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MichaelCrandallMichaelCrandall
authoredFeb 21, 2019
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2017-2018 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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#include <thread>//
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#include <frc/AnalogInput.h>
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#include <iostream>
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#include <frc/PowerDistributionPanel.h>
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#include <cameraserver/CameraServer.h>//
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#include <opencv2/core/core.hpp>//
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#include <opencv2/core/types.hpp>//
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#include <opencv2/imgproc/imgproc.hpp>//
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#include <wpi/raw_ostream.h>//
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#include <frc/TimedRobot.h>
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#include <wpi/raw_ostream.h>//
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#include <frc/Joystick.h>
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#include <frc/Timer.h>
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#include <frc/PWMVictorSPX.h>
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#include <frc/drive/DifferentialDrive.h>
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#include <frc/SpeedControllerGroup.h>
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#include <frc/DoubleSolenoid.h>
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#include <frc/Solenoid.h>
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#include <frc/Compressor.h>
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class Robot : public frc::TimedRobot {
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public:
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void RobotInit() override {
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compressor.Stop ();
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frc::CameraServer::GetInstance()->StartAutomaticCapture(0);
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frc::CameraServer::GetInstance()->StartAutomaticCapture(1);
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}
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void RobotPeriodic() override {};
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void AutonomousInit() override {};
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void AutonomousPeriodic() override {};
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void TeleopInit() override {};
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void TeleopPeriodic() override {
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//PDP Current Output
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//frc::SmartDashboard::PutString(PDP.GetCurrent(0));
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//Compressor "Switch..."
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if (fightStick.GetRawButton(8) == 1) {
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compressor.Start();
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} else {
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compressor.Stop();
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}
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//Drive(Works)
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/*(Second test, this is a test to switch from curvature drive to arcadedrive, arcade drive has the thrust set to 0 at all times)
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if (flightStick.GetRawButton(1) == 0) {
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Drive.CurvatureDrive(flightStick.GetRawAxis(1) * -.5, flightStick.GetRawAxis(2) * .5, flightStick.GetRawButton(5)); // 0(X) or 2(Z)
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} else if (flightStick.GetRawButton(1) == 1) {
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Drive.TankDrive(flightStick.GetRawAxis(1) * .45, flightStick.GetRawAxis(2) * .45);
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} else {
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Drive.CurvatureDrive(flightStick.GetRawAxis(1) * -.5, flightStick.GetRawAxis(2) * .5, flightStick.GetRawButton(5));
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}*/
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//(Original Code of drive, if none of the top works I can set the overall turn to a smaller number or I can try and see if multipling the
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//statement that activates tank turn?)
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/*
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if (flightStick.GetRawButton(2) == 1) {
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Drive.CurvatureDrive(flightStick.GetRawAxis(1) * -.7, flightStick.GetRawAxis(2) * .7, flightStick.GetRawButton(1));
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} else if (flightStick.GetRawButton(2) == 0) {
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Drive.CurvatureDrive(flightStick.GetRawAxis(1) * -.5, flightStick.GetRawAxis(2) * .7, flightStick.GetRawButton(1));
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} else {
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Drive.CurvatureDrive(flightStick.GetRawAxis(1) * -.5, flightStick.GetRawAxis(2) * .7, flightStick.GetRawButton(1));
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}
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*/
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if (flightStick.GetRawButton(2) == 1) {
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Drive.CurvatureDrive(flightStick.GetRawAxis(1) * -.7, flightStick.GetRawAxis(2) * .7, flightStick.GetRawButton(1));
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} else if (flightStick.GetRawButton(2) == 0) {
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Drive.CurvatureDrive(flightStick.GetRawAxis(1) * -.5, flightStick.GetRawAxis(2) * .7, flightStick.GetRawButton(1));
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} else {
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Drive.CurvatureDrive(flightStick.GetRawAxis(1) * -.5, flightStick.GetRawAxis(2) * .7, flightStick.GetRawButton(1));
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}
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//HAB Lift(Works... Might now have???)
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//HAB lift
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//Font(Untested)
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if (flightStick.GetRawButton(7) == 1) {
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s_HABfront.Set(frc::DoubleSolenoid::kForward);
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} else if (flightStick.GetRawButton(7) == 0) {
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s_HABfront.Set(frc::DoubleSolenoid::kReverse);
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} else {
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s_HABfront.Set(frc::DoubleSolenoid::kOff);
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}
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//Back(Untested)
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if (flightStick.GetRawButton(8) == 1) {
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s_HABback.Set(frc::DoubleSolenoid::kForward);
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} else if (flightStick.GetRawButton(8) == 0) {
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s_HABback.Set(frc::DoubleSolenoid::kReverse);
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} else {
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s_HABback.Set(frc::DoubleSolenoid::kOff);
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}
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//Forklift(Works) (B)
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//Forlift (Works)
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//POV is 0=UP 90=Right 180=Down 270=Left and 45 for all the angles
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//.GetPOV("0") is the number for the POV system things switch
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if (fightStick.GetRawButton(2) == 1) {
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if (fightStick.GetPOV(0) == 0) {
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if (fightStick.GetRawButton(5) == 1) {
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m_forklift.Set(-.5);
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} else if (fightStick.GetRawButton(5) == 0) {
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m_forklift.Set(-.4);
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} else {
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m_forklift.Set(-.4);
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}
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} else if (fightStick.GetPOV(0) == 180) {
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if (fightStick.GetRawButton(5) == 1) {
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m_forklift.Set(-.03);
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} else if (fightStick.GetRawButton(5) == 0) {
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m_forklift.Set(-.045);//.005 might be too small???
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} else {
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m_forklift.Set(-.045);
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}
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} else {
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m_forklift.Set(-.2);
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}
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} else {
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m_forklift.Set(0);
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}
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//Ball Intake(Works)
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if (fightStick.GetRawButton(1) == 1) {
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m_leftIntake.Set(.5);//+
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m_rightIntake.Set(-.5);
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} else if (fightStick.GetRawButton(3) == 1) {
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m_leftIntake.Set(-.5);
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m_rightIntake.Set(.5);
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} else {
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m_leftIntake.Set(0);
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m_rightIntake.Set(0);
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}
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//Hatch Panel Launcher(Works)
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//Hatch Panel Launcher(Works)
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//Set for 2 solenoids, still deciding wither it will be 1 or 2 solenoids
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//4 = Y on Qanda Arcade
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//1
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if (fightStick.GetRawButton(4) == 0) {
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s_panelLauncher.Set(frc::DoubleSolenoid::kForward);
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s_panelGetter.Set(frc::DoubleSolenoid::kForward);
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} else if (fightStick.GetRawButton(4) == 1) {
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s_panelLauncher.Set(frc::DoubleSolenoid::kReverse);
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s_panelGetter.Set(frc::DoubleSolenoid::kReverse);
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} else {
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s_panelLauncher.Set(frc::DoubleSolenoid::kForward);
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s_panelGetter.Set(frc::DoubleSolenoid::kForward);
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}
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//input.GetVoltage();
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}
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//Private
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private:
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//Analog PI (PWM)
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//frc::AnalogInput input{0};
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//Declartions
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frc::Joystick fightStick{1};
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frc::Joystick flightStick{2};
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frc::Compressor compressor;
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//frc::PowerDistributionPanel PDP;
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//Motors
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//Drivebase
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frc::PWMVictorSPX m_frontLeft{0};
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frc::PWMVictorSPX m_backLeft{1};
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frc::PWMVictorSPX m_frontRight{2};
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frc::PWMVictorSPX m_backRight{3};
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//Ball Intake
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frc::PWMVictorSPX m_leftIntake{4}; //No Gearbox Currently
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frc::PWMVictorSPX m_rightIntake{5};
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//Forlift
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frc::PWMVictorSPX m_forklift{6};
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//Groups
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//Drivebase
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frc::SpeedControllerGroup m_left{m_frontLeft, m_backLeft};
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frc::SpeedControllerGroup m_right{m_frontRight, m_backRight};
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//Setting Drive
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frc::DifferentialDrive Drive{m_left, m_right};
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//Pneumatics/Solenoids
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//Hatch Panel Launcher
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frc::DoubleSolenoid s_panelLauncher{0, 1};
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frc::DoubleSolenoid s_panelGetter{2, 3}; // will have to change this variable and the one above depending on if we have the Getter/Slider or not
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frc::DoubleSolenoid s_HABfront{4, 5};
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frc::DoubleSolenoid s_HABback{6, 7};
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};
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//Main
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#ifndef RUNNING_FRC_TESTS
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int main() { return frc::StartRobot<Robot>(); }
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#endif

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