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Auton And FMS Update

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lukesta182
2018-03-06 18:46:18 -07:00
parent f3591476b1
commit 47b48b2e42
3 changed files with 83 additions and 35 deletions
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src/org/usfirst/frc4388/robot/OI.java
+4
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@@ -9,6 +9,9 @@ import buttons.XBoxTriggerButton;
import org.usfirst.frc4388.controller.IHandController;
import org.usfirst.frc4388.controller.XboxController;
import org.usfirst.frc4388.robot.commands.*;
import org.usfirst.frc4388.robot.commands.auton.CrossTheBaseLine;
import org.usfirst.frc4388.robot.commands.auton.RightSwitchAuton;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.Joystick;
@@ -190,6 +193,7 @@ public class OI
SmartDashboard.putData("move elevator", new ElevatorBasic(20));
SmartDashboard.putData("test", new RightSwitchAuton());
///SmartDashboard.putData("Move Down", new ElevatorSetSpeed(ElevatorAuton.LOWER_ELEVATOR_SPEED));
///SmartDashboard.putData("Move UP", new ElevatorSetSpeed(ElevatorAuton.STOP_ELEVATOR_SPEED));
src/org/usfirst/frc4388/robot/Robot.java
+36 -35
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@@ -123,16 +123,16 @@ public class Robot extends IterativeRobot
RRautonTaskChooser.addDefault("Choose RR Program", new CrossTheBaseLine());
RRautonTaskChooser.addObject("1", new CrossTheBaseLine());
RRautonTaskChooser.addObject("Left to Right Switch", new LeftStartRightScore());
RRautonTaskChooser.addObject("2", new CrossTheBaseLine());
RRautonTaskChooser.addObject("Center to Left Switch", new CenterLeft());
RRautonTaskChooser.addObject("Center to Right Switch", new CenterRight());
RRautonTaskChooser.addObject("3", new CrossTheBaseLine());
RRautonTaskChooser.addObject("Right to Right Switch", new RightSwitchAuton());
RRautonTaskChooser.addObject("Right to Left Switch", new RightStartLeftScore());
RRautonTaskChooser.addObject("Scale3", new ScaleFrom3());
SmartDashboard.putData("RRAuton Task", RRautonTaskChooser);
@@ -145,14 +145,14 @@ public class Robot extends IterativeRobot
RLautonTaskChooser.addDefault("Choose RL Program", new CrossTheBaseLine());
RLautonTaskChooser.addObject("1", new CrossTheBaseLine());
RLautonTaskChooser.addObject("Left to Right Switch", new LeftStartRightScore());
RLautonTaskChooser.addObject("2", new CrossTheBaseLine());
RLautonTaskChooser.addObject("Center to Left Switch", new CenterLeft());
RLautonTaskChooser.addObject("Center to Right Switch", new CenterRight());
RLautonTaskChooser.addObject("3", new CrossTheBaseLine());
RLautonTaskChooser.addObject("Right to Right Switch", new RightSwitchAuton());
RLautonTaskChooser.addObject("Right to Left Switch", new RightStartLeftScore());
@@ -168,14 +168,14 @@ public class Robot extends IterativeRobot
LLautonTaskChooser.addDefault("Choose LL Program", new CrossTheBaseLine());
LLautonTaskChooser.addObject("1", new CrossTheBaseLine());
LLautonTaskChooser.addObject("Left to Right Switch", new LeftStartRightScore());
LLautonTaskChooser.addObject("2", new CrossTheBaseLine());
LLautonTaskChooser.addObject("Center to Left Switch", new CenterLeft());
LLautonTaskChooser.addObject("Center to Right Switch", new CenterRight());
LLautonTaskChooser.addObject("3", new CrossTheBaseLine());
LLautonTaskChooser.addObject("Right to Right Switch", new RightSwitchAuton());
LLautonTaskChooser.addObject("Right to Left Switch", new RightStartLeftScore());
@@ -189,15 +189,13 @@ public class Robot extends IterativeRobot
LRautonTaskChooser = new SendableChooser<Command>();
LRautonTaskChooser.addDefault("Choose LR Program", new CrossTheBaseLine());
LRautonTaskChooser.addObject("1", new CrossTheBaseLine());
LRautonTaskChooser.addObject("Left to Right Switch", new LeftStartRightScore());
LRautonTaskChooser.addObject("2", new CrossTheBaseLine());
LRautonTaskChooser.addObject("Center to Left Switch", new CenterLeft());
LRautonTaskChooser.addObject("Center to Right Switch", new CenterRight());
LRautonTaskChooser.addObject("3", new CrossTheBaseLine());
LRautonTaskChooser.addObject("Right to Right Switch", new RightSwitchAuton());
LRautonTaskChooser.addObject("Right to Left Switch", new RightStartLeftScore());
@@ -251,28 +249,31 @@ public class Robot extends IterativeRobot
String gameData;
gameData = DriverStation.getInstance().getGameSpecificMessage();
if(gameData.length() > 0)
{
if(gameData.charAt(0) == 'L')
{
if(gameData.charAt(1) == 'L')
{
if (LLautonomousCommand != null) LLautonomousCommand.start();
} else {
if (LRautonomousCommand != null) LRautonomousCommand.start();
}
}
} else {
if(gameData.charAt(1) == 'L')
{
if (RLautonomousCommand != null) RLautonomousCommand.start();
} else {
if (RRautonomousCommand != null) RRautonomousCommand.start();
}
}
}
if (gameData.length() > 0) {
if (gameData.charAt(0) == 'L') {
if (gameData.charAt(1) == 'L') {
if (LLautonomousCommand != null) {
LLautonomousCommand.start();
}
} else {
if (LRautonomousCommand != null) {
LRautonomousCommand.start();
}
}
} else {
if (gameData.charAt(1) == 'L') {
if (RLautonomousCommand != null) {
RLautonomousCommand.start();
}
} else {
if (RRautonomousCommand != null) {
RRautonomousCommand.start();
}
}
}
}
}
public void autonomousPeriodic() {
Scheduler.getInstance().run();
src/org/usfirst/frc4388/robot/commands/auton/ScaleFrom3.java
+43
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@@ -0,0 +1,43 @@
package org.usfirst.frc4388.robot.commands.auton;
import org.usfirst.frc4388.robot.commands.DriveAbsoluteTurnMP;
import org.usfirst.frc4388.robot.commands.DriveGyroReset;
import org.usfirst.frc4388.robot.commands.DriveSpeedShift;
import org.usfirst.frc4388.robot.commands.DriveStraightBasic;
import org.usfirst.frc4388.robot.commands.DriveStraightMP;
import org.usfirst.frc4388.robot.commands.DriveTurnBasic;
import org.usfirst.frc4388.robot.commands.ElevatorBasic;
import org.usfirst.frc4388.robot.commands.ElevatorSetSpeed;
import org.usfirst.frc4388.robot.commands.IntakePosition;
import org.usfirst.frc4388.robot.commands.IntakeSetSpeed;
import org.usfirst.frc4388.robot.subsystems.Carriage;
import org.usfirst.frc4388.robot.subsystems.Drive;
import org.usfirst.frc4388.utility.MPSoftwarePIDController.MPSoftwareTurnType;
import edu.wpi.first.wpilibj.command.CommandGroup;
import edu.wpi.first.wpilibj.command.WaitCommand;
/**
*
*/
public class ScaleFrom3 extends CommandGroup {
public ScaleFrom3() {
addSequential(new DriveGyroReset());
addSequential(new DriveSpeedShift(true));
addSequential(new IntakePosition(true));
addSequential(new DriveStraightBasic(-200, 60, true, true, 0));
addSequential(new ElevatorBasic(10));
addSequential(new DriveTurnBasic(true, 150, 300, MPSoftwareTurnType.TANK));
addSequential(new ElevatorBasic(70));
addSequential(new DriveStraightBasic(10, 20, true, true, 0));
addSequential(new IntakeSetSpeed(Carriage.CUBE_EJECT_SPEED));
//addSequential(new WaitCommand(.1));
addSequential(new IntakePosition(false));
addSequential(new WaitCommand(.5));
addSequential(new IntakeSetSpeed(Carriage.CUBE_STOP_SPEED));
//addSequential(new DriveStraightMP(60, 10, true, true, 0)); // 95 for 112" greenville
}
}