org.usfirst.frc.team3695.robot.subsystems.SubsystemDrive.rightMag2in(double) - Code Metrics - Inspection of "Merge pull request #132 from wh1ter0se/develop" - wh1ter0se/PowerUp-2018 - Measure and Improve Code Quality continuously with Scrutinizer

Completed

Push — master ( 74c8db...6c2084 )

by John

created 2018-02-24 17:19 UTC

rightMag2in(double) A

↳ Parent: org.usfirst.frc.team3695.robot.subsystems.SubsystemDrive

Complexity

Conditions

Size

Total Lines

Duplication

Lines	0
Ratio	0 %

Importance

Changes

Metric	Value
dl	0
loc	2
c	0
b	0
f	0
rs	10
cc	1

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

import com.ctre.phoenix.motorcontrol.ControlMode;
import com.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.ctre.phoenix.motorcontrol.can.TalonSRX;
import edu.wpi.first.wpilibj.BuiltInAccelerometer;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.interfaces.Accelerometer;
import org.usfirst.frc.team3695.robot.Constants;
import org.usfirst.frc.team3695.robot.Robot;
import org.usfirst.frc.team3695.robot.commands.ManualCommandDrive;
import org.usfirst.frc.team3695.robot.enumeration.Bot;
import org.usfirst.frc.team3695.robot.enumeration.Drivetrain;
import org.usfirst.frc.team3695.robot.util.Xbox;

/** VROOM VROOM */
public class SubsystemDrive extends Subsystem {


    private TalonSRX leftMaster;
    private TalonSRX leftSlave;
    private TalonSRX rightMaster;
    private TalonSRX rightSlave;

    public Drivetrain drivetrain;

    public static boolean reversing;


    public static boolean docking;

    private static double dockInhibitor;

    public static boolean override;


    private Accelerometer accel;

    /**
     * Allowable tolerance to be considered in range when driving a distance, in rotations
     */
    public static final double DISTANCE_ALLOWABLE_ERROR = SubsystemDrive.in2rot(2.0);

    /**
     * runs at robot boot
     */
    public void initDefaultCommand() {
        setDefaultCommand(new ManualCommandDrive());
    }


    /**
     * converts left magnetic encoder's magic units to inches
     */
    public static final double leftMag2in(double leftMag) {
        return leftMag / Constants.LEFT_MAGIC_PER_INCHES;
    }

    /**
     * converts right magnetic encoder's magic units to inches
     */
    public static final double rightMag2in(double rightMag) {
        return rightMag / Constants.RIGHT_MAGIC_PER_INCHES;
    }

    /**
     * converts RPM to inches per second
     */
    public static final double rpm2ips(double rpm) {
        return rpm / 60.0 * Constants.WHEEL_DIAMETER * Math.PI;

    }

    /**
     * converts an inches per second number to RPM
     */
    public static final double ips2rpm(double ips) {
        return ips * 60.0 / Constants.WHEEL_DIAMETER / Math.PI;

    }

    /**
     * converts rotations to distance traveled in inches
     */
    public static final double rot2in(double rot) {
        return rot * Constants.WHEEL_DIAMETER * Math.PI;
    }

    /**
     * converts distance traveled in inches to rotations
     */
    public static final double in2rot(double in) {
        return in / Constants.WHEEL_DIAMETER / Math.PI;
    }


    /**
     * apply left motor invert
     */
    public static final double leftify(double left) {
        left = (left > 1.0 ? 1.0 : (left < -1.0 ? -1.0 : left));
        Boolean invert = Robot.bot == Bot.OOF ? Constants.OOF.LEFT_MOTOR_INVERT : Constants.SWISS.LEFT_MOTOR_INVERT;
        return left * (invert ? -1.0 : 1.0) * (docking ? dockInhibitor : 1);
    }

    /**
     * apply right motor invert
     */
    public static final double rightify(double right) {
        right = (right > 1.0 ? 1.0 : (right < -1.0 ? -1.0 : right));
        Boolean invert = Robot.bot == Bot.OOF ? Constants.OOF.RIGHT_MOTOR_INVERT : Constants.SWISS.RIGHT_MOTOR_INVERT;
        return right * (invert ? -1.0 : 1.0) * (docking ? dockInhibitor : 1);
    }

    /**
     * gives birth to the CANTalons
     */
    public SubsystemDrive() {

        accel = new BuiltInAccelerometer();

        drivetrain = Drivetrain.ROCKET_LEAGUE;

        reversing = false;

        docking = false;
        dockInhibitor = 0.5d;


        override = false;

        // masters
        leftMaster = new TalonSRX(Constants.LEFT_MASTER);
        leftMaster.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, Constants.LEFT_PID, Constants.TIMEOUT_PID);
        rightMaster = new TalonSRX(Constants.RIGHT_MASTER);
        rightMaster.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, Constants.RIGHT_PID, Constants.TIMEOUT_PID);

        // slaves
        leftSlave = new TalonSRX(Constants.LEFT_SLAVE);
        leftSlave.follow(leftMaster);
        rightSlave = new TalonSRX(Constants.RIGHT_SLAVE);
        rightSlave.follow(rightMaster);
    }

    public void setDrivetrain(Drivetrain drivetrain) {
        this.drivetrain = drivetrain;
    }

    public double getYAngle() {
        //http://www.hobbytronics.co.uk/accelerometer-info
        //Formula for getting the angle through the accelerometer
        //arctan returns in radians so we convert to degrees.
        return Math.atan(accel.getY() / Math.sqrt(Math.pow(accel.getX(), 2) + Math.pow(accel.getZ(), 2))) * 180 / Math.PI;

    }

    public void isDocking(boolean docking, double dockInhibitor) {
        this.docking = docking;

        this.dockInhibitor = dockInhibitor;

    }

    public void isReversing(boolean reversing) {
        this.reversing = reversing;

    }

    /**
     * simple rocket league drive code
     * independent rotation and acceleration
     */

    public void driveRLTank(Joystick joy, double ramp, double inhibitor) {
        double adder = Xbox.RT(joy) - Xbox.LT(joy);
        double left = adder + (Xbox.LEFT_X(joy) / 1.333333);

        double right = adder - (Xbox.LEFT_X(joy) / 1.333333);


        setRamps(ramp);

//        if (getYAngle() > Constants.TILT_ANGLE ) {
//            leftMaster.set(ControlMode.PercentOutput, -1*Constants.RECOVERY_SPEED);
//            rightMaster.set(ControlMode.PercentOutput, -1*Constants.RECOVERY_SPEED);
//        } else if (getYAngle() < -1*Constants.TILT_ANGLE){
//            leftMaster.set(ControlMode.PercentOutput, Constants.RECOVERY_SPEED);
//            rightMaster.set(ControlMode.PercentOutput, Constants.RECOVERY_SPEED);
//        } else {
            leftMaster.set(ControlMode.PercentOutput, leftify(left)* (reversing ? -1.0 : 1.0));
            rightMaster.set(ControlMode.PercentOutput, rightify(right)* (reversing ? -1.0 : 1.0));
//        }

    }

    /**
     * drive code where rotation is dependent on acceleration
     *
     * @param radius 0.00-1.00, 1 being zero radius and 0 being driving in a line
     */
    public void driveForza(Joystick joy, double ramp, double radius, double inhibitor) {
        double left = 0,
                right = 0;

        double acceleration = Xbox.RT(joy) - Xbox.LT(joy);

        setRamps(ramp);
//        if (getYAngle() > Constants.TILT_ANGLE ) {
//            leftMaster.set(ControlMode.PercentOutput, -1 * Constants.RECOVERY_SPEED);
//            rightMaster.set(ControlMode.PercentOutput, -1 * Constants.RECOVERY_SPEED);
//        } else if (getYAngle() < -1 * Constants.TILT_ANGLE){
//            leftMaster.set(ControlMode.PercentOutput, Constants.RECOVERY_SPEED);
//            rightMaster.set(ControlMode.PercentOutput, Constants.RECOVERY_SPEED);
//        } else {

            if (Xbox.LEFT_X(joy) < 0) {
                right = acceleration;
                left = (acceleration * ((2 * (1 - Math.abs(Xbox.LEFT_X(joy)))) - 1)) / radius;

            } else if (Xbox.LEFT_X(joy) > 0) {
                left = acceleration;
                right = (acceleration * ((2 * (1 - Math.abs(Xbox.LEFT_X(joy)))) - 1)) / radius;

            } else {
                left = acceleration;
                right = acceleration;
            }
//        }

        leftMaster.set(ControlMode.PercentOutput, leftify(left) * inhibitor * (reversing ? -1.0 : 1.0));
        rightMaster.set(ControlMode.PercentOutput, rightify(right) * inhibitor * (reversing ? -1.0 : 1.0));
    }

    public void setRamps(double ramp) {
        leftMaster.configOpenloopRamp(ramp, 10);

        leftSlave.configOpenloopRamp(ramp, 10);

        rightMaster.configOpenloopRamp(ramp, 10);

        rightSlave.configOpenloopRamp(ramp, 10);

    }


    public void setOverride(boolean override){
        this.override = override;

    }

    public double getError() {
        return (leftify(leftMaster.getErrorDerivative(Constants.LEFT_PID)) + rightify(rightMaster.getErrorDerivative(Constants.RIGHT_PID))) / 2.0;

    }

    public double getRightPos() {
        return rightMag2in(rightMaster.getSelectedSensorPosition(Constants.RIGHT_PID));
    }

    public double getLeftPos() {
        return leftMag2in(leftMaster.getSelectedSensorPosition(Constants.LEFT_PID));
    }

    public boolean driveDistance(double leftIn, double rightIn) {
        double leftGoal = in2rot(leftIn);
        double rightGoal = in2rot(rightIn);

        leftMaster.set(ControlMode.MotionMagic, leftGoal);
        rightMaster.set(ControlMode.MotionMagic, rightGoal);

        boolean leftInRange =
                getLeftPos() > leftify(leftGoal) - DISTANCE_ALLOWABLE_ERROR &&
                        getLeftPos() < leftify(leftGoal) + DISTANCE_ALLOWABLE_ERROR;
        boolean rightInRange =
                getRightPos() > rightify(rightGoal) - DISTANCE_ALLOWABLE_ERROR &&
                        getRightPos() < rightify(rightGoal) + DISTANCE_ALLOWABLE_ERROR;

        return leftInRange && rightInRange;
    }

    public void driveDirect(double left, double right) {
        leftMaster.set(ControlMode.PercentOutput, left);
        rightMaster.set(ControlMode.PercentOutput, right);
    }

    public void setPIDF(TalonSRX talon, double p, double i, double d, double f) {
        talon.selectProfileSlot(0, 0);
        talon.config_kF(0, f, Constants.TIMEOUT_PID);
        talon.config_kP(0, p, Constants.TIMEOUT_PID);
        talon.config_kI(0, i, Constants.TIMEOUT_PID);
        talon.config_kD(0, d, Constants.TIMEOUT_PID);
    }

    public void reset() {
        leftMaster.setSelectedSensorPosition(0, Constants.LEFT_PID, Constants.TIMEOUT_PID);
        rightMaster.setSelectedSensorPosition(0, Constants.RIGHT_PID, Constants.TIMEOUT_PID);
    }
}


1			package org.usfirst.frc.team3695.robot.subsystems;
2
3			import com.ctre.phoenix.motorcontrol.ControlMode;
4			import com.ctre.phoenix.motorcontrol.FeedbackDevice;
5			import com.ctre.phoenix.motorcontrol.can.TalonSRX;
6			import edu.wpi.first.wpilibj.BuiltInAccelerometer;
7			import edu.wpi.first.wpilibj.Joystick;
8			import edu.wpi.first.wpilibj.command.Subsystem;
9			import edu.wpi.first.wpilibj.interfaces.Accelerometer;
10			import org.usfirst.frc.team3695.robot.Constants;
11			import org.usfirst.frc.team3695.robot.Robot;
12			import org.usfirst.frc.team3695.robot.commands.ManualCommandDrive;
13			import org.usfirst.frc.team3695.robot.enumeration.Bot;
14			import org.usfirst.frc.team3695.robot.enumeration.Drivetrain;
15			import org.usfirst.frc.team3695.robot.util.Xbox;
16
17			/** VROOM VROOM */
18			public class SubsystemDrive extends Subsystem {
19
20
21			private TalonSRX leftMaster;
22			private TalonSRX leftSlave;
23			private TalonSRX rightMaster;
24			private TalonSRX rightSlave;
25
26			public Drivetrain drivetrain;
27
28			public static boolean reversing;
			0 ignored issues – show Security introduced 2018-02-23 00:10 UTC by Report Bug Copy Issue Report public static fields should always be marked final to prevent them being overwritten in unexpected ways. Consider making `reversing` final. See this CWE advisory on why this is a security issue. Loading history...
29
30			public static boolean docking;
			0 ignored issues – show Security introduced 2018-02-23 00:10 UTC by Report Bug Copy Issue Report public static fields should always be marked final to prevent them being overwritten in unexpected ways. Consider making `docking` final. See this CWE advisory on why this is a security issue. Loading history...
31			private static double dockInhibitor;
32
33			public static boolean override;
			0 ignored issues – show Security introduced 2018-02-23 00:10 UTC by Report Bug Copy Issue Report public static fields should always be marked final to prevent them being overwritten in unexpected ways. Consider making `override` final. See this CWE advisory on why this is a security issue. Loading history...
34
35			private Accelerometer accel;
36
37			/**
38			* Allowable tolerance to be considered in range when driving a distance, in rotations
39			*/
40			public static final double DISTANCE_ALLOWABLE_ERROR = SubsystemDrive.in2rot(2.0);
41
42			/**
43			* runs at robot boot
44			*/
45			public void initDefaultCommand() {
46			setDefaultCommand(new ManualCommandDrive());
47			}
48
49
50			/**
51			* converts left magnetic encoder's magic units to inches
52			*/
53			public static final double leftMag2in(double leftMag) {
54			return leftMag / Constants.LEFT_MAGIC_PER_INCHES;
55			}
56
57			/**
58			* converts right magnetic encoder's magic units to inches
59			*/
60			public static final double rightMag2in(double rightMag) {
61			return rightMag / Constants.RIGHT_MAGIC_PER_INCHES;
62			}
63
64			/**
65			* converts RPM to inches per second
66			*/
67			public static final double rpm2ips(double rpm) {
68			return rpm / 60.0 * Constants.WHEEL_DIAMETER * Math.PI;
			0 ignored issues – show Comprehensibility introduced 2017-12-02 14:47 UTC by Report Bug Copy Issue Report Consider assigning this magic number 60.0 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...
69			}
70
71			/**
72			* converts an inches per second number to RPM
73			*/
74			public static final double ips2rpm(double ips) {
75			return ips * 60.0 / Constants.WHEEL_DIAMETER / Math.PI;
			0 ignored issues – show Comprehensibility introduced 2017-12-02 14:47 UTC by Report Bug Copy Issue Report Consider assigning this magic number 60.0 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...
76			}
77
78			/**
79			* converts rotations to distance traveled in inches
80			*/
81			public static final double rot2in(double rot) {
82			return rot * Constants.WHEEL_DIAMETER * Math.PI;
83			}
84
85			/**
86			* converts distance traveled in inches to rotations
87			*/
88			public static final double in2rot(double in) {
89			return in / Constants.WHEEL_DIAMETER / Math.PI;
90			}
91
92
93			/**
94			* apply left motor invert
95			*/
96			public static final double leftify(double left) {
97			left = (left > 1.0 ? 1.0 : (left < -1.0 ? -1.0 : left));
98			Boolean invert = Robot.bot == Bot.OOF ? Constants.OOF.LEFT_MOTOR_INVERT : Constants.SWISS.LEFT_MOTOR_INVERT;
99			return left * (invert ? -1.0 : 1.0) * (docking ? dockInhibitor : 1);
100			}
101
102			/**
103			* apply right motor invert
104			*/
105			public static final double rightify(double right) {
106			right = (right > 1.0 ? 1.0 : (right < -1.0 ? -1.0 : right));
107			Boolean invert = Robot.bot == Bot.OOF ? Constants.OOF.RIGHT_MOTOR_INVERT : Constants.SWISS.RIGHT_MOTOR_INVERT;
108			return right * (invert ? -1.0 : 1.0) * (docking ? dockInhibitor : 1);
109			}
110
111			/**
112			* gives birth to the CANTalons
113			*/
114			public SubsystemDrive() {
115
116			accel = new BuiltInAccelerometer();
117
118			drivetrain = Drivetrain.ROCKET_LEAGUE;
119
120			reversing = false;
121
122			docking = false;
123			dockInhibitor = 0.5d;
			0 ignored issues – show Comprehensibility introduced 2018-02-23 00:10 UTC by Report Bug Copy Issue Report Consider assigning this magic number 0.5d 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...
124
125			override = false;
126
127			// masters
128			leftMaster = new TalonSRX(Constants.LEFT_MASTER);
129			leftMaster.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, Constants.LEFT_PID, Constants.TIMEOUT_PID);
130			rightMaster = new TalonSRX(Constants.RIGHT_MASTER);
131			rightMaster.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, Constants.RIGHT_PID, Constants.TIMEOUT_PID);
132
133			// slaves
134			leftSlave = new TalonSRX(Constants.LEFT_SLAVE);
135			leftSlave.follow(leftMaster);
136			rightSlave = new TalonSRX(Constants.RIGHT_SLAVE);
137			rightSlave.follow(rightMaster);
138			}
139
140			public void setDrivetrain(Drivetrain drivetrain) {
141			this.drivetrain = drivetrain;
142			}
143
144			public double getYAngle() {
145			//http://www.hobbytronics.co.uk/accelerometer-info
146			//Formula for getting the angle through the accelerometer
147			//arctan returns in radians so we convert to degrees.
148			return Math.atan(accel.getY() / Math.sqrt(Math.pow(accel.getX(), 2) + Math.pow(accel.getZ(), 2))) * 180 / Math.PI;
			0 ignored issues – show Comprehensibility introduced 2018-02-19 18:03 UTC by Report Bug Copy Issue Report Consider assigning this magic number 2 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...
149			}
150
151			public void isDocking(boolean docking, double dockInhibitor) {
152			this.docking = docking;
			0 ignored issues – show Bug Multi Threading introduced 2018-02-23 00:10 UTC by Report Bug Copy Issue Report Instance methods writing to static fields may lead to concurrency problems. Consider making the enclosing method static or removing this assignment to a static field. If you really need to set this static field, consider writing a thread-safe setter and atomic getter. Loading history...
153			this.dockInhibitor = dockInhibitor;
			0 ignored issues – show Bug Multi Threading introduced 2018-02-23 00:10 UTC by Report Bug Copy Issue Report Instance methods writing to static fields may lead to concurrency problems. Consider making the enclosing method static or removing this assignment to a static field. If you really need to set this static field, consider writing a thread-safe setter and atomic getter. Loading history...
154			}
155
156			public void isReversing(boolean reversing) {
157			this.reversing = reversing;
			0 ignored issues – show Bug Multi Threading introduced 2018-02-23 00:10 UTC by Report Bug Copy Issue Report Instance methods writing to static fields may lead to concurrency problems. Consider making the enclosing method static or removing this assignment to a static field. If you really need to set this static field, consider writing a thread-safe setter and atomic getter. Loading history...
158			}
159
160			/**
161			* simple rocket league drive code
162			* independent rotation and acceleration
163			*/
164
165			public void driveRLTank(Joystick joy, double ramp, double inhibitor) {
166			double adder = Xbox.RT(joy) - Xbox.LT(joy);
167			double left = adder + (Xbox.LEFT_X(joy) / 1.333333);
			0 ignored issues – show Comprehensibility introduced 2018-01-19 06:00 UTC by Report Bug Copy Issue Report Consider assigning this magic number 1.333333 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...
168			double right = adder - (Xbox.LEFT_X(joy) / 1.333333);
			0 ignored issues – show Comprehensibility introduced 2018-01-19 06:00 UTC by Report Bug Copy Issue Report Consider assigning this magic number 1.333333 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...
169
170			setRamps(ramp);
171
172			// if (getYAngle() > Constants.TILT_ANGLE ) {
173			// leftMaster.set(ControlMode.PercentOutput, -1*Constants.RECOVERY_SPEED);
174			// rightMaster.set(ControlMode.PercentOutput, -1*Constants.RECOVERY_SPEED);
175			// } else if (getYAngle() < -1*Constants.TILT_ANGLE){
176			// leftMaster.set(ControlMode.PercentOutput, Constants.RECOVERY_SPEED);
177			// rightMaster.set(ControlMode.PercentOutput, Constants.RECOVERY_SPEED);
178			// } else {
179			leftMaster.set(ControlMode.PercentOutput, leftify(left)* (reversing ? -1.0 : 1.0));
180			rightMaster.set(ControlMode.PercentOutput, rightify(right)* (reversing ? -1.0 : 1.0));
181			// }
182
183			}
184
185			/**
186			* drive code where rotation is dependent on acceleration
187			*
188			* @param radius 0.00-1.00, 1 being zero radius and 0 being driving in a line
189			*/
190			public void driveForza(Joystick joy, double ramp, double radius, double inhibitor) {
191			double left = 0,
192			right = 0;
			0 ignored issues – show Coding Style introduced 2018-01-21 01:00 UTC by Report Bug Copy Issue Report Declaring several variables on the same line makes your code hard to read. Consider delaring `right` on a separate line. Loading history...
193			double acceleration = Xbox.RT(joy) - Xbox.LT(joy);
194
195			setRamps(ramp);
196			// if (getYAngle() > Constants.TILT_ANGLE ) {
197			// leftMaster.set(ControlMode.PercentOutput, -1 * Constants.RECOVERY_SPEED);
198			// rightMaster.set(ControlMode.PercentOutput, -1 * Constants.RECOVERY_SPEED);
199			// } else if (getYAngle() < -1 * Constants.TILT_ANGLE){
200			// leftMaster.set(ControlMode.PercentOutput, Constants.RECOVERY_SPEED);
201			// rightMaster.set(ControlMode.PercentOutput, Constants.RECOVERY_SPEED);
202			// } else {
203
204			if (Xbox.LEFT_X(joy) < 0) {
205			right = acceleration;
206			left = (acceleration * ((2 * (1 - Math.abs(Xbox.LEFT_X(joy)))) - 1)) / radius;
			0 ignored issues – show Comprehensibility introduced 2018-01-21 01:00 UTC by Report Bug Copy Issue Report Consider assigning this magic number 2 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...
207			} else if (Xbox.LEFT_X(joy) > 0) {
208			left = acceleration;
209			right = (acceleration * ((2 * (1 - Math.abs(Xbox.LEFT_X(joy)))) - 1)) / radius;
			0 ignored issues – show Comprehensibility introduced 2018-01-21 01:00 UTC by Report Bug Copy Issue Report Consider assigning this magic number 2 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...
210			} else {
211			left = acceleration;
212			right = acceleration;
213			}
214			// }
215
216			leftMaster.set(ControlMode.PercentOutput, leftify(left) * inhibitor * (reversing ? -1.0 : 1.0));
217			rightMaster.set(ControlMode.PercentOutput, rightify(right) * inhibitor * (reversing ? -1.0 : 1.0));
218			}
219
220			public void setRamps(double ramp) {
221			leftMaster.configOpenloopRamp(ramp, 10);
			0 ignored issues – show Comprehensibility introduced 2018-02-19 18:03 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...
222			leftSlave.configOpenloopRamp(ramp, 10);
			0 ignored issues – show Comprehensibility introduced 2018-02-19 18:03 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...
223			rightMaster.configOpenloopRamp(ramp, 10);
			0 ignored issues – show Comprehensibility introduced 2018-02-19 18:03 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...
224			rightSlave.configOpenloopRamp(ramp, 10);
			0 ignored issues – show Comprehensibility introduced 2018-02-19 18:03 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...
225			}
226
227
228			public void setOverride(boolean override){
229			this.override = override;
			0 ignored issues – show Bug Multi Threading introduced 2018-02-23 00:10 UTC by Report Bug Copy Issue Report Instance methods writing to static fields may lead to concurrency problems. Consider making the enclosing method static or removing this assignment to a static field. If you really need to set this static field, consider writing a thread-safe setter and atomic getter. Loading history...
230			}
231
232			public double getError() {
233			return (leftify(leftMaster.getErrorDerivative(Constants.LEFT_PID)) + rightify(rightMaster.getErrorDerivative(Constants.RIGHT_PID))) / 2.0;
			0 ignored issues – show Comprehensibility introduced 2018-02-16 03:10 UTC by Report Bug Copy Issue Report Consider assigning this magic number 2.0 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...
234			}
235
236			public double getRightPos() {
237			return rightMag2in(rightMaster.getSelectedSensorPosition(Constants.RIGHT_PID));
238			}
239
240			public double getLeftPos() {
241			return leftMag2in(leftMaster.getSelectedSensorPosition(Constants.LEFT_PID));
242			}
243
244			public boolean driveDistance(double leftIn, double rightIn) {
245			double leftGoal = in2rot(leftIn);
246			double rightGoal = in2rot(rightIn);
247
248			leftMaster.set(ControlMode.MotionMagic, leftGoal);
249			rightMaster.set(ControlMode.MotionMagic, rightGoal);
250
251			boolean leftInRange =
252			getLeftPos() > leftify(leftGoal) - DISTANCE_ALLOWABLE_ERROR &&
253			getLeftPos() < leftify(leftGoal) + DISTANCE_ALLOWABLE_ERROR;
254			boolean rightInRange =
255			getRightPos() > rightify(rightGoal) - DISTANCE_ALLOWABLE_ERROR &&
256			getRightPos() < rightify(rightGoal) + DISTANCE_ALLOWABLE_ERROR;
257
258			return leftInRange && rightInRange;
259			}
260
261			public void driveDirect(double left, double right) {
262			leftMaster.set(ControlMode.PercentOutput, left);
263			rightMaster.set(ControlMode.PercentOutput, right);
264			}
265
266			public void setPIDF(TalonSRX talon, double p, double i, double d, double f) {
267			talon.selectProfileSlot(0, 0);
268			talon.config_kF(0, f, Constants.TIMEOUT_PID);
269			talon.config_kP(0, p, Constants.TIMEOUT_PID);
270			talon.config_kI(0, i, Constants.TIMEOUT_PID);
271			talon.config_kD(0, d, Constants.TIMEOUT_PID);
272			}
273
274			public void reset() {
275			leftMaster.setSelectedSensorPosition(0, Constants.LEFT_PID, Constants.TIMEOUT_PID);
276			rightMaster.setSelectedSensorPosition(0, Constants.RIGHT_PID, Constants.TIMEOUT_PID);
277			}
278			}
279

wh1ter0se / PowerUp-2018

Push — master ( 74c8db...6c2084 )

rightMag2in(double) A

Complexity

Size

Duplication

Importance

Duplication Side-by-Side

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