master ready

Author: ewpratten

common/include/SlewLimiter.h

@@ -4,7 +4,7 @@
 ControlCargo::ControlCargo() {
   // Use Requires() here to declare subsystem dependencies
   Requires(Robot::m_Flap);
-  this->pJoyOp = Robot::m_oi->GetJoystickOperator();
+  this->pJoyDrive = Robot::m_oi->GetJoystickDrive();
 }
 
 // Called just before this Command runs the first time
@@ -15,11 +15,12 @@ void ControlCargo::Initialize() {}
 void ControlCargo::Execute() {
 
   // Control piston
-  if(this->pJoyOp->GetTriggerAxis(Hand::kLeftHand) > 0.8){
+  if(this->pJoyDrive->GetYButton()){
     Robot::m_Flap->Deploy();
   }else{
     Robot::m_Flap->Retract();
   }
+
 }
 
 

src/main/cpp/Commands/ControlCargo.cpp

@@ -25,7 +25,7 @@ void ControlHatchGripper::Execute() {
   }
 }
 
-
+ 
 bool ControlHatchGripper::IsFinished() { return false; }
 
 // Called once after isFinished returns true

src/main/cpp/Commands/ControlHatchGripper.cpp

@@ -17,6 +17,8 @@ void TriggerDrive::Initialize() {
   //set Speed and Rotation
   this->speed    = 0.0;
   this->rotation = 0.0;
+  this->rotationOutput = 0.0;
+  this->speedOutput = 0.0;
 }
 
 // Called repeatedly when this Command is scheduled to run
@@ -50,10 +52,16 @@ void TriggerDrive::Execute() {
   }else if(change < (-SLEW_LIMIT)){
     change = -SLEW_LIMIT;
   };
-
   this->speedOutput += change;
-  Log(change);
-  Log(this->speedOutput + change);
+
+  // // Rotation slew
+  // double rchange = this->rotation - this->rotationOutput;
+  // if (change > R_SLEW_LIMIT) {
+  //   rchange = R_SLEW_LIMIT;
+  // }else if(change < (-R_SLEW_LIMIT)){
+  //   rchange = -R_SLEW_LIMIT;
+  // };
+  // this->rotationOutput += rchange;
 
   Robot::m_DriveTrain->ArcadeDrive(this->speedOutput, this->rotation);
 

src/main/cpp/Commands/TriggerDrive.cpp

@@ -27,7 +27,7 @@ class ControlCargo : public frc::Command {
   void Interrupted() override; //!< Runs once if the command is forced to stop
 
 private:	
-	frc::XboxController* pJoyOp; //!< A mnemonic for the operator's controller because we are lazy
+	frc::XboxController* pJoyDrive; //!< A mnemonic for the operator's controller because we are lazy
 };
 
 #endif // _ControlCargo_HG_

src/main/include/Commands/ControlCargo.h

@@ -33,6 +33,7 @@ class TriggerDrive : public frc::Command {
 	double speed;    //!< Speed value that will be passed into DriveTrain::ArcadeDrive
 	double rotation; //!< Rotation value that will be passed into DriveTrain::ArcadeDrive
   double speedOutput = 0.0;
+  double rotationOutput = 0.0;
 
   frc::XboxController* pJoyDrive; //!< A mnemonic for the driver's controller because we are lazy
 };

src/main/include/Commands/TriggerDrive.h

@@ -32,7 +32,9 @@
 #define ARCADE_KP 0.25
 #define ARCADE_KI 0.0
 #define ARCADE_KD 0.0
-#define SLEW_LIMIT 0.05
+
+#define SLEW_LIMIT 0.06
+#define R_SLEW_LIMIT 0.04
 
 // DriveTrain motor invertions
 #define DRIVETRAIN_LEFT_FRONT_MOTOR_INVERT  false