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Robot.java
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Robot.java
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package org.usfirst.frc.team365.robot;
import java.net.SocketException;
import com.kauailabs.navx.frc.AHRS;
import edu.wpi.first.wpilibj.AnalogInput;
//import edu.wpi.first.wpilibj.SPI;
import edu.wpi.first.wpilibj.CANTalon;
import edu.wpi.first.wpilibj.Counter;
import edu.wpi.first.wpilibj.CounterBase.EncodingType;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PIDController;
import edu.wpi.first.wpilibj.PIDOutput;
import edu.wpi.first.wpilibj.SPI;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.networktables.NetworkTable;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj.tables.ITable;
/**
* The VM is configured to automatically run this class, and to call the
* functions corresponding to each mode, as described in the IterativeRobot
* documentation. If you change the name of this class or the package after
* creating this project, you must also update the manifest file in the resource
* directory.
*/
public class Robot extends IterativeRobot implements PIDOutput {
// CameraServer server;
AHRS navX;
CANTalon driveLA = new CANTalon(12);
CANTalon driveLB = new CANTalon(13);
CANTalon driveLC = new CANTalon(14);
CANTalon driveRA = new CANTalon(1);
CANTalon driveRB = new CANTalon(2);
CANTalon driveRC = new CANTalon(3);
CANTalon shooterA = new CANTalon(9);
CANTalon shooterB = new CANTalon(10);
CANTalon shootAngle = new CANTalon(11);
CANTalon scaleL = new CANTalon(15);
CANTalon scaleR = new CANTalon(0);
CANTalon collector = new CANTalon(6);
CANTalon ballControl = new CANTalon(5);
CANTalon arm = new CANTalon(4);
Joystick driveStick = new Joystick(0);
Joystick funStick = new Joystick(1);
Counter shootSpeedA = new Counter(5);
Counter shootSpeedB = new Counter(4);
Encoder distanceL = new Encoder(0, 1, false, EncodingType.k1X);
Encoder distanceR = new Encoder(2, 3, true, EncodingType.k1X);
DigitalInput ballSensor = new DigitalInput(7);
DigitalInput armLimit = new DigitalInput(6);
DigitalInput tapeSensor = new DigitalInput(8);
DigitalInput armUpLimit = new DigitalInput(9);
AnalogInput armPot = new AnalogInput(0);
AnalogInput launchAngle = new AnalogInput(1);
AnalogInput moeSonar = new AnalogInput(2);
Timer autoTimer = new Timer();
PIDController angleController;
PIDController driveStraight;
NetworkTable table;
int disabledLoop;
int teleopLoop;
int autoLoop;
int testLoop;
int startLoop;
int autoStep;
int loopCount;
int autoRoutine;
int turnCount;
int floorCount;
boolean shooterOn;
int onTape;
boolean pastButton2D;
boolean pastButton4;
boolean pastButton3D;
boolean pastButton4D;
boolean pastButton5D;
boolean pastButton6D;
boolean pastButton7D;
boolean pastButton8D;
boolean pastButton9D;
boolean pastButton10D;
boolean pastButton11D;
boolean pastButton12D;
boolean pidContOn;
boolean onSpeed;
int defenseStep;
double moat;
double powerA;
double powerB;
double speedSumA;
double speedSumB;
double setSpeedA;
double setSpeedB;
double direction;
double startYaw;
double turnToAngle;
double turnSum;
double maxTurnPower;
double lastOffYaw;
double minRoll;
double maxRoll;
double rollOffset;
double defenseDist;
double seeTapeDist;
double wallDist;
double lowBarDist;
// double sonarDist;
// double PIDKP;
// double PIDKI;
// double PIDKD;
double desiredSpeedA = 4200.0;
double desiredSpeedB = 4000.0;
final double KPspeedA = 0.0001; // .0004;
final double KPspeedB = 0.0001; // .0004;
final double KIspeedA = .00001;
final double KIspeedB = .00001;
final double armDown = 1.9;
final double armCheval = 2.6;
final double armBumper = 3.4;
final double arm90 = 4.4;
final double armClimb = 4.6;
// final double farAngleLimit = 3.8;
// final double closeAngleLimit = 2.9;
final double shooterClose = 2.9; // 32.8 degrees
final double shooterOuterWorks = 3.8; // 50.7 degrees
//grip: 480x320
//liam: 640x480
final double halfWidth = 240.0;
final double halfHeight = 160.;
boolean analyzePicture=true;
boolean foundTarget = false;
Udp udpVision;
Thread udpThread;
AutoFile autoFile=new AutoFile();
int autoFileChoice=0;
final static int NAK=0;
AutoData autoData;
public Robot() {
// server = CameraServer.getInstance();
// server.setSize(1);
// server.setQuality(50);
// server.startAutomaticCapture("cam1");
table=NetworkTable.getTable("GRIP");
navX = new AHRS(SPI.Port.kMXP, (byte) 50);
}
/**
* This function is run when the robot is first started up and should be
* used for any initialization code.
*/
public void robotInit() {
driveRA.setInverted(true);
driveRB.setInverted(true);
driveRC.setInverted(true);
driveLA.enableBrakeMode(true);
driveLB.enableBrakeMode(true);
driveLC.enableBrakeMode(true);
driveRA.enableBrakeMode(true);
driveRB.enableBrakeMode(true);
driveRC.enableBrakeMode(true);
shootSpeedA.setSamplesToAverage(5);
arm.enableBrakeMode(true);
shootAngle.enableBrakeMode(true);
ballControl.enableBrakeMode(true);
// SmartDashboard.putNumber("desiredSpeedA", 4000.);
// SmartDashboard.putNumber("desiredSpeedB", 4000.);
// SmartDashboard.putNumber("KP", .04);
// SmartDashboard.putNumber("KI", 0);
// SmartDashboard.putNumber("KD", .04);
SmartDashboard.putNumber("autoChoice", 0);
SmartDashboard.putNumber("Moat", 0);
angleController = new PIDController(0.03, 0.0005, 0.5, navX, this);
angleController.setContinuous();
angleController.setInputRange(-180.0, 180.0);
angleController.setOutputRange(-0.6, 0.6);
angleController.setAbsoluteTolerance(1.0);
driveStraight = new PIDController(0.04, 0.00005, 0.03, navX, this);
driveStraight.setContinuous();
driveStraight.setInputRange(-180.0, 180.0);
driveStraight.setOutputRange(-1.0, 1.0);
autoFileChoice=autoFile.readAutoFile();
try
{
udpVision=new Udp("vision");
udpThread=new Thread(udpVision);
udpThread.start();
}
catch(SocketException se)
{
}
}
public void disabledInit() {
disabledLoop = 0;
shooterOn = false;
shooterA.set(0);
shooterB.set(0);
arm.set(0);
// driveRobot(0,0);
collector.set(0);
if (angleController.isEnabled()) {
angleController.disable();
}
if (driveStraight.isEnabled()) {
driveStraight.disable();
}
}
public void disabledPeriodic() {
disabledLoop++;
if(driveStick.getRawButton(1))
autoFile.writeAutoFile(Integer.toString((int)SmartDashboard.getNumber("dfltChoice")));
if (driveStick.getRawButton(4)) {
distanceL.reset();
distanceR.reset();
}
if (driveStick.getRawButton(2)) {
navX.zeroYaw();
if (!navX.isCalibrating())
rollOffset = navX.getRoll();
}
if (driveStick.getRawButton(3)) {
minRoll = 0;
maxRoll = 0;
}
if (driveStick.getRawButton(6)) autoRoutine = 1;
else if (driveStick.getRawButton(8)) autoRoutine = 2;
else if (driveStick.getRawButton(10)) autoRoutine = 3;
else if (driveStick.getRawButton(12)) autoRoutine = 4;
else if (driveStick.getRawButton(11)) autoRoutine = 5;
else if (driveStick.getRawButton(5)) autoRoutine = 0;
else if (driveStick.getRawButton(7)) autoRoutine = 6;
else if (driveStick.getRawButton(9)) autoRoutine = 7;
else if (funStick.getRawButton(6)) autoRoutine = 8;
else if (funStick.getRawButton(7)) autoRoutine = 9;
else if (funStick.getRawButton(10)) autoRoutine = 10;
else if (funStick.getRawButton(11)) autoRoutine = 11;
if (funStick.getRawButton(9)) moat = 1;
else if (funStick.getRawButton(8)) moat = 0;
if (disabledLoop % 25 == 0) {
SmartDashboard.putNumber("powerA", powerA);
SmartDashboard.putNumber("speedA", 60. / shootSpeedA.getPeriod());
SmartDashboard.putNumber("powerB", powerB);
SmartDashboard.putNumber("speedB", 60. / shootSpeedB.getPeriod());
SmartDashboard.putNumber("desiredSpeedA", setSpeedA);
SmartDashboard.putNumber("desiredSpeedB", setSpeedB);
SmartDashboard.putBoolean("ballSensor", ballSensor.get());
SmartDashboard.putBoolean("tapeSensor", tapeSensor.get());
SmartDashboard.putNumber("armPot", armPot.getAverageVoltage());
SmartDashboard.putNumber("shooterAngle", launchAngle.getVoltage());
SmartDashboard.putNumber("distL", distanceL.getRaw());
SmartDashboard.putNumber("distR", distanceR.getRaw());
SmartDashboard.putBoolean("armLimit", armLimit.get());
SmartDashboard.putBoolean("armUpLimit", armUpLimit.get());
SmartDashboard.putNumber("yaw", navX.getYaw());
SmartDashboard.putNumber("pitch", navX.getPitch());
SmartDashboard.putNumber("roll", navX.getRoll());
SmartDashboard.putBoolean("navXenabled", navX.isConnected());
SmartDashboard.putNumber("minRoll", minRoll);
SmartDashboard.putNumber("maxRoll", maxRoll);
SmartDashboard.putNumber("lastAutoStep", autoStep);
SmartDashboard.putNumber("defenseDistance", defenseDist);
SmartDashboard.putNumber("seeTapeDist", seeTapeDist);
SmartDashboard.putNumber("wallDist", wallDist);
SmartDashboard.putBoolean("onSpeed", onSpeed);
SmartDashboard.putNumber("sonar", moeSonar.getAverageVoltage());
SmartDashboard.putNumber("turnAngle", turnToAngle);
SmartDashboard.putBoolean("shooterOn", false);
SmartDashboard.putNumber("autoChoice", autoRoutine);
SmartDashboard.putNumber("moat", moat);
// double chooseAuto = SmartDashboard.getNumber("autoChoice");
// autoRoutine = (int) chooseAuto;
// moat=(int)(SmartDashboard.getNumber("Moat"));
// SmartDashboard.putNumber("AutoFile", getAuto());
//autoRoutine=getAuto();
}
}
public void teleopInit() {
// autoData.save();
teleopLoop = 0;
shooterOn = false;
floorCount = 0;
pastButton4 = false;
pidContOn = false;
// rollOffset = navX.getRoll();
pastButton3D = false;
pastButton4D = false;
pastButton2D = false;
pastButton5D = false;
pastButton6D = false;
pastButton7D = false;
pastButton8D = false;
pastButton9D = false;
pastButton10D = false;
pastButton11D = false;
pastButton12D = false;
driveStraight.setOutputRange(-1.0, 1.0);
onTape = 0;
// analyzePicture = true;
}
public void teleopPeriodic() {
teleopLoop++;
boolean newButton4 = funStick.getRawButton(4);
boolean newButton3D = driveStick.getRawButton(3);
boolean newButton2D = driveStick.getRawButton(2);
boolean newButton4D = driveStick.getRawButton(4);
boolean newButton5D = driveStick.getRawButton(5);
boolean newButton6D = driveStick.getRawButton(6);
boolean newButton7D = driveStick.getRawButton(7);
boolean newButton8D = driveStick.getRawButton(8);
boolean newButton9D = driveStick.getRawButton(9);
boolean newButton10D = driveStick.getRawButton(10);
boolean newButton11D = driveStick.getRawButton(11);
boolean newButton12D = driveStick.getRawButton(12);
// Do we want to run the shooter?
if (newButton4) {
shooterOn = true;
if (!pastButton4) {
speedSumA = 0;
speedSumB = 0;
startLoop = teleopLoop;
setSpeedA = desiredSpeedA;
setSpeedB = desiredSpeedB;
// setSpeedA = SmartDashboard.getNumber("desiredSpeedA");
// setSpeedB = SmartDashboard.getNumber("desiredSpeedB");
}
} else if (funStick.getRawButton(5)) {
shooterOn = false;
shooterA.set(0);
shooterB.set(0);
}
// If shooter is "on", set shooter motors to desired speeds
// then check to see if we want to shoot a boulder?
if (shooterOn) {
double zValue = funStick.getZ();
if (zValue > 0.5) {
shooterA.set(-1.0);
shooterB.set(1.0);
}
else if (zValue < -0.5){
// testShooterSpeeds();
/*
* if (newButton9D && !pastButton9D) { desiredSpeedA = desiredSpeedA
* + 100.0; desiredSpeedB = desiredSpeedB + 100.0;
*
* } else if (newButton10D && !pastButton10D) { desiredSpeedA =
* desiredSpeedA - 100.0; desiredSpeedB = desiredSpeedB - 100.0; }
*/
setSpeedA = desiredSpeedA;
setSpeedB = desiredSpeedB;
controlShooter();
if (funStick.getTrigger()) {
ballControl.set(1.0);
} else
ballControl.set(0);
}
else {
shooterA.set(0);
shooterB.set(0);
}
}
// If we are not running the shooter we can run the collector
if (!shooterOn) {
controlCollector();
} else
collector.set(0);
// Raise and lower arm as desired
controlArm();
// Change the shooter angle
controlShooterAngle();
// Move scaling arms
controlScalingArms();
/*
if (funStick.getRawButton(11)&&teleopLoop%20==0)
{
pictureAnalysis();
}
*/
/*
if (pidContOn) {
if (driveStick.getTrigger()) {
// if (newButton2D && !pastButton2D) {
if (angleController.isEnabled())
angleController.disable();
if (driveStraight.isEnabled())
driveStraight.disable();
pidContOn = false;
}
else {
overDefenses();
}
}
else if (newButton6D && !pastButton6D) { // drive straight
startYaw = navX.getYaw();
// turnToAngle = startYaw + 3;
loopCount = 0;
direction = -0.5;
floorCount = 0;
minRoll = 0;
maxRoll = 0;
// driveStraight.setPID(.04, 0, .03);
driveStraight.setSetpoint(startYaw);
driveStraight.enable();
pidContOn = true;
defenseStep = 1;
} else if (newButton8D && !pastButton8D) { // drive straight
startYaw = navX.getYaw();
// turnToAngle = startYaw + 3;
loopCount = 0;
direction = 0.6;
floorCount = 0;
minRoll = 0;
maxRoll = 0;
// double PIDKP = SmartDashboard.getNumber("KP");
// double PIDKI = SmartDashboard.getNumber("KI");
// double PIDKD = SmartDashboard.getNumber("KD");
// driveStraight.setPID(.04, 0, .03);
driveStraight.setSetpoint(startYaw);
driveStraight.enable();
pidContOn = true;
defenseStep = 1;
} else if (newButton10D && !pastButton10D) { // drive straight
startYaw = navX.getYaw();
// turnToAngle = startYaw + 3;
loopCount = 0;
direction = 0.7;
floorCount = 0;
minRoll = 0;
maxRoll = 0;
// double PIDKP = SmartDashboard.getNumber("KP");
// double PIDKI = SmartDashboard.getNumber("KI");
// double PIDKD = SmartDashboard.getNumber("KD");
// driveStraight.setPID(.04, 0, .03);
driveStraight.setSetpoint(startYaw);
driveStraight.enable();
pidContOn = true;
defenseStep = 1;
}
*/
// else
if (newButton3D) { // programmed turn routine to 0 degrees
if (!pastButton3D) {
lastOffYaw = 0;
turnSum = 0;
}
turnRobot(0.0);
} else if (newButton2D) { // programmed to turn 4 degrees left
if (!pastButton2D) {
lastOffYaw = 0;
turnSum = 0;
turnToAngle = navX.getYaw() - 6.0;
}
turnRobot(turnToAngle);
} else if (newButton4D) { // programmed to turn 4 degrees right
if (!pastButton4D) {
lastOffYaw = 0;
turnSum = 0;
turnToAngle = navX.getYaw() + 6.0;
}
turnRobot(turnToAngle);
}
else if (newButton11D) {
if (!pastButton11D) {
startYaw = navX.getYaw();
if (startYaw < -100) startYaw = startYaw + 360;
defenseStep = 1;
}
sallyPort();
}
else if (newButton12D) { // turns robot around 180 degrees
if (!pastButton12D) {
lastOffYaw = 0;
turnSum = 0;
turnToAngle = 179.8;
}
turnRobot(turnToAngle);
}
else if (newButton5D) {
if(!pastButton5D) {
startYaw=navX.getYaw();
turnSum = 0;
lastOffYaw = 0;
}
if(analyzePicture) {
double deltaAngle = pictureAnalysis(140);
SmartDashboard.putNumber("deltaAngle",deltaAngle);
if (foundTarget) {
if (deltaAngle > 0) {
turnToAngle = startYaw - deltaAngle + 0.75;
}
else {
turnToAngle = startYaw - deltaAngle - 0.75;
}
}
else turnToAngle = startYaw;
}
System.out.println(turnToAngle);
turnRobot(turnToAngle);
}
else {
// Drive robot with one joystick
double joyY = -driveStick.getY();
double joyX = driveStick.getX();
double powerLeft = joyY + joyX;
double powerRight = joyY - joyX;
if (driveStick.getTrigger()) {
powerLeft = joyY;
powerRight = joyY;
}
// double nowRoll = navX.getRoll();
// if (nowRoll > maxRoll) maxRoll = nowRoll;
// else if (nowRoll < minRoll) minRoll = nowRoll;
driveRobot(powerLeft, powerRight);
onTape = 0;
analyzePicture=true;
}
if (teleopLoop % 25 == 0) {
SmartDashboard.putNumber("powerA", powerA);
SmartDashboard.putNumber("speedA", 60. / shootSpeedA.getPeriod());
SmartDashboard.putNumber("powerB", powerB);
SmartDashboard.putNumber("speedB", 60. / shootSpeedB.getPeriod());
SmartDashboard.putBoolean("ballSensor", ballSensor.get());
SmartDashboard.putBoolean("tapeSensor", tapeSensor.get());
SmartDashboard.putNumber("armPot", armPot.getAverageVoltage());
SmartDashboard.putNumber("shooterAngle", launchAngle.getVoltage());
SmartDashboard.putNumber("distL", distanceL.getRaw());
SmartDashboard.putNumber("distR", distanceR.getRaw());
SmartDashboard.putBoolean("armLimit", armLimit.get());
SmartDashboard.putBoolean("armUpLimit", armUpLimit.get());
SmartDashboard.putNumber("yaw", navX.getYaw());
SmartDashboard.putNumber("pitch", navX.getPitch());
SmartDashboard.putNumber("roll", navX.getRoll());
SmartDashboard.putBoolean("shooterOn", shooterOn);
// SmartDashboard.putNumber("minRoll", minRoll);
// SmartDashboard.putNumber("maxRoll", maxRoll);
// SmartDashboard.putNumber("defenseDistance", defenseDist);
// SmartDashboard.putNumber("sonar", moeSonar.getAverageVoltage());
SmartDashboard.putBoolean("foundTarget", foundTarget);
}
pastButton4 = newButton4;
pastButton2D = newButton2D;
pastButton3D = newButton3D;
pastButton4D = newButton4D;
pastButton5D = newButton5D;
pastButton6D = newButton6D;
pastButton7D = newButton7D;
pastButton8D = newButton8D;
pastButton9D = newButton9D;
pastButton10D = newButton10D;
pastButton11D = newButton11D;
pastButton12D = newButton12D;
}
public void autonomousInit() {
autoLoop = 0;
autoStep = 1;
floorCount = 0;
autoTimer.start();
navX.zeroYaw();
distanceL.reset();
distanceR.reset();
rollOffset = navX.getRoll();
onTape = 0;
analyzePicture = true;
// autoRoutine=(int)SmartDashboard.getNumber("autoChoice");
// if(autoRoutine==0)autoRoutine=autoFileChoice;
// SmartDashboard.putNumber("ranRoutne", autoRoutine);
}
public void autonomousPeriodic() {
autoLoop++;
loopCount++;
// autoTestRoutine();
//autoRoutine = 1;
switch (autoRoutine) {
case 1:
lowBarAutoHigh();
break;
case 2:
newRoughTerrain2High();
// newWallRT2High();
break;
case 3:
// roughTerrain3High();
newRT3High();
break;
case 4:
// roughTerrain4High();
newRT4High();
break;
case 5:
newRoughTerrain5High();
// newWallRT5High();
break;
case 6:
oldRoughTerrain2Low();
// lowBarAutoLow();
break;
case 7:
oldRoughTerrain5Low();
// roughTerrain2Low();
// newWallRT2Low();
break;
case 8:
lowBarNoShoot();
// roughTerrain5Low();
// newWallRT5Low();
break;
case 9:
roughTerrainNoShoot();
break;
case 10:
autoTestRoutine();
// outerWorks3();
// lowBarFarShot();
// roughTerrainNoShoot();
break;
case 11:
// lowBarWallRoutine();
// lowBarFarShot();
break;
case 12:
oldRoughTerrain2High();
// alternateRT2High();
break;
case 13:
oldRoughTerrain5High();
// alternateRT5High();
break;
default:
break;
}
//serialize();
}
public void testInit() {
testLoop = 0;
}
public void testPeriodic() {
testLoop++;
reverseWinch();
testTalons();
// testShooterSpeeds();
}
public void pidWrite(double output) {
double right = direction - output;
double left = direction + output;
driveRobot(left, right);
}
void driveRobot(double leftSide, double rightSide) {
if (leftSide > 1)
leftSide = 1.0;
else if (leftSide < -1)
leftSide = -1.0;
if (rightSide > 1)
rightSide = 1.0;
else if (rightSide < -1)
rightSide = -1.0;
driveLA.set(leftSide);
driveLB.set(leftSide);
driveLC.set(leftSide);
driveRA.set(rightSide);
driveRB.set(rightSide);
driveRC.set(rightSide);
}
void testTalons() {
if (driveStick.getRawButton(5))
driveLA.set(1.0);
else if (driveStick.getRawButton(6))
driveLA.set(-1.);
else
driveLA.set(0);
if (driveStick.getRawButton(7))
driveLB.set(1.0);
else if (driveStick.getRawButton(8))
driveLB.set(-1.0);
else
driveLB.set(0);
if (driveStick.getRawButton(9))
driveLC.set(1.0);
else if (driveStick.getRawButton(10))
driveLC.set(-1.0);
else
driveLC.set(0);
// if (driveStick.getRawButton(11)) shootAngle.set(1.0);
// else if (driveStick.getRawButton(12)) shootAngle.set(-1.0);
// else shootAngle.set(0);
if (funStick.getRawButton(5))
driveRA.set(1.0);
else if (funStick.getRawButton(6))
driveRA.set(-1.0);
else
driveRA.set(0);
if (funStick.getRawButton(7))
driveRB.set(1.0);
else if (funStick.getRawButton(8))
driveRB.set(-1.0);
else
driveRB.set(0);
if (driveStick.getRawButton(11))
driveRC.set(1.0);
else if (driveStick.getRawButton(12))
driveRC.set(-1.0);
else
driveRC.set(0);
// if (funStick.getRawButton(11)) arm.set(1.0);
// else if (funStick.getRawButton(12)) arm.set(-1.0);
// else arm.set(0);
}
void testShooterSpeeds() {
// mainPower = SmartDashboard.getNumber("powerA");
powerA = (driveStick.getRawAxis(2) + 1.0) / 2.0;
shooterA.set(powerA);
// secondPower = SmartDashboard.getNumber("powerB");
powerB = (driveStick.getRawAxis(4) + 1.0) / 2.0;
shooterB.set(-powerB);
// shooterA.set(1.0);
// shooterB.set(-1.0);
}
void controlShooter() {
/*
* boolean newButton4 = funStick.getRawButton(4); if (newButton4 &&
* !pastButton4) { speedSumA = 0; speedSumB = 0; startLoop = teleopLoop;
* setSpeedA = SmartDashboard.getNumber("desiredSpeedA"); setSpeedB =
* SmartDashboard.getNumber("desiredSpeedB"); shooterOn = true; } else
* if (funStick.getRawButton(5)) { setSpeedA = 0; setSpeedB = 0;
* shooterOn = false; }
*/
double currentSpeedA = 60. / shootSpeedA.getPeriod();
double currentSpeedB = 60. / shootSpeedB.getPeriod();
if (shooterOn) {
double startPowerA = setSpeedA / 4800.;
double startPowerB = setSpeedB / 5200.;
double offSpeedA = setSpeedA - currentSpeedA;
double offSpeedB = setSpeedB - currentSpeedB;
double KPA = 0; //KPspeedA;
double KPB = 0; //KPspeedB;
if (teleopLoop - startLoop > 75) {
if (currentSpeedA < 100 || currentSpeedA > 5200) {
offSpeedA = 0;
speedSumA = 0;
KPA = 0;
} else if (currentSpeedA <= 5200) {
if (offSpeedA > 50)
speedSumA = speedSumA + .001;
else if (offSpeedA < -50)
speedSumA = speedSumA - .001;
// if (Math.abs(offSpeedA) > 50)
// speedSumA = KIspeedA*offSpeedA + speedSumA;
}
if (currentSpeedB < 100 || currentSpeedB > 5200) {
offSpeedB = 0;
speedSumB = 0;
KPB = 0;
} else if (currentSpeedB <= 5200) {
if (offSpeedB > 50)
speedSumB = speedSumB + .001;
else if (offSpeedB < -50)
speedSumB = speedSumB - .001;
// if (Math.abs(offSpeedB) > 50)
// speedSumB = KIspeedB*offSpeedB + speedSumB;
}
}
double newPowerA = startPowerA + KPA * offSpeedA + speedSumA;
double newPowerB = startPowerB + KPB * offSpeedB + speedSumB;
if (offSpeedA > 300) newPowerA = 1.0;
if (offSpeedB > 300) newPowerB = 1.0;
if (newPowerA > 1)
newPowerA = 1.0;
else if (newPowerA < 0)
newPowerA = 0;
if (newPowerB > 1)
newPowerB = 1.0;
else if (newPowerB < 0)
newPowerB = 0;
shooterA.set(newPowerA);
shooterB.set(-newPowerB);
powerA = newPowerA;
powerB = newPowerB;
} else {
shooterA.set(0);
shooterB.set(0);
powerA = 0;
powerB = 0;
}
// pastButton4 = newButton4;
}
boolean autoShooterSpeedControl() {
double currentSpeedA = 60. / shootSpeedA.getPeriod();
double currentSpeedB = 60. / shootSpeedB.getPeriod();
setSpeedA = 4200.;
setSpeedB = 4000.;
// if (shooterOn) {
double startPowerA = setSpeedA / 4800.;
double startPowerB = setSpeedB / 5200.;
double offSpeedA = setSpeedA - currentSpeedA;
double offSpeedB = setSpeedB - currentSpeedB;
double KPA = 0; //KPspeedA;
double KPB = 0; //KPspeedB;
if (loopCount > 75) {
if (currentSpeedA < 100 || currentSpeedA > 5200) {
offSpeedA = 0;
speedSumA = 0;
KPA = 0;
} else if (currentSpeedA <= 5200) {
if (offSpeedA > 50)
speedSumA = speedSumA + .001;
else if (offSpeedA < -50)
speedSumA = speedSumA - .001;
// speedSumA = KIspeedA*offSpeedA + speedSumA;
}
if (currentSpeedB < 100 || currentSpeedB > 5200) {
offSpeedB = 0;
speedSumB = 0;
KPB = 0;
} else if (currentSpeedB <= 5200) {
if (offSpeedB > 50)
speedSumB = speedSumB + .001;
else if (offSpeedB < -50)
speedSumB = speedSumB - .001;
}
// speedSumB = KIspeedB*offSpeedB + speedSumB;
}
double newPowerA = startPowerA + KPA * offSpeedA + speedSumA;
double newPowerB = startPowerB + KPB * offSpeedB + speedSumB;
if (newPowerA > 1)
newPowerA = 1.0;
else if (newPowerA < 0)
newPowerA = 0;
if (newPowerB > 1)
newPowerB = 1.0;
else if (newPowerB < 0)
newPowerB = 0;
shooterA.set(newPowerA);
shooterB.set(-newPowerB);
if (Math.abs(currentSpeedA - 4200.) < 50.0) {
return true;
}
else {
return false;
}
// powerA = newPowerA;
// powerB = newPowerB;
}
void controlCollector() {
if (funStick.getRawButton(2)) { // run collector to bring balls in
collector.set(0.8);
if (ballSensor.get()) {
ballControl.set(1.0); // use 0.5 on real bot
} else
ballControl.set(0);
} else if (funStick.getRawButton(3)) { // run collector to push balls out
if (funStick.getTrigger()) {
collector.set(-1.0);
ballControl.set(0);
}
else {
collector.set(-1.0);
ballControl.set(-1.0);
}
} else {
collector.set(0);
ballControl.set(0);
}
}
void controlArm() {
double moveArm = -funStick.getY(); // use joystick to move arm up and
// down
if (moveArm > 0) { // check for bottom limit switch
if (armLimit.get()) {
arm.set(0);
} else
arm.set(moveArm);
}
/*
else if (moveArm < 0) { //don't go past climbing position
if (armUpLimit.get()&&driveStick.getRawButton(1)) {