elevator

.pathplanner/settings.json

@@ -1,8 +1,10 @@
 {
   "robotWidth": 0.97,
   "robotLength": 0.97,
-  "holonomicMode": true,
-  "pathFolders": [],
+  "holonomicMode": false,
+  "pathFolders": [
+    "Main Season Paths"
+  ],
   "autoFolders": [],
   "defaultMaxVel": 3.0,
   "defaultMaxAccel": 3.0,

src/main/deploy/pathplanner/paths/Amp Side Start to Top Piece.path

@@ -49,7 +49,7 @@
     "rotateFast": true
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Main Season Paths",
   "previewStartingState": {
     "rotation": 60.0,
     "velocity": 0

src/main/deploy/pathplanner/paths/Bottom Midfield to Bottom Start.path

@@ -65,7 +65,7 @@
     "rotateFast": true
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Main Season Paths",
   "previewStartingState": null,
   "useDefaultConstraints": true
 }

src/main/deploy/pathplanner/paths/Bottom Piece to Top Piece.path

@@ -54,7 +54,7 @@
     "rotateFast": false
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Main Season Paths",
   "previewStartingState": {
     "rotation": -31.5,
     "velocity": 0

src/main/deploy/pathplanner/paths/Bottom Start to Bottom Midfield.path

@@ -75,7 +75,7 @@
     "rotateFast": true
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Main Season Paths",
   "previewStartingState": {
     "rotation": -60.0,
     "velocity": 0

src/main/deploy/pathplanner/paths/Bottom Start to Bottom Piece.path

@@ -54,7 +54,7 @@
     "rotateFast": false
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Main Season Paths",
   "previewStartingState": {
     "rotation": -60.0,
     "velocity": 0

src/main/deploy/pathplanner/paths/Fast Middle Piece to Top Piece.path

@@ -49,7 +49,7 @@
     "rotateFast": false
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Main Season Paths",
   "previewStartingState": null,
   "useDefaultConstraints": false
 }

src/main/deploy/pathplanner/paths/Fast Top Piece to Middle Piece.path

@@ -49,7 +49,7 @@
     "rotateFast": true
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Main Season Paths",
   "previewStartingState": {
     "rotation": 31.5,
     "velocity": 0

src/main/deploy/pathplanner/paths/Middle Piece to Bottom Piece.path

@@ -61,7 +61,7 @@
     "rotateFast": false
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Main Season Paths",
   "previewStartingState": {
     "rotation": 0.0,
     "velocity": 0

src/main/deploy/pathplanner/paths/Middle Piece to Top Piece.path

@@ -49,7 +49,7 @@
     "rotateFast": false
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Main Season Paths",
   "previewStartingState": null,
   "useDefaultConstraints": false
 }

src/main/deploy/pathplanner/paths/Middle Start to Middle Piece.path

@@ -43,7 +43,7 @@
     "rotateFast": false
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Main Season Paths",
   "previewStartingState": {
     "rotation": 0,
     "velocity": 0

src/main/deploy/pathplanner/paths/New Path.path

@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.3005404928188775,
+        "y": 5.578111669043852
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.3005404928188744,
+        "y": 5.578111669043852
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.411185574507901,
+        "y": 6.805997885500045
+      },
+      "prevControl": {
+        "x": 4.49304465560498,
+        "y": 5.81199475789265
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/Playoff Path 1.path

@@ -49,7 +49,7 @@
     "rotateFast": true
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Main Season Paths",
   "previewStartingState": {
     "rotation": 0,
     "velocity": 0

src/main/deploy/pathplanner/paths/Playoff Path 3.path

@@ -43,7 +43,7 @@
     "rotateFast": false
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Main Season Paths",
   "previewStartingState": null,
   "useDefaultConstraints": false
 }

src/main/deploy/pathplanner/paths/Retrieve Top Midfield from Top Piece.path

@@ -81,7 +81,7 @@
     "rotateFast": true
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Main Season Paths",
   "previewStartingState": {
     "rotation": 31.5,
     "velocity": 0

src/main/deploy/pathplanner/paths/Top Piece to Bottom Piece.path

@@ -49,7 +49,7 @@
     "rotateFast": false
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Main Season Paths",
   "previewStartingState": {
     "rotation": 31.5,
     "velocity": 0

src/main/deploy/pathplanner/paths/Top Piece to Middle Piece.path

@@ -65,7 +65,7 @@
     "rotateFast": true
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Main Season Paths",
   "previewStartingState": {
     "rotation": 31.5,
     "velocity": 0

src/main/java/com/team766/robot/rookie_bot/OI.java

@@ -6,6 +6,7 @@
 import com.team766.hal.RobotProvider;
 import com.team766.logging.Category;
 import com.team766.robot.example.procedures.*;
+import com.team766.robot.rookie_bot.mechanisms.Intake;
 import com.team766.robot.rookie_bot.procedures.PIDElevator;
 
 /**
@@ -42,13 +43,13 @@ public void run(final Context context) {
                 context.startAsync(new PIDElevator(true));
             }
             if(joystick0.getAxis(2)>=0.5 && joystick0.getAxis(3)<0.1){
-                Robot.Intake.inout(true);
+                Robot.Intake.inout(Intake.State.IN);
             }
             else if(joystick0.getAxis(3)>=0.5 && joystick0.getAxis(2)<0.1){
-                Robot.Intake.inout(false);
+                Robot.Intake.inout(Intake.State.OUT);
             }
             else{
-
+                Robot.Intake.inout(Intake.State.STOP);
             }
             // Add driver controls here - make sure to take/release ownership
             // of mechanisms when appropriate.

src/main/java/com/team766/robot/rookie_bot/mechanisms/Intake.java

@@ -6,31 +6,47 @@
 
 
 public class  Intake extends Mechanism  {
+
+    public enum State {
+        IN,
+        OUT,
+        STOP
+    }
+
     public MotorController intakeWheelLeft;
     public MotorController intakeWheelRight;
-    double leftPowerIntake= 0.75;
-    double rightPowerIntake= -0.75;
+    double Power= -0.35;
 public Intake(){
     intakeWheelLeft = RobotProvider.instance.getMotor("intakeWheelLeft");
     intakeWheelRight = RobotProvider.instance.getMotor("intakeWheelRight");
 }
 public void intake() {
 
-        intakeWheelLeft.set(leftPowerIntake);
-        intakeWheelRight.set(rightPowerIntake);
+        intakeWheelLeft.set(Power);
+        intakeWheelRight.set(Power);
     }
-    public void inout(boolean in){
-        if(in==false){
-            intakeWheelLeft.set(leftPowerIntake*-1);
-            intakeWheelRight.set(rightPowerIntake*-1);
-        }
-        else{
-            intakeWheelLeft.set(leftPowerIntake);
-            intakeWheelRight.set(rightPowerIntake);
+    public void inout(State state){
+
+        double normal=0;;
+        switch (state) {
+            case IN:
+
+                normal=Power;
+            break;
+            case OUT:
+                normal=Power*-1;
+            break;
+            case STOP:
+                normal=0;
+            default: // drop down
+            break;
         }
-        SmartDashboard.putBoolean("Way", in);
-        SmartDashboard.putNumber("leftPower", leftPowerIntake);
-        SmartDashboard.putNumber("rightPower", rightPowerIntake);
+       intakeWheelLeft.set(normal);
+       intakeWheelRight.set(normal);
+
+        SmartDashboard.putString("State", state.toString());
+        SmartDashboard.putNumber("leftPower", normal);
+        SmartDashboard.putNumber("rightPower", normal*-1 );// inversion happens in config
 //Make three new methods instead of 1: In, Out and Stop
     }
 }

src/main/java/com/team766/robot/rookie_bot/procedures/PIDElevator.java

@@ -13,7 +13,7 @@ public class PIDElevator extends Procedure {
 
     public PIDElevator(boolean top){
         if (top == true ){
-        this.setpoint = 180;
+        this.setpoint = 170;
         }
         else {
             this.setpoint = 0 ;
@@ -24,7 +24,7 @@ public void run(Context context){
         context.takeOwnership(Robot.elevator);
         Robot.elevator.resetEncoder();
 
-        controller = new PIDController(0.1, 0, 0.0002, -0.5, 0.5, 0.01);
+        controller = new PIDController(0.1, 0, 0.0002, -0.1, 0.1, 0.01);
         controller.setSetpoint(setpoint);
         SmartDashboard.putNumber("Setpoint", setpoint);