Merge branch 'controller-docs' of

DriverStationComputer · DriverStationComputer · commit 17eb98faeeec · 2018-03-08T19:51:54.000-08:00
https://github.com/Gabe-Mitnick/RobotCode2018.git into vel-pid-2 Conflicts: Robot2018/src/org/usfirst/frc/team199/Robot2018/OI.java docs/controllers.txt
diff --git a/Robot2018/src/org/usfirst/frc/team199/Robot2018/OI.java b/Robot2018/src/org/usfirst/frc/team199/Robot2018/OI.java
@@ -11,7 +11,7 @@
 import org.usfirst.frc.team199.Robot2018.commands.FindTurnTimeConstant;
 import org.usfirst.frc.team199.Robot2018.commands.IntakeCube;
 import org.usfirst.frc.team199.Robot2018.commands.OpenIntake;
-import org.usfirst.frc.team199.Robot2018.commands.OutakeCube;
+import org.usfirst.frc.team199.Robot2018.commands.OuttakeCube;
 import org.usfirst.frc.team199.Robot2018.commands.PIDMove;
 import org.usfirst.frc.team199.Robot2018.commands.PIDTurn;
 import org.usfirst.frc.team199.Robot2018.commands.ResetEncoders;
@@ -43,24 +43,24 @@ public class OI {
 	private JoystickButton shiftLowGearButton;
 	private JoystickButton shiftHighGearButton;
 	private JoystickButton shiftDriveTypeButton;
-	private JoystickButton PIDMoveButton;
-	private JoystickButton PIDTurnButton;
+	private JoystickButton pIDMoveButton;
+	private JoystickButton pIDTurnButton;
 	private JoystickButton resetEncButton;
-	private JoystickButton MoveLiftUpButton;
-	private JoystickButton MoveLiftDownButton;
+	private JoystickButton moveLiftUpButton;
+	private JoystickButton moveLiftDownButton;
 	private JoystickButton findTurnTimeConstantButton;
 	private JoystickButton updatePIDConstantsButton;
 	private JoystickButton updateEncoderDPPButton;
 
 	public Joystick manipulator;
-	private JoystickButton closeIntake;
-	private JoystickButton openIntake;
-	private JoystickButton raiseIntake;
-	private JoystickButton lowerIntake;
-	private JoystickButton intake;
-	private JoystickButton outake;
-	private JoystickButton toggleLeftIntake;
-	private JoystickButton toggleRightIntake;
+	private JoystickButton closeIntakeButton;
+	private JoystickButton openIntakeButton;
+	private JoystickButton raiseIntakeButton;
+	private JoystickButton lowerIntakeButton;
+	private JoystickButton intakeCubeButton;
+	private JoystickButton outakeCubeButton;
+	private JoystickButton toggleLeftIntakeButton;
+	private JoystickButton toggleRightIntakeButton;
 
 	public int getButton(String key, int def) {
 		if (!SmartDashboard.containsKey("Button/" + key)) {
@@ -76,13 +76,13 @@ public OI(Robot robot) {
 		leftJoy = new Joystick(0);
 		shiftDriveTypeButton = new JoystickButton(leftJoy, getButton("Shift Drive Type", 2));
 		shiftDriveTypeButton.whenPressed(new ShiftDriveType());
-		PIDMoveButton = new JoystickButton(leftJoy, getButton("PID Move", 7));
-		PIDMoveButton
+		pIDMoveButton = new JoystickButton(leftJoy, getButton("PID Move", 7));
+		pIDMoveButton
 				.whenPressed(new PIDMove(Robot.sd.getConst("Move Targ", 24), Robot.dt, Robot.sd, RobotMap.distEncAvg));
-		PIDTurnButton = new JoystickButton(leftJoy, getButton("PID Turn", 8));
+		pIDTurnButton = new JoystickButton(leftJoy, getButton("PID Turn", 8));
 		// PIDTurnButton.whenPressed(new PIDTurn(Robot.getConst("Turn Targ", 90),
 		// Robot.dt, Robot.sd RobotMap.fancyGyro));
-		PIDTurnButton
+		pIDTurnButton
 				.whenReleased(new PIDTurn(Robot.getConst("Turn Targ", 90), Robot.dt, Robot.sd, RobotMap.fancyGyro));
 		resetEncButton = new JoystickButton(leftJoy, getButton("Reset Dist Enc", 10));
 		resetEncButton.whenPressed(new ResetEncoders());
@@ -100,33 +100,33 @@ public OI(Robot robot) {
 		updatePIDConstantsButton.whenPressed(new UpdatePIDConstants());
 		updateEncoderDPPButton = new JoystickButton(rightJoy, getButton("Get Encoder Dist Per Pulse", 9));
 		updateEncoderDPPButton.whenPressed(new SetDistancePerPulse());
-		MoveLiftUpButton = new JoystickButton(rightJoy, getButton("Run Lift Motor Up", 10));
-		MoveLiftDownButton = new JoystickButton(rightJoy, getButton("Run Lift Motor Down", 11));
-		MoveLiftUpButton.whileHeld(new RunLift(Robot.lift, true));
-		MoveLiftDownButton.whileHeld(new RunLift(Robot.lift, false));
+		moveLiftUpButton = new JoystickButton(rightJoy, getButton("Run Lift Motor Up", 10));
+		moveLiftDownButton = new JoystickButton(rightJoy, getButton("Run Lift Motor Down", 11));
+		moveLiftUpButton.whileHeld(new RunLift(Robot.lift, true));
+		moveLiftDownButton.whileHeld(new RunLift(Robot.lift, false));
 
 		manipulator = new Joystick(2);
 		if (manipulator.getButtonCount() == 0) {
 			System.out.println("Manipulator not plugged in!");
 		} else {
-			closeIntake = new JoystickButton(manipulator, getButton("Close Intake Button", 1));
-			closeIntake.whenPressed(new CloseIntake());
-			openIntake = new JoystickButton(manipulator, getButton("Open Intake Button", 2));
-			openIntake.whenPressed(new OpenIntake());
+			closeIntakeButton = new JoystickButton(manipulator, getButton("Close Intake Button", 1));
+			closeIntakeButton.whenPressed(new CloseIntake());
+			openIntakeButton = new JoystickButton(manipulator, getButton("Open Intake Button", 2));
+			openIntakeButton.whenPressed(new OpenIntake());
 			// raiseIntake = new JoystickButton(manipulator, getButton("Raise Intake
 			// Button", 3));
 			// raiseIntake.whenPressed(new RaiseIntake());
 			// lowerIntake = new JoystickButton(manipulator, getButton("Lower Intake
 			// Button", 4));
 			// lowerIntake.whenPressed(new LowerIntake());
-			intake = new JoystickButton(manipulator, getButton("Intake Button", 5));
-			intake.whenPressed(new IntakeCube());
-			outake = new JoystickButton(manipulator, getButton("Outake Button", 6));
-			outake.whenPressed(new OutakeCube());
-			toggleLeftIntake = new JoystickButton(manipulator, getButton("Toggle Left Intake Button", 3));
-			toggleLeftIntake.whenPressed(new ToggleLeftIntake());
-			toggleRightIntake = new JoystickButton(manipulator, getButton("Toggle Right Intake Button", 4));
-			toggleRightIntake.whenPressed(new ToggleRightIntake());
+			intakeCubeButton = new JoystickButton(manipulator, getButton("Intake Button", 5));
+			intakeCubeButton.whenPressed(new IntakeCube());
+			outakeCubeButton = new JoystickButton(manipulator, getButton("Outake Button", 6));
+			outakeCubeButton.whenPressed(new OuttakeCube());
+			toggleLeftIntakeButton = new JoystickButton(manipulator, getButton("Toggle Left Intake Button", 3));
+			toggleLeftIntakeButton.whenPressed(new ToggleLeftIntake());
+			toggleRightIntakeButton = new JoystickButton(manipulator, getButton("Toggle Right Intake Button", 4));
+			toggleRightIntakeButton.whenPressed(new ToggleRightIntake());
 		}
 	}
 
diff --git a/Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/OuttakeCube.java b/Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/OuttakeCube.java
@@ -8,11 +8,11 @@
 /**
  *
  */
-public class OutakeCube extends Command {
+public class OuttakeCube extends Command {
 
 	Timer tim;
 
-	public OutakeCube() {
+	public OuttakeCube() {
 		// Use requires() here to declare subsystem dependencies
 		// eg. requires(chassis);
 	}
diff --git a/Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/ResetEncoders.java b/Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/ResetEncoders.java
@@ -5,7 +5,7 @@
 import edu.wpi.first.wpilibj.command.InstantCommand;
 
 /**
- *
+ * Resets left and right drivetrain encoders to 0
  */
 public class ResetEncoders extends InstantCommand {
 
diff --git a/Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/SetDistancePerPulse.java b/Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/SetDistancePerPulse.java
@@ -5,7 +5,8 @@
 import edu.wpi.first.wpilibj.command.InstantCommand;
 
 /**
- *
+ * Sets distance per pulse for left and right drivetrain encoders from
+ * SmartDashboard "Distance Per Pulse Left" & "Distance Per Pulse Right"
  */
 public class SetDistancePerPulse extends InstantCommand {
 
diff --git a/Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/UpdatePIDConstants.java b/Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/UpdatePIDConstants.java
@@ -5,7 +5,7 @@
 import edu.wpi.first.wpilibj.command.InstantCommand;
 
 /**
- *
+ * Updates the PIDControllers' PIDConstants based on SmartDashboard values
  */
 public class UpdatePIDConstants extends InstantCommand {
 
diff --git a/docs/controllers.txt b/docs/controllers.txt
@@ -1,60 +1,59 @@
-controller indices
-	manipulator
-		buttons
-			1	A
-			2	B
-			3	X
-			4	Y
-			5	LB
-			6	RB
-			7	back
-			8	start
-			9	N/a
-			10	N/a
-		press mode to toggle mode light
-		axes
-			0	left thumbstick X axis (D-pad if mode light on)
-			1	left thumbstick Y axis (D-pad if mode light on)
-			2	left trigger
-			3	right trigger
-			4	right thumbstick X axis
-			5	right thumbstick Y axis
-				mode light off:
-		POV
-			D-pad (left joystick if mode light on)
-		rumble
-			fake news
-	left joystick
-		buttons
-			1	Slow forward-backward movement in arcade, or all movement in tank
-			2
-			3
-			4
-			5
-			6
-			7
-			8
-			9
-			10
-			11	Run expirement to find turning time constant (FindTurnTimeConstant)
-		axes
-			0	X axis
-			1	Y axis (forward is negative)
-			2	Z axis (knob at base)
-	right joystick
-		buttons
-			1	Slow turning movement in arcade, or all movement in tank
-			2
-			3
-			4
-			5
-			6
-			7
-			8
-			9
-			10
-			11
-		axes
-			0	X axis
-			1	Y axis (forward is negative)
-			2	Z axis (knob at base)
+0 left joystick
+	buttons
+		1	slow forward-backward movement in arcade, or all movement in tank
+		2	toggle drive type (arcade/tank) [ShiftDriveType]
+		3
+		4
+		5
+		6
+		7	move with PID by inches from SmartDashboard "Move Targ" [PIDMove]
+		8	turn with PID by degrees from SmartDashboard "Turn Targ" [PIDTurn]
+		9
+		10	reset left and right drivetrain encoders to 0 [ResetEncoders]
+		11	run experiment to find turning time constant (FindTurnTimeConstant)
+	axes
+		0	X axis	if NOT default: arcade turn
+		1	Y axis	tank left, arcade forward (if default)
+		2	Z axis
+1 right joystick
+	buttons
+		1	slow turning movement in arcade, or all movement in tank
+		2	shift drivetrain to low gear [ShiftLowGear]
+		3	shift drivetrain to high gear [ShiftHighGear]
+		4
+		5
+		6
+		7
+		8	update the PIDController constants with SmartDashboard values [UpdatePIDConstants]
+		9	set the left and right encoder distance per pulse with SmartDashboard values [SetDistancePerPulse]
+		10	run lift motor up [RunLift]
+		11	run lift motor down [RunLift]
+	axes
+		0	X axis	arcade turn (if default)
+		1	Y axis	tank right, if NOT default: arcade forward
+		2	Z axis
+2 manipulator
+	buttons
+		1	A	close intake [CloseIntake]
+		2	B	open intake [OpenIntake]
+		3	X	raise intake [RaiseIntake]
+		4	Y	lower intake [LowerIntake]
+		5	LB	take in [IntakeCube]
+		6	RB	take out [OuttakeCube]
+		7	back
+		8	start
+		9	N/a
+		10	N/a
+	press mode to toggle mode light
+	axes
+		0	left thumbstick X axis (D-pad if mode light on)
+		1	left thumbstick Y axis (D-pad if mode light on)
+		2	left trigger
+		3	right trigger
+		4	right thumbstick X axis
+		5	right thumbstick Y axis
+			mode light off:
+	POV
+		D-pad (left joystick if mode light on)
+	rumble
+		fake news

Original file line number	Diff line number	Diff line change
`@@ -8,11 +8,11 @@`
`8`	`8`	`/**`
`9`	`9`	`*`
`10`	`10`	`*/`
`11`		`-public class OutakeCube extends Command {`
	`11`	`+public class OuttakeCube extends Command {`
`12`	`12`
`13`	`13`	`Timer tim;`
`14`	`14`
`15`		`- public OutakeCube() {`
	`15`	`+ public OuttakeCube() {`
`16`	`16`	`// Use requires() here to declare subsystem dependencies`
`17`	`17`	`// eg. requires(chassis);`
`18`	`18`	`}`