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8795-2023-frc-chaos's Introduction

8795-2023-FRC-Chaos

8795 2023 FRC Chaos Robotunun Kodu

Takım ismi: The Chaotics

Takım Kodu: 8795

Takım Website: https://chaotics8795.com

Robotik Kaptanı: Mert Ata Baber

Takım Kaptanı: Ahmet Cevdet Özgenç

Robot Kütlesi:

Robot Boyutları: Yükseklik max 1.37 metre

Checklist: https://github.com/Alone1206/8795-2023-FRC-Chaos/blob/main/2023-inspection-checklist.pdf v2

Spark library: https://software-metadata.revrobotics.com/REVLib-2023.json

Talon library: https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2023-latest.json

Talon Debug: https://github.com/Alone1206/8795-talon-debug

Spark Debug: https://github.com/Alone1206/Spark-debug-8795

8795-2023-frc-chaos's People

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8795-2023-frc-chaos's Issues

son kod

package frc.robot;

import edu.wpi.first.wpilibj.DigitalInput;

import edu.wpi.first.wpilibj.Compressor;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PneumaticsModuleType;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
import edu.wpi.first.wpilibj.PS4Controller.Button;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.motorcontrol.Talon;
import edu.wpi.first.wpilibj.motorcontrol.Victor;

import static edu.wpi.first.wpilibj.DoubleSolenoid.Value.*;

// import javax.lang.model.util.ElementScanner6;

// import com.revrobotics.CANSparkMax;
// import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import com.ctre.phoenix.motorcontrol.ControlMode;
import com.ctre.phoenix.motorcontrol.can.TalonSRX;
import com.ctre.phoenix.motorcontrol.can.VictorSPX;

public class Robot extends TimedRobot {
private DifferentialDrive m_myRobot;
private Joystick m_leftStick;
private Joystick m_rightStick;
private Joystick m_joystick;
private Joystick m_joystick_kol;
// private static final int kalkmotorno2 = 8;
// private static final int frontLeftDeviceID = 4;
private static final int kalkmotorno1 = 11;
// private static final int frontRightDeviceID = 3;
// private static final int kalkmotorno1 = 9;

// private CANSparkMax m_alis; // Eski sol arka moto r m_rearLeftMotor
// private CANSparkMax m_frontLeftMotor;
// private CANSparkMax m_frontRightMotor;
// private CANSparkMax m_atis; // Eski sağ arka motor m_rearRightMotor
private double startTime;

DigitalInput m_limitSwitch_upper;
DigitalInput m_limitSwitch_lower;

double time = Timer.getFPGATimestamp();
boolean before;

// private final Compressor comp = new Compressor();
// private final DoubleSolenoid solenoid = new DoubleSolenoid(0,1);
Compressor comp = new Compressor(0, PneumaticsModuleType.CTREPCM);
DoubleSolenoid solenoid = new DoubleSolenoid(PneumaticsModuleType.CTREPCM, 0, 1);
DoubleSolenoid solenoid2 = new DoubleSolenoid(PneumaticsModuleType.CTREPCM, 2, 3);

TalonSRX m_talon_rearRight = new TalonSRX(5);
TalonSRX m_talon_frontRight = new TalonSRX(15);
TalonSRX m_talon_frontLeft = new TalonSRX(12);
TalonSRX m_talon_rearLeft = new TalonSRX(10);
VictorSPX kalkmotor1 = new VictorSPX(kalkmotorno1);
// VictorSPX kalkmotor2 = new VictorSPX(kalkmotorno2);

@OverRide
public void robotInit() {

// m_alis = new CANSparkMax(rearLeftDeviceID, MotorType.kBrushless);
// m_frontLeftMotor = new CANSparkMax(frontLeftDeviceID, MotorType.kBrushed);
// m_frontRightMotor = new CANSparkMax(frontRightDeviceID, MotorType.kBrushed);
// // m_atis = new CANSparkMax(rearRightDeviceID, MotorType.kBrushed);

// // m_alis.restoreFactoryDefaults();
// m_frontLeftMotor.restoreFactoryDefaults();
// // m_atis.restoreFactoryDefaults();
// m_frontRightMotor.restoreFactoryDefaults();

// m_rearLeftMotor.follow(m_frontLeftMotor);
// m_rearRightMotor.follow(m_frontRightMotor);

// m_myRobot = new DifferentialDrive(m_frontRightMotor, m_frontLeftMotor);

m_leftStick = new Joystick(0);
m_rightStick = new Joystick(0);
m_joystick = new Joystick(0);
m_joystick_kol = new Joystick(1);

m_limitSwitch_upper = new DigitalInput(0); 
m_limitSwitch_lower = new DigitalInput(1);

}

@OverRide
public void teleopPeriodic() {
Surus();
basinc();
// Atis();
Kalkis();

}

boolean ilkmi = true;

private void basinc() {
if (ilkmi) {
ilkmi = false;
comp.disable(); // Compressor elektrik kesiliyor
} else if (m_joystick_kol.getRawButton(8)) {
comp.enableDigital(); // Compressor elektrik veriliyor
} else if (m_joystick_kol.getRawButton(3)) {
solenoid.set(DoubleSolenoid.Value.kReverse); // Pistonları kapatıyor
} else if (m_joystick_kol.getRawButton(7)) {
comp.disable();
}
else if(m_joystick_kol.getRawButton(4)){
solenoid2.set(DoubleSolenoid.Value.kForward);

}
else if(m_joystick_kol.getRawButton(6)){
  solenoid2.set(DoubleSolenoid.Value.kReverse);
  
      }
else if (m_joystick_kol.getRawButton(5)) {
  solenoid.set(DoubleSolenoid.Value.kForward); // Pistonları açıyor
} else if (m_joystick_kol.getRawButton(10)) {
  solenoid.set(DoubleSolenoid.Value.kOff);
}

}

@OverRide
public void teleopInit() {

}

@OverRide
public void robotPeriodic() {
}

@OverRide
public void autonomousInit() {
// startTime = Timer.getFPGATimestamp();
}

@OverRide
public void autonomousPeriodic() {
Autonomous();
}

private void Kalkis() {
// TODO: Atis'in yanina bir de geri alma yapılacak, fonksiyon adı "kus" olacak
// <-- !!
boolean state_upper = m_limitSwitch_upper.get();
boolean state_lower = m_limitSwitch_lower.get();

if ((m_joystick_kol.getRawButton(1)) && (state_lower == false)) {
  kalkmotor1.set(ControlMode.PercentOutput, -0.45);
// kalkmotor2.set(ControlMode.PercentOutput, -1);

} else if ((m_joystick_kol.getRawButton(2)) && (state_upper == true)) {
  kalkmotor1.set(ControlMode.PercentOutput, 0.45);

} else {
  kalkmotor1.set(ControlMode.PercentOutput, 0);
}

}

private void Surus() {
// m_myRobot.arcadeDrive(m_leftStick.getRawAxis(1), m_rightStick.getRawAxis(0));
double donushizi = m_leftStick.getRawAxis(0);
double hiz = m_leftStick.getRawAxis(1);
double mevlana = m_leftStick.getRawAxis(2);

System.out.println("x " + donushizi);
System.out.println("y " + hiz);
System.out.println("z " + mevlana);

double sinir = 0.09;

// // Ileri sag (hiz > sinir) ve geri sag (hiz < -sinir)
// if (((hiz < -sinir) || (hiz > sinir)) && (donushizi > sinir)) {
//   m_frontLeftMotor.set(hiz / 0.75);
//   m_talon_rearLeft.set(ControlMode.PercentOutput, hiz / 0.75);
//   m_frontRightMotor.set(hiz / -2.5);
//   m_talon_rearRight.set(ControlMode.PercentOutput, hiz / -2.5);
// }

// // Ileri sol (hiz > sinir) ve geri sol (hiz < -sinir)
// if (((hiz < -sinir) || (hiz > sinir)) && (donushizi < -sinir)) {
//   m_frontLeftMotor.set(hiz / -2.5);
//   m_talon_rearLeft.set(ControlMode.PercentOutput, hiz / -2.5);
//   m_frontRightMotor.set(hiz / 0.75);
//   m_talon_rearRight.set(ControlMode.PercentOutput, hiz / 0.75);
// }

// Kendi ekseninde donme
if (((donushizi < -sinir) || (donushizi > sinir)) && ((hiz < sinir) && (hiz > -sinir))) {
  // m_frontLeftMotor.set(-donushizi);
  m_talon_rearLeft.set(ControlMode.PercentOutput, donushizi);
  m_talon_frontLeft.set(ControlMode.PercentOutput, donushizi);
  m_talon_rearRight.set(ControlMode.PercentOutput, -donushizi);
  m_talon_frontRight.set(ControlMode.PercentOutput, -donushizi);

}

// // Sağ Gitme
// if (((hiz > sinir) || (hiz < -sinir)) && (donushizi > sinir)) {
//   m_frontLeftMotor.set(hiz);
//   m_talon_rearLeft.set(ControlMode.PercentOutput, -hiz);
//   m_frontRightMotor.set(hiz * donushizi);
//   m_talon_rearRight.set(ControlMode.PercentOutput, -hiz * donushizi);
// }

// // Sol Gitme
// if (((hiz > sinir) || (hiz < -sinir)) && (donushizi < -sinir)){
//   m_frontLeftMotor.set(hiz * -donushizi);
//   m_talon_rearLeft.set(ControlMode.PercentOutput, -hiz * -donushizi);
//   m_frontRightMotor.set(hiz);
//   m_talon_rearRight.set(ControlMode.PercentOutput, -hiz); 
// }

// Duz gitme
if (((hiz > sinir) || (hiz < -sinir)) && ((donushizi < sinir) && (donushizi > -sinir))) {
  m_talon_frontLeft.set(ControlMode.PercentOutput, -hiz);
  m_talon_rearLeft.set(ControlMode.PercentOutput, -hiz);
  m_talon_frontRight.set(ControlMode.PercentOutput, -hiz);
  m_talon_rearRight.set(ControlMode.PercentOutput, -hiz);

}
// // Sağ-Sol Gitmeme
// if (((donushizi > sinir) || (donushizi < -sinir)) && ((hiz > -sinir) && (hiz
// < sinir)))
// m_frontLeftMotor.set(hiz * 0);
// m_rearLeftMotor.set(hiz * 0);
// m_frontRightMotor.set(hiz * 0);
// m_rearRightMotor.set(hiz * 0);

// Durma
// if (((hiz < sinir) && (hiz > -sinir)) && ((donushizi < sinir) && (donushizi >
// -sinir)) && ((mevlana < sinir) && (mevlana > -sinir))) {
// // Changes might be required here...
// Double slow = Math.pow(m_leftStick.getRawAxis(1), 3);
// // System.out.println(slow);
// m_frontLeftMotor.set(slow);
// m_rearLeftMotor.set(slow);
// m_frontRightMotor.set(slow);
// m_rearRightMotor.set(slow);
// }
if ((((hiz < sinir) && (hiz > -sinir)) && ((donushizi < sinir) && (donushizi > -sinir))
    && ((mevlana < sinir) && (mevlana > -sinir)))) {
  m_talon_frontLeft.set(ControlMode.PercentOutput, 0);
  m_talon_rearLeft.set(ControlMode.PercentOutput, 0);
  m_talon_frontRight.set(ControlMode.PercentOutput, 0);
  m_talon_rearRight.set(ControlMode.PercentOutput, 0);

}

}

// int sayac = 0;
// boolean ilkmi2 = true;

private void Autonomous() {

// sayac++;
// if (ilkmi2) {
// // comp.disable();
// comp.enableDigital();
// solenoid.set(DoubleSolenoid.Value.kForward);
// ilkmi2 = false;
// }

// if (sayac > 150 && sayac < 200) {
// m_frontLeftMotor.set(0.5);
// m_talon_rearLeft.set(ControlMode.PercentOutput, 0.5);
// m_frontRightMotor.set(-0.5);
// m_talon_rearRight.set(ControlMode.PercentOutput, -0.5);
// }

// if (sayac > 250 && sayac < 500) {
// // mytalon.set(ControlMode.PercentOutput, -1);
// }

// if (sayac > 500 && sayac < 505) {
// comp.disable();
// solenoid.set(DoubleSolenoid.Value.kReverse);
// }

// if (sayac > 550 && sayac < 620) {
// // mytalon.set(ControlMode.PercentOutput, 0);
// m_frontLeftMotor.set(0.5);
// m_talon_rearLeft.set(ControlMode.PercentOutput, 0.5);
// m_frontRightMotor.set(-0.5);
// m_talon_rearRight.set(ControlMode.PercentOutput, -0.5);
// }

}
}

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