Here is a copy of my code.
Please comment on it! I know i could just do the import “*” thing but i chose not to for future references!
If you have any questions please ask, but otherwise my comments in the code seem pretty straight forward!
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.templates;
import edu.wpi.first.wpilibj.SimpleRobot;//imports the robot template.
import edu.wpi.first.wpilibj.camera.AxisCamera;//imports camera.
import edu.wpi.first.wpilibj.Joystick;//imports the controller.
import edu.wpi.first.wpilibj.Timer;//imports the timer.
import edu.wpi.first.wpilibj.RobotDrive;//imports the drive.
import edu.wpi.first.wpilibj.Watchdog;//imports the safety timer.
import edu.wpi.first.wpilibj.Jaguar;//imports the arm jaguar.
import edu.wpi.first.wpilibj.DoubleSolenoid;//imporst the solenoids used on the robot.
import edu.wpi.first.wpilibj.Compressor;//imports compressor.
/**
* The VM is configured to automatically run this class, and to call the
* functions corresponding to each mode, as described in the SimpleRobot
* 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 RobotTemplate extends SimpleRobot {
RobotDrive drive = new RobotDrive(1,2); // drives the robot around; no jaguars needed to control unless specified.
RobotDrive Arm = new RobotDrive(3,0);
Joystick leftStick = new Joystick(1); // this is our game controller: can be anything that has a joystick.
Timer timer = new Timer(); // Just a timer.
Watchdog Fluffy = Watchdog.getInstance(); // safety timer.
AxisCamera Cam = AxisCamera.getInstance(); // shows image on dashboard.
Compressor comp = new Compressor(1,1); // compressor is pluged in digital I/O port 1, analog port 1.
DoubleSolenoid grab = new DoubleSolenoid(1,2); // this is the solenoid that controls our manipulator.
DoubleSolenoid deployM = new DoubleSolenoid(3,4);//This is the solenoid that controls our deploment.
Jaguar arm = new Jaguar(3); // speed controller that controlls our arm hence the "arm" for the name.
/**
* This function is called once each time the robot enters autonomous mode.
*/
public void autonomous() {
while(isAutonomous()) {
comp.start();
{
timer.start(); // Timer starts
while(timer.get() < 4) { //while the timer is less than 3 sec. the arm will turn.
Arm.drive(.75,0);//arm moves towards peg from starting configuration.
timer.stop(); // stops the timer after 3 seconds.
}
Arm.drive(0,0);//Stops the arm so it doesnt kill anyone
{
timer.reset();// the timer resets it self.
timer.start();//the timer starts again.
while(timer.get()<4) {//while the timer is less than 4 sec. the robot will drive.
drive.drive(.3,0); // robot drives forward at 30% speed and 0% turn.
timer.stop();//stops the arm from moving after the 4 seconds is up
}
drive.drive(0,0);//stops the robot so it doesn't kill anyone.
{
grab.set(DoubleSolenoid.Value.kForward);// solenoid for the manipulator extends until let go.
}
{drive.drive(-.15,0);//drives backwards at 15% speed, zero turn so that we can get closer to our feeder station
}
}
}
comp.stop();
}
}
/**
* This function is called once each time the robot enters operator control.
*/
public void operatorControl()
{
comp.start(); // our compressor starts.
AxisCamera.getInstance();// the axis camera shows in dashboard not sure if we need this .
Fluffy.setExpiration(5.0); // safety timer is set to call every 5 seconds.
while (isOperatorControl () && isEnabled())// operator control is enabled.
{
Fluffy.feed();// feed safety timer.
drive.arcadeDrive(leftStick);//Drive the robot with the left thumbstick on the game controller or the left joystick if using two.
Fluffy.feed();// feed safety timer.
if (leftStick.getRawButton(5))
{
arm.set(.5);// when we press button 5 our arm goes up at 50% speed.
}
else if (leftStick.getRawButton(6))
{
arm.set(-.5);//arm goes toward the ground at 50% speed when we press button 6. though it doesnt seem to do it.
}
else
{
arm.set(0);// arm doesnt do anything when we dont press a button.
if(leftStick.getRawButton(7))
{
arm.set(1);// arm goes away from the ground at 100% speed when we press button 7.
}
else if (leftStick.getRawButton(8))
{
arm.set(-1);// arm goes towards the ground at 100% speed when we press button 8.
}
else
{
arm.set(0);// arm doesnt do anything
if(leftStick.getRawButton(2))
{
Fluffy.feed();// feed safety timer.
grab.set(DoubleSolenoid.Value.kForward);// solenoid for the manipulator extends until let go.
Fluffy.feed();// feed safety timer.
}
else
{
Fluffy.feed();// feed safety timer.
grab.set(DoubleSolenoid.Value.kReverse);// solenoid for the manipulator retracts.
Fluffy.feed();// feed safety timer.
if (leftStick.getRawButton(10))
{
Fluffy.feed();// feed safety timer.
deployM.set(DoubleSolenoid.Value.kForward);
Fluffy.feed();// feed safety timer.
}
else
{
Fluffy.feed();//feed safety timer.
deployM.set(DoubleSolenoid.Value.kReverse);
Fluffy.feed();//feed safety timer.
}
}
Timer.delay(.005);// call to check for a button being pressed every 5 milliseconds!
}
comp.stop();// compressor stops.
}
}
}
}
From first glance I see nothing absolutely deadly in your code. But watch out with your Fluffy.setExpiration(5.0);
5 seconds may not seem like much, but when you’re on the field that’s like an hour!
It’s a ‘double rainbow’ joke. I did get a kick out of ‘fluffy’ but agree that five seconds is enough for your robot to do serious damage to itself and things around it.
You do feed him a LOT though… Really, you only need to feed him once per loop. In your teleop loop there, you feed him six times every loop! Hope you take him for lots of walks!
Erm. Bad jokes aside, it looks good - very well commented especially. Few questions though:
Does the dead reckoning * autonomous work consistently (if you’ve tested it)? From past experience I find that dead reckoning is subject to even the slightest mechanical or electrical change.
Have there been any problems with having the arm RobotDrive try to access channel 0? If it’s only one speed controller, and it’s not quite a ‘drive’, why are you using RobotDrive instead of just making a Jaguar?
Also -
I know i could just do the import “*” thing but i chose not to for future references!
There are lots of arguments for NOT importing everything in the package - like a slower compile time (especially considering WPIlib builds pretty slowly in the first place), easily seeing what your code is made of, etc. So good job choosing not to!*
well the arm is two window motors running in snyc on port 3 because im using a split pwm cable. I dont really know how to program it. I have not tested the autonomus because me team doesnt realize that a programmer should get some time with the robot, and could you give me any help on how to run my arm, on a joystick, im using a game controller with two joysticks, the left is for arcade drive and the right i want to be bor the arm. and i do have my arm declared as a jaguar in a spot too.
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.templates;
import edu.wpi.first.wpilibj.SimpleRobot;
//imports the robot template.
import edu.wpi.first.wpilibj.camera.AxisCamera;
//imports camera.
import edu.wpi.first.wpilibj.Joystick;
//imports the controller.
import edu.wpi.first.wpilibj.Timer;
//imports the timer.
import edu.wpi.first.wpilibj.RobotDrive;
//imports the drive.
import edu.wpi.first.wpilibj.Watchdog;
//imports the safety timer.
import edu.wpi.first.wpilibj.Jaguar;
//imports the arm jaguar.
import edu.wpi.first.wpilibj.DoubleSolenoid;
//imporst the solenoids used on the robot.
import edu.wpi.first.wpilibj.Compressor;
//imports compressor.
/**
* The VM is configured to automatically run this class, and to call the
* functions corresponding to each mode, as described in the SimpleRobot
* 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 RobotTemplate extends SimpleRobot {
RobotDrive drive = new RobotDrive(1,2);
// drives the robot around; no jaguars needed to control unless specified.
RobotDrive Arm = new RobotDrive(3,3);
//drives the arm in autonomy.
Joystick leftStick = new Joystick(1);
// this is our game controller: can be anything that has a joystick.
Joystick rightStick = new Joystick(2);
// kellers joystick for lights.
Timer timer = new Timer();
// Just a timer.
Watchdog Fluffy = Watchdog.getInstance();
// safety timer.
AxisCamera Cam = AxisCamera.getInstance();
// shows image on dashboard.
Compressor comp = new Compressor(1,1);
// compressor is pluged in digital I/O port 1, analog port 1.
DoubleSolenoid grab = new DoubleSolenoid(1,2);
// this is the solenoid that controls our manipulator.
DoubleSolenoid deployM = new DoubleSolenoid(3,4);
//This is the solenoid that controls our deploment.
Jaguar arm = new Jaguar(3);
// speed controller that controlls our arm hence the "arm" for the name.
/**
* This function is called once each time the robot enters autonomous mode.
*/
public void autonomous() {
while(isAutonomous()) {
comp.start();
{
timer.start();
// Timer starts
while(timer.get() < 3) {
//while the timer is less than 3 sec. the arm will turn.
Arm.drive(1,0);
//arm moves towards peg from starting configuration
//at 100% speed, zero % turn because it cant turn!
timer.stop();
// stops the timer after 3 seconds.
}
Arm.drive(0,0);
//Stops the arm so it doesnt kill anyone
{
timer.reset();
// the timer resets it self.
timer.start();
//the timer starts again.
while(timer.get()<4) {
//while the timer is less than 4 sec. the robot will drive.
drive.drive(.3,0);
// robot drives forward at 30% speed and 0% turn.
timer.stop();
//stops the robot from moving after the 4 seconds is up.
}
drive.drive(0,0);
//stops the robot so it doesn't kill anyone.
{
grab.set(DoubleSolenoid.Value.kForward);
// solenoid for the manipulator extends until let go.
}
{
timer.reset();
// the timer resets itself.
timer.start();
//the timer restarts itself again.
while(timer.get()<6)
//while the timer is less than 6 seconds the
//robot will go in reverse
drive.drive(-.15,0);
//drives backwards at 15% speed, zero turn so that
//we can get closer to our feeder station.
timer.stop();
//Stops the robot from moving after the 6 seconds are up.
}
drive.drive(0,0);
}
}
comp.stop();
// compressor stops not sure if we need this.
}
}
/**
* This function is called once each time the robot enters operator control.
*/
public void operatorControl()
{
comp.start();
// our compressor starts.
AxisCamera.getInstance();
// the axis camera shows in dashboard not sure if we need this .
Fluffy.setExpiration(5.0);
// safety timer is set to call every 5 seconds.
while (isOperatorControl () && isEnabled())
// operator control is enabled.
{
Fluffy.feed();
// feed safety timer.
drive.arcadeDrive(leftStick);
//Drive the robot with the left thumbstick on the game controller or the left joystick if using two.
Fluffy.feed();
// feed safety timer.
Arm.tankDrive(leftStick, 0, leftStick, 4);
if (leftStick.getRawButton(5))
{
arm.set(.5);
// when we press button 5 our arm goes up at 50% speed.
}
else if (leftStick.getRawButton(6))
{
arm.set(-.5);
//arm goes toward the ground at 50% speed when we press button 6. though it doesnt seem to do it.
}
else
{
arm.set(0);
// arm doesnt do anything when we dont press a button.
if(leftStick.getRawButton(7))
{
arm.set(1);
// arm goes away from the ground at 100% speed when we press button 7.
}
else if (leftStick.getRawButton(8))
{
arm.set(-1);
// arm goes towards the ground at 100% speed when we press button 8.
}
else
{
arm.set(0);
// arm doesnt do anything.
if(leftStick.getRawButton(2))
{
Fluffy.feed();
// feed safety timer.
grab.set(DoubleSolenoid.Value.kForward);
// solenoid for the manipulator extends until let go.
Fluffy.feed();
// feed safety timer.
}
else
{
Fluffy.feed();
// feed safety timer.
grab.set(DoubleSolenoid.Value.kReverse);
// solenoid for the manipulator retracts.
Fluffy.feed();
// feed safety timer.
if (leftStick.getRawButton(10))
{
Fluffy.feed();
// feed safety timer.
deployM.set(DoubleSolenoid.Value.kForward);
//the minibot deployment is launched make sure you dont let go!
Fluffy.feed();
// feed safety timer.
}
else
{
Fluffy.feed();
//feed safety timer.
deployM.set(DoubleSolenoid.Value.kReverse);
//minibot deployment is retracted make sure minibot is climbing first!
Fluffy.feed();
//feed safety timer.
}
}
Timer.delay(.005);
// call to check for a button being pressed every 5 milliseconds!
}
comp.stop();
// compressor stops.
}
}
}
}
i do need help though i want to stop my arm when it hits a limit switch, now ive searched CD and cant quite figure it out, but when it is triggered i want my arm to stop and when it is not triggered i want my arm to drive. How might i go about doing this. btw. this would replace the timer reference in my autonomy. Please help!!!:ahh:
I’m not 100% on what you mean, but if you want your arm to move only while the trigger is being held, you’d have to use a conditional, an essential in any programming language.
public void operatorControl() {
if(joystick.getTrigger()) {
// move the arm based on the joystick's Y-axis
arm.set(joystick.getY());
} else {
/* stop the arm if the trigger isn't held down
* useful note: the arm will remain in it's position
* until you move it again. this simply stops the arm
* from moving, not sets it back down in
* it's starting position. you can code this easily.
*/
arm.set(0.0);
}
/* just for reference, you would still be able
to drive if the trigger is not held down. */
robotDrive.drive(joystick);
}
This is somewhat what i want to do, i only want the switch to be powered in auto. so then i can extend past it to floor load, and i just want the switch to turn off the arm when the arm hits the switch. im just clueless right now.
