public double returnPIDInput() {
// Return your input value for the PID loop
// e.g. a sensor, like a potentiometer:
// yourPot.getAverageVoltage() / kYourMaxVoltage;
// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SOURCE
return angle.get();
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=SOURCE
}
public void setIndexWheels(double target) {
System.out.println("index target is " + target);
indexTarget = target;
error = indexTarget - indexPosition.get();
if (error > 0.04) {
openIndexWheels.set(Relay.Value.kForward);
} else if (error < -0.04) {
openIndexWheels.set(Relay.Value.kReverse);
} else {
openIndexWheels.set(Relay.Value.kOff);
}
}
public Hood() {
// Actuators
Robot.actuators.HoodActuators();
hoodMotor = Robot.actuators.hoodMotor;
addSpeedController(hoodMotor);
// Sensors
Robot.sensors.HoodSensors();
hoodPot = Robot.sensors.hoodPot;
potAverage =
new MovingAverage(
25,
10,
() -> {
return hoodPot.get();
});
potOffset = (double) config.get("hood_Pot_Offset");
}
public double getIndexPosition() {
return indexPosition.get();
}
public double getLevel() { // Converts raw potentiometer units to inches
double zeroedPot =
Constants.elevatorPotLOWLimit
- elevatorPot.get(); // Maps the low limit to 0 and has a range from 0 to 0.984
return zeroedPot * ((double) (Constants.elevatorHeight / Constants.elevatorRawLength));
}
/**
* Reads and returns the current range (in inches) from the analog port. -1 is returned if range
* is not being obtained form the analog port.
*/
public double getAnalogRangeInches() {
return null == analogPotentiometer ? -1 : analogPotentiometer.get() / cmPerInch;
}
/**
* Reads and returns the current range (in cm) from the analog port. -1 is returned if range is
* not being obtained form the analog port.
*/
public double getAnalogRangeCm() {
return null == analogPotentiometer ? -1 : analogPotentiometer.get();
}
/** Get the value to use when running the PID */
protected double returnPIDInput() {
return pot.pidGet();
}
public boolean isIntakeClose() {
return intakePot.get() <= (double) config.get("intake_Pot_LowThresh");
}
public boolean isIntakeOpen() {
return intakePot.get() >= (double) config.get("intake_Pot_HighThresh");
}
