Install gif-pros and update programming skills

include/gif-pros/gifclass.hpp

@@ -0,0 +1,59 @@
+#pragma once
+#include "main.h"
+#include "gifdec.h"
+
+/**
+ * MIT License
+ * Copyright (c) 2019 Theo Lemay
+ * https://github.com/theol0403/gif-pros
+ */
+
+class Gif {
+
+public:
+
+  /**
+   * Construct the Gif class
+   * @param fname  the gif filename on the SD card (prefixed with /usd/)
+   * @param parent the LVGL parent object
+   */
+  Gif(const char* fname, lv_obj_t* parent);
+
+  /**
+   * Destructs and cleans the Gif class
+   */
+  ~Gif();
+
+  /**
+   * Deletes GIF and frees all allocated memory
+   */
+  void clean();
+
+private:
+
+  gd_GIF* _gif = nullptr; // gif decoder object
+  void* _gifmem = nullptr; // gif file loaded from SD into memory 
+  uint8_t* _buffer = nullptr; // decoder frame buffer
+
+  lv_color_t* _cbuf = nullptr; // canvas buffer
+  lv_obj_t* _canvas = nullptr; // canvas object
+
+  pros::task_t _task = nullptr; // render task
+
+  /**
+   * Cleans and frees all allocated memory
+   */
+  void _cleanup();
+
+  /**
+   * Render cycle, blocks until loop count exceeds gif loop count flag (if any)
+   */
+  void _render();
+
+  /**
+   * Calls _render()
+   * @param arg Gif*
+   */
+  static void _render_task(void* arg);
+
+};

include/gif-pros/gifdec.h

@@ -0,0 +1,58 @@
+#ifndef GIFDEC_H
+#define GIFDEC_H
+
+#include <stdio.h>
+#include <stdint.h>
+#include <sys/types.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define BYTES_PER_PIXEL 4
+
+typedef struct gd_Palette {
+    int size;
+    uint8_t colors[0x100 * 3];
+} gd_Palette;
+
+typedef struct gd_GCE {
+    uint16_t delay;
+    uint8_t tindex;
+    uint8_t disposal;
+    int input;
+    int transparency;
+} gd_GCE;
+
+typedef struct gd_GIF {
+    FILE *fp;
+    off_t anim_start;
+    uint16_t width, height;
+    uint16_t depth;
+    uint16_t loop_count;
+    gd_GCE gce;
+    gd_Palette *palette;
+    gd_Palette lct, gct;
+    void (*plain_text)(
+        struct gd_GIF *gif, uint16_t tx, uint16_t ty,
+        uint16_t tw, uint16_t th, uint8_t cw, uint8_t ch,
+        uint8_t fg, uint8_t bg
+    );
+    void (*comment)(struct gd_GIF *gif);
+    void (*application)(struct gd_GIF *gif, char id[8], char auth[3]);
+    uint16_t fx, fy, fw, fh;
+    uint8_t bgindex;
+    uint8_t *canvas, *frame;
+} gd_GIF;
+
+gd_GIF *gd_open_gif(FILE *fp);
+int gd_get_frame(gd_GIF *gif);
+void gd_render_frame(gd_GIF *gif, uint8_t *buffer);
+void gd_rewind(gd_GIF *gif);
+void gd_close_gif(gd_GIF *gif);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* GIFDEC_H */

project.pros

@@ -42,6 +42,23 @@
                 "user_files": [],
                 "version": "0.5.0-rc.5"
             },
+            "gif-pros": {
+                "location": "C:\\Users\\jibo2\\AppData\\Roaming\\PROS\\templates\\gif-pros@2.1.1",
+                "metadata": {
+                    "origin": "local"
+                },
+                "name": "gif-pros",
+                "py/object": "pros.conductor.templates.local_template.LocalTemplate",
+                "supported_kernels": "^3.2.0",
+                "system_files": [
+                    "include\\gif-pros\\gifdec.h",
+                    "firmware\\gif-pros.a",
+                    "include\\gif-pros\\gifclass.hpp"
+                ],
+                "target": "v5",
+                "user_files": [],
+                "version": "2.1.1"
+            },
             "kernel": {
                 "location": "C:\\Users\\korak\\AppData\\Roaming\\PROS\\templates\\kernel@3.8.0",
                 "metadata": {

src/autonomous.cpp

@@ -113,7 +113,7 @@ void autonomous() {
 		case 3:
 			// Left Side Half AWP
 			controller.print(0, 0, "Left Elims Auton");
-			chassis.setPose(-48 - (7 / 2), -60, 135); // X, Y, Heading (degrees)
+			chassis.setPose(-48 - (7.0 / 2), -60, 135); // X, Y, Heading (degrees)
 			//ToggleVerticalPneumaticWings();
 			pros::delay(250);
 			chassis.turnTo(0, -60, 2000);
@@ -131,7 +131,7 @@ void autonomous() {
 		case 4:
 			// in progress in-depth auton
 			controller.print(0, 0, "Right Elims Auton");
-			chassis.setPose(-48 - (7 / 2), -60, 135); // X, Y, Heading (degrees)
+			chassis.setPose(-48 - (7.0 / 2), -60, 135); // X, Y, Heading (degrees)
 			ToggleVerticalPneumaticWings();
 			chassis.turnTo(0, -18, 2000);
 			ToggleVerticalPneumaticWings();
@@ -155,22 +155,6 @@ void autonomous() {
 			chassis.setPose(0, 0, 0); // X, Y, Heading (degrees)
 			break;
 		case 7:
-			// Currently curves the robot to push a triball into the goal
-			controller.print(0, 0, "Programming Skills - Makhi Version");
-			/*
-			chassis.setPose(-41.75, -64.975, 0); // X, Y, Heading (degrees)
-			chassis.follow(init_to_goal_txt, 1, 5000);
-			*/
-			// chassis.setPose(-34.5, -64.5, 330); // Guide
-			// chassis.turnTo(-60, -24, 5000);
-
-
-			 // Against line
-			ToggleVerticalPneumaticWings();
-			KickerMotor.move(127);	
-			controller.print(1, 0, "Skills Complete");
-			break;
-		case 8:
 			// Currently gets the kicker into position
 			controller.print(0, 0, "Programming Skills - Ajibola Version");
 			chassis.setPose(-39.75, -64.975, 0); // X, Y, Heading (degrees)
@@ -194,6 +178,20 @@ void autonomous() {
 			// KickerMotor.move(127);
 			// pros::delay(45000);
 
+			controller.print(1, 0, "Skills Complete");
+			break;
+		case 8:
+			// Currently curves the robot to push a triball into the goal
+			controller.print(0, 0, "Programming Skills - Makhi Version");
+
+			chassis.setPose(-72 + 26.5, -60, 133); // X, Y, Heading (degrees)
+			chassis.moveToPose(-60 + 5, -24 + 24, 180, 2500, {.forwards = false, .chasePower = 8});
+			chassis.waitUntilDone();
+			chassis.setPose(-72 + 26.5, -29.25, 180); // X, Y, Heading (degrees)
+			chassis.moveToPose(-48, -48 + 8, 60, 2500, {.forwards = false, .chasePower = 8});
+			// chassis.moveToPose(-48 - 5, -48 + 8, 70, 2500, {.forwards = false, .chasePower = 8});
+			// TODO: Ishika, test line 192 (directly above) to see if it gets the bot closer to the match load position than line 191
+
 			controller.print(1, 0, "Skills Complete");
 			break;
 	}

src/global.cpp

@@ -9,17 +9,17 @@ pros::Controller controller(pros::E_CONTROLLER_MASTER);
 
 // --- Left Drivetrain Motors
 // Initializes the back left motor to port 8, reversed, with a blue gearset
-pros::Motor BLMotor(-8, pros::E_MOTOR_GEAR_BLUE);
+pros::Motor BLMotor(-1, pros::E_MOTOR_GEAR_BLUE);
 // Initializes the middle left motor to port 9, reversed, with a blue gearset
-pros::Motor MLMotor(-9, pros::E_MOTOR_GEAR_BLUE);
+pros::Motor MLMotor(-11, pros::E_MOTOR_GEAR_BLUE);
 // Initializes the front left motor to port 3, reversed, with a blue gearset
-pros::Motor FLMotor(-3, pros::E_MOTOR_GEAR_BLUE);
+pros::Motor FLMotor(-2, pros::E_MOTOR_GEAR_BLUE);
 
 // --- Right Drivetrain Motors
 // Initializes the back right motor to port 18 with a blue gearset
-pros::Motor BRMotor(18, pros::E_MOTOR_GEAR_BLUE);
+pros::Motor BRMotor(10, pros::E_MOTOR_GEAR_BLUE);
 // Initializes the middle right motor to port 19 with a blue gearset
-pros::Motor MRMotor(19, pros::E_MOTOR_GEAR_BLUE);
+pros::Motor MRMotor(9, pros::E_MOTOR_GEAR_BLUE);
 // Initializes the front right motor to port 20 with a blue gearset
 pros::Motor FRMotor(20, pros::E_MOTOR_GEAR_BLUE);
 
@@ -28,15 +28,15 @@ pros::Motor_Group LMotors({BLMotor, MLMotor, FLMotor});
 pros::Motor_Group RMotors({BRMotor, MRMotor, FRMotor});
 
 // Initializes the kicker motor to port 12, reversed, with a red (torque) gearset
-pros::Motor KickerMotor(-12, pros::E_MOTOR_GEAR_RED, pros::E_MOTOR_ENCODER_DEGREES);
+pros::Motor KickerMotor(-18, pros::E_MOTOR_GEAR_RED, pros::E_MOTOR_ENCODER_DEGREES);
 pros::Motor IntakeMotor(7, pros::E_MOTOR_GEAR_BLUE);
 
 // Initializes DigitalOut objects to control the pneumatic wings.
 pros::ADIDigitalOut HorizontalWingPistons('b');
 pros::ADIDigitalOut VerticalWingPistons('a');
 
 // Inertial Sensor
-pros::IMU Inertial(4);
+pros::IMU Inertial(8);
 
 // Initializes the Optical Sensor to port 6
 pros::Optical Optical(6);
@@ -69,8 +69,9 @@ void ControllerDisplay() {
     5: Full Autonomous Win Point
     6: No Auton
     7: Programming Skills
+    8: Makhi Programming Skills
 */
-unsigned short int autonSelect = 3;
+unsigned short int autonSelect = 8;
 
 /*
     Integer variable to represent the current game phase

src/opcontrol.cpp

@@ -21,7 +21,6 @@ float GetCurveOutput(int input) {
 void opcontrol()
 {
 	//autonomous();
-	// /*
 	ControllerDisplay();
 	// Integer variables to store the current position of the left (Axis 3) and right Y axis (Axis 2) joysticks
 	short int leftAxis;
@@ -135,5 +134,4 @@ void opcontrol()
 		// Creates a 20 millisecond delay between each loop of the driver control code to prevent the starving of PROS kernel resources
 		pros::delay(20);
 	}
-	// */
 }