From 0de93e64ddf36d7ede4def335bb2f5800070b8a8 Mon Sep 17 00:00:00 2001 From: unknown Date: Fri, 10 Jan 2020 11:07:02 -0600 Subject: [PATCH 01/11] implemnting vision --- src/main/java/frc/robot/Constants.java | 10 +++++- src/main/java/frc/robot/Path.java | 9 +++-- src/main/java/frc/robot/Robot.java | 16 +++++++-- src/main/java/frc/robot/RobotContainer.java | 34 ++++++++++++++----- src/main/java/frc/robot/commands/RunPath.java | 6 +--- .../frc/robot/subsystems/DriveSubsystem.java | 4 +-- 6 files changed, 57 insertions(+), 22 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 18e88a1..89ba4d1 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -36,7 +36,15 @@ public final class Constants { public final static int SLOT_1 = 1; public final static int SLOT_2 = 2; public final static int SLOT_3 = 3; - + + public final static double kP = 0.00011, + kI = 0, + kD = .0000, + kIz = 0, + kFF = 0.000185, + kMaxOutput = 1, + kMinOutput = -1; + public final static int kSlot_Distance = SLOT_0; public final static int kSlot_Turning = SLOT_1; diff --git a/src/main/java/frc/robot/Path.java b/src/main/java/frc/robot/Path.java index a5a87fa..73ed4c0 100644 --- a/src/main/java/frc/robot/Path.java +++ b/src/main/java/frc/robot/Path.java @@ -10,10 +10,13 @@ public class Path{ private ArrayList rightString = new ArrayList<>(); private ArrayList leftString = new ArrayList<>(); private static final Logger LOGGER = Logger.getLogger(Robot.class.getName()); - public Path(){} + private String pathName; + public Path(String PathName){ + pathName = PathName; + } public ArrayList returnLeftList() throws IOException{ - File file = new File("/paths/StraightTen.left.pf1.csv"); + File file = new File(pathName + "left.pf1.csv"); Scanner sc = new Scanner(file); String[] testArray; @@ -27,7 +30,7 @@ public ArrayList returnLeftList() throws IOException{ } public ArrayList returnRightList() throws IOException{ - File file = new File("/paths/StraightTen.right.pf1.csv"); + File file = new File(pathName + "right.pf1.csv"); Scanner sc = new Scanner(file); String[] testArray; sc.next(); diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 1af4c02..1dbceeb 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -7,6 +7,8 @@ package frc.robot; +import java.util.logging.Logger; + import edu.wpi.first.wpilibj.TimedRobot; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; @@ -22,7 +24,7 @@ */ public class Robot extends TimedRobot { private Command m_autonomousCommand; - + private static final Logger LOGGER = Logger.getLogger(Robot.class.getName()); private RobotContainer m_robotContainer; /** @@ -34,6 +36,7 @@ public void robotInit() { // Instantiate our RobotContainer. This will perform all our button bindings, and put our // autonomous chooser on the dashboard. m_robotContainer = new RobotContainer(); + m_autonomousCommand = m_robotContainer.getAutonomousCommand(); } /** @@ -41,13 +44,20 @@ public void robotInit() { * diagnostics that you want ran during disabled, autonomous, teleoperated and test. * *

This runs after the mode specific periodic functions, but before - * LiveWindow and SmartDashboard integrated updating. + * LiveWindow and SmartDashboard integrated updatin + *g. */ @Override public void robotPeriodic() { SmartDashboard.putNumber("Left Velocity", -1 * m_robotContainer.mDriveSubsystem.leftVelocity()); SmartDashboard.putNumber("Right Velocity", -1 * m_robotContainer.mDriveSubsystem.rightVelocity()); m_robotContainer.mDriveSubsystem.updatePID(); + double x = m_robotContainer.tx.getDouble(0.0); + double y = m_robotContainer.ty.getDouble(0.0); + double area = m_robotContainer.ta.getDouble(0.0); + SmartDashboard.putNumber("LimelightX", x); + SmartDashboard.putNumber("LimelightY", y); + SmartDashboard.putNumber("LimelightArea", area); // Runs the Smcheduler. This is responsible for polling buttons, adding newly-scheduled // commands, running already-scheduled commands, removing finished or interrupted commands, // and running subsystem periodic() methods. This must be called from the robot's periodic @@ -76,6 +86,7 @@ public void autonomousInit() { // schedule the autonomous command (example) if (m_autonomousCommand != null) { m_autonomousCommand.schedule(); + LOGGER.warning("got"); } } @@ -84,6 +95,7 @@ public void autonomousInit() { */ @Override public void autonomousPeriodic() { + CommandScheduler.getInstance().run(); } @Override diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 9cdaee0..108ba86 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -11,8 +11,13 @@ import java.util.ArrayList; import java.util.logging.Logger; +import edu.wpi.first.networktables.NetworkTable; +import edu.wpi.first.networktables.NetworkTableEntry; +import edu.wpi.first.networktables.NetworkTableInstance; import edu.wpi.first.wpilibj.GenericHID; import edu.wpi.first.wpilibj.XboxController; +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.commands.Aiming; import frc.robot.commands.DriveCommand; import frc.robot.commands.RunPath; import frc.robot.commands.RunVelocity; @@ -32,9 +37,16 @@ public class RobotContainer { public static DriveSubsystem mDriveSubsystem = new DriveSubsystem(); public static DriveCommand mDriveCommand = new DriveCommand(); private static final Logger LOGGER = Logger.getLogger(Robot.class.getName()); - public static Path path = new Path(); - public static ArrayList leftArray; - public static ArrayList rightArray; + public static Path path1 = new Path("/paths/StraightTen."); + public static Path path2 = new Path("/paths/Turn."); + public static ArrayList leftArray1; + public static ArrayList rightArray1; + public static ArrayList leftArray2; + public static ArrayList rightArray2; + public static NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight"); + public static NetworkTableEntry tx = table.getEntry("tx"); + public static NetworkTableEntry ty = table.getEntry("ty"); + public static NetworkTableEntry ta = table.getEntry("ta"); /** * The container for the robot. Contains subsystems, OI devices, and commands. @@ -42,8 +54,10 @@ public class RobotContainer { public RobotContainer() { // Configure the button bindings try{ - rightArray = path.returnRightList(); - leftArray = path.returnLeftList(); + rightArray1 = path1.returnRightList(); + leftArray1 = path1.returnLeftList(); + rightArray2 = path2.returnRightList(); + leftArray2 = path2.returnLeftList(); } catch(IOException e){ LOGGER.warning("real really test"); @@ -58,8 +72,10 @@ public RobotContainer() { * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}. */ private void configureButtonBindings() { - mOI.buttonOne.whenPressed(new RunPath(leftArray, rightArray)); + mOI.buttonOne.whenPressed(new RunPath(leftArray1, rightArray1)); + mOI.buttonThree.whenPressed(new RunPath(leftArray2, rightArray2)); mOI.buttonTwo.whenPressed(new toggleOff()); + mOI.buttonFive.whileHeld(new Aiming(), true); } @@ -68,8 +84,8 @@ private void configureButtonBindings() { * * @return the command to run in autonomous */ - //public Command getAutonomousCommand() { + public Command getAutonomousCommand() { // An ExampleCommand will run in autonomous - // return m_autoCommand; - //} + return new RunPath(leftArray1, rightArray1); + } } diff --git a/src/main/java/frc/robot/commands/RunPath.java b/src/main/java/frc/robot/commands/RunPath.java index 44520a2..68202ad 100644 --- a/src/main/java/frc/robot/commands/RunPath.java +++ b/src/main/java/frc/robot/commands/RunPath.java @@ -11,7 +11,6 @@ import frc.robot.RobotContainer; import frc.robot.subsystems.DriveSubsystem; import frc.robot.subsystems.ExampleSubsystem; -import jaci.pathfinder.PathfinderFRC; import java.util.List; import java.util.logging.Logger; @@ -54,13 +53,13 @@ public void initialize() { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - RobotContainer.mDriveSubsystem.setLeftPidVelocitySetpoint(-1*RobotContainer.mDriveSubsystem.fpsToRPM(Double.valueOf(leftPath.get(i).toString()))); RobotContainer.mDriveSubsystem.setRightPidVelocitySetpoint(RobotContainer.mDriveSubsystem.fpsToRPM(Double.valueOf(rightPath.get(i).toString()))); SmartDashboard.putNumber("Left Commanded Velocity", RobotContainer.mDriveSubsystem.fpsToRPM(Double.valueOf(leftPath.get(i).toString()))); SmartDashboard.putNumber("Right Commanded Velocity", RobotContainer.mDriveSubsystem.fpsToRPM(Double.valueOf(rightPath.get(i).toString()))); i++; + LOGGER.warning(i +""); } // Called once the command ends or is interrupted. @@ -73,9 +72,6 @@ public void end(boolean interrupted) { // Returns true when the command should end. @Override public boolean isFinished() { - if(timer.get() >= timeToRun){ - LOGGER.warning("" + i); - } return timer.get() >= timeToRun; } } diff --git a/src/main/java/frc/robot/subsystems/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/DriveSubsystem.java index e840d4c..6466ea1 100644 --- a/src/main/java/frc/robot/subsystems/DriveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/DriveSubsystem.java @@ -63,11 +63,11 @@ public DriveSubsystem() { l_encoder = mLeft1.getEncoder(); r_encoder = mLeft1.getEncoder(); - kP = 0.00010; + kP = 0.00011; kI = 0; kD = .0000; kIz = 0; - kFF = 0.000175; + kFF = 0.000185; kMaxOutput = 1; kMinOutput = -1; From 58bb244ef6dd6b5075ad7bc0d5076edf9ad091ed Mon Sep 17 00:00:00 2001 From: unknown Date: Fri, 10 Jan 2020 11:07:32 -0600 Subject: [PATCH 02/11] added files --- src/main/java/frc/robot/commands/Aiming.java | 77 +++++++++++++++++++ .../frc/robot/commands/DriveSetSpeed.java | 64 +++++++++++++++ 2 files changed, 141 insertions(+) create mode 100644 src/main/java/frc/robot/commands/Aiming.java create mode 100644 src/main/java/frc/robot/commands/DriveSetSpeed.java diff --git a/src/main/java/frc/robot/commands/Aiming.java b/src/main/java/frc/robot/commands/Aiming.java new file mode 100644 index 0000000..769b046 --- /dev/null +++ b/src/main/java/frc/robot/commands/Aiming.java @@ -0,0 +1,77 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */ +/* Open Source Software - may be modified and shared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +package frc.robot.commands; + +import frc.robot.Constants; +import frc.robot.OI; +import frc.robot.RobotContainer; +import frc.robot.subsystems.DriveSubsystem; +import frc.robot.subsystems.ExampleSubsystem; + +import java.util.logging.Logger; + +import edu.wpi.first.wpilibj.Joystick; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.CommandBase; +import frc.robot.commands.*; + +/** + * An example command that uses an example subsystem. + */ +public class Aiming extends CommandBase { + @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"}) + private static final Logger LOGGER = Logger.getLogger(DriveCommand.class.getName()); + private Joystick joystick = new Joystick(OI.joystick); + + /** + * Creates a new ExampleCommand. + * + * @param subsystem The subsystem used by this command. + */ + public Aiming() { + // Use addRequirements() here to declare subsystem dependencies. + addRequirements(RobotContainer.mDriveSubsystem); + } + + // Called when the command is initially scheduled. + @Override + public void initialize() { + + } + + // Called every time the scheduler runs while the command is scheduled. + @Override + public void execute() { + double tx = SmartDashboard.getNumber("LimelightX", 0); + double min_command = .1; + double steering_adjust = 0.0; + if(tx>1.0){ + steering_adjust = .03 * tx; + } + else if(tx<1.0){ + steering_adjust = .03 * tx; + } + if(steering_adjust > min_command) + RobotContainer.mDriveSubsystem.arcadeDrive(0.0,steering_adjust); + else + RobotContainer.mDriveSubsystem.arcadeDrive(0.0,min_command); + LOGGER.warning("test"); + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) { + RobotContainer.mDriveCommand.schedule(); + } + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return true; + } +} diff --git a/src/main/java/frc/robot/commands/DriveSetSpeed.java b/src/main/java/frc/robot/commands/DriveSetSpeed.java new file mode 100644 index 0000000..ec840e4 --- /dev/null +++ b/src/main/java/frc/robot/commands/DriveSetSpeed.java @@ -0,0 +1,64 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */ +/* Open Source Software - may be modified and shared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +package frc.robot.commands; + +import frc.robot.Constants; +import frc.robot.OI; +import frc.robot.RobotContainer; +import frc.robot.subsystems.DriveSubsystem; +import frc.robot.subsystems.ExampleSubsystem; + +import java.util.logging.Logger; + +import edu.wpi.first.wpilibj.Joystick; +import edu.wpi.first.wpilibj2.command.CommandBase; + +/** + * An example command that uses an example subsystem. + */ +public class DriveSetSpeed extends CommandBase { + @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"}) + private static final Logger LOGGER = Logger.getLogger(DriveCommand.class.getName()); + private Joystick joystick = new Joystick(OI.joystick); + private double speedForward; + private double speedHeading; + + /** + * Creates a new ExampleCommand. + * + * @param subsystem The subsystem used by this command. + */ + public DriveSetSpeed(double speedForward, double speedHeading) { + // Use addRequirements() here to declare subsystem dependencies. + addRequirements(RobotContainer.mDriveSubsystem); + } + + // Called when the command is initially scheduled. + @Override + public void initialize() { + + } + + // Called every time the scheduler runs while the command is scheduled. + @Override + public void execute() { + RobotContainer.mDriveSubsystem.arcadeDrive(speedForward, speedHeading); + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) { + + } + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return false; + } +} From 8f858f4b24b2bca9a77a017717e5bea8c7475ed6 Mon Sep 17 00:00:00 2001 From: unknown Date: Tue, 14 Jan 2020 19:35:05 -0600 Subject: [PATCH 03/11] A I M I N G --- src/main/java/frc/robot/commands/Aiming.java | 19 ++++++++++--------- .../frc/robot/subsystems/DriveSubsystem.java | 6 +++++- 2 files changed, 15 insertions(+), 10 deletions(-) diff --git a/src/main/java/frc/robot/commands/Aiming.java b/src/main/java/frc/robot/commands/Aiming.java index 769b046..4feb6a5 100644 --- a/src/main/java/frc/robot/commands/Aiming.java +++ b/src/main/java/frc/robot/commands/Aiming.java @@ -48,19 +48,20 @@ public void initialize() { @Override public void execute() { double tx = SmartDashboard.getNumber("LimelightX", 0); - double min_command = .1; + double min_command = .2; double steering_adjust = 0.0; + double leftCommand = 0; + double rightCommand =0; if(tx>1.0){ - steering_adjust = .03 * tx; + steering_adjust = .013 * tx +min_command; } - else if(tx<1.0){ - steering_adjust = .03 * tx; + else if(tx<-1.0){ + steering_adjust = .013 * tx -min_command; } - if(steering_adjust > min_command) - RobotContainer.mDriveSubsystem.arcadeDrive(0.0,steering_adjust); - else - RobotContainer.mDriveSubsystem.arcadeDrive(0.0,min_command); - LOGGER.warning("test"); + leftCommand = leftCommand + steering_adjust; + rightCommand = rightCommand - steering_adjust; + + RobotContainer.mDriveSubsystem.arcadeDrive(joystick.getRawAxis(1),leftCommand); } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc/robot/subsystems/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/DriveSubsystem.java index 6466ea1..dca8a68 100644 --- a/src/main/java/frc/robot/subsystems/DriveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/DriveSubsystem.java @@ -91,7 +91,11 @@ public DriveSubsystem() { } public void arcadeDrive(double velocity, double heading){ - this.differentialDrive.arcadeDrive(velocity, heading * .70, true); + this.differentialDrive.arcadeDrive(velocity, heading, true); + } + + public void tankDrive(double lVelocity, double rVelocity){ + this.differentialDrive.tankDrive(lVelocity, rVelocity); } public void updatePID(){ From cb4119a459a91b8316c69f107378bea4b2db24c2 Mon Sep 17 00:00:00 2001 From: unknown Date: Wed, 15 Jan 2020 17:41:14 -0600 Subject: [PATCH 04/11] vision fully implemented --- src/main/java/frc/robot/commands/Aiming.java | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/main/java/frc/robot/commands/Aiming.java b/src/main/java/frc/robot/commands/Aiming.java index 4feb6a5..88df150 100644 --- a/src/main/java/frc/robot/commands/Aiming.java +++ b/src/main/java/frc/robot/commands/Aiming.java @@ -61,7 +61,10 @@ else if(tx<-1.0){ leftCommand = leftCommand + steering_adjust; rightCommand = rightCommand - steering_adjust; + if(tx != 0) RobotContainer.mDriveSubsystem.arcadeDrive(joystick.getRawAxis(1),leftCommand); + else + RobotContainer.mDriveSubsystem.arcadeDrive(joystick.getRawAxis(1),joystick.getRawAxis(2)); } // Called once the command ends or is interrupted. From 08fd47e1cf81309b45f61ceb400e4db8a981ccda Mon Sep 17 00:00:00 2001 From: unknown Date: Thu, 16 Jan 2020 11:12:48 -0600 Subject: [PATCH 05/11] fixed code --- src/main/java/frc/robot/Robot.java | 6 ++++-- src/main/java/frc/robot/RobotContainer.java | 7 +++++-- src/main/java/frc/robot/commands/Aiming.java | 18 +++++++++++++----- .../frc/robot/subsystems/DriveSubsystem.java | 6 +++++- 4 files changed, 27 insertions(+), 10 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 1dbceeb..deb55e9 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -25,7 +25,7 @@ public class Robot extends TimedRobot { private Command m_autonomousCommand; private static final Logger LOGGER = Logger.getLogger(Robot.class.getName()); - private RobotContainer m_robotContainer; + public static RobotContainer m_robotContainer; /** * This function is run when the robot is first started up and should be used for any @@ -33,9 +33,11 @@ public class Robot extends TimedRobot { */ @Override public void robotInit() { + // Instantiate our RobotContainer. This will perform all our button bindings, and put our // autonomous chooser on the dashboard. m_robotContainer = new RobotContainer(); + m_robotContainer.light.setValue(1); m_autonomousCommand = m_robotContainer.getAutonomousCommand(); } @@ -107,7 +109,7 @@ public void teleopInit() { if (m_autonomousCommand != null) { m_autonomousCommand.cancel(); } - m_robotContainer.mDriveCommand.schedule(); + //m_robotContainer.mDriveCommand.schedule(); } /** diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 108ba86..8dc36ca 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -19,7 +19,7 @@ import edu.wpi.first.wpilibj2.command.Command; import frc.robot.commands.Aiming; import frc.robot.commands.DriveCommand; -import frc.robot.commands.RunPath; +import frc.robot.commands.RunPath; import frc.robot.commands.RunVelocity; import frc.robot.commands.toggleOff; import frc.robot.subsystems.DriveSubsystem; @@ -47,6 +47,8 @@ public class RobotContainer { public static NetworkTableEntry tx = table.getEntry("tx"); public static NetworkTableEntry ty = table.getEntry("ty"); public static NetworkTableEntry ta = table.getEntry("ta"); + public static NetworkTableEntry light = table.getEntry("ledMode"); + /** * The container for the robot. Contains subsystems, OI devices, and commands. @@ -63,6 +65,7 @@ public RobotContainer() { LOGGER.warning("real really test"); } configureButtonBindings(); + mDriveSubsystem.setDefaultCommand(mDriveCommand); } /** @@ -75,7 +78,7 @@ private void configureButtonBindings() { mOI.buttonOne.whenPressed(new RunPath(leftArray1, rightArray1)); mOI.buttonThree.whenPressed(new RunPath(leftArray2, rightArray2)); mOI.buttonTwo.whenPressed(new toggleOff()); - mOI.buttonFive.whileHeld(new Aiming(), true); + mOI.buttonFive.whileHeld(new Aiming(), false); } diff --git a/src/main/java/frc/robot/commands/Aiming.java b/src/main/java/frc/robot/commands/Aiming.java index 88df150..0405fd4 100644 --- a/src/main/java/frc/robot/commands/Aiming.java +++ b/src/main/java/frc/robot/commands/Aiming.java @@ -12,6 +12,7 @@ import frc.robot.RobotContainer; import frc.robot.subsystems.DriveSubsystem; import frc.robot.subsystems.ExampleSubsystem; +import frc.robot.*; import java.util.logging.Logger; @@ -27,6 +28,7 @@ public class Aiming extends CommandBase { @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"}) private static final Logger LOGGER = Logger.getLogger(DriveCommand.class.getName()); private Joystick joystick = new Joystick(OI.joystick); + double tx = SmartDashboard.getNumber("LimelightX", 0); /** * Creates a new ExampleCommand. @@ -41,17 +43,17 @@ public Aiming() { // Called when the command is initially scheduled. @Override public void initialize() { - } // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - double tx = SmartDashboard.getNumber("LimelightX", 0); + Robot.m_robotContainer.light.setValue(3); + tx = SmartDashboard.getNumber("LimelightX", 0); double min_command = .2; double steering_adjust = 0.0; double leftCommand = 0; - double rightCommand =0; + double rightCommand = 0; if(tx>1.0){ steering_adjust = .013 * tx +min_command; } @@ -70,12 +72,18 @@ else if(tx<-1.0){ // Called once the command ends or is interrupted. @Override public void end(boolean interrupted) { - RobotContainer.mDriveCommand.schedule(); + RobotContainer.light.setValue(1); } // Returns true when the command should end. @Override public boolean isFinished() { - return true; + return false; + //return ((tx<1.0 && tx> -1.0) && tx != 0); + } + + public void lightEnable(){ + LOGGER.warning("wtf"); + Robot.m_robotContainer.light.setNumber(3); } } diff --git a/src/main/java/frc/robot/subsystems/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/DriveSubsystem.java index dca8a68..f1d0fee 100644 --- a/src/main/java/frc/robot/subsystems/DriveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/DriveSubsystem.java @@ -11,6 +11,8 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.Constants; +import frc.robot.Robot; +import frc.robot.commands.DriveCommand; import com.revrobotics.CANEncoder; import com.revrobotics.CANPIDController; @@ -153,6 +155,8 @@ public double fpsToRPM(double fps){ @Override public void periodic() { // This method will be called once per scheduler run - + // Robot.m_robotContainer.mDriveCommand.schedule(); + new DriveCommand(); } } + From 2d777f85b74078727e106808af8b699a0837c719 Mon Sep 17 00:00:00 2001 From: unknown Date: Thu, 16 Jan 2020 18:07:19 -0600 Subject: [PATCH 06/11] reviewd changes --- src/main/java/frc/robot/commands/Aiming.java | 23 +++---- .../frc/robot/commands/DriveSetSpeed.java | 64 ------------------- src/main/java/frc/robot/commands/RunPath.java | 1 - .../frc/robot/subsystems/DriveSubsystem.java | 41 +++++------- 4 files changed, 24 insertions(+), 105 deletions(-) delete mode 100644 src/main/java/frc/robot/commands/DriveSetSpeed.java diff --git a/src/main/java/frc/robot/commands/Aiming.java b/src/main/java/frc/robot/commands/Aiming.java index 0405fd4..ad3b89b 100644 --- a/src/main/java/frc/robot/commands/Aiming.java +++ b/src/main/java/frc/robot/commands/Aiming.java @@ -29,7 +29,10 @@ public class Aiming extends CommandBase { private static final Logger LOGGER = Logger.getLogger(DriveCommand.class.getName()); private Joystick joystick = new Joystick(OI.joystick); double tx = SmartDashboard.getNumber("LimelightX", 0); - + double minSteerAdjust = .2; + double steering_adjust = 0.0; + double headingCommand = 0; + double p = .013; /** * Creates a new ExampleCommand. * @@ -50,21 +53,16 @@ public void initialize() { public void execute() { Robot.m_robotContainer.light.setValue(3); tx = SmartDashboard.getNumber("LimelightX", 0); - double min_command = .2; - double steering_adjust = 0.0; - double leftCommand = 0; - double rightCommand = 0; if(tx>1.0){ - steering_adjust = .013 * tx +min_command; + steering_adjust = p * tx +minSteerAdjust; } else if(tx<-1.0){ - steering_adjust = .013 * tx -min_command; + steering_adjust = p * tx -minSteerAdjust; } - leftCommand = leftCommand + steering_adjust; - rightCommand = rightCommand - steering_adjust; + headingCommand = headingCommand + steering_adjust; if(tx != 0) - RobotContainer.mDriveSubsystem.arcadeDrive(joystick.getRawAxis(1),leftCommand); + RobotContainer.mDriveSubsystem.arcadeDrive(joystick.getRawAxis(1),headingCommand); else RobotContainer.mDriveSubsystem.arcadeDrive(joystick.getRawAxis(1),joystick.getRawAxis(2)); } @@ -81,9 +79,4 @@ public boolean isFinished() { return false; //return ((tx<1.0 && tx> -1.0) && tx != 0); } - - public void lightEnable(){ - LOGGER.warning("wtf"); - Robot.m_robotContainer.light.setNumber(3); - } } diff --git a/src/main/java/frc/robot/commands/DriveSetSpeed.java b/src/main/java/frc/robot/commands/DriveSetSpeed.java deleted file mode 100644 index ec840e4..0000000 --- a/src/main/java/frc/robot/commands/DriveSetSpeed.java +++ /dev/null @@ -1,64 +0,0 @@ -/*----------------------------------------------------------------------------*/ -/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */ -/* Open Source Software - may be modified and shared by FRC teams. The code */ -/* must be accompanied by the FIRST BSD license file in the root directory of */ -/* the project. */ -/*----------------------------------------------------------------------------*/ - -package frc.robot.commands; - -import frc.robot.Constants; -import frc.robot.OI; -import frc.robot.RobotContainer; -import frc.robot.subsystems.DriveSubsystem; -import frc.robot.subsystems.ExampleSubsystem; - -import java.util.logging.Logger; - -import edu.wpi.first.wpilibj.Joystick; -import edu.wpi.first.wpilibj2.command.CommandBase; - -/** - * An example command that uses an example subsystem. - */ -public class DriveSetSpeed extends CommandBase { - @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"}) - private static final Logger LOGGER = Logger.getLogger(DriveCommand.class.getName()); - private Joystick joystick = new Joystick(OI.joystick); - private double speedForward; - private double speedHeading; - - /** - * Creates a new ExampleCommand. - * - * @param subsystem The subsystem used by this command. - */ - public DriveSetSpeed(double speedForward, double speedHeading) { - // Use addRequirements() here to declare subsystem dependencies. - addRequirements(RobotContainer.mDriveSubsystem); - } - - // Called when the command is initially scheduled. - @Override - public void initialize() { - - } - - // Called every time the scheduler runs while the command is scheduled. - @Override - public void execute() { - RobotContainer.mDriveSubsystem.arcadeDrive(speedForward, speedHeading); - } - - // Called once the command ends or is interrupted. - @Override - public void end(boolean interrupted) { - - } - - // Returns true when the command should end. - @Override - public boolean isFinished() { - return false; - } -} diff --git a/src/main/java/frc/robot/commands/RunPath.java b/src/main/java/frc/robot/commands/RunPath.java index 68202ad..7a35fec 100644 --- a/src/main/java/frc/robot/commands/RunPath.java +++ b/src/main/java/frc/robot/commands/RunPath.java @@ -59,7 +59,6 @@ public void execute() { SmartDashboard.putNumber("Right Commanded Velocity", RobotContainer.mDriveSubsystem.fpsToRPM(Double.valueOf(rightPath.get(i).toString()))); i++; - LOGGER.warning(i +""); } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc/robot/subsystems/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/DriveSubsystem.java index f1d0fee..c899f94 100644 --- a/src/main/java/frc/robot/subsystems/DriveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/DriveSubsystem.java @@ -65,30 +65,22 @@ public DriveSubsystem() { l_encoder = mLeft1.getEncoder(); r_encoder = mLeft1.getEncoder(); - kP = 0.00011; - kI = 0; - kD = .0000; - kIz = 0; - kFF = 0.000185; - kMaxOutput = 1; - kMinOutput = -1; - - l_pidController.setP(kP); - l_pidController.setI(kI); - l_pidController.setD(kD); - l_pidController.setIZone(kIz); - l_pidController.setFF(kFF); - l_pidController.setOutputRange(kMinOutput, kMaxOutput); - r_pidController.setP(kP); - r_pidController.setI(kI); - r_pidController.setD(kD); - r_pidController.setIZone(kIz); - r_pidController.setFF(kFF); - r_pidController.setOutputRange(kMinOutput, kMaxOutput); - SmartDashboard.putNumber("P Gain", kP); - SmartDashboard.putNumber("I Gain", kI); - SmartDashboard.putNumber("D Gain", kD); - SmartDashboard.putNumber("FF Value", kFF); + l_pidController.setP(Constants.kP); + l_pidController.setI(Constants.kI); + l_pidController.setD(Constants.kD); + l_pidController.setIZone(Constants.kIz); + l_pidController.setFF(Constants.kFF); + l_pidController.setOutputRange(Constants.kMinOutput, Constants.kMaxOutput); + r_pidController.setP(Constants.kP); + r_pidController.setI(Constants.kI); + r_pidController.setD(Constants.kD); + r_pidController.setIZone(Constants.kIz); + r_pidController.setFF(Constants.kFF); + r_pidController.setOutputRange(Constants.kMinOutput, Constants.kMaxOutput); + SmartDashboard.putNumber("P Gain", Constants.kP); + SmartDashboard.putNumber("I Gain", Constants.kI); + SmartDashboard.putNumber("D Gain", Constants.kD); + SmartDashboard.putNumber("FF Value", Constants.kFF); differentialDrive.setSafetyEnabled(false); } @@ -155,7 +147,6 @@ public double fpsToRPM(double fps){ @Override public void periodic() { // This method will be called once per scheduler run - // Robot.m_robotContainer.mDriveCommand.schedule(); new DriveCommand(); } } From 2b57aff3689e4f5d600ab8e44f65b62e9dad6243 Mon Sep 17 00:00:00 2001 From: unknown Date: Sat, 18 Jan 2020 11:24:15 -0600 Subject: [PATCH 07/11] weeeeeeeeeeeee --- src/main/java/frc/robot/Constants.java | 25 +++++++++++------ src/main/java/frc/robot/Path.java | 15 ++++++----- src/main/java/frc/robot/Robot.java | 21 ++++++--------- src/main/java/frc/robot/RobotContainer.java | 13 +++++---- src/main/java/frc/robot/commands/Aiming.java | 27 ++++++++++--------- .../java/frc/robot/commands/DriveCommand.java | 2 -- src/main/java/frc/robot/commands/RunPath.java | 2 -- .../frc/robot/subsystems/DriveSubsystem.java | 2 -- 8 files changed, 54 insertions(+), 53 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 89ba4d1..02b7f1c 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -36,20 +36,29 @@ public final class Constants { public final static int SLOT_1 = 1; public final static int SLOT_2 = 2; public final static int SLOT_3 = 3; + public final static int VELOCITY_CONTROL=1; + public final static int HEADING_CONTROL=2; - public final static double kP = 0.00011, - kI = 0, - kD = .0000, - kIz = 0, - kFF = 0.000185, - kMaxOutput = 1, - kMinOutput = -1; - + public final static double kP = 0.00011; + public final static double kI = 0; + public final static double kD = .0000; + public final static double kIz = 0; + public final static double kFF = 0.000185; + public final static double kMaxOutput = 1; + public final static double kMinOutput = -1; public final static int kSlot_Distance = SLOT_0; public final static int kSlot_Turning = SLOT_1; public final static int kSlot_Velocity = SLOT_2; public final static int kSlot_MotProf = SLOT_3; + + public final static int LL_LIGHT_DEFAULT = 0; + public final static int LL_LIGHT_OFF = 1; + public final static int LL_LIGHT_BLINK = 2; + public final static int LL_LIGHT_ON = 3; + public static boolean onOrOff = false; + } + diff --git a/src/main/java/frc/robot/Path.java b/src/main/java/frc/robot/Path.java index 73ed4c0..34b56a3 100644 --- a/src/main/java/frc/robot/Path.java +++ b/src/main/java/frc/robot/Path.java @@ -2,13 +2,14 @@ import java.io.File; import java.io.IOException; import java.util.ArrayList; -import java.util.List; import java.util.Scanner; import java.util.logging.*; +import edu.wpi.first.wpilibj.Filesystem; + public class Path{ - private ArrayList rightString = new ArrayList<>(); - private ArrayList leftString = new ArrayList<>(); + private ArrayList m_rightString = new ArrayList(); + private ArrayList m_leftString = new ArrayList(); private static final Logger LOGGER = Logger.getLogger(Robot.class.getName()); private String pathName; public Path(String PathName){ @@ -23,10 +24,10 @@ public ArrayList returnLeftList() throws IOException{ sc.next(); while(sc.hasNext()){ testArray = sc.next().split(","); - leftString.add(testArray[4]); + m_leftString.add(testArray[4]); } - return leftString; + return m_leftString; } public ArrayList returnRightList() throws IOException{ @@ -36,8 +37,8 @@ public ArrayList returnRightList() throws IOException{ sc.next(); while(sc.hasNext()){ testArray = sc.next().split(","); - rightString.add(testArray[4]); + m_rightString.add(testArray[4]); } - return rightString; + return m_rightString; } } \ No newline at end of file diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index deb55e9..e6a265f 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -13,8 +13,6 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; -import edu.wpi.first.wpilibj2.command.ScheduleCommand; -import frc.robot.commands.DriveCommand; /** * The VM is configured to automatically run this class, and to call the functions corresponding to @@ -37,7 +35,7 @@ public void robotInit() { // Instantiate our RobotContainer. This will perform all our button bindings, and put our // autonomous chooser on the dashboard. m_robotContainer = new RobotContainer(); - m_robotContainer.light.setValue(1); + RobotContainer.light.setValue(Constants.LL_LIGHT_ON); m_autonomousCommand = m_robotContainer.getAutonomousCommand(); } @@ -46,17 +44,16 @@ public void robotInit() { * diagnostics that you want ran during disabled, autonomous, teleoperated and test. * *

This runs after the mode specific periodic functions, but before - * LiveWindow and SmartDashboard integrated updatin - *g. + * LiveWindow and SmartDashboard integrated updating. */ @Override public void robotPeriodic() { - SmartDashboard.putNumber("Left Velocity", -1 * m_robotContainer.mDriveSubsystem.leftVelocity()); - SmartDashboard.putNumber("Right Velocity", -1 * m_robotContainer.mDriveSubsystem.rightVelocity()); - m_robotContainer.mDriveSubsystem.updatePID(); - double x = m_robotContainer.tx.getDouble(0.0); - double y = m_robotContainer.ty.getDouble(0.0); - double area = m_robotContainer.ta.getDouble(0.0); + SmartDashboard.putNumber("Left Velocity", -1 * RobotContainer.mDriveSubsystem.leftVelocity()); + SmartDashboard.putNumber("Right Velocity", -1 * RobotContainer.mDriveSubsystem.rightVelocity()); + RobotContainer.mDriveSubsystem.updatePID(); + double x = RobotContainer.tx.getDouble(0.0); + double y = RobotContainer.ty.getDouble(0.0); + double area = RobotContainer.ta.getDouble(0.0); SmartDashboard.putNumber("LimelightX", x); SmartDashboard.putNumber("LimelightY", y); SmartDashboard.putNumber("LimelightArea", area); @@ -88,7 +85,6 @@ public void autonomousInit() { // schedule the autonomous command (example) if (m_autonomousCommand != null) { m_autonomousCommand.schedule(); - LOGGER.warning("got"); } } @@ -109,7 +105,6 @@ public void teleopInit() { if (m_autonomousCommand != null) { m_autonomousCommand.cancel(); } - //m_robotContainer.mDriveCommand.schedule(); } /** diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 8dc36ca..e1adde2 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -20,7 +20,6 @@ import frc.robot.commands.Aiming; import frc.robot.commands.DriveCommand; import frc.robot.commands.RunPath; -import frc.robot.commands.RunVelocity; import frc.robot.commands.toggleOff; import frc.robot.subsystems.DriveSubsystem; import frc.robot.Path; @@ -37,12 +36,12 @@ public class RobotContainer { public static DriveSubsystem mDriveSubsystem = new DriveSubsystem(); public static DriveCommand mDriveCommand = new DriveCommand(); private static final Logger LOGGER = Logger.getLogger(Robot.class.getName()); - public static Path path1 = new Path("/paths/StraightTen."); - public static Path path2 = new Path("/paths/Turn."); - public static ArrayList leftArray1; - public static ArrayList rightArray1; - public static ArrayList leftArray2; - public static ArrayList rightArray2; + private static Path path1 = new Path("./paths/StraightTen."); + private static Path path2 = new Path("./paths/Turn."); + private static ArrayList leftArray1; + private static ArrayList rightArray1; + private static ArrayList leftArray2; + private static ArrayList rightArray2; public static NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight"); public static NetworkTableEntry tx = table.getEntry("tx"); public static NetworkTableEntry ty = table.getEntry("ty"); diff --git a/src/main/java/frc/robot/commands/Aiming.java b/src/main/java/frc/robot/commands/Aiming.java index ad3b89b..3482ecf 100644 --- a/src/main/java/frc/robot/commands/Aiming.java +++ b/src/main/java/frc/robot/commands/Aiming.java @@ -10,8 +10,6 @@ import frc.robot.Constants; import frc.robot.OI; import frc.robot.RobotContainer; -import frc.robot.subsystems.DriveSubsystem; -import frc.robot.subsystems.ExampleSubsystem; import frc.robot.*; import java.util.logging.Logger; @@ -19,7 +17,6 @@ import edu.wpi.first.wpilibj.Joystick; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.CommandBase; -import frc.robot.commands.*; /** * An example command that uses an example subsystem. @@ -29,8 +26,11 @@ public class Aiming extends CommandBase { private static final Logger LOGGER = Logger.getLogger(DriveCommand.class.getName()); private Joystick joystick = new Joystick(OI.joystick); double tx = SmartDashboard.getNumber("LimelightX", 0); + double ty = SmartDashboard.getNumber("LimelightY", 0); + double d = 0; + double minSteerAdjust = .2; - double steering_adjust = 0.0; + double steeringAdjust = 0.0; double headingCommand = 0; double p = .013; /** @@ -49,34 +49,37 @@ public void initialize() { } // Called every time the scheduler runs while the command is scheduled. + // tx is the degrees the limelight detects we are off by the target + // adjust p until it works @Override public void execute() { - Robot.m_robotContainer.light.setValue(3); + //RobotContainer.light.setValue(Constants.LL_LIGHT_ON); tx = SmartDashboard.getNumber("LimelightX", 0); + ty = SmartDashboard.getNumber("LimelightY", 0); + d = 73.5/Math.tan(Math.toRadians(ty+63)); + LOGGER.warning(d + ""); if(tx>1.0){ - steering_adjust = p * tx +minSteerAdjust; + steeringAdjust = p * tx +minSteerAdjust; } else if(tx<-1.0){ - steering_adjust = p * tx -minSteerAdjust; + steeringAdjust = p * tx -minSteerAdjust; } - headingCommand = headingCommand + steering_adjust; if(tx != 0) - RobotContainer.mDriveSubsystem.arcadeDrive(joystick.getRawAxis(1),headingCommand); + RobotContainer.mDriveSubsystem.arcadeDrive(joystick.getRawAxis(Constants.VELOCITY_CONTROL),steeringAdjust); else - RobotContainer.mDriveSubsystem.arcadeDrive(joystick.getRawAxis(1),joystick.getRawAxis(2)); + RobotContainer.mDriveSubsystem.arcadeDrive(joystick.getRawAxis(Constants.VELOCITY_CONTROL),joystick.getRawAxis(Constants.HEADING_CONTROL)); } // Called once the command ends or is interrupted. @Override public void end(boolean interrupted) { - RobotContainer.light.setValue(1); + // RobotContainer.light.setValue(Constants.LL_LIGHT_OFF); } // Returns true when the command should end. @Override public boolean isFinished() { return false; - //return ((tx<1.0 && tx> -1.0) && tx != 0); } } diff --git a/src/main/java/frc/robot/commands/DriveCommand.java b/src/main/java/frc/robot/commands/DriveCommand.java index ba51f9e..416fc76 100644 --- a/src/main/java/frc/robot/commands/DriveCommand.java +++ b/src/main/java/frc/robot/commands/DriveCommand.java @@ -10,8 +10,6 @@ import frc.robot.Constants; import frc.robot.OI; import frc.robot.RobotContainer; -import frc.robot.subsystems.DriveSubsystem; -import frc.robot.subsystems.ExampleSubsystem; import java.util.logging.Logger; diff --git a/src/main/java/frc/robot/commands/RunPath.java b/src/main/java/frc/robot/commands/RunPath.java index 7a35fec..33f346e 100644 --- a/src/main/java/frc/robot/commands/RunPath.java +++ b/src/main/java/frc/robot/commands/RunPath.java @@ -9,8 +9,6 @@ import frc.robot.Robot; import frc.robot.RobotContainer; -import frc.robot.subsystems.DriveSubsystem; -import frc.robot.subsystems.ExampleSubsystem; import java.util.List; import java.util.logging.Logger; diff --git a/src/main/java/frc/robot/subsystems/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/DriveSubsystem.java index c899f94..c0e79b5 100644 --- a/src/main/java/frc/robot/subsystems/DriveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/DriveSubsystem.java @@ -11,7 +11,6 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.Constants; -import frc.robot.Robot; import frc.robot.commands.DriveCommand; import com.revrobotics.CANEncoder; @@ -19,7 +18,6 @@ import com.revrobotics.CANSparkMax; import com.revrobotics.ControlType; import com.revrobotics.CANSparkMax.IdleMode; -import com.revrobotics.CANError; import com.revrobotics.CANSparkMaxLowLevel.MotorType; import java.util.logging.*; From 86792ec26a43fc949734e67061f5c8b4913f8927 Mon Sep 17 00:00:00 2001 From: unknown Date: Tue, 21 Jan 2020 17:25:40 -0600 Subject: [PATCH 08/11] woops --- src/main/java/frc/robot/Constants.java | 6 +++--- src/main/java/frc/robot/Path.java | 9 ++++----- src/main/java/frc/robot/Robot.java | 2 +- src/main/java/frc/robot/RobotContainer.java | 6 +++--- src/main/java/frc/robot/commands/Aiming.java | 7 +++---- src/main/java/frc/robot/commands/RunPath.java | 20 +++++++++++-------- .../frc/robot/subsystems/DriveSubsystem.java | 3 +-- 7 files changed, 27 insertions(+), 26 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 02b7f1c..1a44d48 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -39,11 +39,11 @@ public final class Constants { public final static int VELOCITY_CONTROL=1; public final static int HEADING_CONTROL=2; - public final static double kP = 0.00011; + public final static double kP = 0.001600; public final static double kI = 0; - public final static double kD = .0000; + public final static double kD = .0013; public final static double kIz = 0; - public final static double kFF = 0.000185; + public final static double kFF = 0.000000; public final static double kMaxOutput = 1; public final static double kMinOutput = -1; diff --git a/src/main/java/frc/robot/Path.java b/src/main/java/frc/robot/Path.java index 34b56a3..e26b4ee 100644 --- a/src/main/java/frc/robot/Path.java +++ b/src/main/java/frc/robot/Path.java @@ -5,8 +5,6 @@ import java.util.Scanner; import java.util.logging.*; -import edu.wpi.first.wpilibj.Filesystem; - public class Path{ private ArrayList m_rightString = new ArrayList(); private ArrayList m_leftString = new ArrayList(); @@ -16,7 +14,7 @@ public Path(String PathName){ pathName = PathName; } - public ArrayList returnLeftList() throws IOException{ + public ArrayList returnLeftList() throws IOException{ File file = new File(pathName + "left.pf1.csv"); Scanner sc = new Scanner(file); String[] testArray; @@ -26,11 +24,11 @@ public ArrayList returnLeftList() throws IOException{ testArray = sc.next().split(","); m_leftString.add(testArray[4]); } - + sc.close(); return m_leftString; } - public ArrayList returnRightList() throws IOException{ + public ArrayList returnRightList() throws IOException{ File file = new File(pathName + "right.pf1.csv"); Scanner sc = new Scanner(file); String[] testArray; @@ -39,6 +37,7 @@ public ArrayList returnRightList() throws IOException{ testArray = sc.next().split(","); m_rightString.add(testArray[4]); } + sc.close(); return m_rightString; } } \ No newline at end of file diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index e6a265f..622fc5f 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -35,7 +35,7 @@ public void robotInit() { // Instantiate our RobotContainer. This will perform all our button bindings, and put our // autonomous chooser on the dashboard. m_robotContainer = new RobotContainer(); - RobotContainer.light.setValue(Constants.LL_LIGHT_ON); + RobotContainer.light.setValue(Constants.LL_LIGHT_OFF); m_autonomousCommand = m_robotContainer.getAutonomousCommand(); } diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index e1adde2..6344437 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -36,8 +36,8 @@ public class RobotContainer { public static DriveSubsystem mDriveSubsystem = new DriveSubsystem(); public static DriveCommand mDriveCommand = new DriveCommand(); private static final Logger LOGGER = Logger.getLogger(Robot.class.getName()); - private static Path path1 = new Path("./paths/StraightTen."); - private static Path path2 = new Path("./paths/Turn."); + private static Path path1 = new Path("/paths/Rook6f."); + private static Path path2 = new Path("/paths/Knight6f5l."); private static ArrayList leftArray1; private static ArrayList rightArray1; private static ArrayList leftArray2; @@ -88,6 +88,6 @@ private void configureButtonBindings() { */ public Command getAutonomousCommand() { // An ExampleCommand will run in autonomous - return new RunPath(leftArray1, rightArray1); + return new RunPath(leftArray2, rightArray2); } } diff --git a/src/main/java/frc/robot/commands/Aiming.java b/src/main/java/frc/robot/commands/Aiming.java index 3482ecf..eb961c2 100644 --- a/src/main/java/frc/robot/commands/Aiming.java +++ b/src/main/java/frc/robot/commands/Aiming.java @@ -53,11 +53,10 @@ public void initialize() { // adjust p until it works @Override public void execute() { - //RobotContainer.light.setValue(Constants.LL_LIGHT_ON); + RobotContainer.light.setValue(Constants.LL_LIGHT_ON); tx = SmartDashboard.getNumber("LimelightX", 0); ty = SmartDashboard.getNumber("LimelightY", 0); - d = 73.5/Math.tan(Math.toRadians(ty+63)); - LOGGER.warning(d + ""); + //d = 73.5/Math.tan(Math.toRadians(ty+63)); if(tx>1.0){ steeringAdjust = p * tx +minSteerAdjust; } @@ -74,7 +73,7 @@ else if(tx<-1.0){ // Called once the command ends or is interrupted. @Override public void end(boolean interrupted) { - // RobotContainer.light.setValue(Constants.LL_LIGHT_OFF); + RobotContainer.light.setValue(Constants.LL_LIGHT_OFF); } // Returns true when the command should end. diff --git a/src/main/java/frc/robot/commands/RunPath.java b/src/main/java/frc/robot/commands/RunPath.java index 33f346e..b3fb867 100644 --- a/src/main/java/frc/robot/commands/RunPath.java +++ b/src/main/java/frc/robot/commands/RunPath.java @@ -34,7 +34,7 @@ public class RunPath extends CommandBase { public RunPath(List leftPath, List rightPath) { this.rightPath = rightPath; this.leftPath = leftPath; - timeToRun = .020 * (leftPath.size()-1); + timeToRun = .020 * (leftPath.size()); timer = new Timer(); // Use addRequirements() here to declare subsystem dependencies. addRequirements(RobotContainer.mDriveSubsystem); @@ -51,12 +51,15 @@ public void initialize() { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - RobotContainer.mDriveSubsystem.setLeftPidVelocitySetpoint(-1*RobotContainer.mDriveSubsystem.fpsToRPM(Double.valueOf(leftPath.get(i).toString()))); - RobotContainer.mDriveSubsystem.setRightPidVelocitySetpoint(RobotContainer.mDriveSubsystem.fpsToRPM(Double.valueOf(rightPath.get(i).toString()))); - SmartDashboard.putNumber("Left Commanded Velocity", RobotContainer.mDriveSubsystem.fpsToRPM(Double.valueOf(leftPath.get(i).toString()))); - SmartDashboard.putNumber("Right Commanded Velocity", RobotContainer.mDriveSubsystem.fpsToRPM(Double.valueOf(rightPath.get(i).toString()))); - - i++; + if(i< leftPath.size()){ + RobotContainer.mDriveSubsystem.setLeftPidVelocitySetpoint(-1*RobotContainer.mDriveSubsystem.fpsToRPM(Double.valueOf(leftPath.get(i).toString()))); + RobotContainer.mDriveSubsystem.setRightPidVelocitySetpoint(RobotContainer.mDriveSubsystem.fpsToRPM(Double.valueOf(rightPath.get(i).toString()))); + SmartDashboard.putNumber("Left Commanded Velocity", RobotContainer.mDriveSubsystem.fpsToRPM(Double.valueOf(leftPath.get(i).toString()))); + SmartDashboard.putNumber("Right Commanded Velocity", RobotContainer.mDriveSubsystem.fpsToRPM(Double.valueOf(rightPath.get(i).toString()))); + LOGGER.warning("Time: " + timer.get() + " I: " + i + "Set point: " + RobotContainer.mDriveSubsystem.fpsToRPM(Double.valueOf(leftPath.get(i).toString())) + " Current Velocity: " + RobotContainer.mDriveSubsystem.leftVelocity()); + i++; + } + } // Called once the command ends or is interrupted. @@ -69,6 +72,7 @@ public void end(boolean interrupted) { // Returns true when the command should end. @Override public boolean isFinished() { - return timer.get() >= timeToRun; + return i >= leftPath.size(); + //return timer.get() >= timeToRun; } } diff --git a/src/main/java/frc/robot/subsystems/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/DriveSubsystem.java index c0e79b5..d71f3e2 100644 --- a/src/main/java/frc/robot/subsystems/DriveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/DriveSubsystem.java @@ -61,7 +61,7 @@ public DriveSubsystem() { r_pidController = mRight1.getPIDController(); l_encoder = mLeft1.getEncoder(); - r_encoder = mLeft1.getEncoder(); + r_encoder = mRight1.getEncoder(); l_pidController.setP(Constants.kP); l_pidController.setI(Constants.kI); @@ -145,7 +145,6 @@ public double fpsToRPM(double fps){ @Override public void periodic() { // This method will be called once per scheduler run - new DriveCommand(); } } From 50d0e01f9ce4224fd100bf7cd58864ee108e67c5 Mon Sep 17 00:00:00 2001 From: unknown Date: Tue, 21 Jan 2020 17:29:28 -0600 Subject: [PATCH 09/11] removed some accidentally vulgar code that I defientely going to use, dont look at the name of the file woops --- src/main/java/frc/robot/commands/RunPath.java | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/commands/RunPath.java b/src/main/java/frc/robot/commands/RunPath.java index b3fb867..2b9f971 100644 --- a/src/main/java/frc/robot/commands/RunPath.java +++ b/src/main/java/frc/robot/commands/RunPath.java @@ -10,7 +10,9 @@ import frc.robot.Robot; import frc.robot.RobotContainer; +import java.io.File; import java.util.List; +import java.util.Scanner; import java.util.logging.Logger; import edu.wpi.first.wpilibj2.command.CommandBase; @@ -56,7 +58,6 @@ public void execute() { RobotContainer.mDriveSubsystem.setRightPidVelocitySetpoint(RobotContainer.mDriveSubsystem.fpsToRPM(Double.valueOf(rightPath.get(i).toString()))); SmartDashboard.putNumber("Left Commanded Velocity", RobotContainer.mDriveSubsystem.fpsToRPM(Double.valueOf(leftPath.get(i).toString()))); SmartDashboard.putNumber("Right Commanded Velocity", RobotContainer.mDriveSubsystem.fpsToRPM(Double.valueOf(rightPath.get(i).toString()))); - LOGGER.warning("Time: " + timer.get() + " I: " + i + "Set point: " + RobotContainer.mDriveSubsystem.fpsToRPM(Double.valueOf(leftPath.get(i).toString())) + " Current Velocity: " + RobotContainer.mDriveSubsystem.leftVelocity()); i++; } From eae337c792cfcbc4d3fb7b0eaee003c3df9ca459 Mon Sep 17 00:00:00 2001 From: unknown Date: Wed, 22 Jan 2020 17:28:46 -0600 Subject: [PATCH 10/11] this doesnt work right now --- src/main/java/frc/robot/commands/RunPath.java | 26 +++++++++++++++++-- 1 file changed, 24 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/commands/RunPath.java b/src/main/java/frc/robot/commands/RunPath.java index 2b9f971..894633f 100644 --- a/src/main/java/frc/robot/commands/RunPath.java +++ b/src/main/java/frc/robot/commands/RunPath.java @@ -10,7 +10,10 @@ import frc.robot.Robot; import frc.robot.RobotContainer; +import java.io.BufferedWriter; import java.io.File; +import java.io.FileWriter; +import java.io.IOException; import java.util.List; import java.util.Scanner; import java.util.logging.Logger; @@ -29,11 +32,18 @@ public class RunPath extends CommandBase { private List leftPath; private double timeToRun; private Timer timer; + public BufferedWriter out; int i = 0; private static final Logger LOGGER = Logger.getLogger(Robot.class.getName()); public RunPath(List leftPath, List rightPath) { + try { + File f = new File("plswork.txt"); + out = new BufferedWriter(new FileWriter(f)); + } catch (IOException e) { + LOGGER.warning("WEWEWEWEWEWEWEWEWEWEEW THIS DIDNT WROK WEWEWEWEWEWEWEWEWEWEWEWEWEWEWEWEWEWEWE"); + } this.rightPath = rightPath; this.leftPath = leftPath; timeToRun = .020 * (leftPath.size()); @@ -44,18 +54,30 @@ public RunPath(List leftPath, List rightPath) { // Called when the command is initially scheduled. @Override - public void initialize() { + public void initialize(){ i = 0; timer.reset(); timer.start(); + try { + out.write("LCommandedVelocity,RCommandedVelocity \n"); + } catch (IOException e) { + LOGGER.warning("WEWEWEWEWEWEWEWEWEWEEW THIS DIDNT WROK WEWEWEWEWEWEWEWEWEWEWEWEWEWEWEWEWEWEWE"); + + } } // Called every time the scheduler runs while the command is scheduled. @Override - public void execute() { + public void execute(){ if(i< leftPath.size()){ RobotContainer.mDriveSubsystem.setLeftPidVelocitySetpoint(-1*RobotContainer.mDriveSubsystem.fpsToRPM(Double.valueOf(leftPath.get(i).toString()))); RobotContainer.mDriveSubsystem.setRightPidVelocitySetpoint(RobotContainer.mDriveSubsystem.fpsToRPM(Double.valueOf(rightPath.get(i).toString()))); + try { + out.write(Double.valueOf(leftPath.get(i).toString()) + "," + Double.valueOf(rightPath.get(i).toString())); + } catch (IOException e) { + LOGGER.warning("WEWEWEWEWEWEWEWEWEWEEW THIS DIDNT WROK WEWEWEWEWEWEWEWEWEWEWEWEWEWEWEWEWEWEWE"); + + } SmartDashboard.putNumber("Left Commanded Velocity", RobotContainer.mDriveSubsystem.fpsToRPM(Double.valueOf(leftPath.get(i).toString()))); SmartDashboard.putNumber("Right Commanded Velocity", RobotContainer.mDriveSubsystem.fpsToRPM(Double.valueOf(rightPath.get(i).toString()))); i++; From 5a884b5ab718fce70423f02b89733522e4dc3cce Mon Sep 17 00:00:00 2001 From: unknown Date: Tue, 4 Feb 2020 19:42:59 -0600 Subject: [PATCH 11/11] fjiewajg'ipewa --- src/main/deploy/anotherTestPath.left.pf1.csv | 250 ++++++++++++++ src/main/deploy/anotherTestPath.pf1.csv | 250 ++++++++++++++ src/main/deploy/anotherTestPath.right.pf1.csv | 250 ++++++++++++++ .../deploy/output/DriveTrench.left.pf1.csv | 238 ++++++++++++++ src/main/deploy/output/DriveTrench.pf1.csv | 238 ++++++++++++++ .../deploy/output/DriveTrench.right.pf1.csv | 238 ++++++++++++++ .../output/anotherTestPath.left.pf1.csv | 250 ++++++++++++++ .../deploy/output/anotherTestPath.pf1.csv | 250 ++++++++++++++ .../output/anotherTestPath.right.pf1.csv | 250 ++++++++++++++ src/main/deploy/output/testPath.left.pf1.csv | 254 +++++++++++++++ src/main/deploy/output/testPath.pf1.csv | 254 +++++++++++++++ src/main/deploy/output/testPath.right.pf1.csv | 254 +++++++++++++++ .../deploy/output/trenchAndAim.left.pf1.csv | 306 ++++++++++++++++++ src/main/deploy/output/trenchAndAim.pf1.csv | 306 ++++++++++++++++++ .../deploy/output/trenchAndAim.right.pf1.csv | 306 ++++++++++++++++++ src/main/deploy/output/turnTest.left.pf1.csv | 250 ++++++++++++++ src/main/deploy/output/turnTest.pf1.csv | 250 ++++++++++++++ src/main/deploy/output/turnTest.right.pf1.csv | 250 ++++++++++++++ src/main/deploy/testPath.left.pf1.csv | 254 +++++++++++++++ src/main/deploy/testPath.pf1.csv | 254 +++++++++++++++ src/main/deploy/testPath.right.pf1.csv | 254 +++++++++++++++ src/main/deploy/turnTest.left.pf1.csv | 250 ++++++++++++++ src/main/deploy/turnTest.pf1.csv | 250 ++++++++++++++ src/main/deploy/turnTest.right.pf1.csv | 250 ++++++++++++++ src/main/java/frc/robot/Constants.java | 6 +- src/main/java/frc/robot/Path.java | 4 +- src/main/java/frc/robot/RobotContainer.java | 16 +- src/main/java/frc/robot/commands/Aiming.java | 4 +- src/main/java/frc/robot/commands/RunPath.java | 18 -- .../java/frc/robot/commands/RunPathBack.java | 83 +++++ .../java/frc/robot/commands/TurnAimShoot.java | 87 +++++ .../frc/robot/commands/autoDeCorrect.java | 84 +++++ .../frc/robot/commands/autoStoreValue.java | 57 ++++ .../frc/robot/subsystems/DriveSubsystem.java | 8 +- 34 files changed, 6489 insertions(+), 34 deletions(-) create mode 100644 src/main/deploy/anotherTestPath.left.pf1.csv create mode 100644 src/main/deploy/anotherTestPath.pf1.csv create mode 100644 src/main/deploy/anotherTestPath.right.pf1.csv create mode 100644 src/main/deploy/output/DriveTrench.left.pf1.csv create mode 100644 src/main/deploy/output/DriveTrench.pf1.csv create mode 100644 src/main/deploy/output/DriveTrench.right.pf1.csv create mode 100644 src/main/deploy/output/anotherTestPath.left.pf1.csv create mode 100644 src/main/deploy/output/anotherTestPath.pf1.csv create mode 100644 src/main/deploy/output/anotherTestPath.right.pf1.csv create mode 100644 src/main/deploy/output/testPath.left.pf1.csv create mode 100644 src/main/deploy/output/testPath.pf1.csv create mode 100644 src/main/deploy/output/testPath.right.pf1.csv create mode 100644 src/main/deploy/output/trenchAndAim.left.pf1.csv create mode 100644 src/main/deploy/output/trenchAndAim.pf1.csv create mode 100644 src/main/deploy/output/trenchAndAim.right.pf1.csv create mode 100644 src/main/deploy/output/turnTest.left.pf1.csv create mode 100644 src/main/deploy/output/turnTest.pf1.csv create mode 100644 src/main/deploy/output/turnTest.right.pf1.csv create mode 100644 src/main/deploy/testPath.left.pf1.csv create mode 100644 src/main/deploy/testPath.pf1.csv create mode 100644 src/main/deploy/testPath.right.pf1.csv create mode 100644 src/main/deploy/turnTest.left.pf1.csv create mode 100644 src/main/deploy/turnTest.pf1.csv create mode 100644 src/main/deploy/turnTest.right.pf1.csv create mode 100644 src/main/java/frc/robot/commands/RunPathBack.java create mode 100644 src/main/java/frc/robot/commands/TurnAimShoot.java create mode 100644 src/main/java/frc/robot/commands/autoDeCorrect.java create mode 100644 src/main/java/frc/robot/commands/autoStoreValue.java diff --git a/src/main/deploy/anotherTestPath.left.pf1.csv b/src/main/deploy/anotherTestPath.left.pf1.csv new file mode 100644 index 0000000..993953e --- /dev/null +++ b/src/main/deploy/anotherTestPath.left.pf1.csv @@ -0,0 +1,250 @@ +dt,x,y,position,velocity,acceleration,jerk,heading +0.020000,0.000000,9.250000,0.000012,0.001174,0.058707,2.935366,0.000000 +0.020000,0.000000,9.250000,0.000012,0.000000,-0.058707,-5.870732,0.000000 +0.020000,0.000000,9.250000,0.000012,0.000000,0.000000,2.935366,0.000000 +0.020000,0.000000,9.250000,0.000012,0.000000,0.000000,0.000000,0.000000 +0.020000,0.000000,9.250000,0.000012,0.000000,0.000000,0.000000,0.000000 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+0.020000,6.250000,15.000000,12.032254,0.000000,-0.029335,2.948987,1.570796 diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 1a44d48..46d10ba 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -39,9 +39,9 @@ public final class Constants { public final static int VELOCITY_CONTROL=1; public final static int HEADING_CONTROL=2; - public final static double kP = 0.001600; - public final static double kI = 0; - public final static double kD = .0013; + public final static double kP = 0.000600; + public final static double kI = 1e-6; + public final static double kD = .000013; public final static double kIz = 0; public final static double kFF = 0.000000; public final static double kMaxOutput = 1; diff --git a/src/main/java/frc/robot/Path.java b/src/main/java/frc/robot/Path.java index e26b4ee..06132b4 100644 --- a/src/main/java/frc/robot/Path.java +++ b/src/main/java/frc/robot/Path.java @@ -15,7 +15,7 @@ public Path(String PathName){ } public ArrayList returnLeftList() throws IOException{ - File file = new File(pathName + "left.pf1.csv"); + File file = new File("/home/lvuser/deploy/output/" + pathName + ".left.pf1.csv"); Scanner sc = new Scanner(file); String[] testArray; @@ -29,7 +29,7 @@ public ArrayList returnLeftList() throws IOException{ } public ArrayList returnRightList() throws IOException{ - File file = new File(pathName + "right.pf1.csv"); + File file = new File("/home/lvuser/deploy/output/" + pathName + ".right.pf1.csv"); Scanner sc = new Scanner(file); String[] testArray; sc.next(); diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 6344437..5962af4 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -17,9 +17,14 @@ import edu.wpi.first.wpilibj.GenericHID; import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import frc.robot.commands.Aiming; import frc.robot.commands.DriveCommand; -import frc.robot.commands.RunPath; +import frc.robot.commands.RunPath; +import frc.robot.commands.RunPathBack; +import frc.robot.commands.TurnAimShoot; +import frc.robot.commands.autoDeCorrect; +import frc.robot.commands.autoStoreValue; import frc.robot.commands.toggleOff; import frc.robot.subsystems.DriveSubsystem; import frc.robot.Path; @@ -36,8 +41,8 @@ public class RobotContainer { public static DriveSubsystem mDriveSubsystem = new DriveSubsystem(); public static DriveCommand mDriveCommand = new DriveCommand(); private static final Logger LOGGER = Logger.getLogger(Robot.class.getName()); - private static Path path1 = new Path("/paths/Rook6f."); - private static Path path2 = new Path("/paths/Knight6f5l."); + private static Path path1 = new Path("trenchAndAim"); + private static Path path2 = new Path("DriveTrench"); private static ArrayList leftArray1; private static ArrayList rightArray1; private static ArrayList leftArray2; @@ -74,10 +79,9 @@ public RobotContainer() { * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}. */ private void configureButtonBindings() { - mOI.buttonOne.whenPressed(new RunPath(leftArray1, rightArray1)); - mOI.buttonThree.whenPressed(new RunPath(leftArray2, rightArray2)); - mOI.buttonTwo.whenPressed(new toggleOff()); + mOI.buttonOne.whenPressed(new autoStoreValue()); mOI.buttonFive.whileHeld(new Aiming(), false); + mOI.buttonSix.whenPressed(new SequentialCommandGroup(new RunPath(leftArray1, rightArray1), new autoStoreValue(), new TurnAimShoot(), new autoDeCorrect(), new RunPath(leftArray2, rightArray2), new RunPathBack(leftArray2, rightArray2))); } diff --git a/src/main/java/frc/robot/commands/Aiming.java b/src/main/java/frc/robot/commands/Aiming.java index eb961c2..5120ff4 100644 --- a/src/main/java/frc/robot/commands/Aiming.java +++ b/src/main/java/frc/robot/commands/Aiming.java @@ -56,7 +56,8 @@ public void execute() { RobotContainer.light.setValue(Constants.LL_LIGHT_ON); tx = SmartDashboard.getNumber("LimelightX", 0); ty = SmartDashboard.getNumber("LimelightY", 0); - //d = 73.5/Math.tan(Math.toRadians(ty+63)); + d = 73.5/Math.tan(Math.toRadians(ty+63)); + SmartDashboard.putNumber("Distance", d); if(tx>1.0){ steeringAdjust = p * tx +minSteerAdjust; } @@ -68,6 +69,7 @@ else if(tx<-1.0){ RobotContainer.mDriveSubsystem.arcadeDrive(joystick.getRawAxis(Constants.VELOCITY_CONTROL),steeringAdjust); else RobotContainer.mDriveSubsystem.arcadeDrive(joystick.getRawAxis(Constants.VELOCITY_CONTROL),joystick.getRawAxis(Constants.HEADING_CONTROL)); + steeringAdjust = 0; } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc/robot/commands/RunPath.java b/src/main/java/frc/robot/commands/RunPath.java index 894633f..b40efc9 100644 --- a/src/main/java/frc/robot/commands/RunPath.java +++ b/src/main/java/frc/robot/commands/RunPath.java @@ -38,12 +38,6 @@ public class RunPath extends CommandBase { public RunPath(List leftPath, List rightPath) { - try { - File f = new File("plswork.txt"); - out = new BufferedWriter(new FileWriter(f)); - } catch (IOException e) { - LOGGER.warning("WEWEWEWEWEWEWEWEWEWEEW THIS DIDNT WROK WEWEWEWEWEWEWEWEWEWEWEWEWEWEWEWEWEWEWE"); - } this.rightPath = rightPath; this.leftPath = leftPath; timeToRun = .020 * (leftPath.size()); @@ -58,12 +52,6 @@ public void initialize(){ i = 0; timer.reset(); timer.start(); - try { - out.write("LCommandedVelocity,RCommandedVelocity \n"); - } catch (IOException e) { - LOGGER.warning("WEWEWEWEWEWEWEWEWEWEEW THIS DIDNT WROK WEWEWEWEWEWEWEWEWEWEWEWEWEWEWEWEWEWEWE"); - - } } // Called every time the scheduler runs while the command is scheduled. @@ -72,12 +60,6 @@ public void execute(){ if(i< leftPath.size()){ RobotContainer.mDriveSubsystem.setLeftPidVelocitySetpoint(-1*RobotContainer.mDriveSubsystem.fpsToRPM(Double.valueOf(leftPath.get(i).toString()))); RobotContainer.mDriveSubsystem.setRightPidVelocitySetpoint(RobotContainer.mDriveSubsystem.fpsToRPM(Double.valueOf(rightPath.get(i).toString()))); - try { - out.write(Double.valueOf(leftPath.get(i).toString()) + "," + Double.valueOf(rightPath.get(i).toString())); - } catch (IOException e) { - LOGGER.warning("WEWEWEWEWEWEWEWEWEWEEW THIS DIDNT WROK WEWEWEWEWEWEWEWEWEWEWEWEWEWEWEWEWEWEWE"); - - } SmartDashboard.putNumber("Left Commanded Velocity", RobotContainer.mDriveSubsystem.fpsToRPM(Double.valueOf(leftPath.get(i).toString()))); SmartDashboard.putNumber("Right Commanded Velocity", RobotContainer.mDriveSubsystem.fpsToRPM(Double.valueOf(rightPath.get(i).toString()))); i++; diff --git a/src/main/java/frc/robot/commands/RunPathBack.java b/src/main/java/frc/robot/commands/RunPathBack.java new file mode 100644 index 0000000..72d76bf --- /dev/null +++ b/src/main/java/frc/robot/commands/RunPathBack.java @@ -0,0 +1,83 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */ +/* Open Source Software - may be modified and shared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +package frc.robot.commands; + +import frc.robot.Robot; +import frc.robot.RobotContainer; + +import java.io.BufferedWriter; +import java.io.File; +import java.io.FileWriter; +import java.io.IOException; +import java.util.List; +import java.util.Scanner; +import java.util.logging.Logger; + +import edu.wpi.first.wpilibj2.command.CommandBase; +import edu.wpi.first.wpilibj.Timer; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; + + +/** + * An example command that uses an example subsystem. + */ +public class RunPathBack extends CommandBase { + @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"}) + private List rightPath; + private List leftPath; + private double timeToRun; + private Timer timer; + public BufferedWriter out; + int i = 0; + private static final Logger LOGGER = Logger.getLogger(Robot.class.getName()); + + + public RunPathBack(List leftPath, List rightPath) { + this.rightPath = rightPath; + this.leftPath = leftPath; + timeToRun = .020 * (leftPath.size()); + timer = new Timer(); + // Use addRequirements() here to declare subsystem dependencies. + addRequirements(RobotContainer.mDriveSubsystem); + } + + // Called when the command is initially scheduled. + @Override + public void initialize(){ + i = 0; + timer.reset(); + timer.start(); + } + + // Called every time the scheduler runs while the command is scheduled. + @Override + public void execute(){ + if(i< leftPath.size()){ + RobotContainer.mDriveSubsystem.setLeftPidVelocitySetpoint(RobotContainer.mDriveSubsystem.fpsToRPM(Double.valueOf(leftPath.get(i).toString()))); + RobotContainer.mDriveSubsystem.setRightPidVelocitySetpoint(-1*RobotContainer.mDriveSubsystem.fpsToRPM(Double.valueOf(rightPath.get(i).toString()))); + SmartDashboard.putNumber("Left Commanded Velocity", RobotContainer.mDriveSubsystem.fpsToRPM(Double.valueOf(leftPath.get(i).toString()))); + SmartDashboard.putNumber("Right Commanded Velocity", RobotContainer.mDriveSubsystem.fpsToRPM(Double.valueOf(rightPath.get(i).toString()))); + i++; + } + + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) { + RobotContainer.mDriveSubsystem.setLeftPidVelocitySetpoint(0); + RobotContainer.mDriveSubsystem.setRightPidVelocitySetpoint(0); + } + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return i >= leftPath.size(); + //return timer.get() >= timeToRun; + } +} diff --git a/src/main/java/frc/robot/commands/TurnAimShoot.java b/src/main/java/frc/robot/commands/TurnAimShoot.java new file mode 100644 index 0000000..73c70f8 --- /dev/null +++ b/src/main/java/frc/robot/commands/TurnAimShoot.java @@ -0,0 +1,87 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */ +/* Open Source Software - may be modified and shared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +package frc.robot.commands; + +import frc.robot.Constants; +import frc.robot.OI; +import frc.robot.RobotContainer; +import frc.robot.*; + +import java.util.logging.Logger; + +import edu.wpi.first.wpilibj.Joystick; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.CommandBase; + +/** + * An example command that uses an example subsystem. + */ +public class TurnAimShoot extends CommandBase { + @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"}) + private static final Logger LOGGER = Logger.getLogger(DriveCommand.class.getName()); + private Joystick joystick = new Joystick(OI.joystick); + double tx = SmartDashboard.getNumber("LimelightX", 0); + double ty = SmartDashboard.getNumber("LimelightY", 0); + double d = 0; + + double minSteerAdjust = .2; + double steeringAdjust = 0.0; + double headingCommand = 0; + double p = .013; + boolean seen = false; + /** + * Creates a new ExampleCommand. + * + * @param subsystem The subsystem used by this command. + */ + public TurnAimShoot() { + // Use addRequirements() here to declare subsystem dependencies. + addRequirements(RobotContainer.mDriveSubsystem); + } + + // Called when the command is initially scheduled. + @Override + public void initialize() { + } + + // Called every time the scheduler runs while the command is scheduled. + // tx is the degrees the limelight detects we are off by the target + // adjust p until it works + @Override + public void execute() { + RobotContainer.light.setValue(Constants.LL_LIGHT_ON); + tx = SmartDashboard.getNumber("LimelightX", 0); + ty = SmartDashboard.getNumber("LimelightY", 0); + if(tx>1.0){ + steeringAdjust = p * tx +minSteerAdjust; + seen = true; + } + else if(tx<-1.0){ + steeringAdjust = p * tx -minSteerAdjust; + seen = true; + } + + if(tx != 0) + RobotContainer.mDriveSubsystem.arcadeDrive(0,steeringAdjust); + + steeringAdjust = 0; + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) { + RobotContainer.light.setValue(Constants.LL_LIGHT_OFF); + seen = false; + } + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return (tx < 1 && tx > -1 && seen == true); + } +} diff --git a/src/main/java/frc/robot/commands/autoDeCorrect.java b/src/main/java/frc/robot/commands/autoDeCorrect.java new file mode 100644 index 0000000..f4b90cc --- /dev/null +++ b/src/main/java/frc/robot/commands/autoDeCorrect.java @@ -0,0 +1,84 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */ +/* Open Source Software - may be modified and shared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +package frc.robot.commands; + +import frc.robot.Constants; +import frc.robot.RobotContainer; +import frc.robot.subsystems.ExampleSubsystem; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.CommandBase; + +/** + * An example command that uses an example subsystem. + */ +public class autoDeCorrect extends CommandBase { + @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"}) + double tx = SmartDashboard.getNumber("LimelightX", 0); + double ty = SmartDashboard.getNumber("LimelightY", 0); + double ta = SmartDashboard.getNumber("LimelightArea", 0); + double d = 0; + + double minSteerAdjust = .2; + double steeringAdjust = 0.0; + double headingCommand = 0; + double p = .013; + double targetValue = 0; + + /** + * Creates a new ExampleCommand. + * + * @param subsystem The subsystem used by this command. + */ + public autoDeCorrect() { + // Use addRequirements() here to declare subsystem dependencies. + } + + // Called when the command is initially scheduled. + @Override + public void initialize() { + } + + // Called every time the scheduler runs while the command is scheduled. + @Override + public void execute() { + RobotContainer.light.setValue(Constants.LL_LIGHT_ON); + targetValue = SmartDashboard.getNumber("Data Offset", 0); + tx = SmartDashboard.getNumber("LimelightX", 0); + ty = SmartDashboard.getNumber("LimelightY", 0); + ta = SmartDashboard.getNumber("LimelightArea", 0); + d = 73.5/Math.tan(Math.toRadians(ty+63)); + SmartDashboard.putNumber("Distance", d); + if(ta != 0){ + if(tx>(targetValue +1)){ + steeringAdjust = p * (tx-targetValue) +minSteerAdjust; + } + else if(tx<(targetValue -1)){ + steeringAdjust = p * (tx-targetValue) -minSteerAdjust; + } + RobotContainer.mDriveSubsystem.arcadeDrive(0,steeringAdjust); +} + + steeringAdjust = 0; + + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) { + RobotContainer.light.setValue(Constants.LL_LIGHT_OFF); + } + + // Returns true when the command should end. + @Override + public boolean isFinished() { + if(((tx - targetValue) < 1 && (tx - targetValue) > -1) || ta == 0 ){ + return true; + } + return false; +} +} diff --git a/src/main/java/frc/robot/commands/autoStoreValue.java b/src/main/java/frc/robot/commands/autoStoreValue.java new file mode 100644 index 0000000..1f65cc7 --- /dev/null +++ b/src/main/java/frc/robot/commands/autoStoreValue.java @@ -0,0 +1,57 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */ +/* Open Source Software - may be modified and shared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +package frc.robot.commands; + +import frc.robot.Constants; +import frc.robot.RobotContainer; +import frc.robot.subsystems.ExampleSubsystem; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.CommandBase; + +/** + * An example command that uses an example subsystem. + */ +public class autoStoreValue extends CommandBase { + @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"}) + private double targetValue = 0; + + /** + * Creates a new ExampleCommand. + * + * @param subsystem The subsystem used by this command. + */ + public autoStoreValue() { + // Use addRequirements() here to declare subsystem dependencies. + } + + // Called when the command is initially scheduled. + @Override + public void initialize() { + } + + // Called every time the scheduler runs while the command is scheduled. + @Override + public void execute() { + RobotContainer.light.setValue(Constants.LL_LIGHT_ON); + SmartDashboard.putNumber("Data Offset", SmartDashboard.getNumber("LimelightX", 0)); + targetValue = SmartDashboard.getNumber("Data Offset", 0); + + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) { + RobotContainer.light.setValue(Constants.LL_LIGHT_OFF); + } + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return (targetValue != 0) ; + } +} diff --git a/src/main/java/frc/robot/subsystems/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/DriveSubsystem.java index d71f3e2..f45726c 100644 --- a/src/main/java/frc/robot/subsystems/DriveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/DriveSubsystem.java @@ -36,10 +36,10 @@ public class DriveSubsystem extends SubsystemBase { private static final Logger LOGGER = Logger.getLogger(DriveSubsystem.class.getName()); public DriveSubsystem() { - mLeft1 = new CANSparkMax(1, MotorType.kBrushless); - mLeft2 = new CANSparkMax(2, MotorType.kBrushless); - mRight1 = new CANSparkMax(3, MotorType.kBrushless); - mRight2 = new CANSparkMax(4, MotorType.kBrushless); + mLeft1 = new CANSparkMax(3, MotorType.kBrushless); + mLeft2 = new CANSparkMax(4, MotorType.kBrushless); + mRight1 = new CANSparkMax(1, MotorType.kBrushless); + mRight2 = new CANSparkMax(2, MotorType.kBrushless); mLeft1.restoreFactoryDefaults(); mLeft2.restoreFactoryDefaults(); mRight1.restoreFactoryDefaults();