mirror of
https://github.com/Team4388/2023WayOfTheRobot.git
synced 2026-06-08 16:28:00 -06:00
autos almost complete
This commit is contained in:
Aarav
@@ -70,19 +70,6 @@ public class RobotContainer {
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private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
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private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
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/* Autos */
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public SendableChooser<Command> chooser = new SendableChooser<>();
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// private Command balance = new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive);
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// private Command blue1Path = new JoystickPlayback(m_robotSwerveDrive, "Blue1Path.txt");
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// private Command blue1PathWithBalance = new JoystickPlayback(m_robotSwerveDrive, "Blue1Path.txt").andThen(new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive));
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// private Command red1Path = new JoystickPlayback(m_robotSwerveDrive, "Blue1Path.txt", -1);
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// private Command red1PathWithBalance = new JoystickPlayback(m_robotSwerveDrive, "Blue1Path.txt", -1).andThen(new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive));
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// private Command taxi = new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt");
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private PlaybackChooser playbackChooser;
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/* Commands */
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@@ -136,7 +123,7 @@ public class RobotContainer {
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new SequentialCommandGroup(
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new PivotCommand(m_robotArm, 60 + 135),
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new WaitCommand(0.3),
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new TeleCommand(m_robotArm, 90000)
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new TeleCommand(m_robotArm, 95000)
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// toggleClaw.asProxy(),
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// armToHome.asProxy()
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);
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@@ -150,7 +137,7 @@ public class RobotContainer {
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);
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private SequentialCommandGroup placeCubeLow = new SequentialCommandGroup(
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new TimedCommand(() -> new RunCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0.0, -0.2), new Translation2d(0.0, 0.0), true), m_robotSwerveDrive), 0.7),
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new TimedCommand(new RunCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0.0, -0.2), new Translation2d(0.0, 0.0), true), m_robotSwerveDrive), 0.7),
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new PivotCommand(m_robotArm, 70 + 135),
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new WaitCommand(0.3),
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new TeleCommand(m_robotArm, 28000)
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@@ -182,6 +169,36 @@ public class RobotContainer {
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armToHome.asProxy()
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);
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/* Autos */
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public SendableChooser<Command> chooser = new SendableChooser<>();
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// private Command balance = new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive);
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// private Command blue1Path = new JoystickPlayback(m_robotSwerveDrive, "Blue1Path.txt");
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// private Command blue1PathWithBalance = new JoystickPlayback(m_robotSwerveDrive, "Blue1Path.txt").andThen(new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive));
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// private Command red1Path = new JoystickPlayback(m_robotSwerveDrive, "Blue1Path.txt", -1);
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// private Command red1PathWithBalance = new JoystickPlayback(m_robotSwerveDrive, "Blue1Path.txt", -1).andThen(new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive));
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// private Command taxi = new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt");
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private Command wait3 = new WaitCommand(3);
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private Command wait5 = new WaitCommand(5);
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private SequentialCommandGroup taxiFar = new SequentialCommandGroup(
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new TimedCommand(new RunCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0.0, -0.6), new Translation2d(0.0, 0.0), true), m_robotSwerveDrive), 4.75)
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);
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private SequentialCommandGroup placeRed1Balance = new SequentialCommandGroup(
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placeConeMid.asProxy(),
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new WaitCommand(0.3),
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toggleClaw.asProxy(),
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new WaitCommand(0.3),
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armToHome.asProxy(),
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new JoystickPlayback(m_robotSwerveDrive, "idk", 1),
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new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive)
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);
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/**
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* The container for the robot. Contains subsystems, OI devices, and commands.
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*/
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@@ -220,6 +237,11 @@ public class RobotContainer {
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// chooser.addOption("Red1PathWithBalance", red1PathWithBalance);
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playbackChooser = new PlaybackChooser(m_robotSwerveDrive)
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.addOption("PlaceRed1Balance", placeRed1Balance)
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.addOption("Wait3", wait3.asProxy())
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.addOption("Wait5", wait5.asProxy())
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.addOption("TaxiFar", taxiFar.asProxy())
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// .addOption("Red1Balance", new JoystickPlayback(m_robotSwerveDrive, "idk", 1))
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.addOption("Balance", new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive))
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.buildDisplay();
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}
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@@ -278,18 +300,18 @@ public class RobotContainer {
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new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
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.onTrue(interruptCommand.asProxy()); // final
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// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_TRIGGER_AXIS)
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// .whileTrue(new JoystickRecorder(m_robotSwerveDrive,
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// () -> getDeadbandedDriverController().getLeftX(),
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// () -> getDeadbandedDriverController().getLeftY(),
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// () -> getDeadbandedDriverController().getRightX(),
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// () -> getDeadbandedDriverController().getRightY(),
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// "Red1Balance.txt"))
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// .onFalse(new InstantCommand());
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new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_TRIGGER_AXIS)
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.whileTrue(new JoystickRecorder(m_robotSwerveDrive,
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() -> getDeadbandedDriverController().getLeftX(),
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() -> getDeadbandedDriverController().getLeftY(),
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() -> getDeadbandedDriverController().getRightX(),
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() -> getDeadbandedDriverController().getRightY(),
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"Red1Balance.txt"))
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.onFalse(new InstantCommand());
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// new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
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// .onTrue(new JoystickPlayback(m_robotSwerveDrive, "Red1Balance.txt"))
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// .onFalse(new InstantCommand());
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new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
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.onTrue(new JoystickPlayback(m_robotSwerveDrive, "Red1Balance.txt"))
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.onFalse(new InstantCommand());
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// * Operator Buttons
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@@ -25,6 +25,553 @@ public class JoystickPlayback extends CommandBase {
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private int lastIndex;
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private boolean m_finished = false; // ! find a better way
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|
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private String path =
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||||
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+"0.798687,0.601747,0.000000,0.000000,5312\n"
|
||||
+"0.779505,0.626396,0.000000,0.000000,5325\n"
|
||||
+"0.759898,0.650043,0.000000,0.000000,5338\n"
|
||||
+"0.740952,0.671558,0.000000,0.000000,5350\n"
|
||||
+"0.722784,0.691074,0.000000,0.000000,5362\n"
|
||||
+"0.704461,0.709743,0.000000,0.000000,5374\n"
|
||||
+"0.686038,0.727565,0.000000,0.000000,5386\n"
|
||||
+"0.667570,0.744547,0.000000,0.000000,5399\n"
|
||||
+"0.649104,0.760699,0.000000,0.000000,5412\n"
|
||||
+"0.630688,0.776036,0.000000,0.000000,5425\n"
|
||||
+"0.612364,0.790576,0.000000,0.000000,5438\n"
|
||||
+"0.594170,0.804340,0.000000,0.000000,5451\n"
|
||||
+"0.576140,0.817351,0.000000,0.000000,5464\n"
|
||||
+"0.559292,0.828971,0.000000,0.000000,5476\n"
|
||||
+"0.543615,0.839335,0.000000,0.000000,5488\n"
|
||||
+"0.528130,0.849163,0.000000,0.000000,5500\n"
|
||||
+"0.512853,0.858476,0.000000,0.000000,5513\n"
|
||||
+"0.497796,0.867294,0.000000,0.000000,5526\n"
|
||||
+"0.482969,0.875637,0.000000,0.000000,5539\n"
|
||||
+"0.468383,0.883525,0.000000,0.000000,5552\n"
|
||||
+"0.454046,0.890978,0.000000,0.000000,5565\n"
|
||||
+"0.439962,0.898016,0.000000,0.000000,5578\n"
|
||||
+"0.426138,0.904658,0.000000,0.000000,5592\n"
|
||||
+"0.412576,0.910923,0.000000,0.000000,5606\n"
|
||||
+"0.400102,0.916471,0.000000,0.000000,5618\n"
|
||||
+"0.388670,0.921377,0.000000,0.000000,5630\n"
|
||||
+"0.377443,0.926033,0.000000,0.000000,5642\n"
|
||||
+"0.366420,0.930450,0.000000,0.000000,5655\n"
|
||||
+"0.355600,0.934638,0.000000,0.000000,5668\n"
|
||||
+"0.344982,0.938609,0.000000,0.000000,5681\n"
|
||||
+"0.334566,0.942372,0.000000,0.000000,5694\n"
|
||||
+"0.324348,0.945938,0.000000,0.000000,5707\n"
|
||||
+"0.314328,0.949314,0.000000,0.000000,5720\n"
|
||||
+"0.304504,0.952511,0.000000,0.000000,5734\n"
|
||||
+"0.294871,0.955537,0.000000,0.000000,5748\n"
|
||||
+"0.285429,0.958400,0.000000,0.000000,5762\n"
|
||||
+"0.276175,0.961107,0.000000,0.000000,5776\n"
|
||||
+"0.267746,0.963490,0.000000,0.000000,5788\n"
|
||||
+"0.260105,0.965580,0.000000,0.000000,5800\n"
|
||||
+"0.252595,0.967572,0.000000,0.000000,5812\n"
|
||||
+"0.245215,0.969469,0.000000,0.000000,5824\n"
|
||||
+"0.237962,0.971274,0.000000,0.000000,5837\n"
|
||||
+"0.230835,0.972993,0.000000,0.000000,5850\n"
|
||||
+"0.223831,0.974628,0.000000,0.000000,5863\n"
|
||||
+"0.216948,0.976183,0.000000,0.000000,5876\n"
|
||||
+"0.210184,0.977662,0.000000,0.000000,5889\n"
|
||||
+"0.203538,0.979067,0.000000,0.000000,5902\n"
|
||||
+"0.197006,0.980402,0.000000,0.000000,5915\n"
|
||||
+"0.190587,0.981670,0.000000,0.000000,5928\n"
|
||||
+"0.184279,0.982874,0.000000,0.000000,5942\n"
|
||||
+"0.178080,0.984016,0.000000,0.000000,5956\n"
|
||||
+"0.171987,0.985099,0.000000,0.000000,5970\n"
|
||||
+"0.165999,0.986126,0.000000,0.000000,5984\n"
|
||||
+"0.160114,0.987099,0.000000,0.000000,5998\n"
|
||||
+"0.154329,0.988019,0.000000,0.000000,6012\n"
|
||||
+"0.148643,0.988891,0.000000,0.000000,6026\n"
|
||||
+"0.143516,0.989648,0.000000,0.000000,6038\n"
|
||||
+"0.138924,0.990303,0.000000,0.000000,6050\n"
|
||||
+"0.134397,0.990928,0.000000,0.000000,6062\n"
|
||||
+"0.129934,0.991523,0.000000,0.000000,6074\n"
|
||||
+"0.125533,0.992089,0.000000,0.000000,6086\n"
|
||||
+"0.121194,0.992629,0.000000,0.000000,6099\n"
|
||||
+"0.116916,0.993142,0.000000,0.000000,6112\n"
|
||||
+"0.112697,0.993629,0.000000,0.000000,6125\n"
|
||||
+"0.108537,0.994092,0.000000,0.000000,6138\n"
|
||||
+"0.104434,0.994532,0.000000,0.000000,6151\n"
|
||||
+"0.100388,0.994948,0.000000,0.000000,6164\n"
|
||||
+"0.096397,0.995343,0.000000,0.000000,6177\n"
|
||||
+"0.092461,0.995716,0.000000,0.000000,6190\n"
|
||||
+"0.088579,0.996069,0.000000,0.000000,6203\n"
|
||||
+"0.084750,0.996402,0.000000,0.000000,6216\n"
|
||||
+"0.080972,0.996716,0.000000,0.000000,6229\n"
|
||||
+"0.077246,0.997012,0.000000,0.000000,6243\n"
|
||||
+"0.073570,0.997290,0.000000,0.000000,6257\n"
|
||||
+"0.069943,0.997551,0.000000,0.000000,6271\n"
|
||||
+"0.066364,0.997795,0.000000,0.000000,6285\n"
|
||||
+"0.062833,0.998024,0.000000,0.000000,6299\n"
|
||||
+"0.059349,0.998237,0.000000,0.000000,6313\n"
|
||||
+"0.055911,0.998436,0.000000,0.000000,6327\n"
|
||||
+"0.052518,0.998620,0.000000,0.000000,6341\n"
|
||||
+"0.049170,0.998790,0.000000,0.000000,6355\n"
|
||||
+"0.045865,0.998948,0.000000,0.000000,6369\n"
|
||||
+"0.042603,0.999092,0.000000,0.000000,6384\n"
|
||||
+"0.039383,0.999224,0.000000,0.000000,6399\n"
|
||||
+"0.036205,0.999344,0.000000,0.000000,6414\n"
|
||||
+"0.033068,0.999453,0.000000,0.000000,6429\n"
|
||||
+"0.029971,0.999551,0.000000,0.000000,6444\n"
|
||||
+"0.026913,0.999638,0.000000,0.000000,6459\n"
|
||||
+"0.024194,0.999707,0.000000,0.000000,6471\n"
|
||||
+"0.021803,0.999762,0.000000,0.000000,6483\n"
|
||||
+"0.019437,0.999811,0.000000,0.000000,6495\n"
|
||||
+"0.017094,0.999854,0.000000,0.000000,6507\n"
|
||||
+"0.014775,0.999891,0.000000,0.000000,6519\n"
|
||||
+"0.012478,0.999922,0.000000,0.000000,6531\n"
|
||||
+"0.010205,0.999948,0.000000,0.000000,6543\n"
|
||||
+"0.007954,0.999968,0.000000,0.000000,6555\n"
|
||||
+"0.005726,0.999984,0.000000,0.000000,6568\n"
|
||||
+"0.003519,0.999994,0.000000,0.000000,6581\n"
|
||||
+"0.001334,0.999999,0.000000,0.000000,6594\n"
|
||||
+"-0.000830,1.000000,0.000000,0.000000,6607\n"
|
||||
+"-0.002972,0.999996,0.000000,0.000000,6620\n"
|
||||
+"-0.005094,0.999987,0.000000,0.000000,6633\n"
|
||||
+"-0.007195,0.999974,0.000000,0.000000,6646\n"
|
||||
+"-0.009276,0.999957,0.000000,0.000000,6659\n"
|
||||
+"-0.011337,0.999936,0.000000,0.000000,6672\n"
|
||||
+"-0.013379,0.999911,0.000000,0.000000,6685\n"
|
||||
+"-0.015400,0.999881,0.000000,0.000000,6698\n"
|
||||
+"-0.017403,0.999849,0.000000,0.000000,6711\n"
|
||||
+"-0.019386,0.999812,0.000000,0.000000,6724\n"
|
||||
+"-0.021351,0.999772,0.000000,0.000000,6737\n"
|
||||
+"-0.023298,0.999729,0.000000,0.000000,6750\n"
|
||||
+"-0.025226,0.999682,0.000000,0.000000,6763\n"
|
||||
+"-0.027136,0.999632,0.000000,0.000000,6777\n"
|
||||
+"-0.029028,0.999579,0.000000,0.000000,6791\n"
|
||||
+"-0.030903,0.999522,0.000000,0.000000,6805\n"
|
||||
+"-0.032760,0.999463,0.000000,0.000000,6819\n"
|
||||
+"-0.034600,0.999401,0.000000,0.000000,6833\n"
|
||||
+"-0.036424,0.999336,0.000000,0.000000,6847\n"
|
||||
+"-0.038230,0.999269,0.000000,0.000000,6861\n"
|
||||
+"-0.040020,0.999199,0.000000,0.000000,6875\n"
|
||||
+"-0.041794,0.999126,0.000000,0.000000,6889\n"
|
||||
+"-0.043552,0.999051,0.000000,0.000000,6903\n"
|
||||
+"-0.045294,0.998974,0.000000,0.000000,6917\n"
|
||||
+"-0.047021,0.998894,0.000000,0.000000,6931\n"
|
||||
+"-0.048731,0.998812,0.000000,0.000000,6945\n"
|
||||
+"-0.050427,0.998728,0.000000,0.000000,6959\n"
|
||||
+"-0.052107,0.998641,0.000000,0.000000,6973\n"
|
||||
+"-0.053773,0.998553,0.000000,0.000000,6988\n"
|
||||
+"-0.055424,0.998463,0.000000,0.000000,7003\n"
|
||||
+"-0.057060,0.998371,0.000000,0.000000,7018\n"
|
||||
+"-0.058682,0.998277,0.000000,0.000000,7033\n"
|
||||
+"-0.060290,0.998181,0.000000,0.000000,7048\n"
|
||||
+"-0.061884,0.998083,0.000000,0.000000,7063\n"
|
||||
+"-0.063464,0.997984,0.000000,0.000000,7078\n"
|
||||
+"-0.065030,0.997883,0.000000,0.000000,7093\n"
|
||||
+"-0.066583,0.997781,0.000000,0.000000,7108\n"
|
||||
+"-0.068122,0.997677,0.000000,0.000000,7123\n"
|
||||
+"-0.069648,0.997572,0.000000,0.000000,7138\n"
|
||||
+"-0.071162,0.997465,0.000000,0.000000,7153\n"
|
||||
+"-0.072662,0.997357,0.000000,0.000000,7168\n"
|
||||
+"-0.074150,0.997247,0.000000,0.000000,7183\n"
|
||||
+"-0.075625,0.997136,0.000000,0.000000,7198\n"
|
||||
+"-0.077087,0.997024,0.000000,0.000000,7214\n"
|
||||
+"-0.078538,0.996911,0.000000,0.000000,7230\n"
|
||||
+"-0.079976,0.996797,0.000000,0.000000,7246\n"
|
||||
+"-0.081402,0.996681,0.000000,0.000000,7262\n"
|
||||
+"-0.082817,0.996565,0.000000,0.000000,7278\n"
|
||||
+"-0.084219,0.996447,0.000000,0.000000,7294\n"
|
||||
+"-0.085610,0.996329,0.000000,0.000000,7310\n"
|
||||
+"-0.086990,0.996209,0.000000,0.000000,7326";
|
||||
|
||||
/** Creates a new JoystickPlayback. */
|
||||
public JoystickPlayback(SwerveDrive swerve, String filename, int mult) {
|
||||
this.swerve = swerve;
|
||||
@@ -48,34 +595,50 @@ public class JoystickPlayback extends CommandBase {
|
||||
startTime = System.currentTimeMillis();
|
||||
playbackTime = 0;
|
||||
lastIndex = 0;
|
||||
try {
|
||||
input = new Scanner(new File("/home/lvuser/autos/" + filename));
|
||||
// try {
|
||||
// input = new Scanner(new File("/home/lvuser/autos/" + filename));
|
||||
|
||||
String line = "";
|
||||
while (input.hasNextLine()) {
|
||||
line = input.nextLine();
|
||||
// String line = "";
|
||||
// while (input.hasNextLine()) {
|
||||
// line = input.nextLine();
|
||||
|
||||
if (line.isEmpty() || line.isBlank() || line.equals("\n")) {
|
||||
continue;
|
||||
}
|
||||
// if (line.isEmpty() || line.isBlank() || line.equals("\n")) {
|
||||
// continue;
|
||||
// }
|
||||
|
||||
// String[] values = line.split(",");
|
||||
|
||||
// var out = new TimedOutput();
|
||||
// out.leftX = Double.parseDouble(values[0]) * mult;
|
||||
// out.leftY = Double.parseDouble(values[1]);
|
||||
// out.rightX = Double.parseDouble(values[2]);
|
||||
// out.rightY = Double.parseDouble(values[3]);
|
||||
|
||||
// out.timedOffset = Long.parseLong(values[4]);
|
||||
|
||||
// outputs.add(out);
|
||||
// }
|
||||
|
||||
// input.close();
|
||||
// } catch (FileNotFoundException e) {
|
||||
// e.printStackTrace();
|
||||
// }
|
||||
|
||||
String[] inputs = path.split("\n");
|
||||
for (String line : inputs) {
|
||||
String[] values = line.split(",");
|
||||
|
||||
var out = new TimedOutput();
|
||||
out.leftX = Double.parseDouble(values[0]) * mult;
|
||||
out.leftY = Double.parseDouble(values[1]);
|
||||
out.leftX = Double.parseDouble(values[0]) * mult / 1.75;
|
||||
out.leftY = Double.parseDouble(values[1]) / -1.75;
|
||||
out.rightX = Double.parseDouble(values[2]);
|
||||
out.rightY = Double.parseDouble(values[3]);
|
||||
|
||||
out.timedOffset = Long.parseLong(values[4]);
|
||||
|
||||
outputs.add(out);
|
||||
}
|
||||
|
||||
input.close();
|
||||
} catch (FileNotFoundException e) {
|
||||
e.printStackTrace();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
// Called every time the scheduler runs while the command is scheduled.
|
||||
|
||||
@@ -13,19 +13,19 @@ import frc4388.utility.RobotTime;
|
||||
|
||||
public class TimedCommand extends CommandBase {
|
||||
|
||||
Supplier<Command> cs;
|
||||
Command command;
|
||||
double duration;
|
||||
|
||||
long startTime;
|
||||
long deltaTime;
|
||||
|
||||
/** Creates a new TimedCommand. Duration is in seconds. */
|
||||
public TimedCommand(Supplier<Command> cs, double duration) {
|
||||
this.cs = cs;
|
||||
public TimedCommand(Command command, double duration) {
|
||||
this.command = command;
|
||||
this.duration = duration;
|
||||
|
||||
|
||||
Object[] reqs_obj = cs.get().getRequirements().toArray();
|
||||
Object[] reqs_obj = command.getRequirements().toArray();
|
||||
Subsystem[] reqs = new Subsystem[reqs_obj.length];
|
||||
for (int i = 0; i < reqs.length; i++)
|
||||
reqs[i] = (Subsystem) reqs_obj[i];
|
||||
@@ -36,7 +36,7 @@ public class TimedCommand extends CommandBase {
|
||||
// Called when the command is initially scheduled.
|
||||
@Override
|
||||
public void initialize() {
|
||||
cs.get().initialize();
|
||||
command.initialize();
|
||||
|
||||
startTime = System.currentTimeMillis();
|
||||
}
|
||||
@@ -44,7 +44,7 @@ public class TimedCommand extends CommandBase {
|
||||
// Called every time the scheduler runs while the command is scheduled.
|
||||
@Override
|
||||
public void execute() {
|
||||
cs.get().execute();
|
||||
command.execute();
|
||||
|
||||
deltaTime = System.currentTimeMillis() - startTime;
|
||||
}
|
||||
|
||||
@@ -45,12 +45,12 @@ public class Claw extends SubsystemBase {
|
||||
m_open = open;
|
||||
|
||||
// ! THIS IS FOR CONE
|
||||
// m_leftMotor.setAngle(m_open ? 0 : 180);
|
||||
// m_rightMotor.setAngle(m_open ? 180 : 0);
|
||||
m_leftMotor.setAngle(m_open ? 0 : 180);
|
||||
m_rightMotor.setAngle(m_open ? 180 : 0);
|
||||
|
||||
// ! THIS IS FOR CUBE
|
||||
m_leftMotor.setAngle(m_open ? 90 : 180);
|
||||
m_rightMotor.setAngle(m_open ? 90 : 0);
|
||||
// m_leftMotor.setAngle(m_open ? 90 : 180);
|
||||
// m_rightMotor.setAngle(m_open ? 90 : 0);
|
||||
|
||||
// if (m_open)
|
||||
// m_spinnyspin.set(0.2);
|
||||
|
||||
Reference in New Issue
Block a user