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Robot.java
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Robot.java
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package org.usfirst.frc.team6678.robot;
import java.io.BufferedReader;
import java.io.IOException;
import java.io.InputStreamReader;
import java.io.PrintWriter;
import java.net.ServerSocket;
import java.net.Socket;
import edu.wpi.cscore.UsbCamera;
import edu.wpi.cscore.UsbCameraInfo;
import edu.wpi.first.wpilibj.CameraServer;
import edu.wpi.first.wpilibj.Compressor;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import org.usfirst.frc.team6678.robot.autonomous.AutonomousHandler;
import org.usfirst.frc.team6678.robot.backgroundTasks.BackgroundTaskHandler;
import org.usfirst.frc.team6678.robot.backgroundTasks.ButtonSwitchState;
import org.usfirst.frc.team6678.robot.backgroundTasks.UltraSonicDistanceSensor;
/**
* The VM is configured to automatically run this class, and to call the
* functions corresponding to each mode, as described in the IterativeRobot
* documentation. If you change the name of this class or the package after
* creating this project, you must also update the manifest file in the resource
* directory.
*/
public class Robot extends IterativeRobot {
private Timer timer = new Timer();
private Joystick stick = new Joystick(0);
private Driving driving = new Driving(stick);
private AutonomousHandler autonomous = new AutonomousHandler(timer, driving.driver);
private Compressor compressor = new Compressor(0);
private DoubleSolenoid actuator = new DoubleSolenoid(0, 1);
/**
* This function is run when the robot is first started up and should be
* used for any initialization code.
*/
@Override
public void robotInit() {
Log.message("Robot", "Robot Init started");
//Saetter kompressoren til at automatisk koere naar noedvendigt
compressor.setClosedLoopControl(true);
for(int i = 0; i < 10; i++)
setupStreamingCamera(i);
setupServer(4444);
Log.info("Robot", "Robot Init finish");
}
/**
* This function is called periodically while the robot is enabled
* Code that shall be run in all modes, e.g. {@link #autonomousPeriodic()}, {@link #teleopPeriodic()},
* {@link #testPeriodic()} and {@link #disabledPeriodic()}, can be placed here,
* instead of providing the same code in every of the aforementioned methods.
*/
@Override
public void robotPeriodic() {
BackgroundTaskHandler.handle();
}
/**
* This function is run once each time the robot enters autonomous mode
*/
@Override
public void autonomousInit() {
Log.message("Robot", "Autonomous Init started");
timer.reset();
timer.start();
autonomous.init();
Log.info("Robot", "Autonomous Init finished");
}
/**
* This function is called periodically during autonomous
*/
@Override
public void autonomousPeriodic() { //Skal laves fuldkommen om fra bunden...
autonomous.loop();
}
/**
* This function is called once each time the robot enters tele-operated
* mode
*/
@Override
public void teleopInit() {
}
/**
* This function is called periodically during operator control
*/
@Override
public void teleopPeriodic() {
//Triggeren paa joysticket styrer solenoid'en til tandhjulene
if(stick.getRawButton(1)) {
actuator.set(Value.kForward);
} else {
actuator.set(Value.kReverse);
}
/*
* The device shuts down outputs when the voltage goes below 6.8V.
* Device blackout should happen at about 4.5V, but might happen earlier.
* See https://wpilib.screenstepslive.com/s/4485/m/24166/l/289498 for more details.
* 7.5V is chosen to have a relatively large safety margin, but it could be lowered a bit.
*/
double voltage = DriverStation.getInstance().getBatteryVoltage();
Log.debug("Voltage", voltage + " V");
if(voltage >= 7.5) {
driving.loop();
} else {
driving.driver.stopMotors();
Log.warn("Voltage", "Voltage is critically low! " + voltage + "V");
}
}
/**
* This function is called periodically during test mode
*/
@Override
public void testPeriodic() {
LiveWindow.run();
}
//-----------------------------------------------------------------------//
/*
* Our custom methods go below / Vores egne metoder herunder:
*/
/**
* Opsaetter en simpel server via ServerSocket, som kan modtage og sende kommandoer,
* som kan behandles i koden. Dette aabner op for interaktion mellem RoboRio'en,
* som denne kode koerer paa, og andre enheder, der er opkoblet paa samme netvaerk.
* Bemaerk at hele serveren og al haandteringen af data og kommandoer foregaar
* paa en seperat traad.
* Bemaerk desuden at den nuvaerende implementering kun tillader en enkelt client.
*
* @param port Porten som serveren aabnes for.
*/
private void setupServer(int port) {
new Thread(() -> {
try( //Auto-closing objects in the new try-catch-statement
ServerSocket serverSocket = new ServerSocket(port);
Socket clientSocket = serverSocket.accept();
PrintWriter out = new PrintWriter(clientSocket.getOutputStream(), true);
BufferedReader in = new BufferedReader(new InputStreamReader(clientSocket.getInputStream()));
) {
WebServerHandler handler = new WebServerHandler();
String input;
while(clientSocket.isConnected() && !clientSocket.isClosed()) {
if((input = in.readLine()) != null)
out.println(handler.handleInput(input));
}
} catch (IOException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
}).start();
}
/**
* Opsaetter et USB-tilsluttet kamera, og streamer dets input
* videre til visning paa FRC Driver Station, uden nogen billedbehandling.
*
* @param index Index'et for det kamera, der skal opsaettes.
* @return True hvis opsaetningen lykkedes; ellers false.
*/
private boolean setupStreamingCamera(int index) {
UsbCameraInfo[] detectedCameras = UsbCamera.enumerateUsbCameras();
if(detectedCameras != null && detectedCameras.length > index) {
System.out.println(detectedCameras[index].path);
CameraServer.getInstance().startAutomaticCapture(detectedCameras[index].dev);
return true;
}
return false;
}
}