I'd love to hear some feedback from people who actually know about this stuff (My team is first year and nobody is really above me in terms of java knowledge - or frc strategies in code)
Code:
/*
THIS CODE IS MADE BY THE BEST PEOPLE IN THE WORLD, DO NOT STEAL.........please >_<.
*/
package edu.wpi.first.wpilibj.templates;
import edu.wpi.first.wpilibj.*;
public class Robot4334 extends SimpleRobot { //DECLARE ALL METHODS IN INIT AND SIMPLEROBOT
public RobotDrive drivetrain;
public Joystick XBoxController;
public Gyro gyro;
public Timer timer;
public Encoder leftEncoder;
public Encoder rightEncoder;
public static final double DRIVE_STRAIGHT = 0;
public static final double DRIVE_FULL_SPEED = 1;
public static final int LeftX = 1;
public static final int LeftY = 2;
public static final int Triggers = 3; //(Each trigger = 0 to 1, axis value = right - left)
public static final int RightX = 4;
public static final int RightY = 5;
public static final int DPad = 6;
public boolean brakeOn ;
public float leftSpeed;
public float rightSpeed;
public void log(String theMessage) { // Logger -System.out.println function
System.out.println(theMessage);
}
public void BRAKE() { //Brake method - stops motors
drivetrain.drive(0.0,0.0);
drivetrain.stopMotor();
}
public void DRIVE() {
while(getBrake() == false && getEmergency() == false)
{
returnTurn();
drivetrain.tankDrive(leftSpeed , rightSpeed);
}
if (getActualSpeed('L') > (leftSpeed + 0.15) || getActualSpeed('L') < (leftSpeed - 0.15)) {
if(getActualSpeed('R') > (rightSpeed + 0.15) || getActualSpeed('R') < (rightSpeed - 0.15)) {
log("Speed and encoder do not match");
}
}
}
public void EMERGENCY() { //ADD ALL FUNCTIONS HERE TO STOP ON ROBOT DURING EMERGENCY
drivetrain.drive(0.0,0.0);
timerControl("Start");
while(getTimer()<10)
{
int time = (int) getTimer();
log("EMERGENCY ::: "+time+" SECONDS UNTIL RESTART");
}
}
public void RESET() {
gyro.reset();
leftEncoder.reset();
rightEncoder.reset();
timer.reset();
drivetrain.stopMotor();
}
public void runMotorFor(double seconds, double power, double turn) {
timerControl("Start");
while(getTimer()<seconds)
drivetrain.drive(power,turn);
}
public void timerControl(String args) {
if(args.equals("stopAndReset")) {
timer.stop();
timer.reset();
}else if(args.equals("Start")) {
timer.start();
}else if(args.equals("stopAndReset")) {
timer.stop();
timer.reset();
}
}
public boolean getEmergency() {
if(XBoxController.getRawButton(5)) {
EMERGENCY();
boolean emergency = true;
return emergency;
}
else {
return false;
}
}
public double getActualSpeed(char LorR) {
double speed = 0;
if(LorR == 'L') {
speed = leftEncoder.getRate();
}
else if(LorR == 'R') {
speed = rightEncoder.getRate();
}
//INSERT CODE TO CONVERT RATE INTO -1 to +1
return speed;
}
public boolean getBrake() {
brakeOn = false;
if(XBoxController.getRawButton(2))
{
BRAKE();
brakeOn = true;
}
return brakeOn;
}
public double getTimer() {
double time = timer.get();
return time;
}
public double getEncoder(char LorR) {
double distance = 0;
if(LorR == 'L') {
distance = leftEncoder.getDistance();
}else if(LorR =='R') {
distance = rightEncoder.getDistance();
}
return distance;
}
public double getGyro() {
return gyro.getAngle();
}
public double getAndLoopTimer() {
double time = timer.get();
timer.stop();
timer.reset();
timer.start();
return time;
}
public float returnTriggerSpeed() { // Get the speed value from the xbox controller triggers
double speed = XBoxController.getRawAxis(Triggers);
// speed = exp* growth on trigger getRawAxis value
return (float)speed;
}
public void returnTurn() {
// Check if triggers are on use for control if not use joysticks
boolean triggersOn = XBoxController.getRawAxis(Triggers)>0.1 || XBoxController.getRawAxis(Triggers)<0.1;
if(triggersOn) {
rightSpeed = returnTriggerSpeed();
leftSpeed = rightSpeed ;
} else if(triggersOn == false) {
if(XBoxController.getRawAxis(LeftY)<= 0.05 && XBoxController.getRawAxis(LeftY)>= -0.05) {
leftSpeed = 0;
} else {
leftSpeed = (float) XBoxController.getRawAxis(LeftY);
}
if(XBoxController.getRawAxis(RightY)<= 0.05 && XBoxController.getRawAxis(RightY)>= -0.05) {
rightSpeed = 0;
} else {
leftSpeed = (float) XBoxController.getRawAxis(RightY);
}
}
//press button one for fine control 25% speed
if(XBoxController.getRawButton(1)) {
rightSpeed *= 0.25;
leftSpeed *= 0.25;
}
// Imma goin fast again :D !!!!!!
// press button 3 to use 100% speed
if(XBoxController.getRawButton(3)) {
rightSpeed *= 2;
leftSpeed *= 2;
}
//clayton wants to use this button for 75% control
if(XBoxController.getRawButton(4)) {
rightSpeed *= 0.75;
leftSpeed *= 0.75;
}
// take right and left speed value calculate for exp* growth
rightSpeed = (float) (0.94*(rightSpeed*rightSpeed)+0.05);
leftSpeed = (float) (0.94*(leftSpeed*leftSpeed)+0.05);
// default to 50% speed
rightSpeed *= 0.5;
leftSpeed *= 0.5;
}
public void robotInit() { //REMEMBER TO INITIALIZE EVERYTHING
drivetrain = new RobotDrive(1, 3, 2, 4);
XBoxController = new Joystick(1);
gyro = new Gyro(1 , 1);
timer = new Timer();
leftEncoder = new Encoder(2,1,2,2);
rightEncoder = new Encoder(2,3,2,4);
}
public void autonomous() {
while(isAutonomous()&&isEnabled()){ //Makes sure in autonomous.
log("Autonomous control enabled");
}
}
public void operatorControl() {
while (isOperatorControl() && isEnabled()) { //Make sure in driver
log("Operator control enabled");
DRIVE();
}
}
public void disabled() {
RESET();
log("Is disabled");
}
}
/*
1: A
2: B
3: X
4: Y
5: Left Bumper
6: Right Bumper
7: Back
8: Start
9: Left Joystick
10: Right Joystick
The axis on the controller follow this mapping
(all output is between -1 and 1)
1: Left Stick X Axis
-Left:Negative ; Right: Positive
2: Left Stick Y Axis
-Up: Negative ; Down: Positive
3: Triggers
-Left: Positive ; Right: Negative
4: Right Stick X Axis
-Left: Negative ; Right: Positive
5: Right Stick Y Axis
-Up: Negative ; Down: Positive
6: Directional Pad (Not recommended, buggy)
*/
Thanks
