Team4388/2024AcrossTheRidgebotiverse
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lotta stuff (im geekin)

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Abhishrek05
2024-03-15 14:39:35 -06:00
parent 230b1511d9
commit 6a405328e1
8 changed files with 152 additions and 28 deletions
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src/main/java/frc4388/robot/Constants.java
+7 -9
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@@ -7,12 +7,10 @@
package frc4388.robot;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.math.geometry.Translation2d;
import frc4388.utility.LEDPatterns;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import frc4388.utility.Gains;
import frc4388.utility.LEDPatterns;
/**
* The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
@@ -40,10 +38,10 @@ public final class Constants {
public static final double TURBO_SPEED = 4.0;
public static final class DefaultSwerveRotOffsets {
public static final double FRONT_LEFT_ROT_OFFSET = 222.7145469;
public static final double FRONT_RIGHT_ROT_OFFSET = 255.0464068;//-212.695 + 90; //77.783 + 45 + 90 ;//-202.588;
public static final double BACK_LEFT_ROT_OFFSET = -277.4284884;
public static final double BACK_RIGHT_ROT_OFFSET = 140.009765625;
public static final double FRONT_LEFT_ROT_OFFSET = 220;
public static final double FRONT_RIGHT_ROT_OFFSET = 136.365;//-212.695 + 90; //77.783 + 45 + 90 ;//-202.588;
public static final double BACK_LEFT_ROT_OFFSET = -279.08349884;
public static final double BACK_RIGHT_ROT_OFFSET = 140.8887656;
}
public static final class IDs {
@@ -67,7 +65,7 @@ public final class Constants {
public static final class PIDConstants {
public static final int SWERVE_SLOT_IDX = 0;
public static final int SWERVE_PID_LOOP_IDX = 1;
public static final Gains SWERVE_GAINS = new Gains(1.2, 0.0, 0.1, 0.2, 0, 0.0);
public static final Gains SWERVE_GAINS = new Gains(1.2, 0.0, 0.0, 0.0, 0, 0.0);
}
public static final class AutoConstants {
src/main/java/frc4388/robot/RobotContainer.java
+7 -7
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@@ -133,8 +133,8 @@ public class RobotContainer {
);
private SequentialCommandGroup turnOffShoot = new SequentialCommandGroup(
new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake)
new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter)
// new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake)
);
private SequentialCommandGroup emergencyRetract = new SequentialCommandGroup(
@@ -361,12 +361,12 @@ public class RobotContainer {
.onFalse(new InstantCommand());
// ! /* Speed */
// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
// // .onFalse(new InstantCommand(() -> m_robotSwerveDrive.setToFast()));
// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
// // .onFalse(new InstantCommand(() -> m_robotSwerveDrive.setToFast()));
// new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
// new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
.whileTrue(new InstantCommand(() ->
src/main/java/frc4388/robot/commands/Autos/neoPlaybackChooser.java
+107
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@@ -0,0 +1,107 @@
// package frc4388.robot.commands.Autos;
// import java.io.File;
// import java.util.ArrayList;
// import java.util.HashMap;
// import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
// import edu.wpi.first.wpilibj.shuffleboard.ComplexWidget;
// import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
// import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
// import edu.wpi.first.wpilibj2.command.Command;
// import edu.wpi.first.wpilibj2.command.InstantCommand;
// import frc4388.robot.commands.Swerve.JoystickPlayback;
// import frc4388.robot.commands.Swerve.neoJoystickPlayback;
// import frc4388.robot.subsystems.SwerveDrive;
// import frc4388.utility.controller.VirtualController;
// public class neoPlaybackChooser {
// private final SendableChooser<String> m_teamChosser = new SendableChooser<String>();
// private final SendableChooser<String> m_possitionChosser = new SendableChooser<String>();
// private final SendableChooser<String> m_autoNameChosser = new SendableChooser<String>();
// private final SwerveDrive m_swerve;
// private final VirtualController[] m_controllers;
// // private final ArrayList<SendableChooser<Command>> m_choosers = new ArrayList<>();
// // private SendableChooser<Command> m_playback = null;
// private final ArrayList<ComplexWidget> m_widgets = new ArrayList<>();
// // private final HashMap<String, Command> m_commandPool = new HashMap<>();
// // private final File m_dir = new File("/home/lvuser/autos/");
// // private int m_cmdNum = 0;
// // commands
// private Command m_noAuto = new InstantCommand();
// public neoPlaybackChooser(SwerveDrive swerve, VirtualController[] controllers) {
// m_teamChosser.addOption("Red", "red");
// m_teamChosser.setDefaultOption("Blue", "blue");
// m_teamChosser.addOption("Nuetral", "nuetral");
// m_possitionChosser.addOption("AMP", "amp");
// m_possitionChosser.setDefaultOption("Center", "center");
// m_possitionChosser.addOption("Source", "source");
// m_swerve = swerve;
// m_controllers = controllers;
// }
// public neoPlaybackChooser addOption(String name, String option) {
// m_autoNameChosser.addOption(name, option);
// return this;
// }
// // public PlaybackChooser buildDisplay() {
// // for (int i = 0; i < 10; i++) {
// // appendCommand();
// // }
// // m_playback = m_choosers.get(0);
// // nextChooser();
// // // ! This does not work, why?
// // Shuffleboard.getTab("Auto Chooser")
// // .add("Add Sequence", new InstantCommand(() -> nextChooser()))
// // .withPosition(4, 0);
// // return this;
// // }
// // This will be bound to a button for the time being
// public void render() {
// // var chooser = new SendableChooser<Command>();
// // // chooser.setDefaultOption("No Auto", m_noAuto);
// // m_choosers.add(chooser);
// ComplexWidget widget = Shuffleboard.getTab("Neo Auto Chooser")
// .add("Command: " + m_choosers.size(), chooser)
// .withSize(4, 1)
// .withPosition(0, m_choosers.size() - 1)
// .withWidget(BuiltInWidgets.kSplitButtonChooser)
// .withWidget(BuiltInWidgets.kComboBoxChooser);
// m_widgets.add(widget);
// }
// // public void nextChooser() {
// // SendableChooser<Command> chooser = m_choosers.get(m_cmdNum++);
// // String[] dirs = m_dir.list();
// // if(dirs != null){ // Fix funny error
// // for (String auto : dirs) {
// // chooser.addOption(auto, new JoystickPlayback(m_swerve, auto));
// // }
// // }
// // for (var cmd_name : m_commandPool.keySet()) {
// // chooser.addOption(cmd_name, m_commandPool.get(cmd_name));
// // }
// // }
// public String autoName() {
// return m_teamChosser.getSelected() + "_" + m_possitionChosser.getSelected() + "_" + m_autoNameChosser.getSelected() + ".auto";
// }
// public Command getCommand() {
// return new neoJoystickPlayback(m_swerve, autoName(), m_controllers, true, true);
// }
// }
src/main/java/frc4388/robot/subsystems/Intake.java
+1 -1
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@@ -333,7 +333,7 @@ public class Intake extends SubsystemBase {
resetArmPosition();
SmartDashboard.putNumber("Pivot Position", getArmPos());
//SmartDashboard.putNumber("Pivot Position", getArmPos());
smartDashboardOuttakeValue = SmartDashboard.getNumber("Outtake Speed", IntakeConstants.INTAKE_OUT_SPEED_UNPRESSED);
}
src/main/java/frc4388/robot/subsystems/Limelight.java
+2 -2
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@@ -55,8 +55,8 @@ public class Limelight extends SubsystemBase {
isNearSpeaker = distance <= VisionConstants.SpeakerBubbleDistance;
SmartDashboard.putBoolean("nearSpeaker", isNearSpeaker);
SmartDashboard.putNumber("speakerDistance", distance);
//SmartDashboard.putBoolean("nearSpeaker", isNearSpeaker);
//SmartDashboard.putNumber("speakerDistance", distance);
}
public Pose2d getPose() {
src/main/java/frc4388/robot/subsystems/Shooter.java
+1 -1
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@@ -99,7 +99,7 @@ public class Shooter extends SubsystemBase {
// This method will be called once per scheduler run
// SmartDashboard.putNumber("Left Shooter RPM", leftShooter.getRotorVelocity().getValue());
//SmartDashboard.putNumber("Right Shooter RPM", rightShooter.getRotorVelocity().getValue());
smartDashboardShooterSpeed = SmartDashboard.getNumber("Shooter Speed", ShooterConstants.SHOOTER_SPEED);
//smartDashboardShooterSpeed = SmartDashboard.getNumber("Shooter Speed", ShooterConstants.SHOOTER_SPEED);
// If the robot is near the speaker, and is stopped, or idled, set to limelight idle speed.
// Else if the robot is not near the speaker, then set the speed back to idle.
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+1 -1
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@@ -218,7 +218,7 @@ public class SwerveDrive extends SubsystemBase {
@Override
public void periodic() {
// This method will be called once per scheduler run\
SmartDashboard.putNumber("Gyro", getGyroAngle());
// SmartDashboard.putNumber("Gyro", getGyroAngle());
}
public void shiftDown() {
src/main/java/frc4388/robot/subsystems/SwerveModule.java
+26 -7
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@@ -4,17 +4,22 @@
package frc4388.robot.subsystems;
import javax.swing.text.StyleContext.SmallAttributeSet;
import com.ctre.phoenix.ErrorCode;
import com.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.ctre.phoenix.motorcontrol.RemoteSensorSource;
import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
import com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.CANCoder;
import com.ctre.phoenix.sensors.SensorInitializationStrategy;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.SwerveModulePosition;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.utility.Gains;
@@ -24,7 +29,8 @@ public class SwerveModule extends SubsystemBase {
private WPI_TalonFX driveMotor;
private WPI_TalonFX angleMotor;
private CANCoder encoder;
//private ConfigurableDouble offsetGetter;
private int selfid;
private ConfigurableDouble offsetGetter;
private static int swerveId = 0;
public static Gains swerveGains = SwerveDriveConstants.PIDConstants.SWERVE_GAINS;
@@ -33,7 +39,8 @@ public class SwerveModule extends SubsystemBase {
this.driveMotor = driveMotor;
this.angleMotor = angleMotor;
this.encoder = encoder;
// this.offsetGetter = new ConfigurableDouble("Swerve id " + swerveId, offset);
this.offsetGetter = new ConfigurableDouble("Swerve id " + swerveId, offset);
this.selfid = swerveId;
swerveId++;
TalonFXConfiguration angleConfig = new TalonFXConfiguration();
angleConfig.slot0.kP = swerveGains.kP;
@@ -45,17 +52,24 @@ public class SwerveModule extends SubsystemBase {
angleConfig.remoteFilter0.remoteSensorSource = RemoteSensorSource.CANCoder;
angleConfig.primaryPID.selectedFeedbackSensor = FeedbackDevice.RemoteSensor0;
angleMotor.configAllSettings(angleConfig);
//encoder.configSensorInitializationStrategy(SensorInitializationStrategy.BootToAbsolutePosition);
reset(0);
encoder.configMagnetOffset(offset);
driveMotor.setSelectedSensorPosition(0);
driveMotor.config_kP(0, 0.2);
}
//@Override
// public void periodic() {
// encoder.configMagnetOffset(offsetGetter.get());
// }
@Override
public void periodic() {
//encoder.configMagnetOffset(offsetGetter.get());
//SmartDashboard.putString("Error Code: " + selfid, getstuff());
// SmartDashboard.putNumber("Angular Position: " + selfid, getAngle().getDegrees());
// SmartDashboard.putNumber("Angular Velocity: " + selfid, getAngularVel());
// SmartDashboard.putNumber("Drive Position: " + selfid, getDrivePos());
// SmartDashboard.putNumber("Drive Velocity: " + selfid, getDriveVel());
}
/**
* Get the drive motor of the SwerveModule
* @return the drive motor of the SwerveModule
@@ -165,4 +179,9 @@ public class SwerveModule extends SubsystemBase {
public double getVoltage() {
return (Math.abs(angleMotor.getMotorOutputVoltage()) + Math.abs(driveMotor.getMotorOutputVoltage()));
}
// public String getstuff() {
// encoder.getPosition();
// return "" + encoder.getLastError().value;
// }
}