diff --git a/LICENSE b/LICENSE index 30b2d1a..c714e13 100644 --- a/LICENSE +++ b/LICENSE @@ -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. \ No newline at end of file diff --git a/src/main/deploy/songs/Africa.chrp b/src/main/deploy/songs/Africa.chrp new file mode 100644 index 0000000..b4c63a1 Binary files /dev/null and b/src/main/deploy/songs/Africa.chrp differ diff --git a/src/main/deploy/songs/Believer.chrp b/src/main/deploy/songs/Believer.chrp new file mode 100644 index 0000000..03c5e18 Binary files /dev/null and b/src/main/deploy/songs/Believer.chrp differ diff --git a/src/main/deploy/songs/Big Brother.chrp b/src/main/deploy/songs/Big Brother.chrp new file mode 100644 index 0000000..1129a8d Binary files /dev/null and b/src/main/deploy/songs/Big Brother.chrp differ diff --git a/src/main/deploy/songs/Bonetrousle.chrp b/src/main/deploy/songs/Bonetrousle.chrp new file mode 100644 index 0000000..d9b1951 Binary files /dev/null and b/src/main/deploy/songs/Bonetrousle.chrp differ diff --git a/src/main/deploy/songs/Cotton Eye Joe.chrp b/src/main/deploy/songs/Cotton Eye Joe.chrp new file mode 100644 index 0000000..18e8bd4 Binary files /dev/null and b/src/main/deploy/songs/Cotton Eye Joe.chrp differ diff --git a/src/main/deploy/songs/Country Roads.chrp b/src/main/deploy/songs/Country Roads.chrp new file mode 100644 index 0000000..1434c29 Binary files /dev/null and b/src/main/deploy/songs/Country Roads.chrp differ diff --git a/src/main/deploy/songs/Duel of the Fates.chrp b/src/main/deploy/songs/Duel of the Fates.chrp new file mode 100644 index 0000000..c09ee54 Binary files /dev/null and b/src/main/deploy/songs/Duel of the Fates.chrp differ diff --git a/src/main/deploy/songs/Epic Sax.chrp b/src/main/deploy/songs/Epic Sax.chrp new file mode 100644 index 0000000..440bf5d Binary files /dev/null and b/src/main/deploy/songs/Epic Sax.chrp differ diff --git a/src/main/deploy/songs/Gourmet Race.chrp b/src/main/deploy/songs/Gourmet Race.chrp new file mode 100644 index 0000000..f0740c8 Binary files /dev/null and b/src/main/deploy/songs/Gourmet Race.chrp differ diff --git a/src/main/deploy/songs/Halo.chrp b/src/main/deploy/songs/Halo.chrp new file mode 100644 index 0000000..8653ccb Binary files /dev/null and b/src/main/deploy/songs/Halo.chrp differ diff --git a/src/main/deploy/songs/Hello World.chrp b/src/main/deploy/songs/Hello World.chrp new file mode 100644 index 0000000..339e4f4 Binary files /dev/null and b/src/main/deploy/songs/Hello World.chrp differ diff --git a/src/main/deploy/songs/HesAPirate.chrp b/src/main/deploy/songs/HesAPirate.chrp new file mode 100644 index 0000000..a4b4c92 Binary files /dev/null and b/src/main/deploy/songs/HesAPirate.chrp differ diff --git a/src/main/deploy/songs/Lone Digger.chrp b/src/main/deploy/songs/Lone Digger.chrp new file mode 100644 index 0000000..f4e1eb7 Binary files /dev/null and b/src/main/deploy/songs/Lone Digger.chrp differ diff --git a/src/main/deploy/songs/MEGALOVANIA.chrp b/src/main/deploy/songs/MEGALOVANIA.chrp new file mode 100644 index 0000000..d26c9f1 Binary files /dev/null and b/src/main/deploy/songs/MEGALOVANIA.chrp differ diff --git a/src/main/deploy/songs/Mii Plaza.chrp b/src/main/deploy/songs/Mii Plaza.chrp new file mode 100644 index 0000000..186e536 Binary files /dev/null and b/src/main/deploy/songs/Mii Plaza.chrp differ diff --git a/src/main/deploy/songs/Number One.chrp b/src/main/deploy/songs/Number One.chrp new file mode 100644 index 0000000..948433c Binary files /dev/null and b/src/main/deploy/songs/Number One.chrp differ diff --git a/src/main/deploy/songs/Sweden.chrp b/src/main/deploy/songs/Sweden.chrp new file mode 100644 index 0000000..3a0b5d9 Binary files /dev/null and b/src/main/deploy/songs/Sweden.chrp differ diff --git a/src/main/deploy/songs/TJ-WNPC.chrp b/src/main/deploy/songs/TJ-WNPC.chrp new file mode 100644 index 0000000..30f78af Binary files /dev/null and b/src/main/deploy/songs/TJ-WNPC.chrp differ diff --git a/src/main/deploy/songs/Take On Me.chrp b/src/main/deploy/songs/Take On Me.chrp new file mode 100644 index 0000000..a5aaa05 Binary files /dev/null and b/src/main/deploy/songs/Take On Me.chrp differ diff --git a/src/main/deploy/songs/The Wolf.chrp b/src/main/deploy/songs/The Wolf.chrp new file mode 100644 index 0000000..3c00ae7 Binary files /dev/null and b/src/main/deploy/songs/The Wolf.chrp differ diff --git a/src/main/deploy/songs/Through the Fire and Flames.chrp b/src/main/deploy/songs/Through the Fire and Flames.chrp new file mode 100644 index 0000000..8a97919 Binary files /dev/null and b/src/main/deploy/songs/Through the Fire and Flames.chrp differ diff --git a/src/main/deploy/songs/VA Main Theme.chrp b/src/main/deploy/songs/VA Main Theme.chrp new file mode 100644 index 0000000..ca3e07b Binary files /dev/null and b/src/main/deploy/songs/VA Main Theme.chrp differ diff --git a/src/main/deploy/songs/Wet Hands.chrp b/src/main/deploy/songs/Wet Hands.chrp new file mode 100644 index 0000000..98a5837 Binary files /dev/null and b/src/main/deploy/songs/Wet Hands.chrp differ diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 13ce0ee..6205e25 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -75,20 +75,26 @@ public final class Constants { } 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; 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; diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 6ba9571..c1dcc09 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -29,6 +29,7 @@ import edu.wpi.first.wpilibj2.command.button.JoystickButton; import frc4388.robot.Constants.*; 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)); } /** diff --git a/src/main/java/frc4388/robot/commands/PlaySongDrive.java b/src/main/java/frc4388/robot/commands/PlaySongDrive.java new file mode 100644 index 0000000..5e0e6b4 --- /dev/null +++ b/src/main/java/frc4388/robot/commands/PlaySongDrive.java @@ -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; + } +} diff --git a/src/main/java/frc4388/robot/commands/TrackTarget.java b/src/main/java/frc4388/robot/commands/TrackTarget.java new file mode 100644 index 0000000..2853242 --- /dev/null +++ b/src/main/java/frc4388/robot/commands/TrackTarget.java @@ -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; + } +} diff --git a/src/main/java/frc4388/robot/subsystems/Camera.java b/src/main/java/frc4388/robot/subsystems/Camera.java new file mode 100644 index 0000000..e483009 --- /dev/null +++ b/src/main/java/frc4388/robot/subsystems/Camera.java @@ -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() { + } +} \ No newline at end of file diff --git a/src/main/java/frc4388/robot/subsystems/Climber.java b/src/main/java/frc4388/robot/subsystems/Climber.java index e878d85..f6c9339 100644 --- a/src/main/java/frc4388/robot/subsystems/Climber.java +++ b/src/main/java/frc4388/robot/subsystems/Climber.java @@ -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; } } diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java index 5258a46..7377b58 100644 --- a/src/main/java/frc4388/robot/subsystems/Drive.java +++ b/src/main/java/frc4388/robot/subsystems/Drive.java @@ -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 */ diff --git a/src/main/java/frc4388/robot/subsystems/Leveler.java b/src/main/java/frc4388/robot/subsystems/Leveler.java index aa93f13..0db0562 100644 --- a/src/main/java/frc4388/robot/subsystems/Leveler.java +++ b/src/main/java/frc4388/robot/subsystems/Leveler.java @@ -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); + } } } diff --git a/src/main/java/frc4388/robot/subsystems/Shooter.java b/src/main/java/frc4388/robot/subsystems/Shooter.java index f8649ae..a18aca5 100644 --- a/src/main/java/frc4388/robot/subsystems/Shooter.java +++ b/src/main/java/frc4388/robot/subsystems/Shooter.java @@ -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); + } } \ No newline at end of file diff --git a/src/main/java/frc4388/robot/subsystems/Storage.java b/src/main/java/frc4388/robot/subsystems/Storage.java index e61cbef..f14295b 100644 --- a/src/main/java/frc4388/robot/subsystems/Storage.java +++ b/src/main/java/frc4388/robot/subsystems/Storage.java @@ -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() diff --git a/vendordeps/Phoenix.json b/vendordeps/Phoenix.json index a633555..c6ec878 100644 --- a/vendordeps/Phoenix.json +++ b/vendordeps/Phoenix.json @@ -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, diff --git a/vendordeps/WPILibOldCommands.json b/vendordeps/WPILibOldCommands.json new file mode 100644 index 0000000..acc8879 --- /dev/null +++ b/vendordeps/WPILibOldCommands.json @@ -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" + ] + } + ] +} \ No newline at end of file