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Logic fixes #1

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Logic fixes #1

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82d7543
Logic fixes
VarunAnanth2003 Jan 19, 2020
0fbd3af
Auto-Remove LED's
VarunAnanth2003 Jan 20, 2020
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2 changes: 2 additions & 0 deletions src/main/java/frc/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,8 @@
import frc.lib.sensors.ColorSensor;
import frc.lib.sensors.ColorSensor.Colors;
import frc.lib.util.CrashTracker;
import frc.robot.auto.modes.AutoModeBase;
import frc.robot.auto.modes.ExampleMode;
import frc.robot.loops.Looper;
import frc.robot.subsystems.Drive;
import frc.robot.subsystems.Limelight;
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51 changes: 48 additions & 3 deletions src/main/java/frc/robot/states/TimedLEDState.java
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Original file line number Diff line number Diff line change
Expand Up @@ -13,8 +13,10 @@
public interface TimedLEDState {
void getCurrentLEDState(LEDState desiredState, double timestamp);
int getPriority();
void upTimeout();
boolean isTimeout();

class FlashingLEDState implements TimedLEDState {
public class FlashingLEDState implements TimedLEDState {

public static FlashingLEDState kBootFault = new FlashingLEDState(LEDState.kRed, 0.75, 1);
public static FlashingLEDState kRuntimeFault = new FlashingLEDState(LEDState.kRed, 0.25, 1);
Expand All @@ -37,6 +39,8 @@ class FlashingLEDState implements TimedLEDState {
LEDState mStateTwo = new LEDState(0.0, 0.0, 0.0);
double mDuration;
int mPriority;
int mTimeoutMax;
int mCounter;

public FlashingLEDState(LEDState stateOne, LEDState stateTwo, double duration, int priority) {
mStateOne = stateOne;
Expand All @@ -47,6 +51,16 @@ public FlashingLEDState(LEDState stateOne, LEDState stateTwo, double duration, i

public FlashingLEDState(LEDState state, double duration, int priority) {
this(LEDState.kOff, state, duration, priority);
switch(priority) {
case 1:
mTimeoutMax = 5;
case 2:
mTimeoutMax = 5;
case 3:
mTimeoutMax = 1;
default:
mTimeoutMax = -1;
}
}

/**
Expand All @@ -72,24 +86,46 @@ public int getPriority() {
return mPriority - 1;
}

@Override
public void upTimeout() {
mCounter++;
}

@Override
public boolean isTimeout() {
return mTimeoutMax == -1 ? false : mCounter >= mTimeoutMax;
}

}

class StaticLEDState implements TimedLEDState {
public class StaticLEDState implements TimedLEDState {

public static StaticLEDState kEmergency = new StaticLEDState(LEDState.kRed, 1);
public static StaticLEDState kShooting = new StaticLEDState(LEDState.kGreen, 3);
public static StaticLEDState kAutoComplete = new StaticLEDState(LEDState.kOrange, 2);
public static StaticLEDState kHopperFull = new StaticLEDState(LEDState.kYellow, 3);
public static StaticLEDState kDisabled = new StaticLEDState(LEDState.kOff, 1);
public static StaticLEDState kEnabled = new StaticLEDState(LEDState.kWhite, 3);
public static StaticLEDState kBasic = new StaticLEDState(LEDState.kSpartaGreen, 3);
public static StaticLEDState kBasic = new StaticLEDState(LEDState.kSpartaGreen, 4);

LEDState mStaticState = new LEDState(0.0, 0.0, 0.0);
int mPriority;
int mTimeoutMax;
int mCounter;

public StaticLEDState(LEDState staticState, int priority) {
mStaticState.copyFrom(staticState);
mPriority = priority;
switch(priority) {
case 1:
mTimeoutMax = 5;
case 2:
mTimeoutMax = 10;
case 3:
mTimeoutMax = 15;
default:
mTimeoutMax = -1;
}
}

/**
Expand All @@ -109,6 +145,15 @@ public int getPriority() {
return mPriority - 1;
}

@Override
public void upTimeout() {
mCounter++;
}

@Override
public boolean isTimeout() {
return mTimeoutMax == -1 ? false : mCounter >= mTimeoutMax;
}
}


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23 changes: 19 additions & 4 deletions src/main/java/frc/robot/subsystems/LED.java
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,7 @@
import frc.robot.loops.Loop;
import frc.robot.states.LEDState;
import frc.robot.states.TimedLEDState;
import frc.robot.states.TimedLEDState.StaticLEDState;

/**
* Add your docs here.
Expand All @@ -37,14 +38,16 @@ public static LED getInstance() {
return mInstance;
}

// hardware
//hardware
private final CANifier mCanifier;

// states
//states
private ArrayList<TimedLEDState> errorstates = new ArrayList<>();
private ArrayList<TimedLEDState> warningstates = new ArrayList<>();
private ArrayList<TimedLEDState> infostates = new ArrayList<>();
private List<ArrayList<TimedLEDState>> allStates = Arrays.asList(errorstates, warningstates, infostates);
private ArrayList<TimedLEDState> basicstate = new ArrayList<>();
private List<ArrayList<TimedLEDState>> allStates = Arrays.asList(errorstates, warningstates, infostates,
basicstate);
private LEDState mDesiredLEDState = new LEDState(0.0, 0.0, 0.0);
private int priorityLogic = 0;
private int cycleLogic = 0;
Expand Down Expand Up @@ -100,7 +103,11 @@ public void onStop(double timestamp) {
public void logics(double startTime) {
if (errorstates.size() == 0) {
if (warningstates.size() == 0) {
priorityLogic = 2;
if (infostates.size() == 0) {
priorityLogic = 3;
} else {
priorityLogic = 2;
}
} else {
priorityLogic = 1;
}
Expand All @@ -109,6 +116,7 @@ public void logics(double startTime) {
}
if (Timer.getFPGATimestamp() - startTime > cycletime) {
startTime = Timer.getFPGATimestamp();
removeLED();
cycleLogic++;
if (allStates.get(priorityLogic).size() < cycleLogic) {
cycleLogic = 0;
Expand All @@ -120,6 +128,13 @@ public void updateLED(double timestamp) {
allStates.get(priorityLogic).get(cycleLogic).getCurrentLEDState(mDesiredLEDState, timestamp);
}

public void removeLED() {
allStates.get(priorityLogic).get(cycleLogic).upTimeout();
if(allStates.get(priorityLogic).get(cycleLogic).isTimeout()) {
removeFromQueue(allStates.get(priorityLogic).get(cycleLogic));
}
}

@Override
public void writePeriodicOutputs() {
mCanifier.setLEDOutput(mDesiredLEDState.red, LEDChannel.LEDChannelA);
Expand Down