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fix keenans dumb merge

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This commit is contained in:
ryan123rudder
2020-02-10 18:02:37 -07:00
parent 57cbc028b9
commit 6fbbca937c
6 changed files with 4 additions and 196 deletions
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src/main/java/frc4388/robot/RobotContainer.java
-3
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@@ -15,9 +15,6 @@ import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.commands.DriveAtVelocityPID;
import frc4388.robot.commands.DriveToDistanceMM;
import frc4388.robot.commands.DriveToDistancePID;
import frc4388.robot.commands.DriveStraightAtVelocityPID;
import frc4388.robot.commands.DriveWithJoystick;
import frc4388.robot.commands.RunClimberWithTriggers;
src/main/java/frc4388/robot/commands/DriveAtVelocityPID.java
-52
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@@ -1,52 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 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 frc4388.robot.commands;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.subsystems.Drive;
public class DriveAtVelocityPID extends CommandBase {
Drive m_drive;
double m_targetVel;
double m_leftTarget;
double m_rightTarget;
/**
* Creates a new DriveAtVelocityPID.
*/
public DriveAtVelocityPID(Drive subsystem, double targetVel) {
// Use addRequirements() here to declare subsystem dependencies.
m_drive = subsystem;
m_targetVel = targetVel;
addRequirements(m_drive);
}
// Called when the command is initially scheduled.
@Override
public void initialize() {
m_leftTarget = m_targetVel;
m_rightTarget = -m_targetVel;
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
m_drive.runDriveVelocityPID(m_drive.m_leftFrontMotor, m_leftTarget);
m_drive.runDriveVelocityPID(m_drive.m_rightFrontMotor, m_rightTarget);
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}
src/main/java/frc4388/robot/commands/DriveToDistanceMM.java
-60
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@@ -1,60 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 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 frc4388.robot.commands;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.Constants.DriveConstants;
import frc4388.robot.subsystems.Drive;
public class DriveToDistanceMM extends CommandBase {
Drive m_drive;
double m_distance;
double m_leftTarget;
double m_rightTarget;
/**
* Creates a new DriveToDistancePID.
* @param subsystem drive subsystem
* @param distance distance to travel in inches
*/
public DriveToDistanceMM(Drive subsystem, double distance) {
// Use addRequirements() here to declare subsystem dependencies.
m_drive = subsystem;
m_distance = distance * DriveConstants.TICKS_PER_INCH;
addRequirements(m_drive);
}
// Called when the command is initially scheduled.
@Override
public void initialize() {
m_leftTarget = m_drive.m_leftFrontMotor.getActiveTrajectoryPosition() + m_distance;
m_rightTarget = -(m_drive.m_rightFrontMotor.getActiveTrajectoryPosition() + m_distance);
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
//m_drive.runMotionMagicPID(m_drive.m_leftFrontMotor, m_leftTarget);
//m_drive.runMotionMagicPID(m_drive.m_rightFrontMotor, m_rightTarget);
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
if (Math.abs(m_drive.m_leftFrontMotor.getActiveTrajectoryPosition() - m_leftTarget) < 100){
return true;
} else {
return false;
}
}
}
src/main/java/frc4388/robot/commands/DriveToDistancePID.java
-60
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@@ -1,60 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 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 frc4388.robot.commands;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.subsystems.Drive;
public class DriveToDistancePID extends CommandBase {
Drive m_drive;
double m_distance;
double m_leftTarget;
double m_rightTarget;
/**
* Creates a new DriveToDistancePID.
*/
public DriveToDistancePID(Drive subsystem, double distance) {
// Use addRequirements() here to declare subsystem dependencies.
m_drive = subsystem;
m_distance = distance;
addRequirements(m_drive);
}
// Called when the command is initially scheduled.
@Override
public void initialize() {
m_leftTarget = m_drive.m_leftFrontMotor.getActiveTrajectoryPosition() + m_distance;
m_rightTarget = -(m_drive.m_rightFrontMotor.getActiveTrajectoryPosition() + m_distance);
SmartDashboard.putNumber("Left Target", m_leftTarget);
SmartDashboard.putNumber("Right Target", m_rightTarget);
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
m_drive.runDrivePositionPID(m_drive.m_leftFrontMotor, m_leftTarget);
m_drive.runDrivePositionPID(m_drive.m_rightFrontMotor, m_rightTarget);
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
if (Math.abs(m_drive.m_leftFrontMotor.getActiveTrajectoryPosition() - m_leftTarget) < 100){
return true;
} else {
return false;
}
}
}
src/main/java/frc4388/robot/subsystems/Drive.java
-17
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@@ -318,23 +318,6 @@ public class Drive extends SubsystemBase {
}
}
/**
* Add your docs here.
*/
public void setDriveTrainGains(){
m_leftFrontMotor.selectProfileSlot(DriveConstants.DRIVE_SLOT_IDX, DriveConstants.DRIVE_PID_LOOP_IDX);
m_leftFrontMotor.config_kF(DriveConstants.DRIVE_SLOT_IDX, m_driveGains.kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.config_kP(DriveConstants.DRIVE_SLOT_IDX, m_driveGains.kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.config_kI(DriveConstants.DRIVE_SLOT_IDX, m_driveGains.kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.config_kD(DriveConstants.DRIVE_SLOT_IDX, m_driveGains.kD, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.selectProfileSlot(DriveConstants.DRIVE_SLOT_IDX, DriveConstants.DRIVE_PID_LOOP_IDX);
m_rightFrontMotor.config_kF(DriveConstants.DRIVE_SLOT_IDX, m_driveGains.kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kP(DriveConstants.DRIVE_SLOT_IDX, m_driveGains.kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kI(DriveConstants.DRIVE_SLOT_IDX, m_driveGains.kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kD(DriveConstants.DRIVE_SLOT_IDX, m_driveGains.kD, DriveConstants.DRIVE_TIMEOUT_MS);
}
/**
* Add your docs here.
*/
src/main/java/frc4388/robot/subsystems/Shooter.java
+4 -4
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@@ -64,10 +64,10 @@ public class Shooter extends SubsystemBase {
*/
public void setShooterGains() {
m_shooterFalcon.selectProfileSlot(ShooterConstants.SHOOTER_SLOT_IDX, ShooterConstants.SHOOTER_PID_LOOP_IDX);
m_shooterFalcon.config_kF(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.kF, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.config_kP(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.kP, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.config_kI(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.kI, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.config_kD(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.kD, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.config_kF(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.m_kF, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.config_kP(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.m_kP, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.config_kI(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.m_kI, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.config_kD(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.m_kD, ShooterConstants.SHOOTER_TIMEOUT_MS);
}
/**
* Runs drum shooter velocity PID.