Fix of Computer 3 client side code

6419-ICE · Oct 28, 2019 · c3c168b · c3c168b
1 parent 63f0ab6
commit c3c168b
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Showing 4 changed files with 16 additions and 26 deletions.
diff --git a/.vscode/launch.json b/.vscode/launch.json
@@ -4,18 +4,25 @@
   // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
   "version": "0.2.0",
   "configurations": [
-
+
+    {
+      "type": "java",
+      "name": "CodeLens (Launch) - Main",
+      "request": "launch",
+      "mainClass": "frc.robot.Main",
+      "projectName": "2019-FRC-Offseason-Code"
+    },
     {
       "type": "wpilib",
       "name": "WPILib Desktop Debug",
       "request": "launch",
-      "desktop": true,
+      "desktop": true
     },
     {
       "type": "wpilib",
       "name": "WPILib roboRIO Debug",
       "request": "launch",
-      "desktop": false,
+      "desktop": false
     }
   ]
 }
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -50,6 +50,7 @@ public void robotInit() {
 
     m_oi = new OI();
     drivetrain = new DriveTrain();
+    arm = new Arm();
 
     /* PD
     m_chooser.setDefaultOption("Default Auto", kDefaultAuto);
@@ -129,21 +130,13 @@ public void teleopInit() {
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
 
-    /* Hatch Panel Checker */
-    m_oi.getArmUpBtn().whileActive(new HandleArm(RobotMap.armPower)); // Raise Hatch Panel
-    m_oi.getArmDownBtn().whileActive(new HandleArm(-RobotMap.armPower)); // Lower Hatch Panel
-
-
     /* PD
     Update_Limelight_Tracking();
-
         double steer = m_Controller.getX(Hand.kRight);
         double drive = -m_Controller.getY(Hand.kLeft);
         boolean auto = m_Controller.getAButton();
-
         steer *= 0.70;
         drive *= 0.70;
-
         if (auto)
         {
           if (m_LimelightHasValidTarget)
@@ -176,33 +169,26 @@ public void testPeriodic() {
     final double DRIVE_K = 0.26;                    // how hard to drive fwd toward the target
     final double DESIRED_TARGET_AREA = 13.0;        // Area of the target when the robot reaches the wall
     final double MAX_DRIVE = 0.7;                   // Simple speed limit so we don't drive too fast
-
     double tv = NetworkTableInstance.getDefault().getTable("limelight").getEntry("tv").getDouble(0);
     double tx = NetworkTableInstance.getDefault().getTable("limelight").getEntry("tx").getDouble(0);
     double ty = NetworkTableInstance.getDefault().getTable("limelight").getEntry("ty").getDouble(0);
     double ta = NetworkTableInstance.getDefault().getTable("limelight").getEntry("ta").getDouble(0);
-
     boolean m_LimelightHasValidTarget;
     double m_LimelightDriveCommand;
     double m_LimelightSteerCommand;
-
     if (tv < 1.0)
     {
       m_LimelightHasValidTarget = false;
       m_LimelightDriveCommand = 0.0;
       m_LimelightSteerCommand = 0.0;
       return;
     }
-
     m_LimelightHasValidTarget = true;
-
     // Start with proportional steering
     double steer_cmd = tx * STEER_K;
     m_LimelightSteerCommand = steer_cmd;
-
     // try to drive forward until the target area reaches our desired area
     double drive_cmd = (DESIRED_TARGET_AREA - ta) * DRIVE_K;
-
     // don't let the robot drive too fast into the goal
     if (drive_cmd > MAX_DRIVE)
     {

diff --git a/src/main/java/frc/robot/commands/HandleArm.java b/src/main/java/frc/robot/commands/HandleArm.java
@@ -12,12 +12,9 @@
 import frc.robot.RobotMap;
 
 public class HandleArm extends Command {
-  private double motorPower;
 
-  public HandleArm(double power) {
+  public HandleArm() {
     requires(Robot.arm);
-
-    this.motorPower = power;
   }
 
   // Called just before this Command runs the first time
@@ -30,9 +27,9 @@ protected void initialize() {
   @Override
   protected void execute() {
     if (Robot.m_oi.isArmDownPressed()){
-        Robot.arm.armMotor(1);
+        Robot.arm.armMotor(-RobotMap.armPower);
     }else if(Robot.m_oi.isArmUpPressed()){
-        Robot.arm.armMotor(0);
+        Robot.arm.armMotor(RobotMap.armPower);
     }
   }
 
@@ -53,4 +50,4 @@ protected void end() {
   protected void interrupted() {
     Robot.arm.armMotor(0.0);
   }
-}
+}
diff --git a/src/main/java/frc/robot/subsystems/Arm.java b/src/main/java/frc/robot/subsystems/Arm.java
@@ -17,7 +17,7 @@ public Arm() {
 
     @Override
     protected void initDefaultCommand() {
-        setDefaultCommand(new HandleArm(0.0));
+        setDefaultCommand(new HandleArm());
     }