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package org.usfirst.frc.team5109.robot;
import com.ctre.phoenix.motorcontrol.*;
import com.ctre.phoenix.motorcontrol.can.TalonSRX;
import java.util.logging.Level;
import java.util.logging.Logger;
import edu.wpi.first.wpilibj.CameraServer;
import edu.wpi.first.wpilibj.Compressor;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Solenoid;
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.networktables.*;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.DriverStation;
/**
* The VM is configured to automatically run this class, and to call the
* functions corresponding to each mode, as described in the IterativeRobot
* documentation. If you change the name of this class or the package after
* creating this project, you must also update the manifest file in the resource
* directory.
*/
public class Robot extends IterativeRobot {
TalonSRX leftMotor1 = new TalonSRX(6);
TalonSRX leftMotor2 = new TalonSRX(10);
TalonSRX rightMotor1 = new TalonSRX(5);//10
TalonSRX rightMotor2 = new TalonSRX(4);//10
TalonSRX rightElevatorMotor = new TalonSRX(2);
TalonSRX leftElevatorMotor = new TalonSRX(1);
TalonSRX intakeBags = new TalonSRX(8);
TalonSRX scalar = new TalonSRX(0);
Joystick leftJoy = new Joystick(0);
Joystick rightJoy = new Joystick(1);
Joystick operator = new Joystick(2);
// Solenoids for gear shifting
Solenoid Solenoid2 = new Solenoid(2);//1
Solenoid Solenoid1 = new Solenoid(1);
// Anand's Solenoids, 0 is used for clamping, 3 is used for extending
Solenoid Solenoid0 = new Solenoid(0);
boolean clamped = false;
Solenoid Solenoid3 = new Solenoid(3);
boolean extended = false;
Solenoid Solenoid5 = new Solenoid(5);
//Solenoids for gear shifting
Solenoid Solenoid4 = new Solenoid(4);//1
Compressor compressor;
boolean lowgear = false;
Encoder rightEncoder = new Encoder(0, 1, true);
Encoder leftEncoder = new Encoder(8, 9, false);
double leftspeed = 0;
double rightspeed = 0;
long idealright = 0;
long idealleft = 0;
int Counter = 0;
/*boolean spinningBags = false;
boolean spinningBags1 = false;*/
/*double length = testEncoder.getDistance();
//double period = testEncoder.getPeriod();
boolean direction = testEncoder.getDirection();
boolean stopped = testEncoder.getStopped();
//For the encoder do not move
int count = 0;
int i = 0;
boolean testing = true;
*/
//NetworkTable imutable = NetworkTable.getTable("IMU Table");
/**
* This function is run when the robot is first started up and should be
* used for any initialization code.
*/
@Override
public void robotInit() {
compressor = new Compressor(0);
CameraServer.getInstance().startAutomaticCapture();
leftEncoder.setDistancePerPulse(1);
rightEncoder.setDistancePerPulse(1);
/*.0184
/*NetworkTableInstance table = NetworkTableInstance.getDefault();
NetworkTableInstance instance = NetworkTableInstance.getDefault();
NetworkTable rootTable = instance.getTable("");
System.out.println(rootTable);
double[] defaultValue = new double[0];
while(true) {
double[] areas = table.getNumberArray("area",defaultValue);
for(double area : areas) {
System.out.println(area + " ");
}
System.out.println();
Timer.delay(1);
} */
//NetworkTable imutable = NetworkTable.getSubTable("IMU Table");
//System.out.println(imutable.getEntry("roll"));
//System.out.println(imutable.getEntry("pitch"));
//System.out.println(imutable.getEntry("yaw"));
//exampleSolenoid.set(true);
//exampleSolenoid.set(false);
//c.setClosedLoopControl(true);
//c.setClosedLoopControl(false);
}
/**
* This function is run once each time the robot enters autonomous mode.
*/
@Override
public void autonomousInit() {
String gameData;
leftEncoder.reset();
rightEncoder.reset();
idealright = rightEncoder.get();
idealleft = leftEncoder.get();
Counter = 0;
}
/**
* This function is called periodically during autonomous.
*/
public void autonomousPeriodic() {
int startpos = 2;// 1 is right side, 2 is right middle, 3 is left middle, 4 is left side
long leftCount = leftEncoder.get();
long rightCount = rightEncoder.get();
String gameData = DriverStation.getInstance().getGameSpecificMessage ();
if(gameData.length() > 0)
{
if (startpos == 1) {
if(gameData.charAt(0) == 'R')
{
if (Counter == 0) {
driveStraight();
}
else if(Counter == 1) {
leftTurn();
}
// else if(Counter ==2) {
// ejc();
// }
}
else {
if(Counter == 0) {
driveStraight();
}
}
}
else if(startpos == 2) {
if(gameData.charAt(0) == 'R')
{
if(Counter == 0) {
middleStraightE();
//Solenoid3.set(true);
//Timer.delay(1);
//Solenoid0.set(true);
}
}
else {
if(Counter == 0) {
middleStraight();
}
}
}
else if(startpos == 3) {
if(gameData.charAt(0) == 'L')
{
if(Counter == 0) {
middleStraightE();
}
}
else {
if(Counter == 0) {
middleStraight();
}
}
}
else if(startpos == 4) {
if(gameData.charAt(0) == 'L') {
if (Counter == 0) {
driveStraight();
}
else if(Counter == 1) {
rightTurn();
}
}
else {
if(Counter == 0) {
driveStraight();
}
}
}
}
}
@Override
public void teleopInit() {
leftEncoder.reset();
rightEncoder.reset();
}
/**
* This function is called periodically during teleoperated mode.
*/
public void teleopPeriodic() {
//compressor = new Compressor(0);
leftMotor1.set(ControlMode.PercentOutput, leftJoy.getY());
leftMotor2.set(ControlMode.PercentOutput, leftJoy.getY());
rightMotor1.set(ControlMode.PercentOutput, -1 * rightJoy.getY());
rightMotor2.set(ControlMode.PercentOutput, -1 * rightJoy.getY());
leftElevatorMotor.set(ControlMode.PercentOutput, operator.getY());
int leftCount = leftEncoder.get();
int rightCount = rightEncoder.get();
boolean ejc = false;
System.out.println("right: " + rightCount);
System.out.println("left: " + leftCount);
//rightElevatorMotor.set(ControlMode.PercentOutput, -1*operator.getY());
//compressor.setClosedLoopControl(true);
//compressor.start();
double x = 0;
double y = 0;
//NetworkTableEntry xValue = NetworkTableEntry.setDouble(x);
//NetworkTableEntry yValue = NetworkTableEntry.setDouble(y);
//in and out for two cylinders using button 2
/*if(leftJoy.getRawButton(3)) {
Solenoid3.set(false);
} else {
Solenoid3.set(true);
}*/
/*if(leftJoy.getRawButton(4)) {
Solenoid4.set(false);
} else {
Solenoid4.set(true);
}*/
/*if(leftJoy.getRawButton(4)) {
Solenoid5.set(false);
} else {
Solenoid5.set(true);
}*/
if(operator.getRawButton(3) == true) {
scalar.set(ControlMode.PercentOutput, .5);
}
else if(operator.getRawButton(2) == true) {
scalar.set(ControlMode.PercentOutput, -.5);
}
else {
scalar.set(ControlMode.PercentOutput, 0);
}
if(operator.getRawButton(7) == true) {
intakeBags.set(ControlMode.PercentOutput, -.7);
}
else {
if(operator.getRawButton(6) == true) {
intakeBags.set(ControlMode.PercentOutput, .7);
}
else {
intakeBags.set(ControlMode.PercentOutput, 0);
}
}
if (operator.getRawButton(9)) {
if (ejc = false) {
Solenoid2.set(false);
ejc = true;
}else {
Solenoid2.set(true);
ejc = false;
}
}
if (operator.getRawButton(8)) {
if (ejc = true) {
Solenoid2.set(false);
ejc = false;
}else {
Solenoid2.set(false);
ejc = false;
}
}
if (rightJoy.getRawButton(2)) {
if (lowgear == true) {
Solenoid1.set(true);
lowgear = false;
Timer.delay(.08);
} else {
Solenoid1.set(false);
lowgear = true;
Timer.delay(.08);
}
}
if (rightJoy.getRawButton(1)) {
if(clamped == false) {
Solenoid0.set(true);
clamped = true;
Timer.delay(.08);
}
}
if (leftJoy.getRawButton(1)) {
if(extended == false) {
Solenoid3.set(true);
extended = true;
Timer.delay(.28);
}
}
//while(isOperatorControl() && isEnabled()) {
//}
}
public void rightTurn() {
long leftCount = leftEncoder.get();
long rightCount = rightEncoder.get();
if(leftCount <= 5500) {
leftMotor1.set(ControlMode.PercentOutput, -0.35);
leftMotor2.set(ControlMode.PercentOutput, -0.35);
rightMotor1.set(ControlMode.PercentOutput, 0);
rightMotor2.set(ControlMode.PercentOutput, 0);
}
else {
Solenoid3.set(true);
leftMotor1.set(ControlMode.PercentOutput, -0.2);
leftMotor2.set(ControlMode.PercentOutput, -0.2);
rightMotor1.set(ControlMode.PercentOutput, 0.2);
rightMotor2.set(ControlMode.PercentOutput, 0.2);
Timer.delay(1);
leftMotor1.set(ControlMode.PercentOutput, 0);
leftMotor2.set(ControlMode.PercentOutput, 0);
rightMotor1.set(ControlMode.PercentOutput, 0);
rightMotor2.set(ControlMode.PercentOutput, 0);
Timer.delay(1);
Solenoid0.set(true);
Counter = 2;
}
}
public void leftTurn() {
long leftCount = leftEncoder.get();
long rightCount = rightEncoder.get();
if(rightCount <= 5500) {
leftMotor1.set(ControlMode.PercentOutput, 0);
leftMotor2.set(ControlMode.PercentOutput, 0);
rightMotor1.set(ControlMode.PercentOutput, 0.35);
rightMotor2.set(ControlMode.PercentOutput, 0.35);
}
else {
Solenoid3.set(true);
leftMotor1.set(ControlMode.PercentOutput, -0.2);
leftMotor2.set(ControlMode.PercentOutput, -0.2);
rightMotor1.set(ControlMode.PercentOutput, 0.2);
rightMotor2.set(ControlMode.PercentOutput, 0.2);
Timer.delay(1);
leftMotor1.set(ControlMode.PercentOutput, 0);
leftMotor2.set(ControlMode.PercentOutput, 0);
rightMotor1.set(ControlMode.PercentOutput, 0);
rightMotor2.set(ControlMode.PercentOutput, 0);
Timer.delay(1);
Solenoid0.set(true);
Counter = 2;
}
}
public void driveStraight() {
double Acceleration = 0.03;
long leftCount = leftEncoder.get();
long rightCount = rightEncoder.get();
long leftChange = leftCount - idealleft;
long rightChange = rightCount - idealright;
idealleft = leftEncoder.get();
idealright = rightEncoder.get();
leftElevatorMotor.set(ControlMode.PercentOutput, operator.getY());
if(leftCount <= 17526 && rightCount < 17526) {
if (leftChange == 40) {
}
else if (leftChange >= 40) {
leftspeed = leftspeed - Acceleration;
}
else if (leftChange <= 40) {
leftspeed = leftspeed + Acceleration;
}
if (rightChange == 40) {
}
else if (rightChange >= 40) {
rightspeed = rightspeed - Acceleration;
}
else if (rightChange <= 40) {
rightspeed = rightspeed + Acceleration;
}
if (leftspeed >= 0.5) {
leftspeed = 0.5;
}
if (rightspeed >= 0.5) {
rightspeed = 0.5;
}
leftMotor1.set(ControlMode.PercentOutput, -leftspeed);
leftMotor2.set(ControlMode.PercentOutput, -leftspeed);
rightMotor1.set(ControlMode.PercentOutput, rightspeed);
rightMotor2.set(ControlMode.PercentOutput, rightspeed);
}
else {
leftMotor1.set(ControlMode.PercentOutput, 0);
leftMotor2.set(ControlMode.PercentOutput, 0);
rightMotor1.set(ControlMode.PercentOutput, 0);
rightMotor2.set(ControlMode.PercentOutput, 0);
Counter = 1;
leftEncoder.reset();
rightEncoder.reset();
}
}
public void middleStraightE() {
double Acceleration = 0.01;
long leftCount = leftEncoder.get();
long rightCount = rightEncoder.get();
long leftChange = leftCount - idealleft;
long rightChange = rightCount - idealright;
idealleft = leftEncoder.get();
idealright = rightEncoder.get();
leftElevatorMotor.set(ControlMode.PercentOutput, operator.getY());
if(leftCount <= 11820 && rightCount < 11820) {
if (leftChange == 40) {
}
else if (leftChange >= 40) {
leftspeed = leftspeed - Acceleration;
}
else if (leftChange <= 40) {
leftspeed = leftspeed + Acceleration;
}
if (rightChange == 40) {
}
else if (rightChange >= 40) {
rightspeed = rightspeed - Acceleration;
}
else if (rightChange <= 40) {
rightspeed = rightspeed + Acceleration;
}
if (leftspeed >= 0.5) {
leftspeed = 0.5;
}
if (rightspeed >= 0.5) {
rightspeed = 0.5;
}
leftMotor1.set(ControlMode.PercentOutput, -leftspeed);
leftMotor2.set(ControlMode.PercentOutput, -leftspeed);
rightMotor1.set(ControlMode.PercentOutput, rightspeed);
rightMotor2.set(ControlMode.PercentOutput, rightspeed);
}
else {
Solenoid3.set(true);
Timer.delay(2);
leftMotor1.set(ControlMode.PercentOutput, 0);
leftMotor2.set(ControlMode.PercentOutput, 0);
rightMotor1.set(ControlMode.PercentOutput, 0);
rightMotor2.set(ControlMode.PercentOutput, 0);
Timer.delay(1);
Solenoid0.set(true);
Counter = 1;
leftEncoder.reset();
rightEncoder.reset();
}
}
public void middleStraight() {
double Acceleration = 0.01;
long leftCount = leftEncoder.get();
long rightCount = rightEncoder.get();
long leftChange = leftCount - idealleft;
long rightChange = rightCount - idealright;
idealleft = leftEncoder.get();
idealright = rightEncoder.get();
leftElevatorMotor.set(ControlMode.PercentOutput, operator.getY());
if(leftCount <= 13820 && rightCount < 13820) {
if (leftChange == 40) {
}
else if (leftChange >= 40) {
leftspeed = leftspeed - Acceleration;
}
else if (leftChange <= 40) {
leftspeed = leftspeed + Acceleration;
}
if (rightChange == 40) {
}
else if (rightChange >= 40) {
rightspeed = rightspeed - Acceleration;
}
else if (rightChange <= 40) {
rightspeed = rightspeed + Acceleration;
}
if (leftspeed >= 0.5) {
leftspeed = 0.5;
}
if (rightspeed >= 0.5) {
rightspeed = 0.5;
}
leftMotor1.set(ControlMode.PercentOutput, -leftspeed);
leftMotor2.set(ControlMode.PercentOutput, -leftspeed);
rightMotor1.set(ControlMode.PercentOutput, rightspeed);
rightMotor2.set(ControlMode.PercentOutput, rightspeed);
}
else {
leftMotor1.set(ControlMode.PercentOutput, 0);
leftMotor2.set(ControlMode.PercentOutput, 0);
rightMotor1.set(ControlMode.PercentOutput, 0);
rightMotor2.set(ControlMode.PercentOutput, 0);
Counter = 1;
leftEncoder.reset();
rightEncoder.reset();
}
}
public void moveOnYAxis(int speed) { //0 - 255 and moves full robot forwards or backwards
leftMotor1.set(ControlMode.PercentOutput, -1*speed);
leftMotor2.set(ControlMode.PercentOutput, -1*speed);
rightMotor1.set(ControlMode.PercentOutput, speed);
rightMotor2.set(ControlMode.PercentOutput, speed);
}
public void turn90(int degree) {//90 or -90 nothing else works, and turns in a perfect right angle
if (degree == 90) {
leftMotor1.set(ControlMode.PercentOutput, 25);
leftMotor2.set(ControlMode.PercentOutput, 25);
rightMotor1.set(ControlMode.PercentOutput, 25);
rightMotor2.set(ControlMode.PercentOutput, 25);
} else if(degree == -90) {
leftMotor1.set(ControlMode.PercentOutput, -25);
leftMotor2.set(ControlMode.PercentOutput, -25);
rightMotor1.set(ControlMode.PercentOutput, 25);
rightMotor2.set(ControlMode.PercentOutput, 25);
}
/*if (degree2 == 45) {
leftMotor1.set(ControlMode.PercentOutput, 4);
leftMotor2.set(ControlMode.PercentOutput, 4);
rightMotor1.set(ControlMode.PercentOutput, -4);
rightMotor2.set(ControlMode.PercentOutput, -4);
} else if(degree2 == -45) {
leftMotor1.set(ControlMode.PercentOutput, -4);
leftMotor2.set(ControlMode.PercentOutput, -4);
rightMotor1.set(ControlMode.PercentOutput, 4);
rightMotor2.set(ControlMode.PercentOutput, 4);
}*/
}
@Override
/**
* This function is called periodically during test mode.
*/
public void testPeriodic() {
/*leftMotor1.set(ControlMode.PercentOutput, .5);
double encoderDistanceRaw = testEncoder.getRaw();
boolean encoderDirection = testEncoder.getDirection();
int count = testEncoder.get();
//System.out.println(encoderDirection);
//System.out.println(encoderDistanceRaw);
//System.out.println(count);
//inches per pulse = .0736310in/pulse
double rate = testEncoder.getRate();
//System.out.println(rate * -1);
*/
}
}