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Added new Robot project using PWM drive train... Much simpler... 

Signed-off-by: Jason <jason@dublinschool.org>
This commit is contained in:
Jason 2016-02-09 16:23:45 -05:00
commit 01c462c0c6
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/Debug/

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<?xml version="1.0" encoding="UTF-8"?>
<projectDescription>
<name>Robot2016</name>
<comment></comment>
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<nature>edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature</nature>
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eclipse.preferences.version=1
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11
build.properties Normal file
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# Build information
out=FRCUserProgram
src.dir=src
build.dir=build
out.exe=Debug/${out}
# Simulation
simulation.world.file=/usr/share/frcsim/worlds/GearsBotDemo.world
# Use the current C++ library by default
cpp-version=current

28
build.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<project name="FRC Deployment" default="deploy">
<!--
The following properties can be defined to override system level
settings. These should not be touched unless you know what you're
doing. The primary use is to override the wpilib version when
working with older robots that can't compile with the latest
libraries.
-->
<!-- By default the system version of WPI is used -->
<!-- <property name="version" value=""/> -->
<!-- By default the system team number is used -->
<!-- <property name="team-number" value=""/> -->
<!-- By default the target is set to 10.TE.AM.2 -->
<!-- <property name="target" value=""/> -->
<property file="${user.home}/wpilib/wpilib.properties"/>
<property file="build.properties"/>
<property file="${user.home}/wpilib/cpp/${version}/ant/build.properties"/>
<import file="${wpilib.ant.dir}/build.xml"/>
</project>

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#include "../wpilib/WPILib.h"
#include "Shooter.h"
#ifndef BUTTON_LAYOUT
#define BUTTON_LAYOUT
#define TRIGGER 1 // I have no idea what the right button number is...
#define THUMB 2
#endif // BUTTON_LAYOUT
class Robot: public IterativeRobot
{
Talon left_drive;
Talon right_drive;
CANTalon shooter1;
CANTalon shooter2;
CANTalon ramp;
RobotDrive drive;
Shooter shooter;
Joystick driver_stick, operator_stick;
public:
Robot():
left_drive(1), // Left DriveTrain Talons plug into PWM channel 1 with a Y-spliter
right_drive(2), // Right DriveTrain Talons plug // left wheel 2
shooter1(10), // shooter drive 1
shooter2(11), // shooter drive 2
ramp(12),
drive(&left_drive, &right_drive),
shooter( // initialize Shooter object.
&shooter1, &shooter2, &ramp),
driver_stick(0), // right stick (operator)
operator_stick(1) // left stick (driver)
{
}
private:
LiveWindow *lw = LiveWindow::GetInstance();
SendableChooser *chooser;
const std::string autoNameDefault = "Default";
const std::string autoNameCustom = "My Auto";
std::string autoSelected;
void RobotInit()
{
chooser = new SendableChooser();
chooser->AddDefault(autoNameDefault, (void*)&autoNameDefault);
chooser->AddObject(autoNameCustom, (void*)&autoNameCustom);
SmartDashboard::PutData("Auto Modes", chooser);
}
/**
* This autonomous (along with the chooser code above) shows how to select between different autonomous modes
* using the dashboard. The sendable chooser code works with the Java SmartDashboard. If you prefer the LabVIEW
* Dashboard, remove all of the chooser code and uncomment the GetString line to get the auto name from the text box
* below the Gyro
*
* You can add additional auto modes by adding additional comparisons to the if-else structure below with additional strings.
* If using the SendableChooser make sure to add them to the chooser code above as well.
*/
void AutonomousInit()
{
autoSelected = *((std::string*)chooser->GetSelected());
//std::string autoSelected = SmartDashboard::GetString("Auto Selector", autoNameDefault);
std::cout << "Auto selected: " << autoSelected << std::endl;
if(autoSelected == autoNameCustom){
//Custom Auto goes here
} else {
//Default Auto goes here
}
}
void AutonomousPeriodic()
{
if(autoSelected == autoNameCustom){
//Custom Auto goes here
} else {
//Default Auto goes here
}
}
void TeleopInit()
{
}
void TeleopPeriodic()
{
drive.ArcadeDrive(&driver_stick);
if(operator_stick.GetRawButton(3))
{
ramp.Set(1);
}
else if(operator_stick.GetRawButton(4))
{
ramp.Set(-1);
}
else
{
ramp.Set(0);
}
if(operator_stick.GetRawButton(THUMB))
{
shooter.PickUp();
}
else
{
shooter.PickUp(false);
}
float power = (1.0 - operator_stick.GetThrottle()) / 2.0;
shooter.SetPower(power);
}
void TestPeriodic()
{
lw->Run();
}
};
START_ROBOT_CLASS(Robot)

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/*
* Shooter.h
*
* Created on: Feb 2, 2016
* Author: Jason
*/
#ifndef SRC_SHOOTER_H_
#define SRC_SHOOTER_H_
#define PICKUP_POWER 0.5
#define RAMP_LOWER_DURATION 2 //Rotations.
/**
* You can use the values assigned to each of these values as the number
* of rotations to run the motor down from the "Shoot" position.
*
* This might not be the best way to do it, and also requires that we
* figure out how to read the Hall Effect signal from the motor.
*/
enum RampState {
Shoot = 0, // 0 rotations
Half = 1, // 1 rotation?
Down = 2, // 2 rotations?
Uncalibrated = -1
};
class Shooter {
public:
/**
* Shooter talons and ramp talon.
* s2 is also for the pickup-mechanism and can be controlled independently.
*
*/
Shooter(CANTalon *s1, CANTalon *s2, CANTalon *r) {
shooterDrive = new RobotDrive(s1, s2);
pickup = s2;
ramp = r;
rampState = Uncalibrated;
}
/**
* Call this method on TeleopInit so that the ramp is properly
* set at the beginning of the match.
*/
RampState CalibrateRamp() {
// TODO:
// Raise ramp until limit switch is triggered,
// then lower the ramp to its lower limit.
return Down;
}
virtual ~Shooter() {
delete shooterDrive;
delete pickup;
delete ramp;
}
void PickUp(bool state = true) {
pickup->Set((float) (state * PICKUP_POWER));
}
void SetRamp(RampState state) {
// TODO:
// Move the Ramp to the set position.
}
/**
* Call this to run the pickup backwards if the ball gets jammed somehow...
*/
void Unjam()
{
pickup->Set(-1 * PICKUP_POWER);
}
void SetPower(float power) {
shooterDrive->TankDrive(power, -power, false);
}
private:
RobotDrive *shooterDrive;
CANTalon *pickup;
CANTalon *ramp;
RampState rampState;
};
#endif /* SRC_SHOOTER_H_ */