From: Rohan Rodrigues Date: Thu, 23 Mar 2017 17:36:59 +0000 (-0700) Subject: Saved X-Git-Url: http://challenge-bot.com/repos/?p=3501%2F2017steamworks;a=commitdiff_plain;h=8275a069e1891bd27156dcd947a897519c42a3a3 Saved --- diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java index 07b2028..48ec242 100644 --- a/src/org/usfirst/frc/team3501/robot/Constants.java +++ b/src/org/usfirst/frc/team3501/robot/Constants.java @@ -10,21 +10,28 @@ import edu.wpi.first.wpilibj.SPI; * constants for subsystems such as max and min values. */ +// have two buttons: one for shifting to high gear and the other for shifting to +// low gear + public class Constants { public static class OI { - public final static int LEFT_STICK_PORT = 0; - public final static int RIGHT_STICK_PORT = 1; + public final static int XBOX_CONTROLLER_PORT = 0; + // public final static int RIGHT_STICK_PORT = 1; public static final int GAME_PAD_PORT = 2; - public final static int TOGGLE_GEAR_PORT = 5; - public final static int RUN_INTAKE_PORT = 1; - public final static int REVERSE_INTAKE_PORT = 2; - - public final static int RUN_INDEXWHEEL_PORT = 1; - public final static int REVERSE_INDEXWHEEL_PORT = 2; - public static final int BRAKE_CANTALONS_PORT = 5; - public static final int COAST_CANTALONS_PORT = 6; - + // Xbox Controller Ports + // public final static int TOGGLE_GEAR_PORT = 5; + public final static int SHIFT_LOW_PORT = 9; + public final static int SHIFT_HIGH_PORT = 10; + public final static int RUN_INTAKE_PORT = 6; + public final static int REVERSE_INTAKE_PORT = 8; + public final static int RUN_INDEXWHEEL_PORT = 5; + public final static int REVERSE_INDEXWHEEL_PORT = 7; + public static final int BRAKE_CANTALONS_PORT = 1; + public static final int COAST_CANTALONS_PORT = 3; + public static final int CLIMB_PORT = 4; + + // Game Pad Ports public final static int TOGGLE_FLYWHEEL_PORT = 1; public static final int REVERSE_FLYWHEEL_PORT = 3; public static final int INCREASE_SHOOTER_SPEED_PORT = 8; @@ -32,7 +39,6 @@ public class Constants { public static final int RESET_SHOOTER_SPEED_PORT = 5; public static final int TOGGLE_GEAR_MANIPULATOR_PORT = 2; - public static final int CLIMB_PORT = 0; } public static class Shooter { diff --git a/src/org/usfirst/frc/team3501/robot/OI.java b/src/org/usfirst/frc/team3501/robot/OI.java index 7002a58..c53369e 100644 --- a/src/org/usfirst/frc/team3501/robot/OI.java +++ b/src/org/usfirst/frc/team3501/robot/OI.java @@ -3,7 +3,8 @@ package org.usfirst.frc.team3501.robot; import org.usfirst.frc.team3501.robot.commands.climber.BrakeCANTalons; import org.usfirst.frc.team3501.robot.commands.climber.CoastCANTalons; import org.usfirst.frc.team3501.robot.commands.climber.ToggleWinch; -import org.usfirst.frc.team3501.robot.commands.driving.ToggleDriveGear; +import org.usfirst.frc.team3501.robot.commands.driving.ShiftDriveHighGear; +import org.usfirst.frc.team3501.robot.commands.driving.ShiftDriveLowGear; import org.usfirst.frc.team3501.robot.commands.driving.ToggleGearManipulatorPiston; import org.usfirst.frc.team3501.robot.commands.intake.ReverseIntakeContinuous; import org.usfirst.frc.team3501.robot.commands.intake.RunIntakeContinuous; @@ -21,8 +22,8 @@ import edu.wpi.first.wpilibj.buttons.JoystickButton; public class OI { private static OI oi; - public static Joystick leftJoystick; - public static Joystick rightJoystick; + public static Joystick xboxController; + // public static Joystick rightJoystick; public static Joystick gamePad; public static Button runIndexWheel; @@ -30,7 +31,10 @@ public class OI { public static Button toggleFlyWheel; public static Button reverseFlyWheel; - public static Button toggleGear; + // public static Button toggleGear; + public static Button shiftHigh; + public static Button shiftLow; + public static Button toggleGearManipulatorPiston; public static Button runIntake; @@ -45,15 +49,15 @@ public class OI { public static Button climb; public OI() { - leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT); - rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT); + xboxController = new Joystick(Constants.OI.XBOX_CONTROLLER_PORT); + // rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT); gamePad = new Joystick(Constants.OI.GAME_PAD_PORT); - runIndexWheel = new JoystickButton(rightJoystick, + runIndexWheel = new JoystickButton(xboxController, Constants.OI.RUN_INDEXWHEEL_PORT); runIndexWheel.whileHeld(new RunIndexWheelContinuous()); - reverseIndexWheel = new JoystickButton(rightJoystick, + reverseIndexWheel = new JoystickButton(xboxController, Constants.OI.REVERSE_INDEXWHEEL_PORT); reverseIndexWheel.whileHeld(new ReverseIndexWheelContinuous()); @@ -65,18 +69,26 @@ public class OI { Constants.OI.REVERSE_FLYWHEEL_PORT); reverseFlyWheel.whileHeld(new ReverseFlyWheelContinuous()); - toggleGear = new JoystickButton(leftJoystick, - Constants.OI.TOGGLE_GEAR_PORT); - toggleGear.whenPressed(new ToggleDriveGear()); + // toggleGear = new JoystickButton(xboxController, + // Constants.OI.TOGGLE_GEAR_PORT); + // toggleGear.whenPressed(new ToggleDriveGear()); + + shiftHigh = new JoystickButton(xboxController, + Constants.OI.SHIFT_HIGH_PORT); + shiftHigh.whenPressed(new ShiftDriveHighGear()); + + shiftLow = new JoystickButton(xboxController, Constants.OI.SHIFT_LOW_PORT); + shiftLow.whenPressed(new ShiftDriveLowGear()); toggleGearManipulatorPiston = new JoystickButton(gamePad, Constants.OI.TOGGLE_GEAR_MANIPULATOR_PORT); toggleGearManipulatorPiston.whenPressed(new ToggleGearManipulatorPiston()); - runIntake = new JoystickButton(leftJoystick, Constants.OI.RUN_INTAKE_PORT); + runIntake = new JoystickButton(xboxController, + Constants.OI.RUN_INTAKE_PORT); runIntake.whileHeld(new RunIntakeContinuous()); - reverseIntake = new JoystickButton(leftJoystick, + reverseIntake = new JoystickButton(xboxController, Constants.OI.REVERSE_INTAKE_PORT); reverseIntake.whileHeld(new ReverseIntakeContinuous()); @@ -92,15 +104,15 @@ public class OI { Constants.OI.RESET_SHOOTER_SPEED_PORT); resetShooterSpeed.whenPressed(new ResetShootingSpeed()); - brakeCANTalons = new JoystickButton(rightJoystick, + brakeCANTalons = new JoystickButton(xboxController, Constants.OI.BRAKE_CANTALONS_PORT); brakeCANTalons.whenPressed(new BrakeCANTalons()); - coastCANTalons = new JoystickButton(rightJoystick, + coastCANTalons = new JoystickButton(xboxController, Constants.OI.COAST_CANTALONS_PORT); coastCANTalons.whenPressed(new CoastCANTalons()); - climb = new JoystickButton(leftJoystick, Constants.OI.CLIMB_PORT); + climb = new JoystickButton(xboxController, Constants.OI.CLIMB_PORT); climb.whenPressed(new ToggleWinch()); } diff --git a/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinchContinuous.java b/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinchContinuous.java index 06fa154..664b201 100644 --- a/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinchContinuous.java +++ b/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinchContinuous.java @@ -39,7 +39,7 @@ public class RunWinchContinuous extends Command { @Override protected void execute() { - double thrust = OI.leftJoystick.getY(); + double thrust = OI.xboxController.getY(); climber.setMotorValues(-thrust); } diff --git a/src/org/usfirst/frc/team3501/robot/commands/climber/ToggleWinch.java b/src/org/usfirst/frc/team3501/robot/commands/climber/ToggleWinch.java index 47e464c..918481c 100644 --- a/src/org/usfirst/frc/team3501/robot/commands/climber/ToggleWinch.java +++ b/src/org/usfirst/frc/team3501/robot/commands/climber/ToggleWinch.java @@ -25,6 +25,9 @@ public class ToggleWinch extends Command { climber.setMotorValues(climbingSpeed); } else { climber.setCANTalonsBrakeMode(climber.BRAKE_MODE); + + /* Not sure if should have */ + climber.stop(); end(); } } diff --git a/src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java b/src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java index 9007a54..aa9bfaf 100755 --- a/src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java +++ b/src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java @@ -3,6 +3,7 @@ package org.usfirst.frc.team3501.robot.commands.driving; import org.usfirst.frc.team3501.robot.OI; import org.usfirst.frc.team3501.robot.Robot; +import edu.wpi.first.wpilibj.Joystick.AxisType; import edu.wpi.first.wpilibj.command.Command; /** @@ -22,13 +23,15 @@ public class JoystickDrive extends Command { @Override protected void execute() { - // final double thrust = OI.rightJoystick.getY(); - // final double twist = OI.rightJoystick.getTwist(); - // - // Robot.getDriveTrain().joystickDrive(-thrust, -twist); - double left = OI.leftJoystick.getY(); - double right = OI.rightJoystick.getY(); - Robot.getDriveTrain().tankDrive(left, right); + final double thrust = OI.xboxController.getY(); + final double twist = OI.xboxController.getAxis(AxisType.kZ); + + Robot.getDriveTrain().joystickDrive(-thrust, -twist); + + /* + * double left = OI.leftJoystick.getY(); double right = + * OI.rightJoystick.getY(); Robot.getDriveTrain().tankDrive(-left, -right); + */ } @Override diff --git a/src/org/usfirst/frc/team3501/robot/commands/driving/ShiftDriveHighGear.java b/src/org/usfirst/frc/team3501/robot/commands/driving/ShiftDriveHighGear.java new file mode 100644 index 0000000..08323ed --- /dev/null +++ b/src/org/usfirst/frc/team3501/robot/commands/driving/ShiftDriveHighGear.java @@ -0,0 +1,43 @@ +package org.usfirst.frc.team3501.robot.commands.driving; + +import org.usfirst.frc.team3501.robot.Robot; +import org.usfirst.frc.team3501.robot.subsystems.DriveTrain; + +import edu.wpi.first.wpilibj.command.Command; + +/** + * This command shifts the gear to high + * + * Author: Rohan Rodrigues + */ +public class ShiftDriveHighGear extends Command { + DriveTrain driveTrain = Robot.getDriveTrain(); + + public ShiftDriveHighGear() { + requires(driveTrain); + } + + @Override + protected void initialize() { + + } + + @Override + protected void execute() { + driveTrain.setHighGear(); + System.out.println("Current Value is: " + driveTrain.getLeftMotorVal()); + } + + @Override + protected boolean isFinished() { + return true; + } + + @Override + protected void end() { + } + + @Override + protected void interrupted() { + } +} diff --git a/src/org/usfirst/frc/team3501/robot/commands/driving/ShiftDriveLowGear.java b/src/org/usfirst/frc/team3501/robot/commands/driving/ShiftDriveLowGear.java new file mode 100644 index 0000000..fbc3e56 --- /dev/null +++ b/src/org/usfirst/frc/team3501/robot/commands/driving/ShiftDriveLowGear.java @@ -0,0 +1,43 @@ +package org.usfirst.frc.team3501.robot.commands.driving; + +import org.usfirst.frc.team3501.robot.Robot; +import org.usfirst.frc.team3501.robot.subsystems.DriveTrain; + +import edu.wpi.first.wpilibj.command.Command; + +/** + * This command shifts the gear to high + * + * Author: Rohan Rodrigues + */ +public class ShiftDriveLowGear extends Command { + DriveTrain driveTrain = Robot.getDriveTrain(); + + public ShiftDriveLowGear() { + requires(driveTrain); + } + + @Override + protected void initialize() { + + } + + @Override + protected void execute() { + driveTrain.setLowGear(); + System.out.println("Current Value is: " + driveTrain.getLeftMotorVal()); + } + + @Override + protected boolean isFinished() { + return true; + } + + @Override + protected void end() { + } + + @Override + protected void interrupted() { + } +} diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Climber.java b/src/org/usfirst/frc/team3501/robot/subsystems/Climber.java index d9268cb..4cec792 100644 --- a/src/org/usfirst/frc/team3501/robot/subsystems/Climber.java +++ b/src/org/usfirst/frc/team3501/robot/subsystems/Climber.java @@ -14,7 +14,7 @@ public class Climber extends Subsystem { public static final boolean COAST_MODE = false; public static final double CLIMBER_SPEED = 1.0; - public boolean shouldBeClimbing = false; + public boolean shouldBeClimbing = true; private CANTalon winch;