Team4388/2018-Robot
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Updated snapshot as of 20180305-1715

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This commit is contained in:
Dave Staudacher
2018-03-05 18:57:23 -07:00
parent 9d6cc277dd
commit 6efa60ec6b
13 changed files with 276 additions and 277 deletions
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src/org/usfirst/frc4388/robot/Robot.java
+102 -19
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@@ -33,7 +33,8 @@ import org.usfirst.frc4388.robot.subsystems.*;
import org.usfirst.frc4388.utility.ControlLooper;
import org.usfirst.frc4388.robot.subsystems.Drive;
import org.usfirst.frc4388.robot.subsystems.Carriage;
import org.usfirst.frc4388.robot.subsystems.LED;;
import org.usfirst.frc4388.robot.subsystems.LED;
import org.usfirst.frc4388.robot.subsystems.Drive.DriveControlMode;;
/**
* The VM is configured to automatically run this class, and to call the
* functions corresponding to each mode, as described in the TimedRobot
@@ -50,7 +51,6 @@ public class Robot extends IterativeRobot
//public static final Elevator elevator = new Elevator();
public static final Carriage carriage = new Carriage();
public static final ElevatorAuton elevatorAuton = new ElevatorAuton();
public static final Elevator elevator = new Elevator();
@@ -72,9 +72,15 @@ public class Robot extends IterativeRobot
public static OperationMode operationMode = OperationMode.TEST;
private SendableChooser<OperationMode> operationModeChooser;
private SendableChooser<Command> autonTaskChooser;
private SendableChooser<Command> RRautonTaskChooser;
private SendableChooser<Command> RLautonTaskChooser;
private SendableChooser<Command> LRautonTaskChooser;
private SendableChooser<Command> LLautonTaskChooser;
private Command autonomousCommand;
private Command RRautonomousCommand;
private Command RLautonomousCommand;
private Command LRautonomousCommand;
private Command LLautonomousCommand;
/**
* This function is run when the robot is first started up and should be
@@ -109,14 +115,61 @@ public class Robot extends IterativeRobot
operationModeChooser.addObject("Competition", OperationMode.COMPETITION);
SmartDashboard.putData("Operation Mode", operationModeChooser);
autonTaskChooser = new SendableChooser<Command>();
//autonTaskChooser.addDefault("Blue Gear Loading Side Plus Travel Forward", new BlueGearLoadingSideForwardAuton());
autonTaskChooser.addObject("Right Switch", new RightSwitchAuton());
//autonTaskChooser.addObject("Right Switch Forward", new RightSwitchForward());
autonTaskChooser.addDefault("RightStartLeftScore", new RightStartLeftScore());
SmartDashboard.putData("Auton Task", autonTaskChooser);
RRautonTaskChooser = new SendableChooser<Command>();
RRautonTaskChooser.addObject("Right Switch", new RightSwitchAuton());
RRautonTaskChooser.addDefault("RR Cross The Base Line", new CrossTheBaseLine());
RRautonTaskChooser.addObject("LeftSwitch Center", new CenterLeft());
SmartDashboard.putData("RRAuton Task", RRautonTaskChooser);
RLautonTaskChooser = new SendableChooser<Command>();
RLautonTaskChooser.addObject("Right Switch", new RightSwitchAuton());
RLautonTaskChooser.addDefault("RL Cross The Base Line", new CrossTheBaseLine());
RLautonTaskChooser.addObject("LeftSwitch Center", new CenterLeft());
SmartDashboard.putData("RLAuton Task", RLautonTaskChooser);
LLautonTaskChooser = new SendableChooser<Command>();
LLautonTaskChooser.addObject("Right Switch", new RightSwitchAuton());
LLautonTaskChooser.addDefault("LL Cross The Base Line", new CrossTheBaseLine());
LLautonTaskChooser.addObject("LeftSwitch Center", new CenterLeft());
SmartDashboard.putData("LLAuton Task", LLautonTaskChooser);
LRautonTaskChooser = new SendableChooser<Command>();
LRautonTaskChooser.addObject("Right Switch", new RightSwitchAuton());
LRautonTaskChooser.addDefault("LR Cross The Base Line", new CrossTheBaseLine());
LRautonTaskChooser.addObject("LeftSwitch Center", new CenterLeft());
SmartDashboard.putData("LRAuton Task", LRautonTaskChooser);
//ledLights.setAllLightsOn(false);
@@ -158,14 +211,36 @@ public class Robot extends IterativeRobot
//elevator.resetElevatorEncoder();
drive.resetGyro();
drive.setIsRed(getAlliance().equals(Alliance.Red));
if (autonomousCommand != null) autonomousCommand.start();
}
/**
* This function is called periodically during autonomous
*/
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();
}
}
}
public void autonomousPeriodic() {
Scheduler.getInstance().run();
//Robot.elevator.setControlMode(DriveControlMode.RAW);
updateStatus();
}
@@ -174,7 +249,10 @@ public class Robot extends IterativeRobot
// teleop starts running. If you want the autonomous to
// continue until interrupted by another command, remove
// this line or comment it out.
if (autonomousCommand != null) autonomousCommand.cancel();
if (RRautonomousCommand != null) RRautonomousCommand.cancel();
if (RLautonomousCommand != null) RLautonomousCommand.cancel();
if (LRautonomousCommand != null) LRautonomousCommand.cancel();
if (LLautonomousCommand != null) LLautonomousCommand.cancel();
//MotionProfileCache.getInstance().release();
updateChoosers();
controlLoop.start();
@@ -185,6 +263,7 @@ public class Robot extends IterativeRobot
//shooterFeed.setSpeed(0);
//zarkerFeed.setSpeed(0);
//shooter.setHopperPosition(HopperState.CLOSE);
//Robot.elevator.setControlMode(DriveControlMode.JOYSTICK);
updateStatus();
}
@@ -207,7 +286,10 @@ public class Robot extends IterativeRobot
private void updateChoosers() {
operationMode = (OperationMode)operationModeChooser.getSelected();
autonomousCommand = (Command)autonTaskChooser.getSelected();
RRautonomousCommand = (Command)RRautonTaskChooser.getSelected();
RLautonomousCommand = (Command)RLautonTaskChooser.getSelected();
LRautonomousCommand = (Command)LRautonTaskChooser.getSelected();
LLautonomousCommand = (Command)LLautonTaskChooser.getSelected();
}
public Alliance getAlliance() {
@@ -216,6 +298,7 @@ public class Robot extends IterativeRobot
public void updateStatus() {
drive.updateStatus(operationMode);
elevator.updateStatus(operationMode);
//carriage.updateStatus(operationMode);
//shooter.updateStatus(operationMode);
//shooterFeed.updateStatus(operationMode);