Auto side

.classpath

@@ -8,5 +8,6 @@
 	<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-1.8"/>
 	<classpathentry kind="var" path="USERLIBS_DIR/CTRE_Phoenix-sources.jar"/>
 	<classpathentry kind="var" path="USERLIBS_DIR/CTRE_Phoenix.jar" sourcepath="/CTRE_Phoenix.sources"/>
+	<classpathentry kind="var" path="wpiutil" sourcepath="wpiutil.sources"/>
 	<classpathentry kind="output" path="bin"/>
 </classpath>

src/org/usfirst/frc/team2264/robot/Robot.java

@@ -1,8 +1,14 @@
 package org.usfirst.frc.team2264.robot;
 
+import javax.swing.JOptionPane;
+
+import com.ctre.phoenix.motorcontrol.ControlMode;
 import com.ctre.phoenix.motorcontrol.can.*;
+
+import edu.wpi.first.wpilibj.ADXRS450_Gyro;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.IterativeRobot;
+import edu.wpi.first.wpilibj.interfaces.Gyro;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
@@ -24,11 +30,13 @@ public class Robot extends IterativeRobot {
 	TalonSRX right;
 	String autoSelected;
 	int side;
-	String gameData= DriverStation.getInstance().getGameMessage();
+	//String gameData= DriverStation.getInstance().getGameMessage();//commented because we do not have access to gameMessage
+	String gameData = "LRR";//just a random configuration for the field state	Purely for testing
 	long autoStartTime;
 	long timeInAuto;
 	SendableChooser<String> chooser = new SendableChooser<>();
 	autonomous auto;
+	ADXRS450_Gyro Gyro;
 
 	/**
 	 * This function is run when the robot is first started up and should be
@@ -43,6 +51,10 @@ public void robotInit() {
 		chooser.addObject("Drive straight", driveAuto);
 		chooser.addDefault("no auto", noAuto);
 		SmartDashboard.putData("Auto choices", chooser);
+		Gyro = new ADXRS450_Gyro();
+		right = new TalonSRX(1);
+		left = new TalonSRX(2);
+		auto = new autonomous();
 	}
 
 	/**
@@ -61,40 +73,43 @@ public void autonomousInit() {
 		this.autoStartTime = System.currentTimeMillis();
 		autoSelected = chooser.getSelected();
 
-		// autoSelected = SmartDashboard.getString("Auto Selector",
-		// defaultAuto);
+		autoSelected = SmartDashboard.getString("Auto Selector", autoSelected);
 		System.out.println("Auto selected: " + autoSelected);
+		SmartDashboard.putString("Automode: ", autoSelected);
+		Gyro.reset();
 	}
 
 	/**
 	 * This function is called periodically during autonomous
 	 */
 	@Override
 	public void autonomousPeriodic() {
+		timeInAuto=System.currentTimeMillis()- autoStartTime;
+		SmartDashboard.putNumber("timeInAuto: ", timeInAuto);
 		switch (autoSelected) {
 		case leftAuto:
 			if(auto.getSwitch(gameData, 0)){
-			auto.leftLeft(left, right);
+				auto.leftLeft(left, right, timeInAuto, Gyro);
 			}
 			else{
-				auto.leftRight(left, right);
+				auto.leftRight(left, right, timeInAuto, Gyro);
 			}
 			break;
 		case rightAuto:
 			if(auto.getSwitch(gameData, 1)){
-			auto.rightRight(left, right);
+			auto.rightRight(left, right, timeInAuto, Gyro);
 			}
 			else{
-				auto.rightLeft(left,right);
+				auto.rightLeft(left,right, timeInAuto, Gyro);
 			}
 		case centerAuto:
 			//auto.center(left, right);
 			break;
 		//case straightSwitch:
-			side=1;
+			//side=1;
 		//	auto.sideChoice(left, right, side);
 		case driveAuto:
-			timeInAuto=System.currentTimeMillis()- autoStartTime;
+
 			auto.crossLineAuto(left, right, timeInAuto);
 		default:
 			auto.noAuto(left, right);
@@ -116,4 +131,3 @@ public void teleopPeriodic() {
 	public void testPeriodic() {
 	}
 }
-

src/org/usfirst/frc/team2264/robot/autonomous.java

@@ -7,73 +7,153 @@
 import com.ctre.phoenix.motorcontrol.ControlMode;
 import com.ctre.phoenix.motorcontrol.can.TalonSRX;
 
+import edu.wpi.first.wpilibj.ADXRS450_Gyro;
 import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.interfaces.Gyro;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 public class autonomous {
 	char switchPlacement;
-	double motorPer=.6;
+	double motorPer=.2;
 	int driveTime=4000;
+	final static long sameSideStop1 = 2000, sameSideStop2 = 6000;//determines for how long the robot will drive forward during the leftLeft and rightRight autos
+	final static long oppSideStop1 = 2000, oppSideStop2 = 6000, oppSideStop3 = 10000;//determines for how long the robot will drive forward during the leftRight and rightLeft autos
 
-	public boolean getSwitch(String data, int side){
-		switchPlacement=data.charAt(0);
-		if ((side==0)&&(switchPlacement=='L')){
+	//returns true if the the robot is on the same side as its switch and false if they are on the opposite side or in the middle
+	public boolean getSwitch(String data, int side) {
+		switchPlacement = data.charAt(0);
+		if ((side==0) && (switchPlacement=='L')) {
 			return true;
 		}
-		else if ((side==1)&&(switchPlacement=='R')){
+		else if ((side==1) && (switchPlacement=='R')) {
 			return true;
 		}
-		else{
+
+		else {
 			return false;
 		}
 	}
-		public void driveForward(TalonSRX left, TalonSRX right){
-
-			left.set(ControlMode.PercentOutput, motorPer);
-			right.set(ControlMode.PercentOutput,motorPer);
-		}
+
+	//causes the robot to move forward in a straight line
+	public void driveForward(TalonSRX left, TalonSRX right) {
+		left.set(ControlMode.PercentOutput, 1 * motorPer);
+		right.set(ControlMode.PercentOutput, -.943 * motorPer);
+	}
 
-		public void turn(TalonSRX left, TalonSRX right,int angle){
-		switch(angle){
+	//Causes the the robot to turn at a fixed rate
+	//if angle = 0, the robot will turn right
+	//if angle = 1, the robot will turn left
+	public void turn(TalonSRX left, TalonSRX right,int angle) {
+		switch(angle) {
+
 		case 0:
-			left.set(ControlMode.PercentOutput, motorPer);
-			right.set(ControlMode.PercentOutput,-1*motorPer);
-
 			//turn right
+			left.set(ControlMode.PercentOutput, 1 * motorPer);
+			right.set(ControlMode.PercentOutput, .943 * motorPer);
 			break;
 		case 1:
+			//turn left
+			left.set(ControlMode.PercentOutput, -motorPer);
+			right.set(ControlMode.PercentOutput, .943 * motorPer);
+			break;
 		}
+	}
+
+	//if driver station is on the left and our switch is on the left
+	public void leftLeft(TalonSRX left, TalonSRX right, long time, ADXRS450_Gyro gyro){
+		if(time < sameSideStop1) {
+			driveForward(left, right);
 		}
-
-		//side = driver station placement, 0=left side, 1=right side
-		public void leftLeft(TalonSRX left, TalonSRX right){
-
-				//if distance travelled<10{
-				driveForward(left,right);
-				//else{
-				turn(left, right, 20);
-
-				//drop cube
-			}
-		public void leftRight(TalonSRX left, TalonSRX right){
-			//if driver station is on the left and our switch is on the right
-		}
-		public void rightRight(TalonSRX left, TalonSRX right){
-			//if driver station is on the right and our switch is on the right
-		}
-		public void rightLeft(TalonSRX left, TalonSRX right){
-			//if driver station is on the right and our switch is on the left
-		}
-
-		public void noAuto(TalonSRX left, TalonSRX right){
-				left.set(ControlMode.PercentOutput,0);
-				right.set(ControlMode.PercentOutput,0);
-			}
-			public void crossLineAuto(TalonSRX left,TalonSRX right, long time){
-				if(time<=driveTime){
-				left.set(ControlMode.PercentOutput,0);
-				right.set(ControlMode.PercentOutput,0);
-			}
-			}
+		else if (time >= sameSideStop1 && gyro.getAngle() < 90) {
+			turn(left, right, 0);
+		}
+		else if (gyro.getAngle() >= 90 && time < sameSideStop2) {
+			driveForward(left, right);
+		}
+		else {
+			left.set(ControlMode.PercentOutput, 0);
+			right.set(ControlMode.PercentOutput, 0);
+			//drop the cube
+		}
+	} 
+
+	//if driver station is on the left and our switch is on the right
+	public void leftRight(TalonSRX left, TalonSRX right, long time, ADXRS450_Gyro gyro){
+		if(time < oppSideStop1) {
+			driveForward(left, right);
+		}
+		else if (time >= oppSideStop1 && gyro.getAngle() < 90) {
+			turn(left, right, 0);
+		}
+		else if (gyro.getAngle() >= 90 && time < oppSideStop2) {
+				driveForward(left, right);
+		}
+		else if (time >= oppSideStop2 && gyro.getAngle() < 180) {
+			turn(left, right, 0);
+		}
+		else if (gyro.getAngle() >= 180 && time < oppSideStop3) {
+			driveForward(left, right);
+		}
+		else {
+			left.set(ControlMode.PercentOutput, 0);
+			right.set(ControlMode.PercentOutput, 0);
+			//drop the cube
+		}
+	}
+
+	//if driver station is on the right and our switch is on the right
+	public void rightRight(TalonSRX left, TalonSRX right, long time, ADXRS450_Gyro gyro){
+		if(time < sameSideStop1) {
+			driveForward(left, right);
+		}
+		else if (time >= sameSideStop1 && gyro.getAngle() > 270) {
+			turn(left, right, 1);
+		}
+		else if (gyro.getAngle() <= 270 && time < sameSideStop2) {
+			driveForward(left, right);
+		}
+		else {
+			left.set(ControlMode.PercentOutput, 0);
+			right.set(ControlMode.PercentOutput, 0);
+			//drop the cube
+		}
+	}
+
+	//if driver station is on the right and our switch is on the left
+	public void rightLeft(TalonSRX left, TalonSRX right, long time, ADXRS450_Gyro gyro){
+		if(time < oppSideStop1) {
+			driveForward(left, right);
+		}
+		else if (time >= oppSideStop1 && gyro.getAngle() > 270) {
+			turn(left, right, 1);
+		}
+		else if (gyro.getAngle() <= 270 && time < oppSideStop2) {
+			driveForward(left, right);
+		}
+		else if (time >= oppSideStop2 && gyro.getAngle() > 180) {
+			turn(left, right, 1);
+		}
+		else if (gyro.getAngle() <= 180 && time < oppSideStop3) {
+			driveForward(left, right);
+		}
+		else {
+			left.set(ControlMode.PercentOutput, 0);
+			right.set(ControlMode.PercentOutput, 0);
+			//drop the cube			
+		}
+	}			
+
+	public void noAuto(TalonSRX left, TalonSRX right){
+		left.set(ControlMode.PercentOutput,0);
+		right.set(ControlMode.PercentOutput,0);
+	}
+
+	public void crossLineAuto(TalonSRX left,TalonSRX right, long time){
+		if(time<=driveTime){
+			left.set(ControlMode.PercentOutput,0);
+			right.set(ControlMode.PercentOutput,0);
+		}
+	}
 
 }
-
+