commit

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index 6bf02a4cd1017acc57873e7070deced1c454e017..be86bc2935465efb2d34ffb38f27dd226baf8456 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;
@@ -19,10 +18,10 @@ public class Robot extends IterativeRobot {
   public static Shooter shooter;
   public static IntakeArm intakeArm;
 
-  // Sendable Choosers send a drop down menu to the Smart Dashboard.
-  SendableChooser positionChooser;
-  SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
-      positionFourDefense, positionFiveDefense;
+  SendableChooser frontChooser;
+  boolean isFront;
+
+  CameraServer cameraServer;
 
   @Override
   public void robotInit() {
@@ -31,94 +30,42 @@ public class Robot extends IterativeRobot {
     intakeArm = new IntakeArm();
 
     oi = new OI();
+    isFront = true;
 
-    initializeSendableChoosers();
-    addPositionChooserOptions();
-    addDefensesToAllDefenseSendableChoosers();
-    sendSendableChoosersToSmartDashboard();
-  }
+    frontChooser = new SendableChooser();
+    frontChooser.addDefault("Intake is front", false);
+    frontChooser.addObject("Shooter is front", true);
 
-  private void initializeSendableChoosers() {
-    positionChooser = new SendableChooser();
-    positionOneDefense = new SendableChooser();
-    positionTwoDefense = new SendableChooser();
-    positionThreeDefense = new SendableChooser();
-    positionFourDefense = new SendableChooser();
-    positionFiveDefense = new SendableChooser();
-  }
+    SmartDashboard.putData("Front chooser", frontChooser);
 
-  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);
-  }
-
-  private void addDefensesToAllDefenseSendableChoosers() {
-    addDefenseOptions(positionOneDefense);
-    addDefenseOptions(positionTwoDefense);
-    addDefenseOptions(positionThreeDefense);
-    addDefenseOptions(positionFourDefense);
-    addDefenseOptions(positionFiveDefense);
-  }
-
-  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 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);
+    cameraServer = CameraServer.getInstance();
+    cameraServer.setQuality(50);
+    cameraServer.startAutomaticCapture();
 
   }
 
   @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));
+
+    isFront = (boolean) frontChooser.getSelected();
+
+    if (!isFront)
+      driveTrain.toggleFlipped();
+
+    Scheduler.getInstance().add(new TimeDrive(.6, 4));
   }
 
   @Override
   public void autonomousPeriodic() {
+
     Scheduler.getInstance().run();
   }
 
   @Override
   public void teleopInit() {
+    if (!isFront)
+      driveTrain.toggleFlipped();
     Scheduler.getInstance().add(new SetLowGear());
   }
 

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..8f8a4f25a3e767b9fcbbe2bdda5b93174723304c 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java
@@ -1,6 +1,5 @@
 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.command.Command;
@@ -21,9 +20,10 @@ 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 thrust = Robot.oi.leftJoystick.getY();
+    double twist = Robot.oi.leftJoystick.getTwist();
+
+    Robot.driveTrain.joystickDrive(thrust, twist);
   }
 
   @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..162f1864eb2bb96ea7ed86fbb5126d172779f220 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/TimeDrive.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/TimeDrive.java
@@ -3,11 +3,9 @@ package org.usfirst.frc.team3501.robot.commands.driving;
 import org.usfirst.frc.team3501.robot.Constants.Auton;
 import org.usfirst.frc.team3501.robot.Robot;
 
-import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.command.Command;
 
 public class TimeDrive extends Command {
-  Timer timer;
   double currentTime, targetTime, speed;
 
   public TimeDrive() {
@@ -21,7 +19,7 @@ public class TimeDrive extends Command {
   public TimeDrive(double time, double speed) {
     requires(Robot.driveTrain);
 
-    timer = new Timer();
+    this.setTimeout(time);
     this.currentTime = 0;
     this.targetTime = time;
     this.speed = speed;
@@ -29,21 +27,17 @@ public class TimeDrive extends Command {
 
   @Override
   protected void initialize() {
-    timer.start();
   }
 
   @Override
   protected void execute() {
-    currentTime = timer.get();
+    Robot.driveTrain.joystickDrive(speed, 0);
 
-    double output = speed * ((targetTime - currentTime) / (targetTime));
-
-    Robot.driveTrain.setMotorSpeeds(output, output);
   }
 
   @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..30b52efab5af326c409df1c968b11a1b4697a2ba 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -85,7 +85,7 @@ public class DriveTrain extends PIDSubsystem {
   }
 
   public void stop() {
-    setMotorSpeeds(0, 0);
+    drive(0, 0);
   }
 
   public void resetEncoders() {
@@ -159,10 +159,10 @@ public class DriveTrain extends PIDSubsystem {
   /*
    * Method is a required method that the PID Subsystem uses to return the
    * calculated PID value to the driver
-   * 
+   *
    * @param Gives the user the output from the PID algorithm that is calculated
    * internally
-   * 
+   *
    * Body: Uses the output, does some filtering and drives the robot
    */
   @Override
@@ -174,7 +174,7 @@ public class DriveTrain extends PIDSubsystem {
       output = Math.signum(output) * 0.3;
     left = output;
     right = output + drift * Constants.DriveTrain.kp / 10;
-    setMotorSpeeds(left, right);
+    drive(left, right);
     pidOutput = output;
   }
 
@@ -185,7 +185,7 @@ public class DriveTrain extends PIDSubsystem {
 
   /*
    * Checks the drive mode
-   * 
+   *
    * @return the current state of the robot in each state Average distance from
    * both sides of tank drive for Encoder Mode Angle from the gyro in GYRO_MODE
    */
@@ -199,7 +199,7 @@ public class DriveTrain extends PIDSubsystem {
     // Handle flipping of the "front" of the robot
     double k = (isFlipped() ? -1 : 1);
 
-    robotDrive.tankDrive(-left, -right);
+    drive(-left * k, -right * k);
 
     // if (type == Constants.DriveTrain.TANK) {
     // // TODO Test this for negation and for voltage vs. [-1,1] outputs
@@ -220,9 +220,11 @@ public class DriveTrain extends PIDSubsystem {
     // }
   }
 
-  public void setMotorSpeeds(double left, double right) {
+  public void drive(double thrust, double twist) {
+    // Handle flipping of the "front" of the robot
     double k = (isFlipped() ? -1 : 1);
-    robotDrive.tankDrive(-left, -right);
+
+    robotDrive.arcadeDrive(thrust, twist);
   }
 
   /**