Merge branch 'better-auto' of https://github.com/kevinzwang/RobotCode2018.git into better-auto

Author: DriverStationComputer

AAAScripts/scripts.txt

@@ -7,9 +7,8 @@ moveto (0,120) #Drive past auto line
 
 #Switch
 RRxx:
-moveto (0,155) 
-turn -90
-switch
+moveto (0,148) -90
+switch 19
 
 RLxx:
 move 56
@@ -76,9 +75,8 @@ moveto (0, 120) #Drive past auto line
 
 #Switch
 LLxx:
-move 150
-turn 90
-switch
+moveto (0,148) 90
+switch 19
 
 LRxx:
 move 56
@@ -139,17 +137,16 @@ exchange
 
 # Cross Auto Line 
 Cxxx: 
-moveto (0,50) (48,50) (48,92)  #cross baseline
-
+moveto (0, 12) (40, 88)
 
 # Switch
 CRxx:
-moveto (0,50) (48,50) (48,85) 
-switch #deploy switch 
+moveto (0,15) (50,85) 0
+switch 15
 
 CLxx:
-moveto (0,50) (-56,50) (-56,85)
-switch #deploy switch 
+moveto (0,15) (-60,85) 0
+switch 15
 
 
 # Switch and Exchange

Robot2018/src/org/usfirst/frc/team199/Robot2018/autonomous/AutoUtils.java

@@ -109,21 +109,21 @@ public static boolean isValidCommand(String instruction, String args, int lineNu
 		// moveto takes in a set of points, and the last arg can be a number
 		if (instruction.equals("moveto")) {
 			if (args == "") {
-				logError(lineNumber, "The command `moveto` requires at least one argument.");
+				logError(lineNumber, "The command `" + instruction + "` requires at least one argument.");
 				return false;
 			}
 
 			String[] splitArgs = args.split(" ");
 			for (int i = 0; i < splitArgs.length - 1; i++) {
 				if (!isPoint(splitArgs[i])) {
 					logError(lineNumber,
-							"The arguments for command `moveto` should be points formatted like this: " + "`(x,y)`.");
+							"The arguments for command `" + instruction + "` should be points formatted like this: " + "`(x,y)`.");
 					return false;
 				}
 			}
 
 			if (!isDouble(splitArgs[splitArgs.length - 1]) && !isPoint(splitArgs[splitArgs.length - 1])) {
-				logError(lineNumber, "The last argument for command `moveto` should be a number, or a point "
+				logError(lineNumber, "The last argument for command `" + instruction + "` should be a number, or a point "
 						+ "formatted like this: `(x,y)`.");
 				return false;
 			}
@@ -132,32 +132,32 @@ public static boolean isValidCommand(String instruction, String args, int lineNu
 		// turn can take a number or point
 		else if (instruction.equals("turn")) {
 			if (args.contains(" ")) {
-				logError(lineNumber, "Command `turn` only accepts one argument.");
+				logError(lineNumber, "Command `" + instruction + "` only accepts one argument.");
 				return false;
 			}
 
 			if (!isDouble(args) && !isPoint(args)) {
-				logError(lineNumber, "The argument for command `turn` should be a number or a point formatted like "
+				logError(lineNumber, "The argument for command `" + instruction + "` should be a number or a point formatted like "
 						+ "this: `(x,y)`.");
 				return false;
 			}
 		}
 
-		// move and wait can take only a number
-		else if (instruction.equals("move") || instruction.equals("wait")) {
+		// these can take only a number
+		else if (instruction.equals("move") || instruction.equals("wait") || instruction.equals("switch") || instruction.equals("scale")) {
 			if (args.contains(" ")) {
-				logError(lineNumber, "Command `move` only accepts one argument.");
+				logError(lineNumber, "Command `" + instruction + "` only accepts one argument.");
 				return false;
 			}
 
 			if (!isDouble(args)) {
-				logError(lineNumber, "The argument for command `move` should be a number.");
+				logError(lineNumber, "The argument for command `" + instruction + "` should be a number.");
 				return false;
 			}
 		}
 
 		// switch, scale, exchange, intake, and end all don't have any args
-		else if (instruction.equals("switch") || instruction.equals("scale") || instruction.equals("exchange")
+		else if (instruction.equals("exchange")
 				|| instruction.equals("intake") || instruction.equals("end")) {
 			if (!args.equals("")) {
 				logError(lineNumber, "Command `" + instruction + "` does not accept any arguments.");
@@ -168,7 +168,7 @@ else if (instruction.equals("switch") || instruction.equals("scale") || instruct
 		// Jump only takes one argument
 		else if (instruction.equals("jump")) {
 			if (args.contains(" ")) {
-				logError(lineNumber, "Command `jump` only accepts one argument.");
+				logError(lineNumber, "Command `" + instruction + "` only accepts one argument.");
 				return false;
 			}
 		}

Robot2018/src/org/usfirst/frc/team199/Robot2018/autonomous/aaa-reference.md

@@ -50,7 +50,7 @@ Ex:
 | jump | Jumps to the specified script and continues the current script when finished. (Doesn’t make the robot go up.) | `jump MoveToRScale`
 | move | Move forward or backwards for the specified amount in inches, relative to the current position. | `move 24` |
 | moveto | Move to 1 or more points, sequentially, with an optional last value having a final angle to face towards, all relative to the starting position. | `moveto (12,0) (36,12)` <br> `moveto (0,12) 90` |
-| scale | Place a cube at scale height. | `scale` |
-| switch | Place a cube at switch height. | `switch` |
+| scale | Place a cube at scale height after moving forward by the specified amount with the lift up, and after moves 12 inches back. | `scale 24` |
+| switch | Place a cube at switch height after moving forward by the specified amount with the lift up, and after moves 12 inches back. | `switch 24` |
 | turn | Turn towards a relative point or rotate clockwise by an angle in degrees, relative to the current position. <br> Negative angle for counterclockwise. | `turn (36,48)` <br> `turn 45` |
 | wait | Waits for the number of seconds before proceeding to next command. | `wait 5` |

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

@@ -9,12 +9,11 @@
  */
 public class EjectToScale extends CommandGroup {
 
-	public EjectToScale() {
+	public EjectToScale(double dist) {
 		addSequential(new AutoLift(Robot.lift, "SCALE"));
-		addSequential(
-				new PIDMove(Robot.getConst("Auto Scale Move Dist", 18), Robot.dt, Robot.sd, Robot.dt.getDistEncAvg()));
+		addSequential(new PIDMove(dist, Robot.dt, Robot.sd, Robot.dt.getDistEncAvg()));
 		addSequential(new OuttakeCube());
-		addSequential(new PIDMove(-1 * Robot.getConst("Auto Scale Move Dist", 18), Robot.dt, Robot.sd,
+		addSequential(new PIDMove(-1 * Robot.getConst("Scale move back dist", 12), Robot.dt, Robot.sd,
 				Robot.dt.getDistEncAvg()));
 		addSequential(new AutoLift(Robot.lift, "GROUND"));
 	}

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

@@ -9,12 +9,11 @@
  */
 public class EjectToSwitch extends CommandGroup {
 
-	public EjectToSwitch() {
+	public EjectToSwitch(double dist) {
 		addSequential(new AutoLift(Robot.lift, "SWITCH"));
-		addSequential(
-				new PIDMove(Robot.getConst("Auto Switch Move Dist", 18), Robot.dt, Robot.sd, Robot.dt.getDistEncAvg()));
+		addSequential(new PIDMove(dist, Robot.dt, Robot.sd, Robot.dt.getDistEncAvg()));
 		addSequential(new OuttakeCube());
-		addSequential(new PIDMove(-1 * Robot.getConst("Auto Switch Move Dist", 18), Robot.dt, Robot.sd,
+		addSequential(new PIDMove(-1 * Robot.getConst("Switch move back dist", 12), Robot.dt, Robot.sd,
 				Robot.dt.getDistEncAvg()));
 		addSequential(new AutoLift(Robot.lift, "GROUND"));
 	}

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

@@ -44,10 +44,10 @@ public RunScript(String scriptName) {
 				addSequential(new PIDMove(distance, Robot.dt, Robot.sd, Robot.dt.getDistEncAvg()));
 				break;
 			case "switch":
-				addSequential(new EjectToSwitch());
+				addSequential(new EjectToSwitch(Double.parseDouble(cmdArgs)));
 				break;
 			case "scale":
-				addSequential(new EjectToScale());
+				addSequential(new EjectToScale(Double.parseDouble(cmdArgs)));
 				break;
 			case "exchange":
 				addSequential(new EjectToExchange());