frc971/actors/stack_actor.cc

#include "frc971/actors/stack_actor.h"

#include <math.h>

#include "aos/common/time.h"
#include "aos/common/util/phased_loop.h"

#include "frc971/constants.h"
#include "frc971/control_loops/claw/claw.q.h"

namespace frc971 {
namespace actors {
namespace {
constexpr ProfileParams kSlowArmMove{0.8, 1.4};
constexpr ProfileParams kSlowElevatorMove{0.5, 3.0};
constexpr ProfileParams kReallySlowElevatorMove{0.10, 1.0};

constexpr ProfileParams kFastArmMove{0.8, 4.0};
constexpr ProfileParams kFastElevatorMove{1.2, 5.0};
}  // namespace

StackActor::StackActor(StackActionQueueGroup *queues)
    : FridgeActorBase<StackActionQueueGroup>(queues) {}

bool StackActor::RunAction(const StackParams &params) {
  const auto &values = constants::GetValues();

  // Set the current stack down on top of the bottom box.
  DoFridgeProfile(params.over_box_before_place_height, 0.0, kSlowArmMove,
                  kReallySlowElevatorMove, true);
  if (ShouldCancel()) return true;
  // Set down on the box.
  DoFridgeProfile(params.bottom + values.tote_height, 0.0, kSlowArmMove,
                  kSlowElevatorMove, true);
  if (ShouldCancel()) return true;
  // Clamp.
  {
    bool send_goal = true;
    control_loops::claw_queue.status.FetchLatest();
    if (control_loops::claw_queue.status.get()) {
      if (control_loops::claw_queue.status->goal_angle <
          params.claw_out_angle) {
        send_goal = false;
      }
    }
    if (send_goal) {
      auto message = control_loops::claw_queue.goal.MakeMessage();
      message->angle = params.claw_out_angle;
      message->angular_velocity = 0.0;
      message->intake = 0.0;
      message->rollers_closed = true;
      message->max_velocity = 6.0;
      message->max_acceleration = 10.0;

      LOG_STRUCT(DEBUG, "Sending claw goal", *message);
      message.Send();
    }
  }
  DoFridgeProfile(params.bottom, -0.05, kFastArmMove, kFastElevatorMove, false);
  if (ShouldCancel()) return true;
  DoFridgeProfile(params.bottom, 0.0, kFastArmMove, kFastElevatorMove, false);
  if (ShouldCancel()) return true;
  aos::time::SleepFor(aos::time::Time::InMS(100));

  return true;
}

::std::unique_ptr<StackAction> MakeStackAction(const StackParams &params) {
  return ::std::unique_ptr<StackAction>(
      new StackAction(&::frc971::actors::stack_action, params));
}

}  // namespace actors
}  // namespace frc971