Merge branch 'master' into Shooter-PID-Integration-Neo-Motors

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

@@ -29,8 +29,8 @@ 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_VELOCITY_GAINS = new Gains(0.1, 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, 0.5);
         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;
@@ -98,13 +98,30 @@ public final class Constants {
     }
   
     public static final class StorageConstants {
-        public static final int STORAGE_CAN_ID = -1;
+        public static final int STORAGE_CAN_ID = 10;
+
+        /* Ball Indexes */
         public static final int BEAM_SENSOR_DIO_0 = 0;
         public static final int BEAM_SENSOR_DIO_1 = 1;
         public static final int BEAM_SENSOR_DIO_2 = 2;
         public static final int BEAM_SENSOR_DIO_3 = 3;
         public static final int BEAM_SENSOR_DIO_4 = 4;
         public static final int BEAM_SENSOR_DIO_5 = 5;
+
+        /* PID Values */
+        public static final int SLOT_DISTANCE = 0;
+
+        /* PID Indexes */
+        public static final int PID_PRIMARY = 0;
+
+        /* PID Gains */
+        public static final double storP = 0.1;
+        public static final double storI = 1e-4;
+        public static final double storD = 1.0;
+        public static final double storIz = 0.0;
+        public static final double storF = 0.0;
+        public static final double storkmaxOutput = 1.0;
+        public static final double storkminOutput = -1.0;
     }
   
     public static final class LEDConstants {

src/main/java/frc4388/robot/Gains.java

@@ -17,6 +17,8 @@ public class Gains {
     public double m_kF;
     public int m_kIzone;
     public double m_kPeakOutput;
+    public double m_kmaxOutput;
+    public double m_kminOutput;
 
     /**
      * Creates Gains object for PIDs

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

@@ -18,8 +18,7 @@ import frc4388.robot.Constants.*;
 import frc4388.robot.commands.DriveStraightAtVelocityPID;
 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.RunClimberWithTriggers;
 import frc4388.robot.commands.RunExtenderOutIn;
 import frc4388.robot.commands.RunIntakeWithTriggers;
@@ -30,9 +29,6 @@ import frc4388.robot.subsystems.LED;
 import frc4388.robot.subsystems.Shooter;
 import frc4388.robot.subsystems.Climber;
 import frc4388.robot.commands.RunLevelerWithJoystick;
-import frc4388.robot.subsystems.Drive;
-import frc4388.robot.subsystems.Intake;
-import frc4388.robot.subsystems.LED;
 import frc4388.robot.subsystems.Leveler;
 import frc4388.robot.subsystems.Storage;
 import frc4388.utility.LEDPatterns;
@@ -68,7 +64,7 @@ public class RobotContainer {
 
         /* Default Commands */
         // drives the robot with a two-axis input from the driver controller
-        m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, getDriverController()));
+        m_robotDrive.setDefaultCommand(new DriveWithJoystickUsingDeadAssistPID(m_robotDrive, getDriverController()));
         // drives intake with input from triggers on the opperator controller
         m_robotIntake.setDefaultCommand(new RunIntakeWithTriggers(m_robotIntake, getOperatorController()));
         // drives climber with input from triggers on the opperator controller
@@ -134,6 +130,10 @@ public class RobotContainer {
         // interrupts any running command
         new JoystickButton(getDriverJoystick(), XboxController.LEFT_JOYSTICK_BUTTON)
             .whenPressed(new InstantCommand(() -> System.out.print("Gamer"), m_robotDrive));
+
+        /* Storage Neo PID Test */
+        new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
+            .whileHeld(new RunCommand(() -> m_robotStorage.runStoragePositionPID(0.5, 0.2, 0.0, 0.0, 0.0, 0.0, 1, -1)));
     }
       
     /**

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

@@ -0,0 +1,114 @@
+/*----------------------------------------------------------------------------*/
+/* 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;
+  long lastTime;
+  IHandController m_controller;
+  boolean isAuxPIDEnabled = false;
+
+  /**
+   * 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() {
+    lastTime = System.currentTimeMillis();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    double currentGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN);
+    double moveInput = m_controller.getLeftYAxis();
+    double steerInput = m_controller.getRightXAxis();
+    double moveOutput = 0;
+    double steerOutput = 0;
+    long deltaTime = System.currentTimeMillis() - lastTime;
+    lastTime = System.currentTimeMillis();
+
+    /* If AuxPID is enabled, then update using the steer input */
+    if (isAuxPIDEnabled) {
+      m_targetGyro += 2 * steerInput * deltaTime;
+  
+      m_targetGyro = MathUtil.clamp(  m_targetGyro, 
+                                      currentGyro-(DriveConstants.TICKS_PER_GYRO_REV/4),
+                                      currentGyro+(DriveConstants.TICKS_PER_GYRO_REV/4));
+    }
+    /* Otherwise set target angle to current angle (prevents buildup of gyro error) */
+    else {
+      m_targetGyro = currentGyro;
+    }
+
+    /* If move stick is being used */
+    if (moveInput != 0) {
+      /* 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 is being used. */
+      if (steerInput != 0) {
+        double cosMultiplier = .45;
+        double deadzone = .2;
+        /* Curves the steer output to be similarily gradual */
+        if (steerInput > 0){
+          steerOutput = -cosMultiplier*Math.cos(1.571*steerInput)+(cosMultiplier+deadzone);
+        } else {
+          steerOutput = cosMultiplier*Math.cos(1.571*steerInput)-(cosMultiplier+deadzone);
+        }
+        m_drive.driveWithInput(moveOutput, steerOutput);
+        isAuxPIDEnabled = false;
+      }
+      /* If only the move stick is being used */
+      else {
+        m_drive.driveWithInputAux(moveOutput, m_targetGyro);
+        isAuxPIDEnabled = true;
+      }
+    }
+    /* If the move stick is not being used */
+    else {
+      m_drive.runDriveStraightVelocityPID(0, m_targetGyro);
+      isAuxPIDEnabled = true;
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc4388/robot/subsystems/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 +18,20 @@ 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;
   /**
    * 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

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

@@ -329,12 +329,18 @@ public class Drive extends SubsystemBase {
   }
 
   /**
-   * Add your docs here.
+   * 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 driveWithInput(double move, double steer){
     m_driveTrain.arcadeDrive(move, steer);
   }
 
+  /**
+   * 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 driveWithInputAux(double move, double targetGyro) {
     m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
 
@@ -374,7 +380,7 @@ public class Drive extends SubsystemBase {
   }
 
   /**
-   * 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
    */

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

@@ -26,7 +26,8 @@ public class Leveler extends SubsystemBase {
    */
   public Leveler() {
     m_levelerMotor.restoreFactoryDefaults();
-    m_levelerMotor.setIdleMode(IdleMode.kCoast);
+
+    m_levelerMotor.setIdleMode(IdleMode.kBrake);
     m_levelerMotor.setInverted(false);
   }
 

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

@@ -48,8 +48,7 @@ public class Shooter extends SubsystemBase {
     m_shooterFalcon.configFactoryDefault();
 
     m_shooterFalcon.setNeutralMode(NeutralMode.Coast);
-
-    m_shooterFalcon.setInverted(true);
+    m_shooterFalcon.setInverted(false);
     
     setShooterGains();
 

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

@@ -9,11 +9,15 @@ package frc4388.robot.subsystems;
 
 import com.ctre.phoenix.motorcontrol.can.TalonSRX;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+import com.revrobotics.CANEncoder;
+import com.revrobotics.CANPIDController;
 import com.revrobotics.CANSparkMax;
+import com.revrobotics.ControlType;
 import com.revrobotics.SparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 import frc4388.robot.Constants.StorageConstants;
@@ -21,10 +25,17 @@ import frc4388.robot.Constants.StorageConstants;
 public class Storage extends SubsystemBase {
   private CANSparkMax m_storageMotor = new CANSparkMax(StorageConstants.STORAGE_CAN_ID, MotorType.kBrushless);
   private DigitalInput[] m_beamSensors = new DigitalInput[6];
+
+  CANPIDController m_storagePIDController = m_storageMotor.getPIDController();
+
+  CANEncoder m_encoder = m_storageMotor.getEncoder();
+
   /**
    * Creates a new Storage.
    */
   public Storage() {
+    resetEncoder();
+
     m_beamSensors[0] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_0);
     m_beamSensors[1] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_1);
     m_beamSensors[2] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_2);
@@ -40,17 +51,42 @@ public class Storage extends SubsystemBase {
 
   /**
    * Runs storage motor
+   * 
    * @param input the voltage to run motor at
    */
-  public void runStorage(double input) {
+  public void runStorage(final double input) {
     m_storageMotor.set(input);
-    boolean beam_on = m_beamSensors[0].get();
+    final boolean beam_on = m_beamSensors[0].get();
 
     if (beam_on) {
       System.err.println("Beam on");
     } else {
       System.err.println("Beam off");
     }
-    
+
+  }
+
+  public void resetEncoder()
+  {
+    m_encoder.setPosition(0);
+  }
+
+  /* Storage PID Control */
+  public void runStoragePositionPID(double targetPos, double kP, double kI, double kD, double kIz, double kF, double kmaxOutput, double kminOutput)
+  {
+    // Set PID Coefficients
+    m_storagePIDController.setP(kP);
+    m_storagePIDController.setI(kI);
+    m_storagePIDController.setD(kD);
+    m_storagePIDController.setIZone(kIz);
+    m_storagePIDController.setFF(kF);
+    m_storagePIDController.setOutputRange(kminOutput, kmaxOutput);
+
+    m_storagePIDController.setReference(targetPos, ControlType.kPosition);
+  }
+
+  public void getEncoderPos()
+  {
+    m_encoder.getPosition();
   }
 }