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Aarav
2023-02-25 12:30:20 -07:00
parent cdb91f6831
commit 22b930d621
5 changed files with 1553 additions and 9 deletions
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src/main/java/frc4388/robot/Robot.java
+779
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@@ -7,6 +7,11 @@
package frc4388.robot;
import java.io.File;
import java.io.IOException;
import java.io.PrintWriter;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
@@ -35,6 +40,8 @@ public class Robot extends TimedRobot {
// Instantiate our RobotContainer. This will perform all our button bindings, and put our
// autonomous chooser on the dashboard.
m_robotContainer = new RobotContainer();
}
/**
@@ -94,6 +101,778 @@ public class Robot extends TimedRobot {
@Override
public void teleopInit() {
m_robotContainer.m_robotSwerveDrive.resetGyro();
// File auto = new File("/home/lvuser/BlueNearDriveToChargeStation.txt");
// try (PrintWriter writer = new PrintWriter(auto)) {
// writer.println(
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// "0.3937007784843445,0.14173229038715363,0.0,0.0,10419\n" +
// "0.3937007784843445,0.14173229038715363,0.0,0.0,10440\n" +
// "0.3937007784843445,0.14173229038715363,0.0,0.0,10459\n" +
// "0.3937007784843445,0.14173229038715363,0.0,0.0,10479\n" +
// "0.3937007784843445,0.14173229038715363,0.0,0.0,10500\n" +
// "0.3937007784843445,0.14173229038715363,0.0,0.0,10519\n" +
// "0.4015747904777527,0.14173229038715363,0.0,0.0,10540\n" +
// "0.4173228442668915,0.14173229038715363,0.0,0.0,10559\n" +
// "0.4251968562602997,0.13385826349258423,0.0,0.0,10580\n" +
// "0.4251968562602997,0.12598425149917603,0.0,0.0,10600\n" +
// "0.4251968562602997,0.10236220806837082,0.0,0.0,10620\n" +
// "0.4251968562602997,0.10236220806837082,0.0,0.0,10639\n" +
// "0.4330708682537079,0.10236220806837082,0.0,0.0,10659\n" +
// "0.4409448802471161,0.10236220806837082,0.0,0.0,10680\n" +
// "0.4488188922405243,0.07086614519357681,0.0,0.0,10699\n" +
// "0.4566929042339325,0.023622047156095505,0.0,0.0,10719\n" +
// "0.4566929042339325,0.0,0.0,0.0,10739\n" +
// "0.4645669162273407,0.0,0.0,0.0,10760\n" +
// "0.4645669162273407,0.0,0.0,0.0,10779\n" +
// "0.4724409580230713,0.0,0.0,0.0,10800\n" +
// "0.4724409580230713,0.0,0.0,0.0,10819\n" +
// "0.4724409580230713,0.0,0.0,0.0,10839\n" +
// "0.4803149700164795,0.0,0.0,0.0,10860\n" +
// "0.4881889820098877,0.0,0.0,0.0,10879\n" +
// "0.5039370059967041,0.0,0.0,0.0,10899\n" +
// "0.5275590419769287,0.0,0.0,0.0,10919\n" +
// "0.5354330539703369,0.0,0.0,0.0,10940\n" +
// "0.5354330539703369,0.0,0.0,0.0,10960\n" +
// "0.5354330539703369,0.0,0.0,0.0,10979\n" +
// "0.5354330539703369,0.0,0.0,0.0,10999\n" +
// "0.5354330539703369,0.0,0.0,0.0,11020\n" +
// "0.5354330539703369,0.0,0.0,0.0,11039\n" +
// "0.5354330539703369,0.0,0.0,0.0,11059\n" +
// "0.5354330539703369,0.0,0.0,0.0,11079\n" +
// "0.5354330539703369,0.0,0.0,0.0,11099\n" +
// "0.5354330539703369,0.0,0.0,0.0,11119\n" +
// "0.5354330539703369,0.0,0.0,0.0,11140\n" +
// "0.5354330539703369,0.0,0.0,0.0,11159\n" +
// "0.5354330539703369,0.0,0.0,0.0,11179\n" +
// "0.5354330539703369,0.0,0.0,0.0,11200\n" +
// "0.5354330539703369,0.0,0.0,0.0,11219\n" +
// "0.5354330539703369,0.0,0.0,0.0,11239\n" +
// "0.5354330539703369,0.0,0.0,0.0,11260\n" +
// "0.5354330539703369,0.0,0.0,0.0,11279\n" +
// "0.5354330539703369,0.0,0.0,0.0,11299\n" +
// "0.5275590419769287,0.0,0.0,0.0,11319\n" +
// "0.5275590419769287,0.0,0.0,0.0,11339\n" +
// "0.5275590419769287,0.0,0.0,0.0,11360\n" +
// "0.5275590419769287,0.0,0.0,0.0,11379\n" +
// "0.5275590419769287,0.0,0.0,0.0,11399\n" +
// "0.5275590419769287,0.0,0.0,0.0,11419\n" +
// "0.5275590419769287,0.0,0.0,0.0,11440\n" +
// "0.5275590419769287,0.0,0.0,0.0,11459\n" +
// "0.5275590419769287,0.0,0.0,0.0,11479\n" +
// "0.5275590419769287,0.0,0.0,0.0,11500\n" +
// "0.5275590419769287,0.0,0.0,0.0,11519\n" +
// "0.5275590419769287,0.0,0.0,0.0,11539\n" +
// "0.5275590419769287,0.0,0.0,0.0,11559\n" +
// "0.5275590419769287,0.0,0.0,0.0,11579\n" +
// "0.5118110179901123,0.0,0.0,0.0,11599\n" +
// "0.5118110179901123,0.0,0.0,0.0,11620\n" +
// "0.5118110179901123,0.0,0.0,0.0,11640\n" +
// "0.5039370059967041,0.0,0.0,0.0,11660\n" +
// "0.4803149700164795,0.0,0.0,0.0,11679\n" +
// "0.4566929042339325,0.0,0.0,0.0,11699\n" +
// "0.4330708682537079,0.0,0.0,0.0,11720\n" +
// "0.4173228442668915,0.0,0.0,0.0,11739\n" +
// "0.4094488322734833,0.0,0.0,0.0,11760\n" +
// "0.4094488322734833,0.0,0.0,0.0,11780\n" +
// "0.4094488322734833,0.0,0.0,0.0,11800\n" +
// "0.4094488322734833,0.0,0.0,0.0,11819\n" +
// "0.4094488322734833,0.0,0.0,0.0,11840\n" +
// "0.3937007784843445,0.0,0.0,0.0,11859\n" +
// "0.25196850299835205,-0.0390625,0.0,0.0,11879\n" +
// "0.11811023950576782,-0.078125,0.0,0.0,11900\n" +
// "0.06299212574958801,-0.078125,0.0,0.0,11920\n" +
// "0.0,0.0,0.0,0.0,11939\n" +
// "0.0,0.0,0.0,0.0,11959\n" +
// "0.0,0.0,0.0,0.0,11979\n" +
// "0.0,0.0,0.0,0.0,12000\n" +
// "0.0,0.0,0.0,0.0,12019\n" +
// "0.0,0.0,0.0,0.0,12040\n" +
// "0.0,0.0,0.0,0.0,12060\n" +
// "0.0,0.0,0.0,0.0,12080\n" +
// "0.0,0.0,0.0,0.0,12099\n" +
// "0.0,0.0,0.0,0.0,12119\n" +
// "0.0,-0.1015625,0.0,0.0,12139\n" +
// "0.0,-0.1015625,0.0,0.0,12159\n" +
// "0.0,-0.109375,0.0,0.0,12179\n" +
// "0.0,-0.1171875,0.0,0.0,12199\n" +
// "0.0,-0.1171875,0.0,0.0,12219\n" +
// "0.0,-0.1171875,0.0,0.0,12240\n" +
// "0.0,-0.1328125,0.0,0.0,12259\n" +
// "0.0,-0.15625,0.0,0.0,12279\n" +
// "0.0,-0.1953125,0.0,0.0,12300\n" +
// "0.0,-0.21875,0.0,0.0,12319\n" +
// "0.0,-0.28125,0.0,0.0,12339\n" +
// "0.0,-0.296875,0.0,0.0,12360\n" +
// "0.0,-0.3046875,0.0,0.0,12379\n" +
// "0.0,-0.3125,0.0,0.0,12399\n" +
// "0.0,-0.3359375,0.0,0.0,12419\n" +
// "0.0,-0.3359375,0.0,0.0,12440\n" +
// "0.0,-0.328125,0.0,0.0,12459\n" +
// "0.0,-0.328125,0.0,0.0,12479\n" +
// "0.0,-0.328125,0.0,0.0,12499\n" +
// "0.0,-0.328125,0.0,0.0,12520\n" +
// "0.0,-0.328125,0.0,0.0,12539\n" +
// "0.0,-0.328125,0.0,0.0,12560\n" +
// "0.0,-0.328125,0.0,0.0,12580\n" +
// "0.0,-0.328125,0.0,0.0,12599\n" +
// "0.0,-0.328125,0.0,0.0,12620\n" +
// "0.0,-0.328125,0.0,0.0,12639\n" +
// "0.0,-0.328125,0.0,0.0,12659\n" +
// "0.0,-0.328125,0.0,0.0,12679\n" +
// "0.0,-0.328125,0.0,0.0,12699\n" +
// "0.0,-0.328125,0.0,0.0,12719\n" +
// "0.0,-0.328125,0.0,0.0,12739\n" +
// "0.0,-0.328125,0.0,0.0,12760\n" +
// "0.0,-0.34375,0.0,0.0,12780\n" +
// "0.0,-0.3515625,0.0,0.0,12799\n" +
// "0.0,-0.359375,0.0,0.0,12819\n" +
// "0.0,-0.359375,0.0,0.0,12840\n" +
// "0.0,-0.359375,0.0,0.0,12860\n" +
// "0.0,-0.359375,0.0,0.0,12880\n" +
// "0.0,-0.359375,0.0,0.0,12900\n" +
// "0.0,-0.3671875,0.0,0.0,12921\n" +
// "0.0,-0.3671875,0.0,0.0,12939\n" +
// "0.0,-0.375,0.0,0.0,12959\n" +
// "0.0,-0.375,0.0,0.0,12979\n" +
// "0.0,-0.390625,0.0,0.0,12999\n" +
// "0.015748031437397003,-0.40625,0.0,0.0,13019\n" +
// "0.023622047156095505,-0.421875,0.0,0.0,13039\n" +
// "0.03937007859349251,-0.4296875,0.0,0.0,13060\n" +
// "0.03937007859349251,-0.4296875,0.0,0.0,13079\n" +
// "0.04724409431219101,-0.453125,0.0,0.0,13099\n" +
// "0.05511811003088951,-0.46875,0.0,0.0,13119\n" +
// "0.05511811003088951,-0.484375,0.0,0.0,13139\n" +
// "0.05511811003088951,-0.5,0.0,0.0,13160\n" +
// "0.05511811003088951,-0.515625,0.0,0.0,13179\n" +
// "0.05511811003088951,-0.515625,0.0,0.0,13199\n" +
// "0.05511811003088951,-0.515625,0.0,0.0,13219\n" +
// "0.05511811003088951,-0.5234375,0.0,0.0,13239\n" +
// "0.05511811003088951,-0.5234375,0.0,0.0,13260\n" +
// "0.05511811003088951,-0.5234375,0.0,0.0,13279\n" +
// "0.05511811003088951,-0.5234375,0.0,0.0,13299\n" +
// "0.05511811003088951,-0.5234375,0.0,0.0,13319\n" +
// "0.04724409431219101,-0.5234375,0.0,0.0,13339\n" +
// "0.04724409431219101,-0.5234375,0.0,0.0,13359\n" +
// "0.04724409431219101,-0.5234375,0.0,0.0,13379\n" +
// "0.04724409431219101,-0.5234375,0.0,0.0,13400\n" +
// "0.04724409431219101,-0.5234375,0.0,0.0,13419\n" +
// "0.04724409431219101,-0.5234375,0.0,0.0,13439\n" +
// "0.04724409431219101,-0.5234375,0.0,0.0,13459\n" +
// "0.04724409431219101,-0.5234375,0.0,0.0,13479\n" +
// "0.04724409431219101,-0.5234375,0.0,0.0,13499\n" +
// "0.04724409431219101,-0.5234375,0.0,0.0,13519\n" +
// "0.04724409431219101,-0.5234375,0.0,0.0,13539\n" +
// "0.04724409431219101,-0.5234375,0.0,0.0,13559\n" +
// "0.04724409431219101,-0.5234375,0.0,0.0,13579\n" +
// "0.04724409431219101,-0.5234375,0.0,0.0,13599\n" +
// "0.04724409431219101,-0.5234375,0.0,0.0,13620\n" +
// "0.04724409431219101,-0.5234375,0.0,0.0,13642\n" +
// "0.04724409431219101,-0.5234375,0.0,0.0,13659\n" +
// "0.04724409431219101,-0.5234375,0.0,0.0,13679\n" +
// "0.04724409431219101,-0.5234375,0.0,0.0,13699\n" +
// "0.04724409431219101,-0.5234375,0.0,0.0,13720\n" +
// "0.04724409431219101,-0.5234375,0.0,0.0,13740\n" +
// "0.04724409431219101,-0.5234375,0.0,0.0,13760\n" +
// "0.04724409431219101,-0.5234375,0.0,0.0,13779\n" +
// "0.04724409431219101,-0.53125,0.0,0.0,13800\n" +
// "0.04724409431219101,-0.546875,0.0,0.0,13819\n" +
// "0.04724409431219101,-0.5625,0.0,0.0,13840\n" +
// "0.04724409431219101,-0.578125,0.0,0.0,13859\n" +
// "0.04724409431219101,-0.59375,0.0,0.0,13880\n" +
// "0.07874015718698502,-0.6875,0.0,0.0,13900\n" +
// "0.07874015718698502,-0.703125,0.0,0.0,13919\n" +
// "0.07874015718698502,-0.7265625,0.0,0.0,13944\n" +
// "0.07874015718698502,-0.7421875,0.0,0.0,13959\n" +
// "0.07874015718698502,-0.765625,0.0,0.0,13980\n" +
// "0.07874015718698502,-0.78125,0.0,0.0,14000\n" +
// "0.07874015718698502,-0.7890625,0.0,0.0,14020\n" +
// "0.07874015718698502,-0.8125,0.0,0.0,14039\n" +
// "0.07874015718698502,-0.8203125,0.0,0.0,14060\n" +
// "0.07874015718698502,-0.828125,0.0,0.0,14079\n" +
// "0.07874015718698502,-0.8359375,0.0,0.0,14099\n" +
// "0.07874015718698502,-0.8359375,0.0,0.0,14119\n" +
// "0.07874015718698502,-0.8359375,0.0,0.0,14139\n" +
// "0.07874015718698502,-0.8359375,0.0,0.0,14159\n" +
// "0.07874015718698502,-0.8359375,0.0,0.0,14179\n" +
// "0.07874015718698502,-0.8203125,0.0,0.0,14199\n" +
// "0.07874015718698502,-0.78125,0.0,0.0,14219\n" +
// "0.007874015718698502,-0.265625,0.0,0.0,14239\n" +
// "0.0,0.0,0.0,0.0,14259\n" +
// "0.0,0.0,0.0,0.0,14279\n" +
// "0.0,-0.1171875,0.0,0.0,14299\n" +
// "0.0,-0.1328125,0.0,0.0,14319\n" +
// "0.0,-0.171875,0.0,0.0,14339\n" +
// "0.0,-0.171875,0.0,0.0,14359\n" +
// "0.0,0.0,0.0,0.0,14379\n" +
// "0.0,0.0,0.0,0.0,14399\n" +
// "0.0,0.0,0.0,0.0,14419\n" +
// "0.0,0.0,0.0,0.0,14439\n" +
// "0.0,0.0,0.0,0.0,14459\n" +
// "0.0,0.0,0.0,0.0,14479\n" +
// "0.0,0.0,0.0,0.0,14499\n" +
// "0.0,0.0,0.0,0.0,14519\n" +
// "0.0,-0.203125,0.0,0.0,14539\n" +
// "0.0,-0.4609375,0.0,0.0,14559\n" +
// "0.031496062874794006,-0.71875,0.0,0.0,14579\n" +
// "0.031496062874794006,-0.9453125,0.0,0.0,14599\n" +
// "0.03148045240972986,-0.999504367732367,0.0,0.0,14619\n" +
// "0.03148045240972986,-0.999504367732367,0.0,0.0,14639\n" +
// "0.03148045240972986,-0.999504367732367,0.0,0.0,14660\n" +
// "0.03148045240972986,-0.999504367732367,0.0,0.0,14679\n" +
// "0.03148045240972986,-0.999504367732367,0.0,0.0,14699\n" +
// "0.03148045240972986,-0.999504367732367,0.0,0.0,14719\n" +
// "0.031496062874794006,-0.9609375,0.0,0.0,14739\n" +
// "0.031496062874794006,-0.9609375,0.0,0.0,14759\n" +
// "0.031496062874794006,-0.9609375,0.0,0.0,14780\n" +
// "0.031496062874794006,-0.9609375,0.0,0.0,14799\n" +
// "0.031496062874794006,-0.953125,0.0,0.0,14820\n" +
// "0.031496062874794006,-0.9609375,0.0,0.0,14839\n" +
// "0.03148045240972986,-0.999504367732367,0.0,0.0,14860\n" +
// "0.03148045240972986,-0.999504367732367,0.0,0.0,14880\n" +
// "0.03148045240972986,-0.999504367732367,0.0,0.0,14900\n" +
// "0.03148045240972986,-0.999504367732367,0.0,0.0,14919\n" +
// "0.031496062874794006,-0.984375,0.0,0.0,14939\n" +
// "0.0,-0.3515625,0.0,0.0,14959\n" +
// "0.0,0.0,0.0,0.0,14980\n" +
// "0.0,0.0,0.0,0.0,14999\n" +
// "0.0,0.0,0.0,0.0,15019\n" +
// "0.0,0.0,0.0,0.0,15039\n" +
// "0.0,0.0,0.0,0.0,15059\n" +
// "0.0,0.0,0.0,0.0,15082\n" +
// "0.0,0.0,0.0,0.0,15099\n" +
// "0.0,0.0,0.0,0.0,15120\n"
// );
// writer.close();
// System.out.println("Writing Done.");
// } catch (IOException e) {
// e.printStackTrace();
// }
// This makes sure that the autonomous stops running when
// teleop starts running. If you want the autonomous to
// continue until interrupted by another command, remove
src/main/java/frc4388/robot/RobotContainer.java
+5 -2
View File
@@ -105,7 +105,7 @@ public class RobotContainer {
.onFalse(new InstantCommand());
new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(new JoystickPlayback(m_robotSwerveDrive));
.onTrue(new JoystickPlayback(m_robotSwerveDrive, 1));
// * Operator Buttons
}
@@ -117,7 +117,9 @@ public class RobotContainer {
*/
public Command getAutonomousCommand() {
return new JoystickPlayback(m_robotSwerveDrive);
return new JoystickPlayback(m_robotSwerveDrive, 1)
.andThen(new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive));
// return new InstantCommand();
}
public DeadbandedXboxController getDeadbandedDriverController() {
@@ -127,4 +129,5 @@ public class RobotContainer {
public DeadbandedXboxController getDeadbandedOperatorController() {
return this.m_operatorXbox;
}
}
src/main/java/frc4388/robot/commands/AutoBalance.java
+1 -1
View File
@@ -35,7 +35,7 @@ public class AutoBalance extends PelvicInflammatoryDisease {
public void runWithOutput(double output) {
double out2 = MathUtil.clamp(output / 40, -.5, .5);
if (Math.abs(getError()) < 3) out2 = 0;
drive.driveWithInput(new Translation2d(0, out2), new Translation2d(), true);
drive.driveWithInput(new Translation2d(0, out2), new Translation2d(), false);
}
@Override
src/main/java/frc4388/robot/commands/BlueNearDriveToChargeStation.txt
+758
View File
@@ -0,0 +1,758 @@
0.0,0.0,0.0,0.0,0
0.0,0.0,0.0,0.0,0
0.0,0.0,0.0,0.0,20
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src/main/java/frc4388/robot/commands/JoystickPlayback.java
+10 -6
View File
@@ -22,10 +22,12 @@ public class JoystickPlayback extends CommandBase {
private long playbackTime = 0;
private int lastIndex;
private boolean m_finished = false; // ! find a better way
private int m_mult = 1;
/** Creates a new JoystickPlayback. */
public JoystickPlayback(SwerveDrive swerve) {
public JoystickPlayback(SwerveDrive swerve, int mult) {
this.swerve = swerve;
m_mult = mult;
addRequirements(this.swerve);
}
@@ -41,11 +43,16 @@ public class JoystickPlayback extends CommandBase {
String line = "";
while (input.hasNextLine()) {
line = input.nextLine();
if (line.isEmpty() || line.isBlank() || line.equals("\n")) {
continue;
}
String[] values = line.split(",");
System.out.println("values: " + values[0] + " " + values[1] + " " + values[2] + " " + values[3]);
var out = new TimedOutput();
out.leftX = Double.parseDouble(values[0]);
out.leftX = Double.parseDouble(values[0]) * m_mult;
out.leftY = Double.parseDouble(values[1]);
out.rightX = Double.parseDouble(values[2]);
out.rightY = Double.parseDouble(values[3]);
@@ -59,8 +66,6 @@ public class JoystickPlayback extends CommandBase {
} catch (FileNotFoundException e) {
e.printStackTrace();
}
System.out.println("STARTING PLAYBACK");
}
// Called every time the scheduler runs while the command is scheduled.
@@ -106,8 +111,7 @@ public class JoystickPlayback extends CommandBase {
this.swerve.driveWithInput( new Translation2d(lerpLX, lerpLY),
new Translation2d(lerpRX, lerpRY),
true);
System.out.println("PLAYING");
counter++;
}