org.usfirst.frc.team3695.robot.subsystems.SubsystemMast.goToMiddle() - Code Metrics - Inspection of "8.2" - wh1ter0se/PowerUp-2018 - Measure and Improve Code Quality continuously with Scrutinizer

Completed

Push — master ( 0672dd...74c8db )

by John

created 2018-02-17 03:06 UTC

goToMiddle() B

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

Complexity

Conditions

Size

Total Lines

Duplication

Lines	0
Ratio	0 %

Importance

Changes

Metric	Value
c	0
b	0
f	0
dl	0
loc	25
rs	8.8133
cc	5

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

import org.usfirst.frc.team3695.robot.Constants;
import org.usfirst.frc.team3695.robot.commands.ManualCommandDrive;
import org.usfirst.frc.team3695.robot.commands.ManualCommandGrow;
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(1);
        upperPinionLimit = new DigitalInput(2);

        lowerScrewLimit  = new DigitalInput(3);

        midScrewLimit    = new DigitalInput(4);

        upperScrewLimit  = new DigitalInput(5);

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

wh1ter0se / PowerUp-2018

Push — master ( 0672dd...74c8db )

goToMiddle() B

Complexity

Size

Duplication

Importance

Duplication Side-by-Side

Filter issues like