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Conflicts: Robot2018/src/org/usfirst/frc/team199/Robot2018/OI.java Robot2018/src/org/usfirst/frc/team199/Robot2018/RobotMap.java
2 parents 5212a32 + 417f627 commit 1aa9f75

9 files changed

Lines changed: 248 additions & 8 deletions

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‎FRC971_Spartan_Series_2017_Austin_Test_Driven_Development_Software.zip‎

4.87 KB
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‎Robot2018/lib/User_Libraries.properties‎

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#Sat Feb 17 17:04:37 PST 2018
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#Sun Feb 18 11:01:27 PST 2018
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C\:\\Users\\dean\\git\\RobotCode2018\\Robot2018\\lib\\libpathfinderjava.so=4087ee38c338446b8305f67716260df4

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

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import org.usfirst.frc.team199.Robot2018.commands.PIDTurn;
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import org.usfirst.frc.team199.Robot2018.commands.RaiseIntake;
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import org.usfirst.frc.team199.Robot2018.commands.ResetEncoders;
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import org.usfirst.frc.team199.Robot2018.commands.RunLift;
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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;
@@ -39,6 +40,8 @@ public class OI {
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private JoystickButton PIDMoveButton;
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private JoystickButton PIDTurnButton;
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private JoystickButton resetEncButton;
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private JoystickButton MoveLiftUpButton;
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private JoystickButton MoveLiftDownButton;
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public Joystick rightJoy;
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private JoystickButton updatePIDConstantsButton;
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private JoystickButton updateEncoderDPPButton;
@@ -84,6 +87,10 @@ public OI() {
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updatePIDConstantsButton.whenPressed(new UpdatePIDConstants());
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updateEncoderDPPButton = new JoystickButton(rightJoy, getButton("Get Encoder Dist Per Pulse", 9));
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updateEncoderDPPButton.whenPressed(new SetDistancePerPulse());
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MoveLiftUpButton = new JoystickButton(rightJoy, getButton("Run Lift Motor Up", 10));
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MoveLiftDownButton = new JoystickButton(rightJoy, getButton("Run Lift Motor Down", 11));
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MoveLiftUpButton.whileHeld(new RunLift(Robot.lift, true));
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MoveLiftDownButton.whileHeld(new RunLift(Robot.lift, false));
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manipulator = new Joystick(2);
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closeIntake = new JoystickButton(manipulator, getButton("Close Intake Button", 1));

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

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@@ -37,6 +37,10 @@ public class RobotMap {
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public static PowerDistributionPanel pdp;
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public static WPI_TalonSRX liftMotor;
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public static Encoder liftEnc;
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public static DigitalSource liftEncPort1;
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public static DigitalSource liftEncPort2;
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public static WPI_TalonSRX climberMotor;
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public static VictorSP leftIntakeMotor;
@@ -115,12 +119,14 @@ private void configSPX(WPI_VictorSPX mc) {
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public RobotMap() {
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pdp = new PowerDistributionPanel();
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118-
// intakeMotor = new WPI_TalonSRX(getPort("IntakeTalonSRX", 4));
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// configSRX(intakeMotor);
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// liftMotor = new WPI_TalonSRX(getPort("LiftTalonSRX", 5));
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// configSRX(liftMotor);
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// climberMotor = new WPI_TalonSRX(getPort("ClimberTalonSRX", 6));
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// configSRX(climberMotor);
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liftMotor = new WPI_TalonSRX(getPort("LiftTalonSRX", 7));
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configSRX(liftMotor);
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liftEncPort1 = new DigitalInput(getPort("1LiftEnc", 4));
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liftEncPort2 = new DigitalInput(getPort("2LiftEnc", 5));
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liftEnc = new Encoder(liftEncPort1, liftEncPort2);
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liftEnc.setPIDSourceType(PIDSourceType.kDisplacement);
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climberMotor = new WPI_TalonSRX(getPort("ClimberTalonSRX", 6));
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configSRX(climberMotor);
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leftIntakeMotor = new VictorSP(getPort("IntakeLeftVictorSP", 9));
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rightIntakeMotor = new VictorSP(getPort("IntakeRightVictorSP", 8));

‎Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/AutoLift.java‎

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package org.usfirst.frc.team199.Robot2018.commands;
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import org.usfirst.frc.team199.Robot2018.Robot;
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import org.usfirst.frc.team199.Robot2018.RobotMap;
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import org.usfirst.frc.team199.Robot2018.subsystems.LiftInterface;
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import org.usfirst.frc.team199.Robot2018.subsystems.LiftInterface.Position;
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import edu.wpi.first.wpilibj.PIDController;
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import edu.wpi.first.wpilibj.PIDOutput;
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import edu.wpi.first.wpilibj.command.Command;
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/**
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*
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*/
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public class AutoLift extends Command implements PIDOutput{
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/**
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* All distances are - 1 foot for initial height of intake and + 3 inches for wiggle room for dropping cubes
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* Also, acutal distances are divided by 3 because according to cad, the lift will have a 1:3 ratio from winch
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* to actual height.
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*/
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/**
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* Distance to switch
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* 18.75 inches in starting position (this measurement is the fence that surrounds the switch)
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* 9.75 / 3 for ratio = 3.25
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*/
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private final double SWITCH_DIST = 3.25;
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/**
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* Distance to scale
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* 5 feet starting
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* 51 / 3 = 17
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*/
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private final double SCALE_DIST = 17;
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/**
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* Distance to bar
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* 72 / 3 = 24
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* 7 feet starting; bar distance should be changed because I'm not aware how climber mech will be positioned
38+
*/
39+
private final double BAR_DIST = 24;
40+
private double desiredDist = 0;
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private double currDist = 0;
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private LiftInterface lift;
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private Position desiredPos;
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private PIDController liftController;
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public AutoLift(Position stage, LiftInterface lift) {
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// Use requires() here to declare subsystem dependencies
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// eg. requires(chassis);
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this.lift = lift;
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requires(Robot.lift);
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switch(lift.getCurrPos()) {
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case GROUND:
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currDist = 0;
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break;
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case SWITCH:
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currDist = SWITCH_DIST;
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break;
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case SCALE:
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currDist = SCALE_DIST;
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break;
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case BAR:
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currDist = BAR_DIST;
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break;
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}
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switch(stage) {
67+
case GROUND:
68+
desiredDist = -currDist;
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break;
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case SWITCH:
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desiredDist = SWITCH_DIST - currDist;
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break;
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case SCALE:
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desiredDist = SCALE_DIST - currDist;
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break;
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case BAR:
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desiredDist = BAR_DIST - currDist;
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break;
79+
}
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81+
liftController = new PIDController(Robot.getConst("LiftkP", 1), Robot.getConst("LiftkI", 0),
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Robot.getConst("LiftkD", 0),RobotMap.liftEnc, this);
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desiredPos = stage;
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}
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// Called just before this Command runs the first time
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protected void initialize() {
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lift.resetEnc();
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// input is in inches
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//liftController.setInputRange(-Robot.getConst("Max High Speed", 204), Robot.getConst("Max High Speed", 204));
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// output in "motor units" (arcade and tank only accept values [-1, 1]
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liftController.setOutputRange(-1.0, 1.0);
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liftController.setContinuous(false);
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//liftController.setAbsoluteTolerance(Robot.getConst("MoveTolerance", 2));
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liftController.setSetpoint(desiredDist);
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liftController.enable();
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}
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// Called repeatedly when this Command is scheduled to run
101+
protected void execute() {
102+
}
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// Make this return true when this Command no longer needs to run execute()
105+
protected boolean isFinished() {
106+
if(liftController.onTarget()) {
107+
lift.setTargetPosition(desiredPos);
108+
return true;
109+
}
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return false;
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}
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113+
// Called once after isFinished returns true
114+
protected void end() {
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liftController.disable();
116+
liftController.free();
117+
}
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// Called when another command which requires one or more of the same
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// subsystems is scheduled to run
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protected void interrupted() {
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end();
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}
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@Override
126+
public void pidWrite(double output) {
127+
lift.runMotor(output);
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}
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}

‎Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/RunLift.java‎

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package org.usfirst.frc.team199.Robot2018.commands;
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import org.usfirst.frc.team199.Robot2018.Robot;
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import org.usfirst.frc.team199.Robot2018.subsystems.LiftInterface;
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import edu.wpi.first.wpilibj.command.Command;
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/**
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*
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*/
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public class RunLift extends Command {
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private LiftInterface lift;
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private final double SPEED = 0.05;
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private int dir;
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17+
public RunLift(LiftInterface lift, boolean up) {
18+
// Use requires() here to declare subsystem dependencies
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// eg. requires(chassis);
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this.lift = lift;
21+
requires(Robot.lift);
22+
if (up)
23+
dir = 1;
24+
else
25+
dir = -1;
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}
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// Called just before this Command runs the first time
29+
protected void initialize() {
30+
}
31+
32+
// Called repeatedly when this Command is scheduled to run
33+
protected void execute() {
34+
lift.runMotor(SPEED * dir);
35+
}
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37+
// Make this return true when this Command no longer needs to run execute()
38+
protected boolean isFinished() {
39+
return false;
40+
}
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42+
// Called once after isFinished returns true
43+
protected void end() {
44+
lift.stopLift();
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}
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47+
// Called when another command which requires one or more of the same
48+
// subsystems is scheduled to run
49+
protected void interrupted() {
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end();
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}
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}

‎Robot2018/src/org/usfirst/frc/team199/Robot2018/subsystems/Lift.java‎

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package org.usfirst.frc.team199.Robot2018.subsystems;
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import org.usfirst.frc.team199.Robot2018.RobotMap;
4+
import org.usfirst.frc.team199.Robot2018.subsystems.LiftInterface.Position;
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import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
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import edu.wpi.first.wpilibj.Encoder;
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import edu.wpi.first.wpilibj.command.Subsystem;
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911
/**
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1214
public class Lift extends Subsystem implements LiftInterface {
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1416
private final WPI_TalonSRX liftMotor = RobotMap.liftMotor;
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private final Encoder liftEnc = RobotMap.liftEnc;
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private Position targetPosition = Position.GROUND;
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1820
/**
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5658
public void goToPosition(Position position, double offset) {
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5860
}
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/**
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* Runs lift motor at specified speed
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* @param speed - desired speed to run at
64+
*/
65+
public void runMotor(double output) {
66+
liftMotor.set(output);
67+
}
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69+
/**
70+
* Returns the position the lift is currently at
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* @return pos - current position
72+
*/
73+
public Position getCurrPos() {
74+
return targetPosition;
75+
}
76+
/**
77+
* Resets the encoder
78+
*/
79+
public void resetEnc() {
80+
liftEnc.reset();
81+
}
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6183
}
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‎Robot2018/src/org/usfirst/frc/team199/Robot2018/subsystems/LiftInterface.java‎

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package org.usfirst.frc.team199.Robot2018.subsystems;
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import org.usfirst.frc.team199.Robot2018.subsystems.LiftInterface.Position;
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public interface LiftInterface {
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57
/**
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3739
*/
3840
public void goToPosition(Position position, double offset);
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/**
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* Runs lift motor at specified speed
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* @param speed - desired speed to run at
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*/
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public void runMotor(double speed);
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/**
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* Returns the position the lift is currently at
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* @return pos - current position
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*/
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public Position getCurrPos();
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/**
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* Resets the encoder
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*/
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public void resetEnc();
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59+
/**
60+
* Sets the current position in the lift subsystem
61+
* @param newPosition - the new position meant to be set
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*/
63+
public void setTargetPosition(Position newPosition);
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}

‎Robot2018/test/org/usfirst/frc/team199/Robot2018/LiftTester.java‎

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