Robot Base Code

[joelg236]

Hey, I am the programmer on team 4334 (ATA) and I've been working on a bare-bones base code that allows for relatively easy insertion of specific stuff, but its mostly useful because of all the features it allows you to implement.

I just started to learn java in week 2 of build season (Built my first tic-tac-toe game the first day of week 2 ) and ended up actually taking over our programming team.

We didn't have a mentor this year to help with programming, and basically it has consisted of me, someone else who comes in occasionally and chief delphi as a guide . Because we didn't have a mentor, I'm gonna bet that there a lot of things that I do in a different way then most programmers, but for this I decided to document it fully (At least as much as I have ever done) to aide in other team's understanding of what's going on.

I would really appreciate it if you gave it a look or two, and told me what you think. (Specific changes to be made, general style, ways to do things more effectively, opinion about the javadocs, etc.)

I'd really like this to turn into something I will continue to update throughout summer, fall and build season for other teams (New and old alike). Maybe even I could work with some of you guys to improve it (Because naturally, more experience = better quality code).

Thanks for your time, hope you enjoy !

Joel

[ItzWarty]

My main criticism would be on confusing naming, which is just a readability nit-pick, though that's just due to my coding standard (which nobody else is obligated to follow, of course).
(Ex: autonomous() implies runAutonomous() as opposed to getAutonomousThread())

---

Other things to think about:
The system might be a bit strange to work with if you try to mix autonomous methods with teleoperated methods. Autonomous-ish methods were used in games like Breakaway and Logomotion, for line following, and goal alignment in Rebound Rumble.

We tried the following, and it worked pretty decently:
Shooter - Calculus Bazooka
Bridge Knockdown Mechanism: Del Operator
Tower - Transported ball collection mechanism to shooter.

public class SubsystemControlState
{
    public boolean DriveTrainAutomated      = false;
    public boolean CalculusBazookaAutomated = false;
    public boolean DelOperatorAutomated     = false;
}

/**
     * Runs the autonomous loops that are binded to certain buttons.
     * The result of this method is an AutonomousLoopsState object, which tells
     * the other methods what subsystems are available for them to manipulate.
     */
    private SubsystemControlState SelectivelyRunAutonomousLoops()
    {
        SubsystemControlState subsystemControlStates = new SubsystemControlState();
        //----------------------------------------------------------------------
        //
        // Del Operator
        //
        //----------------------------------------------------------------------
        subsystemControlStates.DelOperatorAutomated = DelOperator.IsAutomated();

        //----------------------------------------------------------------------
        //
        // Drive Train
        //
        //----------------------------------------------------------------------
        // Move Towards Ball (L2)
        //----------------------------------------------------------------------
        if(Gamepad.IsDown(Gamepad.kButtonL2) && !subsystemControlStates.DriveTrainAutomated) //Move towards ball (hold)
        {
            m_moveToBallThreadEnabled = true;
            subsystemControlStates.DriveTrainAutomated = true;
        }else{
            m_moveToBallThreadEnabled = false;
        }

        //----------------------------------------------------------------------
        // Align to Goal (R2)
        //----------------------------------------------------------------------
        if(Gamepad.IsDown(Gamepad.kButtonR2) && !subsystemControlStates.DriveTrainAutomated) //Move towards goal (hold)
        {
            m_turnToGoalThreadEnabled = true;
            subsystemControlStates.DriveTrainAutomated = true;
        }else{
            m_turnToGoalThreadEnabled = false;
        }

        //----------------------------------------------------------------------
        //
        // Calculus Bazooka
        //
        //----------------------------------------------------------------------
        return subsystemControlStates;
    }

public void teleopPeriodic()
    {
        Gamepad.UpdateState();
        Gamepad2.UpdateState();
        
        String result = "";
        for(int i = 1; i < 13; i++)
        {
            result += Gamepad.IsDown(i) ? "1": "0";
        }
        //Logger.LogLine(result + " " + Gamepad.GetLeftY() + " " + Gamepad.GetRightY() + " TowerShooting: " + Tower.IsShooting() + " VBattery: " + m_ds.getBatteryVoltage());
        //----------------------------------------------------------------------
        //
        // Run autonomous code if their triggers are pressed.
        //
        //----------------------------------------------------------------------
        SubsystemControlState subsystemControlStates = SelectivelyRunAutonomousLoops();

        //----------------------------------------------------------------------
        //
        //
        // Run methods that do not conflict with automation of their subsystems.
        //
        //
        //----------------------------------------------------------------------
        //
        // Drive Train
        //
        //----------------------------------------------------------------------
        // Tank Drive when we aren't automated (Analog Sticks & Buttons L3, R3)
        //----------------------------------------------------------------------
        if(!subsystemControlStates.DriveTrainAutomated)
        {
            double leftSpeed = Gamepad.GetLeftY();
            double rightSpeed = Gamepad.GetRightY();

            //If an analog input is pressed, it counts as a button on the dualshock.
            //While this isn't so useful for most methods (as it requires sort of
            //moving the analog stick a bit, it's useful for special driving stuff.
            //In our case, if the buttons are pressed, we square inputs.
            //This allows for more precise control by the driver, especially when
            //you think of things such as deadzone.
            if(Gamepad.IsDown(Gamepad.kButtonL3))
                leftSpeed = leftSpeed * leftSpeed;
            if(Gamepad.IsDown(Gamepad.kButtonR3))
                rightSpeed = rightSpeed * rightSpeed;

            //We now invoke tank drive with the joystick's potentially squared inputs.
            this.GetKinematixDriveTrain().TankDrive(leftSpeed, rightSpeed);

            //We now enable PID if R1 is pressed.  This is for going up the ramp.
            //PID compensates for the higher amount of resistence to the wheels,
            //and ensures that the robot doesn't jerk forwards when the ramp
            //levels itself (which would lower the resistance to the wheels)
            if(Gamepad.IsDown(Gamepad.kButtonR1))
            {
                //Logger.LogLine("PID Trigger");
                this.GetKinematixDriveTrain().SetControlMode(ControlMode.kProportionalGain);
            }
            else
            {
                //Logger.LogLine("Direct Control Trigger");
                this.GetKinematixDriveTrain().SetControlMode(ControlMode.kDirectControl);
            }
        }

        //----------------------------------------------------------------------
        //
        // Calculus Bazooka
        //
        //----------------------------------------------------------------------
        // Shoot if Button 1 is pressed, based on firing mode
        //----------------------------------------------------------------------
        if(!subsystemControlStates.CalculusBazookaAutomated)
        {
//            if(CalculusBazooka.GetFiringMode().equals(FiringMode.kAutomatic))
//            {
//                if(Gamepad.IsDown(Gamepad.kButton1) && !Gamepad.IsDown(Gamepad.kButton2))
//                {
//                    //CalculusBazooka.
//                    Tower.SetControlMode(ControlMode.kAutonomousControl);
//                    Tower.BeginShooting();
//                }
//            }
//            else if(CalculusBazooka.GetFiringMode().equals(FiringMode.kSingle))
//            {
//                if(Gamepad.IsJustDown(Gamepad.kButton1) && !Gamepad.IsDown(Gamepad.kButton2))
//                {
//                    Tower.SetControlMode(ControlMode.kAutonomousControl);
//                    Tower.BeginShooting();
//                }
//            }
            
            //Disable letting the primary driver control elevator.  Too kludgy
//            if(Gamepad.IsDown(Gamepad.kButton1) && Gamepad.IsDown(Gamepad.kButton2))
//            {
//                Tower.SetControlMode(ControlMode.kAutonomousControl);
//                Tower.DirectReverseElevatorAndCollector();
//            }else if(Gamepad.IsDown(Gamepad.kButton1))
//            {
//                Tower.SetControlMode(ControlMode.kAutonomousControl);
//                Tower.BeginShooting();
//            }else if(Gamepad.IsDown(Gamepad.kButton2))
//            {
//                Tower.SetControlMode(ControlMode.kAutonomousControl);
//                Tower.ShootingIsDone();
//            }
            
            //4 3 5
            if(Gamepad2.IsDown(Gamepad.kButton4))
            {
                Tower.SetControlMode(ControlMode.kAutonomousControl);
                Tower.DirectStartElevatorAndCollector();
            }else if(Gamepad2.IsDown(Gamepad.kButton3))
            {
                Tower.SetControlMode(ControlMode.kAutonomousControl);
                Tower.ShootingIsDone();
            }else if(Gamepad2.IsDown(Gamepad.kButton5))
            {
                Tower.SetControlMode(ControlMode.kAutonomousControl);
                Tower.DirectReverseElevatorAndCollector();
            }
        }

        LEDRings.SetWhiteLedRingEnabled(m_ds.getDigitalIn(7));
        LEDRings.SetGreenLedRingEnabled(m_ds.getDigitalIn(8));
        //If Button 9 is pressed, we swap the firing mode of the Calculus Bazooka.
        if(Gamepad.IsJustDown(Gamepad.kButton9))
        {
            if(CalculusBazooka.GetFiringMode().equals(FiringMode.kAutomatic))
                CalculusBazooka.SetFiringMode(FiringMode.kSingle);
            else if(CalculusBazooka.GetFiringMode().equals(FiringMode.kSingle))
                CalculusBazooka.SetFiringMode(FiringMode.kAutomatic);
        }

        //If Button 10 is pressed, we swap the subsystem mode of the Calculus Bazooka.
        //if(Gamepad.IsJustDown(Gamepad.kButton10))
        if(Gamepad2.IsJustDown(Gamepad.kButton1))
        {
            if(m_manipulatorSystemState.equals(ManipulatorSystemState.kCollecting))
            {
                m_manipulatorSystemState = ManipulatorSystemState.kShooting;
            }else if(m_manipulatorSystemState.equals(ManipulatorSystemState.kShooting))
            {
                m_manipulatorSystemState = ManipulatorSystemState.kCollecting;
            }
        }

        //----------------------------------------------------------------------
        //
        // Del Operator
        //
        //----------------------------------------------------------------------
        if(!subsystemControlStates.DelOperatorAutomated)
        {
//            if(Gamepad.IsDown(Gamepad.kButtonL1) && !subsystemControlStates.DelOperatorAutomated)
//            {
//                //Tells the del operator to extend if it's in a retracted position
//                DelOperator.ExtendIfReady();
//            }
            if(Gamepad2.IsDown(Gamepad.kButton6))// && !Gamepad.IsDown(Gamepad.kButton4))
            {
                DelOperator.DirectExtend();
            }
            else if(Gamepad2.IsDown(Gamepad.kButton7))// && Gamepad.IsDown(Gamepad.kButton4))
            {
                DelOperator.DirectRetract();
            }
            else
            {
                DelOperator.DirectStop();
            }
        }
    }

[joelg236]

Release V0.1.0 is out.

Available here.

Please, feel free to tell me what you think of it. (The good, bad and ugly)

I only aim to continue to improve it.

Regards,

Joel from Team 4334.