Team4388/RiseOfRidgebotics2020
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Merge branch 'master' into GalacticSearch

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This commit is contained in:
Ryan
2021-04-15 16:50:23 -06:00
committed by GitHub
parent 69e1c851e7 b3373e68e9
commit dee0b71033
37 changed files with 2146 additions and 115 deletions
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src/main/java/frc4388/robot/subsystems/Drive.java
+34 -7
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@@ -54,6 +54,7 @@ public class Drive extends SubsystemBase {
/* Pneumatics Subsystem */
public Pneumatics m_pneumaticsSubsystem;
Shooter m_shooter;
/* Low Gear Gains */
public static Gains m_gainsDistanceLow = DriveConstants.DRIVE_DISTANCE_GAINS_LOW;
@@ -96,7 +97,8 @@ public class Drive extends SubsystemBase {
SendableChooser<String> m_songChooser = new SendableChooser<String>();
/* Misc */
String m_currentSong = "";
public String m_currentSong = "";
public String[] songsStrings;
/**
* Add your docs here.
@@ -196,6 +198,8 @@ public class Drive extends SubsystemBase {
m_rightFrontMotor.configSelectedFeedbackSensor(FeedbackDevice.SensorDifference, DriveConstants.PID_PRIMARY,
DriveConstants.DRIVE_TIMEOUT_MS);
m_rightFrontMotor.configSelectedFeedbackCoefficient(0.5, DriveConstants.PID_PRIMARY, DriveConstants.DRIVE_TIMEOUT_MS);
/*
* Configure the Pigeon IMU to the other Remote Slot available on the right
* Talon
@@ -281,11 +285,12 @@ public class Drive extends SubsystemBase {
/* Create chooser to choose song to play */
File songsDir = new File(Filesystem.getDeployDirectory().getAbsolutePath() + "/songs");
System.err.println(songsDir.getPath());
String[] songsStrings = songsDir.list();
songsStrings = songsDir.list();
for (String songString : songsStrings) {
m_songChooser.addOption(songString, songsDir.getAbsolutePath() + "/" + songString);
}
Shuffleboard.getTab("Songs").add(m_songChooser);
selectSong(songsStrings[0]);
/* Start counting time */
m_lastTimeMs = System.currentTimeMillis();
@@ -304,8 +309,10 @@ public class Drive extends SubsystemBase {
*
* @param subsystem Subsystem needed.
*/
public void passRequiredSubsystem(Pneumatics subsystem) {
public void passRequiredSubsystem(Pneumatics subsystem, Shooter shooter) {
m_pneumaticsSubsystem = subsystem;
m_shooter = shooter;
m_orchestra.addInstrument(m_shooter.m_shooterFalcon);
}
public void updateTime() {
@@ -709,6 +716,16 @@ public class Drive extends SubsystemBase {
return meters * DriveConstants.INCHES_PER_METER;
}
/**
* Converts a value in inches per second to miles per hour
* @param ips The value in inches per second to convert
* @return The value in miles per hour
*/
public double inchesPerSecondToMilesPerHour(double ips) {
double mph = ips * (3600) * (1/63360);
return mph;
}
public void setRightMotorGains(boolean isHighGear) {
if (!isHighGear) {
m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
@@ -828,6 +845,7 @@ public class Drive extends SubsystemBase {
public void updateSmartDashboard() {
try {
// SmartDashboard.putNumber("Pigeon Yaw", getGyroYaw());
// SmartDashboard.putNumber("Pigeon Pitch", getGyroPitch());
// SmartDashboard.putNumber("Pigeon Roll", getGyroRoll());
@@ -835,6 +853,14 @@ public class Drive extends SubsystemBase {
SmartDashboard.putData("Pigeon Gyro", m_pigeonGyro);
SmartDashboard.putData("Drive Train", m_driveTrain);
SmartDashboard.putNumber("Left Motor Position Raw", m_leftFrontMotor.getSensorCollection().getIntegratedSensorPosition());
SmartDashboard.putNumber("Right Motor Position Raw", m_rightFrontMotor.getSensorCollection().getIntegratedSensorPosition());
SmartDashboard.putNumber("Average Motor Position Raw", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_PRIMARY));
double avgSpeedMPH = inchesPerSecondToMilesPerHour(10 * ticksToInches(m_rightFrontMotor.getSelectedSensorVelocity(DriveConstants.PID_PRIMARY)));
SmartDashboard.putNumber("Avg Speed MPH", avgSpeedMPH);
//SmartDashboard.putNumber("Left Front Output", m_leftFrontMotor.get());
//SmartDashboard.putNumber("Right Front Output", m_rightFrontMotor.get());
@@ -849,8 +875,6 @@ public class Drive extends SubsystemBase {
//SmartDashboard.putNumber("Left Back Motor Velocity Raw", m_leftBackMotor.getSelectedSensorVelocity());
//SmartDashboard.putNumber("Right Back Motor Velocity Raw", m_rightBackMotor.getSelectedSensorVelocity());
//SmartDashboard.putNumber("Left Motor Position Raw", m_leftFrontMotor.getSelectedSensorPosition());
//SmartDashboard.putNumber("Right Motor Position Raw", m_rightFrontMotor.getSelectedSensorPosition(0));
//SmartDashboard.putNumber("Right Motor Velocity Int Sensor", m_rightFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
//SmartDashboard.putNumber("Left Motor Velocity Int Sensor", m_leftFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
@@ -889,12 +913,13 @@ public class Drive extends SubsystemBase {
SmartDashboard.putString("Odometry Values Meters", getPose().toString());
//SmartDashboard.putNumber("Odometry Heading", getHeading());
SmartDashboard.putNumber("Time Seconds", m_currentTimeSec);
SmartDashboard.putNumber("Delta Time", m_deltaTimeMs);
//SmartDashboard.putNumber("Time Seconds", m_currentTimeSec);
//SmartDashboard.putNumber("Delta Time", m_deltaTimeMs);
if (m_currentSong != m_songChooser.getSelected()){
m_currentSong = m_songChooser.getSelected();
selectSong(m_currentSong);
//System.err.println(m_currentSong);
}
} catch (Exception e) {
@@ -902,4 +927,6 @@ public class Drive extends SubsystemBase {
// e.printStackTrace(System.err);
}
}
}