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Merge everything#66
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Includes motor inversions, joystick input inversions, etc.
of AutoMove and AutoTurn
fixed motor ports and joystick inversion commented out all VPID stuff for now --> next to test changed encoder ports a bit but might need revision
mostly! not quite sure if limiting target or changing kf based on current DT gear (high/low)
…ons. Not implemented yet
yes it works now w/ shifting btwn high and low gears (i.e. max target and kf changes correctly) VPID targets are a little funky though (i.e. +- when they should be the opposite) due to DifferentialDrive auto inversion, joystick inversion, etc. Wheels still moving in intended joystick direction though. Will just have to see if this becomes problematic
https://github.com/DriverStationComputer/RobotCode2018 Conflicts: Robot2018/src/org/usfirst/frc/team199/Robot2018/Robot.java Robot2018/src/org/usfirst/frc/team199/Robot2018/RobotMap.java
commented out VPID stuff in robotDrive constructor (and passed in SpdCtrGrps instead) and any enabling (TeleopDrive init and Robot testPeriodic)
…rt dashboard. * Refactored AutoMoveTo to be able to unit test. The test fails and the AutoMoveTo logic needs to be fixed. * Refactored PIDMove to use the SD interface and use PIDSource instead. requires() is called only if the dt exists. * Refactored PIDTurn to use the SD interface and use the gyro PIDSource interface instead. requires() is called only if the dt exists. * RunScript was refactored to pass the necessary parameters to PIDMove, PIDTurn, and AutoMoveTo. * Drivetrain (and interface) return the gyro’s PIDSource. * Wrote the AutoMoveToTest unit test.
…he bug needs fixing.
…r-AutoMoveTo-unit-tests JUnit Test for AutoMoveTo - * Defined SmartDashboardInterface to be able to mock calls to the sma…
After much arduous troubleshooting and a bad CIM, it works! Proper inversions for joysticks and motors, shifting gears works as expected (changed buttons a bit though), shifting drive type works as expected
… half of the drivetrain. Changed SmartDashboard to lbs, and converts to kg inside the code
pass Corvin's tests, etc.
Conflicts: Robot2018/src/org/usfirst/frc/team199/Robot2018/Robot.java Robot2018/src/org/usfirst/frc/team199/Robot2018/RobotMap.java merging, most of this stuff not working super well rn
includes shuffleboard json file intake srx commented out so doesn't look for motor that's not there some changes to calcDefkD method
VPID is tuned and working in both high and low gears
…ibility to intakeEject solenoids
getting to the point where the robot moves using PIDMove still needs way more testing and tuning
…ng on the pid commands
all vpid commentewd out move pid mostly tuned turn very unreliable still having initialize issues
Conflicts: Robot2018/src/org/usfirst/frc/team199/Robot2018/OI.java Robot2018/src/org/usfirst/frc/team199/Robot2018/Robot.java Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/PIDMove.java Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/PIDTurn.java Robot2018/src/org/usfirst/frc/team199/Robot2018/subsystems/Drivetrain.java
Conflicts: Robot2018/src/org/usfirst/frc/team199/Robot2018/OI.java Robot2018/src/org/usfirst/frc/team199/Robot2018/RobotMap.java Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/PIDTurn.java Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/RunScript.java Robot2018/src/org/usfirst/frc/team199/Robot2018/subsystems/IntakeEject.java
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