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This commit is contained in:
ryan123rudder
2020-02-22 15:03:10 -07:00
parent 4888a4c08d
commit 881c3d9076
9 changed files with 23 additions and 73 deletions
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src/main/java/frc4388/robot/Constants.java
+3 -3
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@@ -82,9 +82,9 @@ public final class Constants {
public static final class ShooterConstants {
/* Motor IDs */
public static final int SHOOTER_FALCON_ID = -1;
public static final int SHOOTER_ANGLE_ADJUST_ID = -1;
public static final int SHOOTER_ROTATE_ID = 10;
public static final int SHOOTER_FALCON_ID = 8;
public static final int SHOOTER_ANGLE_ADJUST_ID = 10;
public static final int SHOOTER_ROTATE_ID = 9;
/* PID Constants Shooter */
public static final int SHOOTER_SLOT_IDX = 0;
src/main/java/frc4388/robot/RobotContainer.java
+5 -8
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@@ -34,6 +34,7 @@ import frc4388.robot.commands.DriveStraightToPositionMM;
import frc4388.robot.commands.DriveStraightToPositionPID;
import frc4388.robot.commands.DriveWithJoystick;
import frc4388.robot.commands.DriveWithJoystickUsingDeadAssistPID;
import frc4388.robot.commands.HoldTarget;
import frc4388.robot.commands.DriveWithJoystickDriveStraight;
import frc4388.robot.commands.RunClimberWithTriggers;
import frc4388.robot.commands.RunExtenderOutIn;
@@ -127,7 +128,7 @@ public class RobotContainer {
new JoystickButton(getDriverJoystick(), XboxController.LEFT_BUMPER_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(false), m_robotDrive));
/* Operator Buttons */
// shoots until released
@@ -137,11 +138,6 @@ public class RobotContainer {
// shoots one ball
new JoystickButton(getOperatorJoystick(), XboxController.LEFT_BUMPER_BUTTON)
.whenPressed(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotStorage), false);
// aims the turret
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whileHeld(new TrackTarget(m_robotShooter, m_robotShooterAim))
.whenPressed(new StoragePrepAim(m_robotStorage));
// extends or retracts the extender
new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
@@ -152,9 +148,10 @@ public class RobotContainer {
.whenPressed(new InstantCommand(() -> m_robotClimber.setSafetyPressed(), m_robotClimber))
.whenReleased(new InstantCommand(() -> m_robotClimber.setSafetyNotPressed(), m_robotClimber));
/* Storage Neo PID Test */
// starts tracking target
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whileHeld(new TrackTarget(m_robotShooter, m_robotShooterAim));
.whileHeld(new HoldTarget(m_robotShooter, m_robotShooterAim));
//.whenPressed(new StoragePrepAim(m_robotStorage));
//Prepares storage for intaking
new JoystickButton(getOperatorJoystick(), XboxController.LEFT_TRIGGER_AXIS)
src/main/java/frc4388/robot/commands/HoodAdjustPID.java
-45
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@@ -1,45 +0,0 @@
/*----------------------------------------------------------------------------*/
/* 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.Shooter;
public class HoodAdjustPID extends CommandBase {
Shooter m_shooter;
/**
* Adjusts the hood based on the limelight target angle
* @param shooterSub The Shooter subsystem
*/
public HoodAdjustPID(Shooter shooterSub) {
m_shooter = shooterSub;
addRequirements(m_shooter);
}
// Called when the command is initially scheduled.
@Override
public void initialize() {
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
m_shooter.runAngleAdjustPID(m_shooter.addFireAngle());
}
// 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/ShootFireGroup.java
+5 -5
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@@ -24,11 +24,11 @@ public class ShootFireGroup extends ParallelRaceGroup {
* @param m_storage The Storage subsytem
*/
public ShootFireGroup(Shooter m_shooter, ShooterAim m_shooterAim, Storage m_storage) {
super(
addCommands(
new RunCommand(() -> m_shooter.runDrumShooterVelocityPID(m_shooter.addFireVel(), m_shooter.m_shooterFalcon.getSelectedSensorVelocity())),
new RunCommand(() -> m_shooter.runAngleAdjustPID(m_shooter.addFireAngle())),
new HoldTarget(m_shooter, m_shooterAim),
new StorageRun(m_storage)
);
new HoldTarget(m_shooter, m_shooterAim)
//new StorageRun(m_storage)
);
}
}
}
src/main/java/frc4388/robot/commands/ShootFullGroup.java
+1 -1
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@@ -23,7 +23,7 @@ public class ShootFullGroup extends SequentialCommandGroup {
* @param m_storage The Storage subsytem
*/
public ShootFullGroup(Shooter m_shooter, ShooterAim m_shooterAim, Storage m_storage) {
super(
addCommands(
new ShootPrepGroup(m_shooter, m_shooterAim, m_storage),
new ShootFireGroup(m_shooter, m_shooterAim, m_storage)
);
src/main/java/frc4388/robot/commands/ShootPrepGroup.java
+4 -5
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@@ -24,11 +24,10 @@ public class ShootPrepGroup extends ParallelCommandGroup {
* @param m_storage The Storage subsytem
*/
public ShootPrepGroup(Shooter m_shooter, ShooterAim m_shooterAim, Storage m_storage) {
super(
addCommands(
new TrackTarget(m_shooter, m_shooterAim),
new ShooterVelocityControlPID(m_shooter, m_shooter.addFireVel()),
new HoodAdjustPID(m_shooter),
new StoragePrepAim(m_storage)
);
new ShooterVelocityControlPID(m_shooter, m_shooter.addFireVel())
//new StoragePrepAim(m_storage)
);
}
}
src/main/java/frc4388/robot/commands/ShooterVelocityControlPID.java
+1
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@@ -35,6 +35,7 @@ public class ShooterVelocityControlPID extends CommandBase {
@Override
public void execute() {
m_shooter.runDrumShooterVelocityPID(m_targetVel, m_shooter.m_shooterFalcon.getSelectedSensorVelocity());
m_shooter.runAngleAdjustPID(m_shooter.addFireAngle());
m_actualVel = m_shooter.m_shooterFalcon.getSelectedSensorVelocity();
}
src/main/java/frc4388/robot/commands/TrackTarget.java
+2 -4
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@@ -40,7 +40,7 @@ public class TrackTarget extends CommandBase {
public TrackTarget(Shooter shooterSubsystem, ShooterAim aimSubsystem) {
m_shooterAim = aimSubsystem;
m_shooter = shooterSubsystem;
addRequirements(m_shooter);
addRequirements(m_shooterAim);
NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(1);
}
@@ -96,9 +96,7 @@ public class TrackTarget extends CommandBase {
// Returns true when the command should end.
@Override
public boolean isFinished() {
double upperLimit = xAngle + 0.05;
double lowerLimit = xAngle - 0.05;
if (xAngle < upperLimit && xAngle > lowerLimit)
if (xAngle < 1 && xAngle > -1)
{
return true;
}
src/main/java/frc4388/robot/subsystems/Shooter.java
+2 -2
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@@ -127,10 +127,10 @@ public class Shooter extends SubsystemBase {
runSpeed = runSpeed/targetVel; //Convert to percent
if (actualVel < targetVel - 1000){ //PID Based on ramp up amount
m_shooterFalcon.set(TalonFXControlMode.PercentOutput, runSpeed);
m_shooterFalcon.set(TalonFXControlMode.PercentOutput, runSpeed/3);
}
else{ //PID Based on targetVel
m_shooterFalcon.set(TalonFXControlMode.Velocity, targetVel); //Init PID
m_shooterFalcon.set(TalonFXControlMode.Velocity, targetVel/3); //Init PID
}
}