From 2c3afec8c8078b7807094d2936a9d14bc456fa4f Mon Sep 17 00:00:00 2001 From: nathanrsxtn Date: Fri, 8 Apr 2022 12:50:27 -0600 Subject: [PATCH] Aarav did not use the calculated offset to offset the turret Add turret offset to shooter tunner --- .../robot/commands/ShooterCommands/TrackTarget.java | 5 +++-- .../frc4388/robot/commands/shuffleboard/ShooterTuner.java | 7 ++++++- 2 files changed, 9 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java b/src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java index 0cd3e20..1dcc54b 100644 --- a/src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java +++ b/src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java @@ -130,8 +130,9 @@ public class TrackTarget extends CommandBase { double output = ((average.x + 40) - VisionConstants.LIME_HIXELS/2.d) / VisionConstants.LIME_HIXELS; output *= 2.1; - - m_turret.runTurretWithInput(output); + + // m_turret.runTurretWithInput(output - trigPixelOffset); + m_turret.runTurretWithInput(output - csvPixelOffset); // ! no longer a +30 lol -aarav double distAdj = SmartDashboard.getNumber("Distance Adjust", -35); diff --git a/src/main/java/frc4388/robot/commands/shuffleboard/ShooterTuner.java b/src/main/java/frc4388/robot/commands/shuffleboard/ShooterTuner.java index e36c902..d8a3ed9 100644 --- a/src/main/java/frc4388/robot/commands/shuffleboard/ShooterTuner.java +++ b/src/main/java/frc4388/robot/commands/shuffleboard/ShooterTuner.java @@ -36,6 +36,7 @@ public class ShooterTuner extends CommandBase { private final ShooterTableEntry tableOverrideEntry; private final SendableTable m_tableEditor; private boolean measureDistance = false; + private boolean triedTakeOwnership = false; public ShooterTuner(BoomBoom boomBoom) { m_boomBoom = boomBoom; @@ -102,6 +103,7 @@ public class ShooterTuner extends CommandBase { builder.setSmartDashboardType("RobotPreferences"); builder.addDoubleProperty("Drum Velocity", () -> tableOverrideEntry.drumVelocity, d -> tableOverrideEntry.drumVelocity = d); builder.addDoubleProperty("Hood Extension", () -> tableOverrideEntry.hoodExt, d -> tableOverrideEntry.hoodExt = d); + builder.addDoubleProperty("Turret Offset", () -> tableOverrideEntry.turretOffset, d -> tableOverrideEntry.turretOffset = d); builder.addDoubleProperty("Distance", () -> tableOverrideEntry.distance, d -> tableOverrideEntry.distance = d); builder.addBooleanProperty("Measure Distance", () -> measureDistance, b -> measureDistance = b); } @@ -110,7 +112,10 @@ public class ShooterTuner extends CommandBase { private class CSVAppender extends CommandBase { @Override public void execute() { - if (RobotBase.isReal()) Errors.log().run(() -> Files.getFileAttributeView(PATH, FileOwnerAttributeView.class).setOwner(FileSystems.getDefault().getUserPrincipalLookupService().lookupPrincipalByName("admin"))); + if (!triedTakeOwnership && RobotBase.isReal()) { + triedTakeOwnership = true; + Errors.log().run(() -> Files.getFileAttributeView(PATH, FileOwnerAttributeView.class).setOwner(FileSystems.getDefault().getUserPrincipalLookupService().lookupPrincipalByName("admin"))); + } try (OutputStream csvOutputStream = Files.newOutputStream(PATH, StandardOpenOption.WRITE, StandardOpenOption.APPEND)) { csvOutputStream.write(String.format("%s,%s,%s%n", tableOverrideEntry.distance, tableOverrideEntry.hoodExt, tableOverrideEntry.drumVelocity).getBytes()); } catch (IOException e) {