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sorta working / some fixes (namely funky turning after shooter)

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Ryan
2022-03-21 20:00:34 -06:00
parent 065e48fed1
commit 4c5106d14f
4 changed files with 40 additions and 35 deletions
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src/main/java/frc4388/robot/Constants.java
+2 -2
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@@ -326,8 +326,8 @@ public final class Constants {
public static final double TARGET_RADIUS = 4*12; //TODO: Convert to metric (does this still need to be converted?)
public static final double H_FOV = 59.6;
public static final double V_FOV = 45.7;
public static final double LIME_HIXELS = 920;
public static final double LIME_VIXELS = 720;
public static final double LIME_HIXELS = 640;
public static final double LIME_VIXELS = 480;
public static final double TURRET_kP = 0.1;
public static final double POINTS_THRESHOLD = 400;
src/main/java/frc4388/robot/RobotContainer.java
+11 -6
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@@ -218,6 +218,11 @@ public class RobotContainer {
if (RobotContainer.currentControlMode.equals(ControlMode.SHOOTER)) { m_robotClimber.setMotors(0.0); }
if (RobotContainer.currentControlMode.equals(ControlMode.CLIMBER)) { m_robotClimber.setMotors(getOperatorController().getRightY()); }
}, m_robotClimber));
m_robotBoomBoom.setDefaultCommand(
new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.45))
);
// autoInit();
// recordInit();
}
@@ -267,8 +272,8 @@ public class RobotContainer {
.whenPressed(new InstantCommand(() -> m_robotClaws.toggleClaws(), m_robotClaws));
// X > Toggles extender in and out
// new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
// .whenPressed(new ExtenderIntakeGroup(m_robotIntake, m_robotExtender));
new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
.whenPressed(new ExtenderIntakeGroup(m_robotIntake, m_robotExtender));
// A > Spit Out Ball
new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
@@ -281,11 +286,11 @@ public class RobotContainer {
//! Test Buttons
new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
.whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood, m_robotVisionOdometry, false, false));
// new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
// .whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood, m_robotVisionOdometry, false, false));
new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
.whileHeld(new TrackTarget(m_robotSwerveDrive, m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry));
new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
.whileHeld(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry));
// new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
// .whileHeld(new RunCommand(() -> m_robotClaws.setOpen(true)));
src/main/java/frc4388/robot/commands/ShooterCommands/Seek.java
+1 -1
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@@ -24,6 +24,6 @@ public class Seek extends SequentialCommandGroup {
public Seek(SwerveDrive swerve, BoomBoom drum, Turret turret, Hood hood, VisionOdometry visionOdometry) {
// Add your commands in the addCommands() call, e.g.
// addCommands(new FooCommand(), new BarCommand());
addCommands(new Shoot(swerve, drum, turret, hood, visionOdometry, false, false), new TrackTarget(swerve, turret, drum, hood, visionOdometry));
addCommands(new Shoot(swerve, drum, turret, hood, visionOdometry, false, false), new TrackTarget(turret, drum, hood, visionOdometry));
}
}
src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java
+26 -26
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@@ -46,8 +46,7 @@ public class TrackTarget extends CommandBase {
boolean isExecuted = false;
public TrackTarget (SwerveDrive swerve, Turret turret, BoomBoom boomBoom, Hood hood, VisionOdometry visionOdometry) {
m_swerve = swerve;
public TrackTarget (Turret turret, BoomBoom boomBoom, Hood hood, VisionOdometry visionOdometry) {
m_turret = turret;
m_boomBoom = boomBoom;
m_hood = hood;
@@ -71,22 +70,22 @@ public class TrackTarget extends CommandBase {
m_visionOdometry.setLEDs(true);
points = m_visionOdometry.getTargetPoints();
points = filterPoints(points);
// points = filterPoints(points);
Point average = VisionOdometry.averagePoint(points);
double output = (average.x - VisionConstants.LIME_HIXELS/2.d) / VisionConstants.LIME_HIXELS;
output *= 2;
m_turret.runTurretWithInput(output);
double position = m_turret.m_boomBoomRotateEncoder.getPosition();
// double position = m_turret.m_boomBoomRotateEncoder.getPosition();
if(Math.abs(position - ShooterConstants.TURRET_FORWARD_SOFT_LIMIT) < 5 ||
Math.abs(position - ShooterConstants.TURRET_REVERSE_SOFT_LIMIT) < 5)
m_swerve.driveWithInput(RobotContainer.getDriverController().getLeftX(), RobotContainer.getDriverController().getLeftY(), output, true);
else
m_swerve.driveWithInput(RobotContainer.getDriverController().getLeftX(), RobotContainer.getDriverController().getLeftY(),
RobotContainer.getDriverController().getRightX(), RobotContainer.getDriverController().getRightY(),
true);
// if(Math.abs(position - ShooterConstants.TURRET_FORWARD_SOFT_LIMIT) < 5 ||
// Math.abs(position - ShooterConstants.TURRET_REVERSE_SOFT_LIMIT) < 5)
// m_swerve.driveWithInput(RobotContainer.getDriverController().getLeftX(), RobotContainer.getDriverController().getLeftY(), output, true);
// else
// m_swerve.driveWithInput(RobotContainer.getDriverController().getLeftX(), RobotContainer.getDriverController().getLeftY(),
// RobotContainer.getDriverController().getRightX(), RobotContainer.getDriverController().getRightY(),
// true);
double regressedDistance = getDistance(average.y);
@@ -113,25 +112,25 @@ public class TrackTarget extends CommandBase {
}
}
public ArrayList<Point> filterPoints(ArrayList<Point> points) {
Point average = VisionOdometry.averagePoint(points);
// public ArrayList<Point> filterPoints(ArrayList<Point> points) {
// Point average = VisionOdometry.averagePoint(points);
HashMap<Point, Double> pointDistances = new HashMap<>();
double distanceSum = 0;
// HashMap<Point, Double> pointDistances = new HashMap<>();
// double distanceSum = 0;
for(Point point : points) {
Vector2D difference = new Vector2D(point);
difference.subtract(new Vector2D(average));
// for(Point point : points) {
// Vector2D difference = new Vector2D(point);
// difference.subtract(new Vector2D(average));
double mag = difference.magnitude();
distanceSum += mag;
// double mag = difference.magnitude();
// distanceSum += mag;
pointDistances.put(point, mag);
}
// pointDistances.put(point, mag);
// }
final double averageDist = distanceSum / points.size();
return (ArrayList<Point>) pointDistances.keySet().stream().filter(p -> pointDistances.get(p) < 2 * averageDist).collect(Collectors.toList());
}
// final double averageDist = distanceSum / points.size();
// return (ArrayList<Point>) pointDistances.keySet().stream().filter(p -> pointDistances.get(p) < 2 * averageDist).collect(Collectors.toList());
// }
public final double getDistance(double averageY) {
double y_rot = averageY / VisionConstants.LIME_VIXELS;
@@ -143,7 +142,8 @@ public class TrackTarget extends CommandBase {
double regressedDistance = distanceRegression(distance);
regressedDistance += VisionConstants.EDGE_TO_CENTER + VisionConstants.LIMELIGHT_RADIUS;
SmartDashboard.putNumber("Distance from Lime 123", distance);
SmartDashboard.putNumber("Regressed Distance from Lime 123", regressedDistance);
return regressedDistance;
}