mirror of
https://github.com/wpilibsuite/allwpilib
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[examples] Enhance Romi templates (#2931)
Add motors and encoders so they are more usable out of the box.
This commit is contained in:
Zhiquan Yeo
@@ -0,0 +1,19 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018-2020 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package edu.wpi.first.wpilibj.templates.romicommandbased;
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/**
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* The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
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* constants. This class should not be used for any other purpose. All constants should be
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* declared globally (i.e. public static). Do not put anything functional in this class.
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*
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* <p>It is advised to statically import this class (or one of its inner classes) wherever the
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* constants are needed, to reduce verbosity.
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*/
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public final class Constants {
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}
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@@ -0,0 +1,29 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018-2020 FIRST. All Rights Reserved. */
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||||
/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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||||
/* the project. */
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/*----------------------------------------------------------------------------*/
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package edu.wpi.first.wpilibj.templates.romicommandbased;
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import edu.wpi.first.wpilibj.RobotBase;
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/**
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* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
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* you are doing, do not modify this file except to change the parameter class to the startRobot
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* call.
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*/
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public final class Main {
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private Main() {
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}
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/**
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* Main initialization function. Do not perform any initialization here.
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*
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* <p>If you change your main robot class, change the parameter type.
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*/
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public static void main(String... args) {
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RobotBase.startRobot(Robot::new);
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}
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}
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@@ -0,0 +1,113 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2017-2020 FIRST. All Rights Reserved. */
|
||||
/* Open Source Software - may be modified and shared by FRC teams. The code */
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||||
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
||||
/* the project. */
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/*----------------------------------------------------------------------------*/
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package edu.wpi.first.wpilibj.templates.romicommandbased;
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import edu.wpi.first.wpilibj.TimedRobot;
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.CommandScheduler;
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/**
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* The VM is configured to automatically run this class, and to call the functions corresponding to
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* each mode, as described in the TimedRobot documentation. If you change the name of this class or
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* the package after creating this project, you must also update the build.gradle file in the
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* project.
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*/
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public class Robot extends TimedRobot {
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private Command m_autonomousCommand;
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private RobotContainer m_robotContainer;
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/**
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* This function is run when the robot is first started up and should be used for any
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* initialization code.
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*/
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@Override
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public void robotInit() {
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// Instantiate our RobotContainer. This will perform all our button bindings, and put our
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// autonomous chooser on the dashboard.
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m_robotContainer = new RobotContainer();
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}
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/**
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* This function is called every robot packet, no matter the mode. Use this for items like
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* diagnostics that you want ran during disabled, autonomous, teleoperated and test.
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*
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* <p>This runs after the mode specific periodic functions, but before
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* LiveWindow and SmartDashboard integrated updating.
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*/
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@Override
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public void robotPeriodic() {
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// Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled
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// commands, running already-scheduled commands, removing finished or interrupted commands,
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// and running subsystem periodic() methods. This must be called from the robot's periodic
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// block in order for anything in the Command-based framework to work.
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CommandScheduler.getInstance().run();
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}
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/**
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* This function is called once each time the robot enters Disabled mode.
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*/
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@Override
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public void disabledInit() {
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}
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@Override
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public void disabledPeriodic() {
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}
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/**
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* This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
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*/
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@Override
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public void autonomousInit() {
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m_autonomousCommand = m_robotContainer.getAutonomousCommand();
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// schedule the autonomous command (example)
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if (m_autonomousCommand != null) {
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m_autonomousCommand.schedule();
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}
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}
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/**
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* This function is called periodically during autonomous.
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*/
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@Override
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public void autonomousPeriodic() {
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}
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@Override
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public void teleopInit() {
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// This makes sure that the autonomous stops running when
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// teleop starts running. If you want the autonomous to
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// continue until interrupted by another command, remove
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// this line or comment it out.
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if (m_autonomousCommand != null) {
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m_autonomousCommand.cancel();
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}
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}
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/**
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* This function is called periodically during operator control.
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*/
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@Override
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public void teleopPeriodic() {
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}
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@Override
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public void testInit() {
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// Cancels all running commands at the start of test mode.
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CommandScheduler.getInstance().cancelAll();
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}
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/**
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* This function is called periodically during test mode.
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*/
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@Override
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public void testPeriodic() {
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}
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}
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@@ -0,0 +1,57 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018-2020 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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||||
/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package edu.wpi.first.wpilibj.templates.romicommandbased;
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import edu.wpi.first.wpilibj.GenericHID;
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import edu.wpi.first.wpilibj.XboxController;
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import edu.wpi.first.wpilibj.templates.romicommandbased.commands.ExampleCommand;
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import edu.wpi.first.wpilibj.templates.romicommandbased.subsystems.RomiDrivetrain;
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import edu.wpi.first.wpilibj2.command.Command;
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/**
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* This class is where the bulk of the robot should be declared. Since Command-based is a
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* "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
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* periodic methods (other than the scheduler calls). Instead, the structure of the robot
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* (including subsystems, commands, and button mappings) should be declared here.
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*/
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public class RobotContainer {
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// The robot's subsystems and commands are defined here...
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private final RomiDrivetrain m_romiDrivetrain = new RomiDrivetrain();
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private final ExampleCommand m_autoCommand = new ExampleCommand(m_romiDrivetrain);
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/**
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* The container for the robot. Contains subsystems, OI devices, and commands.
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*/
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public RobotContainer() {
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// Configure the button bindings
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configureButtonBindings();
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}
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/**
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* Use this method to define your button->command mappings. Buttons can be created by
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* instantiating a {@link GenericHID} or one of its subclasses ({@link
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* edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
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* {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
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*/
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private void configureButtonBindings() {
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}
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/**
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* Use this to pass the autonomous command to the main {@link Robot} class.
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*
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* @return the command to run in autonomous
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*/
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public Command getAutonomousCommand() {
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// An ExampleCommand will run in autonomous
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return m_autoCommand;
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}
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}
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@@ -0,0 +1,51 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018-2020 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. */
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||||
/*----------------------------------------------------------------------------*/
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package edu.wpi.first.wpilibj.templates.romicommandbased.commands;
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import edu.wpi.first.wpilibj.templates.romicommandbased.subsystems.RomiDrivetrain;
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import edu.wpi.first.wpilibj2.command.CommandBase;
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/**
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* An example command that uses an example subsystem.
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*/
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public class ExampleCommand extends CommandBase {
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@SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"})
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private final RomiDrivetrain m_subsystem;
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/**
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* Creates a new ExampleCommand.
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*
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* @param subsystem The subsystem used by this command.
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*/
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public ExampleCommand(RomiDrivetrain subsystem) {
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m_subsystem = subsystem;
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// Use addRequirements() here to declare subsystem dependencies.
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addRequirements(subsystem);
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}
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// Called when the command is initially scheduled.
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@Override
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public void initialize() {
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}
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// Called every time the scheduler runs while the command is scheduled.
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@Override
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public void execute() {
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}
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// Called once the command ends or is interrupted.
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@Override
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public void end(boolean interrupted) {
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}
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// Returns true when the command should end.
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@Override
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public boolean isFinished() {
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return false;
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}
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}
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@@ -0,0 +1,77 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018-2020 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. */
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/*----------------------------------------------------------------------------*/
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package edu.wpi.first.wpilibj.templates.romicommandbased.subsystems;
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import edu.wpi.first.wpilibj.Encoder;
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import edu.wpi.first.wpilibj.Spark;
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import edu.wpi.first.wpilibj.drive.DifferentialDrive;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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public class RomiDrivetrain extends SubsystemBase {
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private static final double kCountsPerRevolution = 1440.0;
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private static final double kWheelDiameterInch = 2.75;
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// The Romi has the left and right motors set to
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// PWM channels 0 and 1 respectively
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private final Spark m_leftMotor = new Spark(0);
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private final Spark m_rightMotor = new Spark(1);
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// The Romi has onboard encoders that are hardcoded
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// to use DIO pins 4/5 and 6/7 for the left and right
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private final Encoder m_leftEncoder = new Encoder(4, 5);
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private final Encoder m_rightEncoder = new Encoder(6, 7);
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// Set up the differential drive controller
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private final DifferentialDrive m_diffDrive = new DifferentialDrive(m_leftMotor, m_rightMotor);
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/**
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* Creates a new RomiDrivetrain.
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*/
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public RomiDrivetrain() {
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// DifferentialDrive defaults to having the right side flipped
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// We don't need to do this because the Romi has accounted for this
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// in firmware/hardware
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m_diffDrive.setRightSideInverted(false);
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resetEncoders();
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}
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public void arcadeDrive(double xaxisSpeed, double zaxisRotate) {
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m_diffDrive.arcadeDrive(xaxisSpeed, zaxisRotate);
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}
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public void resetEncoders() {
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m_leftEncoder.reset();
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m_rightEncoder.reset();
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}
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public int getLeftEncoderCount() {
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return m_leftEncoder.get();
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}
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public int getRightEncoderCount() {
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return m_rightEncoder.get();
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}
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public double getLeftDistanceInch() {
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return Math.PI * kWheelDiameterInch * (getLeftEncoderCount() / kCountsPerRevolution);
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}
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public double getRightDistanceInch() {
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return Math.PI * kWheelDiameterInch * (getRightEncoderCount() / kCountsPerRevolution);
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}
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@Override
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public void periodic() {
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// This method will be called once per scheduler run
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}
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@Override
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public void simulationPeriodic() {
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// This method will be called once per scheduler run during simulation
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}
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}
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@@ -0,0 +1,29 @@
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/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) 2018-2020 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. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
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package edu.wpi.first.wpilibj.templates.romitimed;
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import edu.wpi.first.wpilibj.RobotBase;
|
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|
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/**
|
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* Do NOT add any static variables to this class, or any initialization at all.
|
||||
* Unless you know what you are doing, do not modify this file except to
|
||||
* change the parameter class to the startRobot call.
|
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*/
|
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public final class Main {
|
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private Main() {
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}
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/**
|
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* Main initialization function. Do not perform any initialization here.
|
||||
*
|
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* <p>If you change your main robot class, change the parameter type.
|
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*/
|
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public static void main(String... args) {
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RobotBase.startRobot(Robot::new);
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}
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}
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@@ -0,0 +1,129 @@
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/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) 2017-2020 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.romitimed;
|
||||
|
||||
import edu.wpi.first.wpilibj.TimedRobot;
|
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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 TimedRobot
|
||||
* documentation. If you change the name of this class or the package after
|
||||
* creating this project, you must also update the build.gradle file in the
|
||||
* project.
|
||||
*/
|
||||
public class Robot extends TimedRobot {
|
||||
private static final String kDefaultAuto = "Default";
|
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private static final String kCustomAuto = "My Auto";
|
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private String m_autoSelected;
|
||||
private final SendableChooser<String> m_chooser = new SendableChooser<>();
|
||||
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private final RomiDrivetrain m_drivetrain = new RomiDrivetrain();
|
||||
|
||||
/**
|
||||
* This function is run when the robot is first started up and should be
|
||||
* used for any initialization code.
|
||||
*/
|
||||
@Override
|
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public void robotInit() {
|
||||
m_chooser.setDefaultOption("Default Auto", kDefaultAuto);
|
||||
m_chooser.addOption("My Auto", kCustomAuto);
|
||||
SmartDashboard.putData("Auto choices", m_chooser);
|
||||
}
|
||||
|
||||
/**
|
||||
* This function is called every robot packet, no matter the mode. Use
|
||||
* this for items like diagnostics that you want ran during disabled,
|
||||
* autonomous, teleoperated and test.
|
||||
*
|
||||
* <p>This runs after the mode specific periodic functions, but before
|
||||
* LiveWindow and SmartDashboard integrated updating.
|
||||
*/
|
||||
@Override
|
||||
public void robotPeriodic() {
|
||||
}
|
||||
|
||||
/**
|
||||
* 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();
|
||||
// m_autoSelected = SmartDashboard.getString("Auto Selector", kDefaultAuto);
|
||||
System.out.println("Auto selected: " + m_autoSelected);
|
||||
|
||||
m_drivetrain.resetEncoders();
|
||||
}
|
||||
|
||||
/**
|
||||
* 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 once when teleop is enabled.
|
||||
*/
|
||||
@Override
|
||||
public void teleopInit() {
|
||||
}
|
||||
|
||||
/**
|
||||
* This function is called periodically during operator control.
|
||||
*/
|
||||
@Override
|
||||
public void teleopPeriodic() {
|
||||
}
|
||||
|
||||
/**
|
||||
* This function is called once when the robot is disabled.
|
||||
*/
|
||||
@Override
|
||||
public void disabledInit() {
|
||||
}
|
||||
|
||||
/**
|
||||
* This function is called periodically when disabled.
|
||||
*/
|
||||
@Override
|
||||
public void disabledPeriodic() {
|
||||
}
|
||||
|
||||
/**
|
||||
* This function is called once when test mode is enabled.
|
||||
*/
|
||||
@Override
|
||||
public void testInit() {
|
||||
}
|
||||
|
||||
/**
|
||||
* This function is called periodically during test mode.
|
||||
*/
|
||||
@Override
|
||||
public void testPeriodic() {
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,66 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) 2018-2020 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.romitimed;
|
||||
|
||||
import edu.wpi.first.wpilibj.Encoder;
|
||||
import edu.wpi.first.wpilibj.Spark;
|
||||
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
|
||||
|
||||
public class RomiDrivetrain {
|
||||
private static final double kCountsPerRevolution = 1440.0;
|
||||
private static final double kWheelDiameterInch = 2.75;
|
||||
|
||||
// The Romi has the left and right motors set to
|
||||
// PWM channels 0 and 1 respectively
|
||||
private final Spark m_leftMotor = new Spark(0);
|
||||
private final Spark m_rightMotor = new Spark(1);
|
||||
|
||||
// The Romi has onboard encoders that are hardcoded
|
||||
// to use DIO pins 4/5 and 6/7 for the left and right
|
||||
private final Encoder m_leftEncoder = new Encoder(4, 5);
|
||||
private final Encoder m_rightEncoder = new Encoder(6, 7);
|
||||
|
||||
// Set up the differential drive controller
|
||||
private final DifferentialDrive m_diffDrive = new DifferentialDrive(m_leftMotor, m_rightMotor);
|
||||
|
||||
/**
|
||||
* Creates a new RomiDrivetrain.
|
||||
*/
|
||||
public RomiDrivetrain() {
|
||||
// DifferentialDrive defaults to having the right side flipped
|
||||
// We don't need to do this because the Romi has accounted for this
|
||||
// in firmware/hardware
|
||||
m_diffDrive.setRightSideInverted(false);
|
||||
resetEncoders();
|
||||
}
|
||||
|
||||
public void arcadeDrive(double xaxisSpeed, double zaxisRotate) {
|
||||
m_diffDrive.arcadeDrive(xaxisSpeed, zaxisRotate);
|
||||
}
|
||||
|
||||
public void resetEncoders() {
|
||||
m_leftEncoder.reset();
|
||||
m_rightEncoder.reset();
|
||||
}
|
||||
|
||||
public int getLeftEncoderCount() {
|
||||
return m_leftEncoder.get();
|
||||
}
|
||||
|
||||
public int getRightEncoderCount() {
|
||||
return m_rightEncoder.get();
|
||||
}
|
||||
|
||||
public double getLeftDistanceInch() {
|
||||
return Math.PI * kWheelDiameterInch * (getLeftEncoderCount() / kCountsPerRevolution);
|
||||
}
|
||||
|
||||
public double getRightDistanceInch() {
|
||||
return Math.PI * kWheelDiameterInch * (getRightEncoderCount() / kCountsPerRevolution);
|
||||
}
|
||||
}
|
||||
@@ -60,7 +60,7 @@
|
||||
"tags": [
|
||||
"Timed", "Romi"
|
||||
],
|
||||
"foldername": "timed",
|
||||
"foldername": "romitimed",
|
||||
"gradlebase": "javaromi",
|
||||
"mainclass": "Main",
|
||||
"commandversion": 2
|
||||
@@ -71,7 +71,7 @@
|
||||
"tags": [
|
||||
"Command", "Romi"
|
||||
],
|
||||
"foldername": "commandbased",
|
||||
"foldername": "romicommandbased",
|
||||
"gradlebase": "javaromi",
|
||||
"mainclass": "Main",
|
||||
"commandversion": 2
|
||||
|
||||
Reference in New Issue
Block a user