Merge pull request #99 from blair-robot-project/int_hotfix

Int hotfix

Author: Noah Gleason

.gitignore

@@ -37,6 +37,7 @@ robot2017.iws
 #Other
 .metadata/
 .DS_Store
+bash.exe.stackdump
 
 #Copied log files
 logs/

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.java

@@ -76,9 +76,9 @@ public UnidirectionalNavXDefaultDrive(@JsonProperty(required = true) double abso
 	                                      double deadband,
 	                                      @Nullable Double maxAngularVelToEnterLoop,
 	                                      boolean inverted,
-	                                      int kP,
-	                                      int kI,
-	                                      int kD,
+	                                      double kP,
+	                                      double kI,
+	                                      double kD,
 	                                      @NotNull @JsonProperty(required = true) BufferTimer driveStraightLoopEntryTimer,
 	                                      @NotNull @JsonProperty(required = true) T subsystem,
 	                                      @NotNull @JsonProperty(required = true) OIUnidirectional oi) {
@@ -177,6 +177,11 @@ protected void usePIDOutput(double output) {
 			//Process the output (minimumOutput, deadband, etc.)
 			output = processPIDOutput(output);
 
+			//Deadband if we're stationary
+			if(oi.getLeftOutput() == 0 || oi.getRightOutput() == 0){
+				output=deadbandOutput(output);
+			}
+
 			//Adjust the heading according to the PID output, it'll be positive if we want to go right.
 			subsystem.setOutput(oi.getLeftOutput() - output, oi.getRightOutput() + output);
 		}

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.java

@@ -6,6 +6,7 @@
 import org.usfirst.frc.team449.robot.components.AutoshiftComponent;
 import org.usfirst.frc.team449.robot.drive.shifting.DriveShiftable;
 import org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectional;
+import org.usfirst.frc.team449.robot.generalInterfaces.shiftable.Shiftable;
 import org.usfirst.frc.team449.robot.jacksonWrappers.YamlSubsystem;
 import org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional;
 import org.usfirst.frc.team449.robot.other.BufferTimer;
@@ -32,6 +33,11 @@ public class UnidirectionalNavXShiftingDefaultDrive<T extends YamlSubsystem & Dr
 	@NotNull
 	protected final AutoshiftComponent autoshiftComponent;
 
+	/**
+	 * The coefficient to multiply the loop output by in high gear.
+	 */
+	private final double highGearAngularCoefficient;
+
 	/**
 	 * Default constructor
 	 *
@@ -55,6 +61,7 @@ public class UnidirectionalNavXShiftingDefaultDrive<T extends YamlSubsystem & Dr
 	 * @param subsystem                   The drive to execute this command on.
 	 * @param oi                          The OI controlling the robot.
 	 * @param autoshiftComponent          The helper object for autoshifting.
+	 * @param highGearAngularCoefficient The coefficient to multiply the loop output by in high gear. Defaults to 1.
 	 */
 	@JsonCreator
 	public UnidirectionalNavXShiftingDefaultDrive(@JsonProperty(required = true) double absoluteTolerance,
@@ -63,17 +70,19 @@ public UnidirectionalNavXShiftingDefaultDrive(@JsonProperty(required = true) dou
 	                                              double deadband,
 	                                              @Nullable Double maxAngularVelToEnterLoop,
 	                                              boolean inverted,
-	                                              int kP,
-	                                              int kI,
-	                                              int kD,
+	                                              double kP,
+	                                              double kI,
+	                                              double kD,
 	                                              @NotNull @JsonProperty(required = true) BufferTimer driveStraightLoopEntryTimer,
 	                                              @NotNull @JsonProperty(required = true) T subsystem,
 	                                              @NotNull @JsonProperty(required = true) OIUnidirectional oi,
-	                                              @NotNull @JsonProperty(required = true) AutoshiftComponent autoshiftComponent) {
+	                                              @NotNull @JsonProperty(required = true) AutoshiftComponent autoshiftComponent,
+	                                              Double highGearAngularCoefficient) {
 		super(absoluteTolerance, toleranceBuffer, minimumOutput, maximumOutput, deadband, maxAngularVelToEnterLoop,
 				inverted, kP, kI, kD, driveStraightLoopEntryTimer, subsystem, oi);
 		this.autoshiftComponent = autoshiftComponent;
 		this.subsystem = subsystem;
+		this.highGearAngularCoefficient = highGearAngularCoefficient != null ? highGearAngularCoefficient : 1;
 	}
 
 	/**
@@ -105,4 +114,14 @@ protected void interrupted() {
 		Logger.addEvent("ShiftingUnidirectionalNavXArcadeDrive Interrupted! Stopping the robot.", this.getClass());
 		subsystem.fullStop();
 	}
+
+	/**
+	 * Give the correct output to the motors based on whether we're in free drive or drive straight.
+	 *
+	 * @param output The output of the angular PID loop.
+	 */
+	@Override
+	protected void usePIDOutput(double output) {
+		super.usePIDOutput(output * (subsystem.getGear() == Shiftable.gear.HIGH.getNumVal() ? highGearAngularCoefficient : 1));
+	}
 }

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/drive/unidirectional/DriveTalonCluster.java

@@ -196,6 +196,8 @@ public String[] getHeader() {
 				"right_voltage",
 				"left_pos",
 				"right_pos",
+				"left_error",
+				"right_error",
 				"raw_angle"};
 	}
 
@@ -217,6 +219,8 @@ public Object[] getData() {
 				rightMaster.getOutputVoltage(),
 				leftMaster.getPositionFeet(),
 				rightMaster.getPositionFeet(),
+				leftMaster.getError(),
+				rightMaster.getError(),
 				navX.getAngle()};
 	}
 

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/FPSTalon.java

@@ -98,7 +98,6 @@ public class FPSTalon implements SimpleMotor, Shiftable {
 	 * Default constructor.
 	 *
 	 * @param port                       CAN port of this Talon.
-	 * @param inverted                   Whether this Talon is inverted.
 	 * @param reverseOutput              Whether to reverse the output (identical effect to inverting outside of
 	 *                                   position PID)
 	 * @param enableBrakeMode            Whether to brake or coast when stopped.
@@ -136,7 +135,6 @@ public class FPSTalon implements SimpleMotor, Shiftable {
 	 */
 	@JsonCreator
 	public FPSTalon(@JsonProperty(required = true) int port,
-	                @JsonProperty(required = true) boolean inverted,
 	                boolean reverseOutput,
 	                @JsonProperty(required = true) boolean enableBrakeMode,
 	                @Nullable Boolean fwdLimitSwitchNormallyOpen,
@@ -160,8 +158,8 @@ public FPSTalon(@JsonProperty(required = true) int port,
 		canTalon = new CANTalon(port);
 		//Set this to false because we only use reverseOutput for slaves.
 		canTalon.reverseOutput(reverseOutput);
-		//Set inversion
-		canTalon.setInverted(inverted);
+		//NO TOUCHY
+		canTalon.setInverted(false);
 		//Set brake mode
 		canTalon.enableBrakeMode(enableBrakeMode);
 
@@ -559,7 +557,7 @@ public void setGearScaledVelocity(double velocity, Shiftable.gear gear) {
 	 * @return the position of the talon in feet, or null of inches per rotation wasn't given.
 	 */
 	public Double getPositionFeet() {
-		return encoderToFeet(canTalon.getEncPosition());
+		return encoderToFeet(canTalon.getPosition());
 	}
 
 	/**

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/interfaces/navX/commands/PIDAngleCommand.java

@@ -99,7 +99,7 @@ public PIDAngleCommand(@JsonProperty(required = true) double absoluteTolerance,
 	}
 
 	/**
-	 * Process the output of the PID loop to account for minimum output, deadband, and inversion.
+	 * Process the output of the PID loop to account for minimum output and inversion.
 	 *
 	 * @param output The output from the WPILib angular PID loop.
 	 * @return The processed output, ready to be subtracted from the left side of the drive output and added to the
@@ -112,17 +112,23 @@ protected double processPIDOutput(double output) {
 		} else if (output < 0 && output > -minimumOutput) {
 			output = -minimumOutput;
 		}
-		//Set the output to 0 if we're within the deadband.
-		if (Math.abs(this.getPIDController().getError()) < deadband) {
-			output = 0;
-		}
 		if (inverted) {
 			output *= -1;
 		}
 
 		return output;
 	}
 
+	/**
+	 * Deadband the output of the PID loop.
+	 *
+	 * @param output The output from the WPILib angular PID loop.
+	 * @return That output after being deadbanded with the map-given deadband.
+	 */
+	protected double deadbandOutput(double output){
+		return this.getPIDController().getError() > deadband ? output : 0;
+	}
+
 	/**
 	 * Returns the input for the pid loop. <p> It returns the input for the pid loop, so if this command was based off
 	 * of a gyro, then it should return the angle of the gyro </p> <p> All subclasses of {@link PIDCommand} must

RoboRIO/src/main/resources/calcifer_map.yml

@@ -113,7 +113,6 @@ drive:
                 &leftMaster
                 '@id': leftMaster
                 port: 7
-                inverted: false
                 reverseOutput: true
                 enableBrakeMode: false
                 feetPerRotation: 0.9817
@@ -128,7 +127,7 @@ drive:
                       fwdPeakOutputVoltage: 12
                       fwdNominalOutputVoltage: 0.7
                       maxSpeed: 6.2
-                      kP: 0.3
+                      kP: 0.5
                       kI: 0.0
                       kD: 0.0
                       motionProfileP: 1.5
@@ -141,7 +140,6 @@ drive:
                       kP: 0.7
                       kI: 0.0
                       kD: 3.0
-                maxClosedLoopVoltage: 12
                 updaterProcessPeriodSecs: 0.005
                 minNumPointsInBottomBuffer: 10
                 slaves:
@@ -155,7 +153,6 @@ drive:
             org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon:
                 <<: *leftMaster
                 '@id': rightMaster
-                inverted: false
                 reverseSensor: true
                 reverseOutput: false
                 port: 2
@@ -191,12 +188,12 @@ defaultDriveCommand:
         kP: 0.012
         kI: 0.0
         kD: 0.0
-        absoluteTolerance: 1
-        maximumOutput: 0.33333
+        absoluteTolerance: 0
         toleranceBuffer: 25
         deadband: 2
         maxAngularVelToEnterLoop: 0.05
         inverted: true
+        highGearAngularCoefficient: 2
         driveStraightLoopEntryTimer:
             '@id': driveStraightLoopEntryTimer
             bufferTimeSeconds: 0.15
@@ -224,7 +221,6 @@ climber:
             org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon:
                 '@id': climberTalon
                 port: 5
-                inverted: false
                 enableBrakeMode: false
         maxPower: 500
         simpleMotor:

docs/allclasses-frame.html

@@ -2,10 +2,10 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (9) on Fri Oct 06 23:23:54 EDT 2017 -->
+<!-- Generated by javadoc (9) on Sat Oct 07 23:03:52 EDT 2017 -->
 <title>All Classes (RoboRIO 1.0 API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="date" content="2017-10-06">
+<meta name="date" content="2017-10-07">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="jquery/jquery-ui.css" title="Style">
 <script type="text/javascript" src="script.js"></script>

docs/allclasses-noframe.html

@@ -2,10 +2,10 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (9) on Fri Oct 06 23:23:54 EDT 2017 -->
+<!-- Generated by javadoc (9) on Sat Oct 07 23:03:52 EDT 2017 -->
 <title>All Classes (RoboRIO 1.0 API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="date" content="2017-10-06">
+<meta name="date" content="2017-10-07">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="jquery/jquery-ui.css" title="Style">
 <script type="text/javascript" src="script.js"></script>

docs/constant-values.html

@@ -2,10 +2,10 @@
 <!-- NewPage -->
 <html lang="en">
 <head>
-<!-- Generated by javadoc (9) on Fri Oct 06 23:23:54 EDT 2017 -->
+<!-- Generated by javadoc (9) on Sat Oct 07 23:03:51 EDT 2017 -->
 <title>Constant Field Values (RoboRIO 1.0 API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="date" content="2017-10-06">
+<meta name="date" content="2017-10-07">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="jquery/jquery-ui.css" title="Style">
 <script type="text/javascript" src="script.js"></script>