Reorganize, Refactor, Document

src/main/cpp/Robot.cpp

@@ -1,35 +1,46 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
 #include "Robot.h"
 
 #include <iostream>
 
-void Robot::AutonomousPeriodic() {
+void Robot::AutonomousPeriodic()
+{
     PlayerControl();
 }
 
-void Robot::TeleopPeriodic() {
+void Robot::TeleopPeriodic()
+{
     PlayerControl();
 }
 
-void Robot::PlayerControl() {
-
-    hatch.Set(Controller.GetRawButton(4));
-    bucket.Set(Controller.GetRawButton(1));
+void Robot::PlayerControl()
+{
+
+    //Pneumatic control
+    hatch.Set(controller.GetRawButton(4));
+    bucket.Set(controller.GetRawButton(1));
+
+    //Toggles the lift
+    if (controller.GetRawButtonPressed(2))
+    {
+        L2Lift.Set(!L2Lift.Get());
+    }
+
+    //Tank Drive
+    speedLeft += (controller.GetRawAxis(LeftJoystickY) - previousLeftSpeed) / speedScalingFactor;
+    speedRight += (controller.GetRawAxis(RightJoystickY) - previousRightSpeed) / speedScalingFactor;
+
+    DiffDrive.TankDrive(speedLeft * speedScale, speedRight * speedScale);
 
-    DiffDrive.TankDrive(Controller.GetRawAxis(1), Controller.GetRawAxis(4));
-
-    if(Controller.GetRawButtonPressed(3)) {
+    previousLeftSpeed = speedLeft;
+    previousRightSpeed = speedRight;
+
+    //Invert the controls when using the second camera
+    if (controller.GetRawButtonPressed(3))
+    {
         cameraView = !cameraView;
         speedScale = speedScale * -1;
         sinkCam.SetSource(cameraView ? frontCam : backCam);
     }
-
 }
 
 int main() { return frc::StartRobot<Robot>(); }

src/main/include/Robot.h

@@ -8,27 +8,38 @@
 #include <frc/drive/DifferentialDrive.h>
 #include <cameraserver/CameraServer.h>
 
-class Robot : public frc::TimedRobot {
- public:
+class Robot : public frc::TimedRobot
+{
+public:
   void PlayerControl();
   void TeleopPeriodic() override;
   void AutonomousPeriodic() override;
 
- private:
-  frc::Joystick Controller{0};
+private:                         //Modify Me!
+  double speedScale = 1.0;       //Robot Speed Multiplier
+  bool cameraView = false;       //Either front or back Camera view; change this to change default camera view
+  double speedScalingFactor = 6; //Higher = Slower acceleration; Lower = faster; 1 = fastest. Multiples of 2 Ideally
+
+  frc::Solenoid L2Lift{2}; //Second Level Climb. Barely works
+  frc::Solenoid hatch{3};  //Push off hatches from velcro
+  frc::Solenoid bucket{0}; //Launch Balls up and into goals
+
+  //Left and Right GetRawAxies values
+  const int LeftJoystickY = 1;
+  const int RightJoystickY = 4;
+
+  frc::Joystick controller{0};
   frc::PWMVictorSPX leftDT{0};
   frc::PWMVictorSPX rightDT{1};
 
   frc::DifferentialDrive DiffDrive{leftDT, rightDT};
 
+  //Cameras, including a sink that retrieves camera data from either the front or back
   cs::VideoSink sinkCam = frc::CameraServer::GetInstance()->GetServer();
   cs::UsbCamera backCam = frc::CameraServer::GetInstance()->StartAutomaticCapture(1);
   cs::UsbCamera frontCam = frc::CameraServer::GetInstance()->StartAutomaticCapture(0);
-
-
-  double speedScale = 1;
-  bool cameraView = false;
 
-  frc::Solenoid bucket{0};
-  frc::Solenoid hatch{3};
+  //Don't modify these
+  double speedLeft = 0, previousLeftSpeed = 0;
+  double speedRight = 0, previousRightSpeed = 0;
 };