Merge branch 'master' of https://github.com/eshsrobotics/vex

Author: RushilGhosh

2024/Team_P_bot_code/include/hardware.h

@@ -59,11 +59,11 @@ const int CLAMP_PORT = 11 - 1;
 // timeout time the clamp kept pushing into the ground. Because of this, the
 // timeout time when the clamp is going downwards is lower than when the clamp
 // is moving upwards.
-const double OPEN_CLAMP_TIMEOUT_SEC = 0.40;
+const double OPEN_CLAMP_TIMEOUT_SEC = 4.0;
 
-const double CLOSE_CLAMP_TIMEOUT_SEC = 0.40;
+const double CLOSE_CLAMP_TIMEOUT_SEC = 4.0;
 
-const double CLAMP_VELOCITY_PCT = 100.00;
+const double CLAMP_VELOCITY_PCT = 80.00;
 
 // Intake motor port
 const int INTAKE_PORT = 8 - 1;

2024/Team_P_bot_code/src/hardware.cpp

@@ -2,10 +2,13 @@
 
 #include "hardware.h"
 #include <algorithm>
+#include <map>
+
 
 using namespace vex;
 using std::max;
 using std::min;
+using std::map;
 
 brain Brain;
 controller Controller;
@@ -106,8 +109,15 @@ void robotlift(int lift) {
 void updateClampState(bool close) {
     static ClampState clampStatus = ClampState::Start;
     static double startTimeSec = 0;
+    map<ClampState, const char*> stateNames = {
+        {ClampState::Start, "Start"},
+        {ClampState::Opening, "Opening"},
+        {ClampState::FullyOpen, "Fully open"},
+        {ClampState::Closing, "Closing"},
+        {ClampState::FullyClosed, "FullyClosed"}
+    };
     Controller.Screen.setCursor(1,1);
-    Controller.Screen.print("Limit = %d", ClampLimit.value());
+    Controller.Screen.print("%s: Limit = %d   ", stateNames[clampStatus], ClampLimit.value());
     switch(clampStatus) {
         case ClampState::Start:
             startTimeSec = Brain.timer(vex::timeUnits::sec);
@@ -119,7 +129,7 @@ void updateClampState(bool close) {
             break;
 
         case ClampState::Opening:
-            Clamp.spin(vex::directionType::rev, CLAMP_VELOCITY_PCT, pct);
+            Clamp.spin(vex::directionType::fwd, CLAMP_VELOCITY_PCT, pct);
             if (Brain.timer(vex::timeUnits::sec) >= OPEN_CLAMP_TIMEOUT_SEC + startTimeSec || ClampLimit.value() > 0) {
                 clampStatus = ClampState::FullyOpen;
             } else if (close == true) {
@@ -130,7 +140,7 @@ void updateClampState(bool close) {
             break;
 
         case ClampState::Closing:
-            Clamp.spin(vex::directionType::fwd, CLAMP_VELOCITY_PCT, pct);
+            Clamp.spin(vex::directionType::rev, CLAMP_VELOCITY_PCT, pct);
             if (Brain.timer(vex::timeUnits::sec) >= CLOSE_CLAMP_TIMEOUT_SEC + startTimeSec) {
                 clampStatus = ClampState::FullyClosed;
             } else if (close == false) {