Merge in master

blair-robot-project · Oct 16, 2017 · 0334f8e · 0334f8e
2 parents 5c177e7 + 03e3abb
commit 0334f8e
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Showing 334 changed files with 4,698 additions and 45,590 deletions.
diff --git a/...first/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.java b/...first/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.java
@@ -76,9 +76,9 @@ public UnidirectionalNavXDefaultDrive(@JsonProperty(required = true) double abso
 	                                      double deadband,
 	                                      @Nullable Double maxAngularVelToEnterLoop,
 	                                      boolean inverted,
-	                                      int kP,
-	                                      int kI,
-	                                      int kD,
+	                                      double kP,
+	                                      double kI,
+	                                      double kD,
 	                                      @NotNull @JsonProperty(required = true) BufferTimer driveStraightLoopEntryTimer,
 	                                      @NotNull @JsonProperty(required = true) T subsystem,
 	                                      @NotNull @JsonProperty(required = true) OIUnidirectional oi) {
@@ -177,6 +177,11 @@ protected void usePIDOutput(double output) {
 			//Process the output (minimumOutput, deadband, etc.)
 			output = processPIDOutput(output);
 
+			//Deadband if we're stationary
+			if(oi.getLeftOutput() == 0 || oi.getRightOutput() == 0){
+				output=deadbandOutput(output);
+			}
+
 			//Adjust the heading according to the PID output, it'll be positive if we want to go right.
 			subsystem.setOutput(oi.getLeftOutput() - output, oi.getRightOutput() + output);
 		}

diff --git a/...c/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.java b/...c/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.java
@@ -7,6 +7,7 @@
 import org.usfirst.frc.team449.robot.components.NavXRumbleComponent;
 import org.usfirst.frc.team449.robot.drive.shifting.DriveShiftable;
 import org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectional;
+import org.usfirst.frc.team449.robot.generalInterfaces.shiftable.Shiftable;
 import org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem;
 import org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional;
 import org.usfirst.frc.team449.robot.other.BufferTimer;
@@ -33,6 +34,11 @@ public class UnidirectionalNavXShiftingDefaultDrive <T extends YamlSubsystem & D
 	@NotNull
 	protected final AutoshiftComponent autoshiftComponent;
 
+	/**
+	 * The coefficient to multiply the loop output by in high gear.
+	 */
+	private final double highGearAngularCoefficient;
+
 	/**
 	 * Default constructor
 	 *
@@ -56,6 +62,7 @@ public class UnidirectionalNavXShiftingDefaultDrive <T extends YamlSubsystem & D
 	 * @param subsystem                   The drive to execute this command on.
 	 * @param oi                          The OI controlling the robot.
 	 * @param autoshiftComponent          The helper object for autoshifting.
+	 * @param highGearAngularCoefficient The coefficient to multiply the loop output by in high gear. Defaults to 1.
 	 */
 	@JsonCreator
 	public UnidirectionalNavXShiftingDefaultDrive(@JsonProperty(required = true) double absoluteTolerance,
@@ -64,17 +71,19 @@ public UnidirectionalNavXShiftingDefaultDrive(@JsonProperty(required = true) dou
 	                                              double deadband,
 	                                              @Nullable Double maxAngularVelToEnterLoop,
 	                                              boolean inverted,
-	                                              int kP,
-	                                              int kI,
-	                                              int kD,
+	                                              double kP,
+	                                              double kI,
+	                                              double kD,
 	                                              @NotNull @JsonProperty(required = true) BufferTimer driveStraightLoopEntryTimer,
 	                                              @NotNull @JsonProperty(required = true) T subsystem,
 	                                              @NotNull @JsonProperty(required = true) OIUnidirectional oi,
-	                                              @NotNull @JsonProperty(required = true) AutoshiftComponent autoshiftComponent) {
+	                                              @NotNull @JsonProperty(required = true) AutoshiftComponent autoshiftComponent,
+	                                              Double highGearAngularCoefficient) {
 		super(absoluteTolerance, toleranceBuffer, minimumOutput, maximumOutput, deadband, maxAngularVelToEnterLoop,
 				inverted, kP, kI, kD, driveStraightLoopEntryTimer, subsystem, oi);
 		this.autoshiftComponent = autoshiftComponent;
 		this.subsystem = subsystem;
+		this.highGearAngularCoefficient = highGearAngularCoefficient != null ? highGearAngularCoefficient : 1;
 	}
 
 	/**
@@ -106,4 +115,14 @@ protected void interrupted() {
 		Logger.addEvent("ShiftingUnidirectionalNavXArcadeDrive Interrupted! Stopping the robot.", this.getClass());
 		subsystem.fullStop();
 	}
+
+	/**
+	 * Give the correct output to the motors based on whether we're in free drive or drive straight.
+	 *
+	 * @param output The output of the angular PID loop.
+	 */
+	@Override
+	protected void usePIDOutput(double output) {
+		super.usePIDOutput(output * (subsystem.getGear() == Shiftable.gear.HIGH.getNumVal() ? highGearAngularCoefficient : 1));
+	}
 }
diff --git a/...O/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonCluster.java b/...O/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonCluster.java
@@ -219,6 +219,8 @@ public String[] getHeader() {
 				"right_voltage",
 				"left_pos",
 				"right_pos",
+				"left_error",
+				"right_error",
 				"heading",
 				"rotational_velocity",
 				"raw_angle",
@@ -244,6 +246,8 @@ public Object[] getData() {
 				rightMaster.getOutputVoltage(),
 				leftMaster.getPositionFeet(),
 				rightMaster.getPositionFeet(),
+				leftMaster.getError(),
+				rightMaster.getError(),
 				navX.pidGet(),
 				navX.getRate(),
 				navX.getAngle(),

diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/FPSTalon.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/FPSTalon.java
@@ -171,7 +171,7 @@ public FPSTalon(@JsonProperty(required = true) int port,
 		canTalon = new CANTalon(port, controlFrameRateMillis != null ? controlFrameRateMillis : 10);
 		//Set this to false because we only use reverseOutput for slaves.
 		canTalon.reverseOutput(reverseOutput);
-		//DONT TOUCH THIS SHIT
+		//NO TOUCHY
 		canTalon.setInverted(false);
 		//Set brake mode
 		canTalon.enableBrakeMode(enableBrakeMode);

diff --git a/...ava/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.java b/...ava/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.java
@@ -99,7 +99,7 @@ public PIDAngleCommand(@JsonProperty(required = true) double absoluteTolerance,
 	}
 
 	/**
-	 * Process the output of the PID loop to account for minimum output, deadband, and inversion.
+	 * Process the output of the PID loop to account for minimum output and inversion.
 	 *
 	 * @param output The output from the WPILib angular PID loop.
 	 * @return The processed output, ready to be subtracted from the left side of the drive output and added to the
@@ -112,17 +112,23 @@ protected double processPIDOutput(double output) {
 		} else if (output < 0 && output > -minimumOutput) {
 			output = -minimumOutput;
 		}
-		//Set the output to 0 if we're within the deadband.
-		if (Math.abs(this.getPIDController().getError()) < deadband) {
-			output = 0;
-		}
 		if (inverted) {
 			output *= -1;
 		}
 
 		return output;
 	}
 
+	/**
+	 * Deadband the output of the PID loop.
+	 *
+	 * @param output The output from the WPILib angular PID loop.
+	 * @return That output after being deadbanded with the map-given deadband.
+	 */
+	protected double deadbandOutput(double output){
+		return this.getPIDController().getError() > deadband ? output : 0;
+	}
+
 	/**
 	 * Returns the input for the pid loop. <p> It returns the input for the pid loop, so if this command was based off
 	 * of a gyro, then it should return the angle of the gyro </p> <p> All subclasses of {@link PIDCommand} must

diff --git a/RoboRIO/src/main/resources/calcifer_map.yml b/RoboRIO/src/main/resources/calcifer_map.yml
@@ -114,7 +114,6 @@ drive:
                 &leftMaster
                 '@id': leftMaster
                 port: 7
-                inverted: false
                 reverseOutput: true
                 enableBrakeMode: false
                 feetPerRotation: 0.9817
@@ -129,7 +128,7 @@ drive:
                       fwdPeakOutputVoltage: 12
                       fwdNominalOutputVoltage: 0.7
                       maxSpeed: 6.2
-                      kP: 0.3
+                      kP: 0.5
                       kI: 0.0
                       kD: 0.0
                       motionProfilePFwd: 1.5
@@ -142,7 +141,6 @@ drive:
                       kP: 0.7
                       kI: 0.0
                       kD: 3.0
-                maxClosedLoopVoltage: 12
                 updaterProcessPeriodSecs: 0.005
                 minNumPointsInBottomBuffer: 10
                 slaves:
@@ -156,7 +154,6 @@ drive:
             org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon:
                 <<: *leftMaster
                 '@id': rightMaster
-                inverted: false
                 reverseSensor: true
                 reverseOutput: false
                 port: 2
@@ -192,12 +189,12 @@ defaultDriveCommand:
         kP: 0.012
         kI: 0.0
         kD: 0.0
-        absoluteTolerance: 1
-        maximumOutput: 0.33333
+        absoluteTolerance: 0
         toleranceBuffer: 25
         deadband: 2
         maxAngularVelToEnterLoop: 0.05
         inverted: true
+        highGearAngularCoefficient: 2
         driveStraightLoopEntryTimer:
             '@id': driveStraightLoopEntryTimer
             bufferTimeSeconds: 0.15
@@ -225,7 +222,6 @@ climber:
             org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon:
                 '@id': climberTalon
                 port: 5
-                inverted: false
                 enableBrakeMode: false
         maxPower: 500
         simpleMotor:

diff --git a/docs/allclasses-frame.html b/docs/allclasses-frame.html
@@ -2,20 +2,11 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (9) on Sat Oct 14 18:57:33 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Sun Oct 15 21:56:20 EDT 2017 -->
 <title>All Classes (RoboRIO 1.0 API)</title>
-<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="date" content="2017-10-14">
+<meta name="date" content="2017-10-15">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
-<link rel="stylesheet" type="text/css" href="jquery/jquery-ui.css" title="Style">
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-<script type="text/javascript" src="jquery/jszip/dist/jszip.min.js"></script>
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-<!--[if IE]>
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-<![endif]-->
-<script type="text/javascript" src="jquery/jquery-1.10.2.js"></script>
-<script type="text/javascript" src="jquery/jquery-ui.js"></script>
 </head>
 <body>
 <h1 class="bar">All&nbsp;Classes</h1>

diff --git a/docs/allclasses-noframe.html b/docs/allclasses-noframe.html
@@ -2,20 +2,11 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (9) on Sat Oct 14 18:57:33 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Sun Oct 15 21:56:20 EDT 2017 -->
 <title>All Classes (RoboRIO 1.0 API)</title>
-<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="date" content="2017-10-14">
+<meta name="date" content="2017-10-15">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
-<link rel="stylesheet" type="text/css" href="jquery/jquery-ui.css" title="Style">
 <script type="text/javascript" src="script.js"></script>
-<script type="text/javascript" src="jquery/jszip/dist/jszip.min.js"></script>
-<script type="text/javascript" src="jquery/jszip-utils/dist/jszip-utils.min.js"></script>
-<!--[if IE]>
-<script type="text/javascript" src="jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
-<![endif]-->
-<script type="text/javascript" src="jquery/jquery-1.10.2.js"></script>
-<script type="text/javascript" src="jquery/jquery-ui.js"></script>
 </head>
 <body>
 <h1 class="bar">All&nbsp;Classes</h1>

diff --git a/docs/constant-values.html b/docs/constant-values.html
@@ -2,20 +2,11 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (9) on Sat Oct 14 18:57:33 EDT 2017 -->
+<!-- Generated by javadoc (1.8.0_111) on Sun Oct 15 21:56:20 EDT 2017 -->
 <title>Constant Field Values (RoboRIO 1.0 API)</title>
-<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="date" content="2017-10-14">
+<meta name="date" content="2017-10-15">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
-<link rel="stylesheet" type="text/css" href="jquery/jquery-ui.css" title="Style">
 <script type="text/javascript" src="script.js"></script>
-<script type="text/javascript" src="jquery/jszip/dist/jszip.min.js"></script>
-<script type="text/javascript" src="jquery/jszip-utils/dist/jszip-utils.min.js"></script>
-<!--[if IE]>
-<script type="text/javascript" src="jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
-<![endif]-->
-<script type="text/javascript" src="jquery/jquery-1.10.2.js"></script>
-<script type="text/javascript" src="jquery/jquery-ui.js"></script>
 </head>
 <body>
 <script type="text/javascript"><!--
@@ -27,11 +18,10 @@
     catch(err) {
     }
 //-->
-var pathtoroot = "./";loadScripts(document, 'script');</script>
+</script>
 <noscript>
 <div>JavaScript is disabled on your browser.</div>
 </noscript>
-<div class="fixedNav">
 <!-- ========= START OF TOP NAVBAR ======= -->
 <div class="topNav"><a name="navbar.top">
 <!--   -->
@@ -62,12 +52,6 @@
 <ul class="navList" id="allclasses_navbar_top">
 <li><a href="allclasses-noframe.html">All&nbsp;Classes</a></li>
 </ul>
-<ul class="navListSearch">
-<li><span>SEARCH:&nbsp;</span>
-<input type="text" id="search" value=" " disabled="disabled">
-<input type="reset" id="reset" value=" " disabled="disabled">
-</li>
-</ul>
 <div>
 <script type="text/javascript"><!--
   allClassesLink = document.getElementById("allclasses_navbar_top");
@@ -79,20 +63,11 @@
   }
   //-->
 </script>
-<noscript>
-<div>JavaScript is disabled on your browser.</div>
-</noscript>
 </div>
 <a name="skip.navbar.top">
 <!--   -->
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 <!-- ========= END OF TOP NAVBAR ========= -->
-</div>
-<div class="navPadding">&nbsp;</div>
-<script type="text/javascript"><!--
-$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
-//-->
-</script>
 <div class="header">
 <h1 title="Constant Field Values" class="title">Constant Field Values</h1>
 <h2 title="Contents">Contents</h2>
@@ -106,19 +81,19 @@ <h2 title="Contents">Contents</h2>
 <h2 title="org.usfirst">org.usfirst.*</h2>
 <ul class="blockList">
 <li class="blockList">
-<table class="constantsSummary" summary="Constant Field Values table, listing constant fields, and values">
+<table class="constantsSummary" border="0" cellpadding="3" cellspacing="0" summary="Constant Field Values table, listing constant fields, and values">
 <caption><span>org.usfirst.frc.team449.robot.<a href="org/usfirst/frc/team449/robot/Robot.html" title="class in org.usfirst.frc.team449.robot">Robot</a></span><span class="tabEnd">&nbsp;</span></caption>
 <tr>
 <th class="colFirst" scope="col">Modifier and Type</th>
-<th class="colSecond" scope="col">Constant Field</th>
+<th scope="col">Constant Field</th>
 <th class="colLast" scope="col">Value</th>
 </tr>
 <tbody>
 <tr class="altColor">
 <td class="colFirst"><a name="org.usfirst.frc.team449.robot.Robot.RESOURCES_PATH">
 <!--   -->
 </a><code>public&nbsp;static&nbsp;final&nbsp;java.lang.String</code></td>
-<th class="colSecond" scope="row"><code><a href="org/usfirst/frc/team449/robot/Robot.html#RESOURCES_PATH">RESOURCES_PATH</a></code></th>
+<td><code><a href="org/usfirst/frc/team449/robot/Robot.html#RESOURCES_PATH">RESOURCES_PATH</a></code></td>
 <td class="colLast"><code>"/home/lvuser/449_resources/"</code></td>
 </tr>
 </tbody>
@@ -167,9 +142,6 @@ <h2 title="org.usfirst">org.usfirst.*</h2>
   }
   //-->
 </script>
-<noscript>
-<div>JavaScript is disabled on your browser.</div>
-</noscript>
 </div>
 <a name="skip.navbar.bottom">
 <!--   -->