Team4388/2019-Hit-or-Miss
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Changed Arm to arm

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Note: Not done editing
This commit is contained in:
mayabartels
2019-01-21 14:48:55 -08:00
parent 733557ecaf
commit 5fbc5c78df
4 changed files with 35 additions and 63 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/Constants.java
+5 -5
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@@ -29,11 +29,11 @@ public class Constants {
public static double kDriveEncoderTicksPerInch = (double)kDriveEncoderTicksPerRev / (kDriveWheelDiameterInches * Math.PI);
// Elevator
public static int kElevatorEncoderTickesPerRev = 256;
public static double kElevatorInchesOfTravelPerRev = 3.75;
public static double kElevatorEncoderTicksPerInch = 126.36;
public static double kElevatorBasicPercentOutputUp = -0.85;
public static double kElevatorBasicPercentOutputDown =.7;
public static int kArmEncoderTickesPerRev = 256;
public static double kArmInchesOfTravelPerRev = 3.75;
public static double kArmEncoderTicksPerInch = 126.36;
public static double kArmBasicPercentOutputUp = -0.85;
public static double kArmBasicPercentOutputDown =.7;
// CONTROL LOOP GAINS
2019robot/src/main/java/org/usfirst/frc4388/robot/commands/ElevatorBasic.java
+3 -3
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@@ -19,16 +19,16 @@ public class ElevatorBasic extends Command {
public static boolean isfinishedElevatorBasic;
public ElevatorBasic(double targetHeightInchesAboveFloor) {
requires(Robot.elevator);
requires(Robot.arm);
m_targetHeightInchesAboveFloor = targetHeightInchesAboveFloor;
}
// Called just before this Command runs the first time
protected void initialize()
{
Robot.elevator.setControlMode(DriveControlMode.RAW);
Robot.arm.setControlMode(DriveControlMode.RAW);
double currentHeight = Robot.elevator.getElevatorHeightInchesAboveFloor();
double currentHeight = Robot.arm.getArmHeightInchesAboveFloor();
// start out at half speed, as crude way to reduce slippage
m_goingUp = (m_targetHeightInchesAboveFloor > currentHeight);
System.out.println("initialize(): cur=" + currentHeight + " , target=" + m_targetHeightInchesAboveFloor + " , going " + (m_goingUp ? "UP" : "DOWN"));
2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java
+27 -54
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@@ -34,7 +34,7 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
public class Arm extends Subsystem implements ControlLoopable
{
//PID encoder and motor
private CANTalonEncoder ArmMotor;
private CANTalonEncoder armMotor;
//private WPI_TalonSRX ArmLeft;
//PID controller Max Scale
@@ -84,7 +84,7 @@ public class Arm extends Subsystem implements ControlLoopable
public boolean pressed;
SensorCollection isPressed;
public boolean ArmControlMode = false;
public boolean armControlMode = false;
// Motor controllers
//private ArrayList<CANTalonEncoder> motorControllers = new ArrayList<CANTalonEncoder>();
@@ -93,7 +93,7 @@ public class Arm extends Subsystem implements ControlLoopable
try
{
//PID Arm encoder and talon
ArmMotor = new CANTalonEncoder(RobotMap.ARM_MOTOR1_ID, ENCODER_TICKS_TO_INCHES, FeedbackDevice.QuadEncoder);
armMotor = new CANTalonEncoder(RobotMap.ARM_MOTOR1_ID, ENCODER_TICKS_TO_INCHES, FeedbackDevice.QuadEncoder);
//ArmLeft = new WPI_TalonSRX(RobotMap.ARM_MOTOR2_ID);
@@ -103,8 +103,8 @@ public class Arm extends Subsystem implements ControlLoopable
//ArmLeft.set(ControlMode.Follower, ArmMotor.getDeviceID());
//ArmLeft.setInverted(false);
//ArmLeft.setNeutralMode(NeutralMode.Brake);
ArmMotor.setNeutralMode(NeutralMode.Brake);
ArmMotor.setSensorPhase(true);
armMotor.setNeutralMode(NeutralMode.Brake);
armMotor.setSensorPhase(true);
//Limit Switch Left
//ArmLeft.overrideLimitSwitchesEnable(true);
//ArmLeft.configForwardLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
@@ -208,59 +208,32 @@ public class Arm extends Subsystem implements ControlLoopable
public void resetArmEncoder()
{
ArmMotor.setSelectedSensorPosition(0, 0, 0);
armMotor.setSelectedSensorPosition(0, 0, 0);
}
public void moveArmXbox()
{
double moveArmInput;
double ArmSafeZone = 15;
double armSafeZone = 15;
double ArmPos = getEncoderArmPosition();
double armPos = getEncoderArmPosition();
moveArmInput = Robot.oi.getOperatorController().getLeftYAxis();
//double moveArmSensitivity = adjustJoystickSensitivity(moveScale, moveTrim, moveArmInput, moveNonLinear, MOVE_NON_LINEARITY);
boolean holdButtonPressed = Robot.oi.getOperatorJoystick().getRawButton(XboxController.A_BUTTON);
boolean ArmTuningPressed = Robot.oi.getOperatorJoystick().getRawButton(XboxController.Y_BUTTON);
boolean armTuningPressed = Robot.oi.getOperatorJoystick().getRawButton(XboxController.Y_BUTTON);
if(ArmTuningPressed == true)
if(armTuningPressed == true)
{
ArmMotor.set(moveArmInput * 0.5);
armMotor.set(moveArmInput * 0.5);
}
else if(ArmTuningPressed == false)
else if(armTuningPressed == false)
{
ArmMotor.set(moveArmInput);
}
/*
if(ArmPos <= ArmSafeZone && ArmPos >= 0)
{
ArmMotor.set(moveArmInput);
}
else if(ArmPos > ArmSafeZone)
{
ArmMotor.set(moveArmInput * 0.65);
if(holdButtonPressed == true)
{
ArmMotor.set(-0.43 * (0.2));
}
else if(holdButtonPressed == false)
{
ArmMotor.set(moveArmInput * 0.75);
}
}
else if(ArmPos < 0)
{
ArmMotor.set(moveArmInput * 0.75);
}
*/
armMotor.set(moveArmInput);
}
}
// System.out.println(ArmPos); //-6.9 to 1.9 total: 8.8 range
@@ -269,12 +242,12 @@ public class Arm extends Subsystem implements ControlLoopable
//PID encoder position
public double getEncoderArmPosition()
{
return ArmMotor.getPositionWorld();
return armMotor.getPositionWorld();
}
public double getArmHeightInchesAboveFloor()
{
return ArmMotor.getPositionWorld();
return armMotor.getPositionWorld();
}
public synchronized void setControlMode(DriveControlMode controlMode)
@@ -317,28 +290,28 @@ public class Arm extends Subsystem implements ControlLoopable
}
*/
public void rawSetOutput(double output){
ArmMotor.set(/*ControlMode.PercentOutput,*/ output);
armMotor.set(/*ControlMode.PercentOutput,*/ output);
}
public void holdInPos()
{
ArmMotor.set(-0.43 * 0.2);
armMotor.set(-0.43 * 0.2);
}
public void stopMotors()
{
ArmMotor.set(0);
armMotor.set(0);
}
public void isSwitchPressed()
{
pressed = false;
isPressed = ArmMotor.getSensorCollection();
isPressed = armMotor.getSensorCollection();
if(isPressed.isFwdLimitSwitchClosed() == true)
{
if (controlMode == DriveControlMode.JOYSTICK) {
Robot.Arm.setControlMode(DriveControlMode.STOP_MOTORS);
Robot.arm.setControlMode(DriveControlMode.STOP_MOTORS);
}
pressed = true;
}
@@ -346,7 +319,7 @@ public class Arm extends Subsystem implements ControlLoopable
{
if (controlMode == DriveControlMode.STOP_MOTORS){
{
Robot.Arm.setControlMode(DriveControlMode.JOYSTICK);
Robot.arm.setControlMode(DriveControlMode.JOYSTICK);
}
pressed = false;
@@ -411,10 +384,10 @@ public class Arm extends Subsystem implements ControlLoopable
public void setPeriodMs(long periodMs)
{
//PID controller
pidPositionControllerMaxScale = new SoftwarePIDPositionController(PositionPMaxScale, ArmMotor);
pidPositionControllerLowScale = new SoftwarePIDPositionController(PositionPLowScale, ArmMotor);
pidPositionControllerSwitch = new SoftwarePIDPositionController(PositionPSwitch, ArmMotor);
pidPositionControllerLowest = new SoftwarePIDPositionController(PositionPLowest, ArmMotor);
pidPositionControllerMaxScale = new SoftwarePIDPositionController(PositionPMaxScale, armMotor);
pidPositionControllerLowScale = new SoftwarePIDPositionController(PositionPLowScale, armMotor);
pidPositionControllerSwitch = new SoftwarePIDPositionController(PositionPSwitch, armMotor);
pidPositionControllerLowest = new SoftwarePIDPositionController(PositionPLowest, armMotor);
this.periodMs = periodMs;
}
@@ -435,7 +408,7 @@ public class Arm extends Subsystem implements ControlLoopable
{
try
{
SmartDashboard.putNumber("Arm Pos Ticks", ArmMotor.getSelectedSensorPosition(0));
SmartDashboard.putNumber("Arm Pos Ticks", armMotor.getSelectedSensorPosition(0));
SmartDashboard.putNumber("Arm Pos Inches", getArmHeightInchesAboveFloor());
//SmartDashboard.putData(pressed);
}
2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Drive.java
-1
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@@ -210,7 +210,6 @@ public class Drive extends Subsystem implements ControlLoopable
rightDrive2 = new WPI_TalonSRX(RobotMap.DRIVETRAIN_RIGHT_MOTOR2_CAN_ID);
// rightDrive3 = new WPI_TalonSRX(RobotMap.DRIVETRAIN_RIGHT_MOTOR3_CAN_ID);
elevatorRight = new CANTalonEncoder(RobotMap.ELEVATOR_MOTOR1_ID, ENCODER_TICKS_TO_INCHES, FeedbackDevice.QuadEncoder);
//gyroPigeon = new PigeonImu(leftDrive2);
gyroNavX = new AHRS(SPI.Port.kMXP);