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preset fixes

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lukesta182
2019-03-16 15:34:37 -06:00
parent 6141559282
commit 57e4b752d9
6 changed files with 59 additions and 13 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java
+5 -1
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@@ -98,12 +98,16 @@ public class OI
JoystickButton CloseIntake = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.RIGHT_BUMPER_BUTTON);
CloseIntake.whenPressed(new IntakePosition(false));
*/
JoystickButton Height1 = new JoystickButton(m_operatorXbox.getJoyStick(),XboxController.RIGHT_JOYSTICK_BUTTON);
Height1.whenPressed(new ArmToHeight1());
JoystickButton lowHeight = new JoystickButton(m_operatorXbox.getJoyStick(),XboxController.LEFT_JOYSTICK_BUTTON);
lowHeight.whenPressed(new GrabFromLoadingSatation());
JoystickButton stow = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.B_BUTTON);
stow.whenPressed(new StowArm());
stow.whenPressed(new setLEDPattern(LEDPatterns.SOLID_RED));
stow.whenPressed(new setLEDPattern(LEDPatterns.SOLID_GREEN));
SmartDashboard.putData("switch to manuel", new SetManual());
// SmartDashboard.putData("run turn test", new TestTurn());
2019robot/src/main/java/org/usfirst/frc4388/robot/commands/ArmToHeight1.java
+41
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@@ -0,0 +1,41 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package org.usfirst.frc4388.robot.commands;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.command.CommandGroup;
import edu.wpi.first.wpilibj.command.WaitCommand;
public class ArmToHeight1 extends CommandGroup {
/**
* Add your docs here.
*/
public ArmToHeight1() {
addSequential(new HatchFlip(false));
addParallel(new WristPlacement(true));
addParallel(new ArmSetPositionMM(1300), 4);
addSequential(new WaitCommand(1));
addSequential(new WristSetPositionPID(2300), 2);
// Add Commands here:
// e.g. addSequential(new Command1());
// addSequential(new Command2());
// these will run in order.
// To run multiple commands at the same time,
// use addParallel()
// e.g. addParallel(new Command1());
// addSequential(new Command2());
// Command1 and Command2 will run in parallel.
// A command group will require all of the subsystems that each member
// would require.
// e.g. if Command1 requires chassis, and Command2 requires arm,
// a CommandGroup containing them would require both the chassis and the
// arm.
}
}
2019robot/src/main/java/org/usfirst/frc4388/robot/commands/GrabFromLoadingSatation.java
+1 -1
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@@ -15,7 +15,7 @@ public class GrabFromLoadingSatation extends CommandGroup {
* Add your docs here.
*/
public GrabFromLoadingSatation() {
addSequential(new ArmSetPositionMM(600), 1);
addSequential(new ArmSetPositionMM(550), 1);
//addParallel(new WaitCommand(1));
addSequential(new WristSetPositionPID(450));
// e.g. addSequential(new Command1());
2019robot/src/main/java/org/usfirst/frc4388/robot/commands/StowArm.java
+3 -2
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@@ -9,6 +9,7 @@ package org.usfirst.frc4388.robot.commands;
import edu.wpi.first.wpilibj.command.CommandGroup;
public class StowArm extends CommandGroup {
/**
* Add your docs here.
@@ -16,8 +17,8 @@ public class StowArm extends CommandGroup {
public StowArm() {
addSequential(new HatchFlip(false));
addParallel(new WristPlacement(true));
addParallel(new WristSetPositionPID(250), 2);
addSequential(new ArmSetPositionMM(10), 4);
addParallel(new WristSetPositionPID(200), 2);
addSequential(new ArmSetPositionMM(-10), 4);
// Add Commands here:
// e.g. addSequential(new Command1());
// addSequential(new Command2());
2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java
+5 -5
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@@ -46,14 +46,14 @@ public class Arm extends Subsystem implements ControlLoopable
public static final double TEST_SPEED_UP = 0.3;
public static final double TEST_SPEED_DOWN = -0.3;
public static final double AUTO_ZERO_SPEED = -0.3;
public static final double JOYSTICK_INCHES_PER_MS_HI = 20;
public static final double JOYSTICK_INCHES_PER_MS_LO = 20;
public static final double JOYSTICK_INCHES_PER_MS_HI = 35;
public static final double JOYSTICK_INCHES_PER_MS_LO = 35;
// Defined positions
public static final double ZERO_POSITION_AUTON_FORWARD_INCHES = 8.0;
public static final double ZERO_POSITION_INCHES = -0.25;
public static final double NEAR_ZERO_POSITION_INCHES = 0.0;
public static final double MIN_POSITION_INCHES = 0.0;
public static final double MIN_POSITION_INCHES = -10;
public static final double MAX_POSITION_INCHES = 3900;
public static final double AFTER_INTAKE_POSITION_INCHES = 4.0;
@@ -69,7 +69,7 @@ public class Arm extends Subsystem implements ControlLoopable
// Motion profile max velocities and accel times
public static final double MP_MAX_VELOCITY_INCHES_PER_SEC = 60;
public static final double MP_T1 = 400; // Fast = 300
public static final double MP_T1 = 300; // Fast = 300
public static final double MP_T2 = 150; // Fast = 150
// Motor controllers
@@ -90,7 +90,7 @@ public class Arm extends Subsystem implements ControlLoopable
public static final double KF_UP = 1;//0.01;
public static final double KF_DOWN = 0;// 0.0;
public static final double P_Value = 0.5;// 2;
public static final double I_Value = 0.0005;// 0.00030;
public static final double I_Value = 0.0008;// 0.00030;
public static final double D_Value = 100;// 200;
public static final double F_Value = 0.75; // 1023 / 1360 max speed (ticks/100ms)
public static final double maxGravityComp = 0.08;
2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java
+4 -4
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@@ -45,7 +45,7 @@ public class Wrist extends Subsystem implements ControlLoopable
public static final double TEST_SPEED_DOWN = -0.3;
public static final double AUTO_ZERO_SPEED = -0.3;
public static final double JOYSTICK_INCHES_PER_MS_HI = 20;
public static final double JOYSTICK_INCHES_PER_MS_LO = 20;
public static final double JOYSTICK_INCHES_PER_MS_LO = 27;
// Defined positions
public static final double ZERO_POSITION_AUTON_FORWARD_INCHES = 8.0;
@@ -85,9 +85,9 @@ public class Wrist extends Subsystem implements ControlLoopable
private PIDParams pidPIDParamsHiGear = new PIDParams(0.075, 0.0, 0.0, 0.0, 0.0, 0.0);
public static final double KF_UP = 0.01;
public static final double KF_DOWN = 0.0;
public static final double P_Value = 3;
public static final double I_Value = 0.001;
public static final double D_Value = 300;
public static final double P_Value = 1;
public static final double I_Value = 0.0001;
public static final double D_Value = 100;
public static final double RampRate = 0.0;
private PIDParams wristPIDParams = new PIDParams(P_Value, I_Value, D_Value, KF_DOWN); // KF gets updated later
public static final double PID_ERROR_INCHES = 150;