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package org.usfirst.frc.team3695.robot.subsystems;
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import com.ctre.phoenix.motorcontrol.ControlMode;
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import com.ctre.phoenix.motorcontrol.can.TalonSRX;
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import edu.wpi.first.wpilibj.Joystick;
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import edu.wpi.first.wpilibj.command.Subsystem;
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import org.usfirst.frc.team3695.robot.Constants;
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import org.usfirst.frc.team3695.robot.Robot;
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import org.usfirst.frc.team3695.robot.enumeration.Bot;
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import org.usfirst.frc.team3695.robot.util.Xbox;
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/** VROOM VROOM */
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public class SubsystemManipulator extends Subsystem {
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private TalonSRX armLeft;
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private TalonSRX armRight;
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public Boolean revving;
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public long redlineTime;
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/** applies left arm motor invert */
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public static final double leftArmify(double left) {
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Boolean invert = Robot.bot == Bot.OOF ? Constants.OOF.LEFT_ARM_MOTOR_INVERT : Constants.TEUFELSKIND.LEFT_ARM_MOTOR_INVERT;
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return left * (invert ? -1.0 : 1.0);
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}
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/** applies right arm motor invert */
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public static final double rightArmify(double right) {
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Boolean invert = Robot.bot == Bot.OOF ? Constants.OOF.RIGHT_ARM_MOTOR_INVERT : Constants.TEUFELSKIND.RIGHT_ARM_MOTOR_INVERT;
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return right * (invert ? -1.0 : 1.0);
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}
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/** runs at robot boot */
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public void initDefaultCommand() {}
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/** gives birth to the CANTalons */
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public SubsystemManipulator(){
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armLeft = new TalonSRX(Constants.LEFT_FLYWHEEL);
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armRight = new TalonSRX(Constants.RIGHT_FLYWHEEL);
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}
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/** eat the power cube */
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public void eat() {
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armLeft.set(ControlMode.PercentOutput, leftArmify(-1));
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armRight.set(ControlMode.PercentOutput, rightArmify(-1));
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}
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/** spit out the power cube */
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public void spit() {
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armLeft.set(ControlMode.PercentOutput, leftArmify(1));
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armRight.set(ControlMode.PercentOutput, rightArmify(1));
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}
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public void spinByJoystick(Joystick joy) {
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int speed = 0;
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speed += joy.getRawButton(Xbox.RB) ? 1d : 0d;
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speed -= joy.getRawButton(Xbox.LB) ? 1d : 0d;
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armLeft.set(ControlMode.PercentOutput, leftArmify(speed));
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armRight.set(ControlMode.PercentOutput, rightArmify(speed));
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}
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/** STOP SPINNING ME RIGHT ROUND, BABY RIGHT ROUND */
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public void stopSpinning() {
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armLeft.set(ControlMode.PercentOutput, 0);
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armRight.set(ControlMode.PercentOutput, 0);
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}
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/** imitates an engine revving and idling */
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public void rev(Joystick joy) {
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double intensity = Math.abs(Math.sqrt((Math.pow(Xbox.LEFT_X(joy), 2) + Math.pow(Xbox.LEFT_X(joy), 2)))); // intensity is 0.0-1.0, power of trigger
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int rpm = (int) ((((double) Constants.REDLINE - (double) Constants.IDLE) * intensity) + Constants.IDLE); // rpm is the rpm being imitated
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int miliseconds = (1 / rpm) * 60000; // length in miliseconds of each rev curve, based on rpm
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if (!revving) { redlineTime = System.currentTimeMillis(); revving = true; } // reset rev curve if not revving
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else if (System.currentTimeMillis() - redlineTime >= miliseconds) { revving = false; } // stop revving if time is up
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double speed = (System.currentTimeMillis() - redlineTime) / (double) miliseconds; // set speed to progress from 0.0-1.0 of the curve
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speed = speed > 1.0 ? 1.0 : speed; // quick concat the speed under 1.0
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speed = generateCurve(speed, 0, .25 * (intensity * .8 + .2), (intensity * .8 + .2)); // find y value on curve, given x and parameters
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armLeft.set(ControlMode.PercentOutput, leftArmify(speed));
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armRight.set(ControlMode.PercentOutput, rightArmify(speed));
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}
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/** generates a quadratic curve based on the three points in constants */
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public double generateRedlineCurve(double x) {
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// TODO simplify this; I just plugged our variables into the equation for this
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double y;
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y = Constants.REDLINE_START * (((x - .5) * (x - 1))/(.5));
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y += Constants.REDLINE_MID * ((x * (x - 1))/(-.25));
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y += Constants.REDLINE_END * ((x * (x-.5))/(.5));
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return y;
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}
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/** generates a quadratic curve based on the three points given */
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public double generateCurve(double x, double start, double mid, double end) {
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// TODO simplify this; I just plugged our variables into the equation for this
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double y;
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y = start * (((x - .5) * (x - 1))/(.5));
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y += mid * ((x * (x - 1))/(-.25));
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y += end * ((x * (x-.5))/(.5));
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return y;
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}
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}
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wh1ter0se /
PowerUp-2018
Loading history...
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.