public void teleopPeriodic() {
double throttle = (driveStick.getThrottle() + 1) / -2;
double xAxis = throttle * (Math.abs(driveStick.getX()) > 0.15 ? driveStick.getX() : 0.0);
double yAxis = throttle * (Math.abs(driveStick.getY()) > 0.15 ? driveStick.getY() : 0.0);
double rotation =
throttle * (Math.abs(driveStick.getTwist()) > 0.15 ? driveStick.getTwist() : 0.0);
// Mecanum drive
drive.mecanumDrive_Cartesian(xAxis, yAxis, rotation, 0);
// Elevator control
elevator.set(driveStick.getRawButton(5) ? -1.0 : driveStick.getRawButton(3) ? 1.0 : 0.0);
// Intake control
intakeTensionMotor.set(
driveStick.getRawButton(2) ? -1.0 : driveStick.getRawButton(7) ? 1.0 : 0.0);
if (Math.abs(controlStick.getTwist()) > 0) {
double toteTurnSpeed = -controlStick.getTwist();
intakeMotors[0].set(
toteTurnSpeed > 0 ? Math.pow(toteTurnSpeed, 2) : -Math.pow(toteTurnSpeed, 2));
intakeMotors[1].set(
toteTurnSpeed > 0 ? Math.pow(toteTurnSpeed, 2) : -Math.pow(toteTurnSpeed, 2));
} else {
double intakeSpeed =
driveStick.getRawButton(1) ? -1.0 : driveStick.getRawButton(8) ? 0.4 : 0.0;
intakeMotors[0].set(-intakeSpeed);
intakeMotors[1].set(intakeSpeed);
}
}
/** Gyro sensitivity is set and mecanum drive is used with the gyro angle as an input. */
public void operatorControl() {
gyro.setSensitivity(
voltsPerDegreePerSecond); // calibrate gyro to have the value equal to degrees
while (isOperatorControl() && isEnabled()) {
myRobot.mecanumDrive_Cartesian(
joystick.getX(), joystick.getY(), joystick.getZ(), gyro.getAngle());
Timer.delay(0.005); // wait 5ms to avoid hogging CPU cycles
}
}
/** This function is called periodically during operator control */
public void teleopPeriodic() {
double x = joy1.getX();
double y = -joy1.getY();
double r = joy1.getZ();
if (Math.abs(x) < .05) x = 0;
if (Math.abs(y) < .05) y = 0;
if (Math.abs(r) < .05) r = 0;
drive(x / 2, y / 2, r / 2);
shooter1.set(joy2.getY());
shooter2.set(joy2.getY());
}
public double[] processDriveJoystick() {
double xValue;
double yValue;
if (((driveJoy.getX() < 0.10) && (driveJoy.getX() > 0))
|| ((driveJoy.getX() > -0.10) && (driveJoy.getX() < 0))) { // Check for dead zones
xValue = 0;
} else {
xValue = driveJoy.getX(); // No dead zone proceded normally
}
if (((driveJoy.getY() < 0.10) && (driveJoy.getY() > 0))
|| ((driveJoy.getY() > -0.10) && (driveJoy.getY() < 0))) { // Check for dead zones
yValue = 0;
} else {
yValue = driveJoy.getY(); // No dead zone proceded normally
}
double values[] = new double[1];
values[0] = yValue;
values[1] = xValue;
return values;
}
public void updateSmartDashboard() {
if (joystick_left.getRawButton(2) && dev_ < 100) {
dev_++;
} else if (joystick_left.getRawButton(3) && dev_ > 0) {
dev_--;
}
SmartDashboard.putDouble("X", joystick_left.getX());
SmartDashboard.putDouble("Y", joystick_left.getY());
// SmartDashboard.putDouble("Optical Sensor", Optical_Sensor.getVoltage());
SmartDashboard.putDouble("Battery Voltage", DriverStation.getInstance().getBatteryVoltage());
SmartDashboard.putInt("dev_", dev_);
SmartDashboard.putDouble(
"Elevator Sensor Value (.getAverageVoltage())",
this.elevator.ana_chana.getAverageVoltage());
String state = "ROBOT STATE INFORMATION:";
if (this.elevator.state == 0) {
state = state + "\nElevator Stopped.";
}
if (this.elevator.state == 1) {
state = state + "\nElevator Moving.";
}
if (this.elevator.state == 2) {
state = state + "\nElevator E-Stopped.";
}
// state = state+"\nShooter Power Level (Raw):
// "+this.shooter.calculateShooterSpeed();
// state = state+"\nShooter Power Level (Setting): "+this.shooter.shooterSpeedState;
// if (this.integ.globalState==1){
// state = state+"\nMoving Shooter Up To Shoot.";
// }if (this.integ.globalState==2){
// state = state+"\nShooting!";
// }if (this.integ.globalState2LOCK){
// state = state+"\nREALLY SHOOTING!.";
// }
state = state + "\nNumber Of Discs: " + this.elevator.numDiscs;
state =
state
+ "\n Louis + Bobni Are Amazing (Hiding This Message Is ILLEGAL! IT WILL STOP THE ROBOT!)";
SmartDashboard.putString("State", state);
SmartDashboard.putBoolean("Intake", this.intake.toggle.get());
}
public void teleopPeriodic() {
watchdog.feed(); // feed the watchdog
// Toggle drive mode
if (!driveToggle && left.getRawButton(2)) {
driveMode = (driveMode + 1) % 3;
driveToggle = true;
} else if (driveToggle && !left.getRawButton(2)) driveToggle = false;
// Print drive mode to DS & send values to Jaguars
switch (driveMode) {
case 0:
dsLCD.println(DriverStationLCD.Line.kMain6, 1, "Drive mode: Tank ");
red.set(left.getY() + gamePad.getY());
black.set(-right.getY() - gamePad.getThrottle());
break;
case 1:
dsLCD.println(DriverStationLCD.Line.kMain6, 1, "Drive mode: Arcade");
red.set(right.getX() - right.getY());
black.set(right.getX() + right.getY());
break;
case 2:
dsLCD.println(DriverStationLCD.Line.kMain6, 1, "Drive mode: Kaj ");
red.set(left.getX() - right.getY());
black.set(left.getX() + right.getY());
break;
} /**/
dsLCD.println(
DriverStationLCD.Line.kUser3,
1,
"1" + photoreceptorL.get() + "2" + photoreceptorM.get() + "3" + photoreceptorR.get());
dsLCD.println(DriverStationLCD.Line.kUser4, 1, "Encoder in 4,5: " + leftEncoder.get() + " ");
dsLCD.println(
DriverStationLCD.Line.kUser5, 1, "Encoder in 6,7: " + rightEncoder.get() + " ");
dsLCD.updateLCD();
}
/** This function is called once each time the robot enters operator control. */
public void operatorControl() {
drivetrain.setSafetyEnabled(true);
compressor.start();
while (isOperatorControl() && isEnabled()) {
// The throttle goes from 1 to -1, bottom to top. This
// scales it to go 0 to 1, bottom to top.
double throttle = (-leftStick.getRawAxis(3) + 1) / 2;
double drive = deadband(leftStick.getY()) * throttle;
double steer = deadband(-rightStick.getX()) * throttle;
drivetrain.arcadeDrive(drive, steer);
boolean shouldSpinWheels = leftStick.getRawButton(1);
boolean shouldFire = shouldSpinWheels && rightStick.getRawButton(1);
shooterWheels.set(shouldSpinWheels ? -1 : 0);
shooter.set(shouldFire);
Timer.delay(0.005); // wait for a motor update time
}
}
public void operatorControl() {
log("Teleop Called Once!");
resetError(1);
resetError(2);
this.elevator.resetState();
// try{
showUserMessages("TeleOp");
this.arm.state = 0;
while (isOperatorControl() && isEnabled()) {
// robotdrive.setSafetyEnabled(true); //In case the program were to stop, this stops the
// motors from continuing to run.
if (!Util.checkButton(this, Constants.robotdrive_break_button)) {
// robotdrive.tankDrive(-doRobotdriveScaling(joystick_left.getY()),
// -doRobotdriveScaling(joystick_right.getY()));
robotdrive.arcadeDrive(
doRobotdriveScaling(joystick_left.getY()), doRobotdriveScaling(joystick_left.getX()));
}
// x, y int := 0, 1;
// if (driverstation.getDigitalIn(3)){
// this.test_CIM_1.set(driverstation.getAnalogIn(2));
// }else{
// this.test_CIM_1.set(0-driverstation.getAnalogIn(2));
// }
//
// if (driverstation.getDigitalIn(4)){
// this.test_CIM_2.set(driverstation.getAnalogIn(3));
// }else{
// this.test_CIM_2.set(0-driverstation.getAnalogIn(3));
// }
updateSmartDashboard();
this.shooter.updateStates(this);
this.shooterMotor.set(this.shooter.calculateShooterSpeed());
if (this.driverstation.getDigitalIn(4)) {
this.armMotor.set(this.driverstation.getAnalogIn(3));
} else {
this.armMotor.set(-this.driverstation.getAnalogIn(3));
}
this.arm.update();
if (this.arm.getArmSpeed() != 0D) {
this.armMotor.set(this.arm.getArmSpeed());
}
if (this.integ.doElevatorUpdate()) {
this.elevator.update();
this.Elevator_motor.set(this.elevator.getElevatorSpeed());
}
this.intake.update();
this.Intake_motor.set(this.intake.calculateIntakeSpeed());
if (this.intake.state == 1) {
this.Elevator_intake_motor.set(0.6D);
} else {
this.Elevator_intake_motor.set(0D);
}
if (this.driverstation.getDigitalIn(3)) {
this.pullDownJaguar.set(this.driverstation.getAnalogIn(2));
} else {
this.pullDownJaguar.set(-this.driverstation.getAnalogIn(2));
}
this.integ.update();
SmartDashboardUpdater.updateSmartDashboard(this);
if (Util.checkButton(this, 9)) {
this.elevator.numDiscs = 0;
}
if (Util.checkButton(this, 8)) {
this.elevator.state = 0;
this.integ.state = 0;
this.intake.state = 0;
this.integ.elevator_out_roller.set(0d);
this.arm.state = 0;
}
{
try {
SmartDashboard.putString("DEBUG*isConnected", "" + this.server.isConnected());
SmartDashboard.putString("DEBUG*isServer", "" + this.server.isServer());
SmartDashboard.putDouble("FPS~!", this.server.getNumber("FPS", -1d));
SmartDashboard.putDouble("NewDistance~!", this.server.getNumber("NewDistance", -1d));
// SmartDashboard.putString("NetworkTable Keys", this.server.);
log("W0RK1NG!");
} catch (Exception be) {
error("ERROR UPDATING SmartDashboard dtt STACK TRACE: " + be.getMessage(), 1);
}
}
Timer.delay(0.005); // and make sure we dont overload the cRIO
}
// }catch (Exception be){
// error("ERROR IN TELEOP! STACKTRACE: \n "+be.getMessage(), 2);
// }
}
public double getX(Hand hand) {
double leftVal = left.getX();
double rightVal = right.getX();
return nonZero(leftVal, rightVal);
}
public void teleopPeriodic() {
/*SmartDashboard.getNumber("Accel x: ", accel.getX());
SmartDashboard.getNumber("Accel Y: ", accel.getY());
SmartDashboard.getNumber("Accel Z: ", accel.getZ());*/
if (controller.isEnabled()) {
if (((Timer.getFPGATimestamp() - timerStart) > timeToCancel) || controller.onTarget()) {
controller.disable();
timerStart = -1;
timeToCancel = -1;
}
}
if (j1.getRawButton(2)) {
enc.reset();
controller.setSetpoint(120); // destination 24 inches -> NO!! Trying to figure out this value
timerStart = Timer.getFPGATimestamp();
timeToCancel = 10; // timeout after 10 seconds
controller.enable();
} else if (j1.getRawButton(
1)) { // this button stops the robot if the button 2 command goes crazy
controller.disable();
timerStart = -1;
timeToCancel = -1;
} else { // if time out or distance, end
controller.disable();
timerStart = -1;
timeToCancel = -1;
}
if (!controller.isEnabled()) {
rd.arcadeDrive(-j1.getY(), -j1.getX()); // normal arcade drive
}
if (j2.getRawAxis(2) != 0) { // set shooter values to the left trigger value
shooter.set(-j2.getRawAxis(2));
shooter2.set(-j2.getRawAxis(2));
SmartDashboard.putNumber("Shooter: ", shooter.get());
} else { // stop shooter
shooter.set(0);
shooter2.set(0);
}
/*if(j2.getRawButton(8)){ //runs intake, waits, runs shooter
shooter.set(-1);
intake.set(.5);
Timer.delay(.50);
intake.set(0);
Timer.delay(1.5);
intake.set(-1);
Timer.delay(1);
shooter.set(0);
intake.set(0);
}*/
// Need to mess around with sensitivity of light sensor
if (j2.getRawAxis(3) != 0 && !light.get()) { // run intake at speed of right trigger
intake.set(-1 * j2.getRawAxis(3));
} else if (j2.getRawButton(5) && !light.get()) { // run intake into robot
intake.set(-1);
} else if (j2.getRawButton(6)) { // run intake out of robot
intake.set(1);
} else { // stop intake
intake.set(0);
}
if (j2.getRawButton(2)) { // lift intake
inup.set(DoubleSolenoid.Value.kForward);
inup2.set(DoubleSolenoid.Value.kForward);
} else if (j2.getRawButton(3)) { // drop intake
inup.set(DoubleSolenoid.Value.kReverse);
inup2.set(DoubleSolenoid.Value.kReverse);
} else { // solenoids off
inup.set(DoubleSolenoid.Value.kOff);
inup2.set(DoubleSolenoid.Value.kOff);
}
// reading values
SmartDashboard.putNumber("Encoder Dist: ", enc.getDistance()); // Distance is in inches
SmartDashboard.putNumber("Encoder: ", enc.get());
SmartDashboard.putNumber("Encoder Rate: ", enc.getRate());
SmartDashboard.putNumber("Gyro: ", gyro.getAngle());
SmartDashboard.putNumber("Encoder Raw", enc.getRaw());
SmartDashboard.putNumber("Controller: ", controller.getSetpoint());
SmartDashboard.putBoolean("Light Sensor: ", light.get());
}
public double getRightX() {
return rightJoy.getX();
}
public double getLeftX() {
return leftJoy.getX();
}
public double getRightX() {
return rightStick.getX();
}
public double getLeftX() {
return leftStick.getX();
}