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This commit is contained in:
Austen Adler 2016-09-16 18:27:04 -04:00
parent 901aa58894
commit 3b1efebba8
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GPG Key ID: 7ECEE590CCDFE3F1
13 changed files with 48 additions and 52 deletions
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1
src/org/usfirst/frc/team2059/robot/OI.java
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@ -35,7 +35,6 @@ public class OI {
joystickButtons[0][0].whileHeld(new SpinRollers(1));
joystickButtons[0][1].whileHeld(new SetShooterState(true));
// joystickButtons[0][2].whileHeld(new PIDDrive(400));
joystickButtons[1][0].whileHeld(new MoveArm(0.5));
joystickButtons[1][1].whileHeld(new MoveArm(-0.5));
joystickButtons[1][2].whileHeld(new SetArmPosition(RobotMap.mainArmPresetCollect));

14
src/org/usfirst/frc/team2059/robot/Robot.java
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@ -15,11 +15,11 @@ public class Robot extends IterativeRobot {
oi = new OI();
chooser = new SendableChooser();
SmartDashboard.putData("Auto mode", chooser);
SmartDashboard.putData("MainArm",CommandBase.mainArm.getPIDController());
SmartDashboard.putData("LeftEncoderController",CommandBase.driveBase.getLeftController());
SmartDashboard.putBoolean("CompressorEnabled",true);
SmartDashboard.putData("MainArm", CommandBase.mainArm.getPIDController());
SmartDashboard.putData("LeftEncoderController", CommandBase.driveBase.getLeftController());
SmartDashboard.putBoolean("CompressorEnabled", true);
//Automatically determine if rolling in or rolling out
SmartDashboard.putBoolean("SmartRollers",true);
SmartDashboard.putBoolean("SmartRollers", true);
}
public void disabledInit() {
}
@ -44,9 +44,9 @@ public class Robot extends IterativeRobot {
}
public void teleopPeriodic() {
Scheduler.getInstance().run();
SmartDashboard.putNumber("ArmAngleRaw",CommandBase.mainArm.getRaw());
SmartDashboard.putNumber("ArmAngleDegrees",CommandBase.mainArm.getDegrees());
SmartDashboard.putNumber("tmpRotations",CommandBase.driveBase.getLeftRotations());
SmartDashboard.putNumber("ArmAngleRaw", CommandBase.mainArm.getRaw());
SmartDashboard.putNumber("ArmAngleDegrees", CommandBase.mainArm.getDegrees());
SmartDashboard.putNumber("tmpRotations", CommandBase.driveBase.getLeftRotations());
CommandBase.pneumatics.setCompressorEnabled(SmartDashboard.getBoolean("CompressorEnabled"));
System.out.println(CommandBase.mainArm.getDegrees());
}

2
src/org/usfirst/frc/team2059/robot/commands/MoveArm.java
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@ -8,7 +8,7 @@ public class MoveArm extends CommandBase {
double speed;
public MoveArm(double s) {
requires(mainArm);
speed=s;
speed = s;
}
// Called just before this Command runs the first time
protected void initialize() {

2
src/org/usfirst/frc/team2059/robot/commands/PIDDrive.java
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@ -8,7 +8,7 @@ public class PIDDrive extends CommandBase {
double count;
public PIDDrive(double c) {
requires(driveBase);
count=c;
count = c;
}
// Called just before this Command runs the first time
protected void initialize() {

6
src/org/usfirst/frc/team2059/robot/commands/SetArmPosition.java
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@ -9,7 +9,7 @@ public class SetArmPosition extends CommandBase {
double pos;
public SetArmPosition(double p) {
requires(mainArm);
pos=p;
pos = p;
}
// Called just before this Command runs the first time
protected void initialize() {
@ -17,9 +17,9 @@ public class SetArmPosition extends CommandBase {
// Called repeatedly when this Command is scheduled to run
protected void execute() {
//Move the arm stop
if(pos==RobotMap.mainArmPresetCollect){
if (pos == RobotMap.mainArmPresetCollect) {
pneumatics.setArmStopState(true);
}else if((pos!=RobotMap.mainArmPresetCollect)&&(mainArm.getDegrees()>2)){
} else if ((pos != RobotMap.mainArmPresetCollect) && (mainArm.getDegrees() > 2)) {
pneumatics.setArmStopState(false);
}
mainArm.enable();

2
src/org/usfirst/frc/team2059/robot/commands/SetArmStopState.java
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@ -7,7 +7,7 @@ import org.usfirst.frc.team2059.robot.Robot;
public class SetArmStopState extends CommandBase {
boolean state;
public SetArmStopState(boolean s) {
state=s;
state = s;
}
// Called just before this Command runs the first time
protected void initialize() {

2
src/org/usfirst/frc/team2059/robot/commands/SetShooterState.java
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@ -7,7 +7,7 @@ import org.usfirst.frc.team2059.robot.Robot;
public class SetShooterState extends CommandBase {
boolean state;
public SetShooterState(boolean s) {
state=s;
state = s;
}
// Called just before this Command runs the first time
protected void initialize() {

2
src/org/usfirst/frc/team2059/robot/commands/ShootAtSpeed.java
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@ -8,7 +8,7 @@ import org.usfirst.frc.team2059.robot.RobotMap;
public class ShootAtSpeed extends CommandBase {
double speed;
public ShootAtSpeed(double s) {
speed=s;
speed = s;
}
// Called just before this Command runs the first time
protected void initialize() {

6
src/org/usfirst/frc/team2059/robot/commands/SpinRollers.java
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@ -8,16 +8,16 @@ import org.usfirst.frc.team2059.robot.Robot;
public class SpinRollers extends CommandBase {
double speed;
public SpinRollers(double s) {
speed=s;
speed = s;
}
// Called just before this Command runs the first time
protected void initialize() {
}
// Called repeatedly when this Command is scheduled to run
protected void execute() {
if(SmartDashboard.getBoolean("SmartRollers") && mainArm.getDegrees()<5){
if (SmartDashboard.getBoolean("SmartRollers") && mainArm.getDegrees() < 5) {
shooter.shootAtSpeed(-.5);
}else{
} else {
shooter.shootAtSpeed(speed);
}
}

17
src/org/usfirst/frc/team2059/robot/subsystems/DriveBase.java
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@ -11,10 +11,8 @@ public class DriveBase extends Subsystem {
CANTalon leftMotorTwo = new CANTalon(RobotMap.driveLeftMotorTwo);
CANTalon rightMotorOne = new CANTalon(RobotMap.driveRightMotorOne);
CANTalon rightMotorTwo = new CANTalon(RobotMap.driveRightMotorTwo);
Encoder leftEncoder = new Encoder(RobotMap.driveLeftEncoderA,RobotMap.driveLeftEncoderB,false,Encoder.EncodingType.k2X);
PIDController leftEncoderController = new PIDController(0.02,0.002,0.017,leftEncoder,new MotorsPIDOutput());
Encoder leftEncoder = new Encoder(RobotMap.driveLeftEncoderA, RobotMap.driveLeftEncoderB, false, Encoder.EncodingType.k2X);
PIDController leftEncoderController = new PIDController(0.02, 0.002, 0.017, leftEncoder, new MotorsPIDOutput());
public void initDefaultCommand() {
setDefaultCommand(new Drive());
}
@ -24,21 +22,20 @@ public class DriveBase extends Subsystem {
rightMotorOne.set(y + (x + z));
rightMotorTwo.set(y + (x + z));
}
public void pidDrive(double setpoint){
public void pidDrive(double setpoint) {
leftEncoder.reset();
leftEncoderController.enable();
leftEncoderController.setSetpoint(setpoint);
}
public PIDController getLeftController(){
public PIDController getLeftController() {
return leftEncoderController;
}
public double getLeftRotations(){
public double getLeftRotations() {
return leftEncoder.get();
}
public class MotorsPIDOutput implements PIDOutput{
public class MotorsPIDOutput implements PIDOutput {
@Override
public void pidWrite(double output){
public void pidWrite(double output) {
leftMotorOne.pidWrite(output);
leftMotorTwo.pidWrite(output);
rightMotorOne.pidWrite(-output);

20
src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
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@ -8,36 +8,36 @@ public class MainArm extends PIDSubsystem {
CANTalon armMotorLeft = new CANTalon(RobotMap.armLeftMotor);
CANTalon armMotorRight = new CANTalon(RobotMap.armRightMotor);
AnalogInput pot = new AnalogInput(RobotMap.armPot);
public MainArm(){
super("MainArm",0.06,0.0,0.002);
public MainArm() {
super("MainArm", 0.06, 0.0, 0.002);
getPIDController().setContinuous(false);
setSetpoint(RobotMap.mainArmPresetTraverse);
enable();
}
public void initDefaultCommand() {
}
public void moveArm(double speed){
public void moveArm(double speed) {
armMotorLeft.set(-speed);
armMotorRight.set(speed);
}
protected double returnPIDInput(){
protected double returnPIDInput() {
return getDegrees();
}
protected void usePIDOutput(double output){
protected void usePIDOutput(double output) {
armMotorLeft.set(-output);
armMotorRight.set(output);
}
public double getRaw(){
public double getRaw() {
return pot.getAverageVoltage();
}
public double getDegrees(){
public double getDegrees() {
return potToDegrees(getRaw());
}
private double potToDegrees(double pot){
private double potToDegrees(double pot) {
double min = RobotMap.zeroDegrees;
double max = RobotMap.ninetyDegrees;
System.out.println((pot-min)/(Math.abs(min-max)/90));
return (pot-min)/(Math.abs(min-max)/90);
System.out.println((pot - min) / (Math.abs(min - max) / 90));
return (pot - min) / (Math.abs(min - max) / 90);
}
}
// vim: sw=2:ts=2:sts=2

24
src/org/usfirst/frc/team2059/robot/subsystems/Pneumatics.java
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@ -11,32 +11,32 @@ public class Pneumatics extends Subsystem {
boolean shooterState, armStopState;
public void initDefaultCommand() {
}
public void setCompressorEnabled(boolean state){
public void setCompressorEnabled(boolean state) {
compressor.setClosedLoopControl(state);
}
public void setShooterState(boolean state){
if(state){
public void setShooterState(boolean state) {
if (state) {
shooterSolenoid.set(DoubleSolenoid.Value.kForward);
}else{
} else {
shooterSolenoid.set(DoubleSolenoid.Value.kReverse);
}
shooterState=state;
shooterState = state;
}
public void setArmStopState(boolean state){
if(state){
public void setArmStopState(boolean state) {
if (state) {
armStopSolenoid.set(DoubleSolenoid.Value.kForward);
}else{
} else {
armStopSolenoid.set(DoubleSolenoid.Value.kReverse);
}
armStopState=state;
armStopState = state;
}
public boolean getShooterState(){
public boolean getShooterState() {
return shooterState;
}
public boolean getArmStopState(){
public boolean getArmStopState() {
return armStopState;
}
public boolean getCompressorEnabled(){
public boolean getCompressorEnabled() {
return compressor.enabled();
}
}

2
src/org/usfirst/frc/team2059/robot/subsystems/Shooter.java
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@ -7,7 +7,7 @@ public class Shooter extends Subsystem {
CANTalon shooterMotorRight = new CANTalon(RobotMap.shooterRightMotor);
public void initDefaultCommand() {
}
public void shootAtSpeed(double speed){
public void shootAtSpeed(double speed) {
shooterMotorRight.set(speed);
shooterMotorLeft.set(speed);
}