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-rw-r--r--src/org/usfirst/frc/team4272/robot2016/Control.java6
-rw-r--r--src/org/usfirst/frc/team4272/robot2016/HwRobot.java36
-rw-r--r--src/org/usfirst/frc/team4272/robot2016/Teleop.java11
-rw-r--r--src/org/usfirst/frc/team4272/robotlib/PIDController.java216
4 files changed, 37 insertions, 232 deletions
diff --git a/src/org/usfirst/frc/team4272/robot2016/Control.java b/src/org/usfirst/frc/team4272/robot2016/Control.java
index 40fcb5a..9efdf34 100644
--- a/src/org/usfirst/frc/team4272/robot2016/Control.java
+++ b/src/org/usfirst/frc/team4272/robot2016/Control.java
@@ -7,7 +7,9 @@ public class Control {
rDrive2 = 0,
fBall = 0,
bBall = 0,
- arm = 0;
-
+ arm = 0,
+ camRotate = 0,
+ camTilt = 0;
+ boolean PCM = false;
public Control() {}
}
diff --git a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
index e61d87f..e4e9b2f 100644
--- a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
+++ b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
@@ -9,8 +9,11 @@ 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 edu.wpi.first.wpilibj.Jaguar;
+import edu.wpi.first.wpilibj.Solenoid;
import org.usfirst.frc.team4272.robotlib.PIDOutputSplitter;
+import org.usfirst.frc.team4272.robotlib.PIDServo;
public class HwRobot {
/* Relay == a Spike */
@@ -33,15 +36,17 @@ 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 */
- lDriveM1 = new Talon(/*PWM*/1), /* PDP 12, 13 */
- lDriveM2 = new Talon(/*PWM*/0), /* PDP 11 */
- armM = new Talon(/*PWM*/8), /* PDP 15 */
- rfBallM = new Talon(/*PWM*/3), /* PDP 0 */
- lfBallM = new Talon(/*PWM*/9), /* PDP 14 */
- fBallM = new PIDOutputSplitter(rfBallM, lfBallM),
- bBallM = new Talon(/*PWM*/6); /* PDP 10, 5 */
+ rDriveM1 = new Jaguar(/*PWM*/0), /* PDP 2, 3 */
+ rDriveM2 = new Jaguar(/*PWM*/1), /* PDP 4 */
+ lDriveM1 = new Jaguar(/*PWM*/3), /* PDP 12, 13 */
+ lDriveM2 = new Jaguar(2),/*PWM*/ /* PDP 11 */
+ //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);
@@ -50,6 +55,8 @@ public class HwRobot {
public final Encoder lDriveE = new Encoder(/*DIO*/7,/*DIO*/8, true);
public final PowerDistributionPanel PDP = new PowerDistributionPanel(); /* via CAN */
+ private final Solenoid PCM = new Solenoid(/*PCM*/ 0);
+
public HwRobot() {
armE.setPIDSourceType(PIDSourceType.kDisplacement);
lDriveE.setPIDSourceType(PIDSourceType.kRate);
@@ -62,10 +69,12 @@ public class HwRobot {
lDriveM2.pidWrite( c.lDrive2);
rDriveM1.pidWrite(-c.rDrive1);
rDriveM2.pidWrite(-c.rDrive2);
- armM.pidWrite(c.arm * 0.5);
- fBallM.pidWrite(-c.fBall);
- bBallM.pidWrite(-c.bBall);
-
+ //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);
SmartDashboard.putNumber("fBall", c.fBall);
SmartDashboard.putNumber("bBall", c.bBall);
SmartDashboard.putNumber("armM", c.arm);
@@ -81,4 +90,5 @@ public class HwRobot {
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 73b7b60..d07e5ce 100644
--- a/src/org/usfirst/frc/team4272/robot2016/Teleop.java
+++ b/src/org/usfirst/frc/team4272/robot2016/Teleop.java
@@ -74,8 +74,17 @@ public class Teleop {
control.fBall = 1;
}
}
+
+ if(oi.xbox.getAxis(Axis.RTrigger) > 0)
+ control.camRotate = 1;
+ else if(oi.xbox.getAxis(Axis.LTrigger) > 0)
+ control.camRotate = -1;
+ else
+ control.camRotate = 0;
+ control.camTilt = oi.xbox.getAxis(Axis.RX);
- //if (robot.armE.pidGet() > armSoftStop && control.arm > 0)
+ control.PCM = oi.xbox.getButton(Button.A);
+ //if (robot.armE.piedGet() > armSoftStop && control.arm > 0)
// control.arm = 0;
/* Take pictures */
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;
- }
-}