Java WorkshopPart 3

Instead of going over previous years’ code. Wewill rewrite 2014’s code using the SimpleRobotTemplate

•

But first let’s get thru OOP 101•

Object OrientedProgramming

CLASS!•

A class is just a blueprint of the objectwill create

that we•

It can importanothermethods from

className of the class

Also tells you whatrelated to

it is

It can havemember variables

It MUST haveconstructor,

a

sometimes more than one

It can havemember functions

Extends: is-a relationship.•

A joystick is a GenericHID•

A joystick can do everything a GenericHID can.•

Implements: has relationship•

A joystick has all the functionsinterface

of IInputOutput•

Private functions

Public functions

Public vs. Private

Public keyword means it can be accessed withdot operator outside of the class

Private keyword means it can only be accessed WITHINthe class. Cannot be accessed with dot operator

Constants

Constants are often declared with•

public static final•

in some cases just static final•

Instantiation

To create an instant of an object usingblueprint.

the class•

You must ask the program to create an objectwith the keyword “new”

•

Once it’s instantiated, you will refer to yourobject by its name, not the name of the blueprint

•

O

How to instantiate an object

School lowellHighSchool = new School(697);•

Type of object MAGIC WORD T

MAKENEW

THINGS!!Name of object Constructor withargument

Make a new project and name it 2014Team4159Recode•

Name the class Main•

Outline of what physical components we have•

Drive Train•

6 Talons, 2 sides•

Pneumatics•

Shifting solenoid•

Pickup soleniods•

Pickup•

1 Talon•

Sensors•

Gyro•

2 Encoders•

Joysticks•

2 driving•

1 secondary•

Outline of desired functions•

Autonomous•

Roborealm interface to allow the “cheat”•

Multiple modes for auto in smartdashboard•

drive straight dump ball•

Teleop•

Tank drive, shifting•

Pickup, both the motor and raise/lower•

Since this program is relatively big, it’s best tokeep everything organized and as modularized as possible.

•

So we will create an IO class to store all of ourconnections to the physical world.

•

Just a bit more gardening to make it look evenmore organized

•

Now fill the stuff in with the pinout sheet. I’ll leavethat to you guys

•

However, you must use public static final as typesince you don’t want these things to change under any circumstances

•

Now we need to call the IO class at thebeginning of the main code so we can instantiate the physical components.

•

DO NOT INSTANTIATE THE IO CLASS

•

Now time for some classes for our individualcomponents of the robot

•

Drive•

we will write our own custom drive functionsto incorporate the gyro

•

Pickup•

Drive

Pickup

Teleop

Since teleop is simpler, lets writewhat we want to do in teleop first

the code for•

Drive(shifting)•

Pickup control(motor spin + raise/lower)•

Button actions•

DriveStick: 2/3 => low/high gear•

ShooterStick: 4/5 => lower/raise pickup•

ShooterStick: 3/Trigger => spins pickup•

Set refresh rate at 20ms•

Autonomous

We have to use SmartDashboard to select the

specific type of autonomous mode we’re doing

•

Make another class, name it DashboardManager•

Assume Roborealm gives a number of howmany “signals” it sees. When it sees more than0, it will return the boolean “shootReady” to true

•

Variable named BLOB_COUNT•

AutonomousModeActions

To prevent Main.java from getting messy andunreadable, we will create another class namedAutonomousModeActions

•

This class will store all the actions of the robotfor each cases during autonomous

•

DashboardManager

We have 4 predefined actions we can take•

Low goal blind auto = 1•

Low goal detection auto = 2•

Drive only auto = 3•

No Drive auto = 4•

Add those 4 variables as constants into theAutonomousModeActions class

•

Now write those 4 methods•

DashboardManager

Now we can setup a radio button list inSmartDashboard for each mode. Assign the int associated with each mode to the radio button.

•

Autonomous

Now going back to Main.java, we need to tellrobot what do to during Autonomous mode

the•

First need to stop all the motors just to makesure we’re not moving

•

use “getAutonomousMode” function you justwrote to get which mode of autonomous the driver selected

•

Since the mode selected will be returned as anint, use a switch to determine which mode you’re in and call the appropriate function in AutonomousModeActions class

•

We are DONE!!!!•

Now clean and build the program to make surethere’s no bug.

•