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Aarav did not use the calculated offset to offset the turret

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Add turret offset to shooter tunner
This commit is contained in:
nathanrsxtn
2022-04-08 12:50:27 -06:00
parent 471bc56d54
commit 2c3afec8c8
2 changed files with 9 additions and 3 deletions
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src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java
+3 -2
View File
@@ -130,8 +130,9 @@ public class TrackTarget extends CommandBase {
double output = ((average.x + 40) - VisionConstants.LIME_HIXELS/2.d) / VisionConstants.LIME_HIXELS; double output = ((average.x + 40) - VisionConstants.LIME_HIXELS/2.d) / VisionConstants.LIME_HIXELS;
output *= 2.1; output *= 2.1;
m_turret.runTurretWithInput(output); // m_turret.runTurretWithInput(output - trigPixelOffset);
m_turret.runTurretWithInput(output - csvPixelOffset);
// ! no longer a +30 lol -aarav // ! no longer a +30 lol -aarav
double distAdj = SmartDashboard.getNumber("Distance Adjust", -35); double distAdj = SmartDashboard.getNumber("Distance Adjust", -35);
src/main/java/frc4388/robot/commands/shuffleboard/ShooterTuner.java
+6 -1
View File
@@ -36,6 +36,7 @@ public class ShooterTuner extends CommandBase {
private final ShooterTableEntry tableOverrideEntry; private final ShooterTableEntry tableOverrideEntry;
private final SendableTable m_tableEditor; private final SendableTable m_tableEditor;
private boolean measureDistance = false; private boolean measureDistance = false;
private boolean triedTakeOwnership = false;
public ShooterTuner(BoomBoom boomBoom) { public ShooterTuner(BoomBoom boomBoom) {
m_boomBoom = boomBoom; m_boomBoom = boomBoom;
@@ -102,6 +103,7 @@ public class ShooterTuner extends CommandBase {
builder.setSmartDashboardType("RobotPreferences"); builder.setSmartDashboardType("RobotPreferences");
builder.addDoubleProperty("Drum Velocity", () -> tableOverrideEntry.drumVelocity, d -> tableOverrideEntry.drumVelocity = d); builder.addDoubleProperty("Drum Velocity", () -> tableOverrideEntry.drumVelocity, d -> tableOverrideEntry.drumVelocity = d);
builder.addDoubleProperty("Hood Extension", () -> tableOverrideEntry.hoodExt, d -> tableOverrideEntry.hoodExt = 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.addDoubleProperty("Distance", () -> tableOverrideEntry.distance, d -> tableOverrideEntry.distance = d);
builder.addBooleanProperty("Measure Distance", () -> measureDistance, b -> measureDistance = b); builder.addBooleanProperty("Measure Distance", () -> measureDistance, b -> measureDistance = b);
} }
@@ -110,7 +112,10 @@ public class ShooterTuner extends CommandBase {
private class CSVAppender extends CommandBase { private class CSVAppender extends CommandBase {
@Override @Override
public void execute() { 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)) { 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()); csvOutputStream.write(String.format("%s,%s,%s%n", tableOverrideEntry.distance, tableOverrideEntry.hoodExt, tableOverrideEntry.drumVelocity).getBytes());
} catch (IOException e) { } catch (IOException e) {