Merge pull request #24 from Team4388/vision_camera_final

WIP Add Vision to Shooter

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

@@ -127,6 +127,17 @@ 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;

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

@@ -30,6 +30,11 @@ 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.commands.TrackTarget;
+import frc4388.robot.subsystems.Camera;
 import frc4388.robot.subsystems.Leveler;
 import frc4388.robot.subsystems.Storage;
 import frc4388.utility.LEDPatterns;
@@ -53,6 +58,10 @@ 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);
@@ -75,7 +84,7 @@ public class RobotContainer {
         // runs the drum shooter in idle mode
 
       
-        m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runShooterWithInput(m_operatorXbox), 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()));
         // runs storage motor at 50 percent
@@ -101,6 +110,9 @@ 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_robotShooter));
         
         new JoystickButton(getOperatorJoystick(), XboxController.LEFT_BUMPER_BUTTON)
             .whenPressed(new RunExtenderOutIn(m_robotIntake));

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);
+
+        //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

@@ -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() {
+  }
+}

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

@@ -117,10 +117,7 @@ public class Shooter extends SubsystemBase {
   }
 
 
-  public void runShooterWithInput(IHandController controller) {
-    m_controller = controller;
-    input = m_controller.getLeftXAxis();
-    System.err.println(input);
+  public void runShooterWithInput(double input) {
     m_shooterRotateMotor.set(input);
   }