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Merge branch 'Climber-and-Leveler-safety-button' of https://github.com/Team4388/RiseOfRidgebotics2020 into Climber-and-Leveler-safety-button

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mayabartels
2020-02-15 15:48:04 -08:00
parent 05fd4a5a14 04b5dc0f54
commit 379f25970a
6 changed files with 194 additions and 29 deletions
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src/main/java/frc4388/robot/Constants.java
+11 -1
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@@ -81,7 +81,6 @@ public final class Constants {
public static final int SHOOTER_PID_LOOP_IDX = 1;
public static final int SHOOTER_TIMEOUT_MS = 30;
public static final Gains DRUM_SHOOTER_GAINS = new Gains(0.4, 0.0005, 13, 0.05, 0, 1.0);
public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.2, 0.0, 0.0, 0.0, 0, 1.0);
public static final double SHOOTER_TURRET_MIN = -1.0;
public static final double ENCODER_TICKS_PER_REV = 2048;
@@ -128,6 +127,17 @@ public final class Constants {
public static final int LED_SPARK_ID = 0;
public static final LEDPatterns DEFAULT_PATTERN = LEDPatterns.FOREST_WAVES;
}
public static final class VisionConstants {
public static final double FOV = 29.8; //Field of view of limelight
public static final double TARGET_HEIGHT = 82.75;
public static final double LIME_ANGLE = 18.7366;
public static final double TURN_P_VALUE = 0.65;
public static final double X_ANGLE_ERROR = 1.3;
public static final double MOTOR_DEAD_ZONE = 0.3;
public static final double DISTANCE_ERROR_EQUATION_M = 1.1279;
public static final double DISTANCE_ERROR_EQUATION_B = -15.0684;
}
public static final class OIConstants {
public static final int XBOX_DRIVER_ID = 0;
src/main/java/frc4388/robot/RobotContainer.java
+15 -1
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@@ -30,6 +30,11 @@ import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.Climber;
import frc4388.robot.commands.RunLevelerWithJoystick;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Intake;
import frc4388.robot.subsystems.LED;
import frc4388.robot.commands.TrackTarget;
import frc4388.robot.subsystems.Camera;
import frc4388.robot.subsystems.Leveler;
import frc4388.robot.subsystems.Storage;
import frc4388.utility.LEDPatterns;
@@ -53,6 +58,10 @@ public class RobotContainer {
private final Leveler m_robotLeveler = new Leveler();
private final Storage m_robotStorage = new Storage();
/* Cameras */
private final Camera m_robotCameraFront = new Camera("front",0,160,120,40);
private final Camera m_robotCameraBack = new Camera("back",1,160,120,40);
/* Controllers */
private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
@@ -73,7 +82,9 @@ public class RobotContainer {
// continually sends updates to the Blinkin LED controller to keep the lights on
m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
// runs the drum shooter in idle mode
// m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runDrumShooter(0.15), m_robotShooter));
m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runShooterWithInput(m_operatorXbox.getLeftXAxis()), m_robotShooter));
// drives the leveler with an axis input from the driver controller
// m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getDriverController()));
// runs storage motor at 50 percent
@@ -99,6 +110,9 @@ public class RobotContainer {
new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
.whileHeld(new ShooterVelocityControlPID(m_robotShooter, 4000));
new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON)
.whileHeld(new TrackTarget(m_robotShooter));
new JoystickButton(getOperatorJoystick(), XboxController.LEFT_BUMPER_BUTTON)
.whenPressed(new RunExtenderOutIn(m_robotIntake));
src/main/java/frc4388/robot/commands/TrackTarget.java
+84
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@@ -0,0 +1,84 @@
/*----------------------------------------------------------------------------*/
/* 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 frc4388.robot.Constants.VisionConstants;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Shooter;
import frc4388.utility.controller.IHandController;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
public class TrackTarget extends CommandBase {
//Setup
NetworkTableEntry xEntry;
Shooter m_shooter;
IHandController m_driverController;
//Aiming
double turnAmount = 0;
double xAngle = 0;
double yAngle = 0;
double target = 0;
public double distance;
/**
* Uses the Limelight to track the target
*/
public TrackTarget(Shooter shooterSubsystem) {
m_shooter = shooterSubsystem;
addRequirements(m_shooter);
NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(1);
}
// Called when the command is initially scheduled.
@Override
public void initialize() {
//Vision Processing Mode
NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0);
NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(3);
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
target = NetworkTableInstance.getDefault().getTable("limelight").getEntry("tv").getDouble(0);
xAngle = NetworkTableInstance.getDefault().getTable("limelight").getEntry("tx").getDouble(0);
yAngle = NetworkTableInstance.getDefault().getTable("limelight").getEntry("ty").getDouble(0);
if (target == 1.0){ //If target in view
//Aiming Left/Right
turnAmount = (xAngle/VisionConstants.FOV)*VisionConstants.TURN_P_VALUE;
if (Math.abs(xAngle) < VisionConstants.X_ANGLE_ERROR){turnAmount = 0;} //Angle Error Zone
//Deadzones
else if(turnAmount > 0 && turnAmount < VisionConstants.MOTOR_DEAD_ZONE){turnAmount = VisionConstants.MOTOR_DEAD_ZONE;}
else if(turnAmount < 0 && turnAmount > -VisionConstants.MOTOR_DEAD_ZONE){turnAmount = -VisionConstants.MOTOR_DEAD_ZONE;}
m_shooter.runShooterWithInput(turnAmount/2);
//Finding Distance
distance = VisionConstants.TARGET_HEIGHT/Math.tan((VisionConstants.LIME_ANGLE + yAngle)*(Math.PI/180));
SmartDashboard.putNumber("Distance to Target", distance);
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
//Drive Camera Mode
NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(1);
NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}
src/main/java/frc4388/robot/subsystems/Camera.java
+47
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@@ -0,0 +1,47 @@
/*----------------------------------------------------------------------------*/
/* 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.subsystems;
import edu.wpi.cscore.MjpegServer;
import edu.wpi.cscore.UsbCamera;
import edu.wpi.cscore.VideoSource;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Camera extends SubsystemBase {
CameraServer camServ = CameraServer.getInstance();
/**
* Creates a new Camera.
* Makes a Camera and sends the stream to a CameraServer, to be viewed in Shuffle Board.
* @param name Name of the Camera in Shuffle Board.
* @param id USB Id of the Camera.
* @param width Resolution width.
* @param height Resolution height.
* @param brightness Percent brightness of the stream.
*/
public Camera(String name, int id, int width, int height, int brightness) {
try{
UsbCamera cam = new UsbCamera(name, id);
cam.setResolution(width, height);
cam.setBrightness(brightness);
cam.setFPS(10);
VideoSource camera = cam;
camServ.startAutomaticCapture(camera);
}
catch(Exception e){
System.err.println("Camera broken, pls nerf");
}
}
@Override
public void periodic() {
}
}
src/main/java/frc4388/robot/subsystems/Shooter.java
+37 -20
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@@ -10,16 +10,21 @@ package frc4388.robot.subsystems;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMax.IdleMode;
import com.revrobotics.CANEncoder;
import com.revrobotics.CANPIDController;
import com.revrobotics.CANSparkMax;
import com.revrobotics.ControlType;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.XboxController;
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.controller.IHandController;
public class Shooter extends SubsystemBase {
@@ -27,7 +32,12 @@ public class Shooter extends SubsystemBase {
public CANSparkMax m_angleAdjustMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
public CANSparkMax m_shooterRotateMotor = new CANSparkMax(ShooterConstants.SHOOTER_ROTATE_ID, MotorType.kBrushless);
public static Gains m_shooterGains = ShooterConstants.DRUM_SHOOTER_GAINS;
public static Gains m_shooterTurretGains = ShooterConstants.SHOOTER_TURRET_GAINS;
public static Gains m_drumShooterGains = ShooterConstants.DRUM_SHOOTER_GAINS;
public static Shooter m_shooter;
public static IHandController m_controller;
// Configure PID Controllers
CANPIDController m_angleAdjustPIDController = m_angleAdjustMotor.getPIDController();
@@ -37,7 +47,9 @@ public class Shooter extends SubsystemBase {
CANEncoder m_shooterRotateEncoder = m_shooterRotateMotor.getEncoder();
double velP;
/**
double input;
/*
* Creates a new Shooter subsystem.
*/
public Shooter() {
@@ -46,7 +58,7 @@ public class Shooter extends SubsystemBase {
resetGyroShooterRotate();
m_shooterFalcon.configFactoryDefault();
m_shooterRotateMotor.setIdleMode(IdleMode.kBrake);
m_shooterFalcon.setNeutralMode(NeutralMode.Coast);
m_shooterFalcon.setInverted(false);
@@ -80,10 +92,10 @@ public class Shooter extends SubsystemBase {
*/
public void setShooterGains() {
m_shooterFalcon.selectProfileSlot(ShooterConstants.SHOOTER_SLOT_IDX, ShooterConstants.SHOOTER_PID_LOOP_IDX);
m_shooterFalcon.config_kF(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.m_kF, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.config_kP(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.m_kP, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.config_kI(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.m_kI, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.config_kD(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.m_kD, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.config_kF(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterTurretGains.m_kF, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.config_kP(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterTurretGains.m_kP, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.config_kI(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterTurretGains.m_kI, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.config_kD(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterTurretGains.m_kD, ShooterConstants.SHOOTER_TIMEOUT_MS);
}
/**
* Runs drum shooter velocity PID.
@@ -104,16 +116,21 @@ public class Shooter extends SubsystemBase {
}
}
public void runShooterWithInput(double input) {
m_shooterRotateMotor.set(input);
}
/* Angle Adjustment PID Control */
public void runAngleAdjustPID(double targetAngle)
{
// Set PID Coefficients
m_angleAdjustPIDController.setP(m_shooterGains.m_kP);
m_angleAdjustPIDController.setI(m_shooterGains.m_kI);
m_angleAdjustPIDController.setD(m_shooterGains.m_kD);
m_angleAdjustPIDController.setIZone(m_shooterGains.m_kIzone);
m_angleAdjustPIDController.setFF(m_shooterGains.m_kF);
m_angleAdjustPIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterGains.m_kPeakOutput);
m_angleAdjustPIDController.setP(m_shooterTurretGains.m_kP);
m_angleAdjustPIDController.setI(m_shooterTurretGains.m_kI);
m_angleAdjustPIDController.setD(m_shooterTurretGains.m_kD);
m_angleAdjustPIDController.setIZone(m_shooterTurretGains.m_kIzone);
m_angleAdjustPIDController.setFF(m_shooterTurretGains.m_kF);
m_angleAdjustPIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterTurretGains.m_kPeakOutput);
// Convert input angle in degrees to rotations of the motor
targetAngle = targetAngle/ShooterConstants.DEGREES_PER_ROT;
@@ -125,12 +142,12 @@ public class Shooter extends SubsystemBase {
public void runshooterRotatePID(double targetAngle)
{
// Set PID Coefficients
m_shooterRotatePIDController.setP(m_shooterGains.m_kP);
m_shooterRotatePIDController.setI(m_shooterGains.m_kI);
m_shooterRotatePIDController.setD(m_shooterGains.m_kD);
m_shooterRotatePIDController.setFF(m_shooterGains.m_kF);
m_shooterRotatePIDController.setIZone(m_shooterGains.m_kIzone);
m_shooterRotatePIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterGains.m_kPeakOutput);
m_shooterRotatePIDController.setP(m_shooterTurretGains.m_kP);
m_shooterRotatePIDController.setI(m_shooterTurretGains.m_kI);
m_shooterRotatePIDController.setD(m_shooterTurretGains.m_kD);
m_shooterRotatePIDController.setFF(m_shooterTurretGains.m_kF);
m_shooterRotatePIDController.setIZone(m_shooterTurretGains.m_kIzone);
m_shooterRotatePIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterTurretGains.m_kPeakOutput);
// Convert input angle in degrees to rotations of the motor
targetAngle = targetAngle/ShooterConstants.DEGREES_PER_ROT;
src/main/java/frc4388/robot/subsystems/Storage.java
-7
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@@ -15,7 +15,6 @@ import com.revrobotics.CANSparkMax;
import com.revrobotics.ControlType;
import com.revrobotics.SparkMax;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -58,12 +57,6 @@ public class Storage extends SubsystemBase {
m_storageMotor.set(input);
final boolean beam_on = m_beamSensors[0].get();
if (beam_on) {
//System.err.println("Beam on");
} else {
//System.err.println("Beam off");
}
}
public void resetEncoder()