Merge branch 'tag/v2.1'

Commands/Autonomous/AutoDrive.cpp

@@ -4,10 +4,10 @@
 AutoDrive::AutoDrive(double duration, double xtmp, double ytmp, double ztmp, bool useGyro): Command("AutoDrive"){
   Requires(DentRobot::drivetrain);
   SetTimeout(duration);
-  x=xtmp;
+  x = xtmp;
-  y=ytmp;
+  y = ytmp;
-  z=ztmp;
+  z = ztmp;
-  gyro=useGyro;
+  gyro = useGyro;
 }
 void AutoDrive::Initialize(){
   DentRobot::drivetrain->ResetGyro();

Commands/Autonomous/AutoDrive.h

@@ -23,9 +23,9 @@ class AutoDrive: public Command{
      *
      * @param duration Timeout in seconds
      * @param xtmp Joystick x value (default: 0.0)
-     * @param ytmp Joystick y value (default: 0.75)
+     * @param ytmp Joystick y value (default: -0.75)
      * @param ztmp Joystick z value (default: 0.0)
-     * @param useGyro Use the gyro when driving
+     * @param useGyro Use the gyro when driving (default: true)
      */
     AutoDrive(double duration, double xtmp = 0.0, double ytmp = -0.75, double ztmp = 0.0, bool useGyro = true);
     /**

Commands/Autonomous/Autonomous.cpp

@@ -71,19 +71,19 @@ Autonomous::Autonomous(int seq){
       //TODO: Implement this
       break;
     case 7:
-      // Same as auto 4 with (Three|Two) totes checked, collect bin, drive to Auto Zone (TM), release totes
+      // Same as auto 4, then collect bin, drive to Auto Zone (TM), release totes
       //TODO: Implement this
       break;
     case 8:
       //Use rear elevator to move tote
       AddSequential(new Turn(1.8));
-      AddSequential(new AutoDrive(2.3,0.0,-0.75));
+      AddSequential(new AutoDrive(2.3, 0.0, -0.75));
       AddSequential(new Turn(1.8));
       break;
     case 9:
       //Use rear elevator to move bin
-      AddSequential(new BinLower(.1));
+      AddSequential(new BinLower(0.1));
-      AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"),0.0,0.75));
+      AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0.0, 0.75));
       AddSequential(new Turn(2.1));
       break;
     default:

Commands/Autonomous/Autonomous.h

@@ -19,15 +19,27 @@
  * Sequence 2: Collects a tote, turns, then drives to the auto zone
  *
  * Sequence 3: Collects two or three totes then drives to auto zone
+ *
+ * Sequence 4: Collect one, two, or three totes, drive to Auto Zone, release totes
+ *
+ * Sequence 5: Same as auto 4, but navigate around bins (not implemented)
+ *
+ * Sequence 6: Collect 1 bin and 1 tote (not implemented)
+ *
+ * Sequence 7: Same as auto 4, then collect bin, drive to auto zone, release totes (not implemented)
+ *
+ * Sequence 8: Use rear elevator to move tote
+ *
+ * Sequence 9: Use rear elevator to move bin
  */
 class Autonomous: public CommandGroup{
   public:
     /**
      * @brief Constructs Autonomous
      *
-     * @param seq The sequence to run
+     * @param seq The sequence to run (default: 0)
      */
-    Autonomous(int seq=0);
+    Autonomous(int seq = 0);
 };
 #endif
 // vim: ts=2:sw=2:et

Commands/Autonomous/Turn.h

@@ -12,7 +12,6 @@
  * Turns the robot until a timeout is reached
  */
 class Turn: public Command{
-  private:
   public:
     /**
      * @brief Constructs Turn

Commands/BinElevator/BinCloseArms.h

@@ -5,7 +5,7 @@
 #include "WPILib.h"
 
 /**
- * @brief Closes BinElevatorArms (NOT USED)
+ * @brief Closes BinElevatorArms (unused)
  *
  * Sets the solenoid to close the arms of the BinElevator
  */
@@ -14,7 +14,7 @@ class BinCloseArms: public Command{
     /**
      * @brief Constructs BinCloseArms
      *
-     * @param timeout The timeout
+     * @param timeout Timeout in seconds (default: 0.5)
      */
     BinCloseArms(double timeout = 0.5);
     /**
@@ -40,6 +40,5 @@ class BinCloseArms: public Command{
      */
     void Interrupted();
 };
-
 #endif
 // vim: ts=2:sw=2:et

Commands/BinElevator/BinLower.h

@@ -8,12 +8,11 @@
  * @brief Lowers the bin elevator until a timeout is reached
  */
 class BinLower: public Command{
-  private:
   public:
     /**
      * @brief Constructs BinLower
      *
-     * @param timeout The timeout
+     * @param timeout Timeout in seconds
      */
     BinLower(float timeout);
     /**

Commands/BinElevator/BinOpenArms.h

@@ -12,7 +12,7 @@ class BinOpenArms: public Command{
     /**
      * @brief Constructs BinOpenArms
      *
-     * @param timeout The timeout
+     * @param timeout Timeout in seconds
      */
     BinOpenArms(double timeout);
     /**

Commands/Collector/RollIn.cpp

@@ -1,14 +1,14 @@
 #include "RollIn.h"
 RollIn::RollIn(double speed): Command("RollIn"){
-  rawSpeed=speed;
+  rawSpeed = speed;
 }
 void RollIn::Initialize(){
   printf("Initialized RollIn\n");
   SetTimeout(2.0);
 }
 void RollIn::Execute(){
-  //double cvt=(rawSpeed)*DentRobot::collector->GetSonarDistance()/0.4;
+  //double cvt = (rawSpeed)*DentRobot::collector->GetSonarDistance()/0.4;
-  //if(cvt<=1.0){
+  //if(cvt <= 1.0){
   //  DentRobot::collector->MoveRollers(1.0);
   //}else{
   //  DentRobot::collector->MoveRollers(cvt*1.5);

Commands/Collector/RollOut.h

@@ -14,9 +14,9 @@ class RollOut: public Command{
     /**
      * @brief Constructs RollOut
      *
-     * @param timeout The timeout
+     * @param timeout Timeout in seconds (default: 2.0)
      */
-    RollOut(double timeout=2.0);
+    RollOut(double timeout = 2.0);
     /**
      * @brief Initializes the class
      */

Commands/Collector/RollVar.cpp

@@ -1,6 +1,6 @@
 #include "RollVar.h"
 RollVar::RollVar(double speedVal): Command("RollVar"){
-  speed=speedVal;
+  speed = speedVal;
 }
 void RollVar::Initialize(){
   printf("Initialized RollVar\n");

Commands/Collector/RollVar.h

@@ -11,7 +11,7 @@
  */
 class RollVar: public Command{
   private:
-    double speed; //<! Speed control of the collector
+    double speed; //<! Speed multiplier of the collector
   public:
     /**
      * @brief Constructs RollVar

Commands/Drivetrain/Drive.cpp

@@ -12,10 +12,10 @@ void Drive::Execute(){
   z = DentRobot::oi->GetLeftAxis("right", "x");
   // Lock the x axis when not holding button 1
   //if(DentRobot::oi->GetLeftStick()->GetRawButton(1)){
-  //  x=0;
+  //  x = 0;
   //}
   //if(DentRobot::oi->GetLeftStick()->GetRawButton(2)){
-  //  y=0;
+  //  y = 0;
   //}
   //X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle)
   if(DentRobot::oi->GetLeftButton("y")){

Commands/Drivetrain/Drive.h

@@ -3,7 +3,6 @@
 
 #include "Commands/Command.h"
 #include "../../DentRobot.h"
-#include "../../DentRobot.h"
 #include "WPILib.h"
 
 /**

Commands/Elevator/Lower.h

@@ -11,8 +11,10 @@ class Lower: public Command{
   public:
     /**
      * @brief Constructs Lower
+     *
+     * @param timeout Timeout in seconds (default: 3.0)
      */
-    Lower(double timeout=3.0);
+    Lower(double timeout = 3.0);
     /**
      * @brief Initializes the class
      */

Commands/Elevator/Raise.cpp

@@ -11,11 +11,11 @@ void Raise::Execute(){
 }
 bool Raise::IsFinished(){
   //if(!DentRobot::elevator->GetElevatorMiddle()){
-  //  DentRobot::elevator->stoppedAtSensor=true;
+  //  DentRobot::elevator->stoppedAtSensor = true;
   //}
   //if((DentRobot::elevator->stoppedAtSensor)){
   //  printf("Stopped at the middle sensor\n");
-  //  DentRobot::elevator->stoppedAtSensor=false;
+  //  DentRobot::elevator->stoppedAtSensor = false;
   //  return true;
   //}else if(!DentRobot::elevator->GetElevatorTop()){
   if(!DentRobot::elevator->GetElevatorTop()||!DentRobot::elevator->GetElevatorMiddle()||IsTimedOut()){

Commands/Elevator/Raise.h

@@ -11,8 +11,10 @@ class Raise: public Command{
   public:
     /**
      * @brief Constructs Raise
+     *
+     * @param timeout Timeout in seconds (default: 3.5)
      */
-    Raise(double timeout=3.5);
+    Raise(double timeout = 3.5);
     /**
      * @brief Initializes the class
      */

DentRobot.cpp

@@ -2,20 +2,20 @@
 #include "OI.h"
 #include "RobotMap.h"
 #include "Commands/Autonomous/Autonomous.h"
-OI* DentRobot::oi=NULL;
+OI* DentRobot::oi = NULL;
-Collector* DentRobot::collector=NULL;
+Collector* DentRobot::collector = NULL;
-Drivetrain* DentRobot::drivetrain=NULL;
+Drivetrain* DentRobot::drivetrain = NULL;
-Elevator* DentRobot::elevator=NULL;
+Elevator* DentRobot::elevator = NULL;
-BinElevator* DentRobot::binElevator=NULL;
+BinElevator* DentRobot::binElevator = NULL;
-CommandGroup* DentRobot::aut=NULL;
+CommandGroup* DentRobot::aut = NULL;
-Pneumatics* DentRobot::pneumatics=NULL;
+Pneumatics* DentRobot::pneumatics = NULL;
 DentRobot::DentRobot(){
-  oi=new OI();
+  oi = new OI();
-  collector=new Collector();
+  collector = new Collector();
-  drivetrain=new Drivetrain();
+  drivetrain = new Drivetrain();
-  elevator=new Elevator();
+  elevator = new Elevator();
-  binElevator=new BinElevator();
+  binElevator = new BinElevator();
-  pneumatics=new Pneumatics();
+  pneumatics = new Pneumatics();
   //CameraServer::GetInstance()->SetQuality(25);
   //CameraServer::GetInstance()->StartAutomaticCapture("cam0");
   printf("The robot is on\n");
@@ -55,7 +55,7 @@ void DentRobot::DisabledPeriodic(){
   Scheduler::GetInstance()->Run();
 }
 void DentRobot::AutonomousInit(){
-  aut=new Autonomous(SmartDashboard::GetNumber("Auto Sequence"));
+  aut = new Autonomous(SmartDashboard::GetNumber("Auto Sequence"));
   printf("Enabling Auto Sequence %f\n", SmartDashboard::GetNumber("Auto Sequence"));
   if(aut != NULL){
     aut->Start();
@@ -72,8 +72,7 @@ void DentRobot::TeleopInit(){
 }
 void DentRobot::TeleopPeriodic(){
   Scheduler::GetInstance()->Run();
-  //TODO: Calibrate 1.0 to the height we want the elevator to automatically raise
+  if(elevator->GetUseEncoder()&&elevator->GetHeight() <= -1.0){
-  if(elevator->GetUseEncoder()&&elevator->GetHeight()<=-1.0){
     // Raise the elevator if it dips below elevatorTop
     oi->raise->Start();
   }

OI.cpp

@@ -12,91 +12,42 @@
 #include "Commands/Autonomous/ReleaseTote.h"
 OI::OI(){
   // Joysticks
-  leftController=new Joystick(0);
+  leftStick = new Joystick(0);
-  rightController=new Joystick(1);
+  rightStick = new Joystick(1);
   // Collector
-  JoystickButton *left10=new JoystickButton(leftController, 10);
+  JoystickButton *left1 = new JoystickButton(leftStick, 1);
-  JoystickButton *left12=new JoystickButton(leftController, 12);
+  JoystickButton *left2 = new JoystickButton(leftStick, 2);
-  JoystickButton *left9=new JoystickButton(leftController, 9);
+  JoystickButton *left7 = new JoystickButton(leftStick, 7);
-  left10->WhileHeld(new RollIn(GetLeftThrottle()));
+  left1->WhileHeld(new RollIn(GetLeftThrottle()));
-  left12->WhileHeld(new RollOut(2.0));
+  left2->WhileHeld(new RollOut(2.0));
   // 0.8 is the multiplier, so they roll at 80% power
   left9->WhileHeld(new RollVar(0.8));
   // Elevator
-  raise=new Raise(3.5);
+  raise = new Raise(3.5);
-  lower=new Lower(3.0);
+  lower = new Lower(3.0);
-  JoystickButton *right9=new JoystickButton(rghtController, 9);
+  JoystickButton *right4 = new JoystickButton(rightStick, 4);
-  JoystickButton *right11=new JoystickButton(rghtController, 11);
+  JoystickButton *right6 = new JoystickButton(rightStick, 6);
-  right9->WhenPressed(lower);
+  right4->WhenPressed(lower);
-  right9->CancelWhenPressed(raise);
+  right4->CancelWhenPressed(raise);
-  right11->WhenPressed(raise);
+  right6->WhenPressed(raise);
-  right11->CancelWhenPressed(lower);
+  right6->CancelWhenPressed(lower);
   // BinElevator
-  JoystickButton *right10=new JoystickButton(rghtController, 10);
+  JoystickButton *right3 = new JoystickButton(rightStick, 3);
-  JoystickButton *right12=new JoystickButton(rghtController, 12);
+  JoystickButton *right5 = new JoystickButton(rightStick, 5);
-  //JoystickButton *right7=new JoystickButton(rghtController, 7);
+  //JoystickButton *right7 = new JoystickButton(rightStick, 7);
-  //JoystickButton *right8=new JoystickButton(rghtController, 8);
+  //JoystickButton *right8 = new JoystickButton(rightStick, 8);
   //right7->WhenPressed(new BinOpenArms());
   //right8->WhenPressed(new BinCloseArms());
-  binRaise=new BinRaise(3.0);
+  binRaise = new BinRaise(3.0);
-  binLower=new BinLower(2.0);
+  binLower = new BinLower(2.0);
-  right10->WhileHeld(binLower);
+  right3->WhileHeld(binLower);
-  right10->CancelWhenPressed(binRaise);
+  right3->CancelWhenPressed(binRaise);
-  right12->WhileHeld(binRaise);
+  right5->WhileHeld(binRaise);
-  right12->CancelWhenPressed(binLower);
+  right5->CancelWhenPressed(binLower);
   // Cancel
-  JoystickButton *right16=new JoystickButton(rghtController, 16);
+  JoystickButton *right12 = new JoystickButton(rightStick, 12);
-  right16->CancelWhenPressed(raise);
+  right12->CancelWhenPressed(raise);
-  right16->CancelWhenPressed(lower);
+  right12->CancelWhenPressed(lower);
-}
-float OI::GetLeftAxis(std::string stick, std::string axis){
-  if(stick=="left"){
-    if(axis=="x"){
-      return leftController->GetRawAxis(0);
-    }else if(axis=="y"){
-      return -leftController->GetRawAxis(1);
-    }else if(axis=="trigger"){
-      //TODO: Figure out what axis this is
-      return leftController->GetRawAxis(4);
-      return -4;
-    }
-  }else if(stick=="right"){
-    if(axis=="x"){
-      return leftController->GetRawAxis(2);
-    }else if(axis=="y"){
-      return -leftController->GetRawAxis(3);
-    }else if(axis=="trigger"){
-      //TODO: Figure out what axis this is
-      return leftController->GetRawAxis(5);
-      return -4;
-    }
-  }
-  //TODO: Fix this placeholder for NULL
-  return -5;
-}
-bool OI::GetLeftButton(std::string button){
-    if(button=="a"){
-      return leftA->Get();
-    }else if(button=="b"){
-      return leftB->Get();
-    }else if(button=="x"){
-      return leftX->Get();
-    }else if(button=="y"){
-      return leftY->Get();
-    }else if(button=="lb"){
-      return leftLB->Get();
-    }else if(button=="rb"){
-      return leftRB->Get();
-    }else if(button=="back"){
-      return leftBack->Get();
-    }else if(button=="start"){
-      return leftStart->Get();
-    }else if(button=="lpress"){
-      return leftLPress->Get();
-    }else if(button=="rpress"){
-      return leftRPress->Get();
-    }
-    return false;
 }
 Joystick* OI::GetRightStick(){
   return rghtController;

OI.h

@@ -9,16 +9,17 @@
  */
 class OI{
   private:
-    Joystick *leftController, *rightController;
+    Joystick *leftStick,  //<! Left joystick
+             *rightStick; //<! Right joystick
   public:
     /**
      * @brief Constructs OI
      */
     OI();
-    Command *raise,    //!< Raise command
+    Command *raise,    //<! Raise command
-            *lower,    //!< Lower command
+            *lower,    //<! Lower command
-            *binLower, //!< BinLower command
+            *binLower, //<! BinLower command
-            *binRaise; //!< BinRaise command
+            *binRaise; //<! BinRaise command
     /**
      * @brief Gets the value of a throttle on the left controller
      *

Subsystems/BinElevator.cpp

@@ -1,10 +1,10 @@
 #include "BinElevator.h"
 #include "../RobotMap.h"
 BinElevator::BinElevator(){
-  motor=new CANTalon(BINELEVATOR_CAN);
+  motor = new CANTalon(BINELEVATOR_CAN);
-  elevatorEncoder=new Encoder(BINELEVATOR_ENCODERA, BINELEVATOR_ENCODERB, false);
+  elevatorEncoder = new Encoder(BINELEVATOR_ENCODERA, BINELEVATOR_ENCODERB, false);
-  elevatorBottom=new DigitalInput(BINELEVATOR_BOTTOM_DIO);
+  elevatorBottom = new DigitalInput(BINELEVATOR_BOTTOM_DIO);
-  elevatorTop=new DigitalInput(BINELEVATOR_TOP_DIO);
+  elevatorTop = new DigitalInput(BINELEVATOR_TOP_DIO);
 }
 void BinElevator::InitDefaultCommand(){
 }

Subsystems/BinElevator.h

@@ -24,9 +24,7 @@ class BinElevator{
     /**
      * @brief Runs the bin elevator
      *
-     * @param power The power to run the bin elevator
+     * @param power The power to run the bin elevator (-1.0 to 1.0)
-     * 
-     * Ranges from -1.0 to 1.0
      */
     void Run(double power);
     /**

Subsystems/Collector.cpp

@@ -2,11 +2,11 @@
 #include "../RobotMap.h"
 
 Collector::Collector(): Subsystem("Collector"){
-  collectorMotorLeft=new CANTalon(COLLECTOR_LEFT_CAN);
+  collectorMotorLeft = new CANTalon(COLLECTOR_LEFT_CAN);
-  collectorMotorBottom=new CANTalon(COLLECTOR_BOTTOM_CAN);
+  collectorMotorBottom = new CANTalon(COLLECTOR_BOTTOM_CAN);
-  collectorMotorRamp=new CANTalon(COLLECTOR_RAMP_CAN);
+  collectorMotorRamp = new CANTalon(COLLECTOR_RAMP_CAN);
-  collectorMotorRight=new CANTalon(COLLECTOR_RIGHT_CAN);
+  collectorMotorRight = new CANTalon(COLLECTOR_RIGHT_CAN);
-  sonarAnalog=new AnalogInput(COLLECTOR_SONAR_ANALOG);
+  sonarAnalog = new AnalogInput(COLLECTOR_SONAR_ANALOG);
 }
 void Collector::InitDefaultCommand(){
 }

Subsystems/Collector.h

@@ -33,25 +33,25 @@ class Collector: public Subsystem{
     /**
      * @brief Moves the collectors
      *
-     * @param power The speed to run the collectors
+     * @param power The power to run the collectors
      */
     void MoveRollers(double power);
     /**
      * @brief Moves the left roller
      *
-     * @param power The speed to run the left roller
+     * @param power The power to run the left roller
      */
     void MoveLeftRoller(double power);
     /**
      * @brief Moves the right roller
      *
-     * @param power The speed to run the right roller
+     * @param power The power to run the right roller
      */
     void MoveRightRoller(double power);
     /**
      * @brief Moves the bottom rollers
      *
-     * @param power The speed to run the bottom rollers
+     * @param power The power to run the bottom rollers
      */
     void MoveBottomRollers(double power);
     /**

Subsystems/Drivetrain.cpp

@@ -13,8 +13,7 @@ void Drivetrain::InitDefaultCommand(){
   SetDefaultCommand(new Drive());
 }
 void Drivetrain::DriveMecanum(double x, double y, double z, double sensitivity, bool driveStraight){
-  //TODO: Find the correct value for kP
+  double kP = SmartDashboard::GetNumber("Gyro kP");
-  double kP=SmartDashboard::GetNumber("Gyro kP");
   double correctX = -(sensitivity*(pow(x, 3))+(1-sensitivity)*x);
   double correctY = -(sensitivity*(pow(y, 3))+(1-sensitivity)*y);
   double correctZ;

Subsystems/Drivetrain.h

@@ -39,9 +39,9 @@ class Drivetrain: public Subsystem{
      * @param y Joystick y value (-1.0 to 1.0)
      * @param z Joystick z value (-1.0 to 1.0)
      * @param sensitivity Sensitivity (0.0 to 1.0)
-     * @param driveStraight Overrides z value to correct for motor lag
+     * @param driveStraight Overrides z value to correct for motor lag (default: false)
      */
-    void DriveMecanum(double x, double y, double z, double sensitivity, bool driveStraight=false);
+    void DriveMecanum(double x, double y, double z, double sensitivity, bool driveStraight = false);
     /**
      * @brief Tests one motor
      *

Subsystems/Elevator.cpp

@@ -1,13 +1,13 @@
 #include "Elevator.h"
 #include "../RobotMap.h"
 Elevator::Elevator(){
-  motor=new CANTalon(ELEVATOR_CAN);
+  motor = new CANTalon(ELEVATOR_CAN);
-  elevatorEncoder=new Encoder(ELEVATOR_ENCODERA, ELEVATOR_ENCODERB, false);
+  elevatorEncoder = new Encoder(ELEVATOR_ENCODERA, ELEVATOR_ENCODERB, false);
-  elevatorBottom=new DigitalInput(ELEVATOR_BOTTOM_DIO);
+  elevatorBottom = new DigitalInput(ELEVATOR_BOTTOM_DIO);
-  elevatorMiddle=new DigitalInput(ELEVATOR_MIDDLE_DIO);
+  elevatorMiddle = new DigitalInput(ELEVATOR_MIDDLE_DIO);
-  elevatorTop=new DigitalInput(ELEVATOR_TOP_DIO);
+  elevatorTop = new DigitalInput(ELEVATOR_TOP_DIO);
   // Checks if the elevator is drifting
-  useEncoder=false;
+  useEncoder = false;
 }
 void Elevator::InitDefaultCommand(){
 }
@@ -36,7 +36,7 @@ bool Elevator::GetElevatorTop(){
   return elevatorTop->Get();
 }
 void Elevator::SetUseEncoder(bool use){
-  useEncoder=use;
+  useEncoder = use;
 }
 bool Elevator::GetUseEncoder(){
   return useEncoder;

mainpage.dox

@@ -24,8 +24,6 @@
 *   -# @ref Autonomous
 *   -# @ref CollectTote
 *   -# @ref ReleaseTote
-*   -# @ref CheckDrive
-*   -# @ref CheckRobot
 * 
 * Note: Recycling containers are referred to bins throughout the project
 */