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Merge pull request #32 from FRC2706/2018
Code for 2018 subsystems and 2018 autos
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| package org.usfirst.frc.team2706.robot; | ||
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| import org.usfirst.frc.team2706.robot.commands.autonomous.DashboardAutoSelector; | ||
| import org.usfirst.frc.team2706.robot.commands.autonomous.Priority; | ||
| import org.usfirst.frc.team2706.robot.commands.autonomous.auto2018.automodes.CenterStartExchangeCube; | ||
| import org.usfirst.frc.team2706.robot.commands.autonomous.auto2018.automodes.CenterStartLeftSwitch; | ||
| import org.usfirst.frc.team2706.robot.commands.autonomous.auto2018.automodes.CenterStartRightSwitch; | ||
| import org.usfirst.frc.team2706.robot.commands.autonomous.auto2018.automodes.DriveForward; | ||
| import org.usfirst.frc.team2706.robot.commands.autonomous.auto2018.automodes.LeftStartLeftScale; | ||
| import org.usfirst.frc.team2706.robot.commands.autonomous.auto2018.automodes.LeftStartLeftSwitch; | ||
| import org.usfirst.frc.team2706.robot.commands.autonomous.auto2018.automodes.LeftStartRightScale; | ||
| import org.usfirst.frc.team2706.robot.commands.autonomous.auto2018.automodes.RightStartLeftScale; | ||
| import org.usfirst.frc.team2706.robot.commands.autonomous.auto2018.automodes.RightStartRightScale; | ||
| import org.usfirst.frc.team2706.robot.commands.autonomous.auto2018.automodes.RightStartRightSwitch; | ||
| import org.usfirst.frc.team2706.robot.commands.autonomous.auto2018.automodes.multicube.CenterStartLeftSwitchMultiCube; | ||
| import org.usfirst.frc.team2706.robot.commands.autonomous.auto2018.automodes.multicube.CenterStartRightSwitchMultiCube; | ||
| import org.usfirst.frc.team2706.robot.commands.autonomous.auto2018.automodes.multicube.LeftStartLeftScaleMultiCube; | ||
| import org.usfirst.frc.team2706.robot.commands.autonomous.auto2018.automodes.multicube.RightStartRightScaleMultiCube; | ||
| import org.usfirst.frc.team2706.robot.commands.teleop.ArcadeDriveWithJoystick; | ||
| import org.usfirst.frc.team2706.robot.subsystems.AutonomousSelector; | ||
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| import edu.wpi.first.wpilibj.command.Command; | ||
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| /** | ||
| * Where autonomous modes are set up, hardcoded, and ran | ||
| */ | ||
| public class AutoInit { | ||
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| // The command that will be ran | ||
| Command autonomousCommand; | ||
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| // The spinny dial on the robot that selects what autonomous mode we are going to do | ||
| public AutonomousSelector selectorSwitch; | ||
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| // Dashboard selection | ||
| DashboardAutoSelector dashBoardAutoSelector; | ||
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| Priority doNothing, driveForward, centerStartExchangeCube, centerStartLeftSwitch, | ||
| centerStartRightSwitch, centerStartLeftSwitchMultiCube, | ||
| centerStartRightSwitchMultiCube, leftStartLeftSwitch, rightStartRightSwitch, | ||
| leftStartLeftScale, rightStartRightScale, leftStartRightScale, | ||
| rightStartLeftScale, leftStartLeftScaleMultiCube, rightStartRightScaleMultiCube; | ||
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| public AutoInit() { | ||
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| doNothing = new Priority(new ArcadeDriveWithJoystick()); | ||
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| driveForward = new Priority("drive_forward", "Drive Forward", new DriveForward()); | ||
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| centerStartExchangeCube = new Priority("center_exchange", "Exchange Cube", | ||
| new CenterStartExchangeCube()); | ||
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| centerStartLeftSwitch = new Priority("center_left_switch", "Center Start Left Switch", | ||
| Priority.IS_SWITCH, !Priority.IS_SCALE, Priority.LEFT, | ||
| new CenterStartLeftSwitch()); | ||
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| centerStartRightSwitch = new Priority("center_right_switch", "Center Start Right Switch", | ||
| Priority.IS_SWITCH, !Priority.IS_SCALE, Priority.RIGHT, | ||
| new CenterStartRightSwitch()); | ||
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| centerStartLeftSwitchMultiCube = new Priority("center_left_switch_multi", | ||
| "Center Start Left Switch Multi Cube", Priority.IS_SWITCH, | ||
| !Priority.IS_SCALE, Priority.LEFT, new CenterStartLeftSwitchMultiCube()); | ||
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| centerStartRightSwitchMultiCube = new Priority("center_right_switch_multi", | ||
| "Center Start Right Switch Multi Cube", Priority.IS_SWITCH, | ||
| !Priority.IS_SCALE, Priority.RIGHT, new CenterStartRightSwitchMultiCube()); | ||
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| leftStartLeftSwitch = new Priority("left_left_switch", "Left Start Left Switch", | ||
| Priority.IS_SWITCH, !Priority.IS_SCALE, Priority.LEFT, | ||
| new LeftStartLeftSwitch()); | ||
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| rightStartRightSwitch = new Priority("right_right_switch", "Right Start Right Switch", | ||
| Priority.IS_SWITCH, !Priority.IS_SCALE, Priority.RIGHT, | ||
| new RightStartRightSwitch()); | ||
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| leftStartLeftScale = new Priority("left_left_scale", "Left Start Left Scale", | ||
| !Priority.IS_SWITCH, Priority.IS_SCALE, Priority.LEFT, | ||
| new LeftStartLeftScale()); | ||
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| rightStartRightScale = new Priority("right_right_scale", "Right Start Right Scale", | ||
| !Priority.IS_SWITCH, Priority.IS_SCALE, Priority.RIGHT, | ||
| new RightStartRightScale()); | ||
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| leftStartRightScale = new Priority("left_right_scale", "Left Start Right Scale", | ||
| !Priority.IS_SWITCH, Priority.IS_SCALE, Priority.RIGHT, | ||
| new LeftStartRightScale()); | ||
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| rightStartLeftScale = new Priority("right_left_scale", "Right Start Left Scale", | ||
| !Priority.IS_SWITCH, Priority.IS_SCALE, Priority.LEFT, | ||
| new RightStartLeftScale()); | ||
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| leftStartLeftScaleMultiCube = new Priority("left_left_scale_multi", "Left Start Left Scale to Left Switch", | ||
| Priority.IS_SWITCH, Priority.IS_SCALE, Priority.LEFT, | ||
| new LeftStartLeftScaleMultiCube()); | ||
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| rightStartRightScaleMultiCube = new Priority("right_right_scale_multi", "Right Start Right Scale to Right Switch", | ||
| Priority.IS_SWITCH, Priority.IS_SCALE, Priority.RIGHT, | ||
| new RightStartRightScaleMultiCube()); | ||
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| selectorSwitch = new AutonomousSelector(); | ||
| setDashboardPriorities(); | ||
| setSelectorPriorities(); | ||
| } | ||
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| /** | ||
| * Gets things ready to listen for a NetworkTables input from dashboard | ||
| */ | ||
| public void setDashboardPriorities() { | ||
| // Dashboard Autonomous Mode List | ||
| Priority[] leftPriorities = {leftStartLeftSwitch, leftStartLeftScale, leftStartRightScale, | ||
| driveForward, leftStartLeftScaleMultiCube, doNothing}; | ||
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| Priority[] centerPriorities = {centerStartLeftSwitch, centerStartRightSwitch, | ||
| centerStartLeftSwitchMultiCube, centerStartRightSwitchMultiCube, | ||
| centerStartExchangeCube, driveForward, doNothing}; | ||
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| Priority[] rightPriorities = {rightStartRightSwitch, rightStartRightScale, | ||
| rightStartLeftScale, rightStartRightScaleMultiCube, driveForward, doNothing}; | ||
| dashBoardAutoSelector = new DashboardAutoSelector(leftPriorities, centerPriorities, | ||
| rightPriorities); | ||
| dashBoardAutoSelector.getPositionAndRespond(); | ||
| } | ||
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| /** | ||
| * Sets up the auto selector to turn knobs into results | ||
| */ | ||
| public void setSelectorPriorities() { | ||
| // WARNING DO NOT AUTOFORMAT THIS OR BAD THINGS WILL HAPPEN TO YOU | ||
| // Set up our autonomous modes with the two hardware selector switches | ||
| setAutonomousCommandList( | ||
| // no switch: do nothing | ||
| new Priority[][] {new Priority[] {doNothing}}, | ||
| // position 1: do Nothing | ||
| new Priority[][] {new Priority[] {doNothing}}, | ||
| // position 2: drive forward | ||
| new Priority[][] {new Priority[] {driveForward}}, | ||
| // position 3: center position | ||
| new Priority[][] { | ||
| // position 1: exchange cube | ||
| new Priority[] {centerStartExchangeCube}, | ||
| // position 2: do any switch | ||
| new Priority[] {centerStartLeftSwitch, | ||
| centerStartRightSwitch}, | ||
| // position 3: do any switch multi cube | ||
| new Priority[] {centerStartLeftSwitchMultiCube, | ||
| centerStartRightSwitchMultiCube}}, | ||
| // position 4: left position | ||
| new Priority[][] { | ||
| // position 1: do left switch | ||
| new Priority[] {leftStartLeftSwitch, driveForward}, | ||
| // position 2: do left scale | ||
| new Priority[] {leftStartLeftScale, driveForward}, | ||
| // position 3: try left switch, otherwise do left scale | ||
| new Priority[] {leftStartLeftSwitch, leftStartLeftScale, | ||
| driveForward}, | ||
| // position 4: try left scale, otherwise do left switch | ||
| new Priority[] {leftStartLeftScale, leftStartLeftSwitch, | ||
| driveForward}, | ||
| // position 5: try left switch, otherwise do scale | ||
| new Priority[] {leftStartLeftSwitch, leftStartLeftScale, | ||
| leftStartRightScale}, | ||
| // position 6: do scale | ||
| new Priority[] {leftStartLeftScale, leftStartRightScale}, | ||
| // position 7: multi cube no fallback | ||
| new Priority[] {leftStartLeftScaleMultiCube, leftStartLeftScale, leftStartLeftSwitch, driveForward}, | ||
| // position 6: multi cube right scale fallback | ||
| new Priority[] {leftStartLeftScaleMultiCube, leftStartLeftScale, leftStartLeftSwitch, leftStartRightScale}}, | ||
| // position 5: Right Position | ||
| new Priority[][] { | ||
| // position 1: do right switch | ||
| new Priority[] {rightStartRightSwitch, driveForward}, | ||
| // position 2: do right scale | ||
| new Priority[] {rightStartRightScale, driveForward}, | ||
| // position 3: try right switch, otherwise do right scale | ||
| new Priority[] {rightStartRightSwitch, rightStartRightScale, | ||
| driveForward}, | ||
| // position 4: try right scale, otherwise do right switch | ||
| new Priority[] {rightStartRightScale, rightStartRightSwitch, | ||
| driveForward}, | ||
| // position 5: try right switch, otherwise do scale | ||
| new Priority[] {rightStartRightSwitch, rightStartRightScale, | ||
| rightStartLeftScale}, | ||
| // position 6: do scale | ||
| new Priority[] {rightStartRightScale, | ||
| rightStartLeftScale}, | ||
| // position 7: multi cube no fallback | ||
| new Priority[] {rightStartRightScaleMultiCube, rightStartRightScale, rightStartRightSwitch, driveForward}, | ||
| // position 6: multi cube right scale fallback | ||
| new Priority[] {rightStartRightScaleMultiCube, rightStartRightScale, rightStartRightSwitch, rightStartLeftScale}}); | ||
| } | ||
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| /** | ||
| * Call in Robot.autonomousInit() | ||
| */ | ||
| public void initialize() { | ||
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| autonomousCommand = getAutonomousCommand(new ArcadeDriveWithJoystick()); | ||
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| Command dashboardResponse = Priority | ||
| .chooseCommandFromPriorityList(dashBoardAutoSelector.getPriorityList()); | ||
| Robot.driveTrain.brakeMode(true); | ||
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| // If no input falls back on the auto switches if (dashboardResponse == null) { // | ||
| // Schedule the autonomous command that was selected | ||
| // autonomousCommand = new SetLiftHeightBlocking(1, 4, 0.1); | ||
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| Log.d("Auto", "uRunning " + dashboardResponse + ", " + "switch running " | ||
| + autonomousCommand); | ||
| if (dashboardResponse != null) | ||
| dashboardResponse.start(); | ||
| else | ||
| autonomousCommand.start(); | ||
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| } | ||
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| /** | ||
| * Call in Robot.teleopInit(); | ||
| */ | ||
| public void end() { | ||
| /* | ||
| * This makes sure that the autonomous stops running when teleop starts running. If you want | ||
| * the autonomous to continue until interrupted by another command, remove this line or | ||
| * comment it out. | ||
| */ | ||
| if (autonomousCommand != null) | ||
| autonomousCommand.cancel(); | ||
| } | ||
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| public void initTestMode() { | ||
| selectorSwitch.selector1.setName("Auto Selector","Selector 1"); | ||
| selectorSwitch.selector2.setName("Auto Selector","Selector 2"); | ||
| } | ||
| public void setAutonomousCommandList(Priority[][]... commands) { | ||
| selectorSwitch.setCommands(commands); | ||
| } | ||
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| public Command getAutonomousCommand(Command fallbackCommand) { | ||
| return Priority.chooseCommandFromPriorityList(selectorSwitch.getSelected()); | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,42 @@ | ||
| package org.usfirst.frc.team2706.robot; | ||
|
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| public class JoystickMap { | ||
| // Joystick mapping | ||
|
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| // Top left axis stick | ||
| public static final int XBOX_LEFT_AXIS_X = 0; | ||
| public static final int XBOX_LEFT_AXIS_Y = 1; | ||
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| // Back analog triggers | ||
| public static final int XBOX_BACK_LEFT_TRIGGER = 2; | ||
| public static final int XBOX_BACK_RIGHT_TRIGGER = 3; | ||
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| // Bottom right axis stick | ||
| public static final int XBOX_RIGHT_AXIS_X = 4; | ||
| public static final int XBOX_RIGHT_AXIS_Y = 5; | ||
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| // A/B/X/Y/LB/RB buttons | ||
| public static final int XBOX_A_BUTTON = 1; | ||
| public static final int XBOX_B_BUTTON = 2; | ||
| public static final int XBOX_X_BUTTON = 3; | ||
| public static final int XBOX_Y_BUTTON = 4; | ||
| public static final int XBOX_LB_BUTTON = 5; | ||
| public static final int XBOX_RB_BUTTON = 6; | ||
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| // Select/Start/LeftAxisButton/RightAxisButton buttons | ||
| public static final int XBOX_SELECT_BUTTON = 7; | ||
| public static final int XBOX_START_BUTTON = 8; | ||
| public static final int XBOX_LEFT_AXIS_BUTTON = 9; | ||
| public static final int XBOX_RIGHT_AXIS_BUTTON = 10; | ||
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| // POV buttons | ||
| public static final int XBOX_POV_UP = 0; | ||
| public static final int XBOX_POV_UP_RIGHT = 45; | ||
| public static final int XBOX_POV_RIGHT = 90; | ||
| public static final int XBOX_POV_DOWN_RIGHT = 135; | ||
| public static final int XBOX_POV_DOWN = 180; | ||
| public static final int XBOX_POV_DOWN_LEFT = 225; | ||
| public static final int XBOX_POV_LEFT = 270; | ||
| public static final int XBOX_POV_UP_LEFT = 315; | ||
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| } |
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