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Program Simple Auto

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This commit is contained in:
Keenan D. Buckley
2020-03-13 08:37:28 -06:00
parent 352d6c2891
commit d1254f1e1d
8 changed files with 255 additions and 14 deletions
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src/main/driverStation/GOAT DRIVERSTATION.json
+154 -5
View File
@@ -335,6 +335,155 @@
"Colors/Color when true": "#7CFC00FF",
"Colors/Color when false": "#8B0000FF"
}
},
"8,3": {
"size": [
1,
1
],
"content": {
"_type": "Text View",
"_source0": "network_table:///SmartDashboard/Distance to Target",
"_title": "Distance to Target"
}
},
"9,3": {
"size": [
1,
1
],
"content": {
"_type": "Boolean Box",
"_source0": "network_table:///SmartDashboard/!Ball in Intake!",
"_title": "!Ball in Intake!",
"Colors/Color when true": "#7CFC00FF",
"Colors/Color when false": "#8B0000FF"
}
},
"0,4": {
"size": [
1,
1
],
"content": {
"_type": "Boolean Box",
"_source0": "network_table:///SmartDashboard/!Ball Storage!",
"_title": "!Ball Storage!",
"Colors/Color when true": "#7CFC00FF",
"Colors/Color when false": "#8B0000FF"
}
},
"1,4": {
"size": [
1,
1
],
"content": {
"_type": "Boolean Box",
"_source0": "network_table:///SmartDashboard/!Ball Shooter!",
"_title": "!Ball Shooter!",
"Colors/Color when true": "#7CFC00FF",
"Colors/Color when false": "#8B0000FF"
}
},
"2,4": {
"size": [
1,
1
],
"content": {
"_type": "Text View",
"_source0": "network_table:///SmartDashboard/Center Displacement",
"_title": "Center Displacement"
}
},
"3,4": {
"size": [
1,
1
],
"content": {
"_type": "Text View",
"_source0": "network_table:///SmartDashboard/Is Auto Start?",
"_title": "Is Auto Start?"
}
},
"4,4": {
"size": [
1,
1
],
"content": {
"_type": "Text View",
"_source0": "network_table:///SmartDashboard/trajectoryPath Initial",
"_title": "trajectoryPath Initial"
}
},
"5,4": {
"size": [
1,
1
],
"content": {
"_type": "Text View",
"_source0": "network_table:///SmartDashboard/Left Motor Pos Inches",
"_title": "Left Motor Pos Inches"
}
},
"6,4": {
"size": [
1,
1
],
"content": {
"_type": "Text View",
"_source0": "network_table:///SmartDashboard/Right Motor Pos Inches",
"_title": "Right Motor Pos Inches"
}
},
"7,4": {
"size": [
1,
1
],
"content": {
"_type": "Text View",
"_source0": "network_table:///SmartDashboard/Left Motor Pos Meters",
"_title": "Left Motor Pos Meters"
}
},
"8,4": {
"size": [
1,
1
],
"content": {
"_type": "Text View",
"_source0": "network_table:///SmartDashboard/Right Motor Pos Meters",
"_title": "Right Motor Pos Meters"
}
},
"9,4": {
"size": [
1,
1
],
"content": {
"_type": "Text View",
"_source0": "network_table:///SmartDashboard/Odometry Values Meters",
"_title": "Odometry Values Meters"
}
},
"0,5": {
"size": [
1,
1
],
"content": {
"_type": "Text View",
"_source0": "network_table:///SmartDashboard/Trajectory Total Time",
"_title": "Trajectory Total Time"
}
}
}
}
@@ -645,8 +794,8 @@
"Controls/Rotation": "NONE",
"compression": -1.0,
"fps": -1,
"imageWidth": -1,
"imageHeight": -1
"imageWidth": 0,
"imageHeight": 0
}
},
"8,4": {
@@ -857,9 +1006,9 @@
}
],
"windowGeometry": {
"x": 40.0,
"y": 142.39999389648438,
"x": -6.400000095367432,
"y": 1.600000023841858,
"width": 1547.199951171875,
"height": 1481.5999755859375
"height": 828.7999877929688
}
}
src/main/java/frc4388/robot/Constants.java
+1 -1
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@@ -171,7 +171,7 @@ public final class Constants {
public static final int STORAGE_CAN_ID = 11;
public static final double STORAGE_PARTIAL_BALL = 2;
public static final double STORAGE_FULL_BALL = 7;
public static final double STORAGE_SPEED = 1.0;
public static final double STORAGE_SPEED = 0.5;
public static final double STORAGE_TIMEOUT = 3000;
/* Storage Characteristics */
src/main/java/frc4388/robot/RobotContainer.java
+8 -4
View File
@@ -269,6 +269,8 @@ public class RobotContainer {
}
public void buildAutos() {
resetOdometry(new Pose2d(0, 0, new Rotation2d(180)));
String[] sixBallAutoMiddlePaths = new String[]{
"SixBallMidComplete"
};
@@ -300,10 +302,12 @@ public class RobotContainer {
m_fiveBallAutoMiddle = new FiveBallAutoMiddle(m_robotDrive, buildPaths(fiveBallAutoMiddlePaths));
String[] tenBallAutoMiddlePaths = new String[]{
"SixBallMidComplete",
"TenBallMidComplete"
};
m_tenBallAutoMiddle = new TenBallAutoMiddle(m_robotDrive, buildPaths(tenBallAutoMiddlePaths));
m_tenBallAutoMiddle = new TenBallAutoMiddle(m_robotShooterHood, m_robotStorage, m_robotIntake, m_robotShooter,
m_robotShooterAim, m_robotDrive,buildPaths(tenBallAutoMiddlePaths));
}
/**
@@ -321,12 +325,12 @@ public class RobotContainer {
try {
SmartDashboard.putNumber("Trajectory Total Time", m_totalTimeAuto);
return m_sixBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return m_sixBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return m_eightBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return m_driveOffLineForward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return m_driveOffLineBackward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return m_driveOffLinfeBackward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return m_fiveBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return m_tenBallAutoMiddle.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
return m_tenBallAutoMiddle.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
} catch (Exception e) {
System.err.println("ERROR");
src/main/java/frc4388/robot/commands/auto/TenBallAutoMiddle.java
+33 -2
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@@ -7,9 +7,21 @@
package frc4388.robot.commands.auto;
import edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup;
import edu.wpi.first.wpilibj2.command.RamseteCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import frc4388.robot.Constants.IntakeConstants;
import frc4388.robot.commands.shooter.CalibrateShooter;
import frc4388.robot.commands.shooter.PrepChecker;
import frc4388.robot.commands.shooter.ShootPrepGroup;
import frc4388.robot.commands.storage.RunStorage;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Intake;
import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.ShooterAim;
import frc4388.robot.subsystems.ShooterHood;
import frc4388.robot.subsystems.Storage;
// NOTE: Consider using this command inline, rather than writing a subclass. For more
// information, see:
@@ -18,11 +30,30 @@ public class TenBallAutoMiddle extends SequentialCommandGroup {
/**
* Creates a new TenBallAutoMiddle.
*/
public TenBallAutoMiddle(Drive drive, RamseteCommand[] paths) {
public TenBallAutoMiddle(ShooterHood shooterHood, Storage storage, Intake intake, Shooter shooter, ShooterAim shooterAim, Drive drive, RamseteCommand[] paths) {
// Add your commands in the super() call, e.g.
// super(new FooCommand(), new BarCommand());
addCommands(
paths[0]
new ParallelDeadlineGroup(
new Wait(drive, 0.1, 0),
new CalibrateShooter(shooter, shooterAim, shooterHood)
),
new ParallelDeadlineGroup(
new Wait(drive, 1, 0),
new RunCommand(() -> shooterAim.runShooterWithInput(-0.75), shooterAim)
),
new ParallelDeadlineGroup(
new Wait(drive, 4, 0),
new PrepChecker(shooter, shooterAim),
new RunCommand(() -> intake.runExtender(IntakeConstants.EXTENDER_SPEED), intake),
new ShootPrepGroup(shooter, shooterAim, shooterHood, storage)
),
new ParallelDeadlineGroup(
new ShootPrepGroup(shooter, shooterAim, shooterHood, storage),
new RunStorage(storage)
)
//paths[0],
//paths[1]
);
}
}
src/main/java/frc4388/robot/commands/shooter/CalibrateShooter.java
+5
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@@ -7,6 +7,7 @@
package frc4388.robot.commands.shooter;
import com.revrobotics.CANDigitalInput.LimitSwitchPolarity;
import com.revrobotics.CANSparkMax.SoftLimitDirection;
import edu.wpi.first.wpilibj2.command.CommandBase;
@@ -59,6 +60,10 @@ public class CalibrateShooter extends CommandBase {
// Returns true when the command should end.
@Override
public boolean isFinished() {
if (m_shooterAim.m_shooterRotateMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen).get() &&
m_shooterHood.m_angleAdjustMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen).get()) {
return true;
}
return false;
}
}
src/main/java/frc4388/robot/commands/shooter/PrepChecker.java
+52
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@@ -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.shooter;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.ShooterAim;
public class PrepChecker extends CommandBase {
Shooter m_shooter;
ShooterAim m_shooterAim;
/**
* Creates a new PrepChecker.
*/
public PrepChecker(Shooter shooter, ShooterAim shooterAim) {
// Use addRequirements() here to declare subsystem dependencies.
m_shooter = shooter;
m_shooterAim = shooterAim;
}
// Called when the command is initially scheduled.
@Override
public void initialize() {
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
}
// 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() {
if (m_shooterAim.m_isAimReady && m_shooter.m_isDrumReady) {
return true;
}
return false;
}
}