See https://www.thebluealliance.com/team/4454
This is the offical repository for 4454's robot "Ellie the Elephant bot." Code is fully commented this year for use for future/current members of our team.
for what we care about
frc_2019
/src
/main
/java
/frc
/robot
Main.java
Robot.java
GripPipeline.java
Nothing really happens here... Just WPILib required stuff. In other words, do not touch!
Where the magic happens!
controlLoop(): This code is where all of the code required for teleop is located.
teleopPeriodic(): When robot is in periodic mode this code is run in a constant loop until disabled.
autonomousPeriodic(): See teleopPeriodic()
driveRobot(): This code contains all the logic required to drive the robot!
gearShift(): Checks what gear the robot should be in based on button presses.
getDrivePowerScale(): Checks based on trigger presses what speed the robot should go in.
runForebar(): Runs the 4bar mech we had this year.
setArmPiston(boolean state): Code for arm to see if it should be open or closed based on state boolean.
setArmMotors(boolean in, boolean out): Code for running arm motors based on in and out booleans.
setClimber(boolean front, boolean back): Sets state of climber pistons based on front and back booleans.
runElevator(): Runs elevator motors.
displayShuffleboard(): Puts debugging things on the shuffleboard (smart dashboard).
autoAlign(): Auton that lines up robot to goal when button is pressed based on vision code. See GripPipeline.java.
elevatorHeights(): Auton for setting what height of the elevator the robot should be.
forebarAngles(): Auton for setting 4bar angle.
isPOVup(Joystick joystick): Sees if POV control of joystick is pointing up.
isPOVdown(Joystick joystick): Sees if POV control of joystick is pointing down.
isPOVleft(Joystick joystick): Sees if POV control of joystick is pointing left.
isPOVright(Joystick joystick): Sees if POV control of joystick is pointing right.
calculateTotalHeight(double arm_angle) Calculates height of 4bar (used to be called arm) based on its angle ( arm_angle ).
pidWrite(double output): See autoAlign().
Code generated by GRIP. See https://wpilib.screenstepslive.com/s/currentCS/m/vision/l/672730-generating-code-from-grip