diff --git a/LICENSE b/LICENSE index 30b2d1a..c714e13 100644 --- a/LICENSE +++ b/LICENSE @@ -1,21 +1,24 @@ -MIT License +Copyright (c) 2009-2018 FIRST +All rights reserved. -Copyright (c) 2019 HFocus +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of the FIRST nor the + names of its contributors may be used to endorse or promote products + derived from this software without specific prior written permission. -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in all -copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -SOFTWARE. +THIS SOFTWARE IS PROVIDED BY FIRST AND CONTRIBUTORS``AS IS'' AND ANY +EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR +PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR +ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. \ No newline at end of file diff --git a/src/main/deploy/songs/Africa.chrp b/src/main/deploy/songs/Africa.chrp new file mode 100644 index 0000000..b4c63a1 Binary files /dev/null and b/src/main/deploy/songs/Africa.chrp differ diff --git a/src/main/deploy/songs/Believer.chrp b/src/main/deploy/songs/Believer.chrp new file mode 100644 index 0000000..03c5e18 Binary files /dev/null and b/src/main/deploy/songs/Believer.chrp differ diff --git a/src/main/deploy/songs/Big Brother.chrp 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b/src/main/deploy/songs/Sweden.chrp new file mode 100644 index 0000000..3a0b5d9 Binary files /dev/null and b/src/main/deploy/songs/Sweden.chrp differ diff --git a/src/main/deploy/songs/TJ-WNPC.chrp b/src/main/deploy/songs/TJ-WNPC.chrp new file mode 100644 index 0000000..30f78af Binary files /dev/null and b/src/main/deploy/songs/TJ-WNPC.chrp differ diff --git a/src/main/deploy/songs/Take On Me.chrp b/src/main/deploy/songs/Take On Me.chrp new file mode 100644 index 0000000..a5aaa05 Binary files /dev/null and b/src/main/deploy/songs/Take On Me.chrp differ diff --git a/src/main/deploy/songs/The Wolf.chrp b/src/main/deploy/songs/The Wolf.chrp new file mode 100644 index 0000000..3c00ae7 Binary files /dev/null and b/src/main/deploy/songs/The Wolf.chrp differ diff --git a/src/main/deploy/songs/Through the Fire and Flames.chrp b/src/main/deploy/songs/Through the Fire and Flames.chrp new file mode 100644 index 0000000..8a97919 Binary files /dev/null and b/src/main/deploy/songs/Through the Fire and Flames.chrp differ diff --git a/src/main/deploy/songs/VA Main Theme.chrp b/src/main/deploy/songs/VA Main Theme.chrp new file mode 100644 index 0000000..ca3e07b Binary files /dev/null and b/src/main/deploy/songs/VA Main Theme.chrp differ diff --git a/src/main/deploy/songs/Wet Hands.chrp b/src/main/deploy/songs/Wet Hands.chrp new file mode 100644 index 0000000..98a5837 Binary files /dev/null and b/src/main/deploy/songs/Wet Hands.chrp differ diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 318ac48..90ef485 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -7,6 +7,7 @@ package frc4388.robot; +import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics; import frc4388.utility.LEDPatterns; /** @@ -28,13 +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(0.2, 0.0, 0.0, 0.0, 0, 0.3); - public static final Gains DRIVE_VELOCITY_GAINS = new Gains(0.0, 0.0, 0.0, 0.1, 0, 1.0); - public static final Gains DRIVE_TURNING_GAINS = new Gains(0.4, 0.0, 0.0, 0.0, 0, 0.3); - 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 = 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; + /* Trajectory Constants */ + public static final double MAX_SPEED_METERS_PER_SECOND = 3; + public static final double MAX_ACCELERATION_METERS_PER_SECOND_SQUARED = 3; + public static final double TRACK_WIDTH_METERS = 0.648; + public static final DifferentialDriveKinematics kDriveKinematics = new DifferentialDriveKinematics(TRACK_WIDTH_METERS); + /* Remote Sensors */ public final static int REMOTE_0 = 0; public final static int REMOTE_1 = 1; @@ -50,36 +57,44 @@ public final class Constants { public final static int SLOT_MOTION_MAGIC = 3; /* Drive Train Characteristics */ - public static final double TICKS_PER_MOTOR_REV = 2048*2; - public static final double MOTOR_TO_WHEEL_GEAR_RATIO = 12.5; + public static final double TICKS_PER_MOTOR_REV = 2048; + public static final double MOTOR_ROT_PER_WHEEL_ROT = 5.13; public static final double WHEEL_DIAMETER_INCHES = 6; public static final double TICKS_PER_GYRO_REV = 8192; /* Ratio Calculation */ 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_TO_MOTOR_GEAR_RATIO = 1/MOTOR_TO_WHEEL_GEAR_RATIO; - public static final double TICKS_PER_WHEEL_REV = TICKS_PER_MOTOR_REV * MOTOR_TO_WHEEL_GEAR_RATIO; + 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 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 { - public static final int SHOOTER_FALCON_ID = 8; + /* Motor IDs */ + public static final int SHOOTER_FALCON_ID = -1; + public static final int SHOOTER_ANGLE_ADJUST_ID = -1; + 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); - + 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 { @@ -91,7 +106,7 @@ public final class Constants { } public static final class StorageConstants { - public static final int STORAGE_CAN_ID = 10; + public static final int STORAGE_CAN_ID = -1; /* Ball Indexes */ public static final int BEAM_SENSOR_DIO_0 = 0; @@ -116,6 +131,17 @@ 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; diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java index 86b1d84..5ada949 100644 --- a/src/main/java/frc4388/robot/Robot.java +++ b/src/main/java/frc4388/robot/Robot.java @@ -7,9 +7,11 @@ package frc4388.robot; +import com.ctre.phoenix.motorcontrol.FeedbackDevice; import com.ctre.phoenix.motorcontrol.NeutralMode; import edu.wpi.first.wpilibj.TimedRobot; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; @@ -34,6 +36,7 @@ public class Robot extends TimedRobot { // Instantiate our RobotContainer. This will perform all our button bindings, and put our // autonomous chooser on the dashboard. m_robotContainer = new RobotContainer(); + SmartDashboard.putString("Auto?", "NAH"); } /** @@ -61,6 +64,7 @@ public class Robot extends TimedRobot { @Override public void disabledInit() { m_robotContainer.setDriveNeutralMode(NeutralMode.Coast); + //m_robotContainer.setDriveGearState(true); } @Override @@ -75,6 +79,10 @@ public class Robot extends TimedRobot { m_autonomousCommand = m_robotContainer.getAutonomousCommand(); m_robotContainer.setDriveNeutralMode(NeutralMode.Brake); + m_robotContainer.setDriveGearState(true); + m_robotContainer.resetOdometry(); + //m_robotContainer.configDriveTrainSensors(FeedbackDevice.IntegratedSensor); + /* * String autoSelected = SmartDashboard.getString("Auto Selector", * "Default"); switch(autoSelected) { case "My Auto": autonomousCommand @@ -85,6 +93,7 @@ public class Robot extends TimedRobot { // schedule the autonomous command (example) if (m_autonomousCommand != null) { m_autonomousCommand.schedule(); + System.err.println("Auto Start"); } } @@ -98,6 +107,9 @@ public class Robot extends TimedRobot { @Override public void teleopInit() { m_robotContainer.setDriveNeutralMode(NeutralMode.Coast); + m_robotContainer.setDriveGearState(true); + //m_robotContainer.configDriveTrainSensors(FeedbackDevice.IntegratedSensor); + // This makes sure that the autonomous stops running when // teleop starts running. If you want the autonomous to // continue until interrupted by another command, remove @@ -105,6 +117,8 @@ public class Robot extends TimedRobot { if (m_autonomousCommand != null) { m_autonomousCommand.cancel(); } + + SmartDashboard.putString("Auto?", "NAH"); } /** diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 389c553..26d1a69 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -7,19 +7,34 @@ package frc4388.robot; +import java.util.List; + +import com.ctre.phoenix.motorcontrol.FeedbackDevice; import com.ctre.phoenix.motorcontrol.NeutralMode; import edu.wpi.first.wpilibj.Joystick; +import edu.wpi.first.wpilibj.controller.RamseteController; +import edu.wpi.first.wpilibj.geometry.Pose2d; +import edu.wpi.first.wpilibj.geometry.Rotation2d; +import edu.wpi.first.wpilibj.geometry.Translation2d; +import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds; +import edu.wpi.first.wpilibj.trajectory.Trajectory; +import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig; +import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.InstantCommand; +import edu.wpi.first.wpilibj2.command.RamseteCommand; 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.DriveWithJoystick; -import frc4388.robot.commands.DriveWithJoystickAuxPID; +import frc4388.robot.commands.DriveWithJoystickUsingDeadAssistPID; +import frc4388.robot.commands.DriveWithJoystickDriveStraight; import frc4388.robot.commands.RunClimberWithTriggers; import frc4388.robot.commands.RunExtenderOutIn; import frc4388.robot.commands.RunIntakeWithTriggers; @@ -33,6 +48,8 @@ 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; @@ -56,6 +73,10 @@ 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); @@ -76,9 +97,10 @@ 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())); + } @@ -91,16 +113,19 @@ public class RobotContainer { private void configureButtonBindings() { /* Driver Buttons */ new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON) - .whenPressed(new DriveStraightToPositionPID(m_robotDrive, 144)); + .whenPressed(new RunCommand(() -> m_robotDrive.runTurningPID(0), m_robotDrive)); /* Operator Buttons */ // activates "Lit Mode" - new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON) - .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW)) - .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN)); + //new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON) + // .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW)) + // .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN)); 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)); @@ -116,27 +141,33 @@ public class RobotContainer { // resets the yaw of the pigeon new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON) - .whenPressed(new DriveStraightToPositionMM(m_robotDrive, 72)); + .whileHeld(new RunCommand(() -> m_robotDrive.tankDriveVelocity(9, 3), m_robotDrive)); // turn 45 degrees new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON) - .whenPressed(new RunCommand(() -> m_robotDrive.runTurningPID(45), m_robotDrive)); + .whenPressed(new RunCommand(() -> m_robotDrive.driveWithInputAux(0.2, 0), m_robotDrive)); + // sets solenoids into high gear - new JoystickButton(getDriverJoystick(), XboxController.START_BUTTON) + new JoystickButton(getDriverJoystick(), XboxController.RIGHT_BUMPER_BUTTON) .whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(true), m_robotDrive)); // sets solenoids into low gear - new JoystickButton(getDriverJoystick(), XboxController.BACK_BUTTON) + new JoystickButton(getDriverJoystick(), XboxController.LEFT_BUMPER_BUTTON) .whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(false), m_robotDrive)); // interrupts any running command new JoystickButton(getDriverJoystick(), XboxController.LEFT_JOYSTICK_BUTTON) .whenPressed(new InstantCommand(() -> System.out.print("Gamer"), m_robotDrive)); + // safety for climber and leveler + new JoystickButton(getOperatorJoystick(), XboxController.BACK_BUTTON) + .whenPressed(new InstantCommand(() -> m_robotClimber.setSafetyPressed(), m_robotClimber)) + .whenReleased(new InstantCommand(() -> m_robotClimber.setSafetyNotPressed(), m_robotClimber)); + /* Storage Neo PID Test */ new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON) - .whileHeld(new RunCommand(() -> m_robotStorage.runStoragePositionPID(0.5))); + .whileHeld(new TrackTarget(m_robotShooter)); //Prepares storage for intaking new JoystickButton(getOperatorJoystick(), XboxController.LEFT_TRIGGER_AXIS) @@ -146,7 +177,7 @@ public class RobotContainer { new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_TRIGGER_AXIS) .whileHeld(new RunCommand(() -> m_robotStorage.storageOuttake())); } - + /** * Sets Motors to a NeutralMode. * @param mode NeutralMode to set motors to @@ -155,13 +186,59 @@ public class RobotContainer { m_robotDrive.setDriveTrainNeutralMode(mode); } + /** + * Sets the gear of the drivetrain + * @param state the gearing of the gearbox (true is high, false is low) + */ + public void setDriveGearState(boolean state) { + m_robotDrive.setShiftState(state); + } + + public void configDriveTrainSensors(FeedbackDevice type) { + m_robotDrive.configMotorSensor(type); + } + + public void resetOdometry() { + m_robotDrive.resetGyroAngles(); + m_robotDrive.setOdometry(new Pose2d()); + } + /** * Use this to pass the autonomous command to the main {@link Robot} class. * * @return the command to run in autonomous */ public Command getAutonomousCommand() { - // no auto + + // Create config for trajectory + /*TrajectoryConfig config = new TrajectoryConfig( DriveConstants.MAX_SPEED_METERS_PER_SECOND, + DriveConstants.MAX_ACCELERATION_METERS_PER_SECOND_SQUARED) + // Add kinematics to ensure max speed is actually obeyed + .setKinematics(DriveConstants.kDriveKinematics); + + Trajectory exampleTrajectory = TrajectoryGenerator.generateTrajectory( + // Start at the origin facing the +X direction + new Pose2d(0, 0, new Rotation2d(0)), + // Pass through these two interior waypoints, making an 's' curve path + List.of( + new Translation2d(10, 0) + ), + // End 3 meters straight ahead of where we started, facing forward + new Pose2d(20, 20, new Rotation2d(0)), + // Pass config + config); + // 10 = 20, 20 = 35, 30 = 53.5 + // (0,10) = (8,22) + RamseteCommand ramseteCommand = new RamseteCommand( + exampleTrajectory, + m_robotDrive::getPose, + new RamseteController(), + DriveConstants.kDriveKinematics, + m_robotDrive::tankDriveVelocity, + m_robotDrive); + + // Run path following command, then stop at the end. + return ramseteCommand.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));*/ return new InstantCommand(); } diff --git a/src/main/java/frc4388/robot/commands/DriveStraightAtVelocityPID.java b/src/main/java/frc4388/robot/commands/DriveStraightAtVelocityPID.java index 7b82ff8..14cc97e 100644 --- a/src/main/java/frc4388/robot/commands/DriveStraightAtVelocityPID.java +++ b/src/main/java/frc4388/robot/commands/DriveStraightAtVelocityPID.java @@ -37,7 +37,7 @@ public class DriveStraightAtVelocityPID extends CommandBase { @Override public void execute() { //System.err.println(m_drive.m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_TURN)); - m_drive.runDriveStraightVelocityPID(-m_targetVel, m_targetGyro); + m_drive.runDriveVelocityPID(-m_targetVel, m_targetGyro); } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc4388/robot/commands/DriveStraightToPositionPID.java b/src/main/java/frc4388/robot/commands/DriveStraightToPositionPID.java index 0b9b998..3b74edf 100644 --- a/src/main/java/frc4388/robot/commands/DriveStraightToPositionPID.java +++ b/src/main/java/frc4388/robot/commands/DriveStraightToPositionPID.java @@ -47,7 +47,7 @@ public class DriveStraightToPositionPID extends CommandBase { //System.err.println("| \n Sensor Pos \n" + m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_PRIMARY)); //System.err.println("Sensor Error \n" + m_drive.m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_PRIMARY)); //System.err.println("Sensor Target \n" + m_drive.m_rightFrontMotor.getClosedLoopTarget(DriveConstants.PID_PRIMARY)); - m_drive.runDriveStraightPositionPID(m_targetPosOut, m_targetGyro); + m_drive.runDrivePositionPID(m_targetPosOut, m_targetGyro); } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc4388/robot/commands/DriveWithJoystick.java b/src/main/java/frc4388/robot/commands/DriveWithJoystick.java index e663fdb..5387e8d 100644 --- a/src/main/java/frc4388/robot/commands/DriveWithJoystick.java +++ b/src/main/java/frc4388/robot/commands/DriveWithJoystick.java @@ -38,7 +38,7 @@ public class DriveWithJoystick extends CommandBase { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - double moveInput = m_controller.getLeftYAxis(); + double moveInput = -m_controller.getLeftYAxis(); double steerInput = m_controller.getRightXAxis(); double moveOutput = 0; double steerOutput = 0; diff --git a/src/main/java/frc4388/robot/commands/DriveWithJoystickDriveStraight.java b/src/main/java/frc4388/robot/commands/DriveWithJoystickDriveStraight.java new file mode 100644 index 0000000..a298f9c --- /dev/null +++ b/src/main/java/frc4388/robot/commands/DriveWithJoystickDriveStraight.java @@ -0,0 +1,118 @@ +/*----------------------------------------------------------------------------*/ +/* 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 edu.wpi.first.wpiutil.math.MathUtil; +import frc4388.robot.Constants.DriveConstants; +import frc4388.robot.subsystems.Drive; +import frc4388.utility.controller.IHandController; + +public class DriveWithJoystickDriveStraight extends CommandBase { + Drive m_drive; + double m_targetGyro, m_currentGyro; + double m_stopPos; + long m_currTime, m_deltaTime; + long m_deadTimeSteer, m_deadTimeMove; + long m_deadTimeout = 100; + IHandController m_controller; + + /** + * Creates a new DriveWithJoystickDriveStraight to control the drivetrain with an Xbox controller. + * Applies a curved ramp to the input from the controllers to make the robot less "touchy". + * Also uses PIDs to keep the robot on course when given a "dead" or 0 input. + * @param subsystem pass the Drive subsystem from {@link frc4388.robot.RobotContainer#RobotContainer() RobotContainer} + * @param controller pass the Driver {@link frc4388.utility.controller.IHandController#getClass() IHandController} using the + * {@link frc4388.robot.RobotContainer#getDriverJoystick() getDriverJoystick()} method in + * {@link frc4388.robot.RobotContainer#RobotContainer() RobotContainer} + */ + public DriveWithJoystickDriveStraight(Drive subsystem, IHandController controller) { + // Use addRequirements() here to declare subsystem dependencies. + m_drive = subsystem; + m_controller = controller; + addRequirements(m_drive); + } + + // Called when the command is initially scheduled. + @Override + public void initialize() { + m_currTime = System.currentTimeMillis(); + } + + // Called every time the scheduler runs while the command is scheduled. + @Override + public void execute() { + m_currentGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(1); + double moveInput = -m_controller.getLeftYAxis(); + double steerInput = m_controller.getRightXAxis(); + double moveOutput = 0; + m_deltaTime = System.currentTimeMillis() - m_currTime; + m_currTime = System.currentTimeMillis(); + + /* If steer stick is being used */ + if (steerInput != 0) { + m_deadTimeSteer = m_currTime; + } + + /* 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 steer stick has not been used for less than 1 sec */ + if (m_currTime - m_deadTimeSteer < m_deadTimeout) { + runDriveWithInput(moveOutput, steerInput); + resetGyroTarget(); + } + /* If steer stick has not been used for 1 sec */ + else { + runDriveStraight(moveOutput); + } + } + + private void runDriveWithInput(double move, double steer) { + double cosMultiplier = .45; + 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); + } + m_drive.driveWithInput(move, steerOutput); + System.out.println("Driving With Input"); + } + + private void runDriveStraight(double move) { + m_drive.driveWithInputAux(move * 3/4, m_targetGyro); + System.out.println("Driving Straight with Target: " + m_targetGyro); + } + + /** + * set target angle to current angle (prevents buildup of gyro error). + */ + private void resetGyroTarget() { + //m_targetGyro = m_currentGyro; + m_targetGyro = m_currentGyro + + m_drive.getTurnRate(); + } + + // 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; + } +} diff --git a/src/main/java/frc4388/robot/commands/DriveWithJoystickUsingDeadAssistPID.java b/src/main/java/frc4388/robot/commands/DriveWithJoystickUsingDeadAssistPID.java new file mode 100644 index 0000000..7756772 --- /dev/null +++ b/src/main/java/frc4388/robot/commands/DriveWithJoystickUsingDeadAssistPID.java @@ -0,0 +1,147 @@ +/*----------------------------------------------------------------------------*/ +/* 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 edu.wpi.first.wpiutil.math.MathUtil; +import frc4388.robot.Constants.DriveConstants; +import frc4388.robot.subsystems.Drive; +import frc4388.utility.controller.IHandController; + +public class DriveWithJoystickUsingDeadAssistPID extends CommandBase { + Drive m_drive; + double m_targetGyro, m_currentGyro; + double m_stopPos; + long m_currTime, m_deltaTime; + long m_deadTimeSteer, m_deadTimeMove; + long m_deadTimeout = 100; + IHandController m_controller; + + /** + * Creates a new DriveWithJoystickUsingDeadAssistPID to control the drivetrain with an Xbox controller. + * Applies a curved ramp to the input from the controllers to make the robot less "touchy". + * Also uses PIDs to keep the robot on course when given a "dead" or 0 input. + * @param subsystem pass the Drive subsystem from {@link frc4388.robot.RobotContainer#RobotContainer() RobotContainer} + * @param controller pass the Driver {@link frc4388.utility.controller.IHandController#getClass() IHandController} using the + * {@link frc4388.robot.RobotContainer#getDriverJoystick() getDriverJoystick()} method in + * {@link frc4388.robot.RobotContainer#RobotContainer() RobotContainer} + */ + public DriveWithJoystickUsingDeadAssistPID(Drive subsystem, IHandController controller) { + // Use addRequirements() here to declare subsystem dependencies. + m_drive = subsystem; + m_controller = controller; + addRequirements(m_drive); + } + + // Called when the command is initially scheduled. + @Override + public void initialize() { + m_currTime = System.currentTimeMillis(); + } + + // Called every time the scheduler runs while the command is scheduled. + @Override + public void execute() { + m_currentGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN); + double moveInput = -m_controller.getLeftYAxis(); + double steerInput = m_controller.getRightXAxis(); + double moveOutput = 0; + m_deltaTime = System.currentTimeMillis() - m_currTime; + m_currTime = System.currentTimeMillis(); + + /* If move stick is being used */ + if (moveInput != 0) { + m_deadTimeMove = m_currTime; + m_stopPos = m_drive.m_rightFrontMotor.getSelectedSensorPosition() + + (m_drive.m_rightFrontMotor.getSelectedSensorVelocity()); + } + /* If steer stick is being used */ + if (steerInput != 0) { + 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; + } + + /* If steer stick has not been used for less than 1 sec */ + if (m_currTime - m_deadTimeSteer < m_deadTimeout) { + runDriveWithInput(moveOutput, steerInput); + resetGyroTarget(); + } + /* If steer stick has not been used for 1 sec */ + else { + runDriveStraight(moveOutput); + } + } + /* If the move stick has not been used for 1 sec */ + else { + runStoppedTurn(steerInput); + } + } + + private void runDriveWithInput(double move, double steer) { + double cosMultiplier = .45; + 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); + } + m_drive.driveWithInput(move, steerOutput); + System.out.println("Driving With Input"); + } + + private void runDriveStraight(double move) { + m_drive.driveWithInputAux(move * 3/4, m_targetGyro); + System.out.println("Driving Straight with Target: " + m_targetGyro); + } + + private void runStoppedTurn(double steer) { + updateGyroTarget(steer); + m_drive.runDrivePositionPID(m_stopPos, m_targetGyro); + System.out.println("Turning with Target: " + m_targetGyro); + } + + /** + * If AuxPID is enabled, then update using the steer input + */ + 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)); + } + + /** + * set target angle to current angle (prevents buildup of gyro error). + */ + private void resetGyroTarget() { + m_targetGyro = m_currentGyro; + m_targetGyro = m_currentGyro + + m_drive.getTurnRate(); + } + + // 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; + } +} diff --git a/src/main/java/frc4388/robot/commands/PlaySongDrive.java b/src/main/java/frc4388/robot/commands/PlaySongDrive.java new file mode 100644 index 0000000..5e0e6b4 --- /dev/null +++ b/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; + } +} diff --git a/src/main/java/frc4388/robot/commands/TrackTarget.java b/src/main/java/frc4388/robot/commands/TrackTarget.java new file mode 100644 index 0000000..2853242 --- /dev/null +++ b/src/main/java/frc4388/robot/commands/TrackTarget.java @@ -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/5); + + //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; + } +} diff --git a/src/main/java/frc4388/robot/subsystems/Camera.java b/src/main/java/frc4388/robot/subsystems/Camera.java new file mode 100644 index 0000000..e483009 --- /dev/null +++ b/src/main/java/frc4388/robot/subsystems/Camera.java @@ -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() { + } +} \ No newline at end of file diff --git a/src/main/java/frc4388/robot/subsystems/Climber.java b/src/main/java/frc4388/robot/subsystems/Climber.java index 6b35036..f6c9339 100644 --- a/src/main/java/frc4388/robot/subsystems/Climber.java +++ b/src/main/java/frc4388/robot/subsystems/Climber.java @@ -10,6 +10,7 @@ package frc4388.robot.subsystems; import com.revrobotics.CANDigitalInput; import com.revrobotics.CANSparkMax; import com.revrobotics.CANDigitalInput.LimitSwitchPolarity; +import com.revrobotics.CANSparkMax.IdleMode; import com.revrobotics.CANSparkMaxLowLevel.MotorType; import edu.wpi.first.wpilibj2.command.SubsystemBase; @@ -17,18 +18,23 @@ import frc4388.robot.Constants.ClimberConstants; public class Climber extends SubsystemBase { CANSparkMax m_climberMotor = new CANSparkMax(ClimberConstants.CLIMBER_SPARK_ID, MotorType.kBrushless); - CANDigitalInput m_forwardLimit, m_reverseLimit; + CANDigitalInput m_climberForwardLimit, m_climberReverseLimit; + + public boolean climberSafety = false; + /** * Creates a new Climber. */ public Climber() { m_climberMotor.restoreFactoryDefaults(); - - m_forwardLimit = m_climberMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyClosed); - m_reverseLimit = m_climberMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyClosed); - m_forwardLimit.enableLimitSwitch(false); - m_reverseLimit.enableLimitSwitch(false); + m_climberMotor.setIdleMode(IdleMode.kBrake); + m_climberMotor.setInverted(false); + + m_climberForwardLimit = m_climberMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyClosed); + m_climberReverseLimit = m_climberMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyClosed); + m_climberForwardLimit.enableLimitSwitch(false); + m_climberReverseLimit.enableLimitSwitch(false); } @Override @@ -41,6 +47,23 @@ public class Climber extends SubsystemBase { * @param input the voltage to run motor at */ public void runClimber(double input) { - m_climberMotor.set(input); + if(climberSafety){ + m_climberMotor.set(input); + } + else{ + m_climberMotor.set(0); + } + } + + /* Safety Button for Climber */ + public void setSafetyPressed() + { + climberSafety = true; + } + + /* Safety Button for Climber set back to false */ + public void setSafetyNotPressed() + { + climberSafety = false; } } diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java index d66912c..1902e0d 100644 --- a/src/main/java/frc4388/robot/subsystems/Drive.java +++ b/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; @@ -18,15 +28,25 @@ 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.geometry.Pose2d; +import edu.wpi.first.wpilibj.geometry.Rotation2d; +import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds; +import edu.wpi.first.wpilibj.kinematics.DifferentialDriveOdometry; +import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds; +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; import edu.wpi.first.wpilibj2.command.SubsystemBase; +import edu.wpi.first.wpiutil.math.MathUtil; import frc4388.robot.Constants.DriveConstants; import frc4388.robot.Gains; @@ -42,6 +62,11 @@ 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 double m_rightFrontMotorPos; + + public double m_rightFrontMotorVel; public DifferentialDrive m_driveTrain = new DifferentialDrive(m_leftFrontMotor, m_rightFrontMotor); @@ -49,9 +74,19 @@ public class Drive extends SubsystemBase { 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_gainsMotionMagic = DriveConstants.DRIVE_MOTION_MAGIC_GAINS; + + public final DifferentialDriveOdometry m_odometry; + + public DoubleSolenoid m_speedShift; + public DoubleSolenoid m_coolFalcon; - public DoubleSolenoid speedShift; + SendableChooser m_songChooser = new SendableChooser(); + + public int m_currentTimeSec = (int)(System.currentTimeMillis() / 1000); + public long m_lastTime, m_deltaTime; //in milliseconds + + public double m_lastAngleYaw, m_currentAngleYaw, m_kinematicsTargetAngle; /** * Add your docs here. @@ -65,31 +100,40 @@ public class Drive extends SubsystemBase { m_pigeon.configFactoryDefault(); resetGyroYaw(); - speedShift = new DoubleSolenoid(7,0,1); + m_odometry = new DifferentialDriveOdometry( Rotation2d.fromDegrees(getHeading()), + new Pose2d(0, 0, new Rotation2d()) ); + m_speedShift = new DoubleSolenoid(7,0,1); + m_coolFalcon = new DoubleSolenoid(7,3,2); + + coolFalcon(false); + /* set back motors as followers */ m_leftBackMotor.follow(m_leftFrontMotor); m_rightBackMotor.follow(m_rightFrontMotor); + /* flip input so forward becomes back, etc */ + m_leftFrontMotor.setInverted(false); + m_rightFrontMotor.setInverted(true); + //m_driveTrain.setRightSideInverted(false); + m_leftBackMotor.setInverted(InvertType.FollowMaster); + m_rightBackMotor.setInverted(InvertType.FollowMaster); + setDriveTrainNeutralMode(NeutralMode.Coast); /* deadbands */ m_leftBackMotor.configNeutralDeadband(0.0, DriveConstants.DRIVE_TIMEOUT_MS); // DO NOT CHANGE - m_rightBackMotor.configNeutralDeadband(0.0, DriveConstants.DRIVE_TIMEOUT_MS); //Ensures motors run at the same speed + m_rightBackMotor.configNeutralDeadband(0.0, DriveConstants.DRIVE_TIMEOUT_MS); // Ensures motors run at the same speed + //m_leftFrontMotor.configNeutralDeadband(0.0, DriveConstants.DRIVE_TIMEOUT_MS); // DO NOT CHANGE + //m_rightFrontMotor.configNeutralDeadband(0.0, DriveConstants.DRIVE_TIMEOUT_MS); // Ensures motors run at the same speed - /* flip input so forward becomes back, etc */ - m_leftFrontMotor.setInverted(false); - m_rightFrontMotor.setInverted(true); - m_driveTrain.setRightSideInverted(false); - m_leftBackMotor.setInverted(InvertType.FollowMaster); - m_rightBackMotor.setInverted(InvertType.FollowMaster); - - 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); + /* 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); @@ -97,47 +141,65 @@ public class Drive extends SubsystemBase { 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.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.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); + //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_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); /* Setup Sensors for WPI_TalonFXs */ - m_leftFrontMotor.setSelectedSensorPosition(0, DriveConstants.PID_PRIMARY, DriveConstants.DRIVE_TIMEOUT_MS); - m_rightFrontMotor.setSelectedSensorPosition(0, DriveConstants.PID_PRIMARY, DriveConstants.DRIVE_TIMEOUT_MS); + resetEncoders(); /* Configure the left Talon's selected sensor as local QuadEncoder */ - m_leftFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.IntegratedSensor, // Local Feedback Source - DriveConstants.PID_PRIMARY, // PID Index for Source [0, 1] - DriveConstants.DRIVE_TIMEOUT_MS); // Configuration Timeout - - /*m_rightFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.IntegratedSensor, // Local Feedback Source - DriveConstants.PID_PRIMARY, // PID Index for Source [0, 1] - DriveConstants.DRIVE_TIMEOUT_MS);*/ // Configuration Timeout + m_leftFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.IntegratedSensor, // Local Feedback Source + DriveConstants.PID_PRIMARY, // PID Index for Source [0, 1] + DriveConstants.DRIVE_TIMEOUT_MS); // Configuration Timeout + + /* Configure the left back Talon's selected sensor as local QuadEncoder */ + m_leftBackMotor.configSelectedFeedbackSensor( FeedbackDevice.IntegratedSensor, // Local Feedback Source + DriveConstants.PID_PRIMARY, // PID Index for Source [0, 1] + DriveConstants.DRIVE_TIMEOUT_MS); // Configuration Timeout + + /* Configure the right back Talon's selected sensor as local QuadEncoder */ + m_rightBackMotor.configSelectedFeedbackSensor( FeedbackDevice.IntegratedSensor, // Local Feedback Source + DriveConstants.PID_PRIMARY, // PID Index for Source [0, 1] + DriveConstants.DRIVE_TIMEOUT_MS); // Configuration Timeout /* Configure the Remote Talon's selected sensor as a remote sensor for the right Talon */ - m_rightFrontMotor.configRemoteFeedbackFilter( m_leftFrontMotor.getDeviceID(), // Device ID of Source - RemoteSensorSource.TalonSRX_SelectedSensor, - DriveConstants.REMOTE_0, // Source number [0, 1] - DriveConstants.DRIVE_TIMEOUT_MS); // Configuration Timeout + m_rightFrontMotor.configRemoteFeedbackFilter( m_leftFrontMotor.getDeviceID(), // Device ID of Source + RemoteSensorSource.TalonSRX_SelectedSensor, DriveConstants.REMOTE_0, // Source number [0, 1] + DriveConstants.DRIVE_TIMEOUT_MS); // Configuration Timeout /* Configure the Pigeon IMU to the other Remote Slot available on the right Talon */ - m_rightFrontMotor.configRemoteFeedbackFilter( m_pigeon.getDeviceID(), - RemoteSensorSource.Pigeon_Yaw, - DriveConstants.REMOTE_1, - DriveConstants.DRIVE_TIMEOUT_MS); + m_rightFrontMotor.configRemoteFeedbackFilter( m_pigeon.getDeviceID(), RemoteSensorSource.Pigeon_Yaw, + DriveConstants.REMOTE_1, DriveConstants.DRIVE_TIMEOUT_MS); /* Setup Sum signal to be used for Distance */ m_rightFrontMotor.configSensorTerm(SensorTerm.Sum0, FeedbackDevice.RemoteSensor0, DriveConstants.DRIVE_TIMEOUT_MS); @@ -148,130 +210,170 @@ public class Drive extends SubsystemBase { m_rightFrontMotor.configSensorTerm(SensorTerm.Diff0, FeedbackDevice.IntegratedSensor, DriveConstants.DRIVE_TIMEOUT_MS); /* Configure Sum [Sum of both QuadEncoders] to be used for Primary PID Index */ - m_rightFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.SensorDifference, - DriveConstants.PID_PRIMARY, - DriveConstants.DRIVE_TIMEOUT_MS); - - /* Don't scale the Feedback Sensor (use 1 for 1:1 ratio) */ - m_rightFrontMotor.configSelectedFeedbackCoefficient( 1, // Coefficient - DriveConstants.PID_PRIMARY, // PID Slot of Source - DriveConstants.DRIVE_TIMEOUT_MS); // Configuration Timeout + configMotorSensor(FeedbackDevice.SensorDifference); - m_rightFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.RemoteSensor1, + /* Don't scale the Feedback Sensor (use 1 for 1:1 ratio) DOESN'T WORK */ + /* + m_rightFrontMotor.configSelectedFeedbackCoefficient( 1, // Coefficient + DriveConstants.PID_PRIMARY, // PID Slot of Source + DriveConstants.DRIVE_TIMEOUT_MS); // Configuration Timeout + */ + + m_rightFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.RemoteSensor1, DriveConstants.PID_TURN, DriveConstants.DRIVE_TIMEOUT_MS); - /* Don't scale the Feedback Sensor (use 1 for 1:1 ratio) */ - m_rightFrontMotor.configSelectedFeedbackCoefficient( 1, - DriveConstants.PID_TURN, - DriveConstants.DRIVE_TIMEOUT_MS); + /* Don't scale the Feedback Sensor (use 1 for 1:1 ratio) DOESN'T WORK */ + //m_rightFrontMotor.configSelectedFeedbackCoefficient(1, DriveConstants.PID_TURN, DriveConstants.DRIVE_TIMEOUT_MS); - /* Don't scale the Feedback Sensor (use 1 for 1:1 ratio) */ - m_leftFrontMotor.configSelectedFeedbackCoefficient( 1, - DriveConstants.PID_PRIMARY, - DriveConstants.DRIVE_TIMEOUT_MS); - - /* Set status frame periods to ensure we don't have stale data */ - m_rightFrontMotor.setStatusFramePeriod(StatusFrame.Status_12_Feedback1, 20, DriveConstants.DRIVE_TIMEOUT_MS); - m_rightFrontMotor.setStatusFramePeriod(StatusFrame.Status_13_Base_PIDF0, 20, DriveConstants.DRIVE_TIMEOUT_MS); - m_rightFrontMotor.setStatusFramePeriod(StatusFrame.Status_14_Turn_PIDF1, 20, DriveConstants.DRIVE_TIMEOUT_MS); + /* Don't scale the Feedback Sensor (use 1 for 1:1 ratio) DOESN'T WORK */ + //m_leftFrontMotor.configSelectedFeedbackCoefficient(1, DriveConstants.PID_PRIMARY, DriveConstants.DRIVE_TIMEOUT_MS); + + /* Set status frame periods to ensure we don't have stale data */ + m_rightFrontMotor.setStatusFramePeriod(StatusFrame.Status_12_Feedback1, 20, DriveConstants.DRIVE_TIMEOUT_MS); + m_rightFrontMotor.setStatusFramePeriod(StatusFrame.Status_13_Base_PIDF0, 20, DriveConstants.DRIVE_TIMEOUT_MS); + m_rightFrontMotor.setStatusFramePeriod(StatusFrame.Status_14_Turn_PIDF1, 20, DriveConstants.DRIVE_TIMEOUT_MS); m_leftFrontMotor.setStatusFramePeriod(StatusFrame.Status_2_Feedback0, 5, DriveConstants.DRIVE_TIMEOUT_MS); m_pigeon.setStatusFramePeriod(PigeonIMU_StatusFrame.CondStatus_9_SixDeg_YPR, 5, DriveConstants.DRIVE_TIMEOUT_MS); - /* Smart Dashboard Initial Values */ - - /* Set up Chooser */ - m_chooser.setDefaultOption("Distance PID", m_gainsDistance); - //setDriveTrainGains("Distance PID", m_gainsDistance); - m_chooser.addOption("Velocity PID", m_gainsVelocity); - //setDriveTrainGains("Velocity PID", m_gainsVelocity); - m_chooser.addOption("Turning PID", m_gainsTurning); - //setDriveTrainGains("Turning PID", m_gainsTurning); - m_chooser.addOption("Motion Magic PID", m_gainsMotionMagic); - //setDriveTrainGains("Motion Magic PID", m_gainsMotionMagic); - Shuffleboard.getTab("PID").add(m_chooser); - - /* Gyro */ - SmartDashboard.putNumber("Pigeon Yaw", getGyroYaw()); - SmartDashboard.putNumber("Pigeon Pitch", getGyroPitch()); - SmartDashboard.putNumber("Pigeon Roll", getGyroRoll()); - - /* Sensor Values */ - SmartDashboard.putNumber("Left Motor Velocity Raw", m_leftFrontMotor.getSelectedSensorVelocity(0)); - SmartDashboard.putNumber("Right Motor Velocity Raw", m_rightFrontMotor.getSelectedSensorVelocity()); - SmartDashboard.putNumber("Left Motor Position Raw", m_leftFrontMotor.getSelectedSensorPosition(0)); - SmartDashboard.putNumber("Right Motor Position Raw", m_rightFrontMotor.getSelectedSensorPosition()); - - /* PID */ - Gains gains = m_chooser.getSelected(); - Shuffleboard.getTab("PID").add("P Value Drive", gains.m_kP); - Shuffleboard.getTab("PID").add("I Value Drive", gains.m_kI); - Shuffleboard.getTab("PID").add("D Value Drive", gains.m_kD); - Shuffleboard.getTab("PID").add("F Value Drive", gains.m_kF); - - - /** - * Max out the peak output (for all modes). - * However you can limit the output of a given PID object with configClosedLoopPeakOutput(). - */ - m_leftFrontMotor.configPeakOutputForward(+1, DriveConstants.DRIVE_TIMEOUT_MS); - m_leftFrontMotor.configPeakOutputReverse(-1, DriveConstants.DRIVE_TIMEOUT_MS); - m_rightFrontMotor.configPeakOutputForward(+1, DriveConstants.DRIVE_TIMEOUT_MS); - m_rightFrontMotor.configPeakOutputReverse(-1, DriveConstants.DRIVE_TIMEOUT_MS); + m_leftBackMotor.setStatusFramePeriod(StatusFrame.Status_13_Base_PIDF0, 20, DriveConstants.DRIVE_TIMEOUT_MS); + m_rightBackMotor.setStatusFramePeriod(StatusFrame.Status_13_Base_PIDF0, 20, DriveConstants.DRIVE_TIMEOUT_MS); /** - * 1ms per loop. PID loop can be slowed down if need be. - * For example, - * - if sensor updates are too slow - * - sensor deltas are very small per update, so derivative error never gets large enough to be useful. - * - sensor movement is very slow causing the derivative error to be near zero. - */ + * Max out the peak output (for all modes). However you can limit the output of + * a given PID object with configClosedLoopPeakOutput(). + */ + m_leftFrontMotor.configPeakOutputForward(+1, DriveConstants.DRIVE_TIMEOUT_MS); + m_leftFrontMotor.configPeakOutputReverse(-1, DriveConstants.DRIVE_TIMEOUT_MS); + m_rightFrontMotor.configPeakOutputForward(+1, DriveConstants.DRIVE_TIMEOUT_MS); + m_rightFrontMotor.configPeakOutputReverse(-1, DriveConstants.DRIVE_TIMEOUT_MS); + + m_leftBackMotor.configPeakOutputForward(+1, DriveConstants.DRIVE_TIMEOUT_MS); + m_leftBackMotor.configPeakOutputReverse(-1, DriveConstants.DRIVE_TIMEOUT_MS); + m_rightBackMotor.configPeakOutputForward(+1, DriveConstants.DRIVE_TIMEOUT_MS); + m_rightBackMotor.configPeakOutputReverse(-1, DriveConstants.DRIVE_TIMEOUT_MS); + + /** + * 1ms per loop. PID loop can be slowed down if need be. For example, - if + * sensor updates are too slow - sensor deltas are very small per update, so + * derivative error never gets large enough to be useful. - sensor movement is + * very slow causing the derivative error to be near zero. + */ int closedLoopTimeMs = 1; - m_rightFrontMotor.configClosedLoopPeriod(DriveConstants.PID_PRIMARY, closedLoopTimeMs, DriveConstants.DRIVE_TIMEOUT_MS); - m_rightFrontMotor.configClosedLoopPeriod(DriveConstants.PID_TURN, closedLoopTimeMs, DriveConstants.DRIVE_TIMEOUT_MS); - /** - * configAuxPIDPolarity(boolean invert, int timeoutMs) - * false means talon's local output is PID0 + PID1, and other side Talon is PID0 - PID1 - * 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_rightFrontMotor.configClosedLoopPeriod( DriveConstants.PID_PRIMARY, + closedLoopTimeMs, + DriveConstants.DRIVE_TIMEOUT_MS); + m_rightFrontMotor.configClosedLoopPeriod( DriveConstants.PID_TURN, + closedLoopTimeMs, + DriveConstants.DRIVE_TIMEOUT_MS); + + m_leftBackMotor.configClosedLoopPeriod( DriveConstants.PID_PRIMARY, + closedLoopTimeMs, + DriveConstants.DRIVE_TIMEOUT_MS); + + m_leftBackMotor.configClosedLoopPeriod( DriveConstants.PID_PRIMARY, + closedLoopTimeMs, + DriveConstants.DRIVE_TIMEOUT_MS); + + /** + * configAuxPIDPolarity(boolean invert, int timeoutMs) false means talon's local + * output is PID0 + PID1, and other side Talon is PID0 - PID1 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_lastTime = System.currentTimeMillis(); + + 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() { + m_currentTimeSec = (int)(System.currentTimeMillis() / 1000); + SmartDashboard.putNumber("Time Seconds", System.currentTimeMillis()); + + if (m_currentTimeSec % 30 == 0) { + coolFalcon(true); + SmartDashboard.putBoolean("Solenoid", true); + } else if ((m_currentTimeSec - 1) % 30 == 0) { + coolFalcon(false); + SmartDashboard.putBoolean("Solenoid", false); + } + + m_deltaTime = System.currentTimeMillis() - m_lastTime; + m_lastTime = System.currentTimeMillis(); + m_lastAngleYaw = m_currentAngleYaw; + m_currentAngleYaw = getGyroYaw(); + + m_rightFrontMotorPos = m_rightFrontMotor.getSelectedSensorPosition(); + m_rightFrontMotorVel = m_rightFrontMotor.getSelectedSensorVelocity(); + try { SmartDashboard.putNumber("Pigeon Yaw", getGyroYaw()); - SmartDashboard.putNumber("Pigeon Pitch", getGyroPitch()); - SmartDashboard.putNumber("Pigeon Roll", getGyroRoll()); - - SmartDashboard.putNumber("Left Motor Velocity Raw", m_leftFrontMotor.getSelectedSensorVelocity(0)); - SmartDashboard.putNumber("Right Motor Velocity Raw", m_rightFrontMotor.getSelectedSensorVelocity()); - SmartDashboard.putNumber("Left Motor Position Raw", m_leftFrontMotor.getSelectedSensorPosition()); - SmartDashboard.putNumber("Right Motor Position Raw", m_rightFrontMotor.getSelectedSensorPosition(0)); + //SmartDashboard.putNumber("Pigeon Pitch", getGyroPitch()); + //SmartDashboard.putNumber("Pigeon Roll", getGyroRoll()); + 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("Right Front Motor Current", m_rightFrontMotor.getSupplyCurrent()); - SmartDashboard.putNumber("Left Front Motor Current", m_leftFrontMotor.getSupplyCurrent()); - SmartDashboard.putNumber("Right Back Motor Current", m_rightFrontMotor.getSupplyCurrent()); - SmartDashboard.putNumber("Left Back Motor Current", m_leftFrontMotor.getSupplyCurrent()); + SmartDashboard.putNumber("Right Motor Temp", m_rightFrontMotor.getTemperature()); + SmartDashboard.putNumber("Left Motor Temp", m_leftFrontMotor.getTemperature()); - SmartDashboard.putNumber("PID 0 Error", m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_PRIMARY)); - SmartDashboard.putNumber("PID 1 Error", m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_TURN)); - SmartDashboard.putNumber("PID 0 Target", m_rightFrontMotor.getClosedLoopTarget(DriveConstants.PID_PRIMARY)); - SmartDashboard.putNumber("PID 1 Target", m_rightFrontMotor.getClosedLoopTarget(DriveConstants.PID_TURN)); - SmartDashboard.putNumber("PID 0 Pos", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_PRIMARY)); - SmartDashboard.putNumber("PID 1 Pos", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN)); + //SmartDashboard.putNumber("Right Front Motor Current Supply", m_rightFrontMotor.getSupplyCurrent()); + //SmartDashboard.putNumber("Left Front Motor Current Supply", m_leftFrontMotor.getSupplyCurrent()); + //SmartDashboard.putNumber("Right Front Motor Current Stator ", m_rightFrontMotor.getStatorCurrent()); + //SmartDashboard.putNumber("Left Front Motor Current Stator", m_leftFrontMotor.getSupplyCurrent()); + //SmartDashboard.putNumber("PID 0 Error", m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_PRIMARY)); + //SmartDashboard.putNumber("PID 1 Error", m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_TURN)); + //SmartDashboard.putNumber("PID 0 Target", m_rightFrontMotor.getClosedLoopTarget(DriveConstants.PID_PRIMARY)); + //SmartDashboard.putNumber("PID 1 Target", m_rightFrontMotor.getClosedLoopTarget(DriveConstants.PID_TURN)); + //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.putNumber("Odometry Heading", getHeading()); + + SmartDashboard.putNumber("Time Seconds", m_currentTimeSec); + //SmartDashboard.putNumber("Delta Time", m_deltaTime); + + 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); + // e.printStackTrace(System.err); } + + m_odometry.update(Rotation2d.fromDegrees( getHeading()), + inchesToMeters(getDistanceInches(m_leftBackMotor)), + -inchesToMeters(getDistanceInches(m_rightBackMotor))); } /** * Sets Motors to a NeutralMode. + * * @param mode NeutralMode to set motors to */ public void setDriveTrainNeutralMode(NeutralMode mode) { @@ -282,120 +384,142 @@ public class Drive extends SubsystemBase { } /** - * Initializes the drive train gains kP, kI, kD, and kF - * @param slot Either "Distance PID", "Velocity PID", "Motion Magic PID", or "Turning PID" - * @param gains A gains object which is the gains that are set for the slot + * Runs percent output control on the moving and steering of the drive train, + * using the Differential Drive class to manage the two inputs */ - public void setDriveTrainGains(String slot, Gains gains){ - /* Distance */ - if (slot.equals("Distance PID")) { - m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_DISTANCE, DriveConstants.PID_PRIMARY); - m_rightFrontMotor.config_kF(DriveConstants.SLOT_DISTANCE, gains.m_kF, DriveConstants.DRIVE_TIMEOUT_MS); - m_rightFrontMotor.config_kP(DriveConstants.SLOT_DISTANCE, gains.m_kP, DriveConstants.DRIVE_TIMEOUT_MS); - m_rightFrontMotor.config_kI(DriveConstants.SLOT_DISTANCE, gains.m_kI, DriveConstants.DRIVE_TIMEOUT_MS); - m_rightFrontMotor.config_kD(DriveConstants.SLOT_DISTANCE, gains.m_kD, DriveConstants.DRIVE_TIMEOUT_MS); - } - - /* Velocity */ - if (slot.equals("Velocity PID")) { - m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY); - m_rightFrontMotor.config_kF(DriveConstants.SLOT_VELOCITY, gains.m_kF, DriveConstants.DRIVE_TIMEOUT_MS); - m_rightFrontMotor.config_kP(DriveConstants.SLOT_VELOCITY, gains.m_kP, DriveConstants.DRIVE_TIMEOUT_MS); - m_rightFrontMotor.config_kI(DriveConstants.SLOT_VELOCITY, gains.m_kI, DriveConstants.DRIVE_TIMEOUT_MS); - m_rightFrontMotor.config_kD(DriveConstants.SLOT_VELOCITY, gains.m_kD, DriveConstants.DRIVE_TIMEOUT_MS); - m_rightFrontMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_VELOCITY, gains.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS); - } - /* Turning */ - if (slot.equals("Turning PID")) { - m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN); - m_rightFrontMotor.config_kF(DriveConstants.SLOT_TURNING, gains.m_kF, DriveConstants.DRIVE_TIMEOUT_MS); - m_rightFrontMotor.config_kP(DriveConstants.SLOT_TURNING, gains.m_kP, DriveConstants.DRIVE_TIMEOUT_MS); - m_rightFrontMotor.config_kI(DriveConstants.SLOT_TURNING, gains.m_kI, DriveConstants.DRIVE_TIMEOUT_MS); - m_rightFrontMotor.config_kD(DriveConstants.SLOT_TURNING, gains.m_kD, DriveConstants.DRIVE_TIMEOUT_MS); - m_rightFrontMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_TURNING, gains.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS); - } - - /* Motion Magic */ - if (slot.equals("Motion Magic PID")) { - m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_MOTION_MAGIC, DriveConstants.PID_PRIMARY); - m_rightFrontMotor.config_kF(DriveConstants.SLOT_MOTION_MAGIC, gains.m_kF, DriveConstants.DRIVE_TIMEOUT_MS); - m_rightFrontMotor.config_kP(DriveConstants.SLOT_MOTION_MAGIC, gains.m_kP, DriveConstants.DRIVE_TIMEOUT_MS); - m_rightFrontMotor.config_kI(DriveConstants.SLOT_MOTION_MAGIC, gains.m_kI, DriveConstants.DRIVE_TIMEOUT_MS); - m_rightFrontMotor.config_kD(DriveConstants.SLOT_MOTION_MAGIC, gains.m_kD, 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); - } + public void driveWithInput(double move, double steer) { + m_driveTrain.arcadeDrive(move, steer); + m_leftBackMotor.follow(m_leftFrontMotor); + m_rightBackMotor.follow(m_rightFrontMotor); } /** - * Add your docs here. + * Runs percent output control on the drive train while using an AUX PID for rotation + * @param targetPos The position to drive to in units + * @param targetGyro The angle to drive at in units */ - public void driveWithInput(double move, double steer){ - m_driveTrain.arcadeDrive(move, steer); - } - public void driveWithInputAux(double move, double targetGyro) { m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN); m_rightFrontMotor.set(TalonFXControlMode.PercentOutput, move, DemandType.AuxPID, targetGyro); m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1); + m_leftBackMotor.follow(m_leftFrontMotor); + m_rightBackMotor.follow(m_rightFrontMotor); m_driveTrain.feedWatchdog(); } /** - * Runs a position PID while driving straight - * @param targetPos The position to drive to in units + * Runs position PID. + * Position is absolute and displacement should be handled on the command side. + * @param targetPos The position to drive to in units * @param targetGyro The angle to drive at in units */ - public void runDriveStraightPositionPID(double targetPos, double targetGyro) { + public void runDrivePositionPID(double targetPos, double targetGyro) { m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_DISTANCE, DriveConstants.PID_PRIMARY); m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN); m_rightFrontMotor.set(TalonFXControlMode.Position, targetPos, DemandType.AuxPID, targetGyro); m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1); + m_leftBackMotor.follow(m_leftFrontMotor); + m_rightBackMotor.follow(m_rightFrontMotor); - m_driveTrain.feedWatchdog(); + //m_driveTrain.feedWatchdog(); } /** - * Runs velocity PID while driving straight - * @param targetVel The velocity to drive at in units + * Runs velocity PID + * + * @param targetVel The velocity to drive at in units * @param targetGyro The angle to drive at in units */ - public void runDriveStraightVelocityPID(double targetVel, double targetGyro) { + public void runDriveVelocityPID(double targetVel, double targetGyro) { 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_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1); + m_leftBackMotor.follow(m_leftFrontMotor); + m_rightBackMotor.follow(m_rightFrontMotor); - m_driveTrain.feedWatchdog(); + //m_driveTrain.feedWatchdog(); } /** - * Runs motion magic PID while driving straight (has not been tested) + * Runs motion magic PID while driving straight * @param targetPos The position to drive to in units * @param targetGyro The angle to drive at in units */ - public void runMotionMagicPID(double targetPos, double targetGyro){ + public void runMotionMagicPID(double targetPos, double targetGyro) { m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_MOTION_MAGIC, DriveConstants.PID_PRIMARY); m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN); 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); + + m_driveTrain.feedWatchdog(); + + } + + /** + * Runs a Turning PID to rotate a to a target angle + * + * @param targetAngle target angle in degrees + */ + public void runTurningPID(double targetAngle) { + double targetGyro = (targetAngle / 360) * DriveConstants.TICKS_PER_GYRO_REV; + + runDriveVelocityPID(0, targetGyro); + } + + /** + * Controls the left and right sides of the drive with velocity targets. + * + * @param leftSpeed the commanded left speed + * @param rightSpeed the commanded right speed + */ + public void tankDriveVelocity(double leftSpeed, double rightSpeed) { + //DifferentialDriveWheelSpeeds wheelSpeeds = new DifferentialDriveWheelSpeeds(leftSpeed, rightSpeed); + //ChassisSpeeds chassisSpeeds = DriveConstants.kDriveKinematics.toChassisSpeeds(wheelSpeeds); + //double moveVelMPS = chassisSpeeds.vxMetersPerSecond; + //double angleVelRad = chassisSpeeds.omegaRadiansPerSecond; + //double angleVelDeg = Math.toDegrees(angleVelRad); + + //m_kinematicsTargetAngle += angleVelDeg * (m_deltaTime/1000); + //m_kinematicsTargetAngle = MathUtil.clamp( m_kinematicsTargetAngle, + // 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; + + //SmartDashboard.putNumber("Move Vel Left", moveVelLeft); + //SmartDashboard.putNumber("Move Vel Right", moveVelRight); + + //runDriveVelocityPID(moveVel*2, targetGyro); + + m_rightBackMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY); + m_leftBackMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY); + + System.err.println(moveVelLeft); + + m_rightBackMotor.set(TalonFXControlMode.Velocity, moveVelRight); + m_leftBackMotor.set(TalonFXControlMode.Velocity, moveVelLeft); + m_leftFrontMotor.follow(m_leftBackMotor); + m_rightFrontMotor.follow(m_rightBackMotor); m_driveTrain.feedWatchdog(); } /** - * Runs a Turning PID to rotate a to a target angle - * @param targetAngle target angle in degrees + * Selects the feedback device for the motors. + * @param feedbackDevice The feedback device to set it to, usually SensorDifference or */ - public void runTurningPID(double targetAngle){ - double targetGyro = (targetAngle/360)*DriveConstants.TICKS_PER_GYRO_REV; - - runDriveStraightVelocityPID(0, targetGyro); + public void configMotorSensor(FeedbackDevice type) { + m_rightFrontMotor.configSelectedFeedbackSensor( type, DriveConstants.PID_PRIMARY, + DriveConstants.DRIVE_TIMEOUT_MS); } /** @@ -404,17 +528,17 @@ public class Drive extends SubsystemBase { public double getGyroYaw() { double[] ypr = new double[3]; - + m_pigeon.getYawPitchRoll(ypr); return ypr[0]; - } + } /** * Returns the current pitch of the pigeon */ public double getGyroPitch() { double[] ypr = new double[3]; - + m_pigeon.getYawPitchRoll(ypr); return ypr[1]; } @@ -424,7 +548,7 @@ public class Drive extends SubsystemBase { */ public double getGyroRoll() { double[] ypr = new double[3]; - + m_pigeon.getYawPitchRoll(ypr); return ypr[2]; } @@ -435,18 +559,170 @@ public class Drive extends SubsystemBase { public void resetGyroYaw() { m_pigeon.setYaw(0); m_pigeon.setAccumZAngle(0); + resetGyroAngles(); } + /** + * Add docs here + */ + public void resetGyroAngles() { + m_lastAngleYaw = 0; + m_currentAngleYaw = 0; + m_kinematicsTargetAngle = 0; + } +//lol +//sko +//ridge + /** +//brayden=bad coder + * Returns the heading of the robot + * @return The robot's heading in degrees, from -180 to 180 + */ + public double getHeading() { + return Math.IEEEremainder(getGyroYaw(), 360); + } + + /** + * Returns the turn rate of the robot. + * + * @return The turn rate of the robot, in degrees per second + */ + public double getTurnRate() { + double deltaYaw = m_currentAngleYaw - m_lastAngleYaw; + double turnRate = 1000 * deltaYaw / m_deltaTime; + return turnRate; + } + + /** + * Returns the currently-estimated pose of the robot. + * @return The pose. + */ + public Pose2d getPose() { + return m_odometry.getPoseMeters(); + } + + /** + * Returns current wheel speeds of robot. + * @return The current wheel speeds. + */ + public DifferentialDriveWheelSpeeds getWheelSpeeds() { + return new DifferentialDriveWheelSpeeds( inchesToMeters(getVelocityInchesPerSecond(m_leftBackMotor)), + -inchesToMeters(getVelocityInchesPerSecond(m_rightBackMotor))); + } + + /** + * Resets the encoders for both motors. + */ + public void resetEncoders() { + m_leftFrontMotor.getSensorCollection().setIntegratedSensorPosition(0, DriveConstants.DRIVE_TIMEOUT_MS); + 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); + } + + /** + * Resets the odometry to the specified pose. + * + * @param pose The pose to which to set the odometry. + */ + public void setOdometry(Pose2d pose) { + resetEncoders(); + m_odometry.resetPosition(pose, Rotation2d.fromDegrees(getHeading())); + } + + /** + * Gets the encoder value (position) of a motor + * @param falcon The motor to get the position of + * @return The position of the motor in inches + */ + public double getDistanceInches(WPI_TalonFX falcon) { + return ticksToInches(falcon.getSensorCollection().getIntegratedSensorPosition()); + } + + /** + * Gets the encoder value (velocity) of a motor + * @param falcon The motor to get the velocity of + * @return The velocity of the motor in inches per second + */ + public double getVelocityInchesPerSecond(WPI_TalonFX falcon) { + return ticksToInches(falcon.getSensorCollection().getIntegratedSensorPosition()/DriveConstants.TICK_TIME_TO_SECONDS); + } + + /** + * Converts a value in ticks to inches. + * @param ticks The value in ticks to convert + * @return The converted value in inches + */ + public double ticksToInches(double ticks) { + return ticks * DriveConstants.INCHES_PER_TICK; + } + + /** + * Converts a value in inches to ticks. + * @param inches The value in inches to convert + * @return The converted value in ticks + */ + public double inchesToTicks(double inches) { + return inches * DriveConstants.TICKS_PER_INCH; + } + + /** + * Converts a value in inches to meters. + * @param inches The value in inches to convert + * @return The converted value in meters + */ + public double inchesToMeters(double inches) { + return inches * DriveConstants.METERS_PER_INCH; + } + + /** + * Converts a value in meters to inches. + * @param meters The value in meters to convert + * @return The converted value in inches + */ + public double metersToInches(double meters) { + return meters * DriveConstants.INCHES_PER_METER; + } + + /* + * 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 */ public void setShiftState(boolean state) { if (state == true) { - speedShift.set(DoubleSolenoid.Value.kForward); + m_speedShift.set(DoubleSolenoid.Value.kForward); } if (state == false) { - speedShift.set(DoubleSolenoid.Value.kReverse); + m_speedShift.set(DoubleSolenoid.Value.kReverse); } } + + /** + * Set to open or close solenoid that cools the falcon, true = open, false = close + * @param state Chooses between open and close + */ + public void coolFalcon(boolean state) { + if (state == true) { + m_coolFalcon.set(DoubleSolenoid.Value.kForward); + } + if (state == false) { + m_coolFalcon.set(DoubleSolenoid.Value.kReverse); + } + } + } diff --git a/src/main/java/frc4388/robot/subsystems/Leveler.java b/src/main/java/frc4388/robot/subsystems/Leveler.java index 02df406..0db0562 100644 --- a/src/main/java/frc4388/robot/subsystems/Leveler.java +++ b/src/main/java/frc4388/robot/subsystems/Leveler.java @@ -17,16 +17,20 @@ import com.revrobotics.CANSparkMaxLowLevel.MotorType; import edu.wpi.first.wpilibj.Talon; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc4388.robot.Constants.LevelerConstants; +import frc4388.robot.subsystems.*; public class Leveler extends SubsystemBase { CANSparkMax m_levelerMotor = new CANSparkMax(LevelerConstants.LEVELER_CAN_ID, MotorType.kBrushless); + private final Climber m_robotClimber = new Climber(); + /** * Creates a new Leveler. */ public Leveler() { m_levelerMotor.restoreFactoryDefaults(); - m_levelerMotor.setIdleMode(IdleMode.kCoast); + + m_levelerMotor.setIdleMode(IdleMode.kBrake); m_levelerMotor.setInverted(false); } @@ -40,6 +44,11 @@ public class Leveler extends SubsystemBase { * @param input the percent output to run motor at */ public void runLeveler(double input) { - m_levelerMotor.set(input); + if(m_robotClimber.climberSafety){ + m_levelerMotor.set(input); + } + else{ + m_levelerMotor.set(0); + } } } diff --git a/src/main/java/frc4388/robot/subsystems/Shooter.java b/src/main/java/frc4388/robot/subsystems/Shooter.java index 169e36f..a18aca5 100644 --- a/src/main/java/frc4388/robot/subsystems/Shooter.java +++ b/src/main/java/frc4388/robot/subsystems/Shooter.java @@ -11,28 +11,56 @@ 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; +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_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(); + CANPIDController m_shooterRotatePIDController = m_shooterRotateMotor.getPIDController(); + + CANEncoder m_angleEncoder = m_angleAdjustMotor.getEncoder(); + CANEncoder m_shooterRotateEncoder = m_shooterRotateMotor.getEncoder(); double velP; - /** + double input; + + /* * Creates a new Shooter subsystem. */ public Shooter() { + //Testing purposes reseting gyros + resetGyroAngleAdj(); + resetGyroShooterRotate(); + m_shooterFalcon.configFactoryDefault(); - + m_shooterRotateMotor.setIdleMode(IdleMode.kBrake); m_shooterFalcon.setNeutralMode(NeutralMode.Coast); - - m_shooterFalcon.setInverted(true); + m_shooterFalcon.setInverted(false); setShooterGains(); @@ -64,10 +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. @@ -87,4 +115,55 @@ public class Shooter extends SubsystemBase { m_shooterFalcon.set(TalonFXControlMode.Velocity, targetVel); //Init PID } } + + + 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_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; + + m_angleAdjustPIDController.setReference(targetAngle, ControlType.kPosition); + } + + /* Rotate Shooter PID Control */ + public void runshooterRotatePID(double targetAngle) + { + // Set PID Coefficients + 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; + + 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); + } } \ No newline at end of file diff --git a/src/main/java/frc4388/robot/subsystems/Storage.java b/src/main/java/frc4388/robot/subsystems/Storage.java index db3d2fe..c71355a 100644 --- a/src/main/java/frc4388/robot/subsystems/Storage.java +++ b/src/main/java/frc4388/robot/subsystems/Storage.java @@ -17,7 +17,6 @@ import com.revrobotics.ControlType; import com.revrobotics.SparkMax; import com.revrobotics.CANSparkMaxLowLevel.MotorType; import com.revrobotics.CANDigitalInput.LimitSwitchPolarity; - import edu.wpi.first.wpilibj.DigitalInput; import edu.wpi.first.wpilibj.Encoder; import edu.wpi.first.wpilibj2.command.SubsystemBase; @@ -61,6 +60,10 @@ public class Storage extends SubsystemBase { * @param input the voltage to run motor at */ + public void runStorage(final double input) { + m_storageMotor.set(input); + final boolean beam_on = m_beamSensors[0].get(); + } public void resetEncoder() { diff --git a/vendordeps/Phoenix.json b/vendordeps/Phoenix.json index a633555..c6ec878 100644 --- a/vendordeps/Phoenix.json +++ b/vendordeps/Phoenix.json @@ -1,7 +1,7 @@ { "fileName": "Phoenix.json", "name": "CTRE-Phoenix", - "version": "5.17.4", + "version": "5.18.1", "uuid": "ab676553-b602-441f-a38d-f1296eff6537", "mavenUrls": [ "http://devsite.ctr-electronics.com/maven/release/" @@ -11,19 +11,19 @@ { "groupId": "com.ctre.phoenix", "artifactId": "api-java", - "version": "5.17.4" + "version": "5.18.1" }, { "groupId": "com.ctre.phoenix", "artifactId": "wpiapi-java", - "version": "5.17.4" + "version": "5.18.1" } ], "jniDependencies": [ { "groupId": "com.ctre.phoenix", "artifactId": "cci", - "version": "5.17.4", + "version": "5.18.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -35,7 +35,7 @@ { "groupId": "com.ctre.phoenix", "artifactId": "diagnostics", - "version": "5.17.4", + "version": "5.18.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -47,7 +47,7 @@ { "groupId": "com.ctre.phoenix", "artifactId": "canutils", - "version": "5.17.4", + "version": "5.18.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -58,7 +58,7 @@ { "groupId": "com.ctre.phoenix", "artifactId": "platform-stub", - "version": "5.17.4", + "version": "5.18.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -69,7 +69,7 @@ { "groupId": "com.ctre.phoenix", "artifactId": "core", - "version": "5.17.4", + "version": "5.18.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -83,7 +83,7 @@ { "groupId": "com.ctre.phoenix", "artifactId": "wpiapi-cpp", - "version": "5.17.4", + "version": "5.18.1", "libName": "CTRE_Phoenix_WPI", "headerClassifier": "headers", "sharedLibrary": false, @@ -97,7 +97,7 @@ { "groupId": "com.ctre.phoenix", "artifactId": "api-cpp", - "version": "5.17.4", + "version": "5.18.1", "libName": "CTRE_Phoenix", "headerClassifier": "headers", "sharedLibrary": false, @@ -111,7 +111,7 @@ { "groupId": "com.ctre.phoenix", "artifactId": "cci", - "version": "5.17.4", + "version": "5.18.1", "libName": "CTRE_PhoenixCCI", "headerClassifier": "headers", "sharedLibrary": false, @@ -125,7 +125,7 @@ { "groupId": "com.ctre.phoenix", "artifactId": "diagnostics", - "version": "5.17.4", + "version": "5.18.1", "libName": "CTRE_PhoenixDiagnostics", "headerClassifier": "headers", "sharedLibrary": false, @@ -139,7 +139,7 @@ { "groupId": "com.ctre.phoenix", "artifactId": "canutils", - "version": "5.17.4", + "version": "5.18.1", "libName": "CTRE_PhoenixCanutils", "headerClassifier": "headers", "sharedLibrary": false, @@ -152,7 +152,7 @@ { "groupId": "com.ctre.phoenix", "artifactId": "platform-stub", - "version": "5.17.4", + "version": "5.18.1", "libName": "CTRE_PhoenixPlatform", "headerClassifier": "headers", "sharedLibrary": false, @@ -165,7 +165,7 @@ { "groupId": "com.ctre.phoenix", "artifactId": "core", - "version": "5.17.4", + "version": "5.18.1", "libName": "CTRE_PhoenixCore", "headerClassifier": "headers", "sharedLibrary": false, diff --git a/vendordeps/WPILibOldCommands.json b/vendordeps/WPILibOldCommands.json new file mode 100644 index 0000000..acc8879 --- /dev/null +++ b/vendordeps/WPILibOldCommands.json @@ -0,0 +1,37 @@ +{ + "fileName": "WPILibOldCommands.json", + "name": "WPILib-Old-Commands", + "version": "2020.0.0", + "uuid": "b066afc2-5c18-43c4-b758-43381fcb275e", + "mavenUrls": [], + "jsonUrl": "", + "javaDependencies": [ + { + "groupId": "edu.wpi.first.wpilibOldCommands", + "artifactId": "wpilibOldCommands-java", + "version": "wpilib" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "edu.wpi.first.wpilibOldCommands", + "artifactId": "wpilibOldCommands-cpp", + "version": "wpilib", + "libName": "wpilibOldCommands", + "headerClassifier": "headers", + "sourcesClassifier": "sources", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "linuxraspbian", + "linuxaarch64bionic", + "windowsx86-64", + "windowsx86", + "linuxx86-64", + "osxx86-64" + ] + } + ] +} \ No newline at end of file