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Noah Gleason committed Oct 23, 2017
2 parents 8d72aa9 + 9a5b20b commit 3e68a8e
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Showing 35 changed files with 3,384 additions and 2,947 deletions.
3 changes: 2 additions & 1 deletion RoboRIO/src/main/java/org/usfirst/frc/team449/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -92,7 +92,8 @@ public void robotInit() {
try {
//Read the yaml file with SnakeYaml so we can use anchors and merge syntax.
// Map<?, ?> normalized = (Map<?, ?>) yaml.load(new FileReader(RESOURCES_PATH+"ballbasaur_map.yml"));
Map<?, ?> normalized = (Map<?, ?>) yaml.load(new FileReader(RESOURCES_PATH + "calcifer_map.yml"));
// Map<?, ?> normalized = (Map<?, ?>) yaml.load(new FileReader(RESOURCES_PATH + "naveen_map.yml"));
Map<?, ?> normalized = (Map<?, ?>) yaml.load(new FileReader(RESOURCES_PATH + "nate_map.yml"));
// Map<?, ?> normalized = (Map<?, ?>) yaml.load(new FileReader(RESOURCES_PATH + "calcifer_outreach_map.yml"));
YAMLMapper mapper = new YAMLMapper();
//Turn the Map read by SnakeYaml into a String so Jackson can read it.
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2 changes: 1 addition & 1 deletion RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/FPSTalon.java
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Original file line number Diff line number Diff line change
Expand Up @@ -690,7 +690,7 @@ public void loadProfile(MotionProfileData data) {
point.velocityOnly = velocityOnly; // true => no position servo just velocity feedforward

// Set all the fields of the profile point
point.position = feetToEncoder(data.getData()[i][0]);
point.position = feetToEncoder(data.getData()[i][0]) * (data.isInverted() ? -1 : 1);

//Calculate vel based off inversion
if (data.isInverted()) {
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104 changes: 81 additions & 23 deletions ...rc/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeWithDPad.java
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Original file line number Diff line number Diff line change
Expand Up @@ -8,15 +8,17 @@
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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.Clock;
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 {
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
Expand Down Expand Up @@ -54,6 +56,16 @@ public class OIArcadeWithDPad extends OIArcade {
*/
private final double turnInPlaceRotScale;

/**
* Cached forwards and rotation values.
*/
private double cachedFwd, cachedRot;

/**
* The time velocity and rotation were cached at.
*/
private long timeLastCached;

/**
* Default constructor
*
Expand Down Expand Up @@ -82,6 +94,31 @@ public OIArcadeWithDPad(
this.gamepad = gamepad;
this.scaleRotByFwdPoly = scaleRotByFwdPoly;
this.turnInPlaceRotScale = turnInPlaceRotScale;
timeLastCached = 0;
}

/**
* Calculate and cache the values of fwd and rot.
*/
private void cacheValues(){
if (Clock.currentTimeMillis() > timeLastCached){
timeLastCached = Clock.currentTimeMillis();

//Forwards is simple
cachedFwd = fwdThrottle.getValue();

//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
cachedRot = gamepad.getPOV() < 180 ? dPadShift : -dPadShift;
} else if (cachedFwd == 0) { //Turning in place
cachedRot = rotThrottle.getValue() * turnInPlaceRotScale;
} else if (scaleRotByFwdPoly != null) { //If we're using Cheezy Drive
cachedRot = rotThrottle.getValue() * scaleRotByFwdPoly.get(Math.abs(cachedFwd));
} else { //Plain and simple
cachedRot = rotThrottle.getValue();
}
}
}

/**
Expand All @@ -92,9 +129,8 @@ public OIArcadeWithDPad(
*/
@Override
public double getFwd() {
//Scale based on rotational throttle for more responsive turning at high speed
SmartDashboard.putNumber("fwd", fwdThrottle.getValue());
return fwdThrottle.getValue();
cacheValues();
return cachedFwd;
}

/**
Expand All @@ -105,24 +141,46 @@ public double getFwd() {
*/
@Override
public double getRot() {
double toRet;
//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
toRet = gamepad.getPOV() < 180 ? dPadShift : -dPadShift;
} else {
//Return the throttle value if it's outside of the deadband.
if (fwdThrottle.getValue() == 0) {
toRet = rotThrottle.getValue() * turnInPlaceRotScale;
} else {
if (scaleRotByFwdPoly != null) {
toRet = rotThrottle.getValue() * scaleRotByFwdPoly.get(Math.abs(fwdThrottle.getValue()));
} else {
toRet = rotThrottle.getValue();
}
}
}
SmartDashboard.putNumber("Rot",toRet);
return toRet;
cacheValues();
return cachedRot;
}

/**
* 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";
}
}
104 changes: 49 additions & 55 deletions RoboRIO/src/main/resources/calciferLeftBlueBackupProfile.csv
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Original file line number Diff line number Diff line change
@@ -1,55 +1,49 @@
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