Merge branch 'master' into vision_camera_final

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

@@ -0,0 +1,70 @@
+/*----------------------------------------------------------------------------*/
+/* 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.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.Constants.DriveConstants;
+import frc4388.robot.subsystems.Drive;
+
+public class DriveStraightToPositionMM extends CommandBase {
+  Drive m_drive;
+  double m_targetPosIn;
+  double m_targetPosOut;
+  double m_targetGyro;
+  boolean isGoneFast;
+  
+  /**
+   * Creates a new DriveToDistancePID.
+   * @param subsystem drive subsystem
+   * @param targetPos distance to travel in inches
+   */
+  public DriveStraightToPositionMM(Drive subsystem, double targetPos) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    m_drive = subsystem;
+    m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH;
+    addRequirements(m_drive);
+    //SmartDashboard.putNumber("Distance Target Inches", targetPos);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    System.err.println("PID START \n | \n |");
+    m_targetGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN);
+    m_targetPosOut = m_targetPosIn + m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_PRIMARY);
+    isGoneFast = false;
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    //System.err.println("| \n Sensor Pos \n" + m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN));
+    //System.err.println("Sensor Error \n" + m_drive.m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_TURN));
+    //System.err.println("Sensor Target \n" + m_drive.m_rightFrontMotor.getClosedLoopTarget(DriveConstants.PID_TURN));
+    m_drive.runMotionMagicPID(m_targetPosOut, m_targetGyro);
+  }
+
+  // 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() {
+    if (Math.abs((int)m_drive.m_rightFrontMotor.getSelectedSensorVelocity(DriveConstants.PID_PRIMARY)) < 5 && isGoneFast){
+      return true;
+    } else {
+      if (m_drive.m_rightFrontMotor.getSelectedSensorVelocity(DriveConstants.PID_PRIMARY) > 100) {
+        isGoneFast = true;
+      }
+      return false;
+    }
+  }
+}

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

@@ -14,8 +14,10 @@ import frc4388.robot.subsystems.Drive;
 
 public class DriveStraightToPositionPID extends CommandBase {
   Drive m_drive;
-  double m_targetPos;
+  double m_targetPosIn;
+  double m_targetPosOut;
   double m_targetGyro;
+  int i;
   
   /**
    * Creates a new DriveToDistancePID.
@@ -25,22 +27,27 @@ public class DriveStraightToPositionPID extends CommandBase {
   public DriveStraightToPositionPID(Drive subsystem, double targetPos) {
     // Use addRequirements() here to declare subsystem dependencies.
     m_drive = subsystem;
-    m_targetPos = targetPos * DriveConstants.TICKS_PER_INCH;
+    m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH;
     addRequirements(m_drive);
-    SmartDashboard.putNumber("Distance Target Inches", targetPos);
+    //SmartDashboard.putNumber("Distance Target Inches", targetPos);
   }
 
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
+    //System.err.println("PID START \n | \n |");
     m_targetGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN);
+    m_targetPosOut = m_targetPosIn + m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_PRIMARY);
+    i = 0;
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    //System.err.println(m_drive.m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_TURN));
-    m_drive.runDriveStraightPositionPID(m_targetPos, m_targetGyro);
+    //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);
   }
 
   // Called once the command ends or is interrupted.
@@ -51,9 +58,11 @@ public class DriveStraightToPositionPID extends CommandBase {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    if (Math.abs(m_drive.m_leftFrontMotor.getActiveTrajectoryPosition() - m_targetPos) < 500){
+    if (Math.abs((int)m_drive.m_rightFrontMotor.getSelectedSensorVelocity(DriveConstants.PID_PRIMARY)) < 5 && i > 5){
       return true;
     } else {
+      i++;
+      //System.err.println(i);
       return false;
     }
   }

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

@@ -0,0 +1,79 @@
+/*----------------------------------------------------------------------------*/
+/* 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 com.ctre.phoenix.motorcontrol.TalonFXControlMode;
+
+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 DriveWithJoystickAuxPID extends CommandBase {
+  Drive m_drive;
+  double m_targetGyro;
+  long lastTime;
+  IHandController m_controller;
+
+  /**
+   * Creates a new DriveWithJoystickAuxPID.
+   */
+  public DriveWithJoystickAuxPID(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_targetGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN);
+    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;
+    long deltaTime = System.currentTimeMillis() - lastTime;
+    lastTime = System.currentTimeMillis();
+    if (moveInput >= 0){
+      moveOutput = -Math.cos(1.571*moveInput)+1;
+    } else {
+      moveOutput = Math.cos(1.571*moveInput)-1;
+    }
+
+    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));
+
+    m_drive.driveWithInputAux(moveOutput, m_targetGyro);
+
+    System.err.println("Target: " + m_targetGyro);
+    System.err.println("Current: " + currentGyro);
+    System.err.println();
+  }
+
+  // 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/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/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;
+  }
+}