diff --git a/Pathgen/lib/Pathfinder-Java.jar b/Pathgen/lib/Pathfinder-Java.jar index 5186498b..d3730e95 100644 Binary files a/Pathgen/lib/Pathfinder-Java.jar and b/Pathgen/lib/Pathfinder-Java.jar differ 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 index ee086c36..7ea3567e 100644 --- a/Pathgen/src/main/java/org/usfirst/frc/team449/pathgen/Pathgen.java +++ b/Pathgen/src/main/java/org/usfirst/frc/team449/pathgen/Pathgen.java @@ -14,25 +14,27 @@ * 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 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 = 113.75; - final double BLUE_WALL_TO_SIDE_PEG = 130.75; - final double BLUE_BACK_CORNER_TO_SIDE_PEG = 91.; - final double BLUE_HALF_KEY_LENGTH = 150.5/2.; - final double BLUE_KEY_CORNER_TO_SIDE_PEG = 15.; - final double RED_WALL_TO_CENTER_PEG = 114.; - final double RED_WALL_TO_SIDE_PEG = 130.; - final double RED_BACK_CORNER_TO_SIDE_PEG = 93.5; - final double RED_HALF_KEY_LENGTH = 152.5/2.; - final double RED_KEY_CORNER_TO_SIDE_PEG = 18.75; - final double AIRSHIP_PARALLEL_OFFSET = 6.; + 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; @@ -43,86 +45,86 @@ public static void main(String[] args) throws IOException { 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*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*Math.sin(5.*Math.PI/6.))/12.,-Math.PI/3.) + 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*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*Math.sin(5.*Math.PI/6.))/12.,Math.PI/3.) + 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) + 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*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*Math.sin(5.*Math.PI/6.))/12.,-Math.PI/3.) + 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*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*Math.sin(5.*Math.PI/6.))/12.,Math.PI/3.) + 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) + 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., + 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., + 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) + new Waypoint(3, 1, Math.PI / 3) }; Waypoint[] backupBlue = new Waypoint[]{ new Waypoint(0, 0, 0), - new Waypoint(3, -1, -Math.PI/3) + new Waypoint(3, -1, -Math.PI / 3) }; Waypoint[] blueLoadingToLoading = new Waypoint[]{ new Waypoint(0, 0, 0), - new Waypoint(27, -5, 0) + new Waypoint(22, -5, 0) }; Waypoint[] blueBoilerToLoading = new Waypoint[]{ new Waypoint(0, 0, 0), new Waypoint(5, 0, 0), - new Waypoint(27, -15, 0) + new Waypoint(22, -15, 0) }; Waypoint[] redLoadingToLoading = new Waypoint[]{ new Waypoint(0, 0, 0), - new Waypoint(27, 5, 0) + new Waypoint(22, 5, 0) }; Waypoint[] redBoilerToLoading = new Waypoint[]{ new Waypoint(0, 0, 0), new Waypoint(5, 0, 0), - new Waypoint(27, 15, 0) + new Waypoint(22, 15, 0) }; Map profiles = new HashMap<>(); @@ -136,25 +138,28 @@ public static void main(String[] args) throws IOException { profiles.put("BlueShoot", bluePegToKey); profiles.put("RedBackup", backupRed); profiles.put("BlueBackup", backupBlue); + profiles.put("forward100In", points); + profiles.put("BlueBackup", backupBlue); 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 = 33.3 / 12.; + double balbasaurWheelbase = 30. / 12.; //200 in: 29.96 //50 in: 34.2 //433.415 - double calciferWheelbase = 26./12.; + double calciferWheelbase = 26. / 12.; Trajectory.Config config = new Trajectory.Config(Trajectory.FitMethod.HERMITE_CUBIC, Trajectory.Config.SAMPLES_HIGH, - 0.05, 5., 3, 6); //Units are seconds, feet/second, feet/(second^2), and feet/(second^3) + 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); @@ -168,14 +173,14 @@ public static void main(String[] args) throws IOException { 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).dt + ","); + + 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.getRightTrajectory().get(i).dt + ","); + 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"); } diff --git a/Pathgen/src/main/R/drawMP.R b/R scripts/drawMP.R similarity index 96% rename from Pathgen/src/main/R/drawMP.R rename to R scripts/drawMP.R index 1f9870af..42be277e 100644 --- a/Pathgen/src/main/R/drawMP.R +++ b/R scripts/drawMP.R @@ -1,6 +1,6 @@ plotProfile <- function(profileName, inverted = FALSE, wheelbaseDiameter, centerToFront, centerToBack, centerToSide, startY = 0, startPos = c(-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) + 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 @@ -73,11 +73,11 @@ plotProfile <- function(profileName, inverted = FALSE, wheelbaseDiameter, center #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 <- (pi - theta)/2 - (pi/2 - perpendicular) + vectorTheta <- perpendicular+theta/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 <- sin(theta)/sin((pi-theta)/2) + vectorDistanceWithoutR <- 2*sin(theta/2) #If inverted, swap which wheel gets which input if(inverted){ diff --git a/Pathgen/src/main/R/field.csv b/R scripts/field.csv similarity index 100% rename from Pathgen/src/main/R/field.csv rename to R scripts/field.csv diff --git a/R scripts/findVelVsVoltage.R b/R scripts/findVelVsVoltage.R new file mode 100644 index 00000000..68a8f0fd --- /dev/null +++ b/R scripts/findVelVsVoltage.R @@ -0,0 +1,24 @@ +# 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 new file mode 100644 index 00000000..68f2782e --- /dev/null +++ b/R scripts/poseEstimationChecker.R @@ -0,0 +1,239 @@ +#Simple helper conversion methods +rad2deg <- function(rad) {(rad * 180) / (pi)} +deg2rad <- function(deg) {(deg * pi) / (180)} + +#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((deltaLeft-deltaRight)/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]-2.0833, xlab="Turn Radius (feet)", ylab="Error in wheelbase diameter (feet)", main="Error in 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){ + #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") + out[1,] <- c(leftPos[1],rightPos[1],NA,NA,NA,NA,timeMillis[1],NA) + + #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){ + #If we're driving straight, we know the magnitude is just the average of the two sides + 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 { + #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) + + #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) + } + } + } + + #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 ignores the worse encoder reading. +ignoreWorstPoseEstimation <- function(leftPos, rightPos, rawAngleDegrees, timeMillis, actualWheelbase){ + #Convert because degrees suuuuck + rawAngle <- deg2rad(rawAngleDegrees) + + #Set up output array + out <- array(dim=c(length(timeMillis),7)) + colnames(out) <- c("X","Y","leftX","leftY","rightX","rightY","time") + angle <- rawAngle[1] + out[1,] <- c(leftPos[1],rightPos[1],actualWheelbase/2*cos(angle+pi/2), actualWheelbase/2*sin(angle+pi/2), actualWheelbase/2*cos(angle-pi/2), actualWheelbase/2*sin(angle-pi/2),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] + deltaTheta <- rawAngle[i]-rawAngle[i-1] + + #The angle of the movement vector + angle <- rawAngle[i-1]+(deltaTheta/2) + + #Take the side that slipped more and recalculate it from the wheelbase, change in angle, and other side's change + if (deltaTheta < (deltaLeft - deltaRight) / actualWheelbase) { + if (deltaLeft > 0) { + deltaLeft = deltaRight + actualWheelbase * deltaTheta; + } else { + deltaRight = deltaLeft - actualWheelbase * deltaTheta; + } + } else if (deltaTheta > (deltaLeft - deltaRight) / actualWheelbase) { + if (deltaLeft < 0) { + deltaLeft = deltaRight + actualWheelbase * deltaTheta; + } else { + deltaRight = deltaLeft - actualWheelbase * deltaTheta; + } + } + + #Calculate average after recalculating one of the sides + avgMoved <- (deltaLeft+deltaRight)/2 + + #If we're driving straight, the magnitude is just the average of the two sides + if (deltaTheta == 0){ + out[i,] <- c(out[i-1,1]+avgMoved*cos(angle),out[i-1,2]+avgMoved*sin(angle), x+actualWheelbase/2*cos(angle+pi/2), y+actualWheelbase/2*sin(angle+pi/2), x+actualWheelbase/2*cos(angle-pi/2), y+actualWheelbase/2*sin(angle-pi/2), timeMillis[i]) + } else { + #If the sides moved the same distance but the angle changed, the radius is just the sector length over the angle + if (deltaLeft-deltaRight == 0){ + r <- avgMoved/deltaTheta; + } else { + #If they moved a different distance, do a more complicated equation (may be the same as the other one, not doing the math yet) + r <- actualWheelbase / 2. * (deltaLeft + deltaRight) / (deltaLeft - deltaRight); + } + mag <- 2. * r * sin(deltaTheta / 2.); + + #Vector decomposition + x <- out[i-1,1]+mag*cos(angle) + y <- out[i-1,2]+mag*sin(angle) + out[i,] <- c(x, y, x+actualWheelbase/2*cos(rawAngle[i]+pi/2), y+actualWheelbase/2*sin(rawAngle[i]+pi/2), x+actualWheelbase/2*cos(rawAngle[i]-pi/2), y+actualWheelbase/2*sin(rawAngle[i]-pi/2), timeMillis[i]) + } + } + + #Plot results, with real 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="Ignore-Worst 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(leftPos[1],rightPos[1],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 <- (deltaLeft+deltaRight)/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 <- (deltaLeft - deltaRight)/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) +} + +#Make all the graphs, for wheelbase and all 3 algorithms, using the average effective wheelbase for encoder-only +doEverything <- function(leftPos, rightPos, rawAngleDegrees, timeMillis, angularVelThreshRad, smoothingConst, actualWheelbase){ + avg <- plotWheelVsVel(leftPos, rightPos, rawAngleDegrees, timeMillis, angularVelThreshRad, smoothingConst) + equalScrubPoseEstimation(leftPos, rightPos, rawAngleDegrees, timeMillis, angularVelThreshRad) + ignoreWorstPoseEstimation(leftPos, rightPos, rawAngleDegrees, timeMillis, actualWheelbase) + encoderOnlyPoseEstimation(leftPos=leftPos, rightPos=rightPos, startingAngleDegrees=rawAngleDegrees[1], timeMillis=timeMillis, fakeWheelbase=avg) + return(avg) +} \ No newline at end of file diff --git a/Pathgen/src/main/R/robot.csv b/R scripts/robot.csv similarity index 100% rename from Pathgen/src/main/R/robot.csv rename to R scripts/robot.csv diff --git a/README.md b/README.md index 8c4cd472..ecb402bc 100644 --- a/README.md +++ b/README.md @@ -17,3 +17,5 @@ For info on our framework, see [here](http://team449.shoutwiki.com/wiki/Informat Reading everything [here](http://team449.shoutwiki.com/wiki/Category:Programming) before writing code is probably a good idea. + +MRA Education Day presentation: https://docs.google.com/presentation/d/1PWEmE_5zcDg5OGz8K20IKFjoHMwizs2ychw535TPyaI/edit?usp=sharing 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 index db669889..893a1146 100644 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/Robot.java +++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/Robot.java @@ -70,6 +70,11 @@ public class Robot extends IterativeRobot { @Nullable private Command autonomousCommand; + /** + * Whether or not the robot has been enabled yet. + */ + private boolean enabled; + /** * The method that runs when the robot is turned on. Initializes all subsystems from the map. */ @@ -78,14 +83,17 @@ public void robotInit() { Clock.setStartTime(); Clock.updateTime(); + enabled = false; + //Yes this should be a print statement, it's useful to know that robotInit started. System.out.println("Started robotInit."); Yaml yaml = new Yaml(); 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+"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")); YAMLMapper mapper = new YAMLMapper(); //Turn the Map read by SnakeYaml into a String so Jackson can read it. @@ -99,6 +107,10 @@ public void robotInit() { System.out.println("Config file is bad/nonexistent!"); e.printStackTrace(); } + + //Read sensors + this.robotMap.getUpdater().run(); + //Set fields from the map. this.loggerNotifier = new Notifier(robotMap.getLogger()); this.driveSubsystem = robotMap.getDrive(); @@ -163,6 +175,7 @@ public void robotInit() { //Run the logger to write all the events that happened during initialization to a file. robotMap.getLogger().run(); + Clock.updateTime(); } /** @@ -171,8 +184,21 @@ public void robotInit() { @Override public void teleopInit() { //Do the startup tasks - driveSubsystem.stopMPProcesses(); doStartupTasks(); + + //Read sensors + this.robotMap.getUpdater().run(); + + //Run startup command if we start in teleop. + if (!enabled) { + if (robotMap.getStartupCommand() != null) { + robotMap.getStartupCommand().start(); + } + enabled = true; + } + + driveSubsystem.stopMPProcesses(); + if (robotMap.getTeleopStartupCommand() != null) { robotMap.getTeleopStartupCommand().start(); } @@ -191,6 +217,10 @@ public void teleopInit() { public void teleopPeriodic() { //Refresh the current time. Clock.updateTime(); + + //Read sensors + this.robotMap.getUpdater().run(); + //Run all commands. This is a WPILib thing you don't really have to worry about. Scheduler.getInstance().run(); } @@ -202,6 +232,18 @@ public void teleopPeriodic() { public void autonomousInit() { //Do startup tasks doStartupTasks(); + + //Read sensors + this.robotMap.getUpdater().run(); + + //Run startup command if we start in auto. + if (!enabled) { + if (robotMap.getStartupCommand() != null) { + robotMap.getStartupCommand().start(); + } + enabled = true; + } + if (robotMap.getAutoStartupCommand() != null) { robotMap.getAutoStartupCommand().start(); } @@ -222,6 +264,8 @@ public void autonomousInit() { public void autonomousPeriodic() { //Update the current time Clock.updateTime(); + //Read sensors + this.robotMap.getUpdater().run(); //Run all commands. This is a WPILib thing you don't really have to worry about. Scheduler.getInstance().run(); } @@ -237,6 +281,30 @@ public void disabledInit() { sendModeOverI2C(robotInfo, "disabled"); } + /** + * Run when we first enable in test mode. + */ + @Override + public void testInit() { + //Run startup command if we start in test mode. + if (!enabled) { + if (robotMap.getStartupCommand() != null) { + robotMap.getStartupCommand().start(); + } + enabled = true; + } + } + + /** + * Run every tic while disabled + */ + @Override + public void disabledPeriodic() { + Clock.updateTime(); + //Read sensors + this.robotMap.getUpdater().run(); + } + /** * Sends the current mode (auto, teleop, or disabled) over I2C. * @@ -267,9 +335,5 @@ private void doStartupTasks() { //Start running the logger loggerNotifier.startPeriodic(robotMap.getLogger().getLoopTimeSecs()); - - //Enable and reset the drive - driveSubsystem.enableMotors(); - driveSubsystem.resetPosition(); } } diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/RobotMap2017.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/RobotMap2017.java index 601eced4..0046a2b7 100644 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/RobotMap2017.java +++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/RobotMap2017.java @@ -7,6 +7,7 @@ import org.jetbrains.annotations.Nullable; import org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster; import org.usfirst.frc.team449.robot.jacksonWrappers.MappedDigitalInput; +import org.usfirst.frc.team449.robot.jacksonWrappers.MappedRunnable; import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand; import org.usfirst.frc.team449.robot.oi.OI; import org.usfirst.frc.team449.robot.oi.buttons.CommandButton; @@ -19,6 +20,7 @@ import org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.CameraNetwork; import org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.Pneumatics; +import java.util.ArrayList; import java.util.List; import java.util.Map; @@ -57,6 +59,12 @@ public class RobotMap2017 { @NotNull private final Command defaultDriveCommand; + /** + * A runnable that updates cached variables. + */ + @NotNull + private final Runnable updater; + /** * The climber for boarding the airship. Can be null. */ @@ -190,6 +198,12 @@ public class RobotMap2017 { @Nullable private final Command teleopStartupCommand; + /** + * The command to be run when first enabled. + */ + @Nullable + private final Command startupCommand; + /** * Whether to run the test or real motion profile during autonomous. */ @@ -203,53 +217,56 @@ public class RobotMap2017 { /** * Default constructor. * - * @param buttons The buttons for controlling this robot. - * @param oi The OI for controlling this robot's drive. - * @param logger The logger for recording events and telemetry data. - * @param drive The drive. - * @param defaultDriveCommand The command for the drive to run during the teleoperated period. - * @param climber The climber for boarding the airship. Can be null. - * @param shooter The multiSubsystem for shooting fuel. Can be null. - * @param camera The cameras on this robot. Can be null. - * @param intake The intake for picking up and agitating balls. Can be null. - * @param pneumatics The pneumatics on this robot. Can be null. - * @param gearHandler The gear handler on this robot. Can be null. - * @param RIOduinoPort The I2C port of the RIOduino plugged into this robot. Can be null. - * @param 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. - * @param 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. - * @param 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. - * @param 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. - * @param 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. - * @param 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. - * @param 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. - * @param 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. - * @param 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. - * @param 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. - * @param nonMPAutoCommand The command to run during autonomous if doMP is false. Can be null, and if it is, no - * command is run during autonomous. - * @param autoStartupCommand The command to be run when first enabled in autonomous mode. - * @param teleopStartupCommand The command to be run when first enabled in teleoperated mode. - * @param testMP Whether to run the test or real motion profile during autonomous. Defaults to false. - * @param doMP Whether to run a motion profile during autonomous. Defaults to true. + * @param buttons The buttons for controlling this robot. Can be null for an empty list. + * @param oi The OI for controlling this robot's drive. + * @param logger The logger for recording events and telemetry data. + * @param drive The drive. + * @param defaultDriveCommand The command for the drive to run during the teleoperated period. + * @param updater A runnable that updates cached variables. + * @param climber The climber for boarding the airship. Can be null. + * @param shooter The multiSubsystem for shooting fuel. Can be null. + * @param camera The cameras on this robot. Can be null. + * @param intake The intake for picking up and agitating balls. Can be null. + * @param pneumatics The pneumatics on this robot. Can be null. + * @param gearHandler The gear handler on this robot. Can be null. + * @param RIOduinoPort The I2C port of the RIOduino plugged into this robot. Can be null. + * @param 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. + * @param 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. + * @param 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. + * @param 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. + * @param 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. + * @param 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. + * @param 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. + * @param 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. + * @param 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. + * @param 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. + * @param nonMPAutoCommand The command to run during autonomous if doMP is false. Can be null, and if it is, no + * command is run during autonomous. + * @param autoStartupCommand The command to be run when first enabled in autonomous mode. + * @param teleopStartupCommand The command to be run when first enabled in teleoperated mode. + * @param startupCommand The command to be run when first enabled. + * @param testMP Whether to run the test or real motion profile during autonomous. Defaults to false. + * @param doMP Whether to run a motion profile during autonomous. Defaults to true. */ @JsonCreator - public RobotMap2017(@NotNull @JsonProperty(required = true) List buttons, + public RobotMap2017(@Nullable @JsonProperty(required = true) List buttons, @NotNull @JsonProperty(required = true) OI oi, @NotNull @JsonProperty(required = true) Logger logger, @NotNull @JsonProperty(required = true) DriveTalonCluster drive, @NotNull @JsonProperty(required = true) YamlCommand defaultDriveCommand, + @NotNull @JsonProperty(required = true) MappedRunnable updater, @Nullable ClimberCurrentLimited climber, @Nullable LoggingShooter shooter, @Nullable CameraNetwork camera, @@ -268,9 +285,10 @@ public RobotMap2017(@NotNull @JsonProperty(required = true) List @Nullable YamlCommand nonMPAutoCommand, @Nullable YamlCommand autoStartupCommand, @Nullable YamlCommand teleopStartupCommand, + @Nullable YamlCommand startupCommand, boolean testMP, @Nullable Boolean doMP) { - this.buttons = buttons; + this.buttons = buttons != null ? buttons : new ArrayList<>(); this.oi = oi; this.drive = drive; this.climber = climber; @@ -280,6 +298,7 @@ public RobotMap2017(@NotNull @JsonProperty(required = true) List this.pneumatics = pneumatics; this.gearHandler = gearHandler; this.logger = logger; + this.updater = updater; this.RIOduinoPort = RIOduinoPort; this.allianceSwitch = allianceSwitch; this.dropGearSwitch = dropGearSwitch; @@ -295,6 +314,7 @@ public RobotMap2017(@NotNull @JsonProperty(required = true) List this.nonMPAutoCommand = nonMPAutoCommand != null ? nonMPAutoCommand.getCommand() : null; this.autoStartupCommand = autoStartupCommand != null ? autoStartupCommand.getCommand() : null; this.teleopStartupCommand = teleopStartupCommand != null ? teleopStartupCommand.getCommand() : null; + this.startupCommand = startupCommand != null ? startupCommand.getCommand() : null; this.testMP = testMP; this.doMP = doMP != null ? doMP : true; } @@ -524,4 +544,20 @@ public Command getTeleopStartupCommand() { public boolean getDoMP() { return doMP; } + + /** + * @return The command to be run when first enabled. + */ + @Nullable + public Command getStartupCommand() { + return startupCommand; + } + + /** + * @return A runnable that updates cached variables. + */ + @NotNull + public Runnable getUpdater() { + return updater; + } } 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 index b01bdf64..3fdd8d41 100644 --- 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 @@ -14,7 +14,7 @@ * A command group for running many commands in parallel. */ @JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class ParallelCommandGroup extends YamlCommandGroupWrapper{ +public class ParallelCommandGroup extends YamlCommandGroupWrapper { /** * Default constructor 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 new file mode 100644 index 00000000..fdc06af8 --- /dev/null +++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/general/RunRunnables.java @@ -0,0 +1,76 @@ +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/multiInterface/RunMotorWhileConditonMet.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/RunMotorWhileConditonMet.java index dc5c3369..a22ecf58 100644 --- 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 @@ -15,7 +15,7 @@ * Run a BinaryMotor while a condition is true. */ @JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class RunMotorWhileConditonMet extends YamlCommandWrapper { +public class RunMotorWhileConditonMet extends YamlCommandWrapper { /** * The subsystem to execute this command on @@ -57,7 +57,7 @@ protected void execute() { */ @Override protected boolean isFinished() { - return subsystem.isConditionTrue(); + return subsystem.isConditionTrueCached(); } /** 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 index 0eb3087d..eebf9d98 100644 --- 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 @@ -8,7 +8,7 @@ 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.navX.SubsystemNavX; +import org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemAHRS; import org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.PIDAngleCommand; import java.util.ArrayList; @@ -19,7 +19,7 @@ */ @JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class") @JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class FieldOrientedUnidirectionalDriveCommand extends PIDAngleCommand { +public class FieldOrientedUnidirectionalDriveCommand extends PIDAngleCommand { /** * The drive this command is controlling. @@ -159,7 +159,7 @@ protected void interrupted() { 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.getOverrideNavX() ? 0 : processPIDOutput(output); + output = subsystem.getOverrideGyro() ? 0 : processPIDOutput(output); SmartDashboard.putNumber("PID loop output", output); 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 index c1842b66..f5af6ea2 100644 --- 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 @@ -10,7 +10,7 @@ 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.navX.SubsystemNavX; +import org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemAHRS; import java.util.List; @@ -19,7 +19,7 @@ */ @JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class") @JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class FieldOrientedUnidirectionalDriveCommandShifting +public class FieldOrientedUnidirectionalDriveCommandShifting extends FieldOrientedUnidirectionalDriveCommand { /** 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 index c98d384d..196b82a0 100644 --- 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 @@ -9,13 +9,13 @@ 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.navX.SubsystemNavX; +import org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemAHRS; /** * Rotates the robot back and forth in order to dislodge any stuck balls. */ @JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class JiggleRobot extends YamlCommandGroupWrapper { +public class JiggleRobot extends YamlCommandGroupWrapper { /** * Instantiate the CommandGroup 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 index 866026c4..777ac6d0 100644 --- 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 @@ -10,14 +10,14 @@ 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.navX.SubsystemNavX; +import org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemAHRS; import org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.PIDAngleCommand; /** * Drives straight using the NavX gyro to keep a constant alignment. */ @JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class NavXDriveStraight extends PIDAngleCommand { +public class NavXDriveStraight extends PIDAngleCommand { /** * The drive subsystem to give output to. @@ -87,15 +87,11 @@ protected void usePIDOutput(double output) { output = processPIDOutput(output); //Set throttle to the specified stick. - double throttle; if (useLeft) { - throttle = oi.getLeftThrottle(); + subsystem.setOutput(oi.getLeftOutputCached() - output, oi.getLeftOutputCached() + output); } else { - throttle = oi.getRightThrottle(); + subsystem.setOutput(oi.getRightOutputCached() - output, oi.getRightOutputCached() + output); } - - //Set the output to the throttle velocity adjusted by the PID output. - subsystem.setOutput(throttle - output, throttle + output); } /** 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 index 98e6ef77..98a8b7b5 100644 --- 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 @@ -11,14 +11,14 @@ 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.navX.SubsystemNavX; +import org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemAHRS; import org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.PIDAngleCommand; /** * Turns to a specified angle, relative to the angle the navX was at when the robot was turned on. */ @JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class NavXTurnToAngle extends PIDAngleCommand { +public class NavXTurnToAngle extends PIDAngleCommand { /** * The drive subsystem to execute this command on and to get the gyro reading from. 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 index 08d80fb4..f397aa20 100644 --- 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 @@ -10,13 +10,13 @@ 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.navX.SubsystemNavX; +import org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemAHRS; /** * Turn a certain number of degrees from the current heading. */ @JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class NavXTurnToAngleRelative extends NavXTurnToAngle { +public class NavXTurnToAngleRelative extends NavXTurnToAngle { /** * Default constructor. @@ -62,7 +62,7 @@ protected void initialize() { this.startTime = Clock.currentTimeMillis(); Logger.addEvent("NavXRelativeTurnToAngle init.", this.getClass()); //Do math to setup the setpoint. - this.setSetpoint(clipTo180(((SubsystemNavX) subsystem).getGyroOutput() + setpoint)); + this.setSetpoint(clipTo180(((SubsystemAHRS) subsystem).getHeadingCached() + setpoint)); //Make sure to enable the controller! this.getPIDController().enable(); } 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 index 4dcff1b6..67a8ad40 100644 --- 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 @@ -1,6 +1,7 @@ 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; @@ -8,7 +9,7 @@ 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.navX.SubsystemNavX; +import org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemAHRS; import org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.PIDAngleCommand; /** @@ -16,7 +17,7 @@ */ @JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class") @JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class UnidirectionalNavXDefaultDrive extends PIDAngleCommand { +public class UnidirectionalNavXDefaultDrive extends PIDAngleCommand { /** * The drive this command is controlling. @@ -116,22 +117,20 @@ protected void initialize() { */ @Override protected void execute() { - //Check whether we're commanding to drive straight or turn. - boolean commandingStraight = oi.commandingStraight(); - + SmartDashboard.putBoolean("Override",subsystem.getOverrideGyro()); //If we're driving straight but the driver tries to turn or overrides the navX: - if (drivingStraight && (!commandingStraight || subsystem.getOverrideNavX())) { + if (drivingStraight && (!oi.commandingStraightCached() || subsystem.getOverrideGyro())) { //Switch to free drive drivingStraight = false; } //If we're free driving and the driver stops turning: - else if (driveStraightLoopEntryTimer.get(!(subsystem.getOverrideNavX()) && !(drivingStraight) && - commandingStraight && Math.abs(subsystem.getNavX().getRate()) <= maxAngularVelToEnterLoop)) { + else if (driveStraightLoopEntryTimer.get(!(subsystem.getOverrideGyro()) && !(drivingStraight) && + oi.commandingStraightCached() && Math.abs(subsystem.getAngularVelCached()) <= maxAngularVelToEnterLoop)) { //Switch to driving straight drivingStraight = true; //Set the setpoint to the current heading and reset the navX this.getPIDController().reset(); - this.getPIDController().setSetpoint(subsystem.getGyroOutput()); + this.getPIDController().setSetpoint(subsystem.getHeadingCached()); this.getPIDController().enable(); } } @@ -170,23 +169,24 @@ protected void interrupted() { */ @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.getLeftOutput() == 0 || oi.getRightOutput() == 0){ - output=deadbandOutput(output); + 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.getLeftOutput() - output, oi.getRightOutput() + output); + subsystem.setOutput(oi.getLeftOutputCached() - output, oi.getRightOutputCached() + output); } //If we're free driving... else { //Set the throttle to normal arcade throttle. - subsystem.setOutput(oi.getLeftOutput(), oi.getRightOutput()); + 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 index bc6b508b..a9ce3710 100644 --- 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 @@ -11,7 +11,7 @@ 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.navX.SubsystemNavX; +import org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemAHRS; /** * Drive with arcade drive setup, autoshift, and when the driver isn't turning, use a NavX to stabilize the robot's @@ -19,7 +19,7 @@ */ @JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class") @JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class UnidirectionalNavXShiftingDefaultDrive extends UnidirectionalNavXDefaultDrive { +public class UnidirectionalNavXShiftingDefaultDrive extends UnidirectionalNavXDefaultDrive { /** * The drive to execute this command on. @@ -61,7 +61,7 @@ public class UnidirectionalNavXShiftingDefaultDrive subsystem.setGear(gear)); + autoshiftComponent.autoshift((oi.getLeftOutputCached() + oi.getRightOutputCached())/2., subsystem.getLeftVelCached(), + subsystem.getRightVelCached(), gear -> subsystem.setGear(gear)); } super.execute(); } 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 index fc5f5f48..b6c207d4 100644 --- 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 @@ -17,7 +17,7 @@ * intake, and stops feeder. */ @JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class LoadShooter extends YamlCommandGroupWrapper { +public class LoadShooter extends YamlCommandGroupWrapper { /** * Constructs a LoadShooter command group 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 index d0a14c54..666222e0 100644 --- 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 @@ -17,7 +17,7 @@ * intake, and stops feeder. */ @JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class RackShooter extends YamlCommandGroupWrapper { +public class RackShooter extends YamlCommandGroupWrapper { /** * Constructs a RackShooter command group 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 index 83f631a4..bf931faf 100644 --- 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 @@ -16,7 +16,7 @@ * Command group to reset everything. Turns everything off, raises intake */ @JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class ResetShooter extends YamlCommandGroupWrapper { +public class ResetShooter extends YamlCommandGroupWrapper { /** * Constructs a ResetShooter command group 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 index 9e185a55..f7043245 100644 --- 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 @@ -59,6 +59,11 @@ public class AutoshiftComponent { */ private long timeLastDownshifted; + /** + * Whether it's okay to up or down shift. Fields to avoid garbage collection. + */ + private boolean okayToUpshift, okayToDownshift; + /** * Default constructor * @@ -100,23 +105,23 @@ public AutoshiftComponent(@JsonProperty(required = true) double upshiftSpeed, */ private boolean shouldDownshift(double forwardThrottle, double leftVel, double rightVel) { //We should shift if we're going slower than the downshift speed - boolean okToShift = Math.max(Math.abs(leftVel), Math.abs(rightVel)) < downshiftSpeed; + okayToDownshift = Math.max(Math.abs(leftVel), Math.abs(rightVel)) < downshiftSpeed; //Or if we're just turning in place. - okToShift = okToShift || (forwardThrottle == 0); + okayToDownshift = okayToDownshift || (forwardThrottle == 0); //Or commanding a low speed. - okToShift = okToShift || (Math.abs(forwardThrottle) < upshiftFwdThresh); + okayToDownshift = okayToDownshift || (Math.abs(forwardThrottle) < upshiftFwdThresh); //But we can only shift if we're out of the cooldown period. - okToShift = okToShift && Clock.currentTimeMillis() - timeLastUpshifted > cooldownAfterUpshift; + 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. - okToShift = downshiftBufferTimer.get(okToShift); + okayToDownshift = downshiftBufferTimer.get(okayToDownshift); //Record the time if we do decide to shift. - if (okToShift) { + if (okayToDownshift) { timeLastDownshifted = Clock.currentTimeMillis(); } - return okToShift; + return okayToDownshift; } /** @@ -129,19 +134,19 @@ private boolean shouldDownshift(double forwardThrottle, double leftVel, double r */ private boolean shouldUpshift(double forwardThrottle, double leftVel, double rightVel) { //We should shift if we're going faster than the upshift speed... - boolean okToShift = Math.min(Math.abs(leftVel), Math.abs(rightVel)) > upshiftSpeed; + okayToUpshift = Math.min(Math.abs(leftVel), Math.abs(rightVel)) > upshiftSpeed; //AND the driver's trying to go forward fast. - okToShift = okToShift && Math.abs(forwardThrottle) > upshiftFwdThresh; + okayToUpshift = okayToUpshift && Math.abs(forwardThrottle) > upshiftFwdThresh; //But we can only shift if we're out of the cooldown period. - okToShift = okToShift && Clock.currentTimeMillis() - timeLastDownshifted > cooldownAfterDownshift; + 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. - okToShift = upshiftBufferTimer.get(okToShift); - if (okToShift) { + okayToUpshift = upshiftBufferTimer.get(okayToUpshift); + if (okayToUpshift) { timeLastUpshifted = Clock.currentTimeMillis(); } - return okToShift; + return okayToUpshift; } /** diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/components/NavXRumbleComponent.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/components/NavXRumbleComponent.java new file mode 100644 index 00000000..e206f462 --- /dev/null +++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/components/NavXRumbleComponent.java @@ -0,0 +1,152 @@ +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 com.kauailabs.navx.frc.AHRS; +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 a NavX. + */ +@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) +public class NavXRumbleComponent implements MappedRunnable { + + /** + * The factor to multiply feet/(sec^3) by to get Gs/millisecond, according to WolframAlpha. + */ + private static final double FPS_CUBED_TO_GS_PER_MILLIS = 3.108e-5; + + /** + * The NavX to get jerk measurements from. + */ + @NotNull + private final AHRS navX; + + /** + * The things to rumble. + */ + @NotNull + private final List rumbleables; + + /** + * The minimum jerk that will trigger rumbling, in Gs/millisecond. Should be greater than 2, which is the error + * margin on the measurement. + */ + private final double minJerk; + + /** + * The jerk, in Gs/millisecond, 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 navX 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 NavXRumbleComponent(@NotNull @JsonProperty(required = true) MappedAHRS navX, + @NotNull @JsonProperty(required = true) List rumbleables, + @JsonProperty(required = true) double minJerk, + @JsonProperty(required = true) double maxJerk, + boolean yIsFrontBack, + boolean invertLeftRight) { + this.navX = navX; + this.rumbleables = rumbleables; + //Convert from feet/(sec^3) to Gs/millis. + this.minJerk = minJerk * FPS_CUBED_TO_GS_PER_MILLIS; + this.maxJerk = maxJerk * FPS_CUBED_TO_GS_PER_MILLIS; + 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(navX.getWorldLinearAccelY()); + leftRight = navX.getWorldLinearAccelX() * (invertLeftRight ? -1 : 1); + } else { + frontBack = Math.abs(navX.getWorldLinearAccelX()); + leftRight = navX.getWorldLinearAccelY() * (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/ShiftWithSensorComponent.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/components/ShiftWithSensorComponent.java index 9edaab25..9472765a 100644 --- 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 @@ -37,38 +37,50 @@ public class ShiftWithSensorComponent extends ShiftComponent { */ @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. + * 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 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. + * @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, @@ -95,7 +107,7 @@ public ShiftWithSensorComponent(@NotNull @JsonProperty(required = true) List extends YamlCommandWrapper { +public class DetermineNominalVoltage extends YamlCommandWrapper { /** * The drive subsystem to execute this command on. @@ -76,7 +76,7 @@ protected void execute() { */ @Override protected boolean isFinished() { - return Math.max(Math.abs(subsystem.getLeftVel()), Math.abs(subsystem.getRightVel())) >= minSpeed; + return Math.max(Math.abs(subsystem.getLeftVelCached()), Math.abs(subsystem.getRightVelCached())) >= minSpeed; } /** 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 new file mode 100644 index 00000000..d9de20db --- /dev/null +++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/commands/DetermineVelVsVoltage.java @@ -0,0 +1,197 @@ +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 index f546a021..88b9e99f 100644 --- 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 @@ -15,7 +15,7 @@ * Go at a certain velocity for a set number of seconds */ @JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class DriveAtSpeed extends YamlCommandWrapper { +public class DriveAtSpeed extends YamlCommandWrapper { /** * Speed to go at 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 index 11e5ad98..9327bfb6 100644 --- 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 @@ -15,7 +15,7 @@ * Drives straight when using a tank drive. */ @JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class DriveStraight extends YamlCommandWrapper { +public class DriveStraight extends YamlCommandWrapper { /** * The oi that this command gets input from. @@ -34,11 +34,6 @@ public class DriveStraight extend @NotNull private final T subsystem; - /** - * The throttle gotten from the joystick. This is a field instead of a local variable to avoid garbage collection. - */ - private double throttle; - /** * Drive straight without NavX stabilization. * @@ -71,12 +66,10 @@ protected void initialize() { @Override protected void execute() { if (useLeft) { - throttle = oi.getLeftThrottle(); + subsystem.setOutput(oi.getLeftOutputCached(), oi.getLeftOutputCached()); } else { - throttle = oi.getRightThrottle(); + subsystem.setOutput(oi.getRightOutputCached(), oi.getRightOutputCached());; } - - subsystem.setOutput(throttle, throttle); } /** 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 index ad3ca480..b2931f8c 100644 --- 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 @@ -13,7 +13,7 @@ * Drive back and forth to tune PID. */ @JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class PIDBackAndForth extends YamlCommandGroupWrapper { +public class PIDBackAndForth extends YamlCommandGroupWrapper { /** * Instantiate the CommandGroup 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 index 8cb5f5e3..7f5fefe6 100644 --- 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 @@ -13,7 +13,7 @@ * Drive forward at constant speed then stop to tune PID. */ @JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class PIDTest extends YamlCommandGroupWrapper { +public class PIDTest extends YamlCommandGroupWrapper { /** * Default constructor 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 index 70afb9c5..f058aa22 100644 --- 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 @@ -15,7 +15,7 @@ * Very simple unidirectional drive control. */ @JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class SimpleUnidirectionalDrive extends YamlCommandWrapper { +public class SimpleUnidirectionalDrive extends YamlCommandWrapper { /** * The OI used for input. @@ -57,7 +57,7 @@ protected void initialize() { */ @Override protected void execute() { - subsystem.setOutput(oi.getLeftOutput(), oi.getRightOutput()); + subsystem.setOutput(oi.getLeftOutputCached(), oi.getRightOutputCached()); } /** 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 new file mode 100644 index 00000000..dca51292 --- /dev/null +++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/commands/VoltageRamp.java @@ -0,0 +1,99 @@ +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/rumbleable/Rumbleable.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/generalInterfaces/rumbleable/Rumbleable.java new file mode 100644 index 00000000..76ad8060 --- /dev/null +++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/generalInterfaces/rumbleable/Rumbleable.java @@ -0,0 +1,19 @@ +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/updatable/Updatable.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/generalInterfaces/updatable/Updatable.java new file mode 100644 index 00000000..60047045 --- /dev/null +++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/generalInterfaces/updatable/Updatable.java @@ -0,0 +1,15 @@ +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 index b26254db..66492f68 100644 --- 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 @@ -15,6 +15,7 @@ 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; @@ -66,12 +67,6 @@ public class FPSTalon implements SimpleMotor, Shiftable { @NotNull private final CANTalon.MotionProfileStatus motionProfileStatus; - /** - * The time at which the motion profile status was last checked. Only getting the status once per tic avoids CAN - * traffic. - */ - private long timeMPStatusLastRead; - /** * A notifier that moves points from the API-level buffer to the talon-level one. */ @@ -88,16 +83,33 @@ public class FPSTalon implements SimpleMotor, Shiftable { @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. @@ -105,14 +117,15 @@ public class FPSTalon implements SimpleMotor, Shiftable { * 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 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 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 @@ -121,7 +134,8 @@ public class FPSTalon implements SimpleMotor, Shiftable { * 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 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. @@ -131,10 +145,13 @@ public class FPSTalon implements SimpleMotor, Shiftable { * 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, @@ -153,9 +170,11 @@ public FPSTalon(@JsonProperty(required = true) int port, @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); + canTalon = new CANTalon(port, controlFrameRateMillis != null ? controlFrameRateMillis : 10); //Set this to false because we only use reverseOutput for slaves. canTalon.reverseOutput(reverseOutput); //NO TOUCHY @@ -163,7 +182,15 @@ public FPSTalon(@JsonProperty(required = true) int port, //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; @@ -219,8 +246,8 @@ public FPSTalon(@JsonProperty(required = true) int port, //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; + feedbackDevice.equals(CANTalon.FeedbackDevice.CtreMagEncoder_Relative)) { + this.feedbackDevice = CANTalon.FeedbackDevice.QuadEncoder; } else { this.feedbackDevice = feedbackDevice; } @@ -316,7 +343,7 @@ public void setPercentVoltage(double percentVoltage) { canTalon.changeControlMode(CANTalon.TalonControlMode.PercentVbus); //Set the setpoint to the input given. - canTalon.set(percentVoltage); + canTalon.set(percentVoltage * (invertInVoltage ? -1 : 1)); } /** @@ -334,16 +361,24 @@ public int getGear() { */ @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.getMotionProfileP(), currentGearSettings.getMotionProfileI(), currentGearSettings.getMotionProfileD(), - 1023. / FPSToEncoder(currentGearSettings.getMaxSpeed()), 0, currentGearSettings.getClosedLoopRampRate(), 1); + canTalon.setPID(currentGearSettings.getMotionProfilePFwd(), currentGearSettings.getMotionProfileIFwd(), currentGearSettings.getMotionProfileDFwd(), + 1023. / FPSToEncoder(currentGearSettings.getMaxSpeedMPFwd()), 0, currentGearSettings.getClosedLoopRampRate(), 1); canTalon.setProfile(0); } } @@ -359,8 +394,7 @@ protected Double encoderToFeet(double nativeUnits) { if (encoderCPR == null) { return null; } - double rotations = nativeUnits / (encoderCPR * 4) * postEncoderGearing; - return rotations * feetPerRotation; + return nativeUnits / (encoderCPR * 4) * postEncoderGearing * feetPerRotation; } /** @@ -375,8 +409,7 @@ protected Double feetToEncoder(double feet) { if (encoderCPR == null) { return null; } - double rotations = feet / feetPerRotation; - return rotations * (encoderCPR * 4) / postEncoderGearing; + return feet / feetPerRotation * (encoderCPR * 4) / postEncoderGearing; } /** @@ -389,7 +422,7 @@ protected Double feetToEncoder(double feet) { */ @Nullable protected Double encoderToFPS(double encoderReading) { - Double RPS = nativeToRPS(encoderReading); + RPS = nativeToRPS(encoderReading); if (RPS == null) { return null; } @@ -397,8 +430,8 @@ protected Double encoderToFPS(double encoderReading) { } /** - * 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. + * 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. @@ -450,6 +483,20 @@ 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. * @@ -499,20 +546,6 @@ public double getOutputCurrent() { return canTalon.getOutputCurrent(); } - /** - * 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); - } - } - /** * Enables the motor, if applicable. */ @@ -637,6 +670,23 @@ public void loadProfile(MotionProfileData data) { //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); + } + + //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 @@ -644,9 +694,25 @@ 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.velocity = FPSToEncoder(data.getData()[i][1]); - point.timeDurMs = (int) (data.getData()[i][2] * 1000.); + point.position = feetToEncoder(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; // 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 @@ -749,9 +815,31 @@ protected static class PerGearSettings { private final double kP, kI, kD; /** - * The PID constants for motion profiles in this gear. Ignored if maxSpeed is null. + * 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 motionProfileP, motionProfileI, motionProfileD; + private final double frictionCompFPSFwd, frictionCompFPSRev; /** * Default constructor. @@ -778,12 +866,32 @@ protected static class PerGearSettings { * 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 motionProfileP The proportional PID constant for motion profiles in this gear. Ignored if - * maxSpeed is null. Defaults to 0. - * @param motionProfileI The integral PID constant for motion profiles in this gear. Ignored if - * maxSpeed is null. Defaults to 0. - * @param motionProfileD The derivative PID constant for motion profiles 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, @@ -797,9 +905,18 @@ public PerGearSettings(int gearNum, double kP, double kI, double kD, - double motionProfileP, - double motionProfileI, - double motionProfileD) { + 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; @@ -816,16 +933,31 @@ public PerGearSettings(int gearNum, this.kP = kP; this.kI = kI; this.kD = kD; - this.motionProfileP = motionProfileP; - this.motionProfileI = motionProfileI; - this.motionProfileD = motionProfileD; + 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); + this(0, null, null, null, null, null, null, null, 0, 0, 0, 0, 0, 0, null, null, null, null, null, null, 0, null, null); } /** @@ -904,22 +1036,60 @@ public double getkD() { /** * @return The proportional PID constant for motion profiles in this gear. */ - public double getMotionProfileP() { - return motionProfileP; + public double getMotionProfilePFwd() { + return motionProfilePFwd; } /** * @return The integral PID constant for motion profiles in this gear. */ - public double getMotionProfileI() { - return motionProfileI; + public double getMotionProfileIFwd() { + return motionProfileIFwd; } /** * @return The derivative PID constant for motion profiles in this gear. */ - public double getMotionProfileD() { - return motionProfileD; + 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 index 9b0b54ac..5d142798 100644 --- 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 @@ -6,6 +6,7 @@ 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 wrapper for the NavX. @@ -23,4 +24,15 @@ public MappedAHRS(@JsonProperty(required = true) SPI.Port port) { super(port); this.reset(); } + + /** + * 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) + public static double gsToFeetPerSecondSquared(double accelGs) { + return accelGs * 32.17; //Wolfram alpha said so + } } 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 new file mode 100644 index 00000000..48548b05 --- /dev/null +++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/MappedButton.java @@ -0,0 +1,12 @@ +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 index d093b33f..40249105 100644 --- 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 @@ -18,6 +18,11 @@ public class MappedDigitalInput { */ @JsonIgnore private final List digitalInputs; + + /** + * Value of the inputs. Field to avoid garbage collection. + */ + private List digitalValues; /** * Construct a MappedDigitalInput. @@ -41,7 +46,7 @@ public MappedDigitalInput(@NotNull @JsonProperty(required = true) int[] ports) { @JsonIgnore @NotNull public List getStatus() { - List digitalValues = new ArrayList<>(); + 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()); 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 index 5206d1a6..c3fbccb0 100644 --- 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 @@ -5,12 +5,13 @@ 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 { +public class MappedJoystick extends Joystick implements Rumbleable { /** * Default constructor @@ -21,4 +22,16 @@ public class MappedJoystick extends Joystick { 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 new file mode 100644 index 00000000..4a4a90f0 --- /dev/null +++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/MappedRunnable.java @@ -0,0 +1,11 @@ +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/oi/buttons/CommandButton.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/buttons/CommandButton.java index cc4ef95a..ce7e25c7 100644 --- 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 @@ -3,6 +3,7 @@ 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; /** @@ -18,7 +19,7 @@ public class CommandButton { * @param action The action to do to the command. */ @JsonCreator - public CommandButton(@NotNull @JsonProperty(required = true) FactoryButton button, + public CommandButton(@NotNull @JsonProperty(required = true) MappedButton button, @NotNull @JsonProperty(required = true) YamlCommand command, @NotNull @JsonProperty(required = true) Action action) { switch (action) { diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/buttons/FactoryButton.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/buttons/FactoryButton.java deleted file mode 100644 index dc71fe64..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/buttons/FactoryButton.java +++ /dev/null @@ -1,50 +0,0 @@ -package org.usfirst.frc.team449.robot.oi.buttons; - -import com.fasterxml.jackson.annotation.*; -import edu.wpi.first.wpilibj.buttons.Button; -import edu.wpi.first.wpilibj.buttons.JoystickButton; -import org.jetbrains.annotations.NotNull; -import org.jetbrains.annotations.Nullable; -import org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick; -import org.usfirst.frc.team449.robot.oi.throttles.Throttle; - -/** - * A factory for constructing a button.. - */ -@JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class") -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public abstract class FactoryButton extends Button { - - /** - * Static factory for constructing different types of buttons. - * - * @param joystick The joystick that the button is on. - * @param buttonNumber The index of the button on the joystick (starts at 1). Must be null if either triggerAxis or - * angle isn't, but otherwise must have a value. Indicates that this is a simple {@link - * JoystickButton}. - * @param triggerAxis The stick axis for the trigger that this button triggers based off of. Must be null if either - * buttonNumber or angle isn't, but otherwise must have a value. Indicates that this is a {@link - * TriggerButton}. - * @param triggerAt The amount, on [0, 1], that the joystick must be pushed to trigger. Must be null if - * triggerAxis is, and otherwise must have a value. - * @param angle The angle the D-pad needs to be pushed to to trigger this button. Must be null if either - * triggerAxis or buttonNumber isn't, but otherwise must have a value. Indicates that this is a - * {@link dPadButton}. - * @return A Button constructed from the given parameters. - */ - @NotNull - @JsonCreator - public static FactoryButton constructButton(@NotNull @JsonProperty(required = true) MappedJoystick joystick, - @Nullable Integer buttonNumber, - @Nullable Integer triggerAxis, - @Nullable Double triggerAt, - @Nullable Integer angle) { - if (triggerAxis != null) { - return new TriggerButton(new Throttle(joystick, triggerAxis, false), triggerAt); - } else if (angle != null) { - return new dPadButton(joystick, angle); - } else { - return new FactoryJoystickButton(joystick, buttonNumber); - } - } -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/buttons/FactoryJoystickButton.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/buttons/SimpleButton.java similarity index 80% rename from RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/buttons/FactoryJoystickButton.java rename to RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/buttons/SimpleButton.java index 4b5a9a72..4d59cd03 100644 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/buttons/FactoryJoystickButton.java +++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/buttons/SimpleButton.java @@ -6,13 +6,14 @@ 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 FactoryButton. + * A version of {@link edu.wpi.first.wpilibj.buttons.JoystickButton} that is a MappedButton. */ @JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class FactoryJoystickButton extends FactoryButton { +public class SimpleButton extends MappedButton { /** * The joystick the button is on. @@ -32,8 +33,8 @@ public class FactoryJoystickButton extends FactoryButton { * @param buttonNumber The port of the button. Note that button numbers begin at 1, not 0. */ @JsonCreator - public FactoryJoystickButton(@NotNull @JsonProperty(required = true) MappedJoystick joystick, - @JsonProperty(required = true) int buttonNumber) { + public SimpleButton(@NotNull @JsonProperty(required = true) MappedJoystick joystick, + @JsonProperty(required = true) int buttonNumber) { this.joystick = joystick; this.buttonNumber = 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 index 8f71e760..99dc85d7 100644 --- 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 @@ -5,13 +5,14 @@ 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 FactoryButton { +public class TriggerButton extends MappedButton { /** * The relevant throttle. @@ -44,6 +45,6 @@ public TriggerButton(@NotNull @JsonProperty(required = true) Throttle throttle, */ @Override public boolean get() { - return Math.abs(throttle.getValue()) >= triggerAt; + 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 index 375fbca4..f02dacfd 100644 --- 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 @@ -6,13 +6,14 @@ 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 FactoryButton { +public class dPadButton extends MappedButton { /** * The angle that the D-pad must be pushed to to trigger this button. 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 index 961a02bc..334654d4 100644 --- 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 @@ -1,55 +1,25 @@ package org.usfirst.frc.team449.robot.oi.throttles; -import com.fasterxml.jackson.annotation.*; -import edu.wpi.first.wpilibj.Joystick; -import org.jetbrains.annotations.NotNull; -import org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick; +import com.fasterxml.jackson.annotation.JsonTypeInfo; +import org.usfirst.frc.team449.robot.generalInterfaces.updatable.Updatable; /** - * A class representing a single axis on a joystick. + * An object representing an axis of a stick on a joystick. */ @JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class") -@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class Throttle { +public interface Throttle extends Updatable{ /** - * 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; - - /** - * A basic constructor. + * Get the output of the throttle this object represents. * - * @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. + * @return The output from [-1, 1]. */ - @JsonCreator - public Throttle(@NotNull @JsonProperty(required = true) MappedJoystick stick, - @JsonProperty(required = true) int axis, - boolean inverted) { - this.stick = stick; - this.axis = axis; - this.inverted = inverted; - } + double getValue(); /** - * Gets the raw value from the stick and inverts it if necessary. + * Get the cached output of the throttle this object represents. * - * @return The raw joystick output, on [-1, 1]. + * @return The output from [-1, 1]. */ - public double getValue() { - return (inverted ? -1 : 1) * stick.getRawAxis(axis); - } -} \ No newline at end of file + 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 new file mode 100644 index 00000000..06707d7c --- /dev/null +++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/throttles/ThrottleBasic.java @@ -0,0 +1,115 @@ +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; +import org.usfirst.frc.team449.robot.other.Clock; + +import java.util.Random; + +/** + * 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(); + } + + /** + * 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 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; + } + + /** + * 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 index 3665f059..7fb6dabd 100644 --- 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 @@ -1,15 +1,17 @@ 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. + * 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 Throttle { +public class ThrottleDeadbanded extends ThrottleBasic { /** * The value below which the joystick input is considered 0. @@ -26,36 +28,40 @@ public class ThrottleDeadbanded extends Throttle { */ private double sign; + /** + * The smoothing filter for this joystick. + */ + private final LinearDigitalFilter filter; + /** * 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, - * so the graph of joystick input to deadbanded output looks like this: - *

- * _/ - * / + * 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 = super.getValue(); + input = filter.pidGet(); sign = Math.signum(input); input = Math.abs(input); 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 index 9008eb30..acff7618 100644 --- 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 @@ -5,6 +5,7 @@ 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; /** @@ -34,6 +35,7 @@ public class ThrottleExponential extends ThrottleDeadbanded { * @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. */ @@ -41,9 +43,10 @@ public class ThrottleExponential extends ThrottleDeadbanded { 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, inverted); + super(stick, axis, deadband, smoothingTimeSecs, inverted); this.base = base; } 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 index a5c07ca7..6cb8e722 100644 --- 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 @@ -5,6 +5,7 @@ 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; @@ -26,17 +27,18 @@ public class ThrottlePolynomial extends ThrottleDeadbanded { * @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. + * @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, inverted); + super(stick, axis, deadband, smoothingTimeSecs, inverted); //Check for negative exponents for (Double power : polynomial.getPowerToCoefficientMap().keySet()) { 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 new file mode 100644 index 00000000..7c7d0446 --- /dev/null +++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/throttles/ThrottleSum.java @@ -0,0 +1,80 @@ +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 index b0f16d45..c0073b9e 100644 --- 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 @@ -4,8 +4,10 @@ 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.oi.buttons.FactoryButton; +import org.usfirst.frc.team449.robot.jacksonWrappers.MappedButton; + @JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) public class OIOutreach implements OIUnidirectional { @@ -26,12 +28,22 @@ public class OIOutreach implements OIUnidirectional { * A button that overrides the lower priority controller */ @NotNull - private final FactoryButton button; + private final Button button; + + /** + * The cached outputs for the left and right sides of the drive. + */ + private double cachedLeftOutput, cachedRightOutput; + + /** + * Whether the driver was trying to drive straight when values were cached. + */ + private boolean cachedCommandingStraight; @JsonCreator public OIOutreach(@NotNull @JsonProperty(required = true) OIUnidirectional overridingOI, @NotNull @JsonProperty(required = true) OIUnidirectional overridenOI, - @NotNull @JsonProperty(required = true) FactoryButton button) { + @NotNull @JsonProperty(required = true) MappedButton button) { this.overridingOI = overridingOI; this.overridenOI = overridenOI; this.button = button; @@ -74,4 +86,44 @@ public double getRightOutput() { public boolean commandingStraight() { return getLeftOutput() == getRightOutput(); } + + /** + * 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; + } + + /** + * Whether the driver was trying to drive straight when values were cached. + * + * @return True if the driver is trying to drive straight, false otherwise. + */ + @Override + public boolean commandingStraightCached() { + return cachedCommandingStraight; + } + + /** + * Updates all cached values with current ones. + */ + @Override + public void update() { + cachedLeftOutput = getLeftOutput(); + cachedRightOutput = getRightOutput(); + cachedCommandingStraight = cachedLeftOutput == cachedRightOutput; + } } 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 index c95a332a..beecbc41 100644 --- 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 @@ -1,6 +1,7 @@ package org.usfirst.frc.team449.robot.oi.unidirectional; import com.fasterxml.jackson.annotation.JsonTypeInfo; +import org.usfirst.frc.team449.robot.generalInterfaces.updatable.Updatable; import org.usfirst.frc.team449.robot.oi.OI; /** @@ -8,7 +9,7 @@ * holonomic) */ @JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class") -public interface OIUnidirectional extends OI{ +public interface OIUnidirectional extends Updatable, OI { /** * The output to be given to the left side of the drive. @@ -30,4 +31,25 @@ public interface OIUnidirectional extends OI{ * @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(); + + /** + * Whether the driver was trying to drive straight when values were cached. + * + * @return True if the driver is trying to drive straight, false otherwise. + */ + boolean commandingStraightCached(); } 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 index 0ac47cac..3ed14c45 100644 --- 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 @@ -9,6 +9,16 @@ @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; + + /** + * Whether the driver was trying to drive straight when values were cached. + */ + private boolean commandingStraightCached; + /** * Get the rotational input. * @@ -23,6 +33,24 @@ public abstract class OIArcade implements OIUnidirectional { */ 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. * @@ -50,4 +78,44 @@ public double getRightOutput() { 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; + } + + /** + * Whether the driver was trying to drive straight when values were cached. + * + * @return True if the driver is trying to drive straight, false otherwise. + */ + @Override + public boolean commandingStraightCached(){ + return commandingStraightCached; + } + + /** + * Updates all cached values with current ones. + */ + @Override + public void update() { + rotCached = getRot(); + fwdCached = getFwd(); + commandingStraightCached = commandingStraight(); + leftCached = fwdCached + rotCached; + rightCached = fwdCached - rotCached; + } } 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 index 603745e1..30c3dab0 100644 --- 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 @@ -7,15 +7,17 @@ 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.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 @@ -82,7 +84,7 @@ public OIArcadeWithDPad( 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. @@ -91,7 +93,6 @@ public OIArcadeWithDPad( */ @Override public double getFwd() { - //Scale based on rotational throttle for more responsive turning at high speed return fwdThrottle.getValue(); } @@ -107,17 +108,51 @@ public double getRot() { if (gamepad != null && !(gamepad.getPOV() == -1 || gamepad.getPOV() % 180 == 0)) { //Output the shift value return gamepad.getPOV() < 180 ? dPadShift : -dPadShift; - } else { - //Return the throttle value if it's outside of the deadband. - if (fwdThrottle.getValue() == 0) { - return rotThrottle.getValue() * turnInPlaceRotScale; - } else { - if (scaleRotByFwdPoly != null) { - return rotThrottle.getValue() * scaleRotByFwdPoly.get(Math.abs(fwdThrottle.getValue())); - } else { - return rotThrottle.getValue(); - } - } + } 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 index 58290d10..1aa1dc93 100644 --- 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 @@ -9,6 +9,11 @@ @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. * @@ -23,6 +28,24 @@ public abstract class OITank implements OIUnidirectional { */ 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. * @@ -40,4 +63,31 @@ public double getLeftOutput() { 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 index 136a7585..ff32ca11 100644 --- 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 @@ -25,6 +25,11 @@ public class OITankSimple extends OITank { @NotNull private final Throttle rightThrottle; + /** + * Whether the driver was trying to drive straight when values were cached. + */ + private boolean commandingStraightCached; + /** * The difference between left and right input within which the driver is considered to be trying to drive * straight. @@ -85,4 +90,20 @@ public double getRightThrottle() { public boolean commandingStraight() { return Math.abs(leftThrottle.getValue() - rightThrottle.getValue()) <= commandingStraightTolerance; } + + /** + * Whether the driver was trying to drive straight when values were cached. + * + * @return True if the driver is trying to drive straight, false otherwise. + */ + @Override + public boolean commandingStraightCached() { + return commandingStraightCached; + } + + @Override + public void update(){ + commandingStraightCached = commandingStraight(); + super.update(); + } } \ No newline at end of file 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 index e93b5e59..53f3310b 100644 --- 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 @@ -20,19 +20,20 @@ public class Clock { /** * Make constructor private so it can't be called */ - private Clock(){} + private Clock() { + } /** * Updates the current time. */ - public synchronized static void updateTime(){ - currentTime = System.currentTimeMillis()-startTime; + public synchronized static void updateTime() { + currentTime = System.currentTimeMillis() - startTime; } /** * Sets the start time to the current time. */ - public synchronized static void setStartTime(){ + public synchronized static void setStartTime() { startTime = System.currentTimeMillis(); } @@ -40,7 +41,7 @@ public synchronized static void setStartTime(){ * @return The time since the start time, in milliseconds. */ @Contract(pure = true) - public synchronized static long currentTimeMillis(){ + public synchronized static long currentTimeMillis() { return currentTime; } } 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 index 678c737e..7cd674dd 100644 --- 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 @@ -92,7 +92,7 @@ public Logger(@NotNull @JsonProperty(required = true) Loggable[] subsystems, FileWriter eventLogWriter = new FileWriter(this.eventLogFilename); FileWriter telemetryLogWriter = new FileWriter(this.telemetryLogFilename); //Write the file headers - eventLogWriter.write("time,class,message"); + 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,"); @@ -112,7 +112,7 @@ public Logger(@NotNull @JsonProperty(required = true) Loggable[] subsystems, //Delete the trailing comma telemetryHeader.deleteCharAt(telemetryHeader.length() - 1); - telemetryHeader.append("\n"); + telemetryHeader.append(",\n"); //Write the telemetry file header telemetryLogWriter.write(telemetryHeader.toString()); eventLogWriter.close(); @@ -201,10 +201,13 @@ public void run() { telemetryData.append(","); } } - telemetryData.append("\n"); + + String telemetryString = telemetryData.toString(); + telemetryString = telemetryString.substring(0, telemetryString.length() - 1); + telemetryString += "\n"; //Log the data to a file. try { - telemetryLogWriter.write(telemetryData.toString()); + telemetryLogWriter.write(telemetryString); } catch (IOException e) { System.out.println("Logging failed!"); e.printStackTrace(); 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 index b74dba9a..af0e1b5d 100644 --- 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 @@ -28,17 +28,19 @@ public class MotionProfileData { private final boolean velocityOnly; /** - * A 2D array containing 3 values for each point- position, velocity, and delta time respectively. + * 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 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 velocityOnly Whether or not to only use velocity feed-forward. Used for tuning kV and kA. Defaults to + * false. */ @JsonCreator public MotionProfileData(@NotNull @JsonProperty(required = true) String filename, @@ -46,6 +48,7 @@ public MotionProfileData(@NotNull @JsonProperty(required = true) String filename boolean velocityOnly) { this.inverted = inverted; this.velocityOnly = velocityOnly; + try { readFile(Robot.RESOURCES_PATH + filename); } catch (IOException e) { @@ -65,7 +68,7 @@ private void readFile(@NotNull String filename) throws IOException { int numLines = Integer.parseInt(br.readLine()); //Instantiate data - data = new double[numLines][3]; + data = new double[numLines][4]; //Declare the arrays outside the loop to avoid garbage collection. String[] line; @@ -76,19 +79,14 @@ private void readFile(@NotNull String filename) throws IOException { //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[3]; - - //Invert the position and velocity if the profile is inverted - if (inverted) { - tmp[0] = -Double.parseDouble(line[0]); - tmp[1] = -Double.parseDouble(line[1]); - } else { - tmp[0] = Double.parseDouble(line[0]); - tmp[1] = Double.parseDouble(line[1]); - } - - //Trim the end of line comma - tmp[2] = Double.parseDouble(line[2].replace(",", "")); + 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 @@ -109,4 +107,11 @@ public double[][] getData() { public boolean isVelocityOnly() { return velocityOnly; } + + /** + * @return Whether or not the profile is inverted because we're driving it backwards. + */ + public boolean isInverted() { + return inverted; + } } 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 new file mode 100644 index 00000000..9ff17c70 --- /dev/null +++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/other/UnidirectionalPoseEstimator.java @@ -0,0 +1,456 @@ +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.jetbrains.annotations.Nullable; +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.navX.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 wheel-to-wheel diameter of the robot, in feet. + */ + @Nullable + private final Double robotDiameter; + + /** + * 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 (from the Eli method), in feet. + */ + private double fudgedWheelbaseDiameter; + + /** + * Whether or not the left side was re-calculated last tic using the Noah method. + */ + private boolean recalcedLeft; + + /** + * The percent the Noah method changed the wrong encoder reading by. + */ + private double percentChanged; + + /** + * 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 robotDiameter The wheel-to-wheel diameter of the robot, in feet. + * @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(@Nullable Double robotDiameter, + @JsonProperty(required = true) @NotNull T subsystem, + @JsonProperty(required = true) double absolutePosAngleTolerance, + double startX, + double startY, + double startTheta) { + this.robotDiameter = robotDiameter; + 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; + } + + @NotNull + private double[] calcEliVector(double left, double right, double deltaTheta, double lastAngle) { + + //If we're going in a straight line + if (deltaTheta == 0) { + //we could use deltaRight here, doesn't matter. Going straight means no change in angle and left and right are the same. + return new double[]{left * Math.cos(lastAngle), left * 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)}; + } + } + + @NotNull + private double[] calcVector(double left, double right, double robotDiameter, double deltaTheta, double lastAngle) { + + //If we're going in a straight line + if (deltaTheta == 0) { + //we could use deltaRight here, doesn't matter. Going straight means no change in angle and left and right are the same. + return new double[]{left * Math.cos(lastAngle), left * 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 + if (left - right == 0) { + vectorMagnitude = 2* left / deltaTheta * Math.sin(deltaTheta / 2.); + } else { + vectorMagnitude = 2* robotDiameter / 2. * (left + right) / (left - right) * Math.sin(deltaTheta / 2.); + } + vectorAngle = lastAngle + 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; + } + + if (robotDiameter != null) { + //Noah's Approach: + + //For this next part, we assume that the gyro is 100% accurate at measuring the change in angle over the given + + //time period and that the encoders will possibly overmeasure (due to wheel slip) but never undermeasure. + //Given those constraints, we have an overdetermined system because deltaTheta should be equal to + //(deltaLeft-deltaRight)/robotDiameter. We can use this to determine which wheel slipped more, and replace its + //reading with a value calculated from the other encoder and the gyro. + if (deltaTheta < (deltaLeft - deltaRight) / robotDiameter) { + if (deltaLeft > 0) { + percentChanged = ((deltaRight + robotDiameter * deltaTheta) - deltaLeft) / deltaLeft; + deltaLeft = deltaRight + robotDiameter * deltaTheta; + recalcedLeft = true; + } else { + percentChanged = ((deltaLeft - robotDiameter * deltaTheta) - deltaRight) / deltaRight; + deltaRight = deltaLeft - robotDiameter * deltaTheta; + recalcedLeft = false; + } + } else if (deltaTheta > (deltaLeft - deltaRight) / robotDiameter) { + if (deltaLeft < 0) { + percentChanged = ((deltaRight + robotDiameter * deltaTheta) - deltaLeft) / deltaLeft; + deltaLeft = deltaRight + robotDiameter * deltaTheta; + recalcedLeft = true; + } else { + percentChanged = ((deltaLeft - robotDiameter * deltaTheta) - deltaRight) / deltaRight; + deltaRight = deltaLeft - robotDiameter * deltaTheta; + recalcedLeft = false; + } + } + vector = calcVector(deltaLeft, deltaRight, robotDiameter, deltaTheta, lastTheta); + } else { + + //Eli's Approach + + //Here we assume all the measured values are correct and adjust the diameter to match. + vector = calcEliVector(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. + */ + 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", + "recalced_left", + "percent_changed", + "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, + recalcedLeft, + percentChanged, + 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() { + if (robotDiameter != null) { + return "NoahPoseEstimator"; + } + return "EliPoseEstimator"; + } +} 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 new file mode 100644 index 00000000..0d2c81b3 --- /dev/null +++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/other/Updater.java @@ -0,0 +1,42 @@ +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 index ce70df12..f64ea714 100644 --- 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 @@ -48,6 +48,11 @@ public class ClimberCurrentLimited extends YamlSubsystem implements Loggable, Su */ private boolean motorSpinning; + /** + * Whether the condition was met last time caching was done. + */ + private boolean conditionMetCached; + /** * Default constructor @@ -164,4 +169,20 @@ public boolean isMotorOn() { 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 index f1a684de..44d51aef 100644 --- 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 @@ -67,10 +67,10 @@ public class IntakeFixedAndActuated extends YamlSubsystem implements SubsystemSo /** * Default constructor. * - * @param fixedMotor The SimpleMotor powering the fixed intake. + * @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 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. */ diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/complex/shooter/LoggingShooter.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/complex/shooter/LoggingShooter.java index 086e10e9..42d2fbff 100644 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/complex/shooter/LoggingShooter.java +++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/complex/shooter/LoggingShooter.java @@ -55,7 +55,7 @@ public class LoggingShooter extends YamlSubsystem implements Loggable, Subsystem * * @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 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. @@ -120,7 +120,7 @@ public Object[] getData() { @NotNull @Override public String getName() { - return "multiSubsystem"; + return "loggingShooter"; } /** 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 index f05ae9ec..64b28f6a 100644 --- 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 @@ -14,7 +14,7 @@ * controlling the subsystem. */ @JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class TurnMotorOffWithRequires extends TurnMotorOff { +public class TurnMotorOffWithRequires extends TurnMotorOff { /** * Default constructor 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 index 308ac78c..ea3faea0 100644 --- 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 @@ -1,15 +1,21 @@ 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 { +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/motionProfile/TwoSideMPSubsystem/commands/RunProfileTwoSides.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/RunProfileTwoSides.java index caf467f5..ebf6ef79 100644 --- 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 @@ -15,7 +15,7 @@ * Loads and runs the given profiles into the given subsystem. */ @JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class RunProfileTwoSides extends YamlCommandGroupWrapper { +public class RunProfileTwoSides extends YamlCommandGroupWrapper { /** * Default constructor. 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 index 78da9e65..4260a4ef 100644 --- 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 @@ -15,7 +15,7 @@ * Runs the command that is currently loaded in the given subsystem. */ @JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class RunLoadedProfile extends YamlCommandWrapper { +public class RunLoadedProfile extends YamlCommandWrapper { /** * The amount of time this command is allowed to run for, in milliseconds. 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 index aab22d5d..d8f1a914 100644 --- 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 @@ -14,7 +14,7 @@ * Loads and runs the given profile into the given subsystem. */ @JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class RunProfile extends YamlCommandGroupWrapper { +public class RunProfile extends YamlCommandGroupWrapper { /** * Default constructor. diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.java new file mode 100644 index 00000000..81bf87ba --- /dev/null +++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemAHRS.java @@ -0,0 +1,65 @@ +package org.usfirst.frc.team449.robot.subsystem.interfaces.navX; + + +import com.fasterxml.jackson.annotation.JsonTypeInfo; +import com.kauailabs.navx.frc.AHRS; +import org.jetbrains.annotations.NotNull; + +/** + * A subsystem that has a navX 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(); + + /** + * 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/navX/SubsystemNavX.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemNavX.java deleted file mode 100644 index d10ba487..00000000 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemNavX.java +++ /dev/null @@ -1,36 +0,0 @@ -package org.usfirst.frc.team449.robot.subsystem.interfaces.navX; - - -import com.fasterxml.jackson.annotation.JsonTypeInfo; -import com.kauailabs.navx.frc.AHRS; -import org.jetbrains.annotations.NotNull; - -/** - * A subsystem that has a navX on it. - */ -@JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT) -public interface SubsystemNavX { - - /** - * Get the robot's heading using the navX - * - * @return robot heading, in degrees, on [-180, 180] - */ - double getGyroOutput(); - - /** - * @return true if the navX is currently overriden, false otherwise. - */ - boolean getOverrideNavX(); - - /** - * @param override true to override the navX, false to un-override it. - */ - void setOverrideNavX(boolean override); - - /** - * @return An AHRS object representing this subsystem's navX. - */ - @NotNull - AHRS getNavX(); -} diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.java index 02652b83..9e53608d 100644 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.java +++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.java @@ -7,7 +7,7 @@ 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.navX.SubsystemNavX; +import org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemAHRS; /** * Set whether or not to override the navX. @@ -24,7 +24,7 @@ public class OverrideNavX extends YamlCommandWrapper { * The subsystem to execute this command on. */ @NotNull - private final SubsystemNavX subsystem; + private final SubsystemAHRS subsystem; /** * Default constructor. @@ -33,7 +33,7 @@ public class OverrideNavX extends YamlCommandWrapper { * @param override Whether or not to override the navX. */ @JsonCreator - public OverrideNavX(@NotNull @JsonProperty(required = true) SubsystemNavX subsystem, + public OverrideNavX(@NotNull @JsonProperty(required = true) SubsystemAHRS subsystem, @JsonProperty(required = true) boolean override) { this.override = override; this.subsystem = subsystem; @@ -52,7 +52,7 @@ protected void initialize() { */ @Override protected void execute() { - subsystem.setOverrideNavX(override); + subsystem.setOverrideGyro(override); } /** diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.java index 21ce8650..5903d80f 100644 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.java +++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.java @@ -9,7 +9,7 @@ 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.navX.SubsystemNavX; +import org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemAHRS; /** * A command that uses a navX to turn to a certain angle. @@ -21,7 +21,7 @@ public abstract class PIDAngleCommand extends PIDCommand implements YamlCommand * The subsystem to execute this command on. */ @NotNull - protected final SubsystemNavX subsystem; + protected final SubsystemAHRS subsystem; /** * The minimum the robot should be able to output, to overcome friction. @@ -61,8 +61,8 @@ public PIDAngleCommand(@JsonProperty(required = true) double absoluteTolerance, double minimumOutput, @Nullable Double maximumOutput, double deadband, boolean inverted, - @NotNull @JsonProperty(required = true) SubsystemNavX subsystem, - @JsonProperty(required = true) double kP, + @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. @@ -125,7 +125,7 @@ protected double processPIDOutput(double output) { * @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){ + protected double deadbandOutput(double output) { return this.getPIDController().getError() > deadband ? output : 0; } @@ -139,7 +139,7 @@ protected double deadbandOutput(double output){ */ @Override protected double returnPIDInput() { - return subsystem.getGyroOutput(); + return subsystem.getHeadingCached(); } /** diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.java index 160cb1db..e7e17b9e 100644 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.java +++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.java @@ -7,7 +7,7 @@ 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.navX.SubsystemNavX; +import org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemAHRS; /** * Toggle whether or not to override the navX. @@ -19,7 +19,7 @@ public class ToggleOverrideNavX extends YamlCommandWrapper { * The subsystem to execute this command on. */ @NotNull - private final SubsystemNavX subsystem; + private final SubsystemAHRS subsystem; /** * Default constructor. @@ -27,7 +27,7 @@ public class ToggleOverrideNavX extends YamlCommandWrapper { * @param subsystem The subsystem to execute this command on */ @JsonCreator - public ToggleOverrideNavX(@NotNull @JsonProperty(required = true) SubsystemNavX subsystem) { + public ToggleOverrideNavX(@NotNull @JsonProperty(required = true) SubsystemAHRS subsystem) { this.subsystem = subsystem; } @@ -44,7 +44,7 @@ protected void initialize() { */ @Override protected void execute() { - subsystem.setOverrideNavX(!subsystem.getOverrideNavX()); + subsystem.setOverrideGyro(!subsystem.getOverrideGyro()); } /** diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOffWithRequires.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOffWithRequires.java index bc13ed93..ed60936d 100644 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOffWithRequires.java +++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOffWithRequires.java @@ -13,7 +13,7 @@ * continue running. */ @JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class TurnAllOffWithRequires extends TurnAllOff { +public class TurnAllOffWithRequires extends TurnAllOff { /** * Default constructor diff --git a/RoboRIO/src/main/resources/100InchProfile.csv b/RoboRIO/src/main/resources/100InchProfile.csv deleted file mode 100644 index 7e14e450..00000000 --- a/RoboRIO/src/main/resources/100InchProfile.csv +++ /dev/null @@ -1,101 +0,0 @@ -100 -3.725577680424854E-4, 0.014902310721699414, 0.05, -0.0018627888402124272, 0.029804621443398835, 0.05, -0.005215808752594787, 0.06706039824764719, 0.05, -0.011176733041274537, 0.11921848577359499, 0.05, -0.020490677242336646, 0.18627888402124218, 0.05, -0.03353019912382364, 0.26079043762973997, 0.05, -0.05029529868573616, 0.3353019912382503, 0.05, -0.07078597592807367, 0.4098135448467505, 0.05, -0.09500223085083623, 0.48432509845525107, 0.05, -0.12294406345402376, 0.5588366520637505, 0.05, 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a/RoboRIO/src/main/resources/balbasaurRightRightProfile.csv b/RoboRIO/src/main/resources/balbasaurRightRightProfile.csv deleted file mode 100644 index 141e63c0..00000000 --- a/RoboRIO/src/main/resources/balbasaurRightRightProfile.csv +++ /dev/null @@ -1,115 +0,0 @@ -114 -3.699747832301106E-4, 0.014798991329204423, 0.05, -0.001979544063773239, 0.032191385610862565, 0.05, -0.005601171900384665, 0.07243255673222851, 0.05, -0.012039953050355552, 0.12877562299941775, 0.05, -0.022101399150928715, 0.2012289220114632, 0.05, -0.03618916839438763, 0.2817553848691782, 0.05, -0.05430501037195731, 0.3623168395513937, 0.05, -0.07645118176840514, 0.4429234279289565, 0.05, -0.10263045153114222, 0.5235853952547418, 0.05, -0.13284610727418475, 0.6043131148608505, 0.05, -0.16710196291151042, 0.6851171127465133, 0.05, -0.205402367366947, 0.766008089108732, 0.05, -0.24775221430795064, 0.8469969388200727, 0.05, -0.29415695283922966, 0.9280947706255801, 0.05, -0.34462259925809996, 1.009312928377406, 0.05, 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-6.7166366306896945, 4.391328795904206, 0.05, -6.933556298608535, 4.338393358376806, 0.05, -7.146926947693717, 4.267412981703653, 0.05, -7.356148028048714, 4.184421607099937, 0.05, -7.561052078853895, 4.098081016103626, 0.05, -7.761606405562983, 4.011086534181748, 0.05, -7.957783095642116, 3.923533801582648, 0.05, -8.149558906534864, 3.8355162178549778, 0.05, -8.336915086676383, 3.747123602830363, 0.05, -8.519837142743363, 3.6584411213395898, 0.05, -8.69831456453922, 3.569548435917148, 0.05, -8.872340520780002, 3.4805191248156047, 0.05, -9.041911534935764, 3.39142028311525, 0.05, -9.207027152765566, 3.302312356596022, 0.05, -9.367689608095267, 3.213249106594044, 0.05, -9.523903495404872, 3.124277746192101, 0.05, -9.675675452868482, 3.0354391492722086, 0.05, -9.823013862483936, 2.9467681923090807, 0.05, -9.96592856744821, 2.8582940992854433, 0.05, -10.104430611346766, 2.770040877971146, 0.05, -10.238531998340338, 2.6820277398714656, 0.05, -10.368245475721357, 2.594269547620389, 0.05, -10.493584338610404, 2.5067772577809366, 0.05, -10.614562254918717, 2.4195583261662432, 0.05, -10.731193111368476, 2.3326171289951794, 0.05, -10.843490877790904, 2.2459553284485634, 0.05, -10.951469489171691, 2.1595722276157323, 0.05, -11.055142743788632, 2.0734650923388434, 0.05, -11.154524215651225, 1.9876294372518548, 0.05, -11.249627180136484, 1.9020592897051674, 0.05, -11.340464551485391, 1.8167474269781365, 0.05, -11.427048830372762, 1.7316855777473998, 0.05, -11.509392060681318, 1.6468646061711045, 0.05, -11.587505794192305, 1.5622746702197388, 0.05, -11.661401062055228, 1.47790535725847, 0.05, -11.731088352389227, 1.3937458066799775, 0.05, -11.796577592452302, 1.309784801261486, 0.05, -11.857878135686956, 1.2260108646930916, 0.05, -11.914998751438336, 1.1424123150276024, 0.05, -11.967947618798338, 1.0589773472000248, 0.05, -12.016732321527352, 0.9756940545802918, 0.05, -12.061359845841599, 0.892550486284935, 0.05, -12.101836579033613, 0.8095346638402885, 0.05, -12.138168310212542, 0.7266346235785911, 0.05, -12.170360230395051, 0.6438384036501913, 0.05, -12.19841693453247, 0.5611340827483546, 0.05, -12.22234242313895, 0.4785097721296489, 0.05, -12.242140104269785, 0.3959536226166881, 0.05, -12.257812795314644, 0.31345382089717294, 0.05, -12.269362724865266, 0.23099859101245318, 0.05, -12.27707860584282, 0.1543176195511078, 0.05, -12.281660461951986, 0.09163712218332698, 0.05, -12.283932661575141, 0.04544399246309977, 0.05, -12.28471925143743, 0.01573179724577786, 0.05, -12.28484413646717, 0.0024977005947786996, 0.05, -12.28484413646717, 0.0, 0.05, diff --git a/RoboRIO/src/main/resources/ballbasaur_map.yml b/RoboRIO/src/main/resources/ballbasaur_map.yml index 9213f390..a9d72fa2 100644 --- a/RoboRIO/src/main/resources/ballbasaur_map.yml +++ b/RoboRIO/src/main/resources/ballbasaur_map.yml @@ -1,73 +1,15 @@ --- -doMP: true -testMP: false +doMP: false +testMP: true leftTestProfile: &leftTest '@id': leftTest - filename: "100InchProfile.csv" - inverted: false + filename: "ballbasaurForward100InProfile.csv" + inverted: true + velocityOnly: true rightTestProfile: <<: *leftTest '@id': rightTest -leftProfiles: !!map - "blue_center" : - '@id': blueLeftCenter - filename: "calciferLeftBlueMidProfile.csv" - inverted: false - "blue_left" : - '@id': blueLeftLeft - filename: "calciferLeftBlueLeftProfile.csv" - inverted: false - "blue_right" : - '@id': blueLeftRight - filename: "calciferLeftBlueRightProfile.csv" - inverted: false - "red_center" : - '@id': redLeftCenter - filename: "calciferLeftRedMidProfile.csv" - inverted: false - "red_left" : - '@id': redLeftLeft - filename: "calciferLeftRedLeftProfile.csv" - inverted: false - "red_right" : - '@id': redLeftRight - filename: "calciferLeftRedRightProfile.csv" - inverted: false -rightProfiles: !!map - "blue_center" : - '@id': blueRightCenter - filename: "calciferRightBlueMidProfile.csv" - inverted: false - "blue_left" : - '@id': blueRightLeft - filename: "calciferRightBlueLeftProfile.csv" - inverted: false - "blue_right" : - '@id': blueRightRight - filename: "calciferRightBlueRightProfile.csv" - inverted: false - "red_center" : - '@id': redRightCenter - filename: "calciferRightRedMidProfile.csv" - inverted: false - "red_left" : - '@id': redRightLeft - filename: "calciferRightRedLeftProfile.csv" - inverted: false - "red_right" : - '@id': redRightRight - filename: "calciferRightRedRightProfile.csv" - inverted: false -allianceSwitch: - '@id': allianceSwitch - ports: [3] -dropGearSwitch: - '@id': dropGearSwitch - ports: [2] -locationDial: - '@id': locationDial - ports: [0, 1] drive: org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster: '@id': drive @@ -76,7 +18,7 @@ drive: &leftMaster '@id': leftMaster port: 5 - inverted: false + invertInVoltage: false enableBrakeMode: true feetPerRotation: 1.002 currentLimit: 40 @@ -85,15 +27,19 @@ drive: reverseSensor: false reverseOutput: false perGearSettings: - - fwdPeakOutputVoltage: 12 + - &gearSettings + fwdPeakOutputVoltage: 12 fwdNominalOutputVoltage: 0.0 maxSpeed: 11.8 - kP: 0.3 + kP: 0.1 kI: 0.0 - kD: 3.0 - motionProfileP: 1.0 - motionProfileI: 0.0 - motionProfileD: 0.0 + kD: 1.0 + motionProfilePFwd: 1.0 + motionProfileIFwd: 0.0 + motionProfileDFwd: 20.0 + maxAccelFwd: 54 + maxSpeedMPFwd: 15.132 + frictionCompFPSFwd: 1.55 slaves: - '@id': talon1 port: 6 @@ -106,9 +52,13 @@ drive: <<: *leftMaster '@id': rightMaster port: 2 - inverted: false + invertInVoltage: true reverseSensor: true reverseOutput: true + perGearSettings: + - <<: *gearSettings + maxSpeedMPFwd: 13.619 + frictionCompFPSFwd: 1.705 slaves: - '@id': talon3 port: 9 @@ -116,13 +66,6 @@ drive: - '@id': talon5 port: 8 inverted: false - MPHandler: - '@id': driveMPHandler - talons: - - leftMaster - - rightMaster - updaterProcessPeriodSecs: 0.005 - minNumPointsInBtmBuffer: 10 VelScale: 0.9 navX: '@id': driveNavX @@ -131,26 +74,20 @@ pneumatics: org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.Pneumatics: '@id': pneumatics nodeID: 15 -logger: - '@id': logger - subsystems: - - org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster: - drive - loopTimeSecs: 0.02 - eventLogFilename: "/home/lvuser/logs/eventLog-" - telemetryLogFilename: "/home/lvuser/logs/telemetryLog-" oi: org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcadeWithDPad: '@id': oi gamepad: - '@id': driverGamepad - port: 1 + org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick: + '@id': driverGamepad + port: 1 rotThrottle: org.usfirst.frc.team449.robot.oi.throttles.ThrottleDeadbanded: &rotThrottle '@id': rotThrottle stick: driverGamepad axis: 0 + smoothingTimeSecs: 0.04 deadband: 0.05 inverted: false fwdThrottle: @@ -185,48 +122,70 @@ defaultDriveCommand: oi: org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcadeWithDPad: oi -centerAuto: - org.usfirst.frc.team449.robot.commands.general.CommandSequence: - '@id': centerAuto - commandList: - - org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands.RunLoadedProfile: - '@id': runCenterWallToPegProfile +nonMPAutoCommand: + org.usfirst.frc.team449.robot.drive.unidirectional.commands.DriveAtSpeed: + '@id': nonMPAuto + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster: + drive + velocity: 1.0 + seconds: 1.5 +autoStartupCommand: + org.usfirst.frc.team449.robot.commands.general.ParallelCommandGroup: + '@id': startupCommand + commandSet: + - org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.commands.StartCompressor: + '@id': startCompressor + subsystem: + org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.Pneumatics: + pneumatics + - org.usfirst.frc.team449.robot.drive.commands.EnableMotors: + '@id': enableMotors + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster: + drive + - org.usfirst.frc.team449.robot.drive.commands.ResetPosition: + '@id': resetPosition subsystem: org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster: drive - timeout: 10 - require: true - minRunTimeSecs: 0.1 - - org.usfirst.frc.team449.robot.commands.general.WaitForMillis: - '@id': waitCommand1 - time: 50 - - org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands.RunProfileTwoSides: - '@id': runBackupProfile +teleopStartupCommand: + org.usfirst.frc.team449.robot.commands.general.ParallelCommandGroup: + startupCommand +startupCommand: + org.usfirst.frc.team449.robot.commands.general.RunRunnables: + '@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 - left: - '@id': blueLeftCenterReverse - filename: "calciferLeftBlueMidProfile.csv" - inverted: true - right: - '@id': blueRightCenterReverse - filename: "calciferRightBlueMidProfile.csv" - inverted: true - timeout: 10 - minRunTimeSecs: 0.5 - - org.usfirst.frc.team449.robot.commands.general.WaitForMillis: - '@id': waitCommand2 - time: 50 - - org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands.RunProfileTwoSides: - '@id': fwdAgain + absolutePosAngleTolerance: 5 + - org.usfirst.frc.team449.robot.other.UnidirectionalPoseEstimator: + '@id': eliPoseEstimator subsystem: org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster: drive - left: - blueLeftCenter - right: - blueRightCenter - timeout: 10 - minRunTimeSecs: 0.5 -buttons: \ No newline at end of file + absolutePosAngleTolerance: 5 +logger: + '@id': logger + subsystems: + - 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 + loopTimeSecs: 0.02 + eventLogFilename: "/home/lvuser/logs/eventLog-" + telemetryLogFilename: "/home/lvuser/logs/telemetryLog-" +updater: + org.usfirst.frc.team449.robot.other.Updater: + '@id': updater + updatables: + - org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + - org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcadeWithDPad: + oi \ No newline at end of file diff --git a/RoboRIO/src/main/resources/calciferLeftBlueBackupProfile.csv b/RoboRIO/src/main/resources/calciferLeftBlueBackupProfile.csv index e54cb1bb..9e49c7f5 100644 --- a/RoboRIO/src/main/resources/calciferLeftBlueBackupProfile.csv +++ b/RoboRIO/src/main/resources/calciferLeftBlueBackupProfile.csv @@ -1,55 +1,49 @@ -54 -3.6998202195815923E-4, 0.014799280878326368, 0.05, -0.0016598585659637298, 0.02579753088011141, 0.05, -0.00456453440812901, 0.058093516843305604, 0.05, 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1.0869565217380028, 0.05 +3.9999999999971734, 4.989130434777627, 0.6521739130429083, 0.05 +4.249999999997386, 5.000000000004254, 0.21739130453255484, 0.05 +4.499637862317328, 4.992757246398831, -0.14485507210846293, 0.05 +4.748007971014006, 4.967402173933575, -0.5071014493051251, 0.05 +4.994023369565676, 4.920307971033395, -0.9418840580035948, 0.05 +5.236597101450595, 4.851474637698381, -1.376666666700288, 0.05 +5.474642210147018, 4.760902173928461, -1.8114492753984024, 0.05 +5.707071739133202, 4.64859057972367, -2.246231884095806, 0.05 +5.9327987318874, 4.514539855083957, -2.681014492794276, 0.05 +6.150736231887871, 4.358750000009426, -3.115797101490614, 0.05 +6.35979728261287, 4.1812210144999895, -3.550579710188728, 0.05 +6.558894927540653, 3.9819528985556474, -3.9853623188868426, 0.05 +6.747304347830671, 3.768188405800359, -4.275289855105768, 0.05 +6.924844202903249, 3.5507971014515682, -4.3478260869758145, 0.05 +7.091514492758385, 3.333405797102724, -4.34782608697688, 0.05 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0.20655434782074877, -2.101594202881074, 0.05 +8.32906721014522, 0.12321376811165408, -1.666811594181894, 0.05 +8.33214782608709, 0.06161231883737628, -1.232028985485556, 0.05 +8.33323532608699, 0.021749999998021963, -0.7972463767870863, 0.05 +8.333416666666666, 0.003626811593520074, -0.3624637680900378, 0.05 +8.333416666666666, 0.0, -0.07253623187040148, 0.05 diff --git a/RoboRIO/src/main/resources/calcifer_outreach_map.yml b/RoboRIO/src/main/resources/calcifer_outreach_map.yml index df23a41d..7f7164c0 100644 --- a/RoboRIO/src/main/resources/calcifer_outreach_map.yml +++ b/RoboRIO/src/main/resources/calcifer_outreach_map.yml @@ -9,14 +9,18 @@ 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 '@id': overridingRotThrottle - stick: overridingGamepad + stick: + org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick: + overridingGamepad axis: 0 + smoothingTimeSecs: 0.04 deadband: 0.05 inverted: false fwdThrottle: @@ -27,7 +31,7 @@ oi: inverted: true invertDPad: true dPadShift: 0.1 - turnInPlaceRotScale: 0.3 + turnInPlaceRotScale: 0.6 scaleRotByFwdPoly: '@id': scaleRotByFwdPolyOverriding powerToCoefficientMap: !!map @@ -37,14 +41,18 @@ 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 '@id': overridenRotThrottle - stick: overridenGamepad + stick: + org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick: + overridenGamepad axis: 0 + smoothingTimeSecs: 0.04 deadband: 0.05 inverted: false fwdThrottle: @@ -55,14 +63,14 @@ oi: inverted: true invertDPad: true dPadShift: 0.1 - turnInPlaceRotScale: 0.3 + turnInPlaceRotScale: 0.6 scaleRotByFwdPoly: '@id': scaleRotByFwdPolyOverriden powerToCoefficientMap: !!map 0.5: 0.6 0: 0.1 button: - org.usfirst.frc.team449.robot.oi.buttons.FactoryJoystickButton: + org.usfirst.frc.team449.robot.oi.buttons.SimpleButton: '@id': overrideButton joystick: overridingGamepad buttonNumber: 6 @@ -74,7 +82,6 @@ drive: &leftMaster '@id': leftMaster port: 7 - inverted: false reverseOutput: true enableBrakeMode: false feetPerRotation: 0.9817 @@ -92,9 +99,9 @@ drive: kP: 0.3 kI: 0.0 kD: 0.0 - motionProfileP: 1.5 - motionProfileI: 0.0 - motionProfileD: 0.0 + motionProfilePFwd: 1.5 + motionProfileIFwd: 0.0 + motionProfileDFwd: 0.0 - <<: *lowGear gear: HIGH fwdNominalOutputVoltage: 1.3 @@ -116,7 +123,6 @@ drive: org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon: <<: *leftMaster '@id': rightMaster - inverted: false reverseSensor: true reverseOutput: false port: 2 @@ -163,7 +169,6 @@ climber: org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon: '@id': climberTalon port: 5 - inverted: false enableBrakeMode: false maxPower: 500 simpleMotor: @@ -234,6 +239,16 @@ autoStartupCommand: subsystem: org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SolenoidSimple: gearHandler + - org.usfirst.frc.team449.robot.drive.commands.EnableMotors: + '@id': enableMotors + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + - org.usfirst.frc.team449.robot.drive.commands.ResetPosition: + '@id': resetPosition + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive teleopStartupCommand: org.usfirst.frc.team449.robot.commands.general.ParallelCommandGroup: startupCommand @@ -242,10 +257,11 @@ 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 + org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick: + overridingGamepad axis: 2 triggerAt: 0.9 command: @@ -269,10 +285,11 @@ 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 + org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick: + overridingGamepad axis: 3 triggerAt: 0.9 command: @@ -297,10 +314,11 @@ 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 + org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick: + overridenGamepad axis: 2 triggerAt: 0.9 command: @@ -324,10 +342,11 @@ 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 + org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick: + overridenGamepad axis: 3 triggerAt: 0.9 command: @@ -344,4 +363,22 @@ buttons: subsystem: org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SolenoidSimple: gearHandler - action: WHEN_RELEASED \ No newline at end of file + action: WHEN_RELEASED +updater: + org.usfirst.frc.team449.robot.other.Updater: + '@id': updater + updatables: + - org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + - org.usfirst.frc.team449.robot.subsystem.complex.climber.ClimberCurrentLimited: + climber + - org.usfirst.frc.team449.robot.oi.unidirectional.OIOutreach: + oi + - org.usfirst.frc.team449.robot.oi.throttles.ThrottleBasic: + overridenPushGearThrottle + - org.usfirst.frc.team449.robot.oi.throttles.ThrottleBasic: + overridenClimbButtonThrottle + - org.usfirst.frc.team449.robot.oi.throttles.ThrottleBasic: + overridingPushGearThrottle + - org.usfirst.frc.team449.robot.oi.throttles.ThrottleBasic: + overridingClimbButtonThrottle \ No newline at end of file diff --git a/RoboRIO/src/main/resources/forward100InProfile.csv b/RoboRIO/src/main/resources/forward100InProfile.csv new file mode 100644 index 00000000..10589984 --- /dev/null +++ b/RoboRIO/src/main/resources/forward100InProfile.csv @@ -0,0 +1,79 @@ +78 +3.712036058088627E-4, 0.014848144232354508, 0.29696288464709014, 0.05 +0.001856018029044314, 0.029696288464709023, 0.29696288464709025, 0.05 +0.00519685048132407, 0.06681664904559512, 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b/RoboRIO/src/main/resources/forwardProfile.csv deleted file mode 100644 index 62bc919c..00000000 --- a/RoboRIO/src/main/resources/forwardProfile.csv +++ /dev/null @@ -1,133 +0,0 @@ -132 -3.7374135544680597E-4, 0.014949654217872237, 0.05, -0.00186870677723403, 0.02989930843574448, 0.05, -0.00523237897625528, 0.067273443980425, 0.05, -0.011212240663404156, 0.11959723374297754, 0.05, -0.02055577454957428, 0.18687067772340243, 0.05, -0.03363672199021245, 0.2616189488127634, 0.05, -0.05045508298531868, 0.3363672199021246, 0.05, -0.07101085753489349, 0.41111549099149614, 0.05, -0.09530404563893688, 0.48586376208086784, 0.05, -0.12333464729744846, 0.5606120331702316, 0.05, -0.15510266251042826, 0.6353603042595962, 0.05, -0.19060809127787626, 0.71010857534896, 0.05, -0.2298509335997925, 0.7848568464383249, 0.05, -0.27283118947617696, 0.8596051175276892, 0.05, -0.31954885890702955, 0.9343533886170519, 0.05, -0.3700039418923504, 1.0091016597064173, 0.05, -0.4241964384321395, 1.0838499307957816, 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0.05, -14.98150721603711, 0.24631502411970985, 0.05, -14.990162073312083, 0.17309714549945454, 0.05, -14.995606297634962, 0.10888448645758331, 0.05, -14.998587371716644, 0.05962148163362713, 0.05, -14.999852778268025, 0.025308131027621528, 0.05, -15.00015, 0.005944434639495455, 0.05, -15.00015, 0.0, 0.05, diff --git a/RoboRIO/src/main/resources/nate_map.yml b/RoboRIO/src/main/resources/nate_map.yml new file mode 100644 index 00000000..2f8494be --- /dev/null +++ b/RoboRIO/src/main/resources/nate_map.yml @@ -0,0 +1,741 @@ +--- +doMP: true +testMP: false +leftTestProfile: + &leftTest + '@id': leftTest + filename: "forward100InProfile.csv" + inverted: false +rightTestProfile: + <<: *leftTest + '@id': rightTest +leftProfiles: !!map + "blue_center" : + '@id': blueLeftCenter + filename: "calciferLeftBlueMidProfile.csv" + inverted: false + "blue_left" : + '@id': blueLeftLeft + filename: "calciferLeftBlueLeftProfile.csv" + inverted: false + "blue_right" : + '@id': blueLeftRight + filename: "calciferLeftBlueRightProfile.csv" + inverted: false + "red_center" : + '@id': redLeftCenter + filename: "calciferLeftRedMidProfile.csv" + inverted: false + "red_left" : + '@id': redLeftLeft + filename: "calciferLeftRedLeftProfile.csv" + inverted: false + "red_right" : + '@id': redLeftRight + filename: "calciferLeftRedRightProfile.csv" + inverted: false +rightProfiles: !!map + "blue_center" : + '@id': blueRightCenter + filename: "calciferRightBlueMidProfile.csv" + inverted: false + "blue_left" : + '@id': blueRightLeft + filename: "calciferRightBlueLeftProfile.csv" + inverted: false + "blue_right" : + '@id': blueRightRight + filename: "calciferRightBlueRightProfile.csv" + inverted: false + "red_center" : + '@id': redRightCenter + filename: "calciferRightRedMidProfile.csv" + inverted: false + "red_left" : + '@id': redRightLeft + filename: "calciferRightRedLeftProfile.csv" + inverted: false + "red_right" : + '@id': redRightRight + filename: "calciferRightRedRightProfile.csv" + inverted: false +allianceSwitch: + '@id': allianceSwitch + ports: [3] +dropGearSwitch: + '@id': dropGearSwitch + ports: [2] +locationDial: + '@id': locationDial + ports: [0, 1] +RIOduinoPort: 4 +oi: + org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcadeWithDPad: + '@id': oi + gamepad: + org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick: + '@id': driverGamepad + port: 1 + rotThrottle: + org.usfirst.frc.team449.robot.oi.throttles.ThrottlePolynomial: + &rotThrottle + '@id': rotThrottle + stick: driverGamepad + axis: 0 + smoothingTimeSecs: 0.04 + deadband: 0.05 + inverted: false + polynomial: + '@id': rotPoly + powerToCoefficientMap: !!map + 2 : 1 + fwdThrottle: + org.usfirst.frc.team449.robot.oi.throttles.ThrottleSum: + '@id': fwdThrottle + throttles: + - org.usfirst.frc.team449.robot.oi.throttles.ThrottlePolynomial: + <<: *rotThrottle + '@id': fwdTrigger + axis: 3 + inverted: false + polynomial: + '@id': fwdPoly + powerToCoefficientMap: !!map + 2 : 1 + - org.usfirst.frc.team449.robot.oi.throttles.ThrottlePolynomial: + <<: *rotThrottle + '@id': revTrigger + axis: 2 + inverted: true + polynomial: + '@id': revPoly + powerToCoefficientMap: !!map + 2 : 1 + invertDPad: false + dPadShift: 0.1 + turnInPlaceRotScale: 0.5 + scaleRotByFwdPoly: + '@id': scaleRotByFwdPoly + powerToCoefficientMap: !!map + 0.5: 0.6 + 0: 0.2 +drive: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + '@id': drive + leftMaster: + org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon: + &leftMaster + '@id': leftMaster + port: 7 + reverseOutput: true + enableBrakeMode: false + feetPerRotation: 0.9817 + currentLimit: 40 + feedbackDevice: QuadEncoder + encoderCPR: 512 + reverseSensor: false + startingGear: LOW + perGearSettings: + - &lowGear + gear: LOW + fwdPeakOutputVoltage: 12 + fwdNominalOutputVoltage: 0.7 + maxSpeed: 6.2 + kP: 0.5 + kI: 0.0 + kD: 0.0 + motionProfilePFwd: 1.5 + motionProfileIFwd: 0.0 + motionProfileDFwd: 0.0 + - <<: *lowGear + gear: HIGH + fwdNominalOutputVoltage: 1.3 + maxSpeed: 15.71 + kP: 0.7 + kI: 0.0 + kD: 3.0 + updaterProcessPeriodSecs: 0.005 + minNumPointsInBottomBuffer: 10 + slaves: + - '@id': talon8 + port: 8 + inverted: true + - '@id': talon6 + port: 6 + inverted: true + rightMaster: + org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon: + <<: *leftMaster + '@id': rightMaster + reverseSensor: true + reverseOutput: false + port: 2 + slaves: + - '@id': talon1 + port: 1 + inverted: true + - '@id': talon3 + port: 3 + inverted: true + VelScale: 0.9 + navX: + '@id': driveNavX + port: kMXP + shiftComponent: + org.usfirst.frc.team449.robot.components.ShiftComponent: + '@id': driveShiftComponent + otherShiftables: + - org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon: + leftMaster + - org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon: + rightMaster + piston: + '@id': driveShifter + module: 15 + forward: 2 + reverse: 3 + lowGearPistonPos: kForward + startingGear: LOW +defaultDriveCommand: + org.usfirst.frc.team449.robot.commands.multiInterface.drive.UnidirectionalNavXShiftingDefaultDrive: + '@id': defaultDriveCommand + kP: 0.003 + kI: 0.0 + kD: 0.0 + absoluteTolerance: 0 + toleranceBuffer: 25 + deadband: 2 + maxAngularVelToEnterLoop: 0.05 + inverted: true + highGearAngularCoefficient: 2 + driveStraightLoopEntryTimer: + '@id': driveStraightLoopEntryTimer + bufferTimeSeconds: 0.15 + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + oi: + org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcadeWithDPad: + oi + autoshiftComponent: + '@id': autoshiftComponent + upshiftSpeed: 4 + downshiftSpeed: 2 + upshiftBufferTimer: + '@id': upshiftBufferTimer + bufferTimeSeconds: 0.25 + downshiftBufferTimer: + '@id': downshiftBufferTimer + bufferTimeSeconds: 0.0 + upshiftFwdThresh: 0.3 +climber: + org.usfirst.frc.team449.robot.subsystem.complex.climber.ClimberCurrentLimited: + '@id': climber + talonSRX: + org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon: + '@id': climberTalon + port: 5 + enableBrakeMode: false + maxPower: 500 + simpleMotor: + org.usfirst.frc.team449.robot.jacksonWrappers.MappedVictor: + '@id': climberVictor + port: 0 + inverted: false + powerLimitTimer: + '@id': powerLimitTimer + bufferTimeSeconds: 0.005 +gearHandler: + org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SolenoidSimple: + '@id': gearHandler + piston: + '@id': gearHandlerPiston + module: 15 + forward: 4 + reverse: 5 +camera: + org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.CameraNetwork: + '@id': cameras + serverPort: 1180 + serverName: "Cameras" + cameras: + - '@id': cam0 + name: "cam0" + devAddress: 0 + width: 200 + height: 112 + fps: 30 +pneumatics: + org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.Pneumatics: + '@id': pneumatics + nodeID: 15 + pressureSensor: + '@id': pressureSensor + port: 0 + oversampleBits: 0 + averageBits: 0 +logger: + '@id': logger + subsystems: + - org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + - org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.Pneumatics: + pneumatics + - org.usfirst.frc.team449.robot.subsystem.complex.climber.ClimberCurrentLimited: + climber + - org.usfirst.frc.team449.robot.other.UnidirectionalPoseEstimator: + '@id': poseEstimator + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + absolutePosAngleTolerance: 5 + - org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcadeWithDPad: + oi + loopTimeSecs: 0.05 + eventLogFilename: "/home/lvuser/logs/eventLog-" + telemetryLogFilename: "/home/lvuser/logs/telemetryLog-" +centerAuto: + org.usfirst.frc.team449.robot.commands.autonomous.Auto2017Center: + '@id': centerAuto + runWallToPegProfile: + org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands.RunLoadedProfile: + &runLoadedProfile + '@id': runCenterWallToPegProfile + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + timeout: 10 + require: true + dropGear: + org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidReverse: + &openGearHandler + '@id': centerOpenGearHandlerCommand + subsystem: + org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SolenoidSimple: + gearHandler + dropGearSwitch: + dropGearSwitch + driveBack: + org.usfirst.frc.team449.robot.drive.unidirectional.commands.DriveAtSpeed: + '@id': driveBackCommand + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + velocity: -0.5 + seconds: 0.5 +boilerAuto: + org.usfirst.frc.team449.robot.commands.autonomous.Auto2017Feeder: + '@id': boilerAuto + runWallToPegProfile: + org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands.RunLoadedProfile: + <<: *runLoadedProfile + '@id': runBoilerPegToWallProfile + dropGear: + org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidReverse: + <<: *openGearHandler + '@id': boilerOpenGearHandler + dropGearSwitch: + dropGearSwitch + allianceSwitch: + allianceSwitch + runRedBackupProfile: + org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands.RunProfileTwoSides: + '@id': runRedBackupProfileBoiler + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + left: + #Yes, this is the "right" profile. For inverted profiles, you also have to switch the sides. + '@id': redLeftBackupBoiler + filename: "calciferRightBlueBackupProfile.csv" + inverted: true + right: + '@id': redRightBackupBoiler + filename: "calciferLeftBlueBackupProfile.csv" + inverted: true + timeout: 10 + runBlueBackupProfile: + org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands.RunProfileTwoSides: + '@id': runBlueBackupProfileBoiler + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + left: + #Yes, this is the "right" profile. For inverted profiles, you also have to switch the sides. + '@id': blueLeftBackupBoiler + filename: "calciferRightRedBackupProfile.csv" + inverted: true + right: + '@id': blueRightBackupBoiler + filename: "calciferLeftRedBackupProfile.csv" + inverted: true + timeout: 10 + driveForwardsRed: + org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands.RunProfileTwoSides: + '@id': driveForwardsMPBoilerRed + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + left: + '@id': leftForwardsProfileBoilerRed + filename: "calciferLeftRedBoilerToLoadingProfile.csv" + inverted: false + right: + '@id': rightForwardsProfileBoilerRed + filename: "calciferRightRedBoilerToLoadingProfile.csv" + inverted: false + timeout: 10 + driveForwardsBlue: + org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands.RunProfileTwoSides: + '@id': driveForwardsMPBoilerBlue + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + left: + '@id': leftForwardsProfileBoilerBlue + filename: "calciferLeftBlueBoilerToLoadingProfile.csv" + inverted: false + right: + '@id': rightForwardsProfileBoilerBlue + filename: "calciferRightBlueBoilerToLoadingProfile.csv" + inverted: false + timeout: 10 + waitBetweenProfilesMillis: 50 +feederAuto: + org.usfirst.frc.team449.robot.commands.autonomous.Auto2017Feeder: + '@id': feederAuto + runWallToPegProfile: + org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands.RunLoadedProfile: + <<: *runLoadedProfile + '@id': runFeederWallToPegProfile + dropGear: + org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidReverse: + <<: *openGearHandler + '@id': feederOpenGearHandler + dropGearSwitch: + dropGearSwitch + allianceSwitch: + allianceSwitch + runRedBackupProfile: + org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands.RunProfileTwoSides: + '@id': runRedBackupProfile + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + left: + #Yes, this is the "right" profile. For inverted profiles, you also have to switch the sides. + '@id': redLeftBackup + filename: "calciferRightRedBackupProfile.csv" + inverted: true + right: + '@id': redRightBackup + filename: "calciferLeftRedBackupProfile.csv" + inverted: true + timeout: 10 + runBlueBackupProfile: + org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands.RunProfileTwoSides: + '@id': runBlueBackupProfile + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + left: + #Yes, this is the "right" profile. For inverted profiles, you also have to switch the sides. + '@id': blueLeftBackup + filename: "calciferRightBlueBackupProfile.csv" + inverted: true + right: + '@id': blueRightBackup + filename: "calciferLeftBlueBackupProfile.csv" + inverted: true + timeout: 10 + driveForwardsRed: + org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands.RunProfileTwoSides: + '@id': driveForwardsMPRed + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + left: + '@id': leftForwardsProfileFeederRed + filename: "calciferLeftRedLoadingToLoadingProfile.csv" + inverted: false + right: + '@id': rightForwardsProfileFeederRed + filename: "calciferRightRedLoadingToLoadingProfile.csv" + inverted: false + timeout: 10 + driveForwardsBlue: + org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands.RunProfileTwoSides: + '@id': driveForwardsMPBlue + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + left: + '@id': leftForwardsProfileFeederBlue + filename: "calciferLeftBlueLoadingToLoadingProfile.csv" + inverted: false + right: + '@id': rightForwardsProfileFeederBlue + filename: "calciferRightBlueLoadingToLoadingProfile.csv" + inverted: false + timeout: 10 + waitBetweenProfilesMillis: 50 +nonMPAutoCommand: + org.usfirst.frc.team449.robot.drive.unidirectional.commands.DetermineNominalVoltage: + '@id': determineNominalVoltage + minSpeed: 0.1 + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive +autoStartupCommand: + org.usfirst.frc.team449.robot.commands.general.ParallelCommandGroup: + '@id': startModeCommand + commandSet: + - org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands.SwitchToLowGear: + '@id': startupSwitchToLowCommand + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + - org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.commands.StartCompressor: + '@id': startCompressor + subsystem: + org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.Pneumatics: + pneumatics + - org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidForward: + '@id': closeGearHandlerStartup + subsystem: + org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SolenoidSimple: + gearHandler + - org.usfirst.frc.team449.robot.drive.commands.EnableMotors: + '@id': enableMotors + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + - org.usfirst.frc.team449.robot.drive.commands.ResetPosition: + '@id': resetPosition + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive +teleopStartupCommand: + org.usfirst.frc.team449.robot.commands.general.ParallelCommandGroup: + startModeCommand +startupCommand: + org.usfirst.frc.team449.robot.commands.general.RunRunnables: + '@id': runRunnables + runnables: + - org.usfirst.frc.team449.robot.components.NavXRumbleComponent: + '@id': rumbleComponent + navX: + driveNavX + rumbleables: + - org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick: + driverGamepad + - org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick: + '@id': gunnerGamepad + port: 3 + minJerk: 804 + maxJerk: 2412 + - org.usfirst.frc.team449.robot.other.UnidirectionalPoseEstimator: + poseEstimator +buttons: + - button: + org.usfirst.frc.team449.robot.oi.buttons.dPadButton: + '@id': switchToLowButton + joystick: + org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick: + gunnerGamepad + angle: 180 + command: + org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands.SwitchToLowGear: + '@id': switchToLowCommand + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + action: WHEN_PRESSED + - button: + org.usfirst.frc.team449.robot.oi.buttons.dPadButton: + switchToLowButton + command: + org.usfirst.frc.team449.robot.drive.shifting.commands.OverrideAutoShift: + '@id': overrideShifting + drive: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + override: true + action: WHEN_PRESSED + - button: + org.usfirst.frc.team449.robot.oi.buttons.dPadButton: + switchToLowButton + command: + org.usfirst.frc.team449.robot.drive.shifting.commands.OverrideAutoShift: + '@id': unoverrideShifting + drive: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + override: false + action: WHEN_RELEASED + - button: + org.usfirst.frc.team449.robot.oi.buttons.dPadButton: + '@id': switchToHighButton + joystick: + org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick: + gunnerGamepad + angle: 0 + command: + org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands.SwitchToHighGear: + '@id': switchToHighCommand + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + action: WHEN_PRESSED + - button: + org.usfirst.frc.team449.robot.oi.buttons.dPadButton: + switchToHighButton + command: + org.usfirst.frc.team449.robot.drive.shifting.commands.OverrideAutoShift: + overrideShifting + action: WHEN_PRESSED + - button: + org.usfirst.frc.team449.robot.oi.buttons.dPadButton: + switchToHighButton + command: + org.usfirst.frc.team449.robot.drive.shifting.commands.OverrideAutoShift: + unoverrideShifting + action: WHEN_RELEASED + - button: + org.usfirst.frc.team449.robot.oi.buttons.SimpleButton: + '@id': overrideNavXButton + joystick: + org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick: + gunnerGamepad + buttonNumber: 1 + command: + org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.OverrideNavX: + '@id': overrideNavXCommand + override: true + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + action: WHEN_PRESSED + - button: + org.usfirst.frc.team449.robot.oi.buttons.SimpleButton: + overrideNavXButton + command: + org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.OverrideNavX: + '@id': unoverrideNavXCommand + override: false + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + action: WHEN_RELEASED + - button: + org.usfirst.frc.team449.robot.oi.buttons.SimpleButton: + '@id': jiggleRobotButton + joystick: + org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick: + gunnerGamepad + buttonNumber: 8 + command: + org.usfirst.frc.team449.robot.commands.multiInterface.drive.JiggleRobot: + '@id': jiggleRobotCommand + kP: 0.007 + kI: 0.0 + kD: 0.0 + toleranceBuffer: 25 + absoluteTolerance: 1 + deadband: 0.75 + inverted: false + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + action: WHEN_PRESSED + - button: + org.usfirst.frc.team449.robot.oi.buttons.SimpleButton: + '@id': climbButton + joystick: + org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick: + driverGamepad + buttonNumber: 2 + command: + org.usfirst.frc.team449.robot.commands.multiInterface.RunMotorWhileConditonMet: + '@id': climbCommand + subsystem: + org.usfirst.frc.team449.robot.subsystem.complex.climber.ClimberCurrentLimited: + climber + action: WHEN_PRESSED + - button: + org.usfirst.frc.team449.robot.oi.buttons.SimpleButton: + climbButton + command: + org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands.TurnMotorOffWithRequires: + '@id': stopClimbCommand + subsystem: + org.usfirst.frc.team449.robot.subsystem.complex.climber.ClimberCurrentLimited: + climber + action: WHEN_RELEASED + - button: + org.usfirst.frc.team449.robot.oi.buttons.SimpleButton: + '@id': manualClimbButton + joystick: + org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick: + gunnerGamepad + buttonNumber: 3 + command: + org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands.TurnMotorOn: + '@id': manualClimbCommand + subsystem: + org.usfirst.frc.team449.robot.subsystem.complex.climber.ClimberCurrentLimited: + climber + action: WHEN_PRESSED + - button: + org.usfirst.frc.team449.robot.oi.buttons.SimpleButton: + manualClimbButton + command: + org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands.TurnMotorOffWithRequires: + stopClimbCommand + action: WHEN_RELEASED + - button: + org.usfirst.frc.team449.robot.oi.buttons.SimpleButton: + '@id': switchCameraButton + joystick: + org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick: + gunnerGamepad + buttonNumber: 9 + command: + org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.commands.ChangeCam: + '@id': switchCameraCommand + subsystem: + org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.CameraNetwork: + cameras + action: WHEN_PRESSED + - button: + org.usfirst.frc.team449.robot.oi.buttons.SimpleButton: + '@id': pushGearButton + joystick: + org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick: + driverGamepad + buttonNumber: 1 + command: + org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidReverse: + <<: *openGearHandler + '@id': openGearHandlerCommand + action: WHEN_PRESSED + - button: + org.usfirst.frc.team449.robot.oi.buttons.SimpleButton: + pushGearButton + command: + org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidForward: + '@id': closeGearHandlerCommand + subsystem: + org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SolenoidSimple: + gearHandler + action: WHEN_RELEASED +updater: + org.usfirst.frc.team449.robot.other.Updater: + '@id': updater + updatables: + - org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + - org.usfirst.frc.team449.robot.subsystem.complex.climber.ClimberCurrentLimited: + climber + - org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcadeWithDPad: + oi \ No newline at end of file diff --git a/RoboRIO/src/main/resources/calcifer_map.yml b/RoboRIO/src/main/resources/naveen_map.yml similarity index 81% rename from RoboRIO/src/main/resources/calcifer_map.yml rename to RoboRIO/src/main/resources/naveen_map.yml index 9a424d3a..f66bc190 100644 --- a/RoboRIO/src/main/resources/calcifer_map.yml +++ b/RoboRIO/src/main/resources/naveen_map.yml @@ -4,7 +4,7 @@ testMP: false leftTestProfile: &leftTest '@id': leftTest - filename: "100InchProfile.csv" + filename: "forward100InProfile.csv" inverted: false rightTestProfile: <<: *leftTest @@ -70,35 +70,45 @@ locationDial: ports: [0, 1] RIOduinoPort: 4 oi: - org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOrientedPosCos: + org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcadeWithDPad: '@id': oi - xThrottle: + gamepad: + org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick: + '@id': driverGamepad + port: 1 + rotThrottle: org.usfirst.frc.team449.robot.oi.throttles.ThrottlePolynomial: - &xThrottle - '@id': xThrottle - stick: - '@id': driverGamepad - port: 1 - axis: 1 - deadband: 0.02 - inverted: true + &rotThrottle + '@id': rotThrottle + stick: driverGamepad + axis: 0 + deadband: 0.05 + smoothingTimeSecs: 0.04 + inverted: false polynomial: '@id': rotPoly powerToCoefficientMap: !!map 2 : 1 - yThrottle: + fwdThrottle: org.usfirst.frc.team449.robot.oi.throttles.ThrottlePolynomial: - <<: *xThrottle - '@id': yThrottle - axis: 0 + <<: *rotThrottle + '@id': fwdThrottle + axis: 5 stick: driverGamepad - inverted: false + inverted: true polynomial: '@id': fwdPoly powerToCoefficientMap: !!map 2 : 1 - rDeadband: 0.1 + invertDPad: false + dPadShift: 0.1 + turnInPlaceRotScale: 0.5 + scaleRotByFwdPoly: + '@id': scaleRotByFwdPoly + powerToCoefficientMap: !!map + 0.5: 0.6 + 0: 0.2 drive: org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: '@id': drive @@ -124,9 +134,9 @@ drive: kP: 0.5 kI: 0.0 kD: 0.0 - motionProfileP: 1.5 - motionProfileI: 0.0 - motionProfileD: 0.0 + motionProfilePFwd: 1.5 + motionProfileIFwd: 0.0 + motionProfileDFwd: 0.0 - <<: *lowGear gear: HIGH fwdNominalOutputVoltage: 1.3 @@ -177,31 +187,26 @@ drive: lowGearPistonPos: kForward startingGear: LOW defaultDriveCommand: - org.usfirst.frc.team449.robot.commands.multiInterface.drive.FieldOrientedUnidirectionalDriveCommandShifting: + org.usfirst.frc.team449.robot.commands.multiInterface.drive.UnidirectionalNavXShiftingDefaultDrive: '@id': defaultDriveCommand - kP: 0.005 + kP: 0.003 kI: 0.0 kD: 0.0 absoluteTolerance: 0 + toleranceBuffer: 25 deadband: 2 + maxAngularVelToEnterLoop: 0.05 inverted: true highGearAngularCoefficient: 2 + driveStraightLoopEntryTimer: + '@id': driveStraightLoopEntryTimer + bufferTimeSeconds: 0.15 subsystem: org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: drive oi: - org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOrientedPosCos: + org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcadeWithDPad: oi - snapPoints: - - snapTo: 0 - upperBound: 10 - lowerBound: -10 - - snapTo: 60 - upperBound: 70 - lowerBound: 50 - - snapTo: -60 - upperBound: -50 - lowerBound: -70 autoshiftComponent: '@id': autoshiftComponent upshiftSpeed: 4 @@ -230,32 +235,6 @@ climber: powerLimitTimer: '@id': powerLimitTimer bufferTimeSeconds: 0.005 -#multiSubsystem: -# org.usfirst.frc.team449.robot.subsystem.complexooter.LoggingShooter: -# '@id': multiSubsystem -# shooterTalon: -# '@id': shooterTalon -# port: 4 -# inverted: false -# reverseSensor: true -# enableBrakeMode: false -# fwdPeakOutputVoltage: 12 -# fwdNominalOutputVoltage: 0 -# closedLoopRampRate: 12 -# maxClosedLoopVoltage: 12 -# feedbackDevice: QuadEncoder -# encoderCPR: 1024 -# maxSpeedHigh: 90 -# highGearP: 0.15 -# highGearI: 0.0 -# highGearD: 0.0 -# shooterThrottle: 0.72 -# spinUpTimeSecs: 1 -# feederVictor: -# '@id': feederVictor -# port: 1 -# inverted: true -# feederThrottle: 0.66 gearHandler: org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SolenoidSimple: '@id': gearHandler @@ -267,7 +246,7 @@ gearHandler: camera: org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.CameraNetwork: '@id': cameras - serverPort: 5800 + serverPort: 1180 serverName: "Cameras" cameras: - '@id': cam0 @@ -294,8 +273,14 @@ logger: pneumatics - org.usfirst.frc.team449.robot.subsystem.complex.climber.ClimberCurrentLimited: climber -# - org.usfirst.frc.team449.robot.subsystem.complexooter.LoggingShooter: -# multiSubsystem + - org.usfirst.frc.team449.robot.other.UnidirectionalPoseEstimator: + '@id': poseEstimator + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + absolutePosAngleTolerance: 5 + - org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcadeWithDPad: + oi loopTimeSecs: 0.05 eventLogFilename: "/home/lvuser/logs/eventLog-" telemetryLogFilename: "/home/lvuser/logs/telemetryLog-" @@ -493,7 +478,7 @@ nonMPAutoCommand: drive autoStartupCommand: org.usfirst.frc.team449.robot.commands.general.ParallelCommandGroup: - '@id': startupCommand + '@id': startModeCommand commandSet: - org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands.SwitchToLowGear: '@id': startupSwitchToLowCommand @@ -510,16 +495,44 @@ autoStartupCommand: subsystem: org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SolenoidSimple: gearHandler + - org.usfirst.frc.team449.robot.drive.commands.EnableMotors: + '@id': enableMotors + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + - org.usfirst.frc.team449.robot.drive.commands.ResetPosition: + '@id': resetPosition + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive teleopStartupCommand: org.usfirst.frc.team449.robot.commands.general.ParallelCommandGroup: - startupCommand + startModeCommand +startupCommand: + org.usfirst.frc.team449.robot.commands.general.RunRunnables: + '@id': runRunnables + runnables: + - org.usfirst.frc.team449.robot.components.NavXRumbleComponent: + '@id': rumbleComponent + navX: + driveNavX + rumbleables: + - org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick: + driverGamepad + - org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick: + '@id': gunnerGamepad + port: 3 + minJerk: 804 + maxJerk: 2412 + - org.usfirst.frc.team449.robot.other.UnidirectionalPoseEstimator: + poseEstimator buttons: - button: org.usfirst.frc.team449.robot.oi.buttons.dPadButton: '@id': switchToLowButton joystick: - '@id': gunnerGamepad - port: 3 + org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick: + gunnerGamepad angle: 180 command: org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands.SwitchToLowGear: @@ -554,7 +567,8 @@ buttons: org.usfirst.frc.team449.robot.oi.buttons.dPadButton: '@id': switchToHighButton joystick: - gunnerGamepad + org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick: + gunnerGamepad angle: 0 command: org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands.SwitchToHighGear: @@ -578,10 +592,11 @@ buttons: unoverrideShifting action: WHEN_RELEASED - button: - org.usfirst.frc.team449.robot.oi.buttons.FactoryJoystickButton: + org.usfirst.frc.team449.robot.oi.buttons.SimpleButton: '@id': overrideNavXButton joystick: - gunnerGamepad + org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick: + gunnerGamepad buttonNumber: 1 command: org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.OverrideNavX: @@ -592,7 +607,7 @@ buttons: drive action: WHEN_PRESSED - button: - org.usfirst.frc.team449.robot.oi.buttons.FactoryJoystickButton: + org.usfirst.frc.team449.robot.oi.buttons.SimpleButton: overrideNavXButton command: org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.OverrideNavX: @@ -603,10 +618,11 @@ buttons: drive action: WHEN_RELEASED - button: - org.usfirst.frc.team449.robot.oi.buttons.FactoryJoystickButton: + org.usfirst.frc.team449.robot.oi.buttons.SimpleButton: '@id': jiggleRobotButton joystick: - gunnerGamepad + org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick: + gunnerGamepad buttonNumber: 8 command: org.usfirst.frc.team449.robot.commands.multiInterface.drive.JiggleRobot: @@ -623,11 +639,16 @@ buttons: drive action: WHEN_PRESSED - button: - org.usfirst.frc.team449.robot.oi.buttons.FactoryJoystickButton: + org.usfirst.frc.team449.robot.oi.buttons.TriggerButton: '@id': climbButton - joystick: - driverGamepad - buttonNumber: 2 + throttle: + org.usfirst.frc.team449.robot.oi.throttles.ThrottleBasic: + '@id': climbButtonThrottle + stick: + org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick: + driverGamepad + axis: 2 + triggerAt: 0.9 command: org.usfirst.frc.team449.robot.commands.multiInterface.RunMotorWhileConditonMet: '@id': climbCommand @@ -636,7 +657,7 @@ buttons: climber action: WHEN_PRESSED - button: - org.usfirst.frc.team449.robot.oi.buttons.FactoryJoystickButton: + org.usfirst.frc.team449.robot.oi.buttons.SimpleButton: climbButton command: org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands.TurnMotorOffWithRequires: @@ -646,10 +667,11 @@ buttons: climber action: WHEN_RELEASED - button: - org.usfirst.frc.team449.robot.oi.buttons.FactoryJoystickButton: + org.usfirst.frc.team449.robot.oi.buttons.SimpleButton: '@id': manualClimbButton joystick: - gunnerGamepad + org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick: + gunnerGamepad buttonNumber: 3 command: org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands.TurnMotorOn: @@ -659,17 +681,18 @@ buttons: climber action: WHEN_PRESSED - button: - org.usfirst.frc.team449.robot.oi.buttons.FactoryJoystickButton: + org.usfirst.frc.team449.robot.oi.buttons.SimpleButton: manualClimbButton command: org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands.TurnMotorOffWithRequires: stopClimbCommand action: WHEN_RELEASED - button: - org.usfirst.frc.team449.robot.oi.buttons.FactoryJoystickButton: + org.usfirst.frc.team449.robot.oi.buttons.SimpleButton: '@id': switchCameraButton joystick: - gunnerGamepad + org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick: + gunnerGamepad buttonNumber: 9 command: org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.commands.ChangeCam: @@ -679,18 +702,23 @@ buttons: cameras action: WHEN_PRESSED - button: - org.usfirst.frc.team449.robot.oi.buttons.FactoryJoystickButton: + org.usfirst.frc.team449.robot.oi.buttons.TriggerButton: '@id': pushGearButton - joystick: - driverGamepad - buttonNumber: 1 + throttle: + org.usfirst.frc.team449.robot.oi.throttles.ThrottleBasic: + '@id': pushGearThrottle + stick: + org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick: + driverGamepad + axis: 3 + triggerAt: 0.9 command: org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidReverse: <<: *openGearHandler '@id': openGearHandlerCommand action: WHEN_PRESSED - button: - org.usfirst.frc.team449.robot.oi.buttons.FactoryJoystickButton: + org.usfirst.frc.team449.robot.oi.buttons.SimpleButton: pushGearButton command: org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidForward: @@ -699,46 +727,17 @@ buttons: org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SolenoidSimple: gearHandler action: WHEN_RELEASED -# - button: -# org.usfirst.frc.team449.robot.oi.buttons.FactoryJoystickButton: -# '@id': fireShooterButton -# joystick: -# gunnerGamepad -# buttonNumber: 6 -# command: -# org.usfirst.frc.team449.robot.commands.multiSubsystembsystem.FireShooter: -# '@id': fireShooterCommand -# shooter: -# org.usfirst.frc.team449.robot.subsystem.complexooter.LoggingShooter: -# multiSubsystem -# action: WHEN_PRESSED -# - button: -# org.usfirstfirst.frc.team449.robot.oi.buttons.TriggerButton: -# '@id': rackShooterButton -# throttle: -# '@id': rackShooterThrottle -# org.usfirst.frc.team449.robot.oi.throttles.Throttle: -# stick: -# gunnerGamepad -# axis: 3 -# triggerAt: 0.9 -# command: -# org.usfirst.frc.team449.robot.commands.multiSubsystembsystem.RackShooter: -# '@id': rackShooterCommand -# shooter: -# org.usfirst.frc.team449.robot.subsystem.complexooter.LoggingShooter: -# multiSubsystem -# action: WHEN_PRESSED -# - button: -# org.usfirst.frc.team449.robot.oi.buttons.FactoryJoystickButton: -# '@id': resetShooterButton -# joystick: -# gunnerGamepad -# buttonNumber: 5 -# command: -# org.usfirst.frc.team449.robot.commands.multiSubsystembsystem.ResetShooter: -# '@id': resetShooterCommand -# shooter: -# org.usfirst.frc.team449.robot.subsystem.complexooter.LoggingShooter: -# multiSubsystem -# action: WHEN_PRESSED \ No newline at end of file +updater: + org.usfirst.frc.team449.robot.other.Updater: + '@id': updater + updatables: + - org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + - org.usfirst.frc.team449.robot.subsystem.complex.climber.ClimberCurrentLimited: + climber + - org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcadeWithDPad: + oi + - org.usfirst.frc.team449.robot.oi.throttles.ThrottleBasic: + pushGearThrottle + - org.usfirst.frc.team449.robot.oi.throttles.ThrottleBasic: + climbButtonThrottle \ No newline at end of file diff --git a/scripts/getLogs.sh b/bash scripts/getLogs.sh similarity index 100% rename from scripts/getLogs.sh rename to bash scripts/getLogs.sh diff --git a/scripts/smartdashboard.sh b/bash scripts/smartdashboard.sh similarity index 100% rename from scripts/smartdashboard.sh rename to bash scripts/smartdashboard.sh diff --git a/docs/allclasses-frame.html b/docs/allclasses-frame.html index 1aaffbde..137c6154 100644 --- a/docs/allclasses-frame.html +++ b/docs/allclasses-frame.html @@ -2,9 +2,9 @@ - + All Classes (RoboRIO 1.0 API) - + @@ -25,6 +25,7 @@

All Classes

  • CommandButton
  • CommandSequence
  • DetermineNominalVoltage
    • +
  • DetermineVelVsVoltage
  • dPadButton
  • DriveAtSpeed
  • DriveShiftable
    • @@ -34,8 +35,7 @@

    All Classes

  • DriveTalonClusterShiftable
  • DriveUnidirectional
  • DriveUnidirectionalSimple
    • -
  • FactoryButton
    • -
  • FactoryJoystickButton
    • +
  • EnableMotors
  • FieldOrientedUnidirectionalDriveCommand
  • FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint
  • FieldOrientedUnidirectionalDriveCommandShifting
    • @@ -54,13 +54,16 @@

    All Classes

  • Logger
  • LoggingShooter
  • MappedAHRS
    • +
  • MappedButton
  • MappedDigitalInput
  • MappedDoubleSolenoid
  • MappedJoystick
    • +
  • MappedRunnable
  • MappedUsbCamera
  • MappedVictor
  • MotionProfileData
  • NavXDriveStraight
    • +
  • NavXRumbleComponent
  • NavXTurnToAngle
  • NavXTurnToAngleRelative
  • OI
    • @@ -83,13 +86,16 @@

    All Classes

  • Polynomial
  • PressureSensor
  • RackShooter
    • +
  • ResetPosition
  • ResetShooter
  • Robot
  • RobotMap2017
    • +
  • Rumbleable
  • RunLoadedProfile
  • RunMotorWhileConditonMet
  • RunProfile
  • RunProfileTwoSides
    • +
  • RunRunnables
  • SetIntakeMode
  • Shiftable
  • Shiftable.gear
    • @@ -97,6 +103,7 @@

    All Classes

  • ShiftGears
  • ShiftWithSensorComponent
  • ShooterSimple
    • +
  • SimpleButton
  • SimpleMotor
  • SimpleMotorCluster
  • SimpleUnidirectionalDrive
    • @@ -107,23 +114,25 @@

    All Classes

  • SpinUpShooter
  • SpinUpThenShoot
  • StartCompressor
    • +
  • SubsystemAHRS
  • SubsystemBinaryMotor
  • SubsystemConditional
  • SubsystemIntake
  • SubsystemIntake.IntakeMode
  • SubsystemMP
  • SubsystemMPTwoSides
    • -
  • SubsystemNavX
  • SubsystemShooter
  • SubsystemShooter.ShooterState
  • SubsystemSolenoid
  • SwitchToGear
  • SwitchToHighGear
  • SwitchToLowGear
    • -
  • Throttle
    • +
  • Throttle
    • +
  • ThrottleBasic
  • ThrottleDeadbanded
  • ThrottleExponential
  • ThrottlePolynomial
    • +
  • ThrottleSum
  • ToggleIntaking
  • ToggleMotor
  • ToggleOverrideAutoShift
    • @@ -139,6 +148,10 @@

    All Classes

  • TurnMotorOn
  • UnidirectionalNavXDefaultDrive
  • UnidirectionalNavXShiftingDefaultDrive
    • +
  • UnidirectionalPoseEstimator
    • +
  • Updatable
    • +
  • Updater
    • +
  • VoltageRamp
  • WaitForMillis
  • YamlCommand
  • YamlCommandGroupWrapper
    • diff --git a/docs/allclasses-noframe.html b/docs/allclasses-noframe.html index 86907d93..7887a1c2 100644 --- a/docs/allclasses-noframe.html +++ b/docs/allclasses-noframe.html @@ -2,9 +2,9 @@ - + All Classes (RoboRIO 1.0 API) - + @@ -25,6 +25,7 @@

    All Classes

  • CommandButton
  • CommandSequence
  • DetermineNominalVoltage
    • +
  • DetermineVelVsVoltage
  • dPadButton
  • DriveAtSpeed
  • DriveShiftable
    • @@ -34,8 +35,7 @@

    All Classes

  • DriveTalonClusterShiftable
  • DriveUnidirectional
  • DriveUnidirectionalSimple
    • -
  • FactoryButton
    • -
  • FactoryJoystickButton
    • +
  • EnableMotors
  • FieldOrientedUnidirectionalDriveCommand
  • FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint
  • FieldOrientedUnidirectionalDriveCommandShifting
    • @@ -54,13 +54,16 @@

    All Classes

  • Logger
  • LoggingShooter
  • MappedAHRS
    • +
  • MappedButton
  • MappedDigitalInput
  • MappedDoubleSolenoid
  • MappedJoystick
    • +
  • MappedRunnable
  • MappedUsbCamera
  • MappedVictor
  • MotionProfileData
  • NavXDriveStraight
    • +
  • NavXRumbleComponent
  • NavXTurnToAngle
  • NavXTurnToAngleRelative
  • OI
    • @@ -83,13 +86,16 @@

    All Classes

  • Polynomial
  • PressureSensor
  • RackShooter
    • +
  • ResetPosition
  • ResetShooter
  • Robot
  • RobotMap2017
    • +
  • Rumbleable
  • RunLoadedProfile
  • RunMotorWhileConditonMet
  • RunProfile
  • RunProfileTwoSides
    • +
  • RunRunnables
  • SetIntakeMode
  • Shiftable
  • Shiftable.gear
    • @@ -97,6 +103,7 @@

    All Classes

  • ShiftGears
  • ShiftWithSensorComponent
  • ShooterSimple
    • +
  • SimpleButton
  • SimpleMotor
  • SimpleMotorCluster
  • SimpleUnidirectionalDrive
    • @@ -107,23 +114,25 @@

    All Classes

  • SpinUpShooter
  • SpinUpThenShoot
  • StartCompressor
    • +
  • SubsystemAHRS
  • SubsystemBinaryMotor
  • SubsystemConditional
  • SubsystemIntake
  • SubsystemIntake.IntakeMode
  • SubsystemMP
  • SubsystemMPTwoSides
    • -
  • SubsystemNavX
  • SubsystemShooter
  • SubsystemShooter.ShooterState
  • SubsystemSolenoid
  • SwitchToGear
  • SwitchToHighGear
  • SwitchToLowGear
    • -
  • Throttle
    • +
  • Throttle
    • +
  • ThrottleBasic
  • ThrottleDeadbanded
  • ThrottleExponential
  • ThrottlePolynomial
    • +
  • ThrottleSum
  • ToggleIntaking
  • ToggleMotor
  • ToggleOverrideAutoShift
    • @@ -139,6 +148,10 @@

    All Classes

  • TurnMotorOn
  • UnidirectionalNavXDefaultDrive
  • UnidirectionalNavXShiftingDefaultDrive
    • +
  • UnidirectionalPoseEstimator
    • +
  • Updatable
    • +
  • Updater
    • +
  • VoltageRamp
  • WaitForMillis
  • YamlCommand
  • YamlCommandGroupWrapper
    • diff --git a/docs/constant-values.html b/docs/constant-values.html index 015557fb..092be34d 100644 --- a/docs/constant-values.html +++ b/docs/constant-values.html @@ -2,9 +2,9 @@ - + Constant Field Values (RoboRIO 1.0 API) - + diff --git a/docs/deprecated-list.html b/docs/deprecated-list.html index 8b9c5239..c416d625 100644 --- a/docs/deprecated-list.html +++ b/docs/deprecated-list.html @@ -2,9 +2,9 @@ - + Deprecated List (RoboRIO 1.0 API) - + diff --git a/docs/help-doc.html b/docs/help-doc.html index a7f7db06..11e5d0bc 100644 --- a/docs/help-doc.html +++ b/docs/help-doc.html @@ -2,9 +2,9 @@ - + API Help (RoboRIO 1.0 API) - + diff --git a/docs/index-all.html b/docs/index-all.html index 61308252..29f39abc 100644 --- a/docs/index-all.html +++ b/docs/index-all.html @@ -2,9 +2,9 @@ - + Index (RoboRIO 1.0 API) - + @@ -73,6 +73,15 @@

    A

    +
    addAbsolutePos(double, double, long) - Method in class org.usfirst.frc.team449.robot.other.UnidirectionalPoseEstimator
    +
    +
    Add an absolute position at the given time stamp.
    +
    +
    addAbsolutePos(double, double, long, double) - Method in class org.usfirst.frc.team449.robot.other.UnidirectionalPoseEstimator
    +
    +
    Add an absolute position at the given time stamp, using an angle measured to verify that the absolute position is + correct.
    +
    addEvent(String, Class) - Static method in class org.usfirst.frc.team449.robot.other.Logger
    Log an event to be written to the event log file.
    @@ -165,6 +174,14 @@

    B

    C

    +
    cachedOutput - Variable in class org.usfirst.frc.team449.robot.oi.throttles.ThrottleBasic
    +
    +
    The cached value of the output.
    +
    +
    cachedValue - Variable in class org.usfirst.frc.team449.robot.oi.throttles.ThrottleSum
    +
    +
    The cached output.
    +
    calcValues() - Method in class org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOrientedPosCos
    Calculate the theta and vel values, can be called multiple times per tic but will only execute logic once.
    @@ -209,7 +226,7 @@

    C

    A button mapped to a command.
    -
    CommandButton(FactoryButton, YamlCommand, CommandButton.Action) - Constructor for class org.usfirst.frc.team449.robot.oi.buttons.CommandButton
    +
    CommandButton(MappedButton, YamlCommand, CommandButton.Action) - Constructor for class org.usfirst.frc.team449.robot.oi.buttons.CommandButton
    Default constructor.
    @@ -229,6 +246,22 @@

    C

    Whether the driver is trying to drive straight.
    +
    commandingStraightCached() - Method in class org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcade
    +
    +
    Whether the driver was trying to drive straight when values were cached.
    +
    +
    commandingStraightCached() - Method in class org.usfirst.frc.team449.robot.oi.unidirectional.OIOutreach
    +
    +
    Whether the driver was trying to drive straight when values were cached.
    +
    +
    commandingStraightCached() - Method in interface org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional
    +
    +
    Whether the driver was trying to drive straight when values were cached.
    +
    +
    commandingStraightCached() - Method in class org.usfirst.frc.team449.robot.oi.unidirectional.tank.OITankSimple
    +
    +
    Whether the driver was trying to drive straight when values were cached.
    +
    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.
    @@ -237,10 +270,6 @@

    C

    Default constructor
    -
    constructButton(MappedJoystick, Integer, Integer, Double, Integer) - Static method in class org.usfirst.frc.team449.robot.oi.buttons.FactoryButton
    -
    -
    Static factory for constructing different types of buttons.
    -
    currentGear - Variable in class org.usfirst.frc.team449.robot.components.ShiftComponent
    The gear this component is currently in.
    @@ -273,6 +302,14 @@

    D

    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.
    @@ -297,6 +334,10 @@

    D

    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.
    @@ -379,6 +420,14 @@

    E

    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.
    @@ -399,6 +448,10 @@

    E

    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
    @@ -431,6 +484,14 @@

    E

    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.
    @@ -443,10 +504,18 @@

    E

    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
    @@ -543,6 +612,10 @@

    E

    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.
    @@ -563,6 +636,14 @@

    E

    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.
    @@ -575,6 +656,10 @@

    E

    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
    @@ -587,6 +672,10 @@

    E

    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
    @@ -685,25 +774,11 @@

    E

    F

    -
    FactoryButton - Class in org.usfirst.frc.team449.robot.oi.buttons
    -
    -
    A factory for constructing a button..
    -
    -
    FactoryButton() - Constructor for class org.usfirst.frc.team449.robot.oi.buttons.FactoryButton
    -
     
    -
    FactoryJoystickButton - Class in org.usfirst.frc.team449.robot.oi.buttons
    -
    -
    A version of JoystickButton that is a FactoryButton.
    -
    -
    FactoryJoystickButton(MappedJoystick, int) - Constructor for class org.usfirst.frc.team449.robot.oi.buttons.FactoryJoystickButton
    -
    -
    Default constructor.
    -
    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 & SubsystemNavX> - Class in org.usfirst.frc.team449.robot.commands.multiInterface.drive
    +
    FieldOrientedUnidirectionalDriveCommand<T extends YamlSubsystem & DriveUnidirectional & SubsystemAHRS> - Class in org.usfirst.frc.team449.robot.commands.multiInterface.drive
    Unidirectional drive with field-oriented control
    @@ -715,7 +790,7 @@

    F

    A data-holding class representing an angular setpoint to "snap" the controller output to.
    -
    FieldOrientedUnidirectionalDriveCommandShifting<T extends YamlSubsystem & DriveUnidirectional & SubsystemNavX & DriveShiftable> - Class in org.usfirst.frc.team449.robot.commands.multiInterface.drive
    +
    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.
    @@ -735,7 +810,7 @@

    F

    Component wrapper on the CTRE CANTalon, with unit conversions to/from FPS built in.
    -
    FPSTalon(int, boolean, boolean, Boolean, Boolean, Double, Double, Double, Double, Integer, double, CANTalon.FeedbackDevice, Integer, boolean, List<FPSTalon.PerGearSettings>, Shiftable.gear, Integer, Integer, Double, List<FPSTalon.SlaveTalon>) - Constructor for class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon
    +
    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.
    @@ -749,7 +824,8 @@

    F

    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.
    +
    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
    @@ -773,7 +849,7 @@

    G

    Get whether this button is pressed
    -
    get() - Method in class org.usfirst.frc.team449.robot.oi.buttons.FactoryJoystickButton
    +
    get() - Method in class org.usfirst.frc.team449.robot.oi.buttons.SimpleButton
    Get whether the button is pressed.
    @@ -791,6 +867,38 @@

    G

    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 interface org.usfirst.frc.team449.robot.subsystem.interfaces.navX.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.navX.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.navX.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.navX.SubsystemAHRS
    +
    +
    Get the robot's cached angular velocity.
    +
    getAutoStartupCommand() - Method in class org.usfirst.frc.team449.robot.RobotMap2017
     
    getBoilerAuto() - Method in class org.usfirst.frc.team449.robot.RobotMap2017
    @@ -835,8 +943,16 @@

    G

    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.
    @@ -863,6 +979,10 @@

    G

    getFeederAuto() - Method in class org.usfirst.frc.team449.robot.RobotMap2017
     
    +
    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.
    @@ -874,6 +994,10 @@

    G

    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
    @@ -888,19 +1012,19 @@

    G

     
    getGearHandler() - Method in class org.usfirst.frc.team449.robot.RobotMap2017
     
    -
    getGyroOutput() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
    +
    getHeader() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
    -
    Get the robot's heading using the navX
    +
    Get the headers for the data this subsystem logs every loop.
    -
    getGyroOutput() - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemNavX
    +
    getHeader() - Method in interface org.usfirst.frc.team449.robot.generalInterfaces.loggable.Loggable
    -
    Get the robot's heading using the navX
    +
    Get the headers for the data this subsystem logs every loop.
    -
    getHeader() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
    +
    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 interface org.usfirst.frc.team449.robot.generalInterfaces.loggable.Loggable
    +
    getHeader() - Method in class org.usfirst.frc.team449.robot.other.UnidirectionalPoseEstimator
    Get the headers for the data this subsystem logs every loop.
    @@ -916,8 +1040,28 @@

    G

    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 navX
    +
    +
    getHeading() - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.navX.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.navX.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
    @@ -940,6 +1084,46 @@

    G

    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
    @@ -952,6 +1136,10 @@

    G

    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.
    @@ -964,6 +1152,18 @@

    G

    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
    @@ -974,17 +1174,27 @@

    G

     
    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
     
    -
    getMotionProfileD() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon.PerGearSettings
    +
    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
     
    -
    getMotionProfileI() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon.PerGearSettings
    +
    getMotionProfileIRev() - Method in class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon.PerGearSettings
     
    -
    getMotionProfileP() - 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
    @@ -994,6 +1204,14 @@

    G

    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.
    @@ -1006,10 +1224,6 @@

    G

    Get the name of this object.
    -
    getNavX() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
    -
     
    -
    getNavX() - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemNavX
    -
     
    getNonMPAutoCommand() - Method in class org.usfirst.frc.team449.robot.RobotMap2017
     
    getNumVal() - Method in enum org.usfirst.frc.team449.robot.generalInterfaces.shiftable.Shiftable.gear
    @@ -1028,14 +1242,22 @@

    G

     
    getOverrideAutoshift() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable
     
    -
    getOverrideNavX() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
    +
    getOverrideGyro() - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
     
    -
    getOverrideNavX() - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemNavX
    +
    getOverrideGyro() - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.navX.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
    @@ -1064,6 +1286,46 @@

    G

    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
    @@ -1076,6 +1338,10 @@

    G

    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.
    @@ -1088,6 +1354,18 @@

    G

    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
    @@ -1100,6 +1378,10 @@

    G

    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
    @@ -1128,6 +1410,8 @@

    G

     
    getSpinUpTimeMillis() - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.SubsystemShooter
     
    +
    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.
    @@ -1144,9 +1428,15 @@

    G

    Get the 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 class org.usfirst.frc.team449.robot.oi.throttles.Throttle
    +
    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.
    @@ -1162,6 +1452,22 @@

    G

    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 interface org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOriented
    Get the velocity for the robot to go at.
    @@ -1174,6 +1480,10 @@

    G

    Get the velocity of the CANTalon in FPS.
    +
    gsToFeetPerSecondSquared(double) - Static method in class org.usfirst.frc.team449.robot.jacksonWrappers.MappedAHRS
    +
    +
    Convert from gs (acceleration due to gravity) to feet/(second^2).
    +
    @@ -1243,6 +1553,10 @@

    I

    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.
    @@ -1271,6 +1585,14 @@

    I

    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
    @@ -1283,6 +1605,10 @@

    I

    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.
    @@ -1295,6 +1621,10 @@

    I

    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
    @@ -1407,6 +1737,10 @@

    I

    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.
    @@ -1439,6 +1773,14 @@

    I

    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
    @@ -1451,6 +1793,10 @@

    I

    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.
    @@ -1463,6 +1809,10 @@

    I

    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.
    @@ -1563,6 +1913,12 @@

    I

     
    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.
    @@ -1587,6 +1943,14 @@

    I

    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.
    @@ -1599,6 +1963,10 @@

    I

    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
    @@ -1611,6 +1979,10 @@

    I

    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.
    @@ -1705,6 +2077,8 @@

    I

    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
    @@ -1719,7 +2093,7 @@

    I

    J

    -
    JiggleRobot<T extends YamlSubsystem & DriveUnidirectional & SubsystemNavX> - Class in org.usfirst.frc.team449.robot.commands.multiInterface.drive
    +
    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.
    @@ -1823,6 +2197,12 @@

    M

    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.
    @@ -1847,6 +2227,10 @@

    M

    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.
    @@ -1881,7 +2265,7 @@

    M

    N

    -
    NavXDriveStraight<T extends YamlSubsystem & DriveUnidirectional & SubsystemNavX> - Class in org.usfirst.frc.team449.robot.commands.multiInterface.drive
    +
    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.
    @@ -1889,7 +2273,15 @@

    N

    Default constructor.
    -
    NavXTurnToAngle<T extends YamlSubsystem & DriveUnidirectional & SubsystemNavX> - Class in org.usfirst.frc.team449.robot.commands.multiInterface.drive
    +
    NavXRumbleComponent - Class in org.usfirst.frc.team449.robot.components
    +
    +
    A component to rumble controllers based off the jerk measurements from a NavX.
    +
    +
    NavXRumbleComponent(MappedAHRS, List<Rumbleable>, double, double, boolean, boolean) - Constructor for class org.usfirst.frc.team449.robot.components.NavXRumbleComponent
    +
    +
    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 navX was at when the robot was turned on.
    @@ -1897,7 +2289,7 @@

    N

    Default constructor.
    -
    NavXTurnToAngleRelative<T extends YamlSubsystem & DriveUnidirectional & SubsystemNavX> - Class in org.usfirst.frc.team449.robot.commands.multiInterface.drive
    +
    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.
    @@ -1961,7 +2353,7 @@

    O

    OIOutreach - Class in org.usfirst.frc.team449.robot.oi.unidirectional
     
    -
    OIOutreach(OIUnidirectional, OIUnidirectional, FactoryButton) - Constructor for class org.usfirst.frc.team449.robot.oi.unidirectional.OIOutreach
    +
    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
    @@ -1997,6 +2389,8 @@

    O

     
    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
    @@ -2007,12 +2401,16 @@

    O

     
    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
    @@ -2091,7 +2489,7 @@

    O

    Set whether or not to override the navX.
    -
    OverrideNavX(SubsystemNavX, boolean) - Constructor for class org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.OverrideNavX
    +
    OverrideNavX(SubsystemAHRS, boolean) - Constructor for class org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.OverrideNavX
    Default constructor.
    @@ -2109,7 +2507,7 @@

    P

    Default constructor
    -
    PerGearSettings(int, Shiftable.gear, Double, Double, Double, Double, Double, Double, double, double, double, double, double, double) - Constructor for class org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon.PerGearSettings
    +
    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.
    @@ -2121,7 +2519,7 @@

    P

    A command that uses a navX to turn to a certain angle.
    -
    PIDAngleCommand(double, int, double, Double, double, boolean, SubsystemNavX, double, double, double) - Constructor for class org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.PIDAngleCommand
    +
    PIDAngleCommand(double, int, double, Double, double, boolean, SubsystemAHRS, double, double, double) - Constructor for class org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.PIDAngleCommand
    Default constructor.
    @@ -2133,6 +2531,10 @@

    P

    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.
    @@ -2207,9 +2609,25 @@

    R

    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 motor positions.
    +
    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
    @@ -2249,14 +2667,38 @@

    R

    The Jackson-compatible object representing the entire robot.
    -
    RobotMap2017(List<CommandButton>, OI, Logger, DriveTalonCluster, YamlCommand, ClimberCurrentLimited, LoggingShooter, CameraNetwork, IntakeFixedAndActuated, Pneumatics, SolenoidSimple, Integer, MappedDigitalInput, MappedDigitalInput, MappedDigitalInput, YamlCommand, YamlCommand, YamlCommand, MotionProfileData, MotionProfileData, Map<String, MotionProfileData>, Map<String, MotionProfileData>, YamlCommand, YamlCommand, YamlCommand, boolean, Boolean) - Constructor for class org.usfirst.frc.team449.robot.RobotMap2017
    +
    RobotMap2017(List<CommandButton>, OI, Logger, DriveTalonCluster, YamlCommand, MappedRunnable, ClimberCurrentLimited, LoggingShooter, 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.NavXRumbleComponent
    +
    +
    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.
    @@ -2289,6 +2731,14 @@

    R

    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
    +
    @@ -2359,14 +2809,18 @@

    S

     
    setOverrideAutoshift(boolean) - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable
     
    -
    setOverrideNavX(boolean) - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
    +
    setOverrideGyro(boolean) - Method in class org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonCluster
     
    -
    setOverrideNavX(boolean) - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemNavX
    +
    setOverrideGyro(boolean) - Method in interface org.usfirst.frc.team449.robot.subsystem.interfaces.navX.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.
    @@ -2457,6 +2911,14 @@

    S

    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
    @@ -2555,7 +3017,7 @@

    S

    The time this command was initiated
    -
    stick - Variable in class org.usfirst.frc.team449.robot.oi.throttles.Throttle
    +
    stick - Variable in class org.usfirst.frc.team449.robot.oi.throttles.ThrottleBasic
    The stick we're using
    @@ -2603,6 +3065,10 @@

    S

    The subsystem to execute this command on.
    +
    SubsystemAHRS - Interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX
    +
    +
    A subsystem that has a navX 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.
    @@ -2627,10 +3093,6 @@

    S

    An MP subsystem with two sides that therefore needs two profiles at a time.
    -
    SubsystemNavX - Interface in org.usfirst.frc.team449.robot.subsystem.interfaces.navX
    -
    -
    A subsystem that has a navX on it.
    -
    SubsystemShooter - Interface in org.usfirst.frc.team449.robot.subsystem.interfaces.shooter
    A subsystem with a shooter and feeder.
    @@ -2681,19 +3143,27 @@

    T

    Run every tick in teleop.
    -
    Throttle - Class in org.usfirst.frc.team449.robot.oi.throttles
    +
    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.
    -
    Throttle(MappedJoystick, int, boolean) - Constructor for class org.usfirst.frc.team449.robot.oi.throttles.Throttle
    +
    ThrottleBasic(MappedJoystick, int, boolean) - Constructor for class org.usfirst.frc.team449.robot.oi.throttles.ThrottleBasic
    -
    A basic constructor.
    +
    Default constructor.
    ThrottleDeadbanded - Class in org.usfirst.frc.team449.robot.oi.throttles
    -
    A throttle with a deadband.
    +
    A throttle with a deadband and smoothing.
    -
    ThrottleDeadbanded(MappedJoystick, int, double, boolean) - Constructor for class org.usfirst.frc.team449.robot.oi.throttles.ThrottleDeadbanded
    +
    ThrottleDeadbanded(MappedJoystick, int, double, Double, boolean) - Constructor for class org.usfirst.frc.team449.robot.oi.throttles.ThrottleDeadbanded
    A basic constructor.
    @@ -2701,7 +3171,7 @@

    T

    An exponentially-scaled throttle.
    -
    ThrottleExponential(MappedJoystick, int, double, boolean, double) - Constructor for class org.usfirst.frc.team449.robot.oi.throttles.ThrottleExponential
    +
    ThrottleExponential(MappedJoystick, int, double, Double, boolean, double) - Constructor for class org.usfirst.frc.team449.robot.oi.throttles.ThrottleExponential
    A basic constructor.
    @@ -2709,10 +3179,22 @@

    T

    A polynomially scaled throttle.
    -
    ThrottlePolynomial(MappedJoystick, int, double, boolean, Polynomial) - Constructor for class org.usfirst.frc.team449.robot.oi.throttles.ThrottlePolynomial
    +
    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.
    @@ -2741,7 +3223,7 @@

    T

    Toggle whether or not to override the navX.
    -
    ToggleOverrideNavX(SubsystemNavX) - Constructor for class org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.ToggleOverrideNavX
    +
    ToggleOverrideNavX(SubsystemAHRS) - Constructor for class org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.ToggleOverrideNavX
    Default constructor.
    @@ -2901,7 +3383,7 @@

    T

    U

    -
    UnidirectionalNavXDefaultDrive<T extends YamlSubsystem & DriveUnidirectional & SubsystemNavX> - Class in org.usfirst.frc.team449.robot.commands.multiInterface.drive
    +
    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.
    @@ -2909,7 +3391,7 @@

    U

    Default constructor
    -
    UnidirectionalNavXShiftingDefaultDrive<T extends YamlSubsystem & DriveUnidirectional & SubsystemNavX & DriveShiftable> - Class in org.usfirst.frc.team449.robot.commands.multiInterface.drive
    +
    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.
    @@ -2918,6 +3400,64 @@

    U

    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(Double, 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.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.oi.unidirectional.tank.OITankSimple
    +
     
    +
    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.
    @@ -2983,6 +3523,14 @@

    V

    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
    +
    diff --git a/docs/index.html b/docs/index.html index 8f051be2..70e31097 100644 --- a/docs/index.html +++ b/docs/index.html @@ -2,7 +2,7 @@ - + RoboRIO 1.0 API @@ -18,7 +18,7 @@ catch(err) { } //--> -var methods = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":10,"i5":10}; +var methods = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":10,"i5":10,"i6":10,"i7":10}; var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]}; var altColor = "altColor"; var rowColor = "rowColor"; @@ -204,29 +204,41 @@

    Method Summary

    void +    disabledPeriodic() +
    Run every tic while disabled
    + + + +void robotInit()
    The method that runs when the robot is turned on.
    - + void teleopInit()
    Run when we first enable in teleop.
    - + void teleopPeriodic()
    Run every tick in teleop.
    + +void +testInit() +
    Run when we first enable in test mode.
    + +

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

      -disabledPeriodic, robotPeriodic, startCompetition, testInit, testPeriodic
      • +robotPeriodic, startCompetition, testPeriodic
    • @@ -369,7 +381,7 @@

      autonomousPeriodic

       -
        +

        • disabledInit

          public void disabledInit()
          @@ -380,6 +392,34 @@

          disabledInit

        + + + +
          +
        • +

          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
          +
          +
          • +
      • diff --git a/docs/org/usfirst/frc/team449/robot/RobotMap2017.html b/docs/org/usfirst/frc/team449/robot/RobotMap2017.html index 0ea08157..6212c484 100644 --- a/docs/org/usfirst/frc/team449/robot/RobotMap2017.html +++ b/docs/org/usfirst/frc/team449/robot/RobotMap2017.html @@ -2,9 +2,9 @@ - + RobotMap2017 (RoboRIO 1.0 API) - + @@ -18,7 +18,7 @@ catch(err) { } //--> -var methods = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":10,"i5":10,"i6":10,"i7":10,"i8":10,"i9":10,"i10":10,"i11":10,"i12":10,"i13":10,"i14":10,"i15":10,"i16":10,"i17":10,"i18":10,"i19":10,"i20":10,"i21":10,"i22":10,"i23":10,"i24":10,"i25":10,"i26":10}; +var methods = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":10,"i5":10,"i6":10,"i7":10,"i8":10,"i9":10,"i10":10,"i11":10,"i12":10,"i13":10,"i14":10,"i15":10,"i16":10,"i17":10,"i18":10,"i19":10,"i20":10,"i21":10,"i22":10,"i23":10,"i24":10,"i25":10,"i26":10,"i27":10,"i28":10}; var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]}; var altColor = "altColor"; var rowColor = "rowColor"; @@ -129,11 +129,12 @@

      Constructor Summary

      Constructor and Description -RobotMap2017(java.util.List<CommandButton> buttons, +RobotMap2017(java.util.List<CommandButton> buttons, OI oi, Logger logger, DriveTalonCluster drive, YamlCommand defaultDriveCommand, + MappedRunnable updater, ClimberCurrentLimited climber, LoggingShooter shooter, CameraNetwork camera, @@ -154,6 +155,7 @@

      Constructor Summary

      YamlCommand nonMPAutoCommand, YamlCommand autoStartupCommand, YamlCommand teleopStartupCommand, + YamlCommand startupCommand, boolean testMP, java.lang.Boolean doMP)
      Default constructor.
      @@ -276,12 +278,20 @@

      Method Summary

      edu.wpi.first.wpilibj.command.Command -getTeleopStartupCommand()  +getStartupCommand()  +edu.wpi.first.wpilibj.command.Command +getTeleopStartupCommand()  + + boolean getTestMP()  + +java.lang.Runnable +getUpdater()  +
      • @@ -304,13 +314,13 @@

        Methods inherited from class java.lang.Object

        Constructor Detail

        - +

        • RobotMap2017

          -
          public RobotMap2017(@NotNull
+
          public RobotMap2017(@Nullable
                     java.util.List<CommandButton> buttons,
                     @NotNull
                     OI oi,
@@ -320,6 +330,8 @@ 
          RobotMap2017
          
                     DriveTalonCluster drive,
                     @NotNull
                     YamlCommand defaultDriveCommand,
+                    @NotNull
+                    MappedRunnable updater,
                     @Nullable
                     ClimberCurrentLimited climber,
                     @Nullable
@@ -360,17 +372,20 @@ 
          RobotMap2017
          
                     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.
          
+
          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.
          
@@ -379,31 +394,32 @@ 
          RobotMap2017
          
 
          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.
          
+                             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.
          
+                             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.
          
+                             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.
          
+                             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.
          
+                             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.
          
+                             "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.
          
+                             "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.
          
+                             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.
          
 
          
@@ -795,7 +811,7 @@ 
          getTeleopStartupCommand
          
 
 
 
-
            
+
              
 
            • 
 
              getDoMP
              
 
              public boolean getDoMP()
              
@@ -805,6 +821,34 @@ 
              getDoMP
              
 
 
              • 
 
            
+
+
+
+
              
+
            • 
+
              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.
              
+
              
+
              • 
+
          • diff --git a/docs/org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Boiler.html b/docs/org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Boiler.html index 001f6f47..cd3301d9 100644 --- a/docs/org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Boiler.html +++ b/docs/org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Boiler.html @@ -2,9 +2,9 @@ - + Auto2017Boiler (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Center.html b/docs/org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Center.html index da653b55..bf52254a 100644 --- a/docs/org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Center.html +++ b/docs/org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Center.html @@ -2,9 +2,9 @@ - + Auto2017Center (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Feeder.html b/docs/org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Feeder.html index 498d3446..cd4aa356 100644 --- a/docs/org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Feeder.html +++ b/docs/org/usfirst/frc/team449/robot/commands/autonomous/Auto2017Feeder.html @@ -2,9 +2,9 @@ - + Auto2017Feeder (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/commands/autonomous/package-frame.html b/docs/org/usfirst/frc/team449/robot/commands/autonomous/package-frame.html index a6066f4e..8b6dd948 100644 --- a/docs/org/usfirst/frc/team449/robot/commands/autonomous/package-frame.html +++ b/docs/org/usfirst/frc/team449/robot/commands/autonomous/package-frame.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.commands.autonomous (RoboRIO 1.0 API) - + 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 index 32020b59..2ecddb7f 100644 --- a/docs/org/usfirst/frc/team449/robot/commands/autonomous/package-summary.html +++ b/docs/org/usfirst/frc/team449/robot/commands/autonomous/package-summary.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.commands.autonomous (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/commands/autonomous/package-tree.html b/docs/org/usfirst/frc/team449/robot/commands/autonomous/package-tree.html index 18132ccb..212324e4 100644 --- a/docs/org/usfirst/frc/team449/robot/commands/autonomous/package-tree.html +++ b/docs/org/usfirst/frc/team449/robot/commands/autonomous/package-tree.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.commands.autonomous Class Hierarchy (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/commands/general/CommandSequence.html b/docs/org/usfirst/frc/team449/robot/commands/general/CommandSequence.html index 42e517a3..fa7350cb 100644 --- a/docs/org/usfirst/frc/team449/robot/commands/general/CommandSequence.html +++ b/docs/org/usfirst/frc/team449/robot/commands/general/CommandSequence.html @@ -2,9 +2,9 @@ - + CommandSequence (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/commands/general/ParallelCommandGroup.html b/docs/org/usfirst/frc/team449/robot/commands/general/ParallelCommandGroup.html index b4c90c45..a78759ff 100644 --- a/docs/org/usfirst/frc/team449/robot/commands/general/ParallelCommandGroup.html +++ b/docs/org/usfirst/frc/team449/robot/commands/general/ParallelCommandGroup.html @@ -2,9 +2,9 @@ - + ParallelCommandGroup (RoboRIO 1.0 API) - + @@ -43,7 +43,7 @@
          • Frames
            • @@ -240,7 +240,7 @@

            ParallelCommandGroup

            • Frames
              • diff --git a/docs/org/usfirst/frc/team449/robot/commands/general/RunRunnables.html b/docs/org/usfirst/frc/team449/robot/commands/general/RunRunnables.html new file mode 100644 index 00000000..ff9044aa --- /dev/null +++ b/docs/org/usfirst/frc/team449/robot/commands/general/RunRunnables.html @@ -0,0 +1,392 @@ + + + + + +RunRunnables (RoboRIO 1.0 API) + + + + + + + + +
              + + +
              Skip navigation links
              + + + + +
              +
              + + + +
              + +
              +
              +
                +
              • Summary: 
                • +
              • Nested | 
                • +
              • Field | 
                • +
              • Constr | 
                • +
              • Method
                • +
              + +
              + + +
              + + +
              +
              org.usfirst.frc.team449.robot.commands.general
              +

              Class RunRunnables

              +
              +
              + +
              +
                +
              • +
                +
                All Implemented Interfaces:
                +
                edu.wpi.first.wpilibj.NamedSendable, edu.wpi.first.wpilibj.Sendable, YamlCommand
                +
                +
                +
                +
                public class RunRunnables
+extends YamlCommandWrapper
                +
                A command that runs any number of Runnable objects every tic.
                +
                • +
              +
              +
              +
                +
              • + +
                  +
                • + + +

                  Constructor Summary

                  + + + + + + + + +
                  Constructors 
                  Constructor and Description
                  RunRunnables(MappedRunnable[] runnables) +
                  Default constructor
                  +
                  +
                  • +
                + +
                  +
                • + + +

                  Method Summary

                  + + + + + + + + + + + + + + + + + + + + + + + + + + +
                  All Methods Instance Methods Concrete Methods 
                  Modifier and TypeMethod and Description
                  protected voidend() +
                  Log on exit.
                  +
                  protected voidexecute() +
                  Run all the runnables in the order they were given.
                  +
                  protected voidinitialize() +
                  Log on init
                  +
                  protected voidinterrupted() +
                  Log when interrupted.
                  +
                  protected booleanisFinished() 
                  + +
                    +
                  • + + +

                    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
                    • +
                  +
                    +
                  • + + +

                    Methods inherited from class java.lang.Object

                    +clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait
                    • +
                  +
                  • +
                +
                • +
              +
              +
              +
                +
              • + +
                  +
                • + + +

                  Constructor Detail

                  + + + +
                    +
                  • +

                    RunRunnables

                    +
                    public RunRunnables(@NotNull
+                    MappedRunnable[] runnables)
                    +
                    Default constructor
                    +
                    +
                    Parameters:
                    +
                    runnables - The runnables to run.
                    +
                    +
                    • +
                  +
                  • +
                + +
                  +
                • + + +

                  Method Detail

                  + + + +
                    +
                  • +

                    initialize

                    +
                    protected void initialize()
                    +
                    Log on init
                    +
                    +
                    Overrides:
                    +
                    initialize in class edu.wpi.first.wpilibj.command.Command
                    +
                    +
                    • +
                  + + + +
                    +
                  • +

                    execute

                    +
                    protected void execute()
                    +
                    Run all the runnables in the order they were given.
                    +
                    +
                    Overrides:
                    +
                    execute in class edu.wpi.first.wpilibj.command.Command
                    +
                    +
                    • +
                  + + + +
                    +
                  • +

                    isFinished

                    +
                    protected boolean isFinished()
                    +
                    +
                    Specified by:
                    +
                    isFinished in class edu.wpi.first.wpilibj.command.Command
                    +
                    Returns:
                    +
                    false
                    +
                    +
                    • +
                  + + + +
                    +
                  • +

                    end

                    +
                    protected void end()
                    +
                    Log on exit.
                    +
                    +
                    Overrides:
                    +
                    end in class edu.wpi.first.wpilibj.command.Command
                    +
                    +
                    • +
                  + + + +
                    +
                  • +

                    interrupted

                    +
                    protected void interrupted()
                    +
                    Log when interrupted.
                    +
                    +
                    Overrides:
                    +
                    interrupted in class edu.wpi.first.wpilibj.command.Command
                    +
                    +
                    • +
                  +
                  • +
                +
                • +
              +
              +
              + + +
              + + +
              Skip navigation links
              + + + + +
              +
              + + + +
              + +
              +
              +
                +
              • Summary: 
                • +
              • Nested | 
                • +
              • Field | 
                • +
              • Constr | 
                • +
              • Method
                • +
              + +
              + + +
              + + + diff --git a/docs/org/usfirst/frc/team449/robot/commands/general/WaitForMillis.html b/docs/org/usfirst/frc/team449/robot/commands/general/WaitForMillis.html index 5da636f3..72b8c4db 100644 --- a/docs/org/usfirst/frc/team449/robot/commands/general/WaitForMillis.html +++ b/docs/org/usfirst/frc/team449/robot/commands/general/WaitForMillis.html @@ -2,9 +2,9 @@ - + WaitForMillis (RoboRIO 1.0 API) - + @@ -48,7 +48,7 @@
              @@ -290,7 +290,7 @@

              isFinished

              diff --git a/docs/org/usfirst/frc/team449/robot/commands/general/package-frame.html b/docs/org/usfirst/frc/team449/robot/commands/general/package-frame.html index 33ca7e32..35e8e3d8 100644 --- a/docs/org/usfirst/frc/team449/robot/commands/general/package-frame.html +++ b/docs/org/usfirst/frc/team449/robot/commands/general/package-frame.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.commands.general (RoboRIO 1.0 API) - + @@ -15,6 +15,7 @@

              Classes

            diff --git a/docs/org/usfirst/frc/team449/robot/commands/general/package-summary.html b/docs/org/usfirst/frc/team449/robot/commands/general/package-summary.html index 16c9194c..83cfc6b1 100644 --- a/docs/org/usfirst/frc/team449/robot/commands/general/package-summary.html +++ b/docs/org/usfirst/frc/team449/robot/commands/general/package-summary.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.commands.general (RoboRIO 1.0 API) - + @@ -94,6 +94,12 @@

            Package org.usfirst.frc.team449.robot.com +RunRunnables + +
            A command that runs any number of Runnable objects every tic.
            + + + WaitForMillis
            A command that does nothing and finishes after a set number of milliseconds.
            diff --git a/docs/org/usfirst/frc/team449/robot/commands/general/package-tree.html b/docs/org/usfirst/frc/team449/robot/commands/general/package-tree.html index 61efdeaa..28702cc1 100644 --- a/docs/org/usfirst/frc/team449/robot/commands/general/package-tree.html +++ b/docs/org/usfirst/frc/team449/robot/commands/general/package-tree.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.commands.general Class Hierarchy (RoboRIO 1.0 API) - + @@ -94,6 +94,7 @@

            Class Hierarchy

          • org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper (implements org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand)
            • diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/RunMotorWhileConditonMet.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/RunMotorWhileConditonMet.html index ffaae147..db1110d1 100644 --- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/RunMotorWhileConditonMet.html +++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/RunMotorWhileConditonMet.html @@ -2,9 +2,9 @@ - + RunMotorWhileConditonMet (RoboRIO 1.0 API) - + 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 index f1455db1..8fb12a99 100644 --- 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 @@ -2,9 +2,9 @@ - + FieldOrientedUnidirectionalDriveCommand.AngularSnapPoint (RoboRIO 1.0 API) - + @@ -108,7 +108,7 @@

            Enclosing class:
            -
            FieldOrientedUnidirectionalDriveCommand<T extends YamlSubsystem & DriveUnidirectional & SubsystemNavX>
            +
            FieldOrientedUnidirectionalDriveCommand<T extends YamlSubsystem & DriveUnidirectional & SubsystemAHRS>

            diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html index 3788ae8b..b85f167c 100644 --- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html +++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommand.html @@ -2,9 +2,9 @@ - + FieldOrientedUnidirectionalDriveCommand (RoboRIO 1.0 API) - + @@ -92,7 +92,7 @@
            org.usfirst.frc.team449.robot.commands.multiInterface.drive
            -

            Class FieldOrientedUnidirectionalDriveCommand<T extends YamlSubsystem & DriveUnidirectional & SubsystemNavX>

            +

            Class FieldOrientedUnidirectionalDriveCommand<T extends YamlSubsystem & DriveUnidirectional & SubsystemAHRS>

            diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html index 6cf4dc62..9d114ccd 100644 --- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html +++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/FieldOrientedUnidirectionalDriveCommandShifting.html @@ -2,9 +2,9 @@ - + FieldOrientedUnidirectionalDriveCommandShifting (RoboRIO 1.0 API) - + @@ -92,7 +92,7 @@
            org.usfirst.frc.team449.robot.commands.multiInterface.drive
            -

            Class FieldOrientedUnidirectionalDriveCommandShifting<T extends YamlSubsystem & DriveUnidirectional & SubsystemNavX & DriveShiftable>

            +

            Class FieldOrientedUnidirectionalDriveCommandShifting<T extends YamlSubsystem & DriveUnidirectional & SubsystemAHRS & DriveShiftable>

            diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/JiggleRobot.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/JiggleRobot.html index 2bf58994..1ae6cc24 100644 --- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/JiggleRobot.html +++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/JiggleRobot.html @@ -2,9 +2,9 @@ - + JiggleRobot (RoboRIO 1.0 API) - + @@ -86,7 +86,7 @@
            org.usfirst.frc.team449.robot.commands.multiInterface.drive
            -

            Class JiggleRobot<T extends YamlSubsystem & DriveUnidirectional & SubsystemNavX>

            +

            Class JiggleRobot<T extends YamlSubsystem & DriveUnidirectional & SubsystemAHRS>

              @@ -121,7 +121,7 @@

              Class JiggleRobot<T extends

              -
              public class JiggleRobot<T extends YamlSubsystem & DriveUnidirectional & SubsystemNavX>
+
              public class JiggleRobot<T extends YamlSubsystem & DriveUnidirectional & SubsystemAHRS>
 extends YamlCommandGroupWrapper
              
 
              Rotates the robot back and forth in order to dislodge any stuck balls.
              
 
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
index 368f9750..fa6a2c26 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXDriveStraight.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 NavXDriveStraight (RoboRIO 1.0 API)
-
+
 
 
 
@@ -92,7 +92,7 @@
 
 
              
 
              org.usfirst.frc.team449.robot.commands.multiInterface.drive
              
-
              Class NavXDriveStraight<T extends YamlSubsystem & DriveUnidirectional & SubsystemNavX>
              
+
              Class NavXDriveStraight<T extends YamlSubsystem & DriveUnidirectional & SubsystemAHRS>
              
 
              
 
              
 
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngle.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngle.html
index 6da0cf55..0c1225a5 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngle.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngle.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 NavXTurnToAngle (RoboRIO 1.0 API)
-
+
 
 
 
@@ -92,7 +92,7 @@
 
 
              
 
              org.usfirst.frc.team449.robot.commands.multiInterface.drive
              
-
              Class NavXTurnToAngle<T extends YamlSubsystem & DriveUnidirectional & SubsystemNavX>
              
+
              Class NavXTurnToAngle<T extends YamlSubsystem & DriveUnidirectional & SubsystemAHRS>
              
 
              
 
              
 
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngleRelative.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngleRelative.html
index b85ab94c..8c9934ce 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngleRelative.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/NavXTurnToAngleRelative.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 NavXTurnToAngleRelative (RoboRIO 1.0 API)
-
+
 
 
 
@@ -92,7 +92,7 @@
 
 
              
 
              org.usfirst.frc.team449.robot.commands.multiInterface.drive
              
-
              Class NavXTurnToAngleRelative<T extends YamlSubsystem & DriveUnidirectional & SubsystemNavX>
              
+
              Class NavXTurnToAngleRelative<T extends YamlSubsystem & DriveUnidirectional & SubsystemAHRS>
              
 
              
 
              
 
                
@@ -132,7 +132,7 @@ 
                Class NavXTurnToAngleRel
 
 
                
 
                
-
                public class NavXTurnToAngleRelative<T extends YamlSubsystem & DriveUnidirectional & SubsystemNavX>
+
                public class NavXTurnToAngleRelative<T extends YamlSubsystem & DriveUnidirectional & SubsystemAHRS>
 extends NavXTurnToAngle
                
 
                Turn a certain number of degrees from the current heading.
                
 
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html
index bec59336..9d528e25 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 UnidirectionalNavXDefaultDrive (RoboRIO 1.0 API)
-
+
 
 
 
@@ -92,7 +92,7 @@
 
 
                
 
                org.usfirst.frc.team449.robot.commands.multiInterface.drive
                
-
                Class UnidirectionalNavXDefaultDrive<T extends YamlSubsystem & DriveUnidirectional & SubsystemNavX>
                
+
                Class UnidirectionalNavXDefaultDrive<T extends YamlSubsystem & DriveUnidirectional & SubsystemAHRS>
                
 
                
 
                
 
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.html
index 9d7d579a..977d9d85 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 UnidirectionalNavXShiftingDefaultDrive (RoboRIO 1.0 API)
-
+
 
 
 
@@ -92,7 +92,7 @@
 
 
                
 
                org.usfirst.frc.team449.robot.commands.multiInterface.drive
                
-
                Class UnidirectionalNavXShiftingDefaultDrive<T extends YamlSubsystem & DriveUnidirectional & SubsystemNavX & DriveShiftable>
                
+
                Class UnidirectionalNavXShiftingDefaultDrive<T extends YamlSubsystem & DriveUnidirectional & SubsystemAHRS & DriveShiftable>
                
 
                
 
                
 
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-frame.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-frame.html
index 0c662784..7496042b 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-frame.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 org.usfirst.frc.team449.robot.commands.multiInterface.drive (RoboRIO 1.0 API)
-
+
 
 
 
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-summary.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-summary.html
index b1e30893..46f63753 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-summary.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 org.usfirst.frc.team449.robot.commands.multiInterface.drive (RoboRIO 1.0 API)
-
+
 
 
 
@@ -82,7 +82,7 @@ 
                Package org.usfirst.frc.team449.robot.com
 
 
 
-FieldOrientedUnidirectionalDriveCommand<T extends YamlSubsystem & DriveUnidirectional & SubsystemNavX>
+FieldOrientedUnidirectionalDriveCommand<T extends YamlSubsystem & DriveUnidirectional & SubsystemAHRS>
 
 
                Unidirectional drive with field-oriented control
                
 
@@ -94,43 +94,43 @@ 
                Package org.usfirst.frc.team449.robot.com
 
 
 
-FieldOrientedUnidirectionalDriveCommandShifting<T extends YamlSubsystem & DriveUnidirectional & SubsystemNavX & DriveShiftable>
+FieldOrientedUnidirectionalDriveCommandShifting<T extends YamlSubsystem & DriveUnidirectional & SubsystemAHRS & DriveShiftable>
 
 
                Unidirectional drive with field-oriented control and autoshifting.
                
 
 
 
-JiggleRobot<T extends YamlSubsystem & DriveUnidirectional & SubsystemNavX>
+JiggleRobot<T extends YamlSubsystem & DriveUnidirectional & SubsystemAHRS>
 
 
                Rotates the robot back and forth in order to dislodge any stuck balls.
                
 
 
 
-NavXDriveStraight<T extends YamlSubsystem & DriveUnidirectional & SubsystemNavX>
+NavXDriveStraight<T extends YamlSubsystem & DriveUnidirectional & SubsystemAHRS>
 
 
                Drives straight using the NavX gyro to keep a constant alignment.
                
 
 
 
-NavXTurnToAngle<T extends YamlSubsystem & DriveUnidirectional & SubsystemNavX>
+NavXTurnToAngle<T extends YamlSubsystem & DriveUnidirectional & SubsystemAHRS>
 
 
                Turns to a specified angle, relative to the angle the navX was at when the robot was turned on.
                
 
 
 
-NavXTurnToAngleRelative<T extends YamlSubsystem & DriveUnidirectional & SubsystemNavX>
+NavXTurnToAngleRelative<T extends YamlSubsystem & DriveUnidirectional & SubsystemAHRS>
 
 
                Turn a certain number of degrees from the current heading.
                
 
 
 
-UnidirectionalNavXDefaultDrive<T extends YamlSubsystem & DriveUnidirectional & SubsystemNavX>
+UnidirectionalNavXDefaultDrive<T extends YamlSubsystem & DriveUnidirectional & SubsystemAHRS>
 
 
                Drive with arcade drive setup, and when the driver isn't turning, use a NavX to stabilize the robot's alignment.
                
 
 
 
-UnidirectionalNavXShiftingDefaultDrive<T extends YamlSubsystem & DriveUnidirectional & SubsystemNavX & DriveShiftable>
+UnidirectionalNavXShiftingDefaultDrive<T extends YamlSubsystem & DriveUnidirectional & SubsystemAHRS & DriveShiftable>
 
 
                Drive with arcade drive setup, autoshift, and when the driver isn't turning, use a NavX to stabilize the robot's
  alignment.
                
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-tree.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-tree.html
index ab54bdaf..00e2e2c4 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/drive/package-tree.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 org.usfirst.frc.team449.robot.commands.multiInterface.drive Class Hierarchy (RoboRIO 1.0 API)
-
+
 
 
 
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/package-frame.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/package-frame.html
index 4e7b0fbb..d3589bad 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/package-frame.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 org.usfirst.frc.team449.robot.commands.multiInterface (RoboRIO 1.0 API)
-
+
 
 
 
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/package-summary.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/package-summary.html
index ac24531d..777d7ab1 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/package-summary.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 org.usfirst.frc.team449.robot.commands.multiInterface (RoboRIO 1.0 API)
-
+
 
 
 
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/package-tree.html b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/package-tree.html
index ee6f1277..ab5fa092 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiInterface/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiInterface/package-tree.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 org.usfirst.frc.team449.robot.commands.multiInterface Class Hierarchy (RoboRIO 1.0 API)
-
+
 
 
 
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/FireShooter.html b/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/FireShooter.html
index 5db415f8..f0f06f52 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/FireShooter.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/FireShooter.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 FireShooter (RoboRIO 1.0 API)
-
+
 
 
 
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/LoadShooter.html b/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/LoadShooter.html
index a57690bd..b958015d 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/LoadShooter.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/LoadShooter.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 LoadShooter (RoboRIO 1.0 API)
-
+
 
 
 
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/RackShooter.html b/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/RackShooter.html
index a5f0c4ca..58763aea 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/RackShooter.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/RackShooter.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 RackShooter (RoboRIO 1.0 API)
-
+
 
 
 
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/ResetShooter.html b/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/ResetShooter.html
index cf9f626b..ff03748e 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/ResetShooter.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/ResetShooter.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 ResetShooter (RoboRIO 1.0 API)
-
+
 
 
 
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/package-frame.html b/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/package-frame.html
index 05ef51e8..f4935f74 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/package-frame.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 org.usfirst.frc.team449.robot.commands.multiSubsystem (RoboRIO 1.0 API)
-
+
 
 
 
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/package-summary.html b/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/package-summary.html
index a8d58bf1..11bae872 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/package-summary.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 org.usfirst.frc.team449.robot.commands.multiSubsystem (RoboRIO 1.0 API)
-
+
 
 
 
diff --git a/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/package-tree.html b/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/package-tree.html
index a7db5e1b..1c4604e3 100644
--- a/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/commands/multiSubsystem/package-tree.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 org.usfirst.frc.team449.robot.commands.multiSubsystem Class Hierarchy (RoboRIO 1.0 API)
-
+
 
 
 
diff --git a/docs/org/usfirst/frc/team449/robot/components/AutoshiftComponent.html b/docs/org/usfirst/frc/team449/robot/components/AutoshiftComponent.html
index 377abe43..d23bfe0c 100644
--- a/docs/org/usfirst/frc/team449/robot/components/AutoshiftComponent.html
+++ b/docs/org/usfirst/frc/team449/robot/components/AutoshiftComponent.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 AutoshiftComponent (RoboRIO 1.0 API)
-
+
 
 
 
@@ -49,7 +49,7 @@
 
                
 
 
                  
 
                • Frames
                  • 
@@ -272,7 +272,7 @@ 
                  autoshift
                  
 
                  
 
 
                    
 
                  • Frames
                    • 
diff --git a/docs/org/usfirst/frc/team449/robot/components/NavXRumbleComponent.html b/docs/org/usfirst/frc/team449/robot/components/NavXRumbleComponent.html
new file mode 100644
index 00000000..be0e8e38
--- /dev/null
+++ b/docs/org/usfirst/frc/team449/robot/components/NavXRumbleComponent.html
@@ -0,0 +1,308 @@
+
+
+
+
+
+NavXRumbleComponent (RoboRIO 1.0 API)
+
+
+
+
+
+
+
+
+
                    
+
+
+
                    Skip navigation links
                    
+
+
+
+
+
                    
+
                    
+
+
+
+
                    
+
+
                    
+
                    
+
                      
+
                    • Summary: 
                      • 
+
                    • Nested | 
                      • 
+
                    • Field | 
                      • 
+
                    • Constr | 
                      • 
+
                    • Method
                      • 
+
                    
+
+
                    
+
+
+
                    
+
+
+
                    
+
                    org.usfirst.frc.team449.robot.components
                    
+
                    Class NavXRumbleComponent
                    
+
                    
+
                    
+
                      
+
                    • java.lang.Object
                      • 
+
                    • 
+
                        
+
                      • org.usfirst.frc.team449.robot.components.NavXRumbleComponent
                        • 
+
                      
+
                      • 
+
                    
+
                    
+
                      
+
                    • 
+
                      
+
                      All Implemented Interfaces:
                      
+
                      java.lang.Runnable, MappedRunnable
                      
+
                      
+
                      
+
                      
+
                      public class NavXRumbleComponent
+extends java.lang.Object
+implements MappedRunnable
                      
+
                      A component to rumble controllers based off the jerk measurements from a NavX.
                      
+
                      • 
+
                    
+
                    
+
                    
+
                      
+
                    • 
+
+
                        
+
                      • 
+
+
+
                        Constructor Summary
                        
+
+
+
+
+
+
+
+
+
                        Constructors 
                        Constructor and Description
                        NavXRumbleComponent(MappedAHRS navX,
+                   java.util.List<Rumbleable> rumbleables,
+                   double minJerk,
+                   double maxJerk,
+                   boolean yIsFrontBack,
+                   boolean invertLeftRight)
+
                        Default constructor.
                        
+
                        
+
                        • 
+
                      
+
+
                        
+
                      • 
+
+
+
                        Method Summary
                        
+
+
+
+
+
+
+
+
+
+
+
                        All Methods Instance Methods Concrete Methods 
                        Modifier and TypeMethod and Description
                        voidrun()
+
                        Read the NavX jerk data and rumble the joysticks based off of it.
                        
+
                        
+
                          
+
                        • 
+
+
+
                          Methods inherited from class java.lang.Object
                          
+clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
                          • 
+
                        
+
                        • 
+
                      
+
                      • 
+
                    
+
                    
+
                    
+
                      
+
                    • 
+
+
                        
+
                      • 
+
+
+
                        Constructor Detail
                        
+
+
+
+
                          
+
                        • 
+
                          NavXRumbleComponent
                          
+
                          public NavXRumbleComponent(@NotNull
+                           MappedAHRS navX,
+                           @NotNull
+                           java.util.List<Rumbleable> rumbleables,
+                           double minJerk,
+                           double maxJerk,
+                           boolean yIsFrontBack,
+                           boolean invertLeftRight)
                          
+
                          Default constructor.
                          
+
                          
+
                          Parameters:
                          
+
                          navX - The NavX to get jerk measurements from.
                          
+
                          rumbleables - The things to rumble.
                          
+
                          minJerk - The minimum jerk that will trigger rumbling, in feet/(sec^3).
                          
+
                          maxJerk - The jerk, in feet/(sec^3), that's scaled to maximum rumble. All jerks of greater magnitude
+                        are capped at 1.
                          
+
                          yIsFrontBack - Whether the NavX Y-axis measures forwards-back jerk or left-right jerk. Defaults to
+                        false.
                          
+
                          invertLeftRight - Whether to invert the left-right jerk measurement. Defaults to false.
                          
+
                          
+
                          • 
+
                        
+
                        • 
+
                      
+
+
                        
+
                      • 
+
+
+
                        Method Detail
                        
+
+
+
+
                          
+
                        • 
+
                          run
                          
+
                          public void run()
                          
+
                          Read the NavX jerk data and rumble the joysticks based off of it.
                          
+
                          
+
                          Specified by:
                          
+
                          run in interface java.lang.Runnable
                          
+
                          
+
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+
                        
+
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+
                      
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                    Skip navigation links
                    
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+
                      
+
                    • Summary: 
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                    • Nested | 
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                    • Field | 
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diff --git a/docs/org/usfirst/frc/team449/robot/components/ShiftComponent.html b/docs/org/usfirst/frc/team449/robot/components/ShiftComponent.html
index b3142cd7..7cd58d5c 100644
--- a/docs/org/usfirst/frc/team449/robot/components/ShiftComponent.html
+++ b/docs/org/usfirst/frc/team449/robot/components/ShiftComponent.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 ShiftComponent (RoboRIO 1.0 API)
-
+
 
 
 
@@ -48,7 +48,7 @@
 
                  
 
                  
 
 
                    
@@ -350,7 +350,7 @@ 
                    shiftPiston
                    
 
                  
 
                  
 
 
                    
diff --git a/docs/org/usfirst/frc/team449/robot/components/ShiftWithSensorComponent.html b/docs/org/usfirst/frc/team449/robot/components/ShiftWithSensorComponent.html
index 1cc90721..bdbf0c4e 100644
--- a/docs/org/usfirst/frc/team449/robot/components/ShiftWithSensorComponent.html
+++ b/docs/org/usfirst/frc/team449/robot/components/ShiftWithSensorComponent.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 ShiftWithSensorComponent (RoboRIO 1.0 API)
-
+
 
 
 
@@ -240,13 +240,15 @@ 
                    ShiftWithSensorComponent
                    
 
                    otherShiftables - All objects that should be shifted when this component's piston is.
                    
 
                    piston - The piston that shifts.
                    
 
                    lowGearPistonPos - The piston position for low gear. Defaults to Forward.
                    
-
                    startingGear - The gear to start in. Can be null, and if it is, the starting gear is gotten from the
-                                piston's position.
                    
+
                    startingGear - The gear to start in. Can be null, and if it is, the starting gear is gotten from
+                                the piston's position.
                    
 
                    highGearSensors - The reed switches that detect if the shifter pistons are in high gear.
                    
 
                    lowGearSensors - The reed switches that detect if the shifter pistons are in low gear.
                    
 
                    motorsToDisable - The motors that should be disabled while the piston is shifting.
                    
-
                    motorDisableTimer - The timer for how long the piston can be considered shifting before we ignore the sensors and re-enable the motors.
                    
-
                    sensorCheckerPeriodSecs - The period for the loop that checks the sensors and enables/disables the motors, in seconds.
                    
+
                    motorDisableTimer - The timer for how long the piston can be considered shifting before we ignore the
+                                sensors and re-enable the motors.
                    
+
                    sensorCheckerPeriodSecs - The period for the loop that checks the sensors and enables/disables the motors,
+                                in seconds.
                    
 
 
 
                  
diff --git a/docs/org/usfirst/frc/team449/robot/components/package-frame.html b/docs/org/usfirst/frc/team449/robot/components/package-frame.html
index 11e55141..a77c1403 100644
--- a/docs/org/usfirst/frc/team449/robot/components/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/components/package-frame.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 org.usfirst.frc.team449.robot.components (RoboRIO 1.0 API)
-
+
 
 
 
@@ -14,6 +14,7 @@ 
                  Classes
                  
 
diff --git a/docs/org/usfirst/frc/team449/robot/components/package-summary.html b/docs/org/usfirst/frc/team449/robot/components/package-summary.html
index b7c34086..b6469fc8 100644
--- a/docs/org/usfirst/frc/team449/robot/components/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/components/package-summary.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 org.usfirst.frc.team449.robot.components (RoboRIO 1.0 API)
-
+
 
 
 
@@ -88,12 +88,18 @@ 
                  Package org.usfirst.frc.team449.robot.com
 
 
 
+NavXRumbleComponent
+
+
                  A component to rumble controllers based off the jerk measurements from a NavX.
                  
+
+
+
 ShiftComponent
 
 
                  A component that a subsystem can use to handle shifting gears.
                  
 
 
-
+
 ShiftWithSensorComponent
 
 
                  A component that a subsystem can use for shifting when the pistons have sensor to detect position.
                  
diff --git a/docs/org/usfirst/frc/team449/robot/components/package-tree.html b/docs/org/usfirst/frc/team449/robot/components/package-tree.html
index ede1acd6..a8ab1a53 100644
--- a/docs/org/usfirst/frc/team449/robot/components/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/components/package-tree.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 org.usfirst.frc.team449.robot.components Class Hierarchy (RoboRIO 1.0 API)
-
+
 
 
 
@@ -81,6 +81,7 @@ 
                  Class Hierarchy
                  
 
                • java.lang.Object
 
                    
 
                  • org.usfirst.frc.team449.robot.components.AutoshiftComponent
                    • 
+
                  • org.usfirst.frc.team449.robot.components.NavXRumbleComponent (implements org.usfirst.frc.team449.robot.jacksonWrappers.MappedRunnable)
                    • 
 
                  • org.usfirst.frc.team449.robot.components.ShiftComponent
 
                      
 
                    • org.usfirst.frc.team449.robot.components.ShiftWithSensorComponent
                      • 
diff --git a/docs/org/usfirst/frc/team449/robot/drive/DriveSubsystem.html b/docs/org/usfirst/frc/team449/robot/drive/DriveSubsystem.html
index d0442e00..e2610094 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/DriveSubsystem.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/DriveSubsystem.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 DriveSubsystem (RoboRIO 1.0 API)
-
+
 
 
 
@@ -18,7 +18,7 @@
     catch(err) {
     }
 //-->
-var methods = {"i0":6,"i1":6};
+var methods = {"i0":6,"i1":6,"i2":6};
 var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],4:["t3","Abstract Methods"]};
 var altColor = "altColor";
 var rowColor = "rowColor";
@@ -140,6 +140,12 @@ 
                      Method Summary
                      
 
                      Completely stop the robot by setting the voltage to each side to be 0.
                      
 
 
+
+void
+resetPosition()
+
                      Reset the position of the drive if it has encoders.
                      
+
+
 
 
 
                    
@@ -168,13 +174,23 @@ 
                    fullStop
                    
 
 
 
-
                      
+
                        
 
                      • 
 
                        enableMotors
                        
 
                        void enableMotors()
                        
 
                        If this drive uses motors that can be disabled, enable them.
                        
 
                        • 
 
                      
+
+
+
+
                        
+
                      • 
+
                        resetPosition
                        
+
                        void resetPosition()
                        
+
                        Reset the position of the drive if it has encoders.
                        
+
                        • 
+
                      
 
 
                    
 
                    • 
diff --git a/docs/org/usfirst/frc/team449/robot/oi/buttons/FactoryJoystickButton.html b/docs/org/usfirst/frc/team449/robot/drive/commands/EnableMotors.html
similarity index 54%
rename from docs/org/usfirst/frc/team449/robot/oi/buttons/FactoryJoystickButton.html
rename to docs/org/usfirst/frc/team449/robot/drive/commands/EnableMotors.html
index 9290c92f..989bfbb5 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/buttons/FactoryJoystickButton.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/commands/EnableMotors.html
@@ -2,9 +2,9 @@
 
 
 
-
-FactoryJoystickButton (RoboRIO 1.0 API)
-
+
+EnableMotors (RoboRIO 1.0 API)
+
 
 
 
@@ -12,13 +12,13 @@
 
+
+
+
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+
                    Skip navigation links
                    
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                    • Summary: 
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                    • Nested | 
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                    org.usfirst.frc.team449.robot.drive.commands
                    
+
                    Class ResetPosition
                    
+
                    
+
                    
+
+
                    
+
                      
+
                    • 
+
                      
+
                      All Implemented Interfaces:
                      
+
                      edu.wpi.first.wpilibj.NamedSendable, edu.wpi.first.wpilibj.Sendable, YamlCommand
                      
+
                      
+
                      
+
                      
+
                      public class ResetPosition
+extends YamlCommandWrapper
                      
+
                      Resets the positions of the motors of the given drive subsystem.
                      
+
                      • 
+
                    
+
                    
+
                    
+
                      
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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()
+
                        Do the state change.
                        
+
                        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.
                        
+
                        
+
+
                          
+
                        • 
+
+
+
                          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
                          • 
+
                        
+
                          
+
                        • 
+
+
+
                          Methods inherited from class java.lang.Object
                          
+clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait
                          • 
+
                        
+
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+
                      
+
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+
                    
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+
+
                        Constructor Detail
                        
+
+
+
+
                          
+
                        • 
+
                          ResetPosition
                          
+
                          public ResetPosition(@NotNull
+                     DriveSubsystem subsystem)
                          
+
                          Default constructor
                          
+
                          
+
                          Parameters:
                          
+
                          subsystem - The subsystem to execute this command on.
                          
+
                          
+
                          • 
+
                        
+
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+
                      
+
+
                        
+
                      • 
+
+
+
                        Method Detail
                        
+
+
+
+
                          
+
                        • 
+
                          initialize
                          
+
                          protected void initialize()
                          
+
                          Log when this command is initialized
                          
+
                          
+
                          Overrides:
                          
+
                          initialize in class edu.wpi.first.wpilibj.command.Command
                          
+
                          
+
                          • 
+
                        
+
+
+
+
                          
+
                        • 
+
                          execute
                          
+
                          protected void execute()
                          
+
                          Do the state change.
                          
+
                          
+
                          Overrides:
                          
+
                          execute in class edu.wpi.first.wpilibj.command.Command
                          
+
                          
+
                          • 
+
                        
+
+
+
+
                          
+
                        • 
+
                          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
                          
+
                          
+
                          • 
+
                        
+
+
+
+
                          
+
                        • 
+
                          end
                          
+
                          protected void end()
                          
+
                          Log when this command ends
                          
+
                          
+
                          Overrides:
                          
+
                          end in class edu.wpi.first.wpilibj.command.Command
                          
+
                          
+
                          • 
+
                        
+
+
+
+
                          
+
                        • 
+
                          interrupted
                          
+
                          protected void interrupted()
                          
+
                          Log when this command is interrupted.
                          
+
                          
+
                          Overrides:
                          
+
                          interrupted in class edu.wpi.first.wpilibj.command.Command
                          
+
                          
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                    • Summary: 
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diff --git a/docs/org/usfirst/frc/team449/robot/drive/commands/package-frame.html b/docs/org/usfirst/frc/team449/robot/drive/commands/package-frame.html
new file mode 100644
index 00000000..5872fc8b
--- /dev/null
+++ b/docs/org/usfirst/frc/team449/robot/drive/commands/package-frame.html
@@ -0,0 +1,21 @@
+
+
+
+
+
+org.usfirst.frc.team449.robot.drive.commands (RoboRIO 1.0 API)
+
+
+
+
+
+
                    org.usfirst.frc.team449.robot.drive.commands
                    
+
                    
+
                    Classes
                    
+
+
                    
+
+
diff --git a/docs/org/usfirst/frc/team449/robot/drive/commands/package-summary.html b/docs/org/usfirst/frc/team449/robot/drive/commands/package-summary.html
new file mode 100644
index 00000000..8a24c752
--- /dev/null
+++ b/docs/org/usfirst/frc/team449/robot/drive/commands/package-summary.html
@@ -0,0 +1,148 @@
+
+
+
+
+
+org.usfirst.frc.team449.robot.drive.commands (RoboRIO 1.0 API)
+
+
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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.
                      
+
                      ResetPosition
+
                      Resets the positions of the motors of the given drive subsystem.
                      
+
                      
+
                      • 
+
                    
+
                    
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diff --git a/docs/org/usfirst/frc/team449/robot/drive/commands/package-tree.html b/docs/org/usfirst/frc/team449/robot/drive/commands/package-tree.html
new file mode 100644
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+++ b/docs/org/usfirst/frc/team449/robot/drive/commands/package-tree.html
@@ -0,0 +1,144 @@
+
+
+
+
+
+org.usfirst.frc.team449.robot.drive.commands Class Hierarchy (RoboRIO 1.0 API)
+
+
+
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+
                    
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                    Skip navigation links
                    
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+
                    Hierarchy For Package org.usfirst.frc.team449.robot.drive.commands
                    
+Package Hierarchies:
+
+
                    
+
                    
+
                    Class Hierarchy
                    
+
                      
+
                    • java.lang.Object
+
                        
+
                      • edu.wpi.first.wpilibj.command.Command (implements edu.wpi.first.wpilibj.NamedSendable)
+
+
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diff --git a/docs/org/usfirst/frc/team449/robot/drive/package-frame.html b/docs/org/usfirst/frc/team449/robot/drive/package-frame.html
index c0b7a855..97b4399b 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/package-frame.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 org.usfirst.frc.team449.robot.drive (RoboRIO 1.0 API)
-
+
 
 
 
diff --git a/docs/org/usfirst/frc/team449/robot/drive/package-summary.html b/docs/org/usfirst/frc/team449/robot/drive/package-summary.html
index 76846eb5..d4723f42 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/package-summary.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 org.usfirst.frc.team449.robot.drive (RoboRIO 1.0 API)
-
+
 
 
 
@@ -43,7 +43,7 @@
 
                    
 
 
                      
 
                    • Frames
                      • 
@@ -113,7 +113,7 @@ 
                      Package org.usfirst.frc.team449.robot.dri
 
                      
 
 
                        
 
                      • Frames
                        • 
diff --git a/docs/org/usfirst/frc/team449/robot/drive/package-tree.html b/docs/org/usfirst/frc/team449/robot/drive/package-tree.html
index fd243e5e..812184be 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/package-tree.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 org.usfirst.frc.team449.robot.drive Class Hierarchy (RoboRIO 1.0 API)
-
+
 
 
 
@@ -43,7 +43,7 @@
 
                        
 
 
                          
 
                        • Frames
                          • 
@@ -102,7 +102,7 @@ 
                          Interface Hierarchy
                          
 
                          
 
 
                            
 
                          • Frames
                            • 
diff --git a/docs/org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.html b/docs/org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.html
index 0b8819ff..c2736c57 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/shifting/DriveShiftable.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 DriveShiftable (RoboRIO 1.0 API)
-
+
 
 
 
diff --git a/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/OverrideAutoShift.html b/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/OverrideAutoShift.html
index 07f3bd32..6cb63f99 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/OverrideAutoShift.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/OverrideAutoShift.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 OverrideAutoShift (RoboRIO 1.0 API)
-
+
 
 
 
diff --git a/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/ToggleOverrideAutoShift.html b/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/ToggleOverrideAutoShift.html
index feaef59b..15961ee8 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/ToggleOverrideAutoShift.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/ToggleOverrideAutoShift.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 ToggleOverrideAutoShift (RoboRIO 1.0 API)
-
+
 
 
 
diff --git a/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/package-frame.html b/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/package-frame.html
index ce762701..338c9517 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/package-frame.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 org.usfirst.frc.team449.robot.drive.shifting.commands (RoboRIO 1.0 API)
-
+
 
 
 
diff --git a/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/package-summary.html b/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/package-summary.html
index f53b2064..b77d1051 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/package-summary.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 org.usfirst.frc.team449.robot.drive.shifting.commands (RoboRIO 1.0 API)
-
+
 
 
 
diff --git a/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/package-tree.html b/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/package-tree.html
index 9e309cfb..b16227d0 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/shifting/commands/package-tree.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 org.usfirst.frc.team449.robot.drive.shifting.commands Class Hierarchy (RoboRIO 1.0 API)
-
+
 
 
 
diff --git a/docs/org/usfirst/frc/team449/robot/drive/shifting/package-frame.html b/docs/org/usfirst/frc/team449/robot/drive/shifting/package-frame.html
index 0d3d3d40..172263dd 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/shifting/package-frame.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/shifting/package-frame.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 org.usfirst.frc.team449.robot.drive.shifting (RoboRIO 1.0 API)
-
+
 
 
 
diff --git a/docs/org/usfirst/frc/team449/robot/drive/shifting/package-summary.html b/docs/org/usfirst/frc/team449/robot/drive/shifting/package-summary.html
index e5f3ee3b..13db9e25 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/shifting/package-summary.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/shifting/package-summary.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 org.usfirst.frc.team449.robot.drive.shifting (RoboRIO 1.0 API)
-
+
 
 
 
@@ -42,7 +42,7 @@
 
                          
 
                          
 
 
                            
@@ -112,7 +112,7 @@ 
                            Package org.usfirst.frc.team449.robot.dri
 
                          
 
                          
 
 
                            
diff --git a/docs/org/usfirst/frc/team449/robot/drive/shifting/package-tree.html b/docs/org/usfirst/frc/team449/robot/drive/shifting/package-tree.html
index 0d41adce..0c2f197c 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/shifting/package-tree.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/shifting/package-tree.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 org.usfirst.frc.team449.robot.drive.shifting Class Hierarchy (RoboRIO 1.0 API)
-
+
 
 
 
@@ -42,7 +42,7 @@
 
                          
 
                          
 
 
                            
@@ -105,7 +105,7 @@ 
                            Interface Hierarchy
                            
 
                          
 
                          
 
 
                            
diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonCluster.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonCluster.html
index 3ce0e983..61fe0a37 100644
--- a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonCluster.html
+++ b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonCluster.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 DriveTalonCluster (RoboRIO 1.0 API)
-
+
 
 
 
@@ -18,7 +18,7 @@
     catch(err) {
     }
 //-->
-var methods = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":10,"i5":10,"i6":10,"i7":10,"i8":10,"i9":10,"i10":10,"i11":10,"i12":10,"i13":10,"i14":10,"i15":10,"i16":10,"i17":10,"i18":10,"i19":10,"i20":10,"i21":10,"i22":10};
+var methods = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":10,"i5":10,"i6":10,"i7":10,"i8":10,"i9":10,"i10":10,"i11":10,"i12":10,"i13":10,"i14":10,"i15":10,"i16":10,"i17":10,"i18":10,"i19":10,"i20":10,"i21":10,"i22":10,"i23":10,"i24":10,"i25":10,"i26":10,"i27":10,"i28":10,"i29":10,"i30":10,"i31":10,"i32":10,"i33":10};
 var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]};
 var altColor = "altColor";
 var rowColor = "rowColor";
@@ -118,7 +118,7 @@ 
                            Class DriveTalonCluster
                            
 
                          • 
 
                            
 
                            All Implemented Interfaces:
                            
-
                            edu.wpi.first.wpilibj.NamedSendable, edu.wpi.first.wpilibj.Sendable, DriveSubsystem, DriveUnidirectional, Loggable, SubsystemMP, SubsystemMPTwoSides, SubsystemNavX
                            
+
                            edu.wpi.first.wpilibj.NamedSendable, edu.wpi.first.wpilibj.Sendable, DriveSubsystem, DriveUnidirectional, Loggable, Updatable, SubsystemMP, SubsystemMPTwoSides, SubsystemAHRS
                            
 
                            
 
                            
 
                            Direct Known Subclasses:
                            
@@ -128,7 +128,7 @@ 
                            Class DriveTalonCluster
                            
 
                            
 
                            public class DriveTalonCluster
 extends YamlSubsystem
-implements SubsystemNavX, DriveUnidirectional, Loggable, SubsystemMPTwoSides
                            
+implements SubsystemAHRS, DriveUnidirectional, Loggable, SubsystemMPTwoSides
                
 
                A drive with a cluster of any number of CANTalonSRX controlled motors on each side.
                
 
 
              
@@ -222,121 +222,189 @@ 
              Method Summary
              
 
 
 
-java.lang.Object[]
-getData()
-
              Get the data this subsystem logs every loop.
              
+double
+getAngularDisplacement()
+
              Get the robot's angular displacement since being turned on.
              
 
 
 
 double
-getGyroOutput()
-
              Get the robot's heading using the navX
              
+getAngularDisplacementCached()
+
              Get the robot's cached angular displacement since being turned on.
              
 
 
 
+double
+getAngularVel()
+
              Get the robot's angular velocity.
              
+
+
+
+double
+getAngularVelCached()
+
              Get the robot's cached angular velocity.
              
+
+
+
+java.lang.Object[]
+getData()
+
              Get the data this subsystem logs every loop.
              
+
+
+
 java.lang.String[]
 getHeader()
 
              Get the headers for the data this subsystem logs every loop.
              
 
 
-
+
+double
+getHeading()
+
              Get the robot's heading using the navX
              
+
+
+
+double
+getHeadingCached()
+
              Get the robot's cached heading.
              
+
+
+
+java.lang.Double
+getLeftPos()
+
              Get the position of the left side of the drive.
              
+
+
+
+java.lang.Double
+getLeftPosCached()
+
              Get the cached position of the left side of the drive.
              
+
+
+
 java.lang.Double
 getLeftVel()
 
              Get the velocity of the left side of the drive.
              
 
 
-
+
+java.lang.Double
+getLeftVelCached()
+
              Get the cached velocity of the left side of the drive.
              
+
+
+
 java.lang.String
 getName()
 
              Get the name of this object.
              
 
 
-
-com.kauailabs.navx.frc.AHRS
-getNavX() 
-
-
+
 boolean
-getOverrideNavX() 
+getOverrideGyro() 
 
-
+
+java.lang.Double
+getRightPos()
+
              Get the position of the right side of the drive.
              
+
+
+
+java.lang.Double
+getRightPosCached()
+
              Get the cached position of the right side of the drive.
              
+
+
+
 java.lang.Double
 getRightVel()
 
              Get the velocity of the right side of the drive.
              
 
 
-
+
+java.lang.Double
+getRightVelCached()
+
              Get the cached velocity of the right side of the drive.
              
+
+
+
 void
 holdPosition()
 
              Hold the current position.
              
 
 
-
+
 protected void
 initDefaultCommand()
 
              Stuff run on first enable.
              
 
 
-
+
 void
 loadMotionProfile(MotionProfileData profile)
 
              Loads a profile into the MP buffer.
              
 
 
-
+
 void
 loadMotionProfile(MotionProfileData left,
                  MotionProfileData right)
 
              Loads given profiles into the left and right sides of the drive.
              
 
 
-
+
 boolean
 profileFinished()
 
              Get whether this subsystem has finished running the profile loaded in it.
              
 
 
-
+
 boolean
 readyToRunProfile()
 
              Get whether the subsystem is ready to run the loaded profile.
              
 
 
-
+
 void
 resetPosition()
-
              Reset the motor positions.
              
+
              Reset the position of the drive if it has encoders.
              
 
 
-
+
 void
 setDefaultCommandManual(edu.wpi.first.wpilibj.command.Command defaultCommand)
 
              Set the default command.
              
 
 
-
+
 void
 setOutput(double left,
          double right)
 
              Set the output of each side of the drive.
              
 
 
-
+
 void
-setOverrideNavX(boolean override) 
+setOverrideGyro(boolean override) 
 
-
+
 void
 startRunningLoadedProfile()
 
              Start running the profile that's currently loaded into the MP buffer.
              
 
 
-
+
 void
 stopMPProcesses()
 
              Stops any MP-related threads currently running.
              
 
 
+
+void
+update()
+
              Updates all cached values with current ones.
              
+
+
 
 
@@ -486,7 +554,109 @@ 
              getRightVel
              
 
              Specified by:
              
 
              getRightVel in interface DriveUnidirectional
              
 
              Returns:
              
-
              The signed velocity in rotations per second, or null if the drive doesn't have encoders.
              
+
              The signed velocity in feet per second, or null if the drive doesn't have encoders.
              
+
+
+

            + + + +
              +
            • +

              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.
              +
              +
              • +
            + + + +
              +
            • +

              getRightPos

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

              getLeftVelCached

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

              getRightVelCached

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

              getLeftPosCached

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

              getRightPosCached

              +
              @Nullable
+public java.lang.Double getRightPosCached()
              +
              Get the cached position of the right side of the drive.
              +
              +
              Specified by:
              +
              getRightPosCached in interface DriveUnidirectional
              +
              Returns:
              +
              The signed position in feet, or null if the drive doesn't have encoders.
            @@ -547,65 +717,129 @@

            setDefaultCommandManual

          - +
          • -

            getGyroOutput

            -
            public double getGyroOutput()
            +

            getHeading

            +
            public double getHeading()
            Get the robot's heading using the navX
            Specified by:
            -
            getGyroOutput in interface SubsystemNavX
            +
            getHeading in interface SubsystemAHRS
            Returns:
            robot heading, in degrees, on [-180, 180]
          - +
          • -

            getOverrideNavX

            -
            public boolean getOverrideNavX()
            +

            getHeadingCached

            +
            public double getHeadingCached()
            +
            Get the robot's cached heading.
            Specified by:
            -
            getOverrideNavX in interface SubsystemNavX
            +
            getHeadingCached in interface SubsystemAHRS
            Returns:
            -
            true if the NavX is currently overriden, false otherwise.
            +
            robot heading, in degrees, on [-180, 180].
          - +
          • -

            setOverrideNavX

            -
            public void setOverrideNavX(boolean override)
            +

            getAngularVel

            +
            public double getAngularVel()
            +
            Get the robot's angular velocity.
            Specified by:
            -
            setOverrideNavX in interface SubsystemNavX
            -
            Parameters:
            -
            override - true to override the NavX, false to un-override it.
            +
            getAngularVel in interface SubsystemAHRS
            +
            Returns:
            +
            Angular velocity in degrees/sec
          - +
          • -

            getNavX

            -
            @NotNull
-public com.kauailabs.navx.frc.AHRS getNavX()
            +

            getAngularVelCached

            +
            public double getAngularVelCached()
            +
            Get the robot's cached angular velocity.
            Specified by:
            -
            getNavX in interface SubsystemNavX
            +
            getAngularVelCached in interface SubsystemAHRS
            Returns:
            -
            An AHRS object representing this subsystem's NavX.
            +
            Angular velocity in degrees/sec
            +
            +
            • +
          + + + +
            +
          • +

            getAngularDisplacement

            +
            public double getAngularDisplacement()
            +
            Get the robot's angular displacement since being turned on.
            +
            +
            Specified by:
            +
            getAngularDisplacement in interface SubsystemAHRS
            +
            Returns:
            +
            Angular displacement in degrees.
            +
            +
            • +
          + + + +
            +
          • +

            getAngularDisplacementCached

            +
            public double getAngularDisplacementCached()
            +
            Get the robot's cached angular displacement since being turned on.
            +
            +
            Specified by:
            +
            getAngularDisplacementCached in interface SubsystemAHRS
            +
            Returns:
            +
            Angular displacement in degrees.
            +
            +
            • +
          + + + +
            +
          • +

            getOverrideGyro

            +
            public boolean getOverrideGyro()
            +
            +
            Specified by:
            +
            getOverrideGyro in interface SubsystemAHRS
            +
            Returns:
            +
            true if the NavX is currently overriden, false otherwise.
            +
            +
            • +
          + + + +
            +
          • +

            setOverrideGyro

            +
            public void setOverrideGyro(boolean override)
            +
            +
            Specified by:
            +
            setOverrideGyro in interface SubsystemAHRS
            +
            Parameters:
            +
            override - true to override the NavX, false to un-override it.
          @@ -794,11 +1028,29 @@

          stopMPProcesses

          - +
            +
          • + + +

            Methods inherited from interface org.usfirst.frc.team449.robot.generalInterfaces.updatable.Updatable

            +update
        @@ -198,14 +241,14 @@

        getLeftVel

        Get the velocity of the left side of the drive.
        Returns:
        -
        The signed velocity in rotations per second, or null if the drive doesn't have encoders.
        +
        The signed velocity in feet per second, or null if the drive doesn't have encoders.
      -
        +

        • getRightVel

          @Nullable
@@ -213,7 +256,97 @@ 
          getRightVel
          
 
          Get the velocity of the right side of the drive.
          
 
          
 
          Returns:
          
-
          The signed velocity in rotations per second, or null if the drive doesn't have encoders.
          
+
          The signed velocity in feet per second, or null if the drive doesn't have encoders.
          
+
          
+
          • +
        + + + +
          +
        • +

          getLeftPos

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

          getRightPos

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

          getLeftVelCached

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

          getRightVelCached

          +
          @Nullable
+java.lang.Double getRightVelCached()
          +
          Get the cached velocity of the right side of the drive.
          +
          +
          Returns:
          +
          The signed velocity in feet per second, or null if the drive doesn't have encoders.
          +
          +
          • +
        + + + +
          +
        • +

          getLeftPosCached

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

          getRightPosCached

          +
          @Nullable
+java.lang.Double getRightPosCached()
          +
          Get the cached position of the right side of the drive.
          +
          +
          Returns:
          +
          The signed position in feet, or null if the drive doesn't have encoders.
        diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectionalSimple.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectionalSimple.html index b50464b6..95e3e876 100644 --- a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectionalSimple.html +++ b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/DriveUnidirectionalSimple.html @@ -2,9 +2,9 @@ - + DriveUnidirectionalSimple (RoboRIO 1.0 API) - + @@ -18,7 +18,7 @@ catch(err) { } //--> -var methods = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":10,"i5":10}; +var methods = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":10,"i5":10,"i6":10,"i7":10,"i8":10,"i9":10,"i10":10,"i11":10,"i12":10,"i13":10}; var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]}; var altColor = "altColor"; var rowColor = "rowColor"; @@ -118,7 +118,7 @@

        Class DriveUnidirectio
      • All Implemented Interfaces:
        -
        edu.wpi.first.wpilibj.NamedSendable, edu.wpi.first.wpilibj.Sendable, DriveSubsystem, DriveUnidirectional
        +
        edu.wpi.first.wpilibj.NamedSendable, edu.wpi.first.wpilibj.Sendable, DriveSubsystem, DriveUnidirectional, Updatable

        @@ -178,29 +178,77 @@

        Method Summary

        java.lang.Double +getLeftPos() +
        Get the position of the left side of the drive.
        + + + +java.lang.Double +getLeftPosCached() +
        Get the cached position of the left side of the drive.
        + + + +java.lang.Double getLeftVel()
        Get the velocity of the left side of the drive.
        - + +java.lang.Double +getLeftVelCached() +
        Get the cached velocity of the left side of the drive.
        + + + +java.lang.Double +getRightPos() +
        Get the position of the right side of the drive.
        + + + +java.lang.Double +getRightPosCached() +
        Get the cached position of the right side of the drive.
        + + + java.lang.Double getRightVel()
        Get the velocity of the right side of the drive.
        - + +java.lang.Double +getRightVelCached() +
        Get the cached velocity of the right side of the drive.
        + + + protected void initDefaultCommand()
        Initialize the default command for a subsystem.
        - + +void +resetPosition() +
        Reset the position of the drive if it has encoders.
        + + + void setOutput(double left, double right)
        Set the output of each side of the drive.
        + +void +update() +
        Updates all cached values with current ones.
        + + @@ -320,7 +368,109 @@

        getRightVel

        Specified by:
        getRightVel in interface DriveUnidirectional
        Returns:
        -
        The signed velocity in rotations per second, or null if the drive doesn't have encoders.
        +
        The signed velocity in feet per second, or null if the drive doesn't have encoders.
        + +
        • +

      + + + +
        +
      • +

        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.
        +
        +
        • +
      + + + +
        +
      • +

        getRightPos

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

        getLeftVelCached

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

        getRightVelCached

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

        getLeftPosCached

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

        getRightPosCached

        +
        @Nullable
+public java.lang.Double getRightPosCached()
        +
        Get the cached position of the right side of the drive.
        +
        +
        Specified by:
        +
        getRightPosCached in interface DriveUnidirectional
        +
        Returns:
        +
        The signed position in feet, or null if the drive doesn't have encoders.
      @@ -341,7 +491,7 @@

      fullStop

      -
        +

        • enableMotors

          public void enableMotors()
          @@ -352,6 +502,34 @@

          enableMotors

        + + + +
          +
        • +

          resetPosition

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

          update

          +
          public void update()
          +
          Updates all cached values with current ones.
          +
          +
          Specified by:
          +
          update in interface Updatable
          +
          +
          • +
      diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/DetermineNominalVoltage.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/DetermineNominalVoltage.html index 0f672141..4cb0b05a 100644 --- a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/DetermineNominalVoltage.html +++ b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/DetermineNominalVoltage.html @@ -2,9 +2,9 @@ - + DetermineNominalVoltage (RoboRIO 1.0 API) - + @@ -49,7 +49,7 @@
      • Frames
        • @@ -356,7 +356,7 @@

        interrupted

        • Frames
          • diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/DetermineVelVsVoltage.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/DetermineVelVsVoltage.html new file mode 100644 index 00000000..f061f95c --- /dev/null +++ b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/DetermineVelVsVoltage.html @@ -0,0 +1,406 @@ + + + + + +DetermineVelVsVoltage (RoboRIO 1.0 API) + + + + + + + + +
          + + +
          Skip navigation links
          + + + + +
          +
          + + + +
          + +
          +
          +
            +
          • Summary: 
            • +
          • Nested | 
            • +
          • Field | 
            • +
          • Constr | 
            • +
          • Method
            • +
          + +
          + + +
          + + +
          +
          org.usfirst.frc.team449.robot.drive.unidirectional.commands
          +

          Class DetermineVelVsVoltage<T extends YamlSubsystem & DriveUnidirectional>

          +
          +
          + +
          +
            +
          • +
            +
            All Implemented Interfaces:
            +
            edu.wpi.first.wpilibj.NamedSendable, edu.wpi.first.wpilibj.Sendable, YamlCommand
            +
            +
            +
            +
            public class DetermineVelVsVoltage<T extends YamlSubsystem & DriveUnidirectional>
+extends YamlCommandWrapper
            +
            A command to run the robot at a range of voltages and record the velocity.
            +
            • +
          +
          +
          +
            +
          • + +
              +
            • + + +

              Constructor Summary

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

              Method Summary

              + + + + + + + + + + + + + + + + + + + + + + + + + + +
              All Methods Instance Methods Concrete Methods 
              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.
              +
              + +
                +
              • + + +

                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
                • +
              +
                +
              • + + +

                Methods inherited from class java.lang.Object

                +clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait
                • +
              +
              • +
            +
            • +
          +
          +
          +
            +
          • + +
              +
            • + + +

              Constructor Detail

              + + + + + +
                +
              • +

                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].
                +
                +
                • +
              +
              • +
            + +
              +
            • + + +

              Method Detail

              + + + +
                +
              • +

                initialize

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

                execute

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

                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.
                +
                +
                • +
              + + + +
                +
              • +

                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
                +
                +
                • +
              + + + +
                +
              • +

                interrupted

                +
                protected void interrupted()
                +
                Log when interrupted.
                +
                +
                Overrides:
                +
                interrupted in class edu.wpi.first.wpilibj.command.Command
                +
                +
                • +
              +
              • +
            +
            • +
          +
          +
          + + +
          + + +
          Skip navigation links
          + + + + +
          +
          + + + +
          + +
          +
          +
            +
          • Summary: 
            • +
          • Nested | 
            • +
          • Field | 
            • +
          • Constr | 
            • +
          • Method
            • +
          + +
          + + +
          + + + diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/DriveAtSpeed.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/DriveAtSpeed.html index 3d4db0ed..a12d5ff0 100644 --- a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/DriveAtSpeed.html +++ b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/DriveAtSpeed.html @@ -2,9 +2,9 @@ - + DriveAtSpeed (RoboRIO 1.0 API) - + @@ -48,7 +48,7 @@
          @@ -358,7 +358,7 @@

          interrupted

          diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/DriveStraight.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/DriveStraight.html index e68b9892..254bc8e6 100644 --- a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/DriveStraight.html +++ b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/DriveStraight.html @@ -2,9 +2,9 @@ - + DriveStraight (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/PIDBackAndForth.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/PIDBackAndForth.html index 146c04ab..0e2fea99 100644 --- a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/PIDBackAndForth.html +++ b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/PIDBackAndForth.html @@ -2,9 +2,9 @@ - + PIDBackAndForth (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/PIDTest.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/PIDTest.html index 0c2ee94d..a99a8ac2 100644 --- a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/PIDTest.html +++ b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/PIDTest.html @@ -2,9 +2,9 @@ - + PIDTest (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/SimpleUnidirectionalDrive.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/SimpleUnidirectionalDrive.html index 6732af41..d1ddab2d 100644 --- a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/SimpleUnidirectionalDrive.html +++ b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/SimpleUnidirectionalDrive.html @@ -2,9 +2,9 @@ - + SimpleUnidirectionalDrive (RoboRIO 1.0 API) - + @@ -49,7 +49,7 @@
          • Frames
            • @@ -377,7 +377,7 @@

            interrupted

            • Frames
              • diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/VoltageRamp.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/VoltageRamp.html new file mode 100644 index 00000000..2e1663e6 --- /dev/null +++ b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/VoltageRamp.html @@ -0,0 +1,398 @@ + + + + + +VoltageRamp (RoboRIO 1.0 API) + + + + + + + + +
              + + +
              Skip navigation links
              + + + + +
              +
              + + + +
              + +
              +
              +
                +
              • Summary: 
                • +
              • Nested | 
                • +
              • Field | 
                • +
              • Constr | 
                • +
              • Method
                • +
              + +
              + + +
              + + +
              +
              org.usfirst.frc.team449.robot.drive.unidirectional.commands
              +

              Class VoltageRamp

              +
              +
              + +
              +
                +
              • +
                +
                All Implemented Interfaces:
                +
                edu.wpi.first.wpilibj.NamedSendable, edu.wpi.first.wpilibj.Sendable, YamlCommand
                +
                +
                +
                +
                public class VoltageRamp
+extends YamlCommandWrapper
                +
                A command to ramp up the motors to full power at a given voltage rate.
                +
                • +
              +
              +
              +
                +
              • + +
                  +
                • + + +

                  Constructor Summary

                  + + + + + + + + +
                  Constructors 
                  Constructor and Description
                  VoltageRamp(DriveUnidirectional subsystem, + double voltsPerSecond) +
                  Default constructor
                  +
                  +
                  • +
                + +
                  +
                • + + +

                  Method Summary

                  + + + + + + + + + + + + + + + + + + + + + + + + + + +
                  All Methods Instance Methods Concrete Methods 
                  Modifier and TypeMethod and Description
                  protected voidend() +
                  Log and stop on end.
                  +
                  protected voidexecute() +
                  Update the output based on how long it's been since execute() was last run.
                  +
                  protected voidinitialize() +
                  Reset the output
                  +
                  protected voidinterrupted() +
                  Log on interrupt.
                  +
                  protected booleanisFinished() +
                  Exit if the output is greater than the motors can produce.
                  +
                  + +
                    +
                  • + + +

                    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
                    • +
                  +
                    +
                  • + + +

                    Methods inherited from class java.lang.Object

                    +clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait
                    • +
                  +
                  • +
                +
                • +
              +
              +
              +
                +
              • + +
                  +
                • + + +

                  Constructor Detail

                  + + + +
                    +
                  • +

                    VoltageRamp

                    +
                    public VoltageRamp(@NotNull
+                   DriveUnidirectional subsystem,
+                   double voltsPerSecond)
                    +
                    Default constructor
                    +
                    +
                    Parameters:
                    +
                    subsystem - The subsystem to execute this command on
                    +
                    voltsPerSecond - How many volts to increase the output by per second.
                    +
                    +
                    • +
                  +
                  • +
                + +
                  +
                • + + +

                  Method Detail

                  + + + +
                    +
                  • +

                    initialize

                    +
                    protected void initialize()
                    +
                    Reset the output
                    +
                    +
                    Overrides:
                    +
                    initialize in class edu.wpi.first.wpilibj.command.Command
                    +
                    +
                    • +
                  + + + +
                    +
                  • +

                    execute

                    +
                    protected void execute()
                    +
                    Update the output based on how long it's been since execute() was last run.
                    +
                    +
                    Overrides:
                    +
                    execute in class edu.wpi.first.wpilibj.command.Command
                    +
                    +
                    • +
                  + + + +
                    +
                  • +

                    isFinished

                    +
                    protected boolean isFinished()
                    +
                    Exit if the output is greater than the motors can produce.
                    +
                    +
                    Specified by:
                    +
                    isFinished in class edu.wpi.first.wpilibj.command.Command
                    +
                    Returns:
                    +
                    true if the output is greater than or equal to 1, false otherwise.
                    +
                    +
                    • +
                  + + + +
                    +
                  • +

                    end

                    +
                    protected void end()
                    +
                    Log and stop on end.
                    +
                    +
                    Overrides:
                    +
                    end in class edu.wpi.first.wpilibj.command.Command
                    +
                    +
                    • +
                  + + + +
                    +
                  • +

                    interrupted

                    +
                    protected void interrupted()
                    +
                    Log on interrupt.
                    +
                    +
                    Overrides:
                    +
                    interrupted in class edu.wpi.first.wpilibj.command.Command
                    +
                    +
                    • +
                  +
                  • +
                +
                • +
              +
              +
              + + +
              + + +
              Skip navigation links
              + + + + +
              +
              + + + +
              + +
              +
              +
                +
              • Summary: 
                • +
              • Nested | 
                • +
              • Field | 
                • +
              • Constr | 
                • +
              • Method
                • +
              + +
              + + +
              + + + diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/package-frame.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/package-frame.html index b2579b73..00401faa 100644 --- a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/package-frame.html +++ b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/package-frame.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.drive.unidirectional.commands (RoboRIO 1.0 API) - + @@ -14,11 +14,13 @@

              Classes

            diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/package-summary.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/package-summary.html index 952993cd..83968e94 100644 --- a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/package-summary.html +++ b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/package-summary.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.drive.unidirectional.commands (RoboRIO 1.0 API) - + @@ -88,35 +88,47 @@

            Package org.usfirst.frc.team449.robot.dri +DetermineVelVsVoltage<T extends YamlSubsystem & DriveUnidirectional> + +
            A command to run the robot at a range of voltages and record the velocity.
            + + + DriveAtSpeed<T extends YamlSubsystem & DriveUnidirectional>
            Go at a certain velocity for a set number of seconds
            - + DriveStraight<T extends YamlSubsystem & DriveUnidirectional>
            Drives straight when using a tank drive.
            - + PIDBackAndForth<T extends YamlSubsystem & DriveUnidirectional>
            Drive back and forth to tune PID.
            - + PIDTest<T extends YamlSubsystem & DriveUnidirectional>
            Drive forward at constant speed then stop to tune PID.
            - + SimpleUnidirectionalDrive<T extends YamlSubsystem & DriveUnidirectional>
            Very simple unidirectional drive control.
            + +VoltageRamp + +
            A command to ramp up the motors to full power at a given voltage rate.
            + + diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/package-tree.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/package-tree.html index d7368d23..20d491e7 100644 --- a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/package-tree.html +++ b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/commands/package-tree.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.drive.unidirectional.commands Class Hierarchy (RoboRIO 1.0 API) - + @@ -95,9 +95,11 @@

            Class Hierarchy

          • org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper (implements org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand)
          diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-frame.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-frame.html index fae3f478..2fe33195 100644 --- a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-frame.html +++ b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-frame.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.drive.unidirectional (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-summary.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-summary.html index e9b3f578..264e90f1 100644 --- a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-summary.html +++ b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-summary.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.drive.unidirectional (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-tree.html b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-tree.html index 2e4b2f62..33f7dc70 100644 --- a/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-tree.html +++ b/docs/org/usfirst/frc/team449/robot/drive/unidirectional/package-tree.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.drive.unidirectional Class Hierarchy (RoboRIO 1.0 API) - + @@ -84,7 +84,7 @@

          Class Hierarchy

          • org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem
              -
            • 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.motionProfile.TwoSideMPSubsystem.SubsystemMPTwoSides, org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemNavX) +
            • 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.navX.SubsystemAHRS, org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.SubsystemMPTwoSides) @@ -101,7 +101,12 @@

              Interface Hierarchy

              diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/loggable/Loggable.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/loggable/Loggable.html index 9e475d48..6bbba9d1 100644 --- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/loggable/Loggable.html +++ b/docs/org/usfirst/frc/team449/robot/generalInterfaces/loggable/Loggable.html @@ -2,9 +2,9 @@ - + Loggable (RoboRIO 1.0 API) - + @@ -100,7 +100,7 @@

              Interface Loggable

            • All Known Implementing Classes:
              -
              ClimberCurrentLimited, DriveTalonCluster, DriveTalonClusterShiftable, LoggingShooter, Pneumatics
              +
              ClimberCurrentLimited, DriveTalonCluster, DriveTalonClusterShiftable, LoggingShooter, OIArcadeWithDPad, Pneumatics, UnidirectionalPoseEstimator

              diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/loggable/package-frame.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/loggable/package-frame.html index 076f009c..68ff5c4d 100644 --- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/loggable/package-frame.html +++ b/docs/org/usfirst/frc/team449/robot/generalInterfaces/loggable/package-frame.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.generalInterfaces.loggable (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/loggable/package-summary.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/loggable/package-summary.html index a8b883d5..8aecff77 100644 --- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/loggable/package-summary.html +++ b/docs/org/usfirst/frc/team449/robot/generalInterfaces/loggable/package-summary.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.generalInterfaces.loggable (RoboRIO 1.0 API) - + @@ -43,7 +43,7 @@
              • Frames
                • @@ -113,7 +113,7 @@

                Package org.usfirst.frc.team449.robot.gen
                • Frames
                  • diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/loggable/package-tree.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/loggable/package-tree.html index af22cb5a..265a76db 100644 --- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/loggable/package-tree.html +++ b/docs/org/usfirst/frc/team449/robot/generalInterfaces/loggable/package-tree.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.generalInterfaces.loggable Class Hierarchy (RoboRIO 1.0 API) - + @@ -43,7 +43,7 @@
                  • Frames
                    • @@ -102,7 +102,7 @@

                    Interface Hierarchy

                    • Frames
                      • diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemNavX.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/rumbleable/Rumbleable.html similarity index 52% rename from docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemNavX.html rename to docs/org/usfirst/frc/team449/robot/generalInterfaces/rumbleable/Rumbleable.html index 2dcb4048..7b28cafc 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/SubsystemNavX.html +++ b/docs/org/usfirst/frc/team449/robot/generalInterfaces/rumbleable/Rumbleable.html @@ -2,23 +2,23 @@ - -SubsystemNavX (RoboRIO 1.0 API) - - - + +Rumbleable (RoboRIO 1.0 API) + + + + + +

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

                      +
                      +

                      Interfaces

                      + +
                      + + diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/rumbleable/package-summary.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/rumbleable/package-summary.html new file mode 100644 index 00000000..dacd0ef4 --- /dev/null +++ b/docs/org/usfirst/frc/team449/robot/generalInterfaces/rumbleable/package-summary.html @@ -0,0 +1,142 @@ + + + + + +org.usfirst.frc.team449.robot.generalInterfaces.rumbleable (RoboRIO 1.0 API) + + + + + + + + +
                      + + +
                      Skip navigation links
                      + + + + +
                      +
                      + + + +
                      + +
                      + + +
                      + +
                      +

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

                      +
                      +
                      +
                        +
                      • + + + + + + + + + + + + +
                        Interface Summary 
                        InterfaceDescription
                        Rumbleable +
                        An interface for any sort of OI device that can rumble to give feedback to the driver.
                        +
                        +
                        • +
                      +
                      + +
                      + + +
                      Skip navigation links
                      + + + + +
                      +
                      + + + +
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                      + + +
                      + + + diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/rumbleable/package-tree.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/rumbleable/package-tree.html new file mode 100644 index 00000000..028e4e57 --- /dev/null +++ b/docs/org/usfirst/frc/team449/robot/generalInterfaces/rumbleable/package-tree.html @@ -0,0 +1,131 @@ + + + + + +org.usfirst.frc.team449.robot.generalInterfaces.rumbleable Class Hierarchy (RoboRIO 1.0 API) + + + + + + + + +
                      + + +
                      Skip navigation links
                      + + + + +
                      +
                      + + + +
                      + +
                      + + +
                      + +
                      +

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

                      +Package Hierarchies: + +
                      +
                      +

                      Interface Hierarchy

                      +
                        +
                      • org.usfirst.frc.team449.robot.generalInterfaces.rumbleable.Rumbleable
                        • +
                      +
                      + +
                      + + +
                      Skip navigation links
                      + + + + +
                      +
                      + + + +
                      + +
                      + + +
                      + + + diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/Shiftable.gear.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/Shiftable.gear.html index b62bc5ad..2e629ad9 100644 --- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/Shiftable.gear.html +++ b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/Shiftable.gear.html @@ -2,9 +2,9 @@ - + Shiftable.gear (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/Shiftable.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/Shiftable.html index 843ac3ee..4ba7b6c4 100644 --- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/Shiftable.html +++ b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/Shiftable.html @@ -2,9 +2,9 @@ - + Shiftable (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/ShiftGears.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/ShiftGears.html index eed8796e..a60d434d 100644 --- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/ShiftGears.html +++ b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/ShiftGears.html @@ -2,9 +2,9 @@ - + ShiftGears (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToGear.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToGear.html index 6ef9e608..d8da75ba 100644 --- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToGear.html +++ b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToGear.html @@ -2,9 +2,9 @@ - + SwitchToGear (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToHighGear.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToHighGear.html index ba7eeca2..8a72dbdb 100644 --- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToHighGear.html +++ b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToHighGear.html @@ -2,9 +2,9 @@ - + SwitchToHighGear (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToLowGear.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToLowGear.html index 96182b85..daeca1b6 100644 --- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToLowGear.html +++ b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/SwitchToLowGear.html @@ -2,9 +2,9 @@ - + SwitchToLowGear (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/package-frame.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/package-frame.html index b70889a3..0b71d40f 100644 --- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/package-frame.html +++ b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/package-frame.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/package-summary.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/package-summary.html index c44c965b..1302b654 100644 --- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/package-summary.html +++ b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/package-summary.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/package-tree.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/package-tree.html index e9a1a62f..fcfe6444 100644 --- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/package-tree.html +++ b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/commands/package-tree.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands Class Hierarchy (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/package-frame.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/package-frame.html index f5696535..d700616b 100644 --- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/package-frame.html +++ b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/package-frame.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.generalInterfaces.shiftable (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/package-summary.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/package-summary.html index d2351d4d..e5b9283b 100644 --- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/package-summary.html +++ b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/package-summary.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.generalInterfaces.shiftable (RoboRIO 1.0 API) - + @@ -42,7 +42,7 @@
                      @@ -127,7 +127,7 @@

                      Package org.usfirst.frc.team449.robot.gen

                      diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/package-tree.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/package-tree.html index 6a75a5b5..de8be982 100644 --- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/package-tree.html +++ b/docs/org/usfirst/frc/team449/robot/generalInterfaces/shiftable/package-tree.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.generalInterfaces.shiftable Class Hierarchy (RoboRIO 1.0 API) - + @@ -42,7 +42,7 @@
                      @@ -113,7 +113,7 @@

                      Enum Hierarchy

                      diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/SimpleMotor.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/SimpleMotor.html index 1c6edc0e..a5966d15 100644 --- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/SimpleMotor.html +++ b/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/SimpleMotor.html @@ -2,9 +2,9 @@ - + SimpleMotor (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-frame.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-frame.html index 39e8c1e2..b09a0985 100644 --- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-frame.html +++ b/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-frame.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-summary.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-summary.html index 0f962094..df11f00b 100644 --- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-summary.html +++ b/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-summary.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor (RoboRIO 1.0 API) - + @@ -43,7 +43,7 @@
                      • Frames
                        • @@ -111,7 +111,7 @@

                        Package org.usfirst.frc.team449.robot.gen
                        • Frames
                          • diff --git a/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-tree.html b/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-tree.html index c0e56ec3..8c113d69 100644 --- a/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-tree.html +++ b/docs/org/usfirst/frc/team449/robot/generalInterfaces/simpleMotor/package-tree.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor Class Hierarchy (RoboRIO 1.0 API) - + @@ -43,7 +43,7 @@
                          • Frames
                            • @@ -102,7 +102,7 @@

                            Interface Hierarchy

                            • Frames
                              • diff --git a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/FPSTalon.PerGearSettings.html b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/FPSTalon.PerGearSettings.html index 20680bd4..3c51812f 100644 --- a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/FPSTalon.PerGearSettings.html +++ b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/FPSTalon.PerGearSettings.html @@ -2,9 +2,9 @@ - + FPSTalon.PerGearSettings (RoboRIO 1.0 API) - + @@ -18,7 +18,7 @@ catch(err) { } //--> -var methods = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":10,"i5":10,"i6":10,"i7":10,"i8":10,"i9":10,"i10":10,"i11":10,"i12":10}; +var methods = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":10,"i5":10,"i6":10,"i7":10,"i8":10,"i9":10,"i10":10,"i11":10,"i12":10,"i13":10,"i14":10,"i15":10,"i16":10,"i17":10,"i18":10,"i19":10,"i20":10,"i21":10}; var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]}; var altColor = "altColor"; var rowColor = "rowColor"; @@ -138,7 +138,7 @@

                              Constructor Summary

                              -PerGearSettings(int gearNum, +PerGearSettings(int gearNum, Shiftable.gear gear, java.lang.Double fwdPeakOutputVoltage, java.lang.Double revPeakOutputVoltage, @@ -149,9 +149,18 @@

                              Constructor Summary

                              double kP, double kI, double kD, - double motionProfileP, - double motionProfileI, - double motionProfileD)                               + double motionProfilePFwd, + double motionProfileIFwd, + double motionProfileDFwd, + java.lang.Double motionProfilePRev, + java.lang.Double motionProfileIRev, + java.lang.Double motionProfileDRev, + java.lang.Double maxAccelFwd, + java.lang.Double maxAccelRev, + java.lang.Double maxSpeedMPFwd, + double frictionCompFPSFwd, + java.lang.Double maxSpeedMPRev, + java.lang.Double frictionCompFPSRev)
                              Default constructor.
                              @@ -176,49 +185,85 @@

                              Method Summary

                              double -getFwdNominalOutputVoltage()  +getFrictionCompFPSFwd()  double -getFwdPeakOutputVoltage()  +getFrictionCompFPSRev()  -int -getGear()  +double +getFwdNominalOutputVoltage()  double -getkD()  +getFwdPeakOutputVoltage()  -double -getkI()  +int +getGear()  double -getkP()  +getKaOverKvFwd()  -java.lang.Double -getMaxSpeed()  +double +getKaOverKvRev()  double -getMotionProfileD()  +getkD()  double -getMotionProfileI()  +getkI()  double -getMotionProfileP()  +getkP()  +java.lang.Double +getMaxSpeed()  + + +java.lang.Double +getMaxSpeedMPFwd()  + + +java.lang.Double +getMaxSpeedMPRev()  + + +double +getMotionProfileDFwd()  + + +double +getMotionProfileDRev()  + + +double +getMotionProfileIFwd()  + + +double +getMotionProfileIRev()  + + +double +getMotionProfilePFwd()  + + +double +getMotionProfilePRev()  + + double getRevNominalOutputVoltage()  - + double getRevPeakOutputVoltage()  @@ -244,7 +289,7 @@

                              Methods inherited from class java.lang.Object

                              Constructor Detail

                              - +
                                @@ -268,9 +313,23 @@

                                PerGearSettings

                                double kP, double kI, double kD, - double motionProfileP, - double motionProfileI, - double motionProfileD) + 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:
                                @@ -296,12 +355,32 @@

                                PerGearSettings

                                null. Defaults to 0.
                                kD - The derivative PID constant for the motor in this gear. Ignored if maxSpeed is null. Defaults to 0.
                                -
                                motionProfileP - The proportional PID constant for motion profiles in this gear. Ignored if - maxSpeed is null. Defaults to 0.
                                -
                                motionProfileI - The integral PID constant for motion profiles in this gear. Ignored if - maxSpeed is null. Defaults to 0.
                                -
                                motionProfileD - The derivative PID constant for motion profiles in this gear. Ignored if - maxSpeed is null. Defaults to 0.
                                +
                                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.
                              @@ -456,45 +535,128 @@

                              getkD

                            - +
                            • -

                              getMotionProfileP

                              -
                              public double getMotionProfileP()
                              +

                              getMotionProfilePFwd

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

                              getMotionProfileI

                              -
                              public double getMotionProfileI()
                              +

                              getMotionProfileIFwd

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

                                getMotionProfileD

                                -
                                public double getMotionProfileD()
                                +

                                getMotionProfileDFwd

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

                                getKaOverKvFwd

                                +
                                public double getKaOverKvFwd()
                                +
                                • +
                              + + + +
                                +
                              • +

                                getMaxSpeedMPFwd

                                +
                                @Nullable
+public java.lang.Double getMaxSpeedMPFwd()
                                +
                                • +
                              + + + +
                                +
                              • +

                                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()
                                +
                                • +
                            diff --git a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/FPSTalon.SlaveTalon.html b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/FPSTalon.SlaveTalon.html index 76ef1d4b..9e4f3a2d 100644 --- a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/FPSTalon.SlaveTalon.html +++ b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/FPSTalon.SlaveTalon.html @@ -2,9 +2,9 @@ - + FPSTalon.SlaveTalon (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/FPSTalon.html b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/FPSTalon.html index 783ef69f..a4103658 100644 --- a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/FPSTalon.html +++ b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/FPSTalon.html @@ -2,9 +2,9 @@ - + FPSTalon (RoboRIO 1.0 API) - + @@ -196,7 +196,8 @@

                            Constructor Summary

                            Constructor and Description -FPSTalon(int port, +FPSTalon(int port, + boolean invertInVoltage, boolean reverseOutput, boolean enableBrakeMode, java.lang.Boolean fwdLimitSwitchNormallyOpen, @@ -215,6 +216,8 @@

                            Constructor Summary

                            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.
                            @@ -267,7 +270,8 @@

                            Method Summary

                            protected java.lang.Double FPSToEncoder(double FPS) -
                            Converts from the velocity of the output shaft to what the talon's getVelocity() method would read at that velocity.
                            +
                            Converts from the velocity of the output shaft to what the talon's getVelocity() method would read at that + velocity.
                            @@ -440,13 +444,14 @@

                            currentGearSettings

                            Constructor Detail

                            - +

                            • FPSTalon

                              public FPSTalon(int port,
+                boolean invertInVoltage,
                 boolean reverseOutput,
                 boolean enableBrakeMode,
                 @Nullable
@@ -480,11 +485,16 @@ 
                              FPSTalon
                              
                 @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.
                              Parameters:
                              port - CAN port of this Talon.
                              +
                              invertInVoltage - Whether or not to invert the motor in voltage mode.
                              reverseOutput - Whether to reverse the output (identical effect to inverting outside of position PID)
                              enableBrakeMode - Whether to brake or coast when stopped.
                              @@ -492,14 +502,15 @@

                              FPSTalon

                              the forward limit switch is disabled.
                              revLimitSwitchNormallyOpen - Whether the reverse limit switch is normally open or closed. If this is null, the reverse limit switch is disabled.
                              -
                              fwdSoftLimit - The forward software limit, in feet. If this is null, the forward software limit is - disabled.
                              -
                              revSoftLimit - The reverse software limit, in feet. If this is null, the reverse software limit is - disabled.
                              +
                              fwdSoftLimit - The forward software limit, in feet. If this is null, the forward software + limit is disabled.
                              +
                              revSoftLimit - The reverse software limit, in feet. If this is null, the reverse software + limit is disabled.
                              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.
                              -
                              feetPerRotation - The number of feet travelled per rotation of the motor this is attached to. Defaults to 1.
                              +
                              feetPerRotation - The number of feet travelled per rotation of the motor this is attached to. + Defaults to 1.
                              currentLimit - The max amps this device can draw. If this is null, no current limit is used.
                              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 @@ -508,7 +519,8 @@

                              FPSTalon

                              null if there is no encoder attached to this Talon.
                              encoderCPR - The counts per rotation of the encoder on this Talon. Can be null if feedbackDevice is, but otherwise must have a value.
                              -
                              reverseSensor - Whether or not to reverse the reading from the encoder on this Talon. Ignored if feedbackDevice is null. Defaults to false.
                              +
                              reverseSensor - Whether or not to reverse the reading from the encoder on this Talon. Ignored + if feedbackDevice is null. Defaults to false.
                              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.
                              startingGear - The gear to start in. Can be null to use startingGearNum instead.
                              @@ -518,6 +530,8 @@

                              FPSTalon

                              starting a profile. Defaults to 20.
                              updaterProcessPeriodSecs - The period for the Notifier that moves points between the MP buffers, in seconds. Defaults to 0.005.
                              +
                              statusFrameRatesMillis - The update rates, in millis, for each of the Talon status frames.
                              +
                              controlFrameRateMillis - The update rate, in milliseconds, for the control frame. Defaults to 10.
                              slaves - The other CANTalons that are slaved to this one.
                              • @@ -637,8 +651,8 @@

                              encoderToFPS

                              FPSToEncoder

                              @Nullable
 protected java.lang.Double FPSToEncoder(double FPS)
                              -
                              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.
                              +
                              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.
                              Parameters:
                              FPS - The velocity of the output shaft, in FPS.
                              @@ -662,6 +676,22 @@

                              getVelocity

                            + + + +
                              +
                            • +

                              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].
                              +
                              +
                              • +
                            @@ -734,22 +764,6 @@

                            getOutputCurrent

                          - - - -
                            -
                          • -

                            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].
                            -
                            -
                            • -
                          diff --git a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedAHRS.html b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedAHRS.html index dd6e5ff7..97d5b015 100644 --- a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedAHRS.html +++ b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedAHRS.html @@ -2,9 +2,9 @@ - + MappedAHRS (RoboRIO 1.0 API) - + @@ -18,6 +18,12 @@ catch(err) { } //--> +var methods = {"i0":9}; +var tabs = {65535:["t0","All Methods"],1:["t1","Static Methods"],8:["t4","Concrete Methods"]}; +var altColor = "altColor"; +var rowColor = "rowColor"; +var tableTab = "tableTab"; +var activeTableTab = "activeTableTab";
                        + +
                          +
                        • + + +

                          Method Detail

                          + + + +
                            +
                          • +

                            gsToFeetPerSecondSquared

                            +
                            @Contract(pure=true)
+public static double gsToFeetPerSecondSquared(double accelGs)
                            +
                            Convert from gs (acceleration due to gravity) to feet/(second^2).
                            +
                            +
                            Parameters:
                            +
                            accelGs - An acceleration in gs.
                            +
                            Returns:
                            +
                            That acceleration in feet/(sec^2)
                            +
                            +
                            • +
                          +
                          • +

                      @@ -257,7 +301,7 @@

                      MappedAHRS

                      diff --git a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedButton.html b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedButton.html new file mode 100644 index 00000000..d9edc005 --- /dev/null +++ b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedButton.html @@ -0,0 +1,283 @@ + + + + + +MappedButton (RoboRIO 1.0 API) + + + + + + + + +
                      + + +
                      Skip navigation links
                      + + + + +
                      +
                      + + + +
                      + +
                      +
                      + +
                        +
                      • Detail: 
                        • +
                      • Field | 
                        • +
                      • Constr | 
                        • +
                      • Method
                        • +
                      +
                      + + +
                      + + +
                      +
                      org.usfirst.frc.team449.robot.jacksonWrappers
                      +

                      Class MappedButton

                      +
                      +
                      +
                        +
                      • java.lang.Object
                        • +
                      • +
                          +
                        • edu.wpi.first.wpilibj.buttons.Trigger
                          • +
                        • +
                            +
                          • edu.wpi.first.wpilibj.buttons.Button
                            • +
                          • +
                              +
                            • org.usfirst.frc.team449.robot.jacksonWrappers.MappedButton
                              • +
                            +
                            • +
                          +
                          • +
                        +
                        • +
                      +
                      +
                        +
                      • +
                        +
                        All Implemented Interfaces:
                        +
                        edu.wpi.first.wpilibj.Sendable
                        +
                        +
                        +
                        Direct Known Subclasses:
                        +
                        dPadButton, SimpleButton, TriggerButton
                        +
                        +
                        +
                        +
                        public abstract class MappedButton
+extends edu.wpi.first.wpilibj.buttons.Button
                        +
                        A jackson-compatible wrapper on WPILib's Button.
                        +
                        • +
                      +
                      +
                      +
                        +
                      • + +
                          +
                        • + + +

                          Nested Class Summary

                          +
                            +
                          • + + +

                            Nested classes/interfaces inherited from class edu.wpi.first.wpilibj.buttons.Trigger

                            +edu.wpi.first.wpilibj.buttons.Trigger.ButtonScheduler
                            • +
                          +
                          • +
                        + +
                          +
                        • + + +

                          Constructor Summary

                          + + + + + + + + +
                          Constructors 
                          Constructor and Description
                          MappedButton() 
                          +
                          • +
                        + +
                          +
                        • + + +

                          Method Summary

                          +
                            +
                          • + + +

                            Methods inherited from class edu.wpi.first.wpilibj.buttons.Button

                            +cancelWhenPressed, toggleWhenPressed, whenPressed, whenReleased, whileHeld
                            • +
                          +
                            +
                          • + + +

                            Methods inherited from class edu.wpi.first.wpilibj.buttons.Trigger

                            +cancelWhenActive, get, getSmartDashboardType, getTable, initTable, toggleWhenActive, whenActive, whenInactive, whileActive
                            • +
                          +
                            +
                          • + + +

                            Methods inherited from class java.lang.Object

                            +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
                            • +
                          +
                          • +
                        +
                        • +
                      +
                      +
                      +
                        +
                      • + +
                          +
                        • + + +

                          Constructor Detail

                          + + + +
                            +
                          • +

                            MappedButton

                            +
                            public MappedButton()
                            +
                            • +
                          +
                          • +
                        +
                        • +
                      +
                      +
                      + + +
                      + + +
                      Skip navigation links
                      + + + + +
                      +
                      + + + +
                      + +
                      +
                      + +
                        +
                      • Detail: 
                        • +
                      • Field | 
                        • +
                      • Constr | 
                        • +
                      • Method
                        • +
                      +
                      + + +
                      + + + diff --git a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedDigitalInput.html b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedDigitalInput.html index 75877fba..da41beb0 100644 --- a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedDigitalInput.html +++ b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedDigitalInput.html @@ -2,9 +2,9 @@ - + MappedDigitalInput (RoboRIO 1.0 API) - + @@ -48,7 +48,7 @@
                      @@ -241,7 +241,7 @@

                      getStatus

                      diff --git a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedDoubleSolenoid.html b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedDoubleSolenoid.html index 943562e4..7339cf82 100644 --- a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedDoubleSolenoid.html +++ b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedDoubleSolenoid.html @@ -2,9 +2,9 @@ - + MappedDoubleSolenoid (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedJoystick.html b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedJoystick.html index c31ddb54..5c4e8b47 100644 --- a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedJoystick.html +++ b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedJoystick.html @@ -2,9 +2,9 @@ - + MappedJoystick (RoboRIO 1.0 API) - + @@ -18,6 +18,12 @@ catch(err) { } //--> +var methods = {"i0":10}; +var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]}; +var altColor = "altColor"; +var rowColor = "rowColor"; +var tableTab = "tableTab"; +var activeTableTab = "activeTableTab";
                    + +
                      +
                    • + + +

                      Method Detail

                      + + + +
                        +
                      • +

                        rumble

                        +
                        public void rumble(double left,
+                   double right)
                        +
                        Rumble at a given strength on each side of the device.
                        +
                        +
                        Specified by:
                        +
                        rumble in interface Rumbleable
                        +
                        Parameters:
                        +
                        left - The strength to rumble the left side, on [-1, 1]
                        +
                        right - The strength to rumble the right side, on [-1, 1]
                        +
                        +
                        • +
                      +
                      • +
                  @@ -257,7 +308,7 @@

                  MappedJoystick

                  diff --git a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedRunnable.html b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedRunnable.html new file mode 100644 index 00000000..f986ab36 --- /dev/null +++ b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedRunnable.html @@ -0,0 +1,196 @@ + + + + + +MappedRunnable (RoboRIO 1.0 API) + + + + + + + + +
                  + + +
                  Skip navigation links
                  + + + + +
                  +
                  + + + +
                  + +
                  +
                  +
                    +
                  • Summary: 
                    • +
                  • Nested | 
                    • +
                  • Field | 
                    • +
                  • Constr | 
                    • +
                  • Method
                    • +
                  +
                    +
                  • Detail: 
                    • +
                  • Field | 
                    • +
                  • Constr | 
                    • +
                  • Method
                    • +
                  +
                  + + +
                  + + +
                  +
                  org.usfirst.frc.team449.robot.jacksonWrappers
                  +

                  Interface MappedRunnable

                  +
                  +
                  +
                  + +
                  +
                  +
                    +
                  • + +
                      +
                    • + + +

                      Method Summary

                      +
                        +
                      • + + +

                        Methods inherited from interface java.lang.Runnable

                        +run
                        • +
                      +
                      • +
                    +
                    • +
                  +
                  +
                  + + +
                  + + +
                  Skip navigation links
                  + + + + +
                  +
                  + + + +
                  + +
                  +
                  +
                    +
                  • Summary: 
                    • +
                  • Nested | 
                    • +
                  • Field | 
                    • +
                  • Constr | 
                    • +
                  • Method
                    • +
                  +
                    +
                  • Detail: 
                    • +
                  • Field | 
                    • +
                  • Constr | 
                    • +
                  • Method
                    • +
                  +
                  + + +
                  + + + diff --git a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedUsbCamera.html b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedUsbCamera.html index d481d71f..b8045c6c 100644 --- a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedUsbCamera.html +++ b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/MappedUsbCamera.html @@ -2,9 +2,9 @@ - + MappedUsbCamera (RoboRIO 1.0 API) - + @@ -42,7 +42,7 @@
                  @@ -287,7 +287,7 @@

                  MappedUsbCamera

                  @@ -82,6 +82,12 @@

                  Package org.usfirst.frc.team449.robot.jac +MappedRunnable + +
                  A jackson-compatible wrapper on Java's Runnable.
                  + + + YamlCommand
                  A command that's constructable from YAML.
                  @@ -123,60 +129,66 @@

                  Package org.usfirst.frc.team449.robot.jac +MappedButton + +
                  A jackson-compatible wrapper on WPILib's Button.
                  + + + MappedDigitalInput
                  A series of roboRIO digital input pins.
                  - + MappedDoubleSolenoid
                  A Jackson-compatible wrapper on the DoubleSolenoid.
                  - + MappedJoystick
                  A Jackson-compatible wrapper on a Joystick.
                  - + MappedUsbCamera
                  A Jackson-compatible wrapper on the UsbCamera.
                  - + MappedVictor
                  A wrapper for a VictorSP allowing it to be easily constructed from a map object.
                  - + PressureSensor
                  Wrapper for an AnalogInput pressure sensor that returns a voltage linearly proportional to pressure.
                  - + SimpleMotorCluster
                  A cluster of simple motors that act as a single simple motor.
                  - + YamlCommandGroupWrapper
                  A wrapper on CommandGroup with @JsonTypeInfo so we can use it in maps.
                  - + YamlCommandWrapper
                  A wrapper on Command with @JsonTypeInfo so we can use it in maps.
                  - + YamlSubsystem
                  A Jackson-compatible wrapper on Subsystem.
                  @@ -207,7 +219,7 @@

                  Package org.usfirst.frc.team449.robot.jac

                  diff --git a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/package-tree.html b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/package-tree.html index a3aeec30..7caae1ea 100644 --- a/docs/org/usfirst/frc/team449/robot/jacksonWrappers/package-tree.html +++ b/docs/org/usfirst/frc/team449/robot/jacksonWrappers/package-tree.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.jacksonWrappers Class Hierarchy (RoboRIO 1.0 API) - + @@ -42,7 +42,7 @@
                  @@ -99,7 +99,7 @@

                  Class Hierarchy

                  • edu.wpi.first.wpilibj.Joystick
                      -
                    • org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick
                      • +
                    • org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick (implements org.usfirst.frc.team449.robot.generalInterfaces.rumbleable.Rumbleable)
                  @@ -149,6 +149,15 @@

                  Class Hierarchy

                • org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem
                +
              • edu.wpi.first.wpilibj.buttons.Trigger (implements edu.wpi.first.wpilibj.Sendable) +
                  +
                • edu.wpi.first.wpilibj.buttons.Button +
                    +
                  • org.usfirst.frc.team449.robot.jacksonWrappers.MappedButton
                    • +
                  +
                  • +
                +
              • edu.wpi.cscore.VideoSource
                • edu.wpi.cscore.VideoCamera @@ -167,6 +176,11 @@

                  Class Hierarchy

                Interface Hierarchy

                  +
                • java.lang.Runnable + +
                • org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand
                • @@ -190,7 +204,7 @@

                Interface Hierarchy

                diff --git a/docs/org/usfirst/frc/team449/robot/oi/OI.html b/docs/org/usfirst/frc/team449/robot/oi/OI.html index 61d61729..493b74a8 100644 --- a/docs/org/usfirst/frc/team449/robot/oi/OI.html +++ b/docs/org/usfirst/frc/team449/robot/oi/OI.html @@ -2,9 +2,9 @@ - + OI (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/oi/buttons/CommandButton.html b/docs/org/usfirst/frc/team449/robot/oi/buttons/CommandButton.html index 11096d9f..a58b7161 100644 --- a/docs/org/usfirst/frc/team449/robot/oi/buttons/CommandButton.html +++ b/docs/org/usfirst/frc/team449/robot/oi/buttons/CommandButton.html @@ -2,9 +2,9 @@ - + CommandButton (RoboRIO 1.0 API) - + @@ -123,7 +123,7 @@

                Constructor Summary

                Constructor and Description -CommandButton(FactoryButton button, +CommandButton(MappedButton button, YamlCommand command, org.usfirst.frc.team449.robot.oi.buttons.CommandButton.Action action)
                Default constructor.
                @@ -159,14 +159,14 @@

                Methods inherited from class java.lang.Object

                Constructor Detail

                - +

                • CommandButton

                  public CommandButton(@NotNull
-                     FactoryButton button,
+                     MappedButton button,
                      @NotNull
                      YamlCommand command,
                      @NotNull
diff --git a/docs/org/usfirst/frc/team449/robot/oi/buttons/FactoryButton.html b/docs/org/usfirst/frc/team449/robot/oi/buttons/FactoryButton.html
deleted file mode 100644
index 462c82a4..00000000
--- a/docs/org/usfirst/frc/team449/robot/oi/buttons/FactoryButton.html
+++ /dev/null
@@ -1,349 +0,0 @@
-
-
-
-
-
-FactoryButton (RoboRIO 1.0 API)
-
-
-
-
-
-
-
-
-
                  
-
-
-
                  Skip navigation links
                  
-
-
-
-
-
                  
-
                  
-
-
-
-
                  
-
-
                  
-
                  
-
-
-
                  
-
-
-
                  
-
-
-
                  
-
                  org.usfirst.frc.team449.robot.oi.buttons
                  
-
                  Class FactoryButton
                  
-
                  
-
                  
-
                    
-
                  • java.lang.Object
                    • 
-
                  • 
-
                      
-
                    • edu.wpi.first.wpilibj.buttons.Trigger
                      • 
-
                    • 
-
                        
-
                      • edu.wpi.first.wpilibj.buttons.Button
                        • 
-
                      • 
-
                          
-
                        • org.usfirst.frc.team449.robot.oi.buttons.FactoryButton
                          • 
-
                        
-
                        • 
-
                      
-
                      • 
-
                    
-
                    • 
-
                  
-
                  
-
                    
-
                  • 
-
                    
-
                    All Implemented Interfaces:
                    
-
                    edu.wpi.first.wpilibj.Sendable
                    
-
                    
-
                    
-
                    Direct Known Subclasses:
                    
-
                    dPadButton, FactoryJoystickButton, TriggerButton
                    
-
                    
-
                    
-
                    
-
                    public abstract class FactoryButton
-extends edu.wpi.first.wpilibj.buttons.Button
                    
-
                    A factory for constructing a button..
                    
-
                    • 
-
                  
-
                  
-
                  
-
                    
-
                  • 
-
-
                      
-
                    • 
-
-
-
                      Nested Class Summary
                      
-
                        
-
                      • 
-
-
-
                        Nested classes/interfaces inherited from class edu.wpi.first.wpilibj.buttons.Trigger
                        
-edu.wpi.first.wpilibj.buttons.Trigger.ButtonScheduler
                        • 
-
                      
-
                      • 
-
                    
-
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                    • 
-
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                      Constructor Summary
                      
-
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                      Constructors 
                      Constructor and Description
                      FactoryButton() 
                      
-
                      • 
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-
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                      Method Summary
                      
-
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                      All Methods Static Methods Concrete Methods 
                      Modifier and TypeMethod and Description
                      static FactoryButtonconstructButton(MappedJoystick joystick,
-               java.lang.Integer buttonNumber,
-               java.lang.Integer triggerAxis,
-               java.lang.Double triggerAt,
-               java.lang.Integer angle)
-
                      Static factory for constructing different types of buttons.
                      
-
                      
-
                        
-
                      • 
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-
                        Methods inherited from class edu.wpi.first.wpilibj.buttons.Button
                        
-cancelWhenPressed, toggleWhenPressed, whenPressed, whenReleased, whileHeld
                        • 
-
                      
-
                        
-
                      • 
-
-
-
                        Methods inherited from class edu.wpi.first.wpilibj.buttons.Trigger
                        
-cancelWhenActive, get, getSmartDashboardType, getTable, initTable, toggleWhenActive, whenActive, whenInactive, whileActive
                        • 
-
                      
-
                        
-
                      • 
-
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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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                      Constructor Detail
                      
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                        FactoryButton
                        
-
                        public FactoryButton()
                        
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                      Method Detail
                      
-
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                      • 
-
                        constructButton
                        
-
                        @NotNull
-public static FactoryButton constructButton(@NotNull
-                                                      MappedJoystick joystick,
-                                                      @Nullable
-                                                      java.lang.Integer buttonNumber,
-                                                      @Nullable
-                                                      java.lang.Integer triggerAxis,
-                                                      @Nullable
-                                                      java.lang.Double triggerAt,
-                                                      @Nullable
-                                                      java.lang.Integer angle)
                        
-
                        Static factory for constructing different types of buttons.
                        
-
                        
-
                        Parameters:
                        
-
                        joystick - The joystick that the button is on.
                        
-
                        buttonNumber - The index of the button on the joystick (starts at 1). Must be null if either triggerAxis or
-                     angle isn't, but otherwise must have a value. Indicates that this is a simple JoystickButton.
                        
-
                        triggerAxis - The stick axis for the trigger that this button triggers based off of. Must be null if either
-                     buttonNumber or angle isn't, but otherwise must have a value. Indicates that this is a TriggerButton.
                        
-
                        triggerAt - The amount, on [0, 1], that the joystick must be pushed to trigger. Must be null if
-                     triggerAxis is, and otherwise must have a value.
                        
-
                        angle - The angle the D-pad needs to be pushed to to trigger this button. Must be null if either
-                     triggerAxis or buttonNumber isn't, but otherwise must have a value. Indicates that this is a
-                     dPadButton.
                        
-
                        Returns:
                        
-
                        A Button constructed from the given parameters.
                        
-
                        
-
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diff --git a/docs/org/usfirst/frc/team449/robot/oi/buttons/TriggerButton.html b/docs/org/usfirst/frc/team449/robot/oi/buttons/TriggerButton.html
index 8e5bcaa1..c51f4be9 100644
--- a/docs/org/usfirst/frc/team449/robot/oi/buttons/TriggerButton.html
+++ b/docs/org/usfirst/frc/team449/robot/oi/buttons/TriggerButton.html
@@ -2,9 +2,9 @@
 
 
 
-
+
 TriggerButton (RoboRIO 1.0 API)
-
+
 
 
 
@@ -48,7 +48,7 @@
                diff --git a/docs/org/usfirst/frc/team449/robot/oi/buttons/dPadButton.html b/docs/org/usfirst/frc/team449/robot/oi/buttons/dPadButton.html index 1390ef43..b9c82484 100644 --- a/docs/org/usfirst/frc/team449/robot/oi/buttons/dPadButton.html +++ b/docs/org/usfirst/frc/team449/robot/oi/buttons/dPadButton.html @@ -2,9 +2,9 @@ - + dPadButton (RoboRIO 1.0 API) - + @@ -49,7 +49,7 @@
                • Frames
                  • @@ -105,7 +105,7 @@

                  Class dPadButton

                • edu.wpi.first.wpilibj.buttons.Button
                  • -
                  • org.usfirst.frc.team449.robot.oi.buttons.FactoryButton
                    • +
                  • org.usfirst.frc.team449.robot.jacksonWrappers.MappedButton
                    • org.usfirst.frc.team449.robot.oi.buttons.dPadButton
                      • @@ -128,7 +128,7 @@

                      Class dPadButton


                      public class dPadButton
-extends FactoryButton
                      +extends MappedButton
                      A Button triggered by pushing the D-pad to a specific angle.
                    @@ -191,13 +191,6 @@

                    Method Summary

                    -
                    • @@ -301,7 +294,7 @@

                      get

                      • Frames
                        • diff --git a/docs/org/usfirst/frc/team449/robot/oi/buttons/package-frame.html b/docs/org/usfirst/frc/team449/robot/oi/buttons/package-frame.html index 83c9662a..5f450b3c 100644 --- a/docs/org/usfirst/frc/team449/robot/oi/buttons/package-frame.html +++ b/docs/org/usfirst/frc/team449/robot/oi/buttons/package-frame.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.oi.buttons (RoboRIO 1.0 API) - + @@ -15,8 +15,7 @@

                        Classes

                      diff --git a/docs/org/usfirst/frc/team449/robot/oi/buttons/package-summary.html b/docs/org/usfirst/frc/team449/robot/oi/buttons/package-summary.html index c96260c8..a83d9f3e 100644 --- a/docs/org/usfirst/frc/team449/robot/oi/buttons/package-summary.html +++ b/docs/org/usfirst/frc/team449/robot/oi/buttons/package-summary.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.oi.buttons (RoboRIO 1.0 API) - + @@ -94,18 +94,12 @@

                      Package org.usfirst.frc.team449.robot.oi. -FactoryButton +SimpleButton -
                      A factory for constructing a button..
                      +
                      A version of JoystickButton that is a MappedButton.
                      -FactoryJoystickButton - -
                      A version of JoystickButton that is a FactoryButton.
                      - - - TriggerButton
                      A button that gets triggered by a specific throttle being held down at or over a certain amount.
                      diff --git a/docs/org/usfirst/frc/team449/robot/oi/buttons/package-tree.html b/docs/org/usfirst/frc/team449/robot/oi/buttons/package-tree.html index ba186234..ba312374 100644 --- a/docs/org/usfirst/frc/team449/robot/oi/buttons/package-tree.html +++ b/docs/org/usfirst/frc/team449/robot/oi/buttons/package-tree.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.oi.buttons Class Hierarchy (RoboRIO 1.0 API) - + @@ -85,10 +85,10 @@

                      Class Hierarchy

                      • edu.wpi.first.wpilibj.buttons.Button
                          -
                        • org.usfirst.frc.team449.robot.oi.buttons.FactoryButton +
                        • org.usfirst.frc.team449.robot.jacksonWrappers.MappedButton
                          • diff --git a/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html b/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html index 7165fa74..0fbbcd6e 100644 --- a/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html +++ b/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOriented.html @@ -2,9 +2,9 @@ - + OIFieldOriented (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html b/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html index 3bd37bdc..b5e6608b 100644 --- a/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html +++ b/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/OIFieldOrientedPosCos.html @@ -2,9 +2,9 @@ - + OIFieldOrientedPosCos (RoboRIO 1.0 API) - + @@ -134,8 +134,8 @@

                          Constructor Summary

                          Constructor and Description -OIFieldOrientedPosCos(Throttle xThrottle, - Throttle yThrottle, +OIFieldOrientedPosCos(Throttle xThrottle, + Throttle yThrottle, double rDeadband)
                          Default constructor
                          @@ -202,9 +202,9 @@

                          Constructor Detail

                        • OIFieldOrientedPosCos

                          public OIFieldOrientedPosCos(@NotNull
-                             Throttle xThrottle,
+                             Throttle xThrottle,
                              @NotNull
-                             Throttle yThrottle,
+                             Throttle yThrottle,
                              double rDeadband)
                          Default constructor
                          diff --git a/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/package-frame.html b/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/package-frame.html index d6fb1d1e..26f6e792 100644 --- a/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/package-frame.html +++ b/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/package-frame.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.oi.fieldoriented (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/package-summary.html b/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/package-summary.html index c9fed6a0..5918ecfb 100644 --- a/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/package-summary.html +++ b/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/package-summary.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.oi.fieldoriented (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/package-tree.html b/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/package-tree.html index d0f40a11..5e426062 100644 --- a/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/package-tree.html +++ b/docs/org/usfirst/frc/team449/robot/oi/fieldoriented/package-tree.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.oi.fieldoriented Class Hierarchy (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/oi/package-frame.html b/docs/org/usfirst/frc/team449/robot/oi/package-frame.html index a8a3fec7..a97a458c 100644 --- a/docs/org/usfirst/frc/team449/robot/oi/package-frame.html +++ b/docs/org/usfirst/frc/team449/robot/oi/package-frame.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.oi (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/oi/package-summary.html b/docs/org/usfirst/frc/team449/robot/oi/package-summary.html index 6fb03345..29779285 100644 --- a/docs/org/usfirst/frc/team449/robot/oi/package-summary.html +++ b/docs/org/usfirst/frc/team449/robot/oi/package-summary.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.oi (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/oi/package-tree.html b/docs/org/usfirst/frc/team449/robot/oi/package-tree.html index 7bd26206..b282bd0b 100644 --- a/docs/org/usfirst/frc/team449/robot/oi/package-tree.html +++ b/docs/org/usfirst/frc/team449/robot/oi/package-tree.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.oi Class Hierarchy (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/oi/throttles/Throttle.html b/docs/org/usfirst/frc/team449/robot/oi/throttles/Throttle.html index 2a39533e..d34bf2cf 100644 --- a/docs/org/usfirst/frc/team449/robot/oi/throttles/Throttle.html +++ b/docs/org/usfirst/frc/team449/robot/oi/throttles/Throttle.html @@ -2,9 +2,9 @@ - + Throttle (RoboRIO 1.0 API) - + @@ -18,8 +18,8 @@ catch(err) { } //--> -var methods = {"i0":10}; -var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]}; +var methods = {"i0":6,"i1":6}; +var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],4:["t3","Abstract Methods"]}; var altColor = "altColor"; var rowColor = "rowColor"; var tableTab = "tableTab"; @@ -49,7 +49,7 @@
                          @@ -92,77 +92,31 @@
                          org.usfirst.frc.team449.robot.oi.throttles
                          -

                          Class Throttle

                          +

                          Interface Throttle

                          -
                            -
                          • java.lang.Object
                            • -
                          • -
                              -
                            • org.usfirst.frc.team449.robot.oi.throttles.Throttle
                              • -
                            -
                            • -
                          • - -
                              -
                            • - - -

                              Field Summary

                              - - - - - - - - - - -
                              Fields 
                              Modifier and TypeField and Description
                              protected edu.wpi.first.wpilibj.Joystickstick -
                              The stick we're using
                              -
                              -
                              • -
                            - -
                              -
                            • - - -

                              Constructor Summary

                              - - - - - - - - -
                              Constructors 
                              Constructor and Description
                              Throttle(MappedJoystick stick, - int axis, - boolean inverted) -
                              A basic constructor.
                              -
                              -
                              • -
                            @@ -197,69 +157,37 @@

                            Methods inherited from class java.lang.Object

                            • - +
                                -
                              • +
                              • -

                                Field Detail

                                - +

                                Method Detail

                                +                                 -
                                  -
                                • -

                                  stick

                                  -
                                  @NotNull
-protected final edu.wpi.first.wpilibj.Joystick stick
                                  -
                                  The stick we're using
                                  -
                                  • -
                                -
                                • -
                              -
                                -
                              • - - -

                                Constructor Detail

                                - - - -
                                • -

                                  Throttle

                                  -
                                  public Throttle(@NotNull
-                MappedJoystick stick,
-                int axis,
-                boolean inverted)
                                  -
                                  A basic constructor.
                                  +

                                  getValue

                                  +
                                  double getValue()
                                  +
                                  Get the output of the throttle this object represents.
                                  -
                                  Parameters:
                                  -
                                  stick - The Joystick object being used
                                  -
                                  axis - The axis being used. 0 is X, 1 is Y, 2 is Z.
                                  -
                                  inverted - Whether or not to invert the joystick input. Defaults to false.
                                  +
                                  Returns:
                                  +
                                  The output from [-1, 1].
                                -
                                • -
                              - -
                                -
                              • - - -

                                Method Detail

                                - +
                                • -

                                  getValue

                                  -
                                  public double getValue()
                                  -
                                  Gets the raw value from the stick and inverts it if necessary.
                                  +

                                  getValueCached

                                  +
                                  double getValueCached()
                                  +
                                  Get the cached output of the throttle this object represents.
                                  Returns:
                                  -
                                  The raw joystick output, on [-1, 1].
                                  +
                                  The output from [-1, 1].
                                @@ -291,7 +219,7 @@

                                getValue

                                diff --git a/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottleBasic.html b/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottleBasic.html new file mode 100644 index 00000000..eedf857b --- /dev/null +++ b/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottleBasic.html @@ -0,0 +1,466 @@ + + + + + +ThrottleBasic (RoboRIO 1.0 API) + + + + + + + + +
                                + + +
                                Skip navigation links
                                + + + + +
                                +
                                + + + +
                                + +
                                +
                                + + +
                                + + +
                                + + +
                                +
                                org.usfirst.frc.team449.robot.oi.throttles
                                +

                                Class ThrottleBasic

                                +
                                +
                                +
                                  +
                                • java.lang.Object
                                  • +
                                • +
                                    +
                                  • org.usfirst.frc.team449.robot.oi.throttles.ThrottleBasic
                                    • +
                                  +
                                  • +
                                +
                                +
                                  +
                                • +
                                  +
                                  All Implemented Interfaces:
                                  +
                                  edu.wpi.first.wpilibj.PIDSource, Updatable, Throttle
                                  +
                                  +
                                  +
                                  Direct Known Subclasses:
                                  +
                                  ThrottleDeadbanded
                                  +
                                  +
                                  +
                                  +
                                  public class ThrottleBasic
+extends java.lang.Object
+implements Throttle, edu.wpi.first.wpilibj.PIDSource
                                  +
                                  A class representing a single axis on a joystick.
                                  +
                                  • +
                                +
                                +
                                +
                                  +
                                • + +
                                    +
                                  • + + +

                                    Field Summary

                                    + + + + + + + + + + + + + + +
                                    Fields 
                                    Modifier and TypeField and Description
                                    protected doublecachedOutput +
                                    The cached value of the output.
                                    +
                                    protected edu.wpi.first.wpilibj.Joystickstick +
                                    The stick we're using
                                    +
                                    +
                                    • +
                                  + +
                                    +
                                  • + + +

                                    Constructor Summary

                                    + + + + + + + + +
                                    Constructors 
                                    Constructor and Description
                                    ThrottleBasic(MappedJoystick stick, + int axis, + boolean inverted) +
                                    Default constructor.
                                    +
                                    +
                                    • +
                                  + +
                                    +
                                  • + + +

                                    Method Summary

                                    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                    All Methods Instance Methods Concrete Methods 
                                    Modifier and TypeMethod and Description
                                    edu.wpi.first.wpilibj.PIDSourceTypegetPIDSourceType() +
                                    Get which parameter of the device you are using as a process control variable.
                                    +
                                    doublegetValue() +
                                    Gets the raw value from the stick and inverts it if necessary.
                                    +
                                    doublegetValueCached() +
                                    Get the cached output of the throttle this object represents.
                                    +
                                    doublepidGet() +
                                    Get the result to use in PIDController.
                                    +
                                    voidsetPIDSourceType(edu.wpi.first.wpilibj.PIDSourceType pidSource) +
                                    Set which parameter of the device you are using as a process control variable.
                                    +
                                    voidupdate() +
                                    Updates all cached values with current ones.
                                    +
                                    +
                                      +
                                    • + + +

                                      Methods inherited from class java.lang.Object

                                      +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
                                      • +
                                    +
                                    • +
                                  +
                                  • +
                                +
                                +
                                +
                                  +
                                • + +
                                    +
                                  • + + +

                                    Field Detail

                                    + + + +
                                      +
                                    • +

                                      stick

                                      +
                                      @NotNull
+protected final edu.wpi.first.wpilibj.Joystick stick
                                      +
                                      The stick we're using
                                      +
                                      • +
                                    + + + +
                                      +
                                    • +

                                      cachedOutput

                                      +
                                      protected double cachedOutput
                                      +
                                      The cached value of the output.
                                      +
                                      • +
                                    +
                                    • +
                                  + +
                                    +
                                  • + + +

                                    Constructor Detail

                                    + + + +
                                      +
                                    • +

                                      ThrottleBasic

                                      +
                                      public ThrottleBasic(@NotNull
+                     MappedJoystick stick,
+                     int axis,
+                     boolean inverted)
                                      +
                                      Default constructor.
                                      +
                                      +
                                      Parameters:
                                      +
                                      stick - The Joystick object being used
                                      +
                                      axis - The axis being used. 0 is X, 1 is Y, 2 is Z.
                                      +
                                      inverted - Whether or not to invert the joystick input. Defaults to false.
                                      +
                                      +
                                      • +
                                    +
                                    • +
                                  + +
                                    +
                                  • + + +

                                    Method Detail

                                    + + + +
                                      +
                                    • +

                                      getValue

                                      +
                                      public double getValue()
                                      +
                                      Gets the raw value from the stick and inverts it if necessary.
                                      +
                                      +
                                      Specified by:
                                      +
                                      getValue in interface Throttle
                                      +
                                      Returns:
                                      +
                                      The raw joystick output, on [-1, 1].
                                      +
                                      +
                                      • +
                                    + + + +
                                      +
                                    • +

                                      getValueCached

                                      +
                                      public double getValueCached()
                                      +
                                      Get the cached output of the throttle this object represents.
                                      +
                                      +
                                      Specified by:
                                      +
                                      getValueCached in interface Throttle
                                      +
                                      Returns:
                                      +
                                      The output from [-1, 1].
                                      +
                                      +
                                      • +
                                    + + + +
                                      +
                                    • +

                                      update

                                      +
                                      public void update()
                                      +
                                      Updates all cached values with current ones.
                                      +
                                      +
                                      Specified by:
                                      +
                                      update in interface Updatable
                                      +
                                      +
                                      • +
                                    + + + +
                                      +
                                    • +

                                      setPIDSourceType

                                      +
                                      public void setPIDSourceType(edu.wpi.first.wpilibj.PIDSourceType pidSource)
                                      +
                                      Set which parameter of the device you are using as a process control variable.
                                      +
                                      +
                                      Specified by:
                                      +
                                      setPIDSourceType in interface edu.wpi.first.wpilibj.PIDSource
                                      +
                                      Parameters:
                                      +
                                      pidSource - An enum to select the parameter.
                                      +
                                      +
                                      • +
                                    + + + +
                                      +
                                    • +

                                      getPIDSourceType

                                      +
                                      public edu.wpi.first.wpilibj.PIDSourceType getPIDSourceType()
                                      +
                                      Get which parameter of the device you are using as a process control variable.
                                      +
                                      +
                                      Specified by:
                                      +
                                      getPIDSourceType in interface edu.wpi.first.wpilibj.PIDSource
                                      +
                                      Returns:
                                      +
                                      the currently selected PID source parameter
                                      +
                                      +
                                      • +
                                    + + + +
                                      +
                                    • +

                                      pidGet

                                      +
                                      public double pidGet()
                                      +
                                      Get the result to use in PIDController.
                                      +
                                      +
                                      Specified by:
                                      +
                                      pidGet in interface edu.wpi.first.wpilibj.PIDSource
                                      +
                                      Returns:
                                      +
                                      the result to use in PIDController
                                      +
                                      +
                                      • +
                                    +
                                    • +
                                  +
                                  • +
                                +
                                +
                                + + +
                                + + +
                                Skip navigation links
                                + + + + +
                                +
                                + + + +
                                + +
                                +
                                + + +
                                + + +
                                + + + diff --git a/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottleDeadbanded.html b/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottleDeadbanded.html index b6b54055..2a2f1e72 100644 --- a/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottleDeadbanded.html +++ b/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottleDeadbanded.html @@ -2,9 +2,9 @@ - + ThrottleDeadbanded (RoboRIO 1.0 API) - + @@ -48,7 +48,7 @@
                            @@ -146,11 +150,11 @@

                            Field Summary

                          @@ -166,9 +170,10 @@

                          Constructor Summary

                          Constructor and Description -ThrottleDeadbanded(MappedJoystick stick, +ThrottleDeadbanded(MappedJoystick stick, int axis, double deadband, + java.lang.Double smoothingTimeSecs, boolean inverted)
                          A basic constructor.
                          @@ -196,6 +201,13 @@

                          Method Summary

                          +
                          • @@ -234,7 +246,7 @@

                            deadband

                            Constructor Detail

                            - +
                              @@ -244,6 +256,8 @@

                              ThrottleDeadbanded

                              MappedJoystick stick, int axis, double deadband, + @Nullable + java.lang.Double smoothingTimeSecs, boolean inverted)
                              A basic constructor.
                              @@ -251,6 +265,7 @@

                              ThrottleDeadbanded

                              stick - The Joystick object being used
                              axis - The axis being used. 0 is X, 1 is Y, 2 is Z.
                              deadband - The deadband below which the input will be read as 0, on [0, 1]. Defaults to 0.
                              +
                              smoothingTimeSecs - How many seconds of input to take into account when smoothing. Defaults to 0.02.
                              inverted - Whether or not to invert the joystick input. Defaults to false.
                              @@ -270,14 +285,12 @@

                              Method Detail

                            • getValue

                              public double getValue()
                              -
                              Gets the value from the joystick and deadbands it. The non-deadband values are scaled to avoid a discontinuity, - so the graph of joystick input to deadbanded output looks like this: -

                              - _/ - /

                              +
                              Gets the value from the joystick and deadbands it. The non-deadband values are scaled to avoid a discontinuity.
                              +
                              Specified by:
                              +
                              getValue in interface Throttle
                              Overrides:
                              -
                              getValue in class Throttle
                              +
                              getValue in class ThrottleBasic
                              Returns:
                              The joystick's value, after being deadbanded.
                              @@ -310,7 +323,7 @@

                              getValue

                            diff --git a/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottleExponential.html b/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottleExponential.html index f54d96f5..87d7f188 100644 --- a/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottleExponential.html +++ b/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottleExponential.html @@ -2,9 +2,9 @@ - + ThrottleExponential (RoboRIO 1.0 API) - + @@ -99,7 +99,7 @@

                            Class ThrottleExponentialjava.lang.Object

                          @@ -283,6 +298,8 @@

                          getValue

                          public double getValue()
                          Raises the base to the value of the deadbanded joystick output, adjusting for sign.
                          +
                          Specified by:
                          +
                          getValue in interface Throttle
                          Overrides:
                          getValue in class ThrottleDeadbanded
                          Returns:
                          diff --git a/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottlePolynomial.html b/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottlePolynomial.html index 7aa164ec..18eb42aa 100644 --- a/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottlePolynomial.html +++ b/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottlePolynomial.html @@ -2,9 +2,9 @@ - + ThrottlePolynomial (RoboRIO 1.0 API) - + @@ -49,7 +49,7 @@
                        @@ -286,6 +300,8 @@

                        getValue

                        public double getValue()
                        Passes the deadbanded joystick output to the polynomial, while preserving sign.
                        +
                        Specified by:
                        +
                        getValue in interface Throttle
                        Overrides:
                        getValue in class ThrottleDeadbanded
                        Returns:
                        @@ -321,7 +337,7 @@

                        getValue

                        • Frames
                          • diff --git a/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottleSum.html b/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottleSum.html new file mode 100644 index 00000000..c8a7e58e --- /dev/null +++ b/docs/org/usfirst/frc/team449/robot/oi/throttles/ThrottleSum.html @@ -0,0 +1,390 @@ + + + + + +ThrottleSum (RoboRIO 1.0 API) + + + + + + + + +
                          + + +
                          Skip navigation links
                          + + + + +
                          +
                          + + + +
                          + +
                          +
                          + + +
                          + + +
                          + + +
                          +
                          org.usfirst.frc.team449.robot.oi.throttles
                          +

                          Class ThrottleSum

                          +
                          +
                          +
                            +
                          • java.lang.Object
                            • +
                          • +
                              +
                            • org.usfirst.frc.team449.robot.oi.throttles.ThrottleSum
                              • +
                            +
                            • +
                          +
                          +
                            +
                          • +
                            +
                            All Implemented Interfaces:
                            +
                            Updatable, Throttle
                            +
                            +
                            +
                            +
                            public class ThrottleSum
+extends java.lang.Object
+implements Throttle
                            +
                            A Throttle that sums any number of other Throttles.
                            +
                            • +
                          +
                          +
                          +
                            +
                          • + +
                              +
                            • + + +

                              Field Summary

                              + + + + + + + + + + + + + + +
                              Fields 
                              Modifier and TypeField and Description
                              protected doublecachedValue +
                              The cached output.
                              +
                              protected Throttle[]throttles +
                              The throttles to sum.
                              +
                              +
                              • +
                            + +
                              +
                            • + + +

                              Constructor Summary

                              + + + + + + + + +
                              Constructors 
                              Constructor and Description
                              ThrottleSum(Throttle[] throttles) +
                              Default constructor.
                              +
                              +
                              • +
                            + +
                              +
                            • + + +

                              Method Summary

                              + + + + + + + + + + + + + + + + + + +
                              All Methods Instance Methods Concrete Methods 
                              Modifier and TypeMethod and Description
                              doublegetValue() +
                              Sums the throttles and returns their output
                              +
                              doublegetValueCached() +
                              Get the cached output of the throttle this object represents.
                              +
                              voidupdate() +
                              Updates all cached values with current ones.
                              +
                              +
                                +
                              • + + +

                                Methods inherited from class java.lang.Object

                                +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
                                • +
                              +
                              • +
                            +
                            • +
                          +
                          +
                          +
                            +
                          • + +
                              +
                            • + + +

                              Field Detail

                              + + + +
                                +
                              • +

                                throttles

                                +
                                @NotNull
+protected final Throttle[] throttles
                                +
                                The throttles to sum.
                                +
                                • +
                              + + + +
                                +
                              • +

                                cachedValue

                                +
                                protected double cachedValue
                                +
                                The cached output.
                                +
                                • +
                              +
                              • +
                            + +
                              +
                            • + + +

                              Constructor Detail

                              + + + +
                                +
                              • +

                                ThrottleSum

                                +
                                public ThrottleSum(@NotNull
+                   Throttle[] throttles)
                                +
                                Default constructor.
                                +
                                +
                                Parameters:
                                +
                                throttles - The throttles to sum.
                                +
                                +
                                • +
                              +
                              • +
                            + +
                              +
                            • + + +

                              Method Detail

                              + + + +
                                +
                              • +

                                getValue

                                +
                                public double getValue()
                                +
                                Sums the throttles and returns their output
                                +
                                +
                                Specified by:
                                +
                                getValue in interface Throttle
                                +
                                Returns:
                                +
                                The summed outputs, clipped to [-1, 1].
                                +
                                +
                                • +
                              + + + +
                                +
                              • +

                                getValueCached

                                +
                                public double getValueCached()
                                +
                                Get the cached output of the throttle this object represents.
                                +
                                +
                                Specified by:
                                +
                                getValueCached in interface Throttle
                                +
                                Returns:
                                +
                                The output from [-1, 1].
                                +
                                +
                                • +
                              + + + +
                                +
                              • +

                                update

                                +
                                public void update()
                                +
                                Updates all cached values with current ones.
                                +
                                +
                                Specified by:
                                +
                                update in interface Updatable
                                +
                                +
                                • +
                              +
                              • +
                            +
                            • +
                          +
                          +
                          + + +
                          + + +
                          Skip navigation links
                          + + + + +
                          +
                          + + + +
                          + +
                          +
                          + + +
                          + + +
                          + + + diff --git a/docs/org/usfirst/frc/team449/robot/oi/throttles/package-frame.html b/docs/org/usfirst/frc/team449/robot/oi/throttles/package-frame.html index 932bc4a4..cbf7e1ec 100644 --- a/docs/org/usfirst/frc/team449/robot/oi/throttles/package-frame.html +++ b/docs/org/usfirst/frc/team449/robot/oi/throttles/package-frame.html @@ -2,21 +2,26 @@ - + org.usfirst.frc.team449.robot.oi.throttles (RoboRIO 1.0 API) - +

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

                          +

                          Interfaces

                          +

                          Classes

                          diff --git a/docs/org/usfirst/frc/team449/robot/oi/throttles/package-summary.html b/docs/org/usfirst/frc/team449/robot/oi/throttles/package-summary.html index 38d3b3fe..e9ab14ab 100644 --- a/docs/org/usfirst/frc/team449/robot/oi/throttles/package-summary.html +++ b/docs/org/usfirst/frc/team449/robot/oi/throttles/package-summary.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.oi.throttles (RoboRIO 1.0 API) - + @@ -74,6 +74,23 @@

                          Package org.usfirst.frc.team449.robot.oi.
                          • + + + + + + + + + + + + +
                            Interface Summary 
                            InterfaceDescription
                            Throttle +
                            An object representing an axis of a stick on a joystick.
                            +
                            +
                            • +
                          • @@ -82,7 +99,7 @@

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

                            - + @@ -90,7 +107,7 @@

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

                            @@ -105,6 +122,12 @@

                            Package org.usfirst.frc.team449.robot.oi.
                            A polynomially scaled throttle.

                            + + + +
                            Class Summary 
                            ThrottleThrottleBasic
                            A class representing a single axis on a joystick.
                            ThrottleDeadbanded -
                            A throttle with a deadband.
                            +
                            A throttle with a deadband and smoothing.
                            ThrottleSum +
                            A Throttle that sums any number of other Throttles.
                            +
                            • diff --git a/docs/org/usfirst/frc/team449/robot/oi/throttles/package-tree.html b/docs/org/usfirst/frc/team449/robot/oi/throttles/package-tree.html index 971db96d..a161353b 100644 --- a/docs/org/usfirst/frc/team449/robot/oi/throttles/package-tree.html +++ b/docs/org/usfirst/frc/team449/robot/oi/throttles/package-tree.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.oi.throttles Class Hierarchy (RoboRIO 1.0 API) - + @@ -80,7 +80,7 @@

                            Class Hierarchy

                            • java.lang.Object
                                -
                              • org.usfirst.frc.team449.robot.oi.throttles.Throttle +
                              • 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.ThrottleDeadbanded
                                    @@ -90,6 +90,15 @@

                                    Class Hierarchy

                                  • +
                                • org.usfirst.frc.team449.robot.oi.throttles.ThrottleSum (implements org.usfirst.frc.team449.robot.oi.throttles.Throttle)
                                  • +
                                +
                                • +
                              +

                              Interface Hierarchy

                              +
                                +
                              • org.usfirst.frc.team449.robot.generalInterfaces.updatable.Updatable +
                                  +
                                • org.usfirst.frc.team449.robot.oi.throttles.Throttle
                              diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/OIOutreach.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/OIOutreach.html index 09a8f9d3..4e76dd82 100644 --- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/OIOutreach.html +++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/OIOutreach.html @@ -2,9 +2,9 @@ - + OIOutreach (RoboRIO 1.0 API) - + @@ -18,7 +18,7 @@ catch(err) { } //--> -var methods = {"i0":10,"i1":10,"i2":10}; +var methods = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":10,"i5":10,"i6":10}; var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]}; var altColor = "altColor"; var rowColor = "rowColor"; @@ -108,7 +108,7 @@

                              Class OIOutreach

                            • All Implemented Interfaces:
                              -
                              OI, OIUnidirectional
                              +
                              Updatable, OI, OIUnidirectional

                              @@ -133,9 +133,9 @@

                              Constructor Summary

                              Constructor and Description -OIOutreach(OIUnidirectional overridingOI, +OIOutreach(OIUnidirectional overridingOI, OIUnidirectional overridenOI, - FactoryButton button)  + MappedButton button) 
                              • @@ -159,17 +159,41 @@

                              Method Summary

                              +boolean +commandingStraightCached() +
                              Whether the driver was trying to drive straight when values were cached.
                              + + + double getLeftOutput()
                              The output to be given to the left side of the drive.
                              - + +double +getLeftOutputCached() +
                              The cached output to be given to the left side of the drive.
                              + + + double getRightOutput()
                              The output to be given to the right side of the drive.
                              + +double +getRightOutputCached() +
                              The cached output to be given to the right side of the drive.
                              + + + +void +update() +
                              Updates all cached values with current ones.
                              + +

                      + + + +
                        +
                      • +

                        getLeftOutputCached

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

                        getRightOutputCached

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

                        commandingStraightCached

                        +
                        public boolean commandingStraightCached()
                        +
                        Whether the driver was trying to drive straight when values were cached.
                        +
                        +
                        Specified by:
                        +
                        commandingStraightCached in interface OIUnidirectional
                        +
                        Returns:
                        +
                        True if the driver is trying to drive straight, false otherwise.
                        +
                        +
                        • +
                      + + + +
                        +
                      • +

                        update

                        +
                        public void update()
                        +
                        Updates all cached values with current ones.
                        +
                        +
                        Specified by:
                        +
                        update in interface Updatable
                        +
                        +
                        • +
                    • diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.html index 77f51549..19133119 100644 --- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.html +++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/OIUnidirectional.html @@ -2,9 +2,9 @@ - + OIUnidirectional (RoboRIO 1.0 API) - + @@ -18,7 +18,7 @@ catch(err) { } //--> -var methods = {"i0":6,"i1":6,"i2":6}; +var methods = {"i0":6,"i1":6,"i2":6,"i3":6,"i4":6,"i5":6}; var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],4:["t3","Abstract Methods"]}; var altColor = "altColor"; var rowColor = "rowColor"; @@ -100,7 +100,7 @@

                    Interface OIUnidirectional<
                  • All Superinterfaces:
                    -
                    OI
                    +
                    OI, Updatable
                    All Known Implementing Classes:
                    @@ -109,7 +109,7 @@

                    Interface OIUnidirectional< 

                    public interface OIUnidirectional
-extends OI
                    +extends Updatable, 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)

                    • @@ -137,18 +137,43 @@

                    Method Summary

                    +boolean +commandingStraightCached() +
                    Whether the driver was trying to drive straight when values were cached.
                    + + + double getLeftOutput()
                    The output to be given to the left side of the drive.
                    - + +double +getLeftOutputCached() +
                    The cached output to be given to the left side of the drive.
                    + + + double getRightOutput()
                    The output to be given to the right side of the drive.
                    + +double +getRightOutputCached() +
                    The cached output to be given to the right side of the drive.
                    + + +
                      +
                    • + + +

                      Methods inherited from interface org.usfirst.frc.team449.robot.generalInterfaces.updatable.Updatable

                      +update
                      • +
                  • @@ -194,7 +219,7 @@

                  getRightOutput

                  -
                    +

                    • commandingStraight

                      boolean commandingStraight()
                      @@ -205,6 +230,48 @@

                      commandingStraight

                    + + + +
                      +
                    • +

                      getLeftOutputCached

                      +
                      double getLeftOutputCached()
                      +
                      The cached output to be given to the left side of the drive.
                      +
                      +
                      Returns:
                      +
                      Output to left side from [-1, 1]
                      +
                      +
                      • +
                    + + + +
                      +
                    • +

                      getRightOutputCached

                      +
                      double getRightOutputCached()
                      +
                      The cached output to be given to the right side of the drive.
                      +
                      +
                      Returns:
                      +
                      Output to right side from [-1, 1]
                      +
                      +
                      • +
                    + + + +
                      +
                    • +

                      commandingStraightCached

                      +
                      boolean commandingStraightCached()
                      +
                      Whether the driver was trying to drive straight when values were cached.
                      +
                      +
                      Returns:
                      +
                      True if the driver is trying to drive straight, false otherwise.
                      +
                      +
                      • +
                  diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcade.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcade.html index 3162aff8..713ca9f4 100644 --- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcade.html +++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcade.html @@ -2,9 +2,9 @@ - + OIArcade (RoboRIO 1.0 API) - + @@ -18,7 +18,7 @@ catch(err) { } //--> -var methods = {"i0":10,"i1":6,"i2":10,"i3":10,"i4":6}; +var methods = {"i0":10,"i1":10,"i2":6,"i3":10,"i4":10,"i5":10,"i6":10,"i7":10,"i8":6,"i9":10,"i10":10}; var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],4:["t3","Abstract Methods"],8:["t4","Concrete Methods"]}; var altColor = "altColor"; var rowColor = "rowColor"; @@ -108,7 +108,7 @@

                  Class OIArcade

                • All Implemented Interfaces:
                  -
                  OI, OIUnidirectional
                  +
                  Updatable, OI, OIUnidirectional
                  Direct Known Subclasses:
                  @@ -162,29 +162,65 @@

                  Method Summary

                  +boolean +commandingStraightCached() +
                  Whether the driver was trying to drive straight when values were cached.
                  + + + abstract double getFwd()
                  Get the velocity input.
                  - + +double +getFwdCached() +
                  Get the cached velocity input.
                  + + + double getLeftOutput()
                  The output to be given to the left side of the drive.
                  - + +double +getLeftOutputCached() +
                  The cached output to be given to the left side of the drive.
                  + + + double getRightOutput()
                  The output to be given to the right side of the drive.
                  - + +double +getRightOutputCached() +
                  The cached output to be given to the right side of the drive.
                  + + + abstract double getRot()
                  Get the rotational input.
                  + +double +getRotCached() +
                  Get the cached rotational input.
                  + + + +void +update() +
                  Updates all cached values with current ones.
                  + +
                + + + +
                  +
                • +

                  getRotCached

                  +
                  public double getRotCached()
                  +
                  Get the cached rotational input.
                  +
                  +
                  Returns:
                  +
                  rotational velocity component from [-1, 1], where 1 is right and -1 is left.
                  +
                  +
                  • +
                + + + +
                  +
                • +

                  getFwdCached

                  +
                  public double getFwdCached()
                  +
                  Get the cached velocity input.
                  +
                  +
                  Returns:
                  +
                  forward velocity component from [-1, 1], where 1 is forwards and -1 is backwards
                  +
                  +
                  • +
                @@ -287,7 +351,7 @@

                getRightOutput

                -
                  +

                  • commandingStraight

                    public boolean commandingStraight()
                    @@ -300,6 +364,68 @@

                    commandingStraight

                  + + + +
                    +
                  • +

                    getLeftOutputCached

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

                    getRightOutputCached

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

                    commandingStraightCached

                    +
                    public boolean commandingStraightCached()
                    +
                    Whether the driver was trying to drive straight when values were cached.
                    +
                    +
                    Specified by:
                    +
                    commandingStraightCached in interface OIUnidirectional
                    +
                    Returns:
                    +
                    True if the driver is trying to drive straight, false otherwise.
                    +
                    +
                    • +
                  + + + +
                    +
                  • +

                    update

                    +
                    public void update()
                    +
                    Updates all cached values with current ones.
                    +
                    +
                    Specified by:
                    +
                    update in interface Updatable
                    +
                    +
                    • +
                diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeSimple.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeSimple.html index 4b2b9703..77e7458d 100644 --- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeSimple.html +++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeSimple.html @@ -2,9 +2,9 @@ - + OIArcadeSimple (RoboRIO 1.0 API) - + @@ -113,7 +113,7 @@

                Class OIArcadeSimple

              • All Implemented Interfaces:
                -
                OI, OIUnidirectional
                +
                Updatable, OI, OIUnidirectional

                @@ -138,8 +138,8 @@

                Constructor Summary

                Constructor and Description -OIArcadeSimple(Throttle rotThrottle, - Throttle velThrottle) +OIArcadeSimple(Throttle rotThrottle, + Throttle velThrottle)
                Default constructor
                @@ -176,7 +176,7 @@

                Method Summary

                Methods inherited from class org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcade

                -commandingStraight, getLeftOutput, getRightOutput
                • +commandingStraight, commandingStraightCached, getFwdCached, getLeftOutput, getLeftOutputCached, getRightOutput, getRightOutputCached, getRotCached, update
              • @@ -206,9 +206,9 @@

                Constructor Detail

              • OIArcadeSimple

                public OIArcadeSimple(@NotNull
-                      Throttle rotThrottle,
+                      Throttle rotThrottle,
                       @NotNull
-                      Throttle velThrottle)
                + Throttle velThrottle)
                Default constructor
                Parameters:
                diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeWithDPad.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeWithDPad.html index 74e76475..7f0f9273 100644 --- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeWithDPad.html +++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeWithDPad.html @@ -2,9 +2,9 @@ - + OIArcadeWithDPad (RoboRIO 1.0 API) - + @@ -18,7 +18,7 @@ catch(err) { } //--> -var methods = {"i0":10,"i1":10}; +var methods = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":10}; var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]}; var altColor = "altColor"; var rowColor = "rowColor"; @@ -113,12 +113,13 @@

                Class OIArcadeWithDPad

              • All Implemented Interfaces:
                -
                OI, OIUnidirectional
                +
                Loggable, Updatable, OI, OIUnidirectional

                public class OIArcadeWithDPad
-extends OIArcade
                +extends OIArcade +implements Loggable
                An arcade OI with an option to use the D-pad for turning.
              @@ -138,8 +139,8 @@

              Constructor Summary

              Constructor and Description -OIArcadeWithDPad(Throttle rotThrottle, - Throttle fwdThrottle, +OIArcadeWithDPad(Throttle rotThrottle, + Throttle fwdThrottle, double dPadShift, boolean invertDPad, MappedJoystick gamepad, @@ -164,13 +165,31 @@

              Method Summary

              Method and Description +java.lang.Object[] +getData() +
              Get the data this subsystem logs every loop.
              + + + double getFwd()
              The output of the throttle controlling linear velocity, smoothed and adjusted according to what type of joystick it is.
              - + +java.lang.String[] +getHeader() +
              Get the headers for the data this subsystem logs every loop.
              + + + +java.lang.String +getName() +
              Get the name of this object.
              + + + double getRot()
              Get the output of the D-pad or turning joystick, whichever is in use.
              @@ -182,7 +201,7 @@

              Method Summary

              Methods inherited from class org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcade

              -commandingStraight, getLeftOutput, getRightOutput
              • +commandingStraight, commandingStraightCached, getFwdCached, getLeftOutput, getLeftOutputCached, getRightOutput, getRightOutputCached, getRotCached, update
            • @@ -212,9 +231,9 @@

              Constructor Detail

            • OIArcadeWithDPad

              public OIArcadeWithDPad(@NotNull
-                        Throttle rotThrottle,
+                        Throttle rotThrottle,
                         @NotNull
-                        Throttle fwdThrottle,
+                        Throttle fwdThrottle,
                         double dPadShift,
                         boolean invertDPad,
                         @Nullable
@@ -265,7 +284,7 @@ 
              getFwd
              
 
 
 
-
                
+
                  
 
                • 
 
                  getRot
                  
 
                  public double getRot()
                  
@@ -279,6 +298,57 @@ 
                  getRot
                  
 
 
                  • 
 
                
+
+
+
+
                  
+
                • 
+
                  getHeader
                  
+
                  @NotNull
+public java.lang.String[] getHeader()
                  
+
                  Get the headers for the data this subsystem logs every loop.
                  
+
                  
+
                  Specified by:
                  
+
                  getHeader in interface Loggable
                  
+
                  Returns:
                  
+
                  An N-length array of String labels for data, where N is the length of the Object[] returned by getData().
                  
+
                  
+
                  • 
+
                
+
+
+
+
                  
+
                • 
+
                  getData
                  
+
                  @NotNull
+public java.lang.Object[] getData()
                  
+
                  Get the data this subsystem logs every loop.
                  
+
                  
+
                  Specified by:
                  
+
                  getData in interface Loggable
                  
+
                  Returns:
                  
+
                  An N-length array of Objects, where N is the number of labels given by getHeader.
                  
+
                  
+
                  • 
+
                
+
+
+
+
                  
+
                • 
+
                  getName
                  
+
                  @NotNull
+public java.lang.String getName()
                  
+
                  Get the name of this object.
                  
+
                  
+
                  Specified by:
                  
+
                  getName in interface Loggable
                  
+
                  Returns:
                  
+
                  A string that will identify this object in the log file.
                  
+
                  
+
                  • 
+
              • diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-frame.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-frame.html index b64436c2..b06c4b3f 100644 --- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-frame.html +++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-frame.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.oi.unidirectional.arcade (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-summary.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-summary.html index 8e2f4cb7..acfc21c4 100644 --- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-summary.html +++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-summary.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.oi.unidirectional.arcade (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-tree.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-tree.html index fdf63003..974dd4cf 100644 --- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-tree.html +++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/package-tree.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.oi.unidirectional.arcade Class Hierarchy (RoboRIO 1.0 API) - + @@ -83,7 +83,7 @@

              Class Hierarchy

            • 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
                • +
              • org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcadeWithDPad (implements org.usfirst.frc.team449.robot.generalInterfaces.loggable.Loggable)
            diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/package-frame.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/package-frame.html index 9ce07738..e12125cb 100644 --- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/package-frame.html +++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/package-frame.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.oi.unidirectional (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/package-summary.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/package-summary.html index 94686a52..139c17a3 100644 --- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/package-summary.html +++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/package-summary.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.oi.unidirectional (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/package-tree.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/package-tree.html index 418d1a5f..7aa78a03 100644 --- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/package-tree.html +++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/package-tree.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.oi.unidirectional Class Hierarchy (RoboRIO 1.0 API) - + @@ -88,7 +88,12 @@

            Interface Hierarchy

            • org.usfirst.frc.team449.robot.oi.OI
                -
              • org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional
                • +
              • org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional (also extends org.usfirst.frc.team449.robot.generalInterfaces.updatable.Updatable)
                • +
              +
              • +
            • org.usfirst.frc.team449.robot.generalInterfaces.updatable.Updatable +
                +
              • org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional (also extends org.usfirst.frc.team449.robot.oi.OI)
            diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITank.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITank.html index f14c64ef..c1c96238 100644 --- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITank.html +++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITank.html @@ -2,9 +2,9 @@ - + OITank (RoboRIO 1.0 API) - + @@ -18,7 +18,7 @@ catch(err) { } //--> -var methods = {"i0":10,"i1":6,"i2":10,"i3":6}; +var methods = {"i0":10,"i1":10,"i2":6,"i3":10,"i4":10,"i5":10,"i6":6,"i7":10,"i8":10}; var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],4:["t3","Abstract Methods"],8:["t4","Concrete Methods"]}; var altColor = "altColor"; var rowColor = "rowColor"; @@ -108,7 +108,7 @@

            Class OITank

          • All Implemented Interfaces:
            -
            OI, OIUnidirectional
            +
            Updatable, OI, OIUnidirectional
            Direct Known Subclasses:
            @@ -162,23 +162,53 @@

            Method Summary

            +double +getLeftOutputCached() +
            The cached output to be given to the left side of the drive.
            + + + abstract double getLeftThrottle()
            Get the throttle for the left side of the drive.
            - + +double +getLeftThrottleCached() +
            Get the cached throttle for the left side of the drive.
            + + + double getRightOutput()
            The output to be given to the right side of the drive.
            - + +double +getRightOutputCached() +
            The cached output to be given to the right side of the drive.
            + + + abstract double getRightThrottle()
            Get the throttle for the right side of the drive.
            + +double +getRightThrottleCached() +
            Get the cached throttle for the right side of the drive.
            + + + +void +update() +
            Updates all cached values with current ones.
            + +
          @@ -253,6 +283,34 @@

          getRightThrottle

        + + + +
          +
        • +

          getLeftThrottleCached

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

          getRightThrottleCached

          +
          public double getRightThrottleCached()
          +
          Get the cached throttle for the right side of the drive.
          +
          +
          Returns:
          +
          percent of max speed for right motor cluster from [-1.0, 1.0]
          +
          +
          • +
        @@ -272,7 +330,7 @@

        getLeftOutput

        -
          +

          • getRightOutput

            public double getRightOutput()
            @@ -285,6 +343,52 @@

            getRightOutput

          + + + +
            +
          • +

            getLeftOutputCached

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

            getRightOutputCached

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

            update

            +
            public void update()
            +
            Updates all cached values with current ones.
            +
            +
            Specified by:
            +
            update in interface Updatable
            +
            +
            • +
        diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITankSimple.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITankSimple.html index 142ddb3d..83471135 100644 --- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITankSimple.html +++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITankSimple.html @@ -2,9 +2,9 @@ - + OITankSimple (RoboRIO 1.0 API) - + @@ -18,7 +18,7 @@ catch(err) { } //--> -var methods = {"i0":10,"i1":10,"i2":10}; +var methods = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":10}; var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]}; var altColor = "altColor"; var rowColor = "rowColor"; @@ -113,7 +113,7 @@

        Class OITankSimple

      • All Implemented Interfaces:
        -
        OI, OIUnidirectional
        +
        Updatable, OI, OIUnidirectional

        @@ -138,8 +138,8 @@

        Constructor Summary

        Constructor and Description -OITankSimple(Throttle leftThrottle, - Throttle rightThrottle, +OITankSimple(Throttle leftThrottle, + Throttle rightThrottle, double commandingStraightTolerance)
        Default constructor
        @@ -166,24 +166,36 @@

        Method Summary

        +boolean +commandingStraightCached() +
        Whether the driver was trying to drive straight when values were cached.
        + + + double getLeftThrottle()
        Get the throttle for the left side of the drive.
        - + double getRightThrottle()
        Get the throttle for the right side of the drive.
        + +void +update() +
        Updates all cached values with current ones.
        + + + + + +
          +
        • +

          commandingStraightCached

          +
          public boolean commandingStraightCached()
          +
          Whether the driver was trying to drive straight when values were cached.
          +
          +
          Returns:
          +
          True if the driver is trying to drive straight, false otherwise.
          +
          +
          • +
        + + + +
          +
        • +

          update

          +
          public void update()
          +
          Description copied from class: OITank
          +
          Updates all cached values with current ones.
          +
          +
          Specified by:
          +
          update in interface Updatable
          +
          Overrides:
          +
          update in class OITank
          +
          +
          • +
      diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/package-frame.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/package-frame.html index da36c427..db1e8cd9 100644 --- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/package-frame.html +++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/package-frame.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.oi.unidirectional.tank (RoboRIO 1.0 API) - + 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 index 950687eb..2e357f6e 100644 --- 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 @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.oi.unidirectional.tank (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/package-tree.html b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/package-tree.html index 7060b41c..7463dce5 100644 --- a/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/package-tree.html +++ b/docs/org/usfirst/frc/team449/robot/oi/unidirectional/tank/package-tree.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.oi.unidirectional.tank Class Hierarchy (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/other/BufferTimer.html b/docs/org/usfirst/frc/team449/robot/other/BufferTimer.html index 267edbe2..d64f930a 100644 --- a/docs/org/usfirst/frc/team449/robot/other/BufferTimer.html +++ b/docs/org/usfirst/frc/team449/robot/other/BufferTimer.html @@ -2,9 +2,9 @@ - + BufferTimer (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/other/Clock.html b/docs/org/usfirst/frc/team449/robot/other/Clock.html index c33c93ae..df24d917 100644 --- a/docs/org/usfirst/frc/team449/robot/other/Clock.html +++ b/docs/org/usfirst/frc/team449/robot/other/Clock.html @@ -2,9 +2,9 @@ - + Clock (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/other/LogEvent.html b/docs/org/usfirst/frc/team449/robot/other/LogEvent.html index 3a53f5f7..a2765954 100644 --- a/docs/org/usfirst/frc/team449/robot/other/LogEvent.html +++ b/docs/org/usfirst/frc/team449/robot/other/LogEvent.html @@ -2,9 +2,9 @@ - + LogEvent (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/other/Logger.html b/docs/org/usfirst/frc/team449/robot/other/Logger.html index 2fb685c2..9b935039 100644 --- a/docs/org/usfirst/frc/team449/robot/other/Logger.html +++ b/docs/org/usfirst/frc/team449/robot/other/Logger.html @@ -2,9 +2,9 @@ - + Logger (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/other/MotionProfileData.html b/docs/org/usfirst/frc/team449/robot/other/MotionProfileData.html index d1a87f70..980f23ae 100644 --- a/docs/org/usfirst/frc/team449/robot/other/MotionProfileData.html +++ b/docs/org/usfirst/frc/team449/robot/other/MotionProfileData.html @@ -2,9 +2,9 @@ - + MotionProfileData (RoboRIO 1.0 API) - + @@ -18,7 +18,7 @@ catch(err) { } //--> -var methods = {"i0":10,"i1":10}; +var methods = {"i0":10,"i1":10,"i2":10}; var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]}; var altColor = "altColor"; var rowColor = "rowColor"; @@ -156,6 +156,10 @@

      Method Summary

      boolean +isInverted()  + + +boolean isVelocityOnly()  @@ -193,10 +197,11 @@

      MotionProfileData

      Default constructor
      Parameters:
      -
      filename - The filename of the .csv with the motion profile data. The first line must be the number of other - lines.
      +
      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)
      -
      velocityOnly - Whether or not to only use velocity feed-forward. Used for tuning kV and kA. Defaults to false.
      +
      velocityOnly - Whether or not to only use velocity feed-forward. Used for tuning kV and kA. Defaults to + false.
    @@ -225,7 +230,7 @@

    getData

    -
      +

      • isVelocityOnly

        public boolean isVelocityOnly()
        @@ -235,6 +240,19 @@

        isVelocityOnly

      + + + +
        +
      • +

        isInverted

        +
        public boolean isInverted()
        +
        +
        Returns:
        +
        Whether or not the profile is inverted because we're driving it backwards.
        +
        +
        • +
    diff --git a/docs/org/usfirst/frc/team449/robot/other/Polynomial.html b/docs/org/usfirst/frc/team449/robot/other/Polynomial.html index 8cd41795..806c81ff 100644 --- a/docs/org/usfirst/frc/team449/robot/other/Polynomial.html +++ b/docs/org/usfirst/frc/team449/robot/other/Polynomial.html @@ -2,9 +2,9 @@ - + Polynomial (RoboRIO 1.0 API) - + @@ -49,7 +49,7 @@
    • Frames
      • @@ -287,7 +287,7 @@

      getPowerToCoefficientMap

      • Frames
        • diff --git a/docs/org/usfirst/frc/team449/robot/other/UnidirectionalPoseEstimator.html b/docs/org/usfirst/frc/team449/robot/other/UnidirectionalPoseEstimator.html new file mode 100644 index 00000000..809afbc4 --- /dev/null +++ b/docs/org/usfirst/frc/team449/robot/other/UnidirectionalPoseEstimator.html @@ -0,0 +1,460 @@ + + + + + +UnidirectionalPoseEstimator (RoboRIO 1.0 API) + + + + + + + + +
        + + +
        Skip navigation links
        + + + + +
        +
        + + + +
        + +
        +
        +
          +
        • Summary: 
          • +
        • Nested | 
          • +
        • Field | 
          • +
        • Constr | 
          • +
        • Method
          • +
        + +
        + + +
        + + +
        +
        org.usfirst.frc.team449.robot.other
        +

        Class UnidirectionalPoseEstimator<T extends SubsystemAHRS & DriveUnidirectional>

        +
        +
        +
          +
        • java.lang.Object
          • +
        • +
            +
          • org.usfirst.frc.team449.robot.other.UnidirectionalPoseEstimator<T>
            • +
          +
          • +
        +
        + +
        +
        +
          +
        • + +
            +
          • + + +

            Constructor Summary

            + + + + + + + + +
            Constructors 
            Constructor and Description
            UnidirectionalPoseEstimator(java.lang.Double robotDiameter, + T subsystem, + double absolutePosAngleTolerance, + double startX, + double startY, + double startTheta) +
            Default constructor.
            +
            +
            • +
          + +
            +
          • + + +

            Method Summary

            + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
            All Methods Instance Methods Concrete Methods 
            Modifier and TypeMethod and Description
            booleanaddAbsolutePos(double x, + double y, + long time) +
            Add an absolute position at the given time stamp.
            +
            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.
            +
            java.lang.Object[]getData() +
            Get the data this subsystem logs every loop.
            +
            java.lang.String[]getHeader() +
            Get the headers for the data this subsystem logs every loop.
            +
            java.lang.StringgetName() +
            Get the name of this object.
            +
            double[]getPos() +
            Get the current absolute position of the robot
            +
            voidrun() +
            Use the current gyro and encoder data to calculate how the robot has moved since the last time run was called.
            +
            +
              +
            • + + +

              Methods inherited from class java.lang.Object

              +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
              • +
            +
            • +
          +
          • +
        +
        +
        +
          +
        • + +
            +
          • + + +

            Constructor Detail

            + + + + + +
              +
            • +

              UnidirectionalPoseEstimator

              +
              public UnidirectionalPoseEstimator(@Nullable
+                                   java.lang.Double robotDiameter,
+                                   @NotNull
+                                   T subsystem,
+                                   double absolutePosAngleTolerance,
+                                   double startX,
+                                   double startY,
+                                   double startTheta)
              +
              Default constructor.
              +
              +
              Parameters:
              +
              robotDiameter - The wheel-to-wheel diameter of the robot, in feet.
              +
              subsystem - The subsystem to get gyro and encoder data from.
              +
              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.
              +
              startX - The starting X of the robot, in feet. Defaults to 0.
              +
              startY - The starting Y of the robot, in feet. Defaults to 0.
              +
              startTheta - The starting angle of the robot, in degrees. Defaults to 0.
              +
              +
              • +
            +
            • +
          + +
            +
          • + + +

            Method Detail

            + + + +
              +
            • +

              run

              +
              public void run()
              +
              Use the current gyro and encoder data to calculate how the robot has moved since the last time run was called.
              +
              +
              Specified by:
              +
              run in interface java.lang.Runnable
              +
              +
              • +
            + + + +
              +
            • +

              addAbsolutePos

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

              addAbsolutePos

              +
              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.
              +
              +
              Parameters:
              +
              x - The absolute x, in feet
              +
              y - The absolute y, in feet
              +
              time - The time, in milleseconds after the robot code started, that the absolute position was recorded
              +
              angle - The absolute angle, in degrees.
              +
              Returns:
              +
              true if the absolute position was the most recent received and the angle was correct enough to be used, + false otherwise.
              +
              +
              • +
            + + + +
              +
            • +

              getPos

              +
              public double[] getPos()
              +
              Get the current absolute position of the robot
              +
              +
              Returns:
              +
              The current x,y position in feet.
              +
              +
              • +
            + + + +
              +
            • +

              getHeader

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

              getData

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

              getName

              +
              @NotNull
+public java.lang.String getName()
              +
              Get the name of this object.
              +
              +
              Specified by:
              +
              getName in interface Loggable
              +
              Returns:
              +
              A string that will identify this object in the log file.
              +
              +
              • +
            +
            • +
          +
          • +
        +
        +
        + + +
        + + +
        Skip navigation links
        + + + + +
        +
        + + + +
        + +
        +
        +
          +
        • Summary: 
          • +
        • Nested | 
          • +
        • Field | 
          • +
        • Constr | 
          • +
        • Method
          • +
        + +
        + + +
        + + + diff --git a/docs/org/usfirst/frc/team449/robot/other/package-frame.html b/docs/org/usfirst/frc/team449/robot/other/package-frame.html index 7c58dffe..709c3cf5 100644 --- a/docs/org/usfirst/frc/team449/robot/other/package-frame.html +++ b/docs/org/usfirst/frc/team449/robot/other/package-frame.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.other (RoboRIO 1.0 API) - + @@ -19,6 +19,8 @@

        Classes

      • Logger
      • MotionProfileData
      • Polynomial
        • +
      • UnidirectionalPoseEstimator
        • +
      • Updater
      diff --git a/docs/org/usfirst/frc/team449/robot/other/package-summary.html b/docs/org/usfirst/frc/team449/robot/other/package-summary.html index 828de2b4..b5200664 100644 --- a/docs/org/usfirst/frc/team449/robot/other/package-summary.html +++ b/docs/org/usfirst/frc/team449/robot/other/package-summary.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.other (RoboRIO 1.0 API) - + @@ -117,6 +117,18 @@

      Package org.usfirst.frc.team449.robot.oth
      A polynomial of a single variable.
      + +UnidirectionalPoseEstimator<T extends SubsystemAHRS & DriveUnidirectional> + +
      A Runnable for pose estimation that can take absolute positions.
      + + + +Updater + +
      A Runnable for updating cached variables.
      + + diff --git a/docs/org/usfirst/frc/team449/robot/other/package-tree.html b/docs/org/usfirst/frc/team449/robot/other/package-tree.html index 66f0875b..c21c91c6 100644 --- a/docs/org/usfirst/frc/team449/robot/other/package-tree.html +++ b/docs/org/usfirst/frc/team449/robot/other/package-tree.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.other Class Hierarchy (RoboRIO 1.0 API) - + @@ -86,6 +86,8 @@

      Class Hierarchy

    • org.usfirst.frc.team449.robot.other.Logger (implements java.lang.Runnable)
    • org.usfirst.frc.team449.robot.other.MotionProfileData
    • org.usfirst.frc.team449.robot.other.Polynomial
      • +
    • 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)
    diff --git a/docs/org/usfirst/frc/team449/robot/package-frame.html b/docs/org/usfirst/frc/team449/robot/package-frame.html index 8a463e7b..a6ab46ec 100644 --- a/docs/org/usfirst/frc/team449/robot/package-frame.html +++ b/docs/org/usfirst/frc/team449/robot/package-frame.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/package-summary.html b/docs/org/usfirst/frc/team449/robot/package-summary.html index 769645c1..fe1ecf96 100644 --- a/docs/org/usfirst/frc/team449/robot/package-summary.html +++ b/docs/org/usfirst/frc/team449/robot/package-summary.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/package-tree.html b/docs/org/usfirst/frc/team449/robot/package-tree.html index fd959b0f..500acaeb 100644 --- a/docs/org/usfirst/frc/team449/robot/package-tree.html +++ b/docs/org/usfirst/frc/team449/robot/package-tree.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot Class Hierarchy (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/complex/climber/ClimberCurrentLimited.html b/docs/org/usfirst/frc/team449/robot/subsystem/complex/climber/ClimberCurrentLimited.html index 46c10b68..62fa7466 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/complex/climber/ClimberCurrentLimited.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/complex/climber/ClimberCurrentLimited.html @@ -2,9 +2,9 @@ - + ClimberCurrentLimited (RoboRIO 1.0 API) - + @@ -18,7 +18,7 @@ catch(err) { } //--> -var methods = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":10,"i5":10,"i6":10,"i7":10}; +var methods = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":10,"i5":10,"i6":10,"i7":10,"i8":10,"i9":10}; var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]}; var altColor = "altColor"; var rowColor = "rowColor"; @@ -118,7 +118,7 @@

    Class ClimberCurrentLimite
  • All Implemented Interfaces:
    -
    edu.wpi.first.wpilibj.NamedSendable, edu.wpi.first.wpilibj.Sendable, Loggable, SubsystemBinaryMotor, SubsystemConditional
    +
    edu.wpi.first.wpilibj.NamedSendable, edu.wpi.first.wpilibj.Sendable, Loggable, Updatable, SubsystemBinaryMotor, SubsystemConditional

    @@ -197,20 +197,30 @@

    Method Summary

    boolean -isMotorOn()  +isConditionTrueCached()  +boolean +isMotorOn()  + + void turnMotorOff()
    Turns the motor off.
    - + void turnMotorOn()
    Turns the motor on, and sets it to a map-specified speed.
    + +void +update() +
    Updates all cached values with current ones.
    + +
    • @@ -388,7 +398,7 @@

      isMotorOn

       -
        +

        • isConditionTrue

          public boolean isConditionTrue()
          @@ -400,6 +410,35 @@

          isConditionTrue

        + + + +
          +
        • +

          isConditionTrueCached

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

          update

          +
          public void update()
          +
          Updates all cached values with current ones.
          +
          +
          Specified by:
          +
          update in interface Updatable
          +
          +
          • +
      • diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/complex/climber/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/complex/climber/package-frame.html index 6b9d598c..6af7ebab 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/complex/climber/package-frame.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/complex/climber/package-frame.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.complex.climber (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/complex/climber/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/complex/climber/package-summary.html index 9e9ce308..1a8957e7 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/complex/climber/package-summary.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/complex/climber/package-summary.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.complex.climber (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/complex/climber/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/complex/climber/package-tree.html index 9f50a7e8..d0ccf34f 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/complex/climber/package-tree.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/complex/climber/package-tree.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.complex.climber Class Hierarchy (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/complex/intake/IntakeFixedAndActuated.html b/docs/org/usfirst/frc/team449/robot/subsystem/complex/intake/IntakeFixedAndActuated.html index bdc6c6f8..b13054bb 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/complex/intake/IntakeFixedAndActuated.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/complex/intake/IntakeFixedAndActuated.html @@ -2,9 +2,9 @@ - + IntakeFixedAndActuated (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/complex/intake/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/complex/intake/package-frame.html index 44b1bfd1..21e3ae05 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/complex/intake/package-frame.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/complex/intake/package-frame.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.complex.intake (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/complex/intake/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/complex/intake/package-summary.html index 5b6b17a3..dc39b46b 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/complex/intake/package-summary.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/complex/intake/package-summary.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.complex.intake (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/complex/intake/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/complex/intake/package-tree.html index 88052d9e..ba201a9a 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/complex/intake/package-tree.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/complex/intake/package-tree.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.complex.intake Class Hierarchy (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/complex/shooter/LoggingShooter.html b/docs/org/usfirst/frc/team449/robot/subsystem/complex/shooter/LoggingShooter.html index 001ec953..89df7181 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/complex/shooter/LoggingShooter.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/complex/shooter/LoggingShooter.html @@ -2,9 +2,9 @@ - + LoggingShooter (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/complex/shooter/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/complex/shooter/package-frame.html index 094f0a96..1941623e 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/complex/shooter/package-frame.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/complex/shooter/package-frame.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.complex.shooter (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/complex/shooter/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/complex/shooter/package-summary.html index e5664bb5..97c4aae0 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/complex/shooter/package-summary.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/complex/shooter/package-summary.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.complex.shooter (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/complex/shooter/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/complex/shooter/package-tree.html index a9bc2196..b4f0c6f5 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/complex/shooter/package-tree.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/complex/shooter/package-tree.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.complex.shooter Class Hierarchy (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/BinaryMotorSimple.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/BinaryMotorSimple.html index 6e0ef5e4..c2b0132d 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/BinaryMotorSimple.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/BinaryMotorSimple.html @@ -2,9 +2,9 @@ - + BinaryMotorSimple (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/SubsystemBinaryMotor.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/SubsystemBinaryMotor.html index df6b92e5..84251180 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/SubsystemBinaryMotor.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/SubsystemBinaryMotor.html @@ -2,9 +2,9 @@ - + SubsystemBinaryMotor (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/ToggleMotor.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/ToggleMotor.html index d5cdee8b..a10db1b4 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/ToggleMotor.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/ToggleMotor.html @@ -2,9 +2,9 @@ - + ToggleMotor (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOff.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOff.html index db0a550f..31186217 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOff.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOff.html @@ -2,9 +2,9 @@ - + TurnMotorOff (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOffWithRequires.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOffWithRequires.html index 65cd1381..99ff85ad 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOffWithRequires.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOffWithRequires.html @@ -2,9 +2,9 @@ - + TurnMotorOffWithRequires (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOn.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOn.html index c5e6f9ac..d93abd06 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOn.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/TurnMotorOn.html @@ -2,9 +2,9 @@ - + TurnMotorOn (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-frame.html index 670b94fb..ca804259 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-frame.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-frame.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-summary.html index 729791d8..4e8e9cc8 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-summary.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-summary.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-tree.html index 7e8dca54..913cb08f 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-tree.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/commands/package-tree.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands Class Hierarchy (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-frame.html index 6b241ede..7e6dfcda 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-frame.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-frame.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-summary.html index c895f6bd..7df2e414 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-summary.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-summary.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-tree.html index 371eac62..9eef32be 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-tree.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/binaryMotor/package-tree.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor Class Hierarchy (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/SubsystemConditional.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/SubsystemConditional.html index bdfe6038..d11abfda 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/SubsystemConditional.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/SubsystemConditional.html @@ -2,9 +2,9 @@ - + SubsystemConditional (RoboRIO 1.0 API) - + @@ -18,7 +18,7 @@ catch(err) { } //--> -var methods = {"i0":6}; +var methods = {"i0":6,"i1":6}; var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],4:["t3","Abstract Methods"]}; var altColor = "altColor"; var rowColor = "rowColor"; @@ -99,12 +99,17 @@

      Interface SubsystemCond
      • +
        All Superinterfaces:
        +
        Updatable
        +
        +
        All Known Implementing Classes:
        ClimberCurrentLimited

        -
        public interface SubsystemConditional
        +
        public interface SubsystemConditional
+extends Updatable
        A subsystem with a condition that's sometimes met, e.g. a limit switch, a current/power limit, an IR sensor.
      @@ -128,7 +133,18 @@

      Method Summary

      boolean isConditionTrue()  + +boolean +isConditionTrueCached()  + +
        +
      • + + +

        Methods inherited from interface org.usfirst.frc.team449.robot.generalInterfaces.updatable.Updatable

        +update
        • +
    • @@ -146,7 +162,7 @@

    Method Detail

    -
      +

      • isConditionTrue

        boolean isConditionTrue()
        @@ -156,6 +172,19 @@

        isConditionTrue

      + + + +
        +
      • +

        isConditionTrueCached

        +
        boolean isConditionTrueCached()
        +
        +
        Returns:
        +
        true if the condition was met when cached, false otherwise
        +
        +
        • +
    diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-frame.html index df9f9078..eca004f7 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-frame.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-frame.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.interfaces.conditional (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-summary.html index c06fdad5..0366cc3a 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-summary.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-summary.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.interfaces.conditional (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-tree.html index 31a7a815..8045ae63 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-tree.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/conditional/package-tree.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.interfaces.conditional Class Hierarchy (RoboRIO 1.0 API) - + @@ -78,8 +78,12 @@

    Hierarchy For Package org.usfirst.frc.team449.robot.subsystem.

    Interface Hierarchy

      +
    • org.usfirst.frc.team449.robot.generalInterfaces.updatable.Updatable + +
      • +
    diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/IntakeSimple.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/IntakeSimple.html index 4a097c33..ec00bec1 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/IntakeSimple.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/IntakeSimple.html @@ -2,9 +2,9 @@ - + IntakeSimple (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/SubsystemIntake.IntakeMode.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/SubsystemIntake.IntakeMode.html index d4758ed4..177b47f5 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/SubsystemIntake.IntakeMode.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/SubsystemIntake.IntakeMode.html @@ -2,9 +2,9 @@ - + SubsystemIntake.IntakeMode (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/SubsystemIntake.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/SubsystemIntake.html index f2cd0e62..9124090e 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/SubsystemIntake.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/SubsystemIntake.html @@ -2,9 +2,9 @@ - + SubsystemIntake (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/SetIntakeMode.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/SetIntakeMode.html index d9393093..21421a9b 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/SetIntakeMode.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/SetIntakeMode.html @@ -2,9 +2,9 @@ - + SetIntakeMode (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/ToggleIntaking.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/ToggleIntaking.html index c61d203e..0328b44a 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/ToggleIntaking.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/ToggleIntaking.html @@ -2,9 +2,9 @@ - + ToggleIntaking (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-frame.html index cc6c0a99..d9313797 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-frame.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-frame.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-summary.html index 805c5471..8238e677 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-summary.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-summary.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-tree.html index 5d0678e0..6be7ba60 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-tree.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/commands/package-tree.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands Class Hierarchy (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-frame.html index b8e37278..5ddeabd5 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-frame.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-frame.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.interfaces.intake (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-summary.html index 6297f0fb..572eaa39 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-summary.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-summary.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.interfaces.intake (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-tree.html index fa1e342b..bb419907 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-tree.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/intake/package-tree.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.interfaces.intake Class Hierarchy (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/SubsystemMP.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/SubsystemMP.html index 7ae9307b..e11e59ac 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/SubsystemMP.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/SubsystemMP.html @@ -2,9 +2,9 @@ - + SubsystemMP (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/SubsystemMPTwoSides.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/SubsystemMPTwoSides.html index bd16392e..923d0182 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/SubsystemMPTwoSides.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/SubsystemMPTwoSides.html @@ -2,9 +2,9 @@ - + SubsystemMPTwoSides (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/LoadProfileTwoSides.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/LoadProfileTwoSides.html index b477a0c2..e582d40d 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/LoadProfileTwoSides.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/LoadProfileTwoSides.html @@ -2,9 +2,9 @@ - + LoadProfileTwoSides (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/RunProfileTwoSides.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/RunProfileTwoSides.html index fd20dbc7..02633c49 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/RunProfileTwoSides.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/RunProfileTwoSides.html @@ -2,9 +2,9 @@ - + RunProfileTwoSides (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-frame.html index 08eeaffc..f820eca7 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-frame.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-frame.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-summary.html index cd5e9aa8..2b613c95 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-summary.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-summary.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-tree.html index cb75495e..617d1a43 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-tree.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/commands/package-tree.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands Class Hierarchy (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-frame.html index 4969a176..42553fca 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-frame.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-frame.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-summary.html index 8b6defd3..5a3ed446 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-summary.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-summary.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-tree.html index 30dc6700..48daa02e 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-tree.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/TwoSideMPSubsystem/package-tree.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem Class Hierarchy (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/LoadProfile.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/LoadProfile.html index 23128584..29b394cb 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/LoadProfile.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/LoadProfile.html @@ -2,9 +2,9 @@ - + LoadProfile (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/RunLoadedProfile.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/RunLoadedProfile.html index 7e66c00d..672aaf47 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/RunLoadedProfile.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/RunLoadedProfile.html @@ -2,9 +2,9 @@ - + RunLoadedProfile (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/RunProfile.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/RunProfile.html index 2fe39ac5..05d2eb31 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/RunProfile.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/RunProfile.html @@ -2,9 +2,9 @@ - + RunProfile (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-frame.html index a3e6792d..07bc0536 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-frame.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-frame.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-summary.html index 086c14ee..e1b29ce9 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-summary.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-summary.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-tree.html index 0d03cbbf..b5bfd9f7 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-tree.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/commands/package-tree.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands Class Hierarchy (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-frame.html index 74b998b5..5d652249 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-frame.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-frame.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-summary.html index 4dd7a975..78ebf0d4 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-summary.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-summary.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-tree.html index a6a97654..f195d124 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-tree.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/motionProfile/package-tree.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile Class Hierarchy (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html index c01ac4fd..9f8c8c9e 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/OverrideNavX.html @@ -2,9 +2,9 @@ - + OverrideNavX (RoboRIO 1.0 API) - + @@ -143,7 +143,7 @@

    Constructor Summary

    Constructor and Description -    OverrideNavX(SubsystemNavX subsystem, +OverrideNavX(SubsystemAHRS subsystem, boolean override)
    Default constructor.
    @@ -229,14 +229,14 @@

    Methods inherited from class java.lang.Object

    Constructor Detail

    - +

    • OverrideNavX

      public OverrideNavX(@NotNull
-                    SubsystemNavX subsystem,
+                    SubsystemAHRS subsystem,
                     boolean override)
      Default constructor.
      diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html index 39c19fa9..84e6e3cc 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.html @@ -2,9 +2,9 @@ - + PIDAngleCommand (RoboRIO 1.0 API) - + @@ -149,7 +149,7 @@

      Field Summary

      Field and Description -protected SubsystemNavX +protected SubsystemAHRS subsystem
      The subsystem to execute this command on.
      @@ -169,13 +169,13 @@

      Constructor Summary

      Constructor and Description -PIDAngleCommand(double absoluteTolerance, +PIDAngleCommand(double absoluteTolerance, int toleranceBuffer, double minimumOutput, java.lang.Double maximumOutput, double deadband, boolean inverted, - SubsystemNavX subsystem, + SubsystemAHRS subsystem, double kP, double kI, double kD) @@ -271,7 +271,7 @@

      Field Detail

    • subsystem

      @NotNull
-protected final SubsystemNavX subsystem
      +protected final SubsystemAHRS subsystem
      The subsystem to execute this command on.
    @@ -283,7 +283,7 @@

    subsystem

    Constructor Detail

    - +
      @@ -297,7 +297,7 @@

      PIDAngleCommand

      double deadband, boolean inverted, @NotNull - SubsystemNavX subsystem, + SubsystemAHRS subsystem, double kP, double kI, double kD) diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html index f5dbba82..132758c2 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/ToggleOverrideNavX.html @@ -2,9 +2,9 @@ - + ToggleOverrideNavX (RoboRIO 1.0 API) - + @@ -143,7 +143,7 @@

      Constructor Summary

      Constructor and Description -ToggleOverrideNavX(SubsystemNavX subsystem) +ToggleOverrideNavX(SubsystemAHRS subsystem)
      Default constructor.
      @@ -228,14 +228,14 @@

      Methods inherited from class java.lang.Object

      Constructor Detail

      - +

      • ToggleOverrideNavX

        public ToggleOverrideNavX(@NotNull
-                          SubsystemNavX subsystem)
        + SubsystemAHRS subsystem)
        Default constructor.
        Parameters:
        diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-frame.html index 77802b06..89d77897 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-frame.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-frame.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-summary.html index 0832a3e4..49befa8a 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-summary.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-summary.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-tree.html index 5fb844d3..5e38f7ed 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-tree.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/package-tree.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands Class Hierarchy (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-frame.html index e8eaf49a..6bba9e36 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-frame.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-frame.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.interfaces.navX (RoboRIO 1.0 API) - + @@ -13,7 +13,7 @@

        Interfaces

    diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-summary.html index eff89be7..a1e784df 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-summary.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-summary.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.interfaces.navX (RoboRIO 1.0 API) - + @@ -82,7 +82,7 @@

    Package org.usfirst.frc.team449.robot.sub -SubsystemNavX +SubsystemAHRS
    A subsystem that has a navX on it.
    diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-tree.html index f3bdf3a2..05636453 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-tree.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/package-tree.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.interfaces.navX Class Hierarchy (RoboRIO 1.0 API) - + @@ -78,7 +78,7 @@

    Hierarchy For Package org.usfirst.frc.team449.robot.subsystem.

    Interface Hierarchy

      -
    • org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemNavX
      • +
    • org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemAHRS
    diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/ShooterSimple.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/ShooterSimple.html index 916878bd..a7fc608b 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/ShooterSimple.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/ShooterSimple.html @@ -2,9 +2,9 @@ - + ShooterSimple (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/SubsystemShooter.ShooterState.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/SubsystemShooter.ShooterState.html index b0feb5c6..55102e1c 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/SubsystemShooter.ShooterState.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/SubsystemShooter.ShooterState.html @@ -2,9 +2,9 @@ - + SubsystemShooter.ShooterState (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/SubsystemShooter.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/SubsystemShooter.html index 1e63d580..373cddf1 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/SubsystemShooter.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/SubsystemShooter.html @@ -2,9 +2,9 @@ - + SubsystemShooter (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/SpinUpShooter.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/SpinUpShooter.html index 18c8d252..9d11a6f9 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/SpinUpShooter.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/SpinUpShooter.html @@ -2,9 +2,9 @@ - + SpinUpShooter (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/SpinUpThenShoot.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/SpinUpThenShoot.html index ce96e6d9..1bc704cc 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/SpinUpThenShoot.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/SpinUpThenShoot.html @@ -2,9 +2,9 @@ - + SpinUpThenShoot (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/ToggleShooting.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/ToggleShooting.html index 615c12ac..7e8c7049 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/ToggleShooting.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/ToggleShooting.html @@ -2,9 +2,9 @@ - + ToggleShooting (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOff.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOff.html index 06b0b3bd..a9ac7a85 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOff.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOff.html @@ -2,9 +2,9 @@ - + TurnAllOff (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOffWithRequires.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOffWithRequires.html index 207588c8..c3bf85d6 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOffWithRequires.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOffWithRequires.html @@ -2,9 +2,9 @@ - + TurnAllOffWithRequires (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOn.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOn.html index 4e08d2fd..c2e00794 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOn.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/TurnAllOn.html @@ -2,9 +2,9 @@ - + TurnAllOn (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-frame.html index b43028d4..ec897d12 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-frame.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-frame.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-summary.html index 6823bf73..429e82d0 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-summary.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-summary.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-tree.html index 94a2074a..8df315a2 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-tree.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/commands/package-tree.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands Class Hierarchy (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-frame.html index ae2525df..1c4f490f 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-frame.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-frame.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.interfaces.shooter (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-summary.html index def66684..c749ce79 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-summary.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-summary.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.interfaces.shooter (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-tree.html index d3d3cc0a..962b38bb 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-tree.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/shooter/package-tree.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.interfaces.shooter Class Hierarchy (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/SolenoidSimple.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/SolenoidSimple.html index 298e97e9..81d06f54 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/SolenoidSimple.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/SolenoidSimple.html @@ -2,9 +2,9 @@ - + SolenoidSimple (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/SubsystemSolenoid.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/SubsystemSolenoid.html index 2ce0e434..c291e762 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/SubsystemSolenoid.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/SubsystemSolenoid.html @@ -2,9 +2,9 @@ - + SubsystemSolenoid (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidForward.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidForward.html index bdd1b0c3..6dcd9951 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidForward.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidForward.html @@ -2,9 +2,9 @@ - + SolenoidForward (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidOff.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidOff.html index 4335bc43..0790e264 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidOff.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidOff.html @@ -2,9 +2,9 @@ - + SolenoidOff (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidReverse.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidReverse.html index bfa4be79..e4d32a15 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidReverse.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/SolenoidReverse.html @@ -2,9 +2,9 @@ - + SolenoidReverse (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/ToggleSolenoid.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/ToggleSolenoid.html index 1bc609ab..91d2bcfa 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/ToggleSolenoid.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/ToggleSolenoid.html @@ -2,9 +2,9 @@ - + ToggleSolenoid (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-frame.html index 01bcbd7d..ff349364 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-frame.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-frame.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-summary.html index eec5167f..bf77df03 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-summary.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-summary.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-tree.html index 918e9267..aa79f53f 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-tree.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/commands/package-tree.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands Class Hierarchy (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/package-frame.html index bc85e57f..49d49b83 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/package-frame.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/package-frame.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/package-summary.html index 8664fe77..ad6659d5 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/package-summary.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/package-summary.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/package-tree.html index 74fb90f6..46a87c49 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/package-tree.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/interfaces/solenoid/package-tree.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid Class Hierarchy (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/CameraNetwork.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/CameraNetwork.html index 0735836e..b49da76f 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/CameraNetwork.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/CameraNetwork.html @@ -2,9 +2,9 @@ - + CameraNetwork (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/ChangeCam.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/ChangeCam.html index 6aa91b20..929d92fb 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/ChangeCam.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/ChangeCam.html @@ -2,9 +2,9 @@ - + ChangeCam (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/package-frame.html index ede1d7da..38e5d14c 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/package-frame.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/package-frame.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.commands (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/package-summary.html index 5f5be6f3..e4ed1fa5 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/package-summary.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/package-summary.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.commands (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/package-tree.html index ef4d6beb..df4cf3ff 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/package-tree.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/commands/package-tree.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.commands Class Hierarchy (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/package-frame.html index a5485a2f..f73f0e5f 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/package-frame.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/package-frame.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/package-summary.html index f3a45665..a2ba0951 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/package-summary.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/package-summary.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/package-tree.html index 99a22723..b1643d15 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/package-tree.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/camera/package-tree.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera Class Hierarchy (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/Pneumatics.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/Pneumatics.html index 38f9e706..9023971b 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/Pneumatics.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/Pneumatics.html @@ -2,9 +2,9 @@ - + Pneumatics (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/StartCompressor.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/StartCompressor.html index d4dd6b76..3ed9f4b4 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/StartCompressor.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/StartCompressor.html @@ -2,9 +2,9 @@ - + StartCompressor (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/package-frame.html index 2b022173..c9ecfaa5 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/package-frame.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/package-frame.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.commands (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/package-summary.html index d5f44bbd..33b0f647 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/package-summary.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/package-summary.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.commands (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/package-tree.html index 2c375732..37372678 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/package-tree.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/commands/package-tree.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.commands Class Hierarchy (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/package-frame.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/package-frame.html index 6fe8ef6b..b4a2257d 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/package-frame.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/package-frame.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/package-summary.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/package-summary.html index e25aded9..e1982810 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/package-summary.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/package-summary.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics (RoboRIO 1.0 API) - + diff --git a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/package-tree.html b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/package-tree.html index dd04d494..583c9508 100644 --- a/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/package-tree.html +++ b/docs/org/usfirst/frc/team449/robot/subsystem/singleImplementation/pneumatics/package-tree.html @@ -2,9 +2,9 @@ - + org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics Class Hierarchy (RoboRIO 1.0 API) - + diff --git a/docs/overview-frame.html b/docs/overview-frame.html index 4e0f4d5f..d680bdb9 100644 --- a/docs/overview-frame.html +++ b/docs/overview-frame.html @@ -2,9 +2,9 @@ - + Overview List (RoboRIO 1.0 API) - + @@ -21,14 +21,17 @@

    Packages

  • 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
    • diff --git a/docs/overview-summary.html b/docs/overview-summary.html index db595386..8a35709d 100644 --- a/docs/overview-summary.html +++ b/docs/overview-summary.html @@ -2,9 +2,9 @@ - + Overview (RoboRIO 1.0 API) - + @@ -112,25 +112,33 @@

    RoboRIO 1.0 API

      -org.usfirst.frc.team449.robot.drive.shifting +org.usfirst.frc.team449.robot.drive.commands   -org.usfirst.frc.team449.robot.drive.shifting.commands +org.usfirst.frc.team449.robot.drive.shifting   -org.usfirst.frc.team449.robot.drive.unidirectional +org.usfirst.frc.team449.robot.drive.shifting.commands   -org.usfirst.frc.team449.robot.drive.unidirectional.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   @@ -144,126 +152,130 @@

    RoboRIO 1.0 API

      -org.usfirst.frc.team449.robot.jacksonWrappers +org.usfirst.frc.team449.robot.generalInterfaces.updatable   -org.usfirst.frc.team449.robot.oi +org.usfirst.frc.team449.robot.jacksonWrappers   -org.usfirst.frc.team449.robot.oi.buttons +org.usfirst.frc.team449.robot.oi   -org.usfirst.frc.team449.robot.oi.fieldoriented +org.usfirst.frc.team449.robot.oi.buttons   -org.usfirst.frc.team449.robot.oi.throttles +org.usfirst.frc.team449.robot.oi.fieldoriented   -org.usfirst.frc.team449.robot.oi.unidirectional +org.usfirst.frc.team449.robot.oi.throttles   -org.usfirst.frc.team449.robot.oi.unidirectional.arcade +org.usfirst.frc.team449.robot.oi.unidirectional   -org.usfirst.frc.team449.robot.oi.unidirectional.tank +org.usfirst.frc.team449.robot.oi.unidirectional.arcade   -org.usfirst.frc.team449.robot.other +org.usfirst.frc.team449.robot.oi.unidirectional.tank   -org.usfirst.frc.team449.robot.subsystem.complex.climber +org.usfirst.frc.team449.robot.other   -org.usfirst.frc.team449.robot.subsystem.complex.intake +org.usfirst.frc.team449.robot.subsystem.complex.climber   -org.usfirst.frc.team449.robot.subsystem.complex.shooter +org.usfirst.frc.team449.robot.subsystem.complex.intake   -org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor +org.usfirst.frc.team449.robot.subsystem.complex.shooter   -org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands +org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor   -org.usfirst.frc.team449.robot.subsystem.interfaces.conditional +org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands   -org.usfirst.frc.team449.robot.subsystem.interfaces.intake +org.usfirst.frc.team449.robot.subsystem.interfaces.conditional   -org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands +org.usfirst.frc.team449.robot.subsystem.interfaces.intake   -org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile +org.usfirst.frc.team449.robot.subsystem.interfaces.intake.commands   -org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.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.commands   -org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands +org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem   -org.usfirst.frc.team449.robot.subsystem.interfaces.navX +org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands   -org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands +org.usfirst.frc.team449.robot.subsystem.interfaces.navX   -org.usfirst.frc.team449.robot.subsystem.interfaces.shooter +org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands   -org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands +org.usfirst.frc.team449.robot.subsystem.interfaces.shooter   -org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid +org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.commands   -org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands +org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid   -org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera +org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands   -org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.commands +org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera   -org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics +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/overview-tree.html b/docs/overview-tree.html index 5b718019..1a1ac479 100644 --- a/docs/overview-tree.html +++ b/docs/overview-tree.html @@ -2,9 +2,9 @@ - + Class Hierarchy (RoboRIO 1.0 API) - + @@ -80,14 +80,17 @@

    Hierarchy For All Packages

  • 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,
    • @@ -183,14 +186,18 @@

    Class Hierarchy

    • 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.navX.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>
      • @@ -219,6 +226,7 @@

      Class Hierarchy

  • 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
    • @@ -235,7 +243,7 @@

    Class Hierarchy

    • edu.wpi.first.wpilibj.Joystick
        -
      • org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick
        • +
      • org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick (implements org.usfirst.frc.team449.robot.generalInterfaces.rumbleable.Rumbleable)
    @@ -246,10 +254,11 @@

    Class Hierarchy

  • org.usfirst.frc.team449.robot.other.Logger (implements java.lang.Runnable)
  • org.usfirst.frc.team449.robot.jacksonWrappers.MappedDigitalInput
  • org.usfirst.frc.team449.robot.other.MotionProfileData
    • +
  • org.usfirst.frc.team449.robot.components.NavXRumbleComponent (implements org.usfirst.frc.team449.robot.jacksonWrappers.MappedRunnable)
  • 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
      • +
    • 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.OIFieldOrientedPosCos (implements org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOriented)
    • @@ -319,7 +328,7 @@

    Class Hierarchy

  • 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.motionProfile.TwoSideMPSubsystem.SubsystemMPTwoSides, org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemNavX) +
  • 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.navX.SubsystemAHRS, org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.SubsystemMPTwoSides) @@ -335,7 +344,7 @@

    Class Hierarchy

    • -
  • org.usfirst.frc.team449.robot.oi.throttles.Throttle +
  • 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.ThrottleDeadbanded
        @@ -345,14 +354,15 @@

        Class Hierarchy

      • +
    • 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 @@ -380,14 +392,20 @@

          Interface Hierarchy

          • org.usfirst.frc.team449.robot.drive.DriveSubsystem
          • org.usfirst.frc.team449.robot.generalInterfaces.loggable.Loggable
          • org.usfirst.frc.team449.robot.oi.OI
            • org.usfirst.frc.team449.robot.oi.fieldoriented.OIFieldOriented
              • -
            • org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional
              • +
            • org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional (also extends org.usfirst.frc.team449.robot.generalInterfaces.updatable.Updatable)
              • +
            +
            • +
          • org.usfirst.frc.team449.robot.generalInterfaces.rumbleable.Rumbleable
            • +
          • java.lang.Runnable +
          • org.usfirst.frc.team449.robot.generalInterfaces.shiftable.Shiftable @@ -396,17 +414,24 @@

            Interface Hierarchy

        • org.usfirst.frc.team449.robot.generalInterfaces.simpleMotor.SimpleMotor
          • +
        • org.usfirst.frc.team449.robot.subsystem.interfaces.navX.SubsystemAHRS
        • org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.SubsystemBinaryMotor
          • -
        • org.usfirst.frc.team449.robot.subsystem.interfaces.conditional.SubsystemConditional
        • 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.navX.SubsystemNavX
        • org.usfirst.frc.team449.robot.subsystem.interfaces.shooter.SubsystemShooter
        • org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SubsystemSolenoid
          • +
        • org.usfirst.frc.team449.robot.generalInterfaces.updatable.Updatable +
            +
          • org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectional (also extends org.usfirst.frc.team449.robot.drive.DriveSubsystem)
            • +
          • org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional (also extends org.usfirst.frc.team449.robot.oi.OI)
            • +
          • org.usfirst.frc.team449.robot.subsystem.interfaces.conditional.SubsystemConditional
            • +
          • org.usfirst.frc.team449.robot.oi.throttles.Throttle
            • +
          +
        • org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommand

        Enum Hierarchy

        diff --git a/docs/package-list b/docs/package-list index 326d935f..c47bd6e8 100644 --- a/docs/package-list +++ b/docs/package-list @@ -6,14 +6,17 @@ 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 diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar index 736fb7d3..ed88a042 100644 Binary files a/gradle/wrapper/gradle-wrapper.jar and b/gradle/wrapper/gradle-wrapper.jar differ diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties index 170ca73b..776fb8af 100644 --- a/gradle/wrapper/gradle-wrapper.properties +++ b/gradle/wrapper/gradle-wrapper.properties @@ -1,6 +1,6 @@ -#Thu Sep 21 10:03:16 EDT 2017 +#Mon Oct 30 21:11:38 EDT 2017 distributionBase=GRADLE_USER_HOME distributionPath=wrapper/dists zipStoreBase=GRADLE_USER_HOME zipStorePath=wrapper/dists -distributionUrl=https\://services.gradle.org/distributions/gradle-4.2-all.zip +distributionUrl=https\://services.gradle.org/distributions/gradle-4.2.1-all.zip diff --git a/templates/GenericCommand.java b/templates/GenericCommand.java index 57f0d1ca..2f927632 100644 --- a/templates/GenericCommand.java +++ b/templates/GenericCommand.java @@ -5,8 +5,8 @@ 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.Logger; -import org.usfirst.frc.team449.robot.generalInterfaces.loggable.YamlCommandWrapper; +import org.usfirst.frc.team449.robot.jacksonWrappers.YamlCommandWrapper; +import org.usfirst.frc.team449.robot.other.Logger; /** * A broad template for all commands. diff --git a/templates/StateChangeCommand.java b/templates/StateChangeCommand.java index 6b995454..92987a2b 100644 --- a/templates/StateChangeCommand.java +++ b/templates/StateChangeCommand.java @@ -5,8 +5,8 @@ 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.Logger; -import org.usfirst.frc.team449.robot.generalInterfaces.loggable.YamlCommandWrapper; +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.)