Better subsystems

classes/production/desktop/logback.xml

@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<configuration>
+    <appender name="Console" class="ch.qos.logback.core.ConsoleAppender">
+        <encoder>
+            <pattern>%d{HH:mm:ss.SSS} [%thread] %-5level %logger{36} - %msg%n</pattern>
+        </encoder>
+    </appender>
+
+    <root level="debug">
+        <appender-ref ref="Console"/>
+    </root>
+</configuration>

classes/production/rio/logback.xml

@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<configuration>
+    <appender name="Console" class="ch.qos.logback.core.ConsoleAppender">
+        <encoder>
+            <pattern>%d{HH:mm:ss.SSS} [%thread] %-5level %logger{36} - %msg%n</pattern>
+        </encoder>
+    </appender>
+
+    <root level="debug">
+        <appender-ref ref="Console"/>
+    </root>
+</configuration>

config/commands.yml

@@ -3,9 +3,10 @@
 #
 DriveTank:
   deadzone: .15
-  leftMultiplier: 120.0
-  rightMultiplier: 120.0
   exponent: 2.0
+  multiplier:
+    left: 120.0
+    right: 120.0
 
 DriveArcade:
   deadzone: .1

config/ports.yml

@@ -0,0 +1,26 @@
+Drive:
+  leftMotor: { channel: 0, inverted: true }
+  rightMotor: { channel: 1, inverted: false }
+  leftEncoder: { aChannel: 2, bChannel: 3, reverse: true, distancePerPulse: .06597 }
+  rightEncoder: { aChannel: 0, bChannel: 1, distancePerPulse: .06597 }
+Turret:
+  pinchRollerMotor: { channel: 5, inverted: false }
+  kingRollerMotor: { channel: 3, inverted: false }
+  ballSensor: { channel: 4, minDistance: 300.0, maxDistance: 26.0 }
+  ballCompressionSensor: { channel: 1, scale: 1.0, offset: 0.0 }
+  hoodDeploySolenoid: 0
+  shortSolenoid: 1
+  longSolenoid: 2
+  shooterWheelMotor: { channel: 2, inverted: true }
+  shooterWheelEncoder:
+    aChannel: 4
+    bChannel: 5
+    reverse: true
+    distancePerPulse: 0.0009765625
+    encodingType: k1X
+#    samplesToAverage: 100
+  turretRotationMotor: { channel: 4, inverted: true }
+  turretRotationEncoder: { aChannel: 6, bChannel: 7, reverse: true, distancePerPulse: 0.02538 }
+  leftLimit: { channel: 11, type: NPN }
+  rightLimit: { channel: 10, type: NPN }
+  centerLimit: { channel: 12, type: NPN }

config/simulation.yml

@@ -10,9 +10,6 @@ Drive:
     momentum: 50
     dampening: 4
   encoder: { multiplier: 25.13 } # 8 * pi
-  controller: { type: PID, P: .5, F: .00641 }
-  driveMode: CONTROLLER
-  maxSpeed: 156.0
 OperatorInterface:
 Picker:
   motor: # 775Pro
@@ -22,6 +19,13 @@ Picker:
     momentum: 50
     dampening: 4
   encoder: { multiplier: 1 }
+  pinchRollerMotor: # 1 x 550
+    maxRPM: 19000
+    maxTorque: 3.36 # 3.36in-lbf * 1
+    gearRatio: 70.0
+    momentum: 50
+    dampening: 4
+  pinchRollerEncoder: { multiplier: 1 }
 Turret:
   shooterWheelMotor: # 2 x 775Pro
     maxRPM: 18730
@@ -30,15 +34,6 @@ Turret:
     momentum: 50
     dampening: 4
   shooterWheelEncoder: { multiplier: 1 }
-  shooterWheelController:
-    type: PID
-    inputSamplesToAverage: 16
-    P: 0.025
-    I: 0.025
-    maxIError: 10.0
-    F: 0.004
-    minOutput: 0.0
-    target: { within: 1.0 }
   rotationMotor: # 1 x 550
     maxRPM: 19000
     maxTorque: 3.36 # 3.36in-lbf * 1
@@ -53,18 +48,5 @@ Turret:
     momentum: 50
     dampening: 4
   kingRollerEncoder: { multiplier: 1 }
-  pinchRollerMotor: # 1 x 550
-    maxRPM: 19000
-    maxTorque: 3.36 # 3.36in-lbf * 1
-    gearRatio: 70.0
-    momentum: 50
-    dampening: 4
-  pinchRollerEncoder: { multiplier: 1 }
-  angleController:
-    type: PID
-    maxAbsoluteSetpoint: 110.0
-    P: .1
-    D: 0
-    maxAbsoluteOutput: 0.75
-    target: { within: .5, stop: true }
+  angleRange: 110.0
 Vision:

config/subsystems.yml

@@ -1,8 +1,4 @@
 Drive:
-  leftMotor: { channel: 0, inverted: true }
-  rightMotor: { channel: 1, inverted: false }
-  leftEncoder: { aChannel: 2, bChannel: 3, reverse: true, distancePerPulse: .06597 }
-  rightEncoder: { aChannel: 0, bChannel: 1, distancePerPulse: .06597 }
   controller:
     type: PID
     P: .01
@@ -11,7 +7,6 @@ Drive:
     minISetpoint: 1.0
     maxIError: 12.0
     dataLogging: false
-  driveMode: CONTROLLER
   maxSpeed: 120.0
 Picker:
   pickMotor: { channel: 6, inverted: false }
@@ -22,21 +17,6 @@ OperatorInterface:
   driverJoystick: 0
   gunnerJoystick: 1
 Turret:
-  pinchRollerMotor: { channel: 5, inverted: false }
-  kingRollerMotor: { channel: 3, inverted: false }
-  ballSensor: { channel: 4, minDistance: 300.0, maxDistance: 26.0 }
-  ballCompressionSensor: { channel: 1, scale: 1.0, offset: 0.0 }
-  hoodDeploySolenoid: 0
-  shortSolenoid: 1
-  longSolenoid: 2
-  shooterWheelMotor: { channel: 2, inverted: true }
-  shooterWheelEncoder:
-    aChannel: 4
-    bChannel: 5
-    reverse: true
-    distancePerPulse: 0.0009765625
-    encodingType: k1X
-#    samplesToAverage: 100
   shooterWheelController:
     type: PID
 #    inputSamplesToAverage 16
@@ -47,8 +27,6 @@ Turret:
     minOutput: 0.0
     target: { within: 1.0 }
 #    dataLogging: true
-  turretRotationMotor: { channel: 4, inverted: true }
-  turretRotationEncoder: { aChannel: 6, bChannel: 7, reverse: true, distancePerPulse: 0.02538 }
   angleController:
     type: PID
     maxAbsoluteSetpoint: 110.0
@@ -59,7 +37,7 @@ Turret:
   leftLimit: { channel: 11, type: NPN }
   rightLimit: { channel: 10, type: NPN }
   centerLimit: { channel: 12, type: NPN }
-  defaultBallAge: NEW
+  defaultBallAge: AGED
 Vision:
   ledPower: { channel: 7, inverted: false } #not finalized
   tableName: TatorVision

core/src/main/java/org/teamtators/rotator/CoreModule.java

@@ -5,19 +5,19 @@
 import dagger.Module;
 import dagger.Provides;
 import org.teamtators.rotator.commands.CoreCommands;
+import org.teamtators.rotator.components.*;
 import org.teamtators.rotator.config.ConfigCommandStore;
 import org.teamtators.rotator.control.ForController;
 import org.teamtators.rotator.control.Stepper;
 import org.teamtators.rotator.operatorInterface.AbstractOperatorInterface;
 import org.teamtators.rotator.scheduler.CommandStore;
 import org.teamtators.rotator.scheduler.Scheduler;
 import org.teamtators.rotator.scheduler.Subsystem;
-import org.teamtators.rotator.subsystems.AbstractDrive;
-import org.teamtators.rotator.subsystems.AbstractPicker;
-import org.teamtators.rotator.subsystems.AbstractTurret;
-import org.teamtators.rotator.subsystems.AbstractVision;
+import org.teamtators.rotator.subsystems.Drive;
+import org.teamtators.rotator.subsystems.Turret;
 import org.teamtators.rotator.tester.ManualTester;
 
+import javax.inject.Named;
 import javax.inject.Singleton;
 import java.util.Arrays;
 import java.util.List;
@@ -62,7 +62,15 @@ ManualTester providesManualTester(AbstractOperatorInterface operatorInterface, S
 
     @Provides
     @Singleton
-    public List<Subsystem> providesSubsystems(AbstractDrive drive, AbstractPicker picker, AbstractTurret turret,
+    @Named("subsystems")
+    public List<Subsystem> providesSubsystems(Drive drive, Turret turret) {
+        return Arrays.asList(drive, turret);
+    }
+
+    @Provides
+    @Singleton
+    @Named("components")
+    public List<Component> providesComponents(AbstractDrive drive, AbstractPicker picker, AbstractTurret turret,
                                               AbstractOperatorInterface operatorInterface, AbstractVision vision) {
         return Arrays.asList(drive, picker, turret, operatorInterface, vision);
     }

core/src/main/java/org/teamtators/rotator/CoreRobot.java

@@ -1,7 +1,7 @@
 package org.teamtators.rotator;
 
 import com.fasterxml.jackson.databind.ObjectMapper;
-import org.teamtators.rotator.components.Chooser;
+import org.teamtators.rotator.components.*;
 import org.teamtators.rotator.config.ConfigCommandStore;
 import org.teamtators.rotator.config.ConfigLoader;
 import org.teamtators.rotator.config.ControllerFactory;
@@ -14,10 +14,8 @@
 import org.teamtators.rotator.scheduler.Command;
 import org.teamtators.rotator.scheduler.Scheduler;
 import org.teamtators.rotator.scheduler.Subsystem;
-import org.teamtators.rotator.subsystems.AbstractDrive;
-import org.teamtators.rotator.subsystems.AbstractPicker;
-import org.teamtators.rotator.subsystems.AbstractTurret;
-import org.teamtators.rotator.subsystems.AbstractVision;
+import org.teamtators.rotator.subsystems.Drive;
+import org.teamtators.rotator.subsystems.Turret;
 import org.teamtators.rotator.tester.ManualTester;
 
 import javax.inject.Named;
@@ -28,11 +26,11 @@
 public interface CoreRobot {
     ObjectMapper objectMapper();
 
-    AbstractDrive drive();
+    Drive drive();
 
     AbstractPicker picker();
 
-    AbstractTurret turret();
+    Turret turret();
 
     AbstractVision vision();
 
@@ -48,6 +46,10 @@ public interface CoreRobot {
 
     ControllerFactory controllerFactory();
 
+    @Named("components")
+    List<Component> components();
+
+    @Named("subsystems")
     List<Subsystem> subsystems();
 
     TriggerBinder triggerBinder();

core/src/main/java/org/teamtators/rotator/commands/DriveArcade.java

@@ -3,13 +3,14 @@
 import org.teamtators.rotator.CommandBase;
 import org.teamtators.rotator.CoreRobot;
 import org.teamtators.rotator.config.Configurable;
+import org.teamtators.rotator.operatorInterface.DriveUtils;
 import org.teamtators.rotator.operatorInterface.LogitechF310;
 import org.teamtators.rotator.scheduler.RobotState;
-import org.teamtators.rotator.subsystems.AbstractDrive;
+import org.teamtators.rotator.subsystems.Drive;
 
 public class DriveArcade extends CommandBase implements Configurable<DriveArcade.Config> {
     private Config config;
-    private AbstractDrive drive;
+    private Drive drive;
     private LogitechF310 driverJoystick;
 
     public DriveArcade(CoreRobot robot) {
@@ -27,7 +28,7 @@ public void configure(Config config) {
 
     @Override
     protected void finish(boolean interrupted) {
-        drive.resetSpeeds();
+        drive.resetPowers();
         super.finish(interrupted);
     }
 

core/src/main/java/org/teamtators/rotator/commands/DriveRotate.java

@@ -6,11 +6,12 @@
 import org.teamtators.rotator.config.Configurable;
 import org.teamtators.rotator.config.ControllerFactory;
 import org.teamtators.rotator.control.AbstractController;
-import org.teamtators.rotator.subsystems.AbstractDrive;
+import org.teamtators.rotator.operatorInterface.DriveOutput;
+import org.teamtators.rotator.subsystems.Drive;
 
 public class DriveRotate extends CommandBase implements Configurable<DriveRotate.Config> {
     private Config config;
-    private AbstractDrive drive;
+    private Drive drive;
     private ControllerFactory controllerFactory;
     private AbstractController controller;
 
@@ -28,8 +29,7 @@ public void configure(Config config) {
         controller.setName(getName());
         controller.setInputProvider(drive::getGyroAngle);
         controller.setOutputConsumer(output -> {
-            drive.setLeftSpeed(output);
-            drive.setRightSpeed(-output);
+            drive.setSpeeds(DriveOutput.turning(output));
         });
     }
 
@@ -51,7 +51,7 @@ protected void finish(boolean interrupted) {
             logger.info("Finished" + logLine);
         }
         controller.disable();
-        drive.resetSpeeds();
+        drive.resetPowers();
     }
 
     @Override

core/src/main/java/org/teamtators/rotator/commands/DriveStraight.java

@@ -1,12 +1,7 @@
 package org.teamtators.rotator.commands;
 
-import com.fasterxml.jackson.databind.JsonNode;
-import org.teamtators.rotator.CommandBase;
 import org.teamtators.rotator.CoreRobot;
 import org.teamtators.rotator.config.Configurable;
-import org.teamtators.rotator.config.ControllerFactory;
-import org.teamtators.rotator.control.AbstractController;
-import org.teamtators.rotator.subsystems.AbstractDrive;
 
 /**
  * Drive in a straight line for a certain distance

core/src/main/java/org/teamtators/rotator/commands/DriveStraightBase.java

@@ -5,14 +5,17 @@
 import org.teamtators.rotator.CoreRobot;
 import org.teamtators.rotator.config.ControllerFactory;
 import org.teamtators.rotator.control.AbstractController;
-import org.teamtators.rotator.subsystems.AbstractDrive;
+import org.teamtators.rotator.subsystems.Drive;
+
+import static org.teamtators.rotator.operatorInterface.DriveOutput.straight;
+import static org.teamtators.rotator.operatorInterface.DriveOutput.turning;
 
 /**
- * Created by TatorsDriverStation on 10/16/2016.
+ * Created by TatorsDr iverStation on 10/16/2016.
  */
 public abstract class DriveStraightBase extends CommandBase {
     protected ControllerFactory controllerFactory;
-    protected AbstractDrive drive;
+    protected Drive drive;
     protected double startingDistance;
     protected double deltaDistance;
     protected Config config;
@@ -30,8 +33,7 @@ public void configure(Config config) {
         controller.setName(getName());
         controller.setInputProvider(drive::getGyroAngle);
         controller.setOutputConsumer(output -> {
-            drive.setLeftSpeed(config.speed + output);
-            drive.setRightSpeed(config.speed - output);
+            drive.setSpeeds(straight(config.speed).plus(turning(output)));
         });
     }
 
@@ -51,7 +53,7 @@ public boolean step() {
     @Override
     protected void finish(boolean interrupted) {
         controller.disable();
-        drive.resetSpeeds();
+        drive.resetPowers();
     }
 
     public static class Config {