Merge branch 'develop-2-electric-boogaloo' into develop

2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java

@@ -15,6 +15,7 @@ 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.robot.subsystems.Arm.PlaceMode;
 import org.usfirst.frc4388.utility.MPSoftwarePIDController.MPSoftwareTurnType;
 import org.usfirst.frc4388.utility.MPSoftwarePIDController.MPSoftwareTurnType;
 
@@ -78,6 +79,10 @@ public class OI
 			JoystickButton climbUp = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.RIGHT_TRIGGER_AXIS);
 			JoystickButton climbDown = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.LEFT_TRIGGER_AXIS);
 
+			JoystickButton resetArmEncoder = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.START_BUTTON);
+			resetArmEncoder.whenPressed(new ResetArmEncoder());
+			resetArmEncoder.whenPressed(new ResetWristEncoder());
+
 			/** DEPRICATED, TRIGGERS ON THE DRIVER JOYSTICK COVER FOR THIS BUTTON */
 			//JoystickButton ratchetFlip = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.Y_BUTTON);
 			//ratchetFlip.toggleWhenPressed(new ratchetFlip(0.5));
@@ -107,11 +112,13 @@ public class OI
 
 
 			JoystickButton lowHeight = new JoystickButton(m_operatorXbox.getJoyStick(),XboxController.LEFT_JOYSTICK_BUTTON);
-			lowHeight.whenPressed(new GrabFromLoadingSatation());
+			lowHeight.whenPressed(new SetPositionArmWrist(550, 450));
 
-			JoystickButton stow = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.B_BUTTON);
+			JoystickButton cargoPlaceMode = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.B_BUTTON);
-			stow.whenPressed(new StowArm());
+			cargoPlaceMode.whenPressed(new SwitchArmPlaceMode(PlaceMode.CARGO));
-			stow.whenPressed(new setLEDPattern(LEDPatterns.SOLID_GREEN));
+			cargoPlaceMode.whenReleased(new SwitchArmPlaceMode(PlaceMode.HATCH));
+			//stow.whenPressed(new StowArm());
+			//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/Robot.java

@@ -118,6 +118,8 @@ public class Robot extends TimedRobot
 		//System.err.println("TeleopInit after resetEncoders");
 		drive.endGyroCalibration();
 		System.err.println("TeleopInit after endGyroCalibrations");
+		arm.targetPositionInchesMM = arm.motor1.getPositionWorld();
+		wrist.targetPositionInchesPID = wrist.wristMotor1.getPositionWorld();
 
         updateStatus();
     }

2019robot/src/main/java/org/usfirst/frc4388/robot/commands/ResetArmEncoder.java

@@ -0,0 +1,46 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.command.Command;
+
+public class ResetArmEncoder extends Command {
+  public ResetArmEncoder() {
+    requires(Robot.arm);
+  }
+
+  // Called just before this Command runs the first time
+  @Override
+  protected void initialize() {
+  }
+
+  // Called repeatedly when this Command is scheduled to run
+  @Override
+  protected void execute() {
+    Robot.arm.resetEncoder();
+  }
+
+  // Make this return true when this Command no longer needs to run execute()
+  @Override
+  protected boolean isFinished() {
+    return true;
+  }
+
+  // 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/commands/ResetWristEncoder.java

@@ -0,0 +1,46 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.command.Command;
+
+public class ResetWristEncoder extends Command {
+  public ResetWristEncoder() {
+    requires(Robot.wrist);
+  }
+
+  // Called just before this Command runs the first time
+  @Override
+  protected void initialize() {
+  }
+
+  // Called repeatedly when this Command is scheduled to run
+  @Override
+  protected void execute() {
+    Robot.wrist.resetencoder();
+  }
+
+  // Make this return true when this Command no longer needs to run execute()
+  @Override
+  protected boolean isFinished() {
+    return true;
+  }
+
+  // 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/commands/SetMMAndPID.java

@@ -0,0 +1,39 @@
+/*----------------------------------------------------------------------------*/
+/* 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.subsystems.Arm.ArmControlMode;
+import org.usfirst.frc4388.robot.subsystems.Wrist.WristControlMode;
+
+import edu.wpi.first.wpilibj.command.CommandGroup;
+
+public class SetMMAndPID extends CommandGroup {
+  /**
+   * Add your docs here.
+   */
+  public SetMMAndPID() {
+    addSequential(new ArmSetMode(ArmControlMode.MOTION_MAGIC));
+    addParallel(new WristSetMode(WristControlMode.JOYSTICK_PID));
+    // 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/SetPositionArmWrist.java

@@ -0,0 +1,38 @@
+/*----------------------------------------------------------------------------*/
+/* 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.CommandGroup;
+
+public class SetPositionArmWrist extends CommandGroup {
+  /**
+   * Add your docs here.
+   */
+  public SetPositionArmWrist(double arm, double wrist) {
+    
+    addParallel(new WristSetPositionPID(wrist));
+    addSequential(new ArmSetPositionMM(arm));
+
+    // 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/StowArm.java

@@ -17,8 +17,9 @@ public class StowArm extends CommandGroup {
   public StowArm() {
     addSequential(new HatchFlip(false));
     addParallel(new WristPlacement(true));
-    addParallel(new WristSetPositionPID(200), 2);
+    addParallel(new WristSetPositionPID(110), 2);
-    addSequential(new ArmSetPositionMM(-10), 4);
+    addSequential(new ArmSetPositionMM(420), 4);
+    addSequential(new ArmSetPositionMM(5));
     // Add Commands here:
     // e.g. addSequential(new Command1());
     // addSequential(new Command2());

2019robot/src/main/java/org/usfirst/frc4388/robot/commands/SwitchArmPlaceMode.java

@@ -0,0 +1,53 @@
+/*----------------------------------------------------------------------------*/
+/* 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.PlaceMode;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+
+
+public class SwitchArmPlaceMode extends Command {
+
+  public PlaceMode placeMode;
+
+  public SwitchArmPlaceMode(PlaceMode placeMode) {
+    requires(Robot.arm);
+    this.placeMode = placeMode;
+  }
+
+  // Called just before this Command runs the first time
+  @Override
+  protected void initialize() {
+  }
+
+  // Called repeatedly when this Command is scheduled to run
+  @Override
+  protected void execute() {
+    Robot.arm.placeMode = placeMode;
+  }
+
+  // Make this return true when this Command no longer needs to run execute()
+  @Override
+  protected boolean isFinished() {
+    return true;
+  }
+
+  // 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

@@ -4,6 +4,9 @@ import java.util.ArrayList;
 import org.usfirst.frc4388.robot.Constants;
 import org.usfirst.frc4388.robot.Robot;
 import org.usfirst.frc4388.robot.RobotMap;
+import org.usfirst.frc4388.robot.commands.ArmSetPositionMM;
+import org.usfirst.frc4388.robot.commands.SetPositionArmWrist;
+import org.usfirst.frc4388.robot.commands.StowArm;
 import org.usfirst.frc4388.utility.ControlLoopable;
 import org.usfirst.frc4388.utility.Loop;
 import org.usfirst.frc4388.utility.MPTalonPIDController;
@@ -33,6 +36,7 @@ public class Arm extends Subsystem implements ControlLoopable
 	private static Arm instance;
 
 	public static enum ArmControlMode { MOTION_PROFILE, JOYSTICK_PID, JOYSTICK_MANUAL, MANUAL, MOTION_MAGIC};
+	public static enum PlaceMode { HATCH, CARGO };
 
 	// One revolution of the 30T Drive 1.880" PD pulley = Pi * PD inches = 36/24 revs due to pulleys * 34/24 revs due to gears * 36/12 revs due mag encoder gear on ball shifter * 4096 ticks
 	public static final double ENCODER_TICKS_TO_INCHES = (1);
@@ -53,8 +57,8 @@ public class Arm extends Subsystem implements ControlLoopable
 	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 = -10;
+	public static final double MIN_POSITION_INCHES = -25;
-	public static final double MAX_POSITION_INCHES = 3900;
+	public static final double MAX_POSITION_INCHES = 4400;
 	public static final double AFTER_INTAKE_POSITION_INCHES = 4.0;
 
 	public static final double SWITCH_POSITION_INCHES = 24.0;
@@ -75,7 +79,7 @@ public class Arm extends Subsystem implements ControlLoopable
 	// Motor controllers
 	private ArrayList<TalonSRXEncoder> motorControllers = new ArrayList<TalonSRXEncoder>();
 
-	private TalonSRXEncoder motor1;
+	public TalonSRXEncoder motor1;
 	private TalonSRX motor2;
 
 	// PID controller and params
@@ -112,8 +116,9 @@ public class Arm extends Subsystem implements ControlLoopable
 	public static final double AUTO_ZERO_MOTOR_CURRENT = 4.0;
 	private boolean isFinished;
 	private ArmControlMode armControlMode = ArmControlMode.MOTION_MAGIC;
-	private double targetPositionInchesPID = 0;
+	public PlaceMode placeMode = PlaceMode.HATCH;
-	private double targetPositionInchesMM = 0;
+	public double targetPositionInchesPID = 0;
+	public double targetPositionInchesMM = 0;
 	private boolean firstMpPoint;
 	private double joystickInchesPerMs = JOYSTICK_INCHES_PER_MS_LO;
 	private double p = 0;
@@ -165,15 +170,18 @@ public class Arm extends Subsystem implements ControlLoopable
 	public void resetZeroPosition(double position) {
 		mpController.resetZeroPosition(position);
 	}
+
 	public void resetEncoder(){
 		motor1.setPosition(0);
+		targetPositionInchesMM = 0;
+		targetPositionInchesPID = 0;
 	}
 
 	private synchronized void setArmControlMode(ArmControlMode controlMode) {
 		this.armControlMode = controlMode;
 	}
 
-	public synchronized ArmControlMode getArmControlMode() {
+	private synchronized ArmControlMode getArmControlMode() {
 		return this.armControlMode;
 	}
 
@@ -193,9 +201,6 @@ public class Arm extends Subsystem implements ControlLoopable
 		setArmControlMode(ArmControlMode.MOTION_MAGIC);
 		updatePositionMM(targetPositionInches);
 		setFinished(false);
-
-
-
 	}
 
 	public double calcGravityCompensationAtCurrentPosition() {
@@ -255,10 +260,10 @@ public class Arm extends Subsystem implements ControlLoopable
  	}
 
 	private double limitPosition(double targetPosition) {
-		if (targetPosition < MIN_POSITION_INCHES) {
+		/*if (targetPosition < MIN_POSITION_INCHES) {
 			return MIN_POSITION_INCHES;
-		}
+		}*/
-		else if (targetPosition > MAX_POSITION_INCHES) {
+		if (targetPosition > MAX_POSITION_INCHES) {
 			return MAX_POSITION_INCHES;
 		}
 
@@ -273,9 +278,38 @@ public class Arm extends Subsystem implements ControlLoopable
 		this.periodMs = periodMs;
 	}
 
+	private int lastDPadAngle = -1;
+	public void dPadButtons(){
+		int dPadAngle = Robot.oi.getOperatorController().getDpadAngle();
+		if (placeMode == PlaceMode.HATCH){
+			if (dPadAngle == 0 && lastDPadAngle == -1){
+				new SetPositionArmWrist(3605, 1144).start();
+			}
+			if (dPadAngle == 90 && lastDPadAngle == -1){
+				new SetPositionArmWrist(2000, 750).start();
+			}
+			if (dPadAngle == 180 && lastDPadAngle == -1){
+				new SetPositionArmWrist(590, 450).start();
+			}
+		}
+		if (placeMode == PlaceMode.CARGO) {
+			if (dPadAngle == 0 && lastDPadAngle == -1){
+				new SetPositionArmWrist(4298, 3243).start();
+			}
+			if (dPadAngle == 90 && lastDPadAngle == -1){
+				new SetPositionArmWrist(2830, 2830).start();
+			}
+			if (dPadAngle == 180 && lastDPadAngle == -1){
+				new SetPositionArmWrist(1388, 2500).start();
+			}
+		}
 
-
+		if (dPadAngle == 270 && lastDPadAngle == -1){
-
+			new StowArm().start();
+		}
+		SmartDashboard.putNumber("DPad Angle", dPadAngle);
+		lastDPadAngle = dPadAngle;
+	}
 
 	public synchronized void controlLoopUpdate() {
 		// Measure *actual* update period
@@ -285,6 +319,8 @@ public class Arm extends Subsystem implements ControlLoopable
 		}
 		lastControlLoopUpdateTimestamp = currentTimestamp;
 
+		dPadButtons();
+
 		if (motor1.getSensorCollection().isRevLimitSwitchClosed()){
 			resetEncoder();
 		}
@@ -335,6 +371,8 @@ public class Arm extends Subsystem implements ControlLoopable
 		double deltaPosition = joystickPosition * joystickInchesPerMs;
 		targetPositionInchesMM = targetPositionInchesMM + deltaPosition;
 		updatePositionMM(targetPositionInchesMM);
+		//Robot.wrist.targetPositionInchesPID = targetPositionInchesPID - (deltaPosition/3);
+		Robot.wrist.updatePositionPID(Robot.wrist.targetPositionInchesPID);
 
 
 	}

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

@@ -73,7 +73,7 @@ public class Wrist extends Subsystem implements ControlLoopable
 	// Motor controllers
 	private ArrayList<TalonSRXEncoder> motorControllers = new ArrayList<TalonSRXEncoder>();
 
-	private TalonSRXEncoder wristMotor1;
+	public TalonSRXEncoder wristMotor1;
 
 	// PID controller and params
 	private MPTalonPIDController mpController;
@@ -99,7 +99,7 @@ public class Wrist extends Subsystem implements ControlLoopable
 	public static final double AUTO_ZERO_MOTOR_CURRENT = 4.0;
 	private boolean isFinished;
 	private WristControlMode wristControlMode = WristControlMode.JOYSTICK_PID;
-	private double targetPositionInchesPID = 0;
+	public double targetPositionInchesPID = 0;
 	private boolean firstMpPoint;
 	private double joystickInchesPerMs = JOYSTICK_INCHES_PER_MS_LO;
 	private double p = 0;
@@ -138,6 +138,7 @@ public class Wrist extends Subsystem implements ControlLoopable
 	}
 	public void resetencoder(){
 		wristMotor1.setPosition(0);
+		targetPositionInchesPID = 0;
 	}
 
 
@@ -192,6 +193,7 @@ public class Wrist extends Subsystem implements ControlLoopable
  	}
 
 	private double limitPosition(double targetPosition) {
+
 		if (targetPosition < MIN_POSITION_INCHES) {
 			return MIN_POSITION_INCHES;
 		}