2016 bot

.vscode/settings.json

@@ -11,5 +11,7 @@
     "**/.project": true,
     "**/.settings": true,
     "**/.factorypath": true
-  }
+  },
+  "extensions.ignoreRecommendations": true
+  "extensions.ignoreRecommendations": true
 }

PathWeaver/Paths/1

@@ -0,0 +1,5 @@
+X,Y,Tangent X,Tangent Y,Fixed Theta,Name
+3.2232858272832465,-2.400719053109834,-2.312694921266794,-0.03434695427623957,true,
+6.074083032211126,-0.7406162630915906,1.3967761405670727,0.08014289331122548,true,
+7.9860634869217915,-0.9123510344727883,-1.534163957672031,-1.0647555825634245,true,
+3.131693949213274,-3.3738827576032864,-2.8507972049278787,0.744184009318523,true,

PathWeaver/Paths/2

@@ -0,0 +1,5 @@
+X,Y,Tangent X,Tangent Y,Fixed Theta,Name
+3.1774898882482607,-2.549555854973538,0.6640411160072963,-0.22897969517493033,true,
+5.776409428483716,-3.9005360565056257,0.24042867993367611,-0.6182451769723114,true,
+5.6161236418612654,-4.198209660233033,-0.7899799483535093,0.12593883234621028,true,
+3.1087959796957816,-3.6028624527782167,-2.4615317231304985,0.858673856905988,true,

PathWeaver/Paths/3

@@ -0,0 +1,5 @@
+X,Y,Tangent X,Tangent Y,Fixed Theta,Name
+3.246183796800739,-2.41216803786858,-2.427184768854258,-0.011448984758746672,true,
+5.776409428483716,-3.7631482394006674,0.2862246189686637,-0.652592131248551,true,
+5.696266535172491,-4.4729852944429505,-1.6257558357420034,0.3434695427623957,true,
+3.131693949213274,-3.728801285124428,-2.713409387822921,1.213592384427129,true,

PathWeaver/Paths/4

@@ -0,0 +1,5 @@
+X,Y,Tangent X,Tangent Y,Fixed Theta,Name
+3.0973469949370354,-2.4808619464210593,-2.3470418755430336,0.03434695427623957,true,
+3.2232858272832465,-1.8397187999312548,1.4654700491195523,-0.011448984758746672,true,
+6.3259606969035485,-2.0114535713124524,3.446144412382699,-0.3091225884861557,true,
+13.733453835812538,-2.67549468731975,1.8661845156756787,0.0686939085524787,true,

PathWeaver/pathweaver.json

@@ -0,0 +1,9 @@
+{
+  "lengthUnit": "Meter",
+  "exportUnit": "Always Meters",
+  "maxVelocity": 0.5,
+  "maxAcceleration": 0.5,
+  "wheelBase": 0.5,
+  "gameName": "Infinite Recharge",
+  "outputDir": ""
+}

src/main/java/frc/robot/Constants.java

@@ -2,14 +2,18 @@
 
 public class Constants
 {
-    public final static int LF_MOTOR_ID = 1;
-    public final static int LB_MOTOR_ID = 2;
-    public final static int RF_MOTOR_ID = 3;
-    public final static int RB_MOTOR_ID = 4;
 
-    public final static int FEEDER_MOTOR_ID = 5;
-    public final static int CONTROL_MOTOR_ID = 6;
-    public final static int INTAKE_MOTOR_ID = 7;
-    public final static int LIFT_MOTOR_ID = 8;
-    public final static int SHOOTER_MOTOR_ID = 9;
+    public static final int LF_MOTOR_ID = 0;
+    public static final int INTAKE_MOTOR_ID = 3;
+    public static final int LM_MOTOR_ID = 4;
+    public static final int LB_MOTOR_ID = 5;
+    public static final int RF_MOTOR_ID = 6;
+    public static final int RM_MOTOR_ID = 7;
+    public static final int RB_MOTOR_ID = 8;
+    public static final int RIGHT_LIFT_MOTOR_ID = 9;
+    public static final int LEFT_LIFT_MOTOR_ID = 10;
+    public static final int SHOOTER_LIFT_MOTOR_ID = 11;
+    public static final int LEFT_SHOOTER_MOTOR_ID = 12;
+    public static final int RIGHT_SHOOTER_MOTOR_ID = 13;    
+    public static final int RAMP_MOTOR_ID = 14;
 }

src/main/java/frc/robot/Robot.java

@@ -5,46 +5,81 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
-// Names:
-/*
-  Jacob Lewis
-  Zane Badgett
-  Joshua P
-  Arrio Gonsalves
-  Zayaan Rahman
-  Neeka Lin
-  Gabriel Rivera
-  Fernando Tovar
-  Matthew Metta
-*/
-
-
 package frc.robot;
 
-import edu.wpi.first.wpilibj.*;
-
-import edu.wpi.first.wpilibj.SpeedControllerGroup;
-import edu.wpi.first.wpilibj.drive.DifferentialDrive;
-
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.XboxController;
-import edu.wpi.first.wpilibj.GenericHID.Hand;
+import static edu.wpi.first.wpilibj.GenericHID.Hand.*;
+import frc.robot.subsystems.*;
+
+public class Robot extends TimedRobot
+{
+	XboxController operatorController = new XboxController(1);
+	XboxController driverController = new XboxController(0);
+
+	Intake intaker = new Intake();
+	Limelight ll = new Limelight();
+	Drivetrain dt = new Drivetrain(ll); 
+	Lift lift = new Lift();
+	Ramp r = new Ramp();
+	Shooter shooter = new Shooter();
+
+	@Override
+	public void teleopPeriodic()
+	{
+		//Manages intake components
+		if (operatorController.getAButton())
+			intaker.IntakeStart();	
+		else
+			intaker.IntakeStop();
+
+		//Slows down if holding trigger
+		if(driverController.getBumper(kLeft))
+			dt.driveSlow(driverController.getY(kLeft), -driverController.getX(kRight));
+		else
+			dt.drive(driverController.getX(kLeft), -driverController.getX(kRight));
+
+		if(operatorController.getPOV() == 0)
+			lift.raiseLift();
+		else if(operatorController.getPOV() == 180)
+			lift.lowerLift();
+		else
+			lift.stopLift();
+
+		if(driverController.getBumper(kRight))
+			r.pushTime(0.5, 2.0);	
+
+		if(operatorController.get/**button */)
+			shooter.liftShooter();
+		else
+			shooter.lowerShooter();
+			//cuz i feel lik one button should both lift n shoot u know? //ok lets go back to Shooter.java or not idk 
+			//le ts do ii m yea, we need some method to like determine when to lift then shoot, all in one button though
+			//this is fancy timer stuff right.imma rewatch the vidwait
+			//same ok
+			//what is the difference between lift motor and shoot motor:: lift brings it at the angle
+			//ok how about we find when the lift stops lifting, and gets to the desired angle, then shoot
+			//we could do psuedo code for the time and bs it
+			//so doesnt limelight determine the angle to lift to 
+
+			/** PSEUDO CODE:
+			we need to figure out how to use limelight with the lift
+			angle = getTy() <-- this is the angle the lift motor will lift to
+			does the angle it needs to lift to not vary
+			it does, that's why we need the limelight
+			oh
+
+
 
-public class Robot extends TimedRobot {
-  private static PWMVictorSPX lf = new PWMVictorSPX(Constants.LF_MOTOR_ID);
-  private static PWMVictorSPX lb = new PWMVictorSPX(Constants.LB_MOTOR_ID);
-  private static PWMVictorSPX rf = new PWMVictorSPX(Constants.RF_MOTOR_ID);
-  private static PWMVictorSPX rb = new PWMVictorSPX(Constants.RB_MOTOR_ID);
-
-  private static SpeedControllerGroup leftSide = new SpeedControllerGroup(lf, lb);
-  private static SpeedControllerGroup rightSide = new SpeedControllerGroup(rf, rb);
+yea MOVE TO SHOOOTER CLASS EVERYONE
 
-  DifferentialDrive dt = new DifferentialDrive(leftSide, rightSide);
-  XboxController driverController = new XboxController(0);
+
+			 */  
+		if(operatorController.getBButton())
+			shooter.shoot();
+
+		else
+			shooter.stop(); 
 
-  @Override
-  public void teleopPeriodic()
-  {
-    dt.arcadeDrive(driverController.getY(Hand.kLeft), driverController.getX(Hand.kRight));
-  }
+	}
 }

src/main/java/frc/robot/subsystems/Drivetrain.java

@@ -0,0 +1,49 @@
+package frc.robot.subsystems;
+
+import static com.revrobotics.CANSparkMaxLowLevel.MotorType.*;
+
+import com.revrobotics.CANEncoder;
+import com.revrobotics.CANPIDController;
+import com.revrobotics.CANSparkMax;
+import edu.wpi.first.wpilibj.geometry.Pose2d;
+import edu.wpi.first.wpilibj.SpeedControllerGroup;
+import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj.geometry.Rotation2d;
+import edu.wpi.first.wpilibj.kinematics.*;
+import edu.wpi.first.wpilibj.interfaces.Gyro;
+import edu.wpi.first.wpilibj.ADXRS450_Gyro;
+import edu.wpi.first.wpilibj.trajectory.Trajectory;
+import edu.wpi.first.wpilibj.trajectory.TrajectoryUtil;
+
+
+
+import frc.robot.Constants;
+
+public class Drivetrain 
+{
+  private static CANSparkMax lf = new CANSparkMax(Constants.LF_MOTOR_ID, kBrushless);
+  private static CANSparkMax lm = new CANSparkMax(Constants.LM_MOTOR_ID, kBrushless);
+  private static CANSparkMax lb = new CANSparkMax(Constants.LB_MOTOR_ID, kBrushless);
+  private static CANSparkMax rf = new CANSparkMax(Constants.RF_MOTOR_ID, kBrushless);
+  private static CANSparkMax rm = new CANSparkMax(Constants.RM_MOTOR_ID, kBrushless);
+  private static CANSparkMax rb = new CANSparkMax(Constants.RB_MOTOR_ID, kBrushless);
+
+  private static SpeedControllerGroup leftSide = new SpeedControllerGroup(lb, lm, lf);
+  private static SpeedControllerGroup rightSide = new SpeedControllerGroup(rb, rm, rf);
+
+  DifferentialDrive dt = new DifferentialDrive(leftSide, rightSide);
+  Limelight limelight;
+
+  public Drivetrain(Limelight limelight) {
+    this.limelight = limelight;
+    dt.setMaxOutput(0.5);
+  }
+
+  public void drive(double xSpeed, double zRotation) {
+    dt.arcadeDrive(xSpeed, zRotation);
+  }
+
+  public void driveSlow(double xSpeed, double zRotation){
+    drive(0.5 * xSpeed, zRotation);
+  }
+}

src/main/java/frc/robot/subsystems/Intake.java

@@ -1,5 +1,29 @@
 package frc.robot.subsystems;
 
-public class Intake {
+import static com.revrobotics.CANSparkMaxLowLevel.MotorType.*;
 
+import com.revrobotics.CANSparkMax;
+import frc.robot.Constants;
+
+
+public class Intake
+{
+	//TODO: use talonsrx (@josh add vendordep talonsrx)
+	CANSparkMax intakeMotor;
+
+    //constructor
+	public Intake()
+    {
+        intakeMotor = new CANSparkMax(Constants.INTAKE_MOTOR_ID, kBrushless);
+    }
+
+    public void IntakeStart()
+    {
+        intakeMotor.set(0.5);
+    }
+
+    public void IntakeStop()
+    {
+        intakeMotor.set(0);
+    }
 }

src/main/java/frc/robot/subsystems/Lift.java

@@ -1,5 +1,28 @@
 package frc.robot.subsystems;
 
-public class Lift {
+import static com.revrobotics.CANSparkMaxLowLevel.MotorType.*;
 
+import com.revrobotics.CANSparkMax;
+import frc.robot.Constants;
+
+public class Lift
+{
+	CANSparkMax motorLeft = new CANSparkMax(Constants.LEFT_LIFT_MOTOR_ID, kBrushless);
+	CANSparkMax motorRight = new CANSparkMax(Constants.RIGHT_LIFT_MOTOR_ID,kBrushless);
+
+	public void raiseLift()
+	{
+		motorLeft.set(0.5);
+		motorRight.set(0.5);
+	}
+	public void lowerLift()
+	{
+		motorLeft.set(-0.5);
+		motorRight.set(-0.5);
+	}
+	public void stopLift()
+	{
+		motorLeft.set(0);
+		motorRight.set(0);
+	}
 }

src/main/java/frc/robot/subsystems/Limelight.java

@@ -0,0 +1,78 @@
+package frc.robot.subsystems;
+
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableInstance;
+
+public class Limelight {
+
+    // PUBLIC METHODS:
+    NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight");
+    NetworkTableEntry tx = table.getEntry("tx");
+    NetworkTableEntry ty = table.getEntry("ty");
+    NetworkTableEntry ta = table.getEntry("ta");
+    NetworkTableEntry tv = table.getEntry("tv");
+
+    double x = tx.getDouble(0.0);
+    double y = ty.getDouble(0.0);
+    double area = ta.getDouble(0.0);  
+    boolean v = tv.getBoolean(false);
+
+    //      getTv() 
+    public boolean getTv(){
+        return v;
+    }
+
+    //     getTx()
+    public double getTx(){
+        return x;
+    }
+
+    //      getTy()
+    public double getTy() {
+        return y;
+    }
+
+    //     getTa()
+    public double getTa(){
+        return area;
+    }
+
+    public void Update() {
+        x = tx.getDouble(0.0);
+        y = ty.getDouble(0.0);
+        area = ta.getDouble(0.0);
+        v = tv.getBoolean(false);    
+    }
+
+    public void shuffleboardUpdate() {
+        SmartDashboard.putNumber("LimelightX", x);
+        SmartDashboard.putNumber("LimelightY", y);
+        SmartDashboard.putNumber("LimelightArea", area);
+        SmartDashboard.putBoolean("LimelightV",v);
+
+    }
+
+    public void toggleLimelightLED() {
+        if(table.getEntry("ledMode").getDouble(1) == 1 ) //Light is off
+        {
+            table.getEntry("ledMode").setNumber(3); //Turn it on
+        }
+        else
+        {
+            table.getEntry("ledMode").setNumber(1); //Turn it off
+        }
+    }
+
+    public void toggleLimelightBlinkLED(){
+        if(table.getEntry("ledMode").getDouble(2) == 2 ) //Light is off
+        {
+            table.getEntry("ledMode").setNumber(1); //Turn it off
+        }
+        else
+        {
+            table.getEntry("ledMode").setNumber(2); //Turn it on
+        }
+    }
+}