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Merge pull request #10 from Arctos6135/develop
2020 Initial Release
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144 changes: 144 additions & 0 deletions
144
src/main/java/com/arctos6135/robotlib/newcommands/motors/ProtectedMotor.java
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| package com.arctos6135.robotlib.newcommands.motors; | ||
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| import com.arctos6135.robotlib.motors.Motor; | ||
| import com.arctos6135.robotlib.newcommands.triggers.CurrentMonitoringTrigger; | ||
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| import edu.wpi.first.wpilibj.PowerDistributionPanel; | ||
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| /** | ||
| * A motor with software overcurrent protection. The {@code ProtectedMotor} acts | ||
| * as a wrapper around a normal motor. | ||
| * <p> | ||
| * When the maximum current allowed for this motor is exceeded for a specified | ||
| * period of time, the motor becomes blacklisted. When a motor is blacklisted, | ||
| * it will be set to 0 and will not respond to any operations. Once blacklisted, | ||
| * a motor stays blacklisted unless it is overridden with | ||
| * {@link #clearBlacklist()}. | ||
| * </p> | ||
| * | ||
| * @author Tyler Tian | ||
| */ | ||
| public class ProtectedMotor { | ||
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| private Motor motor; | ||
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| // A motor is blacklisted when the current limit is exceeded for a set period of | ||
| // time | ||
| // After it is blacklisted, it will be set to 0 and will not respond to setting | ||
| // Blacklist status will stick around forever unless cleared | ||
| private boolean blacklisted = false; | ||
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| // Whether the protection system is enabled | ||
| // If protection is not enabled, the motor will ignore overcurrent permanently | ||
| private boolean enabled = true; | ||
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| /** | ||
| * Creates a new protected motor object. | ||
| * | ||
| * @param pdp The PDP to get current readings from | ||
| * @param channel The PDP channel to get current readings from | ||
| * @param motor The internal {@link Motor} object controlled | ||
| * @param currentLimit The current limit in amps | ||
| * @param overcurrentTime The time allowed to exceed the current limit before | ||
| * the motor is blacklisted | ||
| * @param callback A callback function to be run when the motor is | ||
| * blacklisted | ||
| */ | ||
| @SuppressWarnings("resource") | ||
| public ProtectedMotor(PowerDistributionPanel pdp, int channel, Motor motor, double currentLimit, | ||
| double overcurrentTime, Runnable callback) { | ||
| this.motor = motor; | ||
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| new CurrentMonitoringTrigger(pdp, channel, currentLimit, overcurrentTime, () -> { | ||
| if (enabled) { | ||
| blacklisted = true; | ||
| motor.set(0); | ||
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| if (callback != null) { | ||
| callback.run(); | ||
| } | ||
| } | ||
| }); | ||
| } | ||
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| /** | ||
| * Creates a new protected motor object. | ||
| * | ||
| * @param pdp The PDP to get current readings from | ||
| * @param channel The PDP channel to get current readings from | ||
| * @param motor The internal {@link Motor} object controlled | ||
| * @param currentLimit The current limit in amps | ||
| * @param overcurrentTime The time allowed to exceed the current limit before | ||
| * the motor is blacklisted | ||
| */ | ||
| public ProtectedMotor(PowerDistributionPanel pdp, int channel, Motor motor, double currentLimit, | ||
| double overcurrentTime) { | ||
| this(pdp, channel, motor, currentLimit, overcurrentTime, null); | ||
| } | ||
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| /** | ||
| * Sets the motor. If the motor is blacklisted, this method will set it to 0 | ||
| * instead. | ||
| * | ||
| * @param value The value to set the motor to | ||
| */ | ||
| public void set(double value) { | ||
| if (!blacklisted || !enabled) { | ||
| motor.set(value); | ||
| } else { | ||
| motor.set(0); | ||
| } | ||
| } | ||
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| /** | ||
| * Returns whether the motor is blacklisted. | ||
| * | ||
| * @return Whether the motor is blacklisted | ||
| */ | ||
| public boolean isBlacklisted() { | ||
| return blacklisted; | ||
| } | ||
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| /** | ||
| * Overrides the blacklisted status of the motor. This is the only way to get | ||
| * rid of blacklisted status. | ||
| */ | ||
| public void clearBlacklist() { | ||
| blacklisted = false; | ||
| } | ||
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| /** | ||
| * Manually sets the motor to be blacklisted. | ||
| */ | ||
| public void blacklist() { | ||
| blacklisted = true; | ||
| } | ||
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| /** | ||
| * Returns whether overcurrent protection is on for the motor. | ||
| * | ||
| * <p> | ||
| * If overcurrent protection is off, the motor will never be blacklisted, and | ||
| * will still be controllable even if it is. | ||
| * </p> | ||
| * | ||
| * @return Whether overcurrent protection is on | ||
| */ | ||
| public boolean getProtectionState() { | ||
| return enabled; | ||
| } | ||
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| /** | ||
| * Enables or disables the overcurrent protection. | ||
| * | ||
| * <p> | ||
| * If overcurrent protection is off, the motor will never be blacklisted, and | ||
| * will still be controllable even if it is. | ||
| * </p> | ||
| * | ||
| * @param enabled Whether overcurrent protection is on | ||
| */ | ||
| public void setProtectionState(boolean enabled) { | ||
| this.enabled = enabled; | ||
| } | ||
| } |
5 changes: 5 additions & 0 deletions
5
src/main/java/com/arctos6135/robotlib/newcommands/motors/package-info.java
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| /** | ||
| * This package contains classes related to motors offered by RobotLib <b>with | ||
| * the new command-based framework</b>. | ||
| */ | ||
| package com.arctos6135.robotlib.newcommands.motors; |
87 changes: 87 additions & 0 deletions
87
src/main/java/com/arctos6135/robotlib/newcommands/triggers/AnalogTrigger.java
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| package com.arctos6135.robotlib.newcommands.triggers; | ||
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| import edu.wpi.first.wpilibj.GenericHID; | ||
| import edu.wpi.first.wpilibj.Timer; | ||
| import edu.wpi.first.wpilibj2.command.button.Trigger; | ||
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| /** | ||
| * The {@code AnalogTrigger} class is a {@link Trigger} that activates when the | ||
| * value of some analog axis on a joystick exceeds a given threshold. | ||
| * | ||
| * @author Tyler Tian | ||
| */ | ||
| public class AnalogTrigger extends Trigger { | ||
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| private int axis; | ||
| private double threshold; | ||
| private GenericHID joystick; | ||
| private boolean reverse; | ||
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| private double pressedAt = Double.NaN; | ||
| private double timeRequired = 0.1; | ||
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| /** | ||
| * Creates a new {@link AnalogTrigger}. | ||
| * | ||
| * @param joystick The controller | ||
| * @param trigger The specific axis to read from | ||
| * @param threshold The threshold that needs to be reached for this trigger to | ||
| * activate | ||
| */ | ||
| public AnalogTrigger(GenericHID joystick, int trigger, double threshold) { | ||
| axis = trigger; | ||
| this.joystick = joystick; | ||
| this.threshold = threshold; | ||
| } | ||
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| /** | ||
| * Creates a new {@link AnalogTrigger}. | ||
| * | ||
| * @param joystick The controller | ||
| * @param trigger The specific axis to read from | ||
| * @param threshold The threshold that needs to be reached for this trigger to | ||
| * activate | ||
| * @param reverse If true, the value must be less than the threshold for the | ||
| * trigger to activate | ||
| */ | ||
| public AnalogTrigger(GenericHID joystick, int trigger, double threshold, boolean reverse) { | ||
| axis = trigger; | ||
| this.joystick = joystick; | ||
| this.threshold = threshold; | ||
| this.reverse = reverse; | ||
| } | ||
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| /** | ||
| * Sets the minimum amount of time the axis value is required to exceed the | ||
| * threshold for before this trigger activates. | ||
| * | ||
| * <p> | ||
| * This minimum time requirement is to prevent the trigger from being activated | ||
| * too many times due to an unstable analog reading. | ||
| * </p> | ||
| * | ||
| * @param required The minimum required time for activation, in seconds | ||
| */ | ||
| public void setMinTimeRequired(double required) { | ||
| timeRequired = required; | ||
| } | ||
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| @Override | ||
| public boolean get() { | ||
| boolean exceeded = reverse ? joystick.getRawAxis(axis) <= threshold : joystick.getRawAxis(axis) >= threshold; | ||
| // If trigger is pressed down: | ||
| if (exceeded) { | ||
| // Pressed down since is NaN (trigger not pressed down before), set the value | ||
| if (Double.isNaN(pressedAt)) { | ||
| pressedAt = Timer.getFPGATimestamp(); | ||
| } | ||
| // Return whether the trigger has been pressed for more than the specified | ||
| // duration | ||
| return Timer.getFPGATimestamp() - pressedAt >= timeRequired; | ||
| } else { | ||
| // If the trigger is not pressed, reset the last pressed down time | ||
| pressedAt = Double.NaN; | ||
| return false; | ||
| } | ||
| } | ||
| } |
73 changes: 73 additions & 0 deletions
73
src/main/java/com/arctos6135/robotlib/newcommands/triggers/ConditionalTrigger.java
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| package com.arctos6135.robotlib.newcommands.triggers; | ||
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| import java.util.concurrent.atomic.AtomicBoolean; | ||
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| import edu.wpi.first.wpilibj2.command.button.Trigger; | ||
|
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| /** | ||
| * The {@code ConditionalTrigger} class is a wrapper around a normal | ||
| * {@link Trigger} that can only be activated when its "condition" evaluates to | ||
| * {@code true}. | ||
| * | ||
| * <p> | ||
| * The "condition" is passed in the form of an {@link AtomicBoolean}, so that it | ||
| * can be modified outside of this class. | ||
| * </p> | ||
| * <p> | ||
| * Example Usage: | ||
| * | ||
| * <pre> | ||
| * AtomicBoolean allowInput = new AtomicBoolean(true); | ||
| * Trigger b = new ConditionalTrigger(new JoystickButton(joystick, number), allowInput); | ||
| * b.whenActive(new SomeCommand()); // After this point, SomeCommand will run when the trigger is pressed | ||
| * // ... | ||
| * allowInput.set(false); // After this point, SomeCommand will not run, even if the trigger is pressed | ||
| * </pre> | ||
| * </p> | ||
| * | ||
| * @author Tyler Tian | ||
| */ | ||
| public class ConditionalTrigger extends Trigger { | ||
|
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| private Trigger trigger; | ||
| private AtomicBoolean condition; | ||
| private boolean required = true; | ||
|
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| /** | ||
| * Creates a new {@link ConditionalTrigger}. | ||
| * | ||
| * <p> | ||
| * This trigger can only be activated when {@code condition.get()} evaluates to | ||
| * {@code true}. | ||
| * </p> | ||
| * | ||
| * @param trigger The trigger to wrap around | ||
| * @param condition The condition for this trigger | ||
| */ | ||
| public ConditionalTrigger(Trigger trigger, AtomicBoolean condition) { | ||
| this.trigger = trigger; | ||
| this.condition = condition; | ||
| } | ||
|
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| /** | ||
| * Create a new {@link ConditionalTrigger}. | ||
| * | ||
| * <p> | ||
| * This trigger can only be activated when {@code condition.get() == required}. | ||
| * </p> | ||
| * | ||
| * @param trigger The trigger to wrap around | ||
| * @param condition The condition for this trigger | ||
| * @param required The state the condition is required to be in for this | ||
| * trigger to activate | ||
| */ | ||
| public ConditionalTrigger(Trigger trigger, AtomicBoolean condition, boolean required) { | ||
| this(trigger, condition); | ||
| this.required = required; | ||
| } | ||
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| @Override | ||
| public boolean get() { | ||
| return trigger.get() && (condition.get() == required); | ||
| } | ||
| } |
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