functions for auto

[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.

[Arhowk]

Quite tired so I ca't give you another full sweep, but a few things

	public AutonManager autonManager; //PUBLIC OR DOES IT MATTER?

doesn't matter. Same issue in the following poing

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

(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

	public static void run(AUTOS autoMode) {

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

	Robot robot

(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?

Originally Posted by curtis0gj

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.....

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

public class Robot{
	public RobotDrive chassis;
	public Joystick stick;

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

public class Joystick{
//code code code
}

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.

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.

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)

[curtis0gj]

Originally Posted by Arhowk

Quite tired so I ca't give you another full sweep, but a few things

	public AutonManager autonManager; //PUBLIC OR DOES IT MATTER?

doesn't matter. Same issue in the following poing

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

(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

	public static void run(AUTOS autoMode) {

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

	Robot robot

(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

public class Robot{
	public RobotDrive chassis;
	public Joystick stick;

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

public class Joystick{
//code code code
}

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)

Okay I will start making these changes and edit this post as I progress. You also asked about my experience in java and mentors.

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.

Also I have a few questions to verify some things. Sorry I may be a bit slow with all of this stuff and you may have to repeat things I will try not to offend you...

Anyway I think I understand the static part I just need to get rid of them because I now have a construction.

But you kind of lost me with:

"" 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. ""

With this ^ do you mean like this.chassis = ??; and this.gyro =??;

Okay I put a bit more thought into this and read the older posts. I think I am on the right track here's what I have done to call up variables.

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
	}

And the detached head issue the link was a bit technical for me but should I consider using google code or something else?

Also: chassis.drive(0, deltaAngle * kp_rotate);
should I change 0 to 0.25 for a speed?

And I remember another issue I was having with chassis.drive(-0.25, angle * Kp); (The objective was to have the robot drive straight). The issue was the robot would start curving to the left so much that it would curve slowly about 90 degrees and then it would start jittering about (it looked as if it was having a melt down...). Is there a better controller than can handle corrections for both directions (if that makes any sense.) ( I think the one we are using currently is called a P controller but I am not sure).

my apologies for not understanding I will read it a few more times but if you are available later some further explanation would be awesome.

[Arhowk]

Originally Posted by curtis0gj

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.

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.

Also I have a few questions to verify some things. Sorry I may be a bit slow with all of this stuff and you may have to repeat things...

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

Anyway I think I understand the static part I just need to get rid of them because I now have a construction. But you kind of lost me with:

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.

With this ^ do you mean like this.chassis = ??; and this.gyro =??;

Okay I put a bit more thought into this and read the older posts and I think I am on the right track here's what I have done to call up variables.

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
	}

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

	public Auto(Robot r){
		this.chassis = r.chassis;

(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.

int i = 0;
Integer integ = new Integer(i); 
System.out.println(integ.intValue());//will print 0 since it was passed 0
i = 55;
System.out.println(integ.intValue());//will still print 0 since it was passed 0, it was passed the value 0 not the variable "i"

</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.

And the detached head issue the link was a bit technical for me but should I consider using google code or something else?

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)

Also: chassis.drive(0, deltaAngle * kp_rotate);
should I change 0 to 0.25 for a speed?

Again, this was pseudocode. (maybe I should stop that ) The actual function is

RobotDrive.arcadeDrive(move,rotate);

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.

my apologies for not understanding I will read it a few more times but if you are available later some further explanation would be awesome.

Always.

[curtis0gj]

Originally Posted by Arhowk

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

	public Auto(Robot r){
		this.chassis = r.chassis;

(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.

int i = 0;
Integer integ = new Integer(i); 
System.out.println(integ.intValue());//will print 0 since it was passed 0
i = 55;
System.out.println(integ.intValue());//will still print 0 since it was passed 0, it was passed the value 0 not the variable "i"

</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 ) The actual function is

RobotDrive.arcadeDrive(move,rotate);

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.

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. Other than this I think my functions are looking good.

[Arhowk]

Originally Posted by curtis0gj

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.

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

[curtis0gj]

Originally Posted by Arhowk

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

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