2017-code/Robot.java-3-1-17 at Dylan · fusion-6763/2017-code · GitHub

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package org.usfirst.frc.team6763.robot;

import edu.wpi.first.wpilibj.CameraServer;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.Encoder;
//Imports the other files needed by the program
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Jaguar;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.Talon;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.Victor;
import edu.wpi.first.wpilibj.buttons.Button;
import edu.wpi.first.wpilibj.buttons.JoystickButton;
import edu.wpi.first.wpilibj.command.Command;


public class Robot extends IterativeRobot {

	RobotDrive myRobot = new RobotDrive(0, 2);
	Joystick stick = new Joystick(0);
	Timer timer = new Timer();
	Jaguar ArmMotor = new Jaguar(9);
	Joystick mXboxController = new Joystick(1);

	Encoder slaveEncoder; // Right Side Encoder
	Encoder masterEncoder; // Left Side Encoder

	float TicksPerInch = 108.333333F; // Number of Encoder Ticks per Inch
	int InchesPerFoot = 12;

	double masterPower = 0.475;
	double slavePower = 0.5;
	double error = 0.0;
	double kp = 0.05;
	double maxEncoderError = TicksPerInch * 85;

	@Override
	public void robotInit() {
		slaveEncoder = new Encoder(3, 2);
    	slaveEncoder.setReverseDirection(false);
    	masterEncoder = new Encoder (1, 0);
    	masterEncoder.setReverseDirection(true);
    	//CameraServer.getInstance().startAutomaticCapture();
	}

	@Override
	public void autonomousInit() {
		timer.reset();
		timer.start();

		System.out.println("Master Count,Slave Count,Error,KP,MasterPower,SlavePower");
		masterEncoder.reset();
		slaveEncoder.reset();
	}

	@Override
	public void autonomousPeriodic() {

		if (masterEncoder.get() < 50 && masterEncoder.get() > -50){
			if (masterEncoder.get() < (TicksPerInch * InchesPerFoot * 12)) {
				masterPower = -0.533;
				slavePower = -0.5;
				error = masterEncoder.get() - slaveEncoder.get();
				if (error > 50){
					masterPower = -0.531;
				}
				else if (error < -50){
					masterPower = -0.535;
				}
				else if (error > -50 && error < 50){
					masterPower = -0.533;
				}
			}
			else {
				masterPower = 0;
				slavePower = 0;
			}
		}
		/*
		if (masterEncoder.get() > 50){
			if (masterEncoder.get() < (TicksPerInch * InchesPerFoot * 4)) {
				masterPower = -0.533;
				slavePower = -0.5;
				error = masterEncoder.get() - slaveEncoder.get();
				if (error > 50){
					masterPower = -0.531;
				}
				else if (error < -50){
					masterPower = -0.535;
				}
				else if (error > -50 && error < 50){
					masterPower = -0.533;
				}
			}
			else {
				masterPower = 0;
				slavePower = 0;
			}
		}
		*/
		/*
		if (masterEncoder.get() < -50){
			if (masterEncoder.get() < (TicksPerInch * InchesPerFoot * 4)) {
				masterPower = -0.533;
				slavePower = -0.5;
				error = masterEncoder.get() - slaveEncoder.get();
				if (error > 50){
					masterPower = -0.531;
				}
				else if (error < -50){
					masterPower = -0.535;
				}
				else if (error > -50 && error < 50){
					masterPower = -0.533;
				}
			}
			else {
				masterPower = 0;
				slavePower = 0;
			}
		}
		*/
		myRobot.tankDrive(masterPower, slavePower);

		System.out.println(masterEncoder.get() + " , " + slaveEncoder.get() + " , " + error);

		/*
		if (masterEncoder.get() > 10500 && masterEncoder.get() < 11000){
			slavePower = -.6;
			masterPower = -.47;
		}
		else {
			myRobot.tankDrive(masterPower, slavePower);
			error = masterEncoder.get() - slaveEncoder.get();
			slavePower += error / maxEncoderError;

			if (slavePower < .55){
				slavePower = -.55;
			}
			else if (slavePower > .45){
				slavePower = -.45;
			}
		}
		if (masterEncoder.get() < 11000) {
			myRobot.tankDrive(0, 0);
		}
		*/

		//System.out.println(masterEncoder.get() + "," + slaveEncoder.get() + "," + error + "," + kp + "," + masterPower + "," + slavePower);

		//System.out.println(masterEncoder.get() + "," + slaveEncoder.get());

	}

	@Override
	public void teleopInit() {
	}

	@Override
	public void teleopPeriodic() {

		while (stick.getRawAxis(1) < -0.2 && stick.getRawAxis(1) > -0.75) {
			ArmMotor.set(0.1);
			myRobot.arcadeDrive(mXboxController);
		}
		while (stick.getRawAxis(1) > 0.2 && stick.getRawAxis(1) < 0.75) {
			ArmMotor.set(-0.1);
			myRobot.arcadeDrive(mXboxController);
		}
		while (stick.getRawAxis(1) < 0.2 && stick.getRawAxis(1) > -0.2) {
			ArmMotor.set(0);
			myRobot.arcadeDrive(mXboxController);
		}
		while (stick.getRawAxis(1) > 0.75) {
			ArmMotor.set(-0.15);
			myRobot.arcadeDrive(mXboxController);
		}
		while (stick.getRawAxis(1) < -0.75) {
			ArmMotor.set(0.15);
			myRobot.arcadeDrive(mXboxController);
		}

	}

	@Override
	public void testPeriodic() {
		LiveWindow.run();
	}

	public void disabledPeriodic(){
		 //System.out.println("RightEncoder (slave) = " + slaveEncoder.get());
		 //System.out.println("LeftEncoder (master) = " + masterEncoder.get());
		//System.out.println(masterEncoder.get() + " , " + slaveEncoder.get());
	 }
}