Team4388/2019-Hit-or-Miss
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added changes from 3/18/19

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changes for drivers.
This commit is contained in:
lukesta182
2019-03-18 15:47:48 -06:00
parent 57e4b752d9
commit a02dc3dfd7
6 changed files with 87 additions and 9 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java
+7 -2
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@@ -14,6 +14,7 @@ import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.buttons.*;
import org.usfirst.frc4388.robot.subsystems.*;
import org.usfirst.frc4388.robot.subsystems.Arm.ArmControlMode;
import org.usfirst.frc4388.utility.MPSoftwarePIDController.MPSoftwareTurnType;
import org.usfirst.frc4388.utility.MPSoftwarePIDController.MPSoftwareTurnType;
@@ -79,7 +80,7 @@ public class OI
/** DEPRICATED, TRIGGERS ON THE DRIVER JOYSTICK COVER FOR THIS BUTTON */
//JoystickButton ratchetFlip = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.Y_BUTTON);
//ratchetFlip.whenPressed(new ratchetFlip(0.5));
//ratchetFlip.toggleWhenPressed(new ratchetFlip(0.5));
//ratchetFlip.whenReleased(new ratchetFlip(0));
JoystickButton shiftUp = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.RIGHT_BUMPER_BUTTON);
@@ -89,7 +90,10 @@ public class OI
JoystickButton shiftDown = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.LEFT_BUMPER_BUTTON);
shiftDown.whenPressed(new DriveSpeedShift(false));
// shiftDown.whenPressed(new LEDIndicators(false));
//Operator Xbox
//Operator Xbox
JoystickButton help = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.X_BUTTON);
help.whenPressed(new ArmSetMode(ArmControlMode.JOYSTICK_MANUAL));
help.whenReleased(new ArmSetMode(ArmControlMode.MOTION_MAGIC));
/*
JoystickButton openIntake = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.LEFT_BUMPER_BUTTON);
openIntake.whenPressed(new IntakePosition(true));
@@ -113,6 +117,7 @@ public class OI
// SmartDashboard.putData("run turn test", new TestTurn());
SmartDashboard.putData("grab from station", new GrabFromLoadingSatation());
SmartDashboard.putData("wrist test", new wristTest());
//SmartDashboard.putData("PRE GAME!!!!", new PreGame());
} catch (Exception e) {
2019robot/src/main/java/org/usfirst/frc4388/robot/commands/ArmSetMode.java
+4 -1
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@@ -24,7 +24,10 @@ public class ArmSetMode extends Command {
}
else if (controlMode == ArmControlMode.JOYSTICK_MANUAL) {
Robot.arm.setSpeedJoystick(0);
}
}
else if (controlMode == ArmControlMode.MOTION_MAGIC){
Robot.arm.setPositionMM(Robot.arm.getPositionInches());
}
else {
Robot.arm.setSpeed(0.0);
}
2019robot/src/main/java/org/usfirst/frc4388/robot/commands/HatchFlip.java
+1
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@@ -16,6 +16,7 @@ public class HatchFlip extends Command
@Override
protected void initialize() {
Robot.pnumatics.setHatchIntakeState(PickingUp);
}
@Override
2019robot/src/main/java/org/usfirst/frc4388/robot/commands/togglemanuel.java
+68
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@@ -0,0 +1,68 @@
/*----------------------------------------------------------------------------*/
/* 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 org.usfirst.frc4388.robot.Robot;
import org.usfirst.frc4388.robot.subsystems.Arm;
import org.usfirst.frc4388.robot.subsystems.Arm.ArmControlMode;
import edu.wpi.first.wpilibj.command.Command;
public class togglemanuel extends Command {
public togglemanuel() {
System.err.print("togle");
if (Robot.arm.getArmControlMode() == ArmControlMode.MOTION_MAGIC){
new ArmSetMode(ArmControlMode.JOYSTICK_MANUAL);
System.err.print("manuel");
}
else if (Robot.arm.getArmControlMode() == ArmControlMode.JOYSTICK_MANUAL){
new ArmSetMode(ArmControlMode.MOTION_MAGIC);
System.err.print("Smart control");
}
else{
new ArmSetMode(ArmControlMode.JOYSTICK_MANUAL);
}
}
// Use requires() here to declare subsystem dependencies
// eg. requires(chassis);
// Called just before this Command runs the first time
@Override
protected void initialize() {
System.err.print("pls work");
}
// Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
}
// Make this return true when this Command no longer needs to run execute()
@Override
protected boolean isFinished() {
return false;
}
// Called once after isFinished returns true
@Override
protected void end() {
}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
@Override
protected void interrupted() {
}
}
2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java
+5 -4
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@@ -173,7 +173,7 @@ public class Arm extends Subsystem implements ControlLoopable
this.armControlMode = controlMode;
}
private synchronized ArmControlMode getArmControlMode() {
public synchronized ArmControlMode getArmControlMode() {
return this.armControlMode;
}
@@ -188,7 +188,7 @@ public class Arm extends Subsystem implements ControlLoopable
}
public void setPositionMM(double targetPositionInches){
motor1.set(ControlMode.MotionMagic, targetPositionInches);
System.err.println(motor1.getControlMode());
//System.err.println(motor1.getControlMode());
motor1.selectProfileSlot(MM_SLOT, 0);
setArmControlMode(ArmControlMode.MOTION_MAGIC);
updatePositionMM(targetPositionInches);
@@ -202,7 +202,7 @@ public class Arm extends Subsystem implements ControlLoopable
int ticks = motor1.getSelectedSensorPosition();
double degreesFromDown = (ticks+920)*(360.0/(4096*3));
double compensation = maxGravityComp * Math.sin(degreesFromDown*Math.PI/180);
System.err.println("comp(" + degreesFromDown + "^) = " + compensation);
//System.err.println("comp(" + degreesFromDown + "^) = " + compensation);
return compensation;
}
public void updatePositionMM(double targetPositionInches){
@@ -292,6 +292,7 @@ public class Arm extends Subsystem implements ControlLoopable
// Do the update
if (armControlMode == ArmControlMode.JOYSTICK_MANUAL) {
controlManualWithJoystick();
System.err.println(motor1.getControlMode());
}
else if (!isFinished) {
if (armControlMode == ArmControlMode.MOTION_PROFILE) {
@@ -304,7 +305,7 @@ public class Arm extends Subsystem implements ControlLoopable
}
if (armControlMode == ArmControlMode.MOTION_MAGIC){
controlMMWithJoystick();
//System.err.println(motor1.getControlMode());
System.err.println(motor1.getControlMode());
}
/*else if (armControlMode == ArmControlMode.MP_PATH_VELOCITY) {
2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java
+2 -2
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@@ -52,7 +52,7 @@ public class Wrist extends Subsystem implements ControlLoopable
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 MAX_POSITION_INCHES = 4096;
public static final double MAX_POSITION_INCHES = 3350;
public static final double AFTER_INTAKE_POSITION_INCHES = 4.0;
public static final double SWITCH_POSITION_INCHES = 24.0;
@@ -278,7 +278,7 @@ public class Wrist extends Subsystem implements ControlLoopable
}
if (wristControlMode == WristControlMode.JOYSTICK_PID){
System.err.println(wristMotor1.getControlMode());
//System.err.println(wristMotor1.getControlMode());
controlPidWithJoystick();