Sotha
10-02-2011, 18:52
This is our first year using Java, our team does not have any programming mentors so I have pretty much been hung out to dry. I've been banging my head against the wall because I can not get this code to work.
Here is our code: (Some things are commented out due to me trying to debug.
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.templates;
import edu.wpi.first.wpilibj.Compressor;
import edu.wpi.first.wpilibj.SimpleRobot;
import edu.wpi.first.wpilibj.Jaguar;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.Watchdog;
/**
* The VM is configured to automatically run this class, and to call the
* functions corresponding to each mode, as described in the SimpleRobot
* documentation. If you change the name of this class or the package after
* creating this project, you must also update the manifest file in the resource
* directory.
*/
public class Team2501Robot extends SimpleRobot {
RobotDrive drive = new RobotDrive(1, 2, 3, 4);
/* Jaguar frontLeft = new Jaguar(1); // Front Left Motor
Jaguar frontRight = new Jaguar(2); // Front Right Motor
Jaguar backLeft = new Jaguar(3); // Back Left Mottr
Jaguar backRight = new Jaguar(4); // Back Right Motor
Jaguar armLower = new Jaguar(5); // Motor for Arm
Jaguar armUpper = new Jaguar(6); // Upper Motor for Arm
Compressor c = new Compressor(6,7);
*/
Joystick leftStick = new Joystick(1); // Drive Stick
Joystick rightStick = new Joystick(2); // Arm stick
double magnitude = leftStick.getMagnitude(); // Magnitude
double direction = leftStick.getDirectionDegrees(); // Direction
double rotation = leftStick.getX(); // Rotation
double rmagnitude = rightStick.getY();
public void autonomous() {
for (int i = 0; i < 14; i++){ // Autonomius Mode
// c.start();
drive.drive(0.5, 0.0); // Drive forward at half speed
Timer.delay(2.0); // Wait two seconds
}
drive.drive(0.0, 0.0); // Stop
}
public void operatorControl() {
getWatchdog().setEnabled(true);
while (isOperatorControl() && isEnabled()){ //loop during telop
// c.start();
drive.mecanumDrive_Polar(leftStick.getDirectionDeg rees(),leftStick.getMagnitude(), rightStick.getY());
if(rmagnitude > 0.0)
{
/*armLower.set(rmagnitude);
armUpper.set(-rmagnitude);*/
}
else if (rmagnitude < 0.0)
{
/*armLower.set(-rmagnitude);
armUpper.set(rmagnitude);*/
}
else if(leftStick.getRawButton(4)){ // For Strafe Left
/*frontLeft.set(0.5);
backRight.set(0.5);
frontRight.set(-0.5);
backLeft.set(-0.5); */
}
else if(leftStick.getRawButton(5)){ // For Strafe Right
/* frontLeft.set(-0.5);
backRight.set(-0.5);
frontRight.set(0.5);
backLeft.set(0.5); */
}
}
Timer.delay(0.005);
// c.stop();
}
}
Here is our code: (Some things are commented out due to me trying to debug.
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.templates;
import edu.wpi.first.wpilibj.Compressor;
import edu.wpi.first.wpilibj.SimpleRobot;
import edu.wpi.first.wpilibj.Jaguar;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.Watchdog;
/**
* The VM is configured to automatically run this class, and to call the
* functions corresponding to each mode, as described in the SimpleRobot
* documentation. If you change the name of this class or the package after
* creating this project, you must also update the manifest file in the resource
* directory.
*/
public class Team2501Robot extends SimpleRobot {
RobotDrive drive = new RobotDrive(1, 2, 3, 4);
/* Jaguar frontLeft = new Jaguar(1); // Front Left Motor
Jaguar frontRight = new Jaguar(2); // Front Right Motor
Jaguar backLeft = new Jaguar(3); // Back Left Mottr
Jaguar backRight = new Jaguar(4); // Back Right Motor
Jaguar armLower = new Jaguar(5); // Motor for Arm
Jaguar armUpper = new Jaguar(6); // Upper Motor for Arm
Compressor c = new Compressor(6,7);
*/
Joystick leftStick = new Joystick(1); // Drive Stick
Joystick rightStick = new Joystick(2); // Arm stick
double magnitude = leftStick.getMagnitude(); // Magnitude
double direction = leftStick.getDirectionDegrees(); // Direction
double rotation = leftStick.getX(); // Rotation
double rmagnitude = rightStick.getY();
public void autonomous() {
for (int i = 0; i < 14; i++){ // Autonomius Mode
// c.start();
drive.drive(0.5, 0.0); // Drive forward at half speed
Timer.delay(2.0); // Wait two seconds
}
drive.drive(0.0, 0.0); // Stop
}
public void operatorControl() {
getWatchdog().setEnabled(true);
while (isOperatorControl() && isEnabled()){ //loop during telop
// c.start();
drive.mecanumDrive_Polar(leftStick.getDirectionDeg rees(),leftStick.getMagnitude(), rightStick.getY());
if(rmagnitude > 0.0)
{
/*armLower.set(rmagnitude);
armUpper.set(-rmagnitude);*/
}
else if (rmagnitude < 0.0)
{
/*armLower.set(-rmagnitude);
armUpper.set(rmagnitude);*/
}
else if(leftStick.getRawButton(4)){ // For Strafe Left
/*frontLeft.set(0.5);
backRight.set(0.5);
frontRight.set(-0.5);
backLeft.set(-0.5); */
}
else if(leftStick.getRawButton(5)){ // For Strafe Right
/* frontLeft.set(-0.5);
backRight.set(-0.5);
frontRight.set(0.5);
backLeft.set(0.5); */
}
}
Timer.delay(0.005);
// c.stop();
}
}