Exemplo n.º 1
0
  public boolean isBallIn() {
    if ((intakeLeftSwitch.get() && intakeRightSwitch.get())) {
      return true;
    }

    return false;
  }
Exemplo n.º 2
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  public void dispose() {
    Util.consoleLog();

    if (pot != null) pot.free();
    if (buttonA != null) buttonA.free();
    if (buttonB != null) buttonB.free();
  }
Exemplo n.º 3
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 // whether hooks have attached
 public boolean getError(boolean goingUp) {
   if (goingUp) {
     return (!rightFixedHookMetalSensor.get() || !leftFixedHookMetalSensor.get());
   } else {
     return (!rightMovingHookMetalSensor.get() || !leftMovingHookMetalSensor.get());
   }
 }
Exemplo n.º 4
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  /** Handles periodic operations. Should be called periodically. */
  public void loop() {

    ds.setDigitalOut(8, limitSwitch.get());

    final int tolerance =
        10; // the number of degrees, in either direction, of tolerance for motor movement

    if (!isAccepting) {
      if (topTarget > topEncoder.get() && Math.abs(topTarget - topEncoder.get()) > tolerance) {
        int error = Math.abs(topTarget - topEncoder.get());

        topMotor.set(-limit(error / ERROR_CONVERSION));
        // SmartDashboard.log("Backwards", "Gripper Top Motor");
      } else if (topTarget < topEncoder.get()
          && Math.abs(topTarget - topEncoder.get()) > tolerance) {
        double error = Math.abs(topTarget - topEncoder.get());

        topMotor.set(limit(error / ERROR_CONVERSION));
        // SmartDashboard.log("Forward", "Gripper Top Motor");
      } else {
        topMotor.set(0);
      }

      if (bottomTarget > bottomEncoder.get()
          && Math.abs(bottomTarget - bottomEncoder.get()) > tolerance) {
        double error = Math.abs(bottomTarget - bottomEncoder.get());
        bottomMotor.set(-limit(error / ERROR_CONVERSION));
        // SmartDashboard.log("Backwards", "Gripper Bottom Motor");
      } else if (bottomTarget < bottomEncoder.get()
          && Math.abs(bottomTarget - bottomEncoder.get()) > tolerance) {
        double error = Math.abs(bottomTarget - bottomEncoder.get());
        bottomMotor.set(limit(error / ERROR_CONVERSION));
        // SmartDashboard.log("Forward", "Gripper Bottom Motor");
      } else {
        bottomMotor.set(0);
        // SmartDashboard.log("Stopped", "Gripper Bottom Motor");
      }
    }

    // if the gripper is in accept mode, it needs to stop when the limit switch is pressed
    if (isAccepting && !limitSwitch.get()) {
      // and also by simply stopping them
      topMotor.set(0);
      bottomMotor.set(0);
      isAccepting = false;
      // stop the motors by making the target positions equal to the current positions
      topTarget = topEncoder.get();
      bottomTarget = bottomEncoder.get();
    } else if (isAccepting && limitSwitch.get()) {
      // if it is accepting and the limit switch is not pressed
      topMotor.set(1);
      bottomMotor.set(-1);
    }
  }
Exemplo n.º 5
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 public void teleopPeriodic() {
   armpid.setPID(
       SmartDashboard.getNumber("kP"),
       SmartDashboard.getNumber("kI"),
       SmartDashboard.getNumber("kD"));
   if (joy1.getRawButton(1)) {
     armpid.enable();
   } else {
     armpid.disable();
     arm.set(0);
   }
   SmartDashboard.putBoolean("Checkbox 2", limit.get());
   System.out.println("limit " + limit.get());
 }
Exemplo n.º 6
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 public void autoPosLights() {
   if (botLim.get() == false) { // if bottom limit button is pressed, turn on botton light
     bottom.set(Relay.Value.kForward);
   } else { // otherwise, keep the bottom light off
     bottom.set(Relay.Value.kReverse);
   }
   if (midLim.get() == false) { // if middle limit button is pressed, turn on middle light
     middle.set(Relay.Value.kForward);
   } else { // otherwise, keep the middle light off
     middle.set(Relay.Value.kReverse);
   }
   if (topLim.get() == false) { // if top limit button is pressed, turn on top lights
     top.set(Relay.Value.kForward);
   } else { // otherwise, keep the top light off
     top.set(Relay.Value.kReverse);
   }
 }
Exemplo n.º 7
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  // Resets position in order to reload frisbee later
  public void reload() throws CANTimeoutException {

    if (backSwitch.get()) {
      loadingStick.setX(0);
    } else {
      loadingStick.setX(-.8);
    }
  }
Exemplo n.º 8
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 public boolean isDetensioned() {
   double curr_volts = sensor.getAverageVoltage();
   boolean on_target =
       ((curr_volts > (slack_tension_volts - threshold_volts))
           && (curr_volts < (slack_tension_volts + threshold_volts)));
   boolean at_min = leftMin.get();
   return (on_target || at_min);
 }
Exemplo n.º 9
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  // Loads the frisbee into the shooter
  public void load() throws CANTimeoutException {

    if (frontSwitch.get()) {
      loadingStick.setX(0);
    } else {
      loadingStick.setX(.8);
    }
  }
Exemplo n.º 10
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  protected void usePIDOutput(double output) {

    //
    // Important:  invert the motor polarity!
    //             (Positive Motor Voltage -> Lower Tension)
    //

    output = -output;

    //
    // Only allow the arms to move in a direction away from a limit switch
    // if that limit switch is closed, unless the motor command is 0.0
    // (so the motor controller can be disabled)
    //

    if ((output > 0.0 && !leftMin.get()) || (output < 0.0 && !leftMax.get()) || (output == 0.0))
      this.leftSC.set(output);
    else this.leftSC.set(0);
  }
Exemplo n.º 11
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 private void moveRightMotor(double speed) {
   // rightMotor.set(speed);
   // System.out.println("limit = " + bottomLimit.getSmartDashboardType());
   if (speed < 0.0) {
     rightMotor.set(speed);
   } else if (speed > 0.0 && !bottomLimit.get()) {
     rightMotor.set(0.0);
   } else {
     rightMotor.set(speed);
   }
 }
Exemplo n.º 12
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  /** @param speed */
  private void moveLeftMotor(double speed) {
    // leftMotor.set(speed*-1.0);

    if (speed < 0.0) {
      leftMotor.set(speed * -1.0);

    } else if (speed > 0.0 && !bottomLimit.get()) {
      leftMotor.set(0.0);
    } else {
      leftMotor.set(speed * -1.0);
    }
  }
Exemplo n.º 13
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  /** This function is called periodically during operator control */
  public void teleopPeriodic() {

    robotDrive.mecanumDrive_Polar();
    lifter.upLift();
    lifter.downLift();
    lifter.QuickRaise();
    lifter.toteLowering(); // lowers 6 totes and a can at .1 speed
    // lifter.manualUplift();
    // lifter.manualDownlift();
    servo.runBolt();
    pusher.PushandRetract(); // push one button to push and retract
    pusher.Push(); // full push with one button press
    pusher.Retract(); // full retract with one button press
    // pusher.ManualPush();
    // pusher.ManualRetract();

    SmartDashboard.putBoolean("switch 1", DigitalInput1.get());
    SmartDashboard.putBoolean("switch 2", DigitalInput2.get());
    SmartDashboard.putBoolean("switch 3", DigitalInput3.get());
    SmartDashboard.putBoolean("switch 4", DigitalInput4.get());
    SmartDashboard.putBoolean("switch 5", DigitalInput5.get());
    SmartDashboard.putBoolean("switch 6", DigitalInput6.get());
    SmartDashboard.putNumber("Lifting Talon Speed", LifterTalon.get());
    SmartDashboard.putNumber("Pushing Talon Speed", PushingTalon.get());
    SmartDashboard.putNumber("servo position zero means brake is on", servo.get());
  }
Exemplo n.º 14
0
  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();
  }
Exemplo n.º 15
0
  /** This function is called periodically during test mode */
  public void testPeriodic() {

    driveTrainTester.run();
    SmartDashboard.putBoolean("switch 1", DigitalInput1.get());
    SmartDashboard.putBoolean("switch 2", DigitalInput2.get());
    SmartDashboard.putBoolean("switch 3", DigitalInput3.get());
    SmartDashboard.putBoolean("switch 4", DigitalInput4.get());
    SmartDashboard.putBoolean("switch 5", DigitalInput5.get());
    SmartDashboard.putBoolean("switch 6", DigitalInput6.get());
    SmartDashboard.putNumber("Lifting Talon Speed", LifterTalon.get());
    SmartDashboard.putNumber("Pushing Talon Speed", PushingTalon.get());
  }
Exemplo n.º 16
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  public void autonomousInit() {
    // Timer section
    timerMain = new Timer();
    timerMain.reset();
    timerMain.start();

    timer1Left = new Timer();
    timer2Left = new Timer();

    timer1Right = new Timer();
    timer2Right = new Timer();

    timer1Center = new Timer();
    timer2Center = new Timer();

    controlChuteLeft = new boolean[] {false, false};
    controlChuteRight = new boolean[] {false, false};
    controlChuteCenter = new boolean[] {false, false};
    controlChuteLeft[0] = true;
    controlChuteRight[0] = true;
    controlChuteCenter[0] = true;

    /* Boolean setting section
     * Robot Aligns Left
     */
    if (DigitalInput7.get() == false && DigitalInput8.get() == true) {
      b_leftAutonomous = true;
      b_rightAutonomous = false;
      b_centerAutonomous = false;
      b_upAutonomous = false;
      b_downAutonomous = true;
      b_leftDriveAutonomous = false;
    }
    // Robot Aligns Right
    if (DigitalInput7.get() == true && DigitalInput8.get() == false) {
      b_leftAutonomous = false;
      b_rightAutonomous = true;
      b_centerAutonomous = false;
      b_upAutonomous = false;
      b_downAutonomous = true;
      b_rightDriveAutonomous = false;
    }
    // Robot Aligns Center
    if (DigitalInput7.get() == true && DigitalInput8.get() == true) {
      b_leftAutonomous = false;
      b_rightAutonomous = false;
      b_centerAutonomous = true;
      b_upAutonomous = false;
      b_downAutonomous = true;
      b_centerDriveAutonomous = false;
    }
  } // End autonomousInit
Exemplo n.º 17
0
 // sets climber speed to given value
 public void manualControl(double d) {
   if (topClimberSwitch.get() && d > 0 || bottomClimberSwitch.get() && d < 0) {
     climberMotor.set(0);
   }
   if (topClimberSwitch.get() && d < 0) {
     climberMotor.set(d);
   }
   if (bottomClimberSwitch.get() && d > 0) {
     climberMotor.set(d);
   }
   if (!topClimberSwitch.get() && !bottomClimberSwitch.get()) {
     climberMotor.set(d);
   }
   putData();
 }
  public void shooterUse() {
    // Betty operation
    if (xboxOperator.getBtnLB()) { // hold right bumper to fire
      starterDelay++;
      if (xboxOperator.getTriggers() < -0.5) { // feeder shot
        if (shootingSpeed > feederShotSpeed) { // accelerating shooter speed until top speed
          shootingSpeed = shootingSpeed + flyWheelAcceleration;
        } else {
          shootingSpeed = feederShotSpeed; // ensures desired value
        }
      } else { // normal shot
        if (shootingSpeed > normalShotSpeed) { // accelerating shooter speed until top speed
          shootingSpeed = shootingSpeed + flyWheelAcceleration;
        } else {
          shootingSpeed = normalShotSpeed; // ensures desired value
        }
      }
      shooterWheel.set(shootingSpeed);
      if (xboxOperator.getBtnRB() && starterDelay > 60) { // shoot normal shot
        bettyRelay.setDirection(Relay.Direction.kForward);
        bettyRelay.set(Relay.Value.kOn);
      } else if (xboxOperator.getBtnB() && starterDelay > 60) { // shoot normal shot
        bettyRelay.setDirection(Relay.Direction.kReverse);
        bettyRelay.set(Relay.Value.kOn);
      } else {
        bettyRelay.set(Relay.Value.kOff);
      }

    } else if (bettyOpen.get()) { // close betty if not shooting
      shootingSpeed = 0.0;
      bettyRelay.setDirection(Relay.Direction.kForward);
      bettyRelay.set(Relay.Value.kOn);
      shooterWheel.set(0);
      starterDelay = 0;
    } else {
      shootingSpeed = 0.0;
      bettyRelay.set(Relay.Value.kOff);
      shooterWheel.set(0);
      starterDelay = 0;
    }
  } // end of shooter use
Exemplo n.º 19
0
 public boolean getA() {
   return (!_a.get());
 }
Exemplo n.º 20
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 // whether the elevator has reached the top
 public boolean getUpperLimit() {
   return topClimberSwitch.get() || climberEncoder.get() > encoderMax;
 }
Exemplo n.º 21
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 // whether the elevator has reached the bottom
 public boolean getLowerLimit() {
   return bottomClimberSwitch.get() || climberEncoder.get() < encoderMin;
 }
Exemplo n.º 22
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 public boolean getOutSwitch() {
   return outSwitch.get();
 }
Exemplo n.º 23
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 public boolean isUp() {
   return !upLimit.get();
 }
Exemplo n.º 24
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 public boolean get() {
   return limitSwitch.get();
 }
Exemplo n.º 25
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 public boolean isDown() {
   // System.out.println("DOWN: " + !downLimit.get());
   return !downLimit.get();
 }
Exemplo n.º 26
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 /** Reads whether the tilter is at/above its highest safe height. */
 public boolean isTopLimitTriggered() {
   return _stringPot.get() > StringPot.VAL_MAX_SAFE || _topLimitSwitch.get() == _topLimitOnState;
 }
Exemplo n.º 27
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 public boolean getB() {
   return (!_b.get());
 }
Exemplo n.º 28
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 public boolean isAtLowerLimit() {
   return lowerLimitSwitch.get();
 }
Exemplo n.º 29
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 public boolean getInSwitch() {
   return inSwitch.get();
 }
Exemplo n.º 30
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 /**
  * Reads input from the joystick in order to control the lifting part of the gatherer, which
  * operates on a three-tier elevator-like system. Three different buttons are read from the
  * joystick in order to move the {@link Talon} to one of the three tiers. Update periodically.
  *
  * @param input The joystick that will be used to control the gatherer.
  */
 public void gathererTalon(Joystick input) {
   if (gatherLift == null) {
     System.err.println(
         "The gatherer motor controllers have not been initialized. Call this class's method \"initGatherers()\" in order to do so.");
     return;
   }
   switch (gatherState) {
     case 0: // checking for input
       if (input.getRawButton(Wiring.BTN_GATHERER_TO_TOP) && diGathererTop.get()) {
         gatherLift.set(0.6);
         System.out.println("Gatherer up");
         gatherCount = 0;
         gatherState = 1;
       } else if (input.getRawButton(Wiring.BTN_GATHERER_TO_BOT) && diGathererBot.get()) {
         gatherLift.set(-0.6);
         System.out.println("Gatherer down");
         gatherCount = 0;
         gatherState = 3;
       } else if (input.getRawButton(Wiring.BTN_GATHERER_TO_MID)) {
         if (!diGathererTop.get()) {
           gatherLift.set(-0.6);
           System.out.println("Gatherer down");
           gatherCount = 0;
           gatherState = 5;
         } else if (!diGathererBot.get()) {
           gatherLift.set(0.6);
           System.out.println("Gatherer up");
           gatherCount = 0;
           gatherState = 6;
         }
       }
       break;
     case 1: // should be going up, wait until it hits the top
       if (!diGathererTop.get()) {
         gatherLift.set(0.0);
         System.out.println("Top limit");
         gatherState = 2;
       }
       break;
     case 2: // at top, waiting for driver to stop holding the button
       if (!input.getRawButton(Wiring.BTN_GATHERER_TO_TOP)) {
         gatherState = 0;
       }
       break;
     case 3: // should be going down, wait until it hist the bottom
       if (!diGathererBot.get()) {
         gatherLift.set(0.0);
         System.out.println("Bottom limit");
         gatherState = 4;
       }
       break;
     case 4: // at bottom, waiting for driver to stop holding the button
       if (!input.getRawButton(Wiring.BTN_GATHERER_TO_BOT)) {
         gatherState = 0;
       }
       break;
     case 5: // go down to mid
       gatherLift.set(-0.6);
       if (counter.get() >= 1) {
         gatherLift.set(0.0); // stahp
         counter.reset();
         gatherState = 0;
       }
       break;
     case 6: // go up to mid
       gatherLift.set(0.6);
       if (counter.get() >= 1) {
         gatherLift.set(0.0); // stahp
         counter.reset();
         gatherState = 0;
       }
       break;
   }
 }