frc.robot.Robot Class Reference

The VM is configured to automatically run this class, and to call the functions corresponding to each mode, as described in the TimedRobot documentation. More...

Inheritance diagram for frc.robot.Robot:

Public Member Functions
void	robotInit ()
	This function is run when the robot is first started up and should be used for any initialization code.
void	robotPeriodic ()
	This function is called every robot packet, no matter the mode.
void	autonomousInit ()
	This autonomous (along with the chooser code above) shows how to select between different autonomous modes using the dashboard.
void	autonomousPeriodic ()
	This function is called periodically during autonomous.
void	teleopInit ()
	This function is called once when teleop is enabled.
void	teleopPeriodic ()
	This function is called periodically during operator control.
void	disabledInit ()
	This function is called once when the robot is disabled.
void	disabledPeriodic ()
	This function is called periodically when disabled.
void	testInit ()
	This function is called once when test mode is enabled.
void	testPeriodic ()
	This function is called periodically during test mode.

Private Member Functions
void	checkForModeSwitches ()
	Switches between different driving modes For the DPad, 0 is up, and angles go clockwise, so 90 is right.
void	checkForButtonPresses ()
	Checks for button presses and activates their functions.
void	autonomousCheckForButtonPresses ()
void	drive ()
	Powers motors based on the analog inputs.

Private Attributes
String	m_autoSelected
final SendableChooser< String >	m_chooser = new SendableChooser<>()
Controller	xboxController = new Controller()
MecaDrive	driveBase = new MecaDrive(Constants.FL_TALON_ID, Constants.FR_TALON_ID, Constants.RL_TALON_ID, Constants.RR_TALON_ID, imu)

Static Private Attributes
static final String	kDefaultAuto = "Default"
static final String	kCustomAuto = "My Auto"

Detailed Description

The VM is configured to automatically run this class, and to call the functions corresponding to each mode, as described in the TimedRobot documentation.

If you change the name of this class or the package after creating this project, you must also update the build.gradle file in the project.

Definition at line 25 of file Robot.java.

Member Function Documentation

autonomousCheckForButtonPresses()

void frc.robot.Robot.autonomousCheckForButtonPresses ( )

private

Definition at line 206 of file Robot.java.

                                                    {
    if (xboxController.getBButtonPressed()) {
        // create an example trajectory     
        Pose2d current = driveBase.getPose();
        
        // start with a small displacement ( + 1)
        Pose2d target = new Pose2d(current.getX() + 1, current.getY(), current.getRotation());
        Autonomous.updateTrajectory(driveBase, target, null);
        driveBase.resetCurrentTrajectoryTime();
    }
    if (xboxController.getAButtonPressed()){
        // toggle autonomous is moving
        autonomousIsMoving = !autonomousIsMoving;
    }
  }

References frc.robot.Robot.driveBase, frc.robot.subsystems.MecaDrive.getPose(), frc.robot.subsystems.DriveBase.resetCurrentTrajectoryTime(), frc.robot.subsystems.Autonomous.updateTrajectory(), and frc.robot.Robot.xboxController.

Referenced by frc.robot.Robot.autonomousPeriodic().

autonomousInit()

void frc.robot.Robot.autonomousInit

(

)

This autonomous (along with the chooser code above) shows how to select between different autonomous modes using the dashboard.

The sendable chooser code works with the Java SmartDashboard. If you prefer the LabVIEW Dashboard, remove all of the chooser code and uncomment the getString line to get the auto name from the text box below the Gyro

You can add additional auto modes by adding additional comparisons to the switch structure below with additional strings. If using the SendableChooser make sure to add them to the chooser code above as well.

Definition at line 100 of file Robot.java.

                               {
    m_autoSelected = m_chooser.getSelected();
    // m_autoSelected = SmartDashboard.getString("Auto Selector", kDefaultAuto);
    System.out.println("Auto selected: " + m_autoSelected);
 
    driveBase.resetCurrentTrajectoryTime();
  }

References frc.robot.Robot.driveBase, frc.robot.Robot.m_autoSelected, frc.robot.Robot.m_chooser, and frc.robot.subsystems.DriveBase.resetCurrentTrajectoryTime().

autonomousPeriodic()

void frc.robot.Robot.autonomousPeriodic

(

)

This function is called periodically during autonomous.

Definition at line 110 of file Robot.java.

                                   {
    // switch (m_autoSelected) {
    //   case kCustomAuto:
    //     // Put custom auto code here
    //     break;
    //   case kDefaultAuto:
    //   default:
    //     break;
        // // Default code
    // }
 
        autonomousCheckForButtonPresses();
 
        
        if (autonomousIsMoving){
            // increase the current time, because autonomous trajectories need a time (each period takes the same time)
            driveBase.incrementCurrentTrajectoryTime(); // so add it up
            System.out.println("Moving");
            // tell the autonomous system to use it's trajectory from the drivebase to drive the robot
            Autonomous.applyChassisSpeeds(driveBase);
        }
    else {
      driveBase.drive(0, 0, 0);
    }
        
  }

References frc.robot.subsystems.Autonomous.applyChassisSpeeds(), frc.robot.Robot.autonomousCheckForButtonPresses(), frc.robot.subsystems.MecaDrive.drive(), frc.robot.Robot.driveBase, and frc.robot.subsystems.DriveBase.incrementCurrentTrajectoryTime().

checkForButtonPresses()

void frc.robot.Robot.checkForButtonPresses ( )

private

Checks for button presses and activates their functions.

Definition at line 191 of file Robot.java.

                                       {
    if (xboxController.getAButtonPressed()) {
      driveBase.cycleMotor();
    }
    if (xboxController.getBButtonPressed()) {
      driveBase.printActiveMotorDebugMode();
    }
    if (xboxController.getLeftBumperPressed()) {
      driveBase.decreaseSpeedBracket();
    }
    if (xboxController.getRightBumperPressed()) {
      driveBase.increaseSpeedBracket();
    }
  }

References frc.robot.subsystems.MecaDrive.cycleMotor(), frc.robot.subsystems.DriveBase.decreaseSpeedBracket(), frc.robot.Robot.driveBase, frc.robot.subsystems.DriveBase.increaseSpeedBracket(), frc.robot.subsystems.MecaDrive.printActiveMotorDebugMode(), and frc.robot.Robot.xboxController.

Referenced by frc.robot.Robot.teleopPeriodic().

checkForModeSwitches()

void frc.robot.Robot.checkForModeSwitches ( )

private

Switches between different driving modes For the DPad, 0 is up, and angles go clockwise, so 90 is right.

Definition at line 177 of file Robot.java.

                                      {
    // up
    if (xboxController.getPOV() == 0) driveBase.turnOnDefaultMode();
    // right
    if (xboxController.getPOV() == 90) driveBase.turnOnStopMode();
    // left
    if (xboxController.getPOV() == 270) driveBase.turnOnDebugMode();
    // down
    if (xboxController.getPOV() == 180) driveBase.turnONPIDTuningMode();
  }

References frc.robot.Robot.driveBase, frc.robot.subsystems.DriveBase.turnOnDebugMode(), frc.robot.subsystems.DriveBase.turnOnDefaultMode(), frc.robot.subsystems.DriveBase.turnONPIDTuningMode(), frc.robot.subsystems.DriveBase.turnOnStopMode(), and frc.robot.Robot.xboxController.

Referenced by frc.robot.Robot.teleopPeriodic().

disabledInit()

void frc.robot.Robot.disabledInit

(

)

This function is called once when the robot is disabled.

Definition at line 159 of file Robot.java.

{}

disabledPeriodic()

void frc.robot.Robot.disabledPeriodic

(

)

This function is called periodically when disabled.

Definition at line 163 of file Robot.java.

{}

drive()

void frc.robot.Robot.drive ( )

private

Powers motors based on the analog inputs.

Definition at line 224 of file Robot.java.

                       {
    // process input (determine wheelspeeds)
    // driveBase.drive(xboxController.getLeftX(), xboxController.getLeftY(), xboxController.getRightX(), xboxController.getRightY());
    driveBase.drive(xboxController.getLeftX(), xboxController.getLeftY(), xboxController.getRightX());
  }

References frc.robot.subsystems.MecaDrive.drive(), frc.robot.Robot.driveBase, frc.robot.subsystems.Controller.getLeftX(), frc.robot.subsystems.Controller.getLeftY(), frc.robot.subsystems.Controller.getRightX(), and frc.robot.Robot.xboxController.

Referenced by frc.robot.Robot.teleopPeriodic().

robotInit()

void frc.robot.Robot.robotInit

(

)

This function is run when the robot is first started up and should be used for any initialization code.

Definition at line 51 of file Robot.java.

                          {
    m_chooser.setDefaultOption("Default Auto", kDefaultAuto);
    m_chooser.addOption("My Auto", kCustomAuto);
    SmartDashboard.putData("Auto choices", m_chooser);
    // CameraServer.startAutomaticCapture(0);
    // CameraServer.startAutomaticCapture(1);
 
    //limelight.printVal();
    //limelight.smartDash();
 
    // tank drive initialization
    // driveBase = createTankDrive();
  }

References frc.robot.Robot.kCustomAuto, frc.robot.Robot.kDefaultAuto, and frc.robot.Robot.m_chooser.

robotPeriodic()

void frc.robot.Robot.robotPeriodic

(

)

This function is called every robot packet, no matter the mode.

Use this for items like diagnostics that you want ran during disabled, autonomous, teleoperated and test.

This runs after the mode specific periodic functions, but before LiveWindow and SmartDashboard integrated updating.

Definition at line 73 of file Robot.java.

                              {
 
    driveBase.updateOdometry();
 
    // SmartDashboard.putNumber("test", test);
    // limelight.test();
    // System.out.println("hello wo5rld");
 
    // test += 1;
 
    if (counter % 10 == 0) {
      smartdash.pushDashboard(limelight, imu, driveBase, zed);
    }
    counter++;
  }

References frc.robot.Robot.driveBase, frc.robot.subsystems.BetterShuffleboard.pushDashboard(), and frc.robot.subsystems.MecaDrive.updateOdometry().

teleopInit()

void frc.robot.Robot.teleopInit

(

)

This function is called once when teleop is enabled.

Definition at line 139 of file Robot.java.

                           {
    smartdash.updateControllerExponents();
  }

References frc.robot.subsystems.BetterShuffleboard.updateControllerExponents().

teleopPeriodic()

void frc.robot.Robot.teleopPeriodic

(

)

This function is called periodically during operator control.

Definition at line 145 of file Robot.java.

                               {
 
    // switch between driving modes
    checkForModeSwitches();
 
    // check for button/bumper presses
    checkForButtonPresses();
 
    // powers motors based on the analog inputs
    drive();
  }

References frc.robot.Robot.checkForButtonPresses(), frc.robot.Robot.checkForModeSwitches(), and frc.robot.Robot.drive().

testInit()

void frc.robot.Robot.testInit

(

)

This function is called once when test mode is enabled.

Definition at line 167 of file Robot.java.

{}

testPeriodic()

void frc.robot.Robot.testPeriodic

(

)

This function is called periodically during test mode.

Definition at line 171 of file Robot.java.

{}

Member Data Documentation

driveBase

MecaDrive frc.robot.Robot.driveBase = new MecaDrive(Constants.FL_TALON_ID, Constants.FR_TALON_ID, Constants.RL_TALON_ID, Constants.RR_TALON_ID, imu)

private

Definition at line 39 of file Robot.java.

Referenced by frc.robot.Robot.autonomousCheckForButtonPresses(), frc.robot.Robot.autonomousInit(), frc.robot.Robot.autonomousPeriodic(), frc.robot.Robot.checkForButtonPresses(), frc.robot.Robot.checkForModeSwitches(), frc.robot.Robot.drive(), and frc.robot.Robot.robotPeriodic().

kCustomAuto

final String frc.robot.Robot.kCustomAuto = "My Auto"

staticprivate

Definition at line 29 of file Robot.java.

Referenced by frc.robot.Robot.robotInit().

kDefaultAuto

final String frc.robot.Robot.kDefaultAuto = "Default"

staticprivate

Definition at line 28 of file Robot.java.

Referenced by frc.robot.Robot.robotInit().

m_autoSelected

String frc.robot.Robot.m_autoSelected

private

Definition at line 30 of file Robot.java.

Referenced by frc.robot.Robot.autonomousInit().

m_chooser

final SendableChooser<String> frc.robot.Robot.m_chooser = new SendableChooser<>()

private

Definition at line 31 of file Robot.java.

Referenced by frc.robot.Robot.autonomousInit(), and frc.robot.Robot.robotInit().

xboxController

Controller frc.robot.Robot.xboxController = new Controller()

private

Definition at line 38 of file Robot.java.

Referenced by frc.robot.Robot.autonomousCheckForButtonPresses(), frc.robot.Robot.checkForButtonPresses(), frc.robot.Robot.checkForModeSwitches(), and frc.robot.Robot.drive().

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The documentation for this class was generated from the following file:

• Robot.java