Merge pull request #60 from blair-robot-project/whitman_merge

Whitman merge

Author: rytse

build.gradle

@@ -67,7 +67,7 @@ protobuf {
 			// options.  Note the braces cannot be omitted, otherwise the
 			// plugin will not be added. This is because of the implicit way
 			// NamedDomainObjectContainer binds the methods.
-			grpc { }
+			grpc {}
 		}
 	}
 }
@@ -82,7 +82,7 @@ idea {
 	}
 }
 
-task convertFiles{
+task convertFiles {
 	doLast {
 		fileTree("./src/main/resources").matching { include "*" }.each { aFile ->
 			exec {
@@ -94,14 +94,16 @@ task convertFiles{
 }
 
 frc {
-	//deployers += [to: "/home/lvuser/map.cfg", from: './src/main/resources/map.cfg']
-	//deployers += [to: "/home/lvuser/profile.csv", from: './src/main/resources/profile.csv']
+//	deployers += [to: "/home/lvuser/map.cfg", from: './src/main/resources/map.cfg']
+//	deployers += [to: "/home/lvuser/profile.csv", from: './src/main/resources/profile.csv']
+//	deployers += [to: "/home/lvuser/profile.csv", from: './src/main/resources/profile.csv']
 	team = '449'
 	robotClass = "org.usfirst.frc.team449.robot.Robot"
 }
 
 wpi {
-	wpilibVersion = "+"                   // The WPILib version to use. For this version of GradleRIO, must be a 2017 version
+	wpilibVersion = "+"
+	// The WPILib version to use. For this version of GradleRIO, must be a 2017 version
 	ntcoreVersion = "+"                   // The NetworkTables Core version to use.
 	opencvVersion = "+"                   // The OpenCV version to use
 	cscoreVersion = "+"                   // The CSCore version to use
@@ -124,7 +126,7 @@ task genJavadoc(type: Jar, dependsOn: javadoc) {
 	from javadoc.destinationDir
 }
 
-task('copyResources', dependsOn: convertFiles){
+task('copyResources', dependsOn: convertFiles) {
 	doLast {
 		ssh.run {
 			session(remotes.rio) {

gradle/wrapper/gradle-wrapper.jar

@@ -1,6 +1,6 @@
-#Wed Feb 15 17:39:11 EST 2017
+#Tue Mar 07 16:17:41 EST 2017
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-3.3-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-3.3-all.zip

gradle/wrapper/gradle-wrapper.properties

@@ -14,7 +14,7 @@ public abstract class ReferencingCommandGroup extends CommandGroup {
 	/**
 	 * Subsystem to reference to
 	 */
-	MappedSubsystem subsystem;
+	private MappedSubsystem subsystem;
 
 	/**
 	 * Instantiate the ReferencingCommandGroup

src/main/java/org/usfirst/frc/team449/robot/ReferencingCommandGroup.java

@@ -3,13 +3,18 @@
 import edu.wpi.first.wpilibj.Compressor;
 import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.command.Scheduler;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import maps.org.usfirst.frc.team449.robot.Robot2017Map;
 import org.usfirst.frc.team449.robot.drive.talonCluster.TalonClusterDrive;
+import org.usfirst.frc.team449.robot.drive.talonCluster.commands.DefaultArcadeDrive;
+import org.usfirst.frc.team449.robot.drive.talonCluster.commands.ExecuteProfile;
 import org.usfirst.frc.team449.robot.drive.talonCluster.commands.PIDTest;
 import org.usfirst.frc.team449.robot.drive.talonCluster.commands.SwitchToLowGear;
 import org.usfirst.frc.team449.robot.mechanism.climber.ClimberSubsystem;
 import org.usfirst.frc.team449.robot.mechanism.feeder.FeederSubsystem;
 import org.usfirst.frc.team449.robot.mechanism.intake.Intake2017.Intake2017;
+import org.usfirst.frc.team449.robot.mechanism.intake.Intake2017.commands.updown.IntakeUp;
+import org.usfirst.frc.team449.robot.mechanism.intake.IntakeSubsystem;
 import org.usfirst.frc.team449.robot.mechanism.pneumatics.PneumaticsSubsystem;
 import org.usfirst.frc.team449.robot.mechanism.singleflywheelshooter.SingleFlywheelShooter;
 import org.usfirst.frc.team449.robot.oi.OI2017ArcadeGamepad;
@@ -18,111 +23,180 @@
 import java.io.IOException;
 
 /**
- * Created by BlairRobot on 2017-01-08.
+ * The main class of the robot, constructs all the subsystems and initializes default commands.
  */
 public class Robot extends IterativeRobot {
 
+	/**
+	 * The shooter subsystem (flywheel only)
+	 */
 	public static SingleFlywheelShooter singleFlywheelShooterSubsystem;
 
+	/**
+	 * The intake subsystem (intake motors and pistons)
+	 */
 	public static Intake2017 intakeSubsystem;
 
+	/**
+	 *The climber
+	 */
 	public static ClimberSubsystem climberSubsystem;
 
+	/**
+	 *The pneumatics (maybe doesn't work?)
+	 */
 	public static PneumaticsSubsystem pneumaticsSubsystem;
 
+	/**
+	 *The drive
+	 */
 	public static TalonClusterDrive driveSubsystem;
 
+	/**
+	 * OI, using an Xbox-style controller and arcade drive.
+	 */
 	public static OI2017ArcadeGamepad oiSubsystem;
 
+	/**
+	 * The cameras on the robot and the code to stream them to SmartDashboard (NOT computer vision!)
+	 */
 	public static CameraSubsystem cameraSubsystem;
 
+	/**
+	 * The auger used to feed balls into the shooter.
+	 */
 	public static FeederSubsystem feederSubsystem;
 
-	private static maps.org.usfirst.frc.team449.robot.Robot2017Map.Robot2017 cfg;
+	/**
+	 * The object constructed directly from map.cfg.
+	 * */
+	private static Robot2017Map.Robot2017 cfg;
 
+	/**
+	 * The method that runs when the robot is turned on. Initializes all subsystems from the map.
+	 */
 	public void robotInit() {
-		System.out.println("Started robotInit");
+		System.out.println("Started robotInit.");
+
 		try {
+			//Try to construct map from the cfg file
 			//cfg = (Robot2017Map.Robot2017) MappedSubsystem.readConfig("/home/lvuser/449_resources/balbasaur_map.cfg",
-			cfg = (Robot2017Map.Robot2017) MappedSubsystem.readConfig("/home/lvuser/449_resources/final_map.cfg",
-			//cfg = (Robot2017Map.Robot2017) MappedSubsystem.readConfig("/home/lvuser/449_resources/final_map_only_drive.cfg",
+			//cfg = (Robot2017Map.Robot2017) MappedSubsystem.readConfig("/home/lvuser/449_resources/final_map.cfg",
+			cfg = (Robot2017Map.Robot2017) MappedSubsystem.readConfig("/home/lvuser/449_resources/fancy_map.cfg",
 					Robot2017Map.Robot2017.newBuilder());
 		} catch (IOException e) {
+			//This is either the map file not being in the file system OR it being improperly formatted.
 			System.out.println("Config file is bad/nonexistent!");
 			e.printStackTrace();
 		}
 
+		//Construct the OI (has to be done first because other subsystems take the OI as an argument.)
 		oiSubsystem = new OI2017ArcadeGamepad(cfg.getArcadeOi());
 		System.out.println("Constructed OI");
 
+		//Construct the drive (not in a if block because you kind of need it.)
 		driveSubsystem = new TalonClusterDrive(cfg.getDrive(), oiSubsystem);
 		System.out.println("Constructed Drive");
 
+		//Construct camera if it's in the map.
 		if (cfg.hasCamera()) {
 			cameraSubsystem = new CameraSubsystem(cfg.getCamera());
 		}
 
+		//Construct climber if it's in the map.
 		if (cfg.hasClimber()) {
 			climberSubsystem = new ClimberSubsystem(cfg.getClimber());
 		}
 
+		//Construct shooter if it's in the map.
 		if (cfg.hasShooter()) {
 			singleFlywheelShooterSubsystem = new SingleFlywheelShooter(cfg.getShooter());
 			System.out.println("Constructed SingleFlywheelShooter");
 		}
 
-//		pneumaticsSubsystem = new PneumaticsSubsystem(cfg.getPneumatics());
-// 		System.out.println("Constructed PneumaticsSubsystem");
-
+		//Construct pneumatics if it's in the map.
 		if (cfg.hasPneumatics()) {
 			pneumaticsSubsystem = new PneumaticsSubsystem(cfg.getPneumatics());
 			System.out.println("Constructed PneumaticsSubsystem");
 		}
 
+		//Construct intake if it's in the map.
 		if (cfg.hasIntake()) {
 			intakeSubsystem = new Intake2017(cfg.getIntake());
 		}
 
-		if (cfg.hasFeeder()){
+		//Construct feeder if it's in the map.
+		if (cfg.hasFeeder()) {
 			feederSubsystem = new FeederSubsystem(cfg.getFeeder());
 		}
 
+		//Map the buttons (has to be done last because all the subsystems need to have been instantiated.)
 		oiSubsystem.mapButtons();
 		System.out.println("Mapped buttons");
 
+		//Activate the compressor if its module number is in the map.
 		if (cfg.hasModule()) {
 			Compressor compressor = new Compressor(cfg.getModule());
 			compressor.setClosedLoopControl(true);
 			compressor.start();
 		}
 	}
 
+	/**
+	 * Run when we first enable in teleop.
+	 */
 	@Override
 	public void teleopInit() {
-//		if (driveSubsystem.shifter != null) {
-//			Scheduler.getInstance().add(new SwitchToHighGear(driveSubsystem));
-//		}
+		//Stop the drive for safety reasons
+		driveSubsystem.setVBusThrottle(0, 0);
 
-		driveSubsystem.setDefaultThrottle(0, 0);
+		driveSubsystem.leftMaster.canTalon.enable();
+		driveSubsystem.rightMaster.canTalon.enable();
 
-		if (driveSubsystem.shifter != null){
+		//Switch to low gear if we have gears
+		if (driveSubsystem.shifter != null) {
 			Scheduler.getInstance().add(new SwitchToLowGear(driveSubsystem));
 		}
+
+		if (intakeSubsystem != null) {
+			Scheduler.getInstance().add(new IntakeUp(intakeSubsystem));
+		}
+
+//		Scheduler.getInstance().add(new DefaultArcadeDrive(driveSubsystem.straightPID, driveSubsystem, oiSubsystem));
 	}
 
+	/**
+	 * Run every tick in teleop.
+	 */
 	@Override
 	public void teleopPeriodic() {
+		//Run all commands. This is a WPILib thing you don't really have to worry about.
 		Scheduler.getInstance().run();
 	}
 
+	/**
+	 * Run when we first enable in autonomous
+	 */
 	@Override
 	public void autonomousInit() {
-		driveSubsystem.setDefaultThrottle(0, 0);
+		//Set throttle to 0 for safety reasons
+		if (driveSubsystem.shifter != null) {
+			Scheduler.getInstance().add(new SwitchToLowGear(driveSubsystem));
+		}
+		driveSubsystem.leftMaster.canTalon.enable();
+		driveSubsystem.rightMaster.canTalon.enable();
+		driveSubsystem.setVBusThrottle(0, 0);
 		Scheduler.getInstance().add(new PIDTest(driveSubsystem));
+//		Scheduler.getInstance().add(new ExecuteProfile(driveSubsystem));
 	}
 
+	/**
+	 * Runs every tick in autonomous.
+	 */
 	@Override
 	public void autonomousPeriodic() {
+		//Run all commands. This is a WPILib thing you don't really have to worry about.
 		Scheduler.getInstance().run();
+		SmartDashboard.putNumber("Heading", driveSubsystem.getGyroOutput());
 	}
 }

src/main/java/org/usfirst/frc/team449/robot/Robot.java

@@ -4,5 +4,10 @@
  * A subsystem that has a NavX on it.
  */
 public interface NavxSubsystem {
+	/**
+	 * Get the output of the NavX
+	 *
+	 * @return The heading, on a scale of -180 to 180.
+	 */
 	double getGyroOutput();
 }