Alex

README.md

@@ -22,14 +22,16 @@
         cd ..
         mv FRC-2014 2014
 
+NOTE: If you recieve errors when trying "git clone git@github.com:frc604/FRC-2014.git" [read this][5] 
+
  6. Go to Netbeans and create a new "Simple Robot Template" project with the
     following settings:
 
     | Field            | Value                      |
     | ---------------- | -------------------------- |
     | Project Name     | FRC-2014                   |
-    | Package          | com._604robotics.robot2014 |
-    | Main Robot Class | Robot2014                  |
+    | Project Package  | com._604robotics.robot2014 |
+    | Robot Class      | Robot2014                  |
 
     If you get strange errors starting up the code after a deploy, it's because
     you messed these settings up!
@@ -51,4 +53,4 @@ If you have any questions, talked to [Michael][4].
 [2]: http://wpilib.screenstepslive.com/s/3120/m/7885/l/79407-configuring-the-netbeans-installation
 [3]: http://git-scm.com/
 [4]: mailto:mdsmtp@gmail.com
-
+[5]: https://help.github.com/articles/generating-ssh-keys/

src/com/_604robotics/robot2014/Robot2014.java

@@ -20,7 +20,7 @@
 
 public class Robot2014 extends Robot {
     public Robot2014 () {
-        this.set(new ModuleMap() {{
+        this.set(new ModuleMap() {{  //adds each module to a hashtable named moduleTable. Not sure what a hashtable is exactly. Figure this out.
             add("Dashboard", new Dashboard());
             add("Vision", new Vision());
             add("Drive", new Drive());

src/com/_604robotics/robot2014/modes/AutonomousMode.java

@@ -14,12 +14,12 @@ public class AutonomousMode extends Procedure {
     public AutonomousMode () {
         super(new Coordinator() {
             protected void apply (ModuleManager modules) {
-                this.bind(new Binding(modules.getModule("Shifter").getAction("Low Gear")));
+                this.bind(new Binding(modules.getModule("Shifter").getAction("Low Gear"))); //set the shifter into low gear
 
-                this.bind(new Binding(modules.getModule("Shooter").getAction("Retract")));
+                this.bind(new Binding(modules.getModule("Shooter").getAction("Retract"))); //retract the shooter
                 this.bind(new Binding(modules.getModule("Intake").getAction("On"), new TriggerAnd(new TriggerAccess[] {
                     modules.getModule("Shooter").getTrigger("Charged"),
-                    modules.getModule("Shooter").getTrigger("Deployed").not()
+                    modules.getModule("Shooter").getTrigger("Deployed").not()//turn intake on if shooter is charged and not deployed
                 })));
             }
         });
@@ -34,26 +34,26 @@ protected void apply (ModuleManager modules) {
         }));
 
         add("Align", new Step(new TriggerMeasure(new TriggerAnd(new TriggerAccess[] {
-            modules.getModule("Drive").getTrigger("At Servo Target"),
+            modules.getModule("Drive").getTrigger("At Servo Target"), //when the servo is at target and the shooter is charged
             modules.getModule("Shooter").getTrigger("Charged")
         })), new Coordinator() {
             protected void apply (ModuleManager modules) {
                 this.bind(new Binding(modules.getModule("Drive").getAction("Servo")));
-                this.fill(new DataWire(modules.getModule("Drive").getAction("Servo"), "clicks", 1663));
+                this.fill(new DataWire(modules.getModule("Drive").getAction("Servo"), "clicks", 1663)); //drive forwards 1663 clicks
             }
         }));
 
         add("Pause", new Step(new TriggerMeasure(modules.getModule("Vision").getTrigger("Ready")), new Coordinator() {
             protected void apply (ModuleManager modules) {
-                this.bind(new Binding(modules.getModule("Vision").getAction("Pause")));
-                this.bind(new Binding(modules.getModule("Flower").getAction("Shoot")));
-                this.bind(new Binding(modules.getModule("Rotation").getAction("Manual Angle")));
+                this.bind(new Binding(modules.getModule("Vision").getAction("Pause"))); //pause vision
+                this.bind(new Binding(modules.getModule("Flower").getAction("Shoot"))); //put flower into the shoot position
+                this.bind(new Binding(modules.getModule("Rotation").getAction("Manual Angle"))); //I can't figure out how rotation works at all. Ask Michael about this.
             }
         }));
 
         add("Aim", new Step(new TriggerMeasure(new TriggerAnd(new TriggerAccess[] {
             modules.getModule("Rotation").getTrigger("At Angle Target"),
-            modules.getModule("Flower").getTrigger("Travelling").not()
+            modules.getModule("Flower").getTrigger("Travelling").not() //while the flower isn't traveling
         })), new Coordinator() {
             protected void apply (ModuleManager modules) {
                 this.bind(new Binding(modules.getModule("Rotation").getAction("Manual Angle")));
@@ -63,7 +63,7 @@ protected void apply (ModuleManager modules) {
         add("Shoot", new Step(new Coordinator() {
             protected void apply (ModuleManager modules) {
                 this.bind(new Binding(modules.getModule("Rotation").getAction("Manual Angle")));
-                this.bind(new Binding(modules.getModule("Shooter").getAction("Deploy"), true));
+                this.bind(new Binding(modules.getModule("Shooter").getAction("Deploy"), true)); //fire the ball
             }
         }));
     }

src/com/_604robotics/robot2014/modules/Dashboard.java

@@ -9,7 +9,7 @@
 public class Dashboard extends Module {
     public Dashboard () {
         this.set(new DataMap() {{
-            add("Manual Angle", new DashboardData("Manual Angle", -50D));
+            add("Manual Angle", new DashboardData("Manual Angle", -50D)); //sets up the angles for each rotation position
 
             add("Stow Angle"  , new DashboardData("Stow Angle", 0D));
             add("Shoot Angle" , new DashboardData("Shoot Angle", -50D));

src/com/_604robotics/robot2014/modules/Drive.java

@@ -18,14 +18,14 @@
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 public class Drive extends Module {
-    private final RobotDrive drive = new RobotDrive(2, 1);
+    private final RobotDrive drive = new RobotDrive(2, 1); //left, right motors on ports 2,1
 
-    private final Encoder leftEncoder = new Encoder(2, 1);
-    private final Encoder rightEncoder = new Encoder(3, 4);
+    private final Encoder leftEncoder = new Encoder(2, 1); //left encoder on channels 2,1
+    private final Encoder rightEncoder = new Encoder(3, 4); //right encoder on channels 3,4
 
     private final PIDController pid = new PIDController(0.005, 0D, 0.005, leftEncoder, new PIDOutput () {
         public void pidWrite (double output) {
-            drive.setLeftRightMotorOutputs(output, output);
+            drive.setLeftRightMotorOutputs(output, output); //set the speed of the left and right motors
         }
     });
 
@@ -36,7 +36,7 @@ public Drive () {
         leftEncoder.start();
         rightEncoder.start();
 
-        pid.setAbsoluteTolerance(25);
+        pid.setAbsoluteTolerance(25); //set the error range for which onTarget can still return true
         SmartDashboard.putData("Drive PID", pid);
 
         this.set(new DataMap() {{
@@ -66,12 +66,12 @@ public double run () {
         }});
 
         this.set(new TriggerMap() {{
-            add("At Servo Target", new Trigger() {
+            add("At Servo Target", new Trigger() {  //I wanna say this will run the servo for .5 seconds. 
                 private final Timer timer = new Timer();
                 private boolean timing = false;
 
                 public boolean run () {
-                    if (pid.isEnable() && pid.onTarget()) {
+                    if (pid.isEnable() && pid.onTarget()) { //if the pid controller is on and is on within the tolerance
                         if (!timing) {
                             timing = true;
                             timer.start();
@@ -95,20 +95,20 @@ public boolean run () {
         this.set(new ElasticController() {{
             addDefault("Off", new Action() {
                 public void run (ActionData data) {
-                    drive.tankDrive(0D, 0D);
+                    drive.tankDrive(0D, 0D); //leftstick and right stick values. not sure what that means exactly.
                 }
             });
 
             add("Arcade Drive", new Action(new FieldMap () {{
-                define("throttle", 0D);
-                define("turn", 0D);
+                define("throttle", 0D); //the throttle stick value
+                define("turn", 0D); //the turn stick value
             }}) {
                 public void run (ActionData data) {
-                    drive.arcadeDrive(data.get("throttle"), data.get("turn"));
+                    drive.arcadeDrive(data.get("throttle"), data.get("turn")); //sets the throttle and turn stick values
                 }
 
                 public void end (ActionData data) {
-                    drive.stopMotor();
+                    drive.stopMotor(); //stops the motor I suppose
                 }
             });
 
@@ -125,7 +125,7 @@ public void end (ActionData data) {
                 }
             });
 
-            add("Stick Drive", new Action(new FieldMap () {{
+            add("Stick Drive", new Action(new FieldMap () {{ // I'm almost completely sure this is exaclty the same as arcade drive but I could be wrong
                 define("throttle", 0D);
                 define("turn", 0D);
             }}) {
@@ -142,22 +142,22 @@ public void end (ActionData data) {
                 define("clicks", 0D);
             }}) {
                 public void begin (ActionData data) {
-                    pid.setSetpoint(data.get("clicks") + data.data("Left Drive Clicks"));
-                    pid.enable();
+                    pid.setSetpoint(data.get("clicks") + data.data("Left Drive Clicks")); //set the clicks and the clicks to the desired value?
+                    pid.enable(); //start running the pid controller
                 }
 
                 public void end (ActionData data) {
-                    pid.reset();
+                    pid.reset(); //Reset the previous error, the integral term, and disable the controller
                 }
             });
 
             add("Forward", new Action() {
                 public void run (ActionData data) {
-                    drive.setLeftRightMotorOutputs(1.0, 1.0);
+                    drive.setLeftRightMotorOutputs(1.0, 1.0); // the speeds of the left an right motor become 1
                 }
 
                 public void end (ActionData data) {
-                    drive.stopMotor();
+                    drive.stopMotor(); //stops the motor
                 }
             });
         }});

src/com/_604robotics/robot2014/modules/Flower.java

@@ -10,67 +10,67 @@
 import edu.wpi.first.wpilibj.Timer;
 
 public class Flower extends Module {
-    private final Solenoid top = new Solenoid(4);
-    private final Solenoid sides = new Solenoid(5);
-    private final Solenoid bottom = new Solenoid(3);
+    private final Solenoid top = new Solenoid(4); //top solenoid in channel 4
+    private final Solenoid sides = new Solenoid(5); //side solenoids in channel 5
+    private final Solenoid bottom = new Solenoid(3); //bottom solenoid in channel 3
 
     private final Timer travelTimer = new Timer();
 
     public Flower () {
         this.set(new TriggerMap() {{
             add("Travelling", new Trigger() {
                 public boolean run () {
-                    return travelTimer.get() < 0.6;
+                    return travelTimer.get() < 0.6; //petals always travel for at least .6 seconds
                 }
             });
         }});
 
         this.set(new StateController () {{
             addDefault("Close", new Action() {
                 public void begin (ActionData data) {
-                    top.set(false);
-                    sides.set(false);
-                    bottom.set(false);
+                    top.set(false); //for the closed polition, the top petal is closed
+                    sides.set(false); //the sides are closed
+                    bottom.set(false); //the bottom is closed
 
                     travelTimer.reset();
                 }
             });
 
             add("Open", new Action() {
                 public void begin (ActionData data) {
-                    top.set(true);
-                    sides.set(true);
-                    bottom.set(true);
+                    top.set(true); //for the open position, the top petal is open
+                    sides.set(true); //the sides are open
+                    bottom.set(true); //and the bottom is open
 
                     travelTimer.reset();
                 }
             });
 
             add("Pickup", new Action() {
                 public void begin (ActionData data) {
-                    top.set(false);
-                    sides.set(false);
-                    bottom.set(false);
+                    top.set(false); //for the pickup position, the top is closed
+                    sides.set(false); //the sides are closed
+                    bottom.set(false); //and the bottom is closed
 
                     travelTimer.reset();
                 }
             });
 
             add("Drop", new Action() {
                 public void begin (ActionData data) {
-                    top.set(true);
-                    sides.set(true);
-                    bottom.set(false);
+                    top.set(true); //for the dropping position, the top petal is open
+                    sides.set(true); //the sides are opened
+                    bottom.set(false); //and the bottom is closed
 
                     travelTimer.reset();
                 }
             });
 
             add("Shoot", new Action() {
                 public void begin (ActionData data) {
-                    top.set(true);
-                    sides.set(false);
-                    bottom.set(false);
+                    top.set(true); //for the shooting position, the top petal is open
+                    sides.set(false); //the sides are closed
+                    bottom.set(false); //and the bottom is closed
 
                     travelTimer.reset();
                 }

src/com/_604robotics/robot2014/modules/Intake.java

@@ -7,22 +7,22 @@
 import edu.wpi.first.wpilibj.Victor;
 
 public class Intake extends Module {
-    private final Victor motor = new Victor(5);
+    private final Victor motor = new Victor(5); //adds intake victor to channel 5
 
     public Intake() {
         this.set(new ElasticController() {{
             addDefault("Off", new Action() {
-                public void run(ActionData data) {
+                public void run(ActionData data) { //stops intake
                     motor.stopMotor();
                 }
             });
 
             add("On", new Action() {
-                public void run(ActionData data) {
+                public void run(ActionData data) { //runs the intake
                     motor.set(-1D);
                 }
 
-                public void end(ActionData data) {
+                public void end(ActionData data) { //stops the intake
                     motor.stopMotor();
                 }
             });

src/com/_604robotics/robot2014/modules/Regulator.java

@@ -8,25 +8,26 @@
 import com._604robotics.robotnik.trigger.TriggerMap;
 import edu.wpi.first.wpilibj.Compressor;
 
+/*controls the compressor for pneumatics*/
 public class Regulator extends Module {
-    private final Compressor compressor = new Compressor(5, 1);
+    private final Compressor compressor = new Compressor(5/*pressure switch channel*/, 1/*compressor Relay Channel*/);
 
     public Regulator () {
         this.set(new TriggerMap() {{
             add("Charged", new Trigger() {
                 public boolean run () {
-                    return compressor.getPressureSwitchValue();
+                    return compressor.getPressureSwitchValue(); //how much pressure
                 }
             });
         }});
 
         this.set(new ElasticController() {{
             addDefault("On", new Action() {
-                public void begin (ActionData data) {
+                public void begin (ActionData data) { //starts the compressor
                     compressor.start();
                 }
 
-                public void end (ActionData data) {
+                public void end (ActionData data) { //stops the compressor
                     compressor.stop();
                 }
             });

src/com/_604robotics/robot2014/modules/Rotation.java

@@ -16,10 +16,10 @@
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 public class Rotation extends Module {
-    private final MA3A10 encoder = new MA3A10(1, 1);
-    private final Victor motor = new Victor(3);
+    private final MA3A10 encoder = new MA3A10(1, 1); //I have no idea what this device is. Something tossed on the rotation mechanism if I were to guess.
+    private final Victor motor = new Victor(3); //new victor in channel 3
 
-    private final AntiWindupPIDController pid = new AntiWindupPIDController(-0.025, 0, Double.MAX_VALUE, 1, -0.025, encoder, motor);
+    private final AntiWindupPIDController pid = new AntiWindupPIDController(-0.025, 0, Double.MAX_VALUE, 1, -0.025, encoder/*input*/, motor/*output*/);
 
     private double baseAngle = 185D;
 
@@ -91,11 +91,12 @@ public void end (ActionData data) {
                 }
             });
 
-            add("Manual Angle", new AngleAction());
+            //All of this is set in the Dashboard module? But it's not imported. I have no idea man. 
+            add("Manual Angle", new AngleAction()); //Manual angle is set to -50D
 
-            add("Stow",   new AngleAction());
-            add("Shoot",  new AngleAction());
-            add("Ground", new AngleAction());
+            add("Stow",   new AngleAction()); //Stow angle is set to 0D
+            add("Shoot",  new AngleAction()); //Shoot angle is set to -50D
+            add("Ground", new AngleAction()); //Ground angle is set to -108D
 
             add("Hold", new Action() {
                 public void begin (ActionData data) {