Infinite Recharge

Robot for 2020 season

This is the repository for all official, working, and completed builds for the Team 3467 2020 robot.

Subsystem	PDP Slots	Controllers	CAN IDs	Motor	Sensors
DriveSubsystem	4	4 Falcon FX (2 control, 2 slaves)	1->4	Falcon 500	Integrated Encoder inside each of the controlling Falcon 500s
IntakeSubsystem	1
PCPathSubsystem	3
ShooterSubsystem	4	2 SparkMax, 1 Victor SPX	5->7	2 Neo (shooter), 1 BAG (hood control)	Integrated NEO Encoders on Shooter motors, 1 VP EncoderSlice on hood control
ClimberSubsystem	1
Shuffleboard3467	0
DiscJockeySubsystem	1
Limelight	1
LEDs	0
Lidar	0
Gyro	0		1		Pigeon IMU on CAN - attached to Talon or direct to CANbus
Totals:	15

Subsystem: DriveSubsystem

Shuffleboard:

• Shuffleboard Tab: Control Variables
• Shuffleboard Column: DriveSubsystem
• Drive Mode Selection (SplitArcade / Tank / Rocket) kComboBoxChooser
• Current Drive Control (Manual / Auto / PathFollow) kTextView
• Left Encoder Value
• Right Encoder Value
• PIDF Driving constants
• Cmd: Autonomous Command butttons

Methods:

Constructor: public DriveSubsystem() - read mode selection setting from Shuffleboard

void drive(Double speed, Double rotation)

void updateNTEs() - update this subsystem's member variables that are linked to the Network Tables

Commands:

DriveDefault()
* Run drivebase in specified Drive Mode using controller sticks, triggers, and buttons
* Check for Shuffleboard value changes in loop, and change member variables if necessary

DriveByTime(Double time, Double speed, Double rotation)
* Drive at speed and rotation for specified time
* If rotation = 0, drive straight using Gyro PID
* Stop driving on exit

DriveByDistance(Double distance, Double speed, Double rotation)
* Drive at speed and rotation for specified distance (encoder clicks?)
* Use MotionMagic to control drive speed
* If rotation = 0, drive straight using Gyro PID
* Stop driving on exit

DriveTurn(Double angle, Double maxSpeed)
* Turn in-place to desired angle
* Use MotionMagic and Gyro to turn to desired angle, never exceeding maxSpeed
* Stop driving on exit

Stop():
* Stop driving (override current command)

ResetDriveEncoders():
* Reset encoder values to zero

SetBrakeMode(boolean On):
* Turn on/off brake mode on drive controllers

Subsystem: IntakeSubsystem

Shuffleboard:

• Shuffleboard Tab: Control Variables
• Shuffleboard Column: IntakeSubsystem
• Intake Position (retracted/deployed) kToggleSwitch
• Intake Speed (0.0 .. 1.0) kNumberSlider
• Intake Direction (in/out) kToggleSwitch
• Cmd: RunIntake
• Cmd: DeployIntake
• Cmd: RetractIntake

Methods:

Constructor: public IntakeSubsystem() - read speed, direction, and deploy settings from Shuffleboard

void retractIntake()

void deployIntake()

void runIntake()

void stopIntake()

void setIntakeSpeed(double)

void setIntakeDirection(boolean)

void updateNTEs() - update this subsystem's member variables that are linked to the Network Tables

Commands:

IntakeDefault():
* Check "Run Intake" controller toggle button
* If "Run", use m_speed and m_direction values
* Check "Deploy Intake" controller toggle button
* Activate solenoid for desired position
* Check for Shuffleboard value changes in loop, and change member variables if necessary

RunIntake():
* Start Intake using m_speed and m_direction values
* Check for Shuffleboard value changes in loop, and change member variables if necessary
* Stop Intake on exit

StopIntake():
* Stop Intake

ReverseIntake():
* Run Intake in reverse
* Stop Intake on exit

RetractIntake():
* Bring Intake in

DeployIntake():
* Push Intake out

Subsystem: PCPathSubsystem

Shuffleboard:

• Shuffleboard Tab: Control Variables
• Shuffleboard Column: PCPathSubsystem
• Path Speed (0.0 .. 1.0) kNumberSlider
• Path Direction (in/out) kToggleSwitch
• CD7 Center Speed (0.0 .. 1.0) kNumberSlider
• CD7 Side Speed (0.0 .. 1.0) kNumberSlider
• Cmd: RunPath

Methods:

Constructor: public PCPathSubsystem() - read speeds and direction from Shuffleboard

void runPath() - run Path & CD7 belts

void stopPath()

void setPathSpeed(double)

void setPathDirection(boolean)

void setCD7Speeds(double, double)

void updateNTEs() - update this subsystem's member variables that are linked to the Network Tables

Commands:

PCPathDefault():
* Check "Run Path" controller toggle button
* If "Run", use m_speed, m_direction, m_cd7side & m_cd7center values
* If "Stop", stop all belts
* Check for Shuffleboard value changes in loop, and change member variables if necessary

RunPath():
* Start Path using m_speed and m_direction values
* Start CD7 using m_cd7side & m_cd7center values
* Check for Shuffleboard value changes in loop
* Stop everything on exit

StopPath():
* Stop everything

EjectPath():
* Run Path in the reverse direction
* DO NOT run CD7
* Stop Path on exit

Subsystem: ShooterSubsystem

Shuffleboard:

• Shuffleboard Tab: Control Variables
• ShuffleboardColumn: ShooterSubsystem
• Wheel Mode: (Manual / Tracking) kToggleSwitch
• Target Wheel Speed
• Actual Wheel Speed
• Cmd: WheelStart
• Cmd: Shoot
• Wheel PIDF Constants

Methods:

Constructor: public ShooterSubsystem() - read mode and target speed from Shuffleboard

void runManual() - run Shooter Wheel at speed commanded by Shuffleboard

void runTracking() - run Shooter Wheel at speed commanded by Limelight tracking

boolean isWheelAtSpeed() - return TRUE when wheel is equal to target, or within tolerance

updateNTEs() - update this subsystem's member variables that are linked to the Network Tables

Commands:

ShooterDefault():
* Check "Run Wheel" controller toggle button
* If "Run", use m_speed value
* If "Stop", stop Wheel
* Check for Shuffleboard value changes in loop, and change member variables if necessary

RunManual():
* Start Wheel using m_speed value
* Check for Shuffleboard value changes in loop
* Stop everything on exit

RunTracking():
* If Limelight sees target, start Wheel using velocity value calculated from Distance
* Check for Shuffleboard value changes in loop
* Stop everything on exit

StopWheel():
* Stop running wheel.

ShootPCatSpeed():
* If Wheel is at target speed, run the Shooter Gate long enough to release one ball to Shooter
* Wait up to X seconds for Wheel to come up to speed

ShootPC():
* Regardless of Wheel speed, run the Shooter Gate long enough to release one ball to Shooter

Subsystem: ClimberSubsystem

Shuffleboard:

Methods:

Commands:

Subsystem: Shuffleboard3467

Methods:

Constructor:
public Shuffleboard3467()
* Sets up the Shuffleboard page(s), columns, and widgets, and populates them using values from the Constants.java file
* Builds NetworkTableEntries and puts them in a lookup table indexed by the String representation of the Constants variable name.

NetworkTableEntry GetNTE(String name) - return NTE associated with name

Subsystem: DiscJockeySubsystem

Shuffleboard:

Methods:

Commands:

Sensors: Limelight

Shuffleboard:

Methods:

getTx()
getTy()
getTa()
hasTarget()
getLED()

Commands:

enableLED()
disableLED()

Sensors: LEDs

Shuffleboard:

Methods:

isEnabled()

Commands:

enable()
disable()
setEffect()

Sensors: Lidar

Shuffleboard:

Methods:

getDistance(int side)

Commands:

zeroDistance(int side)

Sensors: Gyro

Shuffleboard:

Methods:

Commands:

getCurrentAngle()
zeroAngle()