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-rw-r--r--src/org/usfirst/frc/team4272/robot2016/Autonomous.java25
-rw-r--r--src/org/usfirst/frc/team4272/robot2016/HwRobot.java33
-rw-r--r--src/org/usfirst/frc/team4272/robot2016/Teleop.java45
3 files changed, 79 insertions, 24 deletions
diff --git a/src/org/usfirst/frc/team4272/robot2016/Autonomous.java b/src/org/usfirst/frc/team4272/robot2016/Autonomous.java
index 0a7452c..756c33d 100644
--- a/src/org/usfirst/frc/team4272/robot2016/Autonomous.java
+++ b/src/org/usfirst/frc/team4272/robot2016/Autonomous.java
@@ -1,19 +1,32 @@
package org.usfirst.frc.team4272.robot2016;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
public class Autonomous {
+ private final Timer time = new Timer();
private final HwRobot robot;
public Autonomous(HwRobot robot) {
this.robot = robot;
+ time.reset();
+ time.start();
}
public Control run(Control c) {
- //if (!robot.armL.get()) {
- // c.arm = -0.2;
- //} else {
- // c.arm = 0;
- // robot.armE.reset();
- //}
+ if (robot.armL.get()) {
+ c.arm = -0.5;
+ } else {
+ c.arm = 0;
+ robot.armE.reset();
+ }
+
+ if (time.get() < 4) {
+ c.lDrive1 = c.rDrive1 = -0.4;
+ } else {
+ c.lDrive1 = c.rDrive1 = 0;
+ }
+ SmartDashboard.putNumber("autoTime", time.get());
return c;
}
diff --git a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
index 4a02076..e61d87f 100644
--- a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
+++ b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
@@ -1,14 +1,17 @@
package org.usfirst.frc.team4272.robot2016;
-import org.usfirst.frc.team4272.robotlib.PIDOutputSplitter;
+import edu.wpi.first.wpilibj.networktables.NetworkTable;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PIDOutput;
import edu.wpi.first.wpilibj.PIDSourceType;
+import edu.wpi.first.wpilibj.PowerDistributionPanel;
import edu.wpi.first.wpilibj.Talon;
+import org.usfirst.frc.team4272.robotlib.PIDOutputSplitter;
+
public class HwRobot {
/* Relay == a Spike */
/* PCM = Pneumatics Control Module */
@@ -29,7 +32,6 @@ public class HwRobot {
// naming convention: {side_letter}{Thing}{E|M (encoder/motor)}
-
private final PIDOutput
rDriveM1 = new Talon(/*PWM*/2), /* PDP 2, 3 */
rDriveM2 = new Talon(/*PWM*/4), /* PDP 4 */
@@ -41,33 +43,42 @@ public class HwRobot {
fBallM = new PIDOutputSplitter(rfBallM, lfBallM),
bBallM = new Talon(/*PWM*/6); /* PDP 10, 5 */
- public final Encoder armE = new Encoder(/*DIO*/0, /*DIO*/1, /*DIO*/2);
+ 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 lDriveE = new Encoder(/*DIO*/2,/*DIO*/3);
- //public final Encoder rDriveE = new Encoder(/*DIO*/0,/*DIO*/1, true);
+ public final Encoder rDriveE = new Encoder(/*DIO*/5,/*DIO*/6);
+ public final Encoder lDriveE = new Encoder(/*DIO*/7,/*DIO*/8, true);
+ public final PowerDistributionPanel PDP = new PowerDistributionPanel(); /* via CAN */
public HwRobot() {
- //lDriveE.setPIDSourceType(PIDSourceType.kRate);
- //rDriveE.setPIDSourceType(PIDSourceType.kRate);
armE.setPIDSourceType(PIDSourceType.kDisplacement);
+ lDriveE.setPIDSourceType(PIDSourceType.kRate);
+ rDriveE.setPIDSourceType(PIDSourceType.kRate);
+ PDP.initTable(NetworkTable.getTable("PDP"));
}
public void run(Control c) {
- if (armE.pidGet() < -295)
- c.arm = 0;
-
lDriveM1.pidWrite( c.lDrive1);
lDriveM2.pidWrite( c.lDrive2);
rDriveM1.pidWrite(-c.rDrive1);
rDriveM2.pidWrite(-c.rDrive2);
- armM.pidWrite(c.arm);
+ armM.pidWrite(c.arm * 0.5);
fBallM.pidWrite(-c.fBall);
bBallM.pidWrite(-c.bBall);
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);
}
}
diff --git a/src/org/usfirst/frc/team4272/robot2016/Teleop.java b/src/org/usfirst/frc/team4272/robot2016/Teleop.java
index cafbca1..c7029f4 100644
--- a/src/org/usfirst/frc/team4272/robot2016/Teleop.java
+++ b/src/org/usfirst/frc/team4272/robot2016/Teleop.java
@@ -1,14 +1,21 @@
package org.usfirst.frc.team4272.robot2016;
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.Timer;
import org.usfirst.frc.team4272.robotlib.Xbox360Controller.Axis;
import org.usfirst.frc.team4272.robotlib.Xbox360Controller.Button;
-import edu.wpi.first.wpilibj.Joystick;
+import org.usfirst.frc.team4272.robotlib.PushButton;
public class Teleop {
private final HwRobot robot;
+ private final double armSoftStop = 95;//295;
+
+ private final PushButton shootButton = new PushButton();
+ private final Timer time = new Timer();
public Teleop(HwRobot robot) {
this.robot = robot;
+ robot.armE.reset();
}
private static double jsScale(Joystick j) {
@@ -36,14 +43,38 @@ public class Teleop {
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 = false; //robot.ballL.get();
- control.fBall = bound(-oneIf(!ballL), fBall, 1);
- control.bBall = bound(-oneIf(!ballL), bBall < 0 ? 0.75*bBall : bBall, 1);
+ boolean ballL = robot.ballL.get();
+ control.fBall = bound(-oneIf(ballL), fBall < 0 ? 0.75*fBall : fBall, 1);
+ control.bBall = bound(-oneIf(ballL), bBall < 0 ? 0.85*bBall : bBall, 1);
/* I'm eyeballing 10 degrees ≈ 50 clicks */
- //if (robot.armE.pidGet() < 50 && robot.armL.get()) {
- // robot.armE.reset();
- //}
+ 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 (shootButton.update(oi.xbox.getButton(Button.X))) {
+ time.reset();
+ time.start();
+ }
+ if (oi.xbox.getButton(Button.X)) {
+ 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 (robot.armE.pidGet() > armSoftStop && control.arm > 0)
+ // control.arm = 0;
/* Take pictures */
/*
generated by cgit v1.2.3-54-g00ecf (git 2.45.2) at 2024-11-11 11:51:28 +0000