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Added GearPlacerServo subsystem and added some Javadocs. #4

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Added GearPlacerServo subsystem and added some Javadocs. #4

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aa099d3
Added GearPlacerServo subsystem and added some Javadocs.
mannguyen4624 Jan 16, 2017
10bd240
Changed javadocs and removed port comments
mannguyen4624 Jan 18, 2017
996818c
Fixed robotmap class
mannguyen4624 Jan 19, 2017
c6b144a
Got rid of encoders in preparation for CANTalon. Made Servo extend Ge…
mannguyen4624 Jan 19, 2017
013bb20
Changed command doc
mannguyen4624 Jan 19, 2017
75708ea
Merging with master
mannguyen4624 Jan 20, 2017
277784b
Changed javadoc for commands
mannguyen4624 Jan 20, 2017
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44 changes: 44 additions & 0 deletions .idea/misc.xml
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8 changes: 8 additions & 0 deletions .idea/modules.xml
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6 changes: 6 additions & 0 deletions .idea/vcs.xml
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435 changes: 435 additions & 0 deletions .idea/workspace.xml
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69 changes: 69 additions & 0 deletions NU17.iml
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@@ -0,0 +1,69 @@
<?xml version="1.0" encoding="UTF-8"?>
<module type="JAVA_MODULE" version="4">
<component name="EclipseModuleManager">
<varelement var="file://$wpilib$" value="wpilib" />
<varelement var="file://$wpilib.sources$" kind="src:" value="wpilib.sources" />
<varelement var="file://$networktables$" value="networktables" />
<varelement var="file://$networktables.sources$" kind="src:" value="networktables.sources" />
<varelement var="file://$opencv$" value="opencv" />
<varelement var="file://$opencv.sources$" kind="src:" value="opencv.sources" />
<varelement var="file://$cscore$" value="cscore" />
<varelement var="file://$cscore.sources$" kind="src:" value="cscore.sources" />
<src_description expected_position="0">
<src_folder value="file://$MODULE_DIR$/src" expected_position="0" />
</src_description>
</component>
<component name="NewModuleRootManager" inherit-compiler-output="false">
<output url="file://$MODULE_DIR$/bin" />
<exclude-output />
<content url="file://$MODULE_DIR$">
<sourceFolder url="file://$MODULE_DIR$/src" isTestSource="false" />
</content>
<orderEntry type="sourceFolder" forTests="false" />
<orderEntry type="module-library">
<library name="wpilib">
<CLASSES>
<root url="file://$wpilib$" />
</CLASSES>
<JAVADOC />
<SOURCES>
<root url="file://$wpilib.sources$" />
</SOURCES>
</library>
</orderEntry>
<orderEntry type="module-library">
<library name="networktables">
<CLASSES>
<root url="file://$networktables$" />
</CLASSES>
<JAVADOC />
<SOURCES>
<root url="file://$networktables.sources$" />
</SOURCES>
</library>
</orderEntry>
<orderEntry type="module-library">
<library name="opencv">
<CLASSES>
<root url="file://$opencv$" />
</CLASSES>
<JAVADOC />
<SOURCES>
<root url="file://$opencv.sources$" />
</SOURCES>
</library>
</orderEntry>
<orderEntry type="module-library">
<library name="cscore">
<CLASSES>
<root url="file://$cscore$" />
</CLASSES>
<JAVADOC />
<SOURCES>
<root url="file://$cscore.sources$" />
</SOURCES>
</library>
</orderEntry>
<orderEntry type="inheritedJdk" />
</component>
</module>
4 changes: 2 additions & 2 deletions src/com/nutrons/nu17/OI.java
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Expand Up @@ -28,10 +28,10 @@ public class OI {
private final Button LOWER_PLACER = new JoystickButton(
this.OPERATOR_PAD,
RobotMap.JOYSTICK_X);

public static final Joystick DRIVER_PAD = new Joystick(RobotMap.JOYSTICK1);
public static final Joystick OPERATOR_PAD = new Joystick(RobotMap.JOYSTICK2);

public OI() {
this.RAISE_PLACER.whenPressed(new RaiseGearPlacerCmd());
this.LOWER_PLACER.whenPressed(new LowerGearPlacerCmd());
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5 changes: 3 additions & 2 deletions src/com/nutrons/nu17/RobotMap.java
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Expand Up @@ -2,11 +2,12 @@

public class RobotMap {

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The bit that said they were wheels was helpful. Add a comment:
// Wheel motors

// Ports of wheels
// Wheel motors
public static final int FRONT_LEFT = 0;
public static final int BACK_LEFT = 1;
public static final int FRONT_RIGHT = 2;
public static final int BACK_RIGHT = 3;

// Paramter naming convention : Subsystem SIDE_PLACEMENT
// Ports of intake
public static final int ROLLER_FRONT = 0;
Expand All @@ -24,6 +25,7 @@ public class RobotMap {
public static final int DRIVETRAIN_HEADING_GYRO = 0;

// Port of gear placer
public static final int GEAR_PLACER = 0;
public static final int GEAR_PLACER_SERVO = 0;

// Port of shooter
Expand All @@ -50,7 +52,6 @@ public class RobotMap {
public static final int TWIN_RIGHT_ENCODER_2 = 12;
public static final int SHOOT_ENCODER_1 = 0;
public static final int SHOOT_ENCODER_2 = 1;


// Port of joysticks
public static final int JOYSTICK1 = 0;
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which joysticks? The number does not tell me anything

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39 changes: 39 additions & 0 deletions src/com/nutrons/nu17/commands/DrivePIDCmd.java
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package com.nutrons.nu17.commands;

import com.nutrons.nu17.Robot;
import edu.wpi.first.wpilibj.command.Command;

public class DrivePIDCmd extends Command {

private double target;

public DrivePIDCmd(double target) {
requires(Robot.DRIVETRAIN);
this.target = target;
}

/**
* Sets a target to drive to. Sets how far the robot can be displaced from the target.
*/
protected void initialize() {
Robot.DRIVETRAIN.DISTANCE_PID.setSetpoint(this.target);
Robot.DRIVETRAIN.DISTANCE_PID.setAbsoluteTolerance(0.2);
Robot.DRIVETRAIN.DISTANCE_PID.enable();
}

protected void execute() {
//empty
}
// Finishes when targeted destination is reached
protected boolean isFinished() {
return Math.abs(Robot.DRIVETRAIN.DISTANCE_PID.getError()) < 0.2;
}

protected void end() {
Robot.DRIVETRAIN.DISTANCE_PID.disable();
}

protected void interrupted() {
end();
}
}
9 changes: 6 additions & 3 deletions src/com/nutrons/nu17/commands/LowerGearPlacerCmd.java
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Expand Up @@ -5,7 +5,7 @@
import edu.wpi.first.wpilibj.command.Command;

/**
*
* Lower the gear placer.
*/
public class LowerGearPlacerCmd extends Command {

Expand All @@ -14,7 +14,7 @@ public LowerGearPlacerCmd() {
}

/**
* Lowers the gear placer.
* Lower the gear placer.
*/
protected void initialize() {
Robot.GP.set(0);
Expand All @@ -23,7 +23,10 @@ protected void initialize() {
protected void execute() {
//empty
}
// Finished when the placer is at the lowest position

/**
* Finished once the gear placer is at the lowest position.
*/
protected boolean isFinished() {
return Robot.GP.getPosition() == 0;
}
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9 changes: 6 additions & 3 deletions src/com/nutrons/nu17/commands/RaiseGearPlacerCmd.java
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Expand Up @@ -5,7 +5,7 @@
import edu.wpi.first.wpilibj.command.Command;
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These descriptions are for commands. Write them like commands i.e. "Raise the gear placer" instead of "Raises the gear placer"


/**
*
* Raise the gear placer.
*/
public class RaiseGearPlacerCmd extends Command {

Expand All @@ -16,7 +16,7 @@ public RaiseGearPlacerCmd() {
}

/**
* Lowers the gear placer.
* Raises the gear placer.
*/
protected void initialize() {
Robot.GP.set(this.PLACER_MAX_POSITION);
Expand All @@ -25,7 +25,10 @@ protected void initialize() {
protected void execute() {
//empty
}
// Finishes when the placer is at the highest position

/**
* Raise the gear placer to the highest position.
*/
protected boolean isFinished() {
return Robot.GP.getPosition() == this.PLACER_MAX_POSITION;
}
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2 changes: 0 additions & 2 deletions src/com/nutrons/nu17/subsystems/Drivetrain.java
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Expand Up @@ -94,15 +94,13 @@ public double getEncoderRate() {
*/
public void resetEncoder() {
this.DRIVE_DISTANCE_ENCODER.reset();

}

/**
* Resets the gyro.
*/
public void resetGyro() {
this.HEADING_GRYO.reset();

}

public void initDefaultCommand() {
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