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Austen Adler 2016-07-20 15:27:35 -04:00
parent 4c80b97a13
commit b93bdc2993
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7 changed files with 195 additions and 191 deletions
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52
src/org/usfirst/frc/team2059/robot/OI.java
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@ -8,31 +8,31 @@ import org.usfirst.frc.team2059.robot.commands.ExampleCommand;
* interface to the commands and command groups that allow control of the robot. * interface to the commands and command groups that allow control of the robot.
*/ */
public class OI { public class OI {
//// CREATING BUTTONS //// CREATING BUTTONS
// One type of button is a joystick button which is any button on a joystick. // One type of button is a joystick button which is any button on a joystick.
// You create one by telling it which joystick it's on and which button // You create one by telling it which joystick it's on and which button
// number it is. // number it is.
// Joystick stick = new Joystick(port); // Joystick stick = new Joystick(port);
// Button button = new JoystickButton(stick, buttonNumber); // Button button = new JoystickButton(stick, buttonNumber);
// There are a few additional built in buttons you can use. Additionally, // There are a few additional built in buttons you can use. Additionally,
// by subclassing Button you can create custom triggers and bind those to // by subclassing Button you can create custom triggers and bind those to
// commands the same as any other Button. // commands the same as any other Button.
//// TRIGGERING COMMANDS WITH BUTTONS //// TRIGGERING COMMANDS WITH BUTTONS
// Once you have a button, it's trivial to bind it to a button in one of // Once you have a button, it's trivial to bind it to a button in one of
// three ways: // three ways:
// Start the command when the button is pressed and let it run the command // Start the command when the button is pressed and let it run the command
// until it is finished as determined by it's isFinished method. // until it is finished as determined by it's isFinished method.
// button.whenPressed(new ExampleCommand()); // button.whenPressed(new ExampleCommand());
// Run the command while the button is being held down and interrupt it once // Run the command while the button is being held down and interrupt it once
// the button is released. // the button is released.
// button.whileHeld(new ExampleCommand()); // button.whileHeld(new ExampleCommand());
// Start the command when the button is released and let it run the command // Start the command when the button is released and let it run the command
// until it is finished as determined by it's isFinished method. // until it is finished as determined by it's isFinished method.
// button.whenReleased(new ExampleCommand()); // button.whenReleased(new ExampleCommand());
} }

156
src/org/usfirst/frc/team2059/robot/Robot.java
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@ -19,90 +19,94 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
*/ */
public class Robot extends IterativeRobot { public class Robot extends IterativeRobot {
public static final ExampleSubsystem exampleSubsystem = new ExampleSubsystem(); public static final ExampleSubsystem exampleSubsystem = new ExampleSubsystem();
public static OI oi; public static OI oi;
Command autonomousCommand; Command autonomousCommand;
SendableChooser chooser; SendableChooser chooser;
/** /**
* This function is run when the robot is first started up and should be * This function is run when the robot is first started up and should be
* used for any initialization code. * used for any initialization code.
*/ */
public void robotInit() { public void robotInit() {
oi = new OI(); oi = new OI();
chooser = new SendableChooser(); chooser = new SendableChooser();
chooser.addDefault("Default Auto", new ExampleCommand()); chooser.addDefault("Default Auto", new ExampleCommand());
// chooser.addObject("My Auto", new MyAutoCommand()); // chooser.addObject("My Auto", new MyAutoCommand());
SmartDashboard.putData("Auto mode", chooser); SmartDashboard.putData("Auto mode", chooser);
} }
/**
* This function is called once each time the robot enters Disabled mode.
* You can use it to reset any subsystem information you want to clear when
* the robot is disabled.
*/
public void disabledInit(){
} /**
* This function is called once each time the robot enters Disabled mode.
public void disabledPeriodic() { * You can use it to reset any subsystem information you want to clear when
Scheduler.getInstance().run(); * the robot is disabled.
} */
public void disabledInit() {
/** }
* This autonomous (along with the chooser code above) shows how to select between different autonomous modes
* using the dashboard. The sendable chooser code works with the Java SmartDashboard. If you prefer the LabVIEW
* Dashboard, remove all of the chooser code and uncomment the getString code to get the auto name from the text box
* below the Gyro
*
* You can add additional auto modes by adding additional commands to the chooser code above (like the commented example)
* or additional comparisons to the switch structure below with additional strings & commands.
*/
public void autonomousInit() {
autonomousCommand = (Command) chooser.getSelected();
/* String autoSelected = SmartDashboard.getString("Auto Selector", "Default");
switch(autoSelected) {
case "My Auto":
autonomousCommand = new MyAutoCommand();
break;
case "Default Auto":
default:
autonomousCommand = new ExampleCommand();
break;
} */
// schedule the autonomous command (example)
if (autonomousCommand != null) autonomousCommand.start();
}
/** public void disabledPeriodic() {
* This function is called periodically during autonomous Scheduler.getInstance().run();
*/ }
public void autonomousPeriodic() {
Scheduler.getInstance().run();
}
public void teleopInit() { /**
// This makes sure that the autonomous stops running when * This autonomous (along with the chooser code above) shows how to select between different autonomous modes
// teleop starts running. If you want the autonomous to * using the dashboard. The sendable chooser code works with the Java SmartDashboard. If you prefer the LabVIEW
// continue until interrupted by another command, remove * Dashboard, remove all of the chooser code and uncomment the getString code to get the auto name from the text box
// this line or comment it out. * below the Gyro
if (autonomousCommand != null) autonomousCommand.cancel(); *
} * You can add additional auto modes by adding additional commands to the chooser code above (like the commented example)
* or additional comparisons to the switch structure below with additional strings & commands.
*/
public void autonomousInit() {
autonomousCommand = (Command) chooser.getSelected();
/** /* String autoSelected = SmartDashboard.getString("Auto Selector", "Default");
* This function is called periodically during operator control switch(autoSelected) {
*/ case "My Auto":
public void teleopPeriodic() { autonomousCommand = new MyAutoCommand();
Scheduler.getInstance().run(); break;
case "Default Auto":
default:
autonomousCommand = new ExampleCommand();
break;
} */
// schedule the autonomous command (example)
if (autonomousCommand != null) {
autonomousCommand.start();
} }
}
/**
* This function is called periodically during test mode /**
*/ * This function is called periodically during autonomous
public void testPeriodic() { */
LiveWindow.run(); public void autonomousPeriodic() {
Scheduler.getInstance().run();
}
public void teleopInit() {
// This makes sure that the autonomous stops running when
// teleop starts running. If you want the autonomous to
// continue until interrupted by another command, remove
// this line or comment it out.
if (autonomousCommand != null) {
autonomousCommand.cancel();
} }
}
/**
* This function is called periodically during operator control
*/
public void teleopPeriodic() {
Scheduler.getInstance().run();
}
/**
* This function is called periodically during test mode
*/
public void testPeriodic() {
LiveWindow.run();
}
} }

58
src/org/usfirst/frc/team2059/robot/RobotMap.java
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@ -1,37 +1,37 @@
package org.usfirst.frc.team2059.robot; package org.usfirst.frc.team2059.robot;
public class RobotMap { public class RobotMap {
//Drive //Drive
public static int driveLeftMotorOne = 1; public static int driveLeftMotorOne = 1;
public static int driveLeftMotorTwo = 2; public static int driveLeftMotorTwo = 2;
public static int driveRightMotorOne = 1; public static int driveRightMotorOne = 1;
public static int driveRightMotorTwo = 2; public static int driveRightMotorTwo = 2;
public static int driveRightEncoder = 0; public static int driveRightEncoder = 0;
public static int driveLeftEncoder = 1; public static int driveLeftEncoder = 1;
//Arm //Arm
public static double zeroDegrees = 0.1; public static double zeroDegrees = 0.1;
public static double ninetyDegrees = 0.7; public static double ninetyDegrees = 0.7;
public static int armPot = 0; public static int armPot = 0;
public static int armLeftMotor = 5; public static int armLeftMotor = 5;
public static int armRightMotor = 6; public static int armRightMotor = 6;
//Shooter //Shooter
public static int shooterLeftMotor = 7; public static int shooterLeftMotor = 7;
public static int shooterRightMotor = 8; public static int shooterRightMotor = 8;
//Pneumatics //Pneumatics
public static int pcmID = 31; public static int pcmID = 31;
public static int shooterSolenoidOne = 0; public static int shooterSolenoidOne = 0;
public static int shooterSolenoidTwo = 1; public static int shooterSolenoidTwo = 1;
public static int portcullisSolenoidOne = 2; public static int portcullisSolenoidOne = 2;
public static int portcullisSolenoidTwo = 3; public static int portcullisSolenoidTwo = 3;
public static int armStopSolenoidOne = 4; public static int armStopSolenoidOne = 4;
public static int armStopSolenoidTwo = 5; public static int armStopSolenoidTwo = 5;
//Misc //Misc
public static int mainArmPresetCollect = 0; public static int mainArmPresetCollect = 0;
public static int mainArmPresetTraverse = 5; public static int mainArmPresetTraverse = 5;
public static int mainArmPresetCloseShot = 95; public static int mainArmPresetCloseShot = 95;
public static int mainArmPresetFarShot = 85; public static int mainArmPresetFarShot = 85;
} }

38
src/org/usfirst/frc/team2059/robot/commands/Drive.java
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@ -6,28 +6,28 @@ import edu.wpi.first.wpilibj.command.Command;
*/ */
public class Drive extends Command { public class Drive extends Command {
public Drive() { public Drive() {
} }
// Called just before this Command runs the first time // Called just before this Command runs the first time
protected void initialize() { protected void initialize() {
} }
// Called repeatedly when this Command is scheduled to run // Called repeatedly when this Command is scheduled to run
protected void execute() { protected void execute() {
} }
// Make this return true when this Command no longer needs to run execute() // Make this return true when this Command no longer needs to run execute()
protected boolean isFinished() { protected boolean isFinished() {
return false; return false;
} }
// Called once after isFinished returns true // Called once after isFinished returns true
protected void end() { protected void end() {
} }
// Called when another command which requires one or more of the same // Called when another command which requires one or more of the same
// subsystems is scheduled to run // subsystems is scheduled to run
protected void interrupted() { protected void interrupted() {
} }
} }

42
src/org/usfirst/frc/team2059/robot/commands/ExampleCommand.java
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@ -10,30 +10,30 @@ import org.usfirst.frc.team2059.robot.Robot;
*/ */
public class ExampleCommand extends Command { public class ExampleCommand extends Command {
public ExampleCommand() { public ExampleCommand() {
// Use requires() here to declare subsystem dependencies // Use requires() here to declare subsystem dependencies
requires(Robot.exampleSubsystem); requires(Robot.exampleSubsystem);
} }
// Called just before this Command runs the first time // Called just before this Command runs the first time
protected void initialize() { protected void initialize() {
} }
// Called repeatedly when this Command is scheduled to run // Called repeatedly when this Command is scheduled to run
protected void execute() { protected void execute() {
} }
// Make this return true when this Command no longer needs to run execute() // Make this return true when this Command no longer needs to run execute()
protected boolean isFinished() { protected boolean isFinished() {
return false; return false;
} }
// Called once after isFinished returns true // Called once after isFinished returns true
protected void end() { protected void end() {
} }
// Called when another command which requires one or more of the same // Called when another command which requires one or more of the same
// subsystems is scheduled to run // subsystems is scheduled to run
protected void interrupted() { protected void interrupted() {
} }
} }

26
src/org/usfirst/frc/team2059/robot/subsystems/Drivebase.java
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@ -8,20 +8,20 @@ import edu.wpi.first.wpilibj.CANTalon;
public class Drivebase extends Subsystem { public class Drivebase extends Subsystem {
CANTalon leftMotorOne = new CANTalon(RobotMap.driveLeftMotorOne); CANTalon leftMotorOne = new CANTalon(RobotMap.driveLeftMotorOne);
CANTalon leftMotorTwo = new CANTalon(RobotMap.driveLeftMotorTwo); CANTalon leftMotorTwo = new CANTalon(RobotMap.driveLeftMotorTwo);
CANTalon rightMotorOne = new CANTalon(RobotMap.driveRightMotorOne); CANTalon rightMotorOne = new CANTalon(RobotMap.driveRightMotorOne);
CANTalon rightMotorTwo = new CANTalon(RobotMap.driveRightMotorOne); CANTalon rightMotorTwo = new CANTalon(RobotMap.driveRightMotorOne);
public void initDefaultCommand() { public void initDefaultCommand() {
setDefaultCommand(new Drive()); setDefaultCommand(new Drive());
} }
public void driveArcade(double x, double y, double z, double sensitivity){ public void driveArcade(double x, double y, double z, double sensitivity) {
leftMotorOne.set(-y+(x+z)); leftMotorOne.set(-y + (x + z));
leftMotorTwo.set(-y+(x+z)); leftMotorTwo.set(-y + (x + z));
rightMotorOne.set(y+(x+z)); rightMotorOne.set(y + (x + z));
rightMotorTwo.set(y+(x+z)); rightMotorTwo.set(y + (x + z));
} }
} }

14
src/org/usfirst/frc/team2059/robot/subsystems/ExampleSubsystem.java
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@ -7,13 +7,13 @@ import edu.wpi.first.wpilibj.command.Subsystem;
* *
*/ */
public class ExampleSubsystem extends Subsystem { public class ExampleSubsystem extends Subsystem {
// Put methods for controlling this subsystem
// here. Call these from Commands.
public void initDefaultCommand() { // Put methods for controlling this subsystem
// Set the default command for a subsystem here. // here. Call these from Commands.
//setDefaultCommand(new MySpecialCommand());
} public void initDefaultCommand() {
// Set the default command for a subsystem here.
//setDefaultCommand(new MySpecialCommand());
}
} }