From d5a4d6cab31846322124cdba1927093f74d339db Mon Sep 17 00:00:00 2001 From: ryan123rudder <42309874+ryan123rudder@users.noreply.github.com> Date: Tue, 16 Mar 2021 23:17:50 -0600 Subject: [PATCH 01/14] Modification --- src/main/deploy/paths/Bounce1.wpilib.json | 1 + src/main/deploy/paths/Bounce2.wpilib.json | 1 + src/main/deploy/paths/Bounce3.wpilib.json | 1 + src/main/deploy/paths/Bounce4.wpilib.json | 1 + .../java/frc4388/robot/RobotContainer.java | 28 ++++--------------- .../frc4388/robot/commands/auto/Bounce.java | 6 +++- .../java/frc4388/robot/subsystems/Drive.java | 1 + 7 files changed, 16 insertions(+), 23 deletions(-) create mode 100644 src/main/deploy/paths/Bounce1.wpilib.json create mode 100644 src/main/deploy/paths/Bounce2.wpilib.json create mode 100644 src/main/deploy/paths/Bounce3.wpilib.json create mode 100644 src/main/deploy/paths/Bounce4.wpilib.json diff --git a/src/main/deploy/paths/Bounce1.wpilib.json b/src/main/deploy/paths/Bounce1.wpilib.json new file mode 100644 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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 2ab358d..373f563 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -329,7 +329,10 @@ public class RobotContainer { m_barrelStart = new BarrelStart(m_robotDrive, buildPaths(barrelStart)); String[] bounce = new String[]{ - "Bounce" + "Bounce1", + "Bounce2", + "Bounce3", + "Bounce4" }; m_bounce = new Bounce(m_robotDrive, buildPaths(bounce)); @@ -401,13 +404,8 @@ public class RobotContainer { //return m_fiveBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); //return m_tenBallAutoMiddle.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); //return m_slalom.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); - //return new SequentialCommandGroup(m_driveOffLineForward, - // new InstantCommand(() -> resetOdometry(new Pose2d())), - // new TankDriveVelocity(m_robotDrive, 1000, 1000, 1)); - //return m_barrel.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); return m_barrelStart.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); - //return new SequentialCommandGroup(new TankDriveVelocity(m_robotDrive, 1000, 1000, 3), new TankDriveVelocity(m_robotDrive, 3000, 3000, 1)); //return m_sequentialTest.andThen(() -> m_robotDrive.tankDriveVelocity(0,0)); } catch (Exception e) { @@ -416,6 +414,7 @@ public class RobotContainer { return new InstantCommand(); } + TrajectoryConfig getTrajectoryConfig() { return new TrajectoryConfig( DriveConstants.MAX_SPEED_METERS_PER_SECOND, @@ -424,21 +423,6 @@ public class RobotContainer { .setKinematics(DriveConstants.kDriveKinematics); } - Trajectory getTrajectory(TrajectoryConfig config) { - Trajectory exampleTrajectory = TrajectoryGenerator.generateTrajectory( - // Start at the origin facing the +X direction - new Pose2d(2.9, -2.4, new Rotation2d(0)), - // Pass through these two interior waypoints, making an 's' curve path - List.of( - new Translation2d(4.1, -1.7) - ), - // End 3 meters straight ahead of where we started, facing forward - new Pose2d(5.1, -0.7, new Rotation2d(0)), - // Pass config - config); - return exampleTrajectory; - } - public RamseteCommand getRamseteCommand(Trajectory trajectory) { RamseteCommand ramseteCommand = new RamseteCommand( trajectory, @@ -466,8 +450,8 @@ public class RobotContainer { SmartDashboard.putString("trajectoryPath Initial", trajectoryPath.toString()); Trajectory trajectory = TrajectoryUtil.fromPathweaverJson(trajectoryPath); - initialTrajectory = trajectory; + 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/Bounce.java b/src/main/java/frc4388/robot/commands/auto/Bounce.java index 905e3fc..7a65a4a 100644 --- a/src/main/java/frc4388/robot/commands/auto/Bounce.java +++ b/src/main/java/frc4388/robot/commands/auto/Bounce.java @@ -21,7 +21,11 @@ public class Bounce extends SequentialCommandGroup { public Bounce(Drive drive, RamseteCommand[] paths) { // Add your commands in the super() call, e.g. // super(new FooCommand(), new BarCommand()); - addCommands(paths[0] + addCommands( + paths[0], + paths[1], + paths[2], + paths[3] ); } } diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java index fe96ca2..3d04763 100644 --- a/src/main/java/frc4388/robot/subsystems/Drive.java +++ b/src/main/java/frc4388/robot/subsystems/Drive.java @@ -514,6 +514,7 @@ public class Drive extends SubsystemBase { m_odometry.resetPosition(pose, Rotation2d.fromDegrees(getHeading())); } + /** * Resets the yaw of the pigeon */ From d9fc99ba4ae18990321da0e457b7828e1b6ad448 Mon Sep 17 00:00:00 2001 From: ryan123rudder <42309874+ryan123rudder@users.noreply.github.com> Date: Fri, 19 Mar 2021 01:34:57 -0600 Subject: [PATCH 02/14] Making Galactic Search work untested --- src/main/java/frc4388/robot/Constants.java | 8 ++ .../java/frc4388/robot/RobotContainer.java | 51 +++++---- .../robot/commands/auto/GalacticSearch.java | 39 +++++++ .../robot/commands/auto/IdentifyPath.java | 101 ++++++++++++++++++ .../frc4388/robot/subsystems/LimeLight.java | 20 ++++ 5 files changed, 196 insertions(+), 23 deletions(-) create mode 100644 src/main/java/frc4388/robot/commands/auto/GalacticSearch.java create mode 100644 src/main/java/frc4388/robot/commands/auto/IdentifyPath.java diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 7443120..16da8d0 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -214,6 +214,14 @@ public final class Constants { public static final double DISTANCE_ERROR_EQUATION_M = 1.1279; public static final double DISTANCE_ERROR_EQUATION_B = -15.0684; public static final double GRAV = 385.83; + + //Galactic Search + public static final double searchError = 0.5; + public static final double bothCloseVisibleY = -16.7; + public static final double closeLeftVisibleY = -11.47; + public static final double closeRightVisibleY = -10.50; + public static final double farLeftVisibleX = -1.03; + public static final double farRightVisibleX = -2.37; } public static final class OIConstants { diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 373f563..3fa0e70 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -8,7 +8,6 @@ package frc4388.robot; import java.nio.file.Path; -import java.util.List; import com.ctre.phoenix.motorcontrol.NeutralMode; @@ -18,55 +17,44 @@ import edu.wpi.first.wpilibj.GenericHID; 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; import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig; -import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator; import edu.wpi.first.wpilibj.trajectory.TrajectoryUtil; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.RamseteCommand; import edu.wpi.first.wpilibj2.command.RunCommand; -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.FiveBallAutoMiddle; -import frc4388.robot.commands.auto.SequentialTest; -import frc4388.robot.commands.auto.SixBallAutoMiddle; -import frc4388.robot.commands.auto.Slalom; -import frc4388.robot.commands.auto.TankDriveVelocity; -import frc4388.robot.commands.auto.TenBallAutoMiddle; import frc4388.robot.commands.InterruptSubystem; -import frc4388.robot.commands.auto.AutoPath1FromCenter; import frc4388.robot.commands.auto.Barrel; import frc4388.robot.commands.auto.BarrelMany; import frc4388.robot.commands.auto.BarrelStart; import frc4388.robot.commands.auto.Bounce; +import frc4388.robot.commands.auto.DriveOffLineBackward; +import frc4388.robot.commands.auto.DriveOffLineForward; +import frc4388.robot.commands.auto.EightBallAutoMiddle; +import frc4388.robot.commands.auto.FiveBallAutoMiddle; +import frc4388.robot.commands.auto.GalacticSearch; +import frc4388.robot.commands.auto.IdentifyPath; +import frc4388.robot.commands.auto.SequentialTest; +import frc4388.robot.commands.auto.SixBallAutoMiddle; +import frc4388.robot.commands.auto.Slalom; +import frc4388.robot.commands.auto.TenBallAutoMiddle; import frc4388.robot.commands.auto.Wait; import frc4388.robot.commands.climber.DisengageRachet; import frc4388.robot.commands.climber.RunClimberWithTriggers; import frc4388.robot.commands.climber.RunLevelerWithJoystick; import frc4388.robot.commands.drive.DriveStraightAtVelocityPID; -import frc4388.robot.commands.drive.DriveStraightToPositionMM; import frc4388.robot.commands.drive.DriveWithJoystick; import frc4388.robot.commands.drive.TurnDegrees; import frc4388.robot.commands.intake.RunIntakeWithTriggers; import frc4388.robot.commands.shooter.CalibrateShooter; -import frc4388.robot.commands.shooter.TrackTarget; -import frc4388.robot.commands.shooter.TrimShooter; import frc4388.robot.commands.shooter.ShootPrepGroup; import frc4388.robot.commands.shooter.TrackTarget; import frc4388.robot.commands.shooter.TrimShooter; -import frc4388.robot.commands.storage.ManageStorage; -import frc4388.robot.commands.storage.StoragePrep; -import frc4388.robot.commands.storage.ManageStorage.StorageMode; import frc4388.robot.subsystems.Camera; import frc4388.robot.subsystems.Climber; import frc4388.robot.subsystems.Drive; @@ -110,6 +98,7 @@ public class RobotContainer { /* Controllers */ private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID); private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID); + private final Joystick m_joystick = new Joystick(0); /* Autos */ double m_totalTimeAuto; @@ -142,6 +131,8 @@ public class RobotContainer { SequentialTest m_sequentialTest; + GalacticSearch m_galacticSearch; + /** * The container for the robot. Contains subsystems, OI devices, and commands. */ @@ -289,6 +280,11 @@ public class RobotContainer { .whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false) //.whenReleased(new ManageStorage(m_robotStorage, StorageMode.RESET)) .whenReleased(new InstantCommand(() -> m_robotLime.limeOff())); + + new JoystickButton(m_joystick, 1) + .whenPressed(new IdentifyPath(m_robotLime)) + .whenReleased(new InstantCommand(() -> m_robotLime.limeOff())); + //.whileHeld(new RunCommand(() -> System.out.println("pog"))); } public void buildAutos() { @@ -379,6 +375,14 @@ public class RobotContainer { }; m_sequentialTest = new SequentialTest(this, buildPaths(sequentialTestPaths)); + + String[] galacticSearchPaths = new String[]{ + "aRed", + "aBlue", + "bRed", + "bBlue" + }; + m_galacticSearch = new GalacticSearch(m_robotLime, buildPaths(galacticSearchPaths)); } /** @@ -405,8 +409,9 @@ public class RobotContainer { //return m_tenBallAutoMiddle.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); //return m_slalom.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); //return m_barrel.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); - return m_barrelStart.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); + //return m_barrelStart.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); //return m_sequentialTest.andThen(() -> m_robotDrive.tankDriveVelocity(0,0)); + return new IdentifyPath(m_robotLime).andThen(() -> m_galacticSearch.andThen(() -> m_robotDrive.tankDriveVelocity(0,0))); } catch (Exception e) { System.err.println("ERROR"); diff --git a/src/main/java/frc4388/robot/commands/auto/GalacticSearch.java b/src/main/java/frc4388/robot/commands/auto/GalacticSearch.java new file mode 100644 index 0000000..357fb20 --- /dev/null +++ b/src/main/java/frc4388/robot/commands/auto/GalacticSearch.java @@ -0,0 +1,39 @@ +/*----------------------------------------------------------------------------*/ +/* 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.LimeLight; + +// 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 GalacticSearch extends SequentialCommandGroup { + /** + * Creates a new GalacticSearch. + */ + public GalacticSearch(LimeLight m_limeLight, RamseteCommand[] paths) { + if (m_limeLight.galacticSearchPath == "A_RED") + { + addCommands(paths[0]); + } + else if (m_limeLight.galacticSearchPath == "A_BLUE") + { + addCommands(paths[1]); + } + else if (m_limeLight.galacticSearchPath == "B_RED") + { + addCommands(paths[2]); + } + else if (m_limeLight.galacticSearchPath == "B_BLUE") + { + addCommands(paths[3]); + } + } +} diff --git a/src/main/java/frc4388/robot/commands/auto/IdentifyPath.java b/src/main/java/frc4388/robot/commands/auto/IdentifyPath.java new file mode 100644 index 0000000..681cd0c --- /dev/null +++ b/src/main/java/frc4388/robot/commands/auto/IdentifyPath.java @@ -0,0 +1,101 @@ +/*----------------------------------------------------------------------------*/ +/* 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.networktables.NetworkTableInstance; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.CommandBase; +import frc4388.robot.Constants.VisionConstants; +import frc4388.robot.subsystems.LimeLight; + +public class IdentifyPath extends CommandBase { + + LimeLight m_limeLight; + double xAngle; + double yAngle; + double target; + public String path; + + public IdentifyPath(LimeLight limeLight) { + m_limeLight = limeLight; + addRequirements(m_limeLight); + m_limeLight.limeOff(); + } + + // Called when the command is initially scheduled. + @Override + public void initialize() { + m_limeLight.limeOn(); + path = ""; + } + + // Called every time the scheduler runs while the command is scheduled. + @Override + public void execute() { + target = m_limeLight.getV(); + xAngle = m_limeLight.getX(); + yAngle = m_limeLight.getY(); + m_limeLight.changePipeline(1); //Dual Targetting + + //Identify which of four paths + if (withinError(yAngle, VisionConstants.bothCloseVisibleY)) //BLUE PATHS + { + if(withinError(xAngle, VisionConstants.farLeftVisibleX)) //A PATH + { + path = "A_BLUE"; + } + if(withinError(xAngle, VisionConstants.farRightVisibleX)) //B PATH + { + path = "B_BLUE"; + } + } + + else // RED PATHS + { + if(withinError(yAngle, VisionConstants.closeLeftVisibleY)) //A PATH + { + path = "A_RED"; + } + if(withinError(yAngle, VisionConstants.closeRightVisibleY)) //B PATH + { + path = "B_RED"; + } + } + + + + } + + public boolean withinError(double angle, double input) + { + if(input > (angle - VisionConstants.searchError) && input < (angle + VisionConstants.searchError)) + { + return true; + } + else + { + return false; + } + } + // 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 (path != "") + { + SmartDashboard.putString("GalacticSearchPath", path); + m_limeLight.galacticSearchPath = path; + return true; + } + return false; + } +} diff --git a/src/main/java/frc4388/robot/subsystems/LimeLight.java b/src/main/java/frc4388/robot/subsystems/LimeLight.java index d8e39a4..68cba6c 100644 --- a/src/main/java/frc4388/robot/subsystems/LimeLight.java +++ b/src/main/java/frc4388/robot/subsystems/LimeLight.java @@ -14,6 +14,8 @@ public class LimeLight extends SubsystemBase { /** * Creates a new LimeLight. */ + public String galacticSearchPath; + public LimeLight() { } @@ -27,6 +29,24 @@ public class LimeLight extends SubsystemBase { NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0); NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(3); } + + public void changePipeline(int pipelineId) + { + NetworkTableInstance.getDefault().getTable("limelight").getEntry("pipeline").setNumber(pipelineId); + } + + public double getV() + { + return NetworkTableInstance.getDefault().getTable("limelight").getEntry("tv").getDouble(0); + } + public double getX() + { + return NetworkTableInstance.getDefault().getTable("limelight").getEntry("tx").getDouble(0); + } + public double getY() + { + return NetworkTableInstance.getDefault().getTable("limelight").getEntry("ty").getDouble(0); + } @Override public void periodic() { From 2de45da486a26cc2b88735d7a685b96459be95eb Mon Sep 17 00:00:00 2001 From: ryan123rudder <42309874+ryan123rudder@users.noreply.github.com> Date: Fri, 19 Mar 2021 13:43:45 -0600 Subject: [PATCH 03/14] Making Galactic path work --- src/main/java/frc4388/robot/Constants.java | 11 +++---- .../robot/commands/auto/IdentifyPath.java | 30 +++++++++++++++---- .../robot/commands/shooter/TrackTarget.java | 1 + 3 files changed, 31 insertions(+), 11 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 16da8d0..2d1c58c 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -217,11 +217,12 @@ public final class Constants { //Galactic Search public static final double searchError = 0.5; - public static final double bothCloseVisibleY = -16.7; - public static final double closeLeftVisibleY = -11.47; - public static final double closeRightVisibleY = -10.50; - public static final double farLeftVisibleX = -1.03; - public static final double farRightVisibleX = -2.37; + public static final double bothCloseVisibleY = -17.69; + public static final double closeLeftVisibleY = -12.78; + public static final double closeRightVisibleY = -11.77; + public static final double farLeftVisibleX = 1.13; + public static final double farRightVisibleX = 4.47; + public static final double bothCloseHiddenErrorCheckY = -5.29; } public static final class OIConstants { diff --git a/src/main/java/frc4388/robot/commands/auto/IdentifyPath.java b/src/main/java/frc4388/robot/commands/auto/IdentifyPath.java index 681cd0c..e3f1bdc 100644 --- a/src/main/java/frc4388/robot/commands/auto/IdentifyPath.java +++ b/src/main/java/frc4388/robot/commands/auto/IdentifyPath.java @@ -7,6 +7,8 @@ package frc4388.robot.commands.auto; +import javax.lang.model.util.ElementScanner6; + import edu.wpi.first.networktables.NetworkTableInstance; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.CommandBase; @@ -20,6 +22,8 @@ public class IdentifyPath extends CommandBase { double yAngle; double target; public String path; + boolean closeVisible; + boolean finished; public IdentifyPath(LimeLight limeLight) { m_limeLight = limeLight; @@ -32,6 +36,8 @@ public class IdentifyPath extends CommandBase { public void initialize() { m_limeLight.limeOn(); path = ""; + m_limeLight.changePipeline(1); //Dual Targetting Lowest + //closeVisible = false; } // Called every time the scheduler runs while the command is scheduled. @@ -40,11 +46,21 @@ public class IdentifyPath extends CommandBase { target = m_limeLight.getV(); xAngle = m_limeLight.getX(); yAngle = m_limeLight.getY(); - m_limeLight.changePipeline(1); //Dual Targetting //Identify which of four paths - if (withinError(yAngle, VisionConstants.bothCloseVisibleY)) //BLUE PATHS + if (withinError(yAngle, VisionConstants.bothCloseVisibleY) && !closeVisible) //BLUE PATHS { + closeVisible = true; + } + else if (!withinError(yAngle, VisionConstants.bothCloseVisibleY)&& !closeVisible) // RED PATHS + { + closeVisible = false; + } + + + if (closeVisible) + { + m_limeLight.changePipeline(2); //Dual Targetting Highest if(withinError(xAngle, VisionConstants.farLeftVisibleX)) //A PATH { path = "A_BLUE"; @@ -54,20 +70,22 @@ public class IdentifyPath extends CommandBase { path = "B_BLUE"; } } - - else // RED PATHS + else { + //m_limeLight.changePipeline(1); //Dual Targetting Lowest if(withinError(yAngle, VisionConstants.closeLeftVisibleY)) //A PATH { path = "A_RED"; } - if(withinError(yAngle, VisionConstants.closeRightVisibleY)) //B PATH + else if(withinError(yAngle, VisionConstants.closeRightVisibleY)) //B PATH { path = "B_RED"; } } - + System.out.println(path); + SmartDashboard.putString("GalacticSearchPath", path); + SmartDashboard.putBoolean("CloseVisible", closeVisible); } diff --git a/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java b/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java index a1e688e..3d0f9a0 100644 --- a/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java +++ b/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java @@ -59,6 +59,7 @@ public class TrackTarget extends CommandBase { // Vision Processing Mode NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0); NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(3); + NetworkTableInstance.getDefault().getTable("limelight").getEntry("pipeline").setNumber(0); } // Called every time the scheduler runs while the command is scheduled. From fd37bacd5a74e4213f1e4b7360b8600a51e1b3e2 Mon Sep 17 00:00:00 2001 From: ryan123rudder <42309874+ryan123rudder@users.noreply.github.com> Date: Sun, 21 Mar 2021 17:29:31 -0600 Subject: [PATCH 04/14] GalacticSearch working Paths need to be drawn and tested --- src/main/java/frc4388/robot/Constants.java | 9 +-- .../java/frc4388/robot/RobotContainer.java | 4 +- .../robot/commands/auto/IdentifyPath.java | 74 +++++++++---------- .../frc4388/robot/subsystems/LimeLight.java | 4 +- 4 files changed, 44 insertions(+), 47 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 2d1c58c..e59111a 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -218,11 +218,10 @@ public final class Constants { //Galactic Search public static final double searchError = 0.5; public static final double bothCloseVisibleY = -17.69; - public static final double closeLeftVisibleY = -12.78; - public static final double closeRightVisibleY = -11.77; - public static final double farLeftVisibleX = 1.13; - public static final double farRightVisibleX = 4.47; - public static final double bothCloseHiddenErrorCheckY = -5.29; + public static final double closeLeftVisibleY = -12.57; + public static final double closeRightVisibleY = -11.35; + public static final double farLeftVisibleX = 3.58; + public static final double farRightVisibleX = 7.04; } public static final class OIConstants { diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 3fa0e70..f1da19b 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -282,9 +282,7 @@ public class RobotContainer { .whenReleased(new InstantCommand(() -> m_robotLime.limeOff())); new JoystickButton(m_joystick, 1) - .whenPressed(new IdentifyPath(m_robotLime)) - .whenReleased(new InstantCommand(() -> m_robotLime.limeOff())); - //.whileHeld(new RunCommand(() -> System.out.println("pog"))); + .whenPressed(new IdentifyPath(m_robotLime)); } public void buildAutos() { diff --git a/src/main/java/frc4388/robot/commands/auto/IdentifyPath.java b/src/main/java/frc4388/robot/commands/auto/IdentifyPath.java index e3f1bdc..44730f3 100644 --- a/src/main/java/frc4388/robot/commands/auto/IdentifyPath.java +++ b/src/main/java/frc4388/robot/commands/auto/IdentifyPath.java @@ -12,6 +12,7 @@ import javax.lang.model.util.ElementScanner6; import edu.wpi.first.networktables.NetworkTableInstance; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.CommandBase; +import edu.wpi.first.wpilibj2.command.InstantCommand; import frc4388.robot.Constants.VisionConstants; import frc4388.robot.subsystems.LimeLight; @@ -34,10 +35,8 @@ public class IdentifyPath extends CommandBase { // Called when the command is initially scheduled. @Override public void initialize() { - m_limeLight.limeOn(); path = ""; - m_limeLight.changePipeline(1); //Dual Targetting Lowest - //closeVisible = false; + closeVisible = false; } // Called every time the scheduler runs while the command is scheduled. @@ -46,46 +45,46 @@ public class IdentifyPath extends CommandBase { target = m_limeLight.getV(); xAngle = m_limeLight.getX(); yAngle = m_limeLight.getY(); - - //Identify which of four paths - if (withinError(yAngle, VisionConstants.bothCloseVisibleY) && !closeVisible) //BLUE PATHS - { - closeVisible = true; - } - else if (!withinError(yAngle, VisionConstants.bothCloseVisibleY)&& !closeVisible) // RED PATHS - { - closeVisible = false; - } - - - if (closeVisible) - { - m_limeLight.changePipeline(2); //Dual Targetting Highest - if(withinError(xAngle, VisionConstants.farLeftVisibleX)) //A PATH + m_limeLight.limeOn(); + //Identify which of four paths + m_limeLight.changePipeline(1);//Dual Targetting Lowest + if (withinError(yAngle, VisionConstants.bothCloseVisibleY) && !closeVisible) //BLUE PATHS { - path = "A_BLUE"; + closeVisible = true; } - if(withinError(xAngle, VisionConstants.farRightVisibleX)) //B PATH + else if (!withinError(yAngle, VisionConstants.bothCloseVisibleY) && !closeVisible) // RED PATHS { - path = "B_BLUE"; + closeVisible = false; } - } - else - { - //m_limeLight.changePipeline(1); //Dual Targetting Lowest - if(withinError(yAngle, VisionConstants.closeLeftVisibleY)) //A PATH - { - path = "A_RED"; - } - else if(withinError(yAngle, VisionConstants.closeRightVisibleY)) //B PATH - { - path = "B_RED"; - } - } + if (closeVisible) + { + m_limeLight.changePipeline(2); //Dual Targetting Highest + if(withinError(xAngle, VisionConstants.farLeftVisibleX)) //A PATH + { + path = "A_BLUE"; + } + if(withinError(xAngle, VisionConstants.farRightVisibleX)) //B PATH + { + path = "B_BLUE"; + } + } + + else{ + m_limeLight.changePipeline(1); //Dual Targetting Lowest + if(withinError(yAngle, VisionConstants.closeLeftVisibleY)) //A PATH + { + path = "A_RED"; + } + else if(withinError(yAngle, VisionConstants.closeRightVisibleY)) //B PATH + { + path = "B_RED"; + } + } + + SmartDashboard.putBoolean("CloseVisible", closeVisible); + System.out.println("If you see this message a bunch of times in a row, IdentifyPath.java is stuck trying to find the path for GalacticSearch"); System.out.println(path); - SmartDashboard.putString("GalacticSearchPath", path); - SmartDashboard.putBoolean("CloseVisible", closeVisible); } @@ -112,6 +111,7 @@ public class IdentifyPath extends CommandBase { { SmartDashboard.putString("GalacticSearchPath", path); m_limeLight.galacticSearchPath = path; + m_limeLight.limeOff(); return true; } return false; diff --git a/src/main/java/frc4388/robot/subsystems/LimeLight.java b/src/main/java/frc4388/robot/subsystems/LimeLight.java index 68cba6c..7a5cc5c 100644 --- a/src/main/java/frc4388/robot/subsystems/LimeLight.java +++ b/src/main/java/frc4388/robot/subsystems/LimeLight.java @@ -21,8 +21,8 @@ public class LimeLight extends SubsystemBase { } public void limeOff(){ - NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(1); - NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(0); + NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0); + NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(1); } public void limeOn(){ From 813ab40e9635af51030ee03b3bff6326a6d08c87 Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Mon, 22 Mar 2021 17:48:00 -0600 Subject: [PATCH 05/14] Made 4 Galactic Paths Made Galactic Paths from 2021 Game Manual, everything is set up. Need to test. Co-Authored-By: Nirvan Bhalala <78400306+nbhalala27@users.noreply.github.com> --- PathWeaver/Paths/Galactic Search ABLUE | 6 ++++++ PathWeaver/Paths/Galactic Search ARED | 6 ++++++ PathWeaver/Paths/Galactic Search BBLUE | 6 ++++++ PathWeaver/Paths/Galactic Search BRED | 6 ++++++ PathWeaver/pathweaver.json | 2 +- src/main/deploy/paths/Galactic Search ABLUE.wpilib.json | 1 + src/main/deploy/paths/Galactic Search ARED.wpilib.json | 1 + src/main/deploy/paths/Galactic Search BBLUE.wpilib.json | 1 + src/main/deploy/paths/Galactic Search BRED.wpilib.json | 1 + 9 files changed, 29 insertions(+), 1 deletion(-) create mode 100644 PathWeaver/Paths/Galactic Search ABLUE create mode 100644 PathWeaver/Paths/Galactic Search ARED create mode 100644 PathWeaver/Paths/Galactic Search BBLUE create mode 100644 PathWeaver/Paths/Galactic Search BRED create mode 100644 src/main/deploy/paths/Galactic Search ABLUE.wpilib.json create mode 100644 src/main/deploy/paths/Galactic Search ARED.wpilib.json create mode 100644 src/main/deploy/paths/Galactic Search BBLUE.wpilib.json create mode 100644 src/main/deploy/paths/Galactic Search BRED.wpilib.json diff --git a/PathWeaver/Paths/Galactic Search ABLUE b/PathWeaver/Paths/Galactic Search ABLUE new file mode 100644 index 0000000..d66fcea --- /dev/null +++ b/PathWeaver/Paths/Galactic Search ABLUE @@ -0,0 +1,6 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Name +5.890613927719807E-4,-2.313833150808477,1.336,0.031,true, +4.6270772402241835,-3.748786703601108,1.2563247355441896,1.7028754396751247,false, +5.394035173613347,-1.5035792050505696,1.4968049990336905,0.5133670038008115,true, +6.909395606519357,-2.276722283063841,1.7442107839979393,0.04948115699284994,true, +8.901012175481542,-2.208685692198673,0.5690333054177668,0.012370289248212374,true, diff --git a/PathWeaver/Paths/Galactic Search ARED b/PathWeaver/Paths/Galactic Search ARED new file mode 100644 index 0000000..a472403 --- /dev/null +++ b/PathWeaver/Paths/Galactic Search ARED @@ -0,0 +1,6 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Name +5.890613927719807E-4,-2.313833150808477,1.336,0.031,true, +2.3509440185531143,-2.2890925723120525,1.269287873893314,-0.3453492463826622,false, +3.872489596083231,-3.0436802164530046,1.694729627005089,0.49481156992849273,true, +4.899223603684853,-0.6005480899310699,2.152430329188946,0.5381075822972362,true, +8.962863621722605,-0.5572520775623268,0.5690333054177668,0.012370289248212374,true, diff --git a/PathWeaver/Paths/Galactic Search BBLUE b/PathWeaver/Paths/Galactic Search BBLUE new file mode 100644 index 0000000..a7ac2e2 --- /dev/null +++ b/PathWeaver/Paths/Galactic Search BBLUE @@ -0,0 +1,6 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Name +0.019144495265090485,-2.2890925723120525,1.3359912388069315,0.03092572312053088,true, +4.608521806351864,-3.0374950718288987,1.8740988211041678,0.19173948334729074,true, +6.130067383881981,-1.497394060426464,1.762766217870257,0.03092572312053088,true, 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\ No newline at end of file From 6593c4cbafa60e2fd6cdf4d23a9d1a46cddece9f Mon Sep 17 00:00:00 2001 From: ryan123rudder <42309874+ryan123rudder@users.noreply.github.com> Date: Wed, 31 Mar 2021 18:53:42 -0600 Subject: [PATCH 06/14] Sequential Intake --- src/main/java/frc4388/robot/RobotContainer.java | 2 +- .../frc4388/robot/commands/auto/GalacticSearch.java | 12 +++++++----- 2 files changed, 8 insertions(+), 6 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index f1da19b..68b4da7 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -380,7 +380,7 @@ public class RobotContainer { "bRed", "bBlue" }; - m_galacticSearch = new GalacticSearch(m_robotLime, buildPaths(galacticSearchPaths)); + m_galacticSearch = new GalacticSearch(m_robotLime, m_robotIntake, buildPaths(galacticSearchPaths)); } /** diff --git a/src/main/java/frc4388/robot/commands/auto/GalacticSearch.java b/src/main/java/frc4388/robot/commands/auto/GalacticSearch.java index 357fb20..9fc0b59 100644 --- a/src/main/java/frc4388/robot/commands/auto/GalacticSearch.java +++ b/src/main/java/frc4388/robot/commands/auto/GalacticSearch.java @@ -9,6 +9,8 @@ package frc4388.robot.commands.auto; import edu.wpi.first.wpilibj2.command.RamseteCommand; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; +import frc4388.robot.commands.intake.RunIntake; +import frc4388.robot.subsystems.Intake; import frc4388.robot.subsystems.LimeLight; // NOTE: Consider using this command inline, rather than writing a subclass. For more @@ -18,22 +20,22 @@ public class GalacticSearch extends SequentialCommandGroup { /** * Creates a new GalacticSearch. */ - public GalacticSearch(LimeLight m_limeLight, RamseteCommand[] paths) { + public GalacticSearch(LimeLight m_limeLight, Intake m_intake, RamseteCommand[] paths) { if (m_limeLight.galacticSearchPath == "A_RED") { - addCommands(paths[0]); + addCommands(new SequentialCommandGroup(paths[0], new RunIntake(m_intake))); } else if (m_limeLight.galacticSearchPath == "A_BLUE") { - addCommands(paths[1]); + addCommands(new SequentialCommandGroup(paths[1], new RunIntake(m_intake))); } else if (m_limeLight.galacticSearchPath == "B_RED") { - addCommands(paths[2]); + addCommands(new SequentialCommandGroup(paths[2], new RunIntake(m_intake))); } else if (m_limeLight.galacticSearchPath == "B_BLUE") { - addCommands(paths[3]); + addCommands(new SequentialCommandGroup(paths[3], new RunIntake(m_intake))); } } } From 7bca9f4d55cfd34327fe41540fcea92b2f0bb91c Mon Sep 17 00:00:00 2001 From: ryan123rudder <42309874+ryan123rudder@users.noreply.github.com> Date: Thu, 1 Apr 2021 16:44:38 -0600 Subject: [PATCH 07/14] GalacticSearch --- src/main/java/frc4388/robot/Constants.java | 10 +- .../java/frc4388/robot/RobotContainer.java | 2 +- .../robot/commands/auto/GalacticSearch.java | 17 ++- .../robot/commands/auto/IdentifyPath.java | 119 ++++++++++++------ 4 files changed, 100 insertions(+), 48 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index e59111a..9897059 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -216,12 +216,16 @@ public final class Constants { public static final double GRAV = 385.83; //Galactic Search - public static final double searchError = 0.5; - public static final double bothCloseVisibleY = -17.69; + public static final double searchError = 1; + /*public static final double bothCloseVisibleY = -17.69; public static final double closeLeftVisibleY = -12.57; public static final double closeRightVisibleY = -11.35; public static final double farLeftVisibleX = 3.58; - public static final double farRightVisibleX = 7.04; + public static final double farRightVisibleX = 7.04;*/ + public static final double[] aRed = {-3.9, 0.8}; + public static final double[] bRed = {5.4, 5}; + public static final double[] aBlue = {9.27, 7}; + public static final double[] bBlue = {4.9, 8.6}; } public static final class OIConstants { diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 68b4da7..42c567a 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -409,7 +409,7 @@ public class RobotContainer { //return m_barrel.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); //return m_barrelStart.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); //return m_sequentialTest.andThen(() -> m_robotDrive.tankDriveVelocity(0,0)); - return new IdentifyPath(m_robotLime).andThen(() -> m_galacticSearch.andThen(() -> m_robotDrive.tankDriveVelocity(0,0))); + return m_galacticSearch.andThen(() -> m_robotDrive.tankDriveVelocity(0,0)); } catch (Exception e) { System.err.println("ERROR"); diff --git a/src/main/java/frc4388/robot/commands/auto/GalacticSearch.java b/src/main/java/frc4388/robot/commands/auto/GalacticSearch.java index 9fc0b59..1574179 100644 --- a/src/main/java/frc4388/robot/commands/auto/GalacticSearch.java +++ b/src/main/java/frc4388/robot/commands/auto/GalacticSearch.java @@ -7,6 +7,7 @@ package frc4388.robot.commands.auto; +import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; import edu.wpi.first.wpilibj2.command.RamseteCommand; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import frc4388.robot.commands.intake.RunIntake; @@ -21,21 +22,25 @@ public class GalacticSearch extends SequentialCommandGroup { * Creates a new GalacticSearch. */ public GalacticSearch(LimeLight m_limeLight, Intake m_intake, RamseteCommand[] paths) { - if (m_limeLight.galacticSearchPath == "A_RED") + addCommands( + paths[0] + ); + /* if (m_limeLight.galacticSearchPath == "A_RED") { - addCommands(new SequentialCommandGroup(paths[0], new RunIntake(m_intake))); + System.out.println(m_limeLight.galacticSearchPath +"YOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO"); + addCommands(new ParallelCommandGroup(paths[0], new RunIntake(m_intake))); } else if (m_limeLight.galacticSearchPath == "A_BLUE") { - addCommands(new SequentialCommandGroup(paths[1], new RunIntake(m_intake))); + addCommands(new ParallelCommandGroup(paths[1], new RunIntake(m_intake))); } else if (m_limeLight.galacticSearchPath == "B_RED") { - addCommands(new SequentialCommandGroup(paths[2], new RunIntake(m_intake))); + addCommands(new ParallelCommandGroup(paths[2], new RunIntake(m_intake))); } else if (m_limeLight.galacticSearchPath == "B_BLUE") { - addCommands(new SequentialCommandGroup(paths[3], new RunIntake(m_intake))); - } + addCommands(new ParallelCommandGroup(paths[3], new RunIntake(m_intake))); + }*/ } } diff --git a/src/main/java/frc4388/robot/commands/auto/IdentifyPath.java b/src/main/java/frc4388/robot/commands/auto/IdentifyPath.java index 44730f3..4aff1c8 100644 --- a/src/main/java/frc4388/robot/commands/auto/IdentifyPath.java +++ b/src/main/java/frc4388/robot/commands/auto/IdentifyPath.java @@ -25,6 +25,7 @@ public class IdentifyPath extends CommandBase { public String path; boolean closeVisible; boolean finished; + boolean pathFound; public IdentifyPath(LimeLight limeLight) { m_limeLight = limeLight; @@ -37,6 +38,7 @@ public class IdentifyPath extends CommandBase { public void initialize() { path = ""; closeVisible = false; + pathFound = false; } // Called every time the scheduler runs while the command is scheduled. @@ -46,51 +48,92 @@ public class IdentifyPath extends CommandBase { xAngle = m_limeLight.getX(); yAngle = m_limeLight.getY(); m_limeLight.limeOn(); - //Identify which of four paths - m_limeLight.changePipeline(1);//Dual Targetting Lowest - if (withinError(yAngle, VisionConstants.bothCloseVisibleY) && !closeVisible) //BLUE PATHS - { - closeVisible = true; - } - else if (!withinError(yAngle, VisionConstants.bothCloseVisibleY) && !closeVisible) // RED PATHS - { - closeVisible = false; - } + // //Identify which of four paths + // m_limeLight.changePipeline(1);//Dual Targetting Lowest + // if (withinError(yAngle, VisionConstants.bothCloseVisibleY) && !closeVisible) //BLUE PATHS + // { + // closeVisible = true; + // } + // else if (!withinError(yAngle, VisionConstants.bothCloseVisibleY) && !closeVisible) // RED PATHS + // { + // closeVisible = false; + // } - if (closeVisible) - { - m_limeLight.changePipeline(2); //Dual Targetting Highest - if(withinError(xAngle, VisionConstants.farLeftVisibleX)) //A PATH - { - path = "A_BLUE"; - } - if(withinError(xAngle, VisionConstants.farRightVisibleX)) //B PATH - { - path = "B_BLUE"; - } - } + // if (closeVisible) + // { + // m_limeLight.changePipeline(2); //Dual Targetting Highest + // if(withinError(xAngle, VisionConstants.farLeftVisibleX)) //A PATH + // { + // path = "A_BLUE"; + // } + // if(withinError(xAngle, VisionConstants.farRightVisibleX)) //B PATH + // { + // path = "B_BLUE"; + // } + // } - else{ - m_limeLight.changePipeline(1); //Dual Targetting Lowest - if(withinError(yAngle, VisionConstants.closeLeftVisibleY)) //A PATH - { - path = "A_RED"; - } - else if(withinError(yAngle, VisionConstants.closeRightVisibleY)) //B PATH - { - path = "B_RED"; - } - } + // else{ + // m_limeLight.changePipeline(1); //Dual Targetting Lowest + // if(withinError(yAngle, VisionConstants.closeLeftVisibleY)) //A PATH + // { + // path = "A_RED"; + // } + // else if(withinError(yAngle, VisionConstants.closeRightVisibleY)) //B PATH + // { + // path = "B_RED"; + // } + // } - SmartDashboard.putBoolean("CloseVisible", closeVisible); - System.out.println("If you see this message a bunch of times in a row, IdentifyPath.java is stuck trying to find the path for GalacticSearch"); - System.out.println(path); + SmartDashboard.putBoolean("PathFound", pathFound); + // System.out.println("If you see this message a bunch of times in a row, IdentifyPath.java is stuck trying to find the path for GalacticSearch"); + // System.out.println(path); + + + m_limeLight.changePipeline(1); + if (withinCoords(VisionConstants.aBlue)) + { + pathFound = true; + path = "A_BLUE"; + } + + m_limeLight.changePipeline(2); + if (withinCoords(VisionConstants.bBlue)) + { + pathFound = true; + path = "B_BLUE"; + } + + m_limeLight.changePipeline(1); + if (withinCoords(VisionConstants.aRed)) + { + pathFound = true; + path = "A_RED"; + } + + m_limeLight.changePipeline(1); + if (withinCoords(VisionConstants.bRed)) + { + pathFound = true; + path = "B_RED"; + } } - public boolean withinError(double angle, double input) + public boolean withinError(double angle, double goal) { - if(input > (angle - VisionConstants.searchError) && input < (angle + VisionConstants.searchError)) + if(goal > (angle - VisionConstants.searchError) && goal < (angle + VisionConstants.searchError)) + { + return true; + } + else + { + return false; + } + } + + public boolean withinCoords(double[] coords) + { + if (withinError(xAngle, coords[0]) && withinError(yAngle, coords[1])) { return true; } From 03f822162d8ff751c1cada656cab9eee2b208fe9 Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Sat, 3 Apr 2021 11:09:19 -0600 Subject: [PATCH 08/14] changes to paths --- PathWeaver/Groups/GalacticSearch | 4 + PathWeaver/Paths/Bounce4 | 3 + .../{Galactic Search ABLUE => GSC_ABLUE} | 2 +- .../Paths/{Galactic Search ARED => GSC_ARED} | 2 +- .../{Galactic Search BBLUE => GSC_BBLUE} | 2 +- .../Paths/{Galactic Search BRED => GSC_BRED} | 2 +- PathWeaver/pathweaver.json | 2 +- src/main/deploy/paths/Bounce4.wpilib.json | 2 +- src/main/deploy/paths/GSC_ABLUE.wpilib.json | 1 + src/main/deploy/paths/GSC_ARED.wpilib.json | 1 + src/main/deploy/paths/GSC_BBLUE.wpilib.json | 1 + src/main/deploy/paths/GSC_BRED.wpilib.json | 1 + src/main/java/frc4388/robot/Constants.java | 8 +- src/main/java/frc4388/robot/Robot.java | 4 + .../java/frc4388/robot/RobotContainer.java | 100 ++---------------- .../robot/commands/auto/ExecuteCommand.java | 65 ++++++++++++ .../robot/commands/auto/GalacticSearch.java | 17 +-- .../robot/commands/auto/IdentifyPath.java | 5 +- .../frc4388/robot/commands/auto/RunPath.java | 27 +++++ .../frc4388/robot/subsystems/LimeLight.java | 53 ++++++++++ 20 files changed, 191 insertions(+), 111 deletions(-) create mode 100644 PathWeaver/Groups/GalacticSearch create mode 100644 PathWeaver/Paths/Bounce4 rename PathWeaver/Paths/{Galactic Search ABLUE => GSC_ABLUE} (86%) rename PathWeaver/Paths/{Galactic Search ARED => GSC_ARED} (83%) rename PathWeaver/Paths/{Galactic Search BBLUE => GSC_BBLUE} (81%) rename PathWeaver/Paths/{Galactic Search BRED => GSC_BRED} (86%) create mode 100644 src/main/deploy/paths/GSC_ABLUE.wpilib.json create mode 100644 src/main/deploy/paths/GSC_ARED.wpilib.json create mode 100644 src/main/deploy/paths/GSC_BBLUE.wpilib.json create mode 100644 src/main/deploy/paths/GSC_BRED.wpilib.json create mode 100644 src/main/java/frc4388/robot/commands/auto/ExecuteCommand.java create mode 100644 src/main/java/frc4388/robot/commands/auto/RunPath.java diff --git a/PathWeaver/Groups/GalacticSearch b/PathWeaver/Groups/GalacticSearch new file mode 100644 index 0000000..43abe46 --- /dev/null +++ b/PathWeaver/Groups/GalacticSearch @@ -0,0 +1,4 @@ +GSC_ARED +GSC_ABLUE +GSC_BRED +GSC_BBLUE diff --git a/PathWeaver/Paths/Bounce4 b/PathWeaver/Paths/Bounce4 new file mode 100644 index 0000000..610bd7c --- /dev/null +++ b/PathWeaver/Paths/Bounce4 @@ -0,0 +1,3 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Name +0.0,0.0,10.0,0.0,true, +10.0,-10.0,0.0,-10.0,true, diff --git a/PathWeaver/Paths/Galactic Search ABLUE b/PathWeaver/Paths/GSC_ABLUE similarity index 86% rename from PathWeaver/Paths/Galactic Search ABLUE rename to PathWeaver/Paths/GSC_ABLUE index d66fcea..043d711 100644 --- a/PathWeaver/Paths/Galactic Search ABLUE +++ b/PathWeaver/Paths/GSC_ABLUE @@ -1,5 +1,5 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Name -5.890613927719807E-4,-2.313833150808477,1.336,0.031,true, +1.269,-2.313833150808477,1.336,0.031,true, 4.6270772402241835,-3.748786703601108,1.2563247355441896,1.7028754396751247,false, 5.394035173613347,-1.5035792050505696,1.4968049990336905,0.5133670038008115,true, 6.909395606519357,-2.276722283063841,1.7442107839979393,0.04948115699284994,true, diff --git a/PathWeaver/Paths/Galactic Search ARED b/PathWeaver/Paths/GSC_ARED similarity index 83% rename from PathWeaver/Paths/Galactic Search ARED rename to PathWeaver/Paths/GSC_ARED index a472403..22fb8af 100644 --- a/PathWeaver/Paths/Galactic Search ARED +++ b/PathWeaver/Paths/GSC_ARED @@ -1,5 +1,5 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Name -5.890613927719807E-4,-2.313833150808477,1.336,0.031,true, +1.269,-2.313833150808477,0.8840193905817173,-0.0061851446241063535,true, 2.3509440185531143,-2.2890925723120525,1.269287873893314,-0.3453492463826622,false, 3.872489596083231,-3.0436802164530046,1.694729627005089,0.49481156992849273,true, 4.899223603684853,-0.6005480899310699,2.152430329188946,0.5381075822972362,true, diff --git a/PathWeaver/Paths/Galactic Search BBLUE b/PathWeaver/Paths/GSC_BBLUE similarity index 81% rename from PathWeaver/Paths/Galactic Search BBLUE rename to PathWeaver/Paths/GSC_BBLUE index a7ac2e2..9caa653 100644 --- a/PathWeaver/Paths/Galactic Search BBLUE +++ b/PathWeaver/Paths/GSC_BBLUE @@ -1,5 +1,5 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Name -0.019144495265090485,-2.2890925723120525,1.3359912388069315,0.03092572312053088,true, +1.269,-2.2890925723120525,1.3359912388069315,0.03092572312053088,true, 4.608521806351864,-3.0374950718288987,1.8740988211041678,0.19173948334729074,true, 6.130067383881981,-1.497394060426464,1.762766217870257,0.03092572312053088,true, 7.676353539908522,-3.0251247825806864,1.874098821104166,-0.006185144624105465,true, diff --git a/PathWeaver/Paths/Galactic Search BRED b/PathWeaver/Paths/GSC_BRED similarity index 86% rename from PathWeaver/Paths/Galactic Search BRED rename to PathWeaver/Paths/GSC_BRED index 2fb1a34..149b9e7 100644 --- a/PathWeaver/Paths/Galactic Search BRED +++ b/PathWeaver/Paths/GSC_BRED @@ -1,5 +1,5 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Name -5.890613927719807E-4,-2.313833150808477,1.336,0.031,true, +1.269,-2.313833150808477,1.336,0.0,true, 2.369499452425433,-1.5345049281711007,1.694729627005088,-0.402034400566901,true, 3.872489596083231,-3.0436802164530046,1.6019524576434967,-0.012370289248212263,true, 5.412590607485666,-1.497394060426464,2.170985763061264,0.22266520646782229,true, diff --git a/PathWeaver/pathweaver.json b/PathWeaver/pathweaver.json index 4dc8ce6..15ed740 100644 --- a/PathWeaver/pathweaver.json +++ b/PathWeaver/pathweaver.json @@ -4,6 +4,6 @@ "maxVelocity": 2.3, "maxAcceleration": 2.7, "wheelBase": 0.648, - "gameName": "Galactic Search A", + "gameName": "Galactic Search B", "outputDir": ".." } \ No newline at end of file diff --git a/src/main/deploy/paths/Bounce4.wpilib.json b/src/main/deploy/paths/Bounce4.wpilib.json index 0970dff..40a9cdf 100644 --- a/src/main/deploy/paths/Bounce4.wpilib.json +++ b/src/main/deploy/paths/Bounce4.wpilib.json @@ -1 +1 @@ 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\ No newline at end of file diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 9897059..901d978 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -222,10 +222,10 @@ public final class Constants { public static final double closeRightVisibleY = -11.35; public static final double farLeftVisibleX = 3.58; public static final double farRightVisibleX = 7.04;*/ - public static final double[] aRed = {-3.9, 0.8}; - public static final double[] bRed = {5.4, 5}; - public static final double[] aBlue = {9.27, 7}; - public static final double[] bBlue = {4.9, 8.6}; + public static final double[] aRed = {-3.1, 1.8}; + public static final double[] bRed = {-6.3, 5.4}; + public static final double[] aBlue = {9.3, 9.3}; + public static final double[] bBlue = {4.4, 9.2}; } public static final class OIConstants { diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java index 75955a6..f5b755d 100644 --- a/src/main/java/frc4388/robot/Robot.java +++ b/src/main/java/frc4388/robot/Robot.java @@ -82,6 +82,7 @@ public class Robot extends TimedRobot { */ @Override public void autonomousInit() { + //m_robotContainer.buildAutos(); m_autonomousCommand = m_robotContainer.getAutonomousCommand(); m_robotContainer.setDriveNeutralMode(NeutralMode.Coast); @@ -105,6 +106,9 @@ public class Robot extends TimedRobot { m_autonomousCommand.schedule(); SmartDashboard.putString("Is Auto Start?", "YEA"); } + else{ + + } } /** diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 42c567a..397e3b1 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -100,6 +100,8 @@ public class RobotContainer { private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID); private final Joystick m_joystick = new Joystick(0); + public boolean isGS = false; + /* Autos */ double m_totalTimeAuto; @@ -286,100 +288,13 @@ public class RobotContainer { } public void buildAutos() { - String[] sixBallAutoMiddlePaths = new String[]{ - "SixBallMidComplete" - }; - - m_sixBallAutoMiddle = new SixBallAutoMiddle(m_robotDrive, buildPaths(sixBallAutoMiddlePaths)); - - String[] sixBallAutoMiddle0Paths = new String[]{ - "SixBallMid0" - }; - - m_sixBallAutoMiddle0 = new SixBallAutoMiddle(m_robotDrive, buildPaths(sixBallAutoMiddle0Paths)); - - String[] sixBallAutoMiddle1Paths = new String[]{ - "SixBallMid1" - }; - - m_sixBallAutoMiddle1 = new SixBallAutoMiddle(m_robotDrive, buildPaths(sixBallAutoMiddle1Paths)); - - String[] slalom = new String[]{ - "Slalom" - }; - - m_slalom = new Slalom(m_robotDrive, buildPaths(slalom)); - - String[] barrel = new String[]{ - "Barrel" - }; - - m_barrel = new Barrel(m_robotDrive, buildPaths(barrel)); - - String[] barrelStart = new String[]{ - "BarrelStart" - }; - - m_barrelStart = new BarrelStart(m_robotDrive, buildPaths(barrelStart)); - - String[] bounce = new String[]{ - "Bounce1", - "Bounce2", - "Bounce3", - "Bounce4" - }; - - m_bounce = new Bounce(m_robotDrive, buildPaths(bounce)); - - String[] barrelMany = new String[]{ - "BarrelManyWaypoints" - }; - - m_barrelMany = new BarrelMany(m_robotDrive, buildPaths(barrelMany)); - - String[] eightBallAutoMiddlePaths = new String[]{ - "EightBallMidComplete" - }; - - m_eightBallAutoMiddle = new EightBallAutoMiddle(m_robotDrive, buildPaths(eightBallAutoMiddlePaths)); - - String[] driveOffLineForwardPaths = new String[]{ - "DriveOffLineForward" - }; - - m_driveOffLineForward = new DriveOffLineForward(m_robotDrive, buildPaths(driveOffLineForwardPaths)); - - String[] driveOffLineBackwardPaths = new String[]{ - "DriveOffLineBackward" - }; - - m_driveOffLineBackward = new DriveOffLineBackward(m_robotDrive, buildPaths(driveOffLineBackwardPaths)); - - String[] fiveBallAutoMiddlePaths = new String[]{ - "FiveBallMidComplete" - }; - - m_fiveBallAutoMiddle = new FiveBallAutoMiddle(m_robotDrive, buildPaths(fiveBallAutoMiddlePaths)); - - String[] tenBallAutoMiddlePaths = new String[]{ - "TenBallMidComplete" - }; - - m_tenBallAutoMiddle = new TenBallAutoMiddle(m_robotDrive, buildPaths(tenBallAutoMiddlePaths)); - - String[] sequentialTestPaths = new String[]{ - "Seq1", - "Seq2" - }; - - m_sequentialTest = new SequentialTest(this, buildPaths(sequentialTestPaths)); - String[] galacticSearchPaths = new String[]{ - "aRed", - "aBlue", - "bRed", - "bBlue" + "GSC_ARED", + "GSC_ABLUE", + "GSC_BRED", + "GSC_BBLUE" }; + m_robotLime.identifyPath(); m_galacticSearch = new GalacticSearch(m_robotLime, m_robotIntake, buildPaths(galacticSearchPaths)); } @@ -397,7 +312,6 @@ public class RobotContainer { // Run path following command, then stop at the end. try { SmartDashboard.putNumber("Trajectory Total Time", m_totalTimeAuto); - //return m_sixBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); //return m_sixBallAutoMiddle1.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); //return m_eightBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); diff --git a/src/main/java/frc4388/robot/commands/auto/ExecuteCommand.java b/src/main/java/frc4388/robot/commands/auto/ExecuteCommand.java new file mode 100644 index 0000000..03f8fa1 --- /dev/null +++ b/src/main/java/frc4388/robot/commands/auto/ExecuteCommand.java @@ -0,0 +1,65 @@ +/*----------------------------------------------------------------------------*/ +/* 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 edu.wpi.first.wpilibj2.command.RamseteCommand; +import frc4388.robot.subsystems.LimeLight; + +public class ExecuteCommand extends CommandBase { + /** + * Creates a new ExecuteCommand. + */ + RamseteCommand[] m_paths; + LimeLight m_limeLight; + public ExecuteCommand(LimeLight limeLight, RamseteCommand[] paths) { + // Use addRequirements() here to declare subsystem dependencies. + m_limeLight = limeLight; + m_paths = paths; + } + + // 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() { + String gsPath = m_limeLight.galacticSearchPath; + switch (gsPath) + { + case "A_RED": + new RunPath(m_paths[0]); + break; + case "A_BLUE": + new RunPath(m_paths[1]); + break; + case "B_RED": + new RunPath(m_paths[2]); + break; + case "B_BLUE": + new RunPath(m_paths[3]); + break; + case "test": + new RunPath(m_paths[0]); + break; + } + } + + // 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; + } +} diff --git a/src/main/java/frc4388/robot/commands/auto/GalacticSearch.java b/src/main/java/frc4388/robot/commands/auto/GalacticSearch.java index 1574179..40df0f5 100644 --- a/src/main/java/frc4388/robot/commands/auto/GalacticSearch.java +++ b/src/main/java/frc4388/robot/commands/auto/GalacticSearch.java @@ -7,6 +7,7 @@ package frc4388.robot.commands.auto; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; import edu.wpi.first.wpilibj2.command.RamseteCommand; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; @@ -22,12 +23,12 @@ public class GalacticSearch extends SequentialCommandGroup { * Creates a new GalacticSearch. */ public GalacticSearch(LimeLight m_limeLight, Intake m_intake, RamseteCommand[] paths) { - addCommands( - paths[0] - ); - /* if (m_limeLight.galacticSearchPath == "A_RED") + // addCommands( + // new IdentifyPath(m_limeLight), + // new ExecuteCommand(m_limeLight, paths) + // ); + if (m_limeLight.galacticSearchPath == "A_RED") { - System.out.println(m_limeLight.galacticSearchPath +"YOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO"); addCommands(new ParallelCommandGroup(paths[0], new RunIntake(m_intake))); } else if (m_limeLight.galacticSearchPath == "A_BLUE") @@ -41,6 +42,10 @@ public class GalacticSearch extends SequentialCommandGroup { else if (m_limeLight.galacticSearchPath == "B_BLUE") { addCommands(new ParallelCommandGroup(paths[3], new RunIntake(m_intake))); - }*/ + } + else if (m_limeLight.galacticSearchPath == "test") + { + addCommands(new ParallelCommandGroup(paths[0], new RunIntake(m_intake))); + } } } diff --git a/src/main/java/frc4388/robot/commands/auto/IdentifyPath.java b/src/main/java/frc4388/robot/commands/auto/IdentifyPath.java index 4aff1c8..f98b888 100644 --- a/src/main/java/frc4388/robot/commands/auto/IdentifyPath.java +++ b/src/main/java/frc4388/robot/commands/auto/IdentifyPath.java @@ -47,7 +47,7 @@ public class IdentifyPath extends CommandBase { target = m_limeLight.getV(); xAngle = m_limeLight.getX(); yAngle = m_limeLight.getY(); - m_limeLight.limeOn(); + //m_limeLight.limeOn(); // //Identify which of four paths // m_limeLight.changePipeline(1);//Dual Targetting Lowest // if (withinError(yAngle, VisionConstants.bothCloseVisibleY) && !closeVisible) //BLUE PATHS @@ -117,6 +117,7 @@ public class IdentifyPath extends CommandBase { path = "B_RED"; } + path = "test"; } public boolean withinError(double angle, double goal) @@ -154,7 +155,7 @@ public class IdentifyPath extends CommandBase { { SmartDashboard.putString("GalacticSearchPath", path); m_limeLight.galacticSearchPath = path; - m_limeLight.limeOff(); + //m_limeLight.limeOff(); return true; } return false; diff --git a/src/main/java/frc4388/robot/commands/auto/RunPath.java b/src/main/java/frc4388/robot/commands/auto/RunPath.java new file mode 100644 index 0000000..fd7523e --- /dev/null +++ b/src/main/java/frc4388/robot/commands/auto/RunPath.java @@ -0,0 +1,27 @@ +/*----------------------------------------------------------------------------*/ +/* 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; + +// 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 RunPath extends SequentialCommandGroup { + /** + * Creates a new RunPath. + */ + public RunPath(RamseteCommand path) { + // Add your commands in the super() call, e.g. + // super(new FooCommand(), new BarCommand()); + addCommands( + path + ); + } +} diff --git a/src/main/java/frc4388/robot/subsystems/LimeLight.java b/src/main/java/frc4388/robot/subsystems/LimeLight.java index 7a5cc5c..b83178d 100644 --- a/src/main/java/frc4388/robot/subsystems/LimeLight.java +++ b/src/main/java/frc4388/robot/subsystems/LimeLight.java @@ -8,7 +8,9 @@ package frc4388.robot.subsystems; import edu.wpi.first.networktables.NetworkTableInstance; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc4388.robot.Constants.VisionConstants; public class LimeLight extends SubsystemBase { /** @@ -48,6 +50,57 @@ public class LimeLight extends SubsystemBase { return NetworkTableInstance.getDefault().getTable("limelight").getEntry("ty").getDouble(0); } + public void identifyPath(){ + changePipeline(1); + if (withinCoords(VisionConstants.aBlue)) + { + galacticSearchPath = "A_BLUE"; + } + + changePipeline(2); + if (withinCoords(VisionConstants.bBlue)) + { + galacticSearchPath = "B_BLUE"; + } + + changePipeline(1); + if (withinCoords(VisionConstants.aRed)) + { + galacticSearchPath = "A_RED"; + } + + changePipeline(1); + if (withinCoords(VisionConstants.bRed)) + { + galacticSearchPath = "B_RED"; + } + SmartDashboard.putString("GalacticSearchPath", galacticSearchPath); + } + +public boolean withinError(double angle, double goal) +{ + if(goal > (angle - VisionConstants.searchError) && goal < (angle + VisionConstants.searchError)) + { + return true; + } + else + { + return false; + } +} + +public boolean withinCoords(double[] coords) +{ + if (withinError(getX(), coords[0]) && withinError(getY(), coords[1])) + { + return true; + } + else + { + return false; + } +} + @Override public void periodic() { // This method will be called once per scheduler run From 60a927400ad186373b44c4985da963bf6d070f8e Mon Sep 17 00:00:00 2001 From: ryan123rudder <42309874+ryan123rudder@users.noreply.github.com> Date: Sat, 3 Apr 2021 11:10:23 -0600 Subject: [PATCH 09/14] GOOD ONES --- src/main/java/frc4388/robot/Constants.java | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 9897059..ef7f33f 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -222,10 +222,10 @@ public final class Constants { public static final double closeRightVisibleY = -11.35; public static final double farLeftVisibleX = 3.58; public static final double farRightVisibleX = 7.04;*/ - public static final double[] aRed = {-3.9, 0.8}; - public static final double[] bRed = {5.4, 5}; - public static final double[] aBlue = {9.27, 7}; - public static final double[] bBlue = {4.9, 8.6}; + public static final double[] aRed = {3.8, 0.3}; + public static final double[] bRed = {-7.6, 4.3}; + public static final double[] aBlue = {9.9, 8.2}; + public static final double[] bBlue = {4.8, 8.8}; } public static final class OIConstants { From 535f92725e65d3a35aab0e5b7f274cdbbcbe4431 Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Sat, 3 Apr 2021 14:11:05 -0600 Subject: [PATCH 10/14] GSC --- PathWeaver/Paths/GSC_ABLUE | 4 +- PathWeaver/Paths/GSC_ARED | 8 +-- PathWeaver/Paths/GSC_BBLUE | 10 +-- PathWeaver/Paths/GSC_BRED | 8 +-- PathWeaver/pathweaver.json | 4 +- src/main/deploy/paths/Barrel.wpilib.json | 2 +- .../paths/BarrelManyWaypoints.wpilib.json | 2 +- src/main/deploy/paths/BarrelStart.wpilib.json | 2 +- src/main/deploy/paths/Bounce.wpilib.json | 2 +- src/main/deploy/paths/Bounce4.wpilib.json | 2 +- .../paths/DriveOffLineBackward.wpilib.json | 2 +- .../paths/DriveOffLineForward.wpilib.json | 2 +- .../deploy/paths/EightBallMid0.wpilib.json | 2 +- .../deploy/paths/EightBallMid1.wpilib.json | 2 +- .../deploy/paths/EightBallMid2.wpilib.json | 2 +- .../paths/EightBallMidComplete.wpilib.json | 2 +- .../paths/FiveBallMidComplete.wpilib.json | 2 +- src/main/deploy/paths/GSC_ABLUE.wpilib.json | 2 +- src/main/deploy/paths/GSC_ARED.wpilib.json | 2 +- src/main/deploy/paths/GSC_BBLUE.wpilib.json | 2 +- src/main/deploy/paths/GSC_BRED.wpilib.json | 2 +- src/main/deploy/paths/Seq1.wpilib.json | 2 +- src/main/deploy/paths/Seq2.wpilib.json | 2 +- src/main/deploy/paths/SixBallMid0.wpilib.json | 2 +- src/main/deploy/paths/SixBallMid1.wpilib.json | 2 +- .../paths/SixBallMidComplete.wpilib.json | 2 +- src/main/deploy/paths/Slalom.wpilib.json | 2 +- .../paths/TenBallMidComplete.wpilib.json | 2 +- src/main/java/frc4388/robot/Constants.java | 4 +- src/main/java/frc4388/robot/Robot.java | 1 + .../java/frc4388/robot/RobotContainer.java | 13 ++-- .../frc4388/robot/subsystems/LimeLight.java | 65 +++++++++++++------ 32 files changed, 98 insertions(+), 65 deletions(-) diff --git a/PathWeaver/Paths/GSC_ABLUE b/PathWeaver/Paths/GSC_ABLUE index 043d711..1ced7d2 100644 --- a/PathWeaver/Paths/GSC_ABLUE +++ b/PathWeaver/Paths/GSC_ABLUE @@ -1,6 +1,6 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Name 1.269,-2.313833150808477,1.336,0.031,true, -4.6270772402241835,-3.748786703601108,1.2563247355441896,1.7028754396751247,false, -5.394035173613347,-1.5035792050505696,1.4968049990336905,0.5133670038008115,true, +4.794076145075049,-3.3281968691618884,1.2803249371899765,1.1937329124524894,true, +5.5362934999677895,-2.060242221220125,0.9586974167364559,0.6556253301552535,true, 6.909395606519357,-2.276722283063841,1.7442107839979393,0.04948115699284994,true, 8.901012175481542,-2.208685692198673,0.5690333054177668,0.012370289248212374,true, diff --git a/PathWeaver/Paths/GSC_ARED b/PathWeaver/Paths/GSC_ARED index 22fb8af..ab077a7 100644 --- a/PathWeaver/Paths/GSC_ARED +++ b/PathWeaver/Paths/GSC_ARED @@ -1,6 +1,6 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Name 1.269,-2.313833150808477,0.8840193905817173,-0.0061851446241063535,true, -2.3509440185531143,-2.2890925723120525,1.269287873893314,-0.3453492463826622,false, -3.872489596083231,-3.0436802164530046,1.694729627005089,0.49481156992849273,true, -4.899223603684853,-0.6005480899310699,2.152430329188946,0.5381075822972362,true, -8.962863621722605,-0.5572520775623268,0.5690333054177668,0.012370289248212374,true, +2.3880548862977515,-2.3262034400566898,0.8709913158855322,-0.15096819285711183,false, +3.8415638729627,-2.9447179024673065,1.694729627005089,0.49481156992849273,true, +5.029111640791084,-1.1448408168524122,2.152430329188946,0.5381075822972362,true, +8.703087547510146,-0.9716567673774398,0.5690333054177668,0.012370289248212374,true, diff --git a/PathWeaver/Paths/GSC_BBLUE b/PathWeaver/Paths/GSC_BBLUE index 9caa653..49c8588 100644 --- a/PathWeaver/Paths/GSC_BBLUE +++ b/PathWeaver/Paths/GSC_BBLUE @@ -1,6 +1,6 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Name -1.269,-2.2890925723120525,1.3359912388069315,0.03092572312053088,true, -4.608521806351864,-3.0374950718288987,1.8740988211041678,0.19173948334729074,true, -6.130067383881981,-1.497394060426464,1.762766217870257,0.03092572312053088,true, -7.676353539908522,-3.0251247825806864,1.874098821104166,-0.006185144624105465,true, -8.956678477098498,-3.0189396379565805,0.5690333054177668,0.012370289248212374,true, +1.269,-2.2890925723120525,3.0,0.0,true, +4.608521806351864,-3.0374950718288987,2.0,0.0,true, +6.130067383881981,-1.8623175932487273,2.5,0.006,true, +7.701094118404947,-2.9385327578431997,2.5,0.0,true, +8.758753849127102,-2.9323476132190938,0.5690333054177668,0.0,true, diff --git a/PathWeaver/Paths/GSC_BRED b/PathWeaver/Paths/GSC_BRED index 149b9e7..daaf38d 100644 --- a/PathWeaver/Paths/GSC_BRED +++ b/PathWeaver/Paths/GSC_BRED @@ -1,6 +1,6 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Name 1.269,-2.313833150808477,1.336,0.0,true, -2.369499452425433,-1.5345049281711007,1.694729627005088,-0.402034400566901,true, -3.872489596083231,-3.0436802164530046,1.6019524576434967,-0.012370289248212263,true, -5.412590607485666,-1.497394060426464,2.170985763061264,0.22266520646782229,true, -8.894827030857435,-1.429357469561296,0.5690333054177668,0.012370289248212374,true, +2.3509440185531143,-1.806651291631772,2.0,0.0,true, +3.8910450299555492,-2.8952367454744574,2.5,0.0,true, +5.635255813953488,-1.806651291631772,2.170985763061264,0.22266520646782229,true, +8.628865812020871,-1.7509849900148167,0.5690333054177668,0.012370289248212374,true, diff --git a/PathWeaver/pathweaver.json b/PathWeaver/pathweaver.json index 15ed740..ed8291d 100644 --- a/PathWeaver/pathweaver.json +++ b/PathWeaver/pathweaver.json @@ -2,8 +2,8 @@ "lengthUnit": "Meter", "exportUnit": "Always Meters", "maxVelocity": 2.3, - "maxAcceleration": 2.7, + "maxAcceleration": 4.5, "wheelBase": 0.648, - "gameName": "Galactic Search B", + "gameName": "Galactic Search A", "outputDir": ".." } \ No newline at end of file diff --git a/src/main/deploy/paths/Barrel.wpilib.json b/src/main/deploy/paths/Barrel.wpilib.json index 717f736..7ede4a9 100644 --- a/src/main/deploy/paths/Barrel.wpilib.json +++ b/src/main/deploy/paths/Barrel.wpilib.json @@ -1 +1 @@ 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\ No newline at end of file diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 843c279..59ca89d 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -223,9 +223,9 @@ public final class Constants { public static final double farLeftVisibleX = 3.58; public static final double farRightVisibleX = 7.04;*/ - public static final double[] aRed = {3.8, 0.3}; + public static final double[] aRed = {-2.3, 0.6}; public static final double[] bRed = {-7.6, 4.3}; - public static final double[] aBlue = {9.9, 8.2}; + public static final double[] aBlue = {9.9, 9.0}; public static final double[] bBlue = {4.8, 8.8}; } diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java index f5b755d..11ac869 100644 --- a/src/main/java/frc4388/robot/Robot.java +++ b/src/main/java/frc4388/robot/Robot.java @@ -75,6 +75,7 @@ public class Robot extends TimedRobot { @Override public void disabledPeriodic() { m_robotContainer.resetOdometry(new Pose2d()); + m_robotContainer.idenPath(); } /** diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 397e3b1..283cea7 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -55,6 +55,8 @@ import frc4388.robot.commands.shooter.CalibrateShooter; import frc4388.robot.commands.shooter.ShootPrepGroup; import frc4388.robot.commands.shooter.TrackTarget; import frc4388.robot.commands.shooter.TrimShooter; +import frc4388.robot.commands.storage.ManageStorage; +import frc4388.robot.commands.storage.ManageStorage.StorageMode; import frc4388.robot.subsystems.Camera; import frc4388.robot.subsystems.Climber; import frc4388.robot.subsystems.Drive; @@ -173,8 +175,8 @@ public class RobotContainer { // continually sends updates to the Blinkin LED controller to keep the lights on m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED)); // runs the storage not - m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0), m_robotStorage)); - //m_robotStorage.setDefaultCommand(new ManageStorage(m_robotStorage, StorageMode.IDLE)); + //m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0), m_robotStorage)); + m_robotStorage.setDefaultCommand(new ManageStorage(m_robotStorage, StorageMode.IDLE)); //m_robotLime.setDefaultCommand(new RunCommand(() -> m_robotLime.limeOff(), m_robotLime)); } @@ -294,10 +296,14 @@ public class RobotContainer { "GSC_BRED", "GSC_BBLUE" }; - m_robotLime.identifyPath(); + idenPath(); m_galacticSearch = new GalacticSearch(m_robotLime, m_robotIntake, buildPaths(galacticSearchPaths)); } + public void idenPath() + { + m_robotLime.identifyPath(); + } /** * Use this to pass the autonomous command to the main {@link Robot} class. * @@ -308,7 +314,6 @@ public class RobotContainer { //TrajectoryConfig config = getTrajectoryConfig(); //Trajectory trajectory = getTrajectory(config); //RamseteCommand ramseteCommand = getRamseteCommand(trajectory); - // Run path following command, then stop at the end. try { SmartDashboard.putNumber("Trajectory Total Time", m_totalTimeAuto); diff --git a/src/main/java/frc4388/robot/subsystems/LimeLight.java b/src/main/java/frc4388/robot/subsystems/LimeLight.java index b83178d..9af3b46 100644 --- a/src/main/java/frc4388/robot/subsystems/LimeLight.java +++ b/src/main/java/frc4388/robot/subsystems/LimeLight.java @@ -50,31 +50,58 @@ public class LimeLight extends SubsystemBase { return NetworkTableInstance.getDefault().getTable("limelight").getEntry("ty").getDouble(0); } + int i = 0; + boolean onceThrough = false; + boolean pathFound = false; public void identifyPath(){ - changePipeline(1); - if (withinCoords(VisionConstants.aBlue)) - { - galacticSearchPath = "A_BLUE"; - } - changePipeline(2); - if (withinCoords(VisionConstants.bBlue)) + if (!onceThrough) { - galacticSearchPath = "B_BLUE"; - } + changePipeline(2); + if (withinCoords(VisionConstants.aBlue)) + { + pathFound = true; + galacticSearchPath = "A_BLUE"; + } - changePipeline(1); - if (withinCoords(VisionConstants.aRed)) - { - galacticSearchPath = "A_RED"; - } + changePipeline(4); + if (withinCoords(VisionConstants.bBlue)) + { + pathFound = true; + galacticSearchPath = "B_BLUE"; + } - changePipeline(1); - if (withinCoords(VisionConstants.bRed)) - { - galacticSearchPath = "B_RED"; + changePipeline(1); + if (withinCoords(VisionConstants.aRed)) + { + pathFound = true; + galacticSearchPath = "A_RED"; + } + + changePipeline(3); + if (withinCoords(VisionConstants.bRed)) + { + pathFound = true; + galacticSearchPath = "B_RED"; + } + + if (pathFound == false) + { + galacticSearchPath = "PathNotFound"; + } + SmartDashboard.putString("GalacticSearchPath", galacticSearchPath); + onceThrough = true; + } + else{ + i++; + SmartDashboard.putNumber("Counter", i); + } + if (i >= 50) + { + i=0; + pathFound = false; + onceThrough = false; } - SmartDashboard.putString("GalacticSearchPath", galacticSearchPath); } public boolean withinError(double angle, double goal) From ca29d65d2085925bef59ffcac443f2e96616c537 Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Mon, 5 Apr 2021 19:51:37 -0600 Subject: [PATCH 11/14] Testing for the Galactic Search --- PathWeaver/Paths/GSC_BBLUE | 2 +- PathWeaver/Paths/GSC_BRED | 9 ++++----- PathWeaver/pathweaver.json | 2 +- src/main/deploy/paths/Barrel.wpilib.json | 2 +- src/main/deploy/paths/BarrelManyWaypoints.wpilib.json | 2 +- src/main/deploy/paths/BarrelStart.wpilib.json | 2 +- src/main/deploy/paths/Bounce.wpilib.json | 2 +- src/main/deploy/paths/Bounce4.wpilib.json | 2 +- src/main/deploy/paths/EightBallMid0.wpilib.json | 2 +- src/main/deploy/paths/EightBallMid1.wpilib.json | 2 +- src/main/deploy/paths/EightBallMid2.wpilib.json | 2 +- src/main/deploy/paths/EightBallMidComplete.wpilib.json | 2 +- src/main/deploy/paths/FiveBallMidComplete.wpilib.json | 2 +- src/main/deploy/paths/GSC_ABLUE.wpilib.json | 2 +- src/main/deploy/paths/GSC_ARED.wpilib.json | 2 +- src/main/deploy/paths/GSC_BBLUE.wpilib.json | 2 +- src/main/deploy/paths/GSC_BRED.wpilib.json | 2 +- src/main/deploy/paths/Seq1.wpilib.json | 2 +- src/main/deploy/paths/Seq2.wpilib.json | 2 +- src/main/deploy/paths/SixBallMid0.wpilib.json | 2 +- src/main/deploy/paths/SixBallMid1.wpilib.json | 2 +- src/main/deploy/paths/SixBallMidComplete.wpilib.json | 2 +- src/main/deploy/paths/Slalom.wpilib.json | 2 +- src/main/deploy/paths/TenBallMidComplete.wpilib.json | 2 +- src/main/java/frc4388/robot/Constants.java | 6 +++--- 25 files changed, 30 insertions(+), 31 deletions(-) diff --git a/PathWeaver/Paths/GSC_BBLUE b/PathWeaver/Paths/GSC_BBLUE index 49c8588..552bf77 100644 --- a/PathWeaver/Paths/GSC_BBLUE +++ b/PathWeaver/Paths/GSC_BBLUE @@ -1,6 +1,6 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Name 1.269,-2.2890925723120525,3.0,0.0,true, 4.608521806351864,-3.0374950718288987,2.0,0.0,true, -6.130067383881981,-1.8623175932487273,2.5,0.006,true, +6.062030793016813,-1.695318688397861,2.5,0.006,true, 7.701094118404947,-2.9385327578431997,2.5,0.0,true, 8.758753849127102,-2.9323476132190938,0.5690333054177668,0.0,true, diff --git a/PathWeaver/Paths/GSC_BRED b/PathWeaver/Paths/GSC_BRED index daaf38d..6e25d8c 100644 --- a/PathWeaver/Paths/GSC_BRED +++ b/PathWeaver/Paths/GSC_BRED @@ -1,6 +1,5 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Name -1.269,-2.313833150808477,1.336,0.0,true, -2.3509440185531143,-1.806651291631772,2.0,0.0,true, -3.8910450299555492,-2.8952367454744574,2.5,0.0,true, -5.635255813953488,-1.806651291631772,2.170985763061264,0.22266520646782229,true, -8.628865812020871,-1.7509849900148167,0.5690333054177668,0.012370289248212374,true, +1.4479129034336145,-1.1819516845970495,2.0,0.0,true, +3.847749017586806,-3.853934162210913,2.5,0.0,true, +5.907402177414159,-2.3076480061843716,2.678167622237968,0.0,true, 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\ No newline at end of file diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 59ca89d..cab3746 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -223,10 +223,10 @@ public final class Constants { public static final double farLeftVisibleX = 3.58; public static final double farRightVisibleX = 7.04;*/ - public static final double[] aRed = {-2.3, 0.6}; - public static final double[] bRed = {-7.6, 4.3}; + public static final double[] aRed = {-4.0, 6.7}; + public static final double[] bRed = {7.0, -2.6}; public static final double[] aBlue = {9.9, 9.0}; - public static final double[] bBlue = {4.8, 8.8}; + public static final double[] bBlue = {5.5, 13.3}; } From 69e1c851e7fe0350ab0b79fcceed8f7830480da9 Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Wed, 7 Apr 2021 20:34:13 -0600 Subject: [PATCH 12/14] Gsc 7.4 --- PathWeaver/Paths/GSC_ARED | 9 ++++----- PathWeaver/Paths/GSC_ARED_save | 5 +++++ PathWeaver/Paths/GSC_BRED | 9 +++++---- PathWeaver/pathweaver.json | 4 ++-- src/main/deploy/paths/Barrel.wpilib.json | 2 +- src/main/deploy/paths/BarrelManyWaypoints.wpilib.json | 2 +- src/main/deploy/paths/BarrelStart.wpilib.json | 2 +- src/main/deploy/paths/Bounce.wpilib.json | 2 +- src/main/deploy/paths/Bounce4.wpilib.json | 2 +- src/main/deploy/paths/DriveOffLineBackward.wpilib.json | 2 +- src/main/deploy/paths/DriveOffLineForward.wpilib.json | 2 +- src/main/deploy/paths/EightBallMid0.wpilib.json | 2 +- src/main/deploy/paths/EightBallMid1.wpilib.json | 2 +- src/main/deploy/paths/EightBallMid2.wpilib.json | 2 +- src/main/deploy/paths/EightBallMidComplete.wpilib.json | 2 +- src/main/deploy/paths/FiveBallMidComplete.wpilib.json | 2 +- src/main/deploy/paths/GSC_ABLUE.wpilib.json | 2 +- src/main/deploy/paths/GSC_ARED.wpilib.json | 2 +- src/main/deploy/paths/GSC_ARED_save.wpilib.json | 1 + src/main/deploy/paths/GSC_BBLUE.wpilib.json | 2 +- src/main/deploy/paths/GSC_BRED.wpilib.json | 2 +- src/main/deploy/paths/Seq1.wpilib.json | 2 +- src/main/deploy/paths/Seq2.wpilib.json | 2 +- src/main/deploy/paths/SixBallMid0.wpilib.json | 2 +- src/main/deploy/paths/SixBallMid1.wpilib.json | 2 +- src/main/deploy/paths/SixBallMidComplete.wpilib.json | 2 +- src/main/deploy/paths/Slalom.wpilib.json | 2 +- src/main/deploy/paths/TenBallMidComplete.wpilib.json | 2 +- src/main/java/frc4388/robot/Constants.java | 6 +++--- 29 files changed, 43 insertions(+), 37 deletions(-) create mode 100644 PathWeaver/Paths/GSC_ARED_save create mode 100644 src/main/deploy/paths/GSC_ARED_save.wpilib.json diff --git a/PathWeaver/Paths/GSC_ARED b/PathWeaver/Paths/GSC_ARED index ab077a7..97486d6 100644 --- a/PathWeaver/Paths/GSC_ARED +++ b/PathWeaver/Paths/GSC_ARED @@ -1,6 +1,5 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Name -1.269,-2.313833150808477,0.8840193905817173,-0.0061851446241063535,true, -2.3880548862977515,-2.3262034400566898,0.8709913158855322,-0.15096819285711183,false, -3.8415638729627,-2.9447179024673065,1.694729627005089,0.49481156992849273,true, -5.029111640791084,-1.1448408168524122,2.152430329188946,0.5381075822972362,true, -8.703087547510146,-0.9716567673774398,0.5690333054177668,0.012370289248212374,true, +1.4479129034336145,-1.621096952908587,1.2617695033176577,-1.0638448753462597,true, +3.649824389615409,-2.8890516008503506,2.220466920054112,0.6308847516588285,true, +5.715662694066867,-0.7242509824131932,2.4369469818978278,-0.03092572312053088,true, +9.024715067963667,-1.392246601816659,0.6494401855311462,-0.4700709914320682,true, diff --git a/PathWeaver/Paths/GSC_ARED_save b/PathWeaver/Paths/GSC_ARED_save new file mode 100644 index 0000000..58a0e7b --- /dev/null +++ b/PathWeaver/Paths/GSC_ARED_save @@ -0,0 +1,5 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Name +1.4479129034336145,-1.621096952908587,1.2617695033176577,-1.0638448753462597,true, +3.649824389615409,-2.8890516008503506,2.220466920054112,0.6308847516588285,true, +5.715662694066867,-0.860324164143529,2.671982477613862,-0.049481156992849384,true, +8.64742124589319,-1.540690072795207,0.4948115699284923,-0.265961218836565,true, diff --git a/PathWeaver/Paths/GSC_BRED b/PathWeaver/Paths/GSC_BRED index 6e25d8c..5d1e746 100644 --- a/PathWeaver/Paths/GSC_BRED +++ b/PathWeaver/Paths/GSC_BRED @@ -1,5 +1,6 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Name -1.4479129034336145,-1.1819516845970495,2.0,0.0,true, -3.847749017586806,-3.853934162210913,2.5,0.0,true, -5.907402177414159,-2.3076480061843716,2.678167622237968,0.0,true, -8.591754944276234,-2.276722283063841,0.5690333054177668,0.012370289248212374,true, +2.208685692198673,-0.8974350318881658,0.3896641113186885,-0.6185144624106166,true, +2.957088191715518,-2.4808320556593437,1.0267340076016236,-1.3174358049346133,true, +4.0765993686787345,-3.3220117245377825,1.2926952264381883,0.2783315080847779,true, +5.864106165045416,-2.24579655994331,1.4473238420408423,0.29070179733298995,true, +8.795864716871737,-1.8252067255040902,0.5442927269213431,-0.6679956194034657,true, diff --git a/PathWeaver/pathweaver.json b/PathWeaver/pathweaver.json index 07e9646..b58e855 100644 --- a/PathWeaver/pathweaver.json +++ b/PathWeaver/pathweaver.json @@ -2,8 +2,8 @@ "lengthUnit": "Meter", "exportUnit": "Always Meters", "maxVelocity": 2.7, - "maxAcceleration": 4.5, + "maxAcceleration": 4.0, "wheelBase": 0.648, - "gameName": "Galactic Search A", + "gameName": "Galactic Search B", "outputDir": ".." } \ No newline at end of file diff --git a/src/main/deploy/paths/Barrel.wpilib.json b/src/main/deploy/paths/Barrel.wpilib.json index 153e3d2..929f052 100644 --- a/src/main/deploy/paths/Barrel.wpilib.json +++ b/src/main/deploy/paths/Barrel.wpilib.json @@ -1 +1 @@ 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\ No newline at end of file diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index cab3746..357d94c 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -216,15 +216,15 @@ public final class Constants { public static final double GRAV = 385.83; //Galactic Search - public static final double searchError = 1; + public static final double searchError = 2; /*public static final double bothCloseVisibleY = -17.69; public static final double closeLeftVisibleY = -12.57; public static final double closeRightVisibleY = -11.35; public static final double farLeftVisibleX = 3.58; public static final double farRightVisibleX = 7.04;*/ - public static final double[] aRed = {-4.0, 6.7}; - public static final double[] bRed = {7.0, -2.6}; + public static final double[] aRed = {1.6, -11.7}; + public static final double[] bRed = {2.5, -5.5}; public static final double[] aBlue = {9.9, 9.0}; public static final double[] bBlue = {5.5, 13.3}; From 78ef2c117c3da85c7112c152c7cc7a79a7111cc8 Mon Sep 17 00:00:00 2001 From: ryan123rudder <42309874+ryan123rudder@users.noreply.github.com> Date: Thu, 15 Apr 2021 16:57:40 -0600 Subject: [PATCH 13/14] Fixed Merge Error --- src/main/java/frc4388/robot/RobotContainer.java | 1 - 1 file changed, 1 deletion(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 66745cf..2e4d91c 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -65,7 +65,6 @@ import frc4388.robot.commands.shooter.ShooterVelocityControlPID; import frc4388.robot.commands.shooter.TrackTarget; import frc4388.robot.commands.shooter.TrimShooter; import frc4388.robot.commands.storage.ManageStorage; -import frc4388.robot.commands.storage.ManageStorage.StorageMode; import frc4388.robot.commands.storage.StoragePrep; import frc4388.robot.subsystems.Camera; import frc4388.robot.subsystems.Climber; From 1327ceb2e08e51f4ac5eb2db6597bde8692e0674 Mon Sep 17 00:00:00 2001 From: Evan Goertzen <42253734+evangoertzen@users.noreply.github.com> Date: Thu, 22 Apr 2021 17:42:54 -0600 Subject: [PATCH 14/14] Fixed conflict --- src/main/java/frc4388/robot/RobotContainer.java | 1 - 1 file changed, 1 deletion(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index b93eb74..701d6cf 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -455,7 +455,6 @@ public class RobotContainer { //return m_sixBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); //return m_sixBallAutoMiddle1.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)); //return m_fiveBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); //return m_tenBallAutoMiddle.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));