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Merge pull request #101 from blair-robot-project/cleanup
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Clean up code
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Noah Gleason authored Oct 26, 2017
2 parents 9a5b20b + 9641a82 commit eef7021
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Showing 350 changed files with 45,855 additions and 4,730 deletions.
53 changes: 27 additions & 26 deletions Pathgen/src/main/java/org/usfirst/frc/team449/pathgen/Pathgen.java
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Expand Up @@ -14,23 +14,24 @@
* 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 = 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_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_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.;
Expand All @@ -44,64 +45,64 @@ 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_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.)
new Waypoint((BLUE_WALL_TO_SIDE_PEG - CENTER_TO_BACK - 0.5 * PEG_BASE_TO_CENTER + AIRSHIP_PARALLEL_OFFSET_BLUE * Math.cos(5. * Math.PI / 6.)) / 12.
, -(BLUE_BACK_CORNER_TO_SIDE_PEG - CENTER_TO_SIDE - (Math.sqrt(3.) / 2.) * PEG_BASE_TO_CENTER + AIRSHIP_PARALLEL_OFFSET_BLUE * Math.sin(5. * Math.PI / 6.)) / 12., -Math.PI / 3.)
};

Waypoint[] blueRight = new Waypoint[]{
new Waypoint(0, 0, 0),
new Waypoint((BLUE_WALL_TO_SIDE_PEG-CENTER_TO_BACK - 0.5*PEG_BASE_TO_CENTER + AIRSHIP_PARALLEL_OFFSET_BLUE*Math.cos(5.*Math.PI/6.))/12.
,(BLUE_BACK_CORNER_TO_SIDE_PEG - CENTER_TO_SIDE - (Math.sqrt(3.)/2.)*PEG_BASE_TO_CENTER + AIRSHIP_PARALLEL_OFFSET_BLUE*Math.sin(5.*Math.PI/6.))/12.,Math.PI/3.)
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_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.)
new Waypoint((RED_WALL_TO_SIDE_PEG - CENTER_TO_BACK - 0.5 * PEG_BASE_TO_CENTER + AIRSHIP_PARALLEL_OFFSET_RED * Math.cos(5. * Math.PI / 6.)) / 12.
, -(RED_BACK_CORNER_TO_SIDE_PEG - CENTER_TO_SIDE - (Math.sqrt(3.) / 2.) * PEG_BASE_TO_CENTER + AIRSHIP_PARALLEL_OFFSET_RED * Math.sin(5. * Math.PI / 6.)) / 12., -Math.PI / 3.)
};

Waypoint[] redRight = new Waypoint[]{
new Waypoint(0, 0, 0),
new Waypoint((RED_WALL_TO_SIDE_PEG-CENTER_TO_BACK - 0.5*PEG_BASE_TO_CENTER + AIRSHIP_PARALLEL_OFFSET_RED*Math.cos(5.*Math.PI/6.))/12.
,(RED_BACK_CORNER_TO_SIDE_PEG - CENTER_TO_SIDE - (Math.sqrt(3.)/2.)*PEG_BASE_TO_CENTER + AIRSHIP_PARALLEL_OFFSET_RED*Math.sin(5.*Math.PI/6.))/12.,Math.PI/3.)
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[]{
Expand Down Expand Up @@ -155,7 +156,7 @@ public static void main(String[] args) throws IOException {
//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., 4.5, 9.); //Units are seconds, feet/second, feet/(second^2), and feet/(second^3)
Expand Down
10 changes: 5 additions & 5 deletions RoboRIO/src/main/java/org/usfirst/frc/team449/robot/Robot.java
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Expand Up @@ -180,7 +180,7 @@ public void robotInit() {
@Override
public void teleopInit() {
//Run startup command if we start in teleop.
if(!enabled){
if (!enabled) {
if (robotMap.getStartupCommand() != null) {
robotMap.getStartupCommand().start();
}
Expand Down Expand Up @@ -218,7 +218,7 @@ public void teleopPeriodic() {
@Override
public void autonomousInit() {
//Run startup command if we start in auto.
if(!enabled){
if (!enabled) {
if (robotMap.getStartupCommand() != null) {
robotMap.getStartupCommand().start();
}
Expand Down Expand Up @@ -266,9 +266,9 @@ public void disabledInit() {
* Run when we first enable in test mode.
*/
@Override
public void testInit(){
public void testInit() {
//Run startup command if we start in test mode.
if(!enabled){
if (!enabled) {
if (robotMap.getStartupCommand() != null) {
robotMap.getStartupCommand().start();
}
Expand All @@ -280,7 +280,7 @@ public void testInit(){
* Run every tic while disabled
*/
@Override
public void disabledPeriodic(){
public void disabledPeriodic() {
Clock.updateTime();
}

Expand Down
83 changes: 41 additions & 42 deletions RoboRIO/src/main/java/org/usfirst/frc/team449/robot/RobotMap2017.java
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Expand Up @@ -12,7 +12,6 @@
import org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional;
import org.usfirst.frc.team449.robot.other.Logger;
import org.usfirst.frc.team449.robot.other.MotionProfileData;
import org.usfirst.frc.team449.robot.other.UnidirectionalPoseEstimator;
import org.usfirst.frc.team449.robot.subsystem.complex.climber.ClimberCurrentLimited;
import org.usfirst.frc.team449.robot.subsystem.complex.intake.IntakeFixedAndActuated;
import org.usfirst.frc.team449.robot.subsystem.complex.shooter.LoggingShooter;
Expand Down Expand Up @@ -211,47 +210,47 @@ public class RobotMap2017 {
/**
* Default constructor.
*
* @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 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.
* @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 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(@Nullable List<CommandButton> buttons,
Expand Down
2 changes: 1 addition & 1 deletion RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/general/RunRunnables.java
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Expand Up @@ -44,7 +44,7 @@ protected void initialize() {
*/
@Override
protected void execute() {
for (Runnable runnable : runnables){
for (Runnable runnable : runnables) {
runnable.run();
}
}
Expand Down
4 changes: 2 additions & 2 deletions ...first/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.java
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Expand Up @@ -178,8 +178,8 @@ protected void usePIDOutput(double output) {
output = processPIDOutput(output);

//Deadband if we're stationary
if(oi.getLeftOutput() == 0 || oi.getRightOutput() == 0){
output=deadbandOutput(output);
if (oi.getLeftOutput() == 0 || oi.getRightOutput() == 0) {
output = deadbandOutput(output);
}

//Adjust the heading according to the PID output, it'll be positive if we want to go right.
Expand Down
3 changes: 1 addition & 2 deletions ...c/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.java
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Expand Up @@ -4,7 +4,6 @@
import org.jetbrains.annotations.NotNull;
import org.jetbrains.annotations.Nullable;
import org.usfirst.frc.team449.robot.components.AutoshiftComponent;
import org.usfirst.frc.team449.robot.components.NavXRumbleComponent;
import org.usfirst.frc.team449.robot.drive.shifting.DriveShiftable;
import org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectional;
import org.usfirst.frc.team449.robot.generalInterfaces.shiftable.Shiftable;
Expand Down Expand Up @@ -62,7 +61,7 @@ public class UnidirectionalNavXShiftingDefaultDrive <T extends YamlSubsystem & D
* @param subsystem The drive to execute this command on.
* @param oi The OI controlling the robot.
* @param autoshiftComponent The helper object for autoshifting.
* @param highGearAngularCoefficient The coefficient to multiply the loop output by in high gear. Defaults to 1.
* @param highGearAngularCoefficient The coefficient to multiply the loop output by in high gear. Defaults to 1.
*/
@JsonCreator
public UnidirectionalNavXShiftingDefaultDrive(@JsonProperty(required = true) double absoluteTolerance,
Expand Down
3 changes: 1 addition & 2 deletions RoboRIO/src/main/java/org/usfirst/frc/team449/robot/components/NavXRumbleComponent.java
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Expand Up @@ -6,7 +6,6 @@
import com.fasterxml.jackson.annotation.ObjectIdGenerators;
import com.kauailabs.navx.frc.AHRS;
import org.jetbrains.annotations.NotNull;
import org.usfirst.frc.team449.robot.Robot;
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;
Expand All @@ -18,7 +17,7 @@
* A component to rumble controllers based off the jerk measurements from a NavX.
*/
@JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class)
public class NavXRumbleComponent implements MappedRunnable{
public class NavXRumbleComponent implements MappedRunnable {

/**
* The factor to multiply feet/(sec^3) by to get Gs/millisecond, according to WolframAlpha.
Expand Down
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