diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/Robot.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/Robot.java index 9a48b6f8..70783cfa 100644 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/Robot.java +++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/Robot.java @@ -92,7 +92,8 @@ public void robotInit() { try { //Read the yaml file with SnakeYaml so we can use anchors and merge syntax. // Map normalized = (Map) yaml.load(new FileReader(RESOURCES_PATH+"ballbasaur_map.yml")); - Map normalized = (Map) yaml.load(new FileReader(RESOURCES_PATH + "calcifer_map.yml")); +// Map normalized = (Map) yaml.load(new FileReader(RESOURCES_PATH + "naveen_map.yml")); + Map normalized = (Map) yaml.load(new FileReader(RESOURCES_PATH + "nate_map.yml")); // Map normalized = (Map) yaml.load(new FileReader(RESOURCES_PATH + "calcifer_outreach_map.yml")); YAMLMapper mapper = new YAMLMapper(); //Turn the Map read by SnakeYaml into a String so Jackson can read it. diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/FPSTalon.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/FPSTalon.java index e0aa7e74..eb1e9a15 100644 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/FPSTalon.java +++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/FPSTalon.java @@ -690,7 +690,7 @@ public void loadProfile(MotionProfileData data) { point.velocityOnly = velocityOnly; // true => no position servo just velocity feedforward // Set all the fields of the profile point - point.position = feetToEncoder(data.getData()[i][0]); + point.position = feetToEncoder(data.getData()[i][0]) * (data.isInverted() ? -1 : 1); //Calculate vel based off inversion if (data.isInverted()) { diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeWithDPad.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeWithDPad.java index 1f97fa95..5cf803e6 100644 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeWithDPad.java +++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeWithDPad.java @@ -8,15 +8,17 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import org.jetbrains.annotations.NotNull; import org.jetbrains.annotations.Nullable; +import org.usfirst.frc.team449.robot.generalInterfaces.loggable.Loggable; import org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick; import org.usfirst.frc.team449.robot.oi.throttles.Throttle; +import org.usfirst.frc.team449.robot.other.Clock; import org.usfirst.frc.team449.robot.other.Polynomial; /** * An arcade OI with an option to use the D-pad for turning. */ @JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class) -public class OIArcadeWithDPad extends OIArcade { +public class OIArcadeWithDPad extends OIArcade implements Loggable { /** * How much the D-pad moves the robot rotationally on a 0 to 1 scale, equivalent to pushing the turning stick that @@ -54,6 +56,16 @@ public class OIArcadeWithDPad extends OIArcade { */ private final double turnInPlaceRotScale; + /** + * Cached forwards and rotation values. + */ + private double cachedFwd, cachedRot; + + /** + * The time velocity and rotation were cached at. + */ + private long timeLastCached; + /** * Default constructor * @@ -82,6 +94,31 @@ public OIArcadeWithDPad( this.gamepad = gamepad; this.scaleRotByFwdPoly = scaleRotByFwdPoly; this.turnInPlaceRotScale = turnInPlaceRotScale; + timeLastCached = 0; + } + + /** + * Calculate and cache the values of fwd and rot. + */ + private void cacheValues(){ + if (Clock.currentTimeMillis() > timeLastCached){ + timeLastCached = Clock.currentTimeMillis(); + + //Forwards is simple + cachedFwd = fwdThrottle.getValue(); + + //If the gamepad is being pushed to the left or right + if (gamepad != null && !(gamepad.getPOV() == -1 || gamepad.getPOV() % 180 == 0)) { + //Output the shift value + cachedRot = gamepad.getPOV() < 180 ? dPadShift : -dPadShift; + } else if (cachedFwd == 0) { //Turning in place + cachedRot = rotThrottle.getValue() * turnInPlaceRotScale; + } else if (scaleRotByFwdPoly != null) { //If we're using Cheezy Drive + cachedRot = rotThrottle.getValue() * scaleRotByFwdPoly.get(Math.abs(cachedFwd)); + } else { //Plain and simple + cachedRot = rotThrottle.getValue(); + } + } } /** @@ -92,9 +129,8 @@ public OIArcadeWithDPad( */ @Override public double getFwd() { - //Scale based on rotational throttle for more responsive turning at high speed - SmartDashboard.putNumber("fwd", fwdThrottle.getValue()); - return fwdThrottle.getValue(); + cacheValues(); + return cachedFwd; } /** @@ -105,24 +141,46 @@ public double getFwd() { */ @Override public double getRot() { - double toRet; - //If the gamepad is being pushed to the left or right - if (gamepad != null && !(gamepad.getPOV() == -1 || gamepad.getPOV() % 180 == 0)) { - //Output the shift value - toRet = gamepad.getPOV() < 180 ? dPadShift : -dPadShift; - } else { - //Return the throttle value if it's outside of the deadband. - if (fwdThrottle.getValue() == 0) { - toRet = rotThrottle.getValue() * turnInPlaceRotScale; - } else { - if (scaleRotByFwdPoly != null) { - toRet = rotThrottle.getValue() * scaleRotByFwdPoly.get(Math.abs(fwdThrottle.getValue())); - } else { - toRet = rotThrottle.getValue(); - } - } - } - SmartDashboard.putNumber("Rot",toRet); - return toRet; + cacheValues(); + return cachedRot; + } + + /** + * Get the headers for the data this subsystem logs every loop. + * + * @return An N-length array of String labels for data, where N is the length of the Object[] returned by getData(). + */ + @NotNull + @Override + public String[] getHeader() { + return new String[]{ + "Fwd", + "Rot" + }; + } + + /** + * Get the data this subsystem logs every loop. + * + * @return An N-length array of Objects, where N is the number of labels given by getHeader. + */ + @NotNull + @Override + public Object[] getData() { + return new Object[]{ + getFwd(), + getRot() + }; + } + + /** + * Get the name of this object. + * + * @return A string that will identify this object in the log file. + */ + @NotNull + @Override + public String getName() { + return "OI"; } } diff --git a/RoboRIO/src/main/resources/calciferLeftBlueBackupProfile.csv b/RoboRIO/src/main/resources/calciferLeftBlueBackupProfile.csv index d573cccc..9e49c7f5 100644 --- a/RoboRIO/src/main/resources/calciferLeftBlueBackupProfile.csv +++ b/RoboRIO/src/main/resources/calciferLeftBlueBackupProfile.csv @@ -1,55 +1,49 @@ -54 -3.6998202195815923E-4, 0.014799280878326368, 0.29598561756652736, 0.05 -0.0016598585659637298, 0.02579753088011141, 0.21996500003570083, 0.05 -0.00456453440812901, 0.058093516843305604, 0.6459197192638838, 0.05 -0.009736780007313877, 0.10344491198369735, 0.9070279028078349, 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a/RoboRIO/src/main/resources/calciferLeftRedBackupProfile.csv b/RoboRIO/src/main/resources/calciferLeftRedBackupProfile.csv index a8291635..7a60748f 100644 --- a/RoboRIO/src/main/resources/calciferLeftRedBackupProfile.csv +++ b/RoboRIO/src/main/resources/calciferLeftRedBackupProfile.csv @@ -1,55 +1,49 @@ -54 -3.6998202195815923E-4, 0.014799280878326368, 0.29598561756652736, 0.05 -0.002039961642815852, 0.03339959241715385, 0.37200623077654965, 0.05 -0.005794962153935701, 0.07510001022239697, 0.8340083561048623, 0.05 -0.012462141029413544, 0.13334357750955686, 1.1648713457431976, 0.05 -0.022858188321339706, 0.2079209458385232, 1.4915473665793266, 0.05 -0.037782761500985376, 0.2984914635929134, 1.811410355087804, 0.05 -0.05801043251177676, 0.4045534202158277, 2.1212391324582858, 0.05 -0.08428127613196472, 0.5254168724037591, 2.4172690437586284, 0.05 -0.1172902510358819, 0.6601794980783438, 2.6952525134916927, 0.05 -0.15767551546009065, 0.8077052884841749, 2.9505158081166227, 0.05 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-1.666811594181894, 0.05 +8.33214782608709, 0.06161231883737628, -1.232028985485556, 0.05 +8.33323532608699, 0.021749999998021963, -0.7972463767870863, 0.05 +8.333416666666666, 0.003626811593520074, -0.3624637680900378, 0.05 +8.333416666666666, 0.0, -0.07253623187040148, 0.05 diff --git a/RoboRIO/src/main/resources/nate_map.yml b/RoboRIO/src/main/resources/nate_map.yml new file mode 100644 index 00000000..1528a809 --- /dev/null +++ b/RoboRIO/src/main/resources/nate_map.yml @@ -0,0 +1,730 @@ +--- +doMP: true +testMP: false +leftTestProfile: + &leftTest + '@id': leftTest + filename: "forward100InProfile.csv" + inverted: false +rightTestProfile: + <<: *leftTest + '@id': rightTest +leftProfiles: !!map + "blue_center" : + '@id': blueLeftCenter + filename: "calciferLeftBlueMidProfile.csv" + inverted: false + "blue_left" : + '@id': blueLeftLeft + filename: "calciferLeftBlueLeftProfile.csv" + inverted: false + "blue_right" : + '@id': blueLeftRight + filename: "calciferLeftBlueRightProfile.csv" + inverted: false + "red_center" : + '@id': redLeftCenter + filename: "calciferLeftRedMidProfile.csv" + inverted: false + "red_left" : + '@id': redLeftLeft + filename: "calciferLeftRedLeftProfile.csv" + inverted: false + "red_right" : + '@id': redLeftRight + filename: "calciferLeftRedRightProfile.csv" + inverted: false +rightProfiles: !!map + "blue_center" : + '@id': blueRightCenter + filename: "calciferRightBlueMidProfile.csv" + inverted: false + "blue_left" : + '@id': blueRightLeft + filename: "calciferRightBlueLeftProfile.csv" + inverted: false + "blue_right" : + '@id': blueRightRight + filename: "calciferRightBlueRightProfile.csv" + inverted: false + "red_center" : + '@id': redRightCenter + filename: "calciferRightRedMidProfile.csv" + inverted: false + "red_left" : + '@id': redRightLeft + filename: "calciferRightRedLeftProfile.csv" + inverted: false + "red_right" : + '@id': redRightRight + filename: "calciferRightRedRightProfile.csv" + inverted: false +allianceSwitch: + '@id': allianceSwitch + ports: [3] +dropGearSwitch: + '@id': dropGearSwitch + ports: [2] +locationDial: + '@id': locationDial + ports: [0, 1] +RIOduinoPort: 4 +oi: + org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcadeWithDPad: + '@id': oi + gamepad: + org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick: + '@id': driverGamepad + port: 1 + rotThrottle: + org.usfirst.frc.team449.robot.oi.throttles.ThrottlePolynomial: + &rotThrottle + '@id': rotThrottle + stick: driverGamepad + axis: 0 + deadband: 0.05 + inverted: false + polynomial: + '@id': rotPoly + powerToCoefficientMap: !!map + 2 : 1 + fwdThrottle: + org.usfirst.frc.team449.robot.oi.throttles.ThrottleSum: + '@id': fwdThrottle + throttles: + - org.usfirst.frc.team449.robot.oi.throttles.ThrottlePolynomial: + <<: *rotThrottle + '@id': fwdTrigger + axis: 3 + inverted: false + polynomial: + '@id': fwdPoly + powerToCoefficientMap: !!map + 2 : 1 + - org.usfirst.frc.team449.robot.oi.throttles.ThrottlePolynomial: + <<: *rotThrottle + '@id': revTrigger + axis: 2 + inverted: true + polynomial: + '@id': revPoly + powerToCoefficientMap: !!map + 2 : 1 + invertDPad: false + dPadShift: 0.1 + turnInPlaceRotScale: 0.5 + scaleRotByFwdPoly: + '@id': scaleRotByFwdPoly + powerToCoefficientMap: !!map + 0.5: 0.6 + 0: 0.2 +drive: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + '@id': drive + leftMaster: + org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon: + &leftMaster + '@id': leftMaster + port: 7 + reverseOutput: true + enableBrakeMode: false + feetPerRotation: 0.9817 + currentLimit: 40 + feedbackDevice: QuadEncoder + encoderCPR: 512 + reverseSensor: false + startingGear: LOW + perGearSettings: + - &lowGear + gear: LOW + fwdPeakOutputVoltage: 12 + fwdNominalOutputVoltage: 0.7 + maxSpeed: 6.2 + kP: 0.5 + kI: 0.0 + kD: 0.0 + motionProfilePFwd: 1.5 + motionProfileIFwd: 0.0 + motionProfileDFwd: 0.0 + - <<: *lowGear + gear: HIGH + fwdNominalOutputVoltage: 1.3 + maxSpeed: 15.71 + kP: 0.7 + kI: 0.0 + kD: 3.0 + updaterProcessPeriodSecs: 0.005 + minNumPointsInBottomBuffer: 10 + slaves: + - '@id': talon8 + port: 8 + inverted: true + - '@id': talon6 + port: 6 + inverted: true + rightMaster: + org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon: + <<: *leftMaster + '@id': rightMaster + reverseSensor: true + reverseOutput: false + port: 2 + slaves: + - '@id': talon1 + port: 1 + inverted: true + - '@id': talon3 + port: 3 + inverted: true + VelScale: 0.9 + navX: + '@id': driveNavX + port: kMXP + shiftComponent: + org.usfirst.frc.team449.robot.components.ShiftComponent: + '@id': driveShiftComponent + otherShiftables: + - org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon: + leftMaster + - org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon: + rightMaster + piston: + '@id': driveShifter + module: 15 + forward: 2 + reverse: 3 + lowGearPistonPos: kForward + startingGear: LOW +defaultDriveCommand: + org.usfirst.frc.team449.robot.commands.multiInterface.drive.UnidirectionalNavXShiftingDefaultDrive: + '@id': defaultDriveCommand + kP: 0.012 + kI: 0.0 + kD: 0.0 + absoluteTolerance: 0 + toleranceBuffer: 25 + deadband: 2 + maxAngularVelToEnterLoop: 0.05 + inverted: true + highGearAngularCoefficient: 2 + driveStraightLoopEntryTimer: + '@id': driveStraightLoopEntryTimer + bufferTimeSeconds: 0.15 + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + oi: + org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcadeWithDPad: + oi + autoshiftComponent: + '@id': autoshiftComponent + upshiftSpeed: 4 + downshiftSpeed: 2 + upshiftBufferTimer: + '@id': upshiftBufferTimer + bufferTimeSeconds: 0.25 + downshiftBufferTimer: + '@id': downshiftBufferTimer + bufferTimeSeconds: 0.0 + upshiftFwdThresh: 0.3 +climber: + org.usfirst.frc.team449.robot.subsystem.complex.climber.ClimberCurrentLimited: + '@id': climber + talonSRX: + org.usfirst.frc.team449.robot.jacksonWrappers.FPSTalon: + '@id': climberTalon + port: 5 + enableBrakeMode: false + maxPower: 500 + simpleMotor: + org.usfirst.frc.team449.robot.jacksonWrappers.MappedVictor: + '@id': climberVictor + port: 0 + inverted: false + powerLimitTimer: + '@id': powerLimitTimer + bufferTimeSeconds: 0.005 +gearHandler: + org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SolenoidSimple: + '@id': gearHandler + piston: + '@id': gearHandlerPiston + module: 15 + forward: 4 + reverse: 5 +camera: + org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.CameraNetwork: + '@id': cameras + serverPort: 1180 + serverName: "Cameras" + cameras: + - '@id': cam0 + name: "cam0" + devAddress: 0 + width: 200 + height: 112 + fps: 30 +pneumatics: + org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.Pneumatics: + '@id': pneumatics + nodeID: 15 + pressureSensor: + '@id': pressureSensor + port: 0 + oversampleBits: 0 + averageBits: 0 +logger: + '@id': logger + subsystems: + - org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + - org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.Pneumatics: + pneumatics + - org.usfirst.frc.team449.robot.subsystem.complex.climber.ClimberCurrentLimited: + climber + - org.usfirst.frc.team449.robot.other.UnidirectionalPoseEstimator: + '@id': poseEstimator + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + absolutePosAngleTolerance: 5 + - org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcadeWithDPad: + oi + loopTimeSecs: 0.025 + eventLogFilename: "/home/lvuser/logs/eventLog-" + telemetryLogFilename: "/home/lvuser/logs/telemetryLog-" +centerAuto: + org.usfirst.frc.team449.robot.commands.autonomous.Auto2017Center: + '@id': centerAuto + runWallToPegProfile: + org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands.RunLoadedProfile: + &runLoadedProfile + '@id': runCenterWallToPegProfile + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + timeout: 10 + require: true + dropGear: + org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidReverse: + &openGearHandler + '@id': centerOpenGearHandlerCommand + subsystem: + org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SolenoidSimple: + gearHandler + dropGearSwitch: + dropGearSwitch + driveBack: + org.usfirst.frc.team449.robot.drive.unidirectional.commands.DriveAtSpeed: + '@id': driveBackCommand + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + velocity: -0.5 + seconds: 0.5 +boilerAuto: + org.usfirst.frc.team449.robot.commands.autonomous.Auto2017Feeder: + '@id': boilerAuto + runWallToPegProfile: + org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands.RunLoadedProfile: + <<: *runLoadedProfile + '@id': runBoilerPegToWallProfile + dropGear: + org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidReverse: + <<: *openGearHandler + '@id': boilerOpenGearHandler + dropGearSwitch: + dropGearSwitch + allianceSwitch: + allianceSwitch + runRedBackupProfile: + org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands.RunProfileTwoSides: + '@id': runRedBackupProfileBoiler + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + left: + #Yes, this is the "right" profile. For inverted profiles, you also have to switch the sides. + '@id': redLeftBackupBoiler + filename: "calciferRightBlueBackupProfile.csv" + inverted: true + right: + '@id': redRightBackupBoiler + filename: "calciferLeftBlueBackupProfile.csv" + inverted: true + timeout: 10 + runBlueBackupProfile: + org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands.RunProfileTwoSides: + '@id': runBlueBackupProfileBoiler + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + left: + #Yes, this is the "right" profile. For inverted profiles, you also have to switch the sides. + '@id': blueLeftBackupBoiler + filename: "calciferRightRedBackupProfile.csv" + inverted: true + right: + '@id': blueRightBackupBoiler + filename: "calciferLeftRedBackupProfile.csv" + inverted: true + timeout: 10 + driveForwardsRed: + org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands.RunProfileTwoSides: + '@id': driveForwardsMPBoilerRed + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + left: + '@id': leftForwardsProfileBoilerRed + filename: "calciferLeftRedBoilerToLoadingProfile.csv" + inverted: false + right: + '@id': rightForwardsProfileBoilerRed + filename: "calciferRightRedBoilerToLoadingProfile.csv" + inverted: false + timeout: 10 + driveForwardsBlue: + org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands.RunProfileTwoSides: + '@id': driveForwardsMPBoilerBlue + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + left: + '@id': leftForwardsProfileBoilerBlue + filename: "calciferLeftBlueBoilerToLoadingProfile.csv" + inverted: false + right: + '@id': rightForwardsProfileBoilerBlue + filename: "calciferRightBlueBoilerToLoadingProfile.csv" + inverted: false + timeout: 10 + waitBetweenProfilesMillis: 50 +feederAuto: + org.usfirst.frc.team449.robot.commands.autonomous.Auto2017Feeder: + '@id': feederAuto + runWallToPegProfile: + org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.commands.RunLoadedProfile: + <<: *runLoadedProfile + '@id': runFeederWallToPegProfile + dropGear: + org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidReverse: + <<: *openGearHandler + '@id': feederOpenGearHandler + dropGearSwitch: + dropGearSwitch + allianceSwitch: + allianceSwitch + runRedBackupProfile: + org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands.RunProfileTwoSides: + '@id': runRedBackupProfile + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + left: + #Yes, this is the "right" profile. For inverted profiles, you also have to switch the sides. + '@id': redLeftBackup + filename: "calciferRightRedBackupProfile.csv" + inverted: true + right: + '@id': redRightBackup + filename: "calciferLeftRedBackupProfile.csv" + inverted: true + timeout: 10 + runBlueBackupProfile: + org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands.RunProfileTwoSides: + '@id': runBlueBackupProfile + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + left: + #Yes, this is the "right" profile. For inverted profiles, you also have to switch the sides. + '@id': blueLeftBackup + filename: "calciferRightBlueBackupProfile.csv" + inverted: true + right: + '@id': blueRightBackup + filename: "calciferLeftBlueBackupProfile.csv" + inverted: true + timeout: 10 + driveForwardsRed: + org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands.RunProfileTwoSides: + '@id': driveForwardsMPRed + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + left: + '@id': leftForwardsProfileFeederRed + filename: "calciferLeftRedLoadingToLoadingProfile.csv" + inverted: false + right: + '@id': rightForwardsProfileFeederRed + filename: "calciferRightRedLoadingToLoadingProfile.csv" + inverted: false + timeout: 10 + driveForwardsBlue: + org.usfirst.frc.team449.robot.subsystem.interfaces.motionProfile.TwoSideMPSubsystem.commands.RunProfileTwoSides: + '@id': driveForwardsMPBlue + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + left: + '@id': leftForwardsProfileFeederBlue + filename: "calciferLeftBlueLoadingToLoadingProfile.csv" + inverted: false + right: + '@id': rightForwardsProfileFeederBlue + filename: "calciferRightBlueLoadingToLoadingProfile.csv" + inverted: false + timeout: 10 + waitBetweenProfilesMillis: 50 +nonMPAutoCommand: + org.usfirst.frc.team449.robot.drive.unidirectional.commands.DetermineNominalVoltage: + '@id': determineNominalVoltage + minSpeed: 0.1 + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive +autoStartupCommand: + org.usfirst.frc.team449.robot.commands.general.ParallelCommandGroup: + '@id': startModeCommand + commandSet: + - org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands.SwitchToLowGear: + '@id': startupSwitchToLowCommand + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + - org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.commands.StartCompressor: + '@id': startCompressor + subsystem: + org.usfirst.frc.team449.robot.subsystem.singleImplementation.pneumatics.Pneumatics: + pneumatics + - org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidForward: + '@id': closeGearHandlerStartup + subsystem: + org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SolenoidSimple: + gearHandler + - org.usfirst.frc.team449.robot.drive.commands.EnableMotors: + '@id': enableMotors + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + - org.usfirst.frc.team449.robot.drive.commands.ResetPosition: + '@id': resetPosition + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive +teleopStartupCommand: + org.usfirst.frc.team449.robot.commands.general.ParallelCommandGroup: + startModeCommand +startupCommand: + org.usfirst.frc.team449.robot.commands.general.RunRunnables: + '@id': runRunnables + runnables: + - org.usfirst.frc.team449.robot.components.NavXRumbleComponent: + '@id': rumbleComponent + navX: + driveNavX + rumbleables: + - org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick: + driverGamepad + - org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick: + '@id': gunnerGamepad + port: 3 + minJerk: 804 + maxJerk: 2412 + - org.usfirst.frc.team449.robot.other.UnidirectionalPoseEstimator: + poseEstimator +buttons: + - button: + org.usfirst.frc.team449.robot.oi.buttons.dPadButton: + '@id': switchToLowButton + joystick: + org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick: + gunnerGamepad + angle: 180 + command: + org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands.SwitchToLowGear: + '@id': switchToLowCommand + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + action: WHEN_PRESSED + - button: + org.usfirst.frc.team449.robot.oi.buttons.dPadButton: + switchToLowButton + command: + org.usfirst.frc.team449.robot.drive.shifting.commands.OverrideAutoShift: + '@id': overrideShifting + drive: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + override: true + action: WHEN_PRESSED + - button: + org.usfirst.frc.team449.robot.oi.buttons.dPadButton: + switchToLowButton + command: + org.usfirst.frc.team449.robot.drive.shifting.commands.OverrideAutoShift: + '@id': unoverrideShifting + drive: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + override: false + action: WHEN_RELEASED + - button: + org.usfirst.frc.team449.robot.oi.buttons.dPadButton: + '@id': switchToHighButton + joystick: + org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick: + gunnerGamepad + angle: 0 + command: + org.usfirst.frc.team449.robot.generalInterfaces.shiftable.commands.SwitchToHighGear: + '@id': switchToHighCommand + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + action: WHEN_PRESSED + - button: + org.usfirst.frc.team449.robot.oi.buttons.dPadButton: + switchToHighButton + command: + org.usfirst.frc.team449.robot.drive.shifting.commands.OverrideAutoShift: + overrideShifting + action: WHEN_PRESSED + - button: + org.usfirst.frc.team449.robot.oi.buttons.dPadButton: + switchToHighButton + command: + org.usfirst.frc.team449.robot.drive.shifting.commands.OverrideAutoShift: + unoverrideShifting + action: WHEN_RELEASED + - button: + org.usfirst.frc.team449.robot.oi.buttons.FactoryJoystickButton: + '@id': overrideNavXButton + joystick: + org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick: + gunnerGamepad + buttonNumber: 1 + command: + org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.OverrideNavX: + '@id': overrideNavXCommand + override: true + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + action: WHEN_PRESSED + - button: + org.usfirst.frc.team449.robot.oi.buttons.FactoryJoystickButton: + overrideNavXButton + command: + org.usfirst.frc.team449.robot.subsystem.interfaces.navX.commands.OverrideNavX: + '@id': unoverrideNavXCommand + override: false + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + action: WHEN_RELEASED + - button: + org.usfirst.frc.team449.robot.oi.buttons.FactoryJoystickButton: + '@id': jiggleRobotButton + joystick: + org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick: + gunnerGamepad + buttonNumber: 8 + command: + org.usfirst.frc.team449.robot.commands.multiInterface.drive.JiggleRobot: + '@id': jiggleRobotCommand + kP: 0.007 + kI: 0.0 + kD: 0.0 + toleranceBuffer: 25 + absoluteTolerance: 1 + deadband: 0.75 + inverted: false + subsystem: + org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: + drive + action: WHEN_PRESSED + - button: + org.usfirst.frc.team449.robot.oi.buttons.FactoryJoystickButton: + '@id': climbButton + joystick: + org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick: + driverGamepad + buttonNumber: 2 + command: + org.usfirst.frc.team449.robot.commands.multiInterface.RunMotorWhileConditonMet: + '@id': climbCommand + subsystem: + org.usfirst.frc.team449.robot.subsystem.complex.climber.ClimberCurrentLimited: + climber + action: WHEN_PRESSED + - button: + org.usfirst.frc.team449.robot.oi.buttons.TriggerButton: + climbButton + command: + org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands.TurnMotorOffWithRequires: + '@id': stopClimbCommand + subsystem: + org.usfirst.frc.team449.robot.subsystem.complex.climber.ClimberCurrentLimited: + climber + action: WHEN_RELEASED + - button: + org.usfirst.frc.team449.robot.oi.buttons.FactoryJoystickButton: + '@id': manualClimbButton + joystick: + org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick: + gunnerGamepad + buttonNumber: 3 + command: + org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands.TurnMotorOn: + '@id': manualClimbCommand + subsystem: + org.usfirst.frc.team449.robot.subsystem.complex.climber.ClimberCurrentLimited: + climber + action: WHEN_PRESSED + - button: + org.usfirst.frc.team449.robot.oi.buttons.FactoryJoystickButton: + manualClimbButton + command: + org.usfirst.frc.team449.robot.subsystem.interfaces.binaryMotor.commands.TurnMotorOffWithRequires: + stopClimbCommand + action: WHEN_RELEASED + - button: + org.usfirst.frc.team449.robot.oi.buttons.FactoryJoystickButton: + '@id': switchCameraButton + joystick: + org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick: + gunnerGamepad + buttonNumber: 9 + command: + org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.commands.ChangeCam: + '@id': switchCameraCommand + subsystem: + org.usfirst.frc.team449.robot.subsystem.singleImplementation.camera.CameraNetwork: + cameras + action: WHEN_PRESSED + - button: + org.usfirst.frc.team449.robot.oi.buttons.FactoryJoystickButton: + '@id': pushGearButton + joystick: + org.usfirst.frc.team449.robot.jacksonWrappers.MappedJoystick: + driverGamepad + buttonNumber: 1 + command: + org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidReverse: + <<: *openGearHandler + '@id': openGearHandlerCommand + action: WHEN_PRESSED + - button: + org.usfirst.frc.team449.robot.oi.buttons.TriggerButton: + pushGearButton + command: + org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.commands.SolenoidForward: + '@id': closeGearHandlerCommand + subsystem: + org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SolenoidSimple: + gearHandler + action: WHEN_RELEASED \ No newline at end of file diff --git a/RoboRIO/src/main/resources/calcifer_map.yml b/RoboRIO/src/main/resources/naveen_map.yml similarity index 91% rename from RoboRIO/src/main/resources/calcifer_map.yml rename to RoboRIO/src/main/resources/naveen_map.yml index 4ab8b444..f664073f 100644 --- a/RoboRIO/src/main/resources/calcifer_map.yml +++ b/RoboRIO/src/main/resources/naveen_map.yml @@ -232,32 +232,6 @@ climber: powerLimitTimer: '@id': powerLimitTimer bufferTimeSeconds: 0.005 -#multiSubsystem: -# org.usfirst.frc.team449.robot.subsystem.complexooter.LoggingShooter: -# '@id': multiSubsystem -# shooterTalon: -# '@id': shooterTalon -# port: 4 -# inverted: false -# reverseSensor: true -# enableBrakeMode: false -# fwdPeakOutputVoltage: 12 -# fwdNominalOutputVoltage: 0 -# closedLoopRampRate: 12 -# maxClosedLoopVoltage: 12 -# feedbackDevice: QuadEncoder -# encoderCPR: 1024 -# maxSpeedHigh: 90 -# highGearP: 0.15 -# highGearI: 0.0 -# highGearD: 0.0 -# shooterThrottle: 0.72 -# spinUpTimeSecs: 1 -# feederVictor: -# '@id': feederVictor -# port: 1 -# inverted: true -# feederThrottle: 0.66 gearHandler: org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SolenoidSimple: '@id': gearHandler @@ -298,14 +272,13 @@ logger: climber - org.usfirst.frc.team449.robot.other.UnidirectionalPoseEstimator: '@id': poseEstimator - robotDiameter: 25 subsystem: org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: drive absolutePosAngleTolerance: 5 -# - org.usfirst.frc.team449.robot.subsystem.complexooter.LoggingShooter: -# multiSubsystem - loopTimeSecs: 0.02 + - org.usfirst.frc.team449.robot.oi.unidirectional.arcade.OIArcadeWithDPad: + oi + loopTimeSecs: 0.025 eventLogFilename: "/home/lvuser/logs/eventLog-" telemetryLogFilename: "/home/lvuser/logs/telemetryLog-" centerAuto: @@ -750,47 +723,4 @@ buttons: subsystem: org.usfirst.frc.team449.robot.subsystem.interfaces.solenoid.SolenoidSimple: gearHandler - action: WHEN_RELEASED -# - button: -# org.usfirst.frc.team449.robot.oi.buttons.FactoryJoystickButton: -# '@id': fireShooterButton -# joystick: -# gunnerGamepad -# buttonNumber: 6 -# command: -# org.usfirst.frc.team449.robot.commands.multiSubsystembsystem.FireShooter: -# '@id': fireShooterCommand -# shooter: -# org.usfirst.frc.team449.robot.subsystem.complexooter.LoggingShooter: -# multiSubsystem -# action: WHEN_PRESSED -# - button: -# org.usfirstfirst.frc.team449.robot.oi.buttons.TriggerButton: -# '@id': rackShooterButton -# throttle: -# '@id': rackShooterThrottle -# org.usfirst.frc.team449.robot.oi.throttles.ThrottleBasic: -# stick: -# gunnerGamepad -# axis: 3 -# triggerAt: 0.9 -# command: -# org.usfirst.frc.team449.robot.commands.multiSubsystembsystem.RackShooter: -# '@id': rackShooterCommand -# shooter: -# org.usfirst.frc.team449.robot.subsystem.complexooter.LoggingShooter: -# multiSubsystem -# action: WHEN_PRESSED -# - button: -# org.usfirst.frc.team449.robot.oi.buttons.FactoryJoystickButton: -# '@id': resetShooterButton -# joystick: -# gunnerGamepad -# buttonNumber: 5 -# command: -# org.usfirst.frc.team449.robot.commands.multiSubsystembsystem.ResetShooter: -# '@id': resetShooterCommand -# shooter: -# org.usfirst.frc.team449.robot.subsystem.complexooter.LoggingShooter: -# multiSubsystem -# action: WHEN_PRESSED \ No newline at end of file + action: WHEN_RELEASED \ No newline at end of file