From 98da93860bdaa2a36d10af2f7152813ab79c0ba3 Mon Sep 17 00:00:00 2001
From: Toby Yang <tianer2820@163.com>
Date: Wed, 13 Feb 2019 14:51:27 +0800
Subject: [PATCH 1/2] remove some annotations

---
 .../src/main/java/frc/robot/OI.java           |  9 ---
 .../src/main/java/frc/robot/Robot.java        | 55 ++-----------------
 .../java/frc/robot/subsystems/Chassis.java    |  3 -
 3 files changed, 5 insertions(+), 62 deletions(-)

diff --git a/2019 Draft III/src/main/java/frc/robot/OI.java b/2019 Draft III/src/main/java/frc/robot/OI.java
index 057f5bc..ceb70b7 100644
--- a/2019 Draft III/src/main/java/frc/robot/OI.java	
+++ b/2019 Draft III/src/main/java/frc/robot/OI.java	
@@ -1,9 +1,3 @@
-/**
- * OI.java 
- * for creating joystick objects and assigning buttons to different commands.
- * 在此处初始化控制手柄，并将手柄按键对应到机器人任务 (command) 上面。
- */
-
 package frc.robot;
 
 import edu.wpi.first.wpilibj.XboxController;
@@ -23,13 +17,11 @@ public class OI {
   public static final XboxController stick_1 = new XboxController(1);
 
   /* create button objects, the last number is the id of the button, starting from 1 */
-  /* 创建按钮对象，最后一个数字对应着 DS 上显示的按钮 ID ，从 1 开始 */
   public static Button stick_0_A = new JoystickButton(stick_0, 1);
   public static Button stick_0_B = new JoystickButton(stick_0, 2);
   public static Button stick_0_X = new JoystickButton(stick_0, 3);
   public static Button stick_0_Y = new JoystickButton(stick_0, 4);
   
-
   public static Button stick_1_A = new JoystickButton(stick_1, 1);
   public static Button stick_1_B = new JoystickButton(stick_1, 2);
   public static Button stick_1_X = new JoystickButton(stick_1, 3);
@@ -39,7 +31,6 @@ public class OI {
 
   public OI() {
     /* binding buttons to commands */
-    /* 将任务 (command) 绑定到按钮 */
     stick_0_A.whileHeld(new IntakeCollect(0.4));
     stick_0_B.whileHeld(new IntakeCollect(-0.8));
     stick_0_X.whenPressed(new IntakeLiftTo(3849));
diff --git a/2019 Draft III/src/main/java/frc/robot/Robot.java b/2019 Draft III/src/main/java/frc/robot/Robot.java
index 6acdd1c..f4492a6 100644
--- a/2019 Draft III/src/main/java/frc/robot/Robot.java	
+++ b/2019 Draft III/src/main/java/frc/robot/Robot.java	
@@ -1,9 +1,3 @@
-/**
- * Robot.java
- * the entry class for the robot code.
- * 机器人程序从这里开始。
- */
-
 package frc.robot;
 
 import edu.wpi.cscore.UsbCamera;
@@ -22,8 +16,7 @@
 import frc.robot.subsystems.Intake;
 
 public class Robot extends TimedRobot {
-  /* create subsystem objects */
-  /* 创建子系统的实例 */
+  // create subsystem objects
   public static Chassis chassis = new Chassis();
   public static Arm arm = new Arm();
   public static Claw claw = new Claw();
@@ -35,38 +28,25 @@ public class Robot extends TimedRobot {
   Command m_autonomousCommand;
   SendableChooser<Command> m_chooser = new SendableChooser<>();
 
-  /** 
-   * This function is called when the robot is first powered up or the code
-   * is restarted.
-   * 这段代码会在机器人上电或程序重启的时候执行一遍。
-   */
+
   @Override
   public void robotInit() {
     /* initialize two cameras, one for vision processing and one for the driver. */
     UsbCamera aliment_cam = CameraServer.getInstance().startAutomaticCapture(0);
-    // TODO: codes for CV.
+    // codes for CV.
 
     // UsbCamera driver_cam = CameraServer.getInstance().startAutomaticCapture(1);
     // driver_cam.setResolution(640, 480);
 
-
     // m_chooser.setDefaultOption("Default Auto", new ExampleCommand());
     // chooser.addOption("My Auto", new MyAutoCommand());
     SmartDashboard.putData("Auto mode", m_chooser);
 
-    /* !!!!!!!!!!!!!!!!!!!!!!!!!!! */
+
     arm.resetSensor();
   }
 
-  /**
-   * This function is called every robot packet, no matter the mode. Use
-   * this for items like diagnostics that you want ran during disabled,
-   * autonomous, teleoperated and test. It runs after the mode specific 
-   * periodic functions, but before LiveWindow and SmartDashboard integrated
-   * updating.
-   * 这段代码将会在机器人通电的时候反复运行。运行顺序是在模式程序之后， LiveWindow
-   * 和 SD 更新数据之前。
-   */
+
   @Override
   public void robotPeriodic() {
     arm.log();
@@ -76,11 +56,6 @@ public void robotPeriodic() {
     intake.log();
   }
 
-  /**
-   * This function is called once each time the robot enters Disabled mode.
-   * You can use it to reset any subsystem information you want to clear when
-   * the robot is disabled.
-   */
   @Override
   public void disabledInit() {
   }
@@ -90,17 +65,6 @@ public void disabledPeriodic() {
     Scheduler.getInstance().run();
   }
 
-  /**
-   * 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 code to get the auto name from the text box below the Gyro
-   *
-   * You can add additional auto modes by adding additional commands to the
-   * chooser code above (like the commented example) or additional comparisons
-   * to the switch structure below with additional strings & commands.
-   */
   @Override
   public void autonomousInit() {
     m_autonomousCommand = m_chooser.getSelected();
@@ -118,9 +82,6 @@ public void autonomousInit() {
     }
   }
 
-  /**
-   * This function is called periodically during autonomous.
-   */
   @Override
   public void autonomousPeriodic() {
     Scheduler.getInstance().run();
@@ -138,17 +99,11 @@ public void teleopInit() {
     }
   }
 
-  /**
-   * This function is called periodically during operator control.
-   */
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
   }
 
-  /**
-   * This function is called periodically during test mode.
-   */
   @Override
   public void testPeriodic() {
     claw.enable_pid = false;
diff --git a/2019 Draft III/src/main/java/frc/robot/subsystems/Chassis.java b/2019 Draft III/src/main/java/frc/robot/subsystems/Chassis.java
index dd3e796..b34aadc 100644
--- a/2019 Draft III/src/main/java/frc/robot/subsystems/Chassis.java	
+++ b/2019 Draft III/src/main/java/frc/robot/subsystems/Chassis.java	
@@ -23,11 +23,9 @@ public class Chassis extends Subsystem {
   private SpeedController motor_roller = new Spark(RobotMap.p_PWM_chassis_roller);
 
   /* using the 'default FRC gyro' */
-  /* 使用的是默认的插在RIO上的陀螺仪 */
   private ADXRS450_Gyro gyro = new ADXRS450_Gyro();
 
   /* the coefficient for the speed of the chassis motor */
-  /* 电机速度系数，用来控制全局电机最大转速 */
   public double global_y_speed = 0.7;
   public double global_z_speed = 0.4;
   
@@ -35,7 +33,6 @@ public Chassis() {
     super();
     
     /* correct the direction of motor: forward is positive */
-    /* 修正电机方向，向前为正 */
     motor_left_0.setInverted(false);
     motor_left_1.setInverted(false);
     motor_left_2.setInverted(false);

From 5d63b69e86192e21865fbef203f0ecc7ce579973 Mon Sep 17 00:00:00 2001
From: Toby Yang <tianer2820@163.com>
Date: Wed, 13 Feb 2019 18:01:56 +0800
Subject: [PATCH 2/2] fixed some incorrect annotations moved all static
 parameters to RobotMap.java and renamed some variables

---
 .../src/main/java/frc/robot/RobotMap.java     | 10 ++++++++
 .../java/frc/robot/commands/ArmLiftTo.java    |  2 +-
 .../main/java/frc/robot/subsystems/Arm.java   | 24 +++++++++++--------
 .../java/frc/robot/subsystems/Chassis.java    |  4 ++--
 .../main/java/frc/robot/subsystems/Claw.java  | 20 ++++++++--------
 .../main/java/frc/robot/subsystems/Hook.java  |  4 ++--
 .../java/frc/robot/subsystems/Intake.java     |  2 +-
 7 files changed, 40 insertions(+), 26 deletions(-)

diff --git a/2019 Draft III/src/main/java/frc/robot/RobotMap.java b/2019 Draft III/src/main/java/frc/robot/RobotMap.java
index 1a0d8aa..6bcc4f7 100644
--- a/2019 Draft III/src/main/java/frc/robot/RobotMap.java	
+++ b/2019 Draft III/src/main/java/frc/robot/RobotMap.java	
@@ -17,21 +17,31 @@ public class RobotMap {
   public static final int[] p_CAN_chassis_right = {13, 14, 15};
   public static final int p_PWM_chassis_roller = 0;
   public static final int p_PEN_lift_up = 0;
+  public static final double chassis_speed_z = 0.4;
+  public static final double chassis_speed_y = 0.7;
 
   /* Arm */
   public static final int[] p_CAN_arm = {20, 21};
+  public static final double[] arm_speed = {0.6, 0.4};
+  public static final double arm_kP = 0.003, arm_kD = 0.0001;
 
   /* Claw */
   public static final int p_CAN_claw = 22;
   public static final int p_PWM_claw_shooter = 1;
   public static final int p_DIG_limit = 0; 
+  public static final double claw_speed = 0.6;
+  public static final double claw_kP = 0.01;
+  public static final double claw_adjust_intensity = 10;
 
   /* Hook */
   public static final int p_PWM_hook_servo = 9;
   public static final int p_PEN_hook_extender = 0;
+  public static final double hook_servo_open_ang = 0.3;
+  public static final double hook_servo_close_ang = 0.9;
     
   /* Intake */
   public static final int p_PWM_intake_lift = 2;
   public static final int p_PWM_intake_collector = 3;
   public static final int p_ANA_intake_encoder = 0;
+  public static final double intake_global_lift_speed = 0.8;
 }
diff --git a/2019 Draft III/src/main/java/frc/robot/commands/ArmLiftTo.java b/2019 Draft III/src/main/java/frc/robot/commands/ArmLiftTo.java
index a8b23fe..d684716 100644
--- a/2019 Draft III/src/main/java/frc/robot/commands/ArmLiftTo.java	
+++ b/2019 Draft III/src/main/java/frc/robot/commands/ArmLiftTo.java	
@@ -19,7 +19,7 @@ public ArmLiftTo(double tar) {
   @Override
   protected void execute() {
     /* 0212: PID算法，现在只加了P，先试试效果 */
-    Robot.arm.setSetpoint(tar_);
+    Robot.arm.setTarget(tar_);
     Robot.arm.setVel(Robot.arm.getPID());
   }
 
diff --git a/2019 Draft III/src/main/java/frc/robot/subsystems/Arm.java b/2019 Draft III/src/main/java/frc/robot/subsystems/Arm.java
index b943e72..97a3479 100644
--- a/2019 Draft III/src/main/java/frc/robot/subsystems/Arm.java	
+++ b/2019 Draft III/src/main/java/frc/robot/subsystems/Arm.java	
@@ -17,11 +17,12 @@
 public class Arm extends Subsystem {
   private TalonSRX motor_arm_left = new TalonSRX(RobotMap.p_CAN_arm[0]);
   private TalonSRX motor_arm_right = new TalonSRX(RobotMap.p_CAN_arm[1]);
-  private DigitalInput arm_limit_sw = new DigitalInput(RobotMap.p_DIG_limit);
-  public double[] global_arm_speed = {0.6, 0.4};
 
-  private final double kP = 0.003, kD = 0.0001;
-  private double setpoint = 0;
+  private DigitalInput end_stop = new DigitalInput(RobotMap.p_DIG_limit);
+  public double[] global_arm_speed = RobotMap.arm_speed;
+
+  private final double kP = RobotMap.arm_kP, kD = RobotMap.arm_kD;
+  private double target = 0;
 
   public Arm() {
     super();
@@ -31,27 +32,30 @@ public Arm() {
 
   public void resetSensor() {
     motor_arm_left.setSelectedSensorPosition(0);
+    // motor_arm_right.setSelectedSensorPosition(0);
   }
 
   public double getPos() {
     return -motor_arm_left.getSelectedSensorPosition();
+    // return motor_arm_right.getSelectedSensorPosition();
   }
 
   public double getVel() {
     return -motor_arm_left.getSelectedSensorVelocity();
+    // return motor_arm_right.getSelectedSensorVelocity();
   }
 
 
   public double getPID() {
     /* 0212: PID算法，现在只加了P，先试试效果 */
-    double error = setpoint - getPos();
+    double error = target - getPos();
     double vel = kP * error - kD * getVel();
     vel = Math.max(-1.2, Math.min(1.2, vel));
     return vel;
   }
 
-  public void setSetpoint(double val) {
-    setpoint = val;
+  public void setTarget(double val) {
+    target = val;
   }
 
   public void setVel(double vel) {
@@ -61,7 +65,7 @@ public void setVel(double vel) {
       motor_arm_right.set(ControlMode.PercentOutput, global_arm_speed[0] * vel);
     } else {
       /* downward */
-      if (!arm_limit_sw.get()) {
+      if (!end_stop.get()) {
         motor_arm_left.set(ControlMode.PercentOutput, 0);
         motor_arm_right.set(ControlMode.PercentOutput, 0);
       } else {
@@ -73,8 +77,8 @@ public void setVel(double vel) {
 
   public void log() {
     SmartDashboard.putNumber("Arm Position", getPos());
-    SmartDashboard.putNumber("Arm Setpoint", setpoint);
-    SmartDashboard.putBoolean("Arm Limit", arm_limit_sw.get());
+    SmartDashboard.putNumber("Arm Setpoint", target);
+    SmartDashboard.putBoolean("Arm Limit", end_stop.get());
   }
 
   @Override
diff --git a/2019 Draft III/src/main/java/frc/robot/subsystems/Chassis.java b/2019 Draft III/src/main/java/frc/robot/subsystems/Chassis.java
index b34aadc..ae1bf24 100644
--- a/2019 Draft III/src/main/java/frc/robot/subsystems/Chassis.java	
+++ b/2019 Draft III/src/main/java/frc/robot/subsystems/Chassis.java	
@@ -26,8 +26,8 @@ public class Chassis extends Subsystem {
   private ADXRS450_Gyro gyro = new ADXRS450_Gyro();
 
   /* the coefficient for the speed of the chassis motor */
-  public double global_y_speed = 0.7;
-  public double global_z_speed = 0.4;
+  public double global_y_speed = RobotMap.chassis_speed_y;
+  public double global_z_speed = RobotMap.chassis_speed_z;
   
   public Chassis() {
     super();
diff --git a/2019 Draft III/src/main/java/frc/robot/subsystems/Claw.java b/2019 Draft III/src/main/java/frc/robot/subsystems/Claw.java
index 7c133b7..6a57845 100644
--- a/2019 Draft III/src/main/java/frc/robot/subsystems/Claw.java	
+++ b/2019 Draft III/src/main/java/frc/robot/subsystems/Claw.java	
@@ -1,6 +1,6 @@
 /**
- * Arm.java
- * contains motors with encoders for both arm and claw
+ * Claw.java
+ * contains motors with encoders for claw
  * 
  */
 
@@ -18,13 +18,13 @@
 public class Claw extends Subsystem {
   private TalonSRX lift_motor = new TalonSRX(RobotMap.p_CAN_claw);
   private SpeedController shooter_motor = new VictorSP(RobotMap.p_PWM_claw_shooter);
-  public double global_claw_speed = 0.6;
+  public double global_claw_speed = RobotMap.claw_speed;
 
-  private final double kP = 0.01;
-  private double setpoint = 0;
+  private final double kP = RobotMap.claw_kP;
+  private double target = 0;
   public boolean enable_pid = true;
 
-  public double adjust_intensity = 10;
+  public double adjust_intensity = RobotMap.claw_adjust_intensity;
 
   public Claw() {
     super();
@@ -41,18 +41,18 @@ public double getPos() {
   }
 
   public double getPID() {
-    double error = setpoint - getPos();
+    double error = target - getPos();
     double vel = kP * error;
     vel = Math.max(-1.5, Math.min(1.5, vel));
     return vel;
   }
 
   public void adjustSetpoint(double val) {
-    setpoint += adjust_intensity * val;
+    target += adjust_intensity * val;
   }
 
   public void setSetpoint(double val) {
-    setpoint = val;
+    target = val;
   }
 
   public void setVel(double vel) {
@@ -65,7 +65,7 @@ public void setShooterVel(double vel) {
 
   public void log() {
     SmartDashboard.putNumber("Claw Position", getPos());
-    SmartDashboard.putNumber("Claw Setpoint", setpoint);
+    SmartDashboard.putNumber("Claw Setpoint", target);
   }
 
   @Override
diff --git a/2019 Draft III/src/main/java/frc/robot/subsystems/Hook.java b/2019 Draft III/src/main/java/frc/robot/subsystems/Hook.java
index 03328fa..1ae1517 100644
--- a/2019 Draft III/src/main/java/frc/robot/subsystems/Hook.java	
+++ b/2019 Draft III/src/main/java/frc/robot/subsystems/Hook.java	
@@ -15,8 +15,8 @@ public class Hook extends Subsystem {
   private Solenoid hook_extender = new Solenoid(RobotMap.p_PEN_hook_extender);
   private Servo hook = new Servo(RobotMap.p_PWM_hook_servo);
   
-  public static final double servo_open_ang = 0.3;
-  public static final double servo_close_ang = 0.9;
+  public static final double servo_open_ang = RobotMap.hook_servo_open_ang;
+  public static final double servo_close_ang = RobotMap.hook_servo_close_ang;
 
   public Hook() {
     super();
diff --git a/2019 Draft III/src/main/java/frc/robot/subsystems/Intake.java b/2019 Draft III/src/main/java/frc/robot/subsystems/Intake.java
index a2dd917..5635e99 100644
--- a/2019 Draft III/src/main/java/frc/robot/subsystems/Intake.java	
+++ b/2019 Draft III/src/main/java/frc/robot/subsystems/Intake.java	
@@ -17,7 +17,7 @@ public class Intake extends Subsystem {
   private SpeedController motor_lift = new Spark(RobotMap.p_PWM_intake_lift);
   private SpeedController motor_collector = new Spark(RobotMap.p_PWM_intake_collector);
   private AnalogInput lift_sensor = new AnalogInput(RobotMap.p_ANA_intake_encoder);
-  public double global_lift_speed = 0.8;
+  public double global_lift_speed = RobotMap.intake_global_lift_speed;
   
   public Intake() {
     super();