From 6fc83216ef3747e56abd3c8547d6ef7ac4fd6650 Mon Sep 17 00:00:00 2001 From: Riley Date: Tue, 12 Jan 2021 20:13:53 -0600 Subject: [PATCH 01/10] Modified PathWeaver Paths --- PathWeaver/Groups/SlalomPaths | 2 ++ PathWeaver/Groups/test | 0 PathWeaver/Paths/Slalom.path | 16 ++++++++++++++++ PathWeaver/Paths/Unnamed_0.path | 3 --- PathWeaver/Paths/slalomtest.path | 3 +++ PathWeaver/pathweaver.json | 2 +- src/main/java/frc/robot/Constants.java | 1 - .../java/frc/robot/subsystems/DriveTrain.java | 1 - src/main/java/frc/robot/subsystems/Shooter.java | 1 - 9 files changed, 22 insertions(+), 7 deletions(-) create mode 100644 PathWeaver/Groups/SlalomPaths delete mode 100644 PathWeaver/Groups/test create mode 100644 PathWeaver/Paths/Slalom.path delete mode 100644 PathWeaver/Paths/Unnamed_0.path create mode 100644 PathWeaver/Paths/slalomtest.path diff --git a/PathWeaver/Groups/SlalomPaths b/PathWeaver/Groups/SlalomPaths new file mode 100644 index 0000000..a7cea74 --- /dev/null +++ b/PathWeaver/Groups/SlalomPaths @@ -0,0 +1,2 @@ +slalomtest.path +Slalom.path diff --git a/PathWeaver/Groups/test b/PathWeaver/Groups/test deleted file mode 100644 index e69de29..0000000 diff --git a/PathWeaver/Paths/Slalom.path b/PathWeaver/Paths/Slalom.path new file mode 100644 index 0000000..a81338b --- /dev/null +++ b/PathWeaver/Paths/Slalom.path @@ -0,0 +1,16 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name +1.2068749607464244,-3.9089538169887557,3.048,0.0,true,false, +3.1435967132957403,-2.2278111813447747,1.7776947464748845,1.0961504347273252,true,false, +4.66571234286529,-1.8018459865025502,1.8117719620622639,-0.12494979048705246,true,false, +6.488843376790011,-2.7219308073617556,0.9484825005153521,-1.5675519170193888,true,false, +7.5906733474485675,-3.8635175295389175,1.5277951655007778,-0.1817451497993483,true,false, +8.7265805336945,-3.0172666757856987,0.005679535931232493,1.0961504347273259,true,false, +8.317653946645965,-2.2334907172760046,-0.6304284883664932,0.5565945212605072,true,false, +7.176067224468803,-2.1994135016886265,-0.9541620364465846,-0.49411962601698045,true,false, +6.261661939540824,-3.6988109875332573,-0.8415626486168929,-0.5416672368049471,false,false, +4.773623525558654,-3.9941468559572004,-1.1131873510965389,-0.0342423747755219,false,false, +2.922094811977783,-3.66473377194588,-1.084791362864866,0.7837759585096946,true,false, +2.0701644222933333,-2.733289879224215,-0.5338763775355884,0.7099419914037073,true,false, +1.7805080898006207,-2.409556331144124,-0.44300380263591377,0.38620844332361726,true,false, +1.417017790201922,-2.1994135016886265,-0.5111582338106698,0.1476679342119711,true,false, +0.6275622957609989,-2.1426181423763295,-0.44868333856714365,-0.011359071862459658,true,false, diff --git a/PathWeaver/Paths/Unnamed_0.path b/PathWeaver/Paths/Unnamed_0.path deleted file mode 100644 index 17bb9b1..0000000 --- a/PathWeaver/Paths/Unnamed_0.path +++ /dev/null @@ -1,3 +0,0 @@ -X,Y,Tangent X,Tangent Y,Fixed Theta,Name -0.0,0.0,3.048,0.0,true, -3.048,-3.048,0.0,-3.048,true, diff --git a/PathWeaver/Paths/slalomtest.path b/PathWeaver/Paths/slalomtest.path new file mode 100644 index 0000000..f4e8a00 --- /dev/null +++ b/PathWeaver/Paths/slalomtest.path @@ -0,0 +1,3 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name +1.731406726820162,-1.3788139872433105,6.881,-4.49,true,false, +1.6511477846919727,-2.2845934769757315,-5.0,-5.43,true,false, diff --git a/PathWeaver/pathweaver.json b/PathWeaver/pathweaver.json index 5798643..e7eab35 100644 --- a/PathWeaver/pathweaver.json +++ b/PathWeaver/pathweaver.json @@ -4,6 +4,6 @@ "maxVelocity": 4.267, "maxAcceleration": 4.572, "wheelBase": 0.72, - "gameName": "Infinite Recharge", + "gameName": "Slalom", "outputDir": "../src/main/deploy" } \ No newline at end of file diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 2bc87da..5fac72d 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -32,7 +32,6 @@ public final class Constants { public static final int SHOOTER_RIGHT_MASTER_MOTOR_ID = 22; public static final int SHOOTER_RIGHT_SLAVE_MOTOR_ID = 23; public static final int SHOOTER_FEEDER_MOTOR_ID = 24; - //TODO: Add shooter feeder with ID = 24 //Defines the channels of the solenoids on the shooter public static final int SHOOTER_SOLENOID_FORWARD_CHANNEL = 2; diff --git a/src/main/java/frc/robot/subsystems/DriveTrain.java b/src/main/java/frc/robot/subsystems/DriveTrain.java index c57ca34..8908082 100644 --- a/src/main/java/frc/robot/subsystems/DriveTrain.java +++ b/src/main/java/frc/robot/subsystems/DriveTrain.java @@ -44,7 +44,6 @@ public class DriveTrain extends SubsystemBase { SimpleMotorFeedforward simpleMotorFeedforward; RamseteController ramseteController; PIDController leftPIDController, rightPIDController; - /** diff --git a/src/main/java/frc/robot/subsystems/Shooter.java b/src/main/java/frc/robot/subsystems/Shooter.java index c848a7d..0ba42b6 100644 --- a/src/main/java/frc/robot/subsystems/Shooter.java +++ b/src/main/java/frc/robot/subsystems/Shooter.java @@ -21,7 +21,6 @@ import frc.robot.Constants; import com.ctre.phoenix.motorcontrol.NeutralMode; -//TODO: Display velocity (RPM) on Dashboard //TODO: Document PID Tuning public class Shooter extends SubsystemBase { From 711dc0c0414dc88391f3b94ac0bd52878ae05e0b Mon Sep 17 00:00:00 2001 From: Riley Date: Wed, 13 Jan 2021 19:48:08 -0600 Subject: [PATCH 02/10] Added 2 new paths --- PathWeaver/Barrel-Racing-Path | 0 PathWeaver/Bounce-Path | 0 PathWeaver/Groups/BarrelRacingPaths | 1 + PathWeaver/Groups/BouncePaths | 1 + PathWeaver/Paths/Barrel Racing Path | 20 +++++++++++++++++++ PathWeaver/Paths/Bounce Path | 11 ++++++++++ PathWeaver/Paths/Unnamed.path | 6 +++--- PathWeaver/Paths/Unnamed_1.path | 3 --- PathWeaver/pathweaver.json | 2 +- .../java/frc/robot/TrajectoryManager.java | 1 - 10 files changed, 37 insertions(+), 8 deletions(-) create mode 100644 PathWeaver/Barrel-Racing-Path create mode 100644 PathWeaver/Bounce-Path create mode 100644 PathWeaver/Groups/BarrelRacingPaths create mode 100644 PathWeaver/Groups/BouncePaths create mode 100644 PathWeaver/Paths/Barrel Racing Path create mode 100644 PathWeaver/Paths/Bounce Path delete mode 100644 PathWeaver/Paths/Unnamed_1.path diff --git a/PathWeaver/Barrel-Racing-Path b/PathWeaver/Barrel-Racing-Path new file mode 100644 index 0000000..e69de29 diff --git a/PathWeaver/Bounce-Path b/PathWeaver/Bounce-Path new file mode 100644 index 0000000..e69de29 diff --git a/PathWeaver/Groups/BarrelRacingPaths b/PathWeaver/Groups/BarrelRacingPaths new file mode 100644 index 0000000..769372a --- /dev/null +++ b/PathWeaver/Groups/BarrelRacingPaths @@ -0,0 +1 @@ +Barrel Racing Path diff --git a/PathWeaver/Groups/BouncePaths b/PathWeaver/Groups/BouncePaths new file mode 100644 index 0000000..3fdaf15 --- /dev/null +++ b/PathWeaver/Groups/BouncePaths @@ -0,0 +1 @@ +Bounce Path diff --git a/PathWeaver/Paths/Barrel Racing Path b/PathWeaver/Paths/Barrel Racing Path new file mode 100644 index 0000000..be3b139 --- /dev/null +++ b/PathWeaver/Paths/Barrel Racing Path @@ -0,0 +1,20 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name +1.2373115583894732,-2.4405629356957963,0.36891972387739624,0.1152874137116866,true,false, +2.9666227640647684,-2.123522547988659,1.6659031281338677,-0.08646556028376517,true,false, +3.9177439271861805,-2.388683599525537,0.5764370685584317,-0.27092542222246374,true,false, +4.292428021749161,-3.345569133332534,-0.29398290496480106,-0.8243050080385581,true,false, +3.3470712293133333,-3.236046090306432,-0.13258052576843982,0.9568855338069957,true,false, +4.079146306382541,-2.417505452953459,0.9568855338069966,0.18445986193869768,true,false, +5.462595270922777,-2.2906892978706046,0.5015002496458356,0.12105178439727116,true,false, +6.851808606148597,-1.3510968761203608,-0.34009787044947437,1.0721729475186828,true,false, +5.969859891254197,-1.0052346349853016,-0.5937301806151849,-0.08646556028376473,true,false, +5.69317009834615,-1.9505914274211296,0.5764370685584312,-1.354627111112314,true,false, +6.742285563122495,-3.2129886075640948,1.7696618004743847,-1.0491154647763463,true,false, +7.860573476125853,-3.4608565470442207,0.6398451460998578,0.02882185342792143,true,false, +8.246786312060003,-2.815247030258777,-0.06917244822701107,0.4784427669034983,true,false, +7.987389631208708,-2.359861746097616,-0.2419177046119878,0.14180341010653463,false,false, +7.58964805390339,-2.2964536685561887,-0.6214115648227837,0.07670262331619518,false,false, +6.113969158393805,-2.307982409927358,-0.9624652293768965,0.11872068078667986,false,false, +4.701698340425647,-1.9448270567355455,-1.0521420031456616,0.18749007268006146,false,false, +2.9493296520080152,-1.7949534189103533,-0.8358337494097259,0.0576437068558433,true,false, +1.2661334118173948,-1.8410683843950277,-0.2651610515368785,0.0,true,false, diff --git a/PathWeaver/Paths/Bounce Path b/PathWeaver/Paths/Bounce Path new file mode 100644 index 0000000..4c88672 --- /dev/null +++ b/PathWeaver/Paths/Bounce Path @@ -0,0 +1,11 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name +1.2230110923987334,-2.269136340835714,3.048,0.0,true,false, +2.338387415169437,-1.079401596546963,0.205915628819207,-2.207873131228162,true,false, +2.9732939373619915,-3.0070006774378717,0.9723793583129217,-1.5043280660958729,true,false, +4.185908195963988,-3.710545742570162,1.0524576584092795,0.5834276149877526,true,false, +4.523381032084354,-2.1547387692694877,-0.09151805725298168,1.5214877018308062,true,false, +4.609179210759024,-0.9592841464024259,0.1258373287228487,-1.5272075804091174,true,false, +5.192606825746776,-3.6075879281605583,1.1496955942405709,-0.22307526455414095,true,false, +6.3823415700355275,-3.556109020955757,1.0696172941442121,0.2688342931806318,true,false, +6.851371613457054,-0.924964874932558,0.12011745014453723,-2.602544753131642,true,false, +8.361419558131237,-2.372094155245317,0.789343243806961,-0.08579817867466932,true,false, diff --git a/PathWeaver/Paths/Unnamed.path b/PathWeaver/Paths/Unnamed.path index 39ff6bb..c05f4a9 100644 --- a/PathWeaver/Paths/Unnamed.path +++ b/PathWeaver/Paths/Unnamed.path @@ -1,3 +1,3 @@ -X,Y,Tangent X,Tangent Y,Fixed Theta,Name -3.054863923302683,-0.7154598441848491,3.048,0.0,true, -10.122171889065818,-1.5126141096833845,0.0,-3.048,true, +X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name +1.2230110923987334,-2.269136340835714,3.048,0.0,true,false, +7.915269029022957,-2.5894495412211467,0.0,-3.048,true,false, diff --git a/PathWeaver/Paths/Unnamed_1.path b/PathWeaver/Paths/Unnamed_1.path deleted file mode 100644 index 17bb9b1..0000000 --- a/PathWeaver/Paths/Unnamed_1.path +++ /dev/null @@ -1,3 +0,0 @@ -X,Y,Tangent X,Tangent Y,Fixed Theta,Name -0.0,0.0,3.048,0.0,true, -3.048,-3.048,0.0,-3.048,true, diff --git a/PathWeaver/pathweaver.json b/PathWeaver/pathweaver.json index e7eab35..cc259e3 100644 --- a/PathWeaver/pathweaver.json +++ b/PathWeaver/pathweaver.json @@ -4,6 +4,6 @@ "maxVelocity": 4.267, "maxAcceleration": 4.572, "wheelBase": 0.72, - "gameName": "Slalom", + "gameName": "Bounce Path", "outputDir": "../src/main/deploy" } \ No newline at end of file diff --git a/src/main/java/frc/robot/TrajectoryManager.java b/src/main/java/frc/robot/TrajectoryManager.java index 515665a..9fb634e 100644 --- a/src/main/java/frc/robot/TrajectoryManager.java +++ b/src/main/java/frc/robot/TrajectoryManager.java @@ -45,5 +45,4 @@ public void LoadAllPaths() { shootingSpot = LoadTrajectory("shootingSpot"); } - } From b4fe14b71ef2cd2a19a257c61c7c7a64a1a25449 Mon Sep 17 00:00:00 2001 From: Riley Date: Sat, 16 Jan 2021 14:31:53 -0600 Subject: [PATCH 03/10] Constructed Multiple New Paths as well as adding commands to run paths --- PathWeaver/Barrel-Racing-Path | 0 PathWeaver/Bounce-Path | 0 PathWeaver/Groups/BarrelRacingPaths | 3 +- PathWeaver/Groups/BouncePaths | 2 +- PathWeaver/Groups/GalacticSearchAPaths | 2 + PathWeaver/Groups/GalacticSearchBPaths | 2 + PathWeaver/Groups/SlalomPaths | 4 +- PathWeaver/Paths/NewBarrelRacingPath | 10 ++++ PathWeaver/Paths/Unnamed.path | 3 -- .../{Barrel Racing Path => barrelRacingPath} | 0 PathWeaver/Paths/{Bounce Path => bouncePath} | 0 PathWeaver/Paths/galacticSearchABlue | 6 +++ PathWeaver/Paths/galacticSearchARed | 6 +++ PathWeaver/Paths/galacticSearchBBlue | 6 +++ PathWeaver/Paths/galacticSearchBRed | 6 +++ PathWeaver/Paths/{Slalom.path => slalomPath} | 0 .../Paths/{slalomtest.path => slalomtest} | 0 PathWeaver/pathweaver.json | 2 +- src/main/java/frc/robot/Constants.java | 3 ++ src/main/java/frc/robot/Robot.java | 20 +------- .../java/frc/robot/TrajectoryManager.java | 7 +++ .../frc/robot/commands/BarrelRacingPath.java | 43 +++++++++++++++++ .../java/frc/robot/commands/BouncePath.java | 43 +++++++++++++++++ .../commands/GalacticSearchChallengeA.java | 48 +++++++++++++++++++ .../commands/GalacticSearchChallengeB.java | 48 +++++++++++++++++++ .../java/frc/robot/commands/SlalomPath.java | 43 +++++++++++++++++ .../java/frc/robot/subsystems/DriveTrain.java | 6 ++- 27 files changed, 285 insertions(+), 28 deletions(-) delete mode 100644 PathWeaver/Barrel-Racing-Path delete mode 100644 PathWeaver/Bounce-Path create mode 100644 PathWeaver/Groups/GalacticSearchAPaths create mode 100644 PathWeaver/Groups/GalacticSearchBPaths create mode 100644 PathWeaver/Paths/NewBarrelRacingPath delete mode 100644 PathWeaver/Paths/Unnamed.path rename PathWeaver/Paths/{Barrel Racing Path => barrelRacingPath} (100%) rename PathWeaver/Paths/{Bounce Path => bouncePath} (100%) create mode 100644 PathWeaver/Paths/galacticSearchABlue create mode 100644 PathWeaver/Paths/galacticSearchARed create mode 100644 PathWeaver/Paths/galacticSearchBBlue create mode 100644 PathWeaver/Paths/galacticSearchBRed rename PathWeaver/Paths/{Slalom.path => slalomPath} (100%) rename PathWeaver/Paths/{slalomtest.path => slalomtest} (100%) create mode 100644 src/main/java/frc/robot/commands/BarrelRacingPath.java create mode 100644 src/main/java/frc/robot/commands/BouncePath.java create mode 100644 src/main/java/frc/robot/commands/GalacticSearchChallengeA.java create mode 100644 src/main/java/frc/robot/commands/GalacticSearchChallengeB.java create mode 100644 src/main/java/frc/robot/commands/SlalomPath.java diff --git a/PathWeaver/Barrel-Racing-Path b/PathWeaver/Barrel-Racing-Path deleted file mode 100644 index e69de29..0000000 diff --git a/PathWeaver/Bounce-Path b/PathWeaver/Bounce-Path deleted file mode 100644 index e69de29..0000000 diff --git a/PathWeaver/Groups/BarrelRacingPaths b/PathWeaver/Groups/BarrelRacingPaths index 769372a..b5ee0a4 100644 --- a/PathWeaver/Groups/BarrelRacingPaths +++ b/PathWeaver/Groups/BarrelRacingPaths @@ -1 +1,2 @@ -Barrel Racing Path +NewBarrelRacingPath +barrelRacingPath diff --git a/PathWeaver/Groups/BouncePaths b/PathWeaver/Groups/BouncePaths index 3fdaf15..d9f1ef3 100644 --- a/PathWeaver/Groups/BouncePaths +++ b/PathWeaver/Groups/BouncePaths @@ -1 +1 @@ -Bounce Path +bouncePath diff --git a/PathWeaver/Groups/GalacticSearchAPaths b/PathWeaver/Groups/GalacticSearchAPaths new file mode 100644 index 0000000..709262a --- /dev/null +++ b/PathWeaver/Groups/GalacticSearchAPaths @@ -0,0 +1,2 @@ +galacticSearchABlue +galacticSearchARed diff --git a/PathWeaver/Groups/GalacticSearchBPaths b/PathWeaver/Groups/GalacticSearchBPaths new file mode 100644 index 0000000..ae2d7a9 --- /dev/null +++ b/PathWeaver/Groups/GalacticSearchBPaths @@ -0,0 +1,2 @@ +galacticSearchBBlue +galacticSearchBRed diff --git a/PathWeaver/Groups/SlalomPaths b/PathWeaver/Groups/SlalomPaths index a7cea74..559b409 100644 --- a/PathWeaver/Groups/SlalomPaths +++ b/PathWeaver/Groups/SlalomPaths @@ -1,2 +1,2 @@ -slalomtest.path -Slalom.path +slalomtest +slalomPath diff --git a/PathWeaver/Paths/NewBarrelRacingPath b/PathWeaver/Paths/NewBarrelRacingPath new file mode 100644 index 0000000..a3d4622 --- /dev/null +++ b/PathWeaver/Paths/NewBarrelRacingPath @@ -0,0 +1,10 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name +1.2488402997606416,-2.4405629356957963,3.048,0.0,true,false, +3.9696232633564397,-2.3425686340408634,0.7032532236412856,-1.3142765163132246,true,false, +3.6814047290772236,-3.374390986760456,-1.2681615508285495,0.10375867234051794,true,false, +3.6179966515357957,-2.561614720093067,1.366155852483483,0.36891972387739624,true,false, +6.598176295982888,-1.6450797810851607,0.06340807754142652,0.7493681891259609,true,false, +6.056325451537962,-1.0859358245834823,-1.2739259215141336,-0.5015002496458354,true,false, +6.177377235935232,-2.809482659573193,1.8157767659590602,-0.7839544132394667,true,false, +8.114205786291564,-2.959356297398385,-0.178695491253114,1.4641501541384168,true,false, +1.4563576444416773,-1.8353040137094432,-0.25363231016570964,-0.0345862241135062,true,false, diff --git a/PathWeaver/Paths/Unnamed.path b/PathWeaver/Paths/Unnamed.path deleted file mode 100644 index c05f4a9..0000000 --- a/PathWeaver/Paths/Unnamed.path +++ /dev/null @@ -1,3 +0,0 @@ -X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name -1.2230110923987334,-2.269136340835714,3.048,0.0,true,false, -7.915269029022957,-2.5894495412211467,0.0,-3.048,true,false, diff --git a/PathWeaver/Paths/Barrel Racing Path b/PathWeaver/Paths/barrelRacingPath similarity index 100% rename from PathWeaver/Paths/Barrel Racing Path rename to PathWeaver/Paths/barrelRacingPath diff --git a/PathWeaver/Paths/Bounce Path b/PathWeaver/Paths/bouncePath similarity index 100% rename from PathWeaver/Paths/Bounce Path rename to PathWeaver/Paths/bouncePath diff --git a/PathWeaver/Paths/galacticSearchABlue b/PathWeaver/Paths/galacticSearchABlue new file mode 100644 index 0000000..31fdfd8 --- /dev/null +++ b/PathWeaver/Paths/galacticSearchABlue @@ -0,0 +1,6 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name +0.6943187933322688,-2.87824009768627,2.8702303528258564,-0.9529164771381842,true,false, +4.689683305245024,-3.5211253797594857,0.35592024025323976,2.1757059847738383,true,false, +5.32689534827905,-1.4544917266761568,2.106818196337726,-1.079242018832405,true,false, +6.917055131345944,-2.315589082127544,1.0590977679822307,-0.27984750627826704,false,false, +8.472771020194784,-2.4016988176726826,0.33295764410786965,-0.022962596145370107,true,false, diff --git a/PathWeaver/Paths/galacticSearchARed b/PathWeaver/Paths/galacticSearchARed new file mode 100644 index 0000000..5ff009d --- /dev/null +++ b/PathWeaver/Paths/galacticSearchARed @@ -0,0 +1,6 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name +0.7286354701686436,-2.2696638898368033,2.8416212729895767,-0.017221947109027802,true,false, +3.2028552048322956,-2.6198434810537004,1.773860552229857,-1.010354230396294,true,false, +4.500241887045718,-2.7576190579259223,0.0918503845814822,2.634957907681244,true,false, +4.5633890264454875,-0.7024667029152787,0.21814466338101735,0.005740649036342416,true,false, +8.449808424049412,-0.6795041067699084,0.07462843747245351,-0.011481298072685053,true,false, diff --git a/PathWeaver/Paths/galacticSearchBBlue b/PathWeaver/Paths/galacticSearchBBlue new file mode 100644 index 0000000..cc155e4 --- /dev/null +++ b/PathWeaver/Paths/galacticSearchBBlue @@ -0,0 +1,6 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name +0.7057997147435722,-2.9299042440371355,0.18369474258085483,-0.011480921411302969,true,false, +4.643755758820647,-3.01027069391626,1.674677422195834,0.9419243885978892,false,false, +6.193680149346609,-1.5120104497411624,1.008252865685842,-0.026567198983221907,false,false, +7.668978550699101,-3.0676753009727764,0.9425725971301737,-0.15983125069396933,false,false, +8.461162128079033,-3.0504539188558213,0.5683056098595198,0.028702303528258533,true,false, diff --git a/PathWeaver/Paths/galacticSearchBRed b/PathWeaver/Paths/galacticSearchBRed new file mode 100644 index 0000000..16a1ae3 --- /dev/null +++ b/PathWeaver/Paths/galacticSearchBRed @@ -0,0 +1,6 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name +0.7459829396831342,-1.6670028887937587,0.18369474258085483,0.0057404607056517065,true,false, +2.3590523979712654,-1.5464532139750724,0.6658934418555984,-0.0057404607056519286,true,false, +3.8802744849689694,-3.061934840267125,1.492519783469445,0.017221382116955564,true,false, +5.3727942684384145,-1.5005295283298588,0.40757271010127205,-0.0057404607056519286,true,false, +8.380795678199911,-1.5751555175033312,0.3616490244560602,-0.028702303528258755,true,false, diff --git a/PathWeaver/Paths/Slalom.path b/PathWeaver/Paths/slalomPath similarity index 100% rename from PathWeaver/Paths/Slalom.path rename to PathWeaver/Paths/slalomPath diff --git a/PathWeaver/Paths/slalomtest.path b/PathWeaver/Paths/slalomtest similarity index 100% rename from PathWeaver/Paths/slalomtest.path rename to PathWeaver/Paths/slalomtest diff --git a/PathWeaver/pathweaver.json b/PathWeaver/pathweaver.json index cc259e3..927c5c5 100644 --- a/PathWeaver/pathweaver.json +++ b/PathWeaver/pathweaver.json @@ -4,6 +4,6 @@ "maxVelocity": 4.267, "maxAcceleration": 4.572, "wheelBase": 0.72, - "gameName": "Bounce Path", + "gameName": "Galactic Search A", "outputDir": "../src/main/deploy" } \ No newline at end of file diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 5fac72d..38f3319 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -76,6 +76,9 @@ public final class Constants { //Defines the ID of the control panel motor public static final int CONTROL_PANEL_MOTOR_ID = 13; + //Defines the channel of the photo eye + public static final int PHOTO_EYE_CHANNEL = 0; + //Defimes the speed the control panel motor will be run at public static final int CONTROL_PANEL_SPEED = 1; diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index cb89862..24542a8 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -48,6 +48,7 @@ public void robotInit() { autoPathChooser.setDefaultOption("Test Path", 0); autoPathChooser.addOption("Line to Trench", 1); autoPathChooser.addOption("Line to Three Center Balls", 2); + autoPathChooser.addOption("slalom", 3); } /** @@ -133,23 +134,6 @@ public void testInit() { */ @Override public void testPeriodic() { - } - - // //Encapsulates the shooter hood commands - // public void shooterHoodHandler() { - // operatorBButton.whenPressed(new HoodAngleUp(shooter)); - // operatorXButton.whenPressed(new HoodAngleDown(shooter)); - // } - - // public void hopperHandler() { - // operatorRBumper.whenHeld(new StagePowerCells(hopper)); - // operatorYButton.whenHeld(new FeedPowerCells(hopper)); - // } - - // public void controlPanelHandler() { - // driverLBumper.whenHeld(new TurnControlPanelLeft(controlPanel)); - // driverRBumper.whenHeld(new TurnControlPanelRight(controlPanel)); - // } - + } } diff --git a/src/main/java/frc/robot/TrajectoryManager.java b/src/main/java/frc/robot/TrajectoryManager.java index 9fb634e..68f031e 100644 --- a/src/main/java/frc/robot/TrajectoryManager.java +++ b/src/main/java/frc/robot/TrajectoryManager.java @@ -23,6 +23,13 @@ public class TrajectoryManager { public Trajectory lineToTrench; public Trajectory linetoThreeCenterBalls; public Trajectory shootingSpot; + public Trajectory slalomPath; + public Trajectory galacticSearchChallengeARed; + public Trajectory galacticSearchChallengeABlue; + public Trajectory galacticSearchChallengeBRed; + public Trajectory galacticSearchChallengeBBlue; + public Trajectory bouncePath; + public Trajectory barrelRacingPath; public static Trajectory excessPath; public Trajectory LoadTrajectory(String trajectoryFile) { diff --git a/src/main/java/frc/robot/commands/BarrelRacingPath.java b/src/main/java/frc/robot/commands/BarrelRacingPath.java new file mode 100644 index 0000000..30f81b7 --- /dev/null +++ b/src/main/java/frc/robot/commands/BarrelRacingPath.java @@ -0,0 +1,43 @@ + +/*----------------------------------------------------------------------------*/ +/* 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 frc.robot.commands; + +import edu.wpi.first.wpilibj2.command.CommandBase; +import frc.robot.subsystems.DriveTrain; +import frc.robot.TrajectoryManager; + +public class BarrelRacingPath extends CommandBase { + private final DriveTrain driveTrain; + private final TrajectoryManager trajectoryManager; + + public BarrelRacingPath(DriveTrain driveTrain, TrajectoryManager trajectoryManager) { + this.driveTrain = driveTrain; + this.trajectoryManager = trajectoryManager; + } + + @Override + public void initialize() { + driveTrain.getRamseteCommand(trajectoryManager.barrelRacingPath); + } + + @Override + public void execute() { + + } + + @Override + public void end(boolean interrupted) { + + } + + @Override + public boolean isFinished() { + return false; + } +} \ No newline at end of file diff --git a/src/main/java/frc/robot/commands/BouncePath.java b/src/main/java/frc/robot/commands/BouncePath.java new file mode 100644 index 0000000..a81d6a4 --- /dev/null +++ b/src/main/java/frc/robot/commands/BouncePath.java @@ -0,0 +1,43 @@ + +/*----------------------------------------------------------------------------*/ +/* 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 frc.robot.commands; + +import edu.wpi.first.wpilibj2.command.CommandBase; +import frc.robot.subsystems.DriveTrain; +import frc.robot.TrajectoryManager; + +public class BouncePath extends CommandBase { + private final DriveTrain driveTrain; + private final TrajectoryManager trajectoryManager; + + public BouncePath(DriveTrain driveTrain, TrajectoryManager trajectoryManager) { + this.driveTrain = driveTrain; + this.trajectoryManager = trajectoryManager; + } + + @Override + public void initialize() { + driveTrain.getRamseteCommand(trajectoryManager.bouncePath); + } + + @Override + public void execute() { + + } + + @Override + public void end(boolean interrupted) { + + } + + @Override + public boolean isFinished() { + return false; + } +} \ No newline at end of file diff --git a/src/main/java/frc/robot/commands/GalacticSearchChallengeA.java b/src/main/java/frc/robot/commands/GalacticSearchChallengeA.java new file mode 100644 index 0000000..23273c1 --- /dev/null +++ b/src/main/java/frc/robot/commands/GalacticSearchChallengeA.java @@ -0,0 +1,48 @@ + +/*----------------------------------------------------------------------------*/ +/* 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 frc.robot.commands; + +import edu.wpi.first.wpilibj2.command.CommandBase; +import frc.robot.subsystems.DriveTrain; +import frc.robot.TrajectoryManager; + +public class GalacticSearchChallengeA extends CommandBase { + private final DriveTrain driveTrain; + private final TrajectoryManager trajectoryManager; + + public GalacticSearchChallengeA(DriveTrain driveTrain, TrajectoryManager trajectoryManager) { + this.driveTrain = driveTrain; + this.trajectoryManager = trajectoryManager; + } + + @Override + public void initialize() { + if(driveTrain.photoEye.get()) { + driveTrain.getRamseteCommand(trajectoryManager.galacticSearchChallengeARed); + } else { + driveTrain.getRamseteCommand(trajectoryManager.galacticSearchChallengeABlue); + } + + } + + @Override + public void execute() { + + } + + @Override + public void end(boolean interrupted) { + + } + + @Override + public boolean isFinished() { + return false; + } +} \ No newline at end of file diff --git a/src/main/java/frc/robot/commands/GalacticSearchChallengeB.java b/src/main/java/frc/robot/commands/GalacticSearchChallengeB.java new file mode 100644 index 0000000..55caab9 --- /dev/null +++ b/src/main/java/frc/robot/commands/GalacticSearchChallengeB.java @@ -0,0 +1,48 @@ + +/*----------------------------------------------------------------------------*/ +/* 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 frc.robot.commands; + +import edu.wpi.first.wpilibj2.command.CommandBase; +import frc.robot.subsystems.DriveTrain; +import frc.robot.TrajectoryManager; + +public class GalacticSearchChallengeB extends CommandBase { + private final DriveTrain driveTrain; + private final TrajectoryManager trajectoryManager; + + public GalacticSearchChallengeB(DriveTrain driveTrain, TrajectoryManager trajectoryManager) { + this.driveTrain = driveTrain; + this.trajectoryManager = trajectoryManager; + } + + @Override + public void initialize() { + if(driveTrain.photoEye.get()) { + driveTrain.getRamseteCommand(trajectoryManager.galacticSearchChallengeBRed); + } else { + driveTrain.getRamseteCommand(trajectoryManager.galacticSearchChallengeBBlue); + } + + } + + @Override + public void execute() { + + } + + @Override + public void end(boolean interrupted) { + + } + + @Override + public boolean isFinished() { + return false; + } +} \ No newline at end of file diff --git a/src/main/java/frc/robot/commands/SlalomPath.java b/src/main/java/frc/robot/commands/SlalomPath.java new file mode 100644 index 0000000..d21f989 --- /dev/null +++ b/src/main/java/frc/robot/commands/SlalomPath.java @@ -0,0 +1,43 @@ + +/*----------------------------------------------------------------------------*/ +/* 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 frc.robot.commands; + +import edu.wpi.first.wpilibj2.command.CommandBase; +import frc.robot.subsystems.DriveTrain; +import frc.robot.TrajectoryManager; + +public class SlalomPath extends CommandBase { + private final DriveTrain driveTrain; + private final TrajectoryManager trajectoryManager; + + public SlalomPath(DriveTrain driveTrain, TrajectoryManager trajectoryManager) { + this.driveTrain = driveTrain; + this.trajectoryManager = trajectoryManager; + } + + @Override + public void initialize() { + driveTrain.getRamseteCommand(trajectoryManager.slalomPath); + } + + @Override + public void execute() { + + } + + @Override + public void end(boolean interrupted) { + + } + + @Override + public boolean isFinished() { + return false; + } +} \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/DriveTrain.java b/src/main/java/frc/robot/subsystems/DriveTrain.java index 8908082..1979066 100644 --- a/src/main/java/frc/robot/subsystems/DriveTrain.java +++ b/src/main/java/frc/robot/subsystems/DriveTrain.java @@ -13,6 +13,7 @@ import com.ctre.phoenix.sensors.PigeonIMU; +import edu.wpi.first.wpilibj.DigitalInput; import edu.wpi.first.wpilibj.SpeedControllerGroup; import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj.GenericHID.Hand; @@ -44,6 +45,7 @@ public class DriveTrain extends SubsystemBase { SimpleMotorFeedforward simpleMotorFeedforward; RamseteController ramseteController; PIDController leftPIDController, rightPIDController; + public DigitalInput photoEye; /** @@ -64,6 +66,7 @@ public DriveTrain() { odometry = new DifferentialDriveOdometry(Rotation2d.fromDegrees(getHeading())); this.setDefaultCommand(new TankDrive(this)); zeroHeading(); + photoEye = new DigitalInput(Constants.PHOTO_EYE_CHANNEL); //falconFrontLeft.configSelectedFeedbackSensor(FeedbackDevice.IntegratedSensor); //falconFrontRight.configSelectedFeedbackSensor(FeedbackDevice.IntegratedSensor); @@ -165,6 +168,5 @@ public void resetOdometry(Pose2d pose2d) { //Drives the robot depending on the thumbstick inputs public void drive() { drive.curvatureDrive(driverController.getY(Hand.kLeft), driverController.getX(Hand.kRight), false); - } - + } } From 562eec9c5ce08ef51763803fdc1605d0cfeeb6b4 Mon Sep 17 00:00:00 2001 From: MORE Robotics Date: Mon, 25 Jan 2021 18:46:50 -0600 Subject: [PATCH 04/10] Modification of Paths and changing names of objects --- PathWeaver/Paths/NewBarrelRacingPath | 6 +++--- PathWeaver/Paths/galacticSearchABlue | 2 +- PathWeaver/pathweaver.json | 2 +- src/main/java/frc/robot/Constants.java | 4 ++-- .../java/frc/robot/commands/FeedPowerCells.java | 4 ++-- .../commands/RemoveBallsFromTransporter.java | 4 ++-- .../java/frc/robot/subsystems/DriveTrain.java | 2 +- src/main/java/frc/robot/subsystems/Hopper.java | 16 ++++++++-------- 8 files changed, 20 insertions(+), 20 deletions(-) diff --git a/PathWeaver/Paths/NewBarrelRacingPath b/PathWeaver/Paths/NewBarrelRacingPath index a3d4622..5e5676a 100644 --- a/PathWeaver/Paths/NewBarrelRacingPath +++ b/PathWeaver/Paths/NewBarrelRacingPath @@ -1,8 +1,8 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name 1.2488402997606416,-2.4405629356957963,3.048,0.0,true,false, -3.9696232633564397,-2.3425686340408634,0.7032532236412856,-1.3142765163132246,true,false, -3.6814047290772236,-3.374390986760456,-1.2681615508285495,0.10375867234051794,true,false, -3.6179966515357957,-2.561614720093067,1.366155852483483,0.36891972387739624,true,false, +3.952330151299686,-2.659609021748001,0.3170403877071375,-0.6801957408989492,true,false, +3.9119795565005964,-3.38015535744604,-1.2681615508285495,0.10375867234051794,true,false, +3.854335849644753,-2.694195245861507,1.366155852483483,0.36891972387739624,true,false, 6.598176295982888,-1.6450797810851607,0.06340807754142652,0.7493681891259609,true,false, 6.056325451537962,-1.0859358245834823,-1.2739259215141336,-0.5015002496458354,true,false, 6.177377235935232,-2.809482659573193,1.8157767659590602,-0.7839544132394667,true,false, diff --git a/PathWeaver/Paths/galacticSearchABlue b/PathWeaver/Paths/galacticSearchABlue index 31fdfd8..f5961fe 100644 --- a/PathWeaver/Paths/galacticSearchABlue +++ b/PathWeaver/Paths/galacticSearchABlue @@ -1,5 +1,5 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name -0.6943187933322688,-2.87824009768627,2.8702303528258564,-0.9529164771381842,true,false, +0.7286354701686436,-2.901135283834487,2.686496531626647,-0.04011713325724475,true,false, 4.689683305245024,-3.5211253797594857,0.35592024025323976,2.1757059847738383,true,false, 5.32689534827905,-1.4544917266761568,2.106818196337726,-1.079242018832405,true,false, 6.917055131345944,-2.315589082127544,1.0590977679822307,-0.27984750627826704,false,false, diff --git a/PathWeaver/pathweaver.json b/PathWeaver/pathweaver.json index 927c5c5..e7eab35 100644 --- a/PathWeaver/pathweaver.json +++ b/PathWeaver/pathweaver.json @@ -4,6 +4,6 @@ "maxVelocity": 4.267, "maxAcceleration": 4.572, "wheelBase": 0.72, - "gameName": "Galactic Search A", + "gameName": "Slalom", "outputDir": "../src/main/deploy" } \ No newline at end of file diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 38f3319..d6bdf6e 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -31,7 +31,7 @@ public final class Constants { public static final int SHOOTER_LEFT_SLAVE_MOTOR_ID = 21; public static final int SHOOTER_RIGHT_MASTER_MOTOR_ID = 22; public static final int SHOOTER_RIGHT_SLAVE_MOTOR_ID = 23; - public static final int SHOOTER_FEEDER_MOTOR_ID = 24; + public static final int GYRO_CONTROLLER_MOTOR_ID = 24; //Defines the channels of the solenoids on the shooter public static final int SHOOTER_SOLENOID_FORWARD_CHANNEL = 2; @@ -51,7 +51,7 @@ public final class Constants { //Defines the IDs of the motor controllers on the hopper public static final int HOPPER_FRONT_MASTER_MOTOR_ID = 51; - public static final int HOPPER_FEEDER_MOTOR_ID = 53; + public static final int TRANSPORTER_MOTOR_ID = 53; //Defines the IDs of the motor controllers on the intake public static final int INTAKE_MOTOR_ID = 60; diff --git a/src/main/java/frc/robot/commands/FeedPowerCells.java b/src/main/java/frc/robot/commands/FeedPowerCells.java index f938b72..e8e20ef 100644 --- a/src/main/java/frc/robot/commands/FeedPowerCells.java +++ b/src/main/java/frc/robot/commands/FeedPowerCells.java @@ -25,7 +25,7 @@ public FeedPowerCells(Hopper hopper) { @Override public void initialize() { //Starts the hopper feeder motor - hopper.startFeeder(); + hopper.startTransporter(); } // Called every time the scheduler runs while the command is scheduled. @@ -37,7 +37,7 @@ public void execute() { @Override public void end(boolean interrupted) { //Stops the hopper feeder motor - hopper.stopFeeder(); + hopper.stopTransporter(); } // Returns true when the command should end. diff --git a/src/main/java/frc/robot/commands/RemoveBallsFromTransporter.java b/src/main/java/frc/robot/commands/RemoveBallsFromTransporter.java index 028876b..c7f3a3e 100644 --- a/src/main/java/frc/robot/commands/RemoveBallsFromTransporter.java +++ b/src/main/java/frc/robot/commands/RemoveBallsFromTransporter.java @@ -25,7 +25,7 @@ public RemoveBallsFromTransporter(Hopper hopper) { @Override public void initialize() { //Reverses the hopper feeder motor - hopper.reverseFeeder(); + hopper.reverseTransporter(); } // Called every time the scheduler runs while the command is scheduled. @@ -37,7 +37,7 @@ public void execute() { @Override public void end(boolean interrupted) { //Stops the hopper feeder motor - hopper.stopFeeder(); + hopper.stopTransporter(); } // Returns true when the command should end. diff --git a/src/main/java/frc/robot/subsystems/DriveTrain.java b/src/main/java/frc/robot/subsystems/DriveTrain.java index 1979066..92059a5 100644 --- a/src/main/java/frc/robot/subsystems/DriveTrain.java +++ b/src/main/java/frc/robot/subsystems/DriveTrain.java @@ -60,7 +60,7 @@ public DriveTrain() { falconRearLeft = new WPI_TalonFX(Constants.DRIVE_TRAIN_REAR_LEFT_ID); leftDrive = new SpeedControllerGroup(falconFrontLeft, falconRearLeft); drive = new DifferentialDrive(rightDrive, leftDrive); - gyroController = new TalonSRX(Constants.SHOOTER_FEEDER_MOTOR_ID); + gyroController = new TalonSRX(Constants.GYRO_CONTROLLER_MOTOR_ID); gyro = new PigeonIMU(gyroController); resetEncoders(); odometry = new DifferentialDriveOdometry(Rotation2d.fromDegrees(getHeading())); diff --git a/src/main/java/frc/robot/subsystems/Hopper.java b/src/main/java/frc/robot/subsystems/Hopper.java index 9f596e4..c075feb 100644 --- a/src/main/java/frc/robot/subsystems/Hopper.java +++ b/src/main/java/frc/robot/subsystems/Hopper.java @@ -17,7 +17,7 @@ public class Hopper extends SubsystemBase { //Declares the wheels in the hopper - TalonSRX wheelFrontMaster, wheelFeeder; + TalonSRX wheelFrontMaster, transporter; private final Shooter shooter; @@ -28,7 +28,7 @@ public Hopper(Shooter shooter) { this.shooter = shooter; //Instantiates shooter motors wheelFrontMaster = new TalonSRX(Constants.HOPPER_FRONT_MASTER_MOTOR_ID); - wheelFeeder = new TalonSRX(Constants.HOPPER_FEEDER_MOTOR_ID); + transporter = new TalonSRX(Constants.TRANSPORTER_MOTOR_ID); wheelFrontMaster.setInverted(true); } @@ -46,18 +46,18 @@ public void stopFront() { } //Starts the hopper feeder motor - public void startFeeder() { - wheelFeeder.set(ControlMode.PercentOutput, -1); + public void startTransporter() { + transporter.set(ControlMode.PercentOutput, -1); } //Stops the hopper feeder motor - public void stopFeeder() { - wheelFeeder.set(ControlMode.PercentOutput, 0); + public void stopTransporter() { + transporter.set(ControlMode.PercentOutput, 0); } //Starts the hopper feeder motor in the reverse direction - public void reverseFeeder() { - wheelFeeder.set(ControlMode.PercentOutput, 1); + public void reverseTransporter() { + transporter.set(ControlMode.PercentOutput, 1); } @Override From cf7444a27c50414f941df6e55952746c99c52360 Mon Sep 17 00:00:00 2001 From: MORE Robotics Date: Sat, 30 Jan 2021 13:47:28 -0600 Subject: [PATCH 05/10] Modified trajectories and turret --- PathWeaver/Groups/SlalomPaths | 1 - PathWeaver/Paths/slalomtest | 3 - PathWeaver/Paths/testPath | 6 +- src/main/java/frc/robot/Robot.java | 3 +- .../java/frc/robot/TrajectoryManager.java | 1 + .../java/frc/robot/commands/TestPath.java | 39 ++++++++++ .../java/frc/robot/subsystems/Turret.java | 71 +++++++++---------- 7 files changed, 79 insertions(+), 45 deletions(-) delete mode 100644 PathWeaver/Paths/slalomtest create mode 100644 src/main/java/frc/robot/commands/TestPath.java diff --git a/PathWeaver/Groups/SlalomPaths b/PathWeaver/Groups/SlalomPaths index 559b409..5bb25b6 100644 --- a/PathWeaver/Groups/SlalomPaths +++ b/PathWeaver/Groups/SlalomPaths @@ -1,2 +1 @@ -slalomtest slalomPath diff --git a/PathWeaver/Paths/slalomtest b/PathWeaver/Paths/slalomtest deleted file mode 100644 index f4e8a00..0000000 --- a/PathWeaver/Paths/slalomtest +++ /dev/null @@ -1,3 +0,0 @@ -X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name -1.731406726820162,-1.3788139872433105,6.881,-4.49,true,false, -1.6511477846919727,-2.2845934769757315,-5.0,-5.43,true,false, diff --git a/PathWeaver/Paths/testPath b/PathWeaver/Paths/testPath index ca378a5..f4e8a00 100644 --- a/PathWeaver/Paths/testPath +++ b/PathWeaver/Paths/testPath @@ -1,3 +1,3 @@ -X,Y,Tangent X,Tangent Y,Fixed Theta,Name -3.113094233359474,-3.5093168230429295,1.2724784596197258,0.0,true, -5.625423499788165,-4.161869879258173,0.8481579008177671,-0.004529683692257702,true, +X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name +1.731406726820162,-1.3788139872433105,6.881,-4.49,true,false, +1.6511477846919727,-2.2845934769757315,-5.0,-5.43,true,false, diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 24542a8..a8483d8 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -48,7 +48,8 @@ public void robotInit() { autoPathChooser.setDefaultOption("Test Path", 0); autoPathChooser.addOption("Line to Trench", 1); autoPathChooser.addOption("Line to Three Center Balls", 2); - autoPathChooser.addOption("slalom", 3); + autoPathChooser.addOption("slalomPath", 3); + autoPathChooser.addOption("slalomTest", 4); } /** diff --git a/src/main/java/frc/robot/TrajectoryManager.java b/src/main/java/frc/robot/TrajectoryManager.java index 68f031e..8b03cff 100644 --- a/src/main/java/frc/robot/TrajectoryManager.java +++ b/src/main/java/frc/robot/TrajectoryManager.java @@ -24,6 +24,7 @@ public class TrajectoryManager { public Trajectory linetoThreeCenterBalls; public Trajectory shootingSpot; public Trajectory slalomPath; + public Trajectory slalomtest; public Trajectory galacticSearchChallengeARed; public Trajectory galacticSearchChallengeABlue; public Trajectory galacticSearchChallengeBRed; diff --git a/src/main/java/frc/robot/commands/TestPath.java b/src/main/java/frc/robot/commands/TestPath.java new file mode 100644 index 0000000..67b23b1 --- /dev/null +++ b/src/main/java/frc/robot/commands/TestPath.java @@ -0,0 +1,39 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot.commands; + +import edu.wpi.first.wpilibj2.command.CommandBase; +import frc.robot.TrajectoryManager; +import frc.robot.subsystems.DriveTrain; + +public class TestPath extends CommandBase { + /** Creates a new TestPath. */ + private final DriveTrain driveTrain; + private final TrajectoryManager trajectoryManager; + public TestPath(DriveTrain driveTrain, TrajectoryManager trajectoryManager) { + this.driveTrain = driveTrain; + this.trajectoryManager = trajectoryManager; + // Use addRequirements() here to declare subsystem dependencies. + } + + // Called when the command is initially scheduled. + @Override + public void initialize() { + driveTrain.getRamseteCommand(trajectoryManager.testPath); + } + // 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() { + return false; + } +} diff --git a/src/main/java/frc/robot/subsystems/Turret.java b/src/main/java/frc/robot/subsystems/Turret.java index c411763..4d5dbab 100644 --- a/src/main/java/frc/robot/subsystems/Turret.java +++ b/src/main/java/frc/robot/subsystems/Turret.java @@ -25,10 +25,10 @@ public class Turret extends SubsystemBase { private final DriveTrain driveTrain; - //Declares the motor controller for the turret motor + // Declares the motor controller for the turret motor TalonSRX turretMotor; - //Declares the operator controller + // Declares the operator controller XboxController operatorController; NetworkTableEntry yaw; NetworkTableEntry pitch; @@ -46,55 +46,54 @@ public Turret(DriveTrain driveTrain) { operatorController = new XboxController(Constants.OPERATOR_CONTROLLER_PORT); turretMotor.configFactoryDefault(); - turretMotor.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, Constants.kPIDLoopIdx, Constants.kTimeoutMs); + turretMotor.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, Constants.kPIDLoopIdx, + Constants.kTimeoutMs); turretMotor.setSensorPhase(true); - + turretMotor.configNominalOutputForward(0, Constants.kTimeoutMs); turretMotor.configNominalOutputReverse(0, Constants.kTimeoutMs); turretMotor.configPeakOutputForward(1, Constants.kTimeoutMs); turretMotor.configPeakOutputReverse(-1, Constants.kTimeoutMs); turretMotor.config_kF(Constants.kPIDLoopIdx, Constants.k_Gains_Turret_Position.kF, Constants.kTimeoutMs); - turretMotor.config_kP(Constants.kPIDLoopIdx, Constants.k_Gains_Turret_Position.kP, Constants.kTimeoutMs); - turretMotor.config_kI(Constants.kPIDLoopIdx, Constants.k_Gains_Turret_Position.kI, Constants.kTimeoutMs); + turretMotor.config_kP(Constants.kPIDLoopIdx, Constants.k_Gains_Turret_Position.kP, Constants.kTimeoutMs); + turretMotor.config_kI(Constants.kPIDLoopIdx, Constants.k_Gains_Turret_Position.kI, Constants.kTimeoutMs); turretMotor.config_kD(Constants.kPIDLoopIdx, Constants.k_Gains_Turret_Position.kD, Constants.kTimeoutMs); turretMotor.configMotionCruiseVelocity(800 / 3, Constants.kTimeoutMs); turretMotor.configMotionAcceleration(800 / 3, Constants.kTimeoutMs); - //turretMotor.setSelectedSensorPosition(0, Constants.kPIDLoopIdx, Constants.kTimeoutMs); + // turretMotor.setSelectedSensorPosition(0, Constants.kPIDLoopIdx, + // Constants.kTimeoutMs); this.setDefaultCommand(new TurnTurret(this, driveTrain)); - + int absolutePosition = turretMotor.getSensorCollection().getPulseWidthPosition() - 8000; absolutePosition &= 0xFFF; absolutePosition *= -1; turretMotor.setSelectedSensorPosition(0); - + NetworkTableInstance table = NetworkTableInstance.getDefault(); NetworkTable cameraTable = table.getTable("chameleon-vision").getSubTable("Pi Camera"); yaw = cameraTable.getEntry("targetYaw"); pitch = cameraTable.getEntry("targetPitch"); isDriverMode = cameraTable.getEntry("driver_mode"); - } - + public void rotateToTurretAngle(Rotation2d rotationAngle) { rotateToTarget(rotationAngle.getDegrees() * Constants.ENCODER_UNITS_TO_DEGREES); - System.out.println(rotationAngle); } public void rotateToTarget(double target) { targetPosition = target; if (targetPosition > Constants.TURRET_MAX_ROTATION) { targetPosition = Constants.TURRET_MAX_ROTATION; - } - else if (targetPosition < -Constants.TURRET_MAX_ROTATION) { + } else if (targetPosition < -Constants.TURRET_MAX_ROTATION) { targetPosition = -Constants.TURRET_MAX_ROTATION; } turretMotor.set(ControlMode.MotionMagic, targetPosition); - System.out.println("Target Position " + targetPosition); + } public void turnTurretAuto() { @@ -105,34 +104,32 @@ public void turnTurretAuto() { rotateToTarget(targetPosition - degreesOffTarget * Constants.ENCODER_UNITS_TO_DEGREES); } - //Turns the turret + // Turns the turret public void turnTurret(DriveTrain driveTrain) { - double x = operatorController.getY(Hand.kRight); - //Deadband Check - if(Math.abs(x) <= 0.05) { - x = 0; - } - double y = operatorController.getY(Hand.kRight); - //Deadband Check - if(Math.abs(y) <= 0.05) { - y = 0; - } - Rotation2d turretRotationAngle = new Rotation2d(-operatorController.getY(Hand.kRight), operatorController.getX(Hand.kRight)); + double x = operatorController.getX(Hand.kRight); + // Deadband Check + if (Math.abs(x) <= 0.05) { + x = 0; + } + double y = operatorController.getY(Hand.kRight); + // Deadband Check + if (Math.abs(y) <= 0.05) { + y = 0; + } + Rotation2d turretRotationAngle = new Rotation2d(-y, x); rotateToTurretAngle(turretRotationAngle); - System.out.println("rotation angle" + turretRotationAngle); - //Get gyro yaw + // Get gyro yaw driveTrain.getHeading(); - //Calculate turret relative angle of joystick and gyro - - } - + // Calculate turret relative angle of joystick and gyro + + } + public void turretToAngleAbsolute() { - //Angle want to turn to from joystick - - + // Angle want to turn to from joystick + } - //Stops the turret + // Stops the turret public void stopTurret() { turretMotor.set(ControlMode.MotionMagic, 0); From fe1876ee7dc0dd475df54b1a8d99121515217508 Mon Sep 17 00:00:00 2001 From: MORE Robotics Date: Mon, 1 Feb 2021 19:19:00 -0600 Subject: [PATCH 06/10] Added autoPathChooser to Shuffleboard --- src/main/java/frc/robot/Robot.java | 1 + 1 file changed, 1 insertion(+) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index a8483d8..5d2c29b 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -50,6 +50,7 @@ public void robotInit() { autoPathChooser.addOption("Line to Three Center Balls", 2); autoPathChooser.addOption("slalomPath", 3); autoPathChooser.addOption("slalomTest", 4); + SmartDashboard.putData("Selected Path", autoPathChooser); } /** From 94e7e3eddfed294415c2a2db92ddab86ae30e885 Mon Sep 17 00:00:00 2001 From: MORE Robotics Date: Sat, 13 Feb 2021 10:42:11 -0600 Subject: [PATCH 07/10] Changed which paths were functional in the code and added a dropdown for it. --- PathWeaver/Groups/GalacticSearchBPaths | 1 - PathWeaver/Paths/lineToThreeCenterBalls | 4 - PathWeaver/Paths/lineToTrench | 3 - PathWeaver/Paths/testPath | 5 +- PathWeaver/output/Unnamed.wpilib.json | 1 - PathWeaver/output/Unnamed_0.wpilib.json | 1 - PathWeaver/output/Unnamed_1.wpilib.json | 1 - .../output/lineToThreeCenterBalls.wpilib.json | 1 - PathWeaver/output/lineToTrench.wpilib.json | 1 - PathWeaver/output/test path.wpilib.json | 1 - PathWeaver/output/testPath.wpilib.json | 1 - PathWeaver/pathweaver.json | 4 +- src/main/deploy/output/Unnamed.wpilib.json | 1 - src/main/deploy/output/Unnamed_0.wpilib.json | 1 - src/main/deploy/output/Unnamed_1.wpilib.json | 1 - .../output/barrelRacingPath.wpilib.json | 1 + src/main/deploy/output/bouncePath.wpilib.json | 1 + .../output/galacticSearchABlue.wpilib.json | 1 + .../output/galacticSearchARed.wpilib.json | 1 + .../output/galacticSearchBBlue.wpilib.json | 1 + .../output/galacticSearchBRed.wpilib.json | 1 + .../output/lineToThreeCenterBalls.wpilib.json | 1 - .../deploy/output/lineToTrench.wpilib.json | 1 - src/main/deploy/output/testPath.wpilib.json | 1143 ++++++++++++++++- src/main/java/frc/robot/Robot.java | 11 +- src/main/java/frc/robot/RobotContainer.java | 4 +- .../java/frc/robot/TrajectoryManager.java | 26 +- .../commands/GalacticSearchChallengeA.java | 48 - .../commands/GalacticSearchChallengeB.java | 48 - .../java/frc/robot/subsystems/Turret.java | 4 +- 30 files changed, 1176 insertions(+), 143 deletions(-) delete mode 100644 PathWeaver/Paths/lineToThreeCenterBalls delete mode 100644 PathWeaver/Paths/lineToTrench delete mode 100644 PathWeaver/output/Unnamed.wpilib.json delete mode 100644 PathWeaver/output/Unnamed_0.wpilib.json delete mode 100644 PathWeaver/output/Unnamed_1.wpilib.json delete mode 100644 PathWeaver/output/lineToThreeCenterBalls.wpilib.json delete mode 100644 PathWeaver/output/lineToTrench.wpilib.json delete mode 100644 PathWeaver/output/test path.wpilib.json delete mode 100644 PathWeaver/output/testPath.wpilib.json delete mode 100644 src/main/deploy/output/Unnamed.wpilib.json delete mode 100644 src/main/deploy/output/Unnamed_0.wpilib.json delete mode 100644 src/main/deploy/output/Unnamed_1.wpilib.json create mode 100644 src/main/deploy/output/barrelRacingPath.wpilib.json create mode 100644 src/main/deploy/output/bouncePath.wpilib.json create mode 100644 src/main/deploy/output/galacticSearchABlue.wpilib.json create mode 100644 src/main/deploy/output/galacticSearchARed.wpilib.json create mode 100644 src/main/deploy/output/galacticSearchBBlue.wpilib.json create mode 100644 src/main/deploy/output/galacticSearchBRed.wpilib.json delete mode 100644 src/main/deploy/output/lineToThreeCenterBalls.wpilib.json delete mode 100644 src/main/deploy/output/lineToTrench.wpilib.json delete mode 100644 src/main/java/frc/robot/commands/GalacticSearchChallengeA.java delete mode 100644 src/main/java/frc/robot/commands/GalacticSearchChallengeB.java diff --git a/PathWeaver/Groups/GalacticSearchBPaths b/PathWeaver/Groups/GalacticSearchBPaths index ae2d7a9..d17e5e7 100644 --- a/PathWeaver/Groups/GalacticSearchBPaths +++ b/PathWeaver/Groups/GalacticSearchBPaths @@ -1,2 +1 @@ galacticSearchBBlue -galacticSearchBRed diff --git a/PathWeaver/Paths/lineToThreeCenterBalls b/PathWeaver/Paths/lineToThreeCenterBalls deleted file mode 100644 index 084a8f1..0000000 --- a/PathWeaver/Paths/lineToThreeCenterBalls +++ /dev/null @@ -1,4 +0,0 @@ -X,Y,Tangent X,Tangent Y,Fixed Theta,Name -3.031068273586308,-4.5,1.4991259321315735,0.0,true, -5.779465815827527,-4.023055154760861,2.0464258756081817,-0.8447455649312827,true, -6.6123135559006245,-4.213420352491854,0.6900738417748506,0.27364997173830297,false, diff --git a/PathWeaver/Paths/lineToTrench b/PathWeaver/Paths/lineToTrench deleted file mode 100644 index cd1962e..0000000 --- a/PathWeaver/Paths/lineToTrench +++ /dev/null @@ -1,3 +0,0 @@ -X,Y,Tangent X,Tangent Y,Fixed Theta,Name -3.113094233359474,-2.5304872387200623,1.5661273349165867,0.0,true, -5.886444722274262,-0.7359663341281406,1.2723173873576767,-0.004529683692257702,true, diff --git a/PathWeaver/Paths/testPath b/PathWeaver/Paths/testPath index f4e8a00..7f48158 100644 --- a/PathWeaver/Paths/testPath +++ b/PathWeaver/Paths/testPath @@ -1,3 +1,4 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name -1.731406726820162,-1.3788139872433105,6.881,-4.49,true,false, -1.6511477846919727,-2.2845934769757315,-5.0,-5.43,true,false, +2.212960379589297,-0.7768719212818919,0.30957020535158675,0.005732781580584878,true,false, +3.0843431798382084,-1.5049351820161794,-0.005732781580585211,-0.2293112632233978,true,false, +1.6511477846919727,-2.2845934769757315,-0.07452616054760397,-0.19491457373988785,true,false, diff --git a/PathWeaver/output/Unnamed.wpilib.json b/PathWeaver/output/Unnamed.wpilib.json deleted file mode 100644 index 2be3d8b..0000000 --- a/PathWeaver/output/Unnamed.wpilib.json +++ /dev/null @@ -1 +0,0 @@ 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//Instantiates the auto path chooser and adds its options autoPathChooser = new SendableChooser(); - autoPathChooser.setDefaultOption("Test Path", 0); - autoPathChooser.addOption("Line to Trench", 1); - autoPathChooser.addOption("Line to Three Center Balls", 2); - autoPathChooser.addOption("slalomPath", 3); - autoPathChooser.addOption("slalomTest", 4); + autoPathChooser.setDefaultOption("testPath", 0); + autoPathChooser.addOption("barrelRacingPath", 1); + autoPathChooser.addOption("bouncePath", 2); + autoPathChooser.addOption("galacticSearchA", 3); + autoPathChooser.addOption("galacticSearchB", 4); + autoPathChooser.addOption("slalomPath", 5); SmartDashboard.putData("Selected Path", autoPathChooser); } diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index a149ac9..424d0b7 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -155,10 +155,10 @@ public Command getAutonomousCommand() { return new TestAutonomous(driveTrain, exampleTrajectory); case 1: - return new TestAutonomous(driveTrain, trajectoryManager.lineToTrench); + return new TestAutonomous(driveTrain, trajectoryManager.barrelRacingPath); case 2: - return new TestAutonomous(driveTrain, trajectoryManager.linetoThreeCenterBalls); + return new TestAutonomous(driveTrain, trajectoryManager.bouncePath); default: return new TestAutonomous(driveTrain, trajectoryManager.testPath); diff --git a/src/main/java/frc/robot/TrajectoryManager.java b/src/main/java/frc/robot/TrajectoryManager.java index 8b03cff..29a44da 100644 --- a/src/main/java/frc/robot/TrajectoryManager.java +++ b/src/main/java/frc/robot/TrajectoryManager.java @@ -19,16 +19,12 @@ * Add your docs here. */ public class TrajectoryManager { - public Trajectory testPath; - public Trajectory lineToTrench; - public Trajectory linetoThreeCenterBalls; - public Trajectory shootingSpot; public Trajectory slalomPath; - public Trajectory slalomtest; - public Trajectory galacticSearchChallengeARed; - public Trajectory galacticSearchChallengeABlue; - public Trajectory galacticSearchChallengeBRed; - public Trajectory galacticSearchChallengeBBlue; + public Trajectory testPath; + public Trajectory galacticSearchARed; + public Trajectory galacticSearchABlue; + public Trajectory galacticSearchBRed; + public Trajectory galacticSearchBBlue; public Trajectory bouncePath; public Trajectory barrelRacingPath; public static Trajectory excessPath; @@ -46,11 +42,15 @@ public Trajectory LoadTrajectory(String trajectoryFile) { } public void LoadAllPaths() { + barrelRacingPath = LoadTrajectory("barrelRacingPath"); + bouncePath = LoadTrajectory("bouncePath"); + galacticSearchARed = LoadTrajectory("galacticSearchARed"); + galacticSearchABlue = LoadTrajectory("galacticSearchABlue"); + galacticSearchBRed = LoadTrajectory("galacticSearchBRed"); + galacticSearchBRed = LoadTrajectory("galacticSearchBRed"); + slalomPath = LoadTrajectory("slalomPath"); testPath = LoadTrajectory("testPath"); - lineToTrench = LoadTrajectory("lineToTrench"); - linetoThreeCenterBalls = LoadTrajectory("lineToThreeCenterBalls"); - //still needs to be added to Pathweaver - shootingSpot = LoadTrajectory("shootingSpot"); + } } diff --git a/src/main/java/frc/robot/commands/GalacticSearchChallengeA.java b/src/main/java/frc/robot/commands/GalacticSearchChallengeA.java deleted file mode 100644 index 23273c1..0000000 --- a/src/main/java/frc/robot/commands/GalacticSearchChallengeA.java +++ /dev/null @@ -1,48 +0,0 @@ - -/*----------------------------------------------------------------------------*/ -/* 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 frc.robot.commands; - -import edu.wpi.first.wpilibj2.command.CommandBase; -import frc.robot.subsystems.DriveTrain; -import frc.robot.TrajectoryManager; - -public class GalacticSearchChallengeA extends CommandBase { - private final DriveTrain driveTrain; - private final TrajectoryManager trajectoryManager; - - public GalacticSearchChallengeA(DriveTrain driveTrain, TrajectoryManager trajectoryManager) { - this.driveTrain = driveTrain; - this.trajectoryManager = trajectoryManager; - } - - @Override - public void initialize() { - if(driveTrain.photoEye.get()) { - driveTrain.getRamseteCommand(trajectoryManager.galacticSearchChallengeARed); - } else { - driveTrain.getRamseteCommand(trajectoryManager.galacticSearchChallengeABlue); - } - - } - - @Override - public void execute() { - - } - - @Override - public void end(boolean interrupted) { - - } - - @Override - public boolean isFinished() { - return false; - } -} \ No newline at end of file diff --git a/src/main/java/frc/robot/commands/GalacticSearchChallengeB.java b/src/main/java/frc/robot/commands/GalacticSearchChallengeB.java deleted file mode 100644 index 55caab9..0000000 --- a/src/main/java/frc/robot/commands/GalacticSearchChallengeB.java +++ /dev/null @@ -1,48 +0,0 @@ - -/*----------------------------------------------------------------------------*/ -/* 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 frc.robot.commands; - -import edu.wpi.first.wpilibj2.command.CommandBase; -import frc.robot.subsystems.DriveTrain; -import frc.robot.TrajectoryManager; - -public class GalacticSearchChallengeB extends CommandBase { - private final DriveTrain driveTrain; - private final TrajectoryManager trajectoryManager; - - public GalacticSearchChallengeB(DriveTrain driveTrain, TrajectoryManager trajectoryManager) { - this.driveTrain = driveTrain; - this.trajectoryManager = trajectoryManager; - } - - @Override - public void initialize() { - if(driveTrain.photoEye.get()) { - driveTrain.getRamseteCommand(trajectoryManager.galacticSearchChallengeBRed); - } else { - driveTrain.getRamseteCommand(trajectoryManager.galacticSearchChallengeBBlue); - } - - } - - @Override - public void execute() { - - } - - @Override - public void end(boolean interrupted) { - - } - - @Override - public boolean isFinished() { - return false; - } -} \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/Turret.java b/src/main/java/frc/robot/subsystems/Turret.java index 4d5dbab..de68b3b 100644 --- a/src/main/java/frc/robot/subsystems/Turret.java +++ b/src/main/java/frc/robot/subsystems/Turret.java @@ -60,8 +60,8 @@ public Turret(DriveTrain driveTrain) { turretMotor.config_kI(Constants.kPIDLoopIdx, Constants.k_Gains_Turret_Position.kI, Constants.kTimeoutMs); turretMotor.config_kD(Constants.kPIDLoopIdx, Constants.k_Gains_Turret_Position.kD, Constants.kTimeoutMs); - turretMotor.configMotionCruiseVelocity(800 / 3, Constants.kTimeoutMs); - turretMotor.configMotionAcceleration(800 / 3, Constants.kTimeoutMs); + turretMotor.configMotionCruiseVelocity(10 / (60 / Constants.TURRET_ENCODER_EDGES), Constants.kTimeoutMs); + turretMotor.configMotionAcceleration(10 / (60 / Constants.TURRET_ENCODER_EDGES), Constants.kTimeoutMs); // turretMotor.setSelectedSensorPosition(0, Constants.kPIDLoopIdx, // Constants.kTimeoutMs); From 098f893cd6019d7ef738a79d76a1411f66c0263c Mon Sep 17 00:00:00 2001 From: MORE Robotics Date: Mon, 15 Feb 2021 17:50:28 -0600 Subject: [PATCH 08/10] modified paths, planned to be changed --- PathWeaver/Paths/testPath | 4 +- PathWeaver/pathweaver.json | 2 +- .../output/NewBarrelRacingPath.wpilib.json | 1 + .../output/barrelRacingPath.wpilib.json | 2 +- src/main/deploy/output/bouncePath.wpilib.json | 2 +- .../output/galacticSearchABlue.wpilib.json | 2 +- .../output/galacticSearchARed.wpilib.json | 2 +- .../output/galacticSearchBBlue.wpilib.json | 2 +- .../output/galacticSearchBRed.wpilib.json | 2 +- src/main/deploy/output/slalomPath.wpilib.json | 1 + src/main/deploy/output/testPath.wpilib.json | 1143 +---------------- .../frc/robot/commands/TestAutonomous.java | 2 +- .../java/frc/robot/subsystems/DriveTrain.java | 6 +- 13 files changed, 16 insertions(+), 1155 deletions(-) create mode 100644 src/main/deploy/output/NewBarrelRacingPath.wpilib.json create mode 100644 src/main/deploy/output/slalomPath.wpilib.json diff --git a/PathWeaver/Paths/testPath b/PathWeaver/Paths/testPath index 7f48158..e222dd4 100644 --- a/PathWeaver/Paths/testPath +++ b/PathWeaver/Paths/testPath @@ -1,4 +1,4 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name 2.212960379589297,-0.7768719212818919,0.30957020535158675,0.005732781580584878,true,false, -3.0843431798382084,-1.5049351820161794,-0.005732781580585211,-0.2293112632233978,true,false, -1.6511477846919727,-2.2845934769757315,-0.07452616054760397,-0.19491457373988785,true,false, +2.984710541451278,-1.5520827602939806,0.4801932720792544,0.0471808192097957,false,false, +3.65636647870336,-0.7885764384604174,0.16647882205393572,0.005740649036342638,true,false, diff --git a/PathWeaver/pathweaver.json b/PathWeaver/pathweaver.json index 8878139..47554dc 100644 --- a/PathWeaver/pathweaver.json +++ b/PathWeaver/pathweaver.json @@ -2,7 +2,7 @@ "lengthUnit": "Meter", "exportUnit": "Always Meters", "maxVelocity": 4.267, - "maxAcceleration": 1.0, + "maxAcceleration": 0.5, "wheelBase": 0.72, "gameName": "Galactic Search A", "outputDir": "../src/main/deploy" diff --git a/src/main/deploy/output/NewBarrelRacingPath.wpilib.json b/src/main/deploy/output/NewBarrelRacingPath.wpilib.json new file mode 100644 index 0000000..3b56932 --- /dev/null +++ b/src/main/deploy/output/NewBarrelRacingPath.wpilib.json @@ -0,0 +1 @@ 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\ No newline at end of file diff --git a/src/main/java/frc/robot/commands/TestAutonomous.java b/src/main/java/frc/robot/commands/TestAutonomous.java index 663c92e..ed2bc2b 100644 --- a/src/main/java/frc/robot/commands/TestAutonomous.java +++ b/src/main/java/frc/robot/commands/TestAutonomous.java @@ -21,7 +21,7 @@ public class TestAutonomous extends SequentialCommandGroup { */ public TestAutonomous(DriveTrain driveTrain, Trajectory testPath) { m_driveTrain = driveTrain; - + m_driveTrain.zeroHeading(); addCommands(m_driveTrain.getRamseteCommand(testPath)); // Add your commands in the super() call, e.g. // super(new FooCommand(), new BarCommand()); diff --git a/src/main/java/frc/robot/subsystems/DriveTrain.java b/src/main/java/frc/robot/subsystems/DriveTrain.java index 92059a5..5df4f78 100644 --- a/src/main/java/frc/robot/subsystems/DriveTrain.java +++ b/src/main/java/frc/robot/subsystems/DriveTrain.java @@ -65,7 +65,7 @@ public DriveTrain() { resetEncoders(); odometry = new DifferentialDriveOdometry(Rotation2d.fromDegrees(getHeading())); this.setDefaultCommand(new TankDrive(this)); - zeroHeading(); + photoEye = new DigitalInput(Constants.PHOTO_EYE_CHANNEL); //falconFrontLeft.configSelectedFeedbackSensor(FeedbackDevice.IntegratedSensor); @@ -106,7 +106,7 @@ public RamseteCommand getRamseteCommand(Trajectory trajectory) { } public void zeroHeading() { - gyro.setCompassAngle(0.0); + gyro.setCompassAngle(90.0); } public void resetEncoders() { @@ -122,7 +122,7 @@ public double getHeading() { double [] ypr = new double[3]; gyro.getYawPitchRoll(ypr); System.out.println("Yaw " + ypr[0]); - return Math.IEEEremainder(ypr[0], 360); + return ypr[0]%360; } @Override From f6f2801956e01c6f8644707010101e46a9dbb489 Mon Sep 17 00:00:00 2001 From: MORE Robotics Date: Sat, 20 Feb 2021 09:19:43 -0600 Subject: [PATCH 09/10] reformat of json --- .../output/galacticSearchABlue.wpilib.json | 2403 ++++++++++++++++- 1 file changed, 2402 insertions(+), 1 deletion(-) diff --git a/src/main/deploy/output/galacticSearchABlue.wpilib.json b/src/main/deploy/output/galacticSearchABlue.wpilib.json index 9a79699..3596462 100644 --- a/src/main/deploy/output/galacticSearchABlue.wpilib.json +++ b/src/main/deploy/output/galacticSearchABlue.wpilib.json @@ -1 +1,2402 @@ 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56 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/DriveTrain.java b/src/main/java/frc/robot/subsystems/DriveTrain.java index 5df4f78..386780d 100644 --- a/src/main/java/frc/robot/subsystems/DriveTrain.java +++ b/src/main/java/frc/robot/subsystems/DriveTrain.java @@ -10,6 +10,7 @@ import com.ctre.phoenix.motorcontrol.SupplyCurrentLimitConfiguration; import com.ctre.phoenix.motorcontrol.can.TalonSRX; import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; +import com.ctre.phoenix.motorcontrol.NeutralMode; import com.ctre.phoenix.sensors.PigeonIMU; @@ -46,63 +47,61 @@ public class DriveTrain extends SubsystemBase { RamseteController ramseteController; PIDController leftPIDController, rightPIDController; public DigitalInput photoEye; - /** * Creates a new DriveTrain. */ public DriveTrain() { - //Instantiates the drive motors - falconFrontRight = new WPI_TalonFX(Constants.DRIVE_TRAIN_FRONT_RIGHT_ID); - falconRearRight = new WPI_TalonFX(Constants.DRIVE_TRAIN_REAR_RIGHT_ID); - rightDrive = new SpeedControllerGroup(falconFrontRight, falconRearRight); - falconFrontLeft = new WPI_TalonFX(Constants.DRIVE_TRAIN_FRONT_LEFT_ID); - falconRearLeft = new WPI_TalonFX(Constants.DRIVE_TRAIN_REAR_LEFT_ID); - leftDrive = new SpeedControllerGroup(falconFrontLeft, falconRearLeft); - drive = new DifferentialDrive(rightDrive, leftDrive); - gyroController = new TalonSRX(Constants.GYRO_CONTROLLER_MOTOR_ID); - gyro = new PigeonIMU(gyroController); - resetEncoders(); - odometry = new DifferentialDriveOdometry(Rotation2d.fromDegrees(getHeading())); - this.setDefaultCommand(new TankDrive(this)); - - photoEye = new DigitalInput(Constants.PHOTO_EYE_CHANNEL); - - //falconFrontLeft.configSelectedFeedbackSensor(FeedbackDevice.IntegratedSensor); - //falconFrontRight.configSelectedFeedbackSensor(FeedbackDevice.IntegratedSensor); - - //falconFrontLeft.configStatorCurrentLimit(new StatorCurrentLimitConfiguration(true, 70, 25, 1.0)); - falconFrontLeft.configSupplyCurrentLimit(new SupplyCurrentLimitConfiguration(true, 70, 15, 0.5)); - falconFrontRight.configSupplyCurrentLimit(new SupplyCurrentLimitConfiguration(true, 70, 15, 0.5)); - falconRearLeft.configSupplyCurrentLimit(new SupplyCurrentLimitConfiguration(true, 70, 15, 0.5)); - falconRearRight.configSupplyCurrentLimit(new SupplyCurrentLimitConfiguration(true, 70, 15, 0.5)); - - falconFrontLeft.setSensorPhase(true); - falconFrontRight.setSensorPhase(true); - - //falconRearLeft.follow(falconFrontLeft); - //falconRearRight.follow(falconFrontRight); - ramseteController = new RamseteController(Constants.kRamseteB, Constants.kRamseteZeta); - simpleMotorFeedforward = new SimpleMotorFeedforward(Constants.ksVolts, - Constants.kvVoltSecondsPerMeter, - Constants.kaVoltSecondsSquaredPerMeter); - - leftPIDController = new PIDController(Constants.kPDriveVel, 0, 0); - rightPIDController = new PIDController(Constants.kPDriveVel, 0, 0); + // Instantiates the drive motors + falconFrontRight = new WPI_TalonFX(Constants.DRIVE_TRAIN_FRONT_RIGHT_ID); + falconRearRight = new WPI_TalonFX(Constants.DRIVE_TRAIN_REAR_RIGHT_ID); + rightDrive = new SpeedControllerGroup(falconFrontRight, falconRearRight); + falconFrontLeft = new WPI_TalonFX(Constants.DRIVE_TRAIN_FRONT_LEFT_ID); + falconRearLeft = new WPI_TalonFX(Constants.DRIVE_TRAIN_REAR_LEFT_ID); + leftDrive = new SpeedControllerGroup(falconFrontLeft, falconRearLeft); + drive = new DifferentialDrive(rightDrive, leftDrive); + gyroController = new TalonSRX(Constants.GYRO_CONTROLLER_MOTOR_ID); + gyro = new PigeonIMU(gyroController); + resetEncoders(); + odometry = new DifferentialDriveOdometry(Rotation2d.fromDegrees(getHeading())); + this.setDefaultCommand(new TankDrive(this)); + + photoEye = new DigitalInput(Constants.PHOTO_EYE_CHANNEL); + + // falconFrontLeft.configSelectedFeedbackSensor(FeedbackDevice.IntegratedSensor); + // falconFrontRight.configSelectedFeedbackSensor(FeedbackDevice.IntegratedSensor); + + // falconFrontLeft.configStatorCurrentLimit(new + // StatorCurrentLimitConfiguration(true, 70, 25, 1.0)); + falconFrontLeft.configSupplyCurrentLimit(new SupplyCurrentLimitConfiguration(true, 70, 15, 0.5)); + falconFrontRight.configSupplyCurrentLimit(new SupplyCurrentLimitConfiguration(true, 70, 15, 0.5)); + falconRearLeft.configSupplyCurrentLimit(new SupplyCurrentLimitConfiguration(true, 70, 15, 0.5)); + falconRearRight.configSupplyCurrentLimit(new SupplyCurrentLimitConfiguration(true, 70, 15, 0.5)); + + // sets brake mode for the falcons + falconFrontLeft.setNeutralMode(NeutralMode.Brake); + falconFrontRight.setNeutralMode(NeutralMode.Brake); + falconRearLeft.setNeutralMode(NeutralMode.Brake); + falconRearRight.setNeutralMode(NeutralMode.Brake); + + falconFrontLeft.setSensorPhase(true); + falconFrontRight.setSensorPhase(true); + + // falconRearLeft.follow(falconFrontLeft); + // falconRearRight.follow(falconFrontRight); + ramseteController = new RamseteController(Constants.kRamseteB, Constants.kRamseteZeta); + simpleMotorFeedforward = new SimpleMotorFeedforward(Constants.ksVolts, Constants.kvVoltSecondsPerMeter, + Constants.kaVoltSecondsSquaredPerMeter); + + leftPIDController = new PIDController(Constants.kPDriveVel, 0, 0); + rightPIDController = new PIDController(Constants.kPDriveVel, 0, 0); } + public RamseteCommand getRamseteCommand(Trajectory trajectory) { - return new RamseteCommand( - trajectory, - this::getPose, - ramseteController, - simpleMotorFeedforward, - Constants.kDriveKinematics, - this::getWheelSpeeds, - leftPIDController, - rightPIDController, - this::tankDriveVolts, - this); + return new RamseteCommand(trajectory, this::getPose, ramseteController, simpleMotorFeedforward, + Constants.kDriveKinematics, this::getWheelSpeeds, leftPIDController, rightPIDController, this::tankDriveVolts, + this); } public void zeroHeading() { @@ -119,15 +118,15 @@ public Pose2d getPose() { } public double getHeading() { - double [] ypr = new double[3]; + double[] ypr = new double[3]; gyro.getYawPitchRoll(ypr); System.out.println("Yaw " + ypr[0]); - return ypr[0]%360; + return ypr[0] % 360; } @Override public void periodic() { - //drive(); + // drive(); // This method will be called once per scheduler run odometry.update(Rotation2d.fromDegrees(getHeading()), getLeftDistance(), getRightDistance()); SmartDashboard.putNumber("Heading ", getHeading()); @@ -156,8 +155,9 @@ public void tankDriveVolts(final double leftVolts, final double rightVolts) { } public DifferentialDriveWheelSpeeds getWheelSpeeds() { - return new DifferentialDriveWheelSpeeds(falconRearLeft.getSelectedSensorVelocity() / Constants.EDGES_PER_REVOLUTION * Constants.WHEEL_DIAMETER , - falconFrontRight.getSelectedSensorVelocity() / Constants.EDGES_PER_REVOLUTION * Constants.WHEEL_DIAMETER ); + return new DifferentialDriveWheelSpeeds( + falconRearLeft.getSelectedSensorVelocity() / Constants.EDGES_PER_REVOLUTION * Constants.WHEEL_DIAMETER, + falconFrontRight.getSelectedSensorVelocity() / Constants.EDGES_PER_REVOLUTION * Constants.WHEEL_DIAMETER); } public void resetOdometry(Pose2d pose2d) { @@ -165,8 +165,8 @@ public void resetOdometry(Pose2d pose2d) { odometry.resetPosition(pose2d, Rotation2d.fromDegrees(getHeading())); } - //Drives the robot depending on the thumbstick inputs + // Drives the robot depending on the thumbstick inputs public void drive() { drive.curvatureDrive(driverController.getY(Hand.kLeft), driverController.getX(Hand.kRight), false); - } + } }