From a7f966a27cdf83e596a27e088834fe2e38bcd283 Mon Sep 17 00:00:00 2001 From: a1cd <71281043+a1cd@users.noreply.github.com> Date: Fri, 5 Apr 2024 16:08:21 -0400 Subject: [PATCH 1/5] assorted changes Signed-off-by: a1cd <71281043+a1cd@users.noreply.github.com> --- src/main/java/frc/robot/RobotContainer.java | 70 +++++-------------- .../frc/robot/subsystems/drive/Drive.java | 12 +++- 2 files changed, 26 insertions(+), 56 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index ca09f11..36e39b0 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -72,8 +72,7 @@ import static edu.wpi.first.wpilibj2.command.Commands.*; import static frc.robot.commands.FeederCommands.feedToBeamBreak; import static frc.robot.commands.FeederCommands.feedToShooter; -import static frc.robot.commands.IntakeCommands.intakeCommand; -import static frc.robot.commands.IntakeCommands.smartIntakeCommand; +import static frc.robot.commands.IntakeCommands.*; import static frc.robot.commands.RumbleCommands.*; import static frc.robot.commands.ShooterCommands.*; @@ -94,10 +93,10 @@ public class RobotContainer { private final ControllerRumble driverRumble = new ControllerRumble(0); private final ControllerRumble operatorRumble = new ControllerRumble(1); -// private final ModeHelper modeHelper = new ModeHelper(this); -// Controller -private final CommandXboxController driverController = new CommandXboxController(0); + // Controller + private final CommandXboxController driverController = new CommandXboxController(0); private final CommandXboxController operatorController = new CommandXboxController(1); + // Dashboard inputs private final LoggedDashboardChooser autoChooser; private final LoggedDashboardChooser smartCommandsMode = @@ -106,6 +105,7 @@ public class RobotContainer { new LoggedDashboardNumber("Flywheel Speed", 1500.0); private final ReactionObject reactions; LoggedDashboardNumber angleOffsetInput = new LoggedDashboardNumber("Angle Offset", 0.0); + // Subsystems public Drive drive; LoggedDashboardBoolean invertX = new LoggedDashboardBoolean("Invert X Axis", false); @@ -130,10 +130,10 @@ public RobotContainer() { new ModuleIOSparkMax(3){}, new VisionIOReal[]{ new VisionIOReal("ShootSideCamera"), - new VisionIOReal("RightCamera") //fixme: rename camera + new VisionIOReal("RightCamera") }, new LimelightNoteDetection()); - shooter = new Shooter(new ShooterIOTalonFX(), new HoodIOSparkMax()); // new HoodIOSparkMax() {} + shooter = new Shooter(new ShooterIOTalonFX(), new HoodIOSparkMax()); feeder = new Feeder(new FeederIOTalonFX()); intake = new Intake(new IntakeIOSparkMax()); climb = new Climb(new ClimbIOSparkMax()); @@ -192,17 +192,6 @@ public String getCameraName() { driverController::getLeftY, driverController::getLeftX, driverController::getRightX); -// NamedCommands.registerCommand( -// "AutoShoot", -// parallel( -// ShooterCommands.autoAim(shooter, drive), -// sequence( -// waitUntil(shooter::allAtSetpoint), -// feedToShooter(feeder) -// ) -// ) -// ); - NamedCommands.registerCommand( "Aim Drivetrain", @@ -252,7 +241,7 @@ public String getCameraName() { none(), race( feedToBeamBreak(feeder).withTimeout(5), - IntakeCommands.flushIntakeWithoutTheArmExtendedOutward(intake, feeder) + flushIntakeWithoutTheArmExtendedOutward(intake, feeder) ), feeder::getBeamBroken )).withTimeout(3.0) @@ -296,12 +285,12 @@ private void configureButtonBindings() { () -> (-driverController.getLeftX() * (invertY.get()?-1:1)), () -> (-driverController.getRightX()) * (invertOmega.get()?-1:1))); intake.setDefaultCommand(IntakeCommands.idleCommand(intake)); - feeder.setDefaultCommand(new RunCommand(() -> feeder.runVolts(0.0), feeder)); + feeder.setDefaultCommand(FeederCommands.idleFeeder(feeder)); shooter.setDefaultCommand( either( ShooterCommands.shooterIdle(shooter), sequence( - ShooterCommands.shooterIdle(shooter).until(shooter::hoodAtSetpoint), + ShooterCommands.shooterIdle(shooter).until(shooter::hoodAtSetpoint).withTimeout(.5), ShooterCommands.simpleHoodZero(shooter), ShooterCommands.shooterIdle(shooter) ).withName("Default Command"), @@ -332,11 +321,6 @@ private void configureButtonBindings() { driverController.leftBumper().whileTrue(command.getCommand()); // ---- INTAKE COMMANDS ---- -// operatorController -// .povLeft() -// .whileTrue( -// IntakeCommands.intakeBack(intake) -// ); driverController .leftTrigger() .whileTrue( @@ -349,7 +333,7 @@ private void configureButtonBindings() { none(), race( feedToBeamBreak(feeder).withTimeout(5), - IntakeCommands.flushIntakeWithoutTheArmExtendedOutward(intake, feeder) + flushIntakeWithoutTheArmExtendedOutward(intake, feeder) ), feeder::getBeamBroken ) @@ -377,10 +361,9 @@ private void configureButtonBindings() { ).andThen(FeederCommands.feedToBeamBreak(feeder)) ) .onFalse( - parallel( - ShooterCommands.humanPlayerIntake(shooter), - FeederCommands.humanPlayerIntake(feeder) - ).until(() -> !feeder.getBeamBroken()) + FeederCommands.humanPlayerIntake(feeder) + .withTimeout(5.0) + .until(() -> !feeder.getBeamBroken()) ); operatorController .povUp() @@ -427,39 +410,18 @@ private void configureButtonBindings() { ShooterCommands.simpleHoodZero(shooter) .withTimeout(4.0) ); -// driverController // fixme move to operator controls -// .povUp() -// .whileTrue(newAmpShoot(shooter) -// .alongWith(feedToShooter(feeder)) -// .onlyWhile(feeder::getBeamBroken) -// .andThen(ShooterCommands.ampAngle(shooter))); driverController .povUp() .whileTrue( sequence( - FeederCommands.feedToShooter(feeder) - .alongWith(ShooterCommands.ampSpin(shooter)).withTimeout(0.2), + FeederCommands.feedToShooter(feeder) + .alongWith(ShooterCommands.ampSpin(shooter)).withTimeout(0.2), ShooterCommands.ampAng(shooter) .alongWith(ShooterCommands.ampGo(shooter, 600)) .withTimeout(0.25) .andThen(ShooterCommands.setAmpAngle(shooter, -0.4)) ) - - -// ShooterCommands.ampSpin(shooter) -// .alongWith(ShooterCommands.ampAng(shooter) -// .alongWith(feedToShooter(feeder)) -// .onlyWhile(feeder::getBeamBroken)) ); - - // NEW OPERATOR CONTROLS - // leftbumper zero - // x justShoot - // y aim - // povup humanplayerintake - // down flush - - //zero shooter break; case DriveMotors: drive.setDefaultCommand( diff --git a/src/main/java/frc/robot/subsystems/drive/Drive.java b/src/main/java/frc/robot/subsystems/drive/Drive.java index dac2189..8f2acbc 100644 --- a/src/main/java/frc/robot/subsystems/drive/Drive.java +++ b/src/main/java/frc/robot/subsystems/drive/Drive.java @@ -328,22 +328,29 @@ public void periodic() { case 1: PhotonTrackedTarget target = estimatedRobotPose.targetsUsed.get(0); - var mult = target.getPoseAmbiguity() * 25; + var mult = target.getPoseAmbiguity() * 500; + Logger.recordOutput("Vision/" + visionIO[i].getCameraName() + "/Single Tag Matrix Multiplier/Step 0", mult); + mult*=mult; + Logger.recordOutput("Vision/" + visionIO[i].getCameraName() + "/Single Tag Matrix Multiplier/Step 1", mult); if ( (pose.getX() <= 16.5) && (pose.getX() > 0) && (pose.getY() <= 8.2) && (pose.getY() > 0) ) mult = mult / 4; + Logger.recordOutput("Vision/" + visionIO[i].getCameraName() + "/Single Tag Matrix Multiplier/Step 2", mult); if (target.getPoseAmbiguity()<0.4) - mult*=Math.abs(estimatedRobotPose.estimatedPose.getZ())+0.01; + mult*=Math.pow(Math.abs(estimatedRobotPose.estimatedPose.getZ()),2)+0.01; + Logger.recordOutput("Vision/" + visionIO[i].getCameraName() + "/Single Tag Matrix Multiplier/Step 3", mult); if (target.getArea()>0.05) mult/= (target.getArea()*target.getArea())*8*8; + Logger.recordOutput("Vision/" + visionIO[i].getCameraName() + "/Single Tag Matrix Multiplier/Step 4", mult); for (int j = 0; j < visionInputs.length; j++) { if (i==j) break; if (visionInputs[j].cameraResult.getTargets().size()>visionInputs[i].cameraResult.getTargets().size() && visionInputs[j].timestampSeconds != timestampSeconds[j]) mult += 0.5; } + Logger.recordOutput("Vision/" + visionIO[i].getCameraName() + "/Single Tag Matrix Multiplier/Step 5", mult); Logger.recordOutput("Vision/" + visionIO[i].getCameraName() + "/Single Tag Matrix Multiplier", mult); visionMatrix = new Matrix<>(Nat.N3(), Nat.N1(), new double[]{8 * mult, 8 * mult, 12 * mult}); break; @@ -352,6 +359,7 @@ public void periodic() { MultiTargetPNPResult multiTagResult = visionInput.cameraResult.getMultiTagResult(); double meterErrorEstimation = (multiTagResult.estimatedPose.bestReprojErr / visionInput.cameraResult.getBestTarget().getArea()) * 0.045; // meterErrorEstimation = 1; + Logger.recordOutput("Vision/" + visionIO[i].getCameraName() + "/Multi Tag meterErrorEstimation", meterErrorEstimation); visionMatrix = new Matrix<>(Nat.N3(), Nat.N1(), new double[]{1.75 * meterErrorEstimation, 5 * meterErrorEstimation, 3 * meterErrorEstimation}); break; From 0396f28cf164ad09829164c01bb33fc8a780e414 Mon Sep 17 00:00:00 2001 From: KP <86213869+Kanishk-Pandey@users.noreply.github.com> Date: Sat, 6 Apr 2024 00:49:10 -0400 Subject: [PATCH 2/5] added 3rd note to friendly source side auto and added a diagonal shot constant command for tuning purposes Signed-off-by: KP <86213869+Kanishk-Pandey@users.noreply.github.com> --- Choreo.chor | 3831 ++++++++++++----- .../deploy/choreo/Friend Source Side.1.traj | 56 +- .../deploy/choreo/Friend Source Side.2.traj | 1016 ++--- .../deploy/choreo/Friend Source Side.3.traj | 86 +- .../deploy/choreo/Friend Source Side.4.traj | 1100 ++--- .../deploy/choreo/Friend Source Side.5.traj | 626 +++ .../deploy/choreo/Friend Source Side.6.traj | 770 ++++ .../deploy/choreo/Friend Source Side.traj | 3646 +++++++++++----- .../autos/Friendly Auto Source Side.auto | 57 + .../frc/robot/commands/ShooterCommands.java | 8 + 10 files changed, 7757 insertions(+), 3439 deletions(-) create mode 100644 src/main/deploy/choreo/Friend Source Side.5.traj create mode 100644 src/main/deploy/choreo/Friend Source Side.6.traj diff --git a/Choreo.chor b/Choreo.chor index 2a61494..e3d2cbc 100644 --- a/Choreo.chor +++ b/Choreo.chor @@ -61,8 +61,8 @@ "controlIntervalCount": 67 }, { - "x": 1.122, - "y": 0.916, + "x": 1.0476665496826172, + "y": 0.9821483492851257, "heading": 4.186805179534421, "isInitialGuess": false, "translationConstrained": true, @@ -7963,7 +7963,7 @@ "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 23 + "controlIntervalCount": 16 }, { "x": 2.9411983489990234, @@ -7972,7 +7972,7 @@ "isInitialGuess": true, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 11 + "controlIntervalCount": 8 }, { "x": 3.6474263668060303, @@ -7981,7 +7981,7 @@ "isInitialGuess": true, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 18 + "controlIntervalCount": 14 }, { "x": 4.352514266967773, @@ -7990,7 +7990,7 @@ "isInitialGuess": false, "translationConstrained": true, "headingConstrained": false, - "controlIntervalCount": 19 + "controlIntervalCount": 15 }, { "x": 4.928822040557861, @@ -7999,7 +7999,7 @@ "isInitialGuess": true, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 39 + "controlIntervalCount": 35 }, { "x": 5.6674604415893555, @@ -8008,7 +8008,7 @@ "isInitialGuess": false, "translationConstrained": true, "headingConstrained": false, - "controlIntervalCount": 40 + "controlIntervalCount": 35 }, { "x": 6.58668327331543, @@ -8017,7 +8017,7 @@ "isInitialGuess": true, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 18 + "controlIntervalCount": 13 }, { "x": 7.756888389587402, @@ -8026,7 +8026,7 @@ "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 20 + "controlIntervalCount": 16 }, { "x": 7.832726001739502, @@ -8035,7 +8035,7 @@ "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 25 + "controlIntervalCount": 18 }, { "x": 5.492424964904785, @@ -8044,7 +8044,7 @@ "isInitialGuess": false, "translationConstrained": true, "headingConstrained": false, - "controlIntervalCount": 28 + "controlIntervalCount": 21 }, { "x": 2.153383731842041, @@ -8053,7 +8053,7 @@ "isInitialGuess": true, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 20 + "controlIntervalCount": 14 }, { "x": 0.6389551758766174, @@ -8062,7 +8062,7 @@ "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 20 + "controlIntervalCount": 15 }, { "x": 1.8723618984222412, @@ -8071,7 +8071,7 @@ "isInitialGuess": false, "translationConstrained": true, "headingConstrained": false, - "controlIntervalCount": 8 + "controlIntervalCount": 5 }, { "x": 2.210195779800415, @@ -8080,7 +8080,7 @@ "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 22 + "controlIntervalCount": 16 }, { "x": 0.6324356198310852, @@ -8089,7 +8089,7 @@ "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 34 + "controlIntervalCount": 26 }, { "x": 2.6579627990722656, @@ -8098,7 +8098,7 @@ "isInitialGuess": false, "translationConstrained": true, "headingConstrained": false, - "controlIntervalCount": 24 + "controlIntervalCount": 16 }, { "x": 5.974128246307373, @@ -8107,7 +8107,7 @@ "isInitialGuess": false, "translationConstrained": false, "headingConstrained": false, - "controlIntervalCount": 33 + "controlIntervalCount": 27 }, { "x": 7.670579433441162, @@ -8116,7 +8116,7 @@ "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 27 + "controlIntervalCount": 19 }, { "x": 3.488945960998535, @@ -8125,7 +8125,7 @@ "isInitialGuess": false, "translationConstrained": true, "headingConstrained": false, - "controlIntervalCount": 30 + "controlIntervalCount": 22 }, { "x": 0.7134265899658203, @@ -8134,6 +8134,15 @@ "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, + "controlIntervalCount": 24 + }, + { + "x": 3.1610360145568848, + "y": 4.5860724449157715, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, "controlIntervalCount": 2 } ], @@ -10595,7 +10604,7 @@ } } ], - "isTrajectoryStale": true + "isTrajectoryStale": false }, "Greedy": { "waypoints": [ @@ -14903,12 +14912,57 @@ "controlIntervalCount": 27 }, { - "x": 0.7643982768058777, - "y": 4.252363204956055, + "x": 0.745423436164856, + "y": 4.267520427703857, "heading": 2.132717800271782, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, + "controlIntervalCount": 41 + }, + { + "x": 4.464993476867676, + "y": 1.1191703081130981, + "heading": 4.509343346092537, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 27 + }, + { + "x": 7.825890064239502, + "y": 3.1250810623168945, + "heading": 4.371409297043083, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 14 + }, + { + "x": 8.250984191894531, + "y": 4.134678363800049, + "heading": 4.409503473306582, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 29 + }, + { + "x": 4.518130302429199, + "y": 1.0926018953323364, + "heading": 4.521204088750086, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 41 + }, + { + "x": 0.745423436164856, + "y": 4.267520427703857, + "heading": 2.1112158476853815, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, "controlIntervalCount": 40 } ], @@ -14917,1279 +14971,2647 @@ "x": 0.6949124932289124, "y": 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3.9387474269988e-24, + "velocityX": 8.659105770040098e-26, + "velocityY": 2.01374292974275e-24, + "timestamp": 20.12020377410887 } ], "eventMarkers": [] diff --git a/src/main/deploy/pathplanner/autos/Friendly Auto Source Side.auto b/src/main/deploy/pathplanner/autos/Friendly Auto Source Side.auto index 7944b27..fa9c398 100644 --- a/src/main/deploy/pathplanner/autos/Friendly Auto Source Side.auto +++ b/src/main/deploy/pathplanner/autos/Friendly Auto Source Side.auto @@ -119,6 +119,63 @@ ] } }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Aim Drivetrain" + } + }, + { + "type": "race", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Ready Shooter" + } + }, + { + "type": "named", + "data": { + "name": "Shoot When Ready" + } + } + ] + } + } + ] + } + }, + { + "type": "path", + "data": { + "pathName": "Friend Source Side.5" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Friend Source Side.6" + } + }, + { + "type": "named", + "data": { + "name": "Intake Note" + } + } + ] + } + }, { "type": "parallel", "data": { diff --git a/src/main/java/frc/robot/commands/ShooterCommands.java b/src/main/java/frc/robot/commands/ShooterCommands.java index 7ea776e..5a3201b 100644 --- a/src/main/java/frc/robot/commands/ShooterCommands.java +++ b/src/main/java/frc/robot/commands/ShooterCommands.java @@ -59,6 +59,14 @@ public static Pose3d getSourcePos() { new Pose3d(1.122, 0.916, 2.13, new Rotation3d()); } + public static Command diagShot(Shooter shooter) { + return run(() -> { + shooter.shooterRunVelocity(2000); + shooter.setTargetShooterAngle(Rotation2d.fromRadians(1.1)); + }, shooter) + .withName("Set diag shot"); + } + private static double getDistance(Pose3d pose3d) { return pose3d.toPose2d().getTranslation().getNorm(); } From 5766f36bd99f73d2807f375b02763f659e548eca Mon Sep 17 00:00:00 2001 From: KP <86213869+Kanishk-Pandey@users.noreply.github.com> Date: Sat, 6 Apr 2024 14:47:51 -0400 Subject: [PATCH 3/5] mid Signed-off-by: KP <86213869+Kanishk-Pandey@users.noreply.github.com> --- src/main/java/frc/robot/RobotContainer.java | 2 +- .../frc/robot/commands/ShooterCommands.java | 25 ++++++++++--------- .../frc/robot/subsystems/drive/Drive.java | 1 + .../frc/robot/subsystems/drive/VisionIO.java | 9 +++++-- .../frc/robot/subsystems/shooter/Shooter.java | 6 ++--- 5 files changed, 25 insertions(+), 18 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 36e39b0..abae01b 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -411,7 +411,7 @@ private void configureButtonBindings() { .withTimeout(4.0) ); driverController - .povUp() + .rightBumper() .whileTrue( sequence( FeederCommands.feedToShooter(feeder) diff --git a/src/main/java/frc/robot/commands/ShooterCommands.java b/src/main/java/frc/robot/commands/ShooterCommands.java index 5a3201b..4223f5a 100644 --- a/src/main/java/frc/robot/commands/ShooterCommands.java +++ b/src/main/java/frc/robot/commands/ShooterCommands.java @@ -14,7 +14,7 @@ import org.littletonrobotics.junction.networktables.LoggedDashboardBoolean; import org.littletonrobotics.junction.networktables.LoggedDashboardNumber; -import static edu.wpi.first.units.Units.RadiansPerSecond; +import static edu.wpi.first.units.Units.*; import static edu.wpi.first.wpilibj.DriverStation.Alliance.Blue; import static edu.wpi.first.wpilibj2.command.Commands.*; import static java.lang.Math.abs; @@ -46,11 +46,12 @@ public static double inverseInterpolate(Double startValue, Double endValue, Doub } static LoggedDashboardNumber height = new LoggedDashboardNumber("Shooter Tweak Height", 2.13); + static LoggedDashboardNumber fartherIn = new LoggedDashboardNumber("Shoot Farther In", Inches.of(0).in(Meters)); public static Pose3d getSpeakerPos() { return (DriverStation.getAlliance().orElse(Blue).equals(Blue)) ? - new Pose3d(0.24, 5.550, height.get(), new Rotation3d()) : - new Pose3d(16.27, 5.550, height.get(), new Rotation3d()); + new Pose3d(0.24-fartherIn.get(), 5.50, height.get(), new Rotation3d()) : + new Pose3d(16.27+fartherIn.get(), 5.50, height.get(), new Rotation3d()); } public static Pose3d getSourcePos() { @@ -70,11 +71,12 @@ public static Command diagShot(Shooter shooter) { private static double getDistance(Pose3d pose3d) { return pose3d.toPose2d().getTranslation().getNorm(); } - +//0.35 offset public static void construct() { distanceToAngle.clear(); distanceToAngle.put(0.0, 0.0); -// distanceToAngle.put(1.633, 0.2); +// distanceToAngle.put(1.0, -0.38); +// distanceToAngle.put(1.633, -0.2); // distanceToAngle.put(2.0, 0.2); // distanceToAngle.put(2.29, 0.0); // distanceToAngle.put(1.1, -0.2941); @@ -84,13 +86,12 @@ public static void construct() { distanceToAngle.put(1000.0, 0.0); distanceToRPM.clear(); - distanceToRPM.put(0.0, 2000.0); - distanceToRPM.put(0.894, 3000.0); + distanceToRPM.put(0.0, 3500.0); + distanceToRPM.put(0.894, 3500.0); distanceToRPM.put(2.52, 3750.0); //GOOD VALUES - distanceToRPM.put(3.506, 4000.0); - distanceToRPM.put(4.25, 4200.0); - distanceToRPM.put(1000.0, - 4000.0); +// distanceToRPM.put(3.506, 4000.0); + distanceToRPM.put(4.25, 4000.0); + distanceToRPM.put(1000.0, 4000.0); } public static LoggedDashboardBoolean retractAfterShot = new LoggedDashboardBoolean("Aim/Retract After Shooting", true); @@ -248,7 +249,7 @@ public static Command newAmpShoot(Shooter shooter){ public static Command ampSpin(Shooter shooter){ return run(() -> { - shooter.setTargetShooterAngle(Rotation2d.fromRadians(0.925)); + shooter.setTargetShooterAngle(Rotation2d.fromRadians(1.114)); shooter.shooterRunVelocity(600); }); } diff --git a/src/main/java/frc/robot/subsystems/drive/Drive.java b/src/main/java/frc/robot/subsystems/drive/Drive.java index 8f2acbc..59e1159 100644 --- a/src/main/java/frc/robot/subsystems/drive/Drive.java +++ b/src/main/java/frc/robot/subsystems/drive/Drive.java @@ -350,6 +350,7 @@ public void periodic() { if (visionInputs[j].cameraResult.getTargets().size()>visionInputs[i].cameraResult.getTargets().size() && visionInputs[j].timestampSeconds != timestampSeconds[j]) mult += 0.5; } + mult += 2; Logger.recordOutput("Vision/" + visionIO[i].getCameraName() + "/Single Tag Matrix Multiplier/Step 5", mult); Logger.recordOutput("Vision/" + visionIO[i].getCameraName() + "/Single Tag Matrix Multiplier", mult); visionMatrix = new Matrix<>(Nat.N3(), Nat.N1(), new double[]{8 * mult, 8 * mult, 12 * mult}); diff --git a/src/main/java/frc/robot/subsystems/drive/VisionIO.java b/src/main/java/frc/robot/subsystems/drive/VisionIO.java index 6e9db9b..3733169 100644 --- a/src/main/java/frc/robot/subsystems/drive/VisionIO.java +++ b/src/main/java/frc/robot/subsystems/drive/VisionIO.java @@ -83,8 +83,13 @@ public void fromLog(LogTable table) { latencyMillis = table.get("LatencyMillis", latencyMillis); timestampSeconds = table.get("TimestampSeconds", timestampSeconds); name = table.get("Name", name); - table.get("CameraResultData").getRaw(); - cameraResult = PhotonPipelineResult.serde.unpack(new Packet(table.get("CameraResultData").getRaw())); + LogTable.LogValue cameraResultData = table.get("CameraResultData"); + if (cameraResultData != null) { + cameraResultData.getRaw(); + cameraResult = PhotonPipelineResult.serde.unpack(new Packet(cameraResultData.getRaw())); + } else { + connected = false; + } cameraResult.setTimestampSeconds(timestampSeconds); } diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java index 588e709..eefc3e8 100644 --- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java +++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java @@ -180,8 +180,8 @@ public void periodic() { } public void resetToLimitAngle(){ - hoodOffsetAngle = new Rotation2d(hoodInputs.motorPositionRad - 1.98875); - hoodFB.reset(hoodInputs.motorPositionRad - 1.98875); + hoodOffsetAngle = new Rotation2d(hoodInputs.motorPositionRad - (1.98875)); + hoodFB.reset(hoodInputs.motorPositionRad - (1.98875+.16)); } public void resetToStartingAngle() { @@ -190,7 +190,7 @@ public void resetToStartingAngle() { } public void resetWhileZeroing() { - hoodOffsetAngle = new Rotation2d(hoodInputs.motorPositionRad - 2.225); + hoodOffsetAngle = new Rotation2d(hoodInputs.motorPositionRad - (2.225)); hoodFB.reset(hoodInputs.motorPositionRad - hoodOffsetAngle.getRadians()); } From 58bb9c145b47ca7ae85fa7c72dcaad7b4572f0d7 Mon Sep 17 00:00:00 2001 From: KP <86213869+Kanishk-Pandey@users.noreply.github.com> Date: Sun, 7 Apr 2024 00:42:32 -0400 Subject: [PATCH 4/5] added to make side autos work Signed-off-by: KP <86213869+Kanishk-Pandey@users.noreply.github.com> --- Choreo.chor | 8784 ++++++++--------- .../choreo/Center to Nearest Note.1.traj | 37 +- .../deploy/choreo/Center to Nearest Note.traj | 37 +- src/main/deploy/choreo/Friend Amp Side.1.traj | 632 +- src/main/deploy/choreo/Friend Amp Side.2.traj | 1061 +- src/main/deploy/choreo/Friend Amp Side.3.traj | 1115 +-- src/main/deploy/choreo/Friend Amp Side.traj | 3197 +++--- .../deploy/choreo/Friend Source Side.1.traj | 68 +- .../deploy/choreo/Friend Source Side.2.traj | 1412 ++- .../deploy/choreo/Friend Source Side.3.traj | 197 +- .../deploy/choreo/Friend Source Side.4.traj | 1056 +- .../deploy/choreo/Friend Source Side.5.traj | 1090 +- .../deploy/choreo/Friend Source Side.6.traj | 1342 ++- .../deploy/choreo/Friend Source Side.traj | 5187 +++++----- src/main/deploy/choreo/Source Side.1.traj | 30 +- src/main/deploy/choreo/Source Side.2.traj | 39 +- src/main/deploy/choreo/Source Side.3.traj | 21 +- src/main/deploy/choreo/Source Side.traj | 66 +- .../pathplanner/autos/FORCE AMP AUTO.auto | 100 + .../pathplanner/autos/FORCE SOURCE AUTO.auto | 159 + .../deploy/pathplanner/autos/Just Shoot.auto | 44 + src/main/java/frc/robot/Constants.java | 2 +- src/main/java/frc/robot/RobotContainer.java | 21 +- .../frc/robot/commands/ShooterCommands.java | 11 +- .../frc/robot/subsystems/shooter/Shooter.java | 2 +- 25 files changed, 11911 insertions(+), 13799 deletions(-) create mode 100644 src/main/deploy/pathplanner/autos/FORCE AMP AUTO.auto create mode 100644 src/main/deploy/pathplanner/autos/FORCE SOURCE AUTO.auto create mode 100644 src/main/deploy/pathplanner/autos/Just Shoot.auto diff --git a/Choreo.chor b/Choreo.chor index e3d2cbc..8e9e065 100644 --- a/Choreo.chor +++ b/Choreo.chor @@ -1,10 +1,10 @@ { "version": "v0.3", "robotConfiguration": { - "mass": 70, - "rotationalInertia": 9, - "motorMaxTorque": 0.3, - "motorMaxVelocity": 4800, + "mass": 60, + "rotationalInertia": 7, + "motorMaxTorque": 0.5, + "motorMaxVelocity": 4704, "gearing": 6.746031746031747, "wheelbase": 0.52705, "trackWidth": 0.52705, @@ -2350,7 +2350,7 @@ { "name": "Intake", "target": 1, - "targetTimestamp": 1.1346806163482623, + "targetTimestamp": null, "offset": -0.62, "command": { "type": "parallel", @@ -2369,7 +2369,7 @@ { "name": "Shoot", "target": 3, - "targetTimestamp": 3.495829069127752, + "targetTimestamp": null, "offset": 0, "command": { "type": "named", @@ -2381,7 +2381,7 @@ { "name": "Aim", "target": 3, - "targetTimestamp": 3.495829069127752, + "targetTimestamp": null, "offset": -1, "command": { "type": "named", @@ -10498,7 +10498,7 @@ { "name": "Intake", "target": 7, - "targetTimestamp": null, + "targetTimestamp": 2.3982771257181246, "offset": -1, "command": { "type": "named", @@ -10510,7 +10510,7 @@ { "name": "Aim", "target": 11, - "targetTimestamp": null, + "targetTimestamp": 5.37703018216942, "offset": -1, "command": { "type": "named", @@ -10522,7 +10522,7 @@ { "name": "Shoot", "target": 11, - "targetTimestamp": null, + "targetTimestamp": 5.37703018216942, "offset": 0, "command": { "type": "named", @@ -10534,7 +10534,7 @@ { "name": "Intake", "target": 13, - "targetTimestamp": null, + "targetTimestamp": 6.13200208347499, "offset": -0.5, "command": { "type": "named", @@ -10546,7 +10546,7 @@ { "name": "Aim", "target": 14, - "targetTimestamp": null, + "targetTimestamp": 6.984976417129425, "offset": -0.5, "command": { "type": "named", @@ -10558,7 +10558,7 @@ { "name": "Shoot", "target": 14, - "targetTimestamp": null, + "targetTimestamp": 6.984976417129425, "offset": 0, "command": { "type": "named", @@ -10570,7 +10570,7 @@ { "name": "Intake", "target": 17, - "targetTimestamp": null, + "targetTimestamp": 10.91308507733646, "offset": -0.5, "command": { "type": "named", @@ -10604,7 +10604,7 @@ } } ], - "isTrajectoryStale": false + "isTrajectoryStale": true }, "Greedy": { "waypoints": [ @@ -12546,7 +12546,7 @@ "usesDefaultFieldObstacles": true, "circleObstacles": [], "eventMarkers": [], - "isTrajectoryStale": false + "isTrajectoryStale": true }, "Friend Amp Side": { "waypoints": [ @@ -12557,66 +12557,57 @@ "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 34 + "controlIntervalCount": 18 }, { - "x": 5.77, - "y": 7.471, - "heading": -3.1411853071795863, + "x": 2.618668556213379, + "y": 6.959228038787842, + "heading": -3.0791739027822587, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, "controlIntervalCount": 18 }, { - "x": 7.63, - "y": 7.471, - "heading": -3.142, + "x": 0.7495853900909424, + "y": 6.700613021850586, + "heading": -2.1587987743279, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 38 - }, - { - "x": 4.7625250816345215, - "y": 6.600101470947266, - "heading": -0.02856349819964019, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 33 + "controlIntervalCount": 28 }, { - "x": 3.7684924602508545, - "y": 5.0798163414001465, - "heading": -3.141592653589793, + "x": 6.039443016052246, + "y": 6.512528896331787, + "heading": -3.1524620016125757, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, "controlIntervalCount": 16 }, { - "x": 5.054887771606445, - "y": 4.5340728759765625, - "heading": -3.1257210599526792, + "x": 8.12012004852295, + "y": 5.842480182647705, + "heading": -3.490363684090623, "isInitialGuess": false, "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 47 + "headingConstrained": true, + "controlIntervalCount": 24 }, { - "x": 6.458227634429932, - "y": 4.3586554527282715, - "heading": 3.1268879158465483, + "x": 3.5590872764587402, + "y": 7.229598522186279, + "heading": -2.9617387211168165, "isInitialGuess": false, "translationConstrained": true, - "headingConstrained": false, - "controlIntervalCount": 45 + "headingConstrained": true, + "controlIntervalCount": 20 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"timestamp": 4.37703018216942, + "command": { + "type": "named", + "data": { + "name": "Ready Shooter" + } + } + }, + { + "timestamp": 5.37703018216942, + "command": { + "type": "named", + "data": { + "name": "Fire When Ready" + } + } + } + ] } \ No newline at end of file diff --git a/src/main/deploy/choreo/Source Side.2.traj b/src/main/deploy/choreo/Source Side.2.traj index dfff85a..d6b97c0 100644 --- a/src/main/deploy/choreo/Source Side.2.traj +++ b/src/main/deploy/choreo/Source Side.2.traj @@ -271,5 +271,42 @@ "timestamp": 1.6079462349600044 } ], - "eventMarkers": [] + "eventMarkers": [ + { + "timestamp": 0, + "command": { + "type": "named", + "data": { + "name": "Fire When Ready" + } + } + }, + { + "timestamp": 0.25497190130557, + "command": { + "type": "named", + "data": { + "name": "Intake Note" + } + } + }, + { + "timestamp": 1.1079462349600044, + "command": { + "type": "named", + "data": { + "name": "Ready Shooter" + } + } + }, + { + "timestamp": 1.6079462349600044, + "command": { + "type": "named", + "data": { + "name": "Fire When Ready" + } + } + } + ] } \ No newline at end of file diff --git a/src/main/deploy/choreo/Source Side.3.traj b/src/main/deploy/choreo/Source Side.3.traj index db7379d..40dd828 100644 --- a/src/main/deploy/choreo/Source Side.3.traj +++ b/src/main/deploy/choreo/Source Side.3.traj @@ -820,5 +820,24 @@ "timestamp": 5.169479625585555 } ], - "eventMarkers": [] + "eventMarkers": [ + { + "timestamp": 0, + "command": { + "type": "named", + "data": { + "name": "Fire When Ready" + } + } + }, + { + "timestamp": 3.4281086602070348, + "command": { + "type": "named", + "data": { + "name": "Intake Note" + } + } + } + ] } \ No newline at end of file diff --git a/src/main/deploy/choreo/Source Side.traj b/src/main/deploy/choreo/Source Side.traj index 7bc4cc7..ad84067 100644 --- a/src/main/deploy/choreo/Source Side.traj +++ b/src/main/deploy/choreo/Source Side.traj @@ -2062,5 +2062,69 @@ "timestamp": 12.15445604271498 } ], - "eventMarkers": [] + "eventMarkers": [ + { + "timestamp": 1.3982771257181246, + "command": { + "type": "named", + "data": { + "name": "Intake Note" + } + } + }, + { + "timestamp": 4.37703018216942, + "command": { + "type": "named", + "data": { + "name": "Ready Shooter" + } + } + }, + { + "timestamp": 5.37703018216942, + "command": { + "type": "named", + "data": { + "name": "Fire When Ready" + } + } + }, + { + "timestamp": 5.63200208347499, + "command": { + "type": "named", + "data": { + "name": "Intake Note" + } + } + }, + { + "timestamp": 6.484976417129425, + "command": { + "type": "named", + "data": { + "name": "Ready Shooter" + } + } + }, + { + "timestamp": 6.984976417129425, + "command": { + "type": "named", + "data": { + "name": "Fire When Ready" + } + } + }, + { + "timestamp": 10.41308507733646, + "command": { + "type": "named", + "data": { + "name": "Intake Note" + } + } + } + ] } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/FORCE AMP AUTO.auto b/src/main/deploy/pathplanner/autos/FORCE AMP AUTO.auto new file mode 100644 index 0000000..f9b082d --- /dev/null +++ b/src/main/deploy/pathplanner/autos/FORCE AMP AUTO.auto @@ -0,0 +1,100 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 0.695, + "y": 6.737 + }, + "rotation": -120.32113697747288 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Zero Hood" + } + }, + { + "type": "named", + "data": { + "name": "Zero Feeder" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Shoot" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Friend Amp Side.1" + } + }, + { + "type": "named", + "data": { + "name": "Intake Note" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Shoot" + } + }, + { + "type": "path", + "data": { + "pathName": "Friend Amp Side.2" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Friend Amp Side.3" + } + }, + { + "type": "named", + "data": { + "name": "Intake Note" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Shoot" + } + } + ] + } + }, + "folder": null, + "choreoAuto": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/FORCE SOURCE AUTO.auto b/src/main/deploy/pathplanner/autos/FORCE SOURCE AUTO.auto new file mode 100644 index 0000000..931b00a --- /dev/null +++ b/src/main/deploy/pathplanner/autos/FORCE SOURCE AUTO.auto @@ -0,0 +1,159 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 0.6949124932289124, + "y": 4.350799083709717 + }, + "rotation": 121.42956875605759 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Zero Hood" + } + }, + { + "type": "named", + "data": { + "name": "Zero Feeder" + } + } + ] + } + }, + { + "type": "race", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Shoot" + } + } + ] + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Friend Source Side.1" + } + }, + { + "type": "path", + "data": { + "pathName": "Friend Source Side.2" + } + } + ] + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Intake Note" + } + }, + { + "type": "path", + "data": { + "pathName": "Friend Source Side.3" + } + } + ] + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Friend Source Side.4" + } + }, + { + "type": "named", + "data": { + "name": "Ready Shooter" + } + } + ] + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Force Shoot" + } + } + ] + } + }, + { + "type": "path", + "data": { + "pathName": "Friend Source Side.5" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Friend Source Side.6" + } + }, + { + "type": "named", + "data": { + "name": "Intake Note" + } + } + ] + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Shoot" + } + } + ] + } + } + ] + } + }, + "folder": null, + "choreoAuto": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Just Shoot.auto b/src/main/deploy/pathplanner/autos/Just Shoot.auto new file mode 100644 index 0000000..ee828e5 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Just Shoot.auto @@ -0,0 +1,44 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 2, + "y": 2 + }, + "rotation": 0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Zero Hood" + } + }, + { + "type": "named", + "data": { + "name": "Zero Feeder" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Shoot" + } + } + ] + } + }, + "folder": null, + "choreoAuto": true +} \ 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 9d4a925..2c47c42 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 boolean isInReplayTestMode = (System.getenv().getOrDefault("TEST_RUN_MODE", "false").equalsIgnoreCase("true")); - public static final Mode currentMode = (RobotBase.isReal()) ? Mode.REAL : ((isInReplayTestMode)?Mode.REPLAY:Mode.REPLAY); + public static final Mode currentMode = (RobotBase.isReal()) ? Mode.REAL : ((isInReplayTestMode)?Mode.REPLAY:Mode.SIM); public static enum Mode { /** diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index abae01b..ec7e59b 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -203,11 +203,11 @@ public String getCameraName() { ); NamedCommands.registerCommand( "Zero Feeder", - FeederCommands.feedToBeamBreak(feeder) + FeederCommands.feedToBeamBreak(feeder).asProxy() ); NamedCommands.registerCommand( "Zero Hood", - ShooterCommands.simpleHoodZero(shooter) + ShooterCommands.simpleHoodZero(shooter).asProxy() ); NamedCommands.registerCommand( "Auto Point", @@ -233,10 +233,10 @@ public String getCameraName() { feedToShooter(feeder) ) .deadlineWith(ShooterCommands.JustShoot(shooter)) - .withTimeout(8.0)); + .withTimeout(4.0).asProxy()); NamedCommands.registerCommand( "Intake Note", - smartIntakeCommand(intake, feeder) + smartIntakeCommand(intake, feeder).raceWith(FeederCommands.feedToBeamBreak(feeder)) .andThen(either( none(), race( @@ -244,13 +244,21 @@ public String getCameraName() { flushIntakeWithoutTheArmExtendedOutward(intake, feeder) ), feeder::getBeamBroken - )).withTimeout(3.0) + )).withTimeout(3.0).asProxy() ); NamedCommands.registerCommand( "Intake", intakeCommand(intake) .withTimeout(1.0) ); + NamedCommands.registerCommand( + "Force Shoot", + sequence( + ShooterCommands.forceShoot(shooter), + waitUntil(() -> (shooter.allAtSetpoint() && (shooter.getShooterVelocityRPM() > 1000))), + run(()->{feeder.runVolts(8);}, feeder) + ).asProxy() + ); autoChooser = new LoggedDashboardChooser<>("Auto Choices", AutoBuilder.buildAutoChooser()); // dashboard = new Dashboard(autoChooser, drive, shooter, feeder, intake, vision, this.smartCommandsMode); this.reactions = new ReactionObject( @@ -397,13 +405,14 @@ private void configureButtonBindings() { .rightTrigger() .whileTrue( sequence( - waitUntil(() -> (shooter.allAtSetpoint() && (shooter.getShooterVelocityRPM() > 1000) && command.getReadySupplier().getAsBoolean())), + waitUntil(() -> (shooter.allAtSetpoint() && (shooter.getShooterVelocityRPM() > 1000) /*&& command.getReadySupplier().getAsBoolean()*/)), feedToShooter(feeder) .until(() -> !feeder.getBeamBroken()), feedToShooter(feeder) .withTimeout(.25) ) ); + operatorController.rightBumper().whileTrue(run(()->{feeder.runVolts(8);}, feeder)); operatorController .start() .onTrue( diff --git a/src/main/java/frc/robot/commands/ShooterCommands.java b/src/main/java/frc/robot/commands/ShooterCommands.java index 4223f5a..d1ef7b5 100644 --- a/src/main/java/frc/robot/commands/ShooterCommands.java +++ b/src/main/java/frc/robot/commands/ShooterCommands.java @@ -139,8 +139,8 @@ public static Command autoAim(Shooter shooter, Drive drive, Feeder feeder) { public static Command JustShoot(Shooter shooter) { //the parameter is the robot, idk how to declare it, also this returns the angle return run(() -> { - shooter.setTargetShooterAngle(Rotation2d.fromRadians(.8)); - shooter.shooterRunVelocity(3500); + shooter.setTargetShooterAngle(Rotation2d.fromRadians(1)); + shooter.shooterRunVelocity(3000); }, shooter) .raceWith(SpecializedCommands.timeoutDuringAutoSim(2)) .withName("Just Shoot"); @@ -160,6 +160,13 @@ public static Command stopShooter(Shooter shooter){ }, shooter).withName("Stop Shooter"); } + public static Command forceShoot (Shooter shooter){ + return run(() -> { + shooter.setTargetShooterAngle(Rotation2d.fromRadians(1)); + shooter.shooterRunVelocity(3000); + }); + } + public static Command simpleHoodZero(Shooter shooter) { Debouncer zeroStateDetection = new Debouncer(.2, Debouncer.DebounceType.kRising); return race( diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java index eefc3e8..6dbe277 100644 --- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java +++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java @@ -194,7 +194,7 @@ public void resetWhileZeroing() { hoodFB.reset(hoodInputs.motorPositionRad - hoodOffsetAngle.getRadians()); } - boolean hoodOverride = false; + boolean hoodOverride = true; public void overrideHoodAtSetpoint(boolean isAtSetpoint) { hoodOverride = isAtSetpoint; From b926c62df1eeb45b19a6750ad1ff0f6ab9e2ddea Mon Sep 17 00:00:00 2001 From: KP <86213869+Kanishk-Pandey@users.noreply.github.com> Date: Tue, 9 Apr 2024 09:26:11 -0400 Subject: [PATCH 5/5] Final Commit - Thanks for the season guys Signed-off-by: KP <86213869+Kanishk-Pandey@users.noreply.github.com> --- Choreo.chor | 8305 ++++++++++------- src/main/deploy/choreo/FORCE GREEDY.1.traj | 311 + src/main/deploy/choreo/FORCE GREEDY.2.traj | 212 + src/main/deploy/choreo/FORCE GREEDY.3.traj | 329 + src/main/deploy/choreo/FORCE GREEDY.traj | 824 ++ src/main/deploy/choreo/Friend Amp Side.1.traj | 640 +- src/main/deploy/choreo/Friend Amp Side.2.traj | 390 +- src/main/deploy/choreo/Friend Amp Side.3.traj | 1054 +-- src/main/deploy/choreo/Friend Amp Side.4.traj | 419 - src/main/deploy/choreo/Friend Amp Side.traj | 2176 ++--- .../deploy/choreo/Friend Source Side.1.traj | 34 +- .../deploy/choreo/Friend Source Side.2.traj | 1800 ++-- .../deploy/choreo/Friend Source Side.3.traj | 102 +- .../deploy/choreo/Friend Source Side.4.traj | 1002 +- .../deploy/choreo/Friend Source Side.5.traj | 942 +- .../deploy/choreo/Friend Source Side.6.traj | 1102 +-- .../deploy/choreo/Friend Source Side.traj | 5000 +++++----- src/main/deploy/choreo/Temp Greedy.1.traj | 167 - src/main/deploy/choreo/Temp Greedy.2.traj | 248 - src/main/deploy/choreo/Temp Greedy.3.traj | 185 - src/main/deploy/choreo/Temp Greedy.4.traj | 311 - .../pathplanner/autos/FORCE GREEDY.auto | 100 + .../autos/Friendly Auto Amp Side.auto | 2 +- src/main/java/frc/robot/RobotContainer.java | 6 + .../frc/robot/commands/ClimbCommands.java | 13 +- .../frc/robot/commands/ShooterCommands.java | 7 + .../frc/robot/subsystems/drive/Drive.java | 2 +- 27 files changed, 13609 insertions(+), 12074 deletions(-) create mode 100644 src/main/deploy/choreo/FORCE GREEDY.1.traj create mode 100644 src/main/deploy/choreo/FORCE GREEDY.2.traj create mode 100644 src/main/deploy/choreo/FORCE GREEDY.3.traj create mode 100644 src/main/deploy/choreo/FORCE GREEDY.traj delete mode 100644 src/main/deploy/choreo/Friend Amp Side.4.traj delete mode 100644 src/main/deploy/choreo/Temp Greedy.1.traj delete mode 100644 src/main/deploy/choreo/Temp Greedy.2.traj delete mode 100644 src/main/deploy/choreo/Temp Greedy.3.traj delete mode 100644 src/main/deploy/choreo/Temp Greedy.4.traj create mode 100644 src/main/deploy/pathplanner/autos/FORCE GREEDY.auto diff --git a/Choreo.chor b/Choreo.chor index 8e9e065..edb7db8 100644 --- a/Choreo.chor +++ b/Choreo.chor @@ -12560,8 +12560,8 @@ "controlIntervalCount": 18 }, { - "x": 2.618668556213379, - "y": 6.959228038787842, + "x": 2.6254212856292725, + "y": 6.8915510177612305, "heading": -3.0791739027822587, "isInitialGuess": false, "translationConstrained": true, @@ -12569,8 +12569,8 @@ "controlIntervalCount": 18 }, { - "x": 0.7495853900909424, - "y": 6.700613021850586, + "x": 0.6790533065795898, + "y": 6.677102565765381, "heading": -2.1587987743279, "isInitialGuess": false, "translationConstrained": true, @@ -12605,8 +12605,8 @@ "controlIntervalCount": 20 }, { - "x": 0.726074755191803, - "y": 6.724123477935791, + "x": 0.6908085942268372, + "y": 6.665347099304199, "heading": -2.122451454401457, "isInitialGuess": false, "translationConstrained": true, @@ -12619,1126 +12619,1126 @@ "x": 0.695, "y": 6.737, "heading": -2.1, - "angularVelocity": 4.197558757638257e-24, - "velocityX": 4.4778582255981285e-23, - "velocityY": 1.0551546073904292e-23, + "angularVelocity": -4.0330819952678584e-24, + "velocityX": -3.717989082448665e-25, + "velocityY": 3.0790761835844303e-26, "timestamp": 0 }, { - "x": 0.7405670576790577, - "y": 6.742770738123611, - "heading": 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"type": "path", + "data": { + "pathName": "FORCE GREEDY.1" + } + }, + { + "type": "named", + "data": { + "name": "Intake Note" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Shoot" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "FORCE GREEDY.2" + } + }, + { + "type": "named", + "data": { + "name": "Intake Note" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Shoot" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "FORCE GREEDY.3" + } + }, + { + "type": "named", + "data": { + "name": "Intake Note" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Shoot" + } + } + ] + } + }, + "folder": null, + "choreoAuto": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Friendly Auto Amp Side.auto b/src/main/deploy/pathplanner/autos/Friendly Auto Amp Side.auto index 77354e6..878ae33 100644 --- a/src/main/deploy/pathplanner/autos/Friendly Auto Amp Side.auto +++ b/src/main/deploy/pathplanner/autos/Friendly Auto Amp Side.auto @@ -67,7 +67,7 @@ { "type": "path", "data": { - "pathName": "Friend Amp Side.4" + "pathName": "Friend Amp Side.3" } } ] diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index ec7e59b..ed2e085 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -401,6 +401,8 @@ private void configureButtonBindings() { feedToBeamBreak(feeder) .withTimeout(5) ); + operatorController.rightTrigger() + .whileTrue(passNote(shooter)); driverController .rightTrigger() .whileTrue( @@ -590,6 +592,10 @@ public void configureReactions() { .isTeleop .and(reactions.isEnabled) .whileTrue(LEDCommands.enabled(leds).ignoringDisable(true)); + reactions + .isTeleop + .and(reactions.isEnabled) + .whileTrue(ClimbCommands.zeroClimb(climb).ignoringDisable(true).withTimeout(6.5)); } diff --git a/src/main/java/frc/robot/commands/ClimbCommands.java b/src/main/java/frc/robot/commands/ClimbCommands.java index 0027957..3bb68d1 100644 --- a/src/main/java/frc/robot/commands/ClimbCommands.java +++ b/src/main/java/frc/robot/commands/ClimbCommands.java @@ -26,12 +26,14 @@ public static Command zero(Climb climb, double currentThreshhold) { public Debouncer rightDebounce = new Debouncer(1.0, kFalling); public void reset() { - leftDebounce = new Debouncer(.35, kFalling); + leftDebounce = new Debouncer(1.0, kFalling); cannotMoveAL = false; cannotMoveAR = false; cannotMoveBL = false; cannotMoveBR = false; - rightDebounce = new Debouncer(0.35, kFalling); + rightDebounce = new Debouncer(1.0, kFalling); + rightDebounce.calculate(true); + leftDebounce.calculate(true); } }; SequentialCommandGroup sequentialCommandGroup = new InstantCommand(debouncers::reset).andThen( @@ -56,6 +58,13 @@ private static BooleanSupplier getDebounce(Debouncer debouncers, DoubleSupplier }; } + public static Command zeroClimb(Climb climb){ + return run(() -> { + climb.runLeftVolts(4.0); + climb.runRightVolts(4.0); + }); + } + public static Command runClimb(Climb climb, DoubleSupplier leftSupplier, DoubleSupplier rightSupplier) { return run( () -> { diff --git a/src/main/java/frc/robot/commands/ShooterCommands.java b/src/main/java/frc/robot/commands/ShooterCommands.java index d1ef7b5..4048f38 100644 --- a/src/main/java/frc/robot/commands/ShooterCommands.java +++ b/src/main/java/frc/robot/commands/ShooterCommands.java @@ -146,6 +146,13 @@ public static Command JustShoot(Shooter shooter) { .withName("Just Shoot"); } + public static Command passNote(Shooter shooter) { + return run(()-> { + shooter.setTargetShooterAngle(Rotation2d.fromRadians(0.25)); + shooter.shooterRunVelocity(4000.0); + }, shooter).withName("Pass note"); + } + public static Command shooterIdle(Shooter shooter) { return run(() -> { shooter.shooterRunVelocity(0.0); diff --git a/src/main/java/frc/robot/subsystems/drive/Drive.java b/src/main/java/frc/robot/subsystems/drive/Drive.java index 59e1159..56dfe1e 100644 --- a/src/main/java/frc/robot/subsystems/drive/Drive.java +++ b/src/main/java/frc/robot/subsystems/drive/Drive.java @@ -56,7 +56,7 @@ import static frc.robot.Constants.robotToCam; public class Drive extends SubsystemBase { - private static final double MAX_LINEAR_SPEED = 4.5; + private static final double MAX_LINEAR_SPEED = 5.75; private static final double TRACK_WIDTH_X = inchesToMeters(20.75); private static final double TRACK_WIDTH_Y = inchesToMeters(20.75); private static final double DRIVE_BASE_RADIUS =