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-   -   Need help programming Double Solenoids! (http://www.chiefdelphi.com/forums/showthread.php?t=134552)

Zalmay 14-02-2015 00:20
Need help programming Double Solenoids!
 
Hello again, I know I have posted this before but I have made slight modifications to the code and wondered if anyone could take a look at it to see if it has any errors. I ask this because when we tested it, it did not work. The A and B buttons were pressed, it just wasn't moving the piston. I have checked the CAN ID and made sure it is the same as the value I initialized it in the code, so that's not likely to be an issue. Thanks for the help in advance guys.

Robot.java:
Code:
package org.usfirst.frc.team4528.robot;

import edu.wpi.first.wpilibj.Compressor;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.SampleRobot;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.Victor;

public class Robot extends SampleRobot
{
        Victor frontLeft;
        Victor rearLeft;
        Victor frontRight;
        Victor rearRight;
        Victor motor;        //add-on
    RobotDrive myRobot;
    XBoxJoystick stick;
    Compressor compressor;
    DoubleSolenoid piston;
   
    public Robot()
    {
            frontLeft = new Victor(2);
            rearLeft = new Victor(3);
            frontRight = new Victor(0);
            rearRight = new Victor(1);
            motor = new Victor(4);                //add-on
        myRobot = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
        stick = new XBoxJoystick(0);
        compressor = new Compressor();        //null parameter
        piston = new DoubleSolenoid(0, 4, 5);       
        //CAN ID is first parameter(null if 0), second parameter is forward port and
        //third parameter is reverse port
    }
   
  //add-on
   

          public void runMotor()
          {
                  if(stick.getLeftZ() > 0 && stick.getRightZ() == 0)                //Changed so not functional if both pressed
                  {
                          motor.set(stick.getLeftZ());
                  }
                  else if(stick.getRightZ() > 0 && stick.getLeftZ() == 0)        //Changed so not functional if both pressed
                  {
                          motor.set(-stick.getRightZ());
                  }
                  else
                  {
                          motor.set(0.0);
                  }
          }

          public void moveArm()
          {
                  compressor.start();
                  compressor.setClosedLoopControl(true);
                 
                  if(stick.getAButton() == true && stick.getBButton() != true)
                  {
                          piston.set(DoubleSolenoid.Value.kForward);
                  }
                  else if(stick.getBButton() == true && stick.getAButton() != true)
                  {
                          piston.set(DoubleSolenoid.Value.kReverse);
                  }
                  else
                  {
                          piston.set(DoubleSolenoid.Value.kOff);
                  }
          }

    /**
    * Drive left & right motors for 2 seconds then stop
    */
    public void autonomous()
    {
            while(isAutonomous() && isEnabled())
            {
                    //Drives full forward for 5 seconds then stops
                    myRobot.drive(1.0, 0.0);
                    Timer.delay(5.0);
                    myRobot.drive(0.0, 0.0);
            }
    }
   
    /**
    * Runs the motors with arcade steering.
    */
    public void operatorControl()
    {
        myRobot.setSafetyEnabled(false);
        while (isOperatorControl() && isEnabled())
        {
            myRobot.arcadeDrive(0.6*stick.getLeftY(), -0.6*stick.getRightX(), true);
            Timer.delay(0.005);                // wait for a motor update time
            runMotor();
        }
    }

    /**
    * Runs during test mode
    */
    public void test()
    {
           
    }
}
XBoxJoystick.java:
Code:
package org.usfirst.frc.team4528.robot;

import edu.wpi.first.wpilibj.Joystick;

public class XBoxJoystick
{
        private Joystick joystick;
    private int port;

    private final double DEAD_ZONE = 0.08; // Chief Delphi said 0.05;

    public XBoxJoystick(int port)
    {
            this.port = port;
            this.joystick = new Joystick(port);
    }

    public double getLeftX()
    {
            return correctDeadSpot(joystick.getRawAxis(0));
    }

    public double getLeftY()
    {
            return correctDeadSpot(joystick.getRawAxis(1));
    }

    public double getLeftZ()
    {
        return joystick.getRawAxis(2);
    }
   
    public double getRightZ()
    {
        return joystick.getRawAxis(3);
    }

    public double getRightX()
    {
            return correctDeadSpot(joystick.getRawAxis(4));
    }

    public double getRightY() {
            return correctDeadSpot(joystick.getRawAxis(5));
    }

    public double getDpadX()
    {
            return joystick.getRawAxis(6);
    }

    // WARNING this doesn't work with vanilla driver station
    public double getDpadY()
    {
            return joystick.getRawAxis(7);
    }

    public boolean getAButton()
    {
            return getButton(1);
    }

    public boolean getBButton()
    {
            return getButton(2);
    }

    public boolean getXButton()
    {
            return getButton(3);
    }

    public boolean getYButton()
    {
            return getButton(4);
    }

    public boolean getLBButton()
    {
            return getButton(5);
    }

    public boolean getRBButton()
    {
            return getButton(6);
    }

    public boolean getBackButton()
    {
            return getButton(7);
    }

    public boolean getStartButton()
    {
            return getButton(8);
    }

    public boolean getLSButton()
    {
            return getButton(9);
    }

    public boolean getRSButton()
    {
            return getButton(10);
    }

    private double correctDeadSpot(double value)
    {
            if (Math.abs(value) < DEAD_ZONE)
                    return 0;
            return value;
    }

    private boolean getButton(int buttonNumber)
    {
            return joystick.getRawButton(buttonNumber);
    }
}

Christopher149 14-02-2015 00:43
Re: Need help programming Double Solenoids!
 
You never call moveArm() in operatorControl(), which appears (to my tired brain) to be at least some of your issue.

Zalmay 14-02-2015 09:08
Re: Need help programming Double Solenoids!
 
How silly of me to forget. Thank you for pointing it out to me. One more question however. When I did build the code and test it the compressor still ran despite the command for it to start and stay in a closed loop being inside the moveArm() method I did not call, does anyone know why that it?
Thanks in advance.

Mark McLeod 14-02-2015 09:19
Re: Need help programming Double Solenoids!
 
The compressor is automatically engaged whenever you have instantiated a solenoid.
You don't need to instantiate the compressor and your Start is redundant.


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