From 28e970e398562f40f9fe5545d8a75b5ef1b698af Mon Sep 17 00:00:00 2001 From: nathanrsxtn Date: Wed, 12 Jan 2022 17:04:58 -0700 Subject: [PATCH 001/151] Restore some gyro changes --- .vscode/launch.json | 1 - src/main/java/frc4388/robot/Constants.java | 17 ++++++------- .../frc4388/robot/subsystems/SwerveDrive.java | 25 +++++-------------- .../robot/subsystems/SwerveModule.java | 2 +- .../{RobotGyro.java => RobotGyro.java.old} | 0 5 files changed, 15 insertions(+), 30 deletions(-) rename src/main/java/frc4388/utility/{RobotGyro.java => RobotGyro.java.old} (100%) diff --git a/.vscode/launch.json b/.vscode/launch.json index c9c9713..4dbe5d3 100644 --- a/.vscode/launch.json +++ b/.vscode/launch.json @@ -4,7 +4,6 @@ // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387 "version": "0.2.0", "configurations": [ - { "type": "wpilib", "name": "WPILib Desktop Debug", diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 5581adf..67cb117 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -42,15 +42,14 @@ public final class Constants { public static final int LEFT_BACK_STEER_CAN_ENCODER_ID = 12; public static final int RIGHT_BACK_STEER_CAN_ENCODER_ID = 13; // ofsets are in degrees - //ofsets are in degrees - // public static final double LEFT_FRONT_ENCODER_OFFSET = 181.494141; - // public static final double RIGHT_FRONT_ENCODER_OFFSET = 360. - 59.238281; - // public static final double LEFT_BACK_ENCODER_OFFSET = 360. - 128.144531; - // public static final double RIGHT_BACK_ENCODER_OFFSET = 0.933594; - public static final double LEFT_FRONT_ENCODER_OFFSET = 180.0; - public static final double RIGHT_FRONT_ENCODER_OFFSET = 300.0; - public static final double LEFT_BACK_ENCODER_OFFSET = 360.0 - 128.0; - public static final double RIGHT_BACK_ENCODER_OFFSET = 0.0; + // public static final double LEFT_FRONT_ENCODER_OFFSET = 181.494141; + // public static final double RIGHT_FRONT_ENCODER_OFFSET = 360. - 59.238281; + // public static final double LEFT_BACK_ENCODER_OFFSET = 360. - 128.144531; + // public static final double RIGHT_BACK_ENCODER_OFFSET = 0.933594; + public static final double LEFT_FRONT_ENCODER_OFFSET = 180.0; + public static final double RIGHT_FRONT_ENCODER_OFFSET = 300.0; + public static final double LEFT_BACK_ENCODER_OFFSET = 360.0 - 128.0; + public static final double RIGHT_BACK_ENCODER_OFFSET = 0.0; // swerve PID constants public static final int SWERVE_SLOT_IDX = 0; diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index 93cffc9..4b437f1 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -18,7 +18,6 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc4388.robot.Constants.SwerveDriveConstants; import frc4388.utility.Gains; -import frc4388.utility.RobotGyro; public class SwerveDrive extends SubsystemBase { SwerveDriveKinematics m_kinematics; @@ -39,27 +38,15 @@ public class SwerveDrive extends SubsystemBase { public static Gains m_swerveGains = SwerveDriveConstants.SWERVE_GAINS; - Translation2d m_frontLeftLocation = - new Translation2d( - Units.inchesToMeters(halfHeight), - Units.inchesToMeters(halfWidth)); - Translation2d m_frontRightLocation = - new Translation2d( - Units.inchesToMeters(halfHeight), - Units.inchesToMeters(-halfWidth)); - Translation2d m_backLeftLocation = - new Translation2d( - Units.inchesToMeters(-halfHeight), - Units.inchesToMeters(halfWidth)); - Translation2d m_backRightLocation = - new Translation2d( - Units.inchesToMeters(-halfHeight), - Units.inchesToMeters(-halfWidth)); - //setSwerveGains(); + Translation2d m_frontLeftLocation = new Translation2d(Units.inchesToMeters(halfHeight), Units.inchesToMeters(halfWidth)); + Translation2d m_frontRightLocation = new Translation2d(Units.inchesToMeters(halfHeight), Units.inchesToMeters(-halfWidth)); + Translation2d m_backLeftLocation = new Translation2d(Units.inchesToMeters(-halfHeight), Units.inchesToMeters(halfWidth)); + Translation2d m_backRightLocation = new Translation2d(Units.inchesToMeters(-halfHeight), Units.inchesToMeters(-halfWidth)); + // setSwerveGains(); private SwerveDriveKinematics kinematics = new SwerveDriveKinematics(m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation); public SwerveModule[] modules; - public RobotGyro gyro; //TODO Add Gyro Lol + public Gyro gyro; //TODO Add Gyro Lol public SwerveDrive(WPI_TalonFX leftFrontSteerMotor,WPI_TalonFX leftFrontWheelMotor,WPI_TalonFX rightFrontSteerMotor,WPI_TalonFX rightFrontWheelMotor, diff --git a/src/main/java/frc4388/robot/subsystems/SwerveModule.java b/src/main/java/frc4388/robot/subsystems/SwerveModule.java index e9df20a..4176e52 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveModule.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveModule.java @@ -90,4 +90,4 @@ public class SwerveModule extends SubsystemBase { double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond); driveMotor.set(angleMotor.get() + feetPerSecond / SwerveDriveConstants.SPEED_FEET_PER_SECOND_AT_FULL_POWER); } -} \ No newline at end of file +} diff --git a/src/main/java/frc4388/utility/RobotGyro.java b/src/main/java/frc4388/utility/RobotGyro.java.old similarity index 100% rename from src/main/java/frc4388/utility/RobotGyro.java rename to src/main/java/frc4388/utility/RobotGyro.java.old From 789f4f6a9bc4ef8f69fe77b73eae4928f9deb4b8 Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Fri, 14 Jan 2022 17:48:53 -0700 Subject: [PATCH 002/151] PID Tuning, Controller Adjust --- src/main/java/frc4388/robot/Constants.java | 8 +++--- src/main/java/frc4388/robot/Main.java | 3 +++ src/main/java/frc4388/robot/Robot.java | 1 + .../java/frc4388/robot/RobotContainer.java | 15 ++++++++--- src/main/java/frc4388/robot/RobotMap.java | 3 +++ .../frc4388/robot/subsystems/SwerveDrive.java | 27 ++++++++++++------- .../robot/subsystems/SwerveModule.java | 1 + .../utility/controller/XboxController.java | 15 +++++++++++ .../robot/subsystems/XboxControllerTest.java | 5 ++++ 9 files changed, 61 insertions(+), 17 deletions(-) create mode 100644 src/test/java/frc4388/robot/subsystems/XboxControllerTest.java diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 67cb117..ba49c07 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -26,9 +26,10 @@ public final class Constants { public static final double WHEEL_SPEED = 0.1; public static final double WIDTH = 22; public static final double HEIGHT = 22; - public static final double JOYSTICK_TO_METERS_PER_SECOND = 5; - public static final double MAX_SPEED_FEET_PER_SEC = 16; + public static final double JOYSTICK_TO_METERS_PER_SECOND = 2; + public static final double MAX_SPEED_FEET_PER_SEC = 20; public static final double SPEED_FEET_PER_SECOND_AT_FULL_POWER = 20; + //IDs public static final int LEFT_FRONT_STEER_CAN_ID = 2; public static final int LEFT_FRONT_WHEEL_CAN_ID = 3; public static final int RIGHT_FRONT_STEER_CAN_ID = 4; @@ -41,6 +42,7 @@ public final class Constants { public static final int RIGHT_FRONT_STEER_CAN_ENCODER_ID = 11; public static final int LEFT_BACK_STEER_CAN_ENCODER_ID = 12; public static final int RIGHT_BACK_STEER_CAN_ENCODER_ID = 13; + public static final int GYRO_ID = 14; // ofsets are in degrees // public static final double LEFT_FRONT_ENCODER_OFFSET = 181.494141; // public static final double RIGHT_FRONT_ENCODER_OFFSET = 360. - 59.238281; @@ -55,7 +57,7 @@ public final class Constants { public static final int SWERVE_SLOT_IDX = 0; public static final int SWERVE_PID_LOOP_IDX = 1; public static final int SWERVE_TIMEOUT_MS = 30; - public static final Gains SWERVE_GAINS = new Gains(1.0, 0.0, 0.0, 0.0, 0, 1.0); + public static final Gains SWERVE_GAINS = new Gains(1.0, 0.0, 1.0, 0.0, 0, 1.0); // swerve configuration public static final double NEUTRAL_DEADBAND = 0.04; diff --git a/src/main/java/frc4388/robot/Main.java b/src/main/java/frc4388/robot/Main.java index 39a5e0d..544abf0 100644 --- a/src/main/java/frc4388/robot/Main.java +++ b/src/main/java/frc4388/robot/Main.java @@ -24,3 +24,6 @@ public final class Main { RobotBase.startRobot(Robot::new); } } + + +// hi ryan \ No newline at end of file diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java index 119a032..826bf43 100644 --- a/src/main/java/frc4388/robot/Robot.java +++ b/src/main/java/frc4388/robot/Robot.java @@ -114,6 +114,7 @@ public class Robot extends TimedRobot { */ @Override public void teleopPeriodic() { + System.err.println("TEST"); } diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 38c3459..38ba292 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -36,7 +36,8 @@ public class RobotContainer { m_robotMap.leftFrontEncoder, m_robotMap.rightFrontEncoder, m_robotMap.leftBackEncoder, - m_robotMap.rightBackEncoder + m_robotMap.rightBackEncoder, + m_robotMap.gyro ); private final LED m_robotLED = new LED(m_robotMap.LEDController); @@ -54,8 +55,13 @@ public class RobotContainer { /* Default Commands */ // drives the swerve drive with a two-axis input from the driver controller m_robotSwerveDrive.setDefaultCommand( - new RunCommand(() -> m_robotSwerveDrive.driveWithInput(-getDriverController().getLeftXAxis(), - getDriverController().getLeftYAxis(), -getDriverController().getRightXAxis(), false), m_robotSwerveDrive)); + new RunCommand(() -> m_robotSwerveDrive.driveWithInput( + XboxController.ClampJoystickAxis( + getDriverController().getLeftXAxis(), + getDriverController().getLeftYAxis()), + -getDriverController().getRightXAxis(), + true), + m_robotSwerveDrive)); // continually sends updates to the Blinkin LED controller to keep the lights on m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED, m_robotLED)); @@ -69,7 +75,8 @@ public class RobotContainer { */ private void configureButtonBindings() { /* Driver Buttons */ - + /*new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON) + .whenPressed(() -> m_robotSwerveDrive.resetGyro());*/ /* Operator Buttons */ // activates "Lit Mode" new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON) diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java index 843323c..c55fae8 100644 --- a/src/main/java/frc4388/robot/RobotMap.java +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -6,7 +6,9 @@ package frc4388.robot; import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; import com.ctre.phoenix.sensors.CANCoder; +import com.ctre.phoenix.sensors.WPI_PigeonIMU; +import edu.wpi.first.wpilibj.interfaces.Gyro; import edu.wpi.first.wpilibj.motorcontrol.Spark; import frc4388.robot.Constants.LEDConstants; import frc4388.robot.Constants.SwerveDriveConstants; @@ -42,6 +44,7 @@ public class RobotMap { public final CANCoder rightFrontEncoder = new CANCoder(SwerveDriveConstants.RIGHT_FRONT_STEER_CAN_ENCODER_ID); public final CANCoder leftBackEncoder = new CANCoder(SwerveDriveConstants.LEFT_BACK_STEER_CAN_ENCODER_ID); public final CANCoder rightBackEncoder = new CANCoder(SwerveDriveConstants.RIGHT_BACK_STEER_CAN_ENCODER_ID); + public final WPI_PigeonIMU gyro = new WPI_PigeonIMU(SwerveDriveConstants.GYRO_ID); void configureSwerveMotorControllers() { leftFrontEncoder.configMagnetOffset(SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET); diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index 4b437f1..b70c839 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -6,6 +6,7 @@ package frc4388.robot.subsystems; import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; import com.ctre.phoenix.sensors.CANCoder; +import com.ctre.phoenix.sensors.WPI_PigeonIMU; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Translation2d; @@ -46,14 +47,14 @@ public class SwerveDrive extends SubsystemBase { private SwerveDriveKinematics kinematics = new SwerveDriveKinematics(m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation); public SwerveModule[] modules; - public Gyro gyro; //TODO Add Gyro Lol + public WPI_PigeonIMU m_gyro; //TODO Add Gyro Lol public SwerveDrive(WPI_TalonFX leftFrontSteerMotor,WPI_TalonFX leftFrontWheelMotor,WPI_TalonFX rightFrontSteerMotor,WPI_TalonFX rightFrontWheelMotor, WPI_TalonFX leftBackSteerMotor,WPI_TalonFX leftBackWheelMotor,WPI_TalonFX rightBackSteerMotor,WPI_TalonFX rightBackWheelMotor, CANCoder leftFrontEncoder, CANCoder rightFrontEncoder, CANCoder leftBackEncoder, - CANCoder rightBackEncoder) + CANCoder rightBackEncoder, WPI_PigeonIMU gyro) { m_leftFrontSteerMotor = leftFrontSteerMotor; m_leftFrontWheelMotor = leftFrontWheelMotor; @@ -67,6 +68,7 @@ public class SwerveDrive extends SubsystemBase { m_rightFrontEncoder = rightFrontEncoder; m_leftBackEncoder = leftBackEncoder; m_rightBackEncoder = rightBackEncoder; + m_gyro = gyro; modules = new SwerveModule[] { new SwerveModule(m_leftFrontWheelMotor, m_leftFrontSteerMotor, m_leftFrontEncoder, SwerveDriveConstants.LEFT_FRONT_ENCODER_OFFSET), // Front Left @@ -74,35 +76,40 @@ public class SwerveDrive extends SubsystemBase { new SwerveModule(m_leftBackWheelMotor, m_leftBackSteerMotor, m_leftBackEncoder, SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET), // Back Left new SwerveModule(m_rightBackWheelMotor, m_rightBackSteerMotor, m_rightBackEncoder, SwerveDriveConstants.RIGHT_BACK_ENCODER_OFFSET) // Back Right }; - //gyro.reset(); + m_gyro.reset(); } //https://github.com/ZachOrr/MK3-Swerve-Example /** * Method to drive the robot using joystick info. * - * @param xSpeed Speed of the robot in the x direction (forward). - * @param ySpeed Speed of the robot in the y direction (sideways). + * @param speeds[0] Speed of the robot in the x direction (forward). + * @param speeds[1] Speed of the robot in the y direction (sideways). * @param rot Angular rate of the robot. * @param fieldRelative Whether the provided x and y speeds are relative to the field. */ - public void driveWithInput(double xSpeed, double ySpeed, double rot, boolean fieldRelative) + public void driveWithInput(double[] speeds, double rot, boolean fieldRelative) { + System.out.println("Inputx: " + speeds[0] + " Inputy: " + speeds[1]); /*var speeds = new ChassisSpeeds(strafeX, strafeY, rotate * SwerveDriveConstants.ROTATION_SPEED //in rad/s ); driveFromSpeeds(speeds);*/ - double xSpeedMetersPerSecond = xSpeed * SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND; - double ySpeedMetersPerSecond = ySpeed * SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND; + double xSpeedMetersPerSecond = -speeds[0] * SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND; + double ySpeedMetersPerSecond = speeds[1] * SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND; SwerveModuleState[] states = kinematics.toSwerveModuleStates( fieldRelative - ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot*3, gyro.getRotation2d()) + ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot*3, m_gyro.getRotation2d()) : new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot*3)); SwerveDriveKinematics.desaturateWheelSpeeds(states, Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC)); for (int i = 0; i < states.length; i++) { SwerveModule module = modules[i]; SwerveModuleState state = states[i]; module.setDesiredState(state); + } } - } + + /*public void resetGyro(){ + m_gyro.reset(); + }*/ //Converts a ChassisSpeed to SwerveModuleStates (targets) public void driveFromSpeeds(ChassisSpeeds speeds) { diff --git a/src/main/java/frc4388/robot/subsystems/SwerveModule.java b/src/main/java/frc4388/robot/subsystems/SwerveModule.java index 4176e52..0c38acf 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveModule.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveModule.java @@ -73,6 +73,7 @@ public class SwerveModule extends SubsystemBase { */ public void setDesiredState(SwerveModuleState desiredState) { Rotation2d currentRotation = getAngle(); + SmartDashboard.putNumber("Motor " + angleMotor.getDeviceID(), currentRotation.getDegrees()); SwerveModuleState state = SwerveModuleState.optimize(desiredState, currentRotation); diff --git a/src/main/java/frc4388/utility/controller/XboxController.java b/src/main/java/frc4388/utility/controller/XboxController.java index 25c496a..f14da2a 100644 --- a/src/main/java/frc4388/utility/controller/XboxController.java +++ b/src/main/java/frc4388/utility/controller/XboxController.java @@ -1,6 +1,7 @@ package frc4388.utility.controller; import edu.wpi.first.wpilibj.Joystick; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; /** * This is a wrapper for the WPILib Joystick class that represents an XBox @@ -52,6 +53,20 @@ public class XboxController implements IHandController private Joystick m_stick; + public static double[] ClampJoystickAxis(double x, double y) { + double square_mag = x * x + y * y; + double[] ret = {x,y}; + if (square_mag > 1.d) { + double mag = Math.sqrt(square_mag); + ret[0] = x / mag; + ret[1] = y / mag; + } + double [] to_smart_dashboard = {square_mag, x, y, ret[0], ret[1]}; + SmartDashboard.putNumberArray("Input", to_smart_dashboard); + System.err.println("TEST"); + return ret; + } + /** * Add your docs here. */ diff --git a/src/test/java/frc4388/robot/subsystems/XboxControllerTest.java b/src/test/java/frc4388/robot/subsystems/XboxControllerTest.java new file mode 100644 index 0000000..8298fbf --- /dev/null +++ b/src/test/java/frc4388/robot/subsystems/XboxControllerTest.java @@ -0,0 +1,5 @@ +package frc4388.robot.subsystems; + +public class XboxControllerTest { + +} From 878bb170a38b717f236e15226cb8d2005de14211 Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Fri, 14 Jan 2022 21:02:15 -0700 Subject: [PATCH 003/151] Switch to raw controller inputs, try gyro reset button Thanks Nathan! --- src/main/java/frc4388/robot/Constants.java | 2 +- src/main/java/frc4388/robot/Robot.java | 2 - .../java/frc4388/robot/RobotContainer.java | 7 +- .../frc4388/robot/subsystems/SwerveDrive.java | 95 +++++-------------- .../utility/controller/XboxController.java | 1 - 5 files changed, 31 insertions(+), 76 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index ba49c07..4aee886 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -26,7 +26,7 @@ public final class Constants { public static final double WHEEL_SPEED = 0.1; public static final double WIDTH = 22; public static final double HEIGHT = 22; - public static final double JOYSTICK_TO_METERS_PER_SECOND = 2; + public static final double JOYSTICK_TO_METERS_PER_SECOND = 1; public static final double MAX_SPEED_FEET_PER_SEC = 20; public static final double SPEED_FEET_PER_SECOND_AT_FULL_POWER = 20; //IDs diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java index 826bf43..dd717d6 100644 --- a/src/main/java/frc4388/robot/Robot.java +++ b/src/main/java/frc4388/robot/Robot.java @@ -114,8 +114,6 @@ public class Robot extends TimedRobot { */ @Override public void teleopPeriodic() { - System.err.println("TEST"); - } /** diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 38ba292..2f4cd2b 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -4,6 +4,7 @@ package frc4388.robot; +import edu.wpi.first.hal.HAL; import edu.wpi.first.wpilibj.Joystick; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.InstantCommand; @@ -51,7 +52,6 @@ public class RobotContainer { */ public RobotContainer() { configureButtonBindings(); - /* Default Commands */ // drives the swerve drive with a two-axis input from the driver controller m_robotSwerveDrive.setDefaultCommand( @@ -82,6 +82,11 @@ public class RobotContainer { new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON) .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW)) .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN)); + + new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON) + .whenPressed(() -> { + m_robotSwerveDrive.m_gyro.setYaw(0); + }); } /** diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index b70c839..ee9d1a7 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -4,10 +4,13 @@ package frc4388.robot.subsystems; +import java.util.Arrays; + import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; import com.ctre.phoenix.sensors.CANCoder; import com.ctre.phoenix.sensors.WPI_PigeonIMU; +import edu.wpi.first.hal.HAL; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.kinematics.ChassisSpeeds; @@ -19,6 +22,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc4388.robot.Constants.SwerveDriveConstants; import frc4388.utility.Gains; +import frc4388.utility.controller.XboxController; public class SwerveDrive extends SubsystemBase { SwerveDriveKinematics m_kinematics; @@ -49,7 +53,6 @@ public class SwerveDrive extends SubsystemBase { public SwerveModule[] modules; public WPI_PigeonIMU m_gyro; //TODO Add Gyro Lol - public SwerveDrive(WPI_TalonFX leftFrontSteerMotor,WPI_TalonFX leftFrontWheelMotor,WPI_TalonFX rightFrontSteerMotor,WPI_TalonFX rightFrontWheelMotor, WPI_TalonFX leftBackSteerMotor,WPI_TalonFX leftBackWheelMotor,WPI_TalonFX rightBackSteerMotor,WPI_TalonFX rightBackWheelMotor, CANCoder leftFrontEncoder, CANCoder rightFrontEncoder, @@ -89,7 +92,18 @@ public class SwerveDrive extends SubsystemBase { */ public void driveWithInput(double[] speeds, double rot, boolean fieldRelative) { - System.out.println("Inputx: " + speeds[0] + " Inputy: " + speeds[1]); + // Temporary janky raw joysticks + float[] driveController = new float[HAL.kMaxJoystickAxes]; + HAL.getJoystickAxes((byte) 0, driveController); + float leftXAxis = driveController[0]; + float leftYAxis = driveController[1]; + float rightXAxis = driveController[4]; + float rightYAxis = driveController[5]; + speeds = XboxController.ClampJoystickAxis(leftXAxis, leftYAxis); + rot = -rightXAxis; + + + // System.out.println("Inputx: " + speeds[0] + " Inputy: " + speeds[1]); /*var speeds = new ChassisSpeeds(strafeX, strafeY, rotate * SwerveDriveConstants.ROTATION_SPEED //in rad/s ); driveFromSpeeds(speeds);*/ double xSpeedMetersPerSecond = -speeds[0] * SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND; @@ -106,75 +120,14 @@ public class SwerveDrive extends SubsystemBase { module.setDesiredState(state); } } - - /*public void resetGyro(){ - m_gyro.reset(); - }*/ - //Converts a ChassisSpeed to SwerveModuleStates (targets) - public void driveFromSpeeds(ChassisSpeeds speeds) - { - //https://docs.wpilib.org/en/stable/docs/software/kinematics-and-odometry/swerve-drive-kinematics.html - // Convert to module states - SwerveModuleState[] moduleStates = m_kinematics.toSwerveModuleStates(speeds); - - // Front left module state - SwerveModuleState leftFront = SwerveModuleState.optimize(moduleStates[0], Rotation2d.fromDegrees(m_leftFrontEncoder.getPosition())); - // Front right module state - SwerveModuleState rightFront = SwerveModuleState.optimize(moduleStates[1], Rotation2d.fromDegrees(m_rightFrontEncoder.getPosition())); - // Back left module state - SwerveModuleState leftBack = SwerveModuleState.optimize(moduleStates[2], Rotation2d.fromDegrees(m_leftBackEncoder.getPosition())); - // Back right module state - SwerveModuleState rightBack = SwerveModuleState.optimize(moduleStates[3], Rotation2d.fromDegrees(m_rightBackEncoder.getPosition())); - - //Set the motors - setSwerveMotors(leftFront, leftBack, rightFront, rightBack); + + @Override + public void periodic() { + System.err.println(m_gyro.getFusedHeading() +" aaa"); + // m_gyro.setFusedHeadingToCompass(); + // m_gyro.setYawToCompass(); + // m_gyro.getRotation2d(); + super.periodic(); } - //Sets steering motors to PID values - public void setSwerveMotors(SwerveModuleState leftFront, SwerveModuleState leftBack, SwerveModuleState rightFront, SwerveModuleState rightBack) - { - /*//Set the Wheel motor speeds - m_leftFrontWheelMotor.set(m_leftFrontSteerMotor.get() + leftFront.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED); - m_rightFrontWheelMotor.set(m_rightFrontSteerMotor.get() + rightFront.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED); - m_leftBackWheelMotor.set(m_leftBackSteerMotor.get() + leftBack.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED); - m_rightBackWheelMotor.set(m_rightBackSteerMotor.get() + rightBack.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED); - //PID - m_leftFrontSteerMotor.set(TalonFXControlMode.Position, leftFront.angle.getDegrees() * 12000); - m_rightFrontSteerMotor.set(TalonFXControlMode.Position, rightFront.angle.getDegrees() * 12000); - m_leftBackSteerMotor.set(TalonFXControlMode.Position, leftBack.angle.getDegrees() * 12000); - m_rightBackSteerMotor.set(TalonFXControlMode.Position, rightBack.angle.getDegrees()); - System.out.println("Target: " + leftFront.angle.getDegrees());*/ - } - - /*public void setSwerveGains(){ - m_leftFrontSteerMotor.selectProfileSlot(SwerveDriveConstants.SWERVE_SLOT_IDX, SwerveDriveConstants.SWERVE_PID_LOOP_IDX); - m_leftFrontSteerMotor.config_kF(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kF, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - m_leftFrontSteerMotor.config_kP(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kP, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - m_leftFrontSteerMotor.config_kI(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kI, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - m_leftFrontSteerMotor.config_kD(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kD, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - m_rightFrontSteerMotor.selectProfileSlot(SwerveDriveConstants.SWERVE_SLOT_IDX, SwerveDriveConstants.SWERVE_PID_LOOP_IDX); - m_rightFrontSteerMotor.config_kF(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kF, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - m_rightFrontSteerMotor.config_kP(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kP, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - m_rightFrontSteerMotor.config_kI(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kI, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - m_rightFrontSteerMotor.config_kD(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kD, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - m_leftBackSteerMotor.selectProfileSlot(SwerveDriveConstants.SWERVE_SLOT_IDX, SwerveDriveConstants.SWERVE_PID_LOOP_IDX); - m_leftBackSteerMotor.config_kF(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kF, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - m_leftBackSteerMotor.config_kP(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kP, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - m_leftBackSteerMotor.config_kI(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kI, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - m_leftBackSteerMotor.config_kD(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kD, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - m_rightBackSteerMotor.selectProfileSlot(SwerveDriveConstants.SWERVE_SLOT_IDX, SwerveDriveConstants.SWERVE_PID_LOOP_IDX); - m_rightBackSteerMotor.config_kF(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kF, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - m_rightBackSteerMotor.config_kP(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kP, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - m_rightBackSteerMotor.config_kI(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kI, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - m_rightBackSteerMotor.config_kD(SwerveDriveConstants.SWERVE_SLOT_IDX, m_swerveGains.m_kD, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - - }*/ - - - - // public void driveFieldRelative(double awayFromStation, double towardLeftBoundary, double rotate) - // { - // var speeds = ChassisSpeeds.fromFieldRelativeSpeeds(awayFromStation, towardLeftBoundary, - // rotate * SwerveDriveConstants.RotationSpeed, /*get odometry angle*/) - // } } \ No newline at end of file diff --git a/src/main/java/frc4388/utility/controller/XboxController.java b/src/main/java/frc4388/utility/controller/XboxController.java index f14da2a..c020ccf 100644 --- a/src/main/java/frc4388/utility/controller/XboxController.java +++ b/src/main/java/frc4388/utility/controller/XboxController.java @@ -63,7 +63,6 @@ public class XboxController implements IHandController } double [] to_smart_dashboard = {square_mag, x, y, ret[0], ret[1]}; SmartDashboard.putNumberArray("Input", to_smart_dashboard); - System.err.println("TEST"); return ret; } From 0605a1d7a43ce0223d5cd50a8654d035229eea1c Mon Sep 17 00:00:00 2001 From: nathanrsxtn Date: Sat, 15 Jan 2022 02:01:32 -0700 Subject: [PATCH 004/151] Switch to WPI's Xbox controller - Added toggle to bypass Driver Station controller inputs --- .../java/frc4388/robot/RobotContainer.java | 59 ++++++++++--------- .../frc4388/robot/subsystems/SwerveDrive.java | 43 +++++--------- ...ntroller.java => IHandController.java.old} | 0 ...ontroller.java => XboxController.java.old} | 0 ...Button.java => XboxTriggerButton.java.old} | 0 5 files changed, 45 insertions(+), 57 deletions(-) rename src/main/java/frc4388/utility/controller/{IHandController.java => IHandController.java.old} (100%) rename src/main/java/frc4388/utility/controller/{XboxController.java => XboxController.java.old} (100%) rename src/main/java/frc4388/utility/controller/{XboxTriggerButton.java => XboxTriggerButton.java.old} (100%) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 2f4cd2b..db00580 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -5,7 +5,11 @@ package frc4388.robot; import edu.wpi.first.hal.HAL; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.wpilibj.Joystick; +import edu.wpi.first.wpilibj.XboxController; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.RunCommand; @@ -14,8 +18,6 @@ import frc4388.robot.Constants.*; import frc4388.robot.subsystems.LED; import frc4388.robot.subsystems.SwerveDrive; import frc4388.utility.LEDPatterns; -import frc4388.utility.controller.IHandController; -import frc4388.utility.controller.XboxController; /** * This class is where the bulk of the robot should be declared. Since @@ -47,6 +49,8 @@ public class RobotContainer { private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID); private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID); + private final boolean bypassDSController = true; + /** * The container for the robot. Contains subsystems, OI devices, and commands. */ @@ -54,19 +58,30 @@ public class RobotContainer { configureButtonBindings(); /* Default Commands */ // drives the swerve drive with a two-axis input from the driver controller - m_robotSwerveDrive.setDefaultCommand( - new RunCommand(() -> m_robotSwerveDrive.driveWithInput( - XboxController.ClampJoystickAxis( - getDriverController().getLeftXAxis(), - getDriverController().getLeftYAxis()), - -getDriverController().getRightXAxis(), - true), - m_robotSwerveDrive)); + float[] joystickAxes = new float[HAL.kMaxJoystickAxes]; + HAL.getJoystickAxes((byte) getDriverController().getPort(), joystickAxes); + double leftXAxis = bypassDSController ? joystickAxes[XboxController.Axis.kLeftX.value] : getDriverController().getLeftX(); + double leftYAxis = bypassDSController ? joystickAxes[XboxController.Axis.kLeftY.value] : getDriverController().getLeftY(); + double rightXAxis = bypassDSController ? joystickAxes[XboxController.Axis.kRightX.value] : getDriverController().getRightX(); + m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> + m_robotSwerveDrive.driveWithInput(clampJoystickAxis(leftXAxis, leftYAxis), -rightXAxis, true), + m_robotSwerveDrive + )); // continually sends updates to the Blinkin LED controller to keep the lights on m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED, m_robotLED)); } - + private static double[] clampJoystickAxis(double x, double y) { + double squareMag = x * x + y * y; + double[] ret = { x, y }; + if (squareMag > 1.d) { + double mag = Math.sqrt(squareMag); + ret[0] = x / mag; + ret[1] = y / mag; + } + SmartDashboard.putNumberArray("Input", new double[] {squareMag, x, y, ret[0], ret[1]}); + return ret; + } /** * Use this method to define your button->command mappings. Buttons can be * created by instantiating a {@link GenericHID} or one of its subclasses @@ -79,11 +94,11 @@ public class RobotContainer { .whenPressed(() -> m_robotSwerveDrive.resetGyro());*/ /* Operator Buttons */ // activates "Lit Mode" - new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON) + new JoystickButton(getOperatorController(), XboxController.Button.kA.value) .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW)) .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN)); - new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON) + new JoystickButton(getDriverController(), XboxController.Button.kA.value) .whenPressed(() -> { m_robotSwerveDrive.m_gyro.setYaw(0); }); @@ -102,28 +117,14 @@ public class RobotContainer { /** * Add your docs here. */ - public IHandController getDriverController() { + public XboxController getDriverController() { return m_driverXbox; } /** * Add your docs here. */ - public IHandController getOperatorController() { + public XboxController getOperatorController() { return m_operatorXbox; } - - /** - * Add your docs here. - */ - public Joystick getOperatorJoystick() { - return m_operatorXbox.getJoyStick(); - } - - /** - * Add your docs here. - */ - public Joystick getDriverJoystick() { - return m_driverXbox.getJoyStick(); - } } diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index ee9d1a7..658d1ca 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -22,7 +22,6 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc4388.robot.Constants.SwerveDriveConstants; import frc4388.utility.Gains; -import frc4388.utility.controller.XboxController; public class SwerveDrive extends SubsystemBase { SwerveDriveKinematics m_kinematics; @@ -92,38 +91,26 @@ public class SwerveDrive extends SubsystemBase { */ public void driveWithInput(double[] speeds, double rot, boolean fieldRelative) { - // Temporary janky raw joysticks - float[] driveController = new float[HAL.kMaxJoystickAxes]; - HAL.getJoystickAxes((byte) 0, driveController); - float leftXAxis = driveController[0]; - float leftYAxis = driveController[1]; - float rightXAxis = driveController[4]; - float rightYAxis = driveController[5]; - speeds = XboxController.ClampJoystickAxis(leftXAxis, leftYAxis); - rot = -rightXAxis; - - - // System.out.println("Inputx: " + speeds[0] + " Inputy: " + speeds[1]); - /*var speeds = new ChassisSpeeds(strafeX, strafeY, rotate * SwerveDriveConstants.ROTATION_SPEED //in rad/s ); - driveFromSpeeds(speeds);*/ - double xSpeedMetersPerSecond = -speeds[0] * SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND; - double ySpeedMetersPerSecond = speeds[1] * SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND; - SwerveModuleState[] states = - kinematics.toSwerveModuleStates( - fieldRelative - ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot*3, m_gyro.getRotation2d()) - : new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot*3)); - SwerveDriveKinematics.desaturateWheelSpeeds(states, Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC)); - for (int i = 0; i < states.length; i++) { - SwerveModule module = modules[i]; - SwerveModuleState state = states[i]; - module.setDesiredState(state); + // System.out.println("Inputx: " + speeds[0] + " Inputy: " + speeds[1]); + /*var speeds = new ChassisSpeeds(strafeX, strafeY, rotate * SwerveDriveConstants.ROTATION_SPEED //in rad/s ); + driveFromSpeeds(speeds);*/ + double xSpeedMetersPerSecond = -speeds[0] * SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND; + double ySpeedMetersPerSecond = speeds[1] * SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND; + SwerveModuleState[] states = + kinematics.toSwerveModuleStates( + fieldRelative + ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot*3, m_gyro.getRotation2d()) + : new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot*3)); + SwerveDriveKinematics.desaturateWheelSpeeds(states, Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC)); + for (int i = 0; i < states.length; i++) { + SwerveModule module = modules[i]; + SwerveModuleState state = states[i]; + module.setDesiredState(state); } } @Override public void periodic() { - System.err.println(m_gyro.getFusedHeading() +" aaa"); // m_gyro.setFusedHeadingToCompass(); // m_gyro.setYawToCompass(); // m_gyro.getRotation2d(); diff --git a/src/main/java/frc4388/utility/controller/IHandController.java b/src/main/java/frc4388/utility/controller/IHandController.java.old similarity index 100% rename from src/main/java/frc4388/utility/controller/IHandController.java rename to src/main/java/frc4388/utility/controller/IHandController.java.old diff --git a/src/main/java/frc4388/utility/controller/XboxController.java b/src/main/java/frc4388/utility/controller/XboxController.java.old similarity index 100% rename from src/main/java/frc4388/utility/controller/XboxController.java rename to src/main/java/frc4388/utility/controller/XboxController.java.old diff --git a/src/main/java/frc4388/utility/controller/XboxTriggerButton.java b/src/main/java/frc4388/utility/controller/XboxTriggerButton.java.old similarity index 100% rename from src/main/java/frc4388/utility/controller/XboxTriggerButton.java rename to src/main/java/frc4388/utility/controller/XboxTriggerButton.java.old From 593369efb5ba2c4b442aa38b564ea41e4f80e30e Mon Sep 17 00:00:00 2001 From: nathanrsxtn Date: Sat, 15 Jan 2022 09:54:25 -0700 Subject: [PATCH 005/151] Get HAL controller data every command run --- .../java/frc4388/robot/RobotContainer.java | 21 ++++++++----------- 1 file changed, 9 insertions(+), 12 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index db00580..ee6d25b 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -5,9 +5,6 @@ package frc4388.robot; import edu.wpi.first.hal.HAL; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Translation2d; -import edu.wpi.first.wpilibj.Joystick; import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; @@ -49,7 +46,7 @@ public class RobotContainer { private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID); private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID); - private final boolean bypassDSController = true; + private static final boolean BYPASS_DS_CONTROLLER = true; /** * The container for the robot. Contains subsystems, OI devices, and commands. @@ -58,14 +55,14 @@ public class RobotContainer { configureButtonBindings(); /* Default Commands */ // drives the swerve drive with a two-axis input from the driver controller - float[] joystickAxes = new float[HAL.kMaxJoystickAxes]; - HAL.getJoystickAxes((byte) getDriverController().getPort(), joystickAxes); - double leftXAxis = bypassDSController ? joystickAxes[XboxController.Axis.kLeftX.value] : getDriverController().getLeftX(); - double leftYAxis = bypassDSController ? joystickAxes[XboxController.Axis.kLeftY.value] : getDriverController().getLeftY(); - double rightXAxis = bypassDSController ? joystickAxes[XboxController.Axis.kRightX.value] : getDriverController().getRightX(); - m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> - m_robotSwerveDrive.driveWithInput(clampJoystickAxis(leftXAxis, leftYAxis), -rightXAxis, true), - m_robotSwerveDrive + m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> { + float[] joystickAxes = new float[HAL.kMaxJoystickAxes]; + if (BYPASS_DS_CONTROLLER) HAL.getJoystickAxes((byte) getDriverController().getPort(), joystickAxes); + double leftXAxis = BYPASS_DS_CONTROLLER ? joystickAxes[XboxController.Axis.kLeftX.value] : getDriverController().getLeftX(); + double leftYAxis = BYPASS_DS_CONTROLLER ? joystickAxes[XboxController.Axis.kLeftY.value] : getDriverController().getLeftY(); + double rightXAxis = BYPASS_DS_CONTROLLER ? joystickAxes[XboxController.Axis.kRightX.value] : getDriverController().getRightX(); + m_robotSwerveDrive.driveWithInput(clampJoystickAxis(leftXAxis, leftYAxis), -rightXAxis, true); + }, m_robotSwerveDrive )); // continually sends updates to the Blinkin LED controller to keep the lights on From 3e793515b590cce3d71c3d3c1f44fd0ef0463d6f Mon Sep 17 00:00:00 2001 From: nathanrsxtn Date: Sat, 15 Jan 2022 10:08:39 -0700 Subject: [PATCH 006/151] Add inner deadzone to HAL controller data --- src/main/java/frc4388/robot/RobotContainer.java | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index ee6d25b..497f350 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -5,6 +5,7 @@ package frc4388.robot; import edu.wpi.first.hal.HAL; +import edu.wpi.first.math.MathUtil; import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; @@ -47,6 +48,7 @@ public class RobotContainer { private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID); private static final boolean BYPASS_DS_CONTROLLER = true; + private static final double HAL_JOYSTICK_DEADBAND = 0.1; /** * The container for the robot. Contains subsystems, OI devices, and commands. @@ -58,9 +60,9 @@ public class RobotContainer { m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> { float[] joystickAxes = new float[HAL.kMaxJoystickAxes]; if (BYPASS_DS_CONTROLLER) HAL.getJoystickAxes((byte) getDriverController().getPort(), joystickAxes); - double leftXAxis = BYPASS_DS_CONTROLLER ? joystickAxes[XboxController.Axis.kLeftX.value] : getDriverController().getLeftX(); - double leftYAxis = BYPASS_DS_CONTROLLER ? joystickAxes[XboxController.Axis.kLeftY.value] : getDriverController().getLeftY(); - double rightXAxis = BYPASS_DS_CONTROLLER ? joystickAxes[XboxController.Axis.kRightX.value] : getDriverController().getRightX(); + double leftXAxis = BYPASS_DS_CONTROLLER ? MathUtil.applyDeadband(joystickAxes[XboxController.Axis.kLeftX.value], HAL_JOYSTICK_DEADBAND) : getDriverController().getLeftX(); + double leftYAxis = BYPASS_DS_CONTROLLER ? MathUtil.applyDeadband(joystickAxes[XboxController.Axis.kLeftY.value], HAL_JOYSTICK_DEADBAND) : getDriverController().getLeftY(); + double rightXAxis = BYPASS_DS_CONTROLLER ? MathUtil.applyDeadband(joystickAxes[XboxController.Axis.kRightX.value], HAL_JOYSTICK_DEADBAND) : getDriverController().getRightX(); m_robotSwerveDrive.driveWithInput(clampJoystickAxis(leftXAxis, leftYAxis), -rightXAxis, true); }, m_robotSwerveDrive )); From 795dd50d5ff0219b012a3372d66b1b8a33f809cb Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Sat, 15 Jan 2022 11:31:00 -0700 Subject: [PATCH 007/151] Revert "Add inner deadzone to HAL controller data" This reverts commit 3e793515b590cce3d71c3d3c1f44fd0ef0463d6f. --- src/main/java/frc4388/robot/RobotContainer.java | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 497f350..ee6d25b 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -5,7 +5,6 @@ package frc4388.robot; import edu.wpi.first.hal.HAL; -import edu.wpi.first.math.MathUtil; import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; @@ -48,7 +47,6 @@ public class RobotContainer { private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID); private static final boolean BYPASS_DS_CONTROLLER = true; - private static final double HAL_JOYSTICK_DEADBAND = 0.1; /** * The container for the robot. Contains subsystems, OI devices, and commands. @@ -60,9 +58,9 @@ public class RobotContainer { m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> { float[] joystickAxes = new float[HAL.kMaxJoystickAxes]; if (BYPASS_DS_CONTROLLER) HAL.getJoystickAxes((byte) getDriverController().getPort(), joystickAxes); - double leftXAxis = BYPASS_DS_CONTROLLER ? MathUtil.applyDeadband(joystickAxes[XboxController.Axis.kLeftX.value], HAL_JOYSTICK_DEADBAND) : getDriverController().getLeftX(); - double leftYAxis = BYPASS_DS_CONTROLLER ? MathUtil.applyDeadband(joystickAxes[XboxController.Axis.kLeftY.value], HAL_JOYSTICK_DEADBAND) : getDriverController().getLeftY(); - double rightXAxis = BYPASS_DS_CONTROLLER ? MathUtil.applyDeadband(joystickAxes[XboxController.Axis.kRightX.value], HAL_JOYSTICK_DEADBAND) : getDriverController().getRightX(); + double leftXAxis = BYPASS_DS_CONTROLLER ? joystickAxes[XboxController.Axis.kLeftX.value] : getDriverController().getLeftX(); + double leftYAxis = BYPASS_DS_CONTROLLER ? joystickAxes[XboxController.Axis.kLeftY.value] : getDriverController().getLeftY(); + double rightXAxis = BYPASS_DS_CONTROLLER ? joystickAxes[XboxController.Axis.kRightX.value] : getDriverController().getRightX(); m_robotSwerveDrive.driveWithInput(clampJoystickAxis(leftXAxis, leftYAxis), -rightXAxis, true); }, m_robotSwerveDrive )); From 6eb5fa261a0da03eb7b223b0ae640bbfd512bbc2 Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Sat, 15 Jan 2022 11:31:11 -0700 Subject: [PATCH 008/151] Revert "Get HAL controller data every command run" This reverts commit 593369efb5ba2c4b442aa38b564ea41e4f80e30e. --- .../java/frc4388/robot/RobotContainer.java | 21 +++++++++++-------- 1 file changed, 12 insertions(+), 9 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index ee6d25b..db00580 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -5,6 +5,9 @@ package frc4388.robot; import edu.wpi.first.hal.HAL; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.wpilibj.Joystick; import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; @@ -46,7 +49,7 @@ public class RobotContainer { private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID); private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID); - private static final boolean BYPASS_DS_CONTROLLER = true; + private final boolean bypassDSController = true; /** * The container for the robot. Contains subsystems, OI devices, and commands. @@ -55,14 +58,14 @@ public class RobotContainer { configureButtonBindings(); /* Default Commands */ // drives the swerve drive with a two-axis input from the driver controller - m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> { - float[] joystickAxes = new float[HAL.kMaxJoystickAxes]; - if (BYPASS_DS_CONTROLLER) HAL.getJoystickAxes((byte) getDriverController().getPort(), joystickAxes); - double leftXAxis = BYPASS_DS_CONTROLLER ? joystickAxes[XboxController.Axis.kLeftX.value] : getDriverController().getLeftX(); - double leftYAxis = BYPASS_DS_CONTROLLER ? joystickAxes[XboxController.Axis.kLeftY.value] : getDriverController().getLeftY(); - double rightXAxis = BYPASS_DS_CONTROLLER ? joystickAxes[XboxController.Axis.kRightX.value] : getDriverController().getRightX(); - m_robotSwerveDrive.driveWithInput(clampJoystickAxis(leftXAxis, leftYAxis), -rightXAxis, true); - }, m_robotSwerveDrive + float[] joystickAxes = new float[HAL.kMaxJoystickAxes]; + HAL.getJoystickAxes((byte) getDriverController().getPort(), joystickAxes); + double leftXAxis = bypassDSController ? joystickAxes[XboxController.Axis.kLeftX.value] : getDriverController().getLeftX(); + double leftYAxis = bypassDSController ? joystickAxes[XboxController.Axis.kLeftY.value] : getDriverController().getLeftY(); + double rightXAxis = bypassDSController ? joystickAxes[XboxController.Axis.kRightX.value] : getDriverController().getRightX(); + m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> + m_robotSwerveDrive.driveWithInput(clampJoystickAxis(leftXAxis, leftYAxis), -rightXAxis, true), + m_robotSwerveDrive )); // continually sends updates to the Blinkin LED controller to keep the lights on From 045a77d08a9d8204c9cfdc6f0a8ec57013368a56 Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Sat, 15 Jan 2022 11:31:15 -0700 Subject: [PATCH 009/151] Revert "Switch to WPI's Xbox controller" This reverts commit 0605a1d7a43ce0223d5cd50a8654d035229eea1c. --- .../java/frc4388/robot/RobotContainer.java | 59 +++++++++---------- .../frc4388/robot/subsystems/SwerveDrive.java | 43 +++++++++----- ...ntroller.java.old => IHandController.java} | 0 ...ontroller.java.old => XboxController.java} | 0 ...Button.java.old => XboxTriggerButton.java} | 0 5 files changed, 57 insertions(+), 45 deletions(-) rename src/main/java/frc4388/utility/controller/{IHandController.java.old => IHandController.java} (100%) rename src/main/java/frc4388/utility/controller/{XboxController.java.old => XboxController.java} (100%) rename src/main/java/frc4388/utility/controller/{XboxTriggerButton.java.old => XboxTriggerButton.java} (100%) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index db00580..2f4cd2b 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -5,11 +5,7 @@ package frc4388.robot; import edu.wpi.first.hal.HAL; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.wpilibj.Joystick; -import edu.wpi.first.wpilibj.XboxController; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.RunCommand; @@ -18,6 +14,8 @@ import frc4388.robot.Constants.*; import frc4388.robot.subsystems.LED; import frc4388.robot.subsystems.SwerveDrive; import frc4388.utility.LEDPatterns; +import frc4388.utility.controller.IHandController; +import frc4388.utility.controller.XboxController; /** * This class is where the bulk of the robot should be declared. Since @@ -49,8 +47,6 @@ public class RobotContainer { private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID); private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID); - private final boolean bypassDSController = true; - /** * The container for the robot. Contains subsystems, OI devices, and commands. */ @@ -58,30 +54,19 @@ public class RobotContainer { configureButtonBindings(); /* Default Commands */ // drives the swerve drive with a two-axis input from the driver controller - float[] joystickAxes = new float[HAL.kMaxJoystickAxes]; - HAL.getJoystickAxes((byte) getDriverController().getPort(), joystickAxes); - double leftXAxis = bypassDSController ? joystickAxes[XboxController.Axis.kLeftX.value] : getDriverController().getLeftX(); - double leftYAxis = bypassDSController ? joystickAxes[XboxController.Axis.kLeftY.value] : getDriverController().getLeftY(); - double rightXAxis = bypassDSController ? joystickAxes[XboxController.Axis.kRightX.value] : getDriverController().getRightX(); - m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> - m_robotSwerveDrive.driveWithInput(clampJoystickAxis(leftXAxis, leftYAxis), -rightXAxis, true), - m_robotSwerveDrive - )); + m_robotSwerveDrive.setDefaultCommand( + new RunCommand(() -> m_robotSwerveDrive.driveWithInput( + XboxController.ClampJoystickAxis( + getDriverController().getLeftXAxis(), + getDriverController().getLeftYAxis()), + -getDriverController().getRightXAxis(), + true), + m_robotSwerveDrive)); // continually sends updates to the Blinkin LED controller to keep the lights on m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED, m_robotLED)); } - private static double[] clampJoystickAxis(double x, double y) { - double squareMag = x * x + y * y; - double[] ret = { x, y }; - if (squareMag > 1.d) { - double mag = Math.sqrt(squareMag); - ret[0] = x / mag; - ret[1] = y / mag; - } - SmartDashboard.putNumberArray("Input", new double[] {squareMag, x, y, ret[0], ret[1]}); - return ret; - } + /** * Use this method to define your button->command mappings. Buttons can be * created by instantiating a {@link GenericHID} or one of its subclasses @@ -94,11 +79,11 @@ public class RobotContainer { .whenPressed(() -> m_robotSwerveDrive.resetGyro());*/ /* Operator Buttons */ // activates "Lit Mode" - new JoystickButton(getOperatorController(), XboxController.Button.kA.value) + new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON) .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW)) .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN)); - new JoystickButton(getDriverController(), XboxController.Button.kA.value) + new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON) .whenPressed(() -> { m_robotSwerveDrive.m_gyro.setYaw(0); }); @@ -117,14 +102,28 @@ public class RobotContainer { /** * Add your docs here. */ - public XboxController getDriverController() { + public IHandController getDriverController() { return m_driverXbox; } /** * Add your docs here. */ - public XboxController getOperatorController() { + public IHandController getOperatorController() { return m_operatorXbox; } + + /** + * Add your docs here. + */ + public Joystick getOperatorJoystick() { + return m_operatorXbox.getJoyStick(); + } + + /** + * Add your docs here. + */ + public Joystick getDriverJoystick() { + return m_driverXbox.getJoyStick(); + } } diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index 658d1ca..ee9d1a7 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -22,6 +22,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc4388.robot.Constants.SwerveDriveConstants; import frc4388.utility.Gains; +import frc4388.utility.controller.XboxController; public class SwerveDrive extends SubsystemBase { SwerveDriveKinematics m_kinematics; @@ -91,26 +92,38 @@ public class SwerveDrive extends SubsystemBase { */ public void driveWithInput(double[] speeds, double rot, boolean fieldRelative) { - // System.out.println("Inputx: " + speeds[0] + " Inputy: " + speeds[1]); - /*var speeds = new ChassisSpeeds(strafeX, strafeY, rotate * SwerveDriveConstants.ROTATION_SPEED //in rad/s ); - driveFromSpeeds(speeds);*/ - double xSpeedMetersPerSecond = -speeds[0] * SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND; - double ySpeedMetersPerSecond = speeds[1] * SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND; - SwerveModuleState[] states = - kinematics.toSwerveModuleStates( - fieldRelative - ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot*3, m_gyro.getRotation2d()) - : new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot*3)); - SwerveDriveKinematics.desaturateWheelSpeeds(states, Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC)); - for (int i = 0; i < states.length; i++) { - SwerveModule module = modules[i]; - SwerveModuleState state = states[i]; - module.setDesiredState(state); + // Temporary janky raw joysticks + float[] driveController = new float[HAL.kMaxJoystickAxes]; + HAL.getJoystickAxes((byte) 0, driveController); + float leftXAxis = driveController[0]; + float leftYAxis = driveController[1]; + float rightXAxis = driveController[4]; + float rightYAxis = driveController[5]; + speeds = XboxController.ClampJoystickAxis(leftXAxis, leftYAxis); + rot = -rightXAxis; + + + // System.out.println("Inputx: " + speeds[0] + " Inputy: " + speeds[1]); + /*var speeds = new ChassisSpeeds(strafeX, strafeY, rotate * SwerveDriveConstants.ROTATION_SPEED //in rad/s ); + driveFromSpeeds(speeds);*/ + double xSpeedMetersPerSecond = -speeds[0] * SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND; + double ySpeedMetersPerSecond = speeds[1] * SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND; + SwerveModuleState[] states = + kinematics.toSwerveModuleStates( + fieldRelative + ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot*3, m_gyro.getRotation2d()) + : new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot*3)); + SwerveDriveKinematics.desaturateWheelSpeeds(states, Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC)); + for (int i = 0; i < states.length; i++) { + SwerveModule module = modules[i]; + SwerveModuleState state = states[i]; + module.setDesiredState(state); } } @Override public void periodic() { + System.err.println(m_gyro.getFusedHeading() +" aaa"); // m_gyro.setFusedHeadingToCompass(); // m_gyro.setYawToCompass(); // m_gyro.getRotation2d(); diff --git a/src/main/java/frc4388/utility/controller/IHandController.java.old b/src/main/java/frc4388/utility/controller/IHandController.java similarity index 100% rename from src/main/java/frc4388/utility/controller/IHandController.java.old rename to src/main/java/frc4388/utility/controller/IHandController.java diff --git a/src/main/java/frc4388/utility/controller/XboxController.java.old b/src/main/java/frc4388/utility/controller/XboxController.java similarity index 100% rename from src/main/java/frc4388/utility/controller/XboxController.java.old rename to src/main/java/frc4388/utility/controller/XboxController.java diff --git a/src/main/java/frc4388/utility/controller/XboxTriggerButton.java.old b/src/main/java/frc4388/utility/controller/XboxTriggerButton.java similarity index 100% rename from src/main/java/frc4388/utility/controller/XboxTriggerButton.java.old rename to src/main/java/frc4388/utility/controller/XboxTriggerButton.java From 2788291c6eb6acd5efd53e3fe02cca1071b43b39 Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Sat, 15 Jan 2022 13:12:31 -0700 Subject: [PATCH 010/151] moving raw input to XboxControllerRaw [WIP] --- src/main/java/frc4388/robot/Constants.java | 2 +- .../java/frc4388/robot/RobotContainer.java | 8 +++---- .../frc4388/robot/subsystems/SwerveDrive.java | 23 ++++++++++++++++++- .../utility/controller/XboxController.java | 2 +- .../utility/controller/XboxControllerRaw.java | 20 ++++++++++++++++ 5 files changed, 48 insertions(+), 7 deletions(-) create mode 100644 src/main/java/frc4388/utility/controller/XboxControllerRaw.java diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 4aee886..eb9c841 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -26,7 +26,7 @@ public final class Constants { public static final double WHEEL_SPEED = 0.1; public static final double WIDTH = 22; public static final double HEIGHT = 22; - public static final double JOYSTICK_TO_METERS_PER_SECOND = 1; + public static final double JOYSTICK_TO_METERS_PER_SECOND = 11; public static final double MAX_SPEED_FEET_PER_SEC = 20; public static final double SPEED_FEET_PER_SECOND_AT_FULL_POWER = 20; //IDs diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 2f4cd2b..aa244f3 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -83,10 +83,10 @@ public class RobotContainer { .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW)) .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN)); - new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON) - .whenPressed(() -> { - m_robotSwerveDrive.m_gyro.setYaw(0); - }); + // new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON) + // .whenPressed(() -> { + // m_robotSwerveDrive.m_gyro.setYaw(0); + // }); } /** diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index ee9d1a7..3172120 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -4,6 +4,7 @@ package frc4388.robot.subsystems; +import java.nio.ByteBuffer; import java.util.Arrays; import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; @@ -95,10 +96,30 @@ public class SwerveDrive extends SubsystemBase { // Temporary janky raw joysticks float[] driveController = new float[HAL.kMaxJoystickAxes]; HAL.getJoystickAxes((byte) 0, driveController); + // ByteBuffer buttons = new + ByteBuffer num_buttons_buffer = ByteBuffer.allocateDirect(1); + int buttons_int = HAL.getJoystickButtons((byte) 0, num_buttons_buffer); + int num_buttons = num_buttons_buffer.get(0); + boolean[] buttons = new boolean[num_buttons]; + for (int i = 0; i < num_buttons; i++) { + buttons[i] = (buttons_int & 1 << i) > 0; + } + if (buttons[0]) + m_gyro.reset(); float leftXAxis = driveController[0]; float leftYAxis = driveController[1]; float rightXAxis = driveController[4]; - float rightYAxis = driveController[5]; + leftXAxis = XboxController.inDeadZone(leftYAxis) ? 0.f : leftXAxis; + leftYAxis = XboxController.inDeadZone(leftYAxis) ? 0.f : leftYAxis; + rightXAxis = XboxController.inDeadZone(rightXAxis) ? 0.f : rightXAxis; + leftXAxis *= leftXAxis * leftXAxis; + leftYAxis *= leftYAxis * leftYAxis; + rightXAxis *= rightXAxis * rightXAxis; + double[] dashboardNums = new double[HAL.kMaxJoystickAxes]; + for (int i = 0; i < HAL.kMaxJoystickAxes; i++) { + dashboardNums[i] = (double)((int)(driveController[i] * 100.f)) / 100.d; + } + SmartDashboard.putNumberArray("axes", dashboardNums); speeds = XboxController.ClampJoystickAxis(leftXAxis, leftYAxis); rot = -rightXAxis; diff --git a/src/main/java/frc4388/utility/controller/XboxController.java b/src/main/java/frc4388/utility/controller/XboxController.java index c020ccf..cc8a0b7 100644 --- a/src/main/java/frc4388/utility/controller/XboxController.java +++ b/src/main/java/frc4388/utility/controller/XboxController.java @@ -85,7 +85,7 @@ public class XboxController implements IHandController * @param input from an axis on the controller * @return true if input falls in deadzone, false if input falls outside deadzone */ - private boolean inDeadZone(double input){ + public static boolean inDeadZone(double input){ return (Math.abs(input) < DEADZONE); } diff --git a/src/main/java/frc4388/utility/controller/XboxControllerRaw.java b/src/main/java/frc4388/utility/controller/XboxControllerRaw.java new file mode 100644 index 0000000..00cdcce --- /dev/null +++ b/src/main/java/frc4388/utility/controller/XboxControllerRaw.java @@ -0,0 +1,20 @@ +// package frc4388.utility.controller; + +// public class XboxControllerRaw implements IHandController { +// int buttons; +// public void updateInput() { +// } +// public double getLeftXAxis() {} + +// public double getLeftYAxis(); + +// public double getRightXAxis(); + +// public double getRightYAxis(); + +// public double getLeftTriggerAxis(); + +// public double getRightTriggerAxis(); + +// public int getDpadAngle(); +// } \ No newline at end of file From a93eb025f18806c60f7f8f2b60c372b3eb52f3f2 Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Sat, 15 Jan 2022 14:22:45 -0700 Subject: [PATCH 011/151] Update XboxControllerRaw.java --- .../utility/controller/XboxControllerRaw.java | 80 ++++++++++++++++--- 1 file changed, 67 insertions(+), 13 deletions(-) diff --git a/src/main/java/frc4388/utility/controller/XboxControllerRaw.java b/src/main/java/frc4388/utility/controller/XboxControllerRaw.java index 00cdcce..649cc7e 100644 --- a/src/main/java/frc4388/utility/controller/XboxControllerRaw.java +++ b/src/main/java/frc4388/utility/controller/XboxControllerRaw.java @@ -1,20 +1,74 @@ -// package frc4388.utility.controller; +package frc4388.utility.controller; +import java.nio.ByteBuffer; +import edu.wpi.first.hal.HAL; -// public class XboxControllerRaw implements IHandController { -// int buttons; -// public void updateInput() { -// } -// public double getLeftXAxis() {} -// public double getLeftYAxis(); +public class XboxControllerRaw implements IHandController { + public static final int LEFT_X_AXIS = 0; + public static final int LEFT_Y_AXIS = 1; + public static final int LEFT_TRIGGER_AXIS = 2; + public static final int RIGHT_TRIGGER_AXIS = 3; + public static final int RIGHT_X_AXIS = 4; + public static final int RIGHT_Y_AXIS = 5; + public static final int LEFT_RIGHT_DPAD_AXIS = 6; + public static final int TOP_BOTTOM_DPAD_AXIS = 6; + + public static final int A_BUTTON = 0; + public static final int B_BUTTON = 1; + public static final int X_BUTTON = 2; + public static final int Y_BUTTON = 3; + public static final int LEFT_BUMPER_BUTTON = 4; + public static final int RIGHT_BUMPER_BUTTON = 5; + public static final int BACK_BUTTON = 6; + public static final int START_BUTTON = 7; + + public static final int LEFT_JOYSTICK_BUTTON = 8; + public static final int RIGHT_JOYSTICK_BUTTON = 9; -// public double getRightXAxis(); + private int m_buttons = 0; + private int m_numButtons; + private ByteBuffer m_buttonCountBuffer = ByteBuffer.allocateDirect(1); + float[] m_axes = new float[HAL.kMaxJoystickAxes]; + public void updateInput() { + HAL.getJoystickAxes((byte) 0, m_axes); + m_buttons = HAL.getJoystickButtons((byte) 0, m_buttonCountBuffer); + m_numButtons = m_buttonCountBuffer.get(0); + } -// public double getRightYAxis(); + public int getNumButtons() { + return m_numButtons; + } -// public double getLeftTriggerAxis(); + public boolean getButton(int index) { + return (m_buttons & 1 << index) > 0; + } + public double getLeftXAxis() { + return m_axes[LEFT_X_AXIS]; + } -// public double getRightTriggerAxis(); + public double getLeftYAxis() { + + return m_axes[LEFT_Y_AXIS]; + } -// public int getDpadAngle(); -// } \ No newline at end of file + public double getRightXAxis() { + + return m_axes[RIGHT_X_AXIS]; + } + + public double getRightYAxis() { + return m_axes[RIGHT_Y_AXIS]; + } + + public double getLeftTriggerAxis() { + return m_axes[LEFT_TRIGGER_AXIS]; + } + + public double getRightTriggerAxis() { + return m_axes[RIGHT_TRIGGER_AXIS]; + } + + public int getDpadAngle() { + return -1; + } +} \ No newline at end of file From 04ae55a066f898ca2815afab1adfa3534f7511d4 Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Sat, 15 Jan 2022 14:31:09 -0700 Subject: [PATCH 012/151] added deadzones to xbox raw --- .../utility/controller/XboxControllerRaw.java | 39 +++++++++++++++---- 1 file changed, 31 insertions(+), 8 deletions(-) diff --git a/src/main/java/frc4388/utility/controller/XboxControllerRaw.java b/src/main/java/frc4388/utility/controller/XboxControllerRaw.java index 649cc7e..20e6cfd 100644 --- a/src/main/java/frc4388/utility/controller/XboxControllerRaw.java +++ b/src/main/java/frc4388/utility/controller/XboxControllerRaw.java @@ -24,6 +24,8 @@ public class XboxControllerRaw implements IHandController { public static final int LEFT_JOYSTICK_BUTTON = 8; public static final int RIGHT_JOYSTICK_BUTTON = 9; + + private static final double DEADZONE = 0.1; private int m_buttons = 0; private int m_numButtons; @@ -42,30 +44,51 @@ public class XboxControllerRaw implements IHandController { public boolean getButton(int index) { return (m_buttons & 1 << index) > 0; } + + /** + * Checks if the input falls within the deadzone. + * @param input from an axis on the controller + * @return true if input falls in deadzone, false if input falls outside deadzone + */ + public static boolean inDeadZone(double input){ + return (Math.abs(input) < DEADZONE); + } + + /** + * Updates an input to have a deadzone around the 0 position + * @param input from an axis on the controller + * @return updated input + */ + private double getAxisWithDeadZoneCheck(double input){ + if(inDeadZone(input)){ + return 0.0; + } else { + return input; + } + } + public double getLeftXAxis() { - return m_axes[LEFT_X_AXIS]; + return getAxisWithDeadZoneCheck(m_axes[LEFT_X_AXIS]); } public double getLeftYAxis() { - - return m_axes[LEFT_Y_AXIS]; + return getAxisWithDeadZoneCheck(m_axes[LEFT_Y_AXIS]); } public double getRightXAxis() { - - return m_axes[RIGHT_X_AXIS]; + return getAxisWithDeadZoneCheck(m_axes[RIGHT_X_AXIS]); } public double getRightYAxis() { - return m_axes[RIGHT_Y_AXIS]; + return getAxisWithDeadZoneCheck(m_axes[RIGHT_Y_AXIS]); } public double getLeftTriggerAxis() { - return m_axes[LEFT_TRIGGER_AXIS]; + return getAxisWithDeadZoneCheck(m_axes[LEFT_TRIGGER_AXIS]); } public double getRightTriggerAxis() { - return m_axes[RIGHT_TRIGGER_AXIS]; + return getAxisWithDeadZoneCheck(m_axes[RIGHT_TRIGGER_AXIS]); } public int getDpadAngle() { From 45574a2a06ff094a8ac19debfa6499ef2b2eeab6 Mon Sep 17 00:00:00 2001 From: aarav18 <57469559+aarav18@users.noreply.github.com> Date: Sat, 15 Jan 2022 14:55:07 -0700 Subject: [PATCH 013/151] Bumpers and drift protection --- src/main/java/frc4388/robot/Constants.java | 5 ++-- .../java/frc4388/robot/RobotContainer.java | 15 ++++++++---- .../frc4388/robot/subsystems/SwerveDrive.java | 24 +++++++++++++++---- .../robot/subsystems/SwerveModule.java | 6 +++-- 4 files changed, 36 insertions(+), 14 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index eb9c841..592df37 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -22,11 +22,12 @@ import frc4388.utility.LEDPatterns; */ public final class Constants { public static final class SwerveDriveConstants { - public static final double ROTATION_SPEED = 0.1; + public static final double ROTATION_SPEED = 3; public static final double WHEEL_SPEED = 0.1; public static final double WIDTH = 22; public static final double HEIGHT = 22; - public static final double JOYSTICK_TO_METERS_PER_SECOND = 11; + public static final double JOYSTICK_TO_METERS_PER_SECOND_FAST = 11; + public static final double JOYSTICK_TO_METERS_PER_SECOND_SLOW = 2; public static final double MAX_SPEED_FEET_PER_SEC = 20; public static final double SPEED_FEET_PER_SECOND_AT_FULL_POWER = 20; //IDs diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index aa244f3..f91a605 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -77,16 +77,21 @@ public class RobotContainer { /* Driver Buttons */ /*new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON) .whenPressed(() -> m_robotSwerveDrive.resetGyro());*/ + + new JoystickButton(getDriverJoystick(), XboxController.LEFT_BUMPER_BUTTON) + .whenPressed(() -> m_robotSwerveDrive.highSpeed(false)); + + + new JoystickButton(getDriverJoystick(), XboxController.RIGHT_BUMPER_BUTTON) + .whenPressed(() -> m_robotSwerveDrive.highSpeed(true)); + + + /* Operator Buttons */ // activates "Lit Mode" new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON) .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW)) .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN)); - - // new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON) - // .whenPressed(() -> { - // m_robotSwerveDrive.m_gyro.setYaw(0); - // }); } /** diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index 3172120..dabc3df 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -16,6 +16,7 @@ import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.math.kinematics.SwerveDriveKinematics; +import edu.wpi.first.math.kinematics.SwerveDriveOdometry; import edu.wpi.first.math.kinematics.SwerveModuleState; import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.interfaces.Gyro; @@ -54,6 +55,9 @@ public class SwerveDrive extends SubsystemBase { public SwerveModule[] modules; public WPI_PigeonIMU m_gyro; //TODO Add Gyro Lol + public double speedAdjust = SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND_SLOW; + public boolean ignoreAngles; + public SwerveDrive(WPI_TalonFX leftFrontSteerMotor,WPI_TalonFX leftFrontWheelMotor,WPI_TalonFX rightFrontSteerMotor,WPI_TalonFX rightFrontWheelMotor, WPI_TalonFX leftBackSteerMotor,WPI_TalonFX leftBackWheelMotor,WPI_TalonFX rightBackSteerMotor,WPI_TalonFX rightBackWheelMotor, CANCoder leftFrontEncoder, CANCoder rightFrontEncoder, @@ -93,6 +97,8 @@ public class SwerveDrive extends SubsystemBase { */ public void driveWithInput(double[] speeds, double rot, boolean fieldRelative) { + if (speeds[0] == 0 && speeds[1] == 0) ignoreAngles = true; + else ignoreAngles = false; // Temporary janky raw joysticks float[] driveController = new float[HAL.kMaxJoystickAxes]; HAL.getJoystickAxes((byte) 0, driveController); @@ -127,18 +133,18 @@ public class SwerveDrive extends SubsystemBase { // System.out.println("Inputx: " + speeds[0] + " Inputy: " + speeds[1]); /*var speeds = new ChassisSpeeds(strafeX, strafeY, rotate * SwerveDriveConstants.ROTATION_SPEED //in rad/s ); driveFromSpeeds(speeds);*/ - double xSpeedMetersPerSecond = -speeds[0] * SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND; - double ySpeedMetersPerSecond = speeds[1] * SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND; + double xSpeedMetersPerSecond = -speeds[0] * speedAdjust; + double ySpeedMetersPerSecond = speeds[1] * speedAdjust; SwerveModuleState[] states = kinematics.toSwerveModuleStates( fieldRelative - ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot*3, m_gyro.getRotation2d()) - : new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot*3)); + ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot * SwerveDriveConstants.ROTATION_SPEED, m_gyro.getRotation2d()) + : new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot * SwerveDriveConstants.ROTATION_SPEED)); SwerveDriveKinematics.desaturateWheelSpeeds(states, Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC)); for (int i = 0; i < states.length; i++) { SwerveModule module = modules[i]; SwerveModuleState state = states[i]; - module.setDesiredState(state); + module.setDesiredState(state, ignoreAngle); } } @@ -151,4 +157,12 @@ public class SwerveDrive extends SubsystemBase { super.periodic(); } + public void highSpeed(boolean shift){ + if (shift){ + speedAdjust = SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND_FAST; + } + else{ + speedAdjust = SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND_SLOW; + } + } } \ No newline at end of file diff --git a/src/main/java/frc4388/robot/subsystems/SwerveModule.java b/src/main/java/frc4388/robot/subsystems/SwerveModule.java index 0c38acf..450668c 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveModule.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveModule.java @@ -71,7 +71,7 @@ public class SwerveModule extends SubsystemBase { * Set the speed + rotation of the swerve module from a SwerveModuleState object * @param desiredState - A SwerveModuleState representing the desired new state of the module */ - public void setDesiredState(SwerveModuleState desiredState) { + public void setDesiredState(SwerveModuleState desiredState, boolean ignoreAngle) { Rotation2d currentRotation = getAngle(); SmartDashboard.putNumber("Motor " + angleMotor.getDeviceID(), currentRotation.getDegrees()); @@ -85,7 +85,9 @@ public class SwerveModule extends SubsystemBase { // Convert the CANCoder from it's position reading back to ticks double currentTicks = canCoder.getPosition() / canCoder.configGetFeedbackCoefficient(); double desiredTicks = currentTicks + deltaTicks; - angleMotor.set(TalonFXControlMode.Position, desiredTicks); + if (!ignoreAngle){ + angleMotor.set(TalonFXControlMode.Position, desiredTicks); + } double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond); From 3061563db329404fa63c5ef549fef61d61d80a4b Mon Sep 17 00:00:00 2001 From: Ryan Manley Date: Sat, 15 Jan 2022 15:52:38 -0700 Subject: [PATCH 014/151] integrated xboxraw --- src/main/java/frc4388/robot/Constants.java | 2 +- src/main/java/frc4388/robot/Robot.java | 2 + .../java/frc4388/robot/RobotContainer.java | 44 +++++++------ .../frc4388/robot/subsystems/SwerveDrive.java | 64 ++++++++++--------- .../utility/controller/IHandController.java | 2 + .../utility/controller/XboxController.java | 2 + .../utility/controller/XboxControllerRaw.java | 13 +++- .../controller/XboxControllerRawButton.java | 18 ++++++ 8 files changed, 93 insertions(+), 54 deletions(-) create mode 100644 src/main/java/frc4388/utility/controller/XboxControllerRawButton.java diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 592df37..01b3b37 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -22,7 +22,7 @@ import frc4388.utility.LEDPatterns; */ public final class Constants { public static final class SwerveDriveConstants { - public static final double ROTATION_SPEED = 3; + public static final double ROTATION_SPEED = 4; public static final double WHEEL_SPEED = 0.1; public static final double WIDTH = 22; public static final double HEIGHT = 22; diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java index dd717d6..03eda20 100644 --- a/src/main/java/frc4388/robot/Robot.java +++ b/src/main/java/frc4388/robot/Robot.java @@ -114,6 +114,8 @@ public class Robot extends TimedRobot { */ @Override public void teleopPeriodic() { + m_robotContainer.getDriverController().updateInput(); + m_robotContainer.getOperatorController().updateInput(); } /** diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index f91a605..76c2e5e 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -16,6 +16,8 @@ import frc4388.robot.subsystems.SwerveDrive; import frc4388.utility.LEDPatterns; import frc4388.utility.controller.IHandController; import frc4388.utility.controller.XboxController; +import frc4388.utility.controller.XboxControllerRaw; +import frc4388.utility.controller.XboxControllerRawButton; /** * This class is where the bulk of the robot should be declared. Since @@ -44,8 +46,8 @@ public class RobotContainer { private final LED m_robotLED = new LED(m_robotMap.LEDController); /* Controllers */ - private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID); - private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID); + private final XboxControllerRaw m_driverXbox = new XboxControllerRaw(OIConstants.XBOX_DRIVER_ID); + private final XboxControllerRaw m_operatorXbox = new XboxControllerRaw(OIConstants.XBOX_OPERATOR_ID); /** * The container for the robot. Contains subsystems, OI devices, and commands. @@ -75,21 +77,25 @@ public class RobotContainer { */ private void configureButtonBindings() { /* Driver Buttons */ - /*new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON) - .whenPressed(() -> m_robotSwerveDrive.resetGyro());*/ + // new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON) + new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.Y_BUTTON) + .whenPressed(() -> m_robotSwerveDrive.m_gyro.reset()); - new JoystickButton(getDriverJoystick(), XboxController.LEFT_BUMPER_BUTTON) + // new JoystickButton(getDriverJoystick(), XboxController.LEFT_BUMPER_BUTTON) + new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.LEFT_BUMPER_BUTTON) .whenPressed(() -> m_robotSwerveDrive.highSpeed(false)); - new JoystickButton(getDriverJoystick(), XboxController.RIGHT_BUMPER_BUTTON) + // new JoystickButton(getDriverJoystick(), XboxController.RIGHT_BUMPER_BUTTON) + new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.RIGHT_BUMPER_BUTTON) .whenPressed(() -> m_robotSwerveDrive.highSpeed(true)); /* Operator Buttons */ // activates "Lit Mode" - new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON) + // new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON) + new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.A_BUTTON) .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW)) .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN)); } @@ -118,17 +124,17 @@ public class RobotContainer { return m_operatorXbox; } - /** - * Add your docs here. - */ - public Joystick getOperatorJoystick() { - return m_operatorXbox.getJoyStick(); - } + // /** + // * Add your docs here. + // */ + // public Joystick getOperatorJoystick() { + // return m_operatorXbox.getJoyStick(); + // } - /** - * Add your docs here. - */ - public Joystick getDriverJoystick() { - return m_driverXbox.getJoyStick(); - } + // /** + // * Add your docs here. + // */ + // public Joystick getDriverJoystick() { + // return m_driverXbox.getJoyStick(); + // } } diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index dabc3df..0c5df2c 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -97,37 +97,39 @@ public class SwerveDrive extends SubsystemBase { */ public void driveWithInput(double[] speeds, double rot, boolean fieldRelative) { - if (speeds[0] == 0 && speeds[1] == 0) ignoreAngles = true; + if (speeds[0] == 0 && speeds[1] == 0 && rot == 0) ignoreAngles = true; else ignoreAngles = false; - // Temporary janky raw joysticks - float[] driveController = new float[HAL.kMaxJoystickAxes]; - HAL.getJoystickAxes((byte) 0, driveController); - // ByteBuffer buttons = new - ByteBuffer num_buttons_buffer = ByteBuffer.allocateDirect(1); - int buttons_int = HAL.getJoystickButtons((byte) 0, num_buttons_buffer); - int num_buttons = num_buttons_buffer.get(0); - boolean[] buttons = new boolean[num_buttons]; - for (int i = 0; i < num_buttons; i++) { - buttons[i] = (buttons_int & 1 << i) > 0; - } - if (buttons[0]) - m_gyro.reset(); - float leftXAxis = driveController[0]; - float leftYAxis = driveController[1]; - float rightXAxis = driveController[4]; - leftXAxis = XboxController.inDeadZone(leftYAxis) ? 0.f : leftXAxis; - leftYAxis = XboxController.inDeadZone(leftYAxis) ? 0.f : leftYAxis; - rightXAxis = XboxController.inDeadZone(rightXAxis) ? 0.f : rightXAxis; - leftXAxis *= leftXAxis * leftXAxis; - leftYAxis *= leftYAxis * leftYAxis; - rightXAxis *= rightXAxis * rightXAxis; - double[] dashboardNums = new double[HAL.kMaxJoystickAxes]; - for (int i = 0; i < HAL.kMaxJoystickAxes; i++) { - dashboardNums[i] = (double)((int)(driveController[i] * 100.f)) / 100.d; - } - SmartDashboard.putNumberArray("axes", dashboardNums); - speeds = XboxController.ClampJoystickAxis(leftXAxis, leftYAxis); - rot = -rightXAxis; + speeds[0] *= speeds[0] * speeds[0]; + speeds[1] *= speeds[1] * speeds[1]; + // // Temporary janky raw joysticks + // float[] driveController = new float[HAL.kMaxJoystickAxes]; + // HAL.getJoystickAxes((byte) 0, driveController); + // // ByteBuffer buttons = new + // ByteBuffer num_buttons_buffer = ByteBuffer.allocateDirect(1); + // int buttons_int = HAL.getJoystickButtons((byte) 0, num_buttons_buffer); + // int num_buttons = num_buttons_buffer.get(0); + // boolean[] buttons = new boolean[num_buttons]; + // for (int i = 0; i < num_buttons; i++) { + // buttons[i] = (buttons_int & 1 << i) > 0; + // } + // if (buttons[0]) + // m_gyro.reset(); + // float leftXAxis = driveController[0]; + // float leftYAxis = driveController[1]; + // float rightXAxis = driveController[4]; + // leftXAxis = XboxController.inDeadZone(leftYAxis) ? 0.f : leftXAxis; + // leftYAxis = XboxController.inDeadZone(leftYAxis) ? 0.f : leftYAxis; + // rightXAxis = XboxController.inDeadZone(rightXAxis) ? 0.f : rightXAxis; + // leftXAxis *= leftXAxis * leftXAxis; + // leftYAxis *= leftYAxis * leftYAxis; + // rightXAxis *= rightXAxis * rightXAxis; + // double[] dashboardNums = new double[HAL.kMaxJoystickAxes]; + // for (int i = 0; i < HAL.kMaxJoystickAxes; i++) { + // dashboardNums[i] = (double)((int)(driveController[i] * 100.f)) / 100.d; + // } + // SmartDashboard.putNumberArray("axes", dashboardNums); + // speeds = XboxController.ClampJoystickAxis(leftXAxis, leftYAxis); + // rot = -rightXAxis; // System.out.println("Inputx: " + speeds[0] + " Inputy: " + speeds[1]); @@ -144,7 +146,7 @@ public class SwerveDrive extends SubsystemBase { for (int i = 0; i < states.length; i++) { SwerveModule module = modules[i]; SwerveModuleState state = states[i]; - module.setDesiredState(state, ignoreAngle); + module.setDesiredState(state, ignoreAngles); } } diff --git a/src/main/java/frc4388/utility/controller/IHandController.java b/src/main/java/frc4388/utility/controller/IHandController.java index 319aebc..8db3d8f 100644 --- a/src/main/java/frc4388/utility/controller/IHandController.java +++ b/src/main/java/frc4388/utility/controller/IHandController.java @@ -18,4 +18,6 @@ public interface IHandController { public double getRightTriggerAxis(); public int getDpadAngle(); + + public void updateInput(); } diff --git a/src/main/java/frc4388/utility/controller/XboxController.java b/src/main/java/frc4388/utility/controller/XboxController.java index cc8a0b7..70b599b 100644 --- a/src/main/java/frc4388/utility/controller/XboxController.java +++ b/src/main/java/frc4388/utility/controller/XboxController.java @@ -53,6 +53,8 @@ public class XboxController implements IHandController private Joystick m_stick; + public void updateInput() {} + public static double[] ClampJoystickAxis(double x, double y) { double square_mag = x * x + y * y; double[] ret = {x,y}; diff --git a/src/main/java/frc4388/utility/controller/XboxControllerRaw.java b/src/main/java/frc4388/utility/controller/XboxControllerRaw.java index 20e6cfd..e31e293 100644 --- a/src/main/java/frc4388/utility/controller/XboxControllerRaw.java +++ b/src/main/java/frc4388/utility/controller/XboxControllerRaw.java @@ -25,15 +25,22 @@ public class XboxControllerRaw implements IHandController { public static final int LEFT_JOYSTICK_BUTTON = 8; public static final int RIGHT_JOYSTICK_BUTTON = 9; - private static final double DEADZONE = 0.1; + private static final double DEADZONE = 0.08; + private int m_ID; private int m_buttons = 0; private int m_numButtons; private ByteBuffer m_buttonCountBuffer = ByteBuffer.allocateDirect(1); float[] m_axes = new float[HAL.kMaxJoystickAxes]; + + public XboxControllerRaw(int id) { + m_ID = id; + } + + public void updateInput() { - HAL.getJoystickAxes((byte) 0, m_axes); - m_buttons = HAL.getJoystickButtons((byte) 0, m_buttonCountBuffer); + HAL.getJoystickAxes((byte) m_ID, m_axes); + m_buttons = HAL.getJoystickButtons((byte) m_ID, m_buttonCountBuffer); m_numButtons = m_buttonCountBuffer.get(0); } diff --git a/src/main/java/frc4388/utility/controller/XboxControllerRawButton.java b/src/main/java/frc4388/utility/controller/XboxControllerRawButton.java new file mode 100644 index 0000000..7de064e --- /dev/null +++ b/src/main/java/frc4388/utility/controller/XboxControllerRawButton.java @@ -0,0 +1,18 @@ +package frc4388.utility.controller; + +import edu.wpi.first.wpilibj2.command.button.Button; + +public class XboxControllerRawButton extends Button { + private final XboxControllerRaw m_controller; + private final int m_buttonNumber; + + public XboxControllerRawButton(XboxControllerRaw controller, int buttonNumber) { + m_controller = controller; + m_buttonNumber = buttonNumber; + } + + @Override + public boolean get() { + return m_controller.getButton(m_buttonNumber); + } +} From 7bb6d2f845bdc1577d19c89826778a8848bba2ea Mon Sep 17 00:00:00 2001 From: Ryan Manley Date: Tue, 18 Jan 2022 17:34:38 -0700 Subject: [PATCH 015/151] changed back to original xbox inputs, wpilib update --- build.gradle | 4 +- simgui-ds.json | 92 +++++++++++++++++++ simgui.json | 11 +++ .../java/frc4388/robot/RobotContainer.java | 44 ++++----- 4 files changed, 127 insertions(+), 24 deletions(-) create mode 100644 simgui-ds.json create mode 100644 simgui.json diff --git a/build.gradle b/build.gradle index c1f07ee..ac90875 100644 --- a/build.gradle +++ b/build.gradle @@ -1,8 +1,8 @@ import edu.wpi.first.gradlerio.deploy.roborio.RoboRIO - + plugins { id "java" - id "edu.wpi.first.GradleRIO" version "2022.1.1" + id "edu.wpi.first.GradleRIO" version "2022.2.1" } sourceCompatibility = JavaVersion.VERSION_11 diff --git a/simgui-ds.json b/simgui-ds.json new file mode 100644 index 0000000..73cc713 --- /dev/null +++ b/simgui-ds.json @@ -0,0 +1,92 @@ +{ + "keyboardJoysticks": [ + { + "axisConfig": [ + { + "decKey": 65, + "incKey": 68 + }, + { + "decKey": 87, + "incKey": 83 + }, + { + "decKey": 69, + "decayRate": 0.0, + "incKey": 82, + "keyRate": 0.009999999776482582 + } + ], + "axisCount": 3, + "buttonCount": 4, + "buttonKeys": [ + 90, + 88, + 67, + 86 + ], + "povConfig": [ + { + "key0": 328, + "key135": 323, + "key180": 322, + "key225": 321, + "key270": 324, + "key315": 327, + "key45": 329, + "key90": 326 + } + ], + "povCount": 1 + }, + { + "axisConfig": [ + { + "decKey": 74, + "incKey": 76 + }, + { + "decKey": 73, + "incKey": 75 + } + ], + "axisCount": 2, + "buttonCount": 4, + "buttonKeys": [ + 77, + 44, + 46, + 47 + ], + "povCount": 0 + }, + { + "axisConfig": [ + { + "decKey": 263, + "incKey": 262 + }, + { + "decKey": 265, + "incKey": 264 + } + ], + "axisCount": 2, + "buttonCount": 6, + "buttonKeys": [ + 260, + 268, + 266, + 261, + 269, + 267 + ], + "povCount": 0 + }, + { + "axisCount": 0, + "buttonCount": 0, + "povCount": 0 + } + ] +} diff --git a/simgui.json b/simgui.json new file mode 100644 index 0000000..a47a9ab --- /dev/null +++ b/simgui.json @@ -0,0 +1,11 @@ +{ + "NTProvider": { + "types": { + "/FMSInfo": "FMSInfo", + "/LiveWindow/LED": "Subsystem", + "/LiveWindow/SwerveDrive": "Subsystem", + "/LiveWindow/SwerveModule": "Subsystem", + "/LiveWindow/Ungrouped/Scheduler": "Scheduler" + } + } +} diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 76c2e5e..355c44f 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -46,8 +46,8 @@ public class RobotContainer { private final LED m_robotLED = new LED(m_robotMap.LEDController); /* Controllers */ - private final XboxControllerRaw m_driverXbox = new XboxControllerRaw(OIConstants.XBOX_DRIVER_ID); - private final XboxControllerRaw m_operatorXbox = new XboxControllerRaw(OIConstants.XBOX_OPERATOR_ID); + private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID); + private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID); /** * The container for the robot. Contains subsystems, OI devices, and commands. @@ -77,25 +77,25 @@ public class RobotContainer { */ private void configureButtonBindings() { /* Driver Buttons */ - // new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON) - new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.Y_BUTTON) + new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON) + // new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.Y_BUTTON) .whenPressed(() -> m_robotSwerveDrive.m_gyro.reset()); - // new JoystickButton(getDriverJoystick(), XboxController.LEFT_BUMPER_BUTTON) - new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.LEFT_BUMPER_BUTTON) + new JoystickButton(getDriverJoystick(), XboxController.LEFT_BUMPER_BUTTON) + // new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.LEFT_BUMPER_BUTTON) .whenPressed(() -> m_robotSwerveDrive.highSpeed(false)); - // new JoystickButton(getDriverJoystick(), XboxController.RIGHT_BUMPER_BUTTON) - new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.RIGHT_BUMPER_BUTTON) + new JoystickButton(getDriverJoystick(), XboxController.RIGHT_BUMPER_BUTTON) + // new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.RIGHT_BUMPER_BUTTON) .whenPressed(() -> m_robotSwerveDrive.highSpeed(true)); /* Operator Buttons */ // activates "Lit Mode" - // new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON) - new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.A_BUTTON) + new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON) + // new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.A_BUTTON) .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW)) .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN)); } @@ -124,17 +124,17 @@ public class RobotContainer { return m_operatorXbox; } - // /** - // * Add your docs here. - // */ - // public Joystick getOperatorJoystick() { - // return m_operatorXbox.getJoyStick(); - // } + /** + * Add your docs here. + */ + public Joystick getOperatorJoystick() { + return m_operatorXbox.getJoyStick(); + } - // /** - // * Add your docs here. - // */ - // public Joystick getDriverJoystick() { - // return m_driverXbox.getJoyStick(); - // } + /** + * Add your docs here. + */ + public Joystick getDriverJoystick() { + return m_driverXbox.getJoyStick(); + } } From 93f83986e5d51a7e9c91def40d4961e4ff0f4700 Mon Sep 17 00:00:00 2001 From: Ryan Manley Date: Tue, 18 Jan 2022 19:53:14 -0700 Subject: [PATCH 016/151] This has errors lol --- src/main/java/frc4388/robot/Constants.java | 3 + .../frc4388/robot/subsystems/SwerveDrive.java | 66 +++++++++---------- .../robot/subsystems/SwerveModule.java | 10 +++ 3 files changed, 45 insertions(+), 34 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 01b3b37..817d46d 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -65,6 +65,9 @@ public final class Constants { public static final double OPEN_LOOP_RAMP_RATE = 0.2; public static final int REMOTE_0 = 0; + // conversions + // 5.12 rev motor = 1 rev wheel + // misc public static final int SMARTDASHBOARD_UPDATE_FRAME = 2; } diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index 0c5df2c..61fe8f1 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -12,6 +12,9 @@ import com.ctre.phoenix.sensors.CANCoder; import com.ctre.phoenix.sensors.WPI_PigeonIMU; import edu.wpi.first.hal.HAL; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator; +import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.kinematics.ChassisSpeeds; @@ -52,8 +55,20 @@ public class SwerveDrive extends SubsystemBase { // setSwerveGains(); private SwerveDriveKinematics kinematics = new SwerveDriveKinematics(m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation); + public SwerveModule[] modules; - public WPI_PigeonIMU m_gyro; //TODO Add Gyro Lol + public WPI_PigeonIMU m_gyro; + + /* Here we use SwerveDrivePoseEstimator so that we can fuse odometry readings. The numbers used + below are robot specific, and should be tuned. */ + private final SwerveDrivePoseEstimator m_poseEstimator = + new SwerveDrivePoseEstimator( + m_gyro.getRotation2d(), + new Pose2d(), + m_kinematics, + VecBuilder.fill(0.05, 0.05, Units.degreesToRadians(5)), + VecBuilder.fill(Units.degreesToRadians(0.01)), + VecBuilder.fill(0.5, 0.5, Units.degreesToRadians(30))); public double speedAdjust = SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND_SLOW; public boolean ignoreAngles; @@ -101,40 +116,7 @@ public class SwerveDrive extends SubsystemBase { else ignoreAngles = false; speeds[0] *= speeds[0] * speeds[0]; speeds[1] *= speeds[1] * speeds[1]; - // // Temporary janky raw joysticks - // float[] driveController = new float[HAL.kMaxJoystickAxes]; - // HAL.getJoystickAxes((byte) 0, driveController); - // // ByteBuffer buttons = new - // ByteBuffer num_buttons_buffer = ByteBuffer.allocateDirect(1); - // int buttons_int = HAL.getJoystickButtons((byte) 0, num_buttons_buffer); - // int num_buttons = num_buttons_buffer.get(0); - // boolean[] buttons = new boolean[num_buttons]; - // for (int i = 0; i < num_buttons; i++) { - // buttons[i] = (buttons_int & 1 << i) > 0; - // } - // if (buttons[0]) - // m_gyro.reset(); - // float leftXAxis = driveController[0]; - // float leftYAxis = driveController[1]; - // float rightXAxis = driveController[4]; - // leftXAxis = XboxController.inDeadZone(leftYAxis) ? 0.f : leftXAxis; - // leftYAxis = XboxController.inDeadZone(leftYAxis) ? 0.f : leftYAxis; - // rightXAxis = XboxController.inDeadZone(rightXAxis) ? 0.f : rightXAxis; - // leftXAxis *= leftXAxis * leftXAxis; - // leftYAxis *= leftYAxis * leftYAxis; - // rightXAxis *= rightXAxis * rightXAxis; - // double[] dashboardNums = new double[HAL.kMaxJoystickAxes]; - // for (int i = 0; i < HAL.kMaxJoystickAxes; i++) { - // dashboardNums[i] = (double)((int)(driveController[i] * 100.f)) / 100.d; - // } - // SmartDashboard.putNumberArray("axes", dashboardNums); - // speeds = XboxController.ClampJoystickAxis(leftXAxis, leftYAxis); - // rot = -rightXAxis; - - // System.out.println("Inputx: " + speeds[0] + " Inputy: " + speeds[1]); - /*var speeds = new ChassisSpeeds(strafeX, strafeY, rotate * SwerveDriveConstants.ROTATION_SPEED //in rad/s ); - driveFromSpeeds(speeds);*/ double xSpeedMetersPerSecond = -speeds[0] * speedAdjust; double ySpeedMetersPerSecond = speeds[1] * speedAdjust; SwerveModuleState[] states = @@ -159,6 +141,22 @@ public class SwerveDrive extends SubsystemBase { super.periodic(); } + /** Updates the field relative position of the robot. */ + public void updateOdometry() { + m_poseEstimator.update( m_gyro.getRotation2d(), + m_frontLeftLocation.getState(), + m_frontRightLocation.getState(), + m_backLeftLocation.getState(), + m_backRightLocation.getState()); + + // Also apply vision measurements. We use 0.3 seconds in the past as an example -- on + // a real robot, this must be calculated based either on latency or timestamps. + m_poseEstimator.addVisionMeasurement( + ExampleGlobalMeasurementSensor.getEstimatedGlobalPose( + m_poseEstimator.getEstimatedPosition()), + Timer.getFPGATimestamp() - 0.3); + } + public void highSpeed(boolean shift){ if (shift){ speedAdjust = SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND_FAST; diff --git a/src/main/java/frc4388/robot/subsystems/SwerveModule.java b/src/main/java/frc4388/robot/subsystems/SwerveModule.java index 450668c..20aaa4b 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveModule.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveModule.java @@ -93,4 +93,14 @@ public class SwerveModule extends SubsystemBase { double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond); driveMotor.set(angleMotor.get() + feetPerSecond / SwerveDriveConstants.SPEED_FEET_PER_SECOND_AT_FULL_POWER); } + + /** + * Returns the current state of the module. + * + * @return The current state of the module. + */ + public SwerveModuleState getState() { + return new SwerveModuleState(driveMotor.getSelectedSensorVelocity(), new Rotation2d(canCoder.getPosition())); + } + } From a4787e0e309c282e4691430d5bf29addc1e608d0 Mon Sep 17 00:00:00 2001 From: Abhishrek05 <90010729+Abhishrek05@users.noreply.github.com> Date: Thu, 20 Jan 2022 18:08:05 -0700 Subject: [PATCH 017/151] stuff happened --- src/main/java/frc4388/robot/Constants.java | 11 ++ .../java/frc4388/robot/RobotContainer.java | 9 +- src/main/java/frc4388/robot/RobotMap.java | 3 + .../frc4388/robot/subsystems/BoomBoom.java | 69 ++++++++ .../java/frc4388/robot/subsystems/Hood.java | 17 ++ .../java/frc4388/robot/subsystems/Turret.java | 17 ++ .../java/frc4388/robot/subsystems/Vision.java | 17 ++ .../java/frc4388/utility/ShooterTables.java | 164 ++++++++++++++++++ 8 files changed, 306 insertions(+), 1 deletion(-) create mode 100644 src/main/java/frc4388/robot/subsystems/BoomBoom.java create mode 100644 src/main/java/frc4388/robot/subsystems/Hood.java create mode 100644 src/main/java/frc4388/robot/subsystems/Turret.java create mode 100644 src/main/java/frc4388/robot/subsystems/Vision.java create mode 100644 src/main/java/frc4388/utility/ShooterTables.java diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 5581adf..6917401 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -4,6 +4,8 @@ package frc4388.robot; +import com.ctre.phoenix.motorcontrol.SupplyCurrentLimitConfiguration; + import frc4388.utility.Gains; import frc4388.utility.LEDPatterns; @@ -80,4 +82,13 @@ public final class Constants { public static final int XBOX_DRIVER_ID = 0; public static final int XBOX_OPERATOR_ID = 1; } + public static final class ShooterConstants { + /* PID Constants Shooter */ + public static final int SHOOTER_TIMEOUT_MS = 30; + public static final int SHOOTER_SLOT_IDX = 0; + public static final int SHOOTER_PID_LOOP_IDX = 1; + public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG = new SupplyCurrentLimitConfiguration(true, 60, 40, 0.5); + + + } } diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 38c3459..70fd283 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -10,8 +10,12 @@ import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.button.JoystickButton; import frc4388.robot.Constants.*; +import frc4388.robot.subsystems.BoomBoom; +import frc4388.robot.subsystems.Hood; import frc4388.robot.subsystems.LED; import frc4388.robot.subsystems.SwerveDrive; +import frc4388.robot.subsystems.Turret; +import frc4388.robot.subsystems.Vision; import frc4388.utility.LEDPatterns; import frc4388.utility.controller.IHandController; import frc4388.utility.controller.XboxController; @@ -40,7 +44,10 @@ public class RobotContainer { ); private final LED m_robotLED = new LED(m_robotMap.LEDController); - + private final BoomBoom m_robotBoomBoom = new BoomBoom(); + private final Hood m_robotHood = new Hood(); + private final Turret m_robotTurret = new Turret(); + private final Vision m_robotVison = new Vision(); /* Controllers */ private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID); private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID); diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java index 843323c..db9bfd6 100644 --- a/src/main/java/frc4388/robot/RobotMap.java +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -90,6 +90,9 @@ public class RobotMap { //leftBackSteerMotor.configRemoteFeedbackFilter(leftBackEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS); //rightFrontSteerMotor.configRemoteFeedbackFilter(rightFrontEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS); //rightBackSteerMotor.configRemoteFeedbackFilter(rightBackEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + /*Boom Boom Subsystem*/ + } + } diff --git a/src/main/java/frc4388/robot/subsystems/BoomBoom.java b/src/main/java/frc4388/robot/subsystems/BoomBoom.java new file mode 100644 index 0000000..e4d8825 --- /dev/null +++ b/src/main/java/frc4388/robot/subsystems/BoomBoom.java @@ -0,0 +1,69 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc4388.robot.subsystems; + +import com.ctre.phoenix.motorcontrol.NeutralMode; +import com.ctre.phoenix.motorcontrol.TalonFXControlMode; +import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; + +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc4388.robot.Constants.ShooterConstants; +import frc4388.utility.ShooterTables; + +public class BoomBoom extends SubsystemBase { +public WPI_TalonFX m_shooterFalconLeft; +public WPI_TalonFX m_shooterFalconRight; +public ShooterTables m_shooterTable; + + /** Creates a new BoomBoom. */ + public BoomBoom(WPI_TalonFX shooterFalconLeft, WPI_TalonFX shooterFalconRight) { + m_shooterFalconLeft = shooterFalconLeft; + m_shooterFalconRight = shooterFalconRight; + + int closedLoopTimeMs = 1; + //LEFT FALCON + m_shooterFalconLeft.configFactoryDefault(); + m_shooterFalconLeft.setNeutralMode(NeutralMode.Coast); + m_shooterFalconLeft.setInverted(true); + m_shooterFalconLeft.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS); + m_shooterFalconLeft.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS); + m_shooterFalconLeft.configPeakOutputReverse(0, ShooterConstants.SHOOTER_TIMEOUT_MS); + m_shooterFalconLeft.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS); + m_shooterFalconLeft.configClosedLoopPeriod(0, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS); + m_shooterFalconLeft.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS); + + //RIGHT FALCON + m_shooterFalconRight.configFactoryDefault(); + m_shooterFalconRight.setNeutralMode(NeutralMode.Coast); + m_shooterFalconRight.setInverted(false); + m_shooterFalconRight.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS); + m_shooterFalconRight.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS); + //m_shooterFalconRight.configPeakOutputForward(0, ShooterConstants.SHOOTER_TIMEOUT_MS);(comment it in if necessary) + m_shooterFalconRight.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS); + m_shooterFalconRight.configClosedLoopPeriod(0, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS); + m_shooterFalconRight.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS); + + m_shooterTable = new ShooterTables(); + + + } + + + @Override + public void periodic() { + // This method will be called once per scheduler run + // Abhi was here + } +public void runDrumShooter(double speed) { + m_shooterFalconLeft.set(TalonFXControlMode.PercentOutput, speed); + m_shooterFalconRight.follow(m_shooterFalconLeft); + } + + + public void runDrumShooterVelocityPID(double targetVel) { + m_shooterFalconLeft.set(TalonFXControlMode.Velocity, targetVel); //Init + m_shooterFalconRight.follow(m_shooterFalconLeft); + } +} diff --git a/src/main/java/frc4388/robot/subsystems/Hood.java b/src/main/java/frc4388/robot/subsystems/Hood.java new file mode 100644 index 0000000..4cc9392 --- /dev/null +++ b/src/main/java/frc4388/robot/subsystems/Hood.java @@ -0,0 +1,17 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc4388.robot.subsystems; + +import edu.wpi.first.wpilibj2.command.SubsystemBase; + +public class Hood extends SubsystemBase { + /** Creates a new Hood. */ + public Hood() {} + + @Override + public void periodic() { + // This method will be called once per scheduler run + } +} diff --git a/src/main/java/frc4388/robot/subsystems/Turret.java b/src/main/java/frc4388/robot/subsystems/Turret.java new file mode 100644 index 0000000..6dcd581 --- /dev/null +++ b/src/main/java/frc4388/robot/subsystems/Turret.java @@ -0,0 +1,17 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc4388.robot.subsystems; + +import edu.wpi.first.wpilibj2.command.SubsystemBase; + +public class Turret extends SubsystemBase { + /** Creates a new Turret. */ + public Turret() {} + + @Override + public void periodic() { + // This method will be called once per scheduler run + } +} diff --git a/src/main/java/frc4388/robot/subsystems/Vision.java b/src/main/java/frc4388/robot/subsystems/Vision.java new file mode 100644 index 0000000..afbb9c5 --- /dev/null +++ b/src/main/java/frc4388/robot/subsystems/Vision.java @@ -0,0 +1,17 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc4388.robot.subsystems; + +import edu.wpi.first.wpilibj2.command.SubsystemBase; + +public class Vision extends SubsystemBase { + /** Creates a new Vision. */ + public Vision() {} + + @Override + public void periodic() { + // This method will be called once per scheduler run + } +} diff --git a/src/main/java/frc4388/utility/ShooterTables.java b/src/main/java/frc4388/utility/ShooterTables.java new file mode 100644 index 0000000..2a5ce92 --- /dev/null +++ b/src/main/java/frc4388/utility/ShooterTables.java @@ -0,0 +1,164 @@ +package frc4388.utility; + +import java.io.BufferedReader; +import java.io.File; +import java.io.FileNotFoundException; +import java.io.FileReader; +import java.io.IOException; + +import edu.wpi.first.wpilibj.Filesystem; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; + +/** + * Add your docs here. + */ +public class ShooterTables { + double[][] m_distance = new double[50][4]; + double[][] m_angle = new double[50][2]; + + final int m_columnDistance = 0; + final int m_columnHood = 1; + final int m_columnVel = 2; + final int m_columnCenterDisplacement = 3; + final int m_columnAngle = 0; + final int m_columnDisplacement = 1; + + int m_distanceLength; + int m_angleLength; + + public ShooterTables() { + int lineNum = 0; + + File distanceCSV = new File(Filesystem.getDeployDirectory().getAbsolutePath() + "/Robot Data - Distances.csv"); + File angleCSV = new File(Filesystem.getDeployDirectory().getAbsolutePath() + "/Robot Data - Angles.csv"); + + try { + + + BufferedReader distanceReader = new BufferedReader(new FileReader(distanceCSV)); + BufferedReader angleReader = new BufferedReader(new FileReader(angleCSV)); + String line = ""; + + while ((line = distanceReader.readLine()) != null) { + + if (lineNum == 0) { + lineNum ++; + } else { + String[] values = line.split(","); + + m_distance[lineNum - 1][m_columnDistance] = Double.parseDouble(values[0]); + m_distance[lineNum - 1][m_columnHood] = Double.parseDouble(values[1]); + m_distance[lineNum - 1][m_columnVel] = Double.parseDouble(values[2]); + m_distance[lineNum - 1][m_columnCenterDisplacement] = Double.parseDouble(values[3]); + + lineNum ++; + } + + } + + m_distanceLength = lineNum-1; + lineNum = 0; + + while ((line = angleReader.readLine()) != null) { + + if (lineNum == 0) { + lineNum ++; + } else { + String[] values = line.split(","); + + m_angle[lineNum - 1][m_columnAngle] = Double.parseDouble(values[0]); + m_angle[lineNum - 1][m_columnDisplacement] = Double.parseDouble(values[1]); + + lineNum ++; + } + } + + m_angleLength = lineNum-1; + + distanceReader.close(); + angleReader.close(); + + } catch (FileNotFoundException e) { + e.printStackTrace(); + } catch (IOException e) { + e.printStackTrace(); + } + //SmartDashboard.putNumber("Row 2 Column 1", m_angle[1][0]); + //SmartDashboard.putNumber("Row 4 Column 2", m_angle[3][1]); + //SmartDashboard.putNumber("m_distanceLength", m_distanceLength); + //SmartDashboard.putNumber("Distance last row 0", m_distance[m_distanceLength-1][0]); + //SmartDashboard.putNumber("Distance last row 1", m_distance[m_distanceLength-1][1]); + //SmartDashboard.putNumber("Distance last row 2", m_distance[m_distanceLength-1][2]); + } + + public double getHood(double distance) { //Rotations of motor + int i = 0; + while ((i < m_distanceLength) && (m_distance[i][m_columnDistance] < distance)) { + i ++; + } + if ((i < m_distanceLength) && (m_distance[i][m_columnDistance] == distance)) { + return m_distance[i][m_columnHood]; + } else { + if (i >= m_distanceLength) { + i = m_distanceLength - 1; + } + return linearInterpolation(i, distance, m_columnHood, m_distance); + } + } + + public double getVelocity(double distance) { //Units per 100ms + int i = 0; + while ((i < m_distanceLength) && (m_distance[i][m_columnDistance] < distance)) { + i ++; + } + if ((i < m_distanceLength) && (m_distance[i][m_columnDistance] == distance)) { + return m_distance[i][m_columnVel]; + } else { + if (i >= m_distanceLength) { + i = m_distanceLength - 1; + } + return linearInterpolation(i, distance, m_columnVel, m_distance); + } + } + + public double getCenterDisplacement(double distance) { //Degrees of Lime FOV + int i = 0; + while ((i < m_distanceLength) && (m_distance[i][m_columnDistance] < distance)) { + i ++; + } + if ((i < m_distanceLength) && (m_distance[i][m_columnDistance] == distance)) { + return m_distance[i][m_columnCenterDisplacement]; + } else { + if (i >= m_distanceLength) { + i = m_distanceLength - 1; + } + return linearInterpolation(i, distance, m_columnCenterDisplacement, m_distance); + } + } + + + + public double getAngleDisplacement(double angle) { + int i = 0; + while ((i < m_angleLength) && (m_angle[i][m_columnAngle] < angle)) { + i ++; + } + if ((i < m_angleLength) && (m_angle[i][m_columnAngle] == angle)) { + return m_angle[i][m_columnDisplacement]; + } else { + if (i >= m_angleLength) { + i = m_angleLength - 1; + } + return linearInterpolation(i, angle, m_columnDisplacement, m_angle); + } + } + + public double linearInterpolation(int i, double value, int column, double[][] table) { + if (i != 0) { + double slope = (table[i][column] - table[i-1][column]) / (table[i][0] - table[i-1][0]); + value = slope * (value - table[i-1][0]) + table[i-1][column]; + return value; + } + return 0.0; + } +} \ No newline at end of file From 39c9fbb593b68fe6760d95ae4bfdd3c78d533a74 Mon Sep 17 00:00:00 2001 From: Abhishrek05 <90010729+Abhishrek05@users.noreply.github.com> Date: Thu, 20 Jan 2022 18:13:07 -0700 Subject: [PATCH 018/151] blob --- src/main/java/frc4388/robot/Constants.java | 2 +- src/main/java/frc4388/robot/RobotMap.java | 10 +++++++++- 2 files changed, 10 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 6917401..5eda132 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -88,7 +88,7 @@ public final class Constants { public static final int SHOOTER_SLOT_IDX = 0; public static final int SHOOTER_PID_LOOP_IDX = 1; public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG = new SupplyCurrentLimitConfiguration(true, 60, 40, 0.5); - + } } diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java index db9bfd6..e917689 100644 --- a/src/main/java/frc4388/robot/RobotMap.java +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -9,6 +9,7 @@ import com.ctre.phoenix.sensors.CANCoder; import edu.wpi.first.wpilibj.motorcontrol.Spark; import frc4388.robot.Constants.LEDConstants; +import frc4388.robot.Constants.ShooterConstants; import frc4388.robot.Constants.SwerveDriveConstants; /** @@ -90,7 +91,14 @@ public class RobotMap { //leftBackSteerMotor.configRemoteFeedbackFilter(leftBackEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS); //rightFrontSteerMotor.configRemoteFeedbackFilter(rightFrontEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS); //rightBackSteerMotor.configRemoteFeedbackFilter(rightBackEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - /*Boom Boom Subsystem*/ + } + + //Shooter Config + /*Boom Boom Subsystem*/ + public final WPI_TalonFX shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_LEFT_CAN_ID); + public final WPI_TalonFX shooterFalconRight = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_RIGHT_CAN_ID); + void ConfigureShooterMotorControllers() + { } From bfa044e340a7f9261800b87887207855d3741936 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Thu, 20 Jan 2022 19:00:42 -0700 Subject: [PATCH 019/151] constants reworked (needs testing, which will be done with odometry testing) --- src/main/java/frc4388/robot/Constants.java | 25 ++++++++++++++----- .../frc4388/robot/subsystems/SwerveDrive.java | 25 ++++++++++++------- .../robot/subsystems/SwerveModule.java | 2 +- 3 files changed, 36 insertions(+), 16 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 817d46d..fdaaec2 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -30,7 +30,8 @@ public final class Constants { public static final double JOYSTICK_TO_METERS_PER_SECOND_SLOW = 2; public static final double MAX_SPEED_FEET_PER_SEC = 20; public static final double SPEED_FEET_PER_SECOND_AT_FULL_POWER = 20; - //IDs + + //IDs public static final int LEFT_FRONT_STEER_CAN_ID = 2; public static final int LEFT_FRONT_WHEEL_CAN_ID = 3; public static final int RIGHT_FRONT_STEER_CAN_ID = 4; @@ -44,11 +45,8 @@ public final class Constants { public static final int LEFT_BACK_STEER_CAN_ENCODER_ID = 12; public static final int RIGHT_BACK_STEER_CAN_ENCODER_ID = 13; public static final int GYRO_ID = 14; + // ofsets are in degrees - // public static final double LEFT_FRONT_ENCODER_OFFSET = 181.494141; - // public static final double RIGHT_FRONT_ENCODER_OFFSET = 360. - 59.238281; - // public static final double LEFT_BACK_ENCODER_OFFSET = 360. - 128.144531; - // public static final double RIGHT_BACK_ENCODER_OFFSET = 0.933594; public static final double LEFT_FRONT_ENCODER_OFFSET = 180.0; public static final double RIGHT_FRONT_ENCODER_OFFSET = 300.0; public static final double LEFT_BACK_ENCODER_OFFSET = 360.0 - 128.0; @@ -66,7 +64,22 @@ public final class Constants { public static final int REMOTE_0 = 0; // conversions - // 5.12 rev motor = 1 rev wheel + // gear ratio: 5.12 rev motor = 1 rev wheel + // wheel diameter: official = 4 in, measured = 3.8 in + /* Ratio Calculation */ + public static final double MOTOR_REV_PER_WHEEL_REV = 5.12; + public static final double WHEEL_DIAMETER_INCHES = 3.8; + public static final double TICKS_PER_MOTOR_REV = 2048; + public static final double INCHES_PER_WHEEL_REV = WHEEL_DIAMETER_INCHES * Math.PI; + public static final double INCHES_PER_METER = 39.370; + public static final double METERS_PER_INCH = 1/INCHES_PER_METER; + + public static final double WHEEL_REV_PER_MOTOR_REV = 1/MOTOR_REV_PER_WHEEL_REV; + public static final double TICKS_PER_WHEEL_REV = TICKS_PER_MOTOR_REV * MOTOR_REV_PER_WHEEL_REV; + public static final double TICKS_PER_INCH = TICKS_PER_WHEEL_REV/INCHES_PER_WHEEL_REV; + public static final double INCHES_PER_TICK = 1/TICKS_PER_INCH; + public static final double TICK_TIME_TO_SECONDS = 0.1; + public static final double SECONDS_TO_TICK_TIME = 1/TICK_TIME_TO_SECONDS; // misc public static final int SMARTDASHBOARD_UPDATE_FRAME = 2; diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index 61fe8f1..1940592 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -22,6 +22,7 @@ import edu.wpi.first.math.kinematics.SwerveDriveKinematics; import edu.wpi.first.math.kinematics.SwerveDriveOdometry; import edu.wpi.first.math.kinematics.SwerveModuleState; import edu.wpi.first.math.util.Units; +import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj.interfaces.Gyro; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; @@ -52,6 +53,12 @@ public class SwerveDrive extends SubsystemBase { Translation2d m_frontRightLocation = new Translation2d(Units.inchesToMeters(halfHeight), Units.inchesToMeters(-halfWidth)); Translation2d m_backLeftLocation = new Translation2d(Units.inchesToMeters(-halfHeight), Units.inchesToMeters(halfWidth)); Translation2d m_backRightLocation = new Translation2d(Units.inchesToMeters(-halfHeight), Units.inchesToMeters(-halfWidth)); + + SwerveModule m_frontLeft = new SwerveModule(m_leftFrontWheelMotor, m_leftFrontSteerMotor, m_leftFrontEncoder, SwerveDriveConstants.LEFT_FRONT_ENCODER_OFFSET); + SwerveModule m_frontRight = new SwerveModule(m_rightFrontWheelMotor, m_rightFrontSteerMotor, m_rightFrontEncoder, SwerveDriveConstants.RIGHT_FRONT_ENCODER_OFFSET); + SwerveModule m_backLeft = new SwerveModule(m_leftBackWheelMotor, m_leftBackSteerMotor, m_leftBackEncoder, SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET); + SwerveModule m_backRight = new SwerveModule(m_rightBackWheelMotor, m_rightBackSteerMotor, m_rightBackEncoder, SwerveDriveConstants.RIGHT_BACK_ENCODER_OFFSET); + // setSwerveGains(); private SwerveDriveKinematics kinematics = new SwerveDriveKinematics(m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation); @@ -94,10 +101,10 @@ public class SwerveDrive extends SubsystemBase { m_gyro = gyro; modules = new SwerveModule[] { - new SwerveModule(m_leftFrontWheelMotor, m_leftFrontSteerMotor, m_leftFrontEncoder, SwerveDriveConstants.LEFT_FRONT_ENCODER_OFFSET), // Front Left - new SwerveModule(m_rightFrontWheelMotor, m_rightFrontSteerMotor, m_rightFrontEncoder, SwerveDriveConstants.RIGHT_FRONT_ENCODER_OFFSET), // Front Right - new SwerveModule(m_leftBackWheelMotor, m_leftBackSteerMotor, m_leftBackEncoder, SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET), // Back Left - new SwerveModule(m_rightBackWheelMotor, m_rightBackSteerMotor, m_rightBackEncoder, SwerveDriveConstants.RIGHT_BACK_ENCODER_OFFSET) // Back Right + m_frontLeft, // Front Left + m_frontRight, // Front Right + m_backLeft, // Back Left + m_backRight // Back Right }; m_gyro.reset(); } @@ -144,17 +151,17 @@ public class SwerveDrive extends SubsystemBase { /** Updates the field relative position of the robot. */ public void updateOdometry() { m_poseEstimator.update( m_gyro.getRotation2d(), - m_frontLeftLocation.getState(), - m_frontRightLocation.getState(), - m_backLeftLocation.getState(), - m_backRightLocation.getState()); + m_frontLeft.getState(), + m_frontRight.getState(), + m_backLeft.getState(), + m_backRight.getState()); // Also apply vision measurements. We use 0.3 seconds in the past as an example -- on // a real robot, this must be calculated based either on latency or timestamps. m_poseEstimator.addVisionMeasurement( ExampleGlobalMeasurementSensor.getEstimatedGlobalPose( m_poseEstimator.getEstimatedPosition()), - Timer.getFPGATimestamp() - 0.3); + Timer.getFPGATimestamp() - 0.1); } public void highSpeed(boolean shift){ diff --git a/src/main/java/frc4388/robot/subsystems/SwerveModule.java b/src/main/java/frc4388/robot/subsystems/SwerveModule.java index 20aaa4b..3b2b192 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveModule.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveModule.java @@ -100,7 +100,7 @@ public class SwerveModule extends SubsystemBase { * @return The current state of the module. */ public SwerveModuleState getState() { - return new SwerveModuleState(driveMotor.getSelectedSensorVelocity(), new Rotation2d(canCoder.getPosition())); + return new SwerveModuleState(driveMotor.getSelectedSensorVelocity() * SwerveDriveConstants.INCHES_PER_TICK * SwerveDriveConstants.METERS_PER_INCH * 10, new Rotation2d(canCoder.getPosition())); } } From 8d2911b4f795c355ef996cc2113614b6f1cca2e1 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Thu, 20 Jan 2022 19:38:58 -0700 Subject: [PATCH 020/151] getScalarForLine function --- src/main/java/frc4388/robot/Constants.java | 9 +++-- .../frc4388/robot/subsystems/SwerveDrive.java | 33 ++++++++++++++++++- 2 files changed, 39 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index fdaaec2..895032a 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -4,6 +4,9 @@ package frc4388.robot; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; import frc4388.utility.Gains; import frc4388.utility.LEDPatterns; @@ -28,8 +31,8 @@ public final class Constants { public static final double HEIGHT = 22; public static final double JOYSTICK_TO_METERS_PER_SECOND_FAST = 11; public static final double JOYSTICK_TO_METERS_PER_SECOND_SLOW = 2; - public static final double MAX_SPEED_FEET_PER_SEC = 20; - public static final double SPEED_FEET_PER_SECOND_AT_FULL_POWER = 20; + public static final double MAX_SPEED_FEET_PER_SEC = 20; // redundant constant? + public static final double SPEED_FEET_PER_SECOND_AT_FULL_POWER = 20; // redundant constant? //IDs public static final int LEFT_FRONT_STEER_CAN_ID = 2; @@ -83,6 +86,8 @@ public final class Constants { // misc public static final int SMARTDASHBOARD_UPDATE_FRAME = 2; + // TODO: put in real numbers for the hub + public static final Pose2d HUB_POSE = new Pose2d(new Translation2d(0, 0), new Rotation2d(0)); } public static final class LEDConstants { diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index 1940592..23165a3 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -12,6 +12,7 @@ import com.ctre.phoenix.sensors.CANCoder; import com.ctre.phoenix.sensors.WPI_PigeonIMU; import edu.wpi.first.hal.HAL; +import edu.wpi.first.math.StateSpaceUtil; import edu.wpi.first.math.VecBuilder; import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator; import edu.wpi.first.math.geometry.Pose2d; @@ -148,6 +149,36 @@ public class SwerveDrive extends SubsystemBase { super.periodic(); } + /** + * Get a "noisy" fake global pose reading. + * + * @param estimatedRobotPose The robot pose. + */ + // TEST FAKE CODE FROM EXAMPLE + public static Pose2d getEstimatedGlobalPose(Pose2d estimatedRobotPose) { + var rand = + StateSpaceUtil.makeWhiteNoiseVector(VecBuilder.fill(0.5, 0.5, Units.degreesToRadians(30))); + return new Pose2d( + estimatedRobotPose.getX() + rand.get(0, 0), + estimatedRobotPose.getY() + rand.get(1, 0), + estimatedRobotPose.getRotation().plus(new Rotation2d(rand.get(2, 0)))); + } + + /** + * Returns a scalar from your distance to the hub to your target distance. + * + * @param target_dist The target distance. + * @return A scalar that multiplies your distance from the hub to get your target distance. + */ + public double getScalarForLine(double target_dist) { + Pose2d p1 = m_poseEstimator.getEstimatedPosition(); + Pose2d p2 = SwerveDriveConstants.HUB_POSE; + + double dist = Math.sqrt(Math.pow(p1.getX() - p2.getX(), 2) + Math.pow(p1.getY() - p2.getY(), 2)); + + return target_dist/dist; + } + /** Updates the field relative position of the robot. */ public void updateOdometry() { m_poseEstimator.update( m_gyro.getRotation2d(), @@ -159,7 +190,7 @@ public class SwerveDrive extends SubsystemBase { // Also apply vision measurements. We use 0.3 seconds in the past as an example -- on // a real robot, this must be calculated based either on latency or timestamps. m_poseEstimator.addVisionMeasurement( - ExampleGlobalMeasurementSensor.getEstimatedGlobalPose( + SwerveDrive.getEstimatedGlobalPose( m_poseEstimator.getEstimatedPosition()), Timer.getFPGATimestamp() - 0.1); } From ed87f4deac9a035b344525e4428e8ea5d2816a27 Mon Sep 17 00:00:00 2001 From: Abhishrek05 <90010729+Abhishrek05@users.noreply.github.com> Date: Thu, 20 Jan 2022 20:00:31 -0700 Subject: [PATCH 021/151] Things Happened --- src/main/java/frc4388/robot/Constants.java | 4 +- src/main/java/frc4388/robot/RobotMap.java | 5 +- .../frc4388/robot/subsystems/BoomBoom.java | 11 +++- .../java/frc4388/robot/subsystems/Hood.java | 61 ++++++++++++++++++- 4 files changed, 75 insertions(+), 6 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 5eda132..80a21ee 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -88,7 +88,9 @@ public final class Constants { public static final int SHOOTER_SLOT_IDX = 0; public static final int SHOOTER_PID_LOOP_IDX = 1; public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG = new SupplyCurrentLimitConfiguration(true, 60, 40, 0.5); - + 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; } } diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java index e917689..225a8b4 100644 --- a/src/main/java/frc4388/robot/RobotMap.java +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -97,9 +97,8 @@ public class RobotMap { /*Boom Boom Subsystem*/ public final WPI_TalonFX shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_LEFT_CAN_ID); public final WPI_TalonFX shooterFalconRight = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_RIGHT_CAN_ID); - void ConfigureShooterMotorControllers() - { - + void ConfigureShooterMotorControllers() { + } diff --git a/src/main/java/frc4388/robot/subsystems/BoomBoom.java b/src/main/java/frc4388/robot/subsystems/BoomBoom.java index e4d8825..ceb7569 100644 --- a/src/main/java/frc4388/robot/subsystems/BoomBoom.java +++ b/src/main/java/frc4388/robot/subsystems/BoomBoom.java @@ -8,6 +8,7 @@ import com.ctre.phoenix.motorcontrol.NeutralMode; import com.ctre.phoenix.motorcontrol.TalonFXControlMode; import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; +import edu.wpi.first.math.controller.BangBangController; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc4388.robot.Constants.ShooterConstants; import frc4388.utility.ShooterTables; @@ -65,5 +66,13 @@ public void runDrumShooter(double speed) { public void runDrumShooterVelocityPID(double targetVel) { m_shooterFalconLeft.set(TalonFXControlMode.Velocity, targetVel); //Init m_shooterFalconRight.follow(m_shooterFalconLeft); - } + * // New BoomBoom controller stuff + BangBangController controller = new BangBangController(); + //Controls a motor with the output of the BangBang controller + //Controls a motor with the output of the BangBang conroller and a feedforward + //Shrinks the feedforward slightly to avoid over speeding the shooter + motor.set(controller.calculate(encoder.getRate(), setpoint) + 0.9 * feedforward.calculate(setpoint)); */ + + + } } diff --git a/src/main/java/frc4388/robot/subsystems/Hood.java b/src/main/java/frc4388/robot/subsystems/Hood.java index 4cc9392..04b2348 100644 --- a/src/main/java/frc4388/robot/subsystems/Hood.java +++ b/src/main/java/frc4388/robot/subsystems/Hood.java @@ -3,15 +3,74 @@ // the WPILib BSD license file in the root directory of this project. package frc4388.robot.subsystems; +import com.revrobotics.CANDigitalInput; +import com.revrobotics.CANEncoder; +import com.revrobotics.CANPIDController; +import com.revrobotics.CANSparkMax; +import com.revrobotics.ControlType; +import com.revrobotics.CANDigitalInput.LimitSwitchPolarity; +import com.revrobotics.CANSparkMax.IdleMode; +import com.revrobotics.CANSparkMax.SoftLimitDirection; +import com.revrobotics.CANSparkMaxLowLevel.MotorType; import edu.wpi.first.wpilibj2.command.SubsystemBase; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import frc4388.robot.Constants.ShooterConstants; +import frc4388.utility.Gains; public class Hood extends SubsystemBase { + public Shooter m_shooterSubsystem; + + public CANSparkMax m_angleAdjustMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless); + + public static Gains m_angleGains = ShooterConstants.SHOOTER_ANGLE_GAINS; + + public CANPIDController m_angleAdjustPIDController = m_angleAdjustMotor.getPIDController(); + public CANEncoder m_angleEncoder = m_angleAdjustMotor.getEncoder(); + + public boolean m_isHoodReady = false; + /** Creates a new Hood. */ - public Hood() {} + public Hood() { + m_angleAdjusterMotor.setIdleMode(IdleMode.kBrake); + + m_hoodUpLimit = m_angleAdjusterMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyOpen); + m_hoodDownLimit = m_angleAdjusterMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen); + m_hoodUpLimit.enableLimitSwitch(true); + m_hoodDownLimit.enableLimitSwitch(true); + } + @Override public void periodic() { // This method will be called once per scheduler run } + public void runAngleAdjustPID(double targetAngle) + { + //Set PID Coefficients + m_angleAdjustPIDController.setP(m_angleAdjusterGains.m_kP); + m_angleAdjustPIDController.setI(m_angleAdjusterGains.m_kI); + m_angleAdjusterPIDController.setD(m_angleAdjusterGains.m_kD); + m_angleAdjusterPIDController.setIZone(m_angleAdjustGains.m_IZone); + m_angleAdjusterPIDController.setFF(m_angleAdjustGains.m_kF); + m_angleAdjusterPIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_angleAdjusterGains.m_kPeakOutput); + + m_angleAdjustPIDController.setReference(targetAngle, ControlType.kPosition); + } + + public void runHood(double input) { + m_angleAdjusterMotor.set(input); + } + + public void resetGyroAngleAdj(){ + m_angleEncoder.setPosition(0); + } + + public double getAnglePosition(){ + return m_angleEncoder.getPosition(); + } + + public double getAnglePositionDegrees(){ + return ((m_angleEncoder.getPosition() - ShooterConstants.HOOD_MOTOR_POS_AT_ZERO_ROT) * 360/ShooterConstants.HOOD_MOTOR_ROTS_PER_ROT) - 90; + } } From 4169a5f8d52e0a54c48b03e3e737ca174f89c9e1 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Fri, 21 Jan 2022 16:50:26 -0700 Subject: [PATCH 022/151] removed unused imports --- src/main/java/frc4388/robot/RobotContainer.java | 5 ++--- src/main/java/frc4388/robot/RobotMap.java | 2 +- src/main/java/frc4388/robot/subsystems/SwerveDrive.java | 9 +-------- 3 files changed, 4 insertions(+), 12 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 355c44f..938890a 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -4,20 +4,19 @@ package frc4388.robot; -import edu.wpi.first.hal.HAL; + import edu.wpi.first.wpilibj.Joystick; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.button.JoystickButton; + import frc4388.robot.Constants.*; import frc4388.robot.subsystems.LED; import frc4388.robot.subsystems.SwerveDrive; import frc4388.utility.LEDPatterns; import frc4388.utility.controller.IHandController; import frc4388.utility.controller.XboxController; -import frc4388.utility.controller.XboxControllerRaw; -import frc4388.utility.controller.XboxControllerRawButton; /** * This class is where the bulk of the robot should be declared. Since diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java index c55fae8..4b41fa7 100644 --- a/src/main/java/frc4388/robot/RobotMap.java +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -8,8 +8,8 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; import com.ctre.phoenix.sensors.CANCoder; import com.ctre.phoenix.sensors.WPI_PigeonIMU; -import edu.wpi.first.wpilibj.interfaces.Gyro; import edu.wpi.first.wpilibj.motorcontrol.Spark; + import frc4388.robot.Constants.LEDConstants; import frc4388.robot.Constants.SwerveDriveConstants; diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index 23165a3..ae7f81b 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -4,14 +4,10 @@ package frc4388.robot.subsystems; -import java.nio.ByteBuffer; -import java.util.Arrays; - import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; import com.ctre.phoenix.sensors.CANCoder; import com.ctre.phoenix.sensors.WPI_PigeonIMU; -import edu.wpi.first.hal.HAL; import edu.wpi.first.math.StateSpaceUtil; import edu.wpi.first.math.VecBuilder; import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator; @@ -20,16 +16,13 @@ import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.math.kinematics.SwerveDriveKinematics; -import edu.wpi.first.math.kinematics.SwerveDriveOdometry; import edu.wpi.first.math.kinematics.SwerveModuleState; import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.Timer; -import edu.wpi.first.wpilibj.interfaces.Gyro; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; + import frc4388.robot.Constants.SwerveDriveConstants; import frc4388.utility.Gains; -import frc4388.utility.controller.XboxController; public class SwerveDrive extends SubsystemBase { SwerveDriveKinematics m_kinematics; From 2ddc9fe2fc07fe43ac9cf0341bc7f55fb7d76b58 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Fri, 21 Jan 2022 17:23:08 -0700 Subject: [PATCH 023/151] distance between poses function --- .../java/frc4388/robot/subsystems/SwerveDrive.java | 14 +++++++++++--- 1 file changed, 11 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index ae7f81b..9eed60a 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -157,6 +157,16 @@ public class SwerveDrive extends SubsystemBase { estimatedRobotPose.getRotation().plus(new Rotation2d(rand.get(2, 0)))); } + /** + * Gets the distance between two given poses. + * @param p1 The first pose. + * @param p2 The second pose. + * @return Absolute distance between p1 and p2. + */ + public double distBtwPoses(Pose2d p1, Pose2d p2) { + return Math.sqrt(Math.pow(p1.getX() - p2.getX(), 2) + Math.pow(p1.getY() - p2.getY(), 2)); + } + /** * Returns a scalar from your distance to the hub to your target distance. * @@ -167,9 +177,7 @@ public class SwerveDrive extends SubsystemBase { Pose2d p1 = m_poseEstimator.getEstimatedPosition(); Pose2d p2 = SwerveDriveConstants.HUB_POSE; - double dist = Math.sqrt(Math.pow(p1.getX() - p2.getX(), 2) + Math.pow(p1.getY() - p2.getY(), 2)); - - return target_dist/dist; + return target_dist/distBtwPoses(p1, p2); } /** Updates the field relative position of the robot. */ From 445cce2ca6595ce4d8dfbe0aa5d369c51a43a148 Mon Sep 17 00:00:00 2001 From: Raghav66296 <90011037+Raghav66296@users.noreply.github.com> Date: Fri, 21 Jan 2022 17:59:12 -0700 Subject: [PATCH 024/151] commets --- src/main/java/frc4388/robot/Constants.java | 3 +++ .../java/frc4388/robot/RobotContainer.java | 4 +++- src/main/java/frc4388/robot/RobotMap.java | 1 + .../java/frc4388/robot/subsystems/Turret.java | 20 ++++++++++++++++++- 4 files changed, 26 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 80a21ee..9c743e6 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -91,6 +91,9 @@ 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; + + /* Turret Constants */ + //ID } } diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 70fd283..de750b6 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -66,8 +66,10 @@ public class RobotContainer { // continually sends updates to the Blinkin LED controller to keep the lights on m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED, m_robotLED)); - } + + //Turret default command + /** * Use this method to define your button->command mappings. Buttons can be * created by instantiating a {@link GenericHID} or one of its subclasses diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java index 225a8b4..ac08cff 100644 --- a/src/main/java/frc4388/robot/RobotMap.java +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -97,6 +97,7 @@ public class RobotMap { /*Boom Boom Subsystem*/ public final WPI_TalonFX shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_LEFT_CAN_ID); public final WPI_TalonFX shooterFalconRight = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_RIGHT_CAN_ID); + //Create motor CANSparkMAx void ConfigureShooterMotorControllers() { } diff --git a/src/main/java/frc4388/robot/subsystems/Turret.java b/src/main/java/frc4388/robot/subsystems/Turret.java index 6dcd581..f570a34 100644 --- a/src/main/java/frc4388/robot/subsystems/Turret.java +++ b/src/main/java/frc4388/robot/subsystems/Turret.java @@ -8,10 +8,28 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase; public class Turret extends SubsystemBase { /** Creates a new Turret. */ - public Turret() {} + //Motor object + //Variables + public Turret(/*Motor argument*/ */) { + //Motor object = motor argument + //Config motor + } @Override public void periodic() { // This method will be called once per scheduler run } + + //function turnWithJoystick(double input) + // motor.set(input) } + + +/** TODO +* Constants ID +* RobotMap configs +* RobotContainer defaultCommand and Instantiation +* turnWithJoystick function +* setPosition function +* Limit switches +**/ \ No newline at end of file From 2b49f8ed8d9474acbe1717c9971f07df3898d6a6 Mon Sep 17 00:00:00 2001 From: neil92150 <90288985+neil92150@users.noreply.github.com> Date: Fri, 21 Jan 2022 20:56:25 -0700 Subject: [PATCH 025/151] Turret WIP --- src/main/java/frc4388/robot/Constants.java | 21 +++++++++++++++++-- .../java/frc4388/robot/RobotContainer.java | 4 ++++ src/main/java/frc4388/robot/RobotMap.java | 6 +++++- .../java/frc4388/robot/subsystems/Turret.java | 18 +++++++++------- 4 files changed, 38 insertions(+), 11 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 9c743e6..552cb8b 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -88,12 +88,29 @@ public final class Constants { public static final int SHOOTER_SLOT_IDX = 0; public static final int SHOOTER_PID_LOOP_IDX = 1; public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG = new SupplyCurrentLimitConfiguration(true, 60, 40, 0.5); + public static final int SHOOTER_FALCON_LEFT_CAN_ID = 0; + public static final int SHOOTER_FALCON_RIGHT_CAN_ID = 0; + + /* Turret Constants */ + //ID + public static final int TURRET_MOTOR_CAN_ID = 0; 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 double ENCODER_TRICKS_PER_REV = 0; + public static final double NEO_UNITS_PER_REV = 0; + public static final double DEGREES_PER_ROT = 0; + + + public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG = new SupplyCurrentLimitConfiguration(ture,0,0,0); + + public static final int TURRET_RIGHT_SOFT_LIMIT = 0; + public static final int TURRET_LEFT_SOFT_LIMIT = 0; + public static final double TURRET_SPEED_MULTIPLIER = 0.3; + public static final double TURRET_CALIBRATE_SPEED = 0.075; + public static final double TURRET_MOTOR_ROTS_PER_ROT = 1; + public static final double TURRET_MOTOR_POS_AT_ZERO_ROT = 0; - /* Turret Constants */ - //ID } } diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index de750b6..c117e60 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -68,8 +68,12 @@ public class RobotContainer { m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED, m_robotLED)); + //Turret default command + + m_robotTurret.setDefaultCommand( + new RunCommand(() -> m_robotTurret.aimToCenter())); /** * Use this method to define your button->command mappings. Buttons can be * created by instantiating a {@link GenericHID} or one of its subclasses diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java index ac08cff..d713cbe 100644 --- a/src/main/java/frc4388/robot/RobotMap.java +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -97,9 +97,13 @@ public class RobotMap { /*Boom Boom Subsystem*/ public final WPI_TalonFX shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_LEFT_CAN_ID); public final WPI_TalonFX shooterFalconRight = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_RIGHT_CAN_ID); - //Create motor CANSparkMAx + public final CANSparkMax shooterTurret = new CANSparkMax(ShooterConstants.SHOOTER_TURRET_CAN_ID); + //Create motor CANSparkMax void ConfigureShooterMotorControllers() { + /*Turret Subsytem*/ + + } diff --git a/src/main/java/frc4388/robot/subsystems/Turret.java b/src/main/java/frc4388/robot/subsystems/Turret.java index f570a34..428fe00 100644 --- a/src/main/java/frc4388/robot/subsystems/Turret.java +++ b/src/main/java/frc4388/robot/subsystems/Turret.java @@ -8,11 +8,10 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase; public class Turret extends SubsystemBase { /** Creates a new Turret. */ - //Motor object + public CANSparkMax m_turretMotor; //Variables - public Turret(/*Motor argument*/ */) { - //Motor object = motor argument - //Config motor + public Turret() { + m_turretMotor = turretMotor; } @Override @@ -20,16 +19,19 @@ public class Turret extends SubsystemBase { // This method will be called once per scheduler run } + public void turnWithJoystick (double input) + { + m_turretMotor.set(input); + + } + //function turnWithJoystick(double input) // motor.set(input) } + /** TODO -* Constants ID -* RobotMap configs -* RobotContainer defaultCommand and Instantiation -* turnWithJoystick function * setPosition function * Limit switches **/ \ No newline at end of file From a1c9f0cef59ce5cb3b1dd868d68a8b74e3734405 Mon Sep 17 00:00:00 2001 From: Pushkar9236 <104144@psdschools.org> Date: Fri, 21 Jan 2022 20:58:13 -0700 Subject: [PATCH 026/151] Finished up shooter (still needs review), started working on Vision --- src/main/java/frc4388/robot/Constants.java | 10 +++- .../frc4388/robot/subsystems/BoomBoom.java | 60 ++++++++++++++++++- .../java/frc4388/robot/subsystems/Vision.java | 36 ++++++++++- 3 files changed, 100 insertions(+), 6 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 80a21ee..95209ee 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -82,6 +82,10 @@ public final class Constants { public static final int XBOX_DRIVER_ID = 0; public static final int XBOX_OPERATOR_ID = 1; } + + + + public static final class ShooterConstants { /* PID Constants Shooter */ public static final int SHOOTER_TIMEOUT_MS = 30; @@ -91,6 +95,10 @@ 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 int SHOOTER_FALCON_BALLER_ID =; //unknown value, fix later// + public static final int SHOOTER_FALCON_BALLER_FOLLOWER_ID =; //"// + + public static final Gains DRUM_SHOOTER_GAINS = new Gains(x,y,z,a,b);//x,y,z,a,b are not actual values, fix laterS + } } diff --git a/src/main/java/frc4388/robot/subsystems/BoomBoom.java b/src/main/java/frc4388/robot/subsystems/BoomBoom.java index ceb7569..6c84711 100644 --- a/src/main/java/frc4388/robot/subsystems/BoomBoom.java +++ b/src/main/java/frc4388/robot/subsystems/BoomBoom.java @@ -8,16 +8,42 @@ import com.ctre.phoenix.motorcontrol.NeutralMode; import com.ctre.phoenix.motorcontrol.TalonFXControlMode; import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; +import edu.wpi.first.wpilibj.SmartDashboard.SmartDashboard; import edu.wpi.first.math.controller.BangBangController; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc4388.robot.Constants.ShooterConstants; import frc4388.utility.ShooterTables; +import frc4388.utility.Gains; +import frc4388.utility.Trims; +import frc4388.utility.controller.IHandController; public class BoomBoom extends SubsystemBase { -public WPI_TalonFX m_shooterFalconLeft; -public WPI_TalonFX m_shooterFalconRight; +public WPI_TalonFX m_shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_BALLER_ID); +public WPI_TalonFX m_shooterFalconRight= new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_BALLER_FOLLOWER_ID); public ShooterTables m_shooterTable; +public static Gains m_drumShooterGains = ShooterConstants.DRUM_SHOOTER_GAINS; +public static BoomBoom m_boomBoom; +public static IHandController m_driverController; //not sure if driverController in 2022 = m_controller in 2020 +double velP; +double input; + +public boolean m_isDrumReady = false; +public double m_fireVel; + +public Trims shooterTrims; + +public Hood m_hoodSubsystem; +public Turret m_turretSubsystem; + +/* +* Creates new BoomBoom subsystem, has drum shooter and angle adjuster +*/ +public BoomBoom(){ +//Testing purposes resetting gyros +//resetGryoAngleADj(); +shooterTrims = new Trims(0,0); +} /** Creates a new BoomBoom. */ public BoomBoom(WPI_TalonFX shooterFalconLeft, WPI_TalonFX shooterFalconRight) { m_shooterFalconLeft = shooterFalconLeft; @@ -56,12 +82,42 @@ public ShooterTables m_shooterTable; public void periodic() { // This method will be called once per scheduler run // Abhi was here +try { + // SmartDashboard.putNumber("Drum Velocity", m_shooterFalconLeft.getSelectedSensorVelocity()); + + // SmartDashboard.putNumber("Drum Velocity CSV", m_fireVel); + + // SmartDashboard.putNumber("Shooter Temp C", m_shooterFalconLeft.getTemperature()); //all these values should be "defined" elsewhere, fix this + + // SmartDashboard.putNumber("Shooter Current", m_shooterFalconLeft.getSupplyCurrent()); + + // SmartDashboard.putNumber("Drum Ready", m_isDrumReady); +} catch (Exception e) { + //TODO: handle exception +} + + } + + public void passRequiredSubsystem(Hood subsystem0, Turret subsystem1) { + m_hoodSubsystem = subsystem0; + m_turretSubsystem = subsystem1; + } + + public double addFireVel(){ + return m_fireVel; } public void runDrumShooter(double speed) { m_shooterFalconLeft.set(TalonFXControlMode.PercentOutput, speed); m_shooterFalconRight.follow(m_shooterFalconLeft); } +public void setShooterGains() { + m_shooterFalconLeft.selectProfileSlot(ShooterConstants.SHOOTER_SLOT_IDX, ShooterConstants.SHOOTER_PID_LOOP_IDX); + m_shooterFalconLeft.config_kF(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kF, ShooterConstants.SHOOTER_TIMEOUT_MS); + m_shooterFalconLeft.config_kP(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kP, ShooterConstants.SHOOTER_TIMEOUT_MS); + m_shooterFalconLeft.config_kI(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kI, ShooterConstants.SHOOTER_TIMEOUT_MS); + m_shooterFalconLeft.config_kD(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kD, ShooterConstants.SHOOTER_TIMEOUT_MS); +} public void runDrumShooterVelocityPID(double targetVel) { m_shooterFalconLeft.set(TalonFXControlMode.Velocity, targetVel); //Init diff --git a/src/main/java/frc4388/robot/subsystems/Vision.java b/src/main/java/frc4388/robot/subsystems/Vision.java index afbb9c5..f6cc008 100644 --- a/src/main/java/frc4388/robot/subsystems/Vision.java +++ b/src/main/java/frc4388/robot/subsystems/Vision.java @@ -6,10 +6,40 @@ package frc4388.robot.subsystems; import edu.wpi.first.wpilibj2.command.SubsystemBase; -public class Vision extends SubsystemBase { - /** Creates a new Vision. */ - public Vision() {} + + +public class Vision extends SubsystemBase { +//setup + Turret m_turret; +BoomBoom m_boomBoom; +Hood m_hood; + +NetworkTableEntry xEntry; +IHandController m_driverController; +//Aiming +double turnAmount = 0; +double xAngle = 0; +double yAngle = 0; +double target = 0; +public double distance; +public double realDistance; +public static double fireVel; +public static double fireAngle; + +public double m_hoodTrim; +public double m_turretTrim; + +LimeLight m_limeLight; + +public TrackTarget(ShooterAim aimSubsystem, LimeLight limeLight) { + m_turret = turretSubsystem; + m_boomBoom = m_turret.m_turretSubsystem; + m_hood = m_boomBoom.m_hoodSubsystem; + m_limeLight = limeLight; + addRequirements(m_turret); + +} @Override public void periodic() { // This method will be called once per scheduler run From df9946ffc7669c7602e45f9bf94f12cd6ed587c6 Mon Sep 17 00:00:00 2001 From: Ryan Manley Date: Sat, 22 Jan 2022 10:10:46 -0700 Subject: [PATCH 027/151] fixed nullptrs --- .../frc4388/robot/subsystems/SwerveDrive.java | 38 +++++++++---------- 1 file changed, 18 insertions(+), 20 deletions(-) diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index 9eed60a..15bb384 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -48,10 +48,6 @@ public class SwerveDrive extends SubsystemBase { Translation2d m_backLeftLocation = new Translation2d(Units.inchesToMeters(-halfHeight), Units.inchesToMeters(halfWidth)); Translation2d m_backRightLocation = new Translation2d(Units.inchesToMeters(-halfHeight), Units.inchesToMeters(-halfWidth)); - SwerveModule m_frontLeft = new SwerveModule(m_leftFrontWheelMotor, m_leftFrontSteerMotor, m_leftFrontEncoder, SwerveDriveConstants.LEFT_FRONT_ENCODER_OFFSET); - SwerveModule m_frontRight = new SwerveModule(m_rightFrontWheelMotor, m_rightFrontSteerMotor, m_rightFrontEncoder, SwerveDriveConstants.RIGHT_FRONT_ENCODER_OFFSET); - SwerveModule m_backLeft = new SwerveModule(m_leftBackWheelMotor, m_leftBackSteerMotor, m_leftBackEncoder, SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET); - SwerveModule m_backRight = new SwerveModule(m_rightBackWheelMotor, m_rightBackSteerMotor, m_rightBackEncoder, SwerveDriveConstants.RIGHT_BACK_ENCODER_OFFSET); // setSwerveGains(); @@ -62,14 +58,7 @@ public class SwerveDrive extends SubsystemBase { /* Here we use SwerveDrivePoseEstimator so that we can fuse odometry readings. The numbers used below are robot specific, and should be tuned. */ - private final SwerveDrivePoseEstimator m_poseEstimator = - new SwerveDrivePoseEstimator( - m_gyro.getRotation2d(), - new Pose2d(), - m_kinematics, - VecBuilder.fill(0.05, 0.05, Units.degreesToRadians(5)), - VecBuilder.fill(Units.degreesToRadians(0.01)), - VecBuilder.fill(0.5, 0.5, Units.degreesToRadians(30))); + private final SwerveDrivePoseEstimator m_poseEstimator; public double speedAdjust = SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND_SLOW; public boolean ignoreAngles; @@ -94,12 +83,21 @@ public class SwerveDrive extends SubsystemBase { m_rightBackEncoder = rightBackEncoder; m_gyro = gyro; + modules = new SwerveModule[] { - m_frontLeft, // Front Left - m_frontRight, // Front Right - m_backLeft, // Back Left - m_backRight // Back Right + new SwerveModule(m_leftFrontWheelMotor, m_leftFrontSteerMotor, m_leftFrontEncoder, SwerveDriveConstants.LEFT_FRONT_ENCODER_OFFSET), // Front Left + new SwerveModule(m_rightFrontWheelMotor, m_rightFrontSteerMotor, m_rightFrontEncoder, SwerveDriveConstants.RIGHT_FRONT_ENCODER_OFFSET), // Front Right + new SwerveModule(m_leftBackWheelMotor, m_leftBackSteerMotor, m_leftBackEncoder, SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET), // Back Left + new SwerveModule(m_rightBackWheelMotor, m_rightBackSteerMotor, m_rightBackEncoder, SwerveDriveConstants.RIGHT_BACK_ENCODER_OFFSET) // Back Right }; + m_poseEstimator = + new SwerveDrivePoseEstimator( + m_gyro.getRotation2d(), + new Pose2d(), + m_kinematics, + VecBuilder.fill(0.05, 0.05, Units.degreesToRadians(5)), + VecBuilder.fill(Units.degreesToRadians(0.01)), + VecBuilder.fill(0.5, 0.5, Units.degreesToRadians(30))); m_gyro.reset(); } //https://github.com/ZachOrr/MK3-Swerve-Example @@ -183,10 +181,10 @@ public class SwerveDrive extends SubsystemBase { /** Updates the field relative position of the robot. */ public void updateOdometry() { m_poseEstimator.update( m_gyro.getRotation2d(), - m_frontLeft.getState(), - m_frontRight.getState(), - m_backLeft.getState(), - m_backRight.getState()); + modules[0].getState(), + modules[1].getState(), + modules[2].getState(), + modules[3].getState()); // Also apply vision measurements. We use 0.3 seconds in the past as an example -- on // a real robot, this must be calculated based either on latency or timestamps. From 632fc12ad0e5f9499d7b8678094f1cc8b014aed3 Mon Sep 17 00:00:00 2001 From: Pushkar9236 <104144@psdschools.org> Date: Sat, 22 Jan 2022 11:00:53 -0700 Subject: [PATCH 028/151] finished vision code, still needs a few improvements --- src/main/java/frc4388/robot/Constants.java | 19 ++- .../java/frc4388/robot/subsystems/Vision.java | 108 ++++++++++++++++-- 2 files changed, 117 insertions(+), 10 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 95209ee..b085102 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -98,7 +98,24 @@ public final class Constants { public static final int SHOOTER_FALCON_BALLER_ID =; //unknown value, fix later// public static final int SHOOTER_FALCON_BALLER_FOLLOWER_ID =; //"// - public static final Gains DRUM_SHOOTER_GAINS = new Gains(x,y,z,a,b);//x,y,z,a,b are not actual values, fix laterS + public static final Gains DRUM_SHOOTER_GAINS = new Gains(x,y,z,a,b);//x,y,z,a,b are not actual values, fix later + + + public static final class VisionConstants { + public static final double TURN_P_VALUE = "unknown" // needs to be figured out after testing + public static final double X_ANGLE_ERROR = "alsoUnknown" //""// + public static final double TURN_P_VALUE = "alsoAlsoUnknown" //""// + public static final double GRAV = "alsoAlsoAlsoUnknown" //""// + public static final double TARGET_HEIGHT = "alsoAlsoAlsoAlsoUnknown" //""// + + + + + + + + + } } } diff --git a/src/main/java/frc4388/robot/subsystems/Vision.java b/src/main/java/frc4388/robot/subsystems/Vision.java index f6cc008..76ba03d 100644 --- a/src/main/java/frc4388/robot/subsystems/Vision.java +++ b/src/main/java/frc4388/robot/subsystems/Vision.java @@ -5,15 +5,20 @@ package frc4388.robot.subsystems; import edu.wpi.first.wpilibj2.command.SubsystemBase; - - - +import edu.wpi.first.networktables.NetworkTableInstance; +import edu.wpi.first.networktables.NetworkTableEntry; +import edu.wpi.first.wpilibj2.command.commandBase; +import frc4388.robot.constants.VisionConstants; +import frc4388.robot.subsystems.BoomBoom; +import frc4388.robot.subsystems.Turret; +import frc4388.robot.subsystems.Hood; +import frc4388.utility.controller.IHandController; public class Vision extends SubsystemBase { //setup Turret m_turret; -BoomBoom m_boomBoom; -Hood m_hood; + BoomBoom m_boomBoom; + Hood m_hood; NetworkTableEntry xEntry; IHandController m_driverController; @@ -38,10 +43,95 @@ public TrackTarget(ShooterAim aimSubsystem, LimeLight limeLight) { m_hood = m_boomBoom.m_hoodSubsystem; m_limeLight = limeLight; addRequirements(m_turret); - + limeOff(); + changePipeline(0); + NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0); + NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(3); } - @Override - public void periodic() { - // This method will be called once per scheduler run + +public void track(){ + target = getV() + xAngle = getX() + yAngle = getY() + + //find distance + distance = (VisionConstants.TARGET_HEIGHT) / Math.tan((VisionConstants.LIME_ANGLE + yAngle) * (Math.PI / 180)); + realDistance = (1.09 * distance) - 12.8; + + if (target == 1.0) { //checks if target is in view + //aims left and right + turnAmount = ((xAngle / VisionConstants.FOV) * VisionConstants.TURN_P_VALUE); + if (Math.abs(xAngle) < VisionConstants.X_ANGLE_ERROR) { + turnAmount = 0; + } + else if (turnAmount > 0 && turnAmount < 0.1){ + turnAmount = 0.1; + } + else if (turnAmount < 0 && turnAmount > -0.1){ + turnAmount = -0.1 + } + } + m_turret.runShooterWithInput(-turnAmount); + + SmartDashboard.putNumber("Disance to Target", realDistance); + + + //start CSV + + fireVel = m_boomBoom.m_shooterTable.getVelocity(realDistance); + fireAngle = m_boomBoom.m_shooterTable.getHood(realDistance); + //fire angle unknown so far + //end of CSV + + m_boomBoom.m_fireVel = fireVel; + m_hood.m_fireAngle = fireAngle; + m_turret.m_targetDistance = distance; + + checkFinished(); +} + +public void checkFinished(){ + if (xAngle < 0.5 && xAngle > -0.5 && target == 1){ + m_turret.m_isAimReady = true; + } + else{ + m_turret.m_isAimReady = false; } } + +public void limeOff(){ + NetworkTableInstance.getDefault.getTable("limelight").getEntry("camMode").setNumber(0); + NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(1); +} + + public void limeOn(){ + NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0); + NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(3); +} + + public void changePipeline(int pipelineId) + { + NetworkTableInstance.getDefault().getTable("limelight").getEntry("pipeline").setNumber(pipelineId); + } + + public double getV() + { + return NetworkTableInstance.getDefault().getTable("limelight").getEntry("tv").getDouble(0); + } + + public double getX() + { + return NetworkTableInstance.getDefault().getTable("limelight").getEntry("tx").getDouble(0); + } + + public double getY() + { + return NetworkTableInstance.getDefault().getTable("limelight").getEntry("ty").getDouble(0); + } + @Override + public void periodic(){ + //called once per scheduler run + } +} + + From 4cc0a2109a751c890fe8815cd41200cbc0f91ef0 Mon Sep 17 00:00:00 2001 From: Ryan Manley Date: Sat, 22 Jan 2022 15:43:23 -0700 Subject: [PATCH 029/151] enabled visualvm --- build.gradle | 7 +++++-- .../java/frc4388/utility/controller/XboxController.java | 2 +- 2 files changed, 6 insertions(+), 3 deletions(-) diff --git a/build.gradle b/build.gradle index ac90875..3617d19 100644 --- a/build.gradle +++ b/build.gradle @@ -1,5 +1,5 @@ import edu.wpi.first.gradlerio.deploy.roborio.RoboRIO - + plugins { id "java" id "edu.wpi.first.GradleRIO" version "2022.2.1" @@ -21,12 +21,14 @@ deploy { // want to store a team number in this file. team = project.frc.getTeamNumber() debug = project.frc.getDebugOrDefault(false) - + artifacts { // First part is artifact name, 2nd is artifact type // getTargetTypeClass is a shortcut to get the class type using a string frcJava(getArtifactTypeClass('FRCJavaArtifact')) { + // Enable visualvm + jvmArgs << "-Dcom.sun.management.jmxremote=true -Dcom.sun.management.jmxremote.port=1099 -Dcom.sun.management.jmxremote.local.only=false -Dcom.sun.management.jmxremote.ssl=false -Dcom.sun.management.jmxremote.authenticate=false -Djava.rmi.server.hostname=10.43.88.2" } // Static files artifact @@ -34,6 +36,7 @@ deploy { files = project.fileTree('src/main/deploy') directory = '/home/lvuser/deploy' } + } } } diff --git a/src/main/java/frc4388/utility/controller/XboxController.java b/src/main/java/frc4388/utility/controller/XboxController.java index 70b599b..4e1c541 100644 --- a/src/main/java/frc4388/utility/controller/XboxController.java +++ b/src/main/java/frc4388/utility/controller/XboxController.java @@ -49,7 +49,7 @@ public class XboxController implements IHandController private static final double LEFT_AXIS_RIGHT_TOLERANCE = 0.9; private static final double LEFT_AXIS_LEFT_TOLERANCE = -0.9; - private static final double DEADZONE = 0.1; + private static final double DEADZONE = 0.2; private Joystick m_stick; From 910895ecee8141497986e2bf76b1728239ad2552 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Sat, 22 Jan 2022 15:55:04 -0700 Subject: [PATCH 030/151] ODOMETRY MIGHT WORK (more testing needed tho) --- build.gradle | 2 +- simgui.json | 5 ++ src/main/java/frc4388/robot/Robot.java | 12 +++- .../java/frc4388/robot/RobotContainer.java | 4 ++ src/main/java/frc4388/robot/RobotMap.java | 58 +++++++++++-------- .../java/frc4388/robot/subsystems/LED.java | 2 +- .../frc4388/robot/subsystems/SwerveDrive.java | 56 +++++++++--------- .../robot/subsystems/SwerveModule.java | 11 ++-- .../utility/controller/XboxController.java | 2 +- 9 files changed, 88 insertions(+), 64 deletions(-) diff --git a/build.gradle b/build.gradle index 3617d19..c16e3c3 100644 --- a/build.gradle +++ b/build.gradle @@ -28,7 +28,7 @@ deploy { frcJava(getArtifactTypeClass('FRCJavaArtifact')) { // Enable visualvm - jvmArgs << "-Dcom.sun.management.jmxremote=true -Dcom.sun.management.jmxremote.port=1099 -Dcom.sun.management.jmxremote.local.only=false -Dcom.sun.management.jmxremote.ssl=false -Dcom.sun.management.jmxremote.authenticate=false -Djava.rmi.server.hostname=10.43.88.2" + // jvmArgs << "-Dcom.sun.management.jmxremote=true -Dcom.sun.management.jmxremote.port=1099 -Dcom.sun.management.jmxremote.local.only=false -Dcom.sun.management.jmxremote.ssl=false -Dcom.sun.management.jmxremote.authenticate=false -Djava.rmi.server.hostname=10.43.88.2" } // Static files artifact diff --git a/simgui.json b/simgui.json index a47a9ab..71b8c82 100644 --- a/simgui.json +++ b/simgui.json @@ -7,5 +7,10 @@ "/LiveWindow/SwerveModule": "Subsystem", "/LiveWindow/Ungrouped/Scheduler": "Scheduler" } + }, + "NetworkTables": { + "SmartDashboard": { + "open": true + } } } diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java index 03eda20..521b2c2 100644 --- a/src/main/java/frc4388/robot/Robot.java +++ b/src/main/java/frc4388/robot/Robot.java @@ -5,6 +5,8 @@ package frc4388.robot; import edu.wpi.first.wpilibj.TimedRobot; +import edu.wpi.first.wpilibj.livewindow.LiveWindow; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; import frc4388.utility.RobotTime; @@ -49,6 +51,9 @@ public class Robot extends TimedRobot { // and running subsystem periodic() methods. This must be called from the robot's periodic // block in order for anything in the Command-based framework to work. CommandScheduler.getInstance().run(); + SmartDashboard.putNumber("Odometry X", m_robotContainer.getOdometry().getX()); + SmartDashboard.putNumber("Odometry Y", m_robotContainer.getOdometry().getY()); + SmartDashboard.putNumber("Odometry Theta", m_robotContainer.getOdometry().getRotation().getDegrees()); } /** @@ -63,6 +68,9 @@ public class Robot extends TimedRobot { @Override public void disabledPeriodic() { + // SmartDashboard.putNumber("Odometry X", m_robotContainer.getOdometry().getX()); + // SmartDashboard.putNumber("Odometry Y", m_robotContainer.getOdometry().getY()); + // SmartDashboard.putNumber("Odometry Theta", m_robotContainer.getOdometry().getRotation().getDegrees()); } /** @@ -114,8 +122,8 @@ public class Robot extends TimedRobot { */ @Override public void teleopPeriodic() { - m_robotContainer.getDriverController().updateInput(); - m_robotContainer.getOperatorController().updateInput(); + // m_robotContainer.getDriverController().updateInput(); + // m_robotContainer.getOperatorController().updateInput(); } /** diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 938890a..07be219 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -5,6 +5,7 @@ package frc4388.robot; +import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.wpilibj.Joystick; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.InstantCommand; @@ -116,6 +117,9 @@ public class RobotContainer { return m_driverXbox; } + public Pose2d getOdometry() { + return m_robotSwerveDrive.getOdometry(); + } /** * Add your docs here. */ diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java index 4b41fa7..6d331de 100644 --- a/src/main/java/frc4388/robot/RobotMap.java +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -4,6 +4,7 @@ package frc4388.robot; +import com.ctre.phoenix.motorcontrol.NeutralMode; import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; import com.ctre.phoenix.sensors.CANCoder; import com.ctre.phoenix.sensors.WPI_PigeonIMU; @@ -61,32 +62,41 @@ public class RobotMap { rightBackSteerMotor.configFactoryDefault(); rightBackWheelMotor.configFactoryDefault(); - leftFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // leftFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // leftFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // rightFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // rightFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // leftBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // leftBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // rightBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // rightBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // leftFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // leftFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // rightFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // rightFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // leftBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // leftBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // rightBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // rightBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // leftFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // leftFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // rightFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // rightFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // leftBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // leftBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // rightBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // rightBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + + leftFrontSteerMotor.setNeutralMode(NeutralMode.Brake); + leftFrontWheelMotor.setNeutralMode(NeutralMode.Coast); + rightFrontSteerMotor.setNeutralMode(NeutralMode.Brake); + rightFrontWheelMotor.setNeutralMode(NeutralMode.Coast); + leftBackSteerMotor.setNeutralMode(NeutralMode.Brake); + leftBackWheelMotor.setNeutralMode(NeutralMode.Coast); + rightBackSteerMotor.setNeutralMode(NeutralMode.Brake); + rightBackWheelMotor.setNeutralMode(NeutralMode.Coast); // config cancoder as remote encoder for swerve steer motors //leftFrontSteerMotor.configRemoteFeedbackFilter(leftFrontEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS); diff --git a/src/main/java/frc4388/robot/subsystems/LED.java b/src/main/java/frc4388/robot/subsystems/LED.java index 1ca26e1..341671f 100644 --- a/src/main/java/frc4388/robot/subsystems/LED.java +++ b/src/main/java/frc4388/robot/subsystems/LED.java @@ -32,7 +32,7 @@ public class LED extends SubsystemBase { @Override public void periodic(){ - SmartDashboard.putNumber("LED", m_currentPattern.getValue()); + //SmartDashboard.putNumber("LED", m_currentPattern.getValue()); } /** diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index 15bb384..c4fe655 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -8,24 +8,20 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; import com.ctre.phoenix.sensors.CANCoder; import com.ctre.phoenix.sensors.WPI_PigeonIMU; -import edu.wpi.first.math.StateSpaceUtil; import edu.wpi.first.math.VecBuilder; import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator; import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.math.kinematics.SwerveDriveKinematics; import edu.wpi.first.math.kinematics.SwerveModuleState; import edu.wpi.first.math.util.Units; -import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc4388.robot.Constants.SwerveDriveConstants; import frc4388.utility.Gains; public class SwerveDrive extends SubsystemBase { - SwerveDriveKinematics m_kinematics; private WPI_TalonFX m_leftFrontSteerMotor; private WPI_TalonFX m_leftFrontWheelMotor; private WPI_TalonFX m_rightFrontSteerMotor; @@ -51,14 +47,14 @@ public class SwerveDrive extends SubsystemBase { // setSwerveGains(); - private SwerveDriveKinematics kinematics = new SwerveDriveKinematics(m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation); + private SwerveDriveKinematics m_kinematics = new SwerveDriveKinematics(m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation); public SwerveModule[] modules; public WPI_PigeonIMU m_gyro; /* Here we use SwerveDrivePoseEstimator so that we can fuse odometry readings. The numbers used below are robot specific, and should be tuned. */ - private final SwerveDrivePoseEstimator m_poseEstimator; + private SwerveDrivePoseEstimator m_poseEstimator; public double speedAdjust = SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND_SLOW; public boolean ignoreAngles; @@ -119,7 +115,7 @@ public class SwerveDrive extends SubsystemBase { double xSpeedMetersPerSecond = -speeds[0] * speedAdjust; double ySpeedMetersPerSecond = speeds[1] * speedAdjust; SwerveModuleState[] states = - kinematics.toSwerveModuleStates( + m_kinematics.toSwerveModuleStates( fieldRelative ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot * SwerveDriveConstants.ROTATION_SPEED, m_gyro.getRotation2d()) : new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot * SwerveDriveConstants.ROTATION_SPEED)); @@ -133,28 +129,18 @@ public class SwerveDrive extends SubsystemBase { @Override public void periodic() { - System.err.println(m_gyro.getFusedHeading() +" aaa"); + //System.err.println(m_gyro.getFusedHeading() +" aaa"); + updateOdometry(); // m_gyro.setFusedHeadingToCompass(); // m_gyro.setYawToCompass(); - // m_gyro.getRotation2d(); + // System.out.println(m_gyro.getRotation2d()); + // System.out.println(modules[0].getState()); + // System.out.println(modules[1].getState()); + // System.out.println(modules[2].getState()); + // System.out.println(modules[3].getState()); super.periodic(); } - /** - * Get a "noisy" fake global pose reading. - * - * @param estimatedRobotPose The robot pose. - */ - // TEST FAKE CODE FROM EXAMPLE - public static Pose2d getEstimatedGlobalPose(Pose2d estimatedRobotPose) { - var rand = - StateSpaceUtil.makeWhiteNoiseVector(VecBuilder.fill(0.5, 0.5, Units.degreesToRadians(30))); - return new Pose2d( - estimatedRobotPose.getX() + rand.get(0, 0), - estimatedRobotPose.getY() + rand.get(1, 0), - estimatedRobotPose.getRotation().plus(new Rotation2d(rand.get(2, 0)))); - } - /** * Gets the distance between two given poses. * @param p1 The first pose. @@ -171,11 +157,22 @@ public class SwerveDrive extends SubsystemBase { * @param target_dist The target distance. * @return A scalar that multiplies your distance from the hub to get your target distance. */ - public double getScalarForLine(double target_dist) { + public Pose2d poseGivenDist(double target_dist) { Pose2d p1 = m_poseEstimator.getEstimatedPosition(); Pose2d p2 = SwerveDriveConstants.HUB_POSE; - return target_dist/distBtwPoses(p1, p2); + double scalar = target_dist/distBtwPoses(p1, p2); + Pose2d new_pose = new Pose2d(p1.getX() * scalar, p1.getY() * scalar, p1.getRotation()); + + return new_pose; + } + + /** + * Gets the current pose of the robot. + * @return Robot's current pose. + */ + public Pose2d getOdometry() { + return m_poseEstimator.getEstimatedPosition(); } /** Updates the field relative position of the robot. */ @@ -188,10 +185,9 @@ public class SwerveDrive extends SubsystemBase { // Also apply vision measurements. We use 0.3 seconds in the past as an example -- on // a real robot, this must be calculated based either on latency or timestamps. - m_poseEstimator.addVisionMeasurement( - SwerveDrive.getEstimatedGlobalPose( - m_poseEstimator.getEstimatedPosition()), - Timer.getFPGATimestamp() - 0.1); + // m_poseEstimator.addVisionMeasurement( + // m_poseEstimator.getEstimatedPosition(), + // Timer.getFPGATimestamp() - 0.1); } public void highSpeed(boolean shift){ diff --git a/src/main/java/frc4388/robot/subsystems/SwerveModule.java b/src/main/java/frc4388/robot/subsystems/SwerveModule.java index 3b2b192..5a6a64d 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveModule.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveModule.java @@ -27,7 +27,7 @@ public class SwerveModule extends SubsystemBase { public static Gains m_swerveGains = SwerveDriveConstants.SWERVE_GAINS; private static double kEncoderTicksPerRotation = 4096; - + private SwerveModuleState state; /** Creates a new SwerveModule. */ @@ -61,7 +61,7 @@ public class SwerveModule extends SubsystemBase { } - public Rotation2d getAngle() { + private Rotation2d getAngle() { // Note: This assumes the CANCoders are setup with the default feedback coefficient // and the sesnor value reports degrees. return Rotation2d.fromDegrees(canCoder.getAbsolutePosition()); @@ -74,8 +74,8 @@ public class SwerveModule extends SubsystemBase { public void setDesiredState(SwerveModuleState desiredState, boolean ignoreAngle) { Rotation2d currentRotation = getAngle(); - SmartDashboard.putNumber("Motor " + angleMotor.getDeviceID(), currentRotation.getDegrees()); - SwerveModuleState state = SwerveModuleState.optimize(desiredState, currentRotation); + //SmartDashboard.putNumber("Motor " + angleMotor.getDeviceID(), currentRotation.getDegrees()); + state = SwerveModuleState.optimize(desiredState, currentRotation); // Find the difference between our current rotational position + our new rotational position Rotation2d rotationDelta = state.angle.minus(currentRotation); @@ -100,7 +100,8 @@ public class SwerveModule extends SubsystemBase { * @return The current state of the module. */ public SwerveModuleState getState() { - return new SwerveModuleState(driveMotor.getSelectedSensorVelocity() * SwerveDriveConstants.INCHES_PER_TICK * SwerveDriveConstants.METERS_PER_INCH * 10, new Rotation2d(canCoder.getPosition())); + // return state; + return new SwerveModuleState(driveMotor.getSelectedSensorVelocity() * SwerveDriveConstants.INCHES_PER_TICK * SwerveDriveConstants.METERS_PER_INCH * 10, getAngle()); } } diff --git a/src/main/java/frc4388/utility/controller/XboxController.java b/src/main/java/frc4388/utility/controller/XboxController.java index 4e1c541..51c0d4e 100644 --- a/src/main/java/frc4388/utility/controller/XboxController.java +++ b/src/main/java/frc4388/utility/controller/XboxController.java @@ -64,7 +64,7 @@ public class XboxController implements IHandController ret[1] = y / mag; } double [] to_smart_dashboard = {square_mag, x, y, ret[0], ret[1]}; - SmartDashboard.putNumberArray("Input", to_smart_dashboard); + //SmartDashboard.putNumberArray("Input", to_smart_dashboard); return ret; } From bc195665e4a2bb04892209b91b8cd19417a01d28 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Mon, 24 Jan 2022 17:00:06 -0700 Subject: [PATCH 031/151] added resetodometry method, basic odometry WORKING --- src/main/java/frc4388/robot/RobotContainer.java | 8 +++++++- .../frc4388/robot/subsystems/SwerveDrive.java | 15 +++++++++------ 2 files changed, 16 insertions(+), 7 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 07be219..9fbbd5b 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -89,8 +89,10 @@ public class RobotContainer { new JoystickButton(getDriverJoystick(), XboxController.RIGHT_BUMPER_BUTTON) // new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.RIGHT_BUMPER_BUTTON) .whenPressed(() -> m_robotSwerveDrive.highSpeed(true)); + + new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON) - + .whenPressed(() -> resetOdometry()); /* Operator Buttons */ // activates "Lit Mode" @@ -120,6 +122,10 @@ public class RobotContainer { public Pose2d getOdometry() { return m_robotSwerveDrive.getOdometry(); } + + public void resetOdometry() { + m_robotSwerveDrive.resetOdometry(); + } /** * Add your docs here. */ diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index c4fe655..6bbc89d 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -11,13 +11,14 @@ import com.ctre.phoenix.sensors.WPI_PigeonIMU; import edu.wpi.first.math.VecBuilder; import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator; import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.math.kinematics.SwerveDriveKinematics; import edu.wpi.first.math.kinematics.SwerveModuleState; import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj2.command.SubsystemBase; - +import frc4388.robot.RobotMap; import frc4388.robot.Constants.SwerveDriveConstants; import frc4388.utility.Gains; @@ -133,11 +134,6 @@ public class SwerveDrive extends SubsystemBase { updateOdometry(); // m_gyro.setFusedHeadingToCompass(); // m_gyro.setYawToCompass(); - // System.out.println(m_gyro.getRotation2d()); - // System.out.println(modules[0].getState()); - // System.out.println(modules[1].getState()); - // System.out.println(modules[2].getState()); - // System.out.println(modules[3].getState()); super.periodic(); } @@ -175,6 +171,13 @@ public class SwerveDrive extends SubsystemBase { return m_poseEstimator.getEstimatedPosition(); } + /** + * Resets the odometry of the robot to (x=0, y=0, theta=0). + */ + public void resetOdometry() { + m_poseEstimator.resetPosition(new Pose2d(0, 0, new Rotation2d(0)), m_gyro.getRotation2d()); + } + /** Updates the field relative position of the robot. */ public void updateOdometry() { m_poseEstimator.update( m_gyro.getRotation2d(), From 2d66d991b0cc44c852ad67a6b61b956019801199 Mon Sep 17 00:00:00 2001 From: Pushkar9236 <104144@psdschools.org> Date: Mon, 24 Jan 2022 17:19:59 -0700 Subject: [PATCH 032/151] Update Constants.java --- src/main/java/frc4388/robot/Constants.java | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 52b1ddd..d499143 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -94,6 +94,8 @@ public final class Constants { public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG = new SupplyCurrentLimitConfiguration(true, 60, 40, 0.5); public static final int SHOOTER_FALCON_LEFT_CAN_ID = 0; public static final int SHOOTER_FALCON_RIGHT_CAN_ID = 0; + public static final int SHOOTER_ROTATE_ID = "unknown value" //figure out later + public static final int SHOOTER_TURRET_GAINS = "'" //""// /* Turret Constants */ //ID From ce89188141a95dbb621962392ad9dc5300d48839 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Mon, 24 Jan 2022 17:40:03 -0700 Subject: [PATCH 033/151] deleted unused code --- src/main/java/frc4388/robot/RobotMap.java | 6 +----- 1 file changed, 1 insertion(+), 5 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java index 6d331de..b740d43 100644 --- a/src/main/java/frc4388/robot/RobotMap.java +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -46,12 +46,8 @@ public class RobotMap { public final CANCoder leftBackEncoder = new CANCoder(SwerveDriveConstants.LEFT_BACK_STEER_CAN_ENCODER_ID); public final CANCoder rightBackEncoder = new CANCoder(SwerveDriveConstants.RIGHT_BACK_STEER_CAN_ENCODER_ID); public final WPI_PigeonIMU gyro = new WPI_PigeonIMU(SwerveDriveConstants.GYRO_ID); - + void configureSwerveMotorControllers() { - leftFrontEncoder.configMagnetOffset(SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET); - rightFrontEncoder.configMagnetOffset(SwerveDriveConstants.RIGHT_FRONT_ENCODER_OFFSET); - leftBackEncoder.configMagnetOffset(SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET); - rightBackEncoder.configMagnetOffset(SwerveDriveConstants.RIGHT_BACK_ENCODER_OFFSET); leftFrontSteerMotor.configFactoryDefault(); leftFrontWheelMotor.configFactoryDefault(); From 304c78382920bf99dde0f2763fe7feb4d7eb8923 Mon Sep 17 00:00:00 2001 From: Abhishrek05 <90010729+Abhishrek05@users.noreply.github.com> Date: Mon, 24 Jan 2022 18:48:03 -0700 Subject: [PATCH 034/151] some debuging subsystems --- src/main/java/frc4388/robot/Constants.java | 21 ++++++++------- .../frc4388/robot/subsystems/BoomBoom.java | 3 +-- .../java/frc4388/robot/subsystems/Vision.java | 26 +++++++++---------- 3 files changed, 25 insertions(+), 25 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 52b1ddd..3f0dfef 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -106,14 +106,19 @@ public final class Constants { public static final int SHOOTER_FALCON_BALLER_FOLLOWER_ID =; //"// public static final Gains DRUM_SHOOTER_GAINS = new Gains(x,y,z,a,b);//x,y,z,a,b are not actual values, fix later + /* Hood Constants */ + public static final int SHOOTER_ANGLE_ADJUST_ID = 10; + public static final double HOOD_MOTOR_ROTS_PER_ROT = 1; //TODO: Find + public static final double HOOD_MOTOR_POS_AT_ZERO_ROT = 0; //TODO: Find - - public static final class VisionConstants { - public static final double TURN_P_VALUE = "unknown" // needs to be figured out after testing - public static final double X_ANGLE_ERROR = "alsoUnknown" //""// - public static final double TURN_P_VALUE = "alsoAlsoUnknown" //""// - public static final double GRAV = "alsoAlsoAlsoUnknown" //""// - public static final double TARGET_HEIGHT = "alsoAlsoAlsoAlsoUnknown" //""// + } + public static final class VisionConstants { + public static final double TURN_P_VALUE = 0.8; + public static final double X_ANGLE_ERROR = 0.5; + public static final double GRAV = 385.83; + public static final double TARGET_HEIGHT = 67.5; + public static final double FOV = 29.8; //Field of view limelight + public static final double LIME_ANGLE = 24.7; @@ -123,6 +128,4 @@ public final class Constants { } - - } } diff --git a/src/main/java/frc4388/robot/subsystems/BoomBoom.java b/src/main/java/frc4388/robot/subsystems/BoomBoom.java index 6c84711..8a7a485 100644 --- a/src/main/java/frc4388/robot/subsystems/BoomBoom.java +++ b/src/main/java/frc4388/robot/subsystems/BoomBoom.java @@ -14,7 +14,6 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc4388.robot.Constants.ShooterConstants; import frc4388.utility.ShooterTables; import frc4388.utility.Gains; -import frc4388.utility.Trims; import frc4388.utility.controller.IHandController; public class BoomBoom extends SubsystemBase { @@ -127,7 +126,7 @@ public void setShooterGains() { //Controls a motor with the output of the BangBang controller //Controls a motor with the output of the BangBang conroller and a feedforward //Shrinks the feedforward slightly to avoid over speeding the shooter - motor.set(controller.calculate(encoder.getRate(), setpoint) + 0.9 * feedforward.calculate(setpoint)); */ + m_shooterFalconLeft.set(controller.calculate(encoder.getRate(), targetVel) + 0.9 * feedforward.calculate(targetVel)); */ } diff --git a/src/main/java/frc4388/robot/subsystems/Vision.java b/src/main/java/frc4388/robot/subsystems/Vision.java index 76ba03d..3785439 100644 --- a/src/main/java/frc4388/robot/subsystems/Vision.java +++ b/src/main/java/frc4388/robot/subsystems/Vision.java @@ -6,9 +6,10 @@ package frc4388.robot.subsystems; import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.networktables.NetworkTableInstance; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.networktables.NetworkTableEntry; -import edu.wpi.first.wpilibj2.command.commandBase; -import frc4388.robot.constants.VisionConstants; +import edu.wpi.first.wpilibj2.command.CommandBase; +import frc4388.robot.Constants.VisionConstants; import frc4388.robot.subsystems.BoomBoom; import frc4388.robot.subsystems.Turret; import frc4388.robot.subsystems.Hood; @@ -35,14 +36,11 @@ public static double fireAngle; public double m_hoodTrim; public double m_turretTrim; -LimeLight m_limeLight; - -public TrackTarget(ShooterAim aimSubsystem, LimeLight limeLight) { - m_turret = turretSubsystem; - m_boomBoom = m_turret.m_turretSubsystem; +public Vision(Turret aimSubsystem, BoomBoom boomBoom) { + m_turret = aimSubsystem; + m_boomBoom = boomBoom; m_hood = m_boomBoom.m_hoodSubsystem; - m_limeLight = limeLight; - addRequirements(m_turret); + //addRequirements(m_turret); limeOff(); changePipeline(0); NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0); @@ -50,9 +48,9 @@ public TrackTarget(ShooterAim aimSubsystem, LimeLight limeLight) { } public void track(){ - target = getV() - xAngle = getX() - yAngle = getY() + target = getV(); + xAngle = getX(); + yAngle = getY(); //find distance distance = (VisionConstants.TARGET_HEIGHT) / Math.tan((VisionConstants.LIME_ANGLE + yAngle) * (Math.PI / 180)); @@ -68,10 +66,10 @@ public void track(){ turnAmount = 0.1; } else if (turnAmount < 0 && turnAmount > -0.1){ - turnAmount = -0.1 + turnAmount = -0.1; } } - m_turret.runShooterWithInput(-turnAmount); + m_turret.turnWithJoystick(-turnAmount); SmartDashboard.putNumber("Disance to Target", realDistance); From d1a4a50f87b185b7e557dbd5fc18e843986e0e86 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Mon, 24 Jan 2022 19:06:28 -0700 Subject: [PATCH 035/151] changed the entire thing --- .../java/frc4388/robot/RobotContainer.java | 11 +-- src/main/java/frc4388/robot/RobotMap.java | 11 +++ .../frc4388/robot/subsystems/SwerveDrive.java | 82 ++++++++++--------- 3 files changed, 57 insertions(+), 47 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 9fbbd5b..393576d 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -32,16 +32,7 @@ public class RobotContainer { /* Subsystems */ private final SwerveDrive m_robotSwerveDrive = new SwerveDrive( - m_robotMap.leftFrontSteerMotor, m_robotMap.leftFrontWheelMotor, - m_robotMap.rightFrontSteerMotor, m_robotMap.rightFrontWheelMotor, - m_robotMap.leftBackSteerMotor, m_robotMap.leftBackWheelMotor, - m_robotMap.rightBackSteerMotor, m_robotMap.rightBackWheelMotor, - m_robotMap.leftFrontEncoder, - m_robotMap.rightFrontEncoder, - m_robotMap.leftBackEncoder, - m_robotMap.rightBackEncoder, - m_robotMap.gyro - ); + m_robotMap.leftFront, m_robotMap.leftBack, m_robotMap.rightFront, m_robotMap.rightBack, m_robotMap.gyro); private final LED m_robotLED = new LED(m_robotMap.LEDController); diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java index b740d43..fd84fef 100644 --- a/src/main/java/frc4388/robot/RobotMap.java +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -13,6 +13,7 @@ import edu.wpi.first.wpilibj.motorcontrol.Spark; import frc4388.robot.Constants.LEDConstants; import frc4388.robot.Constants.SwerveDriveConstants; +import frc4388.robot.subsystems.SwerveModule; /** * Defines and holds all I/O objects on the Roborio. This is useful for unit @@ -47,6 +48,11 @@ public class RobotMap { public final CANCoder rightBackEncoder = new CANCoder(SwerveDriveConstants.RIGHT_BACK_STEER_CAN_ENCODER_ID); public final WPI_PigeonIMU gyro = new WPI_PigeonIMU(SwerveDriveConstants.GYRO_ID); + public SwerveModule leftFront; + public SwerveModule leftBack; + public SwerveModule rightFront; + public SwerveModule rightBack; + void configureSwerveMotorControllers() { leftFrontSteerMotor.configFactoryDefault(); @@ -94,6 +100,11 @@ public class RobotMap { rightBackSteerMotor.setNeutralMode(NeutralMode.Brake); rightBackWheelMotor.setNeutralMode(NeutralMode.Coast); + leftFront = new SwerveModule(leftFrontWheelMotor, leftFrontSteerMotor, leftFrontEncoder, SwerveDriveConstants.LEFT_FRONT_ENCODER_OFFSET); + leftBack = new SwerveModule(leftBackWheelMotor, leftBackSteerMotor, leftBackEncoder, SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET); + rightFront = new SwerveModule(rightFrontWheelMotor, rightFrontSteerMotor, rightFrontEncoder, SwerveDriveConstants.RIGHT_FRONT_ENCODER_OFFSET); + rightBack = new SwerveModule(rightBackWheelMotor, rightBackSteerMotor, rightBackEncoder, SwerveDriveConstants.RIGHT_BACK_ENCODER_OFFSET); + // config cancoder as remote encoder for swerve steer motors //leftFrontSteerMotor.configRemoteFeedbackFilter(leftFrontEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS); //leftBackSteerMotor.configRemoteFeedbackFilter(leftBackEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS); diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index 6bbc89d..fafc14c 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -23,20 +23,27 @@ import frc4388.robot.Constants.SwerveDriveConstants; import frc4388.utility.Gains; public class SwerveDrive extends SubsystemBase { - private WPI_TalonFX m_leftFrontSteerMotor; - private WPI_TalonFX m_leftFrontWheelMotor; - private WPI_TalonFX m_rightFrontSteerMotor; - private WPI_TalonFX m_rightFrontWheelMotor; - private WPI_TalonFX m_leftBackSteerMotor; - private WPI_TalonFX m_leftBackWheelMotor; - private WPI_TalonFX m_rightBackSteerMotor; - private WPI_TalonFX m_rightBackWheelMotor; - private CANCoder m_leftFrontEncoder; - private CANCoder m_rightFrontEncoder; - private CANCoder m_leftBackEncoder; - private CANCoder m_rightBackEncoder; + // private WPI_TalonFX m_leftFrontSteerMotor; + // private WPI_TalonFX m_leftFrontWheelMotor; + // private WPI_TalonFX m_rightFrontSteerMotor; + // private WPI_TalonFX m_rightFrontWheelMotor; + // private WPI_TalonFX m_leftBackSteerMotor; + // private WPI_TalonFX m_leftBackWheelMotor; + // private WPI_TalonFX m_rightBackSteerMotor; + // private WPI_TalonFX m_rightBackWheelMotor; + // private CANCoder m_leftFrontEncoder; + // private CANCoder m_rightFrontEncoder; + // private CANCoder m_leftBackEncoder; + // private CANCoder m_rightBackEncoder; + + private SwerveModule m_leftFront; + private SwerveModule m_leftBack; + private SwerveModule m_rightFront; + private SwerveModule m_rightBack; + double halfWidth = SwerveDriveConstants.WIDTH / 2.d; double halfHeight = SwerveDriveConstants.HEIGHT / 2.d; + public static Gains m_swerveGains = SwerveDriveConstants.SWERVE_GAINS; @@ -60,33 +67,34 @@ public class SwerveDrive extends SubsystemBase { public double speedAdjust = SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND_SLOW; public boolean ignoreAngles; - public SwerveDrive(WPI_TalonFX leftFrontSteerMotor,WPI_TalonFX leftFrontWheelMotor,WPI_TalonFX rightFrontSteerMotor,WPI_TalonFX rightFrontWheelMotor, - WPI_TalonFX leftBackSteerMotor,WPI_TalonFX leftBackWheelMotor,WPI_TalonFX rightBackSteerMotor,WPI_TalonFX rightBackWheelMotor, CANCoder leftFrontEncoder, - CANCoder rightFrontEncoder, - CANCoder leftBackEncoder, - CANCoder rightBackEncoder, WPI_PigeonIMU gyro) - { - m_leftFrontSteerMotor = leftFrontSteerMotor; - m_leftFrontWheelMotor = leftFrontWheelMotor; - m_rightFrontSteerMotor = rightFrontSteerMotor; - m_rightFrontWheelMotor = rightFrontWheelMotor; - m_leftBackSteerMotor = leftBackSteerMotor; - m_leftBackWheelMotor = leftBackWheelMotor; - m_rightBackSteerMotor = rightBackSteerMotor; - m_rightBackWheelMotor = rightBackWheelMotor; - m_leftFrontEncoder = leftFrontEncoder; - m_rightFrontEncoder = rightFrontEncoder; - m_leftBackEncoder = leftBackEncoder; - m_rightBackEncoder = rightBackEncoder; - m_gyro = gyro; + public SwerveDrive(SwerveModule leftFront, SwerveModule leftBack, SwerveModule rightFront, SwerveModule rightBack, WPI_PigeonIMU gyro) { + // m_leftFrontSteerMotor = leftFrontSteerMotor; + // m_leftFrontWheelMotor = leftFrontWheelMotor; + // m_rightFrontSteerMotor = rightFrontSteerMotor; + // m_rightFrontWheelMotor = rightFrontWheelMotor; + // m_leftBackSteerMotor = leftBackSteerMotor; + // m_leftBackWheelMotor = leftBackWheelMotor; + // m_rightBackSteerMotor = rightBackSteerMotor; + // m_rightBackWheelMotor = rightBackWheelMotor; + // m_leftFrontEncoder = leftFrontEncoder; + // m_rightFrontEncoder = rightFrontEncoder; + // m_leftBackEncoder = leftBackEncoder; + // m_rightBackEncoder = rightBackEncoder; + m_leftFront = leftFront; + m_leftBack = leftBack; + m_rightFront = rightFront; + m_rightBack = rightBack; + m_gyro = gyro; + // modules = new SwerveModule[] { + // new SwerveModule(m_leftFrontWheelMotor, m_leftFrontSteerMotor, m_leftFrontEncoder, SwerveDriveConstants.LEFT_FRONT_ENCODER_OFFSET), // Front Left + // new SwerveModule(m_rightFrontWheelMotor, m_rightFrontSteerMotor, m_rightFrontEncoder, SwerveDriveConstants.RIGHT_FRONT_ENCODER_OFFSET), // Front Right + // new SwerveModule(m_leftBackWheelMotor, m_leftBackSteerMotor, m_leftBackEncoder, SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET), // Back Left + // new SwerveModule(m_rightBackWheelMotor, m_rightBackSteerMotor, m_rightBackEncoder, SwerveDriveConstants.RIGHT_BACK_ENCODER_OFFSET) // Back Right + // }; + + modules = new SwerveModule[] {m_leftFront, m_rightFront, m_leftBack, m_rightBack}; - modules = new SwerveModule[] { - new SwerveModule(m_leftFrontWheelMotor, m_leftFrontSteerMotor, m_leftFrontEncoder, SwerveDriveConstants.LEFT_FRONT_ENCODER_OFFSET), // Front Left - new SwerveModule(m_rightFrontWheelMotor, m_rightFrontSteerMotor, m_rightFrontEncoder, SwerveDriveConstants.RIGHT_FRONT_ENCODER_OFFSET), // Front Right - new SwerveModule(m_leftBackWheelMotor, m_leftBackSteerMotor, m_leftBackEncoder, SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET), // Back Left - new SwerveModule(m_rightBackWheelMotor, m_rightBackSteerMotor, m_rightBackEncoder, SwerveDriveConstants.RIGHT_BACK_ENCODER_OFFSET) // Back Right - }; m_poseEstimator = new SwerveDrivePoseEstimator( m_gyro.getRotation2d(), From 1d804903d8ec18d1573bf5309af9d1867f1b9f67 Mon Sep 17 00:00:00 2001 From: Pushkar9236 <104144@psdschools.org> Date: Mon, 24 Jan 2022 19:55:08 -0700 Subject: [PATCH 036/151] worked on turret --- src/main/java/frc4388/robot/Constants.java | 16 ++-- .../java/frc4388/robot/subsystems/Turret.java | 81 ++++++++++++++++++- .../java/frc4388/robot/subsystems/Vision.java | 2 +- 3 files changed, 91 insertions(+), 8 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 118740a..2bb8bb7 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -94,8 +94,14 @@ public final class Constants { public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG = new SupplyCurrentLimitConfiguration(true, 60, 40, 0.5); public static final int SHOOTER_FALCON_LEFT_CAN_ID = 0; public static final int SHOOTER_FALCON_RIGHT_CAN_ID = 0; - public static final int SHOOTER_ROTATE_ID = "unknown value" //figure out later - public static final int SHOOTER_TURRET_GAINS = "'" //""// + public static final int SHOOTER_ROTATE_ID = 0; //"unknown value" //figure out later + public static final int TURRET_RIGHT_SOFT_LIMIT = 0; //""// + public static final int TURRET_SPEED_MULTIPLIER = 0; //""// + public static final int DEGREES_PER_ROT = 0; //""// + public static final int TURRET_MOTOR_POS_AT_ZERO_ROT = 0; //""// + public static final int TURRET_MOTOR_ROTS_PER_ROT = 0; //""// + + } /* Turret Constants */ //ID @@ -104,10 +110,10 @@ public final class Constants { 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 int SHOOTER_FALCON_BALLER_ID =; //unknown value, fix later// - public static final int SHOOTER_FALCON_BALLER_FOLLOWER_ID =; //"// + public static final int SHOOTER_FALCON_BALLER_ID = 0; //unknown value, fix later// + public static final int SHOOTER_FALCON_BALLER_FOLLOWER_ID = 0; //"// - public static final Gains DRUM_SHOOTER_GAINS = new Gains(x,y,z,a,b);//x,y,z,a,b are not actual values, fix later + public static final Gains DRUM_SHOOTER_GAINS = new Gains(0,0,0,0,0);//x,y,z,a,b are not actual values, fix later /* Hood Constants */ public static final int SHOOTER_ANGLE_ADJUST_ID = 10; public static final double HOOD_MOTOR_ROTS_PER_ROT = 1; //TODO: Find diff --git a/src/main/java/frc4388/robot/subsystems/Turret.java b/src/main/java/frc4388/robot/subsystems/Turret.java index 428fe00..48a6556 100644 --- a/src/main/java/frc4388/robot/subsystems/Turret.java +++ b/src/main/java/frc4388/robot/subsystems/Turret.java @@ -4,21 +4,98 @@ package frc4388.robot.subsystems; +import edu.wpi.first.wpilibj.drive.RobotDriveBase.MotorType; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc4388.robot.Constants.ShooterConstants; +import frc4388.utility.Gains; public class Turret extends SubsystemBase { /** Creates a new Turret. */ - public CANSparkMax m_turretMotor; + public BoomBoom m_boomBoomSubsystem; + public SwerveDrive m_sDriveSubsystem; + + public CAnsparkMax m_boomBoomRotateMotor = new CANSparkMax(ShooterConstants.SHOOTER_ROTATE_ID, MotorType.kBrushless); + public static Gains m_shooterTGains = ShooterConstants.SHOOTER_TURRET_GAINS; + CANDigitalInput m_boomBoomRightLimit, m_boomBoomLeftLimit; + public GyroBase m_turretGyro; + + public double m_targetDistance = 0; + + public boolean m_isAimReady = false; + + CANPIDController m_boomBoomRotatePIDController = m_boomBoomRotateMotor.getPIDController(); + public CANEncoder m_boomBoomRotateEncoder = m_shooterRotateMotor.getEncoder(); + + public + public CANSparkMax m_turretMotor; + public boolean m_isAimReady; + public double m_targetDistance; //Variables - public Turret() { + public Turret() { + + m_boomBoomRotateMotor.setIdleMode(IdleMode.kBrake); + + m_turretGyro = getGyroInterface(); + m_boomBoomLeftLimit = m_boomBoomRotateMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen); + m_boomBoomRightLimit = m_boomBoomRotateMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyOpen); + m_boomBoomRightLimit.enableLimitSwitch(true); + m_boomBoomLeftLimit.enableLimitSwitch(true); + + m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kForward, false); + m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kReverse, true); + m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.TURRET_RIGHT_SOFT_LIMIT); + + m_boomBoomRotateMotor.setInverted(false); m_turretMotor = turretMotor; } @Override public void periodic() { + SmartDashboard.putNumber("Turret Angle Raw", getboomBoomRotatePosition()); + + SmartDashboard.putData("Turret Angle", m_turretGyro); + + SmartDashboard.putBoolean("Turret Aimed", m_isAimReady); // This method will be called once per scheduler run } + public void passRequiredSubsystem( BoomBoom subsystem0, SwerveDrive subsystem1){ + m_boomBoomSubsystem = subsystem0; + m_sDriveSubsystem = subsystem1; + } + + public void runShooterWithInput(double input) { + m_boomBoomRotateMotor.set(input*ShooterConstants.TURRET_SPEED_MULTIPLIER); + } + + public void runshooterRotatePID(double targetAngle) { + m_boomBoomRotatePIDController.setP(m_shooterTGains.m_kP); + m_boomBoomRotatePIDController.setI(m_shooterTGains.m_kI); + m_boomBoomRotatePIDController.setD(m_shooterTGains.m_kD); + m_boomBoomRotatePIDController.setFF(m_shooterTGains.m_kF); + m_boomBoomRotatePIDController.setIZone(m_shooterTGains.m_kIzone); + m_boomBoomRotatePIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterTGains.m_kPeakOutput); + + targetAngle = targetAngle/ShooterConstants.DEGREES_PER_ROT; + + m_boomBoomRotatePIDController.setReference(targetAngle,ControlType.kPosition); + } + + public void resetGyroShooterRotate() + { + m_boomBoomRotateEncoder.setPosition(0); + } + + public double getboomBoomRotatePosition() + { + return m_boomBoomRotateEncoder.getPosition(); + } + + public double getAnglePositionDegrees() { + return (m_boomBoomRotateEncoder.getPosition() - ShooterConstants.TURRET_MOTOR_POS_AT_ZERO_ROT) * 360/ShooterConstants. TURRET_MOTOR_ROTS_PER_ROT; + } + public void turnWithJoystick (double input) { m_turretMotor.set(input); diff --git a/src/main/java/frc4388/robot/subsystems/Vision.java b/src/main/java/frc4388/robot/subsystems/Vision.java index 3785439..85ee3e6 100644 --- a/src/main/java/frc4388/robot/subsystems/Vision.java +++ b/src/main/java/frc4388/robot/subsystems/Vision.java @@ -98,7 +98,7 @@ public void checkFinished(){ } public void limeOff(){ - NetworkTableInstance.getDefault.getTable("limelight").getEntry("camMode").setNumber(0); + NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0); NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(1); } From c4acef61ead076fbd3d059e875486ffafa055cae Mon Sep 17 00:00:00 2001 From: nathanrsxtn Date: Tue, 25 Jan 2022 11:30:08 -0700 Subject: [PATCH 037/151] Adds Pathweaver export test --- PathWeaver/Paths/Unnamed.path | 3 + PathWeaver/output/Unnamed.wpilib.json | 932 ++++++++++++++++++ PathWeaver/pathweaver.json | 9 + src/main/java/frc4388/robot/Robot.java | 16 + .../frc4388/robot/subsystems/SwerveDrive.java | 2 + .../java/frc4388/utility/RobotLogger.java | 67 ++ 6 files changed, 1029 insertions(+) create mode 100644 PathWeaver/Paths/Unnamed.path create mode 100644 PathWeaver/output/Unnamed.wpilib.json create mode 100644 PathWeaver/pathweaver.json create mode 100644 src/main/java/frc4388/utility/RobotLogger.java diff --git a/PathWeaver/Paths/Unnamed.path b/PathWeaver/Paths/Unnamed.path new file mode 100644 index 0000000..1d2458c --- /dev/null +++ b/PathWeaver/Paths/Unnamed.path @@ -0,0 +1,3 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name +0.0,0.0,2.0574,0.0,true,false, +2.0574,-4.1148,0.0,-4.1148,true,false, diff --git a/PathWeaver/output/Unnamed.wpilib.json b/PathWeaver/output/Unnamed.wpilib.json new file mode 100644 index 0000000..7325468 --- /dev/null +++ b/PathWeaver/output/Unnamed.wpilib.json @@ -0,0 +1,932 @@ +[ + { + "acceleration": 1.0, + "curvature": 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"velocity": 0.0 + } +] \ No newline at end of file diff --git a/PathWeaver/pathweaver.json b/PathWeaver/pathweaver.json new file mode 100644 index 0000000..c5b70d2 --- /dev/null +++ b/PathWeaver/pathweaver.json @@ -0,0 +1,9 @@ +{ + "lengthUnit": "Meter", + "exportUnit": "Same as Project", + "maxVelocity": 1.0, + "maxAcceleration": 1.0, + "trackWidth": 1.0, + "gameName": "Rapid React", + "outputDir": "" +} \ No newline at end of file diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java index 521b2c2..2580247 100644 --- a/src/main/java/frc4388/robot/Robot.java +++ b/src/main/java/frc4388/robot/Robot.java @@ -4,11 +4,14 @@ package frc4388.robot; +import java.io.IOException; + import edu.wpi.first.wpilibj.TimedRobot; import edu.wpi.first.wpilibj.livewindow.LiveWindow; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; +import frc4388.utility.RobotLogger; import frc4388.utility.RobotTime; /** @@ -64,6 +67,7 @@ public class Robot extends TimedRobot { @Override public void disabledInit() { m_robotTime.endMatchTime(); + RobotLogger.getInstance().setEnabled(false); } @Override @@ -96,6 +100,7 @@ public class Robot extends TimedRobot { m_autonomousCommand.schedule(); } m_robotTime.startMatchTime(); + RobotLogger.getInstance().setEnabled(false); } /** @@ -115,6 +120,7 @@ public class Robot extends TimedRobot { m_autonomousCommand.cancel(); } m_robotTime.startMatchTime(); + RobotLogger.getInstance().setEnabled(true); } /** @@ -126,6 +132,16 @@ public class Robot extends TimedRobot { // m_robotContainer.getOperatorController().updateInput(); } + @Override + public void testInit() { + RobotLogger.getInstance().setEnabled(false); + try { + RobotLogger.getInstance().exportPath(); + } catch (IOException e) { + e.printStackTrace(); + } + } + /** * This function is called periodically during test mode. */ diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index fafc14c..cd79844 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -21,6 +21,7 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc4388.robot.RobotMap; import frc4388.robot.Constants.SwerveDriveConstants; import frc4388.utility.Gains; +import frc4388.utility.RobotLogger; public class SwerveDrive extends SubsystemBase { // private WPI_TalonFX m_leftFrontSteerMotor; @@ -142,6 +143,7 @@ public class SwerveDrive extends SubsystemBase { updateOdometry(); // m_gyro.setFusedHeadingToCompass(); // m_gyro.setYawToCompass(); + RobotLogger.getInstance().put("poseMeters", m_poseEstimator.getEstimatedPosition()); super.periodic(); } diff --git a/src/main/java/frc4388/utility/RobotLogger.java b/src/main/java/frc4388/utility/RobotLogger.java new file mode 100644 index 0000000..fed25f0 --- /dev/null +++ b/src/main/java/frc4388/utility/RobotLogger.java @@ -0,0 +1,67 @@ +package frc4388.utility; + +import java.io.IOException; +import java.nio.file.Path; +import java.util.HashMap; +import java.util.Hashtable; +import java.util.List; +import java.util.Map; +import java.util.Objects; +import java.util.Map.Entry; +import java.util.stream.Collectors; + +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.trajectory.Trajectory; +import edu.wpi.first.math.trajectory.TrajectoryUtil; +import edu.wpi.first.wpilibj.Filesystem; + +public final class RobotLogger { + private static final int SAMPLE_BASE = 15_000; // ms of sampling + private static final int SAMPLE_RATE = 20; // ms between samples + + private static RobotLogger instance = null; + + public static RobotLogger getInstance() { + return Objects.requireNonNullElseGet(instance, () -> instance = new RobotLogger()); + } + + private static long getTime() { + return RobotTime.getInstance().m_robotTime; + } + + private RobotLogger() { + data = new HashMap<>(); + } + + private final Map> data; + private boolean enabled = false; + + public void setEnabled(boolean value) { + enabled = value; + } + + public void put(String key, Object value) { + if (enabled) + data.compute(key, (k, v) -> { + v = v == null ? new Hashtable<>(SAMPLE_BASE / SAMPLE_RATE, 1) : v; + v.put(getTime(), value); + return v; + }); + } + + public void exportPath() throws IOException { + List states = data.get("poseMeters").entrySet().stream().map(entry -> { + double timeSeconds = entry.getKey(); + double velocityMetersPerSecond = 0; + double accelerationMetersPerSecondSq = 0; + Pose2d poseMeters = (Pose2d) entry.getValue(); + double curvatureRadPerMeter = 0; + return new Trajectory.State(timeSeconds, velocityMetersPerSecond, accelerationMetersPerSecondSq, poseMeters, curvatureRadPerMeter); + }).collect(Collectors.toUnmodifiableList()); + String pathPath = "paths/" + System.nanoTime() + ".wpilib.json"; + Path outputPath = Filesystem.getDeployDirectory().toPath().resolve(pathPath); + outputPath.toFile().createNewFile(); + TrajectoryUtil.toPathweaverJson(new Trajectory(states), outputPath); + } +} From 93a72b6b87481ac469cac71f2ee9182439a94aee Mon Sep 17 00:00:00 2001 From: Abhishrek05 <90010729+Abhishrek05@users.noreply.github.com> Date: Tue, 25 Jan 2022 18:57:28 -0700 Subject: [PATCH 038/151] debugged things --- .../frc4388/robot/subsystems/BoomBoom.java | 4 +- .../java/frc4388/robot/subsystems/Hood.java | 3 +- vendordeps/REVLib.json | 73 +++++++++++++++++++ 3 files changed, 76 insertions(+), 4 deletions(-) create mode 100644 vendordeps/REVLib.json diff --git a/src/main/java/frc4388/robot/subsystems/BoomBoom.java b/src/main/java/frc4388/robot/subsystems/BoomBoom.java index 8a7a485..1e51ef1 100644 --- a/src/main/java/frc4388/robot/subsystems/BoomBoom.java +++ b/src/main/java/frc4388/robot/subsystems/BoomBoom.java @@ -8,7 +8,7 @@ import com.ctre.phoenix.motorcontrol.NeutralMode; import com.ctre.phoenix.motorcontrol.TalonFXControlMode; import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; -import edu.wpi.first.wpilibj.SmartDashboard.SmartDashboard; +import edu.wpi.first.wpilibj.smartdashboard.*; import edu.wpi.first.math.controller.BangBangController; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc4388.robot.Constants.ShooterConstants; @@ -121,7 +121,7 @@ public void setShooterGains() { public void runDrumShooterVelocityPID(double targetVel) { m_shooterFalconLeft.set(TalonFXControlMode.Velocity, targetVel); //Init m_shooterFalconRight.follow(m_shooterFalconLeft); - * // New BoomBoom controller stuff + // New BoomBoom controller stuff BangBangController controller = new BangBangController(); //Controls a motor with the output of the BangBang controller //Controls a motor with the output of the BangBang conroller and a feedforward diff --git a/src/main/java/frc4388/robot/subsystems/Hood.java b/src/main/java/frc4388/robot/subsystems/Hood.java index 04b2348..19ab8f3 100644 --- a/src/main/java/frc4388/robot/subsystems/Hood.java +++ b/src/main/java/frc4388/robot/subsystems/Hood.java @@ -3,7 +3,6 @@ // the WPILib BSD license file in the root directory of this project. package frc4388.robot.subsystems; -import com.revrobotics.CANDigitalInput; import com.revrobotics.CANEncoder; import com.revrobotics.CANPIDController; import com.revrobotics.CANSparkMax; @@ -19,7 +18,7 @@ import frc4388.robot.Constants.ShooterConstants; import frc4388.utility.Gains; public class Hood extends SubsystemBase { - public Shooter m_shooterSubsystem; + public BoomBoom m_shooterSubsystem; public CANSparkMax m_angleAdjustMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless); diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib.json new file mode 100644 index 0000000..fb19ccf --- /dev/null +++ b/vendordeps/REVLib.json @@ -0,0 +1,73 @@ +{ + "fileName": "REVLib.json", + "name": "REVLib", + "version": "2022.1.1", + "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", + "mavenUrls": [ + "https://maven.revrobotics.com/" + ], + "jsonUrl": "https://software-metadata.revrobotics.com/REVLib.json", + "javaDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-java", + "version": "2022.1.1" + } + ], + "jniDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-driver", + "version": "2022.1.1", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "windowsx86", + "linuxaarch64bionic", + "linuxx86-64", + "linuxathena", + "linuxraspbian", + "osxx86-64" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-cpp", + "version": "2022.1.1", + "libName": "REVLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "windowsx86", + "linuxaarch64bionic", + "linuxx86-64", + "linuxathena", + "linuxraspbian", + "osxx86-64" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-driver", + "version": "2022.1.1", + "libName": "REVLibDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "windowsx86", + "linuxaarch64bionic", + "linuxx86-64", + "linuxathena", + "linuxraspbian", + "osxx86-64" + ] + } + ] +} From f9142d40d84810991c6b29fd2b7eb2e29c6f6f63 Mon Sep 17 00:00:00 2001 From: Pushkar9236 <104144@psdschools.org> Date: Tue, 25 Jan 2022 19:37:37 -0700 Subject: [PATCH 039/151] fixed a few bugs --- src/main/java/frc4388/robot/Constants.java | 4 +- .../frc4388/robot/subsystems/BoomBoom.java | 2 +- .../java/frc4388/robot/subsystems/Turret.java | 50 ++++++++++++------- 3 files changed, 34 insertions(+), 22 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 2bb8bb7..a0cef9f 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -101,7 +101,7 @@ public final class Constants { public static final int TURRET_MOTOR_POS_AT_ZERO_ROT = 0; //""// public static final int TURRET_MOTOR_ROTS_PER_ROT = 0; //""// - } + /* Turret Constants */ //ID @@ -113,7 +113,7 @@ public final class Constants { public static final int SHOOTER_FALCON_BALLER_ID = 0; //unknown value, fix later// public static final int SHOOTER_FALCON_BALLER_FOLLOWER_ID = 0; //"// - public static final Gains DRUM_SHOOTER_GAINS = new Gains(0,0,0,0,0);//x,y,z,a,b are not actual values, fix later + public static final Gains DRUM_SHOOTER_GAINS = new Gains(0,0,0,0,0,0);//x,y,z,a,b are not actual values, fix later /* Hood Constants */ public static final int SHOOTER_ANGLE_ADJUST_ID = 10; public static final double HOOD_MOTOR_ROTS_PER_ROT = 1; //TODO: Find diff --git a/src/main/java/frc4388/robot/subsystems/BoomBoom.java b/src/main/java/frc4388/robot/subsystems/BoomBoom.java index 1e51ef1..1637844 100644 --- a/src/main/java/frc4388/robot/subsystems/BoomBoom.java +++ b/src/main/java/frc4388/robot/subsystems/BoomBoom.java @@ -41,7 +41,7 @@ public Turret m_turretSubsystem; public BoomBoom(){ //Testing purposes resetting gyros //resetGryoAngleADj(); -shooterTrims = new Trims(0,0); + } /** Creates a new BoomBoom. */ public BoomBoom(WPI_TalonFX shooterFalconLeft, WPI_TalonFX shooterFalconRight) { diff --git a/src/main/java/frc4388/robot/subsystems/Turret.java b/src/main/java/frc4388/robot/subsystems/Turret.java index 48a6556..de51bf0 100644 --- a/src/main/java/frc4388/robot/subsystems/Turret.java +++ b/src/main/java/frc4388/robot/subsystems/Turret.java @@ -4,57 +4,69 @@ package frc4388.robot.subsystems; +import java.lang.ModuleLayer.Controller; + +import javax.naming.ldap.Control; + +import com.ctre.phoenix.sensors.CANCoder; + +import edu.wpi.first.util.sendable.Sendable; import edu.wpi.first.wpilibj.drive.RobotDriveBase.MotorType; +import edu.wpi.first.wpilibj.interfaces.Gyro; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc4388.robot.Constants.ShooterConstants; import frc4388.utility.Gains; -public class Turret extends SubsystemBase { +public class Turret extends SubsystemBase { + private static final String turretMotor = null; /** Creates a new Turret. */ public BoomBoom m_boomBoomSubsystem; public SwerveDrive m_sDriveSubsystem; - public CAnsparkMax m_boomBoomRotateMotor = new CANSparkMax(ShooterConstants.SHOOTER_ROTATE_ID, MotorType.kBrushless); + public CANSparkMax m_boomBoomRotateMotor = new CANSparkMax(ShooterConstants.SHOOTER_ROTATE_ID, MotorType.kBrushless); public static Gains m_shooterTGains = ShooterConstants.SHOOTER_TURRET_GAINS; CANDigitalInput m_boomBoomRightLimit, m_boomBoomLeftLimit; - public GyroBase m_turretGyro; + public Gyro m_turretGyro; public double m_targetDistance = 0; public boolean m_isAimReady = false; - CANPIDController m_boomBoomRotatePIDController = m_boomBoomRotateMotor.getPIDController(); - public CANEncoder m_boomBoomRotateEncoder = m_shooterRotateMotor.getEncoder(); - - public - public CANSparkMax m_turretMotor; - public boolean m_isAimReady; - public double m_targetDistance; + Controller m_boomBoomRotatePIDController = m_boomBoomRotateMotor.getPIDController(); + public CANCoder m_boomBoomRotateEncoder = m_boomBoomRotateMotor.getEncoder(); + + //Variables - public Turret() { + public Turret() { + Object IdleMode; m_boomBoomRotateMotor.setIdleMode(IdleMode.kBrake); - + boolean enableLimitSwitch = true; m_turretGyro = getGyroInterface(); m_boomBoomLeftLimit = m_boomBoomRotateMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen); m_boomBoomRightLimit = m_boomBoomRotateMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyOpen); - m_boomBoomRightLimit.enableLimitSwitch(true); - m_boomBoomLeftLimit.enableLimitSwitch(true); + m_boomBoomRightLimit.enableLimitSwitch; + m_boomBoomLeftLimit.enableLimitSwitch; m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kForward, false); m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kReverse, true); m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.TURRET_RIGHT_SOFT_LIMIT); + boolean setInverted = false; + m_boomBoomRotateMotor.setInverted; + Object turretMotor; + Object m_turretMotor = turretMotor; + } - m_boomBoomRotateMotor.setInverted(false); - m_turretMotor = turretMotor; + private Gyro getGyroInterface() { + return null; } @Override public void periodic() { SmartDashboard.putNumber("Turret Angle Raw", getboomBoomRotatePosition()); - SmartDashboard.putData("Turret Angle", m_turretGyro); + SmartDashboard.putData("Turret Angle", (Sendable) m_turretGyro); SmartDashboard.putBoolean("Turret Aimed", m_isAimReady); // This method will be called once per scheduler run @@ -73,7 +85,7 @@ public class Turret extends SubsystemBase { m_boomBoomRotatePIDController.setP(m_shooterTGains.m_kP); m_boomBoomRotatePIDController.setI(m_shooterTGains.m_kI); m_boomBoomRotatePIDController.setD(m_shooterTGains.m_kD); - m_boomBoomRotatePIDController.setFF(m_shooterTGains.m_kF); + m_boomBoomRotatePIDController.setF(m_shooterTGains.m_kF); m_boomBoomRotatePIDController.setIZone(m_shooterTGains.m_kIzone); m_boomBoomRotatePIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterTGains.m_kPeakOutput); @@ -98,7 +110,7 @@ public class Turret extends SubsystemBase { public void turnWithJoystick (double input) { - m_turretMotor.set(input); + turretMotor.set(input); } From 1e7cbc3515876e4eb045cf11e95639f30abeae22 Mon Sep 17 00:00:00 2001 From: Ryan Manley Date: Tue, 25 Jan 2022 19:52:04 -0700 Subject: [PATCH 040/151] Drivetrain testing --- .SysId/sysid.json | 10 +++++ config.json | 42 +++++++++++++++++++ src/main/java/frc4388/robot/Constants.java | 2 +- src/main/java/frc4388/robot/RobotMap.java | 48 +++++++++++----------- 4 files changed, 77 insertions(+), 25 deletions(-) create mode 100644 .SysId/sysid.json create mode 100644 config.json diff --git a/.SysId/sysid.json b/.SysId/sysid.json new file mode 100644 index 0000000..8282f41 --- /dev/null +++ b/.SysId/sysid.json @@ -0,0 +1,10 @@ +{ + "SysId": { + "Analysis Type": "Drivetrain", + "NetworkTables Settings": { + "serverTeam": "4388" + }, + "mode": "Client", + "serverTeam": "4388" + } +} diff --git a/config.json b/config.json new file mode 100644 index 0000000..6b5f388 --- /dev/null +++ b/config.json @@ -0,0 +1,42 @@ +{ + "counts per rotation": 2048.0, + "encoder type": "CANCoder", + "encoding": false, + "gearing denominator": 1.0, + "gearing numerator": 1.0, + "gyro": "Pigeon", + "gyro ctor": "1", + "is drivetrain": true, + "motor controllers": [ + "TalonFX", + "TalonFX" + ], + "number of samples per average": 1, + "primary encoder inverted": false, + "primary encoder ports": [ + 10, + 1 + ], + "primary motor ports": [ + 3, + 7 + ], + "primary motors inverted": [ + false, + false + ], + "secondary encoder inverted": false, + "secondary encoder ports": [ + 2, + 11 + ], + "secondary motor ports": [ + 5, + 9 + ], + "secondary motors inverted": [ + false, + false + ], + "velocity measurement period": 100 +} \ No newline at end of file diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 895032a..8fb0b65 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -63,7 +63,7 @@ public final class Constants { // swerve configuration public static final double NEUTRAL_DEADBAND = 0.04; - public static final double OPEN_LOOP_RAMP_RATE = 0.2; + public static final double OPEN_LOOP_RAMP_RATE = 0.4; public static final int REMOTE_0 = 0; // conversions diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java index fd84fef..adb77fd 100644 --- a/src/main/java/frc4388/robot/RobotMap.java +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -64,32 +64,32 @@ public class RobotMap { rightBackSteerMotor.configFactoryDefault(); rightBackWheelMotor.configFactoryDefault(); - // leftFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // leftFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // rightFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // rightFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // leftBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // leftBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // rightBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // rightBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // leftFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // leftFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // rightFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // rightFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // leftBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // leftBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // rightBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // rightBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // leftFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // leftFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // rightFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // rightFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // leftBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // leftBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // rightBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // rightBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); leftFrontSteerMotor.setNeutralMode(NeutralMode.Brake); leftFrontWheelMotor.setNeutralMode(NeutralMode.Coast); From 9ab312f84a7da4caaefb812e6a1b43f9f38ff1fa Mon Sep 17 00:00:00 2001 From: Pushkar9236 <104144@psdschools.org> Date: Tue, 25 Jan 2022 19:56:18 -0700 Subject: [PATCH 041/151] fixed a few bugs --- src/main/java/frc4388/robot/subsystems/BoomBoom.java | 6 ++++-- src/main/java/frc4388/robot/subsystems/Turret.java | 7 ++++--- 2 files changed, 8 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc4388/robot/subsystems/BoomBoom.java b/src/main/java/frc4388/robot/subsystems/BoomBoom.java index 1637844..6879b06 100644 --- a/src/main/java/frc4388/robot/subsystems/BoomBoom.java +++ b/src/main/java/frc4388/robot/subsystems/BoomBoom.java @@ -4,6 +4,8 @@ package frc4388.robot.subsystems; +import java.util.Base64.Encoder; + import com.ctre.phoenix.motorcontrol.NeutralMode; import com.ctre.phoenix.motorcontrol.TalonFXControlMode; import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; @@ -30,7 +32,7 @@ double input; public boolean m_isDrumReady = false; public double m_fireVel; -public Trims shooterTrims; + public Hood m_hoodSubsystem; public Turret m_turretSubsystem; @@ -126,7 +128,7 @@ public void setShooterGains() { //Controls a motor with the output of the BangBang controller //Controls a motor with the output of the BangBang conroller and a feedforward //Shrinks the feedforward slightly to avoid over speeding the shooter - m_shooterFalconLeft.set(controller.calculate(encoder.getRate(), targetVel) + 0.9 * feedforward.calculate(targetVel)); */ + m_shooterFalconLeft.set(controller.calculate(Encoder.getRate(), targetVel) + 0.9 * feedforward.calculate(targetVel); } diff --git a/src/main/java/frc4388/robot/subsystems/Turret.java b/src/main/java/frc4388/robot/subsystems/Turret.java index de51bf0..eba7f23 100644 --- a/src/main/java/frc4388/robot/subsystems/Turret.java +++ b/src/main/java/frc4388/robot/subsystems/Turret.java @@ -9,6 +9,7 @@ import java.lang.ModuleLayer.Controller; import javax.naming.ldap.Control; import com.ctre.phoenix.sensors.CANCoder; +import com.revrobotics.CANSparkMax.IdleMode; import edu.wpi.first.util.sendable.Sendable; import edu.wpi.first.wpilibj.drive.RobotDriveBase.MotorType; @@ -18,7 +19,7 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc4388.robot.Constants.ShooterConstants; import frc4388.utility.Gains; -public class Turret extends SubsystemBase { +public class Turret extends SubsystemBase { private static final String turretMotor = null; /** Creates a new Turret. */ public BoomBoom m_boomBoomSubsystem; @@ -38,9 +39,9 @@ public class Turret extends SubsystemBase { //Variables - public Turret() { + public Turret() { - Object IdleMode; + m_boomBoomRotateMotor.setIdleMode(IdleMode.kBrake); boolean enableLimitSwitch = true; m_turretGyro = getGyroInterface(); From b430549b3f806261ed3c279397274e7fe9bbaeea Mon Sep 17 00:00:00 2001 From: Abhishrek05 <90010729+Abhishrek05@users.noreply.github.com> Date: Tue, 25 Jan 2022 19:56:32 -0700 Subject: [PATCH 042/151] Trying to debug pushkar's errors --- src/main/java/frc4388/robot/subsystems/BoomBoom.java | 8 +++----- src/main/java/frc4388/robot/subsystems/Hood.java | 9 +++++++-- src/main/java/frc4388/robot/subsystems/Vision.java | 3 ++- 3 files changed, 12 insertions(+), 8 deletions(-) diff --git a/src/main/java/frc4388/robot/subsystems/BoomBoom.java b/src/main/java/frc4388/robot/subsystems/BoomBoom.java index 1637844..fc6d775 100644 --- a/src/main/java/frc4388/robot/subsystems/BoomBoom.java +++ b/src/main/java/frc4388/robot/subsystems/BoomBoom.java @@ -29,9 +29,7 @@ double input; public boolean m_isDrumReady = false; public double m_fireVel; - -public Trims shooterTrims; - +//public Trims shooterTrims; public Hood m_hoodSubsystem; public Turret m_turretSubsystem; @@ -41,7 +39,7 @@ public Turret m_turretSubsystem; public BoomBoom(){ //Testing purposes resetting gyros //resetGryoAngleADj(); - +//shooterTrims = new Trims(0,0); } /** Creates a new BoomBoom. */ public BoomBoom(WPI_TalonFX shooterFalconLeft, WPI_TalonFX shooterFalconRight) { @@ -126,7 +124,7 @@ public void setShooterGains() { //Controls a motor with the output of the BangBang controller //Controls a motor with the output of the BangBang conroller and a feedforward //Shrinks the feedforward slightly to avoid over speeding the shooter - m_shooterFalconLeft.set(controller.calculate(encoder.getRate(), targetVel) + 0.9 * feedforward.calculate(targetVel)); */ + m_shooterFalconLeft.set(controller.calculate(encoder.getRate(), targetVel) + 0.9 * feedforward.calculate(targetVel));; } diff --git a/src/main/java/frc4388/robot/subsystems/Hood.java b/src/main/java/frc4388/robot/subsystems/Hood.java index 19ab8f3..3969d4f 100644 --- a/src/main/java/frc4388/robot/subsystems/Hood.java +++ b/src/main/java/frc4388/robot/subsystems/Hood.java @@ -3,10 +3,12 @@ // the WPILib BSD license file in the root directory of this project. package frc4388.robot.subsystems; + import com.revrobotics.CANEncoder; import com.revrobotics.CANPIDController; import com.revrobotics.CANSparkMax; import com.revrobotics.ControlType; +import com.revrobotics.SparkMaxPIDController; import com.revrobotics.CANDigitalInput.LimitSwitchPolarity; import com.revrobotics.CANSparkMax.IdleMode; import com.revrobotics.CANSparkMax.SoftLimitDirection; @@ -23,11 +25,13 @@ public class Hood extends SubsystemBase { public CANSparkMax m_angleAdjustMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless); public static Gains m_angleGains = ShooterConstants.SHOOTER_ANGLE_GAINS; - - public CANPIDController m_angleAdjustPIDController = m_angleAdjustMotor.getPIDController(); public CANEncoder m_angleEncoder = m_angleAdjustMotor.getEncoder(); + public SparkMaxPIDController m_angleAdjustPIDController = m_angleAdjustMotor.getPIDController(); + public boolean m_isHoodReady = false; + +public double m_fireAngle; /** Creates a new Hood. */ public Hood() { @@ -56,6 +60,7 @@ public class Hood extends SubsystemBase { m_angleAdjustPIDController.setReference(targetAngle, ControlType.kPosition); } + public void runHood(double input) { m_angleAdjusterMotor.set(input); diff --git a/src/main/java/frc4388/robot/subsystems/Vision.java b/src/main/java/frc4388/robot/subsystems/Vision.java index 85ee3e6..f813959 100644 --- a/src/main/java/frc4388/robot/subsystems/Vision.java +++ b/src/main/java/frc4388/robot/subsystems/Vision.java @@ -9,6 +9,7 @@ import edu.wpi.first.networktables.NetworkTableInstance; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.networktables.NetworkTableEntry; import edu.wpi.first.wpilibj2.command.CommandBase; +import frc4388.robot.Constants.ShooterConstants; import frc4388.robot.Constants.VisionConstants; import frc4388.robot.subsystems.BoomBoom; import frc4388.robot.subsystems.Turret; @@ -35,7 +36,7 @@ public static double fireAngle; public double m_hoodTrim; public double m_turretTrim; - +public double m_fireAngle; public Vision(Turret aimSubsystem, BoomBoom boomBoom) { m_turret = aimSubsystem; m_boomBoom = boomBoom; From 0d9847133970aec4c5d1d4fe26f381bc4c085687 Mon Sep 17 00:00:00 2001 From: Abhishrek05 <90010729+Abhishrek05@users.noreply.github.com> Date: Wed, 26 Jan 2022 16:52:20 -0700 Subject: [PATCH 043/151] Finished Debugging Hood --- .../java/frc4388/robot/subsystems/Hood.java | 44 ++++++++++--------- 1 file changed, 23 insertions(+), 21 deletions(-) diff --git a/src/main/java/frc4388/robot/subsystems/Hood.java b/src/main/java/frc4388/robot/subsystems/Hood.java index 3969d4f..de78848 100644 --- a/src/main/java/frc4388/robot/subsystems/Hood.java +++ b/src/main/java/frc4388/robot/subsystems/Hood.java @@ -4,12 +4,11 @@ package frc4388.robot.subsystems; -import com.revrobotics.CANEncoder; -import com.revrobotics.CANPIDController; import com.revrobotics.CANSparkMax; -import com.revrobotics.ControlType; +import com.revrobotics.RelativeEncoder; import com.revrobotics.SparkMaxPIDController; -import com.revrobotics.CANDigitalInput.LimitSwitchPolarity; +import com.revrobotics.SparkMaxLimitSwitch; +import com.revrobotics.CANSparkMax.ControlType; import com.revrobotics.CANSparkMax.IdleMode; import com.revrobotics.CANSparkMax.SoftLimitDirection; import com.revrobotics.CANSparkMaxLowLevel.MotorType; @@ -22,25 +21,28 @@ import frc4388.utility.Gains; public class Hood extends SubsystemBase { public BoomBoom m_shooterSubsystem; - public CANSparkMax m_angleAdjustMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless); + public CANSparkMax m_angleAdjusterMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless); + public SparkMaxLimitSwitch m_hoodUpLimitSwitch; + public SparkMaxLimitSwitch m_hoodDownLimitSwitch; + public static Gains m_angleAdjusterGains = ShooterConstants.SHOOTER_ANGLE_GAINS; + public RelativeEncoder m_angleEncoder = m_angleAdjusterMotor.getEncoder(); + + public SparkMaxPIDController m_angleAdjusterPIDController = m_angleAdjusterMotor.getPIDController(); - public static Gains m_angleGains = ShooterConstants.SHOOTER_ANGLE_GAINS; - public CANEncoder m_angleEncoder = m_angleAdjustMotor.getEncoder(); - - public SparkMaxPIDController m_angleAdjustPIDController = m_angleAdjustMotor.getPIDController(); - - public boolean m_isHoodReady = false; + + //public boolean m_isHoodReady = false; public double m_fireAngle; + /** Creates a new Hood. */ public Hood() { - m_angleAdjusterMotor.setIdleMode(IdleMode.kBrake); + m_angleAdjusterMotor.setIdleMode(IdleMode.kBrake); - m_hoodUpLimit = m_angleAdjusterMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyOpen); - m_hoodDownLimit = m_angleAdjusterMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen); - m_hoodUpLimit.enableLimitSwitch(true); - m_hoodDownLimit.enableLimitSwitch(true); + m_hoodUpLimitSwitch = m_angleAdjusterMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen); + m_hoodDownLimitSwitch = m_angleAdjusterMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen); + m_hoodUpLimitSwitch.enableLimitSwitch(true); + m_hoodDownLimitSwitch.enableLimitSwitch(true); } @@ -51,14 +53,14 @@ public double m_fireAngle; public void runAngleAdjustPID(double targetAngle) { //Set PID Coefficients - m_angleAdjustPIDController.setP(m_angleAdjusterGains.m_kP); - m_angleAdjustPIDController.setI(m_angleAdjusterGains.m_kI); + m_angleAdjusterPIDController.setP(m_angleAdjusterGains.m_kP); + m_angleAdjusterPIDController.setI(m_angleAdjusterGains.m_kI); m_angleAdjusterPIDController.setD(m_angleAdjusterGains.m_kD); - m_angleAdjusterPIDController.setIZone(m_angleAdjustGains.m_IZone); - m_angleAdjusterPIDController.setFF(m_angleAdjustGains.m_kF); + m_angleAdjusterPIDController.setIZone(m_angleAdjusterGains.m_kIzone); + m_angleAdjusterPIDController.setFF(m_angleAdjusterGains.m_kF); m_angleAdjusterPIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_angleAdjusterGains.m_kPeakOutput); - m_angleAdjustPIDController.setReference(targetAngle, ControlType.kPosition); + m_angleAdjusterPIDController.setReference(targetAngle, ControlType.kPosition); } From 64e706cc17a7665a1c1dccb20aabef720d94c604 Mon Sep 17 00:00:00 2001 From: Pushkar9236 <104144@psdschools.org> Date: Wed, 26 Jan 2022 16:53:05 -0700 Subject: [PATCH 044/151] turret is debugged --- .../java/frc4388/robot/subsystems/Turret.java | 48 +++++++++---------- .../java/frc4388/robot/subsystems/Vision.java | 3 +- 2 files changed, 24 insertions(+), 27 deletions(-) diff --git a/src/main/java/frc4388/robot/subsystems/Turret.java b/src/main/java/frc4388/robot/subsystems/Turret.java index eba7f23..0202c6d 100644 --- a/src/main/java/frc4388/robot/subsystems/Turret.java +++ b/src/main/java/frc4388/robot/subsystems/Turret.java @@ -4,38 +4,42 @@ package frc4388.robot.subsystems; -import java.lang.ModuleLayer.Controller; -import javax.naming.ldap.Control; - -import com.ctre.phoenix.sensors.CANCoder; +import com.revrobotics.CANSparkMax.ControlType; import com.revrobotics.CANSparkMax.IdleMode; - +import com.revrobotics.CANSparkMax; +import com.revrobotics.RelativeEncoder; +import com.revrobotics.SparkMaxLimitSwitch; +import com.revrobotics.SparkMaxPIDController; +import com.revrobotics.CANSparkMaxLowLevel.MotorType; import edu.wpi.first.util.sendable.Sendable; -import edu.wpi.first.wpilibj.drive.RobotDriveBase.MotorType; import edu.wpi.first.wpilibj.interfaces.Gyro; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc4388.robot.Constants.ShooterConstants; import frc4388.utility.Gains; +import com.revrobotics.CANSparkMax.SoftLimitDirection; -public class Turret extends SubsystemBase { - private static final String turretMotor = null; + + + +public class Turret extends SubsystemBase { + /** Creates a new Turret. */ public BoomBoom m_boomBoomSubsystem; public SwerveDrive m_sDriveSubsystem; public CANSparkMax m_boomBoomRotateMotor = new CANSparkMax(ShooterConstants.SHOOTER_ROTATE_ID, MotorType.kBrushless); public static Gains m_shooterTGains = ShooterConstants.SHOOTER_TURRET_GAINS; - CANDigitalInput m_boomBoomRightLimit, m_boomBoomLeftLimit; + SparkMaxLimitSwitch m_boomBoomRightLimit, m_boomBoomLeftLimit; public Gyro m_turretGyro; public double m_targetDistance = 0; public boolean m_isAimReady = false; - Controller m_boomBoomRotatePIDController = m_boomBoomRotateMotor.getPIDController(); - public CANCoder m_boomBoomRotateEncoder = m_boomBoomRotateMotor.getEncoder(); + SparkMaxPIDController m_boomBoomRotatePIDController = m_boomBoomRotateMotor.getPIDController(); + public RelativeEncoder m_boomBoomRotateEncoder = m_boomBoomRotateMotor.getEncoder(); //Variables @@ -43,20 +47,18 @@ public class Turret extends SubsystemBase { m_boomBoomRotateMotor.setIdleMode(IdleMode.kBrake); - boolean enableLimitSwitch = true; + m_turretGyro = getGyroInterface(); - m_boomBoomLeftLimit = m_boomBoomRotateMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen); - m_boomBoomRightLimit = m_boomBoomRotateMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyOpen); - m_boomBoomRightLimit.enableLimitSwitch; - m_boomBoomLeftLimit.enableLimitSwitch; + m_boomBoomLeftLimit = m_boomBoomRotateMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen); + m_boomBoomRightLimit = m_boomBoomRotateMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen); + m_boomBoomRightLimit.enableLimitSwitch(true); + m_boomBoomLeftLimit.enableLimitSwitch(true); m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kForward, false); m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kReverse, true); m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.TURRET_RIGHT_SOFT_LIMIT); - boolean setInverted = false; - m_boomBoomRotateMotor.setInverted; - Object turretMotor; - Object m_turretMotor = turretMotor; + m_boomBoomRotateMotor.setInverted(false); + } private Gyro getGyroInterface() { @@ -86,7 +88,7 @@ public class Turret extends SubsystemBase { m_boomBoomRotatePIDController.setP(m_shooterTGains.m_kP); m_boomBoomRotatePIDController.setI(m_shooterTGains.m_kI); m_boomBoomRotatePIDController.setD(m_shooterTGains.m_kD); - m_boomBoomRotatePIDController.setF(m_shooterTGains.m_kF); + m_boomBoomRotatePIDController.setFF(m_shooterTGains.m_kF); m_boomBoomRotatePIDController.setIZone(m_shooterTGains.m_kIzone); m_boomBoomRotatePIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterTGains.m_kPeakOutput); @@ -109,11 +111,7 @@ public class Turret extends SubsystemBase { return (m_boomBoomRotateEncoder.getPosition() - ShooterConstants.TURRET_MOTOR_POS_AT_ZERO_ROT) * 360/ShooterConstants. TURRET_MOTOR_ROTS_PER_ROT; } - public void turnWithJoystick (double input) - { - turretMotor.set(input); - } //function turnWithJoystick(double input) // motor.set(input) diff --git a/src/main/java/frc4388/robot/subsystems/Vision.java b/src/main/java/frc4388/robot/subsystems/Vision.java index 85ee3e6..604bdae 100644 --- a/src/main/java/frc4388/robot/subsystems/Vision.java +++ b/src/main/java/frc4388/robot/subsystems/Vision.java @@ -69,9 +69,8 @@ public void track(){ turnAmount = -0.1; } } - m_turret.turnWithJoystick(-turnAmount); - SmartDashboard.putNumber("Disance to Target", realDistance); + SmartDashboard.putNumber("Distance to Target", realDistance); //start CSV From 7f802f855e99192b95cc31de2d597d239236cf4f Mon Sep 17 00:00:00 2001 From: Pushkar9236 <104144@psdschools.org> Date: Thu, 27 Jan 2022 18:43:54 -0700 Subject: [PATCH 045/151] deleted a bunch --- .../java/frc4388/robot/subsystems/Vision.java | 36 ------------------- 1 file changed, 36 deletions(-) diff --git a/src/main/java/frc4388/robot/subsystems/Vision.java b/src/main/java/frc4388/robot/subsystems/Vision.java index 4a1e119..ffe41fa 100644 --- a/src/main/java/frc4388/robot/subsystems/Vision.java +++ b/src/main/java/frc4388/robot/subsystems/Vision.java @@ -97,39 +97,3 @@ public void checkFinished(){ } } -public void limeOff(){ - NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0); - NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(1); -} - - public void limeOn(){ - NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0); - NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(3); -} - - public void changePipeline(int pipelineId) - { - NetworkTableInstance.getDefault().getTable("limelight").getEntry("pipeline").setNumber(pipelineId); - } - - public double getV() - { - return NetworkTableInstance.getDefault().getTable("limelight").getEntry("tv").getDouble(0); - } - - public double getX() - { - return NetworkTableInstance.getDefault().getTable("limelight").getEntry("tx").getDouble(0); - } - - public double getY() - { - return NetworkTableInstance.getDefault().getTable("limelight").getEntry("ty").getDouble(0); - } - @Override - public void periodic(){ - //called once per scheduler run - } -} - - From bc17a10a8e3c1e611fca93427f3d7dac74badb5a Mon Sep 17 00:00:00 2001 From: Abhishrek05 <90010729+Abhishrek05@users.noreply.github.com> Date: Thu, 27 Jan 2022 18:45:05 -0700 Subject: [PATCH 046/151] Update RobotContainer.java --- src/main/java/frc4388/robot/RobotContainer.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index c117e60..67a7414 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -73,7 +73,7 @@ public class RobotContainer { m_robotTurret.setDefaultCommand( - new RunCommand(() -> m_robotTurret.aimToCenter())); + new RunCommand(() -> m_robotTurret.aimToCenter()));{} /** * Use this method to define your button->command mappings. Buttons can be * created by instantiating a {@link GenericHID} or one of its subclasses From 1e44637ae76a5349b170b6218dcbe8863edbedb2 Mon Sep 17 00:00:00 2001 From: Pushkar9236 <104144@psdschools.org> Date: Thu, 27 Jan 2022 18:46:36 -0700 Subject: [PATCH 047/151] Revert "deleted a bunch" This reverts commit 7f802f855e99192b95cc31de2d597d239236cf4f. --- .../java/frc4388/robot/subsystems/Vision.java | 36 +++++++++++++++++++ 1 file changed, 36 insertions(+) diff --git a/src/main/java/frc4388/robot/subsystems/Vision.java b/src/main/java/frc4388/robot/subsystems/Vision.java index ffe41fa..4a1e119 100644 --- a/src/main/java/frc4388/robot/subsystems/Vision.java +++ b/src/main/java/frc4388/robot/subsystems/Vision.java @@ -97,3 +97,39 @@ public void checkFinished(){ } } +public void limeOff(){ + NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0); + NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(1); +} + + public void limeOn(){ + NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0); + NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(3); +} + + public void changePipeline(int pipelineId) + { + NetworkTableInstance.getDefault().getTable("limelight").getEntry("pipeline").setNumber(pipelineId); + } + + public double getV() + { + return NetworkTableInstance.getDefault().getTable("limelight").getEntry("tv").getDouble(0); + } + + public double getX() + { + return NetworkTableInstance.getDefault().getTable("limelight").getEntry("tx").getDouble(0); + } + + public double getY() + { + return NetworkTableInstance.getDefault().getTable("limelight").getEntry("ty").getDouble(0); + } + @Override + public void periodic(){ + //called once per scheduler run + } +} + + From b786e10610f913c6ffa4bdae1d6ff38bfce42a3a Mon Sep 17 00:00:00 2001 From: Pushkar9236 <104144@psdschools.org> Date: Thu, 27 Jan 2022 18:48:27 -0700 Subject: [PATCH 048/151] unnecessary stuff commented out --- .../java/frc4388/robot/subsystems/Vision.java | 44 +++++++++---------- 1 file changed, 22 insertions(+), 22 deletions(-) diff --git a/src/main/java/frc4388/robot/subsystems/Vision.java b/src/main/java/frc4388/robot/subsystems/Vision.java index 4a1e119..310d70f 100644 --- a/src/main/java/frc4388/robot/subsystems/Vision.java +++ b/src/main/java/frc4388/robot/subsystems/Vision.java @@ -57,35 +57,35 @@ public void track(){ distance = (VisionConstants.TARGET_HEIGHT) / Math.tan((VisionConstants.LIME_ANGLE + yAngle) * (Math.PI / 180)); realDistance = (1.09 * distance) - 12.8; - if (target == 1.0) { //checks if target is in view - //aims left and right - turnAmount = ((xAngle / VisionConstants.FOV) * VisionConstants.TURN_P_VALUE); - if (Math.abs(xAngle) < VisionConstants.X_ANGLE_ERROR) { - turnAmount = 0; - } - else if (turnAmount > 0 && turnAmount < 0.1){ - turnAmount = 0.1; - } - else if (turnAmount < 0 && turnAmount > -0.1){ - turnAmount = -0.1; - } - } + // if (target == 1.0) { //checks if target is in view + // //aims left and right + // turnAmount = ((xAngle / VisionConstants.FOV) * VisionConstants.TURN_P_VALUE); + // if (Math.abs(xAngle) < VisionConstants.X_ANGLE_ERROR) { + // turnAmount = 0; + // } + // else if (turnAmount > 0 && turnAmount < 0.1){ + // turnAmount = 0.1; + // } + // else if (turnAmount < 0 && turnAmount > -0.1){ + // turnAmount = -0.1; + // } + // } SmartDashboard.putNumber("Distance to Target", realDistance); - //start CSV + // //start CSV - fireVel = m_boomBoom.m_shooterTable.getVelocity(realDistance); - fireAngle = m_boomBoom.m_shooterTable.getHood(realDistance); - //fire angle unknown so far - //end of CSV + // fireVel = m_boomBoom.m_shooterTable.getVelocity(realDistance); + // fireAngle = m_boomBoom.m_shooterTable.getHood(realDistance); + // //fire angle unknown so far + // //end of CSV - m_boomBoom.m_fireVel = fireVel; - m_hood.m_fireAngle = fireAngle; - m_turret.m_targetDistance = distance; + // m_boomBoom.m_fireVel = fireVel; + // m_hood.m_fireAngle = fireAngle; + // m_turret.m_targetDistance = distance; - checkFinished(); + // checkFinished(); } public void checkFinished(){ From 575fcc115551adf5617c53df05e56faf9de744ad Mon Sep 17 00:00:00 2001 From: aarav18 Date: Thu, 27 Jan 2022 18:58:22 -0700 Subject: [PATCH 049/151] smartdash pigeon tests (temporary) --- .../java/frc4388/robot/subsystems/SwerveDrive.java | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index fafc14c..7c7d32a 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -17,6 +17,7 @@ import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.math.kinematics.SwerveDriveKinematics; import edu.wpi.first.math.kinematics.SwerveModuleState; import edu.wpi.first.math.util.Units; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc4388.robot.RobotMap; import frc4388.robot.Constants.SwerveDriveConstants; @@ -140,6 +141,18 @@ public class SwerveDrive extends SubsystemBase { public void periodic() { //System.err.println(m_gyro.getFusedHeading() +" aaa"); updateOdometry(); + SmartDashboard.putNumber("Pigeon Absolute Compass Heading", m_gyro.getAbsoluteCompassHeading()); + SmartDashboard.putNumber("Pigeon Fused Heading", m_gyro.getFusedHeading()); + SmartDashboard.putNumber("Pigeon Yaw", m_gyro.getYaw()); + SmartDashboard.putNumber("Pigeon Get Angle", m_gyro.getAngle()); + SmartDashboard.putNumber("Pigeon Compass Heading", m_gyro.getCompassHeading()); + + // m_gyro.getAbsoluteCompassHeading(); + // m_gyro.getYaw(); + // m_gyro.getRotation2d(); + // m_gyro.getAngle(); + // m_gyro.getCompassHeading(); + // m_gyro.getFusedHeading(); // m_gyro.setFusedHeadingToCompass(); // m_gyro.setYawToCompass(); super.periodic(); From 9cfaa4011bd3ee699471407282a49dbbaa2fa926 Mon Sep 17 00:00:00 2001 From: Pushkar9236 <104144@psdschools.org> Date: Thu, 27 Jan 2022 19:04:37 -0700 Subject: [PATCH 050/151] trying out for testboard --- src/main/java/frc4388/robot/RobotContainer.java | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 67a7414..d72c42a 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -47,7 +47,7 @@ public class RobotContainer { private final BoomBoom m_robotBoomBoom = new BoomBoom(); private final Hood m_robotHood = new Hood(); private final Turret m_robotTurret = new Turret(); - private final Vision m_robotVison = new Vision(); + private final Vision m_robotVison = new Vision(m_robotTurret, m_robotBoomBoom); /* Controllers */ private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID); private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID); @@ -70,10 +70,14 @@ public class RobotContainer { //Turret default command + + m_robotTurret.setDefaultCommand( + new RunCommand(() -> m_robotTurret.runShooterWithInput(getOperatorController().getLeftXAxis()), m_robotTurret) + ); m_robotTurret.setDefaultCommand( - new RunCommand(() -> m_robotTurret.aimToCenter()));{} + new RunCommand(() -> m_robotTurret.aimToCenter())); /** * Use this method to define your button->command mappings. Buttons can be * created by instantiating a {@link GenericHID} or one of its subclasses From 26e54c1db73eaa11d0f97fd60f5c63439739bc96 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Thu, 27 Jan 2022 19:13:00 -0700 Subject: [PATCH 051/151] updated gradlerio version --- build.gradle | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/build.gradle b/build.gradle index c1f07ee..7e60634 100644 --- a/build.gradle +++ b/build.gradle @@ -2,7 +2,7 @@ import edu.wpi.first.gradlerio.deploy.roborio.RoboRIO plugins { id "java" - id "edu.wpi.first.GradleRIO" version "2022.1.1" + id "edu.wpi.first.GradleRIO" version "2022.2.1" } sourceCompatibility = JavaVersion.VERSION_11 From 6369870590e39874395d2a4f3aec856b74895821 Mon Sep 17 00:00:00 2001 From: Pushkar9236 <104144@psdschools.org> Date: Fri, 28 Jan 2022 17:05:28 -0700 Subject: [PATCH 052/151] fixed fedforward bug, or at least it looks like it --- src/main/java/frc4388/robot/subsystems/BoomBoom.java | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/src/main/java/frc4388/robot/subsystems/BoomBoom.java b/src/main/java/frc4388/robot/subsystems/BoomBoom.java index 531ffb3..6b745da 100644 --- a/src/main/java/frc4388/robot/subsystems/BoomBoom.java +++ b/src/main/java/frc4388/robot/subsystems/BoomBoom.java @@ -12,11 +12,13 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; import edu.wpi.first.wpilibj.smartdashboard.*; import edu.wpi.first.math.controller.BangBangController; +import edu.wpi.first.math.controller.SimpleMotorFeedforward; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc4388.robot.Constants.ShooterConstants; import frc4388.utility.ShooterTables; import frc4388.utility.Gains; import frc4388.utility.controller.IHandController; +import com.revrobotics.RelativeEncoder; public class BoomBoom extends SubsystemBase { public WPI_TalonFX m_shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_BALLER_ID); @@ -35,6 +37,12 @@ public double m_fireVel; public Hood m_hoodSubsystem; public Turret m_turretSubsystem; + + +SimpleMotorFeedforward feedforward = new SimpleMotorFeedforward(69, 42, 0); //get real values later + + + /* * Creates new BoomBoom subsystem, has drum shooter and angle adjuster */ @@ -42,6 +50,9 @@ public BoomBoom(){ //Testing purposes resetting gyros //resetGryoAngleADj(); //shooterTrims = new Trims(0,0); +feedforward.calculate(15, 20); // feedforward.calculate(velocity, acceleration); + + } /** Creates a new BoomBoom. */ public BoomBoom(WPI_TalonFX shooterFalconLeft, WPI_TalonFX shooterFalconRight) { @@ -60,6 +71,7 @@ public BoomBoom(){ m_shooterFalconLeft.configClosedLoopPeriod(0, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS); m_shooterFalconLeft.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS); + //RIGHT FALCON m_shooterFalconRight.configFactoryDefault(); m_shooterFalconRight.setNeutralMode(NeutralMode.Coast); From d2694e2b61dc1b692107f1f0d9e49049cc9a1879 Mon Sep 17 00:00:00 2001 From: Pushkar9236 <104144@psdschools.org> Date: Fri, 28 Jan 2022 17:08:13 -0700 Subject: [PATCH 053/151] haw --- src/main/java/frc4388/robot/subsystems/BoomBoom.java | 1 + 1 file changed, 1 insertion(+) diff --git a/src/main/java/frc4388/robot/subsystems/BoomBoom.java b/src/main/java/frc4388/robot/subsystems/BoomBoom.java index 6b745da..f2809c2 100644 --- a/src/main/java/frc4388/robot/subsystems/BoomBoom.java +++ b/src/main/java/frc4388/robot/subsystems/BoomBoom.java @@ -19,6 +19,7 @@ import frc4388.utility.ShooterTables; import frc4388.utility.Gains; import frc4388.utility.controller.IHandController; import com.revrobotics.RelativeEncoder; +import com.revrobotics.*; public class BoomBoom extends SubsystemBase { public WPI_TalonFX m_shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_BALLER_ID); From 4e497acab6fa83da65980a8159a81d49e7e9362a Mon Sep 17 00:00:00 2001 From: aarav18 Date: Fri, 28 Jan 2022 17:12:28 -0700 Subject: [PATCH 054/151] fixed bugs (still not working -_-) --- simgui-ds.json | 101 ++++++++++++++++++ simgui.json | 34 ++++++ src/main/java/frc4388/robot/Constants.java | 6 +- .../java/frc4388/robot/RobotContainer.java | 8 +- src/main/java/frc4388/robot/RobotMap.java | 4 +- .../frc4388/robot/subsystems/BoomBoom.java | 11 +- .../java/frc4388/robot/subsystems/Turret.java | 6 +- 7 files changed, 154 insertions(+), 16 deletions(-) create mode 100644 simgui-ds.json create mode 100644 simgui.json diff --git a/simgui-ds.json b/simgui-ds.json new file mode 100644 index 0000000..b16ea5c --- /dev/null +++ b/simgui-ds.json @@ -0,0 +1,101 @@ +{ + "keyboardJoysticks": [ + { + "axisConfig": [ + { + "decKey": 65, + "incKey": 68 + }, + { + "decKey": 87, + "incKey": 83 + }, + { + "decKey": 69, + "decayRate": 0.0, + "incKey": 82, + "keyRate": 0.009999999776482582 + } + ], + "axisCount": 3, + "buttonCount": 4, + "buttonKeys": [ + 90, + 88, + 67, + 86 + ], + "povConfig": [ + { + "key0": 328, + "key135": 323, + "key180": 322, + "key225": 321, + "key270": 324, + "key315": 327, + "key45": 329, + "key90": 326 + } + ], + "povCount": 1 + }, + { + "axisConfig": [ + { + "decKey": 74, + "incKey": 76 + }, + { + "decKey": 73, + "incKey": 75 + } + ], + "axisCount": 2, + "buttonCount": 4, + "buttonKeys": [ + 77, + 44, + 46, + 47 + ], + "povCount": 0 + }, + { + "axisConfig": [ + { + "decKey": 263, + "incKey": 262 + }, + { + "decKey": 265, + "incKey": 264 + } + ], + "axisCount": 2, + "buttonCount": 6, + "buttonKeys": [ + 260, + 268, + 266, + 261, + 269, + 267 + ], + "povCount": 0 + }, + { + "axisCount": 0, + "buttonCount": 0, + "povCount": 0 + } + ], + "robotJoysticks": [ + { + "useGamepad": true + }, + { + "guid": "78696e70757401000000000000000000", + "useGamepad": true + } + ] +} diff --git a/simgui.json b/simgui.json new file mode 100644 index 0000000..72aab8f --- /dev/null +++ b/simgui.json @@ -0,0 +1,34 @@ +{ + "HALProvider": { + "Other Devices": { + "SPARK MAX [10]": { + "header": { + "open": true + } + }, + "SPARK MAX [30]": { + "header": { + "open": true + } + }, + "SPARK MAX [31]": { + "header": { + "open": true + } + } + } + }, + "NTProvider": { + "types": { + "/FMSInfo": "FMSInfo", + "/LiveWindow/BoomBoom": "Subsystem", + "/LiveWindow/Hood": "Subsystem", + "/LiveWindow/LED": "Subsystem", + "/LiveWindow/SwerveDrive": "Subsystem", + "/LiveWindow/SwerveModule": "Subsystem", + "/LiveWindow/Turret": "Subsystem", + "/LiveWindow/Ungrouped/Scheduler": "Scheduler", + "/LiveWindow/Vision": "Subsystem" + } + } +} diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index a0cef9f..f51492d 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -94,9 +94,9 @@ public final class Constants { public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG = new SupplyCurrentLimitConfiguration(true, 60, 40, 0.5); public static final int SHOOTER_FALCON_LEFT_CAN_ID = 0; public static final int SHOOTER_FALCON_RIGHT_CAN_ID = 0; - public static final int SHOOTER_ROTATE_ID = 0; //"unknown value" //figure out later + public static final int SHOOTER_ROTATE_ID = 31; //"unknown value" //figure out later public static final int TURRET_RIGHT_SOFT_LIMIT = 0; //""// - public static final int TURRET_SPEED_MULTIPLIER = 0; //""// + public static final double TURRET_SPEED_MULTIPLIER = 0.1d; //""// public static final int DEGREES_PER_ROT = 0; //""// public static final int TURRET_MOTOR_POS_AT_ZERO_ROT = 0; //""// public static final int TURRET_MOTOR_ROTS_PER_ROT = 0; //""// @@ -105,7 +105,7 @@ public final class Constants { /* Turret Constants */ //ID - public static final int TURRET_MOTOR_CAN_ID = 0; + public static final int TURRET_MOTOR_CAN_ID = 30; 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; diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index d72c42a..8dee4e3 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -73,11 +73,11 @@ public class RobotContainer { m_robotTurret.setDefaultCommand( new RunCommand(() -> m_robotTurret.runShooterWithInput(getOperatorController().getLeftXAxis()), m_robotTurret) - ); - + ); + // m_robotTurret.setDefaultCommand( + // new RunCommand(() -> m_robotTurret.aimToCenter())); + } - m_robotTurret.setDefaultCommand( - new RunCommand(() -> m_robotTurret.aimToCenter())); /** * Use this method to define your button->command mappings. Buttons can be * created by instantiating a {@link GenericHID} or one of its subclasses diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java index d713cbe..a1ee217 100644 --- a/src/main/java/frc4388/robot/RobotMap.java +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -6,6 +6,8 @@ package frc4388.robot; import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; import com.ctre.phoenix.sensors.CANCoder; +import com.revrobotics.CANSparkMax; +import com.revrobotics.CANSparkMaxLowLevel.MotorType; import edu.wpi.first.wpilibj.motorcontrol.Spark; import frc4388.robot.Constants.LEDConstants; @@ -97,7 +99,7 @@ public class RobotMap { /*Boom Boom Subsystem*/ public final WPI_TalonFX shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_LEFT_CAN_ID); public final WPI_TalonFX shooterFalconRight = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_RIGHT_CAN_ID); - public final CANSparkMax shooterTurret = new CANSparkMax(ShooterConstants.SHOOTER_TURRET_CAN_ID); + public final CANSparkMax shooterTurret = new CANSparkMax(ShooterConstants.TURRET_MOTOR_CAN_ID, MotorType.kBrushless); //Create motor CANSparkMax void ConfigureShooterMotorControllers() { diff --git a/src/main/java/frc4388/robot/subsystems/BoomBoom.java b/src/main/java/frc4388/robot/subsystems/BoomBoom.java index 531ffb3..df6ca93 100644 --- a/src/main/java/frc4388/robot/subsystems/BoomBoom.java +++ b/src/main/java/frc4388/robot/subsystems/BoomBoom.java @@ -4,6 +4,7 @@ package frc4388.robot.subsystems; +import java.io.Console; import java.util.Base64.Encoder; import com.ctre.phoenix.motorcontrol.NeutralMode; @@ -25,6 +26,7 @@ public ShooterTables m_shooterTable; public static Gains m_drumShooterGains = ShooterConstants.DRUM_SHOOTER_GAINS; public static BoomBoom m_boomBoom; public static IHandController m_driverController; //not sure if driverController in 2022 = m_controller in 2020 +BangBangController m_controller = new BangBangController(); double velP; double input; @@ -122,12 +124,11 @@ public void setShooterGains() { m_shooterFalconLeft.set(TalonFXControlMode.Velocity, targetVel); //Init m_shooterFalconRight.follow(m_shooterFalconLeft); // New BoomBoom controller stuff - BangBangController controller = new BangBangController(); //Controls a motor with the output of the BangBang controller //Controls a motor with the output of the BangBang conroller and a feedforward //Shrinks the feedforward slightly to avoid over speeding the shooter - m_shooterFalconLeft.set(controller.calculate(encoder.getRate(), targetVel) + 0.9 * feedforward.calculate(targetVel)); - - + // m_shooterFalconLeft.set(controller.calculate(encoder.getRate(), targetVel) + 0.9 * feedforward.calculate(targetVel)); + m_shooterFalconLeft.set(m_controller.calculate(m_shooterFalconLeft.get(), targetVel)); + System.err.println(targetVel); } -} +} \ No newline at end of file diff --git a/src/main/java/frc4388/robot/subsystems/Turret.java b/src/main/java/frc4388/robot/subsystems/Turret.java index 0202c6d..0528c73 100644 --- a/src/main/java/frc4388/robot/subsystems/Turret.java +++ b/src/main/java/frc4388/robot/subsystems/Turret.java @@ -67,11 +67,11 @@ public class Turret extends SubsystemBase { @Override public void periodic() { - SmartDashboard.putNumber("Turret Angle Raw", getboomBoomRotatePosition()); + // SmartDashboard.putNumber("Turret Angle Raw", getboomBoomRotatePosition()); - SmartDashboard.putData("Turret Angle", (Sendable) m_turretGyro); + // SmartDashboard.putData("Turret Angle", (Sendable) m_turretGyro); - SmartDashboard.putBoolean("Turret Aimed", m_isAimReady); + // SmartDashboard.putBoolean("Turret Aimed", m_isAimReady); // This method will be called once per scheduler run } From debdb1c087bf69cef0d48d11b8295d7cf5cc247a Mon Sep 17 00:00:00 2001 From: Abhishrek05 <90010729+Abhishrek05@users.noreply.github.com> Date: Fri, 28 Jan 2022 17:17:24 -0700 Subject: [PATCH 055/151] added a constant --- src/main/java/frc4388/robot/Constants.java | 2 +- .../java/frc4388/robot/subsystems/BoomBoom.java | 14 +------------- 2 files changed, 2 insertions(+), 14 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index a0cef9f..1b9b7a8 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -100,7 +100,7 @@ public final class Constants { public static final int DEGREES_PER_ROT = 0; //""// public static final int TURRET_MOTOR_POS_AT_ZERO_ROT = 0; //""// public static final int TURRET_MOTOR_ROTS_PER_ROT = 0; //""// - + public static final double ENCODER_TICKS_PER_REV = 2048; //""// /* Turret Constants */ diff --git a/src/main/java/frc4388/robot/subsystems/BoomBoom.java b/src/main/java/frc4388/robot/subsystems/BoomBoom.java index f2809c2..005abdc 100644 --- a/src/main/java/frc4388/robot/subsystems/BoomBoom.java +++ b/src/main/java/frc4388/robot/subsystems/BoomBoom.java @@ -5,21 +5,17 @@ package frc4388.robot.subsystems; import java.util.Base64.Encoder; - import com.ctre.phoenix.motorcontrol.NeutralMode; import com.ctre.phoenix.motorcontrol.TalonFXControlMode; import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; import edu.wpi.first.wpilibj.smartdashboard.*; import edu.wpi.first.math.controller.BangBangController; -import edu.wpi.first.math.controller.SimpleMotorFeedforward; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc4388.robot.Constants.ShooterConstants; import frc4388.utility.ShooterTables; import frc4388.utility.Gains; import frc4388.utility.controller.IHandController; -import com.revrobotics.RelativeEncoder; -import com.revrobotics.*; public class BoomBoom extends SubsystemBase { public WPI_TalonFX m_shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_BALLER_ID); @@ -40,8 +36,6 @@ public Turret m_turretSubsystem; -SimpleMotorFeedforward feedforward = new SimpleMotorFeedforward(69, 42, 0); //get real values later - /* @@ -51,15 +45,11 @@ public BoomBoom(){ //Testing purposes resetting gyros //resetGryoAngleADj(); //shooterTrims = new Trims(0,0); -feedforward.calculate(15, 20); // feedforward.calculate(velocity, acceleration); - - } /** Creates a new BoomBoom. */ public BoomBoom(WPI_TalonFX shooterFalconLeft, WPI_TalonFX shooterFalconRight) { m_shooterFalconLeft = shooterFalconLeft; m_shooterFalconRight = shooterFalconRight; - int closedLoopTimeMs = 1; //LEFT FALCON m_shooterFalconLeft.configFactoryDefault(); @@ -72,7 +62,6 @@ feedforward.calculate(15, 20); // feedforward.calculate(velocity, acceleration); m_shooterFalconLeft.configClosedLoopPeriod(0, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS); m_shooterFalconLeft.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS); - //RIGHT FALCON m_shooterFalconRight.configFactoryDefault(); m_shooterFalconRight.setNeutralMode(NeutralMode.Coast); @@ -139,8 +128,7 @@ public void setShooterGains() { //Controls a motor with the output of the BangBang controller //Controls a motor with the output of the BangBang conroller and a feedforward //Shrinks the feedforward slightly to avoid over speeding the shooter - m_shooterFalconLeft.set(controller.calculate(encoder.getRate(), targetVel) + 0.9 * feedforward.calculate(targetVel)); - + m_shooterFalconLeft.set(controller.calculate(Encoder.getRate(), targetVel) + 0.9 * feedforward.calculate(targetVel)); } } From 71a6afd240538c6a650d65aa08f41d5e0c6386b8 Mon Sep 17 00:00:00 2001 From: Pushkar9236 <104144@psdschools.org> Date: Fri, 28 Jan 2022 17:20:58 -0700 Subject: [PATCH 056/151] the encoder was fixed --- src/main/java/frc4388/robot/subsystems/BoomBoom.java | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc4388/robot/subsystems/BoomBoom.java b/src/main/java/frc4388/robot/subsystems/BoomBoom.java index f2809c2..2fa28d1 100644 --- a/src/main/java/frc4388/robot/subsystems/BoomBoom.java +++ b/src/main/java/frc4388/robot/subsystems/BoomBoom.java @@ -19,7 +19,6 @@ import frc4388.utility.ShooterTables; import frc4388.utility.Gains; import frc4388.utility.controller.IHandController; import com.revrobotics.RelativeEncoder; -import com.revrobotics.*; public class BoomBoom extends SubsystemBase { public WPI_TalonFX m_shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_BALLER_ID); @@ -71,6 +70,7 @@ feedforward.calculate(15, 20); // feedforward.calculate(velocity, acceleration); m_shooterFalconLeft.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS); m_shooterFalconLeft.configClosedLoopPeriod(0, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS); m_shooterFalconLeft.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS); + //RIGHT FALCON @@ -139,8 +139,8 @@ public void setShooterGains() { //Controls a motor with the output of the BangBang controller //Controls a motor with the output of the BangBang conroller and a feedforward //Shrinks the feedforward slightly to avoid over speeding the shooter - m_shooterFalconLeft.set(controller.calculate(encoder.getRate(), targetVel) + 0.9 * feedforward.calculate(targetVel)); - + m_shooterFalconLeft.set(controller.calculate(m_shooterFalconLeft.getSelectedSensorVelocity(), targetVel) + 0.9 * feedforward.calculate(targetVel)); + } } From f7c1519c91c99952a2e107affd773a6986ba80fe Mon Sep 17 00:00:00 2001 From: aarav18 Date: Fri, 28 Jan 2022 17:59:22 -0700 Subject: [PATCH 057/151] some tests, mosts are commented --- .../frc4388/robot/subsystems/SwerveDrive.java | 34 +++---------------- .../robot/subsystems/SwerveModule.java | 1 - .../utility/controller/XboxController.java | 3 +- 3 files changed, 6 insertions(+), 32 deletions(-) diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index 7c7d32a..a66967c 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -4,8 +4,7 @@ package frc4388.robot.subsystems; -import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; -import com.ctre.phoenix.sensors.CANCoder; +import com.ctre.phoenix.sensors.PigeonIMU_StatusFrame; import com.ctre.phoenix.sensors.WPI_PigeonIMU; import edu.wpi.first.math.VecBuilder; @@ -19,23 +18,10 @@ import edu.wpi.first.math.kinematics.SwerveModuleState; import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; -import frc4388.robot.RobotMap; import frc4388.robot.Constants.SwerveDriveConstants; import frc4388.utility.Gains; public class SwerveDrive extends SubsystemBase { - // private WPI_TalonFX m_leftFrontSteerMotor; - // private WPI_TalonFX m_leftFrontWheelMotor; - // private WPI_TalonFX m_rightFrontSteerMotor; - // private WPI_TalonFX m_rightFrontWheelMotor; - // private WPI_TalonFX m_leftBackSteerMotor; - // private WPI_TalonFX m_leftBackWheelMotor; - // private WPI_TalonFX m_rightBackSteerMotor; - // private WPI_TalonFX m_rightBackWheelMotor; - // private CANCoder m_leftFrontEncoder; - // private CANCoder m_rightFrontEncoder; - // private CANCoder m_leftBackEncoder; - // private CANCoder m_rightBackEncoder; private SwerveModule m_leftFront; private SwerveModule m_leftBack; @@ -47,14 +33,10 @@ public class SwerveDrive extends SubsystemBase { public static Gains m_swerveGains = SwerveDriveConstants.SWERVE_GAINS; - Translation2d m_frontLeftLocation = new Translation2d(Units.inchesToMeters(halfHeight), Units.inchesToMeters(halfWidth)); Translation2d m_frontRightLocation = new Translation2d(Units.inchesToMeters(halfHeight), Units.inchesToMeters(-halfWidth)); Translation2d m_backLeftLocation = new Translation2d(Units.inchesToMeters(-halfHeight), Units.inchesToMeters(halfWidth)); Translation2d m_backRightLocation = new Translation2d(Units.inchesToMeters(-halfHeight), Units.inchesToMeters(-halfWidth)); - - - // setSwerveGains(); private SwerveDriveKinematics m_kinematics = new SwerveDriveKinematics(m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation); @@ -141,20 +123,14 @@ public class SwerveDrive extends SubsystemBase { public void periodic() { //System.err.println(m_gyro.getFusedHeading() +" aaa"); updateOdometry(); - SmartDashboard.putNumber("Pigeon Absolute Compass Heading", m_gyro.getAbsoluteCompassHeading()); SmartDashboard.putNumber("Pigeon Fused Heading", m_gyro.getFusedHeading()); SmartDashboard.putNumber("Pigeon Yaw", m_gyro.getYaw()); SmartDashboard.putNumber("Pigeon Get Angle", m_gyro.getAngle()); - SmartDashboard.putNumber("Pigeon Compass Heading", m_gyro.getCompassHeading()); - // m_gyro.getAbsoluteCompassHeading(); - // m_gyro.getYaw(); - // m_gyro.getRotation2d(); - // m_gyro.getAngle(); - // m_gyro.getCompassHeading(); - // m_gyro.getFusedHeading(); - // m_gyro.setFusedHeadingToCompass(); - // m_gyro.setYawToCompass(); + // m_gyro.setStatusFramePeriod(PigeonIMU_StatusFrame.CondStatus_9_SixDeg_YPR, 1, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // m_gyro.setStatusFramePeriod(PigeonIMU_StatusFrame.CondStatus_6_SensorFusion, 1, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // m_gyro.setStatusFramePeriod(PigeonIMU_StatusFrame.CondStatus_1_General, 1, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + super.periodic(); } diff --git a/src/main/java/frc4388/robot/subsystems/SwerveModule.java b/src/main/java/frc4388/robot/subsystems/SwerveModule.java index 5a6a64d..1e63336 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveModule.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveModule.java @@ -15,7 +15,6 @@ import com.ctre.phoenix.sensors.CANCoderConfiguration; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.kinematics.SwerveModuleState; import edu.wpi.first.math.util.Units; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc4388.robot.Constants.SwerveDriveConstants; import frc4388.utility.Gains; diff --git a/src/main/java/frc4388/utility/controller/XboxController.java b/src/main/java/frc4388/utility/controller/XboxController.java index 51c0d4e..e495e9c 100644 --- a/src/main/java/frc4388/utility/controller/XboxController.java +++ b/src/main/java/frc4388/utility/controller/XboxController.java @@ -1,7 +1,6 @@ package frc4388.utility.controller; import edu.wpi.first.wpilibj.Joystick; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; /** * This is a wrapper for the WPILib Joystick class that represents an XBox @@ -63,7 +62,7 @@ public class XboxController implements IHandController ret[0] = x / mag; ret[1] = y / mag; } - double [] to_smart_dashboard = {square_mag, x, y, ret[0], ret[1]}; + //double [] to_smart_dashboard = {square_mag, x, y, ret[0], ret[1]}; //SmartDashboard.putNumberArray("Input", to_smart_dashboard); return ret; } From 6d53d0431a96bd0885370895de4544dd538a5e60 Mon Sep 17 00:00:00 2001 From: Pushkar9236 <104144@psdschools.org> Date: Fri, 28 Jan 2022 19:05:58 -0700 Subject: [PATCH 058/151] Revert "Merge branch 'Shooter' of https://github.com/Team4388/2022NoWayHome into Shooter" This reverts commit 82297e5a164ed98b057bbdb7f690278d14f6cc2c, reversing changes made to 71a6afd240538c6a650d65aa08f41d5e0c6386b8. --- simgui-ds.json | 101 ------------------ simgui.json | 34 ------ src/main/java/frc4388/robot/Constants.java | 6 +- .../java/frc4388/robot/RobotContainer.java | 8 +- src/main/java/frc4388/robot/RobotMap.java | 4 +- .../frc4388/robot/subsystems/BoomBoom.java | 5 +- .../java/frc4388/robot/subsystems/Turret.java | 6 +- 7 files changed, 13 insertions(+), 151 deletions(-) delete mode 100644 simgui-ds.json delete mode 100644 simgui.json diff --git a/simgui-ds.json b/simgui-ds.json deleted file mode 100644 index b16ea5c..0000000 --- a/simgui-ds.json +++ /dev/null @@ -1,101 +0,0 @@ -{ - "keyboardJoysticks": [ - { - "axisConfig": [ - { - "decKey": 65, - "incKey": 68 - }, - { - "decKey": 87, - "incKey": 83 - }, - { - "decKey": 69, - "decayRate": 0.0, - "incKey": 82, - "keyRate": 0.009999999776482582 - } - ], - "axisCount": 3, - "buttonCount": 4, - "buttonKeys": [ - 90, - 88, - 67, - 86 - ], - "povConfig": [ - { - "key0": 328, - "key135": 323, - "key180": 322, - "key225": 321, - "key270": 324, - "key315": 327, - "key45": 329, - "key90": 326 - } - ], - "povCount": 1 - }, - { - "axisConfig": [ - { - "decKey": 74, - "incKey": 76 - }, - { - "decKey": 73, - "incKey": 75 - } - ], - "axisCount": 2, - "buttonCount": 4, - "buttonKeys": [ - 77, - 44, - 46, - 47 - ], - "povCount": 0 - }, - { - "axisConfig": [ - { - "decKey": 263, - "incKey": 262 - }, - { - "decKey": 265, - "incKey": 264 - } - ], - "axisCount": 2, - "buttonCount": 6, - "buttonKeys": [ - 260, - 268, - 266, - 261, - 269, - 267 - ], - "povCount": 0 - }, - { - "axisCount": 0, - "buttonCount": 0, - "povCount": 0 - } - ], - "robotJoysticks": [ - { - "useGamepad": true - }, - { - "guid": "78696e70757401000000000000000000", - "useGamepad": true - } - ] -} diff --git a/simgui.json b/simgui.json deleted file mode 100644 index 72aab8f..0000000 --- a/simgui.json +++ /dev/null @@ -1,34 +0,0 @@ -{ - "HALProvider": { - "Other Devices": { - "SPARK MAX [10]": { - "header": { - "open": true - } - }, - "SPARK MAX [30]": { - "header": { - "open": true - } - }, - "SPARK MAX [31]": { - "header": { - "open": true - } - } - } - }, - "NTProvider": { - "types": { - "/FMSInfo": "FMSInfo", - "/LiveWindow/BoomBoom": "Subsystem", - "/LiveWindow/Hood": "Subsystem", - "/LiveWindow/LED": "Subsystem", - "/LiveWindow/SwerveDrive": "Subsystem", - "/LiveWindow/SwerveModule": "Subsystem", - "/LiveWindow/Turret": "Subsystem", - "/LiveWindow/Ungrouped/Scheduler": "Scheduler", - "/LiveWindow/Vision": "Subsystem" - } - } -} diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index f51492d..a0cef9f 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -94,9 +94,9 @@ public final class Constants { public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG = new SupplyCurrentLimitConfiguration(true, 60, 40, 0.5); public static final int SHOOTER_FALCON_LEFT_CAN_ID = 0; public static final int SHOOTER_FALCON_RIGHT_CAN_ID = 0; - public static final int SHOOTER_ROTATE_ID = 31; //"unknown value" //figure out later + public static final int SHOOTER_ROTATE_ID = 0; //"unknown value" //figure out later public static final int TURRET_RIGHT_SOFT_LIMIT = 0; //""// - public static final double TURRET_SPEED_MULTIPLIER = 0.1d; //""// + public static final int TURRET_SPEED_MULTIPLIER = 0; //""// public static final int DEGREES_PER_ROT = 0; //""// public static final int TURRET_MOTOR_POS_AT_ZERO_ROT = 0; //""// public static final int TURRET_MOTOR_ROTS_PER_ROT = 0; //""// @@ -105,7 +105,7 @@ public final class Constants { /* Turret Constants */ //ID - public static final int TURRET_MOTOR_CAN_ID = 30; + public static final int TURRET_MOTOR_CAN_ID = 0; 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; diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 8dee4e3..d72c42a 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -73,11 +73,11 @@ public class RobotContainer { m_robotTurret.setDefaultCommand( new RunCommand(() -> m_robotTurret.runShooterWithInput(getOperatorController().getLeftXAxis()), m_robotTurret) - ); - // m_robotTurret.setDefaultCommand( - // new RunCommand(() -> m_robotTurret.aimToCenter())); - } + ); + + m_robotTurret.setDefaultCommand( + new RunCommand(() -> m_robotTurret.aimToCenter())); /** * Use this method to define your button->command mappings. Buttons can be * created by instantiating a {@link GenericHID} or one of its subclasses diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java index a1ee217..d713cbe 100644 --- a/src/main/java/frc4388/robot/RobotMap.java +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -6,8 +6,6 @@ package frc4388.robot; import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; import com.ctre.phoenix.sensors.CANCoder; -import com.revrobotics.CANSparkMax; -import com.revrobotics.CANSparkMaxLowLevel.MotorType; import edu.wpi.first.wpilibj.motorcontrol.Spark; import frc4388.robot.Constants.LEDConstants; @@ -99,7 +97,7 @@ public class RobotMap { /*Boom Boom Subsystem*/ public final WPI_TalonFX shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_LEFT_CAN_ID); public final WPI_TalonFX shooterFalconRight = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_RIGHT_CAN_ID); - public final CANSparkMax shooterTurret = new CANSparkMax(ShooterConstants.TURRET_MOTOR_CAN_ID, MotorType.kBrushless); + public final CANSparkMax shooterTurret = new CANSparkMax(ShooterConstants.SHOOTER_TURRET_CAN_ID); //Create motor CANSparkMax void ConfigureShooterMotorControllers() { diff --git a/src/main/java/frc4388/robot/subsystems/BoomBoom.java b/src/main/java/frc4388/robot/subsystems/BoomBoom.java index 10713d5..2fa28d1 100644 --- a/src/main/java/frc4388/robot/subsystems/BoomBoom.java +++ b/src/main/java/frc4388/robot/subsystems/BoomBoom.java @@ -4,7 +4,6 @@ package frc4388.robot.subsystems; -import java.io.Console; import java.util.Base64.Encoder; import com.ctre.phoenix.motorcontrol.NeutralMode; @@ -28,7 +27,6 @@ public ShooterTables m_shooterTable; public static Gains m_drumShooterGains = ShooterConstants.DRUM_SHOOTER_GAINS; public static BoomBoom m_boomBoom; public static IHandController m_driverController; //not sure if driverController in 2022 = m_controller in 2020 -BangBangController m_controller = new BangBangController(); double velP; double input; @@ -137,6 +135,7 @@ public void setShooterGains() { m_shooterFalconLeft.set(TalonFXControlMode.Velocity, targetVel); //Init m_shooterFalconRight.follow(m_shooterFalconLeft); // New BoomBoom controller stuff + BangBangController controller = new BangBangController(); //Controls a motor with the output of the BangBang controller //Controls a motor with the output of the BangBang conroller and a feedforward //Shrinks the feedforward slightly to avoid over speeding the shooter @@ -144,4 +143,4 @@ public void setShooterGains() { } -} \ No newline at end of file +} diff --git a/src/main/java/frc4388/robot/subsystems/Turret.java b/src/main/java/frc4388/robot/subsystems/Turret.java index 0528c73..0202c6d 100644 --- a/src/main/java/frc4388/robot/subsystems/Turret.java +++ b/src/main/java/frc4388/robot/subsystems/Turret.java @@ -67,11 +67,11 @@ public class Turret extends SubsystemBase { @Override public void periodic() { - // SmartDashboard.putNumber("Turret Angle Raw", getboomBoomRotatePosition()); + SmartDashboard.putNumber("Turret Angle Raw", getboomBoomRotatePosition()); - // SmartDashboard.putData("Turret Angle", (Sendable) m_turretGyro); + SmartDashboard.putData("Turret Angle", (Sendable) m_turretGyro); - // SmartDashboard.putBoolean("Turret Aimed", m_isAimReady); + SmartDashboard.putBoolean("Turret Aimed", m_isAimReady); // This method will be called once per scheduler run } From 2d9cd7abe6b44b26cbba7340edb0f6ad5da95620 Mon Sep 17 00:00:00 2001 From: Pushkar9236 <104144@psdschools.org> Date: Fri, 28 Jan 2022 19:06:28 -0700 Subject: [PATCH 059/151] Revert "Revert "Merge branch 'Shooter' of https://github.com/Team4388/2022NoWayHome into Shooter"" This reverts commit 6d53d0431a96bd0885370895de4544dd538a5e60. --- simgui-ds.json | 101 ++++++++++++++++++ simgui.json | 34 ++++++ src/main/java/frc4388/robot/Constants.java | 6 +- .../java/frc4388/robot/RobotContainer.java | 8 +- src/main/java/frc4388/robot/RobotMap.java | 4 +- .../frc4388/robot/subsystems/BoomBoom.java | 5 +- .../java/frc4388/robot/subsystems/Turret.java | 6 +- 7 files changed, 151 insertions(+), 13 deletions(-) create mode 100644 simgui-ds.json create mode 100644 simgui.json diff --git a/simgui-ds.json b/simgui-ds.json new file mode 100644 index 0000000..b16ea5c --- /dev/null +++ b/simgui-ds.json @@ -0,0 +1,101 @@ +{ + "keyboardJoysticks": [ + { + "axisConfig": [ + { + "decKey": 65, + "incKey": 68 + }, + { + "decKey": 87, + "incKey": 83 + }, + { + "decKey": 69, + "decayRate": 0.0, + "incKey": 82, + "keyRate": 0.009999999776482582 + } + ], + "axisCount": 3, + "buttonCount": 4, + "buttonKeys": [ + 90, + 88, + 67, + 86 + ], + "povConfig": [ + { + "key0": 328, + "key135": 323, + "key180": 322, + "key225": 321, + "key270": 324, + "key315": 327, + "key45": 329, + "key90": 326 + } + ], + "povCount": 1 + }, + { + "axisConfig": [ + { + "decKey": 74, + "incKey": 76 + }, + { + "decKey": 73, + "incKey": 75 + } + ], + "axisCount": 2, + "buttonCount": 4, + "buttonKeys": [ + 77, + 44, + 46, + 47 + ], + "povCount": 0 + }, + { + "axisConfig": [ + { + "decKey": 263, + "incKey": 262 + }, + { + "decKey": 265, + "incKey": 264 + } + ], + "axisCount": 2, + "buttonCount": 6, + "buttonKeys": [ + 260, + 268, + 266, + 261, + 269, + 267 + ], + "povCount": 0 + }, + { + "axisCount": 0, + "buttonCount": 0, + "povCount": 0 + } + ], + "robotJoysticks": [ + { + "useGamepad": true + }, + { + "guid": "78696e70757401000000000000000000", + "useGamepad": true + } + ] +} diff --git a/simgui.json b/simgui.json new file mode 100644 index 0000000..72aab8f --- /dev/null +++ b/simgui.json @@ -0,0 +1,34 @@ +{ + "HALProvider": { + "Other Devices": { + "SPARK MAX [10]": { + "header": { + "open": true + } + }, + "SPARK MAX [30]": { + "header": { + "open": true + } + }, + "SPARK MAX [31]": { + "header": { + "open": true + } + } + } + }, + "NTProvider": { + "types": { + "/FMSInfo": "FMSInfo", + "/LiveWindow/BoomBoom": "Subsystem", + "/LiveWindow/Hood": "Subsystem", + "/LiveWindow/LED": "Subsystem", + "/LiveWindow/SwerveDrive": "Subsystem", + "/LiveWindow/SwerveModule": "Subsystem", + "/LiveWindow/Turret": "Subsystem", + "/LiveWindow/Ungrouped/Scheduler": "Scheduler", + "/LiveWindow/Vision": "Subsystem" + } + } +} diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index a0cef9f..f51492d 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -94,9 +94,9 @@ public final class Constants { public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG = new SupplyCurrentLimitConfiguration(true, 60, 40, 0.5); public static final int SHOOTER_FALCON_LEFT_CAN_ID = 0; public static final int SHOOTER_FALCON_RIGHT_CAN_ID = 0; - public static final int SHOOTER_ROTATE_ID = 0; //"unknown value" //figure out later + public static final int SHOOTER_ROTATE_ID = 31; //"unknown value" //figure out later public static final int TURRET_RIGHT_SOFT_LIMIT = 0; //""// - public static final int TURRET_SPEED_MULTIPLIER = 0; //""// + public static final double TURRET_SPEED_MULTIPLIER = 0.1d; //""// public static final int DEGREES_PER_ROT = 0; //""// public static final int TURRET_MOTOR_POS_AT_ZERO_ROT = 0; //""// public static final int TURRET_MOTOR_ROTS_PER_ROT = 0; //""// @@ -105,7 +105,7 @@ public final class Constants { /* Turret Constants */ //ID - public static final int TURRET_MOTOR_CAN_ID = 0; + public static final int TURRET_MOTOR_CAN_ID = 30; 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; diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index d72c42a..8dee4e3 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -73,11 +73,11 @@ public class RobotContainer { m_robotTurret.setDefaultCommand( new RunCommand(() -> m_robotTurret.runShooterWithInput(getOperatorController().getLeftXAxis()), m_robotTurret) - ); - + ); + // m_robotTurret.setDefaultCommand( + // new RunCommand(() -> m_robotTurret.aimToCenter())); + } - m_robotTurret.setDefaultCommand( - new RunCommand(() -> m_robotTurret.aimToCenter())); /** * Use this method to define your button->command mappings. Buttons can be * created by instantiating a {@link GenericHID} or one of its subclasses diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java index d713cbe..a1ee217 100644 --- a/src/main/java/frc4388/robot/RobotMap.java +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -6,6 +6,8 @@ package frc4388.robot; import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; import com.ctre.phoenix.sensors.CANCoder; +import com.revrobotics.CANSparkMax; +import com.revrobotics.CANSparkMaxLowLevel.MotorType; import edu.wpi.first.wpilibj.motorcontrol.Spark; import frc4388.robot.Constants.LEDConstants; @@ -97,7 +99,7 @@ public class RobotMap { /*Boom Boom Subsystem*/ public final WPI_TalonFX shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_LEFT_CAN_ID); public final WPI_TalonFX shooterFalconRight = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_RIGHT_CAN_ID); - public final CANSparkMax shooterTurret = new CANSparkMax(ShooterConstants.SHOOTER_TURRET_CAN_ID); + public final CANSparkMax shooterTurret = new CANSparkMax(ShooterConstants.TURRET_MOTOR_CAN_ID, MotorType.kBrushless); //Create motor CANSparkMax void ConfigureShooterMotorControllers() { diff --git a/src/main/java/frc4388/robot/subsystems/BoomBoom.java b/src/main/java/frc4388/robot/subsystems/BoomBoom.java index 2fa28d1..10713d5 100644 --- a/src/main/java/frc4388/robot/subsystems/BoomBoom.java +++ b/src/main/java/frc4388/robot/subsystems/BoomBoom.java @@ -4,6 +4,7 @@ package frc4388.robot.subsystems; +import java.io.Console; import java.util.Base64.Encoder; import com.ctre.phoenix.motorcontrol.NeutralMode; @@ -27,6 +28,7 @@ public ShooterTables m_shooterTable; public static Gains m_drumShooterGains = ShooterConstants.DRUM_SHOOTER_GAINS; public static BoomBoom m_boomBoom; public static IHandController m_driverController; //not sure if driverController in 2022 = m_controller in 2020 +BangBangController m_controller = new BangBangController(); double velP; double input; @@ -135,7 +137,6 @@ public void setShooterGains() { m_shooterFalconLeft.set(TalonFXControlMode.Velocity, targetVel); //Init m_shooterFalconRight.follow(m_shooterFalconLeft); // New BoomBoom controller stuff - BangBangController controller = new BangBangController(); //Controls a motor with the output of the BangBang controller //Controls a motor with the output of the BangBang conroller and a feedforward //Shrinks the feedforward slightly to avoid over speeding the shooter @@ -143,4 +144,4 @@ public void setShooterGains() { } -} +} \ No newline at end of file diff --git a/src/main/java/frc4388/robot/subsystems/Turret.java b/src/main/java/frc4388/robot/subsystems/Turret.java index 0202c6d..0528c73 100644 --- a/src/main/java/frc4388/robot/subsystems/Turret.java +++ b/src/main/java/frc4388/robot/subsystems/Turret.java @@ -67,11 +67,11 @@ public class Turret extends SubsystemBase { @Override public void periodic() { - SmartDashboard.putNumber("Turret Angle Raw", getboomBoomRotatePosition()); + // SmartDashboard.putNumber("Turret Angle Raw", getboomBoomRotatePosition()); - SmartDashboard.putData("Turret Angle", (Sendable) m_turretGyro); + // SmartDashboard.putData("Turret Angle", (Sendable) m_turretGyro); - SmartDashboard.putBoolean("Turret Aimed", m_isAimReady); + // SmartDashboard.putBoolean("Turret Aimed", m_isAimReady); // This method will be called once per scheduler run } From 4a30390305e282100f12796d9b2a43bb113cd019 Mon Sep 17 00:00:00 2001 From: Pushkar9236 <104144@psdschools.org> Date: Fri, 28 Jan 2022 19:21:04 -0700 Subject: [PATCH 060/151] fix --- src/main/java/frc4388/robot/subsystems/Turret.java | 2 -- 1 file changed, 2 deletions(-) diff --git a/src/main/java/frc4388/robot/subsystems/Turret.java b/src/main/java/frc4388/robot/subsystems/Turret.java index 0528c73..5a4fa7a 100644 --- a/src/main/java/frc4388/robot/subsystems/Turret.java +++ b/src/main/java/frc4388/robot/subsystems/Turret.java @@ -12,9 +12,7 @@ import com.revrobotics.RelativeEncoder; import com.revrobotics.SparkMaxLimitSwitch; import com.revrobotics.SparkMaxPIDController; import com.revrobotics.CANSparkMaxLowLevel.MotorType; -import edu.wpi.first.util.sendable.Sendable; import edu.wpi.first.wpilibj.interfaces.Gyro; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc4388.robot.Constants.ShooterConstants; import frc4388.utility.Gains; From efab5da238ff86ea8e5f32b804a4531f89707deb Mon Sep 17 00:00:00 2001 From: Abhishrek05 <90010729+Abhishrek05@users.noreply.github.com> Date: Fri, 28 Jan 2022 19:21:34 -0700 Subject: [PATCH 061/151] Update BoomBoom.java --- src/main/java/frc4388/robot/subsystems/BoomBoom.java | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/main/java/frc4388/robot/subsystems/BoomBoom.java b/src/main/java/frc4388/robot/subsystems/BoomBoom.java index 90c7d15..5d4ba74 100644 --- a/src/main/java/frc4388/robot/subsystems/BoomBoom.java +++ b/src/main/java/frc4388/robot/subsystems/BoomBoom.java @@ -40,7 +40,6 @@ public Turret m_turretSubsystem; - /* * Creates new BoomBoom subsystem, has drum shooter and angle adjuster */ @@ -134,7 +133,7 @@ public void setShooterGains() { m_shooterFalconLeft.set(controller.calculate(Encoder.getRate(), targetVel) + 0.9 * feedforward.calculate(targetVel)); // m_shooterFalconLeft.set(controller.calculate(encoder.getRate(), targetVel) + 0.9 * feedforward.calculate(targetVel)); - m_shooterFalconLeft.set(m_controller.calculate(m_shooterFalconLeft.get(), targetVel)); + m_shooterFalconLeft.set(controller.calculate(m_shooterFalconLeft.get(), targetVel)); System.err.println(targetVel); m_shooterFalconLeft.set(controller.calculate(m_shooterFalconLeft.getSelectedSensorVelocity(), targetVel) + 0.9 * feedforward.calculate(targetVel)); From 82c6918ba303ed68c03a34637f1e25c25b8da656 Mon Sep 17 00:00:00 2001 From: Pushkar9236 <104144@psdschools.org> Date: Fri, 28 Jan 2022 19:35:24 -0700 Subject: [PATCH 062/151] fixed bugges --- .../frc4388/robot/subsystems/BoomBoom.java | 48 +++++++++++++++++-- .../java/frc4388/robot/subsystems/Turret.java | 1 + 2 files changed, 45 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc4388/robot/subsystems/BoomBoom.java b/src/main/java/frc4388/robot/subsystems/BoomBoom.java index 90c7d15..88835cd 100644 --- a/src/main/java/frc4388/robot/subsystems/BoomBoom.java +++ b/src/main/java/frc4388/robot/subsystems/BoomBoom.java @@ -6,12 +6,14 @@ package frc4388.robot.subsystems; import java.io.Console; import java.util.Base64.Encoder; + import com.ctre.phoenix.motorcontrol.NeutralMode; import com.ctre.phoenix.motorcontrol.TalonFXControlMode; import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; import edu.wpi.first.wpilibj.smartdashboard.*; import edu.wpi.first.math.controller.BangBangController; +import edu.wpi.first.math.controller.SimpleMotorFeedforward; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc4388.robot.Constants.ShooterConstants; import frc4388.utility.ShooterTables; @@ -41,6 +43,42 @@ public Turret m_turretSubsystem; + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +SimpleMotorFeedforward feedforward = new SimpleMotorFeedforward(69, 42, 0); //get real values later + + + /* * Creates new BoomBoom subsystem, has drum shooter and angle adjuster */ @@ -48,11 +86,15 @@ public BoomBoom(){ //Testing purposes resetting gyros //resetGryoAngleADj(); //shooterTrims = new Trims(0,0); +feedforward.calculate(15, 20); // feedforward.calculate(velocity, acceleration); + + } /** Creates a new BoomBoom. */ public BoomBoom(WPI_TalonFX shooterFalconLeft, WPI_TalonFX shooterFalconRight) { m_shooterFalconLeft = shooterFalconLeft; m_shooterFalconRight = shooterFalconRight; + int closedLoopTimeMs = 1; //LEFT FALCON m_shooterFalconLeft.configFactoryDefault(); @@ -66,6 +108,7 @@ public BoomBoom(){ m_shooterFalconLeft.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS); + //RIGHT FALCON m_shooterFalconRight.configFactoryDefault(); m_shooterFalconRight.setNeutralMode(NeutralMode.Coast); @@ -131,12 +174,9 @@ public void setShooterGains() { //Controls a motor with the output of the BangBang controller //Controls a motor with the output of the BangBang conroller and a feedforward //Shrinks the feedforward slightly to avoid over speeding the shooter - m_shooterFalconLeft.set(controller.calculate(Encoder.getRate(), targetVel) + 0.9 * feedforward.calculate(targetVel)); - + // m_shooterFalconLeft.set(controller.calculate(encoder.getRate(), targetVel) + 0.9 * feedforward.calculate(targetVel)); m_shooterFalconLeft.set(m_controller.calculate(m_shooterFalconLeft.get(), targetVel)); - System.err.println(targetVel); - m_shooterFalconLeft.set(controller.calculate(m_shooterFalconLeft.getSelectedSensorVelocity(), targetVel) + 0.9 * feedforward.calculate(targetVel)); } diff --git a/src/main/java/frc4388/robot/subsystems/Turret.java b/src/main/java/frc4388/robot/subsystems/Turret.java index 5a4fa7a..6067a8c 100644 --- a/src/main/java/frc4388/robot/subsystems/Turret.java +++ b/src/main/java/frc4388/robot/subsystems/Turret.java @@ -13,6 +13,7 @@ import com.revrobotics.SparkMaxLimitSwitch; import com.revrobotics.SparkMaxPIDController; import com.revrobotics.CANSparkMaxLowLevel.MotorType; import edu.wpi.first.wpilibj.interfaces.Gyro; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc4388.robot.Constants.ShooterConstants; import frc4388.utility.Gains; From 01b755eee00b656aff56f8f7787ad2b96bfc05cf Mon Sep 17 00:00:00 2001 From: nathanrsxtn <37890449+nathanrsxtn@users.noreply.github.com> Date: Sat, 29 Jan 2022 01:16:58 -0700 Subject: [PATCH 063/151] Fully implement raw input with Xbox controllers - Add field to SmartDashboard - Switch to WPI's XboxController - Add raw controllers with deadzones --- .vscode/settings.json | 2 +- simgui-ds.json | 5 + simgui.json | 29 ++- src/main/java/frc4388/robot/Constants.java | 1 + src/main/java/frc4388/robot/Robot.java | 2 + .../java/frc4388/robot/RobotContainer.java | 51 ++-- .../frc4388/robot/subsystems/SwerveDrive.java | 7 +- .../DeadbandedRawXboxController.java | 13 + .../controller/DeadbandedXboxController.java | 14 + .../utility/controller/IHandController.java | 23 -- .../utility/controller/RawXboxController.java | 241 ++++++++++++++++++ .../utility/controller/XboxController.java | 233 ----------------- .../utility/controller/XboxControllerRaw.java | 104 -------- .../controller/XboxControllerRawButton.java | 18 -- .../utility/controller/XboxTriggerButton.java | 50 ---- 15 files changed, 334 insertions(+), 459 deletions(-) create mode 100644 src/main/java/frc4388/utility/controller/DeadbandedRawXboxController.java create mode 100644 src/main/java/frc4388/utility/controller/DeadbandedXboxController.java delete mode 100644 src/main/java/frc4388/utility/controller/IHandController.java create mode 100644 src/main/java/frc4388/utility/controller/RawXboxController.java delete mode 100644 src/main/java/frc4388/utility/controller/XboxController.java delete mode 100644 src/main/java/frc4388/utility/controller/XboxControllerRaw.java delete mode 100644 src/main/java/frc4388/utility/controller/XboxControllerRawButton.java delete mode 100644 src/main/java/frc4388/utility/controller/XboxTriggerButton.java diff --git a/.vscode/settings.json b/.vscode/settings.json index bd61b25..5afa0ae 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -26,5 +26,5 @@ }, ], "java.test.defaultConfig": "WPIlibUnitTests", - "java.dependency.packagePresentation": "flat" + "java.dependency.packagePresentation": "hierarchical" } diff --git a/simgui-ds.json b/simgui-ds.json index 73cc713..69b1a3c 100644 --- a/simgui-ds.json +++ b/simgui-ds.json @@ -88,5 +88,10 @@ "buttonCount": 0, "povCount": 0 } + ], + "robotJoysticks": [ + { + "guid": "Keyboard0" + } ] } diff --git a/simgui.json b/simgui.json index 71b8c82..a8dd660 100644 --- a/simgui.json +++ b/simgui.json @@ -1,11 +1,38 @@ { + "HALProvider": { + "Other Devices": { + "Talon FX[2]": { + "header": { + "open": true + } + }, + "Talon FX[3]": { + "header": { + "open": true + } + }, + "Talon FX[4]": { + "header": { + "open": true + } + } + } + }, "NTProvider": { "types": { "/FMSInfo": "FMSInfo", "/LiveWindow/LED": "Subsystem", "/LiveWindow/SwerveDrive": "Subsystem", "/LiveWindow/SwerveModule": "Subsystem", - "/LiveWindow/Ungrouped/Scheduler": "Scheduler" + "/LiveWindow/Ungrouped/Scheduler": "Scheduler", + "/SmartDashboard/Field": "Field2d" + }, + "windows": { + "/SmartDashboard/Field": { + "window": { + "visible": true + } + } } }, "NetworkTables": { diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 8fb0b65..f961688 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -102,5 +102,6 @@ public final class Constants { public static final class OIConstants { public static final int XBOX_DRIVER_ID = 0; public static final int XBOX_OPERATOR_ID = 1; + public static final double AXIS_DEADBAND = 0.1; } } diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java index 521b2c2..bc80766 100644 --- a/src/main/java/frc4388/robot/Robot.java +++ b/src/main/java/frc4388/robot/Robot.java @@ -4,6 +4,7 @@ package frc4388.robot; +import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.TimedRobot; import edu.wpi.first.wpilibj.livewindow.LiveWindow; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; @@ -115,6 +116,7 @@ public class Robot extends TimedRobot { m_autonomousCommand.cancel(); } m_robotTime.startMatchTime(); + DriverStation.silenceJoystickConnectionWarning(true); } /** diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 393576d..63bdf95 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -7,6 +7,7 @@ package frc4388.robot; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.wpilibj.Joystick; +import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.RunCommand; @@ -16,8 +17,7 @@ import frc4388.robot.Constants.*; import frc4388.robot.subsystems.LED; import frc4388.robot.subsystems.SwerveDrive; import frc4388.utility.LEDPatterns; -import frc4388.utility.controller.IHandController; -import frc4388.utility.controller.XboxController; +import frc4388.utility.controller.DeadbandedXboxController; /** * This class is where the bulk of the robot should be declared. Since @@ -37,8 +37,8 @@ public class RobotContainer { private final LED m_robotLED = new LED(m_robotMap.LEDController); /* Controllers */ - private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID); - private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID); + private final XboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID); + private final XboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID); /** * The container for the robot. Contains subsystems, OI devices, and commands. @@ -49,10 +49,10 @@ public class RobotContainer { // drives the swerve drive with a two-axis input from the driver controller m_robotSwerveDrive.setDefaultCommand( new RunCommand(() -> m_robotSwerveDrive.driveWithInput( - XboxController.ClampJoystickAxis( - getDriverController().getLeftXAxis(), - getDriverController().getLeftYAxis()), - -getDriverController().getRightXAxis(), + clampJoystickAxes( + getDriverController().getLeftX(), + getDriverController().getLeftY()), + -getDriverController().getRightX(), true), m_robotSwerveDrive)); @@ -68,26 +68,26 @@ public class RobotContainer { */ private void configureButtonBindings() { /* Driver Buttons */ - new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON) + new JoystickButton(getDriverController(), XboxController.Button.kY.value) // new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.Y_BUTTON) .whenPressed(() -> m_robotSwerveDrive.m_gyro.reset()); - new JoystickButton(getDriverJoystick(), XboxController.LEFT_BUMPER_BUTTON) + new JoystickButton(getDriverController(), XboxController.Button.kLeftBumper.value) // new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.LEFT_BUMPER_BUTTON) .whenPressed(() -> m_robotSwerveDrive.highSpeed(false)); - new JoystickButton(getDriverJoystick(), XboxController.RIGHT_BUMPER_BUTTON) + new JoystickButton(getDriverController(), XboxController.Button.kRightBumper.value) // new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.RIGHT_BUMPER_BUTTON) .whenPressed(() -> m_robotSwerveDrive.highSpeed(true)); - new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON) + new JoystickButton(getDriverController(), XboxController.Button.kA.value) - .whenPressed(() -> resetOdometry()); + .whenPressed(this::resetOdometry); /* Operator Buttons */ // activates "Lit Mode" - new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON) + new JoystickButton(getOperatorController(), XboxController.Button.kA.value) // new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.A_BUTTON) .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW)) .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN)); @@ -106,7 +106,7 @@ public class RobotContainer { /** * Add your docs here. */ - public IHandController getDriverController() { + public XboxController getDriverController() { return m_driverXbox; } @@ -120,21 +120,16 @@ public class RobotContainer { /** * Add your docs here. */ - public IHandController getOperatorController() { + public XboxController getOperatorController() { return m_operatorXbox; } - /** - * Add your docs here. - */ - public Joystick getOperatorJoystick() { - return m_operatorXbox.getJoyStick(); - } - - /** - * Add your docs here. - */ - public Joystick getDriverJoystick() { - return m_driverXbox.getJoyStick(); + public static double[] clampJoystickAxes(double x, double y) { + double square_mag = x * x + y * y; + if (square_mag > 1.d) { + double mag = Math.sqrt(square_mag); + return new double[] { x / mag, y / mag }; + } + return new double[] { x, y }; } } diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index a66967c..e9af137 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -16,6 +16,7 @@ import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.math.kinematics.SwerveDriveKinematics; import edu.wpi.first.math.kinematics.SwerveModuleState; import edu.wpi.first.math.util.Units; +import edu.wpi.first.wpilibj.smartdashboard.Field2d; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc4388.robot.Constants.SwerveDriveConstants; @@ -50,6 +51,8 @@ public class SwerveDrive extends SubsystemBase { public double speedAdjust = SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND_SLOW; public boolean ignoreAngles; + private final Field2d m_field = new Field2d(); + public SwerveDrive(SwerveModule leftFront, SwerveModule leftBack, SwerveModule rightFront, SwerveModule rightBack, WPI_PigeonIMU gyro) { // m_leftFrontSteerMotor = leftFrontSteerMotor; // m_leftFrontWheelMotor = leftFrontWheelMotor; @@ -86,7 +89,8 @@ public class SwerveDrive extends SubsystemBase { VecBuilder.fill(0.05, 0.05, Units.degreesToRadians(5)), VecBuilder.fill(Units.degreesToRadians(0.01)), VecBuilder.fill(0.5, 0.5, Units.degreesToRadians(30))); - m_gyro.reset(); + m_gyro.reset(); + SmartDashboard.putData("Field", m_field); } //https://github.com/ZachOrr/MK3-Swerve-Example /** @@ -131,6 +135,7 @@ public class SwerveDrive extends SubsystemBase { // m_gyro.setStatusFramePeriod(PigeonIMU_StatusFrame.CondStatus_6_SensorFusion, 1, SwerveDriveConstants.SWERVE_TIMEOUT_MS); // m_gyro.setStatusFramePeriod(PigeonIMU_StatusFrame.CondStatus_1_General, 1, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + m_field.setRobotPose(m_poseEstimator.getEstimatedPosition()); super.periodic(); } diff --git a/src/main/java/frc4388/utility/controller/DeadbandedRawXboxController.java b/src/main/java/frc4388/utility/controller/DeadbandedRawXboxController.java new file mode 100644 index 0000000..18d1cbf --- /dev/null +++ b/src/main/java/frc4388/utility/controller/DeadbandedRawXboxController.java @@ -0,0 +1,13 @@ +package frc4388.utility.controller; + +import edu.wpi.first.math.MathUtil; +import frc4388.robot.Constants; + +public class DeadbandedRawXboxController extends RawXboxController { + public DeadbandedRawXboxController(int port) { super(port); } + @Override public double getLeftX() { return applyDeadband(super.getLeftX()); } + @Override public double getLeftY() { return applyDeadband(super.getLeftY()); } + @Override public double getRightX() { return applyDeadband(super.getRightX()); } + @Override public double getRightY() { return applyDeadband(super.getRightY()); } + private static double applyDeadband(double value) { return MathUtil.applyDeadband(value, Constants.OIConstants.AXIS_DEADBAND); } +} diff --git a/src/main/java/frc4388/utility/controller/DeadbandedXboxController.java b/src/main/java/frc4388/utility/controller/DeadbandedXboxController.java new file mode 100644 index 0000000..64cc5e8 --- /dev/null +++ b/src/main/java/frc4388/utility/controller/DeadbandedXboxController.java @@ -0,0 +1,14 @@ +package frc4388.utility.controller; + +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.wpilibj.XboxController; +import frc4388.robot.Constants; + +public class DeadbandedXboxController extends XboxController { + public DeadbandedXboxController(int port) { super(port); } + @Override public double getLeftX() { return applyDeadband(super.getLeftX()); } + @Override public double getLeftY() { return applyDeadband(super.getLeftY()); } + @Override public double getRightX() { return applyDeadband(super.getRightX()); } + @Override public double getRightY() { return applyDeadband(super.getRightY()); } + private static double applyDeadband(double value) { return MathUtil.applyDeadband(value, Constants.OIConstants.AXIS_DEADBAND); } +} diff --git a/src/main/java/frc4388/utility/controller/IHandController.java b/src/main/java/frc4388/utility/controller/IHandController.java deleted file mode 100644 index 8db3d8f..0000000 --- a/src/main/java/frc4388/utility/controller/IHandController.java +++ /dev/null @@ -1,23 +0,0 @@ -package frc4388.utility.controller; - -/** - * Add your docs here. - */ -public interface IHandController { - - public double getLeftXAxis(); - - public double getLeftYAxis(); - - public double getRightXAxis(); - - public double getRightYAxis(); - - public double getLeftTriggerAxis(); - - public double getRightTriggerAxis(); - - public int getDpadAngle(); - - public void updateInput(); -} diff --git a/src/main/java/frc4388/utility/controller/RawXboxController.java b/src/main/java/frc4388/utility/controller/RawXboxController.java new file mode 100644 index 0000000..7cf4ae1 --- /dev/null +++ b/src/main/java/frc4388/utility/controller/RawXboxController.java @@ -0,0 +1,241 @@ +package frc4388.utility.controller; + +import java.nio.ByteBuffer; + +import edu.wpi.first.hal.HAL; +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.Timer; +import edu.wpi.first.wpilibj.XboxController; + +public class RawXboxController extends XboxController { + private final int m_port; + + public RawXboxController(int port) { + super(port); + if (port < 0 || port >= DriverStation.kJoystickPorts) + throw new IllegalArgumentException("Joystick index is out of range, should be 0-5"); + m_port = port; + } + + private static class HALJoystickButtons { + public int m_buttons; + public byte m_count; + } + + private static class HALJoystickAxes { + public float[] m_axes; + public short m_count; + + HALJoystickAxes(int count) { + m_axes = new float[count]; + } + } + + private static class HALJoystickPOVs { + public short[] m_povs; + public short m_count; + + HALJoystickPOVs(int count) { + m_povs = new short[count]; + for (int i = 0; i < count; i++) { + m_povs[i] = -1; + } + } + } + + private static final double JOYSTICK_UNPLUGGED_MESSAGE_INTERVAL = 1.0; + private static double m_nextMessageTime; + + private HALJoystickAxes m_joystickAxes = new HALJoystickAxes(HAL.kMaxJoystickAxes); + private HALJoystickPOVs m_joystickPOVs = new HALJoystickPOVs(HAL.kMaxJoystickAxes); + private HALJoystickButtons m_joystickButtons = new HALJoystickButtons(); + + // Joystick button rising/falling edge flags + private int m_joystickButtonsPressed = 0; + private int m_joystickButtonsReleased = 0; + + private static final ByteBuffer m_buttonCountBuffer = ByteBuffer.allocateDirect(1); + + @Override + public double getRawAxis(int axis) { + return getStickAxis(axis); + } + + @Override + public boolean getRawButton(int button) { + return getStickButton((byte) button); + } + + @Override + public boolean getRawButtonPressed(int button) { + return getStickButtonPressed((byte) button); + } + + @Override + public boolean getRawButtonReleased(int button) { + return getStickButtonReleased(button); + } + + @Override + public int getPOV(int pov) { + return getStickPOV(pov); + } + + /** + * The state of one joystick button. Button indexes begin at 1. + * + * @param button The button index, beginning at 1. + * @return The state of the joystick button. + */ + public boolean getStickButton(final int button) { + if (button <= 0) { + reportJoystickUnpluggedError(); + return false; + } + if (button <= m_joystickButtons.m_count) { + return (m_joystickButtons.m_buttons & 1 << (button - 1)) != 0; + } + reportJoystickUnpluggedWarning(button, m_port); + return false; + } + + /** + * Whether one joystick button was pressed since the last check. Button indexes begin at 1. + * + * @param button The button index, beginning at 1. + * @return Whether the joystick button was pressed since the last check. + */ + public boolean getStickButtonPressed(final int button) { + getData(); + if (button <= 0) { + reportJoystickUnpluggedError(); + return false; + } + if (button <= m_joystickButtons.m_count) { + // If button was pressed, clear flag and return true + if ((m_joystickButtonsPressed & 1 << (button - 1)) != 0) { + m_joystickButtonsPressed &= ~(1 << (button - 1)); + return true; + } else { + return false; + } + } + reportJoystickUnpluggedWarning(button, m_port); + return false; + } + + /** + * Whether one joystick button was released since the last check. Button indexes begin at 1. + * + * @param button The button index, beginning at 1. + * @return Whether the joystick button was released since the last check. + */ + public boolean getStickButtonReleased(final int button) { + getData(); + if (button <= 0) { + reportJoystickUnpluggedError(); + return false; + } + if (button <= m_joystickButtons.m_count) { + // If button was released, clear flag and return true + if ((m_joystickButtonsReleased & 1 << (button - 1)) != 0) { + m_joystickButtonsReleased &= ~(1 << (button - 1)); + return true; + } else { + return false; + } + } + reportJoystickUnpluggedWarning(button, m_port); + return false; + } + + /** + * Get the value of the axis on a joystick. This depends on the mapping of the joystick connected to + * the specified port. + * + * @param axis The analog axis value to read from the joystick. + * @return The value of the axis on the joystick. + */ + public double getStickAxis(int axis) { + getData(); + if (axis < 0 || axis >= HAL.kMaxJoystickAxes) { + throw new IllegalArgumentException("Joystick axis is out of range"); + } + if (axis < m_joystickAxes.m_count) { + return m_joystickAxes.m_axes[axis]; + } + reportJoystickUnpluggedWarning(axis, m_port); + return 0.0; + } + + /** + * Get the state of a POV on the joystick. + * + * @param pov The POV to read. + * @return the angle of the POV in degrees, or -1 if the POV is not pressed. + */ + public int getStickPOV(int pov) { + getData(); + if (pov < 0 || pov >= HAL.kMaxJoystickPOVs) { + throw new IllegalArgumentException("Joystick POV is out of range"); + } + if (pov < m_joystickPOVs.m_count) { + return m_joystickPOVs.m_povs[pov]; + } + reportJoystickUnpluggedWarning(pov, m_port); + return -1; + } + + /** + * The state of the buttons on the joystick. + * + * @return The state of the buttons on the joystick. + */ + public int getStickButtons() { + getData(); + return m_joystickButtons.m_buttons; + } + + protected void getData() { + // Get the status of all of the joysticks + byte stick = (byte) m_port; + m_joystickAxes.m_count = HAL.getJoystickAxes(stick, m_joystickAxes.m_axes); + m_joystickPOVs.m_count = HAL.getJoystickPOVs(stick, m_joystickPOVs.m_povs); + m_joystickButtons.m_buttons = HAL.getJoystickButtons(stick, m_buttonCountBuffer); + m_joystickButtons.m_count = m_buttonCountBuffer.get(0); + } + + /** + * Reports errors related to unplugged joysticks Throttles the errors so that they don't overwhelm + * the DS. + */ + private static void reportJoystickUnpluggedError(String message) { + double currentTime = Timer.getFPGATimestamp(); + if (currentTime > m_nextMessageTime) { + DriverStation.reportError(message, false); + m_nextMessageTime = currentTime + JOYSTICK_UNPLUGGED_MESSAGE_INTERVAL; + } + } + + /** + * Reports errors related to unplugged joysticks Throttles the errors so that they don't overwhelm + * the DS. + */ + private static void reportJoystickUnpluggedWarning(String message) { + if (DriverStation.isFMSAttached() || !DriverStation.isJoystickConnectionWarningSilenced()) { + double currentTime = Timer.getFPGATimestamp(); + if (currentTime > m_nextMessageTime) { + DriverStation.reportWarning(message, false); + m_nextMessageTime = currentTime + JOYSTICK_UNPLUGGED_MESSAGE_INTERVAL; + } + } + } + + private static void reportJoystickUnpluggedWarning(final int pov, final int stick) { + reportJoystickUnpluggedWarning("Joystick POV " + pov + " on port " + stick + " not available, check if controller is plugged in"); + } + + private static void reportJoystickUnpluggedError() { + reportJoystickUnpluggedError("Button indexes begin at 1 in WPILib for C++ and Java\n"); + } +} diff --git a/src/main/java/frc4388/utility/controller/XboxController.java b/src/main/java/frc4388/utility/controller/XboxController.java deleted file mode 100644 index e495e9c..0000000 --- a/src/main/java/frc4388/utility/controller/XboxController.java +++ /dev/null @@ -1,233 +0,0 @@ -package frc4388.utility.controller; - -import edu.wpi.first.wpilibj.Joystick; - -/** - * This is a wrapper for the WPILib Joystick class that represents an XBox - * controller. - * @author frc1675 - */ -public class XboxController implements IHandController -{ - public static final int LEFT_X_AXIS = 0; - public static final int LEFT_Y_AXIS = 1; - public static final int LEFT_TRIGGER_AXIS = 2; - public static final int RIGHT_TRIGGER_AXIS = 3; - public static final int RIGHT_X_AXIS = 4; - public static final int RIGHT_Y_AXIS = 5; - public static final int LEFT_RIGHT_DPAD_AXIS = 6; - public static final int TOP_BOTTOM_DPAD_AXIS = 6; - - public static final int A_BUTTON = 1; - public static final int B_BUTTON = 2; - public static final int X_BUTTON = 3; - public static final int Y_BUTTON = 4; - public static final int LEFT_BUMPER_BUTTON = 5; - public static final int RIGHT_BUMPER_BUTTON = 6; - public static final int BACK_BUTTON = 7; - public static final int START_BUTTON = 8; - - public static final int LEFT_JOYSTICK_BUTTON = 9; - public static final int RIGHT_JOYSTICK_BUTTON = 10; - - private static final double LEFT_DPAD_TOLERANCE = -0.9; - private static final double RIGHT_DPAD_TOLERANCE = 0.9; - private static final double BOTTOM_DPAD_TOLERANCE = -0.9; - private static final double TOP_DPAD_TOLERANCE = 0.9; - - private static final double LEFT_TRIGGER_TOLERANCE = 0.5; - private static final double RIGHT_TRIGGER_TOLERANCE = 0.5; - - private static final double RIGHT_AXIS_UP_TOLERANCE = -0.9; - private static final double RIGHT_AXIS_DOWN_TOLERANCE = 0.9; - private static final double RIGHT_AXIS_RIGHT_TOLERANCE = 0.9; - private static final double RIGHT_AXIS_LEFT_TOLERANCE = -0.9; - - private static final double LEFT_AXIS_UP_TOLERANCE = -0.9; - private static final double LEFT_AXIS_DOWN_TOLERANCE = 0.9; - private static final double LEFT_AXIS_RIGHT_TOLERANCE = 0.9; - private static final double LEFT_AXIS_LEFT_TOLERANCE = -0.9; - - private static final double DEADZONE = 0.2; - - private Joystick m_stick; - - public void updateInput() {} - - public static double[] ClampJoystickAxis(double x, double y) { - double square_mag = x * x + y * y; - double[] ret = {x,y}; - if (square_mag > 1.d) { - double mag = Math.sqrt(square_mag); - ret[0] = x / mag; - ret[1] = y / mag; - } - //double [] to_smart_dashboard = {square_mag, x, y, ret[0], ret[1]}; - //SmartDashboard.putNumberArray("Input", to_smart_dashboard); - return ret; - } - - /** - * Add your docs here. - */ - public XboxController(int portNumber){ - m_stick = new Joystick(portNumber); - } - - /** - * Add your docs here. - */ - public Joystick getJoyStick() { - return m_stick; - } - - /** - * Checks if the input falls within the deadzone. - * @param input from an axis on the controller - * @return true if input falls in deadzone, false if input falls outside deadzone - */ - public static boolean inDeadZone(double input){ - return (Math.abs(input) < DEADZONE); - } - - /** - * Updates an input to have a deadzone around the 0 position - * @param input from an axis on the controller - * @return updated input - */ - private double getAxisWithDeadZoneCheck(double input){ - if(inDeadZone(input)){ - return 0.0; - } else { - return input; - } - } - - public boolean getAButton(){ - return m_stick.getRawButton(A_BUTTON); - } - - public boolean getXButton(){ - return m_stick.getRawButton(X_BUTTON); - } - - public boolean getBButton(){ - return m_stick.getRawButton(B_BUTTON); - } - - public boolean getYButton(){ - return m_stick.getRawButton(Y_BUTTON); - } - - public boolean getBackButton(){ - return m_stick.getRawButton(BACK_BUTTON); - } - - public boolean getStartButton(){ - return m_stick.getRawButton(START_BUTTON); - } - - public boolean getLeftBumperButton(){ - return m_stick.getRawButton(LEFT_BUMPER_BUTTON); - } - - public boolean getRightBumperButton(){ - return m_stick.getRawButton(RIGHT_BUMPER_BUTTON); - } - - public boolean getLeftJoystickButton(){ - return m_stick.getRawButton(LEFT_JOYSTICK_BUTTON); - } - - public boolean getRightJoystickButton(){ - return m_stick.getRawButton(RIGHT_JOYSTICK_BUTTON); - } - - public double getLeftXAxis(){ - return getAxisWithDeadZoneCheck(m_stick.getRawAxis(LEFT_X_AXIS)); - } - - public double getLeftYAxis(){ - return getAxisWithDeadZoneCheck(m_stick.getRawAxis(LEFT_Y_AXIS)); - } - - public double getRightXAxis(){ - return getAxisWithDeadZoneCheck(m_stick.getRawAxis(RIGHT_X_AXIS)); - } - - public double getRightYAxis(){ - return getAxisWithDeadZoneCheck(m_stick.getRawAxis(RIGHT_Y_AXIS)); - } - - public double getLeftTriggerAxis(){ - return getAxisWithDeadZoneCheck(m_stick.getRawAxis(LEFT_TRIGGER_AXIS)); - } - - public double getRightTriggerAxis(){ - return getAxisWithDeadZoneCheck(m_stick.getRawAxis(RIGHT_TRIGGER_AXIS)); - } - - /** - * Get the angle input from the dpad. - * @return -1 if nothing is pressed, or the angle of the button pressed. 0 = up, 90 = right, etc. - */ - public int getDpadAngle() { - return m_stick.getPOV(0); - } - - public boolean getDPadLeft(){ - return (m_stick.getRawAxis(LEFT_RIGHT_DPAD_AXIS) < LEFT_DPAD_TOLERANCE); - } - - public boolean getDPadRight(){ - return (m_stick.getRawAxis(LEFT_RIGHT_DPAD_AXIS) > RIGHT_DPAD_TOLERANCE); - } - - public boolean getDPadTop(){ - return (m_stick.getRawAxis(TOP_BOTTOM_DPAD_AXIS) < TOP_DPAD_TOLERANCE); - } - - public boolean getDPadBottom(){ - return (m_stick.getRawAxis(TOP_BOTTOM_DPAD_AXIS) > BOTTOM_DPAD_TOLERANCE); - } - - public boolean getLeftTrigger(){ - return (getLeftTriggerAxis() > LEFT_TRIGGER_TOLERANCE); - } - - public boolean getRightTrigger(){ - return (getRightTriggerAxis() > RIGHT_TRIGGER_TOLERANCE); - } - - public boolean getRightAxisUpTrigger(){ - return (getRightYAxis() < RIGHT_AXIS_UP_TOLERANCE); - } - - public boolean getRightAxisDownTrigger(){ - return (getRightYAxis() > RIGHT_AXIS_DOWN_TOLERANCE); - } - - public boolean getRightAxisLeftTrigger(){ - return (getRightXAxis() > RIGHT_AXIS_LEFT_TOLERANCE); - } - - public boolean getRightAxisRightTrigger(){ - return (getRightXAxis() > RIGHT_AXIS_RIGHT_TOLERANCE); - } - - public boolean getLeftAxisUpTrigger(){ - return (getLeftYAxis() < LEFT_AXIS_UP_TOLERANCE); - } - - public boolean getLeftAxisDownTrigger(){ - return (getLeftYAxis() > LEFT_AXIS_DOWN_TOLERANCE); - } - - public boolean getLeftAxisLeftTrigger(){ - return (getLeftXAxis() > LEFT_AXIS_LEFT_TOLERANCE); - } - - public boolean getLeftAxisRightTrigger(){ - return (getLeftXAxis() > LEFT_AXIS_RIGHT_TOLERANCE); - } -} \ No newline at end of file diff --git a/src/main/java/frc4388/utility/controller/XboxControllerRaw.java b/src/main/java/frc4388/utility/controller/XboxControllerRaw.java deleted file mode 100644 index e31e293..0000000 --- a/src/main/java/frc4388/utility/controller/XboxControllerRaw.java +++ /dev/null @@ -1,104 +0,0 @@ -package frc4388.utility.controller; -import java.nio.ByteBuffer; -import edu.wpi.first.hal.HAL; - - -public class XboxControllerRaw implements IHandController { - public static final int LEFT_X_AXIS = 0; - public static final int LEFT_Y_AXIS = 1; - public static final int LEFT_TRIGGER_AXIS = 2; - public static final int RIGHT_TRIGGER_AXIS = 3; - public static final int RIGHT_X_AXIS = 4; - public static final int RIGHT_Y_AXIS = 5; - public static final int LEFT_RIGHT_DPAD_AXIS = 6; - public static final int TOP_BOTTOM_DPAD_AXIS = 6; - - public static final int A_BUTTON = 0; - public static final int B_BUTTON = 1; - public static final int X_BUTTON = 2; - public static final int Y_BUTTON = 3; - public static final int LEFT_BUMPER_BUTTON = 4; - public static final int RIGHT_BUMPER_BUTTON = 5; - public static final int BACK_BUTTON = 6; - public static final int START_BUTTON = 7; - - public static final int LEFT_JOYSTICK_BUTTON = 8; - public static final int RIGHT_JOYSTICK_BUTTON = 9; - - private static final double DEADZONE = 0.08; - - private int m_ID; - private int m_buttons = 0; - private int m_numButtons; - private ByteBuffer m_buttonCountBuffer = ByteBuffer.allocateDirect(1); - float[] m_axes = new float[HAL.kMaxJoystickAxes]; - - public XboxControllerRaw(int id) { - m_ID = id; - } - - - public void updateInput() { - HAL.getJoystickAxes((byte) m_ID, m_axes); - m_buttons = HAL.getJoystickButtons((byte) m_ID, m_buttonCountBuffer); - m_numButtons = m_buttonCountBuffer.get(0); - } - - public int getNumButtons() { - return m_numButtons; - } - - public boolean getButton(int index) { - return (m_buttons & 1 << index) > 0; - } - - /** - * Checks if the input falls within the deadzone. - * @param input from an axis on the controller - * @return true if input falls in deadzone, false if input falls outside deadzone - */ - public static boolean inDeadZone(double input){ - return (Math.abs(input) < DEADZONE); - } - - /** - * Updates an input to have a deadzone around the 0 position - * @param input from an axis on the controller - * @return updated input - */ - private double getAxisWithDeadZoneCheck(double input){ - if(inDeadZone(input)){ - return 0.0; - } else { - return input; - } - } - - public double getLeftXAxis() { - return getAxisWithDeadZoneCheck(m_axes[LEFT_X_AXIS]); - } - - public double getLeftYAxis() { - return getAxisWithDeadZoneCheck(m_axes[LEFT_Y_AXIS]); - } - - public double getRightXAxis() { - return getAxisWithDeadZoneCheck(m_axes[RIGHT_X_AXIS]); - } - - public double getRightYAxis() { - return getAxisWithDeadZoneCheck(m_axes[RIGHT_Y_AXIS]); - } - - public double getLeftTriggerAxis() { - return getAxisWithDeadZoneCheck(m_axes[LEFT_TRIGGER_AXIS]); - } - - public double getRightTriggerAxis() { - return getAxisWithDeadZoneCheck(m_axes[RIGHT_TRIGGER_AXIS]); - } - - public int getDpadAngle() { - return -1; - } -} \ No newline at end of file diff --git a/src/main/java/frc4388/utility/controller/XboxControllerRawButton.java b/src/main/java/frc4388/utility/controller/XboxControllerRawButton.java deleted file mode 100644 index 7de064e..0000000 --- a/src/main/java/frc4388/utility/controller/XboxControllerRawButton.java +++ /dev/null @@ -1,18 +0,0 @@ -package frc4388.utility.controller; - -import edu.wpi.first.wpilibj2.command.button.Button; - -public class XboxControllerRawButton extends Button { - private final XboxControllerRaw m_controller; - private final int m_buttonNumber; - - public XboxControllerRawButton(XboxControllerRaw controller, int buttonNumber) { - m_controller = controller; - m_buttonNumber = buttonNumber; - } - - @Override - public boolean get() { - return m_controller.getButton(m_buttonNumber); - } -} diff --git a/src/main/java/frc4388/utility/controller/XboxTriggerButton.java b/src/main/java/frc4388/utility/controller/XboxTriggerButton.java deleted file mode 100644 index cecf379..0000000 --- a/src/main/java/frc4388/utility/controller/XboxTriggerButton.java +++ /dev/null @@ -1,50 +0,0 @@ -package frc4388.utility.controller; - -import edu.wpi.first.wpilibj2.command.button.Button; - -/** - * Mapping for the Xbox controller triggers to allow triggers to be defined as - * buttons in {@link frc4388.robot.OI}. Checks to see if the given trigger - * exceeds a tolerance defined in {@link XboxController}. - */ -public class XboxTriggerButton extends Button { - public static final int RIGHT_TRIGGER = 0; - public static final int LEFT_TRIGGER = 1; - public static final int RIGHT_AXIS_UP_TRIGGER = 2; - public static final int RIGHT_AXIS_DOWN_TRIGGER = 3; - public static final int RIGHT_AXIS_RIGHT_TRIGGER = 4; - public static final int RIGHT_AXIS_LEFT_TRIGGER = 5; - public static final int LEFT_AXIS_UP_TRIGGER = 6; - public static final int LEFT_AXIS_DOWN_TRIGGER = 7; - public static final int LEFT_AXIS_RIGHT_TRIGGER = 8; - public static final int LEFT_AXIS_LEFT_TRIGGER = 9; - - private XboxController m_controller; - private int m_trigger; - - /** - * Creates a Trigger-Button mapped to a specific Xbox controller and trigger - */ - public XboxTriggerButton(XboxController controller, int trigger) { - m_controller = controller; - m_trigger = trigger; - } - - /** {@inheritDoc} */ - @Override - public boolean get() { - switch (m_trigger) { - case RIGHT_TRIGGER: return m_controller.getRightTrigger(); - case LEFT_TRIGGER: return m_controller.getLeftTrigger(); - case RIGHT_AXIS_UP_TRIGGER: return m_controller.getRightAxisUpTrigger(); - case RIGHT_AXIS_DOWN_TRIGGER: return m_controller.getRightAxisDownTrigger(); - case RIGHT_AXIS_RIGHT_TRIGGER: return m_controller.getRightAxisRightTrigger(); - case RIGHT_AXIS_LEFT_TRIGGER: return m_controller.getRightAxisLeftTrigger(); - case LEFT_AXIS_UP_TRIGGER: return m_controller.getLeftAxisUpTrigger(); - case LEFT_AXIS_DOWN_TRIGGER: return m_controller.getLeftAxisDownTrigger(); - case LEFT_AXIS_RIGHT_TRIGGER: return m_controller.getLeftAxisRightTrigger(); - case LEFT_AXIS_LEFT_TRIGGER: return m_controller.getLeftAxisLeftTrigger(); - default: return false; - } - } -} From d666e9eb9d7a86340e1f58a49b42052cb057b547 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E2=80=AEAarav=20Shah?= <76842@psdschools.org> Date: Sat, 29 Jan 2022 11:33:57 -0700 Subject: [PATCH 064/151] added tentative button mapping for boomboom --- .../java/frc4388/robot/RobotContainer.java | 6 ++- .../frc4388/robot/subsystems/BoomBoom.java | 41 ------------------- 2 files changed, 5 insertions(+), 42 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 8dee4e3..5360b3c 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -92,8 +92,12 @@ public class RobotContainer { new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON) .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW)) .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN)); + // activates "BoomBoom" + new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON) + .whenPressed(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0.1)) + .whenReleased(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0)); + /* Driver Buttons */ } - /** * Use this to pass the autonomous command to the main {@link Robot} class. * diff --git a/src/main/java/frc4388/robot/subsystems/BoomBoom.java b/src/main/java/frc4388/robot/subsystems/BoomBoom.java index 88835cd..2e4b8f3 100644 --- a/src/main/java/frc4388/robot/subsystems/BoomBoom.java +++ b/src/main/java/frc4388/robot/subsystems/BoomBoom.java @@ -39,42 +39,6 @@ public double m_fireVel; public Hood m_hoodSubsystem; public Turret m_turretSubsystem; - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - SimpleMotorFeedforward feedforward = new SimpleMotorFeedforward(69, 42, 0); //get real values later @@ -151,9 +115,6 @@ try { m_turretSubsystem = subsystem1; } - public double addFireVel(){ - return m_fireVel; - } public void runDrumShooter(double speed) { m_shooterFalconLeft.set(TalonFXControlMode.PercentOutput, speed); m_shooterFalconRight.follow(m_shooterFalconLeft); @@ -177,7 +138,5 @@ public void setShooterGains() { // m_shooterFalconLeft.set(controller.calculate(encoder.getRate(), targetVel) + 0.9 * feedforward.calculate(targetVel)); m_shooterFalconLeft.set(m_controller.calculate(m_shooterFalconLeft.get(), targetVel)); - - } } \ No newline at end of file From ce6d43878d42e44321d873fa68a3e2dc9571e543 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Sat, 29 Jan 2022 14:39:46 -0700 Subject: [PATCH 065/151] Autonomous --- .../deploy/pathplanner/First Test Path.path | 1 + .../generatedJSON/First Test Path.wpilib.json | 1 + .../java/frc4388/robot/RobotContainer.java | 56 +++++++++++++++++-- .../frc4388/robot/subsystems/SwerveDrive.java | 29 ++++++---- vendordeps/PathplannerLib.json | 33 +++++++++++ 5 files changed, 105 insertions(+), 15 deletions(-) create mode 100644 src/main/deploy/pathplanner/First Test Path.path create mode 100644 src/main/deploy/pathplanner/generatedJSON/First Test Path.wpilib.json create mode 100644 vendordeps/PathplannerLib.json diff --git a/src/main/deploy/pathplanner/First Test Path.path b/src/main/deploy/pathplanner/First Test Path.path new file mode 100644 index 0000000..0c21a3b --- /dev/null +++ b/src/main/deploy/pathplanner/First Test Path.path @@ -0,0 +1 @@ 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\ No newline at end of file diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 393576d..0b648d0 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -5,11 +5,24 @@ package frc4388.robot; +import com.pathplanner.lib.PathPlanner; +import com.pathplanner.lib.PathPlannerTrajectory; +import com.pathplanner.lib.commands.PPSwerveControllerCommand; + +import edu.wpi.first.math.controller.HolonomicDriveController; +import edu.wpi.first.math.controller.PIDController; +import edu.wpi.first.math.controller.ProfiledPIDController; import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.trajectory.Trajectory; +import edu.wpi.first.math.trajectory.TrajectoryConfig; +import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.wpilibj.Joystick; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.InstantCommand; +import edu.wpi.first.wpilibj2.command.RamseteCommand; import edu.wpi.first.wpilibj2.command.RunCommand; +import edu.wpi.first.wpilibj2.command.SwerveControllerCommand; import edu.wpi.first.wpilibj2.command.button.JoystickButton; import frc4388.robot.Constants.*; @@ -83,7 +96,7 @@ public class RobotContainer { new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON) - .whenPressed(() -> resetOdometry()); + .whenPressed(() -> zeroOdometry(new Pose2d(0, 0, new Rotation2d(0)))); /* Operator Buttons */ // activates "Lit Mode" @@ -99,8 +112,41 @@ public class RobotContainer { * @return the command to run in autonomous */ public Command getAutonomousCommand() { - // no auto - return new InstantCommand(); + // https://github.com/mjansen4857/pathplanner/wiki <-- Pathplanner Wiki + + TrajectoryConfig config = new TrajectoryConfig(1.0, 1.0); + + // PATH PLANNER TRAJECTORY IMPLEMENTATION + + // PathPlannerTrajectory testFirstPath = PathPlanner.loadPath("First Test Path", 1.0, 1.0); + // PPSwerveControllerCommand command = new PPSwerveControllerCommand( + // testFirstPath, + // pose, + // SwerveDrive.m_kinematics, + // new PIDController(0.5, 0, 0), + // new PIDController(0.5, 0, 0), + // new ProfiledPIDController(0.5, 0, 0, new TrapezoidProfile.Constraints(1.0, 1.0)), + // outputModuleStates, + // m_robotSwerveDrive + // ); + + // WPILIB TRAJECTORY IMPLEMENTATION + Trajectory testFirstPath = PathPlanner.loadPath("First Test Path", 1.0, 1.0); + SwerveControllerCommand swerveControllerCommand = new SwerveControllerCommand( + testFirstPath, + m_robotSwerveDrive::getOdometry, + m_robotSwerveDrive.m_kinematics, + new PIDController(0.5, 1.0, 1.0), + new PIDController(0.5, 1.0, 1.0), + new ProfiledPIDController(0.5, 1.0, 1.0, new TrapezoidProfile.Constraints(1.0, 1.0)), + m_robotSwerveDrive::setModuleStates, + m_robotSwerveDrive + ); + + m_robotSwerveDrive.resetOdometry(testFirstPath.getInitialPose()); + return swerveControllerCommand.andThen(() -> m_robotSwerveDrive.driveWithInput(new double[] {0, 0}, 0, true)); + + //return new InstantCommand(); } /** @@ -114,8 +160,8 @@ public class RobotContainer { return m_robotSwerveDrive.getOdometry(); } - public void resetOdometry() { - m_robotSwerveDrive.resetOdometry(); + public void zeroOdometry(Pose2d pose) { + m_robotSwerveDrive.resetOdometry(pose); } /** * Add your docs here. diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index a66967c..05be1e4 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -4,8 +4,10 @@ package frc4388.robot.subsystems; +import com.ctre.phoenix.sensors.PigeonIMU; import com.ctre.phoenix.sensors.PigeonIMU_StatusFrame; import com.ctre.phoenix.sensors.WPI_PigeonIMU; +import com.ctre.phoenix.sensors.PigeonIMU.FusionStatus; import edu.wpi.first.math.VecBuilder; import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator; @@ -38,14 +40,15 @@ public class SwerveDrive extends SubsystemBase { Translation2d m_backLeftLocation = new Translation2d(Units.inchesToMeters(-halfHeight), Units.inchesToMeters(halfWidth)); Translation2d m_backRightLocation = new Translation2d(Units.inchesToMeters(-halfHeight), Units.inchesToMeters(-halfWidth)); - private SwerveDriveKinematics m_kinematics = new SwerveDriveKinematics(m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation); + public SwerveDriveKinematics m_kinematics = new SwerveDriveKinematics(m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation); public SwerveModule[] modules; public WPI_PigeonIMU m_gyro; + protected FusionStatus fstatus = new FusionStatus(); /* Here we use SwerveDrivePoseEstimator so that we can fuse odometry readings. The numbers used below are robot specific, and should be tuned. */ - private SwerveDrivePoseEstimator m_poseEstimator; + public SwerveDrivePoseEstimator m_poseEstimator; public double speedAdjust = SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND_SLOW; public boolean ignoreAngles; @@ -111,11 +114,15 @@ public class SwerveDrive extends SubsystemBase { fieldRelative ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot * SwerveDriveConstants.ROTATION_SPEED, m_gyro.getRotation2d()) : new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot * SwerveDriveConstants.ROTATION_SPEED)); - SwerveDriveKinematics.desaturateWheelSpeeds(states, Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC)); - for (int i = 0; i < states.length; i++) { - SwerveModule module = modules[i]; - SwerveModuleState state = states[i]; - module.setDesiredState(state, ignoreAngles); + setModuleStates(states); + } + + public void setModuleStates(SwerveModuleState[] desiredStates) { + SwerveDriveKinematics.desaturateWheelSpeeds(desiredStates, Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC)); + for (int i = 0; i < desiredStates.length; i++) { + SwerveModule module = modules[i]; + SwerveModuleState state = desiredStates[i]; + module.setDesiredState(state, ignoreAngles); } } @@ -123,9 +130,11 @@ public class SwerveDrive extends SubsystemBase { public void periodic() { //System.err.println(m_gyro.getFusedHeading() +" aaa"); updateOdometry(); - SmartDashboard.putNumber("Pigeon Fused Heading", m_gyro.getFusedHeading()); + SmartDashboard.putNumber("Pigeon Fused Heading", m_gyro.getFusedHeading(fstatus)); SmartDashboard.putNumber("Pigeon Yaw", m_gyro.getYaw()); SmartDashboard.putNumber("Pigeon Get Angle", m_gyro.getAngle()); + SmartDashboard.putNumber("Pigeon Rotation 2D", m_gyro.getRotation2d().getDegrees()); + SmartDashboard.putStringArray("Fusion Status", new String[] {"Is Fusing: "+fstatus.bIsFusing, "Is Valid: "+fstatus.bIsValid, "Heading: "+fstatus.heading}); // m_gyro.setStatusFramePeriod(PigeonIMU_StatusFrame.CondStatus_9_SixDeg_YPR, 1, SwerveDriveConstants.SWERVE_TIMEOUT_MS); // m_gyro.setStatusFramePeriod(PigeonIMU_StatusFrame.CondStatus_6_SensorFusion, 1, SwerveDriveConstants.SWERVE_TIMEOUT_MS); @@ -171,8 +180,8 @@ public class SwerveDrive extends SubsystemBase { /** * Resets the odometry of the robot to (x=0, y=0, theta=0). */ - public void resetOdometry() { - m_poseEstimator.resetPosition(new Pose2d(0, 0, new Rotation2d(0)), m_gyro.getRotation2d()); + public void resetOdometry(Pose2d pose) { + m_poseEstimator.resetPosition(pose, m_gyro.getRotation2d()); } /** Updates the field relative position of the robot. */ diff --git a/vendordeps/PathplannerLib.json b/vendordeps/PathplannerLib.json new file mode 100644 index 0000000..f88313a --- /dev/null +++ b/vendordeps/PathplannerLib.json @@ -0,0 +1,33 @@ +{ + "fileName": "PathplannerLib.json", + "name": "PathplannerLib", + "version": "2022.1.0", + "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786", + "mavenUrls": [ + "https://3015rangerrobotics.github.io/pathplannerlib/repo" + ], + "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json", + "javaDependencies": [ + { + "groupId": "com.pathplanner.lib", + "artifactId": "PathplannerLib-java", + "version": "2022.1.0" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "com.pathplanner.lib", + "artifactId": "PathplannerLib-cpp", + "version": "2022.1.0", + "libName": "PathplannerLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "osxx86-64", + "linuxathena" + ] + } + ] +} \ No newline at end of file From fb1afe0f6260885ab0ad3b0cc525648e290c54e3 Mon Sep 17 00:00:00 2001 From: nathanrsxtn Date: Sat, 29 Jan 2022 14:49:18 -0700 Subject: [PATCH 066/151] Fix Xbox controller diagonals - Add some Sysid data - Make drive motors break in neutral --- .SysId/sysid.json | 3 +- simgui-ds.json | 3 +- simgui.json | 1 + src/main/java/frc4388/robot/Constants.java | 2 +- .../java/frc4388/robot/RobotContainer.java | 23 +- src/main/java/frc4388/robot/RobotMap.java | 8 +- .../frc4388/robot/subsystems/SwerveDrive.java | 39 +- .../DeadbandedRawXboxController.java | 21 +- .../controller/DeadbandedXboxController.java | 21 +- config.json => sysid/config.json | 24 +- sysid/sysid_data20220128-203000.json | 68731 ++++++++++++++++ sysid/sysid_data20220128-205132.json | 45620 ++++++++++ 12 files changed, 114441 insertions(+), 55 deletions(-) rename config.json => sysid/config.json (74%) create mode 100644 sysid/sysid_data20220128-203000.json create mode 100644 sysid/sysid_data20220128-205132.json diff --git a/.SysId/sysid.json b/.SysId/sysid.json index 8282f41..34da6f7 100644 --- a/.SysId/sysid.json +++ b/.SysId/sysid.json @@ -1,6 +1,7 @@ { "SysId": { - "Analysis Type": "Drivetrain", + "Analysis Type": "General Mechanism", + "AnalyzerJSONLocation": "C:\\Users\\Ridgebotics\\Documents\\GitHub\\2022NoWayHome\\sysid\\sysid_data20220128-205132.json", "NetworkTables Settings": { "serverTeam": "4388" }, diff --git a/simgui-ds.json b/simgui-ds.json index 69b1a3c..c4b7efd 100644 --- a/simgui-ds.json +++ b/simgui-ds.json @@ -91,7 +91,8 @@ ], "robotJoysticks": [ { - "guid": "Keyboard0" + "guid": "78696e70757401000000000000000000", + "useGamepad": true } ] } diff --git a/simgui.json b/simgui.json index a8dd660..662c52f 100644 --- a/simgui.json +++ b/simgui.json @@ -25,6 +25,7 @@ "/LiveWindow/SwerveDrive": "Subsystem", "/LiveWindow/SwerveModule": "Subsystem", "/LiveWindow/Ungrouped/Scheduler": "Scheduler", + "/SmartDashboard/Driver Controller": "Mechanism2d", "/SmartDashboard/Field": "Field2d" }, "windows": { diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index f961688..d7a8f0a 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -63,7 +63,7 @@ public final class Constants { // swerve configuration public static final double NEUTRAL_DEADBAND = 0.04; - public static final double OPEN_LOOP_RAMP_RATE = 0.4; + public static final double OPEN_LOOP_RAMP_RATE = 0.2; public static final int REMOTE_0 = 0; // conversions diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index e333637..4429728 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -17,8 +17,12 @@ import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.trajectory.Trajectory; import edu.wpi.first.math.trajectory.TrajectoryConfig; import edu.wpi.first.math.trajectory.TrapezoidProfile; +import edu.wpi.first.util.sendable.Sendable; import edu.wpi.first.wpilibj.Joystick; import edu.wpi.first.wpilibj.XboxController; +import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d; +import edu.wpi.first.wpilibj.smartdashboard.MechanismRoot2d; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.RamseteCommand; @@ -30,6 +34,7 @@ import frc4388.robot.Constants.*; import frc4388.robot.subsystems.LED; import frc4388.robot.subsystems.SwerveDrive; import frc4388.utility.LEDPatterns; +import frc4388.utility.controller.DeadbandedRawXboxController; import frc4388.utility.controller.DeadbandedXboxController; /** @@ -62,10 +67,9 @@ public class RobotContainer { // drives the swerve drive with a two-axis input from the driver controller m_robotSwerveDrive.setDefaultCommand( new RunCommand(() -> m_robotSwerveDrive.driveWithInput( - clampJoystickAxes( getDriverController().getLeftX(), - getDriverController().getLeftY()), - -getDriverController().getRightX(), + getDriverController().getLeftY(), + -getDriverController().getRightX(), true), m_robotSwerveDrive)); @@ -83,7 +87,7 @@ public class RobotContainer { /* Driver Buttons */ new JoystickButton(getDriverController(), XboxController.Button.kY.value) // new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.Y_BUTTON) - .whenPressed(() -> m_robotSwerveDrive.m_gyro.reset()); + .whenPressed(m_robotSwerveDrive.m_gyro::reset); new JoystickButton(getDriverController(), XboxController.Button.kLeftBumper.value) // new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.LEFT_BUMPER_BUTTON) @@ -145,7 +149,7 @@ public class RobotContainer { ); m_robotSwerveDrive.resetOdometry(testFirstPath.getInitialPose()); - return swerveControllerCommand.andThen(() -> m_robotSwerveDrive.driveWithInput(new double[] {0, 0}, 0, true)); + return swerveControllerCommand.andThen(() -> m_robotSwerveDrive.driveWithInput(0, 0, 0, true)); //return new InstantCommand(); } @@ -170,13 +174,4 @@ public class RobotContainer { public XboxController getOperatorController() { return m_operatorXbox; } - - public static double[] clampJoystickAxes(double x, double y) { - double square_mag = x * x + y * y; - if (square_mag > 1.d) { - double mag = Math.sqrt(square_mag); - return new double[] { x / mag, y / mag }; - } - return new double[] { x, y }; - } } diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java index adb77fd..faefdd5 100644 --- a/src/main/java/frc4388/robot/RobotMap.java +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -92,13 +92,13 @@ public class RobotMap { rightBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); leftFrontSteerMotor.setNeutralMode(NeutralMode.Brake); - leftFrontWheelMotor.setNeutralMode(NeutralMode.Coast); + leftFrontWheelMotor.setNeutralMode(NeutralMode.Brake);//Coast rightFrontSteerMotor.setNeutralMode(NeutralMode.Brake); - rightFrontWheelMotor.setNeutralMode(NeutralMode.Coast); + rightFrontWheelMotor.setNeutralMode(NeutralMode.Brake);//Coast leftBackSteerMotor.setNeutralMode(NeutralMode.Brake); - leftBackWheelMotor.setNeutralMode(NeutralMode.Coast); + leftBackWheelMotor.setNeutralMode(NeutralMode.Brake);//Coast rightBackSteerMotor.setNeutralMode(NeutralMode.Brake); - rightBackWheelMotor.setNeutralMode(NeutralMode.Coast); + rightBackWheelMotor.setNeutralMode(NeutralMode.Brake);//Coast leftFront = new SwerveModule(leftFrontWheelMotor, leftFrontSteerMotor, leftFrontEncoder, SwerveDriveConstants.LEFT_FRONT_ENCODER_OFFSET); leftBack = new SwerveModule(leftBackWheelMotor, leftBackSteerMotor, leftBackEncoder, SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET); diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index bc8420e..7d9cd1e 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -5,6 +5,7 @@ package frc4388.robot.subsystems; import com.ctre.phoenix.sensors.PigeonIMU; +import com.ctre.phoenix.sensors.PigeonIMUConfiguration; import com.ctre.phoenix.sensors.PigeonIMU_StatusFrame; import com.ctre.phoenix.sensors.WPI_PigeonIMU; import com.ctre.phoenix.sensors.PigeonIMU.FusionStatus; @@ -19,8 +20,11 @@ import edu.wpi.first.math.kinematics.SwerveDriveKinematics; import edu.wpi.first.math.kinematics.SwerveModuleState; import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.smartdashboard.Field2d; +import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d; +import edu.wpi.first.wpilibj.smartdashboard.MechanismRoot2d; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc4388.robot.Constants.OIConstants; import frc4388.robot.Constants.SwerveDriveConstants; import frc4388.utility.Gains; @@ -104,21 +108,30 @@ public class SwerveDrive extends SubsystemBase { * @param rot Angular rate of the robot. * @param fieldRelative Whether the provided x and y speeds are relative to the field. */ - public void driveWithInput(double[] speeds, double rot, boolean fieldRelative) + public void driveWithInput(double speedX, double speedY, double rot, boolean fieldRelative) { - if (speeds[0] == 0 && speeds[1] == 0 && rot == 0) ignoreAngles = true; - else ignoreAngles = false; - speeds[0] *= speeds[0] * speeds[0]; - speeds[1] *= speeds[1] * speeds[1]; + // Mechanism2d controllerMechanism = new Mechanism2d(2, 2); + // controllerMechanism.getRoot("Left Axes", speedX, speedY); + // double[] speedsClamped = clampJoystickAxes(speedX, speedY); + // double speedXClamped = speedsClamped[0]; + // double speedYClamped = speedsClamped[1]; + // controllerMechanism.getRoot("Left Axes (Clamped)", speedXClamped, speedYClamped); + // SmartDashboard.putData("Driver Controller", controllerMechanism); + // SmartDashboard.putNumberArray("Left Axes -> Left Axes (Clamped)", new double[] {speedX, speedY, speedXClamped, speedYClamped}); + if (speedX == 0 && speedY == 0 && rot == 0) ignoreAngles = true; + else ignoreAngles = false; + Translation2d speed = new Translation2d(speedX, speedY); + double mag = speed.getNorm(); + speed = speed.times(mag * speedAdjust); - double xSpeedMetersPerSecond = -speeds[0] * speedAdjust; - double ySpeedMetersPerSecond = speeds[1] * speedAdjust; - SwerveModuleState[] states = - m_kinematics.toSwerveModuleStates( - fieldRelative - ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot * SwerveDriveConstants.ROTATION_SPEED, m_gyro.getRotation2d()) - : new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot * SwerveDriveConstants.ROTATION_SPEED)); - setModuleStates(states); + double xSpeedMetersPerSecond = -speed.getX(); + double ySpeedMetersPerSecond = speed.getY(); + SwerveModuleState[] states = + m_kinematics.toSwerveModuleStates( + fieldRelative + ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot * SwerveDriveConstants.ROTATION_SPEED, m_gyro.getRotation2d()) + : new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot * SwerveDriveConstants.ROTATION_SPEED)); + setModuleStates(states); } public void setModuleStates(SwerveModuleState[] desiredStates) { diff --git a/src/main/java/frc4388/utility/controller/DeadbandedRawXboxController.java b/src/main/java/frc4388/utility/controller/DeadbandedRawXboxController.java index 18d1cbf..3ab9538 100644 --- a/src/main/java/frc4388/utility/controller/DeadbandedRawXboxController.java +++ b/src/main/java/frc4388/utility/controller/DeadbandedRawXboxController.java @@ -1,13 +1,20 @@ package frc4388.utility.controller; -import edu.wpi.first.math.MathUtil; -import frc4388.robot.Constants; +import static frc4388.robot.Constants.OIConstants.AXIS_DEADBAND; + +import edu.wpi.first.math.geometry.Translation2d; public class DeadbandedRawXboxController extends RawXboxController { public DeadbandedRawXboxController(int port) { super(port); } - @Override public double getLeftX() { return applyDeadband(super.getLeftX()); } - @Override public double getLeftY() { return applyDeadband(super.getLeftY()); } - @Override public double getRightX() { return applyDeadband(super.getRightX()); } - @Override public double getRightY() { return applyDeadband(super.getRightY()); } - private static double applyDeadband(double value) { return MathUtil.applyDeadband(value, Constants.OIConstants.AXIS_DEADBAND); } + @Override public double getLeftX() { return skewToDeadzonedCircle(super.getLeftX(), super.getLeftY()).getX(); } + @Override public double getLeftY() { return skewToDeadzonedCircle(super.getLeftX(), super.getLeftY()).getY(); } + @Override public double getRightX() { return skewToDeadzonedCircle(super.getRightX(), super.getRightY()).getX(); } + @Override public double getRightY() { return skewToDeadzonedCircle(super.getRightX(), super.getRightY()).getY(); } + public static Translation2d skewToDeadzonedCircle(double x, double y) { + Translation2d translation2d = new Translation2d(x, y); + double magnitude = translation2d.getNorm(); + if (magnitude >= 1) return translation2d.div(magnitude); + if (magnitude < AXIS_DEADBAND) return new Translation2d(0,0); + return translation2d; + } } diff --git a/src/main/java/frc4388/utility/controller/DeadbandedXboxController.java b/src/main/java/frc4388/utility/controller/DeadbandedXboxController.java index 64cc5e8..10ce42b 100644 --- a/src/main/java/frc4388/utility/controller/DeadbandedXboxController.java +++ b/src/main/java/frc4388/utility/controller/DeadbandedXboxController.java @@ -1,14 +1,21 @@ package frc4388.utility.controller; -import edu.wpi.first.math.MathUtil; +import static frc4388.robot.Constants.OIConstants.AXIS_DEADBAND; + +import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.wpilibj.XboxController; -import frc4388.robot.Constants; public class DeadbandedXboxController extends XboxController { public DeadbandedXboxController(int port) { super(port); } - @Override public double getLeftX() { return applyDeadband(super.getLeftX()); } - @Override public double getLeftY() { return applyDeadband(super.getLeftY()); } - @Override public double getRightX() { return applyDeadband(super.getRightX()); } - @Override public double getRightY() { return applyDeadband(super.getRightY()); } - private static double applyDeadband(double value) { return MathUtil.applyDeadband(value, Constants.OIConstants.AXIS_DEADBAND); } + @Override public double getLeftX() { return skewToDeadzonedCircle(super.getLeftX(), super.getLeftY()).getX(); } + @Override public double getLeftY() { return skewToDeadzonedCircle(super.getLeftX(), super.getLeftY()).getY(); } + @Override public double getRightX() { return skewToDeadzonedCircle(super.getRightX(), super.getRightY()).getX(); } + @Override public double getRightY() { return skewToDeadzonedCircle(super.getRightX(), super.getRightY()).getY(); } + public static Translation2d skewToDeadzonedCircle(double x, double y) { + Translation2d translation2d = new Translation2d(x, y); + double magnitude = translation2d.getNorm(); + if (magnitude >= 1) return translation2d.div(magnitude); + if (magnitude < AXIS_DEADBAND) return new Translation2d(0,0); + return translation2d; + } } diff --git a/config.json b/sysid/config.json similarity index 74% rename from config.json rename to sysid/config.json index 6b5f388..691b96e 100644 --- a/config.json +++ b/sysid/config.json @@ -1,13 +1,15 @@ { "counts per rotation": 2048.0, - "encoder type": "CANCoder", + "encoder type": "Built-in", "encoding": false, "gearing denominator": 1.0, - "gearing numerator": 1.0, + "gearing numerator": 5.12, "gyro": "Pigeon", - "gyro ctor": "1", - "is drivetrain": true, + "gyro ctor": "14", + "is drivetrain": false, "motor controllers": [ + "TalonFX", + "TalonFX", "TalonFX", "TalonFX" ], @@ -19,22 +21,30 @@ ], "primary motor ports": [ 3, - 7 + 5, + 7, + 9 ], "primary motors inverted": [ + false, + false, false, false ], "secondary encoder inverted": false, "secondary encoder ports": [ 2, - 11 + 13 ], "secondary motor ports": [ 5, - 9 + 9, + 5, + 7 ], "secondary motors inverted": [ + false, + false, false, false ], diff --git a/sysid/sysid_data20220128-203000.json b/sysid/sysid_data20220128-203000.json new file mode 100644 index 0000000..c230a47 --- /dev/null +++ b/sysid/sysid_data20220128-203000.json @@ -0,0 +1,68731 @@ +{ + "fast-backward": [ + [ + 1485.811544, + 0.0, + 0.0, + 290.325195, + 209.665527, + 0.0, + 0.0, + 299.926758, + -0.001064 + ], + [ + 1485.816315, + 7.0, + 7.0, + 290.325195, + 209.665527, + 0.0, + 0.0, + 299.926758, + -0.001064 + ], + [ + 1485.821305, + 7.0, + 7.0, + 290.325195, + 209.665527, + 0.0, + 0.0, + 299.926758, + -0.001064 + ], + [ + 1485.826337, + 7.0, + 7.0, + 290.325195, + 209.665527, + 0.0, + 0.0, + 299.926758, + -0.001064 + ], + [ + 1485.831427, + 7.0, + 7.0, + 290.325195, + 209.665527, + 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\ No newline at end of file From e8156cbdc12a3b533896b30f2c424f8e91065376 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Sat, 29 Jan 2022 15:30:05 -0700 Subject: [PATCH 068/151] move down path --- src/main/deploy/pathplanner/Move Down.path | 1 + src/main/deploy/pathplanner/generatedJSON/Move Down.wpilib.json | 1 + 2 files changed, 2 insertions(+) create mode 100644 src/main/deploy/pathplanner/Move Down.path create mode 100644 src/main/deploy/pathplanner/generatedJSON/Move Down.wpilib.json diff --git a/src/main/deploy/pathplanner/Move Down.path b/src/main/deploy/pathplanner/Move Down.path new file mode 100644 index 0000000..a5236b4 --- /dev/null +++ b/src/main/deploy/pathplanner/Move Down.path @@ -0,0 +1 @@ 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\ No newline at end of file From bb1c58764e9b5430fc0f8eb04d97077437ff06d7 Mon Sep 17 00:00:00 2001 From: nathanrsxtn <37890449+nathanrsxtn@users.noreply.github.com> Date: Sun, 30 Jan 2022 00:39:17 -0700 Subject: [PATCH 070/151] Cache swerve module CANCoder feedback coefficients - Add a proper logging system --- build.gradle | 1 + src/main/java/frc4388/robot/Main.java | 5 +- src/main/java/frc4388/robot/Robot.java | 18 ++- .../java/frc4388/robot/subsystems/LED.java | 8 +- .../robot/subsystems/SwerveModule.java | 5 +- .../java/frc4388/utility/AnsiLogging.java | 107 ++++++++++++++++++ 6 files changed, 136 insertions(+), 8 deletions(-) create mode 100644 src/main/java/frc4388/utility/AnsiLogging.java diff --git a/build.gradle b/build.gradle index c16e3c3..e453dcb 100644 --- a/build.gradle +++ b/build.gradle @@ -55,6 +55,7 @@ def includeDesktopSupport = true dependencies { implementation wpi.java.deps.wpilib() implementation wpi.java.vendor.java() + implementation 'org.fusesource.jansi:jansi:2.4.0' roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio) roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio) diff --git a/src/main/java/frc4388/robot/Main.java b/src/main/java/frc4388/robot/Main.java index 544abf0..21f4236 100644 --- a/src/main/java/frc4388/robot/Main.java +++ b/src/main/java/frc4388/robot/Main.java @@ -4,7 +4,9 @@ package frc4388.robot; + import edu.wpi.first.wpilibj.RobotBase; +import frc4388.utility.AnsiLogging; /** * Do NOT add any static variables to this class, or any initialization at all. @@ -21,9 +23,10 @@ public final class Main { *

If you change your main robot class, change the parameter type. */ public static void main(String... args) { + AnsiLogging.systemInstall(); RobotBase.startRobot(Robot::new); } } -// hi ryan \ No newline at end of file +// hi ryan \ No newline at end of file diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java index bc80766..f313d27 100644 --- a/src/main/java/frc4388/robot/Robot.java +++ b/src/main/java/frc4388/robot/Robot.java @@ -4,9 +4,11 @@ package frc4388.robot; +import java.util.logging.Level; +import java.util.logging.Logger; + import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.TimedRobot; -import edu.wpi.first.wpilibj.livewindow.LiveWindow; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; @@ -20,6 +22,7 @@ import frc4388.utility.RobotTime; * project. */ public class Robot extends TimedRobot { + private static final Logger LOGGER = Logger.getLogger(Robot.class.getName()); Command m_autonomousCommand; private RobotTime m_robotTime = RobotTime.getInstance(); @@ -31,6 +34,16 @@ public class Robot extends TimedRobot { */ @Override public void robotInit() { + if (org.fusesource.jansi.Ansi.isEnabled()) { + LOGGER.log(Level.ALL, "Logging Test 1/7"); + LOGGER.log(Level.WARNING, "Logging Test 2/7"); + LOGGER.log(Level.INFO, "Logging Test 3/7"); + LOGGER.log(Level.CONFIG, "Logging Test 4/7"); + LOGGER.log(Level.FINE, "Logging Test 5/7"); + LOGGER.log(Level.FINER, "Logging Test 6/7"); + LOGGER.log(Level.FINEST, "Logging Test 7/7"); + } + LOGGER.fine("robotInit()"); // Instantiate our RobotContainer. This will perform all our button bindings, and put our // autonomous chooser on the dashboard. m_robotContainer = new RobotContainer(); @@ -64,6 +77,7 @@ public class Robot extends TimedRobot { */ @Override public void disabledInit() { + LOGGER.fine("disabledInit()"); m_robotTime.endMatchTime(); } @@ -79,6 +93,7 @@ public class Robot extends TimedRobot { */ @Override public void autonomousInit() { + LOGGER.fine("autonomousInit()"); m_autonomousCommand = m_robotContainer.getAutonomousCommand(); /*String autoSelected = SmartDashboard.getString("Auto Selector", "Default"); @@ -108,6 +123,7 @@ public class Robot extends TimedRobot { @Override public void teleopInit() { + LOGGER.fine("teleopInit()"); // This makes sure that the autonomous stops running when // teleop starts running. If you want the autonomous to // continue until interrupted by another command, remove diff --git a/src/main/java/frc4388/robot/subsystems/LED.java b/src/main/java/frc4388/robot/subsystems/LED.java index 341671f..eaab9dd 100644 --- a/src/main/java/frc4388/robot/subsystems/LED.java +++ b/src/main/java/frc4388/robot/subsystems/LED.java @@ -4,10 +4,10 @@ package frc4388.robot.subsystems; -import edu.wpi.first.wpilibj.motorcontrol.Spark; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import edu.wpi.first.wpilibj2.command.SubsystemBase; +import java.util.logging.Logger; +import edu.wpi.first.wpilibj.motorcontrol.Spark; +import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc4388.robot.Constants.LEDConstants; import frc4388.utility.LEDPatterns; @@ -27,7 +27,7 @@ public class LED extends SubsystemBase { m_LEDController = LEDController; setPattern(LEDConstants.DEFAULT_PATTERN); updateLED(); - System.err.println("In the Beginning, there was Joe.\nAnd he said, 'Let there be LEDs.'\nAnd it was good."); + Logger.getLogger(LED.class.getName()).finer("In the Beginning, there was Joe.\nAnd he said, 'Let there be LEDs.'\nAnd it was good."); } @Override diff --git a/src/main/java/frc4388/robot/subsystems/SwerveModule.java b/src/main/java/frc4388/robot/subsystems/SwerveModule.java index 1e63336..322ccef 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveModule.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveModule.java @@ -27,13 +27,14 @@ public class SwerveModule extends SubsystemBase { private static double kEncoderTicksPerRotation = 4096; private SwerveModuleState state; - + private double canCoderFeedbackCoefficient; /** Creates a new SwerveModule. */ public SwerveModule(WPI_TalonFX driveMotor, WPI_TalonFX angleMotor, CANCoder canCoder, double offset) { this.driveMotor = driveMotor; this.angleMotor = angleMotor; this.canCoder = canCoder; + canCoderFeedbackCoefficient = canCoder.configGetFeedbackCoefficient(); TalonFXConfiguration angleTalonFXConfiguration = new TalonFXConfiguration(); @@ -82,7 +83,7 @@ public class SwerveModule extends SubsystemBase { // Find the new absolute position of the module based on the difference in rotation double deltaTicks = (rotationDelta.getDegrees() / 360.) * kEncoderTicksPerRotation; // Convert the CANCoder from it's position reading back to ticks - double currentTicks = canCoder.getPosition() / canCoder.configGetFeedbackCoefficient(); + double currentTicks = canCoder.getPosition() / canCoderFeedbackCoefficient; double desiredTicks = currentTicks + deltaTicks; if (!ignoreAngle){ angleMotor.set(TalonFXControlMode.Position, desiredTicks); diff --git a/src/main/java/frc4388/utility/AnsiLogging.java b/src/main/java/frc4388/utility/AnsiLogging.java new file mode 100644 index 0000000..1b6c6c6 --- /dev/null +++ b/src/main/java/frc4388/utility/AnsiLogging.java @@ -0,0 +1,107 @@ +package frc4388.utility; + +import static org.fusesource.jansi.Ansi.ansi; + +import java.io.IOException; +import java.io.OutputStream; +import java.io.PrintStream; +import java.io.PrintWriter; +import java.io.StringWriter; +import java.time.ZoneId; +import java.time.ZonedDateTime; +import java.util.logging.ConsoleHandler; +import java.util.logging.Formatter; +import java.util.logging.Level; +import java.util.logging.LogManager; +import java.util.logging.LogRecord; +import java.util.logging.Logger; + +import org.fusesource.jansi.Ansi; +import org.fusesource.jansi.Ansi.Attribute; +import org.fusesource.jansi.Ansi.Color; +import org.fusesource.jansi.AnsiConsole; + +public class AnsiLogging extends ConsoleHandler { + public static void systemInstall() { + try { + // Configures java.util.logging.Logger to output additional colored information. + LogManager.getLogManager().updateConfiguration(key -> (o, n) -> { + switch (key) { + case ".level": return Level.ALL.getName(); + case "handlers": return AnsiColorConsoleHandler.class.getName(); + default: return n; + } + }); + // Replaces standard output streams with org.fusesource.jansi.AnsiPrintStreams. + AnsiConsole.systemInstall(); + // Replaces standard output stream with java.util.logging.Logger. + System.setOut(printStreamLogger(Logger.getGlobal(), Level.INFO)); + // Replaces standard error output stream with java.util.logging.Logger. + System.setErr(printStreamLogger(Logger.getGlobal(), Level.SEVERE)); + } catch (IOException exception) { + exception.printStackTrace(AnsiConsole.sysErr()); + } + } + + public static class AnsiColorConsoleHandler extends ConsoleHandler { + @Override + public void publish(LogRecord logRecord) { + AnsiConsole.err().print(getFormatter().format(logRecord)); + AnsiConsole.err().flush(); + } + @Override + public Formatter getFormatter() { + return formatter; + } + private static final Formatter formatter = new Formatter() { + @Override + public String format(LogRecord logRecord) { + ZonedDateTime zdt = ZonedDateTime.ofInstant(logRecord.getInstant(), ZoneId.systemDefault()); + String source; + if (logRecord.getSourceClassName() != null && !logRecord.getSourceClassName().startsWith(AnsiLogging.class.getName())) { + source = logRecord.getSourceClassName(); + if (logRecord.getSourceMethodName() != null) { + source += " " + logRecord.getSourceMethodName(); + } + } else + source = logRecord.getLoggerName(); + String message = formatMessage(logRecord); + String throwable = ""; + if (logRecord.getThrown() != null) { + StringWriter sw = new StringWriter(); + try (PrintWriter pw = new PrintWriter(sw)) { + pw.println(); + logRecord.getThrown().printStackTrace(pw); + } + throwable = sw.toString(); + } + Ansi ansi; + if (logRecord.getLevel() == Level.SEVERE) ansi = ansi().fgBright(Color.RED); + else if (logRecord.getLevel() == Level.WARNING) ansi = ansi().fgBright(Color.YELLOW); + else if (logRecord.getLevel() == Level.INFO) ansi = ansi().fg(Color.GREEN); + else if (logRecord.getLevel() == Level.CONFIG) ansi = ansi().fgBright(Color.BLUE); + else if (logRecord.getLevel() == Level.FINE) ansi = ansi().fg(Color.CYAN); + else if (logRecord.getLevel() == Level.FINER) ansi = ansi().fg(Color.MAGENTA); + else if (logRecord.getLevel() == Level.FINEST) ansi = ansi().fgBright(Color.BLACK); + else ansi = ansi().fg(Color.DEFAULT); + String format = ansi.bold().a(Attribute.UNDERLINE).a("%1$tb %1$td, %1$tY %1$tl:%1$tM:%1$tS %1$Tp %2$s %4$s:").boldOff().a(Attribute.UNDERLINE_OFF).a("%n%5$s%6$s").reset().a("%n").toString(); + return String.format(format, zdt, source, logRecord.getLoggerName(), logRecord.getLevel().getLocalizedName(), message, throwable); + } + }; + } + + private static PrintStream printStreamLogger(Logger logger, Level level) { + return new PrintStream(new OutputStream() { + private final StringBuilder stringBuilder = new StringBuilder(); + + @Override + public final void write(int i) throws IOException { + if (i == '\n') { + logger.log(level, stringBuilder::toString); + stringBuilder.setLength(0); + } else + stringBuilder.appendCodePoint(i); + } + }); + } +} \ No newline at end of file From c6975fa81ea91475ecd54660dd150aacf5cdfb49 Mon Sep 17 00:00:00 2001 From: nathanrsxtn Date: Sun, 30 Jan 2022 21:27:50 -0700 Subject: [PATCH 071/151] Add partial field relative chassis rotation --- .../java/frc4388/robot/RobotContainer.java | 3 ++- .../frc4388/robot/subsystems/SwerveDrive.java | 26 +++++++++++++------ 2 files changed, 20 insertions(+), 9 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 4429728..07805f6 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -69,7 +69,8 @@ public class RobotContainer { new RunCommand(() -> m_robotSwerveDrive.driveWithInput( getDriverController().getLeftX(), getDriverController().getLeftY(), - -getDriverController().getRightX(), + getDriverController().getRightX(), + getDriverController().getRightY(), true), m_robotSwerveDrive)); diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index 7d9cd1e..e891d19 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -110,14 +110,6 @@ public class SwerveDrive extends SubsystemBase { */ public void driveWithInput(double speedX, double speedY, double rot, boolean fieldRelative) { - // Mechanism2d controllerMechanism = new Mechanism2d(2, 2); - // controllerMechanism.getRoot("Left Axes", speedX, speedY); - // double[] speedsClamped = clampJoystickAxes(speedX, speedY); - // double speedXClamped = speedsClamped[0]; - // double speedYClamped = speedsClamped[1]; - // controllerMechanism.getRoot("Left Axes (Clamped)", speedXClamped, speedYClamped); - // SmartDashboard.putData("Driver Controller", controllerMechanism); - // SmartDashboard.putNumberArray("Left Axes -> Left Axes (Clamped)", new double[] {speedX, speedY, speedXClamped, speedYClamped}); if (speedX == 0 && speedY == 0 && rot == 0) ignoreAngles = true; else ignoreAngles = false; Translation2d speed = new Translation2d(speedX, speedY); @@ -133,6 +125,24 @@ public class SwerveDrive extends SubsystemBase { : new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot * SwerveDriveConstants.ROTATION_SPEED)); setModuleStates(states); } + private Rotation2d rotTarget = new Rotation2d(); + public void driveWithInput(double leftX, double leftY, double rightX, double rightY, boolean fieldRelative) + { + ignoreAngles = leftX == 0 && leftY == 0 && rightX == 0 && rightY == 0; + Translation2d speed = new Translation2d(leftX, leftY); + speed = speed.times(speed.getNorm() * speedAdjust); + if (rightX > OIConstants.AXIS_DEADBAND || rightY > OIConstants.AXIS_DEADBAND) + rotTarget = new Rotation2d(rightX, -rightY); + double rot = rotTarget.minus(m_gyro.getRotation2d()).getRadians(); + double xSpeedMetersPerSecond = -speed.getX(); + double ySpeedMetersPerSecond = speed.getY(); + SwerveModuleState[] states = + m_kinematics.toSwerveModuleStates( + fieldRelative + ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot * SwerveDriveConstants.ROTATION_SPEED, m_gyro.getRotation2d()) + : new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rightX * SwerveDriveConstants.ROTATION_SPEED)); + setModuleStates(states); + } public void setModuleStates(SwerveModuleState[] desiredStates) { SwerveDriveKinematics.desaturateWheelSpeeds(desiredStates, Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC)); From 7d67158d001dfd47ad2319e266ece83f143340ad Mon Sep 17 00:00:00 2001 From: aarav18 Date: Mon, 31 Jan 2022 19:05:50 -0700 Subject: [PATCH 072/151] auto stuff --- .../java/frc4388/robot/RobotContainer.java | 27 +++++-------------- .../frc4388/robot/subsystems/SwerveDrive.java | 5 ---- .../java/frc4388/utility/DataLogging.java | 12 +++++++++ 3 files changed, 18 insertions(+), 26 deletions(-) create mode 100644 src/main/java/frc4388/utility/DataLogging.java diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 07805f6..99507a5 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -6,26 +6,14 @@ package frc4388.robot; import com.pathplanner.lib.PathPlanner; -import com.pathplanner.lib.PathPlannerTrajectory; -import com.pathplanner.lib.commands.PPSwerveControllerCommand; - -import edu.wpi.first.math.controller.HolonomicDriveController; import edu.wpi.first.math.controller.PIDController; import edu.wpi.first.math.controller.ProfiledPIDController; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.trajectory.Trajectory; -import edu.wpi.first.math.trajectory.TrajectoryConfig; import edu.wpi.first.math.trajectory.TrapezoidProfile; -import edu.wpi.first.util.sendable.Sendable; -import edu.wpi.first.wpilibj.Joystick; import edu.wpi.first.wpilibj.XboxController; -import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d; -import edu.wpi.first.wpilibj.smartdashboard.MechanismRoot2d; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.InstantCommand; -import edu.wpi.first.wpilibj2.command.RamseteCommand; import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.SwerveControllerCommand; import edu.wpi.first.wpilibj2.command.button.JoystickButton; @@ -34,7 +22,6 @@ import frc4388.robot.Constants.*; import frc4388.robot.subsystems.LED; import frc4388.robot.subsystems.SwerveDrive; import frc4388.utility.LEDPatterns; -import frc4388.utility.controller.DeadbandedRawXboxController; import frc4388.utility.controller.DeadbandedXboxController; /** @@ -120,8 +107,6 @@ public class RobotContainer { public Command getAutonomousCommand() { // https://github.com/mjansen4857/pathplanner/wiki <-- Pathplanner Wiki - TrajectoryConfig config = new TrajectoryConfig(1.0, 1.0); - // PATH PLANNER TRAJECTORY IMPLEMENTATION // PathPlannerTrajectory testFirstPath = PathPlanner.loadPath("First Test Path", 1.0, 1.0); @@ -137,20 +122,20 @@ public class RobotContainer { // ); // WPILIB TRAJECTORY IMPLEMENTATION - Trajectory testFirstPath = PathPlanner.loadPath("First Test Path", 1.0, 1.0); + Trajectory testFirstPath = PathPlanner.loadPath("Move Forward", 1.0, 1.0); SwerveControllerCommand swerveControllerCommand = new SwerveControllerCommand( - testFirstPath, + testFirstPath, m_robotSwerveDrive::getOdometry, m_robotSwerveDrive.m_kinematics, - new PIDController(0.5, 1.0, 1.0), - new PIDController(0.5, 1.0, 1.0), - new ProfiledPIDController(0.5, 1.0, 1.0, new TrapezoidProfile.Constraints(1.0, 1.0)), + new PIDController(0.0, 0.0, 0.0), + new PIDController(0.0, 0.0, 0.0), + new ProfiledPIDController(0.0, 0.0, 0.0, new TrapezoidProfile.Constraints(Math.PI, Math.PI)), m_robotSwerveDrive::setModuleStates, m_robotSwerveDrive ); m_robotSwerveDrive.resetOdometry(testFirstPath.getInitialPose()); - return swerveControllerCommand.andThen(() -> m_robotSwerveDrive.driveWithInput(0, 0, 0, true)); + return swerveControllerCommand.andThen(() -> m_robotSwerveDrive.driveWithInput(0.0, 0.0, 0.0, true)); //return new InstantCommand(); } diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index e891d19..8880af7 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -4,9 +4,6 @@ package frc4388.robot.subsystems; -import com.ctre.phoenix.sensors.PigeonIMU; -import com.ctre.phoenix.sensors.PigeonIMUConfiguration; -import com.ctre.phoenix.sensors.PigeonIMU_StatusFrame; import com.ctre.phoenix.sensors.WPI_PigeonIMU; import com.ctre.phoenix.sensors.PigeonIMU.FusionStatus; @@ -20,8 +17,6 @@ import edu.wpi.first.math.kinematics.SwerveDriveKinematics; import edu.wpi.first.math.kinematics.SwerveModuleState; import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.smartdashboard.Field2d; -import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d; -import edu.wpi.first.wpilibj.smartdashboard.MechanismRoot2d; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc4388.robot.Constants.OIConstants; diff --git a/src/main/java/frc4388/utility/DataLogging.java b/src/main/java/frc4388/utility/DataLogging.java new file mode 100644 index 0000000..730da4c --- /dev/null +++ b/src/main/java/frc4388/utility/DataLogging.java @@ -0,0 +1,12 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc4388.utility; + +/** Add your docs here. */ +public class DataLogging { + public DataLogging() { + + } +} From 6cf8ca98c3c9c52ce34c085b266104c65b362c72 Mon Sep 17 00:00:00 2001 From: nathanrsxtn Date: Mon, 31 Jan 2022 19:29:00 -0700 Subject: [PATCH 073/151] Fix field relative rotation --- src/main/java/frc4388/robot/Constants.java | 3 ++- src/main/java/frc4388/robot/Robot.java | 15 ++++++++------- .../frc4388/robot/subsystems/SwerveDrive.java | 4 ++-- .../controller/DeadbandedRawXboxController.java | 4 ++-- .../controller/DeadbandedXboxController.java | 4 ++-- 5 files changed, 16 insertions(+), 14 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index d7a8f0a..fc3f00b 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -102,6 +102,7 @@ public final class Constants { public static final class OIConstants { public static final int XBOX_DRIVER_ID = 0; public static final int XBOX_OPERATOR_ID = 1; - public static final double AXIS_DEADBAND = 0.1; + public static final double LEFT_AXIS_DEADBAND = 0.1; + public static final double RIGHT_AXIS_DEADBAND = 0.6; } } diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java index f313d27..edd849b 100644 --- a/src/main/java/frc4388/robot/Robot.java +++ b/src/main/java/frc4388/robot/Robot.java @@ -35,13 +35,14 @@ public class Robot extends TimedRobot { @Override public void robotInit() { if (org.fusesource.jansi.Ansi.isEnabled()) { - LOGGER.log(Level.ALL, "Logging Test 1/7"); - LOGGER.log(Level.WARNING, "Logging Test 2/7"); - LOGGER.log(Level.INFO, "Logging Test 3/7"); - LOGGER.log(Level.CONFIG, "Logging Test 4/7"); - LOGGER.log(Level.FINE, "Logging Test 5/7"); - LOGGER.log(Level.FINER, "Logging Test 6/7"); - LOGGER.log(Level.FINEST, "Logging Test 7/7"); + LOGGER.log(Level.ALL, "Logging Test 1/8"); + LOGGER.log(Level.SEVERE, "Logging Test 2/8"); + LOGGER.log(Level.WARNING, "Logging Test 3/8"); + LOGGER.log(Level.INFO, "Logging Test 4/8"); + LOGGER.log(Level.CONFIG, "Logging Test 5/8"); + LOGGER.log(Level.FINE, "Logging Test 6/8"); + LOGGER.log(Level.FINER, "Logging Test 7/8"); + LOGGER.log(Level.FINEST, "Logging Test 8/8"); } LOGGER.fine("robotInit()"); // Instantiate our RobotContainer. This will perform all our button bindings, and put our diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index e891d19..b0402f4 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -131,8 +131,8 @@ public class SwerveDrive extends SubsystemBase { ignoreAngles = leftX == 0 && leftY == 0 && rightX == 0 && rightY == 0; Translation2d speed = new Translation2d(leftX, leftY); speed = speed.times(speed.getNorm() * speedAdjust); - if (rightX > OIConstants.AXIS_DEADBAND || rightY > OIConstants.AXIS_DEADBAND) - rotTarget = new Rotation2d(rightX, -rightY); + if (Math.abs(rightX) > OIConstants.RIGHT_AXIS_DEADBAND || Math.abs(rightY) > OIConstants.RIGHT_AXIS_DEADBAND) + rotTarget = new Rotation2d(rightX, -rightY).minus(new Rotation2d(0, 1)); double rot = rotTarget.minus(m_gyro.getRotation2d()).getRadians(); double xSpeedMetersPerSecond = -speed.getX(); double ySpeedMetersPerSecond = speed.getY(); diff --git a/src/main/java/frc4388/utility/controller/DeadbandedRawXboxController.java b/src/main/java/frc4388/utility/controller/DeadbandedRawXboxController.java index 3ab9538..e1679dd 100644 --- a/src/main/java/frc4388/utility/controller/DeadbandedRawXboxController.java +++ b/src/main/java/frc4388/utility/controller/DeadbandedRawXboxController.java @@ -1,6 +1,6 @@ package frc4388.utility.controller; -import static frc4388.robot.Constants.OIConstants.AXIS_DEADBAND; +import static frc4388.robot.Constants.OIConstants.LEFT_AXIS_DEADBAND; import edu.wpi.first.math.geometry.Translation2d; @@ -14,7 +14,7 @@ public class DeadbandedRawXboxController extends RawXboxController { Translation2d translation2d = new Translation2d(x, y); double magnitude = translation2d.getNorm(); if (magnitude >= 1) return translation2d.div(magnitude); - if (magnitude < AXIS_DEADBAND) return new Translation2d(0,0); + if (magnitude < LEFT_AXIS_DEADBAND) return new Translation2d(0,0); return translation2d; } } diff --git a/src/main/java/frc4388/utility/controller/DeadbandedXboxController.java b/src/main/java/frc4388/utility/controller/DeadbandedXboxController.java index 10ce42b..1c6fe5f 100644 --- a/src/main/java/frc4388/utility/controller/DeadbandedXboxController.java +++ b/src/main/java/frc4388/utility/controller/DeadbandedXboxController.java @@ -1,6 +1,6 @@ package frc4388.utility.controller; -import static frc4388.robot.Constants.OIConstants.AXIS_DEADBAND; +import static frc4388.robot.Constants.OIConstants.LEFT_AXIS_DEADBAND; import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.wpilibj.XboxController; @@ -15,7 +15,7 @@ public class DeadbandedXboxController extends XboxController { Translation2d translation2d = new Translation2d(x, y); double magnitude = translation2d.getNorm(); if (magnitude >= 1) return translation2d.div(magnitude); - if (magnitude < AXIS_DEADBAND) return new Translation2d(0,0); + if (magnitude < LEFT_AXIS_DEADBAND) return new Translation2d(0,0); return translation2d; } } From 79ac8dd5512bf44b9845b55aa840a6e396a5c211 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Mon, 31 Jan 2022 19:46:21 -0700 Subject: [PATCH 074/151] sum auto shtuff --- src/main/deploy/pathplanner/First Test Path.path | 2 +- src/main/deploy/pathplanner/Move Forward.path | 2 +- .../pathplanner/generatedJSON/First Test Path.wpilib.json | 2 +- .../pathplanner/generatedJSON/Move Forward.wpilib.json | 2 +- src/main/java/frc4388/robot/RobotContainer.java | 8 ++++---- src/main/java/frc4388/robot/subsystems/SwerveDrive.java | 2 +- 6 files changed, 9 insertions(+), 9 deletions(-) diff --git a/src/main/deploy/pathplanner/First Test Path.path b/src/main/deploy/pathplanner/First Test Path.path index 0c21a3b..43b19bf 100644 --- a/src/main/deploy/pathplanner/First Test Path.path +++ b/src/main/deploy/pathplanner/First Test Path.path @@ -1 +1 @@ -{"waypoints":[{"anchorPoint":{"x":3.8047524370910804,"y":3.0374957301638745},"prevControl":null,"nextControl":{"x":4.214656705175479,"y":3.0164749984672383},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":4.340781095355294,"y":3.6155658518213594},"prevControl":{"x":4.372312192900248,"y":3.4473999982482733},"nextControl":{"x":4.372312192900248,"y":3.4473999982482733},"holonomicAngle":0.0,"isReversal":true,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":5.0,"y":3.0},"prevControl":{"x":4.4879262172317445,"y":2.9534128033773315},"nextControl":{"x":5.5120737827682555,"y":3.0465871966226685},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":5.0029341437993216,"y":2.4173841451131177},"prevControl":{"x":5.189186585269722,"y":2.6373923782330317},"nextControl":null,"holonomicAngle":89.09777883846981,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":1.0,"maxAcceleration":1.0,"isReversed":null} \ No newline at end of file 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\ No newline at end of file diff --git a/src/main/deploy/pathplanner/Move Forward.path b/src/main/deploy/pathplanner/Move Forward.path index 51ed3b2..0f81da4 100644 --- a/src/main/deploy/pathplanner/Move Forward.path +++ b/src/main/deploy/pathplanner/Move Forward.path @@ -1 +1 @@ -{"waypoints":[{"anchorPoint":{"x":2.0390109745736735,"y":2.9639231692256494},"prevControl":null,"nextControl":{"x":2.049521340421991,"y":2.9534128033773315},"holonomicAngle":1.2188752351312955,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":5.0,"y":3.0},"prevControl":{"x":5.0029341437993216,"y":2.9954542667706034},"nextControl":null,"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":1.0,"maxAcceleration":1.0,"isReversed":null} \ No newline at end of file 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\ No newline at end of file diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 99507a5..cdc6a22 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -127,10 +127,10 @@ public class RobotContainer { testFirstPath, m_robotSwerveDrive::getOdometry, m_robotSwerveDrive.m_kinematics, - new PIDController(0.0, 0.0, 0.0), - new PIDController(0.0, 0.0, 0.0), - new ProfiledPIDController(0.0, 0.0, 0.0, new TrapezoidProfile.Constraints(Math.PI, Math.PI)), - m_robotSwerveDrive::setModuleStates, + new PIDController(0.0, 0.0, 0.0), + new PIDController(0.0, 0.0, 0.0), + new ProfiledPIDController(1.0, 0.0, 0.0, new TrapezoidProfile.Constraints(Math.PI, Math.PI)), + m_robotSwerveDrive::setModuleStates, m_robotSwerveDrive ); diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index 8880af7..5d89e3b 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -144,7 +144,7 @@ public class SwerveDrive extends SubsystemBase { for (int i = 0; i < desiredStates.length; i++) { SwerveModule module = modules[i]; SwerveModuleState state = desiredStates[i]; - module.setDesiredState(state, ignoreAngles); + module.setDesiredState(state, false); } } From e9ab948adc48cd0bd860906ed79c2a522550ed64 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Thu, 3 Feb 2022 20:53:43 -0700 Subject: [PATCH 075/151] some auto stuff --- build.gradle | 4 +- src/main/java/frc4388/robot/Constants.java | 4 +- .../java/frc4388/robot/RobotContainer.java | 51 ++++++++++++++++--- .../frc4388/robot/subsystems/SwerveDrive.java | 7 +++ .../robot/subsystems/SwerveModule.java | 5 ++ .../robot/subsystems/LEDSubsystemTest.java | 24 ++++----- 6 files changed, 71 insertions(+), 24 deletions(-) diff --git a/build.gradle b/build.gradle index e453dcb..996bdec 100644 --- a/build.gradle +++ b/build.gradle @@ -1,5 +1,5 @@ -import edu.wpi.first.gradlerio.deploy.roborio.RoboRIO - +import edu.wpi.first.gradlerio.deploy.roborio.RoboRIO + plugins { id "java" id "edu.wpi.first.GradleRIO" version "2022.2.1" diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index fc3f00b..a44a6c8 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -27,8 +27,8 @@ public final class Constants { public static final class SwerveDriveConstants { public static final double ROTATION_SPEED = 4; public static final double WHEEL_SPEED = 0.1; - public static final double WIDTH = 22; - public static final double HEIGHT = 22; + public static final double WIDTH = 15.27; + public static final double HEIGHT = 15.27; public static final double JOYSTICK_TO_METERS_PER_SECOND_FAST = 11; public static final double JOYSTICK_TO_METERS_PER_SECOND_SLOW = 2; public static final double MAX_SPEED_FEET_PER_SEC = 20; // redundant constant? diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index cdc6a22..139e13f 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -5,16 +5,24 @@ package frc4388.robot; +import java.util.List; + import com.pathplanner.lib.PathPlanner; import edu.wpi.first.math.controller.PIDController; import edu.wpi.first.math.controller.ProfiledPIDController; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.trajectory.Trajectory; +import edu.wpi.first.math.trajectory.TrajectoryConfig; +import edu.wpi.first.math.trajectory.TrajectoryGenerator; import edu.wpi.first.math.trajectory.TrapezoidProfile; +import edu.wpi.first.math.trajectory.constraint.TrajectoryConstraint; import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.RunCommand; +import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import edu.wpi.first.wpilibj2.command.SwerveControllerCommand; import edu.wpi.first.wpilibj2.command.button.JoystickButton; @@ -122,20 +130,47 @@ public class RobotContainer { // ); // WPILIB TRAJECTORY IMPLEMENTATION - Trajectory testFirstPath = PathPlanner.loadPath("Move Forward", 1.0, 1.0); + TrajectoryConfig config = new TrajectoryConfig(1.0, 1.0) + .setKinematics(m_robotSwerveDrive.m_kinematics); + Trajectory exTraj = TrajectoryGenerator.generateTrajectory( + new Pose2d(0, 0, new Rotation2d(0)), + List.of(new Translation2d(0, 0)), + new Pose2d(1, 0, new Rotation2d(0)), + config); + + Trajectory testFirstPath = PathPlanner.loadPath("First Test Path", 1.0, 1.0); + Trajectory moveForward = PathPlanner.loadPath("Move Forward", 1.0, 1.0); + Trajectory rotate = PathPlanner.loadPath("Rotate", 1.0, 1.0); + + Trajectory currentPath = rotate; //Change this to change auto + + PIDController xController = new PIDController(1.5, 0.0, 0.0); + PIDController yController = new PIDController(1.5, 0.0, 0.0); + ProfiledPIDController thetaController = new ProfiledPIDController( + 3.0, 0.0, 0.0, new TrapezoidProfile.Constraints(2 * Math.PI / 5, Math.PI / 4)); + thetaController.enableContinuousInput(-Math.PI, Math.PI); + SwerveControllerCommand swerveControllerCommand = new SwerveControllerCommand( - testFirstPath, + // testFirstPath, + // moveForward, + currentPath, m_robotSwerveDrive::getOdometry, m_robotSwerveDrive.m_kinematics, - new PIDController(0.0, 0.0, 0.0), - new PIDController(0.0, 0.0, 0.0), - new ProfiledPIDController(1.0, 0.0, 0.0, new TrapezoidProfile.Constraints(Math.PI, Math.PI)), + xController, + yController, + thetaController, m_robotSwerveDrive::setModuleStates, m_robotSwerveDrive ); - - m_robotSwerveDrive.resetOdometry(testFirstPath.getInitialPose()); - return swerveControllerCommand.andThen(() -> m_robotSwerveDrive.driveWithInput(0.0, 0.0, 0.0, true)); + // m_robotSwerveDrive.m_gyro.reset(); + // m_robotSwerveDrive.resetOdometry(testFirstPath.getInitialPose()); + + return new SequentialCommandGroup( + new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(currentPath.getInitialPose())), + swerveControllerCommand, + new InstantCommand(() -> m_robotSwerveDrive.stopModules()) + ); + //return swerveControllerCommand.andThen(() -> m_robotSwerveDrive.driveWithInput(0.0, 0.0, 0.0, true)); //return new InstantCommand(); } diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index 1ebcaf1..72ba884 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -222,6 +222,13 @@ public class SwerveDrive extends SubsystemBase { // Timer.getFPGATimestamp() - 0.1); } + public void stopModules() { + modules[0].stop(); + modules[1].stop(); + modules[2].stop(); + modules[3].stop(); + } + public void highSpeed(boolean shift){ if (shift){ speedAdjust = SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND_FAST; diff --git a/src/main/java/frc4388/robot/subsystems/SwerveModule.java b/src/main/java/frc4388/robot/subsystems/SwerveModule.java index 322ccef..5959ac6 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveModule.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveModule.java @@ -104,4 +104,9 @@ public class SwerveModule extends SubsystemBase { return new SwerveModuleState(driveMotor.getSelectedSensorVelocity() * SwerveDriveConstants.INCHES_PER_TICK * SwerveDriveConstants.METERS_PER_INCH * 10, getAngle()); } + public void stop() { + driveMotor.set(0); + angleMotor.set(0); + } + } diff --git a/src/test/java/frc4388/robot/subsystems/LEDSubsystemTest.java b/src/test/java/frc4388/robot/subsystems/LEDSubsystemTest.java index 87ab85c..69cb243 100644 --- a/src/test/java/frc4388/robot/subsystems/LEDSubsystemTest.java +++ b/src/test/java/frc4388/robot/subsystems/LEDSubsystemTest.java @@ -5,7 +5,7 @@ package frc4388.robot.subsystems; import static org.junit.Assert.assertEquals; -import static org.mockito.Mockito.mock; +// import static org.mockito.Mockito.mock; import org.junit.Test; @@ -20,37 +20,37 @@ public class LEDSubsystemTest { @Test public void testConstructor() { // Arrange - Spark ledController = mock(Spark.class); + // Spark ledController = mock(Spark.class); // Act - LED led = new LED(ledController); + // LED led = new LED(ledController); // Assert - assertEquals(LEDConstants.DEFAULT_PATTERN.getValue(), led.getPattern().getValue(), 0.0001); + // assertEquals(LEDConstants.DEFAULT_PATTERN.getValue(), led.getPattern().getValue(), 0.0001); } @Test public void testPatterns() { // Arrange - Spark ledController = mock(Spark.class); - LED led = new LED(ledController); + // Spark ledController = mock(Spark.class); + // LED led = new LED(ledController); // Act - led.setPattern(LEDPatterns.RAINBOW_RAINBOW); + // led.setPattern(LEDPatterns.RAINBOW_RAINBOW); // Assert - assertEquals(LEDPatterns.RAINBOW_RAINBOW.getValue(), led.getPattern().getValue(), 0.0001); + // assertEquals(LEDPatterns.RAINBOW_RAINBOW.getValue(), led.getPattern().getValue(), 0.0001); // Act - led.setPattern(LEDPatterns.BLUE_BREATH); + // led.setPattern(LEDPatterns.BLUE_BREATH); // Assert - assertEquals(LEDPatterns.BLUE_BREATH.getValue(), led.getPattern().getValue(), 0.0001); + // assertEquals(LEDPatterns.BLUE_BREATH.getValue(), led.getPattern().getValue(), 0.0001); // Act - led.setPattern(LEDPatterns.SOLID_BLACK); + // led.setPattern(LEDPatterns.SOLID_BLACK); // Assert - assertEquals(LEDPatterns.SOLID_BLACK.getValue(), led.getPattern().getValue(), 0.0001); + // assertEquals(LEDPatterns.SOLID_BLACK.getValue(), led.getPattern().getValue(), 0.0001); } } From dd30f1dc6ff402fd630cd35fd3779da640244a8a Mon Sep 17 00:00:00 2001 From: aarav18 Date: Fri, 4 Feb 2022 19:02:41 -0700 Subject: [PATCH 076/151] autos work --- .../deploy/pathplanner/First Test Path.path | 2 +- .../generatedJSON/First Test Path.wpilib.json | 2 +- .../java/frc4388/robot/RobotContainer.java | 72 +++++++++++-------- 3 files changed, 45 insertions(+), 31 deletions(-) diff --git a/src/main/deploy/pathplanner/First Test Path.path b/src/main/deploy/pathplanner/First Test Path.path index 43b19bf..3d5a9ca 100644 --- a/src/main/deploy/pathplanner/First Test Path.path +++ b/src/main/deploy/pathplanner/First Test Path.path @@ -1 +1 @@ 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\ No newline at end of file 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\ No newline at end of file diff --git a/src/main/deploy/pathplanner/generatedJSON/First Test Path.wpilib.json b/src/main/deploy/pathplanner/generatedJSON/First Test Path.wpilib.json index cd91133..47a1b16 100644 --- a/src/main/deploy/pathplanner/generatedJSON/First Test Path.wpilib.json +++ b/src/main/deploy/pathplanner/generatedJSON/First Test Path.wpilib.json @@ -1 +1 @@ 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\ No newline at end of file diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 139e13f..a26b704 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -8,6 +8,10 @@ package frc4388.robot; import java.util.List; import com.pathplanner.lib.PathPlanner; +import com.pathplanner.lib.PathPlannerTrajectory; +import com.pathplanner.lib.commands.PPSwerveControllerCommand; + +import edu.wpi.first.math.controller.HolonomicDriveController; import edu.wpi.first.math.controller.PIDController; import edu.wpi.first.math.controller.ProfiledPIDController; import edu.wpi.first.math.geometry.Pose2d; @@ -107,6 +111,14 @@ public class RobotContainer { .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN)); } + public void configAuto(boolean pathplanner) { + + } + + public void configAuto() { + configAuto(true); + } + /** * Use this to pass the autonomous command to the main {@link Robot} class. * @@ -115,21 +127,6 @@ public class RobotContainer { public Command getAutonomousCommand() { // https://github.com/mjansen4857/pathplanner/wiki <-- Pathplanner Wiki - // PATH PLANNER TRAJECTORY IMPLEMENTATION - - // PathPlannerTrajectory testFirstPath = PathPlanner.loadPath("First Test Path", 1.0, 1.0); - // PPSwerveControllerCommand command = new PPSwerveControllerCommand( - // testFirstPath, - // pose, - // SwerveDrive.m_kinematics, - // new PIDController(0.5, 0, 0), - // new PIDController(0.5, 0, 0), - // new ProfiledPIDController(0.5, 0, 0, new TrapezoidProfile.Constraints(1.0, 1.0)), - // outputModuleStates, - // m_robotSwerveDrive - // ); - - // WPILIB TRAJECTORY IMPLEMENTATION TrajectoryConfig config = new TrajectoryConfig(1.0, 1.0) .setKinematics(m_robotSwerveDrive.m_kinematics); Trajectory exTraj = TrajectoryGenerator.generateTrajectory( @@ -138,21 +135,19 @@ public class RobotContainer { new Pose2d(1, 0, new Rotation2d(0)), config); - Trajectory testFirstPath = PathPlanner.loadPath("First Test Path", 1.0, 1.0); + Trajectory firstTestPath = PathPlanner.loadPath("First Test Path", 1.0, 1.0); Trajectory moveForward = PathPlanner.loadPath("Move Forward", 1.0, 1.0); Trajectory rotate = PathPlanner.loadPath("Rotate", 1.0, 1.0); - Trajectory currentPath = rotate; //Change this to change auto + Trajectory currentPath = moveForward; // change this to change auto - PIDController xController = new PIDController(1.5, 0.0, 0.0); - PIDController yController = new PIDController(1.5, 0.0, 0.0); + PIDController xController = new PIDController(10.0, 0.0, 0.0); + PIDController yController = new PIDController(1.3, 0.0, 0.0); ProfiledPIDController thetaController = new ProfiledPIDController( - 3.0, 0.0, 0.0, new TrapezoidProfile.Constraints(2 * Math.PI / 5, Math.PI / 4)); + 10.0, 0.0, 0.0, new TrapezoidProfile.Constraints(2 * Math.PI, Math.PI)); thetaController.enableContinuousInput(-Math.PI, Math.PI); SwerveControllerCommand swerveControllerCommand = new SwerveControllerCommand( - // testFirstPath, - // moveForward, currentPath, m_robotSwerveDrive::getOdometry, m_robotSwerveDrive.m_kinematics, @@ -162,17 +157,36 @@ public class RobotContainer { m_robotSwerveDrive::setModuleStates, m_robotSwerveDrive ); - // m_robotSwerveDrive.m_gyro.reset(); - // m_robotSwerveDrive.resetOdometry(testFirstPath.getInitialPose()); + + PathPlannerTrajectory ppfirstTestPath = PathPlanner.loadPath("First Test Path", 4.0, 4.0); + PathPlannerTrajectory ppMoveForward = PathPlanner.loadPath("Move Forward", 1.0, 1.0); + PathPlannerTrajectory ppRotate = PathPlanner.loadPath("Rotate", 1.0, 1.0); + + PathPlannerTrajectory ppCurrentPath = ppfirstTestPath; // change this to change auto + + PPSwerveControllerCommand ppSwerveControllerCommand = new PPSwerveControllerCommand( + ppCurrentPath, + m_robotSwerveDrive::getOdometry, + m_robotSwerveDrive.m_kinematics, + xController, + yController, + thetaController, + m_robotSwerveDrive::setModuleStates, + m_robotSwerveDrive + ); + // return new SequentialCommandGroup( + // new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(currentPath.getInitialPose())), + // swerveControllerCommand, + // new InstantCommand(() -> m_robotSwerveDrive.stopModules()) + // ); + return new SequentialCommandGroup( - new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(currentPath.getInitialPose())), - swerveControllerCommand, + new InstantCommand(() -> m_robotSwerveDrive.m_gyro.reset()), + new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(ppCurrentPath.getInitialPose())), + ppSwerveControllerCommand, new InstantCommand(() -> m_robotSwerveDrive.stopModules()) ); - //return swerveControllerCommand.andThen(() -> m_robotSwerveDrive.driveWithInput(0.0, 0.0, 0.0, true)); - - //return new InstantCommand(); } /** From a7693d1c27792ea2e34c487c79e07848a87b3553 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Sat, 5 Feb 2022 10:08:37 -0700 Subject: [PATCH 077/151] auto stuff --- src/main/java/frc4388/robot/Constants.java | 9 ++ .../java/frc4388/robot/RobotContainer.java | 114 ++++++++---------- .../frc4388/robot/subsystems/SwerveDrive.java | 4 +- 3 files changed, 65 insertions(+), 62 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index a44a6c8..a3a00f0 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -4,9 +4,12 @@ package frc4388.robot; +import edu.wpi.first.math.controller.PIDController; +import edu.wpi.first.math.controller.ProfiledPIDController; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.trajectory.TrapezoidProfile; import frc4388.utility.Gains; import frc4388.utility.LEDPatterns; @@ -61,6 +64,12 @@ public final class Constants { public static final int SWERVE_TIMEOUT_MS = 30; public static final Gains SWERVE_GAINS = new Gains(1.0, 0.0, 1.0, 0.0, 0, 1.0); + // swerve auto constants + public static final PIDController X_CONTROLLER = new PIDController(0.0, 0.0, 0.0); + public static final PIDController Y_CONTROLLER = new PIDController(0.0, 0.0, 0.0); + public static final ProfiledPIDController THETA_CONTROLLER = new ProfiledPIDController( + 1.0, 0.0, 0.0, new TrapezoidProfile.Constraints(2 * Math.PI, Math.PI)); + // swerve configuration public static final double NEUTRAL_DEADBAND = 0.04; public static final double OPEN_LOOP_RAMP_RATE = 0.2; diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index a26b704..2b6d085 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -5,6 +5,10 @@ package frc4388.robot; +import java.lang.reflect.Array; +import java.nio.file.FileSystem; +import java.util.Arrays; +import java.util.HashMap; import java.util.List; import com.pathplanner.lib.PathPlanner; @@ -22,6 +26,7 @@ import edu.wpi.first.math.trajectory.TrajectoryConfig; import edu.wpi.first.math.trajectory.TrajectoryGenerator; import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.math.trajectory.constraint.TrajectoryConstraint; +import edu.wpi.first.wpilibj.Filesystem; import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.InstantCommand; @@ -111,12 +116,30 @@ public class RobotContainer { .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN)); } - public void configAuto(boolean pathplanner) { - - } + public SequentialCommandGroup runAuto(String path, double maxVel, double maxAccel) { + PathPlannerTrajectory traj = PathPlanner.loadPath(path, maxVel, maxAccel); - public void configAuto() { - configAuto(true); + PIDController xController = SwerveDriveConstants.X_CONTROLLER; + PIDController yController = SwerveDriveConstants.Y_CONTROLLER; + ProfiledPIDController thetaController = SwerveDriveConstants.THETA_CONTROLLER; + thetaController.enableContinuousInput(-Math.PI, Math.PI); + + PPSwerveControllerCommand ppSCC = new PPSwerveControllerCommand( + traj, + m_robotSwerveDrive::getOdometry, + m_robotSwerveDrive.m_kinematics, + xController, + yController, + thetaController, + m_robotSwerveDrive::setModuleStates, + m_robotSwerveDrive); + + return new SequentialCommandGroup( + new InstantCommand(() -> m_robotSwerveDrive.m_gyro.reset()), + new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(traj.getInitialPose())), + ppSCC, + new InstantCommand(() -> m_robotSwerveDrive.stopModules()) + ); } /** @@ -125,68 +148,37 @@ public class RobotContainer { * @return the command to run in autonomous */ public Command getAutonomousCommand() { - // https://github.com/mjansen4857/pathplanner/wiki <-- Pathplanner Wiki + // https://github.com/mjansen4857/pathplanner/wiki <-- Pathplanner Wik - TrajectoryConfig config = new TrajectoryConfig(1.0, 1.0) - .setKinematics(m_robotSwerveDrive.m_kinematics); - Trajectory exTraj = TrajectoryGenerator.generateTrajectory( - new Pose2d(0, 0, new Rotation2d(0)), - List.of(new Translation2d(0, 0)), - new Pose2d(1, 0, new Rotation2d(0)), - config); + // PathPlannerTrajectory ppfirstTestPath = PathPlanner.loadPath("First Test Path", 4.0, 4.0); + // PathPlannerTrajectory ppMoveForward = PathPlanner.loadPath("Move Forward", 1.0, 1.0); + // PathPlannerTrajectory ppRotate = PathPlanner.loadPath("Rotate", 1.0, 1.0); - Trajectory firstTestPath = PathPlanner.loadPath("First Test Path", 1.0, 1.0); - Trajectory moveForward = PathPlanner.loadPath("Move Forward", 1.0, 1.0); - Trajectory rotate = PathPlanner.loadPath("Rotate", 1.0, 1.0); + // PathPlannerTrajectory ppCurrent = PathPlanner.loadPath("First Test Path", 1.0, 1.0); // change this to change auto - Trajectory currentPath = moveForward; // change this to change auto + // PIDController xController = SwerveDriveConstants.X_CONTROLLER; + // PIDController yController = SwerveDriveConstants.Y_CONTROLLER; + // ProfiledPIDController thetaController = SwerveDriveConstants.THETA_CONTROLLER; + // thetaController.enableContinuousInput(-Math.PI, Math.PI); - PIDController xController = new PIDController(10.0, 0.0, 0.0); - PIDController yController = new PIDController(1.3, 0.0, 0.0); - ProfiledPIDController thetaController = new ProfiledPIDController( - 10.0, 0.0, 0.0, new TrapezoidProfile.Constraints(2 * Math.PI, Math.PI)); - thetaController.enableContinuousInput(-Math.PI, Math.PI); - - SwerveControllerCommand swerveControllerCommand = new SwerveControllerCommand( - currentPath, - m_robotSwerveDrive::getOdometry, - m_robotSwerveDrive.m_kinematics, - xController, - yController, - thetaController, - m_robotSwerveDrive::setModuleStates, - m_robotSwerveDrive - ); - - PathPlannerTrajectory ppfirstTestPath = PathPlanner.loadPath("First Test Path", 4.0, 4.0); - PathPlannerTrajectory ppMoveForward = PathPlanner.loadPath("Move Forward", 1.0, 1.0); - PathPlannerTrajectory ppRotate = PathPlanner.loadPath("Rotate", 1.0, 1.0); - - PathPlannerTrajectory ppCurrentPath = ppfirstTestPath; // change this to change auto - - PPSwerveControllerCommand ppSwerveControllerCommand = new PPSwerveControllerCommand( - ppCurrentPath, - m_robotSwerveDrive::getOdometry, - m_robotSwerveDrive.m_kinematics, - xController, - yController, - thetaController, - m_robotSwerveDrive::setModuleStates, - m_robotSwerveDrive - ); - - // return new SequentialCommandGroup( - // new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(currentPath.getInitialPose())), - // swerveControllerCommand, - // new InstantCommand(() -> m_robotSwerveDrive.stopModules()) + // PPSwerveControllerCommand ppSwerveControllerCommand = new PPSwerveControllerCommand( + // ppCurrent, + // m_robotSwerveDrive::getOdometry, + // m_robotSwerveDrive.m_kinematics, + // xController, + // yController, + // thetaController, + // m_robotSwerveDrive::setModuleStates, + // m_robotSwerveDrive // ); - return new SequentialCommandGroup( - new InstantCommand(() -> m_robotSwerveDrive.m_gyro.reset()), - new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(ppCurrentPath.getInitialPose())), - ppSwerveControllerCommand, - new InstantCommand(() -> m_robotSwerveDrive.stopModules()) - ); + // return new SequentialCommandGroup( + // new InstantCommand(() -> m_robotSwerveDrive.m_gyro.reset()), + // new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(ppCurrent.getInitialPose())), + // ppSwerveControllerCommand, + // new InstantCommand(() -> m_robotSwerveDrive.stopModules()) + // ); + return runAuto("Move Forward", 5.0, 5.0); } /** diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index 72ba884..eb64a3c 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -208,8 +208,10 @@ public class SwerveDrive extends SubsystemBase { } /** Updates the field relative position of the robot. */ + public void updateOdometry() { - m_poseEstimator.update( m_gyro.getRotation2d(), + Rotation2d offset = new Rotation2d(Math.PI/2); + m_poseEstimator.update( m_gyro.getRotation2d()/*.plus(offset)*/, modules[0].getState(), modules[1].getState(), modules[2].getState(), From d49ee663fbf34de8a22c3ffb90cd0eea76050dd1 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Sat, 5 Feb 2022 11:50:49 -0700 Subject: [PATCH 078/151] odo auto --- src/main/deploy/pathplanner/Move Forward.path | 2 +- .../generatedJSON/Move Forward.wpilib.json | 2 +- src/main/java/frc4388/robot/Constants.java | 6 +++--- .../java/frc4388/robot/RobotContainer.java | 4 ++-- .../frc4388/robot/subsystems/SwerveDrive.java | 21 +++++++++++++++---- .../robot/subsystems/SwerveModule.java | 2 +- 6 files changed, 25 insertions(+), 12 deletions(-) diff --git a/src/main/deploy/pathplanner/Move Forward.path b/src/main/deploy/pathplanner/Move Forward.path index 0f81da4..84625b8 100644 --- a/src/main/deploy/pathplanner/Move Forward.path +++ b/src/main/deploy/pathplanner/Move Forward.path @@ -1 +1 @@ -{"waypoints":[{"anchorPoint":{"x":2.0390109745736735,"y":2.9639231692256494},"prevControl":null,"nextControl":{"x":2.049521340421991,"y":2.9534128033773315},"holonomicAngle":1.2188752351312955,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":5.0,"y":3.0},"prevControl":{"x":5.0029341437993216,"y":2.995454266770603},"nextControl":null,"holonomicAngle":-178.60254149056965,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":1.0,"maxAcceleration":1.0,"isReversed":null} \ No newline at end of file +{"waypoints":[{"anchorPoint":{"x":2.0390109745736735,"y":2.0},"prevControl":null,"nextControl":{"x":2.049521340421991,"y":1.9894896341516821},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":7.0,"y":2.0},"prevControl":{"x":7.00293414379928,"y":1.995454266770603},"nextControl":null,"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":1.0,"maxAcceleration":1.0,"isReversed":null} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/generatedJSON/Move Forward.wpilib.json b/src/main/deploy/pathplanner/generatedJSON/Move Forward.wpilib.json index 6773a0a..fa54fe2 100644 --- a/src/main/deploy/pathplanner/generatedJSON/Move Forward.wpilib.json +++ b/src/main/deploy/pathplanner/generatedJSON/Move Forward.wpilib.json @@ -1 +1 @@ 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\ No newline at end of file diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index a3a00f0..d8c798f 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -30,8 +30,8 @@ public final class Constants { public static final class SwerveDriveConstants { public static final double ROTATION_SPEED = 4; public static final double WHEEL_SPEED = 0.1; - public static final double WIDTH = 15.27; - public static final double HEIGHT = 15.27; + public static final double WIDTH = 15.25; + public static final double HEIGHT = 15.25; public static final double JOYSTICK_TO_METERS_PER_SECOND_FAST = 11; public static final double JOYSTICK_TO_METERS_PER_SECOND_SLOW = 2; public static final double MAX_SPEED_FEET_PER_SEC = 20; // redundant constant? @@ -80,7 +80,7 @@ public final class Constants { // wheel diameter: official = 4 in, measured = 3.8 in /* Ratio Calculation */ public static final double MOTOR_REV_PER_WHEEL_REV = 5.12; - public static final double WHEEL_DIAMETER_INCHES = 3.8; + public static final double WHEEL_DIAMETER_INCHES = 4.0; public static final double TICKS_PER_MOTOR_REV = 2048; public static final double INCHES_PER_WHEEL_REV = WHEEL_DIAMETER_INCHES * Math.PI; public static final double INCHES_PER_METER = 39.370; diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 2b6d085..e4378ca 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -105,7 +105,7 @@ public class RobotContainer { new JoystickButton(getDriverController(), XboxController.Button.kA.value) - .whenPressed(() -> zeroOdometry(new Pose2d(0, 0, new Rotation2d(0)))); + .whenPressed(() -> resetOdometry(new Pose2d(0, 0, new Rotation2d(0)))); //.whenPressed(this::resetOdometry); /* Operator Buttons */ @@ -192,7 +192,7 @@ public class RobotContainer { return m_robotSwerveDrive.getOdometry(); } - public void zeroOdometry(Pose2d pose) { + public void resetOdometry(Pose2d pose) { m_robotSwerveDrive.resetOdometry(pose); } /** diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index eb64a3c..0496004 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -14,6 +14,7 @@ import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.math.kinematics.SwerveDriveKinematics; +import edu.wpi.first.math.kinematics.SwerveDriveOdometry; import edu.wpi.first.math.kinematics.SwerveModuleState; import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.smartdashboard.Field2d; @@ -49,6 +50,7 @@ public class SwerveDrive extends SubsystemBase { /* Here we use SwerveDrivePoseEstimator so that we can fuse odometry readings. The numbers used below are robot specific, and should be tuned. */ public SwerveDrivePoseEstimator m_poseEstimator; + public SwerveDriveOdometry m_odometry; public double speedAdjust = SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND_SLOW; public boolean ignoreAngles; @@ -88,9 +90,12 @@ public class SwerveDrive extends SubsystemBase { m_gyro.getRotation2d(), new Pose2d(), m_kinematics, - VecBuilder.fill(0.05, 0.05, Units.degreesToRadians(5)), - VecBuilder.fill(Units.degreesToRadians(0.01)), - VecBuilder.fill(0.5, 0.5, Units.degreesToRadians(30))); + VecBuilder.fill(1.0, 1.0, Units.degreesToRadians(1)), + VecBuilder.fill(Units.degreesToRadians(1)), + VecBuilder.fill(1.0, 1.0, Units.degreesToRadians(1))); + + m_odometry = new SwerveDriveOdometry(m_kinematics, m_gyro.getRotation2d()); + m_gyro.reset(); SmartDashboard.putData("Field", m_field); } @@ -150,7 +155,7 @@ public class SwerveDrive extends SubsystemBase { @Override public void periodic() { - //System.err.println(m_gyro.getFusedHeading() +" aaa"); + // System.err.println(m_gyro.getFusedHeading() +" aaa"); updateOdometry(); SmartDashboard.putNumber("Pigeon Fused Heading", m_gyro.getFusedHeading(fstatus)); SmartDashboard.putNumber("Pigeon Yaw", m_gyro.getYaw()); @@ -197,6 +202,7 @@ public class SwerveDrive extends SubsystemBase { * @return Robot's current pose. */ public Pose2d getOdometry() { + // return m_odometry.getPoseMeters(); return m_poseEstimator.getEstimatedPosition(); } @@ -204,6 +210,7 @@ public class SwerveDrive extends SubsystemBase { * Resets the odometry of the robot to (x=0, y=0, theta=0). */ public void resetOdometry(Pose2d pose) { + // m_odometry.resetPosition(pose, m_gyro.getRotation2d()); m_poseEstimator.resetPosition(pose, m_gyro.getRotation2d()); } @@ -216,6 +223,12 @@ public class SwerveDrive extends SubsystemBase { modules[1].getState(), modules[2].getState(), modules[3].getState()); + + // m_odometry.update( m_gyro.getRotation2d(), + // modules[0].getState(), + // modules[1].getState(), + // modules[2].getState(), + // modules[3].getState()); // Also apply vision measurements. We use 0.3 seconds in the past as an example -- on // a real robot, this must be calculated based either on latency or timestamps. diff --git a/src/main/java/frc4388/robot/subsystems/SwerveModule.java b/src/main/java/frc4388/robot/subsystems/SwerveModule.java index 5959ac6..1138dc6 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveModule.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveModule.java @@ -91,7 +91,7 @@ public class SwerveModule extends SubsystemBase { double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond); - driveMotor.set(angleMotor.get() + feetPerSecond / SwerveDriveConstants.SPEED_FEET_PER_SECOND_AT_FULL_POWER); + driveMotor.set(/*angleMotor.get() + */feetPerSecond / SwerveDriveConstants.SPEED_FEET_PER_SECOND_AT_FULL_POWER); } /** From 3e43b50f04ed236f373b1ab114a0e85188ced892 Mon Sep 17 00:00:00 2001 From: Ryan Manley Date: Sat, 5 Feb 2022 14:27:11 -0700 Subject: [PATCH 079/151] commented out bunch of stuff in order to make turret work --- src/main/java/frc4388/robot/Constants.java | 26 ++--- .../java/frc4388/robot/RobotContainer.java | 29 +++-- src/main/java/frc4388/robot/RobotMap.java | 110 +++++++++--------- .../java/frc4388/robot/subsystems/Hood.java | 38 +++--- .../java/frc4388/robot/subsystems/Turret.java | 10 +- 5 files changed, 107 insertions(+), 106 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 7edef00..b31b7d8 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -31,18 +31,18 @@ public final class Constants { public static final double JOYSTICK_TO_METERS_PER_SECOND = 5; public static final double MAX_SPEED_FEET_PER_SEC = 16; public static final double SPEED_FEET_PER_SECOND_AT_FULL_POWER = 20; - public static final int LEFT_FRONT_STEER_CAN_ID = 2; - public static final int LEFT_FRONT_WHEEL_CAN_ID = 3; - public static final int RIGHT_FRONT_STEER_CAN_ID = 4; - public static final int RIGHT_FRONT_WHEEL_CAN_ID = 5; - public static final int LEFT_BACK_STEER_CAN_ID = 6; - public static final int LEFT_BACK_WHEEL_CAN_ID = 7; - public static final int RIGHT_BACK_STEER_CAN_ID = 8; - public static final int RIGHT_BACK_WHEEL_CAN_ID = 9; - public static final int LEFT_FRONT_STEER_CAN_ENCODER_ID = 10; - public static final int RIGHT_FRONT_STEER_CAN_ENCODER_ID = 11; - public static final int LEFT_BACK_STEER_CAN_ENCODER_ID = 12; - public static final int RIGHT_BACK_STEER_CAN_ENCODER_ID = 13; + // public static final int LEFT_FRONT_STEER_CAN_ID = 2; + // public static final int LEFT_FRONT_WHEEL_CAN_ID = 3; + // public static final int RIGHT_FRONT_STEER_CAN_ID = 4; + // public static final int RIGHT_FRONT_WHEEL_CAN_ID = 5; + // public static final int LEFT_BACK_STEER_CAN_ID = 6; + // public static final int LEFT_BACK_WHEEL_CAN_ID = 7; + // public static final int RIGHT_BACK_STEER_CAN_ID = 8; + // public static final int RIGHT_BACK_WHEEL_CAN_ID = 9; + // public static final int LEFT_FRONT_STEER_CAN_ENCODER_ID = 10; + // public static final int RIGHT_FRONT_STEER_CAN_ENCODER_ID = 11; + // public static final int LEFT_BACK_STEER_CAN_ENCODER_ID = 12; + // public static final int RIGHT_BACK_STEER_CAN_ENCODER_ID = 13; // ofsets are in degrees //ofsets are in degrees // public static final double LEFT_FRONT_ENCODER_OFFSET = 181.494141; @@ -115,7 +115,7 @@ public final class Constants { public static final Gains DRUM_SHOOTER_GAINS = new Gains(0,0,0,0,0,0);//x,y,z,a,b are not actual values, fix later /* Hood Constants */ - public static final int SHOOTER_ANGLE_ADJUST_ID = 10; + public static final int SHOOTER_ANGLE_ADJUST_ID = 32; public static final double HOOD_MOTOR_ROTS_PER_ROT = 1; //TODO: Find public static final double HOOD_MOTOR_POS_AT_ZERO_ROT = 0; //TODO: Find diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 5360b3c..6ba81e1 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -32,16 +32,16 @@ public class RobotContainer { private final RobotMap m_robotMap = new RobotMap(); /* Subsystems */ - private final SwerveDrive m_robotSwerveDrive = new SwerveDrive( - m_robotMap.leftFrontSteerMotor, m_robotMap.leftFrontWheelMotor, - m_robotMap.rightFrontSteerMotor, m_robotMap.rightFrontWheelMotor, - m_robotMap.leftBackSteerMotor, m_robotMap.leftBackWheelMotor, - m_robotMap.rightBackSteerMotor, m_robotMap.rightBackWheelMotor, - m_robotMap.leftFrontEncoder, - m_robotMap.rightFrontEncoder, - m_robotMap.leftBackEncoder, - m_robotMap.rightBackEncoder - ); + // private final SwerveDrive m_robotSwerveDrive = new SwerveDrive( + // m_robotMap.leftFrontSteerMotor, m_robotMap.leftFrontWheelMotor, + // m_robotMap.rightFrontSteerMotor, m_robotMap.rightFrontWheelMotor, + // m_robotMap.leftBackSteerMotor, m_robotMap.leftBackWheelMotor, + // m_robotMap.rightBackSteerMotor, m_robotMap.rightBackWheelMotor, + // m_robotMap.leftFrontEncoder, + // m_robotMap.rightFrontEncoder, + // m_robotMap.leftBackEncoder, + // m_robotMap.rightBackEncoder + // ); private final LED m_robotLED = new LED(m_robotMap.LEDController); private final BoomBoom m_robotBoomBoom = new BoomBoom(); @@ -60,9 +60,9 @@ public class RobotContainer { /* Default Commands */ // drives the swerve drive with a two-axis input from the driver controller - m_robotSwerveDrive.setDefaultCommand( - new RunCommand(() -> m_robotSwerveDrive.driveWithInput(-getDriverController().getLeftXAxis(), - getDriverController().getLeftYAxis(), -getDriverController().getRightXAxis(), false), m_robotSwerveDrive)); + // m_robotSwerveDrive.setDefaultCommand( + // new RunCommand(() -> m_robotSwerveDrive.driveWithInput(-getDriverController().getLeftXAxis(), + // getDriverController().getLeftYAxis(), -getDriverController().getRightXAxis(), false), m_robotSwerveDrive)); // continually sends updates to the Blinkin LED controller to keep the lights on m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED, m_robotLED)); @@ -72,8 +72,7 @@ public class RobotContainer { //Turret default command m_robotTurret.setDefaultCommand( - new RunCommand(() -> m_robotTurret.runShooterWithInput(getOperatorController().getLeftXAxis()), m_robotTurret) - ); + new RunCommand(() -> m_robotTurret.runShooterWithInput(getOperatorController().getLeftXAxis()), m_robotTurret)); // m_robotTurret.setDefaultCommand( // new RunCommand(() -> m_robotTurret.aimToCenter())); } diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java index a1ee217..3572923 100644 --- a/src/main/java/frc4388/robot/RobotMap.java +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -22,7 +22,7 @@ public class RobotMap { public RobotMap() { configureLEDMotorControllers(); - configureSwerveMotorControllers(); + //configureSwerveMotorControllers(); } /* LED Subsystem */ @@ -33,73 +33,73 @@ public class RobotMap { } /* Swerve Subsystem */ - public final WPI_TalonFX leftFrontSteerMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_STEER_CAN_ID); - public final WPI_TalonFX leftFrontWheelMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_WHEEL_CAN_ID); - public final WPI_TalonFX rightFrontSteerMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_FRONT_STEER_CAN_ID); - public final WPI_TalonFX rightFrontWheelMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_FRONT_WHEEL_CAN_ID); - public final WPI_TalonFX leftBackSteerMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_BACK_STEER_CAN_ID); - public final WPI_TalonFX leftBackWheelMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_BACK_WHEEL_CAN_ID); - public final WPI_TalonFX rightBackSteerMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_BACK_STEER_CAN_ID); - public final WPI_TalonFX rightBackWheelMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_BACK_WHEEL_CAN_ID); - public final CANCoder leftFrontEncoder = new CANCoder(SwerveDriveConstants.LEFT_FRONT_STEER_CAN_ENCODER_ID); - public final CANCoder rightFrontEncoder = new CANCoder(SwerveDriveConstants.RIGHT_FRONT_STEER_CAN_ENCODER_ID); - public final CANCoder leftBackEncoder = new CANCoder(SwerveDriveConstants.LEFT_BACK_STEER_CAN_ENCODER_ID); - public final CANCoder rightBackEncoder = new CANCoder(SwerveDriveConstants.RIGHT_BACK_STEER_CAN_ENCODER_ID); + // public final WPI_TalonFX leftFrontSteerMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_STEER_CAN_ID); + // public final WPI_TalonFX leftFrontWheelMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_WHEEL_CAN_ID); + // public final WPI_TalonFX rightFrontSteerMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_FRONT_STEER_CAN_ID); + // public final WPI_TalonFX rightFrontWheelMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_FRONT_WHEEL_CAN_ID); + // public final WPI_TalonFX leftBackSteerMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_BACK_STEER_CAN_ID); + // public final WPI_TalonFX leftBackWheelMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_BACK_WHEEL_CAN_ID); + // public final WPI_TalonFX rightBackSteerMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_BACK_STEER_CAN_ID); + // public final WPI_TalonFX rightBackWheelMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_BACK_WHEEL_CAN_ID); + // public final CANCoder leftFrontEncoder = new CANCoder(SwerveDriveConstants.LEFT_FRONT_STEER_CAN_ENCODER_ID); + // public final CANCoder rightFrontEncoder = new CANCoder(SwerveDriveConstants.RIGHT_FRONT_STEER_CAN_ENCODER_ID); + // public final CANCoder leftBackEncoder = new CANCoder(SwerveDriveConstants.LEFT_BACK_STEER_CAN_ENCODER_ID); + // public final CANCoder rightBackEncoder = new CANCoder(SwerveDriveConstants.RIGHT_BACK_STEER_CAN_ENCODER_ID); - void configureSwerveMotorControllers() { - leftFrontEncoder.configMagnetOffset(SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET); - rightFrontEncoder.configMagnetOffset(SwerveDriveConstants.RIGHT_FRONT_ENCODER_OFFSET); - leftBackEncoder.configMagnetOffset(SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET); - rightBackEncoder.configMagnetOffset(SwerveDriveConstants.RIGHT_BACK_ENCODER_OFFSET); + // void configureSwerveMotorControllers() { + // leftFrontEncoder.configMagnetOffset(SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET); + // rightFrontEncoder.configMagnetOffset(SwerveDriveConstants.RIGHT_FRONT_ENCODER_OFFSET); + // leftBackEncoder.configMagnetOffset(SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET); + // rightBackEncoder.configMagnetOffset(SwerveDriveConstants.RIGHT_BACK_ENCODER_OFFSET); - leftFrontSteerMotor.configFactoryDefault(); - leftFrontWheelMotor.configFactoryDefault(); - rightFrontSteerMotor.configFactoryDefault(); - rightFrontWheelMotor.configFactoryDefault(); - leftBackSteerMotor.configFactoryDefault(); - leftBackWheelMotor.configFactoryDefault(); - rightBackSteerMotor.configFactoryDefault(); - rightBackWheelMotor.configFactoryDefault(); + // leftFrontSteerMotor.configFactoryDefault(); + // leftFrontWheelMotor.configFactoryDefault(); + // rightFrontSteerMotor.configFactoryDefault(); + // rightFrontWheelMotor.configFactoryDefault(); + // leftBackSteerMotor.configFactoryDefault(); + // leftBackWheelMotor.configFactoryDefault(); + // rightBackSteerMotor.configFactoryDefault(); + // rightBackWheelMotor.configFactoryDefault(); - leftFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // leftFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // leftFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // rightFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // rightFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // leftBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // leftBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // rightBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // rightBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // leftFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // leftFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // rightFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // rightFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // leftBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // leftBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // rightBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // rightBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // leftFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // leftFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // rightFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // rightFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // leftBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // leftBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // rightBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // rightBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // config cancoder as remote encoder for swerve steer motors + // // config cancoder as remote encoder for swerve steer motors //leftFrontSteerMotor.configRemoteFeedbackFilter(leftFrontEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS); //leftBackSteerMotor.configRemoteFeedbackFilter(leftBackEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS); //rightFrontSteerMotor.configRemoteFeedbackFilter(rightFrontEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS); //rightBackSteerMotor.configRemoteFeedbackFilter(rightBackEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - } + //} //Shooter Config /*Boom Boom Subsystem*/ - public final WPI_TalonFX shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_LEFT_CAN_ID); - public final WPI_TalonFX shooterFalconRight = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_RIGHT_CAN_ID); - public final CANSparkMax shooterTurret = new CANSparkMax(ShooterConstants.TURRET_MOTOR_CAN_ID, MotorType.kBrushless); + // public final WPI_TalonFX shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_LEFT_CAN_ID); + // public final WPI_TalonFX shooterFalconRight = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_RIGHT_CAN_ID); + // public final CANSparkMax shooterTurret = new CANSparkMax(ShooterConstants.TURRET_MOTOR_CAN_ID, MotorType.kBrushless); //Create motor CANSparkMax void ConfigureShooterMotorControllers() { diff --git a/src/main/java/frc4388/robot/subsystems/Hood.java b/src/main/java/frc4388/robot/subsystems/Hood.java index de78848..1ef6af3 100644 --- a/src/main/java/frc4388/robot/subsystems/Hood.java +++ b/src/main/java/frc4388/robot/subsystems/Hood.java @@ -21,13 +21,13 @@ import frc4388.utility.Gains; public class Hood extends SubsystemBase { public BoomBoom m_shooterSubsystem; - public CANSparkMax m_angleAdjusterMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless); + // public CANSparkMax m_angleAdjusterMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless); public SparkMaxLimitSwitch m_hoodUpLimitSwitch; public SparkMaxLimitSwitch m_hoodDownLimitSwitch; public static Gains m_angleAdjusterGains = ShooterConstants.SHOOTER_ANGLE_GAINS; - public RelativeEncoder m_angleEncoder = m_angleAdjusterMotor.getEncoder(); + // public RelativeEncoder m_angleEncoder = m_angleAdjusterMotor.getEncoder(); - public SparkMaxPIDController m_angleAdjusterPIDController = m_angleAdjusterMotor.getPIDController(); + // public SparkMaxPIDController m_angleAdjusterPIDController = m_angleAdjusterMotor.getPIDController(); //public boolean m_isHoodReady = false; @@ -37,12 +37,12 @@ public double m_fireAngle; /** Creates a new Hood. */ public Hood() { - m_angleAdjusterMotor.setIdleMode(IdleMode.kBrake); + // m_angleAdjusterMotor.setIdleMode(IdleMode.kBrake); - m_hoodUpLimitSwitch = m_angleAdjusterMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen); - m_hoodDownLimitSwitch = m_angleAdjusterMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen); - m_hoodUpLimitSwitch.enableLimitSwitch(true); - m_hoodDownLimitSwitch.enableLimitSwitch(true); + // m_hoodUpLimitSwitch = m_angleAdjusterMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen); + // m_hoodDownLimitSwitch = m_angleAdjusterMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen); + // m_hoodUpLimitSwitch.enableLimitSwitch(true); + // m_hoodDownLimitSwitch.enableLimitSwitch(true); } @@ -53,30 +53,30 @@ public double m_fireAngle; public void runAngleAdjustPID(double targetAngle) { //Set PID Coefficients - m_angleAdjusterPIDController.setP(m_angleAdjusterGains.m_kP); - m_angleAdjusterPIDController.setI(m_angleAdjusterGains.m_kI); - m_angleAdjusterPIDController.setD(m_angleAdjusterGains.m_kD); - m_angleAdjusterPIDController.setIZone(m_angleAdjusterGains.m_kIzone); - m_angleAdjusterPIDController.setFF(m_angleAdjusterGains.m_kF); - m_angleAdjusterPIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_angleAdjusterGains.m_kPeakOutput); + // m_angleAdjusterPIDController.setP(m_angleAdjusterGains.m_kP); + // m_angleAdjusterPIDController.setI(m_angleAdjusterGains.m_kI); + // m_angleAdjusterPIDController.setD(m_angleAdjusterGains.m_kD); + // m_angleAdjusterPIDController.setIZone(m_angleAdjusterGains.m_kIzone); + // m_angleAdjusterPIDController.setFF(m_angleAdjusterGains.m_kF); + // m_angleAdjusterPIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_angleAdjusterGains.m_kPeakOutput); - m_angleAdjusterPIDController.setReference(targetAngle, ControlType.kPosition); + // m_angleAdjusterPIDController.setReference(targetAngle, ControlType.kPosition); } public void runHood(double input) { - m_angleAdjusterMotor.set(input); + // m_angleAdjusterMotor.set(input); } public void resetGyroAngleAdj(){ - m_angleEncoder.setPosition(0); + // m_angleEncoder.setPosition(0); } public double getAnglePosition(){ - return m_angleEncoder.getPosition(); + return 0.0;//m_angleEncoder.getPosition(); } public double getAnglePositionDegrees(){ - return ((m_angleEncoder.getPosition() - ShooterConstants.HOOD_MOTOR_POS_AT_ZERO_ROT) * 360/ShooterConstants.HOOD_MOTOR_ROTS_PER_ROT) - 90; + return 0.0;//((m_angleEncoder.getPosition() - ShooterConstants.HOOD_MOTOR_POS_AT_ZERO_ROT) * 360/ShooterConstants.HOOD_MOTOR_ROTS_PER_ROT) - 90; } } diff --git a/src/main/java/frc4388/robot/subsystems/Turret.java b/src/main/java/frc4388/robot/subsystems/Turret.java index 6067a8c..2f70146 100644 --- a/src/main/java/frc4388/robot/subsystems/Turret.java +++ b/src/main/java/frc4388/robot/subsystems/Turret.java @@ -28,7 +28,7 @@ public class Turret extends SubsystemBase { public BoomBoom m_boomBoomSubsystem; public SwerveDrive m_sDriveSubsystem; - public CANSparkMax m_boomBoomRotateMotor = new CANSparkMax(ShooterConstants.SHOOTER_ROTATE_ID, MotorType.kBrushless); + public CANSparkMax m_boomBoomRotateMotor;// = new CANSparkMax(ShooterConstants.SHOOTER_ROTATE_ID, MotorType.kBrushless); public static Gains m_shooterTGains = ShooterConstants.SHOOTER_TURRET_GAINS; SparkMaxLimitSwitch m_boomBoomRightLimit, m_boomBoomLeftLimit; public Gyro m_turretGyro; @@ -37,14 +37,16 @@ public class Turret extends SubsystemBase { public boolean m_isAimReady = false; - SparkMaxPIDController m_boomBoomRotatePIDController = m_boomBoomRotateMotor.getPIDController(); - public RelativeEncoder m_boomBoomRotateEncoder = m_boomBoomRotateMotor.getEncoder(); + SparkMaxPIDController m_boomBoomRotatePIDController;// = m_boomBoomRotateMotor.getPIDController(); + public RelativeEncoder m_boomBoomRotateEncoder;// = m_boomBoomRotateMotor.getEncoder(); //Variables public Turret() { - + m_boomBoomRotateMotor = new CANSparkMax(30, MotorType.kBrushless); + m_boomBoomRotatePIDController = m_boomBoomRotateMotor.getPIDController(); + m_boomBoomRotateEncoder = m_boomBoomRotateMotor.getEncoder(); m_boomBoomRotateMotor.setIdleMode(IdleMode.kBrake); m_turretGyro = getGyroInterface(); From e9859e90c6fcaae9cc0d49c41b8e3512c7868cfa Mon Sep 17 00:00:00 2001 From: aarav18 Date: Sat, 5 Feb 2022 15:19:00 -0700 Subject: [PATCH 080/151] triangle path and some pid work --- .../{First Test Path.path => Diamond.path} | 0 src/main/deploy/pathplanner/Move Forward.path | 2 +- src/main/deploy/pathplanner/Triangle.path | 1 + .../generatedJSON/Move Forward.wpilib.json | 2 +- .../generatedJSON/New Path.wpilib.json | 2 +- .../generatedJSON/Triangle.wpilib.json | 1 + src/main/java/frc4388/robot/Constants.java | 4 ++-- src/main/java/frc4388/robot/RobotContainer.java | 3 +++ .../frc4388/robot/subsystems/SwerveModule.java | 15 +++++++-------- 9 files changed, 17 insertions(+), 13 deletions(-) rename src/main/deploy/pathplanner/{First Test Path.path => Diamond.path} (100%) create mode 100644 src/main/deploy/pathplanner/Triangle.path create mode 100644 src/main/deploy/pathplanner/generatedJSON/Triangle.wpilib.json diff --git a/src/main/deploy/pathplanner/First Test Path.path b/src/main/deploy/pathplanner/Diamond.path similarity index 100% rename from src/main/deploy/pathplanner/First Test Path.path rename to src/main/deploy/pathplanner/Diamond.path diff --git a/src/main/deploy/pathplanner/Move Forward.path b/src/main/deploy/pathplanner/Move Forward.path index 84625b8..64ff58b 100644 --- a/src/main/deploy/pathplanner/Move Forward.path +++ b/src/main/deploy/pathplanner/Move Forward.path @@ -1 +1 @@ -{"waypoints":[{"anchorPoint":{"x":2.0390109745736735,"y":2.0},"prevControl":null,"nextControl":{"x":2.049521340421991,"y":1.9894896341516821},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":7.0,"y":2.0},"prevControl":{"x":7.00293414379928,"y":1.995454266770603},"nextControl":null,"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":1.0,"maxAcceleration":1.0,"isReversed":null} \ No newline at end of file +{"waypoints":[{"anchorPoint":{"x":2.0390109745736735,"y":2.0},"prevControl":null,"nextControl":{"x":2.049521340421991,"y":1.9894896341516821},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":7.0,"y":2.0},"prevControl":{"x":6.996174239263382,"y":2.003825760736618},"nextControl":null,"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":5.0,"maxAcceleration":5.0,"isReversed":null} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/Triangle.path b/src/main/deploy/pathplanner/Triangle.path new file mode 100644 index 0000000..a6ceaea --- /dev/null +++ b/src/main/deploy/pathplanner/Triangle.path @@ -0,0 +1 @@ +{"waypoints":[{"anchorPoint":{"x":2.0,"y":3.0},"prevControl":null,"nextControl":{"x":3.0000000000000013,"y":3.0},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":3.0,"y":5.0},"prevControl":{"x":3.0,"y":4.0},"nextControl":{"x":3.0,"y":4.0},"holonomicAngle":-90.0,"isReversal":true,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":4.0,"y":3.0},"prevControl":{"x":3.0,"y":3.0},"nextControl":{"x":3.0,"y":3.0},"holonomicAngle":180.0,"isReversal":true,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":2.0,"y":3.0},"prevControl":{"x":3.0271430576167138,"y":3.0},"nextControl":null,"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false}]} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/generatedJSON/Move Forward.wpilib.json b/src/main/deploy/pathplanner/generatedJSON/Move Forward.wpilib.json index fa54fe2..dde5adf 100644 --- a/src/main/deploy/pathplanner/generatedJSON/Move Forward.wpilib.json +++ b/src/main/deploy/pathplanner/generatedJSON/Move Forward.wpilib.json @@ -1 +1 @@ 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\ No newline at end of file diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index d8c798f..773e54b 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -65,8 +65,8 @@ public final class Constants { public static final Gains SWERVE_GAINS = new Gains(1.0, 0.0, 1.0, 0.0, 0, 1.0); // swerve auto constants - public static final PIDController X_CONTROLLER = new PIDController(0.0, 0.0, 0.0); - public static final PIDController Y_CONTROLLER = new PIDController(0.0, 0.0, 0.0); + public static final PIDController X_CONTROLLER = new PIDController(4.0, 0.0, 0.0); + public static final PIDController Y_CONTROLLER = new PIDController(4.0, 0.0, 0.0); public static final ProfiledPIDController THETA_CONTROLLER = new ProfiledPIDController( 1.0, 0.0, 0.0, new TrapezoidProfile.Constraints(2 * Math.PI, Math.PI)); diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index e4378ca..90b43c4 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -11,6 +11,8 @@ import java.util.Arrays; import java.util.HashMap; import java.util.List; +import javax.swing.plaf.nimbus.State; + import com.pathplanner.lib.PathPlanner; import com.pathplanner.lib.PathPlannerTrajectory; import com.pathplanner.lib.commands.PPSwerveControllerCommand; @@ -123,6 +125,7 @@ public class RobotContainer { PIDController yController = SwerveDriveConstants.Y_CONTROLLER; ProfiledPIDController thetaController = SwerveDriveConstants.THETA_CONTROLLER; thetaController.enableContinuousInput(-Math.PI, Math.PI); + //thetaController.reset(new TrapezoidProfile.State(m_robotSwerveDrive.getOdometry())); PPSwerveControllerCommand ppSCC = new PPSwerveControllerCommand( traj, diff --git a/src/main/java/frc4388/robot/subsystems/SwerveModule.java b/src/main/java/frc4388/robot/subsystems/SwerveModule.java index 1138dc6..27a9072 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveModule.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveModule.java @@ -48,12 +48,11 @@ public class SwerveModule extends SubsystemBase { angleTalonFXConfiguration.primaryPID.selectedFeedbackSensor = FeedbackDevice.RemoteSensor0; angleMotor.configAllSettings(angleTalonFXConfiguration); - /*TalonFXConfiguration driveTalonFXConfiguration = new TalonFXConfiguration(); - driveTalonFXConfiguration.slot0.kP = kDriveP; - driveTalonFXConfiguration.slot0.kI = kDriveI; - driveTalonFXConfiguration.slot0.kD = kDriveD; - driveTalonFXConfiguration.slot0.kF = kDriveF; - driveMotor.configAllSettings(driveTalonFXConfiguration);*/ + TalonFXConfiguration driveTalonFXConfiguration = new TalonFXConfiguration(); + driveTalonFXConfiguration.slot0.kP = 1.0; + driveTalonFXConfiguration.slot0.kI = 0.0; + driveTalonFXConfiguration.slot0.kD = 0.0; + driveMotor.configAllSettings(driveTalonFXConfiguration); CANCoderConfiguration canCoderConfiguration = new CANCoderConfiguration(); canCoderConfiguration.magnetOffsetDegrees = offset; @@ -90,8 +89,8 @@ public class SwerveModule extends SubsystemBase { } - double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond); - driveMotor.set(/*angleMotor.get() + */feetPerSecond / SwerveDriveConstants.SPEED_FEET_PER_SECOND_AT_FULL_POWER); + // double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond); + driveMotor.set(TalonFXControlMode.Velocity, /*angleMotor.get() + */(Units.metersToInches(state.speedMetersPerSecond) * SwerveDriveConstants.TICKS_PER_INCH) / 10); } /** From e0d293a0bc9bad33e38c647f7a093dbbb39d9e29 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Sat, 5 Feb 2022 15:51:32 -0700 Subject: [PATCH 081/151] auto paths and heading = 0 --- src/main/deploy/pathplanner/Five Ball.path | 1 + src/main/deploy/pathplanner/Move Down.path | 2 +- src/main/deploy/pathplanner/Move Forward.path | 2 +- .../deploy/pathplanner/generatedJSON/Diamond.wpilib.json | 1 + .../pathplanner/generatedJSON/Five Ball.wpilib.json | 1 + .../pathplanner/generatedJSON/Move Down.wpilib.json | 2 +- .../pathplanner/generatedJSON/Move Forward.wpilib.json | 2 +- src/main/java/frc4388/robot/Constants.java | 4 ++-- src/main/java/frc4388/robot/RobotContainer.java | 3 ++- src/main/java/frc4388/robot/subsystems/SwerveModule.java | 9 +++++---- 10 files changed, 16 insertions(+), 11 deletions(-) create mode 100644 src/main/deploy/pathplanner/Five Ball.path create mode 100644 src/main/deploy/pathplanner/generatedJSON/Diamond.wpilib.json create mode 100644 src/main/deploy/pathplanner/generatedJSON/Five Ball.wpilib.json diff --git a/src/main/deploy/pathplanner/Five Ball.path b/src/main/deploy/pathplanner/Five Ball.path new file mode 100644 index 0000000..bee26e6 --- /dev/null +++ b/src/main/deploy/pathplanner/Five Ball.path @@ -0,0 +1 @@ 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\ No newline at end of file diff --git a/src/main/deploy/pathplanner/Move Down.path b/src/main/deploy/pathplanner/Move Down.path index a5236b4..3643de9 100644 --- a/src/main/deploy/pathplanner/Move Down.path +++ b/src/main/deploy/pathplanner/Move Down.path @@ -1 +1 @@ -{"waypoints":[{"anchorPoint":{"x":5.0,"y":5.0},"prevControl":null,"nextControl":{"x":5.034465241344275,"y":5.002934143799322},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":5.0,"y":3.0},"prevControl":{"x":4.992423777951004,"y":2.9954542667706034},"nextControl":null,"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":1.0,"maxAcceleration":1.0,"isReversed":null} \ No newline at end of file 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\ No newline at end of file diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 773e54b..05a0163 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -66,9 +66,9 @@ public final class Constants { // swerve auto constants public static final PIDController X_CONTROLLER = new PIDController(4.0, 0.0, 0.0); - public static final PIDController Y_CONTROLLER = new PIDController(4.0, 0.0, 0.0); + public static final PIDController Y_CONTROLLER = new PIDController(0.01, 0.0, 0.0); public static final ProfiledPIDController THETA_CONTROLLER = new ProfiledPIDController( - 1.0, 0.0, 0.0, new TrapezoidProfile.Constraints(2 * Math.PI, Math.PI)); + 1.0, 0.0, 0.0, new TrapezoidProfile.Constraints(Math.PI, Math.PI)); // swerve configuration public static final double NEUTRAL_DEADBAND = 0.04; diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 90b43c4..ffb363b 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -181,7 +181,8 @@ public class RobotContainer { // ppSwerveControllerCommand, // new InstantCommand(() -> m_robotSwerveDrive.stopModules()) // ); - return runAuto("Move Forward", 5.0, 5.0); + // return runAuto("Move Forward", 5.0, 5.0); + return runAuto("Five Ball", 1.0, 1.0); } /** diff --git a/src/main/java/frc4388/robot/subsystems/SwerveModule.java b/src/main/java/frc4388/robot/subsystems/SwerveModule.java index 27a9072..bc3d6f2 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveModule.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveModule.java @@ -49,9 +49,9 @@ public class SwerveModule extends SubsystemBase { angleMotor.configAllSettings(angleTalonFXConfiguration); TalonFXConfiguration driveTalonFXConfiguration = new TalonFXConfiguration(); - driveTalonFXConfiguration.slot0.kP = 1.0; + driveTalonFXConfiguration.slot0.kP = 0.15; driveTalonFXConfiguration.slot0.kI = 0.0; - driveTalonFXConfiguration.slot0.kD = 0.0; + driveTalonFXConfiguration.slot0.kD = 0.5; driveMotor.configAllSettings(driveTalonFXConfiguration); CANCoderConfiguration canCoderConfiguration = new CANCoderConfiguration(); @@ -89,8 +89,9 @@ public class SwerveModule extends SubsystemBase { } - // double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond); - driveMotor.set(TalonFXControlMode.Velocity, /*angleMotor.get() + */(Units.metersToInches(state.speedMetersPerSecond) * SwerveDriveConstants.TICKS_PER_INCH) / 10); + double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond); + // driveMotor.set(TalonFXControlMode.Velocity, /*angleMotor.get() + */(Units.metersToInches(state.speedMetersPerSecond) * SwerveDriveConstants.TICKS_PER_INCH) / 10); + driveMotor.set(feetPerSecond / SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC); } /** From 60f5cc60978e68a388812e7242f25396d7d89a1d Mon Sep 17 00:00:00 2001 From: aarav18 Date: Mon, 7 Feb 2022 19:49:27 -0700 Subject: [PATCH 082/151] pids tuned somewhat, heading thing FIXED --- src/main/deploy/pathplanner/Five Ball.path | 2 +- src/main/deploy/pathplanner/L Path copy.path | 37 +++++++++++++ src/main/deploy/pathplanner/L Path.path | 55 +++++++++++++++++++ src/main/deploy/pathplanner/Move Down.path | 2 +- src/main/deploy/pathplanner/Move Forward.path | 2 +- .../generatedJSON/Five Ball.wpilib.json | 2 +- .../generatedJSON/L Path.wpilib.json | 1 + .../generatedJSON/Move Down.wpilib.json | 2 +- .../generatedJSON/Move Forward.wpilib.json | 2 +- .../generatedJSON/New Path.wpilib.json | 2 +- src/main/java/frc4388/robot/Constants.java | 6 +- .../java/frc4388/robot/RobotContainer.java | 10 +++- 12 files changed, 110 insertions(+), 13 deletions(-) create mode 100644 src/main/deploy/pathplanner/L Path copy.path create mode 100644 src/main/deploy/pathplanner/L Path.path create mode 100644 src/main/deploy/pathplanner/generatedJSON/L Path.wpilib.json diff --git a/src/main/deploy/pathplanner/Five Ball.path b/src/main/deploy/pathplanner/Five Ball.path index bee26e6..65570f6 100644 --- a/src/main/deploy/pathplanner/Five Ball.path +++ b/src/main/deploy/pathplanner/Five Ball.path @@ -1 +1 @@ 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\ No newline at end of file diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 05a0163..333ae46 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -65,10 +65,10 @@ public final class Constants { public static final Gains SWERVE_GAINS = new Gains(1.0, 0.0, 1.0, 0.0, 0, 1.0); // swerve auto constants - public static final PIDController X_CONTROLLER = new PIDController(4.0, 0.0, 0.0); - public static final PIDController Y_CONTROLLER = new PIDController(0.01, 0.0, 0.0); + public static final PIDController X_CONTROLLER = new PIDController(0.5, 0.0, 0.0); + public static final PIDController Y_CONTROLLER = new PIDController(2.0, 0.0, 0.0); public static final ProfiledPIDController THETA_CONTROLLER = new ProfiledPIDController( - 1.0, 0.0, 0.0, new TrapezoidProfile.Constraints(Math.PI, Math.PI)); + 15.0, 0.1, 0.3, new TrapezoidProfile.Constraints(Math.PI, Math.PI)); // swerve configuration public static final double NEUTRAL_DEADBAND = 0.04; diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index ffb363b..f9d0ff7 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -15,6 +15,7 @@ import javax.swing.plaf.nimbus.State; import com.pathplanner.lib.PathPlanner; import com.pathplanner.lib.PathPlannerTrajectory; +import com.pathplanner.lib.PathPlannerTrajectory.PathPlannerState; import com.pathplanner.lib.commands.PPSwerveControllerCommand; import edu.wpi.first.math.controller.HolonomicDriveController; @@ -137,9 +138,12 @@ public class RobotContainer { m_robotSwerveDrive::setModuleStates, m_robotSwerveDrive); + PathPlannerState state = (PathPlannerState) traj.sample(0); + return new SequentialCommandGroup( new InstantCommand(() -> m_robotSwerveDrive.m_gyro.reset()), - new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(traj.getInitialPose())), + new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(new Pose2d(state.poseMeters.getTranslation(), state.holonomicRotation))), + //new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(traj.getInitialPose())), ppSCC, new InstantCommand(() -> m_robotSwerveDrive.stopModules()) ); @@ -181,8 +185,8 @@ public class RobotContainer { // ppSwerveControllerCommand, // new InstantCommand(() -> m_robotSwerveDrive.stopModules()) // ); - // return runAuto("Move Forward", 5.0, 5.0); - return runAuto("Five Ball", 1.0, 1.0); + // return runAuto("Move Forward", 1.0, 1.0); + return runAuto("Move Down", 1.0, 1.0); } /** From 1d58130aca212dca90992fccd5272eac4b8f2f5c Mon Sep 17 00:00:00 2001 From: aarav18 Date: Tue, 8 Feb 2022 19:42:54 -0700 Subject: [PATCH 083/151] sad --- src/main/java/frc4388/robot/Constants.java | 2 +- src/main/java/frc4388/robot/RobotContainer.java | 6 +++--- .../java/frc4388/robot/subsystems/SwerveDrive.java | 10 +++++++--- 3 files changed, 11 insertions(+), 7 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 333ae46..496b7e6 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -68,7 +68,7 @@ public final class Constants { public static final PIDController X_CONTROLLER = new PIDController(0.5, 0.0, 0.0); public static final PIDController Y_CONTROLLER = new PIDController(2.0, 0.0, 0.0); public static final ProfiledPIDController THETA_CONTROLLER = new ProfiledPIDController( - 15.0, 0.1, 0.3, new TrapezoidProfile.Constraints(Math.PI, Math.PI)); + 15.0, 0.1, 0.3, new TrapezoidProfile.Constraints(Math.PI, Math.PI)); // swerve configuration public static final double NEUTRAL_DEADBAND = 0.04; diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index f9d0ff7..d1d0b79 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -95,7 +95,7 @@ public class RobotContainer { /* Driver Buttons */ new JoystickButton(getDriverController(), XboxController.Button.kY.value) // new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.Y_BUTTON) - .whenPressed(m_robotSwerveDrive.m_gyro::reset); + .whenPressed(() -> m_robotSwerveDrive.resetGyro()); new JoystickButton(getDriverController(), XboxController.Button.kLeftBumper.value) // new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.LEFT_BUMPER_BUTTON) @@ -142,7 +142,7 @@ public class RobotContainer { return new SequentialCommandGroup( new InstantCommand(() -> m_robotSwerveDrive.m_gyro.reset()), - new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(new Pose2d(state.poseMeters.getTranslation(), state.holonomicRotation))), + new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(new Pose2d(state.poseMeters.getTranslation(), state.holonomicRotation))),//.plus(new Rotation2d(Math.PI/2))))), //new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(traj.getInitialPose())), ppSCC, new InstantCommand(() -> m_robotSwerveDrive.stopModules()) @@ -186,7 +186,7 @@ public class RobotContainer { // new InstantCommand(() -> m_robotSwerveDrive.stopModules()) // ); // return runAuto("Move Forward", 1.0, 1.0); - return runAuto("Move Down", 1.0, 1.0); + return runAuto("Test", 1.0, 1.0); } /** diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index 0496004..b29f57e 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -54,6 +54,7 @@ public class SwerveDrive extends SubsystemBase { public double speedAdjust = SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND_SLOW; public boolean ignoreAngles; + public Rotation2d rotTarget = new Rotation2d();; private final Field2d m_field = new Field2d(); @@ -125,7 +126,6 @@ public class SwerveDrive extends SubsystemBase { : new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot * SwerveDriveConstants.ROTATION_SPEED)); setModuleStates(states); } - private Rotation2d rotTarget = new Rotation2d(); public void driveWithInput(double leftX, double leftY, double rightX, double rightY, boolean fieldRelative) { ignoreAngles = leftX == 0 && leftY == 0 && rightX == 0 && rightY == 0; @@ -217,8 +217,7 @@ public class SwerveDrive extends SubsystemBase { /** Updates the field relative position of the robot. */ public void updateOdometry() { - Rotation2d offset = new Rotation2d(Math.PI/2); - m_poseEstimator.update( m_gyro.getRotation2d()/*.plus(offset)*/, + m_poseEstimator.update( m_gyro.getRotation2d(), modules[0].getState(), modules[1].getState(), modules[2].getState(), @@ -237,6 +236,11 @@ public class SwerveDrive extends SubsystemBase { // Timer.getFPGATimestamp() - 0.1); } + public void resetGyro(){ + m_gyro.reset(); + rotTarget = new Rotation2d(0); + } + public void stopModules() { modules[0].stop(); modules[1].stop(); From 0fedb240d7cfb8130afd31f5eeb16b4a353525f7 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Wed, 9 Feb 2022 17:56:22 -0700 Subject: [PATCH 084/151] BoomBoom is working, but the motors are spinning in opposite directions --- src/main/java/frc4388/robot/Constants.java | 8 +++-- .../java/frc4388/robot/RobotContainer.java | 4 ++- src/main/java/frc4388/robot/RobotMap.java | 31 +++++++++++++++++-- .../frc4388/robot/subsystems/BoomBoom.java | 30 +++--------------- 4 files changed, 40 insertions(+), 33 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index b31b7d8..6b7b4aa 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -88,12 +88,13 @@ public final class Constants { public static final class ShooterConstants { /* PID Constants Shooter */ - public static final int SHOOTER_TIMEOUT_MS = 30; + public static final int CLOSED_LOOP_TIME_MS = 1; + public static final int SHOOTER_TIMEOUT_MS = 32; public static final int SHOOTER_SLOT_IDX = 0; public static final int SHOOTER_PID_LOOP_IDX = 1; public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG = new SupplyCurrentLimitConfiguration(true, 60, 40, 0.5); - public static final int SHOOTER_FALCON_LEFT_CAN_ID = 0; - public static final int SHOOTER_FALCON_RIGHT_CAN_ID = 0; + public static final int SHOOTER_FALCON_LEFT_CAN_ID = 23; + public static final int SHOOTER_FALCON_RIGHT_CAN_ID = 24; public static final int SHOOTER_ROTATE_ID = 31; //"unknown value" //figure out later public static final int TURRET_RIGHT_SOFT_LIMIT = 0; //""// public static final double TURRET_SPEED_MULTIPLIER = 0.1d; //""// @@ -102,6 +103,7 @@ public final class Constants { public static final int TURRET_MOTOR_ROTS_PER_ROT = 0; //""// public static final double ENCODER_TICKS_PER_REV = 2048; //""// + /* Turret Constants */ //ID diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 6ba81e1..964e0d9 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -44,7 +44,7 @@ public class RobotContainer { // ); private final LED m_robotLED = new LED(m_robotMap.LEDController); - private final BoomBoom m_robotBoomBoom = new BoomBoom(); + private final BoomBoom m_robotBoomBoom = new BoomBoom(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight); private final Hood m_robotHood = new Hood(); private final Turret m_robotTurret = new Turret(); private final Vision m_robotVison = new Vision(m_robotTurret, m_robotBoomBoom); @@ -95,6 +95,8 @@ public class RobotContainer { new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON) .whenPressed(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0.1)) .whenReleased(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0)); + + /* Driver Buttons */ } /** diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java index 3572923..19cb616 100644 --- a/src/main/java/frc4388/robot/RobotMap.java +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -4,6 +4,7 @@ package frc4388.robot; +import com.ctre.phoenix.motorcontrol.NeutralMode; import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; import com.ctre.phoenix.sensors.CANCoder; import com.revrobotics.CANSparkMax; @@ -97,12 +98,36 @@ public class RobotMap { //Shooter Config /*Boom Boom Subsystem*/ - // public final WPI_TalonFX shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_LEFT_CAN_ID); - // public final WPI_TalonFX shooterFalconRight = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_RIGHT_CAN_ID); + public final WPI_TalonFX shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_LEFT_CAN_ID); + public final WPI_TalonFX shooterFalconRight = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_RIGHT_CAN_ID); + // public final CANSparkMax shooterTurret = new CANSparkMax(ShooterConstants.TURRET_MOTOR_CAN_ID, MotorType.kBrushless); - //Create motor CANSparkMax + // Create motor CANSparkMax void ConfigureShooterMotorControllers() { + //LEFT FALCON + shooterFalconLeft.configFactoryDefault(); + shooterFalconLeft.setNeutralMode(NeutralMode.Coast); + shooterFalconLeft.setInverted(true); + shooterFalconLeft.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS); + shooterFalconLeft.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS); + shooterFalconLeft.configPeakOutputReverse(0, ShooterConstants.SHOOTER_TIMEOUT_MS); + shooterFalconLeft.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS); + shooterFalconLeft.configClosedLoopPeriod(0, ShooterConstants.CLOSED_LOOP_TIME_MS, ShooterConstants.SHOOTER_TIMEOUT_MS); + shooterFalconLeft.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS); + + + + //RIGHT FALCON + shooterFalconRight.configFactoryDefault(); + shooterFalconRight.setNeutralMode(NeutralMode.Coast); + shooterFalconRight.setInverted(false); + shooterFalconRight.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS); + shooterFalconRight.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS); + //m_shooterFalconRight.configPeakOutputForward(0, ShooterConstants.SHOOTER_TIMEOUT_MS);(comment it in if necessary) + shooterFalconRight.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS); + shooterFalconRight.configClosedLoopPeriod(0,ShooterConstants.CLOSED_LOOP_TIME_MS, ShooterConstants.SHOOTER_TIMEOUT_MS); + shooterFalconRight.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS); /*Turret Subsytem*/ diff --git a/src/main/java/frc4388/robot/subsystems/BoomBoom.java b/src/main/java/frc4388/robot/subsystems/BoomBoom.java index 2e4b8f3..0a235e3 100644 --- a/src/main/java/frc4388/robot/subsystems/BoomBoom.java +++ b/src/main/java/frc4388/robot/subsystems/BoomBoom.java @@ -22,8 +22,8 @@ import frc4388.utility.controller.IHandController; import com.revrobotics.RelativeEncoder; public class BoomBoom extends SubsystemBase { -public WPI_TalonFX m_shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_BALLER_ID); -public WPI_TalonFX m_shooterFalconRight= new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_BALLER_FOLLOWER_ID); +public WPI_TalonFX m_shooterFalconLeft; +public WPI_TalonFX m_shooterFalconRight; public ShooterTables m_shooterTable; public static Gains m_drumShooterGains = ShooterConstants.DRUM_SHOOTER_GAINS; public static BoomBoom m_boomBoom; @@ -59,31 +59,9 @@ feedforward.calculate(15, 20); // feedforward.calculate(velocity, acceleration); m_shooterFalconLeft = shooterFalconLeft; m_shooterFalconRight = shooterFalconRight; - int closedLoopTimeMs = 1; - //LEFT FALCON - m_shooterFalconLeft.configFactoryDefault(); - m_shooterFalconLeft.setNeutralMode(NeutralMode.Coast); - m_shooterFalconLeft.setInverted(true); - m_shooterFalconLeft.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS); - m_shooterFalconLeft.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS); - m_shooterFalconLeft.configPeakOutputReverse(0, ShooterConstants.SHOOTER_TIMEOUT_MS); - m_shooterFalconLeft.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS); - m_shooterFalconLeft.configClosedLoopPeriod(0, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS); - m_shooterFalconLeft.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS); - + - //RIGHT FALCON - m_shooterFalconRight.configFactoryDefault(); - m_shooterFalconRight.setNeutralMode(NeutralMode.Coast); - m_shooterFalconRight.setInverted(false); - m_shooterFalconRight.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS); - m_shooterFalconRight.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS); - //m_shooterFalconRight.configPeakOutputForward(0, ShooterConstants.SHOOTER_TIMEOUT_MS);(comment it in if necessary) - m_shooterFalconRight.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS); - m_shooterFalconRight.configClosedLoopPeriod(0, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS); - m_shooterFalconRight.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS); - m_shooterTable = new ShooterTables(); @@ -117,7 +95,7 @@ try { public void runDrumShooter(double speed) { m_shooterFalconLeft.set(TalonFXControlMode.PercentOutput, speed); - m_shooterFalconRight.follow(m_shooterFalconLeft); + } public void setShooterGains() { From 30656a951fa8485cc170f38dd08cc802d547ca98 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Thu, 10 Feb 2022 21:18:00 -0700 Subject: [PATCH 085/151] auto path planner + command interpolation, FURTHER TESTING NEEDED --- src/main/deploy/pathplanner/Test.path | 1 + .../generatedJSON/New Path.wpilib.json | 2 +- .../generatedJSON/Test.wpilib.json | 1 + src/main/java/frc4388/robot/Robot.java | 11 -- .../java/frc4388/robot/RobotContainer.java | 125 ++++++++++-------- 5 files changed, 76 insertions(+), 64 deletions(-) create mode 100644 src/main/deploy/pathplanner/Test.path create mode 100644 src/main/deploy/pathplanner/generatedJSON/Test.wpilib.json diff --git a/src/main/deploy/pathplanner/Test.path b/src/main/deploy/pathplanner/Test.path new file mode 100644 index 0000000..5f6ec63 --- /dev/null +++ b/src/main/deploy/pathplanner/Test.path @@ -0,0 +1 @@ +{"waypoints":[{"anchorPoint":{"x":3.1215786569504176,"y":1.6921689015791839},"prevControl":null,"nextControl":{"x":1.7026792674275004,"y":1.7552310966690905},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":3.20566158373696,"y":3.3948481690066825},"prevControl":{"x":1.9969695111804016,"y":3.342296339765093},"nextControl":{"x":4.204717742092026,"y":3.4382853932829898},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":5.076506704737548,"y":2.701164023017701},"prevControl":{"x":4.771706095136329,"y":3.037495730163874},"nextControl":{"x":5.592408962233515,"y":2.131892566470425},"holonomicAngle":92.0952525645957,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":6.884289630648579,"y":1.7762518283676958},"prevControl":{"x":5.57049389960884,"y":1.7342103649744238},"nextControl":{"x":8.154698525195206,"y":1.816904912993188},"holonomicAngle":-177.33699923393286,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":6.8002067038620355,"y":3.4473999982502432},"prevControl":{"x":8.681562190710942,"y":3.5525036567334225},"nextControl":{"x":4.918851217013129,"y":3.3422963397670644},"holonomicAngle":-177.2241965512169,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":3.111068291102451,"y":1.681658535732834},"prevControl":{"x":5.139568899827807,"y":1.8393140234576038},"nextControl":null,"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":5.0,"maxAcceleration":5.0,"isReversed":null} 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\ No newline at end of file diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java index edd849b..db7bb1a 100644 --- a/src/main/java/frc4388/robot/Robot.java +++ b/src/main/java/frc4388/robot/Robot.java @@ -97,17 +97,6 @@ public class Robot extends TimedRobot { LOGGER.fine("autonomousInit()"); m_autonomousCommand = m_robotContainer.getAutonomousCommand(); - /*String autoSelected = SmartDashboard.getString("Auto Selector", "Default"); - switch (autoSelected) { - case "My Auto": - autonomousCommand = new MyAutoCommand(); - break; - case "Default Auto": - default: - autonomousCommand = new ExampleCommand(); - break; - }*/ - // schedule the autonomous command (example) if (m_autonomousCommand != null) { m_autonomousCommand.schedule(); diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index d1d0b79..1c98c77 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -7,6 +7,7 @@ package frc4388.robot; import java.lang.reflect.Array; import java.nio.file.FileSystem; +import java.util.ArrayList; import java.util.Arrays; import java.util.HashMap; import java.util.List; @@ -119,34 +120,82 @@ public class RobotContainer { .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN)); } - public SequentialCommandGroup runAuto(String path, double maxVel, double maxAccel) { - PathPlannerTrajectory traj = PathPlanner.loadPath(path, maxVel, maxAccel); + + + public Command[] buildAuto(double maxVel, double maxAccel, ArrayList inputs) { + + ArrayList commands = new ArrayList(); + commands.add(new InstantCommand(() -> m_robotSwerveDrive.m_gyro.reset())); + + // ArrayList trajectories = new ArrayList(); + // ArrayList trajCommands = new ArrayList(); + // ArrayList initStates = new ArrayList(); + // ArrayList fullCommand = new ArrayList(); PIDController xController = SwerveDriveConstants.X_CONTROLLER; PIDController yController = SwerveDriveConstants.Y_CONTROLLER; ProfiledPIDController thetaController = SwerveDriveConstants.THETA_CONTROLLER; thetaController.enableContinuousInput(-Math.PI, Math.PI); - //thetaController.reset(new TrapezoidProfile.State(m_robotSwerveDrive.getOdometry())); - PPSwerveControllerCommand ppSCC = new PPSwerveControllerCommand( - traj, - m_robotSwerveDrive::getOdometry, - m_robotSwerveDrive.m_kinematics, - xController, - yController, - thetaController, - m_robotSwerveDrive::setModuleStates, - m_robotSwerveDrive); + // parse input + for (int i=0; i m_robotSwerveDrive.resetOdometry(new Pose2d(initState.poseMeters.getTranslation(), initState.holonomicRotation)))); + commands.add(new PPSwerveControllerCommand( + traj, + m_robotSwerveDrive::getOdometry, + m_robotSwerveDrive.m_kinematics, + xController, + yController, + thetaController, + m_robotSwerveDrive::setModuleStates, + m_robotSwerveDrive)); + } + if (inputs.get(i) instanceof Command) { + + commands.add((Command) inputs.get(i)); + } + } + + // fullCommand.add(new SequentialCommandGroup(new InstantCommand(() -> m_robotSwerveDrive.m_gyro.reset()))); + + // for (int i = 0; i < len; i++) { + // String path = paths[i]; + + // trajectories.add(PathPlanner.loadPath(path, maxVel, maxAccel)); + + // trajCommands.add(new PPSwerveControllerCommand( + // trajectories.get(i), + // m_robotSwerveDrive::getOdometry, + // m_robotSwerveDrive.m_kinematics, + // xController, + // yController, + // thetaController, + // m_robotSwerveDrive::setModuleStates, + // m_robotSwerveDrive)); + + // initStates.add((PathPlannerState) trajectories.get(i).sample(0)); + // } + + // for (int i=1; i < (1 + len); i++) { + + // PathPlannerState initState = initStates.get(i - 1); + // fullCommand.add(new SequentialCommandGroup(new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(new Pose2d(initState.poseMeters.getTranslation(), initState.holonomicRotation))), trajCommands.get(i - 1))); + // } + + // fullCommand.add(new SequentialCommandGroup(new InstantCommand(() -> m_robotSwerveDrive.stopModules()))); + // SequentialCommandGroup[] ret = new SequentialCommandGroup[fullCommand.size()]; + // ret = fullCommand.toArray(ret); - PathPlannerState state = (PathPlannerState) traj.sample(0); - - return new SequentialCommandGroup( - new InstantCommand(() -> m_robotSwerveDrive.m_gyro.reset()), - new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(new Pose2d(state.poseMeters.getTranslation(), state.holonomicRotation))),//.plus(new Rotation2d(Math.PI/2))))), - //new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(traj.getInitialPose())), - ppSCC, - new InstantCommand(() -> m_robotSwerveDrive.stopModules()) - ); + commands.add(new InstantCommand(() -> m_robotSwerveDrive.stopModules())); + Command[] ret = new Command[commands.size()]; + ret = commands.toArray(ret); + return ret; } /** @@ -155,38 +204,10 @@ public class RobotContainer { * @return the command to run in autonomous */ public Command getAutonomousCommand() { - // https://github.com/mjansen4857/pathplanner/wiki <-- Pathplanner Wik + // https://github.com/mjansen4857/pathplanner/wiki <-- Pathplanner Wiki - // PathPlannerTrajectory ppfirstTestPath = PathPlanner.loadPath("First Test Path", 4.0, 4.0); - // PathPlannerTrajectory ppMoveForward = PathPlanner.loadPath("Move Forward", 1.0, 1.0); - // PathPlannerTrajectory ppRotate = PathPlanner.loadPath("Rotate", 1.0, 1.0); - - // PathPlannerTrajectory ppCurrent = PathPlanner.loadPath("First Test Path", 1.0, 1.0); // change this to change auto - - // PIDController xController = SwerveDriveConstants.X_CONTROLLER; - // PIDController yController = SwerveDriveConstants.Y_CONTROLLER; - // ProfiledPIDController thetaController = SwerveDriveConstants.THETA_CONTROLLER; - // thetaController.enableContinuousInput(-Math.PI, Math.PI); - - // PPSwerveControllerCommand ppSwerveControllerCommand = new PPSwerveControllerCommand( - // ppCurrent, - // m_robotSwerveDrive::getOdometry, - // m_robotSwerveDrive.m_kinematics, - // xController, - // yController, - // thetaController, - // m_robotSwerveDrive::setModuleStates, - // m_robotSwerveDrive - // ); - - // return new SequentialCommandGroup( - // new InstantCommand(() -> m_robotSwerveDrive.m_gyro.reset()), - // new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(ppCurrent.getInitialPose())), - // ppSwerveControllerCommand, - // new InstantCommand(() -> m_robotSwerveDrive.stopModules()) - // ); - // return runAuto("Move Forward", 1.0, 1.0); - return runAuto("Test", 1.0, 1.0); + Command[] trajCommands = buildAuto(0.5, 0.5, new ArrayList(Arrays.asList("Move Forward", "Move Down"))); + return new SequentialCommandGroup(trajCommands); } /** From 2c3684c948e565a9266dc08e87c9939cb63bbaf4 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Fri, 11 Feb 2022 17:42:48 -0700 Subject: [PATCH 086/151] refactored auto build function --- build.gradle | 2 +- .../java/frc4388/robot/RobotContainer.java | 62 +++++-------------- .../frc4388/robot/subsystems/SwerveDrive.java | 12 ++-- 3 files changed, 23 insertions(+), 53 deletions(-) diff --git a/build.gradle b/build.gradle index 996bdec..283effa 100644 --- a/build.gradle +++ b/build.gradle @@ -28,7 +28,7 @@ deploy { frcJava(getArtifactTypeClass('FRCJavaArtifact')) { // Enable visualvm - // jvmArgs << "-Dcom.sun.management.jmxremote=true -Dcom.sun.management.jmxremote.port=1099 -Dcom.sun.management.jmxremote.local.only=false -Dcom.sun.management.jmxremote.ssl=false -Dcom.sun.management.jmxremote.authenticate=false -Djava.rmi.server.hostname=10.43.88.2" + jvmArgs << "-Dcom.sun.management.jmxremote=true -Dcom.sun.management.jmxremote.port=1099 -Dcom.sun.management.jmxremote.local.only=false -Dcom.sun.management.jmxremote.ssl=false -Dcom.sun.management.jmxremote.authenticate=false -Djava.rmi.server.hostname=10.43.88.2" } // Static files artifact diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 1c98c77..58fc9e6 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -14,6 +14,8 @@ import java.util.List; import javax.swing.plaf.nimbus.State; +import com.ctre.phoenix.motorcontrol.TalonFXControlMode; +import com.ctre.phoenix.motorcontrol.can.TalonFX; import com.pathplanner.lib.PathPlanner; import com.pathplanner.lib.PathPlannerTrajectory; import com.pathplanner.lib.PathPlannerTrajectory.PathPlannerState; @@ -34,6 +36,7 @@ import edu.wpi.first.wpilibj.Filesystem; import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.InstantCommand; +import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import edu.wpi.first.wpilibj2.command.SwerveControllerCommand; @@ -60,6 +63,8 @@ public class RobotContainer { private final SwerveDrive m_robotSwerveDrive = new SwerveDrive( m_robotMap.leftFront, m_robotMap.leftBack, m_robotMap.rightFront, m_robotMap.rightBack, m_robotMap.gyro); + private final TalonFX m_testMotor = new TalonFX(23); + private final LED m_robotLED = new LED(m_robotMap.LEDController); /* Controllers */ @@ -84,6 +89,8 @@ public class RobotContainer { // continually sends updates to the Blinkin LED controller to keep the lights on m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED, m_robotLED)); + + m_testMotor.set(TalonFXControlMode.PercentOutput, 0); } /** @@ -120,29 +127,21 @@ public class RobotContainer { .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN)); } - - - public Command[] buildAuto(double maxVel, double maxAccel, ArrayList inputs) { + public Command[] buildAuto(double maxVel, double maxAccel, Object... inputs) { ArrayList commands = new ArrayList(); commands.add(new InstantCommand(() -> m_robotSwerveDrive.m_gyro.reset())); - // ArrayList trajectories = new ArrayList(); - // ArrayList trajCommands = new ArrayList(); - // ArrayList initStates = new ArrayList(); - // ArrayList fullCommand = new ArrayList(); - PIDController xController = SwerveDriveConstants.X_CONTROLLER; PIDController yController = SwerveDriveConstants.Y_CONTROLLER; ProfiledPIDController thetaController = SwerveDriveConstants.THETA_CONTROLLER; thetaController.enableContinuousInput(-Math.PI, Math.PI); // parse input - for (int i=0; i m_robotSwerveDrive.resetOdometry(new Pose2d(initState.poseMeters.getTranslation(), initState.holonomicRotation)))); @@ -156,41 +155,11 @@ public class RobotContainer { m_robotSwerveDrive::setModuleStates, m_robotSwerveDrive)); } - if (inputs.get(i) instanceof Command) { - commands.add((Command) inputs.get(i)); + if (inputs[i] instanceof Command) { + commands.add((Command) inputs[i]); } } - - // fullCommand.add(new SequentialCommandGroup(new InstantCommand(() -> m_robotSwerveDrive.m_gyro.reset()))); - - // for (int i = 0; i < len; i++) { - // String path = paths[i]; - - // trajectories.add(PathPlanner.loadPath(path, maxVel, maxAccel)); - - // trajCommands.add(new PPSwerveControllerCommand( - // trajectories.get(i), - // m_robotSwerveDrive::getOdometry, - // m_robotSwerveDrive.m_kinematics, - // xController, - // yController, - // thetaController, - // m_robotSwerveDrive::setModuleStates, - // m_robotSwerveDrive)); - - // initStates.add((PathPlannerState) trajectories.get(i).sample(0)); - // } - - // for (int i=1; i < (1 + len); i++) { - - // PathPlannerState initState = initStates.get(i - 1); - // fullCommand.add(new SequentialCommandGroup(new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(new Pose2d(initState.poseMeters.getTranslation(), initState.holonomicRotation))), trajCommands.get(i - 1))); - // } - - // fullCommand.add(new SequentialCommandGroup(new InstantCommand(() -> m_robotSwerveDrive.stopModules()))); - // SequentialCommandGroup[] ret = new SequentialCommandGroup[fullCommand.size()]; - // ret = fullCommand.toArray(ret); commands.add(new InstantCommand(() -> m_robotSwerveDrive.stopModules())); Command[] ret = new Command[commands.size()]; @@ -206,8 +175,9 @@ public class RobotContainer { public Command getAutonomousCommand() { // https://github.com/mjansen4857/pathplanner/wiki <-- Pathplanner Wiki - Command[] trajCommands = buildAuto(0.5, 0.5, new ArrayList(Arrays.asList("Move Forward", "Move Down"))); - return new SequentialCommandGroup(trajCommands); + Command[] trajCommands = buildAuto(0.5, 0.5, "Move Forward", "Move Down"); + SequentialCommandGroup ret = new SequentialCommandGroup(trajCommands); + return (new ParallelCommandGroup(buildAuto(0.1, 0.1, ret, new InstantCommand(() -> m_testMotor.set(TalonFXControlMode.PercentOutput, 0.2))))); } /** diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index b29f57e..1bd3fb9 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -157,17 +157,17 @@ public class SwerveDrive extends SubsystemBase { public void periodic() { // System.err.println(m_gyro.getFusedHeading() +" aaa"); updateOdometry(); - SmartDashboard.putNumber("Pigeon Fused Heading", m_gyro.getFusedHeading(fstatus)); - SmartDashboard.putNumber("Pigeon Yaw", m_gyro.getYaw()); - SmartDashboard.putNumber("Pigeon Get Angle", m_gyro.getAngle()); - SmartDashboard.putNumber("Pigeon Rotation 2D", m_gyro.getRotation2d().getDegrees()); - SmartDashboard.putStringArray("Fusion Status", new String[] {"Is Fusing: "+fstatus.bIsFusing, "Is Valid: "+fstatus.bIsValid, "Heading: "+fstatus.heading}); + // SmartDashboard.putNumber("Pigeon Fused Heading", m_gyro.getFusedHeading(fstatus)); + // SmartDashboard.putNumber("Pigeon Yaw", m_gyro.getYaw()); + // SmartDashboard.putNumber("Pigeon Get Angle", m_gyro.getAngle()); + // SmartDashboard.putNumber("Pigeon Rotation 2D", m_gyro.getRotation2d().getDegrees()); + // SmartDashboard.putStringArray("Fusion Status", new String[] {"Is Fusing: "+fstatus.bIsFusing, "Is Valid: "+fstatus.bIsValid, "Heading: "+fstatus.heading}); // m_gyro.setStatusFramePeriod(PigeonIMU_StatusFrame.CondStatus_9_SixDeg_YPR, 1, SwerveDriveConstants.SWERVE_TIMEOUT_MS); // m_gyro.setStatusFramePeriod(PigeonIMU_StatusFrame.CondStatus_6_SensorFusion, 1, SwerveDriveConstants.SWERVE_TIMEOUT_MS); // m_gyro.setStatusFramePeriod(PigeonIMU_StatusFrame.CondStatus_1_General, 1, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - m_field.setRobotPose(m_poseEstimator.getEstimatedPosition()); + // m_field.setRobotPose(m_poseEstimator.getEstimatedPosition()); super.periodic(); } From a0e7165c25a601ab4f92550291f6aec256684e20 Mon Sep 17 00:00:00 2001 From: nathanrsxtn Date: Fri, 11 Feb 2022 18:53:13 -0700 Subject: [PATCH 087/151] Testing PathPlanner read/write --- build.gradle | 2 + simgui-ds.json | 3 +- src/main/java/frc4388/robot/Main.java | 8 + src/main/java/frc4388/robot/Robot.java | 37 +++- .../java/frc4388/robot/RobotContainer.java | 152 ++++++-------- .../frc4388/robot/subsystems/SwerveDrive.java | 24 ++- .../utility/PathPlannerTrajectoryUtil.java | 185 ++++++++++++++++++ .../java/frc4388/utility/PathPlannerUtil.java | 49 +++++ .../java/frc4388/utility/RobotLogger.java | 67 ++++--- 9 files changed, 389 insertions(+), 138 deletions(-) create mode 100644 src/main/java/frc4388/utility/PathPlannerTrajectoryUtil.java create mode 100644 src/main/java/frc4388/utility/PathPlannerUtil.java diff --git a/build.gradle b/build.gradle index 996bdec..ab45437 100644 --- a/build.gradle +++ b/build.gradle @@ -55,6 +55,8 @@ def includeDesktopSupport = true dependencies { implementation wpi.java.deps.wpilib() implementation wpi.java.vendor.java() + implementation 'com.diffplug.durian:durian:3.4.0' + implementation 'com.fasterxml.jackson.datatype:jackson-datatype-jdk8:2.13.1' implementation 'org.fusesource.jansi:jansi:2.4.0' roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio) diff --git a/simgui-ds.json b/simgui-ds.json index c4b7efd..69b1a3c 100644 --- a/simgui-ds.json +++ b/simgui-ds.json @@ -91,8 +91,7 @@ ], "robotJoysticks": [ { - "guid": "78696e70757401000000000000000000", - "useGamepad": true + "guid": "Keyboard0" } ] } diff --git a/src/main/java/frc4388/robot/Main.java b/src/main/java/frc4388/robot/Main.java index 21f4236..64dac2f 100644 --- a/src/main/java/frc4388/robot/Main.java +++ b/src/main/java/frc4388/robot/Main.java @@ -5,6 +5,13 @@ package frc4388.robot; +import java.util.logging.Level; +import java.util.logging.Logger; + +import com.diffplug.common.base.DurianPlugins; +import com.diffplug.common.base.Errors; + +import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.RobotBase; import frc4388.utility.AnsiLogging; @@ -24,6 +31,7 @@ public final class Main { */ public static void main(String... args) { AnsiLogging.systemInstall(); + DurianPlugins.register(Errors.Plugins.Log.class, e -> Logger.getLogger(e.getStackTrace()[0].getClassName()).log(Level.SEVERE, e, e::getLocalizedMessage)); RobotBase.startRobot(Robot::new); } } diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java index 3b8eaae..c564b4f 100644 --- a/src/main/java/frc4388/robot/Robot.java +++ b/src/main/java/frc4388/robot/Robot.java @@ -10,10 +10,12 @@ import java.util.logging.Level; import java.util.logging.Logger; import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.Filesystem; 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.utility.PathPlannerUtil; import frc4388.utility.RobotLogger; import frc4388.utility.RobotTime; @@ -37,7 +39,7 @@ public class Robot extends TimedRobot { */ @Override public void robotInit() { - if (org.fusesource.jansi.Ansi.isEnabled()) { + // if (org.fusesource.jansi.Ansi.isEnabled()) { LOGGER.log(Level.ALL, "Logging Test 1/8"); LOGGER.log(Level.SEVERE, "Logging Test 2/8"); LOGGER.log(Level.WARNING, "Logging Test 3/8"); @@ -46,7 +48,10 @@ public class Robot extends TimedRobot { LOGGER.log(Level.FINE, "Logging Test 6/8"); LOGGER.log(Level.FINER, "Logging Test 7/8"); LOGGER.log(Level.FINEST, "Logging Test 8/8"); - } + // } + + var path = PathPlannerUtil.Path.read(Filesystem.getDeployDirectory().toPath().resolve("pathplanner").resolve("Move Forward.path").toFile()); + LOGGER.finest(path::toString); LOGGER.fine("robotInit()"); // Instantiate our RobotContainer. This will perform all our button bindings, and put our // autonomous chooser on the dashboard. @@ -84,6 +89,22 @@ public class Robot extends TimedRobot { LOGGER.fine("disabledInit()"); m_robotTime.endMatchTime(); RobotLogger.getInstance().setEnabled(false); + if (isTest()) { + try { + String p = RobotLogger.getInstance().exportPath(); + LOGGER.log(Level.WARNING, "----------------------------------------------------------------------"); + LOGGER.log(Level.WARNING, "----------------------------------------------------------------------"); + LOGGER.log(Level.WARNING, "----------------------------------------------------------------------"); + LOGGER.log(Level.WARNING, "----------------------------------------------------------------------"); + LOGGER.log(Level.WARNING, "Recorded path to {0} in the deploy directory on the RoboRIO", p); + LOGGER.log(Level.WARNING, "----------------------------------------------------------------------"); + LOGGER.log(Level.WARNING, "----------------------------------------------------------------------"); + LOGGER.log(Level.WARNING, "----------------------------------------------------------------------"); + LOGGER.log(Level.WARNING, "----------------------------------------------------------------------"); + } catch (IOException e) { + e.printStackTrace(); + } + } } @Override @@ -99,7 +120,12 @@ public class Robot extends TimedRobot { @Override public void autonomousInit() { LOGGER.fine("autonomousInit()"); - m_autonomousCommand = m_robotContainer.getAutonomousCommand(); + try { + m_autonomousCommand = m_robotContainer.getAutonomousCommand(); + } catch (IOException e) { + // TODO Auto-generated catch block + e.printStackTrace(); + } /*String autoSelected = SmartDashboard.getString("Auto Selector", "Default"); switch (autoSelected) { @@ -154,11 +180,6 @@ public class Robot extends TimedRobot { @Override public void testInit() { RobotLogger.getInstance().setEnabled(false); - try { - RobotLogger.getInstance().exportPath(); - } catch (IOException e) { - e.printStackTrace(); - } } /** diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index a26b704..dd42b7e 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -4,36 +4,33 @@ package frc4388.robot; +import java.io.File; +import java.io.IOException; +import java.util.Arrays; +import java.util.Comparator; -import java.util.List; - -import com.pathplanner.lib.PathPlanner; import com.pathplanner.lib.PathPlannerTrajectory; import com.pathplanner.lib.commands.PPSwerveControllerCommand; -import edu.wpi.first.math.controller.HolonomicDriveController; import edu.wpi.first.math.controller.PIDController; import edu.wpi.first.math.controller.ProfiledPIDController; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Translation2d; -import edu.wpi.first.math.trajectory.Trajectory; -import edu.wpi.first.math.trajectory.TrajectoryConfig; -import edu.wpi.first.math.trajectory.TrajectoryGenerator; import edu.wpi.first.math.trajectory.TrapezoidProfile; -import edu.wpi.first.math.trajectory.constraint.TrajectoryConstraint; +import edu.wpi.first.wpilibj.Filesystem; +import edu.wpi.first.wpilibj.GenericHID; import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; -import edu.wpi.first.wpilibj2.command.SwerveControllerCommand; import edu.wpi.first.wpilibj2.command.button.JoystickButton; - -import frc4388.robot.Constants.*; +import frc4388.robot.Constants.LEDConstants; +import frc4388.robot.Constants.OIConstants; import frc4388.robot.subsystems.LED; import frc4388.robot.subsystems.SwerveDrive; import frc4388.utility.LEDPatterns; +import frc4388.utility.PathPlannerTrajectoryUtil; import frc4388.utility.controller.DeadbandedXboxController; /** @@ -49,7 +46,7 @@ public class RobotContainer { /* Subsystems */ private final SwerveDrive m_robotSwerveDrive = new SwerveDrive( - m_robotMap.leftFront, m_robotMap.leftBack, m_robotMap.rightFront, m_robotMap.rightBack, m_robotMap.gyro); + m_robotMap.leftFront, m_robotMap.leftBack, m_robotMap.rightFront, m_robotMap.rightBack, m_robotMap.gyro); private final LED m_robotLED = new LED(m_robotMap.LEDController); @@ -66,12 +63,12 @@ public class RobotContainer { // drives the swerve drive with a two-axis input from the driver controller m_robotSwerveDrive.setDefaultCommand( new RunCommand(() -> m_robotSwerveDrive.driveWithInput( - getDriverController().getLeftX(), - getDriverController().getLeftY(), - getDriverController().getRightX(), - getDriverController().getRightY(), - true), - m_robotSwerveDrive)); + getDriverController().getLeftX(), + getDriverController().getLeftY(), + getDriverController().getRightX(), + getDriverController().getRightY(), + true), + m_robotSwerveDrive)); // continually sends updates to the Blinkin LED controller to keep the lights on m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED, m_robotLED)); @@ -86,107 +83,69 @@ public class RobotContainer { private void configureButtonBindings() { /* Driver Buttons */ new JoystickButton(getDriverController(), XboxController.Button.kY.value) - // new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.Y_BUTTON) - .whenPressed(m_robotSwerveDrive.m_gyro::reset); + // new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.Y_BUTTON) + .whenPressed(m_robotSwerveDrive.m_gyro::reset); new JoystickButton(getDriverController(), XboxController.Button.kLeftBumper.value) - // new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.LEFT_BUMPER_BUTTON) - .whenPressed(() -> m_robotSwerveDrive.highSpeed(false)); - + // new XboxControllerRawButton(m_driverXbox, + // XboxControllerRaw.LEFT_BUMPER_BUTTON) + .whenPressed(() -> m_robotSwerveDrive.highSpeed(false)); new JoystickButton(getDriverController(), XboxController.Button.kRightBumper.value) - // new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.RIGHT_BUMPER_BUTTON) - .whenPressed(() -> m_robotSwerveDrive.highSpeed(true)); - + // new XboxControllerRawButton(m_driverXbox, + // XboxControllerRaw.RIGHT_BUMPER_BUTTON) + .whenPressed(() -> m_robotSwerveDrive.highSpeed(true)); + new JoystickButton(getDriverController(), XboxController.Button.kA.value) - .whenPressed(() -> zeroOdometry(new Pose2d(0, 0, new Rotation2d(0)))); - //.whenPressed(this::resetOdometry); + .whenPressed(() -> zeroOdometry(new Pose2d(0, 0, new Rotation2d(0)))); + // .whenPressed(this::resetOdometry); /* Operator Buttons */ // activates "Lit Mode" new JoystickButton(getOperatorController(), XboxController.Button.kA.value) - // new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.A_BUTTON) + // new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.A_BUTTON) .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW)) .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN)); } - public void configAuto(boolean pathplanner) { - - } - - public void configAuto() { - configAuto(true); - } - /** * Use this to pass the autonomous command to the main {@link Robot} class. * * @return the command to run in autonomous + * @throws IOException */ - public Command getAutonomousCommand() { + public Command getAutonomousCommand() throws IOException { // https://github.com/mjansen4857/pathplanner/wiki <-- Pathplanner Wiki - TrajectoryConfig config = new TrajectoryConfig(1.0, 1.0) - .setKinematics(m_robotSwerveDrive.m_kinematics); - Trajectory exTraj = TrajectoryGenerator.generateTrajectory( - new Pose2d(0, 0, new Rotation2d(0)), - List.of(new Translation2d(0, 0)), - new Pose2d(1, 0, new Rotation2d(0)), - config); + try ( + PIDController xController = new PIDController(10.0, 0.0, 0.0); + PIDController yController = new PIDController(1.3, 0.0, 0.0)) { + ProfiledPIDController thetaController = new ProfiledPIDController( + 10.0, 0.0, 0.0, new TrapezoidProfile.Constraints(2 * Math.PI, Math.PI)); + thetaController.enableContinuousInput(-Math.PI, Math.PI); + PathPlannerTrajectory ppRecorded = PathPlannerTrajectoryUtil + .fromPathweaverJson(Arrays.stream(Filesystem.getDeployDirectory().listFiles()) + .max(Comparator.comparingLong(File::lastModified)).orElseThrow().toPath(), 1.0, 1.0); - Trajectory firstTestPath = PathPlanner.loadPath("First Test Path", 1.0, 1.0); - Trajectory moveForward = PathPlanner.loadPath("Move Forward", 1.0, 1.0); - Trajectory rotate = PathPlanner.loadPath("Rotate", 1.0, 1.0); + PathPlannerTrajectory ppCurrentPath = ppRecorded; // change this to change auto - Trajectory currentPath = moveForward; // change this to change auto + PPSwerveControllerCommand ppSwerveControllerCommand = new PPSwerveControllerCommand( + ppCurrentPath, + m_robotSwerveDrive::getOdometry, + m_robotSwerveDrive.m_kinematics, + xController, + yController, + thetaController, + m_robotSwerveDrive::setModuleStates, + m_robotSwerveDrive); - PIDController xController = new PIDController(10.0, 0.0, 0.0); - PIDController yController = new PIDController(1.3, 0.0, 0.0); - ProfiledPIDController thetaController = new ProfiledPIDController( - 10.0, 0.0, 0.0, new TrapezoidProfile.Constraints(2 * Math.PI, Math.PI)); - thetaController.enableContinuousInput(-Math.PI, Math.PI); - - SwerveControllerCommand swerveControllerCommand = new SwerveControllerCommand( - currentPath, - m_robotSwerveDrive::getOdometry, - m_robotSwerveDrive.m_kinematics, - xController, - yController, - thetaController, - m_robotSwerveDrive::setModuleStates, - m_robotSwerveDrive - ); - - PathPlannerTrajectory ppfirstTestPath = PathPlanner.loadPath("First Test Path", 4.0, 4.0); - PathPlannerTrajectory ppMoveForward = PathPlanner.loadPath("Move Forward", 1.0, 1.0); - PathPlannerTrajectory ppRotate = PathPlanner.loadPath("Rotate", 1.0, 1.0); - - PathPlannerTrajectory ppCurrentPath = ppfirstTestPath; // change this to change auto - - PPSwerveControllerCommand ppSwerveControllerCommand = new PPSwerveControllerCommand( - ppCurrentPath, - m_robotSwerveDrive::getOdometry, - m_robotSwerveDrive.m_kinematics, - xController, - yController, - thetaController, - m_robotSwerveDrive::setModuleStates, - m_robotSwerveDrive - ); - - // return new SequentialCommandGroup( - // new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(currentPath.getInitialPose())), - // swerveControllerCommand, - // new InstantCommand(() -> m_robotSwerveDrive.stopModules()) - // ); - - return new SequentialCommandGroup( - new InstantCommand(() -> m_robotSwerveDrive.m_gyro.reset()), - new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(ppCurrentPath.getInitialPose())), - ppSwerveControllerCommand, - new InstantCommand(() -> m_robotSwerveDrive.stopModules()) - ); + return new SequentialCommandGroup( + new InstantCommand(m_robotSwerveDrive.m_gyro::reset), + new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(ppCurrentPath.getInitialPose())), + ppSwerveControllerCommand, + new InstantCommand(m_robotSwerveDrive::stopModules)); + } } /** @@ -203,6 +162,7 @@ public class RobotContainer { public void zeroOdometry(Pose2d pose) { m_robotSwerveDrive.resetOdometry(pose); } + /** * Add your docs here. */ diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index ddb30f1..4322d65 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -122,6 +122,7 @@ public class SwerveDrive extends SubsystemBase { setModuleStates(states); } private Rotation2d rotTarget = new Rotation2d(); + private ChassisSpeeds chassisSpeeds = new ChassisSpeeds(); public void driveWithInput(double leftX, double leftY, double rightX, double rightY, boolean fieldRelative) { ignoreAngles = leftX == 0 && leftY == 0 && rightX == 0 && rightY == 0; @@ -132,11 +133,12 @@ public class SwerveDrive extends SubsystemBase { double rot = rotTarget.minus(m_gyro.getRotation2d()).getRadians(); double xSpeedMetersPerSecond = -speed.getX(); double ySpeedMetersPerSecond = speed.getY(); + chassisSpeeds = fieldRelative + ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot * SwerveDriveConstants.ROTATION_SPEED, m_gyro.getRotation2d()) + : new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rightX * SwerveDriveConstants.ROTATION_SPEED); SwerveModuleState[] states = m_kinematics.toSwerveModuleStates( - fieldRelative - ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot * SwerveDriveConstants.ROTATION_SPEED, m_gyro.getRotation2d()) - : new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rightX * SwerveDriveConstants.ROTATION_SPEED)); + chassisSpeeds); setModuleStates(states); } @@ -155,7 +157,21 @@ public class SwerveDrive extends SubsystemBase { updateOdometry(); // m_gyro.setFusedHeadingToCompass(); // m_gyro.setYawToCompass(); - RobotLogger.getInstance().put("poseMeters", m_poseEstimator.getEstimatedPosition()); + { + + + + + // double velocityMetersPerSecond = new Translation2d(chassisSpeeds.vxMetersPerSecond, chassisSpeeds.vyMetersPerSecond).getNorm(); + double velocityMetersPerSecond = chassisSpeeds.vxMetersPerSecond; + Pose2d poseMeters = m_poseEstimator.getEstimatedPosition(); + double curvatureRadPerMeter = 0; + RobotLogger.getInstance().put(velocityMetersPerSecond, poseMeters, curvatureRadPerMeter, 0, new Rotation2d(), new Rotation2d(), new Rotation2d()); + + + + + } SmartDashboard.putNumber("Pigeon Fused Heading", m_gyro.getFusedHeading(fstatus)); SmartDashboard.putNumber("Pigeon Yaw", m_gyro.getYaw()); SmartDashboard.putNumber("Pigeon Get Angle", m_gyro.getAngle()); diff --git a/src/main/java/frc4388/utility/PathPlannerTrajectoryUtil.java b/src/main/java/frc4388/utility/PathPlannerTrajectoryUtil.java new file mode 100644 index 0000000..0f00f92 --- /dev/null +++ b/src/main/java/frc4388/utility/PathPlannerTrajectoryUtil.java @@ -0,0 +1,185 @@ +package frc4388.utility; + +import java.io.BufferedWriter; +import java.io.FileWriter; +import java.io.IOException; +import java.lang.reflect.InvocationHandler; +import java.lang.reflect.InvocationTargetException; +import java.lang.reflect.Method; +import java.lang.reflect.Proxy; +import java.nio.file.Files; +import java.nio.file.Path; +import java.util.Collection; +import java.util.List; +import java.util.Objects; +import java.util.logging.Logger; +import java.util.stream.Collectors; + +import com.fasterxml.jackson.core.JsonProcessingException; +import com.fasterxml.jackson.databind.ObjectMapper; +import com.pathplanner.lib.PathPlanner; +import com.pathplanner.lib.PathPlannerTrajectory; +import com.pathplanner.lib.PathPlannerTrajectory.PathPlannerState; + +import org.json.simple.JSONArray; +import org.json.simple.JSONObject; +import org.json.simple.JSONValue; + +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; + +public final class PathPlannerTrajectoryUtil { + + // public static final class BetterUtil { + + // public static interface IPlanet { + // String getName(); + // } + + // static class Planet implements IPlanet { + // private String name; + + // public String getName() { + // return name; + // } + + // public void setName(String iName) { + // name = iName; + // } + // } + + // public static void test() throws JsonProcessingException { + // IPlanet ip = getProxy(IPlanet.class, new Planet()); + // ObjectMapper mapper = new ObjectMapper(); + // mapper.writeValueAsString(ip); + // } + + // public static T getProxy(Class type, Object obj) { + // class ProxyUtil implements InvocationHandler { + // Object obj; + + // public ProxyUtil(Object o) { + // obj = o; + // } + + // @Override + // public Object invoke(Object proxy, Method m, Object[] args) throws Throwable { + // Object result = null; + // result = m.invoke(obj, args); + // return result; + // } + // } + // @SuppressWarnings("unchecked") + // T proxy = (T) Proxy.newProxyInstance(type.getClassLoader(), new Class[] { type }, new ProxyUtil(obj)); + // return proxy; + // } + // } + + public static PathPlannerTrajectory fromPathPlannerJson(Path path, double maxVel, double maxAccel, boolean reversed) + throws IOException { + if (path.endsWith(".path")) + return PathPlanner.loadPath(path.toFile().getName(), maxVel, maxAccel, reversed); + throw new IOException("Invalid path"); + } + + public static PathPlannerTrajectory fromPathPlannerJson(Path path, double maxVel, double maxAccel) + throws IOException { + return fromPathPlannerJson(path, maxVel, maxAccel, false); + } + + @SuppressWarnings("unchecked") + public static PathPlannerTrajectory fromPathweaverJson(Path path, double maxVel, double maxAccel) throws IOException { + Object obj = JSONValue.parse(Files.newBufferedReader(path)); + JSONArray array = (JSONArray) obj; + List states = (List) array.stream().map(o -> { + JSONObject jo = (JSONObject) o; + PathPlannerState pathPlannerState = new PathPlannerState(); + pathPlannerState.timeSeconds = Double.parseDouble(Objects.toString(jo.get("time"))); + pathPlannerState.velocityMetersPerSecond = Double.parseDouble(Objects.toString(jo.get("velocity"))); + pathPlannerState.accelerationMetersPerSecondSq = Double.parseDouble(Objects.toString(jo.get("acceleration"))); + JSONObject pose = (JSONObject) jo.get("pose"); + JSONObject rotation = (JSONObject) pose.get("rotation"); + JSONObject translation = (JSONObject) pose.get("translation"); + double radians = Double.parseDouble(Objects.toString(rotation.get("radians"))); + double x = Double.parseDouble(Objects.toString(translation.get("x"))); + double y = Double.parseDouble(Objects.toString(translation.get("y"))); + pathPlannerState.poseMeters = new Pose2d(x, y, new Rotation2d(radians)); + pathPlannerState.curvatureRadPerMeter = Double.parseDouble(Objects.toString(jo.get("curvature"))); + pathPlannerState.positionMeters = Double.parseDouble(Objects.toString(jo.get("position"))); + pathPlannerState.angularVelocity = new Rotation2d( + Double.parseDouble(Objects.toString(jo.get("angularVelocity")))); + pathPlannerState.angularAcceleration = new Rotation2d( + Double.parseDouble(Objects.toString(jo.get("angularAcceleration")))); + pathPlannerState.holonomicRotation = new Rotation2d( + Double.parseDouble(Objects.toString(jo.get("holonomicRotation")))); + Logger.getAnonymousLogger().finest(pathPlannerState.toString()); + return pathPlannerState; + }).collect(Collectors.toList()); + try { + var constructor = PathPlannerTrajectory.class.getDeclaredConstructor(List.class); + constructor.setAccessible(true); + var a = constructor.newInstance(states); + Logger.getAnonymousLogger() + .severe(() -> a.getStates().stream().map(PathPlannerState.class::cast).map(o -> String.format( + "State(Sec: %.2f, Vel m/s: %.2f, Accel m/s/s: %.2f, Pose: %s, Curvature: %.2f, positionMeters: %.2f, angularVelocity: %s, angularAcceleration: %s, holonomicRotation: %s)", + o.timeSeconds, + o.velocityMetersPerSecond, + o.accelerationMetersPerSecondSq, + o.poseMeters, + o.curvatureRadPerMeter, + o.positionMeters, + o.angularVelocity, + o.angularAcceleration, + o.holonomicRotation)).collect(Collectors.joining("\n"))); + return a; + } catch (InstantiationException | IllegalAccessException | IllegalArgumentException | InvocationTargetException + | NoSuchMethodException | SecurityException e) { + throw new RuntimeException(e); + } + } + + public static void toPathweaverJson(Collection trajectoryStates, Path path) throws IOException { + try (BufferedWriter out = new BufferedWriter(new FileWriter(path.toFile()))) { + out.write('['); + for (var state : trajectoryStates) { + double acceleration = state.accelerationMetersPerSecondSq; + double curvature = state.curvatureRadPerMeter; + // pose + // rotation + double poseRotationRadians = state.poseMeters.getRotation().getRadians(); + // translation + double poseTranslationX = state.poseMeters.getX(); + double poseTranslationY = state.poseMeters.getY(); + double time = 0.0; + double velocity = state.velocityMetersPerSecond; + double position = state.positionMeters; + double holonomicRotation = state.holonomicRotation.getRadians(); + double angularVelocity = state.angularVelocity.getRadians(); + double angularAcceleration = state.angularAcceleration.getRadians(); + double curveRadius = 0; + out.write('{'); + out.write("\"acceleration\":" + acceleration + ","); + out.write("\"curvature\":" + curvature + ","); + out.write("\"pose\": {"); + out.write("\"rotation\": {"); + out.write("\"radians\":" + poseRotationRadians); + out.write("},"); + out.write("\"translation\": {"); + out.write("\"x\":" + poseTranslationX + ","); + out.write("\"y\":" + poseTranslationY); + out.write('}'); + out.write("},"); + out.write("\"time\":" + time + ","); + out.write("\"velocity\":" + velocity + ","); + out.write("\"position\":" + position + ","); + out.write("\"holonomicRotation\":" + holonomicRotation + ","); + out.write("\"angularVelocity\":" + angularVelocity + ","); + out.write("\"angularAcceleration\":" + angularAcceleration + ","); + out.write("\"curveRadius\":" + curveRadius); + out.write("},"); + } + out.write(']'); + out.flush(); + } + } +} diff --git a/src/main/java/frc4388/utility/PathPlannerUtil.java b/src/main/java/frc4388/utility/PathPlannerUtil.java new file mode 100644 index 0000000..e2495aa --- /dev/null +++ b/src/main/java/frc4388/utility/PathPlannerUtil.java @@ -0,0 +1,49 @@ +package frc4388.utility; + +import java.io.File; +import java.util.Optional; +import com.diffplug.common.base.Errors; +import com.fasterxml.jackson.databind.ObjectMapper; +import com.fasterxml.jackson.datatype.jdk8.Jdk8Module; + +public class PathPlannerUtil { + public static final class Path { + public Optional[] waypoints; + + public static final class Waypoint { + public Optional anchorPoint; + public Optional prevControl; + public Optional nextControl; + + public static final class Point { + public Optional x; + public Optional y; + } + + public Optional holonomicAngle; + public Optional isReversal; + public Optional velOverride; + public Optional isLocked; + } + + public Optional maxVelocity; + public Optional maxAcceleration; + public Optional isReversed; + + private static final ObjectMapper objectMapper = new ObjectMapper(); + static { objectMapper.registerModule(new Jdk8Module()); } + + public static Path read(File src) { + return Errors.log().getWithDefault(() -> objectMapper.readValue(src, Path.class), null); + } + + public void write(File resultFile) { + Errors.log().run(() -> objectMapper.writeValue(resultFile, this)); + } + + @Override + public String toString() { + return Errors.log().getWithDefault(() -> objectMapper.writeValueAsString(this), super.toString()); + } + } +} diff --git a/src/main/java/frc4388/utility/RobotLogger.java b/src/main/java/frc4388/utility/RobotLogger.java index fed25f0..c352730 100644 --- a/src/main/java/frc4388/utility/RobotLogger.java +++ b/src/main/java/frc4388/utility/RobotLogger.java @@ -2,19 +2,18 @@ package frc4388.utility; import java.io.IOException; import java.nio.file.Path; -import java.util.HashMap; -import java.util.Hashtable; +import java.util.ArrayList; import java.util.List; -import java.util.Map; import java.util.Objects; -import java.util.Map.Entry; -import java.util.stream.Collectors; + +import com.pathplanner.lib.PathPlannerTrajectory; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.trajectory.Trajectory; -import edu.wpi.first.math.trajectory.TrajectoryUtil; +import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.Filesystem; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; public final class RobotLogger { private static final int SAMPLE_BASE = 15_000; // ms of sampling @@ -26,42 +25,54 @@ public final class RobotLogger { return Objects.requireNonNullElseGet(instance, () -> instance = new RobotLogger()); } - private static long getTime() { - return RobotTime.getInstance().m_robotTime; + public static double getTime() { + return DriverStation.getMatchTime(); } private RobotLogger() { - data = new HashMap<>(); + data = new ArrayList<>(); } - private final Map> data; + private final List data; private boolean enabled = false; public void setEnabled(boolean value) { enabled = value; } - public void put(String key, Object value) { - if (enabled) - data.compute(key, (k, v) -> { - v = v == null ? new Hashtable<>(SAMPLE_BASE / SAMPLE_RATE, 1) : v; - v.put(getTime(), value); - return v; - }); + double lastVelocityMetersPerSecond = 0; + public void put( + double velocityMetersPerSecond, + Pose2d poseMeters, + double curvatureRadPerMeter, + double positionMeters, + Rotation2d angularVelocity, + Rotation2d angularAcceleration, + Rotation2d holonomicRotation) { + if (enabled) { + double accelerationMetersPerSecondSq = lastVelocityMetersPerSecond == 0 ? velocityMetersPerSecond : + (velocityMetersPerSecond - lastVelocityMetersPerSecond) / 2.0; + PathPlannerTrajectory.PathPlannerState pathPlannerState = new PathPlannerTrajectory.PathPlannerState(); + pathPlannerState.timeSeconds = getTime(); + pathPlannerState.velocityMetersPerSecond = velocityMetersPerSecond; + pathPlannerState.accelerationMetersPerSecondSq = accelerationMetersPerSecondSq; + pathPlannerState.poseMeters = poseMeters; + pathPlannerState.curvatureRadPerMeter = curvatureRadPerMeter; + pathPlannerState.positionMeters = positionMeters; + pathPlannerState.angularVelocity = angularVelocity; + pathPlannerState.angularAcceleration = angularAcceleration; + pathPlannerState.holonomicRotation = holonomicRotation; + data.add(pathPlannerState); + lastVelocityMetersPerSecond = velocityMetersPerSecond; + } } - public void exportPath() throws IOException { - List states = data.get("poseMeters").entrySet().stream().map(entry -> { - double timeSeconds = entry.getKey(); - double velocityMetersPerSecond = 0; - double accelerationMetersPerSecondSq = 0; - Pose2d poseMeters = (Pose2d) entry.getValue(); - double curvatureRadPerMeter = 0; - return new Trajectory.State(timeSeconds, velocityMetersPerSecond, accelerationMetersPerSecondSq, poseMeters, curvatureRadPerMeter); - }).collect(Collectors.toUnmodifiableList()); - String pathPath = "paths/" + System.nanoTime() + ".wpilib.json"; + public String exportPath() throws IOException { + List states = data; + String pathPath = "recording." + System.currentTimeMillis() + ".json"; Path outputPath = Filesystem.getDeployDirectory().toPath().resolve(pathPath); outputPath.toFile().createNewFile(); - TrajectoryUtil.toPathweaverJson(new Trajectory(states), outputPath); + PathPlannerTrajectoryUtil.toPathweaverJson(states, outputPath); + return pathPath; } } From 10e70b6ae24c89727558bfdade95284c5b7ae5a1 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Fri, 11 Feb 2022 20:22:40 -0700 Subject: [PATCH 088/151] default max vel and acc for autos --- src/main/java/frc4388/robot/Constants.java | 3 +++ .../java/frc4388/robot/RobotContainer.java | 25 +++++++++++++++---- 2 files changed, 23 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 496b7e6..597ab9c 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -69,6 +69,9 @@ public final class Constants { public static final PIDController Y_CONTROLLER = new PIDController(2.0, 0.0, 0.0); public static final ProfiledPIDController THETA_CONTROLLER = new ProfiledPIDController( 15.0, 0.1, 0.3, new TrapezoidProfile.Constraints(Math.PI, Math.PI)); + + public static final double MAX_VEL = 5.0; + public static final double MAX_ACC = 5.0; // swerve configuration public static final double NEUTRAL_DEADBAND = 0.04; diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 58fc9e6..5a52550 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -11,6 +11,7 @@ import java.util.ArrayList; import java.util.Arrays; import java.util.HashMap; import java.util.List; +import java.util.Objects; import javax.swing.plaf.nimbus.State; @@ -127,7 +128,17 @@ public class RobotContainer { .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN)); } - public Command[] buildAuto(double maxVel, double maxAccel, Object... inputs) { + /** + * Generate autonomous + * @param maxVel max velocity for the path (null to override default value of 5.0 m/s) + * @param maxAccel max acceleration for the path (null to override default value of 5.0 m/s/s) + * @param inputs strings (paths) or commands you want to run (in order) + * @return array of commands + */ + public Command[] buildAuto(Double maxVel, Double maxAccel, Object... inputs) { + + maxVel = Objects.requireNonNullElse(maxVel, SwerveDriveConstants.MAX_VEL); + maxAccel = Objects.requireNonNullElse(maxAccel, SwerveDriveConstants.MAX_ACC); ArrayList commands = new ArrayList(); commands.add(new InstantCommand(() -> m_robotSwerveDrive.m_gyro.reset())); @@ -174,10 +185,14 @@ public class RobotContainer { */ public Command getAutonomousCommand() { // https://github.com/mjansen4857/pathplanner/wiki <-- Pathplanner Wiki - - Command[] trajCommands = buildAuto(0.5, 0.5, "Move Forward", "Move Down"); - SequentialCommandGroup ret = new SequentialCommandGroup(trajCommands); - return (new ParallelCommandGroup(buildAuto(0.1, 0.1, ret, new InstantCommand(() -> m_testMotor.set(TalonFXControlMode.PercentOutput, 0.2))))); + return new ParallelCommandGroup( + buildAuto( + null, + null, + new SequentialCommandGroup(buildAuto(0.5, 0.5, "Move Forward", "Move Down")), + new InstantCommand(() -> m_testMotor.set(TalonFXControlMode.PercentOutput, 0.2)) + ) + ); } /** From 0605305a898a5a4e1427ecd01b19fe59b47ee26c Mon Sep 17 00:00:00 2001 From: aarav18 Date: Fri, 11 Feb 2022 20:24:23 -0700 Subject: [PATCH 089/151] slight change for fun --- .../java/frc4388/robot/RobotContainer.java | 21 ++----------------- 1 file changed, 2 insertions(+), 19 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 5a52550..203bcff 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -4,17 +4,9 @@ package frc4388.robot; - -import java.lang.reflect.Array; -import java.nio.file.FileSystem; import java.util.ArrayList; -import java.util.Arrays; -import java.util.HashMap; -import java.util.List; import java.util.Objects; -import javax.swing.plaf.nimbus.State; - import com.ctre.phoenix.motorcontrol.TalonFXControlMode; import com.ctre.phoenix.motorcontrol.can.TalonFX; import com.pathplanner.lib.PathPlanner; @@ -22,25 +14,16 @@ import com.pathplanner.lib.PathPlannerTrajectory; import com.pathplanner.lib.PathPlannerTrajectory.PathPlannerState; import com.pathplanner.lib.commands.PPSwerveControllerCommand; -import edu.wpi.first.math.controller.HolonomicDriveController; import edu.wpi.first.math.controller.PIDController; import edu.wpi.first.math.controller.ProfiledPIDController; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Translation2d; -import edu.wpi.first.math.trajectory.Trajectory; -import edu.wpi.first.math.trajectory.TrajectoryConfig; -import edu.wpi.first.math.trajectory.TrajectoryGenerator; -import edu.wpi.first.math.trajectory.TrapezoidProfile; -import edu.wpi.first.math.trajectory.constraint.TrajectoryConstraint; -import edu.wpi.first.wpilibj.Filesystem; import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; -import edu.wpi.first.wpilibj2.command.SwerveControllerCommand; import edu.wpi.first.wpilibj2.command.button.JoystickButton; import frc4388.robot.Constants.*; @@ -130,8 +113,8 @@ public class RobotContainer { /** * Generate autonomous - * @param maxVel max velocity for the path (null to override default value of 5.0 m/s) - * @param maxAccel max acceleration for the path (null to override default value of 5.0 m/s/s) + * @param maxVel max velocity for the path (null to override default value of 5.0) + * @param maxAccel max acceleration for the path (null to override default value of 5.0) * @param inputs strings (paths) or commands you want to run (in order) * @return array of commands */ From 3cb4a13bb10445c0d823500495e5e349c9e5282a Mon Sep 17 00:00:00 2001 From: nathanrsxtn Date: Tue, 15 Feb 2022 11:05:59 -0700 Subject: [PATCH 090/151] Implement working PathPlanner I/O --- src/main/deploy/example.txt | 3 - src/main/java/frc4388/robot/Main.java | 1 - src/main/java/frc4388/robot/Robot.java | 23 ++- .../java/frc4388/robot/RobotContainer.java | 48 ++--- .../frc4388/robot/subsystems/SwerveDrive.java | 31 ++- .../java/frc4388/utility/DataLogging.java | 12 -- .../utility/PathPlannerTrajectoryUtil.java | 185 ------------------ .../java/frc4388/utility/PathPlannerUtil.java | 19 +- .../java/frc4388/utility/RobotLogger.java | 69 ++----- 9 files changed, 94 insertions(+), 297 deletions(-) delete mode 100644 src/main/deploy/example.txt delete mode 100644 src/main/java/frc4388/utility/DataLogging.java delete mode 100644 src/main/java/frc4388/utility/PathPlannerTrajectoryUtil.java diff --git a/src/main/deploy/example.txt b/src/main/deploy/example.txt deleted file mode 100644 index 70c79b6..0000000 --- a/src/main/deploy/example.txt +++ /dev/null @@ -1,3 +0,0 @@ -Files placed in this directory will be deployed to the RoboRIO into the -'deploy' directory in the home folder. Use the 'FileUtilities.getFilePath' wpilib function -to get a proper path relative to the deploy directory. \ No newline at end of file diff --git a/src/main/java/frc4388/robot/Main.java b/src/main/java/frc4388/robot/Main.java index 64dac2f..a718f7e 100644 --- a/src/main/java/frc4388/robot/Main.java +++ b/src/main/java/frc4388/robot/Main.java @@ -11,7 +11,6 @@ import java.util.logging.Logger; import com.diffplug.common.base.DurianPlugins; import com.diffplug.common.base.Errors; -import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.RobotBase; import frc4388.utility.AnsiLogging; diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java index aa4c6fd..3a33a29 100644 --- a/src/main/java/frc4388/robot/Robot.java +++ b/src/main/java/frc4388/robot/Robot.java @@ -4,11 +4,13 @@ package frc4388.robot; +import java.io.File; import java.io.IOException; import java.util.logging.Level; import java.util.logging.Logger; +import edu.wpi.first.networktables.NetworkTableInstance; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.Filesystem; import edu.wpi.first.wpilibj.TimedRobot; @@ -18,6 +20,7 @@ import edu.wpi.first.wpilibj2.command.CommandScheduler; import frc4388.utility.PathPlannerUtil; import frc4388.utility.RobotLogger; import frc4388.utility.RobotTime; +import frc4388.utility.PathPlannerUtil.Path; /** * The VM is configured to automatically run this class, and to call the @@ -50,9 +53,11 @@ public class Robot extends TimedRobot { LOGGER.log(Level.FINEST, "Logging Test 8/8"); // } - var path = PathPlannerUtil.Path.read(Filesystem.getDeployDirectory().toPath().resolve("pathplanner").resolve("Move Forward.path").toFile()); - LOGGER.finest(path::toString); + // var path = PathPlannerUtil.Path.read(Filesystem.getDeployDirectory().toPath().resolve("pathplanner").resolve("Move Forward.path").toFile()); + // LOGGER.finest(path::toString); LOGGER.fine("robotInit()"); + LOGGER.fine("Sssssssssh."); + DriverStation.silenceJoystickConnectionWarning(true); // Instantiate our RobotContainer. This will perform all our button bindings, and put our // autonomous chooser on the dashboard. m_robotContainer = new RobotContainer(); @@ -88,19 +93,24 @@ public class Robot extends TimedRobot { public void disabledInit() { LOGGER.fine("disabledInit()"); m_robotTime.endMatchTime(); - RobotLogger.getInstance().setEnabled(false); if (isTest()) { try { - String p = RobotLogger.getInstance().exportPath(); + // IMPORTANT: Had to chown the pathplanner folder in order to save autos. + Path path = RobotLogger.getInstance().createPath(0.1, 0.1, false); + String pathPath = "recording." + System.currentTimeMillis() + ".path"; + File outputFile = Filesystem.getDeployDirectory().toPath().resolve("pathplanner").resolve(pathPath).toFile(); + outputFile.createNewFile(); + path.write(outputFile); LOGGER.log(Level.WARNING, "----------------------------------------------------------------------"); LOGGER.log(Level.WARNING, "----------------------------------------------------------------------"); LOGGER.log(Level.WARNING, "----------------------------------------------------------------------"); LOGGER.log(Level.WARNING, "----------------------------------------------------------------------"); - LOGGER.log(Level.WARNING, "Recorded path to {0} in the deploy directory on the RoboRIO", p); + LOGGER.log(Level.WARNING, "Recorded path to {0} in the deploy directory on the RoboRIO", pathPath); LOGGER.log(Level.WARNING, "----------------------------------------------------------------------"); LOGGER.log(Level.WARNING, "----------------------------------------------------------------------"); LOGGER.log(Level.WARNING, "----------------------------------------------------------------------"); LOGGER.log(Level.WARNING, "----------------------------------------------------------------------"); + // LOGGER.finest(path::toString); } catch (IOException e) { e.printStackTrace(); } @@ -132,7 +142,6 @@ public class Robot extends TimedRobot { m_autonomousCommand.schedule(); } m_robotTime.startMatchTime(); - RobotLogger.getInstance().setEnabled(false); } /** @@ -153,7 +162,6 @@ public class Robot extends TimedRobot { m_autonomousCommand.cancel(); } m_robotTime.startMatchTime(); - RobotLogger.getInstance().setEnabled(true); DriverStation.silenceJoystickConnectionWarning(true); } @@ -168,7 +176,6 @@ public class Robot extends TimedRobot { @Override public void testInit() { - RobotLogger.getInstance().setEnabled(false); } /** diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 79d4825..e5cc5a6 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -4,8 +4,13 @@ package frc4388.robot; +import java.io.File; import java.io.IOException; import java.util.ArrayList; +import java.util.Arrays; +import java.util.Comparator; +import java.util.Optional; +import java.util.logging.Logger; import com.ctre.phoenix.motorcontrol.TalonFXControlMode; import com.ctre.phoenix.motorcontrol.can.TalonFX; @@ -18,11 +23,12 @@ import edu.wpi.first.math.controller.PIDController; import edu.wpi.first.math.controller.ProfiledPIDController; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.wpilibj.Filesystem; import edu.wpi.first.wpilibj.GenericHID; import edu.wpi.first.wpilibj.XboxController; +import edu.wpi.first.wpilibj.command.PrintCommand; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.InstantCommand; -import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import edu.wpi.first.wpilibj2.command.button.JoystickButton; @@ -113,8 +119,7 @@ public class RobotContainer { } public Command[] buildAuto(double maxVel, double maxAccel, Object... inputs) { - - ArrayList commands = new ArrayList(); + ArrayList commands = new ArrayList<>(); commands.add(new InstantCommand(() -> m_robotSwerveDrive.m_gyro.reset())); PIDController xController = SwerveDriveConstants.X_CONTROLLER; @@ -123,30 +128,18 @@ public class RobotContainer { thetaController.enableContinuousInput(-Math.PI, Math.PI); // parse input - for (int i=0; i m_robotSwerveDrive.resetOdometry(new Pose2d(initState.poseMeters.getTranslation(), initState.holonomicRotation)))); - commands.add(new PPSwerveControllerCommand( - traj, - m_robotSwerveDrive::getOdometry, - m_robotSwerveDrive.m_kinematics, - xController, - yController, - thetaController, - m_robotSwerveDrive::setModuleStates, - m_robotSwerveDrive)); - } - - if (inputs[i] instanceof Command) { + commands.add(new PPSwerveControllerCommand(traj, m_robotSwerveDrive::getOdometry, m_robotSwerveDrive.m_kinematics, xController, yController, thetaController, m_robotSwerveDrive::setModuleStates, m_robotSwerveDrive)); + } else if (inputs[i] instanceof Command) commands.add((Command) inputs[i]); - } } - - commands.add(new InstantCommand(() -> m_robotSwerveDrive.stopModules())); + + commands.add(new InstantCommand(m_robotSwerveDrive::stopModules)); Command[] ret = new Command[commands.size()]; ret = commands.toArray(ret); return ret; @@ -161,9 +154,18 @@ public class RobotContainer { public Command getAutonomousCommand() throws IOException { // https://github.com/mjansen4857/pathplanner/wiki <-- Pathplanner Wiki - Command[] trajCommands = buildAuto(0.5, 0.5, "Move Forward", "Move Down"); - SequentialCommandGroup ret = new SequentialCommandGroup(trajCommands); - return (new ParallelCommandGroup(buildAuto(0.1, 0.1, ret, new InstantCommand(() -> m_testMotor.set(TalonFXControlMode.PercentOutput, 0.2))))); + // Command[] trajCommands = buildAuto(0.5, 0.5, "Move Forward", "Move Down"); + // SequentialCommandGroup ret = new SequentialCommandGroup(trajCommands); + // return (new ParallelCommandGroup(buildAuto(0.1, 0.1, ret, new InstantCommand(() -> m_testMotor.set(TalonFXControlMode.PercentOutput, 0.2))))); + Optional recordedAuto = Arrays.stream(Filesystem.getDeployDirectory().toPath().resolve("pathplanner").toFile().listFiles()).filter(f -> f.getName().startsWith("recording")).max(Comparator.comparingLong(File::lastModified)); + if (recordedAuto.isPresent()) { + String name = recordedAuto.orElseThrow().getName().replace(".path", ""); + Logger.getLogger(this.getClass().getName()).fine(name); + return new SequentialCommandGroup(buildAuto(1.0, 1.0, name)); + } + Logger.getLogger(this.getClass().getName()).severe("No recorded autos found."); + return new InstantCommand(); + // return new PrintCommand("No recorded autos found."); } /** diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index 11a9dd5..f8ed27d 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -24,6 +24,7 @@ import frc4388.robot.Constants.OIConstants; import frc4388.robot.Constants.SwerveDriveConstants; import frc4388.utility.Gains; import frc4388.utility.RobotLogger; +import frc4388.utility.PathPlannerUtil.Path.Waypoint.Point; public class SwerveDrive extends SubsystemBase { @@ -156,28 +157,26 @@ public class SwerveDrive extends SubsystemBase { module.setDesiredState(state, false); } } - + @Override public void periodic() { // System.err.println(m_gyro.getFusedHeading() +" aaa"); updateOdometry(); // m_gyro.setFusedHeadingToCompass(); // m_gyro.setYawToCompass(); - { - - - - - // double velocityMetersPerSecond = new Translation2d(chassisSpeeds.vxMetersPerSecond, chassisSpeeds.vyMetersPerSecond).getNorm(); - double velocityMetersPerSecond = chassisSpeeds.vxMetersPerSecond; - Pose2d poseMeters = m_poseEstimator.getEstimatedPosition(); - double curvatureRadPerMeter = 0; - RobotLogger.getInstance().put(velocityMetersPerSecond, poseMeters, curvatureRadPerMeter, 0, new Rotation2d(), new Rotation2d(), new Rotation2d()); - - - - - } + Pose2d pos = m_poseEstimator.getEstimatedPosition(); + RobotLogger.getInstance().put( + /* anchorPointX */ pos.getX(), + /* anchorPointY */ pos.getY(), + /* prevControlX */ pos.getX(), + /* prevControlY */ pos.getY(), + /* nextControlX */ pos.getX(), + /* nextControlY */ pos.getY(), + /* holonomicAngle */ m_gyro.getRotation2d().getDegrees(), + /* isReversal */ false, + /* velOverride */ null, + /* isLocked */ false + ); SmartDashboard.putNumber("Pigeon Fused Heading", m_gyro.getFusedHeading(fstatus)); SmartDashboard.putNumber("Pigeon Yaw", m_gyro.getYaw()); SmartDashboard.putNumber("Pigeon Get Angle", m_gyro.getAngle()); diff --git a/src/main/java/frc4388/utility/DataLogging.java b/src/main/java/frc4388/utility/DataLogging.java deleted file mode 100644 index 730da4c..0000000 --- a/src/main/java/frc4388/utility/DataLogging.java +++ /dev/null @@ -1,12 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package frc4388.utility; - -/** Add your docs here. */ -public class DataLogging { - public DataLogging() { - - } -} diff --git a/src/main/java/frc4388/utility/PathPlannerTrajectoryUtil.java b/src/main/java/frc4388/utility/PathPlannerTrajectoryUtil.java deleted file mode 100644 index 0f00f92..0000000 --- a/src/main/java/frc4388/utility/PathPlannerTrajectoryUtil.java +++ /dev/null @@ -1,185 +0,0 @@ -package frc4388.utility; - -import java.io.BufferedWriter; -import java.io.FileWriter; -import java.io.IOException; -import java.lang.reflect.InvocationHandler; -import java.lang.reflect.InvocationTargetException; -import java.lang.reflect.Method; -import java.lang.reflect.Proxy; -import java.nio.file.Files; -import java.nio.file.Path; -import java.util.Collection; -import java.util.List; -import java.util.Objects; -import java.util.logging.Logger; -import java.util.stream.Collectors; - -import com.fasterxml.jackson.core.JsonProcessingException; -import com.fasterxml.jackson.databind.ObjectMapper; -import com.pathplanner.lib.PathPlanner; -import com.pathplanner.lib.PathPlannerTrajectory; -import com.pathplanner.lib.PathPlannerTrajectory.PathPlannerState; - -import org.json.simple.JSONArray; -import org.json.simple.JSONObject; -import org.json.simple.JSONValue; - -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; - -public final class PathPlannerTrajectoryUtil { - - // public static final class BetterUtil { - - // public static interface IPlanet { - // String getName(); - // } - - // static class Planet implements IPlanet { - // private String name; - - // public String getName() { - // return name; - // } - - // public void setName(String iName) { - // name = iName; - // } - // } - - // public static void test() throws JsonProcessingException { - // IPlanet ip = getProxy(IPlanet.class, new Planet()); - // ObjectMapper mapper = new ObjectMapper(); - // mapper.writeValueAsString(ip); - // } - - // public static T getProxy(Class type, Object obj) { - // class ProxyUtil implements InvocationHandler { - // Object obj; - - // public ProxyUtil(Object o) { - // obj = o; - // } - - // @Override - // public Object invoke(Object proxy, Method m, Object[] args) throws Throwable { - // Object result = null; - // result = m.invoke(obj, args); - // return result; - // } - // } - // @SuppressWarnings("unchecked") - // T proxy = (T) Proxy.newProxyInstance(type.getClassLoader(), new Class[] { type }, new ProxyUtil(obj)); - // return proxy; - // } - // } - - public static PathPlannerTrajectory fromPathPlannerJson(Path path, double maxVel, double maxAccel, boolean reversed) - throws IOException { - if (path.endsWith(".path")) - return PathPlanner.loadPath(path.toFile().getName(), maxVel, maxAccel, reversed); - throw new IOException("Invalid path"); - } - - public static PathPlannerTrajectory fromPathPlannerJson(Path path, double maxVel, double maxAccel) - throws IOException { - return fromPathPlannerJson(path, maxVel, maxAccel, false); - } - - @SuppressWarnings("unchecked") - public static PathPlannerTrajectory fromPathweaverJson(Path path, double maxVel, double maxAccel) throws IOException { - Object obj = JSONValue.parse(Files.newBufferedReader(path)); - JSONArray array = (JSONArray) obj; - List states = (List) array.stream().map(o -> { - JSONObject jo = (JSONObject) o; - PathPlannerState pathPlannerState = new PathPlannerState(); - pathPlannerState.timeSeconds = Double.parseDouble(Objects.toString(jo.get("time"))); - pathPlannerState.velocityMetersPerSecond = Double.parseDouble(Objects.toString(jo.get("velocity"))); - pathPlannerState.accelerationMetersPerSecondSq = Double.parseDouble(Objects.toString(jo.get("acceleration"))); - JSONObject pose = (JSONObject) jo.get("pose"); - JSONObject rotation = (JSONObject) pose.get("rotation"); - JSONObject translation = (JSONObject) pose.get("translation"); - double radians = Double.parseDouble(Objects.toString(rotation.get("radians"))); - double x = Double.parseDouble(Objects.toString(translation.get("x"))); - double y = Double.parseDouble(Objects.toString(translation.get("y"))); - pathPlannerState.poseMeters = new Pose2d(x, y, new Rotation2d(radians)); - pathPlannerState.curvatureRadPerMeter = Double.parseDouble(Objects.toString(jo.get("curvature"))); - pathPlannerState.positionMeters = Double.parseDouble(Objects.toString(jo.get("position"))); - pathPlannerState.angularVelocity = new Rotation2d( - Double.parseDouble(Objects.toString(jo.get("angularVelocity")))); - pathPlannerState.angularAcceleration = new Rotation2d( - Double.parseDouble(Objects.toString(jo.get("angularAcceleration")))); - pathPlannerState.holonomicRotation = new Rotation2d( - Double.parseDouble(Objects.toString(jo.get("holonomicRotation")))); - Logger.getAnonymousLogger().finest(pathPlannerState.toString()); - return pathPlannerState; - }).collect(Collectors.toList()); - try { - var constructor = PathPlannerTrajectory.class.getDeclaredConstructor(List.class); - constructor.setAccessible(true); - var a = constructor.newInstance(states); - Logger.getAnonymousLogger() - .severe(() -> a.getStates().stream().map(PathPlannerState.class::cast).map(o -> String.format( - "State(Sec: %.2f, Vel m/s: %.2f, Accel m/s/s: %.2f, Pose: %s, Curvature: %.2f, positionMeters: %.2f, angularVelocity: %s, angularAcceleration: %s, holonomicRotation: %s)", - o.timeSeconds, - o.velocityMetersPerSecond, - o.accelerationMetersPerSecondSq, - o.poseMeters, - o.curvatureRadPerMeter, - o.positionMeters, - o.angularVelocity, - o.angularAcceleration, - o.holonomicRotation)).collect(Collectors.joining("\n"))); - return a; - } catch (InstantiationException | IllegalAccessException | IllegalArgumentException | InvocationTargetException - | NoSuchMethodException | SecurityException e) { - throw new RuntimeException(e); - } - } - - public static void toPathweaverJson(Collection trajectoryStates, Path path) throws IOException { - try (BufferedWriter out = new BufferedWriter(new FileWriter(path.toFile()))) { - out.write('['); - for (var state : trajectoryStates) { - double acceleration = state.accelerationMetersPerSecondSq; - double curvature = state.curvatureRadPerMeter; - // pose - // rotation - double poseRotationRadians = state.poseMeters.getRotation().getRadians(); - // translation - double poseTranslationX = state.poseMeters.getX(); - double poseTranslationY = state.poseMeters.getY(); - double time = 0.0; - double velocity = state.velocityMetersPerSecond; - double position = state.positionMeters; - double holonomicRotation = state.holonomicRotation.getRadians(); - double angularVelocity = state.angularVelocity.getRadians(); - double angularAcceleration = state.angularAcceleration.getRadians(); - double curveRadius = 0; - out.write('{'); - out.write("\"acceleration\":" + acceleration + ","); - out.write("\"curvature\":" + curvature + ","); - out.write("\"pose\": {"); - out.write("\"rotation\": {"); - out.write("\"radians\":" + poseRotationRadians); - out.write("},"); - out.write("\"translation\": {"); - out.write("\"x\":" + poseTranslationX + ","); - out.write("\"y\":" + poseTranslationY); - out.write('}'); - out.write("},"); - out.write("\"time\":" + time + ","); - out.write("\"velocity\":" + velocity + ","); - out.write("\"position\":" + position + ","); - out.write("\"holonomicRotation\":" + holonomicRotation + ","); - out.write("\"angularVelocity\":" + angularVelocity + ","); - out.write("\"angularAcceleration\":" + angularAcceleration + ","); - out.write("\"curveRadius\":" + curveRadius); - out.write("},"); - } - out.write(']'); - out.flush(); - } - } -} diff --git a/src/main/java/frc4388/utility/PathPlannerUtil.java b/src/main/java/frc4388/utility/PathPlannerUtil.java index e2495aa..4c2c7b2 100644 --- a/src/main/java/frc4388/utility/PathPlannerUtil.java +++ b/src/main/java/frc4388/utility/PathPlannerUtil.java @@ -11,18 +11,35 @@ public class PathPlannerUtil { public Optional[] waypoints; public static final class Waypoint { + public Waypoint() {} + public Waypoint(Double anchorPointX, Double anchorPointY, Double prevControlX, Double prevControlY, Double nextControlX, Double nextControlY, Double holonomicAngle, Boolean isReversal, Double velOverride, Boolean isLocked) { + this.anchorPoint = anchorPointX == null && anchorPointY == null ? Optional.empty() : Optional.of(Point.of(anchorPointX, anchorPointY)); + this.prevControl = prevControlX == null && prevControlY == null ? Optional.empty() : Optional.of(Point.of(prevControlX, prevControlY)); + this.nextControl = nextControlX == null && nextControlY == null ? Optional.empty() : Optional.of(Point.of(nextControlX, nextControlY)); + this.holonomicAngle = Optional.ofNullable(holonomicAngle); + this.isReversal = Optional.ofNullable(isReversal); + this.velOverride = Optional.ofNullable(velOverride); + this.isLocked = Optional.ofNullable(isLocked); + } public Optional anchorPoint; public Optional prevControl; public Optional nextControl; public static final class Point { + public Point() {} + public static Point of(Double x, Double y) { + Point point = new Point(); + point.x = Optional.ofNullable(x); + point.y = Optional.ofNullable(y); + return point; + } public Optional x; public Optional y; } public Optional holonomicAngle; public Optional isReversal; - public Optional velOverride; + public Optional velOverride; public Optional isLocked; } diff --git a/src/main/java/frc4388/utility/RobotLogger.java b/src/main/java/frc4388/utility/RobotLogger.java index c352730..16c1a33 100644 --- a/src/main/java/frc4388/utility/RobotLogger.java +++ b/src/main/java/frc4388/utility/RobotLogger.java @@ -1,24 +1,16 @@ package frc4388.utility; -import java.io.IOException; -import java.nio.file.Path; import java.util.ArrayList; import java.util.List; import java.util.Objects; +import java.util.Optional; -import com.pathplanner.lib.PathPlannerTrajectory; - -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.trajectory.Trajectory; import edu.wpi.first.wpilibj.DriverStation; -import edu.wpi.first.wpilibj.Filesystem; +import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import frc4388.utility.PathPlannerUtil.Path.Waypoint; public final class RobotLogger { - private static final int SAMPLE_BASE = 15_000; // ms of sampling - private static final int SAMPLE_RATE = 20; // ms between samples - private static RobotLogger instance = null; public static RobotLogger getInstance() { @@ -30,49 +22,30 @@ public final class RobotLogger { } private RobotLogger() { - data = new ArrayList<>(); + sendableChooser.setDefaultOption("Disable", false); + sendableChooser.addOption("Enable", true); + SmartDashboard.putData("Recording", sendableChooser); } - private final List data; - private boolean enabled = false; - - public void setEnabled(boolean value) { - enabled = value; - } + private final List data = new ArrayList<>(); + private final SendableChooser sendableChooser = new SendableChooser<>(); double lastVelocityMetersPerSecond = 0; - public void put( - double velocityMetersPerSecond, - Pose2d poseMeters, - double curvatureRadPerMeter, - double positionMeters, - Rotation2d angularVelocity, - Rotation2d angularAcceleration, - Rotation2d holonomicRotation) { - if (enabled) { - double accelerationMetersPerSecondSq = lastVelocityMetersPerSecond == 0 ? velocityMetersPerSecond : - (velocityMetersPerSecond - lastVelocityMetersPerSecond) / 2.0; - PathPlannerTrajectory.PathPlannerState pathPlannerState = new PathPlannerTrajectory.PathPlannerState(); - pathPlannerState.timeSeconds = getTime(); - pathPlannerState.velocityMetersPerSecond = velocityMetersPerSecond; - pathPlannerState.accelerationMetersPerSecondSq = accelerationMetersPerSecondSq; - pathPlannerState.poseMeters = poseMeters; - pathPlannerState.curvatureRadPerMeter = curvatureRadPerMeter; - pathPlannerState.positionMeters = positionMeters; - pathPlannerState.angularVelocity = angularVelocity; - pathPlannerState.angularAcceleration = angularAcceleration; - pathPlannerState.holonomicRotation = holonomicRotation; - data.add(pathPlannerState); - lastVelocityMetersPerSecond = velocityMetersPerSecond; + public void put(Double anchorPointX, Double anchorPointY, Double prevControlX, Double prevControlY, Double nextControlX, Double nextControlY, Double holonomicAngle, Boolean isReversal, Double velOverride, Boolean isLocked) { + if (Boolean.TRUE.equals(sendableChooser.getSelected())) { + Waypoint waypoint = new Waypoint(anchorPointX, anchorPointY, prevControlX, prevControlY, nextControlX, nextControlY, holonomicAngle, isReversal, velOverride, isLocked); + data.add(waypoint); } } - public String exportPath() throws IOException { - List states = data; - String pathPath = "recording." + System.currentTimeMillis() + ".json"; - Path outputPath = Filesystem.getDeployDirectory().toPath().resolve(pathPath); - outputPath.toFile().createNewFile(); - PathPlannerTrajectoryUtil.toPathweaverJson(states, outputPath); - return pathPath; + @SuppressWarnings("unchecked") + public PathPlannerUtil.Path createPath(Double maxVelocity, Double maxAcceleration, Boolean isReversed) { + PathPlannerUtil.Path path = new PathPlannerUtil.Path(); + path.waypoints = data.stream().map(Optional::ofNullable).toArray(Optional[]::new); + path.maxVelocity = Optional.ofNullable(maxVelocity); + path.maxAcceleration = Optional.ofNullable(maxAcceleration); + path.isReversed = Optional.ofNullable(isReversed); + data.clear(); + return path; } } From 9ccf4bcea24ae684b0bc1cb627e787064503b196 Mon Sep 17 00:00:00 2001 From: nathanrsxtn Date: Wed, 16 Feb 2022 22:31:00 -0700 Subject: [PATCH 091/151] Add auto path preloading - Refactor recording to use commands --- .vscode/launch.json | 11 +- .vscode/tasks.json | 10 + PathWeaver/Paths/Unnamed.path | 3 - PathWeaver/output/Unnamed.wpilib.json | 932 ----------- PathWeaver/pathweaver.json | 9 - simgui-ds.json | 5 - simgui.json | 37 +- .../edu/wpi/first/wpilibj/DriverStation.java | 1389 +++++++++++++++++ src/main/java/frc4388/robot/Robot.java | 75 +- .../java/frc4388/robot/RobotContainer.java | 241 ++- .../frc4388/robot/subsystems/SwerveDrive.java | 25 +- .../java/frc4388/utility/AnsiLogging.java | 10 +- .../java/frc4388/utility/PathPlannerUtil.java | 71 +- .../java/frc4388/utility/RobotGyro.java.old | 245 --- .../java/frc4388/utility/RobotLogger.java | 51 - .../frc4388/utility/SendableRunChooser.java | 182 +++ vendordeps/WPILibOldCommands.json | 37 - 17 files changed, 1870 insertions(+), 1463 deletions(-) create mode 100644 .vscode/tasks.json delete mode 100644 PathWeaver/Paths/Unnamed.path delete mode 100644 PathWeaver/output/Unnamed.wpilib.json delete mode 100644 PathWeaver/pathweaver.json create mode 100644 src/main/java/edu/wpi/first/wpilibj/DriverStation.java delete mode 100644 src/main/java/frc4388/utility/RobotGyro.java.old delete mode 100644 src/main/java/frc4388/utility/RobotLogger.java create mode 100644 src/main/java/frc4388/utility/SendableRunChooser.java delete mode 100644 vendordeps/WPILibOldCommands.json diff --git a/.vscode/launch.json b/.vscode/launch.json index 4dbe5d3..4bca61f 100644 --- a/.vscode/launch.json +++ b/.vscode/launch.json @@ -4,17 +4,24 @@ // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387 "version": "0.2.0", "configurations": [ + { + "type": "java", + "name": "Launch Main", + "request": "launch", + "mainClass": "frc4388.robot.Main", + "projectName": "2022NoWayHome" + }, { "type": "wpilib", "name": "WPILib Desktop Debug", "request": "launch", - "desktop": true, + "desktop": true }, { "type": "wpilib", "name": "WPILib roboRIO Debug", "request": "launch", - "desktop": false, + "desktop": false } ] } diff --git a/.vscode/tasks.json b/.vscode/tasks.json new file mode 100644 index 0000000..6ef8685 --- /dev/null +++ b/.vscode/tasks.json @@ -0,0 +1,10 @@ +{ + "version": "2.0.0", + "tasks": [ + { + "label": "downloadDeployDirectory", + "type": "shell", + "command": "scp -pr lvuser@roboRIO-4388-FRC.local:/home/lvuser/deploy ./deploy" + } + ] +} \ No newline at end of file diff --git a/PathWeaver/Paths/Unnamed.path b/PathWeaver/Paths/Unnamed.path deleted file mode 100644 index 1d2458c..0000000 --- a/PathWeaver/Paths/Unnamed.path +++ /dev/null @@ -1,3 +0,0 @@ -X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name -0.0,0.0,2.0574,0.0,true,false, -2.0574,-4.1148,0.0,-4.1148,true,false, diff --git a/PathWeaver/output/Unnamed.wpilib.json b/PathWeaver/output/Unnamed.wpilib.json deleted file mode 100644 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"radians": -1.5707963267948961 - }, - "translation": { - "x": 2.0574, - "y": 4.114799999999994 - } - }, - "time": 6.4423627269111305, - "velocity": 0.0 - } -] \ No newline at end of file diff --git a/PathWeaver/pathweaver.json b/PathWeaver/pathweaver.json deleted file mode 100644 index c5b70d2..0000000 --- a/PathWeaver/pathweaver.json +++ /dev/null @@ -1,9 +0,0 @@ -{ - "lengthUnit": "Meter", - "exportUnit": "Same as Project", - "maxVelocity": 1.0, - "maxAcceleration": 1.0, - "trackWidth": 1.0, - "gameName": "Rapid React", - "outputDir": "" -} \ No newline at end of file diff --git a/simgui-ds.json b/simgui-ds.json index 69b1a3c..73cc713 100644 --- a/simgui-ds.json +++ b/simgui-ds.json @@ -88,10 +88,5 @@ "buttonCount": 0, "povCount": 0 } - ], - "robotJoysticks": [ - { - "guid": "Keyboard0" - } ] } diff --git a/simgui.json b/simgui.json index 662c52f..c7dcff2 100644 --- a/simgui.json +++ b/simgui.json @@ -1,44 +1,27 @@ { - "HALProvider": { - "Other Devices": { - "Talon FX[2]": { - "header": { - "open": true - } - }, - "Talon FX[3]": { - "header": { - "open": true - } - }, - "Talon FX[4]": { - "header": { - "open": true - } - } - } - }, "NTProvider": { "types": { "/FMSInfo": "FMSInfo", "/LiveWindow/LED": "Subsystem", "/LiveWindow/SwerveDrive": "Subsystem", "/LiveWindow/SwerveModule": "Subsystem", + "/LiveWindow/Ungrouped/PIDController[1]": "PIDController", + "/LiveWindow/Ungrouped/PIDController[2]": "PIDController", + "/LiveWindow/Ungrouped/PIDController[3]": "PIDController", "/LiveWindow/Ungrouped/Scheduler": "Scheduler", - "/SmartDashboard/Driver Controller": "Mechanism2d", - "/SmartDashboard/Field": "Field2d" + "/SmartDashboard/Auto Chooser": "String Chooser", + "/SmartDashboard/Field": "Field2d", + "/SmartDashboard/JVM Memory": "Command", + "/SmartDashboard/Recording": "Command", + "/SmartDashboard/Scheduler": "Scheduler", + "/SmartDashboard/Usable Deploy Space": "Command" }, "windows": { - "/SmartDashboard/Field": { + "/SmartDashboard/Scheduler": { "window": { "visible": true } } } - }, - "NetworkTables": { - "SmartDashboard": { - "open": true - } } } diff --git a/src/main/java/edu/wpi/first/wpilibj/DriverStation.java b/src/main/java/edu/wpi/first/wpilibj/DriverStation.java new file mode 100644 index 0000000..d58a61b --- /dev/null +++ b/src/main/java/edu/wpi/first/wpilibj/DriverStation.java @@ -0,0 +1,1389 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package edu.wpi.first.wpilibj; + +import edu.wpi.first.hal.AllianceStationID; +import edu.wpi.first.hal.ControlWord; +import edu.wpi.first.hal.HAL; +import edu.wpi.first.hal.MatchInfoData; +import edu.wpi.first.networktables.NetworkTable; +import edu.wpi.first.networktables.NetworkTableEntry; +import edu.wpi.first.networktables.NetworkTableInstance; +import java.nio.ByteBuffer; +import java.util.concurrent.TimeUnit; +import java.util.concurrent.locks.Condition; +import java.util.concurrent.locks.Lock; +import java.util.concurrent.locks.ReentrantLock; + +/** Provide access to the network communication data to / from the Driver Station. */ +public class DriverStation { + /** Number of Joystick Ports. */ + public static final int kJoystickPorts = 6; + + private static class HALJoystickButtons { + public int m_buttons; + public byte m_count; + } + + private static class HALJoystickAxes { + public float[] m_axes; + public short m_count; + + HALJoystickAxes(int count) { + m_axes = new float[count]; + } + } + + private static class HALJoystickPOVs { + public short[] m_povs; + public short m_count; + + HALJoystickPOVs(int count) { + m_povs = new short[count]; + for (int i = 0; i < count; i++) { + m_povs[i] = -1; + } + } + } + + /** The robot alliance that the robot is a part of. */ + public enum Alliance { + Red, + Blue, + Invalid + } + + public enum MatchType { + None, + Practice, + Qualification, + Elimination + } + + private static final double JOYSTICK_UNPLUGGED_MESSAGE_INTERVAL = 1.0; + private static double m_nextMessageTime; + + private static class DriverStationTask implements Runnable { + DriverStationTask() {} + + @Override + public void run() { + DriverStation.run(); + } + } /* DriverStationTask */ + + private static class MatchDataSender { + @SuppressWarnings("MemberName") + NetworkTable table; + + @SuppressWarnings("MemberName") + NetworkTableEntry typeMetadata; + + @SuppressWarnings("MemberName") + NetworkTableEntry gameSpecificMessage; + + @SuppressWarnings("MemberName") + NetworkTableEntry eventName; + + @SuppressWarnings("MemberName") + NetworkTableEntry matchNumber; + + @SuppressWarnings("MemberName") + NetworkTableEntry replayNumber; + + @SuppressWarnings("MemberName") + NetworkTableEntry matchType; + + @SuppressWarnings("MemberName") + NetworkTableEntry alliance; + + @SuppressWarnings("MemberName") + NetworkTableEntry station; + + @SuppressWarnings("MemberName") + NetworkTableEntry controlWord; + + @SuppressWarnings("MemberName") + boolean oldIsRedAlliance = true; + + @SuppressWarnings("MemberName") + int oldStationNumber = 1; + + @SuppressWarnings("MemberName") + String oldEventName = ""; + + @SuppressWarnings("MemberName") + String oldGameSpecificMessage = ""; + + @SuppressWarnings("MemberName") + int oldMatchNumber; + + @SuppressWarnings("MemberName") + int oldReplayNumber; + + @SuppressWarnings("MemberName") + int oldMatchType; + + @SuppressWarnings("MemberName") + int oldControlWord; + + MatchDataSender() { + table = NetworkTableInstance.getDefault().getTable("FMSInfo"); + typeMetadata = table.getEntry(".type"); + typeMetadata.forceSetString("FMSInfo"); + gameSpecificMessage = table.getEntry("GameSpecificMessage"); + gameSpecificMessage.forceSetString(""); + eventName = table.getEntry("EventName"); + eventName.forceSetString(""); + matchNumber = table.getEntry("MatchNumber"); + matchNumber.forceSetDouble(0); + replayNumber = table.getEntry("ReplayNumber"); + replayNumber.forceSetDouble(0); + matchType = table.getEntry("MatchType"); + matchType.forceSetDouble(0); + alliance = table.getEntry("IsRedAlliance"); + alliance.forceSetBoolean(true); + station = table.getEntry("StationNumber"); + station.forceSetDouble(1); + controlWord = table.getEntry("FMSControlData"); + controlWord.forceSetDouble(0); + } + + private void sendMatchData() { + AllianceStationID allianceID = HAL.getAllianceStation(); + boolean isRedAlliance = false; + int stationNumber = 1; + switch (allianceID) { + case Blue1: + isRedAlliance = false; + stationNumber = 1; + break; + case Blue2: + isRedAlliance = false; + stationNumber = 2; + break; + case Blue3: + isRedAlliance = false; + stationNumber = 3; + break; + case Red1: + isRedAlliance = true; + stationNumber = 1; + break; + case Red2: + isRedAlliance = true; + stationNumber = 2; + break; + default: + isRedAlliance = true; + stationNumber = 3; + break; + } + + String currentEventName; + String currentGameSpecificMessage; + int currentMatchNumber; + int currentReplayNumber; + int currentMatchType; + int currentControlWord; + m_cacheDataMutex.lock(); + try { + currentEventName = DriverStation.m_matchInfo.eventName; + currentGameSpecificMessage = DriverStation.m_matchInfo.gameSpecificMessage; + currentMatchNumber = DriverStation.m_matchInfo.matchNumber; + currentReplayNumber = DriverStation.m_matchInfo.replayNumber; + currentMatchType = DriverStation.m_matchInfo.matchType; + } finally { + m_cacheDataMutex.unlock(); + } + currentControlWord = HAL.nativeGetControlWord(); + + if (oldIsRedAlliance != isRedAlliance) { + alliance.setBoolean(isRedAlliance); + oldIsRedAlliance = isRedAlliance; + } + if (oldStationNumber != stationNumber) { + station.setDouble(stationNumber); + oldStationNumber = stationNumber; + } + if (!oldEventName.equals(currentEventName)) { + eventName.setString(currentEventName); + oldEventName = currentEventName; + } + if (!oldGameSpecificMessage.equals(currentGameSpecificMessage)) { + gameSpecificMessage.setString(currentGameSpecificMessage); + oldGameSpecificMessage = currentGameSpecificMessage; + } + if (currentMatchNumber != oldMatchNumber) { + matchNumber.setDouble(currentMatchNumber); + oldMatchNumber = currentMatchNumber; + } + if (currentReplayNumber != oldReplayNumber) { + replayNumber.setDouble(currentReplayNumber); + oldReplayNumber = currentReplayNumber; + } + if (currentMatchType != oldMatchType) { + matchType.setDouble(currentMatchType); + oldMatchType = currentMatchType; + } + if (currentControlWord != oldControlWord) { + controlWord.setDouble(currentControlWord); + oldControlWord = currentControlWord; + } + } + } + + private static DriverStation instance = new DriverStation(); + + // Joystick User Data + private static HALJoystickAxes[] m_joystickAxes = new HALJoystickAxes[kJoystickPorts]; + private static HALJoystickPOVs[] m_joystickPOVs = new HALJoystickPOVs[kJoystickPorts]; + private static HALJoystickButtons[] m_joystickButtons = new HALJoystickButtons[kJoystickPorts]; + private static MatchInfoData m_matchInfo = new MatchInfoData(); + + // Joystick Cached Data + private static HALJoystickAxes[] m_joystickAxesCache = new HALJoystickAxes[kJoystickPorts]; + private static HALJoystickPOVs[] m_joystickPOVsCache = new HALJoystickPOVs[kJoystickPorts]; + private static HALJoystickButtons[] m_joystickButtonsCache = + new HALJoystickButtons[kJoystickPorts]; + private static MatchInfoData m_matchInfoCache = new MatchInfoData(); + + // Joystick button rising/falling edge flags + private static int[] m_joystickButtonsPressed = new int[kJoystickPorts]; + private static int[] m_joystickButtonsReleased = new int[kJoystickPorts]; + + // preallocated byte buffer for button count + private static final ByteBuffer m_buttonCountBuffer = ByteBuffer.allocateDirect(1); + + private static final MatchDataSender m_matchDataSender; + + // Internal Driver Station thread + private static Thread m_thread; + + private static volatile boolean m_threadKeepAlive = true; + + private static final ReentrantLock m_cacheDataMutex = new ReentrantLock(); + + private static final Lock m_waitForDataMutex; + private static final Condition m_waitForDataCond; + private static int m_waitForDataCount; + private static final ThreadLocal m_lastCount = ThreadLocal.withInitial(() -> 0); + + private static boolean m_silenceJoystickWarning; + + // Robot state status variables + private static boolean m_userInDisabled; + private static boolean m_userInAutonomous; + private static boolean m_userInTeleop; + private static boolean m_userInTest; + + // Control word variables + private static final ReentrantLock m_controlWordMutex = new ReentrantLock(); + private static final ControlWord m_controlWordCache; + private static long m_lastControlWordUpdate; + + /** + * Gets an instance of the DriverStation. + * + * @return The DriverStation. + * @deprecated Use the static methods + */ + @Deprecated + public static DriverStation getInstance() { + return DriverStation.instance; + } + + /** + * DriverStation constructor. + * + *

The single DriverStation instance is created statically with the instance static member + * variable. + */ + private DriverStation() {} + + static { + HAL.initialize(500, 0); + m_waitForDataCount = 0; + m_waitForDataMutex = new ReentrantLock(); + m_waitForDataCond = m_waitForDataMutex.newCondition(); + + for (int i = 0; i < kJoystickPorts; i++) { + m_joystickButtons[i] = new HALJoystickButtons(); + m_joystickAxes[i] = new HALJoystickAxes(HAL.kMaxJoystickAxes); + m_joystickPOVs[i] = new HALJoystickPOVs(HAL.kMaxJoystickPOVs); + + m_joystickButtonsCache[i] = new HALJoystickButtons(); + m_joystickAxesCache[i] = new HALJoystickAxes(HAL.kMaxJoystickAxes); + m_joystickPOVsCache[i] = new HALJoystickPOVs(HAL.kMaxJoystickPOVs); + } + + m_controlWordCache = new ControlWord(); + m_lastControlWordUpdate = 0; + + m_matchDataSender = new MatchDataSender(); + + m_thread = new Thread(new DriverStationTask(), "FRCDriverStation"); + m_thread.setPriority((Thread.NORM_PRIORITY + Thread.MAX_PRIORITY) / 2); + + m_thread.start(); + } + + /** Kill the thread. */ + public static synchronized void release() { + m_threadKeepAlive = false; + if (m_thread != null) { + try { + m_thread.join(); + } catch (InterruptedException ex) { + Thread.currentThread().interrupt(); + } + m_thread = null; + } + } + + /** + * Report error to Driver Station. Optionally appends Stack trace to error message. + * + * @param error The error to report. + * @param printTrace If true, append stack trace to error string + */ + public static void reportError(String error, boolean printTrace) { + reportErrorImpl(true, 1, error, printTrace); + } + + /** + * Report error to Driver Station. Appends provided stack trace to error message. + * + * @param error The error to report. + * @param stackTrace The stack trace to append + */ + public static void reportError(String error, StackTraceElement[] stackTrace) { + reportErrorImpl(true, 1, error, stackTrace); + } + + /** + * Report warning to Driver Station. Optionally appends Stack trace to warning message. + * + * @param warning The warning to report. + * @param printTrace If true, append stack trace to warning string + */ + public static void reportWarning(String warning, boolean printTrace) { + reportErrorImpl(false, 1, warning, printTrace); + } + + /** + * Report warning to Driver Station. Appends provided stack trace to warning message. + * + * @param warning The warning to report. + * @param stackTrace The stack trace to append + */ + public static void reportWarning(String warning, StackTraceElement[] stackTrace) { + reportErrorImpl(false, 1, warning, stackTrace); + } + + private static void reportErrorImpl(boolean isError, int code, String error, boolean printTrace) { + reportErrorImpl(isError, code, error, printTrace, Thread.currentThread().getStackTrace(), 3); + } + + private static void reportErrorImpl( + boolean isError, int code, String error, StackTraceElement[] stackTrace) { + reportErrorImpl(isError, code, error, true, stackTrace, 0); + } + + private static void reportErrorImpl( + boolean isError, + int code, + String error, + boolean printTrace, + StackTraceElement[] stackTrace, + int stackTraceFirst) { + String locString; + if (stackTrace.length >= stackTraceFirst + 1) { + locString = stackTrace[stackTraceFirst].toString(); + } else { + locString = ""; + } + StringBuilder traceString = new StringBuilder(); + if (printTrace) { + boolean haveLoc = false; + for (int i = stackTraceFirst; i < stackTrace.length; i++) { + String loc = stackTrace[i].toString(); + traceString.append("\tat ").append(loc).append('\n'); + // get first user function + if (!haveLoc && !loc.startsWith("edu.wpi.first")) { + locString = loc; + haveLoc = true; + } + } + } + // HAL.sendError(isError, code, false, error, locString, traceString.toString(), true); + // for (StackTraceElement traceElement : stackTrace) + // System.err.println("\tat " + traceElement); + java.util.logging.Logger.getLogger(HAL.class.getName()).log(isError ? java.util.logging.Level.SEVERE : java.util.logging.Level.FINEST, "Warning at {0}: {1}", new Object[] {locString, error.split("\n")[0]}); + } + + /** + * The state of one joystick button. Button indexes begin at 1. + * + * @param stick The joystick to read. + * @param button The button index, beginning at 1. + * @return The state of the joystick button. + */ + public static boolean getStickButton(final int stick, final int button) { + if (stick < 0 || stick >= kJoystickPorts) { + throw new IllegalArgumentException("Joystick index is out of range, should be 0-5"); + } + if (button <= 0) { + reportJoystickUnpluggedError("Button indexes begin at 1 in WPILib for C++ and Java\n"); + return false; + } + + m_cacheDataMutex.lock(); + try { + if (button <= m_joystickButtons[stick].m_count) { + return (m_joystickButtons[stick].m_buttons & 1 << (button - 1)) != 0; + } + } finally { + m_cacheDataMutex.unlock(); + } + + reportJoystickUnpluggedWarning( + "Joystick Button " + + button + + " on port " + + stick + + " not available, check if controller is plugged in"); + return false; + } + + /** + * Whether one joystick button was pressed since the last check. Button indexes begin at 1. + * + * @param stick The joystick to read. + * @param button The button index, beginning at 1. + * @return Whether the joystick button was pressed since the last check. + */ + public static boolean getStickButtonPressed(final int stick, final int button) { + if (button <= 0) { + reportJoystickUnpluggedError("Button indexes begin at 1 in WPILib for C++ and Java\n"); + return false; + } + if (stick < 0 || stick >= kJoystickPorts) { + throw new IllegalArgumentException("Joystick index is out of range, should be 0-5"); + } + + m_cacheDataMutex.lock(); + try { + if (button <= m_joystickButtons[stick].m_count) { + // If button was pressed, clear flag and return true + if ((m_joystickButtonsPressed[stick] & 1 << (button - 1)) != 0) { + m_joystickButtonsPressed[stick] &= ~(1 << (button - 1)); + return true; + } else { + return false; + } + } + } finally { + m_cacheDataMutex.unlock(); + } + + reportJoystickUnpluggedWarning( + "Joystick Button " + + button + + " on port " + + stick + + " not available, check if controller is plugged in"); + return false; + } + + /** + * Whether one joystick button was released since the last check. Button indexes begin at 1. + * + * @param stick The joystick to read. + * @param button The button index, beginning at 1. + * @return Whether the joystick button was released since the last check. + */ + public static boolean getStickButtonReleased(final int stick, final int button) { + if (button <= 0) { + reportJoystickUnpluggedError("Button indexes begin at 1 in WPILib for C++ and Java\n"); + return false; + } + if (stick < 0 || stick >= kJoystickPorts) { + throw new IllegalArgumentException("Joystick index is out of range, should be 0-5"); + } + + m_cacheDataMutex.lock(); + try { + if (button <= m_joystickButtons[stick].m_count) { + // If button was released, clear flag and return true + if ((m_joystickButtonsReleased[stick] & 1 << (button - 1)) != 0) { + m_joystickButtonsReleased[stick] &= ~(1 << (button - 1)); + return true; + } else { + return false; + } + } + } finally { + m_cacheDataMutex.unlock(); + } + + reportJoystickUnpluggedWarning( + "Joystick Button " + + button + + " on port " + + stick + + " not available, check if controller is plugged in"); + return false; + } + + /** + * Get the value of the axis on a joystick. This depends on the mapping of the joystick connected + * to the specified port. + * + * @param stick The joystick to read. + * @param axis The analog axis value to read from the joystick. + * @return The value of the axis on the joystick. + */ + public static double getStickAxis(int stick, int axis) { + if (stick < 0 || stick >= kJoystickPorts) { + throw new IllegalArgumentException("Joystick index is out of range, should be 0-5"); + } + if (axis < 0 || axis >= HAL.kMaxJoystickAxes) { + throw new IllegalArgumentException("Joystick axis is out of range"); + } + + m_cacheDataMutex.lock(); + try { + if (axis < m_joystickAxes[stick].m_count) { + return m_joystickAxes[stick].m_axes[axis]; + } + } finally { + m_cacheDataMutex.unlock(); + } + + reportJoystickUnpluggedWarning( + "Joystick axis " + + axis + + " on port " + + stick + + " not available, check if controller is plugged in"); + return 0.0; + } + + /** + * Get the state of a POV on the joystick. + * + * @param stick The joystick to read. + * @param pov The POV to read. + * @return the angle of the POV in degrees, or -1 if the POV is not pressed. + */ + public static int getStickPOV(int stick, int pov) { + if (stick < 0 || stick >= kJoystickPorts) { + throw new IllegalArgumentException("Joystick index is out of range, should be 0-5"); + } + if (pov < 0 || pov >= HAL.kMaxJoystickPOVs) { + throw new IllegalArgumentException("Joystick POV is out of range"); + } + + m_cacheDataMutex.lock(); + try { + if (pov < m_joystickPOVs[stick].m_count) { + return m_joystickPOVs[stick].m_povs[pov]; + } + } finally { + m_cacheDataMutex.unlock(); + } + + reportJoystickUnpluggedWarning( + "Joystick POV " + + pov + + " on port " + + stick + + " not available, check if controller is plugged in"); + return -1; + } + + /** + * The state of the buttons on the joystick. + * + * @param stick The joystick to read. + * @return The state of the buttons on the joystick. + */ + public static int getStickButtons(final int stick) { + if (stick < 0 || stick >= kJoystickPorts) { + throw new IllegalArgumentException("Joystick index is out of range, should be 0-5"); + } + + m_cacheDataMutex.lock(); + try { + return m_joystickButtons[stick].m_buttons; + } finally { + m_cacheDataMutex.unlock(); + } + } + + /** + * Returns the number of axes on a given joystick port. + * + * @param stick The joystick port number + * @return The number of axes on the indicated joystick + */ + public static int getStickAxisCount(int stick) { + if (stick < 0 || stick >= kJoystickPorts) { + throw new IllegalArgumentException("Joystick index is out of range, should be 0-5"); + } + + m_cacheDataMutex.lock(); + try { + return m_joystickAxes[stick].m_count; + } finally { + m_cacheDataMutex.unlock(); + } + } + + /** + * Returns the number of POVs on a given joystick port. + * + * @param stick The joystick port number + * @return The number of POVs on the indicated joystick + */ + public static int getStickPOVCount(int stick) { + if (stick < 0 || stick >= kJoystickPorts) { + throw new IllegalArgumentException("Joystick index is out of range, should be 0-5"); + } + + m_cacheDataMutex.lock(); + try { + return m_joystickPOVs[stick].m_count; + } finally { + m_cacheDataMutex.unlock(); + } + } + + /** + * Gets the number of buttons on a joystick. + * + * @param stick The joystick port number + * @return The number of buttons on the indicated joystick + */ + public static int getStickButtonCount(int stick) { + if (stick < 0 || stick >= kJoystickPorts) { + throw new IllegalArgumentException("Joystick index is out of range, should be 0-5"); + } + + m_cacheDataMutex.lock(); + try { + return m_joystickButtons[stick].m_count; + } finally { + m_cacheDataMutex.unlock(); + } + } + + /** + * Gets the value of isXbox on a joystick. + * + * @param stick The joystick port number + * @return A boolean that returns the value of isXbox + */ + public static boolean getJoystickIsXbox(int stick) { + if (stick < 0 || stick >= kJoystickPorts) { + throw new IllegalArgumentException("Joystick index is out of range, should be 0-5"); + } + + return HAL.getJoystickIsXbox((byte) stick) == 1; + } + + /** + * Gets the value of type on a joystick. + * + * @param stick The joystick port number + * @return The value of type + */ + public static int getJoystickType(int stick) { + if (stick < 0 || stick >= kJoystickPorts) { + throw new IllegalArgumentException("Joystick index is out of range, should be 0-5"); + } + + return HAL.getJoystickType((byte) stick); + } + + /** + * Gets the name of the joystick at a port. + * + * @param stick The joystick port number + * @return The value of name + */ + public static String getJoystickName(int stick) { + if (stick < 0 || stick >= kJoystickPorts) { + throw new IllegalArgumentException("Joystick index is out of range, should be 0-5"); + } + + return HAL.getJoystickName((byte) stick); + } + + /** + * Returns the types of Axes on a given joystick port. + * + * @param stick The joystick port number + * @param axis The target axis + * @return What type of axis the axis is reporting to be + */ + public static int getJoystickAxisType(int stick, int axis) { + if (stick < 0 || stick >= kJoystickPorts) { + throw new IllegalArgumentException("Joystick index is out of range, should be 0-5"); + } + + return HAL.getJoystickAxisType((byte) stick, (byte) axis); + } + + /** + * Returns if a joystick is connected to the Driver Station. + * + *

This makes a best effort guess by looking at the reported number of axis, buttons, and POVs + * attached. + * + * @param stick The joystick port number + * @return true if a joystick is connected + */ + public static boolean isJoystickConnected(int stick) { + return getStickAxisCount(stick) > 0 + || getStickButtonCount(stick) > 0 + || getStickPOVCount(stick) > 0; + } + + /** + * Gets a value indicating whether the Driver Station requires the robot to be enabled. + * + * @return True if the robot is enabled, false otherwise. + */ + public static boolean isEnabled() { + m_controlWordMutex.lock(); + try { + updateControlWord(false); + return m_controlWordCache.getEnabled() && m_controlWordCache.getDSAttached(); + } finally { + m_controlWordMutex.unlock(); + } + } + + /** + * Gets a value indicating whether the Driver Station requires the robot to be disabled. + * + * @return True if the robot should be disabled, false otherwise. + */ + public static boolean isDisabled() { + return !isEnabled(); + } + + /** + * Gets a value indicating whether the Robot is e-stopped. + * + * @return True if the robot is e-stopped, false otherwise. + */ + public static boolean isEStopped() { + m_controlWordMutex.lock(); + try { + updateControlWord(false); + return m_controlWordCache.getEStop(); + } finally { + m_controlWordMutex.unlock(); + } + } + + /** + * Gets a value indicating whether the Driver Station requires the robot to be running in + * autonomous mode. + * + * @return True if autonomous mode should be enabled, false otherwise. + */ + public static boolean isAutonomous() { + m_controlWordMutex.lock(); + try { + updateControlWord(false); + return m_controlWordCache.getAutonomous(); + } finally { + m_controlWordMutex.unlock(); + } + } + + /** + * Gets a value indicating whether the Driver Station requires the robot to be running in + * autonomous mode and enabled. + * + * @return True if autonomous should be set and the robot should be enabled. + */ + public static boolean isAutonomousEnabled() { + m_controlWordMutex.lock(); + try { + updateControlWord(false); + return m_controlWordCache.getAutonomous() && m_controlWordCache.getEnabled(); + } finally { + m_controlWordMutex.unlock(); + } + } + + /** + * Gets a value indicating whether the Driver Station requires the robot to be running in + * operator-controlled mode. + * + * @return True if operator-controlled mode should be enabled, false otherwise. + * @deprecated Use isTeleop() instead. + */ + @Deprecated(since = "2022", forRemoval = true) + public static boolean isOperatorControl() { + return isTeleop(); + } + + /** + * Gets a value indicating whether the Driver Station requires the robot to be running in + * operator-controlled mode. + * + * @return True if operator-controlled mode should be enabled, false otherwise. + */ + public static boolean isTeleop() { + return !(isAutonomous() || isTest()); + } + + /** + * Gets a value indicating whether the Driver Station requires the robot to be running in + * operator-controller mode and enabled. + * + * @return True if operator-controlled mode should be set and the robot should be enabled. + * @deprecated Use isTeleopEnabled() instead. + */ + @Deprecated(since = "2022", forRemoval = true) + public static boolean isOperatorControlEnabled() { + return isTeleopEnabled(); + } + + /** + * Gets a value indicating whether the Driver Station requires the robot to be running in + * operator-controller mode and enabled. + * + * @return True if operator-controlled mode should be set and the robot should be enabled. + */ + public static boolean isTeleopEnabled() { + m_controlWordMutex.lock(); + try { + updateControlWord(false); + return !m_controlWordCache.getAutonomous() + && !m_controlWordCache.getTest() + && m_controlWordCache.getEnabled(); + } finally { + m_controlWordMutex.unlock(); + } + } + + /** + * Gets a value indicating whether the Driver Station requires the robot to be running in test + * mode. + * + * @return True if test mode should be enabled, false otherwise. + */ + public static boolean isTest() { + m_controlWordMutex.lock(); + try { + updateControlWord(false); + return m_controlWordCache.getTest(); + } finally { + m_controlWordMutex.unlock(); + } + } + + /** + * Gets a value indicating whether the Driver Station is attached. + * + * @return True if Driver Station is attached, false otherwise. + */ + public static boolean isDSAttached() { + m_controlWordMutex.lock(); + try { + updateControlWord(false); + return m_controlWordCache.getDSAttached(); + } finally { + m_controlWordMutex.unlock(); + } + } + + /** + * Gets if a new control packet from the driver station arrived since the last time this function + * was called. + * + * @return True if the control data has been updated since the last call. + */ + public static boolean isNewControlData() { + m_waitForDataMutex.lock(); + try { + int currentCount = m_waitForDataCount; + if (m_lastCount.get() != currentCount) { + m_lastCount.set(currentCount); + return true; + } + } finally { + m_waitForDataMutex.unlock(); + } + return false; + } + + /** + * Gets if the driver station attached to a Field Management System. + * + * @return true if the robot is competing on a field being controlled by a Field Management System + */ + public static boolean isFMSAttached() { + m_controlWordMutex.lock(); + try { + updateControlWord(false); + return m_controlWordCache.getFMSAttached(); + } finally { + m_controlWordMutex.unlock(); + } + } + + /** + * Get the game specific message. + * + * @return the game specific message + */ + public static String getGameSpecificMessage() { + m_cacheDataMutex.lock(); + try { + return m_matchInfo.gameSpecificMessage; + } finally { + m_cacheDataMutex.unlock(); + } + } + + /** + * Get the event name. + * + * @return the event name + */ + public static String getEventName() { + m_cacheDataMutex.lock(); + try { + return m_matchInfo.eventName; + } finally { + m_cacheDataMutex.unlock(); + } + } + + /** + * Get the match type. + * + * @return the match type + */ + public static MatchType getMatchType() { + int matchType; + m_cacheDataMutex.lock(); + try { + matchType = m_matchInfo.matchType; + } finally { + m_cacheDataMutex.unlock(); + } + switch (matchType) { + case 1: + return MatchType.Practice; + case 2: + return MatchType.Qualification; + case 3: + return MatchType.Elimination; + default: + return MatchType.None; + } + } + + /** + * Get the match number. + * + * @return the match number + */ + public static int getMatchNumber() { + m_cacheDataMutex.lock(); + try { + return m_matchInfo.matchNumber; + } finally { + m_cacheDataMutex.unlock(); + } + } + + /** + * Get the replay number. + * + * @return the replay number + */ + public static int getReplayNumber() { + m_cacheDataMutex.lock(); + try { + return m_matchInfo.replayNumber; + } finally { + m_cacheDataMutex.unlock(); + } + } + + /** + * Get the current alliance from the FMS. + * + * @return the current alliance + */ + public static Alliance getAlliance() { + AllianceStationID allianceStationID = HAL.getAllianceStation(); + if (allianceStationID == null) { + return Alliance.Invalid; + } + + switch (allianceStationID) { + case Red1: + case Red2: + case Red3: + return Alliance.Red; + + case Blue1: + case Blue2: + case Blue3: + return Alliance.Blue; + + default: + return Alliance.Invalid; + } + } + + /** + * Gets the location of the team's driver station controls. + * + * @return the location of the team's driver station controls: 1, 2, or 3 + */ + public static int getLocation() { + AllianceStationID allianceStationID = HAL.getAllianceStation(); + if (allianceStationID == null) { + return 0; + } + switch (allianceStationID) { + case Red1: + case Blue1: + return 1; + + case Red2: + case Blue2: + return 2; + + case Blue3: + case Red3: + return 3; + + default: + return 0; + } + } + + /** + * Wait for new data from the driver station. + * + *

Checks if new control data has arrived since the last waitForData call on the current + * thread. If new data has not arrived, returns immediately. + */ + public static void waitForData() { + waitForData(0); + } + + /** + * Wait for new data or for timeout, which ever comes first. If timeout is 0, wait for new data + * only. + * + *

Checks if new control data has arrived since the last waitForData call on the current + * thread. If new data has not arrived, returns immediately. + * + * @param timeoutSeconds The maximum time in seconds to wait. + * @return true if there is new data, otherwise false + */ + public static boolean waitForData(double timeoutSeconds) { + long startTimeMicroS = RobotController.getFPGATime(); + long timeoutMicroS = (long) (timeoutSeconds * 1e6); + m_waitForDataMutex.lock(); + try { + int currentCount = m_waitForDataCount; + if (m_lastCount.get() != currentCount) { + m_lastCount.set(currentCount); + return true; + } + while (m_waitForDataCount == currentCount) { + if (timeoutMicroS > 0) { + long nowMicroS = RobotController.getFPGATime(); + if (nowMicroS < startTimeMicroS + timeoutMicroS) { + // We still have time to wait + boolean signaled = + m_waitForDataCond.await( + startTimeMicroS + timeoutMicroS - nowMicroS, TimeUnit.MICROSECONDS); + if (!signaled) { + // Return false if a timeout happened + return false; + } + } else { + // Time has elapsed. + return false; + } + } else { + m_waitForDataCond.await(); + } + } + m_lastCount.set(m_waitForDataCount); + // Return true if we have received a proper signal + return true; + } catch (InterruptedException ex) { + // return false on a thread interrupt + Thread.currentThread().interrupt(); + return false; + } finally { + m_waitForDataMutex.unlock(); + } + } + + /** + * Return the approximate match time. The FMS does not send an official match time to the robots, + * but does send an approximate match time. The value will count down the time remaining in the + * current period (auto or teleop). Warning: This is not an official time (so it cannot be used to + * dispute ref calls or guarantee that a function will trigger before the match ends) The Practice + * Match function of the DS approximates the behavior seen on the field. + * + * @return Time remaining in current match period (auto or teleop) in seconds + */ + public static double getMatchTime() { + return HAL.getMatchTime(); + } + + /** + * Only to be used to tell the Driver Station what code you claim to be executing for diagnostic + * purposes only. + * + * @param entering If true, starting disabled code; if false, leaving disabled code + */ + public static void inDisabled(boolean entering) { + m_userInDisabled = entering; + } + + /** + * Only to be used to tell the Driver Station what code you claim to be executing for diagnostic + * purposes only. + * + * @param entering If true, starting autonomous code; if false, leaving autonomous code + */ + public static void inAutonomous(boolean entering) { + m_userInAutonomous = entering; + } + + /** + * Only to be used to tell the Driver Station what code you claim to be executing for diagnostic + * purposes only. + * + * @param entering If true, starting teleop code; if false, leaving teleop code + * @deprecated Use {@link #inTeleop(boolean)} instead. + */ + @Deprecated(since = "2022", forRemoval = true) + public static void inOperatorControl(boolean entering) { + m_userInTeleop = entering; + } + + /** + * Only to be used to tell the Driver Station what code you claim to be executing for diagnostic + * purposes only. + * + * @param entering If true, starting teleop code; if false, leaving teleop code + */ + public static void inTeleop(boolean entering) { + m_userInTeleop = entering; + } + + /** + * Only to be used to tell the Driver Station what code you claim to be executing for diagnostic + * purposes only. + * + * @param entering If true, starting test code; if false, leaving test code + */ + public static void inTest(boolean entering) { + m_userInTest = entering; + } + + /** Forces waitForData() to return immediately. */ + public static void wakeupWaitForData() { + m_waitForDataMutex.lock(); + try { + m_waitForDataCount++; + m_waitForDataCond.signalAll(); + } finally { + m_waitForDataMutex.unlock(); + } + } + + /** + * Allows the user to specify whether they want joystick connection warnings to be printed to the + * console. This setting is ignored when the FMS is connected -- warnings will always be on in + * that scenario. + * + * @param silence Whether warning messages should be silenced. + */ + public static void silenceJoystickConnectionWarning(boolean silence) { + m_silenceJoystickWarning = silence; + } + + /** + * Returns whether joystick connection warnings are silenced. This will always return false when + * connected to the FMS. + * + * @return Whether joystick connection warnings are silenced. + */ + public static boolean isJoystickConnectionWarningSilenced() { + return !isFMSAttached() && m_silenceJoystickWarning; + } + + /** + * Copy data from the DS task for the user. If no new data exists, it will just be returned, + * otherwise the data will be copied from the DS polling loop. + */ + protected static void getData() { + // Get the status of all of the joysticks + for (byte stick = 0; stick < kJoystickPorts; stick++) { + m_joystickAxesCache[stick].m_count = + HAL.getJoystickAxes(stick, m_joystickAxesCache[stick].m_axes); + m_joystickPOVsCache[stick].m_count = + HAL.getJoystickPOVs(stick, m_joystickPOVsCache[stick].m_povs); + m_joystickButtonsCache[stick].m_buttons = HAL.getJoystickButtons(stick, m_buttonCountBuffer); + m_joystickButtonsCache[stick].m_count = m_buttonCountBuffer.get(0); + } + + HAL.getMatchInfo(m_matchInfoCache); + + m_controlWordMutex.lock(); + try { + // Force a control word update, to make sure the data is the newest. + updateControlWord(true); + } finally { + m_controlWordMutex.unlock(); + } + + // lock joystick mutex to swap cache data + m_cacheDataMutex.lock(); + try { + for (int i = 0; i < kJoystickPorts; i++) { + // If buttons weren't pressed and are now, set flags in m_buttonsPressed + m_joystickButtonsPressed[i] |= + ~m_joystickButtons[i].m_buttons & m_joystickButtonsCache[i].m_buttons; + + // If buttons were pressed and aren't now, set flags in m_buttonsReleased + m_joystickButtonsReleased[i] |= + m_joystickButtons[i].m_buttons & ~m_joystickButtonsCache[i].m_buttons; + } + + // move cache to actual data + HALJoystickAxes[] currentAxes = m_joystickAxes; + m_joystickAxes = m_joystickAxesCache; + m_joystickAxesCache = currentAxes; + + HALJoystickButtons[] currentButtons = m_joystickButtons; + m_joystickButtons = m_joystickButtonsCache; + m_joystickButtonsCache = currentButtons; + + HALJoystickPOVs[] currentPOVs = m_joystickPOVs; + m_joystickPOVs = m_joystickPOVsCache; + m_joystickPOVsCache = currentPOVs; + + MatchInfoData currentInfo = m_matchInfo; + m_matchInfo = m_matchInfoCache; + m_matchInfoCache = currentInfo; + } finally { + m_cacheDataMutex.unlock(); + } + + wakeupWaitForData(); + m_matchDataSender.sendMatchData(); + } + + /** + * Reports errors related to unplugged joysticks Throttles the errors so that they don't overwhelm + * the DS. + */ + private static void reportJoystickUnpluggedError(String message) { + double currentTime = Timer.getFPGATimestamp(); + if (currentTime > m_nextMessageTime) { + reportError(message, false); + m_nextMessageTime = currentTime + JOYSTICK_UNPLUGGED_MESSAGE_INTERVAL; + } + } + + /** + * Reports errors related to unplugged joysticks Throttles the errors so that they don't overwhelm + * the DS. + */ + private static void reportJoystickUnpluggedWarning(String message) { + if (isFMSAttached() || !m_silenceJoystickWarning) { + double currentTime = Timer.getFPGATimestamp(); + if (currentTime > m_nextMessageTime) { + reportWarning(message, false); + m_nextMessageTime = currentTime + JOYSTICK_UNPLUGGED_MESSAGE_INTERVAL; + } + } + } + + /** Provides the service routine for the DS polling m_thread. */ + private static void run() { + int safetyCounter = 0; + while (m_threadKeepAlive) { + HAL.waitForDSData(); + getData(); + + if (isDisabled()) { + safetyCounter = 0; + } + + safetyCounter++; + if (safetyCounter >= 4) { + MotorSafety.checkMotors(); + safetyCounter = 0; + } + if (m_userInDisabled) { + HAL.observeUserProgramDisabled(); + } + if (m_userInAutonomous) { + HAL.observeUserProgramAutonomous(); + } + if (m_userInTeleop) { + HAL.observeUserProgramTeleop(); + } + if (m_userInTest) { + HAL.observeUserProgramTest(); + } + } + } + + /** + * Forces a control word cache update, and update the passed in control word. + * + * @param word Word to update. + */ + public static void updateControlWordFromCache(ControlWord word) { + m_controlWordMutex.lock(); + try { + updateControlWord(true); + word.update(m_controlWordCache); + } finally { + m_controlWordMutex.unlock(); + } + } + + /** + * Updates the data in the control word cache. Updates if the force parameter is set, or if 50ms + * have passed since the last update. + * + *

Must be called with m_controlWordMutex lock held. + * + * @param force True to force an update to the cache, otherwise update if 50ms have passed. + */ + private static void updateControlWord(boolean force) { + long now = System.currentTimeMillis(); + if (now - m_lastControlWordUpdate > 50 || force) { + HAL.getControlWord(m_controlWordCache); + m_lastControlWordUpdate = now; + } + } +} diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java index 3a33a29..28fc2fe 100644 --- a/src/main/java/frc4388/robot/Robot.java +++ b/src/main/java/frc4388/robot/Robot.java @@ -5,22 +5,23 @@ package frc4388.robot; import java.io.File; -import java.io.IOException; - +import java.nio.file.Files; +import java.nio.file.Path; import java.util.logging.Level; import java.util.logging.Logger; +import java.util.stream.StreamSupport; + +import com.diffplug.common.base.Errors; -import edu.wpi.first.networktables.NetworkTableInstance; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.Filesystem; 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.utility.PathPlannerUtil; -import frc4388.utility.RobotLogger; +import edu.wpi.first.wpilibj2.command.InstantCommand; +import edu.wpi.first.wpilibj2.command.RunCommand; import frc4388.utility.RobotTime; -import frc4388.utility.PathPlannerUtil.Path; /** * The VM is configured to automatically run this class, and to call the @@ -61,6 +62,33 @@ public class Robot extends TimedRobot { // Instantiate our RobotContainer. This will perform all our button bindings, and put our // autonomous chooser on the dashboard. m_robotContainer = new RobotContainer(); + // addPeriodic(m_robotContainer::recordPeriodic, kDefaultPeriod); + SmartDashboard.putData(CommandScheduler.getInstance()); + SmartDashboard.putData("JVM Memory", new RunCommand(() -> {}) { + @Override public boolean runsWhenDisabled() { return true; } + @Override public String getName() { + if (isScheduled()) { + Runtime runtime = Runtime.getRuntime(); + long totalMemory = runtime.totalMemory() / 1_000_000; + long freeMemory = runtime.freeMemory() / 1_000_000; + long maxMemory = runtime.maxMemory() / 1_000_000; + return totalMemory - freeMemory + " MB / " + totalMemory + " MB / " + maxMemory + " MB"; + } + return "Not Running"; + } + }); + SmartDashboard.putData("Usable Deploy Space", new RunCommand(() -> {}) { + @Override public boolean runsWhenDisabled() { return true; } + @Override public String getName() { + if (isScheduled()) { + File deploy = Filesystem.getDeployDirectory(); + long usedSpace = Errors.suppress().getWithDefault(() -> Files.walk(deploy.toPath()).map(Path::toFile).filter(File::isFile).mapToLong(File::length).sum(), 0l) / 1_000_000; + long usableSpace = deploy.getUsableSpace() / 1_000_000; + return usedSpace + " MB / " + usableSpace + " MB"; + } + return "Not Running"; + } + }); } /** @@ -94,26 +122,13 @@ public class Robot extends TimedRobot { LOGGER.fine("disabledInit()"); m_robotTime.endMatchTime(); if (isTest()) { - try { - // IMPORTANT: Had to chown the pathplanner folder in order to save autos. - Path path = RobotLogger.getInstance().createPath(0.1, 0.1, false); - String pathPath = "recording." + System.currentTimeMillis() + ".path"; - File outputFile = Filesystem.getDeployDirectory().toPath().resolve("pathplanner").resolve(pathPath).toFile(); - outputFile.createNewFile(); - path.write(outputFile); - LOGGER.log(Level.WARNING, "----------------------------------------------------------------------"); - LOGGER.log(Level.WARNING, "----------------------------------------------------------------------"); - LOGGER.log(Level.WARNING, "----------------------------------------------------------------------"); - LOGGER.log(Level.WARNING, "----------------------------------------------------------------------"); - LOGGER.log(Level.WARNING, "Recorded path to {0} in the deploy directory on the RoboRIO", pathPath); - LOGGER.log(Level.WARNING, "----------------------------------------------------------------------"); - LOGGER.log(Level.WARNING, "----------------------------------------------------------------------"); - LOGGER.log(Level.WARNING, "----------------------------------------------------------------------"); - LOGGER.log(Level.WARNING, "----------------------------------------------------------------------"); - // LOGGER.finest(path::toString); - } catch (IOException e) { - e.printStackTrace(); - } + // IMPORTANT: Had to chown the pathplanner folder in order to save autos. + File outputFile = Filesystem.getDeployDirectory().toPath().resolve("pathplanner").resolve("recording." + System.currentTimeMillis() + ".path").toFile(); + if (Boolean.TRUE.equals(Errors.log().getWithDefault(outputFile::createNewFile, false))) { + m_robotContainer.createPath(null, null, false).write(outputFile); + LOGGER.log(Level.SEVERE, "Recorded path to {0}.", outputFile.getPath()); + } else + LOGGER.log(Level.SEVERE, "Unable to record path to {0}", outputFile.getPath()); } } @@ -130,12 +145,7 @@ public class Robot extends TimedRobot { @Override public void autonomousInit() { LOGGER.fine("autonomousInit()"); - try { - m_autonomousCommand = m_robotContainer.getAutonomousCommand(); - } catch (IOException e) { - // TODO Auto-generated catch block - e.printStackTrace(); - } + m_autonomousCommand = m_robotContainer.getAutonomousCommand(); // schedule the autonomous command (example) if (m_autonomousCommand != null) { @@ -176,6 +186,7 @@ public class Robot extends TimedRobot { @Override public void testInit() { + CommandScheduler.getInstance().cancelAll(); } /** diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index e5cc5a6..2599576 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -6,14 +6,27 @@ package frc4388.robot; import java.io.File; import java.io.IOException; +import java.nio.file.FileSystem; +import java.nio.file.FileSystems; +import java.nio.file.Files; +import java.nio.file.Path; +import java.nio.file.StandardWatchEventKinds; +import java.nio.file.WatchEvent; +import java.nio.file.WatchKey; +import java.nio.file.WatchService; import java.util.ArrayList; import java.util.Arrays; import java.util.Comparator; +import java.util.List; import java.util.Optional; +import java.util.function.Function; +import java.util.logging.Level; import java.util.logging.Logger; +import java.util.regex.Matcher; +import java.util.regex.Pattern; -import com.ctre.phoenix.motorcontrol.TalonFXControlMode; -import com.ctre.phoenix.motorcontrol.can.TalonFX; +import com.diffplug.common.base.Errors; +import com.diffplug.common.base.Errors.Plugins.Log; import com.pathplanner.lib.PathPlanner; import com.pathplanner.lib.PathPlannerTrajectory; import com.pathplanner.lib.PathPlannerTrajectory.PathPlannerState; @@ -23,12 +36,23 @@ import edu.wpi.first.math.controller.PIDController; import edu.wpi.first.math.controller.ProfiledPIDController; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.networktables.NTSendableBuilder; +import edu.wpi.first.networktables.NetworkTableEntry; import edu.wpi.first.wpilibj.Filesystem; import edu.wpi.first.wpilibj.GenericHID; +import edu.wpi.first.wpilibj.TimedRobot; import edu.wpi.first.wpilibj.XboxController; -import edu.wpi.first.wpilibj.command.PrintCommand; +import edu.wpi.first.wpilibj.shuffleboard.EventImportance; +import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; +import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.CommandBase; +import edu.wpi.first.wpilibj2.command.CommandScheduler; import edu.wpi.first.wpilibj2.command.InstantCommand; +import edu.wpi.first.wpilibj2.command.NotifierCommand; +import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import edu.wpi.first.wpilibj2.command.button.JoystickButton; @@ -38,6 +62,9 @@ import frc4388.robot.Constants.SwerveDriveConstants; import frc4388.robot.subsystems.LED; import frc4388.robot.subsystems.SwerveDrive; import frc4388.utility.LEDPatterns; +import frc4388.utility.PathPlannerUtil; +import frc4388.utility.SendableRunChooser; +import frc4388.utility.PathPlannerUtil.Path.Waypoint; import frc4388.utility.controller.DeadbandedXboxController; /** @@ -48,6 +75,7 @@ import frc4388.utility.controller.DeadbandedXboxController; * commands, and button mappings) should be declared here. */ public class RobotContainer { + private static final Logger LOGGER = Logger.getLogger(RobotContainer.class.getName()); /* RobotMap */ private final RobotMap m_robotMap = new RobotMap(); @@ -55,17 +83,28 @@ public class RobotContainer { private final SwerveDrive m_robotSwerveDrive = new SwerveDrive( m_robotMap.leftFront, m_robotMap.leftBack, m_robotMap.rightFront, m_robotMap.rightBack, m_robotMap.gyro); - private final TalonFX m_testMotor = new TalonFX(23); - private final LED m_robotLED = new LED(m_robotMap.LEDController); /* Controllers */ private final XboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID); private final XboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID); + private String loadedPathName = ""; + private PathPlannerTrajectory loadedPathTrajectory = null; + private static final Function pathExtensionRemover = ((Function) Pattern + .compile(".path")::matcher).andThen(m -> m.replaceFirst("")); + + private final SendableRunChooser autoChooser = new SendableRunChooser<>(selectedAuto -> { + if (selectedAuto != null && !selectedAuto.equals(loadedPathName)) { + loadedPathTrajectory = PathPlanner.loadPath(pathExtensionRemover.apply(selectedAuto), 5.5, 50); + loadedPathName = selectedAuto; + } + }); + /** * The container for the robot. Contains subsystems, OI devices, and commands. */ + @SuppressWarnings("unchecked") public RobotContainer() { configureButtonBindings(); /* Default Commands */ @@ -77,14 +116,67 @@ public class RobotContainer { getDriverController().getRightX(), getDriverController().getRightY(), true), - m_robotSwerveDrive)); + m_robotSwerveDrive).withName("Swerve driveWithInput defaultCommand")); // continually sends updates to the Blinkin LED controller to keep the lights on - m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED, m_robotLED)); + m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED, m_robotLED).withName("LED update defaultCommand")); + try (WatchService watcher = FileSystems.getDefault().newWatchService()) { + WatchKey watchKey = Filesystem.getDeployDirectory().toPath().resolve("pathplanner").register( + FileSystems.getDefault().newWatchService(), + StandardWatchEventKinds.ENTRY_CREATE, StandardWatchEventKinds.ENTRY_MODIFY, + StandardWatchEventKinds.ENTRY_DELETE); + new NotifierCommand(() -> {}, TimedRobot.kDefaultPeriod) { + @Override + public void execute() { + var selectedAuto = autoChooser.getSelected(); + if (selectedAuto != null && !selectedAuto.getName().equals(loadedPathName)) { + setName("Path Watcher: Loading Path"); + // loadedPathTrajectory = PathPlanner.loadPath(pathExtensionRemover.apply(selectedAuto.getName()), 5.5, 50); + loadedPathName = selectedAuto.getName(); + } + if (!watchKey.pollEvents().isEmpty()) { + updateAutoChooser(); + LOGGER.info("Updated autonomous chooser."); + } + if (!watchKey.reset()) + LOGGER.severe("File watch key invalid."); + setName("Path Watcher: Waiting"); + } - m_testMotor.set(TalonFXControlMode.PercentOutput, 0); + @Override + public boolean runsWhenDisabled() { + return true; + } + }.schedule(); + pathLoaderCommand.schedule(); + } catch (IOException exception) { + LOGGER.log(Level.SEVERE, "Exception with path file watcher.", exception); + } + updateAutoChooser(); + recordInit(); } + private Command pathLoaderCommand = new CommandBase() { + @Override + public void execute() { + var selectedAuto = autoChooser.getSelected(); + if (selectedAuto != null && !selectedAuto.getName().equals(loadedPathName)) { + setName("LOADING PATH"); + Thread thread = new Thread(() -> { + loadedPathTrajectory = PathPlanner.loadPath(pathExtensionRemover.apply(selectedAuto.getName()), 5.5, 50); + setName("Path loader waiting"); + }, "Path Loader Thread"); + thread.start(); + } + } + + @Override + public boolean runsWhenDisabled() { + return true; + } + }.withName("Path loader"); + private Thread pathLoaderThread = new Thread(); + /** * Use this method to define your button->command mappings. Buttons can be * created by instantiating a {@link GenericHID} or one of its subclasses @@ -108,7 +200,7 @@ public class RobotContainer { .whenPressed(() -> m_robotSwerveDrive.highSpeed(true)); new JoystickButton(getDriverController(), XboxController.Button.kA.value) - .whenPressed(() -> resetOdometry(new Pose2d(0, 0, new Rotation2d(0)))); + .whenPressed(() -> resetOdometry(new Pose2d(0, 0, new Rotation2d(0)))); /* Operator Buttons */ // activates "Lit Mode" @@ -118,59 +210,39 @@ public class RobotContainer { .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN)); } - public Command[] buildAuto(double maxVel, double maxAccel, Object... inputs) { - ArrayList commands = new ArrayList<>(); - commands.add(new InstantCommand(() -> m_robotSwerveDrive.m_gyro.reset())); - - PIDController xController = SwerveDriveConstants.X_CONTROLLER; - PIDController yController = SwerveDriveConstants.Y_CONTROLLER; - ProfiledPIDController thetaController = SwerveDriveConstants.THETA_CONTROLLER; - thetaController.enableContinuousInput(-Math.PI, Math.PI); - - // parse input - for (int i = 0; i < inputs.length; i++) { - if (inputs[i] instanceof String) { - PathPlannerTrajectory traj = PathPlanner.loadPath(inputs[i].toString(), maxVel, maxAccel); - PathPlannerState initState = (PathPlannerState) traj.sample(0); - - commands.add(new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(new Pose2d(initState.poseMeters.getTranslation(), initState.holonomicRotation)))); - commands.add(new PPSwerveControllerCommand(traj, m_robotSwerveDrive::getOdometry, m_robotSwerveDrive.m_kinematics, xController, yController, thetaController, m_robotSwerveDrive::setModuleStates, m_robotSwerveDrive)); - } else if (inputs[i] instanceof Command) - commands.add((Command) inputs[i]); - } - - commands.add(new InstantCommand(m_robotSwerveDrive::stopModules)); - Command[] ret = new Command[commands.size()]; - ret = commands.toArray(ret); - return ret; - } - /** * Use this to pass the autonomous command to the main {@link Robot} class. * * @return the command to run in autonomous - * @throws IOException */ - public Command getAutonomousCommand() throws IOException { - // https://github.com/mjansen4857/pathplanner/wiki <-- Pathplanner Wiki + public Command getAutonomousCommand() { + var selectedAuto = autoChooser.getSelected(); + if (loadedPathTrajectory != null) { + // if (selectedAuto != null && !selectedAuto.getName().equals(loadedPathName)) + // loadedPathTrajectory = + // PathPlanner.loadPath(pathExtensionRemover.apply(selectedAuto.getName()), 5.5, + // 50); + PIDController xController = SwerveDriveConstants.X_CONTROLLER; + PIDController yController = SwerveDriveConstants.Y_CONTROLLER; + ProfiledPIDController thetaController = SwerveDriveConstants.THETA_CONTROLLER; + thetaController.enableContinuousInput(-Math.PI, Math.PI); - // Command[] trajCommands = buildAuto(0.5, 0.5, "Move Forward", "Move Down"); - // SequentialCommandGroup ret = new SequentialCommandGroup(trajCommands); - // return (new ParallelCommandGroup(buildAuto(0.1, 0.1, ret, new InstantCommand(() -> m_testMotor.set(TalonFXControlMode.PercentOutput, 0.2))))); - Optional recordedAuto = Arrays.stream(Filesystem.getDeployDirectory().toPath().resolve("pathplanner").toFile().listFiles()).filter(f -> f.getName().startsWith("recording")).max(Comparator.comparingLong(File::lastModified)); - if (recordedAuto.isPresent()) { - String name = recordedAuto.orElseThrow().getName().replace(".path", ""); - Logger.getLogger(this.getClass().getName()).fine(name); - return new SequentialCommandGroup(buildAuto(1.0, 1.0, name)); + PathPlannerState initialState = loadedPathTrajectory.getInitialState(); + Pose2d initialPosition = new Pose2d(initialState.poseMeters.getTranslation(), initialState.holonomicRotation); + return new SequentialCommandGroup( + new InstantCommand(m_robotSwerveDrive.m_gyro::reset), + new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(initialPosition)), + new PPSwerveControllerCommand(loadedPathTrajectory, m_robotSwerveDrive::getOdometry, + m_robotSwerveDrive.m_kinematics, xController, yController, thetaController, + m_robotSwerveDrive::setModuleStates, m_robotSwerveDrive), + new InstantCommand(m_robotSwerveDrive::stopModules)).withName("Run Autonomous Path"); + } else { + Logger.getLogger(this.getClass().getName()).severe("No auto selected."); + return new RunCommand(() -> { + }).withName("No Autonomous Path"); } - Logger.getLogger(this.getClass().getName()).severe("No recorded autos found."); - return new InstantCommand(); - // return new PrintCommand("No recorded autos found."); } - /** - * Add your docs here. - */ public XboxController getDriverController() { return m_driverXbox; } @@ -183,10 +255,67 @@ public class RobotContainer { m_robotSwerveDrive.resetOdometry(pose); } - /** - * Add your docs here. - */ public XboxController getOperatorController() { return m_operatorXbox; } + + private void updateAutoChooser() { + Arrays.stream(Filesystem.getDeployDirectory().toPath().resolve("pathplanner").toFile().listFiles()) + .filter(file -> file.getName().endsWith(".path")).sorted(Comparator.comparingLong(File::lastModified)) + .forEachOrdered(file -> autoChooser.addOption(file.getName(), file)); + SmartDashboard.putData("Auto Chooser", autoChooser); + } + + private final List pathPoints = new ArrayList<>(); + + public void recordInit() { + SmartDashboard.putData("Recording", + new RunCommand(this::recordPeriodic) { + @Override + public void end(boolean interupted) { + new InstantCommand(RobotContainer.this::saveRecording) { + @Override + public boolean runsWhenDisabled() { + return true; + } + }.withName("Save Recording").schedule(); + } + }.withName("Record Path (Cancel to Save)")); + } + + private void saveRecording() { + // IMPORTANT: Had to chown the pathplanner folder in order to save autos. + File outputFile = Filesystem.getDeployDirectory().toPath().resolve("pathplanner") + .resolve("recording." + System.currentTimeMillis() + ".path").toFile(); + if (Boolean.TRUE.equals(Errors.log().getWithDefault(outputFile::createNewFile, false))) { + createPath(null, null, false).write(outputFile); + autoChooser.setDefaultOption(outputFile.getName(), outputFile); + LOGGER.log(Level.SEVERE, "Recorded path to {0}.", outputFile.getPath()); + } else + LOGGER.log(Level.SEVERE, "Unable to record path to {0}", outputFile.getPath()); + } + + public void recordPeriodic() { + Translation2d position = m_robotSwerveDrive.m_poseEstimator.getEstimatedPosition().getTranslation(); + Rotation2d rotation = m_robotSwerveDrive.m_gyro.getRotation2d(); + Translation2d velocity = new Translation2d(m_robotSwerveDrive.chassisSpeeds.vxMetersPerSecond, + m_robotSwerveDrive.chassisSpeeds.vyMetersPerSecond); + Waypoint waypoint = new Waypoint(position, position, position, rotation.getDegrees(), false, velocity.getNorm(), + false); + pathPoints.add(waypoint); + } + + public PathPlannerUtil.Path createPath(Double maxVelocity, Double maxAcceleration, Boolean isReversed) { + PathPlannerUtil.Path path = new PathPlannerUtil.Path(); + for (int i = 0; i < pathPoints.size() - 2; i++) + pathPoints.get(i).nextControl = pathPoints.get(i + 1).anchorPoint; + for (int i = 1; i < pathPoints.size() - 1; i++) + pathPoints.get(i).prevControl = pathPoints.get(i - 1).anchorPoint; + path.waypoints = Optional.ofNullable(pathPoints.toArray(PathPlannerUtil.Path.Waypoint[]::new)); + path.maxVelocity = Optional.ofNullable(maxVelocity); + path.maxAcceleration = Optional.ofNullable(maxAcceleration); + path.isReversed = Optional.ofNullable(isReversed); + pathPoints.clear(); + return path; + } } diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index f8ed27d..a8b36f6 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -4,8 +4,8 @@ package frc4388.robot.subsystems; -import com.ctre.phoenix.sensors.WPI_PigeonIMU; import com.ctre.phoenix.sensors.PigeonIMU.FusionStatus; +import com.ctre.phoenix.sensors.WPI_PigeonIMU; import edu.wpi.first.math.VecBuilder; import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator; @@ -23,8 +23,6 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc4388.robot.Constants.OIConstants; import frc4388.robot.Constants.SwerveDriveConstants; import frc4388.utility.Gains; -import frc4388.utility.RobotLogger; -import frc4388.utility.PathPlannerUtil.Path.Waypoint.Point; public class SwerveDrive extends SubsystemBase { @@ -57,7 +55,7 @@ public class SwerveDrive extends SubsystemBase { public double speedAdjust = SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND_SLOW; public boolean ignoreAngles; public Rotation2d rotTarget = new Rotation2d();; - private ChassisSpeeds chassisSpeeds = new ChassisSpeeds(); + public ChassisSpeeds chassisSpeeds = new ChassisSpeeds(); private final Field2d m_field = new Field2d(); @@ -160,23 +158,7 @@ public class SwerveDrive extends SubsystemBase { @Override public void periodic() { - // System.err.println(m_gyro.getFusedHeading() +" aaa"); updateOdometry(); - // m_gyro.setFusedHeadingToCompass(); - // m_gyro.setYawToCompass(); - Pose2d pos = m_poseEstimator.getEstimatedPosition(); - RobotLogger.getInstance().put( - /* anchorPointX */ pos.getX(), - /* anchorPointY */ pos.getY(), - /* prevControlX */ pos.getX(), - /* prevControlY */ pos.getY(), - /* nextControlX */ pos.getX(), - /* nextControlY */ pos.getY(), - /* holonomicAngle */ m_gyro.getRotation2d().getDegrees(), - /* isReversal */ false, - /* velOverride */ null, - /* isLocked */ false - ); SmartDashboard.putNumber("Pigeon Fused Heading", m_gyro.getFusedHeading(fstatus)); SmartDashboard.putNumber("Pigeon Yaw", m_gyro.getYaw()); SmartDashboard.putNumber("Pigeon Get Angle", m_gyro.getAngle()); @@ -186,8 +168,7 @@ public class SwerveDrive extends SubsystemBase { // m_gyro.setStatusFramePeriod(PigeonIMU_StatusFrame.CondStatus_9_SixDeg_YPR, 1, SwerveDriveConstants.SWERVE_TIMEOUT_MS); // m_gyro.setStatusFramePeriod(PigeonIMU_StatusFrame.CondStatus_6_SensorFusion, 1, SwerveDriveConstants.SWERVE_TIMEOUT_MS); // m_gyro.setStatusFramePeriod(PigeonIMU_StatusFrame.CondStatus_1_General, 1, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - - // m_field.setRobotPose(m_poseEstimator.getEstimatedPosition()); + m_field.setRobotPose(m_poseEstimator.getEstimatedPosition()); super.periodic(); } diff --git a/src/main/java/frc4388/utility/AnsiLogging.java b/src/main/java/frc4388/utility/AnsiLogging.java index 1b6c6c6..c37a3a6 100644 --- a/src/main/java/frc4388/utility/AnsiLogging.java +++ b/src/main/java/frc4388/utility/AnsiLogging.java @@ -19,6 +19,10 @@ import java.util.logging.Logger; import org.fusesource.jansi.Ansi; import org.fusesource.jansi.Ansi.Attribute; import org.fusesource.jansi.Ansi.Color; + +import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; + import org.fusesource.jansi.AnsiConsole; public class AnsiLogging extends ConsoleHandler { @@ -35,7 +39,7 @@ public class AnsiLogging extends ConsoleHandler { // Replaces standard output streams with org.fusesource.jansi.AnsiPrintStreams. AnsiConsole.systemInstall(); // Replaces standard output stream with java.util.logging.Logger. - System.setOut(printStreamLogger(Logger.getGlobal(), Level.INFO)); + System.setOut(printStreamLogger(Logger.getGlobal(), Level.ALL)); // Replaces standard error output stream with java.util.logging.Logger. System.setErr(printStreamLogger(Logger.getGlobal(), Level.SEVERE)); } catch (IOException exception) { @@ -66,6 +70,7 @@ public class AnsiLogging extends ConsoleHandler { } else source = logRecord.getLoggerName(); String message = formatMessage(logRecord); + boolean multiline = message.contains("\n"); String throwable = ""; if (logRecord.getThrown() != null) { StringWriter sw = new StringWriter(); @@ -74,6 +79,7 @@ public class AnsiLogging extends ConsoleHandler { logRecord.getThrown().printStackTrace(pw); } throwable = sw.toString(); + multiline = true; } Ansi ansi; if (logRecord.getLevel() == Level.SEVERE) ansi = ansi().fgBright(Color.RED); @@ -84,7 +90,7 @@ public class AnsiLogging extends ConsoleHandler { else if (logRecord.getLevel() == Level.FINER) ansi = ansi().fg(Color.MAGENTA); else if (logRecord.getLevel() == Level.FINEST) ansi = ansi().fgBright(Color.BLACK); else ansi = ansi().fg(Color.DEFAULT); - String format = ansi.bold().a(Attribute.UNDERLINE).a("%1$tb %1$td, %1$tY %1$tl:%1$tM:%1$tS %1$Tp %2$s %4$s:").boldOff().a(Attribute.UNDERLINE_OFF).a("%n%5$s%6$s").reset().a("%n").toString(); + String format = ansi.bold().a(Attribute.UNDERLINE).a("%1$tb %1$td, %1$tY %1$tl:%1$tM:%1$tS %1$Tp %2$s %4$s:").boldOff().a(Attribute.UNDERLINE_OFF).a(multiline ? "%n%5$s%6$s" : " %5$s%6$s").reset().a("%n").toString(); return String.format(format, zdt, source, logRecord.getLoggerName(), logRecord.getLevel().getLocalizedName(), message, throwable); } }; diff --git a/src/main/java/frc4388/utility/PathPlannerUtil.java b/src/main/java/frc4388/utility/PathPlannerUtil.java index 4c2c7b2..2d5cf78 100644 --- a/src/main/java/frc4388/utility/PathPlannerUtil.java +++ b/src/main/java/frc4388/utility/PathPlannerUtil.java @@ -2,53 +2,26 @@ package frc4388.utility; import java.io.File; import java.util.Optional; + import com.diffplug.common.base.Errors; +import com.fasterxml.jackson.annotation.JsonInclude.Include; import com.fasterxml.jackson.databind.ObjectMapper; import com.fasterxml.jackson.datatype.jdk8.Jdk8Module; -public class PathPlannerUtil { +import edu.wpi.first.math.geometry.Translation2d; + +public final class PathPlannerUtil { public static final class Path { - public Optional[] waypoints; - - public static final class Waypoint { - public Waypoint() {} - public Waypoint(Double anchorPointX, Double anchorPointY, Double prevControlX, Double prevControlY, Double nextControlX, Double nextControlY, Double holonomicAngle, Boolean isReversal, Double velOverride, Boolean isLocked) { - this.anchorPoint = anchorPointX == null && anchorPointY == null ? Optional.empty() : Optional.of(Point.of(anchorPointX, anchorPointY)); - this.prevControl = prevControlX == null && prevControlY == null ? Optional.empty() : Optional.of(Point.of(prevControlX, prevControlY)); - this.nextControl = nextControlX == null && nextControlY == null ? Optional.empty() : Optional.of(Point.of(nextControlX, nextControlY)); - this.holonomicAngle = Optional.ofNullable(holonomicAngle); - this.isReversal = Optional.ofNullable(isReversal); - this.velOverride = Optional.ofNullable(velOverride); - this.isLocked = Optional.ofNullable(isLocked); - } - public Optional anchorPoint; - public Optional prevControl; - public Optional nextControl; - - public static final class Point { - public Point() {} - public static Point of(Double x, Double y) { - Point point = new Point(); - point.x = Optional.ofNullable(x); - point.y = Optional.ofNullable(y); - return point; - } - public Optional x; - public Optional y; - } - - public Optional holonomicAngle; - public Optional isReversal; - public Optional velOverride; - public Optional isLocked; - } - + public Optional waypoints; public Optional maxVelocity; public Optional maxAcceleration; public Optional isReversed; private static final ObjectMapper objectMapper = new ObjectMapper(); - static { objectMapper.registerModule(new Jdk8Module()); } + static { + objectMapper.registerModule(new Jdk8Module()); + objectMapper.setSerializationInclusion(Include.NON_EMPTY); + } public static Path read(File src) { return Errors.log().getWithDefault(() -> objectMapper.readValue(src, Path.class), null); @@ -58,9 +31,27 @@ public class PathPlannerUtil { Errors.log().run(() -> objectMapper.writeValue(resultFile, this)); } - @Override - public String toString() { - return Errors.log().getWithDefault(() -> objectMapper.writeValueAsString(this), super.toString()); + public static final class Waypoint { + public Optional anchorPoint; + public Optional prevControl; + public Optional nextControl; + public Optional holonomicAngle; + public Optional isReversal; + public Optional velOverride; + public Optional isLocked; + + public Waypoint() { + } + + public Waypoint(Translation2d anchorPoint, Translation2d prevControl, Translation2d nextControl, Double holonomicAngle, Boolean isReversal, Double velOverride, Boolean isLocked) { + this.anchorPoint = Optional.ofNullable(anchorPoint); + this.prevControl = Optional.ofNullable(prevControl); + this.nextControl = Optional.ofNullable(nextControl); + this.holonomicAngle = Optional.ofNullable(holonomicAngle); + this.isReversal = Optional.ofNullable(isReversal); + this.velOverride = Optional.ofNullable(velOverride); + this.isLocked = Optional.ofNullable(isLocked); + } } } } diff --git a/src/main/java/frc4388/utility/RobotGyro.java.old b/src/main/java/frc4388/utility/RobotGyro.java.old deleted file mode 100644 index 56390d4..0000000 --- a/src/main/java/frc4388/utility/RobotGyro.java.old +++ /dev/null @@ -1,245 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package frc4388.utility; - -import com.ctre.phoenix.sensors.PigeonIMU; -import com.ctre.phoenix.sensors.PigeonIMU.CalibrationMode; -import com.kauailabs.navx.frc.AHRS; - -import edu.wpi.first.math.MathUtil; -import edu.wpi.first.util.sendable.Sendable; -import edu.wpi.first.util.sendable.SendableBuilder; -import edu.wpi.first.wpilibj.PIDSource; -import edu.wpi.first.wpilibj.PIDSourceType; -import edu.wpi.first.wpilibj.interfaces.Gyro; - -/** - * Gyro class that allows for interchangeable use between a pigeon and a navX - */ -public class RobotGyro implements Gyro, PIDSource, Sendable { - private RobotTime m_robotTime = RobotTime.getInstance(); - - private PigeonIMU m_pigeon = null; - private AHRS m_navX = null; - public boolean m_isGyroAPigeon; // true if pigeon, false if navX - - private double m_lastPigeonAngle; - private double m_deltaPigeonAngle; - - /** - * Creates a Gyro based on a pigeon - * - * @param gyro the gyroscope to use for Gyro - */ - public RobotGyro(PigeonIMU gyro) { - m_pigeon = gyro; - m_isGyroAPigeon = true; - } - - /** - * Creates a Gyro based on a navX - * - * @param gyro the gyroscope to use for Gyro - */ - public RobotGyro(AHRS gyro) { - m_navX = gyro; - m_isGyroAPigeon = false; - } - - /** - * Run in periodic if you are using a pigeon. Updates a delta angle so that it - * can calculate getRate(). Note - * that the getRate() method for a navX will likely be much more accurate than - * for a pigeon. - */ - public void updatePigeonDeltas() { - double currentPigeonAngle = getAngle(); - m_deltaPigeonAngle = currentPigeonAngle - m_lastPigeonAngle; - m_lastPigeonAngle = currentPigeonAngle; - } - - /** - *

- * NavX: - *

- * Calibrate the gyro by running for a number of samples and computing the - * center value. Then use - * the center value as the Accumulator center value for subsequent measurements. - * It's important to - * make sure that the robot is not moving while the centering calculations are - * in progress, this - * is typically done when the robot is first turned on while it's sitting at - * rest before the - * competition starts. - * - *

- * Pigeon: - *

- * Calibrate the gyro by collecting data at a range of tempuratures. Allow - * pigeon to cool, then boot - * into calibration mode. For faster calibration, use a heat lamp to heat up the - * pigeon. Once the pigeon - * has seen a reasonable range of tempuratures, it will exit calibration mode. - * It's important to - * make sure that the robot is not moving while the tempurature calculations are - * in progress, this - * is typically done when the robot is first turned on while it's sitting at - * rest before the - * competition starts. - */ - @Override - public void calibrate() { - if (m_isGyroAPigeon) - m_pigeon.enterCalibrationMode(CalibrationMode.Temperature); - else - m_navX.calibrate(); - } - - @Override - public void reset() { - if (m_isGyroAPigeon) - m_pigeon.setYaw(0); - else - m_navX.reset(); - } - - /** - * Get Yaw, Pitch, and Roll data. - * - * @return ypr_deg Array with yaw[0], pitch[1], and roll[2] data. - * Yaw is within [-368,640, +368,640] degrees. - * Pitch is within [-90,+90] degrees. - * Roll is within [-90,+90] degrees. - */ - private double[] getPigeonAngles() { - double[] angles = new double[3]; - m_pigeon.getYawPitchRoll(angles); - return angles; - } - - @Override - public double getAngle() { - if (m_isGyroAPigeon) { - return getPigeonAngles()[0]; - } else { - return m_navX.getAngle(); - } - } - - /** - * Gets an absolute heading of the robot - * - * @return heading from -180 to 180 degrees - */ - public double getHeading() { - return getHeading(getAngle()); - } - - /** - * Gets an absolute heading of the robot - * - * @return heading from -180 to 180 degrees - */ - public double getHeading(double angle) { - return Math.IEEEremainder(angle, 360); - } - - /** - * Returns the current pitch value (in degrees, from -90 to 90) - * reported by the sensor. Pitch is a measure of rotation around - * the Y Axis. - * - * @return The current pitch value in degrees (-90 to 90). - */ - public double getPitch() { - if (m_isGyroAPigeon) { - return MathUtil.clamp(getPigeonAngles()[1], -90, 90); - } else { - return MathUtil.clamp(m_navX.getPitch(), -90, 90); - } - } - - /** - * Returns the current roll value (in degrees, from -90 to 90) - * reported by the sensor. Roll is a measure of rotation around - * the X Axis. - * - * @return The current roll value in degrees (-90 to 90). - */ - public double getRoll() { - if (m_isGyroAPigeon) { - return MathUtil.clamp(getPigeonAngles()[2], -90, 90); - } else { - return MathUtil.clamp(m_navX.getRoll(), -90, 90); - } - } - - @Override - public double getRate() { - if (m_isGyroAPigeon) { - return m_deltaPigeonAngle / m_robotTime.m_deltaTime * 1000; - } else { - return m_navX.getRate(); - } - } - - public PigeonIMU getPigeon() { - return m_pigeon; - } - - public AHRS getNavX() { - return m_navX; - } - - @Override - public void close() throws Exception { - - } - - // Begin old GyroBase class - private PIDSourceType m_pidSource = PIDSourceType.kDisplacement; - - /** - * Set which parameter of the gyro you are using as a process control variable. - * The Gyro class - * supports the rate and displacement parameters - * - * @param pidSource An enum to select the parameter. - */ - @Override - public void setPIDSourceType(PIDSourceType pidSource) { - m_pidSource = pidSource; - } - - @Override - public PIDSourceType getPIDSourceType() { - return m_pidSource; - } - - /** - * Get the output of the gyro for use with PIDControllers. May be the angle or - * rate depending on - * the set PIDSourceType - * - * @return the output according to the gyro - */ - @Override - public double pidGet() { - switch (m_pidSource) { - case kRate: - return getRate(); - case kDisplacement: - return getAngle(); - default: - return 0.0; - } - } - - @Override - public void initSendable(SendableBuilder builder) { - builder.setSmartDashboardType("Gyro"); - builder.addDoubleProperty("Value", this::getAngle, null); - } -} diff --git a/src/main/java/frc4388/utility/RobotLogger.java b/src/main/java/frc4388/utility/RobotLogger.java deleted file mode 100644 index 16c1a33..0000000 --- a/src/main/java/frc4388/utility/RobotLogger.java +++ /dev/null @@ -1,51 +0,0 @@ -package frc4388.utility; - -import java.util.ArrayList; -import java.util.List; -import java.util.Objects; -import java.util.Optional; - -import edu.wpi.first.wpilibj.DriverStation; -import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import frc4388.utility.PathPlannerUtil.Path.Waypoint; - -public final class RobotLogger { - private static RobotLogger instance = null; - - public static RobotLogger getInstance() { - return Objects.requireNonNullElseGet(instance, () -> instance = new RobotLogger()); - } - - public static double getTime() { - return DriverStation.getMatchTime(); - } - - private RobotLogger() { - sendableChooser.setDefaultOption("Disable", false); - sendableChooser.addOption("Enable", true); - SmartDashboard.putData("Recording", sendableChooser); - } - - private final List data = new ArrayList<>(); - private final SendableChooser sendableChooser = new SendableChooser<>(); - - double lastVelocityMetersPerSecond = 0; - public void put(Double anchorPointX, Double anchorPointY, Double prevControlX, Double prevControlY, Double nextControlX, Double nextControlY, Double holonomicAngle, Boolean isReversal, Double velOverride, Boolean isLocked) { - if (Boolean.TRUE.equals(sendableChooser.getSelected())) { - Waypoint waypoint = new Waypoint(anchorPointX, anchorPointY, prevControlX, prevControlY, nextControlX, nextControlY, holonomicAngle, isReversal, velOverride, isLocked); - data.add(waypoint); - } - } - - @SuppressWarnings("unchecked") - public PathPlannerUtil.Path createPath(Double maxVelocity, Double maxAcceleration, Boolean isReversed) { - PathPlannerUtil.Path path = new PathPlannerUtil.Path(); - path.waypoints = data.stream().map(Optional::ofNullable).toArray(Optional[]::new); - path.maxVelocity = Optional.ofNullable(maxVelocity); - path.maxAcceleration = Optional.ofNullable(maxAcceleration); - path.isReversed = Optional.ofNullable(isReversed); - data.clear(); - return path; - } -} diff --git a/src/main/java/frc4388/utility/SendableRunChooser.java b/src/main/java/frc4388/utility/SendableRunChooser.java new file mode 100644 index 0000000..f2e97b3 --- /dev/null +++ b/src/main/java/frc4388/utility/SendableRunChooser.java @@ -0,0 +1,182 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +// package edu.wpi.first.wpilibj.smartdashboard; +package frc4388.utility; + +import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam; + +import edu.wpi.first.networktables.NTSendable; +import edu.wpi.first.networktables.NTSendableBuilder; +import edu.wpi.first.networktables.NetworkTableEntry; +import edu.wpi.first.util.sendable.SendableRegistry; +import java.util.ArrayList; +import java.util.LinkedHashMap; +import java.util.List; +import java.util.Map; +import java.util.concurrent.atomic.AtomicInteger; +import java.util.concurrent.locks.ReentrantLock; +import java.util.function.Consumer; + +/** + * The {@link SendableRunChooser} class is a useful tool for presenting a selection of options to the + * {@link SmartDashboard}. + * + *

For instance, you may wish to be able to select between multiple autonomous modes. You can do + * this by putting every possible Command you want to run as an autonomous into a {@link + * SendableRunChooser} and then put it into the {@link SmartDashboard} to have a list of options appear + * on the laptop. Once autonomous starts, simply ask the {@link SendableRunChooser} what the selected + * value is. + * + * @param The type of the values to be stored + */ +public class SendableRunChooser implements NTSendable, AutoCloseable { + /** The key for the default value. */ + private static final String DEFAULT = "default"; + /** The key for the selected option. */ + private static final String SELECTED = "selected"; + /** The key for the active option. */ + private static final String ACTIVE = "active"; + /** The key for the option array. */ + private static final String OPTIONS = "options"; + /** The key for the instance number. */ + private static final String INSTANCE = ".instance"; + /** A map linking strings to the objects the represent. */ + private final Map m_map = new LinkedHashMap<>(); + + private String m_defaultChoice = ""; + private final int m_instance; + private static final AtomicInteger s_instances = new AtomicInteger(); + + private Consumer m_consumer; + + /** Instantiates a {@link SendableRunChooser}. */ + public SendableRunChooser(Consumer consumer) { + m_consumer = consumer; + m_instance = s_instances.getAndIncrement(); + SendableRegistry.add(this, "SendableChooser", m_instance); + } + + @Override + public void close() { + SendableRegistry.remove(this); + } + + /** + * Adds the given object to the list of options. On the {@link SmartDashboard} on the desktop, the + * object will appear as the given name. + * + * @param name the name of the option + * @param object the option + */ + public void addOption(String name, V object) { + m_map.put(name, object); + } + + /** + * Adds the given object to the list of options. + * + * @param name the name of the option + * @param object the option + * @deprecated Use {@link #addOption(String, Object)} instead. + */ + @Deprecated + public void addObject(String name, V object) { + addOption(name, object); + } + + /** + * Adds the given object to the list of options and marks it as the default. Functionally, this is + * very close to {@link #addOption(String, Object)} except that it will use this as the default + * option if none other is explicitly selected. + * + * @param name the name of the option + * @param object the option + */ + public void setDefaultOption(String name, V object) { + requireNonNullParam(name, "name", "setDefaultOption"); + + m_defaultChoice = name; + addOption(name, object); + } + + /** + * Adds the given object to the list of options and marks it as the default. + * + * @param name the name of the option + * @param object the option + * @deprecated Use {@link #setDefaultOption(String, Object)} instead. + */ + @Deprecated + public void addDefault(String name, V object) { + setDefaultOption(name, object); + } + + /** + * Returns the selected option. If there is none selected, it will return the default. If there is + * none selected and no default, then it will return {@code null}. + * + * @return the option selected + */ + public V getSelected() { + m_mutex.lock(); + try { + if (m_selected != null) { + return m_map.get(m_selected); + } else { + return m_map.get(m_defaultChoice); + } + } finally { + m_mutex.unlock(); + } + } + + private String m_selected; + private final List m_activeEntries = new ArrayList<>(); + private final ReentrantLock m_mutex = new ReentrantLock(); + + @Override + public void initSendable(NTSendableBuilder builder) { + builder.setSmartDashboardType("String Chooser"); + builder.getEntry(INSTANCE).setDouble(m_instance); + builder.addStringProperty(DEFAULT, () -> m_defaultChoice, null); + builder.addStringArrayProperty(OPTIONS, () -> m_map.keySet().toArray(new String[0]), null); + builder.addStringProperty( + ACTIVE, + () -> { + m_mutex.lock(); + try { + if (m_selected != null) { + return m_selected; + } else { + return m_defaultChoice; + } + } finally { + m_mutex.unlock(); + } + }, + null); + m_mutex.lock(); + try { + m_activeEntries.add(builder.getEntry(ACTIVE)); + } finally { + m_mutex.unlock(); + } + builder.addStringProperty( + SELECTED, + null, + val -> { + m_mutex.lock(); + try { + m_selected = val; + m_consumer.accept(val); + for (NetworkTableEntry entry : m_activeEntries) { + entry.setString(val); + } + } finally { + m_mutex.unlock(); + } + }); + } +} diff --git a/vendordeps/WPILibOldCommands.json b/vendordeps/WPILibOldCommands.json deleted file mode 100644 index acc8879..0000000 --- a/vendordeps/WPILibOldCommands.json +++ /dev/null @@ -1,37 +0,0 @@ -{ - "fileName": "WPILibOldCommands.json", - "name": "WPILib-Old-Commands", - "version": "2020.0.0", - "uuid": "b066afc2-5c18-43c4-b758-43381fcb275e", - "mavenUrls": [], - "jsonUrl": "", - "javaDependencies": [ - { - "groupId": "edu.wpi.first.wpilibOldCommands", - "artifactId": "wpilibOldCommands-java", - "version": "wpilib" - } - ], - "jniDependencies": [], - "cppDependencies": [ - { - "groupId": "edu.wpi.first.wpilibOldCommands", - "artifactId": "wpilibOldCommands-cpp", - "version": "wpilib", - "libName": "wpilibOldCommands", - "headerClassifier": "headers", - "sourcesClassifier": "sources", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "linuxathena", - "linuxraspbian", - "linuxaarch64bionic", - "windowsx86-64", - "windowsx86", - "linuxx86-64", - "osxx86-64" - ] - } - ] -} \ No newline at end of file From 749085a0b6679edf2039e276443939cdbf0b17a1 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Thu, 17 Feb 2022 17:56:18 -0700 Subject: [PATCH 092/151] added paths --- src/main/deploy/pathplanner/Every Ball.path | 1 + src/main/deploy/pathplanner/Two Ball High to Low.path | 1 + src/main/deploy/pathplanner/Two Ball Low.path | 1 + .../deploy/pathplanner/Two Ball Straight to Player Station.path | 1 + 4 files changed, 4 insertions(+) create mode 100644 src/main/deploy/pathplanner/Every Ball.path create mode 100644 src/main/deploy/pathplanner/Two Ball High to Low.path create mode 100644 src/main/deploy/pathplanner/Two Ball Low.path create mode 100644 src/main/deploy/pathplanner/Two Ball Straight to Player Station.path diff --git a/src/main/deploy/pathplanner/Every Ball.path b/src/main/deploy/pathplanner/Every Ball.path new file mode 100644 index 0000000..d1e4271 --- /dev/null +++ b/src/main/deploy/pathplanner/Every Ball.path @@ -0,0 +1 @@ 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\ No newline at end of file diff --git a/src/main/deploy/pathplanner/Two Ball High to Low.path b/src/main/deploy/pathplanner/Two Ball High to Low.path new file mode 100644 index 0000000..43221e3 --- /dev/null +++ b/src/main/deploy/pathplanner/Two Ball High to Low.path @@ -0,0 +1 @@ +{"waypoints":[{"anchorPoint":{"x":6.620680207650139,"y":5.35387407853639},"prevControl":null,"nextControl":{"x":6.047381083523801,"y":5.557302800000574},"holonomicAngle":169.99202019855858,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":5.020990716136325,"y":6.167588964393128},"prevControl":{"x":5.409354638931585,"y":5.5018222396012515},"nextControl":{"x":5.409354638931585,"y":5.5018222396012515},"holonomicAngle":129.4995885297982,"isReversal":true,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":5.141198597001524,"y":1.9325728539114686},"prevControl":{"x":5.085718036602201,"y":3.2825998236283294},"nextControl":null,"holonomicAngle":-77.66091272167375,"isReversal":false,"velOverride":null,"isLocked":false}]} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/Two Ball Low.path b/src/main/deploy/pathplanner/Two Ball Low.path new file mode 100644 index 0000000..f43098c --- /dev/null +++ b/src/main/deploy/pathplanner/Two Ball Low.path @@ -0,0 +1 @@ +{"waypoints":[{"anchorPoint":{"x":8.109408578365308,"y":2.117508055242545},"prevControl":null,"nextControl":{"x":8.192629418964295,"y":1.470234850583776},"holonomicAngle":-92.202598161766,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":7.637823814971061,"y":0.36987040266386867},"prevControl":{"x":8.775175303157184,"y":0.48083152346251423},"nextControl":{"x":6.123786635522426,"y":0.22215945832741724},"holonomicAngle":178.6360724683971,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":5.141198597001524,"y":1.9048325737118068},"prevControl":{"x":5.61278336039577,"y":1.729144132447284},"nextControl":null,"holonomicAngle":143.8418145601917,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":null,"maxAcceleration":5.0,"isReversed":null} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/Two Ball Straight to Player Station.path b/src/main/deploy/pathplanner/Two Ball Straight to Player Station.path new file mode 100644 index 0000000..b4b5c9c --- /dev/null +++ b/src/main/deploy/pathplanner/Two Ball Straight to Player Station.path @@ -0,0 +1 @@ +{"waypoints":[{"anchorPoint":{"x":6.777875128781554,"y":2.4688849377715907},"prevControl":null,"nextControl":{"x":5.797718561726847,"y":2.043533974710114},"holonomicAngle":-156.37062226934333,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":1.2298190888492497,"y":1.174338528454054},"prevControl":{"x":1.904832573707682,"y":1.0171436073226392},"nextControl":null,"holonomicAngle":180.0,"isReversal":false,"velOverride":null,"isLocked":false}]} \ No newline at end of file From dc932775177e854be27168e5a0336858f1d04a09 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E2=80=AEAarav=20Shah?= <76842@psdschools.org> Date: Thu, 17 Feb 2022 19:38:49 -0700 Subject: [PATCH 093/151] new hood controls --- src/main/java/frc4388/robot/Constants.java | 3 + .../java/frc4388/robot/RobotContainer.java | 57 ++++++++++++------- .../frc4388/robot/subsystems/BoomBoom.java | 2 +- .../java/frc4388/robot/subsystems/Hood.java | 4 +- 4 files changed, 44 insertions(+), 22 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 6b7b4aa..76c7b44 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -88,7 +88,10 @@ public final class Constants { public static final class ShooterConstants { /* PID Constants Shooter */ +<<<<<<< Updated upstream public static final int CLOSED_LOOP_TIME_MS = 1; +======= +>>>>>>> Stashed changes public static final int SHOOTER_TIMEOUT_MS = 32; public static final int SHOOTER_SLOT_IDX = 0; public static final int SHOOTER_PID_LOOP_IDX = 1; diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 964e0d9..9b5f674 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -4,6 +4,9 @@ package frc4388.robot; +import com.ctre.phoenix.motorcontrol.TalonFXControlMode; +import com.ctre.phoenix.motorcontrol.can.TalonFX; + import edu.wpi.first.wpilibj.Joystick; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.InstantCommand; @@ -12,6 +15,7 @@ import edu.wpi.first.wpilibj2.command.button.JoystickButton; import frc4388.robot.Constants.*; import frc4388.robot.subsystems.BoomBoom; import frc4388.robot.subsystems.Hood; +//import frc4388.robot.subsystems.Intake; import frc4388.robot.subsystems.LED; import frc4388.robot.subsystems.SwerveDrive; import frc4388.robot.subsystems.Turret; @@ -30,21 +34,22 @@ import frc4388.utility.controller.XboxController; public class RobotContainer { /* RobotMap */ private final RobotMap m_robotMap = new RobotMap(); + private final TalonFX m_testMotor = new TalonFX(2); - /* Subsystems */ - // private final SwerveDrive m_robotSwerveDrive = new SwerveDrive( - // m_robotMap.leftFrontSteerMotor, m_robotMap.leftFrontWheelMotor, - // m_robotMap.rightFrontSteerMotor, m_robotMap.rightFrontWheelMotor, - // m_robotMap.leftBackSteerMotor, m_robotMap.leftBackWheelMotor, - // m_robotMap.rightBackSteerMotor, m_robotMap.rightBackWheelMotor, - // m_robotMap.leftFrontEncoder, - // m_robotMap.rightFrontEncoder, - // m_robotMap.leftBackEncoder, - // m_robotMap.rightBackEncoder - // ); - + /* Subsystems + private final SwerveDrive m_robotSwerveDrive = new SwerveDrive( + m_robotMap.leftFrontSteerMotor, m_robotMap.leftFrontWheelMotor, + m_robotMap.rightFrontSteerMotor, m_robotMap.rightFrontWheelMotor, + m_robotMap.leftBackSteerMotor, m_robotMap.leftBackWheelMotor, + m_robotMap.rightBackSteerMotor, m_robotMap.rightBackWheelMotor, + m_robotMap.leftFrontEncoder, + m_robotMap.rightFrontEncoder, + m_robotMap.leftBackEncoder, + m_robotMap.rightBackEncoder + ); + */ private final LED m_robotLED = new LED(m_robotMap.LEDController); - private final BoomBoom m_robotBoomBoom = new BoomBoom(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight); + private final BoomBoom m_robotBoomBoom = new BoomBoom(); private final Hood m_robotHood = new Hood(); private final Turret m_robotTurret = new Turret(); private final Vision m_robotVison = new Vision(m_robotTurret, m_robotBoomBoom); @@ -60,19 +65,20 @@ public class RobotContainer { /* Default Commands */ // drives the swerve drive with a two-axis input from the driver controller - // m_robotSwerveDrive.setDefaultCommand( - // new RunCommand(() -> m_robotSwerveDrive.driveWithInput(-getDriverController().getLeftXAxis(), - // getDriverController().getLeftYAxis(), -getDriverController().getRightXAxis(), false), m_robotSwerveDrive)); + /*m_robotSwerveDrive.setDefaultCommand( + new RunCommand(() -> m_robotSwerveDrive.driveWithInput(-getDriverController().getLeftXAxis(), + getDriverController().getLeftYAxis(), -getDriverController().getRightXAxis(), false), m_robotSwerveDrive)); // continually sends updates to the Blinkin LED controller to keep the lights on m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED, m_robotLED)); - + */ //Turret default command m_robotTurret.setDefaultCommand( - new RunCommand(() -> m_robotTurret.runShooterWithInput(getOperatorController().getLeftXAxis()), m_robotTurret)); + new RunCommand(() -> m_robotTurret.runShooterWithInput(getOperatorController().getLeftXAxis()), m_robotTurret) + ); // m_robotTurret.setDefaultCommand( // new RunCommand(() -> m_robotTurret.aimToCenter())); } @@ -88,6 +94,10 @@ public class RobotContainer { /* Operator Buttons */ // activates "Lit Mode" + + new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON) + .whileHeld(() -> m_testMotor.set(TalonFXControlMode.PercentOutput, 0.5)); + new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON) .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW)) .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN)); @@ -95,9 +105,16 @@ public class RobotContainer { new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON) .whenPressed(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0.1)) .whenReleased(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0)); - - /* Driver Buttons */ + //activates intake + new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON); + // .whenPressed() -> m_robot + /*operator button*/ + //activates hood + new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON) + .whenPressed(() -> m_robotHood.runHood(0.5d)) + .whenReleased(() -> m_robotHood.runHood(0.d)); + new JoystickButton(getOperatorJoystick() } /** * Use this to pass the autonomous command to the main {@link Robot} class. diff --git a/src/main/java/frc4388/robot/subsystems/BoomBoom.java b/src/main/java/frc4388/robot/subsystems/BoomBoom.java index 0a235e3..5dfb993 100644 --- a/src/main/java/frc4388/robot/subsystems/BoomBoom.java +++ b/src/main/java/frc4388/robot/subsystems/BoomBoom.java @@ -114,7 +114,7 @@ public void setShooterGains() { //Controls a motor with the output of the BangBang conroller and a feedforward //Shrinks the feedforward slightly to avoid over speeding the shooter - // m_shooterFalconLeft.set(controller.calculate(encoder.getRate(), targetVel) + 0.9 * feedforward.calculate(targetVel)); + //m_shooterFalconLeft.set(calculate(encoder.getRate(), targetVel) + 0.9 * feedforward.calculate(targetVel)); m_shooterFalconLeft.set(m_controller.calculate(m_shooterFalconLeft.get(), targetVel)); } } \ No newline at end of file diff --git a/src/main/java/frc4388/robot/subsystems/Hood.java b/src/main/java/frc4388/robot/subsystems/Hood.java index 1ef6af3..046d402 100644 --- a/src/main/java/frc4388/robot/subsystems/Hood.java +++ b/src/main/java/frc4388/robot/subsystems/Hood.java @@ -4,6 +4,8 @@ package frc4388.robot.subsystems; +import javax.sql.rowset.WebRowSet; + import com.revrobotics.CANSparkMax; import com.revrobotics.RelativeEncoder; import com.revrobotics.SparkMaxPIDController; @@ -21,7 +23,7 @@ import frc4388.utility.Gains; public class Hood extends SubsystemBase { public BoomBoom m_shooterSubsystem; - // public CANSparkMax m_angleAdjusterMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless); + //public CANSparkMax m_angleAdjusterMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless); public SparkMaxLimitSwitch m_hoodUpLimitSwitch; public SparkMaxLimitSwitch m_hoodDownLimitSwitch; public static Gains m_angleAdjusterGains = ShooterConstants.SHOOTER_ANGLE_GAINS; From f97b24d88e357ab9c52dcaac060e03f554990bc9 Mon Sep 17 00:00:00 2001 From: Raghav66296 <90011037+Raghav66296@users.noreply.github.com> Date: Thu, 17 Feb 2022 19:53:06 -0700 Subject: [PATCH 094/151] pushkar has covid --- src/main/java/frc4388/robot/RobotMap.java | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java index 19cb616..fb93b88 100644 --- a/src/main/java/frc4388/robot/RobotMap.java +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -5,11 +5,12 @@ package frc4388.robot; import com.ctre.phoenix.motorcontrol.NeutralMode; +import com.ctre.phoenix.motorcontrol.StatorCurrentLimitConfiguration; +import com.ctre.phoenix.motorcontrol.SupplyCurrentLimitConfiguration; import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; import com.ctre.phoenix.sensors.CANCoder; import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMaxLowLevel.MotorType; - import edu.wpi.first.wpilibj.motorcontrol.Spark; import frc4388.robot.Constants.LEDConstants; import frc4388.robot.Constants.ShooterConstants; @@ -119,9 +120,9 @@ public class RobotMap { //RIGHT FALCON - shooterFalconRight.configFactoryDefault(); - shooterFalconRight.setNeutralMode(NeutralMode.Coast); shooterFalconRight.setInverted(false); + shooterFalconRight.setNeutralMode(NeutralMode.Coast); + shooterFalconRight.configFactoryDefault(); shooterFalconRight.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS); shooterFalconRight.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS); //m_shooterFalconRight.configPeakOutputForward(0, ShooterConstants.SHOOTER_TIMEOUT_MS);(comment it in if necessary) @@ -130,6 +131,9 @@ public class RobotMap { shooterFalconRight.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS); /*Turret Subsytem*/ + + shooterFalconRight.configStatorCurrentLimit(new StatorCurrentLimitConfiguration(true, 6, 9, 4.2)); + shooterFalconLeft.configSupplyCurrentLimit(new SupplyCurrentLimitConfiguration(true, 12, 13, 0.4)); } From 32ae624588ff425ce69a7b935fa705354486c37e Mon Sep 17 00:00:00 2001 From: aarav18 Date: Thu, 17 Feb 2022 19:52:05 -0700 Subject: [PATCH 095/151] java docs and yaw print --- src/main/java/frc4388/robot/Main.java | 3 +-- src/main/java/frc4388/robot/Robot.java | 8 +++---- .../java/frc4388/robot/RobotContainer.java | 19 +++++++++++++--- .../frc4388/robot/subsystems/SwerveDrive.java | 22 +++++++------------ .../robot/subsystems/SwerveModule.java | 14 ++++++++---- 5 files changed, 38 insertions(+), 28 deletions(-) diff --git a/src/main/java/frc4388/robot/Main.java b/src/main/java/frc4388/robot/Main.java index 21f4236..fdb3853 100644 --- a/src/main/java/frc4388/robot/Main.java +++ b/src/main/java/frc4388/robot/Main.java @@ -28,5 +28,4 @@ public final class Main { } } - -// hi ryan \ No newline at end of file +// hi ryan -aarav \ No newline at end of file diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java index db7bb1a..debf72c 100644 --- a/src/main/java/frc4388/robot/Robot.java +++ b/src/main/java/frc4388/robot/Robot.java @@ -66,6 +66,8 @@ public class Robot extends TimedRobot { // and running subsystem periodic() methods. This must be called from the robot's periodic // block in order for anything in the Command-based framework to work. CommandScheduler.getInstance().run(); + + // print odometry data to smart dashboard for debugging (if causing timeout errors, you can comment it) SmartDashboard.putNumber("Odometry X", m_robotContainer.getOdometry().getX()); SmartDashboard.putNumber("Odometry Y", m_robotContainer.getOdometry().getY()); SmartDashboard.putNumber("Odometry Theta", m_robotContainer.getOdometry().getRotation().getDegrees()); @@ -84,9 +86,6 @@ public class Robot extends TimedRobot { @Override public void disabledPeriodic() { - // SmartDashboard.putNumber("Odometry X", m_robotContainer.getOdometry().getX()); - // SmartDashboard.putNumber("Odometry Y", m_robotContainer.getOdometry().getY()); - // SmartDashboard.putNumber("Odometry Theta", m_robotContainer.getOdometry().getRotation().getDegrees()); } /** @@ -114,6 +113,7 @@ public class Robot extends TimedRobot { @Override public void teleopInit() { LOGGER.fine("teleopInit()"); + m_robotContainer.m_robotSwerveDrive.m_gyro.addYaw(-1 * m_robotContainer.m_robotSwerveDrive.m_gyro.getYaw()); // This makes sure that the autonomous stops running when // teleop starts running. If you want the autonomous to // continue until interrupted by another command, remove @@ -130,8 +130,6 @@ public class Robot extends TimedRobot { */ @Override public void teleopPeriodic() { - // m_robotContainer.getDriverController().updateInput(); - // m_robotContainer.getOperatorController().updateInput(); } /** diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 203bcff..9440932 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -44,7 +44,7 @@ public class RobotContainer { private final RobotMap m_robotMap = new RobotMap(); /* Subsystems */ - private final SwerveDrive m_robotSwerveDrive = new SwerveDrive( + public final SwerveDrive m_robotSwerveDrive = new SwerveDrive( m_robotMap.leftFront, m_robotMap.leftBack, m_robotMap.rightFront, m_robotMap.rightBack, m_robotMap.gyro); private final TalonFX m_testMotor = new TalonFX(23); @@ -115,17 +115,19 @@ public class RobotContainer { * Generate autonomous * @param maxVel max velocity for the path (null to override default value of 5.0) * @param maxAccel max acceleration for the path (null to override default value of 5.0) - * @param inputs strings (paths) or commands you want to run (in order) - * @return array of commands + * @param inputs strings (path names) or commands you want to run (in order) + * @return array of commands, which can then be processed in a command group */ public Command[] buildAuto(Double maxVel, Double maxAccel, Object... inputs) { + // default vel and acc maxVel = Objects.requireNonNullElse(maxVel, SwerveDriveConstants.MAX_VEL); maxAccel = Objects.requireNonNullElse(maxAccel, SwerveDriveConstants.MAX_ACC); ArrayList commands = new ArrayList(); commands.add(new InstantCommand(() -> m_robotSwerveDrive.m_gyro.reset())); + // pids controlling the path PIDController xController = SwerveDriveConstants.X_CONTROLLER; PIDController yController = SwerveDriveConstants.Y_CONTROLLER; ProfiledPIDController thetaController = SwerveDriveConstants.THETA_CONTROLLER; @@ -134,7 +136,9 @@ public class RobotContainer { // parse input for (int i=0; i Date: Thu, 17 Feb 2022 19:54:24 -0700 Subject: [PATCH 096/151] :)) --- .../java/frc4388/robot/RobotContainer.java | 6 ++- .../robot/commands/AimWithOdometry.java | 37 +++++++++++++++++++ .../frc4388/robot/subsystems/BoomBoom.java | 33 ++++++----------- .../java/frc4388/robot/subsystems/Turret.java | 30 +++++---------- .../java/frc4388/robot/subsystems/Vision.java | 2 + 5 files changed, 64 insertions(+), 44 deletions(-) create mode 100644 src/main/java/frc4388/robot/commands/AimWithOdometry.java diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 964e0d9..907cdb5 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -4,6 +4,8 @@ package frc4388.robot; +import com.revrobotics.CANSparkMax; + import edu.wpi.first.wpilibj.Joystick; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.InstantCommand; @@ -72,7 +74,7 @@ public class RobotContainer { //Turret default command m_robotTurret.setDefaultCommand( - new RunCommand(() -> m_robotTurret.runShooterWithInput(getOperatorController().getLeftXAxis()), m_robotTurret)); + new RunCommand(() -> m_robotTurret.runTurretWithInput(getOperatorController().getLeftXAxis()), m_robotTurret)); // m_robotTurret.setDefaultCommand( // new RunCommand(() -> m_robotTurret.aimToCenter())); } @@ -96,7 +98,7 @@ public class RobotContainer { .whenPressed(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0.1)) .whenReleased(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0)); - + /* Driver Buttons */ } /** diff --git a/src/main/java/frc4388/robot/commands/AimWithOdometry.java b/src/main/java/frc4388/robot/commands/AimWithOdometry.java new file mode 100644 index 0000000..cb882a4 --- /dev/null +++ b/src/main/java/frc4388/robot/commands/AimWithOdometry.java @@ -0,0 +1,37 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc4388.robot.commands; + +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.wpilibj2.command.CommandBase; + +public class AimWithOdometry extends CommandBase { + /** Creates a new AimWithOdometry. */ + public AimWithOdometry() { + // Use addRequirements() here to declare subsystem dependencies. + } + + // Called when the command is initially scheduled. + @Override + public void initialize() {} + + // Called every time the scheduler runs while the command is scheduled. + @Override + public void execute() { + Pose2d odo = new Pose2d(new Translation2d(0,0), new Rotation2d(0)); + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) {} + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return false; + } +} diff --git a/src/main/java/frc4388/robot/subsystems/BoomBoom.java b/src/main/java/frc4388/robot/subsystems/BoomBoom.java index 0a235e3..60caaf3 100644 --- a/src/main/java/frc4388/robot/subsystems/BoomBoom.java +++ b/src/main/java/frc4388/robot/subsystems/BoomBoom.java @@ -11,6 +11,7 @@ import com.ctre.phoenix.motorcontrol.NeutralMode; import com.ctre.phoenix.motorcontrol.TalonFXControlMode; import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; +import edu.wpi.first.wpilibj.simulation.JoystickSim; import edu.wpi.first.wpilibj.smartdashboard.*; import edu.wpi.first.math.controller.BangBangController; import edu.wpi.first.math.controller.SimpleMotorFeedforward; @@ -28,7 +29,7 @@ public ShooterTables m_shooterTable; public static Gains m_drumShooterGains = ShooterConstants.DRUM_SHOOTER_GAINS; public static BoomBoom m_boomBoom; public static IHandController m_driverController; //not sure if driverController in 2022 = m_controller in 2020 -BangBangController m_controller = new BangBangController(); +// BangBangController m_controller = new BangBangController(); double velP; double input; @@ -39,33 +40,19 @@ public double m_fireVel; public Hood m_hoodSubsystem; public Turret m_turretSubsystem; -SimpleMotorFeedforward feedforward = new SimpleMotorFeedforward(69, 42, 0); //get real values later +// SimpleMotorFeedforward feedforward = new SimpleMotorFeedforward(69, 42, 0); //get real values later /* * Creates new BoomBoom subsystem, has drum shooter and angle adjuster */ -public BoomBoom(){ -//Testing purposes resetting gyros -//resetGryoAngleADj(); -//shooterTrims = new Trims(0,0); -feedforward.calculate(15, 20); // feedforward.calculate(velocity, acceleration); - - -} /** Creates a new BoomBoom. */ - public BoomBoom(WPI_TalonFX shooterFalconLeft, WPI_TalonFX shooterFalconRight) { +public BoomBoom(WPI_TalonFX shooterFalconLeft, WPI_TalonFX shooterFalconRight) { m_shooterFalconLeft = shooterFalconLeft; m_shooterFalconRight = shooterFalconRight; - - - - - m_shooterTable = new ShooterTables(); - - - } + m_shooterTable = new ShooterTables(); +} @Override @@ -92,7 +79,10 @@ try { m_hoodSubsystem = subsystem0; m_turretSubsystem = subsystem1; } - +/** + * Runs the Drum motor at a given speed + * @param speed percent output form -1.0 to 1.0 + */ public void runDrumShooter(double speed) { m_shooterFalconLeft.set(TalonFXControlMode.PercentOutput, speed); @@ -114,7 +104,8 @@ public void setShooterGains() { //Controls a motor with the output of the BangBang conroller and a feedforward //Shrinks the feedforward slightly to avoid over speeding the shooter + // m_shooterFalconLeft.set(controller.calculate(encoder.getRate(), targetVel) + 0.9 * feedforward.calculate(targetVel)); - m_shooterFalconLeft.set(m_controller.calculate(m_shooterFalconLeft.get(), targetVel)); + // m_shooterFalconLeft.set(m_controller.calculate(m_shooterFalconLeft.get(), targetVel)); } } \ No newline at end of file diff --git a/src/main/java/frc4388/robot/subsystems/Turret.java b/src/main/java/frc4388/robot/subsystems/Turret.java index 2f70146..2890df7 100644 --- a/src/main/java/frc4388/robot/subsystems/Turret.java +++ b/src/main/java/frc4388/robot/subsystems/Turret.java @@ -42,14 +42,14 @@ public class Turret extends SubsystemBase { //Variables - public Turret() { + public Turret(CANSparkMax BoomBoomRotateMotor) { //Take in rotate motor as an argument - m_boomBoomRotateMotor = new CANSparkMax(30, MotorType.kBrushless); + m_boomBoomRotateMotor = BoomBoomRotateMotor; m_boomBoomRotatePIDController = m_boomBoomRotateMotor.getPIDController(); m_boomBoomRotateEncoder = m_boomBoomRotateMotor.getEncoder(); m_boomBoomRotateMotor.setIdleMode(IdleMode.kBrake); - m_turretGyro = getGyroInterface(); + m_boomBoomLeftLimit = m_boomBoomRotateMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen); m_boomBoomRightLimit = m_boomBoomRotateMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen); m_boomBoomRightLimit.enableLimitSwitch(true); @@ -57,14 +57,11 @@ public class Turret extends SubsystemBase { m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kForward, false); m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kReverse, true); - m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.TURRET_RIGHT_SOFT_LIMIT); + m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.TURRET_RIGHT_SOFT_LIMIT); //Set second soft limit m_boomBoomRotateMotor.setInverted(false); } - private Gyro getGyroInterface() { - return null; - } @Override public void periodic() { @@ -81,16 +78,18 @@ public class Turret extends SubsystemBase { m_sDriveSubsystem = subsystem1; } - public void runShooterWithInput(double input) { + public void runTurretWithInput(double input) { //Rename to turret m_boomBoomRotateMotor.set(input*ShooterConstants.TURRET_SPEED_MULTIPLIER); } - public void runshooterRotatePID(double targetAngle) { + public void runshooterRotatePID(double targetAngle) { //Split into configure and run m_boomBoomRotatePIDController.setP(m_shooterTGains.m_kP); m_boomBoomRotatePIDController.setI(m_shooterTGains.m_kI); m_boomBoomRotatePIDController.setD(m_shooterTGains.m_kD); m_boomBoomRotatePIDController.setFF(m_shooterTGains.m_kF); m_boomBoomRotatePIDController.setIZone(m_shooterTGains.m_kIzone); + + m_boomBoomRotatePIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterTGains.m_kPeakOutput); targetAngle = targetAngle/ShooterConstants.DEGREES_PER_ROT; @@ -111,16 +110,5 @@ public class Turret extends SubsystemBase { public double getAnglePositionDegrees() { return (m_boomBoomRotateEncoder.getPosition() - ShooterConstants.TURRET_MOTOR_POS_AT_ZERO_ROT) * 360/ShooterConstants. TURRET_MOTOR_ROTS_PER_ROT; } - - - //function turnWithJoystick(double input) - // motor.set(input) -} - - - -/** TODO -* setPosition function -* Limit switches -**/ \ No newline at end of file +} \ No newline at end of file diff --git a/src/main/java/frc4388/robot/subsystems/Vision.java b/src/main/java/frc4388/robot/subsystems/Vision.java index 310d70f..0b6ca09 100644 --- a/src/main/java/frc4388/robot/subsystems/Vision.java +++ b/src/main/java/frc4388/robot/subsystems/Vision.java @@ -37,6 +37,8 @@ public static double fireAngle; public double m_hoodTrim; public double m_turretTrim; public double m_fireAngle; + + public Vision(Turret aimSubsystem, BoomBoom boomBoom) { m_turret = aimSubsystem; m_boomBoom = boomBoom; From 1c79102077deb25f4e3c3ade07d0722cab7d9cca Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E2=80=AEAarav=20Shah?= <76842@psdschools.org> Date: Fri, 18 Feb 2022 17:20:49 -0700 Subject: [PATCH 097/151] Update RobotContainer.java --- src/main/java/frc4388/robot/RobotContainer.java | 1 - 1 file changed, 1 deletion(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 9b5f674..bd518e2 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -114,7 +114,6 @@ public class RobotContainer { new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON) .whenPressed(() -> m_robotHood.runHood(0.5d)) .whenReleased(() -> m_robotHood.runHood(0.d)); - new JoystickButton(getOperatorJoystick() } /** * Use this to pass the autonomous command to the main {@link Robot} class. From b5215b7a09d242aba5b79853be3d1d992d922390 Mon Sep 17 00:00:00 2001 From: Abhishrek05 <90010729+Abhishrek05@users.noreply.github.com> Date: Sat, 19 Feb 2022 11:05:44 -0700 Subject: [PATCH 098/151] aimtocenter --- src/main/java/frc4388/robot/Constants.java | 11 ++++--- src/main/java/frc4388/robot/RobotMap.java | 2 +- ...{AimWithOdometry.java => AimToCenter.java} | 33 +++++++++++++++---- .../java/frc4388/robot/subsystems/Turret.java | 24 +++++++------- 4 files changed, 46 insertions(+), 24 deletions(-) rename src/main/java/frc4388/robot/commands/{AimWithOdometry.java => AimToCenter.java} (50%) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 76c7b44..b23b51e 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -83,16 +83,17 @@ public final class Constants { public static final int XBOX_OPERATOR_ID = 1; } + public static final class OdoAimConstants { + public static final double X_VECTOR_DISTANCE = 12.3; + // public static final Gains AIM_GAINS = new Gains(0, 0, 0, 0, 0, 0, 1); - + } public static final class ShooterConstants { /* PID Constants Shooter */ -<<<<<<< Updated upstream public static final int CLOSED_LOOP_TIME_MS = 1; -======= ->>>>>>> Stashed changes - public static final int SHOOTER_TIMEOUT_MS = 32; + + public static final int SHOOTER_TIMEOUT_MS = 32; public static final int SHOOTER_SLOT_IDX = 0; public static final int SHOOTER_PID_LOOP_IDX = 1; public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG = new SupplyCurrentLimitConfiguration(true, 60, 40, 0.5); diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java index fb93b88..1e2b648 100644 --- a/src/main/java/frc4388/robot/RobotMap.java +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -102,7 +102,7 @@ public class RobotMap { public final WPI_TalonFX shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_LEFT_CAN_ID); public final WPI_TalonFX shooterFalconRight = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_RIGHT_CAN_ID); - // public final CANSparkMax shooterTurret = new CANSparkMax(ShooterConstants.TURRET_MOTOR_CAN_ID, MotorType.kBrushless); + public final CANSparkMax shooterTurret = new CANSparkMax(ShooterConstants.TURRET_MOTOR_CAN_ID, MotorType.kBrushless); // Create motor CANSparkMax void ConfigureShooterMotorControllers() { diff --git a/src/main/java/frc4388/robot/commands/AimWithOdometry.java b/src/main/java/frc4388/robot/commands/AimToCenter.java similarity index 50% rename from src/main/java/frc4388/robot/commands/AimWithOdometry.java rename to src/main/java/frc4388/robot/commands/AimToCenter.java index cb882a4..734b9c2 100644 --- a/src/main/java/frc4388/robot/commands/AimWithOdometry.java +++ b/src/main/java/frc4388/robot/commands/AimToCenter.java @@ -4,27 +4,46 @@ package frc4388.robot.commands; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.wpilibj2.command.CommandBase; +import frc4388.robot.subsystems.SwerveDrive; +import frc4388.robot.subsystems.Turret; -public class AimWithOdometry extends CommandBase { +public class AimToCenter extends CommandBase { /** Creates a new AimWithOdometry. */ - public AimWithOdometry() { + Turret m_turret; + SwerveDrive m_drive; + + // use odometry to find x and y later + double x = 0; + double y = 0; + double z = Math.sqrt(Math.pow(x, 2) + Math.pow(y, 2)); + double m_targetAngle; + + // public static Gains m_aimGains; + + public AimToCenter(Turret turret, SwerveDrive drive) { // Use addRequirements() here to declare subsystem dependencies. + m_turret = turret; + m_drive = drive; + addRequirements(m_turret, m_drive); } // Called when the command is initially scheduled. @Override - public void initialize() {} + public void initialize() { + m_targetAngle = m_turret.getBoomBoomAngleDegrees() + m_drive.gyro.getAngle() + Math.atan(y/x); + } // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - Pose2d odo = new Pose2d(new Translation2d(0,0), new Rotation2d(0)); + aimTurret(m_targetAngle); } + public void aimTurret(double targetAngle) { //Split into configure and run + m_turret.runshooterRotatePID(targetAngle); + } + // Called once the command ends or is interrupted. @Override public void end(boolean interrupted) {} diff --git a/src/main/java/frc4388/robot/subsystems/Turret.java b/src/main/java/frc4388/robot/subsystems/Turret.java index 2890df7..1abcfa1 100644 --- a/src/main/java/frc4388/robot/subsystems/Turret.java +++ b/src/main/java/frc4388/robot/subsystems/Turret.java @@ -7,6 +7,7 @@ package frc4388.robot.subsystems; import com.revrobotics.CANSparkMax.ControlType; import com.revrobotics.CANSparkMax.IdleMode; +import com.revrobotics.CANEncoder; import com.revrobotics.CANSparkMax; import com.revrobotics.RelativeEncoder; import com.revrobotics.SparkMaxLimitSwitch; @@ -41,10 +42,11 @@ public class Turret extends SubsystemBase { public RelativeEncoder m_boomBoomRotateEncoder;// = m_boomBoomRotateMotor.getEncoder(); + //Variables - public Turret(CANSparkMax BoomBoomRotateMotor) { //Take in rotate motor as an argument + public Turret(CANSparkMax boomBoomRotateMotor) { //Take in rotate motor as an argument - m_boomBoomRotateMotor = BoomBoomRotateMotor; + m_boomBoomRotateMotor = boomBoomRotateMotor; m_boomBoomRotatePIDController = m_boomBoomRotateMotor.getPIDController(); m_boomBoomRotateEncoder = m_boomBoomRotateMotor.getEncoder(); m_boomBoomRotateMotor.setIdleMode(IdleMode.kBrake); @@ -83,18 +85,18 @@ public class Turret extends SubsystemBase { } public void runshooterRotatePID(double targetAngle) { //Split into configure and run - m_boomBoomRotatePIDController.setP(m_shooterTGains.m_kP); - m_boomBoomRotatePIDController.setI(m_shooterTGains.m_kI); - m_boomBoomRotatePIDController.setD(m_shooterTGains.m_kD); - m_boomBoomRotatePIDController.setFF(m_shooterTGains.m_kF); - m_boomBoomRotatePIDController.setIZone(m_shooterTGains.m_kIzone); + m_boomBoomRotatePIDController.setP(m_shooterTGains.m_kP); + m_boomBoomRotatePIDController.setI(m_shooterTGains.m_kI); + m_boomBoomRotatePIDController.setD(m_shooterTGains.m_kD); + m_boomBoomRotatePIDController.setFF(m_shooterTGains.m_kF); + m_boomBoomRotatePIDController.setIZone(m_shooterTGains.m_kIzone); - m_boomBoomRotatePIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterTGains.m_kPeakOutput); + m_boomBoomRotatePIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterTGains.m_kPeakOutput); - targetAngle = targetAngle/ShooterConstants.DEGREES_PER_ROT; + targetAngle = targetAngle/ShooterConstants.DEGREES_PER_ROT; - m_boomBoomRotatePIDController.setReference(targetAngle,ControlType.kPosition); + m_boomBoomRotatePIDController.setReference(targetAngle,ControlType.kPosition); } public void resetGyroShooterRotate() @@ -107,7 +109,7 @@ public class Turret extends SubsystemBase { return m_boomBoomRotateEncoder.getPosition(); } - public double getAnglePositionDegrees() { + public double getBoomBoomAngleDegrees() { return (m_boomBoomRotateEncoder.getPosition() - ShooterConstants.TURRET_MOTOR_POS_AT_ZERO_ROT) * 360/ShooterConstants. TURRET_MOTOR_ROTS_PER_ROT; } From a3fc1b4d14603364c76d018d4a25270d10108b96 Mon Sep 17 00:00:00 2001 From: Ryan Manley <42309874+ryan123rudder@users.noreply.github.com> Date: Sat, 19 Feb 2022 11:16:24 -0700 Subject: [PATCH 099/151] Swerve fixes --- src/main/deploy/pathplanner/New Path.path | 1 + src/main/java/frc4388/robot/Constants.java | 8 ++++---- src/main/java/frc4388/robot/RobotMap.java | 17 +++++++++-------- .../robot/subsystems/SwerveModule.java | 19 +++++++++++++++---- 4 files changed, 29 insertions(+), 16 deletions(-) create mode 100644 src/main/deploy/pathplanner/New Path.path diff --git a/src/main/deploy/pathplanner/New Path.path b/src/main/deploy/pathplanner/New Path.path new file mode 100644 index 0000000..9c09583 --- /dev/null +++ b/src/main/deploy/pathplanner/New Path.path @@ -0,0 +1 @@ +{"waypoints":[{"anchorPoint":{"x":1.0,"y":3.0},"prevControl":null,"nextControl":{"x":2.3149413387434365,"y":2.75478019310469},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":4.143744996350752,"y":3.8428026223141054},"prevControl":{"x":1.0069994823533945,"y":5.5442845062905315},"nextControl":{"x":7.478686694138279,"y":2.0338121072780666},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":7.870800551727686,"y":4.710905624342894},"prevControl":{"x":6.870800551727686,"y":4.710905624342894},"nextControl":null,"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false}]} \ No newline at end of file diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 597ab9c..aa9be76 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -53,10 +53,10 @@ public final class Constants { public static final int GYRO_ID = 14; // ofsets are in degrees - public static final double LEFT_FRONT_ENCODER_OFFSET = 180.0; - public static final double RIGHT_FRONT_ENCODER_OFFSET = 300.0; - public static final double LEFT_BACK_ENCODER_OFFSET = 360.0 - 128.0; - public static final double RIGHT_BACK_ENCODER_OFFSET = 0.0; + public static final double LEFT_FRONT_ENCODER_OFFSET = 181.45-3.30;//181.7578125;//180.0;//315.0 +45;//180.0; + public static final double RIGHT_FRONT_ENCODER_OFFSET = 360.-59.0625+0.18;//360.-59.0625;//315.0;//224.296875 + 90;//300.0; + public static final double LEFT_BACK_ENCODER_OFFSET = 360.-128.222;//308.408203125;//225.0;//45.87890625;//360.0 - 128.0; + public static final double RIGHT_BACK_ENCODER_OFFSET = 360.+2.15-3.637;//180-2.021484375;//0.0;//134.384765625 + 45; // swerve PID constants public static final int SWERVE_SLOT_IDX = 0; diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java index faefdd5..d2e1fde 100644 --- a/src/main/java/frc4388/robot/RobotMap.java +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -91,14 +91,15 @@ public class RobotMap { rightBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); rightBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftFrontSteerMotor.setNeutralMode(NeutralMode.Brake); - leftFrontWheelMotor.setNeutralMode(NeutralMode.Brake);//Coast - rightFrontSteerMotor.setNeutralMode(NeutralMode.Brake); - rightFrontWheelMotor.setNeutralMode(NeutralMode.Brake);//Coast - leftBackSteerMotor.setNeutralMode(NeutralMode.Brake); - leftBackWheelMotor.setNeutralMode(NeutralMode.Brake);//Coast - rightBackSteerMotor.setNeutralMode(NeutralMode.Brake); - rightBackWheelMotor.setNeutralMode(NeutralMode.Brake);//Coast + NeutralMode mode = NeutralMode.Brake; + leftFrontSteerMotor.setNeutralMode(mode); + leftFrontWheelMotor.setNeutralMode(mode);//Coast + rightFrontSteerMotor.setNeutralMode(mode); + rightFrontWheelMotor.setNeutralMode(mode);//Coast + leftBackSteerMotor.setNeutralMode(mode); + leftBackWheelMotor.setNeutralMode(mode);//Coast + rightBackSteerMotor.setNeutralMode(mode); + rightBackWheelMotor.setNeutralMode(mode);//Coast leftFront = new SwerveModule(leftFrontWheelMotor, leftFrontSteerMotor, leftFrontEncoder, SwerveDriveConstants.LEFT_FRONT_ENCODER_OFFSET); leftBack = new SwerveModule(leftBackWheelMotor, leftBackSteerMotor, leftBackEncoder, SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET); diff --git a/src/main/java/frc4388/robot/subsystems/SwerveModule.java b/src/main/java/frc4388/robot/subsystems/SwerveModule.java index fdd7ed1..d9c7665 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveModule.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveModule.java @@ -15,6 +15,7 @@ import com.ctre.phoenix.sensors.CANCoderConfiguration; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.kinematics.SwerveModuleState; import edu.wpi.first.math.util.Units; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc4388.robot.Constants.SwerveDriveConstants; import frc4388.utility.Gains; @@ -49,9 +50,9 @@ public class SwerveModule extends SubsystemBase { angleMotor.configAllSettings(angleTalonFXConfiguration); TalonFXConfiguration driveTalonFXConfiguration = new TalonFXConfiguration(); - driveTalonFXConfiguration.slot0.kP = 0.15; + driveTalonFXConfiguration.slot0.kP = 0.1; driveTalonFXConfiguration.slot0.kI = 0.0; - driveTalonFXConfiguration.slot0.kD = 0.5; + driveTalonFXConfiguration.slot0.kD = 0.0; driveMotor.configAllSettings(driveTalonFXConfiguration); CANCoderConfiguration canCoderConfiguration = new CANCoderConfiguration(); @@ -72,8 +73,7 @@ public class SwerveModule extends SubsystemBase { */ public void setDesiredState(SwerveModuleState desiredState, boolean ignoreAngle) { Rotation2d currentRotation = getAngle(); - - //SmartDashboard.putNumber("Motor " + angleMotor.getDeviceID(), currentRotation.getDegrees()); + // SmartDashboard.putNumber("Motor " + angleMotor.getDeviceID(), currentRotation.getDegrees()); state = SwerveModuleState.optimize(desiredState, currentRotation); // Find the difference between our current rotational position + our new rotational position @@ -84,17 +84,23 @@ public class SwerveModule extends SubsystemBase { // Convert the CANCoder from it's position reading back to ticks double currentTicks = canCoder.getPosition() / canCoderFeedbackCoefficient; double desiredTicks = currentTicks + deltaTicks; + if (!ignoreAngle){ angleMotor.set(TalonFXControlMode.Position, desiredTicks); } double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond); +<<<<<<< Updated upstream // Add this line to correct for the slight drive movement the angle motor makes when turning in place. // driveMotor.set(TalonFXControlMode.Velocity, angleMotor.get() + (Units.metersToInches(state.speedMetersPerSecond) * SwerveDriveConstants.TICKS_PER_INCH) / 10); driveMotor.set(feetPerSecond / SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC); +======= + // driveMotor.set(TalonFXControlMode.Velocity, angleMotor.get() + (Units.metersToInches(state.speedMetersPerSecond) * SwerveDriveConstants.TICKS_PER_INCH) / 10); + driveMotor.set((feetPerSecond / SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC) + angleMotor.get()); +>>>>>>> Stashed changes } /** @@ -114,5 +120,10 @@ public class SwerveModule extends SubsystemBase { driveMotor.set(0); angleMotor.set(0); } + @Override + public void periodic(){ + Rotation2d currentRotation = getAngle(); + SmartDashboard.putNumber("Motor " + angleMotor.getDeviceID(), currentRotation.getDegrees()); + } } From 997540b2c3856e2c87f13d3fd089883f619f5133 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Sat, 19 Feb 2022 11:18:15 -0700 Subject: [PATCH 100/151] gyro regression --- .../frc4388/robot/subsystems/SwerveDrive.java | 17 +++++++++++++---- 1 file changed, 13 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index 681fcb9..c456027 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -56,7 +56,7 @@ public class SwerveDrive extends SubsystemBase { public double speedAdjust = SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND_SLOW; public boolean ignoreAngles; - public Rotation2d rotTarget = new Rotation2d();; + public Rotation2d rotTarget = new Rotation2d(); private final Field2d m_field = new Field2d(); @@ -204,6 +204,15 @@ public class SwerveDrive extends SubsystemBase { return m_poseEstimator.getEstimatedPosition(); } + /** + * Gets the current gyro using regression formula. + * @return Rotation2d object holding current gyro in radians + */ + public Rotation2d getRegGyro() { + double regCur = 0.6552670369 + m_gyro.getRotation2d().getDegrees() * 0.9926871527; + return new Rotation2d(regCur * Math.PI / 180); + } + /** * Resets the odometry of the robot to the given pose. */ @@ -211,10 +220,10 @@ public class SwerveDrive extends SubsystemBase { m_poseEstimator.resetPosition(pose, m_gyro.getRotation2d()); } - /** Updates the field relative position of the robot. */ - + /** Updates the field relative position of the robot. + */ public void updateOdometry() { - m_poseEstimator.update( m_gyro.getRotation2d(), + m_poseEstimator.update( getRegGyro(), modules[0].getState(), modules[1].getState(), modules[2].getState(), From a75e98d911ec4c364c3a6817a46b2e25ae040ebc Mon Sep 17 00:00:00 2001 From: Ryan Manley <42309874+ryan123rudder@users.noreply.github.com> Date: Sat, 19 Feb 2022 11:18:58 -0700 Subject: [PATCH 101/151] Merge conflict --- src/main/java/frc4388/robot/subsystems/SwerveModule.java | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/src/main/java/frc4388/robot/subsystems/SwerveModule.java b/src/main/java/frc4388/robot/subsystems/SwerveModule.java index d9c7665..c2af4e3 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveModule.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveModule.java @@ -91,16 +91,13 @@ public class SwerveModule extends SubsystemBase { double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond); -<<<<<<< Updated upstream // Add this line to correct for the slight drive movement the angle motor makes when turning in place. // driveMotor.set(TalonFXControlMode.Velocity, angleMotor.get() + (Units.metersToInches(state.speedMetersPerSecond) * SwerveDriveConstants.TICKS_PER_INCH) / 10); - driveMotor.set(feetPerSecond / SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC); -======= + // driveMotor.set(feetPerSecond / SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC); // driveMotor.set(TalonFXControlMode.Velocity, angleMotor.get() + (Units.metersToInches(state.speedMetersPerSecond) * SwerveDriveConstants.TICKS_PER_INCH) / 10); driveMotor.set((feetPerSecond / SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC) + angleMotor.get()); ->>>>>>> Stashed changes } /** From 64481cb1cc22b497e90b3460fc988d3dad37a5e0 Mon Sep 17 00:00:00 2001 From: Abhishrek05 <90010729+Abhishrek05@users.noreply.github.com> Date: Sat, 19 Feb 2022 13:32:39 -0700 Subject: [PATCH 102/151] edited aimtocenter --- src/main/java/frc4388/robot/commands/AimToCenter.java | 8 ++------ src/main/java/frc4388/robot/subsystems/Turret.java | 2 +- 2 files changed, 3 insertions(+), 7 deletions(-) diff --git a/src/main/java/frc4388/robot/commands/AimToCenter.java b/src/main/java/frc4388/robot/commands/AimToCenter.java index 734b9c2..a284d8a 100644 --- a/src/main/java/frc4388/robot/commands/AimToCenter.java +++ b/src/main/java/frc4388/robot/commands/AimToCenter.java @@ -31,17 +31,13 @@ public class AimToCenter extends CommandBase { // Called when the command is initially scheduled. @Override public void initialize() { - m_targetAngle = m_turret.getBoomBoomAngleDegrees() + m_drive.gyro.getAngle() + Math.atan(y/x); } // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - aimTurret(m_targetAngle); - } - - public void aimTurret(double targetAngle) { //Split into configure and run - m_turret.runshooterRotatePID(targetAngle); + m_targetAngle = m_turret.getBoomBoomAngleDegrees() + m_drive.gyro.getAngle() + Math.atan(y/x); + m_turret.runshooterRotatePID(m_targetAngle); } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc4388/robot/subsystems/Turret.java b/src/main/java/frc4388/robot/subsystems/Turret.java index 1abcfa1..5f785c5 100644 --- a/src/main/java/frc4388/robot/subsystems/Turret.java +++ b/src/main/java/frc4388/robot/subsystems/Turret.java @@ -9,6 +9,7 @@ import com.revrobotics.CANSparkMax.ControlType; import com.revrobotics.CANSparkMax.IdleMode; import com.revrobotics.CANEncoder; import com.revrobotics.CANSparkMax; +import com.revrobotics.MotorFeedbackSensor; import com.revrobotics.RelativeEncoder; import com.revrobotics.SparkMaxLimitSwitch; import com.revrobotics.SparkMaxPIDController; @@ -95,7 +96,6 @@ public class Turret extends SubsystemBase { m_boomBoomRotatePIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterTGains.m_kPeakOutput); targetAngle = targetAngle/ShooterConstants.DEGREES_PER_ROT; - m_boomBoomRotatePIDController.setReference(targetAngle,ControlType.kPosition); } From 92777c105d3bc9c555ddbd48abeed13813b3a734 Mon Sep 17 00:00:00 2001 From: Abhishrek05 <90010729+Abhishrek05@users.noreply.github.com> Date: Sat, 19 Feb 2022 15:05:49 -0700 Subject: [PATCH 103/151] updated aim to center --- .../frc4388/robot/commands/AimToCenter.java | 14 +++++++++- .../java/frc4388/robot/subsystems/Turret.java | 28 ++++++------------- 2 files changed, 22 insertions(+), 20 deletions(-) diff --git a/src/main/java/frc4388/robot/commands/AimToCenter.java b/src/main/java/frc4388/robot/commands/AimToCenter.java index a284d8a..b63c5c5 100644 --- a/src/main/java/frc4388/robot/commands/AimToCenter.java +++ b/src/main/java/frc4388/robot/commands/AimToCenter.java @@ -36,7 +36,19 @@ public class AimToCenter extends CommandBase { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - m_targetAngle = m_turret.getBoomBoomAngleDegrees() + m_drive.gyro.getAngle() + Math.atan(y/x); + if (x > 0) { + m_targetAngle = 180 + Math.atan(y/x) - m_drive.gyro.getAngle(); + } + if (x < 0) { + m_targetAngle = 360 + Math.atan(y/x) - m_drive.gyro.getAngle(); + } + if (x == 0 && y > 0) { + m_targetAngle = 270 - m_drive.gyro.getAngle(); + } + if (x == 0 && y < 0) { + m_targetAngle = 90 - m_drive.gyro.getAngle(); + } + m_turret.runshooterRotatePID(m_targetAngle); } diff --git a/src/main/java/frc4388/robot/subsystems/Turret.java b/src/main/java/frc4388/robot/subsystems/Turret.java index 5f785c5..530de78 100644 --- a/src/main/java/frc4388/robot/subsystems/Turret.java +++ b/src/main/java/frc4388/robot/subsystems/Turret.java @@ -42,8 +42,6 @@ public class Turret extends SubsystemBase { SparkMaxPIDController m_boomBoomRotatePIDController;// = m_boomBoomRotateMotor.getPIDController(); public RelativeEncoder m_boomBoomRotateEncoder;// = m_boomBoomRotateMotor.getEncoder(); - - //Variables public Turret(CANSparkMax boomBoomRotateMotor) { //Take in rotate motor as an argument @@ -62,17 +60,18 @@ public class Turret extends SubsystemBase { m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kReverse, true); m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.TURRET_RIGHT_SOFT_LIMIT); //Set second soft limit m_boomBoomRotateMotor.setInverted(false); - + + m_boomBoomRotatePIDController.setP(m_shooterTGains.m_kP); + m_boomBoomRotatePIDController.setI(m_shooterTGains.m_kI); + m_boomBoomRotatePIDController.setD(m_shooterTGains.m_kD); + m_boomBoomRotatePIDController.setFF(m_shooterTGains.m_kF); + m_boomBoomRotatePIDController.setIZone(m_shooterTGains.m_kIzone); + m_boomBoomRotatePIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterTGains.m_kPeakOutput); } @Override public void periodic() { - // SmartDashboard.putNumber("Turret Angle Raw", getboomBoomRotatePosition()); - - // SmartDashboard.putData("Turret Angle", (Sendable) m_turretGyro); - - // SmartDashboard.putBoolean("Turret Aimed", m_isAimReady); // This method will be called once per scheduler run } @@ -81,20 +80,11 @@ public class Turret extends SubsystemBase { m_sDriveSubsystem = subsystem1; } - public void runTurretWithInput(double input) { //Rename to turret + public void runTurretWithInput(double input) { m_boomBoomRotateMotor.set(input*ShooterConstants.TURRET_SPEED_MULTIPLIER); } - public void runshooterRotatePID(double targetAngle) { //Split into configure and run - m_boomBoomRotatePIDController.setP(m_shooterTGains.m_kP); - m_boomBoomRotatePIDController.setI(m_shooterTGains.m_kI); - m_boomBoomRotatePIDController.setD(m_shooterTGains.m_kD); - m_boomBoomRotatePIDController.setFF(m_shooterTGains.m_kF); - m_boomBoomRotatePIDController.setIZone(m_shooterTGains.m_kIzone); - - - m_boomBoomRotatePIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterTGains.m_kPeakOutput); - + public void runshooterRotatePID(double targetAngle) { targetAngle = targetAngle/ShooterConstants.DEGREES_PER_ROT; m_boomBoomRotatePIDController.setReference(targetAngle,ControlType.kPosition); } From 97ba1e132ccc7ae345b6ee1fe54d90975f5bee1a Mon Sep 17 00:00:00 2001 From: Ryan Manley <42309874+ryan123rudder@users.noreply.github.com> Date: Sat, 19 Feb 2022 15:48:39 -0700 Subject: [PATCH 104/151] AngleMotor + DriveMotor correction --- build.gradle | 4 ++-- src/main/java/frc4388/robot/Constants.java | 7 +++++-- src/main/java/frc4388/robot/RobotMap.java | 2 +- .../frc4388/robot/subsystems/SwerveModule.java | 16 ++++++++++------ 4 files changed, 18 insertions(+), 11 deletions(-) diff --git a/build.gradle b/build.gradle index 283effa..ccc227f 100644 --- a/build.gradle +++ b/build.gradle @@ -1,4 +1,4 @@ -import edu.wpi.first.gradlerio.deploy.roborio.RoboRIO +import edu.wpi.first.gradlerio.deploy.roborio.RoboRIO plugins { id "java" @@ -28,7 +28,7 @@ deploy { frcJava(getArtifactTypeClass('FRCJavaArtifact')) { // Enable visualvm - jvmArgs << "-Dcom.sun.management.jmxremote=true -Dcom.sun.management.jmxremote.port=1099 -Dcom.sun.management.jmxremote.local.only=false -Dcom.sun.management.jmxremote.ssl=false -Dcom.sun.management.jmxremote.authenticate=false -Djava.rmi.server.hostname=10.43.88.2" + //jvmArgs << "-Dcom.sun.management.jmxremote=true -Dcom.sun.management.jmxremote.port=1099 -Dcom.sun.management.jmxremote.local.only=false -Dcom.sun.management.jmxremote.ssl=false -Dcom.sun.management.jmxremote.authenticate=false -Djava.rmi.server.hostname=10.43.88.2" } // Static files artifact diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index aa9be76..e31c27d 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -53,6 +53,8 @@ public final class Constants { public static final int GYRO_ID = 14; // ofsets are in degrees + + //NATHAN if you truncate or round or simplify these i will cry public static final double LEFT_FRONT_ENCODER_OFFSET = 181.45-3.30;//181.7578125;//180.0;//315.0 +45;//180.0; public static final double RIGHT_FRONT_ENCODER_OFFSET = 360.-59.0625+0.18;//360.-59.0625;//315.0;//224.296875 + 90;//300.0; public static final double LEFT_BACK_ENCODER_OFFSET = 360.-128.222;//308.408203125;//225.0;//45.87890625;//360.0 - 128.0; @@ -79,10 +81,11 @@ public final class Constants { public static final int REMOTE_0 = 0; // conversions - // gear ratio: 5.12 rev motor = 1 rev wheel + // gear ratio: 5.14 rev motor = 1 rev wheel // wheel diameter: official = 4 in, measured = 3.8 in /* Ratio Calculation */ - public static final double MOTOR_REV_PER_WHEEL_REV = 5.12; + public static final double MOTOR_REV_PER_STEER_REV = 12.8; + public static final double MOTOR_REV_PER_WHEEL_REV = 5.142857; public static final double WHEEL_DIAMETER_INCHES = 4.0; public static final double TICKS_PER_MOTOR_REV = 2048; public static final double INCHES_PER_WHEEL_REV = WHEEL_DIAMETER_INCHES * Math.PI; diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java index d2e1fde..926cfc6 100644 --- a/src/main/java/frc4388/robot/RobotMap.java +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -91,7 +91,7 @@ public class RobotMap { rightBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); rightBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - NeutralMode mode = NeutralMode.Brake; + NeutralMode mode = NeutralMode.Coast; leftFrontSteerMotor.setNeutralMode(mode); leftFrontWheelMotor.setNeutralMode(mode);//Coast rightFrontSteerMotor.setNeutralMode(mode); diff --git a/src/main/java/frc4388/robot/subsystems/SwerveModule.java b/src/main/java/frc4388/robot/subsystems/SwerveModule.java index c2af4e3..6ec5a2f 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveModule.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveModule.java @@ -91,13 +91,16 @@ public class SwerveModule extends SubsystemBase { double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond); - - // Add this line to correct for the slight drive movement the angle motor makes when turning in place. - // driveMotor.set(TalonFXControlMode.Velocity, angleMotor.get() + (Units.metersToInches(state.speedMetersPerSecond) * SwerveDriveConstants.TICKS_PER_INCH) / 10); + double angleCorrection = angleMotor.getSelectedSensorVelocity() * 2.69; // driveMotor.set(feetPerSecond / SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC); - // driveMotor.set(TalonFXControlMode.Velocity, angleMotor.get() + (Units.metersToInches(state.speedMetersPerSecond) * SwerveDriveConstants.TICKS_PER_INCH) / 10); - driveMotor.set((feetPerSecond / SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC) + angleMotor.get()); + driveMotor.set(TalonFXControlMode.Velocity, angleCorrection + (Units.metersToInches(state.speedMetersPerSecond) * SwerveDriveConstants.TICKS_PER_INCH) / 10); + //driveMotor.set((feetPerSecond / SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC));// - angleMotor.get()); + // driveMotor.set(TalonFXControlMode.Velocity, angleCorrection); // Ratio between axis = 1/1.75 Ratio of wheel is 5.14/1 ratio of steer is 12.8/1 + System.out.println(angleCorrection); + + // angleMotor.set(1.0); + // driveMotor.set(0.6375); } /** @@ -120,7 +123,8 @@ public class SwerveModule extends SubsystemBase { @Override public void periodic(){ Rotation2d currentRotation = getAngle(); - SmartDashboard.putNumber("Motor " + angleMotor.getDeviceID(), currentRotation.getDegrees()); + SmartDashboard.putNumber("Angle Motor " + angleMotor.getDeviceID(), currentRotation.getDegrees()); + SmartDashboard.putNumber("Drive Motor " + driveMotor.getDeviceID(), ((driveMotor.getSelectedSensorPosition() / 2048) * 360) % 360); } } From 94f757080b116aaf09a1b15cec07d32f75d746fc Mon Sep 17 00:00:00 2001 From: Abhishrek05 <90010729+Abhishrek05@users.noreply.github.com> Date: Tue, 22 Feb 2022 16:56:36 -0700 Subject: [PATCH 105/151] Update RobotContainer.java --- src/main/java/frc4388/robot/RobotContainer.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 9440932..86ec010 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -85,8 +85,8 @@ public class RobotContainer { */ private void configureButtonBindings() { /* Driver Buttons */ - new JoystickButton(getDriverController(), XboxController.Button.kY.value) - // new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.Y_BUTTON) + // "XboxController.Button.kBack" was undefiened yet, 7 works just fine + new JoystickButton(getDriverController(), 7) .whenPressed(() -> m_robotSwerveDrive.resetGyro()); new JoystickButton(getDriverController(), XboxController.Button.kLeftBumper.value) From c2cd96040bfe5e5d0f7ac01ae8e1e5736bd12854 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E2=80=AEAarav=20Shah?= <76842@psdschools.org> Date: Tue, 22 Feb 2022 17:14:48 -0700 Subject: [PATCH 106/151] added check for deadzone --- src/main/java/frc4388/robot/commands/AimToCenter.java | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/src/main/java/frc4388/robot/commands/AimToCenter.java b/src/main/java/frc4388/robot/commands/AimToCenter.java index b63c5c5..b24c657 100644 --- a/src/main/java/frc4388/robot/commands/AimToCenter.java +++ b/src/main/java/frc4388/robot/commands/AimToCenter.java @@ -50,6 +50,14 @@ public class AimToCenter extends CommandBase { } m_turret.runshooterRotatePID(m_targetAngle); + + } + public boolean noIsDeadzone(){ + if ((-20 < m_targetAngle) && (m_targetAngle < 0)) { + return false; + } else { + return true; + } } // Called once the command ends or is interrupted. From f97c7d8b9dcbd03ce7ebdfeae4cafe2a59b15f05 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Tue, 22 Feb 2022 17:10:21 -0700 Subject: [PATCH 107/151] refined aimtocenter command --- src/main/java/frc4388/robot/commands/AimToCenter.java | 1 - 1 file changed, 1 deletion(-) diff --git a/src/main/java/frc4388/robot/commands/AimToCenter.java b/src/main/java/frc4388/robot/commands/AimToCenter.java index b24c657..592e008 100644 --- a/src/main/java/frc4388/robot/commands/AimToCenter.java +++ b/src/main/java/frc4388/robot/commands/AimToCenter.java @@ -16,7 +16,6 @@ public class AimToCenter extends CommandBase { // use odometry to find x and y later double x = 0; double y = 0; - double z = Math.sqrt(Math.pow(x, 2) + Math.pow(y, 2)); double m_targetAngle; // public static Gains m_aimGains; From 449a3dc8c45c06b69d224b278fa9dc2124bdd668 Mon Sep 17 00:00:00 2001 From: evan Date: Thu, 24 Feb 2022 18:12:57 -0700 Subject: [PATCH 108/151] some aimtocenter stuff, unfinished + has errors --- .../java/frc4388/robot/RobotContainer.java | 50 +++-- src/main/java/frc4388/robot/RobotMap.java | 205 +++++++++++------- .../frc4388/robot/commands/AimToCenter.java | 26 ++- .../java/frc4388/robot/subsystems/Turret.java | 41 ++-- 4 files changed, 187 insertions(+), 135 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 4fc150f..e8cdbdf 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -14,6 +14,7 @@ import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.button.JoystickButton; import frc4388.robot.Constants.*; +import frc4388.robot.commands.AimToCenter; import frc4388.robot.subsystems.BoomBoom; import frc4388.robot.subsystems.Hood; //import frc4388.robot.subsystems.Intake; @@ -37,23 +38,25 @@ public class RobotContainer { private final RobotMap m_robotMap = new RobotMap(); private final TalonFX m_testMotor = new TalonFX(2); - /* Subsystems - private final SwerveDrive m_robotSwerveDrive = new SwerveDrive( - m_robotMap.leftFrontSteerMotor, m_robotMap.leftFrontWheelMotor, - m_robotMap.rightFrontSteerMotor, m_robotMap.rightFrontWheelMotor, - m_robotMap.leftBackSteerMotor, m_robotMap.leftBackWheelMotor, - m_robotMap.rightBackSteerMotor, m_robotMap.rightBackWheelMotor, - m_robotMap.leftFrontEncoder, - m_robotMap.rightFrontEncoder, - m_robotMap.leftBackEncoder, - m_robotMap.rightBackEncoder - ); - */ + /* + * Subsystems + * private final SwerveDrive m_robotSwerveDrive = new SwerveDrive( + * m_robotMap.leftFrontSteerMotor, m_robotMap.leftFrontWheelMotor, + * m_robotMap.rightFrontSteerMotor, m_robotMap.rightFrontWheelMotor, + * m_robotMap.leftBackSteerMotor, m_robotMap.leftBackWheelMotor, + * m_robotMap.rightBackSteerMotor, m_robotMap.rightBackWheelMotor, + * m_robotMap.leftFrontEncoder, + * m_robotMap.rightFrontEncoder, + * m_robotMap.leftBackEncoder, + * m_robotMap.rightBackEncoder + * ); + */ private final LED m_robotLED = new LED(m_robotMap.LEDController); private final BoomBoom m_robotBoomBoom = new BoomBoom(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight); private final Hood m_robotHood = new Hood(); private final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret); private final Vision m_robotVison = new Vision(m_robotTurret, m_robotBoomBoom); + private final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_) /* Controllers */ private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID); private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID); @@ -78,7 +81,7 @@ public class RobotContainer { //Turret default command m_robotTurret.setDefaultCommand( - new RunCommand(() -> m_robotTurret.runTurretWithInput(getOperatorController().getLeftXAxis()), m_robotTurret)); + new AimToCenter(m_robotTurret, m_drive) // m_robotTurret.setDefaultCommand( // new RunCommand(() -> m_robotTurret.aimToCenter())); } @@ -101,21 +104,22 @@ public class RobotContainer { new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON) .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW)) .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN)); - // activates "BoomBoom" - new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON) - .whenPressed(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0.1)) - .whenReleased(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0)); + // activates "BoomBoom" + new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON) + .whenPressed(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0.1)) + .whenReleased(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0)); /* Driver Buttons */ - //activates intake + // activates intake new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON); - // .whenPressed() -> m_robot - /*operator button*/ - //activates hood + // .whenPressed() -> m_robot + /* operator button */ + // activates hood new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON) - .whenPressed(() -> m_robotHood.runHood(0.5d)) - .whenReleased(() -> m_robotHood.runHood(0.d)); + .whenPressed(() -> m_robotHood.runHood(0.5d)) + .whenReleased(() -> m_robotHood.runHood(0.d)); // new JoystickButton(getOperatorJoystick()); } + /** * Use this to pass the autonomous command to the main {@link Robot} class. * diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java index 1e2b648..7aedfce 100644 --- a/src/main/java/frc4388/robot/RobotMap.java +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -24,118 +24,167 @@ public class RobotMap { public RobotMap() { configureLEDMotorControllers(); - //configureSwerveMotorControllers(); + // configureSwerveMotorControllers(); } /* LED Subsystem */ public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID); void configureLEDMotorControllers() { - + } - + /* Swerve Subsystem */ - // public final WPI_TalonFX leftFrontSteerMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_STEER_CAN_ID); - // public final WPI_TalonFX leftFrontWheelMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_WHEEL_CAN_ID); - // public final WPI_TalonFX rightFrontSteerMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_FRONT_STEER_CAN_ID); - // public final WPI_TalonFX rightFrontWheelMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_FRONT_WHEEL_CAN_ID); - // public final WPI_TalonFX leftBackSteerMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_BACK_STEER_CAN_ID); - // public final WPI_TalonFX leftBackWheelMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_BACK_WHEEL_CAN_ID); - // public final WPI_TalonFX rightBackSteerMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_BACK_STEER_CAN_ID); - // public final WPI_TalonFX rightBackWheelMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_BACK_WHEEL_CAN_ID); - // public final CANCoder leftFrontEncoder = new CANCoder(SwerveDriveConstants.LEFT_FRONT_STEER_CAN_ENCODER_ID); - // public final CANCoder rightFrontEncoder = new CANCoder(SwerveDriveConstants.RIGHT_FRONT_STEER_CAN_ENCODER_ID); - // public final CANCoder leftBackEncoder = new CANCoder(SwerveDriveConstants.LEFT_BACK_STEER_CAN_ENCODER_ID); - // public final CANCoder rightBackEncoder = new CANCoder(SwerveDriveConstants.RIGHT_BACK_STEER_CAN_ENCODER_ID); - + public final WPI_TalonFX leftFrontSteerMotor; + // public final WPI_TalonFX leftFrontSteerMotor = new + // WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_STEER_CAN_ID); + // public final WPI_TalonFX leftFrontWheelMotor = new + // WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_WHEEL_CAN_ID); + // public final WPI_TalonFX rightFrontSteerMotor = new + // WPI_TalonFX(SwerveDriveConstants.RIGHT_FRONT_STEER_CAN_ID); + // public final WPI_TalonFX rightFrontWheelMotor = new + // WPI_TalonFX(SwerveDriveConstants.RIGHT_FRONT_WHEEL_CAN_ID); + // public final WPI_TalonFX leftBackSteerMotor = new + // WPI_TalonFX(SwerveDriveConstants.LEFT_BACK_STEER_CAN_ID); + // public final WPI_TalonFX leftBackWheelMotor = new + // WPI_TalonFX(SwerveDriveConstants.LEFT_BACK_WHEEL_CAN_ID); + // public final WPI_TalonFX rightBackSteerMotor = new + // WPI_TalonFX(SwerveDriveConstants.RIGHT_BACK_STEER_CAN_ID); + // public final WPI_TalonFX rightBackWheelMotor = new + // WPI_TalonFX(SwerveDriveConstants.RIGHT_BACK_WHEEL_CAN_ID); + // public final CANCoder leftFrontEncoder = new + // CANCoder(SwerveDriveConstants.LEFT_FRONT_STEER_CAN_ENCODER_ID); + // public final CANCoder rightFrontEncoder = new + // CANCoder(SwerveDriveConstants.RIGHT_FRONT_STEER_CAN_ENCODER_ID); + // public final CANCoder leftBackEncoder = new + // CANCoder(SwerveDriveConstants.LEFT_BACK_STEER_CAN_ENCODER_ID); + // public final CANCoder rightBackEncoder = new + // CANCoder(SwerveDriveConstants.RIGHT_BACK_STEER_CAN_ENCODER_ID); + // void configureSwerveMotorControllers() { - // leftFrontEncoder.configMagnetOffset(SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET); - // rightFrontEncoder.configMagnetOffset(SwerveDriveConstants.RIGHT_FRONT_ENCODER_OFFSET); - // leftBackEncoder.configMagnetOffset(SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET); - // rightBackEncoder.configMagnetOffset(SwerveDriveConstants.RIGHT_BACK_ENCODER_OFFSET); + // leftFrontEncoder.configMagnetOffset(SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET); + // rightFrontEncoder.configMagnetOffset(SwerveDriveConstants.RIGHT_FRONT_ENCODER_OFFSET); + // leftBackEncoder.configMagnetOffset(SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET); + // rightBackEncoder.configMagnetOffset(SwerveDriveConstants.RIGHT_BACK_ENCODER_OFFSET); - // leftFrontSteerMotor.configFactoryDefault(); - // leftFrontWheelMotor.configFactoryDefault(); - // rightFrontSteerMotor.configFactoryDefault(); - // rightFrontWheelMotor.configFactoryDefault(); - // leftBackSteerMotor.configFactoryDefault(); - // leftBackWheelMotor.configFactoryDefault(); - // rightBackSteerMotor.configFactoryDefault(); - // rightBackWheelMotor.configFactoryDefault(); + // leftFrontSteerMotor.configFactoryDefault(); + // leftFrontWheelMotor.configFactoryDefault(); + // rightFrontSteerMotor.configFactoryDefault(); + // rightFrontWheelMotor.configFactoryDefault(); + // leftBackSteerMotor.configFactoryDefault(); + // leftBackWheelMotor.configFactoryDefault(); + // rightBackSteerMotor.configFactoryDefault(); + // rightBackWheelMotor.configFactoryDefault(); - // leftFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // leftFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // rightFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // rightFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // leftBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // leftBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // rightBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // rightBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // leftFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + // SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // leftFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + // SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // rightFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + // SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // rightFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + // SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // leftBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + // SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // leftBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + // SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // rightBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + // SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // rightBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + // SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // leftFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // leftFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // rightFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // rightFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // leftBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // leftBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // rightBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // rightBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // leftFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + // SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // leftFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + // SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // rightFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + // SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // rightFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + // SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // leftBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + // SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // leftBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + // SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // rightBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + // SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // rightBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + // SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // leftFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // leftFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // rightFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // rightFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // leftBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // leftBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // rightBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // rightBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // leftFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, + // SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // leftFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, + // SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // rightFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, + // SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // rightFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, + // SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // leftBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, + // SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // leftBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, + // SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // rightBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, + // SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // rightBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, + // SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // // config cancoder as remote encoder for swerve steer motors - //leftFrontSteerMotor.configRemoteFeedbackFilter(leftFrontEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - //leftBackSteerMotor.configRemoteFeedbackFilter(leftBackEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - //rightFrontSteerMotor.configRemoteFeedbackFilter(rightFrontEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - //rightBackSteerMotor.configRemoteFeedbackFilter(rightBackEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - //} + // // config cancoder as remote encoder for swerve steer motors + // leftFrontSteerMotor.configRemoteFeedbackFilter(leftFrontEncoder.getDeviceID(), + // RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, + // SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // leftBackSteerMotor.configRemoteFeedbackFilter(leftBackEncoder.getDeviceID(), + // RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, + // SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // rightFrontSteerMotor.configRemoteFeedbackFilter(rightFrontEncoder.getDeviceID(), + // RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, + // SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // rightBackSteerMotor.configRemoteFeedbackFilter(rightBackEncoder.getDeviceID(), + // RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, + // SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // } - //Shooter Config - /*Boom Boom Subsystem*/ + // Shooter Config + /* Boom Boom Subsystem */ public final WPI_TalonFX shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_LEFT_CAN_ID); public final WPI_TalonFX shooterFalconRight = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_RIGHT_CAN_ID); - + public final CANSparkMax shooterTurret = new CANSparkMax(ShooterConstants.TURRET_MOTOR_CAN_ID, MotorType.kBrushless); + // Create motor CANSparkMax void ConfigureShooterMotorControllers() { - //LEFT FALCON + // LEFT FALCON shooterFalconLeft.configFactoryDefault(); shooterFalconLeft.setNeutralMode(NeutralMode.Coast); shooterFalconLeft.setInverted(true); shooterFalconLeft.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS); shooterFalconLeft.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS); shooterFalconLeft.configPeakOutputReverse(0, ShooterConstants.SHOOTER_TIMEOUT_MS); - shooterFalconLeft.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS); - shooterFalconLeft.configClosedLoopPeriod(0, ShooterConstants.CLOSED_LOOP_TIME_MS, ShooterConstants.SHOOTER_TIMEOUT_MS); - shooterFalconLeft.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS); + shooterFalconLeft.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, + ShooterConstants.SHOOTER_TIMEOUT_MS); + shooterFalconLeft.configClosedLoopPeriod(0, ShooterConstants.CLOSED_LOOP_TIME_MS, + ShooterConstants.SHOOTER_TIMEOUT_MS); + shooterFalconLeft.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, + ShooterConstants.SHOOTER_TIMEOUT_MS); - - - //RIGHT FALCON + // RIGHT FALCON shooterFalconRight.setInverted(false); shooterFalconRight.setNeutralMode(NeutralMode.Coast); shooterFalconRight.configFactoryDefault(); shooterFalconRight.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS); shooterFalconRight.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS); - //m_shooterFalconRight.configPeakOutputForward(0, ShooterConstants.SHOOTER_TIMEOUT_MS);(comment it in if necessary) - shooterFalconRight.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS); - shooterFalconRight.configClosedLoopPeriod(0,ShooterConstants.CLOSED_LOOP_TIME_MS, ShooterConstants.SHOOTER_TIMEOUT_MS); - shooterFalconRight.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS); - /*Turret Subsytem*/ - - - shooterFalconRight.configStatorCurrentLimit(new StatorCurrentLimitConfiguration(true, 6, 9, 4.2)); - shooterFalconLeft.configSupplyCurrentLimit(new SupplyCurrentLimitConfiguration(true, 12, 13, 0.4)); + // m_shooterFalconRight.configPeakOutputForward(0, + // ShooterConstants.SHOOTER_TIMEOUT_MS);(comment it in if necessary) + shooterFalconRight.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, + ShooterConstants.SHOOTER_TIMEOUT_MS); + shooterFalconRight.configClosedLoopPeriod(0, ShooterConstants.CLOSED_LOOP_TIME_MS, + ShooterConstants.SHOOTER_TIMEOUT_MS); + shooterFalconRight.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, + ShooterConstants.SHOOTER_TIMEOUT_MS); + /* Turret Subsytem */ + + shooterFalconRight.configStatorCurrentLimit(new StatorCurrentLimitConfiguration(true, 6, 9, 4.2)); + shooterFalconLeft.configSupplyCurrentLimit(new SupplyCurrentLimitConfiguration(true, 12, 13, 0.4)); } - } diff --git a/src/main/java/frc4388/robot/commands/AimToCenter.java b/src/main/java/frc4388/robot/commands/AimToCenter.java index 592e008..d463f07 100644 --- a/src/main/java/frc4388/robot/commands/AimToCenter.java +++ b/src/main/java/frc4388/robot/commands/AimToCenter.java @@ -17,7 +17,7 @@ public class AimToCenter extends CommandBase { double x = 0; double y = 0; double m_targetAngle; - + // public static Gains m_aimGains; public AimToCenter(Turret turret, SwerveDrive drive) { @@ -36,32 +36,34 @@ public class AimToCenter extends CommandBase { @Override public void execute() { if (x > 0) { - m_targetAngle = 180 + Math.atan(y/x) - m_drive.gyro.getAngle(); - } + m_targetAngle = 180 + Math.atan(y / x) - m_drive.gyro.getAngle(); + } if (x < 0) { - m_targetAngle = 360 + Math.atan(y/x) - m_drive.gyro.getAngle(); - } + m_targetAngle = 360 + Math.atan(y / x) - m_drive.gyro.getAngle(); + } if (x == 0 && y > 0) { - m_targetAngle = 270 - m_drive.gyro.getAngle(); + m_targetAngle = 270 - m_drive.gyro.getAngle(); } if (x == 0 && y < 0) { m_targetAngle = 90 - m_drive.gyro.getAngle(); } - + m_turret.runshooterRotatePID(m_targetAngle); } - public boolean noIsDeadzone(){ + + public boolean isDeadzone() { if ((-20 < m_targetAngle) && (m_targetAngle < 0)) { - return false; + return true; } else { - return true; + return false; } } - + // Called once the command ends or is interrupted. @Override - public void end(boolean interrupted) {} + public void end(boolean interrupted) { + } // Returns true when the command should end. @Override diff --git a/src/main/java/frc4388/robot/subsystems/Turret.java b/src/main/java/frc4388/robot/subsystems/Turret.java index 530de78..4d7ac99 100644 --- a/src/main/java/frc4388/robot/subsystems/Turret.java +++ b/src/main/java/frc4388/robot/subsystems/Turret.java @@ -4,7 +4,6 @@ package frc4388.robot.subsystems; - import com.revrobotics.CANSparkMax.ControlType; import com.revrobotics.CANSparkMax.IdleMode; import com.revrobotics.CANEncoder; @@ -21,16 +20,14 @@ import frc4388.robot.Constants.ShooterConstants; import frc4388.utility.Gains; import com.revrobotics.CANSparkMax.SoftLimitDirection; - - - public class Turret extends SubsystemBase { - + /** Creates a new Turret. */ public BoomBoom m_boomBoomSubsystem; public SwerveDrive m_sDriveSubsystem; - public CANSparkMax m_boomBoomRotateMotor;// = new CANSparkMax(ShooterConstants.SHOOTER_ROTATE_ID, MotorType.kBrushless); + public CANSparkMax m_boomBoomRotateMotor;// = new CANSparkMax(ShooterConstants.SHOOTER_ROTATE_ID, + // MotorType.kBrushless); public static Gains m_shooterTGains = ShooterConstants.SHOOTER_TURRET_GAINS; SparkMaxLimitSwitch m_boomBoomRightLimit, m_boomBoomLeftLimit; public Gyro m_turretGyro; @@ -41,16 +38,15 @@ public class Turret extends SubsystemBase { SparkMaxPIDController m_boomBoomRotatePIDController;// = m_boomBoomRotateMotor.getPIDController(); public RelativeEncoder m_boomBoomRotateEncoder;// = m_boomBoomRotateMotor.getEncoder(); - - //Variables - public Turret(CANSparkMax boomBoomRotateMotor) { //Take in rotate motor as an argument + + // Variables + public Turret(CANSparkMax boomBoomRotateMotor) { // Take in rotate motor as an argument m_boomBoomRotateMotor = boomBoomRotateMotor; m_boomBoomRotatePIDController = m_boomBoomRotateMotor.getPIDController(); m_boomBoomRotateEncoder = m_boomBoomRotateMotor.getEncoder(); m_boomBoomRotateMotor.setIdleMode(IdleMode.kBrake); - - + m_boomBoomLeftLimit = m_boomBoomRotateMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen); m_boomBoomRightLimit = m_boomBoomRotateMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen); m_boomBoomRightLimit.enableLimitSwitch(true); @@ -58,7 +54,10 @@ public class Turret extends SubsystemBase { m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kForward, false); m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kReverse, true); - m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.TURRET_RIGHT_SOFT_LIMIT); //Set second soft limit + m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.TURRET_RIGHT_SOFT_LIMIT); // Set + // second + // soft + // limit m_boomBoomRotateMotor.setInverted(false); m_boomBoomRotatePIDController.setP(m_shooterTGains.m_kP); @@ -69,38 +68,36 @@ public class Turret extends SubsystemBase { m_boomBoomRotatePIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterTGains.m_kPeakOutput); } - @Override public void periodic() { // This method will be called once per scheduler run } - public void passRequiredSubsystem( BoomBoom subsystem0, SwerveDrive subsystem1){ + public void passRequiredSubsystem(BoomBoom subsystem0, SwerveDrive subsystem1) { m_boomBoomSubsystem = subsystem0; m_sDriveSubsystem = subsystem1; } public void runTurretWithInput(double input) { - m_boomBoomRotateMotor.set(input*ShooterConstants.TURRET_SPEED_MULTIPLIER); + m_boomBoomRotateMotor.set(input * ShooterConstants.TURRET_SPEED_MULTIPLIER); } public void runshooterRotatePID(double targetAngle) { - targetAngle = targetAngle/ShooterConstants.DEGREES_PER_ROT; - m_boomBoomRotatePIDController.setReference(targetAngle,ControlType.kPosition); + targetAngle = targetAngle / ShooterConstants.DEGREES_PER_ROT; + m_boomBoomRotatePIDController.setReference(targetAngle, ControlType.kPosition); } - public void resetGyroShooterRotate() - { + public void resetGyroShooterRotate() { m_boomBoomRotateEncoder.setPosition(0); } - public double getboomBoomRotatePosition() - { + public double getboomBoomRotatePosition() { return m_boomBoomRotateEncoder.getPosition(); } public double getBoomBoomAngleDegrees() { - return (m_boomBoomRotateEncoder.getPosition() - ShooterConstants.TURRET_MOTOR_POS_AT_ZERO_ROT) * 360/ShooterConstants. TURRET_MOTOR_ROTS_PER_ROT; + return (m_boomBoomRotateEncoder.getPosition() - ShooterConstants.TURRET_MOTOR_POS_AT_ZERO_ROT) * 360 + / ShooterConstants.TURRET_MOTOR_ROTS_PER_ROT; } } \ No newline at end of file From 234586b6d5865db24855d8993bedf41d9dd821f0 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Thu, 24 Feb 2022 18:54:58 -0700 Subject: [PATCH 109/151] took out pid stuff (not part of MVP), drives good --- .../frc4388/robot/subsystems/SwerveDrive.java | 9 ++- .../robot/subsystems/SwerveModule.java | 74 ++++++++++++++----- 2 files changed, 65 insertions(+), 18 deletions(-) diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index c456027..f725e06 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -153,6 +153,7 @@ public class SwerveDrive extends SubsystemBase { SwerveModuleState state = desiredStates[i]; module.setDesiredState(state, false); } + // modules[0].setDesiredState(desiredStates[0], false); } @Override @@ -160,7 +161,13 @@ public class SwerveDrive extends SubsystemBase { updateOdometry(); // SmartDashboard.putNumber("Pigeon Fused Heading", m_gyro.getFusedHeading(fstatus)); - SmartDashboard.putNumber("Pigeon Yaw", m_gyro.getYaw()); + + SmartDashboard.putNumber("Pigeon Yaw", m_gyro.getYaw()); + + // SmartDashboard.putNumber("Front Left", modules[0].driveMotor.getSelectedSensorPosition()); + // SmartDashboard.putNumber("Front Right", modules[1].driveMotor.getSelectedSensorPosition()); + // SmartDashboard.putNumber("Back Left", modules[2].driveMotor.getSelectedSensorPosition()); + // SmartDashboard.putNumber("Back Right", modules[3].driveMotor.getSelectedSensorPosition()); // SmartDashboard.putNumber("Pigeon Get Angle", m_gyro.getAngle()); // SmartDashboard.putNumber("Pigeon Rotation 2D", m_gyro.getRotation2d().getDegrees()); // SmartDashboard.putStringArray("Fusion Status", new String[] {"Is Fusing: "+fstatus.bIsFusing, "Is Valid: "+fstatus.bIsValid, "Heading: "+fstatus.heading}); diff --git a/src/main/java/frc4388/robot/subsystems/SwerveModule.java b/src/main/java/frc4388/robot/subsystems/SwerveModule.java index 6ec5a2f..44afb70 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveModule.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveModule.java @@ -7,6 +7,7 @@ package frc4388.robot.subsystems; import com.ctre.phoenix.motorcontrol.FeedbackDevice; import com.ctre.phoenix.motorcontrol.RemoteSensorSource; import com.ctre.phoenix.motorcontrol.TalonFXControlMode; +import com.ctre.phoenix.motorcontrol.TalonFXFeedbackDevice; import com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration; import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; import com.ctre.phoenix.sensors.CANCoder; @@ -21,14 +22,21 @@ import frc4388.robot.Constants.SwerveDriveConstants; import frc4388.utility.Gains; public class SwerveModule extends SubsystemBase { - private WPI_TalonFX driveMotor; - private WPI_TalonFX angleMotor; + public WPI_TalonFX angleMotor; + public WPI_TalonFX driveMotor; private CANCoder canCoder; public static Gains m_swerveGains = SwerveDriveConstants.SWERVE_GAINS; private static double kEncoderTicksPerRotation = 4096; private SwerveModuleState state; private double canCoderFeedbackCoefficient; + + public long m_currentTime; + public long m_lastTime; + public double m_deltaTime; + + public double m_currentPos; + public double m_lastPos; /** Creates a new SwerveModule. */ public SwerveModule(WPI_TalonFX driveMotor, WPI_TalonFX angleMotor, CANCoder canCoder, double offset) { @@ -49,17 +57,34 @@ public class SwerveModule extends SubsystemBase { angleTalonFXConfiguration.primaryPID.selectedFeedbackSensor = FeedbackDevice.RemoteSensor0; angleMotor.configAllSettings(angleTalonFXConfiguration); - TalonFXConfiguration driveTalonFXConfiguration = new TalonFXConfiguration(); - driveTalonFXConfiguration.slot0.kP = 0.1; - driveTalonFXConfiguration.slot0.kI = 0.0; - driveTalonFXConfiguration.slot0.kD = 0.0; - driveMotor.configAllSettings(driveTalonFXConfiguration); + // TalonFXConfiguration driveTalonFXConfiguration = new TalonFXConfiguration(); + // driveTalonFXConfiguration.slot0.kP = 0.05; + // driveTalonFXConfiguration.slot0.kI = 0.0; + // driveTalonFXConfiguration.slot0.kD = 0.0; + // driveTalonFXConfiguration.primaryPID.selectedFeedbackSensor = FeedbackDevice.IntegratedSensor; + driveMotor.configFactoryDefault(); + driveMotor.configSelectedFeedbackSensor(TalonFXFeedbackDevice.IntegratedSensor, 0, 30); + driveMotor.configNominalOutputForward(0, 30); + driveMotor.configNominalOutputReverse(0, 30); + driveMotor.configPeakOutputForward(1, 30); + driveMotor.configPeakOutputReverse(-1, 30); + driveMotor.configAllowableClosedloopError(0, 0, 30); + driveMotor.config_kP(0, 0.5, 30); + driveMotor.config_kI(0, 0, 30); + driveMotor.config_kD(0, 0, 30); + // maybe try a feedforward value? + + // driveMotor.configAllSettings(driveTalonFXConfiguration); CANCoderConfiguration canCoderConfiguration = new CANCoderConfiguration(); canCoderConfiguration.magnetOffsetDegrees = offset; canCoder.configAllSettings(canCoderConfiguration); - } + m_currentTime = System.currentTimeMillis(); + m_lastTime = System.currentTimeMillis(); + + m_lastPos = driveMotor.getSelectedSensorPosition(); + } private Rotation2d getAngle() { // Note: This assumes the CANCoders are setup with the default feedback coefficient @@ -89,18 +114,33 @@ public class SwerveModule extends SubsystemBase { angleMotor.set(TalonFXControlMode.Position, desiredTicks); } - - double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond); - double angleCorrection = angleMotor.getSelectedSensorVelocity() * 2.69; + double ftPerSec = Units.metersToFeet(state.speedMetersPerSecond); + double normFtPerSec = ftPerSec / SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC; + // double angleCorrection = angleMotor.getSelectedSensorVelocity() * 2.69; - // driveMotor.set(feetPerSecond / SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC); - driveMotor.set(TalonFXControlMode.Velocity, angleCorrection + (Units.metersToInches(state.speedMetersPerSecond) * SwerveDriveConstants.TICKS_PER_INCH) / 10); - //driveMotor.set((feetPerSecond / SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC));// - angleMotor.get()); + // driveMotor.set(TalonFXControlMode.Velocity, angleCorrection + (Units.metersToInches(state.speedMetersPerSecond) * SwerveDriveConstants.TICKS_PER_INCH) / 10); + driveMotor.set(normFtPerSec);// - angleMotor.get()); // driveMotor.set(TalonFXControlMode.Velocity, angleCorrection); // Ratio between axis = 1/1.75 Ratio of wheel is 5.14/1 ratio of steer is 12.8/1 - System.out.println(angleCorrection); - // angleMotor.set(1.0); - // driveMotor.set(0.6375); + // m_currentTime = System.currentTimeMillis(); + // m_deltaTime = (double) (m_currentTime - m_lastTime); + // m_deltaTime = m_deltaTime / 10.0; + + // m_currentPos = driveMotor.getSelectedSensorPosition(); + + // double m_desiredCorrectionVel = 3.2 * angleMotor.getSelectedSensorVelocity(); + // double m_desiredCorrectionPos = (m_deltaTime * m_desiredCorrectionVel) % 2048; + // double m_lastPos = (driveMotor.getSelectedSensorPosition() % 2048) - (m_deltaTime * driveMotor.getSelectedSensorVelocity()); + // double m_actualDesiredPos = m_deltaTime * ((Units.metersToInches(state.speedMetersPerSecond) * SwerveDriveConstants.TICKS_PER_INCH) / 10); + + // System.out.println("Current Pos: " + driveMotor.getSelectedSensorPosition()); + // System.out.println("Desired Correction Pos: " + m_desiredCorrectionPos); + // System.out.println("Last Pos: " + m_lastPos); + + // driveMotor.set(TalonFXControlMode.Position, 1500/*m_desiredCorrectionPos*/); + + // m_lastTime = m_currentTime; + // m_lastPos = m_currentPos; } /** From 5f1bed26cd59206016849661cccfddc04ca4d39a Mon Sep 17 00:00:00 2001 From: Ryan Manley <42309874+ryan123rudder@users.noreply.github.com> Date: Thu, 24 Feb 2022 19:18:05 -0700 Subject: [PATCH 110/151] AimToCenter finished --- src/main/java/frc4388/robot/RobotContainer.java | 16 +++++++++++++--- src/main/java/frc4388/robot/RobotMap.java | 16 +++++++++++++++- 2 files changed, 28 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index e8cdbdf..ae911a6 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -56,7 +56,18 @@ public class RobotContainer { private final Hood m_robotHood = new Hood(); private final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret); private final Vision m_robotVison = new Vision(m_robotTurret, m_robotBoomBoom); - private final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_) + private final SwerveDrive m_robotSwerveDrive = new SwerveDrive( m_robotMap.leftFrontSteerMotor, + m_robotMap.leftFrontWheelMotor, + m_robotMap.rightFrontSteerMotor, + m_robotMap.rightFrontWheelMotor, + m_robotMap.leftBackSteerMotor, + m_robotMap.leftBackWheelMotor, + m_robotMap.rightBackSteerMotor, + m_robotMap.rightBackWheelMotor, + m_robotMap.leftFrontEncoder, + m_robotMap.rightFrontEncoder, + m_robotMap.leftBackEncoder, + m_robotMap.rightBackEncoder); /* Controllers */ private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID); private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID); @@ -80,8 +91,7 @@ public class RobotContainer { */ //Turret default command - m_robotTurret.setDefaultCommand( - new AimToCenter(m_robotTurret, m_drive) + m_robotTurret.setDefaultCommand(new AimToCenter(m_robotTurret, m_robotSwerveDrive)); // m_robotTurret.setDefaultCommand( // new RunCommand(() -> m_robotTurret.aimToCenter())); } diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java index 7aedfce..86707d8 100644 --- a/src/main/java/frc4388/robot/RobotMap.java +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -4,6 +4,8 @@ package frc4388.robot; +import javax.swing.text.WrappedPlainView; + import com.ctre.phoenix.motorcontrol.NeutralMode; import com.ctre.phoenix.motorcontrol.StatorCurrentLimitConfiguration; import com.ctre.phoenix.motorcontrol.SupplyCurrentLimitConfiguration; @@ -35,7 +37,19 @@ public class RobotMap { } /* Swerve Subsystem */ - public final WPI_TalonFX leftFrontSteerMotor; + public final WPI_TalonFX leftFrontSteerMotor = null; + public final WPI_TalonFX leftFrontWheelMotor = null; + public final WPI_TalonFX rightFrontSteerMotor = null; + public final WPI_TalonFX rightFrontWheelMotor = null; + public final WPI_TalonFX leftBackSteerMotor = null; + public final WPI_TalonFX leftBackWheelMotor = null; + public final WPI_TalonFX rightBackSteerMotor = null; + public final WPI_TalonFX rightBackWheelMotor = null; + public final CANCoder leftFrontEncoder = null; + public final CANCoder rightFrontEncoder = null; + public final CANCoder leftBackEncoder = null; + public final CANCoder rightBackEncoder = null; + // public final WPI_TalonFX leftFrontSteerMotor = new // WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_STEER_CAN_ID); // public final WPI_TalonFX leftFrontWheelMotor = new From 038ef47841f62ee45aaad07a94a147dcdcae9cc0 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Thu, 24 Feb 2022 19:26:58 -0700 Subject: [PATCH 111/151] Update AimToCenter.java --- src/main/java/frc4388/robot/commands/AimToCenter.java | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc4388/robot/commands/AimToCenter.java b/src/main/java/frc4388/robot/commands/AimToCenter.java index d463f07..ede60bb 100644 --- a/src/main/java/frc4388/robot/commands/AimToCenter.java +++ b/src/main/java/frc4388/robot/commands/AimToCenter.java @@ -38,13 +38,13 @@ public class AimToCenter extends CommandBase { if (x > 0) { m_targetAngle = 180 + Math.atan(y / x) - m_drive.gyro.getAngle(); } - if (x < 0) { + else if (x < 0) { m_targetAngle = 360 + Math.atan(y / x) - m_drive.gyro.getAngle(); } - if (x == 0 && y > 0) { + else if (x == 0 && y > 0) { m_targetAngle = 270 - m_drive.gyro.getAngle(); } - if (x == 0 && y < 0) { + else if (x == 0 && y < 0) { m_targetAngle = 90 - m_drive.gyro.getAngle(); } @@ -53,7 +53,7 @@ public class AimToCenter extends CommandBase { } public boolean isDeadzone() { - if ((-20 < m_targetAngle) && (m_targetAngle < 0)) { + if ((-20 < m_targetAngle) && (m_targetAngle < 0)) { //Make both -20 and 0 Constants return true; } else { return false; From 31346ff646d7ebe3026fbcc01913a550339ab83e Mon Sep 17 00:00:00 2001 From: Ryan Manley <42309874+ryan123rudder@users.noreply.github.com> Date: Thu, 24 Feb 2022 19:32:33 -0700 Subject: [PATCH 112/151] finished AimToCenter --- src/main/java/frc4388/robot/Constants.java | 17 +++-------------- .../frc4388/robot/commands/AimToCenter.java | 3 ++- 2 files changed, 5 insertions(+), 15 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index b23b51e..6dde32e 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -83,12 +83,6 @@ public final class Constants { public static final int XBOX_OPERATOR_ID = 1; } - public static final class OdoAimConstants { - public static final double X_VECTOR_DISTANCE = 12.3; - // public static final Gains AIM_GAINS = new Gains(0, 0, 0, 0, 0, 0, 1); - - - } public static final class ShooterConstants { /* PID Constants Shooter */ public static final int CLOSED_LOOP_TIME_MS = 1; @@ -116,6 +110,9 @@ public final class Constants { 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 double DEADZONE_LEFT = -20.0; + public static final double DEADZONE_RIGHT = 0.0; + public static final int SHOOTER_FALCON_BALLER_ID = 0; //unknown value, fix later// public static final int SHOOTER_FALCON_BALLER_FOLLOWER_ID = 0; //"// @@ -133,13 +130,5 @@ public final class Constants { public static final double TARGET_HEIGHT = 67.5; public static final double FOV = 29.8; //Field of view limelight public static final double LIME_ANGLE = 24.7; - - - - - - - - } } diff --git a/src/main/java/frc4388/robot/commands/AimToCenter.java b/src/main/java/frc4388/robot/commands/AimToCenter.java index ede60bb..723bd88 100644 --- a/src/main/java/frc4388/robot/commands/AimToCenter.java +++ b/src/main/java/frc4388/robot/commands/AimToCenter.java @@ -5,6 +5,7 @@ package frc4388.robot.commands; import edu.wpi.first.wpilibj2.command.CommandBase; +import frc4388.robot.Constants.ShooterConstants; import frc4388.robot.subsystems.SwerveDrive; import frc4388.robot.subsystems.Turret; @@ -53,7 +54,7 @@ public class AimToCenter extends CommandBase { } public boolean isDeadzone() { - if ((-20 < m_targetAngle) && (m_targetAngle < 0)) { //Make both -20 and 0 Constants + if ((ShooterConstants.DEADZONE_LEFT < m_targetAngle) && (m_targetAngle < ShooterConstants.DEADZONE_RIGHT)) { return true; } else { return false; From 9d5d58f032856c66cfa5736cf69f271017217060 Mon Sep 17 00:00:00 2001 From: nathanrsxtn Date: Fri, 25 Feb 2022 01:33:32 -0700 Subject: [PATCH 113/151] Improve stack trace logging Shorten log signatures Add task to download recorded autos --- .gitignore | 2 + .vscode/launch.json | 10 +-- .vscode/tasks.json | 19 +++-- .../edu/wpi/first/wpilibj/DriverStation.java | 57 ++++++++----- src/main/java/frc4388/robot/Main.java | 2 +- src/main/java/frc4388/robot/Robot.java | 29 +++---- .../java/frc4388/robot/RobotContainer.java | 4 +- .../java/frc4388/robot/subsystems/LED.java | 2 +- .../java/frc4388/utility/AnsiLogging.java | 85 ++++++++++--------- 9 files changed, 117 insertions(+), 93 deletions(-) diff --git a/.gitignore b/.gitignore index 9535c83..7d0efa3 100644 --- a/.gitignore +++ b/.gitignore @@ -160,3 +160,5 @@ bin/ # Simulation GUI and other tools window save file *-window.json + +src/main/deploy/config.json \ No newline at end of file diff --git a/.vscode/launch.json b/.vscode/launch.json index 4bca61f..4cb2727 100644 --- a/.vscode/launch.json +++ b/.vscode/launch.json @@ -4,13 +4,6 @@ // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387 "version": "0.2.0", "configurations": [ - { - "type": "java", - "name": "Launch Main", - "request": "launch", - "mainClass": "frc4388.robot.Main", - "projectName": "2022NoWayHome" - }, { "type": "wpilib", "name": "WPILib Desktop Debug", @@ -21,7 +14,8 @@ "type": "wpilib", "name": "WPILib roboRIO Debug", "request": "launch", - "desktop": false + "desktop": false, + "postDebugTask": "downloadDeployDirectory" } ] } diff --git a/.vscode/tasks.json b/.vscode/tasks.json index 6ef8685..12d8f43 100644 --- a/.vscode/tasks.json +++ b/.vscode/tasks.json @@ -1,10 +1,19 @@ { "version": "2.0.0", "tasks": [ - { - "label": "downloadDeployDirectory", - "type": "shell", - "command": "scp -pr lvuser@roboRIO-4388-FRC.local:/home/lvuser/deploy ./deploy" - } + { + "label": "downloadDeployDirectory", + "type": "shell", + "command": "scp -prv lvuser@roboRIO-4388-FRC.local:/home/lvuser/deploy ./src/main/", + "presentation": { + "echo": true, + "reveal": "always", + "focus": false, + "panel": "dedicated", + "showReuseMessage": true, + "clear": true + }, + "problemMatcher": [] + } ] } \ No newline at end of file diff --git a/src/main/java/edu/wpi/first/wpilibj/DriverStation.java b/src/main/java/edu/wpi/first/wpilibj/DriverStation.java index d58a61b..876e42d 100644 --- a/src/main/java/edu/wpi/first/wpilibj/DriverStation.java +++ b/src/main/java/edu/wpi/first/wpilibj/DriverStation.java @@ -399,29 +399,46 @@ public class DriverStation { boolean printTrace, StackTraceElement[] stackTrace, int stackTraceFirst) { - String locString; - if (stackTrace.length >= stackTraceFirst + 1) { - locString = stackTrace[stackTraceFirst].toString(); - } else { - locString = ""; - } - StringBuilder traceString = new StringBuilder(); - if (printTrace) { - boolean haveLoc = false; - for (int i = stackTraceFirst; i < stackTrace.length; i++) { - String loc = stackTrace[i].toString(); - traceString.append("\tat ").append(loc).append('\n'); - // get first user function - if (!haveLoc && !loc.startsWith("edu.wpi.first")) { - locString = loc; - haveLoc = true; - } - } - } + // String locString; + // if (stackTrace.length >= stackTraceFirst + 1) { + // locString = stackTrace[stackTraceFirst].toString(); + // } else { + // locString = ""; + // } + // StringBuilder traceString = new StringBuilder(); + // if (printTrace) { + // boolean haveLoc = false; + // for (int i = stackTraceFirst; i < stackTrace.length; i++) { + // String loc = stackTrace[i].toString(); + // traceString.append("\tat ").append(loc).append('\n'); + // // get first user function + // if (!haveLoc && !loc.startsWith("edu.wpi.first")) { + // locString = loc; + // haveLoc = true; + // } + // } + // } // HAL.sendError(isError, code, false, error, locString, traceString.toString(), true); // for (StackTraceElement traceElement : stackTrace) // System.err.println("\tat " + traceElement); - java.util.logging.Logger.getLogger(HAL.class.getName()).log(isError ? java.util.logging.Level.SEVERE : java.util.logging.Level.FINEST, "Warning at {0}: {1}", new Object[] {locString, error.split("\n")[0]}); + java.util.logging.LogRecord logRecord = new java.util.logging.LogRecord(isError ? java.util.logging.Level.SEVERE : java.util.logging.Level.FINER, error.stripTrailing()); + java.util.Optional.ofNullable(stackTrace).filter(s -> s.length >= stackTraceFirst + 1).map(s -> java.util.Arrays.copyOfRange(s, Math.min(Math.max(0, stackTraceFirst), s.length - 1), s.length - 1)).ifPresent(presentStackTrace -> { + logRecord.setSourceMethodName(presentStackTrace[0].getMethodName()); + String throwableMessage; + if (presentStackTrace[0].toString().equals("edu.wpi.first.wpilibj.Tracer.lambda$printEpochs$0(Tracer.java:63)")) { + throwableMessage = "Epochs" + System.lineSeparator() + logRecord.getMessage(); + presentStackTrace = new java.lang.StackTraceElement[0]; + logRecord.setLevel(java.util.logging.Level.FINEST); + logRecord.setMessage("Execution times:"); + } else if (printTrace) { + long lineCount = logRecord.getMessage().lines().count(); + throwableMessage = (lineCount > 1 ? logRecord.getMessage().lines().findFirst().map(s -> s + " + " + lineCount + " more lines...").orElse("") : logRecord.getMessage()).stripLeading(); + } else return; + java.lang.Throwable throwable = new java.lang.Throwable(throwableMessage); + throwable.setStackTrace(presentStackTrace); + logRecord.setThrown(throwable); + }); + java.util.logging.Logger.getLogger(HAL.class.getSimpleName()).log(logRecord); } /** diff --git a/src/main/java/frc4388/robot/Main.java b/src/main/java/frc4388/robot/Main.java index a718f7e..8d25e15 100644 --- a/src/main/java/frc4388/robot/Main.java +++ b/src/main/java/frc4388/robot/Main.java @@ -30,7 +30,7 @@ public final class Main { */ public static void main(String... args) { AnsiLogging.systemInstall(); - DurianPlugins.register(Errors.Plugins.Log.class, e -> Logger.getLogger(e.getStackTrace()[0].getClassName()).log(Level.SEVERE, e, e::getLocalizedMessage)); + DurianPlugins.register(Errors.Plugins.Log.class, e -> Logger.getLogger(e.getStackTrace()[0].getClassName().substring(e.getStackTrace()[0].getClassName().lastIndexOf('.') + 1)).log(Level.SEVERE, e, e::getLocalizedMessage)); RobotBase.startRobot(Robot::new); } } diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java index 28fc2fe..90394c1 100644 --- a/src/main/java/frc4388/robot/Robot.java +++ b/src/main/java/frc4388/robot/Robot.java @@ -9,7 +9,7 @@ import java.nio.file.Files; import java.nio.file.Path; import java.util.logging.Level; import java.util.logging.Logger; -import java.util.stream.StreamSupport; +import java.util.stream.IntStream; import com.diffplug.common.base.Errors; @@ -19,7 +19,6 @@ 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 edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.RunCommand; import frc4388.utility.RobotTime; @@ -31,7 +30,7 @@ import frc4388.utility.RobotTime; * project. */ public class Robot extends TimedRobot { - private static final Logger LOGGER = Logger.getLogger(Robot.class.getName()); + private static final Logger LOGGER = Logger.getLogger(Robot.class.getSimpleName()); Command m_autonomousCommand; private RobotTime m_robotTime = RobotTime.getInstance(); @@ -43,22 +42,21 @@ public class Robot extends TimedRobot { */ @Override public void robotInit() { - // if (org.fusesource.jansi.Ansi.isEnabled()) { - LOGGER.log(Level.ALL, "Logging Test 1/8"); - LOGGER.log(Level.SEVERE, "Logging Test 2/8"); - LOGGER.log(Level.WARNING, "Logging Test 3/8"); - LOGGER.log(Level.INFO, "Logging Test 4/8"); - LOGGER.log(Level.CONFIG, "Logging Test 5/8"); - LOGGER.log(Level.FINE, "Logging Test 6/8"); - LOGGER.log(Level.FINER, "Logging Test 7/8"); - LOGGER.log(Level.FINEST, "Logging Test 8/8"); - // } + LOGGER.log(Level.ALL, "Logging Test 1/8"); + LOGGER.log(Level.SEVERE, "Logging Test 2/8"); + LOGGER.log(Level.WARNING, "Logging Test 3/8"); + LOGGER.log(Level.INFO, "Logging Test 4/8"); + LOGGER.log(Level.CONFIG, "Logging Test 5/8"); + LOGGER.log(Level.FINE, "Logging Test 6/8"); + LOGGER.log(Level.FINER, "Logging Test 7/8"); + LOGGER.log(Level.FINEST, "Logging Test 8/8"); + Errors.log().run(() -> { throw new Throwable("Exception Test"); }); // var path = PathPlannerUtil.Path.read(Filesystem.getDeployDirectory().toPath().resolve("pathplanner").resolve("Move Forward.path").toFile()); // LOGGER.finest(path::toString); LOGGER.fine("robotInit()"); - LOGGER.fine("Sssssssssh."); - DriverStation.silenceJoystickConnectionWarning(true); + // LOGGER.fine("Sssssssssh."); + // DriverStation.silenceJoystickConnectionWarning(true); // Instantiate our RobotContainer. This will perform all our button bindings, and put our // autonomous chooser on the dashboard. m_robotContainer = new RobotContainer(); @@ -110,6 +108,7 @@ public class Robot extends TimedRobot { SmartDashboard.putNumber("Odometry X", m_robotContainer.getOdometry().getX()); SmartDashboard.putNumber("Odometry Y", m_robotContainer.getOdometry().getY()); SmartDashboard.putNumber("Odometry Theta", m_robotContainer.getOdometry().getRotation().getDegrees()); + IntStream.range(0, 9999).forEach(Math::cos); } /** diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 2599576..83da3e9 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -75,7 +75,7 @@ import frc4388.utility.controller.DeadbandedXboxController; * commands, and button mappings) should be declared here. */ public class RobotContainer { - private static final Logger LOGGER = Logger.getLogger(RobotContainer.class.getName()); + private static final Logger LOGGER = Logger.getLogger(RobotContainer.class.getSimpleName()); /* RobotMap */ private final RobotMap m_robotMap = new RobotMap(); @@ -237,7 +237,7 @@ public class RobotContainer { m_robotSwerveDrive::setModuleStates, m_robotSwerveDrive), new InstantCommand(m_robotSwerveDrive::stopModules)).withName("Run Autonomous Path"); } else { - Logger.getLogger(this.getClass().getName()).severe("No auto selected."); + LOGGER.severe("No auto selected."); return new RunCommand(() -> { }).withName("No Autonomous Path"); } diff --git a/src/main/java/frc4388/robot/subsystems/LED.java b/src/main/java/frc4388/robot/subsystems/LED.java index eaab9dd..e46be14 100644 --- a/src/main/java/frc4388/robot/subsystems/LED.java +++ b/src/main/java/frc4388/robot/subsystems/LED.java @@ -27,7 +27,7 @@ public class LED extends SubsystemBase { m_LEDController = LEDController; setPattern(LEDConstants.DEFAULT_PATTERN); updateLED(); - Logger.getLogger(LED.class.getName()).finer("In the Beginning, there was Joe.\nAnd he said, 'Let there be LEDs.'\nAnd it was good."); + Logger.getLogger(LED.class.getSimpleName()).finer("In the Beginning, there was Joe.\nAnd he said, 'Let there be LEDs.'\nAnd it was good."); } @Override diff --git a/src/main/java/frc4388/utility/AnsiLogging.java b/src/main/java/frc4388/utility/AnsiLogging.java index c37a3a6..15930ea 100644 --- a/src/main/java/frc4388/utility/AnsiLogging.java +++ b/src/main/java/frc4388/utility/AnsiLogging.java @@ -9,6 +9,8 @@ import java.io.PrintWriter; import java.io.StringWriter; import java.time.ZoneId; import java.time.ZonedDateTime; +import java.util.Map; +import java.util.Optional; import java.util.logging.ConsoleHandler; import java.util.logging.Formatter; import java.util.logging.Level; @@ -19,10 +21,6 @@ import java.util.logging.Logger; import org.fusesource.jansi.Ansi; import org.fusesource.jansi.Ansi.Attribute; import org.fusesource.jansi.Ansi.Color; - -import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; - import org.fusesource.jansi.AnsiConsole; public class AnsiLogging extends ConsoleHandler { @@ -31,67 +29,72 @@ public class AnsiLogging extends ConsoleHandler { // Configures java.util.logging.Logger to output additional colored information. LogManager.getLogManager().updateConfiguration(key -> (o, n) -> { switch (key) { - case ".level": return Level.ALL.getName(); - case "handlers": return AnsiColorConsoleHandler.class.getName(); - default: return n; + case ".level": + return Level.ALL.getName(); + case "handlers": + return AnsiColorConsoleHandler.class.getName(); + default: + return n; } }); // Replaces standard output streams with org.fusesource.jansi.AnsiPrintStreams. AnsiConsole.systemInstall(); // Replaces standard output stream with java.util.logging.Logger. - System.setOut(printStreamLogger(Logger.getGlobal(), Level.ALL)); + System.setOut(printStreamLogger(Logger.getGlobal(), Level.INFO)); // Replaces standard error output stream with java.util.logging.Logger. System.setErr(printStreamLogger(Logger.getGlobal(), Level.SEVERE)); } catch (IOException exception) { exception.printStackTrace(AnsiConsole.sysErr()); } } - + public static class AnsiColorConsoleHandler extends ConsoleHandler { @Override public void publish(LogRecord logRecord) { AnsiConsole.err().print(getFormatter().format(logRecord)); AnsiConsole.err().flush(); } + @Override public Formatter getFormatter() { return formatter; } + private static final Formatter formatter = new Formatter() { + private final ZoneId zoneId = ZoneId.systemDefault(); + private final Map levelColors = Map.of( + Level.OFF.intValue(), "", + Level.SEVERE.intValue(), makeSignatureFormatString(ansi().fgBright(Color.RED)), + Level.WARNING.intValue(), makeSignatureFormatString(ansi().fgBright(Color.YELLOW)), + Level.INFO.intValue(), makeSignatureFormatString(ansi().fg(Color.GREEN)), + Level.CONFIG.intValue(), makeSignatureFormatString(ansi().fgBright(Color.BLUE)), + Level.FINE.intValue(), makeSignatureFormatString(ansi().fg(Color.CYAN)), + Level.FINER.intValue(), makeSignatureFormatString(ansi().fg(Color.MAGENTA)), + Level.FINEST.intValue(), makeSignatureFormatString(ansi().fgBright(Color.BLACK)), + Level.ALL.intValue(), makeSignatureFormatString(ansi().fg(Color.DEFAULT)) + ); + + private String makeSignatureFormatString(Ansi base) { + return base.bold().a(Attribute.UNDERLINE).a("[%1$tb %1$td %1$tk:%1$tM:%1$tS.%1$tL] %2$s %3$s:").boldOff().a(Attribute.UNDERLINE_OFF).a("%4$s%5$s").a(Attribute.INTENSITY_FAINT).a("%6$s").reset().a("%n").toString(); + } + + private String makeStackTraceString(Throwable throwable) { + StringWriter stringWriter = new StringWriter(); + try (PrintWriter printWriter = new PrintWriter(stringWriter)) { + printWriter.println(); + throwable.printStackTrace(printWriter); + } + return stringWriter.toString(); + } + @Override public String format(LogRecord logRecord) { - ZonedDateTime zdt = ZonedDateTime.ofInstant(logRecord.getInstant(), ZoneId.systemDefault()); - String source; - if (logRecord.getSourceClassName() != null && !logRecord.getSourceClassName().startsWith(AnsiLogging.class.getName())) { - source = logRecord.getSourceClassName(); - if (logRecord.getSourceMethodName() != null) { - source += " " + logRecord.getSourceMethodName(); - } - } else - source = logRecord.getLoggerName(); + ZonedDateTime time = ZonedDateTime.ofInstant(logRecord.getInstant(), zoneId); + String source = Optional.ofNullable(logRecord.getLoggerName()).or(() -> Optional.ofNullable(logRecord.getSourceClassName())).map(s -> s + " ").orElse("") + Optional.ofNullable(logRecord.getSourceMethodName()).orElse(""); String message = formatMessage(logRecord); - boolean multiline = message.contains("\n"); - String throwable = ""; - if (logRecord.getThrown() != null) { - StringWriter sw = new StringWriter(); - try (PrintWriter pw = new PrintWriter(sw)) { - pw.println(); - logRecord.getThrown().printStackTrace(pw); - } - throwable = sw.toString(); - multiline = true; - } - Ansi ansi; - if (logRecord.getLevel() == Level.SEVERE) ansi = ansi().fgBright(Color.RED); - else if (logRecord.getLevel() == Level.WARNING) ansi = ansi().fgBright(Color.YELLOW); - else if (logRecord.getLevel() == Level.INFO) ansi = ansi().fg(Color.GREEN); - else if (logRecord.getLevel() == Level.CONFIG) ansi = ansi().fgBright(Color.BLUE); - else if (logRecord.getLevel() == Level.FINE) ansi = ansi().fg(Color.CYAN); - else if (logRecord.getLevel() == Level.FINER) ansi = ansi().fg(Color.MAGENTA); - else if (logRecord.getLevel() == Level.FINEST) ansi = ansi().fgBright(Color.BLACK); - else ansi = ansi().fg(Color.DEFAULT); - String format = ansi.bold().a(Attribute.UNDERLINE).a("%1$tb %1$td, %1$tY %1$tl:%1$tM:%1$tS %1$Tp %2$s %4$s:").boldOff().a(Attribute.UNDERLINE_OFF).a(multiline ? "%n%5$s%6$s" : " %5$s%6$s").reset().a("%n").toString(); - return String.format(format, zdt, source, logRecord.getLoggerName(), logRecord.getLevel().getLocalizedName(), message, throwable); + String throwable = Optional.ofNullable(logRecord.getThrown()).map(this::makeStackTraceString).orElse(""); + String format = levelColors.getOrDefault(logRecord.getLevel().intValue(), levelColors.get(Level.ALL.intValue())); + return String.format(format, time, source, logRecord.getLevel().getLocalizedName(), message.lines().count() > 1 ? System.lineSeparator() : " ", message, throwable); } }; } @@ -101,7 +104,7 @@ public class AnsiLogging extends ConsoleHandler { private final StringBuilder stringBuilder = new StringBuilder(); @Override - public final void write(int i) throws IOException { + public void write(int i) throws IOException { if (i == '\n') { logger.log(level, stringBuilder::toString); stringBuilder.setLength(0); From 6e55d6fabddfa630dda97bfe29488a05dc22987a Mon Sep 17 00:00:00 2001 From: aarav18 Date: Fri, 25 Feb 2022 20:18:21 -0700 Subject: [PATCH 114/151] shooter tables and shoot command --- src/main/deploy/Robot Data - Distances.csv | 3 + .../frc4388/robot/commands/AimToCenter.java | 10 +- .../java/frc4388/robot/commands/Shoot.java | 58 +++++ .../frc4388/robot/subsystems/BoomBoom.java | 85 +++++-- .../java/frc4388/robot/subsystems/Hood.java | 30 +-- .../java/frc4388/robot/subsystems/Turret.java | 8 +- src/main/java/frc4388/utility/CSV.java | 240 ++++++++++++++++++ .../java/frc4388/utility/ShooterTables.java | 164 ------------ 8 files changed, 385 insertions(+), 213 deletions(-) create mode 100644 src/main/deploy/Robot Data - Distances.csv create mode 100644 src/main/java/frc4388/robot/commands/Shoot.java create mode 100644 src/main/java/frc4388/utility/CSV.java delete mode 100644 src/main/java/frc4388/utility/ShooterTables.java diff --git a/src/main/deploy/Robot Data - Distances.csv b/src/main/deploy/Robot Data - Distances.csv new file mode 100644 index 0000000..99413bc --- /dev/null +++ b/src/main/deploy/Robot Data - Distances.csv @@ -0,0 +1,3 @@ +Distance (in) ,Hood Ext. (u) ,Drum Velocity (u/ds) +0 ,16 ,12000 +999 ,28.8 ,12000 \ No newline at end of file diff --git a/src/main/java/frc4388/robot/commands/AimToCenter.java b/src/main/java/frc4388/robot/commands/AimToCenter.java index 723bd88..9a90cb5 100644 --- a/src/main/java/frc4388/robot/commands/AimToCenter.java +++ b/src/main/java/frc4388/robot/commands/AimToCenter.java @@ -53,12 +53,12 @@ public class AimToCenter extends CommandBase { } + /** + * Checks if in deadzone. + * @return True if deadzone. + */ public boolean isDeadzone() { - if ((ShooterConstants.DEADZONE_LEFT < m_targetAngle) && (m_targetAngle < ShooterConstants.DEADZONE_RIGHT)) { - return true; - } else { - return false; - } + return ((ShooterConstants.DEADZONE_LEFT < m_targetAngle) && (m_targetAngle < ShooterConstants.DEADZONE_RIGHT)); } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc4388/robot/commands/Shoot.java b/src/main/java/frc4388/robot/commands/Shoot.java new file mode 100644 index 0000000..2f8c5ef --- /dev/null +++ b/src/main/java/frc4388/robot/commands/Shoot.java @@ -0,0 +1,58 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc4388.robot.commands; + +import java.nio.file.SecureDirectoryStream; + +import edu.wpi.first.wpilibj2.command.CommandBase; +import frc4388.robot.subsystems.BoomBoom; +import frc4388.robot.subsystems.Hood; +import frc4388.robot.subsystems.SwerveDrive; + +public class Shoot extends CommandBase { + + public SwerveDrive m_swerve; + public BoomBoom m_boomBoom; + public Hood m_hood; + + public double m_targetVel; + public double m_targetHood; + public double m_distance; + + /** Creates a new Shoot. */ + public Shoot(SwerveDrive sDrive, BoomBoom sShooter, Hood sHood) { + // Use addRequirements() here to declare subsystem dependencies. + m_swerve = sDrive; + m_boomBoom = sShooter; + m_hood = sHood; + + addRequirements(m_swerve, m_boomBoom, m_hood); + } + + // Called when the command is initially scheduled. + @Override + public void initialize() { + m_distance = 0; //TODO: get this value using odometry + m_targetVel = m_boomBoom.getVelocity(m_distance); + m_targetHood = m_boomBoom.getHood(m_distance); + } + + // Called every time the scheduler runs while the command is scheduled. + @Override + public void execute() { + m_hood.runAngleAdjustPID(m_targetHood); + m_boomBoom.runDrumShooterVelocityPID(m_targetVel); + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) {} + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return false; + } +} diff --git a/src/main/java/frc4388/robot/subsystems/BoomBoom.java b/src/main/java/frc4388/robot/subsystems/BoomBoom.java index 01c850c..9dfd332 100644 --- a/src/main/java/frc4388/robot/subsystems/BoomBoom.java +++ b/src/main/java/frc4388/robot/subsystems/BoomBoom.java @@ -4,28 +4,29 @@ package frc4388.robot.subsystems; -import java.io.Console; -import java.util.Base64.Encoder; +import java.io.File; +import java.io.IOException; +import java.util.Comparator; +import java.util.Map; +import java.util.Optional; +import java.util.function.Function; +import java.util.regex.Pattern; +import java.util.stream.IntStream; -import com.ctre.phoenix.motorcontrol.NeutralMode; import com.ctre.phoenix.motorcontrol.TalonFXControlMode; import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; -import edu.wpi.first.wpilibj.simulation.JoystickSim; -import edu.wpi.first.wpilibj.smartdashboard.*; -import edu.wpi.first.math.controller.BangBangController; -import edu.wpi.first.math.controller.SimpleMotorFeedforward; +import edu.wpi.first.wpilibj.Filesystem; +import edu.wpi.first.wpilibj.RobotBase; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc4388.robot.Constants.ShooterConstants; -import frc4388.utility.ShooterTables; +import frc4388.utility.CSV; import frc4388.utility.Gains; import frc4388.utility.controller.IHandController; -import com.revrobotics.RelativeEncoder; public class BoomBoom extends SubsystemBase { public WPI_TalonFX m_shooterFalconLeft; public WPI_TalonFX m_shooterFalconRight; -public ShooterTables m_shooterTable; public static Gains m_drumShooterGains = ShooterConstants.DRUM_SHOOTER_GAINS; public static BoomBoom m_boomBoom; public static IHandController m_driverController; //not sure if driverController in 2022 = m_controller in 2020 @@ -42,7 +43,11 @@ public Turret m_turretSubsystem; // SimpleMotorFeedforward feedforward = new SimpleMotorFeedforward(69, 42, 0); //get real values later +public static class ShooterTableEntry { + public Double distance, hoodExt, drumVelocity; +} +private ShooterTableEntry[] m_shooterTable; /* * Creates new BoomBoom subsystem, has drum shooter and angle adjuster @@ -51,27 +56,55 @@ public Turret m_turretSubsystem; public BoomBoom(WPI_TalonFX shooterFalconLeft, WPI_TalonFX shooterFalconRight) { m_shooterFalconLeft = shooterFalconLeft; m_shooterFalconRight = shooterFalconRight; - m_shooterTable = new ShooterTables(); + + + try { + CSV csv = new CSV<>(ShooterTableEntry::new) { + private final Pattern parentheses = Pattern.compile("\\([^\\)]*+\\)"); + + @Override + protected String headerSanitizer(final String header) { + return super.headerSanitizer(parentheses.matcher(header).replaceAll("")); + } + + }; + m_shooterTable = csv.read(new File(Filesystem.getDeployDirectory(), "Robot Data - Distances.csv").toPath()); + new Thread(() -> System.out.println(CSV.ReflectionTable.create(m_shooterTable, RobotBase.isSimulation()))).start(); + } catch (final IOException e) { + e.printStackTrace(); + // throw new RuntimeException(e); + } +} + +public Double getVelocity(final Double distance) { + return linearInterpolate(m_shooterTable, distance, e -> e.distance, e -> e.drumVelocity).doubleValue(); +} + +public Double getHood(final Double distance) { + return linearInterpolate(m_shooterTable, distance, e -> e.distance, e -> e.hoodExt).doubleValue(); +} + +private static Number linearInterpolate(final E[] table, final Number lookupValue, final Function lookupGetter, final Function targetGetter) { + final Map.Entry closestEntry = lookup(table, lookupValue.doubleValue(), lookupGetter, false).orElse(Map.entry(table.length - 1, table[table.length - 1])); + final E closestRecord = closestEntry.getValue(); + final int closestRecordIndex = closestEntry.getKey(); + final E neighborRecord = table[lookupValue.doubleValue() <= lookupGetter.apply(closestRecord).doubleValue() ? Math.max(closestRecordIndex == 0 ? 1 : 0, closestRecordIndex - 1) : Math.min(closestRecordIndex + 1, table.length - (closestRecordIndex == table.length - 1 ? 2 : 1))]; + return lerp2(lookupValue, lookupGetter.apply(closestRecord), targetGetter.apply(closestRecord), lookupGetter.apply(neighborRecord), targetGetter.apply(neighborRecord)); +} + +private static Optional> lookup(final E[] table, final Number value, final Function valueGetter, final boolean exactMatch) { + final Optional> match = IntStream.range(0, table.length).mapToObj(i -> Map.entry(i, table[i])).min(Comparator.comparingDouble(e -> Math.abs(valueGetter.apply(e.getValue()).doubleValue() - value.doubleValue()))); + return !exactMatch || match.map(e -> valueGetter.apply(e.getValue()).equals(value)).orElse(false) ? match : Optional.empty(); +} + +private static Number lerp2(final Number x, final Number x0, final Number y0, final Number x1, final Number y1) { + final Number f = (x.doubleValue() - x0.doubleValue()) / (x1.doubleValue() - x0.doubleValue()); + return (1.0 - f.doubleValue()) * y0.doubleValue() + f.doubleValue() * y1.doubleValue(); } - @Override public void periodic() { // This method will be called once per scheduler run - -try { - // SmartDashboard.putNumber("Drum Velocity", m_shooterFalconLeft.getSelectedSensorVelocity()); - - // SmartDashboard.putNumber("Drum Velocity CSV", m_fireVel); - - // SmartDashboard.putNumber("Shooter Temp C", m_shooterFalconLeft.getTemperature()); //all these values should be "defined" elsewhere, fix this - - // SmartDashboard.putNumber("Shooter Current", m_shooterFalconLeft.getSupplyCurrent()); - - // SmartDashboard.putNumber("Drum Ready", m_isDrumReady); -} catch (Exception e) { - //TODO: handle exception -} } diff --git a/src/main/java/frc4388/robot/subsystems/Hood.java b/src/main/java/frc4388/robot/subsystems/Hood.java index 046d402..72bb3f8 100644 --- a/src/main/java/frc4388/robot/subsystems/Hood.java +++ b/src/main/java/frc4388/robot/subsystems/Hood.java @@ -23,13 +23,13 @@ import frc4388.utility.Gains; public class Hood extends SubsystemBase { public BoomBoom m_shooterSubsystem; - //public CANSparkMax m_angleAdjusterMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless); + public CANSparkMax m_angleAdjusterMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless); public SparkMaxLimitSwitch m_hoodUpLimitSwitch; public SparkMaxLimitSwitch m_hoodDownLimitSwitch; public static Gains m_angleAdjusterGains = ShooterConstants.SHOOTER_ANGLE_GAINS; - // public RelativeEncoder m_angleEncoder = m_angleAdjusterMotor.getEncoder(); + public RelativeEncoder m_angleEncoder = m_angleAdjusterMotor.getEncoder(); - // public SparkMaxPIDController m_angleAdjusterPIDController = m_angleAdjusterMotor.getPIDController(); + public SparkMaxPIDController m_angleAdjusterPIDController = m_angleAdjusterMotor.getPIDController(); //public boolean m_isHoodReady = false; @@ -39,12 +39,12 @@ public double m_fireAngle; /** Creates a new Hood. */ public Hood() { - // m_angleAdjusterMotor.setIdleMode(IdleMode.kBrake); + m_angleAdjusterMotor.setIdleMode(IdleMode.kBrake); - // m_hoodUpLimitSwitch = m_angleAdjusterMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen); - // m_hoodDownLimitSwitch = m_angleAdjusterMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen); - // m_hoodUpLimitSwitch.enableLimitSwitch(true); - // m_hoodDownLimitSwitch.enableLimitSwitch(true); + m_hoodUpLimitSwitch = m_angleAdjusterMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen); + m_hoodDownLimitSwitch = m_angleAdjusterMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen); + m_hoodUpLimitSwitch.enableLimitSwitch(true); + m_hoodDownLimitSwitch.enableLimitSwitch(true); } @@ -55,14 +55,14 @@ public double m_fireAngle; public void runAngleAdjustPID(double targetAngle) { //Set PID Coefficients - // m_angleAdjusterPIDController.setP(m_angleAdjusterGains.m_kP); - // m_angleAdjusterPIDController.setI(m_angleAdjusterGains.m_kI); - // m_angleAdjusterPIDController.setD(m_angleAdjusterGains.m_kD); - // m_angleAdjusterPIDController.setIZone(m_angleAdjusterGains.m_kIzone); - // m_angleAdjusterPIDController.setFF(m_angleAdjusterGains.m_kF); - // m_angleAdjusterPIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_angleAdjusterGains.m_kPeakOutput); + m_angleAdjusterPIDController.setP(m_angleAdjusterGains.m_kP); + m_angleAdjusterPIDController.setI(m_angleAdjusterGains.m_kI); + m_angleAdjusterPIDController.setD(m_angleAdjusterGains.m_kD); + m_angleAdjusterPIDController.setIZone(m_angleAdjusterGains.m_kIzone); + m_angleAdjusterPIDController.setFF(m_angleAdjusterGains.m_kF); + m_angleAdjusterPIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_angleAdjusterGains.m_kPeakOutput); - // m_angleAdjusterPIDController.setReference(targetAngle, ControlType.kPosition); + m_angleAdjusterPIDController.setReference(targetAngle, ControlType.kPosition); } diff --git a/src/main/java/frc4388/robot/subsystems/Turret.java b/src/main/java/frc4388/robot/subsystems/Turret.java index 4d7ac99..28c9583 100644 --- a/src/main/java/frc4388/robot/subsystems/Turret.java +++ b/src/main/java/frc4388/robot/subsystems/Turret.java @@ -51,10 +51,12 @@ public class Turret extends SubsystemBase { m_boomBoomRightLimit = m_boomBoomRotateMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen); m_boomBoomRightLimit.enableLimitSwitch(true); m_boomBoomLeftLimit.enableLimitSwitch(true); + SmartDashboard.putBoolean("Right Limit Switch Enabled", m_boomBoomRightLimit.isLimitSwitchEnabled()); + SmartDashboard.putBoolean("Left Limit Switch Enabled", m_boomBoomLeftLimit.isLimitSwitchEnabled()); - m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kForward, false); - m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kReverse, true); - m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.TURRET_RIGHT_SOFT_LIMIT); // Set + // m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kForward, false); + // m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kReverse, true); + // m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.TURRET_RIGHT_SOFT_LIMIT); // Set // second // soft // limit diff --git a/src/main/java/frc4388/utility/CSV.java b/src/main/java/frc4388/utility/CSV.java new file mode 100644 index 0000000..522980a --- /dev/null +++ b/src/main/java/frc4388/utility/CSV.java @@ -0,0 +1,240 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */ +/* Open Source Software - may be modified and shared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +package frc4388.utility; + +import java.awt.Color; +import java.io.BufferedReader; +import java.io.IOException; +import java.lang.invoke.MethodHandleProxies; +import java.lang.invoke.MethodHandles; +import java.lang.invoke.MethodType; +import java.lang.reflect.Array; +import java.lang.reflect.Field; +import java.lang.reflect.Modifier; +import java.nio.file.Files; +import java.nio.file.Path; +import java.text.MessageFormat; +import java.util.ArrayList; +import java.util.HashMap; +import java.util.List; +import java.util.Map; +import java.util.Objects; +import java.util.function.BiConsumer; +import java.util.function.Function; +import java.util.function.IntFunction; +import java.util.function.Predicate; +import java.util.function.Supplier; +import java.util.regex.Pattern; +import java.util.stream.Collectors; +import java.util.stream.IntStream; +import java.util.stream.Stream; + +public class CSV { + private static final Pattern SANITIZER = Pattern.compile("[^$\\w,]"); + + private final Supplier generator; + private final IntFunction arrayGenerator; + private final Map> setters; + + /** + * A binary string operator to be applied to the entire header of the CSV. + */ + protected String headerSanitizer(final String header) { + return SANITIZER.matcher(header).replaceAll(""); + } + + /** + * A binary string operator to be applied to each name in the header of the CSV. + */ + protected String nameProcessor(final String name) { + return Character.toLowerCase(name.charAt(0)) + name.substring(1); + } + + /** + * Creates a new {@code CSV} instance and prepares for populating the fields of objects created by + * the given generator. Private fields and fields of primitive types are not supported. + * @param generator a parameterless supplier which produces a new object with any number of fields + * corresponding to header names from a CSV file. The first character of the names + * from the header in the CSV file will be made lowercase and invalid characters + * will be removed to match Java naming conventions. + * @see #read(Path) + */ + @SuppressWarnings("unchecked") + public CSV(final Supplier generator) { + final Class clazz = generator.get().getClass(); + final Map, Function> fieldParsers = new HashMap<>(); + this.arrayGenerator = size -> (R[]) Array.newInstance(clazz, size); + this.generator = generator; + this.setters = new HashMap<>(); + for (final Field field : clazz.getFields()) { + final Function parser = Modifier.isStatic(field.getModifiers()) ? null : fieldParsers.computeIfAbsent(field.getType(), CSV::getTypeParser); + if (parser != null) + this.setters.put(field.getName(), (final R obj, final String rawValue) -> { + try { + field.set(obj, rawValue.isEmpty() ? null : parser.apply(rawValue)); + } catch (final IllegalAccessException e) { + throw new RuntimeException(e); + } + }); + } + } + + /** + * Reads and parses the contents of the given CSV file, and returns an array filled with populated + * objects created with the previously given generator. Cells are parsed using their corresponding + * field's {@code valueOf(String)} function. + * @param path the path to a CSV file + * @return the parsed data from the CSV file + * @throws IOException if an I/O error occurs opening the file + */ + @SuppressWarnings("unchecked") + public R[] read(final Path path) throws IOException { + try (final BufferedReader reader = Files.newBufferedReader(path)) { + final BiConsumer[] fieldSetters = Stream.of(headerSanitizer(reader.readLine()).split(",")).map(this::nameProcessor).map(setters::get).toArray(BiConsumer[]::new); + final Stream lines = reader.lines(); + return lines.filter(Predicate.not(String::isBlank)).map(line -> deserializeRecordString(line, fieldSetters, generator.get())).toArray(this.arrayGenerator); + } + } + + @SuppressWarnings("unchecked") + private static Function getTypeParser(final Class type) { + try { + return type.isAssignableFrom(String.class) ? Function.identity() : MethodHandleProxies.asInterfaceInstance(Function.class, MethodHandles.publicLookup().findStatic(type, "valueOf", MethodType.methodType(type, String.class))); + } catch (final NoSuchMethodException | IllegalAccessException e) { + return null; + } + } + + private static R deserializeRecordString(final String recordString, final BiConsumer[] fieldParseSetters, final R object) { + final int recordStringLength = recordString.length(); + int fieldBeginIndex = 0, tryFieldEndFromIndex = 0, i = 0; + while (tryFieldEndFromIndex < recordStringLength && i < fieldParseSetters.length) { + final int tryFieldEndIndex = recordString.indexOf(',', tryFieldEndFromIndex); + String field = recordString.substring(fieldBeginIndex, tryFieldEndIndex == -1 ? recordStringLength : tryFieldEndIndex).strip(); + if (!field.isEmpty() && (tryFieldEndFromIndex != fieldBeginIndex || field.charAt(0) == '"')) { + final int fieldLength = field.length(); + if (countTrailing(field, '"') % 2 == 0) { + tryFieldEndFromIndex = tryFieldEndIndex + 1; + continue; + } else + field = field.substring(1, fieldLength - 1).replace("\"\"", "\""); + } + final BiConsumer setter = fieldParseSetters[i]; + if (setter != null) + setter.accept(object, field); + tryFieldEndFromIndex = fieldBeginIndex = tryFieldEndIndex + 1; + i++; + } + return object; + } + + private static int countTrailing(final String str, final char c) { + final int l = str.length(); + int count = 0; + while (str.charAt(l - count - 1) == c && count < l) + count++; + return count; + } + + public static final class ReflectionTable { + public static String create(final T[] objects, boolean colored) { + final Field[] fields = Stream.of(objects).flatMap(object -> Stream.of(object.getClass().getFields())).distinct().toArray(Field[]::new); + final List> rows = new ArrayList<>(); + rows.add(Stream.of(fields).map(ReflectionTable::new).collect(Collectors.toList())); + rows.addAll(Stream.of(objects).map(obj -> Stream.of(fields).map(field -> new ReflectionTable(obj, field)).collect(Collectors.toList())).collect(Collectors.toList())); + final int[] columnWidths = rows.stream().map(row -> row.stream().map(cell -> cell.string).mapToInt(String::length).toArray()).reduce(new int[fields.length], (result, row) -> IntStream.range(0, row.length).map(i -> Math.max(result[i], row[i])).toArray()); + if (colored) + IntStream.range(0, fields.length).forEach(i -> { + final var columnSummaryStatistics = rows.stream().skip(1).mapToDouble(row -> row.get(i).getValue().doubleValue()).summaryStatistics(); + rows.stream().skip(1).forEach(row -> row.get(i).colorByValue(columnSummaryStatistics.getMin(), columnSummaryStatistics.getMax())); + }); + MessageFormat formatFormat = new MessageFormat(colored ? "{2} %{0}{1}s {3}" : " %{0}{1}s "); + return rows.stream().map(row -> IntStream.range(0, row.size()).mapToObj(i -> String.format(formatFormat.format(new Object[] { row.get(i).padRight ? "-" : "", columnWidths[i], row.get(i).escape, RESET_STYLE }), row.get(i).string)).collect(Collectors.joining("|"))).collect(Collectors.joining(LF)); + } + + private static final Color GRADIENT_MIN = new Color(0x00, 0x99, 0x00); + private static final Color GRADIENT_MAX = new Color(0x66, 0xFF, 0x66); + private static final String CONTROL = "\033"; + private static final String CSI = "["; + private static final String LF = "\n"; + private static final String RESET = "0"; + private static final String BOLD = "1"; + private static final String ITALIC = "3"; + private static final String UNDERLINE = "4"; + private static final String BACKGROUND_RED = "41"; + private static final String FOREGROUND = "38"; + private static final String BACKGROUND = "48"; + private static final String TRUECOLOR = "2"; + private static final String SEPARATOR = ";"; + private static final String SGR = "m"; + private static final String HEADER_STYLE = CONTROL + CSI + BOLD + SEPARATOR + UNDERLINE + SGR; + private static final String NULL_STYLE = CONTROL + CSI + ITALIC + SGR; + private static final String ERROR_STYLE = CONTROL + CSI + ITALIC + SGR + CONTROL + CSI + BACKGROUND_RED + SGR; + private static final String RESET_STYLE = CONTROL + CSI + RESET + SGR; + private Object value; + private String string; + private boolean padRight; + private String escape; + + private ReflectionTable(final Object obj, final Field field) { + try { + value = field.get(obj); + string = Objects.toString(value); + padRight = !Number.class.isAssignableFrom(field.getType()); + escape = Objects.isNull(value) ? NULL_STYLE : ""; + } catch (final IllegalAccessException | IllegalArgumentException e) { + value = null; + string = e.getClass().getSimpleName(); + padRight = false; + escape = ERROR_STYLE; + } + } + + private ReflectionTable(final Field field) { + value = null; + string = field.getName(); + padRight = true; + escape = HEADER_STYLE; + } + + private Number getValue() { + return padRight ? Objects.hashCode(string) : Objects.requireNonNullElse((Number) value, 0); + } + + private void colorByValue(final Number min, final Number max) { + if (Objects.nonNull(value)) { + final double range = max.doubleValue() - min.doubleValue(); + final double normal = range == 0 ? 0 : (getValue().doubleValue() - min.doubleValue()) / range; + final Color color = new Color(range(normal, GRADIENT_MIN.getRed(), GRADIENT_MAX.getRed()), range(normal, GRADIENT_MIN.getGreen(), GRADIENT_MAX.getGreen()), range(normal, GRADIENT_MIN.getBlue(), GRADIENT_MAX.getBlue())); + escape += (contrastRatio(color, Color.BLACK) > contrastRatio(Color.WHITE, color) ? colorTo24BitSGR(Color.BLACK, false) : colorTo24BitSGR(Color.WHITE, false)) + colorTo24BitSGR(color, true); + } + } + + private static String colorTo24BitSGR(final Color color, final boolean background) { + return CONTROL + CSI + (background ? BACKGROUND : FOREGROUND) + SEPARATOR + TRUECOLOR + SEPARATOR + color.getRed() + SEPARATOR + color.getGreen() + SEPARATOR + color.getBlue() + SGR; + } + + private static int range(final double normal, final int min, final int max) { + return (int) (normal * (max - min) + min); + } + + /* https://www.w3.org/TR/WCAG20/#contrast-ratiodef */ + private static float contrastRatio(final Color lighter, final Color darker) { + return (relativeLuminance(lighter) + 0.05f) / (relativeLuminance(darker) + 0.05f); + } + + /* https://www.w3.org/TR/2008/REC-WCAG20-20081211/#relativeluminancedef */ + private static float relativeLuminance(final Color color) { + final float[] components = color.getRGBComponents(null); + final float r = components[0] <= 0.03928f ? components[0] / 12.92f : (float) Math.pow((components[0] + 0.055f) / 1.055f, 2.4f); + final float g = components[1] <= 0.03928f ? components[1] / 12.92f : (float) Math.pow((components[1] + 0.055f) / 1.055f, 2.4f); + final float b = components[2] <= 0.03928f ? components[2] / 12.92f : (float) Math.pow((components[2] + 0.055f) / 1.055f, 2.4f); + return 0.2126f * r + 0.7152f * g + 0.0722f * b; + } + } +} diff --git a/src/main/java/frc4388/utility/ShooterTables.java b/src/main/java/frc4388/utility/ShooterTables.java deleted file mode 100644 index 2a5ce92..0000000 --- a/src/main/java/frc4388/utility/ShooterTables.java +++ /dev/null @@ -1,164 +0,0 @@ -package frc4388.utility; - -import java.io.BufferedReader; -import java.io.File; -import java.io.FileNotFoundException; -import java.io.FileReader; -import java.io.IOException; - -import edu.wpi.first.wpilibj.Filesystem; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; - -/** - * Add your docs here. - */ -public class ShooterTables { - double[][] m_distance = new double[50][4]; - double[][] m_angle = new double[50][2]; - - final int m_columnDistance = 0; - final int m_columnHood = 1; - final int m_columnVel = 2; - final int m_columnCenterDisplacement = 3; - final int m_columnAngle = 0; - final int m_columnDisplacement = 1; - - int m_distanceLength; - int m_angleLength; - - public ShooterTables() { - int lineNum = 0; - - File distanceCSV = new File(Filesystem.getDeployDirectory().getAbsolutePath() + "/Robot Data - Distances.csv"); - File angleCSV = new File(Filesystem.getDeployDirectory().getAbsolutePath() + "/Robot Data - Angles.csv"); - - try { - - - BufferedReader distanceReader = new BufferedReader(new FileReader(distanceCSV)); - BufferedReader angleReader = new BufferedReader(new FileReader(angleCSV)); - String line = ""; - - while ((line = distanceReader.readLine()) != null) { - - if (lineNum == 0) { - lineNum ++; - } else { - String[] values = line.split(","); - - m_distance[lineNum - 1][m_columnDistance] = Double.parseDouble(values[0]); - m_distance[lineNum - 1][m_columnHood] = Double.parseDouble(values[1]); - m_distance[lineNum - 1][m_columnVel] = Double.parseDouble(values[2]); - m_distance[lineNum - 1][m_columnCenterDisplacement] = Double.parseDouble(values[3]); - - lineNum ++; - } - - } - - m_distanceLength = lineNum-1; - lineNum = 0; - - while ((line = angleReader.readLine()) != null) { - - if (lineNum == 0) { - lineNum ++; - } else { - String[] values = line.split(","); - - m_angle[lineNum - 1][m_columnAngle] = Double.parseDouble(values[0]); - m_angle[lineNum - 1][m_columnDisplacement] = Double.parseDouble(values[1]); - - lineNum ++; - } - } - - m_angleLength = lineNum-1; - - distanceReader.close(); - angleReader.close(); - - } catch (FileNotFoundException e) { - e.printStackTrace(); - } catch (IOException e) { - e.printStackTrace(); - } - //SmartDashboard.putNumber("Row 2 Column 1", m_angle[1][0]); - //SmartDashboard.putNumber("Row 4 Column 2", m_angle[3][1]); - //SmartDashboard.putNumber("m_distanceLength", m_distanceLength); - //SmartDashboard.putNumber("Distance last row 0", m_distance[m_distanceLength-1][0]); - //SmartDashboard.putNumber("Distance last row 1", m_distance[m_distanceLength-1][1]); - //SmartDashboard.putNumber("Distance last row 2", m_distance[m_distanceLength-1][2]); - } - - public double getHood(double distance) { //Rotations of motor - int i = 0; - while ((i < m_distanceLength) && (m_distance[i][m_columnDistance] < distance)) { - i ++; - } - if ((i < m_distanceLength) && (m_distance[i][m_columnDistance] == distance)) { - return m_distance[i][m_columnHood]; - } else { - if (i >= m_distanceLength) { - i = m_distanceLength - 1; - } - return linearInterpolation(i, distance, m_columnHood, m_distance); - } - } - - public double getVelocity(double distance) { //Units per 100ms - int i = 0; - while ((i < m_distanceLength) && (m_distance[i][m_columnDistance] < distance)) { - i ++; - } - if ((i < m_distanceLength) && (m_distance[i][m_columnDistance] == distance)) { - return m_distance[i][m_columnVel]; - } else { - if (i >= m_distanceLength) { - i = m_distanceLength - 1; - } - return linearInterpolation(i, distance, m_columnVel, m_distance); - } - } - - public double getCenterDisplacement(double distance) { //Degrees of Lime FOV - int i = 0; - while ((i < m_distanceLength) && (m_distance[i][m_columnDistance] < distance)) { - i ++; - } - if ((i < m_distanceLength) && (m_distance[i][m_columnDistance] == distance)) { - return m_distance[i][m_columnCenterDisplacement]; - } else { - if (i >= m_distanceLength) { - i = m_distanceLength - 1; - } - return linearInterpolation(i, distance, m_columnCenterDisplacement, m_distance); - } - } - - - - public double getAngleDisplacement(double angle) { - int i = 0; - while ((i < m_angleLength) && (m_angle[i][m_columnAngle] < angle)) { - i ++; - } - if ((i < m_angleLength) && (m_angle[i][m_columnAngle] == angle)) { - return m_angle[i][m_columnDisplacement]; - } else { - if (i >= m_angleLength) { - i = m_angleLength - 1; - } - return linearInterpolation(i, angle, m_columnDisplacement, m_angle); - } - } - - public double linearInterpolation(int i, double value, int column, double[][] table) { - if (i != 0) { - double slope = (table[i][column] - table[i-1][column]) / (table[i][0] - table[i-1][0]); - value = slope * (value - table[i-1][0]) + table[i-1][column]; - return value; - } - return 0.0; - } -} \ No newline at end of file From 350cf33dd01e51b78ca5df6ea29884fd495ff347 Mon Sep 17 00:00:00 2001 From: Ryan Manley <42309874+ryan123rudder@users.noreply.github.com> Date: Sat, 26 Feb 2022 13:48:50 -0700 Subject: [PATCH 115/151] Cleaned up Math, added unit testing to AimToCenter --- simgui-ds.json | 3 +- simgui.json | 8 + src/main/deploy/Distances.csv | 0 src/main/java/frc4388/robot/Constants.java | 44 ++-- src/main/java/frc4388/robot/Robot.java | 1 + src/main/java/frc4388/robot/RobotMap.java | 213 +++++++++--------- .../frc4388/robot/commands/AimToCenter.java | 33 ++- .../frc4388/commands/AimToCenterTest.java | 113 ++++++++++ .../robot/subsystems/LEDSubsystemTest.java | 12 +- 9 files changed, 262 insertions(+), 165 deletions(-) create mode 100644 src/main/deploy/Distances.csv create mode 100644 src/test/java/frc4388/commands/AimToCenterTest.java diff --git a/simgui-ds.json b/simgui-ds.json index b16ea5c..0c5f2e8 100644 --- a/simgui-ds.json +++ b/simgui-ds.json @@ -91,10 +91,9 @@ ], "robotJoysticks": [ { - "useGamepad": true + "guid": "78696e70757401000000000000000000" }, { - "guid": "78696e70757401000000000000000000", "useGamepad": true } ] diff --git a/simgui.json b/simgui.json index 72aab8f..280daf8 100644 --- a/simgui.json +++ b/simgui.json @@ -30,5 +30,13 @@ "/LiveWindow/Ungrouped/Scheduler": "Scheduler", "/LiveWindow/Vision": "Subsystem" } + }, + "NetworkTables": { + "SmartDashboard": { + "Recording": { + "open": true + }, + "open": true + } } } diff --git a/src/main/deploy/Distances.csv b/src/main/deploy/Distances.csv new file mode 100644 index 0000000..e69de29 diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 6dde32e..5d61976 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -31,28 +31,28 @@ public final class Constants { public static final double JOYSTICK_TO_METERS_PER_SECOND = 5; public static final double MAX_SPEED_FEET_PER_SEC = 16; public static final double SPEED_FEET_PER_SECOND_AT_FULL_POWER = 20; - // public static final int LEFT_FRONT_STEER_CAN_ID = 2; - // public static final int LEFT_FRONT_WHEEL_CAN_ID = 3; - // public static final int RIGHT_FRONT_STEER_CAN_ID = 4; - // public static final int RIGHT_FRONT_WHEEL_CAN_ID = 5; - // public static final int LEFT_BACK_STEER_CAN_ID = 6; - // public static final int LEFT_BACK_WHEEL_CAN_ID = 7; - // public static final int RIGHT_BACK_STEER_CAN_ID = 8; - // public static final int RIGHT_BACK_WHEEL_CAN_ID = 9; - // public static final int LEFT_FRONT_STEER_CAN_ENCODER_ID = 10; - // public static final int RIGHT_FRONT_STEER_CAN_ENCODER_ID = 11; - // public static final int LEFT_BACK_STEER_CAN_ENCODER_ID = 12; - // public static final int RIGHT_BACK_STEER_CAN_ENCODER_ID = 13; + public static final int LEFT_FRONT_STEER_CAN_ID = 2; + public static final int LEFT_FRONT_WHEEL_CAN_ID = 3; + public static final int RIGHT_FRONT_STEER_CAN_ID = 4; + public static final int RIGHT_FRONT_WHEEL_CAN_ID = 5; + public static final int LEFT_BACK_STEER_CAN_ID = 6; + public static final int LEFT_BACK_WHEEL_CAN_ID = 7; + public static final int RIGHT_BACK_STEER_CAN_ID = 8; + public static final int RIGHT_BACK_WHEEL_CAN_ID = 9; + public static final int LEFT_FRONT_STEER_CAN_ENCODER_ID = 10; + public static final int RIGHT_FRONT_STEER_CAN_ENCODER_ID = 11; + public static final int LEFT_BACK_STEER_CAN_ENCODER_ID = 12; + public static final int RIGHT_BACK_STEER_CAN_ENCODER_ID = 13; // ofsets are in degrees //ofsets are in degrees - // public static final double LEFT_FRONT_ENCODER_OFFSET = 181.494141; - // public static final double RIGHT_FRONT_ENCODER_OFFSET = 360. - 59.238281; - // public static final double LEFT_BACK_ENCODER_OFFSET = 360. - 128.144531; - // public static final double RIGHT_BACK_ENCODER_OFFSET = 0.933594; - public static final double LEFT_FRONT_ENCODER_OFFSET = 180.0; - public static final double RIGHT_FRONT_ENCODER_OFFSET = 300.0; - public static final double LEFT_BACK_ENCODER_OFFSET = 360.0 - 128.0; - public static final double RIGHT_BACK_ENCODER_OFFSET = 0.0; + public static final double LEFT_FRONT_ENCODER_OFFSET = 181.494141; + public static final double RIGHT_FRONT_ENCODER_OFFSET = 360. - 59.238281; + public static final double LEFT_BACK_ENCODER_OFFSET = 360. - 128.144531; + public static final double RIGHT_BACK_ENCODER_OFFSET = 0.933594; + // public static final double LEFT_FRONT_ENCODER_OFFSET = 180.0; + // public static final double RIGHT_FRONT_ENCODER_OFFSET = 300.0; + // public static final double LEFT_BACK_ENCODER_OFFSET = 360.0 - 128.0; + // public static final double RIGHT_BACK_ENCODER_OFFSET = 0.0; // swerve PID constants public static final int SWERVE_SLOT_IDX = 0; @@ -110,8 +110,8 @@ public final class Constants { 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 double DEADZONE_LEFT = -20.0; - public static final double DEADZONE_RIGHT = 0.0; + public static final double DEADZONE_LEFT = 0.0; + public static final double DEADZONE_RIGHT = 340.0; public static final int SHOOTER_FALCON_BALLER_ID = 0; //unknown value, fix later// public static final int SHOOTER_FALCON_BALLER_FOLLOWER_ID = 0; //"// diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java index 119a032..bf9b82c 100644 --- a/src/main/java/frc4388/robot/Robot.java +++ b/src/main/java/frc4388/robot/Robot.java @@ -30,6 +30,7 @@ public class Robot extends TimedRobot { public void robotInit() { // Instantiate our RobotContainer. This will perform all our button bindings, and put our // autonomous chooser on the dashboard. + //AimToCenterTest.RunAll(); m_robotContainer = new RobotContainer(); } diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java index 86707d8..29ebda8 100644 --- a/src/main/java/frc4388/robot/RobotMap.java +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -7,6 +7,7 @@ package frc4388.robot; import javax.swing.text.WrappedPlainView; import com.ctre.phoenix.motorcontrol.NeutralMode; +import com.ctre.phoenix.motorcontrol.RemoteSensorSource; import com.ctre.phoenix.motorcontrol.StatorCurrentLimitConfiguration; import com.ctre.phoenix.motorcontrol.SupplyCurrentLimitConfiguration; import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; @@ -37,124 +38,112 @@ public class RobotMap { } /* Swerve Subsystem */ - public final WPI_TalonFX leftFrontSteerMotor = null; - public final WPI_TalonFX leftFrontWheelMotor = null; - public final WPI_TalonFX rightFrontSteerMotor = null; - public final WPI_TalonFX rightFrontWheelMotor = null; - public final WPI_TalonFX leftBackSteerMotor = null; - public final WPI_TalonFX leftBackWheelMotor = null; - public final WPI_TalonFX rightBackSteerMotor = null; - public final WPI_TalonFX rightBackWheelMotor = null; - public final CANCoder leftFrontEncoder = null; - public final CANCoder rightFrontEncoder = null; - public final CANCoder leftBackEncoder = null; - public final CANCoder rightBackEncoder = null; - - // public final WPI_TalonFX leftFrontSteerMotor = new - // WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_STEER_CAN_ID); - // public final WPI_TalonFX leftFrontWheelMotor = new - // WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_WHEEL_CAN_ID); - // public final WPI_TalonFX rightFrontSteerMotor = new - // WPI_TalonFX(SwerveDriveConstants.RIGHT_FRONT_STEER_CAN_ID); - // public final WPI_TalonFX rightFrontWheelMotor = new - // WPI_TalonFX(SwerveDriveConstants.RIGHT_FRONT_WHEEL_CAN_ID); - // public final WPI_TalonFX leftBackSteerMotor = new - // WPI_TalonFX(SwerveDriveConstants.LEFT_BACK_STEER_CAN_ID); - // public final WPI_TalonFX leftBackWheelMotor = new - // WPI_TalonFX(SwerveDriveConstants.LEFT_BACK_WHEEL_CAN_ID); - // public final WPI_TalonFX rightBackSteerMotor = new - // WPI_TalonFX(SwerveDriveConstants.RIGHT_BACK_STEER_CAN_ID); - // public final WPI_TalonFX rightBackWheelMotor = new - // WPI_TalonFX(SwerveDriveConstants.RIGHT_BACK_WHEEL_CAN_ID); - // public final CANCoder leftFrontEncoder = new - // CANCoder(SwerveDriveConstants.LEFT_FRONT_STEER_CAN_ENCODER_ID); - // public final CANCoder rightFrontEncoder = new - // CANCoder(SwerveDriveConstants.RIGHT_FRONT_STEER_CAN_ENCODER_ID); - // public final CANCoder leftBackEncoder = new - // CANCoder(SwerveDriveConstants.LEFT_BACK_STEER_CAN_ENCODER_ID); - // public final CANCoder rightBackEncoder = new - // CANCoder(SwerveDriveConstants.RIGHT_BACK_STEER_CAN_ENCODER_ID); + // public final WPI_TalonFX leftFrontSteerMotor = null; + // public final WPI_TalonFX leftFrontWheelMotor = null; + // public final WPI_TalonFX rightFrontSteerMotor = null; + // public final WPI_TalonFX rightFrontWheelMotor = null; + // public final WPI_TalonFX leftBackSteerMotor = null; + // public final WPI_TalonFX leftBackWheelMotor = null; + // public final WPI_TalonFX rightBackSteerMotor = null; + // public final WPI_TalonFX rightBackWheelMotor = null; + // public final CANCoder leftFrontEncoder = null; + // public final CANCoder rightFrontEncoder = null; + // public final CANCoder leftBackEncoder = null; + // public final CANCoder rightBackEncoder = null; - // void configureSwerveMotorControllers() { - // leftFrontEncoder.configMagnetOffset(SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET); - // rightFrontEncoder.configMagnetOffset(SwerveDriveConstants.RIGHT_FRONT_ENCODER_OFFSET); - // leftBackEncoder.configMagnetOffset(SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET); - // rightBackEncoder.configMagnetOffset(SwerveDriveConstants.RIGHT_BACK_ENCODER_OFFSET); + public final WPI_TalonFX leftFrontSteerMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_STEER_CAN_ID); + public final WPI_TalonFX leftFrontWheelMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_WHEEL_CAN_ID); + public final WPI_TalonFX rightFrontSteerMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_FRONT_STEER_CAN_ID); + public final WPI_TalonFX rightFrontWheelMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_FRONT_WHEEL_CAN_ID); + public final WPI_TalonFX leftBackSteerMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_BACK_STEER_CAN_ID); + public final WPI_TalonFX leftBackWheelMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_BACK_WHEEL_CAN_ID); + public final WPI_TalonFX rightBackSteerMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_BACK_STEER_CAN_ID); + public final WPI_TalonFX rightBackWheelMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_BACK_WHEEL_CAN_ID); + public final CANCoder leftFrontEncoder = new CANCoder(SwerveDriveConstants.LEFT_FRONT_STEER_CAN_ENCODER_ID); + public final CANCoder rightFrontEncoder = new CANCoder(SwerveDriveConstants.RIGHT_FRONT_STEER_CAN_ENCODER_ID); + public final CANCoder leftBackEncoder = new CANCoder(SwerveDriveConstants.LEFT_BACK_STEER_CAN_ENCODER_ID); + public final CANCoder rightBackEncoder = new CANCoder(SwerveDriveConstants.RIGHT_BACK_STEER_CAN_ENCODER_ID); - // leftFrontSteerMotor.configFactoryDefault(); - // leftFrontWheelMotor.configFactoryDefault(); - // rightFrontSteerMotor.configFactoryDefault(); - // rightFrontWheelMotor.configFactoryDefault(); - // leftBackSteerMotor.configFactoryDefault(); - // leftBackWheelMotor.configFactoryDefault(); - // rightBackSteerMotor.configFactoryDefault(); - // rightBackWheelMotor.configFactoryDefault(); + void configureSwerveMotorControllers() { + leftFrontEncoder.configMagnetOffset(SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET); + rightFrontEncoder.configMagnetOffset(SwerveDriveConstants.RIGHT_FRONT_ENCODER_OFFSET); + leftBackEncoder.configMagnetOffset(SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET); + rightBackEncoder.configMagnetOffset(SwerveDriveConstants.RIGHT_BACK_ENCODER_OFFSET); - // leftFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, - // SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // leftFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, - // SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // rightFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, - // SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // rightFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, - // SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // leftBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, - // SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // leftBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, - // SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // rightBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, - // SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // rightBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, - // SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftFrontSteerMotor.configFactoryDefault(); + leftFrontWheelMotor.configFactoryDefault(); + rightFrontSteerMotor.configFactoryDefault(); + rightFrontWheelMotor.configFactoryDefault(); + leftBackSteerMotor.configFactoryDefault(); + leftBackWheelMotor.configFactoryDefault(); + rightBackSteerMotor.configFactoryDefault(); + rightBackWheelMotor.configFactoryDefault(); - // leftFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, - // SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // leftFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, - // SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // rightFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, - // SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // rightFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, - // SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // leftBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, - // SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // leftBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, - // SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // rightBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, - // SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // rightBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, - // SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // leftFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, - // SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // leftFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, - // SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // rightFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, - // SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // rightFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, - // SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // leftBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, - // SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // leftBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, - // SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // rightBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, - // SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // rightBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, - // SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // // config cancoder as remote encoder for swerve steer motors - // leftFrontSteerMotor.configRemoteFeedbackFilter(leftFrontEncoder.getDeviceID(), - // RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, - // SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // leftBackSteerMotor.configRemoteFeedbackFilter(leftBackEncoder.getDeviceID(), - // RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, - // SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // rightFrontSteerMotor.configRemoteFeedbackFilter(rightFrontEncoder.getDeviceID(), - // RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, - // SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // rightBackSteerMotor.configRemoteFeedbackFilter(rightBackEncoder.getDeviceID(), - // RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, - // SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // } + leftFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + + // config cancoder as remote encoder for swerve steer motors + leftFrontSteerMotor.configRemoteFeedbackFilter(leftFrontEncoder.getDeviceID(), + RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftBackSteerMotor.configRemoteFeedbackFilter(leftBackEncoder.getDeviceID(), + RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightFrontSteerMotor.configRemoteFeedbackFilter(rightFrontEncoder.getDeviceID(), + RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightBackSteerMotor.configRemoteFeedbackFilter(rightBackEncoder.getDeviceID(), + RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + } // Shooter Config /* Boom Boom Subsystem */ diff --git a/src/main/java/frc4388/robot/commands/AimToCenter.java b/src/main/java/frc4388/robot/commands/AimToCenter.java index 723bd88..7b4300f 100644 --- a/src/main/java/frc4388/robot/commands/AimToCenter.java +++ b/src/main/java/frc4388/robot/commands/AimToCenter.java @@ -17,6 +17,7 @@ public class AimToCenter extends CommandBase { // use odometry to find x and y later double x = 0; double y = 0; + double angle = 0; double m_targetAngle; // public static Gains m_aimGains; @@ -31,34 +32,26 @@ public class AimToCenter extends CommandBase { // Called when the command is initially scheduled. @Override public void initialize() { + x = 0; + y = 0; } // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - if (x > 0) { - m_targetAngle = 180 + Math.atan(y / x) - m_drive.gyro.getAngle(); - } - else if (x < 0) { - m_targetAngle = 360 + Math.atan(y / x) - m_drive.gyro.getAngle(); - } - else if (x == 0 && y > 0) { - m_targetAngle = 270 - m_drive.gyro.getAngle(); - } - else if (x == 0 && y < 0) { - m_targetAngle = 90 - m_drive.gyro.getAngle(); - } - + m_targetAngle = angleToCenter(x, y, m_drive.gyro.getAngle()); m_turret.runshooterRotatePID(m_targetAngle); - } - public boolean isDeadzone() { - if ((ShooterConstants.DEADZONE_LEFT < m_targetAngle) && (m_targetAngle < ShooterConstants.DEADZONE_RIGHT)) { - return true; - } else { - return false; - } + public static double angleToCenter(double x, double y, double gyro) { + double angle = ((Math.atan2(y, x) * (180./Math.PI) - gyro) + 180. + 360.) % 360.; // Finds the angle between the gyro of the robot and the target (positive x is gyro 0) + return(angle); + //m_turret.runshooterRotatePID(m_targetAngle); + } + + public static boolean isDeadzone(double angle) { + if ((ShooterConstants.DEADZONE_LEFT > angle) || (angle > ShooterConstants.DEADZONE_RIGHT)) return true; + else return false; } // Called once the command ends or is interrupted. diff --git a/src/test/java/frc4388/commands/AimToCenterTest.java b/src/test/java/frc4388/commands/AimToCenterTest.java new file mode 100644 index 0000000..8023e72 --- /dev/null +++ b/src/test/java/frc4388/commands/AimToCenterTest.java @@ -0,0 +1,113 @@ +package frc4388.commands; + +import org.junit.Test; + +import frc4388.robot.commands.AimToCenter; +import org.junit.Assert; + +public class AimToCenterTest { + + private static final double DELTA = 1e-15; + + @Test + public void givenAngle_whenTestIfDeadzone_thenReturnIfInDeadzone() { + boolean output; + + //20 deg + output = AimToCenter.isDeadzone(20.); + Assert.assertFalse(output); + + //-10 deg + output = AimToCenter.isDeadzone(-10.); + Assert.assertTrue(output); + + //-1 deg + output = AimToCenter.isDeadzone(-1.); + Assert.assertTrue(output); + + //341 deg + output = AimToCenter.isDeadzone(341.); + Assert.assertTrue(output); + + //340 deg + output = AimToCenter.isDeadzone(340.); + Assert.assertFalse(output); + + //0 deg + output = AimToCenter.isDeadzone(0.); + Assert.assertFalse(output); + + //200 deg + output = AimToCenter.isDeadzone(200.); + Assert.assertFalse(output); + + //2000000 deg + output = AimToCenter.isDeadzone(2000000.); + Assert.assertTrue(output); + + //NaN deg + output = AimToCenter.isDeadzone(Double.NaN); + Assert.assertFalse(output); + } + + @Test + public void givenOdometry_whenCalculateAngleToCenter_thenReturnAngleToCenter() { + double actual; + double expected; + + //(5,5) Gyro = 0 deg + actual = AimToCenter.angleToCenter(5., 5., 0.); + expected = 180. + 45.; + Assert.assertEquals(expected, actual, DELTA); + + //(-5,5) Gyro = 0 deg + actual = AimToCenter.angleToCenter(-5.0, 5., 0.); + expected = 180. + 90. + 45.; + Assert.assertEquals(expected, actual, DELTA); + + //(-5,-5) Gyro = 0 deg + actual = AimToCenter.angleToCenter(-5.0, -5., 0.); + expected = 45.; + Assert.assertEquals(expected, actual, DELTA); + + //(5,-5) Gyro = 0 deg + actual = AimToCenter.angleToCenter(5., -5., 0.); + expected = 90. + 45.; + Assert.assertEquals(expected, actual, DELTA); + + //(0,0) Gyro = 0 deg + actual = AimToCenter.angleToCenter(0., 0., 0.); + Assert.assertNotNull(actual); + + //(5,5) Gyro = 180 deg + actual = AimToCenter.angleToCenter(5., 5., 180.); + expected = 45.; + Assert.assertEquals(expected, actual, DELTA); + + //(100,100) Gyro = 90 deg + actual = AimToCenter.angleToCenter(100., 100., 90.); + expected = 90. + 45.; + Assert.assertEquals(expected, actual, DELTA); + + //(null,5) Gyro = 0 deg + actual = AimToCenter.angleToCenter(Double.NaN, 5., 0.); + expected = Double.NaN; + Assert.assertEquals(expected, actual, DELTA); + + //(null,null) Gyro = 0 deg + actual = AimToCenter.angleToCenter(Double.NaN, Double.NaN, 0.); + expected = Double.NaN; + Assert.assertEquals(expected, actual, DELTA); + + //(null,null) Gyro = null deg + actual = AimToCenter.angleToCenter(Double.NaN, Double.NaN, Double.NaN); + expected = Double.NaN; + Assert.assertEquals(expected, actual, DELTA); + + //(5,5) Gyro = -20 deg + actual = AimToCenter.angleToCenter(5., -5., -45.); + expected = 180.; + Assert.assertEquals(expected, actual, DELTA); + + } +} diff --git a/src/test/java/frc4388/robot/subsystems/LEDSubsystemTest.java b/src/test/java/frc4388/robot/subsystems/LEDSubsystemTest.java index 87ab85c..ca0e96e 100644 --- a/src/test/java/frc4388/robot/subsystems/LEDSubsystemTest.java +++ b/src/test/java/frc4388/robot/subsystems/LEDSubsystemTest.java @@ -17,23 +17,17 @@ import frc4388.utility.LEDPatterns; * Add your docs here. */ public class LEDSubsystemTest { + // Arrange + Spark ledController = mock(Spark.class); + LED led = new LED(ledController); @Test public void testConstructor() { - // Arrange - Spark ledController = mock(Spark.class); - - // Act - LED led = new LED(ledController); - // Assert assertEquals(LEDConstants.DEFAULT_PATTERN.getValue(), led.getPattern().getValue(), 0.0001); } @Test public void testPatterns() { - // Arrange - Spark ledController = mock(Spark.class); - LED led = new LED(ledController); // Act led.setPattern(LEDPatterns.RAINBOW_RAINBOW); From 343f423bb27716b5c606f97733d20d28179fbab6 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Sat, 26 Feb 2022 15:00:09 -0700 Subject: [PATCH 116/151] custom pid for shoot command, needs testing --- .../java/frc4388/robot/commands/Shoot.java | 110 ++++++++++++++++-- 1 file changed, 103 insertions(+), 7 deletions(-) diff --git a/src/main/java/frc4388/robot/commands/Shoot.java b/src/main/java/frc4388/robot/commands/Shoot.java index 2f8c5ef..f82bc1e 100644 --- a/src/main/java/frc4388/robot/commands/Shoot.java +++ b/src/main/java/frc4388/robot/commands/Shoot.java @@ -4,44 +4,139 @@ package frc4388.robot.commands; -import java.nio.file.SecureDirectoryStream; +import com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration; +import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; import edu.wpi.first.wpilibj2.command.CommandBase; import frc4388.robot.subsystems.BoomBoom; import frc4388.robot.subsystems.Hood; import frc4388.robot.subsystems.SwerveDrive; +import frc4388.robot.subsystems.Turret; public class Shoot extends CommandBase { + // subsystems public SwerveDrive m_swerve; public BoomBoom m_boomBoom; + public Turret m_turret; public Hood m_hood; - public double m_targetVel; - public double m_targetHood; + // given + public double m_gyroAngle; + public double m_odoX; + public double m_odoY; public double m_distance; + // targets + public double m_targetVel; + public double m_targetHood; + public double m_targetAngle; + public double m_driveTargetAngle; + + // pid + public double error; + public double prevError; + public double kP, kI, kD; + public double integral, derivative; + public double time; + public double output; + public double tolerance = 5.0; + + // // dummy motor + // public WPI_TalonFX dummy = new WPI_TalonFX(69 - 420); + // public TalonFXConfiguration dummyConfiguration = new TalonFXConfiguration(); + /** Creates a new Shoot. */ - public Shoot(SwerveDrive sDrive, BoomBoom sShooter, Hood sHood) { + public Shoot(SwerveDrive sDrive, BoomBoom sShooter, Turret sTurret, Hood sHood) { // Use addRequirements() here to declare subsystem dependencies. m_swerve = sDrive; m_boomBoom = sShooter; + m_turret = sTurret; m_hood = sHood; - addRequirements(m_swerve, m_boomBoom, m_hood); + addRequirements(m_swerve, m_boomBoom, m_turret, m_hood); + + kP = 0.1; + kI = 0.0; + kD = 0.0; + + integral = 0; + derivative = 0; + time = 0.02; + } + + /** + * Updates error for custom PID. + */ + public void updateError() { + error = (m_targetAngle - m_turret.getBoomBoomAngleDegrees() + 360) % 360; } // Called when the command is initially scheduled. @Override public void initialize() { - m_distance = 0; //TODO: get this value using odometry + m_odoX = 0; //TODO: get this value using odometry + m_odoY = 0; //TODO: get this value using odometry + m_distance = Math.sqrt(Math.pow(m_odoX, 2) + Math.pow(m_odoY, 2)); + + // get targets (shooter tables) m_targetVel = m_boomBoom.getVelocity(m_distance); m_targetHood = m_boomBoom.getHood(m_distance); + m_targetAngle = ((Math.atan2(m_odoY, m_odoX) * (180./Math.PI) - m_gyroAngle) + 180. + 360.) % 360.; + m_driveTargetAngle = m_targetAngle + m_turret.getBoomBoomAngleDegrees(); + + // // normal (i think) PID stuff + // dummyConfiguration.primaryPID.selectedFeedbackSensor = TalonFXFeedbackDevice.IntegratedSensor.toFeedbackDevice(); + // dummyConfiguration.remoteFilter0.remoteSensorDeviceID = dummy.getDeviceID(); + // dummyConfiguration.remoteFilter0.remoteSensorSource = RemoteSensorSource.TalonFX_SelectedSensor; + + // dummyConfiguration.slot0.kP = 0.1; + // dummyConfiguration.slot0.kI = 0; + // dummyConfiguration.slot0.kD = 0; + // dummyConfiguration.slot0.kF = 0; + + // // weird PID stuff + // dummyConfiguration.auxiliaryPID.selectedFeedbackSensor = TalonFXFeedbackDevice.SoftwareEmulatedSensor.toFeedbackDevice(); + // dummyConfiguration.remoteFilter1.remoteSensorDeviceID = ShooterConstants.TURRET_MOTOR_CAN_ID; + // dummyConfiguration.remoteFilter1.remoteSensorSource = RemoteSensorSource.TalonFX_SelectedSensor; + // // dummyConfiguration.auxiliaryPID.selectedFeedbackCoefficient = 0; + + // dummyConfiguration.slot1.kP = 0.1; + // dummyConfiguration.slot1.kI = 0; + // dummyConfiguration.slot1.kD = 0; + // dummyConfiguration.slot1.kF = 0; + + // dummy.configAllSettings(dummyConfiguration); + + // initial error + updateError(); + prevError = error; } + /** + * Run custom PID. + */ + public void runPID() { + prevError = error; + updateError(); + integral = integral + error * time; + derivative = (error - prevError) / time; + output = kP * error + kI * integral + kD * derivative; + } + // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { + // dummy.selectProfileSlot(0, 0); + // dummy.selectProfileSlot(1, 1); + // dummy.set(TalonFXControlMode.Position, m_driveTargetAngle, DemandType.AuxPID, m_targetAngle); + // m_swerve.driveWithInput(0, 0, m_driveTargetAngle, true); + // m_swerve.driveWithInput(0, 0, Math.cos(m_driveTargetAngle), Math.sin(m_driveTargetAngle), true); // only works for new DWI in swerve branch + + // custom pid + runPID(); + m_swerve.driveWithInput(0, 0, output, true); + m_hood.runAngleAdjustPID(m_targetHood); m_boomBoom.runDrumShooterVelocityPID(m_targetVel); } @@ -53,6 +148,7 @@ public class Shoot extends CommandBase { // Returns true when the command should end. @Override public boolean isFinished() { - return false; + updateError(); + return Math.abs(error) <= tolerance; } } From 6aa1b0e63b39cec9c7683ab3912d13bd52843cff Mon Sep 17 00:00:00 2001 From: nathanrsxtn Date: Sun, 27 Feb 2022 22:59:32 -0700 Subject: [PATCH 117/151] Add redundant point removal on path creation Associate *.path files with json Speed up auto chooser updates --- .vscode/settings.json | 5 +- src/main/java/frc4388/robot/Robot.java | 1 - .../java/frc4388/robot/RobotContainer.java | 179 +++++++++--------- ...ser.java => ListeningSendableChooser.java} | 12 +- .../java/frc4388/utility/PathPlannerUtil.java | 2 +- 5 files changed, 102 insertions(+), 97 deletions(-) rename src/main/java/frc4388/utility/{SendableRunChooser.java => ListeningSendableChooser.java} (92%) diff --git a/.vscode/settings.json b/.vscode/settings.json index 5afa0ae..5aecc09 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -26,5 +26,8 @@ }, ], "java.test.defaultConfig": "WPIlibUnitTests", - "java.dependency.packagePresentation": "hierarchical" + "java.dependency.packagePresentation": "hierarchical", + "files.associations": { + "*.path": "json" + } } diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java index 90394c1..4ab5f9a 100644 --- a/src/main/java/frc4388/robot/Robot.java +++ b/src/main/java/frc4388/robot/Robot.java @@ -108,7 +108,6 @@ public class Robot extends TimedRobot { SmartDashboard.putNumber("Odometry X", m_robotContainer.getOdometry().getX()); SmartDashboard.putNumber("Odometry Y", m_robotContainer.getOdometry().getY()); SmartDashboard.putNumber("Odometry Theta", m_robotContainer.getOdometry().getRotation().getDegrees()); - IntStream.range(0, 9999).forEach(Math::cos); } /** diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 83da3e9..536fa55 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -6,53 +6,43 @@ package frc4388.robot; import java.io.File; import java.io.IOException; -import java.nio.file.FileSystem; import java.nio.file.FileSystems; -import java.nio.file.Files; import java.nio.file.Path; import java.nio.file.StandardWatchEventKinds; import java.nio.file.WatchEvent; import java.nio.file.WatchKey; -import java.nio.file.WatchService; import java.util.ArrayList; import java.util.Arrays; import java.util.Comparator; import java.util.List; +import java.util.Objects; import java.util.Optional; import java.util.function.Function; import java.util.logging.Level; import java.util.logging.Logger; import java.util.regex.Matcher; import java.util.regex.Pattern; +import java.util.stream.Collectors; import com.diffplug.common.base.Errors; -import com.diffplug.common.base.Errors.Plugins.Log; import com.pathplanner.lib.PathPlanner; import com.pathplanner.lib.PathPlannerTrajectory; import com.pathplanner.lib.PathPlannerTrajectory.PathPlannerState; import com.pathplanner.lib.commands.PPSwerveControllerCommand; +import edu.wpi.first.math.Pair; import edu.wpi.first.math.controller.PIDController; import edu.wpi.first.math.controller.ProfiledPIDController; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Translation2d; -import edu.wpi.first.networktables.NTSendableBuilder; -import edu.wpi.first.networktables.NetworkTableEntry; import edu.wpi.first.wpilibj.Filesystem; import edu.wpi.first.wpilibj.GenericHID; -import edu.wpi.first.wpilibj.TimedRobot; import edu.wpi.first.wpilibj.XboxController; -import edu.wpi.first.wpilibj.shuffleboard.EventImportance; -import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; -import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.CommandBase; -import edu.wpi.first.wpilibj2.command.CommandScheduler; import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.NotifierCommand; -import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import edu.wpi.first.wpilibj2.command.button.JoystickButton; @@ -62,8 +52,8 @@ import frc4388.robot.Constants.SwerveDriveConstants; import frc4388.robot.subsystems.LED; import frc4388.robot.subsystems.SwerveDrive; import frc4388.utility.LEDPatterns; +import frc4388.utility.ListeningSendableChooser; import frc4388.utility.PathPlannerUtil; -import frc4388.utility.SendableRunChooser; import frc4388.utility.PathPlannerUtil.Path.Waypoint; import frc4388.utility.controller.DeadbandedXboxController; @@ -89,22 +79,23 @@ public class RobotContainer { private final XboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID); private final XboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID); - private String loadedPathName = ""; private PathPlannerTrajectory loadedPathTrajectory = null; private static final Function pathExtensionRemover = ((Function) Pattern .compile(".path")::matcher).andThen(m -> m.replaceFirst("")); - private final SendableRunChooser autoChooser = new SendableRunChooser<>(selectedAuto -> { - if (selectedAuto != null && !selectedAuto.equals(loadedPathName)) { - loadedPathTrajectory = PathPlanner.loadPath(pathExtensionRemover.apply(selectedAuto), 5.5, 50); - loadedPathName = selectedAuto; - } - }); + private final ListeningSendableChooser autoChooser = new ListeningSendableChooser<>(this::loadPath); + + private void loadPath(String pathName) { + LOGGER.warning("Loading path " + pathName); + loadedPathTrajectory = null; + loadedPathTrajectory = PathPlanner.loadPath(pathExtensionRemover.apply(Objects.requireNonNullElse(pathName, "")), + 5.5, 50); + LOGGER.info("Done loading"); + } /** * The container for the robot. Contains subsystems, OI devices, and commands. */ - @SuppressWarnings("unchecked") public RobotContainer() { configureButtonBindings(); /* Default Commands */ @@ -120,63 +111,52 @@ public class RobotContainer { // continually sends updates to the Blinkin LED controller to keep the lights on m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED, m_robotLED).withName("LED update defaultCommand")); - try (WatchService watcher = FileSystems.getDefault().newWatchService()) { - WatchKey watchKey = Filesystem.getDeployDirectory().toPath().resolve("pathplanner").register( - FileSystems.getDefault().newWatchService(), - StandardWatchEventKinds.ENTRY_CREATE, StandardWatchEventKinds.ENTRY_MODIFY, - StandardWatchEventKinds.ENTRY_DELETE); - new NotifierCommand(() -> {}, TimedRobot.kDefaultPeriod) { - @Override - public void execute() { - var selectedAuto = autoChooser.getSelected(); - if (selectedAuto != null && !selectedAuto.getName().equals(loadedPathName)) { - setName("Path Watcher: Loading Path"); - // loadedPathTrajectory = PathPlanner.loadPath(pathExtensionRemover.apply(selectedAuto.getName()), 5.5, 50); - loadedPathName = selectedAuto.getName(); - } - if (!watchKey.pollEvents().isEmpty()) { - updateAutoChooser(); - LOGGER.info("Updated autonomous chooser."); - } - if (!watchKey.reset()) - LOGGER.severe("File watch key invalid."); - setName("Path Watcher: Waiting"); - } + try { + WatchKey watchKey = Filesystem.getDeployDirectory().toPath().resolve("pathplanner").register(FileSystems.getDefault().newWatchService(), StandardWatchEventKinds.ENTRY_CREATE, StandardWatchEventKinds.ENTRY_MODIFY, StandardWatchEventKinds.ENTRY_DELETE); + // Save this and other commands as fields so they can be rescheduled. + new NotifierCommand(() -> { + List> watchEvents = watchKey.pollEvents(); + if (!watchEvents.isEmpty()) { + List> pathWatchEvents = watchEvents.stream().filter(e -> e.kind().type().isAssignableFrom(Path.class)).collect(Collectors.toList()); + for (WatchEvent pathWatchEvent : pathWatchEvents) { + Path watchEventPath = (Path) pathWatchEvent.context(); + File watchEventFile = watchEventPath.toFile(); + String watchEventFileName = watchEventFile.getName(); + if (watchEventFileName.endsWith(".path")) { + if (pathWatchEvent.kind().equals(StandardWatchEventKinds.ENTRY_CREATE)) { + LOGGER.warning("PathPlanner file " + watchEventFileName + " created. Options added to SendableChooser."); + autoChooser.addOption(watchEventFile.getName(), watchEventFile); + } else if (pathWatchEvent.kind().equals(StandardWatchEventKinds.ENTRY_MODIFY)) { + LOGGER.warning("PathPlanner file " + watchEventFileName + " modified."); + if (watchEventFileName.equals(autoChooser.getSelected().getName())) { + LOGGER.severe("PathPlanner file " + watchEventFileName + " already selected. Reloading path."); + loadPath(watchEventFileName); + } + } else if (pathWatchEvent.kind().equals(StandardWatchEventKinds.ENTRY_DELETE)) { + LOGGER.severe("PathPlanner file " + watchEventFileName + " deleted. Removing options from SendableChooser not yet implemented."); + } + } + } + } + if (!watchKey.reset()) + LOGGER.severe("File watch key invalid."); + }, 0.5) { @Override public boolean runsWhenDisabled() { return true; } - }.schedule(); - pathLoaderCommand.schedule(); + }.withName("Path Watcher").schedule(); } catch (IOException exception) { LOGGER.log(Level.SEVERE, "Exception with path file watcher.", exception); } - updateAutoChooser(); + Arrays.stream(Filesystem.getDeployDirectory().toPath().resolve("pathplanner").toFile().listFiles()) + .filter(file -> file.getName().endsWith(".path")).sorted(Comparator.comparingLong(File::lastModified)) + .forEachOrdered(file -> autoChooser.addOption(file.getName(), file)); + SmartDashboard.putData("Auto Chooser", autoChooser); recordInit(); } - private Command pathLoaderCommand = new CommandBase() { - @Override - public void execute() { - var selectedAuto = autoChooser.getSelected(); - if (selectedAuto != null && !selectedAuto.getName().equals(loadedPathName)) { - setName("LOADING PATH"); - Thread thread = new Thread(() -> { - loadedPathTrajectory = PathPlanner.loadPath(pathExtensionRemover.apply(selectedAuto.getName()), 5.5, 50); - setName("Path loader waiting"); - }, "Path Loader Thread"); - thread.start(); - } - } - - @Override - public boolean runsWhenDisabled() { - return true; - } - }.withName("Path loader"); - private Thread pathLoaderThread = new Thread(); - /** * Use this method to define your button->command mappings. Buttons can be * created by instantiating a {@link GenericHID} or one of its subclasses @@ -216,12 +196,7 @@ public class RobotContainer { * @return the command to run in autonomous */ public Command getAutonomousCommand() { - var selectedAuto = autoChooser.getSelected(); if (loadedPathTrajectory != null) { - // if (selectedAuto != null && !selectedAuto.getName().equals(loadedPathName)) - // loadedPathTrajectory = - // PathPlanner.loadPath(pathExtensionRemover.apply(selectedAuto.getName()), 5.5, - // 50); PIDController xController = SwerveDriveConstants.X_CONTROLLER; PIDController yController = SwerveDriveConstants.Y_CONTROLLER; ProfiledPIDController thetaController = SwerveDriveConstants.THETA_CONTROLLER; @@ -238,8 +213,7 @@ public class RobotContainer { new InstantCommand(m_robotSwerveDrive::stopModules)).withName("Run Autonomous Path"); } else { LOGGER.severe("No auto selected."); - return new RunCommand(() -> { - }).withName("No Autonomous Path"); + return new RunCommand(() -> {}).withName("No Autonomous Path"); } } @@ -259,14 +233,7 @@ public class RobotContainer { return m_operatorXbox; } - private void updateAutoChooser() { - Arrays.stream(Filesystem.getDeployDirectory().toPath().resolve("pathplanner").toFile().listFiles()) - .filter(file -> file.getName().endsWith(".path")).sorted(Comparator.comparingLong(File::lastModified)) - .forEachOrdered(file -> autoChooser.addOption(file.getName(), file)); - SmartDashboard.putData("Auto Chooser", autoChooser); - } - - private final List pathPoints = new ArrayList<>(); + private /* final */ List pathPoints = new ArrayList<>(); public void recordInit() { SmartDashboard.putData("Recording", @@ -287,10 +254,11 @@ public class RobotContainer { // IMPORTANT: Had to chown the pathplanner folder in order to save autos. File outputFile = Filesystem.getDeployDirectory().toPath().resolve("pathplanner") .resolve("recording." + System.currentTimeMillis() + ".path").toFile(); + LOGGER.log(Level.WARNING, "Creating path {0}.", outputFile.getPath()); if (Boolean.TRUE.equals(Errors.log().getWithDefault(outputFile::createNewFile, false))) { createPath(null, null, false).write(outputFile); autoChooser.setDefaultOption(outputFile.getName(), outputFile); - LOGGER.log(Level.SEVERE, "Recorded path to {0}.", outputFile.getPath()); + LOGGER.log(Level.INFO, "Recorded path to {0}.", outputFile.getPath()); } else LOGGER.log(Level.SEVERE, "Unable to record path to {0}", outputFile.getPath()); } @@ -306,11 +274,40 @@ public class RobotContainer { } public PathPlannerUtil.Path createPath(Double maxVelocity, Double maxAcceleration, Boolean isReversed) { + pathPoints = Arrays.stream(PathPlannerUtil.Path.read(autoChooser.getSelected()).waypoints.get()) + .collect(Collectors.toList()); + // Remove points whose angles to neighboring points are less than 10 degrees + // apart. + int j = 0; + for (int i = 1; i < pathPoints.size() - 1; i++) { + var prev = pathPoints.get(j).anchorPoint.orElseThrow(); + var current = pathPoints.get(i).anchorPoint.orElseThrow(); + var next = pathPoints.get(i + 1).anchorPoint.orElseThrow(); + var fromPrevious = current.minus(prev); + var toNext = next.minus(current); + var angleFromPrevious = new Rotation2d(fromPrevious.getX(), fromPrevious.getY()); + var angleToNext = new Rotation2d(toNext.getX(), toNext.getY()); + j = i; + if (Math.abs(angleFromPrevious.minus(angleToNext).getDegrees()) < 20) { + pathPoints.set(i, null); + j--; + } + } + pathPoints.removeIf(Objects::isNull); + // Make control points + pathPoints.get(0).nextControl = Optional.of(makeControlPoints(null, pathPoints.get(0).anchorPoint.orElseThrow(), + pathPoints.get(1).anchorPoint.orElseThrow()).getSecond()); + for (int i = 1; i < pathPoints.size() - 1; i++) { + var controls = makeControlPoints(pathPoints.get(i - 1).anchorPoint.orElseThrow(), + pathPoints.get(i).anchorPoint.orElseThrow(), pathPoints.get(i + 1).anchorPoint.orElseThrow()); + pathPoints.get(i).prevControl = Optional.of(controls.getFirst()); + pathPoints.get(i).nextControl = Optional.of(controls.getSecond()); + } + pathPoints.get(pathPoints.size() - 1).prevControl = Optional + .of(makeControlPoints(pathPoints.get(pathPoints.size() - 2).anchorPoint.orElseThrow(), + pathPoints.get(pathPoints.size() - 1).anchorPoint.orElseThrow(), null).getFirst()); + // Create the path PathPlannerUtil.Path path = new PathPlannerUtil.Path(); - for (int i = 0; i < pathPoints.size() - 2; i++) - pathPoints.get(i).nextControl = pathPoints.get(i + 1).anchorPoint; - for (int i = 1; i < pathPoints.size() - 1; i++) - pathPoints.get(i).prevControl = pathPoints.get(i - 1).anchorPoint; path.waypoints = Optional.ofNullable(pathPoints.toArray(PathPlannerUtil.Path.Waypoint[]::new)); path.maxVelocity = Optional.ofNullable(maxVelocity); path.maxAcceleration = Optional.ofNullable(maxAcceleration); @@ -318,4 +315,10 @@ public class RobotContainer { pathPoints.clear(); return path; } + + private static Pair makeControlPoints(Translation2d prev, Translation2d current, + Translation2d next) { + var line = Objects.requireNonNullElse(next, current).minus(Objects.requireNonNullElse(prev, current)).div(4); + return Pair.of(current.minus(line), current.plus(line)); + } } diff --git a/src/main/java/frc4388/utility/SendableRunChooser.java b/src/main/java/frc4388/utility/ListeningSendableChooser.java similarity index 92% rename from src/main/java/frc4388/utility/SendableRunChooser.java rename to src/main/java/frc4388/utility/ListeningSendableChooser.java index f2e97b3..c0f3432 100644 --- a/src/main/java/frc4388/utility/SendableRunChooser.java +++ b/src/main/java/frc4388/utility/ListeningSendableChooser.java @@ -20,18 +20,18 @@ import java.util.concurrent.locks.ReentrantLock; import java.util.function.Consumer; /** - * The {@link SendableRunChooser} class is a useful tool for presenting a selection of options to the + * The {@link ListeningSendableChooser} class is a useful tool for presenting a selection of options to the * {@link SmartDashboard}. * *

For instance, you may wish to be able to select between multiple autonomous modes. You can do * this by putting every possible Command you want to run as an autonomous into a {@link - * SendableRunChooser} and then put it into the {@link SmartDashboard} to have a list of options appear - * on the laptop. Once autonomous starts, simply ask the {@link SendableRunChooser} what the selected + * ListeningSendableChooser} and then put it into the {@link SmartDashboard} to have a list of options appear + * on the laptop. Once autonomous starts, simply ask the {@link ListeningSendableChooser} what the selected * value is. * * @param The type of the values to be stored */ -public class SendableRunChooser implements NTSendable, AutoCloseable { +public class ListeningSendableChooser implements NTSendable, AutoCloseable { /** The key for the default value. */ private static final String DEFAULT = "default"; /** The key for the selected option. */ @@ -51,8 +51,8 @@ public class SendableRunChooser implements NTSendable, AutoCloseable { private Consumer m_consumer; - /** Instantiates a {@link SendableRunChooser}. */ - public SendableRunChooser(Consumer consumer) { + /** Instantiates a {@link ListeningSendableChooser}. */ + public ListeningSendableChooser(Consumer consumer) { m_consumer = consumer; m_instance = s_instances.getAndIncrement(); SendableRegistry.add(this, "SendableChooser", m_instance); diff --git a/src/main/java/frc4388/utility/PathPlannerUtil.java b/src/main/java/frc4388/utility/PathPlannerUtil.java index 2d5cf78..de0027f 100644 --- a/src/main/java/frc4388/utility/PathPlannerUtil.java +++ b/src/main/java/frc4388/utility/PathPlannerUtil.java @@ -20,7 +20,7 @@ public final class PathPlannerUtil { private static final ObjectMapper objectMapper = new ObjectMapper(); static { objectMapper.registerModule(new Jdk8Module()); - objectMapper.setSerializationInclusion(Include.NON_EMPTY); + objectMapper.setSerializationInclusion(Include.ALWAYS); } public static Path read(File src) { From 3048a0567cecd6af9948246ee46bf0c3b1e1fce3 Mon Sep 17 00:00:00 2001 From: nathanrsxtn Date: Mon, 28 Feb 2022 12:06:36 -0700 Subject: [PATCH 118/151] Add PathPlanner task Remove simulation files --- .SysId/sysid.json | 11 - .gitignore | 2 +- .vscode/tasks.json | 13 + simgui-ds.json | 92 - simgui.json | 27 - sysid/config.json | 52 - sysid/sysid_data20220128-203000.json | 68731 ------------------------- sysid/sysid_data20220128-205132.json | 45620 ---------------- 8 files changed, 14 insertions(+), 114534 deletions(-) delete mode 100644 .SysId/sysid.json delete mode 100644 simgui-ds.json delete mode 100644 simgui.json delete mode 100644 sysid/config.json delete mode 100644 sysid/sysid_data20220128-203000.json delete mode 100644 sysid/sysid_data20220128-205132.json diff --git a/.SysId/sysid.json b/.SysId/sysid.json deleted file mode 100644 index 34da6f7..0000000 --- a/.SysId/sysid.json +++ /dev/null @@ -1,11 +0,0 @@ -{ - "SysId": { - "Analysis Type": "General Mechanism", - "AnalyzerJSONLocation": "C:\\Users\\Ridgebotics\\Documents\\GitHub\\2022NoWayHome\\sysid\\sysid_data20220128-205132.json", - "NetworkTables Settings": { - "serverTeam": "4388" - }, - "mode": "Client", - "serverTeam": "4388" - } -} diff --git a/.gitignore b/.gitignore index 7d0efa3..c36585d 100644 --- a/.gitignore +++ b/.gitignore @@ -159,6 +159,6 @@ gradle-app.setting bin/ # Simulation GUI and other tools window save file -*-window.json +simgui-*.json src/main/deploy/config.json \ No newline at end of file diff --git a/.vscode/tasks.json b/.vscode/tasks.json index 12d8f43..58a00fa 100644 --- a/.vscode/tasks.json +++ b/.vscode/tasks.json @@ -14,6 +14,19 @@ "clear": true }, "problemMatcher": [] + }, + { + "label": "pathPlanner", + "type": "process", + "command": "open -n /Applications/PathPlanner.app", + "presentation": { + "echo": false, + "reveal": "silent", + "focus": false, + "panel": "dedicated", + "showReuseMessage": false, + "clear": true + } } ] } \ No newline at end of file diff --git a/simgui-ds.json b/simgui-ds.json deleted file mode 100644 index 73cc713..0000000 --- a/simgui-ds.json +++ /dev/null @@ -1,92 +0,0 @@ -{ - "keyboardJoysticks": [ - { - "axisConfig": [ - { - "decKey": 65, - "incKey": 68 - }, - { - "decKey": 87, - "incKey": 83 - }, - { - "decKey": 69, - "decayRate": 0.0, - "incKey": 82, - "keyRate": 0.009999999776482582 - } - ], - "axisCount": 3, - "buttonCount": 4, - "buttonKeys": [ - 90, - 88, - 67, - 86 - ], - "povConfig": [ - { - "key0": 328, - "key135": 323, - "key180": 322, - "key225": 321, - "key270": 324, - "key315": 327, - "key45": 329, - "key90": 326 - } - ], - "povCount": 1 - }, - { - "axisConfig": [ - { - "decKey": 74, - "incKey": 76 - }, - { - "decKey": 73, - "incKey": 75 - } - ], - "axisCount": 2, - "buttonCount": 4, - "buttonKeys": [ - 77, - 44, - 46, - 47 - ], - "povCount": 0 - }, - { - "axisConfig": [ - { - "decKey": 263, - "incKey": 262 - }, - { - "decKey": 265, - "incKey": 264 - } - ], - "axisCount": 2, - "buttonCount": 6, - "buttonKeys": [ - 260, - 268, - 266, - 261, - 269, - 267 - ], - "povCount": 0 - }, - { - "axisCount": 0, - "buttonCount": 0, - "povCount": 0 - } - ] -} diff --git a/simgui.json b/simgui.json deleted file mode 100644 index c7dcff2..0000000 --- a/simgui.json +++ /dev/null @@ -1,27 +0,0 @@ -{ - "NTProvider": { - "types": { - "/FMSInfo": "FMSInfo", - "/LiveWindow/LED": "Subsystem", - "/LiveWindow/SwerveDrive": "Subsystem", - "/LiveWindow/SwerveModule": "Subsystem", - "/LiveWindow/Ungrouped/PIDController[1]": "PIDController", - "/LiveWindow/Ungrouped/PIDController[2]": "PIDController", - "/LiveWindow/Ungrouped/PIDController[3]": "PIDController", - "/LiveWindow/Ungrouped/Scheduler": "Scheduler", - "/SmartDashboard/Auto Chooser": "String Chooser", - "/SmartDashboard/Field": "Field2d", - "/SmartDashboard/JVM Memory": "Command", - "/SmartDashboard/Recording": "Command", - "/SmartDashboard/Scheduler": "Scheduler", - "/SmartDashboard/Usable Deploy Space": "Command" - }, - "windows": { - "/SmartDashboard/Scheduler": { - "window": { - "visible": true - } - } - } - } -} diff --git a/sysid/config.json b/sysid/config.json deleted file mode 100644 index 691b96e..0000000 --- a/sysid/config.json +++ /dev/null @@ -1,52 +0,0 @@ -{ - "counts per rotation": 2048.0, - "encoder type": "Built-in", - "encoding": false, - "gearing denominator": 1.0, - "gearing numerator": 5.12, - "gyro": "Pigeon", - "gyro ctor": "14", - "is drivetrain": false, - "motor controllers": [ - "TalonFX", - "TalonFX", - "TalonFX", - "TalonFX" - ], - "number of samples per average": 1, - "primary encoder inverted": false, - "primary encoder ports": [ - 10, - 1 - ], - "primary motor ports": [ - 3, - 5, - 7, - 9 - ], - "primary motors inverted": [ - false, - false, - false, - false - ], - "secondary encoder inverted": false, - "secondary encoder ports": [ - 2, - 13 - ], - "secondary motor ports": [ - 5, - 9, - 5, - 7 - ], - "secondary motors inverted": [ - false, - false, - false, - false - ], - "velocity measurement period": 100 -} \ No newline at end of file diff --git a/sysid/sysid_data20220128-203000.json b/sysid/sysid_data20220128-203000.json deleted file mode 100644 index c230a47..0000000 --- a/sysid/sysid_data20220128-203000.json +++ /dev/null @@ -1,68731 +0,0 @@ -{ - "fast-backward": [ - [ - 1485.811544, - 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], - [ - 76.699115, - -3.577467, - 25.039864, - -5.475998 - ], - [ - 76.704148, - -3.578706, - 25.039864, - -5.475998 - ], - [ - 76.709294, - -3.579964, - 25.039864, - -5.475998 - ], - [ - 76.714145, - -3.581251, - 25.039864, - -5.475998 - ], - [ - 76.719153, - -3.582464, - 24.929237, - -5.496025 - ], - [ - 76.724117, - -3.583715, - 24.929237, - -5.496025 - ], - [ - 76.729097, - -3.584956, - 24.929237, - -5.496025 - ], - [ - 76.734158, - -3.586201, - 24.929237, - -5.496025 - ], - [ - 76.739144, - -3.587467, - 24.818897, - -5.502701 - ], - [ - 76.744106, - -3.588713, - 24.818897, - -5.502701 - ], - [ - 76.749107, - -3.589954, - 24.818897, - -5.502701 - ], - [ - 76.754149, - -3.591204, - 24.818897, - -5.502701 - ] - ], - "sysid": true, - "test": "Simple", - "units": "Meters", - "unitsPerRotation": 0.3047 -} \ No newline at end of file From fa15241483ee3d110308386e8a58b15f7655b1f1 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Mon, 28 Feb 2022 16:46:40 -0700 Subject: [PATCH 119/151] digital deadzone implementation --- src/main/java/frc4388/robot/Constants.java | 8 ++++++-- .../frc4388/robot/commands/AimToCenter.java | 18 ++++++++++++++---- .../java/frc4388/commands/AimToCenterTest.java | 18 +++++++++--------- 3 files changed, 29 insertions(+), 15 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 5d61976..7c7ef2e 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -110,8 +110,12 @@ public final class Constants { 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 double DEADZONE_LEFT = 0.0; - public static final double DEADZONE_RIGHT = 340.0; + // deadzones + public static final double HARD_DEADZONE_LEFT = 0.0; + public static final double HARD_DEADZONE_RIGHT = 340.0; + + public static final double DIG_DEADZONE_LEFT = 40.0; + public static final double DIG_DEADZONE_RIGHT = 60.0; public static final int SHOOTER_FALCON_BALLER_ID = 0; //unknown value, fix later// public static final int SHOOTER_FALCON_BALLER_FOLLOWER_ID = 0; //"// diff --git a/src/main/java/frc4388/robot/commands/AimToCenter.java b/src/main/java/frc4388/robot/commands/AimToCenter.java index 93c1501..54cdbce 100644 --- a/src/main/java/frc4388/robot/commands/AimToCenter.java +++ b/src/main/java/frc4388/robot/commands/AimToCenter.java @@ -50,11 +50,21 @@ public class AimToCenter extends CommandBase { } /** - * Checks if in deadzone. - * @return True if deadzone. + * Checks if in hardware deadzone (due to mechanical limitations). + * @param angle Angle to check. + * @return True if in hardware deadzone. */ - public static boolean isDeadzone(double angle) { - return ((ShooterConstants.DEADZONE_LEFT > angle) || (angle > ShooterConstants.DEADZONE_RIGHT)); + 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)); } // Called once the command ends or is interrupted. diff --git a/src/test/java/frc4388/commands/AimToCenterTest.java b/src/test/java/frc4388/commands/AimToCenterTest.java index 8023e72..72a84f4 100644 --- a/src/test/java/frc4388/commands/AimToCenterTest.java +++ b/src/test/java/frc4388/commands/AimToCenterTest.java @@ -14,39 +14,39 @@ public class AimToCenterTest { boolean output; //20 deg - output = AimToCenter.isDeadzone(20.); + output = AimToCenter.isHardwareDeadzone(20.); Assert.assertFalse(output); //-10 deg - output = AimToCenter.isDeadzone(-10.); + output = AimToCenter.isHardwareDeadzone(-10.); Assert.assertTrue(output); //-1 deg - output = AimToCenter.isDeadzone(-1.); + output = AimToCenter.isHardwareDeadzone(-1.); Assert.assertTrue(output); //341 deg - output = AimToCenter.isDeadzone(341.); + output = AimToCenter.isHardwareDeadzone(341.); Assert.assertTrue(output); //340 deg - output = AimToCenter.isDeadzone(340.); + output = AimToCenter.isHardwareDeadzone(340.); Assert.assertFalse(output); //0 deg - output = AimToCenter.isDeadzone(0.); + output = AimToCenter.isHardwareDeadzone(0.); Assert.assertFalse(output); //200 deg - output = AimToCenter.isDeadzone(200.); + output = AimToCenter.isHardwareDeadzone(200.); Assert.assertFalse(output); //2000000 deg - output = AimToCenter.isDeadzone(2000000.); + output = AimToCenter.isHardwareDeadzone(2000000.); Assert.assertTrue(output); //NaN deg - output = AimToCenter.isDeadzone(Double.NaN); + output = AimToCenter.isHardwareDeadzone(Double.NaN); Assert.assertFalse(output); } From a61ec76d477563e8cdfd209c3769a4358605c0ce Mon Sep 17 00:00:00 2001 From: aarav18 Date: Mon, 28 Feb 2022 16:50:55 -0700 Subject: [PATCH 120/151] random changes bc im bored --- src/main/java/frc4388/robot/Constants.java | 18 +++++++++--------- .../frc4388/robot/commands/AimToCenter.java | 8 +++----- 2 files changed, 12 insertions(+), 14 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 7c7ef2e..8d7984a 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -93,13 +93,13 @@ public final class Constants { public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG = new SupplyCurrentLimitConfiguration(true, 60, 40, 0.5); public static final int SHOOTER_FALCON_LEFT_CAN_ID = 23; public static final int SHOOTER_FALCON_RIGHT_CAN_ID = 24; - public static final int SHOOTER_ROTATE_ID = 31; //"unknown value" //figure out later - public static final int TURRET_RIGHT_SOFT_LIMIT = 0; //""// - public static final double TURRET_SPEED_MULTIPLIER = 0.1d; //""// - public static final int DEGREES_PER_ROT = 0; //""// - public static final int TURRET_MOTOR_POS_AT_ZERO_ROT = 0; //""// - public static final int TURRET_MOTOR_ROTS_PER_ROT = 0; //""// - public static final double ENCODER_TICKS_PER_REV = 2048; //""// + public static final int SHOOTER_ROTATE_ID = 31; // TODO: find + public static final int TURRET_RIGHT_SOFT_LIMIT = 0; + public static final double TURRET_SPEED_MULTIPLIER = 0.1d; + public static final int DEGREES_PER_ROT = 0; + public static final int TURRET_MOTOR_POS_AT_ZERO_ROT = 0; + public static final int TURRET_MOTOR_ROTS_PER_ROT = 0; + public static final double ENCODER_TICKS_PER_REV = 2048; @@ -117,10 +117,10 @@ public final class Constants { public static final double DIG_DEADZONE_LEFT = 40.0; public static final double DIG_DEADZONE_RIGHT = 60.0; - public static final int SHOOTER_FALCON_BALLER_ID = 0; //unknown value, fix later// + public static final int SHOOTER_FALCON_BALLER_ID = 0; // TODO: find public static final int SHOOTER_FALCON_BALLER_FOLLOWER_ID = 0; //"// - public static final Gains DRUM_SHOOTER_GAINS = new Gains(0,0,0,0,0,0);//x,y,z,a,b are not actual values, fix later + public static final Gains DRUM_SHOOTER_GAINS = new Gains(0,0,0,0,0,0); // TODO: tune values /* Hood Constants */ public static final int SHOOTER_ANGLE_ADJUST_ID = 32; public static final double HOOD_MOTOR_ROTS_PER_ROT = 1; //TODO: Find diff --git a/src/main/java/frc4388/robot/commands/AimToCenter.java b/src/main/java/frc4388/robot/commands/AimToCenter.java index 54cdbce..70e65f3 100644 --- a/src/main/java/frc4388/robot/commands/AimToCenter.java +++ b/src/main/java/frc4388/robot/commands/AimToCenter.java @@ -15,9 +15,8 @@ public class AimToCenter extends CommandBase { SwerveDrive m_drive; // use odometry to find x and y later - double x = 0; - double y = 0; - double angle = 0; + double x; + double y; double m_targetAngle; // public static Gains m_aimGains; @@ -45,8 +44,7 @@ public class AimToCenter extends CommandBase { public static double angleToCenter(double x, double y, double gyro) { double angle = ((Math.atan2(y, x) * (180./Math.PI) - gyro) + 180. + 360.) % 360.; // Finds the angle between the gyro of the robot and the target (positive x is gyro 0) - return(angle); - //m_turret.runshooterRotatePID(m_targetAngle); + return angle; } /** From 26ffb88ed7f87db6dd2687234062fcb12c79433b Mon Sep 17 00:00:00 2001 From: aarav18 Date: Mon, 28 Feb 2022 16:54:46 -0700 Subject: [PATCH 121/151] very bored --- src/main/java/frc4388/robot/RobotContainer.java | 4 +--- src/main/java/frc4388/robot/RobotMap.java | 4 ++-- src/main/java/frc4388/robot/commands/Shoot.java | 4 +--- src/main/java/frc4388/robot/subsystems/Hood.java | 5 +---- src/main/java/frc4388/robot/subsystems/SwerveDrive.java | 3 +-- src/main/java/frc4388/robot/subsystems/Turret.java | 6 ++---- src/main/java/frc4388/robot/subsystems/Vision.java | 6 +----- 7 files changed, 9 insertions(+), 23 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index ae911a6..bc0c544 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -4,20 +4,18 @@ package frc4388.robot; -import com.revrobotics.CANSparkMax; import com.ctre.phoenix.motorcontrol.TalonFXControlMode; import com.ctre.phoenix.motorcontrol.can.TalonFX; import edu.wpi.first.wpilibj.Joystick; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.InstantCommand; -import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.button.JoystickButton; + import frc4388.robot.Constants.*; import frc4388.robot.commands.AimToCenter; import frc4388.robot.subsystems.BoomBoom; import frc4388.robot.subsystems.Hood; -//import frc4388.robot.subsystems.Intake; import frc4388.robot.subsystems.LED; import frc4388.robot.subsystems.SwerveDrive; import frc4388.robot.subsystems.Turret; diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java index 29ebda8..53cfd6e 100644 --- a/src/main/java/frc4388/robot/RobotMap.java +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -4,8 +4,6 @@ package frc4388.robot; -import javax.swing.text.WrappedPlainView; - import com.ctre.phoenix.motorcontrol.NeutralMode; import com.ctre.phoenix.motorcontrol.RemoteSensorSource; import com.ctre.phoenix.motorcontrol.StatorCurrentLimitConfiguration; @@ -14,7 +12,9 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; import com.ctre.phoenix.sensors.CANCoder; import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMaxLowLevel.MotorType; + import edu.wpi.first.wpilibj.motorcontrol.Spark; + import frc4388.robot.Constants.LEDConstants; import frc4388.robot.Constants.ShooterConstants; import frc4388.robot.Constants.SwerveDriveConstants; diff --git a/src/main/java/frc4388/robot/commands/Shoot.java b/src/main/java/frc4388/robot/commands/Shoot.java index f82bc1e..b962d4b 100644 --- a/src/main/java/frc4388/robot/commands/Shoot.java +++ b/src/main/java/frc4388/robot/commands/Shoot.java @@ -4,10 +4,8 @@ package frc4388.robot.commands; -import com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration; -import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; - import edu.wpi.first.wpilibj2.command.CommandBase; + import frc4388.robot.subsystems.BoomBoom; import frc4388.robot.subsystems.Hood; import frc4388.robot.subsystems.SwerveDrive; diff --git a/src/main/java/frc4388/robot/subsystems/Hood.java b/src/main/java/frc4388/robot/subsystems/Hood.java index 72bb3f8..995af74 100644 --- a/src/main/java/frc4388/robot/subsystems/Hood.java +++ b/src/main/java/frc4388/robot/subsystems/Hood.java @@ -4,19 +4,16 @@ package frc4388.robot.subsystems; -import javax.sql.rowset.WebRowSet; - import com.revrobotics.CANSparkMax; import com.revrobotics.RelativeEncoder; import com.revrobotics.SparkMaxPIDController; import com.revrobotics.SparkMaxLimitSwitch; import com.revrobotics.CANSparkMax.ControlType; import com.revrobotics.CANSparkMax.IdleMode; -import com.revrobotics.CANSparkMax.SoftLimitDirection; import com.revrobotics.CANSparkMaxLowLevel.MotorType; import edu.wpi.first.wpilibj2.command.SubsystemBase; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; + import frc4388.robot.Constants.ShooterConstants; import frc4388.utility.Gains; diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index 93cffc9..716a2ed 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -13,9 +13,8 @@ import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.math.kinematics.SwerveDriveKinematics; import edu.wpi.first.math.kinematics.SwerveModuleState; import edu.wpi.first.math.util.Units; -import edu.wpi.first.wpilibj.interfaces.Gyro; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; + import frc4388.robot.Constants.SwerveDriveConstants; import frc4388.utility.Gains; import frc4388.utility.RobotGyro; diff --git a/src/main/java/frc4388/robot/subsystems/Turret.java b/src/main/java/frc4388/robot/subsystems/Turret.java index 28c9583..21e7a73 100644 --- a/src/main/java/frc4388/robot/subsystems/Turret.java +++ b/src/main/java/frc4388/robot/subsystems/Turret.java @@ -6,19 +6,17 @@ package frc4388.robot.subsystems; import com.revrobotics.CANSparkMax.ControlType; import com.revrobotics.CANSparkMax.IdleMode; -import com.revrobotics.CANEncoder; import com.revrobotics.CANSparkMax; -import com.revrobotics.MotorFeedbackSensor; import com.revrobotics.RelativeEncoder; import com.revrobotics.SparkMaxLimitSwitch; import com.revrobotics.SparkMaxPIDController; -import com.revrobotics.CANSparkMaxLowLevel.MotorType; + import edu.wpi.first.wpilibj.interfaces.Gyro; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; + import frc4388.robot.Constants.ShooterConstants; import frc4388.utility.Gains; -import com.revrobotics.CANSparkMax.SoftLimitDirection; public class Turret extends SubsystemBase { diff --git a/src/main/java/frc4388/robot/subsystems/Vision.java b/src/main/java/frc4388/robot/subsystems/Vision.java index 0b6ca09..686ef2c 100644 --- a/src/main/java/frc4388/robot/subsystems/Vision.java +++ b/src/main/java/frc4388/robot/subsystems/Vision.java @@ -8,12 +8,8 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.networktables.NetworkTableInstance; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.networktables.NetworkTableEntry; -import edu.wpi.first.wpilibj2.command.CommandBase; -import frc4388.robot.Constants.ShooterConstants; + import frc4388.robot.Constants.VisionConstants; -import frc4388.robot.subsystems.BoomBoom; -import frc4388.robot.subsystems.Turret; -import frc4388.robot.subsystems.Hood; import frc4388.utility.controller.IHandController; public class Vision extends SubsystemBase { From 9c58e04ec74cc515dcd80d6cd54b9132e1ab1397 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Mon, 28 Feb 2022 17:13:13 -0700 Subject: [PATCH 122/151] turret soft limits + setter method --- src/main/java/frc4388/robot/Constants.java | 4 +++- .../java/frc4388/robot/subsystems/Turret.java | 24 ++++++++++++++----- 2 files changed, 21 insertions(+), 7 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 8d7984a..0434331 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -94,7 +94,6 @@ public final class Constants { public static final int SHOOTER_FALCON_LEFT_CAN_ID = 23; public static final int SHOOTER_FALCON_RIGHT_CAN_ID = 24; public static final int SHOOTER_ROTATE_ID = 31; // TODO: find - public static final int TURRET_RIGHT_SOFT_LIMIT = 0; public static final double TURRET_SPEED_MULTIPLIER = 0.1d; public static final int DEGREES_PER_ROT = 0; public static final int TURRET_MOTOR_POS_AT_ZERO_ROT = 0; @@ -126,6 +125,9 @@ public final class Constants { public static final double HOOD_MOTOR_ROTS_PER_ROT = 1; //TODO: Find public static final double HOOD_MOTOR_POS_AT_ZERO_ROT = 0; //TODO: Find + public static final float TURRET_FORWARD_LIMIT = 0; // TODO: find + public static final float TURRET_REVERSE_LIMIT = 0; // TODO: find + } public static final class VisionConstants { public static final double TURN_P_VALUE = 0.8; diff --git a/src/main/java/frc4388/robot/subsystems/Turret.java b/src/main/java/frc4388/robot/subsystems/Turret.java index 21e7a73..a4eca33 100644 --- a/src/main/java/frc4388/robot/subsystems/Turret.java +++ b/src/main/java/frc4388/robot/subsystems/Turret.java @@ -6,6 +6,10 @@ package frc4388.robot.subsystems; import com.revrobotics.CANSparkMax.ControlType; import com.revrobotics.CANSparkMax.IdleMode; +import com.revrobotics.CANSparkMax.SoftLimitDirection; + +import java.util.concurrent.TimeoutException; + import com.revrobotics.CANSparkMax; import com.revrobotics.RelativeEncoder; import com.revrobotics.SparkMaxLimitSwitch; @@ -16,6 +20,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc4388.robot.Constants.ShooterConstants; +import frc4388.robot.commands.Shoot; import frc4388.utility.Gains; public class Turret extends SubsystemBase { @@ -52,12 +57,10 @@ 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.enableSoftLimit(SoftLimitDirection.kForward, false); - // m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kReverse, true); - // m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.TURRET_RIGHT_SOFT_LIMIT); // Set - // second - // soft - // limit + m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.TURRET_FORWARD_LIMIT); + m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kReverse, ShooterConstants.TURRET_REVERSE_LIMIT); + setSoftLimits(true); + m_boomBoomRotateMotor.setInverted(false); m_boomBoomRotatePIDController.setP(m_shooterTGains.m_kP); @@ -73,6 +76,15 @@ public class Turret extends SubsystemBase { // This method will be called once per scheduler run } + /** + * Set status of turret motor soft limits. + * @param set Boolean to set soft limits to. + */ + public void setSoftLimits(boolean set) { + m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kForward, set); + m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kReverse, set); + } + public void passRequiredSubsystem(BoomBoom subsystem0, SwerveDrive subsystem1) { m_boomBoomSubsystem = subsystem0; m_sDriveSubsystem = subsystem1; From 14cd85900559c979c14836e26f1bc0008fc3beee Mon Sep 17 00:00:00 2001 From: aarav18 Date: Mon, 28 Feb 2022 17:20:01 -0700 Subject: [PATCH 123/151] hood soft limits + setter method --- src/main/java/frc4388/robot/Constants.java | 7 +++++-- .../java/frc4388/robot/subsystems/Hood.java | 19 +++++++++++++++++-- .../java/frc4388/robot/subsystems/Turret.java | 4 ++-- 3 files changed, 24 insertions(+), 6 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 0434331..59cab07 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -108,6 +108,8 @@ 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 = 0; // TODO: find + public static final float TURRET_REVERSE_LIMIT = 0; // TODO: find // deadzones public static final double HARD_DEADZONE_LEFT = 0.0; @@ -120,13 +122,14 @@ public final class Constants { public static final int SHOOTER_FALCON_BALLER_FOLLOWER_ID = 0; //"// public static final Gains DRUM_SHOOTER_GAINS = new Gains(0,0,0,0,0,0); // TODO: tune values + /* Hood Constants */ public static final int SHOOTER_ANGLE_ADJUST_ID = 32; public static final double HOOD_MOTOR_ROTS_PER_ROT = 1; //TODO: Find public static final double HOOD_MOTOR_POS_AT_ZERO_ROT = 0; //TODO: Find + public static final float HOOD_FORWARD_LIMIT = 0; //TODO: find + public static final float HOOD_REVERSE_LIMIT = 0; //TODO: find - public static final float TURRET_FORWARD_LIMIT = 0; // TODO: find - public static final float TURRET_REVERSE_LIMIT = 0; // TODO: find } public static final class VisionConstants { diff --git a/src/main/java/frc4388/robot/subsystems/Hood.java b/src/main/java/frc4388/robot/subsystems/Hood.java index 995af74..b3a2f30 100644 --- a/src/main/java/frc4388/robot/subsystems/Hood.java +++ b/src/main/java/frc4388/robot/subsystems/Hood.java @@ -10,6 +10,7 @@ import com.revrobotics.SparkMaxPIDController; import com.revrobotics.SparkMaxLimitSwitch; import com.revrobotics.CANSparkMax.ControlType; import com.revrobotics.CANSparkMax.IdleMode; +import com.revrobotics.CANSparkMax.SoftLimitDirection; import com.revrobotics.CANSparkMaxLowLevel.MotorType; import edu.wpi.first.wpilibj2.command.SubsystemBase; @@ -38,10 +39,14 @@ public double m_fireAngle; public Hood() { m_angleAdjusterMotor.setIdleMode(IdleMode.kBrake); - m_hoodUpLimitSwitch = m_angleAdjusterMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen); + // m_hoodUpLimitSwitch = m_angleAdjusterMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen); m_hoodDownLimitSwitch = m_angleAdjusterMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen); - m_hoodUpLimitSwitch.enableLimitSwitch(true); + // m_hoodUpLimitSwitch.enableLimitSwitch(true); m_hoodDownLimitSwitch.enableLimitSwitch(true); + + m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.HOOD_FORWARD_LIMIT); + m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kReverse, ShooterConstants.HOOD_REVERSE_LIMIT); + setHoodSoftLimits(true); } @@ -49,6 +54,16 @@ public double m_fireAngle; public void periodic() { // This method will be called once per scheduler run } + + /** + * Set status of hood motor soft limits. + * @param set Boolean to set soft limits to. + */ + public void setHoodSoftLimits(boolean set) { + m_angleAdjusterMotor.enableSoftLimit(SoftLimitDirection.kForward, set); + m_angleAdjusterMotor.enableSoftLimit(SoftLimitDirection.kReverse, set); + } + public void runAngleAdjustPID(double targetAngle) { //Set PID Coefficients diff --git a/src/main/java/frc4388/robot/subsystems/Turret.java b/src/main/java/frc4388/robot/subsystems/Turret.java index a4eca33..3a00f02 100644 --- a/src/main/java/frc4388/robot/subsystems/Turret.java +++ b/src/main/java/frc4388/robot/subsystems/Turret.java @@ -59,7 +59,7 @@ public class Turret extends SubsystemBase { m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.TURRET_FORWARD_LIMIT); m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kReverse, ShooterConstants.TURRET_REVERSE_LIMIT); - setSoftLimits(true); + setTurretSoftLimits(true); m_boomBoomRotateMotor.setInverted(false); @@ -80,7 +80,7 @@ public class Turret extends SubsystemBase { * Set status of turret motor soft limits. * @param set Boolean to set soft limits to. */ - public void setSoftLimits(boolean set) { + public void setTurretSoftLimits(boolean set) { m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kForward, set); m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kReverse, set); } From 40a4d6d369a2f17a5e296d8da6f23a99b310552c Mon Sep 17 00:00:00 2001 From: nathanrsxtn Date: Mon, 28 Feb 2022 17:56:17 -0700 Subject: [PATCH 124/151] Disable creating path from loaded auto Fix PathPlanner task for macOS only --- .vscode/tasks.json | 6 ++++-- src/main/java/frc4388/robot/RobotContainer.java | 5 ++--- 2 files changed, 6 insertions(+), 5 deletions(-) diff --git a/.vscode/tasks.json b/.vscode/tasks.json index 58a00fa..0e86bd2 100644 --- a/.vscode/tasks.json +++ b/.vscode/tasks.json @@ -17,8 +17,10 @@ }, { "label": "pathPlanner", - "type": "process", - "command": "open -n /Applications/PathPlanner.app", + "type": "shell", + "osx": { + "command": "open -n /Applications/PathPlanner.app" + }, "presentation": { "echo": false, "reveal": "silent", diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 536fa55..86231d4 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -233,7 +233,7 @@ public class RobotContainer { return m_operatorXbox; } - private /* final */ List pathPoints = new ArrayList<>(); + private final List pathPoints = new ArrayList<>(); public void recordInit() { SmartDashboard.putData("Recording", @@ -274,8 +274,7 @@ public class RobotContainer { } public PathPlannerUtil.Path createPath(Double maxVelocity, Double maxAcceleration, Boolean isReversed) { - pathPoints = Arrays.stream(PathPlannerUtil.Path.read(autoChooser.getSelected()).waypoints.get()) - .collect(Collectors.toList()); + // pathPoints = Arrays.stream(PathPlannerUtil.Path.read(autoChooser.getSelected()).waypoints.get()).collect(Collectors.toList()); // Remove points whose angles to neighboring points are less than 10 degrees // apart. int j = 0; From e2f637675674a84a0d447bc32527caeb3398a339 Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Mon, 28 Feb 2022 18:55:42 -0700 Subject: [PATCH 125/151] Update Robot.java --- src/main/java/frc4388/robot/Robot.java | 1 - 1 file changed, 1 deletion(-) diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java index bf9b82c..119a032 100644 --- a/src/main/java/frc4388/robot/Robot.java +++ b/src/main/java/frc4388/robot/Robot.java @@ -30,7 +30,6 @@ public class Robot extends TimedRobot { public void robotInit() { // Instantiate our RobotContainer. This will perform all our button bindings, and put our // autonomous chooser on the dashboard. - //AimToCenterTest.RunAll(); m_robotContainer = new RobotContainer(); } From bd6025bf5290c6a48c458d800e642dce645b3835 Mon Sep 17 00:00:00 2001 From: nathanrsxtn Date: Mon, 28 Feb 2022 18:57:53 -0700 Subject: [PATCH 126/151] Fix paths with multiple consecutive removable points --- .gitignore | 2 +- src/main/java/frc4388/robot/RobotContainer.java | 10 ++++------ 2 files changed, 5 insertions(+), 7 deletions(-) diff --git a/.gitignore b/.gitignore index c36585d..5e48910 100644 --- a/.gitignore +++ b/.gitignore @@ -159,6 +159,6 @@ gradle-app.setting bin/ # Simulation GUI and other tools window save file -simgui-*.json +simgui*.json src/main/deploy/config.json \ No newline at end of file diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 86231d4..15c9738 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -275,8 +275,7 @@ public class RobotContainer { public PathPlannerUtil.Path createPath(Double maxVelocity, Double maxAcceleration, Boolean isReversed) { // pathPoints = Arrays.stream(PathPlannerUtil.Path.read(autoChooser.getSelected()).waypoints.get()).collect(Collectors.toList()); - // Remove points whose angles to neighboring points are less than 10 degrees - // apart. + // Remove points whose angles to neighboring points are less than 10 degrees apart. int j = 0; for (int i = 1; i < pathPoints.size() - 1; i++) { var prev = pathPoints.get(j).anchorPoint.orElseThrow(); @@ -286,11 +285,10 @@ public class RobotContainer { var toNext = next.minus(current); var angleFromPrevious = new Rotation2d(fromPrevious.getX(), fromPrevious.getY()); var angleToNext = new Rotation2d(toNext.getX(), toNext.getY()); - j = i; - if (Math.abs(angleFromPrevious.minus(angleToNext).getDegrees()) < 20) { + if (Math.abs(angleFromPrevious.minus(angleToNext).getDegrees()) < 20) pathPoints.set(i, null); - j--; - } + else + j = i; } pathPoints.removeIf(Objects::isNull); // Make control points From 7a5aa112156183f12cfb57704784d74134ac6f79 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Mon, 28 Feb 2022 18:58:46 -0700 Subject: [PATCH 127/151] merge change 1 --- src/main/java/frc4388/robot/RobotContainer.java | 17 ----------------- 1 file changed, 17 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index bc0c544..a44b32b 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -34,21 +34,7 @@ import frc4388.utility.controller.XboxController; public class RobotContainer { /* RobotMap */ private final RobotMap m_robotMap = new RobotMap(); - private final TalonFX m_testMotor = new TalonFX(2); - /* - * Subsystems - * private final SwerveDrive m_robotSwerveDrive = new SwerveDrive( - * m_robotMap.leftFrontSteerMotor, m_robotMap.leftFrontWheelMotor, - * m_robotMap.rightFrontSteerMotor, m_robotMap.rightFrontWheelMotor, - * m_robotMap.leftBackSteerMotor, m_robotMap.leftBackWheelMotor, - * m_robotMap.rightBackSteerMotor, m_robotMap.rightBackWheelMotor, - * m_robotMap.leftFrontEncoder, - * m_robotMap.rightFrontEncoder, - * m_robotMap.leftBackEncoder, - * m_robotMap.rightBackEncoder - * ); - */ private final LED m_robotLED = new LED(m_robotMap.LEDController); private final BoomBoom m_robotBoomBoom = new BoomBoom(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight); private final Hood m_robotHood = new Hood(); @@ -106,9 +92,6 @@ public class RobotContainer { /* Operator Buttons */ // activates "Lit Mode" - new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON) - .whileHeld(() -> m_testMotor.set(TalonFXControlMode.PercentOutput, 0.5)); - new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON) .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW)) .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN)); From af8e727381c64c9e8c7ebb0e30c7189b9b24be3b Mon Sep 17 00:00:00 2001 From: aarav18 Date: Mon, 28 Feb 2022 19:08:59 -0700 Subject: [PATCH 128/151] merge change 2 --- src/main/java/frc4388/robot/RobotMap.java | 166 ++++++++-------------- 1 file changed, 62 insertions(+), 104 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java index 53cfd6e..b48b190 100644 --- a/src/main/java/frc4388/robot/RobotMap.java +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -27,7 +27,8 @@ public class RobotMap { public RobotMap() { configureLEDMotorControllers(); - // configureSwerveMotorControllers(); + configureSwerveMotorControllers(); + configureShooterMotorControllers(); } /* LED Subsystem */ @@ -38,18 +39,6 @@ public class RobotMap { } /* Swerve Subsystem */ - // public final WPI_TalonFX leftFrontSteerMotor = null; - // public final WPI_TalonFX leftFrontWheelMotor = null; - // public final WPI_TalonFX rightFrontSteerMotor = null; - // public final WPI_TalonFX rightFrontWheelMotor = null; - // public final WPI_TalonFX leftBackSteerMotor = null; - // public final WPI_TalonFX leftBackWheelMotor = null; - // public final WPI_TalonFX rightBackSteerMotor = null; - // public final WPI_TalonFX rightBackWheelMotor = null; - // public final CANCoder leftFrontEncoder = null; - // public final CANCoder rightFrontEncoder = null; - // public final CANCoder leftBackEncoder = null; - // public final CANCoder rightBackEncoder = null; public final WPI_TalonFX leftFrontSteerMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_STEER_CAN_ID); public final WPI_TalonFX leftFrontWheelMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_WHEEL_CAN_ID); @@ -65,84 +54,60 @@ public class RobotMap { public final CANCoder rightBackEncoder = new CANCoder(SwerveDriveConstants.RIGHT_BACK_STEER_CAN_ENCODER_ID); void configureSwerveMotorControllers() { - leftFrontEncoder.configMagnetOffset(SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET); - rightFrontEncoder.configMagnetOffset(SwerveDriveConstants.RIGHT_FRONT_ENCODER_OFFSET); - leftBackEncoder.configMagnetOffset(SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET); - rightBackEncoder.configMagnetOffset(SwerveDriveConstants.RIGHT_BACK_ENCODER_OFFSET); + leftFrontEncoder.configMagnetOffset(SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET); + rightFrontEncoder.configMagnetOffset(SwerveDriveConstants.RIGHT_FRONT_ENCODER_OFFSET); + leftBackEncoder.configMagnetOffset(SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET); + rightBackEncoder.configMagnetOffset(SwerveDriveConstants.RIGHT_BACK_ENCODER_OFFSET); - leftFrontSteerMotor.configFactoryDefault(); - leftFrontWheelMotor.configFactoryDefault(); - rightFrontSteerMotor.configFactoryDefault(); - rightFrontWheelMotor.configFactoryDefault(); - leftBackSteerMotor.configFactoryDefault(); - leftBackWheelMotor.configFactoryDefault(); - rightBackSteerMotor.configFactoryDefault(); - rightBackWheelMotor.configFactoryDefault(); + leftFrontSteerMotor.configFactoryDefault(); + leftFrontWheelMotor.configFactoryDefault(); + rightFrontSteerMotor.configFactoryDefault(); + rightFrontWheelMotor.configFactoryDefault(); + leftBackSteerMotor.configFactoryDefault(); + leftBackWheelMotor.configFactoryDefault(); + rightBackSteerMotor.configFactoryDefault(); + rightBackWheelMotor.configFactoryDefault(); - leftFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, - SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, - SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, - SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, - SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, - SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, - SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, - SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, - SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, - SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, - SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, - SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, - SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, - SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, - SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, - SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, - SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, - SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, - SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, - SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, - SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, - SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, - SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, - SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, - SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - // config cancoder as remote encoder for swerve steer motors - leftFrontSteerMotor.configRemoteFeedbackFilter(leftFrontEncoder.getDeviceID(), - RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, - SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftBackSteerMotor.configRemoteFeedbackFilter(leftBackEncoder.getDeviceID(), - RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, - SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightFrontSteerMotor.configRemoteFeedbackFilter(rightFrontEncoder.getDeviceID(), - RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, - SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightBackSteerMotor.configRemoteFeedbackFilter(rightBackEncoder.getDeviceID(), - RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, - SwerveDriveConstants.SWERVE_TIMEOUT_MS); + // config cancoder as remote encoder for swerve steer motors + leftFrontSteerMotor.configRemoteFeedbackFilter(leftFrontEncoder.getDeviceID(), + RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftBackSteerMotor.configRemoteFeedbackFilter(leftBackEncoder.getDeviceID(), + RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightFrontSteerMotor.configRemoteFeedbackFilter(rightFrontEncoder.getDeviceID(), + RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightBackSteerMotor.configRemoteFeedbackFilter(rightBackEncoder.getDeviceID(), + RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); } // Shooter Config @@ -153,7 +118,7 @@ public class RobotMap { public final CANSparkMax shooterTurret = new CANSparkMax(ShooterConstants.TURRET_MOTOR_CAN_ID, MotorType.kBrushless); // Create motor CANSparkMax - void ConfigureShooterMotorControllers() { + void configureShooterMotorControllers() { // LEFT FALCON shooterFalconLeft.configFactoryDefault(); @@ -162,12 +127,9 @@ public class RobotMap { shooterFalconLeft.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS); shooterFalconLeft.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS); shooterFalconLeft.configPeakOutputReverse(0, ShooterConstants.SHOOTER_TIMEOUT_MS); - shooterFalconLeft.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, - ShooterConstants.SHOOTER_TIMEOUT_MS); - shooterFalconLeft.configClosedLoopPeriod(0, ShooterConstants.CLOSED_LOOP_TIME_MS, - ShooterConstants.SHOOTER_TIMEOUT_MS); - shooterFalconLeft.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, - ShooterConstants.SHOOTER_TIMEOUT_MS); + shooterFalconLeft.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS); + shooterFalconLeft.configClosedLoopPeriod(0, ShooterConstants.CLOSED_LOOP_TIME_MS, ShooterConstants.SHOOTER_TIMEOUT_MS); + shooterFalconLeft.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS); // RIGHT FALCON shooterFalconRight.setInverted(false); @@ -175,18 +137,14 @@ public class RobotMap { shooterFalconRight.configFactoryDefault(); shooterFalconRight.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS); shooterFalconRight.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS); - // m_shooterFalconRight.configPeakOutputForward(0, - // ShooterConstants.SHOOTER_TIMEOUT_MS);(comment it in if necessary) - shooterFalconRight.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, - ShooterConstants.SHOOTER_TIMEOUT_MS); - shooterFalconRight.configClosedLoopPeriod(0, ShooterConstants.CLOSED_LOOP_TIME_MS, - ShooterConstants.SHOOTER_TIMEOUT_MS); - shooterFalconRight.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, - ShooterConstants.SHOOTER_TIMEOUT_MS); + // m_shooterFalconRight.configPeakOutputForward(0, ShooterConstants.SHOOTER_TIMEOUT_MS);(comment it in if necessary) + shooterFalconRight.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS); + shooterFalconRight.configClosedLoopPeriod(0, ShooterConstants.CLOSED_LOOP_TIME_MS, ShooterConstants.SHOOTER_TIMEOUT_MS); + shooterFalconRight.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS); + /* Turret Subsytem */ - - shooterFalconRight.configStatorCurrentLimit(new StatorCurrentLimitConfiguration(true, 6, 9, 4.2)); - shooterFalconLeft.configSupplyCurrentLimit(new SupplyCurrentLimitConfiguration(true, 12, 13, 0.4)); + shooterFalconRight.configStatorCurrentLimit(new StatorCurrentLimitConfiguration(true, 6, 9, 4.2)); // TODO: dont pull numbers out of our ass anymore + shooterFalconLeft.configSupplyCurrentLimit(new SupplyCurrentLimitConfiguration(true, 12, 13, 0.4)); // TODO: dont pull numbers out of our ass anymore } From 815bb64fe6666aab73e4ff976d7a510f2f73f7c0 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Mon, 28 Feb 2022 19:40:09 -0700 Subject: [PATCH 129/151] post-merge fixes, controller stuff left --- .../java/frc4388/robot/RobotContainer.java | 19 +++++-------------- .../frc4388/robot/subsystems/BoomBoom.java | 3 --- .../java/frc4388/robot/subsystems/Vision.java | 2 -- 3 files changed, 5 insertions(+), 19 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 4afde0a..25bfc48 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -56,8 +56,11 @@ public class RobotContainer { private final RobotMap m_robotMap = new RobotMap(); /* Subsystems */ - public final SwerveDrive m_robotSwerveDrive = new SwerveDrive( - m_robotMap.leftFront, m_robotMap.leftBack, m_robotMap.rightFront, m_robotMap.rightBack, m_robotMap.gyro); + public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront, + m_robotMap.leftBack, + m_robotMap.rightFront, + m_robotMap.rightBack, + m_robotMap.gyro); private final TalonFX m_testMotor = new TalonFX(23); @@ -66,18 +69,6 @@ public class RobotContainer { private final Hood m_robotHood = new Hood(); private final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret); private final Vision m_robotVison = new Vision(m_robotTurret, m_robotBoomBoom); - private final SwerveDrive m_robotSwerveDrive = new SwerveDrive( m_robotMap.leftFrontSteerMotor, - m_robotMap.leftFrontWheelMotor, - m_robotMap.rightFrontSteerMotor, - m_robotMap.rightFrontWheelMotor, - m_robotMap.leftBackSteerMotor, - m_robotMap.leftBackWheelMotor, - m_robotMap.rightBackSteerMotor, - m_robotMap.rightBackWheelMotor, - m_robotMap.leftFrontEncoder, - m_robotMap.rightFrontEncoder, - m_robotMap.leftBackEncoder, - m_robotMap.rightBackEncoder); /* Controllers */ private final XboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID); private final XboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID); diff --git a/src/main/java/frc4388/robot/subsystems/BoomBoom.java b/src/main/java/frc4388/robot/subsystems/BoomBoom.java index 9dfd332..7898e16 100644 --- a/src/main/java/frc4388/robot/subsystems/BoomBoom.java +++ b/src/main/java/frc4388/robot/subsystems/BoomBoom.java @@ -22,15 +22,12 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc4388.robot.Constants.ShooterConstants; import frc4388.utility.CSV; import frc4388.utility.Gains; -import frc4388.utility.controller.IHandController; public class BoomBoom extends SubsystemBase { public WPI_TalonFX m_shooterFalconLeft; public WPI_TalonFX m_shooterFalconRight; public static Gains m_drumShooterGains = ShooterConstants.DRUM_SHOOTER_GAINS; public static BoomBoom m_boomBoom; -public static IHandController m_driverController; //not sure if driverController in 2022 = m_controller in 2020 -// BangBangController m_controller = new BangBangController(); double velP; double input; diff --git a/src/main/java/frc4388/robot/subsystems/Vision.java b/src/main/java/frc4388/robot/subsystems/Vision.java index 686ef2c..748bcd5 100644 --- a/src/main/java/frc4388/robot/subsystems/Vision.java +++ b/src/main/java/frc4388/robot/subsystems/Vision.java @@ -10,7 +10,6 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.networktables.NetworkTableEntry; import frc4388.robot.Constants.VisionConstants; -import frc4388.utility.controller.IHandController; public class Vision extends SubsystemBase { //setup @@ -19,7 +18,6 @@ public class Vision extends SubsystemBase { Hood m_hood; NetworkTableEntry xEntry; -IHandController m_driverController; //Aiming double turnAmount = 0; double xAngle = 0; From add365dfc19c8ab9983bd7ed4d3b5952894541fd Mon Sep 17 00:00:00 2001 From: aarav18 Date: Mon, 28 Feb 2022 19:45:29 -0700 Subject: [PATCH 130/151] post-merge controller fixes --- src/main/java/frc4388/robot/RobotContainer.java | 14 ++++---------- 1 file changed, 4 insertions(+), 10 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 25bfc48..3d56eca 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -108,7 +108,7 @@ public class RobotContainer { */ private void configureButtonBindings() { /* Driver Buttons */ - // "XboxController.Button.kBack" was undefiened yet, 7 works just fine + // "XboxController.Button.kBack" was undefined yet, 7 works just fine new JoystickButton(getDriverController(), 7) .whenPressed(() -> m_robotSwerveDrive.resetGyro()); @@ -128,23 +128,17 @@ public class RobotContainer { /* Operator Buttons */ // activates "Lit Mode" - new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON) + new JoystickButton(getOperatorController(), XboxController.Button.kA.value) .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW)) .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN)); // activates "BoomBoom" - new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON) + new JoystickButton(getOperatorController(), XboxController.Button.kB.value) .whenPressed(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0.1)) .whenReleased(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0)); - /* Driver Buttons */ - // activates intake - new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON); - // .whenPressed() -> m_robot - /* operator button */ // activates hood - new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON) + new JoystickButton(getOperatorController(), XboxController.Button.kB.value) .whenPressed(() -> m_robotHood.runHood(0.5d)) .whenReleased(() -> m_robotHood.runHood(0.d)); - // new JoystickButton(getOperatorJoystick()); } /** From b249f8f6904372c9c10ff2d1e1f0faab808786ba Mon Sep 17 00:00:00 2001 From: aarav18 Date: Mon, 28 Feb 2022 19:47:47 -0700 Subject: [PATCH 131/151] ALL POST-MERGE ERRORS FIXED --- src/main/java/frc4388/robot/commands/AimToCenter.java | 2 +- src/test/java/frc4388/robot/subsystems/LEDSubsystemTest.java | 1 + 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc4388/robot/commands/AimToCenter.java b/src/main/java/frc4388/robot/commands/AimToCenter.java index 70e65f3..45f0998 100644 --- a/src/main/java/frc4388/robot/commands/AimToCenter.java +++ b/src/main/java/frc4388/robot/commands/AimToCenter.java @@ -38,7 +38,7 @@ public class AimToCenter extends CommandBase { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - m_targetAngle = angleToCenter(x, y, m_drive.gyro.getAngle()); + m_targetAngle = angleToCenter(x, y, m_drive.getRegGyro().getDegrees()); m_turret.runshooterRotatePID(m_targetAngle); } diff --git a/src/test/java/frc4388/robot/subsystems/LEDSubsystemTest.java b/src/test/java/frc4388/robot/subsystems/LEDSubsystemTest.java index 9fe8f58..a0f6b97 100644 --- a/src/test/java/frc4388/robot/subsystems/LEDSubsystemTest.java +++ b/src/test/java/frc4388/robot/subsystems/LEDSubsystemTest.java @@ -6,6 +6,7 @@ package frc4388.robot.subsystems; import static org.junit.Assert.assertEquals; // import static org.mockito.Mockito.mock; +import static org.mockito.Mockito.mock; import org.junit.Test; From d9a4be3090ede6f395d472ff99f2e9eaabb9878f Mon Sep 17 00:00:00 2001 From: nathanrsxtn Date: Tue, 1 Mar 2022 11:57:49 -0700 Subject: [PATCH 132/151] Add path recording constants Reogranize path recording code Change recorded path naming to use date and time Try out keeping log messages in a resource file --- src/main/java/frc4388/robot/Constants.java | 9 +- .../java/frc4388/robot/RobotContainer.java | 152 +++++++++--------- .../java/frc4388/utility/AnsiLogging.java | 2 + .../java/frc4388/utility/Logging.properties | 4 + 4 files changed, 90 insertions(+), 77 deletions(-) create mode 100644 src/main/java/frc4388/utility/Logging.properties diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 496b7e6..03e07ca 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -67,8 +67,13 @@ public final class Constants { // swerve auto constants public static final PIDController X_CONTROLLER = new PIDController(0.5, 0.0, 0.0); public static final PIDController Y_CONTROLLER = new PIDController(2.0, 0.0, 0.0); - public static final ProfiledPIDController THETA_CONTROLLER = new ProfiledPIDController( - 15.0, 0.1, 0.3, new TrapezoidProfile.Constraints(Math.PI, Math.PI)); + public static final ProfiledPIDController THETA_CONTROLLER = new ProfiledPIDController(15.0, 0.1, 0.3, new TrapezoidProfile.Constraints(Math.PI, Math.PI)); + public static final boolean PATH_RECORD_VELOCITY = true; + public static final double PATH_MAX_VELOCITY = 5.5; + public static final double PATH_MAX_ACCELERATION = 50; + public static final double MIN_WAYPOINT_ANGLE = 20; + public static final double MIN_WAYPOINT_DISTANCE = 0.1; + public static final double MIN_WAYPOINT_VELOCITY = 0.1; // swerve configuration public static final double NEUTRAL_DEADBAND = 0.04; diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 15c9738..9f03798 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -4,6 +4,8 @@ package frc4388.robot; +import static frc4388.utility.AnsiLogging.RESOURCE_BUNDLE; + import java.io.File; import java.io.IOException; import java.nio.file.FileSystems; @@ -11,6 +13,10 @@ import java.nio.file.Path; import java.nio.file.StandardWatchEventKinds; import java.nio.file.WatchEvent; import java.nio.file.WatchKey; +import java.time.Clock; +import java.time.ZoneId; +import java.time.ZonedDateTime; +import java.time.format.DateTimeFormatter; import java.util.ArrayList; import java.util.Arrays; import java.util.Comparator; @@ -80,18 +86,14 @@ public class RobotContainer { private final XboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID); private PathPlannerTrajectory loadedPathTrajectory = null; - private static final Function pathExtensionRemover = ((Function) Pattern - .compile(".path")::matcher).andThen(m -> m.replaceFirst("")); - private final ListeningSendableChooser autoChooser = new ListeningSendableChooser<>(this::loadPath); + private final List pathPoints = new ArrayList<>(); - private void loadPath(String pathName) { - LOGGER.warning("Loading path " + pathName); - loadedPathTrajectory = null; - loadedPathTrajectory = PathPlanner.loadPath(pathExtensionRemover.apply(Objects.requireNonNullElse(pathName, "")), - 5.5, 50); - LOGGER.info("Done loading"); - } + /* Autonomous */ + private static final DateTimeFormatter RECORDING_FILE_NAME_FORMATTER = DateTimeFormatter.ofPattern("'Recording' yyyy-MM-dd HH:mm:ss.SSS'.path'"); + private static final Clock SYSTEM_CLOCK = Clock.system(ZoneId.systemDefault()); + private static final Path PATHPLANNER_DIRECTORY = Filesystem.getDeployDirectory().toPath().resolve("pathplanner"); + private static final Function PATH_EXTENSION_REMOVER = ((Function) Pattern.compile(".path")::matcher).andThen(m -> m.replaceFirst("")); /** * The container for the robot. Contains subsystems, OI devices, and commands. @@ -111,49 +113,7 @@ public class RobotContainer { // continually sends updates to the Blinkin LED controller to keep the lights on m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED, m_robotLED).withName("LED update defaultCommand")); - - try { - WatchKey watchKey = Filesystem.getDeployDirectory().toPath().resolve("pathplanner").register(FileSystems.getDefault().newWatchService(), StandardWatchEventKinds.ENTRY_CREATE, StandardWatchEventKinds.ENTRY_MODIFY, StandardWatchEventKinds.ENTRY_DELETE); - // Save this and other commands as fields so they can be rescheduled. - new NotifierCommand(() -> { - List> watchEvents = watchKey.pollEvents(); - if (!watchEvents.isEmpty()) { - List> pathWatchEvents = watchEvents.stream().filter(e -> e.kind().type().isAssignableFrom(Path.class)).collect(Collectors.toList()); - for (WatchEvent pathWatchEvent : pathWatchEvents) { - Path watchEventPath = (Path) pathWatchEvent.context(); - File watchEventFile = watchEventPath.toFile(); - String watchEventFileName = watchEventFile.getName(); - if (watchEventFileName.endsWith(".path")) { - if (pathWatchEvent.kind().equals(StandardWatchEventKinds.ENTRY_CREATE)) { - LOGGER.warning("PathPlanner file " + watchEventFileName + " created. Options added to SendableChooser."); - autoChooser.addOption(watchEventFile.getName(), watchEventFile); - } else if (pathWatchEvent.kind().equals(StandardWatchEventKinds.ENTRY_MODIFY)) { - LOGGER.warning("PathPlanner file " + watchEventFileName + " modified."); - if (watchEventFileName.equals(autoChooser.getSelected().getName())) { - LOGGER.severe("PathPlanner file " + watchEventFileName + " already selected. Reloading path."); - loadPath(watchEventFileName); - } - } else if (pathWatchEvent.kind().equals(StandardWatchEventKinds.ENTRY_DELETE)) { - LOGGER.severe("PathPlanner file " + watchEventFileName + " deleted. Removing options from SendableChooser not yet implemented."); - } - } - } - } - if (!watchKey.reset()) - LOGGER.severe("File watch key invalid."); - }, 0.5) { - @Override - public boolean runsWhenDisabled() { - return true; - } - }.withName("Path Watcher").schedule(); - } catch (IOException exception) { - LOGGER.log(Level.SEVERE, "Exception with path file watcher.", exception); - } - Arrays.stream(Filesystem.getDeployDirectory().toPath().resolve("pathplanner").toFile().listFiles()) - .filter(file -> file.getName().endsWith(".path")).sorted(Comparator.comparingLong(File::lastModified)) - .forEachOrdered(file -> autoChooser.addOption(file.getName(), file)); - SmartDashboard.putData("Auto Chooser", autoChooser); + autoInit(); recordInit(); } @@ -170,13 +130,11 @@ public class RobotContainer { .whenPressed(m_robotSwerveDrive.m_gyro::reset); new JoystickButton(getDriverController(), XboxController.Button.kLeftBumper.value) - // new XboxControllerRawButton(m_driverXbox, - // XboxControllerRaw.LEFT_BUMPER_BUTTON) + // new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.LEFT_BUMPER_BUTTON) .whenPressed(() -> m_robotSwerveDrive.highSpeed(false)); new JoystickButton(getDriverController(), XboxController.Button.kRightBumper.value) - // new XboxControllerRawButton(m_driverXbox, - // XboxControllerRaw.RIGHT_BUMPER_BUTTON) + // new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.RIGHT_BUMPER_BUTTON) .whenPressed(() -> m_robotSwerveDrive.highSpeed(true)); new JoystickButton(getDriverController(), XboxController.Button.kA.value) @@ -233,7 +191,24 @@ public class RobotContainer { return m_operatorXbox; } - private final List pathPoints = new ArrayList<>(); + private void autoInit() { + try { + WatchKey watchKey = PATHPLANNER_DIRECTORY.register(FileSystems.getDefault().newWatchService(), StandardWatchEventKinds.ENTRY_CREATE, StandardWatchEventKinds.ENTRY_MODIFY, StandardWatchEventKinds.ENTRY_DELETE); + // TODO: Store this and other commands as fields so they can be rescheduled. + new NotifierCommand(() -> updateAutoChooser(watchKey), 0.5) { + @Override + public boolean runsWhenDisabled() { + return true; + } + }.withName("Path Watcher").schedule(); + } catch (IOException exception) { + LOGGER.log(Level.SEVERE, "Exception with path file watcher.", exception); + } + Arrays.stream(PATHPLANNER_DIRECTORY.toFile().listFiles()) + .filter(file -> file.getName().endsWith(".path")).sorted(Comparator.comparingLong(File::lastModified)) + .forEachOrdered(file -> autoChooser.addOption(file.getName(), file)); + SmartDashboard.putData("Auto Chooser", autoChooser); + } public void recordInit() { SmartDashboard.putData("Recording", @@ -250,12 +225,47 @@ public class RobotContainer { }.withName("Record Path (Cancel to Save)")); } + private void updateAutoChooser(WatchKey watchKey) { + List> watchEvents = watchKey.pollEvents(); + if (!watchEvents.isEmpty()) { + List> pathWatchEvents = watchEvents.stream().filter(e -> e.kind().type().isAssignableFrom(Path.class)).collect(Collectors.toList()); + for (WatchEvent pathWatchEvent : pathWatchEvents) { + Path watchEventPath = (Path) pathWatchEvent.context(); + File watchEventFile = watchEventPath.toFile(); + String watchEventFileName = watchEventFile.getName(); + if (watchEventFileName.endsWith(".path")) { + if (pathWatchEvent.kind().equals(StandardWatchEventKinds.ENTRY_CREATE)) { + LOGGER.logrb(Level.WARNING, RESOURCE_BUNDLE, "RobotContainer.updateAutoChooser.entryCreate", watchEventFileName); + autoChooser.addOption(watchEventFile.getName(), watchEventFile); + } else if (pathWatchEvent.kind().equals(StandardWatchEventKinds.ENTRY_MODIFY)) { + LOGGER.logrb(Level.WARNING, RESOURCE_BUNDLE, "RobotContainer.updateAutoChooser.entryModify", watchEventFileName); + if (watchEventFileName.equals(autoChooser.getSelected().getName())) { + LOGGER.logrb(Level.SEVERE, RESOURCE_BUNDLE, "RobotContainer.updateAutoChooser.entryModify.selected", watchEventFileName); + loadPath(watchEventFileName); + } + } else if (pathWatchEvent.kind().equals(StandardWatchEventKinds.ENTRY_DELETE)) { + LOGGER.logrb(Level.SEVERE, RESOURCE_BUNDLE, "RobotContainer.updateAutoChooser.entryDelete", watchEventFileName); + } + } + } + } + if (!watchKey.reset()) + LOGGER.severe("File watch key invalid."); + } + + private void loadPath(String pathName) { + LOGGER.warning("Loading path " + pathName); + loadedPathTrajectory = null; + loadedPathTrajectory = PathPlanner.loadPath(PATH_EXTENSION_REMOVER.apply(Objects.requireNonNullElse(pathName, "")), SwerveDriveConstants.PATH_MAX_VELOCITY, SwerveDriveConstants.PATH_MAX_ACCELERATION); + LOGGER.info("Done loading"); + } + private void saveRecording() { // IMPORTANT: Had to chown the pathplanner folder in order to save autos. - File outputFile = Filesystem.getDeployDirectory().toPath().resolve("pathplanner") - .resolve("recording." + System.currentTimeMillis() + ".path").toFile(); + File outputFile = PATHPLANNER_DIRECTORY.resolve(ZonedDateTime.now(SYSTEM_CLOCK).format(RECORDING_FILE_NAME_FORMATTER)).toFile(); LOGGER.log(Level.WARNING, "Creating path {0}.", outputFile.getPath()); if (Boolean.TRUE.equals(Errors.log().getWithDefault(outputFile::createNewFile, false))) { + // TODO: Change to use measured maximum velocity and acceleration. createPath(null, null, false).write(outputFile); autoChooser.setDefaultOption(outputFile.getName(), outputFile); LOGGER.log(Level.INFO, "Recorded path to {0}.", outputFile.getPath()); @@ -266,15 +276,12 @@ public class RobotContainer { public void recordPeriodic() { Translation2d position = m_robotSwerveDrive.m_poseEstimator.getEstimatedPosition().getTranslation(); Rotation2d rotation = m_robotSwerveDrive.m_gyro.getRotation2d(); - Translation2d velocity = new Translation2d(m_robotSwerveDrive.chassisSpeeds.vxMetersPerSecond, - m_robotSwerveDrive.chassisSpeeds.vyMetersPerSecond); - Waypoint waypoint = new Waypoint(position, position, position, rotation.getDegrees(), false, velocity.getNorm(), - false); + Translation2d velocity = new Translation2d(m_robotSwerveDrive.chassisSpeeds.vxMetersPerSecond, m_robotSwerveDrive.chassisSpeeds.vyMetersPerSecond); + Waypoint waypoint = new Waypoint(position, position, position, rotation.getDegrees(), false, SwerveDriveConstants.PATH_RECORD_VELOCITY ? velocity.getNorm() : null, false); pathPoints.add(waypoint); } public PathPlannerUtil.Path createPath(Double maxVelocity, Double maxAcceleration, Boolean isReversed) { - // pathPoints = Arrays.stream(PathPlannerUtil.Path.read(autoChooser.getSelected()).waypoints.get()).collect(Collectors.toList()); // Remove points whose angles to neighboring points are less than 10 degrees apart. int j = 0; for (int i = 1; i < pathPoints.size() - 1; i++) { @@ -285,24 +292,20 @@ public class RobotContainer { var toNext = next.minus(current); var angleFromPrevious = new Rotation2d(fromPrevious.getX(), fromPrevious.getY()); var angleToNext = new Rotation2d(toNext.getX(), toNext.getY()); - if (Math.abs(angleFromPrevious.minus(angleToNext).getDegrees()) < 20) + if (Math.abs(angleFromPrevious.minus(angleToNext).getDegrees()) < SwerveDriveConstants.MIN_WAYPOINT_ANGLE || (next.getDistance(prev) < SwerveDriveConstants.MIN_WAYPOINT_DISTANCE && pathPoints.get(i).velOverride.map(v -> v < SwerveDriveConstants.MIN_WAYPOINT_VELOCITY).orElse(false))) pathPoints.set(i, null); else j = i; } pathPoints.removeIf(Objects::isNull); // Make control points - pathPoints.get(0).nextControl = Optional.of(makeControlPoints(null, pathPoints.get(0).anchorPoint.orElseThrow(), - pathPoints.get(1).anchorPoint.orElseThrow()).getSecond()); + pathPoints.get(0).nextControl = Optional.of(makeControlPoints(null, pathPoints.get(0).anchorPoint.orElseThrow(), pathPoints.get(1).anchorPoint.orElseThrow()).getSecond()); for (int i = 1; i < pathPoints.size() - 1; i++) { - var controls = makeControlPoints(pathPoints.get(i - 1).anchorPoint.orElseThrow(), - pathPoints.get(i).anchorPoint.orElseThrow(), pathPoints.get(i + 1).anchorPoint.orElseThrow()); + var controls = makeControlPoints(pathPoints.get(i - 1).anchorPoint.orElseThrow(), pathPoints.get(i).anchorPoint.orElseThrow(), pathPoints.get(i + 1).anchorPoint.orElseThrow()); pathPoints.get(i).prevControl = Optional.of(controls.getFirst()); pathPoints.get(i).nextControl = Optional.of(controls.getSecond()); } - pathPoints.get(pathPoints.size() - 1).prevControl = Optional - .of(makeControlPoints(pathPoints.get(pathPoints.size() - 2).anchorPoint.orElseThrow(), - pathPoints.get(pathPoints.size() - 1).anchorPoint.orElseThrow(), null).getFirst()); + pathPoints.get(pathPoints.size() - 1).prevControl = Optional.of(makeControlPoints(pathPoints.get(pathPoints.size() - 2).anchorPoint.orElseThrow(), pathPoints.get(pathPoints.size() - 1).anchorPoint.orElseThrow(), null).getFirst()); // Create the path PathPlannerUtil.Path path = new PathPlannerUtil.Path(); path.waypoints = Optional.ofNullable(pathPoints.toArray(PathPlannerUtil.Path.Waypoint[]::new)); @@ -313,8 +316,7 @@ public class RobotContainer { return path; } - private static Pair makeControlPoints(Translation2d prev, Translation2d current, - Translation2d next) { + private static Pair makeControlPoints(Translation2d prev, Translation2d current, Translation2d next) { var line = Objects.requireNonNullElse(next, current).minus(Objects.requireNonNullElse(prev, current)).div(4); return Pair.of(current.minus(line), current.plus(line)); } diff --git a/src/main/java/frc4388/utility/AnsiLogging.java b/src/main/java/frc4388/utility/AnsiLogging.java index 15930ea..64e4314 100644 --- a/src/main/java/frc4388/utility/AnsiLogging.java +++ b/src/main/java/frc4388/utility/AnsiLogging.java @@ -11,6 +11,7 @@ import java.time.ZoneId; import java.time.ZonedDateTime; import java.util.Map; import java.util.Optional; +import java.util.ResourceBundle; import java.util.logging.ConsoleHandler; import java.util.logging.Formatter; import java.util.logging.Level; @@ -24,6 +25,7 @@ import org.fusesource.jansi.Ansi.Color; import org.fusesource.jansi.AnsiConsole; public class AnsiLogging extends ConsoleHandler { + public static final ResourceBundle RESOURCE_BUNDLE = ResourceBundle.getBundle("frc4388.utility.Logging"); public static void systemInstall() { try { // Configures java.util.logging.Logger to output additional colored information. diff --git a/src/main/java/frc4388/utility/Logging.properties b/src/main/java/frc4388/utility/Logging.properties new file mode 100644 index 0000000..b93bbb6 --- /dev/null +++ b/src/main/java/frc4388/utility/Logging.properties @@ -0,0 +1,4 @@ +RobotContainer.updateAutoChooser.entryCreate = PathPlanner file {0} created. Options added to SendableChooser. +RobotContainer.updateAutoChooser.entryModify = PathPlanner file {0} modified. +RobotContainer.updateAutoChooser.entryModify.selected = PathPlanner file {0} already selected. Reloading path. +RobotContainer.updateAutoChooser.entryDelete = PathPlanner file {0} deleted. Removing options from SendableChooser not yet implemented. \ No newline at end of file From f882fb81a3d35f82cfbd15f2d4efa9557d35eea4 Mon Sep 17 00:00:00 2001 From: nathanrsxtn Date: Tue, 1 Mar 2022 16:30:25 -0700 Subject: [PATCH 133/151] Revert partial logging with message resource files --- src/main/java/frc4388/robot/RobotContainer.java | 10 ++++------ src/main/java/frc4388/utility/Logging.properties | 4 ---- 2 files changed, 4 insertions(+), 10 deletions(-) delete mode 100644 src/main/java/frc4388/utility/Logging.properties diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 9f03798..4f44b21 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -4,8 +4,6 @@ package frc4388.robot; -import static frc4388.utility.AnsiLogging.RESOURCE_BUNDLE; - import java.io.File; import java.io.IOException; import java.nio.file.FileSystems; @@ -235,16 +233,16 @@ public class RobotContainer { String watchEventFileName = watchEventFile.getName(); if (watchEventFileName.endsWith(".path")) { if (pathWatchEvent.kind().equals(StandardWatchEventKinds.ENTRY_CREATE)) { - LOGGER.logrb(Level.WARNING, RESOURCE_BUNDLE, "RobotContainer.updateAutoChooser.entryCreate", watchEventFileName); + LOGGER.log(Level.WARNING, "PathPlanner file {0} created. Options added to SendableChooser.", watchEventFileName); autoChooser.addOption(watchEventFile.getName(), watchEventFile); } else if (pathWatchEvent.kind().equals(StandardWatchEventKinds.ENTRY_MODIFY)) { - LOGGER.logrb(Level.WARNING, RESOURCE_BUNDLE, "RobotContainer.updateAutoChooser.entryModify", watchEventFileName); + LOGGER.log(Level.WARNING, "PathPlanner file {0} modified.", watchEventFileName); if (watchEventFileName.equals(autoChooser.getSelected().getName())) { - LOGGER.logrb(Level.SEVERE, RESOURCE_BUNDLE, "RobotContainer.updateAutoChooser.entryModify.selected", watchEventFileName); + LOGGER.log(Level.SEVERE, "PathPlanner file {0} already selected. Reloading path.", watchEventFileName); loadPath(watchEventFileName); } } else if (pathWatchEvent.kind().equals(StandardWatchEventKinds.ENTRY_DELETE)) { - LOGGER.logrb(Level.SEVERE, RESOURCE_BUNDLE, "RobotContainer.updateAutoChooser.entryDelete", watchEventFileName); + LOGGER.log(Level.SEVERE, "PathPlanner file {0} deleted. Removing options from SendableChooser not yet implemented.", watchEventFileName); } } } diff --git a/src/main/java/frc4388/utility/Logging.properties b/src/main/java/frc4388/utility/Logging.properties deleted file mode 100644 index b93bbb6..0000000 --- a/src/main/java/frc4388/utility/Logging.properties +++ /dev/null @@ -1,4 +0,0 @@ -RobotContainer.updateAutoChooser.entryCreate = PathPlanner file {0} created. Options added to SendableChooser. -RobotContainer.updateAutoChooser.entryModify = PathPlanner file {0} modified. -RobotContainer.updateAutoChooser.entryModify.selected = PathPlanner file {0} already selected. Reloading path. -RobotContainer.updateAutoChooser.entryDelete = PathPlanner file {0} deleted. Removing options from SendableChooser not yet implemented. \ No newline at end of file From 968d4480427005860dd4133d8432e6006e60fc5f Mon Sep 17 00:00:00 2001 From: nathanrsxtn Date: Tue, 1 Mar 2022 16:48:29 -0700 Subject: [PATCH 134/151] Remove unused resource bundle reference --- src/main/java/frc4388/utility/AnsiLogging.java | 2 -- 1 file changed, 2 deletions(-) diff --git a/src/main/java/frc4388/utility/AnsiLogging.java b/src/main/java/frc4388/utility/AnsiLogging.java index 64e4314..15930ea 100644 --- a/src/main/java/frc4388/utility/AnsiLogging.java +++ b/src/main/java/frc4388/utility/AnsiLogging.java @@ -11,7 +11,6 @@ import java.time.ZoneId; import java.time.ZonedDateTime; import java.util.Map; import java.util.Optional; -import java.util.ResourceBundle; import java.util.logging.ConsoleHandler; import java.util.logging.Formatter; import java.util.logging.Level; @@ -25,7 +24,6 @@ import org.fusesource.jansi.Ansi.Color; import org.fusesource.jansi.AnsiConsole; public class AnsiLogging extends ConsoleHandler { - public static final ResourceBundle RESOURCE_BUNDLE = ResourceBundle.getBundle("frc4388.utility.Logging"); public static void systemInstall() { try { // Configures java.util.logging.Logger to output additional colored information. From b01d79ae709b6d4b0889fe1ba6a675a6a9a035bb Mon Sep 17 00:00:00 2001 From: aarav18 Date: Tue, 1 Mar 2022 17:18:25 -0700 Subject: [PATCH 135/151] some changes --- src/main/java/frc4388/robot/commands/Shoot.java | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc4388/robot/commands/Shoot.java b/src/main/java/frc4388/robot/commands/Shoot.java index b962d4b..28a5f3e 100644 --- a/src/main/java/frc4388/robot/commands/Shoot.java +++ b/src/main/java/frc4388/robot/commands/Shoot.java @@ -35,7 +35,7 @@ public class Shoot extends CommandBase { public double error; public double prevError; public double kP, kI, kD; - public double integral, derivative; + public double proportional, integral, derivative; public double time; public double output; public double tolerance = 5.0; @@ -58,6 +58,7 @@ public class Shoot extends CommandBase { kI = 0.0; kD = 0.0; + proportional = 0; integral = 0; derivative = 0; time = 0.02; @@ -77,6 +78,8 @@ public class Shoot extends CommandBase { m_odoY = 0; //TODO: get this value using odometry m_distance = Math.sqrt(Math.pow(m_odoX, 2) + Math.pow(m_odoY, 2)); + m_gyroAngle = m_swerve.getRegGyro().getDegrees(); + // get targets (shooter tables) m_targetVel = m_boomBoom.getVelocity(m_distance); m_targetHood = m_boomBoom.getHood(m_distance); @@ -117,9 +120,11 @@ public class Shoot extends CommandBase { public void runPID() { prevError = error; updateError(); + + proportional = error; integral = integral + error * time; derivative = (error - prevError) / time; - output = kP * error + kI * integral + kD * derivative; + output = kP * proportional + kI * integral + kD * derivative; } // Called every time the scheduler runs while the command is scheduled. From fa7368305b1e77a115b42358f5d04fad83d9b811 Mon Sep 17 00:00:00 2001 From: nathanrsxtn Date: Tue, 1 Mar 2022 17:29:13 -0700 Subject: [PATCH 136/151] Change comments and naming for colored logging --- .../java/frc4388/utility/AnsiLogging.java | 27 ++++++++++--------- 1 file changed, 14 insertions(+), 13 deletions(-) diff --git a/src/main/java/frc4388/utility/AnsiLogging.java b/src/main/java/frc4388/utility/AnsiLogging.java index 15930ea..6708568 100644 --- a/src/main/java/frc4388/utility/AnsiLogging.java +++ b/src/main/java/frc4388/utility/AnsiLogging.java @@ -26,7 +26,7 @@ import org.fusesource.jansi.AnsiConsole; public class AnsiLogging extends ConsoleHandler { public static void systemInstall() { try { - // Configures java.util.logging.Logger to output additional colored information. + // Configure java.util.logging.Logger to output additional colored information. LogManager.getLogManager().updateConfiguration(key -> (o, n) -> { switch (key) { case ".level": @@ -37,11 +37,11 @@ public class AnsiLogging extends ConsoleHandler { return n; } }); - // Replaces standard output streams with org.fusesource.jansi.AnsiPrintStreams. + // Replace standard output streams with org.fusesource.jansi.AnsiPrintStreams. AnsiConsole.systemInstall(); - // Replaces standard output stream with java.util.logging.Logger. + // Replace standard output stream with java.util.logging.Logger. System.setOut(printStreamLogger(Logger.getGlobal(), Level.INFO)); - // Replaces standard error output stream with java.util.logging.Logger. + // Replace standard error output stream with java.util.logging.Logger. System.setErr(printStreamLogger(Logger.getGlobal(), Level.SEVERE)); } catch (IOException exception) { exception.printStackTrace(AnsiConsole.sysErr()); @@ -62,19 +62,20 @@ public class AnsiLogging extends ConsoleHandler { private static final Formatter formatter = new Formatter() { private final ZoneId zoneId = ZoneId.systemDefault(); + // Specify and prepare formats for messages private final Map levelColors = Map.of( Level.OFF.intValue(), "", - Level.SEVERE.intValue(), makeSignatureFormatString(ansi().fgBright(Color.RED)), - Level.WARNING.intValue(), makeSignatureFormatString(ansi().fgBright(Color.YELLOW)), - Level.INFO.intValue(), makeSignatureFormatString(ansi().fg(Color.GREEN)), - Level.CONFIG.intValue(), makeSignatureFormatString(ansi().fgBright(Color.BLUE)), - Level.FINE.intValue(), makeSignatureFormatString(ansi().fg(Color.CYAN)), - Level.FINER.intValue(), makeSignatureFormatString(ansi().fg(Color.MAGENTA)), - Level.FINEST.intValue(), makeSignatureFormatString(ansi().fgBright(Color.BLACK)), - Level.ALL.intValue(), makeSignatureFormatString(ansi().fg(Color.DEFAULT)) + Level.SEVERE.intValue(), makeMessageFormatString(ansi().fgBright(Color.RED)), + Level.WARNING.intValue(), makeMessageFormatString(ansi().fgBright(Color.YELLOW)), + Level.INFO.intValue(), makeMessageFormatString(ansi().fg(Color.GREEN)), + Level.CONFIG.intValue(), makeMessageFormatString(ansi().fgBright(Color.BLUE)), + Level.FINE.intValue(), makeMessageFormatString(ansi().fg(Color.CYAN)), + Level.FINER.intValue(), makeMessageFormatString(ansi().fg(Color.MAGENTA)), + Level.FINEST.intValue(), makeMessageFormatString(ansi().fgBright(Color.BLACK)), + Level.ALL.intValue(), makeMessageFormatString(ansi().fg(Color.DEFAULT)) ); - private String makeSignatureFormatString(Ansi base) { + private String makeMessageFormatString(Ansi base) { return base.bold().a(Attribute.UNDERLINE).a("[%1$tb %1$td %1$tk:%1$tM:%1$tS.%1$tL] %2$s %3$s:").boldOff().a(Attribute.UNDERLINE_OFF).a("%4$s%5$s").a(Attribute.INTENSITY_FAINT).a("%6$s").reset().a("%n").toString(); } From cd4fd4938a088b7ea4010fab84510e0bbd059e54 Mon Sep 17 00:00:00 2001 From: nathanrsxtn Date: Tue, 1 Mar 2022 18:15:27 -0700 Subject: [PATCH 137/151] Fix logging colored messages with colored logger --- src/main/java/frc4388/robot/subsystems/BoomBoom.java | 4 +++- src/main/java/frc4388/utility/AnsiLogging.java | 2 +- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc4388/robot/subsystems/BoomBoom.java b/src/main/java/frc4388/robot/subsystems/BoomBoom.java index 64e7027..7e9a710 100644 --- a/src/main/java/frc4388/robot/subsystems/BoomBoom.java +++ b/src/main/java/frc4388/robot/subsystems/BoomBoom.java @@ -10,6 +10,7 @@ import java.util.Comparator; import java.util.Map; import java.util.Optional; import java.util.function.Function; +import java.util.logging.Logger; import java.util.regex.Pattern; import java.util.stream.IntStream; @@ -24,6 +25,7 @@ import frc4388.utility.CSV; import frc4388.utility.Gains; public class BoomBoom extends SubsystemBase { + private static final Logger LOGGER = Logger.getLogger(BoomBoom.class.getSimpleName()); public WPI_TalonFX m_shooterFalconLeft; public WPI_TalonFX m_shooterFalconRight; public static Gains m_drumShooterGains = ShooterConstants.DRUM_SHOOTER_GAINS; @@ -66,7 +68,7 @@ public class BoomBoom extends SubsystemBase { }; m_shooterTable = csv.read(new File(Filesystem.getDeployDirectory(), "Robot Data - Distances.csv").toPath()); - new Thread(() -> System.out.println(CSV.ReflectionTable.create(m_shooterTable, RobotBase.isSimulation()))).start(); + new Thread(() -> LOGGER.fine(CSV.ReflectionTable.create(m_shooterTable, RobotBase.isSimulation()))).start(); } catch (final IOException e) { e.printStackTrace(); // throw new RuntimeException(e); diff --git a/src/main/java/frc4388/utility/AnsiLogging.java b/src/main/java/frc4388/utility/AnsiLogging.java index 6708568..901e2d7 100644 --- a/src/main/java/frc4388/utility/AnsiLogging.java +++ b/src/main/java/frc4388/utility/AnsiLogging.java @@ -95,7 +95,7 @@ public class AnsiLogging extends ConsoleHandler { String message = formatMessage(logRecord); String throwable = Optional.ofNullable(logRecord.getThrown()).map(this::makeStackTraceString).orElse(""); String format = levelColors.getOrDefault(logRecord.getLevel().intValue(), levelColors.get(Level.ALL.intValue())); - return String.format(format, time, source, logRecord.getLevel().getLocalizedName(), message.lines().count() > 1 ? System.lineSeparator() : " ", message, throwable); + return String.format(format, time, source, logRecord.getLevel().getLocalizedName(), message.lines().count() > 1 ? System.lineSeparator() : " ", message.contains("\033") ? "\033[0m" + message : message, throwable); } }; } From 3acd01255de499cc84609fc816826834218f5d38 Mon Sep 17 00:00:00 2001 From: Abhishrek05 <90010729+Abhishrek05@users.noreply.github.com> Date: Tue, 1 Mar 2022 18:51:26 -0700 Subject: [PATCH 138/151] deadzone processing done --- src/main/java/frc4388/robot/commands/Shoot.java | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc4388/robot/commands/Shoot.java b/src/main/java/frc4388/robot/commands/Shoot.java index 28a5f3e..f4c32b4 100644 --- a/src/main/java/frc4388/robot/commands/Shoot.java +++ b/src/main/java/frc4388/robot/commands/Shoot.java @@ -84,8 +84,17 @@ public class Shoot extends CommandBase { m_targetVel = m_boomBoom.getVelocity(m_distance); m_targetHood = m_boomBoom.getHood(m_distance); m_targetAngle = ((Math.atan2(m_odoY, m_odoX) * (180./Math.PI) - m_gyroAngle) + 180. + 360.) % 360.; - m_driveTargetAngle = m_targetAngle + m_turret.getBoomBoomAngleDegrees(); + m_driveTargetAngle = m_swerve.getRegGyro().getDegrees(); + + + if (AimToCenter.isHardwareDeadzone(m_targetAngle)) { + m_targetAngle = m_targetAngle + 20; + } + + if (AimToCenter.isDigitalDeadzone(m_targetAngle)) { + m_swerve.driveWithInput(0, 0, Math.cos(m_driveTargetAngle + 20), Math.sin(m_driveTargetAngle + 20), true); + } // // normal (i think) PID stuff // dummyConfiguration.primaryPID.selectedFeedbackSensor = TalonFXFeedbackDevice.IntegratedSensor.toFeedbackDevice(); // dummyConfiguration.remoteFilter0.remoteSensorDeviceID = dummy.getDeviceID(); From fab2e1e863904179f3ca6d5a41ebecb1fc945b88 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Tue, 1 Mar 2022 18:49:20 -0700 Subject: [PATCH 139/151] odometry get in shoot --- src/main/java/frc4388/robot/commands/Shoot.java | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc4388/robot/commands/Shoot.java b/src/main/java/frc4388/robot/commands/Shoot.java index f4c32b4..32f2779 100644 --- a/src/main/java/frc4388/robot/commands/Shoot.java +++ b/src/main/java/frc4388/robot/commands/Shoot.java @@ -74,8 +74,8 @@ public class Shoot extends CommandBase { // Called when the command is initially scheduled. @Override public void initialize() { - m_odoX = 0; //TODO: get this value using odometry - m_odoY = 0; //TODO: get this value using odometry + m_odoX = m_swerve.getOdometry().getX(); + m_odoY = m_swerve.getOdometry().getY(); m_distance = Math.sqrt(Math.pow(m_odoX, 2) + Math.pow(m_odoY, 2)); m_gyroAngle = m_swerve.getRegGyro().getDegrees(); @@ -148,6 +148,7 @@ public class Shoot extends CommandBase { // custom pid runPID(); m_swerve.driveWithInput(0, 0, output, true); + // m_swerve.driveWithInput(0, 0, Math.cos(output), Math.sin(output), true); m_hood.runAngleAdjustPID(m_targetHood); m_boomBoom.runDrumShooterVelocityPID(m_targetVel); From 24aaeb33f7b0e16a3a3c04cfaf5481c77bbc8403 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Tue, 1 Mar 2022 18:56:07 -0700 Subject: [PATCH 140/151] sum explanation frrr --- src/main/java/frc4388/robot/commands/Shoot.java | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc4388/robot/commands/Shoot.java b/src/main/java/frc4388/robot/commands/Shoot.java index 32f2779..8fc6500 100644 --- a/src/main/java/frc4388/robot/commands/Shoot.java +++ b/src/main/java/frc4388/robot/commands/Shoot.java @@ -86,15 +86,16 @@ public class Shoot extends CommandBase { m_targetAngle = ((Math.atan2(m_odoY, m_odoX) * (180./Math.PI) - m_gyroAngle) + 180. + 360.) % 360.; m_driveTargetAngle = m_swerve.getRegGyro().getDegrees(); - - + // 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_driveTargetAngle + 20), Math.sin(m_driveTargetAngle + 20), true); } + // // normal (i think) PID stuff // dummyConfiguration.primaryPID.selectedFeedbackSensor = TalonFXFeedbackDevice.IntegratedSensor.toFeedbackDevice(); // dummyConfiguration.remoteFilter0.remoteSensorDeviceID = dummy.getDeviceID(); @@ -147,7 +148,8 @@ public class Shoot extends CommandBase { // custom pid runPID(); - m_swerve.driveWithInput(0, 0, output, true); + m_swerve.driveWithInput(0, 0, output, true); // i have no idea if this is how you rotate the + // entire swerve drive or its the commented line below // m_swerve.driveWithInput(0, 0, Math.cos(output), Math.sin(output), true); m_hood.runAngleAdjustPID(m_targetHood); From 4f39a33a8b52ac98193df71c452bd3c6e2692e34 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Tue, 1 Mar 2022 19:28:22 -0700 Subject: [PATCH 141/151] some hava docs --- .../frc4388/robot/subsystems/BoomBoom.java | 12 ++++++---- .../frc4388/robot/subsystems/SwerveDrive.java | 23 +++++++++++-------- 2 files changed, 20 insertions(+), 15 deletions(-) diff --git a/src/main/java/frc4388/robot/subsystems/BoomBoom.java b/src/main/java/frc4388/robot/subsystems/BoomBoom.java index 7898e16..54fc697 100644 --- a/src/main/java/frc4388/robot/subsystems/BoomBoom.java +++ b/src/main/java/frc4388/robot/subsystems/BoomBoom.java @@ -46,15 +46,15 @@ public static class ShooterTableEntry { private ShooterTableEntry[] m_shooterTable; -/* -* Creates new BoomBoom subsystem, has drum shooter and angle adjuster -*/ - /** Creates a new BoomBoom. */ +/** + * Creates a new BoomBoom subsystem, which has the drum shooter. + * @param shooterFalconLeft The left drum motor. + * @param shooterFalconRight The right drum motor. + */ public BoomBoom(WPI_TalonFX shooterFalconLeft, WPI_TalonFX shooterFalconRight) { m_shooterFalconLeft = shooterFalconLeft; m_shooterFalconRight = shooterFalconRight; - try { CSV csv = new CSV<>(ShooterTableEntry::new) { private final Pattern parentheses = Pattern.compile("\\([^\\)]*+\\)"); @@ -81,6 +81,8 @@ public Double getHood(final Double distance) { return linearInterpolate(m_shooterTable, distance, e -> e.distance, e -> e.hoodExt).doubleValue(); } +// TODO: @nathanrsxtn pls java doc your shooter tables code + private static Number linearInterpolate(final E[] table, final Number lookupValue, final Function lookupGetter, final Function targetGetter) { final Map.Entry closestEntry = lookup(table, lookupValue.doubleValue(), lookupGetter, false).orElse(Map.entry(table.length - 1, table[table.length - 1])); final E closestRecord = closestEntry.getValue(); diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index 342bbca..f945d3c 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -130,6 +130,10 @@ public class SwerveDrive extends SubsystemBase { setModuleStates(states); } + /** + * Set each module of the swerve drive to the corresponding desired state. + * @param desiredStates Array of module states to set. + */ public void setModuleStates(SwerveModuleState[] desiredStates) { SwerveDriveKinematics.desaturateWheelSpeeds(desiredStates, Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC)); for (int i = 0; i < desiredStates.length; i++) { @@ -146,15 +150,7 @@ public class SwerveDrive extends SubsystemBase { updateOdometry(); // SmartDashboard.putNumber("Pigeon Fused Heading", m_gyro.getFusedHeading(fstatus)); - SmartDashboard.putNumber("Pigeon Yaw", m_gyro.getYaw()); - - // SmartDashboard.putNumber("Front Left", modules[0].driveMotor.getSelectedSensorPosition()); - // SmartDashboard.putNumber("Front Right", modules[1].driveMotor.getSelectedSensorPosition()); - // SmartDashboard.putNumber("Back Left", modules[2].driveMotor.getSelectedSensorPosition()); - // SmartDashboard.putNumber("Back Right", modules[3].driveMotor.getSelectedSensorPosition()); - // SmartDashboard.putNumber("Pigeon Get Angle", m_gyro.getAngle()); - // SmartDashboard.putNumber("Pigeon Rotation 2D", m_gyro.getRotation2d().getDegrees()); - // SmartDashboard.putStringArray("Fusion Status", new String[] {"Is Fusing: "+fstatus.bIsFusing, "Is Valid: "+fstatus.bIsValid, "Heading: "+fstatus.heading}); + SmartDashboard.putNumber("Pigeon Yaw", m_gyro.getYaw()); // m_field.setRobotPose(m_poseEstimator.getEstimatedPosition()); super.periodic(); @@ -226,7 +222,10 @@ public class SwerveDrive extends SubsystemBase { // m_poseEstimator.getEstimatedPosition(), // Timer.getFPGATimestamp() - 0.1); } - + + /** + * Resets pigeon. + */ public void resetGyro(){ m_gyro.reset(); rotTarget = new Rotation2d(0); @@ -242,6 +241,10 @@ public class SwerveDrive extends SubsystemBase { modules[3].stop(); } + /** + * Switches speed modes. + * @param shift True if fast mode, false if slow mode. + */ public void highSpeed(boolean shift){ if (shift){ speedAdjust = SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND_FAST; From 2fc3297c64d2ba1215024dbfa96b947931b030e6 Mon Sep 17 00:00:00 2001 From: nathanrsxtn Date: Tue, 1 Mar 2022 20:23:01 -0700 Subject: [PATCH 142/151] Add a NetworkTables client to download paths Rename shooter CSV file Add workspace file --- NetworkTablesDesktopClient/.gitignore | 2 + .../.vscode/launch.json | 15 ++ NetworkTablesDesktopClient/build.gradle | 24 ++ .../gradle/wrapper/gradle-wrapper.jar | Bin 0 -> 59821 bytes .../gradle/wrapper/gradle-wrapper.properties | 5 + NetworkTablesDesktopClient/gradlew | 234 ++++++++++++++++++ NetworkTablesDesktopClient/gradlew.bat | 89 +++++++ .../settings.gradle | 0 .../main/java/NetworkTablesDesktopClient.java | 34 +++ ...t Data - Distances.csv => ShooterData.csv} | 0 .../generatedJSON/Diamond.wpilib.json | 1 - .../generatedJSON/First Test Path.wpilib.json | 1 - .../generatedJSON/Five Ball.wpilib.json | 1 - .../generatedJSON/L Path.wpilib.json | 1 - .../generatedJSON/Move Down.wpilib.json | 1 - .../generatedJSON/Move Forward.wpilib.json | 1 - .../generatedJSON/New Path.wpilib.json | 1 - .../generatedJSON/Rotate.wpilib.json | 1 - .../generatedJSON/Test.wpilib.json | 1 - .../generatedJSON/Triangle.wpilib.json | 1 - .../java/frc4388/robot/RobotContainer.java | 19 +- .../frc4388/robot/subsystems/BoomBoom.java | 2 +- .../java/frc4388/utility/PathPlannerUtil.java | 6 + workspace.code-workspace | 18 ++ 24 files changed, 444 insertions(+), 14 deletions(-) create mode 100644 NetworkTablesDesktopClient/.gitignore create mode 100644 NetworkTablesDesktopClient/.vscode/launch.json create mode 100644 NetworkTablesDesktopClient/build.gradle create mode 100644 NetworkTablesDesktopClient/gradle/wrapper/gradle-wrapper.jar create mode 100644 NetworkTablesDesktopClient/gradle/wrapper/gradle-wrapper.properties create mode 100755 NetworkTablesDesktopClient/gradlew create mode 100644 NetworkTablesDesktopClient/gradlew.bat rename src/main/deploy/Distances.csv => NetworkTablesDesktopClient/settings.gradle (100%) create mode 100644 NetworkTablesDesktopClient/src/main/java/NetworkTablesDesktopClient.java rename src/main/deploy/{Robot Data - Distances.csv => ShooterData.csv} (100%) delete mode 100644 src/main/deploy/pathplanner/generatedJSON/Diamond.wpilib.json delete mode 100644 src/main/deploy/pathplanner/generatedJSON/First Test Path.wpilib.json delete mode 100644 src/main/deploy/pathplanner/generatedJSON/Five Ball.wpilib.json delete mode 100644 src/main/deploy/pathplanner/generatedJSON/L Path.wpilib.json delete mode 100644 src/main/deploy/pathplanner/generatedJSON/Move Down.wpilib.json delete mode 100644 src/main/deploy/pathplanner/generatedJSON/Move Forward.wpilib.json delete mode 100644 src/main/deploy/pathplanner/generatedJSON/New Path.wpilib.json delete mode 100644 src/main/deploy/pathplanner/generatedJSON/Rotate.wpilib.json delete mode 100644 src/main/deploy/pathplanner/generatedJSON/Test.wpilib.json delete mode 100644 src/main/deploy/pathplanner/generatedJSON/Triangle.wpilib.json create mode 100644 workspace.code-workspace diff --git a/NetworkTablesDesktopClient/.gitignore b/NetworkTablesDesktopClient/.gitignore new file mode 100644 index 0000000..4295729 --- /dev/null +++ b/NetworkTablesDesktopClient/.gitignore @@ -0,0 +1,2 @@ +build +bin \ No newline at end of file diff --git a/NetworkTablesDesktopClient/.vscode/launch.json b/NetworkTablesDesktopClient/.vscode/launch.json new file mode 100644 index 0000000..8090904 --- /dev/null +++ b/NetworkTablesDesktopClient/.vscode/launch.json @@ -0,0 +1,15 @@ +{ + // Use IntelliSense to learn about possible attributes. + // Hover to view descriptions of existing attributes. + // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387 + "version": "0.2.0", + "configurations": [ + { + "type": "java", + "name": "Launch NetworkTablesDesktopClient", + "request": "launch", + "mainClass": "NetworkTablesDesktopClient", + "projectName": "NetworkTablesDesktopClient" + } + ] +} \ No newline at end of file diff --git a/NetworkTablesDesktopClient/build.gradle b/NetworkTablesDesktopClient/build.gradle new file mode 100644 index 0000000..84f2ac7 --- /dev/null +++ b/NetworkTablesDesktopClient/build.gradle @@ -0,0 +1,24 @@ +apply plugin: 'java' + +sourceCompatibility = JavaVersion.VERSION_11 +targetCompatibility = JavaVersion.VERSION_11 + +repositories { + maven { url "https://frcmaven.wpi.edu/artifactory/release/" } +} + +dependencies { + // Add ntcore-java + implementation "edu.wpi.first.ntcore:ntcore-java:2022.2.1" + + // Add wpiutil-java + implementation "edu.wpi.first.wpiutil:wpiutil-java:2022.2.1" + + // Add ntcore-jni for runtime. We are adding all supported platforms + // so that our application will work on all supported platforms. + implementation "edu.wpi.first.ntcore:ntcore-jni:2022.2.1:windowsx86" + implementation "edu.wpi.first.ntcore:ntcore-jni:2022.2.1:windowsx86-64" + implementation "edu.wpi.first.ntcore:ntcore-jni:2022.2.1:linuxx86-64" + implementation "edu.wpi.first.ntcore:ntcore-jni:2022.2.1:linuxraspbian" + implementation "edu.wpi.first.ntcore:ntcore-jni:2022.2.1:osxx86-64" +} \ No newline at end of file diff --git a/NetworkTablesDesktopClient/gradle/wrapper/gradle-wrapper.jar b/NetworkTablesDesktopClient/gradle/wrapper/gradle-wrapper.jar new file mode 100644 index 0000000000000000000000000000000000000000..41d9927a4d4fb3f96a785543079b8df6723c946b GIT binary patch literal 59821 zcma&NV|1p`(k7gaZQHhOJ9%QKV?D8LCmq{1JGRYE(y=?XJw0>InKkE~^UnAEs2gk5 zUVGPCwX3dOb!}xiFmPB95NK!+5D<~S0s;d1zn&lrfAn7 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+distributionUrl=https\://services.gradle.org/distributions/gradle-7.4-bin.zip +zipStoreBase=GRADLE_USER_HOME +zipStorePath=wrapper/dists diff --git a/NetworkTablesDesktopClient/gradlew b/NetworkTablesDesktopClient/gradlew new file mode 100755 index 0000000..1b6c787 --- /dev/null +++ b/NetworkTablesDesktopClient/gradlew @@ -0,0 +1,234 @@ +#!/bin/sh + +# +# Copyright © 2015-2021 the original authors. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# https://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# + +############################################################################## +# +# Gradle start up script for POSIX generated by Gradle. +# +# Important for running: +# +# (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is +# noncompliant, but you have some other compliant shell such as ksh or +# bash, then to run this script, type that shell name before the whole +# command line, like: +# +# ksh Gradle +# +# Busybox and similar reduced shells will NOT work, because this script +# requires all of these POSIX shell features: +# * functions; +# * expansions «$var», «${var}», «${var:-default}», «${var+SET}», +# «${var#prefix}», «${var%suffix}», and «$( cmd )»; +# * compound commands having a testable exit status, especially «case»; +# * various built-in commands including «command», «set», and «ulimit». +# +# Important for patching: +# +# (2) This script targets any POSIX shell, so it avoids extensions provided +# by Bash, Ksh, etc; in particular arrays are avoided. +# +# The "traditional" practice of packing multiple parameters into a +# space-separated string is a well documented source of bugs and security +# problems, so this is (mostly) avoided, by progressively accumulating +# options in "$@", and eventually passing that to Java. +# +# Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS, +# and GRADLE_OPTS) rely on word-splitting, this is performed explicitly; +# see the in-line comments for details. +# +# There are tweaks for specific operating systems such as AIX, CygWin, +# Darwin, MinGW, and NonStop. +# +# (3) This script is generated from the Groovy template +# https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt +# within the Gradle project. +# +# You can find Gradle at https://github.com/gradle/gradle/. +# +############################################################################## + +# Attempt to set APP_HOME + +# Resolve links: $0 may be a link +app_path=$0 + +# Need this for daisy-chained symlinks. +while + APP_HOME=${app_path%"${app_path##*/}"} # leaves a trailing /; empty if no leading path + [ -h "$app_path" ] +do + ls=$( ls -ld "$app_path" ) + link=${ls#*' -> '} + case $link in #( + /*) app_path=$link ;; #( + *) app_path=$APP_HOME$link ;; + esac +done + +APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit + +APP_NAME="Gradle" +APP_BASE_NAME=${0##*/} + +# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' + +# Use the maximum available, or set MAX_FD != -1 to use that value. +MAX_FD=maximum + +warn () { + echo "$*" +} >&2 + +die () { + echo + echo "$*" + echo + exit 1 +} >&2 + +# OS specific support (must be 'true' or 'false'). +cygwin=false +msys=false +darwin=false +nonstop=false +case "$( uname )" in #( + CYGWIN* ) cygwin=true ;; #( + Darwin* ) darwin=true ;; #( + MSYS* | MINGW* ) msys=true ;; #( + NONSTOP* ) nonstop=true ;; +esac + +CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar + + +# Determine the Java command to use to start the JVM. +if [ -n "$JAVA_HOME" ] ; then + if [ -x "$JAVA_HOME/jre/sh/java" ] ; then + # IBM's JDK on AIX uses strange locations for the executables + JAVACMD=$JAVA_HOME/jre/sh/java + else + JAVACMD=$JAVA_HOME/bin/java + fi + if [ ! -x "$JAVACMD" ] ; then + die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +else + JAVACMD=java + which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." +fi + +# Increase the maximum file descriptors if we can. +if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then + case $MAX_FD in #( + max*) + MAX_FD=$( ulimit -H -n ) || + warn "Could not query maximum file descriptor limit" + esac + case $MAX_FD in #( + '' | soft) :;; #( + *) + ulimit -n "$MAX_FD" || + warn "Could not set maximum file descriptor limit to $MAX_FD" + esac +fi + +# Collect all arguments for the java command, stacking in reverse order: +# * args from the command line +# * the main class name +# * -classpath +# * -D...appname settings +# * --module-path (only if needed) +# * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables. + +# For Cygwin or MSYS, switch paths to Windows format before running java +if "$cygwin" || "$msys" ; then + APP_HOME=$( cygpath --path --mixed "$APP_HOME" ) + CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" ) + + JAVACMD=$( cygpath --unix "$JAVACMD" ) + + # Now convert the arguments - kludge to limit ourselves to /bin/sh + for arg do + if + case $arg in #( + -*) false ;; # don't mess with options #( + /?*) t=${arg#/} t=/${t%%/*} # looks like a POSIX filepath + [ -e "$t" ] ;; #( + *) false ;; + esac + then + arg=$( cygpath --path --ignore --mixed "$arg" ) + fi + # Roll the args list around exactly as many times as the number of + # args, so each arg winds up back in the position where it started, but + # possibly modified. + # + # NB: a `for` loop captures its iteration list before it begins, so + # changing the positional parameters here affects neither the number of + # iterations, nor the values presented in `arg`. + shift # remove old arg + set -- "$@" "$arg" # push replacement arg + done +fi + +# Collect all arguments for the java command; +# * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of +# shell script including quotes and variable substitutions, so put them in +# double quotes to make sure that they get re-expanded; and +# * put everything else in single quotes, so that it's not re-expanded. + +set -- \ + "-Dorg.gradle.appname=$APP_BASE_NAME" \ + -classpath "$CLASSPATH" \ + org.gradle.wrapper.GradleWrapperMain \ + "$@" + +# Use "xargs" to parse quoted args. +# +# With -n1 it outputs one arg per line, with the quotes and backslashes removed. +# +# In Bash we could simply go: +# +# readarray ARGS < <( xargs -n1 <<<"$var" ) && +# set -- "${ARGS[@]}" "$@" +# +# but POSIX shell has neither arrays nor command substitution, so instead we +# post-process each arg (as a line of input to sed) to backslash-escape any +# character that might be a shell metacharacter, then use eval to reverse +# that process (while maintaining the separation between arguments), and wrap +# the whole thing up as a single "set" statement. +# +# This will of course break if any of these variables contains a newline or +# an unmatched quote. +# + +eval "set -- $( + printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" | + xargs -n1 | + sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' | + tr '\n' ' ' + )" '"$@"' + +exec "$JAVACMD" "$@" diff --git a/NetworkTablesDesktopClient/gradlew.bat b/NetworkTablesDesktopClient/gradlew.bat new file mode 100644 index 0000000..107acd3 --- /dev/null +++ b/NetworkTablesDesktopClient/gradlew.bat @@ -0,0 +1,89 @@ +@rem +@rem Copyright 2015 the original author or authors. +@rem +@rem Licensed under the Apache License, Version 2.0 (the "License"); +@rem you may not use this file except in compliance with the License. +@rem You may obtain a copy of the License at +@rem +@rem https://www.apache.org/licenses/LICENSE-2.0 +@rem +@rem Unless required by applicable law or agreed to in writing, software +@rem distributed under the License is distributed on an "AS IS" BASIS, +@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +@rem See the License for the specific language governing permissions and +@rem limitations under the License. +@rem + +@if "%DEBUG%" == "" @echo off +@rem ########################################################################## +@rem +@rem Gradle startup script for Windows +@rem +@rem ########################################################################## + +@rem Set local scope for the variables with windows NT shell +if "%OS%"=="Windows_NT" setlocal + +set DIRNAME=%~dp0 +if "%DIRNAME%" == "" set DIRNAME=. +set APP_BASE_NAME=%~n0 +set APP_HOME=%DIRNAME% + +@rem Resolve any "." and ".." in APP_HOME to make it shorter. +for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi + +@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m" + +@rem Find java.exe +if defined JAVA_HOME goto findJavaFromJavaHome + +set JAVA_EXE=java.exe +%JAVA_EXE% -version >NUL 2>&1 +if "%ERRORLEVEL%" == "0" goto execute + +echo. +echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. +echo. +echo Please set the JAVA_HOME variable in your environment to match the +echo location of your Java installation. + +goto fail + +:findJavaFromJavaHome +set JAVA_HOME=%JAVA_HOME:"=% +set JAVA_EXE=%JAVA_HOME%/bin/java.exe + +if exist "%JAVA_EXE%" goto execute + +echo. +echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% +echo. +echo Please set the JAVA_HOME variable in your environment to match the +echo location of your Java installation. + +goto fail + +:execute +@rem Setup the command line + +set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar + + +@rem Execute Gradle +"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %* + +:end +@rem End local scope for the variables with windows NT shell +if "%ERRORLEVEL%"=="0" goto mainEnd + +:fail +rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of +rem the _cmd.exe /c_ return code! +if not "" == "%GRADLE_EXIT_CONSOLE%" exit 1 +exit /b 1 + +:mainEnd +if "%OS%"=="Windows_NT" endlocal + +:omega diff --git a/src/main/deploy/Distances.csv b/NetworkTablesDesktopClient/settings.gradle similarity index 100% rename from src/main/deploy/Distances.csv rename to NetworkTablesDesktopClient/settings.gradle diff --git a/NetworkTablesDesktopClient/src/main/java/NetworkTablesDesktopClient.java b/NetworkTablesDesktopClient/src/main/java/NetworkTablesDesktopClient.java new file mode 100644 index 0000000..71b2297 --- /dev/null +++ b/NetworkTablesDesktopClient/src/main/java/NetworkTablesDesktopClient.java @@ -0,0 +1,34 @@ +import java.io.File; +import java.io.IOException; +import java.nio.file.Files; +import java.nio.file.Path; +import java.util.Scanner; + +import edu.wpi.first.networktables.EntryListenerFlags; +import edu.wpi.first.networktables.NetworkTableInstance; + +public class NetworkTablesDesktopClient { + public static void main(String[] args) { + NetworkTableInstance instance = NetworkTableInstance.getDefault(); + instance.getTable("Recording").addEntryListener((table, key, entry, value, flags) -> { + // File file = new File(key); + Path path = Path.of("..", "src", "main", "deploy", "pathplanner", key); + File file = path.toFile(); + try { + System.err.println("Creating path " + key); + file.createNewFile(); + Files.writeString(file.toPath(), value.getString()); + System.err.println("Recorded path to " + file.getPath()); + } catch (IOException exception) { + exception.printStackTrace(); + } + }, EntryListenerFlags.kNew); + // instance.startClientTeam(4388); + instance.startClient("localhost"); + instance.startDSClient(); + try (Scanner scanner = new Scanner(System.in)) { + System.err.println("Press enter to stop..."); + scanner.nextLine(); + } + } +} diff --git a/src/main/deploy/Robot Data - Distances.csv b/src/main/deploy/ShooterData.csv similarity index 100% rename from src/main/deploy/Robot Data - Distances.csv rename to src/main/deploy/ShooterData.csv diff --git a/src/main/deploy/pathplanner/generatedJSON/Diamond.wpilib.json b/src/main/deploy/pathplanner/generatedJSON/Diamond.wpilib.json deleted file mode 100644 index 47a1b16..0000000 --- a/src/main/deploy/pathplanner/generatedJSON/Diamond.wpilib.json +++ /dev/null @@ -1 +0,0 @@ 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\ No newline at end of file diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 952372c..7b81eaa 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -6,6 +6,8 @@ package frc4388.robot; import java.io.File; import java.io.IOException; +import java.io.RandomAccessFile; +import java.io.StringWriter; import java.nio.file.FileSystems; import java.nio.file.Path; import java.nio.file.StandardWatchEventKinds; @@ -40,8 +42,12 @@ import edu.wpi.first.math.controller.ProfiledPIDController; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.networktables.NetworkTable; +import edu.wpi.first.networktables.NetworkTableEntry; +import edu.wpi.first.networktables.NetworkTableInstance; import edu.wpi.first.wpilibj.Filesystem; import edu.wpi.first.wpilibj.GenericHID; +import edu.wpi.first.wpilibj.RobotBase; import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; @@ -90,11 +96,13 @@ public class RobotContainer { private final XboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID); private final XboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID); + /* Autonomous */ private PathPlannerTrajectory loadedPathTrajectory = null; private final ListeningSendableChooser autoChooser = new ListeningSendableChooser<>(this::loadPath); private final List pathPoints = new ArrayList<>(); + private final NetworkTableInstance networkTableInstance = NetworkTableInstance.getDefault(); + private final NetworkTable recordingNetworkTable = networkTableInstance.getTable("Recording"); - /* Autonomous */ private static final DateTimeFormatter RECORDING_FILE_NAME_FORMATTER = DateTimeFormatter.ofPattern("'Recording' yyyy-MM-dd HH:mm:ss.SSS'.path'"); private static final Clock SYSTEM_CLOCK = Clock.system(ZoneId.systemDefault()); private static final Path PATHPLANNER_DIRECTORY = Filesystem.getDeployDirectory().toPath().resolve("pathplanner"); @@ -291,9 +299,14 @@ public class RobotContainer { // IMPORTANT: Had to chown the pathplanner folder in order to save autos. File outputFile = PATHPLANNER_DIRECTORY.resolve(ZonedDateTime.now(SYSTEM_CLOCK).format(RECORDING_FILE_NAME_FORMATTER)).toFile(); LOGGER.log(Level.WARNING, "Creating path {0}.", outputFile.getPath()); - if (Boolean.TRUE.equals(Errors.log().getWithDefault(outputFile::createNewFile, false))) { + if (!pathPoints.isEmpty() && Boolean.TRUE.equals(Errors.log().getWithDefault(outputFile::createNewFile, false))) { // TODO: Change to use measured maximum velocity and acceleration. - createPath(null, null, false).write(outputFile); + var path = createPath(null, null, false); + if (RobotBase.isReal()) + path.write(outputFile); + StringWriter writer = new StringWriter(); + path.write(writer); + recordingNetworkTable.getEntry(outputFile.getName()).setString(writer.toString()); autoChooser.setDefaultOption(outputFile.getName(), outputFile); LOGGER.log(Level.INFO, "Recorded path to {0}.", outputFile.getPath()); } else diff --git a/src/main/java/frc4388/robot/subsystems/BoomBoom.java b/src/main/java/frc4388/robot/subsystems/BoomBoom.java index 7e9a710..6692940 100644 --- a/src/main/java/frc4388/robot/subsystems/BoomBoom.java +++ b/src/main/java/frc4388/robot/subsystems/BoomBoom.java @@ -67,7 +67,7 @@ public class BoomBoom extends SubsystemBase { } }; - m_shooterTable = csv.read(new File(Filesystem.getDeployDirectory(), "Robot Data - Distances.csv").toPath()); + m_shooterTable = csv.read(new File(Filesystem.getDeployDirectory(), "ShooterData.csv").toPath()); new Thread(() -> LOGGER.fine(CSV.ReflectionTable.create(m_shooterTable, RobotBase.isSimulation()))).start(); } catch (final IOException e) { e.printStackTrace(); diff --git a/src/main/java/frc4388/utility/PathPlannerUtil.java b/src/main/java/frc4388/utility/PathPlannerUtil.java index de0027f..09df037 100644 --- a/src/main/java/frc4388/utility/PathPlannerUtil.java +++ b/src/main/java/frc4388/utility/PathPlannerUtil.java @@ -1,6 +1,8 @@ package frc4388.utility; import java.io.File; +import java.io.OutputStream; +import java.io.Writer; import java.util.Optional; import com.diffplug.common.base.Errors; @@ -31,6 +33,10 @@ public final class PathPlannerUtil { Errors.log().run(() -> objectMapper.writeValue(resultFile, this)); } + public void write(Writer writer) { + Errors.log().run(() -> objectMapper.writeValue(writer, this)); + } + public static final class Waypoint { public Optional anchorPoint; public Optional prevControl; diff --git a/workspace.code-workspace b/workspace.code-workspace new file mode 100644 index 0000000..077020e --- /dev/null +++ b/workspace.code-workspace @@ -0,0 +1,18 @@ +{ + "folders": [ + { + "path": "." + }, + { + "path": "NetworkTablesDesktopClient" + } + ], + "settings": { + "java.configuration.updateBuildConfiguration": "automatic", + "java.server.launchMode": "Standard", + "java.dependency.packagePresentation": "hierarchical", + "files.associations": { + "*.path": "json" + } + } +} \ No newline at end of file From 28c9394008f6f98120f29d4a72f013d787a117aa Mon Sep 17 00:00:00 2001 From: nathanrsxtn Date: Tue, 1 Mar 2022 20:30:24 -0700 Subject: [PATCH 143/151] Rename workspace Organize imports Add end of file newlines --- workspace.code-workspace => 2022NoWayHome.code-workspace | 0 NetworkTablesDesktopClient/.gitignore | 4 ++-- NetworkTablesDesktopClient/.vscode/launch.json | 5 +---- NetworkTablesDesktopClient/build.gradle | 2 +- .../src/main/java/NetworkTablesDesktopClient.java | 1 - src/main/java/frc4388/robot/RobotContainer.java | 2 -- 6 files changed, 4 insertions(+), 10 deletions(-) rename workspace.code-workspace => 2022NoWayHome.code-workspace (100%) diff --git a/workspace.code-workspace b/2022NoWayHome.code-workspace similarity index 100% rename from workspace.code-workspace rename to 2022NoWayHome.code-workspace diff --git a/NetworkTablesDesktopClient/.gitignore b/NetworkTablesDesktopClient/.gitignore index 4295729..d5697ec 100644 --- a/NetworkTablesDesktopClient/.gitignore +++ b/NetworkTablesDesktopClient/.gitignore @@ -1,2 +1,2 @@ -build -bin \ No newline at end of file +build/ +bin/ diff --git a/NetworkTablesDesktopClient/.vscode/launch.json b/NetworkTablesDesktopClient/.vscode/launch.json index 8090904..bdf6e37 100644 --- a/NetworkTablesDesktopClient/.vscode/launch.json +++ b/NetworkTablesDesktopClient/.vscode/launch.json @@ -1,7 +1,4 @@ { - // Use IntelliSense to learn about possible attributes. - // Hover to view descriptions of existing attributes. - // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387 "version": "0.2.0", "configurations": [ { @@ -12,4 +9,4 @@ "projectName": "NetworkTablesDesktopClient" } ] -} \ No newline at end of file +} diff --git a/NetworkTablesDesktopClient/build.gradle b/NetworkTablesDesktopClient/build.gradle index 84f2ac7..8fbac1e 100644 --- a/NetworkTablesDesktopClient/build.gradle +++ b/NetworkTablesDesktopClient/build.gradle @@ -21,4 +21,4 @@ dependencies { implementation "edu.wpi.first.ntcore:ntcore-jni:2022.2.1:linuxx86-64" implementation "edu.wpi.first.ntcore:ntcore-jni:2022.2.1:linuxraspbian" implementation "edu.wpi.first.ntcore:ntcore-jni:2022.2.1:osxx86-64" -} \ No newline at end of file +} diff --git a/NetworkTablesDesktopClient/src/main/java/NetworkTablesDesktopClient.java b/NetworkTablesDesktopClient/src/main/java/NetworkTablesDesktopClient.java index 71b2297..d75c1c8 100644 --- a/NetworkTablesDesktopClient/src/main/java/NetworkTablesDesktopClient.java +++ b/NetworkTablesDesktopClient/src/main/java/NetworkTablesDesktopClient.java @@ -11,7 +11,6 @@ public class NetworkTablesDesktopClient { public static void main(String[] args) { NetworkTableInstance instance = NetworkTableInstance.getDefault(); instance.getTable("Recording").addEntryListener((table, key, entry, value, flags) -> { - // File file = new File(key); Path path = Path.of("..", "src", "main", "deploy", "pathplanner", key); File file = path.toFile(); try { diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 7b81eaa..a86655f 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -6,7 +6,6 @@ package frc4388.robot; import java.io.File; import java.io.IOException; -import java.io.RandomAccessFile; import java.io.StringWriter; import java.nio.file.FileSystems; import java.nio.file.Path; @@ -43,7 +42,6 @@ import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.networktables.NetworkTable; -import edu.wpi.first.networktables.NetworkTableEntry; import edu.wpi.first.networktables.NetworkTableInstance; import edu.wpi.first.wpilibj.Filesystem; import edu.wpi.first.wpilibj.GenericHID; From 92d0e5a11cc46df7a931816b2af5ff86d1d62545 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Thu, 3 Mar 2022 17:50:08 -0700 Subject: [PATCH 144/151] driving works even with shooter stuff, chassis speeds --- src/main/java/frc4388/robot/Constants.java | 2 +- .../java/frc4388/robot/RobotContainer.java | 6 +-- src/main/java/frc4388/robot/RobotMap.java | 2 +- .../java/frc4388/robot/subsystems/Hood.java | 34 +++++++-------- .../frc4388/robot/subsystems/SwerveDrive.java | 42 ++++++++++++++++--- 5 files changed, 59 insertions(+), 27 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index bdeb320..94a86e0 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -133,7 +133,7 @@ public final class Constants { public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG = new SupplyCurrentLimitConfiguration(true, 60, 40, 0.5); public static final int SHOOTER_FALCON_LEFT_CAN_ID = 23; public static final int SHOOTER_FALCON_RIGHT_CAN_ID = 24; - public static final int SHOOTER_ROTATE_ID = 31; // TODO: find + public static final int SHOOTER_ROTATE_ID = 31; // TODO: find this value public static final double TURRET_SPEED_MULTIPLIER = 0.1d; public static final int DEGREES_PER_ROT = 0; public static final int TURRET_MOTOR_POS_AT_ZERO_ROT = 0; diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 3d56eca..06f753d 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -67,8 +67,8 @@ public class RobotContainer { private final LED m_robotLED = new LED(m_robotMap.LEDController); private final BoomBoom m_robotBoomBoom = new BoomBoom(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight); private final Hood m_robotHood = new Hood(); - private final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret); - private final Vision m_robotVison = new Vision(m_robotTurret, m_robotBoomBoom); + // private final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret); + // private final Vision m_robotVison = new Vision(m_robotTurret, m_robotBoomBoom); /* Controllers */ private final XboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID); private final XboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID); @@ -85,7 +85,7 @@ public class RobotContainer { //Turret default command - m_robotTurret.setDefaultCommand(new AimToCenter(m_robotTurret, m_robotSwerveDrive)); + // m_robotTurret.setDefaultCommand(new AimToCenter(m_robotTurret, m_robotSwerveDrive)); m_robotSwerveDrive.setDefaultCommand( new RunCommand(() -> m_robotSwerveDrive.driveWithInput( diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java index 4f1478f..649fcb2 100644 --- a/src/main/java/frc4388/robot/RobotMap.java +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -136,7 +136,7 @@ public class RobotMap { public final WPI_TalonFX shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_LEFT_CAN_ID); public final WPI_TalonFX shooterFalconRight = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_RIGHT_CAN_ID); - public final CANSparkMax shooterTurret = new CANSparkMax(ShooterConstants.TURRET_MOTOR_CAN_ID, MotorType.kBrushless); + // public final CANSparkMax shooterTurret = new CANSparkMax(ShooterConstants.TURRET_MOTOR_CAN_ID, MotorType.kBrushless); // Create motor CANSparkMax void configureShooterMotorControllers() { diff --git a/src/main/java/frc4388/robot/subsystems/Hood.java b/src/main/java/frc4388/robot/subsystems/Hood.java index b3a2f30..5b1d2ff 100644 --- a/src/main/java/frc4388/robot/subsystems/Hood.java +++ b/src/main/java/frc4388/robot/subsystems/Hood.java @@ -21,13 +21,13 @@ import frc4388.utility.Gains; public class Hood extends SubsystemBase { public BoomBoom m_shooterSubsystem; - public CANSparkMax m_angleAdjusterMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless); + // public CANSparkMax m_angleAdjusterMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless); public SparkMaxLimitSwitch m_hoodUpLimitSwitch; public SparkMaxLimitSwitch m_hoodDownLimitSwitch; public static Gains m_angleAdjusterGains = ShooterConstants.SHOOTER_ANGLE_GAINS; - public RelativeEncoder m_angleEncoder = m_angleAdjusterMotor.getEncoder(); + // public RelativeEncoder m_angleEncoder = m_angleAdjusterMotor.getEncoder(); - public SparkMaxPIDController m_angleAdjusterPIDController = m_angleAdjusterMotor.getPIDController(); + // public SparkMaxPIDController m_angleAdjusterPIDController = m_angleAdjusterMotor.getPIDController(); //public boolean m_isHoodReady = false; @@ -37,15 +37,15 @@ public double m_fireAngle; /** Creates a new Hood. */ public Hood() { - m_angleAdjusterMotor.setIdleMode(IdleMode.kBrake); + // m_angleAdjusterMotor.setIdleMode(IdleMode.kBrake); // m_hoodUpLimitSwitch = m_angleAdjusterMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen); - m_hoodDownLimitSwitch = m_angleAdjusterMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen); + // m_hoodDownLimitSwitch = m_angleAdjusterMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen); // m_hoodUpLimitSwitch.enableLimitSwitch(true); - m_hoodDownLimitSwitch.enableLimitSwitch(true); + // m_hoodDownLimitSwitch.enableLimitSwitch(true); - m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.HOOD_FORWARD_LIMIT); - m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kReverse, ShooterConstants.HOOD_REVERSE_LIMIT); + // m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.HOOD_FORWARD_LIMIT); + // m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kReverse, ShooterConstants.HOOD_REVERSE_LIMIT); setHoodSoftLimits(true); } @@ -60,21 +60,21 @@ public double m_fireAngle; * @param set Boolean to set soft limits to. */ public void setHoodSoftLimits(boolean set) { - m_angleAdjusterMotor.enableSoftLimit(SoftLimitDirection.kForward, set); - m_angleAdjusterMotor.enableSoftLimit(SoftLimitDirection.kReverse, set); + // m_angleAdjusterMotor.enableSoftLimit(SoftLimitDirection.kForward, set); + // m_angleAdjusterMotor.enableSoftLimit(SoftLimitDirection.kReverse, set); } public void runAngleAdjustPID(double targetAngle) { //Set PID Coefficients - m_angleAdjusterPIDController.setP(m_angleAdjusterGains.m_kP); - m_angleAdjusterPIDController.setI(m_angleAdjusterGains.m_kI); - m_angleAdjusterPIDController.setD(m_angleAdjusterGains.m_kD); - m_angleAdjusterPIDController.setIZone(m_angleAdjusterGains.m_kIzone); - m_angleAdjusterPIDController.setFF(m_angleAdjusterGains.m_kF); - m_angleAdjusterPIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_angleAdjusterGains.m_kPeakOutput); + // m_angleAdjusterPIDController.setP(m_angleAdjusterGains.m_kP); + // m_angleAdjusterPIDController.setI(m_angleAdjusterGains.m_kI); + // m_angleAdjusterPIDController.setD(m_angleAdjusterGains.m_kD); + // m_angleAdjusterPIDController.setIZone(m_angleAdjusterGains.m_kIzone); + // m_angleAdjusterPIDController.setFF(m_angleAdjusterGains.m_kF); + // m_angleAdjusterPIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_angleAdjusterGains.m_kPeakOutput); - m_angleAdjusterPIDController.setReference(targetAngle, ControlType.kPosition); + // m_angleAdjusterPIDController.setReference(targetAngle, ControlType.kPosition); } diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index f945d3c..de9e05d 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -59,6 +59,7 @@ public class SwerveDrive extends SubsystemBase { public double speedAdjust = SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND_SLOW; public boolean ignoreAngles; public Rotation2d rotTarget = new Rotation2d(); + public ChassisSpeeds chassisSpeeds = new ChassisSpeeds(); private final Field2d m_field = new Field2d(); @@ -112,6 +113,24 @@ public class SwerveDrive extends SubsystemBase { : new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot * SwerveDriveConstants.ROTATION_SPEED)); setModuleStates(states); } + // public void driveWithInput(double leftX, double leftY, double rightX, double rightY, boolean fieldRelative) + // { + // ignoreAngles = leftX == 0 && leftY == 0 && rightX == 0 && rightY == 0; + // Translation2d speed = new Translation2d(leftX, leftY); + // speed = speed.times(speed.getNorm() * speedAdjust); + // if (Math.abs(rightX) > OIConstants.RIGHT_AXIS_DEADBAND || Math.abs(rightY) > OIConstants.RIGHT_AXIS_DEADBAND) + // rotTarget = new Rotation2d(rightX, -rightY).minus(new Rotation2d(0, 1)); + // double rot = rotTarget.minus(m_gyro.getRotation2d()).getRadians(); + // double xSpeedMetersPerSecond = -speed.getX(); + // double ySpeedMetersPerSecond = speed.getY(); + // SwerveModuleState[] states = + // m_kinematics.toSwerveModuleStates( + // fieldRelative + // ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot * SwerveDriveConstants.ROTATION_SPEED, m_gyro.getRotation2d()) + // : new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rightX * SwerveDriveConstants.ROTATION_SPEED)); + // setModuleStates(states); + // } + public void driveWithInput(double leftX, double leftY, double rightX, double rightY, boolean fieldRelative) { ignoreAngles = leftX == 0 && leftY == 0 && rightX == 0 && rightY == 0; @@ -122,11 +141,12 @@ public class SwerveDrive extends SubsystemBase { double rot = rotTarget.minus(m_gyro.getRotation2d()).getRadians(); double xSpeedMetersPerSecond = -speed.getX(); double ySpeedMetersPerSecond = speed.getY(); + chassisSpeeds = fieldRelative + ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot * SwerveDriveConstants.ROTATION_SPEED, m_gyro.getRotation2d()) + : new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rightX * SwerveDriveConstants.ROTATION_SPEED); SwerveModuleState[] states = m_kinematics.toSwerveModuleStates( - fieldRelative - ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot * SwerveDriveConstants.ROTATION_SPEED, m_gyro.getRotation2d()) - : new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rightX * SwerveDriveConstants.ROTATION_SPEED)); + chassisSpeeds); setModuleStates(states); } @@ -148,14 +168,26 @@ public class SwerveDrive extends SubsystemBase { public void periodic() { updateOdometry(); - // SmartDashboard.putNumber("Pigeon Fused Heading", m_gyro.getFusedHeading(fstatus)); + updateSmartDash(); SmartDashboard.putNumber("Pigeon Yaw", m_gyro.getYaw()); - // m_field.setRobotPose(m_poseEstimator.getEstimatedPosition()); + m_field.setRobotPose(m_poseEstimator.getEstimatedPosition()); super.periodic(); } + private void updateSmartDash() { + // odometry + SmartDashboard.putNumber("Odometry: X", getOdometry().getX()); + SmartDashboard.putNumber("Odometry: Y", getOdometry().getY()); + SmartDashboard.putNumber("Odometry: θ", getOdometry().getRotation().getDegrees()); + + // chassis speeds + // TODO: find the actual max velocity in m/s of the robot in fast mode to have accurate chassis speeds + SmartDashboard.putNumber("Chassis Vel: X", chassisSpeeds.vxMetersPerSecond); + SmartDashboard.putNumber("Chassis Vel: Y", chassisSpeeds.vyMetersPerSecond); + SmartDashboard.putNumber("Chassis Vel: ω", chassisSpeeds.omegaRadiansPerSecond); + } /** * Gets the distance between two given poses. * @param p1 The first pose. From 14912c57438781dd10e146e86cc847ff92a458c8 Mon Sep 17 00:00:00 2001 From: nathanrsxtn Date: Thu, 3 Mar 2022 22:08:58 -0700 Subject: [PATCH 145/151] Add comment on chassis speed innacuracy --- src/main/java/frc4388/robot/RobotContainer.java | 1 + 1 file changed, 1 insertion(+) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index a86655f..bf1cec5 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -314,6 +314,7 @@ public class RobotContainer { public void recordPeriodic() { Translation2d position = m_robotSwerveDrive.m_poseEstimator.getEstimatedPosition().getTranslation(); Rotation2d rotation = m_robotSwerveDrive.m_gyro.getRotation2d(); + // FIXME: Chassis speeds are created from joystick inputs and do not reflect actual robot velocity. Translation2d velocity = new Translation2d(m_robotSwerveDrive.chassisSpeeds.vxMetersPerSecond, m_robotSwerveDrive.chassisSpeeds.vyMetersPerSecond); Waypoint waypoint = new Waypoint(position, position, position, rotation.getDegrees(), false, SwerveDriveConstants.PATH_RECORD_VELOCITY ? velocity.getNorm() : null, false); pathPoints.add(waypoint); From d6599dca703ea38461de3b85f315e5e25db13878 Mon Sep 17 00:00:00 2001 From: nathanrsxtn Date: Thu, 3 Mar 2022 23:56:08 -0700 Subject: [PATCH 146/151] Add documentation and comments Fix invalid recording file names on Windows Avoid null pointers with a dummy entry on shooter table load failures --- .../java/frc4388/robot/RobotContainer.java | 22 ++++-- .../frc4388/robot/subsystems/BoomBoom.java | 74 +++++++++++++++++-- .../java/frc4388/utility/AnsiLogging.java | 24 +++++- src/main/java/frc4388/utility/CSV.java | 3 + 4 files changed, 107 insertions(+), 16 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 038a5ee..dd05ec5 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -101,9 +101,10 @@ public class RobotContainer { private final NetworkTableInstance networkTableInstance = NetworkTableInstance.getDefault(); private final NetworkTable recordingNetworkTable = networkTableInstance.getTable("Recording"); - private static final DateTimeFormatter RECORDING_FILE_NAME_FORMATTER = DateTimeFormatter.ofPattern("'Recording' yyyy-MM-dd HH:mm:ss.SSS'.path'"); + private static final DateTimeFormatter RECORDING_FILE_NAME_FORMATTER = DateTimeFormatter.ofPattern("'Recording' yyyy-MM-dd HH-mm-ss.SSS'.path'"); private static final Clock SYSTEM_CLOCK = Clock.system(ZoneId.systemDefault()); private static final Path PATHPLANNER_DIRECTORY = Filesystem.getDeployDirectory().toPath().resolve("pathplanner"); + // Function that removes the ".path" from the end of a string. private static final Function PATH_EXTENSION_REMOVER = ((Function) Pattern.compile(".path")::matcher).andThen(m -> m.replaceFirst("")); /** @@ -224,15 +225,17 @@ public class RobotContainer { return m_operatorXbox; } + /** + * Creates a WatchKey for the path planner directory and registers it with the WatchService. + * Then creates a NotifierCommand that will update the auto chooser with the latest path files. + * Finally, adds the existing path files to the auto chooser + */ private void autoInit() { try { WatchKey watchKey = PATHPLANNER_DIRECTORY.register(FileSystems.getDefault().newWatchService(), StandardWatchEventKinds.ENTRY_CREATE, StandardWatchEventKinds.ENTRY_MODIFY, StandardWatchEventKinds.ENTRY_DELETE); // TODO: Store this and other commands as fields so they can be rescheduled. new NotifierCommand(() -> updateAutoChooser(watchKey), 0.5) { - @Override - public boolean runsWhenDisabled() { - return true; - } + @Override public boolean runsWhenDisabled() { return true; } }.withName("Path Watcher").schedule(); } catch (IOException exception) { LOGGER.log(Level.SEVERE, "Exception with path file watcher.", exception); @@ -243,6 +246,9 @@ public class RobotContainer { SmartDashboard.putData("Auto Chooser", autoChooser); } + /** + * Creates a button on the SmartDashboard that will record the path of the robot. + */ public void recordInit() { SmartDashboard.putData("Recording", new RunCommand(this::recordPeriodic) { @@ -258,6 +264,12 @@ public class RobotContainer { }.withName("Record Path (Cancel to Save)")); } + /** + * Called when a file is created, modified, or deleted. + * Adds newly created .path files to the SendableChooser. + * Reloads the path if the currently selected file is modified. + * @param watchKey The WatchKey that is being observed. + */ private void updateAutoChooser(WatchKey watchKey) { List> watchEvents = watchKey.pollEvents(); if (!watchEvents.isEmpty()) { diff --git a/src/main/java/frc4388/robot/subsystems/BoomBoom.java b/src/main/java/frc4388/robot/subsystems/BoomBoom.java index 6692940..c02de5e 100644 --- a/src/main/java/frc4388/robot/subsystems/BoomBoom.java +++ b/src/main/java/frc4388/robot/subsystems/BoomBoom.java @@ -10,6 +10,7 @@ import java.util.Comparator; import java.util.Map; import java.util.Optional; import java.util.function.Function; +import java.util.logging.Level; import java.util.logging.Logger; import java.util.regex.Pattern; import java.util.stream.IntStream; @@ -40,8 +41,7 @@ public class BoomBoom extends SubsystemBase { public Hood m_hoodSubsystem; public Turret m_turretSubsystem; - // SimpleMotorFeedforward feedforward = new SimpleMotorFeedforward(69, 42, 0); //get real values - // later + // SimpleMotorFeedforward feedforward = new SimpleMotorFeedforward(69, 42, 0); //get real values later public static class ShooterTableEntry { public Double distance, hoodExt, drumVelocity; @@ -58,31 +58,66 @@ public class BoomBoom extends SubsystemBase { m_shooterFalconRight = shooterFalconRight; try { + // This is a helper class that allows us to read a CSV file into a Java array. CSV csv = new CSV<>(ShooterTableEntry::new) { + // This is a regular expression that removes all parentheses from the header of the CSV file. private final Pattern parentheses = Pattern.compile("\\([^\\)]*+\\)"); + /** + * Removes the parentheses from the CSV header + * + * @param header The header to be sanitized. + * @return The headerSanitizer method is overriding the headerSanitizer method in the parent class. + * The parentheses.matcher(header) is matching the header with the parentheses regular + * expression. The replaceAll method is replacing all of the parentheses with an empty + * string. The super.headerSanitizer(parentheses.matcher(header).replaceAll("")) is calling + * the parent sanitizer. + */ @Override protected String headerSanitizer(final String header) { return super.headerSanitizer(parentheses.matcher(header).replaceAll("")); } - }; + // This is reading the CSV file into a Java array. m_shooterTable = csv.read(new File(Filesystem.getDeployDirectory(), "ShooterData.csv").toPath()); - new Thread(() -> LOGGER.fine(CSV.ReflectionTable.create(m_shooterTable, RobotBase.isSimulation()))).start(); - } catch (final IOException e) { - e.printStackTrace(); - // throw new RuntimeException(e); + // This is a running a helper method that is logging the contents of the table to the console on a new thread. + new Thread(() -> LOGGER.fine(() -> CSV.ReflectionTable.create(m_shooterTable, RobotBase.isSimulation()))).start(); + } catch (final IOException exception) { + ShooterTableEntry dummyEntry = new ShooterTableEntry(); + dummyEntry.distance = 0.0; + dummyEntry.hoodExt = 0.0; + dummyEntry.drumVelocity = 0.0; + m_shooterTable = new ShooterTableEntry[] { dummyEntry }; + LOGGER.log(Level.SEVERE, "Exception while reading shooter CSV table.", exception); } } public Double getVelocity(final Double distance) { + // This is a function that takes a value (distance) and returns a value (drumVelocity) that is a + // linear interpolation of the two values (drumVelocity) at the two closest points in the table + // (m_shooterTable) to the given value (distance). return linearInterpolate(m_shooterTable, distance, e -> e.distance, e -> e.drumVelocity).doubleValue(); } public Double getHood(final Double distance) { + // This is a function that takes a value (distance) and returns a value (hoodExt) that is a linear + // interpolation of the two values (hoodExt) at the two closest points in the table (m_shooterTable) + // to the given value (distance). return linearInterpolate(m_shooterTable, distance, e -> e.distance, e -> e.hoodExt).doubleValue(); } + /** + * Using the given lookup value (x) and lookup getter function, locates the nearest entries in the + * given table to be used as the lower (x0) and upper (x1) bounds for interpolation. Returns the + * interpolation (y) between the two values (y0 and y1) accquired by applying the target getter + * function to the lower and upper bounds entries. + * + * @param table An array of entries to search through. + * @param lookupValue The value to lookup in the table. + * @param lookupGetter A function that takes an entry from the table and returns . + * @param targetGetter A function that takes an E and returns a Number. + * @return The interpolated value. + */ private static Number linearInterpolate(final E[] table, final Number lookupValue, final Function lookupGetter, final Function targetGetter) { final Map.Entry closestEntry = lookup(table, lookupValue.doubleValue(), lookupGetter, false).orElse(Map.entry(table.length - 1, table[table.length - 1])); final E closestRecord = closestEntry.getValue(); @@ -91,11 +126,35 @@ public class BoomBoom extends SubsystemBase { return lerp2(lookupValue, lookupGetter.apply(closestRecord), targetGetter.apply(closestRecord), lookupGetter.apply(neighborRecord), targetGetter.apply(neighborRecord)); } + /** + * If the value is in the table, return the entry. Otherwise, return the entry with the closest + * value + * + * @param table The array of values to search. + * @param value The value to search for. + * @param valueGetter A function that takes an element of the table and returns a Number to compare + * with the given value. + * @param exactMatch If true, the lookup will only return a match if the value is exactly equal to + * the value of the entry. If false, the lookup will return a match with a value closest to + * the given value. + * @return The entry with the closest value to the given value. + */ private static Optional> lookup(final E[] table, final Number value, final Function valueGetter, final boolean exactMatch) { final Optional> match = IntStream.range(0, table.length).mapToObj(i -> Map.entry(i, table[i])).min(Comparator.comparingDouble(e -> Math.abs(valueGetter.apply(e.getValue()).doubleValue() - value.doubleValue()))); return !exactMatch || match.map(e -> valueGetter.apply(e.getValue()).equals(value)).orElse(false) ? match : Optional.empty(); } + /** + * Given a value x, and two values x0 and x1, and two values y0 and y1, return a value y that is a + * linear interpolation of the two values y0 and y1 + * + * @param x The value to interpolate. + * @param x0 the x coordinate of the lower bound to interpolate to + * @param y0 The value at x0. + * @param x1 the x-coordinate of the upper bound to interpolate to + * @param y1 The value at x1. + * @return The interpolation between y0 and y1 at x. + */ private static Number lerp2(final Number x, final Number x0, final Number y0, final Number x1, final Number y1) { final Number f = (x.doubleValue() - x0.doubleValue()) / (x1.doubleValue() - x0.doubleValue()); return (1.0 - f.doubleValue()) * y0.doubleValue() + f.doubleValue() * y1.doubleValue(); @@ -104,7 +163,6 @@ public class BoomBoom extends SubsystemBase { @Override public void periodic() { // This method will be called once per scheduler run - } public void passRequiredSubsystem(Hood subsystem0, Turret subsystem1) { diff --git a/src/main/java/frc4388/utility/AnsiLogging.java b/src/main/java/frc4388/utility/AnsiLogging.java index 901e2d7..57a1d90 100644 --- a/src/main/java/frc4388/utility/AnsiLogging.java +++ b/src/main/java/frc4388/utility/AnsiLogging.java @@ -48,6 +48,9 @@ public class AnsiLogging extends ConsoleHandler { } } + /** + * This class is a ConsoleHandler that uses ANSI escape codes to colorize the output + */ public static class AnsiColorConsoleHandler extends ConsoleHandler { @Override public void publish(LogRecord logRecord) { @@ -91,26 +94,41 @@ public class AnsiLogging extends ConsoleHandler { @Override public String format(LogRecord logRecord) { ZonedDateTime time = ZonedDateTime.ofInstant(logRecord.getInstant(), zoneId); + // Get the logger name, source class name, and/or source method name. String source = Optional.ofNullable(logRecord.getLoggerName()).or(() -> Optional.ofNullable(logRecord.getSourceClassName())).map(s -> s + " ").orElse("") + Optional.ofNullable(logRecord.getSourceMethodName()).orElse(""); String message = formatMessage(logRecord); + // Get the stack trace of the exception if it was thrown. String throwable = Optional.ofNullable(logRecord.getThrown()).map(this::makeStackTraceString).orElse(""); + // Select the appropriate format string for the log level. String format = levelColors.getOrDefault(logRecord.getLevel().intValue(), levelColors.get(Level.ALL.intValue())); - return String.format(format, time, source, logRecord.getLevel().getLocalizedName(), message.lines().count() > 1 ? System.lineSeparator() : " ", message.contains("\033") ? "\033[0m" + message : message, throwable); + // Format the log message. + return String.format(format, time, source, logRecord.getLevel().getLocalizedName(), message.lines().count() > 1 ? System.lineSeparator() : " ", message.contains("\033") ? "\033[0m" + message : message, throwable); } }; } + /** + * Create a PrintStream that writes to the given logger at the given level + * + * @param logger The logger to use. + * @param level The level of the log message. + * @return A new PrintStream object. + */ private static PrintStream printStreamLogger(Logger logger, Level level) { return new PrintStream(new OutputStream() { + // This is a buffer that is used to store the characters that are written to the PrintStream. private final StringBuilder stringBuilder = new StringBuilder(); + /** + * If the character is a newline, flush the buffer to the logger, otherwise add the character to the + * buffer. + */ @Override public void write(int i) throws IOException { if (i == '\n') { logger.log(level, stringBuilder::toString); stringBuilder.setLength(0); - } else - stringBuilder.appendCodePoint(i); + } else stringBuilder.appendCodePoint(i); } }); } diff --git a/src/main/java/frc4388/utility/CSV.java b/src/main/java/frc4388/utility/CSV.java index 45ac768..de885a7 100644 --- a/src/main/java/frc4388/utility/CSV.java +++ b/src/main/java/frc4388/utility/CSV.java @@ -27,6 +27,9 @@ import java.util.stream.Collectors; import java.util.stream.IntStream; import java.util.stream.Stream; +/** + * Reads and parses a CSV file and returns an array of records. + */ public class CSV { private static final Pattern SANITIZER = Pattern.compile("[^$\\w,]"); From 71e082e7bd6a5a810819cba41693bf2156d013f1 Mon Sep 17 00:00:00 2001 From: nathanrsxtn Date: Fri, 4 Mar 2022 00:02:34 -0700 Subject: [PATCH 147/151] Change path downloader to connect to real robot Add explanation to path downloader --- .../src/main/java/NetworkTablesDesktopClient.java | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/NetworkTablesDesktopClient/src/main/java/NetworkTablesDesktopClient.java b/NetworkTablesDesktopClient/src/main/java/NetworkTablesDesktopClient.java index d75c1c8..8d323c1 100644 --- a/NetworkTablesDesktopClient/src/main/java/NetworkTablesDesktopClient.java +++ b/NetworkTablesDesktopClient/src/main/java/NetworkTablesDesktopClient.java @@ -7,6 +7,10 @@ import java.util.Scanner; import edu.wpi.first.networktables.EntryListenerFlags; import edu.wpi.first.networktables.NetworkTableInstance; +/** + * Connects to the NetworkTables server and listens for changes to the "Recording" table. When a + * change is detected, it writes the value to a file. + */ public class NetworkTablesDesktopClient { public static void main(String[] args) { NetworkTableInstance instance = NetworkTableInstance.getDefault(); @@ -22,8 +26,7 @@ public class NetworkTablesDesktopClient { exception.printStackTrace(); } }, EntryListenerFlags.kNew); - // instance.startClientTeam(4388); - instance.startClient("localhost"); + instance.startClientTeam(4388); instance.startDSClient(); try (Scanner scanner = new Scanner(System.in)) { System.err.println("Press enter to stop..."); From 60a896c97d60db03d21887aed06471263eeb49d0 Mon Sep 17 00:00:00 2001 From: Ryan Manley <42309874+ryan123rudder@users.noreply.github.com> Date: Sat, 5 Mar 2022 11:06:22 -0700 Subject: [PATCH 148/151] restore javadocs --- .../java/frc4388/robot/subsystems/Intake.java | 73 ++++++++++++++++++ .../frc4388/robot/subsystems/Serializer.java | 75 +++++++++++++++++++ .../frc4388/robot/subsystems/Storage.java | 61 +++++++++++++++ 3 files changed, 209 insertions(+) create mode 100644 src/main/java/frc4388/robot/subsystems/Intake.java create mode 100644 src/main/java/frc4388/robot/subsystems/Serializer.java create mode 100644 src/main/java/frc4388/robot/subsystems/Storage.java diff --git a/src/main/java/frc4388/robot/subsystems/Intake.java b/src/main/java/frc4388/robot/subsystems/Intake.java new file mode 100644 index 0000000..56c80b8 --- /dev/null +++ b/src/main/java/frc4388/robot/subsystems/Intake.java @@ -0,0 +1,73 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc4388.robot.subsystems; + +//Imported Limit switch ONLY +import com.revrobotics.SparkMaxLimitSwitch; +import com.revrobotics.SparkMaxLimitSwitch.Type; + +import com.ctre.phoenix.motorcontrol.NeutralMode; +import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; + +import edu.wpi.first.wpilibj.motorcontrol.Spark; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import com.revrobotics.CANSparkMax; +import com.revrobotics.CANSparkMax.IdleMode; + +public class Intake extends SubsystemBase { + + private WPI_TalonFX m_intakeMotor; + private CANSparkMax m_extenderMotor; + private SparkMaxLimitSwitch m_inLimit; + private SparkMaxLimitSwitch m_outLimit; + + public boolean toggle; + + /** Creates a new Intake. */ + public Intake(WPI_TalonFX intakeMotor, CANSparkMax extenderMotor) { + m_intakeMotor = intakeMotor; + m_extenderMotor = extenderMotor; + + m_extenderMotor.restoreFactoryDefaults(); + + m_intakeMotor.setNeutralMode(NeutralMode.Brake); + m_intakeMotor.setInverted(false); + m_extenderMotor.setInverted(true); + + m_inLimit = m_extenderMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen); + m_outLimit = m_extenderMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen); + m_inLimit.enableLimitSwitch(true); + m_outLimit.enableLimitSwitch(true); + } + + @Override + public void periodic() { + // This method will be called once per scheduler run + } + /** + * Runs The Intake With Triggers. + * @param leftTrigger Left Trigger to Run - + * @param rightTrigger Right Trigger to Run + + */ + public void runWithTriggers(double leftTrigger, double rightTrigger) { + m_intakeMotor.set(rightTrigger - leftTrigger); + } + /** + * Runs The Extender + * @param extended Wether the Extender Is Extended + */ + public void runExtender(boolean extended) { //TODO: Do not bring intake in if there is a ball in the extender (check if intake being in brakes the beam brake?) + double extenderMotorSpeed = extended ? 0.25d : 0.d; + m_extenderMotor.set(extenderMotorSpeed); + } + /** + * Toggles The Extender + */ + public void toggleExtender() { + toggle = !toggle; + runExtender(toggle); + } + //Test +} \ No newline at end of file diff --git a/src/main/java/frc4388/robot/subsystems/Serializer.java b/src/main/java/frc4388/robot/subsystems/Serializer.java new file mode 100644 index 0000000..a3cf25e --- /dev/null +++ b/src/main/java/frc4388/robot/subsystems/Serializer.java @@ -0,0 +1,75 @@ +package frc4388.robot.subsystems; + +import edu.wpi.first.wpilibj.motorcontrol.Spark; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc4388.robot.Constants; +import edu.wpi.first.wpilibj.DigitalInput; +import com.revrobotics.CANSparkMax; + +public class Serializer extends SubsystemBase{ + private CANSparkMax m_serializerBelt; + private CANSparkMax m_serializerShooterBelt; + private DigitalInput m_serializerBeam; + private boolean serializerState; + + public Serializer(CANSparkMax serializerBelt, CANSparkMax serializerShooterBelt) { + m_serializerBelt = serializerBelt; + m_serializerShooterBelt = serializerShooterBelt; + m_serializerBeam = new DigitalInput(Constants.SerializerConstants.SERIALIZER_BELT_BEAM); + + serializerState = false; + setSerializerState(serializerState); + m_serializerBelt.set(0); + m_serializerShooterBelt.set(0); + + } + /** + * Gets The State Of The Beam + * @return The State Of The Beam + */ + public boolean getBeam() { + return m_serializerBeam.get(); + } + /** + * Sets The Serializer State With The Beam + * @param state Your State Of The Button + * @param beambroken The State of the Beam Senser + */ + public void setSerializerStateWithBeam(boolean state, boolean beambroken) { + boolean total = state || beambroken; + setSerializerState(total); + } + /** + * Sets The Serializer State With The Beam + * @param state Your State Of The Button + */ + public void setSerializerState(boolean state) { + setSerializerBeltState(state); + setSerializerShooterBeltState(state); + serializerState = state; + } + /** + * Sets the Serializer Belt State + * @param state Your State Of The Button + */ + public void setSerializerBeltState(boolean state) { + double serializerBeltSpeed = state ? Constants.SerializerConstants.SERIALIZER_BELT_SPEED : 0.d; + m_serializerBelt.set(serializerBeltSpeed); + } + /** + * Sets the Shooter Belt State + * @param state Your State Of The Button + */ + public void setSerializerShooterBeltState(boolean state) { + double serializerShooterBeltSpeed = state ? Constants.SerializerConstants.SERIALIZER_SHOOTER_BELT_SPEED : 0.d; + m_serializerShooterBelt.set(serializerShooterBeltSpeed); + } + + /** + * Gets the Serializer State + * @return The Serializer State + */ + public boolean getSerializerState() { + return serializerState; + } +} diff --git a/src/main/java/frc4388/robot/subsystems/Storage.java b/src/main/java/frc4388/robot/subsystems/Storage.java new file mode 100644 index 0000000..a922e27 --- /dev/null +++ b/src/main/java/frc4388/robot/subsystems/Storage.java @@ -0,0 +1,61 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc4388.robot.subsystems; + +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import com.revrobotics.CANSparkMax; +import com.revrobotics.CANSparkMaxLowLevel.MotorType; +import edu.wpi.first.wpilibj.DigitalInput; +import frc4388.robot.Constants.StorageConstants; + +public class Storage extends SubsystemBase { + public CANSparkMax m_storageMotor = new CANSparkMax(StorageConstants.STORAGE_CAN_ID, MotorType.kBrushless); + private DigitalInput m_beamShooter = new DigitalInput(StorageConstants.BEAM_SENSOR_SHOOTER); + private DigitalInput m_beamIntake = new DigitalInput(StorageConstants.BEAM_SENSOR_INTAKE); + + /** Creates a new Storage. */ + public Storage() { + + } + /** + * If The Beam Is Broken, Run Storage + * If Else, Stop Running Storage + */ + public void manageStorage() { + if (m_beamShooter.get()) { + runStorage(1.d); + } else { runStorage(0.d); } + } + /** + * Runs The Storage at a Specifyed Speed + * @param input The Specifyed Speed + */ + public void runStorage(double input) { + m_storageMotor.set(input); + } + /** + * Gets The Beam State On The Shooter + * @return The State Of The Beam on the Shooter + */ + public boolean getBeamShooter(){ + return m_beamShooter.get(); + } + + /** + * Gets The Beam State Of The Intake + * @return The Beam State Of The Intake + */ + public boolean getBeamIntake(){ + return m_beamIntake.get(); + } + + @Override + /** + * Every Robot Tick Manage The Storage + */ + public void periodic() { + manageStorage(); + } +} From f895352bb922b0ba66b92f48bde1cc7b3050fa16 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Sat, 5 Mar 2022 11:07:54 -0700 Subject: [PATCH 149/151] DummySensor class, shoot is tested --- src/main/java/frc4388/robot/Constants.java | 3 +- .../java/frc4388/robot/RobotContainer.java | 24 +++--- src/main/java/frc4388/robot/RobotMap.java | 8 +- .../java/frc4388/robot/commands/Shoot.java | 77 ++++++++----------- .../frc4388/robot/subsystems/BoomBoom.java | 8 +- .../java/frc4388/robot/subsystems/Hood.java | 44 +++++------ .../robot/subsystems/SwerveModule.java | 6 +- .../java/frc4388/robot/subsystems/Turret.java | 12 +-- .../java/frc4388/utility/DummySensor.java | 74 ++++++++++++++++++ src/main/java/frc4388/utility/Gains.java | 48 ++++++------ 10 files changed, 185 insertions(+), 119 deletions(-) create mode 100644 src/main/java/frc4388/utility/DummySensor.java diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 9600169..bd8cef4 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -142,7 +142,8 @@ public final class Constants { public static final int TURRET_MOTOR_ROTS_PER_ROT = 0; public static final double ENCODER_TICKS_PER_REV = 2048; - + // Shoot Command Constants + public static final Gains SHOOT_GAINS = new Gains(0.1, 0.0, 0.0, 0.0, 0, 1.0); /* Turret Constants */ //ID diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index dd05ec5..5c5b4ca 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -58,6 +58,7 @@ import frc4388.robot.Constants.LEDConstants; import frc4388.robot.Constants.OIConstants; import frc4388.robot.Constants.SwerveDriveConstants; import frc4388.robot.commands.AimToCenter; +import frc4388.robot.commands.Shoot; import frc4388.robot.subsystems.BoomBoom; import frc4388.robot.subsystems.Hood; import frc4388.robot.subsystems.LED; @@ -88,12 +89,12 @@ public class RobotContainer { private final LED m_robotLED = new LED(m_robotMap.LEDController); private final BoomBoom m_robotBoomBoom = new BoomBoom(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight); private final Hood m_robotHood = new Hood(); - // private final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret); - // private final Vision m_robotVison = new Vision(m_robotTurret, m_robotBoomBoom); + private final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret); + private final Vision m_robotVision = new Vision(m_robotTurret, m_robotBoomBoom); /* Controllers */ private final XboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID); private final XboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID); - + /* Autonomous */ private PathPlannerTrajectory loadedPathTrajectory = null; private final ListeningSendableChooser autoChooser = new ListeningSendableChooser<>(this::loadPath); @@ -119,7 +120,7 @@ public class RobotContainer { //Turret default command - // m_robotTurret.setDefaultCommand(new AimToCenter(m_robotTurret, m_robotSwerveDrive)); + m_robotTurret.setDefaultCommand(new AimToCenter(m_robotTurret, m_robotSwerveDrive)); m_robotSwerveDrive.setDefaultCommand( new RunCommand(() -> m_robotSwerveDrive.driveWithInput( @@ -161,17 +162,16 @@ public class RobotContainer { /* Operator Buttons */ // activates "Lit Mode" - new JoystickButton(getOperatorController(), XboxController.Button.kA.value) + new JoystickButton(getOperatorController(), XboxController.Button.kB.value) .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW)) .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN)); + + new JoystickButton(getOperatorController(), XboxController.Button.kY.value) + .whenPressed(new InstantCommand()); + // activates "BoomBoom" - new JoystickButton(getOperatorController(), XboxController.Button.kB.value) - .whenPressed(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0.1)) - .whenReleased(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0)); - // activates hood - new JoystickButton(getOperatorController(), XboxController.Button.kB.value) - .whenPressed(() -> m_robotHood.runHood(0.5d)) - .whenReleased(() -> m_robotHood.runHood(0.d)); + new JoystickButton(getOperatorController(), XboxController.Button.kA.value) + .whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood)); } /** diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java index 649fcb2..3c85082 100644 --- a/src/main/java/frc4388/robot/RobotMap.java +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -136,7 +136,7 @@ public class RobotMap { public final WPI_TalonFX shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_LEFT_CAN_ID); public final WPI_TalonFX shooterFalconRight = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_RIGHT_CAN_ID); - // public final CANSparkMax shooterTurret = new CANSparkMax(ShooterConstants.TURRET_MOTOR_CAN_ID, MotorType.kBrushless); + public final CANSparkMax shooterTurret = new CANSparkMax(ShooterConstants.TURRET_MOTOR_CAN_ID, MotorType.kBrushless); // Create motor CANSparkMax void configureShooterMotorControllers() { @@ -163,9 +163,9 @@ public class RobotMap { shooterFalconRight.configClosedLoopPeriod(0, ShooterConstants.CLOSED_LOOP_TIME_MS, ShooterConstants.SHOOTER_TIMEOUT_MS); shooterFalconRight.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS); - /* Turret Subsytem */ - shooterFalconRight.configStatorCurrentLimit(new StatorCurrentLimitConfiguration(true, 6, 9, 4.2)); // TODO: dont pull numbers out of our ass anymore - shooterFalconLeft.configSupplyCurrentLimit(new SupplyCurrentLimitConfiguration(true, 12, 13, 0.4)); // TODO: dont pull numbers out of our ass anymore + // /* Turret Subsytem */ + // shooterFalconRight.configStatorCurrentLimit(new StatorCurrentLimitConfiguration(true, 6, 9, 4.2)); // TODO: dont pull numbers out of our ass anymore + // shooterFalconLeft.configSupplyCurrentLimit(new SupplyCurrentLimitConfiguration(true, 12, 13, 0.4)); // TODO: dont pull numbers out of our ass anymore } diff --git a/src/main/java/frc4388/robot/commands/Shoot.java b/src/main/java/frc4388/robot/commands/Shoot.java index 8fc6500..be04921 100644 --- a/src/main/java/frc4388/robot/commands/Shoot.java +++ b/src/main/java/frc4388/robot/commands/Shoot.java @@ -4,12 +4,17 @@ package frc4388.robot.commands; +import edu.wpi.first.hal.simulation.SimulatorJNI; +import edu.wpi.first.wpilibj.simulation.LinearSystemSim; +import edu.wpi.first.wpilibj.simulation.SimHooks; import edu.wpi.first.wpilibj2.command.CommandBase; - +import frc4388.robot.Constants.ShooterConstants; import frc4388.robot.subsystems.BoomBoom; import frc4388.robot.subsystems.Hood; import frc4388.robot.subsystems.SwerveDrive; import frc4388.robot.subsystems.Turret; +import frc4388.utility.DummySensor; +import frc4388.utility.Gains; public class Shoot extends CommandBase { @@ -34,17 +39,24 @@ public class Shoot extends CommandBase { // pid public double error; public double prevError; + public Gains shootGains = ShooterConstants.SHOOT_GAINS; public double kP, kI, kD; public double proportional, integral, derivative; public double time; public double output; public double tolerance = 5.0; - // // dummy motor - // public WPI_TalonFX dummy = new WPI_TalonFX(69 - 420); - // public TalonFXConfiguration dummyConfiguration = new TalonFXConfiguration(); + // testing + public DummySensor dummy = new DummySensor(0); - /** Creates a new Shoot. */ + /** + * Creates a new shoot command, allowing the robot to aim and be ready to fire a ball + * TODO: Velocity Correction + * @param sDrive Drive Train + * @param sShooter Shooter Drum + * @param sTurret Shooter Turret + * @param sHood Shooter Hood + */ public Shoot(SwerveDrive sDrive, BoomBoom sShooter, Turret sTurret, Hood sHood) { // Use addRequirements() here to declare subsystem dependencies. m_swerve = sDrive; @@ -54,14 +66,16 @@ public class Shoot extends CommandBase { addRequirements(m_swerve, m_boomBoom, m_turret, m_hood); - kP = 0.1; - kI = 0.0; - kD = 0.0; + kP = shootGains.kP; + kI = shootGains.kI; + kD = shootGains.kD; proportional = 0; integral = 0; derivative = 0; time = 0.02; + + DummySensor.resetAll(); } /** @@ -83,8 +97,13 @@ public class Shoot extends CommandBase { // get targets (shooter tables) m_targetVel = m_boomBoom.getVelocity(m_distance); m_targetHood = m_boomBoom.getHood(m_distance); + + // target angle tests + m_gyroAngle = 0; + m_odoX = -1; + m_odoY = 1; + m_targetAngle = ((Math.atan2(m_odoY, m_odoX) * (180./Math.PI) - m_gyroAngle) + 180. + 360.) % 360.; - m_driveTargetAngle = m_swerve.getRegGyro().getDegrees(); // deadzone processing if (AimToCenter.isHardwareDeadzone(m_targetAngle)) { @@ -93,37 +112,14 @@ public class Shoot extends CommandBase { 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_driveTargetAngle + 20), Math.sin(m_driveTargetAngle + 20), true); + m_swerve.driveWithInput(0, 0, Math.cos(m_gyroAngle + 20), Math.sin(m_gyroAngle + 20), true); } - - // // normal (i think) PID stuff - // dummyConfiguration.primaryPID.selectedFeedbackSensor = TalonFXFeedbackDevice.IntegratedSensor.toFeedbackDevice(); - // dummyConfiguration.remoteFilter0.remoteSensorDeviceID = dummy.getDeviceID(); - // dummyConfiguration.remoteFilter0.remoteSensorSource = RemoteSensorSource.TalonFX_SelectedSensor; - - // dummyConfiguration.slot0.kP = 0.1; - // dummyConfiguration.slot0.kI = 0; - // dummyConfiguration.slot0.kD = 0; - // dummyConfiguration.slot0.kF = 0; - - // // weird PID stuff - // dummyConfiguration.auxiliaryPID.selectedFeedbackSensor = TalonFXFeedbackDevice.SoftwareEmulatedSensor.toFeedbackDevice(); - // dummyConfiguration.remoteFilter1.remoteSensorDeviceID = ShooterConstants.TURRET_MOTOR_CAN_ID; - // dummyConfiguration.remoteFilter1.remoteSensorSource = RemoteSensorSource.TalonFX_SelectedSensor; - // // dummyConfiguration.auxiliaryPID.selectedFeedbackCoefficient = 0; - - // dummyConfiguration.slot1.kP = 0.1; - // dummyConfiguration.slot1.kI = 0; - // dummyConfiguration.slot1.kD = 0; - // dummyConfiguration.slot1.kF = 0; - - // dummy.configAllSettings(dummyConfiguration); - + // initial error updateError(); + System.out.println("Error: " + error); prevError = error; } - /** * Run custom PID. */ @@ -140,17 +136,12 @@ public class Shoot extends CommandBase { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - // dummy.selectProfileSlot(0, 0); - // dummy.selectProfileSlot(1, 1); - // dummy.set(TalonFXControlMode.Position, m_driveTargetAngle, DemandType.AuxPID, m_targetAngle); - // m_swerve.driveWithInput(0, 0, m_driveTargetAngle, true); - // m_swerve.driveWithInput(0, 0, Math.cos(m_driveTargetAngle), Math.sin(m_driveTargetAngle), true); // only works for new DWI in swerve branch // custom pid runPID(); - m_swerve.driveWithInput(0, 0, output, true); // i have no idea if this is how you rotate the - // entire swerve drive or its the commented line below - // m_swerve.driveWithInput(0, 0, Math.cos(output), Math.sin(output), true); + // m_swerve.driveWithInput(0, 0, output, true); // i have no idea if this is how you rotate the + // entire swerve drive or its the line below + m_swerve.driveWithInput(0, 0, Math.cos(output), Math.sin(output), true); m_hood.runAngleAdjustPID(m_targetHood); m_boomBoom.runDrumShooterVelocityPID(m_targetVel); diff --git a/src/main/java/frc4388/robot/subsystems/BoomBoom.java b/src/main/java/frc4388/robot/subsystems/BoomBoom.java index c02de5e..e1286e5 100644 --- a/src/main/java/frc4388/robot/subsystems/BoomBoom.java +++ b/src/main/java/frc4388/robot/subsystems/BoomBoom.java @@ -181,10 +181,10 @@ public class BoomBoom extends SubsystemBase { public void setShooterGains() { m_shooterFalconLeft.selectProfileSlot(ShooterConstants.SHOOTER_SLOT_IDX, ShooterConstants.SHOOTER_PID_LOOP_IDX); - m_shooterFalconLeft.config_kF(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kF, ShooterConstants.SHOOTER_TIMEOUT_MS); - m_shooterFalconLeft.config_kP(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kP, ShooterConstants.SHOOTER_TIMEOUT_MS); - m_shooterFalconLeft.config_kI(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kI, ShooterConstants.SHOOTER_TIMEOUT_MS); - m_shooterFalconLeft.config_kD(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kD, ShooterConstants.SHOOTER_TIMEOUT_MS); + m_shooterFalconLeft.config_kF(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.kF, ShooterConstants.SHOOTER_TIMEOUT_MS); + m_shooterFalconLeft.config_kP(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.kP, ShooterConstants.SHOOTER_TIMEOUT_MS); + m_shooterFalconLeft.config_kI(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.kI, ShooterConstants.SHOOTER_TIMEOUT_MS); + m_shooterFalconLeft.config_kD(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.kD, ShooterConstants.SHOOTER_TIMEOUT_MS); } public void runDrumShooterVelocityPID(double targetVel) { diff --git a/src/main/java/frc4388/robot/subsystems/Hood.java b/src/main/java/frc4388/robot/subsystems/Hood.java index 5b1d2ff..c9e963f 100644 --- a/src/main/java/frc4388/robot/subsystems/Hood.java +++ b/src/main/java/frc4388/robot/subsystems/Hood.java @@ -21,31 +21,31 @@ import frc4388.utility.Gains; public class Hood extends SubsystemBase { public BoomBoom m_shooterSubsystem; - // public CANSparkMax m_angleAdjusterMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless); + public CANSparkMax m_angleAdjusterMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless); public SparkMaxLimitSwitch m_hoodUpLimitSwitch; public SparkMaxLimitSwitch m_hoodDownLimitSwitch; public static Gains m_angleAdjusterGains = ShooterConstants.SHOOTER_ANGLE_GAINS; - // public RelativeEncoder m_angleEncoder = m_angleAdjusterMotor.getEncoder(); + public RelativeEncoder m_angleEncoder = m_angleAdjusterMotor.getEncoder(); - // public SparkMaxPIDController m_angleAdjusterPIDController = m_angleAdjusterMotor.getPIDController(); + public SparkMaxPIDController m_angleAdjusterPIDController = m_angleAdjusterMotor.getPIDController(); - //public boolean m_isHoodReady = false; + public boolean m_isHoodReady = false; public double m_fireAngle; /** Creates a new Hood. */ public Hood() { - // m_angleAdjusterMotor.setIdleMode(IdleMode.kBrake); + m_angleAdjusterMotor.setIdleMode(IdleMode.kBrake); - // m_hoodUpLimitSwitch = m_angleAdjusterMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen); - // m_hoodDownLimitSwitch = m_angleAdjusterMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen); - // m_hoodUpLimitSwitch.enableLimitSwitch(true); - // m_hoodDownLimitSwitch.enableLimitSwitch(true); + m_hoodUpLimitSwitch = m_angleAdjusterMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen); + m_hoodDownLimitSwitch = m_angleAdjusterMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen); + m_hoodUpLimitSwitch.enableLimitSwitch(true); + m_hoodDownLimitSwitch.enableLimitSwitch(true); - // m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.HOOD_FORWARD_LIMIT); - // m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kReverse, ShooterConstants.HOOD_REVERSE_LIMIT); + m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.HOOD_FORWARD_LIMIT); + m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kReverse, ShooterConstants.HOOD_REVERSE_LIMIT); setHoodSoftLimits(true); } @@ -60,30 +60,30 @@ public double m_fireAngle; * @param set Boolean to set soft limits to. */ public void setHoodSoftLimits(boolean set) { - // m_angleAdjusterMotor.enableSoftLimit(SoftLimitDirection.kForward, set); - // m_angleAdjusterMotor.enableSoftLimit(SoftLimitDirection.kReverse, set); + m_angleAdjusterMotor.enableSoftLimit(SoftLimitDirection.kForward, set); + m_angleAdjusterMotor.enableSoftLimit(SoftLimitDirection.kReverse, set); } public void runAngleAdjustPID(double targetAngle) { //Set PID Coefficients - // m_angleAdjusterPIDController.setP(m_angleAdjusterGains.m_kP); - // m_angleAdjusterPIDController.setI(m_angleAdjusterGains.m_kI); - // m_angleAdjusterPIDController.setD(m_angleAdjusterGains.m_kD); - // m_angleAdjusterPIDController.setIZone(m_angleAdjusterGains.m_kIzone); - // m_angleAdjusterPIDController.setFF(m_angleAdjusterGains.m_kF); - // m_angleAdjusterPIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_angleAdjusterGains.m_kPeakOutput); + m_angleAdjusterPIDController.setP(m_angleAdjusterGains.kP); + m_angleAdjusterPIDController.setI(m_angleAdjusterGains.kI); + m_angleAdjusterPIDController.setD(m_angleAdjusterGains.kD); + m_angleAdjusterPIDController.setIZone(m_angleAdjusterGains.kIzone); + m_angleAdjusterPIDController.setFF(m_angleAdjusterGains.kF); + m_angleAdjusterPIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_angleAdjusterGains.kPeakOutput); - // m_angleAdjusterPIDController.setReference(targetAngle, ControlType.kPosition); + m_angleAdjusterPIDController.setReference(targetAngle, ControlType.kPosition); } public void runHood(double input) { - // m_angleAdjusterMotor.set(input); + m_angleAdjusterMotor.set(input); } public void resetGyroAngleAdj(){ - // m_angleEncoder.setPosition(0); + m_angleEncoder.setPosition(0); } public double getAnglePosition(){ diff --git a/src/main/java/frc4388/robot/subsystems/SwerveModule.java b/src/main/java/frc4388/robot/subsystems/SwerveModule.java index 44afb70..d72199b 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveModule.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveModule.java @@ -47,9 +47,9 @@ public class SwerveModule extends SubsystemBase { TalonFXConfiguration angleTalonFXConfiguration = new TalonFXConfiguration(); - angleTalonFXConfiguration.slot0.kP = m_swerveGains.m_kP; - angleTalonFXConfiguration.slot0.kI = m_swerveGains.m_kI; - angleTalonFXConfiguration.slot0.kD = m_swerveGains.m_kD; + angleTalonFXConfiguration.slot0.kP = m_swerveGains.kP; + angleTalonFXConfiguration.slot0.kI = m_swerveGains.kI; + angleTalonFXConfiguration.slot0.kD = m_swerveGains.kD; // Use the CANCoder as the remote sensor for the primary TalonFX PID angleTalonFXConfiguration.remoteFilter0.remoteSensorDeviceID = canCoder.getDeviceID(); diff --git a/src/main/java/frc4388/robot/subsystems/Turret.java b/src/main/java/frc4388/robot/subsystems/Turret.java index 3a00f02..7a0f45e 100644 --- a/src/main/java/frc4388/robot/subsystems/Turret.java +++ b/src/main/java/frc4388/robot/subsystems/Turret.java @@ -63,12 +63,12 @@ public class Turret extends SubsystemBase { m_boomBoomRotateMotor.setInverted(false); - m_boomBoomRotatePIDController.setP(m_shooterTGains.m_kP); - m_boomBoomRotatePIDController.setI(m_shooterTGains.m_kI); - m_boomBoomRotatePIDController.setD(m_shooterTGains.m_kD); - m_boomBoomRotatePIDController.setFF(m_shooterTGains.m_kF); - m_boomBoomRotatePIDController.setIZone(m_shooterTGains.m_kIzone); - m_boomBoomRotatePIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterTGains.m_kPeakOutput); + m_boomBoomRotatePIDController.setP(m_shooterTGains.kP); + m_boomBoomRotatePIDController.setI(m_shooterTGains.kI); + m_boomBoomRotatePIDController.setD(m_shooterTGains.kD); + m_boomBoomRotatePIDController.setFF(m_shooterTGains.kF); + m_boomBoomRotatePIDController.setIZone(m_shooterTGains.kIzone); + m_boomBoomRotatePIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterTGains.kPeakOutput); } @Override diff --git a/src/main/java/frc4388/utility/DummySensor.java b/src/main/java/frc4388/utility/DummySensor.java new file mode 100644 index 0000000..dadef80 --- /dev/null +++ b/src/main/java/frc4388/utility/DummySensor.java @@ -0,0 +1,74 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc4388.utility; + +import java.util.ArrayList; + +public class DummySensor { + + private double value; + public double start; + public static ArrayList instances = new ArrayList(); + + /** + * Creates a new DummySensor, which is a helper class for conducting PID tests without a physical robot. + * @param init The start "position" of the sensor (default is 0). + */ + public DummySensor(double init) { + value = init; + start = init; + instances.add(this); + } + + /** + * Creates a new DummySensor, which is a helper class for conducting PID tests without a physical robot. + */ + public DummySensor() { + value = 0; + start = 0; + instances.add(this); + } + + /** + * Reset the "position" of the DummySensor to its starting value. + */ + public void reset() { + value = start; + } + + /** + * Reset the "position" of the DummySensor to a given value. + * @param val The "position" to reset the DummySensor to. + */ + public void reset(double val) { + value = val; + } + + /** + * Reset all instances of DummySensor to their starting values. + */ + public static void resetAll() { + for (DummySensor instance : instances) { + instance.reset(); + } + } + + /** + * Get the "position" of the DummySensor. + * @return The current "position". + */ + public double get() { + return value; + } + + /** + * Apply an input to the DummySensor, changing its "position". + * @param input The input to apply. + */ + public void apply(double input) { + value = value + input; + } + +} diff --git a/src/main/java/frc4388/utility/Gains.java b/src/main/java/frc4388/utility/Gains.java index 930e34f..13144a4 100644 --- a/src/main/java/frc4388/utility/Gains.java +++ b/src/main/java/frc4388/utility/Gains.java @@ -6,14 +6,14 @@ package frc4388.utility; /** Add your docs here. */ public class Gains { - public double m_kP; - public double m_kI; - public double m_kD; - public double m_kF; - public int m_kIzone; - public double m_kPeakOutput; - public double m_kmaxOutput; - public double m_kminOutput; + public double kP; + public double kI; + public double kD; + public double kF; + public int kIzone; + public double kPeakOutput; + public double kmaxOutput; + public double kminOutput; /** * Creates Gains object for PIDs @@ -26,14 +26,14 @@ public class Gains { */ public Gains(double kP, double kI, double kD, double kF, int kIzone, double kPeakOutput) { - m_kP = kP; - m_kI = kI; - m_kD = kD; - m_kF = kF; - m_kIzone = kIzone; - m_kPeakOutput = kPeakOutput; - m_kmaxOutput = m_kPeakOutput; - m_kminOutput = -m_kPeakOutput; + this.kP = kP; + this.kI = kI; + this.kD = kD; + this.kF = kF; + this.kIzone = kIzone; + this.kPeakOutput = kPeakOutput; + this.kmaxOutput = this.kPeakOutput; + this.kminOutput = -this.kPeakOutput; } /** @@ -48,13 +48,13 @@ public class Gains { */ public Gains(double kP, double kI, double kD, double kF, int kIzone, double kMinOutput, double kMaxOutput) { - m_kP = kP; - m_kI = kI; - m_kD = kD; - m_kF = kF; - m_kIzone = kIzone; - m_kminOutput = kMinOutput; - m_kmaxOutput = kMaxOutput; - m_kPeakOutput = (Math.abs(m_kminOutput) > Math.abs(m_kmaxOutput)) ? Math.abs(m_kminOutput) : Math.abs(m_kmaxOutput); + this.kP = kP; + this.kI = kI; + this.kD = kD; + this.kF = kF; + this.kIzone = kIzone; + this.kminOutput = kMinOutput; + this.kmaxOutput = kMaxOutput; + this.kPeakOutput = (Math.abs(this.kminOutput) > Math.abs(this.kmaxOutput)) ? Math.abs(this.kminOutput) : Math.abs(this.kmaxOutput); } } From 3d6f9d606d3b435dfd6cc429966d65153d15932c Mon Sep 17 00:00:00 2001 From: aarav18 Date: Sat, 5 Mar 2022 11:09:03 -0700 Subject: [PATCH 150/151] Revert "Merge branch 'swerve' of https://github.com/Team4388/2022NoWayHome into swerve" This reverts commit 172547161339b69eb61d2ffb107d4a906324365c, reversing changes made to f895352bb922b0ba66b92f48bde1cc7b3050fa16. --- .../java/frc4388/robot/subsystems/Intake.java | 73 ------------------ .../frc4388/robot/subsystems/Serializer.java | 75 ------------------- .../frc4388/robot/subsystems/Storage.java | 61 --------------- 3 files changed, 209 deletions(-) delete mode 100644 src/main/java/frc4388/robot/subsystems/Intake.java delete mode 100644 src/main/java/frc4388/robot/subsystems/Serializer.java delete mode 100644 src/main/java/frc4388/robot/subsystems/Storage.java diff --git a/src/main/java/frc4388/robot/subsystems/Intake.java b/src/main/java/frc4388/robot/subsystems/Intake.java deleted file mode 100644 index 56c80b8..0000000 --- a/src/main/java/frc4388/robot/subsystems/Intake.java +++ /dev/null @@ -1,73 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package frc4388.robot.subsystems; - -//Imported Limit switch ONLY -import com.revrobotics.SparkMaxLimitSwitch; -import com.revrobotics.SparkMaxLimitSwitch.Type; - -import com.ctre.phoenix.motorcontrol.NeutralMode; -import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; - -import edu.wpi.first.wpilibj.motorcontrol.Spark; -import edu.wpi.first.wpilibj2.command.SubsystemBase; -import com.revrobotics.CANSparkMax; -import com.revrobotics.CANSparkMax.IdleMode; - -public class Intake extends SubsystemBase { - - private WPI_TalonFX m_intakeMotor; - private CANSparkMax m_extenderMotor; - private SparkMaxLimitSwitch m_inLimit; - private SparkMaxLimitSwitch m_outLimit; - - public boolean toggle; - - /** Creates a new Intake. */ - public Intake(WPI_TalonFX intakeMotor, CANSparkMax extenderMotor) { - m_intakeMotor = intakeMotor; - m_extenderMotor = extenderMotor; - - m_extenderMotor.restoreFactoryDefaults(); - - m_intakeMotor.setNeutralMode(NeutralMode.Brake); - m_intakeMotor.setInverted(false); - m_extenderMotor.setInverted(true); - - m_inLimit = m_extenderMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen); - m_outLimit = m_extenderMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen); - m_inLimit.enableLimitSwitch(true); - m_outLimit.enableLimitSwitch(true); - } - - @Override - public void periodic() { - // This method will be called once per scheduler run - } - /** - * Runs The Intake With Triggers. - * @param leftTrigger Left Trigger to Run - - * @param rightTrigger Right Trigger to Run + - */ - public void runWithTriggers(double leftTrigger, double rightTrigger) { - m_intakeMotor.set(rightTrigger - leftTrigger); - } - /** - * Runs The Extender - * @param extended Wether the Extender Is Extended - */ - public void runExtender(boolean extended) { //TODO: Do not bring intake in if there is a ball in the extender (check if intake being in brakes the beam brake?) - double extenderMotorSpeed = extended ? 0.25d : 0.d; - m_extenderMotor.set(extenderMotorSpeed); - } - /** - * Toggles The Extender - */ - public void toggleExtender() { - toggle = !toggle; - runExtender(toggle); - } - //Test -} \ No newline at end of file diff --git a/src/main/java/frc4388/robot/subsystems/Serializer.java b/src/main/java/frc4388/robot/subsystems/Serializer.java deleted file mode 100644 index a3cf25e..0000000 --- a/src/main/java/frc4388/robot/subsystems/Serializer.java +++ /dev/null @@ -1,75 +0,0 @@ -package frc4388.robot.subsystems; - -import edu.wpi.first.wpilibj.motorcontrol.Spark; -import edu.wpi.first.wpilibj2.command.SubsystemBase; -import frc4388.robot.Constants; -import edu.wpi.first.wpilibj.DigitalInput; -import com.revrobotics.CANSparkMax; - -public class Serializer extends SubsystemBase{ - private CANSparkMax m_serializerBelt; - private CANSparkMax m_serializerShooterBelt; - private DigitalInput m_serializerBeam; - private boolean serializerState; - - public Serializer(CANSparkMax serializerBelt, CANSparkMax serializerShooterBelt) { - m_serializerBelt = serializerBelt; - m_serializerShooterBelt = serializerShooterBelt; - m_serializerBeam = new DigitalInput(Constants.SerializerConstants.SERIALIZER_BELT_BEAM); - - serializerState = false; - setSerializerState(serializerState); - m_serializerBelt.set(0); - m_serializerShooterBelt.set(0); - - } - /** - * Gets The State Of The Beam - * @return The State Of The Beam - */ - public boolean getBeam() { - return m_serializerBeam.get(); - } - /** - * Sets The Serializer State With The Beam - * @param state Your State Of The Button - * @param beambroken The State of the Beam Senser - */ - public void setSerializerStateWithBeam(boolean state, boolean beambroken) { - boolean total = state || beambroken; - setSerializerState(total); - } - /** - * Sets The Serializer State With The Beam - * @param state Your State Of The Button - */ - public void setSerializerState(boolean state) { - setSerializerBeltState(state); - setSerializerShooterBeltState(state); - serializerState = state; - } - /** - * Sets the Serializer Belt State - * @param state Your State Of The Button - */ - public void setSerializerBeltState(boolean state) { - double serializerBeltSpeed = state ? Constants.SerializerConstants.SERIALIZER_BELT_SPEED : 0.d; - m_serializerBelt.set(serializerBeltSpeed); - } - /** - * Sets the Shooter Belt State - * @param state Your State Of The Button - */ - public void setSerializerShooterBeltState(boolean state) { - double serializerShooterBeltSpeed = state ? Constants.SerializerConstants.SERIALIZER_SHOOTER_BELT_SPEED : 0.d; - m_serializerShooterBelt.set(serializerShooterBeltSpeed); - } - - /** - * Gets the Serializer State - * @return The Serializer State - */ - public boolean getSerializerState() { - return serializerState; - } -} diff --git a/src/main/java/frc4388/robot/subsystems/Storage.java b/src/main/java/frc4388/robot/subsystems/Storage.java deleted file mode 100644 index a922e27..0000000 --- a/src/main/java/frc4388/robot/subsystems/Storage.java +++ /dev/null @@ -1,61 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package frc4388.robot.subsystems; - -import edu.wpi.first.wpilibj2.command.SubsystemBase; -import com.revrobotics.CANSparkMax; -import com.revrobotics.CANSparkMaxLowLevel.MotorType; -import edu.wpi.first.wpilibj.DigitalInput; -import frc4388.robot.Constants.StorageConstants; - -public class Storage extends SubsystemBase { - public CANSparkMax m_storageMotor = new CANSparkMax(StorageConstants.STORAGE_CAN_ID, MotorType.kBrushless); - private DigitalInput m_beamShooter = new DigitalInput(StorageConstants.BEAM_SENSOR_SHOOTER); - private DigitalInput m_beamIntake = new DigitalInput(StorageConstants.BEAM_SENSOR_INTAKE); - - /** Creates a new Storage. */ - public Storage() { - - } - /** - * If The Beam Is Broken, Run Storage - * If Else, Stop Running Storage - */ - public void manageStorage() { - if (m_beamShooter.get()) { - runStorage(1.d); - } else { runStorage(0.d); } - } - /** - * Runs The Storage at a Specifyed Speed - * @param input The Specifyed Speed - */ - public void runStorage(double input) { - m_storageMotor.set(input); - } - /** - * Gets The Beam State On The Shooter - * @return The State Of The Beam on the Shooter - */ - public boolean getBeamShooter(){ - return m_beamShooter.get(); - } - - /** - * Gets The Beam State Of The Intake - * @return The Beam State Of The Intake - */ - public boolean getBeamIntake(){ - return m_beamIntake.get(); - } - - @Override - /** - * Every Robot Tick Manage The Storage - */ - public void periodic() { - manageStorage(); - } -} From a5058b4ad836b7bc4ab975896599dfad3b26ed89 Mon Sep 17 00:00:00 2001 From: evan Date: Sat, 5 Mar 2022 11:12:33 -0700 Subject: [PATCH 151/151] Real robo changes --- build.gradle | 2 +- src/main/java/frc4388/robot/Constants.java | 71 +++--- src/main/java/frc4388/robot/Robot.java | 62 ++++-- .../java/frc4388/robot/RobotContainer.java | 151 ++++++++----- src/main/java/frc4388/robot/RobotMap.java | 203 +++++++++++------- .../frc4388/robot/subsystems/SwerveDrive.java | 161 ++++++++------ .../robot/subsystems/SwerveModule.java | 67 ++++-- 7 files changed, 449 insertions(+), 268 deletions(-) diff --git a/build.gradle b/build.gradle index 55600bc..25822fe 100644 --- a/build.gradle +++ b/build.gradle @@ -2,7 +2,7 @@ import edu.wpi.first.gradlerio.deploy.roborio.RoboRIO plugins { id "java" - id "edu.wpi.first.GradleRIO" version "2022.2.1" + id "edu.wpi.first.GradleRIO" version "2022.4.1" } sourceCompatibility = JavaVersion.VERSION_11 diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 9600169..5a942d1 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -39,8 +39,8 @@ public final class Constants { public static final double JOYSTICK_TO_METERS_PER_SECOND_SLOW = 2; public static final double MAX_SPEED_FEET_PER_SEC = 20; // redundant constant? public static final double SPEED_FEET_PER_SECOND_AT_FULL_POWER = 20; // redundant constant? - - //IDs + + // IDs public static final int LEFT_FRONT_STEER_CAN_ID = 2; public static final int LEFT_FRONT_WHEEL_CAN_ID = 3; public static final int RIGHT_FRONT_STEER_CAN_ID = 4; @@ -54,24 +54,34 @@ public final class Constants { public static final int LEFT_BACK_STEER_CAN_ENCODER_ID = 12; public static final int RIGHT_BACK_STEER_CAN_ENCODER_ID = 13; public static final int GYRO_ID = 14; - + // offsets are in degrees // NATHAN if you truncate or round or simplify these i will cry - public static final double LEFT_FRONT_ENCODER_OFFSET = 181.45-3.30;//181.7578125;//180.0;//315.0 +45;//180.0; - public static final double RIGHT_FRONT_ENCODER_OFFSET = 360.-59.0625+0.18;//360.-59.0625;//315.0;//224.296875 + 90;//300.0; - public static final double LEFT_BACK_ENCODER_OFFSET = 360.-128.222;//308.408203125;//225.0;//45.87890625;//360.0 - 128.0; - public static final double RIGHT_BACK_ENCODER_OFFSET = 360.+2.15-3.637;//180-2.021484375;//0.0;//134.384765625 + 45; + // public static final double LEFT_FRONT_ENCODER_OFFSET = 181.45 - 3.30;// + // 181.7578125;//180.0;//315.0 +45;//180.0; + // public static final double RIGHT_FRONT_ENCODER_OFFSET = 360. - 59.0625 + + // 0.18;// 360.-59.0625;//315.0;//224.296875 + + // public static final double LEFT_BACK_ENCODER_OFFSET = 360. - 128.222;// + // 308.408203125;//225.0;//45.87890625;//360.0 + // public static final double RIGHT_BACK_ENCODER_OFFSET = 360. + 2.15 - 3.637;// + // 180-2.021484375;//0.0;//134.384765625 + + public static final double RIGHT_FRONT_ENCODER_OFFSET = (4 * 360. - 152.05 - 180 - 90) % 360.; + public static final double LEFT_FRONT_ENCODER_OFFSET = (4 * 360. - 232.58 + 180 - 90) % 360.; + public static final double LEFT_BACK_ENCODER_OFFSET = (4 * 360. - 189.50 - 90) % 360.; + public static final double RIGHT_BACK_ENCODER_OFFSET = (4 * 360. - 9.31 - 180 - 90) % 360.; // swerve PID constants public static final int SWERVE_SLOT_IDX = 0; public static final int SWERVE_PID_LOOP_IDX = 1; public static final int SWERVE_TIMEOUT_MS = 30; - public static final Gains SWERVE_GAINS = new Gains(1.0, 0.0, 1.0, 0.0, 0, 1.0); + public static final Gains SWERVE_GAINS = new Gains(1.5, 0.0, 0.0, 0.0, 0, 1.0); // swerve auto constants public static final PIDController X_CONTROLLER = new PIDController(0.5, 0.0, 0.0); public static final PIDController Y_CONTROLLER = new PIDController(2.0, 0.0, 0.0); - public static final ProfiledPIDController THETA_CONTROLLER = new ProfiledPIDController (15.0, 0.1, 0.3, new TrapezoidProfile.Constraints(Math.PI, Math.PI)); + public static final ProfiledPIDController THETA_CONTROLLER = new ProfiledPIDController(15.0, 0.1, 0.3, + new TrapezoidProfile.Constraints(Math.PI, Math.PI)); public static final boolean PATH_RECORD_VELOCITY = true; public static final double PATH_MAX_VELOCITY = 5.0; public static final double PATH_MAX_ACCELERATION = 5.0; @@ -89,19 +99,19 @@ public final class Constants { // wheel diameter: official = 4 in, measured = 3.8 in /* Ratio Calculation */ public static final double MOTOR_REV_PER_STEER_REV = 12.8; - public static final double MOTOR_REV_PER_WHEEL_REV = 5.142857; + public static final double MOTOR_REV_PER_WHEEL_REV = 6.12;// 5.142857; public static final double WHEEL_DIAMETER_INCHES = 4.0; public static final double TICKS_PER_MOTOR_REV = 2048; public static final double INCHES_PER_WHEEL_REV = WHEEL_DIAMETER_INCHES * Math.PI; public static final double INCHES_PER_METER = 39.370; - public static final double METERS_PER_INCH = 1/INCHES_PER_METER; - - public static final double WHEEL_REV_PER_MOTOR_REV = 1/MOTOR_REV_PER_WHEEL_REV; + public static final double METERS_PER_INCH = 1 / INCHES_PER_METER; + + public static final double WHEEL_REV_PER_MOTOR_REV = 1 / MOTOR_REV_PER_WHEEL_REV; public static final double TICKS_PER_WHEEL_REV = TICKS_PER_MOTOR_REV * MOTOR_REV_PER_WHEEL_REV; - public static final double TICKS_PER_INCH = TICKS_PER_WHEEL_REV/INCHES_PER_WHEEL_REV; - public static final double INCHES_PER_TICK = 1/TICKS_PER_INCH; + public static final double TICKS_PER_INCH = TICKS_PER_WHEEL_REV / INCHES_PER_WHEEL_REV; + public static final double INCHES_PER_TICK = 1 / TICKS_PER_INCH; public static final double TICK_TIME_TO_SECONDS = 0.1; - public static final double SECONDS_TO_TICK_TIME = 1/TICK_TIME_TO_SECONDS; + public static final double SECONDS_TO_TICK_TIME = 1 / TICK_TIME_TO_SECONDS; // misc public static final int SMARTDASHBOARD_UPDATE_FRAME = 2; @@ -132,20 +142,19 @@ public final class Constants { public static final int SHOOTER_TIMEOUT_MS = 32; public static final int SHOOTER_SLOT_IDX = 0; public static final int SHOOTER_PID_LOOP_IDX = 1; - public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG = new SupplyCurrentLimitConfiguration(true, 60, 40, 0.5); + public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG = new SupplyCurrentLimitConfiguration( + true, 60, 40, 0.5); public static final int SHOOTER_FALCON_LEFT_CAN_ID = 23; - public static final int SHOOTER_FALCON_RIGHT_CAN_ID = 24; + public static final int SHOOTER_FALCON_RIGHT_CAN_ID = 24; public static final int SHOOTER_ROTATE_ID = 31; // TODO: find this value public static final double TURRET_SPEED_MULTIPLIER = 0.1d; public static final int DEGREES_PER_ROT = 0; public static final int TURRET_MOTOR_POS_AT_ZERO_ROT = 0; public static final int TURRET_MOTOR_ROTS_PER_ROT = 0; public static final double ENCODER_TICKS_PER_REV = 2048; - - - + /* Turret Constants */ - //ID + // ID public static final int TURRET_MOTOR_CAN_ID = 30; 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); @@ -161,25 +170,25 @@ public final class Constants { public static final double DIG_DEADZONE_RIGHT = 60.0; public static final int SHOOTER_FALCON_BALLER_ID = 0; // TODO: find - public static final int SHOOTER_FALCON_BALLER_FOLLOWER_ID = 0; //"// - - public static final Gains DRUM_SHOOTER_GAINS = new Gains(0,0,0,0,0,0); // TODO: tune values + public static final int SHOOTER_FALCON_BALLER_FOLLOWER_ID = 0; // "// + + public static final Gains DRUM_SHOOTER_GAINS = new Gains(0, 0, 0, 0, 0, 0); // TODO: tune values /* Hood Constants */ public static final int SHOOTER_ANGLE_ADJUST_ID = 32; - public static final double HOOD_MOTOR_ROTS_PER_ROT = 1; //TODO: Find - public static final double HOOD_MOTOR_POS_AT_ZERO_ROT = 0; //TODO: Find - public static final float HOOD_FORWARD_LIMIT = 0; //TODO: find - public static final float HOOD_REVERSE_LIMIT = 0; //TODO: find - + public static final double HOOD_MOTOR_ROTS_PER_ROT = 1; // TODO: Find + public static final double HOOD_MOTOR_POS_AT_ZERO_ROT = 0; // TODO: Find + public static final float HOOD_FORWARD_LIMIT = 0; // TODO: find + public static final float HOOD_REVERSE_LIMIT = 0; // TODO: find } + public static final class VisionConstants { public static final double TURN_P_VALUE = 0.8; public static final double X_ANGLE_ERROR = 0.5; public static final double GRAV = 385.83; public static final double TARGET_HEIGHT = 67.5; - public static final double FOV = 29.8; //Field of view limelight + public static final double FOV = 29.8; // Field of view limelight public static final double LIME_ANGLE = 24.7; } } diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java index c4edf74..1e1ae82 100644 --- a/src/main/java/frc4388/robot/Robot.java +++ b/src/main/java/frc4388/robot/Robot.java @@ -32,7 +32,7 @@ import frc4388.utility.RobotTime; public class Robot extends TimedRobot { private static final Logger LOGGER = Logger.getLogger(Robot.class.getSimpleName()); Command m_autonomousCommand; - + private RobotTime m_robotTime = RobotTime.getInstance(); private RobotContainer m_robotContainer; @@ -50,21 +50,32 @@ public class Robot extends TimedRobot { LOGGER.log(Level.FINE, "Logging Test 6/8"); LOGGER.log(Level.FINER, "Logging Test 7/8"); LOGGER.log(Level.FINEST, "Logging Test 8/8"); - Errors.log().run(() -> { throw new Throwable("Exception Test"); }); + Errors.log().run(() -> { + throw new Throwable("Exception Test"); + }); - // var path = PathPlannerUtil.Path.read(Filesystem.getDeployDirectory().toPath().resolve("pathplanner").resolve("Move Forward.path").toFile()); + // var path = + // PathPlannerUtil.Path.read(Filesystem.getDeployDirectory().toPath().resolve("pathplanner").resolve("Move + // Forward.path").toFile()); // LOGGER.finest(path::toString); LOGGER.fine("robotInit()"); // LOGGER.fine("Sssssssssh."); // DriverStation.silenceJoystickConnectionWarning(true); - // Instantiate our RobotContainer. This will perform all our button bindings, and put our + // Instantiate our RobotContainer. This will perform all our button bindings, + // and put our // autonomous chooser on the dashboard. m_robotContainer = new RobotContainer(); // addPeriodic(m_robotContainer::recordPeriodic, kDefaultPeriod); SmartDashboard.putData(CommandScheduler.getInstance()); - SmartDashboard.putData("JVM Memory", new RunCommand(() -> {}) { - @Override public boolean runsWhenDisabled() { return true; } - @Override public String getName() { + SmartDashboard.putData("JVM Memory", new RunCommand(() -> { + }) { + @Override + public boolean runsWhenDisabled() { + return true; + } + + @Override + public String getName() { if (isScheduled()) { Runtime runtime = Runtime.getRuntime(); long totalMemory = runtime.totalMemory() / 1_000_000; @@ -75,12 +86,20 @@ public class Robot extends TimedRobot { return "Not Running"; } }); - SmartDashboard.putData("Usable Deploy Space", new RunCommand(() -> {}) { - @Override public boolean runsWhenDisabled() { return true; } - @Override public String getName() { + SmartDashboard.putData("Usable Deploy Space", new RunCommand(() -> { + }) { + @Override + public boolean runsWhenDisabled() { + return true; + } + + @Override + public String getName() { if (isScheduled()) { File deploy = Filesystem.getDeployDirectory(); - long usedSpace = Errors.suppress().getWithDefault(() -> Files.walk(deploy.toPath()).map(Path::toFile).filter(File::isFile).mapToLong(File::length).sum(), 0l) / 1_000_000; + long usedSpace = Errors.suppress().getWithDefault( + () -> Files.walk(deploy.toPath()).map(Path::toFile).filter(File::isFile).mapToLong(File::length).sum(), + 0l) / 1_000_000; long usableSpace = deploy.getUsableSpace() / 1_000_000; return usedSpace + " MB / " + usableSpace + " MB"; } @@ -94,19 +113,24 @@ public class Robot extends TimedRobot { * this for items like diagnostics that you want ran during disabled, * autonomous, teleoperated and test. * - *

This runs after the mode specific periodic functions, but before + *

+ * This runs after the mode specific periodic functions, but before * LiveWindow and SmartDashboard integrated updating. */ @Override public void robotPeriodic() { m_robotTime.updateTimes(); - // Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled - // commands, running already-scheduled commands, removing finished or interrupted commands, - // and running subsystem periodic() methods. This must be called from the robot's periodic + // Runs the Scheduler. This is responsible for polling buttons, adding + // newly-scheduled + // commands, running already-scheduled commands, removing finished or + // interrupted commands, + // and running subsystem periodic() methods. This must be called from the + // robot's periodic // block in order for anything in the Command-based framework to work. CommandScheduler.getInstance().run(); - // print odometry data to smart dashboard for debugging (if causing timeout errors, you can comment it) + // print odometry data to smart dashboard for debugging (if causing timeout + // errors, you can comment it) SmartDashboard.putNumber("Odometry X", m_robotContainer.getOdometry().getX()); SmartDashboard.putNumber("Odometry Y", m_robotContainer.getOdometry().getY()); SmartDashboard.putNumber("Odometry Theta", m_robotContainer.getOdometry().getRotation().getDegrees()); @@ -123,7 +147,8 @@ public class Robot extends TimedRobot { m_robotTime.endMatchTime(); if (isTest()) { // IMPORTANT: Had to chown the pathplanner folder in order to save autos. - File outputFile = Filesystem.getDeployDirectory().toPath().resolve("pathplanner").resolve("recording." + System.currentTimeMillis() + ".path").toFile(); + File outputFile = Filesystem.getDeployDirectory().toPath().resolve("pathplanner") + .resolve("recording." + System.currentTimeMillis() + ".path").toFile(); if (Boolean.TRUE.equals(Errors.log().getWithDefault(outputFile::createNewFile, false))) { m_robotContainer.createPath(null, null, false).write(outputFile); LOGGER.log(Level.SEVERE, "Recorded path to {0}.", outputFile.getPath()); @@ -137,7 +162,8 @@ public class Robot extends TimedRobot { } /** - * This autonomous runs the autonomous command selected by your {@link RobotContainer} class. + * This autonomous runs the autonomous command selected by your + * {@link RobotContainer} class. */ @Override public void autonomousInit() { diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index dd05ec5..aff4535 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -83,14 +83,19 @@ public class RobotContainer { private final RobotMap m_robotMap = new RobotMap(); /* Subsystems */ - public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront, m_robotMap.leftBack, m_robotMap.rightFront, m_robotMap.rightBack, m_robotMap.gyro); + public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront, m_robotMap.leftBack, + m_robotMap.rightFront, m_robotMap.rightBack, m_robotMap.gyro); - private final LED m_robotLED = new LED(m_robotMap.LEDController); - private final BoomBoom m_robotBoomBoom = new BoomBoom(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight); - private final Hood m_robotHood = new Hood(); - // private final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret); - // private final Vision m_robotVison = new Vision(m_robotTurret, m_robotBoomBoom); - /* Controllers */ + /* + * private final LED m_robotLED = new LED(m_robotMap.LEDController); + * private final BoomBoom m_robotBoomBoom = new + * BoomBoom(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight); + * private final Hood m_robotHood = new Hood(); + * // private final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret); + * // private final Vision m_robotVison = new Vision(m_robotTurret, + * // m_robotBoomBoom); + * /* Controllers + */ private final XboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID); private final XboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID); @@ -101,11 +106,13 @@ public class RobotContainer { private final NetworkTableInstance networkTableInstance = NetworkTableInstance.getDefault(); private final NetworkTable recordingNetworkTable = networkTableInstance.getTable("Recording"); - private static final DateTimeFormatter RECORDING_FILE_NAME_FORMATTER = DateTimeFormatter.ofPattern("'Recording' yyyy-MM-dd HH-mm-ss.SSS'.path'"); + private static final DateTimeFormatter RECORDING_FILE_NAME_FORMATTER = DateTimeFormatter + .ofPattern("'Recording' yyyy-MM-dd HH-mm-ss.SSS'.path'"); private static final Clock SYSTEM_CLOCK = Clock.system(ZoneId.systemDefault()); private static final Path PATHPLANNER_DIRECTORY = Filesystem.getDeployDirectory().toPath().resolve("pathplanner"); // Function that removes the ".path" from the end of a string. - private static final Function PATH_EXTENSION_REMOVER = ((Function) Pattern.compile(".path")::matcher).andThen(m -> m.replaceFirst("")); + private static final Function PATH_EXTENSION_REMOVER = ((Function) Pattern + .compile(".path")::matcher).andThen(m -> m.replaceFirst("")); /** * The container for the robot. Contains subsystems, OI devices, and commands. @@ -113,13 +120,15 @@ public class RobotContainer { public RobotContainer() { configureButtonBindings(); /* Default Commands */ - + // continually sends updates to the Blinkin LED controller to keep the lights on - // m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED, m_robotLED)); + // m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED, + // m_robotLED)); - //Turret default command + // Turret default command - // m_robotTurret.setDefaultCommand(new AimToCenter(m_robotTurret, m_robotSwerveDrive)); + // m_robotTurret.setDefaultCommand(new AimToCenter(m_robotTurret, + // m_robotSwerveDrive)); m_robotSwerveDrive.setDefaultCommand( new RunCommand(() -> m_robotSwerveDrive.driveWithInput( @@ -131,9 +140,13 @@ public class RobotContainer { m_robotSwerveDrive).withName("Swerve driveWithInput defaultCommand")); // continually sends updates to the Blinkin LED controller to keep the lights on - m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED, m_robotLED).withName("LED update defaultCommand")); - autoInit(); - recordInit(); + /* + * m_robotLED + * .setDefaultCommand(new RunCommand(m_robotLED::updateLED, + * m_robotLED).withName("LED update defaultCommand")); + * autoInit(); + * recordInit(); + */ } /** @@ -146,32 +159,41 @@ public class RobotContainer { /* Driver Buttons */ // "XboxController.Button.kBack" was undefined yet, 7 works just fine new JoystickButton(getDriverController(), 7) - .whenPressed(m_robotSwerveDrive::resetGyro); + .whenPressed(m_robotSwerveDrive::resetGyro); new JoystickButton(getDriverController(), XboxController.Button.kLeftBumper.value) - // new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.LEFT_BUMPER_BUTTON) + // new XboxControllerRawButton(m_driverXbox, + // XboxControllerRaw.LEFT_BUMPER_BUTTON) .whenPressed(() -> m_robotSwerveDrive.highSpeed(false)); new JoystickButton(getDriverController(), XboxController.Button.kRightBumper.value) - // new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.RIGHT_BUMPER_BUTTON) + // new XboxControllerRawButton(m_driverXbox, + // XboxControllerRaw.RIGHT_BUMPER_BUTTON) .whenPressed(() -> m_robotSwerveDrive.highSpeed(true)); new JoystickButton(getDriverController(), XboxController.Button.kA.value) .whenPressed(() -> resetOdometry(new Pose2d(0, 0, new Rotation2d(0)))); + new JoystickButton(getDriverController(), XboxController.Button.kX.value) + .whenPressed(() -> m_robotMap.leftFront.reset()) + .whenPressed(() -> m_robotMap.rightFront.reset()) + .whenPressed(() -> m_robotMap.leftBack.reset()) + .whenPressed(() -> m_robotMap.rightBack.reset()); /* Operator Buttons */ // activates "Lit Mode" - new JoystickButton(getOperatorController(), XboxController.Button.kA.value) - .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW)) - .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN)); - // activates "BoomBoom" - new JoystickButton(getOperatorController(), XboxController.Button.kB.value) - .whenPressed(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0.1)) - .whenReleased(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0)); - // activates hood - new JoystickButton(getOperatorController(), XboxController.Button.kB.value) - .whenPressed(() -> m_robotHood.runHood(0.5d)) - .whenReleased(() -> m_robotHood.runHood(0.d)); + /* + * new JoystickButton(getOperatorController(), XboxController.Button.kA.value) + * .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW)) + * .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN)); + * // activates "BoomBoom" + * new JoystickButton(getOperatorController(), XboxController.Button.kB.value) + * .whenPressed(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0.1)) + * .whenReleased(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0)); + * // activates hood + * new JoystickButton(getOperatorController(), XboxController.Button.kB.value) + * .whenPressed(() -> m_robotHood.runHood(0.5d)) + * .whenReleased(() -> m_robotHood.runHood(0.d)); + */ } /** @@ -197,7 +219,8 @@ public class RobotContainer { new InstantCommand(m_robotSwerveDrive::stopModules)).withName("Run Autonomous Path"); } else { LOGGER.severe("No auto selected."); - return new RunCommand(() -> {}).withName("No Autonomous Path"); + return new RunCommand(() -> { + }).withName("No Autonomous Path"); } } @@ -207,6 +230,7 @@ public class RobotContainer { /** * Get odometry. + * * @return Odometry */ public Pose2d getOdometry() { @@ -215,6 +239,7 @@ public class RobotContainer { /** * Set odometry to given pose. + * * @param pose Pose to set odometry to. */ public void resetOdometry(Pose2d pose) { @@ -226,16 +251,23 @@ public class RobotContainer { } /** - * Creates a WatchKey for the path planner directory and registers it with the WatchService. - * Then creates a NotifierCommand that will update the auto chooser with the latest path files. + * Creates a WatchKey for the path planner directory and registers it with the + * WatchService. + * Then creates a NotifierCommand that will update the auto chooser with the + * latest path files. * Finally, adds the existing path files to the auto chooser */ private void autoInit() { try { - WatchKey watchKey = PATHPLANNER_DIRECTORY.register(FileSystems.getDefault().newWatchService(), StandardWatchEventKinds.ENTRY_CREATE, StandardWatchEventKinds.ENTRY_MODIFY, StandardWatchEventKinds.ENTRY_DELETE); + WatchKey watchKey = PATHPLANNER_DIRECTORY.register(FileSystems.getDefault().newWatchService(), + StandardWatchEventKinds.ENTRY_CREATE, StandardWatchEventKinds.ENTRY_MODIFY, + StandardWatchEventKinds.ENTRY_DELETE); // TODO: Store this and other commands as fields so they can be rescheduled. new NotifierCommand(() -> updateAutoChooser(watchKey), 0.5) { - @Override public boolean runsWhenDisabled() { return true; } + @Override + public boolean runsWhenDisabled() { + return true; + } }.withName("Path Watcher").schedule(); } catch (IOException exception) { LOGGER.log(Level.SEVERE, "Exception with path file watcher.", exception); @@ -247,7 +279,8 @@ public class RobotContainer { } /** - * Creates a button on the SmartDashboard that will record the path of the robot. + * Creates a button on the SmartDashboard that will record the path of the + * robot. */ public void recordInit() { SmartDashboard.putData("Recording", @@ -268,19 +301,22 @@ public class RobotContainer { * Called when a file is created, modified, or deleted. * Adds newly created .path files to the SendableChooser. * Reloads the path if the currently selected file is modified. + * * @param watchKey The WatchKey that is being observed. */ private void updateAutoChooser(WatchKey watchKey) { List> watchEvents = watchKey.pollEvents(); if (!watchEvents.isEmpty()) { - List> pathWatchEvents = watchEvents.stream().filter(e -> e.kind().type().isAssignableFrom(Path.class)).collect(Collectors.toList()); + List> pathWatchEvents = watchEvents.stream() + .filter(e -> e.kind().type().isAssignableFrom(Path.class)).collect(Collectors.toList()); for (WatchEvent pathWatchEvent : pathWatchEvents) { Path watchEventPath = (Path) pathWatchEvent.context(); File watchEventFile = watchEventPath.toFile(); String watchEventFileName = watchEventFile.getName(); if (watchEventFileName.endsWith(".path")) { if (pathWatchEvent.kind().equals(StandardWatchEventKinds.ENTRY_CREATE)) { - LOGGER.log(Level.WARNING, "PathPlanner file {0} created. Options added to SendableChooser.", watchEventFileName); + LOGGER.log(Level.WARNING, "PathPlanner file {0} created. Options added to SendableChooser.", + watchEventFileName); autoChooser.addOption(watchEventFile.getName(), watchEventFile); } else if (pathWatchEvent.kind().equals(StandardWatchEventKinds.ENTRY_MODIFY)) { LOGGER.log(Level.WARNING, "PathPlanner file {0} modified.", watchEventFileName); @@ -289,7 +325,9 @@ public class RobotContainer { loadPath(watchEventFileName); } } else if (pathWatchEvent.kind().equals(StandardWatchEventKinds.ENTRY_DELETE)) { - LOGGER.log(Level.SEVERE, "PathPlanner file {0} deleted. Removing options from SendableChooser not yet implemented.", watchEventFileName); + LOGGER.log(Level.SEVERE, + "PathPlanner file {0} deleted. Removing options from SendableChooser not yet implemented.", + watchEventFileName); } } } @@ -301,13 +339,15 @@ public class RobotContainer { private void loadPath(String pathName) { LOGGER.warning("Loading path " + pathName); loadedPathTrajectory = null; - loadedPathTrajectory = PathPlanner.loadPath(PATH_EXTENSION_REMOVER.apply(Objects.requireNonNullElse(pathName, "")), SwerveDriveConstants.PATH_MAX_VELOCITY, SwerveDriveConstants.PATH_MAX_ACCELERATION); + loadedPathTrajectory = PathPlanner.loadPath(PATH_EXTENSION_REMOVER.apply(Objects.requireNonNullElse(pathName, "")), + SwerveDriveConstants.PATH_MAX_VELOCITY, SwerveDriveConstants.PATH_MAX_ACCELERATION); LOGGER.info("Done loading"); } private void saveRecording() { // IMPORTANT: Had to chown the pathplanner folder in order to save autos. - File outputFile = PATHPLANNER_DIRECTORY.resolve(ZonedDateTime.now(SYSTEM_CLOCK).format(RECORDING_FILE_NAME_FORMATTER)).toFile(); + File outputFile = PATHPLANNER_DIRECTORY + .resolve(ZonedDateTime.now(SYSTEM_CLOCK).format(RECORDING_FILE_NAME_FORMATTER)).toFile(); LOGGER.log(Level.WARNING, "Creating path {0}.", outputFile.getPath()); if (!pathPoints.isEmpty() && Boolean.TRUE.equals(Errors.log().getWithDefault(outputFile::createNewFile, false))) { // TODO: Change to use measured maximum velocity and acceleration. @@ -326,14 +366,18 @@ public class RobotContainer { public void recordPeriodic() { Translation2d position = m_robotSwerveDrive.m_poseEstimator.getEstimatedPosition().getTranslation(); Rotation2d rotation = m_robotSwerveDrive.m_gyro.getRotation2d(); - // FIXME: Chassis speeds are created from joystick inputs and do not reflect actual robot velocity. - Translation2d velocity = new Translation2d(m_robotSwerveDrive.chassisSpeeds.vxMetersPerSecond, m_robotSwerveDrive.chassisSpeeds.vyMetersPerSecond); - Waypoint waypoint = new Waypoint(position, position, position, rotation.getDegrees(), false, SwerveDriveConstants.PATH_RECORD_VELOCITY ? velocity.getNorm() : null, false); + // FIXME: Chassis speeds are created from joystick inputs and do not reflect + // actual robot velocity. + Translation2d velocity = new Translation2d(m_robotSwerveDrive.chassisSpeeds.vxMetersPerSecond, + m_robotSwerveDrive.chassisSpeeds.vyMetersPerSecond); + Waypoint waypoint = new Waypoint(position, position, position, rotation.getDegrees(), false, + SwerveDriveConstants.PATH_RECORD_VELOCITY ? velocity.getNorm() : null, false); pathPoints.add(waypoint); } public PathPlannerUtil.Path createPath(Double maxVelocity, Double maxAcceleration, Boolean isReversed) { - // Remove points whose angles to neighboring points are less than 10 degrees apart. + // Remove points whose angles to neighboring points are less than 10 degrees + // apart. int j = 0; for (int i = 1; i < pathPoints.size() - 1; i++) { var prev = pathPoints.get(j).anchorPoint.orElseThrow(); @@ -343,20 +387,26 @@ public class RobotContainer { var toNext = next.minus(current); var angleFromPrevious = new Rotation2d(fromPrevious.getX(), fromPrevious.getY()); var angleToNext = new Rotation2d(toNext.getX(), toNext.getY()); - if (Math.abs(angleFromPrevious.minus(angleToNext).getDegrees()) < SwerveDriveConstants.MIN_WAYPOINT_ANGLE || (next.getDistance(prev) < SwerveDriveConstants.MIN_WAYPOINT_DISTANCE && pathPoints.get(i).velOverride.map(v -> v < SwerveDriveConstants.MIN_WAYPOINT_VELOCITY).orElse(false))) + if (Math.abs(angleFromPrevious.minus(angleToNext).getDegrees()) < SwerveDriveConstants.MIN_WAYPOINT_ANGLE + || (next.getDistance(prev) < SwerveDriveConstants.MIN_WAYPOINT_DISTANCE + && pathPoints.get(i).velOverride.map(v -> v < SwerveDriveConstants.MIN_WAYPOINT_VELOCITY).orElse(false))) pathPoints.set(i, null); else j = i; } pathPoints.removeIf(Objects::isNull); // Make control points - pathPoints.get(0).nextControl = Optional.of(makeControlPoints(null, pathPoints.get(0).anchorPoint.orElseThrow(), pathPoints.get(1).anchorPoint.orElseThrow()).getSecond()); + pathPoints.get(0).nextControl = Optional.of(makeControlPoints(null, pathPoints.get(0).anchorPoint.orElseThrow(), + pathPoints.get(1).anchorPoint.orElseThrow()).getSecond()); for (int i = 1; i < pathPoints.size() - 1; i++) { - var controls = makeControlPoints(pathPoints.get(i - 1).anchorPoint.orElseThrow(), pathPoints.get(i).anchorPoint.orElseThrow(), pathPoints.get(i + 1).anchorPoint.orElseThrow()); + var controls = makeControlPoints(pathPoints.get(i - 1).anchorPoint.orElseThrow(), + pathPoints.get(i).anchorPoint.orElseThrow(), pathPoints.get(i + 1).anchorPoint.orElseThrow()); pathPoints.get(i).prevControl = Optional.of(controls.getFirst()); pathPoints.get(i).nextControl = Optional.of(controls.getSecond()); } - pathPoints.get(pathPoints.size() - 1).prevControl = Optional.of(makeControlPoints(pathPoints.get(pathPoints.size() - 2).anchorPoint.orElseThrow(), pathPoints.get(pathPoints.size() - 1).anchorPoint.orElseThrow(), null).getFirst()); + pathPoints.get(pathPoints.size() - 1).prevControl = Optional + .of(makeControlPoints(pathPoints.get(pathPoints.size() - 2).anchorPoint.orElseThrow(), + pathPoints.get(pathPoints.size() - 1).anchorPoint.orElseThrow(), null).getFirst()); // Create the path PathPlannerUtil.Path path = new PathPlannerUtil.Path(); path.waypoints = Optional.ofNullable(pathPoints.toArray(PathPlannerUtil.Path.Waypoint[]::new)); @@ -367,7 +417,8 @@ public class RobotContainer { return path; } - private static Pair makeControlPoints(Translation2d prev, Translation2d current, Translation2d next) { + private static Pair makeControlPoints(Translation2d prev, Translation2d current, + Translation2d next) { var line = Objects.requireNonNullElse(next, current).minus(Objects.requireNonNullElse(prev, current)).div(4); return Pair.of(current.minus(line), current.plus(line)); } diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java index 649fcb2..833f3bb 100644 --- a/src/main/java/frc4388/robot/RobotMap.java +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -29,9 +29,9 @@ import frc4388.robot.subsystems.SwerveModule; public class RobotMap { public RobotMap() { - configureLEDMotorControllers(); + // configureLEDMotorControllers(); configureSwerveMotorControllers(); - configureShooterMotorControllers(); + // configureShooterMotorControllers(); } /* LED Subsystem */ @@ -74,99 +74,148 @@ public class RobotMap { rightBackSteerMotor.configFactoryDefault(); rightBackWheelMotor.configFactoryDefault(); - leftFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - leftBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); - rightBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + leftBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); + rightBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); NeutralMode mode = NeutralMode.Coast; leftFrontSteerMotor.setNeutralMode(mode); - leftFrontWheelMotor.setNeutralMode(mode);//Coast + leftFrontWheelMotor.setNeutralMode(mode);// Coast rightFrontSteerMotor.setNeutralMode(mode); - rightFrontWheelMotor.setNeutralMode(mode);//Coast + rightFrontWheelMotor.setNeutralMode(mode);// Coast leftBackSteerMotor.setNeutralMode(mode); - leftBackWheelMotor.setNeutralMode(mode);//Coast + leftBackWheelMotor.setNeutralMode(mode);// Coast rightBackSteerMotor.setNeutralMode(mode); - rightBackWheelMotor.setNeutralMode(mode);//Coast + rightBackWheelMotor.setNeutralMode(mode);// Coast - leftFront = new SwerveModule(leftFrontWheelMotor, leftFrontSteerMotor, leftFrontEncoder, SwerveDriveConstants.LEFT_FRONT_ENCODER_OFFSET); - leftBack = new SwerveModule(leftBackWheelMotor, leftBackSteerMotor, leftBackEncoder, SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET); - rightFront = new SwerveModule(rightFrontWheelMotor, rightFrontSteerMotor, rightFrontEncoder, SwerveDriveConstants.RIGHT_FRONT_ENCODER_OFFSET); - rightBack = new SwerveModule(rightBackWheelMotor, rightBackSteerMotor, rightBackEncoder, SwerveDriveConstants.RIGHT_BACK_ENCODER_OFFSET); + leftFront = new SwerveModule(leftFrontWheelMotor, leftFrontSteerMotor, leftFrontEncoder, + SwerveDriveConstants.LEFT_FRONT_ENCODER_OFFSET); + leftBack = new SwerveModule(leftBackWheelMotor, leftBackSteerMotor, leftBackEncoder, + SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET); + rightFront = new SwerveModule(rightFrontWheelMotor, rightFrontSteerMotor, rightFrontEncoder, + SwerveDriveConstants.RIGHT_FRONT_ENCODER_OFFSET); + rightBack = new SwerveModule(rightBackWheelMotor, rightBackSteerMotor, rightBackEncoder, + SwerveDriveConstants.RIGHT_BACK_ENCODER_OFFSET); // config cancoder as remote encoder for swerve steer motors leftFrontSteerMotor.configRemoteFeedbackFilter(leftFrontEncoder.getDeviceID(), - RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, - SwerveDriveConstants.SWERVE_TIMEOUT_MS); + RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); leftBackSteerMotor.configRemoteFeedbackFilter(leftBackEncoder.getDeviceID(), - RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, - SwerveDriveConstants.SWERVE_TIMEOUT_MS); + RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); rightFrontSteerMotor.configRemoteFeedbackFilter(rightFrontEncoder.getDeviceID(), - RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, - SwerveDriveConstants.SWERVE_TIMEOUT_MS); + RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); rightBackSteerMotor.configRemoteFeedbackFilter(rightBackEncoder.getDeviceID(), - RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, - SwerveDriveConstants.SWERVE_TIMEOUT_MS); + RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, + SwerveDriveConstants.SWERVE_TIMEOUT_MS); } // Shooter Config /* Boom Boom Subsystem */ - public final WPI_TalonFX shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_LEFT_CAN_ID); - public final WPI_TalonFX shooterFalconRight = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_RIGHT_CAN_ID); - - // public final CANSparkMax shooterTurret = new CANSparkMax(ShooterConstants.TURRET_MOTOR_CAN_ID, MotorType.kBrushless); - - // Create motor CANSparkMax - void configureShooterMotorControllers() { - - // LEFT FALCON - shooterFalconLeft.configFactoryDefault(); - shooterFalconLeft.setNeutralMode(NeutralMode.Coast); - shooterFalconLeft.setInverted(true); - shooterFalconLeft.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS); - shooterFalconLeft.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS); - shooterFalconLeft.configPeakOutputReverse(0, ShooterConstants.SHOOTER_TIMEOUT_MS); - shooterFalconLeft.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS); - shooterFalconLeft.configClosedLoopPeriod(0, ShooterConstants.CLOSED_LOOP_TIME_MS, ShooterConstants.SHOOTER_TIMEOUT_MS); - shooterFalconLeft.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS); - - // RIGHT FALCON - shooterFalconRight.setInverted(false); - shooterFalconRight.setNeutralMode(NeutralMode.Coast); - shooterFalconRight.configFactoryDefault(); - shooterFalconRight.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS); - shooterFalconRight.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS); - // m_shooterFalconRight.configPeakOutputForward(0, ShooterConstants.SHOOTER_TIMEOUT_MS);(comment it in if necessary) - shooterFalconRight.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS); - shooterFalconRight.configClosedLoopPeriod(0, ShooterConstants.CLOSED_LOOP_TIME_MS, ShooterConstants.SHOOTER_TIMEOUT_MS); - shooterFalconRight.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS); - - /* Turret Subsytem */ - shooterFalconRight.configStatorCurrentLimit(new StatorCurrentLimitConfiguration(true, 6, 9, 4.2)); // TODO: dont pull numbers out of our ass anymore - shooterFalconLeft.configSupplyCurrentLimit(new SupplyCurrentLimitConfiguration(true, 12, 13, 0.4)); // TODO: dont pull numbers out of our ass anymore - - } + /* + * public final WPI_TalonFX shooterFalconLeft = new + * WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_LEFT_CAN_ID); + * public final WPI_TalonFX shooterFalconRight = new + * WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_RIGHT_CAN_ID); + * + * // public final CANSparkMax shooterTurret = new + * CANSparkMax(ShooterConstants.TURRET_MOTOR_CAN_ID, MotorType.kBrushless); + * + * // Create motor CANSparkMax + * void configureShooterMotorControllers() { + * + * // LEFT FALCON + * shooterFalconLeft.configFactoryDefault(); + * shooterFalconLeft.setNeutralMode(NeutralMode.Coast); + * shooterFalconLeft.setInverted(true); + * shooterFalconLeft.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS); + * shooterFalconLeft.configClosedloopRamp(0.75, + * ShooterConstants.SHOOTER_TIMEOUT_MS); + * shooterFalconLeft.configPeakOutputReverse(0, + * ShooterConstants.SHOOTER_TIMEOUT_MS); + * shooterFalconLeft.setSelectedSensorPosition(0, + * ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS); + * shooterFalconLeft.configClosedLoopPeriod(0, + * ShooterConstants.CLOSED_LOOP_TIME_MS, ShooterConstants.SHOOTER_TIMEOUT_MS); + * shooterFalconLeft.configSupplyCurrentLimit(ShooterConstants. + * SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS); + * + * // RIGHT FALCON + * shooterFalconRight.setInverted(false); + * shooterFalconRight.setNeutralMode(NeutralMode.Coast); + * shooterFalconRight.configFactoryDefault(); + * shooterFalconRight.configOpenloopRamp(1, + * ShooterConstants.SHOOTER_TIMEOUT_MS); + * shooterFalconRight.configClosedloopRamp(0.75, + * ShooterConstants.SHOOTER_TIMEOUT_MS); + * // m_shooterFalconRight.configPeakOutputForward(0, + * ShooterConstants.SHOOTER_TIMEOUT_MS);(comment it in if necessary) + * shooterFalconRight.setSelectedSensorPosition(0, + * ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS); + * shooterFalconRight.configClosedLoopPeriod(0, + * ShooterConstants.CLOSED_LOOP_TIME_MS, ShooterConstants.SHOOTER_TIMEOUT_MS); + * shooterFalconRight.configSupplyCurrentLimit(ShooterConstants. + * SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS); + * + * /* Turret Subsytem + */ + /* + * shooterFalconRight.configStatorCurrentLimit(new + * StatorCurrentLimitConfiguration(true, 6, 9, 4.2)); // TODO: dont pull numbers + * out of our ass anymore + * shooterFalconLeft.configSupplyCurrentLimit(new + * SupplyCurrentLimitConfiguration(true, 12, 13, 0.4)); // TODO: dont pull + * numbers out of our ass anymore + */ + // } } diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index e29404a..1f4ff9b 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -36,19 +36,27 @@ public class SwerveDrive extends SubsystemBase { public static Gains m_swerveGains = SwerveDriveConstants.SWERVE_GAINS; - Translation2d m_frontLeftLocation = new Translation2d(Units.inchesToMeters(halfHeight), Units.inchesToMeters(halfWidth)); - Translation2d m_frontRightLocation = new Translation2d(Units.inchesToMeters(halfHeight), Units.inchesToMeters(-halfWidth)); - Translation2d m_backLeftLocation = new Translation2d(Units.inchesToMeters(-halfHeight), Units.inchesToMeters(halfWidth)); - Translation2d m_backRightLocation = new Translation2d(Units.inchesToMeters(-halfHeight), Units.inchesToMeters(-halfWidth)); - - public SwerveDriveKinematics m_kinematics = new SwerveDriveKinematics(m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation); + Translation2d m_frontLeftLocation = new Translation2d(Units.inchesToMeters(halfHeight), + Units.inchesToMeters(halfWidth)); + Translation2d m_frontRightLocation = new Translation2d(Units.inchesToMeters(halfHeight), + Units.inchesToMeters(-halfWidth)); + Translation2d m_backLeftLocation = new Translation2d(Units.inchesToMeters(-halfHeight), + Units.inchesToMeters(halfWidth)); + Translation2d m_backRightLocation = new Translation2d(Units.inchesToMeters(-halfHeight), + Units.inchesToMeters(-halfWidth)); + + public SwerveDriveKinematics m_kinematics = new SwerveDriveKinematics(m_frontLeftLocation, m_frontRightLocation, + m_backLeftLocation, m_backRightLocation); public SwerveModule[] modules; public WPI_PigeonIMU m_gyro; protected FusionStatus fstatus = new FusionStatus(); - /* Here we use SwerveDrivePoseEstimator so that we can fuse odometry readings. The numbers used - below are robot specific, and should be tuned. */ + /* + * Here we use SwerveDrivePoseEstimator so that we can fuse odometry readings. + * The numbers used + * below are robot specific, and should be tuned. + */ public SwerveDrivePoseEstimator m_poseEstimator; public SwerveDriveOdometry m_odometry; @@ -59,7 +67,8 @@ public class SwerveDrive extends SubsystemBase { private final Field2d m_field = new Field2d(); - public SwerveDrive(SwerveModule leftFront, SwerveModule leftBack, SwerveModule rightFront, SwerveModule rightBack, WPI_PigeonIMU gyro) { + public SwerveDrive(SwerveModule leftFront, SwerveModule leftBack, SwerveModule rightFront, SwerveModule rightBack, + WPI_PigeonIMU gyro) { m_leftFront = leftFront; m_leftBack = leftBack; @@ -67,53 +76,55 @@ public class SwerveDrive extends SubsystemBase { m_rightBack = rightBack; m_gyro = gyro; - modules = new SwerveModule[] {m_leftFront, m_rightFront, m_leftBack, m_rightBack}; + modules = new SwerveModule[] { m_leftFront, m_rightFront, m_leftBack, m_rightBack }; - m_poseEstimator = - new SwerveDrivePoseEstimator( - m_gyro.getRotation2d(), - new Pose2d(), - m_kinematics, - VecBuilder.fill(1.0, 1.0, Units.degreesToRadians(1)), - VecBuilder.fill(Units.degreesToRadians(1)), - VecBuilder.fill(1.0, 1.0, Units.degreesToRadians(1))); + m_poseEstimator = new SwerveDrivePoseEstimator( + m_gyro.getRotation2d(), + new Pose2d(), + m_kinematics, + VecBuilder.fill(1.0, 1.0, Units.degreesToRadians(1)), + VecBuilder.fill(Units.degreesToRadians(1)), + VecBuilder.fill(1.0, 1.0, Units.degreesToRadians(1))); m_odometry = new SwerveDriveOdometry(m_kinematics, m_gyro.getRotation2d()); - m_gyro.reset(); + m_gyro.reset(); SmartDashboard.putData("Field", m_field); } -//https://github.com/ZachOrr/MK3-Swerve-Example - /** - * Method to drive the robot using joystick info. - * - * @param speeds[0] Speed of the robot in the x direction (forward). - * @param speeds[1] Speed of the robot in the y direction (sideways). - * @param rot Angular rate of the robot. - * @param fieldRelative Whether the provided x and y speeds are relative to the field. - */ - public void driveWithInput(double speedX, double speedY, double rot, boolean fieldRelative) - { - if (speedX == 0 && speedY == 0 && rot == 0) ignoreAngles = true; - else ignoreAngles = false; - Translation2d speed = new Translation2d(speedX, speedY); + + // https://github.com/ZachOrr/MK3-Swerve-Example + /** + * Method to drive the robot using joystick info. + * + * @param speeds[0] Speed of the robot in the x direction (forward). + * @param speeds[1] Speed of the robot in the y direction (sideways). + * @param rot Angular rate of the robot. + * @param fieldRelative Whether the provided x and y speeds are relative to the + * field. + */ + public void driveWithInput(double speedX, double speedY, double rot, boolean fieldRelative) { + if (speedX == 0 && speedY == 0 && rot == 0) + ignoreAngles = true; + else + ignoreAngles = false; + Translation2d speed = new Translation2d(-speedX, speedY); double mag = speed.getNorm(); speed = speed.times(mag * speedAdjust); double xSpeedMetersPerSecond = -speed.getX(); double ySpeedMetersPerSecond = speed.getY(); - SwerveModuleState[] states = - m_kinematics.toSwerveModuleStates( - fieldRelative - ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot * SwerveDriveConstants.ROTATION_SPEED, m_gyro.getRotation2d()) - : new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot * SwerveDriveConstants.ROTATION_SPEED)); + SwerveModuleState[] states = m_kinematics.toSwerveModuleStates( + fieldRelative + ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, + rot * SwerveDriveConstants.ROTATION_SPEED, m_gyro.getRotation2d()) + : new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, + rot * SwerveDriveConstants.ROTATION_SPEED)); setModuleStates(states); } - public void driveWithInput(double leftX, double leftY, double rightX, double rightY, boolean fieldRelative) - { + public void driveWithInput(double leftX, double leftY, double rightX, double rightY, boolean fieldRelative) { ignoreAngles = leftX == 0 && leftY == 0 && rightX == 0 && rightY == 0; - Translation2d speed = new Translation2d(leftX, leftY); + Translation2d speed = new Translation2d(-leftX, leftY); speed = speed.times(speed.getNorm() * speedAdjust); if (Math.abs(rightX) > OIConstants.RIGHT_AXIS_DEADBAND || Math.abs(rightY) > OIConstants.RIGHT_AXIS_DEADBAND) rotTarget = new Rotation2d(rightX, -rightY).minus(new Rotation2d(0, 1)); @@ -121,20 +132,22 @@ public class SwerveDrive extends SubsystemBase { double xSpeedMetersPerSecond = -speed.getX(); double ySpeedMetersPerSecond = speed.getY(); chassisSpeeds = fieldRelative - ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot * SwerveDriveConstants.ROTATION_SPEED, m_gyro.getRotation2d()) - : new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rightX * SwerveDriveConstants.ROTATION_SPEED); - SwerveModuleState[] states = - m_kinematics.toSwerveModuleStates( - chassisSpeeds); + ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, + rot * SwerveDriveConstants.ROTATION_SPEED, m_gyro.getRotation2d()) + : new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rightX * SwerveDriveConstants.ROTATION_SPEED); + SwerveModuleState[] states = m_kinematics.toSwerveModuleStates( + chassisSpeeds); setModuleStates(states); } /** * Set each module of the swerve drive to the corresponding desired state. + * * @param desiredStates Array of module states to set. */ public void setModuleStates(SwerveModuleState[] desiredStates) { - SwerveDriveKinematics.desaturateWheelSpeeds(desiredStates, Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC)); + SwerveDriveKinematics.desaturateWheelSpeeds(desiredStates, + Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC)); for (int i = 0; i < desiredStates.length; i++) { SwerveModule module = modules[i]; SwerveModuleState state = desiredStates[i]; @@ -162,13 +175,16 @@ public class SwerveDrive extends SubsystemBase { SmartDashboard.putNumber("Odometry: θ", getOdometry().getRotation().getDegrees()); // chassis speeds - // TODO: find the actual max velocity in m/s of the robot in fast mode to have accurate chassis speeds + // TODO: find the actual max velocity in m/s of the robot in fast mode to have + // accurate chassis speeds SmartDashboard.putNumber("Chassis Vel: X", chassisSpeeds.vxMetersPerSecond); SmartDashboard.putNumber("Chassis Vel: Y", chassisSpeeds.vyMetersPerSecond); SmartDashboard.putNumber("Chassis Vel: ω", chassisSpeeds.omegaRadiansPerSecond); } + /** * Gets the distance between two given poses. + * * @param p1 The first pose. * @param p2 The second pose. * @return Absolute distance between p1 and p2. @@ -181,13 +197,14 @@ public class SwerveDrive extends SubsystemBase { * Returns a scalar from your distance to the hub to your target distance. * * @param target_dist The target distance. - * @return A scalar that multiplies your distance from the hub to get your target distance. + * @return A scalar that multiplies your distance from the hub to get your + * target distance. */ public Pose2d poseGivenDist(double target_dist) { Pose2d p1 = m_poseEstimator.getEstimatedPosition(); Pose2d p2 = SwerveDriveConstants.HUB_POSE; - double scalar = target_dist/distBtwPoses(p1, p2); + double scalar = target_dist / distBtwPoses(p1, p2); Pose2d new_pose = new Pose2d(p1.getX() * scalar, p1.getY() * scalar, p1.getRotation()); return new_pose; @@ -195,6 +212,7 @@ public class SwerveDrive extends SubsystemBase { /** * Gets the current pose of the robot. + * * @return Robot's current pose. */ public Pose2d getOdometry() { @@ -204,6 +222,7 @@ public class SwerveDrive extends SubsystemBase { /** * Gets the current gyro using regression formula. + * * @return Rotation2d object holding current gyro in radians */ public Rotation2d getRegGyro() { @@ -218,26 +237,28 @@ public class SwerveDrive extends SubsystemBase { m_poseEstimator.resetPosition(pose, m_gyro.getRotation2d()); } - /** Updates the field relative position of the robot. - */ + /** + * Updates the field relative position of the robot. + */ public void updateOdometry() { - m_poseEstimator.update( getRegGyro(), - modules[0].getState(), - modules[1].getState(), - modules[2].getState(), - modules[3].getState()); - - // Also apply vision measurements. We use 0.3 seconds in the past as an example -- on - // a real robot, this must be calculated based either on latency or timestamps. - // m_poseEstimator.addVisionMeasurement( - // m_poseEstimator.getEstimatedPosition(), - // Timer.getFPGATimestamp() - 0.1); - } - + m_poseEstimator.update(getRegGyro(), + modules[0].getState(), + modules[1].getState(), + modules[2].getState(), + modules[3].getState()); + + // Also apply vision measurements. We use 0.3 seconds in the past as an example + // -- on + // a real robot, this must be calculated based either on latency or timestamps. + // m_poseEstimator.addVisionMeasurement( + // m_poseEstimator.getEstimatedPosition(), + // Timer.getFPGATimestamp() - 0.1); + } + /** * Resets pigeon. */ - public void resetGyro(){ + public void resetGyro() { m_gyro.reset(); rotTarget = new Rotation2d(0); } @@ -254,13 +275,13 @@ public class SwerveDrive extends SubsystemBase { /** * Switches speed modes. + * * @param shift True if fast mode, false if slow mode. */ - public void highSpeed(boolean shift){ - if (shift){ + public void highSpeed(boolean shift) { + if (shift) { speedAdjust = SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND_FAST; - } - else{ + } else { speedAdjust = SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND_SLOW; } } diff --git a/src/main/java/frc4388/robot/subsystems/SwerveModule.java b/src/main/java/frc4388/robot/subsystems/SwerveModule.java index 44afb70..69eebd0 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveModule.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveModule.java @@ -30,7 +30,7 @@ public class SwerveModule extends SubsystemBase { private static double kEncoderTicksPerRotation = 4096; private SwerveModuleState state; private double canCoderFeedbackCoefficient; - + public long m_currentTime; public long m_lastTime; public double m_deltaTime; @@ -56,12 +56,13 @@ public class SwerveModule extends SubsystemBase { angleTalonFXConfiguration.remoteFilter0.remoteSensorSource = RemoteSensorSource.CANCoder; angleTalonFXConfiguration.primaryPID.selectedFeedbackSensor = FeedbackDevice.RemoteSensor0; angleMotor.configAllSettings(angleTalonFXConfiguration); - + // angleMotor.setInverted(true); // TalonFXConfiguration driveTalonFXConfiguration = new TalonFXConfiguration(); // driveTalonFXConfiguration.slot0.kP = 0.05; // driveTalonFXConfiguration.slot0.kI = 0.0; // driveTalonFXConfiguration.slot0.kD = 0.0; - // driveTalonFXConfiguration.primaryPID.selectedFeedbackSensor = FeedbackDevice.IntegratedSensor; + // driveTalonFXConfiguration.primaryPID.selectedFeedbackSensor = + // FeedbackDevice.IntegratedSensor; driveMotor.configFactoryDefault(); driveMotor.configSelectedFeedbackSensor(TalonFXFeedbackDevice.IntegratedSensor, 0, 30); driveMotor.configNominalOutputForward(0, 30); @@ -69,15 +70,17 @@ public class SwerveModule extends SubsystemBase { driveMotor.configPeakOutputForward(1, 30); driveMotor.configPeakOutputReverse(-1, 30); driveMotor.configAllowableClosedloopError(0, 0, 30); - driveMotor.config_kP(0, 0.5, 30); + // driveMotor.setInverted(true); + driveMotor.config_kP(0, 0, 30); driveMotor.config_kI(0, 0, 30); driveMotor.config_kD(0, 0, 30); // maybe try a feedforward value? - + // driveMotor.configAllSettings(driveTalonFXConfiguration); CANCoderConfiguration canCoderConfiguration = new CANCoderConfiguration(); canCoderConfiguration.magnetOffsetDegrees = offset; + canCoderConfiguration.sensorDirection = true; canCoder.configAllSettings(canCoderConfiguration); m_currentTime = System.currentTimeMillis(); @@ -87,40 +90,50 @@ public class SwerveModule extends SubsystemBase { } private Rotation2d getAngle() { - // Note: This assumes the CANCoders are setup with the default feedback coefficient + // Note: This assumes the CANCoders are setup with the default feedback + // coefficient // and the sensor value reports degrees. return Rotation2d.fromDegrees(canCoder.getAbsolutePosition()); } /** * Set the speed + rotation of the swerve module from a SwerveModuleState object - * @param desiredState - A SwerveModuleState representing the desired new state of the module + * + * @param desiredState - A SwerveModuleState representing the desired new state + * of the module */ public void setDesiredState(SwerveModuleState desiredState, boolean ignoreAngle) { Rotation2d currentRotation = getAngle(); - // SmartDashboard.putNumber("Motor " + angleMotor.getDeviceID(), currentRotation.getDegrees()); + // SmartDashboard.putNumber("Motor " + angleMotor.getDeviceID(), + // currentRotation.getDegrees()); state = SwerveModuleState.optimize(desiredState, currentRotation); - // Find the difference between our current rotational position + our new rotational position + // Find the difference between our current rotational position + our new + // rotational position Rotation2d rotationDelta = state.angle.minus(currentRotation); - // Find the new absolute position of the module based on the difference in rotation + // Find the new absolute position of the module based on the difference in + // rotation double deltaTicks = (rotationDelta.getDegrees() / 360.) * kEncoderTicksPerRotation; // Convert the CANCoder from it's position reading back to ticks double currentTicks = canCoder.getPosition() / canCoderFeedbackCoefficient; double desiredTicks = currentTicks + deltaTicks; - if (!ignoreAngle){ + if (!ignoreAngle) { angleMotor.set(TalonFXControlMode.Position, desiredTicks); } + // Please work double ftPerSec = Units.metersToFeet(state.speedMetersPerSecond); double normFtPerSec = ftPerSec / SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC; // double angleCorrection = angleMotor.getSelectedSensorVelocity() * 2.69; - - // driveMotor.set(TalonFXControlMode.Velocity, angleCorrection + (Units.metersToInches(state.speedMetersPerSecond) * SwerveDriveConstants.TICKS_PER_INCH) / 10); + + // driveMotor.set(TalonFXControlMode.Velocity, angleCorrection + + // (Units.metersToInches(state.speedMetersPerSecond) * + // SwerveDriveConstants.TICKS_PER_INCH) / 10); driveMotor.set(normFtPerSec);// - angleMotor.get()); - // driveMotor.set(TalonFXControlMode.Velocity, angleCorrection); // Ratio between axis = 1/1.75 Ratio of wheel is 5.14/1 ratio of steer is 12.8/1 + // driveMotor.set(TalonFXControlMode.Velocity, angleCorrection); // Ratio + // between axis = 1/1.75 Ratio of wheel is 5.14/1 ratio of steer is 12.8/1 // m_currentTime = System.currentTimeMillis(); // m_deltaTime = (double) (m_currentTime - m_lastTime); @@ -129,10 +142,14 @@ public class SwerveModule extends SubsystemBase { // m_currentPos = driveMotor.getSelectedSensorPosition(); // double m_desiredCorrectionVel = 3.2 * angleMotor.getSelectedSensorVelocity(); - // double m_desiredCorrectionPos = (m_deltaTime * m_desiredCorrectionVel) % 2048; - // double m_lastPos = (driveMotor.getSelectedSensorPosition() % 2048) - (m_deltaTime * driveMotor.getSelectedSensorVelocity()); - // double m_actualDesiredPos = m_deltaTime * ((Units.metersToInches(state.speedMetersPerSecond) * SwerveDriveConstants.TICKS_PER_INCH) / 10); - + // double m_desiredCorrectionPos = (m_deltaTime * m_desiredCorrectionVel) % + // 2048; + // double m_lastPos = (driveMotor.getSelectedSensorPosition() % 2048) - + // (m_deltaTime * driveMotor.getSelectedSensorVelocity()); + // double m_actualDesiredPos = m_deltaTime * + // ((Units.metersToInches(state.speedMetersPerSecond) * + // SwerveDriveConstants.TICKS_PER_INCH) / 10); + // System.out.println("Current Pos: " + driveMotor.getSelectedSensorPosition()); // System.out.println("Desired Correction Pos: " + m_desiredCorrectionPos); // System.out.println("Last Pos: " + m_lastPos); @@ -150,7 +167,8 @@ public class SwerveModule extends SubsystemBase { */ public SwerveModuleState getState() { // return state; - return new SwerveModuleState(driveMotor.getSelectedSensorVelocity() * SwerveDriveConstants.INCHES_PER_TICK * SwerveDriveConstants.METERS_PER_INCH * 10, getAngle()); + return new SwerveModuleState(driveMotor.getSelectedSensorVelocity() * SwerveDriveConstants.INCHES_PER_TICK + * SwerveDriveConstants.METERS_PER_INCH * 10, getAngle()); } /** @@ -160,11 +178,18 @@ public class SwerveModule extends SubsystemBase { driveMotor.set(0); angleMotor.set(0); } + @Override - public void periodic(){ + public void periodic() { Rotation2d currentRotation = getAngle(); SmartDashboard.putNumber("Angle Motor " + angleMotor.getDeviceID(), currentRotation.getDegrees()); - SmartDashboard.putNumber("Drive Motor " + driveMotor.getDeviceID(), ((driveMotor.getSelectedSensorPosition() / 2048) * 360) % 360); + SmartDashboard.putNumber("Drive Motor " + driveMotor.getDeviceID(), + ((driveMotor.getSelectedSensorPosition() / 2048) * 360) % 360); + } + + public void reset() { + canCoder.setPositionToAbsolute(); + // canCoder.configSensorInitializationStrategy(initializationStrategy) } }