Preseason Lesson2 - Revision history

Heydowns at 21:09, 30 December 2021

2021-12-30T21:09:49Z

← Older revision		Revision as of 14:09, 30 December 2021
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	# '''If the motor was not spinning the right way, look carefully at why and correct your program!'''		# '''If the motor was not spinning the right way, look carefully at why and correct your program!'''
	# While the motor is moving in the above tests, release the button or the stick and verify the motor stops		# While the motor is moving in the above tests, release the button or the stick and verify the motor stops

			= Solution =

			'''This is one possible solution!''' There are many ways to accomplish the goal(s) - this is just one way!

			''robot.h''
			<pre class="mw-collapsible mw-collapsed">
			// Copyright (c) FIRST and other WPILib contributors.
			// Open Source Software; you can modify and/or share it under the terms of
			// the WPILib BSD license file in the root directory of this project.

			#pragma once

			#include <frc/TimedRobot.h>
			#include <ctre/Phoenix.h>
			#include <frc/Joystick.h>

			using namespace ctre::phoenix::motorcontrol::can;
			using namespace frc;

			class Robot : public frc::TimedRobot {
			TalonSRX motor{5};
			Joystick controller{0};

			public:
			void RobotInit() override;
			void RobotPeriodic() override;

			void AutonomousInit() override;
			void AutonomousPeriodic() override;

			void TeleopInit() override;
			void TeleopPeriodic() override;

			void DisabledInit() override;
			void DisabledPeriodic() override;

			void TestInit() override;
			void TestPeriodic() override;
			};
			</pre>


			''robot.cpp''
			<pre class="mw-collapsible mw-collapsed">
			// Copyright (c) FIRST and other WPILib contributors.
			// Open Source Software; you can modify and/or share it under the terms of
			// the WPILib BSD license file in the root directory of this project.

			#include "Robot.h"

			void Robot::RobotInit() {}
			void Robot::RobotPeriodic() {}

			void Robot::AutonomousInit() {}
			void Robot::AutonomousPeriodic() {}

			void Robot::TeleopInit() {}
			void Robot::TeleopPeriodic() {
			bool buttonOnePressed = false;
			buttonOnePressed = controller.GetRawButton(1);
			double leftYAxis = 0;
			// controller y-axis is inverted! multiply by -1 to correct direction
			leftYAxis = -1 * controller.GetRawAxis(1);

			if (buttonOnePressed) {
			if (leftYAxis > 0.33) {
			motor.Set(ControlMode::PercentOutput, 0.25);
			} else if (leftYAxis < -0.33) {
			motor.Set(ControlMode::PercentOutput, -0.25);
			} else {
			motor.Set(ControlMode::PercentOutput, 0);
			}
			} else {
			motor.Set(ControlMode::PercentOutput, 0);
			}
			}

			void Robot::DisabledInit() {}
			void Robot::DisabledPeriodic() {}

			void Robot::TestInit() {}
			void Robot::TestPeriodic() {}

			#ifndef RUNNING_FRC_TESTS
			int main() {
			return frc::StartRobot<Robot>();
			}
			#endif
			</pre>

Heydowns at 19:12, 6 December 2021

2021-12-06T19:12:58Z

← Older revision		Revision as of 12:12, 6 December 2021
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	#*::}</pre>		#*::}</pre>
	#* This says "if the left Y axis is more than 1/3 pressed, turn the motor on at 1/4 speed forward"		#* This says "if the left Y axis is more than 1/3 pressed, turn the motor on at 1/4 speed forward"
	#* This lacks code to handle other possible values of leftYAxis!		#* '''Take note! This lacks code to handle other possible values of leftYAxis!'''
	# Now, using the above information as a guide, add additional code to handle the other possible values of leftYAxis:		# Now, using the above information as a guide, '''add additional code to handle the other possible values of leftYAxis''':
	#* You need to handle running the motor in reverse at 1/4 speed if the stick is moved more than 1/3 of the way down. Use a negative value for the speed when calling Set() to run the motor in reverse.		#* You need to handle running the motor in reverse at 1/4 speed if the stick is moved more than 1/3 of the way down. Use a negative value for the speed when calling Set() to run the motor in reverse.
	#* You need to handle stopping the motor if the stick is "close to" the center		#* You need to handle stopping the motor if the stick is "close to" the center
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	# Pressing just button 1 on the controller should not cause the motor to move		# Pressing just button 1 on the controller should not cause the motor to move
	# Just moving the left stick up or down on the controller should not cause the motor to move		# Just moving the left stick up or down on the controller should not cause the motor to move
	# The motor should go forward when holding down button 1 and moving the stick up. Verify the right direction on the motor by looking at the lights on the motor controller - they should be green for forward and red for backwards.		# The motor should go forward when holding down button 1 and moving the stick up. Verify the right direction on the motor by looking at the lights on the motor controller - they should be green for forward and red for backwards. Similarly the motor should go backward when holding button 1 and moving the stick down.
	# Similarly the motor should go backward when holding button 1 and moving the stick down.		# '''If the motor was not spinning the right way, look carefully at why and correct your program!'''
	# While the motor is moving in the above tests, release the button or the stick and verify the motor stops		# While the motor is moving in the above tests, release the button or the stick and verify the motor stops

Heydowns at 19:10, 29 November 2021

2021-11-29T19:10:19Z

← Older revision		Revision as of 12:10, 29 November 2021
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	* Add the following below where we called GetRawButton() in the previous steps:		* Add the following below where we called GetRawButton() in the previous steps:
	*:<pre>if (buttonOnePressed) {		*:<pre>
	*: motor.Set(ControlMode::PercentOutput, 0.25);		*::if (buttonOnePressed) {
	*: } else {		*::: motor.Set(ControlMode::PercentOutput, 0.25);
	*: motor.Set(ControlMode::PercentOutput, 0);		*:: } else {
	*: }</pre>		*::: motor.Set(ControlMode::PercentOutput, 0);
			*:: }</pre>
	** Here, the part in parenthesis after ''if'' is our condition, or decision to make. If the condition is true, any code we put between the braces {} will be run. If it is not true, then the code in the braces after the '''else''' statement is run instead.		** Here, the part in parenthesis after ''if'' is our condition, or decision to make. If the condition is true, any code we put between the braces {} will be run. If it is not true, then the code in the braces after the '''else''' statement is run instead.
	** You can also have an if () with only a block of statements to run when true and leave off the else part if you do not need it.		** You can also have an if () with only a block of statements to run when true and leave off the else part if you do not need it.
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	#* Recall also that we want to treat the first 1/3rd of the stick movement as a deadzone!		#* Recall also that we want to treat the first 1/3rd of the stick movement as a deadzone!
	#* To do this, we will add a second 'if' statement to see if the controller left stick has a value above our deadzone. This will replace your existing line that runs the motor:		#* To do this, we will add a second 'if' statement to see if the controller left stick has a value above our deadzone. This will replace your existing line that runs the motor:
	#*:<pre>if (leftYAxis > 0.33) {		#*:<pre>
	#*: motor.Set(ControlMode::PercentOutput, 0.25);		#*::if (leftYAxis > 0.33) {
	#*:}</pre>		#*::: motor.Set(ControlMode::PercentOutput, 0.25);
			#*::}</pre>
	#* This says "if the left Y axis is more than 1/3 pressed, turn the motor on at 1/4 speed forward"		#* This says "if the left Y axis is more than 1/3 pressed, turn the motor on at 1/4 speed forward"
	#* This lacks code to handle other possible values of leftYAxis!		#* This lacks code to handle other possible values of leftYAxis!

Heydowns at 18:55, 29 November 2021

2021-11-29T18:55:52Z

Show changes

Heydowns at 15:44, 29 November 2021

2021-11-29T15:44:15Z

← Older revision		Revision as of 08:44, 29 November 2021
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			= Goal =
			In this lesson we read inputs from a joystick/gamepad/controller on the Driver Station and that input to make decisions in our program to control the same motor from lesson 1 in a more sophisticated manner.

			== Detailed Introduction ==
			* Before doing this lesson you should have completed [[Preseason_Lesson1\|Lesson 1]] and have the code for that as a starting point.
			* In this lesson we will use more of the base WPILib library than we did in the past. Remember that the documentation for WPILib is linked on the main programming page in our wiki!
			* This lesson will begin to use ''control statements'' in our code - we will make use of C++ if/else statements

			== Detailed Goals ==
			* You will again be controlling '''Motor 5'''
			* We will be reading from a gamepad connected to the driver station. The gamepad will be assigned '''an address identifier of 0'''
			* The motor should turn at 1/4 speed '''only when the button labelled 1 is pressed''' and when the left stick is moved forward or backward
			* The direction the control stick is pressed should control the motor direction (forward or backward)!

			= Guided Help =
			== Create a Joystick Object ==
			To read the input from the controller, we will need to create a '''Joystick''' object in our main robot class. Here is a direct link to the [https://first.wpi.edu/wpilib/allwpilib/docs/release/cpp/classfrc_1_1Joystick.html documentation for the Joystick class]. While the class is called 'Joystick', it can also be used to read from controllers/game pads connected to the Driver Station.
			* The process for creating our Joystick object '''is exactly the same''' as the process used to make our motor controller object in Lesson 1, so less instructions will be given here! You can always go back to lesson 1 instructions to refresh your memory if needed!
			* The Joystick class is declared in a header file named Joystick.h - the full path you need to use it is '''frc/Joystick.h'''
			* The Joystick class is in the '''frc''' namespace. You can refer to it by its full name 'frc::Joystick' or you can use simply 'Joystick' if you tell your program to use the entire 'frc' namespace.
			* Using the above information, create a Joystick object in your main robot class. You can choose any name you like for the object but the rest of the guided help below will use the name '''controller'''





	<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><span style="font-size: large;">'''Control motor direction using the joystick'''</span>		<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><span style="font-size: large;">'''Control motor direction using the joystick'''</span>
	The goal is to turn the motor at 1/4 speed forward or backward, using the joystick, but only if the joystick trigger is being pressed.		The goal is to turn the motor at 1/4 speed forward or backward, using the joystick, but only if the joystick trigger is being pressed.

Programming at 18:03, 15 December 2019

2019-12-15T18:03:15Z

← Older revision		Revision as of 11:03, 15 December 2019
Line 1:		Line 1:
	<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><span style="font-size: large;">'''Control motor direction using the joystick'''</span>		<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><span style="font-size: large;">'''Control motor direction using the joystick'''</span>
	The goal is to turn the motor at 1/4 speed forward or backward, using the joystick, but only if the joystick trigger is being pressed.		The goal is to turn the motor at 1/4 speed forward or backward, using the joystick, but only if the joystick trigger is being pressed.

Line 32:		Line 32:
	You will want to first test if the trigger is pressed. If it is pressed, then you will look at the position to see if the position to determine how to turn the motor. Here is the pseudo code (i.e. not actual code, replace the English words with actual code):		You will want to first test if the trigger is pressed. If it is pressed, then you will look at the position to see if the position to determine how to turn the motor. Here is the pseudo code (i.e. not actual code, replace the English words with actual code):

	if (joystick trigger is pressed) {		while (IsOperatorControl() && IsEnabled()) {
			<span style="color: rgb(231, 76, 60);"> if (joystick trigger is pressed) {
	if (joystick position is greater than 0.33) {		if (joystick position is greater than 0.33) {
	spin motor forward 1/4 speed		spin motor forward 1/4 speed
Line 42:		Line 43:
	stop motor		stop motor
	}		}
	}		}</span>
			frc::Wait(0.005);
			}

	The 0.33 and -0.33 is make sure the joystick has moved away from the center. Ideally, you would get 0 when the joystick is at the center. However, joysticks do not always go back to true 0.		The 0.33 and -0.33 is make sure the joystick has moved away from the center. Ideally, you would get 0 when the joystick is at the center. However, joysticks do not always go back to true 0.
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	#modifiy code so motor does not turn		#modifiy code so motor does not turn
	#build the project. when there are no error ask instructor to review your code and then ask to test the code		#build the project. when there are no error ask instructor to review your code and then ask to test the code
	</div> </div> </div> </div> </div> </div> </div> </div> </div>		</div> </div> </div> </div> </div> </div> </div> </div> </div> </div>

Programming at 19:14, 25 November 2019

2019-11-25T19:14:21Z

← Older revision		Revision as of 12:14, 25 November 2019
Line 1:		Line 1:
	<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><span style="font-size: large;">'''~~Turn~~ motor ~~when robot is enabled, control~~ direction using joystick'''</span>		<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><span style="font-size: large;">'''Control motor direction using the joystick'''</span>
	The goal is to turn the motor at 1/4 speed forward or backward, using the joystick, but only if the joystick trigger is being pressed.		The goal is to turn the motor at 1/4 speed forward or backward, using the joystick, but only if the joystick trigger is being pressed.

Line 64:		Line 64:
	#modifiy code so motor does not turn		#modifiy code so motor does not turn
	#build the project. when there are no error ask instructor to review your code and then ask to test the code		#build the project. when there are no error ask instructor to review your code and then ask to test the code
	</div> </div> </div> </div> </div> </div> </div> </div>		</div> </div> </div> </div> </div> </div> </div> </div> </div>

Programming at 19:13, 25 November 2019

2019-11-25T19:13:24Z

← Older revision		Revision as of 12:13, 25 November 2019
Line 1:		Line 1:
	<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><span style="font-size: large;">'''Turn motor when robot is enabled, control ~~speed~~ using joystick'''</span>		<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><span style="font-size: large;">'''Turn motor when robot is enabled, control direction using joystick'''</span>
	The goal is to turn the motor at 1/4 speed forward or backward, using the joystick, but only if the joystick trigger is being pressed.		The goal is to turn the motor at 1/4 speed forward or backward, using the joystick, but only if the joystick trigger is being pressed.

Line 64:		Line 64:
	#modifiy code so motor does not turn		#modifiy code so motor does not turn
	#build the project. when there are no error ask instructor to review your code and then ask to test the code		#build the project. when there are no error ask instructor to review your code and then ask to test the code
	</div> </div> </div> </div> </div> </div> </div>		</div> </div> </div> </div> </div> </div> </div> </div>

Programming at 18:59, 25 November 2019

2019-11-25T18:59:19Z

← Older revision		Revision as of 11:59, 25 November 2019
Line 1:		Line 1:
	<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><span style="font-size: large;">'''Turn motor when robot is enabled, control speed using joystick'''</span>		<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><span style="font-size: large;">'''Turn motor when robot is enabled, control speed using joystick'''</span>
	The goal is to turn the motor at 1/4 speed forward or backward, using the joystick, but only if the joystick trigger is being pressed.		The goal is to turn the motor at 1/4 speed forward or backward, using the joystick, but only if the joystick trigger is being pressed.



	It is expected that you completed Lesson 1 and have the code available.		It is expected that you completed Lesson 1 and have the code available.



	Link to the Joystick documentation: [https://first.wpi.edu/FRC/roborio/release/docs/cpp/classfrc_1_1Joystick.html Joystick]		Link to the Joystick documentation: [https://first.wpi.edu/FRC/roborio/release/docs/cpp/classfrc_1_1Joystick.html Joystick]
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	#modifiy code so motor does not turn		#modifiy code so motor does not turn
	#build the project. when there are no error ask instructor to review your code and then ask to test the code		#build the project. when there are no error ask instructor to review your code and then ask to test the code
	</div> </div> </div> </div> </div> </div>		</div> </div> </div> </div> </div> </div> </div>

Programming at 18:58, 25 November 2019

2019-11-25T18:58:31Z

← Older revision		Revision as of 11:58, 25 November 2019
Line 1:		Line 1:
	<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><span style="font-size: large;">'''Turn motor when robot is enabled, control speed using joystick'''</span>		<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><span style="font-size: large;">'''Turn motor when robot is enabled, control speed using joystick'''</span>
	The goal is to turn the motor at 1/4 speed forward or backward, using the joystick, but only if the joystick trigger is being pressed.		The goal is to turn the motor at 1/4 speed forward or backward, using the joystick, but only if the joystick trigger is being pressed.

	It is expected that you completed Lesson 1 and have the code available.		It is expected that you completed Lesson 1 and have the code available.

	Link to the Joystick documentation: [https://first.wpi.edu/FRC/roborio/release/docs/cpp/classfrc_1_1Joystick.html ~~https://first.wpi.edu/FRC/roborio/release/docs/cpp/classfrc_1_1Joystick.html~~]		Link to the Joystick documentation: [https://first.wpi.edu/FRC/roborio/release/docs/cpp/classfrc_1_1Joystick.html Joystick]


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	#modifiy code so motor does not turn		#modifiy code so motor does not turn
	#build the project. when there are no error ask instructor to review your code and then ask to test the code		#build the project. when there are no error ask instructor to review your code and then ask to test the code
	</div> </div> </div> </div> </div>		</div> </div> </div> </div> </div> </div>