++<<<<<<< HEAD
++=======
+ # -*- mode: gitignore; -*-
+ *~
+ \#*\#
+ .\#*
++>>>>>>> c7a54f8e92507c36aeefbd99783e0811402b34b5
*.pydevproject
.metadata
.gradle
bin/
tmp/
++<<<<<<< HEAD
++=======
+ build/
+ dist/
+ sysProps.xml
++>>>>>>> c7a54f8e92507c36aeefbd99783e0811402b34b5
*.tmp
*.bak
*.swp
.texlipse
# STS (Spring Tool Suite)
- .springBeans
++<<<<<<< HEAD
+ .springBeans
++=======
++.springBeans
++>>>>>>> c7a54f8e92507c36aeefbd99783e0811402b34b5
--- /dev/null
- public static Joystick leftJoystick;
- public static Joystick rightJoystick;
- public static JoystickButton trigger;
- public static JoystickButton toggleCompressor;
- public static JoystickButton toggleClaw;
+package org.usfirst.frc3501.RiceCatRobot.robot;
+
+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 OI() {
- System.out.println("OI is open");
- leftJoystick = new Joystick(RobotMap.LEFT_STICK_PORT);
- rightJoystick = new Joystick(RobotMap.RIGHT_STICK_PORT);
++ public static Joystick leftJoystick;
++ public static Joystick rightJoystick;
++ public static JoystickButton trigger;
++ public static JoystickButton toggleCompressor;
++ public static JoystickButton toggleClaw;
+
- trigger = new JoystickButton(rightJoystick, RobotMap.TRIGGER_PORT);
++ public OI() {
++ System.out.println("OI is open");
++ leftJoystick = new Joystick(RobotMap.LEFT_STICK_PORT);
++ rightJoystick = new Joystick(RobotMap.RIGHT_STICK_PORT);
+
- toggleClaw = new JoystickButton(rightJoystick, RobotMap.TOGGLE_PORT);
- toggleClaw.whenPressed(new ToggleClaw());
++ trigger = new JoystickButton(rightJoystick, RobotMap.TRIGGER_PORT);
+
- toggleCompressor = new JoystickButton(rightJoystick,
- RobotMap.TOGGLE_COMPRESSOR_PORT);
- toggleCompressor.whenPressed(new ToggleCompressor());
++ toggleClaw = new JoystickButton(rightJoystick, RobotMap.TOGGLE_PORT);
++ toggleClaw.whenPressed(new ToggleClaw());
+
- }
++ toggleCompressor = new JoystickButton(rightJoystick,
++ RobotMap.TOGGLE_COMPRESSOR_PORT);
++ toggleCompressor.whenPressed(new ToggleCompressor());
+
++ }
+}
--- /dev/null
- static Timer timer;
- public static OI oi;
- public static DriveTrain driveTrain;
- public static Arm arm;
- public static Claw claw;
- public static Compressor compressor;
+package org.usfirst.frc3501.RiceCatRobot.robot;
+
+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 {
- public void robotInit() {
- RobotMap.init();
- driveTrain = new DriveTrain();
- arm = new Arm();
- claw = new Claw();
- oi = new OI();
- compressor = new Compressor(RobotMap.COMPRESSOR_PORT);
- }
++ 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 autonomousInit() {
- }
++ 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 autonomousPeriodic() {
- Scheduler.getInstance().run();
- }
++ public void autonomousInit() {
++ }
+
- public void teleopInit() {
- System.out.println("running teleopInit");
- }
++ public void autonomousPeriodic() {
++ Scheduler.getInstance().run();
++ }
+
- public void teleopPeriodic() {
- 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());
- }
++ 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());
+ }
++ }
+}
--- /dev/null
- 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;
+package org.usfirst.frc3501.RiceCatRobot.robot;
+
+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 static final double DISTANCE_PER_PULSE = ((3.66 / 5.14) * 6 * Math.PI) / 256;
++ 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 int ARM_LEFT = 2, ARM_RIGHT = 7;
- public static final double ARM_HIGH_SPEED = 0.5, ARM_LOW_SPEED = 0.5;
++ public static final double DISTANCE_PER_PULSE =
++ ((3.66 / 5.14) * 6 * Math.PI) / 256;
+
- // 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 final int ARM_LEFT = 2, ARM_RIGHT = 7;
++ public static final double ARM_HIGH_SPEED = 0.5, ARM_LOW_SPEED = 0.5;
+
- public static void init() {
- }
++ // 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 enum Direction {
- LEFT, RIGHT, DOWN, UP, FORWARD, BACKWARD;
- }
++ public static void init() {
++ }
+
++ public static enum Direction {
++ LEFT, RIGHT, DOWN, UP, FORWARD, BACKWARD;
++ }
+}
import edu.wpi.first.wpilibj.command.Subsystem;
public class DriveTrain extends Subsystem {
- private CANJaguar frontLeft, frontRight, rearLeft, rearRight;
- private Encoder leftEncoder, rightEncoder;
+ 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 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 void resetEncoders() {
+ leftEncoder.reset();
+ rightEncoder.reset();
+ }
- public double getRightSpeed() {
- // Returns inches per second
- return rightEncoder.getRate();
- }
+ public double getRightSpeed() {
- // Returns in per second
++ // Returns inches per second
+ return rightEncoder.getRate();
+ }
- public double getLeftSpeed() {
- return leftEncoder.getRate();
- }
-
- public double getAverageSpeed() {
- return (getRightSpeed() + getLeftSpeed())/2;
- }
+ public double getLeftSpeed() {
+ return leftEncoder.getRate();
+ }
- public double getRightDistance() {
- // Returns distance in inches
- return rightEncoder.getDistance();
- }
++ public double getAverageSpeed() {
++ return (getRightSpeed() + getLeftSpeed()) / 2;
++ }
+
- public double getLeftDistance() {
- // Returns distance in inches
- return leftEncoder.getDistance();
- }
+ public double getRightDistance() {
- // Returns distance in in
++ // Returns distance in inches
+ return rightEncoder.getDistance();
+ }
+
+ public double getLeftDistance() {
- // Returns distance in in
++ // Returns distance in inches
+ return leftEncoder.getDistance();
+ }
+
++ public void stop() {
++ setMotorSpeeds(0, 0);
++ }
+
- public void stop() {
- setMotorSpeeds(0, 0);
+ public void setMotorSpeeds(double leftSpeed, double rightSpeed) {
+ if (Math.abs(leftSpeed) < RobotMap.DRIVE_DEAD_ZONE) {
+ leftSpeed = 0;
}
-
- 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);
+ 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);
+ 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;
}
- @Override
- protected void initDefaultCommand() {
+ 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