--- /dev/null
+<classpath>
+ <classpathentry kind="src" path="src"/>
+ <classpathentry kind="var" path="wpilib" sourcepath="wpilib.sources"/>
+ <classpathentry kind="var" path="networktables" sourcepath="networktables.sources"/>
+ <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-1.6"/>
+ <classpathentry kind="output" path="bin"/>
+</classpath>
--- /dev/null
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+ <name>2015-FRC-Spark</name>
+ <comment></comment>
+ <projects>
+ </projects>
+ <buildSpec>
+ <buildCommand>
+ <name>org.eclipse.jdt.core.javabuilder</name>
+ <arguments>
+ </arguments>
+ </buildCommand>
+ </buildSpec>
+ <natures>
+ <nature>org.eclipse.jdt.core.javanature</nature>
+ <nature>edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature</nature>
+ </natures>
+</projectDescription>
--- /dev/null
+# Project specific information
+package=org.usfirst.frc3501.RiceCatRobot
+robot.class=${package}.Robot
+simulation.world.file=/usr/share/frcsim/worlds/GearsBotDemo.world
\ No newline at end of file
--- /dev/null
+<?xml version="1.0" encoding="UTF-8"?>
+
+<project name="FRC Deployment" default="deploy">
+
+ <!--
+ The following properties can be defined to override system level
+ settings. These should not be touched unless you know what you're
+ doing. The primary use is to override the wpilib version when
+ working with older robots that can't compile with the latest
+ libraries.
+ -->
+
+ <!-- By default the system version of WPI is used -->
+ <!-- <property name="version" value=""/> -->
+
+ <!-- By default the system team number is used -->
+ <!-- <property name="team-number" value=""/> -->
+
+ <!-- By default the target is set to 10.TE.AM.2 -->
+ <!-- <property name="target" value=""/> -->
+
+ <!-- Any other property in build.properties can also be overridden. -->
+
+ <property file="${user.home}/wpilib/wpilib.properties"/>
+ <property file="build.properties"/>
+ <property file="${user.home}/wpilib/java/${version}/ant/build.properties"/>
+
+ <import file="${wpilib.ant.dir}/build.xml"/>
+
+</project>
--- /dev/null
+package org.usfirst.frc3501.RiceCatRobot;
+
+import org.usfirst.frc3501.RiceCatRobot.commands.ToggleClaw;
+import org.usfirst.frc3501.RiceCatRobot.commands.ToggleCompressor;
+
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.buttons.JoystickButton;
+
+public class OI {
+ public static Joystick leftJoystick;
+ public static Joystick rightJoystick;
+ public static JoystickButton trigger;
+ public static JoystickButton toggleCompressor;
+ public static JoystickButton toggleClaw;
+
+ public OI() {
+ System.out.println("OI is open");
+ leftJoystick = new Joystick(RobotMap.LEFT_STICK_PORT);
+ rightJoystick = new Joystick(RobotMap.RIGHT_STICK_PORT);
+
+ trigger = new JoystickButton(rightJoystick, RobotMap.TRIGGER_PORT);
+
+ toggleClaw = new JoystickButton(rightJoystick, RobotMap.TOGGLE_PORT);
+ toggleClaw.whenPressed(new ToggleClaw());
+
+ toggleCompressor = new JoystickButton(rightJoystick,
+ RobotMap.TOGGLE_COMPRESSOR_PORT);
+ toggleCompressor.whenPressed(new ToggleCompressor());
+ }
+}
\ No newline at end of file
--- /dev/null
+package org.usfirst.frc3501.RiceCatRobot;
+
+import org.usfirst.frc3501.RiceCatRobot.subsystems.Arm;
+import org.usfirst.frc3501.RiceCatRobot.subsystems.Claw;
+import org.usfirst.frc3501.RiceCatRobot.subsystems.DriveTrain;
+
+import edu.wpi.first.wpilibj.Compressor;
+import edu.wpi.first.wpilibj.IterativeRobot;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.command.Scheduler;
+
+public class Robot extends IterativeRobot {
+ static Timer timer;
+ public static OI oi;
+ public static DriveTrain driveTrain;
+ public static Arm arm;
+ public static Claw claw;
+ public static Compressor compressor;
+
+ public void robotInit() {
+ RobotMap.init();
+ driveTrain = new DriveTrain();
+ arm = new Arm();
+ claw = new Claw();
+ oi = new OI();
+ compressor = new Compressor(RobotMap.COMPRESSOR_PORT);
+ }
+
+ public void autonomousInit() {
+ }
+
+ public void autonomousPeriodic() {
+ Scheduler.getInstance().run();
+ }
+
+ public void teleopInit() {
+ System.out.println("running teleopInit");
+ }
+
+ public void teleopPeriodic() {
+ Scheduler.getInstance().run();
+
+ }
+
+ public void operate() {
+ driveTrain.arcadeDrive(OI.rightJoystick.getY(),
+ OI.rightJoystick.getTwist());
+ claw.doTriggerAction();
+ if (OI.leftJoystick.getRawButton(8)) {
+ arm.setArmSpeeds(0.3);
+ } else if (OI.leftJoystick.getRawButton(9)) {
+ arm.setArmSpeeds(-0.3);
+ } else if (OI.leftJoystick.getRawButton(6)) {
+ arm.setLeft(0.3);
+ } else if (OI.leftJoystick.getRawButton(7)) {
+ arm.setLeft(-0.3);
+ } else if (OI.leftJoystick.getRawButton(11)) {
+ arm.setRight(-0.3);
+ } else if (OI.leftJoystick.getRawButton(10)) {
+ arm.setRight(0.3);
+ }
+ if (Math.abs(OI.leftJoystick.getY()) < 0.05) {
+ arm.setArmSpeeds(0);
+
+ } else {
+ arm.fineTuneControl(OI.leftJoystick.getY());
+ }
+ }
+}
\ No newline at end of file
--- /dev/null
+package org.usfirst.frc3501.RiceCatRobot;
+
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
+
+/**
+ * The RobotMap is a mapping from the ports sensors and actuators are wired into
+ * to a variable name. This provides flexibility changing wiring, makes checking
+ * the wiring easier and significantly reduces the number of magic numbers
+ * floating around.
+ */
+public class RobotMap {
+ public final static int LEFT_STICK_PORT = 0, RIGHT_STICK_PORT = 1;
+ public final static int TRIGGER_PORT = 1, TOGGLE_PORT = 2,
+ TOGGLE_COMPRESSOR_PORT = 11;
+ public static final int DRIVE_FRONT_LEFT = 4, DRIVE_FRONT_RIGHT = 5,
+ DRIVE_REAR_LEFT = 3, DRIVE_REAR_RIGHT = 6;
+ public static final int DRIVE_LEFT_A = 3, DRIVE_LEFT_B = 4,
+ DRIVE_RIGHT_A = 2, DRIVE_RIGHT_B = 1;
+
+ public static final double DISTANCE_PER_PULSE = ((3.66 / 5.14) * 6 * Math.PI) / 256;
+
+ public static final int ARM_LEFT = 2, ARM_RIGHT = 7;
+ public static final double ARM_HIGH_SPEED = 0.5, ARM_LOW_SPEED = 0.5;
+
+ // Claw
+ public static final int SOLENOID_FORWARD = 0, SOLENOID_REVERSE = 1,
+ MODULE_NUMBER = 0;
+ public final static Value open = DoubleSolenoid.Value.kForward,
+ close = DoubleSolenoid.Value.kReverse;
+ public static double DRIVE_DEAD_ZONE = 0.25;
+ // Compressor
+ public static final int COMPRESSOR_PORT = 0;
+
+ public static void init() {
+ }
+
+ public static enum Direction {
+ LEFT, RIGHT, DOWN, UP, FORWARD, BACKWARD;
+ }
+}
--- /dev/null
+package org.usfirst.frc3501.RiceCatRobot.commands;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+import org.usfirst.frc3501.RiceCatRobot.Robot;
+
+/**
+ *
+ */
+public class CloseClaw extends Command {
+
+ public CloseClaw() {
+ requires(Robot.claw);
+ }
+
+ protected void initialize() {
+ System.out.println("IN INIT CLOSECLAW");
+ }
+
+ protected void execute() {
+ Robot.claw.closeClaw();
+ System.out.println("Closing claw");
+ }
+
+ protected boolean isFinished() {
+ System.out.println("Claw Closed");
+ return !Robot.claw.isOpen();
+ }
+
+ protected void end() {
+
+ }
+
+ protected void interrupted() {
+ }
+}
--- /dev/null
+package org.usfirst.frc3501.RiceCatRobot.commands;
+
+import org.usfirst.frc3501.RiceCatRobot.Robot;
+import org.usfirst.frc3501.RiceCatRobot.RobotMap.Direction;
+
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.command.Command;
+
+/**
+ * This command takes a time in seconds which is how long it should run
+ *
+ */
+public class DriveFor extends Command {
+ private double seconds;
+ private Timer timer;
+ private Direction direction;
+
+ public DriveFor(double seconds, Direction direction) {
+ this.seconds = seconds;
+ this.direction = direction;
+
+ }
+
+ @Override
+ protected void initialize() {
+ timer = new Timer();
+ timer.reset();
+ timer.start();
+ }
+
+ @Override
+ protected void execute() {
+ System.out.println(timer.get());
+ if (direction == Direction.FORWARD) {
+ if (timer.get() < seconds * 0.2) { // for the first 20% of time, run
+ // the robot at -.5 speed
+ Robot.driveTrain.arcadeDrive(-0.3, 0);
+ } else if (timer.get() >= seconds * 0.2
+ && timer.get() <= seconds * 0.8) { // for the +20% - 75%
+ // time, move the robot
+ // at -.3 speed.
+ Robot.driveTrain.arcadeDrive(-0.5, 0);
+ } else if (timer.get() < seconds) {
+ Robot.driveTrain.arcadeDrive(-0.25, 0);
+ } else {
+ Robot.driveTrain.arcadeDrive(0, 0);
+ }
+ } else if (direction == Direction.BACKWARD) {
+ if (timer.get() < seconds * 0.2) {
+ Robot.driveTrain.arcadeDrive(0.3, 0);
+ } else if (timer.get() >= seconds * 0.2
+ && timer.get() <= seconds * 0.8) {
+ Robot.driveTrain.arcadeDrive(0.5, 0);
+ } else if (timer.get() < seconds) {
+ Robot.driveTrain.arcadeDrive(0.25, 0);
+ } else {
+ Robot.driveTrain.arcadeDrive(0, 0);
+ }
+ }
+ }
+
+ @Override
+ protected boolean isFinished() {
+ return timer.get() > seconds;
+ }
+
+ @Override
+ protected void end() {
+ Robot.driveTrain.arcadeDrive(0, 0);
+ }
+
+ @Override
+ protected void interrupted() {
+ end();
+ }
+
+}
\ No newline at end of file
--- /dev/null
+package org.usfirst.frc3501.RiceCatRobot.commands;
+
+import org.usfirst.frc3501.RiceCatRobot.Robot;
+import org.usfirst.frc3501.RiceCatRobot.RobotMap;
+import org.usfirst.frc3501.RiceCatRobot.RobotMap.Direction;
+
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.command.Command;
+
+/**
+ * This command takes a time in seconds which is how long it should run to move
+ * arm up or down
+ *
+ */
+public class MoveArmFor extends Command {
+ private double seconds;
+ private Timer timer;
+ private Direction direction;
+
+ /*
+ * @param Direction must be up or down
+ */
+ public MoveArmFor(double seconds, Direction direction) {
+ this.seconds = seconds;
+ this.direction = direction;
+ }
+
+ @Override
+ protected void initialize() {
+ timer = new Timer();
+ timer.start();
+ }
+
+ @Override
+ protected void execute() {
+ if (direction == Direction.UP) {
+ Robot.arm.setArmSpeeds(-RobotMap.ARM_LOW_SPEED);
+ } else if (direction == Direction.DOWN) {
+ Robot.arm.setArmSpeeds(RobotMap.ARM_LOW_SPEED);
+ }
+ }
+
+ @Override
+ protected boolean isFinished() {
+ if (timer.get() > seconds) {
+ Robot.arm.setArmSpeeds(0);
+ }
+ return timer.get() > seconds;
+ }
+
+ @Override
+ protected void end() {
+ Robot.arm.setArmSpeeds(0);
+ }
+
+ @Override
+ protected void interrupted() {
+ end();
+ }
+
+}
--- /dev/null
+package org.usfirst.frc3501.RiceCatRobot.commands;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+import org.usfirst.frc3501.RiceCatRobot.Robot;
+
+/**
+ * Opens claw by reversing solenoids.
+ *
+ */
+public class OpenClaw extends Command {
+
+ public OpenClaw() {
+ requires(Robot.claw);
+ }
+
+ protected void initialize() {
+ System.out.println("IN INIT OPENCLAW");
+ }
+
+ protected void execute() {
+ Robot.claw.openClaw();
+ System.out.println("Opening Claw");
+ }
+
+ protected boolean isFinished() {
+ System.out.println("Claw Opened");
+ return Robot.claw.isOpen();
+ }
+
+ protected void end() {
+
+ }
+
+ protected void interrupted() {
+ }
+}
--- /dev/null
+package org.usfirst.frc3501.RiceCatRobot.commands;
+
+import org.usfirst.frc3501.RiceCatRobot.Robot;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+/**
+ *
+ */
+public class ToggleClaw extends Command {
+
+ public ToggleClaw() {
+
+ }
+
+ protected void initialize() {
+ Robot.claw.toggleOn = !Robot.claw.toggleOn;
+ }
+
+ protected void execute() {
+ if (Robot.claw.toggleOn && Robot.claw.isOpen()) {
+ Robot.claw.closeClaw();
+ }
+ }
+
+ protected boolean isFinished() {
+ return true;
+ }
+
+ protected void end() {
+
+ }
+
+ protected void interrupted() {
+ }
+}
--- /dev/null
+package org.usfirst.frc3501.RiceCatRobot.commands;
+
+import org.usfirst.frc3501.RiceCatRobot.Robot;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+/**
+ *
+ */
+public class ToggleCompressor extends Command {
+
+ public ToggleCompressor() {
+ }
+
+ // Called just before this Command runs the first time
+ protected void initialize() {
+ }
+
+ // Called repeatedly when this Command is scheduled to run
+ protected void execute() {
+ if (Robot.compressor.enabled()) {
+ Robot.compressor.stop();
+ } else {
+ Robot.compressor.start();
+ }
+
+ }
+
+ // Make this return true when this Command no longer needs to run execute()
+ protected boolean isFinished() {
+ return true;
+ }
+
+ // Called once after isFinished returns true
+ protected void end() {
+
+ }
+
+ // Called when another command which requires one or more of the same
+ // subsystems is scheduled to run
+ protected void interrupted() {
+ }
+}
--- /dev/null
+package org.usfirst.frc3501.RiceCatRobot.commands;
+
+import org.usfirst.frc3501.RiceCatRobot.Robot;
+import org.usfirst.frc3501.RiceCatRobot.RobotMap.Direction;
+
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.command.Command;
+
+public class TurnFor extends Command {
+ private double seconds;
+ private Timer timer;
+ private Direction direction;
+
+ public TurnFor(double seconds, Direction direction) {
+ this.seconds = seconds;
+ this.direction = direction;
+ }
+
+ @Override
+ protected void initialize() {
+ timer = new Timer();
+ timer.start();
+ }
+
+ @Override
+ protected void execute() {
+ if (direction == Direction.LEFT) {
+ Robot.driveTrain.arcadeDrive(0, -0.5);
+ } else if (direction == Direction.RIGHT) {
+ Robot.driveTrain.arcadeDrive(0, 0.5);
+ } else {
+ Robot.driveTrain.arcadeDrive(0, 0);
+ }
+ }
+
+ @Override
+ protected boolean isFinished() {
+ System.out.println(timer.get());
+ System.out.println(seconds);
+ if (timer.get() > seconds) {
+ Robot.driveTrain.arcadeDrive(0, 0);
+ }
+ return timer.get() > seconds;
+ }
+
+ @Override
+ protected void end() {
+ }
+
+ @Override
+ protected void interrupted() {
+ end();
+ }
+}
--- /dev/null
+package org.usfirst.frc3501.RiceCatRobot.subsystems;
+
+import org.usfirst.frc3501.RiceCatRobot.RobotMap;
+
+import edu.wpi.first.wpilibj.CANJaguar;
+import edu.wpi.first.wpilibj.command.Subsystem;
+
+public class Arm extends Subsystem {
+ private CANJaguar left, right;
+
+ public Arm() {
+ left = new CANJaguar(RobotMap.ARM_LEFT);
+ right = new CANJaguar(RobotMap.ARM_RIGHT);
+ }
+
+ public void initDefaultCommand() {
+ }
+
+ public void fineTuneControl(double d) {
+ if (Math.abs(d) < 0.05) {
+ d = 0;
+ } else if (d > 0) {
+ d *= d;
+ } else {
+ d *= -d;
+ }
+ setArmSpeeds(d);
+ }
+
+ public void setLeft(double speed) {
+ left.set(-speed);
+ }
+
+ public void setRight(double speed) {
+ right.set(-speed);
+ }
+
+ public void setArmSpeeds(double speed) {
+ setLeft(speed);
+ setRight(speed);
+ }
+
+ public void stop() {
+ left.set(0);
+ right.set(0);
+ }
+
+}
\ No newline at end of file
--- /dev/null
+package org.usfirst.frc3501.RiceCatRobot.subsystems;
+
+import org.usfirst.frc3501.RiceCatRobot.OI;
+import org.usfirst.frc3501.RiceCatRobot.Robot;
+import org.usfirst.frc3501.RiceCatRobot.RobotMap;
+import org.usfirst.frc3501.RiceCatRobot.commands.CloseClaw;
+import org.usfirst.frc3501.RiceCatRobot.commands.OpenClaw;
+
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.command.Subsystem;
+
+public class Claw extends Subsystem {
+
+ private DoubleSolenoid solenoid;
+ public boolean toggleOn = false;
+
+ public Claw() {
+ solenoid = new DoubleSolenoid(RobotMap.MODULE_NUMBER,
+ RobotMap.SOLENOID_FORWARD, RobotMap.SOLENOID_REVERSE);
+ }
+
+ public void initDefaultCommand() {
+ }
+
+ public void closeClaw() {
+ solenoid.set(RobotMap.close);
+ }
+
+ public void openClaw() {
+ solenoid.set(RobotMap.open);
+ }
+
+ public boolean isOpen() {
+ return solenoid.get() == RobotMap.open;
+ }
+
+ public void doTriggerAction() {
+ if (!Robot.claw.toggleOn) {
+ if (OI.rightJoystick.getRawButton(RobotMap.TRIGGER_PORT)) {
+ if (Robot.claw.isOpen()) {
+ new CloseClaw().start();
+ }
+ } else {
+ if (!Robot.claw.isOpen()) {
+ new OpenClaw().start();
+ }
+ }
+ }
+ }
+}
--- /dev/null
+package org.usfirst.frc3501.RiceCatRobot.subsystems;
+
+import org.usfirst.frc3501.RiceCatRobot.RobotMap;
+
+import edu.wpi.first.wpilibj.CANJaguar;
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.CounterBase.EncodingType;
+import edu.wpi.first.wpilibj.command.Subsystem;
+
+public class DriveTrain extends Subsystem {
+ private CANJaguar frontLeft, frontRight, rearLeft, rearRight;
+ private Encoder leftEncoder, rightEncoder;
+
+ public DriveTrain() {
+ frontLeft = new CANJaguar(RobotMap.DRIVE_FRONT_LEFT);
+ frontRight = new CANJaguar(RobotMap.DRIVE_FRONT_RIGHT);
+ rearLeft = new CANJaguar(RobotMap.DRIVE_REAR_LEFT);
+ rearRight = new CANJaguar(RobotMap.DRIVE_REAR_RIGHT);
+ leftEncoder = new Encoder(RobotMap.DRIVE_LEFT_A, RobotMap.DRIVE_LEFT_B,
+ false, EncodingType.k4X);
+ rightEncoder = new Encoder(RobotMap.DRIVE_RIGHT_A,
+ RobotMap.DRIVE_RIGHT_B, false, EncodingType.k4X);
+ leftEncoder.setDistancePerPulse(RobotMap.DISTANCE_PER_PULSE);
+ rightEncoder.setDistancePerPulse(RobotMap.DISTANCE_PER_PULSE);
+ }
+
+ public void resetEncoders() {
+ leftEncoder.reset();
+ rightEncoder.reset();
+ }
+
+ public double getRightSpeed() {
+ // Returns in per second
+ return rightEncoder.getRate();
+ }
+
+ public double getLeftSpeed() {
+ return leftEncoder.getRate();
+ }
+
+ public double getRightDistance() {
+ // Returns distance in in
+ return rightEncoder.getDistance();
+ }
+
+ public double getLeftDistance() {
+ // Returns distance in in
+ return leftEncoder.getDistance();
+ }
+
+ public void setMotorSpeeds(double leftSpeed, double rightSpeed) {
+ if (Math.abs(leftSpeed) < RobotMap.DRIVE_DEAD_ZONE) {
+ leftSpeed = 0;
+ }
+ if (Math.abs(rightSpeed) < RobotMap.DRIVE_DEAD_ZONE) {
+ rightSpeed = 0;
+ }
+ this.frontLeft.set(leftSpeed);
+ this.frontRight.set(-rightSpeed);
+ this.rearLeft.set(leftSpeed);
+ this.rearRight.set(-rightSpeed);
+ }
+
+ public void arcadeDrive(double yVal, double twist) {
+ if (yVal < 0 && Math.abs(yVal) < 0.1125) {
+ yVal = 0;
+ } else if (yVal > 0 && Math.abs(yVal) < 0.25) {
+ yVal = 0;
+ } else if (yVal > 0) {
+ yVal -= 0.25;
+ } else if (yVal < 0) {
+ yVal += 0.15;
+ }
+ if (Math.abs(twist) < RobotMap.DRIVE_DEAD_ZONE) {
+ twist = 0;
+ }
+
+ double leftMotorSpeed;
+ double rightMotorSpeed;
+ // adjust the sensitivity (yVal+rootof (yval)) / 2
+ yVal = (yVal + Math.signum(yVal) * Math.sqrt(Math.abs(yVal))) / 2;
+ // adjust the sensitivity (twist+rootof (twist)) / 2
+ twist = (twist + Math.signum(twist) * Math.sqrt(Math.abs(twist))) / 2;
+ if (yVal > 0) {
+ if (twist > 0) {
+ leftMotorSpeed = yVal - twist;
+ rightMotorSpeed = Math.max(yVal, twist);
+ } else {
+ leftMotorSpeed = Math.max(yVal, -twist);
+ rightMotorSpeed = yVal + twist;
+ }
+ } else {
+ if (twist > 0.0) {
+ leftMotorSpeed = -Math.max(-yVal, twist);
+ rightMotorSpeed = yVal + twist;
+ } else {
+ leftMotorSpeed = yVal - twist;
+ rightMotorSpeed = -Math.max(-yVal, -twist);
+ }
+ }
+ setMotorSpeeds(leftMotorSpeed, rightMotorSpeed);
+ }
+
+ @Override
+ protected void initDefaultCommand() {
+ }
+}
projects / 3501 / 2015-FRC-Spark / commitdiff