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All/#305 self test framework
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83 changes: 83 additions & 0 deletions
83
src/main/java/org/frc5687/powerup/robot/commands/testing/ArmMotorTest.java
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| package org.frc5687.powerup.robot.commands.testing; | ||
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| import edu.wpi.first.wpilibj.command.Command; | ||
| import org.frc5687.powerup.robot.Constants; | ||
| import org.frc5687.powerup.robot.RobotMap; | ||
| import org.frc5687.powerup.robot.subsystems.Arm; | ||
| import org.frc5687.powerup.robot.subsystems.Carriage; | ||
| import org.frc5687.powerup.robot.utils.PDP; | ||
| import org.frc5687.powerup.robot.commands.MoveCarriageToSetpointPID; | ||
| import edu.wpi.first.wpilibj.DriverStation; | ||
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| import static java.lang.Math.abs; | ||
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| public class ArmMotorTest extends Command { | ||
| private Arm arm; | ||
| private Carriage carriage; | ||
| private PDP pdp; | ||
| private long upMillis; | ||
| private long downMillis; | ||
| private long stopMillis; | ||
| private boolean finished; | ||
| private double amps; | ||
| private double bottomAngle; | ||
| private double topAngle; | ||
| private double startAngle; | ||
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| public ArmMotorTest(Arm arm, Carriage carriage){ | ||
| requires(arm); | ||
| requires(carriage); | ||
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| this.arm = arm; | ||
| this.carriage = carriage; | ||
| } | ||
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| @Override | ||
| protected void initialize() { | ||
| finished = false; | ||
| upMillis = System.currentTimeMillis() + 125; | ||
| stopMillis = System.currentTimeMillis() + 250; | ||
| downMillis = System.currentTimeMillis() + 375; | ||
| amps = 0; | ||
| topAngle = 0; | ||
| startAngle = arm.getAngle(); | ||
| } | ||
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| @Override | ||
| protected void execute() { | ||
| if (System.currentTimeMillis()< upMillis){ | ||
| arm.drive(0.75); | ||
| amps = Math.max(amps, pdp.getCurrent(RobotMap.PDP.ARM_SP)); | ||
| topAngle = Math.max(topAngle, arm.getAngle()); | ||
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| } | ||
| else if (System.currentTimeMillis()< stopMillis){ | ||
| arm.drive(0); | ||
| bottomAngle = topAngle; | ||
| } | ||
| else { | ||
| arm.drive(-0.75); | ||
| amps = Math.max(amps, pdp.getCurrent(RobotMap.PDP.ARM_SP)); | ||
| bottomAngle = Math.min(bottomAngle, arm.getAngle()); | ||
| } | ||
| } | ||
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| @Override | ||
| protected void end() { | ||
| if (amps < Constants.Arm.MIN_AMPS) { | ||
| DriverStation.reportError(amps + " amps drawn", false); | ||
| } | ||
| if (abs(startAngle - topAngle) < 20) { | ||
| DriverStation.reportError("angle change " + (startAngle - topAngle), false); | ||
| } | ||
| if (abs(topAngle - bottomAngle) > 20) { | ||
| DriverStation.reportError("angle change " + (bottomAngle - topAngle), false); | ||
| } | ||
| } | ||
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| @Override | ||
| public boolean isFinished() { | ||
| return System.currentTimeMillis() > downMillis; | ||
| } | ||
| } |
61 changes: 61 additions & 0 deletions
61
src/main/java/org/frc5687/powerup/robot/commands/testing/ConfirmTest.java
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| @@ -0,0 +1,61 @@ | ||
| package org.frc5687.powerup.robot.commands.testing; | ||
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| import edu.wpi.first.wpilibj.DriverStation; | ||
| import edu.wpi.first.wpilibj.command.Command; | ||
| import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | ||
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| import org.frc5687.powerup.robot.OI; | ||
| /** | ||
| * Command to prompt the operator to confirm a result using the gamepad buttons. | ||
| */ | ||
| public class ConfirmTest extends Command { | ||
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| private String _message; | ||
| private String _success; | ||
| private String _failure; | ||
| private boolean _clear; | ||
| private String _key; | ||
| private OI _oi; | ||
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| public ConfirmTest(OI oi, String message, String success, String failure) { | ||
| _oi = oi; | ||
| _message = message; | ||
| _success = success; | ||
| _failure = failure; | ||
| _clear = false; | ||
| } | ||
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| public ConfirmTest(OI oi, String message, String key) { | ||
| _oi = oi; | ||
| _message = message; | ||
| _key = key; | ||
| _clear = false; | ||
| } | ||
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| @Override | ||
| protected void initialize() { | ||
| DriverStation.reportError(_message, false); | ||
| SmartDashboard.putString("SelfTest/Message", _message); | ||
| } | ||
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| @Override | ||
| protected void execute() { | ||
| if (!_clear) { | ||
| _clear = !_oi.isStartPressed(); | ||
| } | ||
| } | ||
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| @Override | ||
| protected boolean isFinished() { | ||
| if (_clear) { | ||
| if (_oi.isStartPressed()) { | ||
| return true; | ||
| } | ||
| } | ||
| return false; | ||
| } | ||
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| @Override | ||
| protected void end() { | ||
| } | ||
| } |
30 changes: 30 additions & 0 deletions
30
src/main/java/org/frc5687/powerup/robot/commands/testing/FullSelfTest.java
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| package org.frc5687.powerup.robot.commands.testing; | ||
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| import edu.wpi.first.wpilibj.command.CommandGroup; | ||
| import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | ||
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| import org.frc5687.powerup.robot.Robot; | ||
| import org.frc5687.powerup.robot.subsystems.Intake; | ||
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| public class FullSelfTest extends CommandGroup { | ||
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| public FullSelfTest(Robot robot) { | ||
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| addSequential(new ConfirmTest(robot.getOI(), "Please ensure the robot is drydocked and press Start to continue.", "Test started.", "Test aborted.")); | ||
| addSequential(new TestDriveTrain(robot.getDriveTrain(), robot.getPDP(), robot.getLights())); | ||
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| addSequential(new ConfirmTest(robot.getOI(), "Please be sure that the carriage is clear and press Start to continue.", "Test started.", "Test aborted.")); | ||
| addSequential(new TestCarriage(robot.getCarriage(), robot.getPDP(), robot.getLights())); | ||
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| addSequential(new ConfirmTest(robot.getOI(), "Please be sure that the arm is clear and press Start to continue.", "Test started.", "Test aborted.")); | ||
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| addSequential(new ConfirmTest(robot.getOI(), "Please be sure that the intake is clear and press Start to continue.", "Test started.", "Test aborted.")); | ||
| addSequential(new TestIntake(robot.getIntake(), robot.getPDP(), robot.getLights())); | ||
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| addSequential(new ConfirmTest(robot.getOI(), "Tests complete.", "Test started.", "Test aborted.")); | ||
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| } | ||
| } |
35 changes: 35 additions & 0 deletions
35
src/main/java/org/frc5687/powerup/robot/commands/testing/SelfTestBootstrapper.java
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| @@ -0,0 +1,35 @@ | ||
| package org.frc5687.powerup.robot.commands.testing; | ||
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| import edu.wpi.first.wpilibj.command.Command; | ||
| import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | ||
| import edu.wpi.first.wpilibj.command.Scheduler; | ||
| import edu.wpi.first.wpilibj.command.Scheduler; | ||
| import edu.wpi.first.wpilibj.DriverStation; | ||
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| import org.frc5687.powerup.robot.OI; | ||
| import org.frc5687.powerup.robot.Robot; | ||
| import org.frc5687.powerup.robot.subsystems.Intake; | ||
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| public class SelfTestBootstrapper extends Command { | ||
| private Robot _robot; | ||
| private boolean done = false; | ||
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| public SelfTestBootstrapper(Robot robot) { | ||
| _robot = robot; | ||
| } | ||
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| @Override | ||
| protected void execute(){ | ||
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| if(!done && !DriverStation.getInstance().isFMSAttached()){ | ||
| Scheduler.getInstance().add(new FullSelfTest(_robot)); | ||
| done = true; | ||
| } | ||
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| } | ||
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| @Override | ||
| protected boolean isFinished() { | ||
| return done; | ||
| } | ||
| } |
21 changes: 21 additions & 0 deletions
21
src/main/java/org/frc5687/powerup/robot/commands/testing/TestArm.java
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,21 @@ | ||
| package org.frc5687.powerup.robot.commands.testing; | ||
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| import edu.wpi.first.wpilibj.command.Command; | ||
| import edu.wpi.first.wpilibj.command.CommandGroup; | ||
| import org.frc5687.powerup.robot.Constants; | ||
| import org.frc5687.powerup.robot.Robot; | ||
| import org.frc5687.powerup.robot.subsystems.Arm; | ||
| import org.frc5687.powerup.robot.subsystems.Carriage; | ||
| import org.frc5687.powerup.robot.commands.testing.ArmMotorTest; | ||
| import org.frc5687.powerup.robot.commands.MoveArmToSetpointPID; | ||
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| public class TestArm extends CommandGroup{ | ||
| public TestArm(Robot robot){ | ||
| addSequential(new ArmMotorTest(robot.getArm(), robot.getCarriage())); | ||
| addSequential(new MoveArmToSetpointPID(robot.getArm(), Constants.Arm.Encoder.ENCODER_START)); | ||
| addSequential(new MoveArmToSetpointPID(robot.getArm(), Constants.Arm.Encoder.ENCODER_TOP)); | ||
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| } | ||
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| } |
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