###### tags: `程式組工筆 `

# 20220410 ~ 20220416

# 20220412

## Aslan

### Work Progress

Today, most of out time were spent on listening to Albert's turorial
Below is what I learned today

* Knowing what Java works and some common knowledge ( ?
1. How to definition a variable correctly.
2. Create a object
3. Difference between calling object in self subfunction and global
* Realized more useful progamming skill and some common misunderstandings about motors
<br>➨ Most of the motors have...
1. Shafts
2. Bearings
3. Brush Assemblies
➨ Motors can be brush or brushless
* About some controller thory
1. Official function about PID Control ( Using )

### About Homework From Albert

Below is my answer about homework

:::spoiler Code

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package frc.robot;

import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;

/**
 * The VM is configured to automatically run this class, and to call the functions corresponding to
 * each mode, as described in the TimedRobot documentation. If you change the name of this class or
 * the package after creating this project, you must also update the build.gradle file in the
 * project.
 */
public class Robot extends TimedRobot {

  private Command m_autonomousCommand;
  private RobotContainer m_robotContainer;

  Joystick joystick;
  Spark LFront, LRear, RFront, RRear;
  double xSpeed, ySpeed, zRotation;

  /**
   * This function is run when the robot is first started up and should be used for any
   * initialization code.
   */
  @Override
  public void robotInit() {
    // Instantiate our RobotContainer.  This will perform all our button bindings, and put our
    // autonomous chooser on the dashboard.
    m_robotContainer = new RobotContainer();
    joystick = new Joystick(0);
    LFront = new Spark(1);
    LRear = new Spark(2);
    RFront = new Spark(3);
    RRear = new Spark(4);
    xSpeed = joystick.getRawAxis(0);
    ySpeed = joystick.getRawAxis(1);
    zRotation = joystick.getRawAxis(4);
  }

  /**
   * This function is called every robot packet, no matter the mode. Use this for items like
   * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
   *
   * <p>This runs after the mode specific periodic functions, but before LiveWindow and
   * SmartDashboard integrated updating.
   */
  @Override
  public void robotPeriodic() {
    // Runs the Scheduler.  This is responsible for polling buttons, adding newly-scheduled
    // commands, running already-scheduled commands, removing finished or interrupted commands,
    // and running subsystem periodic() methods.  This must be called from the robot's periodic
    // block in order for anything in the Command-based framework to work.
    CommandScheduler.getInstance().run();
  }

  /** This function is called once each time the robot enters Disabled mode. */
  @Override
  public void disabledInit() {}

  @Override
  public void disabledPeriodic() {}

  /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
  @Override
  public void autonomousInit() {
    m_autonomousCommand = m_robotContainer.getAutonomousCommand();

    // schedule the autonomous command (example)
    if (m_autonomousCommand != null) {
      m_autonomousCommand.schedule();
    }
  }

  /** This function is called periodically during autonomous. */
  @Override
  public void autonomousPeriodic() {}

  @Override
  public void teleopInit() {
    // This makes sure that the autonomous stops running when
    // teleop starts running. If you want the autonomous to
    // continue until interrupted by another command, remove
    // this line or comment it out.
    if (m_autonomousCommand != null) {
      m_autonomousCommand.cancel();
    }
  }

  /** This function is called periodically during operator control. */
  @Override
  public void teleopPeriodic() {
    // MecanumDrive
    LFront.set(xSpeed + ySpeed + zRotation);
    RFront.set(ySpeed - xSpeed - zRotation);
    RFront.set(ySpeed - xSpeed + zRotation);
    RRear.set(ySpeed + xSpeed - zRotation);
  }

  @Override
  public void testInit() {
    // Cancels all running commands at the start of test mode.
    CommandScheduler.getInstance().cancelAll();
  }

  /** This function is called periodically during test mode. */
  @Override
  public void testPeriodic() {}

  /** This function is called once when the robot is first started up. */
  @Override
  public void simulationInit() {}

  /** This function is called periodically whilst in simulation. */
  @Override
  public void simulationPeriodic() {}
}

:::

## Summarize

Today I learned a lot of knowledge about hoe to progamming more smooth and concise.
Alought I'm not as smart as other team memeber, but I will try my best to understand and follow what we are going on.

## 吳玠廷
今天聽Albert學長講Java程式語言特別的部分，像是定義、創object、呼叫物件的位置都有所不同、呼叫各種馬達寫進程式的寫法不同以及解釋設定馬達電壓(速度一直增加)與直接設定馬達百分比速度，也講解了PID的函示庫之後聽了基礎的控制器理論，最後講微動開關(碰到為false)。

## 謝亞諺

### working process

* Writing tutorial
* Listen to Albert's tutorial

## 林俊彥
Albert intro us to basic control thoery and programing
The most impressive i remember is about the difference between creating an object , defining an object and initializing the whole project quite hard to me

# 20220414

# Aslan

Due to Albert wasn't comming today and I have a very urgent homework have to hand out tmr, I work on my homework today ♪(´▽｀) BUT I still work on our schedule, which is motor control, this week. I read some online course about Object Oriented Programming to understand deeper principle about Java. This is all I do this week.

## 林俊彥
Today Albert took a day off so i decided to complete my homework i didn't hand in on time after i understand how the homework that Albert gave .