Gitchi-Gummi Maint. Changes

amen
KINGTeC2169 · Jul 26, 2018 · 312994de93543852ff4e61904581889c643e0c74 · 312994d
1 parent d5764b0
commit 312994de93543852ff4e61904581889c643e0c74
diff --git a/src/main/java/com/team2169/robot/ActuatorMap.java b/src/main/java/com/team2169/robot/ActuatorMap.java
@@ -29,27 +29,17 @@
    public static final int PCMPort = 12;
    // Intake Piston
-  
-    public static final int clampPortForward = 5;
-  
-    public static final int clampPortReverse = 4;
+  
+    public static final int clampPortForward = 0;
+  
+    public static final int clampPortReverse = 1;
    // Drive Train Shifting
-  
-    public static final int dtSpeedShiftForward = 1;
-  
-    public static final int dtSpeedShiftReverse = 0;
+  
+    public static final int dtSpeedShiftForward = 3;
+  
+    public static final int dtSpeedShiftReverse = 2;
    // PTO Ports
-  
-    public static final int ptoShiftForward = 2;
-  
-    public static final int ptoShiftReverse = 3;
+  
+    public static final int ptoShiftForward = 4;
+  
+    public static final int ptoShiftReverse = 5;
-  
-    // Hanger Ports
-  
-    public static final int platformReleasePiston = 9;
-  
-
-  
-    // Arduino Ports
-  
-    public static final int prepArduinoDIOPort = 4;
-  
-    public static final int arduinoComPort = 0;
-  
-
-  
-    // Analog Inputs
-  
-    public static final int intakeUltrasonicInputPort = 0;
-  
-    public static final int intakeUltrasonicOutputPort = 1;
    public static final int elevatorBottomLimitID = 2;
    public static final int elevatorTopLimitID = 3;
 	public static final int armEncoderPort = 2;

diff --git a/src/main/java/com/team2169/robot/ControlMap.java b/src/main/java/com/team2169/robot/ControlMap.java
@@ -106,6 +106,10 @@ public static double rightTankStick(boolean squared) {
 		return stickVal;
 	}
+  
+	public static double getTurn(){
+  
+		return -primaryRight.getRawAxis(0);
+  
+	}
+  
+
 	// Primary Driver DT Shift Up
 	static boolean shiftUp() {
 		return (primaryRight.getRawButton(topShiftUp) || primaryLeft.getRawButton(topShiftUp)

diff --git a/src/main/java/com/team2169/robot/Robot.java b/src/main/java/com/team2169/robot/Robot.java
@@ -84,14 +84,16 @@ public void teleopPeriodic() {
 		Scheduler.getInstance().run();
 		try {
-  
-			StateManager.teleOpStateLooper();
-  
-			shuffle.teleOp();
-  
-			superStructure.subsystemLooper();
+  
+
 		} catch (Exception e) {
 			DriverStation.reportError(e.toString(), true);
 		}
-  
-
+  
+
+  
+		StateManager.teleOpStateLooper();
+  
+		shuffle.teleOp();
+  
+		superStructure.subsystemLooper();
+  
+
 	}
 	@Override

diff --git a/src/main/java/com/team2169/robot/RobotStates.java b/src/main/java/com/team2169/robot/RobotStates.java
@@ -42,7 +42,7 @@
    }
-  
-    public static boolean cheesyDrive = false;
+  
+    public static boolean cheesyDrive = true;
    public static DriveMode driveMode;
    public static boolean ptoActive;

diff --git a/src/main/java/com/team2169/robot/auto/AutoConstants.java b/src/main/java/com/team2169/robot/auto/AutoConstants.java
@@ -87,7 +87,7 @@
 				public static double startToPoint = 256;
 				public static double pointToScaleTurn = 50;
 				public static double pointToScale = 17;
-  
-				public static double pointToBlockTurn = 100;
+  
+				public static double pointToBlockTurn = 110;
 				public static double pointToBlock = 61;
 				public static double intakeSpeed = .7;
 				public static double intakeInSpeed = 1;
@@ -104,7 +104,7 @@
 				public static double point2ToScaleTurn = -95;
 				public static double point2ToScale = 62;
 				public static double point2ToPoint3 = -18;
-  
-				public static double point3ToBlockTurn = -120;
+  
+				public static double point3ToBlockTurn = -130;
 				public static double point3ToBlock = 48;
 				public static double intakeSpeed = .3;
 				public static double intakeInSpeed = .5;

diff --git a/src/main/java/com/team2169/robot/auto/AutoManager.java b/src/main/java/com/team2169/robot/auto/AutoManager.java
@@ -89,7 +89,7 @@ public AutoManager() {
 		// Mode Choosers
 		preferenceChooser.addDefault(Constants.preferenceOneName, Preference.SWITCH);
-  
-		preferenceChooser.addObject(Constants.preferenceTwoName, Preference.SCALE);
+  
+		preferenceChooser.addDefault(Constants.preferenceTwoName, Preference.SCALE);
 		sidePriorityChooser.addDefault("1 In Scale", SidePriority.ONE_SCALE);
 		sidePriorityChooser.addObject("2 In Scale", SidePriority.TWO_SCALE);

diff --git a/src/main/java/com/team2169/robot/auto/modes/driveForward/DriveForwardAuto.java b/src/main/java/com/team2169/robot/auto/modes/driveForward/DriveForwardAuto.java
@@ -13,9 +13,8 @@ public DriveForwardAuto() {
 		RobotStates.runningMode = RunningMode.AUTO;
 		this.autoName = "Drive Forward";
-  
-		addSequential(new DriveStraight(240, 1));    
-  
-		addSequential(new TurnInPlace(90, 1));   
-  
-		addSequential(new DriveStraight(60, 1));
+  
+		addSequential(new DriveStraight(240, 1));
+  
+
    }
    // Put looping checks/code in here

diff --git a/src/main/java/com/team2169/robot/auto/modes/twoBlock/side/TwoBlockScaleCloseAuto.java b/src/main/java/com/team2169/robot/auto/modes/twoBlock/side/TwoBlockScaleCloseAuto.java
@@ -99,7 +99,7 @@ public TwoBlockScaleCloseAuto(RobotSide side) {
        addSequential(new DriveStraight(-AutoConstants.SideAutos.TwoBlockAutos.Close.pointToBlock, 1), 3);
        //Turn to the scale
-  
-        addSequential(new TurnInPlace(-AutoConstants.SideAutos.TwoBlockAutos.Close.pointToBlockTurn, 0.5, inversion), 1.25);        //
+  
+        addSequential(new TurnInPlace(-AutoConstants.SideAutos.TwoBlockAutos.Close.pointToBlockTurn, 0.5, inversion), 2);        //
        //Extend the arm, wait for it to go down, and shoot
        addSequential(new IntakeExhaust(AutoConstants.SideAutos.TwoBlockAutos.Close.intakeSpeed, true), 1);

diff --git a/src/main/java/com/team2169/robot/subsystems/DriveTrain.java b/src/main/java/com/team2169/robot/subsystems/DriveTrain.java
@@ -136,7 +136,7 @@ void driveHandler() {
 			// Drive with Acceleration Handler
 			if(RobotStates.cheesyDrive) {
-  
-				cheesyDrive(dManager.cheesyDrive(ControlMap.leftTankStick(false), ControlMap.rightTankStick(false), ControlMap.getQuickTurn(),
+  
+				cheesyDrive(dManager.cheesyDrive(ControlMap.leftTankStick(false), ControlMap.getTurn(), ControlMap.getQuickTurn(),
 						RobotStates.driveMode != RobotStates.DriveMode.LOW));
 				break;

diff --git a/src/main/java/com/team2169/robot/subsystems/Elevator.java b/src/main/java/com/team2169/robot/subsystems/Elevator.java
@@ -216,6 +216,7 @@ public TalonSRX prepElevatorTalon(TalonSRX talon) {
 				Constants.elevatorUpData.timeoutMs);
 		talon.configPeakCurrentLimit(35, Constants.elevatorUpData.timeoutMs);
 		talon.configPeakCurrentDuration(500, Constants.elevatorUpData.timeoutMs);
+  
+		talon.setInverted(true);
 		talon.setSensorPhase(false);
 		talon.configClosedloopRamp(.5, 10);
 		talon.configOpenloopRamp(Constants.elevatorRampRate, 10);

diff --git a/src/main/java/com/team2169/robot/subsystems/Superstructure.java b/src/main/java/com/team2169/robot/subsystems/Superstructure.java
@@ -67,7 +67,6 @@ public void startCompressor() {
        comp.start();
    }
-  
-    @SuppressWarnings("deprecation")
 	public void subsystemLooper() {
    	DataSelector.looper();

diff --git a/src/main/java/com/team2169/util/AbsoluteEncoder.java b/src/main/java/com/team2169/util/AbsoluteEncoder.java
@@ -81,7 +81,8 @@ public void setSetpoint(double setpoint) {
 			 * If the number is negative, figure out how many rotations negative it is,
 			 * multiply that by the # of ticks needed for 1 rotation, and add that to the
 			 * output. This shouldn't ever happen due to the nature of abs. encoders, but
-  
-			 * I've seen weird things, so here it is, just to be safe.
+  
+			 * I've seen weird 
+  
+			 * things, so here it is, just to be safe.
 			 */
 			foo += 4096 * (Math.floor(setpoint / 4096));
 		}

diff --git a/src/main/java/com/team2169/util/ShuffleBoardManager.java b/src/main/java/com/team2169/util/ShuffleBoardManager.java
@@ -14,7 +14,7 @@ public void init() {
    	driveTypeChooser.addDefault("No", false);
    	driveTypeChooser.addObject("Yes", true);
-  
-    	SmartDashboard.putData(driveTypeChooser);
+  
+    	SmartDashboard.putData("Bootleg Setup", driveTypeChooser);
        connected();
    }