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Removed trimming, started using keenans equation for angle

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ryan123rudder
2020-03-03 00:42:34 -07:00
parent ddf18c3a93
commit 694ab7482f
5 changed files with 10 additions and 17 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+3 -7
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@@ -216,7 +216,7 @@ public class RobotContainer {
//.whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotStorage))
//.whenReleased(new StoragePrepIntake(m_robotIntake, m_robotStorage));
//.whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(13000)));
.whileHeld(new HoldTarget(m_robotShooter, m_robotShooterAim))
.whileHeld(new TrackTarget(m_robotShooter, m_robotShooterAim))
.whileHeld(new RunCommand(() -> m_robotShooter.runAngleAdjustPID(30)));
//Prepares storage for intaking
//new JoystickButton(getOperatorJoystick(), XboxController.LEFT_TRIGGER_AXIS)
@@ -229,12 +229,8 @@ public class RobotContainer {
//Run drum
new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
//.whenPressed(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotStorage));
.whenPressed(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(13000)));
//.whenReleased(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(0)));
//Trims shooter
new JoystickButton(getOperatorJoystick(), XboxController.TOP_BOTTOM_DPAD_AXIS)
.whenPressed(new TrimShooter(m_robotShooter));
.whenPressed(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(13000)))
.whenReleased(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(0)));
//Calibrates turret and hood
new JoystickButton(getOperatorJoystick(), XboxController.START_BUTTON)
src/main/java/frc4388/robot/commands/HoldTarget.java
+1 -1
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@@ -80,7 +80,7 @@ public class HoldTarget extends CommandBase {
} else if (turnAmount < 0 && turnAmount > -VisionConstants.MOTOR_DEAD_ZONE) {
turnAmount = -VisionConstants.MOTOR_DEAD_ZONE;
}
m_shooterAim.runShooterWithInput(-turnAmount - m_shooter.shooterTrims.m_turretTrim);
m_shooterAim.runShooterWithInput(-turnAmount);// - m_shooter.shooterTrims.m_turretTrim);
// Finding Distance
distance = VisionConstants.TARGET_HEIGHT / Math.tan((VisionConstants.LIME_ANGLE + yAngle) * (Math.PI / 180));
src/main/java/frc4388/robot/commands/HoodPositionPID.java
+2 -2
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@@ -31,9 +31,9 @@ public class HoodPositionPID extends CommandBase {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
/*double slope = ShooterConstants.HOOD_CONVERT_SLOPE;
double slope = ShooterConstants.HOOD_CONVERT_SLOPE;
double b = ShooterConstants.HOOD_CONVERT_B;
firingAngle = (-slope*m_shooter.addFireAngle())+b;*/
firingAngle = (-slope*m_shooter.addFireAngle())+b;
SmartDashboard.putNumber("Shoot Angle From Equation", m_shooter.addFireAngle());
SmartDashboard.putNumber("Fire Angle", firingAngle);
m_shooter.runAngleAdjustPID(firingAngle);
src/main/java/frc4388/robot/commands/TrackTarget.java
+3 -5
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@@ -82,25 +82,23 @@ public class TrackTarget extends CommandBase {
} else if (turnAmount < 0 && turnAmount > -VisionConstants.MOTOR_DEAD_ZONE) {
turnAmount = -VisionConstants.MOTOR_DEAD_ZONE;
}
m_shooterAim.runShooterWithInput(-turnAmount - m_shooter.shooterTrims.m_turretTrim);
m_shooterAim.runShooterWithInput(-turnAmount);// - m_shooter.shooterTrims.m_turretTrim);
// Finding Distance
distance = VisionConstants.TARGET_HEIGHT / Math.tan((VisionConstants.LIME_ANGLE + yAngle) * (Math.PI / 180));
SmartDashboard.putNumber("Distance to Target", distance);
//START Equation Code
/*
double yVel = Math.sqrt(2 * VisionConstants.GRAV * VisionConstants.TARGET_HEIGHT);
double xVel = (distance * VisionConstants.GRAV) / (yVel);
fireVel = Math.sqrt((Math.pow(xVel, 2))+(Math.pow(yVel,2)));
//fireVel = Math.sqrt((Math.pow(xVel, 2))+(Math.pow(yVel,2)));
fireAngle = Math.atan(yVel/xVel) * (180/Math.PI);
*/
//END Equation Code
//START CSV Code
fireVel = m_shooter.m_shooterTable.getVelocity(distance);
fireAngle = m_shooter.m_shooterTable.getHood(distance); //Note: Ensure to follow because units are different
//fireAngle = m_shooter.m_shooterTable.getHood(distance); //Note: Ensure to follow because units are different
//fireAngle = 33;
//END CSV Code
src/main/java/frc4388/robot/subsystems/Shooter.java
+1 -2
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@@ -164,11 +164,10 @@ public class Shooter extends SubsystemBase {
/**
* Runs drum shooter velocity PID.
* @param falcon Motor to use
* @param targetVel Target velocity to run motor at
*/
public void runDrumShooterVelocityPID(double targetVel) {
System.out.println("dddddddddddddddddddddddd" + targetVel);
System.out.println("Target Velocity" + targetVel);
m_shooterFalcon.set(TalonFXControlMode.Velocity, targetVel); //Init PID
}