Merge branch 'master' into Manual-Shooter

src/main/java/frc4388/robot/Constants.java

@@ -66,28 +66,30 @@ public final class Constants {
     }
     
     public static final class IntakeConstants {
-        public static final int INTAKE_SPARK_ID = 9;
-        public static final int EXTENDER_SPARK_ID = 10;
+        public static final int INTAKE_SPARK_ID = -9;
+        public static final int EXTENDER_SPARK_ID = -10;
     }
   
     public static final class ShooterConstants {
+        /* Motor IDs */
         public static final int SHOOTER_FALCON_ID = 8;
+        public static final int SHOOTER_ANGLE_ADJUST_ID = 9;
+        public static final int SHOOTER_ROTATE_ID = 10;
 
         /* PID Constants Shooter */
         public static final int SHOOTER_SLOT_IDX = 0;
         public static final int SHOOTER_PID_LOOP_IDX = 1;
         public static final int SHOOTER_TIMEOUT_MS = 30;
-        public static final Gains SHOOTER_GAINS = new Gains(0.4, 0.0005, 13, 0.05, 0, 1.0);
-        
-        //#Janky
-        public static final int SHOOTERROTATION_SPARK_ID = 9;
-        //#Janky
-        
+        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;
+        public static final double NEO_UNITS_PER_REV = 42;
+        public static final double DEGREES_PER_ROT = 360;
     }
     
     public static final class ClimberConstants {
-        public static final int CLIMBER_SPARK_ID = 10;
+        public static final int CLIMBER_SPARK_ID = -1;
     }
   
     public static final class LevelerConstants {

src/main/java/frc4388/robot/RobotContainer.java

@@ -16,6 +16,7 @@ import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import frc4388.robot.Constants.*;
 import frc4388.robot.commands.DriveStraightAtVelocityPID;
+import frc4388.robot.commands.DriveWithJoystick;
 import frc4388.robot.commands.DriveStraightToPositionMM;
 import frc4388.robot.commands.DriveStraightToPositionPID;
 import frc4388.robot.commands.DriveWithJoystickUsingDeadAssistPID;
@@ -73,14 +74,12 @@ public class RobotContainer {
         m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
         // runs the drum shooter in idle mode
 
-        //#Janky
+      
         m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runShooterWithInput(m_operatorXbox), m_robotShooter));
-        //#Janky
-
         // drives the leveler with an axis input from the driver controller
-        m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getDriverController()));
+    //    m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getDriverController()));
         // runs storage motor at 50 percent
-        m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
+    //    m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
     }
 
     /**
@@ -123,6 +122,7 @@ public class RobotContainer {
         new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
             .whenPressed(new RunCommand(() -> m_robotDrive.runTurningPID(45), m_robotDrive));
 
+
         // sets solenoids into high gear
         new JoystickButton(getDriverJoystick(), XboxController.START_BUTTON)
             .whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(true), m_robotDrive));

src/main/java/frc4388/robot/commands/PlaySongDrive.java

@@ -0,0 +1,52 @@
+/*----------------------------------------------------------------------------*/
+/* 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.subsystems.Drive;
+
+public class PlaySongDrive extends CommandBase {
+  private Drive m_drive;
+  
+  /**
+   * Creates a new PlaySongDrive.
+   */
+  public PlaySongDrive(Drive subsystem) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    m_drive = subsystem;
+    addRequirements(m_drive);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    m_drive.m_rightFrontMotor.set(0);
+    m_drive.m_leftFrontMotor.set(0);
+    m_drive.m_rightBackMotor.set(0);
+    m_drive.m_leftBackMotor.set(0);
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    m_drive.playSong();
+    //System.err.println("Playing " + m_drive.m_orchestra.isPlaying());
+    //m_drive.m_driveTrain.feedWatchdog();
+  }
+
+  // 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;
+  }
+}

src/main/java/frc4388/robot/subsystems/Drive.java

@@ -7,6 +7,16 @@
 
 package frc4388.robot.subsystems;
 
+import java.io.File;
+import java.io.FilenameFilter;
+import java.io.IOException;
+import java.nio.file.Files;
+import java.nio.file.Path;
+import java.nio.file.Paths;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.stream.Collectors;
+import java.util.stream.Stream;
 import com.ctre.phoenix.motorcontrol.ControlMode;
 import com.ctre.phoenix.motorcontrol.DemandType;
 import com.ctre.phoenix.motorcontrol.FeedbackDevice;
@@ -18,11 +28,15 @@ import com.ctre.phoenix.motorcontrol.SensorTerm;
 import com.ctre.phoenix.motorcontrol.StatusFrame;
 import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
+import com.ctre.phoenix.music.Orchestra;
 import com.ctre.phoenix.sensors.PigeonIMU;
 import com.ctre.phoenix.sensors.PigeonIMU_StatusFrame;
 
+import edu.wpi.first.wpilibj.Filesystem;
 import edu.wpi.first.wpilibj.DoubleSolenoid;
+
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -42,6 +56,7 @@ public class Drive extends SubsystemBase {
   public WPI_TalonFX m_leftBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_BACK_CAN_ID);
   public WPI_TalonFX m_rightBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_BACK_CAN_ID);
   public static PigeonIMU m_pigeon = new PigeonIMU(DriveConstants.PIGEON_ID);
+  public Orchestra m_orchestra = new Orchestra();
 
   public DifferentialDrive m_driveTrain = new DifferentialDrive(m_leftFrontMotor, m_rightFrontMotor);
 
@@ -51,6 +66,8 @@ public class Drive extends SubsystemBase {
   public static Gains m_gainsTurning = DriveConstants.DRIVE_TURNING_GAINS;
   public static Gains m_gainsMotionMagic = DriveConstants.DRIVE_MOTION_MAGIC_GAINS;
 
+  SendableChooser<String> m_songChooser = new SendableChooser<String>();
+
   public DoubleSolenoid speedShift;
 
   /**
@@ -80,7 +97,7 @@ public class Drive extends SubsystemBase {
     /* flip input so forward becomes back, etc */
     m_leftFrontMotor.setInverted(false);
     m_rightFrontMotor.setInverted(true);
-    m_driveTrain.setRightSideInverted(false);
+    //m_driveTrain.setRightSideInverted(false);
     m_leftBackMotor.setInverted(InvertType.FollowMaster);
     m_rightBackMotor.setInverted(InvertType.FollowMaster);
 
@@ -235,8 +252,22 @@ public class Drive extends SubsystemBase {
 		 * true means talon's local output is PID0 - PID1, and other side Talon is PID0 + PID1
 		 */
     m_rightFrontMotor.configAuxPIDPolarity(false, DriveConstants.DRIVE_TIMEOUT_MS);
+
+    m_orchestra.addInstrument(m_leftBackMotor);
+    m_orchestra.addInstrument(m_rightFrontMotor);
+    m_orchestra.addInstrument(m_rightBackMotor);
+    m_orchestra.addInstrument(m_leftFrontMotor);
+
+    File songsDir = new File(Filesystem.getDeployDirectory().getAbsolutePath() + "/songs");
+    System.err.println(songsDir.getPath());
+    String[] songsStrings = songsDir.list();
+    for (String songString : songsStrings){
+      m_songChooser.addOption(songString, songsDir.getAbsolutePath() + "/" + songString);
+    }
+    Shuffleboard.getTab("Songs").add(m_songChooser);
   }
 
+  String currentSong = "";
   @Override
   public void periodic() {
     try {
@@ -264,6 +295,11 @@ 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));
 
+      if (currentSong != m_songChooser.getSelected()){
+        currentSong = m_songChooser.getSelected();
+        selectSong(currentSong);
+        System.err.println(currentSong);
+      }
     } catch (Exception e) {
       System.err.println("Error in the Drive Subsystem");
       //e.printStackTrace(System.err);
@@ -333,7 +369,7 @@ 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(move, steer);
   }
 
   /**
@@ -362,7 +398,7 @@ public class Drive extends SubsystemBase {
     m_rightFrontMotor.set(TalonFXControlMode.Position, targetPos, DemandType.AuxPID, targetGyro);
     m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
 
-    m_driveTrain.feedWatchdog();
+    //m_driveTrain.feedWatchdog();
   }
 
   /**
@@ -376,7 +412,7 @@ public class Drive extends SubsystemBase {
     m_rightFrontMotor.set(TalonFXControlMode.Velocity, targetVel, DemandType.AuxPID, targetGyro);
     m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
 
-    m_driveTrain.feedWatchdog();
+    //m_driveTrain.feedWatchdog();
   }
 
   /**
@@ -392,6 +428,7 @@ public class Drive extends SubsystemBase {
     m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
 
     m_driveTrain.feedWatchdog();
+
   }
 
   /**
@@ -442,6 +479,21 @@ public class Drive extends SubsystemBase {
     m_pigeon.setAccumZAngle(0);
   }
 
+  /**
+   * Plays Music!
+   */
+  public void playSong() {
+    m_orchestra.play();
+  }
+
+  /**
+   * Selects a song to play!
+   * @param song The name of the song to be played
+   */
+  public void selectSong(String song) {
+    SmartDashboard.putString("Selected Song", song);
+    m_orchestra.loadMusic(song);
+  }
   /**
    * Set to high or low gear based on boolean state, true = high, false = low
    * @param state Chooses between high or low gear

src/main/java/frc4388/robot/subsystems/Shooter.java

@@ -10,8 +10,12 @@ 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.ControlType;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 import edu.wpi.first.wpilibj.Joystick;
@@ -19,25 +23,40 @@ 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.DriveConstants;
 import frc4388.robot.Constants.ShooterConstants;
 import frc4388.utility.controller.IHandController;
 
 public class Shooter extends SubsystemBase {
 
   public WPI_TalonFX m_shooterFalcon = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_ID);
+  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.SHOOTER_GAINS;
+  public static Gains m_shooterGains = ShooterConstants.DRUM_SHOOTER_GAINS;
   public static Shooter m_shooter;
   public static IHandController m_controller;
+
+
+  // Configure PID Controllers
+  CANPIDController m_angleAdjustPIDController = m_angleAdjustMotor.getPIDController();
+  CANPIDController m_shooterRotatePIDController = m_shooterRotateMotor.getPIDController();
+
+  CANEncoder m_angleEncoder = m_angleAdjustMotor.getEncoder();
+  CANEncoder m_shooterRotateEncoder = m_shooterRotateMotor.getEncoder();
+
   double velP;
   double input;
-  public static CANSparkMax m_shooterRotate = new CANSparkMax(ShooterConstants.SHOOTERROTATION_SPARK_ID, MotorType.kBrushless);
   
   /*
    * Creates a new Shooter subsystem.
    */
   public Shooter() {
+    //Testing purposes reseting gyros
+    resetGyroAngleAdj();
+    resetGyroShooterRotate();
+
     m_shooterFalcon.configFactoryDefault();
     m_shooterRotate.setIdleMode(IdleMode.kBrake);
     m_shooterFalcon.setNeutralMode(NeutralMode.Coast);
@@ -96,17 +115,8 @@ public class Shooter extends SubsystemBase {
       m_shooterFalcon.set(TalonFXControlMode.Velocity, targetVel); //Init PID
     }
   }
-  //PLZ Help I Have No Idea What I Am Doing
-  //Help PLZ
-  //I Am Desperate
-  //PLZ
-  //PLZ
-  //With A Cherry On Top
 
 
-
-
-  //#Janky
   public void runShooterWithInput(IHandController controller) {
     /* m_controller = controller;
      input = controller.getLeftXAxis();
@@ -115,7 +125,52 @@ public class Shooter extends SubsystemBase {
      */
     input = controller.getLeftXAxis();
     System.err.println(input);
-    m_shooterRotate.set(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); 
+
+    // Convert input angle in degrees to rotations of the motor
+    targetAngle = targetAngle/ShooterConstants.DEGREES_PER_ROT;
+
+    m_angleAdjustPIDController.setReference(targetAngle, ControlType.kPosition);
+  }
+
+  /* Rotate Shooter PID Control */
+  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); 
+
+    // Convert input angle in degrees to rotations of the motor
+    targetAngle = targetAngle/ShooterConstants.DEGREES_PER_ROT;
+
+    m_shooterRotatePIDController.setReference(targetAngle, ControlType.kPosition);
+  }
+
+  /* For Testing Purposes, reseting gyro for angle adjuster */
+  public void resetGyroAngleAdj()
+  {
+    m_angleEncoder.setPosition(0);
+  }
+
+  /* For Testing Purposes, reseting gyro for shooter rotation */
+  public void resetGyroShooterRotate()
+  {
+    m_shooterRotateEncoder.setPosition(0);
   }
-  //#Janky
 }

src/main/java/frc4388/robot/subsystems/Storage.java

@@ -56,6 +56,7 @@ public class Storage extends SubsystemBase {
   public void runStorage(final double input) {
     m_storageMotor.set(input);
     final boolean beam_on = m_beamSensors[0].get();
+
   }
 
   public void resetEncoder()