From 40f72df6e41f2d0cbad4188ac6fdb65a69fe9c9a Mon Sep 17 00:00:00 2001 From: mayabartels Date: Sat, 11 Jan 2020 10:30:37 -0700 Subject: [PATCH 1/4] Pigeon on Smart Dashboard Added pigeon values to smart dashboard. --- src/main/java/frc4388/robot/subsystems/Drive.java | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java index 4a369d9..06c8fe7 100644 --- a/src/main/java/frc4388/robot/subsystems/Drive.java +++ b/src/main/java/frc4388/robot/subsystems/Drive.java @@ -13,6 +13,7 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; import com.ctre.phoenix.sensors.PigeonIMU; import edu.wpi.first.wpilibj.drive.DifferentialDrive; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc4388.robot.Constants.DriveConstants; @@ -60,6 +61,18 @@ public class Drive extends SubsystemBase { m_rightBackMotor.setInverted(InvertType.FollowMaster); } + @Override + public void periodic() { + try { + SmartDashboard.putNumber("Pigeon Yaw", getGyroYaw()); + SmartDashboard.putNumber("Pigeon Pitch", getGyroPitch()); + SmartDashboard.putNumber("Pigeon Roll", getGyroRoll()); + } catch (Exception e) { + //TODO: handle exception + System.err.println(); + } + } + /** * Add your docs here. */ From b015394faf79077cfa6364b55e8de9ff0ce1528a Mon Sep 17 00:00:00 2001 From: "Keenan D. Buckley" Date: Sat, 11 Jan 2020 10:42:23 -0700 Subject: [PATCH 2/4] Add Reset of Gyro Yaw On Init Co-Authored-By: aarav18 --- src/main/java/frc4388/robot/subsystems/Drive.java | 1 + 1 file changed, 1 insertion(+) diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java index 06c8fe7..3c6687c 100644 --- a/src/main/java/frc4388/robot/subsystems/Drive.java +++ b/src/main/java/frc4388/robot/subsystems/Drive.java @@ -43,6 +43,7 @@ public class Drive extends SubsystemBase { m_leftBackMotor.configFactoryDefault(); m_rightBackMotor.configFactoryDefault(); m_pigeon.configFactoryDefault(); + resetGyroYaw(); /* set back motors as followers */ m_leftBackMotor.follow(m_leftFrontMotor); From 5ac1e281d7330f891d98d59cb9e99a7e6fb1fcec Mon Sep 17 00:00:00 2001 From: aarav18 Date: Sat, 11 Jan 2020 10:46:57 -0700 Subject: [PATCH 3/4] Added Error Message Added surprise error message for pigeon on smart dashboard. --- src/main/java/frc4388/robot/subsystems/Drive.java | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java index 06c8fe7..e7088d1 100644 --- a/src/main/java/frc4388/robot/subsystems/Drive.java +++ b/src/main/java/frc4388/robot/subsystems/Drive.java @@ -68,8 +68,7 @@ public class Drive extends SubsystemBase { SmartDashboard.putNumber("Pigeon Pitch", getGyroPitch()); SmartDashboard.putNumber("Pigeon Roll", getGyroRoll()); } catch (Exception e) { - //TODO: handle exception - System.err.println(); + System.err.println("The operation failed successfully."); } } From cdd897d3280e194b801e0065b8663e8c726d216f Mon Sep 17 00:00:00 2001 From: aarav18 Date: Sat, 11 Jan 2020 11:26:59 -0700 Subject: [PATCH 4/4] Added Velocities to Smart Dashboard Right and Left Front Motor Velocities Added --- src/main/java/frc4388/robot/subsystems/Drive.java | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java index c5640e1..7821c97 100644 --- a/src/main/java/frc4388/robot/subsystems/Drive.java +++ b/src/main/java/frc4388/robot/subsystems/Drive.java @@ -68,6 +68,8 @@ public class Drive extends SubsystemBase { SmartDashboard.putNumber("Pigeon Yaw", getGyroYaw()); SmartDashboard.putNumber("Pigeon Pitch", getGyroPitch()); SmartDashboard.putNumber("Pigeon Roll", getGyroRoll()); + SmartDashboard.putNumber("Left Motor Velocity Raw", m_leftFrontMotor.getSelectedSensorVelocity()); + SmartDashboard.putNumber("Right Motor Velocity Raw", m_rightFrontMotor.getSelectedSensorVelocity()); } catch (Exception e) { System.err.println("The operation failed successfully."); }