cobracommanders/frc-2019-robot

FIRST Deep Space 2019 - Category 5 | The bot code for the FRC 2019 season

FRC-2019-Robot

This is our robot code for the 2019 FIRST Robotics Competition Season, Destination: Deep Space!

Our Team

• Katy Hochstetler - Programming Lead (4th Year) - bandgeek2031
• Jack Haehl - Programmer (4th Year) - PigInATuxedo
• Randy Pham - Programmer (4th Year) - RandyyPham
• Micah Neitz - Programmer (3rd Year) - Micalobia
• Damien Piedra - Programmer (1st Year) - DamianPX
• Kirshe Cornfield - Programmer (1st Year) - hershey2314
• Bianca Arreola - Programmer (1st Year) - YeeYee1318

Our Mentors

• Jason Barnes - Programming Mentor (since 2001) - vyrotek
• Andy Hochstetler - Programming Mentor (since 2019) - imapcgeek

frc-2019-robot's Issues

Apply FRC Team Update 4

Control System Update: An optional NI Update Suite update (2019.1.0) has been released. This update:
o contains a new roboRIO image (v13) that repairs an issue in interfacing with the Analog Devices IMU and
Gyro boards in all languages (so, updating to this new image is needed for teams working with these
sensors)
o fixes a Driver Station issue with launching Smartdashboard and Shuffleboard automatically.
• Q&A Updates: Q101 and Q146 have been revised to reflect the revision to G4 described below. Please accept
our apologies for any confusion.

See https://firstfrc.blob.core.windows.net/frc2019/Manual/TeamUpdates/TeamUpdate04.pdf for more information

Drivetrain Subsystem

The Drivetrain subsystem code should handle the following:

• implementing the motor controllers

• organize the motor controllers into speed controller groups

• implement differential drive

• drive function

• in the init default command referencing the command for manual drive

Notes:

• in the drive function use the method arcade drive from the differential drive provided by first
• the arcade drive method gives the joystick capability to control the motors

Operator Class

The Operator Class code should be able to handle the following;

• implementing the controller class

• this is just the event handling for the buttons, this class is where we can call our commands that we want our robot to do and set them to a button on the controller.

RS7 Encoder

The RS7 Encoder code should handle the following:

• implementing sensor collection from CTRE
• expose a getter for the sensor collection
• use the get Sensor Collection method
• create a method to get pulse width velocity
• create a method to get width position

Notes:

• https://www.ctr-electronics.com/downloads/api/java/html/classcom_1_1ctre_1_1phoenix_1_1motorcontrol_1_1_sensor_collection.html

Automatic Wrist Command

The Automatic Wrist Command code should handle the following:

• Making two automatic wrist commands.

• one for going up using certain set positions using the limit switches.

• the other command doing the same thing but the opposite direction.

• Set these commands to the bumpers on the operator class. 👍

Notes:

• Use enums for the set positions and keep them the same for both commands.

Controller Class

The Controller Class code should handle the following:

• implementing the joystick and joystick button provided by first

• implement the logic for the button mappings by mapping to the button ids for the xbox controller

• implement the joystick axis class to be able to create the triggers on the back of the controller and the two joysticks as buttons that can be controlled.

Notes:

• The joysticks on the controller has 2 axes for x and y.

Robot class

The Robot class code should handle the following:

• implement the driver station
• implement the operator class
• implement all the subsystems

Manual Wrist Command

The Manual Wrist Command code should handle the following:

• implementing the wrist subsystem
• in the execute function giving the wrist power

Manual Drive Command

The Manual Drive Command code should handle the following:

• implementing the operator class

• create an instance of the drivetrain to drive a certain distance and turn a certain amount of rotation.

• in the execute method implementing the logic for moving forward and back using the triggers

• in the execute method implementing the logic for rotating using the left joystick

Notes:

• In the isFinished method it should be returning false so it doesn't end the command prematurely
• In the end method it should be giving the drive 0 power.
• in the interrupted method it should be calling the end method

Remove custom lib dependencies and replace with WPI vendordeps

• Remove flatDir repo from build.gradle
• Remove compile directives for compile 'com.ctre.phoenix:wpiapi-java:5.12.1' and compile 'com.ctre.phoenix:api-java:5.12.1'
• Use WPI Manage Vendor Libraries command (in VS Code) to add vendor dependencies from this url ' "http://devsite.ctr-electronics.com/maven/release/com/ctre/phoenix/Phoenix-latest.json"
• Verify that the project still builds with the TalonSRX dependencies in place

Autonomous (for Chezy)

1. Make Grip Work with Robot's Camera

• Source > Threshold > Filter Contour > Find Contour

• Use PixyCam?

2. Extract and save Pipeline.Java to robot src code folder

3. Using the pipeline file, create a method in the vision subsystem (or any related file) that basically finds the contours.

4. In the autonomous command files, incorporate the vision subsystem and the method and in Auto Turn, "scan" for the contours using the methods.

work in progress. Good luck at Chezy's!

Adding Limit Switches to Wrist

The Wrist Code should handle the following:

• Adding two limit switches so that the wrist cant go past those points and break.

Toggle Clamps Command

The Toggle Clamps command code should handle the following:

• create this as an instant command
• implement the clamp subsystem
• in the initialize method create the logic using the setClamps method

Notes:

• You will need to use a if/else statement in the initialize method

Dependency for com.ctre.phoenix.motorcontrol.can.TalonSRX is not resolvable

Note:

• Missing jar api-java-5.12.1.jar needs to be downloaded and added to lib folder
• Add new compile dependency compile 'com.ctre.phoenix:api-java:5.12.1' to build.gradle

Drivetrain Subsystem Error

In the master branch, there is an error with the drivetrain subsystem class.
It seems #10 created this error, and some possible fixes are:

• Downloading the CTRE Toolsuite thing on each computer

• Creating a "lib" folder inside "Team498" folder.

• Moving "wpiapi-java-5.12.1" file located in
  C:\Users\Public\frc2019\maven\com\ctre\phoenix\wpiapi-java\5.12.1
  to the "lib" folder created earlier.

The "com.ctre" package cannot be resolved currently in the branch.
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;

Remove unnecessary classes from project

Affected classes:

• frc.robot.OI
• frc.robot.subsystems.ExampleSubsystem
• frc.robot.commands.ExampleCommand

Wrist Subsystem

The Wrist Subsystem code should handle the following:

• implementing the victor motor controller
• set the default command to the manaul wrist command
• creating a function to give the wrist power

Clamp Subsystem

The Clamp Subsystem code should handle the following:

• implement double solenoid
• create a set clamps method

Notes:

• The set clamps method is going to need a if/else statement.
• the parameters is going to use a boolean