From 28edede97adf15b472406a9f96b6d735a0e07a0f Mon Sep 17 00:00:00 2001 From: Noah Gleason Date: Sun, 5 Nov 2017 20:20:44 -0500 Subject: [PATCH] Remove all code that's in central --- .gitignore | 3 +- Arduino/.gitignore | 29 - .../AnalogInOutSerial/AnalogInOutSerial.ino | 86 - Arduino/AutoTeleop/AutoTeleop.ino | 172 - Arduino/LICENSE | 674 --- Arduino/Lights_Final/Lights_Final.ino | 219 - Arduino/WhiteLoopRainbow/WhiteLoopRainbow.ino | 76 - Arduino/WhiteRainbow/WhiteRainbow.ino | 76 - .../Adafruit_NeoPixel/Adafruit_NeoPixel.cpp | 1730 -------- .../Adafruit_NeoPixel/Adafruit_NeoPixel.h | 181 - Arduino/libraries/Adafruit_NeoPixel/COPYING | 165 - Arduino/libraries/Adafruit_NeoPixel/README.md | 11 - Arduino/libraries/Adafruit_NeoPixel/esp8266.c | 67 - .../RGBWstrandtest/RGBWstrandtest.ino | 263 -- .../examples/buttoncycler/buttoncycler.ino | 165 - .../examples/simple/simple.ino | 47 - .../examples/strandtest/strandtest.ino | 134 - .../libraries/Adafruit_NeoPixel/keywords.txt | 29 - 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100644 templates/Generic_settings.gradle delete mode 100644 templates/StateChangeCommand.java delete mode 100644 templates/switchToFirstname.sh diff --git a/.gitignore b/.gitignore index 265fca02..4b34bb04 100644 --- a/.gitignore +++ b/.gitignore @@ -44,4 +44,5 @@ logs/ *Log*.csv #Generated profiles in the base-level directory -*Profile.csv \ No newline at end of file +*Profile.csv +!src/main/resources/*Profile.csv \ No newline at end of file diff --git a/Arduino/.gitignore b/Arduino/.gitignore deleted file mode 100644 index 4581ef2e..00000000 --- a/Arduino/.gitignore +++ /dev/null @@ -1,29 +0,0 @@ -# Compiled Object files -*.slo -*.lo -*.o -*.obj - -# Precompiled Headers -*.gch -*.pch - -# Compiled Dynamic libraries -*.so -*.dylib -*.dll - -# Fortran module files -*.mod -*.smod - -# Compiled Static libraries -*.lai -*.la -*.a -*.lib - -# Executables -*.exe -*.out -*.app diff --git a/Arduino/AnalogInOutSerial/AnalogInOutSerial.ino b/Arduino/AnalogInOutSerial/AnalogInOutSerial.ino deleted file mode 100644 index 9dba71ea..00000000 --- a/Arduino/AnalogInOutSerial/AnalogInOutSerial.ino +++ /dev/null @@ -1,86 +0,0 @@ -#include -#ifdef __AVR__ - #include -#endif - -#define PIN 6 - -// Parameter 1 = number of pixels in strip -// Parameter 2 = Arduino pin number (most are valid) -// Parameter 3 = pixel type flags, add together as needed: -// NEO_KHZ800 800 KHz bitstream (most NeoPixel products w/WS2812 LEDs) -// NEO_KHZ400 400 KHz (classic 'v1' (not v2) FLORA pixels, WS2811 drivers) -// NEO_GRB Pixels are wired for GRB bitstream (most NeoPixel products) -// NEO_RGB Pixels are wired for RGB bitstream (v1 FLORA pixels, not v2) -// NEO_RGBW Pixels are wired for RGBW bitstream (NeoPixel RGBW products) -Adafruit_NeoPixel strip = Adafruit_NeoPixel(150, PIN, NEO_GRB + NEO_KHZ800); - -// IMPORTANT: To reduce NeoPixel burnout risk, add 1000 uF capacitor across -// pixel power leads, add 300 - 500 Ohm resistor on first pixel's data input -// and minimize distance between Arduino and first pixel. Avoid connecting -// on a live circuit...if you must, connect GND first./* - /* Analog input, analog output, serial output - - Reads an analog input pin, maps the result to a range from 0 to 255 - and uses the result to set the pulsewidth modulation (PWM) of an output pin. - Also prints the results to the serial monitor. - - The circuit: - * potentiometer connected to analog pin 0. - Center pin of the potentiometer goes to the analog pin. - side pins of the potentiometer go to +5V and ground - * LED connected from digital pin 9 to ground - - created 29 Dec. 2008 - modified 9 Apr 2012 - by Tom Igoe - - This example code is in the public domain. - - */ - -// These constants won't change. They're used to give names -// to the pins used: -const int analogInPin = A0; // Analog input pin that the potentiometer is attached to -const int analogOutPin = 9; // Analog output pin that the LED is attached to - -int sensorValue = 0; // value read from the pot -int outputValue = 0; // value output to the PWM (analog out) - -void setup() { - // initialize serial communications at 9600 bps: - strip.begin(); - Serial.begin(9600); -} - -void loop() { - // read the analog in value: - sensorValue = analogRead(analogInPin); - // map it to the range of the analog out: - outputValue = map(sensorValue, 0, 1023, 0, 255); - // change the analog out value: - analogWrite(analogOutPin, outputValue); - - // print the results to the serial monitor: - Serial.print("sensor = "); - Serial.print(sensorValue); - Serial.print("\t output = "); - Serial.println(outputValue); - - // wait 2 milliseconds before the next loop - // for the analog-to-digital converter to settle - // after the last reading: - uint16_t i; - setRed(10, outputValue); - strip.show(); - delay(2); -} - -void setRed(uint16_t wait, uint8_t color) { - uint16_t i; - for (i = 0; i < strip.numPixels(); i++) { - strip.setPixelColor(i, 0, color, color/2); - } - - delay(wait); -} diff --git a/Arduino/AutoTeleop/AutoTeleop.ino b/Arduino/AutoTeleop/AutoTeleop.ino deleted file mode 100644 index 9ce42b21..00000000 --- a/Arduino/AutoTeleop/AutoTeleop.ino +++ /dev/null @@ -1,172 +0,0 @@ -#include -#include - -#define PIN 6 -Adafruit_NeoPixel strip = Adafruit_NeoPixel(24, PIN, NEO_GRB + NEO_KHZ800); - -String state; - -uint32_t red = strip.Color(60,0,0); -uint32_t green = strip.Color(0,100,15); -uint32_t oyellow = strip.Color(140,40,0); -uint32_t blue = strip.Color(0,0,100); -uint32_t orange = strip.Color(140,10,0); -uint32_t yellow = strip.Color(90,20,0); -uint32_t purple = strip.Color(55,0,75); -uint32_t pink = strip.Color(80,0,65); -uint32_t lgreen = strip.Color(10,80,10); -uint32_t lblue = strip.Color(15,35,135); -uint32_t cyan = strip.Color(0,80,60); -uint32_t white = strip.Color(40,40,40); - -const int rgbChangeSpeed = 18; - -//highest value a color would reach. -const int colorMax = 108; -int rred = colorMax; -int rgreen = 0; -int rblue = 0; - -//information about the white pixel bit that flows around -int currentPos = 0; -const int whiteLength = 7; -const int whiteSpeed = 2; - -int tempIndex; - -//last position position that the white pixel bit was at. -int lastPos = strip.numPixels(); -//previous color that gets overwritten by the white pixel bit. -uint32_t lastColor; - -uint32_t ra1 = purple; -uint32_t ra2 = pink; -uint32_t ba1 = lgreen; -uint32_t ba2 = cyan; -uint32_t rt1 = red; -uint32_t rt2 = orange; -uint32_t bt1 = blue; -uint32_t bt2 = purple; - -int loopCounter; -boolean rippleInvert = false; -int ripplePos = 0; - -void setup() { - // put your setup code here, to run once: - Wire.begin(4); - Serial.begin(9600); - Wire.onReceive(receiveEventWire); - strip.begin(); - strip.show(); - state = "init"; -} - -void loop() { - if (loopCounter % 2 == 0) { - ripplePos++; - loopCounter = 1; - } else { - loopCounter++; - } - - if (ripplePos > strip.numPixels() / 2) { - ripplePos = ripplePos % (strip.numPixels()/2); - rippleInvert = !rippleInvert; - } - - if (state.equals("init")) { - //if you've completed a cycle (ie current position is now 0, last position is 150) - if (currentPos < lastPos || currentPos > 149) { - //store lastColor, then find your next incremented color - lastColor = strip.Color(rred,rgreen,rblue); - nextRGB(); - } - lastPos = currentPos; - tempIndex = currentPos; - //sets the little white pixel bit to white. - while (tempIndex != (currentPos + whiteLength) % 150) { - strip.setPixelColor(tempIndex,100,100,100); - tempIndex = (tempIndex + 1) % 150; - } - //if you're behind the white thing, get set to the new color - for (int i = 0; i < currentPos; i++) { - strip.setPixelColor(i,rred,rgreen,rblue); - } - //if you're beyond the white thing, get set to the old color. - for (int i = currentPos + whiteLength + 1; i < 150; i++) { - strip.setPixelColor(i,lastColor); - } - //update strip, move white pixel bit forward by speed defined above - strip.show(); - currentPos += whiteSpeed; - currentPos %= 150; - delay(17); - } else if (state.equals("red_auto")) { - for (int i = 0; i < strip.numPixels(); i++) { - setColor(i, ra1, ra2); - } - } else if (state.equals("blue_auto")) { - for (int i = 0; i < strip.numPixels(); i++) { - setColor(i, ba1, ba2); - } - } else if (state.equals("red_teleop")) { - for (int i = 0; i < strip.numPixels(); i++) { - setColor(i, rt1, rt2); - } - } else if (state.equals("blue_teleop")) { - for (int i = 0; i < strip.numPixels(); i++) { - setColor(i, bt1, bt2); - } - } - strip.show(); - delay(1); -} - -void receiveEventWire(int numBytes) { - //Serial.println("just entered event"); - String temp = ""; - while(Wire.available() > 0){ - char n = (char) Wire.read(); - temp+=n; - } - - state = temp; -} - -void setColor(int i, uint32_t c1, uint32_t c2) { - if (!rippleInvert) { - if (i < strip.numPixels()/2 - ripplePos || i > strip.numPixels()/2+ripplePos) { - strip.setPixelColor(i,c2); - } else if (i == strip.numPixels()/2 - ripplePos || i == strip.numPixels()/2+ripplePos){ - strip.setPixelColor(i,90,90,90); - } else { - strip.setPixelColor(i,c1); - } - } else { - if (i < strip.numPixels()/2 - ripplePos || i > strip.numPixels()/2+ripplePos) { - strip.setPixelColor(i,c1); - } else if (i == strip.numPixels()/2 - ripplePos || i == strip.numPixels()/2+ripplePos) { - strip.setPixelColor(i,90,90,90); - } - else { - strip.setPixelColor(i,c2); - } - } -} - -void nextRGB() { - if (rred == colorMax && rgreen < colorMax && rblue == 0) { - rgreen += rgbChangeSpeed; - } else if (rgreen == colorMax && rred > 0 && rblue == 0) { - rred -= rgbChangeSpeed * 1.5; - } else if (rgreen == colorMax && rblue < colorMax && rred == 0) { - rblue += rgbChangeSpeed; - } else if (rblue == colorMax && rgreen > 0 && rred == 0) { - rgreen -= rgbChangeSpeed; - } else if (rblue == colorMax && rred < colorMax && rgreen == 0) { - rred += rgbChangeSpeed; - } else if (rred == colorMax && rblue > 0 && rgreen == 0) { - rblue -= rgbChangeSpeed * .5; - } -} diff --git a/Arduino/LICENSE b/Arduino/LICENSE deleted file mode 100644 index 9cecc1d4..00000000 --- a/Arduino/LICENSE +++ /dev/null @@ -1,674 +0,0 @@ - GNU GENERAL PUBLIC LICENSE - Version 3, 29 June 2007 - - Copyright (C) 2007 Free Software Foundation, Inc. - Everyone is permitted to copy and distribute verbatim copies - of this license document, but changing it is not allowed. - - Preamble - - The GNU General Public License is a free, copyleft license for -software and other kinds of works. - - The licenses for most software and other practical works are designed -to take away your freedom to share and change the works. By contrast, -the GNU General Public License is intended to guarantee your freedom to -share and change all versions of a program--to make sure it remains free -software for all its users. We, the Free Software Foundation, use the -GNU General Public License for most of our software; it applies also to -any other work released this way by its authors. You can apply it to -your programs, too. - - When we speak of free software, we are referring to freedom, not -price. Our General Public Licenses are designed to make sure that you -have the freedom to distribute copies of free software (and charge for -them if you wish), that you receive source code or can get it if you -want it, that you can change the software or use pieces of it in new -free programs, and that you know you can do these things. - - To protect your rights, we need to prevent others from denying you -these rights or asking you to surrender the rights. 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But first, please read -. diff --git a/Arduino/Lights_Final/Lights_Final.ino b/Arduino/Lights_Final/Lights_Final.ino deleted file mode 100644 index 7273dcbd..00000000 --- a/Arduino/Lights_Final/Lights_Final.ino +++ /dev/null @@ -1,219 +0,0 @@ -/* Team 449 2017 LED Strip Code - * Written by Rafi Pedersen - * - * Operates under a 4-State premise: - * State 1: Neither gear nor peg - * State 2: Gear only - * State 3: Peg Only (pretty much useless) - * State 4: Peg and Gear - * - * Each state has two colors, which alternately expand from - * the middle of the strip. - * - * Detects the peg using six analog IR sensors - * Detects the gear using two digital IR sensors, one for gear - * in and one for gear out. - * - * Uses a 150 pixel Adafruit Neopixel strip. - */ - -#include -#include - -#define PIN 6 -Adafruit_NeoPixel strip = Adafruit_NeoPixel(150, PIN, NEO_GRB + NEO_KHZ800); - -//define a bunch of colors -uint32_t red = strip.Color(60,0,0); -uint32_t green = strip.Color(0,100,15); -uint32_t oyellow = strip.Color(140,40,0); -uint32_t blue = strip.Color(0,0,100); -uint32_t orange = strip.Color(140,10,0); -uint32_t yellow = strip.Color(90,20,0); -uint32_t purple = strip.Color(55,0,75); -uint32_t pink = strip.Color(80,0,65); -uint32_t lgreen = strip.Color(10,80,10); -uint32_t lblue = strip.Color(15,35,135); -uint32_t cyan = strip.Color(0,80,60); -uint32_t white = strip.Color(40,40,40); - -//define 2 colors for each of the four states. -uint32_t neutral1 = red; -uint32_t neutral2 = orange; -uint32_t gear1 = yellow; -uint32_t gear2 = oyellow; -uint32_t peg1 = purple; -uint32_t peg2 = pink; -uint32_t gearPeg1 = blue; -uint32_t gearPeg2 = lblue; - - -int threshold = 320; //threshold for the analog peg-detecting sensors -int gearSensorBuffer = 15; //buffer for the gear sensors - //higher values make less flicker, more delay -int gearBufferState1 = 0; //initialize both sensors' buffers -int gearBufferState2 = 0; -//buffers for the gear sensors add or subtract based on their reading -//then state is determined by positive/negative of buffers - -//used to make transition animation between two colors -int barrier = 0; -int ripplePos = 0; -boolean rippleInvert = false; - -//set up analog sensors -const int sensorCount = 6; //number of sensors -const int analogInPins[] = {A0, A1, A2, A3, A4, A5}; -uint32_t sensorSums[sensorCount]; - -const int sensorReadingCount = 20; -uint32_t pegSensorReadings[sensorCount][sensorReadingCount]; -int sensorIndex = 0; - -boolean pegIn = false; -boolean gearIn = false; - -int loopCounter = 0; - -void setup() { - // put your setup code here, to run once: - Serial.begin(9600); - strip.begin(); - strip.show(); -} - -void loop() { - // put your main code here, to run repeatedly: - readSensors(); - - if (loopCounter % 2 == 0) { - ripplePos++; - loopCounter = 1; - } else { - loopCounter++; - } - - if (ripplePos > strip.numPixels() / 2) { - ripplePos = ripplePos % (strip.numPixels()/2); - rippleInvert = !rippleInvert; - } - - if (gearIn) { - if (pegIn) { - for (int i = 0; i <= strip.numPixels()/2; i++) { - setColor(strip.numPixels()/2+i, gearPeg1, gearPeg2); - setColor(strip.numPixels()/2 - i, gearPeg1, gearPeg2); - } - } else { - for (int i = 0; i <= strip.numPixels()/2; i++) { - setColor(strip.numPixels()/2+i, gear1, gear2); - setColor(strip.numPixels()/2 - i, gear1, gear2); - } - } - } else if (pegIn) { - for (int i = 0; i <= strip.numPixels()/2; i++) { - setColor(strip.numPixels()/2+i, peg1, peg2); - setColor(strip.numPixels()/2 - i, peg1, peg2); - } - } else { - for (int i = 0; i <= strip.numPixels()/2; i++) { - setColor(strip.numPixels()/2+i, neutral1, neutral2); - setColor(strip.numPixels()/2-i, neutral1, neutral2); - } - } - strip.show(); - delay(1); -} - -void setColor(int i, uint32_t c1, uint32_t c2) { - if (!rippleInvert) { - if (i < strip.numPixels()/2 - ripplePos || i > strip.numPixels()/2+ripplePos) { - strip.setPixelColor(i,c2); - } else if (i == strip.numPixels()/2 - ripplePos || i == strip.numPixels()/2+ripplePos){ - strip.setPixelColor(i,90,90,90); - } else { - strip.setPixelColor(i,c1); - } - } else { - if (i < strip.numPixels()/2 - ripplePos || i > strip.numPixels()/2+ripplePos) { - strip.setPixelColor(i,c1); - } else if (i == strip.numPixels()/2 - ripplePos || i == strip.numPixels()/2+ripplePos) { - strip.setPixelColor(i,90,90,90); - } - else { - strip.setPixelColor(i,c2); - } - } -} - -void readSensors() { - if (digitalRead(2) == 0) { - if (gearBufferState1 < gearSensorBuffer) { - gearBufferState1++; - } - } else { - if (gearBufferState1 > gearSensorBuffer * -1) { - gearBufferState1--; - } - } - if (digitalRead(3) == 0) { - if (gearBufferState2 < gearSensorBuffer) { - gearBufferState2++; - } - } else { - if (gearBufferState2 > gearSensorBuffer * -1) { - gearBufferState2--; - } - } - if (gearBufferState2 >= 0) { - gearIn = true; - } else if (gearBufferState1 < 0 && gearBufferState2 < 0) { - gearIn = false; - } - - for (int i = 0; i < sensorCount; i++) { - pegSensorReadings[i][sensorIndex] = analogRead(analogInPins[i]); - //Serial.print(pegSensorReadings[i][sensorIndex]); Serial.print('\t'); - sensorSums[i] = findAverage(pegSensorReadings[i]); - } - sensorIndex++; - if (sensorIndex == sensorReadingCount) { - sensorIndex = 0; - } - //sensorSums[1] *= 2.5; - for (int i = 0; i < sensorCount; i++) { - Serial.print(sensorSums[i]); Serial.print('\t'); - } - Serial.println(); - if (maxValue(sensorSums, sensorCount) > threshold) { - /*if(redColor < 100){ - redColor+=15; - } - if (blueColor > 0) { - blueColor -= 15; - }*/ - pegIn = true; - } else { - pegIn = false; - } -} - -uint32_t maxValue( uint32_t myArray[], int size) { - int i; uint32_t maxValue; - maxValue=myArray[0]; - - //find the largest no - for (i=0;i < size; i++) { - if (myArray[i]>maxValue) - maxValue=myArray[i]; - } - return maxValue; -} - -uint32_t findAverage(uint32_t input[]) { - uint32_t sum = 0; - for (int i = 0; i < sensorReadingCount; i++) { - sum += input[i]; - } - return (sum / sensorReadingCount); -} diff --git a/Arduino/WhiteLoopRainbow/WhiteLoopRainbow.ino b/Arduino/WhiteLoopRainbow/WhiteLoopRainbow.ino deleted file mode 100644 index 06bda004..00000000 --- a/Arduino/WhiteLoopRainbow/WhiteLoopRainbow.ino +++ /dev/null @@ -1,76 +0,0 @@ -#include -#define PIN 6 -Adafruit_NeoPixel strip = Adafruit_NeoPixel(150, PIN, NEO_GRB + NEO_KHZ800); - -//Amount of change for each of the colors at each step -const int rgbChangeSpeed = 5; - -//highest value a color would reach. -const int colorMax = 100; -int red = colorMax; -int green = 0; -int blue = 0; - -//information about the white pixel bit that flows around -int currentPos = 0; -const int whiteLength = 3; -const int whiteSpeed = 1; - -int tempIndex; - -//last position position that the white pixel bit was at. -int lastPos = 150; -//previous color that gets overwritten by the white pixel bit. -uint32_t lastColor; - -void setup() { - // put your setup code here, to run once: - strip.begin(); - strip.show(); -} - -void loop() { - //if you've completed a cycle (ie current position is now 0, last position is 150) - if (currentPos < lastPos) { - //store lastColor, then find your next incremented color - lastColor = strip.Color(red,green,blue); - nextRGB(); - } - lastPos = currentPos; - tempIndex = currentPos; - //sets the little white pixel bit to white. - while (tempIndex != (currentPos + whiteLength) % 150) { - strip.setPixelColor(tempIndex,100,100,100); - tempIndex = (tempIndex + 1) % 150; - } - //if you're behind the white thing, get set to the new color - for (int i = 0; i < currentPos; i++) { - strip.setPixelColor(i,red,green,blue); - } - //if you're beyond the white thing, get set to the old color. - for (int i = currentPos + whiteLength + 1; i < 150; i++) { - strip.setPixelColor(i,lastColor); - } - //update strip, move white pixel bit forward by speed defined above - strip.show(); - currentPos += whiteSpeed; - delay(10); -} - -//generates the next color based on the graph: https://academe.co.uk/wp-content/uploads/2012/04/451px-HSV-RGB-comparison.svg_.png -void nextRGB() { - if (red == colorMax && green < colorMax && blue == 0) { - green += rgbChangeSpeed; - } else if (green == colorMax && red > 0 && blue == 0) { - red -= rgbChangeSpeed; - } else if (green == colorMax && blue < colorMax && red == 0) { - blue += rgbChangeSpeed; - } else if (blue == colorMax && green > 0 && red == 0) { - green -= rgbChangeSpeed; - } else if (blue == colorMax && red < colorMax && green == 0) { - red += rgbChangeSpeed; - } else if (red == colorMax && blue > 0 && green == 0) { - blue -= rgbChangeSpeed; - } -} - diff --git a/Arduino/WhiteRainbow/WhiteRainbow.ino b/Arduino/WhiteRainbow/WhiteRainbow.ino deleted file mode 100644 index af38911e..00000000 --- a/Arduino/WhiteRainbow/WhiteRainbow.ino +++ /dev/null @@ -1,76 +0,0 @@ -#include -#define PIN 6 -Adafruit_NeoPixel strip = Adafruit_NeoPixel(150, PIN, NEO_GRB + NEO_KHZ800); - -//Amount of change for each of the colors at each step -const int rgbChangeSpeed = 18; - -//highest value a color would reach. -const int colorMax = 108; -int red = colorMax; -int green = 0; -int blue = 0; - -//information about the white pixel bit that flows around -int currentPos = 0; -const int whiteLength = 7; -const int whiteSpeed = 2; - -int tempIndex; - -//last position position that the white pixel bit was at. -int lastPos = 150; -//previous color that gets overwritten by the white pixel bit. -uint32_t lastColor; - -void setup() { - // put your setup code here, to run once: - strip.begin(); - strip.show(); -} - -void loop() { - //if you've completed a cycle (ie current position is now 0, last position is 150) - if (currentPos < lastPos || currentPos > 149) { - //store lastColor, then find your next incremented color - lastColor = strip.Color(red,green,blue); - nextRGB(); - } - lastPos = currentPos; - tempIndex = currentPos; - //sets the little white pixel bit to white. - while (tempIndex != (currentPos + whiteLength) % 150) { - strip.setPixelColor(tempIndex,100,100,100); - tempIndex = (tempIndex + 1) % 150; - } - //if you're behind the white thing, get set to the new color - for (int i = 0; i < currentPos; i++) { - strip.setPixelColor(i,red,green,blue); - } - //if you're beyond the white thing, get set to the old color. - for (int i = currentPos + whiteLength + 1; i < 150; i++) { - strip.setPixelColor(i,lastColor); - } - //update strip, move white pixel bit forward by speed defined above - strip.show(); - currentPos += whiteSpeed; - currentPos %= 150; - delay(18); -} - -//generates the next color based on the graph: https://academe.co.uk/wp-content/uploads/2012/04/451px-HSV-RGB-comparison.svg_.png -void nextRGB() { - if (red == colorMax && green < colorMax && blue == 0) { - green += rgbChangeSpeed; - } else if (green == colorMax && red > 0 && blue == 0) { - red -= rgbChangeSpeed * 1.5; - } else if (green == colorMax && blue < colorMax && red == 0) { - blue += rgbChangeSpeed; - } else if (blue == colorMax && green > 0 && red == 0) { - green -= rgbChangeSpeed; - } else if (blue == colorMax && red < colorMax && green == 0) { - red += rgbChangeSpeed; - } else if (red == colorMax && blue > 0 && green == 0) { - blue -= rgbChangeSpeed * .5; - } -} diff --git a/Arduino/libraries/Adafruit_NeoPixel/Adafruit_NeoPixel.cpp b/Arduino/libraries/Adafruit_NeoPixel/Adafruit_NeoPixel.cpp deleted file mode 100644 index 2dd5bba9..00000000 --- a/Arduino/libraries/Adafruit_NeoPixel/Adafruit_NeoPixel.cpp +++ /dev/null @@ -1,1730 +0,0 @@ -/*------------------------------------------------------------------------- - Arduino library to control a wide variety of WS2811- and WS2812-based RGB - LED devices such as Adafruit FLORA RGB Smart Pixels and NeoPixel strips. - Currently handles 400 and 800 KHz bitstreams on 8, 12 and 16 MHz ATmega - MCUs, with LEDs wired for various color orders. Handles most output pins - (possible exception with upper PORT registers on the Arduino Mega). - - Written by Phil Burgess / Paint Your Dragon for Adafruit Industries, - contributions by PJRC, Michael Miller and other members of the open - source community. - - Adafruit invests time and resources providing this open source code, - please support Adafruit and open-source hardware by purchasing products - from Adafruit! - - ------------------------------------------------------------------------- - This file is part of the Adafruit NeoPixel library. - - NeoPixel is free software: you can redistribute it and/or modify - it under the terms of the GNU Lesser General Public License as - published by the Free Software Foundation, either version 3 of - the License, or (at your option) any later version. - - NeoPixel is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General Public - License along with NeoPixel. If not, see - . - -------------------------------------------------------------------------*/ - -#include "Adafruit_NeoPixel.h" - -// Constructor when length, pin and type are known at compile-time: -Adafruit_NeoPixel::Adafruit_NeoPixel(uint16_t n, uint8_t p, neoPixelType t) : - begun(false), brightness(0), pixels(NULL), endTime(0) -{ - updateType(t); - updateLength(n); - setPin(p); -} - -// via Michael Vogt/neophob: empty constructor is used when strand length -// isn't known at compile-time; situations where program config might be -// read from internal flash memory or an SD card, or arrive via serial -// command. If using this constructor, MUST follow up with updateType(), -// updateLength(), etc. to establish the strand type, length and pin number! -Adafruit_NeoPixel::Adafruit_NeoPixel() : -#ifdef NEO_KHZ400 - is800KHz(true), -#endif - begun(false), numLEDs(0), numBytes(0), pin(-1), brightness(0), pixels(NULL), - rOffset(1), gOffset(0), bOffset(2), wOffset(1), endTime(0) -{ -} - -Adafruit_NeoPixel::~Adafruit_NeoPixel() { - if(pixels) free(pixels); - if(pin >= 0) pinMode(pin, INPUT); -} - -void Adafruit_NeoPixel::begin(void) { - if(pin >= 0) { - pinMode(pin, OUTPUT); - digitalWrite(pin, LOW); - } - begun = true; -} - -void Adafruit_NeoPixel::updateLength(uint16_t n) { - if(pixels) free(pixels); // Free existing data (if any) - - // Allocate new data -- note: ALL PIXELS ARE CLEARED - numBytes = n * ((wOffset == rOffset) ? 3 : 4); - if((pixels = (uint8_t *)malloc(numBytes))) { - memset(pixels, 0, numBytes); - numLEDs = n; - } else { - numLEDs = numBytes = 0; - } -} - -void Adafruit_NeoPixel::updateType(neoPixelType t) { - boolean oldThreeBytesPerPixel = (wOffset == rOffset); // false if RGBW - - wOffset = (t >> 6) & 0b11; // See notes in header file - rOffset = (t >> 4) & 0b11; // regarding R/G/B/W offsets - gOffset = (t >> 2) & 0b11; - bOffset = t & 0b11; -#ifdef NEO_KHZ400 - is800KHz = (t < 256); // 400 KHz flag is 1<<8 -#endif - - // If bytes-per-pixel has changed (and pixel data was previously - // allocated), re-allocate to new size. Will clear any data. - if(pixels) { - boolean newThreeBytesPerPixel = (wOffset == rOffset); - if(newThreeBytesPerPixel != oldThreeBytesPerPixel) updateLength(numLEDs); - } -} - -#ifdef ESP8266 -// ESP8266 show() is external to enforce ICACHE_RAM_ATTR execution -extern "C" void ICACHE_RAM_ATTR espShow( - uint8_t pin, uint8_t *pixels, uint32_t numBytes, uint8_t type); -#endif // ESP8266 - -void Adafruit_NeoPixel::show(void) { - - if(!pixels) return; - - // Data latch = 50+ microsecond pause in the output stream. Rather than - // put a delay at the end of the function, the ending time is noted and - // the function will simply hold off (if needed) on issuing the - // subsequent round of data until the latch time has elapsed. This - // allows the mainline code to start generating the next frame of data - // rather than stalling for the latch. - while(!canShow()); - // endTime is a private member (rather than global var) so that mutliple - // instances on different pins can be quickly issued in succession (each - // instance doesn't delay the next). - - // In order to make this code runtime-configurable to work with any pin, - // SBI/CBI instructions are eschewed in favor of full PORT writes via the - // OUT or ST instructions. It relies on two facts: that peripheral - // functions (such as PWM) take precedence on output pins, so our PORT- - // wide writes won't interfere, and that interrupts are globally disabled - // while data is being issued to the LEDs, so no other code will be - // accessing the PORT. The code takes an initial 'snapshot' of the PORT - // state, computes 'pin high' and 'pin low' values, and writes these back - // to the PORT register as needed. - - noInterrupts(); // Need 100% focus on instruction timing - -#ifdef __AVR__ -// AVR MCUs -- ATmega & ATtiny (no XMEGA) --------------------------------- - - volatile uint16_t - i = numBytes; // Loop counter - volatile uint8_t - *ptr = pixels, // Pointer to next byte - b = *ptr++, // Current byte value - hi, // PORT w/output bit set high - lo; // PORT w/output bit set low - - // Hand-tuned assembly code issues data to the LED drivers at a specific - // rate. There's separate code for different CPU speeds (8, 12, 16 MHz) - // for both the WS2811 (400 KHz) and WS2812 (800 KHz) drivers. The - // datastream timing for the LED drivers allows a little wiggle room each - // way (listed in the datasheets), so the conditions for compiling each - // case are set up for a range of frequencies rather than just the exact - // 8, 12 or 16 MHz values, permitting use with some close-but-not-spot-on - // devices (e.g. 16.5 MHz DigiSpark). The ranges were arrived at based - // on the datasheet figures and have not been extensively tested outside - // the canonical 8/12/16 MHz speeds; there's no guarantee these will work - // close to the extremes (or possibly they could be pushed further). - // Keep in mind only one CPU speed case actually gets compiled; the - // resulting program isn't as massive as it might look from source here. - -// 8 MHz(ish) AVR --------------------------------------------------------- -#if (F_CPU >= 7400000UL) && (F_CPU <= 9500000UL) - -#ifdef NEO_KHZ400 // 800 KHz check needed only if 400 KHz support enabled - if(is800KHz) { -#endif - - volatile uint8_t n1, n2 = 0; // First, next bits out - - // Squeezing an 800 KHz stream out of an 8 MHz chip requires code - // specific to each PORT register. - - // 10 instruction clocks per bit: HHxxxxxLLL - // OUT instructions: ^ ^ ^ (T=0,2,7) - - // PORTD OUTPUT ---------------------------------------------------- - -#if defined(PORTD) - #if defined(PORTB) || defined(PORTC) || defined(PORTF) - if(port == &PORTD) { - #endif // defined(PORTB/C/F) - - hi = PORTD | pinMask; - lo = PORTD & ~pinMask; - n1 = lo; - if(b & 0x80) n1 = hi; - - // Dirty trick: RJMPs proceeding to the next instruction are used - // to delay two clock cycles in one instruction word (rather than - // using two NOPs). This was necessary in order to squeeze the - // loop down to exactly 64 words -- the maximum possible for a - // relative branch. - - asm volatile( - "headD:" "\n\t" // Clk Pseudocode - // Bit 7: - "out %[port] , %[hi]" "\n\t" // 1 PORT = hi - "mov %[n2] , %[lo]" "\n\t" // 1 n2 = lo - "out %[port] , %[n1]" "\n\t" // 1 PORT = n1 - "rjmp .+0" "\n\t" // 2 nop nop - "sbrc %[byte] , 6" "\n\t" // 1-2 if(b & 0x40) - "mov %[n2] , %[hi]" "\n\t" // 0-1 n2 = hi - "out %[port] , %[lo]" "\n\t" // 1 PORT = lo - "rjmp .+0" "\n\t" // 2 nop nop - // Bit 6: - "out %[port] , %[hi]" "\n\t" // 1 PORT = hi - "mov %[n1] , %[lo]" "\n\t" // 1 n1 = lo - "out %[port] , %[n2]" "\n\t" // 1 PORT = n2 - "rjmp .+0" "\n\t" // 2 nop nop - "sbrc %[byte] , 5" "\n\t" // 1-2 if(b & 0x20) - "mov %[n1] , %[hi]" "\n\t" // 0-1 n1 = hi - "out %[port] , %[lo]" "\n\t" // 1 PORT = lo - "rjmp .+0" "\n\t" // 2 nop nop - // Bit 5: - "out %[port] , %[hi]" "\n\t" // 1 PORT = hi - "mov %[n2] , %[lo]" "\n\t" // 1 n2 = lo - "out %[port] , %[n1]" "\n\t" // 1 PORT = n1 - "rjmp .+0" "\n\t" // 2 nop nop - "sbrc %[byte] , 4" "\n\t" // 1-2 if(b & 0x10) - "mov %[n2] , %[hi]" "\n\t" // 0-1 n2 = hi - "out %[port] , %[lo]" "\n\t" // 1 PORT = lo - "rjmp .+0" "\n\t" // 2 nop nop - // Bit 4: - "out %[port] , %[hi]" "\n\t" // 1 PORT = hi - "mov %[n1] , %[lo]" "\n\t" // 1 n1 = lo - "out %[port] , %[n2]" "\n\t" // 1 PORT = n2 - "rjmp .+0" "\n\t" // 2 nop nop - "sbrc %[byte] , 3" "\n\t" // 1-2 if(b & 0x08) - "mov %[n1] , %[hi]" "\n\t" // 0-1 n1 = hi - "out %[port] , %[lo]" "\n\t" // 1 PORT = lo - "rjmp .+0" "\n\t" // 2 nop nop - // Bit 3: - "out %[port] , %[hi]" "\n\t" // 1 PORT = hi - "mov %[n2] , %[lo]" "\n\t" // 1 n2 = lo - "out %[port] , %[n1]" "\n\t" // 1 PORT = n1 - "rjmp .+0" "\n\t" // 2 nop nop - "sbrc %[byte] , 2" "\n\t" // 1-2 if(b & 0x04) - "mov %[n2] , %[hi]" "\n\t" // 0-1 n2 = hi - "out %[port] , %[lo]" "\n\t" // 1 PORT = lo - "rjmp .+0" "\n\t" // 2 nop nop - // Bit 2: - "out %[port] , %[hi]" "\n\t" // 1 PORT = hi - "mov %[n1] , %[lo]" "\n\t" // 1 n1 = lo - "out %[port] , %[n2]" "\n\t" // 1 PORT = n2 - "rjmp .+0" "\n\t" // 2 nop nop - "sbrc %[byte] , 1" "\n\t" // 1-2 if(b & 0x02) - "mov %[n1] , %[hi]" "\n\t" // 0-1 n1 = hi - "out %[port] , %[lo]" "\n\t" // 1 PORT = lo - "rjmp .+0" "\n\t" // 2 nop nop - // Bit 1: - "out %[port] , %[hi]" "\n\t" // 1 PORT = hi - "mov %[n2] , %[lo]" "\n\t" // 1 n2 = lo - "out %[port] , %[n1]" "\n\t" // 1 PORT = n1 - "rjmp .+0" "\n\t" // 2 nop nop - "sbrc %[byte] , 0" "\n\t" // 1-2 if(b & 0x01) - "mov %[n2] , %[hi]" "\n\t" // 0-1 n2 = hi - "out %[port] , %[lo]" "\n\t" // 1 PORT = lo - "sbiw %[count], 1" "\n\t" // 2 i-- (don't act on Z flag yet) - // Bit 0: - "out %[port] , %[hi]" "\n\t" // 1 PORT = hi - "mov %[n1] , %[lo]" "\n\t" // 1 n1 = lo - "out %[port] , %[n2]" "\n\t" // 1 PORT = n2 - "ld %[byte] , %a[ptr]+" "\n\t" // 2 b = *ptr++ - "sbrc %[byte] , 7" "\n\t" // 1-2 if(b & 0x80) - "mov %[n1] , %[hi]" "\n\t" // 0-1 n1 = hi - "out %[port] , %[lo]" "\n\t" // 1 PORT = lo - "brne headD" "\n" // 2 while(i) (Z flag set above) - : [byte] "+r" (b), - [n1] "+r" (n1), - [n2] "+r" (n2), - [count] "+w" (i) - : [port] "I" (_SFR_IO_ADDR(PORTD)), - [ptr] "e" (ptr), - [hi] "r" (hi), - [lo] "r" (lo)); - - #if defined(PORTB) || defined(PORTC) || defined(PORTF) - } else // other PORT(s) - #endif // defined(PORTB/C/F) -#endif // defined(PORTD) - - // PORTB OUTPUT ---------------------------------------------------- - -#if defined(PORTB) - #if defined(PORTD) || defined(PORTC) || defined(PORTF) - if(port == &PORTB) { - #endif // defined(PORTD/C/F) - - // Same as above, just switched to PORTB and stripped of comments. - hi = PORTB | pinMask; - lo = PORTB & ~pinMask; - n1 = lo; - if(b & 0x80) n1 = hi; - - asm volatile( - "headB:" "\n\t" - "out %[port] , %[hi]" "\n\t" - "mov %[n2] , %[lo]" "\n\t" - "out %[port] , %[n1]" "\n\t" - "rjmp .+0" "\n\t" - "sbrc %[byte] , 6" "\n\t" - "mov %[n2] , %[hi]" "\n\t" - "out %[port] , %[lo]" "\n\t" - "rjmp .+0" "\n\t" - "out %[port] , %[hi]" "\n\t" - "mov %[n1] , %[lo]" "\n\t" - "out %[port] , %[n2]" "\n\t" - "rjmp .+0" "\n\t" - "sbrc %[byte] , 5" "\n\t" - "mov %[n1] , %[hi]" "\n\t" - "out %[port] , %[lo]" "\n\t" - "rjmp .+0" "\n\t" - "out %[port] , %[hi]" "\n\t" - "mov %[n2] , %[lo]" "\n\t" - "out %[port] , %[n1]" "\n\t" - "rjmp .+0" "\n\t" - "sbrc %[byte] , 4" "\n\t" - "mov %[n2] , %[hi]" "\n\t" - "out %[port] , %[lo]" "\n\t" - "rjmp .+0" "\n\t" - "out %[port] , %[hi]" "\n\t" - "mov %[n1] , %[lo]" "\n\t" - "out %[port] , %[n2]" "\n\t" - "rjmp .+0" "\n\t" - "sbrc %[byte] , 3" "\n\t" - "mov %[n1] , %[hi]" "\n\t" - "out %[port] , %[lo]" "\n\t" - "rjmp .+0" "\n\t" - "out %[port] , %[hi]" "\n\t" - "mov %[n2] , %[lo]" "\n\t" - "out %[port] , %[n1]" "\n\t" - "rjmp .+0" "\n\t" - "sbrc %[byte] , 2" "\n\t" - "mov %[n2] , %[hi]" "\n\t" - "out %[port] , %[lo]" "\n\t" - "rjmp .+0" "\n\t" - "out %[port] , %[hi]" "\n\t" - "mov %[n1] , %[lo]" "\n\t" - "out %[port] , %[n2]" "\n\t" - "rjmp .+0" "\n\t" - "sbrc %[byte] , 1" "\n\t" - "mov %[n1] , %[hi]" "\n\t" - "out %[port] , %[lo]" "\n\t" - "rjmp .+0" "\n\t" - "out %[port] , %[hi]" "\n\t" - "mov %[n2] , %[lo]" "\n\t" - "out %[port] , %[n1]" "\n\t" - "rjmp .+0" "\n\t" - "sbrc %[byte] , 0" "\n\t" - "mov %[n2] , %[hi]" "\n\t" - "out %[port] , %[lo]" "\n\t" - "sbiw %[count], 1" "\n\t" - "out %[port] , %[hi]" "\n\t" - "mov %[n1] , %[lo]" "\n\t" - "out %[port] , %[n2]" "\n\t" - "ld %[byte] , %a[ptr]+" "\n\t" - "sbrc %[byte] , 7" "\n\t" - "mov %[n1] , %[hi]" "\n\t" - "out %[port] , %[lo]" "\n\t" - "brne headB" "\n" - : [byte] "+r" (b), [n1] "+r" (n1), [n2] "+r" (n2), [count] "+w" (i) - : [port] "I" (_SFR_IO_ADDR(PORTB)), [ptr] "e" (ptr), [hi] "r" (hi), - [lo] "r" (lo)); - - #if defined(PORTD) || defined(PORTC) || defined(PORTF) - } - #endif - #if defined(PORTC) || defined(PORTF) - else - #endif // defined(PORTC/F) -#endif // defined(PORTB) - - // PORTC OUTPUT ---------------------------------------------------- - -#if defined(PORTC) - #if defined(PORTD) || defined(PORTB) || defined(PORTF) - if(port == &PORTC) { - #endif // defined(PORTD/B/F) - - // Same as above, just switched to PORTC and stripped of comments. - hi = PORTC | pinMask; - lo = PORTC & ~pinMask; - n1 = lo; - if(b & 0x80) n1 = hi; - - asm volatile( - "headC:" "\n\t" - "out %[port] , %[hi]" "\n\t" - "mov %[n2] , %[lo]" "\n\t" - "out %[port] , %[n1]" "\n\t" - "rjmp .+0" "\n\t" - "sbrc %[byte] , 6" "\n\t" - "mov %[n2] , %[hi]" "\n\t" - "out %[port] , %[lo]" "\n\t" - "rjmp .+0" "\n\t" - "out %[port] , %[hi]" "\n\t" - "mov %[n1] , %[lo]" "\n\t" - "out %[port] , %[n2]" "\n\t" - "rjmp .+0" "\n\t" - "sbrc %[byte] , 5" "\n\t" - "mov %[n1] , %[hi]" "\n\t" - "out %[port] , %[lo]" "\n\t" - "rjmp .+0" "\n\t" - "out %[port] , %[hi]" "\n\t" - "mov %[n2] , %[lo]" "\n\t" - "out %[port] , %[n1]" "\n\t" - "rjmp .+0" "\n\t" - "sbrc %[byte] , 4" "\n\t" - "mov %[n2] , %[hi]" "\n\t" - "out %[port] , %[lo]" "\n\t" - "rjmp .+0" "\n\t" - "out %[port] , %[hi]" "\n\t" - "mov %[n1] , %[lo]" "\n\t" - "out %[port] , %[n2]" "\n\t" - "rjmp .+0" "\n\t" - "sbrc %[byte] , 3" "\n\t" - "mov %[n1] , %[hi]" "\n\t" - "out %[port] , %[lo]" "\n\t" - "rjmp .+0" "\n\t" - "out %[port] , %[hi]" "\n\t" - "mov %[n2] , %[lo]" "\n\t" - "out %[port] , %[n1]" "\n\t" - "rjmp .+0" "\n\t" - "sbrc %[byte] , 2" "\n\t" - "mov %[n2] , %[hi]" "\n\t" - "out %[port] , %[lo]" "\n\t" - "rjmp .+0" "\n\t" - "out %[port] , %[hi]" "\n\t" - "mov %[n1] , %[lo]" "\n\t" - "out %[port] , %[n2]" "\n\t" - "rjmp .+0" "\n\t" - "sbrc %[byte] , 1" "\n\t" - "mov %[n1] , %[hi]" "\n\t" - "out %[port] , %[lo]" "\n\t" - "rjmp .+0" "\n\t" - "out %[port] , %[hi]" "\n\t" - "mov %[n2] , %[lo]" "\n\t" - "out %[port] , %[n1]" "\n\t" - "rjmp .+0" "\n\t" - "sbrc %[byte] , 0" "\n\t" - "mov %[n2] , %[hi]" "\n\t" - "out %[port] , %[lo]" "\n\t" - "sbiw %[count], 1" "\n\t" - "out %[port] , %[hi]" "\n\t" - "mov %[n1] , %[lo]" "\n\t" - "out %[port] , %[n2]" "\n\t" - "ld %[byte] , %a[ptr]+" "\n\t" - "sbrc %[byte] , 7" "\n\t" - "mov %[n1] , %[hi]" "\n\t" - "out %[port] , %[lo]" "\n\t" - "brne headC" "\n" - : [byte] "+r" (b), [n1] "+r" (n1), [n2] "+r" (n2), [count] "+w" (i) - : [port] "I" (_SFR_IO_ADDR(PORTC)), [ptr] "e" (ptr), [hi] "r" (hi), - [lo] "r" (lo)); - - #if defined(PORTD) || defined(PORTB) || defined(PORTF) - } - #endif // defined(PORTD/B/F) - #if defined(PORTF) - else - #endif -#endif // defined(PORTC) - - // PORTF OUTPUT ---------------------------------------------------- - -#if defined(PORTF) - #if defined(PORTD) || defined(PORTB) || defined(PORTC) - if(port == &PORTF) { - #endif // defined(PORTD/B/C) - - hi = PORTF | pinMask; - lo = PORTF & ~pinMask; - n1 = lo; - if(b & 0x80) n1 = hi; - - asm volatile( - "headF:" "\n\t" - "out %[port] , %[hi]" "\n\t" - "mov %[n2] , %[lo]" "\n\t" - "out %[port] , %[n1]" "\n\t" - "rjmp .+0" "\n\t" - "sbrc %[byte] , 6" "\n\t" - "mov %[n2] , %[hi]" "\n\t" - "out %[port] , %[lo]" "\n\t" - "rjmp .+0" "\n\t" - "out %[port] , %[hi]" "\n\t" - "mov %[n1] , %[lo]" "\n\t" - "out %[port] , %[n2]" "\n\t" - "rjmp .+0" "\n\t" - "sbrc %[byte] , 5" "\n\t" - "mov %[n1] , %[hi]" "\n\t" - "out %[port] , %[lo]" "\n\t" - "rjmp .+0" "\n\t" - "out %[port] , %[hi]" "\n\t" - "mov %[n2] , %[lo]" "\n\t" - "out %[port] , %[n1]" "\n\t" - "rjmp .+0" "\n\t" - "sbrc %[byte] , 4" "\n\t" - "mov %[n2] , %[hi]" "\n\t" - "out %[port] , %[lo]" "\n\t" - "rjmp .+0" "\n\t" - "out %[port] , %[hi]" "\n\t" - "mov %[n1] , %[lo]" "\n\t" - "out %[port] , %[n2]" "\n\t" - "rjmp .+0" "\n\t" - "sbrc %[byte] , 3" "\n\t" - "mov %[n1] , %[hi]" "\n\t" - "out %[port] , %[lo]" "\n\t" - "rjmp .+0" "\n\t" - "out %[port] , %[hi]" "\n\t" - "mov %[n2] , %[lo]" "\n\t" - "out %[port] , %[n1]" "\n\t" - "rjmp .+0" "\n\t" - "sbrc %[byte] , 2" "\n\t" - "mov %[n2] , %[hi]" "\n\t" - "out %[port] , %[lo]" "\n\t" - "rjmp .+0" "\n\t" - "out %[port] , %[hi]" "\n\t" - "mov %[n1] , %[lo]" "\n\t" - "out %[port] , %[n2]" "\n\t" - "rjmp .+0" "\n\t" - "sbrc %[byte] , 1" "\n\t" - "mov %[n1] , %[hi]" "\n\t" - "out %[port] , %[lo]" "\n\t" - "rjmp .+0" "\n\t" - "out %[port] , %[hi]" "\n\t" - "mov %[n2] , %[lo]" "\n\t" - "out %[port] , %[n1]" "\n\t" - "rjmp .+0" "\n\t" - "sbrc %[byte] , 0" "\n\t" - "mov %[n2] , %[hi]" "\n\t" - "out %[port] , %[lo]" "\n\t" - "sbiw %[count], 1" "\n\t" - "out %[port] , %[hi]" "\n\t" - "mov %[n1] , %[lo]" "\n\t" - "out %[port] , %[n2]" "\n\t" - "ld %[byte] , %a[ptr]+" "\n\t" - "sbrc %[byte] , 7" "\n\t" - "mov %[n1] , %[hi]" "\n\t" - "out %[port] , %[lo]" "\n\t" - "brne headF" "\n" - : [byte] "+r" (b), [n1] "+r" (n1), [n2] "+r" (n2), [count] "+w" (i) - : [port] "I" (_SFR_IO_ADDR(PORTF)), [ptr] "e" (ptr), [hi] "r" (hi), - [lo] "r" (lo)); - - #if defined(PORTD) || defined(PORTB) || defined(PORTC) - } - #endif // defined(PORTD/B/C) -#endif // defined(PORTF) - -#ifdef NEO_KHZ400 - } else { // end 800 KHz, do 400 KHz - - // Timing is more relaxed; unrolling the inner loop for each bit is - // not necessary. Still using the peculiar RJMPs as 2X NOPs, not out - // of need but just to trim the code size down a little. - // This 400-KHz-datastream-on-8-MHz-CPU code is not quite identical - // to the 800-on-16 code later -- the hi/lo timing between WS2811 and - // WS2812 is not simply a 2:1 scale! - - // 20 inst. clocks per bit: HHHHxxxxxxLLLLLLLLLL - // ST instructions: ^ ^ ^ (T=0,4,10) - - volatile uint8_t next, bit; - - hi = *port | pinMask; - lo = *port & ~pinMask; - next = lo; - bit = 8; - - asm volatile( - "head20:" "\n\t" // Clk Pseudocode (T = 0) - "st %a[port], %[hi]" "\n\t" // 2 PORT = hi (T = 2) - "sbrc %[byte] , 7" "\n\t" // 1-2 if(b & 128) - "mov %[next], %[hi]" "\n\t" // 0-1 next = hi (T = 4) - "st %a[port], %[next]" "\n\t" // 2 PORT = next (T = 6) - "mov %[next] , %[lo]" "\n\t" // 1 next = lo (T = 7) - "dec %[bit]" "\n\t" // 1 bit-- (T = 8) - "breq nextbyte20" "\n\t" // 1-2 if(bit == 0) - "rol %[byte]" "\n\t" // 1 b <<= 1 (T = 10) - "st %a[port], %[lo]" "\n\t" // 2 PORT = lo (T = 12) - "rjmp .+0" "\n\t" // 2 nop nop (T = 14) - "rjmp .+0" "\n\t" // 2 nop nop (T = 16) - "rjmp .+0" "\n\t" // 2 nop nop (T = 18) - "rjmp head20" "\n\t" // 2 -> head20 (next bit out) - "nextbyte20:" "\n\t" // (T = 10) - "st %a[port], %[lo]" "\n\t" // 2 PORT = lo (T = 12) - "nop" "\n\t" // 1 nop (T = 13) - "ldi %[bit] , 8" "\n\t" // 1 bit = 8 (T = 14) - "ld %[byte] , %a[ptr]+" "\n\t" // 2 b = *ptr++ (T = 16) - "sbiw %[count], 1" "\n\t" // 2 i-- (T = 18) - "brne head20" "\n" // 2 if(i != 0) -> (next byte) - : [port] "+e" (port), - [byte] "+r" (b), - [bit] "+r" (bit), - [next] "+r" (next), - [count] "+w" (i) - : [hi] "r" (hi), - [lo] "r" (lo), - [ptr] "e" (ptr)); - } -#endif // NEO_KHZ400 - -// 12 MHz(ish) AVR -------------------------------------------------------- -#elif (F_CPU >= 11100000UL) && (F_CPU <= 14300000UL) - -#ifdef NEO_KHZ400 // 800 KHz check needed only if 400 KHz support enabled - if(is800KHz) { -#endif - - // In the 12 MHz case, an optimized 800 KHz datastream (no dead time - // between bytes) requires a PORT-specific loop similar to the 8 MHz - // code (but a little more relaxed in this case). - - // 15 instruction clocks per bit: HHHHxxxxxxLLLLL - // OUT instructions: ^ ^ ^ (T=0,4,10) - - volatile uint8_t next; - - // PORTD OUTPUT ---------------------------------------------------- - -#if defined(PORTD) - #if defined(PORTB) || defined(PORTC) || defined(PORTF) - if(port == &PORTD) { - #endif // defined(PORTB/C/F) - - hi = PORTD | pinMask; - lo = PORTD & ~pinMask; - next = lo; - if(b & 0x80) next = hi; - - // Don't "optimize" the OUT calls into the bitTime subroutine; - // we're exploiting the RCALL and RET as 3- and 4-cycle NOPs! - asm volatile( - "headD:" "\n\t" // (T = 0) - "out %[port], %[hi]" "\n\t" // (T = 1) - "rcall bitTimeD" "\n\t" // Bit 7 (T = 15) - "out %[port], %[hi]" "\n\t" - "rcall bitTimeD" "\n\t" // Bit 6 - "out %[port], %[hi]" "\n\t" - "rcall bitTimeD" "\n\t" // Bit 5 - "out %[port], %[hi]" "\n\t" - "rcall bitTimeD" "\n\t" // Bit 4 - "out %[port], %[hi]" "\n\t" - "rcall bitTimeD" "\n\t" // Bit 3 - "out %[port], %[hi]" "\n\t" - "rcall bitTimeD" "\n\t" // Bit 2 - "out %[port], %[hi]" "\n\t" - "rcall bitTimeD" "\n\t" // Bit 1 - // Bit 0: - "out %[port] , %[hi]" "\n\t" // 1 PORT = hi (T = 1) - "rjmp .+0" "\n\t" // 2 nop nop (T = 3) - "ld %[byte] , %a[ptr]+" "\n\t" // 2 b = *ptr++ (T = 5) - "out %[port] , %[next]" "\n\t" // 1 PORT = next (T = 6) - "mov %[next] , %[lo]" "\n\t" // 1 next = lo (T = 7) - "sbrc %[byte] , 7" "\n\t" // 1-2 if(b & 0x80) (T = 8) - "mov %[next] , %[hi]" "\n\t" // 0-1 next = hi (T = 9) - "nop" "\n\t" // 1 (T = 10) - "out %[port] , %[lo]" "\n\t" // 1 PORT = lo (T = 11) - "sbiw %[count], 1" "\n\t" // 2 i-- (T = 13) - "brne headD" "\n\t" // 2 if(i != 0) -> (next byte) - "rjmp doneD" "\n\t" - "bitTimeD:" "\n\t" // nop nop nop (T = 4) - "out %[port], %[next]" "\n\t" // 1 PORT = next (T = 5) - "mov %[next], %[lo]" "\n\t" // 1 next = lo (T = 6) - "rol %[byte]" "\n\t" // 1 b <<= 1 (T = 7) - "sbrc %[byte], 7" "\n\t" // 1-2 if(b & 0x80) (T = 8) - "mov %[next], %[hi]" "\n\t" // 0-1 next = hi (T = 9) - "nop" "\n\t" // 1 (T = 10) - "out %[port], %[lo]" "\n\t" // 1 PORT = lo (T = 11) - "ret" "\n\t" // 4 nop nop nop nop (T = 15) - "doneD:" "\n" - : [byte] "+r" (b), - [next] "+r" (next), - [count] "+w" (i) - : [port] "I" (_SFR_IO_ADDR(PORTD)), - [ptr] "e" (ptr), - [hi] "r" (hi), - [lo] "r" (lo)); - - #if defined(PORTB) || defined(PORTC) || defined(PORTF) - } else // other PORT(s) - #endif // defined(PORTB/C/F) -#endif // defined(PORTD) - - // PORTB OUTPUT ---------------------------------------------------- - -#if defined(PORTB) - #if defined(PORTD) || defined(PORTC) || defined(PORTF) - if(port == &PORTB) { - #endif // defined(PORTD/C/F) - - hi = PORTB | pinMask; - lo = PORTB & ~pinMask; - next = lo; - if(b & 0x80) next = hi; - - // Same as above, just set for PORTB & stripped of comments - asm volatile( - "headB:" "\n\t" - "out %[port], %[hi]" "\n\t" - "rcall bitTimeB" "\n\t" - "out %[port], %[hi]" "\n\t" - "rcall bitTimeB" "\n\t" - "out %[port], %[hi]" "\n\t" - "rcall bitTimeB" "\n\t" - "out %[port], %[hi]" "\n\t" - "rcall bitTimeB" "\n\t" - "out %[port], %[hi]" "\n\t" - "rcall bitTimeB" "\n\t" - "out %[port], %[hi]" "\n\t" - "rcall bitTimeB" "\n\t" - "out %[port], %[hi]" "\n\t" - "rcall bitTimeB" "\n\t" - "out %[port] , %[hi]" "\n\t" - "rjmp .+0" "\n\t" - "ld %[byte] , %a[ptr]+" "\n\t" - "out %[port] , %[next]" "\n\t" - "mov %[next] , %[lo]" "\n\t" - "sbrc %[byte] , 7" "\n\t" - "mov %[next] , %[hi]" "\n\t" - "nop" "\n\t" - "out %[port] , %[lo]" "\n\t" - "sbiw %[count], 1" "\n\t" - "brne headB" "\n\t" - "rjmp doneB" "\n\t" - "bitTimeB:" "\n\t" - "out %[port], %[next]" "\n\t" - "mov %[next], %[lo]" "\n\t" - "rol %[byte]" "\n\t" - "sbrc %[byte], 7" "\n\t" - "mov %[next], %[hi]" "\n\t" - "nop" "\n\t" - "out %[port], %[lo]" "\n\t" - "ret" "\n\t" - "doneB:" "\n" - : [byte] "+r" (b), [next] "+r" (next), [count] "+w" (i) - : [port] "I" (_SFR_IO_ADDR(PORTB)), [ptr] "e" (ptr), [hi] "r" (hi), - [lo] "r" (lo)); - - #if defined(PORTD) || defined(PORTC) || defined(PORTF) - } - #endif - #if defined(PORTC) || defined(PORTF) - else - #endif // defined(PORTC/F) -#endif // defined(PORTB) - - // PORTC OUTPUT ---------------------------------------------------- - -#if defined(PORTC) - #if defined(PORTD) || defined(PORTB) || defined(PORTF) - if(port == &PORTC) { - #endif // defined(PORTD/B/F) - - hi = PORTC | pinMask; - lo = PORTC & ~pinMask; - next = lo; - if(b & 0x80) next = hi; - - // Same as above, just set for PORTC & stripped of comments - asm volatile( - "headC:" "\n\t" - "out %[port], %[hi]" "\n\t" - "rcall bitTimeC" "\n\t" - "out %[port], %[hi]" "\n\t" - "rcall bitTimeC" "\n\t" - "out %[port], %[hi]" "\n\t" - "rcall bitTimeC" "\n\t" - "out %[port], %[hi]" "\n\t" - "rcall bitTimeC" "\n\t" - "out %[port], %[hi]" "\n\t" - "rcall bitTimeC" "\n\t" - "out %[port], %[hi]" "\n\t" - "rcall bitTimeC" "\n\t" - "out %[port], %[hi]" "\n\t" - "rcall bitTimeC" "\n\t" - "out %[port] , %[hi]" "\n\t" - "rjmp .+0" "\n\t" - "ld %[byte] , %a[ptr]+" "\n\t" - "out %[port] , %[next]" "\n\t" - "mov %[next] , %[lo]" "\n\t" - "sbrc %[byte] , 7" "\n\t" - "mov %[next] , %[hi]" "\n\t" - "nop" "\n\t" - "out %[port] , %[lo]" "\n\t" - "sbiw %[count], 1" "\n\t" - "brne headC" "\n\t" - "rjmp doneC" "\n\t" - "bitTimeC:" "\n\t" - "out %[port], %[next]" "\n\t" - "mov %[next], %[lo]" "\n\t" - "rol %[byte]" "\n\t" - "sbrc %[byte], 7" "\n\t" - "mov %[next], %[hi]" "\n\t" - "nop" "\n\t" - "out %[port], %[lo]" "\n\t" - "ret" "\n\t" - "doneC:" "\n" - : [byte] "+r" (b), [next] "+r" (next), [count] "+w" (i) - : [port] "I" (_SFR_IO_ADDR(PORTC)), [ptr] "e" (ptr), [hi] "r" (hi), - [lo] "r" (lo)); - - #if defined(PORTD) || defined(PORTB) || defined(PORTF) - } - #endif // defined(PORTD/B/F) - #if defined(PORTF) - else - #endif -#endif // defined(PORTC) - - // PORTF OUTPUT ---------------------------------------------------- - -#if defined(PORTF) - #if defined(PORTD) || defined(PORTB) || defined(PORTC) - if(port == &PORTF) { - #endif // defined(PORTD/B/C) - - hi = PORTF | pinMask; - lo = PORTF & ~pinMask; - next = lo; - if(b & 0x80) next = hi; - - // Same as above, just set for PORTF & stripped of comments - asm volatile( - "headF:" "\n\t" - "out %[port], %[hi]" "\n\t" - "rcall bitTimeC" "\n\t" - "out %[port], %[hi]" "\n\t" - "rcall bitTimeC" "\n\t" - "out %[port], %[hi]" "\n\t" - "rcall bitTimeC" "\n\t" - "out %[port], %[hi]" "\n\t" - "rcall bitTimeC" "\n\t" - "out %[port], %[hi]" "\n\t" - "rcall bitTimeC" "\n\t" - "out %[port], %[hi]" "\n\t" - "rcall bitTimeC" "\n\t" - "out %[port], %[hi]" "\n\t" - "rcall bitTimeC" "\n\t" - "out %[port] , %[hi]" "\n\t" - "rjmp .+0" "\n\t" - "ld %[byte] , %a[ptr]+" "\n\t" - "out %[port] , %[next]" "\n\t" - "mov %[next] , %[lo]" "\n\t" - "sbrc %[byte] , 7" "\n\t" - "mov %[next] , %[hi]" "\n\t" - "nop" "\n\t" - "out %[port] , %[lo]" "\n\t" - "sbiw %[count], 1" "\n\t" - "brne headF" "\n\t" - "rjmp doneC" "\n\t" - "bitTimeC:" "\n\t" - "out %[port], %[next]" "\n\t" - "mov %[next], %[lo]" "\n\t" - "rol %[byte]" "\n\t" - "sbrc %[byte], 7" "\n\t" - "mov %[next], %[hi]" "\n\t" - "nop" "\n\t" - "out %[port], %[lo]" "\n\t" - "ret" "\n\t" - "doneC:" "\n" - : [byte] "+r" (b), [next] "+r" (next), [count] "+w" (i) - : [port] "I" (_SFR_IO_ADDR(PORTF)), [ptr] "e" (ptr), [hi] "r" (hi), - [lo] "r" (lo)); - - #if defined(PORTD) || defined(PORTB) || defined(PORTC) - } - #endif // defined(PORTD/B/C) -#endif // defined(PORTF) - -#ifdef NEO_KHZ400 - } else { // 400 KHz - - // 30 instruction clocks per bit: HHHHHHxxxxxxxxxLLLLLLLLLLLLLLL - // ST instructions: ^ ^ ^ (T=0,6,15) - - volatile uint8_t next, bit; - - hi = *port | pinMask; - lo = *port & ~pinMask; - next = lo; - bit = 8; - - asm volatile( - "head30:" "\n\t" // Clk Pseudocode (T = 0) - "st %a[port], %[hi]" "\n\t" // 2 PORT = hi (T = 2) - "sbrc %[byte] , 7" "\n\t" // 1-2 if(b & 128) - "mov %[next], %[hi]" "\n\t" // 0-1 next = hi (T = 4) - "rjmp .+0" "\n\t" // 2 nop nop (T = 6) - "st %a[port], %[next]" "\n\t" // 2 PORT = next (T = 8) - "rjmp .+0" "\n\t" // 2 nop nop (T = 10) - "rjmp .+0" "\n\t" // 2 nop nop (T = 12) - "rjmp .+0" "\n\t" // 2 nop nop (T = 14) - "nop" "\n\t" // 1 nop (T = 15) - "st %a[port], %[lo]" "\n\t" // 2 PORT = lo (T = 17) - "rjmp .+0" "\n\t" // 2 nop nop (T = 19) - "dec %[bit]" "\n\t" // 1 bit-- (T = 20) - "breq nextbyte30" "\n\t" // 1-2 if(bit == 0) - "rol %[byte]" "\n\t" // 1 b <<= 1 (T = 22) - "rjmp .+0" "\n\t" // 2 nop nop (T = 24) - "rjmp .+0" "\n\t" // 2 nop nop (T = 26) - "rjmp .+0" "\n\t" // 2 nop nop (T = 28) - "rjmp head30" "\n\t" // 2 -> head30 (next bit out) - "nextbyte30:" "\n\t" // (T = 22) - "nop" "\n\t" // 1 nop (T = 23) - "ldi %[bit] , 8" "\n\t" // 1 bit = 8 (T = 24) - "ld %[byte] , %a[ptr]+" "\n\t" // 2 b = *ptr++ (T = 26) - "sbiw %[count], 1" "\n\t" // 2 i-- (T = 28) - "brne head30" "\n" // 1-2 if(i != 0) -> (next byte) - : [port] "+e" (port), - [byte] "+r" (b), - [bit] "+r" (bit), - [next] "+r" (next), - [count] "+w" (i) - : [hi] "r" (hi), - [lo] "r" (lo), - [ptr] "e" (ptr)); - } -#endif // NEO_KHZ400 - -// 16 MHz(ish) AVR -------------------------------------------------------- -#elif (F_CPU >= 15400000UL) && (F_CPU <= 19000000L) - -#ifdef NEO_KHZ400 // 800 KHz check needed only if 400 KHz support enabled - if(is800KHz) { -#endif - - // WS2811 and WS2812 have different hi/lo duty cycles; this is - // similar but NOT an exact copy of the prior 400-on-8 code. - - // 20 inst. clocks per bit: HHHHHxxxxxxxxLLLLLLL - // ST instructions: ^ ^ ^ (T=0,5,13) - - volatile uint8_t next, bit; - - hi = *port | pinMask; - lo = *port & ~pinMask; - next = lo; - bit = 8; - - asm volatile( - "head20:" "\n\t" // Clk Pseudocode (T = 0) - "st %a[port], %[hi]" "\n\t" // 2 PORT = hi (T = 2) - "sbrc %[byte], 7" "\n\t" // 1-2 if(b & 128) - "mov %[next], %[hi]" "\n\t" // 0-1 next = hi (T = 4) - "dec %[bit]" "\n\t" // 1 bit-- (T = 5) - "st %a[port], %[next]" "\n\t" // 2 PORT = next (T = 7) - "mov %[next] , %[lo]" "\n\t" // 1 next = lo (T = 8) - "breq nextbyte20" "\n\t" // 1-2 if(bit == 0) (from dec above) - "rol %[byte]" "\n\t" // 1 b <<= 1 (T = 10) - "rjmp .+0" "\n\t" // 2 nop nop (T = 12) - "nop" "\n\t" // 1 nop (T = 13) - "st %a[port], %[lo]" "\n\t" // 2 PORT = lo (T = 15) - "nop" "\n\t" // 1 nop (T = 16) - "rjmp .+0" "\n\t" // 2 nop nop (T = 18) - "rjmp head20" "\n\t" // 2 -> head20 (next bit out) - "nextbyte20:" "\n\t" // (T = 10) - "ldi %[bit] , 8" "\n\t" // 1 bit = 8 (T = 11) - "ld %[byte] , %a[ptr]+" "\n\t" // 2 b = *ptr++ (T = 13) - "st %a[port], %[lo]" "\n\t" // 2 PORT = lo (T = 15) - "nop" "\n\t" // 1 nop (T = 16) - "sbiw %[count], 1" "\n\t" // 2 i-- (T = 18) - "brne head20" "\n" // 2 if(i != 0) -> (next byte) - : [port] "+e" (port), - [byte] "+r" (b), - [bit] "+r" (bit), - [next] "+r" (next), - [count] "+w" (i) - : [ptr] "e" (ptr), - [hi] "r" (hi), - [lo] "r" (lo)); - -#ifdef NEO_KHZ400 - } else { // 400 KHz - - // The 400 KHz clock on 16 MHz MCU is the most 'relaxed' version. - - // 40 inst. clocks per bit: HHHHHHHHxxxxxxxxxxxxLLLLLLLLLLLLLLLLLLLL - // ST instructions: ^ ^ ^ (T=0,8,20) - - volatile uint8_t next, bit; - - hi = *port | pinMask; - lo = *port & ~pinMask; - next = lo; - bit = 8; - - asm volatile( - "head40:" "\n\t" // Clk Pseudocode (T = 0) - "st %a[port], %[hi]" "\n\t" // 2 PORT = hi (T = 2) - "sbrc %[byte] , 7" "\n\t" // 1-2 if(b & 128) - "mov %[next] , %[hi]" "\n\t" // 0-1 next = hi (T = 4) - "rjmp .+0" "\n\t" // 2 nop nop (T = 6) - "rjmp .+0" "\n\t" // 2 nop nop (T = 8) - "st %a[port], %[next]" "\n\t" // 2 PORT = next (T = 10) - "rjmp .+0" "\n\t" // 2 nop nop (T = 12) - "rjmp .+0" "\n\t" // 2 nop nop (T = 14) - "rjmp .+0" "\n\t" // 2 nop nop (T = 16) - "rjmp .+0" "\n\t" // 2 nop nop (T = 18) - "rjmp .+0" "\n\t" // 2 nop nop (T = 20) - "st %a[port], %[lo]" "\n\t" // 2 PORT = lo (T = 22) - "nop" "\n\t" // 1 nop (T = 23) - "mov %[next] , %[lo]" "\n\t" // 1 next = lo (T = 24) - "dec %[bit]" "\n\t" // 1 bit-- (T = 25) - "breq nextbyte40" "\n\t" // 1-2 if(bit == 0) - "rol %[byte]" "\n\t" // 1 b <<= 1 (T = 27) - "nop" "\n\t" // 1 nop (T = 28) - "rjmp .+0" "\n\t" // 2 nop nop (T = 30) - "rjmp .+0" "\n\t" // 2 nop nop (T = 32) - "rjmp .+0" "\n\t" // 2 nop nop (T = 34) - "rjmp .+0" "\n\t" // 2 nop nop (T = 36) - "rjmp .+0" "\n\t" // 2 nop nop (T = 38) - "rjmp head40" "\n\t" // 2 -> head40 (next bit out) - "nextbyte40:" "\n\t" // (T = 27) - "ldi %[bit] , 8" "\n\t" // 1 bit = 8 (T = 28) - "ld %[byte] , %a[ptr]+" "\n\t" // 2 b = *ptr++ (T = 30) - "rjmp .+0" "\n\t" // 2 nop nop (T = 32) - "st %a[port], %[lo]" "\n\t" // 2 PORT = lo (T = 34) - "rjmp .+0" "\n\t" // 2 nop nop (T = 36) - "sbiw %[count], 1" "\n\t" // 2 i-- (T = 38) - "brne head40" "\n" // 1-2 if(i != 0) -> (next byte) - : [port] "+e" (port), - [byte] "+r" (b), - [bit] "+r" (bit), - [next] "+r" (next), - [count] "+w" (i) - : [ptr] "e" (ptr), - [hi] "r" (hi), - [lo] "r" (lo)); - } -#endif // NEO_KHZ400 - -#else - #error "CPU SPEED NOT SUPPORTED" -#endif // end F_CPU ifdefs on __AVR__ - -// END AVR ---------------------------------------------------------------- - - -#elif defined(__arm__) - -// ARM MCUs -- Teensy 3.0, 3.1, LC, Arduino Due --------------------------- - -#if defined(__MK20DX128__) || defined(__MK20DX256__) // Teensy 3.0 & 3.1 -#define CYCLES_800_T0H (F_CPU / 4000000) -#define CYCLES_800_T1H (F_CPU / 1250000) -#define CYCLES_800 (F_CPU / 800000) -#define CYCLES_400_T0H (F_CPU / 2000000) -#define CYCLES_400_T1H (F_CPU / 833333) -#define CYCLES_400 (F_CPU / 400000) - - uint8_t *p = pixels, - *end = p + numBytes, pix, mask; - volatile uint8_t *set = portSetRegister(pin), - *clr = portClearRegister(pin); - uint32_t cyc; - - ARM_DEMCR |= ARM_DEMCR_TRCENA; - ARM_DWT_CTRL |= ARM_DWT_CTRL_CYCCNTENA; - -#ifdef NEO_KHZ400 // 800 KHz check needed only if 400 KHz support enabled - if(is800KHz) { -#endif - cyc = ARM_DWT_CYCCNT + CYCLES_800; - while(p < end) { - pix = *p++; - for(mask = 0x80; mask; mask >>= 1) { - while(ARM_DWT_CYCCNT - cyc < CYCLES_800); - cyc = ARM_DWT_CYCCNT; - *set = 1; - if(pix & mask) { - while(ARM_DWT_CYCCNT - cyc < CYCLES_800_T1H); - } else { - while(ARM_DWT_CYCCNT - cyc < CYCLES_800_T0H); - } - *clr = 1; - } - } - while(ARM_DWT_CYCCNT - cyc < CYCLES_800); -#ifdef NEO_KHZ400 - } else { // 400 kHz bitstream - cyc = ARM_DWT_CYCCNT + CYCLES_400; - while(p < end) { - pix = *p++; - for(mask = 0x80; mask; mask >>= 1) { - while(ARM_DWT_CYCCNT - cyc < CYCLES_400); - cyc = ARM_DWT_CYCCNT; - *set = 1; - if(pix & mask) { - while(ARM_DWT_CYCCNT - cyc < CYCLES_400_T1H); - } else { - while(ARM_DWT_CYCCNT - cyc < CYCLES_400_T0H); - } - *clr = 1; - } - } - while(ARM_DWT_CYCCNT - cyc < CYCLES_400); - } -#endif // NEO_KHZ400 - -#elif defined(__MKL26Z64__) // Teensy-LC - -#if F_CPU == 48000000 - uint8_t *p = pixels, - pix, count, dly, - bitmask = digitalPinToBitMask(pin); - volatile uint8_t *reg = portSetRegister(pin); - uint32_t num = numBytes; - asm volatile( - "L%=_begin:" "\n\t" - "ldrb %[pix], [%[p], #0]" "\n\t" - "lsl %[pix], #24" "\n\t" - "movs %[count], #7" "\n\t" - "L%=_loop:" "\n\t" - "lsl %[pix], #1" "\n\t" - "bcs L%=_loop_one" "\n\t" - "L%=_loop_zero:" - "strb %[bitmask], [%[reg], #0]" "\n\t" - "movs %[dly], #4" "\n\t" - "L%=_loop_delay_T0H:" "\n\t" - "sub %[dly], #1" "\n\t" - "bne L%=_loop_delay_T0H" "\n\t" - "strb %[bitmask], [%[reg], #4]" "\n\t" - "movs %[dly], #13" "\n\t" - "L%=_loop_delay_T0L:" "\n\t" - "sub %[dly], #1" "\n\t" - "bne L%=_loop_delay_T0L" "\n\t" - "b L%=_next" "\n\t" - "L%=_loop_one:" - "strb %[bitmask], [%[reg], #0]" "\n\t" - "movs %[dly], #13" "\n\t" - "L%=_loop_delay_T1H:" "\n\t" - "sub %[dly], #1" "\n\t" - "bne L%=_loop_delay_T1H" "\n\t" - "strb %[bitmask], [%[reg], #4]" "\n\t" - "movs %[dly], #4" "\n\t" - "L%=_loop_delay_T1L:" "\n\t" - "sub %[dly], #1" "\n\t" - "bne L%=_loop_delay_T1L" "\n\t" - "nop" "\n\t" - "L%=_next:" "\n\t" - "sub %[count], #1" "\n\t" - "bne L%=_loop" "\n\t" - "lsl %[pix], #1" "\n\t" - "bcs L%=_last_one" "\n\t" - "L%=_last_zero:" - "strb %[bitmask], [%[reg], #0]" "\n\t" - "movs %[dly], #4" "\n\t" - "L%=_last_delay_T0H:" "\n\t" - "sub %[dly], #1" "\n\t" - "bne L%=_last_delay_T0H" "\n\t" - "strb %[bitmask], [%[reg], #4]" "\n\t" - "movs %[dly], #10" "\n\t" - "L%=_last_delay_T0L:" "\n\t" - "sub %[dly], #1" "\n\t" - "bne L%=_last_delay_T0L" "\n\t" - "b L%=_repeat" "\n\t" - "L%=_last_one:" - "strb %[bitmask], [%[reg], #0]" "\n\t" - "movs %[dly], #13" "\n\t" - "L%=_last_delay_T1H:" "\n\t" - "sub %[dly], #1" "\n\t" - "bne L%=_last_delay_T1H" "\n\t" - "strb %[bitmask], [%[reg], #4]" "\n\t" - "movs %[dly], #1" "\n\t" - "L%=_last_delay_T1L:" "\n\t" - "sub %[dly], #1" "\n\t" - "bne L%=_last_delay_T1L" "\n\t" - "nop" "\n\t" - "L%=_repeat:" "\n\t" - "add %[p], #1" "\n\t" - "sub %[num], #1" "\n\t" - "bne L%=_begin" "\n\t" - "L%=_done:" "\n\t" - : [p] "+r" (p), - [pix] "=&r" (pix), - [count] "=&r" (count), - [dly] "=&r" (dly), - [num] "+r" (num) - : [bitmask] "r" (bitmask), - [reg] "r" (reg) - ); -#else -#error "Sorry, only 48 MHz is supported, please set Tools > CPU Speed to 48 MHz" -#endif // F_CPU == 48000000 - -#elif defined(__SAMD21G18A__) // Arduino Zero - - // Tried this with a timer/counter, couldn't quite get adequate - // resolution. So yay, you get a load of goofball NOPs... - - uint8_t *ptr, *end, p, bitMask, portNum; - uint32_t pinMask; - - portNum = g_APinDescription[pin].ulPort; - pinMask = 1ul << g_APinDescription[pin].ulPin; - ptr = pixels; - end = ptr + numBytes; - p = *ptr++; - bitMask = 0x80; - - volatile uint32_t *set = &(PORT->Group[portNum].OUTSET.reg), - *clr = &(PORT->Group[portNum].OUTCLR.reg); - -#ifdef NEO_KHZ400 // 800 KHz check needed only if 400 KHz support enabled - if(is800KHz) { -#endif - for(;;) { - *set = pinMask; - asm("nop; nop; nop; nop; nop; nop; nop; nop;"); - if(p & bitMask) { - asm("nop; nop; nop; nop; nop; nop; nop; nop;" - "nop; nop; nop; nop; nop; nop; nop; nop;" - "nop; nop; nop; nop;"); - *clr = pinMask; - } else { - *clr = pinMask; - asm("nop; nop; nop; nop; nop; nop; nop; nop;" - "nop; nop; nop; nop; nop; nop; nop; nop;" - "nop; nop; nop; nop;"); - } - if(bitMask >>= 1) { - asm("nop; nop; nop; nop; nop; nop; nop; nop; nop;"); - } else { - if(ptr >= end) break; - p = *ptr++; - bitMask = 0x80; - } - } -#ifdef NEO_KHZ400 - } else { // 400 KHz bitstream - for(;;) { - *set = pinMask; - asm("nop; nop; nop; nop; nop; nop; nop; nop; nop; nop; nop;"); - if(p & bitMask) { - asm("nop; nop; nop; nop; nop; nop; nop; nop;" - "nop; nop; nop; nop; nop; nop; nop; nop;" - "nop; nop; nop; nop; nop; nop; nop; nop;" - "nop; nop; nop;"); - *clr = pinMask; - } else { - *clr = pinMask; - asm("nop; nop; nop; nop; nop; nop; nop; nop;" - "nop; nop; nop; nop; nop; nop; nop; nop;" - "nop; nop; nop; nop; nop; nop; nop; nop;" - "nop; nop; nop;"); - } - asm("nop; nop; nop; nop; nop; nop; nop; nop;" - "nop; nop; nop; nop; nop; nop; nop; nop;" - "nop; nop; nop; nop; nop; nop; nop; nop;" - "nop; nop; nop; nop; nop; nop; nop; nop;"); - if(bitMask >>= 1) { - asm("nop; nop; nop; nop; nop; nop; nop;"); - } else { - if(ptr >= end) break; - p = *ptr++; - bitMask = 0x80; - } - } - } -#endif - -#elif defined (ARDUINO_STM32_FEATHER) // FEATHER WICED (120MHz) - - // Tried this with a timer/counter, couldn't quite get adequate - // resolution. So yay, you get a load of goofball NOPs... - - uint8_t *ptr, *end, p, bitMask; - uint32_t pinMask; - - pinMask = BIT(PIN_MAP[pin].gpio_bit); - ptr = pixels; - end = ptr + numBytes; - p = *ptr++; - bitMask = 0x80; - - volatile uint16_t *set = &(PIN_MAP[pin].gpio_device->regs->BSRRL); - volatile uint16_t *clr = &(PIN_MAP[pin].gpio_device->regs->BSRRH); - -#ifdef NEO_KHZ400 // 800 KHz check needed only if 400 KHz support enabled - if(is800KHz) { -#endif - for(;;) { - if(p & bitMask) { // ONE - // High 800ns - *set = pinMask; - asm("nop; nop; nop; nop; nop; nop; nop; nop;" - "nop; nop; nop; nop; nop; nop; nop; nop;" - "nop; nop; nop; nop; nop; nop; nop; nop;" - "nop; nop; nop; nop; nop; nop; nop; nop;" - "nop; nop; nop; nop; nop; nop; nop; nop;" - "nop; nop; nop; nop; nop; nop; nop; nop;" - "nop; nop; nop; nop; nop; nop; nop; nop;" - "nop; nop; nop; nop; nop; nop; nop; nop;" - "nop; nop; nop; nop; nop; nop; nop; nop;" - "nop; nop; nop; nop; nop; nop; nop; nop;" - "nop; nop; nop; nop; nop; nop; nop; nop;" - "nop; nop; nop; nop; nop; nop;"); - // Low 450ns - *clr = pinMask; - asm("nop; nop; nop; nop; nop; nop; nop; nop;" - "nop; nop; nop; nop; nop; nop; nop; nop;" - "nop; nop; nop; nop; nop; nop; nop; nop;" - "nop; nop; nop; nop; nop; nop; nop; nop;" - "nop; nop; nop; nop; nop; nop;"); - } else { // ZERO - // High 400ns - *set = pinMask; - asm("nop; nop; nop; nop; nop; nop; nop; nop;" - "nop; nop; nop; nop; nop; nop; nop; nop;" - "nop; nop; nop; nop; nop; nop; nop; nop;" - "nop; nop; nop; nop; nop; nop; nop; nop;" - "nop; nop; nop; nop; nop; nop; nop; nop;" - "nop;"); - // Low 850ns - *clr = pinMask; - asm("nop; nop; nop; nop; nop; nop; nop; nop;" - "nop; nop; nop; nop; nop; nop; nop; nop;" - "nop; nop; nop; nop; nop; nop; nop; nop;" - "nop; nop; nop; nop; nop; nop; nop; nop;" - "nop; nop; nop; nop; nop; nop; nop; nop;" - "nop; nop; nop; nop; nop; nop; nop; nop;" - "nop; nop; nop; nop; nop; nop; nop; nop;" - "nop; nop; nop; nop; nop; nop; nop; nop;" - "nop; nop; nop; nop; nop; nop; nop; nop;" - "nop; nop; nop; nop; nop; nop; nop; nop;" - "nop; nop; nop; nop; nop; nop; nop; nop;" - "nop; nop; nop; nop;"); - } - if(bitMask >>= 1) { - // Move on to the next pixel - asm("nop;"); - } else { - if(ptr >= end) break; - p = *ptr++; - bitMask = 0x80; - } - } -#ifdef NEO_KHZ400 - } else { // 400 KHz bitstream - // ToDo! - } -#endif - -#else // Other ARM architecture -- Presumed Arduino Due - - #define SCALE VARIANT_MCK / 2UL / 1000000UL - #define INST (2UL * F_CPU / VARIANT_MCK) - #define TIME_800_0 ((int)(0.40 * SCALE + 0.5) - (5 * INST)) - #define TIME_800_1 ((int)(0.80 * SCALE + 0.5) - (5 * INST)) - #define PERIOD_800 ((int)(1.25 * SCALE + 0.5) - (5 * INST)) - #define TIME_400_0 ((int)(0.50 * SCALE + 0.5) - (5 * INST)) - #define TIME_400_1 ((int)(1.20 * SCALE + 0.5) - (5 * INST)) - #define PERIOD_400 ((int)(2.50 * SCALE + 0.5) - (5 * INST)) - - int pinMask, time0, time1, period, t; - Pio *port; - volatile WoReg *portSet, *portClear, *timeValue, *timeReset; - uint8_t *p, *end, pix, mask; - - pmc_set_writeprotect(false); - pmc_enable_periph_clk((uint32_t)TC3_IRQn); - TC_Configure(TC1, 0, - TC_CMR_WAVE | TC_CMR_WAVSEL_UP | TC_CMR_TCCLKS_TIMER_CLOCK1); - TC_Start(TC1, 0); - - pinMask = g_APinDescription[pin].ulPin; // Don't 'optimize' these into - port = g_APinDescription[pin].pPort; // declarations above. Want to - portSet = &(port->PIO_SODR); // burn a few cycles after - portClear = &(port->PIO_CODR); // starting timer to minimize - timeValue = &(TC1->TC_CHANNEL[0].TC_CV); // the initial 'while'. - timeReset = &(TC1->TC_CHANNEL[0].TC_CCR); - p = pixels; - end = p + numBytes; - pix = *p++; - mask = 0x80; - -#ifdef NEO_KHZ400 // 800 KHz check needed only if 400 KHz support enabled - if(is800KHz) { -#endif - time0 = TIME_800_0; - time1 = TIME_800_1; - period = PERIOD_800; -#ifdef NEO_KHZ400 - } else { // 400 KHz bitstream - time0 = TIME_400_0; - time1 = TIME_400_1; - period = PERIOD_400; - } -#endif - - for(t = time0;; t = time0) { - if(pix & mask) t = time1; - while(*timeValue < period); - *portSet = pinMask; - *timeReset = TC_CCR_CLKEN | TC_CCR_SWTRG; - while(*timeValue < t); - *portClear = pinMask; - if(!(mask >>= 1)) { // This 'inside-out' loop logic utilizes - if(p >= end) break; // idle time to minimize inter-byte delays. - pix = *p++; - mask = 0x80; - } - } - while(*timeValue < period); // Wait for last bit - TC_Stop(TC1, 0); - -#endif // end Due - -// END ARM ---------------------------------------------------------------- - - -#elif defined(ESP8266) - -// ESP8266 ---------------------------------------------------------------- - - // ESP8266 show() is external to enforce ICACHE_RAM_ATTR execution - espShow(pin, pixels, numBytes, is800KHz); - -#elif defined(__ARDUINO_ARC__) - -// Arduino 101 ----------------------------------------------------------- - -#define NOPx7 { __builtin_arc_nop(); \ - __builtin_arc_nop(); __builtin_arc_nop(); \ - __builtin_arc_nop(); __builtin_arc_nop(); \ - __builtin_arc_nop(); __builtin_arc_nop(); } - - PinDescription *pindesc = &g_APinDescription[pin]; - register uint32_t loop = 8 * numBytes; // one loop to handle all bytes and all bits - register uint8_t *p = pixels; - register uint32_t currByte = (uint32_t) (*p); - register uint32_t currBit = 0x80 & currByte; - register uint32_t bitCounter = 0; - register uint32_t first = 1; - - // The loop is unusual. Very first iteration puts all the way LOW to the wire - - // constant LOW does not affect NEOPIXEL, so there is no visible effect displayed. - // During that very first iteration CPU caches instructions in the loop. - // Because of the caching process, "CPU slows down". NEOPIXEL pulse is very time sensitive - // that's why we let the CPU cache first and we start regular pulse from 2nd iteration - if (pindesc->ulGPIOType == SS_GPIO) { - register uint32_t reg = pindesc->ulGPIOBase + SS_GPIO_SWPORTA_DR; - uint32_t reg_val = __builtin_arc_lr((volatile uint32_t)reg); - register uint32_t reg_bit_high = reg_val | (1 << pindesc->ulGPIOId); - register uint32_t reg_bit_low = reg_val & ~(1 << pindesc->ulGPIOId); - - loop += 1; // include first, special iteration - while(loop--) { - if(!first) { - currByte <<= 1; - bitCounter++; - } - - // 1 is >550ns high and >450ns low; 0 is 200..500ns high and >450ns low - __builtin_arc_sr(first ? reg_bit_low : reg_bit_high, (volatile uint32_t)reg); - if(currBit) { // ~400ns HIGH (740ns overall) - NOPx7 - NOPx7 - } - // ~340ns HIGH - NOPx7 - __builtin_arc_nop(); - - // 820ns LOW; per spec, max allowed low here is 5000ns */ - __builtin_arc_sr(reg_bit_low, (volatile uint32_t)reg); - NOPx7 - NOPx7 - - if(bitCounter >= 8) { - bitCounter = 0; - currByte = (uint32_t) (*++p); - } - - currBit = 0x80 & currByte; - first = 0; - } - } else if(pindesc->ulGPIOType == SOC_GPIO) { - register uint32_t reg = pindesc->ulGPIOBase + SOC_GPIO_SWPORTA_DR; - uint32_t reg_val = MMIO_REG_VAL(reg); - register uint32_t reg_bit_high = reg_val | (1 << pindesc->ulGPIOId); - register uint32_t reg_bit_low = reg_val & ~(1 << pindesc->ulGPIOId); - - loop += 1; // include first, special iteration - while(loop--) { - if(!first) { - currByte <<= 1; - bitCounter++; - } - MMIO_REG_VAL(reg) = first ? reg_bit_low : reg_bit_high; - if(currBit) { // ~430ns HIGH (740ns overall) - NOPx7 - NOPx7 - __builtin_arc_nop(); - } - // ~310ns HIGH - NOPx7 - - // 850ns LOW; per spec, max allowed low here is 5000ns */ - MMIO_REG_VAL(reg) = reg_bit_low; - NOPx7 - NOPx7 - - if(bitCounter >= 8) { - bitCounter = 0; - currByte = (uint32_t) (*++p); - } - - currBit = 0x80 & currByte; - first = 0; - } - } - -#endif - - -// END ARCHITECTURE SELECT ------------------------------------------------ - - - interrupts(); - endTime = micros(); // Save EOD time for latch on next call -} - -// Set the output pin number -void Adafruit_NeoPixel::setPin(uint8_t p) { - if(begun && (pin >= 0)) pinMode(pin, INPUT); - pin = p; - if(begun) { - pinMode(p, OUTPUT); - digitalWrite(p, LOW); - } -#ifdef __AVR__ - port = portOutputRegister(digitalPinToPort(p)); - pinMask = digitalPinToBitMask(p); -#endif -} - -// Set pixel color from separate R,G,B components: -void Adafruit_NeoPixel::setPixelColor( - uint16_t n, uint8_t r, uint8_t g, uint8_t b) { - - if(n < numLEDs) { - if(brightness) { // See notes in setBrightness() - r = (r * brightness) >> 8; - g = (g * brightness) >> 8; - b = (b * brightness) >> 8; - } - uint8_t *p; - if(wOffset == rOffset) { // Is an RGB-type strip - p = &pixels[n * 3]; // 3 bytes per pixel - } else { // Is a WRGB-type strip - p = &pixels[n * 4]; // 4 bytes per pixel - p[wOffset] = 0; // But only R,G,B passed -- set W to 0 - } - p[rOffset] = r; // R,G,B always stored - p[gOffset] = g; - p[bOffset] = b; - } -} - -void Adafruit_NeoPixel::setPixelColor( - uint16_t n, uint8_t r, uint8_t g, uint8_t b, uint8_t w) { - - if(n < numLEDs) { - if(brightness) { // See notes in setBrightness() - r = (r * brightness) >> 8; - g = (g * brightness) >> 8; - b = (b * brightness) >> 8; - w = (w * brightness) >> 8; - } - uint8_t *p; - if(wOffset == rOffset) { // Is an RGB-type strip - p = &pixels[n * 3]; // 3 bytes per pixel (ignore W) - } else { // Is a WRGB-type strip - p = &pixels[n * 4]; // 4 bytes per pixel - p[wOffset] = w; // Store W - } - p[rOffset] = r; // Store R,G,B - p[gOffset] = g; - p[bOffset] = b; - } -} - -// Set pixel color from 'packed' 32-bit RGB color: -void Adafruit_NeoPixel::setPixelColor(uint16_t n, uint32_t c) { - if(n < numLEDs) { - uint8_t *p, - r = (uint8_t)(c >> 16), - g = (uint8_t)(c >> 8), - b = (uint8_t)c; - if(brightness) { // See notes in setBrightness() - r = (r * brightness) >> 8; - g = (g * brightness) >> 8; - b = (b * brightness) >> 8; - } - if(wOffset == rOffset) { - p = &pixels[n * 3]; - } else { - p = &pixels[n * 4]; - uint8_t w = (uint8_t)(c >> 24); - p[wOffset] = brightness ? ((w * brightness) >> 8) : w; - } - p[rOffset] = r; - p[gOffset] = g; - p[bOffset] = b; - } -} - -// Convert separate R,G,B into packed 32-bit RGB color. -// Packed format is always RGB, regardless of LED strand color order. -uint32_t Adafruit_NeoPixel::Color(uint8_t r, uint8_t g, uint8_t b) { - return ((uint32_t)r << 16) | ((uint32_t)g << 8) | b; -} - -// Convert separate R,G,B,W into packed 32-bit WRGB color. -// Packed format is always WRGB, regardless of LED strand color order. -uint32_t Adafruit_NeoPixel::Color(uint8_t r, uint8_t g, uint8_t b, uint8_t w) { - return ((uint32_t)w << 24) | ((uint32_t)r << 16) | ((uint32_t)g << 8) | b; -} - -// Query color from previously-set pixel (returns packed 32-bit RGB value) -uint32_t Adafruit_NeoPixel::getPixelColor(uint16_t n) const { - if(n >= numLEDs) return 0; // Out of bounds, return no color. - - uint8_t *p; - - if(wOffset == rOffset) { // Is RGB-type device - p = &pixels[n * 3]; - if(brightness) { - // Stored color was decimated by setBrightness(). Returned value - // attempts to scale back to an approximation of the original 24-bit - // value used when setting the pixel color, but there will always be - // some error -- those bits are simply gone. Issue is most - // pronounced at low brightness levels. - return (((uint32_t)(p[rOffset] << 8) / brightness) << 16) | - (((uint32_t)(p[gOffset] << 8) / brightness) << 8) | - ( (uint32_t)(p[bOffset] << 8) / brightness ); - } else { - // No brightness adjustment has been made -- return 'raw' color - return ((uint32_t)p[rOffset] << 16) | - ((uint32_t)p[gOffset] << 8) | - (uint32_t)p[bOffset]; - } - } else { // Is RGBW-type device - p = &pixels[n * 4]; - if(brightness) { // Return scaled color - return (((uint32_t)(p[wOffset] << 8) / brightness) << 24) | - (((uint32_t)(p[rOffset] << 8) / brightness) << 16) | - (((uint32_t)(p[gOffset] << 8) / brightness) << 8) | - ( (uint32_t)(p[bOffset] << 8) / brightness ); - } else { // Return raw color - return ((uint32_t)p[wOffset] << 24) | - ((uint32_t)p[rOffset] << 16) | - ((uint32_t)p[gOffset] << 8) | - (uint32_t)p[bOffset]; - } - } -} - -// Returns pointer to pixels[] array. Pixel data is stored in device- -// native format and is not translated here. Application will need to be -// aware of specific pixel data format and handle colors appropriately. -uint8_t *Adafruit_NeoPixel::getPixels(void) const { - return pixels; -} - -uint16_t Adafruit_NeoPixel::numPixels(void) const { - return numLEDs; -} - -// Adjust output brightness; 0=darkest (off), 255=brightest. This does -// NOT immediately affect what's currently displayed on the LEDs. The -// next call to show() will refresh the LEDs at this level. However, -// this process is potentially "lossy," especially when increasing -// brightness. The tight timing in the WS2811/WS2812 code means there -// aren't enough free cycles to perform this scaling on the fly as data -// is issued. So we make a pass through the existing color data in RAM -// and scale it (subsequent graphics commands also work at this -// brightness level). If there's a significant step up in brightness, -// the limited number of steps (quantization) in the old data will be -// quite visible in the re-scaled version. For a non-destructive -// change, you'll need to re-render the full strip data. C'est la vie. -void Adafruit_NeoPixel::setBrightness(uint8_t b) { - // Stored brightness value is different than what's passed. - // This simplifies the actual scaling math later, allowing a fast - // 8x8-bit multiply and taking the MSB. 'brightness' is a uint8_t, - // adding 1 here may (intentionally) roll over...so 0 = max brightness - // (color values are interpreted literally; no scaling), 1 = min - // brightness (off), 255 = just below max brightness. - uint8_t newBrightness = b + 1; - if(newBrightness != brightness) { // Compare against prior value - // Brightness has changed -- re-scale existing data in RAM - uint8_t c, - *ptr = pixels, - oldBrightness = brightness - 1; // De-wrap old brightness value - uint16_t scale; - if(oldBrightness == 0) scale = 0; // Avoid /0 - else if(b == 255) scale = 65535 / oldBrightness; - else scale = (((uint16_t)newBrightness << 8) - 1) / oldBrightness; - for(uint16_t i=0; i> 8; - } - brightness = newBrightness; - } -} - -//Return the brightness value -uint8_t Adafruit_NeoPixel::getBrightness(void) const { - return brightness - 1; -} - -void Adafruit_NeoPixel::clear() { - memset(pixels, 0, numBytes); -} - - - - - - - - - - - - - diff --git a/Arduino/libraries/Adafruit_NeoPixel/Adafruit_NeoPixel.h b/Arduino/libraries/Adafruit_NeoPixel/Adafruit_NeoPixel.h deleted file mode 100644 index b051d7d1..00000000 --- a/Arduino/libraries/Adafruit_NeoPixel/Adafruit_NeoPixel.h +++ /dev/null @@ -1,181 +0,0 @@ -/*-------------------------------------------------------------------- - This file is part of the Adafruit NeoPixel library. - - NeoPixel is free software: you can redistribute it and/or modify - it under the terms of the GNU Lesser General Public License as - published by the Free Software Foundation, either version 3 of - the License, or (at your option) any later version. - - NeoPixel is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General Public - License along with NeoPixel. If not, see - . - --------------------------------------------------------------------*/ - -#ifndef ADAFRUIT_NEOPIXEL_H -#define ADAFRUIT_NEOPIXEL_H - -#if (ARDUINO >= 100) - #include -#else - #include - #include -#endif - -// The order of primary colors in the NeoPixel data stream can vary -// among device types, manufacturers and even different revisions of -// the same item. The third parameter to the Adafruit_NeoPixel -// constructor encodes the per-pixel byte offsets of the red, green -// and blue primaries (plus white, if present) in the data stream -- -// the following #defines provide an easier-to-use named version for -// each permutation. e.g. NEO_GRB indicates a NeoPixel-compatible -// device expecting three bytes per pixel, with the first byte -// containing the green value, second containing red and third -// containing blue. The in-memory representation of a chain of -// NeoPixels is the same as the data-stream order; no re-ordering of -// bytes is required when issuing data to the chain. - -// Bits 5,4 of this value are the offset (0-3) from the first byte of -// a pixel to the location of the red color byte. Bits 3,2 are the -// green offset and 1,0 are the blue offset. If it is an RGBW-type -// device (supporting a white primary in addition to R,G,B), bits 7,6 -// are the offset to the white byte...otherwise, bits 7,6 are set to -// the same value as 5,4 (red) to indicate an RGB (not RGBW) device. -// i.e. binary representation: -// 0bWWRRGGBB for RGBW devices -// 0bRRRRGGBB for RGB - -// RGB NeoPixel permutations; white and red offsets are always same -// Offset: W R G B -#define NEO_RGB ((0 << 6) | (0 << 4) | (1 << 2) | (2)) -#define NEO_RBG ((0 << 6) | (0 << 4) | (2 << 2) | (1)) -#define NEO_GRB ((1 << 6) | (1 << 4) | (0 << 2) | (2)) -#define NEO_GBR ((2 << 6) | (2 << 4) | (0 << 2) | (1)) -#define NEO_BRG ((1 << 6) | (1 << 4) | (2 << 2) | (0)) -#define NEO_BGR ((2 << 6) | (2 << 4) | (1 << 2) | (0)) - -// RGBW NeoPixel permutations; all 4 offsets are distinct -// Offset: W R G B -#define NEO_WRGB ((0 << 6) | (1 << 4) | (2 << 2) | (3)) -#define NEO_WRBG ((0 << 6) | (1 << 4) | (3 << 2) | (2)) -#define NEO_WGRB ((0 << 6) | (2 << 4) | (1 << 2) | (3)) -#define NEO_WGBR ((0 << 6) | (3 << 4) | (1 << 2) | (2)) -#define NEO_WBRG ((0 << 6) | (2 << 4) | (3 << 2) | (1)) -#define NEO_WBGR ((0 << 6) | (3 << 4) | (2 << 2) | (1)) - -#define NEO_RWGB ((1 << 6) | (0 << 4) | (2 << 2) | (3)) -#define NEO_RWBG ((1 << 6) | (0 << 4) | (3 << 2) | (2)) -#define NEO_RGWB ((2 << 6) | (0 << 4) | (1 << 2) | (3)) -#define NEO_RGBW ((3 << 6) | (0 << 4) | (1 << 2) | (2)) -#define NEO_RBWG ((2 << 6) | (0 << 4) | (3 << 2) | (1)) -#define NEO_RBGW ((3 << 6) | (0 << 4) | (2 << 2) | (1)) - -#define NEO_GWRB ((1 << 6) | (2 << 4) | (0 << 2) | (3)) -#define NEO_GWBR ((1 << 6) | (3 << 4) | (0 << 2) | (2)) -#define NEO_GRWB ((2 << 6) | (1 << 4) | (0 << 2) | (3)) -#define NEO_GRBW ((3 << 6) | (1 << 4) | (0 << 2) | (2)) -#define NEO_GBWR ((2 << 6) | (3 << 4) | (0 << 2) | (1)) -#define NEO_GBRW ((3 << 6) | (2 << 4) | (0 << 2) | (1)) - -#define NEO_BWRG ((1 << 6) | (2 << 4) | (3 << 2) | (0)) -#define NEO_BWGR ((1 << 6) | (3 << 4) | (2 << 2) | (0)) -#define NEO_BRWG ((2 << 6) | (1 << 4) | (3 << 2) | (0)) -#define NEO_BRGW ((3 << 6) | (1 << 4) | (2 << 2) | (0)) -#define NEO_BGWR ((2 << 6) | (3 << 4) | (1 << 2) | (0)) -#define NEO_BGRW ((3 << 6) | (2 << 4) | (1 << 2) | (0)) - -// Add NEO_KHZ400 to the color order value to indicate a 400 KHz -// device. All but the earliest v1 NeoPixels expect an 800 KHz data -// stream, this is the default if unspecified. Because flash space -// is very limited on ATtiny devices (e.g. Trinket, Gemma), v1 -// NeoPixels aren't handled by default on those chips, though it can -// be enabled by removing the ifndef/endif below -- but code will be -// bigger. Conversely, can disable the NEO_KHZ400 line on other MCUs -// to remove v1 support and save a little space. - -#define NEO_KHZ800 0x0000 // 800 KHz datastream -#ifndef __AVR_ATtiny85__ -#define NEO_KHZ400 0x0100 // 400 KHz datastream -#endif - -// If 400 KHz support is enabled, the third parameter to the constructor -// requires a 16-bit value (in order to select 400 vs 800 KHz speed). -// If only 800 KHz is enabled (as is default on ATtiny), an 8-bit value -// is sufficient to encode pixel color order, saving some space. - -#ifdef NEO_KHZ400 -typedef uint16_t neoPixelType; -#else -typedef uint8_t neoPixelType; -#endif - -class Adafruit_NeoPixel { - - public: - - // Constructor: number of LEDs, pin number, LED type - Adafruit_NeoPixel(uint16_t n, uint8_t p=6, neoPixelType t=NEO_GRB + NEO_KHZ800); - Adafruit_NeoPixel(void); - ~Adafruit_NeoPixel(); - - void - begin(void), - show(void), - setPin(uint8_t p), - setPixelColor(uint16_t n, uint8_t r, uint8_t g, uint8_t b), - setPixelColor(uint16_t n, uint8_t r, uint8_t g, uint8_t b, uint8_t w), - setPixelColor(uint16_t n, uint32_t c), - setBrightness(uint8_t), - clear(), - updateLength(uint16_t n), - updateType(neoPixelType t); - uint8_t - *getPixels(void) const, - getBrightness(void) const; - int8_t - getPin(void) { return pin; }; - uint16_t - numPixels(void) const; - static uint32_t - Color(uint8_t r, uint8_t g, uint8_t b), - Color(uint8_t r, uint8_t g, uint8_t b, uint8_t w); - uint32_t - getPixelColor(uint16_t n) const; - inline bool - canShow(void) { return (micros() - endTime) >= 50L; } - - private: - - boolean -#ifdef NEO_KHZ400 // If 400 KHz NeoPixel support enabled... - is800KHz, // ...true if 800 KHz pixels -#endif - begun; // true if begin() previously called - uint16_t - numLEDs, // Number of RGB LEDs in strip - numBytes; // Size of 'pixels' buffer below (3 or 4 bytes/pixel) - int8_t - pin; // Output pin number (-1 if not yet set) - uint8_t - brightness, - *pixels, // Holds LED color values (3 or 4 bytes each) - rOffset, // Index of red byte within each 3- or 4-byte pixel - gOffset, // Index of green byte - bOffset, // Index of blue byte - wOffset; // Index of white byte (same as rOffset if no white) - uint32_t - endTime; // Latch timing reference -#ifdef __AVR__ - volatile uint8_t - *port; // Output PORT register - uint8_t - pinMask; // Output PORT bitmask -#endif - -}; - -#endif // ADAFRUIT_NEOPIXEL_H diff --git a/Arduino/libraries/Adafruit_NeoPixel/COPYING b/Arduino/libraries/Adafruit_NeoPixel/COPYING deleted file mode 100644 index 65c5ca88..00000000 --- a/Arduino/libraries/Adafruit_NeoPixel/COPYING +++ /dev/null @@ -1,165 +0,0 @@ - GNU LESSER GENERAL PUBLIC LICENSE - Version 3, 29 June 2007 - - Copyright (C) 2007 Free Software Foundation, Inc. - Everyone is permitted to copy and distribute verbatim copies - of this license document, but changing it is not allowed. - - - This version of the GNU Lesser General Public License incorporates -the terms and conditions of version 3 of the GNU General Public -License, supplemented by the additional permissions listed below. - - 0. 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If the Library as you -received it does not specify a version number of the GNU Lesser -General Public License, you may choose any version of the GNU Lesser -General Public License ever published by the Free Software Foundation. - - If the Library as you received it specifies that a proxy can decide -whether future versions of the GNU Lesser General Public License shall -apply, that proxy's public statement of acceptance of any version is -permanent authorization for you to choose that version for the -Library. diff --git a/Arduino/libraries/Adafruit_NeoPixel/README.md b/Arduino/libraries/Adafruit_NeoPixel/README.md deleted file mode 100644 index 7aaaa206..00000000 --- a/Arduino/libraries/Adafruit_NeoPixel/README.md +++ /dev/null @@ -1,11 +0,0 @@ -# Adafruit NeoPixel Library [![Build Status](https://travis-ci.org/adafruit/Adafruit_NeoPixel.svg?branch=master)](https://travis-ci.org/adafruit/Adafruit_NeoPixel) - -Arduino library for controlling single-wire-based LED pixels and strip such as the [Adafruit 60 LED/meter Digital LED strip][strip], the [Adafruit FLORA RGB Smart Pixel][flora], the [Adafruit Breadboard-friendly RGB Smart Pixel][pixel], the [Adafruit NeoPixel Stick][stick], and the [Adafruit NeoPixel Shield][shield]. - -After downloading, rename folder to 'Adafruit_NeoPixel' and install in Arduino Libraries folder. Restart Arduino IDE, then open File->Sketchbook->Library->Adafruit_NeoPixel->strandtest sketch. - -[flora]: http://adafruit.com/products/1060 -[strip]: http://adafruit.com/products/1138 -[pixel]: http://adafruit.com/products/1312 -[stick]: http://adafruit.com/products/1426 -[shield]: http://adafruit.com/products/1430 diff --git a/Arduino/libraries/Adafruit_NeoPixel/esp8266.c b/Arduino/libraries/Adafruit_NeoPixel/esp8266.c deleted file mode 100644 index 1ae3ba0f..00000000 --- a/Arduino/libraries/Adafruit_NeoPixel/esp8266.c +++ /dev/null @@ -1,67 +0,0 @@ -// This is a mash-up of the Due show() code + insights from Michael Miller's -// ESP8266 work for the NeoPixelBus library: github.com/Makuna/NeoPixelBus -// Needs to be a separate .c file to enforce ICACHE_RAM_ATTR execution. - -#ifdef ESP8266 - -#include -#include - -static uint32_t _getCycleCount(void) __attribute__((always_inline)); -static inline uint32_t _getCycleCount(void) { - uint32_t ccount; - __asm__ __volatile__("rsr %0,ccount":"=a" (ccount)); - return ccount; -} - -void ICACHE_RAM_ATTR espShow( - uint8_t pin, uint8_t *pixels, uint32_t numBytes, boolean is800KHz) { - -#define CYCLES_800_T0H (F_CPU / 2500000) // 0.4us -#define CYCLES_800_T1H (F_CPU / 1250000) // 0.8us -#define CYCLES_800 (F_CPU / 800000) // 1.25us per bit -#define CYCLES_400_T0H (F_CPU / 2000000) // 0.5uS -#define CYCLES_400_T1H (F_CPU / 833333) // 1.2us -#define CYCLES_400 (F_CPU / 400000) // 2.5us per bit - - uint8_t *p, *end, pix, mask; - uint32_t t, time0, time1, period, c, startTime, pinMask; - - pinMask = _BV(pin); - p = pixels; - end = p + numBytes; - pix = *p++; - mask = 0x80; - startTime = 0; - -#ifdef NEO_KHZ400 - if(is800KHz) { -#endif - time0 = CYCLES_800_T0H; - time1 = CYCLES_800_T1H; - period = CYCLES_800; -#ifdef NEO_KHZ400 - } else { // 400 KHz bitstream - time0 = CYCLES_400_T0H; - time1 = CYCLES_400_T1H; - period = CYCLES_400; - } -#endif - - for(t = time0;; t = time0) { - if(pix & mask) t = time1; // Bit high duration - while(((c = _getCycleCount()) - startTime) < period); // Wait for bit start - GPIO_REG_WRITE(GPIO_OUT_W1TS_ADDRESS, pinMask); // Set high - startTime = c; // Save start time - while(((c = _getCycleCount()) - startTime) < t); // Wait high duration - GPIO_REG_WRITE(GPIO_OUT_W1TC_ADDRESS, pinMask); // Set low - if(!(mask >>= 1)) { // Next bit/byte - if(p >= end) break; - pix = *p++; - mask = 0x80; - } - } - while((_getCycleCount() - startTime) < period); // Wait for last bit -} - -#endif // ESP8266 diff --git a/Arduino/libraries/Adafruit_NeoPixel/examples/RGBWstrandtest/RGBWstrandtest.ino b/Arduino/libraries/Adafruit_NeoPixel/examples/RGBWstrandtest/RGBWstrandtest.ino deleted file mode 100644 index ad54c1d5..00000000 --- a/Arduino/libraries/Adafruit_NeoPixel/examples/RGBWstrandtest/RGBWstrandtest.ino +++ /dev/null @@ -1,263 +0,0 @@ -#include -#ifdef __AVR__ - #include -#endif - -#define PIN 6 - -#define NUM_LEDS 60 - -#define BRIGHTNESS 50 - -Adafruit_NeoPixel strip = Adafruit_NeoPixel(NUM_LEDS, PIN, NEO_GRBW + NEO_KHZ800); - -int gamma[] = { - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, - 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 2, - 2, 3, 3, 3, 3, 3, 3, 3, 4, 4, 4, 4, 4, 5, 5, 5, - 5, 6, 6, 6, 6, 7, 7, 7, 7, 8, 8, 8, 9, 9, 9, 10, - 10, 10, 11, 11, 11, 12, 12, 13, 13, 13, 14, 14, 15, 15, 16, 16, - 17, 17, 18, 18, 19, 19, 20, 20, 21, 21, 22, 22, 23, 24, 24, 25, - 25, 26, 27, 27, 28, 29, 29, 30, 31, 32, 32, 33, 34, 35, 35, 36, - 37, 38, 39, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 50, - 51, 52, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 66, 67, 68, - 69, 70, 72, 73, 74, 75, 77, 78, 79, 81, 82, 83, 85, 86, 87, 89, - 90, 92, 93, 95, 96, 98, 99,101,102,104,105,107,109,110,112,114, - 115,117,119,120,122,124,126,127,129,131,133,135,137,138,140,142, - 144,146,148,150,152,154,156,158,160,162,164,167,169,171,173,175, - 177,180,182,184,186,189,191,193,196,198,200,203,205,208,210,213, - 215,218,220,223,225,228,231,233,236,239,241,244,247,249,252,255 }; - - -void setup() { - Serial.begin(115200); - // This is for Trinket 5V 16MHz, you can remove these three lines if you are not using a Trinket - #if defined (__AVR_ATtiny85__) - if (F_CPU == 16000000) clock_prescale_set(clock_div_1); - #endif - // End of trinket special code - strip.setBrightness(BRIGHTNESS); - strip.begin(); - strip.show(); // Initialize all pixels to 'off' -} - -void loop() { - // Some example procedures showing how to display to the pixels: - colorWipe(strip.Color(255, 0, 0), 50); // Red - colorWipe(strip.Color(0, 255, 0), 50); // Green - colorWipe(strip.Color(0, 0, 255), 50); // Blue - colorWipe(strip.Color(0, 0, 0, 255), 50); // White - - whiteOverRainbow(20,75,5); - - pulseWhite(5); - - // fullWhite(); - // delay(2000); - - rainbowFade2White(3,3,1); - - -} - -// Fill the dots one after the other with a color -void colorWipe(uint32_t c, uint8_t wait) { - for(uint16_t i=0; i= 0 ; j--){ - for(uint16_t i=0; i 255 - fadeMax ){ - fadeVal--; - } - - strip.show(); - delay(wait); - } - - } - - - - delay(500); - - - for(int k = 0 ; k < whiteLoops ; k ++){ - - for(int j = 0; j < 256 ; j++){ - - for(uint16_t i=0; i < strip.numPixels(); i++) { - strip.setPixelColor(i, strip.Color(0,0,0, gamma[j] ) ); - } - strip.show(); - } - - delay(2000); - for(int j = 255; j >= 0 ; j--){ - - for(uint16_t i=0; i < strip.numPixels(); i++) { - strip.setPixelColor(i, strip.Color(0,0,0, gamma[j] ) ); - } - strip.show(); - } - } - - delay(500); - - -} - -void whiteOverRainbow(uint8_t wait, uint8_t whiteSpeed, uint8_t whiteLength ) { - - if(whiteLength >= strip.numPixels()) whiteLength = strip.numPixels() - 1; - - int head = whiteLength - 1; - int tail = 0; - - int loops = 3; - int loopNum = 0; - - static unsigned long lastTime = 0; - - - while(true){ - for(int j=0; j<256; j++) { - for(uint16_t i=0; i= tail && i <= head) || (tail > head && i >= tail) || (tail > head && i <= head) ){ - strip.setPixelColor(i, strip.Color(0,0,0, 255 ) ); - } - else{ - strip.setPixelColor(i, Wheel(((i * 256 / strip.numPixels()) + j) & 255)); - } - - } - - if(millis() - lastTime > whiteSpeed) { - head++; - tail++; - if(head == strip.numPixels()){ - loopNum++; - } - lastTime = millis(); - } - - if(loopNum == loops) return; - - head%=strip.numPixels(); - tail%=strip.numPixels(); - strip.show(); - delay(wait); - } - } - -} -void fullWhite() { - - for(uint16_t i=0; i> 8); -} -uint8_t green(uint32_t c) { - return (c >> 16); -} -uint8_t blue(uint32_t c) { - return (c); -} - - diff --git a/Arduino/libraries/Adafruit_NeoPixel/examples/buttoncycler/buttoncycler.ino b/Arduino/libraries/Adafruit_NeoPixel/examples/buttoncycler/buttoncycler.ino deleted file mode 100644 index cf1598a8..00000000 --- a/Arduino/libraries/Adafruit_NeoPixel/examples/buttoncycler/buttoncycler.ino +++ /dev/null @@ -1,165 +0,0 @@ -// This is a demonstration on how to use an input device to trigger changes on your neo pixels. -// You should wire a momentary push button to connect from ground to a digital IO pin. When you -// press the button it will change to a new pixel animation. Note that you need to press the -// button once to start the first animation! - -#include - -#define BUTTON_PIN 2 // Digital IO pin connected to the button. This will be - // driven with a pull-up resistor so the switch should - // pull the pin to ground momentarily. On a high -> low - // transition the button press logic will execute. - -#define PIXEL_PIN 6 // Digital IO pin connected to the NeoPixels. - -#define PIXEL_COUNT 16 - -// Parameter 1 = number of pixels in strip, neopixel stick has 8 -// Parameter 2 = pin number (most are valid) -// Parameter 3 = pixel type flags, add together as needed: -// NEO_RGB Pixels are wired for RGB bitstream -// NEO_GRB Pixels are wired for GRB bitstream, correct for neopixel stick -// NEO_KHZ400 400 KHz bitstream (e.g. FLORA pixels) -// NEO_KHZ800 800 KHz bitstream (e.g. High Density LED strip), correct for neopixel stick -Adafruit_NeoPixel strip = Adafruit_NeoPixel(PIXEL_COUNT, PIXEL_PIN, NEO_GRB + NEO_KHZ800); - -bool oldState = HIGH; -int showType = 0; - -void setup() { - pinMode(BUTTON_PIN, INPUT_PULLUP); - strip.begin(); - strip.show(); // Initialize all pixels to 'off' -} - -void loop() { - // Get current button state. - bool newState = digitalRead(BUTTON_PIN); - - // Check if state changed from high to low (button press). - if (newState == LOW && oldState == HIGH) { - // Short delay to debounce button. - delay(20); - // Check if button is still low after debounce. - newState = digitalRead(BUTTON_PIN); - if (newState == LOW) { - showType++; - if (showType > 9) - showType=0; - startShow(showType); - } - } - - // Set the last button state to the old state. - oldState = newState; -} - -void startShow(int i) { - switch(i){ - case 0: colorWipe(strip.Color(0, 0, 0), 50); // Black/off - break; - case 1: colorWipe(strip.Color(255, 0, 0), 50); // Red - break; - case 2: colorWipe(strip.Color(0, 255, 0), 50); // Green - break; - case 3: colorWipe(strip.Color(0, 0, 255), 50); // Blue - break; - case 4: theaterChase(strip.Color(127, 127, 127), 50); // White - break; - case 5: theaterChase(strip.Color(127, 0, 0), 50); // Red - break; - case 6: theaterChase(strip.Color( 0, 0, 127), 50); // Blue - break; - case 7: rainbow(20); - break; - case 8: rainbowCycle(20); - break; - case 9: theaterChaseRainbow(50); - break; - } -} - -// Fill the dots one after the other with a color -void colorWipe(uint32_t c, uint8_t wait) { - for(uint16_t i=0; i -#ifdef __AVR__ - #include -#endif - -// Which pin on the Arduino is connected to the NeoPixels? -// On a Trinket or Gemma we suggest changing this to 1 -#define PIN 6 - -// How many NeoPixels are attached to the Arduino? -#define NUMPIXELS 16 - -// When we setup the NeoPixel library, we tell it how many pixels, and which pin to use to send signals. -// Note that for older NeoPixel strips you might need to change the third parameter--see the strandtest -// example for more information on possible values. -Adafruit_NeoPixel pixels = Adafruit_NeoPixel(NUMPIXELS, PIN, NEO_GRB + NEO_KHZ800); - -int delayval = 500; // delay for half a second - -void setup() { - // This is for Trinket 5V 16MHz, you can remove these three lines if you are not using a Trinket -#if defined (__AVR_ATtiny85__) - if (F_CPU == 16000000) clock_prescale_set(clock_div_1); -#endif - // End of trinket special code - - pixels.begin(); // This initializes the NeoPixel library. -} - -void loop() { - - // For a set of NeoPixels the first NeoPixel is 0, second is 1, all the way up to the count of pixels minus one. - - for(int i=0;i -#ifdef __AVR__ - #include -#endif - -#define PIN 6 - -// Parameter 1 = number of pixels in strip -// Parameter 2 = Arduino pin number (most are valid) -// Parameter 3 = pixel type flags, add together as needed: -// NEO_KHZ800 800 KHz bitstream (most NeoPixel products w/WS2812 LEDs) -// NEO_KHZ400 400 KHz (classic 'v1' (not v2) FLORA pixels, WS2811 drivers) -// NEO_GRB Pixels are wired for GRB bitstream (most NeoPixel products) -// NEO_RGB Pixels are wired for RGB bitstream (v1 FLORA pixels, not v2) -// NEO_RGBW Pixels are wired for RGBW bitstream (NeoPixel RGBW products) -Adafruit_NeoPixel strip = Adafruit_NeoPixel(60, PIN, NEO_GRB + NEO_KHZ800); - -// IMPORTANT: To reduce NeoPixel burnout risk, add 1000 uF capacitor across -// pixel power leads, add 300 - 500 Ohm resistor on first pixel's data input -// and minimize distance between Arduino and first pixel. Avoid connecting -// on a live circuit...if you must, connect GND first. - -void setup() { - // This is for Trinket 5V 16MHz, you can remove these three lines if you are not using a Trinket - #if defined (__AVR_ATtiny85__) - if (F_CPU == 16000000) clock_prescale_set(clock_div_1); - #endif - // End of trinket special code - - - strip.begin(); - strip.show(); // Initialize all pixels to 'off' -} - -void loop() { - // Some example procedures showing how to display to the pixels: - colorWipe(strip.Color(255, 0, 0), 50); // Red - colorWipe(strip.Color(0, 255, 0), 50); // Green - colorWipe(strip.Color(0, 0, 255), 50); // Blue -//colorWipe(strip.Color(0, 0, 0, 255), 50); // White RGBW - // Send a theater pixel chase in... - theaterChase(strip.Color(127, 127, 127), 50); // White - theaterChase(strip.Color(127, 0, 0), 50); // Red - theaterChase(strip.Color(0, 0, 127), 50); // Blue - - rainbow(20); - rainbowCycle(20); - theaterChaseRainbow(50); -} - -// Fill the dots one after the other with a color -void colorWipe(uint32_t c, uint8_t wait) { - for(uint16_t i=0; i -sentence=Arduino library for controlling single-wire-based LED pixels and strip. -paragraph=Arduino library for controlling single-wire-based LED pixels and strip. -category=Display -url=https://github.com/adafruit/Adafruit_NeoPixel -architectures=* diff --git a/Arduino/libraries/readme.txt b/Arduino/libraries/readme.txt deleted file mode 100644 index 96ce674f..00000000 --- a/Arduino/libraries/readme.txt +++ /dev/null @@ -1 +0,0 @@ -For information on installing libraries, see: http://www.arduino.cc/en/Guide/Libraries diff --git a/Pathgen/build.gradle b/Pathgen/build.gradle deleted file mode 100644 index 1df0235f..00000000 --- a/Pathgen/build.gradle +++ /dev/null @@ -1,12 +0,0 @@ -plugins { - id 'java' - id 'application' - id 'eclipse' - id 'idea' -} - -mainClassName = 'org.usfirst.frc.team449.pathgen.Pathgen' - -dependencies { - compile fileTree(dir: "lib", include: "*.jar") -} \ No newline at end of file diff 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p>#zFzT|fAzi+@hA>)wGs#QomG`9GS98N>|w0A%_|9~fyt{{^UfcJcrK diff --git a/Pathgen/src/main/java/org/usfirst/frc/team449/pathgen/Pathgen.java b/Pathgen/src/main/java/org/usfirst/frc/team449/pathgen/Pathgen.java deleted file mode 100644 index 3c11d3a6..00000000 --- a/Pathgen/src/main/java/org/usfirst/frc/team449/pathgen/Pathgen.java +++ /dev/null @@ -1,189 +0,0 @@ -package org.usfirst.frc.team449.pathgen; - -import jaci.pathfinder.Pathfinder; -import jaci.pathfinder.Trajectory; -import jaci.pathfinder.Waypoint; -import jaci.pathfinder.modifiers.TankModifier; - -import java.io.FileWriter; -import java.io.IOException; -import java.util.HashMap; -import java.util.Map; - -/** - * Generates a motion profile that hits any number of waypoints. - */ -public class Pathgen { - - public static void main(String[] args) throws IOException { - - final double CENTER_TO_FRONT = 27. / 2.; - final double CENTER_TO_BACK = 27. / 2. + 3.25; - final double CENTER_TO_SIDE = 29. / 2. + 3.25; - final double BACK_FROM_PEG = -5; - //DO NOT TOUCH THE ONES BELOW - final double CARRIAGE_LEN = 3.63; - final double BLUE_WALL_TO_CENTER_PEG = 114.; - final double BLUE_WALL_TO_SIDE_PEG = 130.5; - final double BLUE_BACK_CORNER_TO_SIDE_PEG = 89.; - final double BLUE_HALF_KEY_LENGTH = 152. / 2.; - final double BLUE_KEY_CORNER_TO_SIDE_PEG = 16.; - final double RED_WALL_TO_CENTER_PEG = 113.5; - final double RED_WALL_TO_SIDE_PEG = 131.; - final double RED_BACK_CORNER_TO_SIDE_PEG = 97.; - final double RED_HALF_KEY_LENGTH = 152. / 2.; - final double RED_KEY_CORNER_TO_SIDE_PEG = 21.; - final double AIRSHIP_PARALLEL_OFFSET_BLUE = 1.; - final double AIRSHIP_PARALLEL_OFFSET_RED = 2.; - - final double PEG_BASE_TO_CENTER = CENTER_TO_FRONT + CARRIAGE_LEN + BACK_FROM_PEG; - - Waypoint[] points = new Waypoint[]{ //Units are feet and radians. - new Waypoint(0, 0, 0), - new Waypoint(100. / 12., 0, 0) - }; - - Waypoint[] blueLeft = new Waypoint[]{ - new Waypoint(0, 0, 0), - new Waypoint((BLUE_WALL_TO_SIDE_PEG - CENTER_TO_BACK - 0.5 * PEG_BASE_TO_CENTER + AIRSHIP_PARALLEL_OFFSET_BLUE * Math.cos(5. * Math.PI / 6.)) / 12. - , -(BLUE_BACK_CORNER_TO_SIDE_PEG - CENTER_TO_SIDE - (Math.sqrt(3.) / 2.) * PEG_BASE_TO_CENTER + AIRSHIP_PARALLEL_OFFSET_BLUE * Math.sin(5. * Math.PI / 6.)) / 12., -Math.PI / 3.) - }; - - Waypoint[] blueRight = new Waypoint[]{ - new Waypoint(0, 0, 0), - new Waypoint((BLUE_WALL_TO_SIDE_PEG - CENTER_TO_BACK - 0.5 * PEG_BASE_TO_CENTER + AIRSHIP_PARALLEL_OFFSET_BLUE * Math.cos(5. * Math.PI / 6.)) / 12. - , (BLUE_BACK_CORNER_TO_SIDE_PEG - CENTER_TO_SIDE - (Math.sqrt(3.) / 2.) * PEG_BASE_TO_CENTER + AIRSHIP_PARALLEL_OFFSET_BLUE * Math.sin(5. * Math.PI / 6.)) / 12., Math.PI / 3.) - }; - - Waypoint[] blueCenter = new Waypoint[]{ - new Waypoint(0, 0, 0), - new Waypoint((BLUE_WALL_TO_CENTER_PEG - CENTER_TO_BACK - PEG_BASE_TO_CENTER) / 12., 0, 0) - }; - - Waypoint[] redLeft = new Waypoint[]{ - new Waypoint(0, 0, 0), - new Waypoint((RED_WALL_TO_SIDE_PEG - CENTER_TO_BACK - 0.5 * PEG_BASE_TO_CENTER + AIRSHIP_PARALLEL_OFFSET_RED * Math.cos(5. * Math.PI / 6.)) / 12. - , -(RED_BACK_CORNER_TO_SIDE_PEG - CENTER_TO_SIDE - (Math.sqrt(3.) / 2.) * PEG_BASE_TO_CENTER + AIRSHIP_PARALLEL_OFFSET_RED * Math.sin(5. * Math.PI / 6.)) / 12., -Math.PI / 3.) - }; - - Waypoint[] redRight = new Waypoint[]{ - new Waypoint(0, 0, 0), - new Waypoint((RED_WALL_TO_SIDE_PEG - CENTER_TO_BACK - 0.5 * PEG_BASE_TO_CENTER + AIRSHIP_PARALLEL_OFFSET_RED * Math.cos(5. * Math.PI / 6.)) / 12. - , (RED_BACK_CORNER_TO_SIDE_PEG - CENTER_TO_SIDE - (Math.sqrt(3.) / 2.) * PEG_BASE_TO_CENTER + AIRSHIP_PARALLEL_OFFSET_RED * Math.sin(5. * Math.PI / 6.)) / 12., Math.PI / 3.) - }; - - Waypoint[] redCenter = new Waypoint[]{ - new Waypoint(0, 0, 0), - new Waypoint((RED_WALL_TO_CENTER_PEG - CENTER_TO_BACK - PEG_BASE_TO_CENTER) / 12., 0, 0) - }; - - Waypoint[] redPegToKey = new Waypoint[]{ - new Waypoint(0, 0, 0), - new Waypoint((PEG_BASE_TO_CENTER * Math.cos(Math.toRadians(180)) + RED_WALL_TO_SIDE_PEG * Math.cos(Math.toRadians(-60)) + RED_KEY_CORNER_TO_SIDE_PEG * Math.cos(Math.toRadians(30)) - + RED_HALF_KEY_LENGTH * Math.cos(Math.toRadians(75)) + CENTER_TO_BACK * Math.cos(Math.toRadians(165))) / 12., - (RED_WALL_TO_SIDE_PEG * Math.sin(Math.toRadians(-60)) + RED_KEY_CORNER_TO_SIDE_PEG * Math.sin(Math.toRadians(30)) - + RED_HALF_KEY_LENGTH * Math.sin(Math.toRadians(75)) + CENTER_TO_BACK * Math.sin(Math.toRadians(165))) / 12., - -Math.toRadians(16)) - }; - - Waypoint[] bluePegToKey = new Waypoint[]{ - new Waypoint(0, 0, 0), - new Waypoint((PEG_BASE_TO_CENTER * Math.cos(Math.toRadians(180)) + BLUE_WALL_TO_SIDE_PEG * Math.cos(Math.toRadians(60)) + BLUE_KEY_CORNER_TO_SIDE_PEG * Math.cos(Math.toRadians(-30)) - + BLUE_HALF_KEY_LENGTH * Math.cos(Math.toRadians(-75)) + CENTER_TO_BACK * Math.cos(Math.toRadians(-165))) / 12., - (BLUE_WALL_TO_SIDE_PEG * Math.sin(Math.toRadians(60)) + BLUE_KEY_CORNER_TO_SIDE_PEG * Math.sin(Math.toRadians(-30)) - + BLUE_HALF_KEY_LENGTH * Math.sin(Math.toRadians(-75)) + CENTER_TO_BACK * Math.sin(Math.toRadians(-165))) / 12., - Math.toRadians(16)) - }; - - Waypoint[] backupRed = new Waypoint[]{ - new Waypoint(0, 0, 0), - new Waypoint(3, 1, Math.PI / 3) - }; - - Waypoint[] backupBlue = new Waypoint[]{ - new Waypoint(0, 0, 0), - new Waypoint(3, -1, -Math.PI / 3) - }; - - Waypoint[] blueLoadingToLoading = new Waypoint[]{ - new Waypoint(0, 0, 0), - new Waypoint(22, -5, 0) - }; - - Waypoint[] blueBoilerToLoading = new Waypoint[]{ - new Waypoint(0, 0, 0), - new Waypoint(5, 0, 0), - new Waypoint(22, -15, 0) - }; - - Waypoint[] redLoadingToLoading = new Waypoint[]{ - new Waypoint(0, 0, 0), - new Waypoint(22, 5, 0) - }; - - Waypoint[] redBoilerToLoading = new Waypoint[]{ - new Waypoint(0, 0, 0), - new Waypoint(5, 0, 0), - new Waypoint(22, 15, 0) - }; - - Map profiles = new HashMap<>(); - profiles.put("RedLeft", redLeft); - profiles.put("RedRight", redRight); - profiles.put("RedMid", redCenter); - profiles.put("BlueLeft", blueLeft); - profiles.put("BlueRight", blueRight); - profiles.put("BlueMid", blueCenter); - profiles.put("RedShoot", redPegToKey); - profiles.put("BlueShoot", bluePegToKey); - profiles.put("RedBackup", backupRed); - profiles.put("BlueBackup", backupBlue); - profiles.put("forward100In", points); - profiles.put("BlueLoadingToLoading", blueLoadingToLoading); - profiles.put("BlueBoilerToLoading", blueBoilerToLoading); - profiles.put("RedLoadingToLoading", redLoadingToLoading); - profiles.put("RedBoilerToLoading", redBoilerToLoading); -// profiles.put("forward100In", points); - - final String ROBOT_NAME = "calcifer"; - - //Calculated by driving each wheel n inches in opposite directions, then taking the angle moved, θ, and finding - // the circumference of a circle moved by the robot via C = 360 * n / θ - //You then find the diameter via C / π. - double balbasaurWheelbase = 30. / 12.; - - double calciferWheelbase = 26.6536/12.; - - Trajectory.Config config = new Trajectory.Config(Trajectory.FitMethod.HERMITE_CUBIC, Trajectory.Config.SAMPLES_HIGH, - 0.05, 5., 4.5, 9.); //Units are seconds, feet/second, feet/(second^2), and feet/(second^3) - - for (String profile : profiles.keySet()) { - Trajectory trajectory = Pathfinder.generate(profiles.get(profile), config); - - TankModifier tm = new TankModifier(trajectory).modify(calciferWheelbase); //Units are feet - - FileWriter lfw = new FileWriter(ROBOT_NAME + "Left" + profile + "Profile.csv", false); - FileWriter rfw = new FileWriter(ROBOT_NAME + "Right" + profile + "Profile.csv", false); - - - lfw.write(tm.getLeftTrajectory().length() + "\n"); - for (int i = 0; i < tm.getLeftTrajectory().length(); i++) { - lfw.write(tm.getLeftTrajectory().get(i).position + ",\t" + tm.getLeftTrajectory().get(i).velocity + ",\t" - + tm.getLeftTrajectory().get(i).acceleration + ",\t" + tm.getLeftTrajectory().get(i).dt); - lfw.write("\n"); - } - - rfw.write(tm.getRightTrajectory().length() + "\n"); - for (int i = 0; i < tm.getRightTrajectory().length(); i++) { - rfw.write(tm.getRightTrajectory().get(i).position + ",\t" + tm.getRightTrajectory().get(i).velocity + - ",\t" + tm.getLeftTrajectory().get(i).acceleration + ",\t" + tm.getRightTrajectory().get(i).dt); - rfw.write("\n"); - } - - lfw.flush(); - lfw.close(); - rfw.flush(); - rfw.close(); - } - } -} diff --git a/R scripts/drawMP.R b/R scripts/drawMP.R deleted file mode 100644 index cfc90878..00000000 --- a/R scripts/drawMP.R +++ /dev/null @@ -1,161 +0,0 @@ -plotProfile <- function(profileName, inverted = FALSE, wheelbaseDiameter, centerToFront, centerToBack, centerToSide, startY = 0, startPos = c(-1,-1,-1,-1,-1,-1), usePosition = TRUE){ - left <- read.csv(paste("../calciferLeft",profileName,"Profile.csv",sep=""), header=FALSE) - right <- read.csv(paste("../calciferRight",profileName,"Profile.csv",sep=""), header=FALSE) - startingCenter <- c(startY, centerToBack) - left$V1[1] <- 0 - left$V2[1] <- 0 - left$V3[1] <- left$V3[2] - right$V1[1] <- 0 - right$V2[1] <- 0 - right$V3[1] <- right$V3[2] - #Position,Velocity,Delta t, Elapsed time - left$V4 <- (0:(length(left$V1)-1))*left$V3[1] - right$V4 <- (0:(length(right$V1)-1))*right$V3[1] - #Time, Left X, Left Y, Right X, Right Y, Angle - out <- array(dim=c(length(left$V1),6)) - if(identical(startPos, c(-1,-1,-1,-1,-1,-1))){ - out[1,]<-c(0, startingCenter[2], (startingCenter[1]+wheelbaseDiameter/2.), startingCenter[2], (startingCenter[1]-wheelbaseDiameter/2.), 0) - } else { - out[1,]<-startPos - } - - for(i in 2:length(left$V4)){ - #Get the angle the robot is facing. - perpendicular <- out[i-1,6] - print(perpendicular) - - #Add the change in time - out[i,1] <- out[i-1,1]+left$V3[i] - - #Figure out linear change for each side using position or velocity - if (usePosition){ - deltaLeft <- left$V1[i] - left$V1[i-1] - deltaRight <- right$V1[i] - right$V1[i-1] - } else { - deltaLeft <- left$V2[i]*left$V3[i] - deltaRight <- right$V2[i]*left$V3[i] - } - - # Invert the change if nessecary - if (inverted){ - deltaLeft <- -deltaLeft - deltaRight <- -deltaRight - } - - diffTerm <- deltaRight - deltaLeft - #So in this next part, we figure out the turning center of the robot - #and the angle it turns around that center. Note that the turning center is - #often outside of the robot. - - #Calculate how much we turn first, because if theta = 0, turning center is infinitely far away and can't be calcualted. - theta <- diffTerm/wheelbaseDiameter - - out[i,6] <- out[i-1,6]+theta - - # If theta is 0, we're going straight and need to treat it as a special case. - if (identical(theta, 0)){ - out[i, 2] <- out[i-1,2]+deltaLeft*cos(perpendicular) - out[i, 3] <- out[i-1,3]+deltaLeft*sin(perpendicular) - out[i, 4] <- out[i-1,4]+deltaRight*cos(perpendicular) - out[i, 5] <- out[i-1,5]+deltaRight*sin(perpendicular) - } else { - - #We do this with sectors, so this is the radius of the turning circle for the - #left and right sides. They just differ by the diameter of the wheelbase. - rightR <- (wheelbaseDiameter/2) * (deltaRight + deltaLeft) / diffTerm + wheelbaseDiameter/2 - leftR <- rightR - wheelbaseDiameter - - #This is the angle for the vector pointing towards the new position of each - #wheel. - #To understand why this formula is correct, overlay isoclese triangles on the sectors - vectorTheta <- (out[i-1,6]+out[i,6])/2 - - #The is the length of the vector pointing towards the new position of each - #wheel divided by the radius of the turning circle. - vectorDistanceWithoutR <- 2*sin(theta/2) - - out[i, 2] <- out[i-1,2]+vectorDistanceWithoutR*leftR*cos(vectorTheta) - out[i, 3] <- out[i-1,3]+vectorDistanceWithoutR*leftR*sin(vectorTheta) - out[i, 4] <- out[i-1,4]+vectorDistanceWithoutR*rightR*cos(vectorTheta) - out[i, 5] <- out[i-1,5]+vectorDistanceWithoutR*rightR*sin(vectorTheta) - } - } - return(out) -} - -drawProfile <- function (coords, centerToFront, centerToBack, wheelbaseDiameter, clear=TRUE, linePlot = TRUE){ - - if (clear){ - if (linePlot){ - plot(coords[,2],coords[,3], type="l", col="Green", ylim=c(-16, 16),xlim = c(0,54), xlab = "X Position (feet)", ylab="Y Position (feet)", asp=1) - } else { - plot(coords[,2],coords[,3], col="Green", ylim=c(-16, 16), xlim = c(0,54), xlab = "X Position (feet)", ylab="Y Position (feet)", asp=1) - } - field <- read.csv("field.csv") - #Strings are read as factors by default, so we need to do this to make it read them as strings - field$col <- as.character(field$col) - for (i in 1:length(field$x1)){ - lines(c(field$x1[i], field$x2[i]), c(field$y1[i], field$y2[i]), col=field$col[i]) - } - } else { - if (linePlot){ - lines(coords[,2],coords[,3],col="Green") - } else { - points(coords[,2],coords[,3],col="Green") - } - } - if (linePlot){ - lines(coords[,4],coords[,5],col="Red") - } else { - points(coords[,4],coords[,5],col="Red") - } -} - -drawRobot <- function(robotFile, robotPos){ - theta <- atan2(robotPos[5] - robotPos[3], robotPos[4] - robotPos[2]) - perp <- theta + pi/2 - robotCenter <- c((robotPos[2]+robotPos[4])/2.,(robotPos[3]+robotPos[5])/2.) - robot <- read.csv(robotFile) - rotMatrix <- matrix(c(cos(perp), -sin(perp), sin(perp), cos(perp)), nrow=2, ncol=2, byrow=TRUE) - - point1s <- rotMatrix %*% matrix(c(robot$x1, robot$y1), nrow = 2, ncol = length(robot$x1), byrow = TRUE) - point1s <- point1s + c(robotCenter[1], robotCenter[2]) - - point2s <- rotMatrix %*% matrix(c(robot$x2, robot$y2), nrow = 2, ncol = length(robot$x1), byrow = TRUE) - point2s <- point2s + c(robotCenter[1], robotCenter[2]) - - #Interleave the point1s and point2s so lines() draws them correctly. - xs <- c(rbind(point1s[1,], point2s[1,])) - ys <- c(rbind(point1s[2,], point2s[2,])) - - lines(x=xs, y=ys, col="Blue") -} - -wheelbaseDiameter <- 26./12. -centerToFront <- (27./2.)/12. -centerToBack <- (27./2.+3.25)/12. -centerToSide <- (29./2.+3.25)/12. -# Time, Left X, Left Y, Right X, Right Y -out <- plotProfile(profileName = "RedRight", inverted = FALSE, wheelbaseDiameter = wheelbaseDiameter, centerToFront = centerToFront,centerToBack = centerToBack,centerToSide = centerToSide, startPos=c(0, 54 - centerToBack, 10.3449-wheelbaseDiameter,54-centerToBack,10.3449, pi), usePosition = TRUE) -drawProfile(coords=out, centerToFront=centerToFront, centerToBack=centerToBack, wheelbaseDiameter = wheelbaseDiameter, clear = TRUE, linePlot = TRUE) -tmp <- out[length(out[,1]),] -drawRobot("robot.csv", tmp) -out2 <- plotProfile(profileName = "RedBackup",inverted = TRUE,wheelbaseDiameter = wheelbaseDiameter,centerToFront = centerToFront,centerToBack = centerToBack,centerToSide = centerToSide,startPos = tmp) -drawProfile(coords = out2, centerToFront = centerToFront, centerToBack = centerToBack, wheelbaseDiameter = wheelbaseDiameter, clear = FALSE) -tmp2 <- out2[length(out2[,1]),] -drawRobot("robot.csv", out2[length(out2[,1]),]) -out3 <- plotProfile(profileName = "RedBoilerToLoading",inverted = FALSE,wheelbaseDiameter = wheelbaseDiameter,centerToFront = centerToFront,centerToBack = centerToBack,centerToSide = centerToSide,startPos = tmp2) -drawProfile(coords = out3, centerToFront = centerToFront, centerToBack = centerToBack, wheelbaseDiameter = wheelbaseDiameter, clear = FALSE) -drawRobot("robot.csv", out3[length(out3[,1]),]) - -#out <- plotProfile(profileName = "BlueLeft", inverted = FALSE, wheelbaseDiameter = wheelbaseDiameter, centerToFront = centerToFront,centerToBack = centerToBack,centerToSide = centerToSide, startY= 10.3449-centerToSide, usePosition = TRUE) -#drawProfile(coords=out, centerToFront=centerToFront, centerToBack=centerToBack, wheelbaseDiameter = wheelbaseDiameter, clear = TRUE, linePlot = TRUE) -#tmp <- out[length(out[,1]),] -#drawRobot("robot.csv", tmp) -#out2 <- plotProfile(profileName = "RedBackup",inverted = TRUE,wheelbaseDiameter = wheelbaseDiameter,centerToFront = centerToFront,centerToBack = centerToBack,centerToSide = centerToSide,startPos = tmp) -#drawProfile(coords = out2, centerToFront = centerToFront, centerToBack = centerToBack, wheelbaseDiameter = wheelbaseDiameter, clear = FALSE) -#tmp2 <- out2[length(out2[,1]),] -#drawRobot("robot.csv", out2[length(out2[,1]),]) -#out3 <- plotProfile(profileName = "BoilerToLoading",inverted = FALSE,wheelbaseDiameter = wheelbaseDiameter,centerToFront = centerToFront,centerToBack = centerToBack,centerToSide = centerToSide,startPos = tmp2) -#drawProfile(coords = out3, centerToFront = centerToFront, centerToBack = centerToBack, wheelbaseDiameter = wheelbaseDiameter, clear = FALSE) -#drawRobot("robot.csv", out3[length(out3[,1]),]) \ No newline at end of file diff --git a/R scripts/field.csv b/R scripts/field.csv deleted file mode 100644 index cdbc5dda..00000000 --- a/R scripts/field.csv +++ /dev/null @@ -1,84 +0,0 @@ -x1,y1,x2,y2,col -5.4648,-13.5,48.5352,-13.5,"Black" -48.5352,-13.5,54,-10.3449,"Black" -54,-10.3449,54,10.3449,"Black" -54,10.3449,50.8449,13.5,"Black" -50.8449,13.5,3.1551,13.5,"Black" -3.1551,13.5,0,10.3449,"Black" -0,10.3449,0,-10.3449,"Black" -0,-10.3449,5.4648,-13.5,"Black" - -9.525,1.6667,9.525,-1.6667,"Blue" -9.2225,0.16667,9.525,0.16667,"Black" -9.2225,-0.16667,9.525,-0.16667,"Black" -9.2225,0.16667,9.2225,-0.16667,"Black" -9.2225,0,8.3475,0,"Purple" - -9.525,1.6667,12.411,3.333,"Blue" -11.1123,2.5833,10.9611,2.8453,"Black" -10.823,2.4167,10.67175,2.6786,"Black" -10.67175,2.6786,10.9611,2.8453,"Black" -10.81675,2.7620,10.37925,3.5198,"Purple" - -9.525,-1.6667,12.411,-3.333,"Blue" -11.1123,-2.5833,10.9611,-2.8453,"Black" -10.823,-2.4167,10.67175,-2.6786,"Black" -10.67175,-2.6786,10.9611,-2.8453,"Black" -10.81675,-2.7620,10.37925,-3.5198,"Purple" - -12.411,3.333,15.298,1.6667,"Blue" -12.411,-3.333,15.298,-1.6667,"Blue" -15.298,1.6667,15.298,-1.6667,"Blue" - -44.475,1.6667,44.475,-1.6667,"Red" -44.7775,0.16667,44.475,0.16667,"Black" -44.7775,-0.16667,44.475,-0.16667,"Black" -44.7775,0.16667,44.7775,-0.16667,"Black" -44.7775,0,45.6525,0,"Purple" - -44.475,1.6667,41.589,3.333,"Red" -42.8877,2.5833,43.0389,2.8453,"Black" -43.177,2.4167,43.32825,2.6786,"Black" -43.32825,2.6786,43.0389,2.8453,"Black" -43.18325,2.7620,43.62075,3.5198,"Purple" - -44.475,-1.6667,41.589,-3.333,"Red" -42.8877,-2.5833,43.0389,-2.8453,"Black" -43.177,-2.4167,43.32825,-2.6786,"Black" -43.32825,-2.6786,43.0389,-2.8453,"Black" -43.18325,-2.7620,43.62075,-3.5198,"Purple" - -41.589,3.333,38.702,1.6667,"Red" -41.589,-3.333,38.702,-1.6667,"Red" -38.702,1.6667,38.702,-1.6667,"Red" - -54,4.15,44.65,13.5,"Red" -54,-6.303448,41.5352,-13.5,"Blue" - -0,4.15,9.35,13.5,"Blue" -0,-6.303448,12.4648,-13.5,"Red" - -6.5417,13.5,13.9417,13.5,"Gray" -6.5417,15.9667,13.9417,15.9667,"Gray" -13.9417,13.5,13.9417,15.9667,"Gray" -6.5417,13.5,6.5417,15.9667,"Gray" - -23.7333,13.5,31.1333,13.5,"Gray" -23.7333,15.9667,31.1333,15.9667,"Gray" -31.1333,13.5,31.1333,15.9667,"Gray" -23.7333,13.5,23.7333,15.9667,"Gray" - -40.0583,13.5,47.4583,13.5,"Gray" -40.0583,15.9667,47.4583,15.9667,"Gray" -47.4583,13.5,47.4583,15.9667,"Gray" -40.0583,13.5,40.0583,15.9667,"Gray" - -13.7917,-13.5,21.1917,-13.5,"Gray" -13.7917,-15.9667,21.1917,-15.9667,"Gray" -21.1917,-13.5,21.1917,-15.9667,"Gray" -13.7917,-13.5,13.7917,-15.9667,"Gray" - -32.8083,-13.5,40.2083,-13.5,"Gray" -32.8083,-15.9667,40.2083,-15.9667,"Gray" -40.2083,-13.5,40.2083,-15.9667,"Gray" -32.8083,-13.5,32.8083,-15.9667,"Gray" \ No newline at end of file diff --git a/R scripts/findVelVsVoltage.R b/R scripts/findVelVsVoltage.R deleted file mode 100644 index 68a8f0fd..00000000 --- a/R scripts/findVelVsVoltage.R +++ /dev/null @@ -1,24 +0,0 @@ -# Title : findVelVsVoltage -# Objective : Find the line or curve describing how -# Created by: Noah Gleason -# Created on: 9/30/17 - -trials = 1 -voltages = seq(1.5,5,by=0.5) -#voltages = c(0.6, 2, 2.5) -raw <- read.csv("eventLog-2017.10.01.13.58.02.csv") -raw$class <- as.character(raw$class) -maxes <- raw[grep("class org.usfirst.frc.team449.robot.drive.unidirectional.commands.DetermineVelVsVoltage", raw$class), 3] -maxes <- as.numeric(as.vector(maxes)) - -model <- lm(maxes ~ voltages) -coeffs <- c(coefficients(model)) -View(coeffs) -xInt <- -coeffs[1]/coeffs[2] - -res <- resid(model) - -plot(x=voltages, y=maxes, main = "Max Velocity vs. Voltage", xlab="Voltage (volts)", ylab="Max speed (feet/sec)", xlim=c(0,12), ylim=c(0,12)) -abline(model) -plot(x=voltages, y=res, main="Residuals", xlab="Voltage (volts)", ylab="Residuals (feet/sec)", xlim=c(0,12)) -abline(0,0) \ No newline at end of file diff --git a/R scripts/poseEstimationChecker.R b/R scripts/poseEstimationChecker.R deleted file mode 100644 index ee9e069a..00000000 --- a/R scripts/poseEstimationChecker.R +++ /dev/null @@ -1,291 +0,0 @@ -#Simple helper conversion methods -rad2deg <- function(rad) {(rad * 180) / (pi)} -deg2rad <- function(deg) {(deg * pi) / (180)} - -logLogSlope <- function(effectiveWheelbase, angularVel, n){ - library("zoo") - avg <- weighted.mean(x=effectiveWheelbase, w=angularVel, na.rm=TRUE) - error <- effectiveWheelbase-avg - error <- error^2 - avgError <- sqrt(rollmean(error, n, fill = NA)) - logError <- log(avgError[(1+floor((n-1)/2)):(length(avgError)-floor(n/2))]) - logVel <- log(angularVel[(1+floor((n-1)/2)):(length(angularVel)-floor(n/2))]) - plot(x = logVel, y= logError) - model <- lm(logError ~ logVel) - abline(model, col="Green") - return(model) -} - -drawRobot <- function(robotFile, x, y, theta){ - robotCenter <- c(x,y) - robot <- read.csv(robotFile) - rotMatrix <- matrix(c(cos(theta), -sin(theta), sin(theta), cos(theta)), nrow=2, ncol=2, byrow=TRUE) - - point1s <- rotMatrix %*% matrix(c(robot$x1, robot$y1), nrow = 2, ncol = length(robot$x1), byrow = TRUE) - point1s <- point1s + c(robotCenter[1], robotCenter[2]) - - point2s <- rotMatrix %*% matrix(c(robot$x2, robot$y2), nrow = 2, ncol = length(robot$x1), byrow = TRUE) - point2s <- point2s + c(robotCenter[1], robotCenter[2]) - - #Interleave the point1s and point2s so lines() draws them correctly. - xs <- c(rbind(point1s[1,], point2s[1,])) - ys <- c(rbind(point1s[2,], point2s[2,])) - - lines(x=xs, y=ys, col="Blue") -} - -plotField <- function(filename, xOffset=0, yOffset=0){ - field <- read.csv(filename) - #Strings are read as factors by default, so we need to do this to make it read them as strings - field$col <- as.character(field$col) - for (i in 1:length(field$x1)){ - lines(c(field$x1[i]+xOffset, field$x2[i]+xOffset), c(field$y1[i]+yOffset, field$y2[i]+yOffset), col=field$col[i]) - } -} - -#Find the distance between the end position of two things -dist <- function(x1, y1, x2, y2){ - return(sqrt((x1[length(x1)] - x2[length(x2)])^2+(y1[length(y1)] - y2[length(y2)])^2)) -} - -#Calculate the effective wheelbase for a given delta left, right, and angle -calcWheelbase <- function(deltaLeft, deltaRight, deltaAngle){ - return((deltaRight-deltaLeft)/deltaAngle); -} - -#Smooths a value while taking its derivative with respect to time. -smoothDerivative <- function(value, timeMillis, n){ - smoothed <- (value[(n+1):length(value)] - value[1:(length(value)-n)])/((timeMillis[(n+1):length(timeMillis)] - timeMillis[1:(length(timeMillis)-n)])/1000); - return(c(rep(0, ceiling(n/2)), smoothed, rep(0, floor(n/2)))); -} - -#Plot the effective wheelbase against a bunch of different things -plotWheelVsVel <- function(leftPos, rightPos, rawAngleDegrees, timeMillis, angularVelThreshRad, smoothingConst){ - #Convert because degrees suuuuck - rawAngle <- deg2rad(rawAngleDegrees) - - #Smooth values and get velocities - angular <- smoothDerivative(rawAngle, timeMillis, smoothingConst) - left <- smoothDerivative(leftPos, timeMillis, smoothingConst) - right <- smoothDerivative(rightPos, timeMillis, smoothingConst) - - #find effective wheelbase - wheelbase <- calcWheelbase(left, right, angular) - - #Filter out low angular vel points - combined <- cbind(angular, wheelbase, (left+right)/2) - combinedAngular <- subset(combined, combined[,1] > angularVelThreshRad) - - #Find the mean wheelbase, weighted by angular vel because higher angular vel decreases variance - avgWheelbase = weighted.mean(x=combinedAngular[,2], w=combinedAngular[,1], na.rm=TRUE) - - #plot wheelbase vs angular vel - plot(x=combinedAngular[,1], y=combinedAngular[,2], xlab="Angular Velocity (rad/sec)", ylab="Effective wheelbase diameter (feet)", main="Effective Wheelbase Diameter vs. Angular Velocity") - abline(a=avgWheelbase, b=0, col='green') - - #plot wheelbase vs linear vel - plot(x=combinedAngular[,3], y=combinedAngular[,2], xlab="Linear Velocity (feet/sec)", ylab="Effective wheelbase diameter (feet)", main="Effective Wheelbase Diameter vs. Linear Velocity") - abline(a=avgWheelbase, b=0, col='green') - - #Plot wheelbase vs turn radius - plot(x=combinedAngular[,3]/combinedAngular[,1], y=combinedAngular[,2], xlab="Turn Radius (feet)", ylab="Effective wheelbase diameter (feet)", main="Effective Wheelbase Diameter vs. Turn Radius") - abline(a=avgWheelbase, b=0, col='green') - - return(avgWheelbase) -} - -#A pose estimation algorithm that assumes the left and right sides have equal scrub, in opposite directions -equalScrubPoseEstimation <- function(leftPos, rightPos, rawAngleDegrees, timeMillis, angularVelThreshRad, realWheelbase = -1){ - #Convert because degrees suuuuck - rawAngle <- deg2rad(rawAngleDegrees) - - #Set up output array - out <- array(dim=c(length(timeMillis),8)) - colnames(out)<-c("X","Y","leftX","leftY","rightX","rightY","time","wheelbase") - if(realWheelbase == -1){ - out[1,] <- c(0,0,NA,NA,NA,NA,timeMillis[1],NA) - } else { - out[1,] <- c(0,0, realWheelbase/2*cos(rawAngle[1]+pi/2), realWheelbase/2*sin(rawAngle[1]+pi/2), realWheelbase/2*cos(rawAngle[1]-pi/2), realWheelbase/2*sin(rawAngle[1]-pi/2), timeMillis[1],realWheelbase) - } - - #Loop through each logged tic, calculating pose iteratively - for(i in 2:length(timeMillis)){ - #Find change in time, in seconds - deltaTime <- (timeMillis[i] - out[i-1,7])/1000 - - #Directly find change in position and angle - deltaLeft <- leftPos[i]-leftPos[i-1] - deltaRight <- rightPos[i]-rightPos[i-1] - deltaTheta <- rawAngle[i]-rawAngle[i-1] - - #Get the effective wheelbase for this iteration - wheelbase <- calcWheelbase(deltaLeft, deltaRight, deltaTheta) - - #Average - avgMoved <- (deltaLeft+deltaRight)/2 - - #The angle of the movement vector - angle <- rawAngle[i-1]+(deltaTheta/2) - - if (deltaTheta == 0){ - x <- out[i-1,1]+avgMoved*cos(angle) - y <- out[i-1,2]+avgMoved*sin(angle) - #If we're driving straight, we know the magnitude is just the average of the two sides - if(realWheelbase == -1){ - out[i,] <- c(out[i-1,1]+avgMoved*cos(angle),out[i-1,2]+avgMoved*sin(angle), NA, NA, NA, NA, timeMillis[i],NA) - } else { - out[i,] <- c(x, y, x+realWheelbase/2*cos(rawAngle[i]+pi/2), y+realWheelbase/2*sin(rawAngle[i]+pi/2), x+realWheelbase/2*cos(rawAngle[i]-pi/2), y+realWheelbase/2*sin(rawAngle[i]-pi/2), timeMillis[i],realWheelbase) - } - } else { - #Magnitude of movement vector is 2*r*sin(deltaTheta/2), but r is just avg/deltaTheta - mag <- 2*(avgMoved/deltaTheta)*sin(deltaTheta/2) - - #Vector decomposition - x <- out[i-1,1]+mag*cos(angle) - y <- out[i-1,2]+mag*sin(angle) - - if(realWheelbase == -1){ - #Only log left and right wheel positions if the angular vel is above threshhold - if (deltaTheta/deltaTime < angularVelThreshRad){ - out[i,] <- c(x, y, NA,NA,NA,NA, timeMillis[i],NA) - } else { - out[i,] <- c(x, y, x+wheelbase/2*cos(rawAngle[i]+pi/2), y+wheelbase/2*sin(rawAngle[i]+pi/2), x+wheelbase/2*cos(rawAngle[i]-pi/2), y+wheelbase/2*sin(rawAngle[i]-pi/2), timeMillis[i],wheelbase) - } - } else { - out[i,] <- c(x, y, x+realWheelbase/2*cos(rawAngle[i]+pi/2), y+realWheelbase/2*sin(rawAngle[i]+pi/2), x+realWheelbase/2*cos(rawAngle[i]-pi/2), y+realWheelbase/2*sin(rawAngle[i]-pi/2), timeMillis[i],realWheelbase) - } - } - } - - #Plot results, with fake wheelbase, only showing points within 1 actual wheelbase of the path - plot(out[,1], out[,2], t="l", xlim = c(min(out[,1], na.rm = TRUE)-3,max(out[,1],na.rm = TRUE)+3), ylim=c(min(out[,2], na.rm = TRUE)-3,max(out[,2], na.rm=TRUE)+3), xlab="X position (Feet)", ylab="Y position (Feet)", main="Equal Scrub Pose Estimation Algorithm", asp=1) - lines(out[,3], out[,4], col="Green") - lines(out[,5], out[,6], col="Red") - - return(out) -} - -#A pose estimation algorithm that only uses the encoders -encoderOnlyPoseEstimation <- function(leftPos, rightPos, startingAngleDegrees, timeMillis, fakeWheelbase){ - #Convert because degrees suuuuck - startingAngle <- deg2rad(startingAngleDegrees) - - wheelRadius <- fakeWheelbase/2 - - #Set up output array - out <- array(dim=c(length(timeMillis), 8)) - colnames(out) <- c("X","Y","leftX","leftY","rightX","rightY","angle","time") - out[1,] <- c(0,0,wheelRadius*cos(startingAngle+pi/2), wheelRadius*sin(startingAngle+pi/2), wheelRadius*cos(startingAngle-pi/2), wheelRadius*sin(startingAngle-pi/2),startingAngle,timeMillis[1]) - - #Loop through each logged tic, calculating pose iteratively - for(i in 2:length(timeMillis)){ - - #Directly find change in position and angle - deltaLeft <- leftPos[i]-leftPos[i-1] - deltaRight <- rightPos[i]-rightPos[i-1] - - #Average - avgMoved <- (deltaRight+deltaLeft)/2 - - #Points in the direction the robot is facing at the start of tic - perpendicular <- out[i-1,7] - - #The angle of the sector the path is tracing - theta <- (deltaRight - deltaLeft)/fakeWheelbase - - #If not turning, magnitude is just the average moved - if(theta == 0){ - mag <- avgMoved - } else { - #If turning, calculate the radius and use that to get the magnitude of the turn - mag <- 2*(avgMoved/theta)*sin(theta/2) - } - - angle <- perpendicular + (theta/2) - x <- out[i-1,1]+mag*cos(angle) - y <- out[i-1,2]+mag*sin(angle) - newHeading <- perpendicular + theta - out[i,] <- c(x,y,x+wheelRadius*cos(newHeading+pi/2), y+wheelRadius*sin(newHeading+pi/2), x+wheelRadius*cos(newHeading-pi/2), y+wheelRadius*sin(newHeading-pi/2), newHeading, timeMillis[i]) - } - - #Plot results, with fake wheelbase - plot(out[,1], out[,2], t="l", xlim = c(min(out[,1], out[,3], out[,5]),max(out[,1], out[,3], out[,5])), ylim=c(min(out[,2], out[,4], out[,6]),max(out[,2], out[,4], out[,6])), xlab="X position (Feet)", ylab="Y position (Feet)", main="Encoder-only Pose Estimation Algorithm",asp=1) - lines(out[,3], out[,4], col="Green") - lines(out[,5], out[,6], col="Red") - - return(out) -} - -accelerometerOnlyPoseEstimation <- function(xAccel, yAccel, rawAngleDegrees, timeMillis, realWheelbase){ - #Convert because degrees suuuuck - rawAngle <- deg2rad(rawAngleDegrees) - - #Set up output array - out <- array(dim=c(length(timeMillis),9)) - colnames(out)<-c("X","Y","leftX","leftY","rightX","rightY","xVel","yVel","time") - out[1,] <- c(0,0, realWheelbase/2*cos(rawAngle[1]+pi/2), realWheelbase/2*sin(rawAngle[1]+pi/2), realWheelbase/2*cos(rawAngle[1]-pi/2), realWheelbase/2*sin(rawAngle[1]-pi/2),0,0, timeMillis[1]) - - #Loop through each logged tic, calculating pose iteratively - for(i in 2:length(timeMillis)){ - #Find change in time, in seconds - deltaTime <- (timeMillis[i] - out[i-1,9])/1000 - xVel <- out[i-1,7]+xAccel[i]*deltaTime - yVel <- out[i-1,8]+yAccel[i]*deltaTime - x <- out[i-1,1]+xVel*deltaTime - y <- out[i-1,2]+yVel*deltaTime - angle <- rawAngle[i] - out[i,] <- c(x,y,x+realWheelbase/2*cos(angle+pi/2),y+realWheelbase/2*sin(angle+pi/2),x+realWheelbase/2*cos(angle-pi/2),y+realWheelbase/2*sin(angle-pi/2),xVel,yVel, timeMillis[i]) - } - - #Plot results - plot(out[,1], out[,2], t="l", xlim = c(min(out[,1], out[,3], out[,5]),max(out[,1], out[,3], out[,5])), ylim=c(min(out[,2], out[,4], out[,6]),max(out[,2], out[,4], out[,6])), xlab="X position (Feet)", ylab="Y position (Feet)", main="Accelerometer-only Pose Estimation Algorithm",asp=1) - lines(out[,3], out[,4], col="Green") - lines(out[,5], out[,6], col="Red") - return(out) -} - -#Make all the graphs, for wheelbase and both algorithms, using the average effective wheelbase for encoder-only -doEverything <- function(leftPos, rightPos, rawAngleDegrees, timeMillis, angularVelThreshRad, smoothingConst){ - avg <- plotWheelVsVel(leftPos, rightPos, rawAngleDegrees, timeMillis, angularVelThreshRad, smoothingConst) - equalScrubPoseEstimation(leftPos, rightPos, rawAngleDegrees, timeMillis, angularVelThreshRad) - encoderOnlyPoseEstimation(leftPos=leftPos, rightPos=rightPos, startingAngleDegrees=rawAngleDegrees[1], timeMillis=timeMillis, fakeWheelbase=avg) - return(avg) -} - -animateRobot <- function(x, y, headingRadians, deltaTime, fieldFile, robotFile, robotRadius, frameSize=-1, filename="animation.mp4"){ - library("animation") - theta <- deg2rad(headingRadians) - saveVideo({ - for(i in 1:length(x)){ - #Set up frame - if(frameSize == -1){ - plot(x=c(),y=c(),xlim=c(min(x)-robotRadius, max(x)+robotRadius),ylim=c(min(y)-robotRadius, max(y)+robotRadius), asp=1, xlab="X position (feet)", ylab="Y position (feet)") - } else { - plot(x=c(),y=c(),xlim=c(x[i]-frameSize/2, x[i]+frameSize/2),ylim=c(y[i]-frameSize/2, y[i]+frameSize/2),asp=1, xlab="X position (feet)", ylab="Y position (feet)") - } - plotField(fieldFile, 0, 0) - drawRobot(robotFile, x[i],y[i],theta[i]) - } - }, interval = deltaTime, ani.width = 600, ani.height = 600, video.name=filename) -} - -tracedAnimation <- function(x, y, leftX, leftY, rightX, rightY, headingRadians, deltaTime, fieldFile, robotFile, robotRadius, frameSize=-1, filename="animation.mp4"){ - library("animation") - theta <- deg2rad(headingRadians) - saveVideo({ - for(i in 1:length(x)){ - #Set up frame - if(frameSize == -1){ - plot(x=c(),y=c(),xlim=c(min(x)-robotRadius, max(x)+robotRadius),ylim=c(min(y)-robotRadius, max(y)+robotRadius), asp=1, xlab="X position (feet)", ylab="Y position (feet)") - } else { - plot(x=c(),y=c(),xlim=c(x[i]-frameSize/2, x[i]+frameSize/2),ylim=c(y[i]-frameSize/2, y[i]+frameSize/2),asp=1, xlab="X position (feet)", ylab="Y position (feet)") - } - lines(x=leftX[1:i], y=leftY[1:i], col="Green") - lines(x=rightX[1:i], y=rightY[1:i], col="Red") - plotField(fieldFile, 0, 0) - drawRobot(robotFile, x[i],y[i],theta[i]) - } - }, interval = deltaTime, ani.width = 1920, ani.height = 1080, video.name=filename) -} - -#tracedAnimation(equalScrub[,1],equalScrub[,2], equalScrub[,3],equalScrub[,4],equalScrub[,5],equalScrub[,6],rel$Drive.raw_angle,0.05,"field.csv","robot.csv",27.138/12, -1, "traceAnimation.mp4") \ No newline at end of file diff --git a/R scripts/robot.csv b/R scripts/robot.csv deleted file mode 100644 index d37dd9fe..00000000 --- a/R scripts/robot.csv +++ /dev/null @@ -1,9 +0,0 @@ -x1, y1, x2, y2 --1.395833, -1.479167, -1.395833, 1.479167 --1.395833, 1.479167, 1.395833, 1.479167 -1.395833, 1.479167, 1.395833, 0.541667 -1.395833, 0.541667, 1.125, 0.541667 -1.125, 0.541667, 1.125, -0.541667 -1.125, -0.541667, 1.395833, -0.541667 -1.395833, -0.541667, 1.395833, -1.479167 -1.395833, -1.479167, -1.395833, -1.479167 \ No newline at end of file diff --git a/RoboRIO/.gitignore b/RoboRIO/.gitignore deleted file mode 100644 index 4e6ef42b..00000000 --- a/RoboRIO/.gitignore +++ /dev/null @@ -1 +0,0 @@ -!*Profile.csv \ No newline at end of file diff --git a/RoboRIO/build.gradle b/RoboRIO/build.gradle deleted file mode 100644 index b0fd7250..00000000 --- a/RoboRIO/build.gradle +++ /dev/null @@ -1,106 +0,0 @@ -plugins { - id 'org.hidetake.ssh' version "2.9.0" - id 'java' - id 'eclipse' - id 'idea' - id 'jaci.openrio.gradle.GradleRIO' version "2017.1.5" -} - -group 'org.usfirst.frc.team449.robot2017' -version '1.0' - -repositories { - mavenCentral() - maven { - name = "GradleRio" - url = "http://dev.imjac.in/maven" - } - - maven { url "https://plugins.gradle.org/m2/" } -} - -wpi { - wpilibVersion = "2017.3.1" // The WPILib version to use. For this version of GradleRIO, must be a 2017 version. - ntcoreVersion = "3.1.7" // The NetworkTables Core version to use. - opencvVersion = "3.1.0" // The OpenCV version to use. - cscoreVersion = "1.0.2" // The CSCore version to use. - talonSrxVersion = "4.4.1.14" // The CTRE Toolsuite (Talon SRX) version to use. - navxVersion = "3.0.331" // The NavX-MXP library version to use. -} - -dependencies { - // https://mvnrepository.com/artifact/com.fasterxml.jackson.core/jackson-databind - compile group: 'com.fasterxml.jackson.core', name: 'jackson-databind', version: '2.9.0.pr3' - // https://mvnrepository.com/artifact/com.fasterxml.jackson.core/jackson-core - compile group: 'com.fasterxml.jackson.core', name: 'jackson-core', version: '2.9.0.pr3' - // https://mvnrepository.com/artifact/com.fasterxml.jackson.core/jackson-annotations - compile group: 'com.fasterxml.jackson.core', name: 'jackson-annotations', version: '2.9.0.pr3' - compile group: 'com.fasterxml.jackson.dataformat', name: 'jackson-dataformat-yaml', version: '2.9.0.pr3' - //com.fasterxml.jackson.module:jackson-module-parameter-names:2.9.0.pr3 - compile group: 'com.fasterxml.jackson.module', name: 'jackson-module-parameter-names', version: '2.9.0.pr3' - compile 'org.jetbrains:annotations:13.0' - compile wpilib() - compile talonSrx() - compile navx() -} - -/* GradleRIO stuff */ -remotes { - rio { - host = 'roboRIO-449-frc.local' - user = 'lvuser' - knownHosts = allowAnyHosts - } -} - -frc { - team = '449' - robotClass = "org.usfirst.frc.team449.robot.Robot" -} - -def robotManifest = { - attributes 'Main-Class': 'edu.wpi.first.wpilibj.RobotBase' - attributes 'Robot-Class': frc.robotClass -} - -task('copyResources') { - doLast { - ssh.run { - session(remotes.rio) { - execute 'mkdir ~/449_resources', ignoreError: true - execute 'mkdir ~/logs', ignoreError: true - put from: fileTree('src/main/resources'), into: './449_resources/' - execute ". /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t -r", ignoreError: true - } - } - } -} - -/* Generic artifact gen stuff */ -jar { - from configurations.compile.collect { it.isDirectory() ? it : zipTree(it) } - manifest robotManifest -} - -task genJavadoc(type: Jar, dependsOn: javadoc) { - classifier = 'javadoc' - from javadoc.destinationDir -} - -task deleteDocs(type: Delete){ - delete '../docs' - followSymlinks = false -} - -task copyDocs(type: Copy, dependsOn: [genJavadoc, deleteDocs]){ - from 'build/docs/javadoc' - into '../docs' -} - -artifacts { - archives genJavadoc -} - -compileJava { - options.compilerArgs << '-parameters' -} \ No newline at end of file diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Boiler.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Boiler.java deleted file mode 100644 index 776872ce..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Boiler.java +++ /dev/null @@ -1,68 +0,0 @@ -package org.usfirst.frc.team449.robot.commands.autonomous; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.jetbrains.annotations.Nullable; -import org.usfirst.frc.team449.robot.commands.general.WaitForMillis; -import org.usfirst.frc.team449.robot.jacksonWrappers.MappedDigitalInput; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandGroupWrapper; -import org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands.RunProfileTwoSides; -import org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands.RunLoadedProfile; - -/** - * The autonomous routine to deliver a gear to the center gear. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class Auto2017Boiler extends YamlCommandGroupWrapper { - - /** - * Default constructor. - * - * @param runWallToPegProfile The command for running the profile for going from the wall to the peg, which - * has already been loaded. - * @param dropGear The command for dropping the held gear. - * @param dropGearSwitch The switch deciding whether or not to drop the gear. - * @param allianceSwitch The switch indicating which alliance we're on. - * @param runRedPegToKeyProfile The command for moving from the peg to the key, on the red side of the field. - * @param runBluePegToKeyProfile The command for moving from the peg to the key, on the blue side of the field. - * @param spinUpShooter The command for revving up the flywheel. Can be null. - * @param fireShooter The command for firing the flywheel. Can be null. - * @param waitBetweenProfilesMillis How long to wait between each motion profile. Defaults to 50 if less than 50. - */ - @JsonCreator - public Auto2017Boiler(@NotNull @JsonProperty(required = true) RunLoadedProfile runWallToPegProfile, - @NotNull @JsonProperty(required = true) YamlCommand dropGear, - @NotNull @JsonProperty(required = true) MappedDigitalInput dropGearSwitch, - @NotNull @JsonProperty(required = true) MappedDigitalInput allianceSwitch, - @NotNull @JsonProperty(required = true) RunProfileTwoSides runRedPegToKeyProfile, - @NotNull @JsonProperty(required = true) RunProfileTwoSides runBluePegToKeyProfile, - @Nullable YamlCommand spinUpShooter, - @Nullable YamlCommand fireShooter, - long waitBetweenProfilesMillis) { - waitBetweenProfilesMillis = Math.max(50, waitBetweenProfilesMillis); - if (spinUpShooter != null) { - addParallel(spinUpShooter.getCommand()); - } - addSequential(runWallToPegProfile); - if (dropGearSwitch.getStatus().get(0)) { - addSequential(dropGear.getCommand()); - } - - addSequential(new WaitForMillis(waitBetweenProfilesMillis)); - - //Red is true, blue is false - if (allianceSwitch.getStatus().get(0)) { - addSequential(runRedPegToKeyProfile); - } else { - addSequential(runBluePegToKeyProfile); - } - - if (fireShooter != null) { - addSequential(fireShooter.getCommand()); - } - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Center.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Center.java deleted file mode 100644 index c04e7593..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Center.java +++ /dev/null @@ -1,40 +0,0 @@ -package org.usfirst.frc.team449.robot.commands.autonomous; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.jacksonWrappers.MappedDigitalInput; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandGroupWrapper; -import org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands.RunLoadedProfile; - -/** - * The autonomous routine to deliver a gear to the center gear. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class Auto2017Center extends YamlCommandGroupWrapper { - - /** - * Default constructor. - * - * @param runWallToPegProfile The command for running the profile for going from the wall to the peg, which has - * already been loaded. - * @param dropGear The command for dropping the held gear. - * @param dropGearSwitch The switch deciding whether or not to drop the gear. - * @param driveBack The command for backing up away from the peg. - */ - @JsonCreator - public Auto2017Center( - @NotNull @JsonProperty(required = true) RunLoadedProfile runWallToPegProfile, - @NotNull @JsonProperty(required = true) YamlCommand dropGear, - @NotNull @JsonProperty(required = true) MappedDigitalInput dropGearSwitch, - @NotNull @JsonProperty(required = true) YamlCommand driveBack) { - addSequential(runWallToPegProfile); - if (dropGearSwitch.getStatus().get(0)) { - addSequential(dropGear.getCommand()); - } - addSequential(driveBack.getCommand()); - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Feeder.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Feeder.java deleted file mode 100644 index e76c4bd0..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Feeder.java +++ /dev/null @@ -1,69 +0,0 @@ -package org.usfirst.frc.team449.robot.commands.autonomous; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.commands.general.WaitForMillis; -import org.usfirst.frc.team449.robot.jacksonWrappers.MappedDigitalInput; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandGroupWrapper; -import org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands.RunProfileTwoSides; -import org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands.RunLoadedProfile; - -/** - * The autonomous routine to deliver a gear to the center gear. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class Auto2017Feeder extends YamlCommandGroupWrapper { - - /** - * Default constructor. - * - * @param runWallToPegProfile The command for running the profile for going from the wall to the peg, which - * has already been loaded. - * @param dropGear The command for dropping the held gear. - * @param dropGearSwitch The switch deciding whether or not to drop the gear. - * @param allianceSwitch The switch indicating which alliance we're on. - * @param runRedBackupProfile The command for away from the peg, on the red side of the field. - * @param runBlueBackupProfile The command for moving away from the peg, on the blue side of the field. - * @param driveForwardsRed The command for moving forwards towards the feeder station on the red side. - * @param driveForwardsBlue The command for moving forwards towards the feeder station on the blue side. - * @param waitBetweenProfilesMillis How long to wait between each motion profile. Defaults to 50 if less than 50. - */ - @JsonCreator - public Auto2017Feeder(@NotNull @JsonProperty(required = true) RunLoadedProfile runWallToPegProfile, - @NotNull @JsonProperty(required = true) YamlCommand dropGear, - @NotNull @JsonProperty(required = true) MappedDigitalInput dropGearSwitch, - @NotNull @JsonProperty(required = true) MappedDigitalInput allianceSwitch, - @NotNull @JsonProperty(required = true) RunProfileTwoSides runRedBackupProfile, - @NotNull @JsonProperty(required = true) RunProfileTwoSides runBlueBackupProfile, - @NotNull @JsonProperty(required = true) YamlCommand driveForwardsRed, - @NotNull @JsonProperty(required = true) YamlCommand driveForwardsBlue, - long waitBetweenProfilesMillis) { - waitBetweenProfilesMillis = Math.max(50, waitBetweenProfilesMillis); - addSequential(runWallToPegProfile); - - //Only do this stuff if we drop the gear - if (dropGearSwitch.getStatus().get(0)) { - addSequential(dropGear.getCommand()); - - addSequential(new WaitForMillis(waitBetweenProfilesMillis)); - - if (allianceSwitch.getStatus().get(0)) { //Red is true - addSequential(runRedBackupProfile); - } else { - addSequential(runBlueBackupProfile); - } - - addSequential(new WaitForMillis(waitBetweenProfilesMillis)); - - if (allianceSwitch.getStatus().get(0)) { - addSequential(driveForwardsRed.getCommand()); - } else { - addSequential(driveForwardsBlue.getCommand()); - } - } - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/general/CommandSequence.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/general/CommandSequence.java deleted file mode 100644 index 48bb38ff..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/general/CommandSequence.java +++ /dev/null @@ -1,30 +0,0 @@ -package org.usfirst.frc.team449.robot.commands.general; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandGroupWrapper; - -import java.util.List; - -/** - * A command group that takes a list of commands and runs them in the order given. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class CommandSequence extends YamlCommandGroupWrapper { - - /** - * Default constructor - * - * @param commandList The commands to run, in order. - */ - @JsonCreator - public CommandSequence(@NotNull @JsonProperty(required = true) List commandList) { - for (YamlCommand command : commandList) { - addSequential(command.getCommand()); - } - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/general/ParallelCommandGroup.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/general/ParallelCommandGroup.java deleted file mode 100644 index 3fdd8d41..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/general/ParallelCommandGroup.java +++ /dev/null @@ -1,30 +0,0 @@ -package org.usfirst.frc.team449.robot.commands.general; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandGroupWrapper; - -import java.util.Set; - -/** - * A command group for running many commands in parallel. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class ParallelCommandGroup extends YamlCommandGroupWrapper { - - /** - * Default constructor - * - * @param commandSet The commands to run. - */ - @JsonCreator - public ParallelCommandGroup(@NotNull @JsonProperty(required = true) Set commandSet) { - for (YamlCommand command : commandSet) { - addParallel(command.getCommand()); - } - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/general/RunRunnables.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/general/RunRunnables.java deleted file mode 100644 index fdc06af8..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/general/RunRunnables.java +++ /dev/null @@ -1,76 +0,0 @@ -package org.usfirst.frc.team449.robot.commands.general; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.jacksonWrappers.MappedRunnable; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper; -import org.usfirst.frc.team449.robot.other.Logger; - -/** - * A command that runs any number of {@link Runnable} objects every tic. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class RunRunnables extends YamlCommandWrapper { - - /** - * The runnables to run. - */ - @NotNull - private final Runnable[] runnables; - - /** - * Default constructor - * - * @param runnables The runnables to run. - */ - @JsonCreator - public RunRunnables(@NotNull @JsonProperty(required = true) MappedRunnable[] runnables) { - this.runnables = runnables; - } - - /** - * Log on init - */ - @Override - protected void initialize() { - Logger.addEvent("RunRunnables init.", this.getClass()); - } - - /** - * Run all the runnables in the order they were given. - */ - @Override - protected void execute() { - for (Runnable runnable : runnables) { - runnable.run(); - } - } - - /** - * @return false - */ - @Override - protected boolean isFinished() { - //This does NOT have to be true. - return false; - } - - /** - * Log on exit. - */ - @Override - protected void end() { - Logger.addEvent("RunRunnables end.", this.getClass()); - } - - /** - * Log when interrupted. - */ - @Override - protected void interrupted() { - Logger.addEvent("RunRunnables Interrupted!", this.getClass()); - } -} \ No newline at end of file diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/general/WaitForMillis.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/general/WaitForMillis.java deleted file mode 100644 index cf0a5c55..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/general/WaitForMillis.java +++ /dev/null @@ -1,54 +0,0 @@ -package org.usfirst.frc.team449.robot.commands.general; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper; -import org.usfirst.frc.team449.robot.other.Clock; - -/** - * A command that does nothing and finishes after a set number of milliseconds. For use to create a delay in sequential - * CommandGroups. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class WaitForMillis extends YamlCommandWrapper { - - /** - * How long this command takes to finish, in milliseconds. - */ - private final long timeout; - - /** - * The time this command started at. - */ - private long startTime; - - /** - * Default constructor - * - * @param time How long this command will take to finish, in milliseconds. - */ - @JsonCreator - public WaitForMillis(@JsonProperty(required = true) long time) { - timeout = time; - } - - /** - * Store the start time. - */ - @Override - protected void initialize() { - startTime = Clock.currentTimeMillis(); - } - - /** - * Finish if the specified amount of time has passed. - * - * @return true if the specified number of milliseconds have passed since this command started, false otherwise. - */ - @Override - protected boolean isFinished() { - return Clock.currentTimeMillis() - startTime >= timeout; - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/RunMotorWhileConditonMet.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/RunMotorWhileConditonMet.java deleted file mode 100644 index edbb79a8..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/RunMotorWhileConditonMet.java +++ /dev/null @@ -1,83 +0,0 @@ -package org.usfirst.frc.team449.robot.commands.multiInterface; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem; -import org.usfirst.frc.team449.robot.other.Logger; -import org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.SubsystemBinaryMotor; -import org.usfirst.frc.team449.robot.subsystem.interfaces.conditional.SubsystemConditional; - -/** - * Run a BinaryMotor while a condition is true. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class RunMotorWhileConditonMet extends YamlCommandWrapper { - - /** - * The subsystem to execute this command on - */ - @NotNull - private final T subsystem; - - /** - * Default constructor - * - * @param subsystem The subsystem to execute this command on. - */ - @JsonCreator - public RunMotorWhileConditonMet(@NotNull @JsonProperty(required = true) T subsystem) { - requires(subsystem); - this.subsystem = subsystem; - } - - /** - * Log when this command is initialized - */ - @Override - protected void initialize() { - Logger.addEvent("RunMotorWhileConditonMet init", this.getClass()); - } - - /** - * Run the motor - */ - @Override - protected void execute() { - subsystem.turnMotorOn(); - } - - /** - * Stop when the condition is met. - * - * @return true if the condition is met, false otherwise. - */ - @Override - protected boolean isFinished() { - return subsystem.isConditionTrueCached(); - } - - /** - * Stop the motor and log that the command has ended. - */ - @Override - protected void end() { - //Stop the motor when we meet the condition. - subsystem.turnMotorOff(); - Logger.addEvent("RunMotorWhileConditonMet end", this.getClass()); - } - - /** - * Stop the motor and log that the command has been interrupted. - */ - @Override - protected void interrupted() { - //Stop the motor if this command is interrupted. - subsystem.turnMotorOff(); - Logger.addEvent("RunMotorWhileConditonMet interrupted, stopping climb.", this.getClass()); - } - -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.java deleted file mode 100644 index 1c6140d2..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.java +++ /dev/null @@ -1,225 +0,0 @@ -package org.usfirst.frc.team449.robot.commands.multiInterface.drive; - -import com.fasterxml.jackson.annotation.*; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import org.jetbrains.annotations.NotNull; -import org.jetbrains.annotations.Nullable; -import org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectional; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem; -import org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOriented; -import org.usfirst.frc.team449.robot.other.Logger; -import org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.SubsystemAHRS; -import org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.PIDAngleCommand; - -import java.util.ArrayList; -import java.util.List; - -/** - * Unidirectional drive with field-oriented control - */ -@JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class") -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class FieldOrientedUnidirectionalDriveCommand extends PIDAngleCommand { - - /** - * The drive this command is controlling. - */ - @NotNull - protected final T subsystem; - - /** - * The OI giving the input stick values. - */ - @NotNull - protected final OIFieldOriented oi; - - /** - * The points to snap the PID controller input to. - */ - @NotNull - private final List snapPoints; - - /** - * The absolute angular setpoint for the robot to go to. Field to avoid garbage collection. - */ - @Nullable - private Double theta; - - /** - * Default constructor - * - * @param toleranceBuffer How many consecutive loops have to be run while within tolerance to be considered on - * target. Multiply by loop period of ~20 milliseconds for time. Defaults to 0. - * @param absoluteTolerance The maximum number of degrees off from the target at which we can be considered within - * tolerance. - * @param minimumOutput The minimum output of the loop. Defaults to zero. - * @param maximumOutput The maximum output of the loop. Can be null, and if it is, no maximum output is used. - * @param deadband The deadband around the setpoint, in degrees, within which no output is given to the - * motors. Defaults to zero. - * @param inverted Whether the loop is inverted. Defaults to false. - * @param kP Proportional gain. Defaults to zero. - * @param kI Integral gain. Defaults to zero. - * @param kD Derivative gain. Defaults to zero. - * @param subsystem The drive to execute this command on. - * @param oi The OI controlling the robot. - * @param snapPoints The points to snap the PID controller input to. - */ - @JsonCreator - public FieldOrientedUnidirectionalDriveCommand(@JsonProperty(required = true) double absoluteTolerance, - int toleranceBuffer, - double minimumOutput, @Nullable Double maximumOutput, - double deadband, - boolean inverted, - double kP, - double kI, - double kD, - @NotNull @JsonProperty(required = true) T subsystem, - @NotNull @JsonProperty(required = true) OIFieldOriented oi, - @Nullable List snapPoints) { - //Assign stuff - super(absoluteTolerance, toleranceBuffer, minimumOutput, maximumOutput, deadband, inverted, subsystem, kP, kI, kD); - this.oi = oi; - this.subsystem = subsystem; - this.snapPoints = snapPoints != null ? snapPoints : new ArrayList<>(); - - //Needs a requires because it's a default command. - requires(this.subsystem); - - //Logging, but in Spanish. - Logger.addEvent("Drive Robot bueno", this.getClass()); - } - - /** - * Initialize PIDController and variables. - */ - @Override - protected void initialize() { - //Reset all values of the PIDController and enable it. - this.getPIDController().reset(); - this.getPIDController().enable(); - Logger.addEvent("FieldOrientedUnidirectionalDriveCommand init.", this.getClass()); - } - - /** - * Set PID setpoint to processed controller setpoint. - */ - @Override - protected void execute() { - theta = oi.getThetaCached(); - if (theta != null) { - for (AngularSnapPoint snapPoint : snapPoints) { - //See if we should snap - if (snapPoint.getLowerBound() < theta && theta < snapPoint.getUpperBound()) { - theta = snapPoint.getSnapTo(); - //Break to shorten runtime, we'll never snap twice. - break; - } - } - this.getPIDController().setSetpoint(theta); - SmartDashboard.putNumber("Theta navx setpoint", theta); - } - } - - /** - * Run constantly because this is a defaultDrive - * - * @return false - */ - @Override - protected boolean isFinished() { - return false; - } - - /** - * Log when this command ends - */ - @Override - protected void end() { - Logger.addEvent("FieldOrientedUnidirectionalDriveCommand End.", this.getClass()); - } - - /** - * Log when this command is interrupted. - */ - @Override - protected void interrupted() { - Logger.addEvent("FieldOrientedUnidirectionalDriveCommand Interrupted!", this.getClass()); - } - - /** - * Give the correct output to the motors based on the PID output and velocity input. - * - * @param output The output of the angular PID loop. - */ - @Override - protected void usePIDOutput(double output) { - SmartDashboard.putNumber("Unprocessed loop output", output); - //Process or zero the input depending on whether the NavX is being overriden. - output = subsystem.getOverrideGyro() ? 0 : processPIDOutput(output); - - SmartDashboard.putNumber("PID loop output", output); - - //Adjust the heading according to the PID output, it'll be positive if we want to go right. - subsystem.setOutput(oi.getVelCached() - output, oi.getVelCached() + output); - } - - /** - * A data-holding class representing an angular setpoint to "snap" the controller output to. - */ - protected static class AngularSnapPoint { - - /** - * The angle to snap the setpoint to, in degrees. - */ - private final double snapTo; - - /** - * The upper bound, below which all angles above snapTo are changed to snapTo. Measured in degrees. - */ - private final double upperBound; - - /** - * The lower bound, above which all angles below snapTo are changed to snapTo. Measured in degrees. - */ - private final double lowerBound; - - /** - * Default constructor. - * - * @param snapTo The angle to snap the setpoint to, in degrees. - * @param upperBound The upper bound, below which all angles above snapTo are changed to snapTo. Measured in - * degrees. - * @param lowerBound The lower bound, above which all angles below snapTo are changed to snapTo. Measured in - * degrees. - */ - @JsonCreator - public AngularSnapPoint(@JsonProperty(required = true) double snapTo, - @JsonProperty(required = true) double upperBound, - @JsonProperty(required = true) double lowerBound) { - this.snapTo = snapTo; - this.upperBound = upperBound; - this.lowerBound = lowerBound; - } - - /** - * @return The angle to snap the setpoint to, in degrees. - */ - public double getSnapTo() { - return snapTo; - } - - /** - * @return The upper bound, below which all angles above snapTo are changed to snapTo. Measured in degrees. - */ - public double getUpperBound() { - return upperBound; - } - - /** - * @return The lower bound, above which all angles below snapTo are changed to snapTo. Measured in degrees. - */ - public double getLowerBound() { - return lowerBound; - } - } -} \ No newline at end of file diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.java deleted file mode 100644 index d5cb2886..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.java +++ /dev/null @@ -1,121 +0,0 @@ -package org.usfirst.frc.team449.robot.commands.multiInterface.drive; - -import com.fasterxml.jackson.annotation.*; -import org.jetbrains.annotations.NotNull; -import org.jetbrains.annotations.Nullable; -import org.usfirst.frc.team449.robot.components.AutoshiftComponent; -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.fieldoriented.OIFieldOriented; -import org.usfirst.frc.team449.robot.other.Logger; -import org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.SubsystemAHRS; - -import java.util.List; - -/** - * Unidirectional drive with field-oriented control and autoshifting. - */ -@JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class") -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class FieldOrientedUnidirectionalDriveCommandShifting - extends FieldOrientedUnidirectionalDriveCommand { - - /** - * The drive to execute this command on. - */ - @NotNull - protected final T subsystem; - - /** - * The helper object for autoshifting. - */ - @NotNull - private final AutoshiftComponent autoshiftComponent; - - /** - * The coefficient to multiply the loop output by in high gear. Defaults to 1. - */ - private final double highGearAngularCoefficient; - - /** - * Default constructor - * - * @param toleranceBuffer How many consecutive loops have to be run while within tolerance to be considered on - * target. Multiply by loop period of ~20 milliseconds for time. Defaults to 0. - * @param absoluteTolerance The maximum number of degrees off from the target at which we can be considered within - * tolerance. - * @param minimumOutput The minimum output of the loop. Defaults to zero. - * @param maximumOutput The maximum output of the loop. Can be null, and if it is, no maximum output is used. - * @param deadband The deadband around the setpoint, in degrees, within which no output is given to the - * motors. Defaults to zero. - * @param inverted Whether the loop is inverted. Defaults to false. - * @param kP Proportional gain. Defaults to zero. - * @param kI Integral gain. Defaults to zero. - * @param kD Derivative gain. Defaults to zero. - * @param subsystem The drive to execute this command on. - * @param oi The OI controlling the robot. - * @param snapPoints The points to snap the PID controller input to. - * @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 FieldOrientedUnidirectionalDriveCommandShifting(@JsonProperty(required = true) double absoluteTolerance, - int toleranceBuffer, - double minimumOutput, @Nullable Double maximumOutput, - double deadband, - boolean inverted, - double kP, - double kI, - double kD, - @NotNull @JsonProperty(required = true) T subsystem, - @NotNull @JsonProperty(required = true) OIFieldOriented oi, - @Nullable List snapPoints, - @NotNull @JsonProperty(required = true) AutoshiftComponent autoshiftComponent, - @Nullable Double highGearAngularCoefficient) { - //Assign stuff - super(absoluteTolerance, toleranceBuffer, minimumOutput, maximumOutput, deadband, inverted, kP, kI, kD, subsystem, oi, snapPoints); - this.subsystem = subsystem; - this.autoshiftComponent = autoshiftComponent; - this.highGearAngularCoefficient = highGearAngularCoefficient != null ? highGearAngularCoefficient : 1; - } - - /** - * Set PID setpoint to processed controller setpoint and autoshift. - */ - @Override - protected void execute() { - if (!subsystem.getOverrideAutoshift()) { - autoshiftComponent.autoshift(oi.getVelCached(), subsystem.getLeftVelCached(), subsystem.getRightVelCached(), gear -> subsystem.setGear(gear)); - } - super.execute(); - } - - /** - * Give the correct output to the motors based on the PID output and velocity input. - * - * @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)); - } - - /** - * Log when this command ends - */ - @Override - protected void end() { - Logger.addEvent("FieldOrientedUnidirectionalDriveCommandShifting End.", this.getClass()); - } - - /** - * Log when this command is interrupted. - */ - @Override - protected void interrupted() { - Logger.addEvent("FieldOrientedUnidirectionalDriveCommandShifting Interrupted!", this.getClass()); - } - -} \ No newline at end of file diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/JiggleRobot.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/JiggleRobot.java deleted file mode 100644 index 2ff9665c..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/JiggleRobot.java +++ /dev/null @@ -1,50 +0,0 @@ -package org.usfirst.frc.team449.robot.commands.multiInterface.drive; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.jetbrains.annotations.Nullable; -import org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectional; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandGroupWrapper; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem; -import org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.SubsystemAHRS; - -/** - * Rotates the robot back and forth in order to dislodge any stuck balls. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class JiggleRobot extends YamlCommandGroupWrapper { - - /** - * Instantiate the CommandGroup - * - * @param toleranceBuffer How many consecutive loops have to be run while within tolerance to be considered on - * target. Multiply by loop period of ~20 milliseconds for time. Defaults to 0. - * @param absoluteTolerance The maximum number of degrees off from the target at which we can be considered within - * tolerance. - * @param minimumOutput The minimum output of the loop. Defaults to zero. - * @param maximumOutput The maximum output of the loop. Can be null, and if it is, no maximum output is used. - * @param deadband The deadband around the setpoint, in degrees, within which no output is given to the - * motors. Defaults to zero. - * @param inverted Whether the loop is inverted. Defaults to false. - * @param kP Proportional gain. Defaults to zero. - * @param kI Integral gain. Defaults to zero. - * @param kD Derivative gain. Defaults to zero. - * @param subsystem The drive to execute this command on. - */ - @JsonCreator - public JiggleRobot(@JsonProperty(required = true) double absoluteTolerance, - int toleranceBuffer, - double minimumOutput, @Nullable Double maximumOutput, - double deadband, - boolean inverted, - int kP, - int kI, - int kD, - @NotNull @JsonProperty(required = true) T subsystem) { - addSequential(new NavXTurnToAngleRelative<>(absoluteTolerance, toleranceBuffer, minimumOutput, maximumOutput, deadband, inverted, kP, kI, kD, 10, subsystem, 3)); - addSequential(new NavXTurnToAngleRelative<>(absoluteTolerance, toleranceBuffer, minimumOutput, maximumOutput, deadband, inverted, kP, kI, kD, -10, subsystem, 3)); - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.java deleted file mode 100644 index ec0acb69..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.java +++ /dev/null @@ -1,133 +0,0 @@ -package org.usfirst.frc.team449.robot.commands.multiInterface.drive; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.jetbrains.annotations.Nullable; -import org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectional; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem; -import org.usfirst.frc.team449.robot.oi.unidirectional.tank.OITank; -import org.usfirst.frc.team449.robot.other.Logger; -import org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.SubsystemAHRS; -import org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.PIDAngleCommand; - -/** - * Drives straight using the NavX gyro to keep a constant alignment. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class NavXDriveStraight extends PIDAngleCommand { - - /** - * The drive subsystem to give output to. - */ - @NotNull - protected final T subsystem; - - /** - * The tank OI to get input from. - */ - @NotNull - private final OITank oi; - - /** - * Whether to use the left joystick to drive straight. - */ - private final boolean useLeft; - - /** - * Default constructor. - * - * @param toleranceBuffer How many consecutive loops have to be run while within tolerance to be considered on - * target. Multiply by loop period of ~20 milliseconds for time. Defaults to 0. - * @param absoluteTolerance The maximum number of degrees off from the target at which we can be considered within - * tolerance. - * @param minimumOutput The minimum output of the loop. Defaults to zero. - * @param maximumOutput The maximum output of the loop. Can be null, and if it is, no maximum output is used. - * @param deadband The deadband around the setpoint, in degrees, within which no output is given to the - * motors. Defaults to zero. - * @param inverted Whether the loop is inverted. Defaults to false. - * @param kP Proportional gain. Defaults to zero. - * @param kI Integral gain. Defaults to zero. - * @param kD Derivative gain. Defaults to zero. - * @param subsystem The drive to execute this command on. - * @param oi The tank OI to take input from. - * @param useLeft Which joystick to use to get the forward component to drive straight. True for left, - * false for right. - */ - @JsonCreator - public NavXDriveStraight(@JsonProperty(required = true) double absoluteTolerance, - int toleranceBuffer, - double minimumOutput, @Nullable Double maximumOutput, - double deadband, - boolean inverted, - int kP, - int kI, - int kD, - @NotNull @JsonProperty(required = true) T subsystem, - @NotNull @JsonProperty(required = true) OITank oi, - @JsonProperty(required = true) boolean useLeft) { - super(absoluteTolerance, toleranceBuffer, minimumOutput, maximumOutput, deadband, inverted, subsystem, kP, kI, kD); - this.oi = oi; - this.subsystem = subsystem; - this.useLeft = useLeft; - //This is likely to need to interrupt the DefaultCommand and therefore should require its subsystem. - requires(subsystem); - } - - /** - * Give output to the drive based on the out of the PID loop. - * - * @param output the value the PID loop calculated - */ - @Override - protected void usePIDOutput(double output) { - //Process the PID output with deadband, minimum output, etc. - output = processPIDOutput(output); - - //Set throttle to the specified stick. - if (useLeft) { - subsystem.setOutput(oi.getLeftOutputCached() - output, oi.getLeftOutputCached() + output); - } else { - subsystem.setOutput(oi.getRightOutputCached() - output, oi.getRightOutputCached() + output); - } - } - - /** - * Set the setpoint of the angle PID. - */ - @Override - protected void initialize() { - this.getPIDController().setSetpoint(this.returnPIDInput()); - this.getPIDController().enable(); - } - - /** - * Never finishes. - * - * @return false - */ - @Override - protected boolean isFinished() { - return false; - } - - /** - * Log when this command ends - */ - @Override - protected void end() { - Logger.addEvent("NavXDriveStraight end", this.getClass()); - this.getPIDController().disable(); - } - - /** - * Log when this command is interrupted. - */ - @Override - protected void interrupted() { - Logger.addEvent("NavXDriveStraight interrupted!", this.getClass()); - this.getPIDController().disable(); - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngle.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngle.java deleted file mode 100644 index c286d234..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngle.java +++ /dev/null @@ -1,149 +0,0 @@ -package org.usfirst.frc.team449.robot.commands.multiInterface.drive; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.Contract; -import org.jetbrains.annotations.NotNull; -import org.jetbrains.annotations.Nullable; -import org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectional; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem; -import org.usfirst.frc.team449.robot.other.Clock; -import org.usfirst.frc.team449.robot.other.Logger; -import org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.SubsystemAHRS; -import org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.PIDAngleCommand; - -/** - * Turns to a specified angle, relative to the angle the AHRS was at when the robot was turned on. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class NavXTurnToAngle extends PIDAngleCommand { - - /** - * The drive subsystem to execute this command on and to get the gyro reading from. - */ - @NotNull - protected final T subsystem; - - /** - * The angle to turn to. - */ - protected final double setpoint; - - /** - * How long this command is allowed to run for (in milliseconds) - */ - private final long timeout; - - /** - * The time this command was initiated - */ - protected long startTime; - - /** - * Default constructor. - * - * @param toleranceBuffer How many consecutive loops have to be run while within tolerance to be considered on - * target. Multiply by loop period of ~20 milliseconds for time. Defaults to 0. - * @param absoluteTolerance The maximum number of degrees off from the target at which we can be considered within - * tolerance. - * @param minimumOutput The minimum output of the loop. Defaults to zero. - * @param maximumOutput The maximum output of the loop. Can be null, and if it is, no maximum output is used. - * @param deadband The deadband around the setpoint, in degrees, within which no output is given to the - * motors. Defaults to zero. - * @param inverted Whether the loop is inverted. Defaults to false. - * @param kP Proportional gain. Defaults to zero. - * @param kI Integral gain. Defaults to zero. - * @param kD Derivative gain. Defaults to zero. - * @param setpoint The setpoint, in degrees from 180 to -180. - * @param subsystem The drive subsystem to execute this command on. - * @param timeout How long this command is allowed to run for, in seconds. Needed because sometimes - * floating-point errors prevent termination. - */ - @JsonCreator - public NavXTurnToAngle(@JsonProperty(required = true) double absoluteTolerance, - int toleranceBuffer, - double minimumOutput, @Nullable Double maximumOutput, - double deadband, - boolean inverted, - int kP, - int kI, - int kD, - @JsonProperty(required = true) double setpoint, - @NotNull @JsonProperty(required = true) T subsystem, - @JsonProperty(required = true) double timeout) { - super(absoluteTolerance, toleranceBuffer, minimumOutput, maximumOutput, deadband, inverted, subsystem, kP, kI, kD); - this.subsystem = subsystem; - this.setpoint = setpoint; - //Convert from seconds to milliseconds - this.timeout = (long) (timeout * 1000); - requires(subsystem); - } - - /** - * Clip a degree number to the NavX's -180 to 180 system. - * - * @param theta The angle to clip, in degrees. - * @return The equivalent of that number, clipped to be between -180 and 180. - */ - @Contract(pure = true) - protected static double clipTo180(double theta) { - return (theta + 180) % 360 - 180; - } - - /** - * Give output to the motors based on the output of the PID loop - * - * @param output The output of the angle PID loop - */ - @Override - protected void usePIDOutput(double output) { - //Process the output with deadband, minimum output, etc. - output = processPIDOutput(output); - - //spin to the right angle - subsystem.setOutput(-output, output); - } - - /** - * Set up the start time and setpoint. - */ - @Override - protected void initialize() { - //Set up start time - this.startTime = Clock.currentTimeMillis(); - this.setSetpoint(setpoint); - //Make sure to enable the controller! - this.getPIDController().enable(); - } - - /** - * Exit when the robot reaches the setpoint or enough time has passed. - * - * @return True if timeout seconds have passed or the robot is on target, false otherwise. - */ - @Override - protected boolean isFinished() { - //The PIDController onTarget() is crap and sometimes never returns true because of floating point errors, so we need a timeout - return this.getPIDController().onTarget() || Clock.currentTimeMillis() - startTime > timeout; - } - - /** - * Log when the command ends. - */ - @Override - protected void end() { - Logger.addEvent("NavXTurnToAngle end.", this.getClass()); - this.getPIDController().disable(); - } - - /** - * Log when the command is interrupted. - */ - @Override - protected void interrupted() { - Logger.addEvent("NavXTurnToAngle interrupted!", this.getClass()); - this.getPIDController().disable(); - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngleRelative.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngleRelative.java deleted file mode 100644 index f290e398..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngleRelative.java +++ /dev/null @@ -1,89 +0,0 @@ -package org.usfirst.frc.team449.robot.commands.multiInterface.drive; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.jetbrains.annotations.Nullable; -import org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectional; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem; -import org.usfirst.frc.team449.robot.other.Clock; -import org.usfirst.frc.team449.robot.other.Logger; -import org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.SubsystemAHRS; - -/** - * Turn a certain number of degrees from the current heading. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class NavXTurnToAngleRelative extends NavXTurnToAngle { - - /** - * Default constructor. - * - * @param toleranceBuffer How many consecutive loops have to be run while within tolerance to be considered on - * target. Multiply by loop period of ~20 milliseconds for time. Defaults to 0. - * @param absoluteTolerance The maximum number of degrees off from the target at which we can be considered within - * tolerance. - * @param minimumOutput The minimum output of the loop. Defaults to zero. - * @param maximumOutput The maximum output of the loop. Can be null, and if it is, no maximum output is used. - * @param deadband The deadband around the setpoint, in degrees, within which no output is given to the - * motors. Defaults to zero. - * @param inverted Whether the loop is inverted. Defaults to false. - * @param kP Proportional gain. Defaults to zero. - * @param kI Integral gain. Defaults to zero. - * @param kD Derivative gain. Defaults to zero. - * @param setpoint The setpoint, in degrees from 180 to -180. - * @param drive The drive subsystem to execute this command on. - * @param timeout How long this command is allowed to run for, in seconds. Needed because sometimes - * floating-point errors prevent termination. - */ - @JsonCreator - public NavXTurnToAngleRelative(@JsonProperty(required = true) double absoluteTolerance, - int toleranceBuffer, - double minimumOutput, @Nullable Double maximumOutput, - double deadband, - boolean inverted, - int kP, - int kI, - int kD, - @JsonProperty(required = true) double setpoint, - @NotNull @JsonProperty(required = true) T drive, - @JsonProperty(required = true) double timeout) { - super(absoluteTolerance, toleranceBuffer, minimumOutput, maximumOutput, deadband, inverted, kP, kI, kD, setpoint, drive, timeout); - } - - /** - * Set up the start time and setpoint. - */ - @Override - protected void initialize() { - //Setup start time - this.startTime = Clock.currentTimeMillis(); - Logger.addEvent("NavXRelativeTurnToAngle init.", this.getClass()); - //Do math to setup the setpoint. - this.setSetpoint(clipTo180(((SubsystemAHRS) subsystem).getHeadingCached() + setpoint)); - //Make sure to enable the controller! - this.getPIDController().enable(); - } - - /** - * Log when the command ends. - */ - @Override - protected void end() { - Logger.addEvent("NavXRelativeTurnToAngle end.", this.getClass()); - //Stop the controller - this.getPIDController().disable(); - } - - /** - * Log when the command is interrupted. - */ - @Override - protected void interrupted() { - Logger.addEvent("NavXRelativeTurnToAngle interrupted!", this.getClass()); - //Stop the controller - this.getPIDController().disable(); - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.java deleted file mode 100644 index 42de1446..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.java +++ /dev/null @@ -1,191 +0,0 @@ -package org.usfirst.frc.team449.robot.commands.multiInterface.drive; - -import com.fasterxml.jackson.annotation.*; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import org.jetbrains.annotations.NotNull; -import org.jetbrains.annotations.Nullable; -import org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectional; -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; -import org.usfirst.frc.team449.robot.other.Logger; -import org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.SubsystemAHRS; -import org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.PIDAngleCommand; - -/** - * Drive with arcade drive setup, and when the driver isn't turning, use a NavX to stabilize the robot's alignment. - */ -@JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class") -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class UnidirectionalNavXDefaultDrive extends PIDAngleCommand { - - /** - * The drive this command is controlling. - */ - @NotNull - protected final T subsystem; - - /** - * The OI giving the input stick values. - */ - @NotNull - protected final OIUnidirectional oi; - - /** - * The maximum velocity for the robot to be at in order to switch to driveStraight, in degrees/sec - */ - private final double maxAngularVelToEnterLoop; - - /** - * A bufferTimer so we only switch to driving straight when the conditions are met for a certain period of time. - */ - @NotNull - private final BufferTimer driveStraightLoopEntryTimer; - - /** - * Whether or not we should be using the NavX to drive straight stably. - */ - private boolean drivingStraight; - - /** - * Default constructor - * - * @param toleranceBuffer How many consecutive loops have to be run while within tolerance to be - * considered on target. Multiply by loop period of ~20 milliseconds for time. - * Defaults to 0. - * @param absoluteTolerance The maximum number of degrees off from the target at which we can be - * considered within tolerance. - * @param minimumOutput The minimum output of the loop. Defaults to zero. - * @param maximumOutput The maximum output of the loop. Can be null, and if it is, no maximum output - * is used. - * @param deadband The deadband around the setpoint, in degrees, within which no output is given - * to the motors. Defaults to zero. - * @param maxAngularVelToEnterLoop The maximum angular velocity, in degrees/sec, at which the loop will be - * entered. Defaults to 180. - * @param inverted Whether the loop is inverted. Defaults to false. - * @param kP Proportional gain. Defaults to zero. - * @param kI Integral gain. Defaults to zero. - * @param kD Derivative gain. Defaults to zero. - * @param driveStraightLoopEntryTimer The buffer timer for starting to drive straight. - * @param subsystem The drive to execute this command on. - * @param oi The OI controlling the robot. - */ - @JsonCreator - public UnidirectionalNavXDefaultDrive(@JsonProperty(required = true) double absoluteTolerance, - int toleranceBuffer, - double minimumOutput, @Nullable Double maximumOutput, - double deadband, - @Nullable Double maxAngularVelToEnterLoop, - boolean inverted, - double kP, - double kI, - double kD, - @NotNull @JsonProperty(required = true) BufferTimer driveStraightLoopEntryTimer, - @NotNull @JsonProperty(required = true) T subsystem, - @NotNull @JsonProperty(required = true) OIUnidirectional oi) { - //Assign stuff - super(absoluteTolerance, toleranceBuffer, minimumOutput, maximumOutput, deadband, inverted, subsystem, kP, kI, kD); - this.oi = oi; - this.subsystem = subsystem; - - this.driveStraightLoopEntryTimer = driveStraightLoopEntryTimer; - this.maxAngularVelToEnterLoop = maxAngularVelToEnterLoop != null ? maxAngularVelToEnterLoop : 180; - - //Needs a requires because it's a default command. - requires(this.subsystem); - - //Logging, but in Spanish. - Logger.addEvent("Drive Robot bueno", this.getClass()); - } - - /** - * Initialize PIDController and variables. - */ - @Override - protected void initialize() { - //Reset all values of the PIDController and enable it. - this.getPIDController().reset(); - this.getPIDController().enable(); - Logger.addEvent("UnidirectionalNavXArcadeDrive init.", this.getClass()); - - //Initial assignment - drivingStraight = false; - } - - /** - * Decide whether or not we should be in free drive or straight drive. - */ - @Override - protected void execute() { - //If we're driving straight but the driver tries to turn or overrides the AHRS: - if (drivingStraight && (!oi.commandingStraight() || subsystem.getOverrideGyro())) { - //Switch to free drive - drivingStraight = false; - } - //If we're free driving and the driver stops turning: - else if (driveStraightLoopEntryTimer.get(!(subsystem.getOverrideGyro()) && !(drivingStraight) && - oi.commandingStraight() && Math.abs(subsystem.getAngularVelCached()) <= maxAngularVelToEnterLoop)) { - //Switch to driving straight - drivingStraight = true; - //Set the setpoint to the current heading and reset the AHRS - this.getPIDController().reset(); - this.getPIDController().setSetpoint(subsystem.getHeadingCached()); - this.getPIDController().enable(); - } - } - - /** - * Run constantly because this is a defaultDrive - * - * @return false - */ - @Override - protected boolean isFinished() { - return false; - } - - /** - * Log when this command ends - */ - @Override - protected void end() { - Logger.addEvent("UnidirectionalNavXArcadeDrive End.", this.getClass()); - } - - /** - * Stop the motors and log when this command is interrupted. - */ - @Override - protected void interrupted() { - Logger.addEvent("UnidirectionalNavXArcadeDrive 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) { - SmartDashboard.putBoolean("Driving straight", drivingStraight); - //If we're driving straight.. - if (drivingStraight) { - //Process the output (minimumOutput, deadband, etc.) - output = processPIDOutput(output); - - //Deadband if we're stationary - if (oi.getLeftOutputCached() == 0 || oi.getRightOutputCached() == 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.getLeftOutputCached() - output, oi.getRightOutputCached() + output); - } - //If we're free driving... - else { - //Set the throttle to normal arcade throttle. - subsystem.setOutput(oi.getLeftOutputCached(), oi.getRightOutputCached()); - } - } -} \ No newline at end of file diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.java deleted file mode 100644 index d3791ec8..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.java +++ /dev/null @@ -1,127 +0,0 @@ -package org.usfirst.frc.team449.robot.commands.multiInterface.drive; - -import com.fasterxml.jackson.annotation.*; -import org.jetbrains.annotations.NotNull; -import org.jetbrains.annotations.Nullable; -import org.usfirst.frc.team449.robot.components.AutoshiftComponent; -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; -import org.usfirst.frc.team449.robot.other.Logger; -import org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.SubsystemAHRS; - -/** - * Drive with arcade drive setup, autoshift, and when the driver isn't turning, use a NavX to stabilize the robot's - * alignment. - */ -@JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class") -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class UnidirectionalNavXShiftingDefaultDrive extends UnidirectionalNavXDefaultDrive { - - /** - * The drive to execute this command on. - */ - @NotNull - protected final T subsystem; - - /** - * The helper object for autoshifting. - */ - @NotNull - protected final AutoshiftComponent autoshiftComponent; - - /** - * The coefficient to multiply the loop output by in high gear. - */ - private final double highGearAngularCoefficient; - - /** - * Default constructor - * - * @param toleranceBuffer How many consecutive loops have to be run while within tolerance to be - * considered on target. Multiply by loop period of ~20 milliseconds for time. - * Defaults to 0. - * @param absoluteTolerance The maximum number of degrees off from the target at which we can be - * considered within tolerance. - * @param minimumOutput The minimum output of the loop. Defaults to zero. - * @param maximumOutput The maximum output of the loop. Can be null, and if it is, no maximum output - * is used. - * @param deadband The deadband around the setpoint, in degrees, within which no output is given - * to the motors. Defaults to zero. - * @param maxAngularVelToEnterLoop The maximum angular velocity, in degrees/sec, at which the loop will be - * entered. Defaults to 180. - * @param inverted Whether the loop is inverted. Defaults to false. - * @param kP Proportional gain. Defaults to zero. - * @param kI Integral gain. Defaults to zero. - * @param kD Derivative gain. Defaults to zero. - * @param driveStraightLoopEntryTimer The buffer timer for starting to drive straight. - * @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, - int toleranceBuffer, - double minimumOutput, @Nullable Double maximumOutput, - double deadband, - @Nullable Double maxAngularVelToEnterLoop, - boolean inverted, - 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, - @Nullable 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; - } - - /** - * Autoshift and decide whether or not we should be in free drive or straight drive - */ - @Override - public void execute() { - //Auto-shifting - if (!subsystem.getOverrideAutoshift()) { - autoshiftComponent.autoshift((oi.getLeftOutputCached() + oi.getRightOutputCached()) / 2., subsystem.getLeftVelCached(), - subsystem.getRightVelCached(), gear -> subsystem.setGear(gear)); - } - super.execute(); - } - - /** - * Log when this command ends - */ - @Override - protected void end() { - Logger.addEvent("ShiftingUnidirectionalNavXArcadeDrive End.", this.getClass()); - } - - /** - * Stop the motors and log when this command is interrupted. - */ - @Override - 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/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiSubsystem/FireShooter.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiSubsystem/FireShooter.java deleted file mode 100644 index 7da611e1..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiSubsystem/FireShooter.java +++ /dev/null @@ -1,36 +0,0 @@ -package org.usfirst.frc.team449.robot.commands.multiSubsystem; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.Nullable; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandGroupWrapper; -import org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.SubsystemFlywheel; -import org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands.TurnAllOn; -import org.usfirst.frc.team449.robot.subsystem.interfaces.intake.SubsystemIntake; -import org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands.SetIntakeMode; - -/** - * Command group for firing the flywheel. Runs flywheel, runs static intake, stops dynamic intake, raises intake, and - * runs feeder. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class FireShooter extends YamlCommandGroupWrapper { - - /** - * Constructs a FireShooter command group - * - * @param subsystemFlywheel flywheel subsystem. Can be null. - * @param subsystemIntake intake subsystem. Can be null. - */ - @JsonCreator - public FireShooter(@Nullable SubsystemFlywheel subsystemFlywheel, - @Nullable SubsystemIntake subsystemIntake) { - if (subsystemFlywheel != null) { - addParallel(new TurnAllOn(subsystemFlywheel)); - } - if (subsystemIntake != null) { - addParallel(new SetIntakeMode(subsystemIntake, SubsystemIntake.IntakeMode.IN_SLOW)); - } - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiSubsystem/LoadShooter.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiSubsystem/LoadShooter.java deleted file mode 100644 index e820b45d..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiSubsystem/LoadShooter.java +++ /dev/null @@ -1,39 +0,0 @@ -package org.usfirst.frc.team449.robot.commands.multiSubsystem; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.Nullable; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandGroupWrapper; -import org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.SubsystemFlywheel; -import org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands.TurnAllOff; -import org.usfirst.frc.team449.robot.subsystem.interfaces.intake.SubsystemIntake; -import org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands.SetIntakeMode; -import org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SubsystemSolenoid; -import org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidReverse; - -/** - * Command group for intaking balls from the ground. Stops flywheel, runs static intake, runs dynamic intake, lowers - * intake, and stops feeder. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class LoadShooter extends YamlCommandGroupWrapper { - - /** - * Constructs a LoadShooter command group - * - * @param subsystemFlywheel flywheel subsystem. Can be null. - * @param subsystemIntake intake subsystem. Can be null. - */ - @JsonCreator - public LoadShooter(@Nullable SubsystemFlywheel subsystemFlywheel, - @Nullable T subsystemIntake) { - if (subsystemFlywheel != null) { - addParallel(new TurnAllOff(subsystemFlywheel)); - } - if (subsystemIntake != null) { - addParallel(new SolenoidReverse(subsystemIntake)); - addParallel(new SetIntakeMode(subsystemIntake, SubsystemIntake.IntakeMode.IN_FAST)); - } - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiSubsystem/RackShooter.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiSubsystem/RackShooter.java deleted file mode 100644 index e869b7e2..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiSubsystem/RackShooter.java +++ /dev/null @@ -1,39 +0,0 @@ -package org.usfirst.frc.team449.robot.commands.multiSubsystem; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.Nullable; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandGroupWrapper; -import org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.SubsystemFlywheel; -import org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands.SpinUpFlywheel; -import org.usfirst.frc.team449.robot.subsystem.interfaces.intake.SubsystemIntake; -import org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands.SetIntakeMode; -import org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SubsystemSolenoid; -import org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidReverse; - -/** - * Command group for preparing the flywheel to fire. Starts flywheel, runs static intake, stops dynamic intake, raises - * intake, and stops feeder. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class RackShooter extends YamlCommandGroupWrapper { - - /** - * Constructs a RackShooter command group - * - * @param subsystemFlywheel flywheel subsystem. Can be null. - * @param subsystemIntake intake subsystem. Can be null. - */ - @JsonCreator - public RackShooter(@Nullable SubsystemFlywheel subsystemFlywheel, - @Nullable T subsystemIntake) { - if (subsystemFlywheel != null) { - addParallel(new SpinUpFlywheel(subsystemFlywheel)); - } - if (subsystemIntake != null) { - addParallel(new SolenoidReverse(subsystemIntake)); - addParallel(new SetIntakeMode(subsystemIntake, SubsystemIntake.IntakeMode.IN_SLOW)); - } - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiSubsystem/ResetShooter.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiSubsystem/ResetShooter.java deleted file mode 100644 index 00fc50f0..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiSubsystem/ResetShooter.java +++ /dev/null @@ -1,38 +0,0 @@ -package org.usfirst.frc.team449.robot.commands.multiSubsystem; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.Nullable; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandGroupWrapper; -import org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.SubsystemFlywheel; -import org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands.TurnAllOff; -import org.usfirst.frc.team449.robot.subsystem.interfaces.intake.SubsystemIntake; -import org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands.SetIntakeMode; -import org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SubsystemSolenoid; -import org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidReverse; - -/** - * Command group to reset everything. Turns everything off, raises intake - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class ResetShooter extends YamlCommandGroupWrapper { - - /** - * Constructs a ResetShooter command group - * - * @param subsystemFlywheel flywheel subsystem. Can be null. - * @param subsystemIntake intake subsystem. Can be null. - */ - @JsonCreator - public ResetShooter(@Nullable SubsystemFlywheel subsystemFlywheel, - @Nullable T subsystemIntake) { - if (subsystemFlywheel != null) { - addParallel(new TurnAllOff(subsystemFlywheel)); - } - if (subsystemIntake != null) { - addParallel(new SolenoidReverse(subsystemIntake)); - addParallel(new SetIntakeMode(subsystemIntake, SubsystemIntake.IntakeMode.OFF)); - } - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/components/AHRSRumbleComponent.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/components/AHRSRumbleComponent.java deleted file mode 100644 index 4f462384..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/components/AHRSRumbleComponent.java +++ /dev/null @@ -1,144 +0,0 @@ -package org.usfirst.frc.team449.robot.components; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.generalInterfaces.rumbleable.Rumbleable; -import org.usfirst.frc.team449.robot.jacksonWrappers.MappedAHRS; -import org.usfirst.frc.team449.robot.jacksonWrappers.MappedRunnable; -import org.usfirst.frc.team449.robot.other.Clock; - -import java.util.List; - -/** - * A component to rumble controllers based off the jerk measurements from an AHRS. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class AHRSRumbleComponent implements MappedRunnable { - - /** - * The NavX to get jerk measurements from. - */ - @NotNull - private final MappedAHRS ahrs; - - /** - * The things to rumble. - */ - @NotNull - private final List rumbleables; - - /** - * The minimum jerk that will trigger rumbling, in feet/second^3. - */ - private final double minJerk; - - /** - * The jerk, in feet/second^3, that's scaled to maximum rumble. All jerks of greater magnitude are capped at 1. - */ - private final double maxJerk; - - /** - * Whether the NavX Y-axis measures forwards-back jerk or left-right jerk. - */ - private final boolean yIsFrontBack; - - /** - * Whether to invert the left-right jerk measurement. - */ - private final boolean invertLeftRight; - - /** - * Variables for the per-call rumble calculation representing the directional accelerations. Fields to avoid garbage - * collection. - */ - private double lastFrontBackAccel, lastLeftRightAccel; - - /** - * Variables for the per-call rumble calculation representing the rumble outputs. Fields to avoid garbage - * collection. - */ - private double left, right; - - /** - * Variables for per-call acceleration calculation. Fields to avoid garbage collection. - */ - private double frontBack, leftRight; - - /** - * The time at which the acceleration was last measured. - */ - private long timeLastCalled; - - /** - * Default constructor. - * - * @param ahrs The NavX to get jerk measurements from. - * @param rumbleables The things to rumble. - * @param minJerk The minimum jerk that will trigger rumbling, in feet/(sec^3). - * @param maxJerk The jerk, in feet/(sec^3), that's scaled to maximum rumble. All jerks of greater magnitude - * are capped at 1. - * @param yIsFrontBack Whether the NavX Y-axis measures forwards-back jerk or left-right jerk. Defaults to - * false. - * @param invertLeftRight Whether to invert the left-right jerk measurement. Defaults to false. - */ - @JsonCreator - public AHRSRumbleComponent(@NotNull @JsonProperty(required = true) MappedAHRS ahrs, - @NotNull @JsonProperty(required = true) List rumbleables, - @JsonProperty(required = true) double minJerk, - @JsonProperty(required = true) double maxJerk, - boolean yIsFrontBack, - boolean invertLeftRight) { - this.ahrs = ahrs; - this.rumbleables = rumbleables; - this.minJerk = minJerk; - this.maxJerk = maxJerk; - this.yIsFrontBack = yIsFrontBack; - this.invertLeftRight = invertLeftRight; - timeLastCalled = 0; - lastFrontBackAccel = 0; - lastLeftRightAccel = 0; - } - - /** - * Read the NavX jerk data and rumble the joysticks based off of it. - */ - @Override - public void run() { - if (yIsFrontBack) { - //Put an abs() here because we can't differentiate front vs back when rumbling, so we only care about magnitude. - frontBack = Math.abs(ahrs.getYAccel()); - leftRight = ahrs.getXAccel() * (invertLeftRight ? -1 : 1); - } else { - frontBack = Math.abs(ahrs.getYAccel()); - leftRight = ahrs.getXAccel() * (invertLeftRight ? -1 : 1); - } - - //Left is negative jerk, so we subtract it from left so that when we're going left, left is bigger and vice versa - left = ((frontBack - lastFrontBackAccel) - (leftRight - lastLeftRightAccel)) / (Clock.currentTimeMillis() - timeLastCalled); - right = ((frontBack - lastFrontBackAccel) + (leftRight - lastLeftRightAccel)) / (Clock.currentTimeMillis() - timeLastCalled); - - if (left > minJerk) { - left = (left - minJerk) / maxJerk; - } else { - left = 0; - } - - if (right > minJerk) { - right = (right - minJerk) / maxJerk; - } else { - right = 0; - } - - for (Rumbleable rumbleable : rumbleables) { - rumbleable.rumble(left, right); - } - - lastLeftRightAccel = leftRight; - lastFrontBackAccel = frontBack; - timeLastCalled = Clock.currentTimeMillis(); - } - -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/components/AutoshiftComponent.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/components/AutoshiftComponent.java deleted file mode 100644 index f7043245..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/components/AutoshiftComponent.java +++ /dev/null @@ -1,167 +0,0 @@ -package org.usfirst.frc.team449.robot.components; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.generalInterfaces.shiftable.Shiftable; -import org.usfirst.frc.team449.robot.other.BufferTimer; -import org.usfirst.frc.team449.robot.other.Clock; - -import java.util.function.Consumer; - -/** - * A component class for autoshifting. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class AutoshiftComponent { - - /** - * The speed setpoint at the upshift break - */ - private final double upshiftSpeed; - - /** - * The speed setpoint at the downshift break - */ - private final double downshiftSpeed; - - /** - * The robot isn't eligible to shift again for this many milliseconds after upshifting. - */ - private final long cooldownAfterUpshift; - - /** - * The robot isn't eligible to shift again for this many milliseconds after downshifting. - */ - private final long cooldownAfterDownshift; - - /** - * BufferTimers for shifting that make it so all the other conditions to shift must be met for some amount of time - * before shifting actually happens. - */ - @NotNull - private final BufferTimer upshiftBufferTimer, downshiftBufferTimer; - - /** - * The forward velocity setpoint (on a 0-1 scale) below which we stay in low gear - */ - private final double upshiftFwdThresh; - - /** - * The time we last upshifted (milliseconds) - */ - private long timeLastUpshifted; - - /** - * The time we last downshifted (milliseconds) - */ - private long timeLastDownshifted; - - /** - * Whether it's okay to up or down shift. Fields to avoid garbage collection. - */ - private boolean okayToUpshift, okayToDownshift; - - /** - * Default constructor - * - * @param upshiftSpeed The minimum speed both sides the drive must be going at to shift to high gear. - * @param downshiftSpeed The maximum speed both sides must be going at to shift to low gear. - * @param upshiftBufferTimer Buffer timer for upshifting. - * @param downshiftBufferTimer Buffer timer for downshifting. - * @param cooldownAfterDownshift The minimum time, in seconds, between downshifting and then upshifting again. - * Defaults to 0. - * @param cooldownAfterUpshift The minimum time, in seconds, between upshifting and then downshifting again. - * Defaults to 0. - * @param upshiftFwdThresh The minimum amount the forward joystick must be pushed forward in order to upshift, - * on [0, 1]. Defaults to 0. - */ - @JsonCreator - public AutoshiftComponent(@JsonProperty(required = true) double upshiftSpeed, - @JsonProperty(required = true) double downshiftSpeed, - @NotNull @JsonProperty(required = true) BufferTimer upshiftBufferTimer, - @NotNull @JsonProperty(required = true) BufferTimer downshiftBufferTimer, - double upshiftFwdThresh, - double cooldownAfterUpshift, - double cooldownAfterDownshift) { - this.upshiftSpeed = upshiftSpeed; - this.downshiftSpeed = downshiftSpeed; - this.upshiftFwdThresh = upshiftFwdThresh; - this.cooldownAfterUpshift = (long) (cooldownAfterUpshift * 1000.); - this.cooldownAfterDownshift = (long) (cooldownAfterDownshift * 1000.); - this.upshiftBufferTimer = upshiftBufferTimer; - this.downshiftBufferTimer = downshiftBufferTimer; - } - - /** - * Determine whether the robot should downshift. - * - * @param forwardThrottle The forwards throttle, on [-1, 1]. - * @param leftVel The velocity of the left side of the drive. - * @param rightVel The velocity of the right side of the drive. - * @return True if the drive should downshift, false otherwise. - */ - private boolean shouldDownshift(double forwardThrottle, double leftVel, double rightVel) { - //We should shift if we're going slower than the downshift speed - okayToDownshift = Math.max(Math.abs(leftVel), Math.abs(rightVel)) < downshiftSpeed; - //Or if we're just turning in place. - okayToDownshift = okayToDownshift || (forwardThrottle == 0); - //Or commanding a low speed. - okayToDownshift = okayToDownshift || (Math.abs(forwardThrottle) < upshiftFwdThresh); - //But we can only shift if we're out of the cooldown period. - okayToDownshift = okayToDownshift && Clock.currentTimeMillis() - timeLastUpshifted > cooldownAfterUpshift; - - //We use a BufferTimer so we only shift if the conditions are met for a specific continuous interval. - // This avoids brief blips causing shifting. - okayToDownshift = downshiftBufferTimer.get(okayToDownshift); - - //Record the time if we do decide to shift. - if (okayToDownshift) { - timeLastDownshifted = Clock.currentTimeMillis(); - } - return okayToDownshift; - } - - /** - * Determine whether the robot should upshift. - * - * @param forwardThrottle The forwards throttle, on [-1, 1]. - * @param leftVel The velocity of the left side of the drive. - * @param rightVel The velocity of the right side of the drive. - * @return True if the drive should upshift, false otherwise. - */ - private boolean shouldUpshift(double forwardThrottle, double leftVel, double rightVel) { - //We should shift if we're going faster than the upshift speed... - okayToUpshift = Math.min(Math.abs(leftVel), Math.abs(rightVel)) > upshiftSpeed; - //AND the driver's trying to go forward fast. - okayToUpshift = okayToUpshift && Math.abs(forwardThrottle) > upshiftFwdThresh; - //But we can only shift if we're out of the cooldown period. - okayToUpshift = okayToUpshift && Clock.currentTimeMillis() - timeLastDownshifted > cooldownAfterDownshift; - - //We use a BufferTimer so we only shift if the conditions are met for a specific continuous interval. - // This avoids brief blips causing shifting. - okayToUpshift = upshiftBufferTimer.get(okayToUpshift); - if (okayToUpshift) { - timeLastUpshifted = Clock.currentTimeMillis(); - } - return okayToUpshift; - } - - /** - * Determine if the subsystem should shift, and if yes, do the shifting. - * - * @param forwardThrottle The forwards throttle, on [-1, 1]. - * @param leftVel The velocity of the left side of the drive. - * @param rightVel The velocity of the right side of the drive. - * @param shift The function to actually shift gears. - */ - public void autoshift(double forwardThrottle, double leftVel, double rightVel, Consumer shift) { - if (shouldDownshift(forwardThrottle, leftVel, rightVel)) { - shift.accept(Shiftable.gear.LOW.getNumVal()); - } else if (shouldUpshift(forwardThrottle, leftVel, rightVel)) { - shift.accept(Shiftable.gear.HIGH.getNumVal()); - } - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/components/ShiftComponent.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/components/ShiftComponent.java deleted file mode 100644 index f9948350..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/components/ShiftComponent.java +++ /dev/null @@ -1,114 +0,0 @@ -package org.usfirst.frc.team449.robot.components; - -import com.fasterxml.jackson.annotation.*; -import edu.wpi.first.wpilibj.DoubleSolenoid; -import org.jetbrains.annotations.NotNull; -import org.jetbrains.annotations.Nullable; -import org.usfirst.frc.team449.robot.generalInterfaces.shiftable.Shiftable; -import org.usfirst.frc.team449.robot.jacksonWrappers.MappedDoubleSolenoid; - -import java.util.List; - -/** - * A component that a subsystem can use to handle shifting gears. - */ -@JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class") -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class ShiftComponent { - - /** - * All objects that should be shifted when this component's piston is. - */ - @NotNull - protected final List otherShiftables; - - /** - * The piston that shifts. - */ - @NotNull - private final MappedDoubleSolenoid piston; - - /** - * The piston position for low gear. - */ - @NotNull - private final DoubleSolenoid.Value lowGearPistonPos; - - /** - * The gear this component is currently in. - */ - protected int currentGear; - - /** - * Default constructor. - * - * @param otherShiftables All objects that should be shifted when this component's piston is. - * @param piston The piston that shifts. - * @param lowGearPistonPos The piston position for low gear. Defaults to Forward. - * @param startingGear The gear to start in. Can be null, and if it is, the starting gear is gotten from the - * piston's position. - */ - @JsonCreator - public ShiftComponent(@NotNull @JsonProperty(required = true) List otherShiftables, - @NotNull @JsonProperty(required = true) MappedDoubleSolenoid piston, - @Nullable DoubleSolenoid.Value lowGearPistonPos, - @Nullable Shiftable.gear startingGear) { - this.otherShiftables = otherShiftables; - this.piston = piston; - this.lowGearPistonPos = lowGearPistonPos != null ? lowGearPistonPos : DoubleSolenoid.Value.kForward; - - if (startingGear != null) { - this.currentGear = startingGear.getNumVal(); - } else { - //Get the starting gear from the piston's position if it's not provided - this.currentGear = piston.get() == lowGearPistonPos ? Shiftable.gear.LOW.getNumVal() : Shiftable.gear.HIGH.getNumVal(); - } - - //Set all the shiftables to the starting gear. - for (Shiftable shiftable : otherShiftables) { - shiftable.setGear(currentGear); - } - } - - /** - * Shifts to a given gear. - * - * @param gear The gear to shift to. - */ - public void shiftToGear(int gear) { - //Do nothing if we try to switch to the current gear. - if (!(gear == currentGear)) { - for (Shiftable shiftable : otherShiftables) { - shiftable.setGear(gear); - } - shiftPiston(gear); - this.currentGear = gear; - } - } - - /** - * @return The gear the shifter is currently in. - */ - public int getCurrentGear() { - return currentGear; - } - - /** - * Shifts the piston to the given gear. - * - * @param gear The gear to shift to - */ - protected void shiftPiston(int gear) { - if (gear == Shiftable.gear.LOW.getNumVal()) { - //Switch to the low gear pos - piston.set(lowGearPistonPos); - } else if (lowGearPistonPos.equals(DoubleSolenoid.Value.kForward)) { - //If we want to switch to high gear and the low gear pos is forward, switch to reverse - piston.set(DoubleSolenoid.Value.kReverse); - } else { - //If we want to switch to high gear and the low gear pos is reverse, switch to forward - piston.set(DoubleSolenoid.Value.kForward); - } - } - -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/components/ShiftWithSensorComponent.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/components/ShiftWithSensorComponent.java deleted file mode 100644 index 9472765a..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/components/ShiftWithSensorComponent.java +++ /dev/null @@ -1,164 +0,0 @@ -package org.usfirst.frc.team449.robot.components; - -import com.fasterxml.jackson.annotation.*; -import edu.wpi.first.wpilibj.DoubleSolenoid; -import edu.wpi.first.wpilibj.Notifier; -import org.jetbrains.annotations.NotNull; -import org.jetbrains.annotations.Nullable; -import org.usfirst.frc.team449.robot.generalInterfaces.shiftable.Shiftable; -import org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor.SimpleMotor; -import org.usfirst.frc.team449.robot.jacksonWrappers.MappedDigitalInput; -import org.usfirst.frc.team449.robot.jacksonWrappers.MappedDoubleSolenoid; -import org.usfirst.frc.team449.robot.other.BufferTimer; - -import java.util.List; - -/** - * A component that a subsystem can use for shifting when the pistons have sensor to detect position. - */ -@JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class") -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class ShiftWithSensorComponent extends ShiftComponent { - - /** - * The reed switches that detect if the shifter pistons are in high gear. - */ - @NotNull - private final MappedDigitalInput highGearSensors; - - /** - * The reed switches that detect if the shifter pistons are in low gear. - */ - @NotNull - private final MappedDigitalInput lowGearSensors; - - /** - * The motors that should be disabled while the piston is shifting. - */ - @NotNull - private final List motorsToDisable; - - /** - * The timer for how long the piston can be considered shifting before we ignore the sensors and re-enable the - * motors. - */ - @NotNull - private final BufferTimer motorDisableTimer; - - /** - * The Notifier that runs checkToReenable periodically. - */ - @NotNull - private final Notifier sensorChecker; - - /** - * The period for the loop that checks the sensors and enables/disables the motors, in seconds. - */ - private final double sensorCheckerPeriodSecs; - - /** - * Whether the piston's position was correct the last time checkToReenable was run. - */ - private boolean pistonWasCorrect; - - /** - * Whether the piston's position is currently correct. Field to avoid garbage collection. - */ - private boolean pistonCorrect; - - /** - * Default constructor. - * - * @param otherShiftables All objects that should be shifted when this component's piston is. - * @param piston The piston that shifts. - * @param lowGearPistonPos The piston position for low gear. Defaults to Forward. - * @param startingGear The gear to start in. Can be null, and if it is, the starting gear is gotten from - * the piston's position. - * @param highGearSensors The reed switches that detect if the shifter pistons are in high gear. - * @param lowGearSensors The reed switches that detect if the shifter pistons are in low gear. - * @param motorsToDisable The motors that should be disabled while the piston is shifting. - * @param motorDisableTimer The timer for how long the piston can be considered shifting before we ignore the - * sensors and re-enable the motors. - * @param sensorCheckerPeriodSecs The period for the loop that checks the sensors and enables/disables the motors, - * in seconds. - */ - @JsonCreator - public ShiftWithSensorComponent(@NotNull @JsonProperty(required = true) List otherShiftables, - @NotNull @JsonProperty(required = true) MappedDoubleSolenoid piston, - @Nullable DoubleSolenoid.Value lowGearPistonPos, - @Nullable Shiftable.gear startingGear, - @NotNull @JsonProperty(required = true) MappedDigitalInput highGearSensors, - @NotNull @JsonProperty(required = true) MappedDigitalInput lowGearSensors, - @NotNull @JsonProperty(required = true) List motorsToDisable, - @NotNull @JsonProperty(required = true) BufferTimer motorDisableTimer, - @JsonProperty(required = true) double sensorCheckerPeriodSecs) { - super(otherShiftables, piston, lowGearPistonPos, startingGear); - this.highGearSensors = highGearSensors; - this.lowGearSensors = lowGearSensors; - this.motorsToDisable = motorsToDisable; - this.motorDisableTimer = motorDisableTimer; - this.sensorChecker = new Notifier(this::checkToReenable); - this.sensorChecker.startPeriodic(sensorCheckerPeriodSecs); - this.sensorCheckerPeriodSecs = sensorCheckerPeriodSecs; - } - - /** - * Check the sensors and enable/disable the motors accordingly. - */ - private void checkToReenable() { - //Check if the piston is in correct position by making sure each sensor is reading correctly. - pistonCorrect = true; - if (currentGear == Shiftable.gear.HIGH.getNumVal()) { - for (boolean sensor : highGearSensors.getStatus()) { - //The position is correct if all the sensors read true. - pistonCorrect = pistonCorrect && sensor; - } - } else { - for (boolean sensor : lowGearSensors.getStatus()) { - //The position is correct if all the sensors read true. - pistonCorrect = pistonCorrect && sensor; - } - } - - //If the pistons haven't been correct for more than a certain amount of time, we assume something went wrong and - // keep the motors enabled (essentially ignoring the sensors) so the robot can still drive. - if (motorDisableTimer.get(!pistonCorrect)) { - //We set pistonCorrect here because we're basically just overriding what the sensors say. - pistonCorrect = true; - for (SimpleMotor motor : motorsToDisable) { - motor.enable(); - } - sensorChecker.stop(); - } - //Otherwise, if the piston is wrong, disable all the motors. We do this constantly in case some other part of - //the code tries to re-enable them. - //TODO set up a lock system so no other part of the code can re-enable the motors. - else if (!pistonCorrect) { - for (SimpleMotor motor : motorsToDisable) { - motor.disable(); - } - } - //If the piston is correct, but wasn't the last time we checked, that means the piston has finished shifting and - //we should re-enable the motors. - else if (!pistonWasCorrect) { - for (SimpleMotor motor : motorsToDisable) { - motor.enable(); - } - sensorChecker.stop(); - } - - //Record the piston position so we can have rising/falling edge detection - pistonWasCorrect = pistonCorrect; - } - - /** - * Shifts to a given gear. - * - * @param gear The gear to shift to. - */ - @Override - public void shiftToGear(int gear) { - super.shiftToGear(gear); - sensorChecker.startPeriodic(sensorCheckerPeriodSecs); - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/DriveSubsystem.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/DriveSubsystem.java deleted file mode 100644 index 108c6db8..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/DriveSubsystem.java +++ /dev/null @@ -1,25 +0,0 @@ -package org.usfirst.frc.team449.robot.drive; - -import com.fasterxml.jackson.annotation.JsonTypeInfo; - -/** - * Any locomotion device for the robot. - */ -@JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class") -public interface DriveSubsystem { - - /** - * Completely stop the robot by setting the voltage to each side to be 0. - */ - void fullStop(); - - /** - * If this drive uses motors that can be disabled, enable them. - */ - void enableMotors(); - - /** - * Reset the position of the drive if it has encoders. - */ - void resetPosition(); -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/commands/EnableMotors.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/commands/EnableMotors.java deleted file mode 100644 index 9bd8c102..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/commands/EnableMotors.java +++ /dev/null @@ -1,75 +0,0 @@ -package org.usfirst.frc.team449.robot.drive.commands; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.drive.DriveSubsystem; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper; -import org.usfirst.frc.team449.robot.other.Logger; - -/** - * Enables the motors of the given drive subsystem. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class EnableMotors extends YamlCommandWrapper { - - /** - * The subsystem to execute this command on. - */ - @NotNull - private final DriveSubsystem subsystem; - - /** - * Default constructor - * - * @param subsystem The subsystem to execute this command on. - */ - @JsonCreator - public EnableMotors(@NotNull @JsonProperty(required = true) DriveSubsystem subsystem) { - this.subsystem = subsystem; - } - - /** - * Log when this command is initialized - */ - @Override - protected void initialize() { - Logger.addEvent("EnableMotors init.", this.getClass()); - } - - /** - * Do the state change. - */ - @Override - protected void execute() { - subsystem.enableMotors(); - } - - /** - * Finish immediately because this is a state-change command. - * - * @return true - */ - @Override - protected boolean isFinished() { - return true; - } - - /** - * Log when this command ends - */ - @Override - protected void end() { - Logger.addEvent("EnableMotors end.", this.getClass()); - } - - /** - * Log when this command is interrupted. - */ - @Override - protected void interrupted() { - Logger.addEvent("EnableMotors Interrupted!", this.getClass()); - } -} \ No newline at end of file diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/commands/ResetPosition.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/commands/ResetPosition.java deleted file mode 100644 index 26fe993c..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/commands/ResetPosition.java +++ /dev/null @@ -1,75 +0,0 @@ -package org.usfirst.frc.team449.robot.drive.commands; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.drive.DriveSubsystem; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper; -import org.usfirst.frc.team449.robot.other.Logger; - -/** - * Resets the positions of the motors of the given drive subsystem. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class ResetPosition extends YamlCommandWrapper { - - /** - * The subsystem to execute this command on. - */ - @NotNull - private final DriveSubsystem subsystem; - - /** - * Default constructor - * - * @param subsystem The subsystem to execute this command on. - */ - @JsonCreator - public ResetPosition(@NotNull @JsonProperty(required = true) DriveSubsystem subsystem) { - this.subsystem = subsystem; - } - - /** - * Log when this command is initialized - */ - @Override - protected void initialize() { - Logger.addEvent("EnableMotors init.", this.getClass()); - } - - /** - * Do the state change. - */ - @Override - protected void execute() { - subsystem.resetPosition(); - } - - /** - * Finish immediately because this is a state-change command. - * - * @return true - */ - @Override - protected boolean isFinished() { - return true; - } - - /** - * Log when this command ends - */ - @Override - protected void end() { - Logger.addEvent("EnableMotors end.", this.getClass()); - } - - /** - * Log when this command is interrupted. - */ - @Override - protected void interrupted() { - Logger.addEvent("EnableMotors Interrupted!", this.getClass()); - } -} \ No newline at end of file diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.java deleted file mode 100644 index 557d711c..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.java +++ /dev/null @@ -1,21 +0,0 @@ -package org.usfirst.frc.team449.robot.drive.shifting; - -import com.fasterxml.jackson.annotation.JsonTypeInfo; -import org.usfirst.frc.team449.robot.generalInterfaces.shiftable.Shiftable; - -/** - * A drive that has a high gear and a low gear and can switch between them. - */ -@JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class") -public interface DriveShiftable extends Shiftable { - - /** - * @return true if currently overriding autoshifting, false otherwise. - */ - boolean getOverrideAutoshift(); - - /** - * @param override Whether or not to override autoshifting. - */ - void setOverrideAutoshift(boolean override); -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/shifting/commands/OverrideAutoShift.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/shifting/commands/OverrideAutoShift.java deleted file mode 100644 index 898e9185..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/shifting/commands/OverrideAutoShift.java +++ /dev/null @@ -1,85 +0,0 @@ -package org.usfirst.frc.team449.robot.drive.shifting.commands; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.drive.shifting.DriveShiftable; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper; -import org.usfirst.frc.team449.robot.other.Logger; - -/** - * Override or unoverride whether we're autoshifting. Used to stay in low gear for pushing matches and more! - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class OverrideAutoShift extends YamlCommandWrapper { - - /** - * Whether or not to override. - */ - private final boolean override; - - /** - * The drive subsystem to execute this command on. - */ - @NotNull - private final DriveShiftable subsystem; - - /** - * Default constructor - * - * @param drive The drive subsystem to execute this command on. - * @param override Whether or not to override autoshifting. - */ - @JsonCreator - public OverrideAutoShift(@NotNull @JsonProperty(required = true) DriveShiftable drive, - @JsonProperty(required = true) boolean override) { - subsystem = drive; - this.override = override; - } - - /** - * Log on initialization - */ - @Override - protected void initialize() { - Logger.addEvent("OverrideAutoShift init", this.getClass()); - } - - /** - * Override autoshifting. - */ - @Override - protected void execute() { - //Set whether or not we're overriding - subsystem.setOverrideAutoshift(override); - } - - /** - * Finish immediately because this is a state-change command. - * - * @return true - */ - @Override - protected boolean isFinished() { - return true; - } - - /** - * Log when this command ends. - */ - @Override - protected void end() { - Logger.addEvent("OverrideAutoShift end", this.getClass()); - } - - /** - * Log when interrupted - */ - @Override - protected void interrupted() { - Logger.addEvent("OverrideAutoShift Interrupted!", this.getClass()); - } -} - diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/shifting/commands/ToggleOverrideAutoShift.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/shifting/commands/ToggleOverrideAutoShift.java deleted file mode 100644 index 9a5098e1..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/shifting/commands/ToggleOverrideAutoShift.java +++ /dev/null @@ -1,77 +0,0 @@ -package org.usfirst.frc.team449.robot.drive.shifting.commands; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.drive.shifting.DriveShiftable; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper; -import org.usfirst.frc.team449.robot.other.Logger; - -/** - * Override or unoverride whether we're autoshifting. Used to stay in low gear for pushing matches and more! - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class ToggleOverrideAutoShift extends YamlCommandWrapper { - - /** - * The drive subsystem to execute this command on. - */ - @NotNull - private final DriveShiftable subsystem; - - /** - * Default constructor - * - * @param drive The drive subsystem to execute this command on. - */ - @JsonCreator - public ToggleOverrideAutoShift(@NotNull @JsonProperty(required = true) DriveShiftable drive) { - subsystem = drive; - } - - /** - * Log on initialization - */ - @Override - protected void initialize() { - Logger.addEvent("OverrideAutoShift init", this.getClass()); - } - - /** - * Toggle overriding autoshifting. - */ - @Override - protected void execute() { - //Set whether or not we're overriding - subsystem.setOverrideAutoshift(!subsystem.getOverrideAutoshift()); - } - - /** - * Finish immediately because this is a state-change command. - * - * @return true - */ - @Override - protected boolean isFinished() { - return true; - } - - /** - * Log when this command ends. - */ - @Override - protected void end() { - Logger.addEvent("OverrideAutoShift end", this.getClass()); - } - - /** - * Log when interrupted - */ - @Override - protected void interrupted() { - Logger.addEvent("OverrideAutoShift Interrupted!", this.getClass()); - } -} - diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonCluster.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonCluster.java deleted file mode 100644 index 0f17522c..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonCluster.java +++ /dev/null @@ -1,477 +0,0 @@ -package org.usfirst.frc.team449.robot.drive.unidirectional; - -import com.fasterxml.jackson.annotation.*; -import edu.wpi.first.wpilibj.command.Command; -import org.jetbrains.annotations.Contract; -import org.jetbrains.annotations.NotNull; -import org.jetbrains.annotations.Nullable; -import org.usfirst.frc.team449.robot.generalInterfaces.loggable.Loggable; -import org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon; -import org.usfirst.frc.team449.robot.jacksonWrappers.MappedAHRS; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem; -import org.usfirst.frc.team449.robot.other.Logger; -import org.usfirst.frc.team449.robot.other.MotionProfileData; -import org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.SubsystemAHRS; -import org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.SubsystemMPTwoSides; - - -/** - * A drive with a cluster of any number of CANTalonSRX controlled motors on each side. - */ -@JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class") -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class DriveTalonCluster extends YamlSubsystem implements SubsystemAHRS, DriveUnidirectional, Loggable, SubsystemMPTwoSides { - - /** - * Joystick scaling constant. Joystick output is scaled by this before being handed to the motors. - */ - protected final double VEL_SCALE; - - /** - * Right master Talon - */ - @NotNull - protected final FPSTalon rightMaster; - - /** - * Left master Talon - */ - @NotNull - protected final FPSTalon leftMaster; - - /** - * The NavX gyro - */ - @NotNull - private final MappedAHRS ahrs; - - /** - * Whether or not to use the NavX for driving straight - */ - private boolean overrideGyro; - - /** - * Cached values for various sensor readings. - */ - @Nullable - private Double cachedLeftVel, cachedRightVel, cachedLeftPos, cachedRightPos; - private double cachedHeading, cachedAngularDisplacement, cachedAngularVel; - - /** - * Default constructor. - * - * @param leftMaster The master talon on the left side of the drive. - * @param rightMaster The master talon on the right side of the drive. - * @param ahrs The NavX gyro for calculating this drive's heading and angular velocity. - * @param VelScale The amount to scale the output to the motor by. Defaults to 1. - */ - @JsonCreator - public DriveTalonCluster(@NotNull @JsonProperty(required = true) FPSTalon leftMaster, - @NotNull @JsonProperty(required = true) FPSTalon rightMaster, - @NotNull @JsonProperty(required = true) MappedAHRS ahrs, - @Nullable Double VelScale) { - super(); - //Initialize stuff - this.VEL_SCALE = VelScale != null ? VelScale : 1.; - this.rightMaster = rightMaster; - this.leftMaster = leftMaster; - this.ahrs = ahrs; - this.overrideGyro = false; - } - - /** - * Set the output of each side of the drive. - * - * @param left The output for the left side of the drive, from [-1, 1] - * @param right the output for the right side of the drive, from [-1, 1] - */ - @Override - public void setOutput(double left, double right) { - //scale by the max speed - leftMaster.setVelocity(VEL_SCALE * left); - rightMaster.setVelocity(VEL_SCALE * right); - } - - /** - * Get the velocity of the left side of the drive. - * - * @return The signed velocity in feet per second, or null if the drive doesn't have encoders. - */ - @Override - @Nullable - public Double getLeftVel() { - return leftMaster.getVelocity(); - } - - /** - * Get the velocity of the right side of the drive. - * - * @return The signed velocity in feet per second, or null if the drive doesn't have encoders. - */ - @Override - @Nullable - public Double getRightVel() { - return rightMaster.getVelocity(); - } - - /** - * Get the position of the left side of the drive. - * - * @return The signed position in feet, or null if the drive doesn't have encoders. - */ - @Nullable - @Override - public Double getLeftPos() { - return leftMaster.getPositionFeet(); - } - - /** - * Get the position of the right side of the drive. - * - * @return The signed position in feet, or null if the drive doesn't have encoders. - */ - @Nullable - @Override - public Double getRightPos() { - return rightMaster.getPositionFeet(); - } - - /** - * Get the cached velocity of the left side of the drive. - * - * @return The signed velocity in feet per second, or null if the drive doesn't have encoders. - */ - @Nullable - @Override - public Double getLeftVelCached() { - return cachedLeftVel; - } - - /** - * Get the cached velocity of the right side of the drive. - * - * @return The signed velocity in feet per second, or null if the drive doesn't have encoders. - */ - @Nullable - @Override - public Double getRightVelCached() { - return cachedRightVel; - } - - /** - * Get the cached position of the left side of the drive. - * - * @return The signed position in feet, or null if the drive doesn't have encoders. - */ - @Nullable - @Override - public Double getLeftPosCached() { - return cachedLeftPos; - } - - /** - * Get the cached position of the right side of the drive. - * - * @return The signed position in feet, or null if the drive doesn't have encoders. - */ - @Nullable - @Override - public Double getRightPosCached() { - return cachedRightPos; - } - - /** - * Completely stop the robot by setting the voltage to each side to be 0. - */ - @Override - public void fullStop() { - leftMaster.setPercentVoltage(0); - rightMaster.setPercentVoltage(0); - } - - /** - * If this drive uses motors that can be disabled, enable them. - */ - @Override - public void enableMotors() { - leftMaster.enable(); - rightMaster.enable(); - } - - /** - * Stuff run on first enable. - */ - @Override - protected void initDefaultCommand() { - //Do nothing, the default command gets set with setDefaultCommandManual - } - - /** - * Set the default command. Done here instead of in initDefaultCommand so we don't have a defaultCommand during - * auto. - * - * @param defaultCommand The command to have run by default. Must require this subsystem. - */ - public void setDefaultCommandManual(Command defaultCommand) { - setDefaultCommand(defaultCommand); - } - - /** - * Get the robot's heading using the AHRS - * - * @return robot heading, in degrees, on [-180, 180] - */ - @Override - public double getHeading() { - return ahrs.getHeading(); - } - - /** - * Set the robot's heading. - * - * @param heading The heading to set to, in degrees on [-180, 180]. - */ - @Override - public void setHeading(double heading) { - ahrs.setHeading(heading); - } - - /** - * Get the robot's cached heading. - * - * @return robot heading, in degrees, on [-180, 180]. - */ - @Override - public double getHeadingCached() { - return cachedHeading; - } - - /** - * Get the robot's angular velocity. - * - * @return Angular velocity in degrees/sec - */ - @Override - public double getAngularVel() { - return ahrs.getAngularVelocity(); - } - - /** - * Get the robot's cached angular velocity. - * - * @return Angular velocity in degrees/sec - */ - @Override - public double getAngularVelCached() { - return cachedAngularVel; - } - - /** - * Get the robot's angular displacement since being turned on. - * - * @return Angular displacement in degrees. - */ - @Override - public double getAngularDisplacement() { - return ahrs.getAngularDisplacement(); - } - - /** - * Get the robot's cached angular displacement since being turned on. - * - * @return Angular displacement in degrees. - */ - @Override - public double getAngularDisplacementCached() { - return cachedAngularDisplacement; - } - - /** - * @return true if the NavX is currently overriden, false otherwise. - */ - @Override - public boolean getOverrideGyro() { - return overrideGyro; - } - - /** - * @param override true to override the NavX, false to un-override it. - */ - @Override - public void setOverrideGyro(boolean override) { - overrideGyro = override; - } - - /** - * Get the headers for the data this subsystem logs every loop. - * - * @return An N-length array of String labels for data, where N is the length of the Object[] returned by getData(). - */ - @Override - @NotNull - @Contract(pure = true) - public String[] getHeader() { - return new String[]{"left_vel", - "right_vel", - "left_setpoint", - "right_setpoint", - "left_current", - "right_current", - "left_voltage", - "right_voltage", - "left_pos", - "right_pos", - "left_error", - "right_error", - "heading", - "9_axis_heading", - "rotational_velocity", - "angular_displacement", - "x_accel", - "y_accel"}; - } - - /** - * Get the data this subsystem logs every loop. - * - * @return An N-length array of Objects, where N is the number of labels given by getHeader. - */ - @Override - @NotNull - public Object[] getData() { - return new Object[]{cachedLeftVel, - cachedRightVel, - leftMaster.getSetpoint(), - rightMaster.getSetpoint(), - leftMaster.getOutputCurrent(), - rightMaster.getOutputCurrent(), - leftMaster.getOutputVoltage(), - rightMaster.getOutputVoltage(), - cachedLeftPos, - cachedRightPos, - leftMaster.getError(), - rightMaster.getError(), - cachedHeading, - ahrs.get9AxisHeading(), - cachedAngularVel, - cachedAngularDisplacement, - ahrs.getXAccel(), - ahrs.getYAccel()}; - } - - /** - * Get the name of this object. - * - * @return A string that will identify this object in the log file. - */ - @Override - @NotNull - @Contract(pure = true) - public String getName() { - return "Drive"; - } - - /** - * Loads a profile into the MP buffer. - * - * @param profile The profile to be loaded. - */ - @Override - public void loadMotionProfile(@NotNull MotionProfileData profile) { - leftMaster.loadProfile(profile); - rightMaster.loadProfile(profile); - } - - /** - * Loads given profiles into the left and right sides of the drive. - * - * @param left The profile to load into the left side. - * @param right The profile to load into the right side. - */ - @Override - public void loadMotionProfile(@NotNull MotionProfileData left, @NotNull MotionProfileData right) { - Logger.addEvent("Loading left", this.getClass()); - leftMaster.loadProfile(left); - Logger.addEvent("Loading right", this.getClass()); - rightMaster.loadProfile(right); - } - - /** - * Start running the profile that's currently loaded into the MP buffer. - */ - @Override - public void startRunningLoadedProfile() { - leftMaster.startRunningMP(); - rightMaster.startRunningMP(); - } - - /** - * Get whether this subsystem has finished running the profile loaded in it. - * - * @return true if there's no profile loaded and no profile running, false otherwise. - */ - @Override - public boolean profileFinished() { - return leftMaster.MPIsFinished() && rightMaster.MPIsFinished(); - } - - /** - * Disable the motors. - */ - @Override - public void disable() { - leftMaster.disable(); - rightMaster.disable(); - } - - /** - * Hold the current position. - */ - @Override - public void holdPosition() { - leftMaster.holdPositionMP(); - rightMaster.holdPositionMP(); - } - - /** - * Get whether the subsystem is ready to run the loaded profile. - * - * @return true if a profile is loaded and ready to run, false otherwise. - */ - @Override - public boolean readyToRunProfile() { - return leftMaster.readyForMP() && rightMaster.readyForMP(); - } - - /** - * Stops any MP-related threads currently running. Normally called at the start of teleop. - */ - @Override - public void stopMPProcesses() { - leftMaster.stopMPProcesses(); - rightMaster.stopMPProcesses(); - } - - /** - * Reset the position of the drive if it has encoders. - */ - @Override - public void resetPosition() { - leftMaster.resetPosition(); - rightMaster.resetPosition(); - } - - /** - * Updates all cached values with current ones. - */ - @Override - public void update() { - cachedLeftVel = getLeftVel(); - cachedLeftPos = getLeftPos(); - cachedRightVel = getRightVel(); - cachedRightPos = getRightPos(); - cachedHeading = getHeading(); - cachedAngularDisplacement = getAngularDisplacement(); - cachedAngularVel = getAngularVel(); - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonClusterShiftable.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonClusterShiftable.java deleted file mode 100644 index 12276a7a..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonClusterShiftable.java +++ /dev/null @@ -1,110 +0,0 @@ -package org.usfirst.frc.team449.robot.drive.unidirectional; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.jetbrains.annotations.Nullable; -import org.usfirst.frc.team449.robot.components.ShiftComponent; -import org.usfirst.frc.team449.robot.drive.shifting.DriveShiftable; -import org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon; -import org.usfirst.frc.team449.robot.jacksonWrappers.MappedAHRS; - - -/** - * A drive with a cluster of any number of CANTalonSRX controlled motors on each side and a high and low gear. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class DriveTalonClusterShiftable extends DriveTalonCluster implements DriveShiftable { - - /** - * The component that controls shifting. - */ - @NotNull - private final ShiftComponent shiftComponent; - - /** - * Whether not to override auto shifting - */ - private boolean overrideAutoshift; - - /** - * Default constructor. - * - * @param leftMaster The master talon on the left side of the drive. - * @param rightMaster The master talon on the right side of the drive. - * @param ahrs The NavX on this drive. - * @param VelScale The amount to scale the output to the motor by. Defaults to 1. - * @param shiftComponent The component that controls shifting. - * @param startingOverrideAutoshift Whether to start with autoshift disabled. Defaults to false. - */ - @JsonCreator - public DriveTalonClusterShiftable(@NotNull @JsonProperty(required = true) FPSTalon leftMaster, - @NotNull @JsonProperty(required = true) FPSTalon rightMaster, - @NotNull @JsonProperty(required = true) MappedAHRS ahrs, - @Nullable Double VelScale, - @NotNull @JsonProperty(required = true) ShiftComponent shiftComponent, - boolean startingOverrideAutoshift) { - super(leftMaster, rightMaster, ahrs, VelScale); - //Initialize stuff - this.shiftComponent = shiftComponent; - - // Initialize shifting constants, assuming robot is stationary. - overrideAutoshift = startingOverrideAutoshift; - } - - /** - * @return true if currently overriding autoshifting, false otherwise. - */ - @Override - public boolean getOverrideAutoshift() { - return overrideAutoshift; - } - - /** - * @param override Whether or not to override autoshifting. - */ - @Override - public void setOverrideAutoshift(boolean override) { - this.overrideAutoshift = override; - } - - /** - * Set the output of each side of the drive. - * - * @param left The output for the left side of the drive, from [-1, 1] - * @param right the output for the right side of the drive, from [-1, 1] - */ - @Override - public void setOutput(double left, double right) { - //If we're not shifting or using PID, or we're just turning in place, scale by the max speed in the current - // gear - if (overrideAutoshift) { - super.setOutput(left, right); - } - //If we are shifting, scale by the high gear max speed to make acceleration smoother and faster. - else { - leftMaster.setGearScaledVelocity(left, gear.HIGH); - rightMaster.setGearScaledVelocity(right, gear.HIGH); - } - } - - /** - * @return The gear this subsystem is currently in. - */ - @Override - public int getGear() { - return shiftComponent.getCurrentGear(); - } - - /** - * Shift to a specific gear. - * - * @param gear Which gear to shift to. - */ - @Override - public void setGear(int gear) { - shiftComponent.shiftToGear(gear); - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.java deleted file mode 100644 index 495a355d..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectional.java +++ /dev/null @@ -1,86 +0,0 @@ -package org.usfirst.frc.team449.robot.drive.unidirectional; - -import com.fasterxml.jackson.annotation.JsonTypeInfo; -import org.jetbrains.annotations.Nullable; -import org.usfirst.frc.team449.robot.drive.DriveSubsystem; -import org.usfirst.frc.team449.robot.generalInterfaces.updatable.Updatable; - -/** - * A drive with a left side and a right side. "Unidirectional" because it can only move forwards or backwards, not - * sideways. - */ -@JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class") -public interface DriveUnidirectional extends DriveSubsystem, Updatable { - - /** - * Set the output of each side of the drive. - * - * @param left The output for the left side of the drive, from [-1, 1] - * @param right the output for the right side of the drive, from [-1, 1] - */ - void setOutput(double left, double right); - - /** - * Get the velocity of the left side of the drive. - * - * @return The signed velocity in feet per second, or null if the drive doesn't have encoders. - */ - @Nullable - Double getLeftVel(); - - /** - * Get the velocity of the right side of the drive. - * - * @return The signed velocity in feet per second, or null if the drive doesn't have encoders. - */ - @Nullable - Double getRightVel(); - - /** - * Get the position of the left side of the drive. - * - * @return The signed position in feet, or null if the drive doesn't have encoders. - */ - @Nullable - Double getLeftPos(); - - /** - * Get the position of the right side of the drive. - * - * @return The signed position in feet, or null if the drive doesn't have encoders. - */ - @Nullable - Double getRightPos(); - - /** - * Get the cached velocity of the left side of the drive. - * - * @return The signed velocity in feet per second, or null if the drive doesn't have encoders. - */ - @Nullable - Double getLeftVelCached(); - - /** - * Get the cached velocity of the right side of the drive. - * - * @return The signed velocity in feet per second, or null if the drive doesn't have encoders. - */ - @Nullable - Double getRightVelCached(); - - /** - * Get the cached position of the left side of the drive. - * - * @return The signed position in feet, or null if the drive doesn't have encoders. - */ - @Nullable - Double getLeftPosCached(); - - /** - * Get the cached position of the right side of the drive. - * - * @return The signed position in feet, or null if the drive doesn't have encoders. - */ - @Nullable - Double getRightPosCached(); -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectionalSimple.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectionalSimple.java deleted file mode 100644 index b1d21ace..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectionalSimple.java +++ /dev/null @@ -1,186 +0,0 @@ -package org.usfirst.frc.team449.robot.drive.unidirectional; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.jetbrains.annotations.Nullable; -import org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor.SimpleMotor; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem; - -/** - * A generic example of a subsystem. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class DriveUnidirectionalSimple extends YamlSubsystem implements DriveUnidirectional { - - /** - * The motor for the left side of the drive. - */ - @NotNull - private final SimpleMotor leftMotor; - - /** - * The motor for the right side of the drive. - */ - @NotNull - private final SimpleMotor rightMotor; - - /** - * Default constructor - * - * @param leftMotor The motor for the left side of the drive. - * @param rightMotor The motor for the right side of the drive. - */ - @JsonCreator - public DriveUnidirectionalSimple(@NotNull @JsonProperty(required = true) SimpleMotor leftMotor, - @NotNull @JsonProperty(required = true) SimpleMotor rightMotor) { - this.leftMotor = leftMotor; - this.rightMotor = rightMotor; - } - - /** - * Initialize the default command for a subsystem. By default subsystems have no default command, but if they do, - * the default command is set with this method. It is called on all Subsystems by CommandBase in the users program - * after all the Subsystems are created. - */ - @Override - protected void initDefaultCommand() { - //Do nothing! - } - - /** - * Set the output of each side of the drive. - * - * @param left The output for the left side of the drive, from [-1, 1] - * @param right the output for the right side of the drive, from [-1, 1] - */ - @Override - public void setOutput(double left, double right) { - leftMotor.setVelocity(left); - rightMotor.setVelocity(right); - } - - /** - * Get the velocity of the left side of the drive. - * - * @return The signed velocity in feet per second, or null if the drive doesn't have encoders. - */ - @Nullable - @Override - public Double getLeftVel() { - return null; - } - - /** - * Get the velocity of the right side of the drive. - * - * @return The signed velocity in feet per second, or null if the drive doesn't have encoders. - */ - @Nullable - @Override - public Double getRightVel() { - return null; - } - - /** - * Get the position of the left side of the drive. - * - * @return The signed position in feet, or null if the drive doesn't have encoders. - */ - @Nullable - @Override - public Double getLeftPos() { - return null; - } - - /** - * Get the position of the right side of the drive. - * - * @return The signed position in feet, or null if the drive doesn't have encoders. - */ - @Nullable - @Override - public Double getRightPos() { - return null; - } - - /** - * Get the cached velocity of the left side of the drive. - * - * @return The signed velocity in feet per second, or null if the drive doesn't have encoders. - */ - @Nullable - @Override - public Double getLeftVelCached() { - return null; - } - - /** - * Get the cached velocity of the right side of the drive. - * - * @return The signed velocity in feet per second, or null if the drive doesn't have encoders. - */ - @Nullable - @Override - public Double getRightVelCached() { - return null; - } - - /** - * Get the cached position of the left side of the drive. - * - * @return The signed position in feet, or null if the drive doesn't have encoders. - */ - @Nullable - @Override - public Double getLeftPosCached() { - return null; - } - - /** - * Get the cached position of the right side of the drive. - * - * @return The signed position in feet, or null if the drive doesn't have encoders. - */ - @Nullable - @Override - public Double getRightPosCached() { - return null; - } - - /** - * Completely stop the robot by setting the voltage to each side to be 0. - */ - @Override - public void fullStop() { - leftMotor.setVelocity(0); - rightMotor.setVelocity(0); - } - - /** - * If this drive uses motors that can be disabled, enable them. - */ - @Override - public void enableMotors() { - leftMotor.enable(); - rightMotor.enable(); - } - - /** - * Reset the position of the drive if it has encoders. - */ - @Override - public void resetPosition() { - //No encoders, do nothing - } - - /** - * Updates all cached values with current ones. - */ - @Override - public void update() { - //Do nothing - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/commands/DetermineNominalVoltage.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/commands/DetermineNominalVoltage.java deleted file mode 100644 index 1a0bdb6e..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/commands/DetermineNominalVoltage.java +++ /dev/null @@ -1,99 +0,0 @@ -package org.usfirst.frc.team449.robot.drive.unidirectional.commands; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectional; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem; -import org.usfirst.frc.team449.robot.other.Logger; - -/** - * Run the motors until they move, slowly increasing the voltage up from 0. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class DetermineNominalVoltage extends YamlCommandWrapper { - - /** - * The drive subsystem to execute this command on. - */ - @NotNull - private final T subsystem; - /** - * The minimum speed, in RPS, at which the drive is considered to be moving. - */ - private final double minSpeed; - /** - * The current percent of max output commanded, on [0, 1]. - */ - private double percentCommanded; - - /** - * Default constructor - * - * @param subsystem The subsystem to execute this command on - * @param minSpeed The minimum speed, in RPS, at which the drive is considered to be moving. - */ - @JsonCreator - public DetermineNominalVoltage(@NotNull @JsonProperty(required = true) T subsystem, - @JsonProperty(required = true) double minSpeed) { - //Initialize stuff - this.subsystem = subsystem; - this.minSpeed = minSpeed; - requires(subsystem); - } - - /** - * Log initialization - */ - @Override - protected void initialize() { - percentCommanded = 0; - //Reset drive velocity (for safety reasons) - subsystem.fullStop(); - Logger.addEvent("DetermineNominalVoltage init", this.getClass()); - } - - /** - * Send output to motors - */ - @Override - protected void execute() { - //Adjust it by 0.01 per second, so 0.01 * 20/1000, which is 0.0002 - percentCommanded += 0.0002; - //Set the velocity - subsystem.setOutput(percentCommanded, percentCommanded); - } - - /** - * Exit if the motors are moving. - * - * @return True if the motors are moving, false otherwise. - */ - @Override - protected boolean isFinished() { - return Math.max(Math.abs(subsystem.getLeftVelCached()), Math.abs(subsystem.getRightVelCached())) >= minSpeed; - } - - /** - * Stop the drive and log when the command ends. - */ - @Override - protected void end() { - //Brake on exit. Yes this should be setOutput because often we'll be testing how well the PID loop handles a full stop. - subsystem.fullStop(); - Logger.addEvent("DetermineNominalVoltage end.", this.getClass()); - } - - /** - * Log and stop the drive when the command is interrupted. - */ - @Override - protected void interrupted() { - Logger.addEvent("DetermineNominalVoltage Interrupted! Stopping the robot.", this.getClass()); - //Brake if we're interrupted - subsystem.fullStop(); - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/commands/DetermineVelVsVoltage.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/commands/DetermineVelVsVoltage.java deleted file mode 100644 index 63c4d69d..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/commands/DetermineVelVsVoltage.java +++ /dev/null @@ -1,197 +0,0 @@ -package org.usfirst.frc.team449.robot.drive.unidirectional.commands; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectional; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem; -import org.usfirst.frc.team449.robot.other.Clock; -import org.usfirst.frc.team449.robot.other.Logger; - -/** - * A command to run the robot at a range of voltages and record the velocity. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class DetermineVelVsVoltage extends YamlCommandWrapper { - - /** - * The subsystem to execute this command on. - */ - @NotNull - private final T subsystem; - - /** - * How far, in feet, to drive for each trial. - */ - private final double distanceToDrive; - - /** - * How many trials to do for each voltage. - */ - private final int numTrials; - - /** - * A list of all the voltages to be tested, from (0, 1]. - */ - private final double[] voltagePercentsToTest; - - /** - * The maximum measured speed, in feet/sec, for the current trial. - */ - private double maxSpeedForTrial; - - /** - * The time the maximum speed for this trial was measured at. - */ - private long timeMaxMeasuredAt; - - /** - * The index, in the list of voltages to test, of the voltage currently being tested. - */ - private int voltageIndex; - - /** - * How many trials are left for the current voltage. - */ - private int trialsRemaining; - - /** - * The current sign of the output. Alternates every trial so we just drive back and forth. - */ - private int sign; - - /** - * The average speed of the two sides. Field to avoid garbage collection. - */ - private double avgSpeed; - - /** - * Whether the distance for this trial has been driven. Field to avoid garbage collection. - */ - private boolean drivenDistance; - - /** - * Default constructor. - * - * @param subsystem The subsystem to execute this command on. - * @param distanceToDrive How far, in feet, to drive for each trial. - * @param numTrials How many trials to do for each voltage. - * @param voltagesToTest A list of all the voltages to be tested, from (0, 12]. - */ - @JsonCreator - public DetermineVelVsVoltage(@NotNull @JsonProperty(required = true) T subsystem, - @JsonProperty(required = true) double distanceToDrive, - @JsonProperty(required = true) int numTrials, - @JsonProperty(required = true) double[] voltagesToTest) { - this.subsystem = subsystem; - this.distanceToDrive = distanceToDrive; - this.numTrials = numTrials; - - //Convert from volts to percentages because CANTalons. - this.voltagePercentsToTest = new double[voltagesToTest.length]; - for (int i = 0; i < voltagesToTest.length; i++) { - this.voltagePercentsToTest[i] = voltagesToTest[i] / 12.; - } - } - - /** - * Reset the encoder position and variables. - */ - @Override - protected void initialize() { - subsystem.resetPosition(); - sign = 1; - voltageIndex = 0; - maxSpeedForTrial = 0; - timeMaxMeasuredAt = 0; - trialsRemaining = numTrials; - subsystem.setOutput(voltagePercentsToTest[voltageIndex], voltagePercentsToTest[voltageIndex]); - SmartDashboard.putNumber("Desired voltage", voltagePercentsToTest[voltageIndex] * 12); - } - - /** - * Update the max speed for this trial and check if this trial is finished. - */ - @Override - protected void execute() { - //Multiply each by sign so that only the movement in the correct direction is counted and leftover momentum from - // the previous trial isn't. - - avgSpeed = (sign * subsystem.getLeftVelCached() + sign * subsystem.getRightVelCached()) / 2.; - - if (avgSpeed > maxSpeedForTrial) { - maxSpeedForTrial = avgSpeed; - timeMaxMeasuredAt = Clock.currentTimeMillis(); - } - - SmartDashboard.putNumber("Average Distance", (subsystem.getLeftPosCached() + subsystem.getRightPosCached()) / 2.); - SmartDashboard.putNumber("Average Speed", avgSpeed); - - //Check if we've driven past the given distance - if (sign == -1) { - drivenDistance = (subsystem.getLeftPosCached() + subsystem.getRightPosCached()) / 2. <= 0; - } else { - drivenDistance = (subsystem.getLeftPosCached() + subsystem.getRightPosCached()) / 2. >= distanceToDrive; - } - - //If we've driven past, log the max speed and reset the variables. - if (drivenDistance) { - //Log - Logger.addEvent(Long.toString(timeMaxMeasuredAt), this.getClass()); - - //Reset - maxSpeedForTrial = 0; - - //Switch direction - sign *= -1; - - //Finished a trial - trialsRemaining--; - - //Go onto the next voltage if we've done enough trials - if (trialsRemaining <= 0) { - trialsRemaining = numTrials; - voltageIndex++; - - //Exit if we've done all trials for all voltages - if (voltageIndex >= voltagePercentsToTest.length) { - return; - } - } - - //Set the output to the correct voltage and sign - subsystem.setOutput(sign * voltagePercentsToTest[voltageIndex], sign * voltagePercentsToTest[voltageIndex]); - SmartDashboard.putNumber("Desired voltage", voltagePercentsToTest[voltageIndex] * 12.); - } - } - - /** - * Finish when all trials have been run. - * - * @return true if all trials have be run, false otherwise. - */ - @Override - protected boolean isFinished() { - return voltageIndex >= voltagePercentsToTest.length; - } - - /** - * Do nothing, no logging because we want to be able to use R's subset method to find the max speeds. - */ - @Override - protected void end() { - //Nothing! - } - - /** - * Log when interrupted. - */ - @Override - protected void interrupted() { - Logger.addEvent("DetermineVelVsVoltage Interrupted!", this.getClass()); - } -} \ No newline at end of file diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/commands/DriveAtSpeed.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/commands/DriveAtSpeed.java deleted file mode 100644 index f546a021..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/commands/DriveAtSpeed.java +++ /dev/null @@ -1,110 +0,0 @@ -package org.usfirst.frc.team449.robot.drive.unidirectional.commands; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectional; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem; -import org.usfirst.frc.team449.robot.other.Clock; -import org.usfirst.frc.team449.robot.other.Logger; - -/** - * Go at a certain velocity for a set number of seconds - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class DriveAtSpeed extends YamlCommandWrapper { - - /** - * Speed to go at - */ - private final double velocity; - - /** - * How long to run for - */ - private final double seconds; - - /** - * The drive subsystem to execute this command on. - */ - @NotNull - private final T subsystem; - - /** - * When this command was initialized. - */ - private long startTime; - - /** - * Default constructor - * - * @param subsystem The drive to execute this command on - * @param velocity How fast to go, in RPS - * @param seconds How long to drive for. - */ - @JsonCreator - public DriveAtSpeed(@NotNull @JsonProperty(required = true) T subsystem, - @JsonProperty(required = true) double velocity, - @JsonProperty(required = true) double seconds) { - //Initialize stuff - this.subsystem = subsystem; - this.velocity = velocity; - this.seconds = seconds; - requires(subsystem); - Logger.addEvent("Drive Robot bueno", this.getClass()); - } - - /** - * Set up start time. - */ - @Override - protected void initialize() { - //Set up start time - startTime = Clock.currentTimeMillis(); - //Reset drive velocity (for safety reasons) - subsystem.fullStop(); - Logger.addEvent("DriveAtSpeed init", this.getClass()); - } - - /** - * Send output to motors and log data - */ - @Override - protected void execute() { - //Set the velocity - subsystem.setOutput(velocity, velocity); - } - - /** - * Exit after the command's been running for long enough - * - * @return True if timeout has been reached, false otherwise - */ - @Override - protected boolean isFinished() { - return (Clock.currentTimeMillis() - startTime) * 1e-3 > seconds; - } - - /** - * Stop the drive when the command ends. - */ - @Override - protected void end() { - //Brake on exit. Yes this should be setOutput because often we'll be testing how well the PID loop handles a full stop. - subsystem.setOutput(0, 0); - Logger.addEvent("DriveAtSpeed end.", this.getClass()); - } - - /** - * Log and stop the drive when the command is interrupted. - */ - @Override - protected void interrupted() { - Logger.addEvent("DriveAtSpeed Interrupted! Stopping the robot.", this.getClass()); - //Brake if we're interrupted - subsystem.fullStop(); - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/commands/DriveStraight.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/commands/DriveStraight.java deleted file mode 100644 index 8cfa0928..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/commands/DriveStraight.java +++ /dev/null @@ -1,93 +0,0 @@ -package org.usfirst.frc.team449.robot.drive.unidirectional.commands; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectional; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem; -import org.usfirst.frc.team449.robot.oi.unidirectional.tank.OITank; -import org.usfirst.frc.team449.robot.other.Logger; - -/** - * Drives straight when using a tank drive. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class DriveStraight extends YamlCommandWrapper { - - /** - * The oi that this command gets input from. - */ - @NotNull - private final OITank oi; - - /** - * Whether to use the left or right joystick for the forward velocity. - */ - private final boolean useLeft; - - /** - * The drive subsystem to execute this command on. - */ - @NotNull - private final T subsystem; - - /** - * Drive straight without NavX stabilization. - * - * @param subsystem The drive subsystem to execute this command on. - * @param oi The oi to get input from. - * @param useLeft true to use the left stick to drive straight, false to use the right. - */ - @JsonCreator - public DriveStraight(@NotNull @JsonProperty(required = true) T subsystem, - @NotNull @JsonProperty(required = true) OITank oi, - @JsonProperty(required = true) boolean useLeft) { - this.subsystem = subsystem; - this.oi = oi; - this.useLeft = useLeft; - requires(subsystem); - Logger.addEvent("Drive Robot bueno", this.getClass()); - } - - /** - * Stop the drive for safety reasons. - */ - @Override - protected void initialize() { - subsystem.fullStop(); - } - - /** - * Give output to the motors based on the joystick input. - */ - @Override - protected void execute() { - if (useLeft) { - subsystem.setOutput(oi.getLeftOutputCached(), oi.getLeftOutputCached()); - } else { - subsystem.setOutput(oi.getRightOutputCached(), oi.getRightOutputCached()); - } - } - - /** - * Runs constantly because this is a drive command. - * - * @return false - */ - @Override - protected boolean isFinished() { - return false; - } - - /** - * Log and brake when interrupted. - */ - @Override - protected void interrupted() { - Logger.addEvent("DriveStraight Interrupted! Stopping the robot.", this.getClass()); - subsystem.fullStop(); - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/commands/PIDBackAndForth.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/commands/PIDBackAndForth.java deleted file mode 100644 index ad3ca480..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/commands/PIDBackAndForth.java +++ /dev/null @@ -1,34 +0,0 @@ -package org.usfirst.frc.team449.robot.drive.unidirectional.commands; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectional; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandGroupWrapper; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem; - -/** - * Drive back and forth to tune PID. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class PIDBackAndForth extends YamlCommandGroupWrapper { - - /** - * Instantiate the CommandGroup - * - * @param subsystem the drive to execute this command on. - * @param speed The speed to drive forwards and backwards at, from [0, 1]. - * @param timeInSecs How long to drive in each direction for, in seconds. - */ - @JsonCreator - public PIDBackAndForth(@NotNull @JsonProperty(required = true) T subsystem, - @JsonProperty(required = true) double speed, - @JsonProperty(required = true) double timeInSecs) { - //Drive forwards - addSequential(new DriveAtSpeed<>(subsystem, speed, timeInSecs)); - //Drive backwards - addSequential(new DriveAtSpeed<>(subsystem, -speed, timeInSecs)); - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/commands/PIDTest.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/commands/PIDTest.java deleted file mode 100644 index 8cb5f5e3..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/commands/PIDTest.java +++ /dev/null @@ -1,34 +0,0 @@ -package org.usfirst.frc.team449.robot.drive.unidirectional.commands; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectional; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandGroupWrapper; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem; - -/** - * Drive forward at constant speed then stop to tune PID. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class PIDTest extends YamlCommandGroupWrapper { - - /** - * Default constructor - * - * @param subsystem the subsystem to execute this command on - * @param driveTime How long to drive forwards for, in seconds. - * @param speed The speed to drive at, from [0, 1]. - */ - @JsonCreator - public PIDTest(@NotNull @JsonProperty(required = true) T subsystem, - @JsonProperty(required = true) double driveTime, - @JsonProperty(required = true) double speed) { - //Drive forward for a bit - addSequential(new DriveAtSpeed<>(subsystem, speed, driveTime)); - //Stop actively to see how the PID responds. - addSequential(new DriveAtSpeed<>(subsystem, 0, 100)); - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/commands/SimpleUnidirectionalDrive.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/commands/SimpleUnidirectionalDrive.java deleted file mode 100644 index f3109a81..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/commands/SimpleUnidirectionalDrive.java +++ /dev/null @@ -1,82 +0,0 @@ -package org.usfirst.frc.team449.robot.drive.unidirectional.commands; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectional; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem; -import org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional; -import org.usfirst.frc.team449.robot.other.Logger; - -/** - * Very simple unidirectional drive control. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class SimpleUnidirectionalDrive extends YamlCommandWrapper { - - /** - * The OI used for input. - */ - @NotNull - public final OIUnidirectional oi; - - /** - * The subsystem to execute this command on. - */ - @NotNull - private final T subsystem; - - /** - * Default constructor - * - * @param subsystem The subsystem to execute this command on - * @param oi The OI that gives the input to this command. - */ - @JsonCreator - public SimpleUnidirectionalDrive(@NotNull @JsonProperty(required = true) T subsystem, - @NotNull @JsonProperty(required = true) OIUnidirectional oi) { - this.oi = oi; - this.subsystem = subsystem; - //Default commands need to require their subsystems. - requires(subsystem); - } - - /** - * Stop the drive for safety reasons. - */ - @Override - protected void initialize() { - subsystem.fullStop(); - } - - /** - * Give output to the motors based on the stick inputs. - */ - @Override - protected void execute() { - subsystem.setOutput(oi.getLeftOutputCached(), oi.getRightOutputCached()); - } - - /** - * Run constantly because this is a default drive - * - * @return false - */ - @Override - protected boolean isFinished() { - return false; - } - - /** - * Log and brake when interrupted. - */ - @Override - protected void interrupted() { - Logger.addEvent("SimpleUnidirectionalDrive Interrupted! Stopping the robot.", this.getClass()); - //Brake for safety! - subsystem.fullStop(); - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/commands/VoltageRamp.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/commands/VoltageRamp.java deleted file mode 100644 index dca51292..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/commands/VoltageRamp.java +++ /dev/null @@ -1,99 +0,0 @@ -package org.usfirst.frc.team449.robot.drive.unidirectional.commands; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectional; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper; -import org.usfirst.frc.team449.robot.other.Clock; -import org.usfirst.frc.team449.robot.other.Logger; - -/** - * A command to ramp up the motors to full power at a given voltage rate. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class VoltageRamp extends YamlCommandWrapper { - - /** - * The subsystem to execute this command on. - */ - @NotNull - private final DriveUnidirectional subsystem; - - /** - * The number of percentage points to increase motor output by per millisecond. - */ - private final double percentPerMillis; - - /** - * The last time execute() was run. - */ - private long lastTime; - - /** - * The output to give to the motors. - */ - private double output; - - /** - * Default constructor - * - * @param subsystem The subsystem to execute this command on - * @param voltsPerSecond How many volts to increase the output by per second. - */ - @JsonCreator - public VoltageRamp(@NotNull @JsonProperty(required = true) DriveUnidirectional subsystem, - @JsonProperty(required = true) double voltsPerSecond) { - this.subsystem = subsystem; - this.percentPerMillis = voltsPerSecond / 12. / 1000.; - } - - /** - * Reset the output - */ - @Override - protected void initialize() { - Logger.addEvent("VoltageRamp init.", this.getClass()); - lastTime = Clock.currentTimeMillis(); - output = 0; - } - - /** - * Update the output based on how long it's been since execute() was last run. - */ - @Override - protected void execute() { - output += percentPerMillis * (Clock.currentTimeMillis() - lastTime); - subsystem.setOutput(output, output); - lastTime = Clock.currentTimeMillis(); - } - - /** - * Exit if the output is greater than the motors can produce. - * - * @return true if the output is greater than or equal to 1, false otherwise. - */ - @Override - protected boolean isFinished() { - return output >= 1.; - } - - /** - * Log and stop on end. - */ - @Override - protected void end() { - subsystem.setOutput(0, 0); - Logger.addEvent("VoltageRamp end.", this.getClass()); - } - - /** - * Log on interrupt. - */ - @Override - protected void interrupted() { - Logger.addEvent("VoltageRamp Interrupted!", this.getClass()); - } -} \ No newline at end of file diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/generalInterfaces/loggable/Loggable.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/generalInterfaces/loggable/Loggable.java deleted file mode 100644 index 5b7fa568..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/generalInterfaces/loggable/Loggable.java +++ /dev/null @@ -1,35 +0,0 @@ -package org.usfirst.frc.team449.robot.generalInterfaces.loggable; - -import com.fasterxml.jackson.annotation.JsonTypeInfo; -import org.jetbrains.annotations.NotNull; - -/** - * An object that logs telemetry data every loop. - */ -@JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class") -public interface Loggable { - - /** - * Get the headers for the data this subsystem logs every loop. - * - * @return An N-length array of String labels for data, where N is the length of the Object[] returned by getData(). - */ - @NotNull - String[] getHeader(); - - /** - * Get the data this subsystem logs every loop. - * - * @return An N-length array of Objects, where N is the number of labels given by getHeader. - */ - @NotNull - Object[] getData(); - - /** - * Get the name of this object. - * - * @return A string that will identify this object in the log file. - */ - @NotNull - String getName(); -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/generalInterfaces/rumbleable/Rumbleable.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/generalInterfaces/rumbleable/Rumbleable.java deleted file mode 100644 index 76ad8060..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/generalInterfaces/rumbleable/Rumbleable.java +++ /dev/null @@ -1,19 +0,0 @@ -package org.usfirst.frc.team449.robot.generalInterfaces.rumbleable; - -import com.fasterxml.jackson.annotation.JsonTypeInfo; - -/** - * An interface for any sort of OI device that can rumble to give feedback to the driver. - */ -@JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class") -public interface Rumbleable { - - /** - * Rumble at a given strength on each side of the device. - * - * @param left The strength to rumble the left side, on [-1, 1] - * @param right The strength to rumble the right side, on [-1, 1] - */ - void rumble(double left, double right); - -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/Shiftable.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/Shiftable.java deleted file mode 100644 index 62c35b04..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/Shiftable.java +++ /dev/null @@ -1,37 +0,0 @@ -package org.usfirst.frc.team449.robot.generalInterfaces.shiftable; - -import com.fasterxml.jackson.annotation.JsonTypeInfo; - -/** - * An interface for any object that different settings for different gears - */ -@JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class") -public interface Shiftable { - - /** - * @return The gear this subsystem is currently in. - */ - int getGear(); - - /** - * Shift to a specific gear. - * - * @param gear Which gear to shift to. - */ - void setGear(int gear); - - enum gear { - LOW(1), HIGH(2); - - private final int numVal; - - gear(int numVal) { - this.numVal = numVal; - } - - public int getNumVal() { - return numVal; - } - } - -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/ShiftGears.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/ShiftGears.java deleted file mode 100644 index 699744b5..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/ShiftGears.java +++ /dev/null @@ -1,75 +0,0 @@ -package org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.generalInterfaces.shiftable.Shiftable; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper; -import org.usfirst.frc.team449.robot.other.Logger; - -/** - * Shifts gears. Basically a "ToggleGear" command. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class ShiftGears extends YamlCommandWrapper { - - /** - * The drive to execute this command on - */ - @NotNull - private final Shiftable subsystem; - - /** - * Default constructor - * - * @param subsystem The drive to execute this command on - */ - @JsonCreator - public ShiftGears(@NotNull @JsonProperty(required = true) Shiftable subsystem) { - this.subsystem = subsystem; - } - - /** - * Log when this command is initialized - */ - @Override - protected void initialize() { - Logger.addEvent("ShiftGears init.", this.getClass()); - } - - /** - * Switch gears - */ - @Override - protected void execute() { - subsystem.setGear(subsystem.getGear() == Shiftable.gear.LOW.getNumVal() ? Shiftable.gear.HIGH.getNumVal() : Shiftable.gear.LOW.getNumVal()); - } - - /** - * Finish immediately because this is a state-change command. - * - * @return true - */ - @Override - protected boolean isFinished() { - return true; - } - - /** - * Log when this command ends - */ - @Override - protected void end() { - Logger.addEvent("ShiftGears end.", this.getClass()); - } - - /** - * Log when this command is interrupted. - */ - @Override - protected void interrupted() { - Logger.addEvent("ShiftGears Interrupted!", this.getClass()); - } -} \ No newline at end of file diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToGear.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToGear.java deleted file mode 100644 index 658edb88..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToGear.java +++ /dev/null @@ -1,90 +0,0 @@ -package org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.jetbrains.annotations.Nullable; -import org.usfirst.frc.team449.robot.generalInterfaces.shiftable.Shiftable; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper; -import org.usfirst.frc.team449.robot.other.Logger; - -/** - * Switches to a specified gear. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class SwitchToGear extends YamlCommandWrapper { - - /** - * The drive to execute this command on. - */ - @NotNull - private final Shiftable subsystem; - - /** - * The gear to switch to. - */ - private final int switchTo; - - /** - * Default constructor - * - * @param subsystem The drive to execute this command on. - * @param switchToNum The number of the gear to switch to. Is ignored if switchTo isn't null. - * @param switchTo The gear to switch to. Can be null, and if it is, switchToNum is used instead. - */ - @JsonCreator - public SwitchToGear(@NotNull @JsonProperty(required = true) Shiftable subsystem, - int switchToNum, - @Nullable Shiftable.gear switchTo) { - this.subsystem = subsystem; - if (switchTo != null) { - this.switchTo = switchTo.getNumVal(); - } else { - this.switchTo = switchToNum; - } - } - - /** - * Log when this command is initialized - */ - @Override - protected void initialize() { - Logger.addEvent("SwitchToGear init.", this.getClass()); - } - - /** - * Switch to the specified gear - */ - @Override - protected void execute() { - subsystem.setGear(switchTo); - } - - /** - * Finish immediately because this is a state-change command. - * - * @return true - */ - @Override - protected boolean isFinished() { - return true; - } - - /** - * Log when this command ends - */ - @Override - protected void end() { - Logger.addEvent("SwitchToGear end.", this.getClass()); - } - - /** - * Log when this command is interrupted. - */ - @Override - protected void interrupted() { - Logger.addEvent("SwitchToGear Interrupted!", this.getClass()); - } -} \ No newline at end of file diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToHighGear.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToHighGear.java deleted file mode 100644 index 855fad88..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToHighGear.java +++ /dev/null @@ -1,75 +0,0 @@ -package org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.generalInterfaces.shiftable.Shiftable; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper; -import org.usfirst.frc.team449.robot.other.Logger; - -/** - * A command that switches to high gear. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class SwitchToHighGear extends YamlCommandWrapper { - - /** - * The drive subsystem to execute this command on. - */ - @NotNull - private final Shiftable subsystem; - - /** - * Default constructor - * - * @param subsystem The subsystem to execute this command on - */ - @JsonCreator - public SwitchToHighGear(@NotNull @JsonProperty(required = true) Shiftable subsystem) { - this.subsystem = subsystem; - } - - /** - * Log when this command is initialized - */ - @Override - protected void initialize() { - Logger.addEvent("SwitchToHighGear init.", this.getClass()); - } - - /** - * Switch to high gear - */ - @Override - protected void execute() { - subsystem.setGear(Shiftable.gear.HIGH.getNumVal()); - } - - /** - * Finish immediately because this is a state-change command. - * - * @return true - */ - @Override - protected boolean isFinished() { - return true; - } - - /** - * Log when this command ends - */ - @Override - protected void end() { - Logger.addEvent("SwitchToHighGear end.", this.getClass()); - } - - /** - * Log when this command is interrupted. - */ - @Override - protected void interrupted() { - Logger.addEvent("SwitchToHighGear Interrupted!", this.getClass()); - } -} \ No newline at end of file diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToLowGear.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToLowGear.java deleted file mode 100644 index eb9ae765..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToLowGear.java +++ /dev/null @@ -1,75 +0,0 @@ -package org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.generalInterfaces.shiftable.Shiftable; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper; -import org.usfirst.frc.team449.robot.other.Logger; - -/** - * A command that switches to low gear. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class SwitchToLowGear extends YamlCommandWrapper { - - /** - * The drive subsystem to execute this command on. - */ - @NotNull - private final Shiftable subsystem; - - /** - * Default constructor - * - * @param subsystem The drive subsystem to execute this command on - */ - @JsonCreator - public SwitchToLowGear(@NotNull @JsonProperty(required = true) Shiftable subsystem) { - this.subsystem = subsystem; - } - - /** - * Log when this command is initialized - */ - @Override - protected void initialize() { - Logger.addEvent("SwitchToLowGear init.", this.getClass()); - } - - /** - * Switch to low gear - */ - @Override - protected void execute() { - subsystem.setGear(Shiftable.gear.LOW.getNumVal()); - } - - /** - * Finish immediately because this is a state-change command. - * - * @return true - */ - @Override - protected boolean isFinished() { - return true; - } - - /** - * Log when this command ends - */ - @Override - protected void end() { - Logger.addEvent("SwitchToLowGear end.", this.getClass()); - } - - /** - * Log when this command is interrupted. - */ - @Override - protected void interrupted() { - Logger.addEvent("SwitchToLowGear Interrupted!", this.getClass()); - } -} \ No newline at end of file diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/SimpleMotor.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/SimpleMotor.java deleted file mode 100644 index d4c6d840..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/SimpleMotor.java +++ /dev/null @@ -1,24 +0,0 @@ -package org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor; - -import com.fasterxml.jackson.annotation.JsonTypeInfo; - -@JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class") -public interface SimpleMotor { - - /** - * Set the velocity for the motor to go at. - * - * @param velocity the desired velocity, on [-1, 1]. - */ - void setVelocity(double velocity); - - /** - * Enables the motor, if applicable. - */ - void enable(); - - /** - * Disables the motor, if applicable. - */ - void disable(); -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/generalInterfaces/updatable/Updatable.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/generalInterfaces/updatable/Updatable.java deleted file mode 100644 index 60047045..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/generalInterfaces/updatable/Updatable.java +++ /dev/null @@ -1,15 +0,0 @@ -package org.usfirst.frc.team449.robot.generalInterfaces.updatable; - -import com.fasterxml.jackson.annotation.JsonTypeInfo; - -/** - * An interface for any object that caches values. - */ -@JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class") -public interface Updatable { - - /** - * Updates all cached values with current ones. - */ - void update(); -} 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 deleted file mode 100644 index d38c4fe4..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/FPSTalon.java +++ /dev/null @@ -1,1098 +0,0 @@ -package org.usfirst.frc.team449.robot.jacksonWrappers; - -import com.ctre.CANTalon; -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import edu.wpi.first.wpilibj.Notifier; -import org.jetbrains.annotations.Contract; -import org.jetbrains.annotations.NotNull; -import org.jetbrains.annotations.Nullable; -import org.usfirst.frc.team449.robot.generalInterfaces.shiftable.Shiftable; -import org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor.SimpleMotor; -import org.usfirst.frc.team449.robot.other.Clock; -import org.usfirst.frc.team449.robot.other.Logger; -import org.usfirst.frc.team449.robot.other.MotionProfileData; - -import java.util.Arrays; -import java.util.HashMap; -import java.util.List; -import java.util.Map; - -/** - * Component wrapper on the CTRE {@link CANTalon}, with unit conversions to/from FPS built in. Every non-unit-conversion - * in this class takes arguments in post-gearing FPS. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class FPSTalon implements SimpleMotor, Shiftable { - - /** - * The CTRE CAN Talon SRX that this class is a wrapper on - */ - @NotNull - protected final CANTalon canTalon; - - /** - * The counts per rotation of the encoder being used, or null if there is no encoder. - */ - @Nullable - private final Integer encoderCPR; - - /** - * The type of encoder the talon uses, or null if there is no encoder. - */ - @Nullable - private final CANTalon.FeedbackDevice feedbackDevice; - - /** - * The coefficient the output changes by after being measured by the encoder, e.g. this would be 1/70 if there was a - * 70:1 gearing between the encoder and the final output. - */ - private final double postEncoderGearing; - - /** - * The number of feet travelled per rotation of the motor this is attached to, or null if there is no encoder. - */ - private final double feetPerRotation; - - /** - * The minimum number of points that must be in the bottom-level MP buffer before starting a profile. - */ - private final int minNumPointsInBottomBuffer; - - /** - * The motion profile motionProfileStatus of the Talon. - */ - @NotNull - private final CANTalon.MotionProfileStatus motionProfileStatus; - - /** - * A notifier that moves points from the API-level buffer to the talon-level one. - */ - private final Notifier bottomBufferLoader; - - /** - * The period for bottomBufferLoader, in seconds. - */ - private final double updaterProcessPeriodSecs; - - /** - * A list of all the gears this robot has and their settings. - */ - @NotNull - private final Map perGearSettings; - - /** - * Whether or not to invert the motor in voltage mode. - */ - private final boolean invertInVoltage; - - /** - * The settings currently being used by this Talon. - */ - @NotNull - protected PerGearSettings currentGearSettings; - - /** - * The time at which the motion profile status was last checked. Only getting the status once per tic avoids CAN - * traffic. - */ - private long timeMPStatusLastRead; - - /** - * RPS as used in a unit conversion method. Field to avoid garbage collection. - */ - private Double RPS; - - /** - * Default constructor. - * - * @param port CAN port of this Talon. - * @param invertInVoltage Whether or not to invert the motor in voltage mode. - * @param reverseOutput Whether to reverse the output (identical effect to inverting outside of - * position PID) - * @param enableBrakeMode Whether to brake or coast when stopped. - * @param fwdLimitSwitchNormallyOpen Whether the forward limit switch is normally open or closed. If this is null, - * the forward limit switch is disabled. - * @param revLimitSwitchNormallyOpen Whether the reverse limit switch is normally open or closed. If this is null, - * the reverse limit switch is disabled. - * @param fwdSoftLimit The forward software limit, in feet. If this is null, the forward software - * limit is disabled. - * @param revSoftLimit The reverse software limit, in feet. If this is null, the reverse software - * limit is disabled. - * @param postEncoderGearing The coefficient the output changes by after being measured by the encoder, e.g. - * this would be 1/70 if there was a 70:1 gearing between the encoder and the - * final output. Defaults to 1. - * @param feetPerRotation The number of feet travelled per rotation of the motor this is attached to. - * Defaults to 1. - * @param currentLimit The max amps this device can draw. If this is null, no current limit is used. - * @param maxClosedLoopVoltage The voltage to scale closed-loop output based on, e.g. closed-loop output of 1 - * will produce this voltage, output of 0.5 will produce half, etc. This feature - * compensates for low battery voltage. - * @param feedbackDevice The type of encoder used to measure the output velocity of this motor. Can be - * null if there is no encoder attached to this Talon. - * @param encoderCPR The counts per rotation of the encoder on this Talon. Can be null if - * feedbackDevice is, but otherwise must have a value. - * @param reverseSensor Whether or not to reverse the reading from the encoder on this Talon. Ignored - * if feedbackDevice is null. Defaults to false. - * @param perGearSettings The settings for each gear this motor has. Can be null to use default values - * and gear # of zero. Gear numbers can't be repeated. - * @param startingGear The gear to start in. Can be null to use startingGearNum instead. - * @param startingGearNum The number of the gear to start in. Ignored if startingGear isn't null. - * Defaults to the lowest gear. - * @param minNumPointsInBottomBuffer The minimum number of points that must be in the bottom-level MP buffer before - * starting a profile. Defaults to 20. - * @param updaterProcessPeriodSecs The period for the Notifier that moves points between the MP buffers, in - * seconds. Defaults to 0.005. - * @param statusFrameRatesMillis The update rates, in millis, for each of the Talon status frames. - * @param controlFrameRateMillis The update rate, in milliseconds, for the control frame. Defaults to 10. - * @param slaves The other {@link CANTalon}s that are slaved to this one. - */ - @JsonCreator - public FPSTalon(@JsonProperty(required = true) int port, - boolean invertInVoltage, - boolean reverseOutput, - @JsonProperty(required = true) boolean enableBrakeMode, - @Nullable Boolean fwdLimitSwitchNormallyOpen, - @Nullable Boolean revLimitSwitchNormallyOpen, - @Nullable Double fwdSoftLimit, - @Nullable Double revSoftLimit, - @Nullable Double postEncoderGearing, - @Nullable Double feetPerRotation, - @Nullable Integer currentLimit, - double maxClosedLoopVoltage, - @Nullable CANTalon.FeedbackDevice feedbackDevice, - @Nullable Integer encoderCPR, - boolean reverseSensor, - @Nullable List perGearSettings, - @Nullable Shiftable.gear startingGear, - @Nullable Integer startingGearNum, - @Nullable Integer minNumPointsInBottomBuffer, - @Nullable Double updaterProcessPeriodSecs, - @Nullable Map statusFrameRatesMillis, - @Nullable Integer controlFrameRateMillis, - @Nullable List slaves) { - //Instantiate the base CANTalon this is a wrapper on. - canTalon = new CANTalon(port, controlFrameRateMillis != null ? controlFrameRateMillis : 10); - //Set this to false because we only use reverseOutput for slaves. - canTalon.reverseOutput(reverseOutput); - //NO TOUCHY - canTalon.setInverted(false); - //Set brake mode - canTalon.enableBrakeMode(enableBrakeMode); - - //Set frame rates - if (statusFrameRatesMillis != null) { - for (CANTalon.StatusFrameRate statusFrameRate : statusFrameRatesMillis.keySet()) { - canTalon.setStatusFrameRateMs(statusFrameRate, statusFrameRatesMillis.get(statusFrameRate)); - } - } - - //Set fields - this.invertInVoltage = invertInVoltage; - this.feetPerRotation = feetPerRotation != null ? feetPerRotation : 1; - this.updaterProcessPeriodSecs = updaterProcessPeriodSecs != null ? updaterProcessPeriodSecs : 0.005; - this.minNumPointsInBottomBuffer = minNumPointsInBottomBuffer != null ? minNumPointsInBottomBuffer : 20; - - //Initialize - this.motionProfileStatus = new CANTalon.MotionProfileStatus(); - this.timeMPStatusLastRead = 0; - this.perGearSettings = new HashMap<>(); - - //If given no gear settings, use the default values. - if (perGearSettings == null || perGearSettings.size() == 0) { - this.perGearSettings.put(0, new PerGearSettings()); - } - //Otherwise, map the settings to the gear they are. - else { - for (PerGearSettings settings : perGearSettings) { - this.perGearSettings.put(settings.getGear(), settings); - } - } - - int currentGear; - //If the starting gear isn't given, assume we start in low gear. - if (startingGear == null) { - if (startingGearNum == null) { - currentGear = Integer.MAX_VALUE; - for (Integer gear : this.perGearSettings.keySet()) { - if (gear < currentGear) { - currentGear = gear; - } - } - } else { - currentGear = startingGearNum; - } - } else { - currentGear = startingGear.getNumVal(); - } - currentGearSettings = this.perGearSettings.get(currentGear); - - //Only enable the limit switches if it was specified if they're normally open or closed. - boolean fwdSwitchEnable = false, revSwitchEnable = false; - if (fwdLimitSwitchNormallyOpen != null) { - canTalon.ConfigFwdLimitSwitchNormallyOpen(fwdLimitSwitchNormallyOpen); - fwdSwitchEnable = true; - } - if (revLimitSwitchNormallyOpen != null) { - canTalon.ConfigRevLimitSwitchNormallyOpen(revLimitSwitchNormallyOpen); - revSwitchEnable = true; - } - canTalon.enableLimitSwitch(fwdSwitchEnable, revSwitchEnable); - - //Set up the feedback device if it exists. - if (feedbackDevice != null) { - //CTRE encoder use RPM instead of native units, and can be used as QuadEncoders, so we switch them to avoid - //having to support RPM. - if (feedbackDevice.equals(CANTalon.FeedbackDevice.CtreMagEncoder_Absolute) || - feedbackDevice.equals(CANTalon.FeedbackDevice.CtreMagEncoder_Relative)) { - this.feedbackDevice = CANTalon.FeedbackDevice.QuadEncoder; - } else { - this.feedbackDevice = feedbackDevice; - } - canTalon.setFeedbackDevice(this.feedbackDevice); - this.encoderCPR = encoderCPR; - canTalon.reverseSensor(reverseSensor); - } else { - this.feedbackDevice = null; - this.encoderCPR = null; - } - - //postEncoderGearing defaults to 1 - this.postEncoderGearing = postEncoderGearing != null ? postEncoderGearing : 1.; - - //Set up gear-based settings. - setGear(currentGear); - - //Set the current limit if it was given - if (currentLimit != null) { - canTalon.setCurrentLimit(currentLimit); - canTalon.EnableCurrentLimit(true); - } else { - //If we don't have a current limit, disable current limiting. - canTalon.EnableCurrentLimit(false); - } - - //Only enable the software limits if they were given a value. - if (fwdSoftLimit != null) { - canTalon.enableForwardSoftLimit(true); - canTalon.setForwardSoftLimit(feetToEncoder(fwdSoftLimit)); - } else { - canTalon.enableForwardSoftLimit(false); - } - if (revSoftLimit != null) { - canTalon.enableReverseSoftLimit(true); - canTalon.setReverseSoftLimit(feetToEncoder(revSoftLimit)); - } else { - canTalon.enableReverseSoftLimit(false); - } - - //Set the nominal closed loop battery voltage. Different thing from NominalOutputVoltage. - canTalon.setNominalClosedLoopVoltage(maxClosedLoopVoltage); - - //Set up MP notifier - bottomBufferLoader = new Notifier(canTalon::processMotionProfileBuffer); - - if (slaves != null) { - //Set up slaves. - for (SlaveTalon slave : slaves) { - CANTalon tmp = new CANTalon(slave.getPort()); - //To invert slaves, use reverseOutput. See section 9.1.4 of the TALON SRX Software Reference Manual. - tmp.reverseOutput(slave.isInverted()); - //Don't use the other inversion options - tmp.reverseSensor(false); - tmp.setInverted(false); - - tmp.enableLimitSwitch(false, false); - tmp.enableForwardSoftLimit(false); - tmp.enableReverseSoftLimit(false); - tmp.configMaxOutputVoltage(12); - - //Brake mode and current limiting don't automatically follow master, so we set them up for each slave. - tmp.enableBrakeMode(enableBrakeMode); - if (currentLimit != null) { - tmp.setCurrentLimit(currentLimit); - tmp.EnableCurrentLimit(true); - } else { - //If we don't have a current limit, disable current limiting. - tmp.EnableCurrentLimit(false); - } - - //Set the slave up to follow this talon. - tmp.changeControlMode(CANTalon.TalonControlMode.Follower); - tmp.set(port); - tmp.enable(); - } - } - } - - /** - * Set the motor output voltage to a given percent of available voltage. - * - * @param percentVoltage percent of total voltage from [-1, 1] - */ - public void setPercentVoltage(double percentVoltage) { - //Warn the user if they're setting Vbus to a number that's outside the range of values. - if (Math.abs(percentVoltage) > 1.0) { - Logger.addEvent("WARNING: YOU ARE CLIPPING MAX PERCENT VBUS AT " + percentVoltage, this.getClass()); - percentVoltage = Math.signum(percentVoltage); - } - - //Switch to voltage mode - canTalon.changeControlMode(CANTalon.TalonControlMode.PercentVbus); - - //Set the setpoint to the input given. - canTalon.set(percentVoltage * (invertInVoltage ? -1 : 1)); - } - - /** - * @return The gear this subsystem is currently in. - */ - @Override - public int getGear() { - return currentGearSettings.getGear(); - } - - /** - * Shift to a specific gear. - * - * @param gear Which gear to shift to. - */ - @Override - public void setGear(int gear) { - //Set the current gear - currentGearSettings = perGearSettings.get(gear); - - //Set general max voltage - canTalon.configMaxOutputVoltage(Math.max(currentGearSettings.getFwdPeakOutputVoltage(), -currentGearSettings.getRevPeakOutputVoltage())); - - //Set closed loop max and min voltages - canTalon.configPeakOutputVoltage(currentGearSettings.getFwdPeakOutputVoltage(), currentGearSettings.getRevPeakOutputVoltage()); - canTalon.configNominalOutputVoltage(currentGearSettings.getFwdNominalOutputVoltage(), currentGearSettings.getRevNominalOutputVoltage()); - - //Set PID stuff - if (currentGearSettings.getMaxSpeed() != null) { - //Put driving constants in slot 0 - canTalon.setPID(currentGearSettings.getkP(), currentGearSettings.getkI(), currentGearSettings.getkD(), - 1023. / FPSToEncoder(currentGearSettings.getMaxSpeed()), 0, currentGearSettings.getClosedLoopRampRate(), 0); - //Put MP constants in slot 1 - canTalon.setPID(currentGearSettings.getMotionProfilePFwd(), currentGearSettings.getMotionProfileIFwd(), currentGearSettings.getMotionProfileDFwd(), - 1023. / FPSToEncoder(currentGearSettings.getMaxSpeedMPFwd()), 0, currentGearSettings.getClosedLoopRampRate(), 1); - canTalon.setProfile(0); - } - } - - /** - * Convert from native units read by an encoder to feet moved. Note this DOES account for post-encoder gearing. - * - * @param nativeUnits A distance native units as measured by the encoder. - * @return That distance in feet, or null if no encoder CPR was given. - */ - @Nullable - protected Double encoderToFeet(double nativeUnits) { - if (encoderCPR == null) { - return null; - } - return nativeUnits / (encoderCPR * 4) * postEncoderGearing * feetPerRotation; - } - - /** - * Convert a distance from feet to encoder reading in native units. Note this DOES account for post-encoder - * gearing. - * - * @param feet A distance in feet. - * @return That distance in native units as measured by the encoder, or null if no encoder CPR was given. - */ - @Nullable - protected Double feetToEncoder(double feet) { - if (encoderCPR == null) { - return null; - } - return feet / feetPerRotation * (encoderCPR * 4) / postEncoderGearing; - } - - /** - * Converts the velocity read by the talon's getVelocity() method to the FPS of the output shaft. Note this DOES - * account for post-encoder gearing. - * - * @param encoderReading The velocity read from the encoder with no conversions. - * @return The velocity of the output shaft, in FPS, when the encoder has that reading, or null if no encoder CPR - * was given. - */ - @Nullable - protected Double encoderToFPS(double encoderReading) { - RPS = nativeToRPS(encoderReading); - if (RPS == null) { - return null; - } - return RPS * postEncoderGearing * feetPerRotation; - } - - /** - * Converts from the velocity of the output shaft to what the talon's getVelocity() method would read at that - * velocity. Note this DOES account for post-encoder gearing. - * - * @param FPS The velocity of the output shaft, in FPS. - * @return What the raw encoder reading would be at that velocity, or null if no encoder CPR was given. - */ - @Nullable - protected Double FPSToEncoder(double FPS) { - return RPSToNative((FPS / postEncoderGearing) / feetPerRotation); - } - - /** - * Convert from CANTalon native velocity units to output rotations per second. Note this DOES NOT account for - * post-encoder gearing. - * - * @param nat A velocity in CANTalon native units. - * @return That velocity in RPS, or null if no encoder CPR was given. - */ - @Contract(pure = true) - @Nullable - private Double nativeToRPS(double nat) { - if (encoderCPR == null) { - return null; - } - return (nat / (encoderCPR * 4)) * 10; //4 edges per count, and 10 100ms per second. - } - - /** - * Convert from output RPS to the CANTalon native velocity units. Note this DOES NOT account for post-encoder - * gearing. - * - * @param RPS The RPS velocity you want to convert. - * @return That velocity in CANTalon native units, or null if no encoder CPR was given. - */ - @Contract(pure = true) - @Nullable - private Double RPSToNative(double RPS) { - if (encoderCPR == null) { - return null; - } - return (RPS / 10) * (encoderCPR * 4); //4 edges per count, and 10 100ms per second. - } - - /** - * Get the velocity of the CANTalon in FPS. - * - * @return The CANTalon's velocity in FPS, or null if no encoder CPR was given. - */ - @Nullable - public Double getVelocity() { - return encoderToFPS(canTalon.getSpeed()); - } - - /** - * Set the velocity for the motor to go at. - * - * @param velocity the desired velocity, on [-1, 1]. - */ - @Override - public void setVelocity(double velocity) { - if (currentGearSettings.getMaxSpeed() != null) { - setVelocityFPS(velocity * currentGearSettings.getMaxSpeed()); - } else { - setPercentVoltage(velocity); - } - } - - /** - * Give a velocity closed loop setpoint in FPS. - * - * @param velocity velocity setpoint in FPS. - */ - protected void setVelocityFPS(double velocity) { - //Switch control mode to velocity closed-loop - canTalon.changeControlMode(CANTalon.TalonControlMode.Speed); - canTalon.set(FPSToEncoder(velocity)); - } - - /** - * Get the current closed-loop velocity error in FPS. WARNING: will give garbage if not in velocity mode. - * - * @return The closed-loop error in FPS, or null if no encoder CPR was given. - */ - @Nullable - public Double getError() { - return encoderToFPS(canTalon.getError()); - } - - /** - * Get the current velocity setpoint of the Talon in FPS. WARNING: will give garbage if not in velocity mode. - * - * @return The closed-loop velocity setpoint in FPS, or null if no encoder CPR was given. - */ - @Nullable - public Double getSetpoint() { - return encoderToFPS(canTalon.getSetpoint()); - } - - /** - * Get the voltage the Talon is currently drawing from the PDP. - * - * @return Voltage in volts. - */ - public double getOutputVoltage() { - return canTalon.getOutputVoltage(); - } - - /** - * Get the current the Talon is currently drawing from the PDP. - * - * @return Current in amps. - */ - public double getOutputCurrent() { - return canTalon.getOutputCurrent(); - } - - /** - * Enables the motor, if applicable. - */ - @Override - public void enable() { - canTalon.enable(); - } - - /** - * Disables the motor, if applicable. - */ - @Override - public void disable() { - canTalon.disable(); - } - - /** - * Set the velocity scaled to a given gear's max velocity. Used mostly when autoshifting. - * - * @param velocity The velocity to go at, from [-1, 1], where 1 is the max speed of the given gear. - * @param gear The number of the gear to use the max speed from to scale the velocity. - */ - public void setGearScaledVelocity(double velocity, int gear) { - if (currentGearSettings.getMaxSpeed() == null) { - setPercentVoltage(velocity); - } else { - setVelocityFPS(perGearSettings.get(gear).getMaxSpeed() * velocity); - } - } - - /** - * Set the velocity scaled to a given gear's max velocity. Used mostly when autoshifting. - * - * @param velocity The velocity to go at, from [-1, 1], where 1 is the max speed of the given gear. - * @param gear The gear to use the max speed from to scale the velocity. - */ - public void setGearScaledVelocity(double velocity, Shiftable.gear gear) { - setGearScaledVelocity(velocity, gear.getNumVal()); - } - - /** - * @return the position of the talon in feet, or null of inches per rotation wasn't given. - */ - public Double getPositionFeet() { - return encoderToFeet(canTalon.getPosition()); - } - - /** - * Resets the position of the Talon to 0. - */ - public void resetPosition() { - canTalon.setEncPosition(0); - } - - /** - * A private utility method for updating motionProfileStatus with the current motion profile status. Makes sure that - * the status is only gotten once per tic, to avoid CAN traffic overload. - */ - private void updateMotionProfileStatus() { - if (timeMPStatusLastRead < Clock.currentTimeMillis()) { - canTalon.getMotionProfileStatus(motionProfileStatus); - timeMPStatusLastRead = Clock.currentTimeMillis(); - } - } - - /** - * Whether this talon is ready to start running a profile. - * - * @return True if minNumPointsInBottomBuffer points have been loaded or the top buffer is empty, false otherwise. - */ - public boolean readyForMP() { - updateMotionProfileStatus(); - return motionProfileStatus.topBufferCnt == 0 || motionProfileStatus.btmBufferCnt >= minNumPointsInBottomBuffer; - } - - /** - * Whether this talon has finished running a profile. - * - * @return True if the active point in the talon is the last point, false otherwise. - */ - public boolean MPIsFinished() { - updateMotionProfileStatus(); - return motionProfileStatus.activePoint.isLastPoint; - } - - /** - * Reset all MP-related stuff, including all points loaded in both the API and bottom-level buffers. - */ - private void clearMP() { - canTalon.clearMotionProfileHasUnderrun(); - canTalon.clearMotionProfileTrajectories(); - } - - /** - * Starts running the loaded motion profile. - */ - public void startRunningMP() { - this.enable(); - canTalon.changeControlMode(CANTalon.TalonControlMode.MotionProfile); - canTalon.set(CANTalon.SetValueMotionProfile.Enable.value); - } - - /** - * Holds the current position point in MP mode. - */ - public void holdPositionMP() { - canTalon.changeControlMode(CANTalon.TalonControlMode.MotionProfile); - canTalon.set(CANTalon.SetValueMotionProfile.Hold.value); - } - - /** - * Disables the talon and loads the given profile into the talon. - * - * @param data The profile to load. - */ - public void loadProfile(MotionProfileData data) { - bottomBufferLoader.stop(); - //Reset the Talon - disable(); - clearMP(); - - //Read velocityOnly out here so we only have to call data.isVelocityOnly() once. - boolean velocityOnly = data.isVelocityOnly(); - - //Declare this out here to avoid garbage collection - double velPlusAccel; - - //Set proper PID constants - if (data.isInverted()) { - canTalon.setPID(currentGearSettings.getMotionProfilePRev(), currentGearSettings.getMotionProfileIRev(), - currentGearSettings.getMotionProfileDRev(), - 1023. / FPSToEncoder(currentGearSettings.getMaxSpeedMPRev()), 0, - currentGearSettings.getClosedLoopRampRate(), 1); - } else { - canTalon.setPID(currentGearSettings.getMotionProfilePFwd(), currentGearSettings.getMotionProfileIFwd(), - currentGearSettings.getMotionProfileDFwd(), - 1023. / FPSToEncoder(currentGearSettings.getMaxSpeedMPFwd()), 0, - currentGearSettings.getClosedLoopRampRate(), 1); - } - - //Only call position getter once - double startPosition = data.resetPosition() ? 0 : getPositionFeet(); - - //Load in profiles - for (int i = 0; i < data.getData().length; ++i) { - CANTalon.TrajectoryPoint point = new CANTalon.TrajectoryPoint(); - //Set parameters that are true for all points - point.profileSlotSelect = 1; // gain selection, we always put MP gains in slot 1. - point.velocityOnly = velocityOnly; // true => no position servo just velocity feedforward - - // Set all the fields of the profile point - point.position = feetToEncoder(startPosition + (data.getData()[i][0] * (data.isInverted() ? -1 : 1))); - - //Calculate vel based off inversion - if (data.isInverted()) { - velPlusAccel = -data.getData()[i][1] - currentGearSettings.getFrictionCompFPSRev() - + -data.getData()[i][2] * currentGearSettings.getKaOverKvRev(); - } else { - velPlusAccel = data.getData()[i][1] + data.getData()[i][2] * currentGearSettings.getKaOverKvFwd() - + currentGearSettings.getFrictionCompFPSFwd(); - } - Logger.addEvent("VelPlusAccel: " + velPlusAccel, this.getClass()); - point.velocity = FPSToEncoder(velPlusAccel); - - //Doing vel+accel shouldn't lead to impossible setpoints, so if it does, we log so we know to change either the profile or kA. - if (Math.abs(velPlusAccel) > currentGearSettings.getMaxSpeed()) { - System.out.println("Point " + Arrays.toString(data.getData()[i]) + " has an unattainable velocity+acceleration setpoint!"); - Logger.addEvent("Point " + Arrays.toString(data.getData()[i]) + " has an unattainable velocity+acceleration setpoint!", this.getClass()); - } - point.timeDurMs = (int) data.getData()[i][3]; - point.zeroPos = i == 0 && data.resetPosition(); // If it's the first point, set the encoder position to 0. - point.isLastPoint = (i + 1) == data.getData().length; // If it's the last point, isLastPoint = true - - // Send the point to the Talon's buffer - if (!canTalon.pushMotionProfileTrajectory(point)) { - //If sending the point doesn't work, log an error and exit. - Logger.addEvent("Buffer full!", this.getClass()); - System.out.println("Buffer full!"); - break; - } - } - bottomBufferLoader.startPeriodic(updaterProcessPeriodSecs); - } - - /** - * Stops all MP-related threads to save on CPU power. Run at the beginning of teleop. - */ - public void stopMPProcesses() { - bottomBufferLoader.stop(); - } - - /** - * An object representing a slave {@link CANTalon} for use in the map. - */ - @JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) - protected static class SlaveTalon { - - /** - * The port number of this Talon. - */ - private final int port; - - /** - * Whether this Talon is inverted compared to its master. - */ - private final boolean inverted; - - /** - * Default constructor. - * - * @param port The port number of this Talon. - * @param inverted Whether this Talon is inverted compared to its master. - */ - @JsonCreator - public SlaveTalon(@JsonProperty(required = true) int port, - @JsonProperty(required = true) boolean inverted) { - this.port = port; - this.inverted = inverted; - } - - /** - * @return The port number of this Talon. - */ - public int getPort() { - return port; - } - - /** - * @return true if this Talon is inverted compared to its master, false otherwise. - */ - public boolean isInverted() { - return inverted; - } - } - - /** - * An object representing the CANTalon settings that are different for each gear. - */ - protected static class PerGearSettings { - - /** - * The gear number this is the settings for. - */ - private final int gear; - - /** - * The forwards and reverse peak output voltages. - */ - private final double fwdPeakOutputVoltage, revPeakOutputVoltage; - - /** - * The forwards and reverse nominal output voltages. - */ - private final double fwdNominalOutputVoltage, revNominalOutputVoltage; - - /** - * The closed loop ramp rate, in volts/sec. 0 means no ramp rate. - */ - private final double closedLoopRampRate; - - /** - * The maximum speed of the motor in this gear, in FPS. Can be null if not using PID in this gear. - */ - @Nullable - private final Double maxSpeed; - - /** - * The PID constants for the motor in this gear. Ignored if maxSpeed is null. - */ - private final double kP, kI, kD; - - /** - * The forwards PID constants for motion profiles in this gear. Ignored if maxSpeed is null. - */ - private final double motionProfilePFwd, motionProfileIFwd, motionProfileDFwd; - - /** - * The reverse PID constants for motion profiles in this gear. Ignored if maxSpeed is null. - */ - private final double motionProfilePRev, motionProfileIRev, motionProfileDRev; - - /** - * The ratio of acceleration to velocity used to convert acceleration setpoints to delta velocity in each - * direction. - */ - private final double kaOverKvFwd, kaOverKvRev; - - /** - * The "fake" maximum speed to use for MP mode in each direction, maxVoltage*(slope of vel vs. voltage curve). - */ - @Nullable - private final Double maxSpeedMPFwd, maxSpeedMPRev; - - /** - * The speed, in FPS, to add to all MP velocity setpoints to account for friction in each direction. - */ - private final double frictionCompFPSFwd, frictionCompFPSRev; - - /** - * Default constructor. - * - * @param gearNum The gear number this is the settings for. Ignored if gear isn't null. - * @param gear The gear this is the settings for. Can be null. - * @param fwdPeakOutputVoltage The peak output voltage for closed-loop modes in the forwards direction, in - * volts. Defaults to 12. - * @param revPeakOutputVoltage The peak output voltage for closed-loop modes in the reverse direction, in - * volts. Defaults to -fwdPeakOutputVoltage. - * @param fwdNominalOutputVoltage The minimum output voltage for closed-loop modes in the forwards direction. - * This does not rescale, it just sets any output below this voltage to this - * voltage. Defaults to 0. - * @param revNominalOutputVoltage The minimum output voltage for closed-loop modes in the reverse direction. - * This does not rescale, it just sets any output below this voltage to this - * voltage. Defaults to -fwdNominalOutputVoltage. - * @param closedLoopRampRate The closed loop ramp rate, in volts/sec. Can be null, and if it is, no ramp - * rate is used.. - * @param maxSpeed The maximum speed of the motor in this gear, in FPS. Can be null if not using - * PID in this gear. - * @param kP The proportional PID constant for the motor in this gear. Ignored if maxSpeed - * is null. Defaults to 0. - * @param kI The integral PID constant for the motor in this gear. Ignored if maxSpeed is - * null. Defaults to 0. - * @param kD The derivative PID constant for the motor in this gear. Ignored if maxSpeed is - * null. Defaults to 0. - * @param motionProfilePFwd The proportional PID constant for forwards motion profiles in this gear. - * Ignored if maxSpeed is null. Defaults to 0. - * @param motionProfileIFwd The integral PID constant for forwards motion profiles in this gear. Ignored - * if maxSpeed is null. Defaults to 0. - * @param motionProfileDFwd The derivative PID constant for forwards motion profiles in this gear. Ignored - * if maxSpeed is null. Defaults to 0. - * @param motionProfilePRev The proportional PID constant for reverse motion profiles in this gear. - * Ignored if maxSpeed is null. Defaults to motionProfilePFwd. - * @param motionProfileIRev The integral PID constant for reverse motion profiles in this gear. Ignored if - * maxSpeed is null. Defaults to motionProfileIFwd. - * @param motionProfileDRev The derivative PID constant for reverse motion profiles in this gear. Ignored - * if maxSpeed is null. Defaults to motionProfileDFwd. - * @param maxAccelFwd The maximum forwards acceleration the robot is capable of in this gear, - * theoretically stall torque of the drive output * wheel radius / (robot - * mass/2). Can be null to not use acceleration feed-forward. - * @param maxAccelRev The maximum reverse acceleration the robot is capable of in this gear, - * theoretically stall torque of the drive output * wheel radius / (robot - * mass/2). Defaults to maxAccelFwd. - * @param maxSpeedMPFwd The "fake" maximum speed to use for the forwards direction of MP mode, - * maxVoltage*(slope of vel vs. voltage curve). Defaults to regular max speed. - * @param maxSpeedMPRev The "fake" maximum speed to use for the reverse direction of MP mode, - * maxVoltage*(slope of vel vs. voltage curve). Defaults to maxSpeedMPFwd. - * @param frictionCompFPSFwd The speed, in FPS, to add to all MP velocity setpoints in the forwards - * direction to account for friction. Defaults to 0. - * @param frictionCompFPSRev The speed, in FPS, to add to all MP velocity setpoints in the reverse - * direction to account for friction. Defaults to frictionCompFPSFwd. - */ - @JsonCreator - public PerGearSettings(int gearNum, - @Nullable Shiftable.gear gear, - @Nullable Double fwdPeakOutputVoltage, - @Nullable Double revPeakOutputVoltage, - @Nullable Double fwdNominalOutputVoltage, - @Nullable Double revNominalOutputVoltage, - @Nullable Double closedLoopRampRate, - @Nullable Double maxSpeed, - double kP, - double kI, - double kD, - double motionProfilePFwd, - double motionProfileIFwd, - double motionProfileDFwd, - Double motionProfilePRev, - Double motionProfileIRev, - Double motionProfileDRev, - @Nullable Double maxAccelFwd, - @Nullable Double maxAccelRev, - @Nullable Double maxSpeedMPFwd, - double frictionCompFPSFwd, - @Nullable Double maxSpeedMPRev, - @Nullable Double frictionCompFPSRev) { - this.gear = gear != null ? gear.getNumVal() : gearNum; - this.fwdPeakOutputVoltage = fwdPeakOutputVoltage != null ? fwdPeakOutputVoltage : 12; - this.revPeakOutputVoltage = revPeakOutputVoltage != null ? revPeakOutputVoltage : -this.fwdPeakOutputVoltage; - this.fwdNominalOutputVoltage = fwdNominalOutputVoltage != null ? fwdNominalOutputVoltage : 0; - this.revNominalOutputVoltage = revNominalOutputVoltage != null ? revNominalOutputVoltage : -this.fwdNominalOutputVoltage; - if (closedLoopRampRate != null) { - //The talons have a minimum closed loop ramp rate of 1.173 volts/sec, anything lower becomes 0 which is - //no ramp rate. That's obviously not what someone who inputs 1 volt/sec wants, so we bump things up. - this.closedLoopRampRate = Math.max(closedLoopRampRate, 1.173); - } else { - this.closedLoopRampRate = 0; - } - this.maxSpeed = maxSpeed; - this.kP = kP; - this.kI = kI; - this.kD = kD; - this.motionProfilePFwd = motionProfilePFwd; - this.motionProfileIFwd = motionProfileIFwd; - this.motionProfileDFwd = motionProfileDFwd; - this.motionProfilePRev = motionProfilePRev != null ? motionProfilePRev : this.motionProfilePFwd; - this.motionProfileIRev = motionProfileIRev != null ? motionProfileIRev : this.motionProfileIFwd; - this.motionProfileDRev = motionProfileDRev != null ? motionProfileDRev : this.motionProfileDFwd; - this.maxSpeedMPFwd = maxSpeedMPFwd != null ? maxSpeedMPFwd : maxSpeed; - this.maxSpeedMPRev = maxSpeedMPRev != null ? maxSpeedMPRev : this.maxSpeedMPFwd; - - if (this.maxSpeedMPFwd != null && maxAccelFwd != null) { - this.kaOverKvFwd = this.maxSpeedMPFwd / maxAccelFwd; - this.kaOverKvRev = maxAccelRev != null ? this.maxSpeedMPRev / maxAccelRev : this.kaOverKvFwd; - } else { - this.kaOverKvFwd = 0; - this.kaOverKvRev = 0; - } - this.frictionCompFPSFwd = frictionCompFPSFwd; - this.frictionCompFPSRev = frictionCompFPSRev != null ? frictionCompFPSRev : frictionCompFPSFwd; - } - - /** - * Empty constructor that uses all default options. - */ - public PerGearSettings() { - this(0, null, null, null, null, null, null, null, 0, 0, 0, 0, 0, 0, null, null, null, null, null, null, 0, null, null); - } - - /** - * @return The gear number this is the settings for. - */ - public int getGear() { - return gear; - } - - /** - * @return The peak output voltage for closed-loop modes in the forwards direction, in volts. - */ - public double getFwdPeakOutputVoltage() { - return fwdPeakOutputVoltage; - } - - /** - * @return The peak output voltage for closed-loop modes in the reverse direction, in volts. - */ - public double getRevPeakOutputVoltage() { - return revPeakOutputVoltage; - } - - /** - * @return The minimum output voltage for closed-loop modes in the forwards direction. This does not rescale, it - * just sets any output below this voltage to this voltage. - */ - public double getFwdNominalOutputVoltage() { - return fwdNominalOutputVoltage; - } - - /** - * @return The minimum output voltage for closed-loop modes in the reverse direction. This does not rescale, it - * just sets any output below this voltage to this voltage. - */ - public double getRevNominalOutputVoltage() { - return revNominalOutputVoltage; - } - - /** - * @return The closed loop ramp rate, in volts/sec. - */ - public double getClosedLoopRampRate() { - return closedLoopRampRate; - } - - /** - * @return The maximum speed of the motor in this gear, in FPS. - */ - @Nullable - public Double getMaxSpeed() { - return maxSpeed; - } - - /** - * @return The proportional PID constant for the motor in this gear. - */ - public double getkP() { - return kP; - } - - /** - * @return The integral PID constant for the motor in this gear. - */ - public double getkI() { - return kI; - } - - /** - * @return The derivative PID constant for the motor in this gear. - */ - public double getkD() { - return kD; - } - - /** - * @return The proportional PID constant for motion profiles in this gear. - */ - public double getMotionProfilePFwd() { - return motionProfilePFwd; - } - - /** - * @return The integral PID constant for motion profiles in this gear. - */ - public double getMotionProfileIFwd() { - return motionProfileIFwd; - } - - /** - * @return The derivative PID constant for motion profiles in this gear. - */ - public double getMotionProfileDFwd() { - return motionProfileDFwd; - } - - public double getKaOverKvFwd() { - return kaOverKvFwd; - } - - @Nullable - public Double getMaxSpeedMPFwd() { - return maxSpeedMPFwd; - } - - @Nullable - public Double getMaxSpeedMPRev() { - return maxSpeedMPRev; - } - - public double getFrictionCompFPSFwd() { - return frictionCompFPSFwd; - } - - public double getFrictionCompFPSRev() { - return frictionCompFPSRev; - } - - public double getMotionProfilePRev() { - return motionProfilePRev; - } - - public double getMotionProfileIRev() { - return motionProfileIRev; - } - - public double getMotionProfileDRev() { - return motionProfileDRev; - } - - public double getKaOverKvRev() { - return kaOverKvRev; - } - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/MappedAHRS.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/MappedAHRS.java deleted file mode 100644 index 1983d587..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/MappedAHRS.java +++ /dev/null @@ -1,127 +0,0 @@ -package org.usfirst.frc.team449.robot.jacksonWrappers; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import com.kauailabs.navx.frc.AHRS; -import edu.wpi.first.wpilibj.SPI; -import org.jetbrains.annotations.Contract; - -/** - * A Jackson-compatible, invertible wrapper for the NavX. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class MappedAHRS { - - /** - * The AHRS this class is a wrapper on. - */ - protected final AHRS ahrs; - - /** - * A multiplier for the yaw angle. -1 to invert, 1 to not. - */ - protected final int invertYaw; - - /** - * The 9-axis heading value to return. Field to avoid garbage collection. - */ - private double toRet; - - /** - * Default constructor. - * - * @param port The port the NavX is plugged into. It seems like only kMXP (the port on the RIO) works. - * @param invertYaw Whether or not to invert the yaw axis. Defaults to true. - */ - @JsonCreator - public MappedAHRS(@JsonProperty(required = true) SPI.Port port, - Boolean invertYaw) { - this.ahrs = new AHRS(port); - ahrs.reset(); - if (invertYaw == null || invertYaw) { - this.invertYaw = -1; - } else { - this.invertYaw = 1; - } - } - - /** - * Convert from gs (acceleration due to gravity) to feet/(second^2). - * - * @param accelGs An acceleration in gs. - * @return That acceleration in feet/(sec^2) - */ - @Contract(pure = true) - protected static double gsToFeetPerSecondSquared(double accelGs) { - return accelGs * 32.17; //Wolfram alpha said so - } - - /** - * Get the current yaw value. - * - * @return The heading, in degrees from [-180, 180] - */ - public double getHeading() { - return ahrs.getYaw() * invertYaw; - } - - /** - * Set the current yaw value. - * - * @param headingDegrees An angle in degrees, from [-180, 180], to set the heading to. - */ - public void setHeading(double headingDegrees) { - ahrs.setAngleAdjustment(ahrs.getYaw() + invertYaw * headingDegrees); - } - - /** - * Get the current total angular displacement. Differs from getHeading because it doesn't limit angle. - * - * @return The angular displacement, in degrees. - */ - public double getAngularDisplacement() { - return ahrs.getAngle() * invertYaw; - } - - /** - * Uses the gyro axes, magnetometer, and compass to get the most accurate possible yaw value for the robot. - * - * @return The heading, in degrees from [-180, 180] - */ - public double get9AxisHeading() { - toRet = ahrs.getFusedHeading(); - if (toRet > 180) { - toRet -= 360; - } - return toRet * invertYaw; - } - - /** - * Get the current angular yaw velocity. - * - * @return The angular yaw velocity, in degrees/sec. - */ - public double getAngularVelocity() { - return ahrs.getRate() * invertYaw; - } - - /** - * Get the absolute X acceleration of the robot, relative to the field. - * - * @return Linear X acceleration, in feet/(sec^2) - */ - public double getXAccel() { - return gsToFeetPerSecondSquared(ahrs.getWorldLinearAccelX()); - } - - /** - * Get the absolute Y acceleration of the robot, relative to the field. - * - * @return Linear Y acceleration, in feet/(sec^2) - */ - public double getYAccel() { - return gsToFeetPerSecondSquared(ahrs.getWorldLinearAccelY()); - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/MappedButton.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/MappedButton.java deleted file mode 100644 index 48548b05..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/MappedButton.java +++ /dev/null @@ -1,12 +0,0 @@ -package org.usfirst.frc.team449.robot.jacksonWrappers; - -import com.fasterxml.jackson.annotation.JsonTypeInfo; -import edu.wpi.first.wpilibj.buttons.Button; - -/** - * A jackson-compatible wrapper on WPILib's {@link Button}. - */ -@JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class") -public abstract class MappedButton extends Button { - -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/MappedDigitalInput.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/MappedDigitalInput.java deleted file mode 100644 index 89217898..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/MappedDigitalInput.java +++ /dev/null @@ -1,56 +0,0 @@ -package org.usfirst.frc.team449.robot.jacksonWrappers; - -import com.fasterxml.jackson.annotation.*; -import edu.wpi.first.wpilibj.DigitalInput; -import org.jetbrains.annotations.NotNull; - -import java.util.ArrayList; -import java.util.List; - -/** - * A series of roboRIO digital input pins. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class MappedDigitalInput { - - /** - * The digitalInputs this class represents - */ - @JsonIgnore - private final List digitalInputs; - - /** - * Value of the inputs. Field to avoid garbage collection. - */ - private List digitalValues; - - /** - * Construct a MappedDigitalInput. - * - * @param ports The ports to read from, in order. - */ - @JsonCreator - public MappedDigitalInput(@NotNull @JsonProperty(required = true) int[] ports) { - digitalInputs = new ArrayList<>(); - for (int portNum : ports) { - DigitalInput tmp = new DigitalInput(portNum); - digitalInputs.add(tmp); - } - } - - /** - * Get the status of each pin specified in the map, in the order they were specified. - * - * @return A list of booleans where 1 represents the input receiving a signal and 0 represents no signal. - */ - @JsonIgnore - @NotNull - public List getStatus() { - digitalValues = new ArrayList<>(); - for (DigitalInput digitalInput : digitalInputs) { - //Negated because, by default, false means signal and true means no signal, and that's dumb. - digitalValues.add(!digitalInput.get()); - } - return digitalValues; - } -} \ No newline at end of file diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/MappedDoubleSolenoid.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/MappedDoubleSolenoid.java deleted file mode 100644 index 946eab65..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/MappedDoubleSolenoid.java +++ /dev/null @@ -1,28 +0,0 @@ -package org.usfirst.frc.team449.robot.jacksonWrappers; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import edu.wpi.first.wpilibj.DoubleSolenoid; - -/** - * A Jackson-compatible wrapper on the {@link DoubleSolenoid}. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class MappedDoubleSolenoid extends DoubleSolenoid { - - /** - * Default constructor. - * - * @param module The module number of the PCM. Defaults to 0. - * @param forward The forward port on the PCM. - * @param reverse The reverse port on the PCM. - */ - @JsonCreator - public MappedDoubleSolenoid(int module, - @JsonProperty(required = true) int forward, - @JsonProperty(required = true) int reverse) { - super(module, forward, reverse); - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/MappedJoystick.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/MappedJoystick.java deleted file mode 100644 index c3fbccb0..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/MappedJoystick.java +++ /dev/null @@ -1,37 +0,0 @@ -package org.usfirst.frc.team449.robot.jacksonWrappers; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import edu.wpi.first.wpilibj.Joystick; -import org.usfirst.frc.team449.robot.generalInterfaces.rumbleable.Rumbleable; - -/** - * A Jackson-compatible wrapper on a {@link Joystick}. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class MappedJoystick extends Joystick implements Rumbleable { - - /** - * Default constructor - * - * @param port The USB port of this joystick, on [0, 5]. - */ - @JsonCreator - public MappedJoystick(@JsonProperty(required = true) int port) { - super(port); - } - - /** - * Rumble at a given strength on each side of the device. - * - * @param left The strength to rumble the left side, on [-1, 1] - * @param right The strength to rumble the right side, on [-1, 1] - */ - @Override - public void rumble(double left, double right) { - setRumble(RumbleType.kLeftRumble, left); - setRumble(RumbleType.kRightRumble, right); - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/MappedRunnable.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/MappedRunnable.java deleted file mode 100644 index 4a4a90f0..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/MappedRunnable.java +++ /dev/null @@ -1,11 +0,0 @@ -package org.usfirst.frc.team449.robot.jacksonWrappers; - -import com.fasterxml.jackson.annotation.JsonTypeInfo; - -/** - * A jackson-compatible wrapper on Java's {@link Runnable}. - */ -@JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class") -public interface MappedRunnable extends Runnable { - -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/MappedUsbCamera.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/MappedUsbCamera.java deleted file mode 100644 index dad6c4d8..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/MappedUsbCamera.java +++ /dev/null @@ -1,41 +0,0 @@ -package org.usfirst.frc.team449.robot.jacksonWrappers; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import edu.wpi.cscore.UsbCamera; -import org.jetbrains.annotations.NotNull; - -/** - * A Jackson-compatible wrapper on the {@link UsbCamera}. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class MappedUsbCamera extends UsbCamera { - - /** - * Default constructor - * - * @param name The human-friendly name for this camera. - * @param devAddress The address of this device in /dev/, e.g. this would be 0 for /dev/video0, 1 for /dev/video1. - * @param width The width of this camera's output, in pixels. There's a minimum value for this that WPILib - * won't let us go below, but I don't know what it is. - * @param height The height of this camera's output, in pixels. There's a minimum value for this that WPILib - * won't let us go below, but I don't know what it is. - * @param fps The frames per second this camera tries to transmit. There's a minimum value for this that - * WPILib won't let us go below, but I don't know what it is. - */ - @JsonCreator - public MappedUsbCamera(@NotNull @JsonProperty(required = true) String name, - @JsonProperty(required = true) int devAddress, - @JsonProperty(required = true) int width, - @JsonProperty(required = true) int height, - @JsonProperty(required = true) int fps) { - super(name, devAddress); - setResolution(width, height); - setFPS(fps); - - //If we don't have the exposure be automatic, the camera will be super laggy. No idea why. - setExposureAuto(); - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/MappedVictor.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/MappedVictor.java deleted file mode 100644 index 65a8c9d6..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/MappedVictor.java +++ /dev/null @@ -1,46 +0,0 @@ -package org.usfirst.frc.team449.robot.jacksonWrappers; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import edu.wpi.first.wpilibj.VictorSP; -import org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor.SimpleMotor; - -/** - * A wrapper for a {@link VictorSP} allowing it to be easily constructed from a map object. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class MappedVictor extends VictorSP implements SimpleMotor { - - /** - * Json constructor using a port and inversion. - * - * @param port The port number of the Victor. - * @param inverted Whether the motor is inverted. Defaults to false. - */ - @JsonCreator - public MappedVictor(@JsonProperty(required = true) int port, - boolean inverted) { - super(port); - this.setInverted(inverted); - } - - /** - * Set the velocity for the motor to go at. - * - * @param velocity the desired velocity, on [-1, 1]. - */ - @Override - public void setVelocity(double velocity) { - set(velocity); - } - - /** - * Enables the motor, if applicable. - */ - @Override - public void enable() { - //Do nothing. - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/PressureSensor.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/PressureSensor.java deleted file mode 100644 index 9c02dd8a..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/PressureSensor.java +++ /dev/null @@ -1,45 +0,0 @@ -package org.usfirst.frc.team449.robot.jacksonWrappers; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import edu.wpi.first.wpilibj.AnalogInput; - -/** - * Wrapper for an {@link AnalogInput} pressure sensor that returns a voltage linearly proportional to pressure. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class PressureSensor { - - /** - * The AnalogInput this is a wrapper on. - */ - private final AnalogInput sensor; - - - /** - * Default constructor. - * - * @param port The port of the sensor. - * @param oversampleBits The number of oversample bits. - * @param averageBits The number of averaging bits. - */ - @JsonCreator - public PressureSensor(@JsonProperty(required = true) int port, - @JsonProperty(required = true) int oversampleBits, - @JsonProperty(required = true) int averageBits) { - sensor = new AnalogInput(port); - sensor.setOversampleBits(oversampleBits); - sensor.setAverageBits(averageBits); - } - - /** - * Returns the pressure measured by the sensor. - * - * @return pressure in PSI - */ - public double getPressure() { - return 50.0 * sensor.getAverageVoltage() - 25.0; //these are constants given by REV, assuming 5.0V in - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/SimpleMotorCluster.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/SimpleMotorCluster.java deleted file mode 100644 index 725c4959..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/SimpleMotorCluster.java +++ /dev/null @@ -1,65 +0,0 @@ -package org.usfirst.frc.team449.robot.jacksonWrappers; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonProperty; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor.SimpleMotor; - -import java.util.List; - -/** - * A cluster of simple motors that act as a single simple motor. Don't use this for talons, use master-slave instead. - */ -public class SimpleMotorCluster implements SimpleMotor { - - /** - * The motors in this cluster. Contains at least 1 element. - */ - @NotNull - private List motors; - - /** - * Default constructor - * - * @param motors The motors in this cluster. Must have at least 1 element. - */ - @JsonCreator - public SimpleMotorCluster(@JsonProperty(required = true) @NotNull List motors) { - if (motors.size() == 0) { - throw new IllegalArgumentException("motors must have at least 1 element!"); - } - this.motors = motors; - } - - /** - * Set the velocity for the motor to go at. - * - * @param velocity the desired velocity, on [-1, 1]. - */ - @Override - public void setVelocity(double velocity) { - for (SimpleMotor motor : motors) { - motor.setVelocity(velocity); - } - } - - /** - * Enables the motor, if applicable. - */ - @Override - public void enable() { - for (SimpleMotor motor : motors) { - motor.enable(); - } - } - - /** - * Disables the motor, if applicable. - */ - @Override - public void disable() { - for (SimpleMotor motor : motors) { - motor.disable(); - } - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommand.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommand.java deleted file mode 100644 index 2b5a834c..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommand.java +++ /dev/null @@ -1,20 +0,0 @@ -package org.usfirst.frc.team449.robot.jacksonWrappers; - -import com.fasterxml.jackson.annotation.JsonTypeInfo; -import edu.wpi.first.wpilibj.command.Command; -import org.jetbrains.annotations.NotNull; - -/** - * A command that's constructable from YAML. - */ -@JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class") -public interface YamlCommand { - - /** - * Get the command object this object is. - * - * @return this. - */ - @NotNull - Command getCommand(); -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommandGroupWrapper.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommandGroupWrapper.java deleted file mode 100644 index 1174aef3..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommandGroupWrapper.java +++ /dev/null @@ -1,22 +0,0 @@ -package org.usfirst.frc.team449.robot.jacksonWrappers; - -import edu.wpi.first.wpilibj.command.Command; -import edu.wpi.first.wpilibj.command.CommandGroup; -import org.jetbrains.annotations.NotNull; - -/** - * A wrapper on {@link CommandGroup} with @JsonTypeInfo so we can use it in maps. - */ -public abstract class YamlCommandGroupWrapper extends CommandGroup implements YamlCommand { - - /** - * Return the Command this is a wrapper on. - * - * @return this. - */ - @NotNull - @Override - public Command getCommand() { - return this; - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommandWrapper.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommandWrapper.java deleted file mode 100644 index b65fad74..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/YamlCommandWrapper.java +++ /dev/null @@ -1,21 +0,0 @@ -package org.usfirst.frc.team449.robot.jacksonWrappers; - -import edu.wpi.first.wpilibj.command.Command; -import org.jetbrains.annotations.NotNull; - -/** - * A wrapper on {@link Command} with @JsonTypeInfo so we can use it in maps. - */ -public abstract class YamlCommandWrapper extends Command implements YamlCommand { - - /** - * Return the Command this is a wrapper on. - * - * @return this. - */ - @NotNull - @Override - public Command getCommand() { - return this; - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.java deleted file mode 100644 index 9c81865b..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/YamlSubsystem.java +++ /dev/null @@ -1,12 +0,0 @@ -package org.usfirst.frc.team449.robot.jacksonWrappers; - -import com.fasterxml.jackson.annotation.JsonTypeInfo; -import edu.wpi.first.wpilibj.command.Subsystem; - -/** - * A Jackson-compatible wrapper on {@link Subsystem}. - */ -@JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class") -public abstract class YamlSubsystem extends Subsystem { - -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/OI.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/OI.java deleted file mode 100644 index e604c9ab..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/OI.java +++ /dev/null @@ -1,8 +0,0 @@ -package org.usfirst.frc.team449.robot.oi; - -import com.fasterxml.jackson.annotation.JsonTypeInfo; -import org.usfirst.frc.team449.robot.generalInterfaces.updatable.Updatable; - -@JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class") -public interface OI extends Updatable { -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/buttons/CommandButton.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/buttons/CommandButton.java deleted file mode 100644 index ce7e25c7..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/buttons/CommandButton.java +++ /dev/null @@ -1,50 +0,0 @@ -package org.usfirst.frc.team449.robot.oi.buttons; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonProperty; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.jacksonWrappers.MappedButton; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand; - -/** - * A button mapped to a command. - */ -public class CommandButton { - - /** - * Default constructor. - * - * @param button The button that triggers the command. - * @param command The command to run or cancel. - * @param action The action to do to the command. - */ - @JsonCreator - public CommandButton(@NotNull @JsonProperty(required = true) MappedButton button, - @NotNull @JsonProperty(required = true) YamlCommand command, - @NotNull @JsonProperty(required = true) Action action) { - switch (action) { - case WHILE_HELD: - button.whileHeld(command.getCommand()); - break; - case WHEN_PRESSED: - button.whenPressed(command.getCommand()); - break; - case WHEN_RELEASED: - button.whenReleased(command.getCommand()); - break; - case CANCEL_WHEN_PRESSED: - button.cancelWhenPressed(command.getCommand()); - break; - case TOGGLE_WHEN_PRESSED: - button.toggleWhenPressed(command.getCommand()); - break; - } - } - - /** - * The possible actions for the button to do to the command. - */ - enum Action { - WHEN_PRESSED, WHILE_HELD, WHEN_RELEASED, TOGGLE_WHEN_PRESSED, CANCEL_WHEN_PRESSED - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/buttons/SimpleButton.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/buttons/SimpleButton.java deleted file mode 100644 index 4d59cd03..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/buttons/SimpleButton.java +++ /dev/null @@ -1,51 +0,0 @@ -package org.usfirst.frc.team449.robot.oi.buttons; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import edu.wpi.first.wpilibj.Joystick; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.jacksonWrappers.MappedButton; -import org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick; - -/** - * A version of {@link edu.wpi.first.wpilibj.buttons.JoystickButton} that is a MappedButton. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class SimpleButton extends MappedButton { - - /** - * The joystick the button is on. - */ - @NotNull - private final Joystick joystick; - - /** - * The port of the button on the joystick. - */ - private final int buttonNumber; - - /** - * Default constructor. - * - * @param joystick The joystick the button is on. - * @param buttonNumber The port of the button. Note that button numbers begin at 1, not 0. - */ - @JsonCreator - public SimpleButton(@NotNull @JsonProperty(required = true) MappedJoystick joystick, - @JsonProperty(required = true) int buttonNumber) { - this.joystick = joystick; - this.buttonNumber = buttonNumber; - } - - /** - * Get whether the button is pressed. - * - * @return true if the button is pressed, false otherwise. - */ - @Override - public boolean get() { - return joystick.getRawButton(buttonNumber); - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/buttons/TriggerButton.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/buttons/TriggerButton.java deleted file mode 100644 index 99dc85d7..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/buttons/TriggerButton.java +++ /dev/null @@ -1,50 +0,0 @@ -package org.usfirst.frc.team449.robot.oi.buttons; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.jacksonWrappers.MappedButton; -import org.usfirst.frc.team449.robot.oi.throttles.Throttle; - -/** - * A button that gets triggered by a specific throttle being held down at or over a certain amount. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class TriggerButton extends MappedButton { - - /** - * The relevant throttle. - */ - @NotNull - private final Throttle throttle; - - /** - * The percentage pressed to trigger at, from (0, 1] - */ - private final double triggerAt; - - /** - * Argument-based constructor. - * - * @param throttle The relevant throttle. - * @param triggerAt The percentage pressed to trigger at, from (0, 1] - */ - @JsonCreator - public TriggerButton(@NotNull @JsonProperty(required = true) Throttle throttle, - @JsonProperty(required = true) double triggerAt) { - this.throttle = throttle; - this.triggerAt = triggerAt; - } - - /** - * Get whether this button is pressed. - * - * @return true if the throttle's output is greater than or equal to the trigger threshold, false otherwise. - */ - @Override - public boolean get() { - return Math.abs(throttle.getValueCached()) >= triggerAt; - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/buttons/dPadButton.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/buttons/dPadButton.java deleted file mode 100644 index f02dacfd..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/buttons/dPadButton.java +++ /dev/null @@ -1,51 +0,0 @@ -package org.usfirst.frc.team449.robot.oi.buttons; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import edu.wpi.first.wpilibj.Joystick; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.jacksonWrappers.MappedButton; -import org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick; - -/** - * A Button triggered by pushing the D-pad to a specific angle. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class dPadButton extends MappedButton { - - /** - * The angle that the D-pad must be pushed to to trigger this button. - */ - private final int angle; - - /** - * The joystick with the relevant D-pad on it. - */ - @NotNull - private final Joystick joystick; - - /** - * Explicit argument constructor. - * - * @param joystick The joystick with the D-pad. - * @param angle The angle that the D-pad must be pushed to to trigger this button. - */ - @JsonCreator - public dPadButton(@NotNull @JsonProperty(required = true) MappedJoystick joystick, - @JsonProperty(required = true) int angle) { - this.angle = angle; - this.joystick = joystick; - } - - /** - * Get whether this button is pressed - * - * @return true if the joystick's D-pad is pressed to the given angle, false otherwise. - */ - @Override - public boolean get() { - return joystick.getPOV() == angle; - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.java deleted file mode 100644 index e4082334..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.java +++ /dev/null @@ -1,69 +0,0 @@ -package org.usfirst.frc.team449.robot.oi.fieldoriented; - -import com.fasterxml.jackson.annotation.JsonTypeInfo; -import org.jetbrains.annotations.Nullable; -import org.usfirst.frc.team449.robot.oi.OI; - -/** - * An OI that gives an absolute heading, relative to the field, and a velocity. - */ -@JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class") -public abstract class OIFieldOriented implements OI { - - /** - * The cached linear velocity. - */ - private double cachedVel; - - /** - * The cached angular setpoint. - */ - @Nullable - private Double cachedTheta; - - /** - * Get the absolute angle for the robot to move towards. - * - * @return An angular setpoint for the robot in degrees, where 0 is pointing at the other alliance's driver station - * and 90 is pointing at the left wall when looking out from the driver station. Returns null if vel is 0. - */ - @Nullable - public abstract Double getTheta(); - - /** - * Get the velocity for the robot to go at. - * - * @return A velocity from [-1, 1]. - */ - public abstract double getVel(); - - /** - * Get the cached absolute angle for the robot to move towards. - * - * @return An angular setpoint for the robot in degrees, where 0 is pointing at the other alliance's driver station - * and 90 is pointing at the left wall when looking out from the driver station. Returns null if vel is 0. - */ - @Nullable - public Double getThetaCached() { - return cachedTheta; - } - - /** - * Get the cached velocity for the robot to go at. - * - * @return A velocity from [-1, 1]. - */ - public double getVelCached() { - return cachedVel; - } - - /** - * Updates all cached values with current ones. - */ - @Override - public void update() { - cachedVel = getVel(); - cachedTheta = getTheta(); - } - -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.java deleted file mode 100644 index 4faca6e0..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.java +++ /dev/null @@ -1,127 +0,0 @@ -package org.usfirst.frc.team449.robot.oi.fieldoriented; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import org.jetbrains.annotations.NotNull; -import org.jetbrains.annotations.Nullable; -import org.usfirst.frc.team449.robot.oi.throttles.Throttle; -import org.usfirst.frc.team449.robot.other.Clock; - -/** - * A field-oriented OI that always points the robot an angle where cosine is positive, i.e. always pointing away from the driver station. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class OIFieldOrientedPosCos extends OIFieldOriented { - - /** - * The throttle for the X-axis, which points towards the opposing driver station. - */ - @NotNull - private final Throttle xThrottle; - - /** - * The throttle for the Y-axis, which points towards the driver's left. - */ - @NotNull - private final Throttle yThrottle; - /** - * The radius, from [0,1], within which the joystick is considered to be "at rest." - */ - private final double rDeadband; - /** - * The theta value calculated the last time calcValues was called. - */ - @Nullable - private Double theta; - /** - * The velocity value calculated the last time calcValues was called. - */ - private double vel; - /** - * The time calcValues was last called, in milliseconds - */ - private long timeLastUpdated; - /** - * Variables for the outputs of the x and y throttles. Fields to avoid garbage collection. - */ - private double x, y; - - /** - * Default constructor - * - * @param xThrottle The throttle for the X-axis, which points towards the opposing driver station. - * @param yThrottle The throttle for the Y-axis, which points towards the driver's left. - * @param rDeadband The radius, from [0,1], within which the joystick is considered to be "at rest." Defaults to 0. - */ - @JsonCreator - public OIFieldOrientedPosCos(@NotNull @JsonProperty(required = true) Throttle xThrottle, - @NotNull @JsonProperty(required = true) Throttle yThrottle, - double rDeadband) { - this.xThrottle = xThrottle; - this.yThrottle = yThrottle; - this.rDeadband = rDeadband; - } - - /** - * Calculate the theta and vel values, can be called multiple times per tic but will only execute logic once. - */ - protected void calcValues() { - if (timeLastUpdated != Clock.currentTimeMillis()) { - x = xThrottle.getValue(); - y = yThrottle.getValue(); - vel = Math.sqrt(Math.pow(x, 2) + Math.pow(y, 2)); - - //0,0ish has no angle so null - if (vel < rDeadband) { - theta = null; - vel = 0; - } else { - //Use atan2 to get angle from -180 to 180 - theta = Math.toDegrees(Math.atan2(y, x)); - if (theta > 90) { - vel *= -1; - theta -= 180; - } else if (theta < -90) { - vel *= -1; - theta += 180; - } - } - timeLastUpdated = Clock.currentTimeMillis(); - } - } - - - /** - * Get the absolute angle for the robot to move towards. - * - * @return An angular setpoint for the robot in degrees, where 0 is pointing at the other alliance's driver station - * and 90 is pointing at the left wall when looking out from the driver station. - */ - @Override - @Nullable - public Double getTheta() { - calcValues(); - if (theta != null) { - SmartDashboard.putNumber("theta", theta); - SmartDashboard.putBoolean("thetaNull", false); - } else { - SmartDashboard.putBoolean("thetaNull", true); - } - return theta; - } - - /** - * Get the velocity for the robot to go at. - * - * @return A velocity from [-1, 1]. - */ - @Override - public double getVel() { - calcValues(); - SmartDashboard.putNumber("Vel", vel); - return vel; - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/throttles/Throttle.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/throttles/Throttle.java deleted file mode 100644 index 13a5a524..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/throttles/Throttle.java +++ /dev/null @@ -1,25 +0,0 @@ -package org.usfirst.frc.team449.robot.oi.throttles; - -import com.fasterxml.jackson.annotation.JsonTypeInfo; -import org.usfirst.frc.team449.robot.generalInterfaces.updatable.Updatable; - -/** - * An object representing an axis of a stick on a joystick. - */ -@JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class") -public interface Throttle extends Updatable { - - /** - * Get the output of the throttle this object represents. - * - * @return The output from [-1, 1]. - */ - double getValue(); - - /** - * Get the cached output of the throttle this object represents. - * - * @return The output from [-1, 1]. - */ - double getValueCached(); -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/throttles/ThrottleBasic.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/throttles/ThrottleBasic.java deleted file mode 100644 index 8e1508ec..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/throttles/ThrottleBasic.java +++ /dev/null @@ -1,112 +0,0 @@ -package org.usfirst.frc.team449.robot.oi.throttles; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import edu.wpi.first.wpilibj.Joystick; -import edu.wpi.first.wpilibj.PIDSource; -import edu.wpi.first.wpilibj.PIDSourceType; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick; - -/** - * A class representing a single axis on a joystick. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class ThrottleBasic implements Throttle, PIDSource { - - /** - * The stick we're using - */ - @NotNull - protected final Joystick stick; - - /** - * The axis on the joystick we care about. - */ - private final int axis; - - /** - * Whether or not the controls should be inverted - */ - private final boolean inverted; - - /** - * The cached value of the output. - */ - protected double cachedOutput; - - /** - * Default constructor. - * - * @param stick The Joystick object being used - * @param axis The axis being used. 0 is X, 1 is Y, 2 is Z. - * @param inverted Whether or not to invert the joystick input. Defaults to false. - */ - @JsonCreator - public ThrottleBasic(@NotNull @JsonProperty(required = true) MappedJoystick stick, - @JsonProperty(required = true) int axis, - boolean inverted) { - this.stick = stick; - this.axis = axis; - this.inverted = inverted; - } - - /** - * Gets the raw value from the stick and inverts it if necessary. - * - * @return The raw joystick output, on [-1, 1]. - */ - public double getValue() { - return (inverted ? -1 : 1) * stick.getRawAxis(axis); - } - - /** - * Get the cached output of the throttle this object represents. - * - * @return The output from [-1, 1]. - */ - @Override - public double getValueCached() { - return cachedOutput; - } - - /** - * Updates all cached values with current ones. - */ - @Override - public void update() { - cachedOutput = getValue(); - } - - /** - * Get which parameter of the device you are using as a process control variable. - * - * @return the currently selected PID source parameter - */ - @Override - public PIDSourceType getPIDSourceType() { - return null; - } - - /** - * Set which parameter of the device you are using as a process control variable. - * - * @param pidSource An enum to select the parameter. - */ - @Override - public void setPIDSourceType(PIDSourceType pidSource) { - //Do nothing - } - - /** - * Get the result to use in PIDController. - * - * @return the result to use in PIDController - */ - @Override - public double pidGet() { - return (inverted ? -1 : 1) * stick.getRawAxis(axis); - } -} \ No newline at end of file diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/throttles/ThrottleDeadbanded.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/throttles/ThrottleDeadbanded.java deleted file mode 100644 index a192f51f..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/throttles/ThrottleDeadbanded.java +++ /dev/null @@ -1,76 +0,0 @@ -package org.usfirst.frc.team449.robot.oi.throttles; - -import com.fasterxml.jackson.annotation.*; -import edu.wpi.first.wpilibj.filters.LinearDigitalFilter; -import org.jetbrains.annotations.NotNull; -import org.jetbrains.annotations.Nullable; -import org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick; - -/** - * A throttle with a deadband and smoothing. - */ -@JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class") -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class ThrottleDeadbanded extends ThrottleBasic { - - /** - * The value below which the joystick input is considered 0. - */ - protected final double deadband; - /** - * The smoothing filter for this joystick. - */ - private final LinearDigitalFilter filter; - /** - * The input from the joystick. Declared outside of getValue to avoid garbage collection. - */ - private double input; - /** - * The sign of the input from the joystick. Declared outside of getValue to avoid garbage collection. - */ - private double sign; - - /** - * A basic constructor. - * - * @param stick The Joystick object being used - * @param axis The axis being used. 0 is X, 1 is Y, 2 is Z. - * @param deadband The deadband below which the input will be read as 0, on [0, 1]. Defaults to 0. - * @param smoothingTimeSecs How many seconds of input to take into account when smoothing. Defaults to 0.02. - * @param inverted Whether or not to invert the joystick input. Defaults to false. - */ - @JsonCreator - public ThrottleDeadbanded(@NotNull @JsonProperty(required = true) MappedJoystick stick, - @JsonProperty(required = true) int axis, - double deadband, - @Nullable Double smoothingTimeSecs, - boolean inverted) { - super(stick, axis, inverted); - this.deadband = deadband; - this.filter = LinearDigitalFilter.singlePoleIIR(this, smoothingTimeSecs != null ? smoothingTimeSecs : 0.02, 0.02); - } - - /** - * Gets the value from the joystick and deadbands it. The non-deadband values are scaled to avoid a discontinuity. - * - * @return The joystick's value, after being deadbanded. - */ - @Override - public double getValue() { - //Get the smoothed value - input = filter.pidGet(); - - sign = Math.signum(input); - input = Math.abs(input); - - //apply the deadband. - if (input < deadband) { - return 0; - } - - //scale so f(deadband) is 0 and f(1) is 1. - input = (input - deadband) / (1. - deadband); - - return sign * input; - } -} \ No newline at end of file diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/throttles/ThrottleExponential.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/throttles/ThrottleExponential.java deleted file mode 100644 index aa08d1ba..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/throttles/ThrottleExponential.java +++ /dev/null @@ -1,71 +0,0 @@ -package org.usfirst.frc.team449.robot.oi.throttles; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.jetbrains.annotations.Nullable; -import org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick; - -/** - * An exponentially-scaled throttle. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class ThrottleExponential extends ThrottleDeadbanded { - - /** - * The base that is raised to the power of the joystick input. - */ - protected final double base; - - /** - * The input from the joystick. Declared outside of getValue to avoid garbage collection. - */ - private double input; - - /** - * The sign of the input from the joystick. Declared outside of getValue to avoid garbage collection. - */ - private double sign; - - /** - * A basic constructor. - * - * @param stick The Joystick object being used - * @param axis The axis being used. - * @param deadband The deadband below which the input will be read as 0, on [0, 1]. Defaults to 0. - * @param smoothingTimeSecs How many seconds of input to take into account when smoothing. Defaults to 0.02. - * @param inverted Whether or not to invert the joystick input. Defaults to false. - * @param base The base that is raised to the power of the joystick input. - */ - @JsonCreator - public ThrottleExponential(@NotNull @JsonProperty(required = true) MappedJoystick stick, - @JsonProperty(required = true) int axis, - double deadband, - @Nullable Double smoothingTimeSecs, - boolean inverted, - @JsonProperty(required = true) double base) { - super(stick, axis, deadband, smoothingTimeSecs, inverted); - this.base = base; - } - - /** - * Raises the base to the value of the deadbanded joystick output, adjusting for sign. - * - * @return The processed value of the joystick - */ - @Override - public double getValue() { - input = super.getValue(); - - //Extract the sign - sign = Math.signum(input); - input = Math.abs(input); - - //Exponentially scale - input = (Math.pow(base, input) - 1.) / (base - 1.); - - return sign * input; - } -} \ No newline at end of file diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/throttles/ThrottlePolynomial.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/throttles/ThrottlePolynomial.java deleted file mode 100644 index e1eae3a5..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/throttles/ThrottlePolynomial.java +++ /dev/null @@ -1,65 +0,0 @@ -package org.usfirst.frc.team449.robot.oi.throttles; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.jetbrains.annotations.Nullable; -import org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick; -import org.usfirst.frc.team449.robot.other.Polynomial; - -/** - * A polynomially scaled throttle. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class ThrottlePolynomial extends ThrottleDeadbanded { - - /** - * The polynomially that scales the throttle. - */ - @NotNull - protected final Polynomial polynomial; - - /** - * A basic constructor. - * - * @param stick The Joystick object being used - * @param axis The axis being used. 0 is X, 1 is Y, 2 is Z. - * @param deadband The deadband below which the input will be read as 0, on [0, 1]. Defaults to 0. - * @param smoothingTimeSecs How many seconds of input to take into account when smoothing. Defaults to 0.02. - * @param inverted Whether or not to invert the joystick input. Defaults to false. - * @param polynomial The polynomially that scales the throttle. Must not have any negative exponents. - */ - @JsonCreator - public ThrottlePolynomial(@NotNull @JsonProperty(required = true) MappedJoystick stick, - @JsonProperty(required = true) int axis, - double deadband, - @Nullable Double smoothingTimeSecs, - boolean inverted, - @NotNull @JsonProperty(required = true) Polynomial polynomial) { - super(stick, axis, deadband, smoothingTimeSecs, inverted); - - //Check for negative exponents - for (Double power : polynomial.getPowerToCoefficientMap().keySet()) { - if (power < 0) { - throw new IllegalArgumentException("Negative exponents are not allowed!"); - } - } - - //Scale coefficient sum to 1 - polynomial.scaleCoefficientSum(1); - - this.polynomial = polynomial; - } - - /** - * Passes the deadbanded joystick output to the polynomial, while preserving sign. - * - * @return The processed value of the joystick - */ - @Override - public double getValue() { - return polynomial.get(super.getValue()); - } -} \ No newline at end of file diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/throttles/ThrottleSum.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/throttles/ThrottleSum.java deleted file mode 100644 index 7c7d0446..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/throttles/ThrottleSum.java +++ /dev/null @@ -1,80 +0,0 @@ -package org.usfirst.frc.team449.robot.oi.throttles; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; - -/** - * A Throttle that sums any number of other Throttles. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class ThrottleSum implements Throttle { - - /** - * The throttles to sum. - */ - @NotNull - protected final Throttle[] throttles; - - /** - * The cached output. - */ - protected double cachedValue; - - /** - * The sum. Field to avoid garbage collection. - */ - private double sum; - - /** - * Default constructor. - * - * @param throttles The throttles to sum. - */ - @JsonCreator - public ThrottleSum(@NotNull @JsonProperty(required = true) Throttle[] throttles) { - this.throttles = throttles; - } - - /** - * Sums the throttles and returns their output - * - * @return The summed outputs, clipped to [-1, 1]. - */ - public double getValue() { - //sum throttles - sum = 0; - for (Throttle throttle : throttles) { - sum += throttle.getValue(); - } - - //clip to [-1, 1] - if (sum >= 1) { - return 1; - } else if (sum <= -1) { - return -1; - } else { - return sum; - } - } - - /** - * Get the cached output of the throttle this object represents. - * - * @return The output from [-1, 1]. - */ - @Override - public double getValueCached() { - return cachedValue; - } - - /** - * Updates all cached values with current ones. - */ - @Override - public void update() { - cachedValue = getValue(); - } -} \ No newline at end of file diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/OIOutreach.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/OIOutreach.java deleted file mode 100644 index 00fd4590..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/OIOutreach.java +++ /dev/null @@ -1,113 +0,0 @@ -package org.usfirst.frc.team449.robot.oi.unidirectional; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import edu.wpi.first.wpilibj.buttons.Button; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.jacksonWrappers.MappedButton; - - -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class OIOutreach implements OIUnidirectional { - - /** - * The OI with higher priority that overrides if it has any input. - */ - @NotNull - private final OIUnidirectional overridingOI; - - /** - * The OI with lower priority that gets overriden. - */ - @NotNull - private final OIUnidirectional overridenOI; - - /** - * A button that overrides the lower priority controller - */ - @NotNull - private final Button button; - - /** - * The cached outputs for the left and right sides of the drive. - */ - private double cachedLeftOutput, cachedRightOutput; - - @JsonCreator - public OIOutreach(@NotNull @JsonProperty(required = true) OIUnidirectional overridingOI, - @NotNull @JsonProperty(required = true) OIUnidirectional overridenOI, - @NotNull @JsonProperty(required = true) MappedButton button) { - this.overridingOI = overridingOI; - this.overridenOI = overridenOI; - this.button = button; - } - - /** - * The output to be given to the left side of the drive. - * - * @return Output to left side from [-1, 1] - */ - @Override - public double getLeftOutput() { - if (overridingOI.getLeftOutput() != 0 || overridingOI.getRightOutput() != 0 || button.get()) { - return overridingOI.getLeftOutput(); - } else { - return overridenOI.getLeftOutput(); - } - } - - /** - * The output to be given to the right side of the drive. - * - * @return Output to right side from [-1, 1] - */ - @Override - public double getRightOutput() { - if (overridingOI.getLeftOutput() != 0 || overridingOI.getRightOutput() != 0 || button.get()) { - return overridingOI.getRightOutput(); - } else { - return overridenOI.getRightOutput(); - } - } - - /** - * Whether the driver is trying to drive straight. - * - * @return True if the driver is trying to drive straight, false otherwise. - */ - @Override - public boolean commandingStraight() { - return getLeftOutputCached() == getRightOutputCached(); - } - - /** - * The cached output to be given to the left side of the drive. - * - * @return Output to left side from [-1, 1] - */ - @Override - public double getLeftOutputCached() { - return cachedLeftOutput; - } - - /** - * The cached output to be given to the right side of the drive. - * - * @return Output to right side from [-1, 1] - */ - @Override - public double getRightOutputCached() { - return cachedRightOutput; - } - - /** - * Updates all cached values with current ones. - */ - @Override - public void update() { - cachedLeftOutput = getLeftOutput(); - cachedRightOutput = getRightOutput(); - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.java deleted file mode 100644 index 30932765..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.java +++ /dev/null @@ -1,47 +0,0 @@ -package org.usfirst.frc.team449.robot.oi.unidirectional; - -import com.fasterxml.jackson.annotation.JsonTypeInfo; -import org.usfirst.frc.team449.robot.oi.OI; - -/** - * An OI to control a robot with a unidirectional drive that has a left and right side (e.g. not meccanum, swerve, or - * holonomic) - */ -@JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class") -public interface OIUnidirectional extends OI { - - /** - * The output to be given to the left side of the drive. - * - * @return Output to left side from [-1, 1] - */ - double getLeftOutput(); - - /** - * The output to be given to the right side of the drive. - * - * @return Output to right side from [-1, 1] - */ - double getRightOutput(); - - /** - * Whether the driver is trying to drive straight. - * - * @return True if the driver is trying to drive straight, false otherwise. - */ - boolean commandingStraight(); - - /** - * The cached output to be given to the left side of the drive. - * - * @return Output to left side from [-1, 1] - */ - double getLeftOutputCached(); - - /** - * The cached output to be given to the right side of the drive. - * - * @return Output to right side from [-1, 1] - */ - double getRightOutputCached(); -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcade.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcade.java deleted file mode 100644 index 1709b4b8..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcade.java +++ /dev/null @@ -1,105 +0,0 @@ -package org.usfirst.frc.team449.robot.oi.unidirectional.arcade; - -import com.fasterxml.jackson.annotation.JsonTypeInfo; -import org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional; - -/** - * An arcade-style dual joystick OI. - */ -@JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class") -public abstract class OIArcade implements OIUnidirectional { - - /** - * Cached output values. - */ - private double rotCached, fwdCached, leftCached, rightCached; - - /** - * Get the rotational input. - * - * @return rotational velocity component from [-1, 1], where 1 is right and -1 is left. - */ - public abstract double getRot(); - - /** - * Get the velocity input. - * - * @return forward velocity component from [-1, 1], where 1 is forwards and -1 is backwards - */ - public abstract double getFwd(); - - /** - * Get the cached rotational input. - * - * @return rotational velocity component from [-1, 1], where 1 is right and -1 is left. - */ - public double getRotCached() { - return rotCached; - } - - /** - * Get the cached velocity input. - * - * @return forward velocity component from [-1, 1], where 1 is forwards and -1 is backwards - */ - public double getFwdCached() { - return fwdCached; - } - - /** - * The output to be given to the left side of the drive. - * - * @return Output to left side from [-1, 1] - */ - public double getLeftOutput() { - return getFwd() + getRot(); - } - - /** - * The output to be given to the right side of the drive. - * - * @return Output to right side from [-1, 1] - */ - public double getRightOutput() { - return getFwd() - getRot(); - } - - /** - * Whether the driver is trying to drive straight. - * - * @return True if the driver is trying to drive straight, false otherwise. - */ - @Override - public boolean commandingStraight() { - return getRot() == 0; - } - - /** - * The cached output to be given to the left side of the drive. - * - * @return Output to left side from [-1, 1] - */ - public double getLeftOutputCached() { - return leftCached; - } - - /** - * The cached output to be given to the right side of the drive. - * - * @return Output to right side from [-1, 1] - */ - public double getRightOutputCached() { - return rightCached; - } - - /** - * Updates all cached values with current ones. - */ - @Override - public void update() { - rotCached = getRot(); - fwdCached = getFwd(); - leftCached = fwdCached + rotCached; - rightCached = fwdCached - rotCached; - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeSimple.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeSimple.java deleted file mode 100644 index 19d658a3..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeSimple.java +++ /dev/null @@ -1,56 +0,0 @@ -package org.usfirst.frc.team449.robot.oi.unidirectional.arcade; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.oi.throttles.Throttle; - -/** - * A simple, two-stick arcade drive OI. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class OIArcadeSimple extends OIArcade { - - /** - * Left (rotation control) stick's throttle - */ - @NotNull - private final Throttle rotThrottle; - - /** - * Right (fwd/rev control) stick's throttle - */ - @NotNull - private final Throttle velThrottle; - - /** - * Default constructor - * - * @param rotThrottle The throttle for rotating the robot. - * @param velThrottle The throttle for driving straight. - */ - @JsonCreator - public OIArcadeSimple(@NotNull @JsonProperty(required = true) Throttle rotThrottle, - @NotNull @JsonProperty(required = true) Throttle velThrottle) { - this.rotThrottle = rotThrottle; - this.velThrottle = velThrottle; - } - - /** - * @return rotational velocity component - */ - @Override - public double getRot() { - return rotThrottle.getValue(); - } - - /** - * @return forward velocity component - */ - @Override - public double getFwd() { - return velThrottle.getValue(); - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeWithDPad.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeWithDPad.java deleted file mode 100644 index 70470475..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeWithDPad.java +++ /dev/null @@ -1,157 +0,0 @@ -package org.usfirst.frc.team449.robot.oi.unidirectional.arcade; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import edu.wpi.first.wpilibj.Joystick; -import org.jetbrains.annotations.NotNull; -import org.jetbrains.annotations.Nullable; -import org.usfirst.frc.team449.robot.generalInterfaces.loggable.Loggable; -import org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick; -import org.usfirst.frc.team449.robot.oi.throttles.Throttle; -import org.usfirst.frc.team449.robot.other.Polynomial; - -/** - * An arcade OI with an option to use the D-pad for turning. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class OIArcadeWithDPad extends OIArcade implements Loggable { - - /** - * How much the D-pad moves the robot rotationally on a 0 to 1 scale, equivalent to pushing the turning stick that - * much of the way - */ - private final double dPadShift; - - /** - * The throttle wrapper for the stick controlling turning velocity - */ - @NotNull - private final Throttle rotThrottle; - - /** - * The throttle wrapper for the stick controlling linear velocity - */ - @NotNull - private final Throttle fwdThrottle; - - /** - * The controller with the D-pad. Can be null if not using D-pad. - */ - @Nullable - private final Joystick gamepad; - - /** - * The polynomial to scale the forwards throttle output by before using it to scale the rotational throttle. Can be - * null, and if it is, rotational throttle is not scaled by forwards throttle. - */ - @Nullable - private final Polynomial scaleRotByFwdPoly; - - /** - * The scalar that scales the rotational throttle while turning in place. - */ - private final double turnInPlaceRotScale; - - /** - * Default constructor - * - * @param gamepad The gamepad containing the joysticks and buttons. Can be null if not using the D-pad. - * @param rotThrottle The throttle for rotating the robot. - * @param fwdThrottle The throttle for driving the robot straight. - * @param invertDPad Whether or not to invert the D-pad. Defaults to false. - * @param dPadShift How fast the dPad should turn the robot, on [0, 1]. Defaults to 0. - * @param scaleRotByFwdPoly The polynomial to scale the forwards throttle output by before using it to scale the - * rotational throttle. Can be null, and if it is, rotational throttle is not scaled by - * forwards throttle. - * @param turnInPlaceRotScale The scalar that scales the rotational throttle while turning in place. - */ - @JsonCreator - public OIArcadeWithDPad( - @NotNull @JsonProperty(required = true) Throttle rotThrottle, - @NotNull @JsonProperty(required = true) Throttle fwdThrottle, - double dPadShift, - boolean invertDPad, - @Nullable MappedJoystick gamepad, - @Nullable Polynomial scaleRotByFwdPoly, - @JsonProperty(required = true) double turnInPlaceRotScale) { - this.dPadShift = (invertDPad ? -1 : 1) * dPadShift; - this.rotThrottle = rotThrottle; - this.fwdThrottle = fwdThrottle; - this.gamepad = gamepad; - this.scaleRotByFwdPoly = scaleRotByFwdPoly; - this.turnInPlaceRotScale = turnInPlaceRotScale; - } - - /** - * The output of the throttle controlling linear velocity, smoothed and adjusted according to what type of joystick - * it is. - * - * @return The processed stick output, sign-adjusted so 1 is forward and -1 is backwards. - */ - @Override - public double getFwd() { - return fwdThrottle.getValue(); - } - - /** - * Get the output of the D-pad or turning joystick, whichever is in use. If both are in use, the D-pad takes - * preference. - * - * @return The processed stick or D-pad output, sign-adjusted so 1 is right and -1 is left. - */ - @Override - public double getRot() { - //If the gamepad is being pushed to the left or right - if (gamepad != null && !(gamepad.getPOV() == -1 || gamepad.getPOV() % 180 == 0)) { - //Output the shift value - return gamepad.getPOV() < 180 ? dPadShift : -dPadShift; - } else if (getFwd() == 0) { //Turning in place - return rotThrottle.getValue() * turnInPlaceRotScale; - } else if (scaleRotByFwdPoly != null) { //If we're using Cheezy Drive - return rotThrottle.getValue() * scaleRotByFwdPoly.get(Math.abs(getFwd())); - } else { //Plain and simple - return rotThrottle.getValue(); - } - } - - /** - * Get the headers for the data this subsystem logs every loop. - * - * @return An N-length array of String labels for data, where N is the length of the Object[] returned by getData(). - */ - @NotNull - @Override - public String[] getHeader() { - return new String[]{ - "Fwd", - "Rot" - }; - } - - /** - * Get the data this subsystem logs every loop. - * - * @return An N-length array of Objects, where N is the number of labels given by getHeader. - */ - @NotNull - @Override - public Object[] getData() { - return new Object[]{ - getFwd(), - getRot() - }; - } - - /** - * Get the name of this object. - * - * @return A string that will identify this object in the log file. - */ - @NotNull - @Override - public String getName() { - return "OI"; - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITank.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITank.java deleted file mode 100644 index ab4f8189..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITank.java +++ /dev/null @@ -1,93 +0,0 @@ -package org.usfirst.frc.team449.robot.oi.unidirectional.tank; - -import com.fasterxml.jackson.annotation.JsonTypeInfo; -import org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional; - -/** - * A tank-style dual joystick OI. - */ -@JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class") -public abstract class OITank implements OIUnidirectional { - - /** - * Cached left and right throttle values. - */ - private double leftThrottleCached, rightThrottleCached; - - /** - * Get the throttle for the left side of the drive. - * - * @return percent of max speed for left motor cluster from [-1.0, 1.0] - */ - public abstract double getLeftThrottle(); - - /** - * Get the throttle for the right side of the drive. - * - * @return percent of max speed for right motor cluster from [-1.0, 1.0] - */ - public abstract double getRightThrottle(); - - /** - * Get the cached throttle for the left side of the drive. - * - * @return percent of max speed for left motor cluster from [-1.0, 1.0] - */ - public double getLeftThrottleCached() { - return leftThrottleCached; - } - - /** - * Get the cached throttle for the right side of the drive. - * - * @return percent of max speed for right motor cluster from [-1.0, 1.0] - */ - public double getRightThrottleCached() { - return rightThrottleCached; - } - - /** - * The output to be given to the left side of the drive. - * - * @return Output to left side from [-1, 1] - */ - public double getLeftOutput() { - return getLeftThrottle(); - } - - /** - * The output to be given to the right side of the drive. - * - * @return Output to right side from [-1, 1] - */ - public double getRightOutput() { - return getRightThrottle(); - } - - /** - * The cached output to be given to the left side of the drive. - * - * @return Output to left side from [-1, 1] - */ - public double getLeftOutputCached() { - return leftThrottleCached; - } - - /** - * The cached output to be given to the right side of the drive. - * - * @return Output to right side from [-1, 1] - */ - public double getRightOutputCached() { - return rightThrottleCached; - } - - /** - * Updates all cached values with current ones. - */ - @Override - public void update() { - leftThrottleCached = getLeftThrottle(); - rightThrottleCached = getRightThrottle(); - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITankSimple.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITankSimple.java deleted file mode 100644 index d8526fd5..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITankSimple.java +++ /dev/null @@ -1,88 +0,0 @@ -package org.usfirst.frc.team449.robot.oi.unidirectional.tank; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.oi.throttles.Throttle; - -/** - * A simple tank drive, where each joystick controls a side of the robot. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class OITankSimple extends OITank { - - /** - * The left throttle - */ - @NotNull - private final Throttle leftThrottle; - - /** - * The right throttle - */ - @NotNull - private final Throttle rightThrottle; - - /** - * The difference between left and right input within which the driver is considered to be trying to drive - * straight. - */ - private final double commandingStraightTolerance; - - /** - * Default constructor - * - * @param leftThrottle The throttle for controlling the velocity of the left side of the drive. - * @param rightThrottle The throttle for controlling the velocity of the right side of the drive. - * @param commandingStraightTolerance The difference between left and right input within which the driver is - * considered to be trying to drive straight. Defaults to 0. - */ - @JsonCreator - public OITankSimple(@NotNull @JsonProperty(required = true) Throttle leftThrottle, - @NotNull @JsonProperty(required = true) Throttle rightThrottle, - double commandingStraightTolerance) { - this.leftThrottle = leftThrottle; - this.rightThrottle = rightThrottle; - this.commandingStraightTolerance = commandingStraightTolerance; - } - - /** - * Get the throttle for the left side of the drive. - * - * @return percent of max speed for left motor cluster from [-1.0, 1.0] - */ - @Override - public double getLeftThrottle() { - //If the driver is trying to drive straight, use the average of the two sticks. - if (commandingStraight()) { - return (leftThrottle.getValue() + rightThrottle.getValue()) / 2.; - } - return leftThrottle.getValue(); - } - - /** - * Get the throttle for the right side of the drive. - * - * @return percent of max speed for right motor cluster from [-1.0, 1.0] - */ - @Override - public double getRightThrottle() { - //If the driver is trying to drive straight, use the average of the two sticks. - if (commandingStraight()) { - return (leftThrottle.getValue() + rightThrottle.getValue()) / 2.; - } - return rightThrottle.getValue(); - } - - /** - * Whether the driver is trying to drive straight. - * - * @return True if the driver is trying to drive straight, false otherwise. - */ - @Override - public boolean commandingStraight() { - return Math.abs(getLeftOutputCached() - getRightOutputCached()) <= commandingStraightTolerance; - } -} \ No newline at end of file diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/other/BufferTimer.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/other/BufferTimer.java deleted file mode 100644 index ab07ee2d..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/other/BufferTimer.java +++ /dev/null @@ -1,63 +0,0 @@ -package org.usfirst.frc.team449.robot.other; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; - -/** - * A timer that checks if condition has been true for the past n seconds/milliseconds. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class BufferTimer { - - /** - * How long the condition has to be true for, in milliseconds. - */ - private final long bufferTime; - - /** - * The time at which the condition most recently switched from false to true. - */ - private long timeConditionBecameTrue; - - /** - * The state of the condition the last time get() was called. - */ - private boolean previousState; - - /** - * Constructor for a time given in seconds. - * - * @param bufferTimeSeconds The amount of time the condition has to be true for, in seconds. Defaults to 0. - */ - @JsonCreator - public BufferTimer(double bufferTimeSeconds) { - bufferTime = (long) (bufferTimeSeconds * 1000.); - } - - /** - * Constructor for a time given in milliseconds. - * - * @param bufferTimeMilliseconds The amount of time the condition has to be true for, in milliseconds. - */ - public BufferTimer(long bufferTimeMilliseconds) { - bufferTime = bufferTimeMilliseconds; - } - - /** - * Get whether the condition has been true for at least the specified amount of time. - * - * @param currentState The current state of the condition. - * @return True if the condition has been true for the specified amount of time, false otherwise. - */ - public boolean get(boolean currentState) { - //If the condition just became true, store the current time. - if (currentState && !previousState) { - timeConditionBecameTrue = Clock.currentTimeMillis(); - } - //Update previous state - previousState = currentState; - //Return true if the condition is currently true and has been true for bufferTime milliseconds. - return currentState && Clock.currentTimeMillis() - timeConditionBecameTrue >= bufferTime; - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/other/Clock.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/other/Clock.java deleted file mode 100644 index 53f3310b..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/other/Clock.java +++ /dev/null @@ -1,47 +0,0 @@ -package org.usfirst.frc.team449.robot.other; - -import org.jetbrains.annotations.Contract; - -/** - * A wrapper on {@link System}.currentTimeMillis that caches the time, to avoid calling the currentTimeMillis method. - */ -public class Clock { - - /** - * The starting time for this clock. - */ - private static long startTime; - - /** - * The time since startTime, in milliseconds. - */ - private static long currentTime; - - /** - * Make constructor private so it can't be called - */ - private Clock() { - } - - /** - * Updates the current time. - */ - public synchronized static void updateTime() { - currentTime = System.currentTimeMillis() - startTime; - } - - /** - * Sets the start time to the current time. - */ - public synchronized static void setStartTime() { - startTime = System.currentTimeMillis(); - } - - /** - * @return The time since the start time, in milliseconds. - */ - @Contract(pure = true) - public synchronized static long currentTimeMillis() { - return currentTime; - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/other/LogEvent.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/other/LogEvent.java deleted file mode 100644 index b54fdb02..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/other/LogEvent.java +++ /dev/null @@ -1,59 +0,0 @@ -package org.usfirst.frc.team449.robot.other; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; - -/** - * An logged event with a message, timestamp, and calling class. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class LogEvent { - - /** - * The time, in milliseconds, at which this event was created. - */ - private final long timeCalled; - - /** - * The message of this event. - */ - @NotNull - private final String message; - - /** - * The class that called this event. - */ - @NotNull - private final Class caller; - - /** - * Default constructor. - *

- * Note to future people: Don't rewrite this to get the calling class from the stack trace. It's possible, and makes - * the code cleaner than taking the calling class as an argument, but getting the stack trace actually takes Java a - * little while, and considering how often this constructor is called, that would significantly slow us down. - * - * @param message The message of this event. - * @param caller The calling class. Should pretty much always be this.getClass(). - */ - @JsonCreator - public LogEvent(@NotNull @JsonProperty(required = true) String message, - @NotNull @JsonProperty(required = true) Class caller) { - timeCalled = Clock.currentTimeMillis(); - this.message = message; - this.caller = caller; - } - - /** - * Turn this event into a string for logging. - * - * @return The time called, calling class, and message, comma-separated and in that order. - */ - @NotNull - public String toString() { - return timeCalled + "," + caller.toString() + "," + message; - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/other/Logger.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/other/Logger.java deleted file mode 100644 index 32e4d9d1..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/other/Logger.java +++ /dev/null @@ -1,243 +0,0 @@ -package org.usfirst.frc.team449.robot.other; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import edu.wpi.first.wpilibj.Sendable; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.generalInterfaces.loggable.Loggable; - -import java.io.FileWriter; -import java.io.IOException; -import java.text.SimpleDateFormat; -import java.util.ArrayList; -import java.util.Date; -import java.util.List; - -/** - * A logger that logs telemetry data and individual events. Should be run as a separate thread from the main robot - * loop. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class Logger implements Runnable { - - /** - * A list of all events that subsystems and commands have logged that haven't yet been written to a file. - */ - @NotNull - private static List events = new ArrayList<>(); - - /** - * The file path for the event log. - */ - @NotNull - private final String eventLogFilename; - - /** - * The file path for the telemetry data log. - */ - @NotNull - private final String telemetryLogFilename; - - /** - * An array of all the subsystems with telemetry data to log. - */ - @NotNull - private final Loggable[] subsystems; - - /** - * A 2d array of the names of the each datum logged by each subsystem. Organized as - * itemNames[subsystem][dataIndex]. - */ - @NotNull - private final String[][] itemNames; - - /** - * The period of the loop running this logger, in seconds. - */ - private final double loopTimeSecs; - - /** - * The time this that logging started. We don't use {@link Clock} because this is a separate thread. - */ - private final long startTime; - - /** - * Default constructor. - * - * @param subsystems The subsystems to log telemetry data from. - * @param loopTimeSecs The period of the loop for collecting telemetry data, in seconds. - * @param eventLogFilename The filepath of the log for events. Will have the timestamp and file extension - * appended onto the end. - * @param telemetryLogFilename The filepath of the log for telemetry data. Will have the timestamp and file - * extension appended onto the end. - * @throws IOException If the file names provided from the log can't be written to. - */ - @JsonCreator - public Logger(@NotNull @JsonProperty(required = true) Loggable[] subsystems, - @JsonProperty(required = true) double loopTimeSecs, - @NotNull @JsonProperty(required = true) String eventLogFilename, - @NotNull @JsonProperty(required = true) String telemetryLogFilename) throws IOException { - //Set up the file names, using a time stamp to avoid overwriting old log files. - String timeStamp = new SimpleDateFormat("yyyy.MM.dd.HH.mm.ss").format(new Date()); - startTime = System.currentTimeMillis(); - this.eventLogFilename = eventLogFilename + timeStamp + ".csv"; - this.telemetryLogFilename = telemetryLogFilename + timeStamp + ".csv"; - - //Set the loop time variable - this.loopTimeSecs = loopTimeSecs; - - //Set up the list of loggable subsystems. - this.subsystems = subsystems; - - //Construct itemNames. - itemNames = new String[this.subsystems.length][]; - - FileWriter eventLogWriter = new FileWriter(this.eventLogFilename); - FileWriter telemetryLogWriter = new FileWriter(this.telemetryLogFilename); - //Write the file headers - eventLogWriter.write("time,class,message" + "\n"); - //We use a StringBuilder because it's better for building up a string via concatenation. - StringBuilder telemetryHeader = new StringBuilder(); - telemetryHeader.append("time,Clock.time,"); - for (int i = 0; i < this.subsystems.length; i++) { - String[] items = this.subsystems[i].getHeader(); - //Initialize itemNames rows - itemNames[i] = new String[items.length]; - //For each datum - for (int j = 0; j < items.length; j++) { - //Format name as Subsystem.dataName - String itemName = this.subsystems[i].getName() + "." + items[j]; - itemNames[i][j] = itemName; - telemetryHeader.append(itemName); - telemetryHeader.append(","); - } - } - //Delete the trailing comma - telemetryHeader.deleteCharAt(telemetryHeader.length() - 1); - - telemetryHeader.append("\n"); - //Write the telemetry file header - telemetryLogWriter.write(telemetryHeader.toString()); - eventLogWriter.close(); - telemetryLogWriter.close(); - } - - /** - * Log an event to be written to the event log file. - * - * @param message The text of the event to log. - * @param caller The class causing the event. Almost always will be this.getClass(). - */ - public static void addEvent(@NotNull String message, @NotNull Class caller) { - events.add(new LogEvent(message, caller)); - } - - /** - * Print out all logged events to the event log and write all the telemetry data to the telemetry log. - */ - @Override - public void run() { - FileWriter eventLogWriter = null; - try { - eventLogWriter = new FileWriter(eventLogFilename, true); - } catch (IOException e) { - System.out.println("Event log not found!"); - e.printStackTrace(); - } - FileWriter telemetryLogWriter = null; - try { - telemetryLogWriter = new FileWriter(telemetryLogFilename, true); - } catch (IOException e) { - System.out.println("Telemetry log not found!"); - e.printStackTrace(); - } - try { - //Log each event to a file - for (LogEvent event : events) { - eventLogWriter.write(event.toString() + "\n"); - } - } catch (IOException e) { - System.out.println("Logging failed!"); - e.printStackTrace(); - } - //Collect telemetry data and write it to SmartDashboard and a file. - events = new ArrayList<>(); - //We use a StringBuilder because it's better for building up a string via concatenation. - StringBuilder telemetryData = new StringBuilder(); - - //Log the times - telemetryData.append(System.currentTimeMillis() - startTime).append(","); - telemetryData.append(Clock.currentTimeMillis()).append(","); - - //Loop through each datum - for (int i = 0; i < subsystems.length; i++) { - Object[] data = subsystems[i].getData(); - for (int j = 0; j < data.length; j++) { - Object datum = data[j]; - //We do this big thing here so we log it to SmartDashboard as the correct data type, so we make each - //thing into a booleanBox, graph, etc. - if (datum != null) { - if (datum.getClass().equals(boolean.class) || datum.getClass().equals(Boolean.class)) { - SmartDashboard.putBoolean(itemNames[i][j], (boolean) datum); - } else if (datum.getClass().equals(int.class) || datum.getClass().equals(Integer.class)) { - SmartDashboard.putNumber(itemNames[i][j], (int) datum); - } else if (datum.getClass().equals(double.class)) { - System.out.println("Double item name: " + itemNames[i][j]); - System.out.println("Double: " + datum); - System.out.println("Double class: " + datum.getClass()); - SmartDashboard.putNumber(itemNames[i][j], (double) datum); - } else if (datum.getClass().equals(Double.class)) { - SmartDashboard.putNumber(itemNames[i][j], (Double) datum); - } else if (datum.getClass().equals(long.class) || datum.getClass().equals(Long.class)) { - SmartDashboard.putNumber(itemNames[i][j], (long) datum); - } else if (datum.getClass().equals(Sendable.class)) { - SmartDashboard.putData(itemNames[i][j], (Sendable) datum); - } else if (datum.getClass().equals(String.class)) { - SmartDashboard.putString(itemNames[i][j], (String) datum); - } else { - SmartDashboard.putString(itemNames[i][j], datum.toString()); - } - telemetryData.append(datum.toString()); - } else { - SmartDashboard.putString(itemNames[i][j], "null"); - telemetryData.append("null"); - } - - - //Build up the line of data - telemetryData.append(","); - } - } - - String telemetryString = telemetryData.toString(); - telemetryString = telemetryString.substring(0, telemetryString.length() - 1); - telemetryString += "\n"; - //Log the data to a file. - try { - telemetryLogWriter.write(telemetryString); - } catch (IOException e) { - System.out.println("Logging failed!"); - e.printStackTrace(); - } - try { - telemetryLogWriter.close(); - } catch (IOException e) { - e.printStackTrace(); - } - try { - eventLogWriter.close(); - } catch (IOException e) { - e.printStackTrace(); - } - } - - /** - * @return The map-specified loop period of this logger, in seconds. - */ - public double getLoopTimeSecs() { - return loopTimeSecs; - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/other/MotionProfileData.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/other/MotionProfileData.java deleted file mode 100644 index 6e8c1bb8..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/other/MotionProfileData.java +++ /dev/null @@ -1,132 +0,0 @@ -package org.usfirst.frc.team449.robot.other; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.Robot; - -import java.io.BufferedReader; -import java.io.FileReader; -import java.io.IOException; - -/** - * Data structure containing the array of points for the MP and a method to fill the MP from a csv file - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class MotionProfileData { - - /** - * Whether or not the profile is inverted because we're driving it backwards. - */ - private final boolean inverted; - - /** - * Whether or not to reset the talon position when this profile starts. - */ - private final boolean resetPosition; - - /** - * Whether to use position PID or not. - */ - private final boolean velocityOnly; - - /** - * A 2D array containing 4 values for each point- position, velocity, acceleration and delta time respectively, in - * feet, feet per second, feet per (second^2), and milliseconds. - */ - private double data[][]; - - /** - * Default constructor - * - * @param filename The filename of the .csv with the motion profile data. The first line must be the number of - * other lines. - * @param inverted Whether or not the profile is inverted (would be inverted if we're driving it backwards) - * @param velocityOnly Whether or not to only use velocity feed-forward. Used for tuning kV and kA. Defaults to - * false. - * @param resetPosition Whether or not to reset the talon position when this profile starts. - */ - @JsonCreator - public MotionProfileData(@NotNull @JsonProperty(required = true) String filename, - @JsonProperty(required = true) boolean inverted, - boolean velocityOnly, - boolean resetPosition) { - this.inverted = inverted; - this.velocityOnly = velocityOnly; - this.resetPosition = resetPosition; - - try { - readFile(Robot.RESOURCES_PATH + filename); - } catch (IOException e) { - e.printStackTrace(); - } - } - - /** - * Read the profile from the given file and store it in data. - * - * @param filename The name of the .csv file containing the motion profile data. - * @throws IOException if that file doesn't exist. - */ - private void readFile(@NotNull String filename) throws IOException { - //Instantiate the reader - BufferedReader br = new BufferedReader(new FileReader(filename)); - int numLines = Integer.parseInt(br.readLine()); - - //Instantiate data - data = new double[numLines][4]; - - //Declare the arrays outside the loop to avoid garbage collection. - String[] line; - double[] tmp; - - //Iterate through each line of data. - for (int i = 0; i < numLines; i++) { - //split up the line - line = br.readLine().split(",\t"); - //declare as a new double because we already put the old object it referenced in data. - tmp = new double[4]; - - tmp[0] = Double.parseDouble(line[0]); - tmp[1] = Double.parseDouble(line[1]); - tmp[2] = Double.parseDouble(line[2]); - - //Convert to milliseconds - tmp[3] = Double.parseDouble(line[3]) * 1000; - data[i] = tmp; - } - //Close the reader - br.close(); - } - - /** - * @return A 2D array containing 3 values for each point- position, velocity, and delta time respectively. - */ - @NotNull - public double[][] getData() { - return data; - } - - /** - * @return Whether to use position PID or not. - */ - public boolean isVelocityOnly() { - return velocityOnly; - } - - /** - * @return Whether or not the profile is inverted because we're driving it backwards. - */ - public boolean isInverted() { - return inverted; - } - - /** - * @return Whether or not to reset the talon position when this profile starts. - */ - public boolean resetPosition() { - return resetPosition; - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/other/Polynomial.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/other/Polynomial.java deleted file mode 100644 index 355463af..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/other/Polynomial.java +++ /dev/null @@ -1,103 +0,0 @@ -package org.usfirst.frc.team449.robot.other; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.jetbrains.annotations.Nullable; - -import java.util.HashMap; -import java.util.Map; - -/** - * A polynomial of a single variable. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class Polynomial { - - /** - * A map of the powers and coefficients of each term. - */ - @NotNull - private final Map powerToCoefficientMap; - - /** - * The sign of the most recent input. This is a field to avoid garbage collection. - */ - private double sign; - - /** - * The absolute value of the most recent input. This is a field to avoid garbage collection. - */ - private double abs; - - /** - * The value to return when get() is called. This is a field to avoid garbage collection. - */ - private double toRet; - - /** - * Default constructor. - * - * @param powerToCoefficientMap A map of the powers and coefficients of each term. Defaults to [1:1] if null or - * 0-length. - * @param scaleCoefficientSumTo Scales each coefficient so they all add up to this number. Can be null to avoid - * scaling. - */ - @JsonCreator - public Polynomial(@Nullable Map powerToCoefficientMap, - @Nullable Double scaleCoefficientSumTo) { - //Default powerToCoefficientMap to just be [1:1]. - if (powerToCoefficientMap == null || powerToCoefficientMap.size() == 0) { - this.powerToCoefficientMap = new HashMap<>(1); - this.powerToCoefficientMap.put(1., 1.); - } else { - this.powerToCoefficientMap = powerToCoefficientMap; - } - - //Scale if scaleCoefficientSumTo isn't null. - if (scaleCoefficientSumTo != null) { - scaleCoefficientSum(scaleCoefficientSumTo); - } - } - - /** - * Get the value of the polynomial given x. - * - * @param x The variable to be given to the polynomial. - * @return The value of the polynomial evaluated at |x|, then changed to the sign of x. - */ - public double get(double x) { - sign = Math.signum(x); - abs = Math.abs(x); - toRet = 0; - for (double power : powerToCoefficientMap.keySet()) { - toRet += Math.pow(abs, power) * powerToCoefficientMap.get(power); - } - return toRet * sign; - } - - /** - * Scale each coefficient so they sum to a given number. - * - * @param scaleTo The number to scale the sum of coefficients to. - */ - public void scaleCoefficientSum(double scaleTo) { - double coefficientSum = 0; - for (double power : powerToCoefficientMap.keySet()) { - coefficientSum += powerToCoefficientMap.get(power); - } - double scaleFactor = scaleTo / coefficientSum; - for (double power : powerToCoefficientMap.keySet()) { - powerToCoefficientMap.replace(power, powerToCoefficientMap.get(power) * scaleFactor); - } - } - - /** - * @return A map of the powers and coefficients of each term. - */ - @NotNull - public Map getPowerToCoefficientMap() { - return powerToCoefficientMap; - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/other/UnidirectionalPoseEstimator.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/other/UnidirectionalPoseEstimator.java deleted file mode 100644 index 7284b2b9..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/other/UnidirectionalPoseEstimator.java +++ /dev/null @@ -1,381 +0,0 @@ -package org.usfirst.frc.team449.robot.other; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectional; -import org.usfirst.frc.team449.robot.generalInterfaces.loggable.Loggable; -import org.usfirst.frc.team449.robot.jacksonWrappers.MappedRunnable; -import org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.SubsystemAHRS; - -import java.util.ArrayList; -import java.util.List; - -/** - * A Runnable for pose estimation that can take absolute positions. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class UnidirectionalPoseEstimator implements MappedRunnable, Loggable { - - /** - * The subsystem to get gyro and encoder data from. - */ - @NotNull - private final T subsystem; - - /** - * The maximum amount, in degrees, a new absolute position's angle can be off from the gyro reading and still be - * accepted as valid. - */ - private final double absolutePosAngleTolerance; - - /** - * A list of all the gyro angles recorded, in order from oldest to newest and in degrees. - */ - @NotNull - private List angles; - - /** - * A list of all [x,y] transformation vectors calculated, in order from oldest to newest and in feet. - */ - @NotNull - private List vectors; - - /** - * A list of all the times at which the gyro angles and vectors were recorded, in order from oldest to newest and in - * milliseconds. - */ - @NotNull - private List times; - - /** - * The current x,y position of the robot, in feet. - */ - private double[] currentPos; - - /** - * The time, in milliseconds since the robot code started, that the last absolute position was recorded at. - */ - private long absolutePosTime; - - /** - * The encoder reading of the left encoder the last time the loop ran, in feet. - */ - private double lastLeftPos; - - /** - * The encoder reading of the right encoder the last time the loop ran, in feet. - */ - private double lastRightPos; - - /** - * The angle of the gyro the last time the loop ran, in degrees. This is normally the same as the last element of - * angles, but it's possible that a new absolute position could erase all elements of angles. - */ - private double lastTheta; - - /** - * The last time the loop ran, in milliseconds. This is normally the same as the last element of times, but it's - * possible that a new absolute position could erase all elements of times. - */ - private long lastTime; - - /** - * The most recently calculated effective wheelbase diameter, in feet. - */ - private double fudgedWheelbaseDiameter; - - /** - * Angle and magnitude of vector being calculated. Field to avoid garbage collection. - */ - private double vectorAngle, vectorMagnitude; - - /** - * Per-run variables for run(). Fields to avoid garbage collection. - */ - private double left, right, theta, deltaLeft, deltaRight, deltaTheta; - private long time; - - /** - * Output vector from run(). Field to avoid garbage collection. - */ - private double[] vector; - - /** - * Default constructor. - * - * @param subsystem The subsystem to get gyro and encoder data from. - * @param absolutePosAngleTolerance The maximum amount, in degrees, a new absolute position's angle can be off from - * the gyro reading and still be accepted as valid. - * @param startX The starting X of the robot, in feet. Defaults to 0. - * @param startY The starting Y of the robot, in feet. Defaults to 0. - * @param startTheta The starting angle of the robot, in degrees. Defaults to 0. - */ - @JsonCreator - public UnidirectionalPoseEstimator(@JsonProperty(required = true) @NotNull T subsystem, - @JsonProperty(required = true) double absolutePosAngleTolerance, - double startX, - double startY, - double startTheta) { - this.subsystem = subsystem; - this.absolutePosAngleTolerance = absolutePosAngleTolerance; - lastTheta = startTheta; - - //Construct lists - angles = new ArrayList<>(); - vectors = new ArrayList<>(); - times = new ArrayList<>(); - - //Set up start pos - currentPos = new double[2]; - currentPos[0] = startX; - currentPos[1] = startY; - - lastLeftPos = subsystem.getLeftPos(); - lastRightPos = subsystem.getRightPos(); - absolutePosTime = 0; - lastTime = 0; - } - - /** - * Calculate the x and y movement vector for the robot. - * - * @param left The displacement of the left encoder, in feet - * @param right The displacement of the right encoder, in feet - * @param deltaTheta The angular displacement, in radians - * @param lastAngle The previous heading, in radians - * @return An array of length 2 containing the [x, y] displacement of the robot. - */ - @NotNull - private double[] calcVector(double left, double right, double deltaTheta, double lastAngle) { - - //If we're going in a straight line - if (deltaTheta == 0) { - return new double[]{(left + right) / 2. * Math.cos(lastAngle), (left + right) / 2. * Math.sin(lastAngle)}; - } else { - //This next part is too complicated to explain in comments. Read this wiki page instead: - // http://team449.shoutwiki.com/wiki/Pose_Estimation - vectorAngle = lastAngle + deltaTheta / 2.; - vectorMagnitude = 2. * ((left + right) / 2.) / deltaTheta * Math.sin(deltaTheta / 2.); - return new double[]{vectorMagnitude * Math.cos(vectorAngle), vectorMagnitude * Math.sin(vectorAngle)}; - } - } - - /** - * Use the current gyro and encoder data to calculate how the robot has moved since the last time run was called. - */ - @Override - public synchronized void run() { - //Record everything at the start, as it may change between executing lines of code and that would be bad. - left = subsystem.getLeftPos(); - right = subsystem.getRightPos(); - theta = Math.toRadians(subsystem.getAngularDisplacement()); - time = Clock.currentTimeMillis(); - - //Calculate differences versus the last measurement - deltaLeft = left - lastLeftPos; - deltaRight = right - lastRightPos; - deltaTheta = theta - lastTheta; - if (deltaTheta == 0) { - fudgedWheelbaseDiameter = -1; - } else { - fudgedWheelbaseDiameter = (deltaLeft - deltaRight) / deltaTheta; - } - - vector = calcVector(deltaLeft, deltaRight, deltaTheta, lastTheta); - - //The vector for how much the robot moves, element 0 is x and element 1 is y. - - //If we received an absolute position between the last run and this one, scale the vector so it only includes - //the change since the absolute position was given - if (absolutePosTime > lastTime) { - currentPos[0] += vector[0] * (time - absolutePosTime) / (time - lastTime); - currentPos[1] += vector[1] * (time - absolutePosTime) / (time - lastTime); - } else { - currentPos[0] += vector[0]; - currentPos[1] += vector[1]; - } - - //record measurements in lists - vectors.add(vector); - angles.add(theta); - times.add(time); - - //record current stuff as "last" - lastTheta = theta; - lastRightPos = right; - lastLeftPos = left; - lastTime = time; - } - - /** - * Add an absolute position at the given time stamp. - * - * @param x The absolute x, in feet - * @param y The absolute y, in feet - * @param time The time, in milleseconds after the robot code started, that the absolute position was recorded. - * @return true if the absolute position was the most recent received and was used, false otherwise. - */ - public synchronized boolean addAbsolutePos(double x, double y, long time) { - //Ignore it if it's older than the existing absolute position - if (time < absolutePosTime) { - return false; - } - - //Add the given position - addPos(x, y, time, getFirstKeepableIndex(time)); - return true; - } - - /** - * Add an absolute position at the given time stamp, using an angle measured to verify that the absolute position is - * correct. - * - * @param x The absolute x, in feet - * @param y The absolute y, in feet - * @param time The time, in milleseconds after the robot code started, that the absolute position was recorded - * @param angle The absolute angle, in degrees. - * @return true if the absolute position was the most recent received and the angle was correct enough to be used, - * false otherwise. - */ - public synchronized boolean addAbsolutePos(double x, double y, long time, double angle) { - //Ignore it if it's older than the existing absolute position - if (time < absolutePosTime) { - return false; - } - - //Get the first keepable index - int firstKeepableIndex = getFirstKeepableIndex(time); - - //Find the angle of the gyro at the time the absolute position was recorded - double angleAtTime; - if (firstKeepableIndex == 0) { - //If the absolute position is from before the first angle was recorded, just use the first angle. - angleAtTime = angles.get(0); - } else { - //Calculate the angle at the time by assuming constant angular velocity over the interval. - angleAtTime = (angles.get(firstKeepableIndex - 1) * (time - times.get(firstKeepableIndex - 1)) + - angles.get(firstKeepableIndex) * (times.get(firstKeepableIndex) - time)) - / (times.get(firstKeepableIndex) - times.get(firstKeepableIndex - 1)); - } - - //If the angle from the gyro and from the absolute position are too different, don't use the absolute position. - if (Math.abs(angleAtTime - angle) > absolutePosAngleTolerance) { - return false; - } else { - //Otherwise, use it. - addPos(x, y, time, firstKeepableIndex); - return true; - } - } - - /** - * Get the current absolute position of the robot - * - * @return The current x,y position in feet. - */ - @NotNull - public double[] getPos() { - return currentPos; - } - - /** - * An internal helper method that adds an absolute position given a first keepable index. - * - * @param x The absolute x, in feet - * @param y The absolute y, in feet - * @param time The time, in milleseconds after the robot code started, that the absolute position was - * recorded - * @param firstKeepableIndex The first index of the times, vectors, and angles arrays recorded after the given - * time. - */ - private void addPos(double x, double y, long time, int firstKeepableIndex) { - this.absolutePosTime = time; - this.currentPos = new double[2]; - this.currentPos[0] = x; - this.currentPos[1] = y; - - //The "first keepable" vector starts before the absolute position is measured and ends after it, so we have to - //add the part that comes after to the position. - if (firstKeepableIndex > 0) { //This if is just to prevent IndexOutOfBounds on times.get(firstKeepableIndex - 1) - this.currentPos[0] += vectors.get(firstKeepableIndex)[0] * (times.get(firstKeepableIndex) - time) / - (times.get(firstKeepableIndex) - times.get(firstKeepableIndex - 1)); - this.currentPos[1] += vectors.get(firstKeepableIndex)[1] * (times.get(firstKeepableIndex) - time) / - (times.get(firstKeepableIndex) - times.get(firstKeepableIndex - 1)); - } - - //Trim vectors to only be the relevant vectors. - vectors = vectors.subList(firstKeepableIndex, vectors.size()); - - //Add all the vectors that come after the absolutePos to the position. Loop starts at index 1 because index 0, - //the firstKeepableIndex, we already accounted for above. - for (int i = 1; i < vectors.size(); i++) { - currentPos[0] += vectors.get(i)[0]; - currentPos[1] += vectors.get(i)[1]; - } - - //Trim other lists - times = times.subList(firstKeepableIndex, times.size()); - angles = angles.subList(firstKeepableIndex, angles.size()); - } - - /** - * Finds the first index of the times array that was recorded after the given time. - * - * @param time A time in milliseconds since the robot code started - * @return the lowest index of times whose value is greater than time. - */ - private int getFirstKeepableIndex(long time) { - int firstKeepableIndex = times.size(); - for (int i = 0; i < times.size(); i++) { - if (times.get(i) > time) { - firstKeepableIndex = i; - break; - } - } - return firstKeepableIndex; - } - - /** - * Get the headers for the data this subsystem logs every loop. - * - * @return An N-length array of String labels for data, where N is the length of the Object[] returned by getData(). - */ - @NotNull - @Override - public String[] getHeader() { - return new String[]{ - "effective_wheelbase", - "x_displacement", - "y_displacement" - }; - } - - /** - * Get the data this subsystem logs every loop. - * - * @return An N-length array of Objects, where N is the number of labels given by getHeader. - */ - @NotNull - @Override - public Object[] getData() { - return new Object[]{ - fudgedWheelbaseDiameter, - getPos()[0], - getPos()[1] - }; - } - - /** - * Get the name of this object. - * - * @return A string that will identify this object in the log file. - */ - @NotNull - @Override - public String getName() { - return "PoseEstimator"; - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/other/Updater.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/other/Updater.java deleted file mode 100644 index fa324cbd..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/other/Updater.java +++ /dev/null @@ -1,42 +0,0 @@ -package org.usfirst.frc.team449.robot.other; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.generalInterfaces.updatable.Updatable; -import org.usfirst.frc.team449.robot.jacksonWrappers.MappedRunnable; - -/** - * A Runnable for updating cached variables. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class Updater implements MappedRunnable { - - /** - * The objects to update. - */ - @NotNull - private final Updatable[] updatables; - - /** - * Default constructor - * - * @param updatables The objects to update. - */ - @JsonCreator - public Updater(@NotNull @JsonProperty(required = true) Updatable[] updatables) { - this.updatables = updatables; - } - - /** - * Update all the updatables. - */ - @Override - public void run() { - for (Updatable updatable : updatables) { - updatable.update(); - } - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/complex/climber/ClimberCurrentLimited.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/complex/climber/ClimberCurrentLimited.java deleted file mode 100644 index f64ea714..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/complex/climber/ClimberCurrentLimited.java +++ /dev/null @@ -1,188 +0,0 @@ -package org.usfirst.frc.team449.robot.subsystem.complex.climber; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.jetbrains.annotations.Nullable; -import org.usfirst.frc.team449.robot.generalInterfaces.loggable.Loggable; -import org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor.SimpleMotor; -import org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem; -import org.usfirst.frc.team449.robot.other.BufferTimer; -import org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.SubsystemBinaryMotor; -import org.usfirst.frc.team449.robot.subsystem.interfaces.conditional.SubsystemConditional; - -/** - * A climber subsystem that uses power monitoring to stop climbing. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class ClimberCurrentLimited extends YamlSubsystem implements Loggable, SubsystemBinaryMotor, SubsystemConditional { - - /** - * The CANTalon controlling one of the climber motors. - */ - @NotNull - private final FPSTalon canTalonSRX; - - /** - * The other climber motor. - */ - @Nullable - private final SimpleMotor simpleMotor; - - /** - * The maximum allowable power before we stop the motor. - */ - private final double maxPower; - - /** - * The bufferTimer controlling how long we can be above the power limit before we stop climbing. - */ - @NotNull - private final BufferTimer powerLimitTimer; - - /** - * Whether or not the motor is currently spinning. - */ - private boolean motorSpinning; - - /** - * Whether the condition was met last time caching was done. - */ - private boolean conditionMetCached; - - - /** - * Default constructor - * - * @param talonSRX The CANTalon controlling one of the climber motors. - * @param maxPower The maximum power at which the motor won't shut off. - * @param simpleMotor The other climber motor. Can be null. - * @param powerLimitTimer The buffer timer for the power-limited shutoff. - */ - @JsonCreator - public ClimberCurrentLimited(@NotNull @JsonProperty(required = true) FPSTalon talonSRX, - @JsonProperty(required = true) double maxPower, - @Nullable SimpleMotor simpleMotor, - @NotNull @JsonProperty(required = true) BufferTimer powerLimitTimer) { - //Instantiate things - this.canTalonSRX = talonSRX; - this.maxPower = maxPower; - this.powerLimitTimer = powerLimitTimer; - this.simpleMotor = simpleMotor; - this.motorSpinning = false; - } - - /** - * Initialize the default command for a subsystem By default subsystems have no default command, but if they do, the - * default command is set with this method. It is called on all Subsystems by CommandBase in the users program after - * all the Subsystems are created. - */ - @Override - protected void initDefaultCommand() { - //Do nothing! - } - - /** - * Set the percent voltage to be given to the motor. - * - * @param percentVbus The voltage to give the motor, from -1 to 1. - */ - private void setPercentVbus(double percentVbus) { - canTalonSRX.setPercentVoltage(percentVbus); - if (simpleMotor != null) { - simpleMotor.setVelocity(percentVbus); - } - } - - /** - * Get the headers for the data this subsystem logs every loop. - * - * @return An N-length array of String labels for data, where N is the length of the Object[] returned by getData(). - */ - @NotNull - @Override - public String[] getHeader() { - return new String[]{"current", - "voltage", - "power"}; - } - - /** - * Get the data this subsystem logs every loop. - * - * @return An N-length array of Objects, where N is the number of labels given by getHeader. - */ - @NotNull - @Override - public Object[] getData() { - return new Object[]{canTalonSRX.getOutputCurrent(), - canTalonSRX.getOutputVoltage(), - canTalonSRX.getOutputCurrent() * canTalonSRX.getOutputVoltage()}; - } - - /** - * Get the name of this object. - * - * @return A string that will identify this object in the log file. - */ - @NotNull - @Override - public String getName() { - return "climber"; - } - - /** - * Turns the motor on, and sets it to a map-specified speed. - */ - @Override - public void turnMotorOn() { - canTalonSRX.enable(); - setPercentVbus(1); - motorSpinning = true; - } - - /** - * Turns the motor off. - */ - @Override - public void turnMotorOff() { - setPercentVbus(0); - canTalonSRX.disable(); - motorSpinning = false; - } - - /** - * @return true if the motor is on, false otherwise. - */ - @Override - public boolean isMotorOn() { - return motorSpinning; - } - - /** - * @return true if the condition is met, false otherwise - */ - @Override - public boolean isConditionTrue() { - return powerLimitTimer.get(Math.abs(canTalonSRX.getOutputCurrent() * canTalonSRX.getOutputVoltage()) > maxPower); - } - - /** - * @return true if the condition was met when cached, false otherwise - */ - @Override - public boolean isConditionTrueCached() { - return conditionMetCached; - } - - /** - * Updates all cached values with current ones. - */ - @Override - public void update() { - conditionMetCached = isConditionTrue(); - } -} \ No newline at end of file diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/complex/intake/IntakeFixedAndActuated.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/complex/intake/IntakeFixedAndActuated.java deleted file mode 100644 index 44d51aef..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/complex/intake/IntakeFixedAndActuated.java +++ /dev/null @@ -1,158 +0,0 @@ -package org.usfirst.frc.team449.robot.subsystem.complex.intake; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import edu.wpi.first.wpilibj.DoubleSolenoid; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor.SimpleMotor; -import org.usfirst.frc.team449.robot.jacksonWrappers.MappedDoubleSolenoid; -import org.usfirst.frc.team449.robot.jacksonWrappers.MappedVictor; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem; -import org.usfirst.frc.team449.robot.other.Logger; -import org.usfirst.frc.team449.robot.subsystem.interfaces.intake.SubsystemIntake; -import org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SubsystemSolenoid; - -/** - * An intake with a piston that actuates it and a fixed and actuated motor. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class IntakeFixedAndActuated extends YamlSubsystem implements SubsystemSolenoid, SubsystemIntake { - - /** - * Motor for the fixed intake - */ - @NotNull - private final SimpleMotor fixedMotor; - - /** - * Motor for the actuated intake - */ - @NotNull - private final SimpleMotor actuatedMotor; - - /** - * Piston for raising and lowering the intake - */ - @NotNull - private final DoubleSolenoid piston; - - /** - * How fast the fixed victor should go to pick up balls, on [-1, 1] - */ - private final double fixedIntakeSpeed; - - /** - * How fast the fixed victor should go to agitate balls while they're being fed into the multiSubsystem, on [-1, 1] - */ - private final double fixedAgitateSpeed; - - /** - * How fast the actuated victor should go to pick up balls, on [-1, 1] - */ - private final double actuatedSpeed; - - /** - * The intake's position. - */ - private DoubleSolenoid.Value pistonPos; - - /** - * The mode the intake's currently in. - */ - @NotNull - private IntakeMode mode; - - /** - * Default constructor. - * - * @param fixedMotor The SimpleMotor powering the fixed intake. - * @param fixedAgitateSpeed The speed to run the fixed victor at to agitate balls, on [-1, 1] - * @param fixedIntakeSpeed The speed to run the fixed victor to intake balls, on [-1, 1] - * @param actuatedMotor The SimpleMotor powering the actuated intake. - * @param actuatedSpeed The speed to run the actuated victor to intake balls, on [-1, 1]. - * @param piston The piston for raising and lowering the actuated intake. - */ - @JsonCreator - public IntakeFixedAndActuated(@NotNull @JsonProperty(required = true) MappedVictor fixedMotor, - @JsonProperty(required = true) double fixedAgitateSpeed, - @JsonProperty(required = true) double fixedIntakeSpeed, - @NotNull @JsonProperty(required = true) MappedVictor actuatedMotor, - @JsonProperty(required = true) double actuatedSpeed, - @NotNull @JsonProperty(required = true) MappedDoubleSolenoid piston) { - //Instantiate stuff. - this.fixedMotor = fixedMotor; - this.fixedIntakeSpeed = fixedIntakeSpeed; - this.fixedAgitateSpeed = fixedAgitateSpeed; - this.actuatedMotor = actuatedMotor; - this.actuatedSpeed = actuatedSpeed; - this.piston = piston; - mode = IntakeMode.OFF; - } - - /** - * @param value The position to set the solenoid to. - */ - @Override - public void setSolenoid(@NotNull DoubleSolenoid.Value value) { - piston.set(value); - pistonPos = value; - } - - /** - * @return the current position of the solenoid. - */ - @NotNull - public DoubleSolenoid.Value getSolenoidPosition() { - return pistonPos; - } - - /** - * Initialize the default command for a subsystem. By default subsystems have no default command, but if they do, - * the default command is set with this method. It is called on all Subsystems by CommandBase in the users program - * after all the Subsystems are created. - */ - @Override - protected void initDefaultCommand() { - //Do nothing! - } - - /** - * @return the current mode of the intake. - */ - @NotNull - @Override - public IntakeMode getMode() { - return mode; - } - - /** - * @param mode The mode to switch the intake to. - */ - @Override - public void setMode(@NotNull IntakeMode mode) { - this.mode = mode; - switch (mode) { - case OFF: - actuatedMotor.disable(); - fixedMotor.disable(); - break; - case IN_FAST: - //In fast is used for picking up balls. - actuatedMotor.enable(); - fixedMotor.enable(); - fixedMotor.setVelocity(fixedIntakeSpeed); - actuatedMotor.setVelocity(actuatedSpeed); - break; - case IN_SLOW: - //In slow is used for agitation. - actuatedMotor.disable(); - fixedMotor.enable(); - fixedMotor.setVelocity(fixedAgitateSpeed); - break; - default: - Logger.addEvent("Unsupported mode!", this.getClass()); - } - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/complex/shooter/LoggingFlywheel.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/complex/shooter/LoggingFlywheel.java deleted file mode 100644 index 980598df..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/complex/shooter/LoggingFlywheel.java +++ /dev/null @@ -1,184 +0,0 @@ -package org.usfirst.frc.team449.robot.subsystem.complex.shooter; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.generalInterfaces.loggable.Loggable; -import org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor.SimpleMotor; -import org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem; -import org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.SubsystemFlywheel; - -/** - * A flywheel multiSubsystem with a single flywheel and a single-motor feeder system. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class LoggingFlywheel extends YamlSubsystem implements Loggable, SubsystemFlywheel { - - /** - * The flywheel's Talon - */ - @NotNull - private final FPSTalon shooterTalon; - - /** - * The feeder's motor - */ - @NotNull - private final SimpleMotor feederMotor; - - /** - * How fast to run the feeder, from [-1, 1] - */ - private final double feederThrottle; - - /** - * Throttle at which to run the multiSubsystem, from [-1, 1] - */ - private final double shooterThrottle; - - /** - * Time from giving the multiSubsystem voltage to being ready to fire, in milliseconds. - */ - private final long spinUpTime; - - /** - * Whether the flywheel is currently commanded to spin - */ - @NotNull - private FlywheelState state; - - /** - * Default constructor - * - * @param shooterTalon The TalonSRX controlling the flywheel. - * @param shooterThrottle The throttle, from [-1, 1], at which to run the multiSubsystem. - * @param feederMotor The motor controlling the feeder. - * @param feederThrottle The throttle, from [-1, 1], at which to run the feeder. - * @param spinUpTimeSecs The amount of time, in seconds, it takes for the multiSubsystem to get up to speed. - * Defaults to 0. - */ - @JsonCreator - public LoggingFlywheel(@NotNull @JsonProperty(required = true) FPSTalon shooterTalon, - @JsonProperty(required = true) double shooterThrottle, - @NotNull @JsonProperty(required = true) SimpleMotor feederMotor, - @JsonProperty(required = true) double feederThrottle, - double spinUpTimeSecs) { - this.shooterTalon = shooterTalon; - this.shooterThrottle = shooterThrottle; - this.feederMotor = feederMotor; - this.feederThrottle = feederThrottle; - state = FlywheelState.OFF; - spinUpTime = (long) (spinUpTimeSecs * 1000.); - } - - /** - * Do nothing - */ - @Override - protected void initDefaultCommand() { - //Do nothing! - } - - /** - * Get the headers for the data this subsystem logs every loop. - * - * @return An N-length array of String labels for data, where N is the length of the Object[] returned by getData(). - */ - @NotNull - @Override - public String[] getHeader() { - return new String[]{"speed", - "setpoint", - "error", - "voltage", - "current"}; - } - - /** - * Get the data this subsystem logs every loop. - * - * @return An N-length array of Objects, where N is the number of labels given by getHeader. - */ - @NotNull - @Override - public Object[] getData() { - return new Object[]{shooterTalon.getVelocity(), - shooterTalon.getSetpoint(), - shooterTalon.getError(), - shooterTalon.getOutputVoltage(), - shooterTalon.getOutputCurrent()}; - } - - /** - * Get the name of this object. - * - * @return A string that will identify this object in the log file. - */ - @NotNull - @Override - public String getName() { - return "loggingShooter"; - } - - /** - * Turn the multiSubsystem on to a map-specified speed. - */ - @Override - public void turnFlywheelOn() { - shooterTalon.enable(); - shooterTalon.setVelocity(shooterThrottle); - } - - /** - * Turn the multiSubsystem off. - */ - @Override - public void turnFlywheelOff() { - shooterTalon.disable(); - } - - /** - * Start feeding balls into the multiSubsystem. - */ - @Override - public void turnFeederOn() { - feederMotor.enable(); - feederMotor.setVelocity(feederThrottle); - } - - /** - * Stop feeding balls into the multiSubsystem. - */ - @Override - public void turnFeederOff() { - feederMotor.disable(); - } - - /** - * @return The current state of the multiSubsystem. - */ - @NotNull - @Override - public FlywheelState getFlywheelState() { - return state; - } - - /** - * @param state The state to switch the multiSubsystem to. - */ - @Override - public void setFlywheelState(@NotNull FlywheelState state) { - this.state = state; - } - - /** - * @return Time from giving the multiSubsystem voltage to being ready to fire, in milliseconds. - */ - @Override - public long getSpinUpTimeMillis() { - return spinUpTime; - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/AHRS/SubsystemAHRS.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/AHRS/SubsystemAHRS.java deleted file mode 100644 index d498c4a4..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/AHRS/SubsystemAHRS.java +++ /dev/null @@ -1,70 +0,0 @@ -package org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS; - - -import com.fasterxml.jackson.annotation.JsonTypeInfo; - -/** - * A subsystem that has a AHRS on it. - */ -@JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT) -public interface SubsystemAHRS { - - /** - * Get the robot's heading. - * - * @return robot heading, in degrees, on [-180, 180]. - */ - double getHeading(); - - /** - * Set the robot's heading. - * - * @param heading The heading to set to, in degrees on [-180, 180]. - */ - void setHeading(double heading); - - /** - * Get the robot's cached heading. - * - * @return robot heading, in degrees, on [-180, 180]. - */ - double getHeadingCached(); - - /** - * Get the robot's angular velocity. - * - * @return Angular velocity in degrees/sec - */ - double getAngularVel(); - - /** - * Get the robot's cached angular velocity. - * - * @return Angular velocity in degrees/sec - */ - double getAngularVelCached(); - - /** - * Get the robot's angular displacement since being turned on. - * - * @return Angular displacement in degrees. - */ - double getAngularDisplacement(); - - /** - * Get the robot's cached angular displacement since being turned on. - * - * @return Angular displacement in degrees. - */ - double getAngularDisplacementCached(); - - /** - * @return true if the gyroscope is currently overriden, false otherwise. - */ - boolean getOverrideGyro(); - - /** - * @param override true to override the gyro, false to un-override it. - */ - void setOverrideGyro(boolean override); -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/AHRS/commands/OverrideNavX.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/AHRS/commands/OverrideNavX.java deleted file mode 100644 index 8b8ae514..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/AHRS/commands/OverrideNavX.java +++ /dev/null @@ -1,84 +0,0 @@ -package org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper; -import org.usfirst.frc.team449.robot.other.Logger; -import org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.SubsystemAHRS; - -/** - * Set whether or not to override the AHRS. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class OverrideNavX extends YamlCommandWrapper { - - /** - * Whether or not to override the AHRS. - */ - private final boolean override; - - /** - * The subsystem to execute this command on. - */ - @NotNull - private final SubsystemAHRS subsystem; - - /** - * Default constructor. - * - * @param subsystem The subsystem to execute this command on - * @param override Whether or not to override the AHRS. - */ - @JsonCreator - public OverrideNavX(@NotNull @JsonProperty(required = true) SubsystemAHRS subsystem, - @JsonProperty(required = true) boolean override) { - this.override = override; - this.subsystem = subsystem; - } - - /** - * Log when this command is initialized - */ - @Override - protected void initialize() { - Logger.addEvent("OverrideNavX init", this.getClass()); - } - - /** - * Set whether or not we're overriding the AHRS - */ - @Override - protected void execute() { - subsystem.setOverrideGyro(override); - } - - /** - * Finish immediately because this is a state-change command. - * - * @return true - */ - @Override - protected boolean isFinished() { - return true; - } - - /** - * Log when this command ends - */ - @Override - protected void end() { - Logger.addEvent("OverrideNavX end", this.getClass()); - } - - /** - * Log when this command is interrupted. - */ - @Override - protected void interrupted() { - Logger.addEvent("OverrideNavX Interrupted!", this.getClass()); - } -} - diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/AHRS/commands/PIDAngleCommand.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/AHRS/commands/PIDAngleCommand.java deleted file mode 100644 index 2e4f861b..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/AHRS/commands/PIDAngleCommand.java +++ /dev/null @@ -1,155 +0,0 @@ -package org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.JsonTypeInfo; -import edu.wpi.first.wpilibj.command.Command; -import edu.wpi.first.wpilibj.command.PIDCommand; -import edu.wpi.first.wpilibj.command.Scheduler; -import org.jetbrains.annotations.NotNull; -import org.jetbrains.annotations.Nullable; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand; -import org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.SubsystemAHRS; - -/** - * A command that uses a AHRS to turn to a certain angle. - */ -@JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class") -public abstract class PIDAngleCommand extends PIDCommand implements YamlCommand { - - /** - * The subsystem to execute this command on. - */ - @NotNull - protected final SubsystemAHRS subsystem; - - /** - * The minimum the robot should be able to output, to overcome friction. - */ - private final double minimumOutput; - - /** - * The range in which output is turned off to prevent "dancing" around the setpoint. - */ - private final double deadband; - - /** - * Whether or not the loop is inverted. - */ - private final boolean inverted; - - /** - * Default constructor. - * - * @param absoluteTolerance The maximum number of degrees off from the target at which we can be considered within - * tolerance. - * @param toleranceBuffer How many consecutive loops have to be run while within tolerance to be considered on - * target. Multiply by loop period of ~20 milliseconds for time. Defaults to 0. - * @param minimumOutput The minimum output of the loop. Defaults to zero. - * @param maximumOutput The maximum output of the loop. Can be null, and if it is, no maximum output is used. - * @param deadband The deadband around the setpoint, in degrees, within which no output is given to the - * motors. Defaults to zero. - * @param inverted Whether the loop is inverted. Defaults to false. - * @param kP Proportional gain. Defaults to zero. - * @param kI Integral gain. Defaults to zero. - * @param kD Derivative gain. Defaults to zero. - * @param subsystem The subsystem to execute this command on. - */ - @JsonCreator - public PIDAngleCommand(@JsonProperty(required = true) double absoluteTolerance, - int toleranceBuffer, - double minimumOutput, @Nullable Double maximumOutput, - double deadband, - boolean inverted, - @NotNull @JsonProperty(required = true) SubsystemAHRS subsystem, - double kP, - double kI, - double kD) { - //Set P, I and D. I and D will normally be 0 if you're using cascading control, like you should be. - super(kP, kI, kD); - this.subsystem = subsystem; - - //Navx reads from -180 to 180. - setInputRange(-180, 180); - - //It's a circle, so it's continuous - this.getPIDController().setContinuous(true); - - //Set the absolute tolerance to be considered on target within. - this.getPIDController().setAbsoluteTolerance(absoluteTolerance); - - //This is how long we have to be within the tolerance band. Multiply by loop period for time in ms. - this.getPIDController().setToleranceBuffer(toleranceBuffer); - - //Minimum output, the smallest output it's possible to give. One-tenth of your drive's top speed is about - // right. - this.minimumOutput = minimumOutput; - - //This caps the output we can give. One way to set up closed-loop is to make P large and then use this to - // prevent overshoot. - if (maximumOutput != null) { - this.getPIDController().setOutputRange(-maximumOutput, maximumOutput); - } - - //Set a deadband around the setpoint, in degrees, within which don't move, to avoid "dancing" - this.deadband = deadband; - - //Set whether or not to invert the loop. - this.inverted = inverted; - } - - /** - * 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 - * right side. - */ - protected double processPIDOutput(double output) { - //Set the output to the minimum if it's too small. - if (output > 0 && output < minimumOutput) { - output = minimumOutput; - } else if (output < 0 && output > -minimumOutput) { - output = -minimumOutput; - } - 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.

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

All subclasses of {@link PIDCommand} must - * override this method.

This method will be called in a different thread then the {@link Scheduler} - * thread.

- * - * @return the value the pid loop should use as input - */ - @Override - protected double returnPIDInput() { - return subsystem.getHeadingCached(); - } - - /** - * Get the command object this object is. - * - * @return this. - */ - @Override - @NotNull - public Command getCommand() { - return this; - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/AHRS/commands/ToggleOverrideNavX.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/AHRS/commands/ToggleOverrideNavX.java deleted file mode 100644 index 5ecf1a12..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/AHRS/commands/ToggleOverrideNavX.java +++ /dev/null @@ -1,76 +0,0 @@ -package org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper; -import org.usfirst.frc.team449.robot.other.Logger; -import org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.SubsystemAHRS; - -/** - * Toggle whether or not to override the AHRS. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class ToggleOverrideNavX extends YamlCommandWrapper { - - /** - * The subsystem to execute this command on. - */ - @NotNull - private final SubsystemAHRS subsystem; - - /** - * Default constructor. - * - * @param subsystem The subsystem to execute this command on - */ - @JsonCreator - public ToggleOverrideNavX(@NotNull @JsonProperty(required = true) SubsystemAHRS subsystem) { - this.subsystem = subsystem; - } - - /** - * Log when this command is initialized - */ - @Override - protected void initialize() { - Logger.addEvent("OverrideNavX init", this.getClass()); - } - - /** - * Toggle whether or not we're overriding the AHRS - */ - @Override - protected void execute() { - subsystem.setOverrideGyro(!subsystem.getOverrideGyro()); - } - - /** - * Finish immediately because this is a state-change command. - * - * @return true - */ - @Override - protected boolean isFinished() { - return true; - } - - /** - * Log when this command ends - */ - @Override - protected void end() { - Logger.addEvent("OverrideNavX end", this.getClass()); - } - - /** - * Log when this command is interrupted. - */ - @Override - protected void interrupted() { - Logger.addEvent("OverrideNavX Interrupted!", this.getClass()); - } -} - diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/BinaryMotorSimple.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/BinaryMotorSimple.java deleted file mode 100644 index 6996687a..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/BinaryMotorSimple.java +++ /dev/null @@ -1,83 +0,0 @@ -package org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.jetbrains.annotations.Nullable; -import org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor.SimpleMotor; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem; - -/** - * A simple example of a binary motor subsystem. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class BinaryMotorSimple extends YamlSubsystem implements SubsystemBinaryMotor { - - /** - * The motor that this subsystem controls. - */ - @NotNull - private final SimpleMotor motor; - - /** - * The velocity to run the motor at, on [-1, 1]. - */ - private final double velocity; - - /** - * Whether or not the motor is currently on. - */ - private boolean motorOn; - - /** - * Default constructor. - * - * @param motor The motor that this subsystem controls. - * @param velocity The velocity to run the motor at, on [-1, 1]. Defaults to 1. - */ - @JsonCreator - public BinaryMotorSimple(@NotNull @JsonProperty(required = true) SimpleMotor motor, - @Nullable Double velocity) { - this.motor = motor; - this.velocity = velocity != null ? velocity : 1; - motorOn = false; - } - - /** - * Initialize the default command for a subsystem. By default subsystems have no default command, but if they do, - * the default command is set with this method. It is called on all Subsystems by CommandBase in the users program - * after all the Subsystems are created. - */ - @Override - protected void initDefaultCommand() { - //Do nothing! - } - - /** - * Turns the motor on, and sets it to a map-specified speed. - */ - @Override - public void turnMotorOn() { - motor.setVelocity(velocity); - motorOn = true; - } - - /** - * Turns the motor off. - */ - @Override - public void turnMotorOff() { - motor.setVelocity(0); - motorOn = false; - } - - /** - * @return true if the motor is on, false otherwise. - */ - @Override - public boolean isMotorOn() { - return motorOn; - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/SubsystemBinaryMotor.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/SubsystemBinaryMotor.java deleted file mode 100644 index abeae8e3..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/SubsystemBinaryMotor.java +++ /dev/null @@ -1,25 +0,0 @@ -package org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor; - -import com.fasterxml.jackson.annotation.JsonTypeInfo; - -/** - * A subsystem with a motor that only needs to be run at one speed, e.g. a flywheel multiSubsystem or simple intake. - */ -@JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class") -public interface SubsystemBinaryMotor { - - /** - * Turns the motor on, and sets it to a map-specified speed. - */ - void turnMotorOn(); - - /** - * Turns the motor off. - */ - void turnMotorOff(); - - /** - * @return true if the motor is on, false otherwise. - */ - boolean isMotorOn(); -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/ToggleMotor.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/ToggleMotor.java deleted file mode 100644 index 6cfec9d3..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/ToggleMotor.java +++ /dev/null @@ -1,79 +0,0 @@ -package org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper; -import org.usfirst.frc.team449.robot.other.Logger; -import org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.SubsystemBinaryMotor; - -/** - * A command that toggles the state of the motor between off and on. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class ToggleMotor extends YamlCommandWrapper { - - /** - * The subsystem to execute this command on. - */ - @NotNull - private final SubsystemBinaryMotor subsystem; - - /** - * Default constructor - * - * @param subsystem The subsystem to execute this command on. - */ - @JsonCreator - public ToggleMotor(@NotNull @JsonProperty(required = true) SubsystemBinaryMotor subsystem) { - this.subsystem = subsystem; - } - - /** - * Log when this command is initialized - */ - @Override - protected void initialize() { - Logger.addEvent("ToggleMotor init.", this.getClass()); - } - - /** - * Toggle the motor state. - */ - @Override - protected void execute() { - if (subsystem.isMotorOn()) { - subsystem.turnMotorOff(); - } else { - subsystem.turnMotorOn(); - } - } - - /** - * Finish immediately because this is a state-change command. - * - * @return true - */ - @Override - protected boolean isFinished() { - return true; - } - - /** - * Log when this command ends - */ - @Override - protected void end() { - Logger.addEvent("ToggleMotor end.", this.getClass()); - } - - /** - * Log when this command is interrupted. - */ - @Override - protected void interrupted() { - Logger.addEvent("ToggleMotor Interrupted!", this.getClass()); - } -} \ No newline at end of file diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOff.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOff.java deleted file mode 100644 index 36c4daa9..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOff.java +++ /dev/null @@ -1,75 +0,0 @@ -package org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper; -import org.usfirst.frc.team449.robot.other.Logger; -import org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.SubsystemBinaryMotor; - -/** - * Turns off the motor of the specified subsystem. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class TurnMotorOff extends YamlCommandWrapper { - - /** - * The subsystem to execute this command on. - */ - @NotNull - protected final SubsystemBinaryMotor subsystem; - - /** - * Default constructor - * - * @param subsystem The subsystem to execute this command on. - */ - @JsonCreator - public TurnMotorOff(@NotNull @JsonProperty(required = true) SubsystemBinaryMotor subsystem) { - this.subsystem = subsystem; - } - - /** - * Log when this command is initialized - */ - @Override - protected void initialize() { - Logger.addEvent("TurnMotorOff init.", this.getClass()); - } - - /** - * Turn the motor off. - */ - @Override - protected void execute() { - subsystem.turnMotorOff(); - } - - /** - * Finish immediately because this is a state-change command. - * - * @return true - */ - @Override - protected boolean isFinished() { - return true; - } - - /** - * Log when this command ends - */ - @Override - protected void end() { - Logger.addEvent("TurnMotorOff end.", this.getClass()); - } - - /** - * Log when this command is interrupted. - */ - @Override - protected void interrupted() { - Logger.addEvent("TurnMotorOff Interrupted!", this.getClass()); - } -} \ No newline at end of file diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOffWithRequires.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOffWithRequires.java deleted file mode 100644 index f05ae9ec..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOffWithRequires.java +++ /dev/null @@ -1,53 +0,0 @@ -package org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem; -import org.usfirst.frc.team449.robot.other.Logger; -import org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.SubsystemBinaryMotor; - -/** - * Turns off the motor of the subsystem, but does so while using requires() to interrupt any other commands currently - * controlling the subsystem. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class TurnMotorOffWithRequires extends TurnMotorOff { - - /** - * Default constructor - * - * @param subsystem The subsystem to execute this command on. - */ - @JsonCreator - public TurnMotorOffWithRequires(@NotNull @JsonProperty(required = true) T subsystem) { - super(subsystem); - requires(subsystem); - } - - /** - * Log when this command is initialized - */ - @Override - protected void initialize() { - Logger.addEvent("TurnMotorOffWithRequires init.", this.getClass()); - } - - /** - * Log when this command ends - */ - @Override - protected void end() { - Logger.addEvent("TurnMotorOffWithRequires end.", this.getClass()); - } - - /** - * Log when this command is interrupted. - */ - @Override - protected void interrupted() { - Logger.addEvent("TurnMotorOffWithRequires Interrupted!", this.getClass()); - } -} \ No newline at end of file diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOn.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOn.java deleted file mode 100644 index 951a83ff..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOn.java +++ /dev/null @@ -1,75 +0,0 @@ -package org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper; -import org.usfirst.frc.team449.robot.other.Logger; -import org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.SubsystemBinaryMotor; - -/** - * Turns on the motor of the specified subsystem. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class TurnMotorOn extends YamlCommandWrapper { - - /** - * The subsystem to execute this command on. - */ - @NotNull - private final SubsystemBinaryMotor subsystem; - - /** - * Default constructor - * - * @param subsystem The subsystem to execute this command on. - */ - @JsonCreator - public TurnMotorOn(@NotNull @JsonProperty(required = true) SubsystemBinaryMotor subsystem) { - this.subsystem = subsystem; - } - - /** - * Log when this command is initialized - */ - @Override - protected void initialize() { - Logger.addEvent("TurnMotorOn init.", this.getClass()); - } - - /** - * Turn the motor on. - */ - @Override - protected void execute() { - subsystem.turnMotorOn(); - } - - /** - * Finish immediately because this is a state-change command. - * - * @return true - */ - @Override - protected boolean isFinished() { - return true; - } - - /** - * Log when this command ends - */ - @Override - protected void end() { - Logger.addEvent("TurnMotorOn end.", this.getClass()); - } - - /** - * Log when this command is interrupted. - */ - @Override - protected void interrupted() { - Logger.addEvent("TurnMotorOn Interrupted!", this.getClass()); - } -} \ No newline at end of file diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/SubsystemConditional.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/SubsystemConditional.java deleted file mode 100644 index c2734d11..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/SubsystemConditional.java +++ /dev/null @@ -1,21 +0,0 @@ -package org.usfirst.frc.team449.robot.subsystem.interfaces.conditional; - -import com.fasterxml.jackson.annotation.JsonTypeInfo; -import org.usfirst.frc.team449.robot.generalInterfaces.updatable.Updatable; - -/** - * A subsystem with a condition that's sometimes met, e.g. a limit switch, a current/power limit, an IR sensor. - */ -@JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class") -public interface SubsystemConditional extends Updatable { - - /** - * @return true if the condition is met, false otherwise - */ - boolean isConditionTrue(); - - /** - * @return true if the condition was met when cached, false otherwise - */ - boolean isConditionTrueCached(); -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/flywheel/FlywheelSimple.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/flywheel/FlywheelSimple.java deleted file mode 100644 index 01c93fe4..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/flywheel/FlywheelSimple.java +++ /dev/null @@ -1,145 +0,0 @@ -package org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.jetbrains.annotations.Nullable; -import org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor.SimpleMotor; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem; - -/** - * A simple flywheel subsystem. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class FlywheelSimple extends YamlSubsystem implements SubsystemFlywheel { - - /** - * The motor that controls the flywheel. - */ - @NotNull - private final SimpleMotor shooterMotor; - - /** - * The motor that controls the feeder. - */ - @NotNull - private final SimpleMotor feederMotor; - - /** - * The velocity for the flywheel to run at, on [-1, 1]. - */ - private final double shooterVelocity; - - /** - * The velocity for the feeder to run at, on [-1, 1]. - */ - private final double feederVelocity; - - /** - * Time from giving the flywheel voltage to being ready to fire, in milliseconds. - */ - private final long spinUpTimeMillis; - - /** - * The current state of the flywheel. - */ - @NotNull - private FlywheelState state; - - /** - * Default constructor - * - * @param shooterMotor The motor that controls the flywheel. - * @param feederMotor The motor that controls the feeder. - * @param shooterVelocity The velocity for the flywheel to run at, on [-1, 1]. - * @param feederVelocity The velocity for the feeder to run at, on [-1, 1]. Defaults to 1. - * @param spinUpTimeMillis Time from giving the flywheel voltage to being ready to fire, in milliseconds. Defaults to - * 0. - */ - @JsonCreator - public FlywheelSimple(@NotNull @JsonProperty(required = true) SimpleMotor shooterMotor, - @NotNull @JsonProperty(required = true) SimpleMotor feederMotor, - @JsonProperty(required = true) double shooterVelocity, - @Nullable Double feederVelocity, - long spinUpTimeMillis) { - this.shooterMotor = shooterMotor; - this.feederMotor = feederMotor; - this.shooterVelocity = shooterVelocity; - this.feederVelocity = feederVelocity != null ? feederVelocity : 1; - this.spinUpTimeMillis = spinUpTimeMillis; - this.state = FlywheelState.OFF; - } - - /** - * Initialize the default command for a subsystem. By default subsystems have no default command, but if they do, - * the default command is set with this method. It is called on all Subsystems by CommandBase in the users program - * after all the Subsystems are created. - */ - @Override - protected void initDefaultCommand() { - //Do nothing! - } - - /** - * Turn the flywheel on to a map-specified speed. - */ - @Override - public void turnFlywheelOn() { - shooterMotor.enable(); - shooterMotor.setVelocity(shooterVelocity); - } - - /** - * Turn the flywheel off. - */ - @Override - public void turnFlywheelOff() { - shooterMotor.setVelocity(0); - shooterMotor.disable(); - } - - /** - * Start feeding balls into the flywheel. - */ - @Override - public void turnFeederOn() { - feederMotor.enable(); - feederMotor.setVelocity(feederVelocity); - } - - /** - * Stop feeding balls into the flywheel. - */ - @Override - public void turnFeederOff() { - feederMotor.setVelocity(0); - feederMotor.disable(); - } - - /** - * @return The current state of the flywheel. - */ - @NotNull - @Override - public FlywheelState getFlywheelState() { - return state; - } - - /** - * @param state The state to switch the flywheel to. - */ - @Override - public void setFlywheelState(@NotNull FlywheelState state) { - this.state = state; - } - - /** - * @return Time from giving the flywheel voltage to being ready to fire, in milliseconds. - */ - @Override - public long getSpinUpTimeMillis() { - return spinUpTimeMillis; - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/flywheel/SubsystemFlywheel.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/flywheel/SubsystemFlywheel.java deleted file mode 100644 index d1162e9b..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/flywheel/SubsystemFlywheel.java +++ /dev/null @@ -1,59 +0,0 @@ -package org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel; - -import com.fasterxml.jackson.annotation.JsonTypeInfo; -import org.jetbrains.annotations.NotNull; - -/** - * A subsystem with a flywheel and feeder. - */ -@JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class") -public interface SubsystemFlywheel { - - /** - * Turn the flywheel on to a map-specified speed. - */ - void turnFlywheelOn(); - - /** - * Turn the flywheel off. - */ - void turnFlywheelOff(); - - /** - * Start feeding balls into the flywheel. - */ - void turnFeederOn(); - - /** - * Stop feeding balls into the flywheel. - */ - void turnFeederOff(); - - /** - * @return The current state of the flywheel. - */ - @NotNull - FlywheelState getFlywheelState(); - - /** - * @param state The state to switch the flywheel to. - */ - void setFlywheelState(@NotNull FlywheelState state); - - /** - * @return Time from giving the flywheel voltage to being ready to fire, in milliseconds. - */ - long getSpinUpTimeMillis(); - - /** - * An enum for the possible states of the flywheel. - */ - enum FlywheelState { - //Both flywheel and feeder off - OFF, - //Feeder off, flywheel on - SPINNING_UP, - //Both flywheel and feeder on - SHOOTING - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/flywheel/commands/SpinUpFlywheel.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/flywheel/commands/SpinUpFlywheel.java deleted file mode 100644 index 23968896..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/flywheel/commands/SpinUpFlywheel.java +++ /dev/null @@ -1,77 +0,0 @@ -package org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper; -import org.usfirst.frc.team449.robot.other.Logger; -import org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.SubsystemFlywheel; - -/** - * Turn on the flywheel but not the feeder in order to give the flywheel time to get up to speed. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class SpinUpFlywheel extends YamlCommandWrapper { - - /** - * The subsystem to execute this command on. - */ - @NotNull - private final SubsystemFlywheel subsystem; - - /** - * Default constructor - * - * @param subsystem The subsystem to execute this command on. - */ - @JsonCreator - public SpinUpFlywheel(@NotNull @JsonProperty(required = true) SubsystemFlywheel subsystem) { - this.subsystem = subsystem; - } - - /** - * Log when this command is initialized - */ - @Override - protected void initialize() { - Logger.addEvent("SpinUpFlywheel init.", this.getClass()); - } - - /** - * Turn the feeder off and the flywheel on. - */ - @Override - protected void execute() { - subsystem.turnFeederOff(); - subsystem.turnFlywheelOn(); - subsystem.setFlywheelState(SubsystemFlywheel.FlywheelState.SPINNING_UP); - } - - /** - * Finish immediately because this is a state-change command. - * - * @return true - */ - @Override - protected boolean isFinished() { - return true; - } - - /** - * Log when this command ends - */ - @Override - protected void end() { - Logger.addEvent("SpinUpFlywheel end.", this.getClass()); - } - - /** - * Log when this command is interrupted. - */ - @Override - protected void interrupted() { - Logger.addEvent("SpinUpFlywheel Interrupted!", this.getClass()); - } -} \ No newline at end of file diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/flywheel/commands/SpinUpThenShoot.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/flywheel/commands/SpinUpThenShoot.java deleted file mode 100644 index 795321a6..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/flywheel/commands/SpinUpThenShoot.java +++ /dev/null @@ -1,30 +0,0 @@ -package org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.commands.general.WaitForMillis; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandGroupWrapper; -import org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.SubsystemFlywheel; - -/** - * Spin up the flywheel until it's at the target speed, then start feeding in balls. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class SpinUpThenShoot extends YamlCommandGroupWrapper { - - /** - * Default constructor. - * - * @param subsystem The subsystem to execute this command on. - */ - @JsonCreator - public SpinUpThenShoot(@NotNull @JsonProperty(required = true) SubsystemFlywheel subsystem) { - addSequential(new SpinUpFlywheel(subsystem)); - //Use a wait command here because SpinUpFlywheel is instantaneous. - addSequential(new WaitForMillis(subsystem.getSpinUpTimeMillis())); - addSequential(new TurnAllOn(subsystem)); - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/flywheel/commands/ToggleShooting.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/flywheel/commands/ToggleShooting.java deleted file mode 100644 index 1ee67ef4..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/flywheel/commands/ToggleShooting.java +++ /dev/null @@ -1,36 +0,0 @@ -package org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandGroupWrapper; -import org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.SubsystemFlywheel; - -/** - * Toggle whether or not the subsystem is firing. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class ToggleShooting extends YamlCommandGroupWrapper { - - - /** - * Default constructor. - * - * @param subsystem The subsystem to execute this command on. - */ - @JsonCreator - public ToggleShooting(@NotNull @JsonProperty(required = true) SubsystemFlywheel subsystem) { - switch (subsystem.getFlywheelState()) { - case OFF: - addSequential(new SpinUpThenShoot(subsystem)); - break; - case SHOOTING: - addSequential(new TurnAllOff(subsystem)); - break; - case SPINNING_UP: - addSequential(new TurnAllOn(subsystem)); - } - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/flywheel/commands/TurnAllOff.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/flywheel/commands/TurnAllOff.java deleted file mode 100644 index dcefc84a..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/flywheel/commands/TurnAllOff.java +++ /dev/null @@ -1,77 +0,0 @@ -package org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper; -import org.usfirst.frc.team449.robot.other.Logger; -import org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.SubsystemFlywheel; - -/** - * Turn off the flywheel and feeder. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class TurnAllOff extends YamlCommandWrapper { - - /** - * The subsystem to execute this command on. - */ - @NotNull - private final SubsystemFlywheel subsystem; - - /** - * Default constructor - * - * @param subsystem The subsystem to execute this command on. - */ - @JsonCreator - public TurnAllOff(@NotNull @JsonProperty(required = true) SubsystemFlywheel subsystem) { - this.subsystem = subsystem; - } - - /** - * Log when this command is initialized - */ - @Override - protected void initialize() { - Logger.addEvent("TurnAllOff init.", this.getClass()); - } - - /** - * Turn off the flywheel and feeder. - */ - @Override - protected void execute() { - subsystem.turnFeederOff(); - subsystem.turnFlywheelOff(); - subsystem.setFlywheelState(SubsystemFlywheel.FlywheelState.OFF); - } - - /** - * Finish immediately because this is a state-change command. - * - * @return true - */ - @Override - protected boolean isFinished() { - return true; - } - - /** - * Log when this command ends - */ - @Override - protected void end() { - Logger.addEvent("TurnAllOff end.", this.getClass()); - } - - /** - * Log when this command is interrupted. - */ - @Override - protected void interrupted() { - Logger.addEvent("TurnAllOff Interrupted!", this.getClass()); - } -} \ No newline at end of file diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/flywheel/commands/TurnAllOffWithRequires.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/flywheel/commands/TurnAllOffWithRequires.java deleted file mode 100644 index 774b66f6..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/flywheel/commands/TurnAllOffWithRequires.java +++ /dev/null @@ -1,28 +0,0 @@ -package org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem; -import org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.SubsystemFlywheel; - -/** - * Turn off the flywheel and feeder, using requires() to interrupt any other commands that may be telling them to - * continue running. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class TurnAllOffWithRequires extends TurnAllOff { - - /** - * Default constructor - * - * @param subsystem The subsystem to execute this command on. - */ - @JsonCreator - public TurnAllOffWithRequires(@NotNull @JsonProperty(required = true) T subsystem) { - super(subsystem); - requires(subsystem); - } -} \ No newline at end of file diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/flywheel/commands/TurnAllOn.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/flywheel/commands/TurnAllOn.java deleted file mode 100644 index e8462b92..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/flywheel/commands/TurnAllOn.java +++ /dev/null @@ -1,77 +0,0 @@ -package org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper; -import org.usfirst.frc.team449.robot.other.Logger; -import org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.SubsystemFlywheel; - -/** - * Turn on the flywheel and the feeder. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class TurnAllOn extends YamlCommandWrapper { - - /** - * The subsystem to execute this command on. - */ - @NotNull - private final SubsystemFlywheel subsystem; - - /** - * Default constructor - * - * @param subsystem The subsystem to execute this command on. - */ - @JsonCreator - public TurnAllOn(@NotNull @JsonProperty(required = true) SubsystemFlywheel subsystem) { - this.subsystem = subsystem; - } - - /** - * Log when this command is initialized - */ - @Override - protected void initialize() { - Logger.addEvent("TurnAllOn init.", this.getClass()); - } - - /** - * Turn on the flywheel and feeder. - */ - @Override - protected void execute() { - subsystem.turnFeederOn(); - subsystem.turnFlywheelOn(); - subsystem.setFlywheelState(SubsystemFlywheel.FlywheelState.SHOOTING); - } - - /** - * Finish immediately because this is a state-change command. - * - * @return true - */ - @Override - protected boolean isFinished() { - return true; - } - - /** - * Log when this command ends - */ - @Override - protected void end() { - Logger.addEvent("TurnAllOn end.", this.getClass()); - } - - /** - * Log when this command is interrupted. - */ - @Override - protected void interrupted() { - Logger.addEvent("TurnAllOn Interrupted!", this.getClass()); - } -} \ No newline at end of file diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/IntakeSimple.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/IntakeSimple.java deleted file mode 100644 index defbc7ad..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/IntakeSimple.java +++ /dev/null @@ -1,130 +0,0 @@ -package org.usfirst.frc.team449.robot.subsystem.interfaces.intake; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.jetbrains.annotations.Nullable; -import org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor.SimpleMotor; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem; - -/** - * A simple intake subsystem. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class IntakeSimple extends YamlSubsystem implements SubsystemIntake { - - /** - * The motor this subsystem controls. - */ - @NotNull - private final SimpleMotor motor; - - /** - * The velocities for the motor to go at for each of the modes, on [-1, 1]. Can be null to indicate that this intake - * doesn't have/use that mode. - */ - @Nullable - private final Double inSlowVel; - @Nullable - private final Double inFastVel; - @Nullable - private final Double outSlowVel; - @Nullable - private final Double outFastVel; - - /** - * The current mode. - */ - @NotNull - private IntakeMode mode; - - /** - * Default constructor - * - * @param motor The motor this subsystem controls. - * @param inSlowVel The velocity for the motor to go at for the IN_SLOW {@link SubsystemIntake.IntakeMode}, on [-1, - * 1]. Can be null to indicate that this intake doesn't have/use IN_SLOW. - * @param inFastVel The velocity for the motor to go at for the IN_FAST {@link SubsystemIntake.IntakeMode}, on [-1, - * 1]. Can be null to indicate that this intake doesn't have/use IN_FAST. - * @param outSlowVel The velocity for the motor to go at for the OUT_SLOW {@link SubsystemIntake.IntakeMode}, on - * [-1, 1]. Can be null to indicate that this intake doesn't have/use OUT_SLOW. - * @param outFastVel The velocity for the motor to go at for the OUT_FAST {@link SubsystemIntake.IntakeMode}, on - * [-1, 1]. Can be null to indicate that this intake doesn't have/use OUT_FAST. - */ - @JsonCreator - public IntakeSimple(@JsonProperty(required = true) @NotNull SimpleMotor motor, - @Nullable Double inSlowVel, - @Nullable Double inFastVel, - @Nullable Double outSlowVel, - @Nullable Double outFastVel) { - this.motor = motor; - this.inSlowVel = inSlowVel; - this.inFastVel = inFastVel; - this.outSlowVel = outSlowVel; - this.outFastVel = outFastVel; - this.mode = IntakeMode.OFF; - } - - /** - * Initialize the default command for a subsystem. By default subsystems have no default command, but if they do, - * the default command is set with this method. It is called on all Subsystems by CommandBase in the users program - * after all the Subsystems are created. - */ - @Override - protected void initDefaultCommand() { - //Do nothing! - } - - /** - * @return the current mode of the intake. - */ - @NotNull - @Override - public IntakeMode getMode() { - return mode; - } - - /** - * @param mode The mode to switch the intake to. - */ - @Override - public void setMode(@NotNull IntakeMode mode) { - switch (mode) { - case OFF: - motor.setVelocity(0); - motor.disable(); - this.mode = IntakeMode.OFF; - break; - case IN_FAST: - if (inFastVel != null) { - motor.enable(); - motor.setVelocity(inFastVel); - this.mode = IntakeMode.IN_FAST; - } - break; - case IN_SLOW: - if (inSlowVel != null) { - motor.enable(); - motor.setVelocity(inSlowVel); - this.mode = IntakeMode.IN_SLOW; - } - break; - case OUT_FAST: - if (outFastVel != null) { - motor.enable(); - motor.setVelocity(outFastVel); - this.mode = IntakeMode.OUT_FAST; - } - break; - case OUT_SLOW: - if (outSlowVel != null) { - motor.enable(); - motor.setVelocity(outSlowVel); - this.mode = IntakeMode.OUT_SLOW; - } - break; - } - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/SubsystemIntake.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/SubsystemIntake.java deleted file mode 100644 index 1b9f5af8..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/SubsystemIntake.java +++ /dev/null @@ -1,29 +0,0 @@ -package org.usfirst.frc.team449.robot.subsystem.interfaces.intake; - -import com.fasterxml.jackson.annotation.JsonTypeInfo; -import org.jetbrains.annotations.NotNull; - -/** - * A subsystem used for intaking and possibly ejecting game pieces. - */ -@JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class") -public interface SubsystemIntake { - - /** - * @return the current mode of the intake. - */ - @NotNull - IntakeMode getMode(); - - /** - * @param mode The mode to switch the intake to. - */ - void setMode(@NotNull IntakeMode mode); - - /** - * An enum for the possible states of the intake. - */ - enum IntakeMode { - OFF, IN_SLOW, IN_FAST, OUT_SLOW, OUT_FAST - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/SetIntakeMode.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/SetIntakeMode.java deleted file mode 100644 index 64473e8c..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/SetIntakeMode.java +++ /dev/null @@ -1,84 +0,0 @@ -package org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper; -import org.usfirst.frc.team449.robot.other.Logger; -import org.usfirst.frc.team449.robot.subsystem.interfaces.intake.SubsystemIntake; - -/** - * Sets the mode of the intake. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class SetIntakeMode extends YamlCommandWrapper { - - /** - * The subsystem to execute this command on. - */ - @NotNull - private final SubsystemIntake subsystem; - - /** - * The mode to set this subsystem to. - */ - @NotNull - private final SubsystemIntake.IntakeMode mode; - - /** - * Default constructor - * - * @param subsystem The subsystem to execute this command on. - * @param mode The mode to set the intake to. - */ - @JsonCreator - public SetIntakeMode(@NotNull @JsonProperty(required = true) SubsystemIntake subsystem, - @NotNull @JsonProperty(required = true) SubsystemIntake.IntakeMode mode) { - this.subsystem = subsystem; - this.mode = mode; - } - - /** - * Log when this command is initialized - */ - @Override - protected void initialize() { - Logger.addEvent("SetIntakeMode init.", this.getClass()); - } - - /** - * Set the intake to the given mode. - */ - @Override - protected void execute() { - subsystem.setMode(mode); - } - - /** - * Finish immediately because this is a state-change command. - * - * @return true - */ - @Override - protected boolean isFinished() { - return true; - } - - /** - * Log when this command ends - */ - @Override - protected void end() { - Logger.addEvent("SetIntakeMode end.", this.getClass()); - } - - /** - * Log when this command is interrupted. - */ - @Override - protected void interrupted() { - Logger.addEvent("SetIntakeMode Interrupted!", this.getClass()); - } -} \ No newline at end of file diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/ToggleIntaking.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/ToggleIntaking.java deleted file mode 100644 index 0e6018a2..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/ToggleIntaking.java +++ /dev/null @@ -1,88 +0,0 @@ -package org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper; -import org.usfirst.frc.team449.robot.other.Logger; -import org.usfirst.frc.team449.robot.subsystem.interfaces.intake.SubsystemIntake; - -/** - * Toggles whether the subsystem is off or set to a given mode. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class ToggleIntaking extends YamlCommandWrapper { - - /** - * The subsystem to execute this command on. - */ - @NotNull - private final SubsystemIntake subsystem; - - /** - * The mode to set this subsystem to if it's currently off. - */ - @NotNull - private final SubsystemIntake.IntakeMode mode; - - /** - * Default constructor - * - * @param subsystem The subsystem to execute this command on. - * @param mode The mode to set this subsystem to if it's currently off. - */ - @JsonCreator - public ToggleIntaking(@NotNull @JsonProperty(required = true) SubsystemIntake subsystem, - @NotNull @JsonProperty(required = true) SubsystemIntake.IntakeMode mode) { - this.subsystem = subsystem; - this.mode = mode; - } - - /** - * Log when this command is initialized - */ - @Override - protected void initialize() { - Logger.addEvent("SetIntakeMode init.", this.getClass()); - } - - /** - * Set the subsystem to the specified mode if it's off, and set it to off otherwise. - */ - @Override - protected void execute() { - if (subsystem.getMode() == SubsystemIntake.IntakeMode.OFF) { - subsystem.setMode(mode); - } else { - subsystem.setMode(SubsystemIntake.IntakeMode.OFF); - } - } - - /** - * Finish immediately because this is a state-change command. - * - * @return true - */ - @Override - protected boolean isFinished() { - return true; - } - - /** - * Log when this command ends - */ - @Override - protected void end() { - Logger.addEvent("SetIntakeMode end.", this.getClass()); - } - - /** - * Log when this command is interrupted. - */ - @Override - protected void interrupted() { - Logger.addEvent("SetIntakeMode Interrupted!", this.getClass()); - } -} \ No newline at end of file diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/SubsystemMP.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/SubsystemMP.java deleted file mode 100644 index 3488b408..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/SubsystemMP.java +++ /dev/null @@ -1,53 +0,0 @@ -package org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile; - -import com.fasterxml.jackson.annotation.JsonTypeInfo; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.other.MotionProfileData; - -/** - * A subsystem that can have motion profiles run on it. - */ -@JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class") -public interface SubsystemMP { - - /** - * Loads a profile into the MP buffer. - * - * @param profile The profile to be loaded. - */ - void loadMotionProfile(@NotNull MotionProfileData profile); - - /** - * Start running the profile that's currently loaded into the MP buffer. - */ - void startRunningLoadedProfile(); - - /** - * Get whether this subsystem has finished running the profile loaded in it. - * - * @return true if there's no profile loaded and no profile running, false otherwise. - */ - boolean profileFinished(); - - /** - * Disable the motors. - */ - void disable(); - - /** - * Hold the current position. - */ - void holdPosition(); - - /** - * Get whether the subsystem is ready to run the loaded profile. - * - * @return true if a profile is loaded and ready to run, false otherwise. - */ - boolean readyToRunProfile(); - - /** - * Stops any MP-related threads currently running. Normally called at the start of teleop. - */ - void stopMPProcesses(); -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/SubsystemMPTwoSides.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/SubsystemMPTwoSides.java deleted file mode 100644 index 57af3360..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/SubsystemMPTwoSides.java +++ /dev/null @@ -1,21 +0,0 @@ -package org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem; - -import com.fasterxml.jackson.annotation.JsonTypeInfo; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.other.MotionProfileData; -import org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.SubsystemMP; - -/** - * An MP subsystem with two sides that therefore needs two profiles at a time. - */ -@JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class") -public interface SubsystemMPTwoSides extends SubsystemMP { - - /** - * Loads given profiles into the left and right sides of the drive. - * - * @param left The profile to load into the left side. - * @param right The profile to load into the right side. - */ - void loadMotionProfile(@NotNull MotionProfileData left, @NotNull MotionProfileData right); -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/LoadProfileTwoSides.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/LoadProfileTwoSides.java deleted file mode 100644 index 8a4e8db6..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/LoadProfileTwoSides.java +++ /dev/null @@ -1,88 +0,0 @@ -package org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper; -import org.usfirst.frc.team449.robot.other.Logger; -import org.usfirst.frc.team449.robot.other.MotionProfileData; -import org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.SubsystemMPTwoSides; - -/** - * Loads the given profiles into the subsystem, but doesn't run it. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class LoadProfileTwoSides extends YamlCommandWrapper { - - /** - * The subsystem to execute this command on. - */ - @NotNull - private final SubsystemMPTwoSides subsystem; - - /** - * The motion profiles for the left and right sides to execute, respectively. - */ - @NotNull - private final MotionProfileData left, right; - - /** - * Default constructor - * - * @param subsystem The subsystem to execute this command on. - * @param left The profile for the left side to run. - * @param right The profile for the right side to run. - */ - @JsonCreator - public LoadProfileTwoSides(@NotNull @JsonProperty(required = true) SubsystemMPTwoSides subsystem, - @NotNull @JsonProperty(required = true) MotionProfileData left, - @NotNull @JsonProperty(required = true) MotionProfileData right) { - this.subsystem = subsystem; - this.left = left; - this.right = right; - } - - /** - * Log when this command is initialized - */ - @Override - protected void initialize() { - Logger.addEvent("LoadProfileTwoSides init.", this.getClass()); - } - - /** - * Load the profiles. - */ - @Override - protected void execute() { - subsystem.loadMotionProfile(left, right); - } - - /** - * Finish immediately because this is a state-change command. - * - * @return true - */ - @Override - protected boolean isFinished() { - return true; - } - - /** - * Log when this command ends - */ - @Override - protected void end() { - Logger.addEvent("LoadProfileTwoSides end.", this.getClass()); - } - - /** - * Log when this command is interrupted. - */ - @Override - protected void interrupted() { - Logger.addEvent("LoadProfileTwoSides Interrupted!", this.getClass()); - } -} \ No newline at end of file diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/RunProfileTwoSides.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/RunProfileTwoSides.java deleted file mode 100644 index caf467f5..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/RunProfileTwoSides.java +++ /dev/null @@ -1,36 +0,0 @@ -package org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandGroupWrapper; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem; -import org.usfirst.frc.team449.robot.other.MotionProfileData; -import org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.SubsystemMPTwoSides; -import org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands.RunLoadedProfile; - -/** - * Loads and runs the given profiles into the given subsystem. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class RunProfileTwoSides extends YamlCommandGroupWrapper { - - /** - * Default constructor. - * - * @param subsystem The subsystem to execute this command on. - * @param left The motion profile for the left side to load and execute. - * @param right The motion profile for the right side to load and execute. - * @param timeout The maximum amount of time this command is allowed to take, in seconds. - */ - @JsonCreator - public RunProfileTwoSides(@NotNull @JsonProperty(required = true) T subsystem, - @NotNull @JsonProperty(required = true) MotionProfileData left, - @NotNull @JsonProperty(required = true) MotionProfileData right, - @JsonProperty(required = true) double timeout) { - addParallel(new LoadProfileTwoSides(subsystem, left, right)); - addParallel(new RunLoadedProfile<>(subsystem, timeout, true)); - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/LoadProfile.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/LoadProfile.java deleted file mode 100644 index b36325b0..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/LoadProfile.java +++ /dev/null @@ -1,85 +0,0 @@ -package org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper; -import org.usfirst.frc.team449.robot.other.Logger; -import org.usfirst.frc.team449.robot.other.MotionProfileData; -import org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.SubsystemMP; - -/** - * Loads the given profile into the subsystem, but doesn't run it. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class LoadProfile extends YamlCommandWrapper { - - /** - * The subsystem to execute this command on. - */ - @NotNull - private final SubsystemMP subsystem; - - /** - * The profile to execute. - */ - @NotNull - private final MotionProfileData profile; - - /** - * Default constructor - * - * @param subsystem The subsystem to execute this command on. - * @param profile The profile to run. - */ - @JsonCreator - public LoadProfile(@NotNull @JsonProperty(required = true) SubsystemMP subsystem, - @NotNull @JsonProperty(required = true) MotionProfileData profile) { - this.subsystem = subsystem; - this.profile = profile; - } - - /** - * Log when this command is initialized - */ - @Override - protected void initialize() { - Logger.addEvent("LoadProfile init.", this.getClass()); - } - - /** - * Load the profile. - */ - @Override - protected void execute() { - subsystem.loadMotionProfile(profile); - } - - /** - * Finish immediately because this is a state-change command. - * - * @return true - */ - @Override - protected boolean isFinished() { - return true; - } - - /** - * Log when this command ends - */ - @Override - protected void end() { - Logger.addEvent("LoadProfile end.", this.getClass()); - } - - /** - * Log when this command is interrupted. - */ - @Override - protected void interrupted() { - Logger.addEvent("LoadProfile Interrupted!", this.getClass()); - } -} \ No newline at end of file diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/RunLoadedProfile.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/RunLoadedProfile.java deleted file mode 100644 index 78da9e65..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/RunLoadedProfile.java +++ /dev/null @@ -1,118 +0,0 @@ -package org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem; -import org.usfirst.frc.team449.robot.other.Clock; -import org.usfirst.frc.team449.robot.other.Logger; -import org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.SubsystemMP; - -/** - * Runs the command that is currently loaded in the given subsystem. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class RunLoadedProfile extends YamlCommandWrapper { - - /** - * The amount of time this command is allowed to run for, in milliseconds. - */ - private final long timeout; - - /** - * The subsystem to execute this command on. - */ - @NotNull - private final SubsystemMP subsystem; - - /** - * The time this command started running at. - */ - private long startTime; - - /** - * Whether we're running a profile or waiting for the bottom-level buffer to fill. - */ - private boolean runningProfile; - - /** - * Default constructor. - * - * @param subsystem The subsystem to execute this command on. - * @param timeout The max amount of time this subsystem is allowed to run for, in seconds. - * @param require Whether or not to require the subsystem this command is running on. - */ - @JsonCreator - public RunLoadedProfile(@NotNull @JsonProperty(required = true) T subsystem, - @JsonProperty(required = true) double timeout, - @JsonProperty(required = true) boolean require) { - this.subsystem = subsystem; - //Require if specified. - if (require) { - requires(subsystem); - } - - //Convert to milliseconds. - this.timeout = (long) (timeout * 1000.); - - runningProfile = false; - } - - /** - * Record the start time. - */ - @Override - protected void initialize() { - //Record the start time. - startTime = Clock.currentTimeMillis(); - Logger.addEvent("RunLoadedProfile init", this.getClass()); - runningProfile = false; - } - - /** - * If the subsystem is ready to start running the profile and it's not running yet, start running it. - */ - @Override - protected void execute() { - if (subsystem.readyToRunProfile() && !runningProfile) { - subsystem.startRunningLoadedProfile(); - runningProfile = true; - } - } - - /** - * Finish when the profile finishes or the timeout is reached. - * - * @return true if the profile is finished or the timeout has been exceeded, false otherwise. - */ - @Override - protected boolean isFinished() { - if (Clock.currentTimeMillis() - startTime > timeout) { - Logger.addEvent("Command timed out", this.getClass()); - System.out.println("RunLoadedProfile timed out!"); - return true; - } - return runningProfile && subsystem.profileFinished(); - } - - /** - * Hold position and log on exit. - */ - @Override - protected void end() { - subsystem.holdPosition(); - Logger.addEvent("RunLoadedProfile end.", this.getClass()); - } - - /** - * Disable and log if interrupted. - */ - @Override - protected void interrupted() { - subsystem.disable(); - Logger.addEvent("RunLoadedProfile interrupted!", this.getClass()); - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/RunProfile.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/RunProfile.java deleted file mode 100644 index aab22d5d..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/RunProfile.java +++ /dev/null @@ -1,33 +0,0 @@ -package org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandGroupWrapper; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem; -import org.usfirst.frc.team449.robot.other.MotionProfileData; -import org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.SubsystemMPTwoSides; - -/** - * Loads and runs the given profile into the given subsystem. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class RunProfile extends YamlCommandGroupWrapper { - - /** - * Default constructor. - * - * @param subsystem The subsystem to execute this command on. - * @param profile The motion profile to load and execute. - * @param timeout The maximum amount of time this command is allowed to take, in seconds. - */ - @JsonCreator - public RunProfile(@NotNull @JsonProperty(required = true) T subsystem, - @NotNull @JsonProperty(required = true) MotionProfileData profile, - @JsonProperty(required = true) double timeout) { - addSequential(new LoadProfile(subsystem, profile)); - addSequential(new RunLoadedProfile<>(subsystem, timeout, true)); - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/SolenoidSimple.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/SolenoidSimple.java deleted file mode 100644 index 9aa9c8c4..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/SolenoidSimple.java +++ /dev/null @@ -1,65 +0,0 @@ -package org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import edu.wpi.first.wpilibj.DoubleSolenoid; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.jacksonWrappers.MappedDoubleSolenoid; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem; - -/** - * A simple SubsystemSolenoid. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class SolenoidSimple extends YamlSubsystem implements SubsystemSolenoid { - - /** - * Piston for pushing gears - */ - @NotNull - private final DoubleSolenoid piston; - - /** - * The piston's current position - */ - private DoubleSolenoid.Value pistonPos; - - /** - * Default constructor - * - * @param piston The piston that comprises this subsystem. - */ - @JsonCreator - public SolenoidSimple(@NotNull @JsonProperty(required = true) MappedDoubleSolenoid piston) { - this.piston = piston; - } - - /** - * @param value The position to set the solenoid to. - */ - public void setSolenoid(@NotNull DoubleSolenoid.Value value) { - piston.set(value); - pistonPos = value; - } - - /** - * @return the current position of the solenoid. - */ - @NotNull - @Override - public DoubleSolenoid.Value getSolenoidPosition() { - return pistonPos; - } - - /** - * Initialize the default command for a subsystem. By default subsystems have no default command, but if they do, - * the default command is set with this method. It is called on all Subsystems by CommandBase in the users program - * after all the Subsystems are created. - */ - @Override - protected void initDefaultCommand() { - //Do nothing! - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/SubsystemSolenoid.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/SubsystemSolenoid.java deleted file mode 100644 index 3e858292..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/SubsystemSolenoid.java +++ /dev/null @@ -1,23 +0,0 @@ -package org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid; - -import com.fasterxml.jackson.annotation.JsonTypeInfo; -import edu.wpi.first.wpilibj.DoubleSolenoid; -import org.jetbrains.annotations.NotNull; - -/** - * A subsystem with a single DoubleSolenoid piston. - */ -@JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class") -public interface SubsystemSolenoid { - - /** - * @param value The position to set the solenoid to. - */ - void setSolenoid(@NotNull DoubleSolenoid.Value value); - - /** - * @return the current position of the solenoid. - */ - @NotNull - DoubleSolenoid.Value getSolenoidPosition(); -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidForward.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidForward.java deleted file mode 100644 index d011f11c..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidForward.java +++ /dev/null @@ -1,76 +0,0 @@ -package org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import edu.wpi.first.wpilibj.DoubleSolenoid; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper; -import org.usfirst.frc.team449.robot.other.Logger; -import org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SubsystemSolenoid; - -/** - * A command that extends a piston. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class SolenoidForward extends YamlCommandWrapper { - - /** - * The subsystem to execute this command on. - */ - @NotNull - private final SubsystemSolenoid subsystem; - - /** - * Default constructor - * - * @param subsystem The solenoid subsystem to execute this command on. - */ - @JsonCreator - public SolenoidForward(@NotNull @JsonProperty(required = true) SubsystemSolenoid subsystem) { - this.subsystem = subsystem; - } - - /** - * Log when this command is initialized - */ - @Override - protected void initialize() { - Logger.addEvent("SolenoidForward init.", this.getClass()); - } - - /** - * Extend the piston. - */ - @Override - protected void execute() { - subsystem.setSolenoid(DoubleSolenoid.Value.kForward); - } - - /** - * Finish immediately because this is a state-change command. - * - * @return true - */ - @Override - protected boolean isFinished() { - return true; - } - - /** - * Log when this command ends - */ - @Override - protected void end() { - Logger.addEvent("SolenoidForward end.", this.getClass()); - } - - /** - * Log when this command is interrupted. - */ - @Override - protected void interrupted() { - Logger.addEvent("SolenoidForward Interrupted!", this.getClass()); - } -} \ No newline at end of file diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidOff.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidOff.java deleted file mode 100644 index ab216ac5..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidOff.java +++ /dev/null @@ -1,76 +0,0 @@ -package org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import edu.wpi.first.wpilibj.DoubleSolenoid; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper; -import org.usfirst.frc.team449.robot.other.Logger; -import org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SubsystemSolenoid; - -/** - * A command that extends a piston. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class SolenoidOff extends YamlCommandWrapper { - - /** - * The subsystem to execute this command on. - */ - @NotNull - private final SubsystemSolenoid subsystem; - - /** - * Default constructor - * - * @param subsystem The solenoid subsystem to execute this command on. - */ - @JsonCreator - public SolenoidOff(@NotNull @JsonProperty(required = true) SubsystemSolenoid subsystem) { - this.subsystem = subsystem; - } - - /** - * Log when this command is initialized - */ - @Override - protected void initialize() { - Logger.addEvent("SolenoidOff init.", this.getClass()); - } - - /** - * Extend the piston. - */ - @Override - protected void execute() { - subsystem.setSolenoid(DoubleSolenoid.Value.kOff); - } - - /** - * Finish immediately because this is a state-change command. - * - * @return true - */ - @Override - protected boolean isFinished() { - return true; - } - - /** - * Log when this command ends - */ - @Override - protected void end() { - Logger.addEvent("SolenoidOff end.", this.getClass()); - } - - /** - * Log when this command is interrupted. - */ - @Override - protected void interrupted() { - Logger.addEvent("SolenoidOff Interrupted!", this.getClass()); - } -} \ No newline at end of file diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidReverse.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidReverse.java deleted file mode 100644 index 054c9364..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidReverse.java +++ /dev/null @@ -1,76 +0,0 @@ -package org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import edu.wpi.first.wpilibj.DoubleSolenoid; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper; -import org.usfirst.frc.team449.robot.other.Logger; -import org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SubsystemSolenoid; - -/** - * A command that contracts a piston. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class SolenoidReverse extends YamlCommandWrapper { - - /** - * The subsystem to execute this command on. - */ - @NotNull - private final SubsystemSolenoid subsystem; - - /** - * Default constructor - * - * @param subsystem The solenoid subsystem to execute this command on. - */ - @JsonCreator - public SolenoidReverse(@NotNull @JsonProperty(required = true) SubsystemSolenoid subsystem) { - this.subsystem = subsystem; - } - - /** - * Log when this command is initialized - */ - @Override - protected void initialize() { - Logger.addEvent("SolenoidForward init.", this.getClass()); - } - - /** - * Retract the piston. - */ - @Override - protected void execute() { - subsystem.setSolenoid(DoubleSolenoid.Value.kReverse); - } - - /** - * Finish immediately because this is a state-change command. - * - * @return true - */ - @Override - protected boolean isFinished() { - return true; - } - - /** - * Log when this command ends - */ - @Override - protected void end() { - Logger.addEvent("SolenoidForward end.", this.getClass()); - } - - /** - * Log when this command is interrupted. - */ - @Override - protected void interrupted() { - Logger.addEvent("SolenoidForward Interrupted!", this.getClass()); - } -} \ No newline at end of file diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/ToggleSolenoid.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/ToggleSolenoid.java deleted file mode 100644 index 2ddc00fa..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/ToggleSolenoid.java +++ /dev/null @@ -1,80 +0,0 @@ -package org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import edu.wpi.first.wpilibj.DoubleSolenoid; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper; -import org.usfirst.frc.team449.robot.other.Logger; -import org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SubsystemSolenoid; - -/** - * A command that toggles the position of a piston. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class ToggleSolenoid extends YamlCommandWrapper { - - /** - * The subsystem to execute this command on. - */ - @NotNull - private final SubsystemSolenoid subsystem; - - /** - * Default constructor - * - * @param subsystem The solenoid subsystem to execute this command on. - */ - @JsonCreator - public ToggleSolenoid(@NotNull @JsonProperty(required = true) SubsystemSolenoid subsystem) { - this.subsystem = subsystem; - } - - /** - * Log when this command is initialized - */ - @Override - protected void initialize() { - Logger.addEvent("ToggleSolenoid init.", this.getClass()); - } - - /** - * Toggle the state of the piston. - */ - @Override - protected void execute() { - if (subsystem.getSolenoidPosition().equals(DoubleSolenoid.Value.kForward)) { - subsystem.setSolenoid(DoubleSolenoid.Value.kReverse); - } else { - subsystem.setSolenoid(DoubleSolenoid.Value.kForward); - } - } - - /** - * Finish immediately because this is a state-change command. - * - * @return true - */ - @Override - protected boolean isFinished() { - return true; - } - - /** - * Log when this command ends - */ - @Override - protected void end() { - Logger.addEvent("ToggleSolenoid end.", this.getClass()); - } - - /** - * Log when this command is interrupted. - */ - @Override - protected void interrupted() { - Logger.addEvent("ToggleSolenoid Interrupted!", this.getClass()); - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/CameraNetwork.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/CameraNetwork.java deleted file mode 100644 index 45b80c2c..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/CameraNetwork.java +++ /dev/null @@ -1,107 +0,0 @@ -package org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import edu.wpi.cscore.MjpegServer; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.jacksonWrappers.MappedUsbCamera; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem; -import org.usfirst.frc.team449.robot.other.Logger; - -import java.util.List; - -/** - * Subsystem to initialize cameras and put video on SmartDashboard. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class CameraNetwork extends YamlSubsystem { - - /** - * Video server to view on SmartDashboard. - */ - @NotNull - private final MjpegServer server; - - /** - * List of cameras used on the robot. - */ - @NotNull - private final List cameras; - - /** - * Camera currently being streamed from. - */ - private int camNum; - - /** - * Default constructor - * - * @param serverPort The port of the {@link MjpegServer} this subsystem uses. - * @param serverName The human-friendly name of the {@link MjpegServer} this subsystem uses. - * @param cameras The cameras this subsystem controls. - */ - @JsonCreator - public CameraNetwork(@JsonProperty(required = true) int serverPort, - @NotNull @JsonProperty(required = true) String serverName, - @NotNull @JsonProperty(required = true) List cameras) { - //Logging - Logger.addEvent("CameraSubsystem construct start", this.getClass()); - Logger.addEvent("Set URL of MJPGServer to \"http://roboRIO-449-frc.local:" + serverPort + - "/stream.mjpg\"", this.getClass()); - - //Instantiates server - server = new MjpegServer(serverName, serverPort); - - //Instantiates cameras - this.cameras = cameras; - - //Starts streaming video from first camera, marks that via camNum - server.setSource(cameras.get(0)); - camNum = 0; - - //Logging - Logger.addEvent("CameraSubsystem construct end", this.getClass()); - } - - /** - * Initialize the default command for a subsystem. By default subsystems have no default command, but if they do, - * the default command is set with this method. It is called on all Subsystems by CommandBase in the users program - * after all the Subsystems are created. - */ - @Override - protected void initDefaultCommand() { - //Do nothing! - } - - /** - * @return Video server to view on SmartDashboard. - */ - @NotNull - public MjpegServer getServer() { - return server; - } - - /** - * @return List of cameras used on the robot. - */ - @NotNull - public List getCameras() { - return cameras; - } - - /** - * @return The index of the active camera in the list of cameras. - */ - public int getCamNum() { - return camNum; - } - - /** - * @param camNum The index of the camera to make active in the list of cameras. - */ - public void setCamNum(int camNum) { - this.camNum = camNum; - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/ChangeCam.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/ChangeCam.java deleted file mode 100644 index 3badaf6c..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/ChangeCam.java +++ /dev/null @@ -1,84 +0,0 @@ -package org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.commands; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper; -import org.usfirst.frc.team449.robot.other.Logger; -import org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.CameraNetwork; - -/** - * Toggles camera on button press. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class ChangeCam extends YamlCommandWrapper { - - /** - * The subsystem to execute this command on - */ - @NotNull - private final CameraNetwork subsystem; - - /** - * Default constructor. - * - * @param subsystem The subsystem to execute this command on. - */ - @JsonCreator - public ChangeCam(@NotNull @JsonProperty(required = true) CameraNetwork subsystem) { - this.subsystem = subsystem; - requires(subsystem); - } - - /** - * Log when this command is initialized - */ - @Override - protected void initialize() { - Logger.addEvent("ChangeCam init", this.getClass()); - } - - /** - * Switch the MjpegServer to use the next camera in the list - */ - @Override - protected void execute() { - //Switches camNum to next camera, if applicable - if (subsystem.getCameras().size() == 1) { - Logger.addEvent("You're trying to switch cameras, but your robot only has one camera!", this.getClass()); - } else { - subsystem.setCamNum((subsystem.getCamNum() + 1) % subsystem.getCameras().size()); - } - - //Switches to set camera - subsystem.getServer().setSource(subsystem.getCameras().get(subsystem.getCamNum())); - } - - /** - * Finish immediately because this is a state-change command. - * - * @return true - */ - @Override - protected boolean isFinished() { - return true; - } - - /** - * Log when this command ends - */ - @Override - protected void end() { - Logger.addEvent("ChangeCam end", this.getClass()); - } - - /** - * Log when this command is interrupted. - */ - @Override - protected void interrupted() { - Logger.addEvent("ChangeCam interrupted!", this.getClass()); - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/Pneumatics.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/Pneumatics.java deleted file mode 100644 index 2bbe0a71..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/Pneumatics.java +++ /dev/null @@ -1,97 +0,0 @@ -package org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import edu.wpi.first.wpilibj.Compressor; -import org.jetbrains.annotations.NotNull; -import org.jetbrains.annotations.Nullable; -import org.usfirst.frc.team449.robot.generalInterfaces.loggable.Loggable; -import org.usfirst.frc.team449.robot.jacksonWrappers.PressureSensor; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem; - -/** - * A subsystem representing the pneumatics control system (e.g. the compressor and maybe a pressure sensor) - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class Pneumatics extends YamlSubsystem implements Loggable { - - /** - * The compressor that provides pressure to the robot's pneumatics. - */ - @NotNull - private final Compressor compressor; - - /** - * The pressure sensor that reads the pneumatic pressure. - */ - @Nullable - private final PressureSensor pressureSensor; - - /** - * Default constructor - * - * @param nodeID The node ID of the compressor. - * @param pressureSensor The pressure sensor attached to this pneumatics system. Can be null. - */ - @JsonCreator - public Pneumatics(@JsonProperty(required = true) int nodeID, - @Nullable PressureSensor pressureSensor) { - compressor = new Compressor(nodeID); - this.pressureSensor = pressureSensor; - } - - /** - * Do nothing. - */ - @Override - public void initDefaultCommand() { - //Do Nothing - } - - /** - * Start up the compressor in closed loop control mode. - */ - public void startCompressor() { - compressor.setClosedLoopControl(true); - compressor.start(); - } - - /** - * Get the headers for the data this subsystem logs every loop. - * - * @return An N-length array of String labels for data, where N is the length of the Object[] returned by getData(). - */ - @NotNull - @Override - public String[] getHeader() { - return new String[]{"pressure"}; - } - - /** - * Get the data this subsystem logs every loop. - * - * @return An N-length array of Objects, where N is the number of labels given by getHeader. - */ - @NotNull - @Override - public Object[] getData() { - if (pressureSensor == null) { - return new Object[]{"N/A"}; - } else { - return new Object[]{pressureSensor.getPressure()}; - } - } - - /** - * Get the name of this object. - * - * @return A string that will identify this object in the log file. - */ - @NotNull - @Override - public String getName() { - return "pneumatics"; - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/StartCompressor.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/StartCompressor.java deleted file mode 100644 index b495dee8..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/StartCompressor.java +++ /dev/null @@ -1,75 +0,0 @@ -package org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.commands; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper; -import org.usfirst.frc.team449.robot.other.Logger; -import org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.Pneumatics; - -/** - * Start up the pneumatic compressor. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class StartCompressor extends YamlCommandWrapper { - - /** - * The subsystem to execute this command on. - */ - @NotNull - private final Pneumatics subsystem; - - /** - * Default constructor - * - * @param subsystem The subsystem to execute this command on. - */ - @JsonCreator - public StartCompressor(@NotNull @JsonProperty(required = true) Pneumatics subsystem) { - this.subsystem = subsystem; - } - - /** - * Log when this command is initialized - */ - @Override - protected void initialize() { - Logger.addEvent("StartCompressor init.", this.getClass()); - } - - /** - * Start the compressor. - */ - @Override - protected void execute() { - subsystem.startCompressor(); - } - - /** - * Finish immediately because this is a state-change command. - * - * @return true - */ - @Override - protected boolean isFinished() { - return true; - } - - /** - * Log when this command ends - */ - @Override - protected void end() { - Logger.addEvent("StartCompressor end.", this.getClass()); - } - - /** - * Log when this command is interrupted. - */ - @Override - protected void interrupted() { - Logger.addEvent("StartCompressor Interrupted!", this.getClass()); - } -} \ No newline at end of file diff --git a/RoboRIO/src/main/resources/calciferLeftBlueBackupProfile.csv b/RoboRIO/src/main/resources/calciferLeftBlueBackupProfile.csv deleted file mode 100644 index 9e49c7f5..00000000 --- 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a/RoboRIO/src/main/resources/calciferRightBlueBackupProfile.csv b/RoboRIO/src/main/resources/calciferRightBlueBackupProfile.csv deleted file mode 100644 index 96e3c2c0..00000000 --- a/RoboRIO/src/main/resources/calciferRightBlueBackupProfile.csv +++ /dev/null @@ -1,49 +0,0 @@ -48 -5.227250022608844E-4, 0.020909000090435375, 0.41818000180870746, 0.05 -0.002881843550035357, 0.047182370955489446, 0.31089258165197287, 0.05 -0.00818496433981288, 0.10606241579555047, 0.9132990689388265, 0.05 -0.01759602709640648, 0.18822125513187196, 1.2840830140124404, 0.05 -0.03225813354343619, 0.2932421289405943, 1.6632018603923786, 0.05 -0.05328056113476888, 0.4204485518266538, 2.055849901933539, 0.05 -0.08172294470399875, 0.5688476713845974, 2.468354409731648, 0.05 -0.11857694755715203, 0.7370800570630655, 2.9080471549192275, 0.05 -0.16474574741960396, 0.9233759972490385, 3.383134580044842, 0.05 -0.2210215192287427, 1.1255154361827742, 3.902625078561477, 0.05 -0.2875113483817807, 1.32979658306076, 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-2.96962884648444, 0.05 -7.443669963165066, 2.332110734604047, -2.96962884648444, 0.05 -7.552851427779056, 2.1836292922798073, -2.9696288464847953, 0.05 -7.654608820276835, 2.0351478499555853, -2.96962884648444, 0.05 -7.748942140658404, 1.8866664076313633, -2.96962884648444, 0.05 -7.835851388923762, 1.7381849653071768, -2.9696288464837295, 0.05 -7.915336565072909, 1.589703522982937, -2.9696288464847953, 0.05 -7.987397669105845, 1.441222080658715, -2.96962884648444, 0.05 -8.052034701022569, 1.2927406383344753, -2.9696288464847953, 0.05 -8.109247660823083, 1.1442591960102888, -2.9696288464837295, 0.05 -8.159036548507387, 0.9957777536860846, -2.9696288464840848, 0.05 -8.201401364075478, 0.8472963113618093, -2.969628846485506, 0.05 -8.236451088383818, 0.700994486166806, -2.9260365039000646, 0.05 -8.264665905894674, 0.5642963502171128, -2.7339627189938653, 0.05 -8.286788223819668, 0.4424463584998861, -2.436999834344533, 0.05 -8.303560449370421, 0.335444511015055, -2.140036949696622, 0.05 -8.315724989758554, 0.243290807762655, -1.8430740650480004, 0.05 -8.324024252195688, 0.16598524874268605, -1.5461111803993788, 0.05 -8.329200643893447, 0.10352783395518372, -1.2491482957500466, 0.05 -8.331996572063447, 0.055918563400005894, -0.9521854111035566, 0.05 -8.333154443917314, 0.0231574370773302, -0.6552225264535139, 0.05 -8.333416666666665, 0.005244454987014535, -0.3582596418063133, 0.05 -8.333416666666665, 0.0, -0.1048890997402907, 0.05 diff --git a/build.gradle b/build.gradle index f3eab9e9..934566e1 100644 --- a/build.gradle +++ b/build.gradle @@ -1,8 +1,111 @@ -allprojects { - tasks.withType(Javadoc).all { enabled = true } - repositories { - maven { - url 'https://jitpack.io' +plugins { + id 'org.hidetake.ssh' version "2.9.0" + id 'java' + id 'eclipse' + id 'idea' + id 'jaci.openrio.gradle.GradleRIO' version "2017.1.5" +} + +group 'org.usfirst.frc.team449.robot2017' +version '1.0' + +repositories { + mavenCentral() + maven { + name = "GradleRio" + url = "http://dev.imjac.in/maven" + } + + maven { url "https://plugins.gradle.org/m2/" } + + maven { + url 'https://jitpack.io' + } +} + +wpi { + wpilibVersion = "2017.3.1" // The WPILib version to use. For this version of GradleRIO, must be a 2017 version. + ntcoreVersion = "3.1.7" // The NetworkTables Core version to use. + opencvVersion = "3.1.0" // The OpenCV version to use. + cscoreVersion = "1.0.2" // The CSCore version to use. + talonSrxVersion = "4.4.1.14" // The CTRE Toolsuite (Talon SRX) version to use. + navxVersion = "3.0.331" // The NavX-MXP library version to use. +} + +dependencies { + compile 'com.github.blair-robot-project:449-central-repo:v6.0.0' + // https://mvnrepository.com/artifact/com.fasterxml.jackson.core/jackson-databind + compile group: 'com.fasterxml.jackson.core', name: 'jackson-databind', version: '2.9.0.pr3' + // https://mvnrepository.com/artifact/com.fasterxml.jackson.core/jackson-core + compile group: 'com.fasterxml.jackson.core', name: 'jackson-core', version: '2.9.0.pr3' + // https://mvnrepository.com/artifact/com.fasterxml.jackson.core/jackson-annotations + compile group: 'com.fasterxml.jackson.core', name: 'jackson-annotations', version: '2.9.0.pr3' + compile group: 'com.fasterxml.jackson.dataformat', name: 'jackson-dataformat-yaml', version: '2.9.0.pr3' + //com.fasterxml.jackson.module:jackson-module-parameter-names:2.9.0.pr3 + compile group: 'com.fasterxml.jackson.module', name: 'jackson-module-parameter-names', version: '2.9.0.pr3' + compile 'org.jetbrains:annotations:13.0' + compile wpilib() + compile talonSrx() + compile navx() +} + +/* GradleRIO stuff */ +remotes { + rio { + host = 'roboRIO-449-frc.local' + user = 'lvuser' + knownHosts = allowAnyHosts + } +} + +frc { + team = '449' + robotClass = "org.usfirst.frc.team449.robot.Robot" +} + +def robotManifest = { + attributes 'Main-Class': 'edu.wpi.first.wpilibj.RobotBase' + attributes 'Robot-Class': frc.robotClass +} + +task('copyResources') { + doLast { + ssh.run { + session(remotes.rio) { + execute 'mkdir ~/449_resources', ignoreError: true + execute 'mkdir ~/logs', ignoreError: true + put from: fileTree('src/main/resources'), into: './449_resources/' + execute ". /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t -r", ignoreError: true + } } } +} + +/* Generic artifact gen stuff */ +jar { + from configurations.compile.collect { it.isDirectory() ? it : zipTree(it) } + manifest robotManifest +} + +task genJavadoc(type: Jar, dependsOn: javadoc) { + classifier = 'javadoc' + from javadoc.destinationDir +} + +task deleteDocs(type: Delete){ + delete '../docs' + followSymlinks = false +} + +task copyDocs(type: Copy, dependsOn: [genJavadoc, deleteDocs]){ + from 'build/docs/javadoc' + into 'docs' +} + +artifacts { + archives genJavadoc +} + +compileJava { + options.compilerArgs << '-parameters' } \ No newline at end of file diff --git a/docs/allclasses-frame.html b/docs/allclasses-frame.html deleted file mode 100644 index d62579a5..00000000 --- a/docs/allclasses-frame.html +++ /dev/null @@ -1,163 +0,0 @@ - - - - - -All Classes (RoboRIO 1.0 API) - - - - - -

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A B C D E F G H I J L M N O P R S T U V W Y  - - -

A

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addAbsolutePos(double, double, long) - Method in class org.usfirst.frc.team449.robot.other.UnidirectionalPoseEstimator
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Add an absolute position at the given time stamp.
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addAbsolutePos(double, double, long, double) - Method in class org.usfirst.frc.team449.robot.other.UnidirectionalPoseEstimator
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Add an absolute position at the given time stamp, using an angle measured to verify that the absolute position is - correct.
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addEvent(String, Class) - Static method in class org.usfirst.frc.team449.robot.other.Logger
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Log an event to be written to the event log file.
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ahrs - Variable in class org.usfirst.frc.team449.robot.jacksonWrappers.MappedAHRS
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The AHRS this class is a wrapper on.
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AHRSRumbleComponent - Class in org.usfirst.frc.team449.robot.components
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A component to rumble controllers based off the jerk measurements from an AHRS.
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AHRSRumbleComponent(MappedAHRS, List<Rumbleable>, double, double, boolean, boolean) - Constructor for class org.usfirst.frc.team449.robot.components.AHRSRumbleComponent
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Default constructor.
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AngularSnapPoint(double, double, double) - Constructor for class org.usfirst.frc.team449.robot.commands.multiInterface.drive.FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint
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Default constructor.
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Auto2017Boiler - Class in org.usfirst.frc.team449.robot.commands.autonomous
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The autonomous routine to deliver a gear to the center gear.
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Auto2017Boiler(RunLoadedProfile, YamlCommand, MappedDigitalInput, MappedDigitalInput, RunProfileTwoSides, RunProfileTwoSides, YamlCommand, YamlCommand, long) - Constructor for class org.usfirst.frc.team449.robot.commands.autonomous.Auto2017Boiler
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Default constructor.
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Auto2017Center - Class in org.usfirst.frc.team449.robot.commands.autonomous
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The autonomous routine to deliver a gear to the center gear.
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Auto2017Center(RunLoadedProfile, YamlCommand, MappedDigitalInput, YamlCommand) - Constructor for class org.usfirst.frc.team449.robot.commands.autonomous.Auto2017Center
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Default constructor.
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Auto2017Feeder - Class in org.usfirst.frc.team449.robot.commands.autonomous
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The autonomous routine to deliver a gear to the center gear.
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Auto2017Feeder(RunLoadedProfile, YamlCommand, MappedDigitalInput, MappedDigitalInput, RunProfileTwoSides, RunProfileTwoSides, YamlCommand, YamlCommand, long) - Constructor for class org.usfirst.frc.team449.robot.commands.autonomous.Auto2017Feeder
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Default constructor.
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autonomousInit() - Method in class org.usfirst.frc.team449.robot.Robot
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Run when we first enable in autonomous
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autonomousPeriodic() - Method in class org.usfirst.frc.team449.robot.Robot
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Runs every tick in autonomous.
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autoshift(double, double, double, Consumer<Integer>) - Method in class org.usfirst.frc.team449.robot.components.AutoshiftComponent
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Determine if the subsystem should shift, and if yes, do the shifting.
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autoshiftComponent - Variable in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.UnidirectionalNavXShiftingDefaultDrive
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The helper object for autoshifting.
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AutoshiftComponent - Class in org.usfirst.frc.team449.robot.components
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A component class for autoshifting.
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AutoshiftComponent(double, double, BufferTimer, BufferTimer, double, double, double) - Constructor for class org.usfirst.frc.team449.robot.components.AutoshiftComponent
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Default constructor
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B

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base - Variable in class org.usfirst.frc.team449.robot.oi.throttles.ThrottleExponential
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The base that is raised to the power of the joystick input.
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BinaryMotorSimple - Class in org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor
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A simple example of a binary motor subsystem.
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BinaryMotorSimple(SimpleMotor, Double) - Constructor for class org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.BinaryMotorSimple
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Default constructor.
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BufferTimer - Class in org.usfirst.frc.team449.robot.other
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A timer that checks if condition has been true for the past n seconds/milliseconds.
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BufferTimer(double) - Constructor for class org.usfirst.frc.team449.robot.other.BufferTimer
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Constructor for a time given in seconds.
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BufferTimer(long) - Constructor for class org.usfirst.frc.team449.robot.other.BufferTimer
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Constructor for a time given in milliseconds.
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C

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cachedOutput - Variable in class org.usfirst.frc.team449.robot.oi.throttles.ThrottleBasic
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The cached value of the output.
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cachedValue - Variable in class org.usfirst.frc.team449.robot.oi.throttles.ThrottleSum
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The cached output.
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calcValues() - Method in class org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOrientedPosCos
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Calculate the theta and vel values, can be called multiple times per tic but will only execute logic once.
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CameraNetwork - Class in org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera
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Subsystem to initialize cameras and put video on SmartDashboard.
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CameraNetwork(int, String, List<MappedUsbCamera>) - Constructor for class org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.CameraNetwork
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Default constructor
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canTalon - Variable in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon
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The CTRE CAN Talon SRX that this class is a wrapper on
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ChangeCam - Class in org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.commands
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Toggles camera on button press.
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ChangeCam(CameraNetwork) - Constructor for class org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.commands.ChangeCam
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Default constructor.
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ClimberCurrentLimited - Class in org.usfirst.frc.team449.robot.subsystem.complex.climber
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A climber subsystem that uses power monitoring to stop climbing.
-
-
ClimberCurrentLimited(FPSTalon, double, SimpleMotor, BufferTimer) - Constructor for class org.usfirst.frc.team449.robot.subsystem.complex.climber.ClimberCurrentLimited
-
-
Default constructor
-
-
clipTo180(double) - Static method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.NavXTurnToAngle
-
-
Clip a degree number to the NavX's -180 to 180 system.
-
-
Clock - Class in org.usfirst.frc.team449.robot.other
-
-
A wrapper on System.currentTimeMillis that caches the time, to avoid calling the currentTimeMillis method.
-
-
CommandButton - Class in org.usfirst.frc.team449.robot.oi.buttons
-
-
A button mapped to a command.
-
-
CommandButton(MappedButton, YamlCommand, CommandButton.Action) - Constructor for class org.usfirst.frc.team449.robot.oi.buttons.CommandButton
-
-
Default constructor.
-
-
commandingStraight() - Method in class org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcade
-
-
Whether the driver is trying to drive straight.
-
-
commandingStraight() - Method in class org.usfirst.frc.team449.robot.oi.unidirectional.OIOutreach
-
-
Whether the driver is trying to drive straight.
-
-
commandingStraight() - Method in interface org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional
-
-
Whether the driver is trying to drive straight.
-
-
commandingStraight() - Method in class org.usfirst.frc.team449.robot.oi.unidirectional.tank.OITankSimple
-
-
Whether the driver is trying to drive straight.
-
-
CommandSequence - Class in org.usfirst.frc.team449.robot.commands.general
-
-
A command group that takes a list of commands and runs them in the order given.
-
-
CommandSequence(List<YamlCommand>) - Constructor for class org.usfirst.frc.team449.robot.commands.general.CommandSequence
-
-
Default constructor
-
-
currentGear - Variable in class org.usfirst.frc.team449.robot.components.ShiftComponent
-
-
The gear this component is currently in.
-
-
currentGearSettings - Variable in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon
-
-
The settings currently being used by this Talon.
-
-
currentTimeMillis() - Static method in class org.usfirst.frc.team449.robot.other.Clock
-
 
-
- - - -

D

-
-
deadband - Variable in class org.usfirst.frc.team449.robot.oi.throttles.ThrottleDeadbanded
-
-
The value below which the joystick input is considered 0.
-
-
deadbandOutput(double) - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.PIDAngleCommand
-
-
Deadband the output of the PID loop.
-
-
DetermineNominalVoltage<T extends YamlSubsystem & DriveUnidirectional> - Class in org.usfirst.frc.team449.robot.drive.unidirectional.commands
-
-
Run the motors until they move, slowly increasing the voltage up from 0.
-
-
DetermineNominalVoltage(T, double) - Constructor for class org.usfirst.frc.team449.robot.drive.unidirectional.commands.DetermineNominalVoltage
-
-
Default constructor
-
-
DetermineVelVsVoltage<T extends YamlSubsystem & DriveUnidirectional> - Class in org.usfirst.frc.team449.robot.drive.unidirectional.commands
-
-
A command to run the robot at a range of voltages and record the velocity.
-
-
DetermineVelVsVoltage(T, double, int, double[]) - Constructor for class org.usfirst.frc.team449.robot.drive.unidirectional.commands.DetermineVelVsVoltage
-
-
Default constructor.
-
-
disable() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
-
-
Disable the motors.
-
-
disable() - Method in interface org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor.SimpleMotor
-
-
Disables the motor, if applicable.
-
-
disable() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon
-
-
Disables the motor, if applicable.
-
-
disable() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.SimpleMotorCluster
-
-
Disables the motor, if applicable.
-
-
disable() - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.SubsystemMP
-
-
Disable the motors.
-
-
disabledInit() - Method in class org.usfirst.frc.team449.robot.Robot
-
-
Run when we disable.
-
-
disabledPeriodic() - Method in class org.usfirst.frc.team449.robot.Robot
-
-
Run every tic while disabled
-
-
dPadButton - Class in org.usfirst.frc.team449.robot.oi.buttons
-
-
A Button triggered by pushing the D-pad to a specific angle.
-
-
dPadButton(MappedJoystick, int) - Constructor for class org.usfirst.frc.team449.robot.oi.buttons.dPadButton
-
-
Explicit argument constructor.
-
-
DriveAtSpeed<T extends YamlSubsystem & DriveUnidirectional> - Class in org.usfirst.frc.team449.robot.drive.unidirectional.commands
-
-
Go at a certain velocity for a set number of seconds
-
-
DriveAtSpeed(T, double, double) - Constructor for class org.usfirst.frc.team449.robot.drive.unidirectional.commands.DriveAtSpeed
-
-
Default constructor
-
-
DriveShiftable - Interface in org.usfirst.frc.team449.robot.drive.shifting
-
-
A drive that has a high gear and a low gear and can switch between them.
-
-
DriveStraight<T extends YamlSubsystem & DriveUnidirectional> - Class in org.usfirst.frc.team449.robot.drive.unidirectional.commands
-
-
Drives straight when using a tank drive.
-
-
DriveStraight(T, OITank, boolean) - Constructor for class org.usfirst.frc.team449.robot.drive.unidirectional.commands.DriveStraight
-
-
Drive straight without NavX stabilization.
-
-
DriveSubsystem - Interface in org.usfirst.frc.team449.robot.drive
-
-
Any locomotion device for the robot.
-
-
DriveTalonCluster - Class in org.usfirst.frc.team449.robot.drive.unidirectional
-
-
A drive with a cluster of any number of CANTalonSRX controlled motors on each side.
-
-
DriveTalonCluster(FPSTalon, FPSTalon, MappedAHRS, Double) - Constructor for class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
-
-
Default constructor.
-
-
DriveTalonClusterShiftable - Class in org.usfirst.frc.team449.robot.drive.unidirectional
-
-
A drive with a cluster of any number of CANTalonSRX controlled motors on each side and a high and low gear.
-
-
DriveTalonClusterShiftable(FPSTalon, FPSTalon, MappedAHRS, Double, ShiftComponent, boolean) - Constructor for class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable
-
-
Default constructor.
-
-
DriveUnidirectional - Interface in org.usfirst.frc.team449.robot.drive.unidirectional
-
-
A drive with a left side and a right side.
-
-
DriveUnidirectionalSimple - Class in org.usfirst.frc.team449.robot.drive.unidirectional
-
-
A generic example of a subsystem.
-
-
DriveUnidirectionalSimple(SimpleMotor, SimpleMotor) - Constructor for class org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectionalSimple
-
-
Default constructor
-
-
- - - -

E

-
-
enable() - Method in interface org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor.SimpleMotor
-
-
Enables the motor, if applicable.
-
-
enable() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon
-
-
Enables the motor, if applicable.
-
-
enable() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.MappedVictor
-
-
Enables the motor, if applicable.
-
-
enable() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.SimpleMotorCluster
-
-
Enables the motor, if applicable.
-
-
EnableMotors - Class in org.usfirst.frc.team449.robot.drive.commands
-
-
Enables the motors of the given drive subsystem.
-
-
EnableMotors(DriveSubsystem) - Constructor for class org.usfirst.frc.team449.robot.drive.commands.EnableMotors
-
-
Default constructor
-
-
enableMotors() - Method in interface org.usfirst.frc.team449.robot.drive.DriveSubsystem
-
-
If this drive uses motors that can be disabled, enable them.
-
-
enableMotors() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
-
-
If this drive uses motors that can be disabled, enable them.
-
-
enableMotors() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectionalSimple
-
-
If this drive uses motors that can be disabled, enable them.
-
-
encoderToFeet(double) - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon
-
-
Convert from native units read by an encoder to feet moved.
-
-
encoderToFPS(double) - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon
-
-
Converts the velocity read by the talon's getVelocity() method to the FPS of the output shaft.
-
-
end() - Method in class org.usfirst.frc.team449.robot.commands.general.RunRunnables
-
-
Log on exit.
-
-
end() - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.FieldOrientedUnidirectionalDriveCommand
-
-
Log when this command ends
-
-
end() - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.FieldOrientedUnidirectionalDriveCommandShifting
-
-
Log when this command ends
-
-
end() - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.NavXDriveStraight
-
-
Log when this command ends
-
-
end() - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.NavXTurnToAngle
-
-
Log when the command ends.
-
-
end() - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.NavXTurnToAngleRelative
-
-
Log when the command ends.
-
-
end() - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.UnidirectionalNavXDefaultDrive
-
-
Log when this command ends
-
-
end() - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.UnidirectionalNavXShiftingDefaultDrive
-
-
Log when this command ends
-
-
end() - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.RunMotorWhileConditonMet
-
-
Stop the motor and log that the command has ended.
-
-
end() - Method in class org.usfirst.frc.team449.robot.drive.commands.EnableMotors
-
-
Log when this command ends
-
-
end() - Method in class org.usfirst.frc.team449.robot.drive.commands.ResetPosition
-
-
Log when this command ends
-
-
end() - Method in class org.usfirst.frc.team449.robot.drive.shifting.commands.OverrideAutoShift
-
-
Log when this command ends.
-
-
end() - Method in class org.usfirst.frc.team449.robot.drive.shifting.commands.ToggleOverrideAutoShift
-
-
Log when this command ends.
-
-
end() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.commands.DetermineNominalVoltage
-
-
Stop the drive and log when the command ends.
-
-
end() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.commands.DetermineVelVsVoltage
-
-
Do nothing, no logging because we want to be able to use R's subset method to find the max speeds.
-
-
end() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.commands.DriveAtSpeed
-
-
Stop the drive when the command ends.
-
-
end() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.commands.VoltageRamp
-
-
Log and stop on end.
-
-
end() - Method in class org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands.ShiftGears
-
-
Log when this command ends
-
-
end() - Method in class org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands.SwitchToGear
-
-
Log when this command ends
-
-
end() - Method in class org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands.SwitchToHighGear
-
-
Log when this command ends
-
-
end() - Method in class org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands.SwitchToLowGear
-
-
Log when this command ends
-
-
end() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.OverrideNavX
-
-
Log when this command ends
-
-
end() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.ToggleOverrideNavX
-
-
Log when this command ends
-
-
end() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands.ToggleMotor
-
-
Log when this command ends
-
-
end() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands.TurnMotorOff
-
-
Log when this command ends
-
-
end() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands.TurnMotorOffWithRequires
-
-
Log when this command ends
-
-
end() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands.TurnMotorOn
-
-
Log when this command ends
-
-
end() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands.SpinUpFlywheel
-
-
Log when this command ends
-
-
end() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands.TurnAllOff
-
-
Log when this command ends
-
-
end() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands.TurnAllOn
-
-
Log when this command ends
-
-
end() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands.SetIntakeMode
-
-
Log when this command ends
-
-
end() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands.ToggleIntaking
-
-
Log when this command ends
-
-
end() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands.LoadProfile
-
-
Log when this command ends
-
-
end() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands.RunLoadedProfile
-
-
Hold position and log on exit.
-
-
end() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands.LoadProfileTwoSides
-
-
Log when this command ends
-
-
end() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidForward
-
-
Log when this command ends
-
-
end() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidOff
-
-
Log when this command ends
-
-
end() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidReverse
-
-
Log when this command ends
-
-
end() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.ToggleSolenoid
-
-
Log when this command ends
-
-
end() - Method in class org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.commands.ChangeCam
-
-
Log when this command ends
-
-
end() - Method in class org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.commands.StartCompressor
-
-
Log when this command ends
-
-
execute() - Method in class org.usfirst.frc.team449.robot.commands.general.RunRunnables
-
-
Run all the runnables in the order they were given.
-
-
execute() - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.FieldOrientedUnidirectionalDriveCommand
-
-
Set PID setpoint to processed controller setpoint.
-
-
execute() - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.FieldOrientedUnidirectionalDriveCommandShifting
-
-
Set PID setpoint to processed controller setpoint and autoshift.
-
-
execute() - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.UnidirectionalNavXDefaultDrive
-
-
Decide whether or not we should be in free drive or straight drive.
-
-
execute() - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.UnidirectionalNavXShiftingDefaultDrive
-
-
Autoshift and decide whether or not we should be in free drive or straight drive
-
-
execute() - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.RunMotorWhileConditonMet
-
-
Run the motor
-
-
execute() - Method in class org.usfirst.frc.team449.robot.drive.commands.EnableMotors
-
-
Do the state change.
-
-
execute() - Method in class org.usfirst.frc.team449.robot.drive.commands.ResetPosition
-
-
Do the state change.
-
-
execute() - Method in class org.usfirst.frc.team449.robot.drive.shifting.commands.OverrideAutoShift
-
-
Override autoshifting.
-
-
execute() - Method in class org.usfirst.frc.team449.robot.drive.shifting.commands.ToggleOverrideAutoShift
-
-
Toggle overriding autoshifting.
-
-
execute() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.commands.DetermineNominalVoltage
-
-
Send output to motors
-
-
execute() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.commands.DetermineVelVsVoltage
-
-
Update the max speed for this trial and check if this trial is finished.
-
-
execute() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.commands.DriveAtSpeed
-
-
Send output to motors and log data
-
-
execute() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.commands.DriveStraight
-
-
Give output to the motors based on the joystick input.
-
-
execute() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.commands.SimpleUnidirectionalDrive
-
-
Give output to the motors based on the stick inputs.
-
-
execute() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.commands.VoltageRamp
-
-
Update the output based on how long it's been since execute() was last run.
-
-
execute() - Method in class org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands.ShiftGears
-
-
Switch gears
-
-
execute() - Method in class org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands.SwitchToGear
-
-
Switch to the specified gear
-
-
execute() - Method in class org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands.SwitchToHighGear
-
-
Switch to high gear
-
-
execute() - Method in class org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands.SwitchToLowGear
-
-
Switch to low gear
-
-
execute() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.OverrideNavX
-
-
Set whether or not we're overriding the AHRS
-
-
execute() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.ToggleOverrideNavX
-
-
Toggle whether or not we're overriding the AHRS
-
-
execute() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands.ToggleMotor
-
-
Toggle the motor state.
-
-
execute() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands.TurnMotorOff
-
-
Turn the motor off.
-
-
execute() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands.TurnMotorOn
-
-
Turn the motor on.
-
-
execute() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands.SpinUpFlywheel
-
-
Turn the feeder off and the flywheel on.
-
-
execute() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands.TurnAllOff
-
-
Turn off the flywheel and feeder.
-
-
execute() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands.TurnAllOn
-
-
Turn on the flywheel and feeder.
-
-
execute() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands.SetIntakeMode
-
-
Set the intake to the given mode.
-
-
execute() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands.ToggleIntaking
-
-
Set the subsystem to the specified mode if it's off, and set it to off otherwise.
-
-
execute() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands.LoadProfile
-
-
Load the profile.
-
-
execute() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands.RunLoadedProfile
-
-
If the subsystem is ready to start running the profile and it's not running yet, start running it.
-
-
execute() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands.LoadProfileTwoSides
-
-
Load the profiles.
-
-
execute() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidForward
-
-
Extend the piston.
-
-
execute() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidOff
-
-
Extend the piston.
-
-
execute() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidReverse
-
-
Retract the piston.
-
-
execute() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.ToggleSolenoid
-
-
Toggle the state of the piston.
-
-
execute() - Method in class org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.commands.ChangeCam
-
-
Switch the MjpegServer to use the next camera in the list
-
-
execute() - Method in class org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.commands.StartCompressor
-
-
Start the compressor.
-
-
- - - -

F

-
-
feetToEncoder(double) - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon
-
-
Convert a distance from feet to encoder reading in native units.
-
-
FieldOrientedUnidirectionalDriveCommand<T extends YamlSubsystem & DriveUnidirectional & SubsystemAHRS> - Class in org.usfirst.frc.team449.robot.commands.multiInterface.drive
-
-
Unidirectional drive with field-oriented control
-
-
FieldOrientedUnidirectionalDriveCommand(double, int, double, Double, double, boolean, double, double, double, T, OIFieldOriented, List<FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint>) - Constructor for class org.usfirst.frc.team449.robot.commands.multiInterface.drive.FieldOrientedUnidirectionalDriveCommand
-
-
Default constructor
-
-
FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint - Class in org.usfirst.frc.team449.robot.commands.multiInterface.drive
-
-
A data-holding class representing an angular setpoint to "snap" the controller output to.
-
-
FieldOrientedUnidirectionalDriveCommandShifting<T extends YamlSubsystem & DriveUnidirectional & SubsystemAHRS & DriveShiftable> - Class in org.usfirst.frc.team449.robot.commands.multiInterface.drive
-
-
Unidirectional drive with field-oriented control and autoshifting.
-
-
FieldOrientedUnidirectionalDriveCommandShifting(double, int, double, Double, double, boolean, double, double, double, T, OIFieldOriented, List<FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint>, AutoshiftComponent, Double) - Constructor for class org.usfirst.frc.team449.robot.commands.multiInterface.drive.FieldOrientedUnidirectionalDriveCommandShifting
-
-
Default constructor
-
-
FireShooter - Class in org.usfirst.frc.team449.robot.commands.multiSubsystem
-
-
Command group for firing the flywheel.
-
-
FireShooter(SubsystemFlywheel, SubsystemIntake) - Constructor for class org.usfirst.frc.team449.robot.commands.multiSubsystem.FireShooter
-
-
Constructs a FireShooter command group
-
-
FlywheelSimple - Class in org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel
-
-
A simple flywheel subsystem.
-
-
FlywheelSimple(SimpleMotor, SimpleMotor, double, Double, long) - Constructor for class org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.FlywheelSimple
-
-
Default constructor
-
-
FPSTalon - Class in org.usfirst.frc.team449.robot.jacksonWrappers
-
-
Component wrapper on the CTRE CANTalon, with unit conversions to/from FPS built in.
-
-
FPSTalon(int, boolean, boolean, boolean, Boolean, Boolean, Double, Double, Double, Double, Integer, double, CANTalon.FeedbackDevice, Integer, boolean, List<FPSTalon.PerGearSettings>, Shiftable.gear, Integer, Integer, Double, Map<CANTalon.StatusFrameRate, Integer>, Integer, List<FPSTalon.SlaveTalon>) - Constructor for class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon
-
-
Default constructor.
-
-
FPSTalon.PerGearSettings - Class in org.usfirst.frc.team449.robot.jacksonWrappers
-
-
An object representing the CANTalon settings that are different for each gear.
-
-
FPSTalon.SlaveTalon - Class in org.usfirst.frc.team449.robot.jacksonWrappers
-
-
An object representing a slave CANTalon for use in the map.
-
-
FPSToEncoder(double) - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon
-
-
Converts from the velocity of the output shaft to what the talon's getVelocity() method would read at that - velocity.
-
-
fullStop() - Method in interface org.usfirst.frc.team449.robot.drive.DriveSubsystem
-
-
Completely stop the robot by setting the voltage to each side to be 0.
-
-
fullStop() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
-
-
Completely stop the robot by setting the voltage to each side to be 0.
-
-
fullStop() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectionalSimple
-
-
Completely stop the robot by setting the voltage to each side to be 0.
-
-
- - - -

G

-
-
get() - Method in class org.usfirst.frc.team449.robot.oi.buttons.dPadButton
-
-
Get whether this button is pressed
-
-
get() - Method in class org.usfirst.frc.team449.robot.oi.buttons.SimpleButton
-
-
Get whether the button is pressed.
-
-
get() - Method in class org.usfirst.frc.team449.robot.oi.buttons.TriggerButton
-
-
Get whether this button is pressed.
-
-
get(boolean) - Method in class org.usfirst.frc.team449.robot.other.BufferTimer
-
-
Get whether the condition has been true for at least the specified amount of time.
-
-
get(double) - Method in class org.usfirst.frc.team449.robot.other.Polynomial
-
-
Get the value of the polynomial given x.
-
-
get9AxisHeading() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.MappedAHRS
-
-
Uses the gyro axes, magnetometer, and compass to get the most accurate possible yaw value for the robot.
-
-
getAllianceSwitch() - Method in class org.usfirst.frc.team449.robot.RobotMap2017
-
 
-
getAngularDisplacement() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
-
-
Get the robot's angular displacement since being turned on.
-
-
getAngularDisplacement() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.MappedAHRS
-
-
Get the current total angular displacement.
-
-
getAngularDisplacement() - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.SubsystemAHRS
-
-
Get the robot's angular displacement since being turned on.
-
-
getAngularDisplacementCached() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
-
-
Get the robot's cached angular displacement since being turned on.
-
-
getAngularDisplacementCached() - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.SubsystemAHRS
-
-
Get the robot's cached angular displacement since being turned on.
-
-
getAngularVel() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
-
-
Get the robot's angular velocity.
-
-
getAngularVel() - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.SubsystemAHRS
-
-
Get the robot's angular velocity.
-
-
getAngularVelCached() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
-
-
Get the robot's cached angular velocity.
-
-
getAngularVelCached() - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.SubsystemAHRS
-
-
Get the robot's cached angular velocity.
-
-
getAngularVelocity() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.MappedAHRS
-
-
Get the current angular yaw velocity.
-
-
getAutoStartupCommand() - Method in class org.usfirst.frc.team449.robot.RobotMap2017
-
 
-
getBoilerAuto() - Method in class org.usfirst.frc.team449.robot.RobotMap2017
-
 
-
getButtons() - Method in class org.usfirst.frc.team449.robot.RobotMap2017
-
 
-
getCamera() - Method in class org.usfirst.frc.team449.robot.RobotMap2017
-
 
-
getCameras() - Method in class org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.CameraNetwork
-
 
-
getCamNum() - Method in class org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.CameraNetwork
-
 
-
getCenterAuto() - Method in class org.usfirst.frc.team449.robot.RobotMap2017
-
 
-
getClimber() - Method in class org.usfirst.frc.team449.robot.RobotMap2017
-
 
-
getClosedLoopRampRate() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon.PerGearSettings
-
 
-
getCommand() - Method in interface org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand
-
-
Get the command object this object is.
-
-
getCommand() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandGroupWrapper
-
-
Return the Command this is a wrapper on.
-
-
getCommand() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper
-
-
Return the Command this is a wrapper on.
-
-
getCommand() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.PIDAngleCommand
-
-
Get the command object this object is.
-
-
getCurrentGear() - Method in class org.usfirst.frc.team449.robot.components.ShiftComponent
-
 
-
getData() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
-
-
Get the data this subsystem logs every loop.
-
-
getData() - Method in interface org.usfirst.frc.team449.robot.generalInterfaces.loggable.Loggable
-
-
Get the data this subsystem logs every loop.
-
-
getData() - Method in class org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcadeWithDPad
-
-
Get the data this subsystem logs every loop.
-
-
getData() - Method in class org.usfirst.frc.team449.robot.other.MotionProfileData
-
 
-
getData() - Method in class org.usfirst.frc.team449.robot.other.UnidirectionalPoseEstimator
-
-
Get the data this subsystem logs every loop.
-
-
getData() - Method in class org.usfirst.frc.team449.robot.subsystem.complex.climber.ClimberCurrentLimited
-
-
Get the data this subsystem logs every loop.
-
-
getData() - Method in class org.usfirst.frc.team449.robot.subsystem.complex.shooter.LoggingFlywheel
-
-
Get the data this subsystem logs every loop.
-
-
getData() - Method in class org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.Pneumatics
-
-
Get the data this subsystem logs every loop.
-
-
getDefaultDriveCommand() - Method in class org.usfirst.frc.team449.robot.RobotMap2017
-
 
-
getDoMP() - Method in class org.usfirst.frc.team449.robot.RobotMap2017
-
 
-
getDrive() - Method in class org.usfirst.frc.team449.robot.RobotMap2017
-
 
-
getDropGearSwitch() - Method in class org.usfirst.frc.team449.robot.RobotMap2017
-
 
-
getError() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon
-
-
Get the current closed-loop velocity error in FPS.
-
-
getFeederAuto() - Method in class org.usfirst.frc.team449.robot.RobotMap2017
-
 
-
getFlywheelState() - Method in class org.usfirst.frc.team449.robot.subsystem.complex.shooter.LoggingFlywheel
-
 
-
getFlywheelState() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.FlywheelSimple
-
 
-
getFlywheelState() - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.SubsystemFlywheel
-
 
-
getFrictionCompFPSFwd() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon.PerGearSettings
-
 
-
getFrictionCompFPSRev() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon.PerGearSettings
-
 
-
getFwd() - Method in class org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcade
-
-
Get the velocity input.
-
-
getFwd() - Method in class org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcadeSimple
-
 
-
getFwd() - Method in class org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcadeWithDPad
-
-
The output of the throttle controlling linear velocity, smoothed and adjusted according to what type of joystick - it is.
-
-
getFwdCached() - Method in class org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcade
-
-
Get the cached velocity input.
-
-
getFwdNominalOutputVoltage() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon.PerGearSettings
-
 
-
getFwdPeakOutputVoltage() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon.PerGearSettings
-
 
-
getGear() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable
-
 
-
getGear() - Method in interface org.usfirst.frc.team449.robot.generalInterfaces.shiftable.Shiftable
-
 
-
getGear() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon
-
 
-
getGear() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon.PerGearSettings
-
 
-
getGearHandler() - Method in class org.usfirst.frc.team449.robot.RobotMap2017
-
 
-
getHeader() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
-
-
Get the headers for the data this subsystem logs every loop.
-
-
getHeader() - Method in interface org.usfirst.frc.team449.robot.generalInterfaces.loggable.Loggable
-
-
Get the headers for the data this subsystem logs every loop.
-
-
getHeader() - Method in class org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcadeWithDPad
-
-
Get the headers for the data this subsystem logs every loop.
-
-
getHeader() - Method in class org.usfirst.frc.team449.robot.other.UnidirectionalPoseEstimator
-
-
Get the headers for the data this subsystem logs every loop.
-
-
getHeader() - Method in class org.usfirst.frc.team449.robot.subsystem.complex.climber.ClimberCurrentLimited
-
-
Get the headers for the data this subsystem logs every loop.
-
-
getHeader() - Method in class org.usfirst.frc.team449.robot.subsystem.complex.shooter.LoggingFlywheel
-
-
Get the headers for the data this subsystem logs every loop.
-
-
getHeader() - Method in class org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.Pneumatics
-
-
Get the headers for the data this subsystem logs every loop.
-
-
getHeading() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
-
-
Get the robot's heading using the AHRS
-
-
getHeading() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.MappedAHRS
-
-
Get the current yaw value.
-
-
getHeading() - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.SubsystemAHRS
-
-
Get the robot's heading.
-
-
getHeadingCached() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
-
-
Get the robot's cached heading.
-
-
getHeadingCached() - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.SubsystemAHRS
-
-
Get the robot's cached heading.
-
-
getIntake() - Method in class org.usfirst.frc.team449.robot.RobotMap2017
-
 
-
getKaOverKvFwd() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon.PerGearSettings
-
 
-
getKaOverKvRev() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon.PerGearSettings
-
 
-
getkD() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon.PerGearSettings
-
 
-
getkI() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon.PerGearSettings
-
 
-
getkP() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon.PerGearSettings
-
 
-
getLeftOutput() - Method in class org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcade
-
-
The output to be given to the left side of the drive.
-
-
getLeftOutput() - Method in class org.usfirst.frc.team449.robot.oi.unidirectional.OIOutreach
-
-
The output to be given to the left side of the drive.
-
-
getLeftOutput() - Method in interface org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional
-
-
The output to be given to the left side of the drive.
-
-
getLeftOutput() - Method in class org.usfirst.frc.team449.robot.oi.unidirectional.tank.OITank
-
-
The output to be given to the left side of the drive.
-
-
getLeftOutputCached() - Method in class org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcade
-
-
The cached output to be given to the left side of the drive.
-
-
getLeftOutputCached() - Method in class org.usfirst.frc.team449.robot.oi.unidirectional.OIOutreach
-
-
The cached output to be given to the left side of the drive.
-
-
getLeftOutputCached() - Method in interface org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional
-
-
The cached output to be given to the left side of the drive.
-
-
getLeftOutputCached() - Method in class org.usfirst.frc.team449.robot.oi.unidirectional.tank.OITank
-
-
The cached output to be given to the left side of the drive.
-
-
getLeftPos() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
-
-
Get the position of the left side of the drive.
-
-
getLeftPos() - Method in interface org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectional
-
-
Get the position of the left side of the drive.
-
-
getLeftPos() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectionalSimple
-
-
Get the position of the left side of the drive.
-
-
getLeftPosCached() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
-
-
Get the cached position of the left side of the drive.
-
-
getLeftPosCached() - Method in interface org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectional
-
-
Get the cached position of the left side of the drive.
-
-
getLeftPosCached() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectionalSimple
-
-
Get the cached position of the left side of the drive.
-
-
getLeftProfiles() - Method in class org.usfirst.frc.team449.robot.RobotMap2017
-
 
-
getLeftTestProfile() - Method in class org.usfirst.frc.team449.robot.RobotMap2017
-
 
-
getLeftThrottle() - Method in class org.usfirst.frc.team449.robot.oi.unidirectional.tank.OITank
-
-
Get the throttle for the left side of the drive.
-
-
getLeftThrottle() - Method in class org.usfirst.frc.team449.robot.oi.unidirectional.tank.OITankSimple
-
-
Get the throttle for the left side of the drive.
-
-
getLeftThrottleCached() - Method in class org.usfirst.frc.team449.robot.oi.unidirectional.tank.OITank
-
-
Get the cached throttle for the left side of the drive.
-
-
getLeftVel() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
-
-
Get the velocity of the left side of the drive.
-
-
getLeftVel() - Method in interface org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectional
-
-
Get the velocity of the left side of the drive.
-
-
getLeftVel() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectionalSimple
-
-
Get the velocity of the left side of the drive.
-
-
getLeftVelCached() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
-
-
Get the cached velocity of the left side of the drive.
-
-
getLeftVelCached() - Method in interface org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectional
-
-
Get the cached velocity of the left side of the drive.
-
-
getLeftVelCached() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectionalSimple
-
-
Get the cached velocity of the left side of the drive.
-
-
getLocationDial() - Method in class org.usfirst.frc.team449.robot.RobotMap2017
-
 
-
getLogger() - Method in class org.usfirst.frc.team449.robot.RobotMap2017
-
 
-
getLoopTimeSecs() - Method in class org.usfirst.frc.team449.robot.other.Logger
-
 
-
getLowerBound() - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint
-
 
-
getMaxSpeed() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon.PerGearSettings
-
 
-
getMaxSpeedMPFwd() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon.PerGearSettings
-
 
-
getMaxSpeedMPRev() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon.PerGearSettings
-
 
-
getMode() - Method in class org.usfirst.frc.team449.robot.subsystem.complex.intake.IntakeFixedAndActuated
-
 
-
getMode() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.intake.IntakeSimple
-
 
-
getMode() - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.intake.SubsystemIntake
-
 
-
getMotionProfileDFwd() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon.PerGearSettings
-
 
-
getMotionProfileDRev() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon.PerGearSettings
-
 
-
getMotionProfileIFwd() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon.PerGearSettings
-
 
-
getMotionProfileIRev() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon.PerGearSettings
-
 
-
getMotionProfilePFwd() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon.PerGearSettings
-
 
-
getMotionProfilePRev() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon.PerGearSettings
-
 
-
getName() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
-
-
Get the name of this object.
-
-
getName() - Method in interface org.usfirst.frc.team449.robot.generalInterfaces.loggable.Loggable
-
-
Get the name of this object.
-
-
getName() - Method in class org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcadeWithDPad
-
-
Get the name of this object.
-
-
getName() - Method in class org.usfirst.frc.team449.robot.other.UnidirectionalPoseEstimator
-
-
Get the name of this object.
-
-
getName() - Method in class org.usfirst.frc.team449.robot.subsystem.complex.climber.ClimberCurrentLimited
-
-
Get the name of this object.
-
-
getName() - Method in class org.usfirst.frc.team449.robot.subsystem.complex.shooter.LoggingFlywheel
-
-
Get the name of this object.
-
-
getName() - Method in class org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.Pneumatics
-
-
Get the name of this object.
-
-
getNonMPAutoCommand() - Method in class org.usfirst.frc.team449.robot.RobotMap2017
-
 
-
getNumVal() - Method in enum org.usfirst.frc.team449.robot.generalInterfaces.shiftable.Shiftable.gear
-
 
-
getOI() - Method in class org.usfirst.frc.team449.robot.RobotMap2017
-
 
-
getOutputCurrent() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon
-
-
Get the current the Talon is currently drawing from the PDP.
-
-
getOutputVoltage() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon
-
-
Get the voltage the Talon is currently drawing from the PDP.
-
-
getOverrideAutoshift() - Method in interface org.usfirst.frc.team449.robot.drive.shifting.DriveShiftable
-
 
-
getOverrideAutoshift() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable
-
 
-
getOverrideGyro() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
-
 
-
getOverrideGyro() - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.SubsystemAHRS
-
 
-
getPIDSourceType() - Method in class org.usfirst.frc.team449.robot.oi.throttles.ThrottleBasic
-
-
Get which parameter of the device you are using as a process control variable.
-
-
getPneumatics() - Method in class org.usfirst.frc.team449.robot.RobotMap2017
-
 
-
getPort() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon.SlaveTalon
-
 
-
getPos() - Method in class org.usfirst.frc.team449.robot.other.UnidirectionalPoseEstimator
-
-
Get the current absolute position of the robot
-
-
getPositionFeet() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon
-
 
-
getPowerToCoefficientMap() - Method in class org.usfirst.frc.team449.robot.other.Polynomial
-
 
-
getPressure() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.PressureSensor
-
-
Returns the pressure measured by the sensor.
-
-
getRevNominalOutputVoltage() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon.PerGearSettings
-
 
-
getRevPeakOutputVoltage() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon.PerGearSettings
-
 
-
getRightOutput() - Method in class org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcade
-
-
The output to be given to the right side of the drive.
-
-
getRightOutput() - Method in class org.usfirst.frc.team449.robot.oi.unidirectional.OIOutreach
-
-
The output to be given to the right side of the drive.
-
-
getRightOutput() - Method in interface org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional
-
-
The output to be given to the right side of the drive.
-
-
getRightOutput() - Method in class org.usfirst.frc.team449.robot.oi.unidirectional.tank.OITank
-
-
The output to be given to the right side of the drive.
-
-
getRightOutputCached() - Method in class org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcade
-
-
The cached output to be given to the right side of the drive.
-
-
getRightOutputCached() - Method in class org.usfirst.frc.team449.robot.oi.unidirectional.OIOutreach
-
-
The cached output to be given to the right side of the drive.
-
-
getRightOutputCached() - Method in interface org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional
-
-
The cached output to be given to the right side of the drive.
-
-
getRightOutputCached() - Method in class org.usfirst.frc.team449.robot.oi.unidirectional.tank.OITank
-
-
The cached output to be given to the right side of the drive.
-
-
getRightPos() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
-
-
Get the position of the right side of the drive.
-
-
getRightPos() - Method in interface org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectional
-
-
Get the position of the right side of the drive.
-
-
getRightPos() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectionalSimple
-
-
Get the position of the right side of the drive.
-
-
getRightPosCached() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
-
-
Get the cached position of the right side of the drive.
-
-
getRightPosCached() - Method in interface org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectional
-
-
Get the cached position of the right side of the drive.
-
-
getRightPosCached() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectionalSimple
-
-
Get the cached position of the right side of the drive.
-
-
getRightProfiles() - Method in class org.usfirst.frc.team449.robot.RobotMap2017
-
 
-
getRightTestProfile() - Method in class org.usfirst.frc.team449.robot.RobotMap2017
-
 
-
getRightThrottle() - Method in class org.usfirst.frc.team449.robot.oi.unidirectional.tank.OITank
-
-
Get the throttle for the right side of the drive.
-
-
getRightThrottle() - Method in class org.usfirst.frc.team449.robot.oi.unidirectional.tank.OITankSimple
-
-
Get the throttle for the right side of the drive.
-
-
getRightThrottleCached() - Method in class org.usfirst.frc.team449.robot.oi.unidirectional.tank.OITank
-
-
Get the cached throttle for the right side of the drive.
-
-
getRightVel() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
-
-
Get the velocity of the right side of the drive.
-
-
getRightVel() - Method in interface org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectional
-
-
Get the velocity of the right side of the drive.
-
-
getRightVel() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectionalSimple
-
-
Get the velocity of the right side of the drive.
-
-
getRightVelCached() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
-
-
Get the cached velocity of the right side of the drive.
-
-
getRightVelCached() - Method in interface org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectional
-
-
Get the cached velocity of the right side of the drive.
-
-
getRightVelCached() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectionalSimple
-
-
Get the cached velocity of the right side of the drive.
-
-
getRIOduinoPort() - Method in class org.usfirst.frc.team449.robot.RobotMap2017
-
 
-
getRot() - Method in class org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcade
-
-
Get the rotational input.
-
-
getRot() - Method in class org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcadeSimple
-
 
-
getRot() - Method in class org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcadeWithDPad
-
-
Get the output of the D-pad or turning joystick, whichever is in use.
-
-
getRotCached() - Method in class org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcade
-
-
Get the cached rotational input.
-
-
getServer() - Method in class org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.CameraNetwork
-
 
-
getSetpoint() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon
-
-
Get the current velocity setpoint of the Talon in FPS.
-
-
getShooter() - Method in class org.usfirst.frc.team449.robot.RobotMap2017
-
 
-
getSnapTo() - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint
-
 
-
getSolenoidPosition() - Method in class org.usfirst.frc.team449.robot.subsystem.complex.intake.IntakeFixedAndActuated
-
 
-
getSolenoidPosition() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SolenoidSimple
-
 
-
getSolenoidPosition() - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SubsystemSolenoid
-
 
-
getSpinUpTimeMillis() - Method in class org.usfirst.frc.team449.robot.subsystem.complex.shooter.LoggingFlywheel
-
 
-
getSpinUpTimeMillis() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.FlywheelSimple
-
 
-
getSpinUpTimeMillis() - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.SubsystemFlywheel
-
 
-
getStartupCommand() - Method in class org.usfirst.frc.team449.robot.RobotMap2017
-
 
-
getStatus() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.MappedDigitalInput
-
-
Get the status of each pin specified in the map, in the order they were specified.
-
-
getTeleopStartupCommand() - Method in class org.usfirst.frc.team449.robot.RobotMap2017
-
 
-
getTestMP() - Method in class org.usfirst.frc.team449.robot.RobotMap2017
-
 
-
getTheta() - Method in class org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOriented
-
-
Get the absolute angle for the robot to move towards.
-
-
getTheta() - Method in class org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOrientedPosCos
-
-
Get the absolute angle for the robot to move towards.
-
-
getThetaCached() - Method in class org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOriented
-
-
Get the cached absolute angle for the robot to move towards.
-
-
getUpdater() - Method in class org.usfirst.frc.team449.robot.RobotMap2017
-
 
-
getUpperBound() - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint
-
 
-
getValue() - Method in interface org.usfirst.frc.team449.robot.oi.throttles.Throttle
-
-
Get the output of the throttle this object represents.
-
-
getValue() - Method in class org.usfirst.frc.team449.robot.oi.throttles.ThrottleBasic
-
-
Gets the raw value from the stick and inverts it if necessary.
-
-
getValue() - Method in class org.usfirst.frc.team449.robot.oi.throttles.ThrottleDeadbanded
-
-
Gets the value from the joystick and deadbands it.
-
-
getValue() - Method in class org.usfirst.frc.team449.robot.oi.throttles.ThrottleExponential
-
-
Raises the base to the value of the deadbanded joystick output, adjusting for sign.
-
-
getValue() - Method in class org.usfirst.frc.team449.robot.oi.throttles.ThrottlePolynomial
-
-
Passes the deadbanded joystick output to the polynomial, while preserving sign.
-
-
getValue() - Method in class org.usfirst.frc.team449.robot.oi.throttles.ThrottleSum
-
-
Sums the throttles and returns their output
-
-
getValueCached() - Method in interface org.usfirst.frc.team449.robot.oi.throttles.Throttle
-
-
Get the cached output of the throttle this object represents.
-
-
getValueCached() - Method in class org.usfirst.frc.team449.robot.oi.throttles.ThrottleBasic
-
-
Get the cached output of the throttle this object represents.
-
-
getValueCached() - Method in class org.usfirst.frc.team449.robot.oi.throttles.ThrottleSum
-
-
Get the cached output of the throttle this object represents.
-
-
getVel() - Method in class org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOriented
-
-
Get the velocity for the robot to go at.
-
-
getVel() - Method in class org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOrientedPosCos
-
-
Get the velocity for the robot to go at.
-
-
getVelCached() - Method in class org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOriented
-
-
Get the cached velocity for the robot to go at.
-
-
getVelocity() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon
-
-
Get the velocity of the CANTalon in FPS.
-
-
getXAccel() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.MappedAHRS
-
-
Get the absolute X acceleration of the robot, relative to the field.
-
-
getYAccel() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.MappedAHRS
-
-
Get the absolute Y acceleration of the robot, relative to the field.
-
-
gsToFeetPerSecondSquared(double) - Static method in class org.usfirst.frc.team449.robot.jacksonWrappers.MappedAHRS
-
-
Convert from gs (acceleration due to gravity) to feet/(second^2).
-
-
- - - -

H

-
-
holdPosition() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
-
-
Hold the current position.
-
-
holdPosition() - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.SubsystemMP
-
-
Hold the current position.
-
-
holdPositionMP() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon
-
-
Holds the current position point in MP mode.
-
-
- - - -

I

-
-
initDefaultCommand() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
-
-
Stuff run on first enable.
-
-
initDefaultCommand() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectionalSimple
-
-
Initialize the default command for a subsystem.
-
-
initDefaultCommand() - Method in class org.usfirst.frc.team449.robot.subsystem.complex.climber.ClimberCurrentLimited
-
-
Initialize the default command for a subsystem By default subsystems have no default command, but if they do, the - default command is set with this method.
-
-
initDefaultCommand() - Method in class org.usfirst.frc.team449.robot.subsystem.complex.intake.IntakeFixedAndActuated
-
-
Initialize the default command for a subsystem.
-
-
initDefaultCommand() - Method in class org.usfirst.frc.team449.robot.subsystem.complex.shooter.LoggingFlywheel
-
-
Do nothing
-
-
initDefaultCommand() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.BinaryMotorSimple
-
-
Initialize the default command for a subsystem.
-
-
initDefaultCommand() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.FlywheelSimple
-
-
Initialize the default command for a subsystem.
-
-
initDefaultCommand() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.intake.IntakeSimple
-
-
Initialize the default command for a subsystem.
-
-
initDefaultCommand() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SolenoidSimple
-
-
Initialize the default command for a subsystem.
-
-
initDefaultCommand() - Method in class org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.CameraNetwork
-
-
Initialize the default command for a subsystem.
-
-
initDefaultCommand() - Method in class org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.Pneumatics
-
-
Do nothing.
-
-
initialize() - Method in class org.usfirst.frc.team449.robot.commands.general.RunRunnables
-
-
Log on init
-
-
initialize() - Method in class org.usfirst.frc.team449.robot.commands.general.WaitForMillis
-
-
Store the start time.
-
-
initialize() - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.FieldOrientedUnidirectionalDriveCommand
-
-
Initialize PIDController and variables.
-
-
initialize() - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.NavXDriveStraight
-
-
Set the setpoint of the angle PID.
-
-
initialize() - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.NavXTurnToAngle
-
-
Set up the start time and setpoint.
-
-
initialize() - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.NavXTurnToAngleRelative
-
-
Set up the start time and setpoint.
-
-
initialize() - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.UnidirectionalNavXDefaultDrive
-
-
Initialize PIDController and variables.
-
-
initialize() - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.RunMotorWhileConditonMet
-
-
Log when this command is initialized
-
-
initialize() - Method in class org.usfirst.frc.team449.robot.drive.commands.EnableMotors
-
-
Log when this command is initialized
-
-
initialize() - Method in class org.usfirst.frc.team449.robot.drive.commands.ResetPosition
-
-
Log when this command is initialized
-
-
initialize() - Method in class org.usfirst.frc.team449.robot.drive.shifting.commands.OverrideAutoShift
-
-
Log on initialization
-
-
initialize() - Method in class org.usfirst.frc.team449.robot.drive.shifting.commands.ToggleOverrideAutoShift
-
-
Log on initialization
-
-
initialize() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.commands.DetermineNominalVoltage
-
-
Log initialization
-
-
initialize() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.commands.DetermineVelVsVoltage
-
-
Reset the encoder position and variables.
-
-
initialize() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.commands.DriveAtSpeed
-
-
Set up start time.
-
-
initialize() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.commands.DriveStraight
-
-
Stop the drive for safety reasons.
-
-
initialize() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.commands.SimpleUnidirectionalDrive
-
-
Stop the drive for safety reasons.
-
-
initialize() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.commands.VoltageRamp
-
-
Reset the output
-
-
initialize() - Method in class org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands.ShiftGears
-
-
Log when this command is initialized
-
-
initialize() - Method in class org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands.SwitchToGear
-
-
Log when this command is initialized
-
-
initialize() - Method in class org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands.SwitchToHighGear
-
-
Log when this command is initialized
-
-
initialize() - Method in class org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands.SwitchToLowGear
-
-
Log when this command is initialized
-
-
initialize() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.OverrideNavX
-
-
Log when this command is initialized
-
-
initialize() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.ToggleOverrideNavX
-
-
Log when this command is initialized
-
-
initialize() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands.ToggleMotor
-
-
Log when this command is initialized
-
-
initialize() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands.TurnMotorOff
-
-
Log when this command is initialized
-
-
initialize() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands.TurnMotorOffWithRequires
-
-
Log when this command is initialized
-
-
initialize() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands.TurnMotorOn
-
-
Log when this command is initialized
-
-
initialize() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands.SpinUpFlywheel
-
-
Log when this command is initialized
-
-
initialize() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands.TurnAllOff
-
-
Log when this command is initialized
-
-
initialize() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands.TurnAllOn
-
-
Log when this command is initialized
-
-
initialize() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands.SetIntakeMode
-
-
Log when this command is initialized
-
-
initialize() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands.ToggleIntaking
-
-
Log when this command is initialized
-
-
initialize() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands.LoadProfile
-
-
Log when this command is initialized
-
-
initialize() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands.RunLoadedProfile
-
-
Record the start time.
-
-
initialize() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands.LoadProfileTwoSides
-
-
Log when this command is initialized
-
-
initialize() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidForward
-
-
Log when this command is initialized
-
-
initialize() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidOff
-
-
Log when this command is initialized
-
-
initialize() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidReverse
-
-
Log when this command is initialized
-
-
initialize() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.ToggleSolenoid
-
-
Log when this command is initialized
-
-
initialize() - Method in class org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.commands.ChangeCam
-
-
Log when this command is initialized
-
-
initialize() - Method in class org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.commands.StartCompressor
-
-
Log when this command is initialized
-
-
IntakeFixedAndActuated - Class in org.usfirst.frc.team449.robot.subsystem.complex.intake
-
-
An intake with a piston that actuates it and a fixed and actuated motor.
-
-
IntakeFixedAndActuated(MappedVictor, double, double, MappedVictor, double, MappedDoubleSolenoid) - Constructor for class org.usfirst.frc.team449.robot.subsystem.complex.intake.IntakeFixedAndActuated
-
-
Default constructor.
-
-
IntakeSimple - Class in org.usfirst.frc.team449.robot.subsystem.interfaces.intake
-
-
A simple intake subsystem.
-
-
IntakeSimple(SimpleMotor, Double, Double, Double, Double) - Constructor for class org.usfirst.frc.team449.robot.subsystem.interfaces.intake.IntakeSimple
-
-
Default constructor
-
-
interrupted() - Method in class org.usfirst.frc.team449.robot.commands.general.RunRunnables
-
-
Log when interrupted.
-
-
interrupted() - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.FieldOrientedUnidirectionalDriveCommand
-
-
Log when this command is interrupted.
-
-
interrupted() - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.FieldOrientedUnidirectionalDriveCommandShifting
-
-
Log when this command is interrupted.
-
-
interrupted() - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.NavXDriveStraight
-
-
Log when this command is interrupted.
-
-
interrupted() - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.NavXTurnToAngle
-
-
Log when the command is interrupted.
-
-
interrupted() - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.NavXTurnToAngleRelative
-
-
Log when the command is interrupted.
-
-
interrupted() - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.UnidirectionalNavXDefaultDrive
-
-
Stop the motors and log when this command is interrupted.
-
-
interrupted() - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.UnidirectionalNavXShiftingDefaultDrive
-
-
Stop the motors and log when this command is interrupted.
-
-
interrupted() - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.RunMotorWhileConditonMet
-
-
Stop the motor and log that the command has been interrupted.
-
-
interrupted() - Method in class org.usfirst.frc.team449.robot.drive.commands.EnableMotors
-
-
Log when this command is interrupted.
-
-
interrupted() - Method in class org.usfirst.frc.team449.robot.drive.commands.ResetPosition
-
-
Log when this command is interrupted.
-
-
interrupted() - Method in class org.usfirst.frc.team449.robot.drive.shifting.commands.OverrideAutoShift
-
-
Log when interrupted
-
-
interrupted() - Method in class org.usfirst.frc.team449.robot.drive.shifting.commands.ToggleOverrideAutoShift
-
-
Log when interrupted
-
-
interrupted() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.commands.DetermineNominalVoltage
-
-
Log and stop the drive when the command is interrupted.
-
-
interrupted() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.commands.DetermineVelVsVoltage
-
-
Log when interrupted.
-
-
interrupted() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.commands.DriveAtSpeed
-
-
Log and stop the drive when the command is interrupted.
-
-
interrupted() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.commands.DriveStraight
-
-
Log and brake when interrupted.
-
-
interrupted() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.commands.SimpleUnidirectionalDrive
-
-
Log and brake when interrupted.
-
-
interrupted() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.commands.VoltageRamp
-
-
Log on interrupt.
-
-
interrupted() - Method in class org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands.ShiftGears
-
-
Log when this command is interrupted.
-
-
interrupted() - Method in class org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands.SwitchToGear
-
-
Log when this command is interrupted.
-
-
interrupted() - Method in class org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands.SwitchToHighGear
-
-
Log when this command is interrupted.
-
-
interrupted() - Method in class org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands.SwitchToLowGear
-
-
Log when this command is interrupted.
-
-
interrupted() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.OverrideNavX
-
-
Log when this command is interrupted.
-
-
interrupted() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.ToggleOverrideNavX
-
-
Log when this command is interrupted.
-
-
interrupted() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands.ToggleMotor
-
-
Log when this command is interrupted.
-
-
interrupted() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands.TurnMotorOff
-
-
Log when this command is interrupted.
-
-
interrupted() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands.TurnMotorOffWithRequires
-
-
Log when this command is interrupted.
-
-
interrupted() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands.TurnMotorOn
-
-
Log when this command is interrupted.
-
-
interrupted() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands.SpinUpFlywheel
-
-
Log when this command is interrupted.
-
-
interrupted() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands.TurnAllOff
-
-
Log when this command is interrupted.
-
-
interrupted() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands.TurnAllOn
-
-
Log when this command is interrupted.
-
-
interrupted() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands.SetIntakeMode
-
-
Log when this command is interrupted.
-
-
interrupted() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands.ToggleIntaking
-
-
Log when this command is interrupted.
-
-
interrupted() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands.LoadProfile
-
-
Log when this command is interrupted.
-
-
interrupted() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands.RunLoadedProfile
-
-
Disable and log if interrupted.
-
-
interrupted() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands.LoadProfileTwoSides
-
-
Log when this command is interrupted.
-
-
interrupted() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidForward
-
-
Log when this command is interrupted.
-
-
interrupted() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidOff
-
-
Log when this command is interrupted.
-
-
interrupted() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidReverse
-
-
Log when this command is interrupted.
-
-
interrupted() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.ToggleSolenoid
-
-
Log when this command is interrupted.
-
-
interrupted() - Method in class org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.commands.ChangeCam
-
-
Log when this command is interrupted.
-
-
interrupted() - Method in class org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.commands.StartCompressor
-
-
Log when this command is interrupted.
-
-
invertYaw - Variable in class org.usfirst.frc.team449.robot.jacksonWrappers.MappedAHRS
-
-
A multiplier for the yaw angle.
-
-
isConditionTrue() - Method in class org.usfirst.frc.team449.robot.subsystem.complex.climber.ClimberCurrentLimited
-
 
-
isConditionTrue() - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.conditional.SubsystemConditional
-
 
-
isConditionTrueCached() - Method in class org.usfirst.frc.team449.robot.subsystem.complex.climber.ClimberCurrentLimited
-
 
-
isConditionTrueCached() - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.conditional.SubsystemConditional
-
 
-
isFinished() - Method in class org.usfirst.frc.team449.robot.commands.general.RunRunnables
-
 
-
isFinished() - Method in class org.usfirst.frc.team449.robot.commands.general.WaitForMillis
-
-
Finish if the specified amount of time has passed.
-
-
isFinished() - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.FieldOrientedUnidirectionalDriveCommand
-
-
Run constantly because this is a defaultDrive
-
-
isFinished() - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.NavXDriveStraight
-
-
Never finishes.
-
-
isFinished() - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.NavXTurnToAngle
-
-
Exit when the robot reaches the setpoint or enough time has passed.
-
-
isFinished() - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.UnidirectionalNavXDefaultDrive
-
-
Run constantly because this is a defaultDrive
-
-
isFinished() - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.RunMotorWhileConditonMet
-
-
Stop when the condition is met.
-
-
isFinished() - Method in class org.usfirst.frc.team449.robot.drive.commands.EnableMotors
-
-
Finish immediately because this is a state-change command.
-
-
isFinished() - Method in class org.usfirst.frc.team449.robot.drive.commands.ResetPosition
-
-
Finish immediately because this is a state-change command.
-
-
isFinished() - Method in class org.usfirst.frc.team449.robot.drive.shifting.commands.OverrideAutoShift
-
-
Finish immediately because this is a state-change command.
-
-
isFinished() - Method in class org.usfirst.frc.team449.robot.drive.shifting.commands.ToggleOverrideAutoShift
-
-
Finish immediately because this is a state-change command.
-
-
isFinished() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.commands.DetermineNominalVoltage
-
-
Exit if the motors are moving.
-
-
isFinished() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.commands.DetermineVelVsVoltage
-
-
Finish when all trials have been run.
-
-
isFinished() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.commands.DriveAtSpeed
-
-
Exit after the command's been running for long enough
-
-
isFinished() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.commands.DriveStraight
-
-
Runs constantly because this is a drive command.
-
-
isFinished() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.commands.SimpleUnidirectionalDrive
-
-
Run constantly because this is a default drive
-
-
isFinished() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.commands.VoltageRamp
-
-
Exit if the output is greater than the motors can produce.
-
-
isFinished() - Method in class org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands.ShiftGears
-
-
Finish immediately because this is a state-change command.
-
-
isFinished() - Method in class org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands.SwitchToGear
-
-
Finish immediately because this is a state-change command.
-
-
isFinished() - Method in class org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands.SwitchToHighGear
-
-
Finish immediately because this is a state-change command.
-
-
isFinished() - Method in class org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands.SwitchToLowGear
-
-
Finish immediately because this is a state-change command.
-
-
isFinished() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.OverrideNavX
-
-
Finish immediately because this is a state-change command.
-
-
isFinished() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.ToggleOverrideNavX
-
-
Finish immediately because this is a state-change command.
-
-
isFinished() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands.ToggleMotor
-
-
Finish immediately because this is a state-change command.
-
-
isFinished() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands.TurnMotorOff
-
-
Finish immediately because this is a state-change command.
-
-
isFinished() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands.TurnMotorOn
-
-
Finish immediately because this is a state-change command.
-
-
isFinished() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands.SpinUpFlywheel
-
-
Finish immediately because this is a state-change command.
-
-
isFinished() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands.TurnAllOff
-
-
Finish immediately because this is a state-change command.
-
-
isFinished() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands.TurnAllOn
-
-
Finish immediately because this is a state-change command.
-
-
isFinished() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands.SetIntakeMode
-
-
Finish immediately because this is a state-change command.
-
-
isFinished() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands.ToggleIntaking
-
-
Finish immediately because this is a state-change command.
-
-
isFinished() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands.LoadProfile
-
-
Finish immediately because this is a state-change command.
-
-
isFinished() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands.RunLoadedProfile
-
-
Finish when the profile finishes or the timeout is reached.
-
-
isFinished() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands.LoadProfileTwoSides
-
-
Finish immediately because this is a state-change command.
-
-
isFinished() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidForward
-
-
Finish immediately because this is a state-change command.
-
-
isFinished() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidOff
-
-
Finish immediately because this is a state-change command.
-
-
isFinished() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidReverse
-
-
Finish immediately because this is a state-change command.
-
-
isFinished() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.ToggleSolenoid
-
-
Finish immediately because this is a state-change command.
-
-
isFinished() - Method in class org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.commands.ChangeCam
-
-
Finish immediately because this is a state-change command.
-
-
isFinished() - Method in class org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.commands.StartCompressor
-
-
Finish immediately because this is a state-change command.
-
-
isInverted() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon.SlaveTalon
-
 
-
isInverted() - Method in class org.usfirst.frc.team449.robot.other.MotionProfileData
-
 
-
isMotorOn() - Method in class org.usfirst.frc.team449.robot.subsystem.complex.climber.ClimberCurrentLimited
-
 
-
isMotorOn() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.BinaryMotorSimple
-
 
-
isMotorOn() - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.SubsystemBinaryMotor
-
 
-
isVelocityOnly() - Method in class org.usfirst.frc.team449.robot.other.MotionProfileData
-
 
-
- - - -

J

-
-
JiggleRobot<T extends YamlSubsystem & DriveUnidirectional & SubsystemAHRS> - Class in org.usfirst.frc.team449.robot.commands.multiInterface.drive
-
-
Rotates the robot back and forth in order to dislodge any stuck balls.
-
-
JiggleRobot(double, int, double, Double, double, boolean, int, int, int, T) - Constructor for class org.usfirst.frc.team449.robot.commands.multiInterface.drive.JiggleRobot
-
-
Instantiate the CommandGroup
-
-
- - - -

L

-
-
leftMaster - Variable in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
-
-
Left master Talon
-
-
loadMotionProfile(MotionProfileData) - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
-
-
Loads a profile into the MP buffer.
-
-
loadMotionProfile(MotionProfileData, MotionProfileData) - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
-
-
Loads given profiles into the left and right sides of the drive.
-
-
loadMotionProfile(MotionProfileData) - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.SubsystemMP
-
-
Loads a profile into the MP buffer.
-
-
loadMotionProfile(MotionProfileData, MotionProfileData) - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.SubsystemMPTwoSides
-
-
Loads given profiles into the left and right sides of the drive.
-
-
loadProfile(MotionProfileData) - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon
-
-
Disables the talon and loads the given profile into the talon.
-
-
LoadProfile - Class in org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands
-
-
Loads the given profile into the subsystem, but doesn't run it.
-
-
LoadProfile(SubsystemMP, MotionProfileData) - Constructor for class org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands.LoadProfile
-
-
Default constructor
-
-
LoadProfileTwoSides - Class in org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands
-
-
Loads the given profiles into the subsystem, but doesn't run it.
-
-
LoadProfileTwoSides(SubsystemMPTwoSides, MotionProfileData, MotionProfileData) - Constructor for class org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands.LoadProfileTwoSides
-
-
Default constructor
-
-
LoadShooter<T extends SubsystemIntake & SubsystemSolenoid> - Class in org.usfirst.frc.team449.robot.commands.multiSubsystem
-
-
Command group for intaking balls from the ground.
-
-
LoadShooter(SubsystemFlywheel, T) - Constructor for class org.usfirst.frc.team449.robot.commands.multiSubsystem.LoadShooter
-
-
Constructs a LoadShooter command group
-
-
LogEvent - Class in org.usfirst.frc.team449.robot.other
-
-
An logged event with a message, timestamp, and calling class.
-
-
LogEvent(String, Class) - Constructor for class org.usfirst.frc.team449.robot.other.LogEvent
-
-
Default constructor.
-
-
Loggable - Interface in org.usfirst.frc.team449.robot.generalInterfaces.loggable
-
-
An object that logs telemetry data every loop.
-
-
Logger - Class in org.usfirst.frc.team449.robot.other
-
-
A logger that logs telemetry data and individual events.
-
-
Logger(Loggable[], double, String, String) - Constructor for class org.usfirst.frc.team449.robot.other.Logger
-
-
Default constructor.
-
-
LoggingFlywheel - Class in org.usfirst.frc.team449.robot.subsystem.complex.shooter
-
-
A flywheel multiSubsystem with a single flywheel and a single-motor feeder system.
-
-
LoggingFlywheel(FPSTalon, double, SimpleMotor, double, double) - Constructor for class org.usfirst.frc.team449.robot.subsystem.complex.shooter.LoggingFlywheel
-
-
Default constructor
-
-
- - - -

M

-
-
MappedAHRS - Class in org.usfirst.frc.team449.robot.jacksonWrappers
-
-
A Jackson-compatible, invertible wrapper for the NavX.
-
-
MappedAHRS(SPI.Port, Boolean) - Constructor for class org.usfirst.frc.team449.robot.jacksonWrappers.MappedAHRS
-
-
Default constructor.
-
-
MappedButton - Class in org.usfirst.frc.team449.robot.jacksonWrappers
-
-
A jackson-compatible wrapper on WPILib's Button.
-
-
MappedButton() - Constructor for class org.usfirst.frc.team449.robot.jacksonWrappers.MappedButton
-
 
-
MappedDigitalInput - Class in org.usfirst.frc.team449.robot.jacksonWrappers
-
-
A series of roboRIO digital input pins.
-
-
MappedDigitalInput(int[]) - Constructor for class org.usfirst.frc.team449.robot.jacksonWrappers.MappedDigitalInput
-
-
Construct a MappedDigitalInput.
-
-
MappedDoubleSolenoid - Class in org.usfirst.frc.team449.robot.jacksonWrappers
-
-
A Jackson-compatible wrapper on the DoubleSolenoid.
-
-
MappedDoubleSolenoid(int, int, int) - Constructor for class org.usfirst.frc.team449.robot.jacksonWrappers.MappedDoubleSolenoid
-
-
Default constructor.
-
-
MappedJoystick - Class in org.usfirst.frc.team449.robot.jacksonWrappers
-
-
A Jackson-compatible wrapper on a Joystick.
-
-
MappedJoystick(int) - Constructor for class org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick
-
-
Default constructor
-
-
MappedRunnable - Interface in org.usfirst.frc.team449.robot.jacksonWrappers
-
-
A jackson-compatible wrapper on Java's Runnable.
-
-
MappedUsbCamera - Class in org.usfirst.frc.team449.robot.jacksonWrappers
-
-
A Jackson-compatible wrapper on the UsbCamera.
-
-
MappedUsbCamera(String, int, int, int, int) - Constructor for class org.usfirst.frc.team449.robot.jacksonWrappers.MappedUsbCamera
-
-
Default constructor
-
-
MappedVictor - Class in org.usfirst.frc.team449.robot.jacksonWrappers
-
-
A wrapper for a VictorSP allowing it to be easily constructed from a map object.
-
-
MappedVictor(int, boolean) - Constructor for class org.usfirst.frc.team449.robot.jacksonWrappers.MappedVictor
-
-
Json constructor using a port and inversion.
-
-
MotionProfileData - Class in org.usfirst.frc.team449.robot.other
-
-
Data structure containing the array of points for the MP and a method to fill the MP from a csv file
-
-
MotionProfileData(String, boolean, boolean, boolean) - Constructor for class org.usfirst.frc.team449.robot.other.MotionProfileData
-
-
Default constructor
-
-
MPIsFinished() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon
-
-
Whether this talon has finished running a profile.
-
-
- - - -

N

-
-
NavXDriveStraight<T extends YamlSubsystem & DriveUnidirectional & SubsystemAHRS> - Class in org.usfirst.frc.team449.robot.commands.multiInterface.drive
-
-
Drives straight using the NavX gyro to keep a constant alignment.
-
-
NavXDriveStraight(double, int, double, Double, double, boolean, int, int, int, T, OITank, boolean) - Constructor for class org.usfirst.frc.team449.robot.commands.multiInterface.drive.NavXDriveStraight
-
-
Default constructor.
-
-
NavXTurnToAngle<T extends YamlSubsystem & DriveUnidirectional & SubsystemAHRS> - Class in org.usfirst.frc.team449.robot.commands.multiInterface.drive
-
-
Turns to a specified angle, relative to the angle the AHRS was at when the robot was turned on.
-
-
NavXTurnToAngle(double, int, double, Double, double, boolean, int, int, int, double, T, double) - Constructor for class org.usfirst.frc.team449.robot.commands.multiInterface.drive.NavXTurnToAngle
-
-
Default constructor.
-
-
NavXTurnToAngleRelative<T extends YamlSubsystem & DriveUnidirectional & SubsystemAHRS> - Class in org.usfirst.frc.team449.robot.commands.multiInterface.drive
-
-
Turn a certain number of degrees from the current heading.
-
-
NavXTurnToAngleRelative(double, int, double, Double, double, boolean, int, int, int, double, T, double) - Constructor for class org.usfirst.frc.team449.robot.commands.multiInterface.drive.NavXTurnToAngleRelative
-
-
Default constructor.
-
-
- - - -

O

-
-
oi - Variable in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.FieldOrientedUnidirectionalDriveCommand
-
-
The OI giving the input stick values.
-
-
oi - Variable in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.UnidirectionalNavXDefaultDrive
-
-
The OI giving the input stick values.
-
-
oi - Variable in class org.usfirst.frc.team449.robot.drive.unidirectional.commands.SimpleUnidirectionalDrive
-
-
The OI used for input.
-
-
OI - Interface in org.usfirst.frc.team449.robot.oi
-
 
-
OIArcade - Class in org.usfirst.frc.team449.robot.oi.unidirectional.arcade
-
-
An arcade-style dual joystick OI.
-
-
OIArcade() - Constructor for class org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcade
-
 
-
OIArcadeSimple - Class in org.usfirst.frc.team449.robot.oi.unidirectional.arcade
-
-
A simple, two-stick arcade drive OI.
-
-
OIArcadeSimple(Throttle, Throttle) - Constructor for class org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcadeSimple
-
-
Default constructor
-
-
OIArcadeWithDPad - Class in org.usfirst.frc.team449.robot.oi.unidirectional.arcade
-
-
An arcade OI with an option to use the D-pad for turning.
-
-
OIArcadeWithDPad(Throttle, Throttle, double, boolean, MappedJoystick, Polynomial, double) - Constructor for class org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcadeWithDPad
-
-
Default constructor
-
-
OIFieldOriented - Class in org.usfirst.frc.team449.robot.oi.fieldoriented
-
-
An OI that gives an absolute heading, relative to the field, and a velocity.
-
-
OIFieldOriented() - Constructor for class org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOriented
-
 
-
OIFieldOrientedPosCos - Class in org.usfirst.frc.team449.robot.oi.fieldoriented
-
-
A field-oriented OI that always points the robot an angle where cosine is positive, i.e.
-
-
OIFieldOrientedPosCos(Throttle, Throttle, double) - Constructor for class org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOrientedPosCos
-
-
Default constructor
-
-
OIOutreach - Class in org.usfirst.frc.team449.robot.oi.unidirectional
-
 
-
OIOutreach(OIUnidirectional, OIUnidirectional, MappedButton) - Constructor for class org.usfirst.frc.team449.robot.oi.unidirectional.OIOutreach
-
 
-
OITank - Class in org.usfirst.frc.team449.robot.oi.unidirectional.tank
-
-
A tank-style dual joystick OI.
-
-
OITank() - Constructor for class org.usfirst.frc.team449.robot.oi.unidirectional.tank.OITank
-
 
-
OITankSimple - Class in org.usfirst.frc.team449.robot.oi.unidirectional.tank
-
-
A simple tank drive, where each joystick controls a side of the robot.
-
-
OITankSimple(Throttle, Throttle, double) - Constructor for class org.usfirst.frc.team449.robot.oi.unidirectional.tank.OITankSimple
-
-
Default constructor
-
-
OIUnidirectional - Interface in org.usfirst.frc.team449.robot.oi.unidirectional
-
-
An OI to control a robot with a unidirectional drive that has a left and right side (e.g.
-
-
org.usfirst.frc.team449.robot - package org.usfirst.frc.team449.robot
-
 
-
org.usfirst.frc.team449.robot.commands.autonomous - package org.usfirst.frc.team449.robot.commands.autonomous
-
 
-
org.usfirst.frc.team449.robot.commands.general - package org.usfirst.frc.team449.robot.commands.general
-
 
-
org.usfirst.frc.team449.robot.commands.multiInterface - package org.usfirst.frc.team449.robot.commands.multiInterface
-
 
-
org.usfirst.frc.team449.robot.commands.multiInterface.drive - package org.usfirst.frc.team449.robot.commands.multiInterface.drive
-
 
-
org.usfirst.frc.team449.robot.commands.multiSubsystem - package org.usfirst.frc.team449.robot.commands.multiSubsystem
-
 
-
org.usfirst.frc.team449.robot.components - package org.usfirst.frc.team449.robot.components
-
 
-
org.usfirst.frc.team449.robot.drive - package org.usfirst.frc.team449.robot.drive
-
 
-
org.usfirst.frc.team449.robot.drive.commands - package org.usfirst.frc.team449.robot.drive.commands
-
 
-
org.usfirst.frc.team449.robot.drive.shifting - package org.usfirst.frc.team449.robot.drive.shifting
-
 
-
org.usfirst.frc.team449.robot.drive.shifting.commands - package org.usfirst.frc.team449.robot.drive.shifting.commands
-
 
-
org.usfirst.frc.team449.robot.drive.unidirectional - package org.usfirst.frc.team449.robot.drive.unidirectional
-
 
-
org.usfirst.frc.team449.robot.drive.unidirectional.commands - package org.usfirst.frc.team449.robot.drive.unidirectional.commands
-
 
-
org.usfirst.frc.team449.robot.generalInterfaces.loggable - package org.usfirst.frc.team449.robot.generalInterfaces.loggable
-
 
-
org.usfirst.frc.team449.robot.generalInterfaces.rumbleable - package org.usfirst.frc.team449.robot.generalInterfaces.rumbleable
-
 
-
org.usfirst.frc.team449.robot.generalInterfaces.shiftable - package org.usfirst.frc.team449.robot.generalInterfaces.shiftable
-
 
-
org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands - package org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands
-
 
-
org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor - package org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor
-
 
-
org.usfirst.frc.team449.robot.generalInterfaces.updatable - package org.usfirst.frc.team449.robot.generalInterfaces.updatable
-
 
-
org.usfirst.frc.team449.robot.jacksonWrappers - package org.usfirst.frc.team449.robot.jacksonWrappers
-
 
-
org.usfirst.frc.team449.robot.oi - package org.usfirst.frc.team449.robot.oi
-
 
-
org.usfirst.frc.team449.robot.oi.buttons - package org.usfirst.frc.team449.robot.oi.buttons
-
 
-
org.usfirst.frc.team449.robot.oi.fieldoriented - package org.usfirst.frc.team449.robot.oi.fieldoriented
-
 
-
org.usfirst.frc.team449.robot.oi.throttles - package org.usfirst.frc.team449.robot.oi.throttles
-
 
-
org.usfirst.frc.team449.robot.oi.unidirectional - package org.usfirst.frc.team449.robot.oi.unidirectional
-
 
-
org.usfirst.frc.team449.robot.oi.unidirectional.arcade - package org.usfirst.frc.team449.robot.oi.unidirectional.arcade
-
 
-
org.usfirst.frc.team449.robot.oi.unidirectional.tank - package org.usfirst.frc.team449.robot.oi.unidirectional.tank
-
 
-
org.usfirst.frc.team449.robot.other - package org.usfirst.frc.team449.robot.other
-
 
-
org.usfirst.frc.team449.robot.subsystem.complex.climber - package org.usfirst.frc.team449.robot.subsystem.complex.climber
-
 
-
org.usfirst.frc.team449.robot.subsystem.complex.intake - package org.usfirst.frc.team449.robot.subsystem.complex.intake
-
 
-
org.usfirst.frc.team449.robot.subsystem.complex.shooter - package org.usfirst.frc.team449.robot.subsystem.complex.shooter
-
 
-
org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS - package org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS
-
 
-
org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands - package org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands
-
 
-
org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor - package org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor
-
 
-
org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands - package org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands
-
 
-
org.usfirst.frc.team449.robot.subsystem.interfaces.conditional - package org.usfirst.frc.team449.robot.subsystem.interfaces.conditional
-
 
-
org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel - package org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel
-
 
-
org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands - package org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands
-
 
-
org.usfirst.frc.team449.robot.subsystem.interfaces.intake - package org.usfirst.frc.team449.robot.subsystem.interfaces.intake
-
 
-
org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands - package org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands
-
 
-
org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile - package org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile
-
 
-
org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands - package org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands
-
 
-
org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem - package org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem
-
 
-
org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands - package org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands
-
 
-
org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid - package org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid
-
 
-
org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands - package org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands
-
 
-
org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera - package org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera
-
 
-
org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.commands - package org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.commands
-
 
-
org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics - package org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics
-
 
-
org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.commands - package org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.commands
-
 
-
otherShiftables - Variable in class org.usfirst.frc.team449.robot.components.ShiftComponent
-
-
All objects that should be shifted when this component's piston is.
-
-
OverrideAutoShift - Class in org.usfirst.frc.team449.robot.drive.shifting.commands
-
-
Override or unoverride whether we're autoshifting.
-
-
OverrideAutoShift(DriveShiftable, boolean) - Constructor for class org.usfirst.frc.team449.robot.drive.shifting.commands.OverrideAutoShift
-
-
Default constructor
-
-
OverrideNavX - Class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands
-
-
Set whether or not to override the AHRS.
-
-
OverrideNavX(SubsystemAHRS, boolean) - Constructor for class org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.OverrideNavX
-
-
Default constructor.
-
-
- - - -

P

-
-
ParallelCommandGroup - Class in org.usfirst.frc.team449.robot.commands.general
-
-
A command group for running many commands in parallel.
-
-
ParallelCommandGroup(Set<YamlCommand>) - Constructor for class org.usfirst.frc.team449.robot.commands.general.ParallelCommandGroup
-
-
Default constructor
-
-
PerGearSettings(int, Shiftable.gear, Double, Double, Double, Double, Double, Double, double, double, double, double, double, double, Double, Double, Double, Double, Double, Double, double, Double, Double) - Constructor for class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon.PerGearSettings
-
-
Default constructor.
-
-
PerGearSettings() - Constructor for class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon.PerGearSettings
-
-
Empty constructor that uses all default options.
-
-
PIDAngleCommand - Class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands
-
-
A command that uses a AHRS to turn to a certain angle.
-
-
PIDAngleCommand(double, int, double, Double, double, boolean, SubsystemAHRS, double, double, double) - Constructor for class org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.PIDAngleCommand
-
-
Default constructor.
-
-
PIDBackAndForth<T extends YamlSubsystem & DriveUnidirectional> - Class in org.usfirst.frc.team449.robot.drive.unidirectional.commands
-
-
Drive back and forth to tune PID.
-
-
PIDBackAndForth(T, double, double) - Constructor for class org.usfirst.frc.team449.robot.drive.unidirectional.commands.PIDBackAndForth
-
-
Instantiate the CommandGroup
-
-
pidGet() - Method in class org.usfirst.frc.team449.robot.oi.throttles.ThrottleBasic
-
-
Get the result to use in PIDController.
-
-
PIDTest<T extends YamlSubsystem & DriveUnidirectional> - Class in org.usfirst.frc.team449.robot.drive.unidirectional.commands
-
-
Drive forward at constant speed then stop to tune PID.
-
-
PIDTest(T, double, double) - Constructor for class org.usfirst.frc.team449.robot.drive.unidirectional.commands.PIDTest
-
-
Default constructor
-
-
Pneumatics - Class in org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics
-
-
A subsystem representing the pneumatics control system (e.g.
-
-
Pneumatics(int, PressureSensor) - Constructor for class org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.Pneumatics
-
-
Default constructor
-
-
polynomial - Variable in class org.usfirst.frc.team449.robot.oi.throttles.ThrottlePolynomial
-
-
The polynomially that scales the throttle.
-
-
Polynomial - Class in org.usfirst.frc.team449.robot.other
-
-
A polynomial of a single variable.
-
-
Polynomial(Map<Double, Double>, Double) - Constructor for class org.usfirst.frc.team449.robot.other.Polynomial
-
-
Default constructor.
-
-
PressureSensor - Class in org.usfirst.frc.team449.robot.jacksonWrappers
-
-
Wrapper for an AnalogInput pressure sensor that returns a voltage linearly proportional to pressure.
-
-
PressureSensor(int, int, int) - Constructor for class org.usfirst.frc.team449.robot.jacksonWrappers.PressureSensor
-
-
Default constructor.
-
-
processPIDOutput(double) - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.PIDAngleCommand
-
-
Process the output of the PID loop to account for minimum output and inversion.
-
-
profileFinished() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
-
-
Get whether this subsystem has finished running the profile loaded in it.
-
-
profileFinished() - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.SubsystemMP
-
-
Get whether this subsystem has finished running the profile loaded in it.
-
-
- - - -

R

-
-
RackShooter<T extends SubsystemIntake & SubsystemSolenoid> - Class in org.usfirst.frc.team449.robot.commands.multiSubsystem
-
-
Command group for preparing the flywheel to fire.
-
-
RackShooter(SubsystemFlywheel, T) - Constructor for class org.usfirst.frc.team449.robot.commands.multiSubsystem.RackShooter
-
-
Constructs a RackShooter command group
-
-
readyForMP() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon
-
-
Whether this talon is ready to start running a profile.
-
-
readyToRunProfile() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
-
-
Get whether the subsystem is ready to run the loaded profile.
-
-
readyToRunProfile() - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.SubsystemMP
-
-
Get whether the subsystem is ready to run the loaded profile.
-
-
ResetPosition - Class in org.usfirst.frc.team449.robot.drive.commands
-
-
Resets the positions of the motors of the given drive subsystem.
-
-
ResetPosition(DriveSubsystem) - Constructor for class org.usfirst.frc.team449.robot.drive.commands.ResetPosition
-
-
Default constructor
-
-
resetPosition() - Method in interface org.usfirst.frc.team449.robot.drive.DriveSubsystem
-
-
Reset the position of the drive if it has encoders.
-
-
resetPosition() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
-
-
Reset the position of the drive if it has encoders.
-
-
resetPosition() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectionalSimple
-
-
Reset the position of the drive if it has encoders.
-
-
resetPosition() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon
-
-
Resets the position of the Talon to 0.
-
-
resetPosition() - Method in class org.usfirst.frc.team449.robot.other.MotionProfileData
-
 
-
ResetShooter<T extends SubsystemIntake & SubsystemSolenoid> - Class in org.usfirst.frc.team449.robot.commands.multiSubsystem
-
-
Command group to reset everything.
-
-
ResetShooter(SubsystemFlywheel, T) - Constructor for class org.usfirst.frc.team449.robot.commands.multiSubsystem.ResetShooter
-
-
Constructs a ResetShooter command group
-
-
RESOURCES_PATH - Static variable in class org.usfirst.frc.team449.robot.Robot
-
-
The absolute filepath to the resources folder containing the config files.
-
-
returnPIDInput() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.PIDAngleCommand
-
-
Returns the input for the pid loop.
-
-
rightMaster - Variable in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
-
-
Right master Talon
-
-
Robot - Class in org.usfirst.frc.team449.robot
-
-
The main class of the robot, constructs all the subsystems and initializes default commands.
-
-
Robot() - Constructor for class org.usfirst.frc.team449.robot.Robot
-
 
-
robotInit() - Method in class org.usfirst.frc.team449.robot.Robot
-
-
The method that runs when the robot is turned on.
-
-
RobotMap2017 - Class in org.usfirst.frc.team449.robot
-
-
The Jackson-compatible object representing the entire robot.
-
-
RobotMap2017(List<CommandButton>, OI, Logger, DriveTalonCluster, YamlCommand, MappedRunnable, ClimberCurrentLimited, LoggingFlywheel, CameraNetwork, IntakeFixedAndActuated, Pneumatics, SolenoidSimple, Integer, MappedDigitalInput, MappedDigitalInput, MappedDigitalInput, YamlCommand, YamlCommand, YamlCommand, MotionProfileData, MotionProfileData, Map<String, MotionProfileData>, Map<String, MotionProfileData>, YamlCommand, YamlCommand, YamlCommand, YamlCommand, boolean, Boolean) - Constructor for class org.usfirst.frc.team449.robot.RobotMap2017
-
-
Default constructor.
-
-
rumble(double, double) - Method in interface org.usfirst.frc.team449.robot.generalInterfaces.rumbleable.Rumbleable
-
-
Rumble at a given strength on each side of the device.
-
-
rumble(double, double) - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick
-
-
Rumble at a given strength on each side of the device.
-
-
Rumbleable - Interface in org.usfirst.frc.team449.robot.generalInterfaces.rumbleable
-
-
An interface for any sort of OI device that can rumble to give feedback to the driver.
-
-
run() - Method in class org.usfirst.frc.team449.robot.components.AHRSRumbleComponent
-
-
Read the NavX jerk data and rumble the joysticks based off of it.
-
-
run() - Method in class org.usfirst.frc.team449.robot.other.Logger
-
-
Print out all logged events to the event log and write all the telemetry data to the telemetry log.
-
-
run() - Method in class org.usfirst.frc.team449.robot.other.UnidirectionalPoseEstimator
-
-
Use the current gyro and encoder data to calculate how the robot has moved since the last time run was called.
-
-
run() - Method in class org.usfirst.frc.team449.robot.other.Updater
-
-
Update all the updatables.
-
-
RunLoadedProfile<T extends YamlSubsystem & SubsystemMP> - Class in org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands
-
-
Runs the command that is currently loaded in the given subsystem.
-
-
RunLoadedProfile(T, double, boolean) - Constructor for class org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands.RunLoadedProfile
-
-
Default constructor.
-
-
RunMotorWhileConditonMet<T extends YamlSubsystem & SubsystemBinaryMotor & SubsystemConditional> - Class in org.usfirst.frc.team449.robot.commands.multiInterface
-
-
Run a BinaryMotor while a condition is true.
-
-
RunMotorWhileConditonMet(T) - Constructor for class org.usfirst.frc.team449.robot.commands.multiInterface.RunMotorWhileConditonMet
-
-
Default constructor
-
-
RunProfile<T extends YamlSubsystem & SubsystemMPTwoSides> - Class in org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands
-
-
Loads and runs the given profile into the given subsystem.
-
-
RunProfile(T, MotionProfileData, double) - Constructor for class org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands.RunProfile
-
-
Default constructor.
-
-
RunProfileTwoSides<T extends YamlSubsystem & SubsystemMPTwoSides> - Class in org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands
-
-
Loads and runs the given profiles into the given subsystem.
-
-
RunProfileTwoSides(T, MotionProfileData, MotionProfileData, double) - Constructor for class org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands.RunProfileTwoSides
-
-
Default constructor.
-
-
RunRunnables - Class in org.usfirst.frc.team449.robot.commands.general
-
-
A command that runs any number of Runnable objects every tic.
-
-
RunRunnables(MappedRunnable[]) - Constructor for class org.usfirst.frc.team449.robot.commands.general.RunRunnables
-
-
Default constructor
-
-
- - - -

S

-
-
scaleCoefficientSum(double) - Method in class org.usfirst.frc.team449.robot.other.Polynomial
-
-
Scale each coefficient so they sum to a given number.
-
-
setCamNum(int) - Method in class org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.CameraNetwork
-
 
-
setDefaultCommandManual(Command) - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
-
-
Set the default command.
-
-
setFlywheelState(SubsystemFlywheel.FlywheelState) - Method in class org.usfirst.frc.team449.robot.subsystem.complex.shooter.LoggingFlywheel
-
 
-
setFlywheelState(SubsystemFlywheel.FlywheelState) - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.FlywheelSimple
-
 
-
setFlywheelState(SubsystemFlywheel.FlywheelState) - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.SubsystemFlywheel
-
 
-
setGear(int) - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable
-
-
Shift to a specific gear.
-
-
setGear(int) - Method in interface org.usfirst.frc.team449.robot.generalInterfaces.shiftable.Shiftable
-
-
Shift to a specific gear.
-
-
setGear(int) - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon
-
-
Shift to a specific gear.
-
-
setGearScaledVelocity(double, int) - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon
-
-
Set the velocity scaled to a given gear's max velocity.
-
-
setGearScaledVelocity(double, Shiftable.gear) - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon
-
-
Set the velocity scaled to a given gear's max velocity.
-
-
setHeading(double) - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
-
-
Set the robot's heading.
-
-
setHeading(double) - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.MappedAHRS
-
-
Set the current yaw value.
-
-
setHeading(double) - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.SubsystemAHRS
-
-
Set the robot's heading.
-
-
SetIntakeMode - Class in org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands
-
-
Sets the mode of the intake.
-
-
SetIntakeMode(SubsystemIntake, SubsystemIntake.IntakeMode) - Constructor for class org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands.SetIntakeMode
-
-
Default constructor
-
-
setMode(SubsystemIntake.IntakeMode) - Method in class org.usfirst.frc.team449.robot.subsystem.complex.intake.IntakeFixedAndActuated
-
 
-
setMode(SubsystemIntake.IntakeMode) - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.intake.IntakeSimple
-
 
-
setMode(SubsystemIntake.IntakeMode) - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.intake.SubsystemIntake
-
 
-
setOutput(double, double) - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
-
-
Set the output of each side of the drive.
-
-
setOutput(double, double) - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable
-
-
Set the output of each side of the drive.
-
-
setOutput(double, double) - Method in interface org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectional
-
-
Set the output of each side of the drive.
-
-
setOutput(double, double) - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectionalSimple
-
-
Set the output of each side of the drive.
-
-
setOverrideAutoshift(boolean) - Method in interface org.usfirst.frc.team449.robot.drive.shifting.DriveShiftable
-
 
-
setOverrideAutoshift(boolean) - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable
-
 
-
setOverrideGyro(boolean) - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
-
 
-
setOverrideGyro(boolean) - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.SubsystemAHRS
-
 
-
setPercentVoltage(double) - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon
-
-
Set the motor output voltage to a given percent of available voltage.
-
-
setPIDSourceType(PIDSourceType) - Method in class org.usfirst.frc.team449.robot.oi.throttles.ThrottleBasic
-
-
Set which parameter of the device you are using as a process control variable.
-
-
setpoint - Variable in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.NavXTurnToAngle
-
-
The angle to turn to.
-
-
setSolenoid(DoubleSolenoid.Value) - Method in class org.usfirst.frc.team449.robot.subsystem.complex.intake.IntakeFixedAndActuated
-
 
-
setSolenoid(DoubleSolenoid.Value) - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SolenoidSimple
-
 
-
setSolenoid(DoubleSolenoid.Value) - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SubsystemSolenoid
-
 
-
setStartTime() - Static method in class org.usfirst.frc.team449.robot.other.Clock
-
-
Sets the start time to the current time.
-
-
setVelocity(double) - Method in interface org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor.SimpleMotor
-
-
Set the velocity for the motor to go at.
-
-
setVelocity(double) - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon
-
-
Set the velocity for the motor to go at.
-
-
setVelocity(double) - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.MappedVictor
-
-
Set the velocity for the motor to go at.
-
-
setVelocity(double) - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.SimpleMotorCluster
-
-
Set the velocity for the motor to go at.
-
-
setVelocityFPS(double) - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon
-
-
Give a velocity closed loop setpoint in FPS.
-
-
Shiftable - Interface in org.usfirst.frc.team449.robot.generalInterfaces.shiftable
-
-
An interface for any object that different settings for different gears
-
-
Shiftable.gear - Enum in org.usfirst.frc.team449.robot.generalInterfaces.shiftable
-
 
-
ShiftComponent - Class in org.usfirst.frc.team449.robot.components
-
-
A component that a subsystem can use to handle shifting gears.
-
-
ShiftComponent(List<Shiftable>, MappedDoubleSolenoid, DoubleSolenoid.Value, Shiftable.gear) - Constructor for class org.usfirst.frc.team449.robot.components.ShiftComponent
-
-
Default constructor.
-
-
ShiftGears - Class in org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands
-
-
Shifts gears.
-
-
ShiftGears(Shiftable) - Constructor for class org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands.ShiftGears
-
-
Default constructor
-
-
shiftPiston(int) - Method in class org.usfirst.frc.team449.robot.components.ShiftComponent
-
-
Shifts the piston to the given gear.
-
-
shiftToGear(int) - Method in class org.usfirst.frc.team449.robot.components.ShiftComponent
-
-
Shifts to a given gear.
-
-
shiftToGear(int) - Method in class org.usfirst.frc.team449.robot.components.ShiftWithSensorComponent
-
-
Shifts to a given gear.
-
-
ShiftWithSensorComponent - Class in org.usfirst.frc.team449.robot.components
-
-
A component that a subsystem can use for shifting when the pistons have sensor to detect position.
-
-
ShiftWithSensorComponent(List<Shiftable>, MappedDoubleSolenoid, DoubleSolenoid.Value, Shiftable.gear, MappedDigitalInput, MappedDigitalInput, List<SimpleMotor>, BufferTimer, double) - Constructor for class org.usfirst.frc.team449.robot.components.ShiftWithSensorComponent
-
-
Default constructor.
-
-
SimpleButton - Class in org.usfirst.frc.team449.robot.oi.buttons
-
-
A version of JoystickButton that is a MappedButton.
-
-
SimpleButton(MappedJoystick, int) - Constructor for class org.usfirst.frc.team449.robot.oi.buttons.SimpleButton
-
-
Default constructor.
-
-
SimpleMotor - Interface in org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor
-
 
-
SimpleMotorCluster - Class in org.usfirst.frc.team449.robot.jacksonWrappers
-
-
A cluster of simple motors that act as a single simple motor.
-
-
SimpleMotorCluster(List<SimpleMotor>) - Constructor for class org.usfirst.frc.team449.robot.jacksonWrappers.SimpleMotorCluster
-
-
Default constructor
-
-
SimpleUnidirectionalDrive<T extends YamlSubsystem & DriveUnidirectional> - Class in org.usfirst.frc.team449.robot.drive.unidirectional.commands
-
-
Very simple unidirectional drive control.
-
-
SimpleUnidirectionalDrive(T, OIUnidirectional) - Constructor for class org.usfirst.frc.team449.robot.drive.unidirectional.commands.SimpleUnidirectionalDrive
-
-
Default constructor
-
-
SlaveTalon(int, boolean) - Constructor for class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon.SlaveTalon
-
-
Default constructor.
-
-
SolenoidForward - Class in org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands
-
-
A command that extends a piston.
-
-
SolenoidForward(SubsystemSolenoid) - Constructor for class org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidForward
-
-
Default constructor
-
-
SolenoidOff - Class in org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands
-
-
A command that extends a piston.
-
-
SolenoidOff(SubsystemSolenoid) - Constructor for class org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidOff
-
-
Default constructor
-
-
SolenoidReverse - Class in org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands
-
-
A command that contracts a piston.
-
-
SolenoidReverse(SubsystemSolenoid) - Constructor for class org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidReverse
-
-
Default constructor
-
-
SolenoidSimple - Class in org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid
-
-
A simple SubsystemSolenoid.
-
-
SolenoidSimple(MappedDoubleSolenoid) - Constructor for class org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SolenoidSimple
-
-
Default constructor
-
-
SpinUpFlywheel - Class in org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands
-
-
Turn on the flywheel but not the feeder in order to give the flywheel time to get up to speed.
-
-
SpinUpFlywheel(SubsystemFlywheel) - Constructor for class org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands.SpinUpFlywheel
-
-
Default constructor
-
-
SpinUpThenShoot - Class in org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands
-
-
Spin up the flywheel until it's at the target speed, then start feeding in balls.
-
-
SpinUpThenShoot(SubsystemFlywheel) - Constructor for class org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands.SpinUpThenShoot
-
-
Default constructor.
-
-
StartCompressor - Class in org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.commands
-
-
Start up the pneumatic compressor.
-
-
StartCompressor(Pneumatics) - Constructor for class org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.commands.StartCompressor
-
-
Default constructor
-
-
startCompressor() - Method in class org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.Pneumatics
-
-
Start up the compressor in closed loop control mode.
-
-
startRunningLoadedProfile() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
-
-
Start running the profile that's currently loaded into the MP buffer.
-
-
startRunningLoadedProfile() - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.SubsystemMP
-
-
Start running the profile that's currently loaded into the MP buffer.
-
-
startRunningMP() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon
-
-
Starts running the loaded motion profile.
-
-
startTime - Variable in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.NavXTurnToAngle
-
-
The time this command was initiated
-
-
stick - Variable in class org.usfirst.frc.team449.robot.oi.throttles.ThrottleBasic
-
-
The stick we're using
-
-
stopMPProcesses() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
-
-
Stops any MP-related threads currently running.
-
-
stopMPProcesses() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon
-
-
Stops all MP-related threads to save on CPU power.
-
-
stopMPProcesses() - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.SubsystemMP
-
-
Stops any MP-related threads currently running.
-
-
subsystem - Variable in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.FieldOrientedUnidirectionalDriveCommand
-
-
The drive this command is controlling.
-
-
subsystem - Variable in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.FieldOrientedUnidirectionalDriveCommandShifting
-
-
The drive to execute this command on.
-
-
subsystem - Variable in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.NavXDriveStraight
-
-
The drive subsystem to give output to.
-
-
subsystem - Variable in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.NavXTurnToAngle
-
-
The drive subsystem to execute this command on and to get the gyro reading from.
-
-
subsystem - Variable in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.UnidirectionalNavXDefaultDrive
-
-
The drive this command is controlling.
-
-
subsystem - Variable in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.UnidirectionalNavXShiftingDefaultDrive
-
-
The drive to execute this command on.
-
-
subsystem - Variable in class org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.PIDAngleCommand
-
-
The subsystem to execute this command on.
-
-
subsystem - Variable in class org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands.TurnMotorOff
-
-
The subsystem to execute this command on.
-
-
SubsystemAHRS - Interface in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS
-
-
A subsystem that has a AHRS on it.
-
-
SubsystemBinaryMotor - Interface in org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor
-
-
A subsystem with a motor that only needs to be run at one speed, e.g.
-
-
SubsystemConditional - Interface in org.usfirst.frc.team449.robot.subsystem.interfaces.conditional
-
-
A subsystem with a condition that's sometimes met, e.g.
-
-
SubsystemFlywheel - Interface in org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel
-
-
A subsystem with a flywheel and feeder.
-
-
SubsystemFlywheel.FlywheelState - Enum in org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel
-
-
An enum for the possible states of the flywheel.
-
-
SubsystemIntake - Interface in org.usfirst.frc.team449.robot.subsystem.interfaces.intake
-
-
A subsystem used for intaking and possibly ejecting game pieces.
-
-
SubsystemIntake.IntakeMode - Enum in org.usfirst.frc.team449.robot.subsystem.interfaces.intake
-
-
An enum for the possible states of the intake.
-
-
SubsystemMP - Interface in org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile
-
-
A subsystem that can have motion profiles run on it.
-
-
SubsystemMPTwoSides - Interface in org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem
-
-
An MP subsystem with two sides that therefore needs two profiles at a time.
-
-
SubsystemSolenoid - Interface in org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid
-
-
A subsystem with a single DoubleSolenoid piston.
-
-
SwitchToGear - Class in org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands
-
-
Switches to a specified gear.
-
-
SwitchToGear(Shiftable, int, Shiftable.gear) - Constructor for class org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands.SwitchToGear
-
-
Default constructor
-
-
SwitchToHighGear - Class in org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands
-
-
A command that switches to high gear.
-
-
SwitchToHighGear(Shiftable) - Constructor for class org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands.SwitchToHighGear
-
-
Default constructor
-
-
SwitchToLowGear - Class in org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands
-
-
A command that switches to low gear.
-
-
SwitchToLowGear(Shiftable) - Constructor for class org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands.SwitchToLowGear
-
-
Default constructor
-
-
- - - -

T

-
-
teleopInit() - Method in class org.usfirst.frc.team449.robot.Robot
-
-
Run when we first enable in teleop.
-
-
teleopPeriodic() - Method in class org.usfirst.frc.team449.robot.Robot
-
-
Run every tick in teleop.
-
-
testInit() - Method in class org.usfirst.frc.team449.robot.Robot
-
-
Run when we first enable in test mode.
-
-
Throttle - Interface in org.usfirst.frc.team449.robot.oi.throttles
-
-
An object representing an axis of a stick on a joystick.
-
-
ThrottleBasic - Class in org.usfirst.frc.team449.robot.oi.throttles
-
-
A class representing a single axis on a joystick.
-
-
ThrottleBasic(MappedJoystick, int, boolean) - Constructor for class org.usfirst.frc.team449.robot.oi.throttles.ThrottleBasic
-
-
Default constructor.
-
-
ThrottleDeadbanded - Class in org.usfirst.frc.team449.robot.oi.throttles
-
-
A throttle with a deadband and smoothing.
-
-
ThrottleDeadbanded(MappedJoystick, int, double, Double, boolean) - Constructor for class org.usfirst.frc.team449.robot.oi.throttles.ThrottleDeadbanded
-
-
A basic constructor.
-
-
ThrottleExponential - Class in org.usfirst.frc.team449.robot.oi.throttles
-
-
An exponentially-scaled throttle.
-
-
ThrottleExponential(MappedJoystick, int, double, Double, boolean, double) - Constructor for class org.usfirst.frc.team449.robot.oi.throttles.ThrottleExponential
-
-
A basic constructor.
-
-
ThrottlePolynomial - Class in org.usfirst.frc.team449.robot.oi.throttles
-
-
A polynomially scaled throttle.
-
-
ThrottlePolynomial(MappedJoystick, int, double, Double, boolean, Polynomial) - Constructor for class org.usfirst.frc.team449.robot.oi.throttles.ThrottlePolynomial
-
-
A basic constructor.
-
-
throttles - Variable in class org.usfirst.frc.team449.robot.oi.throttles.ThrottleSum
-
-
The throttles to sum.
-
-
ThrottleSum - Class in org.usfirst.frc.team449.robot.oi.throttles
-
-
A Throttle that sums any number of other Throttles.
-
-
ThrottleSum(Throttle[]) - Constructor for class org.usfirst.frc.team449.robot.oi.throttles.ThrottleSum
-
-
Default constructor.
-
-
ToggleIntaking - Class in org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands
-
-
Toggles whether the subsystem is off or set to a given mode.
-
-
ToggleIntaking(SubsystemIntake, SubsystemIntake.IntakeMode) - Constructor for class org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands.ToggleIntaking
-
-
Default constructor
-
-
ToggleMotor - Class in org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands
-
-
A command that toggles the state of the motor between off and on.
-
-
ToggleMotor(SubsystemBinaryMotor) - Constructor for class org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands.ToggleMotor
-
-
Default constructor
-
-
ToggleOverrideAutoShift - Class in org.usfirst.frc.team449.robot.drive.shifting.commands
-
-
Override or unoverride whether we're autoshifting.
-
-
ToggleOverrideAutoShift(DriveShiftable) - Constructor for class org.usfirst.frc.team449.robot.drive.shifting.commands.ToggleOverrideAutoShift
-
-
Default constructor
-
-
ToggleOverrideNavX - Class in org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands
-
-
Toggle whether or not to override the AHRS.
-
-
ToggleOverrideNavX(SubsystemAHRS) - Constructor for class org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.ToggleOverrideNavX
-
-
Default constructor.
-
-
ToggleShooting - Class in org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands
-
-
Toggle whether or not the subsystem is firing.
-
-
ToggleShooting(SubsystemFlywheel) - Constructor for class org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands.ToggleShooting
-
-
Default constructor.
-
-
ToggleSolenoid - Class in org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands
-
-
A command that toggles the position of a piston.
-
-
ToggleSolenoid(SubsystemSolenoid) - Constructor for class org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.ToggleSolenoid
-
-
Default constructor
-
-
toString() - Method in class org.usfirst.frc.team449.robot.other.LogEvent
-
-
Turn this event into a string for logging.
-
-
TriggerButton - Class in org.usfirst.frc.team449.robot.oi.buttons
-
-
A button that gets triggered by a specific throttle being held down at or over a certain amount.
-
-
TriggerButton(Throttle, double) - Constructor for class org.usfirst.frc.team449.robot.oi.buttons.TriggerButton
-
-
Argument-based constructor.
-
-
TurnAllOff - Class in org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands
-
-
Turn off the flywheel and feeder.
-
-
TurnAllOff(SubsystemFlywheel) - Constructor for class org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands.TurnAllOff
-
-
Default constructor
-
-
TurnAllOffWithRequires<T extends YamlSubsystem & SubsystemFlywheel> - Class in org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands
-
-
Turn off the flywheel and feeder, using requires() to interrupt any other commands that may be telling them to - continue running.
-
-
TurnAllOffWithRequires(T) - Constructor for class org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands.TurnAllOffWithRequires
-
-
Default constructor
-
-
TurnAllOn - Class in org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands
-
-
Turn on the flywheel and the feeder.
-
-
TurnAllOn(SubsystemFlywheel) - Constructor for class org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands.TurnAllOn
-
-
Default constructor
-
-
turnFeederOff() - Method in class org.usfirst.frc.team449.robot.subsystem.complex.shooter.LoggingFlywheel
-
-
Stop feeding balls into the multiSubsystem.
-
-
turnFeederOff() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.FlywheelSimple
-
-
Stop feeding balls into the flywheel.
-
-
turnFeederOff() - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.SubsystemFlywheel
-
-
Stop feeding balls into the flywheel.
-
-
turnFeederOn() - Method in class org.usfirst.frc.team449.robot.subsystem.complex.shooter.LoggingFlywheel
-
-
Start feeding balls into the multiSubsystem.
-
-
turnFeederOn() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.FlywheelSimple
-
-
Start feeding balls into the flywheel.
-
-
turnFeederOn() - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.SubsystemFlywheel
-
-
Start feeding balls into the flywheel.
-
-
turnFlywheelOff() - Method in class org.usfirst.frc.team449.robot.subsystem.complex.shooter.LoggingFlywheel
-
-
Turn the multiSubsystem off.
-
-
turnFlywheelOff() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.FlywheelSimple
-
-
Turn the flywheel off.
-
-
turnFlywheelOff() - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.SubsystemFlywheel
-
-
Turn the flywheel off.
-
-
turnFlywheelOn() - Method in class org.usfirst.frc.team449.robot.subsystem.complex.shooter.LoggingFlywheel
-
-
Turn the multiSubsystem on to a map-specified speed.
-
-
turnFlywheelOn() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.FlywheelSimple
-
-
Turn the flywheel on to a map-specified speed.
-
-
turnFlywheelOn() - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.SubsystemFlywheel
-
-
Turn the flywheel on to a map-specified speed.
-
-
turnMotorOff() - Method in class org.usfirst.frc.team449.robot.subsystem.complex.climber.ClimberCurrentLimited
-
-
Turns the motor off.
-
-
turnMotorOff() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.BinaryMotorSimple
-
-
Turns the motor off.
-
-
TurnMotorOff - Class in org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands
-
-
Turns off the motor of the specified subsystem.
-
-
TurnMotorOff(SubsystemBinaryMotor) - Constructor for class org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands.TurnMotorOff
-
-
Default constructor
-
-
turnMotorOff() - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.SubsystemBinaryMotor
-
-
Turns the motor off.
-
-
TurnMotorOffWithRequires<T extends YamlSubsystem & SubsystemBinaryMotor> - Class in org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands
-
-
Turns off the motor of the subsystem, but does so while using requires() to interrupt any other commands currently - controlling the subsystem.
-
-
TurnMotorOffWithRequires(T) - Constructor for class org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands.TurnMotorOffWithRequires
-
-
Default constructor
-
-
turnMotorOn() - Method in class org.usfirst.frc.team449.robot.subsystem.complex.climber.ClimberCurrentLimited
-
-
Turns the motor on, and sets it to a map-specified speed.
-
-
turnMotorOn() - Method in class org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.BinaryMotorSimple
-
-
Turns the motor on, and sets it to a map-specified speed.
-
-
TurnMotorOn - Class in org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands
-
-
Turns on the motor of the specified subsystem.
-
-
TurnMotorOn(SubsystemBinaryMotor) - Constructor for class org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands.TurnMotorOn
-
-
Default constructor
-
-
turnMotorOn() - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.SubsystemBinaryMotor
-
-
Turns the motor on, and sets it to a map-specified speed.
-
-
- - - -

U

-
-
UnidirectionalNavXDefaultDrive<T extends YamlSubsystem & DriveUnidirectional & SubsystemAHRS> - Class in org.usfirst.frc.team449.robot.commands.multiInterface.drive
-
-
Drive with arcade drive setup, and when the driver isn't turning, use a NavX to stabilize the robot's alignment.
-
-
UnidirectionalNavXDefaultDrive(double, int, double, Double, double, Double, boolean, double, double, double, BufferTimer, T, OIUnidirectional) - Constructor for class org.usfirst.frc.team449.robot.commands.multiInterface.drive.UnidirectionalNavXDefaultDrive
-
-
Default constructor
-
-
UnidirectionalNavXShiftingDefaultDrive<T extends YamlSubsystem & DriveUnidirectional & SubsystemAHRS & DriveShiftable> - Class in org.usfirst.frc.team449.robot.commands.multiInterface.drive
-
-
Drive with arcade drive setup, autoshift, and when the driver isn't turning, use a NavX to stabilize the robot's - alignment.
-
-
UnidirectionalNavXShiftingDefaultDrive(double, int, double, Double, double, Double, boolean, double, double, double, BufferTimer, T, OIUnidirectional, AutoshiftComponent, Double) - Constructor for class org.usfirst.frc.team449.robot.commands.multiInterface.drive.UnidirectionalNavXShiftingDefaultDrive
-
-
Default constructor
-
-
UnidirectionalPoseEstimator<T extends SubsystemAHRS & DriveUnidirectional> - Class in org.usfirst.frc.team449.robot.other
-
-
A Runnable for pose estimation that can take absolute positions.
-
-
UnidirectionalPoseEstimator(T, double, double, double, double) - Constructor for class org.usfirst.frc.team449.robot.other.UnidirectionalPoseEstimator
-
-
Default constructor.
-
-
Updatable - Interface in org.usfirst.frc.team449.robot.generalInterfaces.updatable
-
-
An interface for any object that caches values.
-
-
update() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
-
-
Updates all cached values with current ones.
-
-
update() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectionalSimple
-
-
Updates all cached values with current ones.
-
-
update() - Method in interface org.usfirst.frc.team449.robot.generalInterfaces.updatable.Updatable
-
-
Updates all cached values with current ones.
-
-
update() - Method in class org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOriented
-
-
Updates all cached values with current ones.
-
-
update() - Method in class org.usfirst.frc.team449.robot.oi.throttles.ThrottleBasic
-
-
Updates all cached values with current ones.
-
-
update() - Method in class org.usfirst.frc.team449.robot.oi.throttles.ThrottleSum
-
-
Updates all cached values with current ones.
-
-
update() - Method in class org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcade
-
-
Updates all cached values with current ones.
-
-
update() - Method in class org.usfirst.frc.team449.robot.oi.unidirectional.OIOutreach
-
-
Updates all cached values with current ones.
-
-
update() - Method in class org.usfirst.frc.team449.robot.oi.unidirectional.tank.OITank
-
-
Updates all cached values with current ones.
-
-
update() - Method in class org.usfirst.frc.team449.robot.subsystem.complex.climber.ClimberCurrentLimited
-
-
Updates all cached values with current ones.
-
-
Updater - Class in org.usfirst.frc.team449.robot.other
-
-
A Runnable for updating cached variables.
-
-
Updater(Updatable[]) - Constructor for class org.usfirst.frc.team449.robot.other.Updater
-
-
Default constructor
-
-
updateTime() - Static method in class org.usfirst.frc.team449.robot.other.Clock
-
-
Updates the current time.
-
-
usePIDOutput(double) - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.FieldOrientedUnidirectionalDriveCommand
-
-
Give the correct output to the motors based on the PID output and velocity input.
-
-
usePIDOutput(double) - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.FieldOrientedUnidirectionalDriveCommandShifting
-
-
Give the correct output to the motors based on the PID output and velocity input.
-
-
usePIDOutput(double) - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.NavXDriveStraight
-
-
Give output to the drive based on the out of the PID loop.
-
-
usePIDOutput(double) - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.NavXTurnToAngle
-
-
Give output to the motors based on the output of the PID loop
-
-
usePIDOutput(double) - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.UnidirectionalNavXDefaultDrive
-
-
Give the correct output to the motors based on whether we're in free drive or drive straight.
-
-
usePIDOutput(double) - Method in class org.usfirst.frc.team449.robot.commands.multiInterface.drive.UnidirectionalNavXShiftingDefaultDrive
-
-
Give the correct output to the motors based on whether we're in free drive or drive straight.
-
-
- - - -

V

-
-
valueOf(String) - Static method in enum org.usfirst.frc.team449.robot.generalInterfaces.shiftable.Shiftable.gear
-
-
Returns the enum constant of this type with the specified name.
-
-
valueOf(String) - Static method in enum org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.SubsystemFlywheel.FlywheelState
-
-
Returns the enum constant of this type with the specified name.
-
-
valueOf(String) - Static method in enum org.usfirst.frc.team449.robot.subsystem.interfaces.intake.SubsystemIntake.IntakeMode
-
-
Returns the enum constant of this type with the specified name.
-
-
values() - Static method in enum org.usfirst.frc.team449.robot.generalInterfaces.shiftable.Shiftable.gear
-
-
Returns an array containing the constants of this enum type, in -the order they are declared.
-
-
values() - Static method in enum org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.SubsystemFlywheel.FlywheelState
-
-
Returns an array containing the constants of this enum type, in -the order they are declared.
-
-
values() - Static method in enum org.usfirst.frc.team449.robot.subsystem.interfaces.intake.SubsystemIntake.IntakeMode
-
-
Returns an array containing the constants of this enum type, in -the order they are declared.
-
-
VEL_SCALE - Variable in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
-
-
Joystick scaling constant.
-
-
VoltageRamp - Class in org.usfirst.frc.team449.robot.drive.unidirectional.commands
-
-
A command to ramp up the motors to full power at a given voltage rate.
-
-
VoltageRamp(DriveUnidirectional, double) - Constructor for class org.usfirst.frc.team449.robot.drive.unidirectional.commands.VoltageRamp
-
-
Default constructor
-
-
- - - -

W

-
-
WaitForMillis - Class in org.usfirst.frc.team449.robot.commands.general
-
-
A command that does nothing and finishes after a set number of milliseconds.
-
-
WaitForMillis(long) - Constructor for class org.usfirst.frc.team449.robot.commands.general.WaitForMillis
-
-
Default constructor
-
-
- - - -

Y

-
-
YamlCommand - Interface in org.usfirst.frc.team449.robot.jacksonWrappers
-
-
A command that's constructable from YAML.
-
-
YamlCommandGroupWrapper - Class in org.usfirst.frc.team449.robot.jacksonWrappers
-
-
A wrapper on CommandGroup with @JsonTypeInfo so we can use it in maps.
-
-
YamlCommandGroupWrapper() - Constructor for class org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandGroupWrapper
-
 
-
YamlCommandWrapper - Class in org.usfirst.frc.team449.robot.jacksonWrappers
-
-
A wrapper on Command with @JsonTypeInfo so we can use it in maps.
-
-
YamlCommandWrapper() - Constructor for class org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper
-
 
-
YamlSubsystem - Class in org.usfirst.frc.team449.robot.jacksonWrappers
-
-
A Jackson-compatible wrapper on Subsystem.
-
-
YamlSubsystem() - Constructor for class org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem
-
 
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org.usfirst.frc.team449.robot
-

Class Robot

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  • java.lang.Object
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    • edu.wpi.first.wpilibj.RobotBase
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    public class Robot
-extends edu.wpi.first.wpilibj.IterativeRobot
    -
    The main class of the robot, constructs all the subsystems and initializes default commands.
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      Field Summary

      - - - - - - - - - - -
      Fields 
      Modifier and TypeField and Description
      static java.lang.StringRESOURCES_PATH -
      The absolute filepath to the resources folder containing the config files.
      -
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        Fields inherited from class edu.wpi.first.wpilibj.RobotBase

        -m_ds, MAIN_THREAD_ID, ROBOT_TASK_PRIORITY
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      Constructor Summary

      - - - - - - - - -
      Constructors 
      Constructor and Description
      Robot() 
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      Method Summary

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      All Methods Instance Methods Concrete Methods 
      Modifier and TypeMethod and Description
      voidautonomousInit() -
      Run when we first enable in autonomous
      -
      voidautonomousPeriodic() -
      Runs every tick in autonomous.
      -
      voiddisabledInit() -
      Run when we disable.
      -
      voiddisabledPeriodic() -
      Run every tic while disabled
      -
      voidrobotInit() -
      The method that runs when the robot is turned on.
      -
      voidteleopInit() -
      Run when we first enable in teleop.
      -
      voidteleopPeriodic() -
      Run every tick in teleop.
      -
      voidtestInit() -
      Run when we first enable in test mode.
      -
      -
        -
      • - - -

        Methods inherited from class edu.wpi.first.wpilibj.IterativeRobot

        -robotPeriodic, startCompetition, testPeriodic
        • -
      -
        -
      • - - -

        Methods inherited from class edu.wpi.first.wpilibj.RobotBase

        -free, getBooleanProperty, initializeHardwareConfiguration, isAutonomous, isDisabled, isEnabled, isNewDataAvailable, isOperatorControl, isReal, isSimulation, isTest, main
        • -
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      • - - -

        Methods inherited from class java.lang.Object

        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
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      Field Detail

      - - - -
        -
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        RESOURCES_PATH

        -
        @NotNull
-public static final java.lang.String RESOURCES_PATH
        -
        The absolute filepath to the resources folder containing the config files.
        -
        -
        See Also:
        -
        Constant Field Values
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      Constructor Detail

      - - - -
        -
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        Robot

        -
        public Robot()
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    • - - -

      Method Detail

      - - - -
        -
      • -

        robotInit

        -
        public void robotInit()
        -
        The method that runs when the robot is turned on. Initializes all subsystems from the map.
        -
        -
        Overrides:
        -
        robotInit in class edu.wpi.first.wpilibj.IterativeRobot
        -
        -
        • -
      - - - -
        -
      • -

        teleopInit

        -
        public void teleopInit()
        -
        Run when we first enable in teleop.
        -
        -
        Overrides:
        -
        teleopInit in class edu.wpi.first.wpilibj.IterativeRobot
        -
        -
        • -
      - - - -
        -
      • -

        teleopPeriodic

        -
        public void teleopPeriodic()
        -
        Run every tick in teleop.
        -
        -
        Overrides:
        -
        teleopPeriodic in class edu.wpi.first.wpilibj.IterativeRobot
        -
        -
        • -
      - - - -
        -
      • -

        autonomousInit

        -
        public void autonomousInit()
        -
        Run when we first enable in autonomous
        -
        -
        Overrides:
        -
        autonomousInit in class edu.wpi.first.wpilibj.IterativeRobot
        -
        -
        • -
      - - - -
        -
      • -

        autonomousPeriodic

        -
        public void autonomousPeriodic()
        -
        Runs every tick in autonomous.
        -
        -
        Overrides:
        -
        autonomousPeriodic in class edu.wpi.first.wpilibj.IterativeRobot
        -
        -
        • -
      - - - -
        -
      • -

        disabledInit

        -
        public void disabledInit()
        -
        Run when we disable.
        -
        -
        Overrides:
        -
        disabledInit in class edu.wpi.first.wpilibj.IterativeRobot
        -
        -
        • -
      - - - -
        -
      • -

        testInit

        -
        public void testInit()
        -
        Run when we first enable in test mode.
        -
        -
        Overrides:
        -
        testInit in class edu.wpi.first.wpilibj.IterativeRobot
        -
        -
        • -
      - - - -
        -
      • -

        disabledPeriodic

        -
        public void disabledPeriodic()
        -
        Run every tic while disabled
        -
        -
        Overrides:
        -
        disabledPeriodic in class edu.wpi.first.wpilibj.IterativeRobot
        -
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  • Summary: 
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  • Nested | 
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  • Field | 
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org.usfirst.frc.team449.robot
-

Class RobotMap2017

-
-
-
    -
  • java.lang.Object
    • -
  • -
      -
    • org.usfirst.frc.team449.robot.RobotMap2017
      • -
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  • -
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    public class RobotMap2017
-extends java.lang.Object
    -
    The Jackson-compatible object representing the entire robot.
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      Constructor Detail

      - - - -
        -
      • -

        RobotMap2017

        -
        public RobotMap2017(@Nullable
-                    java.util.List<CommandButton> buttons,
-                    @NotNull
-                    OI oi,
-                    @NotNull
-                    Logger logger,
-                    @NotNull
-                    DriveTalonCluster drive,
-                    @NotNull
-                    YamlCommand defaultDriveCommand,
-                    @NotNull
-                    MappedRunnable updater,
-                    @Nullable
-                    ClimberCurrentLimited climber,
-                    @Nullable
-                    LoggingFlywheel shooter,
-                    @Nullable
-                    CameraNetwork camera,
-                    @Nullable
-                    IntakeFixedAndActuated intake,
-                    @Nullable
-                    Pneumatics pneumatics,
-                    @Nullable
-                    SolenoidSimple gearHandler,
-                    @Nullable
-                    java.lang.Integer RIOduinoPort,
-                    @Nullable
-                    MappedDigitalInput allianceSwitch,
-                    @Nullable
-                    MappedDigitalInput dropGearSwitch,
-                    @Nullable
-                    MappedDigitalInput locationDial,
-                    @Nullable
-                    YamlCommand boilerAuto,
-                    @Nullable
-                    YamlCommand centerAuto,
-                    @Nullable
-                    YamlCommand feederAuto,
-                    @Nullable
-                    MotionProfileData leftTestProfile,
-                    @Nullable
-                    MotionProfileData rightTestProfile,
-                    @Nullable
-                    java.util.Map<java.lang.String,MotionProfileData> leftProfiles,
-                    @Nullable
-                    java.util.Map<java.lang.String,MotionProfileData> rightProfiles,
-                    @Nullable
-                    YamlCommand nonMPAutoCommand,
-                    @Nullable
-                    YamlCommand autoStartupCommand,
-                    @Nullable
-                    YamlCommand teleopStartupCommand,
-                    @Nullable
-                    YamlCommand startupCommand,
-                    boolean testMP,
-                    @Nullable
-                    java.lang.Boolean doMP)
        -
        Default constructor.
        -
        -
        Parameters:
        -
        buttons - The buttons for controlling this robot. Can be null for an empty list.
        -
        oi - The OI for controlling this robot's drive.
        -
        logger - The logger for recording events and telemetry data.
        -
        drive - The drive.
        -
        defaultDriveCommand - The command for the drive to run during the teleoperated period.
        -
        updater - A runnable that updates cached variables.
        -
        climber - The climber for boarding the airship. Can be null.
        -
        shooter - The multiSubsystem for shooting fuel. Can be null.
        -
        camera - The cameras on this robot. Can be null.
        -
        intake - The intake for picking up and agitating balls. Can be null.
        -
        pneumatics - The pneumatics on this robot. Can be null.
        -
        gearHandler - The gear handler on this robot. Can be null.
        -
        RIOduinoPort - The I2C port of the RIOduino plugged into this robot. Can be null.
        -
        allianceSwitch - The switch for selecting which alliance we're on. Can be null if doMP is false or - testMP is true, but otherwise must have a value.
        -
        dropGearSwitch - The switch for deciding whether or not to drop the gear. Can be null if doMP is false - or testMP is true, but otherwise must have a value.
        -
        locationDial - The dial for selecting which side of the field the robot is on. Can be null if doMP - is false or testMP is true, but otherwise must have a value.
        -
        boilerAuto - The command to run in autonomous on the boiler side of the field. Can be null if doMP - is false or testMP is true, but otherwise must have a value.
        -
        centerAuto - The command to run in autonomous on the center of the field. Can be null if doMP is - false or testMP is true, but otherwise must have a value.
        -
        feederAuto - The command to run in autonomous on the feeding station side of the field. Can be - null if doMP is false or testMP is true, but otherwise must have a value.
        -
        leftTestProfile - The profile for the left side of the drive to run in test mode. Can be null if either - testMP or doMP are false, but otherwise must have a value.
        -
        rightTestProfile - The profile for the right side of the drive to run in test mode. Can be null if - either testMP or doMP are false, but otherwise must have a value.
        -
        leftProfiles - The starting position to peg profiles for the left side. Should have options for - "red_right", "red_center", "red_left", "blue_right", "blue_center", and "blue_left". - Can be null if doMP is false or testMP is true, but otherwise must have a value.
        -
        rightProfiles - The starting position to peg profiles for the right side. Should have options for - "red_right", "red_center", "red_left", "blue_right", "blue_center", and "blue_left". - Can be null if doMP is false or testMP is true, but otherwise must have a value.
        -
        nonMPAutoCommand - The command to run during autonomous if doMP is false. Can be null, and if it is, no - command is run during autonomous.
        -
        autoStartupCommand - The command to be run when first enabled in autonomous mode.
        -
        teleopStartupCommand - The command to be run when first enabled in teleoperated mode.
        -
        startupCommand - The command to be run when first enabled.
        -
        testMP - Whether to run the test or real motion profile during autonomous. Defaults to false.
        -
        doMP - Whether to run a motion profile during autonomous. Defaults to true.
        -
        -
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      -
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    - -
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      Method Detail

      - - - -
        -
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        getButtons

        -
        @NotNull
-public java.util.List<CommandButton> getButtons()
        -
        -
        Returns:
        -
        The buttons for controlling this robot.
        -
        -
        • -
      - - - -
        -
      • -

        getOI

        -
        @NotNull
-public OI getOI()
        -
        -
        Returns:
        -
        The OI for controlling this robot's drive.
        -
        -
        • -
      - - - -
        -
      • -

        getLogger

        -
        @NotNull
-public Logger getLogger()
        -
        -
        Returns:
        -
        The logger for recording events and telemetry data.
        -
        -
        • -
      - - - -
        -
      • -

        getDrive

        -
        @NotNull
-public DriveTalonCluster getDrive()
        -
        -
        Returns:
        -
        The drive.
        -
        -
        • -
      - - - -
        -
      • -

        getDefaultDriveCommand

        -
        @NotNull
-public edu.wpi.first.wpilibj.command.Command getDefaultDriveCommand()
        -
        -
        Returns:
        -
        The command for the drive to run during the teleoperated period.
        -
        -
        • -
      - - - -
        -
      • -

        getClimber

        -
        @Nullable
-public ClimberCurrentLimited getClimber()
        -
        -
        Returns:
        -
        The climber for boarding the airship. Can be null.
        -
        -
        • -
      - - - -
        -
      • -

        getShooter

        -
        @Nullable
-public LoggingFlywheel getShooter()
        -
        -
        Returns:
        -
        The multiSubsystem for shooting fuel. Can be null.
        -
        -
        • -
      - - - -
        -
      • -

        getCamera

        -
        @Nullable
-public CameraNetwork getCamera()
        -
        -
        Returns:
        -
        The cameras on this robot. Can be null.
        -
        -
        • -
      - - - -
        -
      • -

        getIntake

        -
        @Nullable
-public IntakeFixedAndActuated getIntake()
        -
        -
        Returns:
        -
        The intake for picking up and agitating balls. Can be null.
        -
        -
        • -
      - - - -
        -
      • -

        getPneumatics

        -
        @Nullable
-public Pneumatics getPneumatics()
        -
        -
        Returns:
        -
        The pneumatics on this robot. Can be null.
        -
        -
        • -
      - - - -
        -
      • -

        getGearHandler

        -
        @Nullable
-public SolenoidSimple getGearHandler()
        -
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        Returns:
        -
        The gear handler on this robot. Can be null.
        -
        -
        • -
      - - - -
        -
      • -

        getRIOduinoPort

        -
        @Nullable
-public java.lang.Integer getRIOduinoPort()
        -
        -
        Returns:
        -
        The I2C port of the RIOduino plugged into this robot. Can be null.
        -
        -
        • -
      - - - -
        -
      • -

        getAllianceSwitch

        -
        @Nullable
-public MappedDigitalInput getAllianceSwitch()
        -
        -
        Returns:
        -
        The switch for selecting which alliance we're on. Can be null if getDoMP returns false or getTestMP - returns true, but otherwise has a value.
        -
        -
        • -
      - - - -
        -
      • -

        getDropGearSwitch

        -
        @Nullable
-public MappedDigitalInput getDropGearSwitch()
        -
        -
        Returns:
        -
        The switch for deciding whether or not to drop the gear. Can be null if getDoMP returns false or - getTestMP returns true, but otherwise has a value.
        -
        -
        • -
      - - - -
        -
      • -

        getLocationDial

        -
        @Nullable
-public MappedDigitalInput getLocationDial()
        -
        -
        Returns:
        -
        The dial for selecting which side of the field the robot is on. Can be null if getDoMP returns false or - getTestMP returns true, but otherwise has a value.
        -
        -
        • -
      - - - -
        -
      • -

        getBoilerAuto

        -
        @Nullable
-public edu.wpi.first.wpilibj.command.Command getBoilerAuto()
        -
        -
        Returns:
        -
        The command to run in autonomous on the boiler side of the field. Can be null if getDoMP returns false or - getTestMP returns true, but otherwise has a value.
        -
        -
        • -
      - - - -
        -
      • -

        getCenterAuto

        -
        @Nullable
-public edu.wpi.first.wpilibj.command.Command getCenterAuto()
        -
        -
        Returns:
        -
        The command to run in autonomous on the center of the field. Can be null if getDoMP returns false or - getTestMP returns true, but otherwise has a value.
        -
        -
        • -
      - - - -
        -
      • -

        getFeederAuto

        -
        @Nullable
-public edu.wpi.first.wpilibj.command.Command getFeederAuto()
        -
        -
        Returns:
        -
        The command to run in autonomous on the feeding station side of the field. Can be null if getDoMP returns - false or getTestMP returns true, but otherwise has a value.
        -
        -
        • -
      - - - -
        -
      • -

        getLeftTestProfile

        -
        @Nullable
-public MotionProfileData getLeftTestProfile()
        -
        -
        Returns:
        -
        The profile for the left side of the drive to run in test mode. Can be null if either getTestMP or - getDoMP return false, but otherwise has a value.
        -
        -
        • -
      - - - -
        -
      • -

        getRightTestProfile

        -
        @Nullable
-public MotionProfileData getRightTestProfile()
        -
        -
        Returns:
        -
        The profile for the right side of the drive to run in test mode. Can be null if either getTestMP or - getDoMP return false, but otherwise has a value.
        -
        -
        • -
      - - - -
        -
      • -

        getLeftProfiles

        -
        @Nullable
-public java.util.Map<java.lang.String,MotionProfileData> getLeftProfiles()
        -
        -
        Returns:
        -
        The starting position to peg profiles for the left side. Can be null if getDoMP returns false or - getTestMP returns true, but otherwise has a value. If not null, has values for the keys "red_right", - "red_center", "red_left", "blue_right", "blue_center", and "blue_left".
        -
        -
        • -
      - - - -
        -
      • -

        getRightProfiles

        -
        @Nullable
-public java.util.Map<java.lang.String,MotionProfileData> getRightProfiles()
        -
        -
        Returns:
        -
        The starting position to peg profiles for the right side. Can be null if getDoMP returns false or - getTestMP returns true, but otherwise has a value. If not null, has values for the keys "red_right", - "red_center", "red_left", "blue_right", "blue_center", and "blue_left".
        -
        -
        • -
      - - - -
        -
      • -

        getNonMPAutoCommand

        -
        @Nullable
-public edu.wpi.first.wpilibj.command.Command getNonMPAutoCommand()
        -
        -
        Returns:
        -
        The command to run during autonomous if doMP is false. Can be null.
        -
        -
        • -
      - - - -
        -
      • -

        getTestMP

        -
        public boolean getTestMP()
        -
        -
        Returns:
        -
        Whether to run the test or real motion profile during autonomous.
        -
        -
        • -
      - - - -
        -
      • -

        getAutoStartupCommand

        -
        @Nullable
-public edu.wpi.first.wpilibj.command.Command getAutoStartupCommand()
        -
        -
        Returns:
        -
        The command to be run when first enabled in autonomous mode.
        -
        -
        • -
      - - - -
        -
      • -

        getTeleopStartupCommand

        -
        @Nullable
-public edu.wpi.first.wpilibj.command.Command getTeleopStartupCommand()
        -
        -
        Returns:
        -
        The command to be run when first enabled in teleoperated mode.
        -
        -
        • -
      - - - -
        -
      • -

        getDoMP

        -
        public boolean getDoMP()
        -
        -
        Returns:
        -
        Whether to run a motion profile during autonomous.
        -
        -
        • -
      - - - -
        -
      • -

        getStartupCommand

        -
        @Nullable
-public edu.wpi.first.wpilibj.command.Command getStartupCommand()
        -
        -
        Returns:
        -
        The command to be run when first enabled.
        -
        -
        • -
      - - - -
        -
      • -

        getUpdater

        -
        @NotNull
-public java.lang.Runnable getUpdater()
        -
        -
        Returns:
        -
        A runnable that updates cached variables.
        -
        -
        • -
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- - - diff --git a/docs/org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Boiler.html b/docs/org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Boiler.html deleted file mode 100644 index 3fc0e95c..00000000 --- a/docs/org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Boiler.html +++ /dev/null @@ -1,316 +0,0 @@ - - - - - -Auto2017Boiler (RoboRIO 1.0 API) - - - - - - - - -
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org.usfirst.frc.team449.robot.commands.autonomous
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Class Auto2017Boiler

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    All Implemented Interfaces:
    -
    edu.wpi.first.wpilibj.NamedSendable, edu.wpi.first.wpilibj.Sendable, YamlCommand
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    -
    -
    -
    public class Auto2017Boiler
-extends YamlCommandGroupWrapper
    -
    The autonomous routine to deliver a gear to the center gear.
    -
    • -
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      Method Summary

      - -
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      • - - -

        Methods inherited from class edu.wpi.first.wpilibj.command.CommandGroup

        -addParallel, addParallel, addSequential, addSequential, end, execute, initialize, interrupted, isFinished, isInterruptible
        • -
      -
        -
      • - - -

        Methods inherited from class edu.wpi.first.wpilibj.command.Command

        -cancel, clearRequirements, doesRequire, getGroup, getName, getSmartDashboardType, getTable, initTable, isCanceled, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled
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        Methods inherited from class java.lang.Object

        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait
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      Constructor Detail

      - - - -
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      • -

        Auto2017Boiler

        -
        public Auto2017Boiler(@NotNull
-                      RunLoadedProfile runWallToPegProfile,
-                      @NotNull
-                      YamlCommand dropGear,
-                      @NotNull
-                      MappedDigitalInput dropGearSwitch,
-                      @NotNull
-                      MappedDigitalInput allianceSwitch,
-                      @NotNull
-                      RunProfileTwoSides runRedPegToKeyProfile,
-                      @NotNull
-                      RunProfileTwoSides runBluePegToKeyProfile,
-                      @Nullable
-                      YamlCommand spinUpShooter,
-                      @Nullable
-                      YamlCommand fireShooter,
-                      long waitBetweenProfilesMillis)
        -
        Default constructor.
        -
        -
        Parameters:
        -
        runWallToPegProfile - The command for running the profile for going from the wall to the peg, which - has already been loaded.
        -
        dropGear - The command for dropping the held gear.
        -
        dropGearSwitch - The switch deciding whether or not to drop the gear.
        -
        allianceSwitch - The switch indicating which alliance we're on.
        -
        runRedPegToKeyProfile - The command for moving from the peg to the key, on the red side of the field.
        -
        runBluePegToKeyProfile - The command for moving from the peg to the key, on the blue side of the field.
        -
        spinUpShooter - The command for revving up the flywheel. Can be null.
        -
        fireShooter - The command for firing the flywheel. Can be null.
        -
        waitBetweenProfilesMillis - How long to wait between each motion profile. Defaults to 50 if less than 50.
        -
        -
        • -
      -
      • -
    -
    • -
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- - - diff --git a/docs/org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Center.html b/docs/org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Center.html deleted file mode 100644 index 4414face..00000000 --- a/docs/org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Center.html +++ /dev/null @@ -1,297 +0,0 @@ - - - - - -Auto2017Center (RoboRIO 1.0 API) - - - - - - - - -
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org.usfirst.frc.team449.robot.commands.autonomous
-

Class Auto2017Center

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    All Implemented Interfaces:
    -
    edu.wpi.first.wpilibj.NamedSendable, edu.wpi.first.wpilibj.Sendable, YamlCommand
    -
    -
    -
    -
    public class Auto2017Center
-extends YamlCommandGroupWrapper
    -
    The autonomous routine to deliver a gear to the center gear.
    -
    • -
-
-
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    -
  • - - - -
      -
    • - - -

      Method Summary

      - -
        -
      • - - -

        Methods inherited from class edu.wpi.first.wpilibj.command.CommandGroup

        -addParallel, addParallel, addSequential, addSequential, end, execute, initialize, interrupted, isFinished, isInterruptible
        • -
      -
        -
      • - - -

        Methods inherited from class edu.wpi.first.wpilibj.command.Command

        -cancel, clearRequirements, doesRequire, getGroup, getName, getSmartDashboardType, getTable, initTable, isCanceled, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled
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      • - - -

        Methods inherited from class java.lang.Object

        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait
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      Constructor Detail

      - - - -
        -
      • -

        Auto2017Center

        -
        public Auto2017Center(@NotNull
-                      RunLoadedProfile runWallToPegProfile,
-                      @NotNull
-                      YamlCommand dropGear,
-                      @NotNull
-                      MappedDigitalInput dropGearSwitch,
-                      @NotNull
-                      YamlCommand driveBack)
        -
        Default constructor.
        -
        -
        Parameters:
        -
        runWallToPegProfile - The command for running the profile for going from the wall to the peg, which has - already been loaded.
        -
        dropGear - The command for dropping the held gear.
        -
        dropGearSwitch - The switch deciding whether or not to drop the gear.
        -
        driveBack - The command for backing up away from the peg.
        -
        -
        • -
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      • -
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org.usfirst.frc.team449.robot.commands.autonomous
-

Class Auto2017Feeder

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    All Implemented Interfaces:
    -
    edu.wpi.first.wpilibj.NamedSendable, edu.wpi.first.wpilibj.Sendable, YamlCommand
    -
    -
    -
    -
    public class Auto2017Feeder
-extends YamlCommandGroupWrapper
    -
    The autonomous routine to deliver a gear to the center gear.
    -
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      Method Summary

      - -
        -
      • - - -

        Methods inherited from class edu.wpi.first.wpilibj.command.CommandGroup

        -addParallel, addParallel, addSequential, addSequential, end, execute, initialize, interrupted, isFinished, isInterruptible
        • -
      -
        -
      • - - -

        Methods inherited from class edu.wpi.first.wpilibj.command.Command

        -cancel, clearRequirements, doesRequire, getGroup, getName, getSmartDashboardType, getTable, initTable, isCanceled, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled
        • -
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        Methods inherited from class java.lang.Object

        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait
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      Constructor Detail

      - - - -
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        Auto2017Feeder

        -
        public Auto2017Feeder(@NotNull
-                      RunLoadedProfile runWallToPegProfile,
-                      @NotNull
-                      YamlCommand dropGear,
-                      @NotNull
-                      MappedDigitalInput dropGearSwitch,
-                      @NotNull
-                      MappedDigitalInput allianceSwitch,
-                      @NotNull
-                      RunProfileTwoSides runRedBackupProfile,
-                      @NotNull
-                      RunProfileTwoSides runBlueBackupProfile,
-                      @NotNull
-                      YamlCommand driveForwardsRed,
-                      @NotNull
-                      YamlCommand driveForwardsBlue,
-                      long waitBetweenProfilesMillis)
        -
        Default constructor.
        -
        -
        Parameters:
        -
        runWallToPegProfile - The command for running the profile for going from the wall to the peg, which - has already been loaded.
        -
        dropGear - The command for dropping the held gear.
        -
        dropGearSwitch - The switch deciding whether or not to drop the gear.
        -
        allianceSwitch - The switch indicating which alliance we're on.
        -
        runRedBackupProfile - The command for away from the peg, on the red side of the field.
        -
        runBlueBackupProfile - The command for moving away from the peg, on the blue side of the field.
        -
        driveForwardsRed - The command for moving forwards towards the feeder station on the red side.
        -
        driveForwardsBlue - The command for moving forwards towards the feeder station on the blue side.
        -
        waitBetweenProfilesMillis - How long to wait between each motion profile. Defaults to 50 if less than 50.
        -
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org.usfirst.frc.team449.robot.commands.autonomous

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Classes

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- - diff --git a/docs/org/usfirst/frc/team449/robot/commands/autonomous/package-summary.html b/docs/org/usfirst/frc/team449/robot/commands/autonomous/package-summary.html deleted file mode 100644 index 1de3acc8..00000000 --- a/docs/org/usfirst/frc/team449/robot/commands/autonomous/package-summary.html +++ /dev/null @@ -1,154 +0,0 @@ - - - - - -org.usfirst.frc.team449.robot.commands.autonomous (RoboRIO 1.0 API) - - - - - - - - -
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Package org.usfirst.frc.team449.robot.commands.autonomous

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    Class Summary 
    ClassDescription
    Auto2017Boiler -
    The autonomous routine to deliver a gear to the center gear.
    -
    Auto2017Center -
    The autonomous routine to deliver a gear to the center gear.
    -
    Auto2017Feeder -
    The autonomous routine to deliver a gear to the center gear.
    -
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    • -
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Class CommandSequence

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        commandList - The commands to run, in order.
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Class ParallelCommandGroup

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Class RunRunnables

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    A command that runs any number of Runnable objects every tic.
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Class WaitForMillis

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    CommandSequence -
    A command group that takes a list of commands and runs them in the order given.
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    A command group for running many commands in parallel.
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    RunRunnables -
    A command that runs any number of Runnable objects every tic.
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    A command that does nothing and finishes after a set number of milliseconds.
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Class RunMotorWhileConditonMet<T extends YamlSubsystem & SubsystemBinaryMotor & SubsystemConditional>

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      Run the motor
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      Log when this command is initialized
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      Stop the motor and log that the command has been interrupted.
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      Stop when the condition is met.
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        initialize

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        Log when this command is initialized
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        Run the motor
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        end

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        protected void end()
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        Stop the motor and log that the command has ended.
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        interrupted

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        protected void interrupted()
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        Stop the motor and log that the command has been interrupted.
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        interrupted in class edu.wpi.first.wpilibj.command.Command
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- - - diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint.html deleted file mode 100644 index 16f75f3d..00000000 --- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint.html +++ /dev/null @@ -1,327 +0,0 @@ - - - - - -FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint (RoboRIO 1.0 API) - - - - - - - - -
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org.usfirst.frc.team449.robot.commands.multiInterface.drive
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Class FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint

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      Constructor Summary

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      Constructors 
      Constructor and Description
      AngularSnapPoint(double snapTo, - double upperBound, - double lowerBound) -
      Default constructor.
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        AngularSnapPoint

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        public AngularSnapPoint(double snapTo,
-                        double upperBound,
-                        double lowerBound)
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        Default constructor.
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        Parameters:
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        snapTo - The angle to snap the setpoint to, in degrees.
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        upperBound - The upper bound, below which all angles above snapTo are changed to snapTo. Measured in - degrees.
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        lowerBound - The lower bound, above which all angles below snapTo are changed to snapTo. Measured in - degrees.
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        getSnapTo

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        public double getSnapTo()
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        The angle to snap the setpoint to, in degrees.
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        getUpperBound

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        public double getUpperBound()
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        The upper bound, below which all angles above snapTo are changed to snapTo. Measured in degrees.
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        getLowerBound

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        public double getLowerBound()
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        The lower bound, above which all angles below snapTo are changed to snapTo. Measured in degrees.
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org.usfirst.frc.team449.robot.commands.multiInterface.drive
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Class FieldOrientedUnidirectionalDriveCommand<T extends YamlSubsystem & DriveUnidirectional & SubsystemAHRS>

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      Modifier and TypeField and Description
      protected OIFieldOrientedoi -
      The OI giving the input stick values.
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      protected Tsubsystem -
      The drive this command is controlling.
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      Modifier and TypeMethod and Description
      protected voidend() -
      Log when this command ends
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      protected voidexecute() -
      Set PID setpoint to processed controller setpoint.
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      protected voidinitialize() -
      Initialize PIDController and variables.
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      protected voidinterrupted() -
      Log when this command is interrupted.
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      protected booleanisFinished() -
      Run constantly because this is a defaultDrive
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      protected voidusePIDOutput(double output) -
      Give the correct output to the motors based on the PID output and velocity input.
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        Methods inherited from class edu.wpi.first.wpilibj.command.PIDCommand

        -getPIDController, getPosition, getSetpoint, getSmartDashboardType, initTable, setInputRange, setSetpoint, setSetpointRelative
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        Methods inherited from class edu.wpi.first.wpilibj.command.Command

        -cancel, clearRequirements, doesRequire, getGroup, getName, getTable, isCanceled, isInterruptible, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled
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        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait
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        -getTable
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        FieldOrientedUnidirectionalDriveCommand

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        public FieldOrientedUnidirectionalDriveCommand(double absoluteTolerance,
-                                               int toleranceBuffer,
-                                               double minimumOutput,
-                                               @Nullable
-                                               java.lang.Double maximumOutput,
-                                               double deadband,
-                                               boolean inverted,
-                                               double kP,
-                                               double kI,
-                                               double kD,
-                                               @NotNull
-                                               T subsystem,
-                                               @NotNull
-                                               OIFieldOriented oi,
-                                               @Nullable
-                                               java.util.List<FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint> snapPoints)
        -
        Default constructor
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        -
        Parameters:
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        toleranceBuffer - How many consecutive loops have to be run while within tolerance to be considered on - target. Multiply by loop period of ~20 milliseconds for time. Defaults to 0.
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        absoluteTolerance - The maximum number of degrees off from the target at which we can be considered within - tolerance.
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        minimumOutput - The minimum output of the loop. Defaults to zero.
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        maximumOutput - The maximum output of the loop. Can be null, and if it is, no maximum output is used.
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        deadband - The deadband around the setpoint, in degrees, within which no output is given to the - motors. Defaults to zero.
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        inverted - Whether the loop is inverted. Defaults to false.
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        kP - Proportional gain. Defaults to zero.
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        kI - Integral gain. Defaults to zero.
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        kD - Derivative gain. Defaults to zero.
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        subsystem - The drive to execute this command on.
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        oi - The OI controlling the robot.
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        snapPoints - The points to snap the PID controller input to.
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        initialize

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        protected void initialize()
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        Initialize PIDController and variables.
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        initialize in class edu.wpi.first.wpilibj.command.Command
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        execute

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        protected void execute()
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        Set PID setpoint to processed controller setpoint.
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        execute in class edu.wpi.first.wpilibj.command.Command
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        isFinished

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        protected boolean isFinished()
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        Run constantly because this is a defaultDrive
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        isFinished in class edu.wpi.first.wpilibj.command.Command
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        false
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        end

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        protected void end()
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        Log when this command ends
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        end in class edu.wpi.first.wpilibj.command.Command
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        interrupted

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        protected void interrupted()
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        Log when this command is interrupted.
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        usePIDOutput

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        protected void usePIDOutput(double output)
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        Give the correct output to the motors based on the PID output and velocity input.
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        Specified by:
        -
        usePIDOutput in class edu.wpi.first.wpilibj.command.PIDCommand
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        Parameters:
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        output - The output of the angular PID loop.
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org.usfirst.frc.team449.robot.commands.multiInterface.drive
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Class FieldOrientedUnidirectionalDriveCommandShifting<T extends YamlSubsystem & DriveUnidirectional & SubsystemAHRS & DriveShiftable>

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      Modifier and TypeField and Description
      protected Tsubsystem -
      The drive to execute this command on.
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      Method Summary

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      All Methods Instance Methods Concrete Methods 
      Modifier and TypeMethod and Description
      protected voidend() -
      Log when this command ends
      -
      protected voidexecute() -
      Set PID setpoint to processed controller setpoint and autoshift.
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      protected voidinterrupted() -
      Log when this command is interrupted.
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      protected voidusePIDOutput(double output) -
      Give the correct output to the motors based on the PID output and velocity input.
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        Methods inherited from class edu.wpi.first.wpilibj.command.PIDCommand

        -getPIDController, getPosition, getSetpoint, getSmartDashboardType, initTable, setInputRange, setSetpoint, setSetpointRelative
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        Methods inherited from class edu.wpi.first.wpilibj.command.Command

        -cancel, clearRequirements, doesRequire, getGroup, getName, getTable, isCanceled, isInterruptible, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled
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        FieldOrientedUnidirectionalDriveCommandShifting

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        public FieldOrientedUnidirectionalDriveCommandShifting(double absoluteTolerance,
-                                                       int toleranceBuffer,
-                                                       double minimumOutput,
-                                                       @Nullable
-                                                       java.lang.Double maximumOutput,
-                                                       double deadband,
-                                                       boolean inverted,
-                                                       double kP,
-                                                       double kI,
-                                                       double kD,
-                                                       @NotNull
-                                                       T subsystem,
-                                                       @NotNull
-                                                       OIFieldOriented oi,
-                                                       @Nullable
-                                                       java.util.List<FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint> snapPoints,
-                                                       @NotNull
-                                                       AutoshiftComponent autoshiftComponent,
-                                                       @Nullable
-                                                       java.lang.Double highGearAngularCoefficient)
        -
        Default constructor
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        Parameters:
        -
        toleranceBuffer - How many consecutive loops have to be run while within tolerance to be considered on - target. Multiply by loop period of ~20 milliseconds for time. Defaults to 0.
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        absoluteTolerance - The maximum number of degrees off from the target at which we can be considered within - tolerance.
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        minimumOutput - The minimum output of the loop. Defaults to zero.
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        maximumOutput - The maximum output of the loop. Can be null, and if it is, no maximum output is used.
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        deadband - The deadband around the setpoint, in degrees, within which no output is given to the - motors. Defaults to zero.
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        inverted - Whether the loop is inverted. Defaults to false.
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        kP - Proportional gain. Defaults to zero.
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        kI - Integral gain. Defaults to zero.
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        kD - Derivative gain. Defaults to zero.
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        subsystem - The drive to execute this command on.
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        oi - The OI controlling the robot.
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        snapPoints - The points to snap the PID controller input to.
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        autoshiftComponent - The helper object for autoshifting.
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        highGearAngularCoefficient - The coefficient to multiply the loop output by in high gear. Defaults to 1.
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org.usfirst.frc.team449.robot.commands.multiInterface.drive
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Class JiggleRobot<T extends YamlSubsystem & DriveUnidirectional & SubsystemAHRS>

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      Constructor and Description
      JiggleRobot(double absoluteTolerance, - int toleranceBuffer, - double minimumOutput, - java.lang.Double maximumOutput, - double deadband, - boolean inverted, - int kP, - int kI, - int kD, - T subsystem) -
      Instantiate the CommandGroup
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        Methods inherited from class edu.wpi.first.wpilibj.command.CommandGroup

        -addParallel, addParallel, addSequential, addSequential, end, execute, initialize, interrupted, isFinished, isInterruptible
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        Methods inherited from class edu.wpi.first.wpilibj.command.Command

        -cancel, clearRequirements, doesRequire, getGroup, getName, getSmartDashboardType, getTable, initTable, isCanceled, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled
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        JiggleRobot

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        public JiggleRobot(double absoluteTolerance,
-                   int toleranceBuffer,
-                   double minimumOutput,
-                   @Nullable
-                   java.lang.Double maximumOutput,
-                   double deadband,
-                   boolean inverted,
-                   int kP,
-                   int kI,
-                   int kD,
-                   @NotNull
-                   T subsystem)
        -
        Instantiate the CommandGroup
        -
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        Parameters:
        -
        toleranceBuffer - How many consecutive loops have to be run while within tolerance to be considered on - target. Multiply by loop period of ~20 milliseconds for time. Defaults to 0.
        -
        absoluteTolerance - The maximum number of degrees off from the target at which we can be considered within - tolerance.
        -
        minimumOutput - The minimum output of the loop. Defaults to zero.
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        maximumOutput - The maximum output of the loop. Can be null, and if it is, no maximum output is used.
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        deadband - The deadband around the setpoint, in degrees, within which no output is given to the - motors. Defaults to zero.
        -
        inverted - Whether the loop is inverted. Defaults to false.
        -
        kP - Proportional gain. Defaults to zero.
        -
        kI - Integral gain. Defaults to zero.
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        kD - Derivative gain. Defaults to zero.
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        subsystem - The drive to execute this command on.
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- - - diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html deleted file mode 100644 index c9340254..00000000 --- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html +++ /dev/null @@ -1,497 +0,0 @@ - - - - - -NavXDriveStraight (RoboRIO 1.0 API) - - - - - - - - -
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org.usfirst.frc.team449.robot.commands.multiInterface.drive
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Class NavXDriveStraight<T extends YamlSubsystem & DriveUnidirectional & SubsystemAHRS>

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      Modifier and TypeField and Description
      protected Tsubsystem -
      The drive subsystem to give output to.
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      Constructor Summary

      - - - - - - - - -
      Constructors 
      Constructor and Description
      NavXDriveStraight(double absoluteTolerance, - int toleranceBuffer, - double minimumOutput, - java.lang.Double maximumOutput, - double deadband, - boolean inverted, - int kP, - int kI, - int kD, - T subsystem, - OITank oi, - boolean useLeft) -
      Default constructor.
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      Method Summary

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      All Methods Instance Methods Concrete Methods 
      Modifier and TypeMethod and Description
      protected voidend() -
      Log when this command ends
      -
      protected voidinitialize() -
      Set the setpoint of the angle PID.
      -
      protected voidinterrupted() -
      Log when this command is interrupted.
      -
      protected booleanisFinished() -
      Never finishes.
      -
      protected voidusePIDOutput(double output) -
      Give output to the drive based on the out of the PID loop.
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      - -
        -
      • - - -

        Methods inherited from class edu.wpi.first.wpilibj.command.PIDCommand

        -getPIDController, getPosition, getSetpoint, getSmartDashboardType, initTable, setInputRange, setSetpoint, setSetpointRelative
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        Methods inherited from class edu.wpi.first.wpilibj.command.Command

        -cancel, clearRequirements, doesRequire, execute, getGroup, getName, getTable, isCanceled, isInterruptible, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled
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        Methods inherited from class java.lang.Object

        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait
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        Methods inherited from interface edu.wpi.first.wpilibj.Sendable

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      Constructor Detail

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        NavXDriveStraight

        -
        public NavXDriveStraight(double absoluteTolerance,
-                         int toleranceBuffer,
-                         double minimumOutput,
-                         @Nullable
-                         java.lang.Double maximumOutput,
-                         double deadband,
-                         boolean inverted,
-                         int kP,
-                         int kI,
-                         int kD,
-                         @NotNull
-                         T subsystem,
-                         @NotNull
-                         OITank oi,
-                         boolean useLeft)
        -
        Default constructor.
        -
        -
        Parameters:
        -
        toleranceBuffer - How many consecutive loops have to be run while within tolerance to be considered on - target. Multiply by loop period of ~20 milliseconds for time. Defaults to 0.
        -
        absoluteTolerance - The maximum number of degrees off from the target at which we can be considered within - tolerance.
        -
        minimumOutput - The minimum output of the loop. Defaults to zero.
        -
        maximumOutput - The maximum output of the loop. Can be null, and if it is, no maximum output is used.
        -
        deadband - The deadband around the setpoint, in degrees, within which no output is given to the - motors. Defaults to zero.
        -
        inverted - Whether the loop is inverted. Defaults to false.
        -
        kP - Proportional gain. Defaults to zero.
        -
        kI - Integral gain. Defaults to zero.
        -
        kD - Derivative gain. Defaults to zero.
        -
        subsystem - The drive to execute this command on.
        -
        oi - The tank OI to take input from.
        -
        useLeft - Which joystick to use to get the forward component to drive straight. True for left, - false for right.
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      Method Detail

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        usePIDOutput

        -
        protected void usePIDOutput(double output)
        -
        Give output to the drive based on the out of the PID loop.
        -
        -
        Specified by:
        -
        usePIDOutput in class edu.wpi.first.wpilibj.command.PIDCommand
        -
        Parameters:
        -
        output - the value the PID loop calculated
        -
        -
        • -
      - - - -
        -
      • -

        initialize

        -
        protected void initialize()
        -
        Set the setpoint of the angle PID.
        -
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        Overrides:
        -
        initialize in class edu.wpi.first.wpilibj.command.Command
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        isFinished

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        protected boolean isFinished()
        -
        Never finishes.
        -
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        Specified by:
        -
        isFinished in class edu.wpi.first.wpilibj.command.Command
        -
        Returns:
        -
        false
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        end

        -
        protected void end()
        -
        Log when this command ends
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        -
        end in class edu.wpi.first.wpilibj.command.Command
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        interrupted

        -
        protected void interrupted()
        -
        Log when this command is interrupted.
        -
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        Overrides:
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        interrupted in class edu.wpi.first.wpilibj.command.Command
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org.usfirst.frc.team449.robot.commands.multiInterface.drive
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Class NavXTurnToAngle<T extends YamlSubsystem & DriveUnidirectional & SubsystemAHRS>

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      Field Summary

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      Fields 
      Modifier and TypeField and Description
      protected doublesetpoint -
      The angle to turn to.
      -
      protected longstartTime -
      The time this command was initiated
      -
      protected Tsubsystem -
      The drive subsystem to execute this command on and to get the gyro reading from.
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      Constructor Summary

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      Constructors 
      Constructor and Description
      NavXTurnToAngle(double absoluteTolerance, - int toleranceBuffer, - double minimumOutput, - java.lang.Double maximumOutput, - double deadband, - boolean inverted, - int kP, - int kI, - int kD, - double setpoint, - T subsystem, - double timeout) -
      Default constructor.
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      Method Summary

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      All Methods Static Methods Instance Methods Concrete Methods 
      Modifier and TypeMethod and Description
      protected static doubleclipTo180(double theta) -
      Clip a degree number to the NavX's -180 to 180 system.
      -
      protected voidend() -
      Log when the command ends.
      -
      protected voidinitialize() -
      Set up the start time and setpoint.
      -
      protected voidinterrupted() -
      Log when the command is interrupted.
      -
      protected booleanisFinished() -
      Exit when the robot reaches the setpoint or enough time has passed.
      -
      protected voidusePIDOutput(double output) -
      Give output to the motors based on the output of the PID loop
      -
      - -
        -
      • - - -

        Methods inherited from class edu.wpi.first.wpilibj.command.PIDCommand

        -getPIDController, getPosition, getSetpoint, getSmartDashboardType, initTable, setInputRange, setSetpoint, setSetpointRelative
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        Methods inherited from class edu.wpi.first.wpilibj.command.Command

        -cancel, clearRequirements, doesRequire, execute, getGroup, getName, getTable, isCanceled, isInterruptible, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled
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        Methods inherited from class java.lang.Object

        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait
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        Methods inherited from interface edu.wpi.first.wpilibj.Sendable

        -getTable
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      Field Detail

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        setpoint

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        protected final double setpoint
        -
        The angle to turn to.
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        startTime

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        protected long startTime
        -
        The time this command was initiated
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      Constructor Detail

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        NavXTurnToAngle

        -
        public NavXTurnToAngle(double absoluteTolerance,
-                       int toleranceBuffer,
-                       double minimumOutput,
-                       @Nullable
-                       java.lang.Double maximumOutput,
-                       double deadband,
-                       boolean inverted,
-                       int kP,
-                       int kI,
-                       int kD,
-                       double setpoint,
-                       @NotNull
-                       T subsystem,
-                       double timeout)
        -
        Default constructor.
        -
        -
        Parameters:
        -
        toleranceBuffer - How many consecutive loops have to be run while within tolerance to be considered on - target. Multiply by loop period of ~20 milliseconds for time. Defaults to 0.
        -
        absoluteTolerance - The maximum number of degrees off from the target at which we can be considered within - tolerance.
        -
        minimumOutput - The minimum output of the loop. Defaults to zero.
        -
        maximumOutput - The maximum output of the loop. Can be null, and if it is, no maximum output is used.
        -
        deadband - The deadband around the setpoint, in degrees, within which no output is given to the - motors. Defaults to zero.
        -
        inverted - Whether the loop is inverted. Defaults to false.
        -
        kP - Proportional gain. Defaults to zero.
        -
        kI - Integral gain. Defaults to zero.
        -
        kD - Derivative gain. Defaults to zero.
        -
        setpoint - The setpoint, in degrees from 180 to -180.
        -
        subsystem - The drive subsystem to execute this command on.
        -
        timeout - How long this command is allowed to run for, in seconds. Needed because sometimes - floating-point errors prevent termination.
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      Method Detail

      - - - -
        -
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        clipTo180

        -
        @Contract(pure=true)
-protected static double clipTo180(double theta)
        -
        Clip a degree number to the NavX's -180 to 180 system.
        -
        -
        Parameters:
        -
        theta - The angle to clip, in degrees.
        -
        Returns:
        -
        The equivalent of that number, clipped to be between -180 and 180.
        -
        -
        • -
      - - - -
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      • -

        usePIDOutput

        -
        protected void usePIDOutput(double output)
        -
        Give output to the motors based on the output of the PID loop
        -
        -
        Specified by:
        -
        usePIDOutput in class edu.wpi.first.wpilibj.command.PIDCommand
        -
        Parameters:
        -
        output - The output of the angle PID loop
        -
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        • -
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        initialize

        -
        protected void initialize()
        -
        Set up the start time and setpoint.
        -
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        Overrides:
        -
        initialize in class edu.wpi.first.wpilibj.command.Command
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        -
        • -
      - - - -
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        isFinished

        -
        protected boolean isFinished()
        -
        Exit when the robot reaches the setpoint or enough time has passed.
        -
        -
        Specified by:
        -
        isFinished in class edu.wpi.first.wpilibj.command.Command
        -
        Returns:
        -
        True if timeout seconds have passed or the robot is on target, false otherwise.
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        end

        -
        protected void end()
        -
        Log when the command ends.
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        Overrides:
        -
        end in class edu.wpi.first.wpilibj.command.Command
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        interrupted

        -
        protected void interrupted()
        -
        Log when the command is interrupted.
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        Overrides:
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        interrupted in class edu.wpi.first.wpilibj.command.Command
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org.usfirst.frc.team449.robot.commands.multiInterface.drive
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Class NavXTurnToAngleRelative<T extends YamlSubsystem & DriveUnidirectional & SubsystemAHRS>

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      Constructor Summary

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      Constructors 
      Constructor and Description
      NavXTurnToAngleRelative(double absoluteTolerance, - int toleranceBuffer, - double minimumOutput, - java.lang.Double maximumOutput, - double deadband, - boolean inverted, - int kP, - int kI, - int kD, - double setpoint, - T drive, - double timeout) -
      Default constructor.
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      Method Summary

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      All Methods Instance Methods Concrete Methods 
      Modifier and TypeMethod and Description
      protected voidend() -
      Log when the command ends.
      -
      protected voidinitialize() -
      Set up the start time and setpoint.
      -
      protected voidinterrupted() -
      Log when the command is interrupted.
      -
      - - -
        -
      • - - -

        Methods inherited from class edu.wpi.first.wpilibj.command.PIDCommand

        -getPIDController, getPosition, getSetpoint, getSmartDashboardType, initTable, setInputRange, setSetpoint, setSetpointRelative
        • -
      -
        -
      • - - -

        Methods inherited from class edu.wpi.first.wpilibj.command.Command

        -cancel, clearRequirements, doesRequire, execute, getGroup, getName, getTable, isCanceled, isInterruptible, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled
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        Methods inherited from class java.lang.Object

        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait
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        Methods inherited from interface edu.wpi.first.wpilibj.Sendable

        -getTable
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      Constructor Detail

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        NavXTurnToAngleRelative

        -
        public NavXTurnToAngleRelative(double absoluteTolerance,
-                               int toleranceBuffer,
-                               double minimumOutput,
-                               @Nullable
-                               java.lang.Double maximumOutput,
-                               double deadband,
-                               boolean inverted,
-                               int kP,
-                               int kI,
-                               int kD,
-                               double setpoint,
-                               @NotNull
-                               T drive,
-                               double timeout)
        -
        Default constructor.
        -
        -
        Parameters:
        -
        toleranceBuffer - How many consecutive loops have to be run while within tolerance to be considered on - target. Multiply by loop period of ~20 milliseconds for time. Defaults to 0.
        -
        absoluteTolerance - The maximum number of degrees off from the target at which we can be considered within - tolerance.
        -
        minimumOutput - The minimum output of the loop. Defaults to zero.
        -
        maximumOutput - The maximum output of the loop. Can be null, and if it is, no maximum output is used.
        -
        deadband - The deadband around the setpoint, in degrees, within which no output is given to the - motors. Defaults to zero.
        -
        inverted - Whether the loop is inverted. Defaults to false.
        -
        kP - Proportional gain. Defaults to zero.
        -
        kI - Integral gain. Defaults to zero.
        -
        kD - Derivative gain. Defaults to zero.
        -
        setpoint - The setpoint, in degrees from 180 to -180.
        -
        drive - The drive subsystem to execute this command on.
        -
        timeout - How long this command is allowed to run for, in seconds. Needed because sometimes - floating-point errors prevent termination.
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      Method Detail

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        initialize

        -
        protected void initialize()
        -
        Set up the start time and setpoint.
        -
        -
        Overrides:
        -
        initialize in class NavXTurnToAngle
        -
        -
        • -
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        end

        -
        protected void end()
        -
        Log when the command ends.
        -
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        Overrides:
        -
        end in class NavXTurnToAngle
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        interrupted

        -
        protected void interrupted()
        -
        Log when the command is interrupted.
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        Overrides:
        -
        interrupted in class NavXTurnToAngle
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org.usfirst.frc.team449.robot.commands.multiInterface.drive
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Class UnidirectionalNavXDefaultDrive<T extends YamlSubsystem & DriveUnidirectional & SubsystemAHRS>

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      Field Summary

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      Fields 
      Modifier and TypeField and Description
      protected OIUnidirectionaloi -
      The OI giving the input stick values.
      -
      protected Tsubsystem -
      The drive this command is controlling.
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      -
      • -
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      Constructor Summary

      - - - - - - - - -
      Constructors 
      Constructor and Description
      UnidirectionalNavXDefaultDrive(double absoluteTolerance, - int toleranceBuffer, - double minimumOutput, - java.lang.Double maximumOutput, - double deadband, - java.lang.Double maxAngularVelToEnterLoop, - boolean inverted, - double kP, - double kI, - double kD, - BufferTimer driveStraightLoopEntryTimer, - T subsystem, - OIUnidirectional oi) -
      Default constructor
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      Method Summary

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      All Methods Instance Methods Concrete Methods 
      Modifier and TypeMethod and Description
      protected voidend() -
      Log when this command ends
      -
      protected voidexecute() -
      Decide whether or not we should be in free drive or straight drive.
      -
      protected voidinitialize() -
      Initialize PIDController and variables.
      -
      protected voidinterrupted() -
      Stop the motors and log when this command is interrupted.
      -
      protected booleanisFinished() -
      Run constantly because this is a defaultDrive
      -
      protected voidusePIDOutput(double output) -
      Give the correct output to the motors based on whether we're in free drive or drive straight.
      -
      - -
        -
      • - - -

        Methods inherited from class edu.wpi.first.wpilibj.command.PIDCommand

        -getPIDController, getPosition, getSetpoint, getSmartDashboardType, initTable, setInputRange, setSetpoint, setSetpointRelative
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      • - - -

        Methods inherited from class edu.wpi.first.wpilibj.command.Command

        -cancel, clearRequirements, doesRequire, getGroup, getName, getTable, isCanceled, isInterruptible, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled
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        Methods inherited from class java.lang.Object

        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait
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        Methods inherited from interface edu.wpi.first.wpilibj.Sendable

        -getTable
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      Constructor Detail

      - - - - - -
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        UnidirectionalNavXDefaultDrive

        -
        public UnidirectionalNavXDefaultDrive(double absoluteTolerance,
-                                      int toleranceBuffer,
-                                      double minimumOutput,
-                                      @Nullable
-                                      java.lang.Double maximumOutput,
-                                      double deadband,
-                                      @Nullable
-                                      java.lang.Double maxAngularVelToEnterLoop,
-                                      boolean inverted,
-                                      double kP,
-                                      double kI,
-                                      double kD,
-                                      @NotNull
-                                      BufferTimer driveStraightLoopEntryTimer,
-                                      @NotNull
-                                      T subsystem,
-                                      @NotNull
-                                      OIUnidirectional oi)
        -
        Default constructor
        -
        -
        Parameters:
        -
        toleranceBuffer - How many consecutive loops have to be run while within tolerance to be - considered on target. Multiply by loop period of ~20 milliseconds for time. - Defaults to 0.
        -
        absoluteTolerance - The maximum number of degrees off from the target at which we can be - considered within tolerance.
        -
        minimumOutput - The minimum output of the loop. Defaults to zero.
        -
        maximumOutput - The maximum output of the loop. Can be null, and if it is, no maximum output - is used.
        -
        deadband - The deadband around the setpoint, in degrees, within which no output is given - to the motors. Defaults to zero.
        -
        maxAngularVelToEnterLoop - The maximum angular velocity, in degrees/sec, at which the loop will be - entered. Defaults to 180.
        -
        inverted - Whether the loop is inverted. Defaults to false.
        -
        kP - Proportional gain. Defaults to zero.
        -
        kI - Integral gain. Defaults to zero.
        -
        kD - Derivative gain. Defaults to zero.
        -
        driveStraightLoopEntryTimer - The buffer timer for starting to drive straight.
        -
        subsystem - The drive to execute this command on.
        -
        oi - The OI controlling the robot.
        -
        -
        • -
      -
      • -
    - -
      -
    • - - -

      Method Detail

      - - - -
        -
      • -

        initialize

        -
        protected void initialize()
        -
        Initialize PIDController and variables.
        -
        -
        Overrides:
        -
        initialize in class edu.wpi.first.wpilibj.command.Command
        -
        -
        • -
      - - - -
        -
      • -

        execute

        -
        protected void execute()
        -
        Decide whether or not we should be in free drive or straight drive.
        -
        -
        Overrides:
        -
        execute in class edu.wpi.first.wpilibj.command.Command
        -
        -
        • -
      - - - -
        -
      • -

        isFinished

        -
        protected boolean isFinished()
        -
        Run constantly because this is a defaultDrive
        -
        -
        Specified by:
        -
        isFinished in class edu.wpi.first.wpilibj.command.Command
        -
        Returns:
        -
        false
        -
        -
        • -
      - - - -
        -
      • -

        end

        -
        protected void end()
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        Log when this command ends
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        protected void interrupted()
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        Stop the motors and log when this command is interrupted.
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        Give the correct output to the motors based on whether we're in free drive or drive straight.
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        output - The output of the angular PID loop.
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org.usfirst.frc.team449.robot.commands.multiInterface.drive
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Class UnidirectionalNavXShiftingDefaultDrive<T extends YamlSubsystem & DriveUnidirectional & SubsystemAHRS & DriveShiftable>

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      Constructor and Description
      UnidirectionalNavXShiftingDefaultDrive(double absoluteTolerance, - int toleranceBuffer, - double minimumOutput, - java.lang.Double maximumOutput, - double deadband, - java.lang.Double maxAngularVelToEnterLoop, - boolean inverted, - double kP, - double kI, - double kD, - BufferTimer driveStraightLoopEntryTimer, - T subsystem, - OIUnidirectional oi, - AutoshiftComponent autoshiftComponent, - java.lang.Double highGearAngularCoefficient) -
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      Modifier and TypeMethod and Description
      protected voidend() -
      Log when this command ends
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      voidexecute() -
      Autoshift and decide whether or not we should be in free drive or straight drive
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      protected voidinterrupted() -
      Stop the motors and log when this command is interrupted.
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      protected voidusePIDOutput(double output) -
      Give the correct output to the motors based on whether we're in free drive or drive straight.
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        Methods inherited from class edu.wpi.first.wpilibj.command.PIDCommand

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        UnidirectionalNavXShiftingDefaultDrive

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        public UnidirectionalNavXShiftingDefaultDrive(double absoluteTolerance,
-                                              int toleranceBuffer,
-                                              double minimumOutput,
-                                              @Nullable
-                                              java.lang.Double maximumOutput,
-                                              double deadband,
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-                                              java.lang.Double maxAngularVelToEnterLoop,
-                                              boolean inverted,
-                                              double kP,
-                                              double kI,
-                                              double kD,
-                                              @NotNull
-                                              BufferTimer driveStraightLoopEntryTimer,
-                                              @NotNull
-                                              T subsystem,
-                                              @NotNull
-                                              OIUnidirectional oi,
-                                              @NotNull
-                                              AutoshiftComponent autoshiftComponent,
-                                              @Nullable
-                                              java.lang.Double highGearAngularCoefficient)
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        Default constructor
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        Parameters:
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        toleranceBuffer - How many consecutive loops have to be run while within tolerance to be - considered on target. Multiply by loop period of ~20 milliseconds for time. - Defaults to 0.
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        absoluteTolerance - The maximum number of degrees off from the target at which we can be - considered within tolerance.
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        minimumOutput - The minimum output of the loop. Defaults to zero.
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        maximumOutput - The maximum output of the loop. Can be null, and if it is, no maximum output - is used.
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        deadband - The deadband around the setpoint, in degrees, within which no output is given - to the motors. Defaults to zero.
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        maxAngularVelToEnterLoop - The maximum angular velocity, in degrees/sec, at which the loop will be - entered. Defaults to 180.
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        inverted - Whether the loop is inverted. Defaults to false.
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        kP - Proportional gain. Defaults to zero.
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        kI - Integral gain. Defaults to zero.
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        kD - Derivative gain. Defaults to zero.
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        driveStraightLoopEntryTimer - The buffer timer for starting to drive straight.
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        subsystem - The drive to execute this command on.
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        oi - The OI controlling the robot.
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        autoshiftComponent - The helper object for autoshifting.
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        highGearAngularCoefficient - The coefficient to multiply the loop output by in high gear. Defaults to 1.
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org.usfirst.frc.team449.robot.commands.multiInterface.drive

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Classes

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Package org.usfirst.frc.team449.robot.commands.multiInterface.drive

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Hierarchy For Package org.usfirst.frc.team449.robot.commands.multiInterface.drive

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org.usfirst.frc.team449.robot.commands.multiInterface

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Classes

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Package org.usfirst.frc.team449.robot.commands.multiInterface

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Hierarchy For Package org.usfirst.frc.team449.robot.commands.multiInterface

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Class Hierarchy

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org.usfirst.frc.team449.robot.commands.multiSubsystem
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Class FireShooter

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    public class FireShooter
-extends YamlCommandGroupWrapper
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    Command group for firing the flywheel. Runs flywheel, runs static intake, stops dynamic intake, raises intake, and - runs feeder.
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        -addParallel, addParallel, addSequential, addSequential, end, execute, initialize, interrupted, isFinished, isInterruptible
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        Methods inherited from class edu.wpi.first.wpilibj.command.Command

        -cancel, clearRequirements, doesRequire, getGroup, getName, getSmartDashboardType, getTable, initTable, isCanceled, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled
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        FireShooter

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        public FireShooter(@Nullable
-                   SubsystemFlywheel subsystemFlywheel,
-                   @Nullable
-                   SubsystemIntake subsystemIntake)
        -
        Constructs a FireShooter command group
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        subsystemFlywheel - flywheel subsystem. Can be null.
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        subsystemIntake - intake subsystem. Can be null.
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org.usfirst.frc.team449.robot.commands.multiSubsystem
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Class LoadShooter<T extends SubsystemIntake & SubsystemSolenoid>

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    public class LoadShooter<T extends SubsystemIntake & SubsystemSolenoid>
-extends YamlCommandGroupWrapper
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    Command group for intaking balls from the ground. Stops flywheel, runs static intake, runs dynamic intake, lowers - intake, and stops feeder.
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      Constructor and Description
      LoadShooter(SubsystemFlywheel subsystemFlywheel, - T subsystemIntake) -
      Constructs a LoadShooter command group
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        public LoadShooter(@Nullable
-                   SubsystemFlywheel subsystemFlywheel,
-                   @Nullable
-                   T subsystemIntake)
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        Constructs a LoadShooter command group
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        subsystemFlywheel - flywheel subsystem. Can be null.
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        subsystemIntake - intake subsystem. Can be null.
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Class RackShooter<T extends SubsystemIntake & SubsystemSolenoid>

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    public class RackShooter<T extends SubsystemIntake & SubsystemSolenoid>
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    Command group for preparing the flywheel to fire. Starts flywheel, runs static intake, stops dynamic intake, raises - intake, and stops feeder.
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      RackShooter(SubsystemFlywheel subsystemFlywheel, - T subsystemIntake) -
      Constructs a RackShooter command group
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        Constructs a RackShooter command group
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        subsystemFlywheel - flywheel subsystem. Can be null.
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        subsystemIntake - intake subsystem. Can be null.
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Class ResetShooter<T extends SubsystemIntake & SubsystemSolenoid>

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      ResetShooter(SubsystemFlywheel subsystemFlywheel, - T subsystemIntake) -
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        subsystemFlywheel - flywheel subsystem. Can be null.
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org.usfirst.frc.team449.robot.commands.multiSubsystem

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Classes

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Hierarchy For Package org.usfirst.frc.team449.robot.commands.multiSubsystem

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Class Hierarchy

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org.usfirst.frc.team449.robot.components
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Class AHRSRumbleComponent

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    public class AHRSRumbleComponent
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    A component to rumble controllers based off the jerk measurements from an AHRS.
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      Constructor and Description
      AHRSRumbleComponent(MappedAHRS ahrs, - java.util.List<Rumbleable> rumbleables, - double minJerk, - double maxJerk, - boolean yIsFrontBack, - boolean invertLeftRight) -
      Default constructor.
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      voidrun() -
      Read the NavX jerk data and rumble the joysticks based off of it.
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        AHRSRumbleComponent

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        public AHRSRumbleComponent(@NotNull
-                           MappedAHRS ahrs,
-                           @NotNull
-                           java.util.List<Rumbleable> rumbleables,
-                           double minJerk,
-                           double maxJerk,
-                           boolean yIsFrontBack,
-                           boolean invertLeftRight)
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        Default constructor.
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        Parameters:
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        ahrs - The NavX to get jerk measurements from.
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        rumbleables - The things to rumble.
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        minJerk - The minimum jerk that will trigger rumbling, in feet/(sec^3).
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        maxJerk - The jerk, in feet/(sec^3), that's scaled to maximum rumble. All jerks of greater magnitude - are capped at 1.
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        yIsFrontBack - Whether the NavX Y-axis measures forwards-back jerk or left-right jerk. Defaults to - false.
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        invertLeftRight - Whether to invert the left-right jerk measurement. Defaults to false.
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        run

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        public void run()
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        Read the NavX jerk data and rumble the joysticks based off of it.
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Class AutoshiftComponent

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    A component class for autoshifting.
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      Constructor and Description
      AutoshiftComponent(double upshiftSpeed, - double downshiftSpeed, - BufferTimer upshiftBufferTimer, - BufferTimer downshiftBufferTimer, - double upshiftFwdThresh, - double cooldownAfterUpshift, - double cooldownAfterDownshift) -
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      voidautoshift(double forwardThrottle, - double leftVel, - double rightVel, - java.util.function.Consumer<java.lang.Integer> shift) -
      Determine if the subsystem should shift, and if yes, do the shifting.
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        public AutoshiftComponent(double upshiftSpeed,
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-                          double upshiftFwdThresh,
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        Default constructor
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        upshiftSpeed - The minimum speed both sides the drive must be going at to shift to high gear.
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        downshiftSpeed - The maximum speed both sides must be going at to shift to low gear.
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        upshiftBufferTimer - Buffer timer for upshifting.
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        downshiftBufferTimer - Buffer timer for downshifting.
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        cooldownAfterDownshift - The minimum time, in seconds, between downshifting and then upshifting again. - Defaults to 0.
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        cooldownAfterUpshift - The minimum time, in seconds, between upshifting and then downshifting again. - Defaults to 0.
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        upshiftFwdThresh - The minimum amount the forward joystick must be pushed forward in order to upshift, - on [0, 1]. Defaults to 0.
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        public void autoshift(double forwardThrottle,
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        Determine if the subsystem should shift, and if yes, do the shifting.
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        forwardThrottle - The forwards throttle, on [-1, 1].
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        leftVel - The velocity of the left side of the drive.
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        rightVel - The velocity of the right side of the drive.
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        shift - The function to actually shift gears.
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Class ShiftComponent

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    A component that a subsystem can use to handle shifting gears.
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      Modifier and TypeField and Description
      protected intcurrentGear -
      The gear this component is currently in.
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      All objects that should be shifted when this component's piston is.
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      intgetCurrentGear() 
      protected voidshiftPiston(int gear) -
      Shifts the piston to the given gear.
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      Shifts to a given gear.
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        All objects that should be shifted when this component's piston is.
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        The gear this component is currently in.
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-                      edu.wpi.first.wpilibj.DoubleSolenoid.Value lowGearPistonPos,
-                      @Nullable
-                      Shiftable.gear startingGear)
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        Default constructor.
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        otherShiftables - All objects that should be shifted when this component's piston is.
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        piston - The piston that shifts.
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        lowGearPistonPos - The piston position for low gear. Defaults to Forward.
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        Shifts to a given gear.
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        gear - The gear to shift to.
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        The gear the shifter is currently in.
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        Shifts the piston to the given gear.
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        gear - The gear to shift to
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Class ShiftWithSensorComponent

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    A component that a subsystem can use for shifting when the pistons have sensor to detect position.
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        public ShiftWithSensorComponent(@NotNull
-                                java.util.List<Shiftable> otherShiftables,
-                                @NotNull
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-                                edu.wpi.first.wpilibj.DoubleSolenoid.Value lowGearPistonPos,
-                                @Nullable
-                                Shiftable.gear startingGear,
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-                                MappedDigitalInput highGearSensors,
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        otherShiftables - All objects that should be shifted when this component's piston is.
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        piston - The piston that shifts.
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        lowGearPistonPos - The piston position for low gear. Defaults to Forward.
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        startingGear - The gear to start in. Can be null, and if it is, the starting gear is gotten from - the piston's position.
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        highGearSensors - The reed switches that detect if the shifter pistons are in high gear.
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        lowGearSensors - The reed switches that detect if the shifter pistons are in low gear.
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        motorsToDisable - The motors that should be disabled while the piston is shifting.
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        motorDisableTimer - The timer for how long the piston can be considered shifting before we ignore the - sensors and re-enable the motors.
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        sensorCheckerPeriodSecs - The period for the loop that checks the sensors and enables/disables the motors, - in seconds.
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        Shifts to a given gear.
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        gear - The gear to shift to.
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org.usfirst.frc.team449.robot.components

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Package org.usfirst.frc.team449.robot.components

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    Class Summary 
    ClassDescription
    AHRSRumbleComponent -
    A component to rumble controllers based off the jerk measurements from an AHRS.
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    AutoshiftComponent -
    A component class for autoshifting.
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    ShiftComponent -
    A component that a subsystem can use to handle shifting gears.
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    ShiftWithSensorComponent -
    A component that a subsystem can use for shifting when the pistons have sensor to detect position.
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org.usfirst.frc.team449.robot.drive
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Interface DriveSubsystem

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      Method Summary

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      Modifier and TypeMethod and Description
      voidenableMotors() -
      If this drive uses motors that can be disabled, enable them.
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      voidfullStop() -
      Completely stop the robot by setting the voltage to each side to be 0.
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      voidresetPosition() -
      Reset the position of the drive if it has encoders.
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        fullStop

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        void fullStop()
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        Completely stop the robot by setting the voltage to each side to be 0.
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        enableMotors

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        If this drive uses motors that can be disabled, enable them.
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        Reset the position of the drive if it has encoders.
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org.usfirst.frc.team449.robot.drive.commands
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Class EnableMotors

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    public class EnableMotors
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    Enables the motors of the given drive subsystem.
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      Constructor and Description
      EnableMotors(DriveSubsystem subsystem) -
      Default constructor
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      Modifier and TypeMethod and Description
      protected voidend() -
      Log when this command ends
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      Do the state change.
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      Log when this command is initialized
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      Log when this command is interrupted.
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      Finish immediately because this is a state-change command.
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        Methods inherited from class edu.wpi.first.wpilibj.command.Command

        -cancel, clearRequirements, doesRequire, getGroup, getName, getSmartDashboardType, getTable, initTable, isCanceled, isInterruptible, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled
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        EnableMotors

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        Log when this command is initialized
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        Do the state change.
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        Finish immediately because this is a state-change command.
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        Log when this command ends
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        interrupted

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        Log when this command is interrupted.
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Class ResetPosition

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      protected voidend() -
      Log when this command ends
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      Do the state change.
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      Log when this command is initialized
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      Log when this command is interrupted.
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      Finish immediately because this is a state-change command.
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        Methods inherited from class edu.wpi.first.wpilibj.command.Command

        -cancel, clearRequirements, doesRequire, getGroup, getName, getSmartDashboardType, getTable, initTable, isCanceled, isInterruptible, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled
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        Default constructor
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        subsystem - The subsystem to execute this command on.
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        Log when this command is initialized
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        Do the state change.
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        Finish immediately because this is a state-change command.
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        Log when this command ends
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        interrupted

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        Log when this command is interrupted.
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org.usfirst.frc.team449.robot.drive.commands

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Package org.usfirst.frc.team449.robot.drive.commands

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    Class Summary 
    ClassDescription
    EnableMotors -
    Enables the motors of the given drive subsystem.
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    ResetPosition -
    Resets the positions of the motors of the given drive subsystem.
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org.usfirst.frc.team449.robot.drive

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Package org.usfirst.frc.team449.robot.drive

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    Interface Summary 
    InterfaceDescription
    DriveSubsystem -
    Any locomotion device for the robot.
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org.usfirst.frc.team449.robot.drive.shifting
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Interface DriveShiftable

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    Shiftable
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    DriveTalonClusterShiftable
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    public interface DriveShiftable
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    A drive that has a high gear and a low gear and can switch between them.
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        override - Whether or not to override autoshifting.
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Class OverrideAutoShift

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    public class OverrideAutoShift
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    Override or unoverride whether we're autoshifting. Used to stay in low gear for pushing matches and more!
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      Method Summary

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      All Methods Instance Methods Concrete Methods 
      Modifier and TypeMethod and Description
      protected voidend() -
      Log when this command ends.
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      protected voidexecute() -
      Override autoshifting.
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      protected voidinitialize() -
      Log on initialization
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      protected voidinterrupted() -
      Log when interrupted
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      Finish immediately because this is a state-change command.
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        -cancel, clearRequirements, doesRequire, getGroup, getName, getSmartDashboardType, getTable, initTable, isCanceled, isInterruptible, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled
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        OverrideAutoShift

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        public OverrideAutoShift(@NotNull
-                         DriveShiftable drive,
-                         boolean override)
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        Default constructor
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        drive - The drive subsystem to execute this command on.
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        override - Whether or not to override autoshifting.
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        initialize

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        Log on initialization
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        execute

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        Override autoshifting.
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        isFinished

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        Finish immediately because this is a state-change command.
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        end

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        Log when this command ends.
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        Log when interrupted
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Class ToggleOverrideAutoShift

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    public class ToggleOverrideAutoShift
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    Override or unoverride whether we're autoshifting. Used to stay in low gear for pushing matches and more!
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      Modifier and TypeMethod and Description
      protected voidend() -
      Log when this command ends.
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      protected voidexecute() -
      Toggle overriding autoshifting.
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      protected voidinitialize() -
      Log on initialization
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      Log when interrupted
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      Finish immediately because this is a state-change command.
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        -cancel, clearRequirements, doesRequire, getGroup, getName, getSmartDashboardType, getTable, initTable, isCanceled, isInterruptible, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled
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        ToggleOverrideAutoShift

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        public ToggleOverrideAutoShift(@NotNull
-                               DriveShiftable drive)
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        Default constructor
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        drive - The drive subsystem to execute this command on.
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        Log on initialization
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        execute

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        protected void execute()
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        Toggle overriding autoshifting.
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        execute in class edu.wpi.first.wpilibj.command.Command
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        isFinished

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        Finish immediately because this is a state-change command.
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        isFinished in class edu.wpi.first.wpilibj.command.Command
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        end

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        Log when this command ends.
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        interrupted

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        Log when interrupted
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        interrupted in class edu.wpi.first.wpilibj.command.Command
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org.usfirst.frc.team449.robot.drive.shifting.commands

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Classes

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Package org.usfirst.frc.team449.robot.drive.shifting.commands

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    Class Summary 
    ClassDescription
    OverrideAutoShift -
    Override or unoverride whether we're autoshifting.
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    ToggleOverrideAutoShift -
    Override or unoverride whether we're autoshifting.
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Hierarchy For Package org.usfirst.frc.team449.robot.drive.shifting.commands

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Class Hierarchy

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org.usfirst.frc.team449.robot.drive.shifting

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Interfaces

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Package org.usfirst.frc.team449.robot.drive.shifting

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    Interface Summary 
    InterfaceDescription
    DriveShiftable -
    A drive that has a high gear and a low gear and can switch between them.
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Hierarchy For Package org.usfirst.frc.team449.robot.drive.shifting

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  • org.usfirst.frc.team449.robot.generalInterfaces.shiftable.Shiftable - -
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org.usfirst.frc.team449.robot.drive.unidirectional
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Class DriveTalonCluster

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      Modifier and TypeField and Description
      protected FPSTalonleftMaster -
      Left master Talon
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      protected FPSTalonrightMaster -
      Right master Talon
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      protected doubleVEL_SCALE -
      Joystick scaling constant.
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      Method Summary

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      All Methods Instance Methods Concrete Methods 
      Modifier and TypeMethod and Description
      voiddisable() -
      Disable the motors.
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      voidenableMotors() -
      If this drive uses motors that can be disabled, enable them.
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      voidfullStop() -
      Completely stop the robot by setting the voltage to each side to be 0.
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      doublegetAngularDisplacement() -
      Get the robot's angular displacement since being turned on.
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      doublegetAngularDisplacementCached() -
      Get the robot's cached angular displacement since being turned on.
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      doublegetAngularVel() -
      Get the robot's angular velocity.
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      doublegetAngularVelCached() -
      Get the robot's cached angular velocity.
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      java.lang.Object[]getData() -
      Get the data this subsystem logs every loop.
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      java.lang.String[]getHeader() -
      Get the headers for the data this subsystem logs every loop.
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      doublegetHeading() -
      Get the robot's heading using the AHRS
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      doublegetHeadingCached() -
      Get the robot's cached heading.
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      java.lang.DoublegetLeftPos() -
      Get the position of the left side of the drive.
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      java.lang.DoublegetLeftPosCached() -
      Get the cached position of the left side of the drive.
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      java.lang.DoublegetLeftVel() -
      Get the velocity of the left side of the drive.
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      java.lang.DoublegetLeftVelCached() -
      Get the cached velocity of the left side of the drive.
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      java.lang.StringgetName() -
      Get the name of this object.
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      booleangetOverrideGyro() 
      java.lang.DoublegetRightPos() -
      Get the position of the right side of the drive.
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      java.lang.DoublegetRightPosCached() -
      Get the cached position of the right side of the drive.
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      java.lang.DoublegetRightVel() -
      Get the velocity of the right side of the drive.
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      java.lang.DoublegetRightVelCached() -
      Get the cached velocity of the right side of the drive.
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      voidholdPosition() -
      Hold the current position.
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      protected voidinitDefaultCommand() -
      Stuff run on first enable.
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      voidloadMotionProfile(MotionProfileData profile) -
      Loads a profile into the MP buffer.
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      voidloadMotionProfile(MotionProfileData left, - MotionProfileData right) -
      Loads given profiles into the left and right sides of the drive.
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      booleanprofileFinished() -
      Get whether this subsystem has finished running the profile loaded in it.
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      booleanreadyToRunProfile() -
      Get whether the subsystem is ready to run the loaded profile.
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      voidresetPosition() -
      Reset the position of the drive if it has encoders.
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      voidsetDefaultCommandManual(edu.wpi.first.wpilibj.command.Command defaultCommand) -
      Set the default command.
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      voidsetHeading(double heading) -
      Set the robot's heading.
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      voidsetOutput(double left, - double right) -
      Set the output of each side of the drive.
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      voidsetOverrideGyro(boolean override) 
      voidstartRunningLoadedProfile() -
      Start running the profile that's currently loaded into the MP buffer.
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      Stops any MP-related threads currently running.
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      voidupdate() -
      Updates all cached values with current ones.
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        VEL_SCALE

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        Joystick scaling constant. Joystick output is scaled by this before being handed to the motors.
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        rightMaster

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        Right master Talon
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        leftMaster

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        Left master Talon
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      Constructor Detail

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        DriveTalonCluster

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        public DriveTalonCluster(@NotNull
-                         FPSTalon leftMaster,
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-                         java.lang.Double VelScale)
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        Default constructor.
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        leftMaster - The master talon on the left side of the drive.
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        rightMaster - The master talon on the right side of the drive.
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        ahrs - The NavX gyro for calculating this drive's heading and angular velocity.
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        VelScale - The amount to scale the output to the motor by. Defaults to 1.
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        setOutput

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        Set the output of each side of the drive.
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        left - The output for the left side of the drive, from [-1, 1]
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        right - the output for the right side of the drive, from [-1, 1]
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        getLeftVel

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        Get the velocity of the left side of the drive.
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        The signed velocity in feet per second, or null if the drive doesn't have encoders.
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        getRightVel

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        Get the velocity of the right side of the drive.
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        The signed velocity in feet per second, or null if the drive doesn't have encoders.
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        getLeftPos

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        Get the position of the left side of the drive.
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        The signed position in feet, or null if the drive doesn't have encoders.
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        Get the position of the right side of the drive.
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        The signed position in feet, or null if the drive doesn't have encoders.
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        getLeftVelCached

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        Get the cached velocity of the left side of the drive.
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        The signed velocity in feet per second, or null if the drive doesn't have encoders.
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        getRightVelCached

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        Get the cached velocity of the right side of the drive.
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        The signed velocity in feet per second, or null if the drive doesn't have encoders.
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        getLeftPosCached

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        Get the cached position of the left side of the drive.
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        getLeftPosCached in interface DriveUnidirectional
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        The signed position in feet, or null if the drive doesn't have encoders.
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        getRightPosCached

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        Get the cached position of the right side of the drive.
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        Specified by:
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        getRightPosCached in interface DriveUnidirectional
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        The signed position in feet, or null if the drive doesn't have encoders.
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        fullStop

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        public void fullStop()
        -
        Completely stop the robot by setting the voltage to each side to be 0.
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        Specified by:
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        fullStop in interface DriveSubsystem
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        public void enableMotors()
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        If this drive uses motors that can be disabled, enable them.
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        Angular velocity in degrees/sec
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        getAngularVelCached

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        public void loadMotionProfile(@NotNull
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        Loads given profiles into the left and right sides of the drive.
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        loadMotionProfile in interface SubsystemMPTwoSides
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        left - The profile to load into the left side.
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        Start running the profile that's currently loaded into the MP buffer.
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        profileFinished

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        Get whether this subsystem has finished running the profile loaded in it.
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        disable

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        public void disable()
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        Disable the motors.
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        holdPosition

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        Hold the current position.
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        readyToRunProfile

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        Get whether the subsystem is ready to run the loaded profile.
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        Stops any MP-related threads currently running. Normally called at the start of teleop.
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        resetPosition

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        public void resetPosition()
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        Reset the position of the drive if it has encoders.
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        resetPosition in interface DriveSubsystem
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        update

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        public void update()
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        Updates all cached values with current ones.
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org.usfirst.frc.team449.robot.drive.unidirectional
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Class DriveTalonClusterShiftable

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      Constructor Detail

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        DriveTalonClusterShiftable

        -
        public DriveTalonClusterShiftable(@NotNull
-                                  FPSTalon leftMaster,
-                                  @NotNull
-                                  FPSTalon rightMaster,
-                                  @NotNull
-                                  MappedAHRS ahrs,
-                                  @Nullable
-                                  java.lang.Double VelScale,
-                                  @NotNull
-                                  ShiftComponent shiftComponent,
-                                  boolean startingOverrideAutoshift)
        -
        Default constructor.
        -
        -
        Parameters:
        -
        leftMaster - The master talon on the left side of the drive.
        -
        rightMaster - The master talon on the right side of the drive.
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        ahrs - The NavX on this drive.
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        VelScale - The amount to scale the output to the motor by. Defaults to 1.
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        shiftComponent - The component that controls shifting.
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        startingOverrideAutoshift - Whether to start with autoshift disabled. Defaults to false.
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        getOverrideAutoshift

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        public boolean getOverrideAutoshift()
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        Specified by:
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        getOverrideAutoshift in interface DriveShiftable
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        Returns:
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        true if currently overriding autoshifting, false otherwise.
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        setOverrideAutoshift

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        public void setOverrideAutoshift(boolean override)
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        setOverrideAutoshift in interface DriveShiftable
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        override - Whether or not to override autoshifting.
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        setOutput

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        public void setOutput(double left,
-                      double right)
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        Set the output of each side of the drive.
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        Specified by:
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        setOutput in interface DriveUnidirectional
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        Overrides:
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        setOutput in class DriveTalonCluster
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        Parameters:
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        left - The output for the left side of the drive, from [-1, 1]
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        right - the output for the right side of the drive, from [-1, 1]
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        getGear

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        public int getGear()
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        Specified by:
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        getGear in interface Shiftable
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        Returns:
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        The gear this subsystem is currently in.
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        setGear

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        public void setGear(int gear)
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        Shift to a specific gear.
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        setGear in interface Shiftable
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        Parameters:
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        gear - Which gear to shift to.
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org.usfirst.frc.team449.robot.drive.unidirectional
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Interface DriveUnidirectional

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      All Methods Instance Methods Abstract Methods 
      Modifier and TypeMethod and Description
      java.lang.DoublegetLeftPos() -
      Get the position of the left side of the drive.
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      java.lang.DoublegetLeftPosCached() -
      Get the cached position of the left side of the drive.
      -
      java.lang.DoublegetLeftVel() -
      Get the velocity of the left side of the drive.
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      java.lang.DoublegetLeftVelCached() -
      Get the cached velocity of the left side of the drive.
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      java.lang.DoublegetRightPos() -
      Get the position of the right side of the drive.
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      java.lang.DoublegetRightPosCached() -
      Get the cached position of the right side of the drive.
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      java.lang.DoublegetRightVel() -
      Get the velocity of the right side of the drive.
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      java.lang.DoublegetRightVelCached() -
      Get the cached velocity of the right side of the drive.
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      voidsetOutput(double left, - double right) -
      Set the output of each side of the drive.
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        Methods inherited from interface org.usfirst.frc.team449.robot.generalInterfaces.updatable.Updatable

        -update
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        setOutput

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        void setOutput(double left,
-               double right)
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        Set the output of each side of the drive.
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        Parameters:
        -
        left - The output for the left side of the drive, from [-1, 1]
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        right - the output for the right side of the drive, from [-1, 1]
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        getLeftVel

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        @Nullable
-java.lang.Double getLeftVel()
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        Get the velocity of the left side of the drive.
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        The signed velocity in feet per second, or null if the drive doesn't have encoders.
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        getRightVel

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        @Nullable
-java.lang.Double getRightVel()
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        Get the velocity of the right side of the drive.
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        The signed velocity in feet per second, or null if the drive doesn't have encoders.
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        getLeftPos

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        @Nullable
-java.lang.Double getLeftPos()
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        Get the position of the left side of the drive.
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        Returns:
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        The signed position in feet, or null if the drive doesn't have encoders.
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        getRightPos

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-java.lang.Double getRightPos()
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        Get the position of the right side of the drive.
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        The signed position in feet, or null if the drive doesn't have encoders.
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        getLeftVelCached

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        @Nullable
-java.lang.Double getLeftVelCached()
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        Get the cached velocity of the left side of the drive.
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        The signed velocity in feet per second, or null if the drive doesn't have encoders.
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        getRightVelCached

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-java.lang.Double getRightVelCached()
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        Get the cached velocity of the right side of the drive.
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        The signed velocity in feet per second, or null if the drive doesn't have encoders.
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        getLeftPosCached

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-java.lang.Double getLeftPosCached()
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        Get the cached position of the left side of the drive.
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        The signed position in feet, or null if the drive doesn't have encoders.
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        getRightPosCached

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-java.lang.Double getRightPosCached()
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        Get the cached position of the right side of the drive.
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        The signed position in feet, or null if the drive doesn't have encoders.
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org.usfirst.frc.team449.robot.drive.unidirectional
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Class DriveUnidirectionalSimple

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      All Methods Instance Methods Concrete Methods 
      Modifier and TypeMethod and Description
      voidenableMotors() -
      If this drive uses motors that can be disabled, enable them.
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      voidfullStop() -
      Completely stop the robot by setting the voltage to each side to be 0.
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      java.lang.DoublegetLeftPos() -
      Get the position of the left side of the drive.
      -
      java.lang.DoublegetLeftPosCached() -
      Get the cached position of the left side of the drive.
      -
      java.lang.DoublegetLeftVel() -
      Get the velocity of the left side of the drive.
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      java.lang.DoublegetLeftVelCached() -
      Get the cached velocity of the left side of the drive.
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      java.lang.DoublegetRightPos() -
      Get the position of the right side of the drive.
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      java.lang.DoublegetRightPosCached() -
      Get the cached position of the right side of the drive.
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      java.lang.DoublegetRightVel() -
      Get the velocity of the right side of the drive.
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      java.lang.DoublegetRightVelCached() -
      Get the cached velocity of the right side of the drive.
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      protected voidinitDefaultCommand() -
      Initialize the default command for a subsystem.
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      voidresetPosition() -
      Reset the position of the drive if it has encoders.
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      voidsetOutput(double left, - double right) -
      Set the output of each side of the drive.
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      voidupdate() -
      Updates all cached values with current ones.
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        DriveUnidirectionalSimple

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        public DriveUnidirectionalSimple(@NotNull
-                                 SimpleMotor leftMotor,
-                                 @NotNull
-                                 SimpleMotor rightMotor)
        -
        Default constructor
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        Parameters:
        -
        leftMotor - The motor for the left side of the drive.
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        rightMotor - The motor for the right side of the drive.
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        initDefaultCommand

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        protected void initDefaultCommand()
        -
        Initialize the default command for a subsystem. By default subsystems have no default command, but if they do, - the default command is set with this method. It is called on all Subsystems by CommandBase in the users program - after all the Subsystems are created.
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        Specified by:
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        initDefaultCommand in class edu.wpi.first.wpilibj.command.Subsystem
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        setOutput

        -
        public void setOutput(double left,
-                      double right)
        -
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        -
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        Specified by:
        -
        setOutput in interface DriveUnidirectional
        -
        Parameters:
        -
        left - The output for the left side of the drive, from [-1, 1]
        -
        right - the output for the right side of the drive, from [-1, 1]
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        getLeftVel

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        @Nullable
-public java.lang.Double getLeftVel()
        -
        Get the velocity of the left side of the drive.
        -
        -
        Specified by:
        -
        getLeftVel in interface DriveUnidirectional
        -
        Returns:
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        The signed velocity in feet per second, or null if the drive doesn't have encoders.
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        getRightVel

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        @Nullable
-public java.lang.Double getRightVel()
        -
        Get the velocity of the right side of the drive.
        -
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        Specified by:
        -
        getRightVel in interface DriveUnidirectional
        -
        Returns:
        -
        The signed velocity in feet per second, or null if the drive doesn't have encoders.
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        getLeftPos

        -
        @Nullable
-public java.lang.Double getLeftPos()
        -
        Get the position of the left side of the drive.
        -
        -
        Specified by:
        -
        getLeftPos in interface DriveUnidirectional
        -
        Returns:
        -
        The signed position in feet, or null if the drive doesn't have encoders.
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        getRightPos

        -
        @Nullable
-public java.lang.Double getRightPos()
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        Get the position of the right side of the drive.
        -
        -
        Specified by:
        -
        getRightPos in interface DriveUnidirectional
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        Returns:
        -
        The signed position in feet, or null if the drive doesn't have encoders.
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        getLeftVelCached

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        @Nullable
-public java.lang.Double getLeftVelCached()
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        Get the cached velocity of the left side of the drive.
        -
        -
        Specified by:
        -
        getLeftVelCached in interface DriveUnidirectional
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        Returns:
        -
        The signed velocity in feet per second, or null if the drive doesn't have encoders.
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        getRightVelCached

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        @Nullable
-public java.lang.Double getRightVelCached()
        -
        Get the cached velocity of the right side of the drive.
        -
        -
        Specified by:
        -
        getRightVelCached in interface DriveUnidirectional
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        Returns:
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        The signed velocity in feet per second, or null if the drive doesn't have encoders.
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        getLeftPosCached

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        @Nullable
-public java.lang.Double getLeftPosCached()
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        Get the cached position of the left side of the drive.
        -
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        Specified by:
        -
        getLeftPosCached in interface DriveUnidirectional
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        -
        The signed position in feet, or null if the drive doesn't have encoders.
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        getRightPosCached

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        @Nullable
-public java.lang.Double getRightPosCached()
        -
        Get the cached position of the right side of the drive.
        -
        -
        Specified by:
        -
        getRightPosCached in interface DriveUnidirectional
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        Returns:
        -
        The signed position in feet, or null if the drive doesn't have encoders.
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        fullStop

        -
        public void fullStop()
        -
        Completely stop the robot by setting the voltage to each side to be 0.
        -
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        Specified by:
        -
        fullStop in interface DriveSubsystem
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        enableMotors

        -
        public void enableMotors()
        -
        If this drive uses motors that can be disabled, enable them.
        -
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        Specified by:
        -
        enableMotors in interface DriveSubsystem
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        resetPosition

        -
        public void resetPosition()
        -
        Reset the position of the drive if it has encoders.
        -
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        Specified by:
        -
        resetPosition in interface DriveSubsystem
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        update

        -
        public void update()
        -
        Updates all cached values with current ones.
        -
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        Specified by:
        -
        update in interface Updatable
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org.usfirst.frc.team449.robot.drive.unidirectional.commands
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Class DetermineNominalVoltage<T extends YamlSubsystem & DriveUnidirectional>

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    edu.wpi.first.wpilibj.NamedSendable, edu.wpi.first.wpilibj.Sendable, YamlCommand
    -
    -
    -
    -
    public class DetermineNominalVoltage<T extends YamlSubsystem & DriveUnidirectional>
-extends YamlCommandWrapper
    -
    Run the motors until they move, slowly increasing the voltage up from 0.
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      Constructor Summary

      - - - - - - - - -
      Constructors 
      Constructor and Description
      DetermineNominalVoltage(T subsystem, - double minSpeed) -
      Default constructor
      -
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      Method Summary

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      All Methods Instance Methods Concrete Methods 
      Modifier and TypeMethod and Description
      protected voidend() -
      Stop the drive and log when the command ends.
      -
      protected voidexecute() -
      Send output to motors
      -
      protected voidinitialize() -
      Log initialization
      -
      protected voidinterrupted() -
      Log and stop the drive when the command is interrupted.
      -
      protected booleanisFinished() -
      Exit if the motors are moving.
      -
      - -
        -
      • - - -

        Methods inherited from class edu.wpi.first.wpilibj.command.Command

        -cancel, clearRequirements, doesRequire, getGroup, getName, getSmartDashboardType, getTable, initTable, isCanceled, isInterruptible, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled
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      Constructor Detail

      - - - - - -
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      • -

        DetermineNominalVoltage

        -
        public DetermineNominalVoltage(@NotNull
-                               T subsystem,
-                               double minSpeed)
        -
        Default constructor
        -
        -
        Parameters:
        -
        subsystem - The subsystem to execute this command on
        -
        minSpeed - The minimum speed, in RPS, at which the drive is considered to be moving.
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      Method Detail

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        initialize

        -
        protected void initialize()
        -
        Log initialization
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        Overrides:
        -
        initialize in class edu.wpi.first.wpilibj.command.Command
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        execute

        -
        protected void execute()
        -
        Send output to motors
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        Overrides:
        -
        execute in class edu.wpi.first.wpilibj.command.Command
        -
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        isFinished

        -
        protected boolean isFinished()
        -
        Exit if the motors are moving.
        -
        -
        Specified by:
        -
        isFinished in class edu.wpi.first.wpilibj.command.Command
        -
        Returns:
        -
        True if the motors are moving, false otherwise.
        -
        -
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      - - - -
        -
      • -

        end

        -
        protected void end()
        -
        Stop the drive and log when the command ends.
        -
        -
        Overrides:
        -
        end in class edu.wpi.first.wpilibj.command.Command
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        interrupted

        -
        protected void interrupted()
        -
        Log and stop the drive when the command is interrupted.
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        Overrides:
        -
        interrupted in class edu.wpi.first.wpilibj.command.Command
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org.usfirst.frc.team449.robot.drive.unidirectional.commands
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Class DetermineVelVsVoltage<T extends YamlSubsystem & DriveUnidirectional>

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    edu.wpi.first.wpilibj.NamedSendable, edu.wpi.first.wpilibj.Sendable, YamlCommand
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    -
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    public class DetermineVelVsVoltage<T extends YamlSubsystem & DriveUnidirectional>
-extends YamlCommandWrapper
    -
    A command to run the robot at a range of voltages and record the velocity.
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      Constructor Summary

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      Constructors 
      Constructor and Description
      DetermineVelVsVoltage(T subsystem, - double distanceToDrive, - int numTrials, - double[] voltagesToTest) -
      Default constructor.
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      Method Summary

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      Modifier and TypeMethod and Description
      protected voidend() -
      Do nothing, no logging because we want to be able to use R's subset method to find the max speeds.
      -
      protected voidexecute() -
      Update the max speed for this trial and check if this trial is finished.
      -
      protected voidinitialize() -
      Reset the encoder position and variables.
      -
      protected voidinterrupted() -
      Log when interrupted.
      -
      protected booleanisFinished() -
      Finish when all trials have been run.
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        Methods inherited from class edu.wpi.first.wpilibj.command.Command

        -cancel, clearRequirements, doesRequire, getGroup, getName, getSmartDashboardType, getTable, initTable, isCanceled, isInterruptible, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled
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        DetermineVelVsVoltage

        -
        public DetermineVelVsVoltage(@NotNull
-                             T subsystem,
-                             double distanceToDrive,
-                             int numTrials,
-                             double[] voltagesToTest)
        -
        Default constructor.
        -
        -
        Parameters:
        -
        subsystem - The subsystem to execute this command on.
        -
        distanceToDrive - How far, in feet, to drive for each trial.
        -
        numTrials - How many trials to do for each voltage.
        -
        voltagesToTest - A list of all the voltages to be tested, from (0, 12].
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      Method Detail

      - - - -
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        initialize

        -
        protected void initialize()
        -
        Reset the encoder position and variables.
        -
        -
        Overrides:
        -
        initialize in class edu.wpi.first.wpilibj.command.Command
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        execute

        -
        protected void execute()
        -
        Update the max speed for this trial and check if this trial is finished.
        -
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        Overrides:
        -
        execute in class edu.wpi.first.wpilibj.command.Command
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        -
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      • -

        isFinished

        -
        protected boolean isFinished()
        -
        Finish when all trials have been run.
        -
        -
        Specified by:
        -
        isFinished in class edu.wpi.first.wpilibj.command.Command
        -
        Returns:
        -
        true if all trials have be run, false otherwise.
        -
        -
        • -
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        -
      • -

        end

        -
        protected void end()
        -
        Do nothing, no logging because we want to be able to use R's subset method to find the max speeds.
        -
        -
        Overrides:
        -
        end in class edu.wpi.first.wpilibj.command.Command
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        interrupted

        -
        protected void interrupted()
        -
        Log when interrupted.
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        interrupted in class edu.wpi.first.wpilibj.command.Command
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org.usfirst.frc.team449.robot.drive.unidirectional.commands
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Class DriveAtSpeed<T extends YamlSubsystem & DriveUnidirectional>

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      Constructor and Description
      DriveAtSpeed(T subsystem, - double velocity, - double seconds) -
      Default constructor
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      Method Summary

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      Modifier and TypeMethod and Description
      protected voidend() -
      Stop the drive when the command ends.
      -
      protected voidexecute() -
      Send output to motors and log data
      -
      protected voidinitialize() -
      Set up start time.
      -
      protected voidinterrupted() -
      Log and stop the drive when the command is interrupted.
      -
      protected booleanisFinished() -
      Exit after the command's been running for long enough
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        Methods inherited from class edu.wpi.first.wpilibj.command.Command

        -cancel, clearRequirements, doesRequire, getGroup, getName, getSmartDashboardType, getTable, initTable, isCanceled, isInterruptible, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled
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        -
        public DriveAtSpeed(@NotNull
-                    T subsystem,
-                    double velocity,
-                    double seconds)
        -
        Default constructor
        -
        -
        Parameters:
        -
        subsystem - The drive to execute this command on
        -
        velocity - How fast to go, in RPS
        -
        seconds - How long to drive for.
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        initialize

        -
        protected void initialize()
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        Set up start time.
        -
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        initialize in class edu.wpi.first.wpilibj.command.Command
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        execute

        -
        protected void execute()
        -
        Send output to motors and log data
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        execute in class edu.wpi.first.wpilibj.command.Command
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        isFinished

        -
        protected boolean isFinished()
        -
        Exit after the command's been running for long enough
        -
        -
        Specified by:
        -
        isFinished in class edu.wpi.first.wpilibj.command.Command
        -
        Returns:
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        True if timeout has been reached, false otherwise
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        end

        -
        protected void end()
        -
        Stop the drive when the command ends.
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        end in class edu.wpi.first.wpilibj.command.Command
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        interrupted

        -
        protected void interrupted()
        -
        Log and stop the drive when the command is interrupted.
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        interrupted in class edu.wpi.first.wpilibj.command.Command
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org.usfirst.frc.team449.robot.drive.unidirectional.commands
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Class DriveStraight<T extends YamlSubsystem & DriveUnidirectional>

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      Constructor Summary

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      Constructors 
      Constructor and Description
      DriveStraight(T subsystem, - OITank oi, - boolean useLeft) -
      Drive straight without NavX stabilization.
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      Method Summary

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      All Methods Instance Methods Concrete Methods 
      Modifier and TypeMethod and Description
      protected voidexecute() -
      Give output to the motors based on the joystick input.
      -
      protected voidinitialize() -
      Stop the drive for safety reasons.
      -
      protected voidinterrupted() -
      Log and brake when interrupted.
      -
      protected booleanisFinished() -
      Runs constantly because this is a drive command.
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        Drive straight without NavX stabilization.
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        Give output to the motors based on the joystick input.
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        Log and brake when interrupted.
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Class PIDBackAndForth<T extends YamlSubsystem & DriveUnidirectional>

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        Instantiate the CommandGroup
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        subsystem - the drive to execute this command on.
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Class PIDTest<T extends YamlSubsystem & DriveUnidirectional>

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org.usfirst.frc.team449.robot.drive.unidirectional.commands
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Class SimpleUnidirectionalDrive<T extends YamlSubsystem & DriveUnidirectional>

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      Modifier and TypeField and Description
      OIUnidirectionaloi -
      The OI used for input.
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      Give output to the motors based on the stick inputs.
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      Stop the drive for safety reasons.
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      Log and brake when interrupted.
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      Run constantly because this is a default drive
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        Stop the drive for safety reasons.
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        Give output to the motors based on the stick inputs.
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        Run constantly because this is a default drive
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        Log and brake when interrupted.
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Class VoltageRamp

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    public class VoltageRamp
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    A command to ramp up the motors to full power at a given voltage rate.
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      protected voidend() -
      Log and stop on end.
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      Update the output based on how long it's been since execute() was last run.
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      Reset the output
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      Log on interrupt.
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      Exit if the output is greater than the motors can produce.
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-                   double voltsPerSecond)
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        subsystem - The subsystem to execute this command on
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        voltsPerSecond - How many volts to increase the output by per second.
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        Reset the output
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        Exit if the output is greater than the motors can produce.
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        isFinished in class edu.wpi.first.wpilibj.command.Command
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        Log on interrupt.
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org.usfirst.frc.team449.robot.drive.unidirectional.commands

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Hierarchy For Package org.usfirst.frc.team449.robot.drive.unidirectional.commands

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Class Hierarchy

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org.usfirst.frc.team449.robot.drive.unidirectional

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Package org.usfirst.frc.team449.robot.drive.unidirectional

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    InterfaceDescription
    DriveUnidirectional -
    A drive with a left side and a right side.
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    Class Summary 
    ClassDescription
    DriveTalonCluster -
    A drive with a cluster of any number of CANTalonSRX controlled motors on each side.
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    DriveTalonClusterShiftable -
    A drive with a cluster of any number of CANTalonSRX controlled motors on each side and a high and low gear.
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org.usfirst.frc.team449.robot.generalInterfaces.loggable
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Interface Loggable

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      java.lang.Object[]getData() -
      Get the data this subsystem logs every loop.
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      Get the headers for the data this subsystem logs every loop.
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org.usfirst.frc.team449.robot.generalInterfaces.loggable

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Interfaces

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Package org.usfirst.frc.team449.robot.generalInterfaces.loggable

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    Loggable -
    An object that logs telemetry data every loop.
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org.usfirst.frc.team449.robot.generalInterfaces.rumbleable
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Interface Rumbleable

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    MappedJoystick
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    An interface for any sort of OI device that can rumble to give feedback to the driver.
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      Modifier and TypeMethod and Description
      voidrumble(double left, - double right) -
      Rumble at a given strength on each side of the device.
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        rumble

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        void rumble(double left,
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        Rumble at a given strength on each side of the device.
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        left - The strength to rumble the left side, on [-1, 1]
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        right - The strength to rumble the right side, on [-1, 1]
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org.usfirst.frc.team449.robot.generalInterfaces.rumbleable

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Interfaces

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Package org.usfirst.frc.team449.robot.generalInterfaces.rumbleable

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    InterfaceDescription
    Rumbleable -
    An interface for any sort of OI device that can rumble to give feedback to the driver.
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org.usfirst.frc.team449.robot.generalInterfaces.shiftable
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Enum Shiftable.gear

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    Shiftable
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      Enum Constant and Description
      HIGH 
      LOW 
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      intgetNumVal() 
      static Shiftable.gearvalueOf(java.lang.String name) -
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      static Shiftable.gear[]values() -
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        -clone, compareTo, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf
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        values

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        public static Shiftable.gear[] values()
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        Returns an array containing the constants of this enum type, in -the order they are declared. This method may be used to iterate -over the constants as follows: -
        -for (Shiftable.gear c : Shiftable.gear.values())
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        valueOf

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        Returns the enum constant of this type with the specified name. -The string must match exactly an identifier used to declare an -enum constant in this type. (Extraneous whitespace characters are -not permitted.)
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        name - the name of the enum constant to be returned.
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        the enum constant with the specified name
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org.usfirst.frc.team449.robot.generalInterfaces.shiftable
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Interface Shiftable

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      Modifier and TypeInterface and Description
      static class Shiftable.gear 
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        getGear

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        int getGear()
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        The gear this subsystem is currently in.
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        setGear

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        void setGear(int gear)
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        Shift to a specific gear.
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        gear - Which gear to shift to.
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org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands
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Class ShiftGears

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    edu.wpi.first.wpilibj.NamedSendable, edu.wpi.first.wpilibj.Sendable, YamlCommand
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    public class ShiftGears
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    Shifts gears. Basically a "ToggleGear" command.
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      Constructor Summary

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      Constructors 
      Constructor and Description
      ShiftGears(Shiftable subsystem) -
      Default constructor
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      protected voidend() -
      Log when this command ends
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      protected voidexecute() -
      Switch gears
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      protected voidinitialize() -
      Log when this command is initialized
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      protected voidinterrupted() -
      Log when this command is interrupted.
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      protected booleanisFinished() -
      Finish immediately because this is a state-change command.
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        Methods inherited from class edu.wpi.first.wpilibj.command.Command

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        Log when this command is initialized
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        execute

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        protected void execute()
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        Switch gears
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        execute in class edu.wpi.first.wpilibj.command.Command
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        isFinished

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        Finish immediately because this is a state-change command.
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        isFinished in class edu.wpi.first.wpilibj.command.Command
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        end

        -
        protected void end()
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        Log when this command ends
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        end in class edu.wpi.first.wpilibj.command.Command
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        interrupted

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        Log when this command is interrupted.
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org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands
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Class SwitchToGear

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    public class SwitchToGear
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    Switches to a specified gear.
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      Constructor and Description
      SwitchToGear(Shiftable subsystem, - int switchToNum, - Shiftable.gear switchTo) -
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      Modifier and TypeMethod and Description
      protected voidend() -
      Log when this command ends
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      protected voidexecute() -
      Switch to the specified gear
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      protected voidinitialize() -
      Log when this command is initialized
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      protected voidinterrupted() -
      Log when this command is interrupted.
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      Finish immediately because this is a state-change command.
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        Methods inherited from class edu.wpi.first.wpilibj.command.Command

        -cancel, clearRequirements, doesRequire, getGroup, getName, getSmartDashboardType, getTable, initTable, isCanceled, isInterruptible, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled
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        SwitchToGear

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        public SwitchToGear(@NotNull
-                    Shiftable subsystem,
-                    int switchToNum,
-                    @Nullable
-                    Shiftable.gear switchTo)
        -
        Default constructor
        -
        -
        Parameters:
        -
        subsystem - The drive to execute this command on.
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        switchToNum - The number of the gear to switch to. Is ignored if switchTo isn't null.
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        switchTo - The gear to switch to. Can be null, and if it is, switchToNum is used instead.
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        Log when this command is initialized
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        initialize in class edu.wpi.first.wpilibj.command.Command
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        execute

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        protected void execute()
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        Switch to the specified gear
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        execute in class edu.wpi.first.wpilibj.command.Command
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        isFinished

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        protected boolean isFinished()
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        Finish immediately because this is a state-change command.
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        isFinished in class edu.wpi.first.wpilibj.command.Command
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        end

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        Log when this command ends
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        end in class edu.wpi.first.wpilibj.command.Command
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        interrupted

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        protected void interrupted()
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        Log when this command is interrupted.
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Class SwitchToHighGear

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    public class SwitchToHighGear
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    A command that switches to high gear.
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      Constructor and Description
      SwitchToHighGear(Shiftable subsystem) -
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      protected voidend() -
      Log when this command ends
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      Switch to high gear
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      protected voidinitialize() -
      Log when this command is initialized
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      protected voidinterrupted() -
      Log when this command is interrupted.
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      protected booleanisFinished() -
      Finish immediately because this is a state-change command.
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        Methods inherited from class edu.wpi.first.wpilibj.command.Command

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        public SwitchToHighGear(@NotNull
-                        Shiftable subsystem)
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        Log when this command is initialized
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        execute

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        protected void execute()
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        Switch to high gear
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        execute in class edu.wpi.first.wpilibj.command.Command
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        Finish immediately because this is a state-change command.
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        isFinished in class edu.wpi.first.wpilibj.command.Command
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        end

        -
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        Log when this command ends
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        end in class edu.wpi.first.wpilibj.command.Command
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        interrupted

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        Log when this command is interrupted.
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        interrupted in class edu.wpi.first.wpilibj.command.Command
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Class SwitchToLowGear

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    A command that switches to low gear.
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      Constructor and Description
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      Modifier and TypeMethod and Description
      protected voidend() -
      Log when this command ends
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      protected voidexecute() -
      Switch to low gear
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      protected voidinitialize() -
      Log when this command is initialized
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      protected voidinterrupted() -
      Log when this command is interrupted.
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      Finish immediately because this is a state-change command.
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        Methods inherited from class edu.wpi.first.wpilibj.command.Command

        -cancel, clearRequirements, doesRequire, getGroup, getName, getSmartDashboardType, getTable, initTable, isCanceled, isInterruptible, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled
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        public SwitchToLowGear(@NotNull
-                       Shiftable subsystem)
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        subsystem - The drive subsystem to execute this command on
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        Log when this command is initialized
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        Switch to low gear
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        execute in class edu.wpi.first.wpilibj.command.Command
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        isFinished

        -
        protected boolean isFinished()
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        Finish immediately because this is a state-change command.
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        isFinished in class edu.wpi.first.wpilibj.command.Command
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        end

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        Log when this command ends
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        end in class edu.wpi.first.wpilibj.command.Command
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        Log when this command is interrupted.
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org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands

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    ClassDescription
    ShiftGears -
    Shifts gears.
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    SwitchToGear -
    Switches to a specified gear.
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    SwitchToHighGear -
    A command that switches to high gear.
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    SwitchToLowGear -
    A command that switches to low gear.
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Class Hierarchy

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org.usfirst.frc.team449.robot.generalInterfaces.shiftable

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Package org.usfirst.frc.team449.robot.generalInterfaces.shiftable

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    Interface Summary 
    InterfaceDescription
    Shiftable -
    An interface for any object that different settings for different gears
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    Shiftable.gear 
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org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor
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Interface SimpleMotor

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      voiddisable() -
      Disables the motor, if applicable.
      -
      voidenable() -
      Enables the motor, if applicable.
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      voidsetVelocity(double velocity) -
      Set the velocity for the motor to go at.
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        void setVelocity(double velocity)
        -
        Set the velocity for the motor to go at.
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        Parameters:
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        velocity - the desired velocity, on [-1, 1].
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        -
        Enables the motor, if applicable.
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Interface Updatable

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        update

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org.usfirst.frc.team449.robot.jacksonWrappers
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Class FPSTalon.PerGearSettings

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    Enclosing class:
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    FPSTalon
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    protected static class FPSTalon.PerGearSettings
-extends java.lang.Object
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    An object representing the CANTalon settings that are different for each gear.
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      Constructor Detail

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        PerGearSettings

        -
        public PerGearSettings(int gearNum,
-                       @Nullable
-                       Shiftable.gear gear,
-                       @Nullable
-                       java.lang.Double fwdPeakOutputVoltage,
-                       @Nullable
-                       java.lang.Double revPeakOutputVoltage,
-                       @Nullable
-                       java.lang.Double fwdNominalOutputVoltage,
-                       @Nullable
-                       java.lang.Double revNominalOutputVoltage,
-                       @Nullable
-                       java.lang.Double closedLoopRampRate,
-                       @Nullable
-                       java.lang.Double maxSpeed,
-                       double kP,
-                       double kI,
-                       double kD,
-                       double motionProfilePFwd,
-                       double motionProfileIFwd,
-                       double motionProfileDFwd,
-                       java.lang.Double motionProfilePRev,
-                       java.lang.Double motionProfileIRev,
-                       java.lang.Double motionProfileDRev,
-                       @Nullable
-                       java.lang.Double maxAccelFwd,
-                       @Nullable
-                       java.lang.Double maxAccelRev,
-                       @Nullable
-                       java.lang.Double maxSpeedMPFwd,
-                       double frictionCompFPSFwd,
-                       @Nullable
-                       java.lang.Double maxSpeedMPRev,
-                       @Nullable
-                       java.lang.Double frictionCompFPSRev)
        -
        Default constructor.
        -
        -
        Parameters:
        -
        gearNum - The gear number this is the settings for. Ignored if gear isn't null.
        -
        gear - The gear this is the settings for. Can be null.
        -
        fwdPeakOutputVoltage - The peak output voltage for closed-loop modes in the forwards direction, in - volts. Defaults to 12.
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        revPeakOutputVoltage - The peak output voltage for closed-loop modes in the reverse direction, in - volts. Defaults to -fwdPeakOutputVoltage.
        -
        fwdNominalOutputVoltage - The minimum output voltage for closed-loop modes in the forwards direction. - This does not rescale, it just sets any output below this voltage to this - voltage. Defaults to 0.
        -
        revNominalOutputVoltage - The minimum output voltage for closed-loop modes in the reverse direction. - This does not rescale, it just sets any output below this voltage to this - voltage. Defaults to -fwdNominalOutputVoltage.
        -
        closedLoopRampRate - The closed loop ramp rate, in volts/sec. Can be null, and if it is, no ramp - rate is used..
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        maxSpeed - The maximum speed of the motor in this gear, in FPS. Can be null if not using - PID in this gear.
        -
        kP - The proportional PID constant for the motor in this gear. Ignored if maxSpeed - is null. Defaults to 0.
        -
        kI - The integral PID constant for the motor in this gear. Ignored if maxSpeed is - null. Defaults to 0.
        -
        kD - The derivative PID constant for the motor in this gear. Ignored if maxSpeed is - null. Defaults to 0.
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        motionProfilePFwd - The proportional PID constant for forwards motion profiles in this gear. - Ignored if maxSpeed is null. Defaults to 0.
        -
        motionProfileIFwd - The integral PID constant for forwards motion profiles in this gear. Ignored - if maxSpeed is null. Defaults to 0.
        -
        motionProfileDFwd - The derivative PID constant for forwards motion profiles in this gear. Ignored - if maxSpeed is null. Defaults to 0.
        -
        motionProfilePRev - The proportional PID constant for reverse motion profiles in this gear. - Ignored if maxSpeed is null. Defaults to motionProfilePFwd.
        -
        motionProfileIRev - The integral PID constant for reverse motion profiles in this gear. Ignored if - maxSpeed is null. Defaults to motionProfileIFwd.
        -
        motionProfileDRev - The derivative PID constant for reverse motion profiles in this gear. Ignored - if maxSpeed is null. Defaults to motionProfileDFwd.
        -
        maxAccelFwd - The maximum forwards acceleration the robot is capable of in this gear, - theoretically stall torque of the drive output * wheel radius / (robot - mass/2). Can be null to not use acceleration feed-forward.
        -
        maxAccelRev - The maximum reverse acceleration the robot is capable of in this gear, - theoretically stall torque of the drive output * wheel radius / (robot - mass/2). Defaults to maxAccelFwd.
        -
        maxSpeedMPFwd - The "fake" maximum speed to use for the forwards direction of MP mode, - maxVoltage*(slope of vel vs. voltage curve). Defaults to regular max speed.
        -
        maxSpeedMPRev - The "fake" maximum speed to use for the reverse direction of MP mode, - maxVoltage*(slope of vel vs. voltage curve). Defaults to maxSpeedMPFwd.
        -
        frictionCompFPSFwd - The speed, in FPS, to add to all MP velocity setpoints in the forwards - direction to account for friction. Defaults to 0.
        -
        frictionCompFPSRev - The speed, in FPS, to add to all MP velocity setpoints in the reverse - direction to account for friction. Defaults to frictionCompFPSFwd.
        -
        -
        • -
      - - - -
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        PerGearSettings

        -
        public PerGearSettings()
        -
        Empty constructor that uses all default options.
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      Method Detail

      - - - -
        -
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        getGear

        -
        public int getGear()
        -
        -
        Returns:
        -
        The gear number this is the settings for.
        -
        -
        • -
      - - - -
        -
      • -

        getFwdPeakOutputVoltage

        -
        public double getFwdPeakOutputVoltage()
        -
        -
        Returns:
        -
        The peak output voltage for closed-loop modes in the forwards direction, in volts.
        -
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        • -
      - - - -
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        getRevPeakOutputVoltage

        -
        public double getRevPeakOutputVoltage()
        -
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        Returns:
        -
        The peak output voltage for closed-loop modes in the reverse direction, in volts.
        -
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        • -
      - - - -
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        getFwdNominalOutputVoltage

        -
        public double getFwdNominalOutputVoltage()
        -
        -
        Returns:
        -
        The minimum output voltage for closed-loop modes in the forwards direction. This does not rescale, it - just sets any output below this voltage to this voltage.
        -
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        • -
      - - - -
        -
      • -

        getRevNominalOutputVoltage

        -
        public double getRevNominalOutputVoltage()
        -
        -
        Returns:
        -
        The minimum output voltage for closed-loop modes in the reverse direction. This does not rescale, it - just sets any output below this voltage to this voltage.
        -
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      - - - -
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      • -

        getClosedLoopRampRate

        -
        public double getClosedLoopRampRate()
        -
        -
        Returns:
        -
        The closed loop ramp rate, in volts/sec.
        -
        -
        • -
      - - - -
        -
      • -

        getMaxSpeed

        -
        @Nullable
-public java.lang.Double getMaxSpeed()
        -
        -
        Returns:
        -
        The maximum speed of the motor in this gear, in FPS.
        -
        -
        • -
      - - - -
        -
      • -

        getkP

        -
        public double getkP()
        -
        -
        Returns:
        -
        The proportional PID constant for the motor in this gear.
        -
        -
        • -
      - - - -
        -
      • -

        getkI

        -
        public double getkI()
        -
        -
        Returns:
        -
        The integral PID constant for the motor in this gear.
        -
        -
        • -
      - - - -
        -
      • -

        getkD

        -
        public double getkD()
        -
        -
        Returns:
        -
        The derivative PID constant for the motor in this gear.
        -
        -
        • -
      - - - -
        -
      • -

        getMotionProfilePFwd

        -
        public double getMotionProfilePFwd()
        -
        -
        Returns:
        -
        The proportional PID constant for motion profiles in this gear.
        -
        -
        • -
      - - - -
        -
      • -

        getMotionProfileIFwd

        -
        public double getMotionProfileIFwd()
        -
        -
        Returns:
        -
        The integral PID constant for motion profiles in this gear.
        -
        -
        • -
      - - - -
        -
      • -

        getMotionProfileDFwd

        -
        public double getMotionProfileDFwd()
        -
        -
        Returns:
        -
        The derivative PID constant for motion profiles in this gear.
        -
        -
        • -
      - - - -
        -
      • -

        getKaOverKvFwd

        -
        public double getKaOverKvFwd()
        -
        • -
      - - - -
        -
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        getMaxSpeedMPFwd

        -
        @Nullable
-public java.lang.Double getMaxSpeedMPFwd()
        -
        • -
      - - - -
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        getMaxSpeedMPRev

        -
        @Nullable
-public java.lang.Double getMaxSpeedMPRev()
        -
        • -
      - - - -
        -
      • -

        getFrictionCompFPSFwd

        -
        public double getFrictionCompFPSFwd()
        -
        • -
      - - - -
        -
      • -

        getFrictionCompFPSRev

        -
        public double getFrictionCompFPSRev()
        -
        • -
      - - - -
        -
      • -

        getMotionProfilePRev

        -
        public double getMotionProfilePRev()
        -
        • -
      - - - -
        -
      • -

        getMotionProfileIRev

        -
        public double getMotionProfileIRev()
        -
        • -
      - - - -
        -
      • -

        getMotionProfileDRev

        -
        public double getMotionProfileDRev()
        -
        • -
      - - - -
        -
      • -

        getKaOverKvRev

        -
        public double getKaOverKvRev()
        -
        • -
      -
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org.usfirst.frc.team449.robot.jacksonWrappers
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Class FPSTalon.SlaveTalon

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    Enclosing class:
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    FPSTalon
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    protected static class FPSTalon.SlaveTalon
-extends java.lang.Object
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    An object representing a slave CANTalon for use in the map.
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      Constructor Summary

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      Constructors 
      Constructor and Description
      SlaveTalon(int port, - boolean inverted) -
      Default constructor.
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      Method Summary

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      All Methods Instance Methods Concrete Methods 
      Modifier and TypeMethod and Description
      intgetPort() 
      booleanisInverted() 
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        Methods inherited from class java.lang.Object

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      Constructor Detail

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        SlaveTalon

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        public SlaveTalon(int port,
-                  boolean inverted)
        -
        Default constructor.
        -
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        Parameters:
        -
        port - The port number of this Talon.
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        inverted - Whether this Talon is inverted compared to its master.
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      Method Detail

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        getPort

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        public int getPort()
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        Returns:
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        The port number of this Talon.
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        isInverted

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        public boolean isInverted()
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        Returns:
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        true if this Talon is inverted compared to its master, false otherwise.
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org.usfirst.frc.team449.robot.jacksonWrappers
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Class FPSTalon

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    All Implemented Interfaces:
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    Shiftable, SimpleMotor
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    public class FPSTalon
-extends java.lang.Object
-implements SimpleMotor, Shiftable
    -
    Component wrapper on the CTRE CANTalon, with unit conversions to/from FPS built in. Every non-unit-conversion - in this class takes arguments in post-gearing FPS.
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      Nested Class Summary

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      Nested Classes 
      Modifier and TypeClass and Description
      protected static class FPSTalon.PerGearSettings -
      An object representing the CANTalon settings that are different for each gear.
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      protected static class FPSTalon.SlaveTalon -
      An object representing a slave CANTalon for use in the map.
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        Nested classes/interfaces inherited from interface org.usfirst.frc.team449.robot.generalInterfaces.shiftable.Shiftable

        -Shiftable.gear
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      Field Summary

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      Fields 
      Modifier and TypeField and Description
      protected com.ctre.CANTaloncanTalon -
      The CTRE CAN Talon SRX that this class is a wrapper on
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      protected FPSTalon.PerGearSettingscurrentGearSettings -
      The settings currently being used by this Talon.
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      Constructor Summary

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      Constructors 
      Constructor and Description
      FPSTalon(int port, - boolean invertInVoltage, - boolean reverseOutput, - boolean enableBrakeMode, - java.lang.Boolean fwdLimitSwitchNormallyOpen, - java.lang.Boolean revLimitSwitchNormallyOpen, - java.lang.Double fwdSoftLimit, - java.lang.Double revSoftLimit, - java.lang.Double postEncoderGearing, - java.lang.Double feetPerRotation, - java.lang.Integer currentLimit, - double maxClosedLoopVoltage, - com.ctre.CANTalon.FeedbackDevice feedbackDevice, - java.lang.Integer encoderCPR, - boolean reverseSensor, - java.util.List<FPSTalon.PerGearSettings> perGearSettings, - Shiftable.gear startingGear, - java.lang.Integer startingGearNum, - java.lang.Integer minNumPointsInBottomBuffer, - java.lang.Double updaterProcessPeriodSecs, - java.util.Map<com.ctre.CANTalon.StatusFrameRate,java.lang.Integer> statusFrameRatesMillis, - java.lang.Integer controlFrameRateMillis, - java.util.List<FPSTalon.SlaveTalon> slaves) -
      Default constructor.
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      Method Summary

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      All Methods Instance Methods Concrete Methods 
      Modifier and TypeMethod and Description
      voiddisable() -
      Disables the motor, if applicable.
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      voidenable() -
      Enables the motor, if applicable.
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      protected java.lang.DoubleencoderToFeet(double nativeUnits) -
      Convert from native units read by an encoder to feet moved.
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      protected java.lang.DoubleencoderToFPS(double encoderReading) -
      Converts the velocity read by the talon's getVelocity() method to the FPS of the output shaft.
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      protected java.lang.DoublefeetToEncoder(double feet) -
      Convert a distance from feet to encoder reading in native units.
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      protected java.lang.DoubleFPSToEncoder(double FPS) -
      Converts from the velocity of the output shaft to what the talon's getVelocity() method would read at that - velocity.
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      java.lang.DoublegetError() -
      Get the current closed-loop velocity error in FPS.
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      intgetGear() 
      doublegetOutputCurrent() -
      Get the current the Talon is currently drawing from the PDP.
      -
      doublegetOutputVoltage() -
      Get the voltage the Talon is currently drawing from the PDP.
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      java.lang.DoublegetPositionFeet() 
      java.lang.DoublegetSetpoint() -
      Get the current velocity setpoint of the Talon in FPS.
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      java.lang.DoublegetVelocity() -
      Get the velocity of the CANTalon in FPS.
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      voidholdPositionMP() -
      Holds the current position point in MP mode.
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      voidloadProfile(MotionProfileData data) -
      Disables the talon and loads the given profile into the talon.
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      booleanMPIsFinished() -
      Whether this talon has finished running a profile.
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      booleanreadyForMP() -
      Whether this talon is ready to start running a profile.
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      voidresetPosition() -
      Resets the position of the Talon to 0.
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      voidsetGear(int gear) -
      Shift to a specific gear.
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      voidsetGearScaledVelocity(double velocity, - int gear) -
      Set the velocity scaled to a given gear's max velocity.
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      voidsetGearScaledVelocity(double velocity, - Shiftable.gear gear) -
      Set the velocity scaled to a given gear's max velocity.
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      voidsetPercentVoltage(double percentVoltage) -
      Set the motor output voltage to a given percent of available voltage.
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      voidsetVelocity(double velocity) -
      Set the velocity for the motor to go at.
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      protected voidsetVelocityFPS(double velocity) -
      Give a velocity closed loop setpoint in FPS.
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      voidstartRunningMP() -
      Starts running the loaded motion profile.
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      voidstopMPProcesses() -
      Stops all MP-related threads to save on CPU power.
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        Methods inherited from class java.lang.Object

        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
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      Field Detail

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        canTalon

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        @NotNull
-protected final com.ctre.CANTalon canTalon
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        The CTRE CAN Talon SRX that this class is a wrapper on
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        currentGearSettings

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        @NotNull
-protected FPSTalon.PerGearSettings currentGearSettings
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        The settings currently being used by this Talon.
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      Constructor Detail

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        FPSTalon

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        public FPSTalon(int port,
-                boolean invertInVoltage,
-                boolean reverseOutput,
-                boolean enableBrakeMode,
-                @Nullable
-                java.lang.Boolean fwdLimitSwitchNormallyOpen,
-                @Nullable
-                java.lang.Boolean revLimitSwitchNormallyOpen,
-                @Nullable
-                java.lang.Double fwdSoftLimit,
-                @Nullable
-                java.lang.Double revSoftLimit,
-                @Nullable
-                java.lang.Double postEncoderGearing,
-                @Nullable
-                java.lang.Double feetPerRotation,
-                @Nullable
-                java.lang.Integer currentLimit,
-                double maxClosedLoopVoltage,
-                @Nullable
-                com.ctre.CANTalon.FeedbackDevice feedbackDevice,
-                @Nullable
-                java.lang.Integer encoderCPR,
-                boolean reverseSensor,
-                @Nullable
-                java.util.List<FPSTalon.PerGearSettings> perGearSettings,
-                @Nullable
-                Shiftable.gear startingGear,
-                @Nullable
-                java.lang.Integer startingGearNum,
-                @Nullable
-                java.lang.Integer minNumPointsInBottomBuffer,
-                @Nullable
-                java.lang.Double updaterProcessPeriodSecs,
-                @Nullable
-                java.util.Map<com.ctre.CANTalon.StatusFrameRate,java.lang.Integer> statusFrameRatesMillis,
-                @Nullable
-                java.lang.Integer controlFrameRateMillis,
-                @Nullable
-                java.util.List<FPSTalon.SlaveTalon> slaves)
        -
        Default constructor.
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        -
        Parameters:
        -
        port - CAN port of this Talon.
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        invertInVoltage - Whether or not to invert the motor in voltage mode.
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        reverseOutput - Whether to reverse the output (identical effect to inverting outside of - position PID)
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        enableBrakeMode - Whether to brake or coast when stopped.
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        fwdLimitSwitchNormallyOpen - Whether the forward limit switch is normally open or closed. If this is null, - the forward limit switch is disabled.
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        revLimitSwitchNormallyOpen - Whether the reverse limit switch is normally open or closed. If this is null, - the reverse limit switch is disabled.
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        fwdSoftLimit - The forward software limit, in feet. If this is null, the forward software - limit is disabled.
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        revSoftLimit - The reverse software limit, in feet. If this is null, the reverse software - limit is disabled.
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        postEncoderGearing - The coefficient the output changes by after being measured by the encoder, e.g. - this would be 1/70 if there was a 70:1 gearing between the encoder and the - final output. Defaults to 1.
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        feetPerRotation - The number of feet travelled per rotation of the motor this is attached to. - Defaults to 1.
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        currentLimit - The max amps this device can draw. If this is null, no current limit is used.
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        maxClosedLoopVoltage - The voltage to scale closed-loop output based on, e.g. closed-loop output of 1 - will produce this voltage, output of 0.5 will produce half, etc. This feature - compensates for low battery voltage.
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        feedbackDevice - The type of encoder used to measure the output velocity of this motor. Can be - null if there is no encoder attached to this Talon.
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        encoderCPR - The counts per rotation of the encoder on this Talon. Can be null if - feedbackDevice is, but otherwise must have a value.
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        reverseSensor - Whether or not to reverse the reading from the encoder on this Talon. Ignored - if feedbackDevice is null. Defaults to false.
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        perGearSettings - The settings for each gear this motor has. Can be null to use default values - and gear # of zero. Gear numbers can't be repeated.
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        startingGear - The gear to start in. Can be null to use startingGearNum instead.
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        startingGearNum - The number of the gear to start in. Ignored if startingGear isn't null. - Defaults to the lowest gear.
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        minNumPointsInBottomBuffer - The minimum number of points that must be in the bottom-level MP buffer before - starting a profile. Defaults to 20.
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        updaterProcessPeriodSecs - The period for the Notifier that moves points between the MP buffers, in - seconds. Defaults to 0.005.
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        statusFrameRatesMillis - The update rates, in millis, for each of the Talon status frames.
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        controlFrameRateMillis - The update rate, in milliseconds, for the control frame. Defaults to 10.
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        slaves - The other CANTalons that are slaved to this one.
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      Method Detail

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        setPercentVoltage

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        public void setPercentVoltage(double percentVoltage)
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        Set the motor output voltage to a given percent of available voltage.
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        percentVoltage - percent of total voltage from [-1, 1]
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        getGear

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        public int getGear()
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        Specified by:
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        getGear in interface Shiftable
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        Returns:
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        The gear this subsystem is currently in.
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        setGear

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        public void setGear(int gear)
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        Shift to a specific gear.
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        Specified by:
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        setGear in interface Shiftable
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        gear - Which gear to shift to.
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        encoderToFeet

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        @Nullable
-protected java.lang.Double encoderToFeet(double nativeUnits)
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        Convert from native units read by an encoder to feet moved. Note this DOES account for post-encoder gearing.
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        nativeUnits - A distance native units as measured by the encoder.
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        That distance in feet, or null if no encoder CPR was given.
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        feetToEncoder

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-protected java.lang.Double feetToEncoder(double feet)
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        Convert a distance from feet to encoder reading in native units. Note this DOES account for post-encoder - gearing.
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        feet - A distance in feet.
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        That distance in native units as measured by the encoder, or null if no encoder CPR was given.
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        encoderToFPS

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        @Nullable
-protected java.lang.Double encoderToFPS(double encoderReading)
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        Converts the velocity read by the talon's getVelocity() method to the FPS of the output shaft. Note this DOES - account for post-encoder gearing.
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        Parameters:
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        encoderReading - The velocity read from the encoder with no conversions.
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        Returns:
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        The velocity of the output shaft, in FPS, when the encoder has that reading, or null if no encoder CPR - was given.
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        FPSToEncoder

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        @Nullable
-protected java.lang.Double FPSToEncoder(double FPS)
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        Converts from the velocity of the output shaft to what the talon's getVelocity() method would read at that - velocity. Note this DOES account for post-encoder gearing.
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        Parameters:
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        FPS - The velocity of the output shaft, in FPS.
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        Returns:
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        What the raw encoder reading would be at that velocity, or null if no encoder CPR was given.
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        getVelocity

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        @Nullable
-public java.lang.Double getVelocity()
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        Get the velocity of the CANTalon in FPS.
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        The CANTalon's velocity in FPS, or null if no encoder CPR was given.
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        setVelocity

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        public void setVelocity(double velocity)
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        Set the velocity for the motor to go at.
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        Specified by:
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        setVelocity in interface SimpleMotor
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        Parameters:
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        velocity - the desired velocity, on [-1, 1].
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        setVelocityFPS

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        protected void setVelocityFPS(double velocity)
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        Give a velocity closed loop setpoint in FPS.
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        velocity - velocity setpoint in FPS.
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        getError

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        @Nullable
-public java.lang.Double getError()
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        Get the current closed-loop velocity error in FPS. WARNING: will give garbage if not in velocity mode.
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        Returns:
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        The closed-loop error in FPS, or null if no encoder CPR was given.
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        getSetpoint

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        @Nullable
-public java.lang.Double getSetpoint()
        -
        Get the current velocity setpoint of the Talon in FPS. WARNING: will give garbage if not in velocity mode.
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        Returns:
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        The closed-loop velocity setpoint in FPS, or null if no encoder CPR was given.
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        getOutputVoltage

        -
        public double getOutputVoltage()
        -
        Get the voltage the Talon is currently drawing from the PDP.
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        Returns:
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        Voltage in volts.
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        getOutputCurrent

        -
        public double getOutputCurrent()
        -
        Get the current the Talon is currently drawing from the PDP.
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        Returns:
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        Current in amps.
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        enable

        -
        public void enable()
        -
        Enables the motor, if applicable.
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        Specified by:
        -
        enable in interface SimpleMotor
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        disable

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        public void disable()
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        Disables the motor, if applicable.
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        Specified by:
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        disable in interface SimpleMotor
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        setGearScaledVelocity

        -
        public void setGearScaledVelocity(double velocity,
-                                  int gear)
        -
        Set the velocity scaled to a given gear's max velocity. Used mostly when autoshifting.
        -
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        Parameters:
        -
        velocity - The velocity to go at, from [-1, 1], where 1 is the max speed of the given gear.
        -
        gear - The number of the gear to use the max speed from to scale the velocity.
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        setGearScaledVelocity

        -
        public void setGearScaledVelocity(double velocity,
-                                  Shiftable.gear gear)
        -
        Set the velocity scaled to a given gear's max velocity. Used mostly when autoshifting.
        -
        -
        Parameters:
        -
        velocity - The velocity to go at, from [-1, 1], where 1 is the max speed of the given gear.
        -
        gear - The gear to use the max speed from to scale the velocity.
        -
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        getPositionFeet

        -
        public java.lang.Double getPositionFeet()
        -
        -
        Returns:
        -
        the position of the talon in feet, or null of inches per rotation wasn't given.
        -
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        • -
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        resetPosition

        -
        public void resetPosition()
        -
        Resets the position of the Talon to 0.
        -
        • -
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      • -

        readyForMP

        -
        public boolean readyForMP()
        -
        Whether this talon is ready to start running a profile.
        -
        -
        Returns:
        -
        True if minNumPointsInBottomBuffer points have been loaded or the top buffer is empty, false otherwise.
        -
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        MPIsFinished

        -
        public boolean MPIsFinished()
        -
        Whether this talon has finished running a profile.
        -
        -
        Returns:
        -
        True if the active point in the talon is the last point, false otherwise.
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        startRunningMP

        -
        public void startRunningMP()
        -
        Starts running the loaded motion profile.
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        holdPositionMP

        -
        public void holdPositionMP()
        -
        Holds the current position point in MP mode.
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        loadProfile

        -
        public void loadProfile(MotionProfileData data)
        -
        Disables the talon and loads the given profile into the talon.
        -
        -
        Parameters:
        -
        data - The profile to load.
        -
        -
        • -
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      • -

        stopMPProcesses

        -
        public void stopMPProcesses()
        -
        Stops all MP-related threads to save on CPU power. Run at the beginning of teleop.
        -
        • -
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      • -
    -
    • -
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org.usfirst.frc.team449.robot.jacksonWrappers
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Class MappedAHRS

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    A Jackson-compatible, invertible wrapper for the NavX.
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      protected com.kauailabs.navx.frc.AHRSahrs -
      The AHRS this class is a wrapper on.
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      A multiplier for the yaw angle.
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      MappedAHRS(edu.wpi.first.wpilibj.SPI.Port port, - java.lang.Boolean invertYaw) -
      Default constructor.
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      doubleget9AxisHeading() -
      Uses the gyro axes, magnetometer, and compass to get the most accurate possible yaw value for the robot.
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      doublegetAngularDisplacement() -
      Get the current total angular displacement.
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      doublegetAngularVelocity() -
      Get the current angular yaw velocity.
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      doublegetHeading() -
      Get the current yaw value.
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      doublegetXAccel() -
      Get the absolute X acceleration of the robot, relative to the field.
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      Get the absolute Y acceleration of the robot, relative to the field.
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      protected static doublegsToFeetPerSecondSquared(double accelGs) -
      Convert from gs (acceleration due to gravity) to feet/(second^2).
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      voidsetHeading(double headingDegrees) -
      Set the current yaw value.
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        ahrs

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        protected final com.kauailabs.navx.frc.AHRS ahrs
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        The AHRS this class is a wrapper on.
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        invertYaw

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        A multiplier for the yaw angle. -1 to invert, 1 to not.
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        MappedAHRS

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        public MappedAHRS(edu.wpi.first.wpilibj.SPI.Port port,
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        Default constructor.
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        port - The port the NavX is plugged into. It seems like only kMXP (the port on the RIO) works.
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        invertYaw - Whether or not to invert the yaw axis. Defaults to true.
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        gsToFeetPerSecondSquared

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        Convert from gs (acceleration due to gravity) to feet/(second^2).
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        accelGs - An acceleration in gs.
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        That acceleration in feet/(sec^2)
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        getHeading

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        Get the current yaw value.
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        Set the current yaw value.
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        The angular displacement, in degrees.
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        The heading, in degrees from [-180, 180]
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        Get the absolute X acceleration of the robot, relative to the field.
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org.usfirst.frc.team449.robot.jacksonWrappers
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Class MappedButton

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-extends edu.wpi.first.wpilibj.buttons.Button
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    A jackson-compatible wrapper on WPILib's Button.
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      MappedButton() 
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        Methods inherited from class edu.wpi.first.wpilibj.buttons.Button

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org.usfirst.frc.team449.robot.jacksonWrappers
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Class MappedDigitalInput

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    A series of roboRIO digital input pins.
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      Constructor and Description
      MappedDigitalInput(int[] ports) -
      Construct a MappedDigitalInput.
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      java.util.List<java.lang.Boolean>getStatus() -
      Get the status of each pin specified in the map, in the order they were specified.
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        Construct a MappedDigitalInput.
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        ports - The ports to read from, in order.
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        getStatus

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        Get the status of each pin specified in the map, in the order they were specified.
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        A list of booleans where 1 represents the input receiving a signal and 0 represents no signal.
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Class MappedDoubleSolenoid

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-extends edu.wpi.first.wpilibj.DoubleSolenoid
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    A Jackson-compatible wrapper on the DoubleSolenoid.
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        -kAnalogInputChannels, kAnalogOutputChannels, kDigitalChannels, kPCMModules, kPDPChannels, kPDPModules, kPwmChannels, kRelayChannels, kSolenoidChannels, kSystemClockTicksPerMicrosecond
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      MappedDoubleSolenoid(int module, - int forward, - int reverse) -
      Default constructor.
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        module - The module number of the PCM. Defaults to 0.
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        forward - The forward port on the PCM.
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        reverse - The reverse port on the PCM.
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org.usfirst.frc.team449.robot.jacksonWrappers
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Class MappedJoystick

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      Constructor and Description
      MappedJoystick(int port) -
      Default constructor
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      voidrumble(double left, - double right) -
      Rumble at a given strength on each side of the device.
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        Methods inherited from class edu.wpi.first.wpilibj.Joystick

        -getAxis, getAxisChannel, getAxisCount, getAxisType, getBumper, getButton, getButtonCount, getDirectionDegrees, getDirectionRadians, getIsXbox, getMagnitude, getName, getPOV, getPOVCount, getRawAxis, getRawButton, getThrottle, getTop, getTrigger, getTwist, getType, getX, getY, getZ, setAxisChannel, setOutput, setOutputs, setRumble
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        -getPort, getPOV, getX, getY
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        public MappedJoystick(int port)
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        Default constructor
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        port - The USB port of this joystick, on [0, 5].
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        rumble

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        public void rumble(double left,
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        Rumble at a given strength on each side of the device.
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        Specified by:
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        rumble in interface Rumbleable
        -
        Parameters:
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        left - The strength to rumble the left side, on [-1, 1]
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Interface MappedRunnable

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org.usfirst.frc.team449.robot.jacksonWrappers
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Class MappedUsbCamera

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    A Jackson-compatible wrapper on the UsbCamera.
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        -edu.wpi.cscore.VideoCamera.WhiteBalance
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        -m_handle
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      Constructor and Description
      MappedUsbCamera(java.lang.String name, - int devAddress, - int width, - int height, - int fps) -
      Default constructor
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        -enumerateUsbCameras, getPath
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        -getBrightness, setBrightness, setExposureAuto, setExposureHoldCurrent, setExposureManual, setWhiteBalanceAuto, setWhiteBalanceHoldCurrent, setWhiteBalanceManual
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        Methods inherited from class edu.wpi.cscore.VideoSource

        -enumerateProperties, enumerateSinks, enumerateSources, enumerateVideoModes, equals, free, getDescription, getHandle, getKind, getKindFromInt, getLastFrameTime, getName, getProperty, getVideoMode, hashCode, isConnected, isValid, setFPS, setPixelFormat, setResolution, setVideoMode, setVideoMode
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        public MappedUsbCamera(@NotNull
-                       java.lang.String name,
-                       int devAddress,
-                       int width,
-                       int height,
-                       int fps)
        -
        Default constructor
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        -
        Parameters:
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        name - The human-friendly name for this camera.
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        devAddress - The address of this device in /dev/, e.g. this would be 0 for /dev/video0, 1 for /dev/video1.
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        width - The width of this camera's output, in pixels. There's a minimum value for this that WPILib - won't let us go below, but I don't know what it is.
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        height - The height of this camera's output, in pixels. There's a minimum value for this that WPILib - won't let us go below, but I don't know what it is.
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        fps - The frames per second this camera tries to transmit. There's a minimum value for this that - WPILib won't let us go below, but I don't know what it is.
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org.usfirst.frc.team449.robot.jacksonWrappers
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Class MappedVictor

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    edu.wpi.first.wpilibj.livewindow.LiveWindowSendable, edu.wpi.first.wpilibj.MotorSafety, edu.wpi.first.wpilibj.PIDOutput, edu.wpi.first.wpilibj.Sendable, edu.wpi.first.wpilibj.SpeedController, SimpleMotor
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    public class MappedVictor
-extends edu.wpi.first.wpilibj.VictorSP
-implements SimpleMotor
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    A wrapper for a VictorSP allowing it to be easily constructed from a map object.
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        Fields inherited from class edu.wpi.first.wpilibj.SensorBase

        -kAnalogInputChannels, kAnalogOutputChannels, kDigitalChannels, kPCMModules, kPDPChannels, kPDPModules, kPwmChannels, kRelayChannels, kSolenoidChannels, kSystemClockTicksPerMicrosecond
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        -DEFAULT_SAFETY_EXPIRATION
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      Constructor Summary

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      Constructor and Description
      MappedVictor(int port, - boolean inverted) -
      Json constructor using a port and inversion.
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      Method Summary

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      All Methods Instance Methods Concrete Methods 
      Modifier and TypeMethod and Description
      voidenable() -
      Enables the motor, if applicable.
      -
      voidsetVelocity(double velocity) -
      Set the velocity for the motor to go at.
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        Methods inherited from class edu.wpi.first.wpilibj.PWMSpeedController

        -get, getInverted, pidWrite, set, setInverted
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        Methods inherited from class edu.wpi.first.wpilibj.SafePWM

        -disable, Feed, getDescription, getExpiration, isAlive, isSafetyEnabled, setExpiration, setSafetyEnabled, stopMotor
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        Methods inherited from class edu.wpi.first.wpilibj.PWM

        -enableDeadbandElimination, free, getChannel, getPosition, getRaw, getRawBounds, getSmartDashboardType, getSpeed, getTable, initTable, setBounds, setDisabled, setPeriodMultiplier, setPosition, setRaw, setRawBounds, setSpeed, setZeroLatch, startLiveWindowMode, stopLiveWindowMode, updateTable
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        Methods inherited from class edu.wpi.first.wpilibj.SensorBase

        -checkAnalogInputChannel, checkAnalogOutputChannel, checkDigitalChannel, checkPDPChannel, checkPDPModule, checkPWMChannel, checkRelayChannel, checkSolenoidChannel, checkSolenoidModule, getDefaultSolenoidModule, setDefaultSolenoidModule
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        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
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        -disable
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        -disable, stopMotor
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        MappedVictor

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        public MappedVictor(int port,
-                    boolean inverted)
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        Json constructor using a port and inversion.
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        port - The port number of the Victor.
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        inverted - Whether the motor is inverted. Defaults to false.
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        setVelocity

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        public void setVelocity(double velocity)
        -
        Set the velocity for the motor to go at.
        -
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        Specified by:
        -
        setVelocity in interface SimpleMotor
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        Parameters:
        -
        velocity - the desired velocity, on [-1, 1].
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        enable

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        public void enable()
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        Enables the motor, if applicable.
        -
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        Specified by:
        -
        enable in interface SimpleMotor
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Class PressureSensor

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-extends java.lang.Object
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    Wrapper for an AnalogInput pressure sensor that returns a voltage linearly proportional to pressure.
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      Constructor and Description
      PressureSensor(int port, - int oversampleBits, - int averageBits) -
      Default constructor.
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      Method Summary

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      Modifier and TypeMethod and Description
      doublegetPressure() -
      Returns the pressure measured by the sensor.
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        public PressureSensor(int port,
-                      int oversampleBits,
-                      int averageBits)
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        Default constructor.
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        Parameters:
        -
        port - The port of the sensor.
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        oversampleBits - The number of oversample bits.
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        averageBits - The number of averaging bits.
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        getPressure

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        public double getPressure()
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        Returns the pressure measured by the sensor.
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        Returns:
        -
        pressure in PSI
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Class SimpleMotorCluster

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    SimpleMotor
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    public class SimpleMotorCluster
-extends java.lang.Object
-implements SimpleMotor
    -
    A cluster of simple motors that act as a single simple motor. Don't use this for talons, use master-slave instead.
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      Constructor and Description
      SimpleMotorCluster(java.util.List<SimpleMotor> motors) -
      Default constructor
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      Method Summary

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      All Methods Instance Methods Concrete Methods 
      Modifier and TypeMethod and Description
      voiddisable() -
      Disables the motor, if applicable.
      -
      voidenable() -
      Enables the motor, if applicable.
      -
      voidsetVelocity(double velocity) -
      Set the velocity for the motor to go at.
      -
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        Methods inherited from class java.lang.Object

        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
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        SimpleMotorCluster

        -
        public SimpleMotorCluster(@NotNull
-                          java.util.List<SimpleMotor> motors)
        -
        Default constructor
        -
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        Parameters:
        -
        motors - The motors in this cluster. Must have at least 1 element.
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      Method Detail

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        setVelocity

        -
        public void setVelocity(double velocity)
        -
        Set the velocity for the motor to go at.
        -
        -
        Specified by:
        -
        setVelocity in interface SimpleMotor
        -
        Parameters:
        -
        velocity - the desired velocity, on [-1, 1].
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        enable

        -
        public void enable()
        -
        Enables the motor, if applicable.
        -
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        Specified by:
        -
        enable in interface SimpleMotor
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        disable

        -
        public void disable()
        -
        Disables the motor, if applicable.
        -
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        Specified by:
        -
        disable in interface SimpleMotor
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Interface YamlCommand

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        getCommand

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        @NotNull
-edu.wpi.first.wpilibj.command.Command getCommand()
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        Get the command object this object is.
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        Returns:
        -
        this.
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Class YamlCommandGroupWrapper

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      Return the Command this is a wrapper on.
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Class YamlCommandWrapper

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Class YamlSubsystem

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org.usfirst.frc.team449.robot.jacksonWrappers

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Package org.usfirst.frc.team449.robot.jacksonWrappers

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    InterfaceDescription
    MappedRunnable -
    A jackson-compatible wrapper on Java's Runnable.
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    A command that's constructable from YAML.
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    FPSTalon -
    Component wrapper on the CTRE CANTalon, with unit conversions to/from FPS built in.
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    FPSTalon.PerGearSettings -
    An object representing the CANTalon settings that are different for each gear.
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    An object representing a slave CANTalon for use in the map.
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    A Jackson-compatible, invertible wrapper for the NavX.
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    A jackson-compatible wrapper on WPILib's Button.
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    A series of roboRIO digital input pins.
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    A Jackson-compatible wrapper on a Joystick.
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    A Jackson-compatible wrapper on the UsbCamera.
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    A wrapper for a VictorSP allowing it to be easily constructed from a map object.
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    Wrapper for an AnalogInput pressure sensor that returns a voltage linearly proportional to pressure.
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    SimpleMotorCluster -
    A cluster of simple motors that act as a single simple motor.
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    A wrapper on CommandGroup with @JsonTypeInfo so we can use it in maps.
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    YamlCommandWrapper -
    A wrapper on Command with @JsonTypeInfo so we can use it in maps.
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    A Jackson-compatible wrapper on Subsystem.
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Hierarchy For Package org.usfirst.frc.team449.robot.jacksonWrappers

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Class Hierarchy

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Interface Hierarchy

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org.usfirst.frc.team449.robot.oi
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Interface OI

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org.usfirst.frc.team449.robot.oi.buttons
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Class CommandButton

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    A button mapped to a command.
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      Constructor and Description
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      Default constructor.
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org.usfirst.frc.team449.robot.oi.buttons
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Class SimpleButton

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      Get whether the button is pressed.
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        Default constructor.
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        Get whether the button is pressed.
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Class TriggerButton

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    A button that gets triggered by a specific throttle being held down at or over a certain amount.
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      TriggerButton(Throttle throttle, - double triggerAt) -
      Argument-based constructor.
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      Get whether this button is pressed.
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        Get whether this button is pressed.
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org.usfirst.frc.team449.robot.oi.buttons
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Class dPadButton

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    public class dPadButton
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    A Button triggered by pushing the D-pad to a specific angle.
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      Constructor and Description
      dPadButton(MappedJoystick joystick, - int angle) -
      Explicit argument constructor.
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      Get whether this button is pressed
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-                  int angle)
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        Explicit argument constructor.
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        Get whether this button is pressed
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        true if the joystick's D-pad is pressed to the given angle, false otherwise.
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org.usfirst.frc.team449.robot.oi.buttons

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Package org.usfirst.frc.team449.robot.oi.buttons

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    Class Summary 
    ClassDescription
    CommandButton -
    A button mapped to a command.
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    dPadButton -
    A Button triggered by pushing the D-pad to a specific angle.
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    SimpleButton -
    A version of JoystickButton that is a MappedButton.
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    TriggerButton -
    A button that gets triggered by a specific throttle being held down at or over a certain amount.
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Hierarchy For Package org.usfirst.frc.team449.robot.oi.buttons

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Class Hierarchy

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org.usfirst.frc.team449.robot.oi.fieldoriented
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Class OIFieldOriented

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    OIFieldOrientedPosCos
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    public abstract class OIFieldOriented
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    An OI that gives an absolute heading, relative to the field, and a velocity.
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      OIFieldOriented() 
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      abstract java.lang.DoublegetTheta() -
      Get the absolute angle for the robot to move towards.
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      java.lang.DoublegetThetaCached() -
      Get the cached absolute angle for the robot to move towards.
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      abstract doublegetVel() -
      Get the velocity for the robot to go at.
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      doublegetVelCached() -
      Get the cached velocity for the robot to go at.
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      voidupdate() -
      Updates all cached values with current ones.
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        getTheta

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        Get the absolute angle for the robot to move towards.
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        An angular setpoint for the robot in degrees, where 0 is pointing at the other alliance's driver station - and 90 is pointing at the left wall when looking out from the driver station. Returns null if vel is 0.
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        getVel

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        public abstract double getVel()
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        Get the velocity for the robot to go at.
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        getThetaCached

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        Get the cached absolute angle for the robot to move towards.
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        An angular setpoint for the robot in degrees, where 0 is pointing at the other alliance's driver station - and 90 is pointing at the left wall when looking out from the driver station. Returns null if vel is 0.
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        public double getVelCached()
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        Get the cached velocity for the robot to go at.
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        Updates all cached values with current ones.
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Class OIFieldOrientedPosCos

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    public class OIFieldOrientedPosCos
-extends OIFieldOriented
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    A field-oriented OI that always points the robot an angle where cosine is positive, i.e. always pointing away from the driver station.
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      protected voidcalcValues() -
      Calculate the theta and vel values, can be called multiple times per tic but will only execute logic once.
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      java.lang.DoublegetTheta() -
      Get the absolute angle for the robot to move towards.
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      doublegetVel() -
      Get the velocity for the robot to go at.
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        OIFieldOrientedPosCos

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        public OIFieldOrientedPosCos(@NotNull
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        Default constructor
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        xThrottle - The throttle for the X-axis, which points towards the opposing driver station.
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        yThrottle - The throttle for the Y-axis, which points towards the driver's left.
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        calcValues

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        protected void calcValues()
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        Calculate the theta and vel values, can be called multiple times per tic but will only execute logic once.
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        getTheta

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        Get the absolute angle for the robot to move towards.
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        getTheta in class OIFieldOriented
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        An angular setpoint for the robot in degrees, where 0 is pointing at the other alliance's driver station - and 90 is pointing at the left wall when looking out from the driver station.
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        getVel

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        Get the velocity for the robot to go at.
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Package org.usfirst.frc.team449.robot.oi.fieldoriented

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    OIFieldOriented -
    An OI that gives an absolute heading, relative to the field, and a velocity.
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    A field-oriented OI that always points the robot an angle where cosine is positive, i.e.
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org.usfirst.frc.team449.robot.oi

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Package org.usfirst.frc.team449.robot.oi

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    OI 
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org.usfirst.frc.team449.robot.oi.throttles
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Interface Throttle

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      doublegetValue() -
      Get the output of the throttle this object represents.
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      Get the cached output of the throttle this object represents.
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        getValue

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        double getValue()
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        Get the output of the throttle this object represents.
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        Get the cached output of the throttle this object represents.
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org.usfirst.frc.team449.robot.oi.throttles
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Class ThrottleBasic

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    A class representing a single axis on a joystick.
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      The cached value of the output.
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      The stick we're using
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      ThrottleBasic(MappedJoystick stick, - int axis, - boolean inverted) -
      Default constructor.
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      edu.wpi.first.wpilibj.PIDSourceTypegetPIDSourceType() -
      Get which parameter of the device you are using as a process control variable.
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      doublegetValue() -
      Gets the raw value from the stick and inverts it if necessary.
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      Get the cached output of the throttle this object represents.
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      Get the result to use in PIDController.
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      voidsetPIDSourceType(edu.wpi.first.wpilibj.PIDSourceType pidSource) -
      Set which parameter of the device you are using as a process control variable.
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      Updates all cached values with current ones.
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        The stick we're using
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        The cached value of the output.
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        Gets the raw value from the stick and inverts it if necessary.
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org.usfirst.frc.team449.robot.oi.throttles
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Class ThrottleDeadbanded

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      The value below which the joystick input is considered 0.
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      ThrottleDeadbanded(MappedJoystick stick, - int axis, - double deadband, - java.lang.Double smoothingTimeSecs, - boolean inverted) -
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        Gets the value from the joystick and deadbands it. The non-deadband values are scaled to avoid a discontinuity.
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        The joystick's value, after being deadbanded.
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Class ThrottleExponential

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      The base that is raised to the power of the joystick input.
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        Raises the base to the value of the deadbanded joystick output, adjusting for sign.
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        The processed value of the joystick
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org.usfirst.frc.team449.robot.oi.throttles
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Class ThrottlePolynomial

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        The polynomially that scales the throttle.
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        smoothingTimeSecs - How many seconds of input to take into account when smoothing. Defaults to 0.02.
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        inverted - Whether or not to invert the joystick input. Defaults to false.
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        getValue

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        Passes the deadbanded joystick output to the polynomial, while preserving sign.
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        getValue in interface Throttle
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        The processed value of the joystick
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org.usfirst.frc.team449.robot.oi.throttles
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Class ThrottleSum

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    A Throttle that sums any number of other Throttles.
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      Fields 
      Modifier and TypeField and Description
      protected doublecachedValue -
      The cached output.
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      protected Throttle[]throttles -
      The throttles to sum.
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      Constructor and Description
      ThrottleSum(Throttle[] throttles) -
      Default constructor.
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      Modifier and TypeMethod and Description
      doublegetValue() -
      Sums the throttles and returns their output
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      doublegetValueCached() -
      Get the cached output of the throttle this object represents.
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      voidupdate() -
      Updates all cached values with current ones.
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        throttles

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        The throttles to sum.
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        The cached output.
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        Default constructor.
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        throttles - The throttles to sum.
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        getValue

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        Sums the throttles and returns their output
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        Get the cached output of the throttle this object represents.
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        Updates all cached values with current ones.
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org.usfirst.frc.team449.robot.oi.throttles

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Interfaces

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Classes

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Package org.usfirst.frc.team449.robot.oi.throttles

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    Interface Summary 
    InterfaceDescription
    Throttle -
    An object representing an axis of a stick on a joystick.
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    Class Summary 
    ClassDescription
    ThrottleBasic -
    A class representing a single axis on a joystick.
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    ThrottleDeadbanded -
    A throttle with a deadband and smoothing.
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    ThrottleExponential -
    An exponentially-scaled throttle.
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    ThrottlePolynomial -
    A polynomially scaled throttle.
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    ThrottleSum -
    A Throttle that sums any number of other Throttles.
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Hierarchy For Package org.usfirst.frc.team449.robot.oi.throttles

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Class Hierarchy

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Interface Hierarchy

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  • org.usfirst.frc.team449.robot.generalInterfaces.updatable.Updatable -
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org.usfirst.frc.team449.robot.oi.unidirectional
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Class OIOutreach

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      Method Summary

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      All Methods Instance Methods Concrete Methods 
      Modifier and TypeMethod and Description
      booleancommandingStraight() -
      Whether the driver is trying to drive straight.
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      doublegetLeftOutput() -
      The output to be given to the left side of the drive.
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      doublegetLeftOutputCached() -
      The cached output to be given to the left side of the drive.
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      doublegetRightOutput() -
      The output to be given to the right side of the drive.
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      doublegetRightOutputCached() -
      The cached output to be given to the right side of the drive.
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      voidupdate() -
      Updates all cached values with current ones.
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        getLeftOutput

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        public double getLeftOutput()
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        The output to be given to the left side of the drive.
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        getLeftOutput in interface OIUnidirectional
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        Output to left side from [-1, 1]
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        getRightOutput

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        public double getRightOutput()
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        The output to be given to the right side of the drive.
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        getRightOutput in interface OIUnidirectional
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        Output to right side from [-1, 1]
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        commandingStraight

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        public boolean commandingStraight()
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        Whether the driver is trying to drive straight.
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        commandingStraight in interface OIUnidirectional
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        True if the driver is trying to drive straight, false otherwise.
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        getLeftOutputCached

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        public double getLeftOutputCached()
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        The cached output to be given to the left side of the drive.
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        getLeftOutputCached in interface OIUnidirectional
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        Output to left side from [-1, 1]
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        public double getRightOutputCached()
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        The cached output to be given to the right side of the drive.
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        getRightOutputCached in interface OIUnidirectional
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        Output to right side from [-1, 1]
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        Updates all cached values with current ones.
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org.usfirst.frc.team449.robot.oi.unidirectional
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Interface OIUnidirectional

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      Modifier and TypeMethod and Description
      booleancommandingStraight() -
      Whether the driver is trying to drive straight.
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      doublegetLeftOutput() -
      The output to be given to the left side of the drive.
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      doublegetLeftOutputCached() -
      The cached output to be given to the left side of the drive.
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      doublegetRightOutput() -
      The output to be given to the right side of the drive.
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      doublegetRightOutputCached() -
      The cached output to be given to the right side of the drive.
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        Methods inherited from interface org.usfirst.frc.team449.robot.generalInterfaces.updatable.Updatable

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        getLeftOutput

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        double getLeftOutput()
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        The output to be given to the left side of the drive.
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        Output to left side from [-1, 1]
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        double getRightOutput()
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        The output to be given to the right side of the drive.
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        Output to right side from [-1, 1]
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        boolean commandingStraight()
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        Whether the driver is trying to drive straight.
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        True if the driver is trying to drive straight, false otherwise.
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        getLeftOutputCached

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        double getLeftOutputCached()
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        The cached output to be given to the left side of the drive.
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        Output to left side from [-1, 1]
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        Output to right side from [-1, 1]
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org.usfirst.frc.team449.robot.oi.unidirectional.arcade
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Class OIArcade

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      Constructor and Description
      OIArcade() 
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      Modifier and TypeMethod and Description
      booleancommandingStraight() -
      Whether the driver is trying to drive straight.
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      abstract doublegetFwd() -
      Get the velocity input.
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      doublegetFwdCached() -
      Get the cached velocity input.
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      doublegetLeftOutput() -
      The output to be given to the left side of the drive.
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      doublegetLeftOutputCached() -
      The cached output to be given to the left side of the drive.
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      doublegetRightOutput() -
      The output to be given to the right side of the drive.
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      doublegetRightOutputCached() -
      The cached output to be given to the right side of the drive.
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      abstract doublegetRot() -
      Get the rotational input.
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      Get the cached rotational input.
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      Updates all cached values with current ones.
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        getRot

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        Get the rotational input.
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        rotational velocity component from [-1, 1], where 1 is right and -1 is left.
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        getFwd

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        Get the velocity input.
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        -
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        Get the cached rotational input.
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        Get the cached velocity input.
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        The output to be given to the left side of the drive.
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        getLeftOutput in interface OIUnidirectional
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        Output to left side from [-1, 1]
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        public double getRightOutput()
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        The output to be given to the right side of the drive.
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        getRightOutput in interface OIUnidirectional
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        Output to right side from [-1, 1]
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        commandingStraight

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        public boolean commandingStraight()
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        Whether the driver is trying to drive straight.
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        commandingStraight in interface OIUnidirectional
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        Returns:
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        True if the driver is trying to drive straight, false otherwise.
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        getLeftOutputCached

        -
        public double getLeftOutputCached()
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        The cached output to be given to the left side of the drive.
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        Specified by:
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        getLeftOutputCached in interface OIUnidirectional
        -
        Returns:
        -
        Output to left side from [-1, 1]
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        getRightOutputCached

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        public double getRightOutputCached()
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        The cached output to be given to the right side of the drive.
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        getRightOutputCached in interface OIUnidirectional
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        Output to right side from [-1, 1]
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        update

        -
        public void update()
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        Updates all cached values with current ones.
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org.usfirst.frc.team449.robot.oi.unidirectional.arcade
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Class OIArcadeSimple

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        OIArcadeSimple

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        public OIArcadeSimple(@NotNull
-                      Throttle rotThrottle,
-                      @NotNull
-                      Throttle velThrottle)
        -
        Default constructor
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        Parameters:
        -
        rotThrottle - The throttle for rotating the robot.
        -
        velThrottle - The throttle for driving straight.
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        getRot

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        public double getRot()
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        Description copied from class: OIArcade
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        Get the rotational input.
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        Specified by:
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        getRot in class OIArcade
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        Returns:
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        rotational velocity component
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        getFwd

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        public double getFwd()
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        Description copied from class: OIArcade
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        Get the velocity input.
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        forward velocity component
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org.usfirst.frc.team449.robot.oi.unidirectional.arcade
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Class OIArcadeWithDPad

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      Constructor and Description
      OIArcadeWithDPad(Throttle rotThrottle, - Throttle fwdThrottle, - double dPadShift, - boolean invertDPad, - MappedJoystick gamepad, - Polynomial scaleRotByFwdPoly, - double turnInPlaceRotScale) -
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        OIArcadeWithDPad

        -
        public OIArcadeWithDPad(@NotNull
-                        Throttle rotThrottle,
-                        @NotNull
-                        Throttle fwdThrottle,
-                        double dPadShift,
-                        boolean invertDPad,
-                        @Nullable
-                        MappedJoystick gamepad,
-                        @Nullable
-                        Polynomial scaleRotByFwdPoly,
-                        double turnInPlaceRotScale)
        -
        Default constructor
        -
        -
        Parameters:
        -
        gamepad - The gamepad containing the joysticks and buttons. Can be null if not using the D-pad.
        -
        rotThrottle - The throttle for rotating the robot.
        -
        fwdThrottle - The throttle for driving the robot straight.
        -
        invertDPad - Whether or not to invert the D-pad. Defaults to false.
        -
        dPadShift - How fast the dPad should turn the robot, on [0, 1]. Defaults to 0.
        -
        scaleRotByFwdPoly - The polynomial to scale the forwards throttle output by before using it to scale the - rotational throttle. Can be null, and if it is, rotational throttle is not scaled by - forwards throttle.
        -
        turnInPlaceRotScale - The scalar that scales the rotational throttle while turning in place.
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        getFwd

        -
        public double getFwd()
        -
        The output of the throttle controlling linear velocity, smoothed and adjusted according to what type of joystick - it is.
        -
        -
        Specified by:
        -
        getFwd in class OIArcade
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        Returns:
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        The processed stick output, sign-adjusted so 1 is forward and -1 is backwards.
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        getRot

        -
        public double getRot()
        -
        Get the output of the D-pad or turning joystick, whichever is in use. If both are in use, the D-pad takes - preference.
        -
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        Specified by:
        -
        getRot in class OIArcade
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        Returns:
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        The processed stick or D-pad output, sign-adjusted so 1 is right and -1 is left.
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        Get the headers for the data this subsystem logs every loop.
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        Get the data this subsystem logs every loop.
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        An N-length array of Objects, where N is the number of labels given by getHeader.
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-public java.lang.String getName()
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        Get the name of this object.
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        A string that will identify this object in the log file.
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org.usfirst.frc.team449.robot.oi.unidirectional.arcade

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Classes

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Package org.usfirst.frc.team449.robot.oi.unidirectional.arcade

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    Class Summary 
    ClassDescription
    OIArcade -
    An arcade-style dual joystick OI.
    -
    OIArcadeSimple -
    A simple, two-stick arcade drive OI.
    -
    OIArcadeWithDPad -
    An arcade OI with an option to use the D-pad for turning.
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Hierarchy For Package org.usfirst.frc.team449.robot.oi.unidirectional.arcade

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Class Hierarchy

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      • org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcadeWithDPad (implements org.usfirst.frc.team449.robot.generalInterfaces.loggable.Loggable)
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org.usfirst.frc.team449.robot.oi.unidirectional

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Interfaces

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Classes

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Package org.usfirst.frc.team449.robot.oi.unidirectional

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    Interface Summary 
    InterfaceDescription
    OIUnidirectional -
    An OI to control a robot with a unidirectional drive that has a left and right side (e.g.
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    ClassDescription
    OIOutreach 
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org.usfirst.frc.team449.robot.oi.unidirectional.tank
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Class OITank

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      Constructor and Description
      OITank() 
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      All Methods Instance Methods Abstract Methods Concrete Methods 
      Modifier and TypeMethod and Description
      doublegetLeftOutput() -
      The output to be given to the left side of the drive.
      -
      doublegetLeftOutputCached() -
      The cached output to be given to the left side of the drive.
      -
      abstract doublegetLeftThrottle() -
      Get the throttle for the left side of the drive.
      -
      doublegetLeftThrottleCached() -
      Get the cached throttle for the left side of the drive.
      -
      doublegetRightOutput() -
      The output to be given to the right side of the drive.
      -
      doublegetRightOutputCached() -
      The cached output to be given to the right side of the drive.
      -
      abstract doublegetRightThrottle() -
      Get the throttle for the right side of the drive.
      -
      doublegetRightThrottleCached() -
      Get the cached throttle for the right side of the drive.
      -
      voidupdate() -
      Updates all cached values with current ones.
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        Methods inherited from class java.lang.Object

        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
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        OITank

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        public OITank()
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        getLeftThrottle

        -
        public abstract double getLeftThrottle()
        -
        Get the throttle for the left side of the drive.
        -
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        Returns:
        -
        percent of max speed for left motor cluster from [-1.0, 1.0]
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        getRightThrottle

        -
        public abstract double getRightThrottle()
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        Get the throttle for the right side of the drive.
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        Returns:
        -
        percent of max speed for right motor cluster from [-1.0, 1.0]
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        getLeftThrottleCached

        -
        public double getLeftThrottleCached()
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        Get the cached throttle for the left side of the drive.
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        Returns:
        -
        percent of max speed for left motor cluster from [-1.0, 1.0]
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        getRightThrottleCached

        -
        public double getRightThrottleCached()
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        Get the cached throttle for the right side of the drive.
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        Returns:
        -
        percent of max speed for right motor cluster from [-1.0, 1.0]
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        getLeftOutput

        -
        public double getLeftOutput()
        -
        The output to be given to the left side of the drive.
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        Specified by:
        -
        getLeftOutput in interface OIUnidirectional
        -
        Returns:
        -
        Output to left side from [-1, 1]
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        getRightOutput

        -
        public double getRightOutput()
        -
        The output to be given to the right side of the drive.
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        Specified by:
        -
        getRightOutput in interface OIUnidirectional
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        Returns:
        -
        Output to right side from [-1, 1]
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        getLeftOutputCached

        -
        public double getLeftOutputCached()
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        The cached output to be given to the left side of the drive.
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        -
        Specified by:
        -
        getLeftOutputCached in interface OIUnidirectional
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        Returns:
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        Output to left side from [-1, 1]
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        getRightOutputCached

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        public double getRightOutputCached()
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        The cached output to be given to the right side of the drive.
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        Specified by:
        -
        getRightOutputCached in interface OIUnidirectional
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        Returns:
        -
        Output to right side from [-1, 1]
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        update

        -
        public void update()
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        Updates all cached values with current ones.
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        Specified by:
        -
        update in interface Updatable
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org.usfirst.frc.team449.robot.oi.unidirectional.tank
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Class OITankSimple

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    Updatable, OI, OIUnidirectional
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-extends OITank
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    A simple tank drive, where each joystick controls a side of the robot.
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        Default constructor
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        Parameters:
        -
        leftThrottle - The throttle for controlling the velocity of the left side of the drive.
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        rightThrottle - The throttle for controlling the velocity of the right side of the drive.
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        commandingStraightTolerance - The difference between left and right input within which the driver is - considered to be trying to drive straight. Defaults to 0.
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        getLeftThrottle

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        Get the throttle for the left side of the drive.
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        getLeftThrottle in class OITank
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        percent of max speed for left motor cluster from [-1.0, 1.0]
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        getRightThrottle in class OITank
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        commandingStraight

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        Whether the driver is trying to drive straight.
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org.usfirst.frc.team449.robot.oi.unidirectional.tank

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Classes

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- - diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/package-summary.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/package-summary.html deleted file mode 100644 index 2eae31c1..00000000 --- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/package-summary.html +++ /dev/null @@ -1,148 +0,0 @@ - - - - - -org.usfirst.frc.team449.robot.oi.unidirectional.tank (RoboRIO 1.0 API) - - - - - - - - -
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Package org.usfirst.frc.team449.robot.oi.unidirectional.tank

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    Class Summary 
    ClassDescription
    OITank -
    A tank-style dual joystick OI.
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    OITankSimple -
    A simple tank drive, where each joystick controls a side of the robot.
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Hierarchy For Package org.usfirst.frc.team449.robot.oi.unidirectional.tank

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Class Hierarchy

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  • java.lang.Object -
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    • org.usfirst.frc.team449.robot.oi.unidirectional.tank.OITank (implements org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional) -
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org.usfirst.frc.team449.robot.other
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Class BufferTimer

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    A timer that checks if condition has been true for the past n seconds/milliseconds.
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      Constructor and Description
      BufferTimer(double bufferTimeSeconds) -
      Constructor for a time given in seconds.
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      BufferTimer(long bufferTimeMilliseconds) -
      Constructor for a time given in milliseconds.
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      Modifier and TypeMethod and Description
      booleanget(boolean currentState) -
      Get whether the condition has been true for at least the specified amount of time.
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        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
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        BufferTimer

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        public BufferTimer(double bufferTimeSeconds)
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        Constructor for a time given in seconds.
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        public BufferTimer(long bufferTimeMilliseconds)
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        Constructor for a time given in milliseconds.
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        get

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        public boolean get(boolean currentState)
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        Get whether the condition has been true for at least the specified amount of time.
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        currentState - The current state of the condition.
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        True if the condition has been true for the specified amount of time, false otherwise.
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org.usfirst.frc.team449.robot.other
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Class Clock

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    public class Clock
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    A wrapper on System.currentTimeMillis that caches the time, to avoid calling the currentTimeMillis method.
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      Modifier and TypeMethod and Description
      static longcurrentTimeMillis() 
      static voidsetStartTime() -
      Sets the start time to the current time.
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      static voidupdateTime() -
      Updates the current time.
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        updateTime

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        Updates the current time.
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        setStartTime

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        Sets the start time to the current time.
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        currentTimeMillis

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        The time since the start time, in milliseconds.
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org.usfirst.frc.team449.robot.other
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Class LogEvent

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    An logged event with a message, timestamp, and calling class.
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      Constructor and Description
      LogEvent(java.lang.String message, - java.lang.Class caller) -
      Default constructor.
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      java.lang.StringtoString() -
      Turn this event into a string for logging.
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        LogEvent

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        Default constructor. -

        - Note to future people: Don't rewrite this to get the calling class from the stack trace. It's possible, and makes - the code cleaner than taking the calling class as an argument, but getting the stack trace actually takes Java a - little while, and considering how often this constructor is called, that would significantly slow us down.

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        toString

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        Turn this event into a string for logging.
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        The time called, calling class, and message, comma-separated and in that order.
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org.usfirst.frc.team449.robot.other
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Class Logger

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    A logger that logs telemetry data and individual events. Should be run as a separate thread from the main robot - loop.
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      Constructor and Description
      Logger(Loggable[] subsystems, - double loopTimeSecs, - java.lang.String eventLogFilename, - java.lang.String telemetryLogFilename) -
      Default constructor.
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      static voidaddEvent(java.lang.String message, - java.lang.Class caller) -
      Log an event to be written to the event log file.
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      doublegetLoopTimeSecs() 
      voidrun() -
      Print out all logged events to the event log and write all the telemetry data to the telemetry log.
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        Logger

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        public Logger(@NotNull
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-              double loopTimeSecs,
-              @NotNull
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-              @NotNull
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-       throws java.io.IOException
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        Default constructor.
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        subsystems - The subsystems to log telemetry data from.
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        loopTimeSecs - The period of the loop for collecting telemetry data, in seconds.
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        eventLogFilename - The filepath of the log for events. Will have the timestamp and file extension - appended onto the end.
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        telemetryLogFilename - The filepath of the log for telemetry data. Will have the timestamp and file - extension appended onto the end.
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        java.io.IOException - If the file names provided from the log can't be written to.
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        addEvent

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        public static void addEvent(@NotNull
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        Log an event to be written to the event log file.
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        message - The text of the event to log.
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        caller - The class causing the event. Almost always will be this.getClass().
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        run

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        public void run()
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        Print out all logged events to the event log and write all the telemetry data to the telemetry log.
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        getLoopTimeSecs

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        The map-specified loop period of this logger, in seconds.
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org.usfirst.frc.team449.robot.other
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Class MotionProfileData

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    public class MotionProfileData
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    Data structure containing the array of points for the MP and a method to fill the MP from a csv file
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      Constructor Summary

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      Constructor and Description
      MotionProfileData(java.lang.String filename, - boolean inverted, - boolean velocityOnly, - boolean resetPosition) -
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        MotionProfileData

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        public MotionProfileData(@NotNull
-                         java.lang.String filename,
-                         boolean inverted,
-                         boolean velocityOnly,
-                         boolean resetPosition)
        -
        Default constructor
        -
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        Parameters:
        -
        filename - The filename of the .csv with the motion profile data. The first line must be the number of - other lines.
        -
        inverted - Whether or not the profile is inverted (would be inverted if we're driving it backwards)
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        velocityOnly - Whether or not to only use velocity feed-forward. Used for tuning kV and kA. Defaults to - false.
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        resetPosition - Whether or not to reset the talon position when this profile starts.
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        getData

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org.usfirst.frc.team449.robot.other
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Class Polynomial

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    A polynomial of a single variable.
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      Constructor Summary

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      Constructors 
      Constructor and Description
      Polynomial(java.util.Map<java.lang.Double,java.lang.Double> powerToCoefficientMap, - java.lang.Double scaleCoefficientSumTo) -
      Default constructor.
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      Modifier and TypeMethod and Description
      doubleget(double x) -
      Get the value of the polynomial given x.
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      java.util.Map<java.lang.Double,java.lang.Double>getPowerToCoefficientMap() 
      voidscaleCoefficientSum(double scaleTo) -
      Scale each coefficient so they sum to a given number.
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        Methods inherited from class java.lang.Object

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        Polynomial

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        public Polynomial(@Nullable
-                  java.util.Map<java.lang.Double,java.lang.Double> powerToCoefficientMap,
-                  @Nullable
-                  java.lang.Double scaleCoefficientSumTo)
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        Default constructor.
        -
        -
        Parameters:
        -
        powerToCoefficientMap - A map of the powers and coefficients of each term. Defaults to [1:1] if null or - 0-length.
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        scaleCoefficientSumTo - Scales each coefficient so they all add up to this number. Can be null to avoid - scaling.
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        get

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        public double get(double x)
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        Get the value of the polynomial given x.
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        Parameters:
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        x - The variable to be given to the polynomial.
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        The value of the polynomial evaluated at |x|, then changed to the sign of x.
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        scaleCoefficientSum

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        Scale each coefficient so they sum to a given number.
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        scaleTo - The number to scale the sum of coefficients to.
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        getPowerToCoefficientMap

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        A map of the powers and coefficients of each term.
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org.usfirst.frc.team449.robot.other
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Class UnidirectionalPoseEstimator<T extends SubsystemAHRS & DriveUnidirectional>

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      Constructor and Description
      UnidirectionalPoseEstimator(T subsystem, - double absolutePosAngleTolerance, - double startX, - double startY, - double startTheta) -
      Default constructor.
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      Modifier and TypeMethod and Description
      booleanaddAbsolutePos(double x, - double y, - long time) -
      Add an absolute position at the given time stamp.
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      booleanaddAbsolutePos(double x, - double y, - long time, - double angle) -
      Add an absolute position at the given time stamp, using an angle measured to verify that the absolute position is - correct.
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      java.lang.Object[]getData() -
      Get the data this subsystem logs every loop.
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      java.lang.String[]getHeader() -
      Get the headers for the data this subsystem logs every loop.
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      java.lang.StringgetName() -
      Get the name of this object.
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      double[]getPos() -
      Get the current absolute position of the robot
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      voidrun() -
      Use the current gyro and encoder data to calculate how the robot has moved since the last time run was called.
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        UnidirectionalPoseEstimator

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        public UnidirectionalPoseEstimator(@NotNull
-                                   T subsystem,
-                                   double absolutePosAngleTolerance,
-                                   double startX,
-                                   double startY,
-                                   double startTheta)
        -
        Default constructor.
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        Parameters:
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        subsystem - The subsystem to get gyro and encoder data from.
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        absolutePosAngleTolerance - The maximum amount, in degrees, a new absolute position's angle can be off from - the gyro reading and still be accepted as valid.
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        startX - The starting X of the robot, in feet. Defaults to 0.
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        startY - The starting Y of the robot, in feet. Defaults to 0.
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        startTheta - The starting angle of the robot, in degrees. Defaults to 0.
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        run

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        public void run()
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        Use the current gyro and encoder data to calculate how the robot has moved since the last time run was called.
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        addAbsolutePos

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        public boolean addAbsolutePos(double x,
-                              double y,
-                              long time)
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        Add an absolute position at the given time stamp.
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        x - The absolute x, in feet
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        y - The absolute y, in feet
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        time - The time, in milleseconds after the robot code started, that the absolute position was recorded.
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        true if the absolute position was the most recent received and was used, false otherwise.
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        addAbsolutePos

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        public boolean addAbsolutePos(double x,
-                              double y,
-                              long time,
-                              double angle)
        -
        Add an absolute position at the given time stamp, using an angle measured to verify that the absolute position is - correct.
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        x - The absolute x, in feet
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        y - The absolute y, in feet
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        time - The time, in milleseconds after the robot code started, that the absolute position was recorded
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        angle - The absolute angle, in degrees.
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        true if the absolute position was the most recent received and the angle was correct enough to be used, - false otherwise.
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        getPos

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-public double[] getPos()
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        Get the current absolute position of the robot
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        The current x,y position in feet.
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        getHeader

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        Get the headers for the data this subsystem logs every loop.
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        getHeader in interface Loggable
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        An N-length array of String labels for data, where N is the length of the Object[] returned by getData().
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        getData

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        Get the data this subsystem logs every loop.
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        An N-length array of Objects, where N is the number of labels given by getHeader.
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        getName

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-public java.lang.String getName()
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        Get the name of this object.
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        getName in interface Loggable
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        A string that will identify this object in the log file.
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org.usfirst.frc.team449.robot.other
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Class Updater

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-extends java.lang.Object
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    A Runnable for updating cached variables.
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      Constructor and Description
      Updater(Updatable[] updatables) -
      Default constructor
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      Modifier and TypeMethod and Description
      voidrun() -
      Update all the updatables.
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        Methods inherited from class java.lang.Object

        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
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        Updater

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        public Updater(@NotNull
-               Updatable[] updatables)
        -
        Default constructor
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        updatables - The objects to update.
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        run

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        Update all the updatables.
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        run in interface java.lang.Runnable
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org.usfirst.frc.team449.robot.other

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Package org.usfirst.frc.team449.robot.other

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    ClassDescription
    BufferTimer -
    A timer that checks if condition has been true for the past n seconds/milliseconds.
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    Clock -
    A wrapper on System.currentTimeMillis that caches the time, to avoid calling the currentTimeMillis method.
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    LogEvent -
    An logged event with a message, timestamp, and calling class.
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    Logger -
    A logger that logs telemetry data and individual events.
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    MotionProfileData -
    Data structure containing the array of points for the MP and a method to fill the MP from a csv file
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    Polynomial -
    A polynomial of a single variable.
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    UnidirectionalPoseEstimator<T extends SubsystemAHRS & DriveUnidirectional> -
    A Runnable for pose estimation that can take absolute positions.
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    Updater -
    A Runnable for updating cached variables.
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Hierarchy For Package org.usfirst.frc.team449.robot.other

-Package Hierarchies: - -
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Class Hierarchy

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  • java.lang.Object -
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org.usfirst.frc.team449.robot

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Package org.usfirst.frc.team449.robot

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    ClassDescription
    Robot -
    The main class of the robot, constructs all the subsystems and initializes default commands.
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    RobotMap2017 -
    The Jackson-compatible object representing the entire robot.
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Hierarchy For Package org.usfirst.frc.team449.robot

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Class Hierarchy

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    • edu.wpi.first.wpilibj.RobotBase -
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org.usfirst.frc.team449.robot.subsystem.complex.climber
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Class ClimberCurrentLimited

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      Method Summary

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      All Methods Instance Methods Concrete Methods 
      Modifier and TypeMethod and Description
      java.lang.Object[]getData() -
      Get the data this subsystem logs every loop.
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      java.lang.String[]getHeader() -
      Get the headers for the data this subsystem logs every loop.
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      java.lang.StringgetName() -
      Get the name of this object.
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      protected voidinitDefaultCommand() -
      Initialize the default command for a subsystem By default subsystems have no default command, but if they do, the - default command is set with this method.
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      booleanisConditionTrue() 
      booleanisConditionTrueCached() 
      booleanisMotorOn() 
      voidturnMotorOff() -
      Turns the motor off.
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      voidturnMotorOn() -
      Turns the motor on, and sets it to a map-specified speed.
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      voidupdate() -
      Updates all cached values with current ones.
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        Methods inherited from class edu.wpi.first.wpilibj.command.Subsystem

        -getCurrentCommand, getDefaultCommand, getSmartDashboardType, getTable, initTable, setDefaultCommand, toString
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        Methods inherited from class java.lang.Object

        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait
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      Constructor Detail

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        ClimberCurrentLimited

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        public ClimberCurrentLimited(@NotNull
-                             FPSTalon talonSRX,
-                             double maxPower,
-                             @Nullable
-                             SimpleMotor simpleMotor,
-                             @NotNull
-                             BufferTimer powerLimitTimer)
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        Default constructor
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        Parameters:
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        talonSRX - The CANTalon controlling one of the climber motors.
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        maxPower - The maximum power at which the motor won't shut off.
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        simpleMotor - The other climber motor. Can be null.
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        powerLimitTimer - The buffer timer for the power-limited shutoff.
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        initDefaultCommand

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        protected void initDefaultCommand()
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        Initialize the default command for a subsystem By default subsystems have no default command, but if they do, the - default command is set with this method. It is called on all Subsystems by CommandBase in the users program after - all the Subsystems are created.
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        Specified by:
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        initDefaultCommand in class edu.wpi.first.wpilibj.command.Subsystem
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        getHeader

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        @NotNull
-public java.lang.String[] getHeader()
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        Get the headers for the data this subsystem logs every loop.
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        Specified by:
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        getHeader in interface Loggable
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        Returns:
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        An N-length array of String labels for data, where N is the length of the Object[] returned by getData().
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        getData

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        @NotNull
-public java.lang.Object[] getData()
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        Get the data this subsystem logs every loop.
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        Specified by:
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        getData in interface Loggable
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        Returns:
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        An N-length array of Objects, where N is the number of labels given by getHeader.
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        getName

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-public java.lang.String getName()
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        Get the name of this object.
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        Specified by:
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        getName in interface edu.wpi.first.wpilibj.NamedSendable
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        Specified by:
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        getName in interface Loggable
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        Overrides:
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        getName in class edu.wpi.first.wpilibj.command.Subsystem
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        Returns:
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        A string that will identify this object in the log file.
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        turnMotorOn

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        public void turnMotorOn()
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        Turns the motor on, and sets it to a map-specified speed.
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        Specified by:
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        turnMotorOn in interface SubsystemBinaryMotor
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        isMotorOn

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        public boolean isMotorOn()
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        Specified by:
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        isMotorOn in interface SubsystemBinaryMotor
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        Returns:
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        true if the motor is on, false otherwise.
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        isConditionTrue

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        public boolean isConditionTrue()
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        Specified by:
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        isConditionTrue in interface SubsystemConditional
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        Returns:
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        true if the condition is met, false otherwise
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        isConditionTrueCached

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        public boolean isConditionTrueCached()
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        Specified by:
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        isConditionTrueCached in interface SubsystemConditional
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        Returns:
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        true if the condition was met when cached, false otherwise
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        update

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        public void update()
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        Updates all cached values with current ones.
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        Specified by:
        -
        update in interface Updatable
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org.usfirst.frc.team449.robot.subsystem.complex.climber

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Package org.usfirst.frc.team449.robot.subsystem.complex.climber

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    Class Summary 
    ClassDescription
    ClimberCurrentLimited -
    A climber subsystem that uses power monitoring to stop climbing.
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Hierarchy For Package org.usfirst.frc.team449.robot.subsystem.complex.climber

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Class Hierarchy

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org.usfirst.frc.team449.robot.subsystem.complex.intake
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Class IntakeFixedAndActuated

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        IntakeFixedAndActuated

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        public IntakeFixedAndActuated(@NotNull
-                              MappedVictor fixedMotor,
-                              double fixedAgitateSpeed,
-                              double fixedIntakeSpeed,
-                              @NotNull
-                              MappedVictor actuatedMotor,
-                              double actuatedSpeed,
-                              @NotNull
-                              MappedDoubleSolenoid piston)
        -
        Default constructor.
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        Parameters:
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        fixedMotor - The SimpleMotor powering the fixed intake.
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        fixedAgitateSpeed - The speed to run the fixed victor at to agitate balls, on [-1, 1]
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        fixedIntakeSpeed - The speed to run the fixed victor to intake balls, on [-1, 1]
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        actuatedMotor - The SimpleMotor powering the actuated intake.
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        actuatedSpeed - The speed to run the actuated victor to intake balls, on [-1, 1].
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        piston - The piston for raising and lowering the actuated intake.
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      Method Detail

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        setSolenoid

        -
        public void setSolenoid(@NotNull
-                        edu.wpi.first.wpilibj.DoubleSolenoid.Value value)
        -
        -
        Specified by:
        -
        setSolenoid in interface SubsystemSolenoid
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        Parameters:
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        value - The position to set the solenoid to.
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        getSolenoidPosition

        -
        @NotNull
-public edu.wpi.first.wpilibj.DoubleSolenoid.Value getSolenoidPosition()
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        Specified by:
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        getSolenoidPosition in interface SubsystemSolenoid
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        Returns:
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        the current position of the solenoid.
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        initDefaultCommand

        -
        protected void initDefaultCommand()
        -
        Initialize the default command for a subsystem. By default subsystems have no default command, but if they do, - the default command is set with this method. It is called on all Subsystems by CommandBase in the users program - after all the Subsystems are created.
        -
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        Specified by:
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        initDefaultCommand in class edu.wpi.first.wpilibj.command.Subsystem
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org.usfirst.frc.team449.robot.subsystem.complex.intake

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Package org.usfirst.frc.team449.robot.subsystem.complex.intake

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    Class Summary 
    ClassDescription
    IntakeFixedAndActuated -
    An intake with a piston that actuates it and a fixed and actuated motor.
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org.usfirst.frc.team449.robot.subsystem.complex.shooter
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Class LoggingFlywheel

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    edu.wpi.first.wpilibj.NamedSendable, edu.wpi.first.wpilibj.Sendable, Loggable, SubsystemFlywheel
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    public class LoggingFlywheel
-extends YamlSubsystem
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    A flywheel multiSubsystem with a single flywheel and a single-motor feeder system.
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        LoggingFlywheel

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        public LoggingFlywheel(@NotNull
-                       FPSTalon shooterTalon,
-                       double shooterThrottle,
-                       @NotNull
-                       SimpleMotor feederMotor,
-                       double feederThrottle,
-                       double spinUpTimeSecs)
        -
        Default constructor
        -
        -
        Parameters:
        -
        shooterTalon - The TalonSRX controlling the flywheel.
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        shooterThrottle - The throttle, from [-1, 1], at which to run the multiSubsystem.
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        feederMotor - The motor controlling the feeder.
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        feederThrottle - The throttle, from [-1, 1], at which to run the feeder.
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        spinUpTimeSecs - The amount of time, in seconds, it takes for the multiSubsystem to get up to speed. - Defaults to 0.
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        initDefaultCommand

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        protected void initDefaultCommand()
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        Do nothing
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        initDefaultCommand in class edu.wpi.first.wpilibj.command.Subsystem
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        getHeader

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        Get the headers for the data this subsystem logs every loop.
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        Specified by:
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        getHeader in interface Loggable
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        Returns:
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        An N-length array of String labels for data, where N is the length of the Object[] returned by getData().
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        getData

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-public java.lang.Object[] getData()
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        Get the data this subsystem logs every loop.
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        Specified by:
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        getData in interface Loggable
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        An N-length array of Objects, where N is the number of labels given by getHeader.
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        getName

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-public java.lang.String getName()
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        Get the name of this object.
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        getName in interface edu.wpi.first.wpilibj.NamedSendable
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        Specified by:
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        getName in interface Loggable
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        Overrides:
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        getName in class edu.wpi.first.wpilibj.command.Subsystem
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        Returns:
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        A string that will identify this object in the log file.
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        turnFlywheelOn

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        public void turnFlywheelOn()
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        Turn the multiSubsystem on to a map-specified speed.
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        turnFlywheelOn in interface SubsystemFlywheel
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        turnFeederOn

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        public void turnFeederOn()
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        Start feeding balls into the multiSubsystem.
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        turnFeederOn in interface SubsystemFlywheel
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        turnFeederOff

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        public void turnFeederOff()
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        Stop feeding balls into the multiSubsystem.
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        turnFeederOff in interface SubsystemFlywheel
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        getSpinUpTimeMillis

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        public long getSpinUpTimeMillis()
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        Specified by:
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        getSpinUpTimeMillis in interface SubsystemFlywheel
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        Returns:
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        Time from giving the multiSubsystem voltage to being ready to fire, in milliseconds.
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org.usfirst.frc.team449.robot.subsystem.complex.shooter

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Package org.usfirst.frc.team449.robot.subsystem.complex.shooter

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    Class Summary 
    ClassDescription
    LoggingFlywheel -
    A flywheel multiSubsystem with a single flywheel and a single-motor feeder system.
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Hierarchy For Package org.usfirst.frc.team449.robot.subsystem.complex.shooter

-Package Hierarchies: - -
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Class Hierarchy

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  • java.lang.Object -
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    • edu.wpi.first.wpilibj.command.Subsystem (implements edu.wpi.first.wpilibj.NamedSendable) -
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      • org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem -
          -
        • org.usfirst.frc.team449.robot.subsystem.complex.shooter.LoggingFlywheel (implements org.usfirst.frc.team449.robot.generalInterfaces.loggable.Loggable, org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.SubsystemFlywheel)
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org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS
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Interface SubsystemAHRS

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      Method Detail

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        getHeading

        -
        double getHeading()
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        Get the robot's heading.
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        Returns:
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        robot heading, in degrees, on [-180, 180].
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        setHeading

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        void setHeading(double heading)
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        Set the robot's heading.
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        heading - The heading to set to, in degrees on [-180, 180].
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        getHeadingCached

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        double getHeadingCached()
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        Get the robot's cached heading.
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        robot heading, in degrees, on [-180, 180].
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        getAngularVel

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        double getAngularVel()
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        Get the robot's angular velocity.
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        Angular velocity in degrees/sec
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        getAngularVelCached

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        double getAngularVelCached()
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        Get the robot's cached angular velocity.
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        Angular velocity in degrees/sec
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        getAngularDisplacement

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        double getAngularDisplacement()
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        Get the robot's angular displacement since being turned on.
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        Angular displacement in degrees.
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        getAngularDisplacementCached

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        double getAngularDisplacementCached()
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        Get the robot's cached angular displacement since being turned on.
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        Angular displacement in degrees.
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        getOverrideGyro

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        boolean getOverrideGyro()
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        true if the gyroscope is currently overriden, false otherwise.
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        setOverrideGyro

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        void setOverrideGyro(boolean override)
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        Parameters:
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        override - true to override the gyro, false to un-override it.
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org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands
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Class OverrideNavX

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    edu.wpi.first.wpilibj.NamedSendable, edu.wpi.first.wpilibj.Sendable, YamlCommand
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    public class OverrideNavX
-extends YamlCommandWrapper
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    Set whether or not to override the AHRS.
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      Constructor Summary

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      Constructors 
      Constructor and Description
      OverrideNavX(SubsystemAHRS subsystem, - boolean override) -
      Default constructor.
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      Method Summary

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      All Methods Instance Methods Concrete Methods 
      Modifier and TypeMethod and Description
      protected voidend() -
      Log when this command ends
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      protected voidexecute() -
      Set whether or not we're overriding the AHRS
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      protected voidinitialize() -
      Log when this command is initialized
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      protected voidinterrupted() -
      Log when this command is interrupted.
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      protected booleanisFinished() -
      Finish immediately because this is a state-change command.
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      • - - -

        Methods inherited from class edu.wpi.first.wpilibj.command.Command

        -cancel, clearRequirements, doesRequire, getGroup, getName, getSmartDashboardType, getTable, initTable, isCanceled, isInterruptible, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled
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      Constructor Detail

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        OverrideNavX

        -
        public OverrideNavX(@NotNull
-                    SubsystemAHRS subsystem,
-                    boolean override)
        -
        Default constructor.
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        Parameters:
        -
        subsystem - The subsystem to execute this command on
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        override - Whether or not to override the AHRS.
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      Method Detail

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        initialize

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        protected void initialize()
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        Log when this command is initialized
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        Overrides:
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        initialize in class edu.wpi.first.wpilibj.command.Command
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        execute

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        protected void execute()
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        Set whether or not we're overriding the AHRS
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        Overrides:
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        execute in class edu.wpi.first.wpilibj.command.Command
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        isFinished

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        protected boolean isFinished()
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        Finish immediately because this is a state-change command.
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        Specified by:
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        isFinished in class edu.wpi.first.wpilibj.command.Command
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        Returns:
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        true
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        end

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        protected void end()
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        Log when this command ends
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        end in class edu.wpi.first.wpilibj.command.Command
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        interrupted

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        protected void interrupted()
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        Log when this command is interrupted.
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org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands
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Class PIDAngleCommand

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      Modifier and TypeField and Description
      protected SubsystemAHRSsubsystem -
      The subsystem to execute this command on.
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      Constructor Summary

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      Constructors 
      Constructor and Description
      PIDAngleCommand(double absoluteTolerance, - int toleranceBuffer, - double minimumOutput, - java.lang.Double maximumOutput, - double deadband, - boolean inverted, - SubsystemAHRS subsystem, - double kP, - double kI, - double kD) -
      Default constructor.
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      Method Summary

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      All Methods Instance Methods Concrete Methods 
      Modifier and TypeMethod and Description
      protected doubledeadbandOutput(double output) -
      Deadband the output of the PID loop.
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      edu.wpi.first.wpilibj.command.CommandgetCommand() -
      Get the command object this object is.
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      protected doubleprocessPIDOutput(double output) -
      Process the output of the PID loop to account for minimum output and inversion.
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      protected doublereturnPIDInput() -
      Returns the input for the pid loop.
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        Methods inherited from class edu.wpi.first.wpilibj.command.PIDCommand

        -getPIDController, getPosition, getSetpoint, getSmartDashboardType, initTable, setInputRange, setSetpoint, setSetpointRelative, usePIDOutput
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        Methods inherited from class edu.wpi.first.wpilibj.command.Command

        -cancel, clearRequirements, doesRequire, end, execute, getGroup, getName, getTable, initialize, interrupted, isCanceled, isFinished, isInterruptible, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled
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        -getTable
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        subsystem

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        The subsystem to execute this command on.
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      Constructor Detail

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        PIDAngleCommand

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        public PIDAngleCommand(double absoluteTolerance,
-                       int toleranceBuffer,
-                       double minimumOutput,
-                       @Nullable
-                       java.lang.Double maximumOutput,
-                       double deadband,
-                       boolean inverted,
-                       @NotNull
-                       SubsystemAHRS subsystem,
-                       double kP,
-                       double kI,
-                       double kD)
        -
        Default constructor.
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        Parameters:
        -
        absoluteTolerance - The maximum number of degrees off from the target at which we can be considered within - tolerance.
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        toleranceBuffer - How many consecutive loops have to be run while within tolerance to be considered on - target. Multiply by loop period of ~20 milliseconds for time. Defaults to 0.
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        minimumOutput - The minimum output of the loop. Defaults to zero.
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        maximumOutput - The maximum output of the loop. Can be null, and if it is, no maximum output is used.
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        deadband - The deadband around the setpoint, in degrees, within which no output is given to the - motors. Defaults to zero.
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        inverted - Whether the loop is inverted. Defaults to false.
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        kP - Proportional gain. Defaults to zero.
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        kI - Integral gain. Defaults to zero.
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        kD - Derivative gain. Defaults to zero.
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        subsystem - The subsystem to execute this command on.
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      Method Detail

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        processPIDOutput

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        protected double processPIDOutput(double output)
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        Process the output of the PID loop to account for minimum output and inversion.
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        Parameters:
        -
        output - The output from the WPILib angular PID loop.
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        Returns:
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        The processed output, ready to be subtracted from the left side of the drive output and added to the - right side.
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        deadbandOutput

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        protected double deadbandOutput(double output)
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        Deadband the output of the PID loop.
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        -
        Parameters:
        -
        output - The output from the WPILib angular PID loop.
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        Returns:
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        That output after being deadbanded with the map-given deadband.
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        returnPIDInput

        -
        protected double returnPIDInput()
        -
        Returns the input for the pid loop.

        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

        All subclasses of PIDCommand must - override this method.

        This method will be called in a different thread then the Scheduler - thread.

        -
        -
        Specified by:
        -
        returnPIDInput in class edu.wpi.first.wpilibj.command.PIDCommand
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        Returns:
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        the value the pid loop should use as input
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        getCommand

        -
        @NotNull
-public edu.wpi.first.wpilibj.command.Command getCommand()
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        Get the command object this object is.
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        Specified by:
        -
        getCommand in interface YamlCommand
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        Returns:
        -
        this.
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org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands
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Class ToggleOverrideNavX

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    edu.wpi.first.wpilibj.NamedSendable, edu.wpi.first.wpilibj.Sendable, YamlCommand
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    public class ToggleOverrideNavX
-extends YamlCommandWrapper
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    Toggle whether or not to override the AHRS.
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      Method Summary

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      All Methods Instance Methods Concrete Methods 
      Modifier and TypeMethod and Description
      protected voidend() -
      Log when this command ends
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      protected voidexecute() -
      Toggle whether or not we're overriding the AHRS
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      protected voidinitialize() -
      Log when this command is initialized
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      protected voidinterrupted() -
      Log when this command is interrupted.
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      protected booleanisFinished() -
      Finish immediately because this is a state-change command.
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        Methods inherited from class edu.wpi.first.wpilibj.command.Command

        -cancel, clearRequirements, doesRequire, getGroup, getName, getSmartDashboardType, getTable, initTable, isCanceled, isInterruptible, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled
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        Methods inherited from class java.lang.Object

        -clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait
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      Constructor Detail

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        ToggleOverrideNavX

        -
        public ToggleOverrideNavX(@NotNull
-                          SubsystemAHRS subsystem)
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        Default constructor.
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        Parameters:
        -
        subsystem - The subsystem to execute this command on
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      Method Detail

      - - - -
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        initialize

        -
        protected void initialize()
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        Log when this command is initialized
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        Overrides:
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        initialize in class edu.wpi.first.wpilibj.command.Command
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        execute

        -
        protected void execute()
        -
        Toggle whether or not we're overriding the AHRS
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        Overrides:
        -
        execute in class edu.wpi.first.wpilibj.command.Command
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        isFinished

        -
        protected boolean isFinished()
        -
        Finish immediately because this is a state-change command.
        -
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        Specified by:
        -
        isFinished in class edu.wpi.first.wpilibj.command.Command
        -
        Returns:
        -
        true
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      - - - -
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        end

        -
        protected void end()
        -
        Log when this command ends
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        Overrides:
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        end in class edu.wpi.first.wpilibj.command.Command
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        interrupted

        -
        protected void interrupted()
        -
        Log when this command is interrupted.
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        Overrides:
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        interrupted in class edu.wpi.first.wpilibj.command.Command
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org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands

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    OverrideNavX -
    Set whether or not to override the AHRS.
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    A command that uses a AHRS to turn to a certain angle.
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    Toggle whether or not to override the AHRS.
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org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS

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Interfaces

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    Interface Summary 
    InterfaceDescription
    SubsystemAHRS -
    A subsystem that has a AHRS on it.
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org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor
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Class BinaryMotorSimple

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    public class BinaryMotorSimple
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    A simple example of a binary motor subsystem.
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      BinaryMotorSimple(SimpleMotor motor, - java.lang.Double velocity) -
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      protected voidinitDefaultCommand() -
      Initialize the default command for a subsystem.
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      booleanisMotorOn() 
      voidturnMotorOff() -
      Turns the motor off.
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      voidturnMotorOn() -
      Turns the motor on, and sets it to a map-specified speed.
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        motor - The motor that this subsystem controls.
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        velocity - The velocity to run the motor at, on [-1, 1]. Defaults to 1.
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        Initialize the default command for a subsystem. By default subsystems have no default command, but if they do, - the default command is set with this method. It is called on all Subsystems by CommandBase in the users program - after all the Subsystems are created.
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        Turns the motor on, and sets it to a map-specified speed.
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Interface SubsystemBinaryMotor

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    A subsystem with a motor that only needs to be run at one speed, e.g. a flywheel multiSubsystem or simple intake.
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Class ToggleMotor

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      Log when this command ends
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      Finish immediately because this is a state-change command.
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Class TurnMotorOff

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      protected SubsystemBinaryMotorsubsystem -
      The subsystem to execute this command on.
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      Log when this command ends
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      Turn the motor off.
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      Log when this command is initialized
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      Log when this command is interrupted.
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      Finish immediately because this is a state-change command.
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        The subsystem to execute this command on.
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        Turn the motor off.
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        Finish immediately because this is a state-change command.
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        Log when this command ends
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Class TurnMotorOffWithRequires<T extends YamlSubsystem & SubsystemBinaryMotor>

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    public class TurnMotorOffWithRequires<T extends YamlSubsystem & SubsystemBinaryMotor>
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      Constructor and Description
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      Log when this command ends
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      Log when this command is initialized
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      Log when this command is interrupted.
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        Methods inherited from class edu.wpi.first.wpilibj.command.Command

        -cancel, clearRequirements, doesRequire, getGroup, getName, getSmartDashboardType, getTable, initTable, isCanceled, isInterruptible, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled
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Class TurnMotorOn

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      Log when this command ends
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      Finish immediately because this is a state-change command.
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        -cancel, clearRequirements, doesRequire, getGroup, getName, getSmartDashboardType, getTable, initTable, isCanceled, isInterruptible, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled
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        Log when this command is initialized
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        Turn the motor on.
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org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands

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Package org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands

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    ClassDescription
    ToggleMotor -
    A command that toggles the state of the motor between off and on.
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    Turns off the motor of the specified subsystem.
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    TurnMotorOffWithRequires<T extends YamlSubsystem & SubsystemBinaryMotor> -
    Turns off the motor of the subsystem, but does so while using requires() to interrupt any other commands currently - controlling the subsystem.
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    Turns on the motor of the specified subsystem.
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Package org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor

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    InterfaceDescription
    SubsystemBinaryMotor -
    A subsystem with a motor that only needs to be run at one speed, e.g.
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    ClassDescription
    BinaryMotorSimple -
    A simple example of a binary motor subsystem.
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    SubsystemConditional -
    A subsystem with a condition that's sometimes met, e.g.
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Class FlywheelSimple

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        FlywheelSimple

        -
        public FlywheelSimple(@NotNull
-                      SimpleMotor shooterMotor,
-                      @NotNull
-                      SimpleMotor feederMotor,
-                      double shooterVelocity,
-                      @Nullable
-                      java.lang.Double feederVelocity,
-                      long spinUpTimeMillis)
        -
        Default constructor
        -
        -
        Parameters:
        -
        shooterMotor - The motor that controls the flywheel.
        -
        feederMotor - The motor that controls the feeder.
        -
        shooterVelocity - The velocity for the flywheel to run at, on [-1, 1].
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        feederVelocity - The velocity for the feeder to run at, on [-1, 1]. Defaults to 1.
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        spinUpTimeMillis - Time from giving the flywheel voltage to being ready to fire, in milliseconds. Defaults to - 0.
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      Method Detail

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        protected void initDefaultCommand()
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        Initialize the default command for a subsystem. By default subsystems have no default command, but if they do, - the default command is set with this method. It is called on all Subsystems by CommandBase in the users program - after all the Subsystems are created.
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        initDefaultCommand in class edu.wpi.first.wpilibj.command.Subsystem
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        turnFlywheelOn

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        public void turnFlywheelOn()
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        Turn the flywheel on to a map-specified speed.
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        turnFlywheelOn in interface SubsystemFlywheel
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        turnFeederOn

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        public void turnFeederOn()
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        Start feeding balls into the flywheel.
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        turnFeederOn in interface SubsystemFlywheel
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        turnFeederOff

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        public void turnFeederOff()
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        Stop feeding balls into the flywheel.
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        turnFeederOff in interface SubsystemFlywheel
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        getSpinUpTimeMillis

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        getSpinUpTimeMillis in interface SubsystemFlywheel
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        Time from giving the flywheel voltage to being ready to fire, in milliseconds.
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org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel
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Enum SubsystemFlywheel.FlywheelState

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      Enum Constants 
      Enum Constant and Description
      OFF 
      SHOOTING 
      SPINNING_UP 
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      Method Summary

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      All Methods Static Methods Concrete Methods 
      Modifier and TypeMethod and Description
      static SubsystemFlywheel.FlywheelStatevalueOf(java.lang.String name) -
      Returns the enum constant of this type with the specified name.
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      static SubsystemFlywheel.FlywheelState[]values() -
      Returns an array containing the constants of this enum type, in -the order they are declared.
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        Methods inherited from class java.lang.Enum

        -clone, compareTo, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf
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        values

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        public static SubsystemFlywheel.FlywheelState[] values()
        -
        Returns an array containing the constants of this enum type, in -the order they are declared. This method may be used to iterate -over the constants as follows: -
        -for (SubsystemFlywheel.FlywheelState c : SubsystemFlywheel.FlywheelState.values())
-    System.out.println(c);
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        an array containing the constants of this enum type, in the order they are declared
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        valueOf

        -
        public static SubsystemFlywheel.FlywheelState valueOf(java.lang.String name)
        -
        Returns the enum constant of this type with the specified name. -The string must match exactly an identifier used to declare an -enum constant in this type. (Extraneous whitespace characters are -not permitted.)
        -
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        Parameters:
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        name - the name of the enum constant to be returned.
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        Returns:
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        the enum constant with the specified name
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        Throws:
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        java.lang.IllegalArgumentException - if this enum type has no constant with the specified name
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        java.lang.NullPointerException - if the argument is null
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org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel
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Interface SubsystemFlywheel

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    FlywheelSimple, LoggingFlywheel
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    public interface SubsystemFlywheel
    -
    A subsystem with a flywheel and feeder.
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      Method Detail

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        turnFlywheelOn

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        void turnFlywheelOn()
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        Turn the flywheel on to a map-specified speed.
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        turnFlywheelOff

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        void turnFlywheelOff()
        -
        Turn the flywheel off.
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        turnFeederOn

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        void turnFeederOn()
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        Start feeding balls into the flywheel.
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        turnFeederOff

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        void turnFeederOff()
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        Stop feeding balls into the flywheel.
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        setFlywheelState

        -
        void setFlywheelState(@NotNull
-                      SubsystemFlywheel.FlywheelState state)
        -
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        Parameters:
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        state - The state to switch the flywheel to.
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        getSpinUpTimeMillis

        -
        long getSpinUpTimeMillis()
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        Returns:
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        Time from giving the flywheel voltage to being ready to fire, in milliseconds.
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org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands
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Class SpinUpFlywheel

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    edu.wpi.first.wpilibj.NamedSendable, edu.wpi.first.wpilibj.Sendable, YamlCommand
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    -
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    public class SpinUpFlywheel
-extends YamlCommandWrapper
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    Turn on the flywheel but not the feeder in order to give the flywheel time to get up to speed.
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      Method Summary

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      All Methods Instance Methods Concrete Methods 
      Modifier and TypeMethod and Description
      protected voidend() -
      Log when this command ends
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      protected voidexecute() -
      Turn the feeder off and the flywheel on.
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      protected voidinitialize() -
      Log when this command is initialized
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      protected voidinterrupted() -
      Log when this command is interrupted.
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      protected booleanisFinished() -
      Finish immediately because this is a state-change command.
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        Methods inherited from class edu.wpi.first.wpilibj.command.Command

        -cancel, clearRequirements, doesRequire, getGroup, getName, getSmartDashboardType, getTable, initTable, isCanceled, isInterruptible, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled
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        SpinUpFlywheel

        -
        public SpinUpFlywheel(@NotNull
-                      SubsystemFlywheel subsystem)
        -
        Default constructor
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        Parameters:
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        subsystem - The subsystem to execute this command on.
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        initialize

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        protected void initialize()
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        Log when this command is initialized
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        Overrides:
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        initialize in class edu.wpi.first.wpilibj.command.Command
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        execute

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        protected void execute()
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        Turn the feeder off and the flywheel on.
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        execute in class edu.wpi.first.wpilibj.command.Command
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        isFinished

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        protected boolean isFinished()
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        Finish immediately because this is a state-change command.
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        Specified by:
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        isFinished in class edu.wpi.first.wpilibj.command.Command
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        Returns:
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        true
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        end

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        protected void end()
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        Log when this command ends
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        end in class edu.wpi.first.wpilibj.command.Command
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        interrupted

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        protected void interrupted()
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        Log when this command is interrupted.
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        interrupted in class edu.wpi.first.wpilibj.command.Command
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org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands
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Class SpinUpThenShoot

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    public class SpinUpThenShoot
-extends YamlCommandGroupWrapper
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    Spin up the flywheel until it's at the target speed, then start feeding in balls.
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      Method Summary

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        Methods inherited from class edu.wpi.first.wpilibj.command.CommandGroup

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        Methods inherited from class edu.wpi.first.wpilibj.command.Command

        -cancel, clearRequirements, doesRequire, getGroup, getName, getSmartDashboardType, getTable, initTable, isCanceled, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled
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        SpinUpThenShoot

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        public SpinUpThenShoot(@NotNull
-                       SubsystemFlywheel subsystem)
        -
        Default constructor.
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        subsystem - The subsystem to execute this command on.
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Class ToggleShooting

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    public class ToggleShooting
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    Toggle whether or not the subsystem is firing.
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      Method Summary

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        -cancel, clearRequirements, doesRequire, getGroup, getName, getSmartDashboardType, getTable, initTable, isCanceled, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled
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        ToggleShooting

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        public ToggleShooting(@NotNull
-                      SubsystemFlywheel subsystem)
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        Default constructor.
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        subsystem - The subsystem to execute this command on.
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org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands
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Class TurnAllOff

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    edu.wpi.first.wpilibj.NamedSendable, edu.wpi.first.wpilibj.Sendable, YamlCommand
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    Direct Known Subclasses:
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    TurnAllOffWithRequires
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    public class TurnAllOff
-extends YamlCommandWrapper
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    Turn off the flywheel and feeder.
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      Method Summary

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      All Methods Instance Methods Concrete Methods 
      Modifier and TypeMethod and Description
      protected voidend() -
      Log when this command ends
      -
      protected voidexecute() -
      Turn off the flywheel and feeder.
      -
      protected voidinitialize() -
      Log when this command is initialized
      -
      protected voidinterrupted() -
      Log when this command is interrupted.
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      protected booleanisFinished() -
      Finish immediately because this is a state-change command.
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      • - - -

        Methods inherited from class edu.wpi.first.wpilibj.command.Command

        -cancel, clearRequirements, doesRequire, getGroup, getName, getSmartDashboardType, getTable, initTable, isCanceled, isInterruptible, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled
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        TurnAllOff

        -
        public TurnAllOff(@NotNull
-                  SubsystemFlywheel subsystem)
        -
        Default constructor
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        subsystem - The subsystem to execute this command on.
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        initialize

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        protected void initialize()
        -
        Log when this command is initialized
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        initialize in class edu.wpi.first.wpilibj.command.Command
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        execute

        -
        protected void execute()
        -
        Turn off the flywheel and feeder.
        -
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        -
        execute in class edu.wpi.first.wpilibj.command.Command
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        isFinished

        -
        protected boolean isFinished()
        -
        Finish immediately because this is a state-change command.
        -
        -
        Specified by:
        -
        isFinished in class edu.wpi.first.wpilibj.command.Command
        -
        Returns:
        -
        true
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        end

        -
        protected void end()
        -
        Log when this command ends
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        -
        end in class edu.wpi.first.wpilibj.command.Command
        -
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        interrupted

        -
        protected void interrupted()
        -
        Log when this command is interrupted.
        -
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        Overrides:
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        interrupted in class edu.wpi.first.wpilibj.command.Command
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org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands
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Class TurnAllOffWithRequires<T extends YamlSubsystem & SubsystemFlywheel>

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    public class TurnAllOffWithRequires<T extends YamlSubsystem & SubsystemFlywheel>
-extends TurnAllOff
    -
    Turn off the flywheel and feeder, using requires() to interrupt any other commands that may be telling them to - continue running.
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      Constructor Summary

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      Constructors 
      Constructor and Description
      TurnAllOffWithRequires(T subsystem) -
      Default constructor
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      Method Summary

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        Methods inherited from class edu.wpi.first.wpilibj.command.Command

        -cancel, clearRequirements, doesRequire, getGroup, getName, getSmartDashboardType, getTable, initTable, isCanceled, isInterruptible, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled
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        TurnAllOffWithRequires

        -
        public TurnAllOffWithRequires(@NotNull
-                              T subsystem)
        -
        Default constructor
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        Parameters:
        -
        subsystem - The subsystem to execute this command on.
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org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands
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Class TurnAllOn

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    edu.wpi.first.wpilibj.NamedSendable, edu.wpi.first.wpilibj.Sendable, YamlCommand
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    public class TurnAllOn
-extends YamlCommandWrapper
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    Turn on the flywheel and the feeder.
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      Constructor Summary

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      Constructors 
      Constructor and Description
      TurnAllOn(SubsystemFlywheel subsystem) -
      Default constructor
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      Method Summary

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      All Methods Instance Methods Concrete Methods 
      Modifier and TypeMethod and Description
      protected voidend() -
      Log when this command ends
      -
      protected voidexecute() -
      Turn on the flywheel and feeder.
      -
      protected voidinitialize() -
      Log when this command is initialized
      -
      protected voidinterrupted() -
      Log when this command is interrupted.
      -
      protected booleanisFinished() -
      Finish immediately because this is a state-change command.
      -
      - -
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      • - - -

        Methods inherited from class edu.wpi.first.wpilibj.command.Command

        -cancel, clearRequirements, doesRequire, getGroup, getName, getSmartDashboardType, getTable, initTable, isCanceled, isInterruptible, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled
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      Constructor Detail

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        TurnAllOn

        -
        public TurnAllOn(@NotNull
-                 SubsystemFlywheel subsystem)
        -
        Default constructor
        -
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        Parameters:
        -
        subsystem - The subsystem to execute this command on.
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        initialize

        -
        protected void initialize()
        -
        Log when this command is initialized
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        initialize in class edu.wpi.first.wpilibj.command.Command
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        execute

        -
        protected void execute()
        -
        Turn on the flywheel and feeder.
        -
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        Overrides:
        -
        execute in class edu.wpi.first.wpilibj.command.Command
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        isFinished

        -
        protected boolean isFinished()
        -
        Finish immediately because this is a state-change command.
        -
        -
        Specified by:
        -
        isFinished in class edu.wpi.first.wpilibj.command.Command
        -
        Returns:
        -
        true
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      - - - -
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        end

        -
        protected void end()
        -
        Log when this command ends
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        end in class edu.wpi.first.wpilibj.command.Command
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        interrupted

        -
        protected void interrupted()
        -
        Log when this command is interrupted.
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        interrupted in class edu.wpi.first.wpilibj.command.Command
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org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands

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Classes

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Package org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands

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    Class Summary 
    ClassDescription
    SpinUpFlywheel -
    Turn on the flywheel but not the feeder in order to give the flywheel time to get up to speed.
    -
    SpinUpThenShoot -
    Spin up the flywheel until it's at the target speed, then start feeding in balls.
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    ToggleShooting -
    Toggle whether or not the subsystem is firing.
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    TurnAllOff -
    Turn off the flywheel and feeder.
    -
    TurnAllOffWithRequires<T extends YamlSubsystem & SubsystemFlywheel> -
    Turn off the flywheel and feeder, using requires() to interrupt any other commands that may be telling them to - continue running.
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    TurnAllOn -
    Turn on the flywheel and the feeder.
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Hierarchy For Package org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands

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Class Hierarchy

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org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel

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Interfaces

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Package org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel

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    Interface Summary 
    InterfaceDescription
    SubsystemFlywheel -
    A subsystem with a flywheel and feeder.
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    Class Summary 
    ClassDescription
    FlywheelSimple -
    A simple flywheel subsystem.
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    Enum Summary 
    EnumDescription
    SubsystemFlywheel.FlywheelState -
    An enum for the possible states of the flywheel.
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Hierarchy For Package org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel

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org.usfirst.frc.team449.robot.subsystem.interfaces.intake
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Class IntakeSimple

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    public class IntakeSimple
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    A simple intake subsystem.
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      Constructor Summary

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      Constructor and Description
      IntakeSimple(SimpleMotor motor, - java.lang.Double inSlowVel, - java.lang.Double inFastVel, - java.lang.Double outSlowVel, - java.lang.Double outFastVel) -
      Default constructor
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      All Methods Instance Methods Concrete Methods 
      Modifier and TypeMethod and Description
      SubsystemIntake.IntakeModegetMode() 
      protected voidinitDefaultCommand() -
      Initialize the default command for a subsystem.
      -
      voidsetMode(SubsystemIntake.IntakeMode mode) 
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        Methods inherited from class edu.wpi.first.wpilibj.command.Subsystem

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        IntakeSimple

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        public IntakeSimple(@NotNull
-                    SimpleMotor motor,
-                    @Nullable
-                    java.lang.Double inSlowVel,
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-                    @Nullable
-                    java.lang.Double outSlowVel,
-                    @Nullable
-                    java.lang.Double outFastVel)
        -
        Default constructor
        -
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        Parameters:
        -
        motor - The motor this subsystem controls.
        -
        inSlowVel - The velocity for the motor to go at for the IN_SLOW SubsystemIntake.IntakeMode, on [-1, - 1]. Can be null to indicate that this intake doesn't have/use IN_SLOW.
        -
        inFastVel - The velocity for the motor to go at for the IN_FAST SubsystemIntake.IntakeMode, on [-1, - 1]. Can be null to indicate that this intake doesn't have/use IN_FAST.
        -
        outSlowVel - The velocity for the motor to go at for the OUT_SLOW SubsystemIntake.IntakeMode, on - [-1, 1]. Can be null to indicate that this intake doesn't have/use OUT_SLOW.
        -
        outFastVel - The velocity for the motor to go at for the OUT_FAST SubsystemIntake.IntakeMode, on - [-1, 1]. Can be null to indicate that this intake doesn't have/use OUT_FAST.
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org.usfirst.frc.team449.robot.subsystem.interfaces.intake
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Enum SubsystemIntake.IntakeMode

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      static SubsystemIntake.IntakeModevalueOf(java.lang.String name) -
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        -for (SubsystemIntake.IntakeMode c : SubsystemIntake.IntakeMode.values())
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org.usfirst.frc.team449.robot.subsystem.interfaces.intake
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Interface SubsystemIntake

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    A subsystem used for intaking and possibly ejecting game pieces.
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Class SetIntakeMode

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    Sets the mode of the intake.
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      protected voidend() -
      Log when this command ends
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      Set the intake to the given mode.
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      Log when this command is initialized
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      Log when this command is interrupted.
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      Finish immediately because this is a state-change command.
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        initialize

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        Log when this command is initialized
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        execute

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        Log when this command is interrupted.
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Class ToggleIntaking

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      Log when this command ends
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      Set the subsystem to the specified mode if it's off, and set it to off otherwise.
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      Log when this command is initialized
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        Finish immediately because this is a state-change command.
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Package org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands

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    ClassDescription
    SetIntakeMode -
    Sets the mode of the intake.
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    Toggles whether the subsystem is off or set to a given mode.
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Package org.usfirst.frc.team449.robot.subsystem.interfaces.intake

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    SubsystemIntake -
    A subsystem used for intaking and possibly ejecting game pieces.
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    IntakeSimple -
    A simple intake subsystem.
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    SubsystemIntake.IntakeMode -
    An enum for the possible states of the intake.
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org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile
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Interface SubsystemMP

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        loadMotionProfile

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        Loads a profile into the MP buffer.
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        Start running the profile that's currently loaded into the MP buffer.
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        Get whether this subsystem has finished running the profile loaded in it.
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        Get whether the subsystem is ready to run the loaded profile.
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org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem
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Interface SubsystemMPTwoSides

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Class LoadProfileTwoSides

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    public class LoadProfileTwoSides
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    Loads the given profiles into the subsystem, but doesn't run it.
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      Method Summary

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      All Methods Instance Methods Concrete Methods 
      Modifier and TypeMethod and Description
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      Log when this command ends
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      Load the profiles.
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      Log when this command is initialized
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      Log when this command is interrupted.
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      Finish immediately because this is a state-change command.
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        Methods inherited from class edu.wpi.first.wpilibj.command.Command

        -cancel, clearRequirements, doesRequire, getGroup, getName, getSmartDashboardType, getTable, initTable, isCanceled, isInterruptible, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled
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        LoadProfileTwoSides

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        public LoadProfileTwoSides(@NotNull
-                           SubsystemMPTwoSides subsystem,
-                           @NotNull
-                           MotionProfileData left,
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-                           MotionProfileData right)
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        Default constructor
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        subsystem - The subsystem to execute this command on.
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        left - The profile for the left side to run.
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        right - The profile for the right side to run.
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        Log when this command is initialized
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        Load the profiles.
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        end

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        Log when this command ends
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        Log when this command is interrupted.
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Class RunProfileTwoSides<T extends YamlSubsystem & SubsystemMPTwoSides>

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        Default constructor.
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        left - The motion profile for the left side to load and execute.
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org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands

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Hierarchy For Package org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands

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org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem

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Package org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem

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    Interface Summary 
    InterfaceDescription
    SubsystemMPTwoSides -
    An MP subsystem with two sides that therefore needs two profiles at a time.
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Class LoadProfile

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      Method Summary

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      protected voidend() -
      Log when this command ends
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      Load the profile.
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      Log when this command is initialized
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      Log when this command is interrupted.
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      Finish immediately because this is a state-change command.
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        Methods inherited from class edu.wpi.first.wpilibj.command.Command

        -cancel, clearRequirements, doesRequire, getGroup, getName, getSmartDashboardType, getTable, initTable, isCanceled, isInterruptible, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled
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        public LoadProfile(@NotNull
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        Log when this command is initialized
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        Load the profile.
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        Finish immediately because this is a state-change command.
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        end

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        Log when this command ends
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        end in class edu.wpi.first.wpilibj.command.Command
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        interrupted

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Class RunLoadedProfile<T extends YamlSubsystem & SubsystemMP>

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    public class RunLoadedProfile<T extends YamlSubsystem & SubsystemMP>
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    Runs the command that is currently loaded in the given subsystem.
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      protected voidend() -
      Hold position and log on exit.
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      If the subsystem is ready to start running the profile and it's not running yet, start running it.
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      Record the start time.
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      Disable and log if interrupted.
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      Finish when the profile finishes or the timeout is reached.
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        Methods inherited from class edu.wpi.first.wpilibj.command.Command

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-                        T subsystem,
-                        double timeout,
-                        boolean require)
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        Record the start time.
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        If the subsystem is ready to start running the profile and it's not running yet, start running it.
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        isFinished

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        Finish when the profile finishes or the timeout is reached.
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        isFinished in class edu.wpi.first.wpilibj.command.Command
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        true if the profile is finished or the timeout has been exceeded, false otherwise.
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        end

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        Hold position and log on exit.
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        end in class edu.wpi.first.wpilibj.command.Command
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        interrupted

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        Disable and log if interrupted.
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Class RunProfile<T extends YamlSubsystem & SubsystemMPTwoSides>

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      Constructor and Description
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-                  T subsystem,
-                  @NotNull
-                  MotionProfileData profile,
-                  double timeout)
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        subsystem - The subsystem to execute this command on.
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        profile - The motion profile to load and execute.
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        timeout - The maximum amount of time this command is allowed to take, in seconds.
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org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands

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Classes

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Package org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands

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Hierarchy For Package org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands

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Class Hierarchy

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org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile

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Interfaces

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Package org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile

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    Interface Summary 
    InterfaceDescription
    SubsystemMP -
    A subsystem that can have motion profiles run on it.
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Hierarchy For Package org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile

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Class SolenoidSimple

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    A simple SubsystemSolenoid.
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      edu.wpi.first.wpilibj.DoubleSolenoid.ValuegetSolenoidPosition() 
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      Initialize the default command for a subsystem.
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      voidsetSolenoid(edu.wpi.first.wpilibj.DoubleSolenoid.Value value) 
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        public SolenoidSimple(@NotNull
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        Initialize the default command for a subsystem. By default subsystems have no default command, but if they do, - the default command is set with this method. It is called on all Subsystems by CommandBase in the users program - after all the Subsystems are created.
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org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid
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Interface SubsystemSolenoid

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        value - The position to set the solenoid to.
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        getSolenoidPosition

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-edu.wpi.first.wpilibj.DoubleSolenoid.Value getSolenoidPosition()
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        the current position of the solenoid.
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org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands
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Class SolenoidForward

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    public class SolenoidForward
-extends YamlCommandWrapper
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    A command that extends a piston.
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      protected voidend() -
      Log when this command ends
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      Extend the piston.
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      Log when this command is initialized
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      Log when this command is interrupted.
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      Finish immediately because this is a state-change command.
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        Methods inherited from class edu.wpi.first.wpilibj.command.Command

        -cancel, clearRequirements, doesRequire, getGroup, getName, getSmartDashboardType, getTable, initTable, isCanceled, isInterruptible, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled
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        SolenoidForward

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        public SolenoidForward(@NotNull
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        subsystem - The solenoid subsystem to execute this command on.
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        initialize

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        protected void initialize()
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        Log when this command is initialized
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        execute

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        protected void execute()
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        Extend the piston.
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        execute in class edu.wpi.first.wpilibj.command.Command
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        Finish immediately because this is a state-change command.
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        end

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        Log when this command ends
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        Log when this command is interrupted.
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org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands
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Class SolenoidOff

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      Modifier and TypeMethod and Description
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      Log when this command ends
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      Extend the piston.
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      Log when this command is initialized
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      Log when this command is interrupted.
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      Finish immediately because this is a state-change command.
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        -cancel, clearRequirements, doesRequire, getGroup, getName, getSmartDashboardType, getTable, initTable, isCanceled, isInterruptible, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled
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        Extend the piston.
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        Log when this command is interrupted.
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Class SolenoidReverse

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      Log when this command ends
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      Retract the piston.
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      Log when this command is initialized
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      Log when this command is interrupted.
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      Finish immediately because this is a state-change command.
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        -cancel, clearRequirements, doesRequire, getGroup, getName, getSmartDashboardType, getTable, initTable, isCanceled, isInterruptible, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled
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        Retract the piston.
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        Finish immediately because this is a state-change command.
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        Log when this command ends
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        Log when this command is interrupted.
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org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands
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Class ToggleSolenoid

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      Log when this command ends
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      protected voidexecute() -
      Toggle the state of the piston.
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      protected voidinitialize() -
      Log when this command is initialized
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      Log when this command is interrupted.
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      Finish immediately because this is a state-change command.
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        -cancel, clearRequirements, doesRequire, getGroup, getName, getSmartDashboardType, getTable, initTable, isCanceled, isInterruptible, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled
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        public ToggleSolenoid(@NotNull
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        subsystem - The solenoid subsystem to execute this command on.
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        Log when this command is initialized
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        Finish immediately because this is a state-change command.
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        end

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        Log when this command ends
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        interrupted

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        protected void interrupted()
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        Log when this command is interrupted.
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org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands

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Classes

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Package org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands

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Package org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid

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    SubsystemSolenoid -
    A subsystem with a single DoubleSolenoid piston.
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org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera
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Class CameraNetwork

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    public class CameraNetwork
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    Subsystem to initialize cameras and put video on SmartDashboard.
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      Constructor and Description
      CameraNetwork(int serverPort, - java.lang.String serverName, - java.util.List<MappedUsbCamera> cameras) -
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      java.util.List<MappedUsbCamera>getCameras() 
      intgetCamNum() 
      edu.wpi.cscore.MjpegServergetServer() 
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      Initialize the default command for a subsystem.
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        Initialize the default command for a subsystem. By default subsystems have no default command, but if they do, - the default command is set with this method. It is called on all Subsystems by CommandBase in the users program - after all the Subsystems are created.
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Class ChangeCam

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      Log when this command ends
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      Switch the MjpegServer to use the next camera in the list
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      Log when this command is initialized
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      Log when this command is interrupted.
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      Finish immediately because this is a state-change command.
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        Log when this command is interrupted.
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    ChangeCam -
    Toggles camera on button press.
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Package org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera

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    CameraNetwork -
    Subsystem to initialize cameras and put video on SmartDashboard.
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org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics
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Class Pneumatics

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    public class Pneumatics
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    A subsystem representing the pneumatics control system (e.g. the compressor and maybe a pressure sensor)
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      Constructor and Description
      Pneumatics(int nodeID, - PressureSensor pressureSensor) -
      Default constructor
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      java.lang.Object[]getData() -
      Get the data this subsystem logs every loop.
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      Get the headers for the data this subsystem logs every loop.
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      java.lang.StringgetName() -
      Get the name of this object.
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      voidinitDefaultCommand() -
      Do nothing.
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      voidstartCompressor() -
      Start up the compressor in closed loop control mode.
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        Methods inherited from class edu.wpi.first.wpilibj.command.Subsystem

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        Pneumatics

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        public Pneumatics(int nodeID,
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        Default constructor
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        nodeID - The node ID of the compressor.
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        pressureSensor - The pressure sensor attached to this pneumatics system. Can be null.
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        initDefaultCommand

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        public void initDefaultCommand()
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        Do nothing.
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        initDefaultCommand in class edu.wpi.first.wpilibj.command.Subsystem
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        startCompressor

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        public void startCompressor()
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        Start up the compressor in closed loop control mode.
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        getHeader

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        Get the headers for the data this subsystem logs every loop.
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        getHeader in interface Loggable
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        An N-length array of String labels for data, where N is the length of the Object[] returned by getData().
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        getData

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        Get the data this subsystem logs every loop.
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        getName

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        Get the name of this object.
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        getName in interface edu.wpi.first.wpilibj.NamedSendable
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        getName in interface Loggable
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        getName in class edu.wpi.first.wpilibj.command.Subsystem
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        A string that will identify this object in the log file.
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org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.commands
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Class StartCompressor

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    public class StartCompressor
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    Start up the pneumatic compressor.
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      StartCompressor(Pneumatics subsystem) -
      Default constructor
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      protected voidend() -
      Log when this command ends
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      Start the compressor.
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      Log when this command is initialized
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      Log when this command is interrupted.
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      Finish immediately because this is a state-change command.
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        Methods inherited from class edu.wpi.first.wpilibj.command.Command

        -cancel, clearRequirements, doesRequire, getGroup, getName, getSmartDashboardType, getTable, initTable, isCanceled, isInterruptible, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled
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        StartCompressor

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        Default constructor
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        subsystem - The subsystem to execute this command on.
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        initialize

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        Log when this command is initialized
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        execute

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        Start the compressor.
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        isFinished

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        Finish immediately because this is a state-change command.
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        end

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        Log when this command ends
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        Log when this command is interrupted.
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Package org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.commands

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    StartCompressor -
    Start up the pneumatic compressor.
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Package org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics

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    ClassDescription
    Pneumatics -
    A subsystem representing the pneumatics control system (e.g.
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org.usfirst.frc.team449.robot.commands.autonomous 
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org.usfirst.frc.team449.robot.commands.multiInterface.drive 
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org.usfirst.frc.team449.robot.drive 
org.usfirst.frc.team449.robot.drive.commands 
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org.usfirst.frc.team449.robot.drive.unidirectional 
org.usfirst.frc.team449.robot.drive.unidirectional.commands 
org.usfirst.frc.team449.robot.generalInterfaces.loggable 
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org.usfirst.frc.team449.robot.subsystem.complex.climber 
org.usfirst.frc.team449.robot.subsystem.complex.intake 
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org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS 
org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands 
org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor 
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org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile 
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org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem 
org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands 
org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid 
org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands 
org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera 
org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.commands 
org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics 
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          • org.usfirst.frc.team449.robot.commands.multiSubsystem.LoadShooter<T>
            • -
          • org.usfirst.frc.team449.robot.commands.general.ParallelCommandGroup
            • -
          • org.usfirst.frc.team449.robot.drive.unidirectional.commands.PIDBackAndForth<T>
            • -
          • org.usfirst.frc.team449.robot.drive.unidirectional.commands.PIDTest<T>
            • -
          • org.usfirst.frc.team449.robot.commands.multiSubsystem.RackShooter<T>
            • -
          • org.usfirst.frc.team449.robot.commands.multiSubsystem.ResetShooter<T>
            • -
          • org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands.RunProfile<T>
            • -
          • org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands.RunProfileTwoSides<T>
            • -
          • org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands.SpinUpThenShoot
            • -
          • org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands.ToggleShooting
            • -
          -
          • -
        -
        • -
      • edu.wpi.first.wpilibj.command.PIDCommand (implements edu.wpi.first.wpilibj.Sendable) - -
        • -
      • org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper (implements org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand) -
          -
        • org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.commands.ChangeCam
          • -
        • org.usfirst.frc.team449.robot.drive.unidirectional.commands.DetermineNominalVoltage<T>
          • -
        • org.usfirst.frc.team449.robot.drive.unidirectional.commands.DetermineVelVsVoltage<T>
          • -
        • org.usfirst.frc.team449.robot.drive.unidirectional.commands.DriveAtSpeed<T>
          • -
        • org.usfirst.frc.team449.robot.drive.unidirectional.commands.DriveStraight<T>
          • -
        • org.usfirst.frc.team449.robot.drive.commands.EnableMotors
          • -
        • org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands.LoadProfile
          • -
        • org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands.LoadProfileTwoSides
          • -
        • org.usfirst.frc.team449.robot.drive.shifting.commands.OverrideAutoShift
          • -
        • org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.OverrideNavX
          • -
        • org.usfirst.frc.team449.robot.drive.commands.ResetPosition
          • -
        • org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands.RunLoadedProfile<T>
          • -
        • org.usfirst.frc.team449.robot.commands.multiInterface.RunMotorWhileConditonMet<T>
          • -
        • org.usfirst.frc.team449.robot.commands.general.RunRunnables
          • -
        • org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands.SetIntakeMode
          • -
        • org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands.ShiftGears
          • -
        • org.usfirst.frc.team449.robot.drive.unidirectional.commands.SimpleUnidirectionalDrive<T>
          • -
        • org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidForward
          • -
        • org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidOff
          • -
        • org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidReverse
          • -
        • org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands.SpinUpFlywheel
          • -
        • org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.commands.StartCompressor
          • -
        • org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands.SwitchToGear
          • -
        • org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands.SwitchToHighGear
          • -
        • org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands.SwitchToLowGear
          • -
        • org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands.ToggleIntaking
          • -
        • org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands.ToggleMotor
          • -
        • org.usfirst.frc.team449.robot.drive.shifting.commands.ToggleOverrideAutoShift
          • -
        • org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands.ToggleOverrideNavX
          • -
        • org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.ToggleSolenoid
          • -
        • org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands.TurnAllOff - -
          • -
        • org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands.TurnAllOn
          • -
        • org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands.TurnMotorOff - -
          • -
        • org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands.TurnMotorOn
          • -
        • org.usfirst.frc.team449.robot.drive.unidirectional.commands.VoltageRamp
          • -
        • org.usfirst.frc.team449.robot.commands.general.WaitForMillis
          • -
        -
        • -
      -
      • -
    • org.usfirst.frc.team449.robot.oi.buttons.CommandButton
      • -
    • org.usfirst.frc.team449.robot.commands.multiInterface.drive.FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint
      • -
    • org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon (implements org.usfirst.frc.team449.robot.generalInterfaces.shiftable.Shiftable, org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor.SimpleMotor)
      • -
    • org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon.PerGearSettings
      • -
    • org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon.SlaveTalon
      • -
    • edu.wpi.first.wpilibj.GenericHID -
        -
      • edu.wpi.first.wpilibj.JoystickBase -
          -
        • edu.wpi.first.wpilibj.Joystick -
            -
          • org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick (implements org.usfirst.frc.team449.robot.generalInterfaces.rumbleable.Rumbleable)
            • -
          -
          • -
        -
        • -
      -
      • -
    • org.usfirst.frc.team449.robot.other.LogEvent
      • -
    • org.usfirst.frc.team449.robot.other.Logger (implements java.lang.Runnable)
      • -
    • org.usfirst.frc.team449.robot.jacksonWrappers.MappedAHRS
      • -
    • org.usfirst.frc.team449.robot.jacksonWrappers.MappedDigitalInput
      • -
    • org.usfirst.frc.team449.robot.other.MotionProfileData
      • -
    • org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcade (implements org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional) -
        -
      • org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcadeSimple
        • -
      • org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcadeWithDPad (implements org.usfirst.frc.team449.robot.generalInterfaces.loggable.Loggable)
        • -
      -
      • -
    • org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOriented (implements org.usfirst.frc.team449.robot.oi.OI) - -
      • -
    • org.usfirst.frc.team449.robot.oi.unidirectional.OIOutreach (implements org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional)
      • -
    • org.usfirst.frc.team449.robot.oi.unidirectional.tank.OITank (implements org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional) -
        -
      • org.usfirst.frc.team449.robot.oi.unidirectional.tank.OITankSimple
        • -
      -
      • -
    • org.usfirst.frc.team449.robot.other.Polynomial
      • -
    • org.usfirst.frc.team449.robot.jacksonWrappers.PressureSensor
      • -
    • edu.wpi.first.wpilibj.RobotBase -
        -
      • edu.wpi.first.wpilibj.IterativeRobot -
          -
        • org.usfirst.frc.team449.robot.Robot
          • -
        -
        • -
      -
      • -
    • org.usfirst.frc.team449.robot.RobotMap2017
      • -
    • edu.wpi.first.wpilibj.SensorBase -
        -
      • edu.wpi.first.wpilibj.PWM (implements edu.wpi.first.wpilibj.livewindow.LiveWindowSendable) -
          -
        • edu.wpi.first.wpilibj.SafePWM (implements edu.wpi.first.wpilibj.MotorSafety) -
            -
          • edu.wpi.first.wpilibj.PWMSpeedController (implements edu.wpi.first.wpilibj.SpeedController) -
              -
            • edu.wpi.first.wpilibj.VictorSP -
                -
              • org.usfirst.frc.team449.robot.jacksonWrappers.MappedVictor (implements org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor.SimpleMotor)
                • -
              -
              • -
            -
            • -
          -
          • -
        -
        • -
      • edu.wpi.first.wpilibj.SolenoidBase -
          -
        • edu.wpi.first.wpilibj.DoubleSolenoid (implements edu.wpi.first.wpilibj.livewindow.LiveWindowSendable) - -
          • -
        -
        • -
      -
      • -
    • org.usfirst.frc.team449.robot.components.ShiftComponent - -
      • -
    • org.usfirst.frc.team449.robot.jacksonWrappers.SimpleMotorCluster (implements org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor.SimpleMotor)
      • -
    • edu.wpi.first.wpilibj.command.Subsystem (implements edu.wpi.first.wpilibj.NamedSendable) -
        -
      • org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem -
          -
        • org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.BinaryMotorSimple (implements org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.SubsystemBinaryMotor)
          • -
        • org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.CameraNetwork
          • -
        • org.usfirst.frc.team449.robot.subsystem.complex.climber.ClimberCurrentLimited (implements org.usfirst.frc.team449.robot.generalInterfaces.loggable.Loggable, org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.SubsystemBinaryMotor, org.usfirst.frc.team449.robot.subsystem.interfaces.conditional.SubsystemConditional)
          • -
        • org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster (implements org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectional, org.usfirst.frc.team449.robot.generalInterfaces.loggable.Loggable, org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.SubsystemAHRS, org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.SubsystemMPTwoSides) - -
          • -
        • org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectionalSimple (implements org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectional)
          • -
        • org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.FlywheelSimple (implements org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.SubsystemFlywheel)
          • -
        • org.usfirst.frc.team449.robot.subsystem.complex.intake.IntakeFixedAndActuated (implements org.usfirst.frc.team449.robot.subsystem.interfaces.intake.SubsystemIntake, org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SubsystemSolenoid)
          • -
        • org.usfirst.frc.team449.robot.subsystem.interfaces.intake.IntakeSimple (implements org.usfirst.frc.team449.robot.subsystem.interfaces.intake.SubsystemIntake)
          • -
        • org.usfirst.frc.team449.robot.subsystem.complex.shooter.LoggingFlywheel (implements org.usfirst.frc.team449.robot.generalInterfaces.loggable.Loggable, org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.SubsystemFlywheel)
          • -
        • org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.Pneumatics (implements org.usfirst.frc.team449.robot.generalInterfaces.loggable.Loggable)
          • -
        • org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SolenoidSimple (implements org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SubsystemSolenoid)
          • -
        -
        • -
      -
      • -
    • org.usfirst.frc.team449.robot.oi.throttles.ThrottleBasic (implements edu.wpi.first.wpilibj.PIDSource, org.usfirst.frc.team449.robot.oi.throttles.Throttle) - -
      • -
    • org.usfirst.frc.team449.robot.oi.throttles.ThrottleSum (implements org.usfirst.frc.team449.robot.oi.throttles.Throttle)
      • -
    • edu.wpi.first.wpilibj.buttons.Trigger (implements edu.wpi.first.wpilibj.Sendable) -
        -
      • edu.wpi.first.wpilibj.buttons.Button - -
        • -
      -
      • -
    • org.usfirst.frc.team449.robot.other.UnidirectionalPoseEstimator<T> (implements org.usfirst.frc.team449.robot.generalInterfaces.loggable.Loggable, org.usfirst.frc.team449.robot.jacksonWrappers.MappedRunnable)
      • -
    • org.usfirst.frc.team449.robot.other.Updater (implements org.usfirst.frc.team449.robot.jacksonWrappers.MappedRunnable)
      • -
    • edu.wpi.cscore.VideoSource -
        -
      • edu.wpi.cscore.VideoCamera -
          -
        • edu.wpi.cscore.UsbCamera - -
          • -
        -
        • -
      -
      • -
    -
    • -
-

Interface Hierarchy

-
    -
  • org.usfirst.frc.team449.robot.drive.DriveSubsystem -
      -
    • org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectional (also extends org.usfirst.frc.team449.robot.generalInterfaces.updatable.Updatable)
      • -
    -
    • -
  • org.usfirst.frc.team449.robot.generalInterfaces.loggable.Loggable
    • -
  • org.usfirst.frc.team449.robot.generalInterfaces.rumbleable.Rumbleable
    • -
  • java.lang.Runnable - -
    • -
  • org.usfirst.frc.team449.robot.generalInterfaces.shiftable.Shiftable - -
    • -
  • org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor.SimpleMotor
    • -
  • org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.SubsystemAHRS
    • -
  • org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.SubsystemBinaryMotor
    • -
  • org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.SubsystemFlywheel
    • -
  • org.usfirst.frc.team449.robot.subsystem.interfaces.intake.SubsystemIntake
    • -
  • org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.SubsystemMP -
      -
    • org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.SubsystemMPTwoSides
      • -
    -
    • -
  • org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SubsystemSolenoid
    • -
  • org.usfirst.frc.team449.robot.generalInterfaces.updatable.Updatable - -
    • -
  • org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand
    • -
-

Enum Hierarchy

-
    -
  • java.lang.Object - -
    • -
-
- -
- - -
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- - - diff --git a/docs/package-list b/docs/package-list deleted file mode 100644 index c6914ee7..00000000 --- a/docs/package-list +++ /dev/null @@ -1,50 +0,0 @@ -org.usfirst.frc.team449.robot -org.usfirst.frc.team449.robot.commands.autonomous -org.usfirst.frc.team449.robot.commands.general -org.usfirst.frc.team449.robot.commands.multiInterface -org.usfirst.frc.team449.robot.commands.multiInterface.drive -org.usfirst.frc.team449.robot.commands.multiSubsystem -org.usfirst.frc.team449.robot.components -org.usfirst.frc.team449.robot.drive -org.usfirst.frc.team449.robot.drive.commands -org.usfirst.frc.team449.robot.drive.shifting -org.usfirst.frc.team449.robot.drive.shifting.commands -org.usfirst.frc.team449.robot.drive.unidirectional -org.usfirst.frc.team449.robot.drive.unidirectional.commands -org.usfirst.frc.team449.robot.generalInterfaces.loggable -org.usfirst.frc.team449.robot.generalInterfaces.rumbleable -org.usfirst.frc.team449.robot.generalInterfaces.shiftable -org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands -org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor -org.usfirst.frc.team449.robot.generalInterfaces.updatable -org.usfirst.frc.team449.robot.jacksonWrappers -org.usfirst.frc.team449.robot.oi -org.usfirst.frc.team449.robot.oi.buttons -org.usfirst.frc.team449.robot.oi.fieldoriented -org.usfirst.frc.team449.robot.oi.throttles -org.usfirst.frc.team449.robot.oi.unidirectional -org.usfirst.frc.team449.robot.oi.unidirectional.arcade -org.usfirst.frc.team449.robot.oi.unidirectional.tank -org.usfirst.frc.team449.robot.other -org.usfirst.frc.team449.robot.subsystem.complex.climber -org.usfirst.frc.team449.robot.subsystem.complex.intake -org.usfirst.frc.team449.robot.subsystem.complex.shooter -org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS -org.usfirst.frc.team449.robot.subsystem.interfaces.AHRS.commands -org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor -org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands -org.usfirst.frc.team449.robot.subsystem.interfaces.conditional -org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel -org.usfirst.frc.team449.robot.subsystem.interfaces.flywheel.commands -org.usfirst.frc.team449.robot.subsystem.interfaces.intake -org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands -org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile -org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem -org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands -org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands -org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid -org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands -org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera -org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.commands -org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics -org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.commands diff --git a/docs/script.js b/docs/script.js deleted file mode 100644 index b3463569..00000000 --- a/docs/script.js +++ /dev/null @@ -1,30 +0,0 @@ -function show(type) -{ - count = 0; - for (var key in methods) { - var row = document.getElementById(key); - if ((methods[key] & type) != 0) { - row.style.display = ''; - row.className = (count++ % 2) ? rowColor : altColor; - } - else - row.style.display = 'none'; - } - updateTabs(type); -} - -function updateTabs(type) -{ - for (var value in tabs) { - var sNode = document.getElementById(tabs[value][0]); - var spanNode = sNode.firstChild; - if (value == type) { - sNode.className = activeTableTab; - spanNode.innerHTML = tabs[value][1]; - } - else { - sNode.className = tableTab; - spanNode.innerHTML = "" + tabs[value][1] + ""; - } - } -} diff --git a/docs/stylesheet.css b/docs/stylesheet.css deleted file mode 100644 index 98055b22..00000000 --- a/docs/stylesheet.css +++ /dev/null @@ -1,574 +0,0 @@ -/* Javadoc style sheet */ -/* -Overall document style -*/ - -@import url('resources/fonts/dejavu.css'); - -body { - background-color:#ffffff; - color:#353833; - font-family:'DejaVu Sans', Arial, Helvetica, sans-serif; - font-size:14px; 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- -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper; -import org.usfirst.frc.team449.robot.other.Logger; - -/** - * A broad template for all commands. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class GenericCommand extends YamlCommandWrapper { - - /** - * The subsystem to execute this command on. - */ - @NotNull - private final GenericSubsystemInterface subsystem; - - /** - * Default constructor - * - * @param subsystem The subsystem to execute this command on - */ - @JsonCreator - public GenericCommand(@NotNull @JsonProperty(required = true) GenericSubsystemInterface subsystem) { - this.subsystem = subsystem; - } - - /** - * - */ - @Override - protected void initialize() { - Logger.addEvent("GenericCommand init.", this.getClass()); - } - - /** - * - */ - @Override - protected void execute() { - } - - /** - * @return - */ - @Override - protected boolean isFinished() { - //This does NOT have to be true. - return true; - } - - /** - * - */ - @Override - protected void end() { - Logger.addEvent("GenericCommand end.", this.getClass()); - } - - /** - * - */ - @Override - protected void interrupted() { - Logger.addEvent("GenericCommand Interrupted!", this.getClass()); - } -} \ No newline at end of file diff --git a/templates/GenericRobotMap.java b/templates/GenericRobotMap.java deleted file mode 100644 index 3cc474bd..00000000 --- a/templates/GenericRobotMap.java +++ /dev/null @@ -1,40 +0,0 @@ -package org.usfirst.frc.team449.robot; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonProperty; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.oi.buttons.CommandButton; - -import java.util.List; - -/** - * A generic example of the Jackson-compatible object representing the entire robot. - */ -public class RobotMap { - - /** - * The buttons for controlling this robot. - */ - @NotNull - private final List buttons; - - /** - * Default constructor. - * - * @param buttons The buttons for controlling this robot. - */ - @JsonCreator - public RobotMap(@NotNull @JsonProperty(required = true) List buttons) { - this.buttons = buttons; - } - - /** - * Getter for the list of buttons to control the robot. - * - * @return The buttons for controlling this robot. - */ - @NotNull - public List getButtons() { - return buttons; - } -} diff --git a/templates/GenericSubsystemInterface.java b/templates/GenericSubsystemInterface.java deleted file mode 100644 index 61876b33..00000000 --- a/templates/GenericSubsystemInterface.java +++ /dev/null @@ -1,11 +0,0 @@ -package templates; - -import com.fasterxml.jackson.annotation.JsonTypeInfo; - -/** - * A generic example of an interface for a subsystem. - */ -@JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class") -public interface GenericSubsystemInterface { - -} diff --git a/templates/GenericSubsytem.java b/templates/GenericSubsytem.java deleted file mode 100644 index c385c57f..00000000 --- a/templates/GenericSubsytem.java +++ /dev/null @@ -1,30 +0,0 @@ -package templates; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem; - -/** - * A generic example of a subsystem. - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class GenericSubsystem extends YamlSubsystem implements GenericSubsystemInterface { - - /** - * Default constructor - */ - @JsonCreator - public GenericSubsystem() { - } - - /** - * Initialize the default command for a subsystem. By default subsystems have no default command, but if they do, - * the default command is set with this method. It is called on all Subsystems by CommandBase in the users program - * after all the Subsystems are created. - */ - @Override - protected void initDefaultCommand() { - //Do nothing! - } -} diff --git a/templates/Generic_.travis.yml b/templates/Generic_.travis.yml deleted file mode 100644 index c2440bcb..00000000 --- a/templates/Generic_.travis.yml +++ /dev/null @@ -1,11 +0,0 @@ -sudo: required -language: java -jdk: oraclejdk8 - -script: - - ./gradlew build - -notifications: - email: - on_success: never - on_failure: always # default: always \ No newline at end of file diff --git a/templates/Generic_build.gradle b/templates/Generic_build.gradle deleted file mode 100644 index 379f1752..00000000 --- a/templates/Generic_build.gradle +++ /dev/null @@ -1,108 +0,0 @@ -//All these version numbers should be updated, but only during preseason. -plugins { - id 'org.hidetake.ssh' version "2.9.0" - id "java" - id "eclipse" - id "idea" - id "jaci.openrio.gradle.GradleRIO" version "2017.1.5" -} - -group 'org.usfirst.frc.team449.PROJECT_NAME' -version '1.0' - -repositories { - mavenCentral() - maven { - name = "GradleRio" - url = "http://dev.imjac.in/maven" - } - - maven { url "https://plugins.gradle.org/m2/" } -} - -dependencies { - // https://mvnrepository.com/artifact/com.fasterxml.jackson.core/jackson-databind - compile group: 'com.fasterxml.jackson.core', name: 'jackson-databind', version: '2.9.0.pr3' - // https://mvnrepository.com/artifact/com.fasterxml.jackson.core/jackson-core - compile group: 'com.fasterxml.jackson.core', name: 'jackson-core', version: '2.9.0.pr3' - // https://mvnrepository.com/artifact/com.fasterxml.jackson.core/jackson-annotations - compile group: 'com.fasterxml.jackson.core', name: 'jackson-annotations', version: '2.9.0.pr3' - compile group: 'com.fasterxml.jackson.dataformat', name: 'jackson-dataformat-yaml', version: '2.9.0.pr3' - //com.fasterxml.jackson.module:jackson-module-parameter-names:2.9.0.pr3 - compile group: 'com.fasterxml.jackson.module', name: 'jackson-module-parameter-names', version: '2.9.0.pr3' - compile 'org.jetbrains:annotations:13.0' - compile wpilib() - compile talonSrx() - compile navx() -} - -task convertFiles { - doLast { - fileTree("src/main/resources").matching { include "*.txt" }.each { aFile -> - exec { - commandLine 'dos2unix' - args aFile.absolutePath - } - } - } -} - -/* GradleRIO stuff */ -remotes { - rio { - host = 'roboRIO-449-frc.local' - user = 'lvuser' - knownHosts = allowAnyHosts - } -} - -frc { - team = '449' - robotClass = "org.usfirst.frc.team449.robot.Robot" -} - -wpi { - wpilibVersion = "+" - // The WPILib version to use. For this version of GradleRIO, must be a 2017 version - ntcoreVersion = "+" // The NetworkTables Core version to use. - opencvVersion = "+" // The OpenCV version to use - cscoreVersion = "+" // The CSCore version to use - - talonSrxVersion = "+" // The CTRE Toolsuite (Talon SRX) version to use. -} - -def robotManifest = { - attributes 'Main-Class': 'edu.wpi.first.wpilibj.RobotBase' - attributes 'Robot-Class': frc.robotClass -} - -task('copyResources', dependsOn: convertFiles) { - doLast { - ssh.run { - session(remotes.rio) { - execute 'mkdir ~/449_resources', ignoreError: true - execute 'mkdir ~/logs', ignoreError: true - put from: fileTree('src/main/resources'), into: './449_resources/' - } - } - } -} - -/* Generic artifact gen stuff */ -jar { - from configurations.compile.collect { it.isDirectory() ? it : zipTree(it) } - manifest robotManifest -} - -task genJavadoc(type: Jar, dependsOn: javadoc) { - classifier = 'javadoc' - from javadoc.destinationDir -} - -artifacts { - archives genJavadoc -} - -compileJava { - options.compilerArgs << '-parameters' -} \ No newline at end of file diff --git a/templates/Generic_robot.java b/templates/Generic_robot.java deleted file mode 100644 index b939f498..00000000 --- a/templates/Generic_robot.java +++ /dev/null @@ -1,75 +0,0 @@ -package templates; - -import com.google.protobuf.Message; -import edu.wpi.first.wpilibj.IterativeRobot; -import edu.wpi.first.wpilibj.command.Scheduler; -import maps.org.usfirst.frc.team449.robot.Robot2017Map; -import org.usfirst.frc.team449.robot.MappedSubsystem; - -import java.io.IOException; - -/** - * A broad template for all robot classes - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class Generic_robot extends IterativeRobot { - - /** - * Generic subsystem - */ - public static GenericMappedSubsytem GenericMappedSubsystem; - - /** - * The object constructed directly from map.cfg. - */ - public static RobotMap cfg; - - /** - * The method that runs when the robot is turned on. Initializes all subsystems from the map. - */ - public void robotInit() { - System.out.println("Started robotInit."); - try { - //Try to construct map from the cfg file - cfg = (Message) MappedSubsystem.readConfig("/home/lvuser/449_resources/map.cfg", - //Replace 2017 with your current year. - Robot2017Map.Robot2017.newBuilder()); - } catch (IOException e) { - //This is either the map file not being in the file system OR it being improperly formatted. - System.out.println("Config file is bad/nonexistent!"); - e.printStackTrace(); - } - } - - /** - * Run when we first enable in teleop. - */ - @Override - public void teleopInit() { - } - - /** - * Run every tick in teleop. - */ - @Override - public void teleopPeriodic() { - //Run all commands. This is a WPILib thing you don't really have to worry about. - Scheduler.getInstance().run(); - } - - /** - * Run when we first enable in autonomous - */ - @Override - public void autonomousInit() { - } - - /** - * Runs every tick in autonomous. - */ - @Override - public void autonomousPeriodic() { - //Run all commands. This is a WPILib thing you don't really have to worry about. - Scheduler.getInstance().run(); - } -} diff --git a/templates/Generic_settings.gradle b/templates/Generic_settings.gradle deleted file mode 100644 index e65b8051..00000000 --- a/templates/Generic_settings.gradle +++ /dev/null @@ -1 +0,0 @@ -rootProject.name = 'PROJECT_NAME' \ No newline at end of file diff --git a/templates/StateChangeCommand.java b/templates/StateChangeCommand.java deleted file mode 100644 index 92987a2b..00000000 --- a/templates/StateChangeCommand.java +++ /dev/null @@ -1,74 +0,0 @@ -package templates; - -import com.fasterxml.jackson.annotation.JsonCreator; -import com.fasterxml.jackson.annotation.JsonIdentityInfo; -import com.fasterxml.jackson.annotation.JsonProperty; -import com.fasterxml.jackson.annotation.ObjectIdGenerators; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper; -import org.usfirst.frc.team449.robot.other.Logger; - -/** - * A command that does an instantaneous change (extend a piston, turn on a motor, etc.) - */ -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class StateChangeCommand extends YamlCommandWrapper { - - /** - * The subsystem to execute this command on. - */ - @NotNull - private final GenericSubsystemInterface subsystem; - - /** - * Default constructor - * - * @param subsystem The subsystem to execute this command on. - */ - @JsonCreator - public StateChangeCommand(@NotNull @JsonProperty(required = true) GenericSubsystemInterface subsystem) { - this.subsystem = subsystem; - } - - /** - * Log when this command is initialized - */ - @Override - protected void initialize() { - Logger.addEvent("StateChangeCommand init.", this.getClass()); - } - - /** - * Do the state change. - */ - @Override - protected void execute() { - subsystem.doAThing(); - } - - /** - * Finish immediately because this is a state-change command. - * - * @return true - */ - @Override - protected boolean isFinished() { - return true; - } - - /** - * Log when this command ends - */ - @Override - protected void end() { - Logger.addEvent("StateChangeCommand end.", this.getClass()); - } - - /** - * Log when this command is interrupted. - */ - @Override - protected void interrupted() { - Logger.addEvent("StateChangeCommand Interrupted!", this.getClass()); - } -} \ No newline at end of file diff --git a/templates/switchToFirstname.sh b/templates/switchToFirstname.sh deleted file mode 100644 index 8822a5a7..00000000 --- a/templates/switchToFirstname.sh +++ /dev/null @@ -1,4 +0,0 @@ -#!/bin/bash -git config --global user.name Firstname\ Lastname -git config --global user.email email@provider.com -git config --global user.signingkey 8_Char_GPG_Pub \ No newline at end of file