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Disable all that Smart Dashboard Stuff

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This commit is contained in:
Keenan D. Buckley
2020-03-02 22:32:29 -07:00
parent 8d5563af7f
commit 97aa73d69a
14 changed files with 55 additions and 56 deletions
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src/main/java/frc4388/robot/RobotContainer.java
-1
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@@ -206,7 +206,6 @@ public class RobotContainer {
//Calibrates turret and hood
new JoystickButton(getOperatorJoystick(), XboxController.START_BUTTON)
.whileHeld(new CalibrateShooter(m_robotShooter, m_robotShooterAim));
}
/**
src/main/java/frc4388/robot/commands/auto/Wait.java
+2 -2
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@@ -46,11 +46,11 @@ public class Wait extends CommandBase {
public void execute() {
if (counter == 0) {
SmartDashboard.putNumber("Wait Coordinates" + m_waitNum, m_currentTime);
//SmartDashboard.putNumber("Wait Coordinates" + m_waitNum, m_currentTime);
}
m_currentTime = System.currentTimeMillis();
SmartDashboard.putNumber("Time Difference for Wait", (m_currentTime - m_startTime));
//SmartDashboard.putNumber("Time Difference for Wait", (m_currentTime - m_startTime));
counter ++;
}
src/main/java/frc4388/robot/commands/drive/DriveStraightToPositionMM.java
+2 -2
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@@ -61,7 +61,7 @@ public class DriveStraightToPositionMM extends CommandBase {
//System.err.println("Sensor Error \n" + m_drive.m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_TURN));
//System.err.println("Sensor Target \n" + m_drive.m_rightFrontMotor.getClosedLoopTarget(DriveConstants.PID_TURN));
m_drive.runMotionMagicPID(m_targetPosOut, m_targetGyro);
SmartDashboard.putBoolean("MM Run", true);
//SmartDashboard.putBoolean("MM Run", true);
i++;
}
@@ -74,7 +74,7 @@ public class DriveStraightToPositionMM extends CommandBase {
@Override
public boolean isFinished() {
if (Math.abs((int)m_drive.m_rightFrontMotor.getSelectedSensorVelocity(DriveConstants.PID_PRIMARY)) < 5 && isGoneFast){
SmartDashboard.putBoolean("MM Run", false);
//SmartDashboard.putBoolean("MM Run", false);
return true;
} else {
if ((m_drive.m_rightFrontMotor.getSelectedSensorVelocity(DriveConstants.PID_PRIMARY) > 100)) {
src/main/java/frc4388/robot/commands/drive/DriveWithJoystickAuxPID.java
+3 -3
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@@ -59,9 +59,9 @@ public class DriveWithJoystickAuxPID extends CommandBase {
m_drive.driveWithInputAux(moveOutput, m_targetGyro);
System.err.println("Target: " + m_targetGyro);
System.err.println("Current: " + currentGyro);
System.err.println();
//System.err.println("Target: " + m_targetGyro);
//System.err.println("Current: " + currentGyro);
//System.err.println();
}
// Called once the command ends or is interrupted.
src/main/java/frc4388/robot/commands/drive/DriveWithJoystickDriveStraight.java
+2 -2
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@@ -106,12 +106,12 @@ public class DriveWithJoystickDriveStraight extends CommandBase {
steerOutput = (cosMultiplier - deadzone) * Math.cos(1.571*steer) - cosMultiplier;
}
m_drive.driveWithInput(move, steerOutput);
System.out.println("Driving With Input");
//System.out.println("Driving With Input");
}
private void runDriveStraight(double move) {
m_drive.driveWithInputAux(move * 3/4, m_targetGyro);
System.out.println("Driving Straight with Target: " + m_targetGyro);
//System.out.println("Driving Straight with Target: " + m_targetGyro);
}
/**
src/main/java/frc4388/robot/commands/drive/DriveWithJoystickUsingDeadAssistPID.java
+3 -3
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@@ -132,12 +132,12 @@ public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
}
m_drive.driveWithInput(move, steerOutput);
System.out.println("Driving With Input");
//System.out.println("Driving With Input");
}
private void runDriveStraight(double move) {
m_drive.driveWithInputAux(move * 3/4, m_targetGyro);
System.out.println("Driving Straight with Target: " + m_targetGyro);
//System.out.println("Driving Straight with Target: " + m_targetGyro);
}
private void runStoppedTurn(double steer) {
@@ -158,7 +158,7 @@ public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
} else {
m_drive.driveWithInputAux(0, m_targetGyro);
}
System.out.println("Turning with Target: " + m_targetGyro);
//System.out.println("Turning with Target: " + m_targetGyro);
}
/**
src/main/java/frc4388/robot/commands/drive/TurnDegrees.java
+2 -2
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@@ -50,8 +50,8 @@ public class TurnDegrees extends CommandBase {
m_drive.runTurningPID(m_targetAngleTicksOut);
SmartDashboard.putNumber("Turning Error", Math.abs(m_currentYawInTicks - m_targetAngleTicksOut));
SmartDashboard.putNumber("Turning Target", m_targetAngleTicksOut);
//SmartDashboard.putNumber("Turning Error", Math.abs(m_currentYawInTicks - m_targetAngleTicksOut));
//SmartDashboard.putNumber("Turning Target", m_targetAngleTicksOut);
i++;
}
src/main/java/frc4388/robot/commands/shooter/HoodPositionPID.java
+2 -2
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@@ -33,8 +33,8 @@ public class HoodPositionPID extends CommandBase {
/*double slope = ShooterConstants.HOOD_CONVERT_SLOPE;
double b = ShooterConstants.HOOD_CONVERT_B;
firingAngle = (-slope*m_shooter.addFireAngle())+b;*/
SmartDashboard.putNumber("Shoot Angle From Equation", m_shooter.addFireAngle());
SmartDashboard.putNumber("Fire Angle", firingAngle);
//SmartDashboard.putNumber("Shoot Angle From Equation", m_shooter.addFireAngle());
//SmartDashboard.putNumber("Fire Angle", firingAngle);
m_shooter.runAngleAdjustPID(firingAngle);
}
src/main/java/frc4388/robot/commands/shooter/ShooterVelocityControlPID.java
+2 -2
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@@ -36,8 +36,8 @@ public class ShooterVelocityControlPID extends CommandBase {
public void execute() {
m_shooter.runDrumShooterVelocityPID(/*m_shooter.addFireVel()*/13000);
m_shooter.runAngleAdjustPID(m_shooter.addFireAngle());
SmartDashboard.putNumber("Fire Velocity", m_shooter.addFireVel());
SmartDashboard.putNumber("Fire Angle", m_shooter.addFireAngle());
//SmartDashboard.putNumber("Fire Velocity", m_shooter.addFireVel());
//SmartDashboard.putNumber("Fire Angle", m_shooter.addFireAngle());
}
// Called once the command ends or is interrupted.
src/main/java/frc4388/robot/subsystems/Drive.java
+18 -18
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@@ -733,16 +733,16 @@ public class Drive extends SubsystemBase {
//SmartDashboard.putNumber("Pigeon Yaw", getGyroYaw());
//SmartDashboard.putNumber("Pigeon Pitch", getGyroPitch());
//SmartDashboard.putNumber("Pigeon Roll", getGyroRoll());
SmartDashboard.putNumber("Left Front Output", m_leftFrontMotor.get());
SmartDashboard.putNumber("Right Front Output", m_rightFrontMotor.get());
//SmartDashboard.putNumber("Left Front Output", m_leftFrontMotor.get());
//SmartDashboard.putNumber("Right Front Output", m_rightFrontMotor.get());
//SmartDashboard.putNumber("Left Back Output", m_leftBackMotor.get());
//SmartDashboard.putNumber("Right Back Output", m_rightBackMotor.get());
double leftRPM = ticksToInches(m_leftFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
double rightRPM = ticksToInches(m_rightFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
SmartDashboard.putNumber("Left Motor RPM", leftRPM);
SmartDashboard.putNumber("Right Motor RPM", rightRPM);
//SmartDashboard.putNumber("Left Motor RPM", leftRPM);
//SmartDashboard.putNumber("Right Motor RPM", rightRPM);
//SmartDashboard.putNumber("Left Back Motor Velocity Raw", m_leftBackMotor.getSelectedSensorVelocity());
//SmartDashboard.putNumber("Right Back Motor Velocity Raw", m_rightBackMotor.getSelectedSensorVelocity());
@@ -751,8 +751,8 @@ public class Drive extends SubsystemBase {
//SmartDashboard.putNumber("Right Motor Velocity Int Sensor", m_rightFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
//SmartDashboard.putNumber("Left Motor Velocity Int Sensor", m_leftFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
SmartDashboard.putNumber("Left Motor Pos Inches", getDistanceInches(m_rightFrontMotor));
SmartDashboard.putNumber("Right Motor Pos Inches", getDistanceInches(m_leftFrontMotor));
//SmartDashboard.putNumber("Left Motor Pos Inches", getDistanceInches(m_rightFrontMotor));
//SmartDashboard.putNumber("Right Motor Pos Inches", getDistanceInches(m_leftFrontMotor));
/*SmartDashboard.putNumber("Right Front Velocity", m_rightFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
SmartDashboard.putNumber("Left Front Velocity", m_leftFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
@@ -760,23 +760,23 @@ public class Drive extends SubsystemBase {
SmartDashboard.putNumber("Left Back Velocity", m_leftBackMotor.getSensorCollection().getIntegratedSensorVelocity());
*/
SmartDashboard.putNumber("Right Motor Temp", m_rightFrontMotor.getTemperature());
SmartDashboard.putNumber("Left Motor Temp", m_leftFrontMotor.getTemperature());
//SmartDashboard.putNumber("Right Motor Temp", m_rightFrontMotor.getTemperature());
//SmartDashboard.putNumber("Left Motor Temp", m_leftFrontMotor.getTemperature());
SmartDashboard.putNumber("Right Front Motor Current Supply", m_rightFrontMotor.getSupplyCurrent());
SmartDashboard.putNumber("Left Front Motor Current Supply", m_leftFrontMotor.getSupplyCurrent());
SmartDashboard.putNumber("Right Back Motor Current Supply", m_rightBackMotor.getSupplyCurrent());
SmartDashboard.putNumber("Left Back Motor Current Supply", m_leftBackMotor.getSupplyCurrent());
//SmartDashboard.putNumber("Right Front Motor Current Supply", m_rightFrontMotor.getSupplyCurrent());
//SmartDashboard.putNumber("Left Front Motor Current Supply", m_leftFrontMotor.getSupplyCurrent());
//SmartDashboard.putNumber("Right Back Motor Current Supply", m_rightBackMotor.getSupplyCurrent());
//SmartDashboard.putNumber("Left Back Motor Current Supply", m_leftBackMotor.getSupplyCurrent());
SmartDashboard.putNumber("Right Front Motor Current Stator ", m_rightFrontMotor.getStatorCurrent());
SmartDashboard.putNumber("Left Front Motor Current Stator", m_leftFrontMotor.getStatorCurrent());
SmartDashboard.putNumber("Right Back Motor Current Stator ", m_rightBackMotor.getStatorCurrent());
SmartDashboard.putNumber("Left Back Motor Current Stator", m_leftBackMotor.getStatorCurrent());
//SmartDashboard.putNumber("Right Front Motor Current Stator ", m_rightFrontMotor.getStatorCurrent());
//SmartDashboard.putNumber("Left Front Motor Current Stator", m_leftFrontMotor.getStatorCurrent());
//SmartDashboard.putNumber("Right Back Motor Current Stator ", m_rightBackMotor.getStatorCurrent());
//SmartDashboard.putNumber("Left Back Motor Current Stator", m_leftBackMotor.getStatorCurrent());
//SmartDashboard.putNumber("PID 0 Error", m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_PRIMARY));
SmartDashboard.putNumber("PID 1 Error", m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_TURN));
//SmartDashboard.putNumber("PID 1 Error", m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_TURN));
//SmartDashboard.putNumber("PID 0 Target", m_rightFrontMotor.getClosedLoopTarget(DriveConstants.PID_PRIMARY));
SmartDashboard.putNumber("PID 1 Target", m_rightFrontMotor.getClosedLoopTarget(DriveConstants.PID_TURN));
//SmartDashboard.putNumber("PID 1 Target", m_rightFrontMotor.getClosedLoopTarget(DriveConstants.PID_TURN));
//SmartDashboard.putNumber("PID 0 Pos", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_PRIMARY));
//SmartDashboard.putNumber("PID 1 Pos", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN));
src/main/java/frc4388/robot/subsystems/LED.java
+1 -1
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@@ -50,6 +50,6 @@ public class LED extends SubsystemBase {
@Override
public void periodic(){
SmartDashboard.putNumber("LED", currentLED);
//SmartDashboard.putNumber("LED", currentLED);
}
}
src/main/java/frc4388/robot/subsystems/Shooter.java
+10 -10
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@@ -78,15 +78,15 @@ public class Shooter extends SubsystemBase {
m_shooterTable = new ShooterTables();
SmartDashboard.putNumber("CSV 10", m_shooterTable.getVelocity(10));
SmartDashboard.putNumber("CSV 200", m_shooterTable.getVelocity(200));
SmartDashboard.putNumber("CSV 250", m_shooterTable.getVelocity(250));
SmartDashboard.putNumber("CSV 500", m_shooterTable.getVelocity(500));
//SmartDashboard.putNumber("CSV 10", m_shooterTable.getVelocity(10));
//SmartDashboard.putNumber("CSV 200", m_shooterTable.getVelocity(200));
//SmartDashboard.putNumber("CSV 250", m_shooterTable.getVelocity(250));
//SmartDashboard.putNumber("CSV 500", m_shooterTable.getVelocity(500));
SmartDashboard.putNumber("CSV A -30", m_shooterTable.getAngleDisplacement(-30));
SmartDashboard.putNumber("CSV A 10", m_shooterTable.getAngleDisplacement(10));
SmartDashboard.putNumber("CSV A 5", m_shooterTable.getAngleDisplacement(5));
SmartDashboard.putNumber("CSV A 30", m_shooterTable.getAngleDisplacement(30));
//SmartDashboard.putNumber("CSV A -30", m_shooterTable.getAngleDisplacement(-30));
//SmartDashboard.putNumber("CSV A 10", m_shooterTable.getAngleDisplacement(10));
//SmartDashboard.putNumber("CSV A 5", m_shooterTable.getAngleDisplacement(5));
//SmartDashboard.putNumber("CSV A 30", m_shooterTable.getAngleDisplacement(30));
m_hoodUpLimit = m_angleAdjustMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
m_hoodDownLimit = m_angleAdjustMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
@@ -106,8 +106,8 @@ public class Shooter extends SubsystemBase {
try{
SmartDashboard.putNumber("Drum Velocity", m_shooterFalcon.getSelectedSensorVelocity());
SmartDashboard.putNumber("Fire Velocity From CSV", m_fireVel);
SmartDashboard.putNumber("Fire Angle From CSV", m_fireAngle);
SmartDashboard.putNumber("Drum Velocity CSV", m_fireVel);
SmartDashboard.putNumber("Fire Angle CSV", m_fireAngle);
//SmartDashboard.putNumber("Hood Position", m_shooter.getAnglePosition());
}
src/main/java/frc4388/robot/subsystems/Storage.java
+2 -2
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@@ -77,8 +77,8 @@ public class Storage extends SubsystemBase {
m_storagePIDController.setFF(storageGains.m_kF);
m_storagePIDController.setOutputRange(StorageConstants.STORAGE_MIN_OUTPUT, storageGains.m_kmaxOutput);
SmartDashboard.putNumber("Storage Position PID Target", targetPos);
SmartDashboard.putNumber("Storage Position Pos", getEncoderPos());
//SmartDashboard.putNumber("Storage Position PID Target", targetPos);
//SmartDashboard.putNumber("Storage Position Pos", getEncoderPos());
m_storagePIDController.setReference(targetPos, ControlType.kPosition);
}
src/main/java/frc4388/utility/ShooterTables.java
+6 -6
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@@ -85,12 +85,12 @@ public class ShooterTables {
} catch (IOException e) {
e.printStackTrace();
}
SmartDashboard.putNumber("Row 2 Column 1", m_angle[1][0]);
SmartDashboard.putNumber("Row 4 Column 2", m_angle[3][1]);
SmartDashboard.putNumber("m_distanceLength", m_distanceLength);
SmartDashboard.putNumber("Distance last row 0", m_distance[m_distanceLength-1][0]);
SmartDashboard.putNumber("Distance last row 1", m_distance[m_distanceLength-1][1]);
SmartDashboard.putNumber("Distance last row 2", m_distance[m_distanceLength-1][2]);
//SmartDashboard.putNumber("Row 2 Column 1", m_angle[1][0]);
//SmartDashboard.putNumber("Row 4 Column 2", m_angle[3][1]);
//SmartDashboard.putNumber("m_distanceLength", m_distanceLength);
//SmartDashboard.putNumber("Distance last row 0", m_distance[m_distanceLength-1][0]);
//SmartDashboard.putNumber("Distance last row 1", m_distance[m_distanceLength-1][1]);
//SmartDashboard.putNumber("Distance last row 2", m_distance[m_distanceLength-1][2]);
}
public double getHood(double distance) { //Rotations of motor