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/**
* Copyright (c) 2017 Luke Shumaker.
* Copyright (c) 2017 Thomas Griffith.
* 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.
*/
package org.usfirst.frc.team4272.robot2017;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
public class Autonomous {
private static interface Command {
/** Mutate the @{code Control} (possible because it is
* passed by reference), and return whether or not
* this command has finished yet.
*
* @param c The structure to control the robot
* @return Whether the command has finished.
*/
public boolean execute(Control c);
}
private static class DriveDistance implements Command {
private static final double pctTaper = 1.0/6;
private static final double pctTolerance = 0.002;
private final HwRobot robot;
private final double pctThrottle;
private final double lSpeed, lDistTarget;
private final double rSpeed, rDistTarget;
private double lMin = 0, rMin = 0;
public DriveDistance(HwRobot robot, double pctThrottle,
double lSpeed, double lDistTarget,
double rSpeed, double rDistTarget) {
this.robot = robot;
this.pctThrottle = pctThrottle;
this.lSpeed = lSpeed;
this.lDistTarget = lDistTarget;
this.rSpeed = rSpeed;
this.rDistTarget = rDistTarget;
}
private boolean initialized = false;
public boolean execute(Control c) {
if (!initialized) {
robot.lDriveE.reset();
robot.rDriveE.reset();
initialized = true;
}
double lDistCurr = robot.lDriveE.getDistance();
double rDistCurr = robot.rDriveE.getDistance();
double lPct = lDistCurr/lDistTarget;
double rPct = rDistCurr/rDistTarget;
/* Left side */
c.lDrive = lSpeed;
if (Math.abs(1-lPct) < pctTaper) {
/* Taper off, slowing down as we approach the designed target */
c.lDrive *= Math.abs((1-lPct)/pctTaper);
if (Math.abs(robot.lRate.pidGet()) < 0.5) {
/* oops, tapered off too quickly */
lMin = c.lDrive = Math.max(c.lDrive, lMin) * 1.05; /* Multiplier */
}
if (c.lDrive > lSpeed) { /* Speed too high */
c.lDrive = lSpeed;
}
}
c.lDrive *= Math.signum(lDistTarget) * Math.signum(1-lPct);
/* Right side */
c.rDrive = rSpeed;
if (Math.abs(1-rPct) < pctTaper) {
/* Taper off, slowing down as we approach the designated target */
c.rDrive *= Math.abs((1-rPct)/pctTaper);
if (Math.abs(robot.rRate.pidGet()) < 0.5) {
/* oops, tapered off too quickly */
rMin = c.rDrive = Math.max(c.rDrive, rMin) * 1.05; /* Multiplier */
}
if (c.rDrive > rSpeed) { /* Speed too high */
c.rDrive = rSpeed;
}
}
c.rDrive *= Math.signum(rDistTarget) * Math.signum(1-rPct);
/* Make sure the left and right sides are even */
if (Math.abs(lPct - rPct) > pctTolerance) {
if (lPct > rPct) {
c.lDrive *= pctThrottle;
} else {
c.rDrive *= pctThrottle;
}
}
SmartDashboard.putNumber("lPct", lPct);
SmartDashboard.putNumber("rPct", rPct);
SmartDashboard.putNumber("lMin", lMin);
SmartDashboard.putNumber("rMin", rMin);
SmartDashboard.putNumber("lDrive", c.lDrive);
SmartDashboard.putNumber("rDrive", c.rDrive);
return lPct >= 1 && rPct >= 1;
}
}
private static class Stop implements Command {
public boolean execute(Control c) {
c.lDrive = c.rDrive = 0;
return true;
}
}
private static class Init implements Command {
public boolean execute(Control c) {
c.lDrive = c.rDrive = 0;
c.highGear = c.gedOut = false;
return true;
}
}
private static class TimedCommand implements Command {
private final Command inner;
private final double secs;
private final Timer t = new Timer();
private boolean initialized = false;
public TimedCommand(Command inner, double secs) {
this.inner = inner;
this.secs = secs;
}
public boolean execute(Control c) {
if (!initialized) {
t.reset();
t.start();
initialized = true;
}
if (t.get() < secs) {
return inner.execute(c);
} else {
return true;
}
}
}
private static final double axleWidth = 2; // in feet
private static Command driveDistance(HwRobot robot, double speed, double dist) {
return new DriveDistance(robot, 0.2,
speed, dist,
speed, dist);
}
private static Command turnRadians(HwRobot robot, double speed, double rad) {
return new DriveDistance(robot, 0.6,
speed, Math.copySign(rad*axleWidth/2, rad),
speed, Math.copySign(rad*axleWidth/2, -rad));
}
private static Command turnDegrees(HwRobot robot, double speed, double deg) {
return turnRadians(robot, speed, deg * Math.PI/180);
}
private static Command stop(HwRobot robot) {
return new Stop();
}
private final HwRobot robot;
private final Command[] commands;
private int step = 0;
private static final SendableChooser modeChooser = new SendableChooser();
public static void robotInit() {
modeChooser.addObject("Center Peg", "Center Peg");
modeChooser.addObject("Left Peg", "Left Peg");
modeChooser.addObject("Right Peg", "Right Peg");
modeChooser.addObject("Stand Still", "Stand Still");
SmartDashboard.putData("Autonomous Mode", modeChooser);
}
public Autonomous(HwRobot robot) {
this.robot = robot;
String mode = (String) modeChooser.getSelected();
SmartDashboard.putString("read mode", mode);
switch (mode) {
case "Center Peg":
commands = new Command[]{
new Init(),
new TimedCommand(driveDistance(robot, 0.4, 8.75), 6),
stop(robot),
new Command() {public boolean execute(Control c) {
c.gedOut = true;
return true;
}},
driveDistance(robot, 0.4, -3),
stop(robot),
};
break;
case "Left Peg":
commands = new Command[]{
new Init(),
driveDistance(robot, 0.4, 3.5),
turnDegrees(robot, 0.4, 60),
driveDistance(robot, 0.4, 8.3),
stop(robot),
};
break;
case "Right Peg":
commands = new Command[]{
new Init(),
driveDistance(robot, 0.4, 3.5),
turnDegrees(robot, 0.4, -60),
driveDistance(robot, 0.4, 8.3),
stop(robot),
};
break;
default:
commands = new Command[]{stop(robot)};
}
}
public Control run(Control c) {
if (step < commands.length) {
if (commands[step].execute(c))
step++;
}
SmartDashboard.putNumber("step", step);
return c;
}
}
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