Updated EncoderDistance parameter for new sprocket.

Adjusted autonomous moves, successfully hung red-right and red-left with
the current values. Velocity constant generally 0.6.

Taking this version to WPI

Author: onedeadeye

Entropy2017/src/org/usfirst/frc/team138/robot/Sensors.java

@@ -27,8 +27,8 @@ public static void initialize() {
 
         leftEncoder = new Encoder(RobotMap.LEFT_ENCODER_PORT_A, RobotMap.LEFT_ENCODER_PORT_B);
 		rightEncoder = new Encoder(RobotMap.RIGHT_ENCODER_PORT_A, RobotMap.RIGHT_ENCODER_PORT_B);
-    	leftEncoder.setDistancePerPulse(0.165);
-    	rightEncoder.setDistancePerPulse(0.165);
+    	leftEncoder.setDistancePerPulse(0.198);
+    	rightEncoder.setDistancePerPulse(0.198);
     	resetEncoders();
 
     	gearCamera = CameraServer.getInstance().startAutomaticCapture("Gear Feed", 0);

Entropy2017/src/org/usfirst/frc/team138/robot/commands/AutoDrive.java

@@ -172,13 +172,13 @@ public void end() {
 
 	protected void interrupted() {
 	}
-
+	
 	public void pidWrite(double output) {
 		output = -output;
 		if (rotateInPlace)
 		{
-			double minSpeed = 0.7;
-			if (output > minSpeed|| output < -minSpeed)
+			double minSpeed = 0.8;
+			if (output > minSpeed || output < -minSpeed)
 			{
 				rotateToAngleRate = output;
 			}

Entropy2017/src/org/usfirst/frc/team138/robot/commands/AutonomousCommand.java

@@ -30,21 +30,21 @@ public AutonomousCommand(String team, String startPos, String autoMode){
 			{
 				if (team == "red")
 				{   // tested with competition robot on practice field
-					addSequential(new AutoDrive(0.65, 70)); // previously "90"
-					addSequential(new AutoDrive(52.5));
-					addSequential(new VisionCorrect(true, 4));
-					addSequential(new AutoDrive(0.65, 15));
+					addSequential(new AutoDrive( 0.6, 90));
+					addSequential(new AutoDrive( 52.5 ));
+					addSequential(new VisionCorrect( true, 4));
+					addSequential(new AutoDrive( 0.6, 10));
 				}
 				if (team == "blue")
 				{   // based on mirror of "red-right"
-					addSequential(new AutoDrive(0.65, 90));
+					addSequential(new AutoDrive(0.6, 90));
 					addSequential(new AutoDrive(52.5));
 					addSequential(new VisionCorrect(true, 4));
-					addSequential(new AutoDrive(0.65, 15));
+					addSequential(new AutoDrive(0.6, 10));
 				}
 				addSequential(new SetClawPosition(true));
 				addSequential(new PushGear(true));
-				addSequential(new Wait(0.5));
+				addSequential(new Wait(0.6));
 				addSequential(new AutoDrive(-0.7, 20));
 				addSequential(new PushGear(false));
 				addSequential(new Wait(0.1));
@@ -62,16 +62,16 @@ public AutonomousCommand(String team, String startPos, String autoMode){
 			}
 			if (startPos == "middle")
 			{   // tested with competition robot on practice field
-				addSequential(new AutoDrive(0.65, 40));
+				addSequential(new AutoDrive(0.6, 40));
 				addSequential(new VisionCorrect(true, 4));
-				addSequential(new AutoDrive(0.65, 20));
+				addSequential(new AutoDrive(0.6, 20));
 				addSequential(new SetClawPosition(true));
 				addSequential(new PushGear(true));
-				addSequential(new Wait(0.5));
+				addSequential(new Wait(0.6));
 				addSequential(new PushGear(false));
 				addSequential(new Wait(0.1));
 				addSequential(new PushGear(true));
-				addSequential(new Wait(0.5));
+				addSequential(new Wait(0.6));
 				addSequential(new AutoDrive(-0.7, 15));
 				addSequential(new PushGear(false));
 				addSequential(new Wait(0.1));
@@ -81,25 +81,25 @@ public AutonomousCommand(String team, String startPos, String autoMode){
 			{
 				if (team == "red")
 				{   // tested with competition robot on practice field
-					addSequential(new AutoDrive(0.65, 89));
+					addSequential(new AutoDrive(0.6, 89));
 					addSequential(new AutoDrive(-52.5));
 					addSequential(new VisionCorrect(true, 4));
-					addSequential(new AutoDrive(0.65, 30));
+					addSequential(new AutoDrive(0.6, 25));
 				}
 				if (team == "blue")
 				{   // based on mirror of "red left"
-					addSequential(new AutoDrive(0.65, 89));
+					addSequential(new AutoDrive(0.6, 89));
 					addSequential(new AutoDrive(-52.5));
 					addSequential(new VisionCorrect(true, 4));
-					addSequential(new AutoDrive(0.65, 30));
+					addSequential(new AutoDrive(0.6, 25));
 				}
 				addSequential(new SetClawPosition(true));
 				addSequential(new PushGear(true));
-				addSequential(new Wait(0.5));
+				addSequential(new Wait(0.6));
 				addSequential(new PushGear(false));
 				addSequential(new Wait(0.1));
 				addSequential(new PushGear(true));
-				addSequential(new Wait(0.5));
+				addSequential(new Wait(0.6));
 				addSequential(new AutoDrive(-0.7, 20));
 				addSequential(new PushGear(false));
 				addSequential(new Wait(0.1));

save.xml

@@ -81,10 +81,9 @@
 		<location x="-9" y="13"/>
 		<width>517</width>
 		<height>362</height>
-		<property name="Camera Choice" value="Rope and Shooter Feed"/>
+		<property name="Camera Choice" value="Ground Feed"/>
 	</static-widget>
 </dashboard>
 <live-window>
 </live-window>
-	<hidden field="Distance:"/>
 </xml>