diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java index 15ee89d..78ad394 100644 --- a/src/main/java/frc4388/robot/Robot.java +++ b/src/main/java/frc4388/robot/Robot.java @@ -14,9 +14,11 @@ 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.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.InstantCommand; import frc4388.robot.commands.ExtenderIntakeCommands.ExtenderIntakeGroup; import frc4388.utility.RobotTime; import frc4388.utility.Vector2D; @@ -34,8 +36,6 @@ public class Robot extends TimedRobot { private RobotTime m_robotTime = RobotTime.getInstance(); private RobotContainer m_robotContainer; - - // private SendableChooser autoChooser = new SendableChooser(); // private double current; @@ -78,7 +78,6 @@ public class Robot extends TimedRobot { // desmosServer.start(); m_robotContainer.m_robotVisionOdometry.setLEDs(false); ExtenderIntakeGroup.setDirectionToOut(); - // DesmosServer.putTable("table", "x1", new double[] {44}, "y1", new double[] {0}); } /** diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 6495570..37887c3 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -32,6 +32,7 @@ import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; 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.CommandBase; import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; import edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup; @@ -120,7 +121,8 @@ public class RobotContainer { private enum DriveMode { ON, OFF }; private DriveMode currentDriveMode = DriveMode.ON; - private SendableChooser quickAutoChooser = new SendableChooser<>(); + // private SendableChooser quickAutoChooser = new SendableChooser<>(); + public SendableChooser autoChooser = new SendableChooser(); /** * SmartDash @@ -145,85 +147,12 @@ public class RobotContainer { * The container for the robot. Contains subsystems, OI devices, and commands. */ public RobotContainer() { - // double turretDistanceFromFront = 10.0; // * distance of turret from the front of the robot in inches. might need to be somewhat accurate. - - // double distancePerSecond = 134.0; // * assuming emulated joystick input magnitude is 1.0 - // double offset = 10.0; // * distance (in inches) from ball that we actually want to stop - - // Vector2D firstBallPosition = new Vector2D(15.56 - (82.83 / 2.00), 11.21 - 162.00); // * position of first ball, relative to hub. - // Vector2D secondBallPosition = new Vector2D(-(40.44 * (Math.sqrt(2.00) / 2.00)) - ((82.83 - 7.58) * (Math.sqrt(2.00) / 2.00)) - (82.83 / 2.00), -(40.44 * (Math.sqrt(2.00) / 2.00)) + ((82.83 - 7.58) * (Math.sqrt(2.00) / 2.00)) - (219.25 / 2.00)); // * position of second ball, relative to hub. - // Vector2D firstToSecond = Vector2D.subtract(secondBallPosition, firstBallPosition); // * vector from first ball to second ball, used to calculate emulated joystick inputs. - - // var justShoot = 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 - // makeTheWeirdGroup(), // * shoot - // new InstantCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage)); // * stop running storage - // // ! SHOOT FIRST BALL, THEN DRIVE OFF LINE (HOPEFULLY) - // var offTheLine = 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 - // makeTheWeirdGroup(), // * shoot - // new InstantCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), // * stop running storage - - // new SequentialCommandGroup( new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive), // * reset gyro before moving - // new DriveWithInputForTime(m_robotSwerveDrive, new double[] {0.0, 1.0, 0.0, 0.0}, 0.25))); // * drive off line - - // // ! TWO BALL AUTO (HOPEFULLY) - // var twoBall = 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 - // makeTheWeirdGroup(), // * shoot - // new InstantCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), // * stop running storage - - // new ExtenderIntakeGroup(m_robotIntake, m_robotExtender), // * extend out, in preparation of running intake - - // new ParallelCommandGroup( new RunCommand(() -> m_robotIntake.runAtOutput(1.0), m_robotIntake), // * run intake all throughout path - - // new SequentialCommandGroup( new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive), // * reset gyro before moving - // new DriveWithInputForTime(m_robotSwerveDrive, new double[] {0.0, 1.0, 0.0, 0.0}, (40.44 - offset) / distancePerSecond), // * drive to first ball - // // new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(0.0, -1.0, 0.0, 0.0, true)), // * brake (see line 376), - // new InstantCommand(() -> m_robotSwerveDrive.stopModules(), m_robotSwerveDrive), - - // new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID(-Math.atan2(firstBallPosition.y, firstBallPosition.x)), m_robotTurret), 1.0, true), // * aim with turret to target - // makeTheWeirdGroup(), // * shoot - // new InstantCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage)))); // * stop running storage - - // // ! THREE BALL AUTO (HOPEFULLY) - // var threeBall = 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 - // makeTheWeirdGroup(), // * shoot - // new InstantCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), // * stop running storage - - // new ExtenderIntakeGroup(m_robotIntake, m_robotExtender), // * extend out, in preparation of running intake - - // new ParallelCommandGroup( new RunCommand(() -> m_robotIntake.runAtOutput(1.0), m_robotIntake), // * run intake all throughout path - - // new SequentialCommandGroup( new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive), // * reset gyro before moving - // new DriveWithInputForTime(m_robotSwerveDrive, new double[] {0.0, 1.0, 0.0, 0.0}, (40.44 - offset) / distancePerSecond), // * drive to first ball - // //new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(0.0, -1.0, 0.0, 0.0, true)), // * brake (see line 363) - // new InstantCommand(() -> m_robotSwerveDrive.stopModules(), m_robotSwerveDrive), - // new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID(-Math.atan2(firstBallPosition.y, firstBallPosition.x)), m_robotTurret), 1.0, true), // * aim with turret to target - // makeTheWeirdGroup(), // * shoot - // new InstantCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), // * stop running storage - - // //new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(0.0, 0.0, -firstToSecond.unit().x, -firstToSecond.unit().y, true), m_robotSwerveDrive), // * rotate so intake points towards second ball - // new DriveWithInputForTime(m_robotSwerveDrive, new double[] {0.0, 0.0, -firstToSecond.unit().x, -firstToSecond.unit().y}, 0.5d), - // new DriveWithInputForTime(m_robotSwerveDrive, new double[] {-firstToSecond.unit().x, -firstToSecond.unit().y, 0.0, 0.0}, (firstToSecond.magnitude() - offset) / distancePerSecond), // * drive to second ball - // //new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(firstToSecond.unit().x, firstToSecond.unit().y, 0.0, 0.0, true)), // * brake (see line 363) - // new InstantCommand(() -> m_robotSwerveDrive.stopModules(), m_robotSwerveDrive), - - // new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood, m_robotVisionOdometry, secondBallPosition.toDoubleArray()), // * aim to target - // makeTheWeirdGroup(), // * shoot - // new InstantCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage) // * stop running storage - - // ))); - - - // autoChoices = Map.of( - // "justShoot", justShoot, - // "offTheLine", offTheLine, - // "twoBall", twoBall, - // "threeBall", threeBall - // ); - - // SmartDashboard.putData(quickAutoChooser); - - + autoChooser.addOption("DriveOffLineAndShoot", driveOffLineAndShoot); + autoChooser.addOption("OneBallAuto", oneBallAuto); + autoChooser.setDefaultOption("TwoBallAuto", twoBallAuto); + autoChooser.addOption("ThreeBallAuto", threeBallAuto); + SmartDashboard.putData("AutoChooser", autoChooser); configureButtonBindings(); /* Default Commands */ @@ -497,171 +426,166 @@ public class RobotContainer { return seqCG; } + // ! ways to not coast + // // * 1. try zero joystick input: new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(0.0, 0.0, 0.0, 0.0, false), m_robotSwerveDrive); + // * 2. try opposite joystick input: new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(0.0, -1.0, 0.0, 0.0, false), m_robotSwerveDrive); + // * 3a. try permanently setting drive motors to brake, not coast, in RobotMap.java, and ask the driver how it feels. + // * 3b. try to only set the drive motors to brake if in auto mode. + // * 4. try new InstantCommand(() -> m_robotSwerveDrive.stopModules(), m_robotSwerveDrive); + + // ? 1.0 input, 1 second: 134 inches + // ? 0.75 input, 1 second: 48 inches + // ! POSITIVE Y IS LEFT, POSITIVE X IS BACKWARDS + + double turretDistanceFromFront = 10.0; // * distance of turret from the front of the robot in inches. might need to be somewhat accurate. + + double distancePerSecond = 134.0; // * assuming emulated joystick input magnitude is 1.0 + double offset = 10.0; // * distance (in inches) from ball that we actually want to stop + + // ! ball positions are "unit tested" + Vector2D firstBallPosition = new Vector2D(15.56 - (82.83 / 2.00), 11.21 - 162.00); // * position of first ball, relative to hub. + Vector2D secondBallPosition = new Vector2D(-(40.44 * (Math.sqrt(2.00) / 2.00)) - ((82.83 - 7.58) * (Math.sqrt(2.00) / 2.00)) - (82.83 / 2.00), -(40.44 * (Math.sqrt(2.00) / 2.00)) + ((82.83 - 7.58) * (Math.sqrt(2.00) / 2.00)) - (219.25 / 2.00)); // * position of second ball, relative to hub. + Vector2D firstToSecond = Vector2D.subtract(secondBallPosition, firstBallPosition); // * vector from first ball to second ball, used to calculate emulated joystick inputs. + + private SequentialCommandGroup shoot(double storageRunTime) { + return new SequentialCommandGroup( + new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true), + new ParallelCommandGroup( + new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true), + new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage), storageRunTime, true) + ) + ); + } + + SequentialCommandGroup weirdAutoShootingGroup1 = new SequentialCommandGroup(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true), + new ParallelCommandGroup( + new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true), + new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage), 1.0, true) + )); // * weird way of shooting, i think we should make a new TrackTarget with built-in Storage control instead. + + SequentialCommandGroup weirdAutoShootingGroup2 = new SequentialCommandGroup(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true), + new ParallelCommandGroup( + new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true), + new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage), 2.3, true) + )); // * weird way of shooting, i think we should make a new TrackTarget with built-in Storage control instead. + + SequentialCommandGroup weirdAutoShootingGroup3 = new SequentialCommandGroup(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true), + new ParallelCommandGroup( + new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true), + new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage), 4.0, true) + )); // * weird way of shooting, i think we should make a new TrackTarget with built-in Storage control instead. + + Command resetGyro = new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive); + Command brakeDrive = new InstantCommand(() -> m_robotSwerveDrive.stopModules(), m_robotSwerveDrive); + + private Command brakeStorage(double storageRunTime) { + return new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotIntake), storageRunTime, true); + } + + SequentialCommandGroup extendThenAimTurret() { + return new SequentialCommandGroup( + new ExtenderIntakeGroup(m_robotIntake, m_robotExtender), + 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) // TODO: optimize time + ); + } + + ParallelDeadlineGroup idleDrumUntilShootingFirstBall() { + return new ParallelDeadlineGroup( + extendThenAimTurret(), + new RunCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(8000), m_robotBoomBoom) + ); + } + + private ParallelDeadlineGroup intakeWithPath1(double intakeRunTime) { + return new ParallelDeadlineGroup( + new RunCommandForTime(new RunCommand(() -> m_robotIntake.runAtOutput(-1.0), m_robotIntake), intakeRunTime, true), // TODO: optimize time + new RunCommand(() -> m_robotSerializer.setSerializer(0.8), m_robotSerializer), + buildAuto(3.0, 3.0, "JMove1") // TODO: make faster? + ); + } + + private ParallelDeadlineGroup intakeWithPath2(double intakeRunTime) { + return new ParallelDeadlineGroup( + new RunCommandForTime(new RunCommand(() -> m_robotIntake.runAtOutput(-1.0), m_robotIntake), intakeRunTime, true), // TODO: optimize time + new RunCommand(() -> m_robotSerializer.setSerializer(0.8), m_robotSerializer), + buildAuto(3.0, 3.0, "JMove2") // TODO: make faster? + ); + } + + ParallelCommandGroup intakeWithPathAndTrackTarget = new ParallelCommandGroup(intakeWithPath1(3.0), weirdAutoShootingGroup2); + // ParallelCommandGroup intakeWithPath2AndTrackTarget = new ParallelCommandGroup(intakeWithPath2, weirdAutoShootingGroup3); + + ParallelDeadlineGroup intakeWithPath2AndIdleShooterAndAimTurret = new ParallelDeadlineGroup( + intakeWithPath2(4.2), + new RunCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(8000), m_robotBoomBoom), + new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID(-120), m_robotTurret), 0.7, true) + ); + + // ! DRIVE OFF LINE AND SHOOT (ASSUMES ROBOT IS FACING DIRECTLY TOWARDS THE TARGET) + SequentialCommandGroup driveOffLineAndShoot = new SequentialCommandGroup( + resetGyro, + new DriveWithInputForTime(m_robotSwerveDrive, new double[] {1.0, 0.0, 0.0, 0.0}, (5.0 * 12) / distancePerSecond), // * go backwards five feet + brakeDrive, + shoot(1.0), + brakeStorage(0.1) + ); + + // ! ONE BALL AUTO (ASSUMES ROBOT IS FACING DIRECTLY TOWARDS THE TARGET) + SequentialCommandGroup oneBallAuto = new SequentialCommandGroup( + shoot(1.0), + brakeStorage(0.1) + ); + + // ! TWO BALL AUTO (ASSUMES ROBOT IS FACING DIRECTLY TOWARDS THE FIRST BALL OUTSIDE THE TARMAC, BUMPERS FLUSH WITH THE EDGE) + SequentialCommandGroup twoBallAuto = new SequentialCommandGroup( + idleDrumUntilShootingFirstBall(), + shoot(1.0), // TODO: optimize time + brakeStorage(0.1), + intakeWithPath1(3.0), // * this line and the one underneath it can be replaced with intakeWithPathAndTrackTarget + shoot(2.3), // TODO: optimize time + brakeStorage(0.1) + ); + + // ! THREE BALL AUTO (ASSUMES ROBOT IS FACING DIRECTLY TOWARDS THE FIRST BALL OUTSIDE THE TARMAC, BUMPERS FLUSH WITH THE EDGE) + SequentialCommandGroup threeBallAuto = new SequentialCommandGroup( + idleDrumUntilShootingFirstBall(), + shoot(1.0), // TODO: optimize time + brakeStorage(0.1), + intakeWithPath1(3.0), // * this line and the one underneath it can be replaced with intakeWithPathAndTrackTarget + shoot(2.3), // TODO: optimize time + brakeStorage(0.1), + intakeWithPath2AndIdleShooterAndAimTurret, + shoot(4.0), // TODO: optimize time + brakeStorage(0.1) + ); + /** * Use this to pass the autonomous command to the main {@link Robot} class. * * @return the command to run in autonomous */ public Command getAutonomousCommand() { - - // ! ways to not coast - // // * 1. try zero joystick input: new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(0.0, 0.0, 0.0, 0.0, false), m_robotSwerveDrive); - // * 2. try opposite joystick input: new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(0.0, -1.0, 0.0, 0.0, false), m_robotSwerveDrive); - // * 3a. try permanently setting drive motors to brake, not coast, in RobotMap.java, and ask the driver how it feels. - // * 3b. try to only set the drive motors to brake if in auto mode. - // * 4. try new InstantCommand(() -> m_robotSwerveDrive.stopModules(), m_robotSwerveDrive); - - // ? 1.0 input, 1 second: 134 inches - // ? 0.75 input, 1 second: 48 inches - // ! POSITIVE Y IS LEFT, POSITIVE X IS BACKWARDS - - double turretDistanceFromFront = 10.0; // * distance of turret from the front of the robot in inches. might need to be somewhat accurate. - - double distancePerSecond = 134.0; // * assuming emulated joystick input magnitude is 1.0 - double offset = 10.0; // * distance (in inches) from ball that we actually want to stop - - // ! ball positions are "unit tested" - Vector2D firstBallPosition = new Vector2D(15.56 - (82.83 / 2.00), 11.21 - 162.00); // * position of first ball, relative to hub. - Vector2D secondBallPosition = new Vector2D(-(40.44 * (Math.sqrt(2.00) / 2.00)) - ((82.83 - 7.58) * (Math.sqrt(2.00) / 2.00)) - (82.83 / 2.00), -(40.44 * (Math.sqrt(2.00) / 2.00)) + ((82.83 - 7.58) * (Math.sqrt(2.00) / 2.00)) - (219.25 / 2.00)); // * position of second ball, relative to hub. - Vector2D firstToSecond = Vector2D.subtract(secondBallPosition, firstBallPosition); // * vector from first ball to second ball, used to calculate emulated joystick inputs. - - SequentialCommandGroup weirdAutoShootingGroup = new SequentialCommandGroup(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true), - new ParallelCommandGroup( - new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true), - new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage), 1.0, true) - )); // * weird way of shooting, i think we should make a new TrackTarget with built-in Storage control instead. - - SequentialCommandGroup weirdAutoShootingGroup2 = new SequentialCommandGroup(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true), - new ParallelCommandGroup( - new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true), - new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage), 2.3, true) - )); // * weird way of shooting, i think we should make a new TrackTarget with built-in Storage control instead. - - SequentialCommandGroup weirdAutoShootingGroup3 = new SequentialCommandGroup(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true), - new ParallelCommandGroup( - new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true), - new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage), 4.0, true) - )); // * weird way of shooting, i think we should make a new TrackTarget with built-in Storage control instead. - - // ! DRIVE BACKWARDS AND SHOOT (HOPEFULLY) - // return new SequentialCommandGroup( new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive), // * reset gyro before moving - // new DriveWithInputForTime(m_robotSwerveDrive, new double[] {1.0, 0.0, 0.0, 0.0}, (5.0 * 12) / distancePerSecond),//0.269), // * go backwards three feet - // new InstantCommand(() -> m_robotSwerveDrive.stopModules(), m_robotSwerveDrive), // * brake - - // weirdAutoShootingGroup, // * shoot - // new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), 0.5)); // * stop running storage - - // ! TWO BALL AUTO (HOPEFULLY) - // return new SequentialCommandGroup( new ExtenderIntakeGroup(m_robotIntake, m_robotExtender), // * extend out, in preparation of running intake - - // new ParallelCommandGroup( new RunCommand(() -> m_robotIntake.runAtOutput(1.0), m_robotIntake), // * run intake all throughout path - - // new SequentialCommandGroup( new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive), // * reset gyro before moving - // new DriveWithInputForTime(m_robotSwerveDrive, new double[] {-1.0, 0.0, 0.0, 0.0}, (40.44 - offset) / distancePerSecond), // * drive to first ball - // // new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(0.0, -1.0, 0.0, 0.0, true)), // * brake (see line 376), - // new InstantCommand(() -> m_robotSwerveDrive.stopModules(), m_robotSwerveDrive), - - // 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 RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), 0.5)))); // * stop running storage - - // ! DRIVE OFF LINE, THEN SHOOT BALL (HOPEFULLY) - // return new SequentialCommandGroup( new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive), // * reset gyro before moving - // new DriveWithInputForTime(m_robotSwerveDrive, new double[] {-0.5, 0, 0.0, 0.0}, 1.0), // * drive out of tarmac - // new InstantCommand(() -> m_robotSwerveDrive.stopModules(), m_robotSwerveDrive), // * brake - // new DriveWithInputForTime(m_robotSwerveDrive, new double[] {0.5, 0, 0.0, 0.0}, 1.0), // * drive out of tarmac - // new InstantCommand(() -> m_robotSwerveDrive.stopModules(), m_robotSwerveDrive), // * brake - // 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 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 - // ); - - // ! 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 - // weirdAutoShootingGroup, // * shoot - // new InstantCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), // * stop running storage - - // new ExtenderIntakeGroup(m_robotIntake, m_robotExtender), // * extend out, in preparation of running intake - - // new ParallelCommandGroup( new RunCommand(() -> m_robotIntake.runAtOutput(1.0), m_robotIntake), // * run intake all throughout path - - // new SequentialCommandGroup( new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive), // * reset gyro before moving - // new DriveWithInputForTime(m_robotSwerveDrive, new double[] {0.0, 1.0, 0.0, 0.0}, (40.44 - offset) / distancePerSecond), // * drive to first ball - // //new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(0.0, -1.0, 0.0, 0.0, true)), // * brake (see line 363) - // new InstantCommand(() -> m_robotSwerveDrive.stopModules(), m_robotSwerveDrive), - // new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID(-Math.atan2(firstBallPosition.y, firstBallPosition.x)), 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 InstantCommand(() -> m_robotSwerveDrive.driveWithInput(0.0, 0.0, -firstToSecond.unit().x, -firstToSecond.unit().y, true), m_robotSwerveDrive), // * rotate so intake points towards second ball - // new DriveWithInputForTime(m_robotSwerveDrive, new double[] {0.0, 0.0, -firstToSecond.unit().x, -firstToSecond.unit().y}, 0.5d), - // new DriveWithInputForTime(m_robotSwerveDrive, new double[] {-firstToSecond.unit().x, -firstToSecond.unit().y, 0.0, 0.0}, (firstToSecond.magnitude() - offset) / distancePerSecond), // * drive to second ball - // //new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(firstToSecond.unit().x, firstToSecond.unit().y, 0.0, 0.0, true)), // * brake (see line 363) - // new InstantCommand(() -> m_robotSwerveDrive.stopModules(), m_robotSwerveDrive), - - // new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood, m_robotVisionOdometry, secondBallPosition.toDoubleArray()), // * aim to target - // weirdAutoShootingGroup, // * shoot - // new InstantCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage) // * stop running storage - - // ))); - - // return new SequentialCommandGroup( new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive), - - // new DriveWithInputForTime(m_robotSwerveDrive, new double[] {0.0, 1.0, 0.0, 0.0}, 1.0), - // new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(0.0, -1.0, 0.0, 0.0, false), m_robotSwerveDrive), - - // new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true), - - // new ParallelCommandGroup( - // new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true), - // new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage), 1.0)) - - // ); - // ! PathPlanner Testing - ParallelDeadlineGroup intakeWithPath1 = new ParallelDeadlineGroup(new RunCommandForTime(new RunCommand(() -> m_robotIntake.runAtOutput(-1.0), m_robotIntake), 3.0, true), - new RunCommand(() -> m_robotSerializer.setSerializer(0.8), m_robotSerializer), - buildAuto(3.0, 3.0, "JMove")); - - ParallelDeadlineGroup intakeWithPath2 = new ParallelDeadlineGroup(new RunCommandForTime(new RunCommand(() -> m_robotIntake.runAtOutput(-1.0), m_robotIntake), 5.0, true), - new RunCommand(() -> m_robotSerializer.setSerializer(0.8), m_robotSerializer), - buildAuto(3.0, 3.0, "JMove2")); - - ParallelCommandGroup extendWhileTurretIsAiming = new ParallelCommandGroup(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), new ExtenderIntakeGroup(m_robotIntake, m_robotExtender)); - ParallelCommandGroup intakeWithPathAndTrackTarget = new ParallelCommandGroup(intakeWithPath1, weirdAutoShootingGroup2); - // ParallelCommandGroup intakeWithPath2AndTrackTarget = new ParallelCommandGroup(intakeWithPath2, weirdAutoShootingGroup3); - - ParallelDeadlineGroup intakeWithPath2AndAimTurret = new ParallelDeadlineGroup(intakeWithPath2, new RunCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(8000), m_robotBoomBoom), new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID(-120), m_robotTurret), 0.7, true)); - - SequentialCommandGroup extendThenAimTurret = new SequentialCommandGroup(new ExtenderIntakeGroup(m_robotIntake, m_robotExtender), 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)); - ParallelDeadlineGroup idleDrumUntilShootingFirstBall = new ParallelDeadlineGroup(extendThenAimTurret, new RunCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(8000), m_robotBoomBoom)); - + return autoChooser.getSelected(); // return new SequentialCommandGroup(buildAuto(1.0, 1.0, "Move Forward")); - return new SequentialCommandGroup(idleDrumUntilShootingFirstBall, - //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), - // extendWhileTurretIsAiming,//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 - // extendWhileTurretIsAiming, - new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), 0.1, true), - // new ExtenderIntakeGroup(m_robotIntake, m_robotExtender), - intakeWithPathAndTrackTarget, - // intakeWithPath, - // weirdAutoShootingGroup2, - // 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); // * shoot - new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), 0.1, true), - // intakeWithPath2, - // new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID(-120), m_robotTurret), 1.0, true), - // new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID(-120), m_robotTurret), 0.7, true), - // intakeWithPath2AndTrackTarget, - intakeWithPath2AndAimTurret, - weirdAutoShootingGroup3, - new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), 0.1, true)); - - // return new SequentialCommandGroup(buildAuto(1.0, 1.0, "Diamond")); + // return new SequentialCommandGroup(idleDrumUntilShootingFirstBall, + // //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), + // // extendWhileTurretIsAiming,//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 + // // extendWhileTurretIsAiming, + // new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), 0.1, true), + // // new ExtenderIntakeGroup(m_robotIntake, m_robotExtender), + // intakeWithPathAndTrackTarget, // TODO: dont TrackTarget while driving. instead intakeWithPath, then weirdAutoShootingGroup2 + // // intakeWithPath, + // // weirdAutoShootingGroup2, + // // 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); // * shoot + // new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), 0.1, true), + // // intakeWithPath2, + // // new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID(-120), m_robotTurret), 1.0, true), + // // new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID(-120), m_robotTurret), 0.7, true), + // // intakeWithPath2AndTrackTarget, + // intakeWithPath2AndIdleShooterAndAimTurret, + // weirdAutoShootingGroup3, + // new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), 0.1, true)); } public void switchControlMode() { diff --git a/src/main/java/frc4388/robot/commands/RunCommandForTime.java b/src/main/java/frc4388/robot/commands/RunCommandForTime.java index b66947d..5e35682 100644 --- a/src/main/java/frc4388/robot/commands/RunCommandForTime.java +++ b/src/main/java/frc4388/robot/commands/RunCommandForTime.java @@ -56,7 +56,6 @@ public class RunCommandForTime extends CommandBase { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - System.out.println("RUNNING"); this.elapsed = System.currentTimeMillis() - this.start; this.command.execute(); } @@ -71,8 +70,6 @@ public class RunCommandForTime extends CommandBase { @Override public boolean isFinished() { if (this.override) { - System.out.println("Duration: " + duration); - System.out.println("Elapsed: " + elapsed); return (this.elapsed >= this.duration); } else { return (this.command.isFinished() && (this.elapsed >= this.duration));