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Merge pull request #8 from FRC6334/wip/oob1
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99 changes: 99 additions & 0 deletions
99
src/main/java/frc/robot/commands/AutoNavXBalanceClimb.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,99 @@ | ||
| /*----------------------------------------------------------------------------*/ | ||
| /* Copyright (c) 2018 FIRST. All Rights Reserved. */ | ||
| /* Open Source Software - may be modified and shared by FRC teams. The code */ | ||
| /* must be accompanied by the FIRST BSD license file in the root directory of */ | ||
| /* the project. */ | ||
| /*----------------------------------------------------------------------------*/ | ||
|
|
||
| package frc.robot.commands; | ||
|
|
||
| import edu.wpi.first.wpilibj.Joystick; | ||
| import frc.robot.OI; | ||
|
|
||
| public class AutoNavXBalanceClimb extends CommandBase { | ||
|
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| Joystick rightStick; | ||
|
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| public AutoNavXBalanceClimb() { | ||
| super("navxautobalance"); | ||
| // Use requires() here to declare subsystem dependencies | ||
| requires(climber); | ||
| rightStick = OI.getRightDriveStick(); | ||
| } | ||
|
|
||
| // Called just before this Command runs the first time | ||
| @Override | ||
| protected void initialize() { | ||
| System.out.println("auto balance navx started"); | ||
| } | ||
|
|
||
| // Called repeatedly when this Command is scheduled to run | ||
| @Override | ||
| protected void execute() { | ||
| balance(); | ||
| } | ||
|
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||
| public void balance() { | ||
| double roll = climber.getRoll(); | ||
| if (Math.abs(roll) < 2) | ||
| roll = 0; | ||
| if (roll == 0) { | ||
| if (climber.getFrontClimbEncoder() > -65) { | ||
| climber.driveFrontClimber(-0.35); | ||
| } else climber.driveFrontClimber(0); | ||
| if (climber.getBackClimbEncoder() > -65) { | ||
| climber.driveBackClimber(-0.35); | ||
| } else climber.driveBackClimber(0); | ||
| } | ||
| ; | ||
| if (roll > 0 && Math.ceil(climber.getFrontClimbEncoder()) >= -65) { | ||
| System.out.println("I'm leaning forwards... adjusting"); | ||
| if (climber.getFrontClimbEncoder() > -65) { | ||
| climber.driveFrontClimber(-0.20); | ||
| climber.driveBackClimber(0); | ||
| } else { | ||
| climber.driveFrontClimber(0); | ||
| climber.driveBackClimber(0); | ||
| } | ||
| } else if (roll < 0) { | ||
| System.out.println("I'm leaning backwards... adjusting"); | ||
| if (climber.getBackClimbEncoder() > -65) { | ||
| climber.driveBackClimber(-0.20); | ||
| climber.driveFrontClimber(0); | ||
| } else { | ||
| climber.driveBackClimber(0); | ||
| climber.driveFrontClimber(0); | ||
| } | ||
| } | ||
| if (rightStick.getRawButton(4)) { | ||
| climber.driveBothClimbAxleWheels(0.50); | ||
| } | ||
| if (rightStick.getRawButton(5)) { | ||
| climber.driveBothClimbAxleWheels(-0.50); | ||
| } | ||
| } | ||
|
|
||
| // Make this return true when this Command no longer needs to run execute() | ||
| @Override | ||
| public boolean isFinished() { | ||
| return Math.ceil(climber.getFrontClimbEncoder()) <= -65 && Math.ceil(climber.getBackClimbEncoder()) <= -65; | ||
| } | ||
|
|
||
| // Called once after isFinished returns true | ||
| @Override | ||
| protected void end() { | ||
| System.out.println("auto balance is done."); | ||
| climber.driveClimbBoth(0); | ||
| climber.driveBothClimbAxleWheels(0); | ||
| } | ||
|
|
||
| // Called when another command which requires one or more of the same | ||
| // subsystems is scheduled to run | ||
| @Override | ||
| protected void interrupted() { | ||
| System.out.println("auto balance interrupt"); | ||
| climber.driveClimbBoth(0); | ||
| climber.driveBackClimber(0); | ||
| climber.driveBothClimbAxleWheels(0); | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,75 @@ | ||
| /*----------------------------------------------------------------------------*/ | ||
| /* Copyright (c) 2018 FIRST. All Rights Reserved. */ | ||
| /* Open Source Software - may be modified and shared by FRC teams. The code */ | ||
| /* must be accompanied by the FIRST BSD license file in the root directory of */ | ||
| /* the project. */ | ||
| /*----------------------------------------------------------------------------*/ | ||
|
|
||
| package frc.robot.commands; | ||
|
|
||
| import edu.wpi.first.wpilibj.Joystick; | ||
| import frc.robot.OI; | ||
| import frc.robot.RobotMap.rightStick; | ||
|
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| public class DriveBackClimberX extends CommandBase { | ||
|
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| Joystick rightStick, arcadeStick; | ||
|
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| public DriveBackClimberX() { | ||
| super("drivebackclimberx"); | ||
| // Use requires() here to declare subsystem dependencies | ||
| requires(climber); | ||
| requires(driveTrain); | ||
| rightStick = OI.getRightDriveStick(); | ||
| arcadeStick = OI.getLeftDriveStick(); | ||
| } | ||
|
|
||
| // Called just before this Command runs the first time | ||
| @Override | ||
| protected void initialize() { | ||
| System.out.println("back climber drive init"); | ||
| } | ||
|
|
||
| // Called repeatedly when this Command is scheduled to run | ||
| @Override | ||
| protected void execute() { | ||
| if (rightStick.getRawButton(2)) { | ||
| if (climber.getBackClimbEncoder() < 0.5) { | ||
| climber.driveBackClimber(0.2); | ||
| } | ||
| } else { | ||
| climber.driveBackClimber(0); | ||
| } | ||
| if (rightStick.getRawButton(4)) { | ||
| climber.driveBothClimbAxleWheels(0.50); | ||
| } else { | ||
| climber.driveBothClimbAxleWheels(0); | ||
| } | ||
| if (Math.abs(arcadeStick.getY()) < 0.05) { | ||
| driveTrain.arcadeDrive(0, 0); | ||
| } else { | ||
| driveTrain.arcadeDrive(arcadeStick.getX(), arcadeStick.getY()); | ||
| } | ||
| } | ||
|
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||
| // Make this return true when this Command no longer needs to run execute() | ||
| @Override | ||
| public boolean isFinished() { | ||
| return false; | ||
| } | ||
|
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| // Called once after isFinished returns true | ||
| @Override | ||
| protected void end() { | ||
| System.out.println("front climber done"); | ||
| climber.driveBackClimber(0); | ||
| } | ||
|
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||
| // Called when another command which requires one or more of the same | ||
| // subsystems is scheduled to run | ||
| @Override | ||
| protected void interrupted() { | ||
| climber.driveBackClimber(0); | ||
| System.out.println("back climber drive interrupt"); | ||
| } | ||
| } |
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