# 20211213~20211219 程式組
###### tags: `工作筆記 程式組`

## 20211214

### 魏仁祥

package frc.robot;

import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;

import edu.wpi.cscore.CvSource;
import edu.wpi.cscore.UsbCamera;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

public class Robot extends TimedRobot {
  private static final String kDefaultAuto = "Default";
  private static final String kCustomAuto = "My Auto";
  private String m_autoSelected;
  private final SendableChooser<String> m_chooser = new SendableChooser<>();

  // PWM channels
  public final int kFrontLeftChannel = 2;
  public final int kRearLeftChannel = 1;
  public final int kFrontRightChannel = 4;
  public final int kRearRightChannel = 3;
  public final int joystickPort = 0;

  // driver station ports
  public final int leftStick_X = 0;
  public final int leftStick_Y = 1;
  public final int rightStick_X = 4;
  public final int rightStick_Y = 5;
  public final int trigger_L = 2;
  public final int trigger_R = 3;
  public final int Btn_A = 1;
  public final int Btn_B = 2;
  public final int Btn_X = 3;
  public final int Btn_Y = 4;
  public final int Btn_LB = 5;
  public final int Btn_RB = 6;
  public final int Btn_LS = 9;  
  public final int Btn_RS = 10;

  // Motors
  WPI_TalonSRX m_frontLeft = new WPI_TalonSRX(kFrontLeftChannel);
  WPI_TalonSRX m_rearLeft = new WPI_TalonSRX(kRearLeftChannel);
  WPI_TalonSRX m_frontRight = new WPI_TalonSRX(kFrontRightChannel);
  WPI_TalonSRX m_rearRight = new WPI_TalonSRX(kRearRightChannel);

  // Joystick
  Joystick joystick = new Joystick(joystickPort);

  // Microsoft Camera
  // UsbCamera camera = CameraServer.getInstance().startAutomaticCapture();
  // CvSink cvSink = CameraServer.getInstance().getVideo();
  // CvSource outputStream = CameraServer.getInstance().putVideo("Blur", 640, 480);



  

  @Override
  public void robotInit() {
    m_frontRight.setInverted(true);
    m_rearRight.setInverted(true);
    m_frontLeft.setInverted(false);
    m_rearLeft.setInverted(false);
  }

  @Override
  public void robotPeriodic() {
  }

  @Override
  public void autonomousInit() {
  }

  
  @Override
  public void autonomousPeriodic() {
    switch (m_autoSelected) {
      case kCustomAuto:
        // Put custom auto code here
        break;
      case kDefaultAuto:
      default:
        // Put default auto code here
        break;
    }
  }

  
  @Override
  public void teleopInit() {
  }

  
  @Override
  public void teleopPeriodic() {
    double ySpeed = -joystick.getRawAxis(leftStick_Y) * -0.5;
    double xSpeed = joystick.getRawAxis(leftStick_X)* -0.5;
    double zRotation = joystick.getRawAxis(rightStick_X)* 0.5;

    m_frontLeft.set(ySpeed + xSpeed + zRotation);
    m_frontRight.set(ySpeed - xSpeed - zRotation);
    m_rearLeft.set(ySpeed - xSpeed + zRotation);
    m_rearRight.set(ySpeed + xSpeed - zRotation);
    
  }

  
  @Override
  public void disabledInit() {
  }

  
  @Override
  public void disabledPeriodic() {
  }

  
  @Override
  public void testInit() {
  }

  
  @Override
  public void testPeriodic() {
  }
}

### 黃冠穎
今天前幾分鐘聽matt講github，後面看frc characterization tool introduction，這個tool是後面再用pathweaver的時候會用來計算它的傳回值和目標值(位置和馬達轉速)，然後配合PID去控制達到目標值。https://www.youtube.com/watch?v=wqJ4tY0u6IQ&t=2388s
這影片有介紹到。目前setup是好了，可是deploy不了。

### 陳伯豪

reset()

package frc.robot;

import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import com.kauailabs.navx.frc.AHRS;

import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.drive.MecanumDrive;
import edu.wpi.first.wpilibj.interfaces.Gyro;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj.SPI;

public class Robot extends TimedRobot {
  private static final String kDefaultAuto = "Default";
  private static final String kCustomAuto = "My Auto";
  private String m_autoSelected;
  private final SendableChooser<String> m_chooser = new SendableChooser<>();


  public final int kFrontLeftChannel = 3;
  public final int kRearLeftChannel = 4;
  public final int kFrontRightChannel = 1;
  public final int kRearRightChannel = 2;

  public final int leftStick_X = 0;
  public final int leftStick_Y = 1;
  public final int rightStick_X = 4;
  public final int rightStick_Y = 5;
  public final int trigger_L = 2;
  public final int trigger_R = 3;
  public final int Btn_A = 1;
  public final int Btn_B = 2;
  public final int Btn_X = 3;
  public final int Btn_Y = 4;
  public final int Btn_LB = 5;
  public final int Btn_RB = 6;
  public final int Btn_LS = 9;  
  public final int Btn_RS = 10;

  AHRS Gyro = new AHRS(SPI.Port.kMXP);

  double ySpeed;
  double xSpeed;
  double zRotation;

  double kP = 1;
  double Gyro_error;

  WPI_TalonSRX LeftFront = new WPI_TalonSRX(kFrontLeftChannel);
  WPI_TalonSRX LeftRear = new WPI_TalonSRX(kRearLeftChannel);
  WPI_TalonSRX RightFront = new WPI_TalonSRX(kFrontRightChannel);
  WPI_TalonSRX RightRear = new WPI_TalonSRX(kRearRightChannel);

  Joystick joystick = new Joystick(0);

  SpeedControllerGroup LeftMotor = new SpeedControllerGroup(LeftFront, LeftRear);
  SpeedControllerGroup RightMotor = new SpeedControllerGroup(RightFront, RightRear);
  
  DifferentialDrive drive = new DifferentialDrive(LeftMotor, RightMotor);

  @Override
  public void robotInit() {
    RightFront.setInverted(true);
    RightRear.setInverted(true);
    LeftFront.setInverted(false);
    LeftRear.setInverted(false);
    Gyro.reset();
    SmartDashboard.putNumber("gyro tAngleAdjustment", Gyro.getAngleAdjustment());
  }

  @Override
  public void robotPeriodic() {
  }

  @Override
  public void autonomousInit() {
  }

  @Override
  public void autonomousPeriodic() {
    Gyro_error = 90 - Gyro.getAngleAdjustment() );

    drive.tankDrive( kP * Gyro_error, kP * Gyro_error);
  }

  @Override
  public void teleopInit() {
  }

  @Override
  public void teleopPeriodic() {

    ySpeed = -joystick.getRawAxis(leftStick_Y) * -0.5;
    xSpeed = joystick.getRawAxis(leftStick_X)* -0.5;
    zRotation = joystick.getRawAxis(rightStick_X)* 0.5;

    LeftFront.set(ySpeed + xSpeed + zRotation);
    RightFront.set(ySpeed - xSpeed - zRotation);
    LeftRear.set(ySpeed - xSpeed + zRotation);
    RightRear.set(ySpeed + xSpeed - zRotation);
  }

  @Override
  public void disabledInit() {
  }

  @Override
  public void disabledPeriodic() {
  }

  @Override
  public void testInit() {
  }

  @Override
  public void testPeriodic() {
  }
}

## 20211216

### 魏仁祥

今天 Albert 從頭帶著我們認識了 git 這個東西，他光是一開始的 git 和 github 就講了快一小時，就知道他講多詳細了。git 是在程式領域目前最廣泛被用來使用於版本控制(version control)的東西，也可讓多個人同時開發，也可以回朔追蹤程式碼，輕鬆知道中間是誰寫錯誰的問題。他也講解了 git 的工作流程(我不知道這樣講對不對???)，就簡單來說要先從 working diretory git add 到 staging area 去，再接著才能 git commit　到 repo。


接著我們看到了 command line 的基本操作，向是什麼 cd(進入某個資料夾)、 dir(列出所有資料夾) 等操作。最後的半小時我們在設定自己的 ssh key，ssh key 是一種類似加密安全的鑰史之類的東西，很麻煩但後來在 Matt 的協助下是完成了。

最後是最近看到了 [FRC 1678 Citrus Circuits](https://www.youtube.com/c/CitrusCircuits/videos) 的東西，發現裡面討論到很多我們之前都沒注意過的，

### 黃冠穎
今天Albert帶我們一步一步認識git這東西，教我們用git bush打指令，大部分都跟上面一樣，總之還有一堂，預計在下禮拜四。