Changes between Version 6 and Version 7 of ControlSystems/SoftwareTeam/Training/GettingStarted/RobotFSM1

Timestamp:

Nov 6, 2019, 2:34:22 PM (6 years ago)

Author:

David Albert

Comment:

--

ControlSystems/SoftwareTeam/Training/GettingStarted/RobotFSM1

@@ -31 +31 @@
  */
 public class Robot extends TimedRobot {
-  private static final String kDefaultAuto = "Default";
-  private static final String kCustomAuto = "My Auto";
-  private String m_autoSelected;
-  private final SendableChooser<String> m_chooser = new SendableChooser<>();
   private Talon l_motor, r_motor;
   private Encoder l_encoder, r_encoder;
 
+  // The possible states for our autonomous behavior
   private enum AutoState { STARTING, DRIVING, TURNING, STOPPED };
+  // The current state
   private AutoState state;
   
   private void driveForward() {
-    // to go forward, left and right motors turn in opposite directions
-    // so wheels turn in same direction
+    // left and right motors face opposite directions so spin them in
+    // opposite directions to turn the wheels in the same direction.
     l_motor.set(0.20);
     r_motor.set(-0.20);
-    // reset encoders so we can tell how far we've driven
+    // reset wheel encoders so we can tell how far we've driven
     l_encoder.reset();
     r_encoder.reset();
@@ -52 +50 @@
 
   private void turnRight() {
-    // to turn, both motors turn in the same direction
-    // so wheels turn in opposite directions
+    // left and right motors face opposite directions so spin them in
+    // the same direction to turn wheels in opposite directions (rotate robot)
     l_motor.set(0.20);
     r_motor.set(0.20);
-    // reset encoders so we can tell how far we've driven
+    // reset wheel encoders so we can tell how far we've turned
     l_encoder.reset();
     r_encoder.reset();
@@ -72 +70 @@
   @Override
   public void robotInit() {
-    m_chooser.setDefaultOption("Default Auto", kDefaultAuto);
-    m_chooser.addOption("My Auto", kCustomAuto);
-    SmartDashboard.putData("Auto choices", m_chooser);
     // Talon motor controllers connected to PWM ports 0,1
     l_motor = new Talon(0);
@@ -99 +94 @@
 
   /**
-   * This autonomous (along with the chooser code above) shows how to select
-   * between different autonomous modes using the dashboard. The sendable
-   * chooser code works with the Java SmartDashboard. If you prefer the
-   * LabVIEW Dashboard, remove all of the chooser code and uncomment the
-   * getString line to get the auto name from the text box below the Gyro
-   *
-   * <p>You can add additional auto modes by adding additional comparisons to
-   * the switch structure below with additional strings. If using the
-   * SendableChooser make sure to add them to the chooser code above as well.
    */
   @Override
   public void autonomousInit() {
-    m_autoSelected = m_chooser.getSelected();
-    // m_autoSelected = SmartDashboard.getString("Auto Selector", kDefaultAuto);
-    System.out.println("Auto selected: " + m_autoSelected);
     state = AutoState.STARTING;
   }