From be401748c5bbfe87a101cb208cb3127032354d1a Mon Sep 17 00:00:00 2001 From: NHellerud Date: Mon, 30 Jan 2017 15:55:46 -0600 Subject: [PATCH 01/12] Test --- src/org/usfirst/frc/team4624/robot/Robot.java | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/org/usfirst/frc/team4624/robot/Robot.java b/src/org/usfirst/frc/team4624/robot/Robot.java index b5662b8..880fa33 100644 --- a/src/org/usfirst/frc/team4624/robot/Robot.java +++ b/src/org/usfirst/frc/team4624/robot/Robot.java @@ -6,6 +6,8 @@ import org.usfirst.frc.team4624.template.ExampleCommand; import org.usfirst.frc.team4624.template.ExampleSubsystem; +import com.kauailabs.navx.frc.AHRS; + import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.IterativeRobot; import edu.wpi.first.wpilibj.PIDController; @@ -29,6 +31,7 @@ public class Robot extends IterativeRobot { public static final DriveTrain driveTrain = new DriveTrain(); public static OI oi; public static final Shooter shooter = new Shooter(); + public static AHRS NavX; Command autonomousCommand; SendableChooser chooser; From bc85e5e98dccf04d9a0c118809eb23598fee58fa Mon Sep 17 00:00:00 2001 From: NHellerud Date: Mon, 30 Jan 2017 16:33:57 -0600 Subject: [PATCH 02/12] Basic NavX w/o fix No changes as recommended by the tech support from kawaii --- src/org/usfirst/frc/team4624/robot/Robot.java | 32 +++++++++++++++- .../team4624/robot/subsystems/DriveTrain.java | 37 +++++++++++++++++++ 2 files changed, 67 insertions(+), 2 deletions(-) diff --git a/src/org/usfirst/frc/team4624/robot/Robot.java b/src/org/usfirst/frc/team4624/robot/Robot.java index 880fa33..cae5e85 100644 --- a/src/org/usfirst/frc/team4624/robot/Robot.java +++ b/src/org/usfirst/frc/team4624/robot/Robot.java @@ -25,17 +25,25 @@ * IterativeRobot documentation. If you change the name of this class or the package after creating this project, you must also update the * manifest file in the resource directory. */ -public class Robot extends IterativeRobot { +public class Robot extends IterativeRobot implements PIDOutput{ public static final ExampleSubsystem exampleSubsystem = new ExampleSubsystem(); public static final DriveTrain driveTrain = new DriveTrain(); public static OI oi; public static final Shooter shooter = new Shooter(); - public static AHRS NavX; + public static AHRS navX; + public static PIDController controllerPID; Command autonomousCommand; SendableChooser chooser; + static final double kP = 0.03; + static final double kI = 0.00; + static final double kD = 0.00; + static final double kF = 0.00; + + static final double kToleranceDegrees = 2.0f; + /** * This function is run when the robot is first started up and should be used for any initialization code. */ @@ -46,6 +54,19 @@ public void robotInit() { chooser.addDefault("Default Auto", new ExampleCommand()); // chooser.addObject("My Auto", new MyAutoCommand()); SmartDashboard.putData("Auto mode", chooser); + + try{ + navX = new AHRS(SPI.Port.kMXP); + }catch(RuntimeException ex){ + DriverStation.reportError("Error instantiating navX MXP: " + ex.getMessage(),true); + } + controllerPID = new PIDController(kP, kI, kD, kF, navX, this); + controllerPID.setInputRange(-180.0f, 180.0f); + controllerPID.setOutputRange(-1.0, 1.0); + controllerPID.setAbsoluteTolerance(kToleranceDegrees); + controllerPID.setContinuous(true); + + LiveWindow.addActuator("DriveSystem", "RotateController", controllerPID); } /** @@ -102,6 +123,7 @@ public void teleopInit() { */ public void teleopPeriodic() { Scheduler.getInstance().run(); + driveTrain.autoRotateDrive(); } /** @@ -110,4 +132,10 @@ public void teleopPeriodic() { public void testPeriodic() { LiveWindow.run(); } + + @Override + public void pidWrite(double output) { + // TODO Auto-generated method stub + driveTrain.rotateToAngleRate = output; + } } diff --git a/src/org/usfirst/frc/team4624/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team4624/robot/subsystems/DriveTrain.java index 7c15aaa..52ec835 100644 --- a/src/org/usfirst/frc/team4624/robot/subsystems/DriveTrain.java +++ b/src/org/usfirst/frc/team4624/robot/subsystems/DriveTrain.java @@ -73,6 +73,43 @@ public void driveRaw(double x1, double y1, double x2) { } } + public void autoRotateDrive(){ + if(Robot.oi.joystick.getRawButton(1)){ + Robot.navX.reset(); + } + if(Robot.oi.joystick.getRawButton(2)){ + Robot.controllerPID.setSetpoint(0.0f); + rotateToAngle = true; + } + if(Robot.oi.joystick.getRawButton(3)){ + Robot.controllerPID.setSetpoint(90.0f); + rotateToAngle = true; + } + if(Robot.oi.joystick.getRawButton(4)){ + Robot.controllerPID.setSetpoint(179.9f); + rotateToAngle = true; + } + if(Robot.oi.joystick.getRawButton(5)){ + Robot.controllerPID.setSetpoint(-90.0); + rotateToAngle = true; + } + double currentRotate; + if(rotateToAngle){ + Robot.controllerPID.enable(); + currentRotate = rotateToAngleRate; + }else{ + Robot.controllerPID.disable(); + currentRotate = Robot.oi.joystick.getTwist(); + } + + try{ + Robot.driveTrain.driveTrain.mecanumDrive_Cartesian(Robot.oi.joystick.getX(), Robot.oi.joystick.getY(), currentRotate, Robot.navX.getAngle()); + } catch( RuntimeException ex ) { + DriverStation.reportError("Error communicating with drive system: " + ex.getMessage(), true); + } + + } + public void stop() { fLMotor.setDisabled(); bLMotor.setDisabled(); From 35ae61a1c08c2533cb0c3b2669e9f5caa0b2cc30 Mon Sep 17 00:00:00 2001 From: NHellerud Date: Mon, 30 Jan 2017 16:37:39 -0600 Subject: [PATCH 03/12] changes in the build path commented out a line in build.prperties --- build.properties | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/build.properties b/build.properties index c236eae..00b577b 100644 --- a/build.properties +++ b/build.properties @@ -3,4 +3,6 @@ package=org.usfirst.frc.team4624.robot robot.class=${package}.Robot simulation.world.file=/usr/share/frcsim/worlds/GearsBotDemo.world #Uncomment and point at user libraries to include them in the build. Do not put libraries in the \wpilib\java folder, this folder is completely overwritten on plugin update. -#userLibs=C:/Users/Developer/Documents/GitHub/2017RobotCode/navx-mxp/java/src/com/kauailabs/navx/frc/AHRS.java \ No newline at end of file +/* +#userLibs=C:/Users/Developer/Documents/GitHub/2017RobotCode/navx-mxp/java/src/com/kauailabs/navx/frc/AHRS.java +*/ \ No newline at end of file From fce7660c136dcd943bd920c159cb0c482d75f44b Mon Sep 17 00:00:00 2001 From: NHellerud Date: Mon, 30 Jan 2017 18:00:16 -0600 Subject: [PATCH 04/12] Added delay temporary change because the auto rotate function is already called periodically --- src/org/usfirst/frc/team4624/robot/subsystems/DriveTrain.java | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/org/usfirst/frc/team4624/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team4624/robot/subsystems/DriveTrain.java index 52ec835..6a3c167 100644 --- a/src/org/usfirst/frc/team4624/robot/subsystems/DriveTrain.java +++ b/src/org/usfirst/frc/team4624/robot/subsystems/DriveTrain.java @@ -108,6 +108,8 @@ public void autoRotateDrive(){ DriverStation.reportError("Error communicating with drive system: " + ex.getMessage(), true); } + Timer.delay(0.005); + } public void stop() { From 60435a060dc3cceef277c1fc186d461597584919 Mon Sep 17 00:00:00 2001 From: NHellerud Date: Mon, 30 Jan 2017 18:16:19 -0600 Subject: [PATCH 05/12] Removed userLibs --- build.properties | 3 --- 1 file changed, 3 deletions(-) diff --git a/build.properties b/build.properties index 00b577b..15a1486 100644 --- a/build.properties +++ b/build.properties @@ -3,6 +3,3 @@ package=org.usfirst.frc.team4624.robot robot.class=${package}.Robot simulation.world.file=/usr/share/frcsim/worlds/GearsBotDemo.world #Uncomment and point at user libraries to include them in the build. Do not put libraries in the \wpilib\java folder, this folder is completely overwritten on plugin update. -/* -#userLibs=C:/Users/Developer/Documents/GitHub/2017RobotCode/navx-mxp/java/src/com/kauailabs/navx/frc/AHRS.java -*/ \ No newline at end of file From ca06847f7f82862bc795a0fd6943fb9797b350ea Mon Sep 17 00:00:00 2001 From: NHellerud Date: Thu, 2 Feb 2017 16:38:33 -0600 Subject: [PATCH 06/12] Manual AutoDrive First draft of manual auto drive --- .../frc/team4624/robot/commands/Drive.java | 19 ++-- .../robot/commands/RotateToAngle.java | 66 +++++++++++++ .../team4624/robot/subsystems/DriveTrain.java | 92 +++++++------------ 3 files changed, 109 insertions(+), 68 deletions(-) create mode 100644 src/org/usfirst/frc/team4624/robot/commands/RotateToAngle.java diff --git a/src/org/usfirst/frc/team4624/robot/commands/Drive.java b/src/org/usfirst/frc/team4624/robot/commands/Drive.java index dcdfb1c..27ca0b3 100644 --- a/src/org/usfirst/frc/team4624/robot/commands/Drive.java +++ b/src/org/usfirst/frc/team4624/robot/commands/Drive.java @@ -9,36 +9,37 @@ * */ public class Drive extends Command { - + public Drive() { // Use requires() here to declare subsystem dependencies requires(Robot.driveTrain); } - + // Called just before this Command runs the first time protected void initialize() { Robot.driveTrain.stop(); } - + // Called repeatedly when this Command is scheduled to run protected void execute() { // use this for Xbox controls - //Robot.driveTrain.driveRaw(Robot.oi.xboxController.leftStick.getX(), Robot.oi.xboxController.leftStick.getY(), - // Robot.oi.xboxController.rightStick.getX()); - //use this for the twisty joystick + // Robot.driveTrain.driveRaw(Robot.oi.xboxController.leftStick.getX(), + // Robot.oi.xboxController.leftStick.getY(), + // Robot.oi.xboxController.rightStick.getX()); + // use this for the twisty joystick Robot.driveTrain.driveRaw(Robot.oi.joystick.getX(), Robot.oi.joystick.getY(), Robot.oi.joystick.getTwist()); } - + // Make this return true when this Command no longer needs to run execute() protected boolean isFinished() { return false; } - + // Called once after isFinished returns true protected void end() { Robot.driveTrain.stop(); } - + // Called when another command which requires one or more of the same // subsystems is scheduled to run protected void interrupted() { diff --git a/src/org/usfirst/frc/team4624/robot/commands/RotateToAngle.java b/src/org/usfirst/frc/team4624/robot/commands/RotateToAngle.java new file mode 100644 index 0000000..5301136 --- /dev/null +++ b/src/org/usfirst/frc/team4624/robot/commands/RotateToAngle.java @@ -0,0 +1,66 @@ +package org.usfirst.frc.team4624.robot.commands; + +import org.usfirst.frc.team4624.robot.Robot; + +import edu.wpi.first.wpilibj.command.Command; + +public class RotateToAngle extends Command { + + float targetAngle; + boolean turnRight; + public boolean isDone = false; + + public RotateToAngle(float x) { + targetAngle = x; + + } + + // Called just before this Command runs the first time + protected void initialize() { + Robot.driveTrain.stop(); + whichWay(); + } + + // Called repeatedly when this Command is scheduled to run + protected void execute() { + // use this for Xbox controls + // Robot.driveTrain.driveRaw(Robot.oi.xboxController.leftStick.getX(), + // Robot.oi.xboxController.leftStick.getY(), + // Robot.oi.xboxController.rightStick.getX()); + // use this for the twisty joystick + Robot.driveTrain.autoRotate(turnRight, targetAngle); + } + + public void whichWay() { + targetAngle = targetAngle + 180; + float actualAngle = Robot.navX.getYaw() + 180; + + if (targetAngle > actualAngle) { + if (targetAngle - actualAngle < 180) { + turnRight = true; + } + } else if (actualAngle - targetAngle > 180) { + turnRight = true; + + } else { + turnRight = false; + } + + } + + // Make this return true when this Command no longer needs to run execute() + protected boolean isFinished() { + return isDone; + } + + // Called once after isFinished returns true + protected void end() { + Robot.driveTrain.stop(); + } + + // Called when another command which requires one or more of the same + // subsystems is scheduled to run + protected void interrupted() { + Robot.driveTrain.stop(); + } +} \ No newline at end of file diff --git a/src/org/usfirst/frc/team4624/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team4624/robot/subsystems/DriveTrain.java index 6a3c167..f3c0992 100644 --- a/src/org/usfirst/frc/team4624/robot/subsystems/DriveTrain.java +++ b/src/org/usfirst/frc/team4624/robot/subsystems/DriveTrain.java @@ -15,40 +15,37 @@ * */ public class DriveTrain extends Subsystem { - + // Put methods for controlling this subsystem // here. Call these from Commands. - - final VictorSP fLMotor = new VictorSP(RobotMap.frontLeftMotor); - final VictorSP fRMotor = new VictorSP(RobotMap.frontRightMotor); - final VictorSP bLMotor = new VictorSP(RobotMap.backLeftMotor); - final VictorSP bRMotor = new VictorSP(RobotMap.backRightMotor); - - public static double rotateToAngleRate; - boolean rotateToAngle = false; - - RobotDrive driveTrain = new RobotDrive(fLMotor, bLMotor, fRMotor, bRMotor); - + + final VictorSP fLMotor = new VictorSP(RobotMap.frontLeftMotor); + final VictorSP fRMotor = new VictorSP(RobotMap.frontRightMotor); + final VictorSP bLMotor = new VictorSP(RobotMap.backLeftMotor); + final VictorSP bRMotor = new VictorSP(RobotMap.backRightMotor); + + RobotDrive driveTrain = new RobotDrive(fLMotor, bLMotor, fRMotor, bRMotor); + public void initDefaultCommand() { // Set the default command for a subsystem here. setDefaultCommand(new Drive()); } - + public void drive(double x, double y, double rotation) { double xmove = Math.pow(x, 3); double ymove = Math.pow(y, 3); double rmove = Math.pow(rotation, 3); driveTrain.mecanumDrive_Cartesian(xmove, ymove, rmove, 0); - + } - + public void driveRaw(double x1, double y1, double x2) { double x1move = (Math.pow(x1, 3)); double x2move = Math.pow(x2, 3); double y1move = Math.pow(y1, 3); - + double deadZone = .07; - + if (x1move < deadZone && x1move > -deadZone) { x1move = 0; } @@ -58,67 +55,44 @@ public void driveRaw(double x1, double y1, double x2) { if (x2move < deadZone && x2move > -deadZone) { x2move = 0; } - + if ((Robot.oi.joystick.getRawButton(1))) { // should invert controls set(fLMotor, (-x1move + y1move + (x2move / 2))); set(bLMotor, (x1move + y1move + (x2move / 2))); set(fRMotor, (-x1move - y1move + (x2move / 2))); set(bRMotor, (x1move - y1move + (x2move / 2))); - } - else { + } else { set(fLMotor, (x1move - y1move + (x2move / 2))); set(bLMotor, (-x1move - y1move + (x2move / 2))); set(fRMotor, (x1move + y1move + (x2move / 2))); set(bRMotor, (-x1move + y1move + (x2move / 2))); } } - - public void autoRotateDrive(){ - if(Robot.oi.joystick.getRawButton(1)){ - Robot.navX.reset(); - } - if(Robot.oi.joystick.getRawButton(2)){ - Robot.controllerPID.setSetpoint(0.0f); - rotateToAngle = true; - } - if(Robot.oi.joystick.getRawButton(3)){ - Robot.controllerPID.setSetpoint(90.0f); - rotateToAngle = true; - } - if(Robot.oi.joystick.getRawButton(4)){ - Robot.controllerPID.setSetpoint(179.9f); - rotateToAngle = true; - } - if(Robot.oi.joystick.getRawButton(5)){ - Robot.controllerPID.setSetpoint(-90.0); - rotateToAngle = true; - } - double currentRotate; - if(rotateToAngle){ - Robot.controllerPID.enable(); - currentRotate = rotateToAngleRate; - }else{ - Robot.controllerPID.disable(); - currentRotate = Robot.oi.joystick.getTwist(); + + public void autoRotate(boolean turnRight, float targetAngle) { + double acceptedError = 2.0; + while ((Math.abs(targetAngle - Robot.navX.getYaw()) > acceptedError)) { + if (turnRight) { + set(fLMotor, -.25); + set(fRMotor, -.25); + set(bLMotor, -.25); + set(bRMotor, -.25); + } else { + set(fLMotor, .25); + set(fRMotor, .25); + set(bLMotor, .25); + set(bRMotor, .25); + } } - - try{ - Robot.driveTrain.driveTrain.mecanumDrive_Cartesian(Robot.oi.joystick.getX(), Robot.oi.joystick.getY(), currentRotate, Robot.navX.getAngle()); - } catch( RuntimeException ex ) { - DriverStation.reportError("Error communicating with drive system: " + ex.getMessage(), true); - } - - Timer.delay(0.005); - } - + public void stop() { fLMotor.setDisabled(); bLMotor.setDisabled(); fRMotor.setDisabled(); bRMotor.setDisabled(); } - + public void set(VictorSP motor, double speed) { if (speed == 0) { motor.setDisabled(); From 443990cbdb5085345d54f8ecc5df5ffaf0acee48 Mon Sep 17 00:00:00 2001 From: NHellerud Date: Fri, 3 Feb 2017 15:30:24 -0600 Subject: [PATCH 07/12] Got rid of PIDController --- src/org/usfirst/frc/team4624/robot/OI.java | 1 + src/org/usfirst/frc/team4624/robot/Robot.java | 24 +------------------ 2 files changed, 2 insertions(+), 23 deletions(-) diff --git a/src/org/usfirst/frc/team4624/robot/OI.java b/src/org/usfirst/frc/team4624/robot/OI.java index a43f143..82db357 100644 --- a/src/org/usfirst/frc/team4624/robot/OI.java +++ b/src/org/usfirst/frc/team4624/robot/OI.java @@ -55,6 +55,7 @@ public OI() { xboxController.lb.whenPressed(new ShootDown()); xboxController.x.whenPressed(new ShootStop()); + } //// CREATING BUTTONS diff --git a/src/org/usfirst/frc/team4624/robot/Robot.java b/src/org/usfirst/frc/team4624/robot/Robot.java index cae5e85..8786608 100644 --- a/src/org/usfirst/frc/team4624/robot/Robot.java +++ b/src/org/usfirst/frc/team4624/robot/Robot.java @@ -25,25 +25,16 @@ * IterativeRobot documentation. If you change the name of this class or the package after creating this project, you must also update the * manifest file in the resource directory. */ -public class Robot extends IterativeRobot implements PIDOutput{ +public class Robot extends IterativeRobot{ public static final ExampleSubsystem exampleSubsystem = new ExampleSubsystem(); public static final DriveTrain driveTrain = new DriveTrain(); public static OI oi; public static final Shooter shooter = new Shooter(); public static AHRS navX; - public static PIDController controllerPID; Command autonomousCommand; SendableChooser chooser; - - static final double kP = 0.03; - static final double kI = 0.00; - static final double kD = 0.00; - static final double kF = 0.00; - - static final double kToleranceDegrees = 2.0f; - /** * This function is run when the robot is first started up and should be used for any initialization code. */ @@ -60,13 +51,6 @@ public void robotInit() { }catch(RuntimeException ex){ DriverStation.reportError("Error instantiating navX MXP: " + ex.getMessage(),true); } - controllerPID = new PIDController(kP, kI, kD, kF, navX, this); - controllerPID.setInputRange(-180.0f, 180.0f); - controllerPID.setOutputRange(-1.0, 1.0); - controllerPID.setAbsoluteTolerance(kToleranceDegrees); - controllerPID.setContinuous(true); - - LiveWindow.addActuator("DriveSystem", "RotateController", controllerPID); } /** @@ -123,7 +107,6 @@ public void teleopInit() { */ public void teleopPeriodic() { Scheduler.getInstance().run(); - driveTrain.autoRotateDrive(); } /** @@ -133,9 +116,4 @@ public void testPeriodic() { LiveWindow.run(); } - @Override - public void pidWrite(double output) { - // TODO Auto-generated method stub - driveTrain.rotateToAngleRate = output; - } } From 0f9bba2e092405d38591d6c6035f293cb68498df Mon Sep 17 00:00:00 2001 From: NHellerud Date: Fri, 3 Feb 2017 17:20:56 -0600 Subject: [PATCH 08/12] Some sensors and minor changes forthe autorotate --- src/org/usfirst/frc/team4624/robot/OI.java | 7 ++++ src/org/usfirst/frc/team4624/robot/Robot.java | 2 + .../usfirst/frc/team4624/robot/RobotMap.java | 7 ++++ .../team4624/robot/commands/GetDistance.java | 40 +++++++++++++++++++ .../robot/commands/RotateToAngle.java | 26 +++++++++++- .../robot/subsystems/SensorArray.java | 34 ++++++++++++++++ 6 files changed, 114 insertions(+), 2 deletions(-) create mode 100644 src/org/usfirst/frc/team4624/robot/commands/GetDistance.java create mode 100644 src/org/usfirst/frc/team4624/robot/subsystems/SensorArray.java diff --git a/src/org/usfirst/frc/team4624/robot/OI.java b/src/org/usfirst/frc/team4624/robot/OI.java index 82db357..6ed7fc2 100644 --- a/src/org/usfirst/frc/team4624/robot/OI.java +++ b/src/org/usfirst/frc/team4624/robot/OI.java @@ -25,6 +25,13 @@ public class OI { public static JoystickButton button2_1, button2_2, button2_3, button2_4, button2_5, button2_6, button2_7, button2_8, button2_9, button2_10, button2_11; + + public static final int turnFoward = 1; + public static final int turnLeft = 2; + public static final int turnRight = 3; + public static final int turnBack = 4; + + public OI() { button1 = new JoystickButton(joystick, 1); diff --git a/src/org/usfirst/frc/team4624/robot/Robot.java b/src/org/usfirst/frc/team4624/robot/Robot.java index 8786608..f7edfee 100644 --- a/src/org/usfirst/frc/team4624/robot/Robot.java +++ b/src/org/usfirst/frc/team4624/robot/Robot.java @@ -2,6 +2,7 @@ package org.usfirst.frc.team4624.robot; import org.usfirst.frc.team4624.robot.subsystems.DriveTrain; +import org.usfirst.frc.team4624.robot.subsystems.SensorArray; import org.usfirst.frc.team4624.robot.subsystems.Shooter; import org.usfirst.frc.team4624.template.ExampleCommand; import org.usfirst.frc.team4624.template.ExampleSubsystem; @@ -32,6 +33,7 @@ public class Robot extends IterativeRobot{ public static OI oi; public static final Shooter shooter = new Shooter(); public static AHRS navX; + public static SensorArray sensorArray = new SensorArray(); Command autonomousCommand; SendableChooser chooser; diff --git a/src/org/usfirst/frc/team4624/robot/RobotMap.java b/src/org/usfirst/frc/team4624/robot/RobotMap.java index 8ddec91..bd02efa 100644 --- a/src/org/usfirst/frc/team4624/robot/RobotMap.java +++ b/src/org/usfirst/frc/team4624/robot/RobotMap.java @@ -12,6 +12,13 @@ public class RobotMap { public static final int backRightMotor = 3; public static final int shooterMotor = 4; + //DIO + public static final int echoChannel = 0; + public static final int pingChannel = 1; + + //AutoRotate buttons + + // For example to map the left and right motors, you could define the // following variables to use with your drivetrain subsystem. // public static int leftMotor = 1; diff --git a/src/org/usfirst/frc/team4624/robot/commands/GetDistance.java b/src/org/usfirst/frc/team4624/robot/commands/GetDistance.java new file mode 100644 index 0000000..21c08b3 --- /dev/null +++ b/src/org/usfirst/frc/team4624/robot/commands/GetDistance.java @@ -0,0 +1,40 @@ +package org.usfirst.frc.team4624.robot.commands; + +import org.usfirst.frc.team4624.robot.Robot; + +import edu.wpi.first.wpilibj.command.Command; + +public class GetDistance extends Command { + + /** + * gets the distance read by the ultrasonic sensor + */ + public GetDistance() { + // Use requires() here to declare subsystem dependencies + requires(Robot.sensorArray); + } + + // Called just before this Command runs the first time + protected void initialize() { + + } + + // Called repeatedly when this Command is scheduled to run + protected void execute() { + Robot.sensorArray.displayDistance(); + } + + // Make this return true when this Command no longer needs to run execute() + protected boolean isFinished() { + return false; + } + + // Called once after isFinished returns true + protected void end() { + } + + // Called when another command which requires one or more of the same + // subsystems is scheduled to run + protected void interrupted() { + } +} diff --git a/src/org/usfirst/frc/team4624/robot/commands/RotateToAngle.java b/src/org/usfirst/frc/team4624/robot/commands/RotateToAngle.java index 5301136..03717c0 100644 --- a/src/org/usfirst/frc/team4624/robot/commands/RotateToAngle.java +++ b/src/org/usfirst/frc/team4624/robot/commands/RotateToAngle.java @@ -9,6 +9,7 @@ public class RotateToAngle extends Command { float targetAngle; boolean turnRight; public boolean isDone = false; + boolean move = false; public RotateToAngle(float x) { targetAngle = x; @@ -18,7 +19,7 @@ public RotateToAngle(float x) { // Called just before this Command runs the first time protected void initialize() { Robot.driveTrain.stop(); - whichWay(); + } // Called repeatedly when this Command is scheduled to run @@ -28,7 +29,28 @@ protected void execute() { // Robot.oi.xboxController.leftStick.getY(), // Robot.oi.xboxController.rightStick.getX()); // use this for the twisty joystick - Robot.driveTrain.autoRotate(turnRight, targetAngle); + if(Robot.oi.joystick.getRawButton(Robot.oi.turnFoward)){ + targetAngle = 0.0f; + move = true; + } + if(Robot.oi.joystick.getRawButton(Robot.oi.turnRight)){ + targetAngle = 90.0f; + move = true; + } + if(Robot.oi.joystick.getRawButton(Robot.oi.turnBack)){ + targetAngle = 179.9f; + move = true; + } + if(Robot.oi.joystick.getRawButton(Robot.oi.turnFoward)){ + targetAngle = -90.0f; + move = true; + } + if(move){ + whichWay(); + Robot.driveTrain.autoRotate(turnRight, targetAngle); + move = false; + } + } public void whichWay() { diff --git a/src/org/usfirst/frc/team4624/robot/subsystems/SensorArray.java b/src/org/usfirst/frc/team4624/robot/subsystems/SensorArray.java new file mode 100644 index 0000000..820a0d8 --- /dev/null +++ b/src/org/usfirst/frc/team4624/robot/subsystems/SensorArray.java @@ -0,0 +1,34 @@ +package org.usfirst.frc.team4624.robot.subsystems; + +import org.usfirst.frc.team4624.robot.Robot; +import org.usfirst.frc.team4624.robot.RobotMap; +import org.usfirst.frc.team4624.robot.commands.GetDistance; + +import edu.wpi.first.wpilibj.Ultrasonic; +import edu.wpi.first.wpilibj.command.Subsystem; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; + +public class SensorArray extends Subsystem{ + private Ultrasonic sensor;// = new Ultrasonic(RobotMap.ECHO_CHANNEL, RobotMap.PING_CHANNEL); + + public SensorArray(){ + sensor = new Ultrasonic(RobotMap.echoChannel, RobotMap.pingChannel); + sensor.setEnabled(true); + sensor.setAutomaticMode(true); + } + + protected void initDefaultCommand() { + setDefaultCommand(new GetDistance()); + } + + public double getDistance(){ + double distance = sensor.getRangeInches(); + return distance; + } + + public void displayDistance() { + double distance = this.getDistance(); + SmartDashboard.putNumber("UltraS. Dist.", distance); + } + } + From 85e63a77fee0aa8e67b384304055660e156ba6bf Mon Sep 17 00:00:00 2001 From: roshanpoduval Date: Mon, 6 Feb 2017 17:08:16 -0600 Subject: [PATCH 09/12] Drive AutoDrive --- src/org/usfirst/frc/team4624/robot/OI.java | 10 +-- src/org/usfirst/frc/team4624/robot/Robot.java | 3 + .../frc/team4624/robot/commands/Drive.java | 20 +++++ .../robot/commands/RotateToAngle.java | 88 ------------------- .../team4624/robot/subsystems/DriveTrain.java | 8 +- 5 files changed, 32 insertions(+), 97 deletions(-) delete mode 100644 src/org/usfirst/frc/team4624/robot/commands/RotateToAngle.java diff --git a/src/org/usfirst/frc/team4624/robot/OI.java b/src/org/usfirst/frc/team4624/robot/OI.java index 6ed7fc2..7b4e894 100644 --- a/src/org/usfirst/frc/team4624/robot/OI.java +++ b/src/org/usfirst/frc/team4624/robot/OI.java @@ -26,10 +26,10 @@ public class OI { button2_10, button2_11; - public static final int turnFoward = 1; - public static final int turnLeft = 2; - public static final int turnRight = 3; - public static final int turnBack = 4; + public static final int turnFoward = 9; + public static final int turnLeft = 10; + public static final int turnRight = 11; + public static final int turnBack = 12; public OI() { @@ -61,7 +61,7 @@ public OI() { xboxController.rb.whenPressed(new ShootUp()); xboxController.lb.whenPressed(new ShootDown()); xboxController.x.whenPressed(new ShootStop()); - + //YMNTL } diff --git a/src/org/usfirst/frc/team4624/robot/Robot.java b/src/org/usfirst/frc/team4624/robot/Robot.java index f7edfee..3a39d71 100644 --- a/src/org/usfirst/frc/team4624/robot/Robot.java +++ b/src/org/usfirst/frc/team4624/robot/Robot.java @@ -1,6 +1,7 @@ package org.usfirst.frc.team4624.robot; +import org.usfirst.frc.team4624.robot.commands.RotateToAngle; import org.usfirst.frc.team4624.robot.subsystems.DriveTrain; import org.usfirst.frc.team4624.robot.subsystems.SensorArray; import org.usfirst.frc.team4624.robot.subsystems.Shooter; @@ -109,8 +110,10 @@ public void teleopInit() { */ public void teleopPeriodic() { Scheduler.getInstance().run(); + } + /** * This function is called periodically during test mode */ diff --git a/src/org/usfirst/frc/team4624/robot/commands/Drive.java b/src/org/usfirst/frc/team4624/robot/commands/Drive.java index 27ca0b3..a617f50 100644 --- a/src/org/usfirst/frc/team4624/robot/commands/Drive.java +++ b/src/org/usfirst/frc/team4624/robot/commands/Drive.java @@ -9,6 +9,9 @@ * */ public class Drive extends Command { + + float tagetAngle; + public Drive() { // Use requires() here to declare subsystem dependencies @@ -28,6 +31,23 @@ protected void execute() { // Robot.oi.xboxController.rightStick.getX()); // use this for the twisty joystick Robot.driveTrain.driveRaw(Robot.oi.joystick.getX(), Robot.oi.joystick.getY(), Robot.oi.joystick.getTwist()); + + if(Robot.oi.joystick.getRawButton(Robot.oi.turnBack)){ + Robot.driveTrain.autoRotate(179.9f); + } + if(Robot.oi.joystick.getRawButton(Robot.oi.turnFoward)){ + Robot.driveTrain.autoRotate(0.0f); + } + + if(Robot.oi.joystick.getRawButton(Robot.oi.turnLeft)){ + Robot.driveTrain.autoRotate(-90.0f); + } + + if(Robot.oi.joystick.getRawButton(Robot.oi.turnRight)){ + Robot.driveTrain.autoRotate(90.0f); + } + + } // Make this return true when this Command no longer needs to run execute() diff --git a/src/org/usfirst/frc/team4624/robot/commands/RotateToAngle.java b/src/org/usfirst/frc/team4624/robot/commands/RotateToAngle.java deleted file mode 100644 index 03717c0..0000000 --- a/src/org/usfirst/frc/team4624/robot/commands/RotateToAngle.java +++ /dev/null @@ -1,88 +0,0 @@ -package org.usfirst.frc.team4624.robot.commands; - -import org.usfirst.frc.team4624.robot.Robot; - -import edu.wpi.first.wpilibj.command.Command; - -public class RotateToAngle extends Command { - - float targetAngle; - boolean turnRight; - public boolean isDone = false; - boolean move = false; - - public RotateToAngle(float x) { - targetAngle = x; - - } - - // Called just before this Command runs the first time - protected void initialize() { - Robot.driveTrain.stop(); - - } - - // Called repeatedly when this Command is scheduled to run - protected void execute() { - // use this for Xbox controls - // Robot.driveTrain.driveRaw(Robot.oi.xboxController.leftStick.getX(), - // Robot.oi.xboxController.leftStick.getY(), - // Robot.oi.xboxController.rightStick.getX()); - // use this for the twisty joystick - if(Robot.oi.joystick.getRawButton(Robot.oi.turnFoward)){ - targetAngle = 0.0f; - move = true; - } - if(Robot.oi.joystick.getRawButton(Robot.oi.turnRight)){ - targetAngle = 90.0f; - move = true; - } - if(Robot.oi.joystick.getRawButton(Robot.oi.turnBack)){ - targetAngle = 179.9f; - move = true; - } - if(Robot.oi.joystick.getRawButton(Robot.oi.turnFoward)){ - targetAngle = -90.0f; - move = true; - } - if(move){ - whichWay(); - Robot.driveTrain.autoRotate(turnRight, targetAngle); - move = false; - } - - } - - public void whichWay() { - targetAngle = targetAngle + 180; - float actualAngle = Robot.navX.getYaw() + 180; - - if (targetAngle > actualAngle) { - if (targetAngle - actualAngle < 180) { - turnRight = true; - } - } else if (actualAngle - targetAngle > 180) { - turnRight = true; - - } else { - turnRight = false; - } - - } - - // Make this return true when this Command no longer needs to run execute() - protected boolean isFinished() { - return isDone; - } - - // Called once after isFinished returns true - protected void end() { - Robot.driveTrain.stop(); - } - - // Called when another command which requires one or more of the same - // subsystems is scheduled to run - protected void interrupted() { - Robot.driveTrain.stop(); - } -} \ No newline at end of file diff --git a/src/org/usfirst/frc/team4624/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team4624/robot/subsystems/DriveTrain.java index f3c0992..e897a64 100644 --- a/src/org/usfirst/frc/team4624/robot/subsystems/DriveTrain.java +++ b/src/org/usfirst/frc/team4624/robot/subsystems/DriveTrain.java @@ -69,20 +69,20 @@ public void driveRaw(double x1, double y1, double x2) { } } - public void autoRotate(boolean turnRight, float targetAngle) { + public void autoRotate(float targetAngle) { double acceptedError = 2.0; while ((Math.abs(targetAngle - Robot.navX.getYaw()) > acceptedError)) { - if (turnRight) { + set(fLMotor, -.25); set(fRMotor, -.25); set(bLMotor, -.25); set(bRMotor, -.25); - } else { + set(fLMotor, .25); set(fRMotor, .25); set(bLMotor, .25); set(bRMotor, .25); - } + } } From 8317855680755e63872207d7f9b9445aabc0fa60 Mon Sep 17 00:00:00 2001 From: roshanpoduval Date: Tue, 7 Feb 2017 18:44:24 -0600 Subject: [PATCH 10/12] Autodrive that works --- build/jars/navx_frc.jar | Bin 0 -> 108285 bytes build/org/usfirst/frc/team4624/robot/OI.class | Bin 2325 -> 2513 bytes .../usfirst/frc/team4624/robot/Robot.class | Bin 2571 -> 3489 bytes .../usfirst/frc/team4624/robot/RobotMap.class | Bin 519 -> 579 bytes .../frc/team4624/robot/commands/Drive.class | Bin 1314 -> 2007 bytes .../team4624/robot/commands/GetDistance.class | Bin 0 -> 1011 bytes .../robot/subsystems/DriveTrain.class | Bin 2822 -> 3279 bytes .../robot/subsystems/SensorArray.class | Bin 0 -> 1244 bytes dist/FRCUserProgram.jar | Bin 481345 -> 592087 bytes src/org/usfirst/frc/team4624/robot/OI.java | 6 +-- src/org/usfirst/frc/team4624/robot/Robot.java | 1 - .../frc/team4624/robot/commands/Drive.java | 6 +++ .../team4624/robot/subsystems/DriveTrain.java | 37 ++++++++++++++---- sysProps.xml | Bin 6192 -> 6192 bytes 14 files changed, 39 insertions(+), 11 deletions(-) create mode 100644 build/jars/navx_frc.jar create mode 100644 build/org/usfirst/frc/team4624/robot/commands/GetDistance.class create mode 100644 build/org/usfirst/frc/team4624/robot/subsystems/SensorArray.class diff --git a/build/jars/navx_frc.jar b/build/jars/navx_frc.jar new file mode 100644 index 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resetPosition = 8; public static final int turnFoward = 9; public static final int turnLeft = 10; - public static final int turnRight = 11; - public static final int turnBack = 12; + public static final int turnRight = 12; + public static final int turnBack = 11; public OI() { diff --git a/src/org/usfirst/frc/team4624/robot/Robot.java b/src/org/usfirst/frc/team4624/robot/Robot.java index 3a39d71..edc2e3d 100644 --- a/src/org/usfirst/frc/team4624/robot/Robot.java +++ b/src/org/usfirst/frc/team4624/robot/Robot.java @@ -1,7 +1,6 @@ package org.usfirst.frc.team4624.robot; -import org.usfirst.frc.team4624.robot.commands.RotateToAngle; import org.usfirst.frc.team4624.robot.subsystems.DriveTrain; import org.usfirst.frc.team4624.robot.subsystems.SensorArray; import org.usfirst.frc.team4624.robot.subsystems.Shooter; diff --git a/src/org/usfirst/frc/team4624/robot/commands/Drive.java b/src/org/usfirst/frc/team4624/robot/commands/Drive.java index a617f50..85d06bb 100644 --- a/src/org/usfirst/frc/team4624/robot/commands/Drive.java +++ b/src/org/usfirst/frc/team4624/robot/commands/Drive.java @@ -46,9 +46,15 @@ protected void execute() { if(Robot.oi.joystick.getRawButton(Robot.oi.turnRight)){ Robot.driveTrain.autoRotate(90.0f); } + + if(Robot.oi.joystick.getRawButton(Robot.oi.resetPosition)){ + Robot.navX.reset(); + } } + + // Make this return true when this Command no longer needs to run execute() protected boolean isFinished() { diff --git a/src/org/usfirst/frc/team4624/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team4624/robot/subsystems/DriveTrain.java index e897a64..edb6c25 100644 --- a/src/org/usfirst/frc/team4624/robot/subsystems/DriveTrain.java +++ b/src/org/usfirst/frc/team4624/robot/subsystems/DriveTrain.java @@ -70,19 +70,42 @@ public void driveRaw(double x1, double y1, double x2) { } public void autoRotate(float targetAngle) { - double acceptedError = 2.0; + float acceptedError = 2.0f; + boolean turn = false; + while ((Math.abs(targetAngle - Robot.navX.getYaw()) > acceptedError)) { + turn = whichWay(targetAngle); - set(fLMotor, -.25); - set(fRMotor, -.25); - set(bLMotor, -.25); - set(bRMotor, -.25); - + if(!turn){ set(fLMotor, .25); set(fRMotor, .25); set(bLMotor, .25); set(bRMotor, .25); - + }else{ + set(fLMotor, -.25); + set(fRMotor, -.25); + set(bLMotor, -.25); + set(bRMotor, -.25); + } + } + + } + + public static boolean whichWay(float target){ + //true = counter-clockwise + + float currentPos = Robot.navX.getYaw(); + float targetPos; + targetPos = target + 180; + currentPos = currentPos + 180; + if(targetPos > currentPos){ + if(targetPos - currentPos > 180){ + return true; + }else return false; + }else{ + if(currentPos - targetPos > 180){ + return false; + }else return true; } } diff --git a/sysProps.xml b/sysProps.xml index 67a701d1b571824236055884dc6619565634301e..3914146be9f308014c1f1f9d5ca1357c3b168840 100644 GIT binary patch delta 123 zcmdmBu)$!%G-gg01}6qr22%#}$rqWdH{W6oVdXaha;+H5ff7~>W(+QqH*#5TuHgK~ zVrs@<$zZ_X!eGc?45SSh6d2rq&=IK61A delta 123 zcmdmBu)$!%G-gh724e Date: Thu, 9 Feb 2017 18:17:16 -0600 Subject: [PATCH 11/12] Added some comments and an auto correct feature --- .../team4624/robot/subsystems/DriveTrain.java | 17 +++++++++- .../robot/subsystems/SensorArray.java | 34 ------------------- 2 files changed, 16 insertions(+), 35 deletions(-) delete mode 100644 src/org/usfirst/frc/team4624/robot/subsystems/SensorArray.java diff --git a/src/org/usfirst/frc/team4624/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team4624/robot/subsystems/DriveTrain.java index edb6c25..0e75184 100644 --- a/src/org/usfirst/frc/team4624/robot/subsystems/DriveTrain.java +++ b/src/org/usfirst/frc/team4624/robot/subsystems/DriveTrain.java @@ -68,12 +68,18 @@ public void driveRaw(double x1, double y1, double x2) { set(bRMotor, (-x1move + y1move + (x2move / 2))); } } + + /** + * Rotates to a given angle based on the NavX's gyro + * @param targetAngle targeted angle + */ public void autoRotate(float targetAngle) { float acceptedError = 2.0f; boolean turn = false; + int timeSince = 0; - while ((Math.abs(targetAngle - Robot.navX.getYaw()) > acceptedError)) { + while (timeSince < 5) { turn = whichWay(targetAngle); if(!turn){ @@ -87,10 +93,19 @@ public void autoRotate(float targetAngle) { set(bLMotor, -.25); set(bRMotor, -.25); } + if(Math.abs(targetAngle - Robot.navX.getYaw()) > acceptedError){ + timeSince++; + }else timeSince = 0; } } + /** + *Determines which way the robot should turn. + * @param target The targeted angle (Float) + * @return True if it should turn counter-clockwise + */ + public static boolean whichWay(float target){ //true = counter-clockwise diff --git a/src/org/usfirst/frc/team4624/robot/subsystems/SensorArray.java b/src/org/usfirst/frc/team4624/robot/subsystems/SensorArray.java deleted file mode 100644 index 820a0d8..0000000 --- a/src/org/usfirst/frc/team4624/robot/subsystems/SensorArray.java +++ /dev/null @@ -1,34 +0,0 @@ -package org.usfirst.frc.team4624.robot.subsystems; - -import org.usfirst.frc.team4624.robot.Robot; -import org.usfirst.frc.team4624.robot.RobotMap; -import org.usfirst.frc.team4624.robot.commands.GetDistance; - -import edu.wpi.first.wpilibj.Ultrasonic; -import edu.wpi.first.wpilibj.command.Subsystem; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; - -public class SensorArray extends Subsystem{ - private Ultrasonic sensor;// = new Ultrasonic(RobotMap.ECHO_CHANNEL, RobotMap.PING_CHANNEL); - - public SensorArray(){ - sensor = new Ultrasonic(RobotMap.echoChannel, RobotMap.pingChannel); - sensor.setEnabled(true); - sensor.setAutomaticMode(true); - } - - protected void initDefaultCommand() { - setDefaultCommand(new GetDistance()); - } - - public double getDistance(){ - double distance = sensor.getRangeInches(); - return distance; - } - - public void displayDistance() { - double distance = this.getDistance(); - SmartDashboard.putNumber("UltraS. Dist.", distance); - } - } - From 4f533a253b199d356d81aa138de3a59e6e38f9f0 Mon Sep 17 00:00:00 2001 From: Nick Hellerud Date: Sat, 11 Feb 2017 13:24:18 -0600 Subject: [PATCH 12/12] autodrive --- .../usfirst/frc/team4624/robot/Robot.class | Bin 3489 -> 3427 bytes .../frc/team4624/robot/commands/Drive.class | Bin 2007 -> 1723 bytes .../team4624/robot/commands/GetDistance.class | Bin 1011 -> 0 bytes .../robot/subsystems/DriveTrain.class | Bin 3279 -> 3831 bytes .../robot/subsystems/SensorArray.class | Bin 1244 -> 0 bytes dist/FRCUserProgram.jar | Bin 592087 -> 590691 bytes src/org/usfirst/frc/team4624/robot/Robot.java | 5 +- .../frc/team4624/robot/commands/Drive.java | 33 ++++---- .../team4624/robot/commands/GetDistance.java | 40 ---------- .../team4624/robot/subsystems/DriveTrain.java | 75 ++++++++++-------- sysProps.xml | Bin 6192 -> 6192 bytes 11 files changed, 60 insertions(+), 93 deletions(-) delete mode 100644 build/org/usfirst/frc/team4624/robot/commands/GetDistance.class delete 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Robot.navX.getYaw()); turn = whichWay(targetAngle); + + if (!turn) { + set(fLMotor, ((Math.abs(Math.abs(targetAngle) - Math.abs(Robot.navX.getYaw()))) / 360) + .1); + set(fRMotor, ((Math.abs(Math.abs(targetAngle) - Math.abs(Robot.navX.getYaw()))) / 360) + .1); + set(bLMotor, ((Math.abs(Math.abs(targetAngle) - Math.abs(Robot.navX.getYaw()))) / 360) + .1); + set(bRMotor, ((Math.abs(Math.abs(targetAngle) - Math.abs(Robot.navX.getYaw())))/ 360) + .1); + + } else { + set(fLMotor, -((Math.abs(Math.abs(targetAngle) - Math.abs(Robot.navX.getYaw()))) / 360) - .1); + set(fRMotor, -((Math.abs(Math.abs(targetAngle) - Math.abs(Robot.navX.getYaw()))) / 360) - .1); + set(bLMotor, -((Math.abs(Math.abs(targetAngle) - Math.abs(Robot.navX.getYaw()))) / 360) - .1); + set(bRMotor, -((Math.abs(Math.abs(targetAngle) - Math.abs(Robot.navX.getYaw()))) / 360) - .1); - if(!turn){ - set(fLMotor, .25); - set(fRMotor, .25); - set(bLMotor, .25); - set(bRMotor, .25); - }else{ - set(fLMotor, -.25); - set(fRMotor, -.25); - set(bLMotor, -.25); - set(bRMotor, -.25); } - if(Math.abs(targetAngle - Robot.navX.getYaw()) > acceptedError){ - timeSince++; - }else timeSince = 0; + SmartDashboard.putInt("Time Since: ", timeSince); } - + } - + /** - *Determines which way the robot should turn. - * @param target The targeted angle (Float) + * Determines which way the robot should turn. + * + * @param target + * The targeted angle (Float) * @return True if it should turn counter-clockwise */ - - public static boolean whichWay(float target){ - //true = counter-clockwise - + + public static boolean whichWay(float target) { + // true = counter-clockwise + float currentPos = Robot.navX.getYaw(); float targetPos; targetPos = target + 180; currentPos = currentPos + 180; - if(targetPos > currentPos){ - if(targetPos - currentPos > 180){ + if (targetPos > currentPos) { + if (targetPos - currentPos >= 180) { + return true; + } else + return false; + } else { + if (currentPos - targetPos >= 180) { + return false; + } else return true; - }else return false; - }else{ - if(currentPos - targetPos > 180){ - return false; - }else return true; } } diff --git a/sysProps.xml b/sysProps.xml index 3914146be9f308014c1f1f9d5ca1357c3b168840..7a9f72be3a590412ce6bd6609ea3719fc0f15617 100644 GIT binary patch delta 57 zcmdmBu)$zM8K0sFgE@mGgA))MGZ+A&0)rcnZ2%N=1CovmMw_Se3A3=81Eq~NuNP`$ F1pq`W3e^Ar delta 57 zcmdmBu)$zM8K0sVgC&CjgA0QpgE5dcU{GLi142gzC!iRJ<+^z~pD+un1%nxb!RGZs GjjRAiYzqwl