elevator code fix

changed last years elevator code to work with this years desine, no closed loop control implemented other than limit switches.

.gradle/buildOutputCleanup/cache.properties

@@ -0,0 +1,2 @@
+#Fri Jan 18 21:28:34 MST 2019
+gradle.version=5.0

2019robot/build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2019.1.1"
+    id "edu.wpi.first.GradleRIO" version "2019.2.1"
 }
 
 def ROBOT_MAIN_CLASS = "org.usfirst.frc4388.robot.Main"
@@ -50,7 +50,8 @@ dependencies {
     nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio)
     nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
     testCompile 'junit:junit:4.12'
-    compile pathfinder()
+    //compile Pathfinder() 
+    compile 'jaci.jniloader:JNILoader:1.0.1'
 }
 
 // Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')

2019robot/src/main/deploy/example.txt

@@ -1,3 +1,3 @@
 Files placed in this directory will be deployed to the RoboRIO into the
 'deploy' directory in the home folder. Use the 'FileUtilities.getFilePath' wpilib function
-to get a proper path relative to the deploy directory.
+to get a proper path relative to the deploy directory.

2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Elevator.java

@@ -34,31 +34,8 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 public class Elevator extends Subsystem implements ControlLoopable
 {
 	//PID encoder and motor
-	private CANTalonEncoder elevatorRight;
+	private CANTalonEncoder elevatorMain;
-	private WPI_TalonSRX elevatorLeft;
-
-	//PID controller Max Scale
-	private SoftwarePIDPositionController pidPositionControllerMaxScale;
-	//private PIDParams PositionPIDParamsMaxScale = new PIDParams(2.0, 0.0, 0.0);
-	private PIDParams PositionPMaxScale;
 	
-	//PID controller Max Scale
-	private SoftwarePIDPositionController pidPositionControllerLowScale;
-	//private PIDParams PositionPIDParamsLowScale = new PIDParams(2.0, 0.0, 0.0);
-	private PIDParams PositionPLowScale;
-	
-	//PID controller Max Scale
-	private SoftwarePIDPositionController pidPositionControllerSwitch;
-	//private PIDParams PositionPIDParamsSwitch = new PIDParams(2.0, 0.0, 0.0);
-	private PIDParams PositionPSwitch;
-	
-	//PID controller Max Scale
-	private SoftwarePIDPositionController pidPositionControllerLowest;
-	//private PIDParams PositionPIDParamsLowest = new PIDParams(2.0, 0.0, 0.0);
-	private PIDParams PositionPLowest;
-
-	//PID target
-	private double targetPPosition;
 	
 	//Encoder ticks to inches for encoders
 	public static final double ENCODER_TICKS_TO_INCHES = Constants.kElevatorEncoderTicksPerInch;
@@ -93,37 +70,34 @@ public class Elevator extends Subsystem implements ControlLoopable
     	try
     	{
 			//PID elevator encoder and talon
-			elevatorRight = new CANTalonEncoder(RobotMap.ELEVATOR_MOTOR1_ID, ENCODER_TICKS_TO_INCHES, FeedbackDevice.QuadEncoder);
+			elevatorMain = new CANTalonEncoder(RobotMap.ELEVATOR_MOTOR1_ID, ENCODER_TICKS_TO_INCHES, FeedbackDevice.QuadEncoder);
-			elevatorLeft = new WPI_TalonSRX(RobotMap.ELEVATOR_MOTOR2_ID);
+		
 			
-    		elevatorRight.setInverted(false);
+    		elevatorMain.setInverted(false);
 
 			//Setting left elevator motor as follower
-    		elevatorLeft.set(ControlMode.Follower, elevatorRight.getDeviceID());
+    		elevatorMain.setNeutralMode(NeutralMode.Brake);
-    		elevatorLeft.setInverted(false);
+    		elevatorMain.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);
+    		elevatorMain.configForwardLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
-    		elevatorLeft.configReverseLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
+    		elevatorMain.configReverseLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
     		
     		//Limit Switch Right
-    		//elevatorRight.overrideLimitSwitchesEnable(true);
+    		//elevatorMain.overrideLimitSwitchesEnable(true);
-			//elevatorRight.configForwardLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
+			//elevatorMain.configForwardLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
-    		//elevatorRight.configReverseLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
+    		//elevatorMain.configReverseLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
     		
     		
     		//Change This boi
     		
-    	//	elevatorRight.configForwardSoftLimitThreshold(10000, 0); //right here
+    	//	elevatorMain.configForwardSoftLimitThreshold(10000, 0); //right here
-    		//elevatorRight.configReverseSoftLimitThreshold(5, 0);
+    		//elevatorMain.configReverseSoftLimitThreshold(5, 0);
-    		//elevatorRight.configForwardSoftLimitEnable(true, 0);
+    		//elevatorMain.configForwardSoftLimitEnable(true, 0);
-    		//elevatorRight.configReverseSoftLimitEnable(true, 0);
+    		//elevatorMain.configReverseSoftLimitEnable(true, 0);
     		
     		//sos
-    		//elevatorRight.enableLimitSwitch(true, true);
+    		//elevatorMain.enableLimitSwitch(true, true);
 
     		
     		
@@ -207,7 +181,7 @@ public class Elevator extends Subsystem implements ControlLoopable
     
     public void resetElevatorEncoder()
     {
-    	elevatorRight.setSelectedSensorPosition(0, 0, 0);
+    	elevatorMain.setSelectedSensorPosition(0, 0, 0);
     }
     
     public void moveElevatorXbox()
@@ -226,37 +200,37 @@ public class Elevator extends Subsystem implements ControlLoopable
     	
     	if(elevatorTuningPressed == true)
       	{     		
-     		elevatorRight.set(moveElevatorInput * 0.5);
+     		elevatorMain.set(moveElevatorInput * 0.5);
       	}
      	else if(elevatorTuningPressed == false)
      	{
-     		elevatorRight.set(moveElevatorInput);
+     		elevatorMain.set(moveElevatorInput);
      	}
      		
      		/*
      		if(elevatorPos <= elevatorSafeZone && elevatorPos >= 0)
      		{
-     			elevatorRight.set(moveElevatorInput);
+     			elevatorMain.set(moveElevatorInput);
      		}
      		else if(elevatorPos > elevatorSafeZone)
      		{
-     			elevatorRight.set(moveElevatorInput * 0.65);
+     			elevatorMain.set(moveElevatorInput * 0.65);
      			
      			
      			if(holdButtonPressed == true)
              	{
-             		elevatorRight.set(-0.43 * (0.2));
+             		elevatorMain.set(-0.43 * (0.2));
              	}
              	else if(holdButtonPressed == false)
              	{
-             		elevatorRight.set(moveElevatorInput * 0.75);
+             		elevatorMain.set(moveElevatorInput * 0.75);
              	}
              	
      		}
      		
      		else if(elevatorPos < 0)
      		{
-             	elevatorRight.set(moveElevatorInput * 0.75);
+             	elevatorMain.set(moveElevatorInput * 0.75);
      		}
      		*/
      	}
@@ -268,12 +242,12 @@ public class Elevator extends Subsystem implements ControlLoopable
 	//PID encoder position
 	public double getEncoderElevatorPosition()
 	{
-		return elevatorRight.getPositionWorld();
+		return elevatorMain.getPositionWorld();
 	}
 	
 	public double getElevatorHeightInchesAboveFloor()
 	{
-		return elevatorRight.getPositionWorld();
+		return elevatorMain.getPositionWorld();
 	}
 
 	public synchronized void setControlMode(DriveControlMode controlMode) 
@@ -316,23 +290,23 @@ public class Elevator extends Subsystem implements ControlLoopable
 	}
 	*/
 	public void rawSetOutput(double output){
-		elevatorRight.set(/*ControlMode.PercentOutput,*/ output);
+		elevatorMain.set(/*ControlMode.PercentOutput,*/ output);
 	}
 	
 	public void holdInPos()
 	{
-		elevatorRight.set(-0.43 * 0.2);
+		elevatorMain.set(-0.43 * 0.2);
 	}
 	
 	public void stopMotors()
 	{
-		elevatorRight.set(0);
+		elevatorMain.set(0);
 	}
 	
 	public void isSwitchPressed()
 	{
 		pressed = false;
-		isPressed = elevatorRight.getSensorCollection();
+		isPressed = elevatorMain.getSensorCollection();
 		
 		if(isPressed.isFwdLimitSwitchClosed() == true)
 		{
@@ -370,22 +344,6 @@ public class Elevator extends Subsystem implements ControlLoopable
 		else if (!isFinished)
 		{
 			//PID control mode
-			if(controlMode == DriveControlMode.MOVE_POSITION_MAX_SCALE)
-			{
-				isFinished = pidPositionControllerMaxScale.controlLoopUpdate(getEncoderElevatorPosition());
-			}
-			else if(controlMode == DriveControlMode.MOVE_POSITION_LOW_SCALE)
-			{
-				isFinished = pidPositionControllerLowScale.controlLoopUpdate(getEncoderElevatorPosition());
-			}
-			else if(controlMode == DriveControlMode.MOVE_POSITION_SWITCH)
-			{
-				isFinished = pidPositionControllerSwitch.controlLoopUpdate(getEncoderElevatorPosition());
-			}
-			else if(controlMode == DriveControlMode.MOVE_POSITION_LOWEST)
-			{
-				isFinished = pidPositionControllerLowest.controlLoopUpdate(getEncoderElevatorPosition());
-			}
 			/*
 			else if(controlMode == DriveControlMode.RAW)
 			{
@@ -410,11 +368,6 @@ public class Elevator 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);
-		
 		this.periodMs = periodMs;
 	}
 	
@@ -434,7 +387,7 @@ public class Elevator extends Subsystem implements ControlLoopable
 		{
 			try 
 			{
-				SmartDashboard.putNumber("Elevator Pos Ticks", elevatorRight.getSelectedSensorPosition(0));
+				SmartDashboard.putNumber("Elevator Pos Ticks", elevatorMain.getSelectedSensorPosition(0));
 				SmartDashboard.putNumber("Elevator Pos Inches", getElevatorHeightInchesAboveFloor());
 				//SmartDashboard.putData(pressed);
 			}

vendordeps/PathfinderOLD.json

@@ -0,0 +1,85 @@
+{
+    "fileName": "PathfinderOLD.json",
+    "name": "PathfinderOld",
+    "version": "2019.1.11",
+    "uuid": "7194a2d4-2860-4bcc-86c0-97879737d875",
+    "mavenUrls": [
+        "https://dev.imjac.in/maven"
+    ],
+    "jsonUrl": "https://dev.imjac.in/maven/jaci/pathfinder/PathfinderOLD-latest.json",
+    "cppDependencies": [
+        {
+            "groupId": "jaci.pathfinder",
+            "artifactId": "Pathfinder-Core",
+            "version": "2019.1.11",
+            "libName": "pathfinder",
+            "configuration": "native_pathfinder_old",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "linuxx86-64",
+                "windowsx86-64",
+                "osxx86-64",
+                "linuxathena",
+                "linuxraspbian"
+            ]
+        },
+        {
+            "groupId": "jaci.pathfinder",
+            "artifactId": "Pathfinder-FRCSupport",
+            "version": "2019.1.11",
+            "libName": "pathfinder_frc",
+            "configuration": "native_pathfinder_old",
+            "headerClassifier": "headers",
+            "binaryPlatforms": []
+        }
+    ],
+    "javaDependencies": [
+        {
+            "groupId": "jaci.pathfinder",
+            "artifactId": "Pathfinder-Java",
+            "version": "2019.1.11"
+        },
+        {
+            "groupId": "jaci.jniloader",
+            "artifactId": "JNILoader",
+            "version": "1.0.1"
+        },
+        {
+            "groupId": "jaci.pathfinder",
+            "artifactId": "Pathfinder-FRCSupport",
+            "version": "2019.1.11"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "jaci.pathfinder",
+            "artifactId": "Pathfinder-JNI",
+            "version": "2019.1.11",
+            "isJar": true,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "linuxx86-64",
+                "windowsx86-64",
+                "osxx86-64",
+                "linuxathena",
+                "linuxraspbian"
+            ]
+        },
+        {
+            "groupId": "jaci.pathfinder",
+            "artifactId": "Pathfinder-CoreJNI",
+            "version": "2019.1.11",
+            "isJar": true,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "linuxx86-64",
+                "windowsx86-64",
+                "osxx86-64",
+                "linuxathena",
+                "linuxraspbian"
+            ]
+        }
+    ]
+}

vendordeps/Phoenix.json

@@ -0,0 +1,87 @@
+{
+    "fileName": "Phoenix.json",
+    "name": "CTRE-Phoenix",
+    "version": "5.12.1",
+    "uuid": "ab676553-b602-441f-a38d-f1296eff6537",
+    "mavenUrls": [
+        "http://devsite.ctr-electronics.com/maven/release/"
+    ],
+    "jsonUrl": "http://devsite.ctr-electronics.com/maven/release/com/ctre/phoenix/Phoenix-latest.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "api-java",
+            "version": "5.12.1"
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "wpiapi-java",
+            "version": "5.12.1"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "cci",
+            "version": "5.12.1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "linuxathena",
+                "windowsx86-64",
+                "linuxx86-64"
+            ]
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "wpiapi-cpp",
+            "version": "5.12.1",
+            "libName": "CTRE_Phoenix_WPI",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "linuxathena",
+                "windowsx86-64",
+                "linuxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "api-cpp",
+            "version": "5.12.1",
+            "libName": "CTRE_Phoenix",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "linuxathena",
+                "windowsx86-64",
+                "linuxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "cci",
+            "version": "5.12.1",
+            "libName": "CTRE_PhoenixCCI",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "linuxathena",
+                "windowsx86-64",
+                "linuxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "core",
+            "version": "5.12.1",
+            "libName": "CTRE_PhoenixCore",
+            "headerClassifier": "headers"
+        }
+    ]
+}

vendordeps/REVRobotics.json

@@ -0,0 +1,32 @@
+{
+    "fileName": "REVRobotics.json",
+    "name": "REVRobotics",
+    "version": "1.0.26",
+    "uuid": "c16ed09f-23df-4beb-87e8-460bd7fa9924",
+    "mavenUrls": [
+        "http://www.revrobotics.com/content/sw/max/sdk/maven/"
+    ],
+    "jsonUrl": "http://www.revrobotics.com/content/sw/max/sdk/REVRobotics.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "SparkMax-java",
+            "version": "1.0.26"
+        }
+    ],
+    "jniDependencies": [],
+    "cppDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "SparkMax-cpp",
+            "version": "1.0.26",
+            "libName": "libSparkMax",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "linuxathena"
+            ]
+        }
+    ]
+}

vendordeps/navx_frc.json

@@ -0,0 +1,33 @@
+{
+    "fileName": "navx_frc.json",
+    "name": "KauaiLabs_navX_FRC",
+    "version": "3.1.344",
+    "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b",
+    "mavenUrls": [
+        "https://repo1.maven.org/maven2/"
+    ],
+    "jsonUrl": "https://www.kauailabs.com/dist/frc/2019/navx_frc.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.kauailabs.navx.frc",
+            "artifactId": "navx-java",
+            "version": "3.1.344"
+        }
+    ],
+    "jniDependencies": [],
+    "cppDependencies": [
+        {
+            "groupId": "com.kauailabs.navx.frc",
+            "artifactId": "navx-cpp",
+            "version": "3.1.344",
+            "headerClassifier": "headers",
+            "sourcesClassifier": "sources",
+            "sharedLibrary": false,
+            "libName": "navx_frc",
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "linuxathena"
+            ]
+        }
+    ]
+}