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Commit 1680ed9

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kaytay7430kaytay7430
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set up subsystem interfaces
added some methods and motor controllers to Lift, Climber, and Intake
2 parents fa7085c + 16dd9c3 commit 1680ed9

30 files changed

Lines changed: 1496 additions & 195 deletions

‎.gitignore‎

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build/
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dist/
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.DS_Store
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*auto*
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*Auto*

‎Robot2018/.classpath‎

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<classpathentry kind="lib" path="lib/mockito-core-2.13.3.jar"/>
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<classpathentry kind="lib" path="lib/byte-buddy-1.7.9.jar"/>
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<classpathentry kind="lib" path="lib/objenesis-2.6.jar"/>
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<classpathentry kind="lib" path="lib/CTRE_Phoenix-sources.jar"/>
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<classpathentry kind="lib" path="lib/CTRE_Phoenix.jar"/>
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<classpathentry kind="lib" path="lib/navx_frc.jar"/>
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<classpathentry kind="output" path="bin"/>
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</classpath>

‎Robot2018/lib/CTRE_Phoenix-sources.jar‎

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‎Robot2018/lib/CTRE_Phoenix.jar‎

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‎Robot2018/lib/navx_frc.jar‎

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‎Robot2018/src/org/usfirst/frc/team199/Robot2018/Listener.java‎

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package org.usfirst.frc.team199.Robot2018;
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import org.usfirst.frc.team199.Robot2018.commands.SetDistancePerPulse;
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import org.usfirst.frc.team199.Robot2018.commands.UpdatePIDConstants;
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import edu.wpi.first.networktables.EntryListenerFlags;
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import edu.wpi.first.networktables.NetworkTable;
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import edu.wpi.first.networktables.NetworkTableEntry;
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import edu.wpi.first.networktables.NetworkTableValue;
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import edu.wpi.first.networktables.TableEntryListener;
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import edu.wpi.first.wpilibj.command.Command;
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import edu.wpi.first.wpilibj.command.Scheduler;
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public class Listener implements TableEntryListener {
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private void addCommand(Command com) {
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Scheduler.getInstance().add(com);
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}
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@Override
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public void valueChanged(NetworkTable arg0, String arg1, NetworkTableEntry arg2, NetworkTableValue arg3, int arg4) {
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if(arg4 == EntryListenerFlags.kNew) return;
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switch (arg1) {
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case "Const/Distance Per Pulse Left":
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addCommand(new SetDistancePerPulse());
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break;
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case "Const/Distance Per Pulse Right":
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addCommand(new SetDistancePerPulse());
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break;
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case "Const/TurnkP":
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addCommand(new UpdatePIDConstants());
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break;
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case "Const/TurnkI":
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addCommand(new UpdatePIDConstants());
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break;
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case "Const/TurnkD":
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addCommand(new UpdatePIDConstants());
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break;
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case "Const/MovekP":
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addCommand(new UpdatePIDConstants());
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break;
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case "Const/MovekI":
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addCommand(new UpdatePIDConstants());
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break;
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case "Const/MovekD":
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addCommand(new UpdatePIDConstants());
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break;
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}
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}
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}

‎Robot2018/src/org/usfirst/frc/team199/Robot2018/OI.java‎

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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package org.usfirst.frc.team199.Robot2018;
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import edu.wpi.first.wpilibj.buttons.Button;
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import org.usfirst.frc.team199.Robot2018.commands.PIDMove;
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import org.usfirst.frc.team199.Robot2018.commands.PIDTurn;
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import org.usfirst.frc.team199.Robot2018.commands.SetDistancePerPulse;
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import org.usfirst.frc.team199.Robot2018.commands.ShiftDriveType;
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import org.usfirst.frc.team199.Robot2018.commands.ShiftHighGear;
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import org.usfirst.frc.team199.Robot2018.commands.ShiftLowGear;
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import org.usfirst.frc.team199.Robot2018.commands.UpdatePIDConstants;
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import edu.wpi.first.wpilibj.Joystick;
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import edu.wpi.first.wpilibj.buttons.JoystickButton;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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/**
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* This class is the glue that binds the controls on the physical operator
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// Start the command when the button is released and let it run the command
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// until it is finished as determined by it's isFinished method.
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// button.whenReleased(new ExampleCommand());
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public Joystick leftJoy;
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private JoystickButton shiftLowGear;
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private JoystickButton shiftHighGear;
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private JoystickButton shiftDriveType;
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private JoystickButton PIDMove;
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private JoystickButton PIDTurn;
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public Joystick rightJoy;
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private JoystickButton updatePidConstants;
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private JoystickButton updateEncoderDPP;
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public Joystick manipulator;
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public int getButton(String key, int def) {
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if (!SmartDashboard.containsKey("Button/" + key)) {
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SmartDashboard.putNumber("Button/" + key, def);
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}
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return (int) SmartDashboard.getNumber("Button/" + key, def);
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}
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public OI() {
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leftJoy = new Joystick(0);
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shiftLowGear = new JoystickButton(leftJoy, getButton("Shift Low Gear", 3));
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shiftLowGear.whenPressed(new ShiftLowGear());
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shiftHighGear = new JoystickButton(leftJoy, getButton("Shift High Gear", 5));
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shiftHighGear.whenPressed(new ShiftHighGear());
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shiftDriveType = new JoystickButton(leftJoy, getButton("Shift Drive Type", 2));
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shiftDriveType.whenPressed(new ShiftDriveType());
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PIDMove = new JoystickButton(leftJoy, getButton("PID Move", 7));
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PIDMove.whenPressed(new PIDMove(40, Robot.dt));
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PIDTurn = new JoystickButton(leftJoy, getButton("PID Turn", 8));
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PIDTurn.whenPressed(new PIDTurn(30, Robot.dt));
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rightJoy = new Joystick(1);
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updatePidConstants = new JoystickButton(rightJoy, getButton("Get PID Constants", 8));
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updatePidConstants.whenPressed(new UpdatePIDConstants());
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updateEncoderDPP = new JoystickButton(rightJoy, getButton("Get Encoder Dist Per Pulse", 9));
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updateEncoderDPP.whenPressed(new SetDistancePerPulse());
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manipulator = new Joystick(2);
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}
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}

‎Robot2018/src/org/usfirst/frc/team199/Robot2018/Robot.java‎

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import org.usfirst.frc.team199.Robot2018.subsystems.Climber;
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import org.usfirst.frc.team199.Robot2018.subsystems.ClimberAssist;
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import org.usfirst.frc.team199.Robot2018.subsystems.Drivetrain;
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import org.usfirst.frc.team199.Robot2018.subsystems.IntakeEject;
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import org.usfirst.frc.team199.Robot2018.subsystems.LeftDrive;
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import org.usfirst.frc.team199.Robot2018.subsystems.Lift;
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import org.usfirst.frc.team199.Robot2018.subsystems.RightDrive;
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import edu.wpi.first.wpilibj.IterativeRobot;
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import edu.wpi.first.wpilibj.TimedRobot;
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import edu.wpi.first.wpilibj.command.Command;
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import edu.wpi.first.wpilibj.command.Scheduler;
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import edu.wpi.first.wpilibj.livewindow.LiveWindow;
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import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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* directory.
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*/
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public class Robot extends TimedRobot {
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public static final Climber climber = new Climber();
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public static final ClimberAssist climberAssist = new ClimberAssist();
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public static final IntakeEject intakeEject = new IntakeEject();
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public static final Lift lift = new Lift();
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public static Climber climber;
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public static ClimberAssist climberAssist;
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public static IntakeEject intakeEject;
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public static Lift lift;
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public static RobotMap rmap;
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public static Drivetrain dt;
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public static LeftDrive ld;
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public static RightDrive rd;
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public static Listener listen;
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public static OI oi;
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Command autonomousCommand;
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SendableChooser<Command> chooser = new SendableChooser<>();
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public static double getConst(String key, double def) {
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if (!SmartDashboard.containsKey("Const/" + key)) {
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SmartDashboard.putNumber("Const/" + key, def);
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}
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return SmartDashboard.getNumber("Const/" + key, def);
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}
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public static boolean getBool(String key, boolean def) {
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if (!SmartDashboard.containsKey("Bool/" + key)) {
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SmartDashboard.putBoolean("Bool/" + key, def);
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}
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return SmartDashboard.getBoolean("Bool/" + key, def);
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}
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/**
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* This function is run when the robot is first started up and should be
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* used for any initialization code.
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* This function is run when the robot is first started up and should be used
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* for any initialization code.
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*/
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@Override
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public void robotInit() {
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rmap = new RobotMap();
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climber = new Climber();
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climberAssist = new ClimberAssist();
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intakeEject = new IntakeEject();
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lift = new Lift();
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dt = new Drivetrain();
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ld = new LeftDrive();
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rd = new RightDrive();
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oi = new OI();
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listen = new Listener();
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// chooser.addObject("My Auto", new MyAutoCommand());
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SmartDashboard.putData("Auto mode", chooser);
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}
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/**
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* This function is called once each time the robot enters Disabled mode.
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* You can use it to reset any subsystem information you want to clear when
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* the robot is disabled.
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* This function is called once each time the robot enters Disabled mode. You
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* can use it to reset any subsystem information you want to clear when the
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* robot is disabled.
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*/
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@Override
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public void disabledInit() {
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/**
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* This autonomous (along with the chooser code above) shows how to select
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* between different autonomous modes using the dashboard. The sendable
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* chooser code works with the Java SmartDashboard. If you prefer the
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* LabVIEW Dashboard, remove all of the chooser code and uncomment the
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* getString code to get the auto name from the text box below the Gyro
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* between different autonomous modes using the dashboard. The sendable chooser
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* code works with the Java SmartDashboard. If you prefer the LabVIEW Dashboard,
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* remove all of the chooser code and uncomment the getString code to get the
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* auto name from the text box below the Gyro
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*
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* You can add additional auto modes by adding additional commands to the
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* chooser code above (like the commented example) or additional comparisons
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* to the switch structure below with additional strings & commands.
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* chooser code above (like the commented example) or additional comparisons to
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* the switch structure below with additional strings & commands.
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*/
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@Override
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public void autonomousInit() {
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autonomousCommand = chooser.getSelected();
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/*
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* String autoSelected = SmartDashboard.getString("Auto Selector",
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* "Default"); switch(autoSelected) { case "My Auto": autonomousCommand
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* = new MyAutoCommand(); break; case "Default Auto": default:
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* autonomousCommand = new ExampleCommand(); break; }
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* String autoSelected = SmartDashboard.getString("Auto Selector", "Default");
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* switch(autoSelected) { case "My Auto": autonomousCommand = new
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* MyAutoCommand(); break; case "Default Auto": default: autonomousCommand = new
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* ExampleCommand(); break; }
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*/
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// schedule the autonomous command (example)

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