Revert "Merge pull request #38 from frc5024/encoder"

This reverts commit 1eb160b, reversing
changes made to dc4da2e.

Author: ewpratten

.vscode/settings.json

@@ -14,9 +14,7 @@
   "C_Cpp.default.configurationProvider": "vscode-wpilib",
   "wpilib.online": true,
   "files.associations": {
-    "*.tidal": "haskell",
     "condition_variable": "cpp",
-    "*.inc": "cpp",
-    "iostream": "cpp"
+    "*.inc": "cpp"
   }
 }

PathWeaver/Paths/AutoLL_0.path

@@ -54,15 +54,12 @@ model {
             sources.cpp {
                 source {
                     srcDir 'src/main/cpp'
-                    srcDir  'rrlib/src/main/cpp'
                     include '**/*.cpp', '**/*.cc'
                 }
                 exportedHeaders {
                     srcDir 'src/main/include'
-                    srcDir  'rrlib/src/main/include'
                     if (includeSrcInIncludeRoot) {
                         srcDir 'src/main/cpp'
-                        srcDir  'rrlib/src/main/cpp'
                     }
                 }
             }

build.gradle

@@ -11,8 +11,6 @@ Arm::Arm() : Subsystem("Arm") {
   this->pArmMotor2->SetNeutralMode(NeutralMode::Brake);
 
   this->pArmMotor2->SetSafetyEnabled(false);
-
-  this->pArmGearBox->motor = new frc::SpeedControllerGroup(*this->pArmMotor, *this->pArmMotor2);
 }
 
 void Arm::InitDefaultCommand() {
@@ -21,7 +19,8 @@ void Arm::InitDefaultCommand() {
 }
 
 void Arm::MoveArm(double Speed) {
-  this->pArmGearBox->motor->Set(Speed);
+  this->pArmMotor->Set(Speed);
+  this->pArmMotor2->Set(Speed);
 }
 
 double Arm::getDistanceFromFloor() {

rrlib/src/main/cpp/Components/Encoder.cpp

@@ -1,32 +1,27 @@
 #include "Subsystems/DriveTrain.h"
-#include "DeviceMap.h"
-#include <iostream>
 
-
-/* DriveTrain */
 DriveTrain::DriveTrain() : frc::Subsystem("DriveTrain") {
   // Initialize the motors
 	this->pLeftFrontMotor = new can::WPI_TalonSRX(DRIVETRAIN_LEFT_FRONT_MOTOR);
 	this->pLeftRearMotor = new can::WPI_TalonSRX(DRIVETRAIN_LEFT_REAR_MOTOR);
+	this->pLeftRearMotor->Follow(*pLeftFrontMotor);
 
 	this->pLeftFrontMotor->SetInverted(false);
 	this->pLeftRearMotor->SetInverted(false);
+	// this->pLeftFrontMotor->SetNeutralMode(NeutralMode::Brake);
+	// this->pLeftRearMotor->SetNeutralMode(NeutralMode::Brake);
 
 	this->pRightFrontMotor = new can::WPI_TalonSRX(DRIVETRAIN_RIGHT_FRONT_MOTOR);
 	this->pRightRearMotor = new can::WPI_TalonSRX(DRIVETRAIN_RIGHT_REAR_MOTOR);
+	this->pRightRearMotor->Follow(*pRightFrontMotor);
 
-	this->pRightFrontMotor->SetInverted(false);
-	this->pRightRearMotor->SetInverted(false);
+	this->pRightFrontMotor->SetInverted(true); // change this based on test or production robot
+	this->pRightRearMotor->SetInverted(true); // change this based on test or production robot
+	// this->pRightFrontMotor->SetNeutralMode(NeutralMode::Brake);
+	// this->pRightRearMotor->SetNeutralMode(NeutralMode::Brake);
 
   // Create a DifferentialDrive class using our motors
-	this->pLeftGearBox->motor = new frc::SpeedControllerGroup(*this->pLeftFrontMotor, *this->pLeftRearMotor);
-	this->pLeftGearBox->sensor = new rr::components::TalonAdapter(this->pLeftFrontMotor, WHEEL_CIRCUM_CM, TALLON_TPR, false);
-	this->pLeftGearBox->sensor->Reset();
-
-	this->pRightGearBox->motor = new frc::SpeedControllerGroup(*this->pRightFrontMotor, *this->pRightRearMotor);
-	this->pRightGearBox->sensor = new rr::components::TalonAdapter(this->pRightFrontMotor, WHEEL_CIRCUM_CM, TALLON_TPR, true);
-
-	this->pRobotDrive = new frc::DifferentialDrive(*this->pLeftGearBox->motor, *this->pRightGearBox->motor);
+	this->pRobotDrive = new frc::DifferentialDrive(*pLeftFrontMotor, *pRightFrontMotor);
 
   // Disable saftey modes
   // Sounds like a bad idea, but this prevents the robot from locking up if we take too long on a loop
@@ -42,9 +37,7 @@ void DriveTrain::InitDefaultCommand() {
 }
 
 void DriveTrain::ArcadeDrive(double xSpeed, double zRotation) {
-	this->pRobotDrive->ArcadeDrive(xSpeed, zRotation); // Pass through to robot drive
-	// The following line is for debugging encoders
-	// std::cout << "Left: " << this->pLeftGearBox->sensor->GetTicks() << " Right: " << this->pRightGearBox->sensor->GetTicks() << std::endl;
+	this->pRobotDrive->ArcadeDrive(zRotation, xSpeed); // API parameter order is incorrect
 	return;
 }
 
@@ -70,12 +63,4 @@ void DriveTrain::RadialDrive(double magnitude, double radial){
   // pass to tankdrive
   this->pRobotDrive->TankDrive(leftSpeed, rightSpeed);
   return;
-}
-
-int DriveTrain::GetLeftEncoderPosition(){
-	return this->pLeftGearBox->sensor->GetTicks();
-}
-
-int DriveTrain::GetRightEncoderPosition(){
-	return this->pRightGearBox->sensor->GetTicks();
 }

rrlib/src/main/cpp/Utils/File.cpp

@@ -6,7 +6,6 @@
 #include <Subsystems/DriveTrain.h>
 #include "RobotMap.h"
 #include <frc/GenericHID.h>
-#include <frc/WPILib.h>
 
 class DriveWithJoystick : public frc::Command {
  public:

rrlib/src/main/include/Components/Encoder.h

@@ -6,7 +6,6 @@
 #include <Subsystems/DriveTrain.h>
 #include "RobotMap.h"
 #include <frc/GenericHID.h>
-#include <frc/WPILib.h>
 
 
 class TriggerDrive : public frc::Command {

rrlib/src/main/include/Components/GearBox.h

@@ -24,9 +24,6 @@
 #define DRIVETRAIN_RIGHT_FRONT_MOTOR 3
 #define DRIVETRAIN_RIGHT_REAR_MOTOR  4
 
-#define TALLON_TPR 4096
-#define WHEEL_CIRCUM_CM 25.13
-
 // DriveTrain motor invertions
 #define DRIVETRAIN_LEFT_FRONT_MOTOR_INVERT  false
 #define DRIVETRAIN_LEFT_REAR_MOTOR_INVERT   false

rrlib/src/main/include/Utils/File.h

@@ -10,9 +10,6 @@
 #include <ctre/Phoenix.h>
 #include "RobotMap.h"
 
-#include <Components/GearBox.h>
-#include <frc/SpeedControllerGroup.h>
-
 class Arm : public frc::Subsystem {
  public:
   Arm();
@@ -36,9 +33,6 @@ class Arm : public frc::Subsystem {
   private:
   can::WPI_TalonSRX* pArmMotor; //!< Pointer for Arm arm motor
   can::WPI_TalonSRX* pArmMotor2; //!< Pointer for Arm arm motor
-
-  rr::components::GearBox *pArmGearBox;
-
   frc::AnalogInput m_ultrasonic{CLIMB_ULTRASONIC};
   static constexpr double kValueToInches = 0.125;
 };

src/main/cpp/Subsystems/Arm.cpp

@@ -3,16 +3,12 @@
 #define _DRIVETRAIN_HG_
 
 #include <frc/commands/Subsystem.h>
-// #include <frc/WPILib.h>
+#include <frc/WPILib.h>
 #include <ctre/Phoenix.h>
 #include <frc/drive/DifferentialDrive.h>
 #include "RobotMap.h"
 #include <Commands/DriveWithJoystick.h>
 
-#include <Components/GearBox.h>
-#include <Components/Encoder.h>
-
-
 class DriveTrain : public frc::Subsystem {
  public:
   DriveTrain(); //!< Class constructor
@@ -42,17 +38,11 @@ class DriveTrain : public frc::Subsystem {
 	 */
 	void RadialDrive(double magnitude, double radial);
 
-	int GetLeftEncoderPosition();
-	int GetRightEncoderPosition();
-
-  private:
-  	can::WPI_TalonSRX *pLeftFrontMotor;  //!< Pointer for left front motor
-	can::WPI_TalonSRX *pLeftRearMotor;   //!< Pointer for left rear motor
-	can::WPI_TalonSRX *pRightFrontMotor; //!< Pointer for right front motor
-	can::WPI_TalonSRX *pRightRearMotor;  //!< Pointer for right rear motor
-
-	rr::components::GearBox *pLeftGearBox;  //!< Left gear box
-	rr::components::GearBox *pRightGearBox; //!< Right gear box
+ private:
+  can::WPI_TalonSRX* pLeftFrontMotor; //!< Pointer for left front motor
+	can::WPI_TalonSRX* pLeftRearMotor;  //!< Pointer for left rear motor
+	can::WPI_TalonSRX* pRightFrontMotor;//!< Pointer for right front motor
+	can::WPI_TalonSRX* pRightRearMotor; //!< Pointer for right rear motor
 
 	frc::DifferentialDrive* pRobotDrive; //!< Pointer for a differential drivebase made up of 2 motor pairs
 };