From 1b98d93cf9146dc7b04cef2589db728de79eb767 Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Sat, 27 Mar 2021 12:00:20 -0600 Subject: [PATCH] working slalom 9s run, working drivestraightatvelocity (needs some work) --- PathWeaver/Paths/Barrel | 2 +- PathWeaver/Paths/Slalom | 25 +++++++++---------- PathWeaver/pathweaver.json | 4 +-- src/main/deploy/paths/Barrel.wpilib.json | 2 +- .../paths/BarrelManyWaypoints.wpilib.json | 2 +- src/main/deploy/paths/BarrelStart.wpilib.json | 2 +- src/main/deploy/paths/Bounce.wpilib.json | 2 +- src/main/deploy/paths/Bounce1.wpilib.json | 2 +- src/main/deploy/paths/Bounce2.wpilib.json | 2 +- src/main/deploy/paths/Bounce3.wpilib.json | 2 +- src/main/deploy/paths/Bounce4.wpilib.json | 2 +- .../deploy/paths/EightBallMid0.wpilib.json | 2 +- .../deploy/paths/EightBallMid1.wpilib.json | 2 +- .../deploy/paths/EightBallMid2.wpilib.json | 2 +- .../paths/EightBallMidComplete.wpilib.json | 2 +- .../paths/FiveBallMidComplete.wpilib.json | 2 +- .../paths/Galactic Search ABLUE.wpilib.json | 2 +- src/main/deploy/paths/SixBallMid0.wpilib.json | 2 +- src/main/deploy/paths/SixBallMid1.wpilib.json | 2 +- .../paths/SixBallMidComplete.wpilib.json | 2 +- src/main/deploy/paths/Slalom.wpilib.json | 2 +- .../paths/TenBallMidComplete.wpilib.json | 2 +- src/main/java/frc4388/robot/Constants.java | 2 +- .../java/frc4388/robot/RobotContainer.java | 12 ++++----- .../drive/DriveStraightAtVelocityPID.java | 2 +- .../drive/GotoCoordinatesRobotRelative.java | 2 +- .../java/frc4388/robot/subsystems/Drive.java | 4 +-- 27 files changed, 45 insertions(+), 46 deletions(-) diff --git a/PathWeaver/Paths/Barrel b/PathWeaver/Paths/Barrel index 8326cc7..b3bd5cf 100644 --- a/PathWeaver/Paths/Barrel +++ b/PathWeaver/Paths/Barrel @@ -9,4 +9,4 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Name 5.802254718804354,-1.95509476261032,0.6432550409070421,-1.2184734909489143,true, 7.020728209753269,-3.3096414352895698,1.6019524576434971,-0.8164390903820133,true, 8.239201700702182,-3.0746059395735355,0.2102949172196098,0.5009967145525991,true, -7.608316949043354,-2.286,-2.245,0.73,true, +7.608316949043354,-2.286,-1.7503959286220452,0.73,true, diff --git a/PathWeaver/Paths/Slalom b/PathWeaver/Paths/Slalom index 26959b3..603de34 100644 --- a/PathWeaver/Paths/Slalom +++ b/PathWeaver/Paths/Slalom @@ -1,14 +1,13 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Name -1.1633962507247309,-3.693120401984152,2.30034323262256,0.058245899632803244,true, -2.85812587772982,-2.412795464794176,0.8102539457579074,0.6494401855311474,true, -4.571410938607228,-2.004575919603169,2.022542292082716,0.05566630161695518,true, -6.105326805385555,-2.3509440185531143,0.8734927301599473,-0.5329783419602319,false, -7.150616246859498,-3.6683798234877276,1.1442517554596412,-0.7174767763963148,true, -8.202090832957547,-3.618898666494878,0.6741807640275734,0.6370698962829353,true, -8.43712632867358,-2.456091477162919,-0.8721053919989696,1.107140887715003,true, -7.076394511370224,-2.4808320556593437,-0.5195521484249168,-1.2122883463248084,true, -6.204289119371255,-3.581787798750241,-0.9215865489918196,-0.6185144624106163,true, -4.7384098434580935,-3.903415319203762,-1.0282413438142206,-0.047219421650161054,false, -3.1179019519422786,-3.674564968111833,-1.3854723957997805,0.5319224376731304,true, -2.1282788120852927,-2.7839041422405457,-1.2679546479417638,1.6019524576434963,true, -0.5572520775623268,-2.140649101333505,-0.7236619210204216,0.04948115699284905,true, +1.2,-3.8989,1.9117168073181727,0.007854970044450571,true, +2.6292755266378918,-2.5426835019004055,1.0947705984667904,0.6679956194034657,true, +4.571410938607228,-2.1715748244540354,2.022542292082716,0.05566630161695518,true, +6.173363396250723,-2.412795464794176,0.8224254383303222,-0.4893581628618532,false, +7.101135089866648,-3.526121497133286,0.8411796688784383,-0.7978836565096956,true, +8.233016556078077,-3.557047220253817,0.44533041293564324,0.4515155575597496,true, +8.344349159311989,-2.6663863943825286,-0.5999590285382981,0.9834379952328802,true, +7.169171680731816,-2.4993874895316623,-0.5257372930490236,-0.7484024995168457,true, +6.519731495200669,-3.785897571345744,-0.7916985118855884,-0.38966411131868783,true, +4.868297880564323,-4.00237763318946,-1.286510081814082,0.012370289248212263,true, +2.8952367454744574,-3.0993465180699604,-0.3587383881981583,2.2019114861817948,true, +0.7366212716614056,-2.313833150808477,-0.8040688011338014,0.22266520646782118,true, diff --git a/PathWeaver/pathweaver.json b/PathWeaver/pathweaver.json index a61f1e9..4fb66d3 100644 --- a/PathWeaver/pathweaver.json +++ b/PathWeaver/pathweaver.json @@ -1,9 +1,9 @@ { "lengthUnit": "Meter", "exportUnit": "Always Meters", - "maxVelocity": 2.3, + "maxVelocity": 2.6, "maxAcceleration": 2.7, "wheelBase": 0.648, - "gameName": "Barrel Racing Path", + "gameName": "Slalom Path", "outputDir": ".." } \ No newline at end of file diff --git a/src/main/deploy/paths/Barrel.wpilib.json b/src/main/deploy/paths/Barrel.wpilib.json index ca72219..66ab2ab 100644 --- a/src/main/deploy/paths/Barrel.wpilib.json +++ b/src/main/deploy/paths/Barrel.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 7443120..b0abaf7 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -36,7 +36,7 @@ public final class Constants { public static final boolean isRightMotorInverted = true; public static final boolean isLeftMotorInverted = false; public static final boolean isRightArcadeInverted = false; - public static final boolean isAuxPIDInverted = true; + public static final boolean isAuxPIDInverted = false; /* Drive Configuration */ public static final int DRIVE_TIMEOUT_MS = 30; // Use for all motor config diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 0d3270f..c851e5f 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -195,14 +195,14 @@ public class RobotContainer { /* Test Buttons */ // A driver test button new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON) - .whenPressed(new DriveStraightAtVelocityPID(m_robotDrive, 1000)); + .whileHeld(new DriveStraightAtVelocityPID(m_robotDrive, 5000)); // B driver test button new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON) - .whenPressed(new TurnDegrees(m_robotDrive, 45)); + .whileHeld(new RunCommand(() -> m_robotDrive.runDriveVelocityPID(2000, 45), m_robotDrive)); // Y driver test button new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON) - .whenPressed(new Wait(m_robotDrive, 0, 0)); + .whenPressed(new InstantCommand(() -> m_robotDrive.runTurningPID(1000), m_robotDrive)); // X driver test button new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON) @@ -403,14 +403,14 @@ public class RobotContainer { //return m_driveOffLineBackward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); //return m_fiveBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); //return m_tenBallAutoMiddle.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); - //return m_slalom.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); - return m_barrelStart.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); + return m_slalom.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); + //return m_barrelStart.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); } catch (Exception e) { System.err.println("ERROR"); } - return new InstantCommand(); + return new InstantCommand(); } TrajectoryConfig getTrajectoryConfig() { return new TrajectoryConfig( diff --git a/src/main/java/frc4388/robot/commands/drive/DriveStraightAtVelocityPID.java b/src/main/java/frc4388/robot/commands/drive/DriveStraightAtVelocityPID.java index e63a5bf..3f63d25 100644 --- a/src/main/java/frc4388/robot/commands/drive/DriveStraightAtVelocityPID.java +++ b/src/main/java/frc4388/robot/commands/drive/DriveStraightAtVelocityPID.java @@ -29,7 +29,7 @@ public class DriveStraightAtVelocityPID extends CommandBase { // Called when the command is initially scheduled. @Override public void initialize() { - m_targetGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN); + m_targetGyro = (m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN)); } // Called every time the scheduler runs while the command is scheduled. diff --git a/src/main/java/frc4388/robot/commands/drive/GotoCoordinatesRobotRelative.java b/src/main/java/frc4388/robot/commands/drive/GotoCoordinatesRobotRelative.java index 5ffd58c..df68e4d 100644 --- a/src/main/java/frc4388/robot/commands/drive/GotoCoordinatesRobotRelative.java +++ b/src/main/java/frc4388/robot/commands/drive/GotoCoordinatesRobotRelative.java @@ -46,7 +46,7 @@ public class GotoCoordinatesRobotRelative extends SequentialCommandGroup { addCommands( new TurnDegrees(m_drive, m_currentAngle), new Wait(m_drive, 0, 0), new DriveStraightToPositionPID(m_drive, m_pneumatics, m_hypotDist), - new TurnDegrees(m_drive, m_endAngle - m_currentAngle)); + new TurnDegrees(m_drive, (m_endAngle - m_currentAngle) % 360)); } public GotoCoordinatesRobotRelative(Drive subsystem, Pneumatics subsystem2, double xTarget, double yTarget) { diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java index ba64beb..7f2487e 100644 --- a/src/main/java/frc4388/robot/subsystems/Drive.java +++ b/src/main/java/frc4388/robot/subsystems/Drive.java @@ -412,7 +412,7 @@ public class Drive extends SubsystemBase { m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY); m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN); - m_rightFrontMotor.set(TalonFXControlMode.Velocity, targetVel, DemandType.AuxPID, targetGyro); + m_rightFrontMotor.set(TalonFXControlMode.Velocity, targetVel, DemandType.AuxPID, targetGyro); m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1); m_leftBackMotor.follow(m_leftFrontMotor); m_rightBackMotor.follow(m_rightFrontMotor); @@ -437,7 +437,7 @@ public class Drive extends SubsystemBase { m_rightBackMotor.follow(m_rightFrontMotor); m_driveTrain.feedWatchdog(); - + } /**