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now testing pixy cam #85

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now testing pixy cam #85

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36 changes: 16 additions & 20 deletions src/main/java/frc/robot/subsystem/SubsystemFactory.java
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Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,7 @@
import java.util.logging.Logger;

import frc.robot.OI;
import frc.robot.OzoneException;
import frc.robot.subsystem.climber.Climber;
import frc.robot.subsystem.controlpanel.ControlPanel;
import frc.robot.subsystem.controlpanel.commands.RotateToColor;
Expand Down Expand Up @@ -77,7 +78,7 @@ public void init(DisplayManager dm, PortMan portMan) throws Exception {

logger.info("initializing");

botName = getBotName();
// botName = getBotName();
botName = "football";

logger.info("Running on "+botName);
Expand All @@ -92,7 +93,7 @@ public void init(DisplayManager dm, PortMan portMan) throws Exception {
case "football": initFootball(portMan); break;
case "unknown": initFootball(portMan); break; // default to football if we don't know better
case "zombie": initZombie(portMan); break;
default: throw new Exception("Unrecognized MAC Address [" + activeMACs + "]");
// default: throw new Exception("Unrecognized MAC Address [" + activeMACs + "]");

}

Expand Down Expand Up @@ -152,13 +153,20 @@ private void initFootball(PortMan portMan) throws Exception {
transport = new Transport();
transport.init(portMan);
displayManager.addTransport(transport);

TakeIn tc = new TakeIn(transport);
OI.getInstance().bind(tc, OI.RightJoyButton4, OI.WhenPressed);

PushOut pc = new PushOut(transport);
OI.getInstance().bind(pc, OI.RightJoyButton3, OI.WhenPressed);


/**
* All of the Pixy Line stuff goes here
*/
pixyLineCam = new PixyLineCam();
pixyLineCam.init(portMan);
displayManager.addPixyLineCam(pixyLineCam);
PollPixyLine p = new PollPixyLine(pixyLineCam);
OI.getInstance().bind(p, OI.LeftJoyButton10, OI.WhenPressed);

/**
* All of the OneWheelShooter stuff goes here
*/
Expand All @@ -175,22 +183,10 @@ private void initFootball(PortMan portMan) throws Exception {
twoWheelShooter = new TwoWheelShooter();
twoWheelShooter.init(portMan);
displayManager.addTwoWheelShooter(twoWheelShooter);

Shoot sh2 = new Shoot(twoWheelShooter);
OI.getInstance().bind(sh2, OI.LeftJoyButton4, OI.WhenPressed);
Stop st2 = new Stop(twoWheelShooter);
OI.getInstance().bind(st2, OI.LeftJoyButton5, OI.WhenPressed);

/**
* All of the Pixy Line stuff goes here
*/
pixyLineCam = new PixyLineCam();
pixyLineCam.init(portMan);
displayManager.addPixyLineCam(pixyLineCam);

PollPixyLine p = new PollPixyLine(pixyLineCam);
OI.getInstance().bind(p, OI.LeftJoyButton1, OI.WhenPressed);

OI.getInstance().bind(st2, OI.LeftJoyButton5, OI.WhenPressed);

}

Expand All @@ -210,7 +206,7 @@ public Transport getTransport() {
return transport;
}

private String getBotName() {
/* private String getBotName() {

Enumeration<NetworkInterface> networks = NetworkInterface.getNetworkInterfaces();
String activeMACs = "";
Expand All @@ -223,7 +219,7 @@ private String getBotName() {
logger.info(" this MAC is for "+botName);
}
}
}
}*/

/**
* Formats the byte array representing the mac address as more human-readable form
Expand Down
49 changes: 30 additions & 19 deletions src/main/java/frc/robot/subsystem/pixylinecam/PixyLineCam.java
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Original file line number Diff line number Diff line change
Expand Up @@ -32,6 +32,19 @@ public class PixyLineCam extends SubsystemBase{
private boolean leftStatus;
private boolean middleStatus;
private boolean rightStatus;
//logger variables
private String logX0;
private String logY0;
private String logX1;
private String logY1;
private String logIndex;
private String logFlags;
private String logArrayNumber;
private String logSlope;
private String logAngle;
private String logLeftStatus;
private String logMiddleStatus;
private String logRightStatus;

public PixyLineCam() {
}
Expand All @@ -54,44 +67,30 @@ public void resetPixyLine() {
}

public void init(PortMan portMan) {
logger.entering(PixyLineCam.class.getName(), "init()");

logger.info("initializing");
logger.info("Creating Pixy with link type of SPI");
pixy = Pixy2.createInstance(Pixy2.LinkType.SPI);
pixy.init(0);
logger.info("Here comes the version! :) " + pixy.getVersionInfo().toString());
line = pixy.getLine();

/* x0 = tab.add("Pixy x0", 0).getEntry();
y0 = tab.add("Pixy y0", 0).getEntry();
x1 = tab.add("Pixy x1", 0).getEntry();
y1 = tab.add("Pixy y1", 0).getEntry();
flags = tab.add("Pixy Flags", 0).getEntry();
index = tab.add("Pixy Index", 0).getEntry();
arrayNumber = tab.add("Number of Verticals", 0).getEntry();
slope = tab.add("Vector Slope", 0).getEntry();
angle = tab.add("Vector Angle", 0).getEntry();
leftStatus = tab.add("Left", false).getEntry();
middleStatus = tab.add("MIDDLE !!!!!!!", false).getEntry();
rightStatus = tab.add("Right", false).getEntry();
*/

}

}

public Pixy2Line getLine() {
logger.info("There's a line here");
return this.line;
}



public void writeLine(Pixy2Line.Vector line, int number) {
x0 = line.getX0();
y0 = line.getY0();
x1 = line.getX1();
y1 = line.getY1();
index = line.getIndex();
flags = line.getFlags();
arrayNumber = number;
arrayNumber = number;

//calculating slope
int vectorSlope = (line.getY0()-line.getY1())/(line.getX0()-line.getX1());
Expand Down Expand Up @@ -123,50 +122,62 @@ public void writeLine(Pixy2Line.Vector line, int number) {
}

public double getX0() {
logger.info("x0: " + x0);
return x0;
}

public double getY0() {
logger.info("y0: " + y0);
return y0;
}

public double getX1() {
logger.info("x1: " + x1);
return x1;
}

public double getY1() {
logger.info("y1: " + y1);
return y1;
}

public double getIndex() {
logger.info("index: " + index);
return index;
}

public double getFlags() {
logger.info("flags: " + flags);
return flags;
}

public int getArrayNumber() {
logger.info("array number: " + arrayNumber);
return arrayNumber;
}

public int getSlope() {
logger.info("slope: " + slope);
return slope;
}

public double getAngle() {
logger.info("angle: " + angle);
return angle;
}

public boolean getLeftStatus() {
logger.info("left status: " + leftStatus);
return leftStatus;
}

public boolean getMiddleStatus() {
logger.info("middle status: " + middleStatus);
return middleStatus;
}

public boolean getRightStatus() {
logger.info("right status: " + rightStatus);
return rightStatus;
}

Expand Down
2 changes: 0 additions & 2 deletions src/main/java/frc/robot/subsystem/pixylinecam/commands/PollPixyLine.java
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Original file line number Diff line number Diff line change
Expand Up @@ -4,8 +4,6 @@
import java.util.logging.Logger;

import edu.wpi.first.wpilibj2.command.CommandBase;
import frc.robot.subsystem.SubsystemFactory;
import frc.robot.subsystem.controlpanel.ControlPanel;
import frc.robot.subsystem.pixylinecam.PixyLineCam;

import io.github.pseudoresonance.pixy2api.Pixy2Line;
Expand Down