More Documentation

OffSeasonBot2019/src/main/java/com/team2813/frc2019/actions/Action.java

@@ -23,5 +23,10 @@ public interface Action {
 	 */
 	void end(double timestamp);
 
+	/**
+	 * Returns whether action should be removed when robot has been disabled.
+	 *
+	 * @return Always returns false
+	 */
 	default boolean getRemoveOnDisabled() {return false;}
 }

OffSeasonBot2019/src/main/java/com/team2813/frc2019/actions/FunctionAction.java

@@ -9,6 +9,11 @@ public class FunctionAction implements Action {
 	private final Runnable function;
 	private final boolean removeOnDisabled;
 
+	/**
+	 * Creates a new action from a function
+	 * @param function
+	 * @param removeOnDisabled
+	 */
 	public FunctionAction(Runnable function, boolean removeOnDisabled) {
 		this.function = function;
 		this.removeOnDisabled = removeOnDisabled;

OffSeasonBot2019/src/main/java/com/team2813/frc2019/actions/ParallelAction.java

@@ -15,10 +15,18 @@ public class ParallelAction implements Action {
 
 	private List<Action> actions;
 
+	/**
+	 * Creates a new action that runs a list of actions to be run simultaneously
+	 * @param actions
+	 */
 	public ParallelAction(List<? extends Action> actions) {
 		this.actions = new ArrayList<>(actions);
 	}
 
+	/**
+	 * Creates a new action that runs a list of actions to be run simultaneously
+	 * @param actions
+	 */
 	public ParallelAction(Action...actions) {
 		this(Arrays.asList(actions));
 	}

OffSeasonBot2019/src/main/java/com/team2813/frc2019/actions/SeriesAction.java

@@ -15,10 +15,18 @@ public class SeriesAction implements Action {
 
 	private Action currentAction;
 
+	/**
+	 * Creates a new action from a list of actions to be run sequentially
+	 * @param actions
+	 */
 	public SeriesAction(List<? extends Action> actions) {
 		this.actions = new LinkedList<>(actions);
 	}
 
+	/**
+	 * Creates a new action from a list of actions to be run sequentially
+	 * @param actions
+	 */
 	public SeriesAction(Action... actions) {
 		this(Arrays.asList(actions));
 	}

OffSeasonBot2019/src/main/java/com/team2813/frc2019/actions/WaitAction.java

@@ -5,6 +5,10 @@ public class WaitAction implements Action {
 	private double duration;
 	private double startTime;
 
+	/**
+	 * Create a new action to wait an amount of time in seconds
+	 * @param durationInSeconds
+	 */
 	public WaitAction(double durationInSeconds) {
 		this.duration = durationInSeconds;
 	}

OffSeasonBot2019/src/main/java/com/team2813/frc2019/subsystems/Subsystem1d.java

@@ -19,7 +19,7 @@ abstract class Subsystem1d<P extends Subsystem1d.Position> extends Subsystem {
 	Subsystem1d(CANSparkMaxWrapper motor) {
 		try {
 			this.motor = motor;
-			motor.setPeriodicFrame(CANSparkMaxLowLevel.PeriodicFrame.kStatus2, 10);
+			motor.setPeriodicFrame(CANSparkMaxLowLevel.PeriodicFrame.kStatus2);
 			motor.set(0, ControlType.kDutyCycle);
 			motor.setNeutralMode(CANSparkMax.IdleMode.kBrake);
 		} catch (SparkMaxException e) {

OffSeasonBot2019/src/main/java/com/team2813/lib/drive/ArcadeDrive.java

@@ -1,5 +1,8 @@
 package com.team2813.lib.drive;
 
+/**
+ * Arcade Drive: determine steer using x, y, and a deadzone
+ */
 public class ArcadeDrive {
     private double deadzone;
 
@@ -23,10 +26,6 @@ public DriveDemand getDemand(double x, double y) {
             double xMax = 0.4;
             steer = 1.0 * x;
         }
-//
-//        System.out.println(throttleLeft + " " + throttleRight);
-
-//        System.out.println((throttleLeft - steer) + " " + (throttleLeft + steer));
 
         return new DriveDemand(throttleLeft + steer, throttleRight - steer);
     }

OffSeasonBot2019/src/main/java/com/team2813/lib/drive/CurvatureDrive.java

@@ -1,14 +1,19 @@
 package com.team2813.lib.drive;
 
+/**
+ * Curvature Drive: use one axis for forward, another
+ * for reverse, and a third for steering, with a pivot
+ * button
+ */
 public class CurvatureDrive {
     private ArcadeDrive arcadeDrive;
 
     public CurvatureDrive(double deadzone) {
         arcadeDrive = new ArcadeDrive(deadzone);
     }
 
-    public DriveDemand getDemand(double throttleForward, double throttleBackward, double steerX, boolean pivot) {
-        double throttle =  2 * Math.asin(throttleForward - throttleBackward) / Math.PI;
+    public DriveDemand getDemand(double throttleForward, double throttleReverse, double steerX, boolean pivot) {
+        double throttle =  2 * Math.asin(throttleForward - throttleReverse) / Math.PI;
         double steer = 2 * Math.asin(steerX) / Math.PI;
 
         steer = -steer;

OffSeasonBot2019/src/main/java/com/team2813/lib/drive/VelocityDrive.java

@@ -13,6 +13,12 @@ public VelocityDrive(double maxVelocity) {
         this.maxVelocity = maxVelocity;
     }
 
+    /**
+     * Configure a CANSparkMaxWrapper with configuration for velocity drive.
+     * @param spark
+     * @param config
+     * @throws SparkMaxException
+     */
     public void configureMotor(CANSparkMaxWrapper spark, SparkConfig config) throws SparkMaxException {
         this.spark = spark;
         PIDControllerConfig pidConfig = config.getPidControllers().get(0);
@@ -29,14 +35,6 @@ public void setMaxVelocity(int maxVelocity) {
         this.maxVelocity = maxVelocity;
     }
 
-//    public void setAccelerating(boolean accelerating) {
-//        if (accelerating) {
-//            spark.getPIDController().setSmartMotionMaxAccel(maxAccel, 0);
-//        } else {
-//            spark.getPIDController().setSmartMotionMaxAccel(maxAccel * .4, 0);
-//        }
-//    }
-
     public double getVelocityFromDemand(double demand) {
         return maxVelocity * demand;
     }

OffSeasonBot2019/src/main/java/com/team2813/lib/sparkMax/CANSparkMaxWrapper.java

@@ -2,6 +2,7 @@
 
 import com.revrobotics.*;
 import com.team2813.lib.config.Inverted;
+import com.team2813.lib.config.PeriodicFrame;
 import com.team2813.lib.config.SparkConfig;
 import com.team2813.lib.talon.CTREException;
 import com.team2813.lib.talon.TalonWrapper;
@@ -50,37 +51,6 @@ protected void throwIfNotOk(CANError error) throws SparkMaxException {
 		SparkMaxException.throwIfNotOk(subsystemName, error);
 	}
 
-	/**
-	 * TODO spark max doesn't have a way to get the last error thrown
-	 * Helper function for handling talon methods that do not return an error code but still need to check for one
-	 *
-	 * <p>from TalonSRX.getLastError():</p>
-	 * <blockquote>
-	 * Gets the last error generated by this object. Not all functions return an
-	 * error code but can potentially report errors. This function can be used
-	 * to retrieve those error codes.
-	 * </blockquote>
-	 *
-	 * @param value - value to return
-	 * @return value
-	 * @throws SparkMaxException - if talon had error code
-	 */
-	//TODO better name for this
-//	protected <T> T throwIfNotOkElseReturn(T value) throws SparkMaxException {
-//		throwLastError();
-//		return value;
-//	}
-
-//	public CANError getLastError() {
-//		return this.getLastError();
-//	}
-
-//	FIXME temporary fix
-//	public void throwLastError() throws SparkMaxException {
-//		CANError code = getLastError();
-//		throwIfNotOk(code);
-//	}
-
 	// #endregion
 
 	//#region Smart Current Limit
@@ -340,6 +310,10 @@ public void setTimeout(int timeoutMs) throws SparkMaxException {
 		throwIfNotOk(setCANTimeout(timeoutMs));
 	}
 
+	public void setTimeout() throws SparkMaxException {
+		setTimeout(TimeoutMode.RUNNING.valueMs);
+	}
+
 	//#region Motor Type
 
 	public void setTypeOfMotor(MotorType type) throws SparkMaxException {
@@ -356,10 +330,32 @@ public void setMotorBrushless() throws SparkMaxException {
 
 	//#endregion
 
+	/**
+	 * Set the rate of transmission for periodic frames from the SPARK MAX
+	 *
+	 * Each motor controller sends back three status frames with different data at
+	 * set rates. Use this function to change the default rates.
+	 *
+	 * Defaults: Status0 - 10ms Status1 - 20ms Status2 - 50ms
+	 *
+	 * This value is not stored in the FLASH after calling burnFlash() and is reset
+	 * on powerup.
+	 *
+	 * Refer to the SPARK MAX reference manual on details for how and when to
+	 * configure this parameter.
+	 *
+	 * @param frameID  The frame ID can be one of PeriodicFrame type
+	 * @param periodMs The rate the controller sends the frame to the controller.
+	 *
+	 */
 	public void setPeriodicFrame(PeriodicFrame frameID, int periodMs) throws SparkMaxException {
 		throwIfNotOk(setPeriodicFramePeriod(frameID, periodMs));
 	}
 
+	public void setPeriodicFrame(PeriodicFrame frameID) throws SparkMaxException {
+		setPeriodicFrame(frameID, TimeoutMode.RUNNING.valueMs);
+	}
+
 	public void setEncoderPosition(double position) throws SparkMaxException {
 		throwIfNotOk(setEncPosition(position));
 	}
@@ -636,4 +632,22 @@ public void setInverted(InvertType invertType) {
 
 	//#endregion
 
+	/**
+	 * Enum storing different timeout values in ms for construction time
+	 * or runtime updates.
+	 */
+	public enum TimeoutMode {
+		/** Longer timeout, used for constructors */
+		CONSTRUCTING(100),
+		/** Shorter timeout, used for on the fly updates */
+		RUNNING(10),
+		NO_TIMEOUT(0);
+
+		final int valueMs;
+
+		private TimeoutMode(int valueMs) {
+			this.valueMs = valueMs;
+		}
+	}
+
 }