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Update Robot.java #9

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b991b38
Update Robot.java
ozmiumGIT Feb 15, 2018
83551e8
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ozmiumGIT Feb 18, 2018
a2328f1
wrote the program for the middle side
VF-02 Mar 15, 2018
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125 changes: 71 additions & 54 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 @@ -25,20 +25,22 @@ public class Robot extends IterativeRobot {
Joystick driverStick = new Joystick(0);



//LEFT and RIGHT
// double autonomousTime = 3;
//double autonomousTime2 = 4;
//double autonomousTime2 = 4;
// double autonomousTime3 = 5.5;
// double autonomousTime4 = 6;

double autonomousTime5 = 1.5;
double autonomousTime6 = 3.5;
double autonomousTime7 = 4.5;
double autonomousTime8 = 6;
double autonomousTime9 = 9;
double autonomousTime10= 10;
double autonomousTime11= 11.5;
double autonomousTime12= 12;
//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;



public Spark leftFront = new Spark(0);
Expand All @@ -63,10 +65,10 @@ 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() {
Expand All @@ -79,46 +81,61 @@ 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);
// }

//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);
// }
// }
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);
}


}

//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() {

double xvalue = (driverStick.getX())/2;
double yvalue = (driverStick.getY());
double xvalue = (driverStick.getX())/-2;
double yvalue = (driverStick.getY())*-1;
double boost;
double braking;

Expand Down Expand Up @@ -155,14 +172,14 @@ 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);
}
}