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63 changes: 63 additions & 0 deletions
63
3494_2017_repo/src/org/usfirst/frc/team3494/robot/commands/auto/AngleTurn.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,63 @@ | ||
| package org.usfirst.frc.team3494.robot.commands.auto; | ||
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| import org.usfirst.frc.team3494.robot.Robot; | ||
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| import edu.wpi.first.wpilibj.command.Command; | ||
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| /** | ||
| * Turns the robot using the gyro board mounted to the RoboRIO. The angle to | ||
| * turn by must be specified in the constructor. | ||
| * | ||
| * @since 0.0.2 | ||
| * @see org.usfirst.frc.team3494.robot.Robot | ||
| * @see org.usfirst.frc.team3494.robot.subsystems.Drivetrain | ||
| */ | ||
| public class AngleTurn extends Command { | ||
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| private double angle; | ||
| private static double tolerance = Robot.prefs.getDouble("angle tolerance", 2.5); | ||
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| public AngleTurn(double angle) { | ||
| // Use requires() here to declare subsystem dependencies | ||
| // eg. requires(chassis); | ||
| requires(Robot.driveTrain); | ||
| this.angle = angle; | ||
| } | ||
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| // Called just before this Command runs the first time | ||
| protected void initialize() { | ||
| Robot.ahrs.reset(); | ||
| } | ||
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| // Called repeatedly when this Command is scheduled to run | ||
| protected void execute() { | ||
| if (!((Robot.ahrs.getAngle() > this.angle - tolerance) && (Robot.ahrs.getAngle() < this.angle + tolerance))) { | ||
| System.out.println(this.angle); | ||
| if (this.angle > 0) { | ||
| Robot.driveTrain.adjustedTankDrive(-0.4, 0.4); | ||
| Robot.driveTrain.resetRight(); | ||
| return; | ||
| } else if (this.angle < 0) { | ||
| Robot.driveTrain.adjustedTankDrive(0.4, -0.4); | ||
| Robot.driveTrain.resetRight(); | ||
| return; | ||
| } else { | ||
| Robot.driveTrain.adjustedTankDrive(0.4, 0.4); | ||
| } | ||
| } | ||
| } | ||
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| // Make this return true when this Command no longer needs to run execute() | ||
| protected boolean isFinished() { | ||
| return ((Robot.ahrs.getAngle() > this.angle - tolerance) && (Robot.ahrs.getAngle() < this.angle + tolerance)); | ||
| } | ||
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| // Called once after isFinished returns true | ||
| protected void end() { | ||
| } | ||
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| // Called when another command which requires one or more of the same | ||
| // subsystems is scheduled to run | ||
| protected void interrupted() { | ||
| } | ||
| } |
68 changes: 68 additions & 0 deletions
68
3494_2017_repo/src/org/usfirst/frc/team3494/robot/commands/auto/CartesianTurnDrive.java
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|---|---|---|
| @@ -0,0 +1,68 @@ | ||
| package org.usfirst.frc.team3494.robot.commands.auto; | ||
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| import org.usfirst.frc.team3494.robot.Robot; | ||
| import org.usfirst.frc.team3494.robot.UnitTypes; | ||
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| import edu.wpi.first.wpilibj.command.Command; | ||
| import edu.wpi.first.wpilibj.command.Scheduler; | ||
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| /** | ||
| * WIP coordinate drive system. | ||
| * | ||
| * @see org.usfirst.frc.team3494.robot.commands.auto.AngleTurn | ||
| * @see org.usfirst.frc.team3494.robot.commands.auto.DistanceDrive | ||
| * @since 0.0.2 | ||
| */ | ||
| public class CartesianTurnDrive extends Command { | ||
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| private double rise; | ||
| private double run; | ||
| private double hypot; | ||
| private double angle; | ||
| private boolean isDone = false; | ||
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| public CartesianTurnDrive(double rise, double run) { | ||
| // Use requires() here to declare subsystem dependencies | ||
| // eg. requires(chassis); | ||
| requires(Robot.driveTrain); | ||
| this.rise = rise; | ||
| this.run = run; | ||
| // angle = inverse tan(rise/run) | ||
| this.angle = Math.toDegrees(Math.atan2(rise, run)); | ||
| } | ||
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| // Called just before this Command runs the first time | ||
| protected void initialize() { | ||
| Robot.ahrs.reset(); | ||
| Robot.driveTrain.resetRight(); | ||
| double run2 = this.run * this.run; | ||
| double rise2 = this.rise * this.rise; | ||
| this.hypot = Math.sqrt(run2 + rise2); | ||
| } | ||
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| // Called repeatedly when this Command is scheduled to run | ||
| protected void execute() { | ||
| Scheduler.getInstance().add(new AngleTurn(this.angle)); | ||
| Robot.driveTrain.resetRight(); | ||
| if (Robot.driveTrain.getRightDistance(UnitTypes.INCHES) > this.hypot) { | ||
| Robot.driveTrain.adjustedTankDrive(0.3, 0.3); | ||
| } else { | ||
| this.isDone = true; | ||
| } | ||
| } | ||
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| // Make this return true when this Command no longer needs to run execute() | ||
| protected boolean isFinished() { | ||
| return this.isDone; | ||
| } | ||
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| // Called once after isFinished returns true | ||
| protected void end() { | ||
| this.isDone = false; | ||
| } | ||
|
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| // Called when another command which requires one or more of the same | ||
| // subsystems is scheduled to run | ||
| protected void interrupted() { | ||
| } | ||
| } |
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54 changes: 54 additions & 0 deletions
54
3494_2017_repo/src/org/usfirst/frc/team3494/robot/commands/intake/RunIntake.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,54 @@ | ||
| package org.usfirst.frc.team3494.robot.commands.intake; | ||
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| import org.usfirst.frc.team3494.robot.Robot; | ||
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| import edu.wpi.first.wpilibj.command.Command; | ||
|
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| /** | ||
| * Runs the intake. Default command for Intake subsystem. | ||
| */ | ||
| public class RunIntake extends Command { | ||
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| boolean running = false; | ||
| double speed; | ||
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| public RunIntake() { | ||
| // Use requires() here to declare subsystem dependencies | ||
| // eg. requires(chassis); | ||
| requires(Robot.intake); | ||
| } | ||
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| // Called just before this Command runs the first time | ||
| protected void initialize() { | ||
| } | ||
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| // Called repeatedly when this Command is scheduled to run | ||
| protected void execute() { | ||
| if (Robot.oi.xbox_lt.get()) { | ||
| this.speed = 1; | ||
| this.running = !this.running; | ||
| } else if (Robot.oi.xbox_rt.get()) { | ||
| this.speed = -1; | ||
| this.running = !this.running; | ||
| } | ||
| if (running) { | ||
| Robot.intake.runIntake(this.speed); | ||
| } else { | ||
| Robot.intake.stopAll(); | ||
| } | ||
| } | ||
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| // Make this return true when this Command no longer needs to run execute() | ||
| protected boolean isFinished() { | ||
| return false; | ||
| } | ||
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| // Called once after isFinished returns true | ||
| protected void end() { | ||
| } | ||
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| // Called when another command which requires one or more of the same | ||
| // subsystems is scheduled to run | ||
| protected void interrupted() { | ||
| } | ||
| } |
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