Merge branch 'full-robot-test' into Climber

src/main/java/frc4388/robot/commands/AimToCenter.java

@@ -6,13 +6,16 @@ package frc4388.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc4388.robot.Constants.ShooterConstants;
+import frc4388.robot.Constants.VisionConstants;
 import frc4388.robot.subsystems.SwerveDrive;
 import frc4388.robot.subsystems.Turret;
+import frc4388.robot.subsystems.VisionOdometry;
 
 public class AimToCenter extends CommandBase {
   /** Creates a new AimWithOdometry. */
   Turret m_turret;
   SwerveDrive m_drive;
+  VisionOdometry m_visionOdometry;
 
   // use odometry to find x and y later
   double x;
@@ -21,11 +24,12 @@ public class AimToCenter extends CommandBase {
 
   // public static Gains m_aimGains;
 
-  public AimToCenter(Turret turret, SwerveDrive drive) {
+  public AimToCenter(Turret turret, SwerveDrive drive, VisionOdometry visionOdometry) {
     // Use addRequirements() here to declare subsystem dependencies.
     m_turret = turret;
     m_drive = drive;
-    addRequirements(m_turret, m_drive);
+    m_visionOdometry = visionOdometry;
+    addRequirements(m_turret, m_drive, m_visionOdometry);
   }
 
   // Called when the command is initially scheduled.
@@ -40,6 +44,15 @@ public class AimToCenter extends CommandBase {
   public void execute() {
     m_targetAngle = angleToCenter(x, y, m_drive.getRegGyro().getDegrees());
     m_turret.runshooterRotatePID(m_targetAngle);
+
+    // Check if limelight is within range (comment out to disable vision odo)
+    if (Math.abs(m_turret.getBoomBoomAngleDegrees() - m_targetAngle) < VisionConstants.RANGE){
+      m_visionOdometry.updateOdometryWithVision();
+      m_visionOdometry.setLEDs(true);
+    }
+    else{
+      m_visionOdometry.setLEDs(false);
+    }
   }
 
   public static double angleToCenter(double x, double y, double gyro) {

src/main/java/frc4388/robot/commands/Shoot.java

@@ -7,6 +7,7 @@ package frc4388.robot.commands;
 import edu.wpi.first.hal.simulation.SimulatorJNI;
 import edu.wpi.first.wpilibj.simulation.LinearSystemSim;
 import edu.wpi.first.wpilibj.simulation.SimHooks;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc4388.robot.Constants.ShooterConstants;
 import frc4388.robot.subsystems.BoomBoom;
@@ -44,7 +45,8 @@ public class Shoot extends CommandBase {
   public double proportional, integral, derivative;
   public double time;
   public double output;
-  public double tolerance = 5.0;
+  public double tolerance;
+  public boolean isAimedInTolerance;
 
   // testing
   public DummySensor dummy = new DummySensor(0);
@@ -75,6 +77,9 @@ public class Shoot extends CommandBase {
     derivative = 0;
     time = 0.02;
 
+    tolerance = 5.0;
+    isAimedInTolerance = false;
+
     DummySensor.resetAll();
   }
 
@@ -83,6 +88,8 @@ public class Shoot extends CommandBase {
    */
   public void updateError() {
     error = (m_targetAngle - m_turret.getBoomBoomAngleDegrees() + 360) % 360;
+    isAimedInTolerance = (Math.abs(error) <= tolerance);
+    SmartDashboard.putBoolean("isAimed?", isAimedInTolerance);
   }
 
   // Called when the command is initially scheduled.
@@ -154,7 +161,6 @@ public class Shoot extends CommandBase {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    updateError();
-    return Math.abs(error) <= tolerance;
+    return false;
   }
 }

src/main/java/frc4388/robot/commands/TrackTarget.java

@@ -0,0 +1,121 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc4388.robot.commands;
+
+import java.io.IOException;
+import java.util.ArrayList;
+import java.util.List;
+
+import org.opencv.core.Point;
+
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.Constants.ShooterConstants;
+import frc4388.robot.Constants.VisionConstants;
+import frc4388.robot.subsystems.BoomBoom;
+import frc4388.robot.subsystems.Hood;
+import frc4388.robot.subsystems.SwerveDrive;
+import frc4388.robot.subsystems.Turret;
+import frc4388.robot.subsystems.VisionOdometry;
+
+public class TrackTarget extends CommandBase {
+  /** Creates a new TrackTarget. */
+  Turret m_turret;
+  SwerveDrive m_drive;
+  VisionOdometry m_visionOdometry;
+  BoomBoom m_boomBoom;
+  Hood m_hood;
+
+  // use odometry to find x and y later
+  double x;
+  double y;
+  double distance;
+  double vel;
+  double hood;
+  double average;
+  double output;
+  Pose2d pos = new Pose2d();
+  ArrayList<Point> points = new ArrayList<>();
+
+  // public static Gains m_aimGains;
+
+  public TrackTarget (Turret turret, BoomBoom boomBoom, Hood hood, SwerveDrive drive, VisionOdometry visionOdometry) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    m_turret = turret;
+    m_drive = drive;
+    m_boomBoom = boomBoom;
+    m_hood = hood;
+    m_visionOdometry = visionOdometry;
+    addRequirements(m_turret, m_drive, m_visionOdometry);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    x = 0;
+    y = 0;
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    //m_targetAngle = angleToCenter(x, y, m_drive.getRegGyro().getDegrees());
+    m_visionOdometry.setLEDs(true);
+    points = m_visionOdometry.getTargetPoints();
+    double pointTotal = 0;
+    for(Point point : points)
+    {
+      pointTotal = pointTotal + point.x;
+    }
+    average = pointTotal/points.size();
+    output = average/VisionConstants.LIME_HIXELS * VisionConstants.TURRET_kP;
+    m_turret.runTurretWithInput(output);
+    try{
+      pos = m_visionOdometry.getVisionOdometry();
+      distance = Math.hypot(pos.getX(), pos.getY());
+    }
+    catch (Exception e){
+    }
+    vel = m_boomBoom.getVelocity(distance);
+    hood = m_boomBoom.getHood(distance);
+    m_boomBoom.runDrumShooterVelocityPID(vel);
+    m_hood.runAngleAdjustPID(hood);
+    //m_turret.runshooterRotatePID(m_targetAngle);
+  }
+
+ /* public static double angleToCenter(double x, double y, double gyro) {
+    double angle = ((Math.atan2(y, x) * (180./Math.PI) - gyro) + 180. + 360.) % 360.; // Finds the angle between the gyro of the robot and the target (positive x is gyro 0)
+    return angle;
+  }*/
+
+  /**
+   * Checks if in hardware deadzone (due to mechanical limitations).
+   * @param angle Angle to check.
+   * @return True if in hardware deadzone.
+   */
+  public static boolean isHardwareDeadzone(double angle) {
+    return ((ShooterConstants.HARD_DEADZONE_LEFT > angle) || (angle > ShooterConstants.HARD_DEADZONE_RIGHT));
+  }
+
+  /**
+   * Checks if in digital deadzone (due to climber).
+   * @param angle Angle to check.
+   * @return True if in digital deadzone.
+   */
+  public static boolean isDigitalDeadzone(double angle) {
+    return ((ShooterConstants.DIG_DEADZONE_LEFT < angle) && (angle < ShooterConstants.DIG_DEADZONE_RIGHT));
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}