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autoinit #10

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autoinit #10

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4b14dd0
autoinit
ozmiumGIT Feb 18, 2018
632b3b9
Update code that checks which side the robot is on to use a library i…
the-emerald Feb 18, 2018
3bac68e
Add comments and code cleanup
the-emerald Feb 18, 2018
19c4fa2
Add automatic way to check robot position in field
the-emerald Feb 18, 2018
fbb2517
Cherry pick from 47ddfb6 and move autonomous code
the-emerald Feb 19, 2018
95739e3
Fix a silly syntax error
the-emerald Feb 19, 2018
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112 changes: 79 additions & 33 deletions src/main/java/frc/team7242/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,8 @@
import edu.wpi.first.wpilibj.Spark;
import frc.team7242.robot.subsystem.ScalableSpeedControllerGroup;
import edu.wpi.first.wpilibj.CameraServer;
import openrio.powerup.MatchData;



public class Robot extends IterativeRobot {
Expand All @@ -31,9 +33,9 @@ public class Robot extends IterativeRobot {
// double autonomousTime3 = 5.5;
// double autonomousTime4 = 6;

double autonomousTime5 = 1.9;
double autonomousTime6 = 3.7;
double autonomousTime7 = 4.5;
double autonomousTime5 = 2.5;
double autonomousTime6 = 3.96;
double autonomousTime7 = 4.6;
double autonomousTime8 = 6;
double autonomousTime9 = 9;
double autonomousTime10= 10;
Expand All @@ -49,7 +51,7 @@ public class Robot extends IterativeRobot {
double autonomousStartTime;

ScalableSpeedControllerGroup right = new ScalableSpeedControllerGroup(0.75, leftFront, leftBack);
ScalableSpeedControllerGroup left = new ScalableSpeedControllerGroup(0.72, rightFront, rightBack);
ScalableSpeedControllerGroup left = new ScalableSpeedControllerGroup(0.71, rightFront, rightBack);


DifferentialDrive drive = new DifferentialDrive(left, right);
Expand All @@ -72,6 +74,50 @@ public void robotInit() {
public void autonomousInit() {
m_autoSelected = m_chooser.getSelected();
System.out.println("Auto selected: " + m_autoSelected);
boolean leftAuto = false; //variuable to see if the first switch from our perspective is on the left side, needed initialization so...
boolean rightAuto = false; //variuable to see if the first switch from our perspective is on the right side, needed onitialization so...

MatchData.OwnedSide side = MatchData.getOwnedSide(MatchData.GameFeature.SWITCH_NEAR);
if (side == MatchData.OwnedSide.LEFT) {
// OwnedSide LEFT means that the switch NEAREST to our station is on the left
leftAuto = true;
rightAuto = false;
}
else if (side == MatchData.OwnedSide.RIGHT) {
// OwnedSide RIGHT means that the switch NEAREST to our station is on the RIGHT
rightAuto = true;
leftAuto = false;
}
else {
// This literally shouldn't happen
System.out.println("What is going on");
}

boolean leftStarting = false;
boolean mediumStarting = false;
boolean rightStarting = false;

int station = DriverStation.getInstance().getLocation();
if (station == 1) {
leftStarting = true;
}
else if (station == 2) {
mediumStarting = true;
}
else if (station == 3) {
rightStarting = true;
}

/* boolean leftStarting = driverStick.getRawButtonPressed(8) || driverStick.getRawButtonPressed(7) ;
boolean mediumStarting = driverStick.getRawButtonPressed(10)|| driverStick.getRawButtonPressed(9) ;
boolean rightStarting = driverStick.getRawButtonPressed(12)|| driverStick.getRawButtonPressed(11) ; */

path7 = leftStarting && leftAuto;
path8 = leftStarting && rightAuto;
path9 = mediumStarting && leftAuto;
path10 = mediumStarting && rightAuto;
path11 = rightStarting && leftAuto;
path12 = rightStarting && rightAuto;

autonomousStartTime = Timer.getFPGATimestamp();

Expand All @@ -93,35 +139,35 @@ public void autonomousPeriodic() {

// }

boolean path7 = driverStick.getRawButtonPressed(7);
boolean path8 = driverStick.getRawButtonPressed(8);
boolean path9 = driverStick.getRawButtonPressed(9);
boolean path10 = driverStick.getRawButtonPressed(10);
boolean path11 = driverStick.getRawButtonPressed(11);
boolean path12 = driverStick.getRawButtonPressed(12);

if(path7) { //start of program for path 7
if (deltaTime < autonomousTime5) {
drive.arcadeDrive(1.9, 0.0); //0.56
} else if (autonomousTime5 < deltaTime && deltaTime < autonomousTime6) {
drive.arcadeDrive(0.0, -0.53);
} else if (autonomousTime6 < deltaTime && deltaTime < autonomousTime7) {
drive.arcadeDrive(0.8, 0.0);
} else if (autonomousTime7 < deltaTime && deltaTime < autonomousTime8) {
drive.arcadeDrive(0.0, 0.0); //-0.65
} else if (autonomousTime8 < deltaTime && deltaTime < autonomousTime9) {
drive.arcadeDrive(0.0, 0.0);
} else if (autonomousTime9 < deltaTime && deltaTime < autonomousTime10) {
drive.arcadeDrive(0.0, 0.0);
} else if (autonomousTime10 < deltaTime && deltaTime < autonomousTime11) {
drive.arcadeDrive(0.0, 0.0);
} else if (autonomousTime11 < deltaTime && deltaTime < autonomousTime12) {
drive.arcadeDrive(0, 0.0);
} else {
drive.arcadeDrive(0.0, 0.0);
}
/* boolean path7 = true;
boolean path8 = driverStick.getRawButtonPressed(8);
boolean path9 = driverStick.getRawButtonPressed(9);
boolean path10 = driverStick.getRawButtonPressed(10);
boolean path11 = driverStick.getRawButtonPressed(11);
boolean path12 = driverStick.getRawButtonPressed(12); */

if(path7) { //start of program for path 7
if (deltaTime < autonomousTime5) {
drive.arcadeDrive(0.8, 0.0); //0.56
} else if (autonomousTime5 < deltaTime && deltaTime < autonomousTime6) {
drive.arcadeDrive(0.0, -0.56);
} else if (autonomousTime6 < deltaTime && deltaTime < autonomousTime7) {
drive.arcadeDrive(1, 0.0);
} else if (autonomousTime7 < deltaTime && deltaTime < autonomousTime8) {
drive.arcadeDrive(0.0, 0.0); //-0.65
} else if (autonomousTime8 < deltaTime && deltaTime < autonomousTime9) {
drive.arcadeDrive(0.0, 0.0);
} else if (autonomousTime9 < deltaTime && deltaTime < autonomousTime10) {
drive.arcadeDrive(0.0, 0.0);
} else if (autonomousTime10 < deltaTime && deltaTime < autonomousTime11) {
drive.arcadeDrive(0.0, 0.0);
} else if (autonomousTime11 < deltaTime && deltaTime < autonomousTime12) {
drive.arcadeDrive(0, 0.0);
} else {
drive.arcadeDrive(0.0, 0.0);
}

} //closing bracket for path 7
} //closing bracket for path 7

if(path8){ //start of program of path 8

Expand Down Expand Up @@ -165,7 +211,7 @@ public void autonomousPeriodic() {

public void teleopPeriodic() {

double xvalue = (driverStick.getX())/-2;
double xvalue = (driverStick.getX())/-4;
double yvalue = (driverStick.getY())*-1;
double boost;
double braking;
Expand Down