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Merge pull request #43 from Team4388/autonomous-commands

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Autonomous Commands
This commit is contained in:
Keenan D. Buckley
2020-02-26 04:42:51 +00:00
committed by GitHub
parent ee39181c7e 322e4c7a44
commit 2a3655758e
14 changed files with 656 additions and 102 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/deploy/Robot Data - Angles.csv
+6
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@@ -0,0 +1,6 @@
Angle (deg),Displacement (deg)
-20,-5
-10,-2
0,0
10,2
20,5
1 Angle (deg) Displacement (deg)
2 -20 -5
3 -10 -2
4 0 0
5 10 2
6 20 5
src/main/deploy/Robot Data - Distances.csv
+6
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@@ -0,0 +1,6 @@
Distance (in),Hood Ext. (u),Drum Velocity (u/ds)
21,10,10000
100,23,11000
200,30,14000
300,56,17000
480,100,20000
1 Distance (in) Hood Ext. (u) Drum Velocity (u/ds)
2 21 10 10000
3 100 23 11000
4 200 30 14000
5 300 56 17000
6 480 100 20000
src/main/java/frc4388/robot/Constants.java
+26 -12
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@@ -29,12 +29,19 @@ public final class Constants {
/* PID Constants Drive*/
public static final int DRIVE_TIMEOUT_MS = 30;
public static final Gains DRIVE_DISTANCE_GAINS = new Gains(0.1, 0.0, 1.0, 0.0, 0, 0.3);
public static final Gains DRIVE_VELOCITY_GAINS = new Gains(0.1, 0.0, 0.2, 0.025, 0, 0.05);
public static final Gains DRIVE_TURNING_GAINS = new Gains(0.5, 0.0, 0.05, 0.0, 0, 0.5);
//public static final Gains DRIVE_MOTION_MAGIC_GAINS = new Gains(0.2, 0.0, 0.0, 0.0, 0, 1.0);
//public static final int DRIVE_CRUISE_VELOCITY = 20000;
//public static final int DRIVE_ACCELERATION = 7000;
public static final Gains DRIVE_DISTANCE_GAINS_LOW = new Gains(0.1, 0.0, 1.0, 0.0, 0, 0.5);
public static final Gains DRIVE_VELOCITY_GAINS_LOW = new Gains(0.1, 0.0, 0.2, 0.025, 0, 1.0);
public static final Gains DRIVE_TURNING_GAINS_LOW = new Gains(0.5, 0.0, 0.05, 0.0, 0, 0.55);
public static final Gains DRIVE_MOTION_MAGIC_GAINS_LOW = new Gains(0.2, 0.0, 0.0, 0.0, 0, 1.0);
public static final int DRIVE_CRUISE_VELOCITY = 20000;
public static final int DRIVE_ACCELERATION = 7000;
public static final Gains DRIVE_DISTANCE_GAINS_HIGH = new Gains(0.0, 0.0, 0.0, 0.0, 0, 0.5);
public static final Gains DRIVE_VELOCITY_GAINS_HIGH = new Gains(0.0, 0.0, 0.0, 0.0, 0, 1.0);
public static final Gains DRIVE_TURNING_GAINS_HIGH = new Gains(0.0, 0.0, 0.0, 0.0, 0, 0.55);
public static final Gains DRIVE_MOTION_MAGIC_GAINS_HIGH = new Gains(0.0, 0.0, 0.0, 0.0, 0, 1.0);
public static final int DRIVE_CRUISE_VELOCITY_HIGH = 20000;
public static final int DRIVE_ACCELERATION_HIGH = 7000;
/* Trajectory Constants */
public static final double MAX_SPEED_METERS_PER_SECOND = 3;
@@ -58,20 +65,27 @@ public final class Constants {
/* Drive Train Characteristics */
public static final double TICKS_PER_MOTOR_REV = 2048;
public static final double MOTOR_ROT_PER_WHEEL_ROT = 5.13;
public static final double MOTOR_ROT_PER_WHEEL_ROT_HIGH = 5.13;
public static final double MOTOR_ROT_PER_WHEEL_ROT_LOW = 15;
public static final double WHEEL_DIAMETER_INCHES = 6;
public static final double TICKS_PER_GYRO_REV = 8192;
/* Ratio Calculation */
public static final double INCHES_PER_WHEEL_REV = WHEEL_DIAMETER_INCHES * Math.PI;
public static final double TICK_TIME_TO_SECONDS = 0.1;
public static final double SECONDS_TO_TICK_TIME = 1/TICK_TIME_TO_SECONDS;
public static final double WHEEL_ROT_PER_MOTOR_ROT = 1/MOTOR_ROT_PER_WHEEL_ROT;
public static final double TICKS_PER_WHEEL_REV = TICKS_PER_MOTOR_REV * MOTOR_ROT_PER_WHEEL_ROT;
public static final double INCHES_PER_WHEEL_REV = WHEEL_DIAMETER_INCHES * Math.PI;
public static final double TICKS_PER_INCH = TICKS_PER_WHEEL_REV/INCHES_PER_WHEEL_REV;
public static final double INCHES_PER_TICK = 1/TICKS_PER_INCH;
public static final double INCHES_PER_METER = 39.370;
public static final double METERS_PER_INCH = 1/INCHES_PER_METER;
public static final double WHEEL_ROT_PER_MOTOR_ROT_HIGH = 1/MOTOR_ROT_PER_WHEEL_ROT_HIGH;
public static final double TICKS_PER_WHEEL_REV_HIGH = TICKS_PER_MOTOR_REV * MOTOR_ROT_PER_WHEEL_ROT_HIGH;
public static final double TICKS_PER_INCH_HIGH = TICKS_PER_WHEEL_REV_HIGH/INCHES_PER_WHEEL_REV;
public static final double INCHES_PER_TICK_HIGH = 1/TICKS_PER_INCH_HIGH;
public static final double WHEEL_ROT_PER_MOTOR_ROT_LOW = 1/MOTOR_ROT_PER_WHEEL_ROT_LOW;
public static final double TICKS_PER_WHEEL_REV_LOW = TICKS_PER_MOTOR_REV * MOTOR_ROT_PER_WHEEL_ROT_LOW;
public static final double TICKS_PER_INCH_LOW = TICKS_PER_WHEEL_REV_LOW/INCHES_PER_WHEEL_REV;
public static final double INCHES_PER_TICK_LOW = 1/TICKS_PER_INCH_LOW;
}
public static final class IntakeConstants {
src/main/java/frc4388/robot/Robot.java
+1 -1
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@@ -78,7 +78,7 @@ public class Robot extends TimedRobot {
m_autonomousCommand = m_robotContainer.getAutonomousCommand();
m_robotContainer.setDriveNeutralMode(NeutralMode.Brake);
m_robotContainer.setDriveGearState(true);
//m_robotContainer.setDriveGearState(true);
m_robotContainer.resetOdometry();
//m_robotContainer.configDriveTrainSensors(FeedbackDevice.IntegratedSensor);
src/main/java/frc4388/robot/RobotContainer.java
+16 -2
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@@ -28,6 +28,7 @@ import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.commands.DrivePositionMPAux;
import frc4388.robot.commands.DriveStraightAtVelocityPID;
import frc4388.robot.commands.DriveWithJoystick;
import frc4388.robot.commands.DriveStraightToPositionMM;
@@ -50,6 +51,8 @@ import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Intake;
import frc4388.robot.subsystems.LED;
import frc4388.robot.commands.TrackTarget;
import frc4388.robot.commands.TurnDegrees;
import frc4388.robot.commands.Wait;
import frc4388.robot.commands.storageOutake;
import frc4388.robot.subsystems.Camera;
import frc4388.robot.subsystems.Leveler;
@@ -114,7 +117,17 @@ public class RobotContainer {
*/
private void configureButtonBindings() {
/* Driver Buttons */
//new JoystickButton(getDriverJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
// .whileHeld(new DriveWithJoystickAuxPID(m_robotDrive, getDriverController()));
// resets the yaw of the pigeon
new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
.whenPressed(new DriveStraightToPositionMM(m_robotDrive, 36));
// turn 45 degrees
new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
.whenPressed(new RunCommand(() -> m_robotDrive.driveWithInputAux(0.2, 0), m_robotDrive));
// sets solenoids into high gear
new JoystickButton(getDriverJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(false), m_robotDrive));
@@ -222,7 +235,8 @@ public class RobotContainer {
// Run path following command, then stop at the end.
return ramseteCommand.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));*/
return new InstantCommand();
// return new InstantCommand();
return new DrivePositionMPAux(m_robotDrive, 500.0, 12.0, 2, 60.0, 0.0);
}
/**
src/main/java/frc4388/robot/commands/DrivePositionMPAux.java
+90
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@@ -0,0 +1,90 @@
/*----------------------------------------------------------------------------*/
/* 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;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.Constants.DriveConstants;
import frc4388.robot.subsystems.Drive;
public class DrivePositionMPAux extends CommandBase {
Drive m_drive;
double m_cruiseVel;
double m_rampDist;
double m_targetPos;
double m_currentVel;
double m_currentPos;
double m_targetGyro;
double m_targetVel;
double m_rampAcc;
long m_startTime;
long m_rampRate;
/**
* Creates a new DrivePositionMPAux.
*
* @param subsystem The drive subsystem
* @param cruiseVel The target velocity for the motors in units
* @param rampDist The distance before cruise velocity is reached in inches
* @param rampRate The time to reach the cruise velocity in seconds
* @param targetPos The target position
*/
public DrivePositionMPAux(Drive subsystem, double cruiseVel, double rampDist, float rampRate, double targetPos, double targetGyro) {
// Use addRequirements() here to declare subsystem dependencies.
m_drive = subsystem;
m_cruiseVel = cruiseVel * DriveConstants.TICKS_PER_INCH_LOW / 10;
m_rampDist = rampDist * DriveConstants.TICKS_PER_INCH_LOW;
m_rampRate = (long) rampRate * 1000;
m_targetPos = targetPos * DriveConstants.TICKS_PER_INCH_LOW;
//m_targetGyro = targetGyro * DriveConstants.TICKS_PER_GYRO_REV / 360;
m_targetGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN);
addRequirements(m_drive);
}
// Called when the command is initially scheduled.
@Override
public void initialize() {
m_currentVel = m_drive.m_rightFrontMotorVel;
m_currentPos = m_drive.m_rightFrontMotorPos;
m_targetPos = m_targetPos + m_currentPos;
m_targetVel = m_currentVel;
m_startTime = System.currentTimeMillis();
m_rampAcc = (m_cruiseVel - m_currentVel) / m_rampRate;
}
// Called every m_isRamptime the scheduler runs while the command is scheduled.
@Override
public void execute() {
m_currentVel = m_drive.m_rightFrontMotorVel;
m_currentPos = m_drive.m_rightFrontMotorPos;
if (System.currentTimeMillis() - m_startTime < m_rampRate) {
// Ramping
m_targetVel += m_rampAcc * m_drive.m_deltaTime;
m_drive.runDriveVelocityPID(-m_targetVel, m_targetGyro);
} else if (m_targetPos - m_currentPos > m_rampDist) {
// Cruising
m_drive.runDriveVelocityPID(-m_cruiseVel, m_targetGyro);
} else {
// Deramp PID
m_drive.runDrivePositionPID(-m_targetPos, m_targetGyro);
}
}
// 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() {
if (m_currentPos - m_targetPos <= 0.5f * DriveConstants.TICKS_PER_INCH_LOW) {
return true;
}
return false;
}
}
src/main/java/frc4388/robot/commands/DriveStraightToPositionMM.java
+7 -2
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@@ -18,6 +18,7 @@ public class DriveStraightToPositionMM extends CommandBase {
double m_targetPosOut;
double m_targetGyro;
boolean isGoneFast;
int i;
/**
* Creates a new DriveToDistancePID.
@@ -27,7 +28,7 @@ public class DriveStraightToPositionMM extends CommandBase {
public DriveStraightToPositionMM(Drive subsystem, double targetPos) {
// Use addRequirements() here to declare subsystem dependencies.
m_drive = subsystem;
m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH;
m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_LOW;
addRequirements(m_drive);
//SmartDashboard.putNumber("Distance Target Inches", targetPos);
}
@@ -39,6 +40,7 @@ public class DriveStraightToPositionMM extends CommandBase {
m_targetGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN);
m_targetPosOut = m_targetPosIn + m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_PRIMARY);
isGoneFast = false;
i = 0;
}
// Called every time the scheduler runs while the command is scheduled.
@@ -48,6 +50,8 @@ public class DriveStraightToPositionMM extends CommandBase {
//System.err.println("Sensor Error \n" + m_drive.m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_TURN));
//System.err.println("Sensor Target \n" + m_drive.m_rightFrontMotor.getClosedLoopTarget(DriveConstants.PID_TURN));
m_drive.runMotionMagicPID(m_targetPosOut, m_targetGyro);
SmartDashboard.putBoolean("MM Run", true);
i++;
}
// Called once the command ends or is interrupted.
@@ -59,9 +63,10 @@ public class DriveStraightToPositionMM extends CommandBase {
@Override
public boolean isFinished() {
if (Math.abs((int)m_drive.m_rightFrontMotor.getSelectedSensorVelocity(DriveConstants.PID_PRIMARY)) < 5 && isGoneFast){
SmartDashboard.putBoolean("MM Run", false);
return true;
} else {
if (m_drive.m_rightFrontMotor.getSelectedSensorVelocity(DriveConstants.PID_PRIMARY) > 100) {
if ((m_drive.m_rightFrontMotor.getSelectedSensorVelocity(DriveConstants.PID_PRIMARY) > 100)) {
isGoneFast = true;
}
return false;
src/main/java/frc4388/robot/commands/DriveStraightToPositionPID.java
+1 -1
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@@ -27,7 +27,7 @@ public class DriveStraightToPositionPID extends CommandBase {
public DriveStraightToPositionPID(Drive subsystem, double targetPos) {
// Use addRequirements() here to declare subsystem dependencies.
m_drive = subsystem;
m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH;
m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_LOW;
addRequirements(m_drive);
//SmartDashboard.putNumber("Distance Target Inches", targetPos);
}
src/main/java/frc4388/robot/commands/DriveWithJoystickUsingDeadAssistPID.java
+64 -19
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@@ -7,6 +7,7 @@
package frc4388.robot.commands;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpiutil.math.MathUtil;
import frc4388.robot.Constants.DriveConstants;
@@ -21,6 +22,23 @@ public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
long m_deadTimeSteer, m_deadTimeMove;
long m_deadTimeout = 100;
IHandController m_controller;
boolean m_isInterrupted;
/* Deadassist Constants */
final float stopPosVelCoefLow = 1;
final float stopPosVelCoefHigh = 3;
final float cosMultiplierLow = 0.55f;
final float cosMultiplierHigh = 0.35f;
final float targetAngleCoefLow = 5;
final float targetAngleCoefHigh = 5;
final float gyroVelCoefLow = 1;
final float gyroVelCoefHigh = 3;
/* Deadassist Coeficients */
final float stopPosVelCoef = 1;
final float cosMultiplier = 0.55f;
final float targetAngleCoef = 5;
final float gyroVelCoef = 1;
/**
* Creates a new DriveWithJoystickUsingDeadAssistPID to control the drivetrain with an Xbox controller.
@@ -42,6 +60,7 @@ public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
@Override
public void initialize() {
m_currTime = System.currentTimeMillis();
resetGyroTarget();
}
// Called every time the scheduler runs while the command is scheduled.
@@ -54,6 +73,11 @@ public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
m_deltaTime = System.currentTimeMillis() - m_currTime;
m_currTime = System.currentTimeMillis();
if (m_isInterrupted) {
resetGyroTarget();
m_isInterrupted = false;
}
/* If move stick is being used */
if (moveInput != 0) {
m_deadTimeMove = m_currTime;
@@ -65,15 +89,19 @@ public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
m_deadTimeSteer = m_currTime;
}
/* If move stick has been pressed within 1 sec */
if (m_currTime - m_deadTimeMove < m_deadTimeout) {
/* Curves the moveInput to be slightly more gradual at first */
if (moveInput >= 0) {
moveOutput = -Math.cos(1.571*moveInput)+1;
} else {
moveOutput = Math.cos(1.571*moveInput)-1;
}
/* Curves the moveInput to be slightly more gradual at first */
if (moveInput >= 0) {
moveOutput = -Math.cos(1.571*moveInput)+1;
} else {
moveOutput = Math.cos(1.571*moveInput)-1;
}
if (m_drive.m_isSpeedShiftHigh) {
runDriveWithInput(moveOutput, steerInput);
resetGyroTarget();
}
/* If move stick has been pressed within 1 sec */
else if (m_currTime - m_deadTimeMove < m_deadTimeout) {
/* If steer stick has not been used for less than 1 sec */
if (m_currTime - m_deadTimeSteer < m_deadTimeout) {
runDriveWithInput(moveOutput, steerInput);
@@ -90,16 +118,17 @@ public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
}
}
private void runDriveWithInput(double move, double steer) {
double cosMultiplier = .45;
private void runDriveWithInput(double move, double steerInput) {
double cosMultiplier = .55;
double steerOutput = 0;
double deadzone = .2;
/* Curves the steer output to be similarily gradual */
if (steer > 0){
steerOutput = -cosMultiplier*Math.cos(1.571*steer)+(cosMultiplier+deadzone);
} else {
steerOutput = cosMultiplier*Math.cos(1.571*steer)-(cosMultiplier+deadzone);
if (steerInput > 0){
steerOutput = -cosMultiplier*Math.cos(1.571*steerInput)+(cosMultiplier+deadzone);
} else if (steerInput < 0) {
steerOutput = cosMultiplier*Math.cos(1.571*steerInput)-(cosMultiplier+deadzone);
}
m_drive.driveWithInput(move, steerOutput);
System.out.println("Driving With Input");
}
@@ -110,8 +139,23 @@ public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
}
private void runStoppedTurn(double steer) {
updateGyroTarget(steer);
m_drive.runDrivePositionPID(m_stopPos, m_targetGyro);
double cosMultiplier = 0.55;
double steerOutput = 0;
double deadzone = .2;
/* Curves the steer output to be similarily gradual */
if (steer > 0) {
steerOutput = -cosMultiplier*Math.cos(1.571*steer)+(cosMultiplier+deadzone);
} else if (steer < 0) {
steerOutput = cosMultiplier*Math.cos(1.571*steer)-(cosMultiplier+deadzone);
}
updateGyroTarget(steerOutput);
double currentPos = m_drive.m_rightFrontMotorPos;
if (Math.abs(currentPos - m_stopPos) > 200) {
m_drive.runDrivePositionPID(m_stopPos, m_targetGyro);
} else {
m_drive.driveWithInputAux(0, m_targetGyro);
}
System.out.println("Turning with Target: " + m_targetGyro);
}
@@ -121,15 +165,15 @@ public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
private void updateGyroTarget(double steerInput) {
m_targetGyro -= 5 * steerInput * m_deltaTime;
m_targetGyro = MathUtil.clamp( m_targetGyro,
m_currentGyro-(DriveConstants.TICKS_PER_GYRO_REV/8),
m_currentGyro+(DriveConstants.TICKS_PER_GYRO_REV/8));
m_currentGyro-(DriveConstants.TICKS_PER_GYRO_REV/3),
m_currentGyro+(DriveConstants.TICKS_PER_GYRO_REV/3));
}
/**
* set target angle to current angle (prevents buildup of gyro error).
*/
private void resetGyroTarget() {
m_targetGyro = m_currentGyro;
//m_targetGyro = m_currentGyro;
m_targetGyro = m_currentGyro
+ m_drive.getTurnRate();
}
@@ -137,6 +181,7 @@ public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
m_isInterrupted = interrupted;
}
// Returns true when the command should end.
src/main/java/frc4388/robot/commands/TurnDegrees.java
+73
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@@ -0,0 +1,73 @@
/*----------------------------------------------------------------------------*/
/* 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;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.Constants.DriveConstants;
import frc4388.robot.subsystems.Drive;
public class TurnDegrees extends CommandBase {
double m_targetAngle;
Drive m_drive;
double m_currentYawInTicks;
double m_targetAngleTicksIn;
double m_targetAngleTicksOut;
int i;
/**
* Creates a new TurnDeg.
*/
public TurnDegrees(double targetAngle, Drive subsystem) {
// Use addRequirements() here to declare subsystem dependencies.
m_targetAngle = targetAngle;
m_drive = subsystem;
addRequirements(m_drive);
}
// Called when the command is initially scheduled.
@Override
public void initialize() {
m_targetAngleTicksIn = (m_targetAngle / 360) * DriveConstants.TICKS_PER_GYRO_REV;
m_currentYawInTicks = (m_drive.getGyroYaw() / 360) * DriveConstants.TICKS_PER_GYRO_REV;
m_targetAngleTicksOut = m_targetAngleTicksIn + m_currentYawInTicks;
i = 0;
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
m_currentYawInTicks = (m_drive.getGyroYaw() / 360) * DriveConstants.TICKS_PER_GYRO_REV;
m_drive.runTurningPID(m_targetAngleTicksOut);
SmartDashboard.putNumber("Turning Error", Math.abs(m_currentYawInTicks - m_targetAngleTicksOut));
SmartDashboard.putNumber("Turning Target", m_targetAngleTicksOut);
i++;
}
// 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() {
if ((Math.abs(m_drive.getTurnRate()) < 1) && (i > 5)) {
return true;
}
return false;
}
}
src/main/java/frc4388/robot/commands/Wait.java
+61
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@@ -0,0 +1,61 @@
/*----------------------------------------------------------------------------*/
/* 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;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Wait extends CommandBase {
long m_startTime;
long m_waitTime;
long m_currentTime;
SubsystemBase m_subsystem;
/**
* Creates a new WaitCommand.
*/
public Wait(float seconds, SubsystemBase subsystem) {
// Use addRequirements() here to declare subsystem dependencies.
m_waitTime = (long) (seconds * 1000);
m_subsystem = subsystem;
addRequirements(m_subsystem);
}
// Called when the command is initially scheduled.
@Override
public void initialize() {
m_currentTime = System.currentTimeMillis();
m_startTime = m_currentTime;
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
m_currentTime = System.currentTimeMillis();
SmartDashboard.putNumber("Time Difference for Wait", (m_currentTime - m_startTime));
}
// 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() {
if ((m_currentTime - m_startTime) >= m_waitTime) {
return true;
} else {
return false;
}
}
}
src/main/java/frc4388/robot/subsystems/Drive.java
+140 -65
View File
@@ -73,14 +73,21 @@ public class Drive extends SubsystemBase {
public DifferentialDrive m_driveTrain = new DifferentialDrive(m_leftFrontMotor, m_rightFrontMotor);
SendableChooser<Gains> m_chooser = new SendableChooser<Gains>();
public static Gains m_gainsDistance = DriveConstants.DRIVE_DISTANCE_GAINS;
public static Gains m_gainsVelocity = DriveConstants.DRIVE_VELOCITY_GAINS;
public static Gains m_gainsTurning = DriveConstants.DRIVE_TURNING_GAINS;
//public static Gains m_gainsMotionMagic = DriveConstants.DRIVE_MOTION_MAGIC_GAINS;
public static Gains m_gainsDistanceLow = DriveConstants.DRIVE_DISTANCE_GAINS_LOW;
public static Gains m_gainsVelocityLow = DriveConstants.DRIVE_VELOCITY_GAINS_LOW;
public static Gains m_gainsTurningLow = DriveConstants.DRIVE_TURNING_GAINS_LOW;
public static Gains m_gainsMotionMagicLow = DriveConstants.DRIVE_MOTION_MAGIC_GAINS_LOW;
public static Gains m_gainsDistanceHigh = DriveConstants.DRIVE_DISTANCE_GAINS_HIGH;
public static Gains m_gainsVelocityHigh = DriveConstants.DRIVE_VELOCITY_GAINS_HIGH;
public static Gains m_gainsTurningHigh = DriveConstants.DRIVE_TURNING_GAINS_HIGH;
public static Gains m_gainsMotionMagicHigh = DriveConstants.DRIVE_MOTION_MAGIC_GAINS_HIGH;
public final DifferentialDriveOdometry m_odometry;
public DoubleSolenoid m_speedShift;
public boolean m_isSpeedShiftHigh;
public DoubleSolenoid m_coolFalcon;
SendableChooser<String> m_songChooser = new SendableChooser<String>();
@@ -90,6 +97,11 @@ public class Drive extends SubsystemBase {
public double m_lastAngleYaw, m_currentAngleYaw, m_kinematicsTargetAngle;
public double m_totalLeftDistanceInches = 0;
public double m_totalRightDistanceInches = 0;
public double m_lastLeftPosTicks = 0;
public double m_lastRightPosTicks = 0;
/**
* Add your docs here.
*/
@@ -101,7 +113,7 @@ public class Drive extends SubsystemBase {
m_rightBackMotor.configFactoryDefault();
m_pigeon.configFactoryDefault();
resetGyroYaw();
m_odometry = new DifferentialDriveOdometry( Rotation2d.fromDegrees(getHeading()),
new Pose2d(0, 0, new Rotation2d()) );
@@ -138,51 +150,22 @@ public class Drive extends SubsystemBase {
//m_rightFrontMotor.configNeutralDeadband(0.0, DriveConstants.DRIVE_TIMEOUT_MS); // Ensures motors run at the same speed
/* PID for Front Motor Control in Teleop */
//m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
//m_rightFrontMotor.config_kF(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
//m_rightFrontMotor.config_kP(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
//m_rightFrontMotor.config_kI(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
//m_rightFrontMotor.config_kD(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
//m_rightFrontMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
m_rightFrontMotor.config_kF(DriveConstants.SLOT_TURNING, m_gainsTurning.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kP(DriveConstants.SLOT_TURNING, m_gainsTurning.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kI(DriveConstants.SLOT_TURNING, m_gainsTurning.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kD(DriveConstants.SLOT_TURNING, m_gainsTurning.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_TURNING, m_gainsTurning.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_DISTANCE, DriveConstants.PID_PRIMARY);
m_rightFrontMotor.config_kF(DriveConstants.SLOT_DISTANCE, m_gainsDistance.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kP(DriveConstants.SLOT_DISTANCE, m_gainsDistance.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kI(DriveConstants.SLOT_DISTANCE, m_gainsDistance.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kD(DriveConstants.SLOT_DISTANCE, m_gainsDistance.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configClosedLoopPeakOutput( DriveConstants.SLOT_DISTANCE, m_gainsDistance.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
//m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_MOTION_MAGIC, DriveConstants.PID_PRIMARY);
//m_rightFrontMotor.config_kF(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
//m_rightFrontMotor.config_kP(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
//m_rightFrontMotor.config_kI(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
//m_rightFrontMotor.config_kD(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
//m_rightFrontMotor.configClosedLoopPeakOutput( DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
//m_rightFrontMotor.configMotionCruiseVelocity(DriveConstants.DRIVE_CRUISE_VELOCITY, DriveConstants.DRIVE_TIMEOUT_MS);
//m_rightFrontMotor.configMotionAcceleration(DriveConstants.DRIVE_ACCELERATION, DriveConstants.DRIVE_TIMEOUT_MS);
//m_rightFrontMotor.configMotionSCurveStrength(0, DriveConstants.DRIVE_TIMEOUT_MS);
/* PID for Back Motor control in Auto */
m_rightBackMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
m_rightBackMotor.config_kF(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightBackMotor.config_kP(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightBackMotor.config_kI(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightBackMotor.config_kD(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightBackMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightBackMotor.config_kF(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightBackMotor.config_kP(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightBackMotor.config_kI(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightBackMotor.config_kD(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightBackMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftBackMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
m_leftBackMotor.config_kF(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftBackMotor.config_kP(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftBackMotor.config_kI(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftBackMotor.config_kD(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftBackMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftBackMotor.config_kF(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftBackMotor.config_kP(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftBackMotor.config_kI(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftBackMotor.config_kD(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftBackMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
/* Setup Sensors for WPI_TalonFXs */
resetEncoders();
@@ -330,6 +313,13 @@ public class Drive extends SubsystemBase {
m_rightFrontMotorPos = m_rightFrontMotor.getSelectedSensorPosition();
m_rightFrontMotorVel = m_rightFrontMotor.getSelectedSensorVelocity();
m_totalRightDistanceInches += ticksToInches(m_rightFrontMotor.getSensorCollection().getIntegratedSensorPosition() - m_lastRightPosTicks);
m_totalLeftDistanceInches += ticksToInches(m_leftFrontMotor.getSensorCollection().getIntegratedSensorPosition() - m_lastLeftPosTicks);
m_odometry.update(Rotation2d.fromDegrees( getHeading()),
getDistanceInches(m_rightFrontMotor),
-getDistanceInches(m_rightFrontMotor));
try {
//SmartDashboard.putNumber("Pigeon Yaw", getGyroYaw());
@@ -339,20 +329,26 @@ public class Drive extends SubsystemBase {
SmartDashboard.putNumber("Right Front Output", m_rightFrontMotor.get());
SmartDashboard.putNumber("Left Back Output", m_leftBackMotor.get());
SmartDashboard.putNumber("Right Back Output", m_rightBackMotor.get());
//SmartDashboard.putNumber("Left Back Motor Velocity Raw", m_leftBackMotor.getSelectedSensorVelocity());
//SmartDashboard.putNumber("Right Back Motor Velocity Raw", m_rightBackMotor.getSelectedSensorVelocity());
//SmartDashboard.putNumber("Left Motor Position Raw", m_leftFrontMotor.getSelectedSensorPosition());
//SmartDashboard.putNumber("Right Motor Position Raw", m_rightFrontMotor.getSelectedSensorPosition(0));
//SmartDashboard.putNumber("Right Motor Velocity Int Sensor", m_rightFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
//SmartDashboard.putNumber("Left Motor Velocity Int Sensor", m_leftFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
SmartDashboard.putNumber("Left Motor Pos Inches", getDistanceInches(m_rightFrontMotor));
SmartDashboard.putNumber("Right Motor Pos Inches", getDistanceInches(m_leftFrontMotor));
/*SmartDashboard.putNumber("Right Front Velocity", m_rightFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
SmartDashboard.putNumber("Left Front Velocity", m_leftFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
SmartDashboard.putNumber("Right Back Velocity", m_rightBackMotor.getSensorCollection().getIntegratedSensorVelocity());
SmartDashboard.putNumber("Left Back Velocity", m_leftBackMotor.getSensorCollection().getIntegratedSensorVelocity());
*/
SmartDashboard.putNumber("Right Motor Temp", m_rightFrontMotor.getTemperature());
SmartDashboard.putNumber("Left Motor Temp", m_leftFrontMotor.getTemperature());
SmartDashboard.putNumber("Right Front Motor Current Supply", m_rightFrontMotor.getSupplyCurrent());
SmartDashboard.putNumber("Left Front Motor Current Supply", m_leftFrontMotor.getSupplyCurrent());
SmartDashboard.putNumber("Right Back Motor Current Supply", m_rightBackMotor.getSupplyCurrent());
@@ -386,9 +382,74 @@ public class Drive extends SubsystemBase {
// e.printStackTrace(System.err);
}
m_odometry.update(Rotation2d.fromDegrees( getHeading()),
inchesToMeters(getDistanceInches(m_leftBackMotor)),
-inchesToMeters(getDistanceInches(m_rightBackMotor)));
m_lastRightPosTicks = m_rightFrontMotor.getSensorCollection().getIntegratedSensorPosition();
m_lastLeftPosTicks = m_leftFrontMotor.getSensorCollection().getIntegratedSensorPosition();
}
public void setRightMotorGains(boolean isHighGear) {
if (!isHighGear) {
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
m_rightFrontMotor.config_kF(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kP(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kI(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kD(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
m_rightFrontMotor.config_kF(DriveConstants.SLOT_TURNING, m_gainsTurningLow.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kP(DriveConstants.SLOT_TURNING, m_gainsTurningLow.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kI(DriveConstants.SLOT_TURNING, m_gainsTurningLow.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kD(DriveConstants.SLOT_TURNING, m_gainsTurningLow.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_TURNING, m_gainsTurningLow.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_DISTANCE, DriveConstants.PID_PRIMARY);
m_rightFrontMotor.config_kF(DriveConstants.SLOT_DISTANCE, m_gainsDistanceLow.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kP(DriveConstants.SLOT_DISTANCE, m_gainsDistanceLow.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kI(DriveConstants.SLOT_DISTANCE, m_gainsDistanceLow.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kD(DriveConstants.SLOT_DISTANCE, m_gainsDistanceLow.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configClosedLoopPeakOutput( DriveConstants.SLOT_DISTANCE, m_gainsDistanceLow.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_MOTION_MAGIC, DriveConstants.PID_PRIMARY);
m_rightFrontMotor.config_kF(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagicLow.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kP(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagicLow.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kI(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagicLow.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kD(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagicLow.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configClosedLoopPeakOutput( DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagicLow.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configMotionCruiseVelocity(DriveConstants.DRIVE_CRUISE_VELOCITY, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configMotionAcceleration(DriveConstants.DRIVE_ACCELERATION, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configMotionSCurveStrength(0, DriveConstants.DRIVE_TIMEOUT_MS);
} else {
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
m_rightFrontMotor.config_kF(DriveConstants.SLOT_VELOCITY, m_gainsVelocityHigh.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kP(DriveConstants.SLOT_VELOCITY, m_gainsVelocityHigh.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kI(DriveConstants.SLOT_VELOCITY, m_gainsVelocityHigh.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kD(DriveConstants.SLOT_VELOCITY, m_gainsVelocityHigh.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_VELOCITY, m_gainsVelocityHigh.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
m_rightFrontMotor.config_kF(DriveConstants.SLOT_TURNING, m_gainsTurningHigh.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kP(DriveConstants.SLOT_TURNING, m_gainsTurningHigh.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kI(DriveConstants.SLOT_TURNING, m_gainsTurningHigh.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kD(DriveConstants.SLOT_TURNING, m_gainsTurningHigh.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_TURNING, m_gainsTurningHigh.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_DISTANCE, DriveConstants.PID_PRIMARY);
m_rightFrontMotor.config_kF(DriveConstants.SLOT_DISTANCE, m_gainsDistanceHigh.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kP(DriveConstants.SLOT_DISTANCE, m_gainsDistanceHigh.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kI(DriveConstants.SLOT_DISTANCE, m_gainsDistanceHigh.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kD(DriveConstants.SLOT_DISTANCE, m_gainsDistanceHigh.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configClosedLoopPeakOutput( DriveConstants.SLOT_DISTANCE, m_gainsDistanceHigh.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_MOTION_MAGIC, DriveConstants.PID_PRIMARY);
m_rightFrontMotor.config_kF(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagicHigh.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kP(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagicHigh.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kI(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagicHigh.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kD(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagicHigh.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configClosedLoopPeakOutput( DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagicHigh.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configMotionCruiseVelocity(DriveConstants.DRIVE_CRUISE_VELOCITY_HIGH, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configMotionAcceleration(DriveConstants.DRIVE_ACCELERATION_HIGH, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configMotionSCurveStrength(0, DriveConstants.DRIVE_TIMEOUT_MS);
}
}
/**
@@ -408,7 +469,7 @@ public class Drive extends SubsystemBase {
* using the Differential Drive class to manage the two inputs
*/
public void driveWithInput(double move, double steer) {
m_driveTrain.arcadeDrive(move, steer);
m_driveTrain.arcadeDrive(steer, move);
m_leftBackMotor.follow(m_leftFrontMotor);
m_rightBackMotor.follow(m_rightFrontMotor);
}
@@ -444,7 +505,7 @@ public class Drive extends SubsystemBase {
m_leftBackMotor.follow(m_leftFrontMotor);
m_rightBackMotor.follow(m_rightFrontMotor);
//m_driveTrain.feedWatchdog();
m_driveTrain.feedWatchdog();
}
/**
@@ -462,7 +523,7 @@ public class Drive extends SubsystemBase {
m_leftBackMotor.follow(m_leftFrontMotor);
m_rightBackMotor.follow(m_rightFrontMotor);
//m_driveTrain.feedWatchdog();
m_driveTrain.feedWatchdog();
}
/**
@@ -476,6 +537,7 @@ public class Drive extends SubsystemBase {
m_rightFrontMotor.set(ControlMode.MotionMagic, targetPos, DemandType.AuxPID, targetGyro);
m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
m_leftBackMotor.follow(m_leftFrontMotor);
m_rightBackMotor.follow(m_rightFrontMotor);
@@ -489,9 +551,9 @@ public class Drive extends SubsystemBase {
* @param targetAngle target angle in degrees
*/
public void runTurningPID(double targetAngle) {
double targetGyro = (targetAngle / 360) * DriveConstants.TICKS_PER_GYRO_REV;
//double targetGyro = (targetAngle / 360) * DriveConstants.TICKS_PER_GYRO_REV;
runDriveVelocityPID(0, targetGyro);
runDriveVelocityPID(0, targetAngle);
}
/**
@@ -593,9 +655,9 @@ public class Drive extends SubsystemBase {
//lol
//sko
//ridge
/**
//brayden=bad coder
* Returns the heading of the robot
/**
* Returns the heading of the robot
* @return The robot's heading in degrees, from -180 to 180
*/
public double getHeading() {
@@ -626,8 +688,8 @@ public class Drive extends SubsystemBase {
* @return The current wheel speeds.
*/
public DifferentialDriveWheelSpeeds getWheelSpeeds() {
return new DifferentialDriveWheelSpeeds( inchesToMeters(getVelocityInchesPerSecond(m_leftBackMotor)),
-inchesToMeters(getVelocityInchesPerSecond(m_rightBackMotor)));
return new DifferentialDriveWheelSpeeds( getVelocityInchesPerSecond(m_leftBackMotor),
-getVelocityInchesPerSecond(m_rightBackMotor));
}
/**
@@ -638,6 +700,9 @@ public class Drive extends SubsystemBase {
m_rightFrontMotor.getSensorCollection().setIntegratedSensorPosition(0, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftBackMotor.getSensorCollection().setIntegratedSensorPosition(0, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightBackMotor.getSensorCollection().setIntegratedSensorPosition(0, DriveConstants.DRIVE_TIMEOUT_MS);
m_totalLeftDistanceInches = 0;
m_totalRightDistanceInches = 0;
}
/**
@@ -674,7 +739,11 @@ public class Drive extends SubsystemBase {
* @return The converted value in inches
*/
public double ticksToInches(double ticks) {
return ticks * DriveConstants.INCHES_PER_TICK;
if (m_isSpeedShiftHigh) {
return ticks * DriveConstants.INCHES_PER_TICK_HIGH;
} else {
return ticks * DriveConstants.INCHES_PER_TICK_LOW;
}
}
/**
@@ -683,7 +752,11 @@ public class Drive extends SubsystemBase {
* @return The converted value in ticks
*/
public double inchesToTicks(double inches) {
return inches * DriveConstants.TICKS_PER_INCH;
if (m_isSpeedShiftHigh) {
return inches * DriveConstants.TICKS_PER_INCH_HIGH;
} else {
return inches * DriveConstants.TICKS_PER_INCH_LOW;
}
}
/**
@@ -725,11 +798,13 @@ public class Drive extends SubsystemBase {
*/
public void setShiftState(boolean state) {
if (state == true) {
m_speedShift.set(DoubleSolenoid.Value.kForward);
}
if (state == false) {
m_speedShift.set(DoubleSolenoid.Value.kReverse);
}
}
if (state == false) {
m_speedShift.set(DoubleSolenoid.Value.kForward);
}
setRightMotorGains(state);
m_isSpeedShiftHigh = state;
}
/**
src/main/java/frc4388/robot/subsystems/Shooter.java
+16
View File
@@ -24,6 +24,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Gains;
import frc4388.robot.Constants.ShooterConstants;
import frc4388.utility.ShooterTables;
import frc4388.utility.controller.IHandController;
public class Shooter extends SubsystemBase {
@@ -48,6 +49,9 @@ public class Shooter extends SubsystemBase {
double velP;
double input;
ShooterTables m_shooterTable;
public boolean velReached;
public double m_fireVel;
public double m_fireAngle;
@@ -74,6 +78,18 @@ public class Shooter extends SubsystemBase {
int closedLoopTimeMs = 1;
m_shooterFalcon.configClosedLoopPeriod(0, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.configClosedLoopPeriod(1, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterTable = new ShooterTables();
SmartDashboard.putNumber("CSV 10", m_shooterTable.getVelocity(10));
SmartDashboard.putNumber("CSV 200", m_shooterTable.getVelocity(200));
SmartDashboard.putNumber("CSV 250", m_shooterTable.getVelocity(250));
SmartDashboard.putNumber("CSV 500", m_shooterTable.getVelocity(500));
SmartDashboard.putNumber("CSV A -30", m_shooterTable.getAngleDisplacement(-30));
SmartDashboard.putNumber("CSV A 10", m_shooterTable.getAngleDisplacement(10));
SmartDashboard.putNumber("CSV A 5", m_shooterTable.getAngleDisplacement(5));
SmartDashboard.putNumber("CSV A 30", m_shooterTable.getAngleDisplacement(30));
}
@Override
src/main/java/frc4388/utility/ShooterTables.java
+149
View File
@@ -0,0 +1,149 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 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.utility;
import java.io.BufferedReader;
import java.io.File;
import java.io.FileNotFoundException;
import java.io.FileReader;
import java.io.IOException;
import edu.wpi.first.wpilibj.Filesystem;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
/**
* Add your docs here.
*/
public class ShooterTables {
double[][] m_distance = new double[50][3];
double[][] m_angle = new double[50][2];
final int m_columnDistance = 0;
final int m_columnHood = 1;
final int m_columnVel = 2;
final int m_columnAngle = 0;
final int m_columnDisplacement = 1;
int m_distanceLength;
int m_angleLength;
public ShooterTables() {
int lineNum = 0;
File distanceCSV = new File(Filesystem.getDeployDirectory().getAbsolutePath() + "/Robot Data - Distances.csv");
File angleCSV = new File(Filesystem.getDeployDirectory().getAbsolutePath() + "/Robot Data - Angles.csv");
try {
BufferedReader distanceReader = new BufferedReader(new FileReader(distanceCSV));
BufferedReader angleReader = new BufferedReader(new FileReader(angleCSV));
String line = "";
while ((line = distanceReader.readLine()) != null) {
if (lineNum == 0) {
lineNum ++;
} else {
String[] values = line.split(",");
m_distance[lineNum - 1][m_columnDistance] = Double.parseDouble(values[0]);
m_distance[lineNum - 1][m_columnHood] = Double.parseDouble(values[1]);
m_distance[lineNum - 1][m_columnVel] = Double.parseDouble(values[2]);
lineNum ++;
}
}
m_distanceLength = lineNum-1;
lineNum = 0;
while ((line = angleReader.readLine()) != null) {
if (lineNum == 0) {
lineNum ++;
} else {
String[] values = line.split(",");
m_angle[lineNum - 1][m_columnAngle] = Double.parseDouble(values[0]);
m_angle[lineNum - 1][m_columnDisplacement] = Double.parseDouble(values[1]);
lineNum ++;
}
}
m_angleLength = lineNum-1;
} catch (FileNotFoundException e) {
e.printStackTrace();
} catch (IOException e) {
e.printStackTrace();
}
SmartDashboard.putNumber("Row 2 Column 1", m_angle[1][0]);
SmartDashboard.putNumber("Row 4 Column 2", m_angle[3][1]);
SmartDashboard.putNumber("m_distanceLength", m_distanceLength);
SmartDashboard.putNumber("Distance last row 0", m_distance[m_distanceLength-1][0]);
SmartDashboard.putNumber("Distance last row 1", m_distance[m_distanceLength-1][1]);
SmartDashboard.putNumber("Distance last row 2", m_distance[m_distanceLength-1][2]);
}
public double getHood(double distance) {
int i = 0;
while ((i < m_distanceLength) && (m_distance[i][m_columnDistance] < distance)) {
i ++;
}
if ((i < m_distanceLength) && (m_distance[i][m_columnDistance] == distance)) {
return m_distance[i][m_columnHood];
} else {
if (i >= m_distanceLength) {
i = m_distanceLength - 1;
}
return linearInterpolation(i, distance, m_columnHood, m_distance);
}
}
public double getVelocity(double distance) {
int i = 0;
while ((i < m_distanceLength) && (m_distance[i][m_columnDistance] < distance)) {
i ++;
}
if ((i < m_distanceLength) && (m_distance[i][m_columnDistance] == distance)) {
return m_distance[i][m_columnVel];
} else {
if (i >= m_distanceLength) {
i = m_distanceLength - 1;
}
return linearInterpolation(i, distance, m_columnVel, m_distance);
}
}
public double getAngleDisplacement(double angle) {
int i = 0;
while ((i < m_angleLength) && (m_angle[i][m_columnAngle] < angle)) {
i ++;
}
if ((i < m_angleLength) && (m_angle[i][m_columnAngle] == angle)) {
return m_angle[i][m_columnDisplacement];
} else {
if (i >= m_angleLength) {
i = m_angleLength - 1;
}
return linearInterpolation(i, angle, m_columnDisplacement, m_angle);
}
}
public double linearInterpolation(int i, double value, int column, double[][] table) {
if (i != 0) {
double slope = (table[i][column] - table[i-1][column]) / (table[i][0] - table[i-1][0]);
value = slope * (value - table[i-1][0]) + table[i-1][column];
return value;
}
return 0.0;
}
}