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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,23 @@ | ||
| <component name="ProjectRunConfigurationManager"> | ||
| <configuration default="false" name="Build & Deploy Robot for Debugging" type="GradleRunConfiguration" factoryName="Gradle"> | ||
| <ExternalSystemSettings> | ||
| <option name="executionName" /> | ||
| <option name="externalProjectPath" value="$PROJECT_DIR$" /> | ||
| <option name="externalSystemIdString" value="GRADLE" /> | ||
| <option name="scriptParameters" value="-PdebugMode=true" /> | ||
| <option name="taskDescriptions"> | ||
| <list /> | ||
| </option> | ||
| <option name="taskNames"> | ||
| <list> | ||
| <option value="deploy" /> | ||
| </list> | ||
| </option> | ||
| <option name="vmOptions" /> | ||
| </ExternalSystemSettings> | ||
| <ExternalSystemDebugServerProcess>true</ExternalSystemDebugServerProcess> | ||
| <ExternalSystemReattachDebugProcess>true</ExternalSystemReattachDebugProcess> | ||
| <DebugAllEnabled>false</DebugAllEnabled> | ||
| <method v="2" /> | ||
| </configuration> | ||
| </component> | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,23 @@ | ||
| <component name="ProjectRunConfigurationManager"> | ||
| <configuration default="false" name="Build & Deploy Robot" type="GradleRunConfiguration" factoryName="Gradle"> | ||
| <ExternalSystemSettings> | ||
| <option name="executionName" /> | ||
| <option name="externalProjectPath" value="$PROJECT_DIR$" /> | ||
| <option name="externalSystemIdString" value="GRADLE" /> | ||
| <option name="scriptParameters" /> | ||
| <option name="taskDescriptions"> | ||
| <list /> | ||
| </option> | ||
| <option name="taskNames"> | ||
| <list> | ||
| <option value="deploy" /> | ||
| </list> | ||
| </option> | ||
| <option name="vmOptions" /> | ||
| </ExternalSystemSettings> | ||
| <ExternalSystemDebugServerProcess>true</ExternalSystemDebugServerProcess> | ||
| <ExternalSystemReattachDebugProcess>true</ExternalSystemReattachDebugProcess> | ||
| <DebugAllEnabled>false</DebugAllEnabled> | ||
| <method v="2" /> | ||
| </configuration> | ||
| </component> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,23 @@ | ||
| <component name="ProjectRunConfigurationManager"> | ||
| <configuration default="false" name="Build Robot" type="GradleRunConfiguration" factoryName="Gradle"> | ||
| <ExternalSystemSettings> | ||
| <option name="executionName" /> | ||
| <option name="externalProjectPath" value="$PROJECT_DIR$" /> | ||
| <option name="externalSystemIdString" value="GRADLE" /> | ||
| <option name="scriptParameters" /> | ||
| <option name="taskDescriptions"> | ||
| <list /> | ||
| </option> | ||
| <option name="taskNames"> | ||
| <list> | ||
| <option value="build" /> | ||
| </list> | ||
| </option> | ||
| <option name="vmOptions" /> | ||
| </ExternalSystemSettings> | ||
| <ExternalSystemDebugServerProcess>true</ExternalSystemDebugServerProcess> | ||
| <ExternalSystemReattachDebugProcess>true</ExternalSystemReattachDebugProcess> | ||
| <DebugAllEnabled>false</DebugAllEnabled> | ||
| <method v="2" /> | ||
| </configuration> | ||
| </component> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,24 @@ | ||
| <component name="ProjectRunConfigurationManager"> | ||
| <configuration default="false" name="Clean Build & Deploy Robot for Debugging" type="GradleRunConfiguration" factoryName="Gradle"> | ||
| <ExternalSystemSettings> | ||
| <option name="executionName" /> | ||
| <option name="externalProjectPath" value="$PROJECT_DIR$" /> | ||
| <option name="externalSystemIdString" value="GRADLE" /> | ||
| <option name="scriptParameters" value="-PdebugMode=true" /> | ||
| <option name="taskDescriptions"> | ||
| <list /> | ||
| </option> | ||
| <option name="taskNames"> | ||
| <list> | ||
| <option value="clean" /> | ||
| <option value="deploy" /> | ||
| </list> | ||
| </option> | ||
| <option name="vmOptions" /> | ||
| </ExternalSystemSettings> | ||
| <ExternalSystemDebugServerProcess>true</ExternalSystemDebugServerProcess> | ||
| <ExternalSystemReattachDebugProcess>true</ExternalSystemReattachDebugProcess> | ||
| <DebugAllEnabled>false</DebugAllEnabled> | ||
| <method v="2" /> | ||
| </configuration> | ||
| </component> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,24 @@ | ||
| <component name="ProjectRunConfigurationManager"> | ||
| <configuration default="false" name="Clean Build & Deploy Robot" type="GradleRunConfiguration" factoryName="Gradle"> | ||
| <ExternalSystemSettings> | ||
| <option name="executionName" /> | ||
| <option name="externalProjectPath" value="$PROJECT_DIR$" /> | ||
| <option name="externalSystemIdString" value="GRADLE" /> | ||
| <option name="scriptParameters" /> | ||
| <option name="taskDescriptions"> | ||
| <list /> | ||
| </option> | ||
| <option name="taskNames"> | ||
| <list> | ||
| <option value="clean" /> | ||
| <option value="deploy" /> | ||
| </list> | ||
| </option> | ||
| <option name="vmOptions" /> | ||
| </ExternalSystemSettings> | ||
| <ExternalSystemDebugServerProcess>true</ExternalSystemDebugServerProcess> | ||
| <ExternalSystemReattachDebugProcess>true</ExternalSystemReattachDebugProcess> | ||
| <DebugAllEnabled>false</DebugAllEnabled> | ||
| <method v="2" /> | ||
| </configuration> | ||
| </component> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,24 @@ | ||
| <component name="ProjectRunConfigurationManager"> | ||
| <configuration default="false" name="Clean Build Robot" type="GradleRunConfiguration" factoryName="Gradle"> | ||
| <ExternalSystemSettings> | ||
| <option name="executionName" /> | ||
| <option name="externalProjectPath" value="$PROJECT_DIR$" /> | ||
| <option name="externalSystemIdString" value="GRADLE" /> | ||
| <option name="scriptParameters" /> | ||
| <option name="taskDescriptions"> | ||
| <list /> | ||
| </option> | ||
| <option name="taskNames"> | ||
| <list> | ||
| <option value="clean" /> | ||
| <option value="build" /> | ||
| </list> | ||
| </option> | ||
| <option name="vmOptions" /> | ||
| </ExternalSystemSettings> | ||
| <ExternalSystemDebugServerProcess>true</ExternalSystemDebugServerProcess> | ||
| <ExternalSystemReattachDebugProcess>true</ExternalSystemReattachDebugProcess> | ||
| <DebugAllEnabled>false</DebugAllEnabled> | ||
| <method v="2" /> | ||
| </configuration> | ||
| </component> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,23 @@ | ||
| <component name="ProjectRunConfigurationManager"> | ||
| <configuration default="false" name="Clean" type="GradleRunConfiguration" factoryName="Gradle"> | ||
| <ExternalSystemSettings> | ||
| <option name="executionName" /> | ||
| <option name="externalProjectPath" value="$PROJECT_DIR$" /> | ||
| <option name="externalSystemIdString" value="GRADLE" /> | ||
| <option name="scriptParameters" /> | ||
| <option name="taskDescriptions"> | ||
| <list /> | ||
| </option> | ||
| <option name="taskNames"> | ||
| <list> | ||
| <option value="clean" /> | ||
| </list> | ||
| </option> | ||
| <option name="vmOptions" /> | ||
| </ExternalSystemSettings> | ||
| <ExternalSystemDebugServerProcess>true</ExternalSystemDebugServerProcess> | ||
| <ExternalSystemReattachDebugProcess>true</ExternalSystemReattachDebugProcess> | ||
| <DebugAllEnabled>false</DebugAllEnabled> | ||
| <method v="2" /> | ||
| </configuration> | ||
| </component> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,12 @@ | ||
| <component name="ProjectRunConfigurationManager"> | ||
| <configuration default="false" name="Debug Robot via IP" type="Remote"> | ||
| <module name="Flash2024.main" /> | ||
| <option name="USE_SOCKET_TRANSPORT" value="true" /> | ||
| <option name="SERVER_MODE" value="false" /> | ||
| <option name="SHMEM_ADDRESS" value="javadebug" /> | ||
| <option name="HOST" value="10.33.88.2" /> | ||
| <option name="PORT" value="8349" /> | ||
| <option name="AUTO_RESTART" value="false" /> | ||
| <method v="2" /> | ||
| </configuration> | ||
| </component> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,12 @@ | ||
| <component name="ProjectRunConfigurationManager"> | ||
| <configuration default="false" name="Debug Robot via USB" type="Remote"> | ||
| <module name="Flash2024.main" /> | ||
| <option name="USE_SOCKET_TRANSPORT" value="true" /> | ||
| <option name="SERVER_MODE" value="false" /> | ||
| <option name="SHMEM_ADDRESS" value="javadebug" /> | ||
| <option name="HOST" value="172.22.11.2" /> | ||
| <option name="PORT" value="8349" /> | ||
| <option name="AUTO_RESTART" value="false" /> | ||
| <method v="2" /> | ||
| </configuration> | ||
| </component> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,4 +1,10 @@ | ||
| package frc.robot; | ||
|
|
||
| import com.flash3388.flashlib.frc.robot.RoboRio; | ||
| import com.flash3388.flashlib.hid.HidChannel; | ||
|
|
||
| public class RobotMap { | ||
| public static final int ARM_MASTER = 15; | ||
| public static final int ARM_FOLLOW = 16; | ||
| public static final int ARM_ENCODER = 9; | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,15 @@ | ||
| package frc.robot; | ||
|
|
||
| import com.revrobotics.CANSparkMax; | ||
| import com.revrobotics.CANSparkMaxLowLevel; | ||
| import edu.wpi.first.wpilibj.DutyCycleEncoder; | ||
| import frc.robot.subSystems.Arm; | ||
|
|
||
| public class SystemFactory { | ||
| public static Arm createArm(){ | ||
| CANSparkMax master = new CANSparkMax(RobotMap.ARM_MASTER, CANSparkMaxLowLevel.MotorType.kBrushless); | ||
| CANSparkMax follow = new CANSparkMax(RobotMap.ARM_FOLLOW, CANSparkMaxLowLevel.MotorType.kBrushless); | ||
| DutyCycleEncoder encoder = new DutyCycleEncoder(RobotMap.ARM_ENCODER); | ||
| return new Arm(encoder.getAbsolutePosition(), master, follow, encoder); | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,70 @@ | ||
| package frc.robot.actions; | ||
|
|
||
| import com.flash3388.flashlib.robot.RunningRobot; | ||
| import com.flash3388.flashlib.scheduling.ActionControl; | ||
| import com.flash3388.flashlib.scheduling.FinishReason; | ||
| import com.flash3388.flashlib.scheduling.actions.ActionBase; | ||
| import com.flash3388.flashlib.time.Clock; | ||
| import com.flash3388.flashlib.time.Time; | ||
| import com.jmath.ExtendedMath; | ||
| import frc.robot.subSystems.Arm; | ||
|
|
||
|
|
||
| public class SetAngle extends ActionBase { | ||
|
|
||
| private Arm arm; | ||
| private boolean high; | ||
| private boolean low; | ||
| private static final double ALLOWED_ERROR = 2; | ||
| private static final double TIME = 1; | ||
| private Clock clock; | ||
| private Time time; | ||
| public SetAngle(Arm arm, boolean high, boolean low){ //high true | ||
| this.arm = arm; | ||
| this.high = true; | ||
| this.low = false; | ||
|
|
||
| this.clock = RunningRobot.getControl().getClock(); | ||
|
|
||
| requires(arm); | ||
| } | ||
|
|
||
| @Override | ||
| public void initialize(ActionControl control) { | ||
| arm.pidReset(); | ||
| arm.angleReset(); | ||
| } | ||
|
|
||
| @Override | ||
| public void execute(ActionControl control) { | ||
| if(high){ | ||
| arm.moveHigh(); | ||
| } | ||
| else{ | ||
| arm.moveLow(); | ||
| } | ||
|
|
||
|
|
||
| if(inRange()){ | ||
| if(time.isValid()){ | ||
| time.before(clock.currentTime()); | ||
| } | ||
| else{ | ||
| time = clock.currentTime().add(Time.seconds(TIME)); | ||
| } | ||
| } | ||
| else{ | ||
| time = Time.INVALID; | ||
| } | ||
| control.finish(); | ||
| } | ||
|
|
||
| public boolean inRange(){ | ||
| return ExtendedMath.constrained(arm.getAngle2Target(),-ALLOWED_ERROR, ALLOWED_ERROR); | ||
| } | ||
|
|
||
| @Override | ||
| public void end(FinishReason reason) { | ||
| arm.slow(); | ||
| } | ||
| } |
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Oh those files again.
@Maayan-Luzon
@NoamZW
Remember what I told you about how to fix this?