Other updates for status lights

Stormgears-FRC-5422 · Apr 13, 2019 · 59e9ec2 · 59e9ec2
1 parent 1365be2
commit 59e9ec2
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Showing 7 changed files with 29 additions and 19 deletions.
diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
@@ -1,6 +1,5 @@
-#Mon Apr 08 20:20:03 EDT 2019
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-5.0-bin.zip
 zipStoreBase=GRADLE_USER_HOME
-zipStorePath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-5.0-all.zip
+zipStorePath=permwrapper/dists
diff --git a/gradlew b/gradlew
@@ -1,5 +1,10 @@
 #!/usr/bin/env sh
 
+##############################################################################
+##
+##  Gradle start up script for UN*X
+##
+##############################################################################
 
 # Attempt to set APP_HOME
 # Resolve links: $0 may be a link
@@ -126,8 +131,10 @@ if $cygwin ; then
     i=0
     for arg in "$@" ; do
         CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -`
-        CHECK2=`echo "$arg"|egrep -c "^-"`                                 
-        if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then                                eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"`
+        CHECK2=`echo "$arg"|egrep -c "^-"`                                 ### Determine if an option
+
+        if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then                    ### Added a condition
+            eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"`
         else
             eval `echo args$i`="\"$arg\""
         fi

diff --git a/gradlew.bat b/gradlew.bat
@@ -1,8 +1,10 @@
 @if "%DEBUG%" == "" @echo off
-@rem @rem
+@rem ##########################################################################
+@rem
 @rem  Gradle startup script for Windows
 @rem
-@rem 
+@rem ##########################################################################
+
 @rem Set local scope for the variables with windows NT shell
 if "%OS%"=="Windows_NT" setlocal
 

diff --git a/src/main/deploy/config.properties b/src/main/deploy/config.properties
@@ -21,10 +21,11 @@ useStormNet = true
 useVision = true
 useNavX = true
 useIntake = true
+useStatusLights = true
+
 # TEST
 testStormNet = false
 testBackjack = false
-useStatusLights = false
 
 
 # ****************************************************************************************************
@@ -62,8 +63,10 @@ vacValve = 4
 # **********
 # DIO CHANNELS
 # **********
-vacPressureSensorLowDIO = 2
-vacPressureSensorHighDIO = 3
+vacPressureSensorLowDIO = 1
+vacPressureSensorHighDIO = 0
+vacInsufficientLightDIO = 2
+vacArmedLightDIO = 3
 ballProxSensorDIO = 4
 hatchProxSensorDIO1 = 5
 hatchProxSensorDIO2 = 6
@@ -148,6 +151,8 @@ udpListenerPort=5423
 # **********
 highVacuumKPa=70
 lowVacuumKPa=60
+warnVacuumKPa=40
+
 maxVenturiTime = 5.0
 hatchProxCount = 3
 
@@ -156,4 +161,4 @@ hatchProxCount = 3
 # **********
 dock_brightness = 15
 visionTable = vision
-
+elevatorPlacementPosition = 12150
diff --git a/src/main/deploy/r1.properties b/src/main/deploy/r1.properties
@@ -9,7 +9,6 @@ useStormNet = true
 useBackjack = true
 useIntake = true
 useVision = true
-useStatusLights = false
 
 # Compressor channels
 hatchValve = 1

diff --git a/src/main/java/org/usfirst/frc5422/Minimec/subsystems/StormNetSubsystem.java b/src/main/java/org/usfirst/frc5422/Minimec/subsystems/StormNetSubsystem.java
@@ -106,6 +106,8 @@ public void setStatusLights(StatusLight light, int state){
 
         if (!Robot.useStatusLights) return;
 
+//        System.out.println("VacArmed.get = " + vacArmedLight.get() + "   VacInsufficient.get = " + vacInsufficientLight.get());
+
         switch(light){
 //            case Precision:
 //                if(s!=0) lightPort.writeString("0t\n"); else lightPort.writeString("0f\n");

diff --git a/src/main/java/org/usfirst/frc5422/Minimec/subsystems/pneumatics/ValveControl.java b/src/main/java/org/usfirst/frc5422/Minimec/subsystems/pneumatics/ValveControl.java
@@ -24,6 +24,7 @@ public class ValveControl extends Subsystem {
 
     private final double highVacuum;
     private final double lowVacuum;
+    private final double warnVacuum;
 
     private double currentVac;
 
@@ -84,6 +85,7 @@ public ValveControl() {
 
         highVacuum = StormProp.getNumber("highVacuumKPa",0.0);
         lowVacuum = StormProp.getNumber("lowVacuumKPa",0.0);
+        warnVacuum = StormProp.getNumber("warnVacuumKPa",0.0);
 
         addChild("Pressure Sensor", vacPressureSensor);
 
@@ -105,13 +107,7 @@ public void initDefaultCommand() {
     public void periodic() {
         manageVac();  // sets currentVac
         if(Robot.useStatusLights){
-            if(currentVac < lowVacuum){
-                if(!lastState) Robot.setStatusLight(StatusLight.Vacuum, 1);
-                lastState = false;
-            }else if(currentVac > highVacuum){
-                if(lastState) Robot.setStatusLight(StatusLight.Vacuum, 0);
-                lastState = true;
-            }
+            Robot.setStatusLight(StatusLight.Vacuum, currentVac < warnVacuum ? 1 : 0);
         }
     }