From 21aae1f54f22e94f14d02d93eb2ef25195838d58 Mon Sep 17 00:00:00 2001 From: stwiggy <144397102+stwiggy@users.noreply.github.com> Date: Fri, 22 Mar 2024 20:43:43 -0700 Subject: [PATCH 01/16] a command to autoMATICALLY goes and intakes note --- .../java/org/carlmontrobotics/Constants.java | 13 +++-- .../commands/AlignToApriltag.java | 3 +- .../commands/AlignToNote.java | 2 +- .../commands/AutoMATICALLYGetNote.java | 57 +++++++++++++++++++ .../commands/RotateToFieldRelativeAngle.java | 2 +- .../commands/TeleopDrive.java | 2 +- .../subsystems/Drivetrain.java | 2 +- .../subsystems/IntakeShooter.java | 7 +++ .../subsystems/Limelight.java | 12 +++- 9 files changed, 87 insertions(+), 13 deletions(-) create mode 100644 src/main/java/org/carlmontrobotics/commands/AutoMATICALLYGetNote.java create mode 100644 src/main/java/org/carlmontrobotics/subsystems/IntakeShooter.java diff --git a/src/main/java/org/carlmontrobotics/Constants.java b/src/main/java/org/carlmontrobotics/Constants.java index d11fd880..46a25b80 100644 --- a/src/main/java/org/carlmontrobotics/Constants.java +++ b/src/main/java/org/carlmontrobotics/Constants.java @@ -24,7 +24,7 @@ public final class Constants { public static final double g = 9.81; //meters per second squared - public static final class Drivetrain { + public static final class Drivetrainc { //#region Subsystem Constants @@ -149,14 +149,14 @@ public static final class Drivetrain { //#endregion } - public static final class Arm { + public static final class Armc { } - public static final class IntakeShooter { + public static final class IntakeShooterc { } - public static final class Limelight { - public static final String INTAKE_LL_NAME = "intake-limelight"; - public static final String SHOOTER_LL_NAME = "shooter-limelight"; + public static final class Limelightc { + public static final String INTAKE_LL_NAME = "limelight-intake"; + public static final String SHOOTER_LL_NAME = "limelight-shooter"; public static final double ERROR_TOLERANCE = 0.1; public static final double HORIZONTAL_FOV_DEG = 0; @@ -164,6 +164,7 @@ public static final class Limelight { public static final double MOUNT_ANGLE_DEG = 46.2; //23.228 public static final double HEIGHT_FROM_GROUND_METERS = Units.inchesToMeters(9); //16.6 public static final double ARM_TO_OUTTAKE_OFFSET_DEG= 115; + public static final double NOTE_HEIGHT = Units.inchesToMeters(2); public static final class Apriltag { public static final int RED_SPEAKER_CENTER_TAG_ID = 4; public static final int BLUE_SPEAKER_CENTER_TAG_ID = 7; diff --git a/src/main/java/org/carlmontrobotics/commands/AlignToApriltag.java b/src/main/java/org/carlmontrobotics/commands/AlignToApriltag.java index b5d3e6de..c54475c3 100644 --- a/src/main/java/org/carlmontrobotics/commands/AlignToApriltag.java +++ b/src/main/java/org/carlmontrobotics/commands/AlignToApriltag.java @@ -4,7 +4,7 @@ package org.carlmontrobotics.commands; -import static org.carlmontrobotics.Constants.Limelight.*; +import static org.carlmontrobotics.Constants.Limelightc.*; import org.carlmontrobotics.subsystems.Drivetrain; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.wpilibj2.command.ProxyCommand; @@ -17,5 +17,6 @@ public AlignToApriltag(Drivetrain dt) { Rotation2d fieldOrientedTargetAngle = Rotation2d.fromDegrees(LimelightHelpers.getTX(SHOOTER_LL_NAME)).plus(Rotation2d.fromDegrees(dt.getHeading())); return new RotateToFieldRelativeAngle(fieldOrientedTargetAngle, dt); }); + addRequirements(dt); } } \ No newline at end of file diff --git a/src/main/java/org/carlmontrobotics/commands/AlignToNote.java b/src/main/java/org/carlmontrobotics/commands/AlignToNote.java index 301ae6dc..db5ba9f5 100644 --- a/src/main/java/org/carlmontrobotics/commands/AlignToNote.java +++ b/src/main/java/org/carlmontrobotics/commands/AlignToNote.java @@ -4,7 +4,7 @@ package org.carlmontrobotics.commands; -import static org.carlmontrobotics.Constants.Limelight.*; +import static org.carlmontrobotics.Constants.Limelightc.*; import org.carlmontrobotics.subsystems.Drivetrain; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.wpilibj2.command.ProxyCommand; diff --git a/src/main/java/org/carlmontrobotics/commands/AutoMATICALLYGetNote.java b/src/main/java/org/carlmontrobotics/commands/AutoMATICALLYGetNote.java new file mode 100644 index 00000000..2d11dc95 --- /dev/null +++ b/src/main/java/org/carlmontrobotics/commands/AutoMATICALLYGetNote.java @@ -0,0 +1,57 @@ +// 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 org.carlmontrobotics.commands; + +import org.carlmontrobotics.Constants.*; +import org.carlmontrobotics.subsystems.*; + +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.util.Units; +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; + +public class AutoMATICALLYGetNote extends Command { + /** Creates a new AutoMATICALLYGetNote. */ + private Drivetrain dt; + private IntakeShooter effector; + private Limelight limelight; + + public AutoMATICALLYGetNote(Drivetrain dt, IntakeShooter effector) { + addRequirements(this.dt = dt); + addRequirements(this.effector = effector); + // Use addRequirements() here to declare subsystem dependencies. + } + + @Override + public void initialize() { + //new Intake().finallyDo(()->{this.end(false);}); + dt.setFieldOriented(false); + } + + @Override + public void execute() { + double radErr = Units.degreesToRadians(LimelightHelpers.getTX(Limelightc.INTAKE_LL_NAME)); + double distErr = limelight.getDistanceToNote(); //meters + dt.drive(Math.max(distErr*2, .5),0,Math.max(radErr*2,.5)); + //180deg is about 6.2 rad/sec, min is .5rad/sec + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) { + dt.setFieldOriented(true); + } + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return false; + } +} diff --git a/src/main/java/org/carlmontrobotics/commands/RotateToFieldRelativeAngle.java b/src/main/java/org/carlmontrobotics/commands/RotateToFieldRelativeAngle.java index 98dc1fd6..d37e6017 100644 --- a/src/main/java/org/carlmontrobotics/commands/RotateToFieldRelativeAngle.java +++ b/src/main/java/org/carlmontrobotics/commands/RotateToFieldRelativeAngle.java @@ -8,7 +8,7 @@ import edu.wpi.first.util.sendable.SendableRegistry; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; -import static org.carlmontrobotics.Constants.Drivetrain.*; +import static org.carlmontrobotics.Constants.Drivetrainc.*; public class RotateToFieldRelativeAngle extends Command { diff --git a/src/main/java/org/carlmontrobotics/commands/TeleopDrive.java b/src/main/java/org/carlmontrobotics/commands/TeleopDrive.java index 098c5581..900609e8 100644 --- a/src/main/java/org/carlmontrobotics/commands/TeleopDrive.java +++ b/src/main/java/org/carlmontrobotics/commands/TeleopDrive.java @@ -1,6 +1,6 @@ package org.carlmontrobotics.commands; -import static org.carlmontrobotics.Constants.Drivetrain.*; +import static org.carlmontrobotics.Constants.Drivetrainc.*; import java.util.function.BooleanSupplier; import java.util.function.DoubleSupplier; diff --git a/src/main/java/org/carlmontrobotics/subsystems/Drivetrain.java b/src/main/java/org/carlmontrobotics/subsystems/Drivetrain.java index fdca39b4..fb04c804 100644 --- a/src/main/java/org/carlmontrobotics/subsystems/Drivetrain.java +++ b/src/main/java/org/carlmontrobotics/subsystems/Drivetrain.java @@ -1,6 +1,6 @@ package org.carlmontrobotics.subsystems; -import static org.carlmontrobotics.Constants.Drivetrain.*; +import static org.carlmontrobotics.Constants.Drivetrainc.*; import java.util.Arrays; import java.util.function.Supplier; diff --git a/src/main/java/org/carlmontrobotics/subsystems/IntakeShooter.java b/src/main/java/org/carlmontrobotics/subsystems/IntakeShooter.java new file mode 100644 index 00000000..37efb132 --- /dev/null +++ b/src/main/java/org/carlmontrobotics/subsystems/IntakeShooter.java @@ -0,0 +1,7 @@ +package org.carlmontrobotics.subsystems; + +import edu.wpi.first.wpilibj2.command.SubsystemBase; + +public class IntakeShooter extends SubsystemBase{ + +} diff --git a/src/main/java/org/carlmontrobotics/subsystems/Limelight.java b/src/main/java/org/carlmontrobotics/subsystems/Limelight.java index 20c7cf39..89f8b217 100644 --- a/src/main/java/org/carlmontrobotics/subsystems/Limelight.java +++ b/src/main/java/org/carlmontrobotics/subsystems/Limelight.java @@ -1,7 +1,7 @@ package org.carlmontrobotics.subsystems; -import static org.carlmontrobotics.Constants.Limelight.*; -import static org.carlmontrobotics.Constants.Limelight.Apriltag.*; +import static org.carlmontrobotics.Constants.Limelightc.*; +import static org.carlmontrobotics.Constants.Limelightc.Apriltag.*; import edu.wpi.first.math.MathUtil; @@ -75,6 +75,14 @@ public double getDistanceToTargetSpeaker(){ } } + public double getDistanceToNote(){ + Rotation2d angleToGoal = Rotation2d.fromDegrees(MOUNT_ANGLE_DEG).plus(Rotation2d.fromDegrees(LimelightHelpers.getTY(INTAKE_LL_NAME))); + double distance = (NOTE_HEIGHT - HEIGHT_FROM_GROUND_METERS) / angleToGoal.getTan(); + SmartDashboard.putNumber("limelight distance to note", distance); + return distance; + } + + // public Pose3d getTargetPose() { // double[] poseArray = LimelightHelpers.getLimelightNTDoubleArray(SHOOTER_LL_NAME, "targetpose_robotspace"); // return LimelightHelpers.toPose3D(poseArray); From a6e08a8bfa0766da81974af4cdbae3118d305662 Mon Sep 17 00:00:00 2001 From: stwiggy <144397102+stwiggy@users.noreply.github.com> Date: Sat, 23 Mar 2024 14:02:39 -0700 Subject: [PATCH 02/16] automatic get note math --- src/main/java/org/carlmontrobotics/RobotContainer.java | 3 ++- .../org/carlmontrobotics/commands/AutoMATICALLYGetNote.java | 4 +++- src/main/java/org/carlmontrobotics/subsystems/Limelight.java | 1 - 3 files changed, 5 insertions(+), 3 deletions(-) diff --git a/src/main/java/org/carlmontrobotics/RobotContainer.java b/src/main/java/org/carlmontrobotics/RobotContainer.java index 1c385a8c..eb5c28a9 100644 --- a/src/main/java/org/carlmontrobotics/RobotContainer.java +++ b/src/main/java/org/carlmontrobotics/RobotContainer.java @@ -77,7 +77,8 @@ private void setDefaultCommands() { } private void setBindingsDriver() { new JoystickButton(driverController, 1).onTrue(new AlignToApriltag(drivetrain)); //button A - new JoystickButton(driverController, 2).whileTrue(new AlignToNote(drivetrain)); //button b? + new JoystickButton(driverController, 2).onTrue(new AlignToNote(drivetrain)); //button b? + new JoystickButton(driverController, 2).whileTrue(new AlignToNote(drivetrain)); //button x? // reset field orientation?? // new JoystickButton(driverController, Driver.resetFieldOrientationButton).onTrue( // new InstantCommand(drivetrain::resetFieldOrientation)); diff --git a/src/main/java/org/carlmontrobotics/commands/AutoMATICALLYGetNote.java b/src/main/java/org/carlmontrobotics/commands/AutoMATICALLYGetNote.java index 2d11dc95..ad4e6a7e 100644 --- a/src/main/java/org/carlmontrobotics/commands/AutoMATICALLYGetNote.java +++ b/src/main/java/org/carlmontrobotics/commands/AutoMATICALLYGetNote.java @@ -39,7 +39,9 @@ public void initialize() { public void execute() { double radErr = Units.degreesToRadians(LimelightHelpers.getTX(Limelightc.INTAKE_LL_NAME)); double distErr = limelight.getDistanceToNote(); //meters - dt.drive(Math.max(distErr*2, .5),0,Math.max(radErr*2,.5)); + double forwardErr = distErr * Math.cos(radErr); + double strafeErr = distErr * Math.sin(radErr); + dt.drive(Math.max(forwardErr*2, .5), Math.max(strafeErr*2, .5), Math.max(radErr*2,.5)); //180deg is about 6.2 rad/sec, min is .5rad/sec } diff --git a/src/main/java/org/carlmontrobotics/subsystems/Limelight.java b/src/main/java/org/carlmontrobotics/subsystems/Limelight.java index 89f8b217..450231dd 100644 --- a/src/main/java/org/carlmontrobotics/subsystems/Limelight.java +++ b/src/main/java/org/carlmontrobotics/subsystems/Limelight.java @@ -82,7 +82,6 @@ public double getDistanceToNote(){ return distance; } - // public Pose3d getTargetPose() { // double[] poseArray = LimelightHelpers.getLimelightNTDoubleArray(SHOOTER_LL_NAME, "targetpose_robotspace"); // return LimelightHelpers.toPose3D(poseArray); From a4f0e51e6ec0b268431fe7ddca26d2aa035a6066 Mon Sep 17 00:00:00 2001 From: stwiggy <144397102+stwiggy@users.noreply.github.com> Date: Sat, 23 Mar 2024 14:11:04 -0700 Subject: [PATCH 03/16] constants --- src/main/java/org/carlmontrobotics/Constants.java | 6 ++++-- .../java/org/carlmontrobotics/subsystems/Limelight.java | 8 ++++---- 2 files changed, 8 insertions(+), 6 deletions(-) diff --git a/src/main/java/org/carlmontrobotics/Constants.java b/src/main/java/org/carlmontrobotics/Constants.java index 46a25b80..4e819f8f 100644 --- a/src/main/java/org/carlmontrobotics/Constants.java +++ b/src/main/java/org/carlmontrobotics/Constants.java @@ -161,8 +161,10 @@ public static final class Limelightc { public static final double ERROR_TOLERANCE = 0.1; public static final double HORIZONTAL_FOV_DEG = 0; public static final double RESOLUTION_WIDTH = 640; - public static final double MOUNT_ANGLE_DEG = 46.2; //23.228 - public static final double HEIGHT_FROM_GROUND_METERS = Units.inchesToMeters(9); //16.6 + public static final double MOUNT_ANGLE_DEG_SHOOTER = 46.2; //23.228 + public static final double MOUNT_ANGLE_DEG_INTAKE = 46.2; //23.228 + public static final double HEIGHT_FROM_GROUND_METERS_SHOOTER = Units.inchesToMeters(56); //16.6 + public static final double HEIGHT_FROM_GROUND_METERS_INTAKE = Units.inchesToMeters(56); //16.6 public static final double ARM_TO_OUTTAKE_OFFSET_DEG= 115; public static final double NOTE_HEIGHT = Units.inchesToMeters(2); public static final class Apriltag { diff --git a/src/main/java/org/carlmontrobotics/subsystems/Limelight.java b/src/main/java/org/carlmontrobotics/subsystems/Limelight.java index 450231dd..95cda1ca 100644 --- a/src/main/java/org/carlmontrobotics/subsystems/Limelight.java +++ b/src/main/java/org/carlmontrobotics/subsystems/Limelight.java @@ -63,8 +63,8 @@ public Pose2d getCurrentPose(){ public double getDistanceToTargetSpeaker(){ if (LimelightHelpers.getFiducialID(SHOOTER_LL_NAME) == RED_SPEAKER_CENTER_TAG_ID || LimelightHelpers.getFiducialID(SHOOTER_LL_NAME) == BLUE_SPEAKER_CENTER_TAG_ID){ - Rotation2d angleToGoal = Rotation2d.fromDegrees(MOUNT_ANGLE_DEG).plus(Rotation2d.fromDegrees(LimelightHelpers.getTY(SHOOTER_LL_NAME))); - double distance = (SPEAKER_CENTER_HEIGHT_METERS - HEIGHT_FROM_GROUND_METERS) / angleToGoal.getTan(); + Rotation2d angleToGoal = Rotation2d.fromDegrees(MOUNT_ANGLE_DEG_SHOOTER).plus(Rotation2d.fromDegrees(LimelightHelpers.getTY(SHOOTER_LL_NAME))); + double distance = (SPEAKER_CENTER_HEIGHT_METERS - HEIGHT_FROM_GROUND_METERS_SHOOTER) / angleToGoal.getTan(); SmartDashboard.putNumber("limelight distance", distance); return distance; } @@ -76,8 +76,8 @@ public double getDistanceToTargetSpeaker(){ } public double getDistanceToNote(){ - Rotation2d angleToGoal = Rotation2d.fromDegrees(MOUNT_ANGLE_DEG).plus(Rotation2d.fromDegrees(LimelightHelpers.getTY(INTAKE_LL_NAME))); - double distance = (NOTE_HEIGHT - HEIGHT_FROM_GROUND_METERS) / angleToGoal.getTan(); + Rotation2d angleToGoal = Rotation2d.fromDegrees(MOUNT_ANGLE_DEG_INTAKE).plus(Rotation2d.fromDegrees(LimelightHelpers.getTY(INTAKE_LL_NAME))); + double distance = (NOTE_HEIGHT - HEIGHT_FROM_GROUND_METERS_INTAKE) / angleToGoal.getTan(); SmartDashboard.putNumber("limelight distance to note", distance); return distance; } From cd3d9f54297c56936ec2ed5a0b377cfc594252f6 Mon Sep 17 00:00:00 2001 From: stwiggy <144397102+stwiggy@users.noreply.github.com> Date: Sat, 23 Mar 2024 14:31:09 -0700 Subject: [PATCH 04/16] constants --- src/main/java/org/carlmontrobotics/Constants.java | 4 ++-- src/main/java/org/carlmontrobotics/commands/AlignToNote.java | 1 - 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/src/main/java/org/carlmontrobotics/Constants.java b/src/main/java/org/carlmontrobotics/Constants.java index 4e819f8f..43be980c 100644 --- a/src/main/java/org/carlmontrobotics/Constants.java +++ b/src/main/java/org/carlmontrobotics/Constants.java @@ -161,8 +161,8 @@ public static final class Limelightc { public static final double ERROR_TOLERANCE = 0.1; public static final double HORIZONTAL_FOV_DEG = 0; public static final double RESOLUTION_WIDTH = 640; - public static final double MOUNT_ANGLE_DEG_SHOOTER = 46.2; //23.228 - public static final double MOUNT_ANGLE_DEG_INTAKE = 46.2; //23.228 + public static final double MOUNT_ANGLE_DEG_SHOOTER = 25; //23.228 + public static final double MOUNT_ANGLE_DEG_INTAKE = 17.5 + 0; //23.228 public static final double HEIGHT_FROM_GROUND_METERS_SHOOTER = Units.inchesToMeters(56); //16.6 public static final double HEIGHT_FROM_GROUND_METERS_INTAKE = Units.inchesToMeters(56); //16.6 public static final double ARM_TO_OUTTAKE_OFFSET_DEG= 115; diff --git a/src/main/java/org/carlmontrobotics/commands/AlignToNote.java b/src/main/java/org/carlmontrobotics/commands/AlignToNote.java index db5ba9f5..d40cde19 100644 --- a/src/main/java/org/carlmontrobotics/commands/AlignToNote.java +++ b/src/main/java/org/carlmontrobotics/commands/AlignToNote.java @@ -18,5 +18,4 @@ public AlignToNote(Drivetrain dt) { return new RotateToFieldRelativeAngle(fieldOrientedTargetAngle, dt); }); } - //REMINDER TO UPLOAD SHOOTER LIMELIGHT WITH THE PIPELINE MODEL :D } From 8e0cee2ddbbb8ca109093e0f736af4d1776f01ce Mon Sep 17 00:00:00 2001 From: stwiggy <144397102+stwiggy@users.noreply.github.com> Date: Sat, 23 Mar 2024 14:45:03 -0700 Subject: [PATCH 05/16] swim shady constants --- .../java/org/carlmontrobotics/Constants.java | 254 +++++++++--------- 1 file changed, 132 insertions(+), 122 deletions(-) diff --git a/src/main/java/org/carlmontrobotics/Constants.java b/src/main/java/org/carlmontrobotics/Constants.java index 43be980c..a614278d 100644 --- a/src/main/java/org/carlmontrobotics/Constants.java +++ b/src/main/java/org/carlmontrobotics/Constants.java @@ -25,128 +25,138 @@ public final class Constants { public static final double g = 9.81; //meters per second squared public static final class Drivetrainc { - - //#region Subsystem Constants - - public static final double wheelBase = Units.inchesToMeters(16.75); - public static final double trackWidth = Units.inchesToMeters(23.75); - // "swerveRadius" is the distance from the center of the robot to one of the modules - public static final double swerveRadius = Math.sqrt(Math.pow(wheelBase / 2, 2) + Math.pow(trackWidth / 2, 2)); - // The gearing reduction from the drive motor controller to the wheels - // Gearing for the Swerve Modules is 6.75 : 1 - public static final double driveGearing = 6.75; - - public static final double driveModifier = 1; - public static final double wheelDiameterMeters = Units.inchesToMeters(4.0) * 7.36/7.65 /* empirical correction */; - public static final double mu = 0.7; /* 70/83.2; */ - - public static final double NEOFreeSpeed = 5676 * (2 * Math.PI) / 60; // radians/s - // Angular speed to translational speed --> v = omega * r / gearing - public static final double maxSpeed = NEOFreeSpeed * (wheelDiameterMeters / 2.0) / driveGearing; - public static final double maxForward = maxSpeed; //todo: use smart dashboard to figure this out - public static final double maxStrafe = maxSpeed; // todo: use smart dashboard to figure this out - // seconds it takes to go from 0 to 12 volts(aka MAX) - public static final double secsPer12Volts = 0.1; - - - - - // maxRCW is the angular velocity of the robot. - // Calculated by looking at one of the motors and treating it as a point mass moving around in a circle. - // Tangential speed of this point mass is maxSpeed and the radius of the circle is sqrt((wheelBase/2)^2 + (trackWidth/2)^2) - // Angular velocity = Tangential speed / radius - public static final double maxRCW = maxSpeed / swerveRadius; - - public static final boolean[] reversed = {false, false, false, false}; - // public static final boolean[] reversed = {true, true, true, true}; - // Determine correct turnZero constants (FL, FR, BL, BR) - public static final double[] turnZero = RobotBase.isSimulation() ? - new double[] {0, 0, 0, 0} : - new double[] {0, 0 , 0, 0};/*real values here*/ - - // kP, kI, and kD constants for turn motor controllers in the order of front-left, front-right, back-left, back-right. - // Determine correct turn PID constants - public static final double[] turnkP = {0.00374, 0.00374, 0.00374, 0.00374}; - public static final double[] turnkI = {0, 0, 0, 0}; - public static final double[] turnkD = {0, 0, 0, 0}; // todo: use d - public static final double[] turnkS = {0.2, 0.2, 0.2, 0.2}; - // V = kS + kV * v + kA * a - // 12 = 0.2 + 0.00463 * v - // v = (12 - 0.2) / 0.00463 = 2548.596 degrees/s - public static final double[] turnkV = {0.00463, 0.00463, 0.00463, 0.00463}; - public static final double[] turnkA = {0.000115, 0.000115, 0.000115, 0.000115}; - - // kP is an average of the forward and backward kP values - // Forward: 1.72, 1.71, 1.92, 1.94 - // Backward: 1.92, 1.92, 2.11, 1.89 - public static final double[] drivekP = {1.82, 1.815, 2.015, 1.915}; - public static final double[] drivekI = {0, 0, 0, 0}; - public static final double[] drivekD = {0, 0, 0, 0}; - public static final boolean[] driveInversion = {false, false, false, false}; - public static final boolean[] turnInversion = {true, true, true, true}; - - public static final double[] kForwardVolts = {0.129, 0.108, 0.14, 0.125}; - public static final double[] kBackwardVolts = {0.115, 0.169, 0.13, 0.148}; - - public static final double[] kForwardVels = {2.910/1.1, 2.970/1.1, 2.890/1.1, 2.930/1.1}; - public static final double[] kBackwardVels = {2.890/1.1, 2.800/1.1, 2.850/1.1, 2.820/1.1}; - public static final double[] kForwardAccels = {0.145, 0.149, 0.192, 0.198}; - public static final double[] kBackwardAccels = {0.192, 0.187, 0.264, 0.176}; - - public static final double autoMaxSpeedMps = 0.35 * 4.4; // Meters / second - public static final double autoMaxAccelMps2 = mu * g; // Meters / seconds^2 - public static final double autoMaxVolt = 10.0; // For Drivetrain voltage constraint in RobotPath.java - // The maximum acceleration the robot can achieve is equal to the coefficient of static friction times the gravitational acceleration - // a = mu * 9.8 m/s^2 - public static final double autoCentripetalAccel = mu * g * 2; - - public static final boolean isGyroReversed = true; - - // PID values are listed in the order kP, kI, and kD - public static final double[] xPIDController = {4, 0.0, 0.0}; - public static final double[] yPIDController = {4, 0.0, 0.0}; - public static final double[] thetaPIDController = {0.10, 0.0, 0.001}; - - public static final SwerveConfig swerveConfig = new SwerveConfig(wheelDiameterMeters, driveGearing, mu, autoCentripetalAccel, kForwardVolts, kForwardVels, kForwardAccels, kBackwardVolts, kBackwardVels, kBackwardAccels, drivekP, drivekI, drivekD, turnkP, turnkI, turnkD, turnkS, turnkV, turnkA, turnZero, driveInversion, reversed, driveModifier, turnInversion); - - public static final Transform limelightTransformForPoseEstimation = Transform.BOTPOSE_WPIBLUE; - - //#endregion - - //#region Ports - - public static final int driveFrontLeftPort = 11; - public static final int driveFrontRightPort = 16; - public static final int driveBackLeftPort = 1; - public static final int driveBackRightPort = 18; - - public static final int turnFrontLeftPort = 12; - public static final int turnFrontRightPort = 14; - public static final int turnBackLeftPort = 20; - public static final int turnBackRightPort = 19; - - public static final int canCoderPortFL = 1; - public static final int canCoderPortFR = 2; - public static final int canCoderPortBL = 3; - public static final int canCoderPortBR = 4; - - //#endregion - - //#region Command Constants - - public static final double kNormalDriveSpeed = 1; // Percent Multiplier - public static final double kNormalDriveRotation = 0.5; // Percent Multiplier - public static final double kSlowDriveSpeed = 0.4; // Percent Multiplier - public static final double kSlowDriveRotation = 0.250; // Percent Multiplier - public static final double kAlignMultiplier = 1D/3D; - public static final double kAlignForward = 0.6; - - public static final double wheelTurnDriveSpeed = 0.0001; // Meters / Second ; A non-zero speed just used to orient the wheels to the correct angle. This should be very small to avoid actually moving the robot. - - public static final double[] positionTolerance = {Units.inchesToMeters(.5), Units.inchesToMeters(.5), 5}; // Meters, Meters, Degrees - public static final double[] velocityTolerance = {Units.inchesToMeters(1), Units.inchesToMeters(1), 5}; // Meters, Meters, Degrees/Second - - //#endregion + //#region Subsystem Constants + + public static final double wheelBase = Units.inchesToMeters(19.75); + public static final double trackWidth = Units.inchesToMeters(28.75); + // "swerveRadius" is the distance from the center of the robot to one of the modules + public static final double swerveRadius = Math.sqrt(Math.pow(wheelBase / 2, 2) + Math.pow(trackWidth / 2, 2)); + // The gearing reduction from the drive motor controller to the wheels + // Gearing for the Swerve Modules is 6.75 : 1 + public static final double driveGearing = 6.75; + // Turn motor shaft to "module shaft" + public static final double turnGearing = 150 / 7; + + public static final double driveModifier = 1; + public static final double wheelDiameterMeters = Units.inchesToMeters(4.0) * 7.36/7.65 /* empirical correction */; + public static final double mu = 1; /* 70/83.2; */ + + public static final double NEOFreeSpeed = 5676 * (2 * Math.PI) / 60; // radians/s + // Angular speed to translational speed --> v = omega * r / gearing + public static final double maxSpeed = NEOFreeSpeed * (wheelDiameterMeters / 2.0) / driveGearing; + public static final double maxForward = maxSpeed; //todo: use smart dashboard to figure this out + public static final double maxStrafe = maxSpeed; // todo: use smart dashboard to figure this out + // seconds it takes to go from 0 to 12 volts(aka MAX) + public static final double secsPer12Volts = 0.1; + + // maxRCW is the angular velocity of the robot. + // Calculated by looking at one of the motors and treating it as a point mass moving around in a circle. + // Tangential speed of this point mass is maxSpeed and the radius of the circle is sqrt((wheelBase/2)^2 + (trackWidth/2)^2) + // Angular velocity = Tangential speed / radius + public static final double maxRCW = maxSpeed / swerveRadius; + + public static final boolean[] reversed = {false, false, false, false}; + // public static final boolean[] reversed = {true, true, true, true}; + // Determine correct turnZero constants (FL, FR, BL, BR) + public static final double[] turnZeroDeg = RobotBase.isSimulation() ? + new double[] {0, 0, 0, 0} : + new double[] {85.7812, 85.0782 , -96.9433, -162.9492};/*real values here*/ + + // kP, kI, and kD constants for turn motor controllers in the order of front-left, front-right, back-left, back-right. + // Determine correct turn PID constants + public static final double[] turnkP = {51.078,60.885,60.946,60.986}; //{0.00374, 0.00374, 0.00374, 0.00374}; + public static final double[] turnkI = {0, 0, 0, 0}; + public static final double[] turnkD = {0/*dont edit */, 0.5, 0.42, 1}; // todo: use d + //public static final double[] turnkS = {0.2, 0.2, 0.2, 0.2}; + public static final double[] turnkS = {0.13027, 0.17026, 0.2, 0.23262}; + + // V = kS + kV * v + kA * a + // 12 = 0.2 + 0.00463 * v + // v = (12 - 0.2) / 0.00463 = 2548.596 degrees/s + public static final double[] turnkV = {2.6532, 2.7597, 2.7445, 2.7698}; + public static final double[] turnkA = {0.17924, 0.17924, 0.17924, 0.17924}; + + // kP is an average of the forward and backward kP values + // Forward: 1.72, 1.71, 1.92, 1.94 + // Backward: 1.92, 1.92, 2.11, 1.89 + // Order of modules: (FL, FR, BL, BR) + public static final double[] drivekP = {2.8, 2.8, 2.8, 2.8}; //{1.82/100, 1.815/100, 2.015/100, 1.915/100}; + public static final double[] drivekI = {0, 0, 0, 0}; + public static final double[] drivekD = {0, 0, 0, 0}; + public static final boolean[] driveInversion = {false, false, false, false}; + public static final boolean[] turnInversion = {true, true, true, true}; + + public static final double[] kForwardVolts = {0.26744, 0.31897, 0.27967, 0.2461}; + public static final double[] kBackwardVolts = kForwardVolts; + + public static final double[] kForwardVels = {2.81, 2.9098, 2.8378, 2.7391}; + public static final double[] kBackwardVels = kForwardVels; + public static final double[] kForwardAccels = {1.1047/2, 0.79422/2, 0.77114/2, 1.1003/2}; + public static final double[] kBackwardAccels = kForwardAccels; + + public static final double autoMaxSpeedMps = 0.35 * 4.4; // Meters / second + public static final double autoMaxAccelMps2 = mu * g; // Meters / seconds^2 + public static final double autoMaxVolt = 10.0; // For Drivetrain voltage constraint in RobotPath.java + // The maximum acceleration the robot can achieve is equal to the coefficient of static friction times the gravitational acceleration + // a = mu * 9.8 m/s^2 + public static final double autoCentripetalAccel = mu * g * 2; + + public static final boolean isGyroReversed = true; + + // PID values are listed in the order kP, kI, and kD + public static final double[] xPIDController = {4, 0.0, 0.0}; + public static final double[] yPIDController = {4, 0.0, 0.0}; + public static final double[] thetaPIDController = {0.10, 0.0, 0.001}; + + public static final SwerveConfig swerveConfig = new SwerveConfig(wheelDiameterMeters, driveGearing, mu, autoCentripetalAccel, kForwardVolts, kForwardVels, kForwardAccels, kBackwardVolts, kBackwardVels, kBackwardAccels, drivekP, drivekI, drivekD, turnkP, turnkI, turnkD, turnkS, turnkV, turnkA, turnZeroDeg, driveInversion, reversed, driveModifier, turnInversion); + + //public static final Limelight.Transform limelightTransformForPoseEstimation = Transform.BOTPOSE_WPIBLUE; + + //#endregion + + //#region Ports + + public static final int driveFrontLeftPort = 8; //correct + public static final int driveFrontRightPort = 13; // correct + public static final int driveBackLeftPort = 5; //correct + public static final int driveBackRightPort = 11; //correct + + public static final int turnFrontLeftPort = 7; //cprrect + public static final int turnFrontRightPort = 14; //correct + public static final int turnBackLeftPort = 6; //correct + public static final int turnBackRightPort = 12; //correct + + public static final int canCoderPortFL = 4; + public static final int canCoderPortFR = 2; + public static final int canCoderPortBL = 3; + public static final int canCoderPortBR = 1; + + //#endregion + + //#region Command Constants + + public static double kNormalDriveSpeed = 1; // Percent Multiplier + public static double kNormalDriveRotation = 0.5; // Percent Multiplier + public static double kSlowDriveSpeed = 0.4; // Percent Multiplier + public static double kSlowDriveRotation = 0.250; // Percent Multiplier + public static double kAlignMultiplier = 1D/3D; + public static final double kAlignForward = 0.6; + + public static final double wheelTurnDriveSpeed = 0.0001; // Meters / Second ; A non-zero speed just used to orient the wheels to the correct angle. This should be very small to avoid actually moving the robot. + + public static final double[] positionTolerance = {Units.inchesToMeters(.5), Units.inchesToMeters(.5), 5}; // Meters, Meters, Degrees + public static final double[] velocityTolerance = {Units.inchesToMeters(1), Units.inchesToMeters(1), 5}; // Meters, Meters, Degrees/Second + + //#endregion + + //#endregion + //#region Subsystem Constants + + // "swerveRadius" is the distance from the center of the robot to one of the modules + public static final double turnkP_avg = (turnkP[0]+turnkP[1]+turnkP[2]+turnkP[3])/4; + public static final double turnIzone = .1; + + public static final double driveIzone = .1; } public static final class Armc { From 41915d855a9e3e98a2941ce6abdad665109623fe Mon Sep 17 00:00:00 2001 From: stwiggy <144397102+stwiggy@users.noreply.github.com> Date: Sat, 23 Mar 2024 23:11:45 -0700 Subject: [PATCH 06/16] its 11:11 --- src/main/java/org/carlmontrobotics/Constants.java | 4 ++-- src/main/java/org/carlmontrobotics/RobotContainer.java | 6 +++--- .../carlmontrobotics/commands/AutoMATICALLYGetNote.java | 4 ++-- .../java/org/carlmontrobotics/subsystems/Limelight.java | 8 ++++---- 4 files changed, 11 insertions(+), 11 deletions(-) diff --git a/src/main/java/org/carlmontrobotics/Constants.java b/src/main/java/org/carlmontrobotics/Constants.java index 43be980c..7467679a 100644 --- a/src/main/java/org/carlmontrobotics/Constants.java +++ b/src/main/java/org/carlmontrobotics/Constants.java @@ -158,9 +158,9 @@ public static final class Limelightc { public static final String INTAKE_LL_NAME = "limelight-intake"; public static final String SHOOTER_LL_NAME = "limelight-shooter"; - public static final double ERROR_TOLERANCE = 0.1; + public static final double ERROR_TOLERANCE_RAD = 0.1; public static final double HORIZONTAL_FOV_DEG = 0; - public static final double RESOLUTION_WIDTH = 640; + public static final double RESOLUTION_WIDTH_PIX = 640; public static final double MOUNT_ANGLE_DEG_SHOOTER = 25; //23.228 public static final double MOUNT_ANGLE_DEG_INTAKE = 17.5 + 0; //23.228 public static final double HEIGHT_FROM_GROUND_METERS_SHOOTER = Units.inchesToMeters(56); //16.6 diff --git a/src/main/java/org/carlmontrobotics/RobotContainer.java b/src/main/java/org/carlmontrobotics/RobotContainer.java index eb5c28a9..46ecaa2b 100644 --- a/src/main/java/org/carlmontrobotics/RobotContainer.java +++ b/src/main/java/org/carlmontrobotics/RobotContainer.java @@ -76,9 +76,9 @@ private void setDefaultCommands() { )); } private void setBindingsDriver() { - new JoystickButton(driverController, 1).onTrue(new AlignToApriltag(drivetrain)); //button A - new JoystickButton(driverController, 2).onTrue(new AlignToNote(drivetrain)); //button b? - new JoystickButton(driverController, 2).whileTrue(new AlignToNote(drivetrain)); //button x? + new JoystickButton(driverController, 1).whileTrue(new AlignToApriltag(drivetrain)); //button A + new JoystickButton(driverController, 2).whileTrue(new AlignToNote(drivetrain)); //button b? + new JoystickButton(driverController, 3).whileTrue(new AutoMATICALLYGetNote(drivetrain)); //button x? // reset field orientation?? // new JoystickButton(driverController, Driver.resetFieldOrientationButton).onTrue( // new InstantCommand(drivetrain::resetFieldOrientation)); diff --git a/src/main/java/org/carlmontrobotics/commands/AutoMATICALLYGetNote.java b/src/main/java/org/carlmontrobotics/commands/AutoMATICALLYGetNote.java index ad4e6a7e..f88f7f5e 100644 --- a/src/main/java/org/carlmontrobotics/commands/AutoMATICALLYGetNote.java +++ b/src/main/java/org/carlmontrobotics/commands/AutoMATICALLYGetNote.java @@ -23,9 +23,9 @@ public class AutoMATICALLYGetNote extends Command { private IntakeShooter effector; private Limelight limelight; - public AutoMATICALLYGetNote(Drivetrain dt, IntakeShooter effector) { + public AutoMATICALLYGetNote(Drivetrain dt /*IntakeShooter effector*/) { addRequirements(this.dt = dt); - addRequirements(this.effector = effector); + //addRequirements(this.effector = effector); // Use addRequirements() here to declare subsystem dependencies. } diff --git a/src/main/java/org/carlmontrobotics/subsystems/Limelight.java b/src/main/java/org/carlmontrobotics/subsystems/Limelight.java index 95cda1ca..b1b12b93 100644 --- a/src/main/java/org/carlmontrobotics/subsystems/Limelight.java +++ b/src/main/java/org/carlmontrobotics/subsystems/Limelight.java @@ -54,10 +54,10 @@ public void updateBotPose3d(){ public Pose2d getCurrentPose(){ Pose2d estimatedPos = poseEstimator.getEstimatedPosition(); - System.out.println(estimatedPos.getX()); - System.out.println(estimatedPos.getY()); - System.out.println(estimatedPos.getRotation().getDegrees() + "degrees"); - return poseEstimator.getEstimatedPosition(); + SmartDashboard.putNumber("estimated x", estimatedPos.getX()); + SmartDashboard.putNumber("estimated y", estimatedPos.getY()); + SmartDashboard.putNumber("estimated rotation (deg)", estimatedPos.getRotation().getDegrees()); + return estimatedPos; } From 5ed620ff93ab741fa7c19e7e020a6c1274eabf5c Mon Sep 17 00:00:00 2001 From: stwiggy <144397102+stwiggy@users.noreply.github.com> Date: Sat, 23 Mar 2024 23:37:37 -0700 Subject: [PATCH 07/16] constants --- src/main/java/org/carlmontrobotics/Constants.java | 2 ++ .../commands/AutoMATICALLYGetNote.java | 13 ++++++++----- 2 files changed, 10 insertions(+), 5 deletions(-) diff --git a/src/main/java/org/carlmontrobotics/Constants.java b/src/main/java/org/carlmontrobotics/Constants.java index 7467679a..056d8084 100644 --- a/src/main/java/org/carlmontrobotics/Constants.java +++ b/src/main/java/org/carlmontrobotics/Constants.java @@ -167,6 +167,8 @@ public static final class Limelightc { public static final double HEIGHT_FROM_GROUND_METERS_INTAKE = Units.inchesToMeters(56); //16.6 public static final double ARM_TO_OUTTAKE_OFFSET_DEG= 115; public static final double NOTE_HEIGHT = Units.inchesToMeters(2); + public static final double xyPControl = 2; + public static final double thetaPControl = 2; public static final class Apriltag { public static final int RED_SPEAKER_CENTER_TAG_ID = 4; public static final int BLUE_SPEAKER_CENTER_TAG_ID = 7; diff --git a/src/main/java/org/carlmontrobotics/commands/AutoMATICALLYGetNote.java b/src/main/java/org/carlmontrobotics/commands/AutoMATICALLYGetNote.java index f88f7f5e..eb71f206 100644 --- a/src/main/java/org/carlmontrobotics/commands/AutoMATICALLYGetNote.java +++ b/src/main/java/org/carlmontrobotics/commands/AutoMATICALLYGetNote.java @@ -4,6 +4,9 @@ package org.carlmontrobotics.commands; +import static org.carlmontrobotics.Constants.Limelightc.thetaPControl; +import static org.carlmontrobotics.Constants.Limelightc.xyPControl; + import org.carlmontrobotics.Constants.*; import org.carlmontrobotics.subsystems.*; @@ -37,11 +40,11 @@ public void initialize() { @Override public void execute() { - double radErr = Units.degreesToRadians(LimelightHelpers.getTX(Limelightc.INTAKE_LL_NAME)); - double distErr = limelight.getDistanceToNote(); //meters - double forwardErr = distErr * Math.cos(radErr); - double strafeErr = distErr * Math.sin(radErr); - dt.drive(Math.max(forwardErr*2, .5), Math.max(strafeErr*2, .5), Math.max(radErr*2,.5)); + double angleErrRad = Units.degreesToRadians(LimelightHelpers.getTX(Limelightc.INTAKE_LL_NAME)); + double distErrMeters = limelight.getDistanceToNote(); //meters + double forwardErrMeters = distErrMeters * Math.cos(angleErrRad); + double strafeErrMeters = distErrMeters * Math.sin(angleErrRad); + dt.drive(Math.max(forwardErrMeters*xyPControl, .5), Math.max(strafeErrMeters*xyPControl, .5), Math.max(angleErrRad*thetaPControl,.5)); //180deg is about 6.2 rad/sec, min is .5rad/sec } From c9ca70fc1a46d5a737beaf8e1940d2cc061a24d5 Mon Sep 17 00:00:00 2001 From: DriverStationComputer Date: Sun, 24 Mar 2024 15:45:00 -0700 Subject: [PATCH 08/16] worksession --- build.gradle | 2 +- .../java/org/carlmontrobotics/Constants.java | 8 +-- .../org/carlmontrobotics/RobotContainer.java | 8 +-- .../commands/AlignToNote.java | 57 ++++++++++++++--- .../commands/AutoMATICALLYGetNote.java | 21 +++++-- .../carlmontrobotics/commands/MoveToNote.java | 61 +++++++++++++++++++ .../subsystems/Limelight.java | 9 +-- 7 files changed, 137 insertions(+), 29 deletions(-) create mode 100644 src/main/java/org/carlmontrobotics/commands/MoveToNote.java diff --git a/build.gradle b/build.gradle index 8a52caac..6c895a0d 100644 --- a/build.gradle +++ b/build.gradle @@ -79,7 +79,7 @@ dependencies { simulationRelease wpi.sim.enableRelease() testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' - implementation "com.github.deepbluerobotics:lib199:2024-SNAPSHOT" + implementation "com.github.deepbluerobotics:lib199:cc93080eab462da161d0d47eda253ac8b31495ee" } test { diff --git a/src/main/java/org/carlmontrobotics/Constants.java b/src/main/java/org/carlmontrobotics/Constants.java index a614278d..b9b34f70 100644 --- a/src/main/java/org/carlmontrobotics/Constants.java +++ b/src/main/java/org/carlmontrobotics/Constants.java @@ -106,7 +106,7 @@ public static final class Drivetrainc { // PID values are listed in the order kP, kI, and kD public static final double[] xPIDController = {4, 0.0, 0.0}; public static final double[] yPIDController = {4, 0.0, 0.0}; - public static final double[] thetaPIDController = {0.10, 0.0, 0.001}; + public static final double[] thetaPIDController = {0.05, 0.0, 0.00}; public static final SwerveConfig swerveConfig = new SwerveConfig(wheelDiameterMeters, driveGearing, mu, autoCentripetalAccel, kForwardVolts, kForwardVels, kForwardAccels, kBackwardVolts, kBackwardVels, kBackwardAccels, drivekP, drivekI, drivekD, turnkP, turnkI, turnkD, turnkS, turnkV, turnkA, turnZeroDeg, driveInversion, reversed, driveModifier, turnInversion); @@ -172,11 +172,11 @@ public static final class Limelightc { public static final double HORIZONTAL_FOV_DEG = 0; public static final double RESOLUTION_WIDTH = 640; public static final double MOUNT_ANGLE_DEG_SHOOTER = 25; //23.228 - public static final double MOUNT_ANGLE_DEG_INTAKE = 17.5 + 0; //23.228 + public static final double MOUNT_ANGLE_DEG_INTAKE = 22; //23.228 public static final double HEIGHT_FROM_GROUND_METERS_SHOOTER = Units.inchesToMeters(56); //16.6 - public static final double HEIGHT_FROM_GROUND_METERS_INTAKE = Units.inchesToMeters(56); //16.6 + public static final double HEIGHT_FROM_GROUND_METERS_INTAKE = Units.inchesToMeters(52); //16.6 public static final double ARM_TO_OUTTAKE_OFFSET_DEG= 115; - public static final double NOTE_HEIGHT = Units.inchesToMeters(2); + public static final double NOTE_HEIGHT = Units.inchesToMeters(0); public static final class Apriltag { public static final int RED_SPEAKER_CENTER_TAG_ID = 4; public static final int BLUE_SPEAKER_CENTER_TAG_ID = 7; diff --git a/src/main/java/org/carlmontrobotics/RobotContainer.java b/src/main/java/org/carlmontrobotics/RobotContainer.java index eb5c28a9..b70fb5ba 100644 --- a/src/main/java/org/carlmontrobotics/RobotContainer.java +++ b/src/main/java/org/carlmontrobotics/RobotContainer.java @@ -17,7 +17,7 @@ import edu.wpi.first.wpilibj.DigitalInput; import edu.wpi.first.wpilibj.GenericHID; import edu.wpi.first.wpilibj.XboxController.Axis; - +import edu.wpi.first.wpilibj.XboxController.Button; //commands import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; @@ -76,9 +76,9 @@ private void setDefaultCommands() { )); } private void setBindingsDriver() { - new JoystickButton(driverController, 1).onTrue(new AlignToApriltag(drivetrain)); //button A - new JoystickButton(driverController, 2).onTrue(new AlignToNote(drivetrain)); //button b? - new JoystickButton(driverController, 2).whileTrue(new AlignToNote(drivetrain)); //button x? + new JoystickButton(driverController, Button.kB.value).onTrue(new AutoMATICALLYGetNote(drivetrain, limelight)); //button b + //new JoystickButton(driverController, 2).onTrue(new AlignToNote(drivetrain)); //button b? + new JoystickButton(driverController, Button.kA.value).whileTrue(new AlignToNote(drivetrain)); //button x? // reset field orientation?? // new JoystickButton(driverController, Driver.resetFieldOrientationButton).onTrue( // new InstantCommand(drivetrain::resetFieldOrientation)); diff --git a/src/main/java/org/carlmontrobotics/commands/AlignToNote.java b/src/main/java/org/carlmontrobotics/commands/AlignToNote.java index d40cde19..c8296df7 100644 --- a/src/main/java/org/carlmontrobotics/commands/AlignToNote.java +++ b/src/main/java/org/carlmontrobotics/commands/AlignToNote.java @@ -4,18 +4,55 @@ package org.carlmontrobotics.commands; -import static org.carlmontrobotics.Constants.Limelightc.*; import org.carlmontrobotics.subsystems.Drivetrain; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.wpilibj2.command.ProxyCommand; import org.carlmontrobotics.subsystems.LimelightHelpers; -public class AlignToNote extends ProxyCommand { +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.controller.PIDController; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.util.sendable.SendableRegistry; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.Command; +import static org.carlmontrobotics.Constants.Drivetrainc.*; +import static org.carlmontrobotics.Constants.Limelightc.INTAKE_LL_NAME; + +public class AlignToNote extends Command { + + public final TeleopDrive teleopDrive; + public final Drivetrain drivetrain; + + public final PIDController rotationPID = new PIDController(thetaPIDController[0], thetaPIDController[1], thetaPIDController[2]); + + public AlignToNote(Drivetrain drivetrain) { + this.drivetrain = drivetrain; + this.teleopDrive = (TeleopDrive) drivetrain.getDefaultCommand(); + + rotationPID.enableContinuousInput(-180, 180); + Rotation2d targetAngle = Rotation2d.fromDegrees(drivetrain.getHeading()).minus(Rotation2d.fromDegrees(LimelightHelpers.getTX(INTAKE_LL_NAME))); + rotationPID.setSetpoint(MathUtil.inputModulus(targetAngle.getDegrees(), -180, 180)); + rotationPID.setTolerance(positionTolerance[2], velocityTolerance[2]); + SendableRegistry.addChild(this, rotationPID); + //SmartDashboard.pu + + addRequirements(drivetrain); + } + + @Override + public void execute() { + Rotation2d targetAngle = Rotation2d.fromDegrees(drivetrain.getHeading()).minus(Rotation2d.fromDegrees(LimelightHelpers.getTX(INTAKE_LL_NAME))); + rotationPID.setSetpoint(MathUtil.inputModulus(targetAngle.getDegrees(), -180, 180)); + if (teleopDrive == null) drivetrain.drive(0, 0, rotationPID.calculate(drivetrain.getHeading())); + else { + double[] driverRequestedSpeeds = teleopDrive.getRequestedSpeeds(); + drivetrain.drive(driverRequestedSpeeds[0], driverRequestedSpeeds[1], rotationPID.calculate(drivetrain.getHeading())); + } + } - public AlignToNote(Drivetrain dt) { - super(() -> { - Rotation2d fieldOrientedTargetAngle = Rotation2d.fromDegrees(LimelightHelpers.getTX(INTAKE_LL_NAME)).plus(Rotation2d.fromDegrees(dt.getHeading())); - return new RotateToFieldRelativeAngle(fieldOrientedTargetAngle, dt); - }); - } + @Override + public boolean isFinished() { + return false; + // SmartDashboard.putBoolean("At Setpoint", rotationPID.atSetpoint()); + // SmartDashboard.putNumber("Error", rotationPID.getPositionError()); + // return rotationPID.atSetpoint(); + } } diff --git a/src/main/java/org/carlmontrobotics/commands/AutoMATICALLYGetNote.java b/src/main/java/org/carlmontrobotics/commands/AutoMATICALLYGetNote.java index ad4e6a7e..e3fba1f2 100644 --- a/src/main/java/org/carlmontrobotics/commands/AutoMATICALLYGetNote.java +++ b/src/main/java/org/carlmontrobotics/commands/AutoMATICALLYGetNote.java @@ -9,6 +9,8 @@ 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; @@ -20,27 +22,33 @@ public class AutoMATICALLYGetNote extends Command { /** Creates a new AutoMATICALLYGetNote. */ private Drivetrain dt; - private IntakeShooter effector; - private Limelight limelight; + //private IntakeShooter effector; + private Limelight ll; + private Timer timer = new Timer(); - public AutoMATICALLYGetNote(Drivetrain dt, IntakeShooter effector) { + public AutoMATICALLYGetNote(Drivetrain dt, Limelight ll /*IntakeShooter effector*/) { addRequirements(this.dt = dt); - addRequirements(this.effector = effector); + addRequirements(this.ll = ll); + //addRequirements(this.effector = effector); // Use addRequirements() here to declare subsystem dependencies. } @Override public void initialize() { + timer.reset(); + timer.start(); //new Intake().finallyDo(()->{this.end(false);}); + SmartDashboard.putBoolean("end", false); dt.setFieldOriented(false); } @Override public void execute() { double radErr = Units.degreesToRadians(LimelightHelpers.getTX(Limelightc.INTAKE_LL_NAME)); - double distErr = limelight.getDistanceToNote(); //meters + double distErr = ll.getDistanceToNote(); //meters double forwardErr = distErr * Math.cos(radErr); double strafeErr = distErr * Math.sin(radErr); + // dt.drive(0,0,0); dt.drive(Math.max(forwardErr*2, .5), Math.max(strafeErr*2, .5), Math.max(radErr*2,.5)); //180deg is about 6.2 rad/sec, min is .5rad/sec } @@ -49,11 +57,12 @@ public void execute() { @Override public void end(boolean interrupted) { dt.setFieldOriented(true); + SmartDashboard.putBoolean("end", true); } // Returns true when the command should end. @Override public boolean isFinished() { - return false; + return timer.get() >= 0.5; } } diff --git a/src/main/java/org/carlmontrobotics/commands/MoveToNote.java b/src/main/java/org/carlmontrobotics/commands/MoveToNote.java new file mode 100644 index 00000000..67a6abb3 --- /dev/null +++ b/src/main/java/org/carlmontrobotics/commands/MoveToNote.java @@ -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. + +package org.carlmontrobotics.commands; + +import org.carlmontrobotics.Constants.Limelightc; +import org.carlmontrobotics.subsystems.Drivetrain; +import org.carlmontrobotics.subsystems.Limelight; +import org.carlmontrobotics.subsystems.LimelightHelpers; + +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; + +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); + } + + // 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); + } + + // 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 + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) { + dt.setFieldOriented(true); + } + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return timer.get() >= 0.5; + } +} diff --git a/src/main/java/org/carlmontrobotics/subsystems/Limelight.java b/src/main/java/org/carlmontrobotics/subsystems/Limelight.java index 95cda1ca..98c2dc97 100644 --- a/src/main/java/org/carlmontrobotics/subsystems/Limelight.java +++ b/src/main/java/org/carlmontrobotics/subsystems/Limelight.java @@ -45,6 +45,7 @@ public void periodic() { updateBotPose3d(); getDistanceToTargetSpeaker(); getCurrentPose(); + getDistanceToNote(); } public void updateBotPose3d(){ @@ -65,20 +66,20 @@ public double getDistanceToTargetSpeaker(){ if (LimelightHelpers.getFiducialID(SHOOTER_LL_NAME) == RED_SPEAKER_CENTER_TAG_ID || LimelightHelpers.getFiducialID(SHOOTER_LL_NAME) == BLUE_SPEAKER_CENTER_TAG_ID){ Rotation2d angleToGoal = Rotation2d.fromDegrees(MOUNT_ANGLE_DEG_SHOOTER).plus(Rotation2d.fromDegrees(LimelightHelpers.getTY(SHOOTER_LL_NAME))); double distance = (SPEAKER_CENTER_HEIGHT_METERS - HEIGHT_FROM_GROUND_METERS_SHOOTER) / angleToGoal.getTan(); - SmartDashboard.putNumber("limelight distance", distance); + //SmartDashboard.putNumber("limelight distance", distance); return distance; } else{ - SmartDashboard.putNumber("limelight distance", -1); + //SmartDashboard.putNumber("limelight distance", -1); return -1; } } public double getDistanceToNote(){ Rotation2d angleToGoal = Rotation2d.fromDegrees(MOUNT_ANGLE_DEG_INTAKE).plus(Rotation2d.fromDegrees(LimelightHelpers.getTY(INTAKE_LL_NAME))); - double distance = (NOTE_HEIGHT - HEIGHT_FROM_GROUND_METERS_INTAKE) / angleToGoal.getTan(); - SmartDashboard.putNumber("limelight distance to note", distance); + double distance = -(NOTE_HEIGHT - HEIGHT_FROM_GROUND_METERS_INTAKE) / angleToGoal.getTan(); + SmartDashboard.putNumber("limelight distance", distance); return distance; } From 1a1a13d7ed82d7d3cb277941648dbe251af22841 Mon Sep 17 00:00:00 2001 From: stwiggy <144397102+stwiggy@users.noreply.github.com> Date: Mon, 25 Mar 2024 12:01:27 -0700 Subject: [PATCH 09/16] my math for driving was wrong + less magic numbers (i will unmagic the last numbers after they get turned) --- src/main/java/org/carlmontrobotics/Constants.java | 2 ++ .../commands/AutoMATICALLYGetNote.java | 12 +++++++----- 2 files changed, 9 insertions(+), 5 deletions(-) diff --git a/src/main/java/org/carlmontrobotics/Constants.java b/src/main/java/org/carlmontrobotics/Constants.java index b9b34f70..e696c788 100644 --- a/src/main/java/org/carlmontrobotics/Constants.java +++ b/src/main/java/org/carlmontrobotics/Constants.java @@ -177,6 +177,8 @@ public static final class Limelightc { public static final double HEIGHT_FROM_GROUND_METERS_INTAKE = Units.inchesToMeters(52); //16.6 public static final double ARM_TO_OUTTAKE_OFFSET_DEG= 115; public static final double NOTE_HEIGHT = Units.inchesToMeters(0); + public static final double MIN_MOVEMENT_METERSPSEC = 0.5; + public static final double MIN_MOVEMENT_RADSPSEC = 0.5; public static final class Apriltag { public static final int RED_SPEAKER_CENTER_TAG_ID = 4; public static final int BLUE_SPEAKER_CENTER_TAG_ID = 7; diff --git a/src/main/java/org/carlmontrobotics/commands/AutoMATICALLYGetNote.java b/src/main/java/org/carlmontrobotics/commands/AutoMATICALLYGetNote.java index e3fba1f2..1d926558 100644 --- a/src/main/java/org/carlmontrobotics/commands/AutoMATICALLYGetNote.java +++ b/src/main/java/org/carlmontrobotics/commands/AutoMATICALLYGetNote.java @@ -4,6 +4,9 @@ package org.carlmontrobotics.commands; +import static org.carlmontrobotics.Constants.Limelightc.MIN_MOVEMENT_METERSPSEC; +import static org.carlmontrobotics.Constants.Limelightc.MIN_MOVEMENT_RADSPSEC; + import org.carlmontrobotics.Constants.*; import org.carlmontrobotics.subsystems.*; @@ -44,12 +47,11 @@ public void initialize() { @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); - double strafeErr = distErr * Math.sin(radErr); + 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(forwardErr*2, .5), Math.max(strafeErr*2, .5), Math.max(radErr*2,.5)); + 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 } From ed260dedf090ab0f76dd5e6154d46845d40fb03a Mon Sep 17 00:00:00 2001 From: stwiggy <144397102+stwiggy@users.noreply.github.com> Date: Mon, 25 Mar 2024 14:37:45 -0700 Subject: [PATCH 10/16] removed reqs --- src/main/java/org/carlmontrobotics/commands/AlignToApriltag.java | 1 - 1 file changed, 1 deletion(-) diff --git a/src/main/java/org/carlmontrobotics/commands/AlignToApriltag.java b/src/main/java/org/carlmontrobotics/commands/AlignToApriltag.java index c54475c3..18fccd27 100644 --- a/src/main/java/org/carlmontrobotics/commands/AlignToApriltag.java +++ b/src/main/java/org/carlmontrobotics/commands/AlignToApriltag.java @@ -17,6 +17,5 @@ public AlignToApriltag(Drivetrain dt) { Rotation2d fieldOrientedTargetAngle = Rotation2d.fromDegrees(LimelightHelpers.getTX(SHOOTER_LL_NAME)).plus(Rotation2d.fromDegrees(dt.getHeading())); return new RotateToFieldRelativeAngle(fieldOrientedTargetAngle, dt); }); - addRequirements(dt); } } \ No newline at end of file From e31a260eace7b301d7d34aebc7013f8ebdeec964 Mon Sep 17 00:00:00 2001 From: stwiggy <144397102+stwiggy@users.noreply.github.com> Date: Tue, 26 Mar 2024 00:11:35 -0700 Subject: [PATCH 11/16] math fix --- src/main/java/org/carlmontrobotics/Constants.java | 2 +- .../java/org/carlmontrobotics/subsystems/Limelight.java | 8 +++++++- 2 files changed, 8 insertions(+), 2 deletions(-) diff --git a/src/main/java/org/carlmontrobotics/Constants.java b/src/main/java/org/carlmontrobotics/Constants.java index e696c788..5fa46865 100644 --- a/src/main/java/org/carlmontrobotics/Constants.java +++ b/src/main/java/org/carlmontrobotics/Constants.java @@ -172,7 +172,7 @@ public static final class Limelightc { public static final double HORIZONTAL_FOV_DEG = 0; public static final double RESOLUTION_WIDTH = 640; public static final double MOUNT_ANGLE_DEG_SHOOTER = 25; //23.228 - public static final double MOUNT_ANGLE_DEG_INTAKE = 22; //23.228 + public static final double MOUNT_ANGLE_DEG_INTAKE = -22; //23.228 public static final double HEIGHT_FROM_GROUND_METERS_SHOOTER = Units.inchesToMeters(56); //16.6 public static final double HEIGHT_FROM_GROUND_METERS_INTAKE = Units.inchesToMeters(52); //16.6 public static final double ARM_TO_OUTTAKE_OFFSET_DEG= 115; diff --git a/src/main/java/org/carlmontrobotics/subsystems/Limelight.java b/src/main/java/org/carlmontrobotics/subsystems/Limelight.java index 98c2dc97..1a605a68 100644 --- a/src/main/java/org/carlmontrobotics/subsystems/Limelight.java +++ b/src/main/java/org/carlmontrobotics/subsystems/Limelight.java @@ -3,12 +3,18 @@ import static org.carlmontrobotics.Constants.Limelightc.*; import static org.carlmontrobotics.Constants.Limelightc.Apriltag.*; +import java.util.List; + +import com.pathplanner.lib.path.GoalEndState; +import com.pathplanner.lib.path.PathConstraints; +import com.pathplanner.lib.path.PathPlannerPath; import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Pose3d; import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.util.Units; import edu.wpi.first.networktables.NetworkTable; import edu.wpi.first.networktables.NetworkTableEntry; @@ -78,7 +84,7 @@ public double getDistanceToTargetSpeaker(){ public double getDistanceToNote(){ Rotation2d angleToGoal = Rotation2d.fromDegrees(MOUNT_ANGLE_DEG_INTAKE).plus(Rotation2d.fromDegrees(LimelightHelpers.getTY(INTAKE_LL_NAME))); - double distance = -(NOTE_HEIGHT - HEIGHT_FROM_GROUND_METERS_INTAKE) / angleToGoal.getTan(); + double distance = (HEIGHT_FROM_GROUND_METERS_INTAKE - NOTE_HEIGHT) / Math.tan(Math.abs(angleToGoal.getDegrees()));; SmartDashboard.putNumber("limelight distance", distance); return distance; } From 3c930bccc1923e02c620d8230f08a487eadcd7c9 Mon Sep 17 00:00:00 2001 From: stwiggy <144397102+stwiggy@users.noreply.github.com> Date: Tue, 26 Mar 2024 14:32:35 -0700 Subject: [PATCH 12/16] (unfinished) creating a path to move to speaker from anywhere --- .../commands/MoveToSpeaker.java | 49 +++++++++++++++++++ 1 file changed, 49 insertions(+) create mode 100644 src/main/java/org/carlmontrobotics/commands/MoveToSpeaker.java diff --git a/src/main/java/org/carlmontrobotics/commands/MoveToSpeaker.java b/src/main/java/org/carlmontrobotics/commands/MoveToSpeaker.java new file mode 100644 index 00000000..744de104 --- /dev/null +++ b/src/main/java/org/carlmontrobotics/commands/MoveToSpeaker.java @@ -0,0 +1,49 @@ +// 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 org.carlmontrobotics.commands; + +import static org.carlmontrobotics.Constants.Drivetrainc.*; + +import java.util.List; + +import org.carlmontrobotics.subsystems.Drivetrain; + +import com.pathplanner.lib.path.GoalEndState; +import com.pathplanner.lib.path.PathConstraints; +import com.pathplanner.lib.path.PathPlannerPath; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.wpilibj2.command.Command; + +public class MoveToSpeaker extends Command { + private final Drivetrain dt; + /** Creates a new MoveToSpeaker. */ + public MoveToSpeaker(Drivetrain dt) { + // Use addRequirements() here to declare subsystem dependencies. + addRequirements(this.dt = dt); + } + + // Called when the command is initially scheduled. + @Override + public void initialize() { + List bezierPoints = PathPlannerPath.bezierFromPoses(dt.getPose(), new Pose2d(1, 1, Rotation2d.fromDegrees(1))); + PathPlannerPath path = new PathPlannerPath(bezierPoints, new PathConstraints(autoMaxSpeedMps, autoMaxAccelMps2, maxRCW, 1), new GoalEndState(1, Rotation2d.fromDegrees(1))); + } + + // 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; + } +} From fe944d2a17898e2049f574853479239234a319e2 Mon Sep 17 00:00:00 2001 From: stwiggy <144397102+stwiggy@users.noreply.github.com> Date: Tue, 26 Mar 2024 14:32:49 -0700 Subject: [PATCH 13/16] angleToGoal can't be negative --- .../subsystems/Limelight.java | 24 +++++++------------ 1 file changed, 9 insertions(+), 15 deletions(-) diff --git a/src/main/java/org/carlmontrobotics/subsystems/Limelight.java b/src/main/java/org/carlmontrobotics/subsystems/Limelight.java index 1a605a68..2c6d7b00 100644 --- a/src/main/java/org/carlmontrobotics/subsystems/Limelight.java +++ b/src/main/java/org/carlmontrobotics/subsystems/Limelight.java @@ -3,22 +3,10 @@ import static org.carlmontrobotics.Constants.Limelightc.*; import static org.carlmontrobotics.Constants.Limelightc.Apriltag.*; -import java.util.List; - -import com.pathplanner.lib.path.GoalEndState; -import com.pathplanner.lib.path.PathConstraints; -import com.pathplanner.lib.path.PathPlannerPath; - -import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Pose3d; import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Translation2d; -import edu.wpi.first.math.util.Units; -import edu.wpi.first.networktables.NetworkTable; -import edu.wpi.first.networktables.NetworkTableEntry; -import edu.wpi.first.networktables.NetworkTableInstance; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; @@ -84,9 +72,15 @@ public double getDistanceToTargetSpeaker(){ public double getDistanceToNote(){ Rotation2d angleToGoal = Rotation2d.fromDegrees(MOUNT_ANGLE_DEG_INTAKE).plus(Rotation2d.fromDegrees(LimelightHelpers.getTY(INTAKE_LL_NAME))); - double distance = (HEIGHT_FROM_GROUND_METERS_INTAKE - NOTE_HEIGHT) / Math.tan(Math.abs(angleToGoal.getDegrees()));; - SmartDashboard.putNumber("limelight distance", distance); - return distance; + if (angleToGoal.getDegrees() <= 0) { + double distance = (HEIGHT_FROM_GROUND_METERS_INTAKE - NOTE_HEIGHT) / Math.tan(Math.abs(angleToGoal.getRadians()));; + SmartDashboard.putNumber("limelight distance", distance); + return distance; + } + else { + SmartDashboard.putNumber("limelight distance", -1); + return -1; + } } // public Pose3d getTargetPose() { From 4d5f6f81434361f1c768fee21d8a4f9a87c680dc Mon Sep 17 00:00:00 2001 From: DriverStationComputer Date: Tue, 26 Mar 2024 19:08:52 -0700 Subject: [PATCH 14/16] go faster, make work --- logs/FRC_TBD_b599fae11159d54e.wpilog | Bin 0 -> 315693 bytes .../java/org/carlmontrobotics/Constants.java | 2 +- .../commands/AutoMATICALLYGetNote.java | 3 ++- 3 files changed, 3 insertions(+), 2 deletions(-) create mode 100644 logs/FRC_TBD_b599fae11159d54e.wpilog diff --git a/logs/FRC_TBD_b599fae11159d54e.wpilog b/logs/FRC_TBD_b599fae11159d54e.wpilog new file mode 100644 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zyS0q{Ji*j#u&@bCo~0tU`MbcyFF~teZDee?8g#u6t~XSbv4uZqeHM(+ZYyJbZ*W%$ z==%Y*9p6rF{gc6xIqYQyg^n_AZUcTy1ONB{o-tLE z+r80X%5BhJTV2Lg5n#V!(4cE48IN-Zn~s3P8$i3s8glz49n`D_V~sn@SYcetW=%x8U4y-Q;$2JeW}h#t-N&PqW@K&b9!3 z6F|kM;Bymgxs8qjb*_SzS~@ab;0xX<1Q#jm$~emoEXoF}--FG^^pRWpwP3pkMy3PhcKjC5;wAWPkiLxnhyYWrf!h5IWLyvk-aQKTQ8bjX%?xnc zUeNtL*m3l4a_h1QOe_N*4K$Lm;S$ie1awv%B;zy(@YpdhrV(_v9xS&Vwt~9V;H?qH zGERvD+o}zb*IG+(dmvc)5=`wqRBoN-fr>d`Og&g{R4};&yxncAe5#{8Xp{=-b~cysGi&fx z3YcCF`f87p+ZLfmg3%XB~ z@nb)5?`iOk;v^Ys&j#o22M^Z?hAUSYPwqT%X8pfkTGdBRmQP(>2Y!49I_g=SOe-AOqFrBm7wAc@Quba87KIF-Ohurn%m2GyDiu@4Xk(v zZZMrLw-Yyl$#+0a?HMv29RdzJ4=QOm$k@gmTzVK>+W;Q6nkl!wiJX70X|W3lCi5dI4c)SY6OiYILqzu4d9zE;C5pd8Q+Ki!-~OA>aH>l z3IH?jf@wcNb89!bwKxjey#arixyx82#-?GQ4Q z#_g@a_!Q9Z8TiO(w%qPq1)eGc*Xel6IMEMO%LA9Tm?Puf9^mUepvQZ#+H|hmPKyKk zSAh= 0.5; + return false; + //return timer.get() >= 0.5; } } From 274810bdac619d91e011bf46fa6ca3db98d7f877 Mon Sep 17 00:00:00 2001 From: stwiggy <144397102+stwiggy@users.noreply.github.com> Date: Tue, 26 Mar 2024 19:32:25 -0700 Subject: [PATCH 15/16] merge --- src/main/java/org/carlmontrobotics/RobotContainer.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/org/carlmontrobotics/RobotContainer.java b/src/main/java/org/carlmontrobotics/RobotContainer.java index eb9c4b21..e774e77f 100644 --- a/src/main/java/org/carlmontrobotics/RobotContainer.java +++ b/src/main/java/org/carlmontrobotics/RobotContainer.java @@ -78,7 +78,7 @@ private void setDefaultCommands() { private void setBindingsDriver() { new JoystickButton(driverController, 1).whileTrue(new AlignToApriltag(drivetrain)); //button A new JoystickButton(driverController, 2).whileTrue(new AlignToNote(drivetrain)); //button b? - new JoystickButton(driverController, 3).whileTrue(new AutoMATICALLYGetNote(drivetrain)); //button x? + new JoystickButton(driverController, 3).whileTrue(new AutoMATICALLYGetNote(drivetrain, limelight)); //button x? // reset field orientation?? // new JoystickButton(driverController, Driver.resetFieldOrientationButton).onTrue( // new InstantCommand(drivetrain::resetFieldOrientation)); From 152c3a5950bfde482b025feb5c53ddf23f5a532e Mon Sep 17 00:00:00 2001 From: stwiggy <144397102+stwiggy@users.noreply.github.com> Date: Tue, 26 Mar 2024 19:33:17 -0700 Subject: [PATCH 16/16] pls --- .../carlmontrobotics/commands/AutoMATICALLYGetNote.java | 2 +- .../org/carlmontrobotics/subsystems/IntakeShooter.java | 7 ------- 2 files changed, 1 insertion(+), 8 deletions(-) delete mode 100644 src/main/java/org/carlmontrobotics/subsystems/IntakeShooter.java diff --git a/src/main/java/org/carlmontrobotics/commands/AutoMATICALLYGetNote.java b/src/main/java/org/carlmontrobotics/commands/AutoMATICALLYGetNote.java index 71bf465b..d3361099 100644 --- a/src/main/java/org/carlmontrobotics/commands/AutoMATICALLYGetNote.java +++ b/src/main/java/org/carlmontrobotics/commands/AutoMATICALLYGetNote.java @@ -24,7 +24,7 @@ public class AutoMATICALLYGetNote extends Command { /** Creates a new AutoMATICALLYGetNote. */ private Drivetrain dt; - private IntakeShooter effector; + //private IntakeShooter effector; private Limelight ll; private Timer timer = new Timer(); diff --git a/src/main/java/org/carlmontrobotics/subsystems/IntakeShooter.java b/src/main/java/org/carlmontrobotics/subsystems/IntakeShooter.java deleted file mode 100644 index 37efb132..00000000 --- a/src/main/java/org/carlmontrobotics/subsystems/IntakeShooter.java +++ /dev/null @@ -1,7 +0,0 @@ -package org.carlmontrobotics.subsystems; - -import edu.wpi.first.wpilibj2.command.SubsystemBase; - -public class IntakeShooter extends SubsystemBase{ - -}