Cleanup

Signed-off-by: Alex Saveau <[email protected]>
SouthEugeneRoboticsTeam · Jan 30, 2018 · eca2ef7 · eca2ef7
1 parent 7a2b808
commit eca2ef7
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Showing 7 changed files with 29 additions and 49 deletions.
diff --git a/build.gradle b/build.gradle
@@ -1,7 +1,7 @@
 buildscript {
     ext.kotlinVersion = '1.2.21'
     ext.gradleRioVersion = '2018.01.22'
-    ext.sertainVersion = '0.0.2'
+    ext.sertainVersion = '0.0.3'
     ext.ktlintVersion = '0.15.0'
 
     repositories {

diff --git a/src/main/java/org/sert2521/powerup/drivetrain/Drivetrain.kt b/src/main/java/org/sert2521/powerup/drivetrain/Drivetrain.kt
@@ -9,38 +9,29 @@ import org.sert2521.powerup.util.LEFT_FRONT_MOTOR
 import org.sert2521.powerup.util.LEFT_REAR_MOTOR
 import org.sert2521.powerup.util.RIGHT_FRONT_MOTOR
 import org.sert2521.powerup.util.RIGHT_REAR_MOTOR
-import org.sertain.RobotLifecycle
 import org.sertain.command.Subsystem
 import org.sertain.hardware.Talon
 import org.sertain.hardware.autoBreak
 import org.sertain.hardware.plus
 import org.sertain.hardware.resetEncoder
 
-object Drivetrain : Subsystem(), RobotLifecycle {
+object Drivetrain : Subsystem() {
     val ahrs = AHRS(I2C.Port.kMXP)
 
+    val leftSpeed get() = leftDrive.get()
+    val rightSpeed get() = leftDrive.get()
+
     private val leftDrive =
             Talon(LEFT_FRONT_MOTOR).autoBreak() + Talon(LEFT_REAR_MOTOR).autoBreak()
     private val rightDrive =
             Talon(RIGHT_FRONT_MOTOR).autoBreak() + Talon(RIGHT_REAR_MOTOR).autoBreak()
-
     private val drive = DifferentialDrive(leftDrive, rightDrive)
 
     override val defaultCommand = TeleopDrive()
 
-    val leftSpeed get() = leftDrive.get()
-    val rightSpeed get() = leftDrive.get()
-
-    init {
-        leftDrive.autoBreak()
-        rightDrive.autoBreak()
-    }
-
     override fun onStart() {
         EmergencyAbort().start()
 
-        stop()
-
         leftDrive.resetEncoder()
         rightDrive.resetEncoder()
     }

diff --git a/src/main/java/org/sert2521/powerup/drivetrain/commands/EmergencyAbort.kt b/src/main/java/org/sert2521/powerup/drivetrain/commands/EmergencyAbort.kt
@@ -17,10 +17,8 @@ class EmergencyAbort : Command() {
         val avg = history.average()
         if (avg.absoluteValue >= 16) {
             println("EMERGENCY ABORT! ${avg.absoluteValue}")
-            FixedDrive(
-                    leftSpeed - 0.01 * -avg.sign,
-                    rightSpeed - 0.01 * -avg.sign
-            ).start()
+            // Reduce speed until we aren't dying
+            FixedDrive(leftSpeed - 0.01 * -avg.sign, rightSpeed - 0.01 * -avg.sign).start()
         }
 
         return false

diff --git a/src/main/java/org/sert2521/powerup/drivetrain/commands/TeleopDrive.kt b/src/main/java/org/sert2521/powerup/drivetrain/commands/TeleopDrive.kt
@@ -19,10 +19,8 @@ class TeleopDrive : Command() {
 
     override fun execute(): Boolean {
         when (controlMode) {
-            Control.Arcade -> Drivetrain.arcade(rightJoystick.x,
-                                                rightJoystick.y)
-            Control.Tank -> Drivetrain.tank(leftJoystick.y,
-                                            rightJoystick.y)
+            Control.Arcade -> Drivetrain.arcade(rightJoystick.x, rightJoystick.y)
+            Control.Tank -> Drivetrain.tank(leftJoystick.y, rightJoystick.y)
             Control.Controller -> Drivetrain.arcade(
                     -controller.getY(GenericHID.Hand.kLeft),
                     controller.getX(GenericHID.Hand.kRight)

diff --git a/src/main/java/org/sert2521/powerup/intake/Intake.kt b/src/main/java/org/sert2521/powerup/intake/Intake.kt
@@ -3,21 +3,17 @@ package org.sert2521.powerup.intake
 import org.sert2521.powerup.intake.commands.TeleopIntake
 import org.sert2521.powerup.util.LEFT_INTAKE_MOTOR
 import org.sert2521.powerup.util.RIGHT_INTAKE_MOTOR
-import org.sertain.RobotLifecycle
 import org.sertain.command.Subsystem
 import org.sertain.hardware.Talon
 import org.sertain.hardware.autoBreak
-import org.sertain.hardware.inverted
 import org.sertain.hardware.plus
 
-object Intake : Subsystem(), RobotLifecycle {
+object Intake : Subsystem() {
     private val intake =
-            Talon(LEFT_INTAKE_MOTOR).inverted().autoBreak() + Talon(RIGHT_INTAKE_MOTOR).inverted().autoBreak()
+            Talon(LEFT_INTAKE_MOTOR).autoBreak() + Talon(RIGHT_INTAKE_MOTOR).autoBreak()
 
     override val defaultCommand = TeleopIntake()
 
-    override fun onStart() = stop()
-
     fun set(speed: Double) = intake.set(speed)
 
     fun stop() = intake.stopMotor()

diff --git a/src/main/java/org/sert2521/powerup/intake/commands/TeleopIntake.kt b/src/main/java/org/sert2521/powerup/intake/commands/TeleopIntake.kt
@@ -17,21 +17,19 @@ class TeleopIntake : Command() {
     }
 
     override fun execute(): Boolean {
-        if (controlMode == Control.Arcade || controlMode == Control.Tank) {
-            val speed = (rightJoystick.throttle - 1) / 2
-            var multiplier = 0
-
-            if (rightJoystick.getRawButton(1)) multiplier = 1
-            else if (rightJoystick.getRawButton(2)) multiplier = -1
-
-            Intake.set(speed * multiplier)
-        } else if (controlMode == Control.Controller) {
-            val leftSpeed = controller.getTriggerAxis(GenericHID.Hand.kLeft)
-            val rightSpeed = controller.getTriggerAxis(GenericHID.Hand.kRight)
-
-            val speed = leftSpeed - rightSpeed
-
-            Intake.set(speed)
+        when (controlMode) {
+            Control.Arcade, Control.Tank -> Intake.set(when {
+                rightJoystick.trigger -> 0.5
+                rightJoystick.top -> -0.5
+                else -> 0.0
+            })
+            Control.Controller -> {
+                val leftSpeed = controller.getTriggerAxis(GenericHID.Hand.kLeft)
+                val rightSpeed = controller.getTriggerAxis(GenericHID.Hand.kRight)
+
+                // Support variable intake speeds though self-cancellation
+                Intake.set(leftSpeed - rightSpeed)
+            }
         }
 
         return false

diff --git a/src/main/java/org/sert2521/powerup/util/Oi.kt b/src/main/java/org/sert2521/powerup/util/Oi.kt
@@ -3,15 +3,14 @@ package org.sert2521.powerup.util
 import edu.wpi.first.wpilibj.Joystick
 import edu.wpi.first.wpilibj.XboxController
 
-val leftJoystick: Joystick = Joystick(LEFT_STICK_PORT)
-val rightJoystick: Joystick = Joystick(RIGHT_STICK_PORT)
+val leftJoystick = Joystick(LEFT_STICK_PORT)
+val rightJoystick = Joystick(RIGHT_STICK_PORT)
+val secondaryJoystick = Joystick(SECONDARY_STICK_PORT)
 
-val secondaryJoystick: Joystick = Joystick(SECONDARY_STICK_PORT)
+val controller = XboxController(CONTROLLER_PORT)
 
-val controller: XboxController = XboxController(CONTROLLER_PORT)
+var controlMode = Control.Controller
 
 enum class Control {
     Arcade, Tank, Controller
 }
-
-var controlMode = Control.Controller