From d631b737e6dcd1b0baa5e93642a3c2dc5c10ca9b Mon Sep 17 00:00:00 2001 From: Team Computer Date: Thu, 22 Mar 2018 13:22:55 -0700 Subject: [PATCH] Changed up auto trajectories slightly to account for the fact that the robot is not a point mass, changed generation so that saving does NOT occur on the bot, now we just load csv files --- build/jars/CTRLib.jar | Bin 58311 -> 0 bytes build/jars/Pathfinder-Java-1.8.jar | Bin 0 -> 12150 bytes build/org/usfirst/frc/team1160/robot/OI.class | Bin 4137 -> 4148 bytes .../usfirst/frc/team1160/robot/Robot.class | Bin 4618 -> 7365 bytes .../usfirst/frc/team1160/robot/RobotMap.class | Bin 2287 -> 2287 bytes .../team1160/robot/TrajectoryWaypoints.class | Bin 1466 -> 1631 bytes .../auto/paths/Center_RightSwitch.class | Bin 969 -> 1310 bytes .../robot/subsystems/DriveTrain.class | Bin 12229 -> 12233 bytes src/org/usfirst/frc/team1160/robot/OI.java | 4 +- src/org/usfirst/frc/team1160/robot/Robot.java | 104 +++++++++++------- .../team1160/robot/TrajectoryWaypoints.java | 19 +++- .../auto/paths/Center_RightSwitch.java | 8 ++ 12 files changed, 86 insertions(+), 49 deletions(-) delete mode 100644 build/jars/CTRLib.jar create mode 100644 build/jars/Pathfinder-Java-1.8.jar diff --git a/build/jars/CTRLib.jar b/build/jars/CTRLib.jar deleted file mode 100644 index 238f8c4b613ad8cf14ea3b5bb2e642a285b93db6..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 58311 zcma&N1yEeyy6qcCV65Hx6TcXt|hx1gbc#@*fB-Q9w_1%kTDd5IhOiE%kuCgxcrStk0aiRlIv)&=&h{hfWtPfD^du=W0s7X*L5iudF~@9T&W*`fKW4w zPf@tgR=3o3yjfQVt1&B!sC^!p-ORli3sb3=1T!?uAoVCXOhW!vqz^Se=Uz|S<4WhZuI`8n%2yT zzv9IsGRiB>@*d`I}eb?k?qn{LFwwbjX+Hz^@`sSmF+iFtJC^hvyGUXbhm+;Ptgv zh*nVNkLIjiYsgQkC#G&tahZ3n{x@B;6Isi-qY$^*f}y^k?C>!S7?ODn?{2EFu(--Df6E znr~o?PIt65Xby8qnOtx8+v&PXy_?p4vg&fZXgnLlg$8{IamK-qdit#k9TlD+UiEqf z6+@#|M8yx7e{6By*I8f&@adC2{C~1V>VIpC5@u$m#y}GrF*A276SIGLWR#k|%bFOb zK)9)FbCQ@7dP-1Ga$}x5Bqx&;OVd 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index f4b303e..9c454c0 100644 --- a/src/org/usfirst/frc/team1160/robot/OI.java +++ b/src/org/usfirst/frc/team1160/robot/OI.java @@ -121,8 +121,8 @@ private void tieButtons() { highGear.whenPressed(new HighGear()); lowGear.whenPressed(new LowGear()); - intakeEat.whileHeld(new IntakeRotate(1)); - intakeSpit.whileHeld(new IntakeRotate(-1)); + intakeEat.whileHeld(new IntakeRotate(0.7)); + intakeSpit.whileHeld(new IntakeRotate(-0.7)); extendClimber.whenPressed(new LatchExtend()); retractClimber.whenPressed(new LatchRetract()); diff --git a/src/org/usfirst/frc/team1160/robot/Robot.java b/src/org/usfirst/frc/team1160/robot/Robot.java index f54b8c8..9c6d9db 100644 --- a/src/org/usfirst/frc/team1160/robot/Robot.java +++ b/src/org/usfirst/frc/team1160/robot/Robot.java @@ -90,7 +90,8 @@ public void robotInit() { * Center to Left Switch Backwards: 4 * Center to Right Switch: 5 */ - saveTrajectoriesAll(); + //saveTrajectoriesAll(); + autonomousCommand = new TurnAngle(90); } @@ -119,7 +120,9 @@ public void generateSegments(int choice) { //let's be even more honest, you shou //autonomousCommand = new Center_LeftSwitchBW(); break; case 5: //Center to Right Switch - segment_one = dt.generateTrajectorySetup(CENTER_RIGHT_SWITCH); + segment_one = dt.generateTrajectorySetup(CENTER_RIGHT_SWITCH_1); + segment_two = dt.generateTrajectorySetup(CENTER_RIGHT_SWITCH_2); + segment_three = dt.generateTrajectorySetup(CENTER_RIGHT_SWITCH_3); autonomousCommand = new Center_RightSwitch(); break; case 6: //Custom @@ -139,25 +142,29 @@ public void saveTrajectories(int choice) { //let's be honest, you should only ha switch (choice) { case 1: generateSegments(1); - file_one = new File("CENTER_LEFT_SWITCH_1.csv"); - Pathfinder.writeToCSV(file_one, segment_one); - file_one = new File("CENTER_LEFT_SWITCH_2.csv"); - Pathfinder.writeToCSV(file_one, segment_two); - file_one = new File("CENTER_LEFT_SWITCH_3.csv"); - Pathfinder.writeToCSV(file_one, segment_three); + file_one = new File("CENTER_LEFT_SWITCH_1.traj"); + Pathfinder.writeToFile(file_one, segment_one); + file_one = new File("CENTER_LEFT_SWITCH_2.traj"); + Pathfinder.writeToFile(file_one, segment_two); + file_one = new File("CENTER_LEFT_SWITCH_3.traj"); + Pathfinder.writeToFile(file_one, segment_three); break; case 2: case 3: generateSegments(2); - file_one = new File("X_X_SWITCH_1.csv"); - Pathfinder.writeToCSV(file_one, segment_one); - file_one = new File("X_X_SWITCH_2.csv"); - Pathfinder.writeToCSV(file_one, segment_two); + file_one = new File("X_X_SWITCH_1.traj"); + Pathfinder.writeToFile(file_one, segment_one); + file_one = new File("X_X_SWITCH_2.traj"); + Pathfinder.writeToFile(file_one, segment_two); break; case 5: generateSegments(5); - file_one = new File("CENTER_RIGHT_SWITCH.csv"); - Pathfinder.writeToCSV(file_one, segment_one); + file_one = new File("CENTER_RIGHT_SWITCH_1.traj"); + Pathfinder.writeToFile(file_one, segment_one); + file_one = new File("CENTER_RIGHT_SWITCH_2.traj"); + Pathfinder.writeToFile(file_one, segment_two); + file_one = new File("CENTER_RIGHT_SWITCH_3.traj"); + Pathfinder.writeToFile(file_one, segment_three); break; default: System.out.println("Hold this even bigger L"); @@ -171,20 +178,29 @@ public void saveTrajectoriesAll() { //Kobe: "Just save them all" File file_one; generateSegments(1); - file_one = new File("CENTER_LEFT_SWITCH_1.csv"); - Pathfinder.writeToCSV(file_one, segment_one); - file_one = new File("CENTER_LEFT_SWITCH_2.csv"); - Pathfinder.writeToCSV(file_one, segment_two); - file_one = new File("CENTER_LEFT_SWITCH_3.csv"); - Pathfinder.writeToCSV(file_one, segment_three); + //file_one = new File("CENTER_LEFT_SWITCH_1.traj"); + file_one = new File("CLS1.traj"); + System.out.println("Attempted to save center left switch 1"); + Pathfinder.writeToFile(file_one, segment_one); + System.out.println("Successfully saved center left switch 1"); + file_one = new File("CENTER_LEFT_SWITCH_2.traj"); + Pathfinder.writeToFile(file_one, segment_two); + file_one = new File("CENTER_LEFT_SWITCH_3.traj"); + Pathfinder.writeToFile(file_one, segment_three); generateSegments(2); - file_one = new File("X_X_SWITCH_1.csv"); - Pathfinder.writeToCSV(file_one, segment_one); - file_one = new File("X_X_SWITCH_2.csv"); - Pathfinder.writeToCSV(file_one, segment_two); + file_one = new File("X_X_SWITCH_1.traj"); + Pathfinder.writeToFile(file_one, segment_one); + file_one = new File("X_X_SWITCH_2.traj"); + Pathfinder.writeToFile(file_one, segment_two); generateSegments(5); - file_one = new File("CENTER_RIGHT_SWITCH.csv"); - Pathfinder.writeToCSV(file_one, segment_one); + file_one = new File("CENTER_RIGHT_SWITCH_1.traj"); + Pathfinder.writeToFile(file_one, segment_one); + file_one = new File("CENTER_RIGHT_SWITCH_2.traj"); + Pathfinder.writeToFile(file_one, segment_two); + file_one = new File("CENTER_RIGHT_SWITCH_3.traj"); + Pathfinder.writeToFile(file_one, segment_three); + + System.out.println("All paths saved to csv"); } public void loadTrajectories(int choice) { //now this is the good stuff, this is what you wanna run 25/7 @@ -192,31 +208,35 @@ public void loadTrajectories(int choice) { //now this is the good stuff, this is switch (choice) { case 1: - file_one = new File("CENTER_LEFT_SWITCH_1.csv"); - segment_one = Pathfinder.readFromCSV(file_one); - file_one = new File("CENTER_LEFT_SWITCH_2.csv"); - segment_two = Pathfinder.readFromCSV(file_one); - file_one = new File("CENTER_LEFT_SWITCH_3.csv"); - segment_three = Pathfinder.readFromCSV(file_one); + file_one = new File("CENTER_LEFT_SWITCH_1.traj"); + segment_one = Pathfinder.readFromFile(file_one); + file_one = new File("CENTER_LEFT_SWITCH_2.traj"); + segment_two = Pathfinder.readFromFile(file_one); + file_one = new File("CENTER_LEFT_SWITCH_3.traj"); + segment_three = Pathfinder.readFromFile(file_one); autonomousCommand = new Center_LeftSwitch(); break; case 2: - file_one = new File("X_X_SWITCH_1.csv"); - segment_one = Pathfinder.readFromCSV(file_one); - file_one = new File("X_X_SWITCH_2.csv"); - segment_two = Pathfinder.readFromCSV(file_one); + file_one = new File("X_X_SWITCH_1.traj"); + segment_one = Pathfinder.readFromFile(file_one); + file_one = new File("X_X_SWITCH_2.traj"); + segment_two = Pathfinder.readFromFile(file_one); autonomousCommand = new Left_LeftSwitch(); break; case 3: - file_one = new File("X_X_SWITCH_1.csv"); - segment_one = Pathfinder.readFromCSV(file_one); - file_one = new File("X_X_SWITCH_2.csv"); - segment_two = Pathfinder.readFromCSV(file_one); + file_one = new File("X_X_SWITCH_1.traj"); + segment_one = Pathfinder.readFromFile(file_one); + file_one = new File("X_X_SWITCH_2.traj"); + segment_two = Pathfinder.readFromFile(file_one); autonomousCommand = new Right_RightSwitch(); break; case 5: - file_one = new File("CENTER_RIGHT_SWITCH.csv"); - segment_one = Pathfinder.readFromCSV(file_one); + file_one = new File("CENTER_RIGHT_SWITCH_1.traj"); + segment_one = Pathfinder.readFromFile(file_one); + file_one = new File("CENTER_RIGHT_SWITCH_2.traj"); + segment_two = Pathfinder.readFromFile(file_one); + file_one = new File("CENTER_RIGHT_SWITCH_3.traj"); + segment_three = Pathfinder.readFromFile(file_one); autonomousCommand = new Center_RightSwitch(); break; default: diff --git a/src/org/usfirst/frc/team1160/robot/TrajectoryWaypoints.java b/src/org/usfirst/frc/team1160/robot/TrajectoryWaypoints.java index 570d1ae..8a20862 100644 --- a/src/org/usfirst/frc/team1160/robot/TrajectoryWaypoints.java +++ b/src/org/usfirst/frc/team1160/robot/TrajectoryWaypoints.java @@ -23,11 +23,11 @@ public interface TrajectoryWaypoints { //From the center to the left switch public static final Waypoint[] CENTER_LEFT_SWITCH_1 = - new Waypoint[] {new Waypoint(0,0,0),new Waypoint(3,0,0)}; + new Waypoint[] {new Waypoint(0,0,0),new Waypoint(2,0,0)}; public static final Waypoint[] CENTER_LEFT_SWITCH_2 = - new Waypoint[] {new Waypoint(0,0,0),new Waypoint(40*Math.pow(2, 0.5)/12,0,0)}; + new Waypoint[] {new Waypoint(0,0,0),new Waypoint(5.0*Math.pow(2, 0.5),0,0)}; public static final Waypoint[] CENTER_LEFT_SWITCH_3 = - new Waypoint[] {new Waypoint(0,0,0),new Waypoint(64/12,0,0)}; + new Waypoint[] {new Waypoint(0,0,0),new Waypoint(2.0,0,0)}; //From the center to the left switch BACKWARDS public static final Waypoint[] CENTER_LEFT_SWITCH_1_BACKWARDS = @@ -38,14 +38,23 @@ public interface TrajectoryWaypoints { new Waypoint[] {new Waypoint(0,0,0),new Waypoint(-64/12,0,0)}; //From the center to the right switch + + /* THIS IS FROM PRE-THURSDAY LV CODE public static final Waypoint[] CENTER_RIGHT_SWITCH = new Waypoint[] {new Waypoint(0,0,0),new Waypoint(140/12,0,0)}; + */ + public static final Waypoint[] CENTER_RIGHT_SWITCH_1 = + new Waypoint[] {new Waypoint(0,0,0),new Waypoint(2,0,0)}; + public static final Waypoint[] CENTER_RIGHT_SWITCH_2 = + new Waypoint[] {new Waypoint(0,0,0),new Waypoint(4.5*Math.pow(2, 0.5),0,0)}; + public static final Waypoint[] CENTER_RIGHT_SWITCH_3 = + new Waypoint[] {new Waypoint(0,0,0),new Waypoint(2,0,0)}; //From the X side to the X switch where X is either left or right public static final Waypoint[] X_X_SWITCH_1 = - new Waypoint[] {new Waypoint(0,0,0),new Waypoint(168.0/12.0,0,0)}; + new Waypoint[] {new Waypoint(0,0,0),new Waypoint(12.4,0,0)}; public static final Waypoint[] X_X_SWITCH_2 = - new Waypoint[] {new Waypoint(0,0,0),new Waypoint(42.0/12.0,0,0)}; + new Waypoint[] {new Waypoint(0,0,0),new Waypoint(1.5,0,0)}; //Straight line from start to switch public static final Waypoint[] START_SWITCH = diff --git a/src/org/usfirst/frc/team1160/robot/commands/auto/paths/Center_RightSwitch.java b/src/org/usfirst/frc/team1160/robot/commands/auto/paths/Center_RightSwitch.java index 6d33976..3dae85d 100644 --- a/src/org/usfirst/frc/team1160/robot/commands/auto/paths/Center_RightSwitch.java +++ b/src/org/usfirst/frc/team1160/robot/commands/auto/paths/Center_RightSwitch.java @@ -5,6 +5,7 @@ import org.usfirst.frc.team1160.robot.commands.auto.drive.FollowTrajectory; import org.usfirst.frc.team1160.robot.commands.auto.drive.TurnAngle; import org.usfirst.frc.team1160.robot.commands.auto.intake.AutoBoxSpit; +import org.usfirst.frc.team1160.robot.commands.auto.lift.BangBangMove; import org.usfirst.frc.team1160.robot.commands.intake.IntakeExtend; import org.usfirst.frc.team1160.robot.commands.intake.Toggle; @@ -19,6 +20,13 @@ public Center_RightSwitch() { addSequential(new IntakeExtend()); addSequential(new ResetEncoderYaw()); addSequential(new FollowTrajectory(Robot.segment_one)); + addSequential(new TurnAngle(45)); + addSequential(new ResetEncoderYaw()); + addSequential(new FollowTrajectory(Robot.segment_two)); + addSequential(new TurnAngle(-45)); + addSequential(new BangBangMove()); + addSequential(new ResetEncoderYaw()); + addSequential(new FollowTrajectory(Robot.segment_three)); addSequential(new AutoBoxSpit()); //and then now we manipulate the lift