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JS auto proof of concept. #4

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JS auto proof of concept. #4

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246 changes: 29 additions & 217 deletions Robot2017-master/src/org/usfirst/frc/team20/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -7,8 +7,12 @@
import edu.wpi.first.wpilibj.SerialPort;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import javax.script.*;
import java.io.FileReader;

public class Robot extends IterativeRobot {
ScriptEngine js;
Invocable autoPeriodic;
RobotDrive myDrive;
DriveTrain drive;
FlyWheel flywheel;
Expand All @@ -30,7 +34,7 @@ public class Robot extends IterativeRobot {
int rocketScriptCurrentCount, rocketScriptLength = 0, startingENCClicks, autoModeSubStep = 0, startingENCClicksLeft = 0, startingENCClicksRight = 0;
double rotateToAngleRate, currentRotationRate, startTime;
double nominalVoltage = Constants.NOMINAL_VOLTAGE;
boolean shooting = false, resetGyro = false, setStartTime = false, waitStartTime = false, setStartTimeFlywheel = false,
boolean shooting = false, resetGyro = false, setStartTime = false, waitStartTime = false, setStartTimeFlywheel = false,
gotStartingENCClicks = false, setStartTimeShoot = false, resetGyroTurn = false;
// Logger logger = new Logger();
boolean beenEnabled = false, socket = false;
Expand All @@ -55,14 +59,10 @@ public void robotInit() {
arc = new CircleArcs();
getNewScript = new RocketScript();
alex = new AlexDrive(drive, climb);
// tsar = new TsarControls(drive, climb, tank, gear, flywheel, collector);

// cam = new DriverVision("cam0", 0);
// cam.startUSBCamera();

compressor = new Compressor();
compressor.setClosedLoopControl(true);

drive.shiftHigh();
flywheel.setPID(Constants.FLYWHEEL_P, Constants.FLYWHEEL_I, Constants.FLYWHEEL_D, Constants.FLYWHEEL_F);

Expand All @@ -71,27 +71,24 @@ public void robotInit() {

myDrive = new RobotDrive(drive.masterRight, drive.masterLeft);
myDrive.setExpiration(1.0);

//register to log
// logger.register(climb);
// logger.register(collector);
// logger.register(flywheel);
// logger.register(tank);
// logger.register(drive);
// logger.register(gear);
// logger.register(carlos);
// logger.startSocket(); socket = true;

try {
js = new ScriptEngineManager().getEngineByName("nashorn");
js.put("flywheel", flywheel);
js.put("collector", collector);
js.put("tank", tank);
js.put("gear", gear);
js.put("climb", climb);
js.put("drive", drive);
js.put("carlos", carlos);
js.eval(new FileReader("auto.js"));
auto = (Invocable) js;
} catch (Exception e) {
e.printStackTrace();
}
}

public void disabledInit(){
// if(beenEnabled){
// try {
// logger.closeSocket(); socket = false;
// } catch (IOException e) {
// e.printStackTrace();
// }
// }
// beenEnabled = false;
public void disabledInit() {
}

public void autonomousInit() {
Expand All @@ -103,115 +100,9 @@ public void autonomousInit() {
autoModeSubStep = 0;
rocketScriptCurrentCount = 0;
gear.gearFlapOut();
// rocketScriptData = getNewScript.testTurningRight60();
// rocketScriptData = getNewScript.testTurningRight90();
// rocketScriptData = getNewScript.testTurningRight105();
// rocketScriptData = getNewScript.testTurningRight170();
// rocketScriptData = getNewScript.testTurningLeft60();
// rocketScriptData = getNewScript.testTurningLeft90();
// rocketScriptData = getNewScript.testTurningLeft105();
// rocketScriptData = getNewScript.testTurningLeft170();
// rocketScriptLength = rocketScriptData.length; //REMEMBER TO UNCOMMENT
// THIS WHEN TESTING
rocketScriptData = getNewScript.splineTest1();
rocketScriptLength = rocketScriptData.length;
// boolean button1 = SmartDashboard.getBoolean("DB/Button 0", false);
// boolean button2 = SmartDashboard.getBoolean("DB/Button 1", false);
// boolean button3 = SmartDashboard.getBoolean("DB/Button 2", false);
// boolean button4 = SmartDashboard.getBoolean("DB/Button 3", false);
// double neutralZone = SmartDashboard.getNumber("DB/Slider 0", 0.0);
// if (button1) {
// if (button2 && !button3 && !button4 && neutralZone == 0.0) { // middle // peg
// rocketScriptData = getNewScript.middleGearNeutralZoneRed();
// rocketScriptLength = rocketScriptData.length;
// gear.gearFlapOut();
// } else if (button2 && !button3 && !button4 && neutralZone != 0.0) {
// rocketScriptData = getNewScript.middleGear();
// rocketScriptLength = rocketScriptData.length;
// gear.gearFlapOut();
// } else if (!button2 && button3 && !button4 && neutralZone == 0.0) { // right
// // peg
// rocketScriptData = getNewScript.rightGearNeutralZone();
// rocketScriptLength = rocketScriptData.length;
// gear.gearFlapOut();
// } else if (!button2 && button3 && !button4 && neutralZone != 0.0) {
// rocketScriptData = getNewScript.rightGear();
// rocketScriptLength = rocketScriptData.length;
// gear.gearFlapOut();
// } else if (!button2 && !button3 && button4 && neutralZone == 0.0) { // left
// // peg
// rocketScriptData = getNewScript.leftGearNeutralZone();
// rocketScriptLength = rocketScriptData.length;
// gear.gearFlapOut();
// } else if (!button2 && !button3 && button4 && neutralZone != 0.0) {
// rocketScriptData = getNewScript.leftGear();
// rocketScriptLength = rocketScriptData.length;
// gear.gearFlapOut();
// } else if (button2 && button3 && !button4) { // side peg to boiler
// rocketScriptData = getNewScript.rightGearToBoilerRed();
// rocketScriptLength = rocketScriptData.length;
// gear.gearFlapOut();
// } else if (!button2 && button3 && button4) { // 40kPa
// rocketScriptData = getNewScript.hopperToBoilerRed();
// rocketScriptLength = rocketScriptData.length;
// gear.gearFlapIn();
// } else if (button2 && !button3 && button4) { // 10kPa
// rocketScriptData = getNewScript.stayAtBoilerAndShoot();
// rocketScriptLength = rocketScriptData.length;
// gear.gearFlapIn();
// } else if (button2 && button3 && button4) {
// rocketScriptData = getNewScript.middleGearToBoilerRed();
// rocketScriptLength = rocketScriptData.length;
// gear.gearFlapOut();
// }
// } else {
// if (button2 && !button3 && !button4 && neutralZone == 0.0) { // middle peg
// rocketScriptData = getNewScript.middleGearNeutralZoneBlue();
// rocketScriptLength = rocketScriptData.length;
// gear.gearFlapOut();
// } else if (button2 && !button3 && !button4 && neutralZone != 0.0) {
// rocketScriptData = getNewScript.middleGear();
// rocketScriptLength = rocketScriptData.length;
// gear.gearFlapOut();
// } else if (!button2 && button3 && !button4 && neutralZone == 0.0) { // right peg
// rocketScriptData = getNewScript.rightGearNeutralZone();
// rocketScriptLength = rocketScriptData.length;
// gear.gearFlapOut();
// } else if (!button2 && button3 && !button4 && neutralZone != 0.0) {
// rocketScriptData = getNewScript.rightGear();
// rocketScriptLength = rocketScriptData.length;
// gear.gearFlapOut();
// } else if (!button2 && !button3 && button4 && neutralZone == 0.0) { // left peg
// rocketScriptData = getNewScript.leftGearNeutralZone();
// rocketScriptLength = rocketScriptData.length;
// gear.gearFlapOut();
// } else if (!button2 && !button3 && button4 && neutralZone != 0.0) {
// rocketScriptData = getNewScript.leftGear();
// rocketScriptLength = rocketScriptData.length;
// gear.gearFlapOut();
// } else if (button2 && !button3 && button4) { // 10kPa
// rocketScriptData = getNewScript.stayAtBoilerAndShoot();
// rocketScriptLength = rocketScriptData.length;
// gear.gearFlapIn();
// } else if (button2 && button3 && !button4) { // side peg to boiler
// rocketScriptData = getNewScript.leftGearToBoilerBlue();
// rocketScriptLength = rocketScriptData.length;
// gear.gearFlapOut();
// } else if (!button2 && button3 && button4) { // 40kPa
// rocketScriptData = getNewScript.hopperToBoilerBlue();
// rocketScriptLength = rocketScriptData.length;
// gear.gearFlapIn();
// } else if (button2 && button3 && button4) {
// rocketScriptData = getNewScript.middleGearToBoilerBlue();
// rocketScriptLength = rocketScriptData.length;
// gear.gearFlapOut();
// }
// }

// if(!socket){
// logger.startSocket(); socket = true;
// }
// beenEnabled = true;

}

/**
Expand All @@ -220,91 +111,12 @@ public void autonomousInit() {

@Override
public void autonomousPeriodic() {
// logger.log();
if (rocketScriptCurrentCount < rocketScriptLength) {
String[] values = rocketScriptData[rocketScriptCurrentCount].split(";");
if (Integer.parseInt(values[0]) == RobotModes.FAST_DRIVE_STRAIGHT) {
if (fastDriveStraight(Double.parseDouble(values[1]),
Double.parseDouble(values[2]) - AutoConstants.STOPPING_INCHES, Double.parseDouble(values[3]))) {
gotStartingENCClicks = false;
gyro.reset();
rocketScriptCurrentCount++;
}
}
if (Integer.parseInt(values[0]) == RobotModes.SHOOTING) {
flywheel.shootWithEncoders(Constants.FLYWHEEL_SPEED);
System.out.println("Flywheel RPMS " + flywheel.flywheelSpeed());
collector.intake(1);
tank.tankMotorIntoFlywheel(0.4);
shooting = true;
// }
if (shooting) {
tank.runAgitator();
System.out.println("***************Running Agitator");
if (!setStartTimeFlywheel) {
startTime = Timer.getFPGATimestamp();
setStartTimeFlywheel = true;
}
if (Timer.getFPGATimestamp() - startTime > Double.parseDouble(values[1])) {
System.out.println("******************************DONE SHOOTING");
rocketScriptCurrentCount++;
}
}
}
if (Integer.parseInt(values[0]) == RobotModes.STOP_SHOOTING) {
System.out.println("****************Stopping Shooting");
flywheel.stopFlywheel();
collector.stopCollector();
tank.stopTank();
shooting = false;
setStartTimeFlywheel = false;
rocketScriptCurrentCount++;
}
if (Integer.parseInt(values[0]) == RobotModes.WAIT) {
System.out.println("WAITING");
if (!waitStartTime) {
startTime = Timer.getFPGATimestamp();
waitStartTime = true;
}
if (Timer.getFPGATimestamp() - startTime > Double.parseDouble(values[1])) {
System.out.println("******************************DONE WAITING");
waitStartTime = false;
rocketScriptCurrentCount++;
}
}
if (Integer.parseInt(values[0]) == RobotModes.SPIN_UP) {
flywheel.shootWithEncoders(Constants.FLYWHEEL_SPEED);
rocketScriptCurrentCount++;
}
if (Integer.parseInt(values[0]) == RobotModes.TIME_DRIVE) {
if (fastDriveStraightTimer(Double.parseDouble(values[1]), Double.parseDouble(values[2]), true)) {
rocketScriptCurrentCount++;
}
}
if (Integer.parseInt(values[0]) == RobotModes.LOW_GEAR) {
drive.shiftLow();
rocketScriptCurrentCount++;
}
if (Integer.parseInt(values[0]) == RobotModes.HIGH_GEAR) {
drive.shiftHigh();
rocketScriptCurrentCount++;
}
if (Integer.parseInt(values[0]) == RobotModes.ARC_TURN) {
RobotGrid grid = new RobotGrid(0, 0, 0, 1);
grid.addLinearPoint(50, 0, 0);
if (spline(Double.parseDouble(values[1]), grid)) {
rocketScriptCurrentCount++;
}
}
if (Integer.parseInt(values[0]) == RobotModes.TURN) {
System.out.println("******************************** " + gyro.getAngle());
if (turn(Double.parseDouble(values[1]))) {
setStartTime = false;
resetGyroTurn = false;
rocketScriptCurrentCount++;
}
}
try {
auto.invokeFunction("periodic");
} catch (Exception e) {
e.printStackTrace();
}

}

@Override
Expand All @@ -319,7 +131,7 @@ public void teleopInit() {
drive.shiftHigh();
drive.masterRight.setVoltageRampRate(120);
drive.masterLeft.setVoltageRampRate(120);

// if(!socket){
// logger.startSocket(); socket = true;
// }
Expand Down
3 changes: 3 additions & 0 deletions Robot2017-master/src/org/usfirst/frc/team20/robot/auto.js
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Original file line number Diff line number Diff line change
@@ -0,0 +1,3 @@
function periodic() {
flywheel.shoot();
}