From dc394eb03660c3b118cd2bcf93729627051771d3 Mon Sep 17 00:00:00 2001 From: Shivani Ghanta Date: Sat, 6 Feb 2016 14:00:31 -0800 Subject: [PATCH] fix port names in Constant --- .../usfirst/frc/team3501/robot/Constants.java | 154 ++++++------ .../team3501/robot/subsystems/IntakeArm.java | 230 +++++++++--------- 2 files changed, 191 insertions(+), 193 deletions(-) diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java index bd162c0d..79efd230 100644 --- a/src/org/usfirst/frc/team3501/robot/Constants.java +++ b/src/org/usfirst/frc/team3501/robot/Constants.java @@ -9,93 +9,93 @@ import edu.wpi.first.wpilibj.DoubleSolenoid; */ public class Constants { - public static class OI { - // Computer Ports - public final static int LEFT_STICK_PORT = 0; - public final static int RIGHT_STICK_PORT = 1; - // Ports on the Joystick - public final static int TRIGGER_PORT = 1; - public final static int DECREMENT_SHOOTER_SPEED_PORT = 2; - public final static int INCREMENT_SHOOTER_SPEED_PORT = 3; - public final static int SHOOT_PORT = 4; - public final static int LOG_PORT = 5; - } + public static class OI { + // Computer Ports + public final static int LEFT_STICK_PORT = 0; + public final static int RIGHT_STICK_PORT = 1; + // Ports on the Joystick + public final static int TRIGGER_PORT = 1; + public final static int DECREMENT_SHOOTER_SPEED_PORT = 2; + public final static int INCREMENT_SHOOTER_SPEED_PORT = 3; + public final static int SHOOT_PORT = 4; + public final static int LOG_PORT = 5; + } - public static class DriveTrain { - // Drivetrain Motor Related Ports - public static final int FRONT_LEFT = 0; - public static final int FRONT_RIGHT = 0; - public static final int REAR_LEFT = 0; - public static final int REAR_RIGHT = 0; + public static class DriveTrain { + // Drivetrain Motor Related Ports + public static final int FRONT_LEFT = 0; + public static final int FRONT_RIGHT = 0; + public static final int REAR_LEFT = 0; + public static final int REAR_RIGHT = 0; - // Encoder related ports - public final static int ENCODER_LEFT_A = 3; - public final static int ENCODER_LEFT_B = 4; - public final static int ENCODER_RIGHT_A = 2; - public final static int ENCODER_RIGHT_B = 1; + // Encoder related ports + public final static int ENCODER_LEFT_A = 3; + public final static int ENCODER_LEFT_B = 4; + public final static int ENCODER_RIGHT_A = 2; + public final static int ENCODER_RIGHT_B = 1; - private final static double WHEEL_DIAMETER = 6.0; // in inches - private final static double PULSES_PER_ROTATION = 256; // in pulses - private final static double OUTPUT_SPROCKET_DIAMETER = 2.0; // in inches - private final static double WHEEL_SPROCKET_DIAMETER = 3.5; // in inches - public final static double INCHES_PER_PULSE = (((Math.PI) - * OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION) / WHEEL_SPROCKET_DIAMETER) - * WHEEL_DIAMETER; - } + private final static double WHEEL_DIAMETER = 6.0; // in inches + private final static double PULSES_PER_ROTATION = 256; // in pulses + private final static double OUTPUT_SPROCKET_DIAMETER = 2.0; // in inches + private final static double WHEEL_SPROCKET_DIAMETER = 3.5; // in inches + public final static double INCHES_PER_PULSE = (((Math.PI) * OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION) + / WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER; + } - public static class Scaler { - // Piston channels - public final static int FORWARD_CHANNEL = 0; - public final static int REVERSE_CHANNEL = 0; + public static class Scaler { + // Piston channels + public final static int FORWARD_CHANNEL = 0; + public final static int REVERSE_CHANNEL = 0; - // Winch port - public final static int WINCH_MOTOR = 0; - } + // Winch port + public final static int WINCH_MOTOR = 0; + } - public static class Shooter { - public static final int PORT = 0; - public static final int PUNCH_FORWARD_PORT = 0; - public static final int PUNCH_REVERSE_PORT = 1; - public static final int ANGLE_ADJUSTER_PORT = 0; + public static class Shooter { + public static final int PORT = 0; + public static final int PUNCH_FORWARD_PORT = 0; + public static final int PUNCH_REVERSE_PORT = 1; + public static final int ANGLE_ADJUSTER_PORT = 0; - public static final DoubleSolenoid.Value punch = DoubleSolenoid.Value.kForward; - public static final DoubleSolenoid.Value retract = DoubleSolenoid.Value.kReverse; + public static final DoubleSolenoid.Value punch = DoubleSolenoid.Value.kForward; + public static final DoubleSolenoid.Value retract = DoubleSolenoid.Value.kReverse; - // Encoder port - public static final int ENCODER_PORT_A = 0; - public static final int ENCODER_PORT_B = 0; + // Encoder port + public static final int ENCODER_PORT_A = 0; + public static final int ENCODER_PORT_B = 0; - public static enum State { - RUNNING, STOPPED; - } - } + public static enum State { + RUNNING, STOPPED; + } + } - public static class IntakeArm { - public static final int ROLLER_PORT = 0; - public static final int INTAKE_PORT = 1; - public static final int INTAKE_CHANNEL = 0; - public static final double INTAKE_SPEED = 0.5; - public static final double OUTPUT_SPEED = -0.5; - public final static double FULL_RANGE = 270.0; // in degrees - public final static double OFFSET = -135.0; // in degrees - } + public static class IntakeArm { + public static final int ROLLER_PORT = 0; + public static final int ARM_PORT = 1; + public static final int POT_CHANNEL = 0; + public static final double INTAKE_SPEED = 0.5; + public static final double OUTPUT_SPEED = -0.5; + public final static double FULL_RANGE = 270.0; // in degrees + public final static double OFFSET = -135.0; // in degrees + } - public static class DefenseArm { - // Potentiometer related ports - public static final int ARM_CHANNEL = 0; - public static final int ARM_PORT = 0; - public static final int HAND_PORT = 1; - public static final int HAND_CHANNEL = 1; - public final static double FULL_RANGE = 270.0; // in degrees - public final static double OFFSET = -135.0; // in degrees - public final static double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3 level - public final static double ARM_LENGTH = 0; // TODO: find actual length - public final static double HAND_LENGTH = 0; // TODO: find actual length - public final static double ARM_MOUNTED_HEIGHT = 0; // TODO: find actual - // height - } + public static class DefenseArm { + // Potentiometer related ports + public static final int ARM_CHANNEL = 0; + public static final int ARM_PORT = 0; + public static final int HAND_PORT = 1; + public static final int HAND_CHANNEL = 1; + public final static double FULL_RANGE = 270.0; // in degrees + public final static double OFFSET = -135.0; // in degrees + public final static double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3 + // level + public final static double ARM_LENGTH = 0; // TODO: find actual length + public final static double HAND_LENGTH = 0; // TODO: find actual length + public final static double ARM_MOUNTED_HEIGHT = 0; // TODO: find actual + // height + } - public enum Defense { - PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART; - } + public enum Defense { + PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART; + } } diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java b/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java index 2b482146..1314a544 100755 --- a/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java +++ b/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java @@ -10,126 +10,124 @@ import edu.wpi.first.wpilibj.command.Subsystem; * The IntakeArm consists of two rollers that are controlled by one motor, with * a potentiometer on it. * - * The motor controls the rollers, making them roll forwards and backwards. - * The Intake rollers are on the back of the robot. As the rollers run, they - * intake the ball. + * The motor controls the rollers, making them roll forwards and backwards. The + * Intake rollers are on the back of the robot. As the rollers run, they intake + * the ball. * * @author superuser * */ public class IntakeArm extends Subsystem { - private CANTalon intakeRoller; - private CANTalon intakeArm; - private AnalogPotentiometer intakePot; - - public IntakeArm() { - intakeRoller = new CANTalon(Constants.IntakeArm.ROLLER_PORT); - intakeArm = new CANTalon(Constants.IntakeArm.INTAKE_PORT); - intakePot = new AnalogPotentiometer( - Constants.IntakeArm.INTAKE_CHANNEL, - Constants.IntakeArm.FULL_RANGE, - Constants.IntakeArm.OFFSET); - } - - /*** - * This method sets the voltage of the motor to intake the ball. - * The voltage values are constants in Constants class - */ - public void intakeBall() { - intakeRoller.set(Constants.IntakeArm.INTAKE_SPEED); - } - - /*** - * This method sets the voltage of the motor to output the ball. - * The voltage values are constants in Constants class - */ - public void outputBall() { - intakeRoller.set(Constants.IntakeArm.OUTPUT_SPEED); - } - - /*** - * This method gets you the current voltage of the motor that controls the - * intake arm roller. The range of voltage is from [-1,1]. - * A negative voltage makes the motor run backwards. - * - * @return Returns the voltage of the motor that controls the roller. The - * range of the voltage goes from [-1,1]. - * A negative voltage indicates that the motor is running backwards. - */ - - public double getRollerVoltage() { - return intakeRoller.get(); - } - - /*** - * This method sets the voltage of the arm motor. The range is from [-1,1]. A - * negative voltage makes the direction of the motor go backwards. - * - * @param voltage - * The voltage that you set the motor at. The range of the voltage of - * the arm motor is from [-1,1]. A - * negative voltage makes the direction of the motor go backwards. - */ - - public void setArmVoltage(double voltage) { - if (voltage > 1) - voltage = 1; - else if (voltage < -1) - voltage = -1; - - intakeArm.set(voltage); - } - - /*** - * This method gets you the current voltage of the motor that controls the - * intake arm. The range of voltage is from [-1,1]. - * A negative voltage makes the motor run backwards. - * - * @return Returns the voltage of the motor that controls the arm. The - * range of the voltage goes from [-1,1]. - * A negative voltage indicates that the motor is running backwards. - */ - - public double getArmVoltage() { - return intakeArm.get(); - } - - /*** - * This method checks to see if the presence of the ball inside is true or - * false. - * - * @return Returns whether the ball is inside as true or false - */ - - public boolean isBallInside() { - return true; - } - - /*** - * This method checks to see if the motors controlling the rollers are - * currently running. - * - * @return Returns whether the motors are currently running, and returns the - * state of the condition (true or false). - * - */ - - public boolean areRollersRolling() { - return true; - } - - /*** - * This method gets the angle of the potentiometer on the Intake Arm. - * - * @return angle of potentiometer - */ - public double getArmAngle() { - return intakePot.get(); - } - - @Override - protected void initDefaultCommand() { - - } + private CANTalon intakeRoller; + private CANTalon intakeArm; + private AnalogPotentiometer intakePot; + + public IntakeArm() { + intakeRoller = new CANTalon(Constants.IntakeArm.ROLLER_PORT); + intakeArm = new CANTalon(Constants.IntakeArm.ARM_PORT); + intakePot = new AnalogPotentiometer(Constants.IntakeArm.POT_CHANNEL, Constants.IntakeArm.FULL_RANGE, + Constants.IntakeArm.OFFSET); + } + + /*** + * This method sets the voltage of the motor to intake the ball. The voltage + * values are constants in Constants class + */ + public void intakeBall() { + intakeRoller.set(Constants.IntakeArm.INTAKE_SPEED); + } + + /*** + * This method sets the voltage of the motor to output the ball. The voltage + * values are constants in Constants class + */ + public void outputBall() { + intakeRoller.set(Constants.IntakeArm.OUTPUT_SPEED); + } + + /*** + * This method gets you the current voltage of the motor that controls the + * intake arm roller. The range of voltage is from [-1,1]. A negative + * voltage makes the motor run backwards. + * + * @return Returns the voltage of the motor that controls the roller. The + * range of the voltage goes from [-1,1]. A negative voltage + * indicates that the motor is running backwards. + */ + + public double getRollerVoltage() { + return intakeRoller.get(); + } + + /*** + * This method sets the voltage of the arm motor. The range is from [-1,1]. + * A negative voltage makes the direction of the motor go backwards. + * + * @param voltage + * The voltage that you set the motor at. The range of the + * voltage of the arm motor is from [-1,1]. A negative voltage + * makes the direction of the motor go backwards. + */ + + public void setArmVoltage(double voltage) { + if (voltage > 1) + voltage = 1; + else if (voltage < -1) + voltage = -1; + + intakeArm.set(voltage); + } + + /*** + * This method gets you the current voltage of the motor that controls the + * intake arm. The range of voltage is from [-1,1]. A negative voltage makes + * the motor run backwards. + * + * @return Returns the voltage of the motor that controls the arm. The range + * of the voltage goes from [-1,1]. A negative voltage indicates + * that the motor is running backwards. + */ + + public double getArmVoltage() { + return intakeArm.get(); + } + + /*** + * This method checks to see if the presence of the ball inside is true or + * false. + * + * @return Returns whether the ball is inside as true or false + */ + + public boolean isBallInside() { + return true; + } + + /*** + * This method checks to see if the motors controlling the rollers are + * currently running. + * + * @return Returns whether the motors are currently running, and returns the + * state of the condition (true or false). + * + */ + + public boolean areRollersRolling() { + return true; + } + + /*** + * This method gets the angle of the potentiometer on the Intake Arm. + * + * @return angle of potentiometer + */ + public double getArmAngle() { + return intakePot.get(); + } + + @Override + protected void initDefaultCommand() { + + } } -- 2.30.2