functions for auto

[Arhowk]

Originally Posted by curtis0gj

Does this turn function replace left turn and right turn?

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.

[curtis0gj]

Originally Posted by Arhowk

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.

Should I change the static voids to private and add Robot r. Also I wanted to know how I can make the wait function work so the robot waits between certain functions.

[Arhowk]

apologies, wrapped up in poe.

Should I change the static voids to private and add Robot r.

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

Also I wanted to know how I can make the wait function work so the robot waits between certain functions.

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

[curtis0gj]

Originally Posted by Arhowk

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

Alright thanks, to replace the Robot r parameter could I extend my public class auto to robot or is there another way to do it?

[Arhowk]

Something like this

static Robot r
public static void setRobot(Robot rob){
    r = rob;
}


//in Robot.java
AutonManager.setRobot(this);

or

Robot robot
public AutonManager(Robot r){
    this.robot =r;
}

//in Robot.java
AutonManager autonManager;
public void robotInit(){
    autonManager = new AutonManager(this);
}

[curtis0gj]

Originally Posted by Arhowk

Something like this

static Robot r
public static void setRobot(Robot rob){
    r = rob;
}


//in Robot.java
AutonManager.setRobot(this);

or

Robot robot
public AutonManager(Robot r){
    this.robot =r;
}

//in Robot.java
AutonManager autonManager;
public void robotInit(){
    autonManager = new AutonManager(this);
}

Would this be okay?

public class Auto {
	
	static Robot r
	public static void setRobot(Robot rob) {
		r = rob;
	}

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

[Arhowk]

Originally Posted by curtis0gj

Would this be okay?

public class Auto {
	
	static Robot r
	public static void setRobot(Robot rob) {
		r = rob;
	}

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

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)

public class Auto {
	
	static Robot r
        static RobotDrive drive
        static DigitalInput upperLimitSwitch
        //and so on for other stuff
	public static void setRobot(Robot rob) {
		r = rob;
                drive = r.drive;
                upperLimitSwitch = r.limit4;
	}

[curtis0gj]

Originally Posted by Arhowk

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)

public class Auto {
	
	static Robot r
        static RobotDrive drive
        static DigitalInput upperLimitSwitch
        //and so on for other stuff
	public static void setRobot(Robot rob) {
		r = rob;
                drive = r.drive;
                upperLimitSwitch = r.limit4;
	}

Also I was wondering how I can call the new turn function you showed me do I just call turn(r, deg that I want to turn???); And you also said there was an ugly block in robot will it be an issue?

      public void autonomous() {
          autoMethod = (Defines.Autos) autoChooser.getSelected();
          Auto.run(this, autoMethod);
          if (autoMethod == Defines.Autos.AUTO_GRAB_ONE_BIN_BLUE_SIDE) {
               return;
          } else if (autoMethod == Defines.Autos.AUTO_GRAB_ONE_BIN_RED_SIDE) {
               return;
          } else if (autoMethod == Defines.Autos.AUTO_MOVE_TO_ZONE) {
               return;
          } else if (autoMethod == Defines.Autos.AUTO_GRAB_TWO_BINS_RED_SIDE) {
               return;
          } else if (autoMethod == Defines.Autos.AUTO_GRAB_TWO_BINS_BLUE_SIDE) {
               return;
          }
}

	public static void angleError(double setpointDegressZeroToThreeSixty, double experimentalDegrees) {
		double err = setpointDegressZeroToThreeSixty - experimentalDegrees; // 0 TO 360!
		if(err < -180) {
			err += 360;
		} else if(err > 180) {
			err -= 360;
		}
		return err;
	}
	
	double kp_rotate = 0.01;
	double MAX_ERROR = 5;
	
	public static void turn(Robot r, double deg) {
		while(true) {
			double deltaAngle = angleError(deg, gyro.getAngle());
			if(Math.abs(deg - deltaAngle) < MAX_ERROR) {
				break;
			} else {
				r.robot.drive(0, deltaAngle * kp_rotate);
			}
			Timer.delay(0.02);
		}
	}

https://github.com/curtis0gj/5033-2014-15

[Arhowk]

          if (autoMethod == Defines.Autos.AUTO_GRAB_ONE_BIN_BLUE_SIDE) {
               return;
          } else if (autoMethod == Defines.Autos.AUTO_GRAB_ONE_BIN_RED_SIDE) {
               return;
          } else if (autoMethod == Defines.Autos.AUTO_MOVE_TO_ZONE) {
               return;
          } else if (autoMethod == Defines.Autos.AUTO_GRAB_TWO_BINS_RED_SIDE) {
               return;
          } else if (autoMethod == Defines.Autos.AUTO_GRAB_TWO_BINS_BLUE_SIDE) {
               return;
          }

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.

[curtis0gj]

Originally Posted by Arhowk

          if (autoMethod == Defines.Autos.AUTO_GRAB_ONE_BIN_BLUE_SIDE) {
               return;
          } else if (autoMethod == Defines.Autos.AUTO_GRAB_ONE_BIN_RED_SIDE) {
               return;
          } else if (autoMethod == Defines.Autos.AUTO_MOVE_TO_ZONE) {
               return;
          } else if (autoMethod == Defines.Autos.AUTO_GRAB_TWO_BINS_RED_SIDE) {
               return;
          } else if (autoMethod == Defines.Autos.AUTO_GRAB_TWO_BINS_BLUE_SIDE) {
               return;
          }

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.

Ah now I see that the block does nothing.
But will my auto chooser still work without the block or will it be fine. Also just to make sure I understand, say I wanted to turn right(?) I would say turn(90);???? and If I want a left turn could I call turn(-90)??? and do I need turn(r, 90)? And should I change all my auto functions to public or keep them all private static voids?

[Arhowk]

Originally Posted by curtis0gj

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

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.

Also just to make sure I understand, say I wanted to turn right(?) I would say turn(90);???? and If I want a left turn could I call turn(-90)???

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().

and do I need turn(r, 90)?

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.

And should I change all my auto functions to public or keep them all private static voids?

"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

static Robot r
public static void setRobot(Robot rob){
    r = rob;
}


//in Robot.java
AutonManager.setRobot(this);

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

AutonManager.startAuton(autonMode);

Without the static keyword, you have to do

AutonManager m = new AutonManager();
m.startAuton(autonMode);

So, if you chose this implementation

Robot robot
public AutonManager(Robot r){
    this.robot =r;
}

//in Robot.java
AutonManager autonManager;
public void robotInit(){
    autonManager = new AutonManager(this);
}

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.

[curtis0gj]

Originally Posted by Arhowk

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

static Robot r
public static void setRobot(Robot rob){
    r = rob;
}


//in Robot.java
AutonManager.setRobot(this);

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

AutonManager.startAuton(autonMode);

Without the static keyword, you have to do

AutonManager m = new AutonManager();
m.startAuton(autonMode);

So, if you chose this implementation

Robot robot
public AutonManager(Robot r){
    this.robot =r;
}

//in Robot.java
AutonManager autonManager;
public void robotInit(){
    autonManager = new AutonManager(this);
}

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.

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.....

https://github.com/curtis0gj/5033-2014-15/tree/master

The final concern/question I have is regarding an issue I had in the past. The issue was the robot would do two things at once for example, I wanted to the robot to lift a bin wait then move forward. What ended up happening was the robot attempted to lift the bin and move forward at the same time. This was very problematic... Anyway it could have been a bug in the old code I was using. It had some grotesque while and if loops in it.