Merge branch 'master' of https://github.com/DriverStationComputer/RobotCode2018

Author: kevinzwang

Robot2018/lib/User_Libraries.properties

@@ -1,2 +1,2 @@
-#Mon Feb 19 20:57:02 PST 2018
+#Sun Feb 18 17:40:43 PST 2018
 C\:\\Users\\dean\\git\\RobotCode2018\\Robot2018\\lib\\libpathfinderjava.so=4087ee38c338446b8305f67716260df4

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

@@ -6,7 +6,7 @@
 
 public class AutoUtils {
 
-	public static Position position;
+	public static Position position = new Position(0, 0, 0);
 
 	/**
 	 * Parses the inputted script file into a map of scripts
@@ -25,7 +25,6 @@ public static Map<String, ArrayList<String[]>> parseScriptFile(String scriptFile
 		String currScriptName = "";
 
 		int count = 0;
-		int errorCount = 0;
 		for (String line : lines) {
 			count++;
 			// remove comments
@@ -76,8 +75,6 @@ public static Map<String, ArrayList<String[]>> parseScriptFile(String scriptFile
 				if (isValidCommand(instruction, args, count)) {
 					String[] command = { instruction, args };
 					currScript.add(command);
-				} else {
-					errorCount++;
 				}
 			}
 
@@ -89,8 +86,6 @@ public static Map<String, ArrayList<String[]>> parseScriptFile(String scriptFile
 		// remove the stray one in the beginning
 		autoScripts.remove("");
 
-		System.out.println("[INFO] Successfuly parsed " + count + " lines with " + errorCount + " errors.");
-
 		return autoScripts;
 	}
 

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

@@ -9,8 +9,6 @@
  */
 public class DefaultIntake extends Command {
 
-	private boolean manipulatorPluggedIn = true;
-
 	public DefaultIntake() {
 		// Use requires() here to declare subsystem dependencies
 		// eg. requires(chassis);
@@ -19,21 +17,13 @@ public DefaultIntake() {
 
 	// Called just before this Command runs the first time
 	protected void initialize() {
-		try {
-			Robot.oi.manipulator.getRawAxis(1);
-		} catch (NullPointerException e) {
-			System.err.println("[ERROR] Manipulator not plugged in.");
-			manipulatorPluggedIn = false;
-		}
 	}
 
 	// Called repeatedly when this Command is scheduled to run
 	protected void execute() {
 		// 1 and 5 represent the axes' index in driver station
-		if (manipulatorPluggedIn) {
-			Robot.intakeEject.runLeftIntake(Robot.oi.manipulator.getRawAxis(1));
-			Robot.intakeEject.runRightIntake(Robot.oi.manipulator.getRawAxis(5));
-		}
+		Robot.intakeEject.runLeftIntake(Robot.oi.manipulator.getRawAxis(1));
+		Robot.intakeEject.runRightIntake(Robot.oi.manipulator.getRawAxis(5));
 	}
 
 	// Make this return true when this Command no longer needs to run execute()

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

@@ -9,6 +9,7 @@
 import edu.wpi.first.wpilibj.PIDOutput;
 import edu.wpi.first.wpilibj.PIDSource;
 import edu.wpi.first.wpilibj.command.Command;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 /**
  * Drives the robot a certain target distance using PID. Implements PIDOutput in
@@ -20,9 +21,6 @@ public class PIDMove extends Command implements PIDOutput {
 	private DrivetrainInterface dt;
 	private PIDController moveController;
 	private PIDSource avg;
-	private SmartDashboardInterface sd;
-	private double pointX;
-	private double pointY;
 
 	/**
 	 * Constructs this command with a new PIDController. Sets all of the
@@ -45,14 +43,13 @@ public PIDMove(double targ, DrivetrainInterface dt, SmartDashboardInterface sd,
 		target = targ;
 		this.dt = dt;
 		this.avg = avg;
-		this.sd = sd;
 		if (Robot.dt != null) {
 			requires(Robot.dt);
 		}
 		double kf = 1 / (dt.getCurrentMaxSpeed() * sd.getConst("Default PID Update Time", 0.05));
 		moveController = new PIDController(sd.getConst("MovekP", 0.1), sd.getConst("MovekI", 0),
 				sd.getConst("MovekD", 0), kf, avg, this);
-		sd.putData("Move PID", moveController);
+		SmartDashboard.putData("Move PID", moveController);
 	}
 
 	/**
@@ -73,19 +70,20 @@ public PIDMove(double targ, DrivetrainInterface dt, SmartDashboardInterface sd,
 	 *            the PIDSorceAverage of the DT's two Encoders
 	 */
 	public PIDMove(double[] point, DrivetrainInterface dt, SmartDashboardInterface sd, PIDSource avg) {
-		pointX = point[0];
-		pointY = point[1];
+		double dx = point[0] - AutoUtils.position.getX();
+		double dy = point[1] - AutoUtils.position.getY();
 
+		double dist = Math.sqrt(dx * dx + dy * dy); // pythagorean theorem to find distance
+
+		this.target = dist;
 		this.dt = dt;
 		this.avg = avg;
-		this.sd = sd;
 		if (Robot.dt != null) {
 			requires(Robot.dt);
 		}
 		double kf = 1 / (dt.getCurrentMaxSpeed() * sd.getConst("Default PID Update Time", 0.05));
 		moveController = new PIDController(sd.getConst("MovekP", 1), sd.getConst("MovekI", 0), sd.getConst("MovekD", 0),
 				kf, avg, this);
-		sd.putData("Move PID", moveController);
 	}
 
 	/**
@@ -94,12 +92,6 @@ public PIDMove(double[] point, DrivetrainInterface dt, SmartDashboardInterface s
 	 */
 	@Override
 	public void initialize() {
-		double dx = pointX - AutoUtils.position.getX();
-		double dy = pointY - AutoUtils.position.getY();
-
-		double dist = Math.sqrt(dx * dx + dy * dy); // pythagorean theorem to find distance
-		this.target = dist;
-
 		dt.resetDistEncs();
 		moveController.disable();
 		// input is in inches
@@ -108,7 +100,6 @@ public void initialize() {
 		moveController.setOutputRange(-1.0, 1.0);
 		moveController.setContinuous(false);
 		moveController.setAbsoluteTolerance(Robot.getConst("MoveTolerance", 0.1));
-		System.out.println("move target = " + target);
 		moveController.setSetpoint(target);
 
 		moveController.enable();
@@ -123,8 +114,8 @@ public void initialize() {
 	@Override
 	protected void execute() {
 		System.out.println("Enc Avg Dist: " + avg.pidGet());
-		sd.putNumber("Move PID Result", moveController.get());
-		sd.putNumber("Move PID Error", moveController.getError());
+		SmartDashboard.putNumber("Move PID Result", moveController.get());
+		SmartDashboard.putNumber("Move PID Error", moveController.getError());
 	}
 
 	/**
@@ -182,6 +173,6 @@ protected void interrupted() {
 	@Override
 	public void pidWrite(double output) {
 		dt.arcadeDrive(output, 0);
-		sd.putNumber("Move PID Output", output);
+		SmartDashboard.putNumber("Move PID Output", output);
 	}
 }