Originally Posted by Arhowk (Post 1447638)

FYI you can build them to search for syntax errors... like this

missing a } and i assume you mean ""!r.is..." not "!.ris..." (also, its just Timer.delay)

passing in Robot for everything is ugh-ly. just make Robot a singleton... or use a static initializer

the closed loop structure of this will hurt the robot, periodic ms timers are necessary

not Java-standard formatting

capital boolean (also that name scheme is bad, both on the variable and the limit)

non-standard formatting (camelcase, descriptive names)

comparing a double and an int

constant loop? atleast a P loop, preferably PID

your "turn" and "turn2" functions are quite ineffective, basic angle averaging schemes should be used

other than that I'm losing my focus, but there are alot more issues

Originally Posted by curtis0gj (Post 1447827)

should distance be an int or a double and how should I add the periodic timer?

Originally Posted by Arhowk (Post 1447847)

don't double post, use the edit button.

for distance, i usually go with doubles for most things so I don't accidentally mess data up with division.

don't know what the second thing you asked is in reference to. If it's the closed loop, than just do a Timer.delay(0.02) (20ms, standard 50hz operating cycle) inside the while(true) loop

Originally Posted by Arhowk (Post 1447859)

Preferably it would be the last line (with it at the first, theres a 20ms delay before any actions are performed)

Your indenting for everything after "wait" is now wrong

AUTOS should not be capitalized (and should be descriptive: "AutonMode", "SelectedAutonMode", "AutonEnum", etc)

turn and turn2 still need to be turned into feedback loops but for now rename them to turnLeft and turnRight and make one function- turn- that if gyro < desired than turnLeft(angle) else turnRight(angle)

capitalization schemes are wrong in Robot.java (http://java.about.com/od/javasyntax/...onventions.htm)

this block of code is rather... erm...

Why is your wait function inside of a while(true) loop?

Originally Posted by curtis0gj (Post 1447884)

lol I did a very lousy job of naming things, sorry for that and I will change the names to be more descriptive and properly cased. Anyway how can I get the waits to work again? This is the function,


I'm not sure how to program it, sorry I'm still fairly new to programming.

Originally Posted by Arhowk (Post 1447892)

here's what I'd do

except without the broken formatting since I made that in this text editor and not a code editor

E/ misunderstood the point of the code, fixed.

Originally Posted by curtis0gj (Post 1447897)

So what will this whole function be used for calculating turns?

Originally Posted by Arhowk (Post 1447902)

hm?

note that I edited that post like 5 times.

Anyway, heres a (maybe) working function

Originally Posted by curtis0gj (Post 1447903)

Does this turn function replace left turn and right turn?

Originally Posted by Arhowk (Post 1447904)

The new turn function does, yes, since the error will be positive or negative depending on where the setpoint is in comparison to the experimental and thus doesn't need seperate cases depending on left or right.

Originally Posted by Arhowk (Post 1447931)

apologies, wrapped up in poe.


For now, yeah. End game shouldn't have that "Robot r" parameter



hm?

Timer.delay will wait the desired time. For the new loops, they automatically wait untill finished so this isn't needed. If you wanted to add an extra wait, just throw in a Timer.delay() before turn, drive, etc. calls

Originally Posted by Arhowk (Post 1447933)

Something like this

or

Originally Posted by curtis0gj (Post 1447934)

Would this be okay?

And when I have this in do I need to put r in front of everything still?

Originally Posted by Arhowk (Post 1447935)

yeah thats fine. If you don't want to put r in front of everything, you can either

1) rename r to robot (atleast it looks more professional...)
2)

Originally Posted by Arhowk (Post 1448001)

this block of code does nothing. Not only does it check every single possible auto state (the entire block is equivalent to autoMethod != null), returning does nothing since there is no more code to be executed. So, all this code does is stall the processor for a few microseconds.

To call the turn() code, the "deg" argument will be the angle in reference to the gyro. So if the gyro has just been reset and you call turn(90), the robot will turn untill the gyro reads 90, which will be a 90 degree turn to the right(?). If you call turn(90) when the gyro hasn't been reset and the gyro is, for example 135, the gyro will turn 45 degrees to the left(?). Note that I wrote all of that code in the text editor and it hasn't come anywhere close to being tested.

Originally Posted by curtis0gj (Post 1448066)

But will my auto chooser still work without the block or will it be fine.

Originally Posted by Arhowk (Post 1448309)

It will be fine. That block is most likely the remnant of a previous auton selector, but since the auton selection process is now done in your Auton.java class, that code was left behind.


As i said before, this is dependent on the current state of the gyro. At the start of the match, the gyro will read 0 (if reset on autonomousInit). Calling turn(90) will turn untill the gyro reads 90, effectively a 90 degree turn to the right. However, since the gyro is now at 90, another call to turn(90) will do nothing since the gyro is already at 90. If you wanted to turn another 90 degrees to the right, you may either call turn(180) or reset() than turn (90), given reset() is a function that calls gyro.reset().


No. Now that you followed my steps and made a "public static Robot r", all methods should now have access to the robot and you won't need to pass in the "r" parameter anymore.

"void" is necessary, since it defines the return type of the function. This is not changing.

The "private" keyword defines the accessibility of the function. "private" means that only code within Auton.java may access that function whereas "public" means that code anywhere may access that function. Since there is no point for some of those functions to be called elsewhere (such as "turn", "move", etc.) those should be private. For other functions that are called by other classes, such as startAuton() called by Robot.java, those should remain public in order to be called by other classes.

"static" depends on which implementation of the robot instantiation you chose. What "static" means is that, in order for that method to be accessed, a new Object of type $class (in this case, this is referring to the "new AutonMode()"). This is shown in Timer.delay, since "Timer t = new Timer()" is never called. However, in other cases such as "Victor leftDrive = new Victor(1)", non-static methods within the victor "leftDrive" are called since there are multiple different Victors.

As you can see in this code posted before

I believe this is the implementation you chose. The "static" keyword on methods (apologize if I'm late on this but a method is stuff like turn, move, etc.) says that you can call

Without the static keyword, you have to do
So, if you chose this implementation

than you cannot use the static keyword since there is no static keyword on "robot", thus needing an enclosing instance.

See http://stackoverflow.com/questions/4...-do-in-a-class or http://www.javatpoint.com/static-keyword-in-java for more help on the "static" keyword.

Originally Posted by curtis0gj (Post 1448383)

Thanks for the awesome reply very detailed and understandable. I have made a lot of changes to the code and I think I am nearing completion. I am very pleased and grateful for the help! Later tonight I will give the code a build in eclipse to check for any syntax errors. If you don't mind giving it a final look over, I have removed all of the "r." and I have changed the name for robot, the RobotDrive variable that I define in my Robot.java class to chassis for less confusion.

Also I may have misunderstood you said I no longer needed the r parameter does this mean I will still need "r." or can I throw it out the window. My understanding of what a parameter is may be wrong.....

Originally Posted by Arhowk (Post 1448487)

Quite tired so I ca't give you another full sweep, but a few things
doesn't matter. Same issue in the following poing

(first of all, bad indenting)
By not specifying a return type, you are making a constructor, which must have the same name of your class [in this case, "Auto"]. I called it "AutonManager" because I couldn't remember what you called it and chose the name I would've used. In this case, "AutonManager" would be "Auto" since the name of the class is "Auto" (as seen by: "Auto auto = new Auto();" (long story short: this should be public Auto(){))

Now, you chose the constructor, which was the proper choice since it followed wpi-standards. However, you left everything else static

The static method means that it doesn't need a constructor and thusly cannot access non-static variables, such as

(since there is no "static" keyword, it is defaulted to "instanceable" so static methods cannot access it)

I have some homework to do so I'll have to cut the rest of this short. Please do some independent study on the "static" keyword, constructors, and other fundamentals of Java. I don't know your level of talent with Java and I code it professionally so I may be telling you what to write and not how to write it, which is a mistake that should never be made.

On a side note, what is your mentor situation?



Yes, you misunderstood me. Let's break it down right fast. in Robot.java

By being in the class "Robot", the class robot must be accessed in some way in order for "chassis" and "stick" to be accessed, since nothing in Java is global.

The "public" keyword means that other stuff can access these variables, if you didn't want them to be changed than you can change them to private but you want these public in this case.

"RobotDrive" and "Joystick" are the classes. Somewhere in WPI code there is a

and likewise for robotdrive. Calling Joystick.staticMethod() is only possible if staticMethod is indeed static, since no enclosing instance of Joystick is given. Calling stick.nonStaticMethod() is possible since the "Joystick" object "stick" is given.

Anyway, you're not specifying what you want to get "chassis", "gyro", "encoder", etc. You have to call "robot.chassis. ..." since you need to specify what instance of "Robot" you want to draw a variable called "chassis" from.



Not 100% but that shouldn't be an issue now since all of your while(true) loops are isolated.

long story short: remove "static" keyword, fix indenting, gotta have "robot.chassis" and etc.

I'd also recommend not pushing to the github so much as it's not necessary / might cause a detached head (had a couple of those fun little puppies) (I apologize in advance if the link is too technical)

Originally Posted by curtis0gj (Post 1448498)

Okay I will start making these changes and to you also asked about my experience in java and mentors and I have about 1-2 months of experience using java and programming in general. I'm fairly new to it all.

Unfortunately, we don't have any programming mentors and I am the only one programming this year so everything has been very daunting. :eek:

---

public class Auto {
        Robot robot;
        RobotDrive chassis;
        DigitalInput limit;
        DigitalInput limit2;
        DigitalInput limit3;
        Gyro gyro;
        Encoder encoder;
        Relay leftArmWheel;
        Relay rightArmWheel;
        Victor screwMotor1;
        Victor screwMotor2;
        Victor armMotor;
        public Auto(Robot r){
                this.robot = r;
                this.chassis = r.chassis;
                this.gyro = r.gyro;
                this.encoder = r.encoder;
                this.limit = r.limit;
                this.limit2 = r.limit2;
                this.limit3 = r.limit3;
                this.leftArmWheel = r.leftArmWheel;
                this.rightArmWheel = r.rightArmWheel;
                this.screwMotor1 = r.screwMotor1;
                this.screwMotor2 = r.screwMotor2;
                this.armMotor = r.armMotor
        }

---

Originally Posted by Arhowk (Post 1448709)

Heh, same here, except I have ~10 years of programming experience along with ~3 years of Java experience. Too bad I don't have an active passport, else I'd be willing to physically mentor :/ not a whole fan of the text-per-day thing.


Same with everyone else I've ever taught, its np.

First thing, when you dont specify an object to draw from (referring to the "robot" in "robot.armMotor"), it automatically draws from either the local space (ex. if you wrote "int i = 0") or it draws from the "this" space.

What you're doing here is a few things
(aside from the constructor stuff I talked about)
1) You're recieving an instance of Robot to draw data from
2) You're drawing the object "chassis" out of the recieved instance of robot
3) You are then storing the recieved "chassis" object into an object contained within the "Auto" instance also named "chassis". (Note: Java is pass-by-value, which means that if "chassis" inside of the "Robot" instance were to be changed after the time that it was sent to the "Auto" instance, the "chassis" object will remain the same "chassis" object that it was when it was initially constructed. ex.

</endtangent>)

Anyway, now that you're taking the chassis object from the robot and placing it inside of the "Auto" instance, the "r." is no longer needed since it is now inside the "this." namespace which is automatic.


Nah, I'd just try to slow down on the commits. Once/twice per day is fine, with upwards of 10/12 per competition day (1 before, 1 before every match, 1 at the end of the day)
Also note that detached heads are really only an issue if you have more than one user accessing the git repo; since you are the only on it probably isn't a huge deal (unless you code with 4 laptops or something silly like that)


Again, this was pseudocode. (maybe I should stop that :o) The actual function is
as used in your Robot.java. "move" defines the value to move forward or backward and "rotate" defines left or right. Having a 0 move will cause the robot to spin in place. If you want the robot to turn without actually moving anywhere, than a 0 move is needed.

Always.

Originally Posted by curtis0gj (Post 1448718)

Okay so the actual function for driving and turning is RobotDrive.arcadeDrive? would chassis.drive do the same thing. Because I have been using chassis.drive in the past.

Originally Posted by Arhowk (Post 1448733)

"chassis" is an instance of RobotDrive. The "drive" function of RobotDrive is wierd and "turn" in auton should be using "arcadeDrive", not "drive".

Originally Posted by curtis0gj (Post 1448771)

Alright that makes sense should I also use arcadeDrive in the move function? Other than this I believe I am done if you don't mind giving it a final look over it would be greatly appreciated I am hoping this will all work for Wednesday we are having a little show casing with other schools.
https://github.com/curtis0gj/5033-20...ster/Auto.java

Originally Posted by Arhowk (Post 1448852)

you never defined a "Kp" variable as far as I can see (which by the way is bad formatting, kP). First of all, you probably want to define a "Kp" variable.
Also, I assume you want this code to use the gyro to keep straight. In this case, you might want to add a reset() before the while(true) loop to ensure the gyro is 0.

If you don't want to deal with the ambiguous, do the same as above and throw a reset() before the while(true) loop in your turn() function. This way, turn(90) will always turn right 90 degrees, it won't depend on the previous angle.

in Robot.java
this is still static. Since you now have a constructor and stuff, this should be "autonManager.run...".

also in Robot.java
your class is named "Auto", not "AutonManager"

#1 rule of code - it won't. I may have quite finely-tuned intuitions, but I'm not perfect.

Your "kP" value(s?) need to be tuned, the 0.01 I gave you was just a rough estimate. For example, if it doesn't turn fast enough, than this should be increased to 0.015 or something. If it turns too fast, than it should be 0.005. If it's turning the wrong way, than it should be -0.01. (honestly, I'd probably start off with 0.035, seems like a decent starting number)

Originally Posted by curtis0gj (Post 1448861)

But I am a bit confused with:

Auto.run(this, autoMethod);
this is still static. Since you now have a constructor and stuff, this should be "autonManager.run...".

Originally Posted by Arhowk (Post 1448866)

To review
Static methods are designated by the "static" keyword, accessed through the classes name itself (ex. "Auto.run"), and do not have accessed to instanced variables and methods
Instaneced methods are designated through the lack of the "static" keyword, accessed through an instance of the class (ex. "autonManager.run..."), and have access to instanced variables and methods.

The specified piece of code is in Robot.autonomousInit. In robot, you have an instance of Auto named "autonManager", yet you attempt to call the instanced method "run" by designating the class "Auto" instead of the instance "autonManager"

Originally Posted by Arhowk (Post 1448922)

looks good, except for the fact that the "this" parameter is no longer necessary.

Originally Posted by Arhowk (Post 1449905)

Oh my apologies, I never saw your edit. Good to see that you were able to resolve your issues. You chose the correct path for all of them.

How did it work today?


I would.... o.O sometimes I use Sublime or NP++ because it's overall faster and doesn't gun my processor like Eclipse does than just once-through in eclispe

Originally Posted by curtis0gj (Post 1449926)

I think this is because I would enter a value of 3000 or 450 into the parameters of forwardMove when it should be negative (our encoder only likes negatives I don't know if that's normal...)

Originally Posted by Arhowk (Post 1450227)

0.25 is INCREDIBLY slow, it probably could be ~0.6-0.7.


Only? As in, it measures distance instead of displacement? That would be bad. I'm assuming you just have your encoder mounted backwards, in which case you can just say or smth.



Can't say with any idea since I have no access to your robot

Originally Posted by Arhowk (Post 1451164)

it doesn't really matter. "break" exits the loop while "return" exits the method. if you have code after the loop which you want to run than "break" should be used. if you want to terminate the method entirely and skip methods after the loop (or if you have no loops), than "return" should be used. if your entirely in a loop with no code after the loop, it doesn't matter.

Though, for uniformity sake, they should all probably be the same.

Originally Posted by curtis0gj (Post 1451165)

So I could change all of my breaks to returns and it would still do the same thing?