Add camera, change to arcade drive, front chooser only, minor driving fixes

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index 6bf02a4cd1017acc57873e7070deced1c454e017..2b58d19d22d5f41dfce87d95c7ab1dd98b0fc04c 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,13 +1,12 @@
 package org.usfirst.frc.team3501.robot;
 
-import org.usfirst.frc.team3501.robot.Constants.Auton;
-import org.usfirst.frc.team3501.robot.Constants.Defense;
-import org.usfirst.frc.team3501.robot.commands.auton.ChooseStrategy;
 import org.usfirst.frc.team3501.robot.commands.driving.SetLowGear;
+import org.usfirst.frc.team3501.robot.commands.driving.TimeDrive;
 import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
 import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
 
+import edu.wpi.first.wpilibj.CameraServer;
 import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.command.Scheduler;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
@@ -20,9 +19,8 @@ public class Robot extends IterativeRobot {
   public static IntakeArm intakeArm;
 
   // Sendable Choosers send a drop down menu to the Smart Dashboard.
-  SendableChooser positionChooser;
-  SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
-      positionFourDefense, positionFiveDefense;
+  private static SendableChooser frontChooser;
+  private static CameraServer camera;
 
   @Override
   public void robotInit() {
@@ -32,84 +30,38 @@ public class Robot extends IterativeRobot {
 
     oi = new OI();
 
-    initializeSendableChoosers();
-    addPositionChooserOptions();
-    addDefensesToAllDefenseSendableChoosers();
-    sendSendableChoosersToSmartDashboard();
-  }
-
-  private void initializeSendableChoosers() {
-    positionChooser = new SendableChooser();
-    positionOneDefense = new SendableChooser();
-    positionTwoDefense = new SendableChooser();
-    positionThreeDefense = new SendableChooser();
-    positionFourDefense = new SendableChooser();
-    positionFiveDefense = new SendableChooser();
-  }
+    initializeSendableChooser();
+    addFrontChooserOptions();
+    sendSendableChooserToSmartDashboard();
 
-  private void addPositionChooserOptions() {
-    positionChooser.addDefault("None", 0);
-    positionChooser.addObject("Position 1", 1);
-    positionChooser.addObject("Position 2", 2);
-    positionChooser.addObject("Position 3", 3);
-    positionChooser.addObject("Position 4", 4);
-    positionChooser.addObject("Position 5", 5);
+    camera = CameraServer.getInstance();
+    camera.setQuality(50);
+    camera.startAutomaticCapture("cam0");
   }
 
-  private void addDefensesToAllDefenseSendableChoosers() {
-    addDefenseOptions(positionOneDefense);
-    addDefenseOptions(positionTwoDefense);
-    addDefenseOptions(positionThreeDefense);
-    addDefenseOptions(positionFourDefense);
-    addDefenseOptions(positionFiveDefense);
+  private void initializeSendableChooser() {
+    frontChooser = new SendableChooser();
   }
 
-  private void addDefenseOptions(SendableChooser chooser) {
-    chooser.addDefault("Portcullis", Defense.PORTCULLIS);
-    chooser.addObject("Sally Port", Defense.SALLY_PORT);
-    chooser.addObject("Rough Terrain" + Auton.ROUGH_TERRAIN_SPEED + " "
-        + Auton.ROUGH_TERRAIN_TIME, Defense.ROUGH_TERRAIN);
-    chooser.addObject("Low Bar" + " Will probably work...", Defense.LOW_BAR);
-    chooser.addObject("Chival De Frise", Defense.CHIVAL_DE_FRISE);
-    chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
-    chooser.addObject("Moat" + Auton.MOAT_SPEED + " " + Auton.MOAT_TIME,
-        Defense.MOAT);
-    chooser.addObject("Rock Wall" + Auton.ROCK_WALL_SPEED + " "
-        + Auton.ROCK_WALL_TIME, Defense.ROCK_WALL);
+  private void addFrontChooserOptions() {
+    frontChooser.addDefault("Intake", false);
+    frontChooser.addObject("Shooter", true);
   }
 
-  private void sendSendableChoosersToSmartDashboard() {
-    SmartDashboard.putData("PositionChooser", positionChooser);
-    SmartDashboard.putData("Position 1 Defense Chooser", positionOneDefense);
-    SmartDashboard.putData("Position 2 Defense Chooser", positionTwoDefense);
-    SmartDashboard.putData("Position 3 Defense Chooser", positionThreeDefense);
-    SmartDashboard.putData("Position 4 Defense Chooser", positionFourDefense);
-    SmartDashboard.putData("Position 5 Defense Chooser", positionFiveDefense);
-
+  private void sendSendableChooserToSmartDashboard() {
+    SmartDashboard.putData("PositionChooser", frontChooser);
   }
 
   @Override
   public void autonomousInit() {
     // get options chosen from drop down menu
-    Integer chosenPosition = (Integer) positionChooser.getSelected();
-    Defense chosenDefense = null;
-
-    if (chosenPosition == 1)
-      chosenDefense = (Defense) positionOneDefense.getSelected();
-    else if (chosenPosition == 2)
-      chosenDefense = (Defense) positionTwoDefense.getSelected();
-    else if (chosenPosition == 3)
-      chosenDefense = (Defense) positionThreeDefense.getSelected();
-    else if (chosenPosition == 4)
-      chosenDefense = (Defense) positionFourDefense.getSelected();
-    else if (chosenPosition == 5)
-      chosenDefense = (Defense) positionFiveDefense.getSelected();
-
-    if (chosenPosition != 0)
-      Scheduler.getInstance().add(
-          new ChooseStrategy(chosenPosition, chosenDefense));
-
-    // Scheduler.getInstance().add(new TimeDrive(.6, 4));
+    boolean flip = (boolean) frontChooser.getSelected();
+
+    if (flip) {
+      driveTrain.toggleFlipped();
+    }
+
+    Scheduler.getInstance().add(new TimeDrive(4, .7));
   }
 
   @Override

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 a3fed00424077b91f97e83c653a9de7e1994ac70..c246ccfac9954a314437ca7ee4283e66d774d938 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java
@@ -22,8 +22,8 @@ public class JoystickDrive extends Command {
   @Override
   protected void execute() {
     double left = -OI.leftJoystick.getY();
-    double right = -OI.rightJoystick.getY();
-    Robot.driveTrain.joystickDrive(left, right);
+    double right = -OI.rightJoystick.getX();
+    Robot.driveTrain.drive(left, right);
   }
 
   @Override

diff --git a/src/org/usfirst/frc/team3501/robot/commands/driving/TimeDrive.java b/src/org/usfirst/frc/team3501/robot/commands/driving/TimeDrive.java
index e9a8f9f34bb598906cdcb4e2b4d8bb90e4b5e612..4778da85d7cbff1aaa6389d361f85ed4a440448b 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/TimeDrive.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/TimeDrive.java
@@ -20,30 +20,24 @@ public class TimeDrive extends Command {
 
   public TimeDrive(double time, double speed) {
     requires(Robot.driveTrain);
+    this.setInterruptible(false);
 
-    timer = new Timer();
-    this.currentTime = 0;
-    this.targetTime = time;
+    this.setTimeout(time);
     this.speed = speed;
   }
 
   @Override
   protected void initialize() {
-    timer.start();
   }
 
   @Override
   protected void execute() {
-    currentTime = timer.get();
-
-    double output = speed * ((targetTime - currentTime) / (targetTime));
-
-    Robot.driveTrain.setMotorSpeeds(output, output);
+    Robot.driveTrain.drive(speed, 0);
   }
 
   @Override
   protected boolean isFinished() {
-    return currentTime >= targetTime;
+    return this.isTimedOut();
   }
 
   @Override

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index 1a4e6e5b96c04dfc58689e377aa2ec5ba9dd1ae8..f1daa63772ded83dc26599c42a098148c79129a3 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -193,36 +193,17 @@ public class DriveTrain extends PIDSubsystem {
     return getAvgEncoderDistance();
   }
 
-  public void joystickDrive(double left, double right) {
-    int type = Constants.DriveTrain.DRIVE_TYPE;
-
+  public void drive(double left, double right) {
     // Handle flipping of the "front" of the robot
     double k = (isFlipped() ? -1 : 1);
 
-    robotDrive.tankDrive(-left, -right);
-
-    // if (type == Constants.DriveTrain.TANK) {
-    // // TODO Test this for negation and for voltage vs. [-1,1] outputs
-    // double leftSpeed = (-frontLeft.get() + -rearLeft.get()) / 2;
-    // double rightSpeed = (-frontRight.get() + -rearRight.get()) / 2;
-    // left = ((Constants.DriveTrain.kADJUST - 1) * leftSpeed + left)
-    // / Constants.DriveTrain.kADJUST;
-    // right = ((Constants.DriveTrain.kADJUST - 1) * rightSpeed + right)
-    // / Constants.DriveTrain.kADJUST;
-    // robotDrive.tankDrive(-left * k, -right * k);
-    // } else if (type == Constants.DriveTrain.ARCADE) {
-    // double speed = (-frontLeft.get() + -rearLeft.get() + -frontRight.get() +
-    // -rearRight
-    // .get()) / 2;
-    // left = ((Constants.DriveTrain.kADJUST - 1) * speed + left)
-    // / Constants.DriveTrain.kADJUST;
-    // robotDrive.arcadeDrive(left * k, right);
-    // }
+    // During teleop, leftY is throttle, rightX is twist.
+    robotDrive.arcadeDrive(-left * k, -right * k);
   }
 
   public void setMotorSpeeds(double left, double right) {
     double k = (isFlipped() ? -1 : 1);
-    robotDrive.tankDrive(-left, -right);
+    robotDrive.tankDrive(-left * k, -right * k);
   }
 
   /**