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committedJan 11, 2015
Arcade Drive Command-Based Joystick Demo
This project is based on the Command-Based approach of the WPILIB library
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‎JoystickDemo/.gitignore

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/bin/

‎JoystickDemo/src/org/usfirst/frc/team5518/robot/Robot.java

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myRobot = new RobotDrive(FRONT_LEFT_MOTOR, REAR_LEFT_MOTOR,
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FRONT_RIGHT_MOTOR, REAR_RIGHT_MOTOR);
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myRobot.setExpiration(0.1);
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stick = new Joystick(0);
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stick = new Joystick(0); // set the stick to refer to joystick #0
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}
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/**

‎JoystickDemo2/.classpath

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<classpath>
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<classpathentry kind="src" path="src"/>
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<classpathentry kind="var" path="wpilib" sourcepath="wpilib.sources"/>
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<classpathentry kind="var" path="networktables" sourcepath="networktables.sources"/>
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<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-1.6"/>
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<classpathentry kind="output" path="bin"/>
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</classpath>

‎JoystickDemo2/.project

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<?xml version="1.0" encoding="UTF-8"?>
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<projectDescription>
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<name>JoystickDemo2</name>
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<comment></comment>
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<projects>
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</projects>
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<buildSpec>
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<buildCommand>
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<name>org.eclipse.jdt.core.javabuilder</name>
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<arguments>
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</arguments>
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</buildCommand>
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</buildSpec>
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<natures>
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<nature>org.eclipse.jdt.core.javanature</nature>
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<nature>edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature</nature>
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</natures>
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</projectDescription>

‎JoystickDemo2/build.properties

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# Project specific information
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package=org.usfirst.frc.team5518.robot
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robot.class=${package}.Robot
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simulation.world.file=/usr/share/frcsim/worlds/GearsBotDemo.world

‎JoystickDemo2/build.xml

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<?xml version="1.0" encoding="UTF-8"?>
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<project name="FRC Deployment" default="deploy">
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<!--
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The following properties can be defined to override system level
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settings. These should not be touched unless you know what you're
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doing. The primary use is to override the wpilib version when
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working with older robots that can't compile with the latest
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libraries.
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-->
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<!-- By default the system version of WPI is used -->
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<!-- <property name="version" value=""/> -->
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<!-- By default the system team number is used -->
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<!-- <property name="team-number" value=""/> -->
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<!-- By default the target is set to 10.TE.AM.2 -->
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<!-- <property name="target" value=""/> -->
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<!-- Any other property in build.properties can also be overridden. -->
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<property file="${user.home}/wpilib/wpilib.properties"/>
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<property file="build.properties"/>
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<property file="${user.home}/wpilib/java/${version}/ant/build.properties"/>
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<import file="${wpilib.ant.dir}/build.xml"/>
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</project>

‎JoystickDemo2/src/org/usfirst/frc/team5518/robot/OI.java

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package org.usfirst.frc.team5518.robot;
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import edu.wpi.first.wpilibj.Joystick;
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/**
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* This class is the glue that binds the controls on the physical operator
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* interface to the commands and command groups that allow control of the robot.
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*/
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public class OI {
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//// CREATING BUTTONS
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// One type of button is a joystick button which is any button on a joystick.
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// You create one by telling it which joystick it's on and which button
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// number it is.
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// Joystick stick = new Joystick(port);
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// Button button = new JoystickButton(stick, buttonNumber);
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// There are a few additional built in buttons you can use. Additionally,
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// by subclassing Button you can create custom triggers and bind those to
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// commands the same as any other Button.
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//// TRIGGERING COMMANDS WITH BUTTONS
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// Once you have a button, it's trivial to bind it to a button in one of
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// three ways:
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// Start the command when the button is pressed and let it run the command
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// until it is finished as determined by it's isFinished method.
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// button.whenPressed(new ExampleCommand());
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// Run the command while the button is being held down and interrupt it once
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// the button is released.
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// button.whileHeld(new ExampleCommand());
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// Start the command when the button is released and let it run the command
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// until it is finished as determined by it's isFinished method.
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// button.whenReleased(new ExampleCommand());
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private Joystick stick;
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public OI() {
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// put buttons onto SmartDashboard
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dashboardInit();
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// instantiate Joystick variable
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stick = new Joystick(0);
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// instantiate joystick buttons here
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buttonsInit();
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// connect commands to joystick buttons
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buttonsExec();
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}
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private void dashboardInit() {
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}
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private void buttonsInit() {
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}
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private void buttonsExec() {
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}
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public void setJoystick(int port) {
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stick = new Joystick(port);
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}
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public Joystick getJoystick() {
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return stick;
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}
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}
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‎JoystickDemo2/src/org/usfirst/frc/team5518/robot/Robot.java

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package org.usfirst.frc.team5518.robot;
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import edu.wpi.first.wpilibj.IterativeRobot;
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import edu.wpi.first.wpilibj.command.Command;
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import edu.wpi.first.wpilibj.command.Scheduler;
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import edu.wpi.first.wpilibj.livewindow.LiveWindow;
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import org.usfirst.frc.team5518.robot.commands.ArcadeDriveJoystick;
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import org.usfirst.frc.team5518.robot.commands.AutonomousCmd;
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import org.usfirst.frc.team5518.robot.subsystems.AutonomousSys;
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import org.usfirst.frc.team5518.robot.subsystems.DrivingSys;
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/**
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* The VM is configured to automatically run this class, and to call the
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* functions corresponding to each mode, as described in the IterativeRobot
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* documentation. If you change the name of this class or the package after
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* creating this project, you must also update the manifest file in the resource
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* directory.
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*/
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public class Robot extends IterativeRobot {
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public static AutonomousSys autoSys;
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public static DrivingSys driveSys;
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public static OI oi;
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Command autonomousCommand;
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/**
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* This function is run when the robot is first started up and should be
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* used for any initialization code.
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*/
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public void robotInit() {
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// initialize all subsystems and important classes
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oi = new OI();
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autoSys = new AutonomousSys();
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driveSys = new DrivingSys();
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// instantiate the command used for the autonomous period
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autonomousCommand = new AutonomousCmd();
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}
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public void disabledPeriodic() {
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Scheduler.getInstance().run();
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}
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public void autonomousInit() {
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// schedule the autonomous command (example)
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if (autonomousCommand != null) autonomousCommand.start();
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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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public void autonomousPeriodic() {
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Scheduler.getInstance().run();
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driveSys.log();
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}
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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 (autonomousCommand != null) autonomousCommand.cancel();
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}
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/**
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* This function is called when the disabled button is hit.
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* You can use it to reset subsystems before shutting down.
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*/
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public void disabledInit(){
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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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public void teleopPeriodic() {
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Scheduler.getInstance().run();
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driveSys.log();
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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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public void testPeriodic() {
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LiveWindow.run();
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driveSys.log();
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}
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}

‎JoystickDemo2/src/org/usfirst/frc/team5518/robot/RobotMap.java

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package org.usfirst.frc.team5518.robot;
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/**
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* The RobotMap is a mapping from the ports sensors and actuators are wired into
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* to a variable name. This provides flexibility changing wiring, makes checking
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* the wiring easier and significantly reduces the number of magic numbers
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* floating around.
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*/
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public class RobotMap {
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// For example to map the left and right motors, you could define the
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// following variables to use with your drivetrain subsystem.
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// public static int leftMotor = 1;
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// public static int rightMotor = 2;
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// If you are using multiple modules, make sure to define both the port
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// number and the module. For example you with a rangefinder:
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// public static int rangefinderPort = 1;
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// public static int rangefinderModule = 1;
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public static final int FRONT_LEFT_MOTOR = 2;
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public static final int REAR_LEFT_MOTOR = 1;
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public static final int FRONT_RIGHT_MOTOR = 3;
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public static final int REAR_RIGHT_MOTOR = 0;
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}

‎JoystickDemo2/src/org/usfirst/frc/team5518/robot/commands/ArcadeDriveJoystick.java

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package org.usfirst.frc.team5518.robot.commands;
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import org.usfirst.frc.team5518.robot.Robot;
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import edu.wpi.first.wpilibj.command.Command;
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/**
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*
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*/
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public class ArcadeDriveJoystick extends Command {
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public ArcadeDriveJoystick() {
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// Use requires() here to declare subsystem dependencies
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// eg. requires(chassis);
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requires(Robot.driveSys);
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}
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// Called just before this Command runs the first time
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protected void initialize() {
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}
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// Called repeatedly when this Command is scheduled to run
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protected void execute() {
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Robot.driveSys.drive(Robot.oi.getJoystick());
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}
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// Make this return true when this Command no longer needs to run execute()
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protected boolean isFinished() {
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return false;
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}
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// Called once after isFinished returns true
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protected void end() {
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Robot.driveSys.drive(0, 0);
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}
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// Called when another command which requires one or more of the same
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// subsystems is scheduled to run
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protected void interrupted() {
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end();
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}
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}

‎JoystickDemo2/src/org/usfirst/frc/team5518/robot/commands/AutonomousCmd.java

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package org.usfirst.frc.team5518.robot.commands;
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import edu.wpi.first.wpilibj.command.Command;
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import org.usfirst.frc.team5518.robot.Robot;
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import org.usfirst.frc.team5518.robot.subsystems.AutonomousSys;
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/**
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*
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*/
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public class AutonomousCmd extends Command {
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private int autoLoopCounter;
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public AutonomousCmd() {
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// Use requires() here to declare subsystem dependencies
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requires(Robot.autoSys);
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}
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// Called just before this Command runs the first time
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protected void initialize() {
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autoLoopCounter = 0;
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}
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// Called repeatedly when this Command is scheduled to run
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protected void execute() {
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if (autoLoopCounter < 100) {
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Robot.autoSys.drive();
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autoLoopCounter++;
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} else {
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Robot.autoSys.stop();
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}
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}
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// Make this return true when this Command no longer needs to run execute()
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protected boolean isFinished() {
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return false;
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}
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// Called once after isFinished returns true
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protected void end() {
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}
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// Called when another command which requires one or more of the same
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// subsystems is scheduled to run
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protected void interrupted() {
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}
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}

‎JoystickDemo2/src/org/usfirst/frc/team5518/robot/commands/TeleopCmd.java

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package org.usfirst.frc.team5518.robot.commands;
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import edu.wpi.first.wpilibj.command.Command;
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/**
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*
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*/
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public class TeleopCmd extends Command {
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public TeleopCmd() {
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// Use requires() here to declare subsystem dependencies
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// eg. requires(chassis);
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}
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// Called just before this Command runs the first time
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protected void initialize() {
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}
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// Called repeatedly when this Command is scheduled to run
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protected void execute() {
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}
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// Make this return true when this Command no longer needs to run execute()
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protected boolean isFinished() {
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return false;
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}
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// Called once after isFinished returns true
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protected void end() {
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}
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// Called when another command which requires one or more of the same
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// subsystems is scheduled to run
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protected void interrupted() {
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}
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}

‎JoystickDemo2/src/org/usfirst/frc/team5518/robot/subsystems/AutonomousSys.java

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package org.usfirst.frc.team5518.robot.subsystems;
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import edu.wpi.first.wpilibj.command.Subsystem;
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import org.usfirst.frc.team5518.robot.Robot;
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/**
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*
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*/
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public class AutonomousSys extends Subsystem {
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// Put methods for controlling this subsystem
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// here. Call these from Commands.
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public void initDefaultCommand() {
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// Set the default command for a subsystem here.
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//setDefaultCommand(new MySpecialCommand());
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}
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public void drive() {
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}
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public void stop() {
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}
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}
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‎JoystickDemo2/src/org/usfirst/frc/team5518/robot/subsystems/DrivingSys.java

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package org.usfirst.frc.team5518.robot.subsystems;
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import org.usfirst.frc.team5518.robot.RobotMap;
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import org.usfirst.frc.team5518.robot.commands.ArcadeDriveJoystick;
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import edu.wpi.first.wpilibj.GenericHID;
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import edu.wpi.first.wpilibj.Joystick;
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import edu.wpi.first.wpilibj.RobotDrive;
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import edu.wpi.first.wpilibj.command.Subsystem;
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/**
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*
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*/
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public class DrivingSys extends Subsystem {
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private RobotDrive robotDrive;
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public DrivingSys() {
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super();
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robotDrive = new RobotDrive(RobotMap.FRONT_LEFT_MOTOR, RobotMap.REAR_LEFT_MOTOR,
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RobotMap.FRONT_RIGHT_MOTOR, RobotMap.FRONT_LEFT_MOTOR);
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}
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public void initDefaultCommand() {
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// Set the default command for a subsystem here.
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setDefaultCommand(new ArcadeDriveJoystick());
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}
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public void drive(Joystick stick) {
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robotDrive.arcadeDrive(stick);
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}
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public void drive(GenericHID moveStick, final int moveAxis,
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GenericHID rotateStick, final int rotateAxis) {
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robotDrive.arcadeDrive(moveStick, moveAxis, rotateStick, rotateAxis);
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}
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public void drive(double moveValue, double rotateValue) {
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robotDrive.arcadeDrive(moveValue, rotateValue);
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}
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public void log() {
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}
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}
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‎JoystickDemo2/sysProps.xml

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