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two ball auto

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This commit is contained in:
Ryan Manley
2022-04-04 18:53:38 -06:00
parent c25fc7a0a5
commit 6ae41e3d4b
5 changed files with 23 additions and 16 deletions
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src/main/deploy/ShooterData.csv
+4 -3
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@@ -1,9 +1,10 @@
Distance (in) ,Hood Ext. (u) ,Drum Velocity (u/ds)
0 ,-29.5 ,8000
78.5 ,-29.5 ,8000
78.5 ,-29.5 ,8500
88 ,-34.2 ,8600
99 ,-39.62 ,8600
111 ,-42 ,9000
90 ,-35.47 ,9500
99 ,-39.62 ,9500
111 ,-42 ,9500
127.25 ,-49.12 ,9500
141 ,-59.4 ,9900
150 ,-66.22 ,10000
1 Distance (in) Hood Ext. (u) Drum Velocity (u/ds)
2 0 -29.5 8000
3 78.5 -29.5 8000 8500
4 88 -34.2 8600
5 99 90 -39.62 -35.47 8600 9500
6 111 99 -42 -39.62 9000 9500
7 111 -42 9500
8 127.25 -49.12 9500
9 141 -59.4 9900
10 150 -66.22 10000
src/main/java/frc4388/robot/Constants.java
+2 -2
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@@ -287,8 +287,8 @@ public final class Constants {
// ID
public static final int TURRET_MOTOR_CAN_ID = 19;
//Gains for turret
public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.1, 0.0, 0.1, 0.0, 0, 0.3/*TURRET_SPEED_MULTIPLIER*/);
public static final double SHOOTER_TURRET_MIN = -0.3;//-TURRET_SPEED_MULTIPLIER;
public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.1, 0.0, 0.1, 0.0, 0, 0.6/*TURRET_SPEED_MULTIPLIER*/);
public static final double SHOOTER_TURRET_MIN = -0.6;//-TURRET_SPEED_MULTIPLIER;
//Gains for hood
public static final Gains SHOOTER_ANGLE_GAINS = new Gains(0.1, 0.0, 0.0, 0.0, 0, 0.7);
src/main/java/frc4388/robot/Robot.java
+2
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@@ -17,6 +17,7 @@ import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import frc4388.robot.commands.ExtenderIntakeCommands.ExtenderIntakeGroup;
import frc4388.utility.RobotTime;
import frc4388.utility.Vector2D;
@@ -76,6 +77,7 @@ public class Robot extends TimedRobot {
// desmosServer.start();
m_robotContainer.m_robotVisionOdometry.setLEDs(false);
ExtenderIntakeGroup.setDirectionToOut();
// DesmosServer.putTable("table", "x1", new double[] {44}, "y1", new double[] {0});
}
src/main/java/frc4388/robot/RobotContainer.java
+13 -9
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@@ -352,7 +352,7 @@ public class RobotContainer {
// new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
// .whenPressed(new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID(-Math.atan2((219.25 / 2.00) - 10, (82.83 / 2.00) - 15.56)), m_robotTurret), 1.0));
new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
.whileHeld(new RunCommand(() -> m_robotTurret.runShooterRotatePID((180.0 / Math.PI) * Math.atan2(-(82.83 / 2.00) + 15.56, -(219.25 / 2.00) - 40.44 + 10.00)), m_robotTurret)); // * aim with turret to target);
.whileHeld(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry)); // * aim with turret to target);
// new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
// .whileHeld(new RunCommand(() -> m_robotClaws.setOpen(true)));
@@ -528,13 +528,13 @@ public class RobotContainer {
SequentialCommandGroup weirdAutoShootingGroup = new SequentialCommandGroup(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true),
new ParallelCommandGroup(
new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true),
new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage), 2.0, true)
new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage), 1.0, true)
)); // * weird way of shooting, i think we should make a new TrackTarget with built-in Storage control instead.
SequentialCommandGroup weirdAutoShootingGroup2 = new SequentialCommandGroup(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true),
new ParallelCommandGroup(
new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true),
new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage), 2.0, true)
new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage), 4.0, true)
)); // * weird way of shooting, i think we should make a new TrackTarget with built-in Storage control instead.
// ! DRIVE BACKWARDS AND SHOOT (HOPEFULLY)
@@ -620,15 +620,19 @@ public class RobotContainer {
ParallelDeadlineGroup intakeWithPath = new ParallelDeadlineGroup(new RunCommandForTime(new RunCommand(() -> m_robotIntake.runAtOutput(-1.0), m_robotIntake), 3.0, true),
new RunCommand(() -> m_robotSerializer.setSerializer(0.8), m_robotSerializer),
buildAuto(1.0, 1.0, "JMove"));
ParallelCommandGroup extendWhileTurretIsAiming = new ParallelCommandGroup(new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID((180.0 / Math.PI) * Math.atan2(-(82.83 / 2.00) + 15.56, -(219.25 / 2.00) - 40.44 + 10.00)), m_robotTurret), 1.0, true), new ExtenderIntakeGroup(m_robotIntake, m_robotExtender));
ParallelCommandGroup intakeWithPathAndTrackTarget = new ParallelCommandGroup(intakeWithPath, weirdAutoShootingGroup2);
// return new SequentialCommandGroup(buildAuto(1.0, 1.0, "Move Forward"));
return new SequentialCommandGroup(new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID((180.0 / Math.PI) * Math.atan2(-(82.83 / 2.00) + 15.56, -(219.25 / 2.00) - 40.44 + 10.00)), m_robotTurret), 1.0, true), // * aim with turret to target
return new SequentialCommandGroup(extendWhileTurretIsAiming,//new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID((180.0 / Math.PI) * Math.atan2(-(82.83 / 2.00) + 15.56, -(219.25 / 2.00) - 40.44 + 10.00)), m_robotTurret), 1.0, true), // * aim with turret to target
weirdAutoShootingGroup, // * shoot
new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), 0.5, true),
new ExtenderIntakeGroup(m_robotIntake, m_robotExtender),
intakeWithPath,
weirdAutoShootingGroup2,
// extendWhileTurretIsAiming,
new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), 0.1, true),
// new ExtenderIntakeGroup(m_robotIntake, m_robotExtender),
intakeWithPathAndTrackTarget,
// intakeWithPath,
// weirdAutoShootingGroup2,
// new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID((180.0 / Math.PI) * Math.atan2(-(82.83 / 2.00) + 15.56, -(219.25 / 2.00) - 40.44 + 10.00)), m_robotTurret), 1.0, true)); // * aim with turret to target); // * shoot
new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), 0.5, true));
new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), 0.1, true));
// return new SequentialCommandGroup(buildAuto(1.0, 1.0, "Diamond"));
}
src/main/java/frc4388/robot/commands/ExtenderIntakeCommands/ExtenderIntakeGroup.java
+2 -2
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@@ -20,7 +20,7 @@ public class ExtenderIntakeGroup extends ParallelRaceGroup {
// Add your commands in the addCommands() call, e.g.
// addCommands(new FooCommand(), new BarCommand());
ExtenderIntakeGroup.direction = 1; // assume extender starts retracted completely
// ExtenderIntakeGroup.direction = 1; // assume extender starts retracted completely
addCommands(new RunIntakeConditionally(intake), new RunExtender(extender));
}
@@ -28,7 +28,7 @@ public class ExtenderIntakeGroup extends ParallelRaceGroup {
ExtenderIntakeGroup.direction = 1;
}
public static void changeDirection() { // Never implemented?
public static void changeDirection() {
ExtenderIntakeGroup.direction *= -1;
}
}