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Changed all Elevators to Arms

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This commit is contained in:
Daniel Williams
2019-01-21 14:57:43 -07:00
parent e8ed8886f6
commit 337bfa1778
3 changed files with 95 additions and 95 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/Robot.java
+2 -2
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@@ -64,7 +64,7 @@ public class Robot extends IterativeRobot
oi = OI.getInstance();
controlLoop.addLoopable(drive);
controlLoop.addLoopable(elevator);
controlLoop.addLoopable(Arm);
operationModeChooser = new SendableChooser<OperationMode>();
@@ -152,7 +152,7 @@ public class Robot extends IterativeRobot
public void updateStatus() {
drive.updateStatus(operationMode);
elevator.updateStatus(operationMode);
Arm.updateStatus(operationMode);
}
2019robot/src/main/java/org/usfirst/frc4388/robot/RobotMap.java
+1 -1
View File
@@ -21,7 +21,7 @@ public class RobotMap {
public static final int CARRIAGE_LEFT_MOTOR_CAN_ID = 8;
public static final int CARRIAGE_RIGHT_MOTOR_CAN_ID = 9;
//Elevator Motors
//Arm Motors
public static final int ARM_MOTOR1_ID = 6;
public static final int ARM_MOTOR2_ID = 7;
public static final int CLIMBER_CAN_ID = 10;
2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java
+92 -92
View File
@@ -34,8 +34,8 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
public class Arm extends Subsystem implements ControlLoopable
{
//PID encoder and motor
private CANTalonEncoder elevatorRight;
private WPI_TalonSRX elevatorLeft;
private CANTalonEncoder ArmRight;
private WPI_TalonSRX ArmLeft;
//PID controller Max Scale
private SoftwarePIDPositionController pidPositionControllerMaxScale;
@@ -61,7 +61,7 @@ public class Arm extends Subsystem implements ControlLoopable
private double targetPPosition;
//Encoder ticks to inches for encoders
public static final double ENCODER_TICKS_TO_INCHES = Constants.kElevatorEncoderTicksPerInch;
public static final double ENCODER_TICKS_TO_INCHES = Constants.kArmEncoderTicksPerInch;
//control mode for joystick control
private DriveControlMode controlMode = DriveControlMode.JOYSTICK;
@@ -84,46 +84,46 @@ public class Arm extends Subsystem implements ControlLoopable
public boolean pressed;
SensorCollection isPressed;
public boolean elevatorControlMode = false;
public boolean ArmControlMode = false;
// Motor controllers
//private ArrayList<CANTalonEncoder> motorControllers = new ArrayList<CANTalonEncoder>();
public Elevator()
public Arm()
{
try
{
//PID elevator encoder and talon
elevatorRight = new CANTalonEncoder(RobotMap.ELEVATOR_MOTOR1_ID, ENCODER_TICKS_TO_INCHES, FeedbackDevice.QuadEncoder);
elevatorLeft = new WPI_TalonSRX(RobotMap.ELEVATOR_MOTOR2_ID);
//PID Arm encoder and talon
ArmRight = new CANTalonEncoder(RobotMap.Arm_MOTOR1_ID, ENCODER_TICKS_TO_INCHES, FeedbackDevice.QuadEncoder);
ArmLeft = new WPI_TalonSRX(RobotMap.Arm_MOTOR2_ID);
elevatorRight.setInverted(false);
ArmRight.setInverted(false);
//Setting left elevator motor as follower
elevatorLeft.set(ControlMode.Follower, elevatorRight.getDeviceID());
elevatorLeft.setInverted(false);
elevatorLeft.setNeutralMode(NeutralMode.Brake);
elevatorRight.setNeutralMode(NeutralMode.Brake);
elevatorRight.setSensorPhase(true);
//Setting left Arm motor as follower
ArmLeft.set(ControlMode.Follower, ArmRight.getDeviceID());
ArmLeft.setInverted(false);
ArmLeft.setNeutralMode(NeutralMode.Brake);
ArmRight.setNeutralMode(NeutralMode.Brake);
ArmRight.setSensorPhase(true);
//Limit Switch Left
//elevatorLeft.overrideLimitSwitchesEnable(true);
elevatorLeft.configForwardLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
elevatorLeft.configReverseLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
//ArmLeft.overrideLimitSwitchesEnable(true);
ArmLeft.configForwardLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
ArmLeft.configReverseLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
//Limit Switch Right
//elevatorRight.overrideLimitSwitchesEnable(true);
//elevatorRight.configForwardLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
//elevatorRight.configReverseLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
//ArmRight.overrideLimitSwitchesEnable(true);
//ArmRight.configForwardLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
//ArmRight.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);
// ArmRight.configForwardSoftLimitThreshold(10000, 0); //right here
//ArmRight.configReverseSoftLimitThreshold(5, 0);
//ArmRight.configForwardSoftLimitEnable(true, 0);
//ArmRight.configReverseSoftLimitEnable(true, 0);
//sos
//elevatorRight.enableLimitSwitch(true, true);
//ArmRight.enableLimitSwitch(true, true);
@@ -132,7 +132,7 @@ public class Arm extends Subsystem implements ControlLoopable
}
catch(Exception e)
{
System.err.println("You thought the code would work, but it was me, error. An error occurred in the Elevator Construtor");
System.err.println("You thought the code would work, but it was me, error. An error occurred in the Arm Construtor");
}
}
@@ -200,80 +200,80 @@ public class Arm extends Subsystem implements ControlLoopable
return move;
}
public void setElevatorMode()
public void setArmMode()
{
setControlMode(DriveControlMode.JOYSTICK);
}
public void resetElevatorEncoder()
public void resetArmEncoder()
{
elevatorRight.setSelectedSensorPosition(0, 0, 0);
ArmRight.setSelectedSensorPosition(0, 0, 0);
}
public void moveElevatorXbox()
public void moveArmXbox()
{
double moveElevatorInput;
double elevatorSafeZone = 15;
double moveArmInput;
double ArmSafeZone = 15;
double elevatorPos = getEncoderElevatorPosition();
double ArmPos = getEncoderArmPosition();
moveElevatorInput = Robot.oi.getOperatorController().getLeftYAxis();
moveArmInput = Robot.oi.getOperatorController().getLeftYAxis();
//double moveElevatorSensitivity = adjustJoystickSensitivity(moveScale, moveTrim, moveElevatorInput, moveNonLinear, MOVE_NON_LINEARITY);
//double moveArmSensitivity = adjustJoystickSensitivity(moveScale, moveTrim, moveArmInput, moveNonLinear, MOVE_NON_LINEARITY);
boolean holdButtonPressed = Robot.oi.getOperatorJoystick().getRawButton(XboxController.A_BUTTON);
boolean elevatorTuningPressed = Robot.oi.getOperatorJoystick().getRawButton(XboxController.Y_BUTTON);
boolean ArmTuningPressed = Robot.oi.getOperatorJoystick().getRawButton(XboxController.Y_BUTTON);
if(elevatorTuningPressed == true)
if(ArmTuningPressed == true)
{
elevatorRight.set(moveElevatorInput * 0.5);
ArmRight.set(moveArmInput * 0.5);
}
else if(elevatorTuningPressed == false)
else if(ArmTuningPressed == false)
{
elevatorRight.set(moveElevatorInput);
ArmRight.set(moveArmInput);
}
/*
if(elevatorPos <= elevatorSafeZone && elevatorPos >= 0)
if(ArmPos <= ArmSafeZone && ArmPos >= 0)
{
elevatorRight.set(moveElevatorInput);
ArmRight.set(moveArmInput);
}
else if(elevatorPos > elevatorSafeZone)
else if(ArmPos > ArmSafeZone)
{
elevatorRight.set(moveElevatorInput * 0.65);
ArmRight.set(moveArmInput * 0.65);
if(holdButtonPressed == true)
{
elevatorRight.set(-0.43 * (0.2));
ArmRight.set(-0.43 * (0.2));
}
else if(holdButtonPressed == false)
{
elevatorRight.set(moveElevatorInput * 0.75);
ArmRight.set(moveArmInput * 0.75);
}
}
else if(elevatorPos < 0)
else if(ArmPos < 0)
{
elevatorRight.set(moveElevatorInput * 0.75);
ArmRight.set(moveArmInput * 0.75);
}
*/
}
// System.out.println(elevatorPos); //-6.9 to 1.9 total: 8.8 range
// System.out.println(ArmPos); //-6.9 to 1.9 total: 8.8 range
//PID encoder position
public double getEncoderElevatorPosition()
public double getEncoderArmPosition()
{
return elevatorRight.getPositionWorld();
return ArmRight.getPositionWorld();
}
public double getElevatorHeightInchesAboveFloor()
public double getArmHeightInchesAboveFloor()
{
return elevatorRight.getPositionWorld();
return ArmRight.getPositionWorld();
}
public synchronized void setControlMode(DriveControlMode controlMode)
@@ -283,61 +283,61 @@ public class Arm extends Subsystem implements ControlLoopable
isFinished = false;
}
/*
public void setElevatorPIDMaxScale(double ElevatorPosition, double maxError, double minError)
public void setArmPIDMaxScale(double ArmPosition, double maxError, double minError)
{
double elevatorTargetPos = 0;
this.targetPPosition = elevatorTargetPos;
pidPositionControllerMaxScale.setPIDPositionTarget(elevatorTargetPos, maxError, minError); ///////TARGET POSITION WHERE??
Robot.elevator.setControlMode(DriveControlMode.MOVE_POSITION_MAX_SCALE);
double ArmTargetPos = 0;
this.targetPPosition = ArmTargetPos;
pidPositionControllerMaxScale.setPIDPositionTarget(ArmTargetPos, maxError, minError); ///////TARGET POSITION WHERE??
Robot.Arm.setControlMode(DriveControlMode.MOVE_POSITION_MAX_SCALE);
}
public void setElevatorPIDLowScale(double ElevatorPosition, double maxError, double minError)
public void setArmPIDLowScale(double ArmPosition, double maxError, double minError)
{
double elevatorTargetPos = 0;
this.targetPPosition = elevatorTargetPos;
pidPositionControllerMaxScale.setPIDPositionTarget(elevatorTargetPos, maxError, minError);
Robot.elevator.setControlMode(DriveControlMode.MOVE_POSITION_LOW_SCALE);
double ArmTargetPos = 0;
this.targetPPosition = ArmTargetPos;
pidPositionControllerMaxScale.setPIDPositionTarget(ArmTargetPos, maxError, minError);
Robot.Arm.setControlMode(DriveControlMode.MOVE_POSITION_LOW_SCALE);
}
public void setElevatorPIDSwitch(double ElevatorPosition, double maxError, double minError)
public void setArmPIDSwitch(double ArmPosition, double maxError, double minError)
{
double elevatorTargetPos = 0;
this.targetPPosition = elevatorTargetPos;
pidPositionControllerMaxScale.setPIDPositionTarget(elevatorTargetPos, maxError, minError);
Robot.elevator.setControlMode(DriveControlMode.MOVE_POSITION_SWITCH);
double ArmTargetPos = 0;
this.targetPPosition = ArmTargetPos;
pidPositionControllerMaxScale.setPIDPositionTarget(ArmTargetPos, maxError, minError);
Robot.Arm.setControlMode(DriveControlMode.MOVE_POSITION_SWITCH);
}
public void setElevatorPIDLowest(double ElevatorPosition, double maxError, double minError)
public void setArmPIDLowest(double ArmPosition, double maxError, double minError)
{
double elevatorTargetPos = 0;
this.targetPPosition = elevatorTargetPos;
pidPositionControllerMaxScale.setPIDPositionTarget(elevatorTargetPos, maxError, minError);
Robot.elevator.setControlMode(DriveControlMode.MOVE_POSITION_LOWEST);
double ArmTargetPos = 0;
this.targetPPosition = ArmTargetPos;
pidPositionControllerMaxScale.setPIDPositionTarget(ArmTargetPos, maxError, minError);
Robot.Arm.setControlMode(DriveControlMode.MOVE_POSITION_LOWEST);
}
*/
public void rawSetOutput(double output){
elevatorRight.set(/*ControlMode.PercentOutput,*/ output);
ArmRight.set(/*ControlMode.PercentOutput,*/ output);
}
public void holdInPos()
{
elevatorRight.set(-0.43 * 0.2);
ArmRight.set(-0.43 * 0.2);
}
public void stopMotors()
{
elevatorRight.set(0);
ArmRight.set(0);
}
public void isSwitchPressed()
{
pressed = false;
isPressed = elevatorRight.getSensorCollection();
isPressed = ArmRight.getSensorCollection();
if(isPressed.isFwdLimitSwitchClosed() == true)
{
if (controlMode == DriveControlMode.JOYSTICK) {
Robot.elevator.setControlMode(DriveControlMode.STOP_MOTORS);
Robot.Arm.setControlMode(DriveControlMode.STOP_MOTORS);
}
pressed = true;
}
@@ -345,7 +345,7 @@ public class Arm extends Subsystem implements ControlLoopable
{
if (controlMode == DriveControlMode.STOP_MOTORS){
{
Robot.elevator.setControlMode(DriveControlMode.JOYSTICK);
Robot.Arm.setControlMode(DriveControlMode.JOYSTICK);
}
pressed = false;
@@ -365,31 +365,31 @@ public class Arm extends Subsystem implements ControlLoopable
{
if (controlMode == DriveControlMode.JOYSTICK || controlMode == DriveControlMode.CLIMB)
{
moveElevatorXbox();
moveArmXbox();
}
else if (!isFinished)
{
//PID control mode
if(controlMode == DriveControlMode.MOVE_POSITION_MAX_SCALE)
{
isFinished = pidPositionControllerMaxScale.controlLoopUpdate(getEncoderElevatorPosition());
isFinished = pidPositionControllerMaxScale.controlLoopUpdate(getEncoderArmPosition());
}
else if(controlMode == DriveControlMode.MOVE_POSITION_LOW_SCALE)
{
isFinished = pidPositionControllerLowScale.controlLoopUpdate(getEncoderElevatorPosition());
isFinished = pidPositionControllerLowScale.controlLoopUpdate(getEncoderArmPosition());
}
else if(controlMode == DriveControlMode.MOVE_POSITION_SWITCH)
{
isFinished = pidPositionControllerSwitch.controlLoopUpdate(getEncoderElevatorPosition());
isFinished = pidPositionControllerSwitch.controlLoopUpdate(getEncoderArmPosition());
}
else if(controlMode == DriveControlMode.MOVE_POSITION_LOWEST)
{
isFinished = pidPositionControllerLowest.controlLoopUpdate(getEncoderElevatorPosition());
isFinished = pidPositionControllerLowest.controlLoopUpdate(getEncoderArmPosition());
}
/*
else if(controlMode == DriveControlMode.RAW)
{
isFinished = pidPositionControllerLowest.controlLoopUpdate(getEncoderElevatorPosition());
isFinished = pidPositionControllerLowest.controlLoopUpdate(getEncoderArmPosition());
}
*/
}
@@ -410,10 +410,10 @@ public class Arm extends Subsystem implements ControlLoopable
public void setPeriodMs(long periodMs)
{
//PID controller
pidPositionControllerMaxScale = new SoftwarePIDPositionController(PositionPMaxScale, elevatorRight);
pidPositionControllerLowScale = new SoftwarePIDPositionController(PositionPLowScale, elevatorRight);
pidPositionControllerSwitch = new SoftwarePIDPositionController(PositionPSwitch, elevatorRight);
pidPositionControllerLowest = new SoftwarePIDPositionController(PositionPLowest, elevatorRight);
pidPositionControllerMaxScale = new SoftwarePIDPositionController(PositionPMaxScale, ArmRight);
pidPositionControllerLowScale = new SoftwarePIDPositionController(PositionPLowScale, ArmRight);
pidPositionControllerSwitch = new SoftwarePIDPositionController(PositionPSwitch, ArmRight);
pidPositionControllerLowest = new SoftwarePIDPositionController(PositionPLowest, ArmRight);
this.periodMs = periodMs;
}
@@ -434,8 +434,8 @@ public class Arm extends Subsystem implements ControlLoopable
{
try
{
SmartDashboard.putNumber("Elevator Pos Ticks", elevatorRight.getSelectedSensorPosition(0));
SmartDashboard.putNumber("Elevator Pos Inches", getElevatorHeightInchesAboveFloor());
SmartDashboard.putNumber("Arm Pos Ticks", ArmRight.getSelectedSensorPosition(0));
SmartDashboard.putNumber("Arm Pos Inches", getArmHeightInchesAboveFloor());
//SmartDashboard.putData(pressed);
}
catch (Exception e)