Merge remote-tracking branch 'blue/master'

dfang314 · dfang314 · commit 01fa85b2b595 · 2018-02-19T10:24:25.000-08:00
diff --git a/FRC971_Spartan_Series_2017_Austin_Test_Driven_Development_Software.zip b/FRC971_Spartan_Series_2017_Austin_Test_Driven_Development_Software.zip
diff --git a/Robot2018/lib/User_Libraries.properties b/Robot2018/lib/User_Libraries.properties
@@ -1,2 +1,2 @@
-#Sun Feb 18 11:01:27 PST 2018
+#Sun Feb 18 15:40:25 PST 2018
 C\:\\Users\\dean\\git\\RobotCode2018\\Robot2018\\lib\\libpathfinderjava.so=4087ee38c338446b8305f67716260df4
diff --git a/Robot2018/src/org/usfirst/frc/team199/Robot2018/OI.java b/Robot2018/src/org/usfirst/frc/team199/Robot2018/OI.java
@@ -7,14 +7,8 @@
 
 package org.usfirst.frc.team199.Robot2018;
 
-import org.usfirst.frc.team199.Robot2018.commands.CloseIntake;
-import org.usfirst.frc.team199.Robot2018.commands.IntakeCube;
-import org.usfirst.frc.team199.Robot2018.commands.LowerIntake;
-import org.usfirst.frc.team199.Robot2018.commands.OpenIntake;
-import org.usfirst.frc.team199.Robot2018.commands.OutakeCube;
 import org.usfirst.frc.team199.Robot2018.commands.PIDMove;
 import org.usfirst.frc.team199.Robot2018.commands.PIDTurn;
-import org.usfirst.frc.team199.Robot2018.commands.RaiseIntake;
 import org.usfirst.frc.team199.Robot2018.commands.ResetEncoders;
 import org.usfirst.frc.team199.Robot2018.commands.RunLift;
 import org.usfirst.frc.team199.Robot2018.commands.SetDistancePerPulse;
@@ -32,6 +26,10 @@
  * interface to the commands and command groups that allow control of the robot.
  */
 public class OI {
+	/*
+	 * WHENEVER YOU ADD OR CHANGE WHAT A BUTTON OR JOYSTICK DOES, indicate in
+	 * /docs/controllers.txt to keep that reference up to date.
+	 */
 
 	public Joystick leftJoy;
 	private JoystickButton shiftLowGearButton;
@@ -92,18 +90,22 @@ public OI() {
 		MoveLiftUpButton.whileHeld(new RunLift(Robot.lift, true));
 		MoveLiftDownButton.whileHeld(new RunLift(Robot.lift, false));
 
-		manipulator = new Joystick(2);
-		closeIntake = new JoystickButton(manipulator, getButton("Close Intake Button", 1));
-		closeIntake.whenPressed(new CloseIntake());
-		openIntake = new JoystickButton(manipulator, getButton("Open Intake Button", 2));
-		openIntake.whenPressed(new OpenIntake());
-		raiseIntake = new JoystickButton(manipulator, getButton("Raise Intake Button", 3));
-		raiseIntake.whenPressed(new RaiseIntake());
-		lowerIntake = new JoystickButton(manipulator, getButton("Lower Intake Button", 4));
-		lowerIntake.whenPressed(new LowerIntake());
-		intake = new JoystickButton(manipulator, getButton("Intake Button", 5));
-		intake.whenPressed(new IntakeCube());
-		outake = new JoystickButton(manipulator, getButton("Outake Button", 6));
-		outake.whenPressed(new OutakeCube());
+		// manipulator = new Joystick(2);
+		// closeIntake = new JoystickButton(manipulator, getButton("Close Intake
+		// Button", 1));
+		// closeIntake.whenPressed(new CloseIntake());
+		// openIntake = new JoystickButton(manipulator, getButton("Open Intake Button",
+		// 2));
+		// openIntake.whenPressed(new OpenIntake());
+		// raiseIntake = new JoystickButton(manipulator, getButton("Raise Intake
+		// Button", 3));
+		// raiseIntake.whenPressed(new RaiseIntake());
+		// lowerIntake = new JoystickButton(manipulator, getButton("Lower Intake
+		// Button", 4));
+		// lowerIntake.whenPressed(new LowerIntake());
+		// intake = new JoystickButton(manipulator, getButton("Intake Button", 5));
+		// intake.whenPressed(new IntakeCube());
+		// outake = new JoystickButton(manipulator, getButton("Outake Button", 6));
+		// outake.whenPressed(new OutakeCube());
 	}
 }
diff --git a/Robot2018/src/org/usfirst/frc/team199/Robot2018/Robot.java b/Robot2018/src/org/usfirst/frc/team199/Robot2018/Robot.java
@@ -212,7 +212,7 @@ public void teleopPeriodic() {
 		// SmartDashboard.putNumber("Right Enc Dist", dt.getRightDist());
 		// SmartDashboard.putNumber("Avg Enc Dist", dt.getEncAvgDist());
 		//
-		// SmartDashboard.putNumber("Angle", dt.getAHRSAngle());
+		SmartDashboard.putNumber("Angle", dt.getAHRSAngle());
 	}
 
 	boolean firstTime = true;
diff --git a/Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/PIDMove.java b/Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/PIDMove.java
@@ -46,6 +46,7 @@ public PIDMove(double targ, DrivetrainInterface dt, SmartDashboardInterface sd,
 		double kf = 1 / (dt.getCurrentMaxSpeed() * sd.getConst("Default PID Update Time", 0.05));
 		moveController = new PIDController(sd.getConst("MovekP", 0.1), sd.getConst("MovekI", 0),
 				sd.getConst("MovekD", 0), kf, avg, this);
+		SmartDashboard.putData("Move PID", moveController);
 	}
 
 	/**
@@ -64,8 +65,6 @@ public void initialize() {
 		moveController.setAbsoluteTolerance(Robot.getConst("MoveTolerance", 0.1));
 		moveController.setSetpoint(Robot.getConst("Move Targ", 24));
 
-		SmartDashboard.putData("Move PID", moveController);
-
 		moveController.enable();
 		// dt.enableVelocityPIDs();
 	}
diff --git a/Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/PIDTurn.java b/Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/PIDTurn.java
@@ -58,6 +58,7 @@ public PIDTurn(double targ, DrivetrainInterface dt, SmartDashboardInterface sd,
 		turnController = new PIDController(sd.getConst("TurnkP", 1), sd.getConst("TurnkI", 0), sd.getConst("TurnkD", 0),
 				kf, ahrs, this);
 		// tim = new Timer();
+		SmartDashboard.putData("Turn PID", turnController);
 	}
 
 	/**
@@ -69,23 +70,21 @@ protected void initialize() {
 		turnController.disable();
 		// dt.enableVelocityPIDs();
 		System.out.println("initialize2s");
-		dt.resetAHRS();
+		// dt.resetAHRS();
 		System.out.println("after reset");
 		System.out.println("after disabling");
 		// input is in degrees
 		turnController.setInputRange(-180, 180);
 		// output in "motor units" (arcade and tank only accept values [-1, 1]
-		turnController.setOutputRange(-1.0, 1.0);
+		turnController.setOutputRange(Robot.getConst("Output", 0.5) * -1, Robot.getConst("Output", 0.5));
 		turnController.setContinuous(true);
 		turnController.setAbsoluteTolerance(Robot.getConst("TurnTolerance", 1));
-		double newSetPoint = Robot.getConst("Turn Targ", 90);
+		double newSetPoint = Robot.getConst("Turn Targ", 90) + dt.getAHRSAngle();
 		while (Math.abs(newSetPoint) > 180) {
 			newSetPoint = newSetPoint - Math.signum(newSetPoint) * 360;
 		}
 		turnController.setSetpoint(newSetPoint);
 
-		SmartDashboard.putData("Turn PID", turnController);
-
 		turnController.enable();
 		System.out.println("initialize finished");
 		// tim.start();
diff --git a/docs/controllers.txt b/docs/controllers.txt
@@ -0,0 +1,60 @@
+controller indices
+	manipulator
+		buttons
+			1	A
+			2	B
+			3	X
+			4	Y
+			5	LB
+			6	RB
+			7	back
+			8	start
+			9	N/a
+			10	N/a
+		press mode to toggle mode light
+		axes
+			0	left thumbstick X axis (D-pad if mode light on)
+			1	left thumbstick Y axis (D-pad if mode light on)
+			2	left trigger
+			3	right trigger
+			4	right thumbstick X axis
+			5	right thumbstick Y axis
+				mode light off:
+		POV
+			D-pad (left joystick if mode light on)
+		rumble
+			fake news
+	left joystick
+		buttons
+			1
+			2
+			3
+			4
+			5
+			6
+			7
+			8
+			9
+			10
+			11
+		axes
+			0	X axis
+			1	Y axis (forward is negative)
+			2	Z axis (knob at base)
+	right joystick
+		buttons
+			1
+			2
+			3
+			4
+			5
+			6
+			7
+			8
+			9
+			10
+			11
+		axes
+			0	X axis
+			1	Y axis (forward is negative)
+			2	Z axis (knob at base)
diff --git a/shuffleboard.json b/shuffleboard.json
@@ -1,5 +1,5 @@
 {
-  "dividerPosition": 0.2218100890207715,
+  "dividerPosition": 0.45185185185185184,
   "tabPane": [
     {
       "title": "PID Testing",
@@ -41,9 +41,8 @@
             "content": {
               "_type": "Graph",
               "_source0": "network_table:///SmartDashboard/Left Enc Rate",
-              "_title": "SmartDashboard/Left Enc Rate",
-              "Visible time": 30.0,
-              "SmartDashboard/Left Enc Rate visible": true
+              "_title": "/SmartDashboard/Left Enc Rate",
+              "Visible time": 30.0
             }
           },
           "5,2": {
@@ -65,9 +64,8 @@
             "content": {
               "_type": "Graph",
               "_source0": "network_table:///SmartDashboard/Right Enc Rate",
-              "_title": "SmartDashboard/Right Enc Rate",
-              "Visible time": 30.0,
-              "SmartDashboard/Right Enc Rate visible": true
+              "_title": "/SmartDashboard/Right Enc Rate",
+              "Visible time": 30.0
             }
           },
           "5,3": {
@@ -242,17 +240,6 @@
               "colorWhenTrue": "#7CFC00FF",
               "colorWhenFalse": "#8B0000FF"
             }
-          },
-          "2,1": {
-            "size": [
-              2,
-              1
-            ],
-            "content": {
-              "_type": "Text View",
-              "_source0": "network_table:///SmartDashboard/Const/DPP",
-              "_title": "SmartDashboard/Const/DPP"
-            }
           }
         }
       }
@@ -297,9 +284,8 @@
             "content": {
               "_type": "Graph",
               "_source0": "network_table:///SmartDashboard/Right Enc Dist",
-              "_title": "SmartDashboard/Right Enc Dist",
-              "Visible time": 10.0,
-              "SmartDashboard/Right Enc Dist visible": true
+              "_title": "/SmartDashboard/Right Enc Dist",
+              "Visible time": 10.0
             }
           },
           "1,0": {
@@ -310,14 +296,13 @@
             "content": {
               "_type": "Graph",
               "_source0": "network_table:///SmartDashboard/Left Enc Dist",
-              "_title": "SmartDashboard/Left Enc Dist",
-              "Visible time": 10.0,
-              "SmartDashboard/Left Enc Dist visible": true
+              "_title": "/SmartDashboard/Left Enc Dist",
+              "Visible time": 10.0
             }
           },
           "5,0": {
             "size": [
-              2,
+              1,
               1
             ],
             "content": {
@@ -431,7 +416,7 @@
         "hgap": 16.0,
         "vgap": 16.0,
         "tiles": {
-          "5,0": {
+          "1,0": {
             "size": [
               2,
               1
@@ -475,7 +460,7 @@
               "_title": "SmartDashboard/Turn PID Result"
             }
           },
-          "5,1": {
+          "2,1": {
             "size": [
               1,
               1
@@ -519,32 +504,6 @@
               "_title": "SmartDashboard/Right VPID Error"
             }
           },
-          "3,2": {
-            "size": [
-              2,
-              2
-            ],
-            "content": {
-              "_type": "Graph",
-              "_source0": "network_table:///SmartDashboard/Drivetrain/Left VPID Targ",
-              "_title": "SmartDashboard/Drivetrain/Left VPID Targ",
-              "Visible time": 30.0,
-              "SmartDashboard/Drivetrain/Left VPID Targ visible": true
-            }
-          },
-          "5,2": {
-            "size": [
-              2,
-              2
-            ],
-            "content": {
-              "_type": "Graph",
-              "_source0": "network_table:///SmartDashboard/Drivetrain/Right VPID Targ",
-              "_title": "SmartDashboard/Drivetrain/Right VPID Targ",
-              "Visible time": 30.0,
-              "SmartDashboard/Drivetrain/Right VPID Targ visible": true
-            }
-          },
           "0,2": {
             "size": [
               1,
@@ -556,7 +515,7 @@
               "_title": "SmartDashboard/Const/Turn Targ"
             }
           },
-          "6,1": {
+          "1,1": {
             "size": [
               1,
               1
@@ -566,32 +525,6 @@
               "_source0": "network_table:///SmartDashboard/Const/TurnTolerance",
               "_title": "SmartDashboard/Const/TurnTolerance"
             }
-          },
-          "3,0": {
-            "size": [
-              2,
-              2
-            ],
-            "content": {
-              "_type": "Graph",
-              "_source0": "network_table:///SmartDashboard/Drivetrain/Right Enc Dist",
-              "_title": "SmartDashboard/Drivetrain/Right Enc Dist",
-              "Visible time": 30.0,
-              "SmartDashboard/Drivetrain/Right Enc Dist visible": true
-            }
-          },
-          "1,0": {
-            "size": [
-              2,
-              2
-            ],
-            "content": {
-              "_type": "Graph",
-              "_source0": "network_table:///SmartDashboard/Drivetrain/Left Enc Dist",
-              "_title": "SmartDashboard/Drivetrain/Left Enc Dist",
-              "Visible time": 30.0,
-              "SmartDashboard/Drivetrain/Left Enc Dist visible": true
-            }
           }
         }
       }

Original file line number	Diff line number	Diff line change
`@@ -1,2 +1,2 @@`
`1`		`-#Sun Feb 18 11:01:27 PST 2018`
	`1`	`+#Sun Feb 18 15:40:25 PST 2018`
`2`	`2`	`C\:\\Users\\dean\\git\\RobotCode2018\\Robot2018\\lib\\libpathfinderjava.so=4087ee38c338446b8305f67716260df4`
Original file line number	Diff line number	Diff line change
`@@ -212,7 +212,7 @@ public void teleopPeriodic() {`
`212`	`212`	`// SmartDashboard.putNumber("Right Enc Dist", dt.getRightDist());`
`213`	`213`	`// SmartDashboard.putNumber("Avg Enc Dist", dt.getEncAvgDist());`
`214`	`214`	`//`
`215`		`- // SmartDashboard.putNumber("Angle", dt.getAHRSAngle());`
	`215`	`+ SmartDashboard.putNumber("Angle", dt.getAHRSAngle());`
`216`	`216`	`}`
`217`	`217`
`218`	`218`	`boolean firstTime = true;`
Original file line number	Diff line number	Diff line change
`@@ -46,6 +46,7 @@ public PIDMove(double targ, DrivetrainInterface dt, SmartDashboardInterface sd,`
`46`	`46`	`double kf = 1 / (dt.getCurrentMaxSpeed() * sd.getConst("Default PID Update Time", 0.05));`
`47`	`47`	`moveController = new PIDController(sd.getConst("MovekP", 0.1), sd.getConst("MovekI", 0),`
`48`	`48`	`sd.getConst("MovekD", 0), kf, avg, this);`
	`49`	`+ SmartDashboard.putData("Move PID", moveController);`
`49`	`50`	`}`
`50`	`51`
`51`	`52`	`/**`
`@@ -64,8 +65,6 @@ public void initialize() {`
`64`	`65`	`moveController.setAbsoluteTolerance(Robot.getConst("MoveTolerance", 0.1));`
`65`	`66`	`moveController.setSetpoint(Robot.getConst("Move Targ", 24));`
`66`	`67`
`67`		`- SmartDashboard.putData("Move PID", moveController);`
`68`		`-`
`69`	`68`	`moveController.enable();`
`70`	`69`	`// dt.enableVelocityPIDs();`
`71`	`70`	`}`