部分注释

Author: willson0v0

src/org/usfirst/frc/team6414/robot/RobotMap.java

@@ -7,7 +7,7 @@
  * floating around.
  */
 public class RobotMap {
-    public static final int CHASSIS_ADJUST = 2;
+    public static final int CHASSIS_ADJUST = 2;             //Buttons & sticks
     public static final int INTAKE_FWD = 3;
     public static final int MIXER_FWD = 4;
     public static final int INTAKE_BWD = 5;
@@ -16,7 +16,7 @@ public class RobotMap {
     public static final int SHOOTER_BWD = 11;
     static final int STICK = 0;
 
-    public static final int RIGHT_MASTER = 1;
+    public static final int RIGHT_MASTER = 1;               //Motors
     public static final int RIGHT_SLAVE = 2;
     public static final int LEFT_MASTER = 3;
     public static final int LEFT_SLAVE = 4;
@@ -25,16 +25,17 @@ public class RobotMap {
     public static final int RIGHT_SHOOTER = 7;
     public static final int MIXER_MOTOR = 8;
 
-    public static final double INTAKE_DEF = 1;
+    public static final double INTAKE_DEF = 1;              //Default speed
     public static final double SHOOTER_DEFAULT = 0.7;
     public static final double MIXER_DEF = 0.5;
 
-    public static final double US_PULSE = 0.00001; //10us per ping for hc-SR04 module
+    public static final double US_PULSE = 0.00001;          //others
     public static final int LEFT_ECHO = 0;
     public static final int LEFT_PULSE = 1;
     public static final int RIGHT_ECHO = 2;
     public static final int RIGHT_PULSE = 3;
     public static final double SPEED_OF_SOUND = 340;
     public static final double SENSOR_DIST = 100;
     public static final double START_DISTANT = 300;
+    public static final int AUTO_TIMEOUT = 15;
 }

src/org/usfirst/frc/team6414/robot/commands/Autonomous.java

@@ -17,63 +17,62 @@ public Autonomous() {
         requires(Robot.chassis);
     }
 
-
     /**
      * The initialize method is called just before the first time
      * this Command is run after being started.
-     *
+     * make sure robot will atop after 15s
      */
     protected void initialize() {
-        this.setTimeout(15);
+        this.setTimeout(RobotMap.AUTO_TIMEOUT);
     }
 
     /**
+     * constructor
+     * speed: max=1, min=0, f'(x)=-2sqrt(a)/(2sqrt(-x+a))
+     * f(x)=sqrt(-x+a)/sqrt(a) => sqrt(-x/a+1)
+     *
      * @param distant distant form robot to the wall of control station (average)
      * @return the speed it should go at a certain distance. Closer, slower.
-     * max=1, min=0, f'(x)=-2sqrt(a)/(2sqrt(-x+a))
-     * f(x)=sqrt(-x+a)/sqrt(a) => sqrt(-x/a+1)
      */
     private double speed(double distant) {
         return Math.sqrt(-distant / RobotMap.START_DISTANT + 1);
     }
 
+    /**
+     * @return get average distance of both sensor
+     */
     private double getDistance() {
         return 0.5 * (Robot.uSensor.getLeftDistant() + Robot.uSensor.getRightDistant());
     }
 
+    /**
+     * get turning speed
+     *
+     * @return From 0.5 to -0.5. Reach Max / Min when perform a 45 degree angle to the wall
+     */
     private double getRotate() {
-        return (Robot.uSensor.getRightDistant() - Robot.uSensor.getLeftDistant())
-                / 1.414 * RobotMap.SENSOR_DIST;
+        return Robot.limit(-1, 1,
+                (Robot.uSensor.getRightDistant() - Robot.uSensor.getLeftDistant())
+                        / 2 * Math.sqrt(2) * RobotMap.SENSOR_DIST);
     }
 
     /**
      * The execute method is called repeatedly when this Command is
      * scheduled to run until this Command either finishes or is canceled.
+     * Make robot go at the speed we calculated above
      */
     protected void execute() {
         Robot.chassis.move(speed(getDistance()), getRotate());
     }
 
 
     /**
-     * <p>
-     * Returns whether this command is finished. If it is, then the command will be removed and
-     * {@link #end()} will be called.
-     * </p><p>
-     * It may be useful for a team to reference the {@link #isTimedOut()}
-     * method for time-sensitive commands.
-     * </p><p>
-     * Returning false will result in the command never ending automatically. It may still be
-     * cancelled manually or interrupted by another command. Returning true will result in the
-     * command executing once and finishing immediately. It is recommended to use
-     * {@link edu.wpi.first.wpilibj.command.InstantCommand} (added in 2017) for this.
-     * </p>
-     *
+     * Die at time out
      * @return whether this command is finished.
      * @see Command#isTimedOut() isTimedOut()
      */
     protected boolean isFinished() {
-        return false;
+        return isTimedOut();
     }
 
 
@@ -82,6 +81,7 @@ protected boolean isFinished() {
      * after {@link #isFinished()} returns true. This is where you may want to
      * wrap up loose ends, like shutting off a motor that was being used in the
      * command.
+     * Stop the chassis for safty reason
      */
     protected void end() {
         Robot.chassis.stop();

src/org/usfirst/frc/team6414/robot/commands/Intake.java

@@ -8,32 +8,49 @@
  */
 public class Intake extends Command {
 
+    /**
+     * Standard Constructor.
+     */
     public Intake() {
         requires(Robot.intaker);
     }
 
-    // Called just before this Command runs the first time
+    /**
+     * o(*￣▽￣*)ブ
+     */
+    @Override
     protected void initialize() {
         System.out.println("Intake command init");
     }
 
-    // Called repeatedly when this Command is scheduled to run
+    /**
+     *
+     */
+    @Override
     protected void execute() {
         Robot.intaker.intake();
     }
 
-    // Make this return true when this Command no longer needs to run execute()
+    /**
+     * @return is this comma
+     */
+    @Override
     protected boolean isFinished() {
         return false;
     }
 
-    // Called once after isFinished returns true
+    /**
+     *
+     */
+    @Override
     protected void end() {
         Robot.intaker.stop();
     }
 
-    // Called when another command which requires one or more of the same
-    // subsystems is scheduled to run
+    /**
+     *
+     */
+    @Override
     protected void interrupted() {
     }
 }

src/org/usfirst/frc/team6414/robot/subsystems/MonitoredSystem.java

@@ -10,7 +10,7 @@
  */
 public abstract class MonitoredSystem extends Subsystem {
 
-    private Thread monitor;                 //The thread used to mkonitor the whole subsystem
+    private Thread monitor;                 //This thread is used to monitor the whole subsystem
     private boolean isRunning = true;       //run state indicator.
     private long sleepTime = 200;           //How many milliseconds between 2 inspect
 
@@ -60,9 +60,8 @@ public void stopMonitor() {
     }
 
     /**
-     * Empty, Make it sure to override it in subsystems.
+     * Empty. Make sure to override it in subsystems.
      */
     @Override
-    protected void initDefaultCommand() {
-    }
+    protected abstract void initDefaultCommand();
 }