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add climb button and fix drivetrain/oi stuff #29

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Merged
brettle merged 2 commits into from
Feb 13, 2019
Merged

add climb button and fix drivetrain/oi stuff #29

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764fcd4
add climb button and fix drivetrain/oi stuff
kevinzwang Feb 12, 2019
d5d6be4
format code
kevinzwang Feb 12, 2019
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10 changes: 8 additions & 2 deletions Robot2019/src/main/java/frc/robot/OI.java
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Original file line number Diff line number Diff line change
Expand Up @@ -18,9 +18,11 @@
import frc.robot.commands.ToggleHatch;
import frc.robot.commands.ToggleCamera;
import frc.robot.commands.ActuateClimberRails;
import frc.robot.commands.Climb;
import frc.robot.subsystems.HatchPanel;
import frc.robot.subsystems.Cargo;
import frc.robot.subsystems.Climber;
import frc.robot.subsystems.Drivetrain;

/**
* This class is the glue that binds the controls on the physical operator
Expand All @@ -33,10 +35,11 @@ public class OI {
JoystickButton toggleHatchBtn;
JoystickButton cargoIntakeBtn, cargoEjectBtn;
JoystickButton climberRailBtn;

JoystickButton climbBtn;
JoystickButton toggleCameraBtn;

OI(Cargo cargo, HatchPanel hp, Climber climber, UsbCamera driveCamera, UsbCamera hatchCamera, VideoSink cameraServer) {
OI(Drivetrain dt, HatchPanel hp, Cargo cargo, Climber climber, UsbCamera driveCamera, UsbCamera hatchCamera,
VideoSink cameraServer) {
leftJoy = new Joystick(0);
rightJoy = new Joystick(1);
manipulator = new Joystick(2);
Expand All @@ -57,6 +60,9 @@ public class OI {
climberRailBtn = new JoystickButton(manipulator, 5); // TODO: confirm button number
climberRailBtn.whenPressed(new ActuateClimberRails(climber));

climbBtn = new JoystickButton(manipulator, 4); // TODO: confirm button number
climbBtn.whenPressed(new Climb(climber, dt));

toggleCameraBtn = new JoystickButton(leftJoy, 2);
toggleCameraBtn.whenPressed(new ToggleCamera(driveCamera, hatchCamera, cameraServer));
}
Expand Down
11 changes: 6 additions & 5 deletions Robot2019/src/main/java/frc/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,7 @@

import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.command.Scheduler;
import frc.robot.commands.TeleopDrive;
import frc.robot.subsystems.Cargo;
import frc.robot.subsystems.Climber;
import frc.robot.subsystems.Drivetrain;
Expand All @@ -23,15 +24,15 @@ public class Robot extends TimedRobot {

@Override
public void robotInit() {
dt = new Drivetrain(RobotMap.leftMaster, RobotMap.leftSlave1, RobotMap.leftSlave2, RobotMap.rightMaster,
RobotMap.rightSlave1, RobotMap.rightSlave2, RobotMap.leftEnc, RobotMap.rightEnc, RobotMap.ahrs);
hp = new HatchPanel(RobotMap.hatchPistons);
cargo = new Cargo(RobotMap.cargoRoller, RobotMap.pdp, RobotMap.cargoPDPPort);
climber = new Climber(RobotMap.climberMotor, RobotMap.climberEncoder, RobotMap.ahrs, RobotMap.climberPistons);

oi = new OI(cargo, hp, climber, RobotMap.driveCamera, RobotMap.hatchCamera, RobotMap.cameraServer);

dt = new Drivetrain(RobotMap.leftMaster, RobotMap.leftSlave1, RobotMap.leftSlave2, RobotMap.rightMaster,
RobotMap.rightSlave1, RobotMap.rightSlave2, oi.leftJoy, oi.rightJoy, RobotMap.leftEnc, RobotMap.rightEnc,
RobotMap.ahrs);
oi = new OI(dt, hp, cargo, climber, RobotMap.driveCamera, RobotMap.hatchCamera, RobotMap.cameraServer);

dt.setDefaultCommand(new TeleopDrive(dt, oi.leftJoy, oi.rightJoy));
}

/**
Expand Down
14 changes: 9 additions & 5 deletions Robot2019/src/main/java/frc/robot/commands/TeleopDrive.java
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Original file line number Diff line number Diff line change
Expand Up @@ -7,22 +7,26 @@

package frc.robot.commands;

import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import frc.robot.subsystems.Drivetrain;

public class TeleopDrive extends Command {
Drivetrain dt;
Joystick leftJoy, rightJoy;

/**
* Handles all the teleoperated driving functionality
*
* @param dt the Drivetrain object to use, passing it in is useful for testing
* purposes
*/
public TeleopDrive(Drivetrain dt) {
public TeleopDrive(Drivetrain dt, Joystick leftJoy, Joystick rightJoy) {
requires(dt);
this.dt = dt;
this.leftJoy = leftJoy;
this.rightJoy = rightJoy;
}

@Override
Expand All @@ -35,8 +39,8 @@ protected void execute() {
}

private void arcadeDrive() {
double speed = -dt.leftJoy.getY();
double rot = dt.rightJoy.getX();
double speed = -leftJoy.getY();
double rot = rightJoy.getX();

// System.out.println("Speed: " + speed + ", Rotation: " + rot);

Expand Down Expand Up @@ -84,8 +88,8 @@ private void arcadeDrive() {
}

private void tankDrive() {
double left = -dt.leftJoy.getY();
double right = -dt.rightJoy.getY();
double left = -leftJoy.getY();
double right = -rightJoy.getY();

if (SmartDashboard.getBoolean("Square Joysticks", true)) {
left = Math.copySign(left * left, left);
Expand Down
23 changes: 10 additions & 13 deletions Robot2019/src/main/java/frc/robot/subsystems/Drivetrain.java
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Original file line number Diff line number Diff line change
Expand Up @@ -12,10 +12,8 @@
import com.kauailabs.navx.frc.AHRS;

import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import frc.robot.commands.TeleopDrive;

public class Drivetrain extends Subsystem {
public enum Side {
Expand All @@ -24,12 +22,11 @@ public enum Side {

private WPI_TalonSRX leftMaster, rightMaster;
private Encoder leftEnc, rightEnc;
public Joystick leftJoy, rightJoy;
private AHRS ahrs;

public Drivetrain(WPI_TalonSRX leftMaster, BaseMotorController leftSlave1, BaseMotorController leftSlave2,
WPI_TalonSRX rightMaster, BaseMotorController rightSlave1, BaseMotorController rightSlave2, Joystick leftJoy,
Joystick rightJoy, Encoder leftEnc, Encoder rightEnc, AHRS ahrs) {
WPI_TalonSRX rightMaster, BaseMotorController rightSlave1, BaseMotorController rightSlave2, Encoder leftEnc,
Encoder rightEnc, AHRS ahrs) {

leftSlave1.follow(leftMaster);
leftSlave2.follow(leftMaster);
Expand All @@ -43,24 +40,23 @@ public Drivetrain(WPI_TalonSRX leftMaster, BaseMotorController leftSlave1, BaseM
rightSlave1.setInverted(true);
rightSlave2.setInverted(true);

this.leftJoy = leftJoy;
this.rightJoy = rightJoy;

this.leftEnc = leftEnc;
this.rightEnc = rightEnc;
double pulseFraction = 1.0/256;

double pulseFraction = 1.0 / 256;
double wheelDiameter = 5;
leftEnc.setDistancePerPulse(pulseFraction * Math.PI * wheelDiameter);
rightEnc.setDistancePerPulse(pulseFraction * Math.PI * wheelDiameter);

this.ahrs = ahrs;

}

/**
* teleop drive initialized in Robot.robotInit() to avoid dependency loops
* between dt and oi
*/
@Override
public void initDefaultCommand() {
setDefaultCommand(new TeleopDrive(this));
}

public void drive(double left, double right) {
Expand All @@ -76,7 +72,8 @@ public void stop() {
}

public boolean isStalled() {
return leftMaster.getOutputCurrent() >= 30 || rightMaster.getOutputCurrent() >= 30; // TODO: Find value that actually works (test)
return leftMaster.getOutputCurrent() >= 30 || rightMaster.getOutputCurrent() >= 30; // TODO: Find value that
// actually works (test)
}

public double getEncDist(Side type) {
Expand Down