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tweeks to auto scale and all switch pos work
This commit is contained in:
Luke Staudacher
2018-03-10 20:12:20 -06:00
parent 817379d36a
commit c9a62e454f
18 changed files with 230 additions and 56 deletions
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.classpath
+1
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@@ -12,5 +12,6 @@
<classpathentry kind="var" path="wpiutil" sourcepath="wpiutil.sources"/>
<classpathentry kind="var" path="USERLIBS_DIR/CTRE_Phoenix-sources.jar"/>
<classpathentry kind="var" path="USERLIBS_DIR/CTRE_Phoenix.jar"/>
<classpathentry kind="var" path="USERLIBS_DIR/niVisionWPI.jar"/>
<classpathentry kind="output" path="bin"/>
</classpath>
src/org/usfirst/frc4388/robot/Constants.java
+2 -2
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@@ -33,8 +33,8 @@ public class Constants {
public static double kElevatorInchesOfTravelPerRev = 3.75;
// public static double kElevatorEncoderTicksPerInch = (double)kElevatorEncoderTickesPerRev / kElevatorInchesOfTravelPerRev;
public static double kElevatorEncoderTicksPerInch = 126.36;
public static double kElevatorBasicPercentOutputUp = -.9;
public static double kElevatorBasicPercentOutputDown =.9;
public static double kElevatorBasicPercentOutputUp = -.8;
public static double kElevatorBasicPercentOutputDown =.7;
// CONTROL LOOP GAINS
src/org/usfirst/frc4388/robot/OI.java
-1
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@@ -193,7 +193,6 @@ 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
+4 -1
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@@ -127,7 +127,7 @@ public class Robot extends IterativeRobot
RRautonTaskChooser.addObject("Left to Right Switch", new LeftStartRightScore());
RRautonTaskChooser.addObject("Center to Right Switch", new CenterRight());
RRautonTaskChooser.addObject("Center to Right 2 cube", new CenterRight2Cube());
RRautonTaskChooser.addObject("Right to Right Switch", new RightSwitchAuton());
RRautonTaskChooser.addObject("Right to Right Scale", new ScaleFrom3());
@@ -148,6 +148,7 @@ public class Robot extends IterativeRobot
RLautonTaskChooser.addObject("Left to Left Scale", new ScaleFrom1());
RLautonTaskChooser.addObject("Center to Right Switch", new CenterRight());
RLautonTaskChooser.addObject("Center to Right 2 cube", new CenterRight2Cube());
RLautonTaskChooser.addObject("Right to Right Switch", new RightSwitchAuton());
@@ -168,6 +169,7 @@ public class Robot extends IterativeRobot
LLautonTaskChooser.addObject("Center to Left Switch", new CenterLeft());
LLautonTaskChooser.addObject("Center to Left Switch 2 cube", new CenterLeft2Cube());
LLautonTaskChooser.addObject("Right to Left Switch", new RightStartLeftScore());
@@ -183,6 +185,7 @@ public class Robot extends IterativeRobot
LRautonTaskChooser.addObject("Left to Left Switch", new LeftSwitchAuton());
LRautonTaskChooser.addObject("Center to Left Switch", new CenterLeft());
LRautonTaskChooser.addObject("Center to Left Switch 2 cube", new CenterLeft2Cube());
LRautonTaskChooser.addObject("Right to Left Switch", new RightStartLeftScore());
LRautonTaskChooser.addObject("Right To Right Scale", new ScaleFrom3());
src/org/usfirst/frc4388/robot/commands/DriveStraightBasic.java
+1 -1
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@@ -59,7 +59,7 @@ public class DriveStraightBasic extends Command {
m_lastCommandExecuteTimestamp = currentTimestamp;
double steer = 0.0;
if (m_useGyroLock) {
steer = - Robot.drive.getGyroAngleDeg() / 20.0; //TODO: tune
steer = - Robot.drive.getGyroAngleDeg() / 25.0; //TODO: tune
}
Robot.drive.rawMoveSteer(m_speed, steer);
//SmartDashboard.putNumber("DSB Period", m_lastCommandExecutePeriod);
src/org/usfirst/frc4388/robot/commands/auton/CenterLeft.java
+8 -7
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@@ -28,18 +28,19 @@ public class CenterLeft extends CommandGroup {
addSequential(new IntakePosition(true));
addSequential(new DriveSpeedShift(true));
addSequential(new DriveStraightBasic(-15, 50, true, true, 0));
addSequential(new DriveTurnBasic(true, 130, 300, MPSoftwareTurnType.TANK));
addSequential(new DriveStraightBasic(53, 50, true, true, 0));
addSequential(new ElevatorBasic(20));
addSequential(new DriveTurnBasic(true, 34.5, 300, MPSoftwareTurnType.TANK));
addSequential(new DriveStraightBasic(19, 50, true, true, 0));
addSequential(new DriveStraightBasic(-15, 30, true, true, 0));
addSequential(new DriveTurnBasic(true, 115, 150, MPSoftwareTurnType.TANK));
addSequential(new WaitCommand(.2));
addSequential(new DriveStraightBasic(80, 45, true, true, 0));
addSequential(new ElevatorBasic(30));
addSequential(new DriveTurnBasic(true, 17, 150, MPSoftwareTurnType.TANK));
addSequential(new DriveStraightBasic(10, 45, true, true, 0));
addSequential(new IntakeSetSpeed(Carriage.CUBE_EJECT_SPEED));
//addSequential(new WaitCommand(.1));
addSequential(new IntakePosition(false));
addSequential(new WaitCommand(.2));
addSequential(new IntakeSetSpeed(Carriage.CUBE_STOP_SPEED));
addSequential(new DriveStraightBasic(-20, 50, true, true, 0));
addSequential(new DriveStraightBasic(-20, 45, true, true, 0));
addSequential(new ElevatorBasic(10));
addSequential(new DriveSpeedShift(false));
}
src/org/usfirst/frc4388/robot/commands/auton/CenterLeft2Cube.java
+65
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@@ -0,0 +1,65 @@
package org.usfirst.frc4388.robot.commands.auton;
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.DriveTurnBasic;
import org.usfirst.frc4388.robot.commands.ElevatorBasic;
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.utility.MPSoftwarePIDController.MPSoftwareTurnType;
import edu.wpi.first.wpilibj.command.CommandGroup;
import edu.wpi.first.wpilibj.command.WaitCommand;
/**
*
*/
public class CenterLeft2Cube extends CommandGroup {
public CenterLeft2Cube()
{
addSequential(new DriveGyroReset());
addSequential(new IntakePosition(true));
addSequential(new DriveSpeedShift(true));
addSequential(new DriveStraightBasic(-15, 30, true, true, 0));
addSequential(new DriveTurnBasic(true, 115, 150, MPSoftwareTurnType.TANK));
addSequential(new WaitCommand(.2));
addSequential(new DriveStraightBasic(80, 45, true, true, 0));
addSequential(new ElevatorBasic(30));
addSequential(new DriveTurnBasic(true, 17, 150, MPSoftwareTurnType.TANK));
addSequential(new DriveStraightBasic(10, 45, true, true, 0));
addSequential(new IntakeSetSpeed(Carriage.CUBE_EJECT_SPEED));
//addSequential(new WaitCommand(.1));
addSequential(new IntakePosition(false));
addSequential(new WaitCommand(.2));
addSequential(new IntakeSetSpeed(Carriage.CUBE_STOP_SPEED));
addSequential(new DriveStraightBasic(-20, 45, true, true, 0));
addSequential(new ElevatorBasic(10));
addSequential(new WaitCommand(.2));
addSequential(new ElevatorBasic(2));
addSequential(new DriveTurnBasic(true, -90, 150, MPSoftwareTurnType.TANK));
addSequential(new IntakeSetSpeed(Carriage.CUBE_INTAKE_SPEED));
addSequential(new DriveStraightBasic(20, 45, true, true, 0));
addSequential(new IntakePosition(true));
addSequential(new DriveStraightBasic(-20, 45, true, true, 0));
addSequential(new ElevatorBasic(25));
addSequential(new DriveTurnBasic(true, 90, 150, MPSoftwareTurnType.TANK));
addSequential(new DriveStraightBasic(10, 45, true, true, 0));
addSequential(new IntakeSetSpeed(Carriage.CUBE_EJECT_SPEED));
//addSequential(new WaitCommand(.1));
addSequential(new IntakePosition(false));
addSequential(new WaitCommand(.2));
addSequential(new IntakeSetSpeed(Carriage.CUBE_STOP_SPEED));
addSequential(new DriveStraightBasic(-20, 45, true, true, 0));
addSequential(new DriveSpeedShift(false));
}
}
src/org/usfirst/frc4388/robot/commands/auton/CenterRight.java
+9 -8
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@@ -28,19 +28,20 @@ public class CenterRight extends CommandGroup {
addSequential(new IntakePosition(true));
addSequential(new DriveSpeedShift(true));
addSequential(new DriveStraightBasic(-15, 50, true, true, 0));
addSequential(new DriveTurnBasic(true, -130, 300, MPSoftwareTurnType.TANK));
addSequential(new DriveStraightBasic(53, 50, true, true, 0));
addSequential(new ElevatorBasic(20));
addSequential(new DriveTurnBasic(true, -34.5, 300, MPSoftwareTurnType.TANK));
addSequential(new DriveStraightBasic(19, 50, true, true, 0));
addSequential(new DriveStraightBasic(-15, 30, true, true, 0));
addSequential(new DriveTurnBasic(true, -115, 150, MPSoftwareTurnType.TANK));
addSequential(new WaitCommand(.2));
addSequential(new DriveStraightBasic(80, 45, true, true, 0));
addSequential(new ElevatorBasic(25));
addSequential(new DriveTurnBasic(true, -35, 150, MPSoftwareTurnType.TANK));
addSequential(new DriveStraightBasic(25, 45, true, true, 0));
addSequential(new IntakeSetSpeed(Carriage.CUBE_EJECT_SPEED));
//addSequential(new WaitCommand(.1));
addSequential(new IntakePosition(false));
addSequential(new WaitCommand(.2));
addSequential(new IntakeSetSpeed(Carriage.CUBE_STOP_SPEED));
addSequential(new DriveStraightBasic(-20, 50, true, true, 0));
addSequential(new DriveStraightBasic(-25, 45, true, true, 0));
addSequential(new ElevatorBasic(10));
addSequential(new DriveSpeedShift(false));
}
}
src/org/usfirst/frc4388/robot/commands/auton/CenterRight2Cube.java
+60
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@@ -0,0 +1,60 @@
package org.usfirst.frc4388.robot.commands.auton;
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.DriveTurnBasic;
import org.usfirst.frc4388.robot.commands.ElevatorBasic;
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.utility.MPSoftwarePIDController.MPSoftwareTurnType;
import edu.wpi.first.wpilibj.command.CommandGroup;
import edu.wpi.first.wpilibj.command.WaitCommand;
public class CenterRight2Cube extends CommandGroup {
public CenterRight2Cube()
{
addSequential(new DriveGyroReset());
addSequential(new IntakePosition(true));
addSequential(new DriveSpeedShift(true));
addSequential(new DriveStraightBasic(-15, 30, true, true, 0));
addSequential(new DriveTurnBasic(true, -115, 150, MPSoftwareTurnType.TANK));
addSequential(new WaitCommand(.2));
addSequential(new DriveStraightBasic(80, 45, true, true, 0));
addSequential(new ElevatorBasic(25));
addSequential(new DriveTurnBasic(true, -35, 150, MPSoftwareTurnType.TANK));
addSequential(new DriveStraightBasic(15, 45, true, true, 0));
addSequential(new IntakeSetSpeed(Carriage.CUBE_EJECT_SPEED));
//addSequential(new WaitCommand(.1));
addSequential(new IntakePosition(false));
addSequential(new WaitCommand(.2));
addSequential(new IntakeSetSpeed(Carriage.CUBE_STOP_SPEED));
addSequential(new DriveStraightBasic(-25, 45, true, true, 0));
addSequential(new ElevatorBasic(10));
addSequential(new WaitCommand(.2));
addSequential(new ElevatorBasic(2));
addSequential(new DriveTurnBasic(true, 90, 150, MPSoftwareTurnType.TANK));
addSequential(new IntakeSetSpeed(Carriage.CUBE_INTAKE_SPEED));
addSequential(new DriveStraightBasic(20, 45, true, true, 0));
addSequential(new IntakePosition(true));
addSequential(new IntakeSetSpeed(Carriage.CUBE_STOP_SPEED));
addSequential(new DriveStraightBasic(-20, 45, true, true, 0));
addSequential(new ElevatorBasic(25));
addSequential(new DriveTurnBasic(true, -90, 150, MPSoftwareTurnType.TANK));
addSequential(new DriveStraightBasic(10, 45, true, true, 0));
addSequential(new IntakeSetSpeed(Carriage.CUBE_EJECT_SPEED));
//addSequential(new WaitCommand(.1));
addSequential(new IntakePosition(false));
addSequential(new WaitCommand(.2));
addSequential(new IntakeSetSpeed(Carriage.CUBE_STOP_SPEED));
addSequential(new DriveStraightBasic(-20, 45, true, true, 0));
addSequential(new DriveSpeedShift(false));
}
}
src/org/usfirst/frc4388/robot/commands/auton/LeftStartRightScore.java
+13 -7
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@@ -25,24 +25,30 @@ public class LeftStartRightScore extends CommandGroup {
public LeftStartRightScore()
{
addSequential(new DriveGyroReset());
addSequential(new WaitCommand(.1));
addSequential(new DriveSpeedShift(true));
addSequential(new IntakePosition(true));
addSequential(new DriveStraightBasic(215, 50, true, true, 0));
addSequential(new DriveStraightBasic(-215, 40, true, true, 0));
addSequential(new WaitCommand(.2));
addSequential(new ElevatorBasic(5));
addSequential(new DriveTurnBasic(true, -87, 300, MPSoftwareTurnType.TANK));
addSequential(new DriveStraightBasic(180, 50, true, true, 0));
addSequential(new DriveTurnBasic(true, -73, 150, MPSoftwareTurnType.TANK));
addSequential(new WaitCommand(.2));
addSequential(new DriveStraightBasic(155, 60, true, true, 0));
addSequential(new ElevatorBasic(30));
addSequential(new DriveTurnBasic(true, 90, 300, MPSoftwareTurnType.TANK));
addSequential(new DriveStraightBasic(5, 40, true, true, 0));
addSequential(new WaitCommand(.2));
addSequential(new DriveTurnBasic(true, 73, 150, MPSoftwareTurnType.TANK));
addSequential(new WaitCommand(.2));
addSequential(new DriveStraightBasic(10, 60, true, true, 0));
addSequential(new IntakeSetSpeed(Carriage.CUBE_EJECT_SPEED));
//addSequential(new WaitCommand(.1));
addSequential(new IntakePosition(false));
addSequential(new DriveStraightBasic(5, 60, true, true, 0));
addSequential(new WaitCommand(.2));
addSequential(new IntakeSetSpeed(Carriage.CUBE_STOP_SPEED));
addSequential(new DriveStraightBasic(-10, 50, true, true, 0));
addSequential(new DriveStraightBasic(-15, 60, true, true, 0));
addSequential(new DriveSpeedShift(false));
//addSequential(new DriveStraightMP(50, 10, true, true, 0)); // 95 for 112" greenville
}
}
src/org/usfirst/frc4388/robot/commands/auton/LeftSwitchAuton.java
+1 -1
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@@ -30,7 +30,7 @@ public class LeftSwitchAuton extends CommandGroup {
addSequential(new DriveStraightBasic(-130, 50, true, true, 0));
addSequential(new ElevatorBasic(30));
addSequential(new DriveTurnBasic(true, -87, 300, MPSoftwareTurnType.TANK));
addSequential(new DriveTurnBasic(true, -87, 150, MPSoftwareTurnType.TANK));
addSequential(new ElevatorBasic(30));
addSequential(new DriveStraightBasic(20, 50, true, true, 0));
addSequential(new IntakeSetSpeed(Carriage.CUBE_EJECT_SPEED));
src/org/usfirst/frc4388/robot/commands/auton/RightStartLeftScore.java
+13 -7
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@@ -25,24 +25,30 @@ public class RightStartLeftScore extends CommandGroup {
public RightStartLeftScore() //////////TUNEDISH AND ALMOST GOOD
{
addSequential(new DriveGyroReset());
addSequential(new WaitCommand(.1));
addSequential(new DriveSpeedShift(true));
addSequential(new IntakePosition(true));
addSequential(new DriveStraightBasic(-215, 50, true, true, 0));
addSequential(new DriveStraightBasic(-215, 40, true, true, 0));
addSequential(new WaitCommand(.2));
addSequential(new ElevatorBasic(5));
addSequential(new DriveTurnBasic(true, 87, 300, MPSoftwareTurnType.TANK));
addSequential(new DriveStraightBasic(180, 50, true, true, 0));
addSequential(new DriveTurnBasic(true, 73, 150, MPSoftwareTurnType.TANK));
addSequential(new WaitCommand(.2));
addSequential(new DriveStraightBasic(155, 60, true, true, 0));
addSequential(new ElevatorBasic(30));
addSequential(new DriveTurnBasic(true, -90, 300, MPSoftwareTurnType.TANK));
addSequential(new DriveStraightBasic(10, 50, true, true, 0));
addSequential(new WaitCommand(.2));
addSequential(new DriveTurnBasic(true, -73, 150, MPSoftwareTurnType.TANK));
addSequential(new WaitCommand(.2));
addSequential(new DriveStraightBasic(10, 60, true, true, 0));
addSequential(new IntakeSetSpeed(Carriage.CUBE_EJECT_SPEED));
//addSequential(new WaitCommand(.1));
addSequential(new IntakePosition(false));
addSequential(new DriveStraightBasic(5, 60, true, true, 0));
addSequential(new WaitCommand(.2));
addSequential(new IntakeSetSpeed(Carriage.CUBE_STOP_SPEED));
addSequential(new DriveStraightBasic(-10, 50, true, true, 0));
addSequential(new DriveStraightBasic(-15, 60, true, true, 0));
addSequential(new DriveSpeedShift(false));
//addSequential(new DriveStraightMP(50, 10, true, true, 0)); // 95 for 112" greenville
}
}
src/org/usfirst/frc4388/robot/commands/auton/RightSwitchAuton.java
+4 -3
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@@ -28,11 +28,12 @@ public class RightSwitchAuton extends CommandGroup {
addSequential(new IntakePosition(true));
addSequential(new DriveStraightBasic(-130, 50, true, true, 0));
addSequential(new DriveStraightBasic(-140, 50, true, true, 0));
addSequential(new ElevatorBasic(30));
addSequential(new DriveTurnBasic(true, 87, 300, MPSoftwareTurnType.TANK));
addSequential(new WaitCommand(.2));
addSequential(new DriveTurnBasic(true, 87, 150, MPSoftwareTurnType.TANK));
addSequential(new ElevatorBasic(30));
addSequential(new DriveStraightBasic(20, 50, true, true, 0));
addSequential(new DriveStraightBasic(8, 50, true, true, 0));
addSequential(new IntakeSetSpeed(Carriage.CUBE_EJECT_SPEED));
//addSequential(new WaitCommand(.1));
addSequential(new IntakePosition(false));
src/org/usfirst/frc4388/robot/commands/auton/ScaleFrom1.java
+2 -1
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@@ -37,8 +37,9 @@ public class ScaleFrom1 extends CommandGroup {
addSequential(new IntakePosition(false));
addSequential(new WaitCommand(.5));
addSequential(new IntakeSetSpeed(Carriage.CUBE_STOP_SPEED));
addSequential(new DriveStraightBasic(-15, 20, true, true, 0));
addSequential(new DriveStraightBasic(-25, 20, true, true, 0));
addSequential(new ElevatorBasic(10));
addSequential(new DriveSpeedShift(false));
//addSequential(new DriveStraightMP(50, 10, true, true, 0)); // 95 for 112" greenville
src/org/usfirst/frc4388/robot/commands/auton/ScaleFrom3.java
+7 -3
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@@ -28,20 +28,24 @@ public class ScaleFrom3 extends CommandGroup {
addSequential(new IntakePosition(true));
addSequential(new DriveStraightBasic(-290, 50, true, true, 0));
addSequential(new DriveStraightBasic(-10, 45, true, true, 0));
//addSequential(new DriveTurnBasic(true, -2, 100, MPSoftwareTurnType.TANK));
addSequential(new DriveStraightBasic(-270, 45, true, true, 0));
addSequential(new ElevatorBasic(70));
addSequential(new DriveStraightBasic(-30, 20, true, true, 0));
addSequential(new DriveTurnBasic(true, 90, 100, MPSoftwareTurnType.TANK));
//addSequential(new DriveStraightBasic(5, 20, true, true, 0));
addSequential(new WaitCommand(.5));
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 DriveStraightBasic(-15, 20, true, true, 0));
addSequential(new DriveStraightBasic(-25, 20, true, true, 0));
addSequential(new ElevatorBasic(10));
addSequential(new DriveSpeedShift(false));
//addSequential(new DriveStraightMP(50, 10, true, true, 0)); // 95 for 112" greenville
//addSequential(new DriveStraightMP(60, 10, true, true, 0)); // 95 for 112" greenville
}
}
src/org/usfirst/frc4388/robot/subsystems/Carriage.java
+1 -1
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@@ -35,7 +35,7 @@ public class Carriage extends Subsystem {
private WPI_TalonSRX carriageRight;
public static enum CarriageControlMode { JOYSTICK, MP_STRAIGHT, HOLD, MANUAL};
public static final double CUBE_INTAKE_SPEED = 0.40;
public static final double CUBE_EJECT_SPEED = -1.0;
public static final double CUBE_EJECT_SPEED = -0.8;
public static final double CUBE_STOP_SPEED = 0;
/////^^^^^^^^^ replace this line with the modes we need
src/org/usfirst/frc4388/robot/subsystems/Elevator.java
+34 -10
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@@ -25,6 +25,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import com.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.ctre.phoenix.motorcontrol.LimitSwitchNormal;
import com.ctre.phoenix.motorcontrol.RemoteLimitSwitchSource;
import com.ctre.phoenix.motorcontrol.LimitSwitchSource;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.SensorCollection;
@@ -100,14 +101,34 @@ public class Elevator extends Subsystem implements ControlLoopable
//Setting left elevator motor as follower
elevatorLeft.set(ControlMode.Follower, elevatorRight.getDeviceID());
elevatorLeft.setInverted(false);
elevatorRight.setSensorPhase(true);
elevatorLeft.setNeutralMode(NeutralMode.Brake);
elevatorRight.setNeutralMode(NeutralMode.Brake);
elevatorRight.setSensorPhase(true);
//Limit Switch Left
//elevatorLeft.overrideLimitSwitchesEnable(true);
elevatorLeft.configForwardLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
elevatorLeft.configReverseLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
//Limit Switch Right
//elevatorRight.overrideLimitSwitchesEnable(true);
//elevatorRight.configForwardLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
//elevatorRight.configReverseLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
//Change This boi
// elevatorRight.configForwardSoftLimitThreshold(10000, 0); //right here
//elevatorRight.configReverseSoftLimitThreshold(5, 0);
//elevatorRight.configForwardSoftLimitEnable(true, 0);
//elevatorRight.configReverseSoftLimitEnable(true, 0);
//sos
//elevatorRight.enableLimitSwitch(true, true);
}
catch(Exception e)
{
@@ -211,14 +232,15 @@ public class Elevator extends Subsystem implements ControlLoopable
{
elevatorRight.set(moveElevatorInput);
}
/*
/*
if(elevatorPos <= elevatorSafeZone && elevatorPos >= 0)
{
elevatorRight.set(moveElevatorInput);
}
else if(elevatorPos > elevatorSafeZone)
{
elevatorRight.set(moveElevatorInput * 0.8);
elevatorRight.set(moveElevatorInput * 0.65);
if(holdButtonPressed == true)
@@ -229,17 +251,19 @@ public class Elevator extends Subsystem implements ControlLoopable
{
elevatorRight.set(moveElevatorInput * 0.75);
}
*/
//}
/*
}
else if(elevatorPos < 0)
{
elevatorRight.set(moveElevatorInput * 0.75);
}
*/
}
// System.out.println(elevatorPos); //-6.9 to 1.9 total: 8.8 range
}
//PID encoder position
public double getEncoderElevatorPosition()
@@ -295,7 +319,7 @@ public class Elevator extends Subsystem implements ControlLoopable
elevatorRight.set(/*ControlMode.PercentOutput,*/ output);
}
/*public void holdInPos()
public void holdInPos()
{
elevatorRight.set(-0.43 * 0.2);
}
@@ -326,9 +350,9 @@ public class Elevator extends Subsystem implements ControlLoopable
pressed = false;
}
}*/
}
}
//pressed = (isPressed.isFwdLimitSwitchClosed() == true) ? true : false;
src/org/usfirst/frc4388/utility/CANTalonEncoder.java
+2
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@@ -8,6 +8,8 @@ public class CANTalonEncoder extends WPI_TalonSRX
private double encoderTicksToWorld;
private boolean isRight = true;
public CANTalonEncoder(int deviceNumber, double encoderTicksToWorld, FeedbackDevice feedbackDevice) {
this(deviceNumber, encoderTicksToWorld, false, feedbackDevice);
}