From 03f822162d8ff751c1cada656cab9eee2b208fe9 Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Sat, 3 Apr 2021 11:09:19 -0600 Subject: [PATCH] changes to paths --- PathWeaver/Groups/GalacticSearch | 4 + PathWeaver/Paths/Bounce4 | 3 + .../{Galactic Search ABLUE => GSC_ABLUE} | 2 +- .../Paths/{Galactic Search ARED => GSC_ARED} | 2 +- .../{Galactic Search BBLUE => GSC_BBLUE} | 2 +- .../Paths/{Galactic Search BRED => GSC_BRED} | 2 +- PathWeaver/pathweaver.json | 2 +- src/main/deploy/paths/Bounce4.wpilib.json | 2 +- src/main/deploy/paths/GSC_ABLUE.wpilib.json | 1 + src/main/deploy/paths/GSC_ARED.wpilib.json | 1 + src/main/deploy/paths/GSC_BBLUE.wpilib.json | 1 + src/main/deploy/paths/GSC_BRED.wpilib.json | 1 + src/main/java/frc4388/robot/Constants.java | 8 +- src/main/java/frc4388/robot/Robot.java | 4 + .../java/frc4388/robot/RobotContainer.java | 100 ++---------------- .../robot/commands/auto/ExecuteCommand.java | 65 ++++++++++++ .../robot/commands/auto/GalacticSearch.java | 17 +-- .../robot/commands/auto/IdentifyPath.java | 5 +- .../frc4388/robot/commands/auto/RunPath.java | 27 +++++ .../frc4388/robot/subsystems/LimeLight.java | 53 ++++++++++ 20 files changed, 191 insertions(+), 111 deletions(-) create mode 100644 PathWeaver/Groups/GalacticSearch create mode 100644 PathWeaver/Paths/Bounce4 rename PathWeaver/Paths/{Galactic Search ABLUE => GSC_ABLUE} (86%) rename PathWeaver/Paths/{Galactic Search ARED => GSC_ARED} (83%) rename PathWeaver/Paths/{Galactic Search BBLUE => GSC_BBLUE} (81%) rename PathWeaver/Paths/{Galactic Search BRED => GSC_BRED} (86%) create mode 100644 src/main/deploy/paths/GSC_ABLUE.wpilib.json create mode 100644 src/main/deploy/paths/GSC_ARED.wpilib.json create mode 100644 src/main/deploy/paths/GSC_BBLUE.wpilib.json create mode 100644 src/main/deploy/paths/GSC_BRED.wpilib.json create mode 100644 src/main/java/frc4388/robot/commands/auto/ExecuteCommand.java create mode 100644 src/main/java/frc4388/robot/commands/auto/RunPath.java diff --git a/PathWeaver/Groups/GalacticSearch b/PathWeaver/Groups/GalacticSearch new file mode 100644 index 0000000..43abe46 --- /dev/null +++ b/PathWeaver/Groups/GalacticSearch @@ -0,0 +1,4 @@ +GSC_ARED +GSC_ABLUE +GSC_BRED +GSC_BBLUE diff --git a/PathWeaver/Paths/Bounce4 b/PathWeaver/Paths/Bounce4 new file mode 100644 index 0000000..610bd7c --- /dev/null +++ b/PathWeaver/Paths/Bounce4 @@ -0,0 +1,3 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Name +0.0,0.0,10.0,0.0,true, +10.0,-10.0,0.0,-10.0,true, diff --git a/PathWeaver/Paths/Galactic Search ABLUE b/PathWeaver/Paths/GSC_ABLUE similarity index 86% rename from PathWeaver/Paths/Galactic Search ABLUE rename to PathWeaver/Paths/GSC_ABLUE index d66fcea..043d711 100644 --- a/PathWeaver/Paths/Galactic Search ABLUE +++ b/PathWeaver/Paths/GSC_ABLUE @@ -1,5 +1,5 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Name -5.890613927719807E-4,-2.313833150808477,1.336,0.031,true, +1.269,-2.313833150808477,1.336,0.031,true, 4.6270772402241835,-3.748786703601108,1.2563247355441896,1.7028754396751247,false, 5.394035173613347,-1.5035792050505696,1.4968049990336905,0.5133670038008115,true, 6.909395606519357,-2.276722283063841,1.7442107839979393,0.04948115699284994,true, diff --git a/PathWeaver/Paths/Galactic Search ARED b/PathWeaver/Paths/GSC_ARED similarity index 83% rename from PathWeaver/Paths/Galactic Search ARED rename to PathWeaver/Paths/GSC_ARED index a472403..22fb8af 100644 --- a/PathWeaver/Paths/Galactic Search ARED +++ b/PathWeaver/Paths/GSC_ARED @@ -1,5 +1,5 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Name -5.890613927719807E-4,-2.313833150808477,1.336,0.031,true, +1.269,-2.313833150808477,0.8840193905817173,-0.0061851446241063535,true, 2.3509440185531143,-2.2890925723120525,1.269287873893314,-0.3453492463826622,false, 3.872489596083231,-3.0436802164530046,1.694729627005089,0.49481156992849273,true, 4.899223603684853,-0.6005480899310699,2.152430329188946,0.5381075822972362,true, diff --git a/PathWeaver/Paths/Galactic Search BBLUE b/PathWeaver/Paths/GSC_BBLUE similarity index 81% rename from PathWeaver/Paths/Galactic Search BBLUE rename to PathWeaver/Paths/GSC_BBLUE index a7ac2e2..9caa653 100644 --- a/PathWeaver/Paths/Galactic Search BBLUE +++ b/PathWeaver/Paths/GSC_BBLUE @@ -1,5 +1,5 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Name -0.019144495265090485,-2.2890925723120525,1.3359912388069315,0.03092572312053088,true, +1.269,-2.2890925723120525,1.3359912388069315,0.03092572312053088,true, 4.608521806351864,-3.0374950718288987,1.8740988211041678,0.19173948334729074,true, 6.130067383881981,-1.497394060426464,1.762766217870257,0.03092572312053088,true, 7.676353539908522,-3.0251247825806864,1.874098821104166,-0.006185144624105465,true, diff --git a/PathWeaver/Paths/Galactic Search BRED b/PathWeaver/Paths/GSC_BRED similarity index 86% rename from PathWeaver/Paths/Galactic Search BRED rename to PathWeaver/Paths/GSC_BRED index 2fb1a34..149b9e7 100644 --- a/PathWeaver/Paths/Galactic Search BRED +++ b/PathWeaver/Paths/GSC_BRED @@ -1,5 +1,5 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Name -5.890613927719807E-4,-2.313833150808477,1.336,0.031,true, +1.269,-2.313833150808477,1.336,0.0,true, 2.369499452425433,-1.5345049281711007,1.694729627005088,-0.402034400566901,true, 3.872489596083231,-3.0436802164530046,1.6019524576434967,-0.012370289248212263,true, 5.412590607485666,-1.497394060426464,2.170985763061264,0.22266520646782229,true, diff --git a/PathWeaver/pathweaver.json b/PathWeaver/pathweaver.json index 4dc8ce6..15ed740 100644 --- a/PathWeaver/pathweaver.json +++ b/PathWeaver/pathweaver.json @@ -4,6 +4,6 @@ "maxVelocity": 2.3, "maxAcceleration": 2.7, "wheelBase": 0.648, - "gameName": "Galactic Search A", + "gameName": "Galactic Search B", "outputDir": ".." } \ No newline at end of file diff --git a/src/main/deploy/paths/Bounce4.wpilib.json b/src/main/deploy/paths/Bounce4.wpilib.json index 0970dff..40a9cdf 100644 --- a/src/main/deploy/paths/Bounce4.wpilib.json +++ b/src/main/deploy/paths/Bounce4.wpilib.json @@ -1 +1 @@ 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\ No newline at end of file diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 9897059..901d978 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -222,10 +222,10 @@ public final class Constants { public static final double closeRightVisibleY = -11.35; public static final double farLeftVisibleX = 3.58; public static final double farRightVisibleX = 7.04;*/ - public static final double[] aRed = {-3.9, 0.8}; - public static final double[] bRed = {5.4, 5}; - public static final double[] aBlue = {9.27, 7}; - public static final double[] bBlue = {4.9, 8.6}; + public static final double[] aRed = {-3.1, 1.8}; + public static final double[] bRed = {-6.3, 5.4}; + public static final double[] aBlue = {9.3, 9.3}; + public static final double[] bBlue = {4.4, 9.2}; } public static final class OIConstants { diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java index 75955a6..f5b755d 100644 --- a/src/main/java/frc4388/robot/Robot.java +++ b/src/main/java/frc4388/robot/Robot.java @@ -82,6 +82,7 @@ public class Robot extends TimedRobot { */ @Override public void autonomousInit() { + //m_robotContainer.buildAutos(); m_autonomousCommand = m_robotContainer.getAutonomousCommand(); m_robotContainer.setDriveNeutralMode(NeutralMode.Coast); @@ -105,6 +106,9 @@ public class Robot extends TimedRobot { m_autonomousCommand.schedule(); SmartDashboard.putString("Is Auto Start?", "YEA"); } + else{ + + } } /** diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 42c567a..397e3b1 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -100,6 +100,8 @@ public class RobotContainer { private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID); private final Joystick m_joystick = new Joystick(0); + public boolean isGS = false; + /* Autos */ double m_totalTimeAuto; @@ -286,100 +288,13 @@ public class RobotContainer { } public void buildAutos() { - String[] sixBallAutoMiddlePaths = new String[]{ - "SixBallMidComplete" - }; - - m_sixBallAutoMiddle = new SixBallAutoMiddle(m_robotDrive, buildPaths(sixBallAutoMiddlePaths)); - - String[] sixBallAutoMiddle0Paths = new String[]{ - "SixBallMid0" - }; - - m_sixBallAutoMiddle0 = new SixBallAutoMiddle(m_robotDrive, buildPaths(sixBallAutoMiddle0Paths)); - - String[] sixBallAutoMiddle1Paths = new String[]{ - "SixBallMid1" - }; - - m_sixBallAutoMiddle1 = new SixBallAutoMiddle(m_robotDrive, buildPaths(sixBallAutoMiddle1Paths)); - - String[] slalom = new String[]{ - "Slalom" - }; - - m_slalom = new Slalom(m_robotDrive, buildPaths(slalom)); - - String[] barrel = new String[]{ - "Barrel" - }; - - m_barrel = new Barrel(m_robotDrive, buildPaths(barrel)); - - String[] barrelStart = new String[]{ - "BarrelStart" - }; - - m_barrelStart = new BarrelStart(m_robotDrive, buildPaths(barrelStart)); - - String[] bounce = new String[]{ - "Bounce1", - "Bounce2", - "Bounce3", - "Bounce4" - }; - - m_bounce = new Bounce(m_robotDrive, buildPaths(bounce)); - - String[] barrelMany = new String[]{ - "BarrelManyWaypoints" - }; - - m_barrelMany = new BarrelMany(m_robotDrive, buildPaths(barrelMany)); - - String[] eightBallAutoMiddlePaths = new String[]{ - "EightBallMidComplete" - }; - - m_eightBallAutoMiddle = new EightBallAutoMiddle(m_robotDrive, buildPaths(eightBallAutoMiddlePaths)); - - String[] driveOffLineForwardPaths = new String[]{ - "DriveOffLineForward" - }; - - m_driveOffLineForward = new DriveOffLineForward(m_robotDrive, buildPaths(driveOffLineForwardPaths)); - - String[] driveOffLineBackwardPaths = new String[]{ - "DriveOffLineBackward" - }; - - m_driveOffLineBackward = new DriveOffLineBackward(m_robotDrive, buildPaths(driveOffLineBackwardPaths)); - - String[] fiveBallAutoMiddlePaths = new String[]{ - "FiveBallMidComplete" - }; - - m_fiveBallAutoMiddle = new FiveBallAutoMiddle(m_robotDrive, buildPaths(fiveBallAutoMiddlePaths)); - - String[] tenBallAutoMiddlePaths = new String[]{ - "TenBallMidComplete" - }; - - m_tenBallAutoMiddle = new TenBallAutoMiddle(m_robotDrive, buildPaths(tenBallAutoMiddlePaths)); - - String[] sequentialTestPaths = new String[]{ - "Seq1", - "Seq2" - }; - - m_sequentialTest = new SequentialTest(this, buildPaths(sequentialTestPaths)); - String[] galacticSearchPaths = new String[]{ - "aRed", - "aBlue", - "bRed", - "bBlue" + "GSC_ARED", + "GSC_ABLUE", + "GSC_BRED", + "GSC_BBLUE" }; + m_robotLime.identifyPath(); m_galacticSearch = new GalacticSearch(m_robotLime, m_robotIntake, buildPaths(galacticSearchPaths)); } @@ -397,7 +312,6 @@ public class RobotContainer { // Run path following command, then stop at the end. try { SmartDashboard.putNumber("Trajectory Total Time", m_totalTimeAuto); - //return m_sixBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); //return m_sixBallAutoMiddle1.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); //return m_eightBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); diff --git a/src/main/java/frc4388/robot/commands/auto/ExecuteCommand.java b/src/main/java/frc4388/robot/commands/auto/ExecuteCommand.java new file mode 100644 index 0000000..03f8fa1 --- /dev/null +++ b/src/main/java/frc4388/robot/commands/auto/ExecuteCommand.java @@ -0,0 +1,65 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2019 FIRST. All Rights Reserved. */ +/* Open Source Software - may be modified and shared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +package frc4388.robot.commands.auto; + +import edu.wpi.first.wpilibj2.command.CommandBase; +import edu.wpi.first.wpilibj2.command.RamseteCommand; +import frc4388.robot.subsystems.LimeLight; + +public class ExecuteCommand extends CommandBase { + /** + * Creates a new ExecuteCommand. + */ + RamseteCommand[] m_paths; + LimeLight m_limeLight; + public ExecuteCommand(LimeLight limeLight, RamseteCommand[] paths) { + // Use addRequirements() here to declare subsystem dependencies. + m_limeLight = limeLight; + m_paths = paths; + } + + // Called when the command is initially scheduled. + @Override + public void initialize() { + } + + // Called every time the scheduler runs while the command is scheduled. + @Override + public void execute() { + String gsPath = m_limeLight.galacticSearchPath; + switch (gsPath) + { + case "A_RED": + new RunPath(m_paths[0]); + break; + case "A_BLUE": + new RunPath(m_paths[1]); + break; + case "B_RED": + new RunPath(m_paths[2]); + break; + case "B_BLUE": + new RunPath(m_paths[3]); + break; + case "test": + new RunPath(m_paths[0]); + break; + } + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) { + } + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return false; + } +} diff --git a/src/main/java/frc4388/robot/commands/auto/GalacticSearch.java b/src/main/java/frc4388/robot/commands/auto/GalacticSearch.java index 1574179..40df0f5 100644 --- a/src/main/java/frc4388/robot/commands/auto/GalacticSearch.java +++ b/src/main/java/frc4388/robot/commands/auto/GalacticSearch.java @@ -7,6 +7,7 @@ package frc4388.robot.commands.auto; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; import edu.wpi.first.wpilibj2.command.RamseteCommand; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; @@ -22,12 +23,12 @@ public class GalacticSearch extends SequentialCommandGroup { * Creates a new GalacticSearch. */ public GalacticSearch(LimeLight m_limeLight, Intake m_intake, RamseteCommand[] paths) { - addCommands( - paths[0] - ); - /* if (m_limeLight.galacticSearchPath == "A_RED") + // addCommands( + // new IdentifyPath(m_limeLight), + // new ExecuteCommand(m_limeLight, paths) + // ); + if (m_limeLight.galacticSearchPath == "A_RED") { - System.out.println(m_limeLight.galacticSearchPath +"YOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO"); addCommands(new ParallelCommandGroup(paths[0], new RunIntake(m_intake))); } else if (m_limeLight.galacticSearchPath == "A_BLUE") @@ -41,6 +42,10 @@ public class GalacticSearch extends SequentialCommandGroup { else if (m_limeLight.galacticSearchPath == "B_BLUE") { addCommands(new ParallelCommandGroup(paths[3], new RunIntake(m_intake))); - }*/ + } + else if (m_limeLight.galacticSearchPath == "test") + { + addCommands(new ParallelCommandGroup(paths[0], new RunIntake(m_intake))); + } } } diff --git a/src/main/java/frc4388/robot/commands/auto/IdentifyPath.java b/src/main/java/frc4388/robot/commands/auto/IdentifyPath.java index 4aff1c8..f98b888 100644 --- a/src/main/java/frc4388/robot/commands/auto/IdentifyPath.java +++ b/src/main/java/frc4388/robot/commands/auto/IdentifyPath.java @@ -47,7 +47,7 @@ public class IdentifyPath extends CommandBase { target = m_limeLight.getV(); xAngle = m_limeLight.getX(); yAngle = m_limeLight.getY(); - m_limeLight.limeOn(); + //m_limeLight.limeOn(); // //Identify which of four paths // m_limeLight.changePipeline(1);//Dual Targetting Lowest // if (withinError(yAngle, VisionConstants.bothCloseVisibleY) && !closeVisible) //BLUE PATHS @@ -117,6 +117,7 @@ public class IdentifyPath extends CommandBase { path = "B_RED"; } + path = "test"; } public boolean withinError(double angle, double goal) @@ -154,7 +155,7 @@ public class IdentifyPath extends CommandBase { { SmartDashboard.putString("GalacticSearchPath", path); m_limeLight.galacticSearchPath = path; - m_limeLight.limeOff(); + //m_limeLight.limeOff(); return true; } return false; diff --git a/src/main/java/frc4388/robot/commands/auto/RunPath.java b/src/main/java/frc4388/robot/commands/auto/RunPath.java new file mode 100644 index 0000000..fd7523e --- /dev/null +++ b/src/main/java/frc4388/robot/commands/auto/RunPath.java @@ -0,0 +1,27 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2019 FIRST. All Rights Reserved. */ +/* Open Source Software - may be modified and shared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +package frc4388.robot.commands.auto; + +import edu.wpi.first.wpilibj2.command.RamseteCommand; +import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; + +// NOTE: Consider using this command inline, rather than writing a subclass. For more +// information, see: +// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html +public class RunPath extends SequentialCommandGroup { + /** + * Creates a new RunPath. + */ + public RunPath(RamseteCommand path) { + // Add your commands in the super() call, e.g. + // super(new FooCommand(), new BarCommand()); + addCommands( + path + ); + } +} diff --git a/src/main/java/frc4388/robot/subsystems/LimeLight.java b/src/main/java/frc4388/robot/subsystems/LimeLight.java index 7a5cc5c..b83178d 100644 --- a/src/main/java/frc4388/robot/subsystems/LimeLight.java +++ b/src/main/java/frc4388/robot/subsystems/LimeLight.java @@ -8,7 +8,9 @@ package frc4388.robot.subsystems; import edu.wpi.first.networktables.NetworkTableInstance; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc4388.robot.Constants.VisionConstants; public class LimeLight extends SubsystemBase { /** @@ -48,6 +50,57 @@ public class LimeLight extends SubsystemBase { return NetworkTableInstance.getDefault().getTable("limelight").getEntry("ty").getDouble(0); } + public void identifyPath(){ + changePipeline(1); + if (withinCoords(VisionConstants.aBlue)) + { + galacticSearchPath = "A_BLUE"; + } + + changePipeline(2); + if (withinCoords(VisionConstants.bBlue)) + { + galacticSearchPath = "B_BLUE"; + } + + changePipeline(1); + if (withinCoords(VisionConstants.aRed)) + { + galacticSearchPath = "A_RED"; + } + + changePipeline(1); + if (withinCoords(VisionConstants.bRed)) + { + galacticSearchPath = "B_RED"; + } + SmartDashboard.putString("GalacticSearchPath", galacticSearchPath); + } + +public boolean withinError(double angle, double goal) +{ + if(goal > (angle - VisionConstants.searchError) && goal < (angle + VisionConstants.searchError)) + { + return true; + } + else + { + return false; + } +} + +public boolean withinCoords(double[] coords) +{ + if (withinError(getX(), coords[0]) && withinError(getY(), coords[1])) + { + return true; + } + else + { + return false; + } +} + @Override public void periodic() { // This method will be called once per scheduler run