From 535f92725e65d3a35aab0e5b7f274cdbbcbe4431 Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Sat, 3 Apr 2021 14:11:05 -0600 Subject: [PATCH] GSC --- PathWeaver/Paths/GSC_ABLUE | 4 +- PathWeaver/Paths/GSC_ARED | 8 +-- PathWeaver/Paths/GSC_BBLUE | 10 +-- PathWeaver/Paths/GSC_BRED | 8 +-- PathWeaver/pathweaver.json | 4 +- src/main/deploy/paths/Barrel.wpilib.json | 2 +- .../paths/BarrelManyWaypoints.wpilib.json | 2 +- src/main/deploy/paths/BarrelStart.wpilib.json | 2 +- src/main/deploy/paths/Bounce.wpilib.json | 2 +- src/main/deploy/paths/Bounce4.wpilib.json | 2 +- .../paths/DriveOffLineBackward.wpilib.json | 2 +- .../paths/DriveOffLineForward.wpilib.json | 2 +- .../deploy/paths/EightBallMid0.wpilib.json | 2 +- .../deploy/paths/EightBallMid1.wpilib.json | 2 +- .../deploy/paths/EightBallMid2.wpilib.json | 2 +- .../paths/EightBallMidComplete.wpilib.json | 2 +- .../paths/FiveBallMidComplete.wpilib.json | 2 +- src/main/deploy/paths/GSC_ABLUE.wpilib.json | 2 +- src/main/deploy/paths/GSC_ARED.wpilib.json | 2 +- src/main/deploy/paths/GSC_BBLUE.wpilib.json | 2 +- src/main/deploy/paths/GSC_BRED.wpilib.json | 2 +- src/main/deploy/paths/Seq1.wpilib.json | 2 +- src/main/deploy/paths/Seq2.wpilib.json | 2 +- src/main/deploy/paths/SixBallMid0.wpilib.json | 2 +- src/main/deploy/paths/SixBallMid1.wpilib.json | 2 +- .../paths/SixBallMidComplete.wpilib.json | 2 +- src/main/deploy/paths/Slalom.wpilib.json | 2 +- .../paths/TenBallMidComplete.wpilib.json | 2 +- src/main/java/frc4388/robot/Constants.java | 4 +- src/main/java/frc4388/robot/Robot.java | 1 + .../java/frc4388/robot/RobotContainer.java | 13 ++-- .../frc4388/robot/subsystems/LimeLight.java | 65 +++++++++++++------ 32 files changed, 98 insertions(+), 65 deletions(-) diff --git a/PathWeaver/Paths/GSC_ABLUE b/PathWeaver/Paths/GSC_ABLUE index 043d711..1ced7d2 100644 --- a/PathWeaver/Paths/GSC_ABLUE +++ b/PathWeaver/Paths/GSC_ABLUE @@ -1,6 +1,6 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Name 1.269,-2.313833150808477,1.336,0.031,true, -4.6270772402241835,-3.748786703601108,1.2563247355441896,1.7028754396751247,false, -5.394035173613347,-1.5035792050505696,1.4968049990336905,0.5133670038008115,true, +4.794076145075049,-3.3281968691618884,1.2803249371899765,1.1937329124524894,true, +5.5362934999677895,-2.060242221220125,0.9586974167364559,0.6556253301552535,true, 6.909395606519357,-2.276722283063841,1.7442107839979393,0.04948115699284994,true, 8.901012175481542,-2.208685692198673,0.5690333054177668,0.012370289248212374,true, diff --git a/PathWeaver/Paths/GSC_ARED b/PathWeaver/Paths/GSC_ARED index 22fb8af..ab077a7 100644 --- a/PathWeaver/Paths/GSC_ARED +++ b/PathWeaver/Paths/GSC_ARED @@ -1,6 +1,6 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Name 1.269,-2.313833150808477,0.8840193905817173,-0.0061851446241063535,true, -2.3509440185531143,-2.2890925723120525,1.269287873893314,-0.3453492463826622,false, -3.872489596083231,-3.0436802164530046,1.694729627005089,0.49481156992849273,true, -4.899223603684853,-0.6005480899310699,2.152430329188946,0.5381075822972362,true, -8.962863621722605,-0.5572520775623268,0.5690333054177668,0.012370289248212374,true, +2.3880548862977515,-2.3262034400566898,0.8709913158855322,-0.15096819285711183,false, +3.8415638729627,-2.9447179024673065,1.694729627005089,0.49481156992849273,true, +5.029111640791084,-1.1448408168524122,2.152430329188946,0.5381075822972362,true, +8.703087547510146,-0.9716567673774398,0.5690333054177668,0.012370289248212374,true, diff --git a/PathWeaver/Paths/GSC_BBLUE b/PathWeaver/Paths/GSC_BBLUE index 9caa653..49c8588 100644 --- a/PathWeaver/Paths/GSC_BBLUE +++ b/PathWeaver/Paths/GSC_BBLUE @@ -1,6 +1,6 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Name -1.269,-2.2890925723120525,1.3359912388069315,0.03092572312053088,true, -4.608521806351864,-3.0374950718288987,1.8740988211041678,0.19173948334729074,true, -6.130067383881981,-1.497394060426464,1.762766217870257,0.03092572312053088,true, -7.676353539908522,-3.0251247825806864,1.874098821104166,-0.006185144624105465,true, -8.956678477098498,-3.0189396379565805,0.5690333054177668,0.012370289248212374,true, +1.269,-2.2890925723120525,3.0,0.0,true, +4.608521806351864,-3.0374950718288987,2.0,0.0,true, +6.130067383881981,-1.8623175932487273,2.5,0.006,true, +7.701094118404947,-2.9385327578431997,2.5,0.0,true, +8.758753849127102,-2.9323476132190938,0.5690333054177668,0.0,true, diff --git a/PathWeaver/Paths/GSC_BRED b/PathWeaver/Paths/GSC_BRED index 149b9e7..daaf38d 100644 --- a/PathWeaver/Paths/GSC_BRED +++ b/PathWeaver/Paths/GSC_BRED @@ -1,6 +1,6 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Name 1.269,-2.313833150808477,1.336,0.0,true, -2.369499452425433,-1.5345049281711007,1.694729627005088,-0.402034400566901,true, -3.872489596083231,-3.0436802164530046,1.6019524576434967,-0.012370289248212263,true, -5.412590607485666,-1.497394060426464,2.170985763061264,0.22266520646782229,true, 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b/src/main/deploy/paths/Barrel.wpilib.json @@ -1 +1 @@ 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\ No newline at end of file diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 843c279..59ca89d 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -223,9 +223,9 @@ public final class Constants { public static final double farLeftVisibleX = 3.58; public static final double farRightVisibleX = 7.04;*/ - public static final double[] aRed = {3.8, 0.3}; + public static final double[] aRed = {-2.3, 0.6}; public static final double[] bRed = {-7.6, 4.3}; - public static final double[] aBlue = {9.9, 8.2}; + public static final double[] aBlue = {9.9, 9.0}; public static final double[] bBlue = {4.8, 8.8}; } diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java index f5b755d..11ac869 100644 --- a/src/main/java/frc4388/robot/Robot.java +++ b/src/main/java/frc4388/robot/Robot.java @@ -75,6 +75,7 @@ public class Robot extends TimedRobot { @Override public void disabledPeriodic() { m_robotContainer.resetOdometry(new Pose2d()); + m_robotContainer.idenPath(); } /** diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 397e3b1..283cea7 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -55,6 +55,8 @@ import frc4388.robot.commands.shooter.CalibrateShooter; import frc4388.robot.commands.shooter.ShootPrepGroup; import frc4388.robot.commands.shooter.TrackTarget; import frc4388.robot.commands.shooter.TrimShooter; +import frc4388.robot.commands.storage.ManageStorage; +import frc4388.robot.commands.storage.ManageStorage.StorageMode; import frc4388.robot.subsystems.Camera; import frc4388.robot.subsystems.Climber; import frc4388.robot.subsystems.Drive; @@ -173,8 +175,8 @@ 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 storage not - m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0), m_robotStorage)); - //m_robotStorage.setDefaultCommand(new ManageStorage(m_robotStorage, StorageMode.IDLE)); + //m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0), m_robotStorage)); + m_robotStorage.setDefaultCommand(new ManageStorage(m_robotStorage, StorageMode.IDLE)); //m_robotLime.setDefaultCommand(new RunCommand(() -> m_robotLime.limeOff(), m_robotLime)); } @@ -294,10 +296,14 @@ public class RobotContainer { "GSC_BRED", "GSC_BBLUE" }; - m_robotLime.identifyPath(); + idenPath(); m_galacticSearch = new GalacticSearch(m_robotLime, m_robotIntake, buildPaths(galacticSearchPaths)); } + public void idenPath() + { + m_robotLime.identifyPath(); + } /** * Use this to pass the autonomous command to the main {@link Robot} class. * @@ -308,7 +314,6 @@ public class RobotContainer { //TrajectoryConfig config = getTrajectoryConfig(); //Trajectory trajectory = getTrajectory(config); //RamseteCommand ramseteCommand = getRamseteCommand(trajectory); - // Run path following command, then stop at the end. try { SmartDashboard.putNumber("Trajectory Total Time", m_totalTimeAuto); diff --git a/src/main/java/frc4388/robot/subsystems/LimeLight.java b/src/main/java/frc4388/robot/subsystems/LimeLight.java index b83178d..9af3b46 100644 --- a/src/main/java/frc4388/robot/subsystems/LimeLight.java +++ b/src/main/java/frc4388/robot/subsystems/LimeLight.java @@ -50,31 +50,58 @@ public class LimeLight extends SubsystemBase { return NetworkTableInstance.getDefault().getTable("limelight").getEntry("ty").getDouble(0); } + int i = 0; + boolean onceThrough = false; + boolean pathFound = false; public void identifyPath(){ - changePipeline(1); - if (withinCoords(VisionConstants.aBlue)) - { - galacticSearchPath = "A_BLUE"; - } - changePipeline(2); - if (withinCoords(VisionConstants.bBlue)) + if (!onceThrough) { - galacticSearchPath = "B_BLUE"; - } + changePipeline(2); + if (withinCoords(VisionConstants.aBlue)) + { + pathFound = true; + galacticSearchPath = "A_BLUE"; + } - changePipeline(1); - if (withinCoords(VisionConstants.aRed)) - { - galacticSearchPath = "A_RED"; - } + changePipeline(4); + if (withinCoords(VisionConstants.bBlue)) + { + pathFound = true; + galacticSearchPath = "B_BLUE"; + } - changePipeline(1); - if (withinCoords(VisionConstants.bRed)) - { - galacticSearchPath = "B_RED"; + changePipeline(1); + if (withinCoords(VisionConstants.aRed)) + { + pathFound = true; + galacticSearchPath = "A_RED"; + } + + changePipeline(3); + if (withinCoords(VisionConstants.bRed)) + { + pathFound = true; + galacticSearchPath = "B_RED"; + } + + if (pathFound == false) + { + galacticSearchPath = "PathNotFound"; + } + SmartDashboard.putString("GalacticSearchPath", galacticSearchPath); + onceThrough = true; + } + else{ + i++; + SmartDashboard.putNumber("Counter", i); + } + if (i >= 50) + { + i=0; + pathFound = false; + onceThrough = false; } - SmartDashboard.putString("GalacticSearchPath", galacticSearchPath); } public boolean withinError(double angle, double goal)