From fcc91455ac2c08c061747e527e4f83d416baebbf Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Fri, 12 Mar 2021 12:37:06 -0700 Subject: [PATCH] Reduced Error --- src/main/deploy/Robot Data - Distances.csv | 16 ++++++++-------- src/main/deploy/Robot Data - DistancesOLD.csv | 12 +++++++++++- src/main/java/frc4388/robot/Constants.java | 2 +- src/main/java/frc4388/robot/RobotContainer.java | 4 ++-- .../robot/commands/shooter/TrackTarget.java | 12 +++++++----- 5 files changed, 29 insertions(+), 17 deletions(-) diff --git a/src/main/deploy/Robot Data - Distances.csv b/src/main/deploy/Robot Data - Distances.csv index 7a1a1f4..dbe365d 100644 --- a/src/main/deploy/Robot Data - Distances.csv +++ b/src/main/deploy/Robot Data - Distances.csv @@ -1,9 +1,9 @@ Distance (in),Hood Ext. (u),Drum Velocity (u/ds),Center Displacment (deg) -0,16,6000,1, -65.9,16,6000,1, -126.6,20.25,7000,0.95, -180,24,8000,1, -185.85,26.5, 9000,1.625, -245,28.9,9500,.98, -262,28.9,9500,.98, -999,28.9,9500,.98, \ No newline at end of file +0,16,6000,0, +65.9,16,6000,0, +126.6,20.25,7000,0, +180,24,8000,0, +185.85,26.5, 9000,1.1, +245,28.9,9500,0, +262,28.9,9500,0, +999,28.9,9500,0, \ No newline at end of file diff --git a/src/main/deploy/Robot Data - DistancesOLD.csv b/src/main/deploy/Robot Data - DistancesOLD.csv index 77b3cfb..a508fbc 100644 --- a/src/main/deploy/Robot Data - DistancesOLD.csv +++ b/src/main/deploy/Robot Data - DistancesOLD.csv @@ -26,4 +26,14 @@ IN BETWEEN 185.85,26.5, 9000,1.625, 245,27,11000,1, 262,27,11000,1.25, -999,27,11000,1.25, \ No newline at end of file +999,27,11000,1.25, + +HOLD +0,16,6000,1, +65.9,16,6000,1, +126.6,20.25,7000,0.95, +180,24,8000,1, +185.85,26.5, 9000,1.625, +245,28.9,9500,.98, +262,28.9,9500,.98, +999,28.9,9500,.98, \ No newline at end of file diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 53037d1..59fbdef 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -215,7 +215,7 @@ public final class Constants { public static final double TARGET_HEIGHT = 67.5; public static final double LIME_ANGLE = 24.7; public static final double TURN_P_VALUE = 0.8; - public static final double X_ANGLE_ERROR = 1.3; + public static final double X_ANGLE_ERROR = 0.5; public static final double MOTOR_DEAD_ZONE = 0.2; public static final double DISTANCE_ERROR_EQUATION_M = 1.1279; public static final double DISTANCE_ERROR_EQUATION_B = -15.0684; diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 01e56ae..080c646 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -254,9 +254,9 @@ public class RobotContainer { new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON) .whileHeld(new TrackTarget(m_robotShooterAim)) .whileHeld(new RunCommand(() -> m_robotShooterHood.runAngleAdjustPID(m_robotShooterHood.addFireAngle()))) - //.whenPressed(new StoragePrep(m_robotStorage)) - //.whenReleased(new InterruptSubystem(m_robotStorage)) .whenReleased(new InstantCommand(() -> m_robotLime.limeOff())); + + //.whileHeld(new RunCommand(() -> m_robotShooterAim.runshooterRotatePID())); //.whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(11000))); //.whileHeld(new HoldTarget(m_robotShooter, m_robotShooterAim)) //.whileHeld(new RunCommand(() -> m_robotShooter.runAngleAdjustPID(30))); diff --git a/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java b/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java index 05d652d..598c317 100644 --- a/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java +++ b/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java @@ -76,17 +76,19 @@ public class TrackTarget extends CommandBase { if (target == 1.0) { // If target in view // Aiming Left/Right xAngle = xAngle + m_shooter.m_shooterTable.getCenterDisplacement(realDistance); - turnAmount = (xAngle / VisionConstants.FOV) * VisionConstants.TURN_P_VALUE; + 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; + else if (turnAmount > 0 && turnAmount < 0.1){// VisionConstants.MOTOR_DEAD_ZONE) { + turnAmount = 0.1;//VisionConstants.MOTOR_DEAD_ZONE; + } else if (turnAmount < 0 && turnAmount > -0.1){//-VisionConstants.MOTOR_DEAD_ZONE) { + turnAmount = -0.1;//-VisionConstants.MOTOR_DEAD_ZONE; } + m_shooterAim.runShooterWithInput(-turnAmount);// - m_shooter.shooterTrims.m_turretTrim); + //m_shooterAim.runshooterRotatePID(targetAngle); SmartDashboard.putNumber("Distance to Target", realDistance); SmartDashboard.putNumber("Center Displacement", m_shooter.m_shooterTable.getCenterDisplacement(realDistance));