Not Splines #28
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,32 +1,164 @@ | ||
| package org.usfirst.frc4904.robot; | ||
|
|
||
| import org.usfirst.frc4904.standard.custom.controllers.CustomJoystick; | ||
| import org.usfirst.frc4904.standard.custom.controllers.CustomXbox; | ||
| import org.usfirst.frc4904.robot.humaninterface.HumanInterfaceConfig; | ||
| import org.usfirst.frc4904.standard.subsystems.chassis.TankDriveShifting; | ||
| import org.usfirst.frc4904.standard.subsystems.chassis.SolenoidShifters; | ||
| import org.usfirst.frc4904.standard.subsystems.motor.Motor; | ||
| import org.usfirst.frc4904.standard.subsystems.motor.speedmodifiers.EnableableModifier; | ||
| import org.usfirst.frc4904.standard.subsystems.motor.speedmodifiers.AccelerationCap; | ||
| import edu.wpi.first.networktables.NetworkTable; | ||
| import edu.wpi.first.networktables.NetworkTableEntry; | ||
| import edu.wpi.first.networktables.NetworkTableInstance; | ||
|
|
||
| import org.usfirst.frc4904.standard.custom.sensors.PDP; | ||
| import org.usfirst.frc4904.standard.custom.PCMPort; | ||
| //import org.usfirst.frc4904.standard.custom.sensors.CANEncoder; | ||
|
There was a problem hiding this comment. Don't have commented out code in a PR |
||
| //import org.usfirst.frc4904.standard.custom.sensors.EncoderPair; | ||
| import org.usfirst.frc4904.standard.custom.motioncontrollers.CANTalonSRX; | ||
| import org.usfirst.frc4904.standard.custom.motioncontrollers.CustomPIDController; | ||
| import org.usfirst.frc4904.standard.custom.sensors.NavX; | ||
|
|
||
|
|
||
|
|
||
| public class RobotMap { | ||
| public static class Port { | ||
| public static class HumanInput { | ||
| public static final int joystick = 0; | ||
| public static final int xboxController = 1; | ||
|
|
||
| } | ||
| public static class CANMotor {} | ||
| public static class PWM { | ||
| public static final int leftDriveA = -1; // TODO: Change ports | ||
| public static final int leftDriveB = -1; | ||
| public static final int rightDriveA = -1; | ||
| public static final int rightDriveB = -1; | ||
| } | ||
| public static class CAN { | ||
| //public static final int leftEncoder = -1; // TODO: Change ports | ||
| //public static final int rightEncoder = -1; | ||
| } | ||
| public static class Pneumatics { | ||
| public static final PCMPort shifter = new PCMPort(-1, -1, -1); // TODO: Change ports | ||
| } | ||
| } | ||
|
|
||
| public static class Metrics{ | ||
| public static class Wheel { | ||
| public static final double TICKS_PER_REVOLUTION = 4.904; // Obviously not real metrics | ||
| public static final double DIAMETER_INCHES = 4.904; | ||
| public static final double CIRCUMFERENCE_INCHES = Metrics.Wheel.DIAMETER_INCHES * Math.PI; | ||
| public static final double TICKS_PER_INCH = Metrics.Wheel.TICKS_PER_REVOLUTION | ||
| / Metrics.Wheel.CIRCUMFERENCE_INCHES; | ||
| public static final double DISTANCE_FRONT_BACK = 4.904; | ||
| public static final double DISTANCE_SIDE_SIDE = 4.904; | ||
| public static final double INCHES_PER_TICK = Metrics.Wheel.CIRCUMFERENCE_INCHES | ||
| / Metrics.Wheel.TICKS_PER_REVOLUTION; | ||
| } | ||
| public static class Robot { | ||
| public static final double ROBOT_WIDTH = 28; | ||
| } | ||
| } | ||
| public static class PID { | ||
| public static class Drive { | ||
| public static final double P = 0.04; //Tune PID | ||
|
|
||
| public static final double I = 0.0; //Tune PID | ||
| public static final double D = -0.006; //Tune PID | ||
| public static final double F = 0.01; //Tune PID | ||
| public static final double tolerance = 4.5; //Tune PID | ||
| public static final double dTolerance = 3.0; //Tune PID | ||
| } | ||
| } | ||
| public static class Component { | ||
| public static PDP pdp; | ||
|
|
||
| public static TankDriveShifting chassis; | ||
| public static Motor leftWheel; | ||
| public static Motor rightWheel; | ||
| public static SolenoidShifters shifter; | ||
| public static EnableableModifier rightWheelAccelerationCap; | ||
| public static EnableableModifier leftWheelAccelerationCap; | ||
|
|
||
| //public static CANEncoder leftWheelEncoder; | ||
| //public static CANEncoder rightWheelEncoder; | ||
| //public static EncoderPair chassisEncoders; | ||
| public static CustomPIDController chassisTurnMC; | ||
| public static CustomPIDController drivePID; | ||
| public static NavX navx; | ||
| } | ||
|
|
||
| public static class NetworkTables { | ||
| public static NetworkTableInstance inst; | ||
| public static NetworkTable table; | ||
|
|
||
| public static class Sensors { | ||
| public static NetworkTable table; | ||
| public static NetworkTableEntry betaRF; | ||
| public static NetworkTableEntry betaFloor; | ||
| public static NetworkTableEntry theta; | ||
| public static NetworkTableEntry x; | ||
| public static NetworkTableEntry y; | ||
| public static NetworkTableEntry distance; | ||
| public static NetworkTableEntry isRFTapeVisible; | ||
| public static NetworkTableEntry isFloorTapeVisible; | ||
| } | ||
|
|
||
| public static class PID { | ||
| public static NetworkTable table; | ||
|
|
||
| } | ||
| } | ||
|
|
||
| public static class HumanInput { | ||
| public static class Driver { | ||
| public static CustomXbox xbox; | ||
| } | ||
| public static class Operator { | ||
| public static CustomJoystick joystick; | ||
| } | ||
| } | ||
|
|
||
| public RobotMap() { | ||
| Component.pdp = new PDP(); | ||
|
|
||
| // Wheels | ||
| // Component.leftWheelEncoder = new CANEncoder("LeftEncoder", Port.CAN.leftEncoder); | ||
| // Component.rightWheelEncoder = new CANEncoder("RightEncoder", Port.CAN.rightEncoder); | ||
| // Component.leftWheelEncoder.setDistancePerPulse(Metrics.Wheel.INCHES_PER_TICK); | ||
| // Component.rightWheelEncoder.setDistancePerPulse(Metrics.Wheel.INCHES_PER_TICK); | ||
| Component.leftWheelAccelerationCap = new EnableableModifier(new AccelerationCap(Component.pdp)); | ||
| Component.leftWheelAccelerationCap.enable(); | ||
| Component.rightWheelAccelerationCap = new EnableableModifier(new AccelerationCap(Component.pdp)); | ||
| Component.rightWheelAccelerationCap.enable(); | ||
| Component.leftWheel = new Motor("LeftWheel", Component.leftWheelAccelerationCap, | ||
| new CANTalonSRX(Port.PWM.leftDriveA), new CANTalonSRX(Port.PWM.leftDriveB)); | ||
| Component.rightWheel = new Motor("RightWheel", Component.rightWheelAccelerationCap, | ||
| new CANTalonSRX(Port.PWM.rightDriveA), new CANTalonSRX(Port.PWM.rightDriveB)); | ||
|
|
||
| NetworkTables.inst = NetworkTableInstance.getDefault(); | ||
| NetworkTables.Sensors.table = NetworkTables.inst.getTable("Sensors"); | ||
| NetworkTables.Sensors.betaRF = NetworkTables.Sensors.table.getEntry("RF Beta"); | ||
| NetworkTables.Sensors.betaFloor = NetworkTables.Sensors.table.getEntry("Floor Beta"); | ||
| NetworkTables.Sensors.theta = NetworkTables.Sensors.table.getEntry("Theta"); | ||
| NetworkTables.Sensors.x = NetworkTables.Sensors.table.getEntry("X"); | ||
| NetworkTables.Sensors.y = NetworkTables.Sensors.table.getEntry("Y"); | ||
| NetworkTables.Sensors.distance = NetworkTables.Sensors.table.getEntry("Distance"); | ||
| NetworkTables.Sensors.isRFTapeVisible = NetworkTables.Sensors.table.getEntry("Is RF Tape Visible?"); | ||
| NetworkTables.Sensors.isFloorTapeVisible = NetworkTables.Sensors.table.getEntry("Is Floor Tape Visible?"); | ||
|
|
||
| // Chassis | ||
| Component.shifter = new SolenoidShifters(Port.Pneumatics.shifter.pcmID, Port.Pneumatics.shifter.forward, | ||
| Port.Pneumatics.shifter.reverse); | ||
| //Component.chassisEncoders = new EncoderPair(Component.leftWheelEncoder, Component.rightWheelEncoder); | ||
| Component.chassis = new TankDriveShifting("2019-Chassis", Component.leftWheel, Component.rightWheel, Component.shifter); | ||
| HumanInput.Driver.xbox = new CustomXbox(Port.HumanInput.xboxController); | ||
| HumanInput.Driver.xbox.setDeadZone(HumanInterfaceConfig.XBOX_DEADZONE); | ||
| HumanInput.Operator.joystick = new CustomJoystick(Port.HumanInput.joystick); | ||
| HumanInput.Operator.joystick.setDeadzone(HumanInterfaceConfig.JOYSTICK_DEADZONE); | ||
| //Component.drivePID = new CustomPIDController(PID.Drive.P, PID.Drive.I, PID.Drive.D, PID.Drive.F, Component.rightWheelEncoder); | ||
| Component.drivePID.setAbsoluteTolerance(PID.Drive.tolerance); | ||
| Component.drivePID.setDerivativeTolerance(PID.Drive.dTolerance); | ||
| } | ||
| } | ||
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,15 @@ | ||
| package org.usfirst.frc4904.robot.autonly; | ||
|
|
||
| import org.usfirst.frc4904.robot.RobotMap; | ||
|
|
||
| public class AutonConfig { | ||
| public enum VisionInterfaceType { | ||
| NETWORK_TABLES, | ||
| CAN | ||
| } | ||
|
|
||
| public static final double DRIVE_TOLERANCE = RobotMap.Metrics.Robot.ROBOT_WIDTH / 2; | ||
| public static final double MINIMUM_VISION_DISTANCE = 18.0; | ||
| public static final double NO_CLOSER = Math.max(DRIVE_TOLERANCE, MINIMUM_VISION_DISTANCE); | ||
| public static final VisionInterfaceType VISION_INTERFACE_TYPE = VisionInterfaceType.NETWORK_TABLES; | ||
| } |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,40 @@ | ||
| package org.usfirst.frc4904.robot.autonly; | ||
|
|
||
| import org.usfirst.frc4904.standard.commands.chassis.ChassisTurn; | ||
| import org.usfirst.frc4904.standard.commands.chassis.ChassisMoveDistance; | ||
| import java.util.function.BooleanSupplier; | ||
| import java.util.function.DoubleSupplier; | ||
| import org.usfirst.frc4904.robot.RobotMap; | ||
| import edu.wpi.first.wpilibj.command.Command; | ||
| import edu.wpi.first.wpilibj.command.CommandGroup; | ||
| import org.usfirst.frc4904.standard.commands.RunIf; | ||
| import org.usfirst.frc4904.standard.commands.RunIfElse; | ||
|
|
||
| public class BoringAuton extends CommandGroup { | ||
|
There was a problem hiding this comment. RENAME THIS COMMAND POR FAVOR |
||
|
|
||
| public BoringAuton(DoubleSupplier betaSupplier, DoubleSupplier xSupplier, DoubleSupplier ySupplier) { | ||
| super("BoringAuton"); | ||
| addSequential(new RunIfElse( | ||
| new BoringAutonPosX(betaSupplier, xSupplier, ySupplier), //the left of the robot is towards the positive x direction | ||
| new BoringAutonNegX(betaSupplier, xSupplier, ySupplier), | ||
| () -> xSupplier.getAsDouble() >= 0 | ||
| )); | ||
| addSequential(new ChassisMoveDistance(RobotMap.Component.chassis, () -> ySupplier.getAsDouble(), RobotMap.Component.drivePID)); | ||
| } | ||
| public class BoringAutonPosX extends CommandGroup { | ||
| public BoringAutonPosX(DoubleSupplier betaSupplier, DoubleSupplier xSupplier, DoubleSupplier ySupplier) { | ||
| super("BoringAutonPosX"); //chassisturn and beta are positive to the right | ||
| addSequential(new ChassisTurn(RobotMap.Component.chassis, () -> 90 + betaSupplier.getAsDouble(), RobotMap.Component.navx, null, RobotMap.Component.chassisTurnMC)); | ||
| addSequential(new ChassisMoveDistance(RobotMap.Component.chassis, () -> xSupplier.getAsDouble(), RobotMap.Component.drivePID)); | ||
| addSequential(new ChassisTurn(RobotMap.Component.chassis, -90, RobotMap.Component.navx, null, RobotMap.Component.chassisTurnMC)); | ||
| } | ||
| } | ||
| public class BoringAutonNegX extends CommandGroup { | ||
| public BoringAutonNegX(DoubleSupplier betaSupplier, DoubleSupplier xSupplier, DoubleSupplier ySupplier) { | ||
| super("BoringAutonNegX"); | ||
| addSequential(new ChassisTurn(RobotMap.Component.chassis, () -> -90 + betaSupplier.getAsDouble(), RobotMap.Component.navx, null, RobotMap.Component.chassisTurnMC)); | ||
| addSequential(new ChassisMoveDistance(RobotMap.Component.chassis, () -> -xSupplier.getAsDouble(), RobotMap.Component.drivePID)); | ||
| addSequential(new ChassisTurn(RobotMap.Component.chassis, 90, RobotMap.Component.navx, null, RobotMap.Component.chassisTurnMC)); | ||
| } | ||
| } | ||
| } | ||
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,41 @@ | ||
| package org.usfirst.frc4904.robot.autonly; | ||
|
|
||
|
|
||
| import java.lang.Math; | ||
| import org.usfirst.frc4904.standard.commands.chassis.ChassisTurn; | ||
| import org.usfirst.frc4904.standard.commands.chassis.ChassisConstant; | ||
| import org.usfirst.frc4904.robot.RobotMap; | ||
| import edu.wpi.first.wpilibj.command.Command; | ||
| import edu.wpi.first.wpilibj.command.CommandGroup; | ||
| import java.util.function.BooleanSupplier; | ||
| import java.util.function.DoubleSupplier; | ||
| import org.usfirst.frc4904.robot.autonly.UpdateableData; | ||
|
|
||
| /* | ||
| ** The robot will drive forwards until it can see the white tape. | ||
| ** Once the robot can see the white tape, it will stop and turn parallel to it. | ||
| */ | ||
|
|
||
| public class FloorTapeAutoAlign extends CommandGroup { | ||
| public double X = 0; | ||
| public double Y = 1; | ||
| public double TURN = 0; | ||
| public double TIMEOUT = 0; | ||
|
|
||
| public FloorTapeAutoAlign() { | ||
| super("FloorTapeAutoAlign"); | ||
| addSequential(new DriveUntilTape()); | ||
| addSequential(UpdateableData.update()); | ||
| addSequential(new ChassisTurn(RobotMap.Component.chassis, UpdateableData.getBetaFloor.getAsDouble(), RobotMap.Component.navx, | ||
| RobotMap.Component.chassisTurnMC)); | ||
| } | ||
| public class DriveUntilTape extends ChassisConstant { | ||
| public DriveUntilTape() { | ||
| super(RobotMap.Component.chassis, X, Y, TURN, TIMEOUT); | ||
| } | ||
|
|
||
| protected boolean isFinished() { | ||
| return UpdateableData.getIsFloorTapeVisible.getAsBoolean(); | ||
| } | ||
| } | ||
| } |
Oops, something went wrong.
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
you don't need to change robot.java in this PR
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
checkout master's version of Robot.java