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

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Note: Not done editing
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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); public static double kDriveEncoderTicksPerInch = (double)kDriveEncoderTicksPerRev / (kDriveWheelDiameterInches * Math.PI);
// Elevator // Elevator
public static int kElevatorEncoderTickesPerRev = 256; public static int kArmEncoderTickesPerRev = 256;
public static double kElevatorInchesOfTravelPerRev = 3.75; public static double kArmInchesOfTravelPerRev = 3.75;
public static double kElevatorEncoderTicksPerInch = 126.36; public static double kArmEncoderTicksPerInch = 126.36;
public static double kElevatorBasicPercentOutputUp = -0.85; public static double kArmBasicPercentOutputUp = -0.85;
public static double kElevatorBasicPercentOutputDown =.7; public static double kArmBasicPercentOutputDown =.7;
// CONTROL LOOP GAINS // 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 static boolean isfinishedElevatorBasic;
public ElevatorBasic(double targetHeightInchesAboveFloor) { public ElevatorBasic(double targetHeightInchesAboveFloor) {
requires(Robot.elevator); requires(Robot.arm);
m_targetHeightInchesAboveFloor = targetHeightInchesAboveFloor; m_targetHeightInchesAboveFloor = targetHeightInchesAboveFloor;
} }
// Called just before this Command runs the first time // Called just before this Command runs the first time
protected void initialize() 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 // start out at half speed, as crude way to reduce slippage
m_goingUp = (m_targetHeightInchesAboveFloor > currentHeight); m_goingUp = (m_targetHeightInchesAboveFloor > currentHeight);
System.out.println("initialize(): cur=" + currentHeight + " , target=" + m_targetHeightInchesAboveFloor + " , going " + (m_goingUp ? "UP" : "DOWN")); 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 public class Arm extends Subsystem implements ControlLoopable
{ {
//PID encoder and motor //PID encoder and motor
private CANTalonEncoder ArmMotor; private CANTalonEncoder armMotor;
//private WPI_TalonSRX ArmLeft; //private WPI_TalonSRX ArmLeft;
//PID controller Max Scale //PID controller Max Scale
@@ -84,7 +84,7 @@ public class Arm extends Subsystem implements ControlLoopable
public boolean pressed; public boolean pressed;
SensorCollection isPressed; SensorCollection isPressed;
public boolean ArmControlMode = false; public boolean armControlMode = false;
// Motor controllers // Motor controllers
//private ArrayList<CANTalonEncoder> motorControllers = new ArrayList<CANTalonEncoder>(); //private ArrayList<CANTalonEncoder> motorControllers = new ArrayList<CANTalonEncoder>();
@@ -93,7 +93,7 @@ public class Arm extends Subsystem implements ControlLoopable
try try
{ {
//PID Arm encoder and talon //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); //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.set(ControlMode.Follower, ArmMotor.getDeviceID());
//ArmLeft.setInverted(false); //ArmLeft.setInverted(false);
//ArmLeft.setNeutralMode(NeutralMode.Brake); //ArmLeft.setNeutralMode(NeutralMode.Brake);
ArmMotor.setNeutralMode(NeutralMode.Brake); armMotor.setNeutralMode(NeutralMode.Brake);
ArmMotor.setSensorPhase(true); armMotor.setSensorPhase(true);
//Limit Switch Left //Limit Switch Left
//ArmLeft.overrideLimitSwitchesEnable(true); //ArmLeft.overrideLimitSwitchesEnable(true);
//ArmLeft.configForwardLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0); //ArmLeft.configForwardLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
@@ -208,59 +208,32 @@ public class Arm extends Subsystem implements ControlLoopable
public void resetArmEncoder() public void resetArmEncoder()
{ {
ArmMotor.setSelectedSensorPosition(0, 0, 0); armMotor.setSelectedSensorPosition(0, 0, 0);
} }
public void moveArmXbox() public void moveArmXbox()
{ {
double moveArmInput; double moveArmInput;
double ArmSafeZone = 15; double armSafeZone = 15;
double ArmPos = getEncoderArmPosition(); double armPos = getEncoderArmPosition();
moveArmInput = Robot.oi.getOperatorController().getLeftYAxis(); moveArmInput = Robot.oi.getOperatorController().getLeftYAxis();
//double moveArmSensitivity = adjustJoystickSensitivity(moveScale, moveTrim, moveArmInput, moveNonLinear, MOVE_NON_LINEARITY); //double moveArmSensitivity = adjustJoystickSensitivity(moveScale, moveTrim, moveArmInput, moveNonLinear, MOVE_NON_LINEARITY);
boolean holdButtonPressed = Robot.oi.getOperatorJoystick().getRawButton(XboxController.A_BUTTON); 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); 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);
}
*/
} }
}
// System.out.println(ArmPos); //-6.9 to 1.9 total: 8.8 range // 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 //PID encoder position
public double getEncoderArmPosition() public double getEncoderArmPosition()
{ {
return ArmMotor.getPositionWorld(); return armMotor.getPositionWorld();
} }
public double getArmHeightInchesAboveFloor() public double getArmHeightInchesAboveFloor()
{ {
return ArmMotor.getPositionWorld(); return armMotor.getPositionWorld();
} }
public synchronized void setControlMode(DriveControlMode controlMode) public synchronized void setControlMode(DriveControlMode controlMode)
@@ -317,28 +290,28 @@ public class Arm extends Subsystem implements ControlLoopable
} }
*/ */
public void rawSetOutput(double output){ public void rawSetOutput(double output){
ArmMotor.set(/*ControlMode.PercentOutput,*/ output); armMotor.set(/*ControlMode.PercentOutput,*/ output);
} }
public void holdInPos() public void holdInPos()
{ {
ArmMotor.set(-0.43 * 0.2); armMotor.set(-0.43 * 0.2);
} }
public void stopMotors() public void stopMotors()
{ {
ArmMotor.set(0); armMotor.set(0);
} }
public void isSwitchPressed() public void isSwitchPressed()
{ {
pressed = false; pressed = false;
isPressed = ArmMotor.getSensorCollection(); isPressed = armMotor.getSensorCollection();
if(isPressed.isFwdLimitSwitchClosed() == true) if(isPressed.isFwdLimitSwitchClosed() == true)
{ {
if (controlMode == DriveControlMode.JOYSTICK) { if (controlMode == DriveControlMode.JOYSTICK) {
Robot.Arm.setControlMode(DriveControlMode.STOP_MOTORS); Robot.arm.setControlMode(DriveControlMode.STOP_MOTORS);
} }
pressed = true; pressed = true;
} }
@@ -346,7 +319,7 @@ public class Arm extends Subsystem implements ControlLoopable
{ {
if (controlMode == DriveControlMode.STOP_MOTORS){ if (controlMode == DriveControlMode.STOP_MOTORS){
{ {
Robot.Arm.setControlMode(DriveControlMode.JOYSTICK); Robot.arm.setControlMode(DriveControlMode.JOYSTICK);
} }
pressed = false; pressed = false;
@@ -411,10 +384,10 @@ public class Arm extends Subsystem implements ControlLoopable
public void setPeriodMs(long periodMs) public void setPeriodMs(long periodMs)
{ {
//PID controller //PID controller
pidPositionControllerMaxScale = new SoftwarePIDPositionController(PositionPMaxScale, ArmMotor); pidPositionControllerMaxScale = new SoftwarePIDPositionController(PositionPMaxScale, armMotor);
pidPositionControllerLowScale = new SoftwarePIDPositionController(PositionPLowScale, ArmMotor); pidPositionControllerLowScale = new SoftwarePIDPositionController(PositionPLowScale, armMotor);
pidPositionControllerSwitch = new SoftwarePIDPositionController(PositionPSwitch, ArmMotor); pidPositionControllerSwitch = new SoftwarePIDPositionController(PositionPSwitch, armMotor);
pidPositionControllerLowest = new SoftwarePIDPositionController(PositionPLowest, ArmMotor); pidPositionControllerLowest = new SoftwarePIDPositionController(PositionPLowest, armMotor);
this.periodMs = periodMs; this.periodMs = periodMs;
} }
@@ -435,7 +408,7 @@ public class Arm extends Subsystem implements ControlLoopable
{ {
try try
{ {
SmartDashboard.putNumber("Arm Pos Ticks", ArmMotor.getSelectedSensorPosition(0)); SmartDashboard.putNumber("Arm Pos Ticks", armMotor.getSelectedSensorPosition(0));
SmartDashboard.putNumber("Arm Pos Inches", getArmHeightInchesAboveFloor()); SmartDashboard.putNumber("Arm Pos Inches", getArmHeightInchesAboveFloor());
//SmartDashboard.putData(pressed); //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); rightDrive2 = new WPI_TalonSRX(RobotMap.DRIVETRAIN_RIGHT_MOTOR2_CAN_ID);
// rightDrive3 = new WPI_TalonSRX(RobotMap.DRIVETRAIN_RIGHT_MOTOR3_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); //gyroPigeon = new PigeonImu(leftDrive2);
gyroNavX = new AHRS(SPI.Port.kMXP); gyroNavX = new AHRS(SPI.Port.kMXP);