diff --git a/docs/OperatorInterface.md b/docs/OperatorInterface.md
index 7ffadfaef..28048f414 100644
--- a/docs/OperatorInterface.md
+++ b/docs/OperatorInterface.md
@@ -35,12 +35,16 @@ TODO: consider this customization.
| Y-axis:Rotate counterclockwise/clockwise |
- | Button 9: Reset gyro |
+ Button 1 (Trigger): Target lock (hold to auto-aim at speaker, release to stop) |
Button 1 (Trigger): Fine driving
(slow down to 25%) |
| Button 15: Reset position (odometry) |
- Button 3: Cross wheels |
+ Button 3: Shoot note |
+
+
+ | Button 9: Reset gyro |
+ |
| NOTE: X-axis is up/down, Y-axis is sideways |
@@ -87,12 +91,10 @@ We use a wired Xbox Controller (the Logitech gamepad in Xbox mode also works for
DPAD DOWN |
Nudge shoulder down. |
-
| RT |
Hold to spin shooter |
-
| LB |
Hold to run intake (in) |
@@ -100,6 +102,14 @@ We use a wired Xbox Controller (the Logitech gamepad in Xbox mode also works for
| RB |
Hold to run intake (out) |
+
+
+ | Left Stick |
+ Control left climber (within soft limits) |
+
+
+ | Right Stick |
+ Control right climber (within soft limits) |
@@ -124,36 +134,36 @@ TODO: put together page with instructions on how to flash the firmware.
1 |
Hold to control shoulder (with up/down or dials) |
-
+
| 2 |
- Hold to control climber (with up/down or dials)
Work in progress. |
+ Hold to run shooter. Can speed up and slow down (with up/down or dials). |
| 3 |
- Hold to run intake (in) |
+ Hold to control left climber (with up/down or dials). Bypasses soft limits.
|
| 4 |
- Hold to run shooter. Can speed up and slow down (with up/down or dials). |
+ Hold to control right climber (with up/down or dials). Bypasses soft limits.
|
- | 7 |
+ 5 |
+ Hold to run intake (in) |
+
+
+ | 6 |
Hold to run intake (out). |
-
| 8 |
Moves mechanism being controlled (via another button) up. |
-
| 12 |
Moves mechanism being controlled (via another button) down. |
-
- | 9 |
- Reset relative encoders on shoulder. |
+ 16 |
+ Reset relative encoders on climber. |
-
diff --git a/src/main/java/com/team766/robot/reva/DebugOI.java b/src/main/java/com/team766/robot/reva/DebugOI.java
index b32107a95..dc0099e5d 100644
--- a/src/main/java/com/team766/robot/reva/DebugOI.java
+++ b/src/main/java/com/team766/robot/reva/DebugOI.java
@@ -27,10 +27,12 @@
* └───┴───┴───┴───┘
*
* 1 + 8/12 = Control Shoulder + Nudge Up/Down
- * 2 + 8/12 = Control Climber + Nudge Up/Down
- * 4 + 8/12 = Control Shooter + Nudge Up/Down
- * 3 = Intake In
- * 7 = Intake Out
+ * 2 + 8/12 = Control Shooter + Nudge Up/Down
+ * 3 + 8/12 = Control Left Climber + Nudge Up/Down (BYPASSES SOFT LIMITS)
+ * 4 + 8/12 = Control Right Climber + Nudge Up/Down (BYPASSES SOFT LIMITS)
+ * 5 = Intake In
+ * 6 = Intake Out
+ * 16 = Resets climber relative encoders to 0.
*/
public class DebugOI extends OIFragment {
private final JoystickReader macropad;
@@ -40,7 +42,8 @@ public class DebugOI extends OIFragment {
private final Intake intake;
private final Shooter shooter;
private final OICondition controlShoulder;
- private final OICondition controlClimber;
+ private final OICondition controlLeftClimber;
+ private final OICondition controlRightClimber;
private final OICondition controlShooter;
private final OICondition intakeIn;
private final OICondition intakeOut;
@@ -59,8 +62,11 @@ public DebugOI(
controlShoulder =
new OICondition(() -> macropad.getButton(InputConstants.CONTROL_SHOULDER));
- controlClimber = new OICondition(() -> macropad.getButton(InputConstants.CONTROL_CLIMBER));
controlShooter = new OICondition(() -> macropad.getButton(InputConstants.CONTROL_SHOOTER));
+ controlLeftClimber =
+ new OICondition(() -> macropad.getButton(InputConstants.CONTROL_LEFT_CLIMBER));
+ controlRightClimber =
+ new OICondition(() -> macropad.getButton(InputConstants.CONTROL_RIGHT_CLIMBER));
intakeIn = new OICondition(() -> macropad.getButton(InputConstants.INTAKE_IN));
intakeOut = new OICondition(() -> macropad.getButton(InputConstants.INTAKE_OUT));
}
@@ -79,8 +85,6 @@ protected void handleOI(Context context) {
shoulder.nudgeUp();
} else if (macropad.getButtonPressed(InputConstants.NUDGE_DOWN)) {
shoulder.nudgeDown();
- } else if (macropad.getButtonPressed(InputConstants.MACROPAD_RESET_SHOULDER)) {
- shoulder.reset();
}
} else if (controlShoulder.isFinishedTriggering()) {
context.releaseOwnership(shoulder);
@@ -88,28 +92,49 @@ protected void handleOI(Context context) {
// fine-grained control of the climber
// used for testing and tuning
- // press down the climber control button and nudge the climber up and down
- if (controlClimber.isTriggering()) {
- if (controlClimber.isNewlyTriggering()) {
+ // press down the climber control buttons and nudge the climber up and down
+ // NOTE: this bypasses the soft limits - use with care
+ if (controlLeftClimber.isTriggering()) {
+ if (controlLeftClimber.isNewlyTriggering()) {
context.takeOwnership(climber);
climber.enableSoftLimits(false);
}
if (macropad.getButtonPressed(InputConstants.NUDGE_UP)) {
climber.setLeftPower(0.25);
- climber.setRightPower(0.25);
} else if (macropad.getButtonPressed(InputConstants.NUDGE_DOWN)) {
climber.setLeftPower(-0.25);
- climber.setRightPower(-0.25);
+ } else if (macropad.getButtonReleased(InputConstants.NUDGE_UP)
+ || macropad.getButtonReleased(InputConstants.NUDGE_DOWN)) {
+ climber.stopLeft();
+ }
+ } else if (controlLeftClimber.isFinishedTriggering()) {
+ climber.stopLeft();
+ climber.enableSoftLimits(true);
+ context.releaseOwnership(climber);
+ }
+
+ if (controlRightClimber.isTriggering()) {
+ if (controlRightClimber.isNewlyTriggering()) {
+ context.takeOwnership(climber);
+ climber.enableSoftLimits(false);
}
- } else if (controlClimber.isFinishedTriggering()) {
- climber.stop();
+ if (macropad.getButtonPressed(InputConstants.NUDGE_UP)) {
+ climber.setRightPower(0.25);
+ } else if (macropad.getButtonPressed(InputConstants.NUDGE_DOWN)) {
+ climber.setRightPower(-0.25);
+ } else if (macropad.getButtonReleased(InputConstants.NUDGE_UP)
+ || macropad.getButtonReleased(InputConstants.NUDGE_DOWN)) {
+ climber.stopRight();
+ }
+ } else if (controlRightClimber.isFinishedTriggering()) {
+ climber.stopRight();
climber.enableSoftLimits(true);
context.releaseOwnership(climber);
}
- if (macropad.getButtonPressed(16)) {
+ if (macropad.getButtonPressed(InputConstants.RESET_CLIMBER_ENCODERS)) {
climber.resetLeftPosition();
climber.resetRightPosition();
}
diff --git a/src/main/java/com/team766/robot/reva/constants/InputConstants.java b/src/main/java/com/team766/robot/reva/constants/InputConstants.java
index dda790753..16a97a11b 100644
--- a/src/main/java/com/team766/robot/reva/constants/InputConstants.java
+++ b/src/main/java/com/team766/robot/reva/constants/InputConstants.java
@@ -14,17 +14,17 @@ public final class InputConstants {
// Macropad buttons
public static final int CONTROL_SHOULDER = 1;
- public static final int CONTROL_CLIMBER = 2;
- public static final int INTAKE_IN = 3;
- public static final int CONTROL_SHOOTER = 4;
- public static final int INTAKE_OUT = 7;
+ public static final int CONTROL_SHOOTER = 2;
+ public static final int CONTROL_LEFT_CLIMBER = 3;
+ public static final int CONTROL_RIGHT_CLIMBER = 4;
+ public static final int INTAKE_IN = 5;
+ public static final int INTAKE_OUT = 6;
public static final int NUDGE_UP = 8;
- public static final int MACROPAD_RESET_SHOULDER = 9;
public static final int NUDGE_DOWN = 12;
public static final int MACROPAD_PRESET_1 = 13;
public static final int MACROPAD_PRESET_2 = 14;
public static final int MACROPAD_PRESET_3 = 15;
- public static final int MACROPAD_PRESET_4 = 16;
+ public static final int RESET_CLIMBER_ENCODERS = 16;
// Xbox buttons
// TODO: change