continue to flesh out initial codebase

diff --git a/src/org/usfirst/frc/team3501/robot/OI.java b/src/org/usfirst/frc/team3501/robot/OI.java
index d6344b77755b6bce6dce38f54d3b44462bb45c93..0b8fa0755904bfe29ecefae66038f4e5e7bec95d 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/OI.java
+++ b/src/org/usfirst/frc/team3501/robot/OI.java
@@ -13,11 +13,11 @@ public class OI {
         right.whenReleased(1, new OpenClaw());
     }
 
-    public double getForwardSpeed() {
+    public double getForward() {
         return right.getY();
     }
 
-    public double getTwistSpeed() {
+    public double getTwist() {
         return right.getTwist();
     }
 }

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index 68770bb4819d35f1debc60c463d8c1aade4076d2..b5ac5b7a98a13dd563a37dfbe2e9e504cd165755 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -5,8 +5,10 @@ import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.command.Command;
 import edu.wpi.first.wpilibj.command.Scheduler;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
-import org.usfirst.frc.team3501.robot.commands.*;
+import org.usfirst.frc.team3501.robot.autons.*;
 import org.usfirst.frc.team3501.robot.subsystems.*;
 
 public class Robot extends IterativeRobot {
@@ -17,14 +19,14 @@ public class Robot extends IterativeRobot {
 
        public static OI oi;
 
-    Command autonomousCommand;
+       private SendableChooser autoChooser;
+
+    private Command autonomousCommand;
 
     public void robotInit() {
                oi = new OI();
 
-               double time = 1.2;
-               double speed = 0.7;
-        autonomousCommand = new DriveForward(time, speed);
+               chooseAuto();
     }
 
        public void disabledPeriodic() {
@@ -32,6 +34,7 @@ public class Robot extends IterativeRobot {
        }
 
     public void autonomousInit() {
+        autonomousCommand = (Command) autoChooser.getSelected();
         autonomousCommand.start();
     }
 
@@ -45,11 +48,18 @@ public class Robot extends IterativeRobot {
 
     public void teleopPeriodic() {
         Scheduler.getInstance().run();
-
-
     }
 
     public void testPeriodic() {
         LiveWindow.run();
     }
+
+    private void chooseAuto() {
+        autoChooser = new SendableChooser();
+
+        autoChooser.addDefault("Drive over step", new DriveOverStep());
+        autoChooser.addObject("Drive past step",  new DrivePastStep());
+
+        SmartDashboard.putData("Auto Mode", autoChooser);
+    }
 }

diff --git a/src/org/usfirst/frc/team3501/robot/RobotMap.java b/src/org/usfirst/frc/team3501/robot/RobotMap.java
index 0525166def1c2f0deddfa8d9d6a1ca48c5cb7825..bfb2bea698ec249228da2ef910e76660268ebce6 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/RobotMap.java
+++ b/src/org/usfirst/frc/team3501/robot/RobotMap.java
@@ -3,16 +3,27 @@ package org.usfirst.frc.team3501.robot;
 import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
 
 public class RobotMap {
+    // Driver Station
     public static final int LEFT_JOYSTICK_PORT = 0, RIGHT_JOYSTICK_PORT = 1;
 
-    public static final double MIN_DRIVE_JOYSTICK_INPUT = 0.1;
+    public static final double MIN_DRIVE_JOYSTICK_INPUT = 0.1,
+                               MIN_ARM_JOYSTICK_INPUT   = 0.1;
 
+    // Drivetrain
     public static final int FRONT_LEFT_ADDRESS = 4, FRONT_RIGHT_ADDRESS = 5,
                             REAR_LEFT_ADDRESS  = 3, REAR_RIGHT_ADDRESS  = 6;
 
     public static final double MAX_DRIVE_SPEED = 0.7;
 
+    // Claw
     public static final int CLAW_FORWARD_CHANNEL = 0, CLAW_REVERSE_CHANNEL = 1;
 
     public static final Value OPEN = Value.kForward, CLOSED = Value.kReverse;
+
+    // Arm
+    public static final int LEFT_WINCH_ADDRESS = 2, RIGHT_WINCH_ADDRESS = 7;
+
+    // Auton
+    public static final double OVER_STEP_TIME = 1.2, OVER_STEP_SPEED = 0.7,
+                               PAST_STEP_TIME = 1.5, PAST_STEP_SPEED = 0.5;
 }

diff --git a/src/org/usfirst/frc/team3501/robot/autons/DriveOverStep.java b/src/org/usfirst/frc/team3501/robot/autons/DriveOverStep.java
new file mode 100644 (file)
index 0000000..2298661
--- /dev/null
+++ b/src/org/usfirst/frc/team3501/robot/autons/DriveOverStep.java
@@ -0,0 +1,29 @@
+package org.usfirst.frc.team3501.robot.autons;
+
+import org.usfirst.frc.team3501.robot.RobotMap;
+import org.usfirst.frc.team3501.robot.commands.CommandBase;
+
+public class DriveOverStep extends CommandBase {
+
+    private double speed;
+
+    public DriveOverStep() {
+        super("DriveOverStep");
+        requires(drivetrain);
+
+        setTimeout(RobotMap.OVER_STEP_TIME);
+        this.speed = RobotMap.OVER_STEP_SPEED;
+    }
+
+    protected void execute() {
+        drivetrain.goForward(speed);
+    }
+
+    protected boolean isFinished() {
+        return isTimedOut();
+    }
+
+    protected void end() {
+        drivetrain.stop();
+    }
+}

diff --git a/src/org/usfirst/frc/team3501/robot/autons/DrivePastStep.java b/src/org/usfirst/frc/team3501/robot/autons/DrivePastStep.java
new file mode 100644 (file)
index 0000000..d3105f8
--- /dev/null
+++ b/src/org/usfirst/frc/team3501/robot/autons/DrivePastStep.java
@@ -0,0 +1,29 @@
+package org.usfirst.frc.team3501.robot.autons;
+
+import org.usfirst.frc.team3501.robot.RobotMap;
+import org.usfirst.frc.team3501.robot.commands.CommandBase;
+
+public class DrivePastStep extends CommandBase {
+
+    private double speed;
+
+    public DrivePastStep() {
+        super("DrivePastStep");
+        requires(drivetrain);
+
+        setTimeout(RobotMap.PAST_STEP_TIME);
+        this.speed = RobotMap.PAST_STEP_SPEED;
+    }
+
+    protected void execute() {
+        drivetrain.goForward(speed);
+    }
+
+    protected boolean isFinished() {
+        return isTimedOut();
+    }
+
+    protected void end() {
+        drivetrain.stop();
+    }
+}

diff --git a/src/org/usfirst/frc/team3501/robot/commands/DriveForward.java b/src/org/usfirst/frc/team3501/robot/commands/DriveForward.java
deleted file mode 100644 (file)
index 0590b6b..0000000
--- a/src/org/usfirst/frc/team3501/robot/commands/DriveForward.java
+++ /dev/null
@@ -1,26 +0,0 @@
-package org.usfirst.frc.team3501.robot.commands;
-
-public class DriveForward extends CommandBase {
-
-    private double speed;
-
-    public DriveForward(double time, double speed) {
-        super("DriveForward");
-        requires(drivetrain);
-
-        setTimeout(time);
-        this.speed = speed;
-    }
-
-    protected void execute() {
-        drivetrain.goForward(speed);
-    }
-
-    protected boolean isFinished() {
-        return isTimedOut();
-    }
-
-    protected void end() {
-        drivetrain.stop();
-    }
-}

diff --git a/src/org/usfirst/frc/team3501/robot/commands/DriveWithJoysticks.java b/src/org/usfirst/frc/team3501/robot/commands/DriveWithJoysticks.java
index d1f3e504c365db703fb3e5b34f739d3b3940b151..500bad953e33000ad9c29fa9a890c64d29ed0f86 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/DriveWithJoysticks.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/DriveWithJoysticks.java
@@ -8,7 +8,7 @@ public class DriveWithJoysticks extends CommandBase {
     }
 
     protected void execute() {
-        drivetrain.drive(oi.getForwardSpeed(), oi.getTwistSpeed());
+        drivetrain.drive(oi.getForward(), oi.getTwist());
     }
 
     protected boolean isFinished() {

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Arm.java b/src/org/usfirst/frc/team3501/robot/subsystems/Arm.java
index deffbdda123f11183b0a9d5a72944d394c1e9b94..8cfcf9b6411a646b9caaa78aae909fda25292964 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Arm.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Arm.java
@@ -1,18 +1,41 @@
 package org.usfirst.frc.team3501.robot.subsystems;
 
+import org.usfirst.frc.team3501.robot.RobotMap;
+
+import edu.wpi.first.wpilibj.CANJaguar;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
-/**
- *
- */
 public class Arm extends Subsystem {
-    
-    // Put methods for controlling this subsystem
-    // here. Call these from Commands.
 
-    public void initDefaultCommand() {
-        // Set the default command for a subsystem here.
-        //setDefaultCommand(new MySpecialCommand());
+    private CANJaguar left, right;
+
+    public Arm() {
+        left  = new CANJaguar(RobotMap.LEFT_WINCH_ADDRESS);
+        right = new CANJaguar(RobotMap.RIGHT_WINCH_ADDRESS);
+    }
+
+    public void set(double speed) {
+        left.set(-speed);
+        right.set(speed);
+    }
+
+    public void moveLeft(double speed) {
+        left.set(speed);
+        right.set(0);
     }
+
+    public void moveRight(double speed) {
+        right.set(speed);
+        left.set(0);
+    }
+
+    public double getSpeedFromJoystick(double speed) {
+        if (Math.abs(speed) < RobotMap.MIN_ARM_JOYSTICK_INPUT)
+            speed = 0;
+
+        return speed;
+    }
+
+    public void initDefaultCommand() {}
 }
 

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Claw.java b/src/org/usfirst/frc/team3501/robot/subsystems/Claw.java
index aecab3e64581a7178e8ed57eaf8838fe660c8df5..5c9ae5b6c9e3e3b7adaca6426d26c806221869d7 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Claw.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Claw.java
@@ -1,24 +1,19 @@
 package org.usfirst.frc.team3501.robot.subsystems;
 
 import org.usfirst.frc.team3501.robot.RobotMap;
-import org.usfirst.frc.team3501.robot.commands.*;
 
 import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class Claw extends Subsystem {
 
-    private final DoubleSolenoid piston;
+    private DoubleSolenoid piston;
 
     public Claw() {
         piston = new DoubleSolenoid(
                 RobotMap.CLAW_FORWARD_CHANNEL, RobotMap.CLAW_REVERSE_CHANNEL);
     }
 
-    public void initDefaultCommand() {
-        setDefaultCommand(new CloseClaw());
-    }
-
     public void open() {
         piston.set(RobotMap.OPEN);
     }
@@ -26,5 +21,6 @@ public class Claw extends Subsystem {
     public void close() {
         piston.set(RobotMap.CLOSED);
     }
-}
 
+    public void initDefaultCommand() {}
+}

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Drivetrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/Drivetrain.java
index 5285956a4b78898b4ff296e3459fd47c2dded9cd..5dd39abb4a716f1bf8a7729b57696371281ec823 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Drivetrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Drivetrain.java
@@ -1,6 +1,7 @@
 package org.usfirst.frc.team3501.robot.subsystems;
 
 import org.usfirst.frc.team3501.robot.RobotMap;
+import org.usfirst.frc.team3501.robot.commands.DriveWithJoysticks;
 
 import edu.wpi.first.wpilibj.CANJaguar;
 import edu.wpi.first.wpilibj.RobotDrive;
@@ -8,7 +9,7 @@ import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class Drivetrain extends Subsystem {
 
-    RobotDrive robotDrive;
+    private RobotDrive robotDrive;
 
     public Drivetrain() {
         CANJaguar frontLeft  = new CANJaguar(RobotMap.FRONT_LEFT_ADDRESS);
@@ -46,6 +47,8 @@ public class Drivetrain extends Subsystem {
         return (x + Math.signum(x) * Math.sqrt(Math.abs(x))) / 2;
     }
 
-    public void initDefaultCommand() {}
+    public void initDefaultCommand() {
+        setDefaultCommand(new DriveWithJoysticks());
+    }
 }
 

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Pneumatics.java b/src/org/usfirst/frc/team3501/robot/subsystems/Pneumatics.java
new file mode 100644 (file)
index 0000000..8a831d5
--- /dev/null
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Pneumatics.java
@@ -0,0 +1,24 @@
+package org.usfirst.frc.team3501.robot.subsystems;
+
+import edu.wpi.first.wpilibj.Compressor;
+import edu.wpi.first.wpilibj.command.Subsystem;
+
+public class Pneumatics extends Subsystem {
+
+    private Compressor compressor;
+
+    public Pneumatics() {
+        compressor = new Compressor();
+    }
+
+    public void start() {
+        compressor.start();
+    }
+
+    public void stop() {
+        compressor.stop();
+    }
+
+    public void initDefaultCommand() {}
+}
+