# 20211108~20211114 程式組
###### tags: `工作筆記 程式組`

## 20211109
### 黃冠穎
:::spoiler mecanum drive programming code

package frc.robot;

// Default Imports
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.drive.MecanumDrive;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

// Phoenix Tuner Related Imports
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;


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<>();

  // Change Spark to be the name of the motor that is being used
  WPI_TalonFX m_frontRight = new WPI_TalonFX(3);
  WPI_TalonFX m_rearRight = new WPI_TalonFX(4);
  SpeedControllerGroup m_right = new SpeedControllerGroup(m_frontRight, m_rearRight);

  WPI_TalonFX m_frontLeft = new WPI_TalonFX(1);
  WPI_TalonFX m_rearLeft = new WPI_TalonFX(2);
  SpeedControllerGroup m_left = new SpeedControllerGroup(m_frontLeft, m_rearLeft);

  MecanumDrive m_robotDrive;
  Joystick m_stick;
  Joystick m_zstick;
  Timer m_timer;

  // Following are declarations for the buttons on the controller
  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;
  
  @Override
  public void robotInit() {
    // If left is inverted, set the following setting
    // m_left.setInverted(true);
    m_robotDrive = new MecanumDrive(m_frontLeft, m_rearLeft, m_frontRight, m_rearLeft);

    // Make sure that the channels are matched accordingly
    m_stick = new Joystick(0);
    m_zstick = new Joystick(1);
    m_timer = new Timer();

    m_chooser.setDefaultOption("Default Auto", kDefaultAuto);
    m_chooser.addOption("My Auto", kCustomAuto);
    SmartDashboard.putData("Auto choices", m_chooser);
  }

  /**
   * 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() {}

  /**
   * This autonomous (along with the chooser code above) shows how to select between different
   * autonomous modes using the dashboard. The sendable chooser code works with the Java
   * SmartDashboard. If you prefer the LabVIEW Dashboard, remove all of the chooser code and
   * uncomment the getString line to get the auto name from the text box below the Gyro
   *
   * <p>You can add additional auto modes by adding additional comparisons to the switch structure
   * below with additional strings. If using the SendableChooser make sure to add them to the
   * chooser code above as well.
   */
  @Override
  public void autonomousInit() {
    m_autoSelected = m_chooser.getSelected();
    // m_autoSelected = SmartDashboard.getString("Auto Selector", kDefaultAuto);
    System.out.println("Auto selected: " + m_autoSelected);

    m_timer.reset();
    m_timer.start();
  }

  /** This function is called periodically during autonomous. */
  @Override
  public void autonomousPeriodic() {
    switch (m_autoSelected) {
      case kCustomAuto:
        // Put custom auto code here
        if (m_timer.get() < 2.0) {
          
        }
        break;
      case kDefaultAuto:
      default:
        // Put default auto code here
        break;
    }
  }

  /** This function is called once when teleop is enabled. */
  @Override
  public void teleopInit() {
    System.out.println("Teleop Mode Initiated, MecanumMode Working");
  }

  /** This function is called periodically during operator control. */
  @Override
  public void teleopPeriodic() {
    m_robotDrive.driveCartesian(m_stick.getX(), -m_stick.getY(), m_zstick.getX());
  }

  /** This function is called once when the robot is disabled. */
  @Override
  public void disabledInit() {}

  /** This function is called periodically when disabled. */
  @Override
  public void disabledPeriodic() {}

  /** This function is called once when test mode is enabled. */
  @Override
  public void testInit() {}

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

:::

### 魏仁祥

- [Controlling the individual speed of mecanum wheels within the main programme](https://www.chiefdelphi.com/t/controlling-the-individual-speed-of-mecanum-wheels-within-the-main-programme/130688)
- [FRC Driver’s Station No Robot Communication](https://www.chiefdelphi.com/t/frc-drivers-station-no-robot-communication/347886)
- [Driver station has no robot communication](https://www.chiefdelphi.com/t/driver-station-has-no-robot-communication/155248/7)

### 吳玠廷
今天開始寫limelight的程式，一開始我用直角三角形的概念去寫把目標到地上的垂直距離和目標到機器人的稅平距離當作兩股算出機器人到目標的距離在控制他前後移動但後來發現不能轉彎只放棄，今天主要在試寫limelight。

### 謝亞諺
今天完成了學長要求的limelight跟隨程式，結果在上機的時侯，找不到機器人網路，所以學長說下次在教如何設置radio

## 20211111
### 黃冠穎
今天看完了freecodecamp的html已經有點概念了，而之後的JavaScript跟css影片一個7小時一個6小時，我想我應該會在家裡先看一點再來看。雖然一個禮拜只有一個晚上兩小時可以看，但我希望盡量在年底前學會寫個網頁。

### 吳玠廷
今天學長教我們怎麼剝線和各種工具的用途並試著讓我們剝看看，依照線的直徑會用不同寬度的剝線鉗剝，今天也連接了網路盒到PDP的線。
### 謝亞諺
今天看了css的一些東東，我主要都在看

:::warning
### !!!Matt 請在工筆姓名前加註中文姓名，以便檢查工筆!!!謝謝配合~
:::