Merge branch 'master' of https://github.com/HHS-Team670/MustangMinibots

HHS-Team670 · Nov 12, 2019 · bd20f72 · bd20f72
2 parents 575883d + e0cf13a
commit bd20f72
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Showing 6 changed files with 16 additions and 142 deletions.
diff --git a/.DS_Store b/.DS_Store
diff --git a/MiniLib/src/frc/team670/pi/UltrasonicSensor.java b/MiniLib/src/frc/team670/pi/UltrasonicSensor.java
diff --git a/MiniLib/src/frc/team670/pi/sensors/Encoder.java b/MiniLib/src/frc/team670/pi/sensors/Encoder.java
@@ -29,6 +29,8 @@ public class Encoder {
 
 	private int leftPinState;
 	private int rightPinState;
+
+	private boolean reversed;
 
 	public int count;
 
@@ -61,8 +63,9 @@ public void update() {
 	 * @param rightP Pin for the right sensor on the encoder
 	 * @throws PigpioException
 	 */
-	public Encoder(int leftP, int rightP) throws PigpioException {
+	public Encoder(int leftP, int rightP, boolean reversed) throws PigpioException {
 		count = 0;
+		this.reversed = reversed;
 
 //		 leftPin = gpio.provisionDigitalInputPin(leftP);
 //		 leftPin.setShutdownOptions(true);
@@ -97,7 +100,12 @@ public Encoder(int leftP, int rightP) throws PigpioException {
 	 * @return int Ticks - the number of ticks
 	 */
 	public int getTicks() {
-		return this.count;
+		if(reversed) {
+			return -1 * this.count;
+		}
+		else {
+			return this.count;
+		}
 	}
 
 	/**

diff --git a/MiniLib/src/frc/team670/pi/tests/EncoderTest.java b/MiniLib/src/frc/team670/pi/tests/EncoderTest.java
@@ -66,8 +66,8 @@ public static void main(String args[]) throws InterruptedException, PigpioExcept
     Motor left = new Motor(MOTOR_1_PIN_A, MOTOR_1_PIN_B, RaspiPin.GPIO_06);
 	Motor right = new Motor(MOTOR_2_PIN_A, MOTOR_2_PIN_B, RaspiPin.GPIO_03);
 
-	Encoder lEncoder = new Encoder(5, 6);//RaspiPin.GPIO_07
-	Encoder rEncoder = new Encoder(4, 18);//RaspiPin.GPIO_21
+	Encoder lEncoder = new Encoder(5, 6, false);//RaspiPin.GPIO_07
+	Encoder rEncoder = new Encoder(4, 18, false);//RaspiPin.GPIO_21
 
 //	left.set(0.4);
 //	right.set(0.4);

diff --git a/MiniLib/src/frc/team670/robot/commands/drive/CurveStraightDrive.java b/MiniLib/src/frc/team670/robot/commands/drive/CurveStraightDrive.java
@@ -24,8 +24,8 @@ public CurveStraightDrive(double dist, double lspeed, double rspeed, double secs
 		this.speedR = rspeed;
 		this.time = dist;
 		this.dist = secs;
-		lEncoder = new Encoder(7, 1);
-		rEncoder = new Encoder(22, 21);
+		lEncoder = Robot.driveBase.getLeftEncoder();
+		rEncoder = Robot.driveBase.getRightEncoder();
 		requires(drivebase);
 	}
 

diff --git a/MiniLib/src/frc/team670/robot/subsystems/DriveBase.java b/MiniLib/src/frc/team670/robot/subsystems/DriveBase.java
@@ -48,13 +48,13 @@ public DriveBase() {
 		left = new Motor(MOTOR_1_PIN_A, MOTOR_1_PIN_B, RaspiPin.GPIO_06);
 		right = new Motor(MOTOR_2_PIN_A, MOTOR_2_PIN_B, RaspiPin.GPIO_03);
 		try {
-			le = new Encoder(5, 6);
+			le = new Encoder(5, 6, false); //TODO  modify this based on motor direction
 		} catch (PigpioException e) {
 			// TODO Auto-generated catch block
 			e.printStackTrace();
 		}
 		try {
-			re = new Encoder(4, 18);
+			re = new Encoder(4, 18, false); //TODO  modify this based on motor direction
 		} catch (PigpioException e) {
 			// TODO Auto-generated catch block
 			e.printStackTrace();