Add files via upload

PowerUp/README.md

@@ -0,0 +1 @@
+# PowerUp

PowerUp/src/AutoCommands/ArmGoUp.java

@@ -16,7 +16,6 @@ public void init() {
 		// TODO Auto-generated method stub
 
 		Elevator.resetEncoder();
-
 
 	}
 
@@ -41,4 +40,4 @@ protected String getCommandName() {
 		return null;
 	}
 
-}
+}

PowerUp/src/AutoCommands/DT_DriveDistance.java

@@ -0,0 +1,64 @@
+package AutoCommands;
+
+import org.usfirst.frc.team548.robot.DriveTrain;
+import org.usfirst.frc.team548.robot.Elevator;
+import org.usfirst.frc.team548.robot.Ingestor;
+
+public class DT_DriveDistance extends AutoCommandBase{
+	private double power;
+	private double elevatorSetPoint;
+	private double ingestorPower;
+	private double distance;
+	private final double kP = 0.03;
+
+	public DT_DriveDistance(double timeOut, double power, double distance, double elevatorSetPoint, double ingestorPower) {
+		super(timeOut);
+
+		this.power = power;
+		this.elevatorSetPoint = elevatorSetPoint;
+		this.ingestorPower = ingestorPower;
+		// TODO Auto-generated constructor stub
+	}
+
+	@Override
+	public void init() {
+		// TODO Auto-generated method stub
+		DriveTrain.resetEncoder();
+		DriveTrain.resetGyro();
+	}
+
+	@Override
+	protected void run() {
+		// TODO Auto-generated method stub
+		if(Math.abs(Math.abs(DriveTrain.getEncoderAverage())) < Math.abs(distance)){
+			double angle = DriveTrain.getAngle();
+			DriveTrain.pidDriveStraight(0.5);
+		}else{
+			DriveTrain.stop();
+			Elevator.setPosition(elevatorSetPoint);
+			Ingestor.bothControl(ingestorPower);
+		}
+
+	}
+
+	@Override
+	public void end() {
+		// TODO Auto-generated method stub
+		DriveTrain.stop();
+		DriveTrain.resetGyro();
+		DriveTrain.resetEncoder();
+		DriveTrain.disablePID();
+
+		Elevator.setPosition(elevatorSetPoint);
+		Ingestor.bothControl(ingestorPower);
+
+	}
+
+	@Override
+	protected String getCommandName() {
+		// TODO Auto-generated method stub
+		return "Better Drive Distance";
+	}
+
+
+}

PowerUp/src/AutoCommands/DT_TurnToAngle.java

@@ -0,0 +1,50 @@
+package AutoCommands;
+
+import org.usfirst.frc.team548.robot.DriveTrain;
+import org.usfirst.frc.team548.robot.Elevator;
+import org.usfirst.frc.team548.robot.Ingestor;
+
+public class DT_TurnToAngle extends AutoCommandBase{
+
+	private double angle = 0;
+	private double power;
+	private double elevatorSetPoint;
+	private double ingestorPower;
+
+	public DT_TurnToAngle(double timeOut, double angle, double power, double elevatorSetPoint, double ingestorPower){
+		super(timeOut);
+		this.angle = angle;
+		this.power = power;
+		this.elevatorSetPoint = elevatorSetPoint;
+		this.ingestorPower = ingestorPower;
+	}
+
+	@Override
+	public void init() {
+		// TODO Auto-generated method stub
+		DriveTrain.resetGyro();
+	}
+
+	@Override
+	protected void run() {
+		// TODO Auto-generated method stub
+		DriveTrain.turnToAngle(angle);
+		Ingestor.bothControl(ingestorPower);
+	}
+
+	@Override
+	public void end() {
+		// TODO Auto-generated method stub
+		DriveTrain.disablePID();
+		System.out.println(DriveTrain.getAngle());
+		DriveTrain.resetGyro();
+		Elevator.setPosition(elevatorSetPoint);
+		Ingestor.bothControl(ingestorPower);
+	}
+
+	@Override
+	protected String getCommandName() {
+		// TODO Auto-generated method stub
+		return "Accurate Turn To Angle";
+	}
+}

PowerUp/src/AutoCommands/DriveDistance.java

@@ -17,8 +17,7 @@ public DriveDistance(double timeOut, double power, double distance, double eleva
 
 	public void init(){
 		DriveTrain.resetEncoder();
-		//DriveTrain.resetGyro();
-		//Elevator.resetEncoder();
+		DriveTrain.resetGyro();
 	}
 
 	@Override
@@ -41,8 +40,8 @@ protected void run() {
 	public void end() {
 		// TODO Auto-generated method stub
 		DriveTrain.stop();
-		//DriveTrain.resetGyro();
-		//DriveTrain.resetEncoder();
+		DriveTrain.resetGyro();
+		DriveTrain.resetEncoder();
 		Elevator.setPosition(elevatorSetPoint);
 		Ingestor.bothControl(ingestorPower);
 	}
@@ -53,4 +52,4 @@ protected String getCommandName() {
 		return "Drive Distance";
 	}
 
-}
+}

PowerUp/src/AutoCommands/DropCube.java

@@ -2,6 +2,7 @@
 
 import org.usfirst.frc.team548.robot.Elevator;
 import org.usfirst.frc.team548.robot.Ingestor;
+import org.usfirst.frc.team548.robot.TeleOp;
 
 public class DropCube extends AutoCommandBase {
 	private double powerLeft, powerRight, elevatorSetPoint;
@@ -33,6 +34,8 @@ protected void run() {
 	public void end() {
 		// TODO Auto-generated method stub
 		Ingestor.stop();
+
+
 		//Elevator.setElevatorOut();
 
 	}
@@ -43,4 +46,4 @@ protected String getCommandName() {
 		return "Drop Cube";
 	}
 
-}
+}

PowerUp/src/AutoCommands/ElevatorSetPoint.java

@@ -38,4 +38,4 @@ protected String getCommandName() {
 		return null;
 	}
 
-}
+}

PowerUp/src/AutoCommands/TurnToAngle.java

@@ -38,7 +38,7 @@ protected void run() {
 				DriveTrain.arcadeDrive(0, power);
 			else if(DriveTrain.getAngle() < angle && DriveTrain.getAngle() > angle - angleOffSet)
 				DriveTrain.arcadeDrive(0, .15);
-			Elevator.setPosition(elevatorSetPoint);
+		//	Elevator.setPosition(elevatorSetPoint);
 		}
 		else{
 			if(DriveTrain.getAngle() > (angle + angleOffSet))

PowerUp/src/AutoCommands/armGoDown.java

@@ -0,0 +1,43 @@
+package AutoCommands;
+
+import org.usfirst.frc.team548.robot.Elevator;
+
+public class armGoDown extends AutoCommandBase {
+	public static boolean position;
+
+	public armGoDown(double timeOut, boolean pos) {
+		super(timeOut);
+		this.position = pos;
+		// TODO Auto-genearmGoDownrated constructor stub
+	}
+
+	@Override
+	public void init() {
+		// TODO Auto-generated method stub
+
+		Elevator.resetEncoder();
+
+	}
+
+	@Override
+	protected void run() {
+		// TODO Auto-generated method stub
+		Elevator.setElevatorIn();
+		////Elevator.setPosition(0);
+	}
+
+
+	@Override
+	public void end() {
+		// TODO Auto-generated method stub
+		Elevator.setElevatorIn();
+		Elevator.setPosition(0);
+	}
+
+	@Override
+	protected String getCommandName() {
+		// TODO Auto-generated method stub
+		return null;
+	}
+
+}

PowerUp/src/AutoModes/AutoLine.java

@@ -0,0 +1,17 @@
+package AutoModes;
+
+import org.usfirst.frc.team548.robot.Ingestor;
+
+public class AutoLine extends AutoMode {
+
+	@Override
+	protected void run() {
+		// TODO Auto-generated method stub
+		driveDistance(1, -.3, (260 * 8), 10, 0, .3);
+		driveDistance(8, -.7, (32500), 10, 0, .3);
+		turnToAngle(2, 45, 8, .5, 0);
+		Ingestor.closeIngestor();
+		armGoUp(1, true);
+	}
+
+}

PowerUp/src/AutoModes/AutoMode.java

@@ -2,17 +2,17 @@
 
 import AutoCommands.ArmGoUp;
 import AutoCommands.AutoCommandBase;
+//import AutoCommands.DT_DriveDistance;
+import AutoCommands.DT_TurnToAngle;
 import AutoCommands.DriveDistance;
 import AutoCommands.DropCube;
 import AutoCommands.ElevatorSetPoint;
-import AutoCommands.OneSideTurn;
+//import AutoCommands.OneSideTurn;
 import AutoCommands.TurnToAngle;
-import AutoCommands.Wait;
+//import AutoCommands.Wait;
 
 
 public abstract class AutoMode {
-	private String autoName;
-
 	public  void start(){
 		run();
 	}
@@ -31,14 +31,13 @@ protected void turnToAngle(double seconds, double angle, double offset, double p
     	runCommand(new TurnToAngle(seconds, angle, offset, power, setPoint));
     }
 
-    protected void doubleSidePower(double seconds, double leftPower, double rightPower){
-    	runCommand(new OneSideTurn(seconds, leftPower, rightPower));
+    protected void dtTurnToAngle(double seconds, double angle, double power, double elevatorSetPoint, double ingestorPower){
+    	runCommand(new DT_TurnToAngle(seconds, angle, power, elevatorSetPoint, ingestorPower));
     }
 
-    protected void  waitTime(double seconds){
-    	runCommand(new Wait(seconds));
+    protected void dtDriveDistance(double seconds, double power, double distance, double elevatorSetPoint, double ingestorSetPoint){
+    	runCommand(new DriveDistance(seconds, power, distance, elevatorSetPoint, ingestorSetPoint));
     }
-
     protected void armGoUp(double seconds, boolean pos){
     	runCommand(new ArmGoUp(seconds, pos));
     }
@@ -47,11 +46,16 @@ protected void elevatotSet(double seconds, double angle){
     	runCommand(new ElevatorSetPoint(seconds, angle));
     }
 
+    protected void armGoDown(double seconds, boolean pos){
+    	runCommand(new AutoCommands.armGoDown(seconds, pos));
+    }
+
+    protected void DT_DriveDistance(double timeOut, double power, double distance, double elevatorSetPoint, double ingestorPower){
+    	runCommand(new AutoCommands.DT_DriveDistance(timeOut, power, distance, elevatorSetPoint, ingestorPower));
+    }
 	private  void runCommand(AutoCommandBase command) {
-		// TODO Auto-generated method stub
+		 //TODO Auto-generated method stub
 		command.execute();
 	}
 
-
 }
-