org.usfirst.frc.team3695.robot.subsystems.SubsystemMast - Code Metrics - wh1ter0se/PowerUp-2018 - Measure and Improve Code Quality continuously with Scrutinizer

org.usfirst.frc.team3695.robot.subsystems.SubsystemMast A
last analyzed 2018-03-21 15:27 UTC

↳ Parent: Project

Complexity

Total Complexity

Size/Duplication

Total Lines	138
Duplicated Lines	0 %

Importance

Changes

Metric	Value
dl	0
loc	138
rs	9.44
c	0
b	0
f	0
wmc	37

22 Methods

Rating	Name	Size	Complexity
A	initDefaultCommand()	2	1
	adjustScrew	8	?
	screwify	3	?
C	moveBySpeed(Joystick,double)	15	10
A	dropIt(double)	16	3
	dropIt	16	?
A	publishSwitches()	5	1
	rightPinionate	3	?
	setOverride	2	?
	leftPinionate	3	?
	voltage	6	?
A	screwify(double)	3	3
	moveBySpeed	15	?
A	SubsystemMast()	16	1
A	adjustScrew(Position)	8	5
A	setOverride(Boolean)	2	1
A	rightPinionate(double)	3	3
A	voltage(TalonSRX)	6	1
	publishSwitches	5	?
A	adjustPinion(Position)	11	5
	adjustPinion	11	?
A	leftPinionate(double)	3	3

package org.usfirst.frc.team3695.robot.subsystems;

import com.ctre.phoenix.motorcontrol.ControlMode;
import com.ctre.phoenix.motorcontrol.can.TalonSRX;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import org.usfirst.frc.team3695.robot.Constants;
import org.usfirst.frc.team3695.robot.Robot;
import org.usfirst.frc.team3695.robot.commands.ManualCommandGrow;
import org.usfirst.frc.team3695.robot.enumeration.Bot;
import org.usfirst.frc.team3695.robot.enumeration.Position;
import org.usfirst.frc.team3695.robot.util.Xbox;

/** the big, metal pole */
public class SubsystemMast extends Subsystem {
	
	
	private TalonSRX leftPinion;
	private TalonSRX rightPinion;
	private TalonSRX screw;
	
	DigitalInput lowerPinionLimit;
    DigitalInput upperPinionLimit;
    DigitalInput lowerScrewLimit;
    DigitalInput midScrewLimit;
    DigitalInput upperScrewLimit;

    private Boolean override;

	
	/** runs at robot boot */
    public void initDefaultCommand() {
    	setDefaultCommand(new ManualCommandGrow()); }
	
	/** gives birth to the CANTalons */
    public SubsystemMast(){
    	/** Does it make sense to move the limit switch IDs to Constants? **/
    	//no because they could be moved due to various electrical reasons-nate
    	lowerPinionLimit = new DigitalInput(6);

        upperPinionLimit = new DigitalInput(7);

        lowerScrewLimit  = new DigitalInput(3);

        upperScrewLimit  = new DigitalInput(4);

    	
    	leftPinion = new TalonSRX(Constants.LEFT_PINION_MOTOR);
    	rightPinion = new TalonSRX(Constants.RIGHT_PINION_MOTOR);
    	screw = new TalonSRX(Constants.SCREW_MOTOR);
    		voltage(leftPinion);
    		voltage(rightPinion);
    		voltage(screw);
    		
		override = false;
    }
    
    public void setOverride(Boolean override) {
    	this.override = override;
    }

   	/** apply pinion motor invert */
   	public static final double leftPinionate(double left) {
   		Boolean invert = Robot.bot == Bot.OOF ? Constants.OOF.LEFT_PINION_MOTOR_INVERT : Constants.TEUFELSKIND.LEFT_PINION_MOTOR_INVERT;
   		return left * (invert ? -1.0 : 1.0);
   	}
   	
   	/** apply screw motor invert */
   	public static final double rightPinionate(double right) {
   		Boolean invert = Robot.bot == Bot.OOF ? Constants.OOF.RIGHT_PINION_MOTOR_INVERT : Constants.TEUFELSKIND.RIGHT_PINION_MOTOR_INVERT;
   		return right * (invert ? -1.0 : 1.0);
   	}
   	
   	public static final double screwify(double screw) {
   		Boolean invert = Robot.bot == Bot.OOF ? Constants.OOF.SCREW_MOTOR_INVERT : Constants.TEUFELSKIND.SCREW_MOTOR_INVERT;
   		return screw * (invert ? -1.0 : 1.0);
   	}
    
   	/** raise the mast at RT-LR trigger speed */
    public void moveBySpeed(Joystick joy, double inhibitor) {
    	double dualAction = Xbox.RT(joy) - Xbox.LT(joy);
    	double screwSpeed = Xbox.LEFT_Y(joy) + dualAction;
    	double pinionSpeed = Xbox.RIGHT_Y(joy) + dualAction;
    	
		if (!lowerPinionLimit.get() && pinionSpeed > 0)   { pinionSpeed = 0; }
		if (!upperPinionLimit.get() && pinionSpeed < 0)   { pinionSpeed = 0; }
		if (!lowerScrewLimit.get()  && screwSpeed  > 0)   { screwSpeed = 0;  }
		if (!upperScrewLimit.get()  && screwSpeed  < 0)   { screwSpeed = 0;  }
			
    	publishSwitches();
    	if (!override) {
    		leftPinion.set(ControlMode.PercentOutput, leftPinionate(pinionSpeed));
        	rightPinion.set(ControlMode.PercentOutput, rightPinionate(pinionSpeed));
        	screw.set(ControlMode.PercentOutput, inhibitor * screwify(screwSpeed));
    	}
    }
    
    public Boolean dropIt(double speed) {
    	if (lowerPinionLimit.get()) {
	    	leftPinion.set(ControlMode.PercentOutput, leftPinionate(speed));
	    	rightPinion.set(ControlMode.PercentOutput, rightPinionate(speed));
    	} else {
    		leftPinion.set(ControlMode.PercentOutput, 0);
	    	rightPinion.set(ControlMode.PercentOutput, 0);
    	}
    	
    	if (lowerScrewLimit.get()) {
    		screw.set(ControlMode.PercentOutput, screwify(speed));
    	} else {
    		screw.set(ControlMode.PercentOutput, 0);
    	}
    	
    	return (!lowerPinionLimit.get()) && (!lowerScrewLimit.get());
    }

    public void adjustPinion(Position direction){

    	if (direction == Position.UP) {
			while (!upperPinionLimit.get()) {
				rightPinion.set(ControlMode.PercentOutput, rightPinionate(1));
				leftPinion.set(ControlMode.PercentOutput, leftPinionate(1));
			}
		} else if (direction == Position.DOWN) {
			while (!lowerPinionLimit.get()) {
				rightPinion.set(ControlMode.PercentOutput, rightPinionate(-1));
				leftPinion.set(ControlMode.PercentOutput, leftPinionate(-1));
			}
		}
	}

	public void adjustScrew(Position direction){
    	if (direction == Position.UP){
    		while (!upperScrewLimit.get()){
    			screw.set(ControlMode.PercentOutput, screwify(1));
			}
		} else if (direction == Position.DOWN){
    		while (!lowerScrewLimit.get()){
    			screw.set(ControlMode.PercentOutput, screwify(-1));
			}
		}
	}
    	
    public void publishSwitches() {
    	SmartDashboard.putBoolean("Lower Screw", !lowerScrewLimit.get());
    	SmartDashboard.putBoolean("Upper Screw", !upperScrewLimit.get());
    	SmartDashboard.putBoolean("Lower Pinion", !lowerPinionLimit.get());
    	SmartDashboard.putBoolean("Upper Pinion", !upperPinionLimit.get());
    }
    
    /** configures the voltage of each CANTalon */
    private void voltage(TalonSRX talon) {
    	// talon.configNominalOutputVoltage(0f, 0f);
    	// talon.configPeakOutputVoltage(12.0f, -12.0f);
    	talon.enableCurrentLimit(true);
    	talon.configContinuousCurrentLimit(60, 300);

    	talon.configPeakCurrentDuration(500, 10);

    }
}



1			package org.usfirst.frc.team3695.robot.subsystems;
2
3			import com.ctre.phoenix.motorcontrol.ControlMode;
4			import com.ctre.phoenix.motorcontrol.can.TalonSRX;
5			import edu.wpi.first.wpilibj.DigitalInput;
6			import edu.wpi.first.wpilibj.Joystick;
7			import edu.wpi.first.wpilibj.command.Subsystem;
8			import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
9			import org.usfirst.frc.team3695.robot.Constants;
10			import org.usfirst.frc.team3695.robot.Robot;
11			import org.usfirst.frc.team3695.robot.commands.ManualCommandGrow;
12			import org.usfirst.frc.team3695.robot.enumeration.Bot;
13			import org.usfirst.frc.team3695.robot.enumeration.Position;
14			import org.usfirst.frc.team3695.robot.util.Xbox;
15
16			/** the big, metal pole */
17			public class SubsystemMast extends Subsystem {
18
19
20			private TalonSRX leftPinion;
21			private TalonSRX rightPinion;
22			private TalonSRX screw;
23
24			DigitalInput lowerPinionLimit;
25			DigitalInput upperPinionLimit;
26			DigitalInput lowerScrewLimit;
27			DigitalInput midScrewLimit;
28			DigitalInput upperScrewLimit;
29
30			private Boolean override;
31
32
33			/** runs at robot boot */
34			public void initDefaultCommand() {
35			setDefaultCommand(new ManualCommandGrow()); }
36
37			/** gives birth to the CANTalons */
38			public SubsystemMast(){
39			/ Does it make sense to move the limit switch IDs to Constants? /
40			//no because they could be moved due to various electrical reasons-nate
41			lowerPinionLimit = new DigitalInput(6);
			0 ignored issues – show Comprehensibility introduced 2018-02-19 18:03 UTC by Report Bug Copy Issue Report Consider assigning this magic number 6 to a constant. Using constants for hard-coded numbers is a best practice. A constant’s name can explain the rationale behind this magic number. It is also easier to find if you ever need to change it. Loading history...
42			upperPinionLimit = new DigitalInput(7);
			0 ignored issues – show Comprehensibility introduced 2018-02-02 01:07 UTC by Report Bug Copy Issue Report Consider assigning this magic number 7 to a constant. Using constants for hard-coded numbers is a best practice. A constant’s name can explain the rationale behind this magic number. It is also easier to find if you ever need to change it. Loading history...
43			lowerScrewLimit = new DigitalInput(3);
			0 ignored issues – show Comprehensibility introduced 2018-02-02 01:07 UTC by Report Bug Copy Issue Report Consider assigning this magic number 3 to a constant. Using constants for hard-coded numbers is a best practice. A constant’s name can explain the rationale behind this magic number. It is also easier to find if you ever need to change it. Loading history...
44			upperScrewLimit = new DigitalInput(4);
			0 ignored issues – show Comprehensibility introduced 2018-02-02 01:07 UTC by Report Bug Copy Issue Report Consider assigning this magic number 4 to a constant. Using constants for hard-coded numbers is a best practice. A constant’s name can explain the rationale behind this magic number. It is also easier to find if you ever need to change it. Loading history...
45
46			leftPinion = new TalonSRX(Constants.LEFT_PINION_MOTOR);
47			rightPinion = new TalonSRX(Constants.RIGHT_PINION_MOTOR);
48			screw = new TalonSRX(Constants.SCREW_MOTOR);
49			voltage(leftPinion);
50			voltage(rightPinion);
51			voltage(screw);
52
53			override = false;
54			}
55
56			public void setOverride(Boolean override) {
57			this.override = override;
58			}
59
60			/** apply pinion motor invert */
61			public static final double leftPinionate(double left) {
62			Boolean invert = Robot.bot == Bot.OOF ? Constants.OOF.LEFT_PINION_MOTOR_INVERT : Constants.TEUFELSKIND.LEFT_PINION_MOTOR_INVERT;
63			return left * (invert ? -1.0 : 1.0);
64			}
65
66			/** apply screw motor invert */
67			public static final double rightPinionate(double right) {
68			Boolean invert = Robot.bot == Bot.OOF ? Constants.OOF.RIGHT_PINION_MOTOR_INVERT : Constants.TEUFELSKIND.RIGHT_PINION_MOTOR_INVERT;
69			return right * (invert ? -1.0 : 1.0);
70			}
71
72			public static final double screwify(double screw) {
73			Boolean invert = Robot.bot == Bot.OOF ? Constants.OOF.SCREW_MOTOR_INVERT : Constants.TEUFELSKIND.SCREW_MOTOR_INVERT;
74			return screw * (invert ? -1.0 : 1.0);
75			}
76
77			/** raise the mast at RT-LR trigger speed */
78			public void moveBySpeed(Joystick joy, double inhibitor) {
79			double dualAction = Xbox.RT(joy) - Xbox.LT(joy);
80			double screwSpeed = Xbox.LEFT_Y(joy) + dualAction;
81			double pinionSpeed = Xbox.RIGHT_Y(joy) + dualAction;
82
83			if (!lowerPinionLimit.get() && pinionSpeed > 0) { pinionSpeed = 0; }
84			if (!upperPinionLimit.get() && pinionSpeed < 0) { pinionSpeed = 0; }
85			if (!lowerScrewLimit.get() && screwSpeed > 0) { screwSpeed = 0; }
86			if (!upperScrewLimit.get() && screwSpeed < 0) { screwSpeed = 0; }
87
88			publishSwitches();
89			if (!override) {
90			leftPinion.set(ControlMode.PercentOutput, leftPinionate(pinionSpeed));
91			rightPinion.set(ControlMode.PercentOutput, rightPinionate(pinionSpeed));
92			screw.set(ControlMode.PercentOutput, inhibitor * screwify(screwSpeed));
93			}
94			}
95
96			public Boolean dropIt(double speed) {
97			if (lowerPinionLimit.get()) {
98			leftPinion.set(ControlMode.PercentOutput, leftPinionate(speed));
99			rightPinion.set(ControlMode.PercentOutput, rightPinionate(speed));
100			} else {
101			leftPinion.set(ControlMode.PercentOutput, 0);
102			rightPinion.set(ControlMode.PercentOutput, 0);
103			}
104
105			if (lowerScrewLimit.get()) {
106			screw.set(ControlMode.PercentOutput, screwify(speed));
107			} else {
108			screw.set(ControlMode.PercentOutput, 0);
109			}
110
111			return (!lowerPinionLimit.get()) && (!lowerScrewLimit.get());
112			}
113
114			public void adjustPinion(Position direction){
115
116			if (direction == Position.UP) {
117			while (!upperPinionLimit.get()) {
118			rightPinion.set(ControlMode.PercentOutput, rightPinionate(1));
119			leftPinion.set(ControlMode.PercentOutput, leftPinionate(1));
120			}
121			} else if (direction == Position.DOWN) {
122			while (!lowerPinionLimit.get()) {
123			rightPinion.set(ControlMode.PercentOutput, rightPinionate(-1));
124			leftPinion.set(ControlMode.PercentOutput, leftPinionate(-1));
125			}
126			}
127			}
128
129			public void adjustScrew(Position direction){
130			if (direction == Position.UP){
131			while (!upperScrewLimit.get()){
132			screw.set(ControlMode.PercentOutput, screwify(1));
133			}
134			} else if (direction == Position.DOWN){
135			while (!lowerScrewLimit.get()){
136			screw.set(ControlMode.PercentOutput, screwify(-1));
137			}
138			}
139			}
140
141			public void publishSwitches() {
142			SmartDashboard.putBoolean("Lower Screw", !lowerScrewLimit.get());
143			SmartDashboard.putBoolean("Upper Screw", !upperScrewLimit.get());
144			SmartDashboard.putBoolean("Lower Pinion", !lowerPinionLimit.get());
145			SmartDashboard.putBoolean("Upper Pinion", !upperPinionLimit.get());
146			}
147
148			/** configures the voltage of each CANTalon */
149			private void voltage(TalonSRX talon) {
150			// talon.configNominalOutputVoltage(0f, 0f);
151			// talon.configPeakOutputVoltage(12.0f, -12.0f);
152			talon.enableCurrentLimit(true);
153			talon.configContinuousCurrentLimit(60, 300);
			0 ignored issues – show Comprehensibility introduced 2018-02-23 00:10 UTC by Report Bug Copy Issue Report Consider assigning this magic number 60 to a constant. Using constants for hard-coded numbers is a best practice. A constant’s name can explain the rationale behind this magic number. It is also easier to find if you ever need to change it. Loading history...
154			talon.configPeakCurrentDuration(500, 10);
			0 ignored issues – show Comprehensibility introduced 2018-02-23 00:10 UTC by Report Bug Copy Issue Report Consider assigning this magic number 10 to a constant. Using constants for hard-coded numbers is a best practice. A constant’s name can explain the rationale behind this magic number. It is also easier to find if you ever need to change it. Loading history...
155			}
156			}
157
158

wh1ter0se / PowerUp-2018

org.usfirst.frc.team3695.robot.subsystems.SubsystemMast A last analyzed 2018-03-21 15:27 UTC

Complexity

Size/Duplication

Importance

22 Methods

Duplication Side-by-Side

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org.usfirst.frc.team3695.robot.subsystems.SubsystemMast A
last analyzed 2018-03-21 15:27 UTC