Java coding help

FIRST General Forum
1

I am just driving to write a simple program to get the motors to drive using a joystick. I can deploy it and it throws no errors but when I move the joystick nothing happens. Any help would be greatly appreciated!

Robot code posted below:

Class Robot:

package org.usfirst.frc.team5407.robot;

import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;

/**

  • The VM is configured to automatically run this class, and to call the

  • functions corresponding to each mode, as described in the IterativeRobot

  • documentation. If you change the name of this class or the package after

  • creating this project, you must also update the manifest file in the resource

  • directory.
    */
    public class Robot extends IterativeRobot {

     //Declare classes up here 

 RobotBase robotbase = new RobotBase(0,1);
 Inputs inputs = new Inputs(0);

// final String defaultAuto = “Default”;
// final String customAuto = “My Auto”;
// String autoSelected;
// SendableChooser chooser;

public void robotInit() {
	
	
	//Class inputs go here

// robotbase = new RobotBase(0,1);
// inputs = new Inputs(0);
// sensors = new Sensors();

// solenoids = new Solenoids( //Drive train gear shifter w
// );

// chooser = new SendableChooser();
// chooser.addDefault(“Default Auto”, defaultAuto);
// chooser.addObject(“My Auto”, customAuto);
// SmartDashboard.putData(“Auto choices”, chooser);
}

public void autonomousInit() {

// autoSelected = (String) chooser.getSelected();
// autoSelected = SmartDashboard.getString(“Auto Selector”, defaultAuto);
// System.out.println("Auto selected: " + autoSelected);
}

/**
 * This function is called periodically during autonomous
 */
public void autonomousPeriodic() {
	//switch(autoSelected) {
	//case customAuto:
    //Put custom auto code here   
      //  break;
	//case defaultAuto:
	//default:
	//Put default auto code here
        //break;
	//}
}

/**
 * This function is called periodically during operator control
 */
public void teleopPeriodic() {
	//double counter = 0.0; //Counter writes value to SmartDashboard to verify connection     	
	while (isOperatorControl() && isEnabled()){
			//SmartDashboard.putNumber("Counter", counter++);
			//Timer.delay(0.10); 
			
	//Put class.update here for robot think 
	
	inputs.readValues();
	robotbase.update(); 
	robotThink();
	
	}
	
}

public void robotThink(){
	robotbase.d_LeftDriveMotor = inputs.d_PowerArcadeDrive - inputs.d_TurnArcadeDrive;
	robotbase.d_RightDriveMotor = inputs.d_PowerArcadeDrive + inputs.d_TurnArcadeDrive;    	
 }

/**
 * This function is called periodically during test mode
 */
public void testPeriodic() {
	LiveWindow.run(); //Allows values to update

}

}

Class RobotBase:

package org.usfirst.frc.team5407.robot;

import edu.wpi.first.wpilibj.Spark;

public class RobotBase {

//SpeedControllers go here ex: Mot_DriveMotor
Spark mot_LeftDriveMotor;
Spark mot_RightDriveMotor;

//Doubles go here ex: d_DriveMotor  
double d_LeftDriveMotor;
double d_RightDriveMotor;

public RobotBase(int PWMConnector_LeftDriveMotor, int PWMConnector_RightDriveMotor){
	
	mot_LeftDriveMotor = new Spark(PWMConnector_LeftDriveMotor);
	mot_RightDriveMotor = new Spark(PWMConnector_RightDriveMotor);
	
	
	//Make sure all motors are stopped
	mot_LeftDriveMotor.set(0.0);
	mot_RightDriveMotor.set(0.0);
	
}

public void update(){

}

}

Class Inputs:

package org.usfirst.frc.team5407.robot;

import edu.wpi.first.wpilibj.Joystick;

public class Inputs {

Joystick joy_DriveStick;

//doubles go under here
double d_PowerArcadeDrive;
double d_TurnArcadeDrive;

//booleans go under here
//boolean b_DualSpeedShifter;


public Inputs(int USBConnector_Drivestick){
	joy_DriveStick = new Joystick(USBConnector_Drivestick);
	zeroInputs();
}

public void readValues(){
	
	
	//Joystick X,Y,Z, Pov and Throttle go under here
	d_PowerArcadeDrive = joy_DriveStick.getX() * -1;
	d_TurnArcadeDrive = joy_DriveStick.getY() * -1;

// if (Math.abs(d_PowerArcadeDrive)<.01) {
// d_PowerArcadeDrive = 0;
// }
//
// if (Math.abs(d_TurnArcadeDrive)<.01){
// d_TurnArcadeDrive = 0;
// }

	//and an if that if the value is smaller disregard it if its bigger then use it
			
}	

public void zeroInputs(){
	this.d_TurnArcadeDrive = 0.0;
	this.d_PowerArcadeDrive = 0.0;		
}

}

2

It’s hard to tell with the formatting, but did you set the motor controller values within the RobotBase update method?

I’d also recommend skipping the d_LeftDriveMotor & d_RightDriveMotor variables and just have the update method take in two double parameters and set the motor controller values directly to prevent errors like this.

3

Thank you, I put the motor values in robotbase.update and it worked!

4