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[WIP] Move examples to allwpilib (Java) (#569)

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* Move examples to allwpilib

* Add checkstyle config to examples project

* Ran wpiformat

* Run checkstyle on examples

* Change maximum line length for examples to 80 chars

This number was chosen based on testing of the number of characters shown by default in Eclipse done by @Kevin-OConnor: 51 chars by default on an E09 @ 1024x600 (which has the welcome window open on the right), 71 with welcome closed, 95 with the right-hand outline pane closed

* Add mavenCentral repository

* Rename subproject & error on deprecated API use

* Remove deprecated API usage
This commit is contained in:
Austin Shalit
2017-10-17 01:30:21 -04:00
committed by Peter Johnson
parent a7e9ac1062
commit 66002d6cac
41 changed files with 2743 additions and 1 deletions
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4
build.gradle
View File

@@ -174,6 +174,10 @@ subprojects {
apply plugin: 'idea'
apply plugin: 'checkstyle'
repositories {
mavenCentral()
}
checkstyle {
toolVersion = "8.1"
configFile = new File(rootDir, "styleguide/checkstyle.xml")

3
settings.gradle
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@@ -3,7 +3,8 @@ include 'ni-libraries'
include 'hal'
include 'wpilibc'
include 'wpilibcIntegrationTests'
include 'wpilibj'
include 'wpilibc-examples'
include 'wpilibj'
include 'wpilibjIntegrationTests'
include 'wpilibjExamples'
include 'myRobot'

218
styleguide/checkstyleEclipse.xml Normal file
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@@ -0,0 +1,218 @@
<?xml version="1.0"?>
<!DOCTYPE module PUBLIC
"-//Puppy Crawl//DTD Check Configuration 1.3//EN"
"http://www.puppycrawl.com/dtds/configuration_1_3.dtd">
<!--
Checkstyle configuration that checks the Google coding conventions from Google Java Style
that can be found at https://google.github.io/styleguide/javaguide.html.
Checkstyle is very configurable. Be sure to read the documentation at
http://checkstyle.sf.net (or in your downloaded distribution).
To completely disable a check, just comment it out or delete it from the file.
Authors: Max Vetrenko, Ruslan Diachenko, Roman Ivanov.
-->
<module name = "Checker">
<property name="charset" value="UTF-8"/>
<property name="severity" value="error"/>
<property name="fileExtensions" value="java, properties, xml"/>
<module name="SuppressWarningsFilter" />
<module name="TreeWalker">
<property name="tabWidth" value="2"/>
<module name="RegexpSinglelineJava">
<property name="format" value="^\t* "/>
<property name="message" value="Indent must use tab characters"/>
<property name="ignoreComments" value="true"/>
</module>
<module name="SuppressWarningsHolder" />
<module name="OuterTypeFilename"/>
<module name="IllegalTokenText">
<property name="tokens" value="STRING_LITERAL, CHAR_LITERAL"/>
<property name="format" value="\\u00(08|09|0(a|A)|0(c|C)|0(d|D)|22|27|5(C|c))|\\(0(10|11|12|14|15|42|47)|134)"/>
<property name="message" value="Avoid using corresponding octal or Unicode escape."/>
</module>
<module name="AvoidEscapedUnicodeCharacters">
<property name="allowEscapesForControlCharacters" value="true"/>
<property name="allowByTailComment" value="true"/>
<property name="allowNonPrintableEscapes" value="true"/>
</module>
<module name="LineLength">
<property name="max" value="80"/>
<property name="ignorePattern" value="^package.*|^import.*|a href|href|http://|https://|ftp://"/>
</module>
<module name="AvoidStarImport"/>
<module name="RedundantImport"/>
<module name="UnusedImports"/>
<module name="OneTopLevelClass"/>
<module name="NoLineWrap"/>
<module name="EmptyBlock">
<property name="option" value="TEXT"/>
<property name="tokens" value="LITERAL_TRY, LITERAL_FINALLY, LITERAL_IF, LITERAL_ELSE, LITERAL_SWITCH"/>
</module>
<module name="NeedBraces"/>
<module name="LeftCurly">
<property name="maxLineLength" value="80"/>
</module>
<module name="RightCurly"/>
<module name="RightCurly">
<property name="option" value="alone"/>
<property name="tokens" value="CLASS_DEF, METHOD_DEF, CTOR_DEF, LITERAL_FOR, LITERAL_WHILE, LITERAL_DO, STATIC_INIT, INSTANCE_INIT"/>
</module>
<module name="WhitespaceAround">
<property name="allowEmptyConstructors" value="true"/>
<property name="allowEmptyMethods" value="true"/>
<property name="allowEmptyTypes" value="true"/>
<property name="allowEmptyLoops" value="true"/>
<message key="ws.notFollowed"
value="WhitespaceAround: ''{0}'' is not followed by whitespace. Empty blocks may only be represented as '{}' when not part of a multi-block statement (4.1.3)"/>
<message key="ws.notPreceded"
value="WhitespaceAround: ''{0}'' is not preceded with whitespace."/>
</module>
<module name="WhitespaceAfter"/>
<module name="OneStatementPerLine"/>
<module name="MultipleVariableDeclarations"/>
<module name="ArrayTypeStyle"/>
<module name="MissingSwitchDefault"/>
<module name="FallThrough"/>
<module name="UpperEll"/>
<module name="ModifierOrder"/>
<module name="EmptyLineSeparator">
<property name="allowNoEmptyLineBetweenFields" value="true"/>
</module>
<module name="SeparatorWrap">
<property name="tokens" value="DOT"/>
<property name="option" value="nl"/>
</module>
<module name="SeparatorWrap">
<property name="tokens" value="COMMA"/>
<property name="option" value="EOL"/>
</module>
<module name="PackageName">
<property name="format" value="^[a-z]+(\.[a-z][a-z0-9]*)*$"/>
<message key="name.invalidPattern"
value="Package name ''{0}'' must match pattern ''{1}''."/>
</module>
<module name="TypeName">
<message key="name.invalidPattern"
value="Type name ''{0}'' must match pattern ''{1}''."/>
</module>
<module name="MemberName">
<property name="format" value="^m_[a-z][a-z0-9][a-zA-Z0-9]*$"/>
<message key="name.invalidPattern"
value="Member name ''{0}'' must match pattern ''{1}''."/>
</module>
<module name="ParameterName">
<property name="format" value="^[a-z][a-z0-9][a-zA-Z0-9]*$"/>
<message key="name.invalidPattern"
value="Parameter name ''{0}'' must match pattern ''{1}''."/>
</module>
<module name="CatchParameterName">
<property name="format" value="^[a-z][a-z0-9][a-zA-Z0-9]*$"/>
<message key="name.invalidPattern"
value="Catch parameter name ''{0}'' must match pattern ''{1}''."/>
</module>
<module name="LocalVariableName">
<property name="tokens" value="VARIABLE_DEF"/>
<property name="format" value="^[a-z][a-z0-9][a-zA-Z0-9]*$"/>
<property name="allowOneCharVarInForLoop" value="true"/>
<message key="name.invalidPattern"
value="Local variable name ''{0}'' must match pattern ''{1}''."/>
</module>
<module name="ClassTypeParameterName">
<property name="format" value="(^[A-Z][0-9]?)$|([A-Z][a-zA-Z0-9]*[T]$)"/>
<message key="name.invalidPattern"
value="Class type name ''{0}'' must match pattern ''{1}''."/>
</module>
<module name="MethodTypeParameterName">
<property name="format" value="(^[A-Z][0-9]?)$|([A-Z][a-zA-Z0-9]*[T]$)"/>
<message key="name.invalidPattern"
value="Method type name ''{0}'' must match pattern ''{1}''."/>
</module>
<module name="InterfaceTypeParameterName">
<property name="format" value="(^[A-Z][0-9]?)$|([A-Z][a-zA-Z0-9]*[T]$)"/>
<message key="name.invalidPattern"
value="Interface type name ''{0}'' must match pattern ''{1}''."/>
</module>
<module name="NoFinalizer"/>
<module name="GenericWhitespace">
<message key="ws.followed"
value="GenericWhitespace ''{0}'' is followed by whitespace."/>
<message key="ws.preceded"
value="GenericWhitespace ''{0}'' is preceded with whitespace."/>
<message key="ws.illegalFollow"
value="GenericWhitespace ''{0}'' should followed by whitespace."/>
<message key="ws.notPreceded"
value="GenericWhitespace ''{0}'' is not preceded with whitespace."/>
</module>
<module name="Indentation">
<property name="basicOffset" value="2"/>
<property name="braceAdjustment" value="0"/>
<property name="caseIndent" value="2"/>
<property name="throwsIndent" value="4"/>
<property name="lineWrappingIndentation" value="4"/>
<property name="arrayInitIndent" value="2"/>
</module>
<module name="AbbreviationAsWordInName">
<property name="ignoreFinal" value="false"/>
<property name="allowedAbbreviationLength" value="3"/>
</module>
<module name="OverloadMethodsDeclarationOrder"/>
<module name="VariableDeclarationUsageDistance">
<property name="allowedDistance" value="8"/>
</module>
<module name="MethodParamPad"/>
<module name="TypecastParenPad"/>
<module name="OperatorWrap">
<property name="option" value="NL"/>
<property name="tokens" value="BAND, BOR, BSR, BXOR, DIV, EQUAL, GE, GT, LAND, LE, LITERAL_INSTANCEOF, LOR, LT, MINUS, MOD, NOT_EQUAL, PLUS, QUESTION, SL, SR, STAR "/>
</module>
<module name="AnnotationLocation">
<property name="tokens" value="CLASS_DEF, INTERFACE_DEF, ENUM_DEF, METHOD_DEF, CTOR_DEF"/>
</module>
<module name="AnnotationLocation">
<property name="tokens" value="VARIABLE_DEF"/>
<property name="allowSamelineMultipleAnnotations" value="true"/>
</module>
<module name="NonEmptyAtclauseDescription"/>
<module name="JavadocTagContinuationIndentation"/>
<module name="SummaryJavadoc">
<property name="forbiddenSummaryFragments" value="^@return the *|^This method returns |^A [{]@code [a-zA-Z0-9]+[}]( is a )"/>
</module>
<module name="JavadocParagraph"/>
<module name="AtclauseOrder">
<property name="tagOrder" value="@param, @return, @throws, @deprecated"/>
<property name="target" value="CLASS_DEF, INTERFACE_DEF, ENUM_DEF, METHOD_DEF, CTOR_DEF, VARIABLE_DEF"/>
</module>
<module name="JavadocMethod">
<property name="allowMissingParamTags" value="true"/>
<property name="allowMissingThrowsTags" value="true"/>
<property name="allowMissingReturnTag" value="true"/>
<property name="minLineCount" value="2"/>
<property name="allowedAnnotations"
value="Override, Test, Before, After, BeforeClass, AfterClass, Parameters"/>
<property name="allowUndeclaredRTE" value="true"/>
<property name="allowThrowsTagsForSubclasses" value="true"/>
<property name="suppressLoadErrors" value="true"/>
<property name="tokens" value="METHOD_DEF, ANNOTATION_FIELD_DEF"/>
</module>
<module name="MethodName">
<property name="format" value="^[a-z][a-z0-9][a-zA-Z0-9_]*$"/>
<message key="name.invalidPattern"
value="Method name ''{0}'' must match pattern ''{1}''."/>
</module>
<module name="SingleLineJavadoc">
<property name="ignoreInlineTags" value="false"/>
</module>
<module name="EmptyCatchBlock">
<property name="exceptionVariableName" value="expected"/>
</module>
<module name="CommentsIndentation"/>
</module>
</module>

28
wpilibjExamples/build.gradle Normal file
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@@ -0,0 +1,28 @@
apply plugin: 'java'
apply plugin: 'pmd'
dependencies {
compile project(':wpilibj')
compile 'edu.wpi.first.wpiutil:wpiutil-java:3.+'
compile 'edu.wpi.first.ntcore:ntcore-java:4.+'
compile 'org.opencv:opencv-java:3.2.0'
compile 'edu.wpi.first.cscore:cscore-java:1.+'
}
checkstyle {
configFile = new File(rootDir, "styleguide/checkstyleEclipse.xml")
}
pmd {
consoleOutput = true
reportsDir = file("$project.buildDir/reports/pmd")
ruleSetFiles = files(new File(rootDir, "styleguide/pmd-ruleset.xml"))
ruleSets = []
}
gradle.projectsEvaluated {
tasks.withType(JavaCompile) {
options.compilerArgs << "-Xlint:unchecked" << "-Xlint:deprecation" << "-Werror"
}
}

301
wpilibjExamples/examples.xml Executable file
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@@ -0,0 +1,301 @@
<?xml version="1.0" encoding="UTF-8"?>
<examples>
<!-- Tags -->
<!-- Getting Started should be first and then alphabetical. Complete Example should be last -->
<tagDescription>
<name>Getting Started with Java</name>
<description>Examples for getting started with FRC Java</description>
</tagDescription>
<tagDescription>
<name>Actuators</name>
<description>Example programs that demonstrate the use of various actuators</description>
</tagDescription>
<tagDescription>
<name>Analog</name>
<description>Examples programs that show different uses of analog inputs,
outputs and various analog sensors</description>
</tagDescription>
<tagDescription>
<name>CAN</name>
<description>Example programs that demonstrate the use of the CAN components in the control
system</description>
</tagDescription>
<tagDescription>
<name>Digital</name>
<description>Example programs that demonstrate the sensors that use the digital I/O ports</description>
</tagDescription>
<tagDescription>
<name>I2C</name>
<description>Example programs that demonstrate the use of I2C and various sensors that use
it</description>
</tagDescription>
<tagDescription>
<name>Joystick</name>
<description>Example programs that demonstate different uses of joysticks for robot
driving</description>
</tagDescription>
<tagDescription>
<name>NetworkTables</name>
<description>Examples of how to use NetworkTables to accomplish a
variety of tasks such as sending and receiving values to both
dashboards and co-processors.</description>
</tagDescription>
<tagDescription>
<name>Pneumatics</name>
<description>Example programs that demonstrate the use of the compressor and solenoids</description>
</tagDescription>
<tagDescription>
<name>Robot and Motor</name>
<description>Example programs that demonstrate driving a robot and motors including safety,
servos, etc.</description>
</tagDescription>
<tagDescription>
<name>Safety</name>
<description>Example programs that demonstate the motor safety classes and how to use them
with your programs</description>
</tagDescription>
<tagDescription>
<name>Sensors</name>
<description>Example programs that demonstrate the use of the various commonly used sensors
on FRC robots</description>
</tagDescription>
<tagDescription>
<name>SPI</name>
<description>Example programs that demonstrate the use of the SPI bus and sensors that
connect to it</description>
</tagDescription>
<tagDescription>
<name>Vision</name>
<description>Example programs that demonstrate the use of cameras and image processing</description>
</tagDescription>
<tagDescription>
<name>Complete Robot</name>
<description>Complete Robot example programs</description>
</tagDescription>
<!-- Examples -->
<example>
<name>Getting Started</name>
<description>An example program which demonstrates the simplest autonomous and
teleoperated routines.</description>
<tags>
<tag>Getting Started with Java</tag>
</tags>
<packages>
<package>src/$package-dir</package>
</packages>
<files>
<file source="examples/GettingStarted/src/org/usfirst/frc/team190/robot/Robot.java" destination="src/$package-dir/Robot.java" />
</files>
</example>
<example>
<name>Tank Drive</name>
<description>Demonstrate the use of the RobotDrive class doing teleop driving with tank
steering</description>
<tags>
<tag>Actuators</tag>
<tag>Joystick</tag>
<tag>Robot and Motor</tag>
<tag>Safety</tag>
</tags>
<packages>
<package>src/$package-dir</package>
</packages>
<files>
<file source="examples/TankDrive/src/org/usfirst/frc/team190/robot/Robot.java" destination="src/$package-dir/Robot.java" />
</files>
</example>
<example>
<name>Mecanum Drive</name>
<description>Demonstrate the use of the RobotDrive class doing teleop driving with Mecanum
steering</description>
<tags>
<tag>Actuators</tag>
<tag>Joystick</tag>
<tag>Robot and Motor</tag>
<tag>Safety</tag>
</tags>
<packages>
<package>src/$package-dir</package>
</packages>
<files>
<file source="examples/MecanumDrive/src/org/usfirst/frc/team190/robot/Robot.java" destination="src/$package-dir/Robot.java" />
</files>
</example>
<example>
<name>Ultrasonic</name>
<description>Demonstrate maintaining a set distance using an ultrasonic sensor.</description>
<tags>
<tag>Sensors</tag>
<tag>Robot and Motor</tag>
<tag>Analog</tag>
</tags>
<packages>
<package>src/$package-dir</package>
</packages>
<files>
<file source="examples/Ultrasonic/src/org/usfirst/frc/team190/robot/Robot.java" destination="src/$package-dir/Robot.java" />
</files>
</example>
<example>
<name>Ultrasonic PID</name>
<description>Demonstrate maintaining a set distance using an ultrasonic sensor and PID
Control.</description>
<tags>
<tag>Sensors</tag>
<tag>Robot and Motor</tag>
<tag>Analog</tag>
</tags>
<packages>
<package>src/$package-dir</package>
</packages>
<files>
<file source="examples/UltrasonicPID/src/org/usfirst/frc/team190/robot/Robot.java" destination="src/$package-dir/Robot.java" />
</files>
</example>
<example>
<name>Potentiometer PID</name>
<description>An example to demonstrate the use of a potentiometer and PID control to reach
elevator position setpoints.</description>
<tags>
<tag>Sensors</tag>
<tag>Actuators</tag>
<tag>Analog</tag>
<tag>Joystick</tag>
</tags>
<packages>
<package>src/$package-dir</package>
</packages>
<files>
<file source="examples/PotentiometerPID/src/org/usfirst/frc/team190/robot/Robot.java" destination="src/$package-dir/Robot.java" />
</files>
</example>
<example>
<name>Gyro</name>
<description>An example program showing how to drive straight with using a gyro sensor.</description>
<tags>
<tag>Sensors</tag>
<tag>Robot and Motor</tag>
<tag>Analog</tag>
<tag>Joystick</tag>
</tags>
<packages>
<package>src/$package-dir</package>
</packages>
<files>
<file source="examples/Gyro/src/org/usfirst/frc/team190/robot/Robot.java" destination="src/$package-dir/Robot.java" />
</files>
</example>
<example>
<name>Gyro Mecanum</name>
<description>An example program showing how to perform mecanum drive with field oriented
controls.</description>
<tags>
<tag>Sensors</tag>
<tag>Robot and Motor</tag>
<tag>Analog</tag>
<tag>Joystick</tag>
</tags>
<packages>
<package>src/$package-dir</package>
</packages>
<files>
<file source="examples/GyroMecanum/src/org/usfirst/frc/team190/robot/Robot.java" destination="src/$package-dir/Robot.java" />
</files>
</example>
<example>
<name>Motor Controller</name>
<description>Demonstrate controlling a single motor with a joystick</description>
<tags>
<tag>Actuators</tag>
<tag>Joystick</tag>
<tag>Robot and Motor</tag>
</tags>
<packages>
<package>src/$package-dir</package>
</packages>
<files>
<file source="examples/MotorControl/src/org/usfirst/frc/team190/robot/Robot.java" destination="src/$package-dir/Robot.java" />
</files>
</example>
<example>
<name>GearsBot</name>
<description>A fully functional example CommandBased program for WPIs GearsBot robot. This
code can run on your computer if it supports simulation.</description>
<tags>
<tag>Complete Robot</tag>
</tags>
<world>/usr/share/frcsim/worlds/GearsBotDemo.world</world>
<packages>
<package>src/$package-dir</package>
<package>src/$package-dir/commands</package>
<package>src/$package-dir/subsystems</package>
</packages>
<files>
<file source="examples/GearsBot/src/org/usfirst/frc/team190/robot/OI.java" destination="src/$package-dir/OI.java" />
<file source="examples/GearsBot/src/org/usfirst/frc/team190/robot/Robot.java" destination="src/$package-dir/Robot.java" />
<file source="examples/GearsBot/src/org/usfirst/frc/team190/robot/commands/Autonomous.java" destination="src/$package-dir/commands/Autonomous.java" />
<file source="examples/GearsBot/src/org/usfirst/frc/team190/robot/commands/CloseClaw.java" destination="src/$package-dir/commands/CloseClaw.java" />
<file source="examples/GearsBot/src/org/usfirst/frc/team190/robot/commands/DriveStraight.java" destination="src/$package-dir/commands/DriveStraight.java" />
<file source="examples/GearsBot/src/org/usfirst/frc/team190/robot/commands/OpenClaw.java" destination="src/$package-dir/commands/OpenClaw.java" />
<file source="examples/GearsBot/src/org/usfirst/frc/team190/robot/commands/Pickup.java" destination="src/$package-dir/commands/Pickup.java" />
<file source="examples/GearsBot/src/org/usfirst/frc/team190/robot/commands/Place.java" destination="src/$package-dir/commands/Place.java" />
<file source="examples/GearsBot/src/org/usfirst/frc/team190/robot/commands/PrepareToPickup.java" destination="src/$package-dir/commands/PrepareToPickup.java" />
<file source="examples/GearsBot/src/org/usfirst/frc/team190/robot/commands/SetDistanceToBox.java" destination="src/$package-dir/commands/SetDistanceToBox.java" />
<file source="examples/GearsBot/src/org/usfirst/frc/team190/robot/commands/SetElevatorSetpoint.java" destination="src/$package-dir/commands/SetElevatorSetpoint.java" />
<file source="examples/GearsBot/src/org/usfirst/frc/team190/robot/commands/SetWristSetpoint.java" destination="src/$package-dir/commands/SetWristSetpoint.java" />
<file source="examples/GearsBot/src/org/usfirst/frc/team190/robot/commands/TankDriveWithJoystick.java" destination="src/$package-dir/commands/TankDriveWithJoystick.java" />
<file source="examples/GearsBot/src/org/usfirst/frc/team190/robot/subsystems/Claw.java" destination="src/$package-dir/subsystems/Claw.java" />
<file source="examples/GearsBot/src/org/usfirst/frc/team190/robot/subsystems/DriveTrain.java" destination="src/$package-dir/subsystems/DriveTrain.java" />
<file source="examples/GearsBot/src/org/usfirst/frc/team190/robot/subsystems/Elevator.java" destination="src/$package-dir/subsystems/Elevator.java" />
<file source="examples/GearsBot/src/org/usfirst/frc/team190/robot/subsystems/Wrist.java" destination="src/$package-dir/subsystems/Wrist.java" />
</files>
</example>
<example>
<name>Simple Vision</name>
<description>Demonstrate the use of the CameraServer class to stream from a USB Webcam
without processing the images.</description>
<tags>
<tag>Vision</tag>
<tag>Complete List</tag>
</tags>
<packages>
<package>src/$package-dir</package>
</packages>
<files>
<file source="examples/QuickVision/src/org/usfirst/frc/team190/robot/Robot.java" destination="src/$package-dir/Robot.java" />
</files>
</example>
<example>
<name>Intermediate Vision</name>
<description>Demonstrate the use of the NIVision class to capture image from a Webcam,
process them, and then send them to the dashboard.</description>
<tags>
<tag>Vision</tag>
<tag>Complete List</tag>
</tags>
<packages>
<package>src/$package-dir</package>
</packages>
<files>
<file source="examples/IntermediateVision/src/org/usfirst/frc/team190/robot/Robot.java" destination="src/$package-dir/Robot.java" />
</files>
</example>
<example>
<name>Axis Camera Sample</name>
<description>An example program that acquires images from an Axis network camera and adds
some
annotation to the image as you might do for showing operators the result of some image
recognition, and sends it to the dashboard for display. This demonstrates the use of the
AxisCamera class.</description>
<tags>
<tag>Vision</tag>
</tags>
<packages>
<package>src/$package-dir</package>
</packages>
<files>
<file source="examples/AxisCameraSample/src/org/usfirst/frc/team190/robot/Robot.java" destination="src/$package-dir/Robot.java" />
</files>
</example>
</examples>

69
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/OI.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.buttons.JoystickButton;
import edu.wpi.first.wpilibj.examples.gearsbot.commands.Autonomous;
import edu.wpi.first.wpilibj.examples.gearsbot.commands.CloseClaw;
import edu.wpi.first.wpilibj.examples.gearsbot.commands.OpenClaw;
import edu.wpi.first.wpilibj.examples.gearsbot.commands.Pickup;
import edu.wpi.first.wpilibj.examples.gearsbot.commands.Place;
import edu.wpi.first.wpilibj.examples.gearsbot.commands.PrepareToPickup;
import edu.wpi.first.wpilibj.examples.gearsbot.commands.SetElevatorSetpoint;
import edu.wpi.first.wpilibj.examples.gearsbot.commands.SetWristSetpoint;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
/**
* This class is the glue that binds the controls on the physical operator
* interface to the commands and command groups that allow control of the robot.
*/
public class OI {
private Joystick m_joystick = new Joystick(0);
public OI() {
// Put Some buttons on the SmartDashboard
SmartDashboard.putData("Elevator Bottom", new SetElevatorSetpoint(0));
SmartDashboard.putData("Elevator Platform", new SetElevatorSetpoint(0.2));
SmartDashboard.putData("Elevator Top", new SetElevatorSetpoint(0.3));
SmartDashboard.putData("Wrist Horizontal", new SetWristSetpoint(0));
SmartDashboard.putData("Raise Wrist", new SetWristSetpoint(-45));
SmartDashboard.putData("Open Claw", new OpenClaw());
SmartDashboard.putData("Close Claw", new CloseClaw());
SmartDashboard.putData("Deliver Soda", new Autonomous());
// Create some buttons
JoystickButton dpadUp = new JoystickButton(m_joystick, 5);
JoystickButton dpadRight = new JoystickButton(m_joystick, 6);
JoystickButton dpadDown = new JoystickButton(m_joystick, 7);
JoystickButton dpadLeft = new JoystickButton(m_joystick, 8);
JoystickButton l2 = new JoystickButton(m_joystick, 9);
JoystickButton r2 = new JoystickButton(m_joystick, 10);
JoystickButton l1 = new JoystickButton(m_joystick, 11);
JoystickButton r1 = new JoystickButton(m_joystick, 12);
// Connect the buttons to commands
dpadUp.whenPressed(new SetElevatorSetpoint(0.2));
dpadDown.whenPressed(new SetElevatorSetpoint(-0.2));
dpadRight.whenPressed(new CloseClaw());
dpadLeft.whenPressed(new OpenClaw());
r1.whenPressed(new PrepareToPickup());
r2.whenPressed(new Pickup());
l1.whenPressed(new Place());
l2.whenPressed(new Autonomous());
}
public Joystick getJoystick() {
return m_joystick;
}
}

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wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/Robot.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.command.Scheduler;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj.examples.gearsbot.commands.Autonomous;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Claw;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.DriveTrain;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Elevator;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Wrist;
/**
* The VM is configured to automatically run this class, and to call the
* functions corresponding to each mode, as described in the IterativeRobot
* 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 Robot extends IterativeRobot {
Command m_autonomousCommand;
public static DriveTrain m_drivetrain;
public static Elevator m_elevator;
public static Wrist m_wrist;
public static Claw m_claw;
public static OI m_oi;
/**
* This function is run when the robot is first started up and should be
* used for any initialization code.
*/
@Override
public void robotInit() {
// Initialize all subsystems
m_drivetrain = new DriveTrain();
m_elevator = new Elevator();
m_wrist = new Wrist();
m_claw = new Claw();
m_oi = new OI();
// instantiate the command used for the autonomous period
m_autonomousCommand = new Autonomous();
// Show what command your subsystem is running on the SmartDashboard
SmartDashboard.putData(m_drivetrain);
SmartDashboard.putData(m_elevator);
SmartDashboard.putData(m_wrist);
SmartDashboard.putData(m_claw);
}
@Override
public void autonomousInit() {
m_autonomousCommand.start(); // schedule the autonomous command (example)
}
/**
* This function is called periodically during autonomous.
*/
@Override
public void autonomousPeriodic() {
Scheduler.getInstance().run();
log();
}
@Override
public void teleopInit() {
// 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.
m_autonomousCommand.cancel();
}
/**
* This function is called periodically during teleoperated mode.
*/
@Override
public void teleopPeriodic() {
Scheduler.getInstance().run();
log();
}
/**
* This function is called periodically during test mode.
*/
@Override
public void testPeriodic() {
LiveWindow.run();
}
/**
* The log method puts interesting information to the SmartDashboard.
*/
private void log() {
m_wrist.log();
m_elevator.log();
m_drivetrain.log();
m_claw.log();
}
}

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wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Autonomous.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.command.CommandGroup;
/**
* The main autonomous command to pickup and deliver the soda to the box.
*/
public class Autonomous extends CommandGroup {
public Autonomous() {
addSequential(new PrepareToPickup());
addSequential(new Pickup());
addSequential(new SetDistanceToBox(0.10));
// addSequential(new DriveStraight(4)); // Use Encoders if ultrasonic is
// broken
addSequential(new Place());
addSequential(new SetDistanceToBox(0.60));
// addSequential(new DriveStraight(-2)); // Use Encoders if ultrasonic
// is broken
addParallel(new SetWristSetpoint(-45));
addSequential(new CloseClaw());
}
}

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wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/CloseClaw.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
/**
* Closes the claw for one second. Real robots should use sensors, stalling
* motors is BAD!
*/
public class CloseClaw extends Command {
public CloseClaw() {
requires(Robot.m_claw);
}
// Called just before this Command runs the first time
@Override
protected void initialize() {
Robot.m_claw.close();
}
// Make this return true when this Command no longer needs to run execute()
@Override
protected boolean isFinished() {
return Robot.m_claw.isGrabbing();
}
// Called once after isFinished returns true
@Override
protected void end() {
// NOTE: Doesn't stop in simulation due to lower friction causing the
// can to fall out
// + there is no need to worry about stalling the motor or crushing the
// can.
if (!Robot.isSimulation()) {
Robot.m_claw.stop();
}
}
}

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wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/DriveStraight.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.PIDController;
import edu.wpi.first.wpilibj.PIDSource;
import edu.wpi.first.wpilibj.PIDSourceType;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
/**
* Drive the given distance straight (negative values go backwards). Uses a
* local PID controller to run a simple PID loop that is only enabled while this
* command is running. The input is the averaged values of the left and right
* encoders.
*/
public class DriveStraight extends Command {
private PIDController m_pid;
public DriveStraight(double distance) {
requires(Robot.m_drivetrain);
m_pid = new PIDController(4, 0, 0, new PIDSource() {
PIDSourceType m_sourceType = PIDSourceType.kDisplacement;
@Override
public double pidGet() {
return Robot.m_drivetrain.getDistance();
}
@Override
public void setPIDSourceType(PIDSourceType pidSource) {
m_sourceType = pidSource;
}
@Override
public PIDSourceType getPIDSourceType() {
return m_sourceType;
}
}, d -> Robot.m_drivetrain.drive(d, d));
m_pid.setAbsoluteTolerance(0.01);
m_pid.setSetpoint(distance);
}
// Called just before this Command runs the first time
@Override
protected void initialize() {
// Get everything in a safe starting state.
Robot.m_drivetrain.reset();
m_pid.reset();
m_pid.enable();
}
// Make this return true when this Command no longer needs to run execute()
@Override
protected boolean isFinished() {
return m_pid.onTarget();
}
// Called once after isFinished returns true
@Override
protected void end() {
// Stop PID and the wheels
m_pid.disable();
Robot.m_drivetrain.drive(0, 0);
}
}

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wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/OpenClaw.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.command.TimedCommand;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
/**
* Opens the claw for one second. Real robots should use sensors, stalling
* motors is BAD!
*/
public class OpenClaw extends TimedCommand {
public OpenClaw() {
super(1);
requires(Robot.m_claw);
}
// Called just before this Command runs the first time
@Override
protected void initialize() {
Robot.m_claw.open();
}
// Called once after isFinished returns true
@Override
protected void end() {
Robot.m_claw.stop();
}
}

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wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Pickup.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.command.CommandGroup;
/**
* Pickup a soda can (if one is between the open claws) and get it in a safe
* state to drive around.
*/
public class Pickup extends CommandGroup {
public Pickup() {
addSequential(new CloseClaw());
addParallel(new SetWristSetpoint(-45));
addSequential(new SetElevatorSetpoint(0.25));
}
}

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wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Place.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.command.CommandGroup;
/**
* Place a held soda can onto the platform.
*/
public class Place extends CommandGroup {
public Place() {
addSequential(new SetElevatorSetpoint(0.25));
addSequential(new SetWristSetpoint(0));
addSequential(new OpenClaw());
}
}

21
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/PrepareToPickup.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.command.CommandGroup;
/**
* Make sure the robot is in a state to pickup soda cans.
*/
public class PrepareToPickup extends CommandGroup {
public PrepareToPickup() {
addParallel(new OpenClaw());
addParallel(new SetWristSetpoint(0));
addSequential(new SetElevatorSetpoint(0));
}
}

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wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetDistanceToBox.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.PIDController;
import edu.wpi.first.wpilibj.PIDSource;
import edu.wpi.first.wpilibj.PIDSourceType;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
/**
* Drive until the robot is the given distance away from the box. Uses a local
* PID controller to run a simple PID loop that is only enabled while this
* command is running. The input is the averaged values of the left and right
* encoders.
*/
public class SetDistanceToBox extends Command {
private PIDController m_pid;
public SetDistanceToBox(double distance) {
requires(Robot.m_drivetrain);
m_pid = new PIDController(-2, 0, 0, new PIDSource() {
PIDSourceType m_sourceType = PIDSourceType.kDisplacement;
@Override
public double pidGet() {
return Robot.m_drivetrain.getDistanceToObstacle();
}
@Override
public void setPIDSourceType(PIDSourceType pidSource) {
m_sourceType = pidSource;
}
@Override
public PIDSourceType getPIDSourceType() {
return m_sourceType;
}
}, d -> Robot.m_drivetrain.drive(d, d));
m_pid.setAbsoluteTolerance(0.01);
m_pid.setSetpoint(distance);
}
// Called just before this Command runs the first time
@Override
protected void initialize() {
// Get everything in a safe starting state.
Robot.m_drivetrain.reset();
m_pid.reset();
m_pid.enable();
}
// Make this return true when this Command no longer needs to run execute()
@Override
protected boolean isFinished() {
return m_pid.onTarget();
}
// Called once after isFinished returns true
@Override
protected void end() {
// Stop PID and the wheels
m_pid.disable();
Robot.m_drivetrain.drive(0, 0);
}
}

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wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetElevatorSetpoint.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
/**
* Move the elevator to a given location. This command finishes when it is
* within the tolerance, but leaves the PID loop running to maintain the
* position. Other commands using the elevator should make sure they disable
* PID!
*/
public class SetElevatorSetpoint extends Command {
private double m_setpoint;
public SetElevatorSetpoint(double setpoint) {
m_setpoint = setpoint;
requires(Robot.m_elevator);
}
// Called just before this Command runs the first time
@Override
protected void initialize() {
Robot.m_elevator.enable();
Robot.m_elevator.setSetpoint(m_setpoint);
}
// Make this return true when this Command no longer needs to run execute()
@Override
protected boolean isFinished() {
return Robot.m_elevator.onTarget();
}
}

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wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetWristSetpoint.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
/**
* Move the wrist to a given angle. This command finishes when it is within the
* tolerance, but leaves the PID loop running to maintain the position. Other
* commands using the wrist should make sure they disable PID!
*/
public class SetWristSetpoint extends Command {
private double m_setpoint;
public SetWristSetpoint(double setpoint) {
m_setpoint = setpoint;
requires(Robot.m_wrist);
}
// Called just before this Command runs the first time
@Override
protected void initialize() {
Robot.m_wrist.enable();
Robot.m_wrist.setSetpoint(m_setpoint);
}
// Make this return true when this Command no longer needs to run execute()
@Override
protected boolean isFinished() {
return Robot.m_wrist.onTarget();
}
}

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wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/TankDriveWithJoystick.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
/**
* Have the robot drive tank style using the PS3 Joystick until interrupted.
*/
public class TankDriveWithJoystick extends Command {
public TankDriveWithJoystick() {
requires(Robot.m_drivetrain);
}
// Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
Robot.m_drivetrain.drive(Robot.m_oi.getJoystick());
}
// Make this return true when this Command no longer needs to run execute()
@Override
protected boolean isFinished() {
return false; // Runs until interrupted
}
// Called once after isFinished returns true
@Override
protected void end() {
Robot.m_drivetrain.drive(0, 0);
}
}

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wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Claw.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot.subsystems;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.Victor;
import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
/**
* The claw subsystem is a simple system with a motor for opening and closing.
* If using stronger motors, you should probably use a sensor so that the motors
* don't stall.
*/
public class Claw extends Subsystem {
private SpeedController m_motor = new Victor(7);
private DigitalInput m_contact = new DigitalInput(5);
public Claw() {
super();
// Let's show everything on the LiveWindow
LiveWindow.addActuator("Claw", "Motor", (Victor) m_motor);
LiveWindow.addActuator("Claw", "Limit Switch", m_contact);
}
@Override
public void initDefaultCommand() {
}
public void log() {
}
/**
* Set the claw motor to move in the open direction.
*/
public void open() {
m_motor.set(-1);
}
/**
* Set the claw motor to move in the close direction.
*/
public void close() {
m_motor.set(1);
}
/**
* Stops the claw motor from moving.
*/
public void stop() {
m_motor.set(0);
}
/**
* Return true when the robot is grabbing an object hard enough to trigger
* the limit switch.
*/
public boolean isGrabbing() {
return m_contact.get();
}
}

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wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/DriveTrain.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot.subsystems;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.AnalogInput;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Joystick.AxisType;
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
import edu.wpi.first.wpilibj.examples.gearsbot.commands.TankDriveWithJoystick;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
/**
* The DriveTrain subsystem incorporates the sensors and actuators attached to
* the robots chassis. These include four drive motors, a left and right encoder
* and a gyro.
*/
public class DriveTrain extends Subsystem {
private SpeedController m_leftMotor
= new SpeedControllerGroup(new Spark(0), new Spark(1));
private SpeedController m_rightMotor
= new SpeedControllerGroup(new Spark(2), new Spark(3));
private DifferentialDrive m_drive
= new DifferentialDrive(m_leftMotor, m_rightMotor);
private Encoder m_leftEncoder = new Encoder(1, 2);
private Encoder m_rightEncoder = new Encoder(3, 4);
private AnalogInput m_rangefinder = new AnalogInput(6);
private AnalogGyro m_gyro = new AnalogGyro(1);
public DriveTrain() {
super();
// Encoders may measure differently in the real world and in
// simulation. In this example the robot moves 0.042 barleycorns
// per tick in the real world, but the simulated encoders
// simulate 360 tick encoders. This if statement allows for the
// real robot to handle this difference in devices.
if (Robot.isReal()) {
m_leftEncoder.setDistancePerPulse(0.042);
m_rightEncoder.setDistancePerPulse(0.042);
} else {
// Circumference in ft = 4in/12(in/ft)*PI
m_leftEncoder.setDistancePerPulse((4.0 / 12.0 * Math.PI) / 360.0);
m_rightEncoder.setDistancePerPulse((4.0 / 12.0 * Math.PI) / 360.0);
}
// Let's show the sensors on the LiveWindow
LiveWindow.addSensor("Drive Train", "Left Encoder", m_leftEncoder);
LiveWindow.addSensor("Drive Train", "Right Encoder", m_rightEncoder);
LiveWindow.addSensor("Drive Train", "Rangefinder", m_rangefinder);
LiveWindow.addSensor("Drive Train", "Gyro", m_gyro);
}
/**
* When no other command is running let the operator drive around using the
* PS3 joystick.
*/
@Override
public void initDefaultCommand() {
setDefaultCommand(new TankDriveWithJoystick());
}
/**
* The log method puts interesting information to the SmartDashboard.
*/
public void log() {
SmartDashboard.putNumber("Left Distance", m_leftEncoder.getDistance());
SmartDashboard.putNumber("Right Distance", m_rightEncoder.getDistance());
SmartDashboard.putNumber("Left Speed", m_leftEncoder.getRate());
SmartDashboard.putNumber("Right Speed", m_rightEncoder.getRate());
SmartDashboard.putNumber("Gyro", m_gyro.getAngle());
}
/**
* Tank style driving for the DriveTrain.
*
* @param left
* Speed in range [-1,1]
* @param right
* Speed in range [-1,1]
*/
public void drive(double left, double right) {
m_drive.tankDrive(left, right);
}
/**
* Tank style driving for the DriveTrain.
*
* @param joy The ps3 style joystick to use to drive tank style.
*/
public void drive(Joystick joy) {
drive(-joy.getY(), -joy.getAxis(AxisType.kThrottle));
}
/**
* Get the robot's heading.
*
* @return The robots heading in degrees.
*/
public double getHeading() {
return m_gyro.getAngle();
}
/**
* Reset the robots sensors to the zero states.
*/
public void reset() {
m_gyro.reset();
m_leftEncoder.reset();
m_rightEncoder.reset();
}
/**
* Get the average distance of the encoders since the last reset.
*
* @return The distance driven (average of left and right encoders).
*/
public double getDistance() {
return (m_leftEncoder.getDistance() + m_rightEncoder.getDistance()) / 2;
}
/**
* Get the distance to the obstacle.
*
* @return The distance to the obstacle detected by the rangefinder.
*/
public double getDistanceToObstacle() {
// Really meters in simulation since it's a rangefinder...
return m_rangefinder.getAverageVoltage();
}
}

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wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Elevator.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot.subsystems;
import edu.wpi.first.wpilibj.AnalogPotentiometer;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.Victor;
import edu.wpi.first.wpilibj.command.PIDSubsystem;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
import edu.wpi.first.wpilibj.interfaces.Potentiometer;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
/**
* The elevator subsystem uses PID to go to a given height. Unfortunately, in
* it's current state PID values for simulation are different than in the real
* world do to minor differences.
*/
public class Elevator extends PIDSubsystem {
private SpeedController m_motor;
private Potentiometer m_pot;
private static final double kP_real = 4;
private static final double kI_real = 0.07;
private static final double kP_simulation = 18;
private static final double kI_simulation = 0.2;
public Elevator() {
super(kP_real, kI_real, 0);
if (Robot.isSimulation()) { // Check for simulation and update PID values
getPIDController().setPID(kP_simulation, kI_simulation, 0, 0);
}
setAbsoluteTolerance(0.005);
m_motor = new Victor(5);
// Conversion value of potentiometer varies between the real world and
// simulation
if (Robot.isReal()) {
m_pot = new AnalogPotentiometer(2, -2.0 / 5);
} else {
m_pot = new AnalogPotentiometer(2); // Defaults to meters
}
// Let's show everything on the LiveWindow
LiveWindow.addActuator("Elevator", "Motor", (Victor) m_motor);
LiveWindow.addSensor("Elevator", "Pot", (AnalogPotentiometer) m_pot);
LiveWindow.addActuator("Elevator", "PID", getPIDController());
}
@Override
public void initDefaultCommand() {
}
/**
* The log method puts interesting information to the SmartDashboard.
*/
public void log() {
SmartDashboard.putData("Wrist Pot", (AnalogPotentiometer) m_pot);
}
/**
* Use the potentiometer as the PID sensor. This method is automatically
* called by the subsystem.
*/
@Override
protected double returnPIDInput() {
return m_pot.get();
}
/**
* Use the motor as the PID output. This method is automatically called by
* the subsystem.
*/
@Override
protected void usePIDOutput(double power) {
m_motor.set(power);
}
}

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wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Wrist.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot.subsystems;
import edu.wpi.first.wpilibj.AnalogPotentiometer;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.Victor;
import edu.wpi.first.wpilibj.command.PIDSubsystem;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
import edu.wpi.first.wpilibj.interfaces.Potentiometer;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
/**
* The wrist subsystem is like the elevator, but with a rotational joint instead
* of a linear joint.
*/
public class Wrist extends PIDSubsystem {
private SpeedController m_motor;
private Potentiometer m_pot;
private static final double kP_real = 1;
private static final double kP_simulation = 0.05;
public Wrist() {
super(kP_real, 0, 0);
if (Robot.isSimulation()) { // Check for simulation and update PID values
getPIDController().setPID(kP_simulation, 0, 0, 0);
}
setAbsoluteTolerance(2.5);
m_motor = new Victor(6);
// Conversion value of potentiometer varies between the real world and
// simulation
if (Robot.isReal()) {
m_pot = new AnalogPotentiometer(3, -270.0 / 5);
} else {
m_pot = new AnalogPotentiometer(3); // Defaults to degrees
}
// Let's show everything on the LiveWindow
LiveWindow.addActuator("Wrist", "Motor", (Victor) m_motor);
LiveWindow.addSensor("Wrist", "Pot", (AnalogPotentiometer) m_pot);
LiveWindow.addActuator("Wrist", "PID", getPIDController());
}
@Override
public void initDefaultCommand() {
}
/**
* The log method puts interesting information to the SmartDashboard.
*/
public void log() {
SmartDashboard.putData("Wrist Angle", (AnalogPotentiometer) m_pot);
}
/**
* Use the potentiometer as the PID sensor. This method is automatically
* called by the subsystem.
*/
@Override
protected double returnPIDInput() {
return m_pot.get();
}
/**
* Use the motor as the PID output. This method is automatically called by
* the subsystem.
*/
@Override
protected void usePIDOutput(double power) {
m_motor.set(power);
}
}

83
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gettingstarted;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
/**
* The VM is configured to automatically run this class, and to call the
* functions corresponding to each mode, as described in the IterativeRobot
* 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 Robot extends IterativeRobot {
private DifferentialDrive m_robotDrive
= new DifferentialDrive(new Spark(0), new Spark(1));
private Joystick m_stick = new Joystick(0);
private Timer m_timer = new Timer();
/**
* This function is run when the robot is first started up and should be
* used for any initialization code.
*/
@Override
public void robotInit() {
}
/**
* This function is run once each time the robot enters autonomous mode.
*/
@Override
public void autonomousInit() {
m_timer.reset();
m_timer.start();
}
/**
* This function is called periodically during autonomous.
*/
@Override
public void autonomousPeriodic() {
// Drive for 2 seconds
if (m_timer.get() < 2.0) {
m_robotDrive.arcadeDrive(0.5, 0.0); // drive forwards half speed
} else {
m_robotDrive.stopMotor(); // stop robot
}
}
/**
* This function is called once each time the robot enters teleoperated mode.
*/
@Override
public void teleopInit() {
}
/**
* This function is called periodically during teleoperated mode.
*/
@Override
public void teleopPeriodic() {
m_robotDrive.arcadeDrive(m_stick.getY(), m_stick.getX());
}
/**
* This function is called periodically during test mode.
*/
@Override
public void testPeriodic() {
LiveWindow.run();
}
}

57
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Robot.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gyro;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
/**
* This is a sample program to demonstrate how to use a gyro sensor to make a
* robot drive straight. This program uses a joystick to drive forwards and
* backwards while the gyro is used for direction keeping.
*/
public class Robot extends IterativeRobot {
private static final double kAngleSetpoint = 0.0;
private static final double kP = 0.005; // propotional turning constant
// gyro calibration constant, may need to be adjusted;
// gyro value of 360 is set to correspond to one full revolution
private static final double kVoltsPerDegreePerSecond = 0.0128;
private static final int kLeftMotorPort = 0;
private static final int kRightMotorPort = 1;
private static final int kGyroPort = 0;
private static final int kJoystickPort = 0;
private DifferentialDrive m_myRobot
= new DifferentialDrive(new Spark(kLeftMotorPort),
new Spark(kRightMotorPort));
private AnalogGyro m_gyro = new AnalogGyro(kGyroPort);
private Joystick m_joystick = new Joystick(kJoystickPort);
@Override
public void robotInit() {
m_gyro.setSensitivity(kVoltsPerDegreePerSecond);
}
/**
* The motor speed is set from the joystick while the RobotDrive turning
* value is assigned from the error between the setpoint and the gyro angle.
*/
@Override
public void teleopPeriodic() {
double turningValue = (kAngleSetpoint - m_gyro.getAngle()) * kP;
// Invert the direction of the turn if we are going backwards
turningValue = Math.copySign(turningValue, m_joystick.getY());
m_myRobot.arcadeDrive(m_joystick.getY(), turningValue);
}
}

62
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum/Robot.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gyromecanum;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.drive.MecanumDrive;
/**
* This is a sample program that uses mecanum drive with a gyro sensor to
* maintian rotation vectorsin relation to the starting orientation of the robot
* (field-oriented controls).
*/
public class Robot extends IterativeRobot {
// gyro calibration constant, may need to be adjusted;
// gyro value of 360 is set to correspond to one full revolution
private static final double kVoltsPerDegreePerSecond = 0.0128;
private static final int kFrontLeftChannel = 0;
private static final int kRearLeftChannel = 1;
private static final int kFrontRightChannel = 2;
private static final int kRearRightChannel = 3;
private static final int kGyroPort = 0;
private static final int kJoystickPort = 0;
private MecanumDrive m_robotDrive;
private AnalogGyro m_gyro = new AnalogGyro(kGyroPort);
private Joystick m_joystick = new Joystick(kJoystickPort);
@Override
public void robotInit() {
Spark frontLeft = new Spark(kFrontLeftChannel);
Spark rearLeft = new Spark(kRearLeftChannel);
Spark frontRight = new Spark(kFrontRightChannel);
Spark rearRight = new Spark(kRearRightChannel);
// Invert the left side motors.
// You may need to change or remove this to match your robot.
frontLeft.setInverted(true);
rearLeft.setInverted(true);
m_robotDrive = new MecanumDrive(frontLeft, rearLeft, frontRight, rearRight);
m_gyro.setSensitivity(kVoltsPerDegreePerSecond);
}
/**
* Mecanum drive is used with the gyro angle as an input.
*/
@Override
public void teleopPeriodic() {
m_robotDrive.driveCartesian(m_joystick.getX(), m_joystick.getY(),
m_joystick.getZ(), m_gyro.getAngle());
}
}

55
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java Executable file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.mecanumdrive;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.drive.MecanumDrive;
/**
* This is a demo program showing how to use Mecanum control with the RobotDrive
* class.
*/
public class Robot extends IterativeRobot {
private static final int kFrontLeftChannel = 2;
private static final int kRearLeftChannel = 3;
private static final int kFrontRightChannel = 1;
private static final int kRearRightChannel = 0;
private static final int kJoystickChannel = 0;
private MecanumDrive m_robotDrive;
private Joystick m_stick;
@Override
public void robotInit() {
Spark frontLeft = new Spark(kFrontLeftChannel);
Spark rearLeft = new Spark(kRearLeftChannel);
Spark frontRight = new Spark(kFrontRightChannel);
Spark rearRight = new Spark(kRearRightChannel);
// Invert the left side motors.
// You may need to change or remove this to match your robot.
frontLeft.setInverted(true);
rearLeft.setInverted(true);
m_robotDrive = new MecanumDrive(frontLeft, rearLeft, frontRight, rearRight);
m_stick = new Joystick(kJoystickChannel);
}
@Override
public void teleopPeriodic() {
// Use the joystick X axis for lateral movement, Y axis for forward
// movement, and Z axis for rotation.
m_robotDrive.driveCartesian(m_stick.getX(), m_stick.getY(),
m_stick.getZ(), 0.0);
}
}

41
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrol/Robot.java Executable file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.motorcontrol;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.Spark;
/**
* This sample program shows how to control a motor using a joystick. In the
* operator control part of the program, the joystick is read and the value is
* written to the motor.
*
* <p>Joystick analog values range from -1 to 1 and speed controller inputs also
* range from -1 to 1 making it easy to work together.
*/
public class Robot extends IterativeRobot {
private static final int kMotorPort = 0;
private static final int kJoystickPort = 0;
private SpeedController m_motor;
private Joystick m_joystick;
@Override
public void robotInit() {
m_motor = new Spark(kMotorPort);
m_joystick = new Joystick(kJoystickPort);
}
@Override
public void teleopPeriodic() {
m_motor.set(m_joystick.getY());
}
}

76
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Robot.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.potentiometerpid;
import edu.wpi.first.wpilibj.AnalogInput;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.PIDController;
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.Joystick;
/**
* This is a sample program to demonstrate how to use a soft potentiometer and a
* PID controller to reach and maintain position setpoints on an elevator
* mechanism.
*/
public class Robot extends IterativeRobot {
private static final int kPotChannel = 1;
private static final int kMotorChannel = 7;
private static final int kJoystickChannel = 0;
// bottom, middle, and top elevator setpoints
private static final double[] kSetPoints = {1.0, 2.6, 4.3};
// proportional, integral, and derivative speed constants; motor inverted
// DANGER: when tuning PID constants, high/inappropriate values for kP, kI,
// and kD may cause dangerous, uncontrollable, or undesired behavior!
// these may need to be positive for a non-inverted motor
private static final double kP = -5.0;
private static final double kI = -0.02;
private static final double kD = -2.0;
private PIDController m_pidController;
private AnalogInput m_potentiometer;
private SpeedController m_elevatorMotor;
private Joystick m_joystick;
private int m_index = 0;
private boolean m_previousButtonValue = false;
@Override
public void robotInit() {
m_potentiometer = new AnalogInput(kPotChannel);
m_elevatorMotor = new Spark(kMotorChannel);
m_joystick = new Joystick(kJoystickChannel);
m_pidController
= new PIDController(kP, kI, kD, m_potentiometer, m_elevatorMotor);
m_pidController.setInputRange(0, 5);
}
@Override
public void teleopInit() {
m_pidController.enable();
}
@Override
public void teleopPeriodic() {
// when the button is pressed once, the selected elevator setpoint
// is incremented
boolean currentButtonValue = m_joystick.getTrigger();
if (currentButtonValue && !m_previousButtonValue) {
// index of the elevator setpoint wraps around.
m_index = (m_index + 1) % kSetPoints.length;
}
m_previousButtonValue = currentButtonValue;
m_pidController.setSetpoint(kSetPoints[m_index]);
}
}

36
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrive/Robot.java Executable file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.tankdrive;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
/**
* This is a demo program showing the use of the RobotDrive class, specifically
* it contains the code necessary to operate a robot with tank drive.
*/
public class Robot extends IterativeRobot {
private DifferentialDrive m_myRobot;
private Joystick m_leftStick;
private Joystick m_rightStick;
@Override
public void robotInit() {
m_myRobot = new DifferentialDrive(new Spark(0), new Spark(1));
m_leftStick = new Joystick(0);
m_rightStick = new Joystick(1);
}
@Override
public void teleopPeriodic() {
m_myRobot.tankDrive(m_leftStick.getY(), m_rightStick.getY());
}
}

53
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.ultrasonic;
import edu.wpi.first.wpilibj.AnalogInput;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
/**
* This is a sample program demonstrating how to use an ultrasonic sensor and
* proportional control to maintain a set distance from an object.
*/
public class Robot extends IterativeRobot {
// distance in inches the robot wants to stay from an object
private static final double kHoldDistance = 12.0;
// factor to convert sensor values to a distance in inches
private static final double kValueToInches = 0.125;
// proportional speed constant
private static final double kP = 0.05;
private static final int kLeftMotorPort = 0;
private static final int kRightMotorPort = 1;
private static final int kUltrasonicPort = 0;
private AnalogInput m_ultrasonic = new AnalogInput(kUltrasonicPort);
private DifferentialDrive m_robotDrive
= new DifferentialDrive(new Spark(kLeftMotorPort),
new Spark(kRightMotorPort));
/**
* Tells the robot to drive to a set distance (in inches) from an object
* using proportional control.
*/
public void teleopPeriodic() {
// sensor returns a value from 0-4095 that is scaled to inches
double currentDistance = m_ultrasonic.getValue() * kValueToInches;
// convert distance error to a motor speed
double currentSpeed = (kHoldDistance - currentDistance) * kP;
// drive robot
m_robotDrive.arcadeDrive(currentSpeed, 0);
}
}

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wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.ultrasonicpid;
import edu.wpi.first.wpilibj.AnalogInput;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.PIDController;
import edu.wpi.first.wpilibj.PIDOutput;
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
/**
* This is a sample program to demonstrate the use of a PIDController with an
* ultrasonic sensor to reach and maintain a set distance from an object.
*/
public class Robot extends IterativeRobot {
// distance in inches the robot wants to stay from an object
private static final double kHoldDistance = 12.0;
// maximum distance in inches we expect the robot to see
private static final double kMaxDistance = 24.0;
// factor to convert sensor values to a distance in inches
private static final double kValueToInches = 0.125;
// proportional speed constant
private static final double kP = 7.0;
// integral speed constant
private static final double kI = 0.018;
// derivative speed constant
private static final double kD = 1.5;
private static final int kLeftMotorPort = 0;
private static final int kRightMotorPort = 1;
private static final int kUltrasonicPort = 0;
private AnalogInput m_ultrasonic = new AnalogInput(kUltrasonicPort);
private DifferentialDrive m_robotDrive
= new DifferentialDrive(new Spark(kLeftMotorPort),
new Spark(kRightMotorPort));
private PIDController m_pidController
= new PIDController(kP, kI, kD, m_ultrasonic, new MyPidOutput());
/**
* Drives the robot a set distance from an object using PID control and the
* ultrasonic sensor.
*/
@Override
public void teleopInit() {
// Set expected range to 0-24 inches; e.g. at 24 inches from object go
// full forward, at 0 inches from object go full backward.
m_pidController.setInputRange(0, kMaxDistance * kValueToInches);
// Set setpoint of the pid controller
m_pidController.setSetpoint(kHoldDistance * kValueToInches);
m_pidController.enable(); // begin PID control
}
private class MyPidOutput implements PIDOutput {
@Override
public void pidWrite(double output) {
m_robotDrive.arcadeDrive(output, 0);
}
}
}

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wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/vision/axiscamera/Robot.java Executable file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.vision.axiscamera;
import edu.wpi.cscore.AxisCamera;
import edu.wpi.cscore.CvSink;
import edu.wpi.cscore.CvSource;
import edu.wpi.first.wpilibj.CameraServer;
import edu.wpi.first.wpilibj.IterativeRobot;
import org.opencv.core.Mat;
import org.opencv.core.Point;
import org.opencv.core.Scalar;
import org.opencv.imgproc.Imgproc;
/**
* This is a demo program showing the use of OpenCV to do vision processing. The
* image is acquired from the Axis camera, then a rectangle is put on the image
* and sent to the dashboard. OpenCV has many methods for different types of
* processing.
*/
public class Robot extends IterativeRobot {
Thread m_visionThread;
@Override
public void robotInit() {
m_visionThread = new Thread(() -> {
// Get the Axis camera from CameraServer
AxisCamera camera
= CameraServer.getInstance().addAxisCamera("axis-camera.local");
// Set the resolution
camera.setResolution(640, 480);
// Get a CvSink. This will capture Mats from the camera
CvSink cvSink = CameraServer.getInstance().getVideo();
// Setup a CvSource. This will send images back to the Dashboard
CvSource outputStream
= CameraServer.getInstance().putVideo("Rectangle", 640, 480);
// Mats are very memory expensive. Lets reuse this Mat.
Mat mat = new Mat();
// This cannot be 'true'. The program will never exit if it is. This
// lets the robot stop this thread when restarting robot code or
// deploying.
while (!Thread.interrupted()) {
// Tell the CvSink to grab a frame from the camera and put it
// in the source mat. If there is an error notify the output.
if (cvSink.grabFrame(mat) == 0) {
// Send the output the error.
outputStream.notifyError(cvSink.getError());
// skip the rest of the current iteration
continue;
}
// Put a rectangle on the image
Imgproc.rectangle(mat, new Point(100, 100), new Point(400, 400),
new Scalar(255, 255, 255), 5);
// Give the output stream a new image to display
outputStream.putFrame(mat);
}
});
m_visionThread.setDaemon(true);
m_visionThread.start();
}
}

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wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/vision/intermediatevision/Robot.java Executable file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.vision.intermediatevision;
import edu.wpi.cscore.CvSink;
import edu.wpi.cscore.CvSource;
import edu.wpi.cscore.UsbCamera;
import edu.wpi.first.wpilibj.CameraServer;
import edu.wpi.first.wpilibj.IterativeRobot;
import org.opencv.core.Mat;
import org.opencv.core.Point;
import org.opencv.core.Scalar;
import org.opencv.imgproc.Imgproc;
/**
* This is a demo program showing the use of OpenCV to do vision processing. The
* image is acquired from the USB camera, then a rectangle is put on the image
* and sent to the dashboard. OpenCV has many methods for different types of
* processing.
*/
public class Robot extends IterativeRobot {
Thread m_visionThread;
@Override
public void robotInit() {
m_visionThread = new Thread(() -> {
// Get the UsbCamera from CameraServer
UsbCamera camera = CameraServer.getInstance().startAutomaticCapture();
// Set the resolution
camera.setResolution(640, 480);
// Get a CvSink. This will capture Mats from the camera
CvSink cvSink = CameraServer.getInstance().getVideo();
// Setup a CvSource. This will send images back to the Dashboard
CvSource outputStream
= CameraServer.getInstance().putVideo("Rectangle", 640, 480);
// Mats are very memory expensive. Lets reuse this Mat.
Mat mat = new Mat();
// This cannot be 'true'. The program will never exit if it is. This
// lets the robot stop this thread when restarting robot code or
// deploying.
while (!Thread.interrupted()) {
// Tell the CvSink to grab a frame from the camera and put it
// in the source mat. If there is an error notify the output.
if (cvSink.grabFrame(mat) == 0) {
// Send the output the error.
outputStream.notifyError(cvSink.getError());
// skip the rest of the current iteration
continue;
}
// Put a rectangle on the image
Imgproc.rectangle(mat, new Point(100, 100), new Point(400, 400),
new Scalar(255, 255, 255), 5);
// Give the output stream a new image to display
outputStream.putFrame(mat);
}
});
m_visionThread.setDaemon(true);
m_visionThread.start();
}
}

26
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/vision/quickvision/Robot.java Executable file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.vision.quickvision;
import edu.wpi.first.wpilibj.CameraServer;
import edu.wpi.first.wpilibj.IterativeRobot;
/**
* Uses the CameraServer class to automatically capture video from a USB webcam
* and send it to the FRC dashboard without doing any vision processing. This
* is the easiest way to get camera images to the dashboard. Just add this to
* the robotInit() method in your program.
*/
public class Robot extends IterativeRobot {
@Override
public void robotInit() {
CameraServer.getInstance().startAutomaticCapture();
}
}

42
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/OI.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.templates.commandbased;
/**
* This class is the glue that binds the controls on the physical operator
* interface to the commands and command groups that allow control of the robot.
*/
public class OI {
//// CREATING BUTTONS
// One type of button is a joystick button which is any button on a
//// joystick.
// You create one by telling it which joystick it's on and which button
// number it is.
// Joystick stick = new Joystick(port);
// Button button = new JoystickButton(stick, buttonNumber);
// There are a few additional built in buttons you can use. Additionally,
// by subclassing Button you can create custom triggers and bind those to
// commands the same as any other Button.
//// TRIGGERING COMMANDS WITH BUTTONS
// Once you have a button, it's trivial to bind it to a button in one of
// three ways:
// Start the command when the button is pressed and let it run the command
// until it is finished as determined by it's isFinished method.
// button.whenPressed(new ExampleCommand());
// Run the command while the button is being held down and interrupt it once
// the button is released.
// button.whileHeld(new ExampleCommand());
// Start the command when the button is released and let it run the command
// until it is finished as determined by it's isFinished method.
// button.whenReleased(new ExampleCommand());
}

124
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.templates.commandbased;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.command.Scheduler;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj.templates.commandbased.commands.ExampleCommand;
import edu.wpi.first.wpilibj.templates.commandbased.subsystems.ExampleSubsystem;
/**
* The VM is configured to automatically run this class, and to call the
* functions corresponding to each mode, as described in the IterativeRobot
* documentation. If you change the name of this class or the package after
* creating this project, you must also update the build.properties file in the
* project.
*/
public class Robot extends IterativeRobot {
public static final ExampleSubsystem kExampleSubsystem
= new ExampleSubsystem();
public static OI m_oi;
Command m_autonomousCommand;
SendableChooser<Command> m_chooser = new SendableChooser<>();
/**
* This function is run when the robot is first started up and should be
* used for any initialization code.
*/
@Override
public void robotInit() {
m_oi = new OI();
m_chooser.addDefault("Default Auto", new ExampleCommand());
// chooser.addObject("My Auto", new MyAutoCommand());
SmartDashboard.putData("Auto mode", m_chooser);
}
/**
* 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() {
}
@Override
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
*
* <p>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();
/*
* String autoSelected = SmartDashboard.getString("Auto Selector",
* "Default"); switch(autoSelected) { case "My Auto": autonomousCommand
* = new MyAutoCommand(); break; case "Default Auto": default:
* autonomousCommand = new ExampleCommand(); break; }
*/
// schedule the autonomous command (example)
if (m_autonomousCommand != null) {
m_autonomousCommand.start();
}
}
/**
* This function is called periodically during autonomous.
*/
@Override
public void autonomousPeriodic() {
Scheduler.getInstance().run();
}
@Override
public void teleopInit() {
// 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 (m_autonomousCommand != null) {
m_autonomousCommand.cancel();
}
}
/**
* 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() {
LiveWindow.run();
}
}

26
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/RobotMap.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.templates.commandbased;
/**
* The RobotMap is a mapping from the ports sensors and actuators are wired into
* to a variable name. This provides flexibility changing wiring, makes checking
* the wiring easier and significantly reduces the number of magic numbers
* floating around.
*/
public class RobotMap {
// For example to map the left and right motors, you could define the
// following variables to use with your drivetrain subsystem.
// public static int leftMotor = 1;
// public static int rightMotor = 2;
// If you are using multiple modules, make sure to define both the port
// number and the module. For example you with a rangefinder:
// public static int rangefinderPort = 1;
// public static int rangefinderModule = 1;
}

48
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/commands/ExampleCommand.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.templates.commandbased.commands;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.templates.commandbased.Robot;
/**
* An example command. You can replace me with your own command.
*/
public class ExampleCommand extends Command {
public ExampleCommand() {
// Use requires() here to declare subsystem dependencies
requires(Robot.kExampleSubsystem);
}
// Called just before this Command runs the first time
@Override
protected void initialize() {
}
// Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
}
// Make this return true when this Command no longer needs to run execute()
@Override
protected boolean isFinished() {
return false;
}
// Called once after isFinished returns true
@Override
protected void end() {
}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
@Override
protected void interrupted() {
}
}

23
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/subsystems/ExampleSubsystem.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.templates.commandbased.subsystems;
import edu.wpi.first.wpilibj.command.Subsystem;
/**
* An example subsystem. You can replace me with your own Subsystem.
*/
public class ExampleSubsystem extends Subsystem {
// Put methods for controlling this subsystem
// here. Call these from Commands.
public void initDefaultCommand() {
// Set the default command for a subsystem here.
// setDefaultCommand(new MySpecialCommand());
}
}

87
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/iterative/Robot.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.templates.iterative;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
/**
* The VM is configured to automatically run this class, and to call the
* functions corresponding to each mode, as described in the IterativeRobot
* documentation. If you change the name of this class or the package after
* creating this project, you must also update the build.properties file in the
* project.
*/
public class Robot extends IterativeRobot {
private static final String kDefaultAuto = "Default";
private static final String kCustomAuto = "My Auto";
private String m_autoSelected;
private SendableChooser<String> m_chooser = new SendableChooser<>();
/**
* This function is run when the robot is first started up and should be
* used for any initialization code.
*/
@Override
public void robotInit() {
m_chooser.addDefault("Default Auto", kDefaultAuto);
m_chooser.addObject("My Auto", kCustomAuto);
SmartDashboard.putData("Auto choices", m_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
*
* <p>You can add additional auto modes by adding additional comparisons to
* the switch structure below with additional strings. If using the
* SendableChooser make sure to add them to the chooser code above as well.
*/
@Override
public void autonomousInit() {
m_autoSelected = m_chooser.getSelected();
// autoSelected = SmartDashboard.getString("Auto Selector",
// defaultAuto);
System.out.println("Auto selected: " + m_autoSelected);
}
/**
* This function is called periodically during autonomous.
*/
@Override
public void autonomousPeriodic() {
switch (m_autoSelected) {
case kCustomAuto:
// Put custom auto code here
break;
case kDefaultAuto:
default:
// Put default auto code here
break;
}
}
/**
* This function is called periodically during operator control.
*/
@Override
public void teleopPeriodic() {
}
/**
* This function is called periodically during test mode.
*/
@Override
public void testPeriodic() {
}
}

146
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/sample/Robot.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.templates.sample;
import edu.wpi.first.wpilibj.SampleRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
/**
* This is a demo program showing the use of the RobotDrive class. The
* SampleRobot class is the base of a robot application that will automatically
* call your Autonomous and OperatorControl methods at the right time as
* controlled by the switches on the driver station or the field controls.
*
* <p>The VM is configured to automatically run this class, and to call the
* functions corresponding to each mode, as described in the SampleRobot
* documentation. If you change the name of this class or the package after
* creating this project, you must also update the build.properties file in the
* project.
*
* <p>WARNING: While it may look like a good choice to use for your code if
* you're inexperienced, don't. Unless you know what you are doing, complex code
* will be much more difficult under this system. Use IterativeRobot or
* Command-Based instead if you're new.
*/
public class Robot extends SampleRobot {
private static final String kDefaultAuto = "Default";
private static final String kCustomAuto = "My Auto";
private DifferentialDrive m_robotDrive
= new DifferentialDrive(new Spark(0), new Spark(1));
private Joystick m_stick = new Joystick(0);
private SendableChooser<String> m_chooser = new SendableChooser<>();
public Robot() {
m_robotDrive.setExpiration(0.1);
}
@Override
public void robotInit() {
m_chooser.addDefault("Default Auto", kDefaultAuto);
m_chooser.addObject("My Auto", kCustomAuto);
SmartDashboard.putData("Auto modes", m_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
*
* <p>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.
*
* <p>If you wanted to run a similar autonomous mode with an IterativeRobot
* you would write:
*
* <blockquote><pre>{@code
* Timer timer = new Timer();
*
* // This function is run once each time the robot enters autonomous mode
* public void autonomousInit() {
* timer.reset();
* timer.start();
* }
*
* // This function is called periodically during autonomous
* public void autonomousPeriodic() {
* // Drive for 2 seconds
* if (timer.get() < 2.0) {
* myRobot.drive(-0.5, 0.0); // drive forwards half speed
* } else if (timer.get() < 5.0) {
* myRobot.drive(-1.0, 0.0); // drive forwards full speed
* } else {
* myRobot.drive(0.0, 0.0); // stop robot
* }
* }
* }</pre></blockquote>
*/
@Override
public void autonomous() {
String autoSelected = m_chooser.getSelected();
// String autoSelected = SmartDashboard.getString("Auto Selector",
// defaultAuto);
System.out.println("Auto selected: " + autoSelected);
switch (autoSelected) {
case kCustomAuto:
m_robotDrive.setSafetyEnabled(false);
m_robotDrive.arcadeDrive(-0.5, 1.0); // spin at half speed
Timer.delay(2.0); // for 2 seconds
m_robotDrive.arcadeDrive(0.0, 0.0); // stop robot
break;
case kDefaultAuto:
default:
m_robotDrive.setSafetyEnabled(false);
m_robotDrive.arcadeDrive(-0.5, 0.0); // drive forwards
Timer.delay(2.0); // for 2 seconds
m_robotDrive.arcadeDrive(0.0, 0.0); // stop robot
break;
}
}
/**
* Runs the motors with arcade steering.
*
* <p>If you wanted to run a similar teleoperated mode with an IterativeRobot
* you would write:
*
* <blockquote><pre>{@code
* // This function is called periodically during operator control
* public void teleopPeriodic() {
* myRobot.arcadeDrive(stick);
* }
* }</pre></blockquote>
*/
@Override
public void operatorControl() {
m_robotDrive.setSafetyEnabled(true);
while (isOperatorControl() && isEnabled()) {
// drive arcade style
m_robotDrive.arcadeDrive(m_stick.getX(), m_stick.getY());
// wait for a motor update time
Timer.delay(0.005);
}
}
/**
* Runs during test mode.
*/
@Override
public void test() {
}
}