Quote:
Originally Posted by lineskier
|
I fixed my recursion error i believe, but its still yielding the same problem.
Output with my comments:
Code:
[cRIO] [Squawk VM] Version: 2011 FRC, Nov 5 2011, 14:34:13
[cRIO] FPGA Hardware GUID: 0x1394f6dc1feb42ec6910e5767ed1d22c
[cRIO] FPGA Software GUID: 0xa14c11bde4bb64aef6a86fc52a294cd9
[cRIO]
[cRIO] Affirmitive. I read you dave.
[cRIO]
[cRIO] edu.wpi.first.wpilibj.networktables2.server.ServerConnectionAdapter@1d entered connection state: GOT_CONNECTION_FROM_CLIENT
[cRIO] edu.wpi.first.wpilibj.networktables2.server.ServerConnectionAdapter@1d entered connection state: CONNECTED_TO_CLIENT
[cRIO] Open the door HAL!
[cRIO] Robot Drive... Output not updated often enough. // right when i enable, what is that all about?
[cRIO] DriveWithJoysticks // i move around the floor and read output from the enc on my smartboard
[cRIO] DriveToDistance //press button 11 and it goes to setpoint 100
[cRIO] done
[cRIO] DriveWithJoysticks //drive around some more and then disable, if i dont disable and reenable same thing happens so it doesnt matter
[cRIO] Robot Drive... Output not updated often enough.
[cRIO] Open the door HAL! //enable and press button 11
[cRIO] DriveToDistance
[cRIO] Robot Drive... Output not updated often enough.
[cRIO] Robot Drive... Output not updated often enough.
[cRIO] Robot Drive... Output not updated often enough.
[cRIO] Robot Drive... Output not updated often enough.
[cRIO] Robot Drive... Output not updated often enough.
[cRIO] Robot Drive... Output not updated often enough.
[cRIO] Robot Drive... Output not updated often enough.
[cRIO] Robot Drive... Output not updated often enough.
[cRIO] Robot Drive... Output not updated often enough.
[cRIO] Robot Drive... Output not updated often enough.
[cRIO] Robot Drive... Output not updated often enough.
[cRIO] Robot Drive... Output not updated often enough.
[cRIO] Robot Drive... Output not updated often enough.
[cRIO] Robot Drive... Output not updated often enough.
[cRIO] Robot Drive... Output not updated often enough.
[cRIO] Robot Drive... Output not updated often enough.
[cRIO] Robot Drive... Output not updated often enough.
[cRIO] Robot Drive... Output not updated often enough.
[cRIO] Robot Drive... Output not updated often enough.
[cRIO] Robot Drive... Output not updated often enough.
[cRIO] Robot Drive... Output not updated often enough.
[cRIO] Robot Drive... Output not updated often enough. // here stuff works but not any drivetrain stuff
//////// Here i turn off(physical switch) and turn back on the robot and now it works again!
[cRIO] Open the door HAL!
[cRIO] DriveWithJoysticks
[cRIO] DriveToDistance
[cRIO] done
[cRIO] DriveWithJoysticks
Drivetrain sub
Code:
/*
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*/
package us.mn.k12.fairmont.robotics.subsystems;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.command.PIDSubsystem;
import edu.wpi.first.wpilibj.networktables.NetworkTable;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import us.mn.k12.fairmont.robotics.RobotMap;
import us.mn.k12.fairmont.robotics.commands.CommandBase;
import us.mn.k12.fairmont.robotics.commands.DriveWithJoysticks;
/**
*
* @author Teacher
*/
public class DriveTrain extends PIDSubsystem {
// Put methods for controlling this subsystem
// here. Call these from Commands.
RobotDrive drive = new RobotDrive(RobotMap.frontLeftMotor, RobotMap.rearLeftMotor, RobotMap.frontRightMotor, RobotMap.rearRightMotor);
Encoder enc = new Encoder(RobotMap.frontRightEncA, RobotMap.frontRightEncB);
// Timer timer = new Timer();
public DriveTrain() {
super("Drivetrain", 6, 0, 0);
setAbsoluteTolerance(10);
enc.start();
}
public void initDefaultCommand() {
// Set the default command for a subsystem here.
setDefaultCommand(new DriveWithJoysticks());
}
public void driveMechanum_Cartesian(double rightJoyY, double rightJoyX, double rotation) {
drive.mecanumDrive_Cartesian((rightJoyY * -1), rotation, rightJoyX * -1, 0); // Mechanam wheel rollers should form an x when looking directaly down from the top
}
public void putPID() {
CommandBase.table.putNumber("p", 8.0); // change it to smartdashboard getnumber tomorrow when you arent borend of deploying
CommandBase.table.putNumber("i", 0.0); // HOLY shoot YOU FIXED THE MOMORY LIEEK
CommandBase.table.putNumber("d", 0.0);
}
//
// public boolean autoDrive(int dist, double speed) {
// System.out.println("going fishes");
// enc.reset();
// while (enc.get() <= dist - 100) {
//// tal.set(speed*(.1*(dist-enc.get())));
// if (enc.get() <= dist - 100) {
// driveMechanum_Cartesian(speed, speed, 0);
// } else if (enc.get() >= dist + 100) {
// driveMechanum_Cartesian(-speed, -speed, 0);
// }
//
// }
// return true;
// }
//
// // credit to team 1160's github for pieces of this
// public void autoTimeDrive(double time, boolean run) {
// timer.start();
// timer.reset();
// while (run) {
// driveMechanum_Cartesian(.3, .3, 0);
// System.out.println(timer.get());
// if (timer.get() >= time) {
// driveMechanum_Cartesian(0, 0, 0);
// run = false;
// }
// }
// }
public double updateStatus() {
SmartDashboard.putNumber("Enc", enc.getRaw());
return enc.getRaw();
}
public void resetthing() {
enc.reset();
getPIDController().reset();
}
public double returnPIDInput() {
return enc.getRaw();
}
public void updatePID() {
RobotMap.p = CommandBase.table.getNumber("p", 8);
RobotMap.i = CommandBase.table.getNumber("i", 0);
RobotMap.d = CommandBase.table.getNumber("d", 0);
getPIDController().setPID(RobotMap.p, RobotMap.i, RobotMap.d);
}
public void usePIDOutput(double output) {
driveMechanum_Cartesian(output/4,0, 0);
}
}
drive to distance
Code:
package us.mn.k12.fairmont.robotics.commands;
public class DriveToDistance extends CommandBase {
boolean go;
double setpoint;
/**
* Require the drive train and store the desired setpoint.
*
* @param setpoint The desired setpoint for the drive train.
*/
public DriveToDistance(boolean go, double setpoint) {
requires(drivetrain);
this.go = go;
this.setpoint = setpoint;
}
// Called just before this Command runs the first time
/**
* Set the setpoint to the stored value and enable PID on the drivetrain.
*/
protected void initialize() {
System.out.println(this);
if (go) {
drivetrain.getPIDController().reset();
drivetrain.getPIDController().enable();
drivetrain.getPIDController().setSetpoint(setpoint);
}
}
// Called repeatedly when this Command is scheduled to run
protected void execute() {
}
// Make this return true when this Command no longer needs to run execute()
/**
* @return true when it's close enough to the setpoint
*/
protected boolean isFinished() {
return drivetrain.getPIDController().onTarget();
}
// Called once after isFinished returns true
/**
* When this command ends, disable the drivetrain's PID
*/
protected void end() {
System.out.println("done");
go = false;
drivetrain.getPIDController().disable();
}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
/**
* When this command exits, disable the drivetrain's PID
*/
protected void interrupted() {
end();
}
}