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Commit 38deb6f

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DriverStationComputerDriverStationComputer
committed
Merge branch 'master' of
https://github.com/DriverStationComputer/RobotCode2018.git into lift Conflicts: Robot2018/src/org/usfirst/frc/team199/Robot2018/Robot.java
2 parents 82b7bdc + 5af25ef commit 38deb6f

5 files changed

Lines changed: 104 additions & 4 deletions

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‎CompSD.xml‎

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<xml version="1.0">
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<dashboard>
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<widget field="High Gear" type="Boolean" class="edu.wpi.first.smartdashboard.gui.elements.BooleanBox">
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<location x="14" y="4"/>
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<width>93</width>
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<height>78</height>
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</widget>
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<static-widget class="edu.wpi.first.smartdashboard.gui.elements.CameraServerViewer">
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<location x="830" y="4"/>
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<width>529</width>
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<height>399</height>
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<property name="Camera Choice" value="USB Camera 1"/>
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</static-widget>
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<static-widget class="edu.wpi.first.smartdashboard.gui.elements.CameraServerViewer">
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<location x="324" y="17"/>
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<width>502</width>
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<height>383</height>
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<property name="Camera Choice" value=""/>
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</static-widget>
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<widget field="Turn PID" type="PIDController" class="edu.wpi.first.smartdashboard.gui.elements.PIDEditor">
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<location x="182" y="426"/>
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</widget>
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<static-widget class="edu.wpi.first.smartdashboard.gui.elements.RobotPreferences">
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<location x="6" y="87"/>
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<width>284</width>
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<height>205</height>
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</static-widget>
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<widget field="LR" type="String Chooser" class="edu.wpi.first.smartdashboard.gui.elements.Chooser">
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<location x="31" y="2"/>
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</widget>
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<widget field="LL" type="String Chooser" class="edu.wpi.first.smartdashboard.gui.elements.Chooser">
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<location x="16" y="12"/>
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</widget>
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<widget field="Left PID Controller" type="PIDController" class="edu.wpi.first.smartdashboard.gui.elements.PIDEditor">
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<location x="51" y="417"/>
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</widget>
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<widget field="PIDController[1]" type="PIDController" class="edu.wpi.first.smartdashboard.gui.elements.PIDEditor">
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<location x="134" y="229"/>
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</widget>
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<widget field="RR" type="String Chooser" class="edu.wpi.first.smartdashboard.gui.elements.Chooser">
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<location x="4" y="11"/>
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</widget>
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<widget field="Starting Position" type="String Chooser" class="edu.wpi.first.smartdashboard.gui.elements.Chooser">
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<location x="11" y="16"/>
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</widget>
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<widget field="Move PID" type="PIDController" class="edu.wpi.first.smartdashboard.gui.elements.PIDEditor">
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<location x="32" y="467"/>
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</widget>
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<widget field="Right PID Controller" type="PIDController" class="edu.wpi.first.smartdashboard.gui.elements.PIDEditor">
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<location x="-26" y="264"/>
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<width>159</width>
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</widget>
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<widget field="RL" type="String Chooser" class="edu.wpi.first.smartdashboard.gui.elements.Chooser">
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<location x="13" y="30"/>
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</widget>
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</dashboard>
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<live-window>
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</live-window>
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<hidden field="VPID Right kI"/>
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<hidden field="VPID Left kI"/>
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<hidden field="Turn PID Error"/>
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<hidden field="Auto Delay"/>
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<hidden field="Move PID Error"/>
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<hidden field="Angle"/>
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<hidden field="Turn PID Result"/>
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<hidden field="VPID kF"/>
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<hidden field="Move PID Output"/>
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<hidden field="VPID Right kP"/>
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<hidden field="VPID Left kP"/>
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<hidden field="Turn PID Output"/>
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<hidden field="Move PID Result"/>
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</xml>

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

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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.StopIntake;
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import org.usfirst.frc.team199.Robot2018.commands.ToggleLeftIntake;
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import org.usfirst.frc.team199.Robot2018.commands.ToggleRightIntake;
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import org.usfirst.frc.team199.Robot2018.commands.UpdatePIDConstants;
@@ -67,6 +68,7 @@ public class OI {
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private JoystickButton outakeCubeButton;
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private JoystickButton toggleLeftIntakeButton;
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private JoystickButton toggleRightIntakeButton;
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private JoystickButton stopIntakeButton;
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public int getButton(String key, int def) {
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if (!SmartDashboard.containsKey("Button/" + key)) {
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toggleLeftIntakeButton.whenPressed(new ToggleLeftIntake());
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toggleRightIntakeButton = new JoystickButton(manipulator, getButton("Toggle Right Intake Button", 4));
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toggleRightIntakeButton.whenPressed(new ToggleRightIntake());
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stopIntakeButton = new JoystickButton(manipulator, getButton("Stop Intake Button", 7));
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stopIntakeButton.whenPressed(new StopIntake());
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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.IntakeEject;
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import org.usfirst.frc.team199.Robot2018.subsystems.Lift;
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import edu.wpi.first.wpilibj.CameraServer;
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import edu.wpi.first.wpilibj.DriverStation;
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import edu.wpi.first.wpilibj.IterativeRobot;
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import edu.wpi.first.wpilibj.PIDController;
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autoScripts = AutoUtils.parseScriptFile(Preferences.getInstance().getString("autoscripts", ""));
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listen = new Listener();
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// CameraServer.getInstance().startAutomaticCapture(0);
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// CameraServer.getInstance().startAutomaticCapture(1);
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lift.resetEnc();
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CameraServer.getInstance().startAutomaticCapture(0);
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CameraServer.getInstance().startAutomaticCapture(1);
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}
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/**

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

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double kP = r / Robot.rmap.getDrivetrainTimeConstant() / maxSpeed;
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double kI = 0;
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double kD = r / maxSpeed;
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double kF = 1 / (maxSpeed * sd.getConst("Default PID Update Time", 0.05)) / maxSpeed;
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double kF = 1 / maxSpeed * sd.getConst("Default PID Update Time", 0.05);
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moveController = new PIDController(kP, kI, kD, kF, avg, this);
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sd.putData("Move PID", moveController);

‎Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/StopIntake.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 edu.wpi.first.wpilibj.command.InstantCommand;
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/**
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*
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*/
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public class StopIntake extends InstantCommand {
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public StopIntake() {
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// Use requires() here to declare subsystem dependencies
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// eg. requires(chassis);
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super();
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}
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// Called just before this Command runs the first time
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@Override
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protected void initialize() {
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Robot.intakeEject.stopIntake();
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}
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}

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