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This commit is contained in:
ryan123rudder
2021-03-24 16:37:19 -06:00
parent 289efc78d5
commit c257884545
4 changed files with 155 additions and 15 deletions
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src/main/deploy/Robot Data - Distances.csv
+10 -8
View File
@@ -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,
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,
1 Distance (in),Hood Ext. (u),Drum Velocity (u/ds),Center Displacment (deg)
2 0,16,6000,0, 0,16,6000,1,
3 65.9,16,6000,0, 65.9,16,6000,1,
4 103,19,6600,1,
5 126.6,20.25,7000,0, 126.6,20.25,7000,1.5,
6 180,24,8000,0, 156.6,22,7500,1.5,
7 185.85,26.5, 9000,1.1, 180,24,8000,2,
8 245,28.9,9500,0, 185.85,26.5,9000,2.5,
9 262,28.9,9500,0, 231,28.8,9500,1.8,
10 999,28.9,9500,0, 245,28.8,9500,1.8,
11 262,28.8,9500,1.8,
12 999,28.8,9500,1.8,
src/main/driverStation/GOAT DRIVERSTATION.json
+142 -4
View File
@@ -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
}
}
src/main/java/frc4388/robot/RobotContainer.java
+2 -2
View File
@@ -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));
src/main/java/frc4388/robot/commands/shooter/ShooterGoalPosition.java
+1 -1
View File
@@ -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);
}