Made autonomous not lock up our drivetrain by changing some abs() to …

…fabs()

.project

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <projectDescription>
-	<name>frc4646-2016-competition-code</name>
+	<name>Sherman</name>
 	<comment></comment>
 	<projects>
 	</projects>

.settings/language.settings.xml

@@ -5,18 +5,29 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="org.eclipse.cdt.internal.build.crossgcc.CrossGCCBuiltinSpecsDetector" console="false" env-hash="902718506072416551" id="org.eclipse.cdt.build.crossgcc.CrossGCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="org.eclipse.cdt.internal.build.crossgcc.CrossGCCBuiltinSpecsDetector" console="false" env-hash="-1702718735741470413" id="org.eclipse.cdt.build.crossgcc.CrossGCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
 		</extension>
 	</configuration>
-	<configuration id="cdt.managedbuild.config.gnu.cross.exe.debug.1104744751.2017904325" name="Simulate">
+	<configuration id="cdt.managedbuild.config.gnu.cross.exe.debug.1104744751.2017904325" name="linux_simulate">
 		<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.GCCBuiltinSpecsDetector" ref="shared-provider"/>
 		</extension>
 	</configuration>
+	<configuration id="cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128" name="Windows Simulate">
+		<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
+			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
+			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
+			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
+			<provider class="org.eclipse.cdt.internal.build.crossgcc.CrossGCCBuiltinSpecsDetector" console="false" env-hash="-155214497164935" id="org.eclipse.cdt.build.crossgcc.CrossGCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+				<language-scope id="org.eclipse.cdt.core.gcc"/>
+				<language-scope id="org.eclipse.cdt.core.g++"/>
+			</provider>
+		</extension>
+	</configuration>
 </project>

src/CommandGroups/FiringAuto.cpp

@@ -39,7 +39,6 @@ FiringAuto::FiringAuto()
 	AddSequential(new RobotGoalAngle(),2);
 	AddSequential(new RobotGoalDistance(),2);
 	AddSequential(new RobotGoalAngle(),1);
-//	AddSequential(new SpinUp(.8), 2);
 	AddSequential(new Launch(.9));
 
 }

src/CommandGroups/JustCrossDefense.cpp

@@ -22,7 +22,7 @@ JustCrossDefense::JustCrossDefense()
 	// a CommandGroup containing them would require both the chassis and the
 	// arm.
 	AddSequential(new ResetGyro());
-	AddSequential(new DriveForTime(.8,0),2);
-	AddSequential(new TurnForAngle(.4, 0), 2);
-	AddSequential(new DriveForTime(.4, 0), .5);
+	AddSequential(new DriveForTime(.9,0),2.5);
+//	AddSequential(new TurnForAngle(.4, 0), 2);
+//	AddSequential(new DriveForTime(.4, 0), .5);
 }

src/Commands/AutoRollerIn.cpp

@@ -2,7 +2,8 @@
 #include "Subsystems/IntakeRoller.h"
 #include "Subsystems/IntakeArms.h"
 
-AutoRollerIn::AutoRollerIn()
+AutoRollerIn::AutoRollerIn():
+CommandBase("AutoRollerIn")
 {
 	// Use Requires() here to declare subsystem dependencies
 	// eg. Requires(chassis);

src/Commands/DriveForTime.cpp

@@ -2,6 +2,7 @@
 #include "Subsystems/DropDrive.h"
 
 DriveForTime::DriveForTime(double power, double curve):
+CommandBase("DriveForTime"),
 drivePower(power),
 driveCurve(curve)
 {

src/Commands/DriveUntilClose.cpp

@@ -3,6 +3,7 @@
 #include "Subsystems/UltrasonicSensor.h"
 
 DriveUntilClose::DriveUntilClose(double power, double distance):
+CommandBase("DriveUntilClose"),
 robotPower(power),
 sensorDistance(distance),
 confidence(0)

src/Commands/FoldIntakeOut.cpp

@@ -1,6 +1,7 @@
 #include "FoldIntakeOut.h"
 #include "Subsystems/IntakeArms.h"
 FoldIntakeOut::FoldIntakeOut()
+:CommandBase("FoldIntakeOut")
 {
 	// Use Requires() here to declare subsystem dependencies
 	// eg. Requires(chassis);

src/Commands/ResetGyro.cpp

@@ -2,6 +2,7 @@
 #include "Subsystems/DropDrive.h"
 
 ResetGyro::ResetGyro()
+:CommandBase("ResetGyro")
 {
 	// Use Requires() here to declare subsystem dependencies
 	// eg. Requires(chassis);

src/Commands/RobotGoalAngle.cpp

@@ -4,6 +4,7 @@
 #include <algorithm>
 
 RobotGoalAngle::RobotGoalAngle():
+CommandBase("RobotGoalAngle"),
 turning(0),
 robotTurn(0),
 confidence(0),

src/Commands/RobotGoalDistance.cpp

@@ -3,6 +3,7 @@
 #include "Subsystems/VisionCalculation.h"
 
 RobotGoalDistance::RobotGoalDistance():
+CommandBase("RobotGoalDistance"),
 po(),
 ps(visioncalculation),
 pc(1.75,0.003,-0.3,&ps,&po)

src/Commands/TurnForAngle.cpp

@@ -3,6 +3,7 @@
 #include <math.h>
 
 TurnForAngle::TurnForAngle(double robotPower, double robotAngle):
+CommandBase("TurnForAngle"),
 power(robotPower),
 angle(robotAngle)
 {
@@ -14,13 +15,13 @@ angle(robotAngle)
 // Called just before this Command runs the first time
 void TurnForAngle::Initialize()
 {
-	initDif = abs(dropdrive->GetHeading() - angle);
+	initDif = fabs(dropdrive->GetHeading() - angle);
 }
 
 // Called repeatedly when this Command is scheduled to run
 void TurnForAngle::Execute()
 {
-	drive = power * abs((dropdrive->GetHeading() - angle))/initDif;
+	drive = power * fabs((dropdrive->GetHeading() - angle))/initDif;
 	if (drive < .2)
 	{
 		drive = .2;
@@ -39,7 +40,8 @@ void TurnForAngle::Execute()
 bool TurnForAngle::IsFinished()
 {
 	error = dropdrive->GetHeading() - angle;
-	return abs(error) < 5;
+	SmartDashboard::PutNumber("TurnForAngleError", error);
+	return fabs(error) < 5;
 }
 
 // Called once after isFinished returns true
@@ -52,5 +54,5 @@ void TurnForAngle::End()
 // subsystems is scheduled to run
 void TurnForAngle::Interrupted()
 {
-
+	End();
 }

src/Subsystems/IntakeArms.cpp

@@ -40,7 +40,7 @@ void IntakeArms::SetSpeed(double power)
 
 void IntakeArms::Raise() {
 
-	arms.Set(-.55);
+	arms.Set(-.4);
 	//	if(LimitUp->Get())
 //	{
 //		LeftEncoder.Reset();
@@ -66,7 +66,7 @@ void IntakeArms::ForceRaise() {
 }
 
 void IntakeArms::Lower() {
-	arms.Set(.65);
+	arms.Set(.45);
 	//	if(!MotorsUnbalanced()){
 //		arms.Set((MAX_ENCODER_COUNT-RightEncoder.Get())/MAX_ENCODER_COUNT);
 //	}