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Drive wheel testing function #73

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merged 9 commits into from
Oct 27, 2023
Merged

Drive wheel testing function #73

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976b77f
Update absolute encoder and add functionality to sequences.
TimB-87 Oct 3, 2023
27fdf68
Update Abs. Encoder Value
TimB-87 Oct 5, 2023
a80431e
Updated absolute encoder value
Liammurray19 Oct 20, 2023
aac50dd
First (good) Attempt at wheel test
Hsaunders603 Oct 24, 2023
f5a925e
Map to button, move commmands to right spot
Hsaunders603 Oct 26, 2023
67946ca
Now the buttons are accurate:
Hsaunders603 Oct 26, 2023
ecc57a1
Merge remote-tracking branch 'origin/arm-updates' into wheel-testing-h
Hsaunders603 Oct 26, 2023
6283926
Make sure my code is recent and up to date
Hsaunders603 Oct 26, 2023
1fc1dd2
Merge remote-tracking branch 'origin/wheel-testing-h' into wheel-test…
Hsaunders603 Oct 26, 2023
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4 changes: 2 additions & 2 deletions src/main/java/frc/robot/ArmPresets.java
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Expand Up @@ -21,8 +21,8 @@ public enum ArmPresets {
76.3),

// Human Player Station = HPS
HPS_PICKUP(0, 77,
72),
HPS_PICKUP(0, 76.3,
71.3),

ARM_STOWED(1, 2, 1),

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8 changes: 8 additions & 0 deletions src/main/java/frc/robot/Auto.java
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Expand Up @@ -128,6 +128,14 @@ public CommandBase prepareToScoreCone() {
armRotate.moveTo(ArmPresets.HIGH_SCORE));
}

public CommandBase testDriveDriver() {
return sequence(
drive.moveForDirectional(0, 1, 5),
drive.moveForDirectional(1, 0, 5),
drive.moveForDirectional(0, -1, 5),
drive.moveForDirectional(-1, 0, 5));
}
Comment on lines +131 to +137
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Doesn't look like this is used anywhere either, can we remove it?


public CommandBase stowArmCloseIntake() {
return sequence(
armExtend.moveTo(ArmPresets.ARM_STOWED),
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20 changes: 16 additions & 4 deletions src/main/java/frc/robot/Robot.java
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Expand Up @@ -154,11 +154,12 @@ public CommandBase rumbleAndIntakeSpinningOff() {
public CommandBase pickUpGamePiece = sequence(
new ConditionalCommand(
sequence(
armRotate.moveTo(ArmPresets.CONE_PICKUP), armExtend.moveTo(ArmPresets.CONE_PICKUP)),
armRotate.moveTo(ArmPresets.CONE_PICKUP), armExtend.moveTo(ArmPresets.CONE_PICKUP),
intake.toggle()),
sequence(
armRotate.moveTo(ArmPresets.CUBE_PICKUP), armExtend.moveTo(
ArmPresets.CUBE_PICKUP),
intake.coneRelease()),
intake.coneRelease(), intake.toggle()),
() -> {
return gamePieceSub.get() == "Cone";
}));
Expand Down Expand Up @@ -225,8 +226,19 @@ public void configureButtonBindings() {
driveController.x().whileTrue(drive.rotateToAngle(Rotation2d.fromDegrees(180), () -> 0, () -> 0));
driveController.a().whileTrue(drive.rotateToAngle(Rotation2d.fromDegrees(0), () -> 0, () -> 0));

(new Trigger(() -> driveController.getRightTriggerAxis() > 0.5))
.onTrue(balanceArm.pushDown()).onFalse(balanceArm.pushUp());
driveController.povDown().onTrue(drive.moveForDirectional(0, 1, 5));
driveController.povRight().onTrue(drive.moveForDirectional(1, 0, 5));
driveController.povUp().onTrue(drive.moveForDirectional(0, -1, 5));
driveController.povLeft().onTrue(drive.moveForDirectional(-1, 0, 5));
Comment on lines +229 to +232
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I'm a bit nervous about having these mappings on the drive controller. It's pretty dangerous to have a command that can cause the robot to take off in a direction without a way to easily stop it.
And if this happens during a match at the very least it'll cause lost time.

I think these would be best on the dashboard (https://docs.wpilib.org/en/stable/docs/software/dashboards/shuffleboard/advanced-usage/shuffleboard-commands-subsystems.html#displaying-commands).
Or at the very least make these whileTrue instead of onTrue.

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We can probably slow this down a bit too, not sure it needs to be at 1m/s, maybe 0.5?
We should also make sure we put the units of values in argument names.

/*
* public CommandBase testDriveDriver() {
* return sequence(
* moveForDirectional(0, 1, 5),
* moveForDirectional(1, 0, 5),
* moveForDirectional(0, -1, 5),
* moveForDirectional(-1, 0, 5));
* }
*/
Comment on lines +233 to +241
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We generally don't want to keep commented code

// Arm

// COPILOT CONTROLLER
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2 changes: 1 addition & 1 deletion src/main/java/frc/robot/maps/FrostBiteMap.java
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Expand Up @@ -177,7 +177,7 @@ public ArmRotateMap getArmRotateMap() {
absEncoder.setDutyCycleRange(1.0 / 1025.0, 1024.0 / 1025.0);
absEncoder.setDistancePerRotation(-360);
// Adjust this to move the encoder zero point to the retracted position
absEncoder.setPositionOffset(91.89780758483522 - 7);
absEncoder.setPositionOffset(54.8);

CSFusedEncoder fusedEncoder = new CSFusedEncoder(encoder, absEncoder);

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7 changes: 6 additions & 1 deletion src/main/java/frc/robot/subsystems/Drive.java
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Expand Up @@ -13,7 +13,6 @@
import com.chopshop166.chopshoplib.commands.FunctionalWaitCommand;
import com.chopshop166.chopshoplib.commands.SmartSubsystemBase;

import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Rotation3d;
Expand Down Expand Up @@ -395,6 +394,12 @@ public CommandBase balance() {

}

public CommandBase moveForDirectional(double xSpeed, double ySpeed, double seconds) {
return race(
driveRaw(() -> xSpeed, () -> ySpeed, () -> 0),
new FunctionalWaitCommand(() -> seconds)).andThen(safeStateCmd());
}

public CommandBase resetGyroCommand() {
return cmd().onInitialize(() -> {
resetGyro();
Expand Down