From b991b38ac0bb09be8fd4c4c330d877973f96b264 Mon Sep 17 00:00:00 2001 From: Ozhav Date: Thu, 15 Feb 2018 16:26:07 +0800 Subject: [PATCH 1/3] Update Robot.java Fixed the inverted joystick controls and added a atonomous sequence to the left starting point assummig our switch is on the left side. It's sorta sloppy but it works so if someone wanyts to change it no prob. --- src/main/java/frc/team7242/robot/Robot.java | 92 ++++++++++----------- 1 file changed, 46 insertions(+), 46 deletions(-) diff --git a/src/main/java/frc/team7242/robot/Robot.java b/src/main/java/frc/team7242/robot/Robot.java index a931e71..949a86b 100644 --- a/src/main/java/frc/team7242/robot/Robot.java +++ b/src/main/java/frc/team7242/robot/Robot.java @@ -26,13 +26,13 @@ public class Robot extends IterativeRobot { - // double autonomousTime = 3; + // double autonomousTime = 3; //double autonomousTime2 = 4; - // double autonomousTime3 = 5.5; - // double autonomousTime4 = 6; + // double autonomousTime3 = 5.5; + // double autonomousTime4 = 6; - double autonomousTime5 = 1.5; - double autonomousTime6 = 3.5; + double autonomousTime5 = 1.9; + double autonomousTime6 = 3.7; double autonomousTime7 = 4.5; double autonomousTime8 = 6; double autonomousTime9 = 9; @@ -63,10 +63,10 @@ public void robotInit() { left.setInverted(true); right.setInverted(true); - // leftFront.setSafetyEnabled(false); - // rightFront.setSafetyEnabled(false); - // leftBack.setSafetyEnabled(false); - // rightBack.setSafetyEnabled(false); + // leftFront.setSafetyEnabled(false); + // rightFront.setSafetyEnabled(false); + // leftBack.setSafetyEnabled(false); + // rightBack.setSafetyEnabled(false); } public void autonomousInit() { @@ -79,46 +79,46 @@ public void autonomousInit() { public void autonomousPeriodic() { double deltaTime = Timer.getFPGATimestamp() - autonomousStartTime; - // if (deltaTime < autonomousTime) { - // drive.arcadeDrive(0.80, 0.0); + // if (deltaTime < autonomousTime) { + // drive.arcadeDrive(0.80, 0.0); //} else if (autonomousTime < deltaTime && deltaTime < autonomousTime2) { - //drive.arcadeDrive(0.0, 0.0); - // } else if (autonomousTime2 < deltaTime && deltaTime < autonomousTime3) { + //drive.arcadeDrive(0.0, 0.0); + // } else if (autonomousTime2 < deltaTime && deltaTime < autonomousTime3) { // drive.arcadeDrive(0.0, -0.56); - // } else if (autonomousTime3 < deltaTime && deltaTime < autonomousTime4) { - // drive.arcadeDrive(1, 0.0); - // } else { - // drive.arcadeDrive(0.0, 0.0); - // } - - // } - if(deltaTime < autonomousTime5){ - drive.arcadeDrive(0.0, 0.56); - }else if(autonomousTime5 < deltaTime && deltaTime < autonomousTime6){ - drive.arcadeDrive(0.8, 0.0); - }else if(autonomousTime6 < deltaTime && deltaTime < autonomousTime7){ - drive.arcadeDrive(0.0, 0.0); - }else if(autonomousTime7 < deltaTime && deltaTime < autonomousTime8){ - drive.arcadeDrive(0.0, -0.65); - }else if(autonomousTime8 < deltaTime && deltaTime < autonomousTime9) { - drive.arcadeDrive(0.8, 0.0); - }else if(autonomousTime9 < deltaTime && deltaTime < autonomousTime10){ - drive.arcadeDrive(0.0, 0.0); - }else if(autonomousTime10 < deltaTime && deltaTime < autonomousTime11){ - drive.arcadeDrive(0.0, -0.56); - }else if(autonomousTime11 < deltaTime && deltaTime < autonomousTime12){ - drive.arcadeDrive(1, 0.0); - }else{ - drive.arcadeDrive(0.0, 0.0); -} + // } else if (autonomousTime3 < deltaTime && deltaTime < autonomousTime4) { + // drive.arcadeDrive(1, 0.0); + // } else { + // drive.arcadeDrive(0.0, 0.0); + // } + + // } + if(deltaTime < autonomousTime5){ + drive.arcadeDrive(1.9, 0.0); //0.56 + }else if(autonomousTime5 < deltaTime && deltaTime < autonomousTime6){ + drive.arcadeDrive(0.0, -0.53); + }else if(autonomousTime6 < deltaTime && deltaTime < autonomousTime7){ + drive.arcadeDrive(0.8, 0.0); + }else if(autonomousTime7 < deltaTime && deltaTime < autonomousTime8){ + drive.arcadeDrive(0.0, 0.0); //-0.65 + }else if(autonomousTime8 < deltaTime && deltaTime < autonomousTime9) { + drive.arcadeDrive(0.0, 0.0); + }else if(autonomousTime9 < deltaTime && deltaTime < autonomousTime10){ + drive.arcadeDrive(0.0, 0.0); + }else if(autonomousTime10 < deltaTime && deltaTime < autonomousTime11){ + drive.arcadeDrive(0.0, 0.0); + }else if(autonomousTime11 < deltaTime && deltaTime < autonomousTime12){ + drive.arcadeDrive(0, 0.0); + }else{ + drive.arcadeDrive(0.0, 0.0); + } - } + } public void teleopPeriodic() { - double xvalue = (driverStick.getX())/2; - double yvalue = (driverStick.getY()); + double xvalue = (driverStick.getX())/-2; + double yvalue = (driverStick.getY())*-1; double boost; double braking; @@ -155,14 +155,14 @@ public void teleopPeriodic() { // x should be a value from -1 to 1, based on the sum of x and y value // -1 is the robot going full speed backwards, and 1 is the robot going full speed ahead/ //double x = (((yvalue) + xabs) * boost * -1 * braking * tres ); - // double x = ((yvalue + xabs) * 1.2 * boost * braking * -1 * tres); + // double x = ((yvalue + xabs) * 1.2 * boost * braking * -1 * tres); // y should be a value from 0 to 1, based on xvalue // -1 is the robot going full speed to the left and 1 is the robot going full speed to the right - // double r = (xvalue * -1); + // double r = (xvalue * -1); - double rightMotor =((yvalue + xvalue/sens) * (0.8) * boost * braking * 1 * tres); - double leftMotor = ((yvalue - xvalue/sens) * (0.8) * boost * braking * tres); + double rightMotor =((yvalue - xvalue/sens) * (0.8) * boost * braking * 1 * tres); + double leftMotor = ((yvalue + xvalue/sens) * (0.8) * boost * braking * tres); drive.tankDrive(leftMotor, rightMotor); } } From 83551e8a290883347c18b24d50a5e9f4828ce62e Mon Sep 17 00:00:00 2001 From: Ozhav Date: Sun, 18 Feb 2018 13:58:36 +0800 Subject: [PATCH 2/3] mirror image (robot on wing and switch is on same side) --- src/main/java/frc/team7242/robot/Robot.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/team7242/robot/Robot.java b/src/main/java/frc/team7242/robot/Robot.java index 949a86b..4851bbc 100644 --- a/src/main/java/frc/team7242/robot/Robot.java +++ b/src/main/java/frc/team7242/robot/Robot.java @@ -95,7 +95,7 @@ public void autonomousPeriodic() { if(deltaTime < autonomousTime5){ drive.arcadeDrive(1.9, 0.0); //0.56 }else if(autonomousTime5 < deltaTime && deltaTime < autonomousTime6){ - drive.arcadeDrive(0.0, -0.53); + drive.arcadeDrive(0.0, 0.53); }else if(autonomousTime6 < deltaTime && deltaTime < autonomousTime7){ drive.arcadeDrive(0.8, 0.0); }else if(autonomousTime7 < deltaTime && deltaTime < autonomousTime8){ From a2328f1a3d24260517cf864cf90cafbae8972752 Mon Sep 17 00:00:00 2001 From: imvektor <33010597+imvektor@users.noreply.github.com> Date: Fri, 16 Mar 2018 01:30:03 +0800 Subject: [PATCH 3/3] wrote the program for the middle side --- src/main/java/frc/team7242/robot/Robot.java | 111 +++++++++++--------- 1 file changed, 64 insertions(+), 47 deletions(-) diff --git a/src/main/java/frc/team7242/robot/Robot.java b/src/main/java/frc/team7242/robot/Robot.java index 4851bbc..003f223 100644 --- a/src/main/java/frc/team7242/robot/Robot.java +++ b/src/main/java/frc/team7242/robot/Robot.java @@ -25,20 +25,22 @@ public class Robot extends IterativeRobot { Joystick driverStick = new Joystick(0); +//LEFT and RIGHT + // double autonomousTime = 3; + //double autonomousTime2 = 4; + // double autonomousTime3 = 5.5; + // double autonomousTime4 = 6; - // double autonomousTime = 3; - //double autonomousTime2 = 4; - // double autonomousTime3 = 5.5; - // double autonomousTime4 = 6; +//MIDDLE(NOT PREPARED TO USE) + //double autonomousTime5 = 1.5; + //double autonomousTime6 = 2.75; + //double autonomousTime7 = 3.75; + //double autonomousTime8 = 4.25; + //double autonomousTime9 = 7.25; + //double autonomousTime10= 8.25; + //double autonomousTime11= 9.75; + //double autonomousTime12= 10.25; - double autonomousTime5 = 1.9; - double autonomousTime6 = 3.7; - double autonomousTime7 = 4.5; - double autonomousTime8 = 6; - double autonomousTime9 = 9; - double autonomousTime10= 10; - double autonomousTime11= 11.5; - double autonomousTime12= 12; public Spark leftFront = new Spark(0); @@ -79,41 +81,56 @@ public void autonomousInit() { public void autonomousPeriodic() { double deltaTime = Timer.getFPGATimestamp() - autonomousStartTime; - // if (deltaTime < autonomousTime) { - // drive.arcadeDrive(0.80, 0.0); - //} else if (autonomousTime < deltaTime && deltaTime < autonomousTime2) { - //drive.arcadeDrive(0.0, 0.0); - // } else if (autonomousTime2 < deltaTime && deltaTime < autonomousTime3) { - // drive.arcadeDrive(0.0, -0.56); - // } else if (autonomousTime3 < deltaTime && deltaTime < autonomousTime4) { - // drive.arcadeDrive(1, 0.0); - // } else { - // drive.arcadeDrive(0.0, 0.0); - // } - - // } - if(deltaTime < autonomousTime5){ - drive.arcadeDrive(1.9, 0.0); //0.56 - }else if(autonomousTime5 < deltaTime && deltaTime < autonomousTime6){ - drive.arcadeDrive(0.0, 0.53); - }else if(autonomousTime6 < deltaTime && deltaTime < autonomousTime7){ - drive.arcadeDrive(0.8, 0.0); - }else if(autonomousTime7 < deltaTime && deltaTime < autonomousTime8){ - drive.arcadeDrive(0.0, 0.0); //-0.65 - }else if(autonomousTime8 < deltaTime && deltaTime < autonomousTime9) { - drive.arcadeDrive(0.0, 0.0); - }else if(autonomousTime9 < deltaTime && deltaTime < autonomousTime10){ - drive.arcadeDrive(0.0, 0.0); - }else if(autonomousTime10 < deltaTime && deltaTime < autonomousTime11){ - drive.arcadeDrive(0.0, 0.0); - }else if(autonomousTime11 < deltaTime && deltaTime < autonomousTime12){ - drive.arcadeDrive(0, 0.0); - }else{ - drive.arcadeDrive(0.0, 0.0); - } - - - } + //LEFT SIDE + //if(deltaTime < autonomousTime) { + //drive.arcadeDrive(0.80, 0.0); + //}else if(autonomousTime < deltaTime && deltaTime < autonomousTime2) { + //drive.arcadeDrive(0.0, 0.0); + //}else if(autonomousTime2 < deltaTime && deltaTime < autonomousTime3) { + //drive.arcadeDrive(0.0, -0.56); + //}else if(autonomousTime3 < deltaTime && deltaTime < autonomousTime4) { + //drive.arcadeDrive(1, 0.0); + //}else{ + //drive.arcadeDrive(0.0, 0.0); + // } + // } + + //RIGHT SIDE + //if(deltaTime < autonomousTime) { + //drive.arcadeDrive(0.80, 0.0); + //}else if(autonomousTime < deltaTime && deltaTime < autonomousTime2) { + //drive.arcadeDrive(0.0, 0.0); + //}else if(autonomousTime2 < deltaTime && deltaTime < autonomousTime3) { + //drive.arcadeDrive(0.0, 0.56); + //}else if(autonomousTime3 < deltaTime && deltaTime < autonomousTime4) { + //drive.arcadeDrive(1, 0.0); + //}else{ + //drive.arcadeDrive(0.0, 0.0); + // } + // } + + //MIDDLE + //if(deltaTime < autonomousTime5){ + //drive.arcadeDrive(0.0, 0.56); //0.56 + //}else if(autonomousTime5 < deltaTime && deltaTime < autonomousTime6){ + //drive.arcadeDrive(0.80, 0.0); + //}else if(autonomousTime6 < deltaTime && deltaTime < autonomousTime7){ + //drive.arcadeDrive(0.0, 0.0); + //}else if(autonomousTime7 < deltaTime && deltaTime < autonomousTime8){ + //drive.arcadeDrive(0.0, -0.56); //-0.65 + //}else if(autonomousTime8 < deltaTime && deltaTime < autonomousTime9) { + //drive.arcadeDrive(0.80, 0.0); + //}else if(autonomousTime9 < deltaTime && deltaTime < autonomousTime10){ + //drive.arcadeDrive(0.0, 0.0); + //}else if(autonomousTime10 < deltaTime && deltaTime < autonomousTime11){ + //drive.arcadeDrive(0.0, -0.56); + //}else if(autonomousTime11 < deltaTime && deltaTime < autonomousTime12){ + //drive.arcadeDrive(1, 0.0); + //}else{ + //drive.arcadeDrive(0.0, 0.0); + //} + //} + public void teleopPeriodic() {