mirror of
https://github.com/Team4388/RiseOfRidgebotics2020.git
synced 2026-06-09 00:38:00 -06:00
Merge branch 'master' into add-ramsete-controller-and-trajectories
This commit is contained in:
Keenan D. Buckley
@@ -1,21 +1,24 @@
|
||||
MIT License
|
||||
Copyright (c) 2009-2018 FIRST
|
||||
All rights reserved.
|
||||
|
||||
Copyright (c) 2019 HFocus
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the FIRST nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
of this software and associated documentation files (the "Software"), to deal
|
||||
in the Software without restriction, including without limitation the rights
|
||||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
copies of the Software, and to permit persons to whom the Software is
|
||||
furnished to do so, subject to the following conditions:
|
||||
|
||||
The above copyright notice and this permission notice shall be included in all
|
||||
copies or substantial portions of the Software.
|
||||
|
||||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
||||
SOFTWARE.
|
||||
THIS SOFTWARE IS PROVIDED BY FIRST AND CONTRIBUTORS``AS IS'' AND ANY
|
||||
EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
|
||||
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
|
||||
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
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@@ -75,20 +75,26 @@ public final class Constants {
|
||||
}
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||||
|
||||
public static final class IntakeConstants {
|
||||
public static final int INTAKE_SPARK_ID = 9;
|
||||
public static final int EXTENDER_SPARK_ID = 10;
|
||||
public static final int INTAKE_SPARK_ID = -9;
|
||||
public static final int EXTENDER_SPARK_ID = -10;
|
||||
}
|
||||
|
||||
public static final class ShooterConstants {
|
||||
public static final int SHOOTER_FALCON_ID = 8;
|
||||
/* Motor IDs */
|
||||
public static final int SHOOTER_FALCON_ID = -1;
|
||||
public static final int SHOOTER_ANGLE_ADJUST_ID = -1;
|
||||
public static final int SHOOTER_ROTATE_ID = 10;
|
||||
|
||||
/* PID Constants Shooter */
|
||||
public static final int SHOOTER_SLOT_IDX = 0;
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||||
public static final int SHOOTER_PID_LOOP_IDX = 1;
|
||||
public static final int SHOOTER_TIMEOUT_MS = 30;
|
||||
public static final Gains SHOOTER_GAINS = new Gains(0.4, 0.0005, 13, 0.05, 0, 1.0);
|
||||
|
||||
public static final Gains DRUM_SHOOTER_GAINS = new Gains(0.4, 0.0005, 13, 0.05, 0, 1.0);
|
||||
public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.2, 0.0, 0.0, 0.0, 0, 1.0);
|
||||
public static final double SHOOTER_TURRET_MIN = -1.0;
|
||||
public static final double ENCODER_TICKS_PER_REV = 2048;
|
||||
public static final double NEO_UNITS_PER_REV = 42;
|
||||
public static final double DEGREES_PER_ROT = 360;
|
||||
}
|
||||
|
||||
public static final class ClimberConstants {
|
||||
@@ -100,7 +106,7 @@ public final class Constants {
|
||||
}
|
||||
|
||||
public static final class StorageConstants {
|
||||
public static final int STORAGE_CAN_ID = 10;
|
||||
public static final int STORAGE_CAN_ID = -1;
|
||||
|
||||
/* Ball Indexes */
|
||||
public static final int BEAM_SENSOR_DIO_0 = 0;
|
||||
@@ -130,6 +136,17 @@ public final class Constants {
|
||||
public static final int LED_SPARK_ID = 0;
|
||||
public static final LEDPatterns DEFAULT_PATTERN = LEDPatterns.FOREST_WAVES;
|
||||
}
|
||||
|
||||
public static final class VisionConstants {
|
||||
public static final double FOV = 29.8; //Field of view of limelight
|
||||
public static final double TARGET_HEIGHT = 82.75;
|
||||
public static final double LIME_ANGLE = 18.7366;
|
||||
public static final double TURN_P_VALUE = 0.65;
|
||||
public static final double X_ANGLE_ERROR = 1.3;
|
||||
public static final double MOTOR_DEAD_ZONE = 0.3;
|
||||
public static final double DISTANCE_ERROR_EQUATION_M = 1.1279;
|
||||
public static final double DISTANCE_ERROR_EQUATION_B = -15.0684;
|
||||
}
|
||||
|
||||
public static final class OIConstants {
|
||||
public static final int XBOX_DRIVER_ID = 0;
|
||||
|
||||
@@ -29,6 +29,7 @@ import edu.wpi.first.wpilibj2.command.button.JoystickButton;
|
||||
|
||||
import frc4388.robot.Constants.*;
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||||
import frc4388.robot.commands.DriveStraightAtVelocityPID;
|
||||
import frc4388.robot.commands.DriveWithJoystick;
|
||||
import frc4388.robot.commands.DriveStraightToPositionMM;
|
||||
import frc4388.robot.commands.DriveStraightToPositionPID;
|
||||
import frc4388.robot.commands.DriveWithJoystick;
|
||||
@@ -44,6 +45,11 @@ 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.subsystems.Camera;
|
||||
import frc4388.robot.subsystems.Leveler;
|
||||
import frc4388.robot.subsystems.Storage;
|
||||
import frc4388.utility.LEDPatterns;
|
||||
@@ -67,6 +73,10 @@ public class RobotContainer {
|
||||
private final Leveler m_robotLeveler = new Leveler();
|
||||
private final Storage m_robotStorage = new Storage();
|
||||
|
||||
/* Cameras */
|
||||
private final Camera m_robotCameraFront = new Camera("front",0,160,120,40);
|
||||
private final Camera m_robotCameraBack = new Camera("back",1,160,120,40);
|
||||
|
||||
/* Controllers */
|
||||
private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
|
||||
private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
|
||||
@@ -87,11 +97,12 @@ public class RobotContainer {
|
||||
// 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.runDrumShooter(0.15), m_robotShooter));
|
||||
|
||||
m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runShooterWithInput(m_operatorXbox.getLeftXAxis()), m_robotShooter));
|
||||
// drives the leveler with an axis input from the driver controller
|
||||
m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getDriverController()));
|
||||
// m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getDriverController()));
|
||||
// runs storage motor at 50 percent
|
||||
m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
|
||||
// m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -107,12 +118,15 @@ public class RobotContainer {
|
||||
|
||||
/* Operator Buttons */
|
||||
// activates "Lit Mode"
|
||||
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
|
||||
.whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
|
||||
.whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
|
||||
//new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
|
||||
// .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
|
||||
// .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
|
||||
|
||||
new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
|
||||
.whileHeld(new ShooterVelocityControlPID(m_robotShooter, 4000));
|
||||
|
||||
new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON)
|
||||
.whileHeld(new TrackTarget(m_robotShooter));
|
||||
|
||||
new JoystickButton(getOperatorJoystick(), XboxController.LEFT_BUMPER_BUTTON)
|
||||
.whenPressed(new RunExtenderOutIn(m_robotIntake));
|
||||
@@ -134,6 +148,7 @@ public class RobotContainer {
|
||||
new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
|
||||
.whenPressed(new RunCommand(() -> m_robotDrive.driveWithInputAux(0.2, 0), m_robotDrive));
|
||||
|
||||
|
||||
// sets solenoids into high gear
|
||||
new JoystickButton(getDriverJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
|
||||
.whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(true), m_robotDrive));
|
||||
@@ -146,9 +161,14 @@ public class RobotContainer {
|
||||
new JoystickButton(getDriverJoystick(), XboxController.LEFT_JOYSTICK_BUTTON)
|
||||
.whenPressed(new InstantCommand(() -> System.out.print("Gamer"), m_robotDrive));
|
||||
|
||||
// safety for climber and leveler
|
||||
new JoystickButton(getOperatorJoystick(), XboxController.BACK_BUTTON)
|
||||
.whenPressed(new InstantCommand(() -> m_robotClimber.setSafetyPressed(), m_robotClimber))
|
||||
.whenReleased(new InstantCommand(() -> m_robotClimber.setSafetyNotPressed(), m_robotClimber));
|
||||
|
||||
/* Storage Neo PID Test */
|
||||
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
|
||||
.whileHeld(new RunCommand(() -> m_robotStorage.runStoragePositionPID(0.5, 0.2, 0.0, 0.0, 0.0, 0.0, 1, -1)));
|
||||
.whileHeld(new TrackTarget(m_robotShooter));
|
||||
}
|
||||
|
||||
/**
|
||||
|
||||
@@ -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;
|
||||
|
||||
import edu.wpi.first.wpilibj2.command.CommandBase;
|
||||
import frc4388.robot.subsystems.Drive;
|
||||
|
||||
public class PlaySongDrive extends CommandBase {
|
||||
private Drive m_drive;
|
||||
|
||||
/**
|
||||
* Creates a new PlaySongDrive.
|
||||
*/
|
||||
public PlaySongDrive(Drive subsystem) {
|
||||
// Use addRequirements() here to declare subsystem dependencies.
|
||||
m_drive = subsystem;
|
||||
addRequirements(m_drive);
|
||||
}
|
||||
|
||||
// Called when the command is initially scheduled.
|
||||
@Override
|
||||
public void initialize() {
|
||||
m_drive.m_rightFrontMotor.set(0);
|
||||
m_drive.m_leftFrontMotor.set(0);
|
||||
m_drive.m_rightBackMotor.set(0);
|
||||
m_drive.m_leftBackMotor.set(0);
|
||||
}
|
||||
|
||||
// Called every time the scheduler runs while the command is scheduled.
|
||||
@Override
|
||||
public void execute() {
|
||||
m_drive.playSong();
|
||||
//System.err.println("Playing " + m_drive.m_orchestra.isPlaying());
|
||||
//m_drive.m_driveTrain.feedWatchdog();
|
||||
}
|
||||
|
||||
// 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() {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,84 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* 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 frc4388.robot.Constants.VisionConstants;
|
||||
import frc4388.robot.subsystems.Drive;
|
||||
import frc4388.robot.subsystems.Shooter;
|
||||
import frc4388.utility.controller.IHandController;
|
||||
import edu.wpi.first.wpilibj2.command.CommandBase;
|
||||
import edu.wpi.first.networktables.NetworkTable;
|
||||
import edu.wpi.first.networktables.NetworkTableEntry;
|
||||
import edu.wpi.first.networktables.NetworkTableInstance;
|
||||
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
|
||||
|
||||
public class TrackTarget extends CommandBase {
|
||||
//Setup
|
||||
NetworkTableEntry xEntry;
|
||||
Shooter m_shooter;
|
||||
IHandController m_driverController;
|
||||
//Aiming
|
||||
double turnAmount = 0;
|
||||
double xAngle = 0;
|
||||
double yAngle = 0;
|
||||
double target = 0;
|
||||
public double distance;
|
||||
|
||||
/**
|
||||
* Uses the Limelight to track the target
|
||||
*/
|
||||
public TrackTarget(Shooter shooterSubsystem) {
|
||||
m_shooter = shooterSubsystem;
|
||||
addRequirements(m_shooter);
|
||||
NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(1);
|
||||
}
|
||||
|
||||
// Called when the command is initially scheduled.
|
||||
@Override
|
||||
public void initialize() {
|
||||
//Vision Processing Mode
|
||||
NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0);
|
||||
NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(3);
|
||||
}
|
||||
|
||||
// Called every time the scheduler runs while the command is scheduled.
|
||||
@Override
|
||||
public void execute() {
|
||||
target = NetworkTableInstance.getDefault().getTable("limelight").getEntry("tv").getDouble(0);
|
||||
xAngle = NetworkTableInstance.getDefault().getTable("limelight").getEntry("tx").getDouble(0);
|
||||
yAngle = NetworkTableInstance.getDefault().getTable("limelight").getEntry("ty").getDouble(0);
|
||||
|
||||
if (target == 1.0){ //If target in view
|
||||
//Aiming Left/Right
|
||||
turnAmount = (xAngle/VisionConstants.FOV)*VisionConstants.TURN_P_VALUE;
|
||||
if (Math.abs(xAngle) < VisionConstants.X_ANGLE_ERROR){turnAmount = 0;} //Angle Error Zone
|
||||
//Deadzones
|
||||
else if(turnAmount > 0 && turnAmount < VisionConstants.MOTOR_DEAD_ZONE){turnAmount = VisionConstants.MOTOR_DEAD_ZONE;}
|
||||
else if(turnAmount < 0 && turnAmount > -VisionConstants.MOTOR_DEAD_ZONE){turnAmount = -VisionConstants.MOTOR_DEAD_ZONE;}
|
||||
m_shooter.runShooterWithInput(turnAmount/5);
|
||||
|
||||
//Finding Distance
|
||||
distance = VisionConstants.TARGET_HEIGHT/Math.tan((VisionConstants.LIME_ANGLE + yAngle)*(Math.PI/180));
|
||||
SmartDashboard.putNumber("Distance to Target", distance);
|
||||
}
|
||||
}
|
||||
|
||||
// Called once the command ends or is interrupted.
|
||||
@Override
|
||||
public void end(boolean interrupted) {
|
||||
//Drive Camera Mode
|
||||
NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(1);
|
||||
NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(0);
|
||||
}
|
||||
|
||||
// Returns true when the command should end.
|
||||
@Override
|
||||
public boolean isFinished() {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,47 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* 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.subsystems;
|
||||
|
||||
import edu.wpi.cscore.MjpegServer;
|
||||
import edu.wpi.cscore.UsbCamera;
|
||||
import edu.wpi.cscore.VideoSource;
|
||||
import edu.wpi.first.cameraserver.CameraServer;
|
||||
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
||||
|
||||
|
||||
|
||||
public class Camera extends SubsystemBase {
|
||||
CameraServer camServ = CameraServer.getInstance();
|
||||
/**
|
||||
* Creates a new Camera.
|
||||
* Makes a Camera and sends the stream to a CameraServer, to be viewed in Shuffle Board.
|
||||
* @param name Name of the Camera in Shuffle Board.
|
||||
* @param id USB Id of the Camera.
|
||||
* @param width Resolution width.
|
||||
* @param height Resolution height.
|
||||
* @param brightness Percent brightness of the stream.
|
||||
*/
|
||||
public Camera(String name, int id, int width, int height, int brightness) {
|
||||
try{
|
||||
UsbCamera cam = new UsbCamera(name, id);
|
||||
cam.setResolution(width, height);
|
||||
cam.setBrightness(brightness);
|
||||
cam.setFPS(10);
|
||||
VideoSource camera = cam;
|
||||
camServ.startAutomaticCapture(camera);
|
||||
}
|
||||
catch(Exception e){
|
||||
System.err.println("Camera broken, pls nerf");
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@Override
|
||||
public void periodic() {
|
||||
}
|
||||
}
|
||||
@@ -19,6 +19,9 @@ import frc4388.robot.Constants.ClimberConstants;
|
||||
public class Climber extends SubsystemBase {
|
||||
CANSparkMax m_climberMotor = new CANSparkMax(ClimberConstants.CLIMBER_SPARK_ID, MotorType.kBrushless);
|
||||
CANDigitalInput m_climberForwardLimit, m_climberReverseLimit;
|
||||
|
||||
public boolean climberSafety = false;
|
||||
|
||||
/**
|
||||
* Creates a new Climber.
|
||||
*/
|
||||
@@ -44,6 +47,23 @@ public class Climber extends SubsystemBase {
|
||||
* @param input the voltage to run motor at
|
||||
*/
|
||||
public void runClimber(double input) {
|
||||
m_climberMotor.set(input);
|
||||
if(climberSafety){
|
||||
m_climberMotor.set(input);
|
||||
}
|
||||
else{
|
||||
m_climberMotor.set(0);
|
||||
}
|
||||
}
|
||||
|
||||
/* Safety Button for Climber */
|
||||
public void setSafetyPressed()
|
||||
{
|
||||
climberSafety = true;
|
||||
}
|
||||
|
||||
/* Safety Button for Climber set back to false */
|
||||
public void setSafetyNotPressed()
|
||||
{
|
||||
climberSafety = false;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -7,6 +7,16 @@
|
||||
|
||||
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;
|
||||
@@ -18,16 +28,20 @@ import com.ctre.phoenix.motorcontrol.SensorTerm;
|
||||
import com.ctre.phoenix.motorcontrol.StatusFrame;
|
||||
import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
|
||||
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
|
||||
import com.ctre.phoenix.music.Orchestra;
|
||||
import com.ctre.phoenix.sensors.PigeonIMU;
|
||||
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.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;
|
||||
@@ -48,6 +62,7 @@ public class Drive extends SubsystemBase {
|
||||
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;
|
||||
|
||||
@@ -67,7 +82,6 @@ public class Drive extends SubsystemBase {
|
||||
public DoubleSolenoid m_coolFalcon;
|
||||
|
||||
public int m_currentTimeSec = (int)(System.currentTimeMillis() / 1000);
|
||||
|
||||
public long m_lastTime, m_deltaTime; //in milliseconds
|
||||
|
||||
public double m_lastAngleYaw, m_currentAngleYaw, m_kinematicsTargetAngle;
|
||||
@@ -99,7 +113,7 @@ public class Drive extends SubsystemBase {
|
||||
/* flip input so forward becomes back, etc */
|
||||
m_leftFrontMotor.setInverted(false);
|
||||
m_rightFrontMotor.setInverted(true);
|
||||
m_driveTrain.setRightSideInverted(false);
|
||||
//m_driveTrain.setRightSideInverted(false);
|
||||
m_leftBackMotor.setInverted(InvertType.FollowMaster);
|
||||
m_rightBackMotor.setInverted(InvertType.FollowMaster);
|
||||
|
||||
@@ -268,8 +282,22 @@ public class Drive extends SubsystemBase {
|
||||
m_rightFrontMotor.configAuxPIDPolarity(false, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
|
||||
m_lastTime = System.currentTimeMillis();
|
||||
|
||||
m_orchestra.addInstrument(m_leftBackMotor);
|
||||
m_orchestra.addInstrument(m_rightFrontMotor);
|
||||
m_orchestra.addInstrument(m_rightBackMotor);
|
||||
m_orchestra.addInstrument(m_leftFrontMotor);
|
||||
|
||||
File songsDir = new File(Filesystem.getDeployDirectory().getAbsolutePath() + "/songs");
|
||||
System.err.println(songsDir.getPath());
|
||||
String[] songsStrings = songsDir.list();
|
||||
for (String songString : songsStrings){
|
||||
m_songChooser.addOption(songString, songsDir.getAbsolutePath() + "/" + songString);
|
||||
}
|
||||
Shuffleboard.getTab("Songs").add(m_songChooser);
|
||||
}
|
||||
|
||||
String currentSong = "";
|
||||
@Override
|
||||
public void periodic() {
|
||||
m_currentTimeSec = (int)(System.currentTimeMillis() / 1000);
|
||||
@@ -326,6 +354,11 @@ public class Drive extends SubsystemBase {
|
||||
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);
|
||||
@@ -389,7 +422,7 @@ public class Drive extends SubsystemBase {
|
||||
m_leftBackMotor.follow(m_leftFrontMotor);
|
||||
m_rightBackMotor.follow(m_rightFrontMotor);
|
||||
|
||||
m_driveTrain.feedWatchdog();
|
||||
//m_driveTrain.feedWatchdog();
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -407,7 +440,7 @@ public class Drive extends SubsystemBase {
|
||||
m_leftBackMotor.follow(m_leftFrontMotor);
|
||||
m_rightBackMotor.follow(m_rightFrontMotor);
|
||||
|
||||
m_driveTrain.feedWatchdog();
|
||||
//m_driveTrain.feedWatchdog();
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -425,6 +458,7 @@ public class Drive extends SubsystemBase {
|
||||
m_rightBackMotor.follow(m_rightFrontMotor);
|
||||
|
||||
m_driveTrain.feedWatchdog();
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -648,6 +682,21 @@ public class Drive extends SubsystemBase {
|
||||
}
|
||||
|
||||
/*
|
||||
* 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
|
||||
*/
|
||||
|
||||
@@ -17,10 +17,13 @@ import com.revrobotics.CANSparkMaxLowLevel.MotorType;
|
||||
import edu.wpi.first.wpilibj.Talon;
|
||||
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
||||
import frc4388.robot.Constants.LevelerConstants;
|
||||
import frc4388.robot.subsystems.*;
|
||||
|
||||
public class Leveler extends SubsystemBase {
|
||||
CANSparkMax m_levelerMotor = new CANSparkMax(LevelerConstants.LEVELER_CAN_ID, MotorType.kBrushless);
|
||||
|
||||
private final Climber m_robotClimber = new Climber();
|
||||
|
||||
/**
|
||||
* Creates a new Leveler.
|
||||
*/
|
||||
@@ -41,6 +44,11 @@ public class Leveler extends SubsystemBase {
|
||||
* @param input the percent output to run motor at
|
||||
*/
|
||||
public void runLeveler(double input) {
|
||||
m_levelerMotor.set(input);
|
||||
if(m_robotClimber.climberSafety){
|
||||
m_levelerMotor.set(input);
|
||||
}
|
||||
else{
|
||||
m_levelerMotor.set(0);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -11,25 +11,54 @@ import com.ctre.phoenix.motorcontrol.NeutralMode;
|
||||
import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
|
||||
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
|
||||
|
||||
import com.revrobotics.CANSparkMax;
|
||||
import com.revrobotics.CANSparkMax.IdleMode;
|
||||
import com.revrobotics.CANEncoder;
|
||||
import com.revrobotics.CANPIDController;
|
||||
import com.revrobotics.ControlType;
|
||||
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
|
||||
|
||||
import edu.wpi.first.wpilibj.Joystick;
|
||||
import edu.wpi.first.wpilibj.XboxController;
|
||||
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
|
||||
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
||||
import frc4388.robot.Gains;
|
||||
import frc4388.robot.Constants.DriveConstants;
|
||||
import frc4388.robot.Constants.ShooterConstants;
|
||||
import frc4388.utility.controller.IHandController;
|
||||
|
||||
public class Shooter extends SubsystemBase {
|
||||
|
||||
public WPI_TalonFX m_shooterFalcon = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_ID);
|
||||
public CANSparkMax m_angleAdjustMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
|
||||
public CANSparkMax m_shooterRotateMotor = new CANSparkMax(ShooterConstants.SHOOTER_ROTATE_ID, MotorType.kBrushless);
|
||||
|
||||
public static Gains m_shooterGains = ShooterConstants.SHOOTER_GAINS;
|
||||
|
||||
public static Gains m_shooterTurretGains = ShooterConstants.SHOOTER_TURRET_GAINS;
|
||||
public static Gains m_drumShooterGains = ShooterConstants.DRUM_SHOOTER_GAINS;
|
||||
public static Shooter m_shooter;
|
||||
public static IHandController m_controller;
|
||||
|
||||
|
||||
// Configure PID Controllers
|
||||
CANPIDController m_angleAdjustPIDController = m_angleAdjustMotor.getPIDController();
|
||||
CANPIDController m_shooterRotatePIDController = m_shooterRotateMotor.getPIDController();
|
||||
|
||||
CANEncoder m_angleEncoder = m_angleAdjustMotor.getEncoder();
|
||||
CANEncoder m_shooterRotateEncoder = m_shooterRotateMotor.getEncoder();
|
||||
|
||||
double velP;
|
||||
/**
|
||||
double input;
|
||||
|
||||
/*
|
||||
* Creates a new Shooter subsystem.
|
||||
*/
|
||||
public Shooter() {
|
||||
m_shooterFalcon.configFactoryDefault();
|
||||
//Testing purposes reseting gyros
|
||||
resetGyroAngleAdj();
|
||||
resetGyroShooterRotate();
|
||||
|
||||
m_shooterFalcon.configFactoryDefault();
|
||||
m_shooterRotateMotor.setIdleMode(IdleMode.kBrake);
|
||||
m_shooterFalcon.setNeutralMode(NeutralMode.Coast);
|
||||
m_shooterFalcon.setInverted(false);
|
||||
|
||||
@@ -63,10 +92,10 @@ public class Shooter extends SubsystemBase {
|
||||
*/
|
||||
public void setShooterGains() {
|
||||
m_shooterFalcon.selectProfileSlot(ShooterConstants.SHOOTER_SLOT_IDX, ShooterConstants.SHOOTER_PID_LOOP_IDX);
|
||||
m_shooterFalcon.config_kF(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.m_kF, ShooterConstants.SHOOTER_TIMEOUT_MS);
|
||||
m_shooterFalcon.config_kP(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.m_kP, ShooterConstants.SHOOTER_TIMEOUT_MS);
|
||||
m_shooterFalcon.config_kI(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.m_kI, ShooterConstants.SHOOTER_TIMEOUT_MS);
|
||||
m_shooterFalcon.config_kD(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.m_kD, ShooterConstants.SHOOTER_TIMEOUT_MS);
|
||||
m_shooterFalcon.config_kF(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterTurretGains.m_kF, ShooterConstants.SHOOTER_TIMEOUT_MS);
|
||||
m_shooterFalcon.config_kP(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterTurretGains.m_kP, ShooterConstants.SHOOTER_TIMEOUT_MS);
|
||||
m_shooterFalcon.config_kI(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterTurretGains.m_kI, ShooterConstants.SHOOTER_TIMEOUT_MS);
|
||||
m_shooterFalcon.config_kD(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterTurretGains.m_kD, ShooterConstants.SHOOTER_TIMEOUT_MS);
|
||||
}
|
||||
/**
|
||||
* Runs drum shooter velocity PID.
|
||||
@@ -86,4 +115,55 @@ public class Shooter extends SubsystemBase {
|
||||
m_shooterFalcon.set(TalonFXControlMode.Velocity, targetVel); //Init PID
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
public void runShooterWithInput(double input) {
|
||||
m_shooterRotateMotor.set(input);
|
||||
}
|
||||
|
||||
/* Angle Adjustment PID Control */
|
||||
public void runAngleAdjustPID(double targetAngle)
|
||||
{
|
||||
// Set PID Coefficients
|
||||
m_angleAdjustPIDController.setP(m_shooterTurretGains.m_kP);
|
||||
m_angleAdjustPIDController.setI(m_shooterTurretGains.m_kI);
|
||||
m_angleAdjustPIDController.setD(m_shooterTurretGains.m_kD);
|
||||
m_angleAdjustPIDController.setIZone(m_shooterTurretGains.m_kIzone);
|
||||
m_angleAdjustPIDController.setFF(m_shooterTurretGains.m_kF);
|
||||
m_angleAdjustPIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterTurretGains.m_kPeakOutput);
|
||||
|
||||
// Convert input angle in degrees to rotations of the motor
|
||||
targetAngle = targetAngle/ShooterConstants.DEGREES_PER_ROT;
|
||||
|
||||
m_angleAdjustPIDController.setReference(targetAngle, ControlType.kPosition);
|
||||
}
|
||||
|
||||
/* Rotate Shooter PID Control */
|
||||
public void runshooterRotatePID(double targetAngle)
|
||||
{
|
||||
// Set PID Coefficients
|
||||
m_shooterRotatePIDController.setP(m_shooterTurretGains.m_kP);
|
||||
m_shooterRotatePIDController.setI(m_shooterTurretGains.m_kI);
|
||||
m_shooterRotatePIDController.setD(m_shooterTurretGains.m_kD);
|
||||
m_shooterRotatePIDController.setFF(m_shooterTurretGains.m_kF);
|
||||
m_shooterRotatePIDController.setIZone(m_shooterTurretGains.m_kIzone);
|
||||
m_shooterRotatePIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterTurretGains.m_kPeakOutput);
|
||||
|
||||
// Convert input angle in degrees to rotations of the motor
|
||||
targetAngle = targetAngle/ShooterConstants.DEGREES_PER_ROT;
|
||||
|
||||
m_shooterRotatePIDController.setReference(targetAngle, ControlType.kPosition);
|
||||
}
|
||||
|
||||
/* For Testing Purposes, reseting gyro for angle adjuster */
|
||||
public void resetGyroAngleAdj()
|
||||
{
|
||||
m_angleEncoder.setPosition(0);
|
||||
}
|
||||
|
||||
/* For Testing Purposes, reseting gyro for shooter rotation */
|
||||
public void resetGyroShooterRotate()
|
||||
{
|
||||
m_shooterRotateEncoder.setPosition(0);
|
||||
}
|
||||
}
|
||||
@@ -15,7 +15,6 @@ import com.revrobotics.CANSparkMax;
|
||||
import com.revrobotics.ControlType;
|
||||
import com.revrobotics.SparkMax;
|
||||
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
|
||||
|
||||
import edu.wpi.first.wpilibj.DigitalInput;
|
||||
import edu.wpi.first.wpilibj.Encoder;
|
||||
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
||||
@@ -57,13 +56,6 @@ public class Storage extends SubsystemBase {
|
||||
public void runStorage(final double input) {
|
||||
m_storageMotor.set(input);
|
||||
final boolean beam_on = m_beamSensors[0].get();
|
||||
|
||||
if (beam_on) {
|
||||
//System.err.println("Beam on");
|
||||
} else {
|
||||
//System.err.println("Beam off");
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
public void resetEncoder()
|
||||
|
||||
+15
-15
@@ -1,7 +1,7 @@
|
||||
{
|
||||
"fileName": "Phoenix.json",
|
||||
"name": "CTRE-Phoenix",
|
||||
"version": "5.17.4",
|
||||
"version": "5.18.1",
|
||||
"uuid": "ab676553-b602-441f-a38d-f1296eff6537",
|
||||
"mavenUrls": [
|
||||
"http://devsite.ctr-electronics.com/maven/release/"
|
||||
@@ -11,19 +11,19 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix",
|
||||
"artifactId": "api-java",
|
||||
"version": "5.17.4"
|
||||
"version": "5.18.1"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix",
|
||||
"artifactId": "wpiapi-java",
|
||||
"version": "5.17.4"
|
||||
"version": "5.18.1"
|
||||
}
|
||||
],
|
||||
"jniDependencies": [
|
||||
{
|
||||
"groupId": "com.ctre.phoenix",
|
||||
"artifactId": "cci",
|
||||
"version": "5.17.4",
|
||||
"version": "5.18.1",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
@@ -35,7 +35,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix",
|
||||
"artifactId": "diagnostics",
|
||||
"version": "5.17.4",
|
||||
"version": "5.18.1",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
@@ -47,7 +47,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix",
|
||||
"artifactId": "canutils",
|
||||
"version": "5.17.4",
|
||||
"version": "5.18.1",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
@@ -58,7 +58,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix",
|
||||
"artifactId": "platform-stub",
|
||||
"version": "5.17.4",
|
||||
"version": "5.18.1",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
@@ -69,7 +69,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix",
|
||||
"artifactId": "core",
|
||||
"version": "5.17.4",
|
||||
"version": "5.18.1",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
@@ -83,7 +83,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix",
|
||||
"artifactId": "wpiapi-cpp",
|
||||
"version": "5.17.4",
|
||||
"version": "5.18.1",
|
||||
"libName": "CTRE_Phoenix_WPI",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": false,
|
||||
@@ -97,7 +97,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix",
|
||||
"artifactId": "api-cpp",
|
||||
"version": "5.17.4",
|
||||
"version": "5.18.1",
|
||||
"libName": "CTRE_Phoenix",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": false,
|
||||
@@ -111,7 +111,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix",
|
||||
"artifactId": "cci",
|
||||
"version": "5.17.4",
|
||||
"version": "5.18.1",
|
||||
"libName": "CTRE_PhoenixCCI",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": false,
|
||||
@@ -125,7 +125,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix",
|
||||
"artifactId": "diagnostics",
|
||||
"version": "5.17.4",
|
||||
"version": "5.18.1",
|
||||
"libName": "CTRE_PhoenixDiagnostics",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": false,
|
||||
@@ -139,7 +139,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix",
|
||||
"artifactId": "canutils",
|
||||
"version": "5.17.4",
|
||||
"version": "5.18.1",
|
||||
"libName": "CTRE_PhoenixCanutils",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": false,
|
||||
@@ -152,7 +152,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix",
|
||||
"artifactId": "platform-stub",
|
||||
"version": "5.17.4",
|
||||
"version": "5.18.1",
|
||||
"libName": "CTRE_PhoenixPlatform",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": false,
|
||||
@@ -165,7 +165,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix",
|
||||
"artifactId": "core",
|
||||
"version": "5.17.4",
|
||||
"version": "5.18.1",
|
||||
"libName": "CTRE_PhoenixCore",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": false,
|
||||
|
||||
@@ -0,0 +1,37 @@
|
||||
{
|
||||
"fileName": "WPILibOldCommands.json",
|
||||
"name": "WPILib-Old-Commands",
|
||||
"version": "2020.0.0",
|
||||
"uuid": "b066afc2-5c18-43c4-b758-43381fcb275e",
|
||||
"mavenUrls": [],
|
||||
"jsonUrl": "",
|
||||
"javaDependencies": [
|
||||
{
|
||||
"groupId": "edu.wpi.first.wpilibOldCommands",
|
||||
"artifactId": "wpilibOldCommands-java",
|
||||
"version": "wpilib"
|
||||
}
|
||||
],
|
||||
"jniDependencies": [],
|
||||
"cppDependencies": [
|
||||
{
|
||||
"groupId": "edu.wpi.first.wpilibOldCommands",
|
||||
"artifactId": "wpilibOldCommands-cpp",
|
||||
"version": "wpilib",
|
||||
"libName": "wpilibOldCommands",
|
||||
"headerClassifier": "headers",
|
||||
"sourcesClassifier": "sources",
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"linuxathena",
|
||||
"linuxraspbian",
|
||||
"linuxaarch64bionic",
|
||||
"windowsx86-64",
|
||||
"windowsx86",
|
||||
"linuxx86-64",
|
||||
"osxx86-64"
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
Reference in New Issue
Block a user