 +789,9 @@ func (arena *Arena) handleLeds() {
// Set the stack light state -- blinking green if ready, or solid alliance color(s) if not. // Set the stack light state -- blinking green if ready, or solid alliance color(s) if not.
redAllianceReady := arena.checkAllianceStationsReady("R1", "R2", "R3") == nil redAllianceReady := arena.checkAllianceStationsReady("R1", "R2", "R3") == nil
blueAllianceReady := arena.checkAllianceStationsReady("B1", "B2", "B3") == nil blueAllianceReady := arena.checkAllianceStationsReady("B1", "B2", "B3") == nil
greenStackLight := redAllianceReady && blueAllianceReady && arena.Plc.GetCycleState(2, 0, 25) greenStackLight := redAllianceReady && blueAllianceReady && arena.Plc.GetCycleState(2, 0, 2)
arena.Plc.SetStackLights(!redAllianceReady, !blueAllianceReady, greenStackLight) arena.Plc.SetStackLights(!redAllianceReady, !blueAllianceReady, greenStackLight)
arena.Plc.SetStackBuzzer(redAllianceReady && blueAllianceReady)
// Turn off each alliance switch if all teams become ready. // Turn off each alliance switch if all teams become ready.
if redAllianceReady && !arena.lastRedAllianceReady { if redAllianceReady && !arena.lastRedAllianceReady {

4
field/coil_string.go
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@@ -4,9 +4,9 @@ package field
import "strconv" import "strconv"
const _coil_name = "heartbeatmatchResetstackLightGreenstackLightOrangestackLightRedstackLightBluered1EthernetDisablered2EthernetDisablered3EthernetDisableblue1EthernetDisableblue2EthernetDisableblue3EthernetDisablecoilCount" const _coil_name = "heartbeatmatchResetstackLightGreenstackLightOrangestackLightRedstackLightBluestackLightBuzzerred1EthernetDisablered2EthernetDisablered3EthernetDisableblue1EthernetDisableblue2EthernetDisableblue3EthernetDisablecoilCount"
var _coil_index = [...]uint8{0, 9, 19, 34, 50, 63, 77, 96, 115, 134, 154, 174, 194, 203} var _coil_index = [...]uint8{0, 9, 19, 34, 50, 63, 77, 93, 112, 131, 150, 170, 190, 210, 219}
func (i coil) String() string { func (i coil) String() string {
if i < 0 || i >= coil(len(_coil_index)-1) { if i < 0 || i >= coil(len(_coil_index)-1) {

6
field/plc.go
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@@ -95,6 +95,7 @@ const (
stackLightOrange stackLightOrange
stackLightRed stackLightRed
stackLightBlue stackLightBlue
stackLightBuzzer
red1EthernetDisable red1EthernetDisable
red2EthernetDisable red2EthernetDisable
red3EthernetDisable red3EthernetDisable
@@ -208,6 +209,11 @@ func (plc *Plc) SetStackLights(red, blue, green bool) {
plc.Coils[stackLightGreen] = green plc.Coils[stackLightGreen] = green
} }
// Set the on/off state of the stack lights on the scoring table.
func (plc *Plc) SetStackBuzzer(state bool) {
plc.Coils[stackLightBuzzer] = state
}
func (plc *Plc) GetCycleState(max, index, duration int) bool { func (plc *Plc) GetCycleState(max, index, duration int) bool {
return plc.cycleCounter/duration%max == index return plc.cycleCounter/duration%max == index
} }

7
game/seesaw.go
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@@ -30,8 +30,9 @@ type Ownership struct {
endTime *time.Time endTime *time.Time
} }
// Updates the internal timing state of the scale or switch given the current state of the sensors. // Updates the internal timing state of the scale or switch given the current state of the sensors. Returns true if
func (seesaw *Seesaw) UpdateState(state [2]bool, currentTime time.Time) { // ownership has changed since the last cycle.
func (seesaw *Seesaw) UpdateState(state [2]bool, currentTime time.Time) bool {
ownedBy := NeitherAlliance ownedBy := NeitherAlliance
// Check if there is an active force power up for this seesaw. // Check if there is an active force power up for this seesaw.
@@ -61,7 +62,9 @@ func (seesaw *Seesaw) UpdateState(state [2]bool, currentTime time.Time) {
newOwnership := &Ownership{seesaw: seesaw, ownedBy: ownedBy, startTime: currentTime} newOwnership := &Ownership{seesaw: seesaw, ownedBy: ownedBy, startTime: currentTime}
seesaw.ownerships = append(seesaw.ownerships, newOwnership) seesaw.ownerships = append(seesaw.ownerships, newOwnership)
} }
return true
} }
return false
} }
func (seesaw *Seesaw) GetOwnedBy() Alliance { func (seesaw *Seesaw) GetOwnedBy() Alliance {