From b0fb7a26b9c082dacbe9b003d013ad9e719b3704 Mon Sep 17 00:00:00 2001 From: Ryan Manley <42309874+ryan123rudder@users.noreply.github.com> Date: Sat, 26 Mar 2022 10:47:22 -0600 Subject: [PATCH] fixed me thinks --- src/main/deploy/ShooterData.csv | 3 +- .../java/frc4388/robot/RobotContainer.java | 54 +++++++++---------- .../commands/ShooterCommands/TrackTarget.java | 10 ++-- .../java/frc4388/robot/subsystems/Hood.java | 2 +- 4 files changed, 35 insertions(+), 34 deletions(-) diff --git a/src/main/deploy/ShooterData.csv b/src/main/deploy/ShooterData.csv index ce14a5a..074bf5c 100644 --- a/src/main/deploy/ShooterData.csv +++ b/src/main/deploy/ShooterData.csv @@ -4,10 +4,11 @@ Distance (in) ,Hood Ext. (u) ,Drum Velocity (u/ds) 99 ,-39.62 ,8500 111 ,-42 ,9000 127.25 ,-49.12 ,9500 +141 ,-59.4 ,9900 150 ,-66.22 ,10000 164.5 ,-75.52 ,10000 186 ,-76.24 ,10000 207 ,-104.07 ,11000 227 ,-105.32 ,11500 255.5 ,-105.8 ,13500 -999 ,-105.8 ,13500 +999 ,-105.8 ,13500 \ 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 d3e75a4..f0c5b0c 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -374,31 +374,31 @@ public class RobotContainer { //! Button Box Buttons // Left Switch > Disables soft limits on press, release resets encoders (all for turret, hood, climber, and extender) - SmartDashboard.putData("BB LEFT ON", new SequentialCommandGroup( - new InstantCommand(() -> m_robotTurret.setTurretSoftLimits(false), m_robotTurret), - new InstantCommand(() -> m_robotTurret.calibrationSpeed = 0.3, m_robotTurret), + // SmartDashboard.putData("BB LEFT ON", new SequentialCommandGroup( + // new InstantCommand(() -> m_robotTurret.setTurretSoftLimits(false), m_robotTurret), + // new InstantCommand(() -> m_robotTurret.calibrationSpeed = 0.3, m_robotTurret), - new InstantCommand(() -> m_robotHood.setHoodSoftLimits(false), m_robotHood), - new InstantCommand(() -> m_robotHood.calibrationSpeed = 0.3, m_robotHood), + // new InstantCommand(() -> m_robotHood.setHoodSoftLimits(false), m_robotHood), + // new InstantCommand(() -> m_robotHood.calibrationSpeed = 0.3, m_robotHood), - new InstantCommand(() -> m_robotExtender.setExtenderSoftLimits(false), m_robotExtender) - )); + // new InstantCommand(() -> m_robotExtender.setExtenderSoftLimits(false), m_robotExtender) + // )); - SmartDashboard.putData("BB LEFT OFF", new SequentialCommandGroup( - new InstantCommand(() -> m_robotTurret.setTurretSoftLimits(true), m_robotTurret), - new InstantCommand(() -> m_robotTurret.calibrationSpeed = 1.0, m_robotTurret), + // SmartDashboard.putData("BB LEFT OFF", new SequentialCommandGroup( + // new InstantCommand(() -> m_robotTurret.setTurretSoftLimits(true), m_robotTurret), + // new InstantCommand(() -> m_robotTurret.calibrationSpeed = 1.0, m_robotTurret), - new InstantCommand(() -> m_robotHood.setHoodSoftLimits(true), m_robotHood), - new InstantCommand(() -> m_robotHood.calibrationSpeed = 1.0, m_robotHood), + // new InstantCommand(() -> m_robotHood.setHoodSoftLimits(true), m_robotHood), + // new InstantCommand(() -> m_robotHood.calibrationSpeed = 1.0, m_robotHood), - new InstantCommand(() -> m_robotExtender.setExtenderSoftLimits(true), m_robotExtender), + // new InstantCommand(() -> m_robotExtender.setExtenderSoftLimits(true), m_robotExtender), - new InstantCommand(() -> m_robotTurret.m_boomBoomRotateEncoder.setPosition(0), m_robotTurret), - new InstantCommand(() -> m_robotHood.m_angleEncoder.setPosition(0), m_robotHood), - new InstantCommand(() -> m_robotExtender.setEncoder(0), m_robotExtender), - new InstantCommand(() -> ExtenderIntakeGroup.setDirectionToOut(), m_robotIntake, m_robotExtender), - new InstantCommand(() -> m_robotClimber.setEncoders(0), m_robotClimber) - )); + // new InstantCommand(() -> m_robotTurret.m_boomBoomRotateEncoder.setPosition(0), m_robotTurret), + // new InstantCommand(() -> m_robotHood.m_angleEncoder.setPosition(0), m_robotHood), + // new InstantCommand(() -> m_robotExtender.setEncoder(0), m_robotExtender), + // new InstantCommand(() -> ExtenderIntakeGroup.setDirectionToOut(), m_robotIntake, m_robotExtender), + // new InstantCommand(() -> m_robotClimber.setEncoders(0), m_robotClimber) + // )); // new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftSwitch.value) // .whenPressed(new InstantCommand(() -> m_robotTurret.setTurretSoftLimits(false), m_robotTurret)) @@ -435,13 +435,13 @@ public class RobotContainer { // .whileHeld(new InstantCommand(() -> currentDriveMode = DriveMode.OFF)) // .whenReleased(new InstantCommand(() -> currentDriveMode = DriveMode.ON)); - // Left Button > Extender In - new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftButton.value) + // // Left Button > Extender In + new JoystickButton(getDriverController(), XboxController.Button.kX.value) .whileHeld(new RunCommand(() -> m_robotExtender.runExtender(1.0), m_robotExtender)) .whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender)); - // Left Button > Extender Out - new JoystickButton(getButtonBox(), ButtonBox.Button.kRightButton.value) + // Left Button > Extender Out + new JoystickButton(getDriverController(), XboxController.Button.kY.value) .whileHeld(new RunCommand(() -> m_robotExtender.runExtender(-1.0), m_robotExtender)) .whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender)); } @@ -563,10 +563,10 @@ public class RobotContainer { // new DriveWithInputForTime(m_robotSwerveDrive, new double[] {0.0, -0.5, 0.0, 0.0}, 1.0), // * drive out of tarmac // new InstantCommand(() -> m_robotSwerveDrive.stopModules(), m_robotSwerveDrive)); // * brake - // new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID((180.0 / Math.PI) * Math.atan2(-(82.83 / 2.00) + 15.56, -(219.25 / 2.00) - 40.44 + 10.00)), m_robotTurret), 1.0, true), // * aim with turret to target - // weirdAutoShootingGroup, // * shoot - // new InstantCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage) // * stop running storage - // ); + // new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID((180.0 / Math.PI) * Math.atan2(-(82.83 / 2.00) + 15.56, -(219.25 / 2.00) - 40.44 + 10.00)), m_robotTurret), 1.0, true), // * aim with turret to target + // weirdAutoShootingGroup, // * shoot + // new InstantCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage) // * stop running storage + // ); // ! THREE BALL AUTO (HOPEFULLY) // return new SequentialCommandGroup( new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID(-Math.atan2((219.25 / 2.00) - turretDistanceFromFront, (82.83 / 2.00) - 15.56)), m_robotTurret), 1.0, true), // * aim with turret to target diff --git a/src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java b/src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java index 97ae723..02e4823 100644 --- a/src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java +++ b/src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java @@ -95,7 +95,7 @@ public class TrackTarget extends CommandBase { Point average = VisionOdometry.averagePoint(points); double output = (average.x - VisionConstants.LIME_HIXELS/2.d) / VisionConstants.LIME_HIXELS; - output *= 2.0; + output *= 2.1; m_turret.runTurretWithInput(output); // double position = m_turret.m_boomBoomRotateEncoder.getPosition(); @@ -124,10 +124,10 @@ public class TrackTarget extends CommandBase { targetLocked = (Math.abs(currentDrumVel - velocity) < velocityTolerance) && (Math.abs(currentHood - hoodPosition) < hoodTolerance) && (output < 0.2); - SmartDashboard.putNumber("Distance to Target", regressedDistance); - // SmartDashboard.putNumber("Distance", distance); - // SmartDashboard.putNumber("Hood Target Angle Track", hoodPosition); - // SmartDashboard.putNumber("Vel Target Track", velocity); + + SmartDashboard.putNumber("Distance", regressedDistance - 35); + SmartDashboard.putNumber("Hood Target Angle Track", hoodPosition); + SmartDashboard.putNumber("Vel Target Track", velocity); SmartDashboard.putBoolean("Target Locked", targetLocked); } catch (Exception e){ e.printStackTrace(); diff --git a/src/main/java/frc4388/robot/subsystems/Hood.java b/src/main/java/frc4388/robot/subsystems/Hood.java index 239af21..2a471a6 100644 --- a/src/main/java/frc4388/robot/subsystems/Hood.java +++ b/src/main/java/frc4388/robot/subsystems/Hood.java @@ -61,7 +61,7 @@ public class Hood extends SubsystemBase { @Override public void periodic() { // This method will be called once per scheduler run - // SmartDashboard.putNumber("Hood Angle", m_angleEncoder.getPosition()); + SmartDashboard.putNumber("Hood Angle", m_angleEncoder.getPosition()); // * speed limiting near soft limits. tolerance (distance when ramping starts) is 20 rotations. speed at hard limits is 0.2 (percent output). // runVelocityRamping();