Merge first (and second) competition code into master #26

TheBitEffect · 2022-04-08T00:06:40Z

Congratulations! We've managed to stress-test the code at not only one, but two competitions! Stable code that's been tested on the robot is usually merged into the master branch, but code written mere moments before a match might not be the most stable it could be. There were also a few things we need to remove, as a few things were just thrown-together hacks that should probably get actual solutions.

Things we need to do! _{_{As far as I've been made aware...}}

Remove whatever-the-heck that autonomous is and replace it with whatever-the-heck we have now!
Reimpliment our own climber back into the code! (Hopefully should just be uncommenting code and testing it.)
Remove shooter code! (Shooter? What shooter?)
...and much, much more! (from looking at the code, that might actually be it)

@RAR1741/students, if you want to work on this, feel free to assign yourself and get to work!

Climbing plan made just need to code it

Solenoid staging, climbing states, and sensors and motor IDs added

Staging added.

Co-authored-by: theblindbandet <theblindbandet@users.noreply.github.com>

…into climbing

Co-authored-by: theblindbandet <theblindbandet@users.noreply.github.com> Co-authored-by: ultragamer1010 <sreeves750@gmail.com> Co-authored-by: HungryIronApple <hungryironapple@gmail.com>

…into climbing

codecov · 2022-04-08T00:42:56Z

Codecov Report

Merging #26 (ff3a96a) into master (2c8045c) will decrease coverage by 1.38%.
The diff coverage is 0.00%.

@@             Coverage Diff             @@
##             master     #26      +/-   ##
===========================================
- Coverage      9.63%   8.25%   -1.39%     
  Complexity       17      17              
===========================================
  Files            18      20       +2     
  Lines           685     800     +115     
  Branches         47      50       +3     
===========================================
  Hits             66      66              
- Misses          619     734     +115

Impacted Files	Coverage Δ
src/main/java/frc/robot/Autonomous.java	`0.00% <0.00%> (ø)`
src/main/java/frc/robot/BoostInput.java	`0.00% <0.00%> (ø)`
src/main/java/frc/robot/Climber.java	`0.00% <0.00%> (ø)`
src/main/java/frc/robot/ClimberGates.java	`0.00% <0.00%> (ø)`
src/main/java/frc/robot/ClimberSensors.java	`0.00% <0.00%> (ø)`
src/main/java/frc/robot/DriveModule.java	`0.00% <0.00%> (ø)`
src/main/java/frc/robot/Drivetrain.java	`0.00% <0.00%> (ø)`
src/main/java/frc/robot/Manipulation.java	`0.00% <0.00%> (ø)`
src/main/java/frc/robot/Robot.java	`0.00% <0.00%> (ø)`
... and 1 more

codeclimate · 2022-04-08T00:43:02Z

src/main/java/frc/robot/Climber.java

+                climberSolenoidB1.set(true);
+                climberSolenoidB2.set(false);
+                climberSolenoidC.set(true);
+                // if (climbingMotor.getStatorCurrent() > NEXT_AB_STATE_CURRENT


This block of commented-out lines of code should be removed.

codeclimate · 2022-04-08T00:43:03Z

src/main/java/frc/robot/Robot.java

+                manipulation.setIntakeExtend(false);
+            }
+            manipulation.setIntakeSpin(operator.getYButton());
+            // manipulation.setIndexLoad(operator.getLeftTriggerAxis() > 0.5);


This block of commented-out lines of code should be removed.

codeclimate · 2022-04-08T00:43:03Z

src/main/java/frc/robot/Drivetrain.java

    /**
     * Drive with arcade-style controls.
     *
     * @param turnInput The speed to turn
     * @param speedInput The speed to drive
     */
    public void arcadeDrive(double turnInput, double speedInput) {
+        speedInput =
+                climbMode ? speedInput * 0.3 : speedInput + (autoBalanceEnabled ? balanceScale : 0);


Extract this nested ternary operation into an independent statement.

codeclimate · 2022-04-08T00:43:03Z

src/main/java/frc/robot/Manipulation.java

+     * @param indexLoadID The CAN id of the spark for the index loader
+     *
+     */
+    Manipulation(int pneumaticsForwardChannel, int pneumaticsReverseChannel, int intakeWheelID) {//, int indexLoadID) {


This block of commented-out lines of code should be removed.

codeclimate · 2022-04-08T00:43:03Z

src/main/java/frc/robot/Manipulation.java

+     */
+    Manipulation(int pneumaticsForwardChannel, int pneumaticsReverseChannel, int intakeWheelID) {//, int indexLoadID) {
+        this.intakeWheel = new CANSparkMax(intakeWheelID, MotorType.kBrushless);
+        // this.indexLoad = new CANSparkMax(indexLoadID, MotorType.kBrushless);


This block of commented-out lines of code should be removed.

codeclimate · 2022-04-08T00:43:05Z

src/main/java/frc/robot/Drivetrain.java

 import frc.robot.logging.Logger;

 public class Drivetrain implements Loggable {

    private final double SHIFT_CURRENT_HIGH = 80; // TODO Get actual values when we test drivetrain
    private final double SHIFT_CURRENT_LOW = 0;
    private final double SHIFT_VELOCITY = 0; // Wheel velocity
+    private final double OFF_BALANCE_THRESHOLD = 10;
+    private final double ON_BALANCE_THRESHOLD = 5;


Member name 'ON_BALANCE_THRESHOLD' must match pattern '^[a-z][a-z0-9][a-zA-Z0-9]*$'.

codeclimate · 2022-04-08T00:43:05Z

src/main/java/frc/robot/DriveModule.java

@@ -10,14 +10,15 @@

 public class DriveModule implements Loggable {

-    private final double VELOCITY_COEFFICIENT = 600 / 2048;
+    private final double MAX_VELOCITY = 22000;


Abbreviation in name 'MAX_VELOCITY' must contain no more than '2' consecutive capital letters.

codeclimate · 2022-04-08T00:43:05Z

src/main/java/frc/robot/DriveModule.java

@@ -10,14 +10,15 @@

 public class DriveModule implements Loggable {

-    private final double VELOCITY_COEFFICIENT = 600 / 2048;
+    private final double MAX_VELOCITY = 22000;


Member name 'MAX_VELOCITY' must match pattern '^[a-z][a-z0-9][a-zA-Z0-9]*$'.

codeclimate · 2022-04-08T00:43:05Z

src/main/java/frc/robot/Manipulation.java

+
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.PneumaticsModuleType;
+import edu.wpi.first.wpilibj.DoubleSolenoid.Value;


Wrong lexicographical order for 'edu.wpi.first.wpilibj.DoubleSolenoid.Value' import. Should be before 'edu.wpi.first.wpilibj.PneumaticsModuleType'.

codeclimate · 2022-04-08T00:43:05Z

src/main/java/frc/robot/Manipulation.java

+import edu.wpi.first.wpilibj.PneumaticsModuleType;
+import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
+
+import com.revrobotics.CANSparkMax;


Extra separation in import group before 'com.revrobotics.CANSparkMax'

codeclimate · 2022-04-11T23:50:22Z

src/main/java/frc/robot/Manipulation.java

+import edu.wpi.first.wpilibj.PneumaticsModuleType;
+import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
+
+import com.revrobotics.CANSparkMax;


Wrong lexicographical order for 'com.revrobotics.CANSparkMax' import. Should be before 'edu.wpi.first.wpilibj.PneumaticsModuleType'.

codeclimate · 2022-04-11T23:50:23Z

src/main/java/frc/robot/Manipulation.java

+import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
+
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;


Wrong lexicographical order for 'com.revrobotics.CANSparkMaxLowLevel.MotorType' import. Should be before 'edu.wpi.first.wpilibj.PneumaticsModuleType'.

codeclimate · 2022-04-11T23:50:23Z

src/main/java/frc/robot/Manipulation.java

+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+
+import frc.robot.logging.Loggable;


Extra separation in import group before 'frc.robot.logging.Loggable'

codeclimate · 2022-04-11T23:50:23Z

src/main/java/frc/robot/Manipulation.java

+     * @param indexLoadID The CAN id of the spark for the index loader
+     *
+     */
+    Manipulation(int pneumaticsForwardChannel, int pneumaticsReverseChannel, int intakeWheelID) {//, int indexLoadID) {


Line is longer than 100 characters (found 119).

codeclimate · 2022-04-11T23:50:23Z

src/main/java/frc/robot/Manipulation.java

+    Manipulation(int pneumaticsForwardChannel, int pneumaticsReverseChannel, int intakeWheelID) {//, int indexLoadID) {
+        this.intakeWheel = new CANSparkMax(intakeWheelID, MotorType.kBrushless);
+        // this.indexLoad = new CANSparkMax(indexLoadID, MotorType.kBrushless);
+        this.intakePneumatics = new DoubleSolenoid(PneumaticsModuleType.REVPH, pneumaticsForwardChannel, pneumaticsReverseChannel);


Line is longer than 100 characters (found 131).

codeclimate · 2022-04-11T23:50:23Z

src/main/java/frc/robot/Manipulation.java

+     * @param load True if it should load; false if not
+     *
+     */
+    public void setIndexLoad(boolean load) {


'METHOD_DEF' should be separated from previous statement.

codeclimate · 2022-04-12T01:09:35Z

src/main/java/frc/robot/ClimberSensors.java

@@ -5,34 +5,20 @@
 import frc.robot.logging.Logger;

 public class ClimberSensors implements Loggable {
-    DigitalInput a1, a2, b1, b2, c1, c2;
+    DigitalInput b1, b2;


Each variable declaration must be in its own statement.

codeclimate · 2022-04-12T01:09:35Z

src/main/java/frc/robot/Robot.java

@@ -79,56 +92,95 @@ public void robotInit() {
            Solenoid climberSolenoidB2 = new Solenoid(PneumaticsModuleType.REVPH, 4);
            Solenoid climberSolenoidC = new Solenoid(PneumaticsModuleType.REVPH, 5);

-            // ClimberSensors climberSensors = new ClimberSensors(0, 1, 2, 3, 4, 5);
-            ClimberGates climberGates = new ClimberGates(6, 7, 8, 9, 10, 11, 12, 13);
+            climberSensors = new ClimberSensors(0,0); // TODO: Add sensors and input ids


Maybe nestable loggables will be a thing someday. Doubt it though, sendables exist now

…into first-comp

codeclimate · 2022-04-18T19:24:34Z

src/main/java/frc/robot/Climber.java

+
+    private double motorSpeed;
+
+    private double previousTime;


Remove this unused "previousTime" private field.

codeclimate · 2022-04-18T19:24:34Z

src/main/java/frc/robot/Climber.java

-            System.out.println("--------HIT MAX CURRENT--------");
-        }
+        // // Make sure we're not pulling too much current instantly
+        // if (climbingMotor.getStatorCurrent() > MAX_INSTANT_CURRENT


This block of commented-out lines of code should be removed.

codeclimate · 2022-04-18T19:24:34Z

src/main/java/frc/robot/Climber.java

-            setClimbingState(ClimbingStates.ERROR);
-        }
+        // // Make sure we're not pulling too much current over time
+        // if (leftFilter.get() > MAX_AVERAGE_CURRENT || rightFilter.get() > MAX_AVERAGE_CURRENT) {


This block of commented-out lines of code should be removed.

codeclimate · 2022-04-18T19:24:34Z

src/main/java/frc/robot/Climber.java

+                // this.setSpeed(0);
+                // }
+
+                // if (touch.getB()) {


This block of commented-out lines of code should be removed.

codeclimate · 2022-04-18T19:24:35Z

src/main/java/frc/robot/Climber.java

                climberSolenoidA.set(false);
                climberSolenoidB1.set(false);
                climberSolenoidB2.set(false);
                climberSolenoidC.set(true);
-                // if (gates.getB1()) {
+                // if (!gates.getB1()) {


This block of commented-out lines of code should be removed.

src/main/java/frc/robot/Drivetrain.java

codeclimate · 2022-04-18T19:24:36Z

src/main/java/frc/robot/Climber.java

+            // climberSolenoidB2.set(false);
+            // climberSolenoidC.set(true);
+            // // this.setPower(0);
+            // // TODO: set motor target here


codeclimate · 2022-04-18T19:24:36Z

src/main/java/frc/robot/Robot.java

-            ClimberGates climberGates = new ClimberGates(6, 7, 8, 9, 10, 11, 12, 13);
-            climber = new Climber(9, 10, climberSolenoidA, climberSolenoidB1, climberSolenoidB2,
-                    climberSolenoidC, climberGates);// ,gyro, climberSensors);
+            // climberSensors = new ClimberSensors(0, 0); // TODO: Add sensors and input ids


codeclimate · 2022-04-18T19:24:41Z

Code Climate has analyzed commit ff3a96a and detected 42 issues on this pull request.

Here's the issue category breakdown:

Category	Count
Complexity	3
Duplication	7
Clarity	17
Bug Risk	3
Style	12

The test coverage on the diff in this pull request is 0.0% (50% is the threshold).

This pull request will bring the total coverage in the repository to 8.2% (-1.4% change).

View more on Code Climate.

aidenpike and others added 30 commits January 15, 2022 16:23

Add Climbing.java

c6d9c7d

Climbing plan made just need to code it

Merge branch 'master' into climbing

f4050d8

changed Climbing.java

6970b43

Solenoid staging, climbing states, and sensors and motor IDs added

Update Climbing.java

ebe30f5

Staging added.

Refactor LoggableTimer to accept name

75e6903

Co-authored-by: theblindbandet <theblindbandet@users.noreply.github.com>

Merge branch 'climbing' of https://github.com/RAR1741/RA22_RobotCode …

d5138db

…into climbing

Implement timer and cycle algorithm

ed360cf

Co-authored-by: theblindbandet <theblindbandet@users.noreply.github.com> Co-authored-by: ultragamer1010 <sreeves750@gmail.com> Co-authored-by: HungryIronApple <hungryironapple@gmail.com>

Add ClimbingSensors class

b7a0dc9

Implement ClimbingSensors

91f05a3

Add climberEnabled

b91979b

Declared climbing variables

0636f20

Added setPower method

eca328d

Add climber controls

2261878

Merge branch 'master' into climbing

cbbb8af

Merge branch 'master' into climbing

5dfdd72

Merge branch 'master' into climbing

6fe4207

Merge branch 'master' into climbing

fd60b36

Merge branch 'master' into climbing

95eab83

Merge branch 'master' into climbing

0dfb898

LoggableTimer formatting

e432045

Climbing -> Climber and ClimbingSensors -> ClimberSensors

801fc33

More auto formatting

187354a

Move to passing the Solenoids into the climber

5b9cd23

Add temporary manual climber driver controls

bf2571c

Test Climber Controls

40ea3cc

Fix possibly missing break statements in climber

a56be21

TEMP: Advance climber state manually

42b8a1d

Changed Idle Mode

c3810c5

Merge branch 'climbing' of https://github.com/RAR1741/RA22_RobotCode …

e2f28f8

…into climbing

add loggablegyro

dd21d55

sreeves750 and others added 11 commits March 3, 2022 14:00

Set motors to predetermined velocity when climbing

2a7e5cf

Add in automatic progression with climbing gates

14a3aba

Add automatic progression after swinging

461e060

Change resting piston positions

3411dbb

Manually override formatting

b7c0e41

Merge branch 'climbing' of https://github.com/RAR1741/RA22_RobotCode …

90d6976

…into climbing

Remove old comment section

7c3cc73

Add more allowed words

5f40e26

It worked 3 times in a row...

a2533ad

Comp Code

5a1d546

Tippy code featuring autobalancing & speed control

982f8ca

TheBitEffect requested review from dracco1993 and sreeves750 April 8, 2022 00:06

TheBitEffect self-assigned this Apr 8, 2022

Merge branch 'master' into first-comp

9af3b88

codeclimate bot reviewed Apr 8, 2022

View reviewed changes

kryllyxofficial01 assigned kryllyxofficial01 and unassigned kryllyxofficial01 Apr 9, 2022

TheBitEffect added 2 commits April 11, 2022 19:47

Remove Shooter code

4ced966

Remove Climber from Robot.java

6d5ed0a

codeclimate bot reviewed Apr 11, 2022

View reviewed changes

Start implimenting reworked climber execution plan

3572b0f

codeclimate bot reviewed Apr 12, 2022

View reviewed changes

TheBitEffect and others added 4 commits April 12, 2022 18:37

Fix left and right loggables erroring

c8faf9a

Maybe nestable loggables will be a thing someday. Doubt it though, sendables exist now

Merge branch 'master' into first-comp

2e47e3e

Push state comp code

740aae1

Merge branch 'first-comp' of https://github.com/RAR1741/RA22_RobotCode …

ff3a96a

…into first-comp

codeclimate bot reviewed Apr 18, 2022

View reviewed changes

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Merge first (and second) competition code into master #26

Merge first (and second) competition code into master #26

TheBitEffect commented Apr 8, 2022 •

edited by dracco1993

codecov bot commented Apr 8, 2022 •

edited

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codeclimate bot commented Apr 18, 2022

Merge first (and second) competition code into master #26

Are you sure you want to change the base?

Merge first (and second) competition code into master #26

Conversation

TheBitEffect commented Apr 8, 2022 • edited by dracco1993

Things we need to do! As far as I've been made aware...

codecov bot commented Apr 8, 2022 • edited

Codecov Report

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TheBitEffect commented Apr 8, 2022 •

edited by dracco1993

Things we need to do! _{_{As far as I've been made aware...}}

codecov bot commented Apr 8, 2022 •

edited