Vision

CloneRepo.bat

@@ -0,0 +1,6 @@
+del ./src/
+git init
+git remote add origin https://github.com/FRC3236/DeepSpace.git
+git fetch
+git pull --rebase
+git checkout -t origin/vision -b vision

src/main/java/frc/robot/CommandBase.java

@@ -13,5 +13,7 @@ public class CommandBase {
   public static VisionRocket visionRocket = new VisionRocket();
   public static OI controls = new OI(); 
   public static DriveTrain drivetrain = new DriveTrain();
+  public static Elevator elevator = new Elevator();
+  public static Arm arm = new Arm();
 }
 

src/main/java/frc/robot/Robot.java

@@ -12,9 +12,9 @@
 import edu.wpi.first.wpilibj.command.Scheduler;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import frc.robot.commands.ExampleCommand;
 import frc.robot.commands.TeleopDefault;
-import frc.robot.commands.TeleopTriggerControl;
+import frc.robot.commands.TeleopEric;
+import frc.robot.commands.TeleopVision;
 import frc.robot.subsystems.ExampleSubsystem;
 
 /**
@@ -25,113 +25,110 @@
  * project.
  */
 public class Robot extends TimedRobot {
-  public static ExampleSubsystem m_subsystem = new ExampleSubsystem();
-  public static CommandBase cmdBase;
-  public static TeleopDefault teleop;
 
-  Command m_autonomousCommand;
-  SendableChooser<Command> m_chooser = new SendableChooser<>();
+	public enum TeleopMode {
+		VISION, DEFAULT, ERIC
+	}
 
-  /**
-   * This function is run when the robot is first started up and should be
-   * used for any initialization code.
-   */
-  @Override
-  public void robotInit() {
-    cmdBase = new CommandBase();
-    //CommandBase.drivetrain.InvertTalons();
-    teleop = new TeleopDefault();
-    m_chooser.setDefaultOption("Default Auto", new ExampleCommand());
-    // chooser.addOption("My Auto", new MyAutoCommand());
-    SmartDashboard.putData("Auto mode", m_chooser);
-  }
+	// Create a dropdown box for them all //
+	SendableChooser<TeleopMode> teleopChooser = new SendableChooser<TeleopMode>();
 
-  /**
-   * This function is called every robot packet, no matter the mode. Use
-   * this for items like diagnostics that you want ran during disabled,
-   * autonomous, teleoperated and test.
-   *
-   * <p>This runs after the mode specific periodic functions, but before
-   * LiveWindow and SmartDashboard integrated updating.
-   */
-  @Override
-  public void robotPeriodic() {
-  }
+	/**
+	 * This function is run when the robot is first started up and should be
+	 * used for any initialization code.
+	 */
+	@Override
+	public void robotInit() {
+
+	}
 
-  /**
-   * This function is called once each time the robot enters Disabled mode.
-   * You can use it to reset any subsystem information you want to clear when
-   * the robot is disabled.
-   */
-  @Override
-  public void disabledInit() {
-  }
+	/**
+	 * This function is called every robot packet, no matter the mode. Use
+	 * this for items like diagnostics that you want ran during disabled,
+	 * autonomous, teleoperated and test.
+	 *
+	 * <p>This runs after the mode specific periodic functions, but before
+	 * LiveWindow and SmartDashboard integrated updating.
+	 */
+	@Override
+	public void robotPeriodic() {
+	}
 
-  @Override
-  public void disabledPeriodic() {
-    Scheduler.getInstance().run();
-  }
+	/**
+	 * This function is called once each time the robot enters Disabled mode.
+	 * You can use it to reset any subsystem information you want to clear when
+	 * the robot is disabled.
+	 */
+	@Override
+	public void disabledInit() {
+		System.out.println("Disabled init");
+		// Load all of the teleop modes into the chooser //
+		teleopChooser.setDefaultOption("Default Teleop", TeleopMode.DEFAULT);
+		teleopChooser.addOption("Vision Tracking Testing", TeleopMode.VISION);
+		teleopChooser.addOption("Eric's Teleop Testing", TeleopMode.ERIC);
 
-  /**
-   * This autonomous (along with the chooser code above) shows how to select
-   * between different autonomous modes using the dashboard. The sendable
-   * chooser code works with the Java SmartDashboard. If you prefer the
-   * LabVIEW Dashboard, remove all of the chooser code and uncomment the
-   * getString code to get the auto name from the text box below the Gyro
-   *
-   * <p>You can add additional auto modes by adding additional commands to the
-   * chooser code above (like the commented example) or additional comparisons
-   * to the switch structure below with additional strings & commands.
-   */
-  @Override
-  public void autonomousInit() {
-    m_autonomousCommand = m_chooser.getSelected();
+		// Add the chooser to the Shuffleboard //
+		SmartDashboard.putData("Teleop Mode", teleopChooser);
+	}
 
-    /*
-     * String autoSelected = SmartDashboard.getString("Auto Selector",
-     * "Default"); switch(autoSelected) { case "My Auto": autonomousCommand
-     * = new MyAutoCommand(); break; case "Default Auto": default:
-     * autonomousCommand = new ExampleCommand(); break; }
-     */
+	@Override
+	public void disabledPeriodic() {
+		Scheduler.getInstance().run();
+	}
 
-    // schedule the autonomous command (example)
-    if (m_autonomousCommand != null) {
-      m_autonomousCommand.start();
-    }
-  }
+	/**
+	 * This autonomous (along with the chooser code above) shows how to select
+	 * between different autonomous modes using the dashboard. The sendable
+	 * chooser code works with the Java SmartDashboard. If you prefer the
+	 * LabVIEW Dashboard, remove all of the chooser code and uncomment the
+	 * getString code to get the auto name from the text box below the Gyro
+	 *
+	 * <p>You can add additional auto modes by adding additional commands to the
+	 * chooser code above (like the commented example) or additional comparisons
+	 * to the switch structure below with additional strings & commands.
+	 */
+	@Override
+	public void autonomousInit() {
+
+	}
 
-  /**
-   * This function is called periodically during autonomous.
-   */
-  @Override
-  public void autonomousPeriodic() {
-    Scheduler.getInstance().run();
-  }
+	/**
+	 * This function is called periodically during autonomous.
+	 */
+	@Override
+	public void autonomousPeriodic() {
+		Scheduler.getInstance().run();
+	}
 
-  @Override
-  public void teleopInit() {
-    // This makes sure that the autonomous stops running when
-    // teleop starts running. If you want the autonomous to
-    // continue until interrupted by another command, remove
-    // this line or comment it out.
-    if (m_autonomousCommand != null) {
-      m_autonomousCommand.cancel();
-    }
-    teleop.start();
-  }
+	@Override
+	public void teleopInit() {
+		// Get what the teleop chooser says //
+		/*TeleopMode selectedMode = teleopChooser.getSelected();
+		if (selectedMode == TeleopMode.DEFAULT) {
+			(new TeleopDefault()).start();
+		} else if (selectedMode == TeleopMode.ERIC) {
+			(new TeleopEric()).start();
+		} else if (selectedMode == TeleopMode.VISION) {
+			(new TeleopVision()).start();
+		}
+		else{
+			new TeleopVision().start();
+		} */
+		new TeleopEric().start();
+	}
 
-  /**
-   * This function is called periodically during operator control.
-   */
-  @Override
-  public void teleopPeriodic() {
-    Scheduler.getInstance().run();
-  }
+	/**
+	 * This function is called periodically during operator control.
+	 */
+	@Override
+	public void teleopPeriodic() {
+		Scheduler.getInstance().run();
+	}
 
-  /**
-   * This function is called periodically during test mode.
-   */
-  @Override
-  public void testPeriodic() {
-  }
+	/**
+	 * This function is called periodically during test mode.
+	 */
+	@Override
+	public void testPeriodic() {
+	}
 }

src/main/java/frc/robot/RobotMap.java

@@ -21,10 +21,28 @@ public class RobotMap {
   public static int LEFTXBOX = 0; 
   public static int RIGHTXBOX = 1; 
 
-  public static int LEFTTALONA = 0;
-  public static int LEFTTALONB = 1; 
-  public static int RIGHTTALONA = 2; 
-  public static int RIGHTTALONB = 3; 
+  public static int LEFTVICTORA = 0;
+  public static int LEFTVICTORB = 1; 
+  public static int RIGHTVICTORA = 2; 
+  public static int RIGHTVICTORB = 3; 
+
+
+  public static int ELEVATORTALON = 4;
+  public static int ELEVATORTALONENC = 5;
+
+  public static int HATCHLEVELONE = 500;
+  public static int HATCHLEVELTWO = 1200;
+  public static int HATCHLEVELTHREE = 3000;
+
+  public static int CARGOLEVELONE = 600;
+  public static int CARGOLEVELTWO = 1000;
+  public static int CARGOLEVELTHREE = 2200;
+  public static int CARGOLEVELSHIP = 3500;
+
+  public static final int INTAKE = 6;
+  public static final int ACTUATOR = 7;
+
+
 
 
   // If you are using multiple modules, make sure to define both the port

src/main/java/frc/robot/commands/TeleopDefault.java

@@ -35,7 +35,7 @@ protected void execute() {
 
 		CommandBase.visionRocket.GetContourPairs();
 
-		CommandBase.drivetrain.Drive(lateralSpeed - forwardSpeed, lateralSpeed + forwardSpeed);
+		CommandBase.drivetrain.drive(lateralSpeed - forwardSpeed, lateralSpeed + forwardSpeed);
 	}
 
 	// Make this return true when this Command no longer needs to run execute()