From 02934ebd8a7a94704602f7b30862bd399f69c7a5 Mon Sep 17 00:00:00 2001 From: Luke Shumaker Date: Mon, 20 Feb 2017 16:32:51 -0500 Subject: clean up --- .../usfirst/frc/team4272/robot2016/Control.java | 23 ++--- .../usfirst/frc/team4272/robot2016/HwRobot.java | 49 +++------ src/org/usfirst/frc/team4272/robot2016/Teleop.java | 109 ++++----------------- 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; } } -- cgit v1.2.3