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

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aarav18
2022-03-20 20:52:17 -06:00
parent b136518519 b9f1caaafa
commit e1668da5fd
2 changed files with 53 additions and 75 deletions
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src/main/java/frc4388/robot/commands/ShooterCommands/Shoot.java
+12 -7
View File
@@ -106,12 +106,18 @@ public class Shoot extends CommandBase {
* Updates error for custom PID.
*/
public void updateError() {
// targetAngle = AimToCenter.aaravAngleToCenter(odoX, odoY, swerve.getRegGyro().getDegrees());
targetAngle = 0;
targetAngle = AimToCenter.aaravAngleToCenter(odoX, odoY, swerve.getRegGyro().getDegrees());
error = (targetAngle - turret.getBoomBoomAngleDegrees()) % 360;
// if (error > 180) {
// error = 360 - error; // TODO: error - 360
// this.inverted = -1; } else { this.inverted = 1; }
// error = error - 360;
// this.inverted = -1;
// } else {
// this.inverted = 1;
// }
if (error > 180) { error = error - 360; }
isAimedInTolerance = (Math.abs(error) <= tolerance);
}
@@ -122,7 +128,7 @@ public class Shoot extends CommandBase {
startTime = 0;
this.odoX = 0.9398;//-this.swerve.getOdometry().getY(); // 3.2766
this.odoY = -3.2766;//-this.swerve.getOdometry().getX(); // 0.9398
this.odoY = -3.2766;//-this.swerve.getOdometry().getX(); // -0.9398
this.distance = Math.hypot(odoX, odoY);
@@ -151,7 +157,7 @@ public class Shoot extends CommandBase {
this.integral = integral + (error * Constants.LOOP_TIME);
this.derivative = (error - prevError) / Constants.LOOP_TIME;
this.output = kP * proportional + kI * integral + kD * derivative;
this.normOutput = (output / 360) * inverted;
this.normOutput = (output / 360); // inverted;
}
// Called every time the scheduler runs while the command is scheduled.
@@ -165,7 +171,6 @@ public class Shoot extends CommandBase {
SmartDashboard.putNumber("Normalized Output", this.normOutput);
this.turret.runTurretWithCustomPID(normOutput);
// this.turret.m_boomBoomRotateMotor.set(normOutput);
this.swerve.driveWithInput(RobotContainer.getDriverController().getLeftX(), RobotContainer.getDriverController().getLeftY(), normOutput * (this.swerveGains.kP/this.turretGains.kP), true); // ? should the output be field relative
if (this.toShoot) {
src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java
+41 -68
View File
@@ -15,6 +15,7 @@ import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.RobotContainer;
import frc4388.robot.Constants.ShooterConstants;
import frc4388.robot.Constants.VisionConstants;
import frc4388.robot.subsystems.BoomBoom;
@@ -34,29 +35,18 @@ public class TrackTarget extends CommandBase {
BoomBoom m_boomBoom;
Hood m_hood;
// use odometry to find x and y later
double x;
double y;
double distance;
double vel;
double hood;
double average;
double output;
Pose2d pos = new Pose2d();
static double velocity;
static double hoodPosition;
ArrayList<Point> points = new ArrayList<>();
private boolean targetLocked = false;
private double velocityTolerance = 100.0;
private double hoodTolerance = 5.0;
double m=0;
double b=0;
boolean isExecuted = false;
// public static Gains m_aimGains;
public TrackTarget (SwerveDrive swerve, Turret turret, BoomBoom boomBoom, Hood hood, VisionOdometry visionOdometry) {
// Use addRequirements() here to declare subsystem dependencies.
m_swerve = swerve;
m_turret = turret;
m_boomBoom = boomBoom;
@@ -69,81 +59,57 @@ public class TrackTarget extends CommandBase {
// Called when the command is initially scheduled.
@Override
public void initialize() {
x = 0;
y = 0;
velocity = 0;
hoodPosition = 0;
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
//m_targetAngle = angleToCenter(x, y, m_drive.getRegGyro().getDegrees());
SmartDashboard.putBoolean("Target Locked", this.targetLocked);
public void execute() {
try {
m_visionOdometry.setLEDs(true);
points = m_visionOdometry.getTargetPoints();
points = filterPoints(points);
Point average = VisionOdometry.averagePoint(points);
DesmosServer.putPoint("average", average);
for(int i = 0; i < points.size(); i++) {
DesmosServer.putPoint("Point" + i, points.get(i));
}
output = (average.x - VisionConstants.LIME_HIXELS/2.d) / VisionConstants.LIME_HIXELS;
double output = (average.x - VisionConstants.LIME_HIXELS/2.d) / VisionConstants.LIME_HIXELS;
output *= 2;
// //output *= 0.5;
// //DesmosServer.putDouble("output", output);
m_turret.runTurretWithInput(output);
double position = m_turret.m_boomBoomRotateEncoder.getPosition();
if(Math.abs(position - ShooterConstants.TURRET_FORWARD_SOFT_LIMIT) < 5 ||
Math.abs(position - ShooterConstants.TURRET_REVERSE_SOFT_LIMIT) < 5)
m_swerve.driveWithInput(0, 0, output, false);
m_swerve.driveWithInput(RobotContainer.getDriverController().getLeftX(), RobotContainer.getDriverController().getLeftY(), output, true);
else
m_swerve.driveWithInput(RobotContainer.getDriverController().getLeftX(), RobotContainer.getDriverController().getLeftY(),
RobotContainer.getDriverController().getRightX(), RobotContainer.getDriverController().getRightY(),
true);
double y_rot = average.y / VisionConstants.LIME_VIXELS;
y_rot *= Math.toRadians(VisionConstants.V_FOV);
y_rot -= Math.toRadians(VisionConstants.V_FOV) / 2;
y_rot += Math.toRadians(VisionConstants.LIME_ANGLE);
double regressedDistance = getDistance(average.y);
double distance = (VisionConstants.TARGET_HEIGHT - VisionConstants.LIME_HEIGHT) / Math.tan(y_rot);
DesmosServer.putDouble("distance", distance);
// ! add 30 to the distance to get in target. May need to be adjusted
velocity = m_boomBoom.getVelocity(regressedDistance + 30);
hoodPosition = m_boomBoom.getHood(regressedDistance + 30);
updateRegressionDesmos();
double regressedDistance = distanceRegression(distance);
regressedDistance += VisionConstants.EDGE_TO_CENTER + VisionConstants.LIMELIGHT_RADIUS;
DesmosServer.putDouble("distanceReg", regressedDistance);
//Vision odometry circle fit based pose estimate
// Point targetOffset = m_visionOdometry.getTargetOffset();
// DesmosServer.putPoint("targetOff", targetOffset);
vel = m_boomBoom.getVelocity(regressedDistance + 30);
hood = m_boomBoom.getHood(regressedDistance + 30);
// m_boomBoom.runDrumShooter(vel);
m_boomBoom.runDrumShooterVelocityPID(vel);
m_hood.runAngleAdjustPID(hood);
m_boomBoom.runDrumShooterVelocityPID(velocity);
m_hood.runAngleAdjustPID(hoodPosition);
double currentDrumVel = this.m_boomBoom.m_shooterFalconLeft.getSelectedSensorVelocity();
double currentHood = this.m_hood.getEncoderPosition();
this.targetLocked = (Math.abs(currentDrumVel - vel) < velocityTolerance) && (Math.abs(currentHood - hood) < hoodTolerance);
targetLocked = (Math.abs(currentDrumVel - velocity) < velocityTolerance) && (Math.abs(currentHood - hoodPosition) < hoodTolerance);
SmartDashboard.putNumber("Regressed Distance", regressedDistance);
SmartDashboard.putNumber("Distance", distance);
SmartDashboard.putNumber("Hood Target Angle Track", hood);
SmartDashboard.putNumber("Vel Target Track", vel);
// isExecuted = true;
}
catch (Exception e){
// SmartDashboard.putNumber("Distance", distance);
SmartDashboard.putNumber("Hood Target Angle Track", hoodPosition);
SmartDashboard.putNumber("Vel Target Track", velocity);
SmartDashboard.putBoolean("Target Locked", targetLocked);
} catch (Exception e){
e.printStackTrace();
// System.err.println("Exception: " + e.toString() + ", Line 78 at TrackTarget.java");
}
// m_turret.runshooterRotatePID(m_targetAngle);
}
public ArrayList<Point> filterPoints(ArrayList<Point> points) {
@@ -166,15 +132,22 @@ public class TrackTarget extends CommandBase {
return (ArrayList<Point>) pointDistances.keySet().stream().filter(p -> pointDistances.get(p) < 2 * averageDist).collect(Collectors.toList());
}
public final double distanceRegression(double distance) {
return (79.6078 * Math.pow(1.01343, distance) - 56.6671);
public final double getDistance(double averageY) {
double y_rot = averageY / VisionConstants.LIME_VIXELS;
y_rot *= Math.toRadians(VisionConstants.V_FOV);
y_rot -= Math.toRadians(VisionConstants.V_FOV) / 2;
y_rot += Math.toRadians(VisionConstants.LIME_ANGLE);
double distance = (VisionConstants.TARGET_HEIGHT - VisionConstants.LIME_HEIGHT) / Math.tan(y_rot);
double regressedDistance = distanceRegression(distance);
regressedDistance += VisionConstants.EDGE_TO_CENTER + VisionConstants.LIMELIGHT_RADIUS;
return regressedDistance;
}
public void updateRegressionDesmos() {
m = DesmosServer.readDouble("m");
b = DesmosServer.readDouble("b");
DesmosServer.putArray("MB", m, b);
public final double distanceRegression(double distance) {
return (79.6078 * Math.pow(1.01343, distance) - 56.6671);
}
// Called once the command ends or is interrupted.