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Changed up auto trajectories slightly to account for the fact that th…
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…e robot is not a point mass, changed generation so that saving does NOT occur on the bot, now we just load csv files
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Team Computer committed Mar 22, 2018
1 parent f0ebf07 commit d631b73
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Showing 12 changed files with 86 additions and 49 deletions.
Binary file removed build/jars/CTRLib.jar
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Binary file added build/jars/Pathfinder-Java-1.8.jar
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Binary file modified build/org/usfirst/frc/team1160/robot/OI.class
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Binary file modified build/org/usfirst/frc/team1160/robot/Robot.class
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Binary file modified build/org/usfirst/frc/team1160/robot/RobotMap.class
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Binary file modified build/org/usfirst/frc/team1160/robot/TrajectoryWaypoints.class
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Binary file modified build/org/usfirst/frc/team1160/robot/commands/auto/paths/Center_RightSwitch.class
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Binary file modified build/org/usfirst/frc/team1160/robot/subsystems/DriveTrain.class
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4 changes: 2 additions & 2 deletions src/org/usfirst/frc/team1160/robot/OI.java
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Original file line number Diff line number Diff line change
Expand Up @@ -121,8 +121,8 @@ private void tieButtons() {
highGear.whenPressed(new HighGear());
lowGear.whenPressed(new LowGear());

intakeEat.whileHeld(new IntakeRotate(1));
intakeSpit.whileHeld(new IntakeRotate(-1));
intakeEat.whileHeld(new IntakeRotate(0.7));
intakeSpit.whileHeld(new IntakeRotate(-0.7));

extendClimber.whenPressed(new LatchExtend());
retractClimber.whenPressed(new LatchRetract());
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104 changes: 62 additions & 42 deletions src/org/usfirst/frc/team1160/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -90,7 +90,8 @@ public void robotInit() {
* Center to Left Switch Backwards: 4
* Center to Right Switch: 5
*/
saveTrajectoriesAll();
//saveTrajectoriesAll();
autonomousCommand = new TurnAngle(90);

}

Expand Down Expand Up @@ -119,7 +120,9 @@ public void generateSegments(int choice) { //let's be even more honest, you shou
//autonomousCommand = new Center_LeftSwitchBW();
break;
case 5: //Center to Right Switch
segment_one = dt.generateTrajectorySetup(CENTER_RIGHT_SWITCH);
segment_one = dt.generateTrajectorySetup(CENTER_RIGHT_SWITCH_1);
segment_two = dt.generateTrajectorySetup(CENTER_RIGHT_SWITCH_2);
segment_three = dt.generateTrajectorySetup(CENTER_RIGHT_SWITCH_3);
autonomousCommand = new Center_RightSwitch();
break;
case 6: //Custom
Expand All @@ -139,25 +142,29 @@ public void saveTrajectories(int choice) { //let's be honest, you should only ha
switch (choice) {
case 1:
generateSegments(1);
file_one = new File("CENTER_LEFT_SWITCH_1.csv");
Pathfinder.writeToCSV(file_one, segment_one);
file_one = new File("CENTER_LEFT_SWITCH_2.csv");
Pathfinder.writeToCSV(file_one, segment_two);
file_one = new File("CENTER_LEFT_SWITCH_3.csv");
Pathfinder.writeToCSV(file_one, segment_three);
file_one = new File("CENTER_LEFT_SWITCH_1.traj");
Pathfinder.writeToFile(file_one, segment_one);
file_one = new File("CENTER_LEFT_SWITCH_2.traj");
Pathfinder.writeToFile(file_one, segment_two);
file_one = new File("CENTER_LEFT_SWITCH_3.traj");
Pathfinder.writeToFile(file_one, segment_three);
break;
case 2:
case 3:
generateSegments(2);
file_one = new File("X_X_SWITCH_1.csv");
Pathfinder.writeToCSV(file_one, segment_one);
file_one = new File("X_X_SWITCH_2.csv");
Pathfinder.writeToCSV(file_one, segment_two);
file_one = new File("X_X_SWITCH_1.traj");
Pathfinder.writeToFile(file_one, segment_one);
file_one = new File("X_X_SWITCH_2.traj");
Pathfinder.writeToFile(file_one, segment_two);
break;
case 5:
generateSegments(5);
file_one = new File("CENTER_RIGHT_SWITCH.csv");
Pathfinder.writeToCSV(file_one, segment_one);
file_one = new File("CENTER_RIGHT_SWITCH_1.traj");
Pathfinder.writeToFile(file_one, segment_one);
file_one = new File("CENTER_RIGHT_SWITCH_2.traj");
Pathfinder.writeToFile(file_one, segment_two);
file_one = new File("CENTER_RIGHT_SWITCH_3.traj");
Pathfinder.writeToFile(file_one, segment_three);
break;
default:
System.out.println("Hold this even bigger L");
Expand All @@ -171,52 +178,65 @@ public void saveTrajectoriesAll()
{ //Kobe: "Just save them all"
File file_one;
generateSegments(1);
file_one = new File("CENTER_LEFT_SWITCH_1.csv");
Pathfinder.writeToCSV(file_one, segment_one);
file_one = new File("CENTER_LEFT_SWITCH_2.csv");
Pathfinder.writeToCSV(file_one, segment_two);
file_one = new File("CENTER_LEFT_SWITCH_3.csv");
Pathfinder.writeToCSV(file_one, segment_three);
//file_one = new File("CENTER_LEFT_SWITCH_1.traj");
file_one = new File("CLS1.traj");
System.out.println("Attempted to save center left switch 1");
Pathfinder.writeToFile(file_one, segment_one);
System.out.println("Successfully saved center left switch 1");
file_one = new File("CENTER_LEFT_SWITCH_2.traj");
Pathfinder.writeToFile(file_one, segment_two);
file_one = new File("CENTER_LEFT_SWITCH_3.traj");
Pathfinder.writeToFile(file_one, segment_three);
generateSegments(2);
file_one = new File("X_X_SWITCH_1.csv");
Pathfinder.writeToCSV(file_one, segment_one);
file_one = new File("X_X_SWITCH_2.csv");
Pathfinder.writeToCSV(file_one, segment_two);
file_one = new File("X_X_SWITCH_1.traj");
Pathfinder.writeToFile(file_one, segment_one);
file_one = new File("X_X_SWITCH_2.traj");
Pathfinder.writeToFile(file_one, segment_two);
generateSegments(5);
file_one = new File("CENTER_RIGHT_SWITCH.csv");
Pathfinder.writeToCSV(file_one, segment_one);
file_one = new File("CENTER_RIGHT_SWITCH_1.traj");
Pathfinder.writeToFile(file_one, segment_one);
file_one = new File("CENTER_RIGHT_SWITCH_2.traj");
Pathfinder.writeToFile(file_one, segment_two);
file_one = new File("CENTER_RIGHT_SWITCH_3.traj");
Pathfinder.writeToFile(file_one, segment_three);

System.out.println("All paths saved to csv");
}

public void loadTrajectories(int choice) { //now this is the good stuff, this is what you wanna run 25/7
File file_one;
switch (choice)
{
case 1:
file_one = new File("CENTER_LEFT_SWITCH_1.csv");
segment_one = Pathfinder.readFromCSV(file_one);
file_one = new File("CENTER_LEFT_SWITCH_2.csv");
segment_two = Pathfinder.readFromCSV(file_one);
file_one = new File("CENTER_LEFT_SWITCH_3.csv");
segment_three = Pathfinder.readFromCSV(file_one);
file_one = new File("CENTER_LEFT_SWITCH_1.traj");
segment_one = Pathfinder.readFromFile(file_one);
file_one = new File("CENTER_LEFT_SWITCH_2.traj");
segment_two = Pathfinder.readFromFile(file_one);
file_one = new File("CENTER_LEFT_SWITCH_3.traj");
segment_three = Pathfinder.readFromFile(file_one);
autonomousCommand = new Center_LeftSwitch();
break;
case 2:
file_one = new File("X_X_SWITCH_1.csv");
segment_one = Pathfinder.readFromCSV(file_one);
file_one = new File("X_X_SWITCH_2.csv");
segment_two = Pathfinder.readFromCSV(file_one);
file_one = new File("X_X_SWITCH_1.traj");
segment_one = Pathfinder.readFromFile(file_one);
file_one = new File("X_X_SWITCH_2.traj");
segment_two = Pathfinder.readFromFile(file_one);
autonomousCommand = new Left_LeftSwitch();
break;
case 3:
file_one = new File("X_X_SWITCH_1.csv");
segment_one = Pathfinder.readFromCSV(file_one);
file_one = new File("X_X_SWITCH_2.csv");
segment_two = Pathfinder.readFromCSV(file_one);
file_one = new File("X_X_SWITCH_1.traj");
segment_one = Pathfinder.readFromFile(file_one);
file_one = new File("X_X_SWITCH_2.traj");
segment_two = Pathfinder.readFromFile(file_one);
autonomousCommand = new Right_RightSwitch();
break;
case 5:
file_one = new File("CENTER_RIGHT_SWITCH.csv");
segment_one = Pathfinder.readFromCSV(file_one);
file_one = new File("CENTER_RIGHT_SWITCH_1.traj");
segment_one = Pathfinder.readFromFile(file_one);
file_one = new File("CENTER_RIGHT_SWITCH_2.traj");
segment_two = Pathfinder.readFromFile(file_one);
file_one = new File("CENTER_RIGHT_SWITCH_3.traj");
segment_three = Pathfinder.readFromFile(file_one);
autonomousCommand = new Center_RightSwitch();
break;
default:
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19 changes: 14 additions & 5 deletions src/org/usfirst/frc/team1160/robot/TrajectoryWaypoints.java
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Expand Up @@ -23,11 +23,11 @@ public interface TrajectoryWaypoints {

//From the center to the left switch
public static final Waypoint[] CENTER_LEFT_SWITCH_1 =
new Waypoint[] {new Waypoint(0,0,0),new Waypoint(3,0,0)};
new Waypoint[] {new Waypoint(0,0,0),new Waypoint(2,0,0)};
public static final Waypoint[] CENTER_LEFT_SWITCH_2 =
new Waypoint[] {new Waypoint(0,0,0),new Waypoint(40*Math.pow(2, 0.5)/12,0,0)};
new Waypoint[] {new Waypoint(0,0,0),new Waypoint(5.0*Math.pow(2, 0.5),0,0)};
public static final Waypoint[] CENTER_LEFT_SWITCH_3 =
new Waypoint[] {new Waypoint(0,0,0),new Waypoint(64/12,0,0)};
new Waypoint[] {new Waypoint(0,0,0),new Waypoint(2.0,0,0)};

//From the center to the left switch BACKWARDS
public static final Waypoint[] CENTER_LEFT_SWITCH_1_BACKWARDS =
Expand All @@ -38,14 +38,23 @@ public interface TrajectoryWaypoints {
new Waypoint[] {new Waypoint(0,0,0),new Waypoint(-64/12,0,0)};

//From the center to the right switch

/* THIS IS FROM PRE-THURSDAY LV CODE
public static final Waypoint[] CENTER_RIGHT_SWITCH =
new Waypoint[] {new Waypoint(0,0,0),new Waypoint(140/12,0,0)};
*/
public static final Waypoint[] CENTER_RIGHT_SWITCH_1 =
new Waypoint[] {new Waypoint(0,0,0),new Waypoint(2,0,0)};
public static final Waypoint[] CENTER_RIGHT_SWITCH_2 =
new Waypoint[] {new Waypoint(0,0,0),new Waypoint(4.5*Math.pow(2, 0.5),0,0)};
public static final Waypoint[] CENTER_RIGHT_SWITCH_3 =
new Waypoint[] {new Waypoint(0,0,0),new Waypoint(2,0,0)};

//From the X side to the X switch where X is either left or right
public static final Waypoint[] X_X_SWITCH_1 =
new Waypoint[] {new Waypoint(0,0,0),new Waypoint(168.0/12.0,0,0)};
new Waypoint[] {new Waypoint(0,0,0),new Waypoint(12.4,0,0)};
public static final Waypoint[] X_X_SWITCH_2 =
new Waypoint[] {new Waypoint(0,0,0),new Waypoint(42.0/12.0,0,0)};
new Waypoint[] {new Waypoint(0,0,0),new Waypoint(1.5,0,0)};

//Straight line from start to switch
public static final Waypoint[] START_SWITCH =
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8 changes: 8 additions & 0 deletions src/org/usfirst/frc/team1160/robot/commands/auto/paths/Center_RightSwitch.java
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Expand Up @@ -5,6 +5,7 @@
import org.usfirst.frc.team1160.robot.commands.auto.drive.FollowTrajectory;
import org.usfirst.frc.team1160.robot.commands.auto.drive.TurnAngle;
import org.usfirst.frc.team1160.robot.commands.auto.intake.AutoBoxSpit;
import org.usfirst.frc.team1160.robot.commands.auto.lift.BangBangMove;
import org.usfirst.frc.team1160.robot.commands.intake.IntakeExtend;
import org.usfirst.frc.team1160.robot.commands.intake.Toggle;

Expand All @@ -19,6 +20,13 @@ public Center_RightSwitch() {
addSequential(new IntakeExtend());
addSequential(new ResetEncoderYaw());
addSequential(new FollowTrajectory(Robot.segment_one));
addSequential(new TurnAngle(45));
addSequential(new ResetEncoderYaw());
addSequential(new FollowTrajectory(Robot.segment_two));
addSequential(new TurnAngle(-45));
addSequential(new BangBangMove());
addSequential(new ResetEncoderYaw());
addSequential(new FollowTrajectory(Robot.segment_three));
addSequential(new AutoBoxSpit());

//and then now we manipulate the lift
Expand Down

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