Team4388/RiseOfRidgebotics2020
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Merge branch 'master' of https://github.com/Team4388/RiseOfRidgebotics2020

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This commit is contained in:
Aarav Shah
2020-02-27 17:47:02 -07:00
parent 4cd5419746 03a9e063b9
commit b8f36a0c16
15 changed files with 990 additions and 417 deletions
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src/main/deploy/Robot Data - Angles.csv
+6
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@@ -0,0 +1,6 @@
Angle (deg),Displacement (deg)
-20,-5
-10,-2
0,0
10,2
20,5
1 Angle (deg) Displacement (deg)
2 -20 -5
3 -10 -2
4 0 0
5 10 2
6 20 5
src/main/deploy/Robot Data - Distances.csv
+6
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@@ -0,0 +1,6 @@
Distance (in),Hood Ext. (u),Drum Velocity (u/ds)
21,10,10000
100,23,11000
200,30,14000
300,56,17000
480,100,20000
1 Distance (in) Hood Ext. (u) Drum Velocity (u/ds)
2 21 10 10000
3 100 23 11000
4 200 30 14000
5 300 56 17000
6 480 100 20000
src/main/java/frc4388/robot/Constants.java
+41 -12
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@@ -7,6 +7,8 @@
package frc4388.robot;
import com.ctre.phoenix.motorcontrol.SupplyCurrentLimitConfiguration;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
import frc4388.utility.LEDPatterns;
@@ -27,14 +29,34 @@ public final class Constants {
public static final int DRIVE_RIGHT_BACK_CAN_ID = 5;
public static final int PIGEON_ID = 6;
/* Drive Inversions */
public static final boolean isRightMotorInverted = false;
public static final boolean isLeftMotorInverted = false;
public static final boolean isRightArcadeInverted = false;
public static final boolean isAuxPIDInverted = false;
/* Drive Configuration */
public static final double OPEN_LOOP_RAMP_RATE = 0.1;
public static final double NEUTRAL_DEADBAND = 0.04;
public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG =
new SupplyCurrentLimitConfiguration(false, 40, 35, 0.01);
public static final int CLOSED_LOOP_TIME_MS = 1;
/* PID Constants Drive*/
public static final int DRIVE_TIMEOUT_MS = 30;
public static final Gains DRIVE_DISTANCE_GAINS = new Gains(0.1, 0.0, 1.0, 0.0, 0, 0.3);
public static final Gains DRIVE_VELOCITY_GAINS = new Gains(0.1, 0.0, 0.2, 0.025, 0, 0.05);
public static final Gains DRIVE_TURNING_GAINS = new Gains(0.5, 0.0, 0.05, 0.0, 0, 0.5);
//public static final Gains DRIVE_MOTION_MAGIC_GAINS = new Gains(0.2, 0.0, 0.0, 0.0, 0, 1.0);
//public static final int DRIVE_CRUISE_VELOCITY = 20000;
//public static final int DRIVE_ACCELERATION = 7000;
public static final Gains DRIVE_DISTANCE_GAINS_LOW = new Gains(0.1, 0.0, 1.0, 0.0, 0, 0.5);
public static final Gains DRIVE_VELOCITY_GAINS_LOW = new Gains(0.1, 0.0, 0.2, 0.025, 0, 1.0);
public static final Gains DRIVE_TURNING_GAINS_LOW = new Gains(0.5, 0.0, 0.05, 0.0, 0, 0.55);
public static final Gains DRIVE_MOTION_MAGIC_GAINS_LOW = new Gains(0.2, 0.0, 0.0, 0.0, 0, 1.0);
public static final int DRIVE_CRUISE_VELOCITY = 20000;
public static final int DRIVE_ACCELERATION = 7000;
public static final Gains DRIVE_DISTANCE_GAINS_HIGH = new Gains(0.0, 0.0, 0.0, 0.0, 0, 0.5);
public static final Gains DRIVE_VELOCITY_GAINS_HIGH = new Gains(0.0, 0.0, 0.0, 0.0, 0, 1.0);
public static final Gains DRIVE_TURNING_GAINS_HIGH = new Gains(0.0, 0.0, 0.0, 0.0, 0, 0.55);
public static final Gains DRIVE_MOTION_MAGIC_GAINS_HIGH = new Gains(0.0, 0.0, 0.0, 0.0, 0, 1.0);
public static final int DRIVE_CRUISE_VELOCITY_HIGH = 20000;
public static final int DRIVE_ACCELERATION_HIGH = 7000;
/* Trajectory Constants */
public static final double MAX_SPEED_METERS_PER_SECOND = 3;
@@ -58,20 +80,27 @@ public final class Constants {
/* Drive Train Characteristics */
public static final double TICKS_PER_MOTOR_REV = 2048;
public static final double MOTOR_ROT_PER_WHEEL_ROT = 5.13;
public static final double MOTOR_ROT_PER_WHEEL_ROT_HIGH = 5.13;
public static final double MOTOR_ROT_PER_WHEEL_ROT_LOW = 15;
public static final double WHEEL_DIAMETER_INCHES = 6;
public static final double TICKS_PER_GYRO_REV = 8192;
/* Ratio Calculation */
public static final double INCHES_PER_WHEEL_REV = WHEEL_DIAMETER_INCHES * Math.PI;
public static final double TICK_TIME_TO_SECONDS = 0.1;
public static final double SECONDS_TO_TICK_TIME = 1/TICK_TIME_TO_SECONDS;
public static final double WHEEL_ROT_PER_MOTOR_ROT = 1/MOTOR_ROT_PER_WHEEL_ROT;
public static final double TICKS_PER_WHEEL_REV = TICKS_PER_MOTOR_REV * MOTOR_ROT_PER_WHEEL_ROT;
public static final double INCHES_PER_WHEEL_REV = WHEEL_DIAMETER_INCHES * Math.PI;
public static final double TICKS_PER_INCH = TICKS_PER_WHEEL_REV/INCHES_PER_WHEEL_REV;
public static final double INCHES_PER_TICK = 1/TICKS_PER_INCH;
public static final double INCHES_PER_METER = 39.370;
public static final double METERS_PER_INCH = 1/INCHES_PER_METER;
public static final double WHEEL_ROT_PER_MOTOR_ROT_HIGH = 1/MOTOR_ROT_PER_WHEEL_ROT_HIGH;
public static final double TICKS_PER_WHEEL_REV_HIGH = TICKS_PER_MOTOR_REV * MOTOR_ROT_PER_WHEEL_ROT_HIGH;
public static final double TICKS_PER_INCH_HIGH = TICKS_PER_WHEEL_REV_HIGH/INCHES_PER_WHEEL_REV;
public static final double INCHES_PER_TICK_HIGH = 1/TICKS_PER_INCH_HIGH;
public static final double WHEEL_ROT_PER_MOTOR_ROT_LOW = 1/MOTOR_ROT_PER_WHEEL_ROT_LOW;
public static final double TICKS_PER_WHEEL_REV_LOW = TICKS_PER_MOTOR_REV * MOTOR_ROT_PER_WHEEL_ROT_LOW;
public static final double TICKS_PER_INCH_LOW = TICKS_PER_WHEEL_REV_LOW/INCHES_PER_WHEEL_REV;
public static final double INCHES_PER_TICK_LOW = 1/TICKS_PER_INCH_LOW;
}
public static final class IntakeConstants {
src/main/java/frc4388/robot/Robot.java
+2 -4
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@@ -7,7 +7,6 @@
package frc4388.robot;
import com.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import edu.wpi.first.wpilibj.TimedRobot;
@@ -64,7 +63,6 @@ public class Robot extends TimedRobot {
@Override
public void disabledInit() {
m_robotContainer.setDriveNeutralMode(NeutralMode.Coast);
//m_robotContainer.setDriveGearState(true);
}
@Override
@@ -79,7 +77,7 @@ public class Robot extends TimedRobot {
m_autonomousCommand = m_robotContainer.getAutonomousCommand();
m_robotContainer.setDriveNeutralMode(NeutralMode.Brake);
m_robotContainer.setDriveGearState(true);
//m_robotContainer.setDriveGearState(true);
m_robotContainer.resetOdometry();
//m_robotContainer.configDriveTrainSensors(FeedbackDevice.IntegratedSensor);
@@ -106,7 +104,7 @@ public class Robot extends TimedRobot {
@Override
public void teleopInit() {
m_robotContainer.setDriveNeutralMode(NeutralMode.Coast);
m_robotContainer.setDriveNeutralMode(NeutralMode.Brake);
m_robotContainer.setDriveGearState(true);
//m_robotContainer.configDriveTrainSensors(FeedbackDevice.IntegratedSensor);
src/main/java/frc4388/robot/RobotContainer.java
+84 -68
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@@ -9,7 +9,6 @@ package frc4388.robot;
import java.util.List;
import com.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import edu.wpi.first.wpilibj.Joystick;
@@ -17,7 +16,6 @@ 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.Translation2d;
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj.trajectory.Trajectory;
import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
@@ -28,17 +26,11 @@ import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.commands.DriveStraightAtVelocityPID;
import frc4388.robot.commands.DrivePositionMPAux;
import frc4388.robot.commands.DriveWithJoystick;
import frc4388.robot.commands.DriveStraightToPositionMM;
import frc4388.robot.commands.DriveStraightToPositionPID;
import frc4388.robot.commands.DriveWithJoystick;
import frc4388.robot.commands.DriveWithJoystickUsingDeadAssistPID;
import frc4388.robot.commands.DriveWithJoystickDriveStraight;
import frc4388.robot.commands.RunClimberWithTriggers;
import frc4388.robot.commands.RunExtenderOutIn;
import frc4388.robot.commands.RunIntakeWithTriggers;
import frc4388.robot.commands.ShooterVelocityControlPID;
import frc4388.robot.commands.StorageIntakeGroup;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Intake;
@@ -46,15 +38,11 @@ import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.Climber;
import frc4388.robot.commands.RunLevelerWithJoystick;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Intake;
import frc4388.robot.subsystems.LED;
import frc4388.robot.commands.TrackTarget;
import frc4388.robot.commands.storageOutake;
import frc4388.robot.subsystems.Camera;
import frc4388.robot.subsystems.Leveler;
import frc4388.robot.subsystems.Storage;
import frc4388.utility.LEDPatterns;
import frc4388.utility.controller.IHandController;
import frc4388.utility.controller.XboxController;
@@ -94,15 +82,14 @@ public class RobotContainer {
m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, getDriverController()));
// drives intake with input from triggers on the opperator controller
m_robotIntake.setDefaultCommand(new RunIntakeWithTriggers(m_robotIntake, getOperatorController()));
// drives climber with input from triggers on the opperator controller
m_robotClimber.setDefaultCommand(new RunClimberWithTriggers(m_robotClimber, getDriverController()));
// 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 drum shooter in idle mode
m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runShooterWithInput(m_operatorXbox.getLeftXAxis()), m_robotShooter));
// drives climber with input from triggers on the opperator controller
m_robotClimber.setDefaultCommand(new RunClimberWithTriggers(m_robotClimber, getDriverController()));
// drives the leveler with an axis input from the driver controller
m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getDriverController()));
// continually sends updates to the Blinkin LED controller to keep the lights on
m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
}
@@ -113,20 +100,34 @@ public class RobotContainer {
* {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
*/
private void configureButtonBindings() {
/* Driver Buttons */
/* Test Buttons */
// A driver test button
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
.whenPressed(new InstantCommand());
// B driver test button
new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
.whenPressed(new InstantCommand());
// Y driver test button
new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
.whenPressed(new InstantCommand());
// X driver test button
new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
.whenPressed(new InstantCommand());
/* Driver Buttons */
// sets solenoids into high gear
new JoystickButton(getDriverJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(true), m_robotDrive));
.whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(false), m_robotDrive));
// sets solenoids into low gear
new JoystickButton(getDriverJoystick(), XboxController.LEFT_BUMPER_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(false), m_robotDrive));
.whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(true), m_robotDrive));
/* Operator Buttons */
//TODO: Shooter Buttons
//TODO: Shooter Buttons
// shoots until released
//new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
// .whileHeld(new ShootShooter(m_robotShooter, m_robotStorage, 5));
@@ -161,7 +162,62 @@ public class RobotContainer {
new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_TRIGGER_AXIS)
.whileHeld(new storageOutake(m_robotStorage));
}
/**
* Use this to pass the autonomous command to the main {@link Robot} class.
*
* @return the command to run in autonomous
*/
public Command getAutonomousCommand() {
// Create config for trajectory
TrajectoryConfig config = getTrajectoryConfig();
Trajectory trajectory = getTrajectory(config);
RamseteCommand ramseteCommand = getRamseteCommand(trajectory);
// Run path following command, then stop at the end.
//return ramseteCommand.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
// return new InstantCommand();
return new DrivePositionMPAux(m_robotDrive, 500.0, 12.0, 2, 60.0, 0.0);
}
TrajectoryConfig getTrajectoryConfig() {
return new TrajectoryConfig(
DriveConstants.MAX_SPEED_METERS_PER_SECOND,
DriveConstants.MAX_ACCELERATION_METERS_PER_SECOND_SQUARED)
// Add kinematics to ensure max speed is actually obeyed
.setKinematics(DriveConstants.kDriveKinematics);
}
Trajectory getTrajectory(TrajectoryConfig config) {
Trajectory exampleTrajectory = TrajectoryGenerator.generateTrajectory(
// Start at the origin facing the +X direction
new Pose2d(0, 0, new Rotation2d(0)),
// Pass through these two interior waypoints, making an 's' curve path
List.of(
new Translation2d(10, 0)
),
// End 3 meters straight ahead of where we started, facing forward
new Pose2d(20, 20, new Rotation2d(0)),
// Pass config
config);
// 10 = 20, 20 = 35, 30 = 53.5
// (0,10) = (8,22)
return exampleTrajectory;
}
RamseteCommand getRamseteCommand(Trajectory trajectory) {
RamseteCommand ramseteCommand = new RamseteCommand(
trajectory,
m_robotDrive::getPose,
new RamseteController(),
DriveConstants.kDriveKinematics,
m_robotDrive::tankDriveVelocity,
m_robotDrive);
return ramseteCommand;
}
/**
* Sets Motors to a NeutralMode.
* @param mode NeutralMode to set motors to
@@ -178,54 +234,14 @@ public class RobotContainer {
m_robotDrive.setShiftState(state);
}
public void configDriveTrainSensors(FeedbackDevice type) {
m_robotDrive.configMotorSensor(type);
}
/**
*
*/
public void resetOdometry() {
m_robotDrive.resetGyroAngles();
m_robotDrive.setOdometry(new Pose2d());
}
/**
* Use this to pass the autonomous command to the main {@link Robot} class.
*
* @return the command to run in autonomous
*/
public Command getAutonomousCommand() {
// Create config for trajectory
/*TrajectoryConfig config = new TrajectoryConfig( DriveConstants.MAX_SPEED_METERS_PER_SECOND,
DriveConstants.MAX_ACCELERATION_METERS_PER_SECOND_SQUARED)
// Add kinematics to ensure max speed is actually obeyed
.setKinematics(DriveConstants.kDriveKinematics);
Trajectory exampleTrajectory = TrajectoryGenerator.generateTrajectory(
// Start at the origin facing the +X direction
new Pose2d(0, 0, new Rotation2d(0)),
// Pass through these two interior waypoints, making an 's' curve path
List.of(
new Translation2d(10, 0)
),
// End 3 meters straight ahead of where we started, facing forward
new Pose2d(20, 20, new Rotation2d(0)),
// Pass config
config);
// 10 = 20, 20 = 35, 30 = 53.5
// (0,10) = (8,22)
RamseteCommand ramseteCommand = new RamseteCommand(
exampleTrajectory,
m_robotDrive::getPose,
new RamseteController(),
DriveConstants.kDriveKinematics,
m_robotDrive::tankDriveVelocity,
m_robotDrive);
// Run path following command, then stop at the end.
return ramseteCommand.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));*/
return new InstantCommand();
}
/**
* Used for analog inputs like triggers and axises.
* @return IHandController interface for the Driver Controller.
src/main/java/frc4388/robot/commands/DrivePositionMPAux.java
+90
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@@ -0,0 +1,90 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package frc4388.robot.commands;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.Constants.DriveConstants;
import frc4388.robot.subsystems.Drive;
public class DrivePositionMPAux extends CommandBase {
Drive m_drive;
double m_cruiseVel;
double m_rampDist;
double m_targetPos;
double m_currentVel;
double m_currentPos;
double m_targetGyro;
double m_targetVel;
double m_rampAcc;
long m_startTime;
long m_rampRate;
/**
* Creates a new DrivePositionMPAux.
*
* @param subsystem The drive subsystem
* @param cruiseVel The target velocity for the motors in units
* @param rampDist The distance before cruise velocity is reached in inches
* @param rampRate The time to reach the cruise velocity in seconds
* @param targetPos The target position
*/
public DrivePositionMPAux(Drive subsystem, double cruiseVel, double rampDist, float rampRate, double targetPos, double targetGyro) {
// Use addRequirements() here to declare subsystem dependencies.
m_drive = subsystem;
m_cruiseVel = cruiseVel * DriveConstants.TICKS_PER_INCH_LOW / 10;
m_rampDist = rampDist * DriveConstants.TICKS_PER_INCH_LOW;
m_rampRate = (long) rampRate * 1000;
m_targetPos = targetPos * DriveConstants.TICKS_PER_INCH_LOW;
//m_targetGyro = targetGyro * DriveConstants.TICKS_PER_GYRO_REV / 360;
m_targetGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN);
addRequirements(m_drive);
}
// Called when the command is initially scheduled.
@Override
public void initialize() {
m_currentVel = m_drive.m_rightFrontMotorVel;
m_currentPos = m_drive.m_rightFrontMotorPos;
m_targetPos = m_targetPos + m_currentPos;
m_targetVel = m_currentVel;
m_startTime = System.currentTimeMillis();
m_rampAcc = (m_cruiseVel - m_currentVel) / m_rampRate;
}
// Called every m_isRamptime the scheduler runs while the command is scheduled.
@Override
public void execute() {
m_currentVel = m_drive.m_rightFrontMotorVel;
m_currentPos = m_drive.m_rightFrontMotorPos;
if (System.currentTimeMillis() - m_startTime < m_rampRate) {
// Ramping
m_targetVel += m_rampAcc * m_drive.m_deltaTimeMs;
m_drive.runDriveVelocityPID(-m_targetVel, m_targetGyro);
} else if (m_targetPos - m_currentPos > m_rampDist) {
// Cruising
m_drive.runDriveVelocityPID(-m_cruiseVel, m_targetGyro);
} else {
// Deramp PID
m_drive.runDrivePositionPID(-m_targetPos, m_targetGyro);
}
}
// 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 (m_currentPos - m_targetPos <= 0.5f * DriveConstants.TICKS_PER_INCH_LOW) {
return true;
}
return false;
}
}
src/main/java/frc4388/robot/commands/DriveStraightToPositionMM.java
+7 -2
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@@ -18,6 +18,7 @@ public class DriveStraightToPositionMM extends CommandBase {
double m_targetPosOut;
double m_targetGyro;
boolean isGoneFast;
int i;
/**
* Creates a new DriveToDistancePID.
@@ -27,7 +28,7 @@ public class DriveStraightToPositionMM extends CommandBase {
public DriveStraightToPositionMM(Drive subsystem, double targetPos) {
// Use addRequirements() here to declare subsystem dependencies.
m_drive = subsystem;
m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH;
m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_LOW;
addRequirements(m_drive);
//SmartDashboard.putNumber("Distance Target Inches", targetPos);
}
@@ -39,6 +40,7 @@ public class DriveStraightToPositionMM extends CommandBase {
m_targetGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN);
m_targetPosOut = m_targetPosIn + m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_PRIMARY);
isGoneFast = false;
i = 0;
}
// Called every time the scheduler runs while the command is scheduled.
@@ -48,6 +50,8 @@ 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);
i++;
}
// Called once the command ends or is interrupted.
@@ -59,9 +63,10 @@ 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);
return true;
} else {
if (m_drive.m_rightFrontMotor.getSelectedSensorVelocity(DriveConstants.PID_PRIMARY) > 100) {
if ((m_drive.m_rightFrontMotor.getSelectedSensorVelocity(DriveConstants.PID_PRIMARY) > 100)) {
isGoneFast = true;
}
return false;
src/main/java/frc4388/robot/commands/DriveStraightToPositionPID.java
+1 -1
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@@ -27,7 +27,7 @@ public class DriveStraightToPositionPID extends CommandBase {
public DriveStraightToPositionPID(Drive subsystem, double targetPos) {
// Use addRequirements() here to declare subsystem dependencies.
m_drive = subsystem;
m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH;
m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_LOW;
addRequirements(m_drive);
//SmartDashboard.putNumber("Distance Target Inches", targetPos);
}
src/main/java/frc4388/robot/commands/DriveWithJoystick.java
+6 -4
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@@ -48,12 +48,14 @@ public class DriveWithJoystick extends CommandBase {
moveOutput = Math.cos(1.571*moveInput)-1;
}
double cosMultiplier = .45;
double deadzone = .2;
double cosMultiplier = .55;
double deadzone = .1;
if (steerInput > 0){
steerOutput = -cosMultiplier*Math.cos(1.571*steerInput)+(cosMultiplier+deadzone);
steerOutput = -(cosMultiplier - deadzone) * Math.cos(1.571*steerInput) + cosMultiplier;
} else if (steerInput < 0) {
steerOutput = (cosMultiplier - deadzone) * Math.cos(1.571*steerInput) - cosMultiplier;
} else {
steerOutput = cosMultiplier*Math.cos(1.571*steerInput)-(cosMultiplier+deadzone);
steerOutput = 0;
}
m_drive.driveWithInput(moveOutput, steerOutput);
src/main/java/frc4388/robot/commands/DriveWithJoystickUsingDeadAssistPID.java
+64 -19
View File
@@ -7,6 +7,7 @@
package frc4388.robot.commands;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpiutil.math.MathUtil;
import frc4388.robot.Constants.DriveConstants;
@@ -21,6 +22,23 @@ public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
long m_deadTimeSteer, m_deadTimeMove;
long m_deadTimeout = 100;
IHandController m_controller;
boolean m_isInterrupted;
/* Deadassist Constants */
final float stopPosVelCoefLow = 1;
final float stopPosVelCoefHigh = 3;
final float cosMultiplierLow = 0.55f;
final float cosMultiplierHigh = 0.35f;
final float targetAngleCoefLow = 5;
final float targetAngleCoefHigh = 5;
final float gyroVelCoefLow = 1;
final float gyroVelCoefHigh = 3;
/* Deadassist Coeficients */
final float stopPosVelCoef = 1;
final float cosMultiplier = 0.55f;
final float targetAngleCoef = 5;
final float gyroVelCoef = 1;
/**
* Creates a new DriveWithJoystickUsingDeadAssistPID to control the drivetrain with an Xbox controller.
@@ -42,6 +60,7 @@ public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
@Override
public void initialize() {
m_currTime = System.currentTimeMillis();
resetGyroTarget();
}
// Called every time the scheduler runs while the command is scheduled.
@@ -54,6 +73,11 @@ public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
m_deltaTime = System.currentTimeMillis() - m_currTime;
m_currTime = System.currentTimeMillis();
if (m_isInterrupted) {
resetGyroTarget();
m_isInterrupted = false;
}
/* If move stick is being used */
if (moveInput != 0) {
m_deadTimeMove = m_currTime;
@@ -65,15 +89,19 @@ public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
m_deadTimeSteer = m_currTime;
}
/* If move stick has been pressed within 1 sec */
if (m_currTime - m_deadTimeMove < m_deadTimeout) {
/* Curves the moveInput to be slightly more gradual at first */
if (moveInput >= 0) {
moveOutput = -Math.cos(1.571*moveInput)+1;
} else {
moveOutput = Math.cos(1.571*moveInput)-1;
}
/* Curves the moveInput to be slightly more gradual at first */
if (moveInput >= 0) {
moveOutput = -Math.cos(1.571*moveInput)+1;
} else {
moveOutput = Math.cos(1.571*moveInput)-1;
}
if (m_drive.m_isSpeedShiftHigh) {
runDriveWithInput(moveOutput, steerInput);
resetGyroTarget();
}
/* If move stick has been pressed within 1 sec */
else if (m_currTime - m_deadTimeMove < m_deadTimeout) {
/* If steer stick has not been used for less than 1 sec */
if (m_currTime - m_deadTimeSteer < m_deadTimeout) {
runDriveWithInput(moveOutput, steerInput);
@@ -90,16 +118,17 @@ public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
}
}
private void runDriveWithInput(double move, double steer) {
double cosMultiplier = .45;
private void runDriveWithInput(double move, double steerInput) {
double cosMultiplier = .55;
double steerOutput = 0;
double deadzone = .2;
/* Curves the steer output to be similarily gradual */
if (steer > 0){
steerOutput = -cosMultiplier*Math.cos(1.571*steer)+(cosMultiplier+deadzone);
} else {
steerOutput = cosMultiplier*Math.cos(1.571*steer)-(cosMultiplier+deadzone);
if (steerInput > 0){
steerOutput = -cosMultiplier*Math.cos(1.571*steerInput)+(cosMultiplier+deadzone);
} else if (steerInput < 0) {
steerOutput = cosMultiplier*Math.cos(1.571*steerInput)-(cosMultiplier+deadzone);
}
m_drive.driveWithInput(move, steerOutput);
System.out.println("Driving With Input");
}
@@ -110,8 +139,23 @@ public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
}
private void runStoppedTurn(double steer) {
updateGyroTarget(steer);
m_drive.runDrivePositionPID(m_stopPos, m_targetGyro);
double cosMultiplier = 0.55;
double steerOutput = 0;
double deadzone = .2;
/* Curves the steer output to be similarily gradual */
if (steer > 0) {
steerOutput = -cosMultiplier*Math.cos(1.571*steer)+(cosMultiplier+deadzone);
} else if (steer < 0) {
steerOutput = cosMultiplier*Math.cos(1.571*steer)-(cosMultiplier+deadzone);
}
updateGyroTarget(steerOutput);
double currentPos = m_drive.m_rightFrontMotorPos;
if (Math.abs(currentPos - m_stopPos) > 200) {
m_drive.runDrivePositionPID(m_stopPos, m_targetGyro);
} else {
m_drive.driveWithInputAux(0, m_targetGyro);
}
System.out.println("Turning with Target: " + m_targetGyro);
}
@@ -121,15 +165,15 @@ public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
private void updateGyroTarget(double steerInput) {
m_targetGyro -= 5 * steerInput * m_deltaTime;
m_targetGyro = MathUtil.clamp( m_targetGyro,
m_currentGyro-(DriveConstants.TICKS_PER_GYRO_REV/8),
m_currentGyro+(DriveConstants.TICKS_PER_GYRO_REV/8));
m_currentGyro-(DriveConstants.TICKS_PER_GYRO_REV/3),
m_currentGyro+(DriveConstants.TICKS_PER_GYRO_REV/3));
}
/**
* set target angle to current angle (prevents buildup of gyro error).
*/
private void resetGyroTarget() {
m_targetGyro = m_currentGyro;
//m_targetGyro = m_currentGyro;
m_targetGyro = m_currentGyro
+ m_drive.getTurnRate();
}
@@ -137,6 +181,7 @@ public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
m_isInterrupted = interrupted;
}
// Returns true when the command should end.
src/main/java/frc4388/robot/commands/TurnDegrees.java
+73
View File
@@ -0,0 +1,73 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package frc4388.robot.commands;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.Constants.DriveConstants;
import frc4388.robot.subsystems.Drive;
public class TurnDegrees extends CommandBase {
double m_targetAngle;
Drive m_drive;
double m_currentYawInTicks;
double m_targetAngleTicksIn;
double m_targetAngleTicksOut;
int i;
/**
* Creates a new TurnDeg.
*/
public TurnDegrees(double targetAngle, Drive subsystem) {
// Use addRequirements() here to declare subsystem dependencies.
m_targetAngle = targetAngle;
m_drive = subsystem;
addRequirements(m_drive);
}
// Called when the command is initially scheduled.
@Override
public void initialize() {
m_targetAngleTicksIn = (m_targetAngle / 360) * DriveConstants.TICKS_PER_GYRO_REV;
m_currentYawInTicks = (m_drive.getGyroYaw() / 360) * DriveConstants.TICKS_PER_GYRO_REV;
m_targetAngleTicksOut = m_targetAngleTicksIn + m_currentYawInTicks;
i = 0;
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
m_currentYawInTicks = (m_drive.getGyroYaw() / 360) * DriveConstants.TICKS_PER_GYRO_REV;
m_drive.runTurningPID(m_targetAngleTicksOut);
SmartDashboard.putNumber("Turning Error", Math.abs(m_currentYawInTicks - m_targetAngleTicksOut));
SmartDashboard.putNumber("Turning Target", m_targetAngleTicksOut);
i++;
}
// 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 ((Math.abs(m_drive.getTurnRate()) < 1) && (i > 5)) {
return true;
}
return false;
}
}
src/main/java/frc4388/robot/commands/Wait.java
+61
View File
@@ -0,0 +1,61 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package frc4388.robot.commands;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Wait extends CommandBase {
long m_startTime;
long m_waitTime;
long m_currentTime;
SubsystemBase m_subsystem;
/**
* Creates a new WaitCommand.
*/
public Wait(float seconds, SubsystemBase subsystem) {
// Use addRequirements() here to declare subsystem dependencies.
m_waitTime = (long) (seconds * 1000);
m_subsystem = subsystem;
addRequirements(m_subsystem);
}
// Called when the command is initially scheduled.
@Override
public void initialize() {
m_currentTime = System.currentTimeMillis();
m_startTime = m_currentTime;
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
m_currentTime = System.currentTimeMillis();
SmartDashboard.putNumber("Time Difference for Wait", (m_currentTime - m_startTime));
}
// 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 ((m_currentTime - m_startTime) >= m_waitTime) {
return true;
} else {
return false;
}
}
}
src/main/java/frc4388/robot/subsystems/Drive.java
+384 -307
View File
@@ -8,20 +8,11 @@
package frc4388.robot.subsystems;
import java.io.File;
import java.io.FilenameFilter;
import java.io.IOException;
import java.nio.file.Files;
import java.nio.file.Path;
import java.nio.file.Paths;
import java.util.ArrayList;
import java.util.List;
import java.util.stream.Collectors;
import java.util.stream.Stream;
import com.ctre.phoenix.motorcontrol.ControlMode;
import com.ctre.phoenix.motorcontrol.DemandType;
import com.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.ctre.phoenix.motorcontrol.FollowerType;
import com.ctre.phoenix.motorcontrol.InvertType;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.RemoteSensorSource;
import com.ctre.phoenix.motorcontrol.SensorTerm;
@@ -34,59 +25,73 @@ import com.ctre.phoenix.sensors.PigeonIMU_StatusFrame;
import edu.wpi.first.wpilibj.Filesystem;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveOdometry;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpiutil.math.MathUtil;
import frc4388.robot.Constants.DriveConstants;
import frc4388.robot.Gains;
/**
* Add your docs here.
*/
public class Drive extends SubsystemBase {
// Put methods for controlling this subsystem
// here. Call these from Commands.
/* Create Motors, Gyros, Solenoids, etc */
public WPI_TalonFX m_leftFrontMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_FRONT_CAN_ID);
public WPI_TalonFX m_rightFrontMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_FRONT_CAN_ID);
public WPI_TalonFX m_leftBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_BACK_CAN_ID);
public WPI_TalonFX m_rightBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_BACK_CAN_ID);
public static PigeonIMU m_pigeon = new PigeonIMU(DriveConstants.PIGEON_ID);
public Orchestra m_orchestra = new Orchestra();
public double m_rightFrontMotorPos;
public double m_rightFrontMotorVel;
public DifferentialDrive m_driveTrain = new DifferentialDrive(m_leftFrontMotor, m_rightFrontMotor);
SendableChooser<Gains> m_chooser = new SendableChooser<Gains>();
public static Gains m_gainsDistance = DriveConstants.DRIVE_DISTANCE_GAINS;
public static Gains m_gainsVelocity = DriveConstants.DRIVE_VELOCITY_GAINS;
public static Gains m_gainsTurning = DriveConstants.DRIVE_TURNING_GAINS;
//public static Gains m_gainsMotionMagic = DriveConstants.DRIVE_MOTION_MAGIC_GAINS;
public DoubleSolenoid m_speedShift = new DoubleSolenoid(7,0,1);
public DoubleSolenoid m_coolFalcon = new DoubleSolenoid(7,3,2);
/* Drive objects to manage Drive Train */
public DifferentialDrive m_driveTrain;
public final DifferentialDriveOdometry m_odometry;
public DoubleSolenoid m_speedShift;
public DoubleSolenoid m_coolFalcon;
public Orchestra m_orchestra;
/* Low Gear Gains */
public static Gains m_gainsDistanceLow = DriveConstants.DRIVE_DISTANCE_GAINS_LOW;
public static Gains m_gainsVelocityLow = DriveConstants.DRIVE_VELOCITY_GAINS_LOW;
public static Gains m_gainsTurningLow = DriveConstants.DRIVE_TURNING_GAINS_LOW;
public static Gains m_gainsMotionMagicLow = DriveConstants.DRIVE_MOTION_MAGIC_GAINS_LOW;
/* High Gear Gains */
public static Gains m_gainsDistanceHigh = DriveConstants.DRIVE_DISTANCE_GAINS_HIGH;
public static Gains m_gainsVelocityHigh = DriveConstants.DRIVE_VELOCITY_GAINS_HIGH;
public static Gains m_gainsTurningHigh = DriveConstants.DRIVE_TURNING_GAINS_HIGH;
public static Gains m_gainsMotionMagicHigh = DriveConstants.DRIVE_MOTION_MAGIC_GAINS_HIGH;
/* Timey Whimey */
public long m_currentTimeMs = System.currentTimeMillis();
public long m_lastTimeMs = m_currentTimeMs;
public long m_deltaTimeMs = 0;
public long m_currentTimeSec = m_currentTimeMs / 1000;
/* Position Tracking */
public double m_rightFrontMotorPos = 0;
public double m_rightFrontMotorVel = 0;
public double m_totalLeftDistanceInches = 0;
public double m_totalRightDistanceInches = 0;
public double m_currentLeftPosTicks = 0;
public double m_currentRightPosTicks = 0;
public double m_lastLeftPosTicks = 0;
public double m_lastRightPosTicks = 0;
public double m_lastAngleYaw = 0;
public double m_currentAngleYaw = 0;
/* Smart Dashboard Objects */
SendableChooser<String> m_songChooser = new SendableChooser<String>();
public int m_currentTimeSec = (int)(System.currentTimeMillis() / 1000);
public long m_lastTime, m_deltaTime; //in milliseconds
public double m_lastAngleYaw, m_currentAngleYaw, m_kinematicsTargetAngle;
/* Misc */
public boolean m_isSpeedShiftHigh;
String m_currentSong = "";
/**
* Add your docs here.
@@ -100,81 +105,50 @@ public class Drive extends SubsystemBase {
m_pigeon.configFactoryDefault();
resetGyroYaw();
m_odometry = new DifferentialDriveOdometry( Rotation2d.fromDegrees(getHeading()),
new Pose2d(0, 0, new Rotation2d()) );
m_speedShift = new DoubleSolenoid(7,0,1);
m_coolFalcon = new DoubleSolenoid(7,3,2);
coolFalcon(false);
/* set back motors as followers */
m_leftBackMotor.follow(m_leftFrontMotor);
m_rightBackMotor.follow(m_rightFrontMotor);
/* flip input so forward becomes back, etc */
m_leftFrontMotor.setInverted(false);
m_rightFrontMotor.setInverted(true);
//m_driveTrain.setRightSideInverted(false);
m_leftBackMotor.setInverted(InvertType.FollowMaster);
m_rightBackMotor.setInverted(InvertType.FollowMaster);
m_leftFrontMotor.setInverted(DriveConstants.isLeftMotorInverted);
m_rightFrontMotor.setInverted(DriveConstants.isRightMotorInverted);
m_leftBackMotor.setInverted(DriveConstants.isLeftMotorInverted);
m_rightBackMotor.setInverted(DriveConstants.isRightMotorInverted);
m_driveTrain.setRightSideInverted(DriveConstants.isRightArcadeInverted);
setDriveTrainNeutralMode(NeutralMode.Coast);
/* Config Open Loop Ramp so we don't make sudden output changes */
m_rightFrontMotor.configOpenloopRamp(DriveConstants.OPEN_LOOP_RAMP_RATE, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightBackMotor.configOpenloopRamp(DriveConstants.OPEN_LOOP_RAMP_RATE, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.configOpenloopRamp(DriveConstants.OPEN_LOOP_RAMP_RATE, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftBackMotor.configOpenloopRamp(DriveConstants.OPEN_LOOP_RAMP_RATE, DriveConstants.DRIVE_TIMEOUT_MS);
/* deadbands */
m_leftBackMotor.configNeutralDeadband(0.0, DriveConstants.DRIVE_TIMEOUT_MS); // DO NOT CHANGE
m_rightBackMotor.configNeutralDeadband(0.0, DriveConstants.DRIVE_TIMEOUT_MS); // Ensures motors run at the same speed
//m_leftFrontMotor.configNeutralDeadband(0.0, DriveConstants.DRIVE_TIMEOUT_MS); // DO NOT CHANGE
//m_rightFrontMotor.configNeutralDeadband(0.0, DriveConstants.DRIVE_TIMEOUT_MS); // Ensures motors run at the same speed
/* Config Supply Current Limit (Use only for debugging) */
m_rightFrontMotor.configSupplyCurrentLimit(DriveConstants.SUPPLY_CURRENT_LIMIT_CONFIG);
m_leftFrontMotor.configSupplyCurrentLimit(DriveConstants.SUPPLY_CURRENT_LIMIT_CONFIG);
m_rightBackMotor.configSupplyCurrentLimit(DriveConstants.SUPPLY_CURRENT_LIMIT_CONFIG);
m_leftBackMotor.configSupplyCurrentLimit(DriveConstants.SUPPLY_CURRENT_LIMIT_CONFIG);
/* Config deadbands so that */
m_leftBackMotor.configNeutralDeadband(DriveConstants.NEUTRAL_DEADBAND, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightBackMotor.configNeutralDeadband(DriveConstants.NEUTRAL_DEADBAND, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.configNeutralDeadband(DriveConstants.NEUTRAL_DEADBAND, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configNeutralDeadband(DriveConstants.NEUTRAL_DEADBAND, DriveConstants.DRIVE_TIMEOUT_MS);
/* PID for Front Motor Control in Teleop */
//m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
//m_rightFrontMotor.config_kF(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
//m_rightFrontMotor.config_kP(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
//m_rightFrontMotor.config_kI(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
//m_rightFrontMotor.config_kD(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
//m_rightFrontMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
setRightMotorGains(false);
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
m_rightFrontMotor.config_kF(DriveConstants.SLOT_TURNING, m_gainsTurning.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kP(DriveConstants.SLOT_TURNING, m_gainsTurning.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kI(DriveConstants.SLOT_TURNING, m_gainsTurning.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kD(DriveConstants.SLOT_TURNING, m_gainsTurning.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_TURNING, m_gainsTurning.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_DISTANCE, DriveConstants.PID_PRIMARY);
m_rightFrontMotor.config_kF(DriveConstants.SLOT_DISTANCE, m_gainsDistance.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kP(DriveConstants.SLOT_DISTANCE, m_gainsDistance.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kI(DriveConstants.SLOT_DISTANCE, m_gainsDistance.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kD(DriveConstants.SLOT_DISTANCE, m_gainsDistance.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configClosedLoopPeakOutput( DriveConstants.SLOT_DISTANCE, m_gainsDistance.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
//m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_MOTION_MAGIC, DriveConstants.PID_PRIMARY);
//m_rightFrontMotor.config_kF(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
//m_rightFrontMotor.config_kP(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
//m_rightFrontMotor.config_kI(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
//m_rightFrontMotor.config_kD(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
//m_rightFrontMotor.configClosedLoopPeakOutput( DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
//m_rightFrontMotor.configMotionCruiseVelocity(DriveConstants.DRIVE_CRUISE_VELOCITY, DriveConstants.DRIVE_TIMEOUT_MS);
//m_rightFrontMotor.configMotionAcceleration(DriveConstants.DRIVE_ACCELERATION, DriveConstants.DRIVE_TIMEOUT_MS);
//m_rightFrontMotor.configMotionSCurveStrength(0, DriveConstants.DRIVE_TIMEOUT_MS);
/* PID for Back Motor control in Auto */
/* PID for Back Motor Control in Tank Drive Vel */
m_rightBackMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
m_rightBackMotor.config_kF(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightBackMotor.config_kP(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightBackMotor.config_kI(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightBackMotor.config_kD(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightBackMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightBackMotor.config_kF(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightBackMotor.config_kP(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightBackMotor.config_kI(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightBackMotor.config_kD(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightBackMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftBackMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
m_leftBackMotor.config_kF(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftBackMotor.config_kP(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftBackMotor.config_kI(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftBackMotor.config_kD(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftBackMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftBackMotor.config_kF(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftBackMotor.config_kP(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftBackMotor.config_kI(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftBackMotor.config_kD(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftBackMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
/* Setup Sensors for WPI_TalonFXs */
/* Reset Sensors for WPI_TalonFXs */
resetEncoders();
/* Configure the left Talon's selected sensor as local QuadEncoder */
@@ -194,50 +168,43 @@ public class Drive extends SubsystemBase {
/* Configure the Remote Talon's selected sensor as a remote sensor for the right Talon */
m_rightFrontMotor.configRemoteFeedbackFilter( m_leftFrontMotor.getDeviceID(), // Device ID of Source
RemoteSensorSource.TalonSRX_SelectedSensor, DriveConstants.REMOTE_0, // Source number [0, 1]
RemoteSensorSource.TalonSRX_SelectedSensor,
DriveConstants.REMOTE_0, // Source number [0, 1]
DriveConstants.DRIVE_TIMEOUT_MS); // Configuration Timeout
/* Diff Signal signal to be used for Distance*/
m_rightFrontMotor.configSensorTerm(SensorTerm.Diff1, FeedbackDevice.RemoteSensor0, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configSensorTerm(SensorTerm.Diff0, FeedbackDevice.IntegratedSensor, DriveConstants.DRIVE_TIMEOUT_MS);
/* Configure Diff [Sum of both QuadEncoders] to be used for Primary PID Index */
m_rightFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.SensorDifference,
DriveConstants.PID_PRIMARY,
DriveConstants.DRIVE_TIMEOUT_MS);
/* Configure the Pigeon IMU to the other Remote Slot available on the right Talon */
m_rightFrontMotor.configRemoteFeedbackFilter( m_pigeon.getDeviceID(), RemoteSensorSource.Pigeon_Yaw,
DriveConstants.REMOTE_1, DriveConstants.DRIVE_TIMEOUT_MS);
/* Setup Sum signal to be used for Distance */
m_rightFrontMotor.configSensorTerm(SensorTerm.Sum0, FeedbackDevice.RemoteSensor0, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configSensorTerm(SensorTerm.Sum1, FeedbackDevice.IntegratedSensor, DriveConstants.DRIVE_TIMEOUT_MS);
/* Diff Signal */
m_rightFrontMotor.configSensorTerm(SensorTerm.Diff1, FeedbackDevice.RemoteSensor0, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configSensorTerm(SensorTerm.Diff0, FeedbackDevice.IntegratedSensor, DriveConstants.DRIVE_TIMEOUT_MS);
/* Configure Sum [Sum of both QuadEncoders] to be used for Primary PID Index */
configMotorSensor(FeedbackDevice.SensorDifference);
/* Don't scale the Feedback Sensor (use 1 for 1:1 ratio) DOESN'T WORK */
/*
m_rightFrontMotor.configSelectedFeedbackCoefficient( 1, // Coefficient
DriveConstants.PID_PRIMARY, // PID Slot of Source
DriveConstants.DRIVE_TIMEOUT_MS); // Configuration Timeout
*/
/* Config Remote1 to be used for Aux PID Index */
m_rightFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.RemoteSensor1,
DriveConstants.PID_TURN,
DriveConstants.DRIVE_TIMEOUT_MS);
/* Don't scale the Feedback Sensor (use 1 for 1:1 ratio) DOESN'T WORK */
//m_rightFrontMotor.configSelectedFeedbackCoefficient(1, DriveConstants.PID_TURN, DriveConstants.DRIVE_TIMEOUT_MS);
/* Don't scale the Feedback Sensor (use 1 for 1:1 ratio) DOESN'T WORK */
//m_leftFrontMotor.configSelectedFeedbackCoefficient(1, DriveConstants.PID_PRIMARY, DriveConstants.DRIVE_TIMEOUT_MS);
/**
* configAuxPIDPolarity(boolean invert, int timeoutMs) false means talon's local
* output is PID0 + PID1, and other side Talon is PID0 - PID1 true means talon's
* local output is PID0 - PID1, and other side Talon is PID0 + PID1
*/
m_rightFrontMotor.configAuxPIDPolarity(DriveConstants.isAuxPIDInverted, DriveConstants.DRIVE_TIMEOUT_MS);
/* Set status frame periods to ensure we don't have stale data */
m_rightFrontMotor.setStatusFramePeriod(StatusFrame.Status_12_Feedback1, 20, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.setStatusFramePeriod(StatusFrame.Status_13_Base_PIDF0, 20, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.setStatusFramePeriod(StatusFrame.Status_14_Turn_PIDF1, 20, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftFrontMotor.setStatusFramePeriod(StatusFrame.Status_2_Feedback0, 5, DriveConstants.DRIVE_TIMEOUT_MS);
m_pigeon.setStatusFramePeriod(PigeonIMU_StatusFrame.CondStatus_9_SixDeg_YPR, 5, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftBackMotor.setStatusFramePeriod(StatusFrame.Status_13_Base_PIDF0, 20, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightBackMotor.setStatusFramePeriod(StatusFrame.Status_13_Base_PIDF0, 20, DriveConstants.DRIVE_TIMEOUT_MS);
m_pigeon.setStatusFramePeriod(PigeonIMU_StatusFrame.CondStatus_9_SixDeg_YPR, 5, DriveConstants.DRIVE_TIMEOUT_MS);
/**
* Max out the peak output (for all modes). However you can limit the output of
@@ -259,37 +226,39 @@ public class Drive extends SubsystemBase {
* derivative error never gets large enough to be useful. - sensor movement is
* very slow causing the derivative error to be near zero.
*/
int closedLoopTimeMs = 1;
m_rightFrontMotor.configClosedLoopPeriod( DriveConstants.PID_PRIMARY,
closedLoopTimeMs,
DriveConstants.CLOSED_LOOP_TIME_MS,
DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configClosedLoopPeriod( DriveConstants.PID_TURN,
closedLoopTimeMs,
DriveConstants.CLOSED_LOOP_TIME_MS,
DriveConstants.DRIVE_TIMEOUT_MS);
m_leftBackMotor.configClosedLoopPeriod( DriveConstants.PID_PRIMARY,
closedLoopTimeMs,
DriveConstants.CLOSED_LOOP_TIME_MS,
DriveConstants.DRIVE_TIMEOUT_MS);
m_leftBackMotor.configClosedLoopPeriod( DriveConstants.PID_PRIMARY,
closedLoopTimeMs,
m_rightBackMotor.configClosedLoopPeriod( DriveConstants.PID_PRIMARY,
DriveConstants.CLOSED_LOOP_TIME_MS,
DriveConstants.DRIVE_TIMEOUT_MS);
/**
* configAuxPIDPolarity(boolean invert, int timeoutMs) false means talon's local
* output is PID0 + PID1, and other side Talon is PID0 - PID1 true means talon's
* local output is PID0 - PID1, and other side Talon is PID0 + PID1
*/
m_rightFrontMotor.configAuxPIDPolarity(false, DriveConstants.DRIVE_TIMEOUT_MS);
/* Set up Differential Drive */
m_driveTrain = new DifferentialDrive(m_leftFrontMotor, m_rightFrontMotor);
m_lastTime = System.currentTimeMillis();
/* Set up Differential Drive Odometry. */
m_odometry = new DifferentialDriveOdometry( Rotation2d.fromDegrees(getHeading()),
new Pose2d(0, 0, new Rotation2d()));
/* Set up Orchestra */
m_orchestra = new Orchestra();
/* Set up music for drive train */
m_orchestra.addInstrument(m_leftBackMotor);
m_orchestra.addInstrument(m_rightFrontMotor);
m_orchestra.addInstrument(m_rightBackMotor);
m_orchestra.addInstrument(m_leftFrontMotor);
/* Create chooser to choose song to play */
File songsDir = new File(Filesystem.getDeployDirectory().getAbsolutePath() + "/songs");
System.err.println(songsDir.getPath());
String[] songsStrings = songsDir.list();
@@ -297,90 +266,38 @@ public class Drive extends SubsystemBase {
m_songChooser.addOption(songString, songsDir.getAbsolutePath() + "/" + songString);
}
Shuffleboard.getTab("Songs").add(m_songChooser);
}
String currentSong = "";
/* Start counting time */
m_lastTimeMs = System.currentTimeMillis();
}
@Override
public void periodic() {
m_currentTimeSec = (int)(System.currentTimeMillis() / 1000);
SmartDashboard.putNumber("Time Seconds", System.currentTimeMillis());
m_lastTimeMs = m_currentTimeMs;
m_currentTimeMs = System.currentTimeMillis();
m_currentTimeSec = m_currentTimeMs / 1000;
m_deltaTimeMs = m_currentTimeMs - m_lastTimeMs;
if (m_currentTimeSec % 30 == 0) {
coolFalcon(true);
SmartDashboard.putBoolean("Solenoid", true);
} else if ((m_currentTimeSec - 1) % 30 == 0) {
coolFalcon(false);
SmartDashboard.putBoolean("Solenoid", false);
}
m_deltaTime = System.currentTimeMillis() - m_lastTime;
m_lastTime = System.currentTimeMillis();
m_lastAngleYaw = m_currentAngleYaw;
m_currentAngleYaw = getGyroYaw();
m_rightFrontMotorPos = m_rightFrontMotor.getSelectedSensorPosition();
m_rightFrontMotorVel = m_rightFrontMotor.getSelectedSensorVelocity();
try {
SmartDashboard.putNumber("Pigeon Yaw", getGyroYaw());
//SmartDashboard.putNumber("Pigeon Pitch", getGyroPitch());
//SmartDashboard.putNumber("Pigeon Roll", getGyroRoll());
SmartDashboard.putNumber("Left Back Output", m_leftBackMotor.get());
SmartDashboard.putNumber("Right Back Output", m_rightBackMotor.get());
SmartDashboard.putNumber("Left Back Motor Velocity Raw", m_leftBackMotor.getSelectedSensorVelocity());
SmartDashboard.putNumber("Right Back Motor Velocity Raw", m_rightBackMotor.getSelectedSensorVelocity());
//SmartDashboard.putNumber("Left Motor Position Raw", m_leftFrontMotor.getSelectedSensorPosition());
//SmartDashboard.putNumber("Right Motor Position Raw", m_rightFrontMotor.getSelectedSensorPosition(0));
SmartDashboard.putNumber("Right Motor Velocity Int Sensor", m_rightFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
SmartDashboard.putNumber("Left Motor Velocity Int Sensor", m_leftFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
m_lastRightPosTicks = m_currentRightPosTicks;
m_lastLeftPosTicks = m_currentLeftPosTicks;
m_currentRightPosTicks = m_rightFrontMotor.getSensorCollection().getIntegratedSensorPosition();
m_currentLeftPosTicks = m_leftFrontMotor.getSensorCollection().getIntegratedSensorPosition();
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 Front Motor Current Stator ", m_rightFrontMotor.getStatorCurrent());
//SmartDashboard.putNumber("Left Front Motor Current Stator", m_leftFrontMotor.getSupplyCurrent());
//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 0 Target", m_rightFrontMotor.getClosedLoopTarget(DriveConstants.PID_PRIMARY));
//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));
SmartDashboard.putString("Odometry Values Meters", getPose().toString());
SmartDashboard.putNumber("Odometry Heading", getHeading());
SmartDashboard.putNumber("Time Seconds", m_currentTimeSec);
//SmartDashboard.putNumber("Delta Time", m_deltaTime);
if (currentSong != m_songChooser.getSelected()){
currentSong = m_songChooser.getSelected();
selectSong(currentSong);
System.err.println(currentSong);
}
} catch (Exception e) {
System.err.println("Error in the Drive Subsystem");
// e.printStackTrace(System.err);
}
m_totalRightDistanceInches += ticksToInches(m_currentRightPosTicks - m_lastRightPosTicks);
m_totalLeftDistanceInches += ticksToInches(m_currentLeftPosTicks - m_lastLeftPosTicks);
m_odometry.update(Rotation2d.fromDegrees( getHeading()),
inchesToMeters(getDistanceInches(m_leftBackMotor)),
-inchesToMeters(getDistanceInches(m_rightBackMotor)));
}
getDistanceInches(m_leftFrontMotor),
-getDistanceInches(m_rightFrontMotor));
/**
* Sets Motors to a NeutralMode.
*
* @param mode NeutralMode to set motors to
*/
public void setDriveTrainNeutralMode(NeutralMode mode) {
m_leftFrontMotor.setNeutralMode(mode);
m_rightFrontMotor.setNeutralMode(mode);
m_leftBackMotor.setNeutralMode(mode);
m_rightBackMotor.setNeutralMode(mode);
runFalconCooling();
updateSmartDashboard();
}
/**
@@ -388,7 +305,7 @@ public class Drive extends SubsystemBase {
* using the Differential Drive class to manage the two inputs
*/
public void driveWithInput(double move, double steer) {
m_driveTrain.arcadeDrive(move, steer);
m_driveTrain.arcadeDrive(steer, move);
m_leftBackMotor.follow(m_leftFrontMotor);
m_rightBackMotor.follow(m_rightFrontMotor);
}
@@ -424,7 +341,7 @@ public class Drive extends SubsystemBase {
m_leftBackMotor.follow(m_leftFrontMotor);
m_rightBackMotor.follow(m_rightFrontMotor);
//m_driveTrain.feedWatchdog();
m_driveTrain.feedWatchdog();
}
/**
@@ -442,7 +359,7 @@ public class Drive extends SubsystemBase {
m_leftBackMotor.follow(m_leftFrontMotor);
m_rightBackMotor.follow(m_rightFrontMotor);
//m_driveTrain.feedWatchdog();
m_driveTrain.feedWatchdog();
}
/**
@@ -456,6 +373,7 @@ public class Drive extends SubsystemBase {
m_rightFrontMotor.set(ControlMode.MotionMagic, targetPos, DemandType.AuxPID, targetGyro);
m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
m_leftBackMotor.follow(m_leftFrontMotor);
m_rightBackMotor.follow(m_rightFrontMotor);
@@ -469,9 +387,9 @@ public class Drive extends SubsystemBase {
* @param targetAngle target angle in degrees
*/
public void runTurningPID(double targetAngle) {
double targetGyro = (targetAngle / 360) * DriveConstants.TICKS_PER_GYRO_REV;
//double targetGyro = (targetAngle / 360) * DriveConstants.TICKS_PER_GYRO_REV;
runDriveVelocityPID(0, targetGyro);
runDriveVelocityPID(0, targetAngle);
}
/**
@@ -514,12 +432,100 @@ public class Drive extends SubsystemBase {
}
/**
* Selects the feedback device for the motors.
* @param feedbackDevice The feedback device to set it to, usually SensorDifference or
* Set to high or low gear based on boolean state, true = high, false = low
* @param state Chooses between high or low gear
*/
public void configMotorSensor(FeedbackDevice type) {
m_rightFrontMotor.configSelectedFeedbackSensor( type, DriveConstants.PID_PRIMARY,
DriveConstants.DRIVE_TIMEOUT_MS);
public void setShiftState(boolean state) {
if (state == true) {
m_speedShift.set(DoubleSolenoid.Value.kReverse);
}
if (state == false) {
m_speedShift.set(DoubleSolenoid.Value.kForward);
}
setRightMotorGains(state);
m_isSpeedShiftHigh = state;
}
/**
* Set to open or close solenoid that cools the falcon, true = open, false = close
* @param state Chooses between open and close
*/
public void coolFalcon(boolean state) {
if (state == true) {
m_coolFalcon.set(DoubleSolenoid.Value.kForward);
}
if (state == false) {
m_coolFalcon.set(DoubleSolenoid.Value.kReverse);
}
}
/**
*
*/
public void runFalconCooling() {
if (m_currentTimeSec % 30 == 0) {
coolFalcon(true);
SmartDashboard.putBoolean("Solenoid", true);
} else if ((m_currentTimeSec - 1) % 30 == 0) {
coolFalcon(false);
SmartDashboard.putBoolean("Solenoid", false);
}
}
/**
* Selects a song to play!
* @param song The name of the song to be played
*/
public void selectSong(String song) {
SmartDashboard.putString("Selected Song", song);
m_orchestra.loadMusic(song);
}
/*
* Plays Music!
*/
public void playSong() {
m_orchestra.play();
}
/**
* Resets the encoders for both motors.
*/
public void resetEncoders() {
m_leftFrontMotor.getSensorCollection().setIntegratedSensorPosition(0, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.getSensorCollection().setIntegratedSensorPosition(0, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftBackMotor.getSensorCollection().setIntegratedSensorPosition(0, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightBackMotor.getSensorCollection().setIntegratedSensorPosition(0, DriveConstants.DRIVE_TIMEOUT_MS);
m_totalLeftDistanceInches = 0;
m_totalRightDistanceInches = 0;
}
/**
* Resets the odometry to the specified pose.
*
* @param pose The pose to which to set the odometry.
*/
public void setOdometry(Pose2d pose) {
resetEncoders();
m_odometry.resetPosition(pose, Rotation2d.fromDegrees(getHeading()));
}
/**
* Resets the yaw of the pigeon
*/
public void resetGyroYaw() {
m_pigeon.setYaw(0);
m_pigeon.setAccumZAngle(0);
resetGyroAngles();
}
/**
* Add docs here
*/
public void resetGyroAngles() {
m_lastAngleYaw = 0;
m_currentAngleYaw = 0;
}
/**
@@ -553,29 +559,13 @@ public class Drive extends SubsystemBase {
return ypr[2];
}
/**
* Resets the yaw of the pigeon
*/
public void resetGyroYaw() {
m_pigeon.setYaw(0);
m_pigeon.setAccumZAngle(0);
resetGyroAngles();
}
/**
* Add docs here
*/
public void resetGyroAngles() {
m_lastAngleYaw = 0;
m_currentAngleYaw = 0;
m_kinematicsTargetAngle = 0;
}
//lol
//sko
//ridge
/**
//brayden=bad coder
* Returns the heading of the robot
/**
* Returns the heading of the robot
* @return The robot's heading in degrees, from -180 to 180
*/
public double getHeading() {
@@ -589,7 +579,7 @@ public class Drive extends SubsystemBase {
*/
public double getTurnRate() {
double deltaYaw = m_currentAngleYaw - m_lastAngleYaw;
double turnRate = 1000 * deltaYaw / m_deltaTime;
double turnRate = 1000 * deltaYaw / m_deltaTimeMs;
return turnRate;
}
@@ -606,28 +596,8 @@ public class Drive extends SubsystemBase {
* @return The current wheel speeds.
*/
public DifferentialDriveWheelSpeeds getWheelSpeeds() {
return new DifferentialDriveWheelSpeeds( inchesToMeters(getVelocityInchesPerSecond(m_leftBackMotor)),
-inchesToMeters(getVelocityInchesPerSecond(m_rightBackMotor)));
}
/**
* Resets the encoders for both motors.
*/
public void resetEncoders() {
m_leftFrontMotor.getSensorCollection().setIntegratedSensorPosition(0, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.getSensorCollection().setIntegratedSensorPosition(0, DriveConstants.DRIVE_TIMEOUT_MS);
m_leftBackMotor.getSensorCollection().setIntegratedSensorPosition(0, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightBackMotor.getSensorCollection().setIntegratedSensorPosition(0, DriveConstants.DRIVE_TIMEOUT_MS);
}
/**
* Resets the odometry to the specified pose.
*
* @param pose The pose to which to set the odometry.
*/
public void setOdometry(Pose2d pose) {
resetEncoders();
m_odometry.resetPosition(pose, Rotation2d.fromDegrees(getHeading()));
return new DifferentialDriveWheelSpeeds( getVelocityInchesPerSecond(m_leftBackMotor),
-getVelocityInchesPerSecond(m_rightBackMotor));
}
/**
@@ -654,7 +624,11 @@ public class Drive extends SubsystemBase {
* @return The converted value in inches
*/
public double ticksToInches(double ticks) {
return ticks * DriveConstants.INCHES_PER_TICK;
if (m_isSpeedShiftHigh) {
return ticks * DriveConstants.INCHES_PER_TICK_HIGH;
} else {
return ticks * DriveConstants.INCHES_PER_TICK_LOW;
}
}
/**
@@ -663,7 +637,11 @@ public class Drive extends SubsystemBase {
* @return The converted value in ticks
*/
public double inchesToTicks(double inches) {
return inches * DriveConstants.TICKS_PER_INCH;
if (m_isSpeedShiftHigh) {
return inches * DriveConstants.TICKS_PER_INCH_HIGH;
} else {
return inches * DriveConstants.TICKS_PER_INCH_LOW;
}
}
/**
@@ -683,46 +661,145 @@ public class Drive extends SubsystemBase {
public double metersToInches(double meters) {
return meters * DriveConstants.INCHES_PER_METER;
}
/*
* Plays Music!
*/
public void playSong() {
m_orchestra.play();
}
/**
* Selects a song to play!
* @param song The name of the song to be played
*/
public void selectSong(String song) {
SmartDashboard.putString("Selected Song", song);
m_orchestra.loadMusic(song);
}
/**
* Set to high or low gear based on boolean state, true = high, false = low
* @param state Chooses between high or low gear
*/
public void setShiftState(boolean state) {
if (state == true) {
m_speedShift.set(DoubleSolenoid.Value.kForward);
}
if (state == false) {
m_speedShift.set(DoubleSolenoid.Value.kReverse);
}
}
public void setRightMotorGains(boolean isHighGear) {
if (!isHighGear) {
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
m_rightFrontMotor.config_kF(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kP(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kI(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kD(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_VELOCITY, m_gainsVelocityLow.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
/**
* Set to open or close solenoid that cools the falcon, true = open, false = close
* @param state Chooses between open and close
*/
public void coolFalcon(boolean state) {
if (state == true) {
m_coolFalcon.set(DoubleSolenoid.Value.kForward);
}
if (state == false) {
m_coolFalcon.set(DoubleSolenoid.Value.kReverse);
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
m_rightFrontMotor.config_kF(DriveConstants.SLOT_TURNING, m_gainsTurningLow.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kP(DriveConstants.SLOT_TURNING, m_gainsTurningLow.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kI(DriveConstants.SLOT_TURNING, m_gainsTurningLow.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kD(DriveConstants.SLOT_TURNING, m_gainsTurningLow.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_TURNING, m_gainsTurningLow.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_DISTANCE, DriveConstants.PID_PRIMARY);
m_rightFrontMotor.config_kF(DriveConstants.SLOT_DISTANCE, m_gainsDistanceLow.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kP(DriveConstants.SLOT_DISTANCE, m_gainsDistanceLow.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kI(DriveConstants.SLOT_DISTANCE, m_gainsDistanceLow.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kD(DriveConstants.SLOT_DISTANCE, m_gainsDistanceLow.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configClosedLoopPeakOutput( DriveConstants.SLOT_DISTANCE, m_gainsDistanceLow.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_MOTION_MAGIC, DriveConstants.PID_PRIMARY);
m_rightFrontMotor.config_kF(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagicLow.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kP(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagicLow.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kI(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagicLow.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kD(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagicLow.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configClosedLoopPeakOutput( DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagicLow.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configMotionCruiseVelocity(DriveConstants.DRIVE_CRUISE_VELOCITY, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configMotionAcceleration(DriveConstants.DRIVE_ACCELERATION, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configMotionSCurveStrength(0, DriveConstants.DRIVE_TIMEOUT_MS);
} else {
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
m_rightFrontMotor.config_kF(DriveConstants.SLOT_VELOCITY, m_gainsVelocityHigh.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kP(DriveConstants.SLOT_VELOCITY, m_gainsVelocityHigh.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kI(DriveConstants.SLOT_VELOCITY, m_gainsVelocityHigh.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kD(DriveConstants.SLOT_VELOCITY, m_gainsVelocityHigh.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_VELOCITY, m_gainsVelocityHigh.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
m_rightFrontMotor.config_kF(DriveConstants.SLOT_TURNING, m_gainsTurningHigh.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kP(DriveConstants.SLOT_TURNING, m_gainsTurningHigh.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kI(DriveConstants.SLOT_TURNING, m_gainsTurningHigh.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kD(DriveConstants.SLOT_TURNING, m_gainsTurningHigh.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_TURNING, m_gainsTurningHigh.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_DISTANCE, DriveConstants.PID_PRIMARY);
m_rightFrontMotor.config_kF(DriveConstants.SLOT_DISTANCE, m_gainsDistanceHigh.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kP(DriveConstants.SLOT_DISTANCE, m_gainsDistanceHigh.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kI(DriveConstants.SLOT_DISTANCE, m_gainsDistanceHigh.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kD(DriveConstants.SLOT_DISTANCE, m_gainsDistanceHigh.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configClosedLoopPeakOutput( DriveConstants.SLOT_DISTANCE, m_gainsDistanceHigh.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_MOTION_MAGIC, DriveConstants.PID_PRIMARY);
m_rightFrontMotor.config_kF(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagicHigh.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kP(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagicHigh.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kI(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagicHigh.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.config_kD(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagicHigh.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configClosedLoopPeakOutput( DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagicHigh.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configMotionCruiseVelocity(DriveConstants.DRIVE_CRUISE_VELOCITY_HIGH, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configMotionAcceleration(DriveConstants.DRIVE_ACCELERATION_HIGH, DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configMotionSCurveStrength(0, DriveConstants.DRIVE_TIMEOUT_MS);
}
}
/**
* Sets Motors to a NeutralMode.
*
* @param mode NeutralMode to set motors to
*/
public void setDriveTrainNeutralMode(NeutralMode mode) {
m_leftFrontMotor.setNeutralMode(mode);
m_rightFrontMotor.setNeutralMode(mode);
m_leftBackMotor.setNeutralMode(mode);
m_rightBackMotor.setNeutralMode(mode);
}
public void updateSmartDashboard() {
try {
//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 Back Output", m_leftBackMotor.get());
SmartDashboard.putNumber("Right Back Output", m_rightBackMotor.get());
//SmartDashboard.putNumber("Left Back Motor Velocity Raw", m_leftBackMotor.getSelectedSensorVelocity());
//SmartDashboard.putNumber("Right Back Motor Velocity Raw", m_rightBackMotor.getSelectedSensorVelocity());
//SmartDashboard.putNumber("Left Motor Position Raw", m_leftFrontMotor.getSelectedSensorPosition());
//SmartDashboard.putNumber("Right Motor Position Raw", m_rightFrontMotor.getSelectedSensorPosition(0));
//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("Right Front Velocity", m_rightFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
SmartDashboard.putNumber("Left Front Velocity", m_leftFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
SmartDashboard.putNumber("Right Back Velocity", m_rightBackMotor.getSensorCollection().getIntegratedSensorVelocity());
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 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("PID 0 Error", m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_PRIMARY));
//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 0 Pos", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_PRIMARY));
//SmartDashboard.putNumber("PID 1 Pos", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN));
//SmartDashboard.putString("Odometry Values Meters", getPose().toString());
//SmartDashboard.putNumber("Odometry Heading", getHeading());
//SmartDashboard.putNumber("Time Seconds", m_currentTimeSec);
//SmartDashboard.putNumber("Delta Time", m_deltaTime);
if (m_currentSong != m_songChooser.getSelected()){
m_currentSong = m_songChooser.getSelected();
selectSong(m_currentSong);
//System.err.println(m_currentSong);
}
} catch (Exception e) {
System.err.println("Error while using Drive SmartDashboard");
// e.printStackTrace(System.err);
}
}
}
src/main/java/frc4388/robot/subsystems/Shooter.java
+16
View File
@@ -24,6 +24,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Gains;
import frc4388.robot.Constants.ShooterConstants;
import frc4388.utility.ShooterTables;
import frc4388.utility.controller.IHandController;
public class Shooter extends SubsystemBase {
@@ -48,6 +49,9 @@ public class Shooter extends SubsystemBase {
double velP;
double input;
ShooterTables m_shooterTable;
public boolean velReached;
public double m_fireVel;
public double m_fireAngle;
@@ -74,6 +78,18 @@ public class Shooter extends SubsystemBase {
int closedLoopTimeMs = 1;
m_shooterFalcon.configClosedLoopPeriod(0, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.configClosedLoopPeriod(1, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS);
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 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));
}
@Override
src/main/java/frc4388/utility/ShooterTables.java
+149
View File
@@ -0,0 +1,149 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 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.utility;
import java.io.BufferedReader;
import java.io.File;
import java.io.FileNotFoundException;
import java.io.FileReader;
import java.io.IOException;
import edu.wpi.first.wpilibj.Filesystem;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
/**
* Add your docs here.
*/
public class ShooterTables {
double[][] m_distance = new double[50][3];
double[][] m_angle = new double[50][2];
final int m_columnDistance = 0;
final int m_columnHood = 1;
final int m_columnVel = 2;
final int m_columnAngle = 0;
final int m_columnDisplacement = 1;
int m_distanceLength;
int m_angleLength;
public ShooterTables() {
int lineNum = 0;
File distanceCSV = new File(Filesystem.getDeployDirectory().getAbsolutePath() + "/Robot Data - Distances.csv");
File angleCSV = new File(Filesystem.getDeployDirectory().getAbsolutePath() + "/Robot Data - Angles.csv");
try {
BufferedReader distanceReader = new BufferedReader(new FileReader(distanceCSV));
BufferedReader angleReader = new BufferedReader(new FileReader(angleCSV));
String line = "";
while ((line = distanceReader.readLine()) != null) {
if (lineNum == 0) {
lineNum ++;
} else {
String[] values = line.split(",");
m_distance[lineNum - 1][m_columnDistance] = Double.parseDouble(values[0]);
m_distance[lineNum - 1][m_columnHood] = Double.parseDouble(values[1]);
m_distance[lineNum - 1][m_columnVel] = Double.parseDouble(values[2]);
lineNum ++;
}
}
m_distanceLength = lineNum-1;
lineNum = 0;
while ((line = angleReader.readLine()) != null) {
if (lineNum == 0) {
lineNum ++;
} else {
String[] values = line.split(",");
m_angle[lineNum - 1][m_columnAngle] = Double.parseDouble(values[0]);
m_angle[lineNum - 1][m_columnDisplacement] = Double.parseDouble(values[1]);
lineNum ++;
}
}
m_angleLength = lineNum-1;
} catch (FileNotFoundException e) {
e.printStackTrace();
} 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]);
}
public double getHood(double distance) {
int i = 0;
while ((i < m_distanceLength) && (m_distance[i][m_columnDistance] < distance)) {
i ++;
}
if ((i < m_distanceLength) && (m_distance[i][m_columnDistance] == distance)) {
return m_distance[i][m_columnHood];
} else {
if (i >= m_distanceLength) {
i = m_distanceLength - 1;
}
return linearInterpolation(i, distance, m_columnHood, m_distance);
}
}
public double getVelocity(double distance) {
int i = 0;
while ((i < m_distanceLength) && (m_distance[i][m_columnDistance] < distance)) {
i ++;
}
if ((i < m_distanceLength) && (m_distance[i][m_columnDistance] == distance)) {
return m_distance[i][m_columnVel];
} else {
if (i >= m_distanceLength) {
i = m_distanceLength - 1;
}
return linearInterpolation(i, distance, m_columnVel, m_distance);
}
}
public double getAngleDisplacement(double angle) {
int i = 0;
while ((i < m_angleLength) && (m_angle[i][m_columnAngle] < angle)) {
i ++;
}
if ((i < m_angleLength) && (m_angle[i][m_columnAngle] == angle)) {
return m_angle[i][m_columnDisplacement];
} else {
if (i >= m_angleLength) {
i = m_angleLength - 1;
}
return linearInterpolation(i, angle, m_columnDisplacement, m_angle);
}
}
public double linearInterpolation(int i, double value, int column, double[][] table) {
if (i != 0) {
double slope = (table[i][column] - table[i-1][column]) / (table[i][0] - table[i-1][0]);
value = slope * (value - table[i-1][0]) + table[i-1][column];
return value;
}
return 0.0;
}
}