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Merge branch 'shooter-tuner' into cleanup

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This commit is contained in:
Ryan Manley
2022-03-24 19:20:12 -06:00
parent bf1695aa5b 042a03a58f
commit c692f452cd
3 changed files with 54 additions and 63 deletions
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src/main/java/frc4388/robot/Robot.java
+1 -52
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@@ -5,32 +5,20 @@
package frc4388.robot;
import java.io.File;
import java.nio.file.Files;
import java.nio.file.Path;
import java.util.HashMap;
import java.util.Map;
import java.util.logging.Level;
import java.util.logging.Logger;
import com.diffplug.common.base.Errors;
import edu.wpi.first.math.Vector;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import edu.wpi.first.wpilibj.Filesystem;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.drive.Vector2d;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
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.CommandScheduler;
import edu.wpi.first.wpilibj2.command.RunCommand;
import frc4388.utility.RobotTime;
import frc4388.utility.Vector2D;
import frc4388.utility.VelocityCorrection;
import frc4388.utility.desmos.DesmosServer;
/**
* The VM is configured to automatically run this class, and to call the
@@ -85,45 +73,6 @@ public class Robot extends TimedRobot {
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";
}
});
// desmosServer.start();
m_robotContainer.m_robotVisionOdometry.setLEDs(true);
src/main/java/frc4388/robot/RobotContainer.java
+44 -4
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@@ -4,12 +4,15 @@
package frc4388.robot;
import java.io.File;
import java.nio.file.Files;
import java.nio.file.StandardOpenOption;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.Map;
import java.util.Arrays;
import java.util.Objects;
import java.util.logging.Logger;
import com.diffplug.common.base.Errors;
import com.pathplanner.lib.PathPlanner;
import com.pathplanner.lib.PathPlannerTrajectory;
import com.pathplanner.lib.PathPlannerTrajectory.PathPlannerState;
@@ -19,14 +22,19 @@ 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.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.wpilibj.Filesystem;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
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.InstantCommand;
import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
import edu.wpi.first.wpilibj2.command.PrintCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
@@ -37,7 +45,6 @@ import frc4388.robot.commands.PathRecorder;
import frc4388.robot.commands.RunCommandForTime;
import frc4388.robot.commands.DriveCommands.DriveWithInputForTime;
import frc4388.robot.commands.ExtenderIntakeCommands.ExtenderIntakeGroup;
import frc4388.robot.commands.ShooterCommands.Shoot;
import frc4388.robot.commands.ShooterCommands.TrackTarget;
import frc4388.robot.subsystems.BoomBoom;
import frc4388.robot.subsystems.Claws;
@@ -270,6 +277,39 @@ public class RobotContainer {
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"));
}
}
/**
src/main/java/frc4388/robot/subsystems/BoomBoom.java
+9 -7
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@@ -31,6 +31,7 @@ import frc4388.utility.Gains;
import frc4388.utility.NumericData;
public class BoomBoom extends SubsystemBase {
public boolean readManualData = true;
private static final Logger LOGGER = Logger.getLogger(BoomBoom.class.getSimpleName());
public WPI_TalonFX m_shooterFalconLeft;
public WPI_TalonFX m_shooterFalconRight;
@@ -54,7 +55,7 @@ public class BoomBoom extends SubsystemBase {
public Double distance, hoodExt, drumVelocity;
}
private ShooterTableEntry[] m_shooterTable;
public ShooterTableEntry[] m_shooterTable;
/** Creates a new BoomBoom, which has a drum shooter and angle adjuster. */
public BoomBoom(WPI_TalonFX shooterFalconLeft, WPI_TalonFX shooterFalconRight) {
@@ -63,7 +64,7 @@ public class BoomBoom extends SubsystemBase {
setShooterGains();
m_shooterTable = readShooterTable();
updateShooterTable();
// Run a helper method that logs the contents of the table on a new thread.
new Thread(() -> LOGGER.fine(() -> CSV.ReflectionTable.create(m_shooterTable, RobotBase.isSimulation()))).start();
}
@@ -76,7 +77,7 @@ public class BoomBoom extends SubsystemBase {
* @return Drum Velocity in units per 100 ms
*/
public Double getVelocity(final Double distance) {
return NumericData.linearInterpolate(m_shooterTable, distance, e -> e.distance, e -> e.drumVelocity).doubleValue();
return readManualData ? SmartDashboard.getNumber("Manual Shooter Data/Drum Velocity", 0) : NumericData.linearInterpolate(m_shooterTable, distance, e -> e.distance, e -> e.drumVelocity).doubleValue();
}
/**
@@ -87,7 +88,7 @@ public class BoomBoom extends SubsystemBase {
* @return Hood extension in units
*/
public Double getHood(final Double distance) {
return NumericData.linearInterpolate(m_shooterTable, distance, e -> e.distance, e -> e.hoodExt).doubleValue();
return readManualData ? SmartDashboard.getNumber("Manual Shooter Data/Hood Extension", 0) : NumericData.linearInterpolate(m_shooterTable, distance, e -> e.distance, e -> e.hoodExt).doubleValue();
}
@Override
@@ -139,7 +140,8 @@ public class BoomBoom extends SubsystemBase {
// m_shooterFalconLeft.set(m_controller.calculate(m_shooterFalconLeft.get(), targetVel));
}
private static ShooterTableEntry[] readShooterTable() {
public void updateShooterTable() {
try {
// This is a helper class that allows us to read a CSV file into a Java array.
CSV<ShooterTableEntry> csv = new CSV<>(ShooterTableEntry::new) {
@@ -162,14 +164,14 @@ public class BoomBoom extends SubsystemBase {
}
};
// This is reading the CSV file into a Java array.
return csv.read(new File(Filesystem.getDeployDirectory(), "ShooterData.csv").toPath());
m_shooterTable = csv.read(new File(Filesystem.getDeployDirectory(), "ShooterData.csv").toPath());
} catch (IOException exception) {
ShooterTableEntry dummyEntry = new ShooterTableEntry();
dummyEntry.distance = 0.0;
dummyEntry.hoodExt = 0.0;
dummyEntry.drumVelocity = 0.0;
LOGGER.log(Level.SEVERE, "Exception while reading shooter CSV table.", exception);
return new ShooterTableEntry[] { dummyEntry };
m_shooterTable = new ShooterTableEntry[] { dummyEntry };
}
}