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Merge branch 'master' into add-ramsete-controller-and-trajectories

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This commit is contained in:
Keenan D. Buckley
2020-02-21 23:41:01 +00:00
committed by GitHub
parent fee7f99a9f 7eaf7c006a
commit c65b584ade
36 changed files with 479 additions and 70 deletions
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src/main/java/frc4388/robot/subsystems/Camera.java
+47
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@@ -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() {
}
}
src/main/java/frc4388/robot/subsystems/Climber.java
+21 -1
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@@ -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;
}
}
src/main/java/frc4388/robot/subsystems/Drive.java
+54 -5
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@@ -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
*/
src/main/java/frc4388/robot/subsystems/Leveler.java
+9 -1
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@@ -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);
}
}
}
src/main/java/frc4388/robot/subsystems/Shooter.java
+88 -8
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@@ -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);
}
}
src/main/java/frc4388/robot/subsystems/Storage.java
-8
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@@ -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()