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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/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"));
}
}
/**