Merge branch 'master' of https://github.com/Coconuts2486-FRC/FRC2020

Coconuts2486-FRC · Feb 19, 2020 · 41bc6a5 · 41bc6a5
2 parents 7e1c38b + 9047721
commit 41bc6a5
Show file tree

Hide file tree

Showing 13 changed files with 209 additions and 124 deletions.
diff --git a/FRC2020/.gradle/6.0.1/executionHistory/executionHistory.bin b/FRC2020/.gradle/6.0.1/executionHistory/executionHistory.bin
diff --git a/FRC2020/.gradle/6.0.1/executionHistory/executionHistory.lock b/FRC2020/.gradle/6.0.1/executionHistory/executionHistory.lock
diff --git a/FRC2020/.gradle/6.0.1/fileHashes/fileHashes.bin b/FRC2020/.gradle/6.0.1/fileHashes/fileHashes.bin
diff --git a/FRC2020/.gradle/6.0.1/fileHashes/fileHashes.lock b/FRC2020/.gradle/6.0.1/fileHashes/fileHashes.lock
diff --git a/FRC2020/.gradle/6.0.1/javaCompile/classAnalysis.bin b/FRC2020/.gradle/6.0.1/javaCompile/classAnalysis.bin
diff --git a/FRC2020/.gradle/6.0.1/javaCompile/javaCompile.lock b/FRC2020/.gradle/6.0.1/javaCompile/javaCompile.lock
diff --git a/FRC2020/.gradle/buildOutputCleanup/buildOutputCleanup.lock b/FRC2020/.gradle/buildOutputCleanup/buildOutputCleanup.lock
diff --git a/FRC2020/src/main/java/frc/robot/Cartridge/pistonlift.java b/FRC2020/src/main/java/frc/robot/Cartridge/pistonlift.java
@@ -3,22 +3,28 @@
 import frc.robot.Map;
 
 public class pistonlift {
-    public static void pistons() {
-        if (Map.Controllers.driverLeft.getRawButton(1) || Map.Controllers.driverRight.getRawButton(1)) {
-            Map.Cartridge.RightPiston.set(true);
-            Map.Cartridge.LeftPiston.set(true);
-
-        } else {
-            Map.Cartridge.RightPiston.set(false);
-            Map.Cartridge.LeftPiston.set(false);
-        }
-
-    }
-    public static void PistonRoller() {
-       if (Map.Controllers.driverLeft.getRawButton(1) || Map.Controllers.driverRight.getRawButton(1) ) {
+    private static boolean pistonactive = false;
+    public static void run() {
+        if (Map.Controllers.driverLeft.getRawButtonPressed(1)) {
+            if(!pistonactive){
+                Map.Cartridge.RightPiston.set(true);
+                pistonactive = true;
+            }else{
+                Map.Cartridge.RightPiston.set(false);
+                Map.Cartridge.ArmRoller.set(ControlMode.PercentOutput, 0);
+                Map.Cartridge.Conveyor1.set(ControlMode.PercentOutput, 0);
+                pistonactive = false;
+            }
+        } 
+        if(Map.Controllers.driverRight.getRawButton(1)){
             Map.Cartridge.ArmRoller.set(ControlMode.PercentOutput, 1);
-       }else{
-             Map.Cartridge.ArmRoller.set(ControlMode.PercentOutput, 0);
-       }
+            Map.Cartridge.Conveyor1.set(ControlMode.PercentOutput, -0.25);
+        }else if(Map.Controllers.driverRight.getRawButton(5)){
+            Map.Cartridge.ArmRoller.set(ControlMode.PercentOutput, -1);
+            Map.Cartridge.Conveyor1.set(ControlMode.PercentOutput, 1);
+        }else{
+            Map.Cartridge.ArmRoller.set(ControlMode.PercentOutput, 0);
+            Map.Cartridge.Conveyor1.set(ControlMode.PercentOutput, 0);
+        }
     }
 }
diff --git a/FRC2020/src/main/java/frc/robot/Map.java b/FRC2020/src/main/java/frc/robot/Map.java
@@ -5,7 +5,6 @@
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 import com.revrobotics.ColorSensorV3;
-import com.revrobotics.ColorSensorV3.RawColor;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.I2C;
 import edu.wpi.first.wpilibj.Joystick;
@@ -20,10 +19,10 @@ public class Map {
     // Where all controllers and gamepads are stored
     public static class driveTrain{
         // Drive Train Motors
-        public static CANSparkMax lf = new CANSparkMax(0, MotorType.kBrushless);
-        public static CANSparkMax lr = new CANSparkMax(1, MotorType.kBrushless);
-        public static CANSparkMax rf = new CANSparkMax(2, MotorType.kBrushless);
-        public static CANSparkMax rr = new CANSparkMax(3, MotorType.kBrushless);
+        public static CANSparkMax lf = new CANSparkMax(1, MotorType.kBrushless);
+        public static CANSparkMax lr = new CANSparkMax(2, MotorType.kBrushless);
+        public static CANSparkMax rf = new CANSparkMax(3, MotorType.kBrushless);
+        public static CANSparkMax rr = new CANSparkMax(4, MotorType.kBrushless);
 
         //Drive Train Encoders
         public static CANEncoder lfEncoder = lf.getEncoder();
@@ -42,24 +41,30 @@ public static class Turret{
         // Turret Motors
         public static class motors{
             // Rotation motors
-            public static TalonSRX rotation = new TalonSRX(4);
+            public static TalonSRX rotation = new TalonSRX(5);
             // Launching Motors
-            public static TalonSRX launcher = new TalonSRX(5);
-            public static TalonSRX follower = new TalonSRX(6);
+            public static TalonSRX launcher = new TalonSRX(9);
+            public static TalonSRX follower = new TalonSRX(7);
         }
         public static class controllers{
             public static int initiation = 5; // Raw button number for launching initiation
             public static int launch = 6; // Raw button number for launching ball
+            public static int manuelRotateLarge = 0;
+            public static int manuelRotateSmall = 2;
+            public static int manuelLauncherAddPower = 4;
+            public static int manuelLauncherSubtractPower = 2;
+            public static int manuelMode = 10; // button that changes remote into manuel
         }
     }
         public static class Cartridge{
         // Cartridge / Loading-Arm motors (and pneumatics)
-        public static Solenoid RightPiston = new Solenoid (1,1);
-        public static Solenoid LeftPiston = new Solenoid (2,2);
-        public static TalonSRX ArmRoller = new TalonSRX(7);
-        public static TalonSRX Conveyor1 = new TalonSRX(8);
-        public static TalonSRX Conveyor2 = new TalonSRX(9);
-        public static TalonSRX Conveyor3 = new TalonSRX(10);
+        public static Solenoid RightPiston = new Solenoid(1, 4);
+        //private static Solenoid test = new Solenoid(4);
+        //public static Solenoid LeftPiston = new Solenoid (2,2);
+        public static TalonSRX ArmRoller = new TalonSRX(2);
+        public static TalonSRX Conveyor1 = new TalonSRX(4);
+        public static TalonSRX Conveyor2 = new TalonSRX(3);
+        public static TalonSRX Conveyor3 = new TalonSRX(8);
         public static class Sensors{
             public static DigitalInput fullSensor = new DigitalInput(0);
 

diff --git a/FRC2020/src/main/java/frc/robot/TeleOp/DriveTrain.Java b/FRC2020/src/main/java/frc/robot/TeleOp/DriveTrain.Java
@@ -1,13 +1,17 @@
 package frc.robot.TeleOp;
 
+import com.ctre.phoenix.motorcontrol.can.TalonSRX;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.SparkMax;
+
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import frc.robot.Map;
 
 /**
  * DriveTrain
  */
 public class DriveTrain {
-
+    private static double deadBand = 0.05;
     public static double ticksToFeet = 6 * Math.PI / 84;
 
     public static void drive(){
@@ -27,11 +31,19 @@ public class DriveTrain {
         final double lr = leftY + leftX;
         final double rr = rightY - rightX;
         // returns the final movement variables
-
-        Map.driveTrain.lf.set(lf);
-        Map.driveTrain.lr.set(lr);
-        Map.driveTrain.rf.set(rf);
-        Map.driveTrain.rr.set(rr);
-
+        powerManagement(Map.driveTrain.lf, lf);
+        powerManagement(Map.driveTrain.lr, lr);
+        powerManagement(Map.driveTrain.rf, rf);
+        powerManagement(Map.driveTrain.rr, rr);
+         SmartDashboard.putNumber("Driver Left", Map.Controllers.driverLeft.getY());
+         SmartDashboard.putNumber("Driver Right", Map.Controllers.driverRight.getY());
+    }
+    private static void powerManagement(CANSparkMax motor, double pwr){
+        double abspwr = Math.abs(pwr);
+        if(abspwr>deadBand){
+            motor.set(pwr);
+        }else{
+            motor.set(0);
+        }
     }
 }
diff --git a/FRC2020/src/main/java/frc/robot/Turret/Targeting.java b/FRC2020/src/main/java/frc/robot/Turret/Targeting.java
@@ -1,128 +1,147 @@
 package frc.robot.Turret;
 
+import com.ctre.phoenix.motorcontrol.ControlMode;
+
+import frc.robot.Map;
+import frc.robot.Cartridge.Conveyor;
 import frc.robot.Vision.LimeLight;
 
 /**
  * Targeting
  */
 public class Targeting {
     // Customizable Settings
-        // Turret Rotation Settings
-            private static double slopePoint = 1/27; // Point at which turret uses slope formula to turn
-            private static double trackingerror = 1/27; // X axis distange from 0 error range
-        // Launching Settings
-            public static double launchingSpeedAddition = 50; // additional power added to launching function
-            private static double maxLaunchingSpeedError = 20; // maximum velocity error for launcher
-            private static double baseLaunchSpeed = 200; // init speed (so that its close to target launch speed)
+    // Turret Rotation Settings
+    private static double slopePoint = 1; // Point at which turret uses slope formula to turn
+    private static double trackingerror = 0.05; // X axis distange from 0 error range
+    // Launching Settings
+    public static double launchingSpeedAddition = 50; // additional power added to launching function
+    private static double maxLaunchingSpeedError = 20; // maximum velocity error for launcher
+    private static double baseLaunchSpeed = 200; // init speed (so that its close to target launch speed)
 
     // Method Settings
-        private static boolean track = false; // tracks target as long as true
-        private static boolean targetZeroedIn = false; // true if target is within trackingerror 
-        private static boolean maintainLaunchingSpeed = false; // keeps launcher loop up to speed as long as true
-        private static boolean launcherUpToSpeed = false; // nofifies if launcher is at wanted velocity
-        private static boolean maintainBaseLaunchSpeed = false; // maintains a basic launching velocity while true
-    /* 
-    Example data:
-    180 Degrees of rotation
-    y and x (on LimeLight) range from -1 to 1
-    */
-    public static void initilize(){
+    private static boolean track = false; // tracks target as long as true
+    private static boolean targetZeroedIn = false; // true if target is within trackingerror
+    private static boolean maintainLaunchingSpeed = false; // keeps launcher loop up to speed as long as true
+    private static boolean launcherUpToSpeed = false; // nofifies if launcher is at wanted velocity
+    private static boolean maintainBaseLaunchSpeed = false; // maintains a basic launching velocity while true
+    /*
+     * Example data: 180 Degrees of rotation y and x (on LimeLight) range from -1 to
+     * 1
+     */
+
+    public static void initilize() {
         // Starts tracking process
         LimeLight.LED.on();
         // Sets launching motors at base speed
-        Thread setBaseLaunchingSpeed = new Thread(){
-            public void run(){
+        Thread setBaseLaunchingSpeed = new Thread() {
+            public void run() {
                 setBaseLaunchingSpeed();
             }
         };
         // Gets turret into position to launch
-        Thread followingThread = new Thread(){
+        Thread followingThread = new Thread() {
             public void run() {
                 trackTarget();
             }
         };
         // Gets turret up to speed and ready to launch
-        Thread firingThread = new Thread(){
-            public void run(){
+        Thread firingThread = new Thread() {
+            public void run() {
                 initLauncher();
             }
         };
         setBaseLaunchingSpeed.start();
         followingThread.start();
         firingThread.start();
     }
-    public static boolean readyToFire(){
-        if(launcherUpToSpeed&&targetZeroedIn){
+
+    public static boolean readyToFire() {
+        if (launcherUpToSpeed && targetZeroedIn) {
             return true;
-        }else{
+        } else {
             return false;
         }
     }
-    public static void stop(){
-        //stops targeting
+
+    public static void stop() {
+        // stops targeting
         track = false;
         targetZeroedIn = false;
         maintainLaunchingSpeed = false;
         launcherUpToSpeed = false;
         maintainBaseLaunchSpeed = false;
         LimeLight.LED.off();
     }
-    private static void setBaseLaunchingSpeed(){
-        while(maintainBaseLaunchSpeed){
+
+    private static void setBaseLaunchingSpeed() {
+        while (maintainBaseLaunchSpeed) {
             TurretMotion.Launcher.setVelocity(baseLaunchSpeed);
         }
     }
+
     private static void findTarget() {
         // Finds target
-        if(!LimeLight.isTarget()){
-            while(!LimeLight.isTarget()){
-                if(TurretMotion.Rotation.getDegrees()>=90){
-                    while(TurretMotion.Rotation.getDegrees()<180||(!LimeLight.isTarget())){
+        if (!LimeLight.isTarget()) {
+            while (!LimeLight.isTarget()) {
+                if (TurretMotion.Rotation.getDegrees() >= 90) {
+                    while (TurretMotion.Rotation.getDegrees() < 180 || (!LimeLight.isTarget())) {
                         TurretMotion.Rotation.turn(1);
                     }
-                }else{
-                    while(TurretMotion.Rotation.getDegrees()>0||(!LimeLight.isTarget())){
+                } else {
+                    while (TurretMotion.Rotation.getDegrees() > 0 || (!LimeLight.isTarget())) {
                         TurretMotion.Rotation.turn(-1);
                     }
                 }
             }
         }
     }
-    public static void launch(){
-        if(launcherUpToSpeed&&targetZeroedIn){
-            // load ball into chamber (Owens code)
-        }
+
+    public static void launch() {
+        Map.Cartridge.Conveyor1.set(ControlMode.PercentOutput, 0.5);
+        Map.Cartridge.Conveyor2.set(ControlMode.PercentOutput, -0.5);
+        Map.Cartridge.Conveyor3.set(ControlMode.PercentOutput, 0.5);
+        // load ball into chamber (Owens code)
     }
-    private static void initLauncher(){
-        //maintains a launch speed (will need to be in a thread)
-        maintainBaseLaunchSpeed = false; //overrides base launch code
+    public static void stopLaunch(){
+        Map.Cartridge.Conveyor1.set(ControlMode.PercentOutput, 0);
+        Map.Cartridge.Conveyor2.set(ControlMode.PercentOutput, 0);
+        Map.Cartridge.Conveyor3.set(ControlMode.PercentOutput, 0);
+    }
+
+    private static void initLauncher() {
+        // maintains a launch speed (will need to be in a thread)
+        maintainBaseLaunchSpeed = false; // overrides base launch code
         double motorSpeed = TurretMotion.Launcher.getVelocity();
         double targetSpeed = calculateLaunchSpeed();
-        double abserror = Math.abs(targetSpeed-motorSpeed);
-        double error = targetSpeed-motorSpeed;
-        while(maintainLaunchingSpeed){
+        double abserror = Math.abs(targetSpeed - motorSpeed);
+        double error = targetSpeed - motorSpeed;
+        while (maintainLaunchingSpeed) {
             motorSpeed = TurretMotion.Launcher.getVelocity();
             targetSpeed = calculateLaunchSpeed();
-            abserror = Math.abs(targetSpeed-motorSpeed);
-            if(abserror>maxLaunchingSpeedError){
+            abserror = Math.abs(targetSpeed - motorSpeed);
+            if (abserror > maxLaunchingSpeedError) {
                 launcherUpToSpeed = false;
-                TurretMotion.Launcher.setVelocity(targetSpeed-error);// might be minus error (too tired to think rn)
-            }else{
+                TurretMotion.Launcher.setVelocity(targetSpeed - error);// might be minus error (too tired to think rn)
+            } else {
                 launcherUpToSpeed = true;
             }
         }
     }
-    private static double calculateLaunchSpeed(){
+
+    private static double calculateLaunchSpeed() {
         // Finds the speed of the flywheen needed to hit the target
         double y = LimeLight.getY();
-        double output = (y)+launchingSpeedAddition; // replace 'y' with custom function
+        double output = (y) + launchingSpeedAddition; // replace 'y' with custom function
         return output;
     }
-    private static void trackTarget(){
+
+    private static void trackTarget() {
         // Lines turret to center of target
         double position = LimeLight.getX();
         double error = Math.abs(position);
         track = true;
+        LimeLight.LED.on();
         while(track){
             if(LimeLight.isTarget()&&track){
                 position = LimeLight.getX();
@@ -144,7 +163,7 @@ private static void trackTarget(){
                 targetZeroedIn = true;
                 TurretMotion.Rotation.turn(0);
             }else{
-                findTarget();
+                //findTarget();
             }
         }
     }