changes made at competition on Sunday

RoboLoCo-5338 · Mar 13, 2017 · 0af3c95 · 0af3c95
1 parent c5266dd
commit 0af3c95
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Showing 18 changed files with 85 additions and 39 deletions.
diff --git a/bin/org/usfirst/frc/team5338/robot/OI.class b/bin/org/usfirst/frc/team5338/robot/OI.class
diff --git a/bin/org/usfirst/frc/team5338/robot/commands/Autonomous.class b/bin/org/usfirst/frc/team5338/robot/commands/Autonomous.class
diff --git a/bin/org/usfirst/frc/team5338/robot/commands/Move.class b/bin/org/usfirst/frc/team5338/robot/commands/Move.class
diff --git a/bin/org/usfirst/frc/team5338/robot/commands/Turn.class b/bin/org/usfirst/frc/team5338/robot/commands/Turn.class
diff --git a/bin/org/usfirst/frc/team5338/robot/subsystems/DriveTrain.class b/bin/org/usfirst/frc/team5338/robot/subsystems/DriveTrain.class
diff --git a/build/org/usfirst/frc/team5338/robot/OI.class b/build/org/usfirst/frc/team5338/robot/OI.class
diff --git a/build/org/usfirst/frc/team5338/robot/commands/Autonomous.class b/build/org/usfirst/frc/team5338/robot/commands/Autonomous.class
diff --git a/build/org/usfirst/frc/team5338/robot/commands/Move.class b/build/org/usfirst/frc/team5338/robot/commands/Move.class
diff --git a/build/org/usfirst/frc/team5338/robot/commands/Turn.class b/build/org/usfirst/frc/team5338/robot/commands/Turn.class
diff --git a/build/org/usfirst/frc/team5338/robot/subsystems/DriveTrain.class b/build/org/usfirst/frc/team5338/robot/subsystems/DriveTrain.class
diff --git a/dist/FRCUserProgram.jar b/dist/FRCUserProgram.jar
diff --git a/src/org/usfirst/frc/team5338/robot/OI.java b/src/org/usfirst/frc/team5338/robot/OI.java
@@ -26,7 +26,7 @@ public enum DriveState
 	public OI()
 	{
 		ballState = BallState.OFF;
-		driveState = DriveState.FORWARD;
+		driveState = DriveState.REVERSE;
 	}	
 	public Joystick getJoystick(int n)
 	{
@@ -42,39 +42,38 @@ public boolean get(Button button)
 		switch(button)
 		{
 		case OFF: 			
-			return joyR.getRawButton(3);
+			return joyR.getRawButton(5);
 		case LOWER_INTAKE:
-			return joyR.getRawButton(6);
-		case UPPER_INTAKE: 
 			return joyR.getRawButton(4);
+		case UPPER_INTAKE: 
+			return joyR.getRawButton(6);
 		case OUTTAKE: 	
-			return joyR.getRawButton(5);		
+			return joyR.getRawButton(3);		
 		case SLOW: 		
-			return joyL.getRawButton(1);
-		case STRAIGHT:	
 			return joyR.getRawButton(1);
+		case STRAIGHT:	
+			return joyL.getRawButton(1);
 		case REVERSE: 	
 			return joyL.getRawButton(2);
 		case FORWARD: 	
 			return joyR.getRawButton(2);			
 		case GEAR: 
-			return joyL.getRawButton(3);
+			return joyL.getRawButton(5);
 		case WINCH: 	
-			return joyL.getRawButton(4);
-
+			return joyL.getRawButton(6);
 		default: 			
 			return false;
 		}
 	}
 	private double joystickDeadZone(double value)
 	{
-		if (value > 0.08 || value < -0.08)
+		if (value > 0.04 || value < -0.04)
 		{
-		 return (value - 0.08)/0.92;
+		 return (value - 0.04)/0.96;
 		}
-		else if (value < -0.08)
+		else if (value < -0.04)
 		{
-		 return (value + 0.08)/0.92;
+		 return (value + 0.04)/0.96;
 		}
 		return 0.0;
 	}	

diff --git a/src/org/usfirst/frc/team5338/robot/commands/Autonomous.java b/src/org/usfirst/frc/team5338/robot/commands/Autonomous.java
@@ -6,34 +6,45 @@ public class Autonomous extends CommandGroup
 {
 	public Autonomous()
 	{
-		switch("CENTER")
+		switch("CENTERGEAR-RIGHT")
 		{
-			case "CENTER":
-				addSequential(new Move(4));
+			case "CENTERGEAR-LEFT":
+				addSequential(new MoveSlowly(4));
 				addSequential(new DepositGear());
-//				addSequential(new Turn(90));
-//				addSequential(new Move(1));
-//				addSequential(new Turn(-90));
-//				addSequential(new Move(4));
+				addSequential(new Turn(-90));
+				addSequential(new MoveFast(1));
+				addSequential(new Turn(100));
+				addSequential(new MoveFast(3));
 				break;
-			case "LEFT":
-				addSequential(new Move(6));
+			case "CENTERGEAR-RIGHT":
+				addSequential(new MoveSlowly(4));
 				addSequential(new DepositGear());
+				addSequential(new MoveSlowly(-1));
+				addSequential(new Turn(100));
+				addSequential(new MoveFast(1));
+				addSequential(new Turn(-100));
+				addSequential(new MoveFast(3));
+				break;
+			case "LEFTGEAR":
+				addSequential(new MoveSlowly(3));
+				addSequential(new Turn(60));
+				addSequential(new MoveSlowly(4));
+				addSequential(new DepositGear());
+				addSequential(new MoveSlowly(-1));
 				addSequential(new Turn(-60));
-				addSequential(new Move(3));
+				addSequential(new MoveFast(3));
 				break;
-			case "RIGHT":
-				addSequential(new Move(6));
+			case "RIGHTGEAR":
+				addSequential(new MoveSlowly(3));
+				addSequential(new Turn(-60));
+				addSequential(new MoveSlowly(4));
 				addSequential(new DepositGear());
+				addSequential(new MoveSlowly(-1));
 				addSequential(new Turn(60));
-				addSequential(new Move(3));
-				break;
-			case "TEST":
-				addSequential(new Turn(360));
-				addSequential(new Turn(-360));
+				addSequential(new MoveFast(3));
 				break;
 			case "BASELINE":
-				addSequential(new Move(6));
+				addSequential(new MoveFast(4));
 				break;
 			default:
 				break;

diff --git a/src/org/usfirst/frc/team5338/robot/commands/DepositGear.java b/src/org/usfirst/frc/team5338/robot/commands/DepositGear.java
@@ -11,12 +11,12 @@ public DepositGear()
 	{
 		requires(Robot.drivetrain);
 		requires(Robot.gearhandler);
-		setTimeout(4);
+		setTimeout(2);
 	}
 	protected void execute()
 	{
 		Robot.gearhandler.setGears(DoubleSolenoid.Value.kReverse);
-		if(timeSinceInitialized() >= 2.0)
+		if(timeSinceInitialized() >= 0.75)
 		Robot.drivetrain.drive(0.25, 0.25);
 	}
 	protected boolean isFinished()
@@ -26,5 +26,6 @@ protected boolean isFinished()
 	protected void end()
 	{
 		Robot.drivetrain.drive(0.0, 0.0);
+		Robot.gearhandler.setGears(DoubleSolenoid.Value.kForward);	
 	}
 }
diff --git a/src/org/usfirst/frc/team5338/robot/commands/MoveFast.java b/src/org/usfirst/frc/team5338/robot/commands/MoveFast.java
@@ -0,0 +1,35 @@
+package org.usfirst.frc.team5338.robot.commands;
+
+import org.usfirst.frc.team5338.robot.Robot;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+public class MoveFast extends Command 
+{
+	int seconds;
+    public MoveFast(int input)
+    {
+    	seconds = input;
+		requires(Robot.drivetrain);
+		setTimeout(Math.abs(seconds));
+	}
+    protected void execute()
+    {
+    	if(seconds > 0)
+    	{
+    		Robot.drivetrain.drive(-0.75, -0.75);
+    	}
+    	else
+    	{
+    		Robot.drivetrain.drive(0.75, 0.75);
+    	}
+    }
+    protected boolean isFinished()
+    {
+    	return isTimedOut();
+    }
+    protected void end()
+    {
+    	Robot.drivetrain.drive(0.0, 0.0);
+    }
+}
diff --git a/...rst/frc/team5338/robot/commands/Move.java → ...c/team5338/robot/commands/MoveSlowly.java b/...rst/frc/team5338/robot/commands/Move.java → ...c/team5338/robot/commands/MoveSlowly.java
@@ -4,10 +4,10 @@
 
 import edu.wpi.first.wpilibj.command.Command;
 
-public class Move extends Command 
+public class MoveSlowly extends Command 
 {
 	int seconds;
-    public Move(int input)
+    public MoveSlowly(int input)
     {
     	seconds = input;
 		requires(Robot.drivetrain);

diff --git a/src/org/usfirst/frc/team5338/robot/commands/Turn.java b/src/org/usfirst/frc/team5338/robot/commands/Turn.java
@@ -9,7 +9,7 @@ public class Turn extends Command
 	int degrees;
     public Turn(int angle)
     {
-    	degrees = angle;
+    	degrees = angle*12/13;
 		requires(Robot.drivetrain);
 		setTimeout((int)(Math.ceil(Math.abs(degrees / 72.5))));
     }

diff --git a/src/org/usfirst/frc/team5338/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team5338/robot/subsystems/DriveTrain.java
@@ -54,7 +54,7 @@ else if(oi.get(OI.Button.FORWARD))
 		case REVERSE:
 			if(oi.get(OI.Button.STRAIGHT))
 			{
-				DRIVE.tankDrive(oi.getRight(), oi.getRight(), false);
+				DRIVE.tankDrive(oi.getLeft(), oi.getLeft(), false);
 			}
 			else
 			{
@@ -64,7 +64,7 @@ else if(oi.get(OI.Button.FORWARD))
 		case FORWARD:
 			if(oi.get(OI.Button.STRAIGHT))
 			{
-				DRIVE.tankDrive(-oi.getRight(), -oi.getRight(), false);
+				DRIVE.tankDrive(-oi.getLeft(), -oi.getLeft(), false);
 			}
 			else
 			{