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Odometry Working haha

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This commit is contained in:
Aarav Shah
2020-03-06 18:46:45 -07:00
parent b3558887cc
commit 3c0b92a4ac
6 changed files with 57 additions and 31 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+7 -9
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@@ -228,20 +228,20 @@ public class RobotContainer {
Trajectory trajectory = getTrajectory(config);
RamseteCommand ramseteCommand = getRamseteCommand(trajectory);
// Run path following command, then stop at the end.
//return ramseteCommand.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
return ramseteCommand.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return new AutoPath1FromCenter(m_robotDrive, m_robotPneumatics);
//return new AutoPath2FromRight(m_robotDrive, m_robotPneumatics);
if (Constants.SELECTED_AUTO == 1) {
/*if (Constants.SELECTED_AUTO == 1) {
return new SequentialCommandGroup(new Wait(m_robotDrive, 5, 0),
new TurnDegrees(m_robotDrive, 45),
new InstantCommand(() -> m_robotPneumatics.setShiftState(false), m_robotDrive),
new TurnDegrees(m_robotDrive, 315)
);
}
}*/
return new InstantCommand();
//return new InstantCommand();
}
TrajectoryConfig getTrajectoryConfig() {
return new TrajectoryConfig(
@@ -257,14 +257,12 @@ public class RobotContainer {
new Pose2d(0, 0, new Rotation2d(0)),
// Pass through these two interior waypoints, making an 's' curve path
List.of(
new Translation2d(10, 0)
new Translation2d(0, 50)
),
// End 3 meters straight ahead of where we started, facing forward
new Pose2d(20, 20, new Rotation2d(0)),
new Pose2d(50, 50, new Rotation2d(0)),
// Pass config
config);
// 10 = 20, 20 = 35, 30 = 53.5
// (0,10) = (8,22)
return exampleTrajectory;
}
src/main/java/frc4388/robot/commands/AutoPath1FromCenter.java
+6 -6
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@@ -29,15 +29,15 @@ public class AutoPath1FromCenter extends SequentialCommandGroup {
addCommands( new Wait(m_drive, 0, 1),
//shoot pre-loaded 3 balls
new GotoCoordinates(m_drive, m_pneumatics, 75, 44, -90),
new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 75, 44, -90),
//Start Intake Ball 1
new GotoCoordinates(m_drive, m_pneumatics, 0, 12),
new GotoCoordinates(m_drive, m_pneumatics, 0, 28),
new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 0, 12),
new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 0, 28),
//Start Intake Ball 2
new GotoCoordinates(m_drive, m_pneumatics, 0, 8),
new GotoCoordinates(m_drive, m_pneumatics, 0, 28),
new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 0, 8),
new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 0, 28),
//Start Intake Ball 3
new GotoCoordinates(m_drive, m_pneumatics, 0, 8),
new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 0, 8),
new Wait(m_drive, 0, 2)
//Shoot 3 Balls
);
src/main/java/frc4388/robot/commands/AutoPath2FromRight.java
+10 -10
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@@ -28,24 +28,24 @@ public class AutoPath2FromRight extends SequentialCommandGroup {
m_pneumatics = subsystem2;
addCommands( new Wait(m_drive, 0, 1),
new GotoCoordinates(m_drive, m_pneumatics, 0, 77),
new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 0, 77),
//Start Intake Ball 1
new GotoCoordinates(m_drive, m_pneumatics, 0, 8),
new GotoCoordinates(m_drive, m_pneumatics, 0, 28),
new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 0, 8),
new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 0, 28),
//Start Intake Ball 2
new GotoCoordinates(m_drive, m_pneumatics, 0, 8),
new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 0, 8),
//Shoot 5 Balls
new GotoCoordinates(m_drive, m_pneumatics, 0, 28),
new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 0, 28),
//Start Intake Ball 6 (Ball 1 second round)
new GotoCoordinates(m_drive, m_pneumatics, 0, 8),
new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 0, 8),
//Move to 7th Ball
new GotoCoordinates(m_drive, m_pneumatics, 86.7, -64.11, -180),
new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 86.7, -64.11, -180),
//Move to 8th Ball
new GotoCoordinates(m_drive, m_pneumatics, -6.34, 15.31, 90),
new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, -6.34, 15.31, 90),
//Move to 9th Ball
new GotoCoordinates(m_drive, m_pneumatics, 7.11, 24.41, 0),
new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 7.11, 24.41, 0),
//Move to 10th Ball
new GotoCoordinates(m_drive, m_pneumatics, -6.34, 13.30),
new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, -6.34, 13.30),
//Shoot 5 more Balls (Total 10 Ball Autonomous Path)
new Wait(m_drive, 0, 2)
);
src/main/java/frc4388/robot/commands/GotoCoordinatesFieldRelative.java
+28
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@@ -0,0 +1,28 @@
/*----------------------------------------------------------------------------*/
/* 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.SequentialCommandGroup;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Pneumatics;
// 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 GotoCoordinatesFieldRelative extends SequentialCommandGroup {
/**
* Creates a new GotoCoordinatesFieldRelative.
*/
public GotoCoordinatesFieldRelative(Drive susbsytem, Pneumatics subsystem2, double xTarget, double yTarget) {
// Add your commands in the super() call, e.g.
// super(new FooCommand(), new BarCommand());
addCommands(
);
}
}
src/main/java/frc4388/robot/commands/GotoCoordinates.java → src/main/java/frc4388/robot/commands/GotoCoordinatesRobotRelative.java
+3 -3
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@@ -15,7 +15,7 @@ import frc4388.robot.subsystems.Pneumatics;
// 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 GotoCoordinates extends SequentialCommandGroup {
public class GotoCoordinatesRobotRelative extends SequentialCommandGroup {
Drive m_drive;
Pneumatics m_pneumatics;
@@ -28,7 +28,7 @@ public class GotoCoordinates extends SequentialCommandGroup {
/**
* Creates a new GotoPosition.
*/
public GotoCoordinates(Drive subsystem, Pneumatics subsystem2, double xTarget, double yTarget, double endAngle) {
public GotoCoordinatesRobotRelative(Drive subsystem, Pneumatics subsystem2, double xTarget, double yTarget, double endAngle) {
// Add your commands in the super() call, e.g.
// super(new FooCommand(), new BarCommand());
m_drive = subsystem;
@@ -49,7 +49,7 @@ public class GotoCoordinates extends SequentialCommandGroup {
new TurnDegrees(m_drive, m_endAngle - m_currentAngle));
}
public GotoCoordinates(Drive subsystem, Pneumatics subsystem2, double xTarget, double yTarget) {
public GotoCoordinatesRobotRelative(Drive subsystem, Pneumatics subsystem2, double xTarget, double yTarget) {
m_drive = subsystem;
m_pneumatics = subsystem2;
src/main/java/frc4388/robot/subsystems/Drive.java
+3 -3
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@@ -442,8 +442,8 @@ public class Drive extends SubsystemBase {
// m_currentAngleYaw-(360),
// m_currentAngleYaw+(360));
//double targetGyro = (m_kinematicsTargetAngle / 360) * DriveConstants.TICKS_PER_GYRO_REV;
double moveVelLeft = inchesToTicks(metersToInches(leftSpeed))/DriveConstants.SECONDS_TO_TICK_TIME;
double moveVelRight = inchesToTicks(metersToInches(rightSpeed))/DriveConstants.SECONDS_TO_TICK_TIME;
double moveVelLeft = inchesToTicks(leftSpeed)/DriveConstants.SECONDS_TO_TICK_TIME;
double moveVelRight = inchesToTicks(rightSpeed)/DriveConstants.SECONDS_TO_TICK_TIME;
//SmartDashboard.putNumber("Move Vel Left", moveVelLeft);
//SmartDashboard.putNumber("Move Vel Right", moveVelRight);
@@ -783,7 +783,7 @@ public class Drive extends SubsystemBase {
//SmartDashboard.putNumber("PID 0 Pos", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_PRIMARY));
//SmartDashboard.putNumber("PID 1 Pos", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN));
//SmartDashboard.putString("Odometry Values Meters", getPose().toString());
SmartDashboard.putString("Odometry Values Meters", getPose().toString());
//SmartDashboard.putNumber("Odometry Heading", getHeading());
//SmartDashboard.putNumber("Time Seconds", m_currentTimeSec);