Before Competition Code

Robot code that we know works (#104)

* Change example items to drivetrain skeleton

* Format using the formatting tool in VScode

* Update FRC library version

* Update WPILIB extension, add motorcontrollers, and resolve merge conflicts

* Change example items to drivetrain (#2)

* Change example items to drivetrain skeleton

* Format using the formatting tool in VScode

* Update WPILIB extension, add motorcontrollers, and resolve merge conflicts

* Fix TeleopDrive

* Fix TeleopDrive for arcade and tank

* Fix Arcade Drive

* Split TeleopDrive.java into Arcade and Tank Drive

* Add SmartDashboard ports and Encoders

* add continuous integration (#6)

* add travis config and update README.md

* Fix copyright typo introduced in earlier commit.

* Add motor configuration methods for talons and victors

* Add gyros (note: there are some errors - that's because AHRS has not been added)

* Fix ArcadeDrive logic

* initial changes

* Add basic cargo syubsystem functionality

* Add squared joystick functionality

* clean up code and add comments

* add correct port numbers for motor controllers

* add correct port numbers for motor controllers (#8)

* add correct port numbers for motor controllers

* invert right motors

drivetrain motors run the opposite direction on each side, the right
motors run the incorrect direction

* Update cargo code to match this year's robot, and OI complements. Can now intake/eject

* Format and organize all changed files according to VSCode auto-formatter

* Set distance per pulse of drivetrain encoders

* add camera code

* improvements to cargo code (#12)

* add hatch code (#14)

* Add Climber code

* Remove test code (accidental commit)

* Make joysticks negative; correctly square joysticks; initialize OI; put Encoder values to S.D (#20)

* Add variable rollerPort for hasCargo() method.

* Move cargoPDPPort to RobotMap

* Move TODO statement to more relevant spot, formatted two documents

* Work around copySign problem

* Remove test prints and SmartDashboard

* Comment and format

* Add code for rails

* make motor controller initialization compatible with both robots (#24)

* Put piston state value to Smart Dashboard (#21)

* Put piston state value to Smart Dashboard

* Add default state for pistons

* Fix unreachable statement error in HatchPanel.toggle()

* Change names of pistonState

* Enter correct hatch solenoid numbers (#26)

* Cargo null error (#27)

* Enter correct hatch solenoid numbers

* Fix null error in cargo intake and eject

* Update names and organization to match rest of code and use AHRS

* Change climber code to reflect the use of the accelerometer to check climbing bounds

* Implement accelerometer code for the climber

* Fix logic, add rail button

* Fix logic in climber code

* Change climbing logic to single command

* Fix syntax error

* Fix additional syntax errors

* fix compilation errors and clean up code

* use navx instead of built in accelerometer

* format code

* requested changes

* add climb button and fix drivetrain/oi stuff (#29)

* add climb button and fix drivetrain/oi stuff

* format code

* Restructure climb into climb and retract, add manual override

* Change climb logic to enum State

* Make requested changes in climber

* Organize up into state and if/elses into switch

* add manipulator "enum" (#31)

Java enums don't really map to ints so I'm just making a fake enum

* Add encoder logic and clean up climbing logic

* Make buttons more descriptive in OI.java (#32)

* add manipulator "enum"

Java enums don't really map to ints so I'm just making a fake enum

* Make names in OI for buttons more descriptive

* Update to 3.2 (#33)

* Change climber port number to correct one

* changes from on-robot testing (#35)

* improvements to cargo code

* fix merge errors

* changes from on-robot testing

* Fix syntax error in OI.java

* Issue 38 (#40)

* Add cargo status in SmartDashboard

* Include accidentally unstaged change

* Fix finished/interrupted logic in cargo

* Address issue 37 by having the hatch stay out while intaking cargo (#41)

* Address issue 37 by having the hatch stay out while intaking cargo

* Make WaitMove only detect one-way movement

* Fix incorrect subtraction logic

* Add error checking (and printing) for the motor controller config statements (#47)

* fix right arcade drive trigger (#44)

* fix #43

* change default slow rotation value

* Change climber ports (#48)

* Add code to keep climber up (#53)

* Add code to keep climber up

* Remove extraneous variable, add to keepclimber logic

* Fix climber logic (#54)

* Fix climber logic

* Change logic to reflect new priority of changing directions too much (from climbing too often)

* Add resetting code to drivetrain encoders when they are created (#55)

* add manual climb

* update max climb height to be the height of the robot

* Put correct port number in hasCargo() (#58)

* Add wobbledrive capability

* Drivetrain characterization (#25)

* Copy drivetrain characterization code to Robot 2019

* Fix Dean's complaints and format

* Replace SpeedController with WPI_TalonSRX

* Merge IncreaseVoltageLinear and IncreaseVoltageStepwise into DrivetrainCharacterization Command.

* Remove old IncreaseVoltage commands

* Fix maxVoltage error

* Add Drivetrain Characterization Analysis

* Surround Scanner with Try-Catch in Drivetrain.java

* Fix try-catch in Drivetrain.java

* Reduce and simplify DrivetrainCharAnalysis.java

* Resolve building issues associated with the last two branches

* Resolve build changes in the last commit

* Try-Catch FileReader and CSVReader in DrivetrainCharacterization.java

* Add CharacterizedDrive capability

* Make DrivetrainAnalysis a SmartDashboard button

* Split kV, kA, vIntercept into left and right values

* Split kv,ka,vIntercept into forward-left, forward-right, backward-left, and backward-right values

* Fix parseCSV (now the code actually works!)

* Fix Characterized Drive

* Fix testing issues

* Utilize acceleration term in drivetrain characterization formula

* Fix CharDrive in TeleopDrive

* Partial Changes the night of 2/18/19

* Remove absolute value from leftDV and rightDV

* Fix turning issue with acceleration clipping

* Invert right encoder

* Change wobble to a whileHeld

* Add button to switch between arcade drive and tank drive (#67)

* Add button to switch between arcade drive and tank drive

* Auto-format files

* Add wobbledrive capability (#65)

* Add wobbledrive capability

* Change wobble to a whileHeld

* Add early stop when drivetrain is stuck during wobbling

* Add wobble reset when wobble button is released

* Fix logic in wobble drive

* Fix bug with wobbledrive looking at distance instead of rate

* Initial commit

* Fix cargo and climber ports

* Fix logic in finishing wobble drive

* Make wobble stop doing a finished side, fix logic

* Add SmartDashboard output when wobble done

* Catch singular matrix exception and dump X and Y matrices

* Set climb speeds to proven values

* Add timer to differentiate between climb levels

* Fix getAngle function in climber

* Fix getAngle function in climber

* Add lights code

* Fix bug calling wrong command from oi

* Add lights color to smartdashboard

* Replace timer with encoder to finish climb

* Fix syntax error, edit constant to more reasonable value.

* Update some TODO values with actual number

* Reverse climber encoder logic (and rename variables)

* Make requested change

* Capitalize SmartDashboard values

* different buttons for auto and manual climb

* change climb buttons to be consistent

(also because I'm adding hatch buttons but ignore that)

* Solves issue-88 (#89)

* add new hatch mech code (#86)

* add new hatch mech code

* minor changes and add comments

* Change climber piston ports

* change to manipulator controls for manual climbing (#96)

* change to manipulator controls for climbing

* im bad -kev

* update hatch code (#97)

* add new hatch mech code

* minor changes and add comments

* hardcode no delay for hatch eject

* change naming for clarity

* re-delete files from merge

* delete the imports of removed files

* Fix angles for climbing (#94)

* Fix angles for climbing

* Change climber piston ports

* Use atan for climber angle

* use pitch instead of accel calculations

* change rails to toggle

* Fix issue #98 (#102)