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track target distance regression WORKS

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This commit is contained in:
66945
2022-03-14 16:56:32 -06:00
parent 9e33a7ce5d
commit abc2e8b05f
5 changed files with 18 additions and 11 deletions
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src/main/java/frc4388/robot/Constants.java
+1 -1
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@@ -190,7 +190,7 @@ public final class Constants {
public static final int SHOOTER_FALCON_LEFT_CAN_ID = 21;
public static final int SHOOTER_FALCON_RIGHT_CAN_ID = 22;
public static final double TURRET_SPEED_MULTIPLIER = 0.6;
public static final double DEGREES_PER_ROT = 180.0/105.45445251464844;
public static final double TURRET_DEGREES_PER_ROT = 180.0/105.45445251464844;
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;
src/main/java/frc4388/robot/Robot.java
+1 -1
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@@ -121,7 +121,7 @@ public class Robot extends TimedRobot {
});
desmosServer.start();
DesmosServer.putTable("table", "x1", new double[] {44}, "y1", new double[] {0});
// DesmosServer.putTable("table", "x1", new double[] {44}, "y1", new double[] {0});
}
/**
src/main/java/frc4388/robot/RobotContainer.java
+11 -6
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@@ -59,6 +59,7 @@ import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.OIConstants;
import frc4388.robot.Constants.ShooterConstants;
import frc4388.robot.Constants.StorageConstants;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.robot.commands.AimToCenter;
@@ -291,11 +292,11 @@ public class RobotContainer {
// new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
// .whenPressed(new InstantCommand(() -> m_robotExtender.m_extenderMotor.getEncoder().setPosition(0)));
new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(1.0), m_robotExtender))
.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
// new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
// .whileHeld(new RunCommand(() -> m_robotExtender.runExtender(1.0), m_robotExtender))
// .whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(-1.0), m_robotExtender))
.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
@@ -317,10 +318,14 @@ public class RobotContainer {
// A > Shoot with Odo
/*new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
.whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood));*/
new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
.whenPressed(new RunCommand(() -> m_robotTurret.runshooterRotatePID(-44 * ShooterConstants.TURRET_DEGREES_PER_ROT), m_robotTurret));
//B > Shoot with Lime
// new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
// .whileHeld(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry));
new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
.whileHeld(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry))
.whenReleased(new InstantCommand(() -> m_robotVisionOdometry.setLEDs(false)));
/* Button Box Buttons */
src/main/java/frc4388/robot/commands/TrackTarget.java
+3 -1
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@@ -112,12 +112,14 @@ public class TrackTarget extends CommandBase {
}
public final double distanceRegression(double distance) {
return m * distance + b;
return (1.09517561985 * distance + 20.1846165624);
}
public void updateRegressionDesmos() {
m = DesmosServer.readDouble("m");
b = DesmosServer.readDouble("b");
DesmosServer.putArray("MB", m, b);
}
// Called once the command ends or is interrupted.
src/main/java/frc4388/robot/subsystems/Turret.java
+2 -2
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@@ -72,7 +72,7 @@ public class Turret extends SubsystemBase {
public void periodic() {
// This method will be called once per scheduler run
SmartDashboard.putNumber("Turret Angle Rotations", m_boomBoomRotateEncoder.getPosition());
SmartDashboard.putNumber("Turret Angle Degrees", m_boomBoomRotateEncoder.getPosition() * ShooterConstants.DEGREES_PER_ROT);
SmartDashboard.putNumber("Turret Angle Degrees", m_boomBoomRotateEncoder.getPosition() * ShooterConstants.TURRET_DEGREES_PER_ROT);
}
/**
@@ -94,7 +94,7 @@ public class Turret extends SubsystemBase {
}
public void runshooterRotatePID(double targetAngle) {
targetAngle = targetAngle / ShooterConstants.DEGREES_PER_ROT;
targetAngle = targetAngle / ShooterConstants.TURRET_DEGREES_PER_ROT;
m_boomBoomRotatePIDController.setReference(targetAngle, ControlType.kPosition);
}