mirror of
https://github.com/Team4388/2019-Hit-or-Miss.git
synced 2026-06-09 08:38:06 -06:00
added arm functionality
arm works on manuel, pid needs work
This commit is contained in:
lukesta182
@@ -29,6 +29,7 @@ public class Robot extends IterativeRobot
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public static OI oi;
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public static final Drive drive = new Drive();
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public static final Arm arm = new Arm();
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@@ -56,7 +57,8 @@ public class Robot extends IterativeRobot
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try {
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oi = OI.getInstance();
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controlLoop.addLoopable(drive);
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controlLoop.addLoopable(drive);
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controlLoop.addLoopable(arm);
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operationModeChooser = new SendableChooser<OperationMode>();
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@@ -21,8 +21,8 @@ public class RobotMap {
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public static final int INTAKE_BELT_DRIVE_CAN_ID = 8;
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//Elevator Motors
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public static final int ELEVATOR_MOTOR1_ID = 6;
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public static final int ELEVATOR_MOTOR2_ID = 7;
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public static final int ARM_MOTOR1_ID= 6;
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public static final int ARM_MOTOR2_ID = 7;
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//Climber Motors
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@@ -0,0 +1,64 @@
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package org.usfirst.frc.team3310.robot.commands;
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import org.usfirst.frc.team3310.robot.Robot;
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import org.usfirst.frc.team3310.robot.subsystems.Elevator;
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import edu.wpi.first.wpilibj.command.Command;
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public class ElevatorAutoZero extends Command
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{
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private double MIN_ELEVATOR_POSITION_CHANGE = 0.05;
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private double lastElevatorPosition;
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private int encoderCount;
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public ElevatorAutoZero(boolean interrutible) {
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requires(Robot.intake);
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requires(Robot.elevator);
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setInterruptible(interrutible);
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}
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@Override
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protected void initialize() {
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lastElevatorPosition = Elevator.MAX_POSITION_INCHES;
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Robot.elevator.setSpeed(Elevator.AUTO_ZERO_SPEED);
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encoderCount = 0;
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// System.out.println("Auto zero initialize");
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}
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@Override
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protected void execute() {
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}
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@Override
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protected boolean isFinished() {
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Robot.elevator.setSpeed(Elevator.AUTO_ZERO_SPEED);
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double currentElevatorPosition = Robot.elevator.getPositionInches();
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double elevatorPositionChange = lastElevatorPosition - currentElevatorPosition;
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lastElevatorPosition = currentElevatorPosition;
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boolean test = encoderCount > 2 && Math.abs(elevatorPositionChange) < MIN_ELEVATOR_POSITION_CHANGE && Robot.elevator.getAverageMotorCurrent() > Elevator.AUTO_ZERO_MOTOR_CURRENT;
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System.out.println("encoderCount = " + encoderCount + ", test = " + test + ", elevator change = " + elevatorPositionChange + ", current = " + Robot.elevator.getAverageMotorCurrent());
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if (Math.abs(elevatorPositionChange) < MIN_ELEVATOR_POSITION_CHANGE) {
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encoderCount++;
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}
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else {
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encoderCount = 0;
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}
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return test;
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}
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@Override
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protected void end() {
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Robot.elevator.setSpeed(0);
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Robot.elevator.resetZeroPosition(Elevator.ZERO_POSITION_INCHES);
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Robot.elevator.setPositionPID(Elevator.MIN_POSITION_INCHES);
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// System.out.println("Elevator Zeroed");
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}
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@Override
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protected void interrupted() {
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}
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}
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@@ -0,0 +1,50 @@
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package org.usfirst.frc.team3310.robot.commands;
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import org.usfirst.frc.team3310.robot.Robot;
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import org.usfirst.frc.team3310.robot.subsystems.Elevator.ElevatorControlMode;
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import edu.wpi.first.wpilibj.command.Command;
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/**
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*
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*/
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public class ElevatorSetMode extends Command {
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private ElevatorControlMode controlMode;
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public ElevatorSetMode(ElevatorControlMode controlMode) {
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this.controlMode = controlMode;
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requires(Robot.elevator);
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}
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// Called just before this Command runs the first time
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protected void initialize() {
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if (controlMode == ElevatorControlMode.JOYSTICK_PID) {
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Robot.elevator.setPositionPID(Robot.elevator.getPositionInches());
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}
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else if (controlMode == ElevatorControlMode.JOYSTICK_MANUAL) {
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Robot.elevator.setSpeedJoystick(0);
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}
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else {
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Robot.elevator.setSpeed(0.0);
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}
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}
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// Called repeatedly when this Command is scheduled to run
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protected void execute() {
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}
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// Make this return true when this Command no longer needs to run execute()
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protected boolean isFinished() {
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return true;
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}
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// Called once after isFinished returns true
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protected void end() {
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}
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// Called when another command which requires one or more of the same
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// subsystems is scheduled to run
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protected void interrupted() {
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}
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}
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@@ -0,0 +1,55 @@
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package org.usfirst.frc4388.robot.commands;
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import org.usfirst.frc4388.robot.Robot;
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import edu.wpi.first.wpilibj.command.Command;
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/**
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*
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*/
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public class ArmSetPositionMP extends Command {
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private double targetPositionInches;
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private boolean isAtTarget;
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private static final double MIN_DELTA_TARGET = 0.3;
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public ArmSetPositionMP(double targetPositionInches) {
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this.targetPositionInches = targetPositionInches;
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requires(Robot.arm);
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}
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// Called just before this Command runs the first time
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protected void initialize() {
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if (Math.abs(targetPositionInches - Robot.arm.getPositionInches()) < MIN_DELTA_TARGET) {
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isAtTarget = true;
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}
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else {
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isAtTarget = false;
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Robot.arm.setPositionMP(targetPositionInches);
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}
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// System.out.println("Arm set MP initialized, target = " + targetPositionInches);
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}
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// Called repeatedly when this Command is scheduled to run
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protected void execute() {
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}
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// Make this return true when this Command no longer needs to run execute()
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protected boolean isFinished() {
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return isAtTarget || Robot.arm.isFinished();
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}
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// Called once after isFinished returns true
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protected void end() {
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Robot.arm.setPositionPID(Robot.arm.getPositionInches());
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// System.out.println("Arm set MP end");
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}
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// Called when another command which requires one or more of the same
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// subsystems is scheduled to run
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protected void interrupted() {
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// System.out.println("ArmSetPositionMP interrupted");
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Robot.arm.setFinished(true);
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Robot.arm.setPositionPID(Robot.arm.getPositionInches());
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}
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}
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@@ -0,0 +1,42 @@
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package org.usfirst.frc4388.robot.commands;
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import org.usfirst.frc4388.robot.Robot;
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import org.usfirst.frc4388.robot.subsystems.Arm;
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import edu.wpi.first.wpilibj.command.Command;
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/**
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*
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*/
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public class ArmSetPositionPID extends Command {
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private double targetPositionInches;
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public ArmSetPositionPID(double targetPositionInches) {
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this.targetPositionInches = targetPositionInches;
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requires(Robot.arm);
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}
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// Called just before this Command runs the first time
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protected void initialize() {
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Robot.arm.setPositionPID(targetPositionInches);
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}
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// Called repeatedly when this Command is scheduled to run
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protected void execute() {
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}
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// Make this return true when this Command no longer needs to run execute()
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protected boolean isFinished() {
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return Math.abs(Robot.arm.getPositionInches() - this.targetPositionInches) < Arm.PID_ERROR_INCHES;
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}
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// Called once after isFinished returns true
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protected void end() {
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}
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// Called when another command which requires one or more of the same
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// subsystems is scheduled to run
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protected void interrupted() {
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}
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}
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@@ -0,0 +1,40 @@
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package org.usfirst.frc4388.robot.commands;
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import org.usfirst.frc4388.robot.Robot;
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import edu.wpi.first.wpilibj.command.Command;
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public class ArmSetZero extends Command
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{
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private double position;
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public ArmSetZero(double position) {
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this.position = position;
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requires(Robot.arm);
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}
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@Override
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protected void initialize() {
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Robot.arm.resetZeroPosition(position);
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}
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@Override
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protected void execute() {
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}
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@Override
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protected boolean isFinished() {
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return true;
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}
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@Override
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protected void end() {
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}
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@Override
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protected void interrupted() {
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}
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}
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@@ -0,0 +1,355 @@
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package org.usfirst.frc4388.robot.subsystems;
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import java.util.ArrayList;
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import org.usfirst.frc4388.robot.Constants;
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import org.usfirst.frc4388.robot.Robot;
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import org.usfirst.frc4388.robot.RobotMap;
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import org.usfirst.frc4388.utility.ControlLoopable;
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import org.usfirst.frc4388.utility.Loop;
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import org.usfirst.frc4388.utility.MPTalonPIDController;
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import org.usfirst.frc4388.utility.PIDParams;
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import org.usfirst.frc4388.utility.TalonSRXEncoder;
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import org.usfirst.frc4388.utility.TalonSRXFactory;
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import com.ctre.phoenix.motorcontrol.ControlMode;
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import com.ctre.phoenix.motorcontrol.FeedbackDevice;
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import com.ctre.phoenix.motorcontrol.can.TalonSRX;
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import com.ctre.phoenix.motorcontrol.LimitSwitchSource;
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import com.ctre.phoenix.motorcontrol.LimitSwitchNormal;
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import com.ctre.phoenix.motorcontrol.RemoteLimitSwitchSource;
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import com.ctre.phoenix.motorcontrol.NeutralMode;
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import com.ctre.phoenix.motorcontrol.SensorCollection;
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import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
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import edu.wpi.first.wpilibj.Solenoid;
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import edu.wpi.first.wpilibj.command.Subsystem;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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import edu.wpi.first.wpilibj.Timer;
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public class Arm extends Subsystem implements ControlLoopable
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{
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private static Arm instance;
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public static enum ArmControlMode { MOTION_PROFILE, JOYSTICK_PID, JOYSTICK_MANUAL, MANUAL };
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// One revolution of the 30T Drive 1.880" PD pulley = Pi * PD inches = 36/24 revs due to pulleys * 34/24 revs due to gears * 36/12 revs due mag encoder gear on ball shifter * 4096 ticks
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public static final double ENCODER_TICKS_TO_INCHES = ((360/4096)/(3))-60;
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private double periodMs;
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private double lastControlLoopUpdatePeriod = 0.0;
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private double lastControlLoopUpdateTimestamp = 0.0;
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// Defined speeds
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public static final double CLIMB_SPEED = -1.0;
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public static final double TEST_SPEED_UP = 0.3;
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public static final double TEST_SPEED_DOWN = -0.3;
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public static final double AUTO_ZERO_SPEED = -0.3;
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public static final double JOYSTICK_INCHES_PER_MS_HI = 0.75;
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public static final double JOYSTICK_INCHES_PER_MS_LO = JOYSTICK_INCHES_PER_MS_HI/3.68 * 0.8;
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// Defined positions
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public static final double ZERO_POSITION_AUTON_FORWARD_INCHES = 8.0;
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public static final double ZERO_POSITION_INCHES = -0.25;
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public static final double NEAR_ZERO_POSITION_INCHES = 0.0;
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public static final double MIN_POSITION_INCHES = 0.0;
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public static final double MAX_POSITION_INCHES = 83.4;
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public static final double AFTER_INTAKE_POSITION_INCHES = 4.0;
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public static final double SWITCH_POSITION_INCHES = 24.0;
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public static final double SWITCH_POSITION_HIGH_INCHES = 36.0; //Switch Position for First Cube APR
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public static final double SCALE_LOW_POSITION_INCHES = 56.0;
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public static final double SCALE_FIRST_CUBE_POSITION_INCHES = 78.0; //72.0
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public static final double SCALE_SECOND_CUBE_POSITION_INCHES = 77.0;
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public static final double SCALE_HIGH_POSITION_INCHES = MAX_POSITION_INCHES;
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public static final double CLIMB_BAR_POSITION_INCHES = 70.0;
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public static final double CLIMB_HIGH_POSITION_INCHES = 10.0;
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public static final double CLIMB_ASSIST_POSITION_INCHES = 50.0;
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// Motion profile max velocities and accel times
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public static final double MP_MAX_VELOCITY_INCHES_PER_SEC = 60;
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public static final double MP_T1 = 400; // Fast = 300
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public static final double MP_T2 = 150; // Fast = 150
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// Motor controllers
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private ArrayList<TalonSRXEncoder> motorControllers = new ArrayList<TalonSRXEncoder>();
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private TalonSRXEncoder motor1;
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private TalonSRX motor2;
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// PID controller and params
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private MPTalonPIDController mpController;
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public static int PID_SLOT = 0;
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public static int MP_SLOT = 1;
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private PIDParams mpPIDParams = new PIDParams(0.2, 0.0, 0.0, 0.0, 0.005, 0.0);
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private PIDParams pidPIDParamsHiGear = new PIDParams(0.075, 0.0, 0.0, 0.0, 0.0, 0.0);
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public static final double KF_UP = 0.005;
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public static final double KF_DOWN = 0.0;
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public static final double PID_ERROR_INCHES = 1.0;
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LimitSwitchSource limitSwitchSource;
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// Pneumatics
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private Solenoid speedShift;
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private ArmControlMode controlMode = ArmControlMode.JOYSTICK_PID;
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// Misc
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public static final double AUTO_ZERO_MOTOR_CURRENT = 4.0;
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private boolean isFinished;
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private ArmControlMode armControlMode = ArmControlMode.JOYSTICK_PID;
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private double targetPositionInchesPID = 0;
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private boolean firstMpPoint;
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private double joystickInchesPerMs = JOYSTICK_INCHES_PER_MS_LO;
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public Arm() {
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try {
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motor1 = TalonSRXFactory.createTalonEncoder(RobotMap.ARM_MOTOR1_ID, (ENCODER_TICKS_TO_INCHES), false, FeedbackDevice.QuadEncoder);
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motor2 = TalonSRXFactory.createPermanentSlaveTalon(RobotMap.ARM_MOTOR2_ID, RobotMap.ARM_MOTOR1_ID);
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motor1.setInverted(true);
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motor2.setInverted(true);
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// if (motor1.isSensorPresent(CANTalon.FeedbackDevice.QuadEncoder) != CANTalon.FeedbackDeviceStatus.FeedbackStatusPresent) {
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||||
// Driver.reportError("Could not detect elevator motor 1 encoder encoder!", false);
|
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// }
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motor1.configForwardLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
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motor1.configReverseLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
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motor1.setNeutralMode(NeutralMode.Brake);
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motor2.setNeutralMode(NeutralMode.Brake);
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||||
|
||||
motorControllers.add(motor1);
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||||
|
||||
|
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}
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catch (Exception e) {
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System.err.println("An error occurred in the Arm constructor");
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||||
}
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||||
}
|
||||
|
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@Override
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public void initDefaultCommand() {
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}
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public void resetZeroPosition(double position) {
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mpController.resetZeroPosition(position);
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}
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private synchronized void setArmControlMode(ArmControlMode controlMode) {
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this.armControlMode = controlMode;
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}
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private synchronized ArmControlMode getArmControlMode() {
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return this.armControlMode;
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}
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public void setSpeed(double speed) {
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motor1.set(ControlMode.PercentOutput, speed);
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setArmControlMode(ArmControlMode.MANUAL);
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}
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public void setSpeedJoystick(double speed) {
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motor1.set(ControlMode.PercentOutput, speed);
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setArmControlMode(ArmControlMode.JOYSTICK_MANUAL);
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}
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public void setPositionPID(double targetPositionInches) {
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mpController.setPIDSlot(PID_SLOT);
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updatePositionPID(targetPositionInches);
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setArmControlMode(ArmControlMode.JOYSTICK_PID);
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setFinished(false);
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||||
}
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|
||||
public void updatePositionPID(double targetPositionInches) {
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||||
targetPositionInchesPID = limitPosition(targetPositionInches);
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double startPositionInches = motor1.getPositionWorld();
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||||
mpController.setTarget(targetPositionInchesPID, targetPositionInchesPID > startPositionInches ? KF_UP : KF_DOWN);
|
||||
}
|
||||
|
||||
public void setPositionMP(double targetPositionInches) {
|
||||
double startPositionInches = motor1.getPositionWorld();
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||||
mpController.setMPTarget(startPositionInches, limitPosition(targetPositionInches), MP_MAX_VELOCITY_INCHES_PER_SEC, MP_T1, MP_T2);
|
||||
setFinished(false);
|
||||
firstMpPoint = true;
|
||||
setArmControlMode(ArmControlMode.MOTION_PROFILE);
|
||||
}
|
||||
|
||||
private double limitPosition(double targetPosition) {
|
||||
if (targetPosition < MIN_POSITION_INCHES) {
|
||||
return MIN_POSITION_INCHES;
|
||||
}
|
||||
else if (targetPosition > MAX_POSITION_INCHES) {
|
||||
return MAX_POSITION_INCHES;
|
||||
}
|
||||
|
||||
return targetPosition;
|
||||
}
|
||||
@Override
|
||||
public void setPeriodMs(long periodMs) {
|
||||
mpController = new MPTalonPIDController(periodMs, motorControllers);
|
||||
mpController.setPID(mpPIDParams, MP_SLOT);
|
||||
mpController.setPID(pidPIDParamsHiGear, PID_SLOT);
|
||||
mpController.setPIDSlot(PID_SLOT);
|
||||
mpController.setPID(pidPIDParamsHiGear, PID_SLOT);
|
||||
mpController.setPIDSlot(PID_SLOT);
|
||||
this.periodMs = periodMs;
|
||||
}
|
||||
/*@Override
|
||||
public void onStart(double timestamp) {
|
||||
mpController = new MPTalonPIDController(periodMs, motorControllers);
|
||||
mpController.setPID(mpPIDParams, MP_SLOT);
|
||||
mpController.setPID(pidPIDParamsHiGear, PID_SLOT);
|
||||
mpController.setPIDSlot(PID_SLOT);
|
||||
mpController.setPID(pidPIDParamsHiGear, PID_SLOT);
|
||||
mpController.setPIDSlot(PID_SLOT);
|
||||
}
|
||||
|
||||
@Override
|
||||
public void onStop(double timestamp) {
|
||||
// TODO Auto-generated method stub
|
||||
|
||||
}
|
||||
|
||||
@Override
|
||||
public void onLoop(double timestamp) {
|
||||
synchronized (Arm.this) {
|
||||
switch( getElevatorControlMode() ) {
|
||||
case JOYSTICK_PID:
|
||||
controlPidWithJoystick();
|
||||
break;
|
||||
case JOYSTICK_MANUAL:
|
||||
controlManualWithJoystick();
|
||||
break;
|
||||
case MOTION_PROFILE:
|
||||
if (!isFinished()) {
|
||||
if (firstMpPoint) {
|
||||
mpController.setPIDSlot(MP_SLOT);
|
||||
firstMpPoint = false;
|
||||
}
|
||||
setFinished(mpController.controlLoopUpdate());
|
||||
if (isFinished()) {
|
||||
mpController.setPIDSlot(PID_SLOT);
|
||||
}
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
*/
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
public synchronized void controlLoopUpdate() {
|
||||
// Measure *actual* update period
|
||||
double currentTimestamp = Timer.getFPGATimestamp();
|
||||
if (lastControlLoopUpdateTimestamp > 0.001) { // ie, if this is NOT the first time
|
||||
lastControlLoopUpdatePeriod = currentTimestamp - lastControlLoopUpdateTimestamp;
|
||||
}
|
||||
lastControlLoopUpdateTimestamp = currentTimestamp;
|
||||
|
||||
// Do the update
|
||||
if (controlMode == ArmControlMode.JOYSTICK_PID) {
|
||||
controlPidWithJoystick();
|
||||
}
|
||||
else if (!isFinished) {
|
||||
if (controlMode == ArmControlMode.MOTION_PROFILE) {
|
||||
isFinished = mpController.controlLoopUpdate(getPositionInches());
|
||||
}
|
||||
|
||||
/*else if (controlMode == ArmControlMode.MP_PATH_VELOCITY) {
|
||||
isFinished = mpPathVelocityController.controlLoopUpdate(getGyroAngleDeg());
|
||||
}
|
||||
else if (controlMode == ArmControlMode.ADAPTIVE_PURSUIT) {
|
||||
updatePose();
|
||||
isFinished = adaptivePursuitController.controlLoopUpdate(currentPose);
|
||||
}*/
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
private void controlPidWithJoystick() {
|
||||
double joystickPosition = -Robot.oi.getOperatorController().getLeftYAxis();
|
||||
double deltaPosition = joystickPosition * joystickInchesPerMs;
|
||||
targetPositionInchesPID = targetPositionInchesPID + deltaPosition;
|
||||
updatePositionPID(targetPositionInchesPID);
|
||||
}
|
||||
|
||||
private void controlManualWithJoystick() {
|
||||
double joyStickSpeed = -Robot.oi.getOperatorController().getLeftYAxis();
|
||||
setSpeedJoystick(joyStickSpeed*.3);
|
||||
}
|
||||
/*
|
||||
public void setShiftState(ElevatorSpeedShiftState state) {
|
||||
|
||||
joystickInchesPerMs = JOYSTICK_INCHES_PER_MS_HI;
|
||||
speedShift.set(true);
|
||||
mpController.setPID(pidPIDParamsHiGear, PID_SLOT);
|
||||
}
|
||||
else if(state == ElevatorSpeedShiftState.LO) {
|
||||
joystickInchesPerMs = JOYSTICK_INCHES_PER_MS_LO;
|
||||
speedShift.set(false);
|
||||
mpController.setPID(pidPIDParamsLoGear, PID_SLOT);
|
||||
}
|
||||
}
|
||||
|
||||
public ElevatorSpeedShiftState getShiftState() {
|
||||
return shiftState;
|
||||
}
|
||||
*/
|
||||
public double getPositionInches() {
|
||||
return motor1.getPositionWorld();
|
||||
}
|
||||
|
||||
// public double getAverageMotorCurrent() {
|
||||
// return (Robot.pdp.getCurrent(RobotMap.ELEVATOR_MOTOR_1_CAN_ID) + Robot.pdp.getCurrent(RobotMap.ELEVATOR_MOTOR_2_CAN_ID) + Robot.pdp.getCurrent(RobotMap.ELEVATOR_MOTOR_3_CAN_ID)) / 3;
|
||||
// }
|
||||
|
||||
public double getAverageMotorCurrent() {
|
||||
return (motor1.getOutputCurrent() + motor2.getOutputCurrent()) / 2;
|
||||
}
|
||||
|
||||
public synchronized boolean isFinished() {
|
||||
return isFinished;
|
||||
}
|
||||
|
||||
public synchronized void setFinished(boolean isFinished) {
|
||||
this.isFinished = isFinished;
|
||||
}
|
||||
|
||||
public double getPeriodMs() {
|
||||
return periodMs;
|
||||
}
|
||||
|
||||
public void updateStatus(Robot.OperationMode operationMode) {
|
||||
if (operationMode == Robot.OperationMode.TEST) {
|
||||
try {
|
||||
SmartDashboard.putNumber("Elevator Position Inches", motor1.getPositionWorld());
|
||||
SmartDashboard.putNumber("Elevator Motor 1 Amps", motor1.getOutputCurrent());
|
||||
SmartDashboard.putNumber("Elevator Motor 2 Amps", motor2.getOutputCurrent());
|
||||
SmartDashboard.putNumber("Elevator Average Amps", getAverageMotorCurrent());
|
||||
// SmartDashboard.putNumber("Elevator Motor 1 Amps PDP", Robot.pdp.getCurrent(RobotMap.ELEVATOR_MOTOR_1_CAN_ID));
|
||||
// SmartDashboard.putNumber("Elevator Motor 2 Amps PDP", Robot.pdp.getCurrent(RobotMap.ELEVATOR_MOTOR_2_CAN_ID));
|
||||
// SmartDashboard.putNumber("Elevator Motor 3 Amps PDP", Robot.pdp.getCurrent(RobotMap.ELEVATOR_MOTOR_3_CAN_ID));
|
||||
SmartDashboard.putNumber("Elevator Target PID Position", targetPositionInchesPID);
|
||||
}
|
||||
catch (Exception e) {
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public static Arm getInstance() {
|
||||
if(instance == null) {
|
||||
instance = new Arm();
|
||||
}
|
||||
return instance;
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user