Team4388/2019-Hit-or-Miss
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Changed motors to SparkMax, encoded both drive-trains, and defined all four motors.
Set the second left/right drive to follow the leader
This commit is contained in:
Evan Lanham
2019-01-19 10:12:07 -08:00
parent caa182fa28
commit f749752b45
3 changed files with 54 additions and 36 deletions
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2019robot/build.gradle
+2 -2
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@@ -1,6 +1,6 @@
plugins {
id "java"
id "edu.wpi.first.GradleRIO" version "2019.1.1"
id "edu.wpi.first.GradleRIO" version "2019.2.1"
}
def ROBOT_MAIN_CLASS = "org.usfirst.frc4388.robot.Main"
@@ -50,7 +50,7 @@ dependencies {
nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio)
nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
testCompile 'junit:junit:4.12'
compile pathfinder()
//compile pathfinder()
}
// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Drive.java
+20 -34
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@@ -13,7 +13,6 @@ import org.usfirst.frc4388.utility.BHRMathUtils;
import org.usfirst.frc4388.utility.CANTalonEncoder;
import org.usfirst.frc4388.utility.ControlLoopable;
import org.usfirst.frc4388.utility.Kinematics;
import org.usfirst.frc4388.utility.MMTalonPIDController;
import org.usfirst.frc4388.utility.MPSoftwarePIDController;
import org.usfirst.frc4388.utility.MPSoftwarePIDController.MPSoftwareTurnType;
import org.usfirst.frc4388.utility.MPTalonPIDController;
@@ -38,6 +37,9 @@ import com.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.kauailabs.navx.frc.AHRS;
import com.revrobotics.CANEncoder;
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj.DoubleSolenoid;
//import edu.wpi.first.wpilibj.DigitalInput;
@@ -93,19 +95,16 @@ public class Drive extends Subsystem implements ControlLoopable
// Motor controllers
private ArrayList<CANTalonEncoder> motorControllers = new ArrayList<CANTalonEncoder>();
private CANTalonEncoder leftDrive1;
private WPI_TalonSRX leftDrive2;
// private WPI_TalonSRX leftDrive3;
private CANTalonEncoder rightDrive1;
private WPI_TalonSRX rightDrive2;
// private WPI_TalonSRX rightDrive3;
private CANSparkMax leftDrive1;
private CANSparkMax leftDrive2;
private CANSparkMax rightDrive1;
private CANSparkMax rightDrive2;
private CANEncoder encoderLeft;
private CANEncoder encoderRight;
private DifferentialDrive m_drive;
//PID encoder and motor
private CANTalonEncoder elevatorRight;
private WPI_TalonSRX elevatorLeft;
//private DigitalInput hopperSensorRed;
//private DigitalInput hopperSensorBlue;
@@ -159,9 +158,6 @@ public class Drive extends Subsystem implements ControlLoopable
private PIDParams mpStraightPIDParams = new PIDParams(.7, 0.0, 0.000000, .001, 0.001, .7); // 4 colsons
// private PIDParams mpStraightPIDParams = new PIDParams(0.1, 0, 0, 0.005, 0.03, 0.03); // 4 omni
private PIDParams mpHoldPIDParams = new PIDParams(1, 0, 0, 0.0, 0.0, 0.0);
private MMTalonPIDController mmStraightController;
private PIDParams mmStraightPIDParams = new PIDParams(0, 0, 0, 0.24);
private MPSoftwarePIDController mpTurnController; // p i d a v g izone
private PIDParams mpTurnPIDParams = new PIDParams(0.07, 0.00002, 0.5, 0.00025, 0.008, 0.0, 100); // 4 colson wheels
@@ -202,18 +198,19 @@ public class Drive extends Subsystem implements ControlLoopable
public Drive() {
try {
leftDrive1 = new CANTalonEncoder(RobotMap.DRIVETRAIN_LEFT_MOTOR1_CAN_ID, ENCODER_TICKS_TO_INCHES, false, FeedbackDevice.QuadEncoder);
leftDrive2 = new WPI_TalonSRX(RobotMap.DRIVETRAIN_LEFT_MOTOR2_CAN_ID);
// leftDrive3 = new WPI_TalonSRX(RobotMap.DRIVETRAIN_LEFT_MOTOR3_CAN_ID);
rightDrive1 = new CANTalonEncoder(RobotMap.DRIVETRAIN_RIGHT_MOTOR1_CAN_ID, ENCODER_TICKS_TO_INCHES, true, FeedbackDevice.QuadEncoder);
rightDrive2 = new WPI_TalonSRX(RobotMap.DRIVETRAIN_RIGHT_MOTOR2_CAN_ID);
// rightDrive3 = new WPI_TalonSRX(RobotMap.DRIVETRAIN_RIGHT_MOTOR3_CAN_ID);
elevatorRight = new CANTalonEncoder(RobotMap.ELEVATOR_MOTOR1_ID, ENCODER_TICKS_TO_INCHES, FeedbackDevice.QuadEncoder);
leftDrive1 = new CANSparkMax(RobotMap.DRIVETRAIN_LEFT_MOTOR1_CAN_ID, MotorType.kBrushless);
//leftDrive1 = new CANSparkMax(RobotMap.DRIVETRAIN_LEFT_MOTOR1_CAN_ID, ENCODER_TICKS_TO_INCHES, false, FeedbackDevice.QuadEncoder);
leftDrive2 = new CANSparkMax(RobotMap.DRIVETRAIN_LEFT_MOTOR2_CAN_ID, MotorType.kBrushless);
encoderLeft = new CANEncoder(leftDrive1);
leftDrive2.follow(leftDrive1);
rightDrive1 = new CANSparkMax(RobotMap.DRIVETRAIN_RIGHT_MOTOR1_CAN_ID, MotorType.kBrushless);
rightDrive2 = new CANSparkMax(RobotMap.DRIVETRAIN_RIGHT_MOTOR2_CAN_ID, MotorType.kBrushless);
encoderRight = new CANEncoder(rightDrive1);
rightDrive2.follow(rightDrive1);
//gyroPigeon = new PigeonImu(leftDrive2);
gyroNavX = new AHRS(SPI.Port.kMXP);
//hopperSensorRed = new DigitalInput(RobotMap.HOPPER_SENSOR_RED_DIO_ID);
//hopperSensorBlue = new DigitalInput(RobotMap.HOPPER_SENSOR_BLUE_DIO_ID);
@@ -360,13 +357,6 @@ public class Drive extends Subsystem implements ControlLoopable
// return isHopperSensorBlueOn();
// }
//}
public void setStraightMM(double distanceInches, double maxVelocity, double maxAcceleration, boolean useGyroLock, boolean useAbsolute, double desiredAbsoluteAngle) {
double yawAngle = useAbsolute ? BHRMathUtils.adjustAccumAngleToDesired(getGyroAngleDeg(), desiredAbsoluteAngle) : getGyroAngleDeg();
mmStraightController.setPID(mmStraightPIDParams);
mmStraightController.setMMStraightTarget(0, distanceInches, maxVelocity, maxAcceleration, useGyroLock, yawAngle, true);
setControlMode(DriveControlMode.MOTION_MAGIC);
}
public void setStraightMP(double distanceInches, double maxVelocity, boolean useGyroLock, boolean useAbsolute, double desiredAbsoluteAngle) {
double yawAngle = useAbsolute ? BHRMathUtils.adjustAccumAngleToDesired(getGyroAngleDeg(), desiredAbsoluteAngle) : getGyroAngleDeg();
@@ -537,9 +527,6 @@ public class Drive extends Subsystem implements ControlLoopable
else if (controlMode == DriveControlMode.MP_PATH_VELOCITY) {
isFinished = mpPathVelocityController.controlLoopUpdate(getGyroAngleDeg());
}
else if (controlMode == DriveControlMode.MOTION_MAGIC) {
isFinished = mmStraightController.controlLoopUpdate(getGyroAngleDeg());
}
else if (controlMode == DriveControlMode.ADAPTIVE_PURSUIT) {
updatePose();
isFinished = adaptivePursuitController.controlLoopUpdate(currentPose);
@@ -771,7 +758,6 @@ public class Drive extends Subsystem implements ControlLoopable
@Override
public void setPeriodMs(long periodMs) {
//mmStraightController = new MMTalonPIDController(periodMs, mmStraightPIDParams, motorControllers);
mpStraightController = new MPTalonPIDController(periodMs, mpStraightPIDParams, motorControllers);
mpTurnController = new MPSoftwarePIDController(periodMs, mpTurnPIDParams, motorControllers);
pidTurnController = new SoftwarePIDController(pidTurnPIDParams, motorControllers);
2019robot/vendordeps/REVRobotics.json
+32
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@@ -0,0 +1,32 @@
{
"fileName": "REVRobotics.json",
"name": "REVRobotics",
"version": "1.0.27",
"uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
"mavenUrls": [
"http://www.revrobotics.com/content/sw/max/sdk/maven/"
],
"jsonUrl": "http://www.revrobotics.com/content/sw/max/sdk/REVRobotics.json",
"javaDependencies": [
{
"groupId": "com.revrobotics.frc",
"artifactId": "SparkMax-java",
"version": "1.0.27"
}
],
"jniDependencies": [],
"cppDependencies": [
{
"groupId": "com.revrobotics.frc",
"artifactId": "SparkMax-cpp",
"version": "1.0.27",
"libName": "libSparkMax",
"headerClassifier": "headers",
"sharedLibrary": false,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"linuxathena"
]
}
]
}