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Update Robot.java to with an attempted integration of robot code #4

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Update Robot.java to with an attempted integration of robot code #4

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a863fbd
Update Robot.java
ozmiumGIT Feb 6, 2018
bcd67c3
Update Robot.java
ozmiumGIT Feb 6, 2018
26b4950
Update Robot.java
ozmiumGIT Feb 8, 2018
6e235f1
Update to joystick controls (#5)
the-emerald Feb 8, 2018
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111 changes: 63 additions & 48 deletions src/main/java/frc/team7242/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -7,16 +7,15 @@

package frc.team7242.robot;

import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.Victor;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.*;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import frc.team7242.robot.subsystem.Drivetrain;

import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.CameraServer;
/**
* The VM is configured to automatically run this class, and to call the
* functions corresponding to each mode, as described in the IterativeRobot
Expand All @@ -29,22 +28,26 @@ public class Robot extends IterativeRobot {
private static final String kCustomAuto = "My Auto";
private String m_autoSelected;
private SendableChooser<String> m_chooser = new SendableChooser<>();

Joystick driverStick = new Joystick(0);
XboxController xboxdriver = new XboxController(1); //xbox controller in port 1

Drivetrain drivetrain = new Drivetrain();
Spark leftFront = new Spark(0);
Spark rightFront = new Spark(1);
Spark leftBack = new Spark(2);
Spark rightBack = new Spark(3);
//private static Drivetrain drivetrain = new Drivetrain();

public Spark leftFront = new Spark(0);
public Spark rightFront = new Spark(2);
public Spark leftBack = new Spark(1);
public Spark rightBack = new Spark(3);

double autonomousSpeed = 0.5;
double autonomousTime = 7;

double autonomousStartTime;






double autonomousStartTime;

/**
* This function is run when the robot is first started up and should be
* used for any initialization code.
Expand All @@ -54,7 +57,7 @@ public void robotInit() {
m_chooser.addDefault("Default Auto", kDefaultAuto);
m_chooser.addObject("My Auto", kCustomAuto);
SmartDashboard.putData("Auto choices", m_chooser);

CameraServer.getInstance().startAutomaticCapture();
}

/**
Expand Down Expand Up @@ -84,41 +87,53 @@ public void autonomousInit() {
*/
@Override
public void autonomousPeriodic() {
double deltaTime = Timer.getFPGATimestamp() - autonomousStartTime;
if(deltaTime < autonomousTime){
drivetrain.drive(autonomousSpeed, 0.0);
}else{
drivetrain.drive(0.0, 0.0);
}

double deltaTime = Timer.getFPGATimestamp() - autonomousStartTime;
if(deltaTime < autonomousTime){
//drivetrain.drive(autonomousSpeed, 0.0);
}else{
//drivetrain.drive(0.0, 0.0);
}


}


}


/**
* This function is called periodically during operator control.
*/
@Override
public void teleopPeriodic() {

//if using joystick
double leftStickValue = driverStick.getRawAxis(1);
double rightStickValue = driverStick.getRawAxis(3);


//if using xbox, idk how to map xbox
// double leftStickvalue = xboxdriver.getX();
// double rightStickvalue = xboxdriver.getY();



// runs motors at speed
leftFront.set(leftStickValue);
leftBack.set(leftStickValue);
rightFront.set(rightStickValue);
rightBack.set(rightStickValue);

}

/**
public void teleopPeriodic() {


//if using joystick
double xvalue = driverStick.getX();
double yvalue = driverStick.getY();
double boost;

boolean trigger = driverStick.getRawButton(1);
if (trigger){
boost = 2.5;
}
else {
boost = 1;
}



//if using xbox, idk how to map xbox
// double leftStickvalue = xboxdriver.getX();
// double rightStickvalue = xboxdriver.getY();



// runs motors at speed
leftFront.set((yvalue+xvalue)*(-0.4)*boost);
leftBack.set((yvalue+xvalue)*(-0.4)*boost);
rightFront.set((yvalue-xvalue)*(0.4)*boost);
rightBack.set((yvalue-xvalue)*(0.4)*boost);

}}