diff options
Diffstat (limited to 'src/org/usfirst/frc/team4272/robotlib')
| -rw-r--r-- | src/org/usfirst/frc/team4272/robotlib/PIDController.java | 216 | ||||
| -rw-r--r-- | src/org/usfirst/frc/team4272/robotlib/Xbox360Controller.java | 299 |
2 files changed, 0 insertions, 515 deletions
diff --git a/src/org/usfirst/frc/team4272/robotlib/PIDController.java b/src/org/usfirst/frc/team4272/robotlib/PIDController.java deleted file mode 100644 index 13f5666..0000000 --- a/src/org/usfirst/frc/team4272/robotlib/PIDController.java +++ /dev/null @@ -1,216 +0,0 @@ -/** - * Copyright (c) FIRST 2008-2012. All Rights Reserved. - * Open Source Software - may be modified and shared by FRC teams. The code - * must be accompanied by the FIRST BSD license file in the root directory of - * the project. - * - * Copyright (c) 2011-2012, 2015-2016 Luke Shumaker - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the FIRST nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY FIRST AND CONTRIBUTORS``AS IS'' AND ANY - * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR - * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR - * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - * @author Luke Shumaker <lukeshu@sbcglobal.net> - */ -package org.usfirst.frc.team4272.robotlib; - -import edu.wpi.first.wpilibj.PIDOutput; -import edu.wpi.first.wpilibj.PIDSource; -import edu.wpi.first.wpilibj.SpeedController; -//import edu.wpi.first.wpilibj.PIDController; - -/** - * An enhanced variant of {@link edu.wpi.first.wpilibj.PIDController wpilibj PIDController} - * (implements a PID Control Loop). - * <p> - * It is enhanced from - * {@link edu.wpi.first.wpilibj.PIDController wpilibj PIDController} - * in that it that also: - * <ul> - * <li> implements SpeedController (and therefore PIDOutput) - * <li> disables self if the setpoint is NaN (see {@link PIDNanny}). - * </ul> - */ -public class PIDController extends edu.wpi.first.wpilibj.PIDController implements SpeedController { - private boolean NaNDisabled = false; - private boolean inverted = false; - public final PIDSource source; - public final PIDOutput output; - - /** - * Allocate a PID object with the given constants for P, I, D, and F - *$ - * @param Kp the proportional coefficient - * @param Ki the integral coefficient - * @param Kd the derivative coefficient - * @param Kf the feed forward term - * @param source The PIDSource object that is used to get values - * @param output The PIDOutput object that is set to the output percentage - * @param period the loop time for doing calculations. This particularly - * effects calculations of the integral and differential terms. The - * default is 50ms. - */ - public PIDController(double Kp, double Ki, double Kd, double Kf, - PIDSource source, PIDOutput output, - double period) { - super(Kp, Ki, Kd, Kf, source, output, period); - this.source = source; - this.output = output; - } - - /* Convenience constructors *******************************************/ - /* `Kf`, and `period` are optional */ - - /** - * Convenience constructor with {@code Kf} defaulting to - * {@code 0.0}. - * - * @param Kp the proportional coefficient - * @param Ki the integral coefficient - * @param Kd the derivative coefficient - * @param source The PIDSource object that is used to get values - * @param output The PIDOutput object that is set to the output percentage - * @param period the loop time for doing calculations. This particularly - * effects calculations of the integral and differential terms. The - * default is 50ms. - */ - public PIDController(double Kp, double Ki, double Kd, - PIDSource source, PIDOutput output, - double period) { - this(Kp, Ki, Kd, 0.0, source, output, period); - } - - /** - * Convenience constructor with {@code period} defaulting to - * {@link #kDefaultPeriod}. - * - * @param Kp the proportional coefficient - * @param Ki the integral coefficient - * @param Kd the derivative coefficient - * @param Kf the feed forward term - * @param source The PIDSource object that is used to get values - * @param output The PIDOutput object that is set to the output percentage - */ - public PIDController(double Kp, double Ki, double Kd, double Kf, - PIDSource source, PIDOutput output) { - this(Kp, Ki, Kd, Kf, source, output, kDefaultPeriod); - } - - /** - * Convenience constructor with {@code Kf} defaulting to - * {@code 0.0}, and {@code period} defaulting to - * {@link #kDefaultPeriod}. - * - * @param Kp the proportional coefficient - * @param Ki the integral coefficient - * @param Kd the derivative coefficient - * @param source The PIDSource object that is used to get values - * @param output The PIDOutput object that is set to the output percentage - */ - public PIDController(double Kp, double Ki, double Kd, - PIDSource source, PIDOutput output) { - this(Kp, Ki, Kd, 0.0, source, output, kDefaultPeriod); - } - - /* Override to auto-disable if setpoint is NaN, and invert ************/ - - /** - * {@inheritDoc} - */ - @Override - public synchronized void setSetpoint(double setpoint) { - if (Double.isNaN(setpoint)) { - NaNDisabled = true; - super.disable(); - } else { - if (NaNDisabled && !isEnabled()) { - enable(); - } - super.setSetpoint((inverted ? -1 : 1) * setpoint); - } - } - - /** - * {@inheritDoc} - */ - @Override - public synchronized void enable() { - NaNDisabled = false; - super.enable(); - } - - /** - * {@inheritDoc} - */ - @Override - public synchronized void disable() { - NaNDisabled = false; - super.disable(); - } - - /* Implement PIDOutput (a parent of SpeedController) *******************/ - - /** - * {@inheritDoc} - */ - @Override - public void pidWrite(double output) { - setSetpoint(output); - } - - /* Implement SpeedController *******************************************/ - - /** - * {@inheritDoc} - */ - @Override - public void set(double output) { - setSetpoint(output); - } - - /** - * Don't use this. - * @deprecated Don't use this; it is leaking up from - * {@link edu.wpi.first.wpilibj.CANJaguar} through - * {@link edu.wpi.first.wpilibj.SpeedController} - */ - @Override - public void set(double output, byte syncGroup) { - set(output); - } - - /** - * {@inheritDoc} - */ - @Override - public void setInverted(boolean isInverted) { - inverted = isInverted; - } - - /** - * {@inheritDoc} - */ - @Override - public boolean getInverted() { - return inverted; - } -} diff --git a/src/org/usfirst/frc/team4272/robotlib/Xbox360Controller.java b/src/org/usfirst/frc/team4272/robotlib/Xbox360Controller.java deleted file mode 100644 index b5c1d13..0000000 --- a/src/org/usfirst/frc/team4272/robotlib/Xbox360Controller.java +++ /dev/null @@ -1,299 +0,0 @@ -/** - * Copyright (c) FIRST 2008-2012. All Rights Reserved. - * Open Source Software - may be modified and shared by FRC teams. The code - * must be accompanied by the FIRST BSD license file in the root directory of - * the project. - * - * Copyright (c) 2015 Luke Shumaker - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the FIRST nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY FIRST AND CONTRIBUTORS``AS IS'' AND ANY - * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR - * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR - * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - * @author Luke Shumaker <lukeshu@sbcglobal.net> - */ -package org.usfirst.frc.team4272.robotlib; - -import edu.wpi.first.wpilibj.GenericHID; -import edu.wpi.first.wpilibj.Joystick; - -/** - * Handle input from a wired Xbox 360 controller connected to the - * Driver Station. - */ -public class Xbox360Controller extends GenericHID { - /* Constants ************************************************/ - - /** - * Represents an analog axis on an Xbox 360 controller. - */ - public static enum Axis { - LX(0), LY(1), LTrigger(2), - RX(4), RY(5), RTrigger(3), - /** D-Pad X */ DX(6), /** D-Pad Y */ DY(7); - - private final int id; - private Axis(int id) { this.id = id; } - public int getId() { return id; } - } - - /** - * Represents a digital button on Xbox 360 controller. - */ - public static enum Button { - A(0), B(1), - X(2), Y(3), - LBumper(4), RBumper( 5), - Back(6), Start(7), /*Home(8),*/ - LThumb(8), RThumb(9); - - public final int id; - private Button(int id) { this.id = id+1; } - } - - /* Constructor **********************************************/ - private final Joystick joystick; - - /** - * Construct an instance of a joystick. - * The joystick index is the USB port on the Driver Station. - * - * @param port The port on the driver station that the joystick is plugged into - */ - public Xbox360Controller(final int port) { - joystick = new Joystick(port); - } - - /* Core functions *******************************************/ - - /** - * Get the raw axis - *$ - * @param axis Index of the axis - * @return The raw value of the selected axis - */ - @Override - public double getRawAxis(int axis) { - return joystick.getRawAxis(axis); - } - - /** - * Is the given button pressed - *$ - * @param button Index of the button - * @return True if the button is pressed - */ - @Override - public boolean getRawButton(int button) { - return joystick.getRawButton(button); - } - - /** - * Get the value of an axis base on an enumerated type. - * - * @param axis The axis to read - * @return The value of the axis - */ - public double getAxis(final Axis axis) { - return getRawAxis(axis.id); - } - - /** - * Get buttons based on an enumerated type. - * - * @param button The button to read - * @return The state of the button - */ - public boolean getButton(final Button button) { - return getRawButton(button.id); - } - - /** - * Ask the Driver Station if this USB joystick is in fact an - * Xbox controller. - * - * @return Whether the controller is an Xbox controller - */ - public boolean getIsXbox() { - return joystick.getIsXbox(); - } - - /* TODO: Outputs? (Rumble, LEDs) */ - - /* Stupid little mathy wrappers *****************************/ - - /** - * Get the magnitude of the direction vector formed by the thumb-stick's - * current position relative to its origin - * - * @param hand Left stick or right? - * @return The magnitude of the direction vector - */ - public double getMagnitude(Hand hand) { - return Math.sqrt(Math.pow(getX(hand), 2) + Math.pow(getY(hand), 2)); - } - - /** - * Get the direction of the vector formed by the thumb-stick and its origin - * in radians - * - * @param hand Left stick or right? - * @return The direction of the vector in radians - */ - public double getDirectionRadians(Hand hand) { - return Math.atan2(getX(hand), -getY(hand)); - } - - /** - * Get the direction of the vector formed by the thumb-stick and its origin - * in degrees - * - * uses acos(-1) to represent Pi due to absence of readily accessable Pi - * constant in C++ - * - * @param hand Left stick or right? - * @return The direction of the vector in degrees - */ - public double getDirectionDegrees(Hand hand) { - return Math.toDegrees(getDirectionRadians(hand)); - } - - /* Stupid aliases for getAxis/getButton *********************/ - - /** - * Get the state of a trigger; whether it is mostly pressed or - * not. - * - * @param hand Left trigger or right? - * @return The state of the trigger. - */ - @Override - public boolean getTrigger(Hand hand) { - return getZ(hand) > 0.75; - } - - /** - * Get the state of a bumper. - * - * @param hand Left bumper or right? - * @return Whether the bumper is pressed - * @deprecated This method is only here to complete the {@link GenericHID} abstract class. - */ - @Override - public boolean getBumper(Hand hand) { - if (hand.value == Hand.kLeft.value) - return getButton(Button.LBumper); - if (hand.value == Hand.kRight.value) - return getButton(Button.RBumper); - return false; - } - - /** - * Get the state of a thumb-stick button. - * - * @param hand Left trigger or right? - * @return the state of the button. - */ - @Override - public boolean getTop(Hand hand) { - if (hand.value == Hand.kLeft.value) - return getButton(Button.LThumb); - if (hand.value == Hand.kRight.value) - return getButton(Button.RThumb); - return false; - } - - /** - * Get the X value of a thumb-stick. - * - * @param hand Left stick or right? - * @return The X value of the thumb-stick. - */ - @Override - public double getX(final Hand hand) { - if (hand.value == Hand.kLeft.value) - return getAxis(Axis.LX); - if (hand.value == Hand.kRight.value) - return getAxis(Axis.RX); - return 0.0; - } - - /** - * Get the Y value of a thumb-stick. - - * @param hand Left stick or right? - * @return The Y value of the thumb-stick. - */ - @Override - public double getY(final Hand hand) { - if (hand.value == Hand.kLeft.value) - return getAxis(Axis.LY); - if (hand.value == Hand.kRight.value) - return getAxis(Axis.RY); - return 0.0; - } - - /** - * Get the value of a trigger. - * - * @param hand Left trigger or right? - * @return The trigger value. - */ - @Override - public double getZ(final Hand hand) { - if (hand.value == Hand.kLeft.value) - return getAxis(Axis.LTrigger); - if (hand.value == Hand.kRight.value) - return getAxis(Axis.RTrigger); - return 0.0; - } - - /* Stupid things I have to implement ************************/ - - /** - * @return Always 0.0 - * @deprecated This method is only here to complete the {@link GenericHID} abstract class. - */ - @Override - public double getTwist() { - return 0.0; - } - - /** - * @return Always 0.0 - * @deprecated This method is only here to complete the {@link GenericHID} abstract class. - */ - @Override - public double getThrottle() { - return 0.0; - } - - /** - * @param pov Unused - * @return Always 0 - * @deprecated This method is only here to complete the {@link GenericHID} abstract class. - */ - @Override - public int getPOV(int pov) { - return 0; - } -} |