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This commit is contained in:
Adam Long 2016-09-28 18:54:01 +00:00
parent a9b18bc58a
commit b1f2c54ad2
14 changed files with 53 additions and 51 deletions
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6
src/org/usfirst/frc/team2059/robot/OI.java
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@ -35,9 +35,9 @@ public class OI {
// Print log when button 1 pressed
//joystickButtons[0][0].whenPressed(new LogEncoder());
joystickButtons[0][0].whileHeld(new SetShooterState(true));
joystickButtons[0][2].whileHeld(new SpinRollers(-0.5,false));
joystickButtons[0][3].whileHeld(new SpinRollers(1,false));
joystickButtons[0][6].whileHeld(new SpinRollers(1,true));
joystickButtons[0][2].whileHeld(new SpinRollers(-0.5, false));
joystickButtons[0][3].whileHeld(new SpinRollers(1, false));
joystickButtons[0][6].whileHeld(new SpinRollers(1, true));
// joystickButtons[0][2].whileHeld(new PIDDrive(400));
joystickButtons[1][0].whileHeld(new MoveArm(1));
joystickButtons[1][1].whileHeld(new MoveArm(-1));

4
src/org/usfirst/frc/team2059/robot/Robot.java
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@ -31,7 +31,7 @@ public class Robot extends IterativeRobot {
SmartDashboard.putData("MainArm", CommandBase.mainArm.getPIDController());
SmartDashboard.putData("LeftEncoderController", CommandBase.driveBase.getLeftController());
SmartDashboard.putData("gyroPID", CommandBase.driveBase.getGyroController());
SmartDashboard.putNumber("GyroCorrection",0.13);
SmartDashboard.putNumber("GyroCorrection", 0.13);
SmartDashboard.putBoolean("CompressorEnabled", true);
//Automatically determine if rolling in or rolling out
SmartDashboard.putBoolean("SmartRollers", false);
@ -67,7 +67,7 @@ public class Robot extends IterativeRobot {
SmartDashboard.putNumber("ArmAngleRaw", CommandBase.mainArm.getRaw());
SmartDashboard.putNumber("ArmAngleDegrees", CommandBase.mainArm.getDegrees());
SmartDashboard.putNumber("tmpRotations", CommandBase.driveBase.getLeftRotations());
if (Robot.oi.getJoysticks()[1].getRawButton(3)){
if (Robot.oi.getJoysticks()[1].getRawButton(3)) {
CommandBase.pneumatics.setArmStopState(true);
} else {
CommandBase.pneumatics.setArmStopState(false);

2
src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoDrive.java
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@ -22,7 +22,7 @@ public class AutoDrive extends CommandBase {
}
protected void execute() {
if (startDriving) {
driveBase.pidDrive(distance,SmartDashboard.getNumber("GyroCorrection"));
driveBase.pidDrive(distance, SmartDashboard.getNumber("GyroCorrection"));
}
startDriving = false;
}

10
src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoDriveStraightDistance.java
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@ -7,14 +7,14 @@ public class AutoDriveStraightDistance extends CommandBase {
public AutoDriveStraightDistance(double distance, double timeout) {
requires(driveBase);
setTimeout(timeout);
this.distance=distance;
this.distance = distance;
}
protected void initialize() {
driveBase.resetGyro();
driveBase.getLeftEncoder().reset();
driveBase.resetGyro();
driveBase.getLeftEncoder().reset();
}
protected void execute() {
driveBase.pidDrive(distance,SmartDashboard.getNumber("GyroCorrection"));
driveBase.pidDrive(distance, SmartDashboard.getNumber("GyroCorrection"));
}
protected void end() {
driveBase.getLeftController().disable();
@ -24,7 +24,7 @@ public class AutoDriveStraightDistance extends CommandBase {
end();
}
protected boolean isFinished() {
return isTimedOut() || Math.abs(distance-driveBase.getLeftRotations()) <= 3;
return isTimedOut() || Math.abs(distance - driveBase.getLeftRotations()) <= 3;
}
}
// vim: sw=2:ts=2:sts=2

6
src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoDriveStraightTime.java
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@ -7,13 +7,13 @@ public class AutoDriveStraightTime extends CommandBase {
public AutoDriveStraightTime(double speed, double time) {
requires(driveBase);
setTimeout(time);
this.speed=speed;
this.speed = speed;
}
protected void initialize() {
driveBase.resetGyro();
driveBase.resetGyro();
}
protected void execute() {
driveBase.driveStraight(-speed,SmartDashboard.getNumber("GyroCorrection"));
driveBase.driveStraight(-speed, SmartDashboard.getNumber("GyroCorrection"));
}
protected void end() {
driveBase.stopDriving();

2
src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoRotate.java
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@ -6,7 +6,7 @@ public class AutoRotate extends CommandBase {
double degrees;
public AutoRotate(double degrees) {
requires(driveBase);
this.degrees=degrees;
this.degrees = degrees;
setTimeout(2.5);
}
protected void initialize() {

2
src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineDriveStraightDistance.java
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@ -6,6 +6,6 @@ public class RoutineDriveStraightDistance extends CommandGroup {
public RoutineDriveStraightDistance() {
addSequential(new AutoSetArmStopState(true));
addSequential(new AutoResetLower(-1));
addSequential(new AutoDriveStraightDistance(200,5));
addSequential(new AutoDriveStraightDistance(200, 5));
}
}

2
src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineDriveStraightTime.java
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@ -6,6 +6,6 @@ public class RoutineDriveStraightTime extends CommandGroup {
public RoutineDriveStraightTime() {
addSequential(new AutoSetArmStopState(true));
addSequential(new AutoResetLower(-1));
addSequential(new AutoDriveStraightTime(0.5,1));
addSequential(new AutoDriveStraightTime(0.5, 1));
}
}

6
src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineRaiseArmFire.java
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@ -6,8 +6,10 @@ public class RoutineRaiseArmFire extends CommandGroup {
public RoutineRaiseArmFire() {
addSequential(new AutoSetArmPosition(90));
//Raise the arm a little before spinning rollers
try{ wait(2); }catch(Exception e){ }
addParallel(new AutoSpinRollers(0.5,5));
try {
wait(2);
} catch (Exception e) { }
addParallel(new AutoSpinRollers(0.5, 5));
addSequential(new AutoSetShooterState(true));
}
}

6
src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineShoot.java
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@ -6,11 +6,11 @@ public class RoutineShoot extends CommandGroup {
public RoutineShoot() {
addSequential(new AutoSetArmStopState(true));
addSequential(new AutoResetLower(-1));
addSequential(new AutoDriveStraightTime(0.5,1));
addSequential(new AutoDriveStraightTime(0.5, 1));
addParallel(new AutoSetArmPosition(90));
addSequential(new AutoRotate(45));
addSequential(new AutoDriveStraightTime(0.4,1.5));
addSequential(new AutoSpinRollers(1,2));
addSequential(new AutoDriveStraightTime(0.4, 1.5));
addSequential(new AutoSpinRollers(1, 2));
addSequential(new AutoSetShooterState(true));
addSequential(new AutoSetArmStopState(false));
addParallel(new AutoSetArmPosition(10));

16
src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineTwoBallDropOff.java
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@ -6,19 +6,19 @@ public class RoutineTwoBallDropOff extends CommandGroup {
public RoutineTwoBallDropOff() {
addSequential(new AutoSetArmStopState(true));
addSequential(new AutoResetLower(-1));
addSequential(new AutoDriveStraightTime(0.5,2));
addSequential(new AutoMoveArm(0.5,1));
addSequential(new AutoSpinRollers(1,2));
addSequential(new AutoDriveStraightTime(0.5, 2));
addSequential(new AutoMoveArm(0.5, 1));
addSequential(new AutoSpinRollers(1, 2));
addSequential(new AutoSetShooterState(true));
addSequential(new AutoResetLower(-1));
addSequential(new AutoRotate(180));
addSequential(new AutoSetShooterState(false));
addParallel(new AutoSpinRollers(-0.5,3));
addSequential(new AutoDriveStraightTime(0.5,2));
addParallel(new AutoSpinRollers(-0.5, 3));
addSequential(new AutoDriveStraightTime(0.5, 2));
addSequential(new AutoRotate(180));
addSequential(new AutoDriveStraightTime(0.5,2));
addSequential(new AutoMoveArm(0.5,1));
addSequential(new AutoSpinRollers(1,2));
addSequential(new AutoDriveStraightTime(0.5, 2));
addSequential(new AutoMoveArm(0.5, 1));
addSequential(new AutoSpinRollers(1, 2));
addSequential(new AutoSetShooterState(true));
addSequential(new AutoRotate(180));
addSequential(new AutoSetShooterState(false));

2
src/org/usfirst/frc/team2059/robot/commands/drivetrain/PIDDrive.java
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@ -16,7 +16,7 @@ public class PIDDrive extends CommandBase {
}
// Called repeatedly when this Command is scheduled to run
protected void execute() {
driveBase.pidDrive(count,SmartDashboard.getNumber("GyroCorrection"));
driveBase.pidDrive(count, SmartDashboard.getNumber("GyroCorrection"));
}
// Make this return true when this Command no longer needs to run execute()
protected boolean isFinished() {

38
src/org/usfirst/frc/team2059/robot/subsystems/DriveBase.java
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@ -17,9 +17,9 @@ public class DriveBase extends Subsystem {
CANTalon rightMotorTwo = new CANTalon(RobotMap.driveRightMotorTwo);
Encoder leftEncoder = new Encoder(RobotMap.driveLeftEncoderA, RobotMap.driveLeftEncoderB, false, Encoder.EncodingType.k4X);
AnalogGyro gyro = new AnalogGyro(RobotMap.gyro);
PIDController gyroController = new PIDController(0.07,0.002,0.08, new GyroPIDSource(), new MotorsPIDOutputReversed());
PIDController gyroController = new PIDController(0.07, 0.002, 0.08, new GyroPIDSource(), new MotorsPIDOutputReversed());
PIDController leftEncoderController = new PIDController(0.02, 0.002, 0.017, leftEncoder, new MotorsPIDOutput());
double encoderGyroCorrection=1;
double encoderGyroCorrection = 1;
public void initDefaultCommand() {
setDefaultCommand(new Drive());
}
@ -35,40 +35,40 @@ public class DriveBase extends Subsystem {
rightMotorOne.set((y + (x + z)) * sensitivity);
rightMotorTwo.set((y + (x + z)) * sensitivity);
}
public void driveStraight(double y, double correction){
SmartDashboard.putNumber("GyroAngle",gyro.getAngle());
leftMotorOne.set((-y + -gyro.getAngle()*correction));
leftMotorTwo.set((-y + -gyro.getAngle()*correction));
rightMotorOne.set((y + -gyro.getAngle()*correction));
rightMotorTwo.set((y + -gyro.getAngle()*correction));
public void driveStraight(double y, double correction) {
SmartDashboard.putNumber("GyroAngle", gyro.getAngle());
leftMotorOne.set((-y + -gyro.getAngle() * correction));
leftMotorTwo.set((-y + -gyro.getAngle() * correction));
rightMotorOne.set((y + -gyro.getAngle() * correction));
rightMotorTwo.set((y + -gyro.getAngle() * correction));
}
public void pidDrive(double setpoint, double correction) {
leftEncoder.reset();
leftEncoderController.enable();
leftEncoderController.setSetpoint(setpoint);
encoderGyroCorrection=-gyro.getAngle()*correction;
encoderGyroCorrection = -gyro.getAngle() * correction;
}
public void rotateAngle(double angle){
SmartDashboard.putNumber("GyroAngle",gyro.getAngle());
public void rotateAngle(double angle) {
SmartDashboard.putNumber("GyroAngle", gyro.getAngle());
gyroController.enable();
gyroController.setSetpoint(angle);
}
public PIDController getLeftController() {
return leftEncoderController;
}
public PIDController getGyroController(){
public PIDController getGyroController() {
return gyroController;
}
public double getLeftRotations() {
return leftEncoder.get();
}
public void resetGyro(){
public void resetGyro() {
gyro.reset();
}
public Encoder getLeftEncoder(){
public Encoder getLeftEncoder() {
return leftEncoder;
}
public AnalogGyro getGyro(){
public AnalogGyro getGyro() {
return gyro;
}
public class MotorsPIDOutput implements PIDOutput {
@ -89,14 +89,14 @@ public class DriveBase extends Subsystem {
rightMotorTwo.pidWrite(output);
}
}
public class GyroPIDSource implements PIDSource{
public double pidGet(){
public class GyroPIDSource implements PIDSource {
public double pidGet() {
return gyro.getAngle();
}
public PIDSourceType getPIDSourceType(){
public PIDSourceType getPIDSourceType() {
return PIDSourceType.kDisplacement;
}
public void setPIDSourceType(PIDSourceType type){
public void setPIDSourceType(PIDSourceType type) {
}
}
}