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shooter tuning

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This commit is contained in:
Ryan Manley
2022-03-15 13:55:31 -06:00
parent 8a902e635f
commit 565d5d1d62
3 changed files with 36 additions and 25 deletions
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src/main/deploy/ShooterData.csv
+10 -4
View File
@@ -1,4 +1,10 @@
Distance (in) ,Hood Ext. (u) ,Drum Velocity (u/ds) ,Duration (s)
81, ,0 ,8000 ,0
150, ,-62.1 ,10000 ,0
227, ,-103.9 ,10500 ,0
Distance (in) ,Hood Ext. (u) ,Drum Velocity (u/ds) ,Duration (s),
78.5 ,-29.5 ,8000 ,0,
99 ,-39.62 ,8500 ,0,
127.25 ,-49.12 ,9500 ,0,
150 ,-66.22 ,10000 ,0,
164.5 ,-75.52 ,10000 ,0,
186 ,-76.24 ,10000 ,0,
207 ,-104.07 ,11000 ,0,
227 ,-105.32 ,11500 ,0,
255.5 ,-97.8 ,14500 ,0,
1 Distance (in) ,Hood Ext. (u) ,Drum Velocity (u/ds) ,Duration (s) Distance (in) Hood Ext. (u) Drum Velocity (u/ds) Duration (s)
2 81, ,0 ,8000 ,0 78.5 -29.5 8000 0
3 150, ,-62.1 ,10000 ,0 99 -39.62 8500 0
4 227, ,-103.9 ,10500 ,0 127.25 -49.12 9500 0
5 150 -66.22 10000 0
6 164.5 -75.52 10000 0
7 186 -76.24 10000 0
8 207 -104.07 11000 0
9 227 -105.32 11500 0
10 255.5 -97.8 14500 0
src/main/java/frc4388/robot/RobotContainer.java
+25 -21
View File
@@ -264,18 +264,19 @@ public class RobotContainer {
// .whileHeld(new RunCommand(() -> m_robotHood.runAngleAdjustPID(-55.55)))
// .whenReleased(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.0)));
// new JoystickButton(getOperatorController(), XboxController.Button.kX.value) //20ft
// .whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(10000)))
// .whenReleased(new RunCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0)));
new JoystickButton(getOperatorController(), XboxController.Button.kB.value) //20ft
.whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(10000)))
.whenReleased(new RunCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0)));
new JoystickButton(getOperatorController(), XboxController.Button.kLeftBumper.value)
.whenPressed(new RunCommand(() -> m_robotStorage.runStorage(-0.9), m_robotStorage))
.whenPressed(new RunCommand(() -> m_robotStorage.runStorage(0.9), m_robotStorage))
.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
new JoystickButton(getOperatorController(), XboxController.Button.kRightBumper.value)
.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(0.9), m_robotStorage))
.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(-0.9), m_robotStorage))
.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
//Toggles extender in and out
new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
.whenPressed(new ExtenderIntakeGroup(m_robotIntake, m_robotExtender));
// new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
@@ -285,21 +286,21 @@ public class RobotContainer {
// .whileHeld(new RunCommand(() -> m_robotExtender.runExtender(1.0), m_robotExtender))
// .whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
// .whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.25)))
.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(-1.0), m_robotExtender))
.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
// new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
// // .whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.25)))
// .whileHeld(new RunCommand(() -> m_robotExtender.runExtender(-1.0), m_robotExtender))
// .whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
// .whenReleased(new InstantCommand(() -> m_robotBoomBoom.runDrumShooter(0)));
new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(1.0), m_robotExtender))
.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
// new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
// .whenPressed(new InstantCommand(() -> m_robotBoomBoom.updateOffset(500), m_robotBoomBoom));
// .whileHeld(new RunCommand(() -> m_robotExtender.runExtender(1.0), m_robotExtender))
// .whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
// new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
// .whenPressed(new InstantCommand(() -> m_robotBoomBoom.updateOffset(-500), m_robotBoomBoom));
new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
.whenPressed(new InstantCommand(() -> m_robotBoomBoom.updateOffset(500), m_robotBoomBoom));
new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
.whenPressed(new InstantCommand(() -> m_robotBoomBoom.updateOffset(-500), m_robotBoomBoom));
// Right Bumper > Storage In
// new JoystickButton(getOperatorController(), XboxController.Button.kRightBumper.value)
@@ -318,9 +319,10 @@ public class RobotContainer {
// .whileHeld(new RunCommand(() -> m_robotTurret.runShooterRotatePID(-44 * ShooterConstants.TURRET_DEGREES_PER_ROT), m_robotTurret));
//B > Shoot with Lime
new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
.whileHeld(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry))
.whenReleased(new InstantCommand(() -> m_robotVisionOdometry.setLEDs(false)));
// new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
// .whileHeld(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry))
// .whenReleased(new InstantCommand(() -> m_robotVisionOdometry.setLEDs(false)));
// .whileHeld%
/* Button Box Buttons */
@@ -349,10 +351,12 @@ public class RobotContainer {
.whileHeld(new RunCommand(() -> System.out.println("RightSwitch")));
new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftButton.value)
.whileHeld(new RunCommand(() -> System.out.println("LeftButton")));
.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(-1.0), m_robotExtender))
.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
new JoystickButton(getButtonBox(), ButtonBox.Button.kRightButton.value)
.whileHeld(new RunCommand(() -> System.out.println("RightButton")));
.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(1.0), m_robotExtender))
.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
}
/**
src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java
+1
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@@ -86,6 +86,7 @@ public class TrackTarget extends CommandBase {
y_rot += Math.toRadians(VisionConstants.LIME_ANGLE);
double distance = (VisionConstants.TARGET_HEIGHT - VisionConstants.LIME_HEIGHT) / Math.tan(y_rot);
DesmosServer.putDouble("distance", distance);
updateRegressionDesmos();