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Merge branch 'master' into OI/#252-NewOC
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# Conflicts:
#	src/main/java/org/frc5687/powerup/robot/OI.java
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@BenBernardCIS
BenBernardCIS committed Apr 6, 2018
2 parents 5082fba + 8098747 commit 196eb20
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Showing 86 changed files with 44,155 additions and 37,966 deletions.
1 change: 1 addition & 0 deletions build.gradle
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,7 @@ deploy {

wpi {
wpilibVersion = '2018.4.1'
shuffleboardVersion = '1.3.1'
}

// Defining my dependencies. In this case, WPILib (+ friends), CTRE Phoenix (Talon SRX)
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148 changes: 119 additions & 29 deletions src/main/java/org/frc5687/powerup/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@ public class Constants {
public static final int CYCLES_PER_SECOND = 50;
public static final double START_ALERT = 32;
public static final double END_ALERT = 28;
public static final int HEALTH_CHECK_CYCLES = 10;


public class Lights {
Expand Down Expand Up @@ -32,6 +33,10 @@ public class Lights {
public static final double PULSING_YELLOW = 0.10;
public static final double BEATING_YELLOW = 0.11;

public static final double SOLID_BLACK = 0.99;

public static final double SOLID_HOT_PINK = 0.57;

public static final double CONFETTI = -0.87;


Expand All @@ -42,8 +47,10 @@ public class Lights {
public static final double INTAKE_IN = -0.91; // green blue strobe;
public static final double INTAKE_OUT = -0.93; // red strobe!

public static final double TELEOP_BLUE = SOLID_BLUE;
public static final double TELEOP_RED = SOLID_RED;
public static final double GIMME_CUBE = SOLID_GREEN;

public static final double TELEOP_BLUE = SOLID_BLACK;
public static final double TELEOP_RED = SOLID_BLACK;

public static final double AUTO_BLUE = PULSING_BLUE;
public static final double AUTO_RED = PULSING_RED;
Expand All @@ -57,7 +64,13 @@ public class Lights {
public static final double CLIMBER_DOWN = PULSING_BLUE;
public static final double TIME_WARNING = -.07;
}

public class OI {
public static final double RUMBLE_INTENSITY = 1;
public static final double END_GAME_START = 30; // In seconds
public static final double START_RUMBLE_AT = END_GAME_START;
public static final double RUMBLE_DURATION = 2; //In seconds
public static final double END_RUMBLE_AT = END_GAME_START - RUMBLE_DURATION;
}
public class DriveTrain {
public static final double DEADBAND = 0.0;
public static final boolean LEFT_MOTORS_INVERTED = false;
Expand All @@ -77,15 +90,21 @@ public class Intake {
public static final boolean RIGHT_MOTORS_INVERTED_PROTO = true;
public static final double DROP_SPEED = -0.75;
public static final double OUTTAKE_SPEED = -0.75;
public static final double SERVO_BOTTOM = 0.87;
public static final double SERVO_UP = 0.2;
public static final double SERVO_UP = 0.87;
public static final double SERVO_BOTTOM = 0.2;
public static final long EJECT_TIME = 350;

public static final double HOLD_SPEED = 0.35;
public static final double HOLD_SPEED = 0.30;
public static final double INTAKE_SPEED = 0.75;
public static final double SENSITIVITY = 0.5;
public static final long SETTLE_TIME = 750;
public static final long SETTLE_TIME = 1500;
public static final double PLATE_MINIMUM_CLARANCE = 24.0;
public static final double SCALE_DROP_SPEED = -0.6;
public static final double SCALE_SHOOT_SPEED = -0.70;
public static final double SWITCH_DROP_SPEED = -0.42;

public static final double HC_MIN_SPEED = 0.1;
public static final double HC_MIN_CURRENT = 0.5;

public class SIDE_IR {
public static final boolean ENABLED = false;
Expand All @@ -99,9 +118,16 @@ public class DOWN_IR {

public class BACK_IR {
public static final boolean ENABLED = true;
public static final int DETECTION_THRESHOLD = 1200;
public static final int DETECTED_THRESHOLD = 900;
public static final int SECURED_THRESHOLD = 1080;
public static final int SECURED_LOW_END = 1500;
public static final int SECURED_HIGH_END = Integer.MAX_VALUE;
public static final int DETECTED_LOW_END = 500;
public static final int DETECTED_HIGH_END = Integer.MAX_VALUE;
}

public class UP_IR {
public static final boolean ENABLED = true;
public static final int PLATE_DETECTION_THRESHOLD = 550;
public static final double MIN_ARM_ANGLE = 151;
}
}

Expand All @@ -111,17 +137,17 @@ public class Auto {

public class Align {

public static final double SPEED = 0.6;
public static final double SPEED = 0.9;

public static final double kP = 0.05;
public static final double kI = 0.15;
public static final double kD = 0.25;
public static final double kP = 0.04;
public static final double kI = 0.003;//0.01;
public static final double kD = 0.80;//0.3;
public static final double TOLERANCE = 1.0; // 0.5
public static final double MAX_OUTPUT = 0;
/*
*time the angle must be on target for to be considered steady
*/
public static final double STEADY_TIME = 100;
public static final double STEADY_TIME = 40;

}

Expand Down Expand Up @@ -168,7 +194,7 @@ public class kV {
}
public class kA {
public static final double METERS = 1.0 / MaxAcceleration.METERS;
public static final double INCHES = 0.0;//1.0 / MaxAcceleration.INCHES;
public static final double INCHES = 1.0;//1.0 / MaxAcceleration.INCHES;
}
}
}
Expand Down Expand Up @@ -273,10 +299,44 @@ public class IR {

public class Carriage {
public static final double PDP_EXCESSIVE_CURRENT = 100.0;
public static final double HC_MIN_CURRENT = .5;
public static final double DEADBAND = 0.13;
public static final boolean MOTOR_INVERTED = true;
public static final double HC_MIN_SPEED = 0.1; // Minimum speed to triggr the amp/isHalthy check
public class HoldSpeeds {
public static final double PAST_TOP_PROTO = 0.42;
public static final double PAST_TOP_GRETA = 0.5;

public static final double PAST_NEG_20_PROTO = 0.42;
public static final double PAST_NEG_20_GRETA = 0.5;

public static final double PAST_NEG_50_PROTO = 0.42;
public static final double PAST_NEG_50_GRETA = 0.5;

public static final double HOLD_SPEED = 0.2; // was 0.01 on comp bot
public static final double PAST_NEG_100_PROTO = 0.42;
public static final double PAST_NEG_100_GRETA = 0.5;

public static final double PAST_NEG_200_PROTO = 0.3;
public static final double PAST_NEG_200_GRETA = 0.0;

public static final double PAST_NEG_400_PROTO = 0.2;
public static final double PAST_NEG_400_GRETA = 0.0;

public static final double PAST_NEG_500_PROTO = 0.1;
public static final double PAST_NEG_500_GRETA = 0.05;

public static final double PAST_NEG_600_PROTO = -0.2;
public static final double PAST_NEG_600_GRETA = -0.2;

public static final double PAST_NEG_700_PROTO = -0.35;
public static final double PAST_NEG_700_GRETA = -0.0; // TODO: Too low

public static final double PAST_NEG_800_PROTO = -0.45;
public static final double PAST_NEG_800_GRETA = -0.0; // TODO: Too low

public static final double PAST_NEG_900_PROTO = -0.45;
public static final double PAST_NEG_900_GRETA = -0.45;
}
public static final double SENSITIVITY = 0.2;
public static final double ZERO_SPEED = 1.00;

Expand All @@ -292,9 +352,10 @@ public class Carriage {
public static final int ENCODER_MIDDLE_COMP = -443;
public static final int ENCODER_CLEAR_BUMPERS_COMP = -702;
public static final int ENCODER_DRIVE_COMP = -530; // -394
public static final int ENCODER_BOTTOM_COMP = -955;
public static final int ENCODER_BOTTOM_COMP = -960;
public static final int ENCODER_RANGE_COMP = ENCODER_TOP_COMP - ENCODER_BOTTOM_COMP;


// public static
public static final double RUNWAY = 25.5; // in

Expand All @@ -309,30 +370,27 @@ public class Carriage {
public static final double RANGE_INCHES = TOP_INCHES - BOTTOM_INCHES;

public static final double MAXIMUM_SPEED = 1.0;
public static final double MINIMUM_SPEED = -.5;
public static final double MINIMUM_SPEED = -.7;
}

public class Arm {
public static final double PDP_EXCESSIVE_CURRENT = 40.0;

public static final boolean MOTOR_INVERTED_PROTO = false;
public static final boolean MOTOR_INVERTED_COMP = true;
public static final double HC_MIN_SPEED = 0.25;
public static final double HC_MIN_CURRENT = 0.5;

public class Encoder {
public static final double ENCODER_START = 0;
public static final double ENCODER_MIDDLE = 133;
public static final double ENCODER_FENCE = 90;
public static final double ENCODER_TOP = 340;
}

public static final double HOLD_SPEED_COMP = 0.135;
public static final double HOLD_SPEED_PROTO = 0.0;
public static final double HOLD_SPEED_WITH_CUBE_COMP = 0.15;
public static final double HOLD_SPEED_WITH_CUBE_PROTO = 0.0;
public static final double SENSITIVITY = 0.75;

public static final double MAX_SPEED = 0.75;
public static final double MIN_SPEED = -.5;
public static final double MIN_SPEED = -.75;


public class Pot {
Expand All @@ -359,9 +417,36 @@ public class Pot {
public static final double INTAKE = 47.0;
public static final double DRIVE = 33.0;

public static final double SCALE = 150.0;
public static final double SWITCH_HEIGHT_WITH_CARRIAGE = 100;
public static final double SWITCH_HEIGHT_BROKEN_CARRIAGE = 72; // I guess this shouldn't be lower, but I'm just removing a magic number..
public static final double switchHeightWithCarriageHalfwayUp = 91;
public static final double switchHeightWithCarriageAllTheWayUp = 80;
}

public static final double LENGTH = 34.0;

public class HoldSpeeds {
public static final double PAST_160_CUBE_PROTO = 0.0;
public static final double PAST_160_CUBE_GRETA = 0.25;
public static final double PAST_160_NO_CUBE_PROTO = 0.0;
public static final double PAST_160_NO_CUBE_GRETA = 0.25;

public static final double PAST_90_CUBE_PROTO = 0.0;
public static final double PAST_90_CUBE_GRETA = 0.1;
public static final double PAST_90_NO_CUBE_PROTO = 0.0;
public static final double PAST_90_NO_CUBE_GRETA = 0.1;

public static final double PAST_55_CUBE_PROTO = -0.2;
public static final double PAST_55_CUBE_GRETA = 0.15;
public static final double PAST_55_NO_CUBE_PROTO = -0.2;
public static final double PAST_55_NO_CUBE_GRETA = 0.1;

public static final double PAST_BOTTOM_CUBE_PROTO = -0.1;
public static final double PAST_BOTTOM_CUBE_GRETA = -0.10;
public static final double PAST_BOTTOM_NO_CUBE_PROTO = -0.1;
public static final double PAST_BOTTOM_NO_CUBE_GRETA = -0.10;
}
}

public class Climber {
Expand All @@ -370,6 +455,8 @@ public class Climber {
public static final double WIND_SPEED = 1.0;
public static final double UNWIND_SPEED = -1.0;
public static final double HOLD_SPEED = 0.30; // Number pulled out of thin air by JohnZ
public static final double HC_MIN_SPEED = 0.1;
public static final double HC_MIN_CURRENT = 0.5;
}

public class RotarySwitch {
Expand All @@ -392,11 +479,14 @@ public class Position {
public class Mode {
public static final int STAY_PUT = 0;
public static final int CROSS_AUTOLINE = 1;
public static final int SWITCH_ONLY = 2;
public static final int SCALE_ONLY = 3;
public static final int SWITCH_THEN_SCALE = 4;
public static final int SWITCH_THEN_PICKUP_CUBE = 2;
public static final int SCALE_THEN_SCALE = 3;
public static final int SWITCH_THEN_SWITCH = 4;
public static final int SCALE_THEN_SWITCH = 5;
public static final int SWITCH_OR_SCALE = 6;
public static final int SWITCH_DRIVE = 1001;
public static final int SWITCH_ONLY = 10002;
public static final int SCALE_DRIVE = 1003;
public static final int SCALE_ONLY = 1004;
}
}
public class Limits {
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