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Conflicts: Robot2018/src/org/usfirst/frc/team199/Robot2018/OI.java Robot2018/src/org/usfirst/frc/team199/Robot2018/RobotMap.java Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/PIDTurn.java Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/RunScript.java Robot2018/src/org/usfirst/frc/team199/Robot2018/subsystems/IntakeEject.java
2 parents 8980ef6 + 305b8e3 commit 5212a32

15 files changed

Lines changed: 373 additions & 62 deletions

‎Robot2018/lib/User_Libraries.properties‎

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#Sat Feb 17 16:36:54 PST 2018
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#Sat Feb 17 17:04:37 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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@@ -7,8 +7,14 @@
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package org.usfirst.frc.team199.Robot2018;
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import org.usfirst.frc.team199.Robot2018.commands.CloseIntake;
11+
import org.usfirst.frc.team199.Robot2018.commands.IntakeCube;
12+
import org.usfirst.frc.team199.Robot2018.commands.LowerIntake;
13+
import org.usfirst.frc.team199.Robot2018.commands.OpenIntake;
14+
import org.usfirst.frc.team199.Robot2018.commands.OutakeCube;
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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.RaiseIntake;
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import org.usfirst.frc.team199.Robot2018.commands.ResetEncoders;
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import org.usfirst.frc.team199.Robot2018.commands.SetDistancePerPulse;
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import org.usfirst.frc.team199.Robot2018.commands.ShiftDriveType;
@@ -37,6 +43,12 @@ public class OI {
3743
private JoystickButton updatePIDConstantsButton;
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private JoystickButton updateEncoderDPPButton;
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public Joystick manipulator;
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private JoystickButton closeIntake;
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private JoystickButton openIntake;
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private JoystickButton raiseIntake;
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private JoystickButton lowerIntake;
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private JoystickButton intake;
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private JoystickButton outake;
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public int getButton(String key, int def) {
4254
if (!SmartDashboard.containsKey("Button/" + key)) {
@@ -74,5 +86,17 @@ public OI() {
7486
updateEncoderDPPButton.whenPressed(new SetDistancePerPulse());
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manipulator = new Joystick(2);
89+
closeIntake = new JoystickButton(manipulator, getButton("Close Intake Button", 1));
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closeIntake.whenPressed(new CloseIntake());
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openIntake = new JoystickButton(manipulator, getButton("Open Intake Button", 2));
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openIntake.whenPressed(new OpenIntake());
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raiseIntake = new JoystickButton(manipulator, getButton("Raise Intake Button", 3));
94+
raiseIntake.whenPressed(new RaiseIntake());
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lowerIntake = new JoystickButton(manipulator, getButton("Lower Intake Button", 4));
96+
lowerIntake.whenPressed(new LowerIntake());
97+
intake = new JoystickButton(manipulator, getButton("Intake Button", 5));
98+
intake.whenPressed(new IntakeCube());
99+
outake = new JoystickButton(manipulator, getButton("Outake Button", 6));
100+
outake.whenPressed(new OutakeCube());
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}
78102
}

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

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@@ -19,6 +19,7 @@
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import edu.wpi.first.wpilibj.DoubleSolenoid;
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import edu.wpi.first.wpilibj.Encoder;
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import edu.wpi.first.wpilibj.PIDSourceType;
22+
import edu.wpi.first.wpilibj.PowerDistributionPanel;
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import edu.wpi.first.wpilibj.SPI;
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import edu.wpi.first.wpilibj.SpeedControllerGroup;
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import edu.wpi.first.wpilibj.VictorSP;
@@ -33,11 +34,17 @@
3334
*/
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public class RobotMap {
3536

37+
public static PowerDistributionPanel pdp;
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3639
public static WPI_TalonSRX liftMotor;
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public static WPI_TalonSRX climberMotor;
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public static VictorSP leftIntakeMotor;
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public static VictorSP rightIntakeMotor;
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public static DoubleSolenoid leftIntakeVerticalSolenoid;
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public static DoubleSolenoid rightIntakeVerticalSolenoid;
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public static DoubleSolenoid leftIntakeHorizontalSolenoid;
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public static DoubleSolenoid rightIntakeHorizontalSolenoid;
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public static DigitalSource leftEncPort1;
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public static DigitalSource leftEncPort2;
@@ -106,6 +113,7 @@ private void configSPX(WPI_VictorSPX mc) {
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}
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108115
public RobotMap() {
116+
pdp = new PowerDistributionPanel();
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110118
// intakeMotor = new WPI_TalonSRX(getPort("IntakeTalonSRX", 4));
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// configSRX(intakeMotor);
@@ -114,8 +122,20 @@ public RobotMap() {
114122
// climberMotor = new WPI_TalonSRX(getPort("ClimberTalonSRX", 6));
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// configSRX(climberMotor);
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117-
leftIntakeMotor = new VictorSP(getPort("IntakeLeftVictorSP", 0));
118-
rightIntakeMotor = new VictorSP(getPort("IntakeRightVictorSP", 1));
125+
leftIntakeMotor = new VictorSP(getPort("IntakeLeftVictorSP", 9));
126+
rightIntakeMotor = new VictorSP(getPort("IntakeRightVictorSP", 8));
127+
// leftIntakeHorizontalSolenoid = new
128+
// DoubleSolenoid(getPort("IntakeLeftHorizontalSolenoidPort1", 2),
129+
// getPort("IntakeLeftHorizontalSolenoidPort2", 3));
130+
// rightIntakeHorizontalSolenoid = new
131+
// DoubleSolenoid(getPort("IntakeRightHorizontalSolenoidPort1", 4),
132+
// getPort("IntakeRightHorizontalSolenoidPort2", 5));
133+
// leftIntakeVerticalSolenoid = new
134+
// DoubleSolenoid(getPort("IntakeLeftVerticalSolenoidPort1", 6),
135+
// getPort("IntakeLeftVerticalSolenoidPort2", 7));
136+
// rightIntakeVerticalSolenoid = new
137+
// DoubleSolenoid(getPort("IntakeRightVerticalSolenoidPort1", 8),
138+
// getPort("IntakeRightVerticalSolenoidPort2", 9));
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120140
leftEncPort1 = new DigitalInput(getPort("1LeftEnc", 2));
121141
leftEncPort2 = new DigitalInput(getPort("2LeftEnc", 3));
@@ -211,7 +231,9 @@ public double calcDefkD(double maxSpeed) {
211231
* half of the drivetrain only has to support half of the robot), and radius of
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* the drivetrain wheels squared. It's inversely proportional to the stall
213233
* torque of the shaft, which is found by multiplying the stall torque of the
214-
* motor with the gear reduction by the amount of motors.
234+
* motor with the gear reduction by the amount of motors. The omegaMax needs to
235+
* be converted from rpm to radians per second, so divide by 60 and multiply to
236+
* get radians.
215237
*/
216238
double gearReduction = Robot.getBool("High Gear", false) ? Robot.getConst("High Gear Gear Reduction", 5.392)
217239
: Robot.getConst("Low Gear Gear Reduction", 12.255);

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

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package org.usfirst.frc.team199.Robot2018.commands;
2+
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import org.usfirst.frc.team199.Robot2018.Robot;
4+
5+
import edu.wpi.first.wpilibj.command.InstantCommand;
6+
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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8+
/**
9+
*
10+
*/
11+
public class CloseIntake extends InstantCommand {
12+
13+
public CloseIntake() {
14+
super();
15+
// Use requires() here to declare subsystem dependencies
16+
// eg. requires(chassis);
17+
}
18+
19+
// Called once when the command executes
20+
protected void initialize() {
21+
Robot.intakeEject.closeIntake();
22+
SmartDashboard.putBoolean("Intake Open", false);
23+
}
24+
25+
}

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

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package org.usfirst.frc.team199.Robot2018.commands;
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import org.usfirst.frc.team199.Robot2018.Robot;
4+
35
import edu.wpi.first.wpilibj.command.Command;
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57
/**
68
*
79
*/
810
public class IntakeCube extends Command {
911

10-
public IntakeCube() {
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// Use requires() here to declare subsystem dependencies
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// eg. requires(chassis);
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}
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// Called just before this Command runs the first time
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protected void initialize() {
17-
}
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// Called repeatedly when this Command is scheduled to run
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protected void execute() {
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}
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// Make this return true when this Command no longer needs to run execute()
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protected boolean isFinished() {
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return false;
26-
}
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28-
// Called once after isFinished returns true
29-
protected void end() {
30-
}
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32-
// Called when another command which requires one or more of the same
33-
// subsystems is scheduled to run
34-
protected void interrupted() {
35-
}
12+
public IntakeCube() {
13+
// Use requires() here to declare subsystem dependencies
14+
// eg. requires(chassis);
15+
}
16+
17+
// Called just before this Command runs the first time
18+
protected void initialize() {
19+
}
20+
21+
// Called repeatedly when this Command is scheduled to run
22+
protected void execute() {
23+
Robot.intakeEject.runIntake(1);
24+
}
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26+
// Make this return true when this Command no longer needs to run execute()
27+
protected boolean isFinished() {
28+
return Robot.intakeEject.hasCube();
29+
}
30+
31+
// Called once after isFinished returns true
32+
protected void end() {
33+
}
34+
35+
// Called when another command which requires one or more of the same
36+
// subsystems is scheduled to run
37+
protected void interrupted() {
38+
}
3639
}

‎Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/LowerIntake.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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5+
import edu.wpi.first.wpilibj.command.InstantCommand;
6+
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
7+
8+
/**
9+
*
10+
*/
11+
public class LowerIntake extends InstantCommand {
12+
13+
public LowerIntake() {
14+
super();
15+
// Use requires() here to declare subsystem dependencies
16+
// eg. requires(chassis);
17+
}
18+
19+
// Called once when the command executes
20+
protected void initialize() {
21+
Robot.intakeEject.lowerIntake();
22+
SmartDashboard.putBoolean("Intake Up", false);
23+
}
24+
25+
}

‎Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/OpenIntake.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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5+
import edu.wpi.first.wpilibj.command.InstantCommand;
6+
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
7+
8+
/**
9+
*
10+
*/
11+
public class OpenIntake extends InstantCommand {
12+
13+
public OpenIntake() {
14+
super();
15+
// Use requires() here to declare subsystem dependencies
16+
// eg. requires(chassis);
17+
}
18+
19+
// Called once when the command executes
20+
protected void initialize() {
21+
Robot.intakeEject.openIntake();
22+
SmartDashboard.putBoolean("Intake Open", true);
23+
}
24+
25+
}

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

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package org.usfirst.frc.team199.Robot2018.commands;
2+
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import org.usfirst.frc.team199.Robot2018.Robot;
4+
5+
import edu.wpi.first.wpilibj.Timer;
6+
import edu.wpi.first.wpilibj.command.Command;
7+
8+
/**
9+
*
10+
*/
11+
public class OutakeCube extends Command {
12+
13+
Timer tim;
14+
15+
public OutakeCube() {
16+
// Use requires() here to declare subsystem dependencies
17+
// eg. requires(chassis);
18+
}
19+
20+
// Called just before this Command runs the first time
21+
protected void initialize() {
22+
tim = new Timer();
23+
}
24+
25+
// Called repeatedly when this Command is scheduled to run
26+
protected void execute() {
27+
Robot.intakeEject.runIntake(-1);
28+
}
29+
30+
// Make this return true when this Command no longer needs to run execute()
31+
protected boolean isFinished() {
32+
return tim.get() > Robot.getConst("Outake Time", 1);
33+
}
34+
35+
// Called once after isFinished returns true
36+
protected void end() {
37+
}
38+
39+
// Called when another command which requires one or more of the same
40+
// subsystems is scheduled to run
41+
protected void interrupted() {
42+
}
43+
}

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

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9292
*/
9393
@Override
9494
protected boolean isFinished() {
95-
return moveController.onTarget();
95+
return moveController.onTarget()
96+
&& Math.abs(dt.getLeftEncRate()) <= Robot.getConst("Maximum Velocity When Stop", 1)
97+
&& Math.abs(dt.getRightEncRate()) <= Robot.getConst("Maximum Velocity When Stop", 1);
9698
}
9799

98100
/**

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

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118118
protected boolean isFinished() {
119119
System.out.println("isFinished");
120120
return (turnController.onTarget() && Math.abs(dt.getGyroRate()) < 1);
121+
// return turnController.onTarget()
122+
// && Math.abs(dt.getLeftEncRate()) <= Robot.getConst("Maximum Velocity When
123+
// Stop", 1)
124+
// && Math.abs(dt.getRightEncRate()) <= Robot.getConst("Maximum Velocity When
125+
// Stop", 1);
121126
}
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123128
/**

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