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package frc.robot; | |
import edu.wpi.first.wpilibj.Joystick; | |
import edu.wpi.first.wpilibj.XboxController; | |
import edu.wpi.first.wpilibj.GenericHID.Hand; | |
import edu.wpi.first.wpilibj.drive.DifferentialDrive; | |
/** | |
* 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 TimedRobot { | |
/*** Initializes all classes ***/ | |
private boolean driverVision, tapeVision, cargoVision, cargoSeen, tapeSeen; | |
private NetworkTableEntry tapeDetected, cargoDetected, tapeYaw, cargoYaw, | |
videoTimestamp; | |
private XboxController driverJoy; | |
private double targetAngle; | |
NetworkTableInstance instance; | |
NetworkTable chickenVision; | |
/*** EDIT TO CURRENT CONFIGURATION ***/ | |
Spark leftMotor, rightMotor; | |
DifferentialDrive drive; | |
Hand leftSide, rightSide; | |
public Robot() { | |
super(); | |
} | |
/** | |
* This function is run when the robot is first started up and should be used | |
* for any initialization code. | |
*/ | |
@Override | |
public void robotInit() { | |
instance = NetworkTableInstance.getDefault(); | |
chickenVision = instance.getTable("ChickenVision"); | |
tapeDetected = chickenVision.getEntry("tapeDetected"); | |
cargoDetected = chickenVision.getEntry("cargoDetected"); | |
tapeYaw = chickenVision.getEntry("tapeYaw"); | |
cargoYaw = chickenVision.getEntry("cargoYaw"); | |
driveWanted = chickenVision.getEntry("Driver"); | |
tapeWanted = chickenVision.getEntry("Tape"); | |
cargoWanted = chickenVision.getEntry("Cargo"); | |
videoTimestamp = chickenVision.getEntry("VideoTimestamp"); | |
tapeVision = cargoVision = false; | |
driverVision = true; | |
driverJoy = new XboxController(0); | |
/*** EDIT TO CURRENT CONFIGURATION ***/ | |
leftMotor = new Spark(0); | |
rightMotor = new Spark(1); | |
drive = new DifferentialDrive(leftMotor, rightMotor); | |
leftSide = Hand.kLeft; | |
rightSide = Hand.kRight; | |
targetAngle = 0; | |
/*** Update Dashboard ***/ | |
} | |
/** | |
* This function is run once each time the robot enters autonomous mode | |
*/ | |
@Override | |
public void autonomousInit() { | |
} | |
/** | |
* This function is called periodically during autonomous, but is mainly used | |
* for logging | |
*/ | |
@Override | |
public void autonomousPeriodic() { | |
} | |
/** | |
* This function is called once each time the robot enters tele-operated mode | |
*/ | |
@Override | |
public void teleopInit() { | |
} | |
/** | |
* This function is called periodically during operator control Arcade drive | |
* Left Y controls forward and back Right X controls rotation | |
* | |
* If want to auto align with cargo, you hold down left bumper | |
* | |
* If want to auto align with vision tapes, you hold down right bumper | |
* | |
* You still have forward and backwards control no matter what button you press | |
*/ | |
@Override | |
public void teleopPeriodic() { | |
// Change this to alter how quick or slow the feedback loop is | |
double kP = 1.2; | |
double forward = driverJoy.getY(leftSide); | |
double turn = driverJoy.getX(rightSide); | |
boolean cargoDesired = driverJoy.getBumper(leftSide); | |
boolean tapeDesired = driverJoy.getBumper(rightSide); | |
// If button 1 is pressed, then it will track cargo | |
if (cargoDesired) { | |
driveWanted.setBoolean(false); | |
tapeWanted.setBoolean(false); | |
cargoWanted.setBoolean(true); | |
cargoSeen = cargoDetected.getBoolean(false); | |
if (cargoSeen) | |
targetAngle = cargoYaw.getDouble(0); | |
else | |
targetAngle = 0; | |
} else if (tapeDesired) { | |
driveWanted.setBoolean(false); | |
tapeWanted.setBoolean(true); | |
cargoWanted.setBoolean(false); | |
// Checks if vision sees cargo or vision targets. This may not get called unless | |
// cargo vision detected | |
tapeSeen = tapeDetected.getBoolean(false); | |
if (tapeSeen) | |
targetAngle = tapeYaw.getDouble(0); | |
else | |
targetAngle = 0; | |
} else { | |
driveWanted.setBoolean(true); | |
tapeWanted.setBoolean(false); | |
cargoWanted.setBoolean(false); | |
targetAngle = 0; | |
} | |
// Limit output to 0.3 | |
double output = limitOutput(-kP * targetAngle, 0.3); | |
if (cargoDesired || tapeDesired) | |
drive.arcadeDrive(forward, output); | |
else | |
drive.arcadeDrive(forward, turn); | |
} | |
/** | |
* This function is called periodically during test mode | |
*/ | |
@Override | |
public void testPeriodic() { | |
} | |
public void disabledInit() { | |
} | |
public void disabledPeriodic() { | |
} | |
public double limitOutput(double number, double maxOutput) { | |
if (number > 1.0) { | |
number = 1.0; | |
} | |
if (number < -1.0) { | |
number = -1.0; | |
} | |
if (number > maxOutput) { | |
return maxOutput; | |
} | |
if (number < -maxOutput) { | |
return -maxOutput; | |
} | |
return number; | |
} | |
} |
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