Fix map errors

blair-robot-project · Oct 25, 2017 · aa418fb · aa418fb
1 parent 8eddb4f
commit aa418fb
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Showing 5 changed files with 57 additions and 38 deletions.
diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/Robot.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/Robot.java
@@ -93,8 +93,8 @@ public void robotInit() {
 			//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 + "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"));
+//			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.
 			String fixed = mapper.writeValueAsString(normalized);

diff --git a/RoboRIO/src/main/resources/ballbasaur_map.yml b/RoboRIO/src/main/resources/ballbasaur_map.yml
@@ -4,7 +4,7 @@ testMP: true
 leftTestProfile:
     &leftTest
     '@id': leftTest
-    filename: "ballbasaurForward100InProfile.csv"
+    filename: "forward100InProfile.csv"
     inverted: true
     velocityOnly: true
 rightTestProfile:
@@ -139,16 +139,19 @@ teleopStartupCommand:
                     org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.Pneumatics:
                         pneumatics
             - org.usfirst.frc.team449.robot.drive.commands.EnableMotors:
-                '@id': enableMotors
+                '@id': enableMotorsTeleop
                 subsystem:
                     org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable:
                         drive
 autoStartupCommand:
     org.usfirst.frc.team449.robot.commands.general.ParallelCommandGroup:
         '@id': startAutoCommand
         commandSet:
-            - org.usfirst.frc.team449.robot.commands.general.ParallelCommandGroup:
-                startTeleopCommand
+            - org.usfirst.frc.team449.robot.drive.commands.EnableMotors:
+                '@id': enableMotorsAuto
+                subsystem:
+                    org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable:
+                        drive
             - org.usfirst.frc.team449.robot.drive.commands.ResetPosition:
                 '@id': resetPosition
                 subsystem:
@@ -159,14 +162,7 @@ startupCommand:
         '@id': runRunnables
         runnables:
             - org.usfirst.frc.team449.robot.other.UnidirectionalPoseEstimator:
-                '@id': noahPoseEstimator
-                robotDiameter: 2.0833
-                subsystem:
-                    org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster:
-                        drive
-                absolutePosAngleTolerance: 5
-            - org.usfirst.frc.team449.robot.other.UnidirectionalPoseEstimator:
-                '@id': eliPoseEstimator
+                '@id': poseEstimator
                 subsystem:
                     org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster:
                         drive
@@ -177,9 +173,7 @@ logger:
         - org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster:
             drive
         - org.usfirst.frc.team449.robot.other.UnidirectionalPoseEstimator:
-            noahPoseEstimator
-        - org.usfirst.frc.team449.robot.other.UnidirectionalPoseEstimator:
-            eliPoseEstimator
+            poseEstimator
     loopTimeSecs: 0.02
     eventLogFilename: "/home/lvuser/logs/eventLog-"
     telemetryLogFilename: "/home/lvuser/logs/telemetryLog-"
diff --git a/RoboRIO/src/main/resources/calcifer_outreach_map.yml b/RoboRIO/src/main/resources/calcifer_outreach_map.yml
@@ -9,8 +9,9 @@ oi:
             org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcadeWithDPad:
                 '@id': overridingOi
                 gamepad:
-                    '@id': overridingGamepad
-                    port: 1
+                    org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick:
+                        '@id': overridingGamepad
+                        port: 1
                 rotThrottle:
                     org.usfirst.frc.team449.robot.oi.throttles.ThrottleDeadbanded:
                         &overridingRotThrottle
@@ -37,8 +38,9 @@ oi:
             org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcadeWithDPad:
                 '@id': overridenOi
                 gamepad:
-                    '@id': overridenGamepad
-                    port: 3
+                    org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick:
+                        '@id': overridenGamepad
+                        port: 3
                 rotThrottle:
                     org.usfirst.frc.team449.robot.oi.throttles.ThrottleDeadbanded:
                         &overridenRotThrottle
@@ -74,7 +76,6 @@ drive:
                 &leftMaster
                 '@id': leftMaster
                 port: 7
-                inverted: false
                 reverseOutput: true
                 enableBrakeMode: false
                 feetPerRotation: 0.9817
@@ -116,7 +117,6 @@ drive:
             org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon:
                 <<: *leftMaster
                 '@id': rightMaster
-                inverted: false
                 reverseSensor: true
                 reverseOutput: false
                 port: 2
@@ -163,7 +163,6 @@ climber:
             org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon:
                 '@id': climberTalon
                 port: 5
-                inverted: false
                 enableBrakeMode: false
         maxPower: 500
         simpleMotor:
@@ -252,7 +251,7 @@ buttons:
             org.usfirst.frc.team449.robot.oi.buttons.TriggerButton:
                 '@id': overridingClimbButton
                 throttle:
-                    org.usfirst.frc.team449.robot.oi.throttles.Throttle:
+                    org.usfirst.frc.team449.robot.oi.throttles.ThrottleBasic:
                         '@id': overridingClimbButtonThrottle
                         stick:
                             overridingGamepad
@@ -279,7 +278,7 @@ buttons:
             org.usfirst.frc.team449.robot.oi.buttons.TriggerButton:
                 '@id': overridingPushGearButton
                 throttle:
-                    org.usfirst.frc.team449.robot.oi.throttles.Throttle:
+                    org.usfirst.frc.team449.robot.oi.throttles.ThrottleBasic:
                         '@id': overridingPushGearThrottle
                         stick:
                             overridingGamepad
@@ -307,7 +306,7 @@ buttons:
             org.usfirst.frc.team449.robot.oi.buttons.TriggerButton:
                 '@id': overridenClimbButton
                 throttle:
-                    org.usfirst.frc.team449.robot.oi.throttles.Throttle:
+                    org.usfirst.frc.team449.robot.oi.throttles.ThrottleBasic:
                         '@id': overridenClimbButtonThrottle
                         stick:
                             overridenGamepad
@@ -334,7 +333,7 @@ buttons:
             org.usfirst.frc.team449.robot.oi.buttons.TriggerButton:
                 '@id': overridenPushGearButton
                 throttle:
-                    org.usfirst.frc.team449.robot.oi.throttles.Throttle:
+                    org.usfirst.frc.team449.robot.oi.throttles.ThrottleBasic:
                         '@id': overridenPushGearThrottle
                         stick:
                             overridenGamepad

diff --git a/RoboRIO/src/main/resources/nate_map.yml b/RoboRIO/src/main/resources/nate_map.yml
@@ -503,7 +503,7 @@ teleopStartupCommand:
         '@id': startTeleopCommand
         commandSet:
             - org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands.SwitchToLowGear:
-                '@id': startupSwitchToLowCommand
+                '@id': startTeleSwitchToLowCommand
                 subsystem:
                     org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable:
                         drive
@@ -513,21 +513,34 @@ teleopStartupCommand:
                     org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.Pneumatics:
                         pneumatics
             - org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidForward:
-                '@id': closeGearHandlerStartup
+                '@id': startTeleCloseGearHandler
                 subsystem:
                     org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SolenoidSimple:
                         gearHandler
             - org.usfirst.frc.team449.robot.drive.commands.EnableMotors:
-                '@id': enableMotors
+                '@id': startTeleEnableMotors
                 subsystem:
                     org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable:
                         drive
 autoStartupCommand:
     org.usfirst.frc.team449.robot.commands.general.ParallelCommandGroup:
         '@id': startAutoCommand
         commandSet:
-            - org.usfirst.frc.team449.robot.commands.general.ParallelCommandGroup:
-                startTeleopCommand
+            - org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands.SwitchToLowGear:
+                '@id': startAutoSwitchToLowCommand
+                subsystem:
+                    org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable:
+                        drive
+            - org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidForward:
+                '@id': startAutoCloseGearHandler
+                subsystem:
+                    org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SolenoidSimple:
+                        gearHandler
+            - org.usfirst.frc.team449.robot.drive.commands.EnableMotors:
+                '@id': startAutoEnableMotors
+                subsystem:
+                    org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable:
+                        drive
             - org.usfirst.frc.team449.robot.drive.commands.ResetPosition:
                 '@id': resetPosition
                 subsystem:

diff --git a/RoboRIO/src/main/resources/naveen_map.yml b/RoboRIO/src/main/resources/naveen_map.yml
@@ -491,7 +491,7 @@ teleopStartupCommand:
         '@id': startTeleopCommand
         commandSet:
             - org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands.SwitchToLowGear:
-                '@id': startupSwitchToLowCommand
+                '@id': startTeleSwitchToLowCommand
                 subsystem:
                     org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable:
                         drive
@@ -501,21 +501,34 @@ teleopStartupCommand:
                     org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.Pneumatics:
                         pneumatics
             - org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidForward:
-                '@id': closeGearHandlerStartup
+                '@id': startTeleCloseGearHandler
                 subsystem:
                     org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SolenoidSimple:
                         gearHandler
             - org.usfirst.frc.team449.robot.drive.commands.EnableMotors:
-                '@id': enableMotors
+                '@id': startTeleEnableMotors
                 subsystem:
                     org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable:
                         drive
 autoStartupCommand:
     org.usfirst.frc.team449.robot.commands.general.ParallelCommandGroup:
         '@id': startAutoCommand
         commandSet:
-            - org.usfirst.frc.team449.robot.commands.general.ParallelCommandGroup:
-                startTeleopCommand
+            - org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands.SwitchToLowGear:
+                '@id': startAutoSwitchToLowCommand
+                subsystem:
+                    org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable:
+                        drive
+            - org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidForward:
+                '@id': startAutoCloseGearHandler
+                subsystem:
+                    org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SolenoidSimple:
+                        gearHandler
+            - org.usfirst.frc.team449.robot.drive.commands.EnableMotors:
+                '@id': startAutoEnableMotors
+                subsystem:
+                    org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable:
+                        drive
             - org.usfirst.frc.team449.robot.drive.commands.ResetPosition:
                 '@id': resetPosition
                 subsystem: