Team4388/RiseOfRidgebotics2020
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notes: failed
This commit is contained in:
ryan123rudder
2020-03-02 21:03:39 -07:00
parent a6e5103193
commit ddf18c3a93
14 changed files with 100 additions and 105 deletions
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src/main/java/frc4388/robot/commands/HoldTarget.java
+30 -24
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@@ -13,6 +13,7 @@ import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.LimeLight;
import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.ShooterAim;
import frc4388.utility.ShooterTables;
import frc4388.utility.controller.IHandController;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.networktables.NetworkTable;
@@ -56,7 +57,7 @@ public class HoldTarget extends CommandBase {
//Vision Processing Mode
NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0);
NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(3);
}
}
@@ -67,39 +68,44 @@ public class HoldTarget extends CommandBase {
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;}
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_shooterAim.runShooterWithInput(-turnAmount - m_shooter.shooterTrims.m_turretTrim);
//Finding Distance
distance = VisionConstants.TARGET_HEIGHT/Math.tan((VisionConstants.LIME_ANGLE + yAngle)*(Math.PI/180));
// Finding Distance
distance = VisionConstants.TARGET_HEIGHT / Math.tan((VisionConstants.LIME_ANGLE + yAngle) * (Math.PI / 180));
SmartDashboard.putNumber("Distance to Target", distance);
double yVel = Math.sqrt(2*VisionConstants.GRAV*VisionConstants.TARGET_HEIGHT);
double xVel = (distance*VisionConstants.GRAV)/(yVel);
//START Equation Code
/*
double yVel = Math.sqrt(2 * VisionConstants.GRAV * VisionConstants.TARGET_HEIGHT);
double xVel = (distance * VisionConstants.GRAV) / (yVel);
fireVel = Math.sqrt((Math.pow(xVel, 2))+(Math.pow(yVel,2)));
fireAngle = Math.atan(yVel/xVel) * (180/Math.PI);
m_shooter.m_fireVel = fireVel;
m_shooter.m_fireAngle = fireAngle + m_shooter.shooterTrims.m_hoodTrim;
*/
//END Equation Code
//START CSV Code
fireVel = m_shooter.m_shooterTable.getVelocity(distance);
fireAngle = m_shooter.m_shooterTable.getHood(distance); //Note: Ensure to follow because units are different
//fireAngle = 33;
//END CSV Code
}/*
else{
System.err.println("Shooter Pos: " + m_shooterAim.getShooterRotatePosition());
double curveInput = -Math.abs(-Math.cos(Math.PI * ((2*m_shooterAim.getShooterRotatePosition())/55))+1) * 0.1;
if (m_shooterAim.getShooterRotatePosition() >= -3 || m_shooterAim.getShooterRotatePosition() <= -54){
curveInput = -curveInput;
}
System.err.println("Curve Input: " + curveInput);
m_shooterAim.runShooterWithInput(curveInput);
m_shooter.m_fireVel = fireVel;
m_shooter.m_fireAngle = fireAngle;// + m_shooter.shooterTrims.m_hoodTrim;
}
*/
}
// Called once the command ends or is interrupted.
src/main/java/frc4388/robot/commands/HoodPositionPID.java
+3 -3
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@@ -31,9 +31,9 @@ public class HoodPositionPID extends CommandBase {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
double slope = ShooterConstants.HOOD_CONVERT_SLOPE;
/*double slope = ShooterConstants.HOOD_CONVERT_SLOPE;
double b = ShooterConstants.HOOD_CONVERT_B;
firingAngle = (-slope*m_shooter.addFireAngle())+b;
firingAngle = (-slope*m_shooter.addFireAngle())+b;*/
SmartDashboard.putNumber("Shoot Angle From Equation", m_shooter.addFireAngle());
SmartDashboard.putNumber("Fire Angle", firingAngle);
m_shooter.runAngleAdjustPID(firingAngle);
@@ -49,7 +49,7 @@ public class HoodPositionPID extends CommandBase {
public boolean isFinished() {
double encoderPos = m_shooter.m_angleAdjustMotor.getEncoder().getPosition();
if(encoderPos < firingAngle + 1 || encoderPos < firingAngle - 1){
return true;
return false;
}
return false;
}
src/main/java/frc4388/robot/commands/RunExtenderOutIn.java
-5
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@@ -36,11 +36,6 @@ public class RunExtenderOutIn extends CommandBase {
// Use addRequirements() here to declare subsystem dependencies.
m_intake = subsystem;
addRequirements(m_intake);
m_extenderForwardLimit = m_extenderMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
m_extenderReverseLimit = m_extenderMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
m_extenderForwardLimit.enableLimitSwitch(true);
m_extenderReverseLimit.enableLimitSwitch(true);
}
// Called when the command is initially scheduled.
src/main/java/frc4388/robot/commands/ShootFireGroup.java
+1 -1
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@@ -25,7 +25,7 @@ public class ShootFireGroup extends ParallelRaceGroup {
*/
public ShootFireGroup(Shooter m_shooter, ShooterAim m_shooterAim, Storage m_storage) {
addCommands(
new RunCommand(() -> m_shooter.runDrumShooterVelocityPID(m_shooter.addFireVel(), m_shooter.m_shooterFalcon.getSelectedSensorVelocity())),
new RunCommand(() -> m_shooter.runDrumShooterVelocityPID(m_shooter.addFireVel())),
new RunCommand(() -> m_shooter.runAngleAdjustPID(m_shooter.addFireAngle())),
new HoldTarget(m_shooter, m_shooterAim),
new StorageRun(m_storage)
src/main/java/frc4388/robot/commands/ShootPrepGroup.java
+4 -4
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@@ -25,10 +25,10 @@ public class ShootPrepGroup extends ParallelCommandGroup {
*/
public ShootPrepGroup(Shooter m_shooter, ShooterAim m_shooterAim, Storage m_storage) {
addCommands(
new TrackTarget(m_shooter, m_shooterAim),
new ShooterVelocityControlPID(m_shooter),
new StoragePrepAim(m_storage),
new HoodPositionPID(m_shooter)
//new TrackTarget(m_shooter, m_shooterAim),
//new ShooterVelocityControlPID(m_shooter)
new RunCommand(() -> m_shooter.runDrumShooterVelocityPID(m_shooter.addFireVel()))
//new StoragePrepAim(m_storage)
);
}
}
src/main/java/frc4388/robot/commands/ShooterVelocityControlPID.java
+1 -1
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@@ -34,7 +34,7 @@ public class ShooterVelocityControlPID extends CommandBase {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
m_shooter.runDrumShooterVelocityPID(m_shooter.addFireVel(), m_shooter.m_shooterFalcon.getSelectedSensorVelocity());
m_shooter.runDrumShooterVelocityPID(/*m_shooter.addFireVel()*/13000);
m_shooter.runAngleAdjustPID(m_shooter.addFireAngle());
SmartDashboard.putNumber("Fire Velocity", m_shooter.addFireVel());
SmartDashboard.putNumber("Fire Angle", m_shooter.addFireAngle());
src/main/java/frc4388/robot/commands/TrackTarget.java
+8 -8
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@@ -43,8 +43,6 @@ public class TrackTarget extends CommandBase {
public double m_hoodTrim;
public double m_turretTrim;
ShooterTables m_shooterTable;
/**
* Uses the Limelight to track the target
* @param shooterSubsystem The Shooter subsystem
@@ -63,7 +61,6 @@ public class TrackTarget extends CommandBase {
// Vision Processing Mode
NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0);
NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(3);
m_shooterTable = new ShooterTables();
}
// Called every time the scheduler runs while the command is scheduled.
@@ -92,21 +89,24 @@ public class TrackTarget extends CommandBase {
SmartDashboard.putNumber("Distance to Target", distance);
//START Equation Code
/*
double yVel = Math.sqrt(2 * VisionConstants.GRAV * VisionConstants.TARGET_HEIGHT);
double xVel = (distance * VisionConstants.GRAV) / (yVel);
fireVel = Math.sqrt((Math.pow(xVel, 2))+(Math.pow(yVel,2)));
fireAngle = Math.atan(yVel/xVel) * (180/Math.PI);
*/
//END Equation Code
/*//START CSV Code
fireVel = m_shooterTable.getVelocity(distance);
fireAngle = m_shooterTable.getHood(distance); //Note: Ensure to follow because units are different
//END CSV Code*/
//START CSV Code
fireVel = m_shooter.m_shooterTable.getVelocity(distance);
fireAngle = m_shooter.m_shooterTable.getHood(distance); //Note: Ensure to follow because units are different
//fireAngle = 33;
//END CSV Code
m_shooter.m_fireVel = fireVel;
m_shooter.m_fireAngle = fireAngle + m_shooter.shooterTrims.m_hoodTrim;
m_shooter.m_fireAngle = fireAngle;// + m_shooter.shooterTrims.m_hoodTrim;
}
}