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Add Vision (Untested)

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This commit is contained in:
ryan123rudder
2020-02-13 16:42:54 -07:00
parent d94a650fbf
commit 4c257acfc1
4 changed files with 155 additions and 15 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+9
View File
@@ -30,6 +30,8 @@ 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;
@@ -53,6 +55,10 @@ 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);
@@ -102,6 +108,9 @@ public class RobotContainer {
new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
.whileHeld(new ShooterVelocityControlPID(m_robotShooter, 4000));
new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON)
.whileHeld(new TrackTarget(m_robotDrive, m_driverXbox));
new JoystickButton(getOperatorJoystick(), XboxController.LEFT_BUMPER_BUTTON)
.whenPressed(new RunExtenderOutIn(m_robotIntake));
src/main/java/frc4388/robot/commands/TrackTarget.java
+84
View File
@@ -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.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;
Drive m_drive;
IHandController m_driverController;
//Aiming
double turnAmount = 0;
double xAngle = 0;
double yAngle = 0;
double target = 0;
double distance;
/**
* Uses the Limelight to track the target
*/
public TrackTarget(Drive driveSubsystem, IHandController driverController) {
m_drive = driveSubsystem;
addRequirements(m_drive);
m_driverController = driverController;
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_drive.driveWithInput(m_driverController.getLeftYAxis(), turnAmount);
//Finding Distance
distance = VisionConstants.TARGET_HEIGHT/Math.tan((VisionConstants.LIME_ANGLE + yAngle)*(Math.PI/180));
SmartDashboard.putNumber("Distance to Target", distance);
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
//Drive Camera Mode
NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(1);
NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(0);
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}
src/main/java/frc4388/robot/subsystems/Camera.java
+47
View File
@@ -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() {
}
}
vendordeps/Phoenix.json
+15 -15
View File
@@ -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,