forked from int0x191f2/ford-java
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@ -8,31 +8,31 @@ import org.usfirst.frc.team2059.robot.commands.ExampleCommand;
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* interface to the commands and command groups that allow control of the robot.
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*/
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public class OI {
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//// CREATING BUTTONS
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// One type of button is a joystick button which is any button on a joystick.
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// You create one by telling it which joystick it's on and which button
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// number it is.
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// Joystick stick = new Joystick(port);
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// Button button = new JoystickButton(stick, buttonNumber);
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// There are a few additional built in buttons you can use. Additionally,
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// by subclassing Button you can create custom triggers and bind those to
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// commands the same as any other Button.
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//// TRIGGERING COMMANDS WITH BUTTONS
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// Once you have a button, it's trivial to bind it to a button in one of
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// three ways:
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// Start the command when the button is pressed and let it run the command
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// until it is finished as determined by it's isFinished method.
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// button.whenPressed(new ExampleCommand());
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// Run the command while the button is being held down and interrupt it once
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// the button is released.
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// button.whileHeld(new ExampleCommand());
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// Start the command when the button is released and let it run the command
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// until it is finished as determined by it's isFinished method.
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// button.whenReleased(new ExampleCommand());
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//// CREATING BUTTONS
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// One type of button is a joystick button which is any button on a joystick.
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// You create one by telling it which joystick it's on and which button
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// number it is.
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// Joystick stick = new Joystick(port);
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// Button button = new JoystickButton(stick, buttonNumber);
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// There are a few additional built in buttons you can use. Additionally,
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// by subclassing Button you can create custom triggers and bind those to
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// commands the same as any other Button.
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//// TRIGGERING COMMANDS WITH BUTTONS
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// Once you have a button, it's trivial to bind it to a button in one of
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// three ways:
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// Start the command when the button is pressed and let it run the command
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// until it is finished as determined by it's isFinished method.
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// button.whenPressed(new ExampleCommand());
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// Run the command while the button is being held down and interrupt it once
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// the button is released.
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// button.whileHeld(new ExampleCommand());
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// Start the command when the button is released and let it run the command
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// until it is finished as determined by it's isFinished method.
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// button.whenReleased(new ExampleCommand());
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}
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@ -19,90 +19,94 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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*/
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public class Robot extends IterativeRobot {
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public static final ExampleSubsystem exampleSubsystem = new ExampleSubsystem();
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public static OI oi;
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public static final ExampleSubsystem exampleSubsystem = new ExampleSubsystem();
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public static OI oi;
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Command autonomousCommand;
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SendableChooser chooser;
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Command autonomousCommand;
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SendableChooser chooser;
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/**
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* This function is run when the robot is first started up and should be
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* used for any initialization code.
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*/
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public void robotInit() {
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oi = new OI();
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chooser = new SendableChooser();
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chooser.addDefault("Default Auto", new ExampleCommand());
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/**
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* This function is run when the robot is first started up and should be
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* used for any initialization code.
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*/
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public void robotInit() {
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oi = new OI();
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chooser = new SendableChooser();
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chooser.addDefault("Default Auto", new ExampleCommand());
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// chooser.addObject("My Auto", new MyAutoCommand());
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SmartDashboard.putData("Auto mode", chooser);
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}
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/**
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* This function is called once each time the robot enters Disabled mode.
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* You can use it to reset any subsystem information you want to clear when
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* the robot is disabled.
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*/
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public void disabledInit(){
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SmartDashboard.putData("Auto mode", chooser);
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}
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}
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public void disabledPeriodic() {
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Scheduler.getInstance().run();
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}
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/**
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* This function is called once each time the robot enters Disabled mode.
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* You can use it to reset any subsystem information you want to clear when
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* the robot is disabled.
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*/
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public void disabledInit() {
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/**
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* This autonomous (along with the chooser code above) shows how to select between different autonomous modes
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* using the dashboard. The sendable chooser code works with the Java SmartDashboard. If you prefer the LabVIEW
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* Dashboard, remove all of the chooser code and uncomment the getString code to get the auto name from the text box
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* below the Gyro
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*
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* You can add additional auto modes by adding additional commands to the chooser code above (like the commented example)
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* or additional comparisons to the switch structure below with additional strings & commands.
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*/
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public void autonomousInit() {
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autonomousCommand = (Command) chooser.getSelected();
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/* String autoSelected = SmartDashboard.getString("Auto Selector", "Default");
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switch(autoSelected) {
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case "My Auto":
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autonomousCommand = new MyAutoCommand();
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break;
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case "Default Auto":
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default:
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autonomousCommand = new ExampleCommand();
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break;
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} */
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// schedule the autonomous command (example)
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if (autonomousCommand != null) autonomousCommand.start();
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}
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}
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/**
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* This function is called periodically during autonomous
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*/
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public void autonomousPeriodic() {
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Scheduler.getInstance().run();
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}
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public void disabledPeriodic() {
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Scheduler.getInstance().run();
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}
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public void teleopInit() {
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// This makes sure that the autonomous stops running when
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// teleop starts running. If you want the autonomous to
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// continue until interrupted by another command, remove
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// this line or comment it out.
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if (autonomousCommand != null) autonomousCommand.cancel();
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}
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/**
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* This autonomous (along with the chooser code above) shows how to select between different autonomous modes
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* using the dashboard. The sendable chooser code works with the Java SmartDashboard. If you prefer the LabVIEW
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* Dashboard, remove all of the chooser code and uncomment the getString code to get the auto name from the text box
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* below the Gyro
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*
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* You can add additional auto modes by adding additional commands to the chooser code above (like the commented example)
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* or additional comparisons to the switch structure below with additional strings & commands.
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*/
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public void autonomousInit() {
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autonomousCommand = (Command) chooser.getSelected();
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/**
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* This function is called periodically during operator control
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*/
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public void teleopPeriodic() {
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Scheduler.getInstance().run();
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/* String autoSelected = SmartDashboard.getString("Auto Selector", "Default");
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switch(autoSelected) {
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case "My Auto":
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autonomousCommand = new MyAutoCommand();
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break;
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case "Default Auto":
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default:
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autonomousCommand = new ExampleCommand();
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break;
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} */
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// schedule the autonomous command (example)
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if (autonomousCommand != null) {
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autonomousCommand.start();
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}
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/**
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* This function is called periodically during test mode
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*/
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public void testPeriodic() {
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LiveWindow.run();
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}
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/**
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* This function is called periodically during autonomous
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*/
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public void autonomousPeriodic() {
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Scheduler.getInstance().run();
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}
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public void teleopInit() {
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// This makes sure that the autonomous stops running when
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// teleop starts running. If you want the autonomous to
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// continue until interrupted by another command, remove
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// this line or comment it out.
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if (autonomousCommand != null) {
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autonomousCommand.cancel();
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}
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}
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/**
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* This function is called periodically during operator control
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*/
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public void teleopPeriodic() {
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Scheduler.getInstance().run();
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}
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/**
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* This function is called periodically during test mode
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*/
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public void testPeriodic() {
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LiveWindow.run();
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}
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}
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@ -1,37 +1,37 @@
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package org.usfirst.frc.team2059.robot;
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public class RobotMap {
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//Drive
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public static int driveLeftMotorOne = 1;
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public static int driveLeftMotorTwo = 2;
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public static int driveRightMotorOne = 1;
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public static int driveRightMotorTwo = 2;
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public static int driveRightEncoder = 0;
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public static int driveLeftEncoder = 1;
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//Drive
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public static int driveLeftMotorOne = 1;
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public static int driveLeftMotorTwo = 2;
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public static int driveRightMotorOne = 1;
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public static int driveRightMotorTwo = 2;
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public static int driveRightEncoder = 0;
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public static int driveLeftEncoder = 1;
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//Arm
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public static double zeroDegrees = 0.1;
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public static double ninetyDegrees = 0.7;
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public static int armPot = 0;
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public static int armLeftMotor = 5;
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public static int armRightMotor = 6;
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//Arm
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public static double zeroDegrees = 0.1;
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public static double ninetyDegrees = 0.7;
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public static int armPot = 0;
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public static int armLeftMotor = 5;
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public static int armRightMotor = 6;
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//Shooter
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public static int shooterLeftMotor = 7;
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public static int shooterRightMotor = 8;
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//Shooter
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public static int shooterLeftMotor = 7;
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public static int shooterRightMotor = 8;
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//Pneumatics
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public static int pcmID = 31;
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public static int shooterSolenoidOne = 0;
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public static int shooterSolenoidTwo = 1;
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public static int portcullisSolenoidOne = 2;
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public static int portcullisSolenoidTwo = 3;
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public static int armStopSolenoidOne = 4;
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public static int armStopSolenoidTwo = 5;
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//Pneumatics
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public static int pcmID = 31;
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public static int shooterSolenoidOne = 0;
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public static int shooterSolenoidTwo = 1;
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public static int portcullisSolenoidOne = 2;
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public static int portcullisSolenoidTwo = 3;
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public static int armStopSolenoidOne = 4;
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public static int armStopSolenoidTwo = 5;
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//Misc
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public static int mainArmPresetCollect = 0;
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public static int mainArmPresetTraverse = 5;
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public static int mainArmPresetCloseShot = 95;
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public static int mainArmPresetFarShot = 85;
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//Misc
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public static int mainArmPresetCollect = 0;
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public static int mainArmPresetTraverse = 5;
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public static int mainArmPresetCloseShot = 95;
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public static int mainArmPresetFarShot = 85;
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}
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@ -6,28 +6,28 @@ import edu.wpi.first.wpilibj.command.Command;
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*/
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public class Drive extends Command {
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public Drive() {
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}
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public Drive() {
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}
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// Called just before this Command runs the first time
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protected void initialize() {
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}
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// Called just before this Command runs the first time
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protected void initialize() {
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}
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// Called repeatedly when this Command is scheduled to run
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protected void execute() {
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}
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// Called repeatedly when this Command is scheduled to run
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protected void execute() {
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}
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// Make this return true when this Command no longer needs to run execute()
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protected boolean isFinished() {
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return false;
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}
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// Make this return true when this Command no longer needs to run execute()
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protected boolean isFinished() {
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return false;
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}
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// Called once after isFinished returns true
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protected void end() {
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}
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// Called once after isFinished returns true
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protected void end() {
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}
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// Called when another command which requires one or more of the same
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// subsystems is scheduled to run
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protected void interrupted() {
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}
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// Called when another command which requires one or more of the same
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// subsystems is scheduled to run
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protected void interrupted() {
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}
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}
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@ -10,30 +10,30 @@ import org.usfirst.frc.team2059.robot.Robot;
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*/
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public class ExampleCommand extends Command {
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public ExampleCommand() {
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// Use requires() here to declare subsystem dependencies
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requires(Robot.exampleSubsystem);
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}
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public ExampleCommand() {
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// Use requires() here to declare subsystem dependencies
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requires(Robot.exampleSubsystem);
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}
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// Called just before this Command runs the first time
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protected void initialize() {
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}
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// Called just before this Command runs the first time
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protected void initialize() {
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}
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// Called repeatedly when this Command is scheduled to run
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protected void execute() {
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}
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// Called repeatedly when this Command is scheduled to run
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protected void execute() {
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}
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// Make this return true when this Command no longer needs to run execute()
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protected boolean isFinished() {
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return false;
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}
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// Make this return true when this Command no longer needs to run execute()
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protected boolean isFinished() {
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return false;
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}
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// Called once after isFinished returns true
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protected void end() {
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}
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// Called once after isFinished returns true
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protected void end() {
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}
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// Called when another command which requires one or more of the same
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// subsystems is scheduled to run
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protected void interrupted() {
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}
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// Called when another command which requires one or more of the same
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// subsystems is scheduled to run
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protected void interrupted() {
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}
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}
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@ -8,20 +8,20 @@ import edu.wpi.first.wpilibj.CANTalon;
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public class Drivebase extends Subsystem {
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CANTalon leftMotorOne = new CANTalon(RobotMap.driveLeftMotorOne);
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CANTalon leftMotorTwo = new CANTalon(RobotMap.driveLeftMotorTwo);
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CANTalon rightMotorOne = new CANTalon(RobotMap.driveRightMotorOne);
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CANTalon rightMotorTwo = new CANTalon(RobotMap.driveRightMotorOne);
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CANTalon leftMotorOne = new CANTalon(RobotMap.driveLeftMotorOne);
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CANTalon leftMotorTwo = new CANTalon(RobotMap.driveLeftMotorTwo);
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CANTalon rightMotorOne = new CANTalon(RobotMap.driveRightMotorOne);
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CANTalon rightMotorTwo = new CANTalon(RobotMap.driveRightMotorOne);
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public void initDefaultCommand() {
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setDefaultCommand(new Drive());
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}
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public void initDefaultCommand() {
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setDefaultCommand(new Drive());
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}
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public void driveArcade(double x, double y, double z, double sensitivity){
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leftMotorOne.set(-y+(x+z));
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leftMotorTwo.set(-y+(x+z));
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rightMotorOne.set(y+(x+z));
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rightMotorTwo.set(y+(x+z));
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}
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public void driveArcade(double x, double y, double z, double sensitivity) {
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leftMotorOne.set(-y + (x + z));
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leftMotorTwo.set(-y + (x + z));
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rightMotorOne.set(y + (x + z));
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rightMotorTwo.set(y + (x + z));
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}
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}
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@ -7,13 +7,13 @@ import edu.wpi.first.wpilibj.command.Subsystem;
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*
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*/
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public class ExampleSubsystem extends Subsystem {
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// Put methods for controlling this subsystem
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// here. Call these from Commands.
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public void initDefaultCommand() {
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// Set the default command for a subsystem here.
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//setDefaultCommand(new MySpecialCommand());
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}
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// Put methods for controlling this subsystem
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// here. Call these from Commands.
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public void initDefaultCommand() {
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// Set the default command for a subsystem here.
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//setDefaultCommand(new MySpecialCommand());
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}
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}
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