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reformated code
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Added auton util and made the auton options extend a AutonOption class.
Changed PID constance. Updated Splines jar
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@Marius-Juston
Marius-Juston committed Mar 5, 2018
1 parent eedee28 commit 264fef7
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Showing 36 changed files with 1,652 additions and 1,535 deletions.
38 changes: 19 additions & 19 deletions PowerUp/build.xml
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Original file line number Diff line number Diff line change
@@ -1,30 +1,30 @@
<?xml version="1.0" encoding="UTF-8"?>

<project name="FRC Deployment" default="deploy">
<project default="deploy" name="FRC Deployment">

<!--
The following properties can be defined to override system level
settings. These should not be touched unless you know what you're
doing. The primary use is to override the wpilib version when
working with older robots that can't compile with the latest
libraries.
-->
<!--
The following properties can be defined to override system level
settings. These should not be touched unless you know what you're
doing. The primary use is to override the wpilib version when
working with older robots that can't compile with the latest
libraries.
-->

<!-- By default the system version of WPI is used -->
<!-- <property name="version" value=""/> -->
<!-- By default the system version of WPI is used -->
<!-- <property name="version" value=""/> -->

<!-- By default the system team number is used -->
<!-- <property name="team-number" value=""/> -->
<!-- By default the system team number is used -->
<!-- <property name="team-number" value=""/> -->

<!-- By default the target is set to 10.TE.AM.2 -->
<!-- <property name="target" value=""/> -->
<!-- By default the target is set to 10.TE.AM.2 -->
<!-- <property name="target" value=""/> -->

<!-- Any other property in build.properties can also be overridden. -->
<!-- Any other property in build.properties can also be overridden. -->

<property file="${user.home}/wpilib/wpilib.properties"/>
<property file="build.properties"/>
<property file="${user.home}/wpilib/java/${version}/ant/build.properties"/>
<property file="${user.home}/wpilib/wpilib.properties"/>
<property file="build.properties"/>
<property file="${user.home}/wpilib/java/${version}/ant/build.properties"/>

<import file="${wpilib.ant.dir}/build.xml"/>
<import file="${wpilib.ant.dir}/build.xml"/>

</project>
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59 changes: 40 additions & 19 deletions PowerUp/src/org/usfirst/frc/team2974/robot/Config.java
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Original file line number Diff line number Diff line change
@@ -1,5 +1,7 @@
package org.usfirst.frc.team2974.robot;

import org.usfirst.frc.team2974.robot.Gamepad.Button;
import org.usfirst.frc.team2974.robot.Gamepad.POV;
import org.waltonrobotics.controller.Pose;

/**
Expand All @@ -12,7 +14,7 @@ private Config() {
}

public enum Robot {
PRACTICE(.7800, .000409, false), COMPETITION(.7239, .0002045, true);
PRACTICE(0.7800, 0.000409, false), COMPETITION(0.7239, 0.0002045, true);


private final double robotWidth;
Expand Down Expand Up @@ -41,9 +43,6 @@ public boolean getSensorPhase() {

public static final class Hardware {

// public static final double ROBOT_WIDTH = .78; // new robot: 0.7493 between wheels , 28.5 inches between wheels
// public static final double DISTANCE_PER_PULSE = .000409; // practice bot (ARGGGGGGG): .000409 //compbot = .0002045

public static final int LEFT_MOTOR_CHANNEL = 0; // pwm
public static final int LEFT_ENCODER_CHANNEL1 = 2; // for first digital input
public static final int LEFT_ENCODER_CHANNEL2 = 3; // for second digital input
Expand All @@ -64,6 +63,9 @@ public static final class Hardware {
public static final int ELEVATOR_LIMIT_LOWER_CHANNEL = 4; // digital

public static final int ROBOT_IDENTIFIER_CHANNEL = 9;

private Hardware() {
}
}

public static final class Input { // TODO: get from drive team
Expand All @@ -79,33 +81,37 @@ public static final class Input { // TODO: get from drive team
public static final int SHIFT_DOWN_BUTTON = 2;
public static final int SHIFT_DOWN_BUTTON_ALT = 7;

public static final int SHIFT_TOOGLE_BUTTON = 1;
public static final int SHIFT_TOGGLE_BUTTON = 1;

// right joystick //

// gamepad //
public static final int INTAKE_BUTTON = Gamepad.Button.RIGHT_TRIGGER.index();
public static final int OUTPUT_BUTTON = Gamepad.Button.LEFT_TRIGGER.index();
public static final int INTAKE_BUTTON = Button.RIGHT_TRIGGER.index();
public static final int OUTPUT_BUTTON = Button.LEFT_TRIGGER.index();

public static final int ELEVATOR_NUDGE_UP = POV.N.angle(); // pov
public static final int ELEVATOR_NUDGE_DOWN = POV.S.angle(); // pov
public static final int ELEVATOR_ZERO = Button._9.index();
public static final int ELEVATOR_TOGGLE_CONTROL = Button._10.index();

public static final int ELEVATOR_NUDGE_UP = Gamepad.POV.N.angle(); // pov
public static final int ELEVATOR_NUDGE_DOWN = Gamepad.POV.S.angle(); // pov
public static final int ELEVATOR_ZERO = Gamepad.Button._9.index();
public static final int ELEVATOR_TOGGLE_CONTROL = Gamepad.Button._10.index();
public static final int ELEVATOR_HIGH = Button._4.index();
public static final int ELEVATOR_MEDIUM = Button._3.index();
public static final int ELEVATOR_LOW = Button._2.index();

public static final int ELEVATOR_HIGH = Gamepad.Button._4.index();
public static final int ELEVATOR_MEDIUM = Gamepad.Button._3.index();
public static final int ELEVATOR_LOW = Gamepad.Button._2.index();
private Input() {
}
}

public static final class Elevator {

public static final double TOLERANCE = 0.1;
public static final double INCHES_TO_NU = 775; // TODO: FIXME

public static final double HIGH_HEIGHT = 72; // inches, this gets the scale
public static final double MEDIUM_HEIGHT = 24.00; // inches, this gets the switch, exchange top, and portal
public static final double LOW_HEIGHT = 0; // inches, the floor

public static final int MINUMUM_HEIGHT = 1000; // in nu (native units)
public static final int MINIMUM_HEIGHT = 1000; // in nu (native units)
public static final int MAXIMUM_HEIGHT = 20000; // in nu

public static final double NUDGE_DISTANCE = 1; // in inches
Expand All @@ -120,13 +126,19 @@ public static final class Elevator {
public static final double KD = 0;

public static final int TIMEOUT = 100; // in ms

private Elevator() {
}
}

public static final class IntakeOutput {

public static final double MAX_POWER = 0.75;
public static final double LOW_POWER = 0.25; // Test this value
public static final double HOLD_POWER = 0.1; // TEST

private IntakeOutput() {
}
}

public static final class Path {
Expand Down Expand Up @@ -168,6 +180,9 @@ public static final class Path {
public static final Pose L9 = negateX(R9);
public static final Pose L10 = negateX(R10);

private Path() {
}

/**
* Used for R -> L points. Easy and fast.
*
Expand All @@ -177,7 +192,7 @@ public static final class Path {
private static Pose negateX(Pose p) {
double angle = Math.toRadians(p.getAngle());
// the new angle is the original angle but x is negated
double newAngle = Math.atan2(Math.sin(angle), -Math.cos(angle));
double newAngle = StrictMath.atan2(StrictMath.sin(angle), -StrictMath.cos(angle));
if (newAngle < 0) {
newAngle += 2 * Math.PI;
}
Expand All @@ -187,11 +202,17 @@ private static Pose negateX(Pose p) {

public static final class MotionConstants {

public static final double KV = .267;
public static final double KV = 0.267;
public static final double KAcc = 0;
public static final double KK = 0;
public static final double KS = 1;
public static final double KAng = 0.5;
public static final double KL = 1;
public static final double KAng = 1;
public static final double KL = 2;

public static final double IL = 0.01;
public static final double IAng = 0.01;

private MotionConstants() {
}
}
}
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