Newoi

org/bitbuckets/frc2014/OI.java

@@ -32,34 +32,17 @@ public class OI {
      * The button that fires the ball.
      */
     public Button fireButton = new JoystickButton(Control, 1);
-    /**
-     * The button that runs the intake motor backwards.
-     */
-    public Button retractButton = new JoystickButton(Control, 2);
     /**
      * The button that deploys the intake.
      */
-    public Button intakeDeployButton = new JoystickButton(Control, 4);
-    /**
-     * The button that deploys the intake and runs the roller in.
-     */
-    public Button outtakeButton = new JoystickButton(Control, 6);
+    public Button outtakeButton = new JoystickButton(Control, 4);
     /**
      * The button that deploys the intake and runs the roller.
      */
-    public Button intakeButton = new JoystickButton(Control, 8);
-    /**
-     * The button that makes the intake roller roll in.
-     */
-    public Button intakeRollerButton = new JoystickButton(Control, 12);
+    public Button intakeButton = new JoystickButton(Control, 3);
     /**
      * The button that controls the catapult winch
      */
-    public Button winchButton = new JoystickButton(Control, 3);
-     /**
-     * The button that starts and stops the lights
-     */
-    //public Button lightsOnOffButton = new JoystickButton(stick, //needs to be bound to button//;
-
+    public Button winchButton = new JoystickButton(Control, 12);   
 }
 

org/bitbuckets/frc2014/RandomConstants.java

@@ -22,7 +22,7 @@ public class RandomConstants {
     /** The maximum skim gain. Used in cheesy drive. **/
     public static final double SKIM_GAIN = .5;
     /** The maximum turn gain. Used in cheesy drive. **/
-    public static final double TURN_GAIN = 1.0;
+    public static final double TURN_GAIN = 1.3;
     /** The cutoff for the throttle. Used in cheesy drive. **/
     public static final double THROTTLE_CUTOFF = .3;
 

org/bitbuckets/frc2014/RobotMain.java

@@ -9,6 +9,7 @@
 import edu.wpi.first.wpilibj.Compressor;
 import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.command.Command;
 import edu.wpi.first.wpilibj.command.Scheduler;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import org.bitbuckets.frc2014.commands.*;
@@ -21,30 +22,30 @@
 public class RobotMain extends IterativeRobot {
     /** The compressor. */
     private Compressor compressor = new Compressor(RobotMap.PRESSURE_SWITCH, RobotMap.COMPRESSOR_RELAY);
+    private Command autonCommand;
 
     /**
      * The method that is called when the robot is turned on or code has finished downloading.
      */
     public void robotInit() {
         // Initialize all subsystems
         CommandBase.init();
+        autonCommand = new TwoBallAuto();
         CommandBase.oi.fireButton.whenPressed(new Fire());
-        CommandBase.oi.retractButton.whenPressed(new ArmCatapult());
-        CommandBase.oi.intakeRollerButton.whenPressed(new RollerOn());
-        CommandBase.oi.intakeRollerButton.whenReleased(new RollerOff());
+        CommandBase.oi.winchButton.whenPressed(new ArmCatapult());
         CommandBase.oi.outtakeButton.whenPressed(new OuttakeBall());
         CommandBase.oi.outtakeButton.whenReleased(new RollerOff());
-        CommandBase.oi.intakeDeployButton.whenPressed(new RetractIntake());
-        CommandBase.oi.intakeDeployButton.whenReleased(new DeployIntake());
         CommandBase.oi.intakeButton.whenPressed(new IntakeBall());
-        CommandBase.oi.intakeButton.whenReleased(new IntakeBallOff());
-        //CommandBase.oi.lightsOnOffButton.whenPressed(new SimpleLights());
+        //CommandBase.oi.intakeButton.whenPressed(new DeployIntake());
+        CommandBase.oi.intakeButton.whenReleased(new RetractIntake());
+        //CommandBase.oi.intakeButton.whenReleased(new IntakeBallOff());
     }
 
     /**
      * The method run when autonomous is started.
      */
     public void autonomousInit() {
+        autonCommand.start();
     }
 
     /**
@@ -64,7 +65,7 @@ public void teleopInit() {
         // this line or commen tit out.
 
         System.out.print("Teleop Started");
-
+        autonCommand.cancel();
         compressor.start();
     }
 
@@ -73,7 +74,10 @@ public void teleopInit() {
      */
     public void teleopPeriodic() {
         Scheduler.getInstance().run();
-        CommandBase.driveTrain.tankDrive(CommandBase.oi.JoyRight.getAxis(Joystick.AxisType.kY), CommandBase.oi.JoyLeft.getAxis(Joystick.AxisType.kY));
+        //CommandBase.driveTrain.tankDrive(CommandBase.oi.JoyRight.getAxis(Joystick.AxisType.kY), CommandBase.oi.JoyLeft.getAxis(Joystick.AxisType.kY));
+        //CommandBase.driveTrain.drive(CommandBase.oi.Control.getY(), CommandBase.oi.Control.getX());
+        CommandBase.driveTrain.cheesyDrive(CommandBase.oi.Control.getY(), CommandBase.oi.Control.getX());
+        //System.out.println(CommandBase.oi.Control.getY()+"  "+ CommandBase.oi.Control.getX());
     }
 
     /**

org/bitbuckets/frc2014/commands/DriveTimeMillis.java

@@ -0,0 +1,50 @@
+/*
+ * To change this license header, choose License Headers in Project Properties.
+ * To change this template file, choose Tools | Templates
+ * and open the template in the editor.
+ */
+package org.bitbuckets.frc2014.commands;
+
+/**
+ *
+ * @author Cal Miller
+ */
+public class DriveTimeMillis extends CommandBase {
+
+    private double power, rotation;
+    private long time, timeInit;
+
+    public DriveTimeMillis(double power, double rotation, long time) {
+        requires(driveTrain);
+
+        this.power = power;
+        this.rotation = rotation;
+        this.time = time;
+    }
+
+    // Called just before this Command runs the first time
+    protected void initialize() {
+        timeInit = System.currentTimeMillis();
+        driveTrain.drive(power, rotation);
+    }
+
+    // Called repeatedly when this Command is scheduled to run
+    protected void execute() {
+        driveTrain.drive(power, rotation);
+    }
+
+    // Make this return true when this Command no longer needs to run execute()
+    protected boolean isFinished() {
+        return System.currentTimeMillis() - timeInit >= time;
+    }
+
+    // Called once after isFinished returns true
+    protected void end() {
+            driveTrain.drive(0, 0);
+    }
+
+    // Called when another command which requires one or more of the same
+    // subsystems is scheduled to run
+    protected void interrupted() {
+    }
+}

org/bitbuckets/frc2014/commands/IntakeBall.java

@@ -27,7 +27,7 @@ public IntakeBall() {
      * Called just before this Command runs the first time.
      */
     protected void initialize() {
-        intake.setDeployed(true);//Makes the intake go down.
+        intake.setDeployed(false);//Makes the intake go down.
         intake.setIntakeRoller(RandomConstants.INTAKE_FORWARDS);//Makes intake pull stuff.
     } 
 

org/bitbuckets/frc2014/commands/RetractIntake.java

@@ -27,6 +27,7 @@ public RetractIntake() {
      */
     protected void initialize() {
         intake.setDeployed(true);//Brings intake the intake.
+        intake.setIntakeRoller(0);
     }
 
     /**

org/bitbuckets/frc2014/commands/TwoBallAuto.java

@@ -0,0 +1,40 @@
+/*
+ * To change this license header, choose License Headers in Project Properties.
+ * To change this template file, choose Tools | Templates
+ * and open the template in the editor.
+ */
+package org.bitbuckets.frc2014.commands;
+
+import edu.wpi.first.wpilibj.command.CommandGroup;
+
+/**
+ *
+ * @author Cal Miller [email protected]
+ */
+public class TwoBallAuto extends CommandGroup {
+
+    public TwoBallAuto() {
+        addSequential(new RollerOn());
+        addSequential(new DeployIntake());
+        addSequential(new WaitMillis(250)); //t = .25
+        addSequential(new RollerOff());
+        addSequential(new WaitMillis(750)); //t = 1
+        addSequential(new Fire()); //t = 1.3
+        addSequential(new WaitMillis(750)); //t = 1
+        addSequential(new ArmCatapult()); //t = 2
+        addSequential(new RollerOn());
+        addSequential(new WaitMillis(1500)); //t = 3
+        addSequential(new RetractIntake());
+        addSequential(new RollerOff());
+        addSequential(new WaitMillis(750)); //t = 3.8
+        addSequential(new DeployIntake());
+        addSequential(new RollerOn());
+        addSequential(new WaitMillis(1500)); //t = 4.8
+        addSequential(new RollerOff());
+        addSequential(new Fire()); //t = 5.2
+        addSequential(new WaitMillis(750)); //t = 6.2
+        addSequential(new RetractIntake());
+        addParallel(new DriveTimeMillis(.5,0,1500)); //t = 8.7
+        addParallel(new ArmCatapult());
+    }
+}

org/bitbuckets/frc2014/commands/WaitMillis.java

@@ -0,0 +1,60 @@
+/*
+ * To change this license header, choose License Headers in Project Properties.
+ * To change this template file, choose Tools | Templates
+ * and open the template in the editor.
+ */
+package org.bitbuckets.frc2014.commands;
+
+/**
+ *
+ * @author James Wyeth
+ */
+public class WaitMillis extends CommandBase {
+    /** The time at the beginning of the command. **/
+    private long timeInit;
+    /** The time to wait for. **/
+    private int time;
+
+    /**
+     * Constructor. Sets the time to wait for.
+     * 
+     * @param timeMillis  The time to wait.
+     */
+    public WaitMillis(int timeMillis) {
+        time = timeMillis;
+    }
+
+    /**
+     * Called at the beginning of the command.
+     */
+    protected void initialize() {
+        timeInit = System.currentTimeMillis();
+    }
+
+    /**
+     * Called continuously while the command is running. Does nothing.
+     */
+    protected void execute() {
+    }
+
+    /**
+     * Tells the command whether the tame has passed yet.
+     * 
+     * @return Whether the time has passed.
+     */
+    protected boolean isFinished() {
+        return System.currentTimeMillis() - timeInit >= time;
+    }
+
+    /**
+     * Called when <code>isFinished</code> returns false.
+     */
+    protected void end() {
+    }
+
+    /**
+     * Called if something else needs the required subsystem. Never called in this command.
+     */
+    protected void interrupted() {
+    }
+}

org/bitbuckets/frc2014/subsystems/Catapault.java

@@ -9,7 +9,7 @@
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.Solenoid;
-import edu.wpi.first.wpilibj.Victor;
+import edu.wpi.first.wpilibj.Talon;
 import edu.wpi.first.wpilibj.command.Subsystem;
 import org.bitbuckets.frc2014.RandomConstants;
 import org.bitbuckets.frc2014.RobotMap;
@@ -21,7 +21,7 @@
  */
 public class Catapault extends Subsystem {
     /** Ball-shifter winch powered by two MiniCIMs on Victors */
-    private Victor winch;
+    private Talon winch;
     /** Double-acting cylinder to shift between low-gear and neutral */
     private DoubleSolenoid shifter;
 
@@ -38,7 +38,7 @@ public class Catapault extends Subsystem {
      */
     public Catapault(){
         super();
-        winch = new Victor(RobotMap.WINCH_MOTOR);
+        winch = new Talon(RobotMap.WINCH_MOTOR);
         shifter = new DoubleSolenoid(RobotMap.WINCH_SHIFTER_1, RobotMap.WINCH_SHIFTER_2);
         retracted = new DigitalInput(RobotMap.CATAPAULT_LIMIT_SWITCH);
         latch = new Solenoid(RobotMap.CATAPULT_LATCH);

org/bitbuckets/frc2014/subsystems/DriveTrain.java

@@ -52,8 +52,8 @@ public void initDefaultCommand() {
      * @param right The right joystick throttle. Ranges from -1(backwards) to 1(forwards).
      */
     public void tankDrive(double left, double right){
-        throttleLeft = accelerationLimiter(throttleLeft, left, RandomConstants.MAX_TANK_CHANGE);
-        throttleRight = accelerationLimiter(throttleRight, right, RandomConstants.MAX_TANK_CHANGE);
+        throttleLeft = accelerationLimiter(throttleLeft, left * Math.abs(left), RandomConstants.MAX_TANK_CHANGE);
+        throttleRight = accelerationLimiter(throttleRight, right * Math.abs(right), RandomConstants.MAX_TANK_CHANGE);
         drive.tankDrive(throttleLeft, throttleRight);
     }
 
@@ -66,7 +66,7 @@ public void tankDrive(double left, double right){
     public void drive(double outputMagnitude, double curve){
         throttle = accelerationLimiter(throttle, outputMagnitude, RandomConstants.MAX_MAG_CHANGE);
         rotation = accelerationLimiter(rotation, curve, RandomConstants.MAX_CUR_CHANGE);
-        drive.arcadeDrive(-throttle, -rotation);
+        drive.arcadeDrive(-throttle, rotation);
     }
 
     /**
@@ -79,7 +79,7 @@ public void drive(double outputMagnitude, double curve){
      * @param curve The rotational power from -1 (counterclockwise) to 1 (clockwise).
      */
     public void cheesyDrive(double outputMagnitude, double curve) {
-        if(outputMagnitude >= RandomConstants.THROTTLE_CUTOFF) {
+        if(Math.abs(outputMagnitude) >= RandomConstants.THROTTLE_CUTOFF) {
             curve *= (RandomConstants.TURN_GAIN * Math.abs(outputMagnitude));
         }
 
@@ -122,5 +122,8 @@ public double accelerationLimiter(double oldValue,
             return requestedValue;
         }
     }
+    public void setWatchDogEnabled(boolean enabled) {
+        drive.setSafetyEnabled(enabled);
+    }
 }
 

org/bitbuckets/frc2014/subsystems/Intake.java

@@ -6,7 +6,7 @@
 
 package org.bitbuckets.frc2014.subsystems;
 
-import edu.wpi.first.wpilibj.Victor;
+import edu.wpi.first.wpilibj.Talon;
 import edu.wpi.first.wpilibj.command.Subsystem;
 import edu.wpi.first.wpilibj.DoubleSolenoid;
 import org.bitbuckets.frc2014.RobotMap;
@@ -19,11 +19,11 @@
  */
 public class Intake extends Subsystem {
     /** Top ABS intake roller driven by RS550 on a Victor */
-    private Victor rollerTop;
+    private Talon rollerTop;
     /** Top ABS intake roller driven by RS550 on a Victor */
-    private Victor rollerLeft;
+    private Talon rollerLeft;
     /** Top ABS intake roller driven by RS550 on a Victor */
-    private Victor rollerRight;
+    private Talon rollerRight;
     /** Two double-acting cylinders to raise/lower the intake arm */
     private DoubleSolenoid deployer;
 
@@ -32,9 +32,9 @@ public class Intake extends Subsystem {
      */
     public Intake() {
         super();
-        rollerTop = new Victor(RobotMap.TOP_ROLLER_MOTOR);
-        rollerLeft = new Victor(RobotMap.LEFT_ROLLER_MOTOR);
-        rollerRight = new Victor(RobotMap.RIGHT_ROLLER_MOTOR);
+        rollerTop = new Talon(RobotMap.TOP_ROLLER_MOTOR);
+        rollerLeft = new Talon(RobotMap.LEFT_ROLLER_MOTOR);
+        rollerRight = new Talon(RobotMap.RIGHT_ROLLER_MOTOR);
         deployer = new DoubleSolenoid(RobotMap.INTAKE_SOLENOID_1, 
                 RobotMap.INTAKE_SOLENOID_2);
     }