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-rw-r--r--src/org/usfirst/frc/team4272/robot2016/Control.java23
-rw-r--r--src/org/usfirst/frc/team4272/robot2016/HwRobot.java49
-rw-r--r--src/org/usfirst/frc/team4272/robot2016/Teleop.java109
3 files changed, 40 insertions, 141 deletions
diff --git a/src/org/usfirst/frc/team4272/robot2016/Control.java b/src/org/usfirst/frc/team4272/robot2016/Control.java
index 7713c5b..4baedd4 100644
--- a/src/org/usfirst/frc/team4272/robot2016/Control.java
+++ b/src/org/usfirst/frc/team4272/robot2016/Control.java
@@ -1,20 +1,13 @@
package org.usfirst.frc.team4272.robot2016;
public class Control {
- double lDrive1 = 0,
- lDrive2 = 0,
- rDrive1 = 0,
- rDrive2 = 0,
- fBall = 0,
- bBall = 0,
- arm = 0,
- camRotate = 0,
- camTilt = 0,
- usbCam = 0,
- climber = 0;
- boolean PCM = true;
- boolean PCM2 = false;
- boolean PCM3 =true;
- boolean PCM4 = false;
+ double lDrive = 0,
+ rDrive = 0,
+ camRotate = 0,
+ camTilt = 0,
+ climber = 0;
+ boolean highGear = false,
+ PCM3 =true,
+ PCM4 = false;
public Control() {}
}
diff --git a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
index 4555adf..8f2515e 100644
--- a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
+++ b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
@@ -36,66 +36,45 @@ public class HwRobot {
// naming convention: {side_letter}{Thing}{E|M (encoder/motor)}
private final PIDOutput
- rDriveM1 = new Talon(/*PWM*/0), /* PDP 2, 3 */
+ rDriveM = new Talon(/*PWM*/0), /* PDP 2, 3 */
+ lDriveM = new Talon(/*PWM*/1), /* PDP 12, 13 */
climber = new Talon(/*PWM*/3), /* PDP 4 */
- lDriveM1 = new Talon(/*PWM*/1), /* PDP 12, 13 */
- //lDriveM2 = new Talon(3),/*PWM*/ /* PDP 11 */
- //rDriveM2 = new Talon(1),
- //armM = new Talon(/*PWM*/8), /* PDP 15 */
- //rfBallM = new Talon(/*PWM*/4), /* PDP 0 */
- //lfBallM = new Talon(/*PWM*/9), /* PDP 14 */
- //fBallM = new PIDOutputSplitter(rfBallM, lfBallM),
- //bBallM = new Talon(/*PWM*/6),/* PDP 10, 5 */
camRotate = new PIDServo(8),
camTilt = new PIDServo(9);
- public final Encoder armE = new Encoder(/*DIO*/0, /*DIO*/1, /*DIO*/2, true);
- public final DigitalInput armL = new DigitalInput(/*DIO*/3);
- public final DigitalInput ballL = new DigitalInput(/*DIO*/4);
- public final Encoder rDriveE = new Encoder(/*DIO*/5,/*DIO*/6);
- public final Encoder lDriveE = new Encoder(/*DIO*/7,/*DIO*/8, true);
+ public final Encoder lDriveE = new Encoder(/*DIO*/0,/*DIO*/2, /*DIO*/1, /*reverse*/false);
+ public final Encoder rDriveE = new Encoder(/*DIO*/3,/*DIO*/5, /*DIO*/4, /*reverse*/true);
public final PowerDistributionPanel PDP = new PowerDistributionPanel(); /* via CAN */
- public Solenoid PCM = new Solenoid(/*PCM*/ 4);
+ public Solenoid PCM1 = new Solenoid(/*PCM*/ 4);
public Solenoid PCM2 = new Solenoid(5);
public Solenoid PCM3 = new Solenoid(6);
public Solenoid PCM4 = new Solenoid(7);
public HwRobot() {
- armE.setPIDSourceType(PIDSourceType.kDisplacement);
lDriveE.setPIDSourceType(PIDSourceType.kRate);
rDriveE.setPIDSourceType(PIDSourceType.kRate);
- //PDP.initTable(NetworkTable.getTable("PDP"));//
+ //PDP.initTable(NetworkTable.getTable("PDP"));
}
public void run(Control c) {
- lDriveM1.pidWrite( c.lDrive1);
- rDriveM1.pidWrite(c.rDrive1);
- //lDriveM2.pidWrite( c.lDrive2);
+ lDriveM.pidWrite(c.lDrive);
+ rDriveM.pidWrite(c.rDrive);
climber.pidWrite(c.climber);
- //rDriveM2.pidWrite(-c.rDrive2);
- //armM.pidWrite(c.arm * 0.5);
- //fBallM.pidWrite(-c.fBall);
- //bBallM.pidWrite(-c.bBall);
camRotate.pidWrite(c.camRotate);
camTilt.pidWrite(c.camTilt);
- PCM.set(c.PCM);
- PCM2.set(c.PCM2);
+
+ PCM1.set(c.highGear);
+ PCM2.set(!c.highGear);
+
PCM3.set(c.PCM3);
PCM4.set(c.PCM4);
- SmartDashboard.putNumber("fBall", c.fBall);
- SmartDashboard.putNumber("bBall", c.bBall);
- SmartDashboard.putNumber("armM", c.arm);
- SmartDashboard.putNumber("armE", armE.pidGet());
SmartDashboard.putNumber("lDriveE distance", lDriveE.getDistance());
SmartDashboard.putNumber("lDriveE rate", lDriveE.getRate());
SmartDashboard.putNumber("rDriveE distance", rDriveE.getDistance());
SmartDashboard.putNumber("rDriveE rate", rDriveE.getRate());
- SmartDashboard.putBoolean("ballL", ballL.get());
- SmartDashboard.putBoolean("armL", armL.get());
- //PDP.updateTable();**//
- //SmartDashboard.putData("PDP", PDP);//
+ //PDP.updateTable();
+ //SmartDashboard.putData("PDP", PDP);
}
-
}
diff --git a/src/org/usfirst/frc/team4272/robot2016/Teleop.java b/src/org/usfirst/frc/team4272/robot2016/Teleop.java
index a085d91..09151a8 100644
--- a/src/org/usfirst/frc/team4272/robot2016/Teleop.java
+++ b/src/org/usfirst/frc/team4272/robot2016/Teleop.java
@@ -17,7 +17,6 @@ public class Teleop {
public Teleop(HwRobot robot) {
this.robot = robot;
- robot.armE.reset();
}
private static double jsScale(Joystick j) {
@@ -36,23 +35,15 @@ public class Teleop {
public Control run(Control control, HwOI oi) {
/* Drive */
- control.lDrive1 = -jsScale(oi.lStick);
- control.rDrive1 = jsScale(oi.rStick);
- //control.lDrive2 = -jsScale(oi.lStick);
- //control.rDrive2 = jsScale(oi.rStick);
- if (control.PCM == true) {
- control.PCM2 = oi.lStick.getTrigger();
- control.PCM = oi.rStick.getTrigger();
- }
- if (oi.lStick.getTrigger()){
- control.PCM2 = false;
- control.PCM = true;
-// SmartDashboard.putData()
- }
- if (oi.rStick.getTrigger()) {
- control.PCM = false;
- control.PCM2 = true;
- }
+ control.lDrive = -jsScale(oi.lStick);
+ control.rDrive = jsScale(oi.rStick);
+
+ if (oi.lStick.getTrigger()) {
+ control.highGear = false;
+ } else if (oi.rStick.getTrigger()) {
+ control.highGear = true;
+ }
+
if (oi.rStick.getRawButton(2) || oi.lStick.getRawButton(2)) {
currentTime = Timer.getMatchTime();
if(currentTime-lastTime > 0.15){
@@ -60,82 +51,32 @@ public class Teleop {
lastTime = currentTime;
}
if (state){
- control.lDrive1 = 0.5;
- control.rDrive1 = 0;
+ control.lDrive = 0.5;
+ control.rDrive = 0;
}
else if(!state){
- control.lDrive1 = 0;
- control.rDrive1 = 0.5;
+ control.lDrive = 0;
+ control.rDrive = 0.5;
}
-
}
if(oi.xbox.getRawAxis(1) > 0.2){
- control.climber = oi.xbox.getRawAxis(1) ;
- }
-
- else if (oi.xbox.getRawAxis(1) < -0.2) {
control.climber = oi.xbox.getRawAxis(1);
- }
- else {
+ } else if (oi.xbox.getRawAxis(1) < -0.2) {
+ control.climber = oi.xbox.getRawAxis(1);
+ } else {
control.climber = 0;
}
+
if (oi.xbox.getAButton() == true) {
control.PCM3 = true;
control.PCM4 = false;
- }
+ }
if(oi.xbox.getBButton()==true) {
control.PCM3 = false;
control.PCM4 =true;
}
-// if(oi.xbox.getTriggerAxis(Hand.kRight/*rTrigger*/) > 0 ){
-// control.PCM3 = false;
-// control.PCM4 = true;
-// }
-// else {
-// control.PCM3 = false;
-// control.PCM4 =true;
-// }
-
- /*control.lDrive2 = oi.lStick.getTrigger() ? control.lDrive1 : 0;
- control.rDrive2 = oi.rStick.getTrigger() ? control.rDrive1 : 0;*/
- control.arm = -oi.xbox.getY(Hand.kLeft);
- if (control.arm < 0)
- control.arm = control.arm*0.2;
-
- double fBall = oi.xbox.getTriggerAxis(Hand.kRight) - oi.xbox.getTriggerAxis(Hand.kLeft);
- double bBall = bound(-1, fBall, 0) + oneIf(oi.xbox.getAButton()) - oneIf(oi.xbox.getBButton());
-
- boolean ballL = robot.ballL.get();
- control.fBall = bound(-oneIf(ballL), fBall < 0 ? 0.5*fBall : fBall, 1);
- control.bBall = bound(-oneIf(ballL), bBall < 0 ? 0.5*bBall : bBall, 1);
-
- /* I'm eyeballing 10 degrees ≈ 50 clicks */
- if (robot.armE.pidGet() < 50 && !robot.armL.get()) {
- robot.armE.reset();
- }
-
- if (oi.xbox.getBumper(Hand.kLeft))
- control.arm = 1-(robot.armE.pidGet()/armSoftStop);
- else if (oi.xbox.getBumper(Hand.kRight))
- control.arm = robot.armE.pidGet()/armSoftStop;
-
- if (shootButton.update(oi.xbox.getXButton())) {
- time.reset();
- time.start();
- }
- if (oi.xbox.getXButton()) {
- if (time.get() < 0.5) {
- control.fBall = control.bBall = -0.5;
- } else if (time.get() < 2.5) {
- control.bBall = -0.5;
- control.fBall = 1;
- } else {
- control.bBall = 1;
- control.fBall = 1;
- }
- }
if(oi.xbox.getTriggerAxis(Hand.kRight) > 0)
control.camRotate = 1;
@@ -145,20 +86,6 @@ public class Teleop {
control.camRotate = 0;
control.camTilt = oi.xbox.getX(Hand.kRight);
- //if (robot.armE.piedGet() > 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;
}
}
generated by cgit v1.2.3-54-g00ecf (git 2.45.2) at 2024-11-25 20:28:50 +0000