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Commit 3d0494a

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lhmcgannlhmcgann
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Merge pull request #107 from DriverStationComputer/sfr-reversable-DT
All SFR changes and working code
2 parents 92ecf84 + 1838d1d commit 3d0494a

31 files changed

+1315
-1438
lines changed

‎AAAScripts/scripts.txt‎

Lines changed: 8 additions & 12 deletions
Original file line numberDiff line numberDiff line change
@@ -9,15 +9,14 @@ moveto (0,120) #Drive past auto line
99
RRxx:
1010
moveto (0,155)
1111
turn -90
12-
move 10
1312
switch
1413

1514
RLxx:
1615
move 56
1716
turn -90
1817
move 170
1918
turn 90
20-
move 35
19+
move 25
2120
switch
2221

2322

@@ -35,7 +34,6 @@ exchange
3534
RRxE:
3635
moveto (0,155)
3736
turn -90
38-
move 12
3937
switch
4038
turn -90
4139
move 105
@@ -55,7 +53,7 @@ move 56
5553
turn -90
5654
move 170
5755
turn 90
58-
move 35
56+
move 25
5957
switch
6058
move -40
6159
turn 90
@@ -80,15 +78,14 @@ moveto (0, 120) #Drive past auto line
8078
LLxx:
8179
move 150
8280
turn 90
83-
move 12
8481
switch
8582

8683
LRxx:
8784
move 56
8885
turn 90
8986
move 170
9087
turn -90
91-
move 35
88+
move 25
9289
switch
9390

9491

@@ -106,7 +103,6 @@ exchange
106103
LLxE:
107104
move 150
108105
turn 90
109-
move 12
110106
switch
111107
turn 90
112108
move 95
@@ -126,7 +122,7 @@ move 56
126122
turn 90
127123
move 170
128124
turn -90
129-
move 35
125+
move 25
130126
switch
131127
move -40
132128
turn -90
@@ -148,17 +144,17 @@ moveto (0,50) (48,50) (48,92) #cross baseline
148144

149145
# Switch
150146
CRxx:
151-
moveto (0,50) (48,50) (48,95)
147+
moveto (0,50) (48,50) (48,85)
152148
switch #deploy switch
153149

154150
CLxx:
155-
moveto (0,50) (-56,50) (-56,95)
151+
moveto (0,50) (-56,50) (-56,85)
156152
switch #deploy switch
157153

158154

159155
# Switch and Exchange
160156
CRxE:
161-
moveto (0,50) (48,50) (48,95)
157+
moveto (0,50) (48,50) (48,85)
162158
switch #deploy switch
163159
move -48 # 3 feet back
164160
turn -90
@@ -173,7 +169,7 @@ exchange
173169

174170

175171
CLxE:
176-
moveto (0,50) (-56,50) (-56,95)
172+
moveto (0,50) (-56,50) (-56,85)
177173
switch #deploy switch
178174
move -48 # 3 feet back
179175
turn 90

‎CompSD.xml‎

Lines changed: 259 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,259 @@
1+
<xml version="1.0">
2+
<dashboard>
3+
<widget field="DT is Inverted" type="Boolean" class="edu.wpi.first.smartdashboard.gui.elements.BooleanBox">
4+
<location x="11" y="110"/>
5+
<width>118</width>
6+
<height>59</height>
7+
</widget>
8+
<widget field="Has Cube" type="Boolean" class="edu.wpi.first.smartdashboard.gui.elements.BooleanBox">
9+
<location x="697" y="463"/>
10+
<width>96</width>
11+
<height>30</height>
12+
</widget>
13+
<widget field="Arcade Drive" type="Boolean" class="edu.wpi.first.smartdashboard.gui.elements.BooleanBox">
14+
<location x="7" y="60"/>
15+
<width>113</width>
16+
<height>44</height>
17+
</widget>
18+
<static-widget class="edu.wpi.first.smartdashboard.gui.elements.CameraServerViewer">
19+
<location x="783" y="0"/>
20+
<width>571</width>
21+
<height>448</height>
22+
<property name="Camera Choice" value="USB Camera 1"/>
23+
</static-widget>
24+
<static-widget class="edu.wpi.first.smartdashboard.gui.elements.CameraServerViewer">
25+
<location x="191" y="7"/>
26+
<width>586</width>
27+
<height>438</height>
28+
<property name="Degrees Rotation" value="180"/>
29+
<property name="Camera Choice" value=""/>
30+
</static-widget>
31+
<widget field="Move PID Error" type="Number" class="edu.wpi.first.smartdashboard.gui.elements.TextBox">
32+
<location x="173" y="661"/>
33+
</widget>
34+
<widget field="Move PID Result" type="Number" class="edu.wpi.first.smartdashboard.gui.elements.TextBox">
35+
<location x="173" y="640"/>
36+
</widget>
37+
<widget field="Turn PID Error" type="Number" class="edu.wpi.first.smartdashboard.gui.elements.TextBox">
38+
<location x="178" y="619"/>
39+
</widget>
40+
<widget field="Turn PID Result" type="Number" class="edu.wpi.first.smartdashboard.gui.elements.TextBox">
41+
<location x="0" y="661"/>
42+
</widget>
43+
<widget field="Move PID Output" type="Number" class="edu.wpi.first.smartdashboard.gui.elements.TextBox">
44+
<location x="0" y="640"/>
45+
</widget>
46+
<widget field="Left Solenoid Open" type="Boolean" class="edu.wpi.first.smartdashboard.gui.elements.TextBox">
47+
<location x="0" y="619"/>
48+
</widget>
49+
<widget field="Angle" type="Number" class="edu.wpi.first.smartdashboard.gui.elements.TextBox">
50+
<location x="333" y="503"/>
51+
</widget>
52+
<widget field="Right PID Controller" type="PIDController" class="edu.wpi.first.smartdashboard.gui.elements.PIDEditor">
53+
<location x="153" y="462"/>
54+
</widget>
55+
<widget field="Left PID Controller" type="PIDController" class="edu.wpi.first.smartdashboard.gui.elements.PIDEditor">
56+
<location x="0" y="462"/>
57+
</widget>
58+
<widget field="Intake Current Right" type="Number" class="edu.wpi.first.smartdashboard.gui.elements.TextBox">
59+
<location x="431" y="526"/>
60+
</widget>
61+
<widget field="Intake Current Left" type="Number" class="edu.wpi.first.smartdashboard.gui.elements.TextBox">
62+
<location x="435" y="504"/>
63+
</widget>
64+
<widget field="Left Current draw" type="Number" class="edu.wpi.first.smartdashboard.gui.elements.TextBox">
65+
<location x="482" y="581"/>
66+
</widget>
67+
<static-widget class="edu.wpi.first.smartdashboard.gui.elements.RobotPreferences">
68+
<location x="875" y="450"/>
69+
</static-widget>
70+
<widget field="Intake Open" type="Boolean" class="edu.wpi.first.smartdashboard.gui.elements.TextBox">
71+
<location x="487" y="556"/>
72+
</widget>
73+
<widget field="Right Solenoid Open" type="Boolean" class="edu.wpi.first.smartdashboard.gui.elements.TextBox">
74+
<location x="478" y="614"/>
75+
</widget>
76+
<widget field="Right Current draw" type="Number" class="edu.wpi.first.smartdashboard.gui.elements.TextBox">
77+
<location x="493" y="601"/>
78+
</widget>
79+
<widget field="High Gear" type="Boolean" class="edu.wpi.first.smartdashboard.gui.elements.BooleanBox">
80+
<location x="6" y="175"/>
81+
<width>105</width>
82+
<height>53</height>
83+
</widget>
84+
<widget field="LR" type="String Chooser" class="edu.wpi.first.smartdashboard.gui.elements.Chooser">
85+
<location x="31" y="2"/>
86+
</widget>
87+
<widget field="LL" type="String Chooser" class="edu.wpi.first.smartdashboard.gui.elements.Chooser">
88+
<location x="16" y="12"/>
89+
</widget>
90+
<widget field="RR" type="String Chooser" class="edu.wpi.first.smartdashboard.gui.elements.Chooser">
91+
<location x="4" y="11"/>
92+
</widget>
93+
<widget field="Starting Position" type="String Chooser" class="edu.wpi.first.smartdashboard.gui.elements.Chooser">
94+
<location x="11" y="16"/>
95+
</widget>
96+
<widget field="RL" type="String Chooser" class="edu.wpi.first.smartdashboard.gui.elements.Chooser">
97+
<location x="13" y="30"/>
98+
</widget>
99+
<widget field="Turn PID" type="PIDController" class="edu.wpi.first.smartdashboard.gui.elements.PIDEditor">
100+
<location x="1216" y="484"/>
101+
</widget>
102+
<widget field="PIDController[2]" type="PIDController" class="edu.wpi.first.smartdashboard.gui.elements.PIDEditor">
103+
<location x="705" y="516"/>
104+
</widget>
105+
<widget field="Move PID" type="PIDController" class="edu.wpi.first.smartdashboard.gui.elements.PIDEditor">
106+
<location x="360" y="529"/>
107+
</widget>
108+
<widget field="Auto Delay" type="Number" class="edu.wpi.first.smartdashboard.gui.elements.TextBox">
109+
<location x="450" y="469"/>
110+
</widget>
111+
<widget field="Turn PID Output" type="Number" class="edu.wpi.first.smartdashboard.gui.elements.TextBox">
112+
<location x="208" y="542"/>
113+
</widget>
114+
<widget field="VPID Right kP" type="Number" class="edu.wpi.first.smartdashboard.gui.elements.TextBox">
115+
<location x="25" y="1"/>
116+
</widget>
117+
<widget field="VPID Right kI" type="Number" class="edu.wpi.first.smartdashboard.gui.elements.TextBox">
118+
<location x="337" y="485"/>
119+
</widget>
120+
<widget field="VPID Left kP" type="Number" class="edu.wpi.first.smartdashboard.gui.elements.TextBox">
121+
<location x="28" y="19"/>
122+
</widget>
123+
<widget field="VPID Left kI" type="Number" class="edu.wpi.first.smartdashboard.gui.elements.TextBox">
124+
<location x="14" y="31"/>
125+
</widget>
126+
<widget field="VPID kF" type="Number" class="edu.wpi.first.smartdashboard.gui.elements.TextBox">
127+
<location x="24" y="25"/>
128+
</widget>
129+
</dashboard>
130+
<live-window>
131+
<widget field="Drivetrain" type="LW Subsystem" class="edu.wpi.first.smartdashboard.livewindow.elements.LWSubsystem">
132+
<location x="7" y="6"/>
133+
</widget>
134+
<widget field="ClimberAssist" type="LW Subsystem" class="edu.wpi.first.smartdashboard.livewindow.elements.LWSubsystem">
135+
<location x="21" y="22"/>
136+
</widget>
137+
<widget field="IntakeEject" type="LW Subsystem" class="edu.wpi.first.smartdashboard.livewindow.elements.LWSubsystem">
138+
<location x="18" y="28"/>
139+
</widget>
140+
<widget field="Lift" type="LW Subsystem" class="edu.wpi.first.smartdashboard.livewindow.elements.LWSubsystem">
141+
<widget field="PIDController" type="PIDController" class="edu.wpi.first.smartdashboard.gui.elements.PIDEditor">
142+
<location x="6" y="16"/>
143+
<height>156</height>
144+
<width>293</width>
145+
</widget>
146+
<widget field="Encoder" type="Quadrature Encoder" class="edu.wpi.first.smartdashboard.livewindow.elements.EncoderDisplay">
147+
<location x="6" y="172"/>
148+
<height>98</height>
149+
<width>293</width>
150+
</widget>
151+
<widget field="CIM Motor" type="Speed Controller" class="edu.wpi.first.smartdashboard.livewindow.elements.SpeedController">
152+
<location x="6" y="270"/>
153+
<height>46</height>
154+
<width>293</width>
155+
</widget>
156+
<location x="24" y="18"/>
157+
<width>305</width>
158+
<height>323</height>
159+
</widget>
160+
<widget field="Climber" type="LW Subsystem" class="edu.wpi.first.smartdashboard.livewindow.elements.LWSubsystem">
161+
<location x="5" y="16"/>
162+
</widget>
163+
<widget field="Ungrouped" type="LW Subsystem" class="edu.wpi.first.smartdashboard.livewindow.elements.LWSubsystem">
164+
<widget field="Encoder[1]" type="Quadrature Encoder" class="edu.wpi.first.smartdashboard.livewindow.elements.EncoderDisplay">
165+
<location x="6" y="16"/>
166+
<height>98</height>
167+
<width>326</width>
168+
</widget>
169+
<widget field="DoubleSolenoid[0,2]" type="Double Solenoid" class="edu.wpi.first.smartdashboard.livewindow.elements.RelayController">
170+
<location x="6" y="114"/>
171+
<height>20</height>
172+
<width>326</width>
173+
</widget>
174+
<widget field="DigitalInput[0]" type="Digital Input" class="edu.wpi.first.smartdashboard.livewindow.elements.DigitalInputDisplay">
175+
<location x="6" y="134"/>
176+
<height>20</height>
177+
<width>326</width>
178+
</widget>
179+
<widget field="PowerDistributionPanel[0]" type="PowerDistributionPanel" class="edu.wpi.first.smartdashboard.livewindow.elements.PowerDistributionPanel">
180+
<location x="6" y="154"/>
181+
<height>195</height>
182+
<width>326</width>
183+
</widget>
184+
<widget field="VictorSP[8]" type="Speed Controller" class="edu.wpi.first.smartdashboard.livewindow.elements.SpeedController">
185+
<location x="6" y="349"/>
186+
<height>46</height>
187+
<width>326</width>
188+
</widget>
189+
<widget field="Encoder[4]" type="Quadrature Encoder" class="edu.wpi.first.smartdashboard.livewindow.elements.EncoderDisplay">
190+
<location x="6" y="395"/>
191+
<height>98</height>
192+
<width>326</width>
193+
</widget>
194+
<widget field="VictorSP[9]" type="Speed Controller" class="edu.wpi.first.smartdashboard.livewindow.elements.SpeedController">
195+
<location x="6" y="493"/>
196+
<height>46</height>
197+
<width>326</width>
198+
</widget>
199+
<widget field="DigitalInput[3]" type="Digital Input" class="edu.wpi.first.smartdashboard.livewindow.elements.DigitalInputDisplay">
200+
<location x="6" y="539"/>
201+
<height>20</height>
202+
<width>326</width>
203+
</widget>
204+
<widget field="DigitalInput[5]" type="Digital Input" class="edu.wpi.first.smartdashboard.livewindow.elements.DigitalInputDisplay">
205+
<location x="6" y="559"/>
206+
<height>20</height>
207+
<width>326</width>
208+
</widget>
209+
<widget field="DigitalInput[4]" type="Digital Input" class="edu.wpi.first.smartdashboard.livewindow.elements.DigitalInputDisplay">
210+
<location x="6" y="579"/>
211+
<height>20</height>
212+
<width>326</width>
213+
</widget>
214+
<widget field="Talon SRX [6]" type="Speed Controller" class="edu.wpi.first.smartdashboard.livewindow.elements.SpeedController">
215+
<location x="6" y="599"/>
216+
<height>46</height>
217+
<width>326</width>
218+
</widget>
219+
<widget field="Encoder[3]" type="Quadrature Encoder" class="edu.wpi.first.smartdashboard.livewindow.elements.EncoderDisplay">
220+
<location x="6" y="645"/>
221+
<height>98</height>
222+
<width>326</width>
223+
</widget>
224+
<widget field="DoubleSolenoid[0,4]" type="Double Solenoid" class="edu.wpi.first.smartdashboard.livewindow.elements.RelayController">
225+
<location x="6" y="743"/>
226+
<height>20</height>
227+
<width>326</width>
228+
</widget>
229+
<widget field="DigitalInput[1]" type="Digital Input" class="edu.wpi.first.smartdashboard.livewindow.elements.DigitalInputDisplay">
230+
<location x="6" y="763"/>
231+
<height>20</height>
232+
<width>326</width>
233+
</widget>
234+
<widget field="Encoder[2]" type="Quadrature Encoder" class="edu.wpi.first.smartdashboard.livewindow.elements.EncoderDisplay">
235+
<location x="6" y="783"/>
236+
<height>98</height>
237+
<width>326</width>
238+
</widget>
239+
<widget field="Victor SPX [5]" type="Speed Controller" class="edu.wpi.first.smartdashboard.livewindow.elements.SpeedController">
240+
<location x="6" y="881"/>
241+
<height>46</height>
242+
<width>326</width>
243+
</widget>
244+
<widget field="DoubleSolenoid[0,0]" type="Double Solenoid" class="edu.wpi.first.smartdashboard.livewindow.elements.RelayController">
245+
<location x="6" y="927"/>
246+
<height>20</height>
247+
<width>326</width>
248+
</widget>
249+
<widget field="DigitalInput[2]" type="Digital Input" class="edu.wpi.first.smartdashboard.livewindow.elements.DigitalInputDisplay">
250+
<location x="6" y="947"/>
251+
<height>20</height>
252+
<width>326</width>
253+
</widget>
254+
<location x="6" y="24"/>
255+
<width>338</width>
256+
<height>974</height>
257+
</widget>
258+
</live-window>
259+
</xml>

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