Merge pull request #60 from calhighrobotics/docs/issue-55/controller-documentation

docs/issue 55/controller documentation

Author: absozero

docs/TASKS.md

@@ -0,0 +1,49 @@
+/**
+ * @file controller.cpp
+ * @brief This file contains the implementation of the controller functionalities for the robot.
+ *
+ * The controller functionalities include handling the main and partner controllers, switching control between them,
+ * and providing feedback to the driver about the state of the robot and its components.
+ *
+
+## Main Controller Controls
+
+Based on the type of drive as well as the program orientation of the robot, the joysticks on the main controller are used:
+
+
+- **Left Joystick (Vertical Axis)**: Controls the forward and backward movement of the robot.
+- **Right Joystick (Horizontal Axis)**: Controls the left and right movement (turning) of the robot.
+---
+
+- **R1 Button**: Activates the intake motor to push out objects.
+- **L1 Button**: Activates the intake motor to pull in objects.
+
+---
+- **Digital Up Button**: Toggles the drivetrain orientation (forward or backward).
+- **Digital Down Button**: Executes the autonomous routine during user control.
+- **Digital Right Button**: Toggles the drivetrain reversal.
+- **Digital Left Button**: Switches control between the main and partner controllers if the partner controller is connected.
+
+---
+- **Digital B Button**: Toggles the state of the MoGo mech between grabbing and not grabbing.
+- **Digital Y Button**: This button toggles the state of the sweeper between active or retracted.
+- ***NOT IMPLEMENTED -* Digital A Button**: This button controls whether the hang is active.
+---
+
+- **R2 Button**: Pulls the Lady Brown down to its loading zone.
+- **L2 Button**: Lifts the Lady Brown towards the neutral wall stake.
+
+
+## Partner Controller Controls
+- **Digital Y Button**: Sends a rumble pattern "..-" to the main controller.
+- **Digital X Button**: Sends a rumble pattern ".-." to the main controller.
+- **Digital Up Button**: Sends a rumble pattern "-.." to the main controller.
+- **Digital Right Button**: Sends a rumble pattern "-.-" to the main controller.
+- **Digital R1 Button**: Sends a rumble pattern "..." to the main controller to notify of only 15 seconds remaining.
+
+
+## Additional Functionalities
+- **Motor Disconnect Notification**: The main controller provides haptic and visual feedback if a motor disconnects or reconnects.
+  - Three short pulses indicate a motor disconnect.
+  - One long pulse indicates a motor reconnect.
+  - The LCD screen on the controller displays the current disconnected motors.

docs/controller_bindings.md

@@ -1,4 +1,4 @@
-# Style Guide
+# Style Guide - Code
 
 ### This style guide is meant to brief contributors on the conventions utilized within this codebase.
 

docs/style_guide.md

@@ -142,9 +142,10 @@ void opcontrol() {
       }
       // Checks for drivetrain reversal - Changes conditions in a value handler function in the drivetrain class
       if (controller.get_digital_new_press(pros::E_CONTROLLER_DIGITAL_RIGHT)) {
+         //isReversed is static, it is changed for the global state.
          Drivetrain::isReversed = !Drivetrain::isReversed;
-         // Output the current drive mode to the controller screen
 
+         // Output the current drive mode to the controller screen
          controller.print(0, 0, "reversal: %d", Drivetrain::isReversed);
       }
 

src/main.cpp

@@ -16,11 +16,11 @@ Intake::Intake() {
 void Intake::run() {
 
    if (controller.get_digital(pros::E_CONTROLLER_DIGITAL_R1)) {
-      IntakeMotor.move_velocity(-FASTER_VELOCITY);
-      HookMotor.move_velocity(-SLOWER_VELOCITY);
-   } else if (controller.get_digital(pros::E_CONTROLLER_DIGITAL_L1)) {
       IntakeMotor.move_velocity(FASTER_VELOCITY);
       HookMotor.move_velocity(SLOWER_VELOCITY);
+   } else if (controller.get_digital(pros::E_CONTROLLER_DIGITAL_L1)) {
+      IntakeMotor.move_velocity(-FASTER_VELOCITY);
+      HookMotor.move_velocity(-SLOWER_VELOCITY);
    } else {
       IntakeMotor.brake();
       HookMotor.brake();