From c25788454590c2bececea739cbb275216ea2919e Mon Sep 17 00:00:00 2001 From: ryan123rudder <42309874+ryan123rudder@users.noreply.github.com> Date: Wed, 24 Mar 2021 16:37:19 -0600 Subject: [PATCH] tuning --- src/main/deploy/Robot Data - Distances.csv | 18 ++- .../driverStation/GOAT DRIVERSTATION.json | 146 +++++++++++++++++- .../java/frc4388/robot/RobotContainer.java | 4 +- .../commands/shooter/ShooterGoalPosition.java | 2 +- 4 files changed, 155 insertions(+), 15 deletions(-) diff --git a/src/main/deploy/Robot Data - Distances.csv b/src/main/deploy/Robot Data - Distances.csv index 0ee5cca..4f2fb07 100644 --- a/src/main/deploy/Robot Data - Distances.csv +++ b/src/main/deploy/Robot Data - Distances.csv @@ -1,10 +1,12 @@ Distance (in),Hood Ext. (u),Drum Velocity (u/ds),Center Displacment (deg) -0,16,6000,0, -65.9,16,6000,0, +0,16,6000,1, +65.9,16,6000,1, 103,19,6600,1, -126.6,20.25,7000,0, -180,24,8000,0, -185.85,26.5, 9000,1.1, -245,28.9,9500,0, -262,28.9,9500,0, -999,28.9,9500,0, \ No newline at end of file +126.6,20.25,7000,1.5, +156.6,22,7500,1.5, +180,24,8000,2, +185.85,26.5,9000,2.5, +231,28.8,9500,1.8, +245,28.8,9500,1.8, +262,28.8,9500,1.8, +999,28.8,9500,1.8, \ No newline at end of file diff --git a/src/main/driverStation/GOAT DRIVERSTATION.json b/src/main/driverStation/GOAT DRIVERSTATION.json index e61f688..5035189 100644 --- a/src/main/driverStation/GOAT DRIVERSTATION.json +++ b/src/main/driverStation/GOAT DRIVERSTATION.json @@ -624,6 +624,12 @@ "_title": "DigitalInput[12]/Value", "Colors/Color when true": "#7CFC00FF", "Colors/Color when false": "#8B0000FF" + }, + { + "_type": "Speed Controller", + "_source0": "network_table:///LiveWindow/Ungrouped/Talon FX [15]", + "_title": "Talon FX [15]", + "Visuals/Orientation": "HORIZONTAL" } ] } @@ -1003,12 +1009,144 @@ } } } + }, + { + "title": "Tab 5", + "autoPopulate": false, + "autoPopulatePrefix": "", + "widgetPane": { + "gridSize": 128.0, + "showGrid": true, + "hgap": 16.0, + "vgap": 16.0, + "tiles": { + "3,0": { + "size": [ + 3, + 3 + ], + "content": { + "_type": "Camera Stream", + "_source0": "camera_server://limelight", + "_title": "limelight", + "Crosshair/Show crosshair": true, + "Crosshair/Crosshair color": "#FFFFFFFF", + "Controls/Show controls": true, + "Controls/Rotation": "NONE", + "compression": -1.0, + "fps": -1, + "imageWidth": 0, + "imageHeight": 0 + } + }, + "7,1": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/Fire Angle CSV", + "_title": "/SmartDashboard/Fire Angle CSV" + } + }, + "7,0": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/Drum Velocity CSV", + "_title": "/SmartDashboard/Drum Velocity CSV" + } + }, + "6,1": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/Distance to Target", + "_title": "/SmartDashboard/Distance to Target" + } + }, + "3,3": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/Distance to Target", + "_title": "/SmartDashboard/Distance to Target" + } + }, + "0,0": { + "size": [ + 2, + 2 + ], + "content": { + "_type": "Graph", + "_source0": "network_table:///SmartDashboard/Drum Velocity", + "_title": "/SmartDashboard/Drum Velocity", + "Graph/Visible time": 30.0, + "Y-axis/Automatic bounds": true, + "Y-axis/Upper bound": 1.0, + "Y-axis/Lower bound": -1.0, + "Visible data/SmartDashboard/Drum Velocity": true + } + }, + "6,2": { + "size": [ + 4, + 2 + ], + "content": { + "_type": "Graph", + "_source0": "network_table:///SmartDashboard/Drum Velocity", + "_title": "/SmartDashboard/Drum Velocity", + "Graph/Visible time": 30.0, + "Y-axis/Automatic bounds": true, + "Y-axis/Upper bound": 1.0, + "Y-axis/Lower bound": -1.0, + "Visible data/SmartDashboard/Drum Velocity": true + } + }, + "4,3": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/Turret Angle Raw", + "_title": "/SmartDashboard/Turret Angle Raw" + } + }, + "6,0": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Boolean Box", + "_source0": "network_table:///SmartDashboard/Drum Ready", + "_title": "/SmartDashboard/Drum Ready", + "Colors/Color when true": "#7CFC00FF", + "Colors/Color when false": "#8B0000FF" + } + } + } + } } ], "windowGeometry": { - "x": -6.400000095367432, - "y": 1.600000023841858, - "width": 1547.199951171875, - "height": 828.7999877929688 + "x": -7.199999809265137, + "y": -7.199999809265137, + "width": 1550.4000244140625, + "height": 838.4000244140625 } } \ No newline at end of file diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 97bd1e9..9578a71 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -191,8 +191,8 @@ public class RobotContainer { .whenReleased(new InterruptSubystem(m_robotShooterHood)); // B driver test button - new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON) - .whenPressed(new TurnDegrees(m_robotDrive, 90)); + /*new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON) + .whenPressed(new TurnDegrees(m_robotDrive, 90));*/ // Y driver test button new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON) .whenPressed(new Wait(m_robotDrive, 0, 0)); diff --git a/src/main/java/frc4388/robot/commands/shooter/ShooterGoalPosition.java b/src/main/java/frc4388/robot/commands/shooter/ShooterGoalPosition.java index b750c66..100e077 100644 --- a/src/main/java/frc4388/robot/commands/shooter/ShooterGoalPosition.java +++ b/src/main/java/frc4388/robot/commands/shooter/ShooterGoalPosition.java @@ -35,7 +35,7 @@ public class ShooterGoalPosition extends CommandBase { @Override public void execute() { m_shooter.runDrumShooterVelocityPID(5000); - m_hood.runAngleAdjustPID(3); + m_hood.runAngleAdjustPID(4); m_aim.runshooterRotatePID(-26.5); }