From 59fa78f6e396022d28be9f5e565e922d51b3f038 Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Tue, 10 Mar 2020 20:13:52 -0600 Subject: [PATCH] did a lot --- PathWeaver/Paths/DriveOffLineBackward | 3 + PathWeaver/Paths/DriveOffLineForward | 3 + PathWeaver/Paths/EightBallMid2 | 2 +- PathWeaver/Paths/EightBallMidComplete | 4 +- PathWeaver/pathweaver.json | 4 +- .../paths/DriveOffLineBackward.wpilib.json | 1 + .../paths/DriveOffLineForward.wpilib.json | 1 + .../deploy/paths/EightBallMid0.wpilib.json | 2 +- .../deploy/paths/EightBallMid1.wpilib.json | 2 +- .../deploy/paths/EightBallMid2.wpilib.json | 2 +- .../paths/EightBallMidComplete.wpilib.json | 2 +- src/main/deploy/paths/SixBallMid0.wpilib.json | 2 +- src/main/deploy/paths/SixBallMid1.wpilib.json | 2 +- .../paths/SixBallMidComplete.wpilib.json | 2 +- .../java/frc4388/robot/RobotContainer.java | 35 ++++++++-- .../commands/auto/DriveOffLineBackward.java | 31 +++++++++ .../commands/auto/DriveOffLineForward.java | 29 ++++++++ .../commands/auto/TankDriveVelocity.java | 67 +++++++++++++++++++ 18 files changed, 177 insertions(+), 17 deletions(-) create mode 100644 PathWeaver/Paths/DriveOffLineBackward create mode 100644 PathWeaver/Paths/DriveOffLineForward create mode 100644 src/main/deploy/paths/DriveOffLineBackward.wpilib.json create mode 100644 src/main/deploy/paths/DriveOffLineForward.wpilib.json create mode 100644 src/main/java/frc4388/robot/commands/auto/DriveOffLineBackward.java create mode 100644 src/main/java/frc4388/robot/commands/auto/DriveOffLineForward.java create mode 100644 src/main/java/frc4388/robot/commands/auto/TankDriveVelocity.java diff --git a/PathWeaver/Paths/DriveOffLineBackward b/PathWeaver/Paths/DriveOffLineBackward new file mode 100644 index 0000000..f5cce7f --- /dev/null +++ b/PathWeaver/Paths/DriveOffLineBackward @@ -0,0 +1,3 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Name +3.2,-2.3,0.5,0.0,true, +3.7,-2.3,0.5,0.0,true, diff --git a/PathWeaver/Paths/DriveOffLineForward b/PathWeaver/Paths/DriveOffLineForward new file mode 100644 index 0000000..f5cce7f --- /dev/null +++ b/PathWeaver/Paths/DriveOffLineForward @@ -0,0 +1,3 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Name +3.2,-2.3,0.5,0.0,true, +3.7,-2.3,0.5,0.0,true, diff --git a/PathWeaver/Paths/EightBallMid2 b/PathWeaver/Paths/EightBallMid2 index 671f3d6..7acacf8 100644 --- a/PathWeaver/Paths/EightBallMid2 +++ b/PathWeaver/Paths/EightBallMid2 @@ -1,3 +1,3 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Name 7.2,-0.715,1.5,0.0,true, -6.8,-2.6,-0.6,-0.3,true, +6.612,-2.7,-0.6,-0.3,true, diff --git a/PathWeaver/Paths/EightBallMidComplete b/PathWeaver/Paths/EightBallMidComplete index 8a05706..e8f4cf2 100644 --- a/PathWeaver/Paths/EightBallMidComplete +++ b/PathWeaver/Paths/EightBallMidComplete @@ -2,5 +2,5 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Name 3.2,-2.4,0.2,2.5,true, 5.0,-1.1,3.0,0.0,true, 7.2,-1.1,1.5,0.0,true, -6.5,-2.78,-0.39262822032017564,-0.17846737287280634,true, 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\ No newline at end of file diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 84d250f..5f82551 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -19,6 +19,7 @@ import edu.wpi.first.wpilibj.Joystick; import edu.wpi.first.wpilibj.controller.RamseteController; import edu.wpi.first.wpilibj.geometry.Pose2d; import edu.wpi.first.wpilibj.geometry.Rotation2d; +import edu.wpi.first.wpilibj.geometry.Transform2d; import edu.wpi.first.wpilibj.geometry.Translation2d; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj.trajectory.Trajectory; @@ -33,6 +34,8 @@ import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import edu.wpi.first.wpilibj2.command.button.JoystickButton; import frc4388.robot.Constants.DriveConstants; import frc4388.robot.Constants.OIConstants; +import frc4388.robot.commands.auto.DriveOffLineBackward; +import frc4388.robot.commands.auto.DriveOffLineForward; import frc4388.robot.commands.auto.EightBallAutoMiddle; import frc4388.robot.commands.auto.SixBallAutoMiddle; import frc4388.robot.commands.auto.Wait; @@ -92,11 +95,16 @@ public class RobotContainer { private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID); /* Autos */ - SixBallAutoMiddle m_sixBallAutoMiddle; double m_totalTimeAuto; + SixBallAutoMiddle m_sixBallAutoMiddle; + EightBallAutoMiddle m_eightBallAutoMiddle; + DriveOffLineForward m_driveOffLineForward; + + DriveOffLineBackward m_driveOffLineBackward; + /** * The container for the robot. Contains subsystems, OI devices, and commands. @@ -247,12 +255,26 @@ public class RobotContainer { String[] sixBallAutoMiddlePaths = new String[]{ "SixBallMidComplete" }; - m_sixBallAutoMiddle = new SixBallAutoMiddle(m_robotDrive, buildPaths(sixBallAutoMiddlePaths)); + + m_sixBallAutoMiddle = new SixBallAutoMiddle(m_robotDrive, buildPaths(sixBallAutoMiddlePaths, false)); String[] eightBallAutoMiddlePaths = new String[]{ "EightBallMidComplete" }; - m_eightBallAutoMiddle = new EightBallAutoMiddle(m_robotDrive, buildPaths(eightBallAutoMiddlePaths)); + + m_eightBallAutoMiddle = new EightBallAutoMiddle(m_robotDrive, buildPaths(eightBallAutoMiddlePaths, false)); + + String[] driveOffLineForwardPaths = new String[]{ + "DriveOffLineForward" + }; + + m_driveOffLineForward = new DriveOffLineForward(m_robotDrive, buildPaths(driveOffLineForwardPaths, false)); + + String[] driveOffLineBackwardPaths = new String[]{ + "DriveOffLineBackward" + }; + + m_driveOffLineBackward = new DriveOffLineBackward(m_robotDrive, buildPaths(driveOffLineBackwardPaths, true)); } /** @@ -271,7 +293,9 @@ public class RobotContainer { SmartDashboard.putNumber("Trajectory Total Time", m_totalTimeAuto); //return m_sixBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); - return m_eightBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); + //return m_eightBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); + //return m_driveOffLineForward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); + return m_driveOffLineBackward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); } catch (Exception e) { System.err.println("ERROR"); @@ -314,7 +338,7 @@ public class RobotContainer { return ramseteCommand; } - public RamseteCommand[] buildPaths(String[] paths) { + public RamseteCommand[] buildPaths(String[] paths, boolean isReversed) { RamseteCommand[] ramseteCommands = new RamseteCommand[paths.length]; double[] times = new double[paths.length]; Trajectory initialTrajectory; @@ -327,6 +351,7 @@ public class RobotContainer { Path trajectoryPath = Filesystem.getDeployDirectory().toPath().resolve(trajectoryJSON); Trajectory trajectory = TrajectoryUtil.fromPathweaverJson(trajectoryPath); initialTrajectory = trajectory; + RamseteCommand ramseteCommand = getRamseteCommand(trajectory.relativeTo(initialTrajectory.getInitialPose())); ramseteCommands[0] = ramseteCommand; times[0] = initialTrajectory.getTotalTimeSeconds(); diff --git a/src/main/java/frc4388/robot/commands/auto/DriveOffLineBackward.java b/src/main/java/frc4388/robot/commands/auto/DriveOffLineBackward.java new file mode 100644 index 0000000..fed1212 --- /dev/null +++ b/src/main/java/frc4388/robot/commands/auto/DriveOffLineBackward.java @@ -0,0 +1,31 @@ +/*----------------------------------------------------------------------------*/ +/* 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.auto; + +import edu.wpi.first.wpilibj2.command.RamseteCommand; +import edu.wpi.first.wpilibj2.command.RunCommand; +import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; +import frc4388.robot.commands.drive.TurnDegrees; +import frc4388.robot.subsystems.Drive; + +// NOTE: Consider using this command inline, rather than writing a subclass. For more +// information, see: +// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html +public class DriveOffLineBackward extends SequentialCommandGroup { + /** + * Creates a new DriveOffLineBackward. + */ + public DriveOffLineBackward(Drive drive, RamseteCommand[] paths) { + // Add your commands in the super() call, e.g. + // super(new FooCommand(), new BarCommand()); + + addCommands( + new TankDriveVelocity(drive, -1, -1, 2) + ); + } +} diff --git a/src/main/java/frc4388/robot/commands/auto/DriveOffLineForward.java b/src/main/java/frc4388/robot/commands/auto/DriveOffLineForward.java new file mode 100644 index 0000000..a5fb618 --- /dev/null +++ b/src/main/java/frc4388/robot/commands/auto/DriveOffLineForward.java @@ -0,0 +1,29 @@ +/*----------------------------------------------------------------------------*/ +/* 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.auto; + +import edu.wpi.first.wpilibj2.command.RamseteCommand; +import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; +import frc4388.robot.subsystems.Drive; + +// NOTE: Consider using this command inline, rather than writing a subclass. For more +// information, see: +// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html +public class DriveOffLineForward extends SequentialCommandGroup { + /** + * Creates a new DriveOffLineForward. + */ + public DriveOffLineForward(Drive drive, RamseteCommand[] paths) { + // Add your commands in the super() call, e.g. + // super(new FooCommand(), new BarCommand()); + + addCommands( + paths[0] + ); + } +} diff --git a/src/main/java/frc4388/robot/commands/auto/TankDriveVelocity.java b/src/main/java/frc4388/robot/commands/auto/TankDriveVelocity.java new file mode 100644 index 0000000..595d37c --- /dev/null +++ b/src/main/java/frc4388/robot/commands/auto/TankDriveVelocity.java @@ -0,0 +1,67 @@ +/*----------------------------------------------------------------------------*/ +/* 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.auto; + +import edu.wpi.first.wpilibj2.command.CommandBase; +import frc4388.robot.subsystems.Drive; + +public class TankDriveVelocity extends CommandBase { + Drive m_drive; + double m_leftTargetVel; + double m_rightTargetVel; + + double m_targetTime; + double m_firstTimeSec; + double m_currentTimeSec; + double m_diffSec; + + /** + * Creates a new TankDriveVelocity. + */ + public TankDriveVelocity(Drive subsystem, double leftTargetVel, double rightTargetVel, double targetTime) { + // Use addRequirements() here to declare subsystem dependencies. + m_drive = subsystem; + m_leftTargetVel = leftTargetVel; + m_rightTargetVel = rightTargetVel; + m_targetTime = targetTime; + addRequirements(subsystem); + } + + // Called when the command is initially scheduled. + @Override + public void initialize() { + m_firstTimeSec = (System.currentTimeMillis() / 1000); + m_diffSec = 0; + } + + // Called every time the scheduler runs while the command is scheduled. + @Override + public void execute() { + m_currentTimeSec = (System.currentTimeMillis() / 1000); + m_diffSec = m_currentTimeSec - m_firstTimeSec; + + if (m_diffSec < m_targetTime) { + m_drive.tankDriveVelocity(m_leftTargetVel, m_rightTargetVel); + } + + } + + // 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 (m_diffSec >= m_targetTime) { + return true; + } + return false; + } +}