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70 changes: 70 additions & 0 deletions
70
src/main/java/org/carlmontrobotics/commands/AutoMATICALLYGetNote.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,70 @@ | ||
| // 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. | ||
|
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| package org.carlmontrobotics.commands; | ||
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| import static org.carlmontrobotics.Constants.Limelightc.*; | ||
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| import org.carlmontrobotics.Constants.*; | ||
| import org.carlmontrobotics.subsystems.*; | ||
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| import edu.wpi.first.math.geometry.Rotation2d; | ||
| import edu.wpi.first.math.util.Units; | ||
| import edu.wpi.first.wpilibj.Timer; | ||
| import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | ||
| import edu.wpi.first.wpilibj2.command.Command; | ||
| import edu.wpi.first.wpilibj2.command.InstantCommand; | ||
| import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; | ||
| import edu.wpi.first.wpilibj2.command.ParallelRaceGroup; | ||
| import edu.wpi.first.wpilibj2.command.ProxyCommand; | ||
| import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; | ||
| import edu.wpi.first.wpilibj2.command.WaitCommand; | ||
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| public class AutoMATICALLYGetNote extends Command { | ||
| /** Creates a new AutoMATICALLYGetNote. */ | ||
| private Drivetrain dt; | ||
| //private IntakeShooter effector; | ||
| private Limelight ll; | ||
| private Timer timer = new Timer(); | ||
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| public AutoMATICALLYGetNote(Drivetrain dt, Limelight ll /*IntakeShooter effector*/) { | ||
| addRequirements(this.dt = dt); | ||
| addRequirements(this.ll = ll); | ||
| //addRequirements(this.effector = effector); | ||
| // Use addRequirements() here to declare subsystem dependencies. | ||
| } | ||
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| @Override | ||
| public void initialize() { | ||
| timer.reset(); | ||
| timer.start(); | ||
| //new Intake().finallyDo(()->{this.end(false);}); | ||
| SmartDashboard.putBoolean("end", false); | ||
| dt.setFieldOriented(false); | ||
| } | ||
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| @Override | ||
| public void execute() { | ||
| double angleErrRad = Units.degreesToRadians(LimelightHelpers.getTX(Limelightc.INTAKE_LL_NAME)); | ||
| double forwardDistErrMeters = ll.getDistanceToNote(); | ||
| double strafeDistErrMeters = forwardDistErrMeters * Math.tan(angleErrRad); | ||
| // dt.drive(0,0,0); | ||
| dt.drive(Math.max(forwardDistErrMeters*2, MIN_MOVEMENT_METERSPSEC), Math.max(strafeDistErrMeters*2, MIN_MOVEMENT_METERSPSEC), Math.max(angleErrRad*2,MIN_MOVEMENT_RADSPSEC)); | ||
| //180deg is about 6.2 rad/sec, min is .5rad/sec | ||
| } | ||
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| // Called once the command ends or is interrupted. | ||
| @Override | ||
| public void end(boolean interrupted) { | ||
| dt.setFieldOriented(true); | ||
| SmartDashboard.putBoolean("end", true); | ||
| } | ||
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| // Returns true when the command should end. | ||
| @Override | ||
| public boolean isFinished() { | ||
| return false; | ||
| //return timer.get() >= 0.5; | ||
| } | ||
| } |
61 changes: 61 additions & 0 deletions
61
src/main/java/org/carlmontrobotics/commands/MoveToNote.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,61 @@ | ||
| // 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. | ||
|
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| package org.carlmontrobotics.commands; | ||
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| import org.carlmontrobotics.Constants.Limelightc; | ||
| import org.carlmontrobotics.subsystems.Drivetrain; | ||
| import org.carlmontrobotics.subsystems.Limelight; | ||
| import org.carlmontrobotics.subsystems.LimelightHelpers; | ||
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| import edu.wpi.first.math.util.Units; | ||
| import edu.wpi.first.wpilibj.Timer; | ||
| import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | ||
| import edu.wpi.first.wpilibj2.command.Command; | ||
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| public class MoveToNote extends Command { | ||
| private final Drivetrain dt; | ||
| private final Limelight ll; | ||
| private Timer timer = new Timer(); | ||
| /** Creates a new MoveToNote. */ | ||
| public MoveToNote(Drivetrain dt, Limelight ll) { | ||
| // Use addRequirements() here to declare subsystem dependencies. | ||
| addRequirements(this.dt=dt); | ||
| addRequirements(this.ll=ll); | ||
| } | ||
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| // Called when the command is initially scheduled. | ||
| @Override | ||
| public void initialize() { | ||
| new AlignToNote(dt); | ||
| timer.reset(); | ||
| timer.start(); | ||
| //new Intake().finallyDo(()->{this.end(false);}); | ||
| SmartDashboard.putBoolean("end", false); | ||
| dt.setFieldOriented(false); | ||
| } | ||
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| // Called every time the scheduler runs while the command is scheduled. | ||
| @Override | ||
| public void execute() { | ||
| double radErr = Units.degreesToRadians(LimelightHelpers.getTX(Limelightc.INTAKE_LL_NAME)); | ||
| double distErr = ll.getDistanceToNote(); //meters | ||
| double forwardErr = distErr * Math.cos(radErr); | ||
| // dt.drive(0,0,0); | ||
| dt.drive(Math.max(forwardErr*2, .5), 0, 0); | ||
| //180deg is about 6.2 rad/sec, min is .5rad/sec | ||
| } | ||
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| // Called once the command ends or is interrupted. | ||
| @Override | ||
| public void end(boolean interrupted) { | ||
| dt.setFieldOriented(true); | ||
| } | ||
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| // Returns true when the command should end. | ||
| @Override | ||
| public boolean isFinished() { | ||
| return timer.get() >= 0.5; | ||
| } | ||
| } |
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