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Merge branch 'testRoboReveal' of https://github.com/Team4388/2022NoWayHome into testRoboReveal

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This commit is contained in:
Ryan Manley
2022-03-15 20:02:42 -06:00
parent 7091d61515 98a82fb9de
commit b346fcbec5
6 changed files with 109 additions and 19 deletions
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src/main/java/frc4388/robot/Constants.java
+2 -1
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@@ -243,7 +243,8 @@ public final class Constants {
public static final double RANGE = 10;
public static final double LIMELIGHT_RADIUS = 1.d;
public static final double EDGE_TO_CENTER = 20;
public static final double LIMELIGHT_RADIUS = 8;
public static final double SHOOTER_CORRECTION = 1.d;
}
}
src/main/java/frc4388/robot/RobotContainer.java
+6 -6
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@@ -264,9 +264,9 @@ public class RobotContainer {
// .whileHeld(new RunCommand(() -> m_robotHood.runAngleAdjustPID(-55.55)))
// .whenReleased(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.0)));
new JoystickButton(getOperatorController(), XboxController.Button.kB.value) //20ft
.whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(10000)))
.whenReleased(new RunCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0)));
// new JoystickButton(getOperatorController(), XboxController.Button.kB.value) //20ft
// .whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(10000)))
// .whenReleased(new RunCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0)));
new JoystickButton(getOperatorController(), XboxController.Button.kLeftBumper.value)
.whenPressed(new RunCommand(() -> m_robotStorage.runStorage(0.9), m_robotStorage))
@@ -319,9 +319,9 @@ public class RobotContainer {
// .whileHeld(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))
// .whenReleased(new InstantCommand(() -> m_robotVisionOdometry.setLEDs(false)));
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)));
// .whileHeld%
src/main/java/frc4388/robot/commands/ExtenderIntakeCommands/ExtenderIntakeGroup.java
+2 -2
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@@ -19,11 +19,11 @@ public class ExtenderIntakeGroup extends ParallelRaceGroup {
public ExtenderIntakeGroup(Intake intake, Extender extender) {
// Add your commands in the addCommands() call, e.g.
// addCommands(new FooCommand(), new BarCommand());
ExtenderIntakeGroup.direction = 1;
ExtenderIntakeGroup.direction = 1; // Does this make sense? It kind of defeats the purpose of making it static, does it work without?
addCommands(new RunIntakeConditionally(intake), new RunExtender(extender));
}
public static void changeDirection() {
public static void changeDirection() { // Never implemented?
ExtenderIntakeGroup.direction *= -1;
}
}
src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java
+7 -6
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@@ -86,28 +86,29 @@ public class TrackTarget extends CommandBase {
y_rot += Math.toRadians(VisionConstants.LIME_ANGLE);
double distance = (VisionConstants.TARGET_HEIGHT - VisionConstants.LIME_HEIGHT) / Math.tan(y_rot);
DesmosServer.putDouble("distance", distance);
updateRegressionDesmos();
double regressedDistance = distanceRegression(distance);
regressedDistance += VisionConstants.EDGE_TO_CENTER + VisionConstants.LIMELIGHT_RADIUS;
DesmosServer.putDouble("distanceReg", regressedDistance);
//Vision odemetry circle fit based pose estimate
Point targetOffset = m_visionOdometry.getTargetOffset();
DesmosServer.putPoint("targetOff", targetOffset);
vel = m_boomBoom.getVelocity(distance);
hood = m_boomBoom.getHood(distance);
// m_boomBoom.runDrumShooter(vel);
m_boomBoom.runDrumShooterVelocityPID(vel);
m_hood.runAngleAdjustPID(hood);
// isExecuted = true;
}
catch (Exception e){
e.printStackTrace();
// System.err.println("Exception: " + e.toString() + ", Line 78 at TrackTarget.java");
}
// vel = m_boomBoom.getVelocity(distance);
// hood = m_boomBoom.getHood(distance);
// m_boomBoom.runDrumShooter(vel);
// m_boomBoom.runDrumShooterVelocityPID(vel);
// m_hood.runAngleAdjustPID(hood);
// m_turret.runshooterRotatePID(m_targetAngle);
}