Add PID Versions of Storage Commands

2026-06-09 00:38:00 -06:00 · 2020-03-08 14:53:51 -06:00
parent 523be688cc
commit 9ad9b76cc7
2 changed files with 197 additions and 0 deletions
@@ -0,0 +1,145 @@
+/*----------------------------------------------------------------------------*/
+/* 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.storage;
+
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.Constants.StorageConstants;
+import frc4388.robot.subsystems.Storage;
+
+public class ManageStoragePID extends CommandBase {
+  Storage m_storage;
+
+  /* Timer */
+  long m_resetStartTime;
+
+  /* Start Positions */
+  double m_intakeStartPos;
+
+  /* Keeps track of which beam breaks are pressed */
+  boolean m_isBallInIntake = false;
+  boolean m_isBallInStorage = false;
+  boolean m_isBallInUseless = false;
+  boolean m_isBallInShooter = false;
+
+  /* Used for intaking a ball. Keeps track off when the 2nd ball in storage has moved */
+  boolean m_isStorageEmpty = true;
+
+  public enum StorageMode{IDLE, INTAKE, RESET};
+  StorageMode m_storageMode = StorageMode.IDLE;
+  
+  /**
+   * Creates a new ManageStorage.
+   */
+  public ManageStoragePID(Storage m_robotStorage, StorageMode storageMode) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    m_storage = m_robotStorage;
+    m_storageMode = storageMode;
+    addRequirements(m_storage);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    m_isBallInIntake = !m_storage.getBeamIntake();
+    m_isBallInStorage = !m_storage.getBeamStorage();
+    m_isBallInUseless = !m_storage.getBeamUseless();
+    m_isBallInShooter = !m_storage.getBeamShooter();
+
+    m_isStorageEmpty = !m_isBallInStorage;
+
+    m_intakeStartPos = m_storage.getEncoderPosInches();
+
+    if (m_storageMode == StorageMode.RESET) {
+      m_resetStartTime = System.currentTimeMillis();
+    }
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    m_isBallInIntake = !m_storage.getBeamIntake();
+    m_isBallInStorage = !m_storage.getBeamStorage();
+    m_isBallInUseless = !m_storage.getBeamUseless();
+    m_isBallInShooter = !m_storage.getBeamShooter();
+
+    /// TODO: Delete/Comment these when done
+    SmartDashboard.putBoolean("!Ball in Intake!", m_isBallInIntake);
+    SmartDashboard.putBoolean("!Ball Storage!", m_isBallInStorage);
+    SmartDashboard.putBoolean("!Ball Shooter!", m_isBallInShooter);
+
+    if (m_storageMode == StorageMode.IDLE) {
+      runIdle();
+    } else if (m_storageMode == StorageMode.INTAKE) {
+      runIntake();
+    } else if (m_storageMode == StorageMode.RESET) {
+      runReset();
+    }
+  }
+
+  /**
+   * Intakes a ball.
+   * Runs until the storage ball has moved past the
+   * storage sensor and the intake ball has taken its place.
+   */
+  private void runIntake() {
+    if (!m_isBallInShooter) { // Intake balls as long as there is not a ball at the shooter
+      m_storage.runStoragePositionPID(m_intakeStartPos + StorageConstants.STORAGE_FULL_BALL);
+
+      double error = (m_intakeStartPos + StorageConstants.STORAGE_FULL_BALL) - m_storage.getEncoderPosInches();
+      if (m_storage.getEncoderVel() == 0 && Math.abs(error) < 0.5) {
+        m_storageMode = StorageMode.IDLE;
+      }
+    } else {
+      m_storageMode = StorageMode.IDLE;
+    }
+  }
+
+  /**
+   * Idles until a ball is in the intake.
+   * Also updates the status of the storage position
+   */
+  private void runIdle() {
+    m_storage.runStorage(0);
+
+    if (m_isBallInIntake) {
+      m_storageMode = StorageMode.INTAKE;
+      m_intakeStartPos = m_storage.getEncoderPosInches();
+    }
+    m_isStorageEmpty = !m_isBallInStorage;
+  }
+
+  /**
+   * Runs Storage out until the Intake Sensor is tripped.
+   * Then switches into intake mode. This effectively
+   * resets the position of the balls back to the bottom of the storage.
+   */
+  private void runReset() {
+    m_storage.runStorage(-StorageConstants.STORAGE_SPEED);
+
+    if (m_isBallInIntake) {
+      m_storageMode = StorageMode.INTAKE;
+      m_intakeStartPos = m_storage.getEncoderPosInches();
+    } else if (m_resetStartTime + StorageConstants.STORAGE_TIMEOUT < System.currentTimeMillis()) {
+      m_storageMode = StorageMode.IDLE;
+    }
+    m_isStorageEmpty = !m_isBallInStorage;
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    m_storageMode = StorageMode.RESET;
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
@@ -0,0 +1,52 @@
+/*----------------------------------------------------------------------------*/
+/* 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.storage;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.Constants.StorageConstants;
+import frc4388.robot.subsystems.Storage;
+
+public class StorageFirePID extends CommandBase {
+  Storage m_storage;
+  double m_intakeStartPos;
+  
+  /**
+   * Runs the Storage until shoot beam is empty, then ends
+   * @param storageSub The Storage subsytem
+   */
+  public StorageFirePID(Storage storageSub) {
+    m_storage = storageSub;
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    m_intakeStartPos = m_storage.getEncoderPosInches();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    m_storage.runStoragePositionPID(m_intakeStartPos + StorageConstants.STORAGE_FULL_BALL);
+  }
+
+  // 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() {
+    double error = (m_intakeStartPos + StorageConstants.STORAGE_FULL_BALL) - m_storage.getEncoderPosInches();
+      if (m_storage.getEncoderVel() == 0 && Math.abs(error) < 0.5) {
+        return true;
+      }
+    return false;
+  }
+}