org.usfirst.frc.team3695.robot.subsystems.SubsystemMast - Code Metrics - Inspection of "Fix autonomous errors" - wh1ter0se/PowerUp-2018 - Measure and Improve Code Quality continuously with Scrutinizer

Test Failed

Pull Request — master (#114)

unknown

created 2018-02-19 18:02 UTC

org.usfirst.frc.team3695.robot.subsystems.SubsystemMast A

↳ Parent: Project

Complexity

Total Complexity

Size/Duplication

Total Lines	125
Duplicated Lines	0 %

Importance

Changes

Metric	Value
wmc	34
dl	0
loc	125
c	0
b	0
f	0
rs	9.68

19 Methods

Rating	Name	Size	Complexity
	screwify	3	?
C	moveBySpeed(Joystick,double)	14	9
	setCarriagePosition	2	?
A	initDefaultCommand()	2	1
A	publishSwitches()	6	1
	goToMiddle	25	?
	rightPinionate	3	?
	leftPinionate	3	?
B	updateCarriage()	9	6
A	screwify(double)	3	3
	moveBySpeed	14	?
A	SubsystemMast()	12	1
A	rightPinionate(double)	3	3
A	voltage(TalonSRX)	1	1
	updateCarriage	9	?
	publishSwitches	6	?
A	setCarriagePosition(Position)	2	1
A	leftPinionate(double)	3	3
B	goToMiddle()	25	5

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

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.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.Util;
import org.usfirst.frc.team3695.robot.util.Xbox;

import com.ctre.CANTalon;
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;

/** 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 Position carriagePosition;
    private Boolean midIsPressed;


	
	/** runs at robot boot */
    public void initDefaultCommand() {
    	setDefaultCommand(new ManualCommandGrow()); }
	
	/** gives birth to the CANTalons */
    public SubsystemMast(){
    	lowerPinionLimit = new DigitalInput(3);

        upperPinionLimit = new DigitalInput(5);

        lowerScrewLimit  = new DigitalInput(1);
        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);
    }

   	
   	/** apply pinion motor invert */
   	public static final double leftPinionate(double left) {
   		Boolean invert = Robot.bot == Bot.OOF ? Constants.OOF.LEFT_PINION_MOTOR_INVERT : Constants.SWISS.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.SWISS.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.SWISS.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 screwSpeed = Xbox.RIGHT_Y(joy);
    	double pinionSpeed = Xbox.LEFT_Y(joy);
    	
		if (!lowerPinionLimit.get() && pinionSpeed > 1)   { pinionSpeed = 0; }
		if (!upperPinionLimit.get() && pinionSpeed < 0)   { pinionSpeed = 0; }
		if (!lowerScrewLimit.get()  && screwSpeed  > 1)   { screwSpeed = 0;  }
		if (!upperScrewLimit.get()  && screwSpeed  < 0)   { screwSpeed = 0;  }
			
		updateCarriage();
    	publishSwitches();
    	leftPinion.set(ControlMode.PercentOutput, leftPinionate(pinionSpeed));
    	rightPinion.set(ControlMode.PercentOutput, rightPinionate(pinionSpeed));
    	screw.set(ControlMode.PercentOutput, inhibitor * screwify(screwSpeed));
    }
    
    public void setCarriagePosition(Position position) {
    	carriagePosition = position;
    }
    
    public void updateCarriage() {
    	if (!midScrewLimit.get()) {
    		carriagePosition = Position.CENTER;
    	}
    	else if (carriagePosition == Position.CENTER && !midScrewLimit.get()) {
    		if (screw.getMotorOutputPercent() > 0) {
    			carriagePosition = Position.UP;
    		} else if (screw.getMotorOutputPercent() < 0) {
    			carriagePosition = Position.DOWN;
    		}
    	}
    }
    	
    public void publishSwitches() {
    	SmartDashboard.putBoolean("Lower Screw", !lowerScrewLimit.get());
    	SmartDashboard.putBoolean("Mid Position", !midScrewLimit.get());
    	SmartDashboard.putBoolean("Upper Screw", !upperScrewLimit.get());
    	SmartDashboard.putBoolean("Lower Pinion", !lowerPinionLimit.get());
    	SmartDashboard.putBoolean("Upper Pinion", !upperPinionLimit.get());
    }
    public Boolean goToMiddle() {
    	/// make sure pinion is at bottom
	    	if (!lowerPinionLimit.get()) {
    			leftPinion.set(ControlMode.PercentOutput, leftPinionate(-1));
    			rightPinion.set(ControlMode.PercentOutput, rightPinionate(-1));
    		}
    		else {
    			leftPinion.set(ControlMode.PercentOutput, 0);
    			rightPinion.set(ControlMode.PercentOutput, 0);
    		}
    	/// move screw to middle
	    	if (!midScrewLimit.get()) {
	    		screw.set(ControlMode.PercentOutput, 0);
	    		return true;
	    	}
	    	else {
		    	switch (carriagePosition) {
			    	case UP:
			    		screw.set(ControlMode.PercentOutput, screwify(-1));
			    		break;
			    	case DOWN:
			    		screw.set(ControlMode.PercentOutput, screwify(1));
			    		break;
		    	}
		    	return false;
	    	}
	    }
    
    /** 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(35, 300);
    		// configContinuousCurrentLimit spat mean errors
    		// commented out for now, but we need to address it
    }
    
    

}



1			package org.usfirst.frc.team3695.robot.subsystems;
2
3			import org.usfirst.frc.team3695.robot.Constants;
4			import org.usfirst.frc.team3695.robot.Robot;
5			import org.usfirst.frc.team3695.robot.commands.ManualCommandDrive;
6			import org.usfirst.frc.team3695.robot.commands.ManualCommandGrow;
7			import org.usfirst.frc.team3695.robot.enumeration.Bot;
8			import org.usfirst.frc.team3695.robot.enumeration.Position;
9			import org.usfirst.frc.team3695.robot.util.Util;
10			import org.usfirst.frc.team3695.robot.util.Xbox;
11
12			import com.ctre.CANTalon;
13			import com.ctre.phoenix.motorcontrol.ControlMode;
14			import com.ctre.phoenix.motorcontrol.can.TalonSRX;
15
16			import edu.wpi.first.wpilibj.DigitalInput;
17			import edu.wpi.first.wpilibj.Joystick;
18			import edu.wpi.first.wpilibj.command.Subsystem;
19			import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
20
21			/** the big, metal pole */
22			public class SubsystemMast extends Subsystem {
23
24
25			private TalonSRX leftPinion;
26			private TalonSRX rightPinion;
27			private TalonSRX screw;
28
29			DigitalInput lowerPinionLimit;
30			DigitalInput upperPinionLimit;
31			DigitalInput lowerScrewLimit;
32			DigitalInput midScrewLimit;
33			DigitalInput upperScrewLimit;
34
35			private Position carriagePosition;
36			private Boolean midIsPressed;
			0 ignored issues – show Unused Code introduced 2018-02-16 03:10 UTC by Report Bug Copy Issue Report Consider removing the unused private field `midIsPressed`. Loading history...
37
38
39			/** runs at robot boot */
40			public void initDefaultCommand() {
41			setDefaultCommand(new ManualCommandGrow()); }
42
43			/** gives birth to the CANTalons */
44			public SubsystemMast(){
45			lowerPinionLimit = new DigitalInput(3);
			0 ignored issues – show Comprehensibility introduced 2018-02-19 18:03 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...
46			upperPinionLimit = new DigitalInput(5);
			0 ignored issues – show Comprehensibility introduced 2018-02-02 01:07 UTC by Report Bug Copy Issue Report Consider assigning this magic number 5 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...
47			lowerScrewLimit = new DigitalInput(1);
48			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...
49
50			leftPinion = new TalonSRX(Constants.LEFT_PINION_MOTOR);
51			rightPinion = new TalonSRX(Constants.RIGHT_PINION_MOTOR);
52			screw = new TalonSRX(Constants.SCREW_MOTOR);
53			voltage(leftPinion);
54			voltage(rightPinion);
55			voltage(screw);
56			}
57
58
59			/** apply pinion motor invert */
60			public static final double leftPinionate(double left) {
61			Boolean invert = Robot.bot == Bot.OOF ? Constants.OOF.LEFT_PINION_MOTOR_INVERT : Constants.SWISS.LEFT_PINION_MOTOR_INVERT;
62			return left * (invert ? -1.0 : 1.0);
63			}
64
65			/** apply screw motor invert */
66			public static final double rightPinionate(double right) {
67			Boolean invert = Robot.bot == Bot.OOF ? Constants.OOF.RIGHT_PINION_MOTOR_INVERT : Constants.SWISS.RIGHT_PINION_MOTOR_INVERT;
68			return right * (invert ? -1.0 : 1.0);
69			}
70
71			public static final double screwify(double screw) {
72			Boolean invert = Robot.bot == Bot.OOF ? Constants.OOF.SCREW_MOTOR_INVERT : Constants.SWISS.SCREW_MOTOR_INVERT;
73			return screw * (invert ? -1.0 : 1.0);
74			}
75
76			/** raise the mast at RT-LR trigger speed */
77			public void moveBySpeed(Joystick joy, double inhibitor) {
78			double screwSpeed = Xbox.RIGHT_Y(joy);
79			double pinionSpeed = Xbox.LEFT_Y(joy);
80
81			if (!lowerPinionLimit.get() && pinionSpeed > 1) { pinionSpeed = 0; }
82			if (!upperPinionLimit.get() && pinionSpeed < 0) { pinionSpeed = 0; }
83			if (!lowerScrewLimit.get() && screwSpeed > 1) { screwSpeed = 0; }
84			if (!upperScrewLimit.get() && screwSpeed < 0) { screwSpeed = 0; }
85
86			updateCarriage();
87			publishSwitches();
88			leftPinion.set(ControlMode.PercentOutput, leftPinionate(pinionSpeed));
89			rightPinion.set(ControlMode.PercentOutput, rightPinionate(pinionSpeed));
90			screw.set(ControlMode.PercentOutput, inhibitor * screwify(screwSpeed));
91			}
92
93			public void setCarriagePosition(Position position) {
94			carriagePosition = position;
95			}
96
97			public void updateCarriage() {
98			if (!midScrewLimit.get()) {
99			carriagePosition = Position.CENTER;
100			}
101			else if (carriagePosition == Position.CENTER && !midScrewLimit.get()) {
102			if (screw.getMotorOutputPercent() > 0) {
103			carriagePosition = Position.UP;
104			} else if (screw.getMotorOutputPercent() < 0) {
105			carriagePosition = Position.DOWN;
106			}
107			}
108			}
109
110			public void publishSwitches() {
111			SmartDashboard.putBoolean("Lower Screw", !lowerScrewLimit.get());
112			SmartDashboard.putBoolean("Mid Position", !midScrewLimit.get());
113			SmartDashboard.putBoolean("Upper Screw", !upperScrewLimit.get());
114			SmartDashboard.putBoolean("Lower Pinion", !lowerPinionLimit.get());
115			SmartDashboard.putBoolean("Upper Pinion", !upperPinionLimit.get());
116			}
117			public Boolean goToMiddle() {
118			/// make sure pinion is at bottom
119			if (!lowerPinionLimit.get()) {
120			leftPinion.set(ControlMode.PercentOutput, leftPinionate(-1));
121			rightPinion.set(ControlMode.PercentOutput, rightPinionate(-1));
122			}
123			else {
124			leftPinion.set(ControlMode.PercentOutput, 0);
125			rightPinion.set(ControlMode.PercentOutput, 0);
126			}
127			/// move screw to middle
128			if (!midScrewLimit.get()) {
129			screw.set(ControlMode.PercentOutput, 0);
130			return true;
131			}
132			else {
133			switch (carriagePosition) {
134			case UP:
135			screw.set(ControlMode.PercentOutput, screwify(-1));
136			break;
137			case DOWN:
138			screw.set(ControlMode.PercentOutput, screwify(1));
139			break;
140			}
141			return false;
142			}
143			}
144
145			/** configures the voltage of each CANTalon */
146			private void voltage(TalonSRX talon) {
			0 ignored issues – show Unused Code introduced 2018-01-21 01:00 UTC by Report Bug Copy Issue Report Your method has more parameters than it evaluates. Consider removing `talon`. Loading history...
147			// talon.configNominalOutputVoltage(0f, 0f);
148			// talon.configPeakOutputVoltage(12.0f, -12.0f);
149			// talon.enableCurrentLimit(true);
150			// talon.configContinuousCurrentLimit(35, 300);
151			// configContinuousCurrentLimit spat mean errors
152			// commented out for now, but we need to address it
153			}
154
155
156
157			}
158
159

wh1ter0se / PowerUp-2018

Pull Request — master (#114)

org.usfirst.frc.team3695.robot.subsystems.SubsystemMast A

Complexity

Size/Duplication

Importance

19 Methods

Duplication Side-by-Side

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