Michael's World

Robot.cpp

@@ -0,0 +1,212 @@
+#include <frc/Joystick.h>
+#include <frc/TimedRobot.h>
+#include <frc/Timer.h>
+#include <frc/PWMVictorSPX.h>
+#include <frc/drive/DifferentialDrive.h>
+#include <frc/SpeedControllerGroup.h>
+#include <frc/DoubleSolenoid.h>
+#include <frc/Solenoid.h>
+#include <frc/Compressor.h>
+
+/*
+bool prevState = false;
+bool currState = false;
+bool driveTankMode = false;
+
+while (IsOperatorControl())
+{
+    //
+    // Check for button 6 press.
+    //
+    currState = secondaryController->GetRawButton(6);
+    if (currState != prevState)
+    {
+        if (currState)
+        {
+            //
+            // Button has been pressed.
+            //
+            driveTankMode = !driveTankMode;
+        }
+        else
+        {
+            //
+            // Button has been released.
+            //
+        }
+        prevState = currState;
+    }
+
+    if (driveTankMode)
+    {
+        //
+        // Do tank drive.
+        //
+   }
+    else
+    {
+        //
+        // Do arcade drive.
+        //
+   }
+
+    wait(0.02);
+}
+*/
+
+
+
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+
+
+class Robot : public frc::TimedRobot {
+ public:
+  Robot() {}
+
+  void RobotInit() override {}
+  void RobotPeriodic() override {}
+  void AutonomousInit() override {}
+  void AutonomousPeriodic() override {}
+
+  void TeleopInit() override {
+  compressor.Start();
+  }
+
+  void TeleopPeriodic() override {
+    //Drivebase(Works)
+    //The * -1 is to inverse motors, and the / 2 is to slow down regular turing and the / 3 if for presicion drive
+    //the else if statments is mostly likely unneeded, will test with and without so see if it is needed
+    // 3 = A button
+    if (xbox.GetRawButton(3) == 1) {
+      Drive.ArcadeDrive(xbox.GetRawAxis(1) * -1 / 2, xbox.GetRawAxis(0) / 2); 
+    } else if (xbox.GetRawButton(3) == 0) { 
+      Drive.ArcadeDrive(xbox.GetRawAxis(1) * -1, xbox.GetRawAxis(0) / 2);
+    } else {
+      Drive.ArcadeDrive(xbox.GetRawAxis(1) * -1, xbox.GetRawAxis(0) / 2);
+    }
+
+    //HAB lift
+    //Front(Untested)
+    //Using trigger axis for ease of use for operator but idk if the code will work like I have it
+    if (xbox.GetRawAxis(2) >= .5) {
+      s_HABfront.Set(frc::DoubleSolenoid::kForward);
+    } else if (xbox.GetRawAxis(2) == 0) {
+      s_HABfront.Set(frc::DoubleSolenoid::kReverse);
+    } else {
+      s_HABfront.Set(frc::DoubleSolenoid::kOff);
+    }
+    //Back(Untested)
+    if (xbox.GetRawAxis(3) >= .5) {
+      s_HABback.Set(frc::DoubleSolenoid::kForward);
+    } else if (xbox.GetRawAxis(3) == 0) {
+      s_HABback.Set(frc::DoubleSolenoid::kReverse);
+    } else {
+      s_HABback.Set(frc::DoubleSolenoid::kOff);
+    }
+
+    //Forklift (Works)
+    //POV is 0=UP 90=Right 180=Down 270=Left and 45 for all the angles
+    // the "== 1" might have to be "== 0/180" corresponcding to the angle
+    if (arcadePad.GetPOV(0) == 0) {
+      m_forklift.Set(.5);
+    } else if (arcadePad.GetPOV(0) == 180) {
+      m_forklift.Set(-.5);
+    } else {
+      m_forklift.Set(0);
+    }
+
+    //Ball Intake (Untested)
+    //This is the button test
+    // / 3 is to small need to change on next upload
+    // the / 3 is since one of the motors is currently missing a gearbox but we will have the gear box before comp
+    if (arcadePad.GetRawButton(1) == 1) {
+      m_leftIntake.Set(-1 / 3);
+      m_rightIntake.Set(-1);
+    } else if (arcadePad.GetRawButton(3) == 1) {
+      m_leftIntake.Set(1 / 3);
+      m_rightIntake.Set(1);
+    } else {
+      m_leftIntake.Set(0);
+      m_rightIntake.Set(0);
+    }
+    //(Untested)
+    //This is the button/axis test, this is what we want if it works but can use code abouve incase this does not work
+    //The button layout with the top code is better than this one so idk what we will use in the end
+    //R2 and L2 axis(buttons on physical board)
+    m_leftIntake.Set(arcadePad.GetRawAxis(3) * -1 / 3); //devide 3 only there for now since we don't have the 2nd gearbox
+    m_rightIntake.Set(arcadePad.GetRawAxis(2));
+
+    //Hatch Panel Launcher(Works)
+    //4 = Y on Qanda Arcade
+    if (arcadePad.GetRawButton(4) == 1) {
+      s_panelLauncher.Set(frc::DoubleSolenoid::kForward);
+      s_panelGetter.Set(frc::DoubleSolenoid::kForward);
+    } else if (arcadePad.GetRawButton(4) == 0) {
+      s_panelLauncher.Set(frc::DoubleSolenoid::kReverse);
+      s_panelGetter.Set(frc::DoubleSolenoid::kReverse);
+    } else {
+      s_panelLauncher.Set(frc::DoubleSolenoid::kOff);
+      s_panelGetter.Set(frc::DoubleSolenoid::kOff);
+    }
+    //Slider/Panel Getter(Untested)
+    /*
+    if (arcadePad.GetRawButton(6) == 1) {
+      s_panelGetter.Set(frc::DoubleSolenoid::kReverse);
+    } else if (arcadePad.GetRawButton(6) == 0) {
+      s_panelGetter.Set(frc::DoubleSolenoid::kForward);
+    } else {
+      s_panelGetter.Set(frc::DoubleSolenoid::kOff);
+    }
+    */
+
+   //Compressor toggle?
+   if (xbox.GetRawButton(7) == 1) {
+     if (compressor.Enabled == true) {
+       compressor.Enabled == false;
+     }
+     else if (compressor.Enabled == false) {
+       compressor.Enabled == true;
+     }
+   }
+  }
+
+ private:
+  //Declartions
+  frc::Joystick xbox{1};
+  frc::Joystick arcadePad{2};
+  frc::Compressor compressor;
+  //Motors
+  //Drivebase
+  frc::PWMVictorSPX m_frontLeft{0};
+  frc::PWMVictorSPX m_backLeft{1};
+  frc::PWMVictorSPX m_frontRight{2};
+  frc::PWMVictorSPX m_backRight{3};
+  //Ball Intake
+  frc::PWMVictorSPX m_leftIntake{4}; //No Gearbox Currently
+  frc::PWMVictorSPX m_rightIntake{5};
+  //Forlift
+  frc::PWMVictorSPX m_forklift{6};
+  //Groups
+  //Drivebase
+  frc::SpeedControllerGroup m_left{m_frontLeft, m_backLeft};
+  frc::SpeedControllerGroup m_right{m_frontRight, m_backRight}; 
+  //Setting Drive
+  frc::DifferentialDrive Drive{m_left, m_right};
+
+  //Pneumatics/Solenoids
+  //Hatch Panel Launcher
+  frc::DoubleSolenoid s_panelLauncher{0, 1};
+  frc::DoubleSolenoid s_panelGetter{2, 3};
+  frc::DoubleSolenoid s_HABfront{4, 5};
+  frc::DoubleSolenoid s_HABback{6, 7};
+};
+
+#ifndef RUNNING_FRC_TESTS
+int main() { return frc::StartRobot<Robot>(); }
+#endif

src/main/cpp/Robot.cpp

@@ -1,15 +1,156 @@
-/*----------------------------------------------------------------------------*/
+
+ /*----------------------------------------------------------------------------*/
 /* Copyright (c) 2017-2018 FIRST. 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.                                                               */
 /*----------------------------------------------------------------------------*/
+#include <frc/Joystick.h>
+#include <frc/PWMVictorSPX.h>
+#include <frc/TimedRobot.h>
+#include <frc/Timer.h>
+#include <frc/drive/DifferentialDrive.h>
+#include <frc/livewindow/LiveWindow.h>
+#include <frc/SpeedControllerGroup.h>
+#include <frc/DoubleSolenoid.h>
+#include <frc/Solenoid.h>
+#include <frc/Encoder.h>
+#include <frc/smartdashboard/SmartDashboard.h>
+#include <frc/smartdashboard/SendableChooser.h>
+
+constexpr double kPi = 3.14159265358979;
+
+class Robot : public frc::TimedRobot {
+  private:
+  frc::SendableChooser<std::string> m_chooser;
+  const std::string kAutoNameDefault = "Default";
+  const std::string kAutoNameCustom = "My Auto";
+  std::string m_autoSelected;
+
+   //Declartions
+  frc::Joystick gamePad{0};
+  frc::Timer timer;
+  frc::Encoder encoder1{0, 1};
+  frc::LiveWindow& m_lw = *frc::LiveWindow::GetInstance();
+
+  //Motors
+  //Drivebase
+  frc::PWMVictorSPX m_frontLeft{0};
+  frc::PWMVictorSPX m_backLeft{1};
+  frc::PWMVictorSPX m_frontRight{2};
+  frc::PWMVictorSPX m_backRight{3};
+  //HAB Lift
+  frc::PWMVictorSPX m_frontLift{4};
+  frc::PWMVictorSPX m_backLift{5};
+  //Elevator Lift
+  frc::PWMVictorSPX m_firstLayer{6}; // This may be 1 or 2 motors, not yet decided, set for 2 motors
+  frc::PWMVictorSPX m_secondLayer{7}; 
+  //BAG Motor Ball Thinging
+  frc::PWMVictorSPX m_leftWheel{8};
+  frc::PWMVictorSPX m_rightWheel{9};
+  //Groups
+  //Drivebase
+  frc::SpeedControllerGroup m_left{m_frontLeft, m_backLeft};
+  frc::SpeedControllerGroup m_right{m_frontRight, m_backRight}; 
+  frc::SpeedControllerGroup m_ball{m_leftWheel, m_rightWheel};
+  //Setting Drive
+  frc::DifferentialDrive Drive{m_left, m_right};
+
+  //Pneumatics/Solenoids
+  //Hatch Panel Grabber(trying both on one solenoid)
+  frc::DoubleSolenoid s_panelGrabber{1, 2};
+  //Hatch Panel Launcher(trying 3 on one solenoid)
+  frc::DoubleSolenoid s_panelLauncher{3, 4};
+  //Hatch Panel Grabber F/B Setters
+  static constexpr int panelGrabberForward = 1;
+  static constexpr int panelGrabberReverse = 2;
+  //Hatch Panel Launcher F/B Setters
+  static constexpr int panelLauncherForward = 3;
+  static constexpr int panelLauncherReverse = 4;
+
+ public:
+  Robot() {
+    Drive.SetExpiration(0.1);
+    timer.Start();
+  }
+
+  void RobotInit() override {
+    encoder1.SetDistancePerPulse((kPi * 6) / 360.0);
+  }
+
+  void RobotPeriodic() override {
+    frc::SmartDashboard::PutNumber("Encoder", encoder1.GetDistance());
+  }
+
+  void AutonomousInit() override {
+    timer.Reset();
+    timer.Start();
+  }
+
+  void AutonomousPeriodic() override {
+    // Drive for 2 seconds
+    if (timer.Get() < 2.0) {
+      // Drive forwards half speed
+      Drive.ArcadeDrive(0.5, 0.0);
+    } else {
+      // Stop robot
+      Drive.ArcadeDrive(0.0, 0.0);
+    }
+  }
+
+  void TeleopInit() override {
+    encoder1.Reset();
+  }
 
-#include "Drive.h"
+  void TeleopPeriodic() override {
+    //Drive
+    Drive.ArcadeDrive(gamePad.GetRawAxis(4), gamePad.GetRawAxis(5));
+    //Elevator Lift(Set to axis but need to program in the 2 hights for the holes and 1 for bottom/rest)
+    //No idea is this works... need to reconfigure for the right bases
+    if (gamePad.GetRawButton(5) == 1) {
+      encoder1.Reset();
+      while (encoder1.GetDistance() > 5) {
+        m_firstLayer.Set(.5);
+      }     
+    } else if (gamePad.GetRawButton(6) == 1) {
+      encoder1.Reset();
+      while (encoder1.GetDistance() > 10) {
+        m_secondLayer.Set(.5);
+      }
+    } else {
+      while (encoder1.GetDistance() > .01) {
+      m_secondLayer.Set(-.5);
+      }
+    }
+
+    //HAB lift  
+    m_frontLift.Set(gamePad.GetRawAxis(2));
+    m_backLift.Set(gamePad.GetRawAxis(3));
+    //Ball Holder Thinging
+    m_ball.Set(gamePad.GetRawAxis(0));
+    //Solenoids for Panel Grabber(I think is done but I have not tested it yet)
+    if (gamePad.GetRawButton(panelGrabberForward) == 1) {
+      s_panelGrabber.Set(frc::DoubleSolenoid::kForward);
+    } else if (gamePad.GetRawButton(panelGrabberReverse) == 0) {
+      s_panelGrabber.Set(frc::DoubleSolenoid::kReverse);
+    } //I do not know if I will need the else or if I shoudl change the else if to an else statement
+    else {
+      s_panelGrabber.Set(frc::DoubleSolenoid::kOff);
+    }
+    //Solenoids for Panel Launcher  
+    if (gamePad.GetRawButton(panelLauncherForward) == 1) {
+      s_panelLauncher.Set(frc::DoubleSolenoid::kForward);
+    } else if (gamePad.GetRawButton(panelLauncherReverse) == 0) {
+      s_panelGrabber.Set(frc::DoubleSolenoid::kReverse);
+    } else {
+      s_panelLauncher.Set(frc::DoubleSolenoid::kOff);
+    }
+  }
 
-#include <iostream>
-#include <SmartDashboard/SmartDashboard.h>
-#include <Timer.h>
+void Robot::TestPeriodic() {}
 
-START_ROBOT_CLASS(Drive)
+#ifndef RUNNING_FRC_TESTS
+int main() { return frc::StartRobot<Robot>(); }
+#endif
 
+};

src/main/deploy/example.txt

@@ -0,0 +1,4 @@
+Files placed in this directory will be deployed to the RoboRIO into the
+'deploy' directory in the home folder. Use the 'frc::filesystem::GetDeployDirectory'
+function from the 'frc/Filesystem.h' header to get a proper path relative to the deploy
+directory.