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package org.usfirst.frc.team4272.robot2015;
import org.usfirst.frc.team4272.robotlib.Toggler;
import org.usfirst.frc.team4272.robotlib.Xbox360Controller.Axis;
import org.usfirst.frc.team4272.robotlib.Xbox360Controller.Button;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Relay;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj.Timer;
import java.io.File;
import java.io.FileWriter;
import java.io.BufferedWriter;
import java.io.IOException;
import java.io.PrintWriter;
/**
* The VM is configured to automatically run this class, and to call the
* functions corresponding to each mode, as described in the IterativeRobot
* documentation. If you change the name of this class or the package after
* creating this project, you must also update the manifest file in the resource
* directory.
*/
public class Robot extends IterativeRobot {
private HwRobot robot = new HwRobot();
private HwOI oi;
private PrintWriter log;
private class Control {
double lDrive, rDrive, winch;
Relay.Value lIntake, rIntake;
boolean grab, push;
public Control() {
lDrive = rDrive = winch = 0;
grab = push = false;
lIntake = rIntake = Relay.Value.kOff;
}
}
Control control = new Control();
/**
* This function is run when the robot is first started up and should be
* used for any initialization code.
*/
public void robotInit() {
try {
inLog();
} catch (Exception e) {}
}
private void inLog() throws IOException {
log = new PrintWriter(new FileWriter("/usr/local/frc/share/lukeshu.log", true));
log.println("\ntime"
+",c:lDrive,c:rDrive,c:winch,c:lIntake,c:rIntake,c:grab,c:push"
+",i:lDrive.dist,i:lDrive.rate"
+",i:rDrive.dist,i:rDrive.rate"
+",i:winch.dist");
}
private void doLog() throws Exception {
log.println(0
+","+control.lDrive
+","+control.rDrive
+","+control.winch
+","+fmtRelay(control.lIntake)
+","+fmtRelay(control.rIntake)
+","+control.grab
+","+control.push
+","+robot.lDriveE.getDistance()
+","+robot.lDriveE.getRate()
+","+robot.rDriveE.getDistance()
+","+robot.rDriveE.getRate()
+","+robot.winchE.getRate()
);
}
private String fmtRelay(Relay.Value v) {
if (v == Relay.Value.kForward) {
return "kForward";
} else if (v == Relay.Value.kReverse) {
return "kReverse";
} else if (v == Relay.Value.kOn) {
return "kOn";
} else if (v == Relay.Value.kOff) {
return "kOff";
} else {
return "unknown";
}
}
private void doRobot() {
try {
robot.lDriveM.pidWrite( control.lDrive);
robot.rDriveM.pidWrite(-control.rDrive);
robot.winchM.pidWrite(-control.winch);
robot.lIntake.set(control.lIntake);
robot.rIntake.set(control.rIntake);
robot.grab.setForward(control.grab);
robot.push.setForward(!control.push);
doLog();
} catch (Exception e) {}
}
private Timer autotime = new Timer();
public void autonomousInit() {
autotime.reset();
autotime.start();
robot.rDriveE.reset();
robot.lDriveE.reset();
}
public void autonomousPeriodic() {
if (/*autotime.get() < 4*/robot.rDriveE.getDistance() < (15.5*140*1.1)) {
control.rDrive = control.lDrive = -0.7;
} else {
control.rDrive = control.lDrive = 0;
}
doRobot();
}
private Toggler grabButton = new Toggler();
private Toggler pushButton = new Toggler();
private Toggler ledsButton = new Toggler();
public void teleopInit() {
//robot.lDrive.reset();
//robot.rDrive.reset();
//robot.winch.reset();
//robot.lDrive.enable();
//robot.rDrive.enable();
//robot.winch.enable();
robot.grab.setEnabled(true);
robot.push.setEnabled(true);
oi = new HwOI();
grabButton.update(false);
pushButton.update(false);
ledsButton.update(false);
}
private static double jsScale(Joystick j) {
double y = -j.getY();/* +:forward; -:backward */
double z = -j.getZ();/* +:more-sensitive; -:less-sensitive */
return Math.copySign(Math.pow(Math.abs(y), 2.0-z), y);
}
public void teleopPeriodic() {
/* This runs at 50Hz */
/* Drive */
control.lDrive = jsScale(oi.lStick);
control.rDrive = jsScale(oi.rStick);
/* Winch */
control.winch = oi.xbox.getAxis(Axis.LY);/* up is neg, down is pos */
if (Math.abs(control.winch) < 0.1) { control.winch = 0; }
SmartDashboard.putNumber("winch M", -control.winch);
SmartDashboard.putNumber("winch E", robot.winchE.get());
SmartDashboard.putBoolean("winch T", robot.winchT.get());
SmartDashboard.putBoolean("winch B", robot.winchB.get());
/* left intake */
if (oi.xbox.getButton(Button.LB)) {
control.lIntake = Relay.Value.kReverse;
} else if (oi.xbox.getAxis(Axis.LT) > 0.75) {
control.lIntake = Relay.Value.kForward;
} else {
control.lIntake = Relay.Value.kOff;
}
/* right intake */
if (oi.xbox.getButton(Button.RB)) {
control.rIntake=(Relay.Value.kReverse);
} else if (oi.xbox.getAxis(Axis.RT) > 0.75) {
control.rIntake=(Relay.Value.kForward);
} else {
control.rIntake=(Relay.Value.kOff);
}
control.grab = grabButton.update(oi.xbox.getButton(Button.A));
control.push = pushButton.update(oi.xbox.getButton(Button.B));
doRobot();
}
public void disabledInit() {
//robot.lDrive.reset();
//robot.rDrive.reset();
//robot.winch.reset();
robot.grab.setEnabled(false);
robot.push.setEnabled(false);
}
public void disabledPeriodic() {
}
/**
* This function is called periodically during test mode
*/
public void testPeriodic() {
}
}
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