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Rewrite shooter tuner

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This commit is contained in:
nathanrsxtn
2022-03-25 08:32:58 -06:00
parent 042a03a58f
commit ba60f44e67
4 changed files with 130 additions and 43 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+4 -34
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@@ -43,6 +43,7 @@ import frc4388.robot.Constants.StorageConstants;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.robot.commands.PathRecorder;
import frc4388.robot.commands.RunCommandForTime;
import frc4388.robot.commands.ShooterTuner;
import frc4388.robot.commands.DriveCommands.DriveWithInputForTime;
import frc4388.robot.commands.ExtenderIntakeCommands.ExtenderIntakeGroup;
import frc4388.robot.commands.ShooterCommands.TrackTarget;
@@ -91,6 +92,8 @@ public class RobotContainer {
/* Autonomous */
private final PathRecorder m_pathChooser = new PathRecorder(m_robotSwerveDrive);
private final ShooterTuner m_shooterTuner = new ShooterTuner(m_robotBoomBoom);
// Controllers
private final static XboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
private final static XboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
@@ -273,40 +276,7 @@ public class RobotContainer {
m_robotBoomBoom.setDefaultCommand(
new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.45), m_robotBoomBoom)
);
if (m_robotBoomBoom.readManualData) {
var tab = Shuffleboard.getTab("Manual Shooter Data");
var manual = tab.getLayout("Manual Shooter Data", BuiltInLayouts.kList).withSize(2, 3);
manual.add("Manual Shooter Data", new Sendable() {
private double manualHoodExt;
private double manualDrumVel;
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("RobotPreferences");
builder.addBooleanProperty("Disable CSV", () -> m_robotBoomBoom.readManualData, b -> m_robotBoomBoom.readManualData = b);
builder.addDoubleProperty("Drum Velocity", () -> manualDrumVel, d -> manualDrumVel = d);
builder.addDoubleProperty("Hood Extension", () -> manualHoodExt, d -> manualHoodExt = d);
builder.addDoubleProperty("Measured Distance", () -> SmartDashboard.getNumber("Distance to Target", -1), System.out::println);
}
});
manual.add("Shooter Table Appender", new InstantCommand(() -> Errors.log().run(() -> Files.write(new File(Filesystem.getDeployDirectory(), "ShooterData.csv").toPath(), String.format("%s,%s,%s%n", SmartDashboard.getNumber("Manual Shooter Data/Distance to Target", -1), SmartDashboard.getNumber("Manual Shooter Data/Hood Extension", -1), SmartDashboard.getNumber("Manual Shooter Data/Drum Velocity", -1)).getBytes(), StandardOpenOption.WRITE, StandardOpenOption.APPEND))) {
@Override
public boolean runsWhenDisabled() {
return true;
}
}.withName("Append"));
var csv = tab.getLayout("Shooter Data", BuiltInLayouts.kList).withPosition(2,0).withSize(4, 3);
csv.add("Initial Shooter Data", builder -> Arrays.stream(m_robotBoomBoom.m_shooterTable).forEach(e -> builder.addDoubleArrayProperty(Double.toString(e.distance), () -> new double[] {e.hoodExt, e.drumVelocity}, a -> {})));
csv.add("Reload Data", new InstantCommand(m_robotBoomBoom::updateShooterTable) {
@Override
public boolean runsWhenDisabled() {
return true;
}
}.withName("Reload"));
}
SmartDashboard.putData("Shooter Tuner", m_shooterTuner);
}
/**