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turret deadzone

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aarav18
2022-03-06 15:05:08 -07:00
parent 9299ee0974
commit 62e248faa9
4 changed files with 9 additions and 25 deletions
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src/main/java/frc4388/robot/Constants.java
+2 -2
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@@ -181,8 +181,8 @@ public final class Constants {
public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.6, 0.0, 0.0, 0.0, 0, 1.0);
public static final Gains SHOOTER_ANGLE_GAINS = new Gains(0.05, 0.0, 0.0, 0.0, 0, 0.3);
public static final double SHOOTER_TURRET_MIN = -1.0;
public static final float TURRET_FORWARD_LIMIT = 130; // TODO: find
public static final float TURRET_REVERSE_LIMIT = 0; // TODO: find
public static final double TURRET_FORWARD_LIMIT = 130; // TODO: find
public static final double TURRET_REVERSE_LIMIT = 0; // TODO: find
// deadzones
public static final double HARD_DEADZONE_LEFT = 0.0;
src/main/java/frc4388/robot/commands/AimToCenter.java
+4 -13
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@@ -61,21 +61,12 @@ public class AimToCenter extends CommandBase {
}
/**
* Checks if in hardware deadzone (due to mechanical limitations).
* Checks if in deadzone.
* @param angle Angle to check.
* @return True if in hardware deadzone.
* @return True if in 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));
public static boolean isDeadzone(double angle) {
return !((ShooterConstants.TURRET_REVERSE_LIMIT < angle) && (angle < ShooterConstants.TURRET_FORWARD_LIMIT));
}
// Called once the command ends or is interrupted.
src/main/java/frc4388/robot/commands/Shoot.java
+1 -8
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@@ -120,14 +120,7 @@ public class Shoot extends CommandBase {
m_targetAngle = ((Math.atan2(m_odoY, m_odoX) * (180./Math.PI) - m_gyroAngle) + 180. + 360.) % 360.;
// deadzone processing
if (AimToCenter.isHardwareDeadzone(m_targetAngle)) {
m_targetAngle = m_targetAngle + 20;
}
if (AimToCenter.isDigitalDeadzone(m_targetAngle)) {
// this should rotate the entire swerve drive by 20 degrees, so shoot can now proceed like normal. idk if this will work
m_swerve.driveWithInput(0, 0, Math.cos(m_gyroAngle + 20), Math.sin(m_gyroAngle + 20), true);
}
if (AimToCenter.isDeadzone(m_targetAngle)) {}
// initial error
updateError();
src/main/java/frc4388/robot/subsystems/Turret.java
+2 -2
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@@ -57,8 +57,8 @@ public class Turret extends SubsystemBase {
SmartDashboard.putBoolean("Right Limit Switch Enabled", m_boomBoomRightLimit.isLimitSwitchEnabled());
SmartDashboard.putBoolean("Left Limit Switch Enabled", m_boomBoomLeftLimit.isLimitSwitchEnabled());
m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.TURRET_FORWARD_LIMIT);
m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kReverse, ShooterConstants.TURRET_REVERSE_LIMIT);
m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, (float) ShooterConstants.TURRET_FORWARD_LIMIT);
m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kReverse, (float) ShooterConstants.TURRET_REVERSE_LIMIT);
setTurretSoftLimits(true);
m_boomBoomRotateMotor.setInverted(false);