public final static int ENCODER_RIGHT_A = 2;
public final static int ENCODER_RIGHT_B = 1;
- private final static double WHEEL_DIAMETER = 6.0; // in inches
- private final static double PULSES_PER_ROTATION = 256; // in pulses
- private final static double OUTPUT_SPROCKET_DIAMETER = 2.0; // in inches
- private final static double WHEEL_SPROCKET_DIAMETER = 3.5; // in inches
- public final static double INCHES_PER_PULSE = (((Math.PI)
- * OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION)
- / WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER;
- }
+ private final static double WHEEL_DIAMETER = 6.0; // in inches
+ private final static double PULSES_PER_ROTATION = 256; // in pulses
+ private final static double OUTPUT_SPROCKET_DIAMETER = 2.0; // in inches
+ private final static double WHEEL_SPROCKET_DIAMETER = 3.5; // in inches
+ public final static double INCHES_PER_PULSE = (((Math.PI) * OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION)
+ / WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER;
+ }
public static class Scaler {
// Piston channels
// Winch port
public final static int WINCH_MOTOR = 0;
-
}
public static class Shooter {
+++ /dev/null
-package org.usfirst.frc.team3501.robot;
-
-import edu.wpi.first.wpilibj.DoubleSolenoid;
-
-/**
- * The Constants stores constant values for all subsystems. This includes the
- * port values for motors and sensors, as well as important operational
- * constants for subsystems such as max and min values.
- */
-
-public class Constants {
- public static class OI {
- // Computer Ports
- public final static int LEFT_STICK_PORT = 0;
- public final static int RIGHT_STICK_PORT = 1;
- // Ports on the Joystick
- public final static int TRIGGER_PORT = 1;
- public final static int DECREMENT_SHOOTER_SPEED_PORT = 2;
- public final static int INCREMENT_SHOOTER_SPEED_PORT = 3;
- public final static int SHOOT_PORT = 4;
- public final static int LOG_PORT = 5;
- }
-
- public static class DriveTrain {
- // Drivetrain Motor Related Ports
- public static final int FRONT_LEFT = 0;
- public static final int FRONT_RIGHT = 0;
- public static final int REAR_LEFT = 0;
- public static final int REAR_RIGHT = 0;
-
- // Encoder related ports
- public final static int ENCODER_LEFT_A = 3;
- public final static int ENCODER_LEFT_B = 4;
- public final static int ENCODER_RIGHT_A = 2;
- public final static int ENCODER_RIGHT_B = 1;
-
- private final static double WHEEL_DIAMETER = 6.0; // in inches
- private final static double PULSES_PER_ROTATION = 256; // in pulses
- private final static double OUTPUT_SPROCKET_DIAMETER = 2.0; // in inches
- private final static double WHEEL_SPROCKET_DIAMETER = 3.5; // in inches
- public final static double INCHES_PER_PULSE = (((Math.PI)
- * OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION)
- / WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER;
- }
-
- public static class Scaler {
- // Piston channels
- public final static int FORWARD_CHANNEL = 0;
- public final static int REVERSE_CHANNEL = 0;
-
- // Winch port
- public final static int WINCH_MOTOR = 0;
-
- }
-
- public static class Shooter {
- public static final int PORT = 0;
- public static final int PUNCH_FORWARD_PORT = 0;
- public static final int PUNCH_REVERSE_PORT = 1;
- public static final int ANGLE_ADJUSTER_PORT = 0;
-
- public static final DoubleSolenoid.Value punch = DoubleSolenoid.Value.kForward;
- public static final DoubleSolenoid.Value retract = DoubleSolenoid.Value.kReverse;
-
- // Encoder port
- public static final int ENCODER_PORT_A = 0;
- public static final int ENCODER_PORT_B = 0;
-
- public static enum State {
- RUNNING, STOPPED;
- }
- }
-
- public static class IntakeArm {
- public static final int ROLLER_PORT = 0;
- public static final int ARM_PORT = 1;
- public static final int POT_CHANNEL = 0;
- public static final double INTAKE_SPEED = 0.5;
- public static final double OUTPUT_SPEED = -0.5;
- public final static double FULL_RANGE = 270.0; // in degrees
- public final static double OFFSET = -135.0; // in degrees
- public static final double ZERO_ANGLE = 0;
- }
-
- public static class DefenseArm {
- // Potentiometer related ports
- public static final int ARM_CHANNEL = 0;
- public static final int ARM_PORT = 0;
- public static final int HAND_PORT = 1;
- public static final int HAND_CHANNEL = 1;
- public final static double FULL_RANGE = 270.0; // in degrees
- public final static double OFFSET = -135.0; // in degrees
-<<<<<<< HEAD
- public final static double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3
- // level
- public final static double ARM_LENGTH = 0; // TODO: find actual length
- public final static double HAND_LENGTH = 0; // TODO: find actual length
- public final static double ARM_MOUNTED_HEIGHT = 0; // TODO: find actual
- // height
-=======
- public final static double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3 level
- public final static double ARM_LENGTH = 0; // TODO: find actual length
- public final static double HAND_LENGTH = 0; // TODO: find actual length
- public final static double ARM_MOUNTED_HEIGHT = 0; // TODO: find actual
- // height
->>>>>>> add methods that return how far arm is sticking out and how high arm is at, and constants that need filling in
- }
-
- public enum Defense {
- PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART;
- }
-}
+++ /dev/null
-package org.usfirst.frc.team3501.robot.subsystems;
-
-import org.usfirst.frc.team3501.robot.Constants;
-
-import edu.wpi.first.wpilibj.AnalogPotentiometer;
-import edu.wpi.first.wpilibj.CANTalon;
-import edu.wpi.first.wpilibj.command.Subsystem;
-
-public class DefenseArm extends Subsystem {
- private AnalogPotentiometer defenseArmPotentiometer;
- private AnalogPotentiometer defenseHandPotentiometer;
- private CANTalon defenseArm;
- private CANTalon defenseHand;
- private double hookHeight;
- private double footHeight;
- private double[] potHandAngles;
- private double[] potArmAngles;
-
- // angles corresponding to pre-determined heights we will need
-
- public DefenseArm() {
- defenseArmPotentiometer = new AnalogPotentiometer(
- Constants.DefenseArm.ARM_CHANNEL,
- Constants.DefenseArm.FULL_RANGE,
- Constants.DefenseArm.OFFSET);
- defenseHandPotentiometer = new AnalogPotentiometer(
- Constants.DefenseArm.HAND_CHANNEL,
- Constants.DefenseArm.FULL_RANGE,
- Constants.DefenseArm.OFFSET);
-
- defenseArm = new CANTalon(Constants.DefenseArm.ARM_PORT);
- defenseHand = new CANTalon(Constants.DefenseArm.HAND_PORT);
- potHandAngles = createHandPotArray();
- potArmAngles = createArmPotArray();
- }
-
- public double getArmPotAngle() {
- return defenseArmPotentiometer.get();
- }
-
- public double getHandPotAngle() {
- return defenseHandPotentiometer.get();
- }
-
- /***
- * This method takes an arm location as input (range of [0,2])
- * Returns the angle of the arm corresponding to that arm location
- *
- * @param desiredArmLocation
- * takes an arm location ranging from [0,2]
- * 0 is the lowest position of arm
- * 2 is the highest position of arm
- * @return
- * the angle of the arm corresponding to that arm location
- */
-<<<<<<< HEAD
-=======
-
->>>>>>> create separate arrays to hold potentiometer angles for hand and arm and add separate methods for both angle arrays
- public double getAngleForHandLocation(int desiredArmLocation) {
- return potHandAngles[desiredArmLocation];
- }
-
- public double getAngleForArmLocation(int desiredArmLocation) {
- return potArmAngles[desiredArmLocation];
- }
-
- public double[] createHandPotArray() {
- double[] arr = new double[3];
-
- for (int i = 0; i < 3; i++) {
- arr[i] = 45 * i;
- }
- return arr;
- }
-
- public double[] createArmPotArray() {
- double[] arr = new double[3];
-
- for (int i = 0; i < 3; i++) {
- arr[i] = 45 * i;
- }
- return arr;
- }
-
- /***
- * This method sets the voltage of the arm motor. The range is from [-1,1]. A
- * negative voltage makes the direction of the motor go backwards.
- *
- * @param speed
- * The voltage that you set the motor at. The range of the voltage of
- * the arm motor is from [-1,1]. A
- * negative voltage makes the direction of the motor go backwards.
- */
-
- public void setArmSpeed(double speed) {
- if (speed > 1)
- speed = 1;
- else if (speed < -1)
- speed = -1;
-
- defenseArm.set(speed);
- }
-
- /***
- * This method sets the voltage of the hand motor. The range is from [-1,1]. A
- * negative voltage makes the direction of the motor go backwards.
- *
- * @param speed
- * The voltage that you set the motor at. The range of the voltage of
- * the hand motor is from [-1,1]. A
- * negative voltage makes the direction of the motor go backwards.
- */
-
- public void setHandSpeed(double speed) {
- if (speed > 1)
- speed = 1;
- else if (speed < -1)
- speed = -1;
-
- defenseHand.set(speed);
- }
-
- // TODO: figure out if measurements are all in inches
- public double getArmHorizontalDisplacement() {
- double armHorizontalDisplacement = Constants.DefenseArm.ARM_LENGTH
- * Math.cos(getArmPotAngle());
- double handHorizontalDisplacement = Constants.DefenseArm.HAND_LENGTH
- * Math.cos(getHandPotAngle());
- return (armHorizontalDisplacement + handHorizontalDisplacement);
- }
-
- public double getArmVerticalDisplacement() {
- double armMounted = Constants.DefenseArm.ARM_MOUNTED_HEIGHT;
- double armVerticalDisplacement = Constants.DefenseArm.ARM_LENGTH
- * Math.sin(getArmPotAngle());
- double handVerticalDisplacement = Constants.DefenseArm.HAND_LENGTH
- * Math.sin(getHandPotAngle());
- return (armMounted + armVerticalDisplacement + handVerticalDisplacement);
- }
-
- public boolean isOutsideRange() {
- if (getArmHorizontalDisplacement() < 15)
- return false;
- return true;
- }
-
- @Override
- protected void initDefaultCommand() {
- }
-}
projects / 3501 / stronghold-2016 / commitdiff