示例#1
0
  /** 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());
  }
示例#2
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());
  }
示例#3
0
 public void goVariable(double speed) {
   mainMotor.set(speed);
   SmartDashboard.putNumber("motorspeed", mainMotor.get());
 }
示例#4
0
  /** This function is called periodically during autonomous */
  public void autonomousPeriodic() {

    // Start Timer
    MainTimer = timerMain.get();

    // Robot Aligns Left
    if (DigitalInput6.get() == false // Ensure pusher is fully retracted
        && DigitalInput7.get() == false
        && DigitalInput8.get() == true
        && b_leftAutonomous == true
        && b_rightAutonomous == false
        && b_centerAutonomous == false
        && b_upAutonomous == false
        && b_downAutonomous == true
        && b_leftDriveAutonomous == false) {

      LifterTalon.set(autoInitialDownSpeed);
      b_leftAutonomous = true;
      b_rightAutonomous = false;
      b_centerAutonomous = false;
      b_upAutonomous = true;
      b_downAutonomous = false;
      b_leftDriveAutonomous = false;
    }

    // Lifter Descends To LimitSwitch 1, lifter immediately ascends, reset booleans
    if (DigitalInput1.get() == false
        && b_leftAutonomous == true
        && b_rightAutonomous == false
        && b_centerAutonomous == false
        && b_upAutonomous == true
        && b_downAutonomous == false
        && b_leftDriveAutonomous == false) {

      LifterTalon.set(autoInitialUpSpeed);
      b_leftAutonomous = true;
      b_rightAutonomous = false;
      b_centerAutonomous = false;
      b_upAutonomous = false;
      b_downAutonomous = false;
      b_leftDriveAutonomous = false;
    }

    // Lifter ascends to LimitSwitch 4, stops motor, reset booleans
    if (DigitalInput4.get() == false
        && b_leftAutonomous == true
        && b_rightAutonomous == false
        && b_centerAutonomous == false
        && b_upAutonomous == false
        && b_downAutonomous == false
        && b_leftDriveAutonomous == false) {

      LifterTalon.set(autoSpeedStop);

      b_leftAutonomous = false;
      b_rightAutonomous = false;
      b_centerAutonomous = false;
      b_upAutonomous = false;
      b_downAutonomous = false;
      b_leftDriveAutonomous = true;
      // Delay one second
      Timer.delay(1);
      timer1Left.reset();
      timer1Left.start();
    }

    // Begin driving no limit switch since we might drive while lifting the can TBD.
    if (b_leftDriveAutonomous == true
        && b_leftAutonomous == false
        && b_rightAutonomous == false
        && b_centerAutonomous == false
        && b_upAutonomous == false
        && b_downAutonomous == false) {

      // Orchestration A Left
      if (controlChuteLeft[0] == true) {
        while ((autoTimerStart1Left = timer1Left.get()) < orch_A_Left_Time) {
          robotDrive.mecanumDrive_Polar(
              orch_A_Left_Mag,
              orch_A_Left_Dir,
              orch_A_Left_Rot); // Magnitude (speed), Direction (degrees), Rotation (Turning)
        }

        controlChuteLeft[0] = false;
        controlChuteLeft[1] = true;

        timer2Left.reset();
        timer2Left.start();
      }

      //  Orchestration B  Left
      if (controlChuteLeft[1] == true) {
        while ((autoTimerStart2Left = timer2Left.get()) < orch_B_Left_Time) {
          robotDrive.mecanumDrive_Polar(
              orch_B_Left_Mag,
              orch_B_Left_Dir,
              orch_B_Left_Rot); // Magnitude (speed), Direction (degrees), Rotation (Turning)
        }

        controlChuteLeft[0] = false;
        controlChuteLeft[1] = false;
      }

      // Stop mecanumDrive
      if (controlChuteLeft[0] == false && controlChuteLeft[1] == false) {

        robotDrive.mecanumDrive_Polar(
            stop_mecanum_Mag,
            stop_mecanum_Dir,
            stop_mecanum_Rot); // Magnitude (speed), Direction (degrees), Rotation (Turning)

        b_leftDriveAutonomous = false;
        b_leftAutonomous = false;
        b_rightAutonomous = false;
        b_centerAutonomous = false;
        b_upAutonomous = false;
        b_downAutonomous = false;
      }
    }

    // Robot Aligns Right
    if (DigitalInput6.get() == false // pusher is fully retracted
        && DigitalInput7.get() == true
        && DigitalInput8.get() == false
        && b_leftAutonomous == false
        && b_rightAutonomous == true
        && b_centerAutonomous == false
        && b_upAutonomous == false
        && b_downAutonomous == true
        && b_rightDriveAutonomous == false) {

      LifterTalon.set(autoInitialDownSpeed);

      b_leftAutonomous = false;
      b_rightAutonomous = true;
      b_centerAutonomous = false;
      b_upAutonomous = true;
      b_downAutonomous = false;
      b_rightDriveAutonomous = false;
    }

    // Lifter Descends To LimitSwitch 1, lifter immediately ascends, reset booleans
    if (DigitalInput1.get() == false
        && b_leftAutonomous == false
        && b_rightAutonomous == true
        && b_centerAutonomous == false
        && b_upAutonomous == true
        && b_downAutonomous == false
        && b_rightDriveAutonomous == false) {

      LifterTalon.set(autoInitialUpSpeed);
      b_leftAutonomous = false;
      b_rightAutonomous = true;
      b_centerAutonomous = false;
      b_upAutonomous = false;
      b_downAutonomous = false;
      b_rightDriveAutonomous = false;
    }

    // Lifter ascends to LimitSwitch 4, stops motor, reset booleans
    if (DigitalInput4.get() == false
        && b_leftAutonomous == false
        && b_rightAutonomous == true
        && b_centerAutonomous == false
        && b_upAutonomous == false
        && b_downAutonomous == false
        && b_rightDriveAutonomous == false) {

      LifterTalon.set(autoSpeedStop);
      b_leftAutonomous = false;
      b_rightAutonomous = false;
      b_centerAutonomous = false;
      b_upAutonomous = false;
      b_downAutonomous = false;
      b_rightDriveAutonomous = true;

      // Delay one second
      Timer.delay(1);
      timer1Right.reset();
      timer1Right.start();
    }

    // Begin driving no limit switch since we might drive while lifting the can TBD.
    if (b_rightDriveAutonomous == true
        && b_leftAutonomous == false
        && b_rightAutonomous == false
        && b_centerAutonomous == false
        && b_upAutonomous == false
        && b_downAutonomous == false) {

      // Orchestration A Right
      if (controlChuteRight[0] == true) {
        while ((autoTimerStart1Right = timer1Right.get()) < orch_A_Right_Time) {
          robotDrive.mecanumDrive_Polar(
              orch_A_Right_Mag,
              orch_A_Right_Dir,
              orch_A_Right_Rot); // Magnitude (speed), Direction (degrees), Rotation (Turning)
        }

        controlChuteRight[0] = false;
        controlChuteRight[1] = true;

        timer2Right.reset();
        timer2Right.start();
      }

      // Orchestration B  Right
      if (controlChuteRight[1] == true) {
        while ((autoTimerStart2Right = timer2Right.get()) < orch_B_Right_Time) {
          robotDrive.mecanumDrive_Polar(
              orch_B_Right_Mag,
              orch_B_Right_Dir,
              orch_B_Right_Rot); // Magnitude (speed), Direction (degrees), Rotation (Turning)
        }

        controlChuteRight[0] = false;
        controlChuteRight[1] = false;
      }

      // Stop mecanumDrive
      if (controlChuteRight[0] == false && controlChuteRight[1] == false) {

        robotDrive.mecanumDrive_Polar(
            stop_mecanum_Mag,
            stop_mecanum_Dir,
            stop_mecanum_Rot); // Magnitude (speed), Direction (degrees), Rotation (Turning)

        b_rightDriveAutonomous = false;
        b_leftAutonomous = false;
        b_rightAutonomous = false;
        b_centerAutonomous = false;
        b_upAutonomous = false;
        b_downAutonomous = false;
      }
    } // End Robot Aligns Right

    // Robot Aligns Center
    if (DigitalInput6.get() == false // pusher is fully retracted
        && DigitalInput7.get() == true
        && DigitalInput8.get() == true
        && b_leftAutonomous == false
        && b_rightAutonomous == false
        && b_centerAutonomous == true
        && b_upAutonomous == false
        && b_downAutonomous == true
        && b_centerDriveAutonomous == false) {

      LifterTalon.set(autoInitialDownSpeed);
      b_leftAutonomous = false;
      b_rightAutonomous = false;
      b_centerAutonomous = true;
      b_upAutonomous = true;
      b_downAutonomous = false;
      b_centerDriveAutonomous = false;
    }

    // Lifter Descends To LimitSwitch 1, lifter immediately ascends, reset booleans
    if (DigitalInput1.get() == false
        && b_leftAutonomous == false
        && b_rightAutonomous == false
        && b_centerAutonomous == true
        && b_upAutonomous == true
        && b_downAutonomous == false
        && b_centerDriveAutonomous == false) {

      LifterTalon.set(autoInitialUpSpeed);
      b_leftAutonomous = false;
      b_rightAutonomous = false;
      b_centerAutonomous = true;
      b_upAutonomous = false;
      b_downAutonomous = false;
      b_centerDriveAutonomous = false;
    }

    // Lifter ascends to LimitSwitch 4, stops motor, reset booleans
    if (DigitalInput4.get() == false
        && b_leftAutonomous == false
        && b_rightAutonomous == false
        && b_centerAutonomous == true
        && b_upAutonomous == false
        && b_downAutonomous == false
        && b_centerDriveAutonomous == false) {

      LifterTalon.set(autoSpeedStop);
      b_leftAutonomous = false;
      b_rightAutonomous = false;
      b_centerAutonomous = false;
      b_upAutonomous = false;
      b_downAutonomous = false;
      b_centerDriveAutonomous = true;

      // Delay one second
      Timer.delay(1);
      timer1Center.reset();
      timer1Center.start();
    }

    // Begin driving no limit switch since we might drive while lifting the can TBD.
    if (b_centerDriveAutonomous == true
        && b_leftAutonomous == false
        && b_rightAutonomous == false
        && b_centerAutonomous == false
        && b_upAutonomous == false
        && b_downAutonomous == false) {

      // Orchestration A Center
      if (controlChuteCenter[0] == true) {
        while ((autoTimerStart1Center = timer1Center.get()) < orch_A_Center_Time) {
          robotDrive.mecanumDrive_Polar(
              orch_A_Center_Mag,
              orch_A_Center_Dir,
              orch_A_Center_Rot); // Magnitude (speed), Direction (degrees), Rotation (Turning)
        }

        controlChuteCenter[0] = false;
        controlChuteCenter[1] = true;
        timer2Center.reset();
        timer2Center.start();
      }

      // Orchestration B Center
      if (controlChuteCenter[1] == true) {
        while ((autoTimerStart2Center = timer2Center.get()) < orch_B_Center_Time) {
          robotDrive.mecanumDrive_Polar(
              orch_B_Center_Mag,
              orch_B_Center_Dir,
              orch_B_Center_Rot); // Magnitude (speed), Direction (degrees), Rotation (Turning)
        }

        controlChuteCenter[0] = false;
        controlChuteCenter[1] = false;
      }

      // Stop mecanumDrive Center
      if (controlChuteCenter[0] == false && controlChuteCenter[1] == false) {

        robotDrive.mecanumDrive_Polar(
            stop_mecanum_Mag,
            stop_mecanum_Dir,
            stop_mecanum_Rot); // Magnitude (speed), Direction (degrees), Rotation (Turning)

        b_centerDriveAutonomous = false;
        b_leftAutonomous = false;
        b_rightAutonomous = false;
        b_centerAutonomous = false;
        b_upAutonomous = false;
        b_downAutonomous = false;
      }
    } // End Robot Aligns Center

    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());
    SmartDashboard.putBoolean("Position switch Red", DigitalInput7.get());
    SmartDashboard.putBoolean("Position switch Green", DigitalInput8.get());
    SmartDashboard.putNumber("MainTimer", MainTimer);
    SmartDashboard.putNumber("autoTimerStart1Left", autoTimerStart1Left);
    SmartDashboard.putNumber("autoTimerStart2Left", autoTimerStart2Left);
    SmartDashboard.putNumber("autoTimerStart1Right", autoTimerStart1Right);
    SmartDashboard.putNumber("autoTimerStart2Right", autoTimerStart2Right);
    SmartDashboard.putNumber("autoTimerStart1Center", autoTimerStart1Center);
    SmartDashboard.putNumber("autoTimerStart2Center", autoTimerStart2Center);
  } // End autonomousPeriodic