Add 2018-compatible code, no issues except cv

StuyPulse · Jan 22, 2018 · a95df43 · a95df43
1 parent 57abdca
commit a95df43
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Showing 10 changed files with 66 additions and 50 deletions.
diff --git a/src/edu/stuy/robot/commands/RotateDegreesGyroCommand.java b/src/edu/stuy/robot/commands/RotateDegreesGyroCommand.java
@@ -22,7 +22,7 @@ public RotateDegreesGyroCommand(double angle) {
     }
 
     protected void setDesiredAngle() {
-        desiredAngle = notSet ? SmartDashboard.getNumber("gyro-rotate-degs") : _angle;
+        desiredAngle = notSet ? SmartDashboard.getNumber("gyro-rotate-degs", 0) : _angle;
     }
 
     protected void onEnd() {}

diff --git a/src/edu/stuy/robot/commands/auton/DriveOverMoatCommand.java b/src/edu/stuy/robot/commands/auton/DriveOverMoatCommand.java
@@ -9,7 +9,7 @@ public class DriveOverMoatCommand extends DriveForwardCommand {
     private static final double SPEED = 0.9;
 
     public DriveOverMoatCommand() {
-        super(SmartDashboard.getNumber("Moat"), MAX_TIME_IN_SECONDS, SPEED);
+        super(SmartDashboard.getNumber("Moat", 0), MAX_TIME_IN_SECONDS, SPEED);
     }
 
     @Override

diff --git a/src/edu/stuy/robot/commands/auton/DriveOverRampartsCommand.java b/src/edu/stuy/robot/commands/auton/DriveOverRampartsCommand.java
@@ -9,7 +9,7 @@ public class DriveOverRampartsCommand extends DriveForwardCommand {
     private static final double SPEED = 1.0;
 
     public DriveOverRampartsCommand() {
-        super(SmartDashboard.getNumber("Ramparts"), MAX_TIME_IN_SECONDS, SPEED);
+        super(SmartDashboard.getNumber("Ramparts", 0), MAX_TIME_IN_SECONDS, SPEED);
     }
 
     @Override

diff --git a/src/edu/stuy/robot/commands/auton/DriveOverRoughTerrainCommand.java b/src/edu/stuy/robot/commands/auton/DriveOverRoughTerrainCommand.java
@@ -9,7 +9,7 @@ public class DriveOverRoughTerrainCommand extends DriveForwardCommand {
     private static final double SPEED = 1.0;
 
     public DriveOverRoughTerrainCommand() {
-        super(SmartDashboard.getNumber("Rough"), MAX_TIME_IN_SECONDS, SPEED);
+        super(SmartDashboard.getNumber("Rough", 0), MAX_TIME_IN_SECONDS, SPEED);
     }
 
     @Override

diff --git a/src/edu/stuy/robot/subsystems/Acquirer.java b/src/edu/stuy/robot/subsystems/Acquirer.java
@@ -1,22 +1,25 @@
 package edu.stuy.robot.subsystems;
 
 import static edu.stuy.robot.RobotMap.ACQUIRER_MOTOR_CHANNEL;
+
+import com.ctre.CANTalon;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+
 import edu.stuy.robot.commands.AcquirerStopCommand;
-import edu.wpi.first.wpilibj.CANTalon;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 /**
  *
  */
 public class Acquirer extends Subsystem {
 
-	private CANTalon acquirerMotor;
+	private WPI_TalonSRX acquirerMotor;
 
 	// Put methods for controlling this subsystem
 	// here. Call these from Commands.
 
 	public Acquirer() {
-		acquirerMotor = new CANTalon(ACQUIRER_MOTOR_CHANNEL);
+		acquirerMotor = new WPI_TalonSRX(ACQUIRER_MOTOR_CHANNEL);
 	}
 
 	public void initDefaultCommand() {

diff --git a/src/edu/stuy/robot/subsystems/Drivetrain.java b/src/edu/stuy/robot/subsystems/Drivetrain.java
@@ -12,16 +12,19 @@
 import static edu.stuy.robot.RobotMap.RIGHT_ENCODER_CHANNEL_A;
 import static edu.stuy.robot.RobotMap.RIGHT_ENCODER_CHANNEL_B;
 
+import com.ctre.phoenix.motorcontrol.NeutralMode;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+
 import edu.stuy.robot.commands.DrivetrainTankDriveCommand;
 import edu.stuy.util.TankDriveOutput;
 import edu.wpi.first.wpilibj.ADXRS450_Gyro;
-import edu.wpi.first.wpilibj.CANTalon;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.PIDController;
 import edu.wpi.first.wpilibj.PIDSourceType;
-import edu.wpi.first.wpilibj.RobotDrive;
 import edu.wpi.first.wpilibj.Solenoid;
+import edu.wpi.first.wpilibj.SpeedControllerGroup;
 import edu.wpi.first.wpilibj.command.Subsystem;
+import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 /**
@@ -30,16 +33,17 @@
 public class Drivetrain extends Subsystem {
     private Encoder rightEncoder;
     private Encoder leftEncoder;
-    private CANTalon leftFrontMotor;
-    private CANTalon rightFrontMotor;
-    private CANTalon leftRearMotor;
-    private CANTalon rightRearMotor;
-    private RobotDrive robotDrive;
+    private WPI_TalonSRX leftFrontMotor;
+    private WPI_TalonSRX rightFrontMotor;
+    private WPI_TalonSRX leftRearMotor;
+    private WPI_TalonSRX rightRearMotor;
+    private DifferentialDrive differentialDrive;
     private ADXRS450_Gyro gyro;
     private TankDriveOutput out;
     private Solenoid gearShift;
     private double[] currents;
-
+    private SpeedControllerGroup leftSpeedController;
+    private SpeedControllerGroup rightSpeedController;
     public final PIDController pid;
 
     public boolean gearUp; // Stores the state of the gear shift
@@ -53,16 +57,15 @@ public class Drivetrain extends Subsystem {
     public Drivetrain() {
         gearShift = new Solenoid(GEAR_SHIFT_CHANNEL);
         currents = new double[10];
-        leftFrontMotor = new CANTalon(FRONT_LEFT_MOTOR_CHANNEL);
-        rightFrontMotor = new CANTalon(FRONT_RIGHT_MOTOR_CHANNEL);
-        leftRearMotor = new CANTalon(REAR_LEFT_MOTOR_CHANNEL);
-        rightRearMotor = new CANTalon(REAR_RIGHT_MOTOR_CHANNEL);
+        leftFrontMotor = new WPI_TalonSRX(FRONT_LEFT_MOTOR_CHANNEL);
+        rightFrontMotor = new WPI_TalonSRX(FRONT_RIGHT_MOTOR_CHANNEL);
+        leftRearMotor = new WPI_TalonSRX(REAR_LEFT_MOTOR_CHANNEL);
+        rightRearMotor = new WPI_TalonSRX(REAR_RIGHT_MOTOR_CHANNEL);
         leftFrontMotor.setInverted(true);
         rightFrontMotor.setInverted(true);
         leftRearMotor.setInverted(true);
         rightRearMotor.setInverted(true);
-        robotDrive = new RobotDrive(leftFrontMotor, leftRearMotor,
-                rightFrontMotor, rightRearMotor);
+        differentialDrive = new DifferentialDrive(leftSpeedController, rightSpeedController);
 
         rightEncoder = new Encoder(RIGHT_ENCODER_CHANNEL_A,
                 RIGHT_ENCODER_CHANNEL_B);
@@ -74,11 +77,11 @@ public Drivetrain() {
         autoGearShiftingState = true;
 
         // Setup PIDController for auto-rotation and aiming
-        out = new TankDriveOutput(robotDrive);
+        out = new TankDriveOutput(differentialDrive);
         gyro = new ADXRS450_Gyro();
-        pid = new PIDController(SmartDashboard.getNumber("Gyro P"),
-                SmartDashboard.getNumber("Gyro I"),
-                SmartDashboard.getNumber("Gyro D"), gyro, out);
+        pid = new PIDController(SmartDashboard.getNumber("Gyro P", 0),
+                SmartDashboard.getNumber("Gyro I", 0),
+                SmartDashboard.getNumber("Gyro D", 0), gyro, out);
         pid.setInputRange(0, 360);
         pid.setContinuous(); // Tell `pid' that 0deg = 360deg
         pid.setAbsoluteTolerance(MAX_DEGREES_OFF_AUTO_AIMING);
@@ -97,7 +100,7 @@ public void initDefaultCommand() {
     }
 
     public void tankDrive(double left, double right) {
-        robotDrive.tankDrive(left, right);
+        differentialDrive.tankDrive(left, right);
     }
 
      public double getGyroAngle() {
@@ -138,7 +141,7 @@ public void resetEncoders() {
     }
 
     public void stop() {
-        robotDrive.tankDrive(0.0, 0.0);
+        differentialDrive.tankDrive(0.0, 0.0);
     }
 
     /**
@@ -157,7 +160,7 @@ public void autoGearShift() {
                 sum += currents[i];
             }
             gearUp = sum / currents.length > SmartDashboard
-                    .getNumber("Gear Shifting Threshold");
+                    .getNumber("Gear Shifting Threshold", 0);
             gearShift.set(gearUp);
             gearCounter = 0;
         } else {
@@ -199,10 +202,10 @@ public double getAverageCurrent() {
     }
 
     public void setDrivetrainBrakeMode(boolean on) {
-        leftFrontMotor.enableBrakeMode(on);
-        leftRearMotor.enableBrakeMode(on);
-        rightFrontMotor.enableBrakeMode(on);
-        rightRearMotor.enableBrakeMode(on);
+        leftFrontMotor.setNeutralMode(NeutralMode.Brake);
+        leftRearMotor.setNeutralMode(NeutralMode.Brake);
+        rightFrontMotor.setNeutralMode(NeutralMode.Brake);
+        rightRearMotor.setNeutralMode(NeutralMode.Brake);
     }
 
     public void resetGyro() {

diff --git a/src/edu/stuy/robot/subsystems/DropDown.java b/src/edu/stuy/robot/subsystems/DropDown.java
@@ -3,9 +3,12 @@
 import static edu.stuy.robot.RobotMap.ACQUIRER_POTENTIOMETER_CHANNEL;
 import static edu.stuy.robot.RobotMap.DROPDOWN_MOTOR_CHANNEL;
 import static edu.stuy.robot.RobotMap.DROP_DOWN_DEADBAND;
+
+import com.ctre.phoenix.motorcontrol.NeutralMode;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+
 import edu.stuy.robot.commands.DropDownDefaultCommand;
 import edu.wpi.first.wpilibj.AnalogPotentiometer;
-import edu.wpi.first.wpilibj.CANTalon;
 import edu.wpi.first.wpilibj.command.Subsystem;
 import edu.wpi.first.wpilibj.interfaces.Potentiometer;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -15,15 +18,15 @@
  */
 public class DropDown extends Subsystem {
 
-    private CANTalon dropDownMotor;
+    private WPI_TalonSRX dropDownMotor;
     private Potentiometer potentiometer;
     public double currentAngle;
 
     // Put methods for controlling this subsystem
     // here. Call these from Commands.
 
     public DropDown() {
-        dropDownMotor = new CANTalon(DROPDOWN_MOTOR_CHANNEL);
+        dropDownMotor = new WPI_TalonSRX(DROPDOWN_MOTOR_CHANNEL);
         dropDownMotor.setInverted(true);
         potentiometer = new AnalogPotentiometer(ACQUIRER_POTENTIOMETER_CHANNEL, 300, 0);
         currentAngle = getAngle();
@@ -54,8 +57,8 @@ public double getVoltage() {
 
     public double getAngle() {
         double x = getVoltage();
-        double initialVoltage = SmartDashboard.getNumber("Initial Voltage");
-        double finalVoltage = SmartDashboard.getNumber("Final Voltage");
+        double initialVoltage = SmartDashboard.getNumber("Initial Voltage", 0);
+        double finalVoltage = SmartDashboard.getNumber("Final Voltage", 0);
         double conversionFactor = 90.0 / (finalVoltage - initialVoltage);
         return (x - initialVoltage) * conversionFactor;
     }
@@ -68,7 +71,7 @@ public void lowerAcquirerToDrivingPosition() {
     }
 
     public void setDropDownBreakMode(boolean breakMode) {
-        dropDownMotor.enableBrakeMode(breakMode);
+        dropDownMotor.setNeutralMode(NeutralMode.Brake);
     }
 
     /**

diff --git a/src/edu/stuy/robot/subsystems/Hopper.java b/src/edu/stuy/robot/subsystems/Hopper.java
@@ -4,10 +4,13 @@
 import static edu.stuy.robot.RobotMap.HOPPER_SENSOR_CHANNEL;
 import static edu.stuy.robot.RobotMap.HOPPER_SENSOR_THRESHOLD;
 
+import com.ctre.CANTalon;
+import com.ctre.phoenix.motorcontrol.NeutralMode;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+
 import edu.stuy.robot.Robot;
 import edu.stuy.robot.commands.HopperStopCommand;
 import edu.wpi.first.wpilibj.AnalogInput;
-import edu.wpi.first.wpilibj.CANTalon;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 /**
@@ -16,11 +19,11 @@
 public class Hopper extends Subsystem {
     // Put methods for controlling this subsystem
     // here. Call these from Commands.
-    private CANTalon hopperMotor;
+    private WPI_TalonSRX hopperMotor;
     private AnalogInput distanceSensor;
 
     public Hopper() {
-        hopperMotor = new CANTalon(HOPPER_MOTOR_CHANNEL);
+        hopperMotor = new WPI_TalonSRX(HOPPER_MOTOR_CHANNEL);
         hopperMotor.setInverted(true);
         distanceSensor = new AnalogInput(HOPPER_SENSOR_CHANNEL);
     }
@@ -43,7 +46,7 @@ public void stop() {
     }
 
     public void setHopperBrakeMode(boolean on) {
-        hopperMotor.enableBrakeMode(on);
+        hopperMotor.setNeutralMode(NeutralMode.Brake);
     }
 
     public double getDistance() {

diff --git a/src/edu/stuy/robot/subsystems/Shooter.java b/src/edu/stuy/robot/subsystems/Shooter.java
@@ -2,7 +2,10 @@
 
 import static edu.stuy.robot.RobotMap.SHOOTER_ENCODER_MAXSPEED;
 import static edu.stuy.robot.RobotMap.SHOOTER_MOTOR_CHANNEL;
-import edu.wpi.first.wpilibj.CANTalon;
+
+import com.ctre.phoenix.motorcontrol.NeutralMode;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
@@ -15,12 +18,12 @@
  */
 public class Shooter extends Subsystem {
 
-    private CANTalon shooterMotor;
+    private WPI_TalonSRX shooterMotor;
 
     public double currentSpeed;
 
     public Shooter() {
-        shooterMotor = new CANTalon(SHOOTER_MOTOR_CHANNEL);
+        shooterMotor = new WPI_TalonSRX(SHOOTER_MOTOR_CHANNEL);
         currentSpeed = 1.0;
         /*
          * shooterMotor.setFeedbackDevice(FeedbackDevice.CtreMagEncoder_Relative
@@ -54,7 +57,7 @@ public void stop() {
      * public void setSpeedHigh() { setRPM(SHOOTER_ENCODER_MAXSPEED - 400.0); }
      */
     public double getCurrentMotorSpeedInRPM() {
-        return shooterMotor.getSpeed();
+        return shooterMotor.getSelectedSensorVelocity(0);
     }
 
     // Use the encoders to verify the speed
@@ -97,7 +100,7 @@ public void setSpeedReliablyVBus(double speed) {
     }
 
     public void setShooterBrakeMode(boolean on) {
-        shooterMotor.enableBrakeMode(on);
+        shooterMotor.setNeutralMode(NeutralMode.Brake);
     }
 
     public void initDefaultCommand() {

diff --git a/src/edu/stuy/util/TankDriveOutput.java b/src/edu/stuy/util/TankDriveOutput.java
@@ -1,15 +1,16 @@
 package edu.stuy.util;
 
 import static edu.stuy.robot.RobotMap.PID_MAX_ROBOT_SPEED;
+
 import edu.wpi.first.wpilibj.PIDOutput;
-import edu.wpi.first.wpilibj.RobotDrive;
+import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 
 public class TankDriveOutput implements PIDOutput {
 
-	private RobotDrive pidDrive;
+	private DifferentialDrive pidDrive;
 	private double maxValue;
 
-	public TankDriveOutput(RobotDrive drive) {
+	public TankDriveOutput(DifferentialDrive drive) {
 		pidDrive = drive;
 		maxValue = PID_MAX_ROBOT_SPEED;
 	}