From: Kevin Zhang Date: Sun, 15 Nov 2015 00:39:23 +0000 (-0800) Subject: Change to 2 space instead of 4 space per Danny's request X-Git-Url: http://challenge-bot.com/repos/?p=3501%2F2015-FRC-Spark;a=commitdiff_plain;h=e3bfff965c6d5a25b0d98b12b73fbf7eed623326 Change to 2 space instead of 4 space per Danny's request --- diff --git a/src/org/usfirst/frc3501/RiceCatRobot/OI.java b/src/org/usfirst/frc3501/RiceCatRobot/OI.java index bb7fbed..e463ea3 100644 --- a/src/org/usfirst/frc3501/RiceCatRobot/OI.java +++ b/src/org/usfirst/frc3501/RiceCatRobot/OI.java @@ -7,25 +7,25 @@ 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 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); + 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); + trigger = new JoystickButton(rightJoystick, RobotMap.TRIGGER_PORT); - toggleClaw = new JoystickButton(rightJoystick, RobotMap.TOGGLE_PORT); - toggleClaw.whenPressed(new ToggleClaw()); + toggleClaw = new JoystickButton(rightJoystick, RobotMap.TOGGLE_PORT); + toggleClaw.whenPressed(new ToggleClaw()); - toggleCompressor = new JoystickButton(rightJoystick, - RobotMap.TOGGLE_COMPRESSOR_PORT); - toggleCompressor.whenPressed(new ToggleCompressor()); + toggleCompressor = new JoystickButton(rightJoystick, + RobotMap.TOGGLE_COMPRESSOR_PORT); + toggleCompressor.whenPressed(new ToggleCompressor()); - } + } } diff --git a/src/org/usfirst/frc3501/RiceCatRobot/Robot.java b/src/org/usfirst/frc3501/RiceCatRobot/Robot.java index 7e9fabe..0e4d934 100644 --- a/src/org/usfirst/frc3501/RiceCatRobot/Robot.java +++ b/src/org/usfirst/frc3501/RiceCatRobot/Robot.java @@ -10,60 +10,60 @@ 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; + 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 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 autonomousInit() { + } - public void autonomousPeriodic() { - Scheduler.getInstance().run(); - } + public void autonomousPeriodic() { + Scheduler.getInstance().run(); + } - public void teleopInit() { - System.out.println("running teleopInit"); - } + public void teleopInit() { + System.out.println("running teleopInit"); + } - public void teleopPeriodic() { - Scheduler.getInstance().run(); + 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); + 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()); - } + } else { + arm.fineTuneControl(OI.leftJoystick.getY()); } + } } diff --git a/src/org/usfirst/frc3501/RiceCatRobot/RobotMap.java b/src/org/usfirst/frc3501/RiceCatRobot/RobotMap.java index 4bf6e4a..b0201b0 100644 --- a/src/org/usfirst/frc3501/RiceCatRobot/RobotMap.java +++ b/src/org/usfirst/frc3501/RiceCatRobot/RobotMap.java @@ -10,32 +10,32 @@ import edu.wpi.first.wpilibj.DoubleSolenoid.Value; * 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 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 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; + 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; + // 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 void init() { + } - public static enum Direction { - LEFT, RIGHT, DOWN, UP, FORWARD, BACKWARD; - } + public static enum Direction { + LEFT, RIGHT, DOWN, UP, FORWARD, BACKWARD; + } } diff --git a/src/org/usfirst/frc3501/RiceCatRobot/commands/CloseClaw.java b/src/org/usfirst/frc3501/RiceCatRobot/commands/CloseClaw.java index eb0eea2..2ace9ae 100644 --- a/src/org/usfirst/frc3501/RiceCatRobot/commands/CloseClaw.java +++ b/src/org/usfirst/frc3501/RiceCatRobot/commands/CloseClaw.java @@ -9,28 +9,28 @@ import org.usfirst.frc3501.RiceCatRobot.Robot; */ public class CloseClaw extends Command { - public CloseClaw() { - requires(Robot.claw); - } + public CloseClaw() { + requires(Robot.claw); + } - protected void initialize() { - System.out.println("IN INIT CLOSECLAW"); - } + protected void initialize() { + System.out.println("IN INIT CLOSECLAW"); + } - protected void execute() { - Robot.claw.closeClaw(); - System.out.println("Closing claw"); - } + protected void execute() { + Robot.claw.closeClaw(); + System.out.println("Closing claw"); + } - protected boolean isFinished() { - System.out.println("Claw Closed"); - return !Robot.claw.isOpen(); - } + protected boolean isFinished() { + System.out.println("Claw Closed"); + return !Robot.claw.isOpen(); + } - protected void end() { + protected void end() { - } + } - protected void interrupted() { - } + protected void interrupted() { + } } diff --git a/src/org/usfirst/frc3501/RiceCatRobot/commands/DriveFor.java b/src/org/usfirst/frc3501/RiceCatRobot/commands/DriveFor.java index 6e61e61..e247353 100644 --- a/src/org/usfirst/frc3501/RiceCatRobot/commands/DriveFor.java +++ b/src/org/usfirst/frc3501/RiceCatRobot/commands/DriveFor.java @@ -11,66 +11,62 @@ import edu.wpi.first.wpilibj.command.Command; * */ public class DriveFor extends Command { - private double seconds; - private Timer timer; - private Direction direction; + private double seconds; + private Timer timer; + private Direction direction; - public DriveFor(double seconds, Direction direction) { - this.seconds = seconds; - this.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 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 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) { + 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 boolean isFinished() { + return timer.get() > seconds; + } - @Override - protected void end() { - Robot.driveTrain.arcadeDrive(0, 0); - } + @Override + protected void end() { + Robot.driveTrain.arcadeDrive(0, 0); + } - @Override - protected void interrupted() { - end(); - } + @Override + protected void interrupted() { + end(); + } } diff --git a/src/org/usfirst/frc3501/RiceCatRobot/commands/MoveArmFor.java b/src/org/usfirst/frc3501/RiceCatRobot/commands/MoveArmFor.java index c082b2f..4e97d1b 100644 --- a/src/org/usfirst/frc3501/RiceCatRobot/commands/MoveArmFor.java +++ b/src/org/usfirst/frc3501/RiceCatRobot/commands/MoveArmFor.java @@ -13,48 +13,48 @@ import edu.wpi.first.wpilibj.command.Command; * */ 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; + 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 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(); + @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(); + } } diff --git a/src/org/usfirst/frc3501/RiceCatRobot/commands/OpenClaw.java b/src/org/usfirst/frc3501/RiceCatRobot/commands/OpenClaw.java index bece53b..101ae75 100644 --- a/src/org/usfirst/frc3501/RiceCatRobot/commands/OpenClaw.java +++ b/src/org/usfirst/frc3501/RiceCatRobot/commands/OpenClaw.java @@ -10,28 +10,28 @@ import org.usfirst.frc3501.RiceCatRobot.Robot; */ public class OpenClaw extends Command { - public OpenClaw() { - requires(Robot.claw); - } + public OpenClaw() { + requires(Robot.claw); + } - protected void initialize() { - System.out.println("IN INIT OPENCLAW"); - } + protected void initialize() { + System.out.println("IN INIT OPENCLAW"); + } - protected void execute() { - Robot.claw.openClaw(); - System.out.println("Opening Claw"); - } + protected void execute() { + Robot.claw.openClaw(); + System.out.println("Opening Claw"); + } - protected boolean isFinished() { - System.out.println("Claw Opened"); - return Robot.claw.isOpen(); - } + protected boolean isFinished() { + System.out.println("Claw Opened"); + return Robot.claw.isOpen(); + } - protected void end() { + protected void end() { - } + } - protected void interrupted() { - } + protected void interrupted() { + } } diff --git a/src/org/usfirst/frc3501/RiceCatRobot/commands/ToggleClaw.java b/src/org/usfirst/frc3501/RiceCatRobot/commands/ToggleClaw.java index f746056..32f658f 100644 --- a/src/org/usfirst/frc3501/RiceCatRobot/commands/ToggleClaw.java +++ b/src/org/usfirst/frc3501/RiceCatRobot/commands/ToggleClaw.java @@ -9,28 +9,28 @@ import edu.wpi.first.wpilibj.command.Command; */ public class ToggleClaw extends Command { - public ToggleClaw() { + public ToggleClaw() { - } + } - protected void initialize() { - Robot.claw.toggleOn = !Robot.claw.toggleOn; - } + protected void initialize() { + Robot.claw.toggleOn = !Robot.claw.toggleOn; + } - protected void execute() { - if (Robot.claw.toggleOn && Robot.claw.isOpen()) { - Robot.claw.closeClaw(); - } + protected void execute() { + if (Robot.claw.toggleOn && Robot.claw.isOpen()) { + Robot.claw.closeClaw(); } + } - protected boolean isFinished() { - return true; - } + protected boolean isFinished() { + return true; + } - protected void end() { + protected void end() { - } + } - protected void interrupted() { - } + protected void interrupted() { + } } diff --git a/src/org/usfirst/frc3501/RiceCatRobot/commands/ToggleCompressor.java b/src/org/usfirst/frc3501/RiceCatRobot/commands/ToggleCompressor.java index 5f3fad1..64c34f9 100644 --- a/src/org/usfirst/frc3501/RiceCatRobot/commands/ToggleCompressor.java +++ b/src/org/usfirst/frc3501/RiceCatRobot/commands/ToggleCompressor.java @@ -9,35 +9,35 @@ import edu.wpi.first.wpilibj.command.Command; */ public class ToggleCompressor extends Command { - public ToggleCompressor() { + 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(); } - // 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; + } - // 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 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() { - } + // Called when another command which requires one or more of the same + // subsystems is scheduled to run + protected void interrupted() { + } } diff --git a/src/org/usfirst/frc3501/RiceCatRobot/commands/TurnFor.java b/src/org/usfirst/frc3501/RiceCatRobot/commands/TurnFor.java index 9be3779..4abe13b 100644 --- a/src/org/usfirst/frc3501/RiceCatRobot/commands/TurnFor.java +++ b/src/org/usfirst/frc3501/RiceCatRobot/commands/TurnFor.java @@ -7,48 +7,48 @@ 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); - } + 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 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 end() { + } - @Override - protected void interrupted() { - end(); - } + @Override + protected void interrupted() { + end(); + } } diff --git a/src/org/usfirst/frc3501/RiceCatRobot/subsystems/Arm.java b/src/org/usfirst/frc3501/RiceCatRobot/subsystems/Arm.java index 452c569..8d78c8f 100644 --- a/src/org/usfirst/frc3501/RiceCatRobot/subsystems/Arm.java +++ b/src/org/usfirst/frc3501/RiceCatRobot/subsystems/Arm.java @@ -6,42 +6,42 @@ 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); + 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); + } } diff --git a/src/org/usfirst/frc3501/RiceCatRobot/subsystems/Claw.java b/src/org/usfirst/frc3501/RiceCatRobot/subsystems/Claw.java index 100eff4..b7a1f04 100644 --- a/src/org/usfirst/frc3501/RiceCatRobot/subsystems/Claw.java +++ b/src/org/usfirst/frc3501/RiceCatRobot/subsystems/Claw.java @@ -11,40 +11,40 @@ 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(); - } - } + 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(); } + } } + } } diff --git a/src/org/usfirst/frc3501/RiceCatRobot/subsystems/DriveTrain.java b/src/org/usfirst/frc3501/RiceCatRobot/subsystems/DriveTrain.java index 9307c78..49ffefa 100644 --- a/src/org/usfirst/frc3501/RiceCatRobot/subsystems/DriveTrain.java +++ b/src/org/usfirst/frc3501/RiceCatRobot/subsystems/DriveTrain.java @@ -8,100 +8,100 @@ 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; + 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 in per second - return rightEncoder.getRate(); - } + public double getRightSpeed() { + // Returns in per second + return rightEncoder.getRate(); + } - public double getLeftSpeed() { - return leftEncoder.getRate(); - } + public double getLeftSpeed() { + return leftEncoder.getRate(); + } - public double getRightDistance() { - // Returns distance in in - return rightEncoder.getDistance(); - } + public double getRightDistance() { + // Returns distance in in + return rightEncoder.getDistance(); + } - public double getLeftDistance() { - // Returns distance in in - return leftEncoder.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 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); + 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() { + } }