1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
|
package org.usfirst.frc.team4272.robot2016;
import org.usfirst.frc.team4272.robotlib.Xbox360Controller.Axis;
import org.usfirst.frc.team4272.robotlib.Xbox360Controller.Button;
import edu.wpi.first.wpilibj.Joystick;
public class Teleop {
private final HwRobot robot;
private final double armSoftStop = 95;//295;
public Teleop(HwRobot robot) {
this.robot = robot;
robot.armE.reset();
}
private static double jsScale(Joystick j) {
double y = -j.getY();/* +:forward; -:backward */
double z = -j.getZ();/* +:more-sensitive; -:less-sensitive */
return Math.copySign(Math.pow(Math.abs(y), 2.0-z), y);
}
private static double bound(double min, double v, double max) {
return Math.min(Math.max(v, min), max);
}
private static double oneIf(boolean b) {
return b ? 1 : 0;
}
public Control run(Control control, HwOI oi) {
/* Drive */
control.lDrive1 = jsScale(oi.lStick);
control.rDrive1 = jsScale(oi.rStick);
control.lDrive2 = oi.lStick.getTrigger() ? control.lDrive1 : 0;
control.rDrive2 = oi.rStick.getTrigger() ? control.rDrive1 : 0;
control.arm = -oi.xbox.getAxis(Axis.LY);
double fBall = oi.xbox.getAxis(Axis.RTrigger) - oi.xbox.getAxis(Axis.LTrigger);
double bBall = bound(-1, fBall, 0) + oneIf(oi.xbox.getButton(Button.A)) - oneIf(oi.xbox.getButton(Button.B));
boolean ballL = robot.ballL.get();
control.fBall = bound(-oneIf(ballL), fBall, 1);
control.bBall = bound(-oneIf(ballL), bBall < 0 ? 0.75*bBall : bBall, 1);
/* I'm eyeballing 10 degrees ≈ 50 clicks */
if (robot.armE.pidGet() < 50 && !robot.armL.get()) {
robot.armE.reset();
}
if (oi.xbox.getButton(Button.LBumper))
control.arm = 1-(robot.armE.pidGet()/armSoftStop);
else if (oi.xbox.getButton(Button.RBumper))
control.arm = robot.armE.pidGet()/armSoftStop;
//if (robot.armE.pidGet() > armSoftStop && control.arm > 0)
// control.arm = 0;
/* Take pictures */
/*
if (camButton.update(oi.xbox.getButton(Button.RT))) {
try {
ProcessBuilder pb = new ProcessBuilder("/home/lvuser/tweeterbot/bin/snapPhoto");
pb.redirectErrorStream(true);
pb.start();
} catch (Exception e) {};
}
*/
return control;
}
}
|
