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\ No newline at end of file diff --git a/src/main/java/frc/team3128/Constants.java b/src/main/java/frc/team3128/Constants.java index 8719148a..621d45bf 100644 --- a/src/main/java/frc/team3128/Constants.java +++ b/src/main/java/frc/team3128/Constants.java @@ -30,7 +30,8 @@ public static class DriveConstants { public static final int DRIVE_MOTOR_RIGHT_LEADER_ID = 5; public static final int DRIVE_MOTOR_RIGHT_FOLLOWER_ID = 6; - public static final double ARCADE_DRIVE_TURN_MULT = 0.3647; + public static final double ARCADE_DRIVE_TURN_MULT = 0.33; + // public static final double ARCADE_DRIVE_TURN_MULT = 0.3647; public static final double ARCADE_DRIVE_RATE_LIMIT = 2.0; //max rate of change in the forward parameter (joystick Y axis) given to arcade drive public static final double DRIVE_GEARING = 9.6; @@ -43,29 +44,29 @@ public static class DriveConstants { public static final double DRIVE_NUp100MS_TO_MPS = DRIVE_NU_TO_METER * 10; // sensor units per 100 ms to m/s of drivetrain public static final double MAX_DRIVE_VEL_NUp100MS = 6380 * FALCON_ENCODER_RESOLUTION / 60 / 10; // max angular velocity of drivetrain (encoder, not wheel) in sensor units per 100 ms - 6380 RPM * RESOLUTION nu/rot * 1 min/60s * 1s/(10*100ms) - public static final double kS = 0.73226; - public static final double kV = 2.0859; - public static final double kA = 0.37853; - public static final double kVAngular = 1.5; // Nathan's magic numbers of doom - public static final double kAAngular = 0.3; // Nathan's magic numbers of doom + public static final double kS = Double.valueOf(0.73226); + public static final double kV = Double.valueOf(2.0859); + public static final double kA = Double.valueOf(0.37853); + public static final double kVAngular = Double.valueOf(1.5); // Nathan's magic numbers of doom + public static final double kAAngular = Double.valueOf(0.3); // Nathan's magic numbers of doom - public static final double MAX_DRIVE_VELOCITY = 2.5; // m/s - Real value ~5 - public static final double MAX_DRIVE_ACCELERATION = 2; // m/s^2 - I don't know what this number is - public static final double MAX_DRIVE_VOLTAGE = 7; // volts (hopefully you could figure this out) + public static final double MAX_DRIVE_VELOCITY = Double.valueOf(2.5); // m/s - Real value ~5 + public static final double MAX_DRIVE_ACCELERATION = Double.valueOf(2); // m/s^2 - I don't know what this number is + public static final double MAX_DRIVE_VOLTAGE = Double.valueOf(7); // volts (hopefully you could figure this out) - public static final double TURN_kP = -2e-3; - public static final double TURN_kI = 0; - public static final double TURN_kD = -2e-4; - public static final double TURN_kF = 0.1; + public static final double TURN_kP = Double.valueOf(-2e-3); + public static final double TURN_kI = Double.valueOf(0); + public static final double TURN_kD = Double.valueOf(-2e-4); + public static final double TURN_kF = Double.valueOf(0.1); - public static final double TURN_TOLERANCE = 12; // deg + public static final double TURN_TOLERANCE = Double.valueOf(12); // deg //Ramsete constants public static final double RAMSETE_B = 2; //default value - don't change unless absolutely necessary public static final double RAMSETE_ZETA = 0.7; //default value - don't change unless absolutely necessary public static final double RAMSETE_KP = 3.0101; - public static final Boolean GYRO_REVERSED = false; + public static final boolean GYRO_REVERSED = false; public static final DCMotor GEARBOX = DCMotor.getFalcon500(4); public static final LinearSystem DRIVE_CHAR = @@ -79,25 +80,26 @@ public static class DriveConstants { public static class ShooterConstants { - public static final double SET_RPM = 3000; - public static final double SET_ANGLE = 25; + public static final double SET_RPM = Double.valueOf(3000); + public static final double SET_ANGLE = Double.valueOf(25); public static final int LEFT_SHOOTER_ID = 10; public static final int RIGHT_SHOOTER_ID = 9; - public static final double kP = 2e-4; // 3.2e-3; - public static final double kI = 0; - public static final double kD = 0; // 5e-4; + public static final double kP = Double.valueOf(2e-4); // 3.2e-3); + public static final double kI = Double.valueOf(0); + public static final double kD = Double.valueOf(0); // 5e-4); - public static final double kF = 0.00190678; + public static final double kF = Double.valueOf(0.00190678); + + public static final int PLATEAU_COUNT = Integer.valueOf(6); + public static final double RPM_THRESHOLD_PERCENT = Double.valueOf(0.05); - public static final int PLATEAU_COUNT = 6; - public static final double RPM_THRESHOLD_PERCENT = 0.05; public static final double RPM_THRESHOLD_PERCENT_MAX = 0.15; public static final double TIME_TO_MAX_THRESHOLD = 8; - public static final double LOW_kV = 0.0017857 * 0.9; // 0.00163; //Velocity gain in PID Feed Forward - public static final double LOW_kA = 0.0053359 * 0.9; // 0.0349; //Acceleration gain PID Feed Forward + public static final double LOW_kV = 0.0017857 * 0.9; // fyi these are fake numbers // 0.00163); //Velocity gain in PID Feed Forward + public static final double LOW_kA = 0.0053359 * 0.9; // fyi these are fake numbers // 0.0349); //Acceleration gain PID Feed Forward public static final LinearSystem SHOOTER_CHAR = LinearSystemId.identifyVelocitySystem( LOW_kV, @@ -142,11 +144,11 @@ public static class HopperConstants { public static final int HOPPER_DIO_PIN1 = 8; public static final int HOPPER_DIO_PIN2 = 9; - public static final double HOPPER_MAX_REVERSE_DISTANCE = -2200; //set distance + public static final double HOPPER_MAX_REVERSE_DISTANCE = Double.valueOf(-2200); //set distance - public static final double HOPPER_MOTOR_POWER = 0.6; - public static final double HOPPER_MOTOR_2_POWER = 0.7; - public static final double REVERSE_HOPPER_MOTOR_POWER = -1; + public static final double HOPPER_MOTOR_POWER = Double.valueOf(0.6); + public static final double HOPPER_MOTOR_2_POWER = Double.valueOf(0.85); + public static final double REVERSE_HOPPER_MOTOR_POWER = Double.valueOf(-0.6); } @@ -156,8 +158,8 @@ public static class IntakeConstants { public static final int INTAKE_SOLENOID_FORWARD_CHANNEL_ID = 4; public static final int INTAKE_SOLENOID_BACKWARD_CHANNEL_ID = 3; - public static final double INTAKE_MOTOR_POWER = 1; - public static final double OUTTAKE_MOTOR_POWER = -1; + public static final double INTAKE_MOTOR_POWER = Double.valueOf(1); + public static final double OUTTAKE_MOTOR_POWER = Double.valueOf(-1); } @@ -174,43 +176,39 @@ public static class ClimberConstants { public static final double CLIMBER_GEAR_RATIO = 18.9; public static final double AXLE_DIAMETER = 0.7; - public static final double CLIMBER_ERROR_RATE = .5; //in inches - - public static final double CLIMBER_HEIGHT = 20; // inches - public static final double VERTICAL_DISTANCE = 23.875; - public static final double SMALL_VERTICAL_DISTANCE = 5; - public static final double ANGLED_DISTANCE = 12; + public static final double VERTICAL_DISTANCE = Double.valueOf(23.875); + public static final double SMALL_VERTICAL_DISTANCE = Double.valueOf(5); - public static final double CLIMBER_POWER = 0.8; // 0.9 - public static final double MANUAL_POWER = 0.3; + public static final double CLIMBER_POWER = Double.valueOf(0.8); // 0.9 + public static final double MANUAL_POWER = Double.valueOf(0.3); - public static final double CLIMB_ENC_DIAG_EXTENSION = 322000; - public static final double CLIMB_ENC_TO_TOP = 322000; - public static final double TOLERANCE_TICKS = 1000; + public static final double CLIMB_ENC_DIAG_EXTENSION = Double.valueOf(322000); + public static final double CLIMB_ENC_TO_TOP = Double.valueOf(322000); + public static final double TOLERANCE_TICKS = Double.valueOf(1000); } public static class HoodConstants { - public static final int HOOD_MOTOR_ID = 5; + public static final int HOOD_MOTOR_ID = 45; // need to retune hood pid to be actually good - public static final double kP = 0.3; - public static final double kI = 0; - public static final double kD = 0; //8e-6; - public static final double kF = 0.49072349; + public static final double kP = Double.valueOf(1.5); //1.5; + public static final double kI = Double.valueOf(0); + public static final double kD = Double.valueOf(0); //8e-6; + public static final double kF = Double.valueOf(2); //4; - public static final double TOLERANCE_MIN = 0.3; // degrees + public static final double TOLERANCE_MIN = Double.valueOf(0.3); // degrees public static final int HOOD_SHOOTER_GEAR_RATIO = 111; // Bowen number public static final double ENC_POSITION_CONVERSION_FACTOR = 360.0 / HOOD_SHOOTER_GEAR_RATIO; // Multiply by this to convert encoder rotations to hood degrees - public static final int HOOD_CURRENT_LIMIT = 10; // Amps + public static final int HOOD_CURRENT_LIMIT = 15; // Amps - public static final double MIN_ANGLE = 9.4; // deg - public static final double MAX_ANGLE = 41.4; // deg - public static final double HOME_ANGLE = 28.5; // deg + public static final double MIN_ANGLE = Double.valueOf(9.4); // deg + public static final double MAX_ANGLE = Double.valueOf(41.4); // deg + public static final double HOME_ANGLE = Double.valueOf(28.5); // deg public static InterpolatingTreeMap hoodAngleMap = new InterpolatingTreeMap(); static { @@ -246,36 +244,36 @@ public static class VisionConstants { public static final double TOP_FRONT_DIST = 0; public static final double TARGET_HEIGHT = 104; - public static final double VISION_PID_kP = 1e-4; - public static final double VISION_PID_kI = 0; // 0.02; - public static final double VISION_PID_kD = 1e-3; // 0.00006; - public static final double VISION_PID_kF = 0.1; + public static final double VISION_PID_kP = Double.valueOf(1e-3); + public static final double VISION_PID_kI = Double.valueOf(0); // 0.02); + public static final double VISION_PID_kD = Double.valueOf(1e-3); // 0.00006); + public static final double VISION_PID_kF = Double.valueOf(0.1); - public static final double TX_OFFSET = 0; // to offset alignment in either direction + public static final double TX_OFFSET = Double.valueOf(0); // to offset alignment in either direction - public static final double TX_THRESHOLD = 2; // degrees + public static final double TX_THRESHOLD = Double.valueOf(4); // degrees - public static final int ALIGN_PLATEAU_COUNT = 3; //Number of checks at correct RPM to shoot + public static final int ALIGN_PLATEAU_COUNT = Integer.valueOf(3); //Number of checks at correct RPM to shoot public static final double BALL_TARGET_HEIGHT = 9.5 / 2; public static final double BALL_LL_HEIGHT = 24; - public static final double BALL_LL_ANGLE = 65.15 * Math.PI / 180; // 1.0; // Math.acos(21.0 / 39.0); // 1.002186; // radians + public static final double BALL_LL_ANGLE = 65.15 * Math.PI / 180; // 1.0); // Math.acos(21.0 / 39.0)); // 1.002186); // radians public static final double BALL_LL_FRONT_DIST = 0; // meters, measure - public static final double GOAL_HORIZONTAL_OFFSET = 0; // goal of x displacement from robot to ball/target (if limelight center, 0) - public static final double BALL_THRESHOLD = 5; + public static final double GOAL_HORIZONTAL_OFFSET = Double.valueOf(0); // goal of x displacement from robot to ball/target (if limelight center, 0) + public static final double BALL_THRESHOLD = Double.valueOf(5); - public static final double BALL_VISION_kF = 0.8; - public static final double BALL_VISION_kP = 0.01; - public static final double BALL_VISION_kD = 0.00001; - public static final double BALL_AUTO_PURSUIT_kF = 0.4; + public static final double BALL_VISION_kF = Double.valueOf(0.8); + public static final double BALL_VISION_kP = Double.valueOf(0.01); + public static final double BALL_VISION_kD = Double.valueOf(0.00001); + public static final double BALL_AUTO_PURSUIT_kF = Double.valueOf(0.4); - public static final double POWER_MULTIPLIER = 0.7; + public static final double POWER_MULTIPLIER = Double.valueOf(0.7); - public static final double BALL_DECELERATE_START_DISTANCE = 25; - public static final double BALL_DECELERATE_END_DISTANCE = 9.5; + public static final double BALL_DECELERATE_START_DISTANCE = Double.valueOf(25); + public static final double BALL_DECELERATE_END_DISTANCE = Double.valueOf(9.5); - public static final double BALL_VEL_THRESHOLD = 2.54; // m/s - 100 in/s - public static final int BALL_VEL_PLATEAU_THRESHOLD = 10; + public static final double BALL_VEL_THRESHOLD = Double.valueOf(2.54); // m/s - 100 in/s + public static final int BALL_VEL_PLATEAU_THRESHOLD = Integer.valueOf(10); } } diff --git a/src/main/java/frc/team3128/ConstantsInt.java b/src/main/java/frc/team3128/ConstantsInt.java index 7c10fb0c..e42165bd 100644 --- a/src/main/java/frc/team3128/ConstantsInt.java +++ b/src/main/java/frc/team3128/ConstantsInt.java @@ -1,133 +1,173 @@ package frc.team3128; +import static org.junit.Assert.assertNotNull; +import static org.junit.Assert.assertTrue; + import java.lang.reflect.Field; +import java.lang.reflect.Method; +import java.lang.reflect.Modifier; import java.util.ArrayList; -import java.util.Arrays; -import java.util.HashMap; -import java.util.List; +import java.util.Hashtable; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import frc.team3128.common.utility.Log; -public class ConstantsInt extends Constants { +/** + * Constants class to update the values of constants. + * @author Sohan Agarkar, Mason Lam + */ - public static HashMap> categories; - public static HashMap> constants; - private static final List> primitiveNumbers; +public class ConstantsInt { + private static volatile Hashtable> categories; // HashMap storing each class in the Constants class - //How To Use: Redefine any constants you want to change through NarwhalDashboard in this class. - //The Constants will be overridden and NarwhalDashboard will be able to change it - //IMPORTANT: Omit "final" when temporarily adding constants to this class - - public static class ConversionConstants extends Constants.ConversionConstants {} - public static class DriveConstants extends Constants.DriveConstants {} - public static class ClimberConstants extends Constants.ClimberConstants {} - public static class ShooterConstants extends Constants.ShooterConstants { - // public static double SET_RPM = 3000; - // public static double SET_ANGLE = 25; - } - public static class HopperConstants extends Constants.HopperConstants {} - public static class IntakeConstants extends Constants.IntakeConstants {} - public static class VisionConstants extends Constants.VisionConstants {} + private static volatile Hashtable> editConstants; + //Members of the Field class used to change the finality of a field + private static Method getRoot; + private static Field modifiers; + + //private static final String validCaller = "frc.team3128.common.narwhaldashboard.NarwhalDashboard"; static { - categories = new HashMap>(); - constants = new HashMap>(); - primitiveNumbers = Arrays.asList(int.class, long.class, double.class, byte.class, short.class); - categories.put("ConversionConstants", ConstantsInt.ConversionConstants.class); - categories.put("DriveConstants", ConstantsInt.DriveConstants.class); - categories.put("ClimberConstants", ConstantsInt.ClimberConstants.class); - categories.put("ShooterConstants", ConstantsInt.ShooterConstants.class); - categories.put("HopperConstants", ConstantsInt.HopperConstants.class); - categories.put("IntakeConstants", ConstantsInt.IntakeConstants.class); - categories.put("VisionConstants", ConstantsInt.VisionConstants.class); - - for(String category : categories.keySet()) { - constants.put(category, new ArrayList()); + + categories = new Hashtable>(); + //Add each class to the HashMap + categories.put("ConversionConstants", Constants.ConversionConstants.class); + categories.put("DriveConstants", Constants.DriveConstants.class); + categories.put("ClimberConstants", Constants.ClimberConstants.class); + categories.put("ShooterConstants", Constants.ShooterConstants.class); + categories.put("HopperConstants", Constants.HopperConstants.class); + categories.put("IntakeConstants", Constants.IntakeConstants.class); + categories.put("VisionConstants", Constants.VisionConstants.class); + + editConstants = new Hashtable>(); + + for(String category : categories.keySet()){ + editConstants.put(category, new ArrayList()); } - - //initTempConstants(); + initTempConstants(); } + + //Init the temp constants by removing the final modifier from each field + private static void initTempConstants() { + /*Reflect prevents the editing of the modifiers of a field by running a security check + preventing Field.getFields() from accessing the modifiers of a field. We can get around this + by calling getDeclaredFields0, a method in Class that does not have a security check.*/ + Method getDeclaredFields0 = null; //Method to get the declared fields of a class + try { + //get the non security check get fields method + getDeclaredFields0 = Class.class.getDeclaredMethod("getDeclaredFields0", boolean.class ); + } catch (NoSuchMethodException | SecurityException e) {} + getDeclaredFields0.setAccessible(true); //set the method to be accessible + Field[] fields = null; //Store the all the fields of the Field class (this kinda confusing) + try { + fields = (Field[]) getDeclaredFields0.invoke(Field.class, false); + } catch (Exception e) {} + modifiers = null; //Store the modifiers field of the Field class + for (Field field : fields) { + //Get the modifiers field of the Field class + if ("modifiers".equals(field.getName())) { + modifiers = field; + break; + } + } + modifiers.setAccessible(true); //set the modifiers field to be accessible - public static List getConstantInfo(String category) { - return constants.get(category); + /*Reflect has another security check where changing the modifiers field does not override + the value and the modifier change is not permanent, however each field object has a root + field, which when modified permanently changes the field*/ + //Method getRoot = null; //Method to get the root field of a field + try { + getRoot = Field.class.getDeclaredMethod("getRoot"); + } catch (NoSuchMethodException | SecurityException e1) {} + getRoot.setAccessible(true); //set the method to be accessible } - public static void initTempConstants() { - for(String cat : categories.keySet()) { - Class categoryClass = categories.get(cat); - for(Field field : categoryClass.getFields()) { - try { - Field backConstantField = categoryClass.getSuperclass().getField(field.getName()); - field.set(null, backConstantField.get(null)); - Log.info("Constants Interface", "Adding Constants Interface Field: "+field.getName()); - constants.get(cat).add(field); - } catch (NoSuchFieldException e) { - Log.info("Constants Interface", "Constants Field does not Exist: "+field.getName()); - } catch (SecurityException e) { - Log.info("Constants Interface", "Reflection API blocked by security manager"); - } catch (IllegalArgumentException e) {} - catch (IllegalAccessException e) { - Log.info("Constants Interface", "Skipping, Constant set to final: "+field.getName()); - } + //Make a constant editable + public static synchronized void addConstant(String category, String name) throws IllegalArgumentException{ + try { + Field field = categories.get(category).getField(name); + try { + if(editConstants.get(category).contains(field) && !Modifier.isFinal(field.getModifiers())) return; + removeFinal(field); //Make the field non-final + editConstants.get(category).add(field); //Make the field editable by the UI + } + catch(Exception e) { + throw new IllegalArgumentException("Internal Error. Unable to unfinalize this constant"); } } + catch (NoSuchFieldException | SecurityException e) { + throw new IllegalArgumentException(name+" does not exist"); + } } - - /** - * Updates a constant with the given name to a given value - * @throws IllegalArgumentException constants sub-class doesn't exist - * @throws IllegalAccessException invalid value for the given constant - */ - public static void updateConstant(String category, String name, String value){ - Class clazz = categories.get(category); + //Change the value of a constant + public static synchronized void updateConstant(String category, String name, String value) throws IllegalArgumentException { + // String callerClass = Thread.currentThread().getStackTrace()[2].getClassName(); + // if(!callerClass.equals(validCaller)) throw new IllegalArgumentException("Caller class is not valid!"); + Class clazz = categories.get(category); //Get the specified Constant class if(clazz == null) throw new IllegalArgumentException("Invalid Constants Sub-Class"); - for(Field field : clazz.getFields()) { - if(field.getName().equals(name)) { + try { + Field field = clazz.getField(name); //Get the field of the specified constant + assertTrue(editConstants.get(category).contains(field)); //Make sure the constant is something the user intends to edit + if(Modifier.isFinal(field.getModifiers())) { try { - Object toUse = value; - Log.info("Constants Interface", field.getType().toString()); - if(field.getType().getSuperclass() != null && field.getType().getSuperclass().equals(Number.class)) { - toUse = parseNumber(value, field.getType()); - } - else if(primitiveNumbers.contains(field.getType())) { - toUse = parseNumber(value, field.getType()); - } - if(toUse == null) { - throw new IllegalArgumentException("Invalid value for constant"); - } - field.set(null, toUse); - } catch (IllegalAccessException e) { - Log.info("Constants Interface", "Constant Change Operation Blocked"); - e.printStackTrace(); + removeFinal(field); + } catch (Exception e) { + throw new IllegalArgumentException("Internal error, please help"); } - catch(IllegalArgumentException e) { - Log.info("Constants Interface", "Invalid value for constant"); - e.printStackTrace(); - } - return; + } + try { + Object toUse = parseData(value); //Parse the value to the correct type + Log.info("Constants Interface", field.getType().toString()); + assertNotNull(toUse); //Check that the value is not null + field.set(null, toUse); //Set the value of the constant + } catch (Throwable e) { + Log.info("Constants Interface", "Constant Change Operation Blocked, Check If Constant Is Valid and Editable"); + throw new IllegalArgumentException("Constant Change Operation Blocked; Check if Constant is Valid and Editable"); } } - throw new IllegalArgumentException("Constant does not exist"); + catch (NoSuchFieldException|AssertionError e) { + throw new IllegalArgumentException("Constant does not exist"); + } } - private static Number parseNumber(String value, Class type) { + //Take a string and convert it to a usable type + private static Object parseData(String value) { try { - if(type.equals(Integer.class) || type.equals(int.class)) { - return Integer.parseInt(value); + return Integer.parseInt(value); } - else if(type.equals(Double.class) || type.equals(double.class)) { + catch(NumberFormatException e) {} + + try { return Double.parseDouble(value); + } catch(NumberFormatException e) {} + + //Return a boolean value if the String is a boolean + if (value.equalsIgnoreCase("true") || value.equalsIgnoreCase("false")) { + return Boolean.parseBoolean(value); } - } - catch(NumberFormatException e) {} - return null; + return null; //Return null if the value is not a number or boolean + } + + //Return each field of a constants class + public static synchronized ArrayList getConstantInfo(String category) { + // String callerClass = Thread.currentThread().getStackTrace()[2].getClassName(); + // if(!callerClass.equals(validCaller)) throw new IllegalArgumentException("Caller class is not valid!"); + return editConstants.get(category); + } + + //Get the different categories for each set of constants + public static ArrayList getCategories() { + return new ArrayList(categories.keySet()); } + //Remove the final modifier from a constant + private static void removeFinal(Field field) throws Exception { + field = (Field) getRoot.invoke(field); //get the root of the field + modifiers.setInt(field, modifiers.getInt(field) & ~Modifier.FINAL); //Remove the final modifier + } } \ No newline at end of file diff --git a/src/main/java/frc/team3128/RobotContainer.java b/src/main/java/frc/team3128/RobotContainer.java index 5ef0b3f2..58e363fe 100644 --- a/src/main/java/frc/team3128/RobotContainer.java +++ b/src/main/java/frc/team3128/RobotContainer.java @@ -5,8 +5,6 @@ import edu.wpi.first.wpilibj.RobotBase; import edu.wpi.first.wpilibj.RobotController; import edu.wpi.first.wpilibj.Timer; -import edu.wpi.first.wpilibj.XboxController; -import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; @@ -99,8 +97,8 @@ public RobotContainer() { m_commandScheduler.setDefaultCommand(m_drive, new CmdArcadeDrive(m_rightStick::getY, m_rightStick::getTwist, m_rightStick::getThrottle)); initDashboard(); - // configureButtonBindings(); configureDriverOperator(); + // configureButtonBindings(); if(RobotBase.isSimulation()) DriverStation.silenceJoystickConnectionWarning(true); @@ -109,83 +107,83 @@ public RobotContainer() { private void configureButtonBindings() { // RIGHT - // m_rightStick.getButton(1).whenPressed(m_shooter::runShooter).whenReleased(m_shooter::stopShoot); - m_rightStick.getButton(1).whenHeld(new CmdShootAlign()); + + m_rightStick.getButton(1).whileActiveOnce(new CmdShootAlign()); // When interpolating, uncomment this and the lines in Shooter.java and Hood.java calling ConstantsInt - // m_rightStick.getButton(1).whenHeld(new CmdShoot(2700, 12)); + // m_rightStick.getButton(1).whileActiveOnce(new CmdShoot(2700, 12)); - m_rightStick.getButton(2).whenHeld(new CmdExtendIntakeAndRun()) - .whenReleased(new CmdIntakeCargo().withTimeout(0.25)); + m_rightStick.getButton(2).whileActiveOnce(new CmdExtendIntakeAndRun()) + .whenInactive(new CmdIntakeCargo().withTimeout(0.25)); - // m_rightStick.getButton(3).whenHeld(new ParallelCommandGroup( + // m_rightStick.getButton(3).whileActiveOnce(new ParallelCommandGroup( // new CmdBallJoystickPursuit( // m_rightStick::getY, m_rightStick::getTwist, m_rightStick::getThrottle), // new CmdExtendIntakeAndRun()) // lower hub shot - m_rightStick.getButton(3).whenHeld( + m_rightStick.getButton(3).whileActiveOnce( new ParallelCommandGroup( new CmdShoot(1200, 34.4), new RunCommand(m_drive::stop, m_drive))); // ram shot - m_rightStick.getButton(4).whenHeld( + m_rightStick.getButton(4).whileActiveOnce( new CmdShoot(2800, 13.4)); - m_rightStick.getButton(5).whenPressed(new CmdClimbTraversalGyro()); + m_rightStick.getButton(5).whenActive(new CmdClimbTraversalGyro()); - m_rightStick.getButton(7).whenPressed(new CmdClimbEncoder(0)); + m_rightStick.getButton(7).whenActive(new CmdClimbEncoder(0)); - m_rightStick.getButton(8).whenHeld(new SequentialCommandGroup( + m_rightStick.getButton(8).whileActiveOnce(new SequentialCommandGroup( new CmdExtendIntake().withTimeout(0.1), new CmdOuttake())); - m_rightStick.getButton(10).whenPressed(new InstantCommand(m_climber::bothStop, m_climber)); + m_rightStick.getButton(10).whenActive(new InstantCommand(m_climber::bothStop, m_climber)); - m_rightStick.getButton(11).whenPressed(new CmdExtendIntake()); + m_rightStick.getButton(11).whenActive(new CmdExtendIntake()); - m_rightStick.getButton(13).whenPressed(() -> m_hood.startPID(MIN_ANGLE)); + m_rightStick.getButton(13).whenActive(() -> m_hood.startPID(MIN_ANGLE)); - m_rightStick.getButton(14).whenPressed(() -> m_hood.startPID(MAX_ANGLE)); + m_rightStick.getButton(14).whenActive(() -> m_hood.startPID(MAX_ANGLE)); - m_rightStick.getButton(16).whenPressed(() -> m_intake.retractIntake()); + m_rightStick.getButton(16).whenActive(() -> m_intake.retractIntake()); - m_rightStick.getUpPOVButton().whenPressed(() -> m_ll.turnShooterLEDOn()); - m_rightStick.getDownPOVButton().whenPressed(() -> m_ll.turnShooterLEDOff()); - + m_rightStick.getUpPOVButton().whenActive(() -> m_ll.turnShooterLEDOn()); + m_rightStick.getDownPOVButton().whenActive(() -> m_ll.turnShooterLEDOff()); // LEFT - m_leftStick.getButton(2).whenPressed(() -> m_climber.resetLeftEncoder()); + m_leftStick.getButton(2).whenActive(() -> m_climber.resetLeftEncoder()); - m_leftStick.getButton(5).whenPressed(() -> m_hood.zeroEncoder()); + m_leftStick.getButton(5).whenActive(() -> m_hood.zeroEncoder()); - m_leftStick.getButton(8).whenPressed(new CmdClimbEncoder(CLIMB_ENC_TO_TOP)); + m_leftStick.getButton(8).whenActive(new CmdClimbEncoder(CLIMB_ENC_TO_TOP)); - m_leftStick.getUpPOVButton().whenPressed(new InstantCommand(m_climber::bothExtend, m_climber)) - .whenReleased(new InstantCommand(m_climber::bothStop, m_climber)); + m_leftStick.getUpPOVButton().whenActive(new InstantCommand(m_climber::bothExtend, m_climber)) + .whenInactive(new InstantCommand(m_climber::bothStop, m_climber)); - m_leftStick.getDownPOVButton().whenPressed(new InstantCommand(m_climber::bothRetract, m_climber)) - .whenReleased(new InstantCommand(m_climber::bothStop, m_climber)); + m_leftStick.getDownPOVButton().whenActive(new InstantCommand(m_climber::bothRetract, m_climber)) + .whenInactive(new InstantCommand(m_climber::bothStop, m_climber)); + + m_leftStick.getRightPOVButton().whenActive(new InstantCommand(m_climber::extendPiston, m_climber)); - m_leftStick.getRightPOVButton().whenPressed(new InstantCommand(m_climber::extendPiston, m_climber)); - m_leftStick.getLeftPOVButton().whenPressed(new InstantCommand(m_climber::retractPiston, m_climber)); + m_leftStick.getLeftPOVButton().whenActive(new InstantCommand(m_climber::retractPiston, m_climber)); - m_leftStick.getButton(11).whenPressed(new InstantCommand(m_climber::bothManualExtend, m_climber)) - .whenReleased(new InstantCommand(m_climber::bothStop, m_climber)); + m_leftStick.getButton(11).whenActive(new InstantCommand(m_climber::bothManualExtend, m_climber)) + .whenInactive(new InstantCommand(m_climber::bothStop, m_climber)); - m_leftStick.getButton(16).whenPressed(new InstantCommand(m_climber::bothManualRetract, m_climber)) - .whenReleased(new InstantCommand(m_climber::bothStop, m_climber)); + m_leftStick.getButton(16).whenActive(new InstantCommand(m_climber::bothManualRetract, m_climber)) + .whenInactive(new InstantCommand(m_climber::bothStop, m_climber)); - m_leftStick.getButton(13).whenPressed(new InstantCommand(m_climber::bothExtend, m_climber)) - .whenReleased(new InstantCommand(m_climber::bothStop, m_climber)); + m_leftStick.getButton(13).whenActive(new InstantCommand(m_climber::bothExtend, m_climber)) + .whenInactive(new InstantCommand(m_climber::bothStop, m_climber)); - m_leftStick.getButton(14).whenPressed(new InstantCommand(m_climber::bothRetract, m_climber)) - .whenReleased(new InstantCommand(m_climber::bothStop, m_climber)); + m_leftStick.getButton(14).whenActive(new InstantCommand(m_climber::bothRetract, m_climber)) + .whenInactive(new InstantCommand(m_climber::bothStop, m_climber)); - m_leftStick.getButton(12).whenPressed(new InstantCommand(m_climber::extendPiston, m_climber)); - m_leftStick.getButton(15).whenPressed(new InstantCommand(m_climber::retractPiston, m_climber)); + m_leftStick.getButton(12).whenActive(new InstantCommand(m_climber::extendPiston, m_climber)); + m_leftStick.getButton(15).whenActive(new InstantCommand(m_climber::retractPiston, m_climber)); } public void configureDriverOperator() { @@ -203,12 +201,13 @@ public void configureDriverOperator() { m_operatorController.getButton("LeftBumper").whileActiveOnce(new SequentialCommandGroup( new CmdExtendIntake().withTimeout(0.1), new CmdOuttake())); + // m_operatorController.getButton("LeftBumper").whileActiveOnce(new CmdShoot(1200, 34.4)); m_operatorController.getRightTrigger().and(m_operatorController.getButton("RightBumper")).whileActiveOnce(new CmdIntakeShoot()); m_operatorController.getButton("RightStick").whenActive(new CmdClimbEncoder(CLIMB_ENC_TO_TOP)); - m_operatorController.getButton("LeftStick").whenPressed(() -> m_shooter.reverseShoot()).whenReleased(() -> m_shooter.stopShoot()); + m_operatorController.getButton("LeftStick").whenActive(() -> m_shooter.reverseShoot()).whenInactive(() -> m_shooter.stopShoot()); // m_operatorController.getButton("LeftStick").whileActiveOnce( // new ParallelCommandGroup( @@ -242,17 +241,17 @@ public void configureDriverOperator() { // RIGHT - m_rightStick.getButton(5).whenPressed(() -> m_hood.zeroEncoder()); + m_rightStick.getButton(5).whenActive(() -> m_hood.zeroEncoder()); + + m_rightStick.getButton(6).whenActive(() -> m_climber.resetLeftEncoder()); - m_rightStick.getButton(6).whenPressed(() -> m_climber.resetLeftEncoder()); + m_rightStick.getButton(13).whenActive(() -> m_hood.startPID(MIN_ANGLE)); - // m_rightStick.getButton(13).whenPressed(() -> m_hood.startPID(MIN_ANGLE)); + m_rightStick.getButton(14).whenActive(() -> m_hood.startPID(MAX_ANGLE)); - // m_rightStick.getButton(14).whenPressed(() -> m_hood.startPID(MAX_ANGLE)); - m_rightStick.getButton(14).whenPressed(() -> m_shooter.reverseShoot()); + m_rightStick.getUpPOVButton().whenActive(() -> m_ll.turnShooterLEDOn()); + m_rightStick.getDownPOVButton().whenActive(() -> m_ll.turnShooterLEDOff()); - m_rightStick.getUpPOVButton().whenPressed(() -> m_ll.turnShooterLEDOn()); - m_rightStick.getDownPOVButton().whenPressed(() -> m_ll.turnShooterLEDOff()); } public void init() { @@ -299,4 +298,4 @@ public void updateDashboard() { NarwhalDashboard.put("theta", Units.degreesToRadians(m_drive.getHeading())); NarwhalDashboard.put("climbEnc", m_climber.getCurrentTicks()); } -} +} \ No newline at end of file diff --git a/src/main/java/frc/team3128/autonomous/AutoPrograms.java b/src/main/java/frc/team3128/autonomous/AutoPrograms.java index e2ade43a..3b7132b8 100644 --- a/src/main/java/frc/team3128/autonomous/AutoPrograms.java +++ b/src/main/java/frc/team3128/autonomous/AutoPrograms.java @@ -13,9 +13,11 @@ import frc.team3128.commands.CmdExtendIntake; import frc.team3128.commands.CmdExtendIntakeAndRun; import frc.team3128.commands.CmdInPlaceTurn; +import frc.team3128.commands.CmdIntakeCargo; import frc.team3128.commands.CmdShoot; import frc.team3128.commands.CmdShootAlign; import frc.team3128.commands.CmdShootAlignSingle; +import frc.team3128.commands.CmdShootDist; import frc.team3128.commands.CmdOuttake; import frc.team3128.commands.CmdShootTurnVision; import frc.team3128.common.narwhaldashboard.NarwhalDashboard; @@ -56,37 +58,39 @@ public AutoPrograms() { } private void initAutoSelector() { - String[] autoStrings = new String[] {"1 Ball", "2+1 Ball", "3+1 Ball", "4 Ball", "5 Ball", "S2H1", "S2H2", "S1H1", "S1I1", "S1H2", "Billiards"}; + String[] autoStrings = new String[] {"Intake 0", "Intake 1", "Intake 2", "Intake 1 Hoard 2"}; NarwhalDashboard.addAutos(autoStrings); } public Command getAutonomousCommand() { - // String selectedAutoName = NarwhalDashboard.getSelectedAutoName(); - String selectedAutoName = "2+1 Ball"; // uncomment and change this for testing without opening Narwhal Dashboard + String selectedAutoName = NarwhalDashboard.getSelectedAutoName(); + // String selectedAutoName = "2+1 Ball"; // uncomment and change this for testing without opening Narwhal Dashboard if (selectedAutoName == null) { - return null; + selectedAutoName = "Intake 0"; } Pose2d initialPose = null; Command autoCommand = null; switch (selectedAutoName) { - case "1 Ball": + case "Intake 0": initialPose = driveBack30In.getInitialPose(); autoCommand = new SequentialCommandGroup( new CmdShootAlign().withTimeout(4), trajectoryCmd("driveBack30In")); break; - case "2+1 Ball": - initialPose = (get("3Ballv2_i").getInitialPose()); + case "Intake 1": + initialPose = inverseRotation(get("3Ballv2_i").getInitialPose()); autoCommand = new SequentialCommandGroup( - IntakePathCmd("3Ballv2_i"), - + new CmdShootAlign().withTimeout(3), + new CmdInPlaceTurn(180), + + IntakePathCmd("3Ballv2_i"), - new CmdShootAlign().withTimeout(3)); + new CmdShootTurnVision(180)); // IntakePathCmd("twoBallTraj"), @@ -94,7 +98,7 @@ public Command getAutonomousCommand() { // new CmdShootAlign().withTimeout(3)); break; - case "3+1 Ball": + case "Intake 2": initialPose = inverseRotation(get("3Ballv2_i").getInitialPose()); autoCommand = new SequentialCommandGroup( new CmdShootAlign().withTimeout(3), @@ -104,91 +108,95 @@ public Command getAutonomousCommand() { IntakePathCmd("3Ballv2_i"), new CmdInPlaceTurn(180), - new CmdShootAlign().withTimeout(2.5), IntakePathCmd("3Ballv2_ii"), new CmdShootTurnVision(-170)); break; - case "4 Ball": - initialPose = inverseRotation(get("4Ball_Terminal180_i").getInitialPose()); - autoCommand = new SequentialCommandGroup( - new CmdShootAlign().withTimeout(2), - new CmdInPlaceTurn(180), - //drive and intake 1 ball - IntakePathCmd("4Ball_Terminal180_i"), + // case "4 Ball": + // initialPose = inverseRotation(get("4Ball_Terminal180_i").getInitialPose()); + // autoCommand = new SequentialCommandGroup( + // new CmdShootAlign().withTimeout(2), + // new CmdInPlaceTurn(180), + // //drive and intake 1 ball + // IntakePathCmd("4Ball_Terminal180_i"), - //turn and shoot 2 balls - new CmdInPlaceTurn(180), - new CmdShoot(), + // //turn and shoot 2 balls + // new CmdInPlaceTurn(180), + // new CmdShoot(), - //drive to ball and terminal and intake - IntakePathCmd("4Ball_Terminal180_ii"), + // //drive to ball and terminal and intake + // IntakePathCmd("4Ball_Terminal180_ii"), - new CmdExtendIntakeAndRun().withTimeout(1), // is this still needed? + // new CmdExtendIntakeAndRun().withTimeout(1), // is this still needed? - //drive to tarmac and shoot - trajectoryCmd("Terminal2Tarmac"), - new CmdInPlaceTurn(180), - new CmdShootAlign().withTimeout(2)); - break; - case "5 Ball": - initialPose = inverseRotation(get("3Ballv2_i").getInitialPose()); - autoCommand = new SequentialCommandGroup( - new CmdShootAlign().withTimeout(2.5), - new CmdInPlaceTurn(180), + // //drive to tarmac and shoot + // trajectoryCmd("Terminal2Tarmac"), + // new CmdInPlaceTurn(180), + // new CmdShootAlign().withTimeout(2)); + // break; + // case "5 Ball": + // initialPose = inverseRotation(get("3Ballv2_i").getInitialPose()); + // autoCommand = new SequentialCommandGroup( + // new CmdShootAlign().withTimeout(2.5), + // new CmdInPlaceTurn(180), - IntakePathCmd("3Ballv2_i"), + // IntakePathCmd("3Ballv2_i"), - new CmdInPlaceTurn(180), - new CmdShootAlign().withTimeout(2), + // new CmdInPlaceTurn(180), + // new CmdShootAlign().withTimeout(2), - IntakePathCmd("3Ballv2_ii"), + // IntakePathCmd("3Ballv2_ii"), - new CmdShootTurnVision(-170), + // new CmdShootTurnVision(-170), - IntakePathCmd("5Ballv2_i"), + // IntakePathCmd("5Ballv2_i"), - new InstantCommand(() -> drive.stop()), + // new InstantCommand(() -> drive.stop()), - trajectoryCmd("5Ballv2_ii"), + // trajectoryCmd("5Ballv2_ii"), - new CmdShootTurnVision(-170) - ); - break; - case "S2H1": - initialPose = get("S2H2_i").getInitialPose(); - autoCommand = new SequentialCommandGroup( - //drive and intake ball + // new CmdShootTurnVision(-170) + // ); + // break; + // case "S2H1": + // initialPose = get("S2H2_i").getInitialPose(); + // autoCommand = new SequentialCommandGroup( + // //drive and intake ball - IntakePathCmd("S2H2_i"), + // IntakePathCmd("S2H2_i"), - //turn and shoot - new CmdInPlaceTurn(180), - new CmdShootAlign().withTimeout(2), + // //turn and shoot + // new CmdInPlaceTurn(180), + // new CmdShootAlign().withTimeout(2), - //turn and hoard first ball - new CmdInPlaceTurn(90), + // //turn and hoard first ball + // new CmdInPlaceTurn(90), - IntakePathCmd("S2H2_ii"), + // IntakePathCmd("S2H2_ii"), - //drive behind hub - new CmdInPlaceTurn(-90), - trajectoryCmd("S2H1"), + // //drive behind hub + // new CmdInPlaceTurn(-90), + // trajectoryCmd("S2H1"), - //outtake balls behind hub - new CmdExtendIntake(), - new CmdOuttake(0.5).withTimeout(2)); - break; - case "S2H2": - initialPose = get("S2H2_i").getInitialPose(); + // //outtake balls behind hub + // new CmdExtendIntake(), + // new CmdOuttake(0.5).withTimeout(2)); + // break; + case "Intake 1 Hoard 2": + initialPose = inverseRotation(get("S2H2_i").getInitialPose()); autoCommand = new SequentialCommandGroup( + + new CmdShootAlign().withTimeout(3), + + new CmdInPlaceTurn(180), //drive and intake ball IntakePathCmd("S2H2_i"), //turn and shoot new CmdInPlaceTurn(180), + new CmdShootAlign().withTimeout(2), //turn and hoard first ball @@ -208,87 +216,89 @@ public Command getAutonomousCommand() { new CmdExtendIntake(), new CmdOuttake(0.4).withTimeout(1)); break; - case "S1H1": - initialPose = get("S1H1_i").getInitialPose(); - autoCommand = new SequentialCommandGroup( - //drive and intake enemy ball - IntakePathCmd("S1H1_i"), - new InstantCommand(() -> drive.stop()), - - //turn and shoot 1 ball - new CmdInPlaceTurn(180), + // case "S1H1": + // initialPose = get("S1H1_i").getInitialPose(); + // autoCommand = new SequentialCommandGroup( + // //drive and intake enemy ball + // IntakePathCmd("S1H1_i"), + // new InstantCommand(() -> drive.stop()), - new CmdShootAlignSingle().withTimeout(2), + // //turn and shoot 1 ball + // new CmdInPlaceTurn(180), - //hide enemy ball behind hub - trajectoryCmd("S1H1_ii"), - new CmdExtendIntake(), - new CmdOuttake(0.5).withTimeout(1)); - break; - case "S1H2": - initialPose = get("S1H1_i").getInitialPose(); - autoCommand = new SequentialCommandGroup( - //drive and intake enemy ball - IntakePathCmd("S1H1_i"), - new InstantCommand(() -> drive.stop()), - - //turn and shoot 1 ball - new CmdInPlaceTurn(180), + // new CmdShootAlignSingle().withTimeout(2), - new CmdShootAlignSingle().withTimeout(2), - - //drive and intake enemy ball - IntakePathCmd("S1H2_ii"), - - //hide enemy balls behind hub - new CmdInPlaceTurn(180), + // //hide enemy ball behind hub + // trajectoryCmd("S1H1_ii"), + // new CmdExtendIntake(), + // new CmdOuttake(0.5).withTimeout(1)); + // break; + // case "S1H2": + // initialPose = inverseRotation(get("S1H1_i").getInitialPose()); + // autoCommand = new SequentialCommandGroup( + + // new CmdShootAlign().withTimeout(3), + + // new CmdInPlaceTurn(180), + // //drive and intake enemy ball + // IntakePathCmd("S1H1_i"), + // new InstantCommand(() -> drive.stop()), + + // //turn and shoot 1 ball + // new CmdInPlaceTurn(180), + + // //drive and intake enemy ball + // IntakePathCmd("S1H2_ii"), + + // //hide enemy balls behind hub + // new CmdInPlaceTurn(180), - trajectoryCmd("S1H2_iii"), + // trajectoryCmd("S1H2_iii"), - new CmdExtendIntake(), - new CmdOuttake(0.5).withTimeout(2)); - break; - case "S1I1": - initialPose = get("S1H1_i").getInitialPose(); - autoCommand = new SequentialCommandGroup( - //drive and intake enemy ball - IntakePathCmd("S1H1_i"), - new InstantCommand(() -> drive.stop()), - - //turn and shoot 1 ball - new CmdInPlaceTurn(180), + // new CmdExtendIntake(), + // new CmdOuttake(0.5).withTimeout(2)); + // break; + // case "S1I1": + // initialPose = get("S1H1_i").getInitialPose(); + // autoCommand = new SequentialCommandGroup( + // //drive and intake enemy ball + // IntakePathCmd("S1H1_i"), + // new InstantCommand(() -> drive.stop()), + + // //turn and shoot 1 ball + // new CmdInPlaceTurn(180), - new CmdShootAlignSingle().withTimeout(2)); - break; - case "Billiards": - // initial position: (6.8, 6.272, 45 deg - should be approx. pointing straight at the ball to knock) - initialPose = new Pose2d(6.8, 6.272, Rotation2d.fromDegrees(45)); - autoCommand = new SequentialCommandGroup ( - // outtake ball - new SequentialCommandGroup( - new CmdExtendIntake(), - new CmdOuttake(0.85).withTimeout(1.5) - ).withTimeout(2), + // new CmdShootAlignSingle().withTimeout(2)); + // break; + // case "Billiards": + // // initial position: (6.8, 6.272, 45 deg - should be approx. pointing straight at the ball to knock) + // initialPose = new Pose2d(6.8, 6.272, Rotation2d.fromDegrees(45)); + // autoCommand = new SequentialCommandGroup ( + // // outtake ball + // new SequentialCommandGroup( + // new CmdExtendIntake(), + // new CmdOuttake(0.85).withTimeout(1.5) + // ).withTimeout(2), - //turn, drive, and intake enemy ball - new CmdInPlaceTurn(70), + // //turn, drive, and intake enemy ball + // new CmdInPlaceTurn(70), - IntakePathCmd("Billiards_i"), + // IntakePathCmd("Billiards_i"), - //turn and eject enemy ball - new CmdInPlaceTurn(55), + // //turn and eject enemy ball + // new CmdInPlaceTurn(55), - new CmdExtendIntake(), - new CmdOuttake(0.6).withTimeout(1.5), + // new CmdExtendIntake(), + // new CmdOuttake(0.6).withTimeout(1.5), - //drive and intake ball - IntakePathCmd("Billiards_ii"), + // //drive and intake ball + // IntakePathCmd("Billiards_ii"), - //turn and shoot - new CmdInPlaceTurn(96), + // //turn and shoot + // new CmdInPlaceTurn(96), - new CmdShootAlign().withTimeout(2)); - break; + // new CmdShootAlign().withTimeout(2)); + // break; default: Log.info("Auto Selector", "Something went wrong in getting the auto name - misspelling?"); break; @@ -312,6 +322,6 @@ private SequentialCommandGroup IntakePathCmd(String trajectory) { * Flip 180 degrees rotation wise but keep same pose translation */ private Pose2d inverseRotation(Pose2d pose) { - return new Pose2d(pose.getTranslation(), pose.getRotation().unaryMinus()); + return new Pose2d(pose.getTranslation(), new Rotation2d(pose.getRotation().getRadians() + Math.PI)); } } diff --git a/src/main/java/frc/team3128/commands/CmdAlign.java b/src/main/java/frc/team3128/commands/CmdAlign.java index dff58f06..7d824ea9 100644 --- a/src/main/java/frc/team3128/commands/CmdAlign.java +++ b/src/main/java/frc/team3128/commands/CmdAlign.java @@ -91,7 +91,7 @@ public void execute() { drive.tankDrive(-feedbackPower, feedbackPower); // if degrees of horizontal tx error below threshold (aligned enough) - if (limelights.isAligned()) plateauCount++; + if (limelights.addPlateau()) plateauCount++; else plateauCount = 0; prevError = currError; @@ -110,6 +110,7 @@ public void end(boolean interrupted) { @Override public boolean isFinished() { + // return false; return plateauCount > ALIGN_PLATEAU_COUNT; } diff --git a/src/main/java/frc/team3128/commands/CmdIntakeShoot.java b/src/main/java/frc/team3128/commands/CmdIntakeShoot.java index d4c57c17..d744dc0f 100644 --- a/src/main/java/frc/team3128/commands/CmdIntakeShoot.java +++ b/src/main/java/frc/team3128/commands/CmdIntakeShoot.java @@ -47,7 +47,7 @@ public void end(boolean interrupted) { m_intake.stopIntake(); m_hopper.stopHopper(); m_shooter.stopShoot(); - limelights.turnShooterLEDOff(); + // limelights.turnShooterLEDOff(); } } diff --git a/src/main/java/frc/team3128/commands/CmdOuttake.java b/src/main/java/frc/team3128/commands/CmdOuttake.java index a5a9cd2d..f68553a3 100644 --- a/src/main/java/frc/team3128/commands/CmdOuttake.java +++ b/src/main/java/frc/team3128/commands/CmdOuttake.java @@ -26,7 +26,7 @@ public CmdOuttake(){ * @Requirements Intake, Hopper */ public CmdOuttake(double power){ - this(-power, -1.0); + this(-power, -0.6); } /** diff --git a/src/main/java/frc/team3128/commands/CmdShootDist.java b/src/main/java/frc/team3128/commands/CmdShootDist.java index 13b560e0..063a8803 100644 --- a/src/main/java/frc/team3128/commands/CmdShootDist.java +++ b/src/main/java/frc/team3128/commands/CmdShootDist.java @@ -40,7 +40,7 @@ public void execute() { @Override public void end(boolean interrupted) { shooter.stopShoot(); - limelights.turnShooterLEDOff(); + // limelights.turnShooterLEDOff(); Log.info("CmdShootDist", "Cancelling shooting"); } diff --git a/src/main/java/frc/team3128/commands/CmdShootSingleBall.java b/src/main/java/frc/team3128/commands/CmdShootSingleBall.java index 91c1e6a9..3e86b016 100644 --- a/src/main/java/frc/team3128/commands/CmdShootSingleBall.java +++ b/src/main/java/frc/team3128/commands/CmdShootSingleBall.java @@ -47,7 +47,7 @@ public void execute() { @Override public void end(boolean interrupted) { shooter.stopShoot(); - limelights.turnShooterLEDOff(); + // limelights.turnShooterLEDOff(); Log.info("CmdShootSingleBall", "Cancelling shooting"); } diff --git a/src/main/java/frc/team3128/commands/CmdShootTurnVision.java b/src/main/java/frc/team3128/commands/CmdShootTurnVision.java index 5be92130..7afb45df 100644 --- a/src/main/java/frc/team3128/commands/CmdShootTurnVision.java +++ b/src/main/java/frc/team3128/commands/CmdShootTurnVision.java @@ -18,8 +18,8 @@ public CmdShootTurnVision(double turnDeg) { addCommands( new InstantCommand(limelights::turnShooterLEDOn), - new CmdInPlaceTurn(turnDeg).withInterrupt(() -> limelights.getShooterHasValidTarget()), - new CmdShootAlign().withTimeout(2.5) + new CmdInPlaceTurn(turnDeg).withInterrupt(() -> limelights.getShooterHasValidTarget()).withTimeout(5), + new CmdShootAlign().withTimeout(10) ); } } diff --git a/src/main/java/frc/team3128/common/hardware/input/NAR_Joystick.java b/src/main/java/frc/team3128/common/hardware/input/NAR_Joystick.java index 35e1877d..9914d644 100644 --- a/src/main/java/frc/team3128/common/hardware/input/NAR_Joystick.java +++ b/src/main/java/frc/team3128/common/hardware/input/NAR_Joystick.java @@ -1,8 +1,8 @@ package frc.team3128.common.hardware.input; import edu.wpi.first.wpilibj.Joystick; -import edu.wpi.first.wpilibj2.command.button.JoystickButton; import edu.wpi.first.wpilibj2.command.button.POVButton; +import edu.wpi.first.wpilibj2.command.button.Trigger; /** * Wrapper for the WPILib Joystick class. Works with Logitech Extreme 3D Pro and Thrustmaster T16000M. @@ -12,13 +12,13 @@ public class NAR_Joystick { private Joystick stick; - private JoystickButton[] buttons; + private Trigger[] buttons; /** * POV convention: 0 = up, 45 = top right, 90 = right, 135 = buttom right, 180 = down, 225 = bottom left, 270 = left, 315 = top left * We assign indices as angle / 45 [0,7] */ - private POVButton[] povButtons; + private Trigger[] povButtons; private double xDeadband = 0.05; private double yDeadband = 0.05; @@ -27,16 +27,22 @@ public class NAR_Joystick { private double throttleUpperBound = 0.8; public NAR_Joystick(int deviceNumber) { - buttons = new JoystickButton[16]; - povButtons = new POVButton[8]; + buttons = new Trigger[16]; + povButtons = new Trigger[8]; stick = new Joystick(deviceNumber); // Thrustmaster joystick has 16 buttons - for (int i = 0; i < 16; i++) - buttons[i] = new JoystickButton(stick, i+1); - for (int i = 0; i < 8; i++) - povButtons[i] = new POVButton(stick, i * 45); + for (int i = 0; i < 16; i++) { + int buttonId = i; + buttons[buttonId] = new Trigger(()->stick.getRawButton(buttonId + 1)); + } + + for (int i = 0; i < 8; i++) { + int povButtonId = i; + povButtons[povButtonId] = new Trigger(()->stick.getPOV(povButtonId) == povButtonId * 45); + } + } /** @return Joystick X on [-1, 1], -1 is left, 1 is right - default deadband is 0.05 */ @@ -96,28 +102,28 @@ public double getRawThrottle() { return stick.getThrottle(); } - public JoystickButton getButton(int i) { + public Trigger getButton(int i) { return buttons[i-1]; } - public POVButton getPOVButton(int i) { + public Trigger getPOVButton(int i) { return povButtons[i]; } - public POVButton getUpPOVButton() { + public Trigger getUpPOVButton() { return getPOVButton(0); } - public POVButton getDownPOVButton() { - return getPOVButton(4); + public Trigger getRightPOVButton() { + return getPOVButton(2); } - public POVButton getLeftPOVButton() { - return getPOVButton(6); + public Trigger getDownPOVButton() { + return getPOVButton(4); } - public POVButton getRightPOVButton() { - return getPOVButton(2); + public Trigger getLeftPOVButton() { + return getPOVButton(6); } public void setXDeadband(double xDeadband) { @@ -131,4 +137,4 @@ public void setYDeadband(double yDeadband) { public void setZDeadband(double zDeadband) { this.zDeadband = zDeadband; } -} +} \ No newline at end of file diff --git a/src/main/java/frc/team3128/common/hardware/input/NAR_XboxController.java b/src/main/java/frc/team3128/common/hardware/input/NAR_XboxController.java index 9e952d43..1a06a3eb 100644 --- a/src/main/java/frc/team3128/common/hardware/input/NAR_XboxController.java +++ b/src/main/java/frc/team3128/common/hardware/input/NAR_XboxController.java @@ -3,7 +3,7 @@ import java.util.HashMap; import edu.wpi.first.wpilibj.XboxController; -import edu.wpi.first.wpilibj2.command.button.JoystickButton; + import edu.wpi.first.wpilibj2.command.button.POVButton; import edu.wpi.first.wpilibj2.command.button.Trigger; @@ -21,22 +21,23 @@ public class NAR_XboxController extends XboxController { "LeftStick", "RightStick" }; - private POVButton[] povButtons; - private HashMap buttons; + private HashMap buttons; + private POVButton[] povButtons; public NAR_XboxController(int port) { super(port); - buttons = new HashMap(); + buttons = new HashMap(); povButtons = new POVButton[8]; for (int i = 0; i < 10; i++) { - buttons.put(buttonNames[i], new JoystickButton(this, i+1)); + int n = i + 1; + buttons.put(buttonNames[i], new Trigger (() -> this.getRawButton(n))); } for (int i = 0; i < 8; i++) povButtons[i] = new POVButton(this, i * 45); } - public JoystickButton getButton(String buttonName) { + public Trigger getButton(String buttonName) { return buttons.get(buttonName); } @@ -67,5 +68,4 @@ public POVButton getLeftPOVButton() { public POVButton getRightPOVButton() { return getPOVButton(2); } - } \ No newline at end of file diff --git a/src/main/java/frc/team3128/common/narwhaldashboard/NarwhalDashboard.java b/src/main/java/frc/team3128/common/narwhaldashboard/NarwhalDashboard.java index 9286a0f8..f7f76e63 100644 --- a/src/main/java/frc/team3128/common/narwhaldashboard/NarwhalDashboard.java +++ b/src/main/java/frc/team3128/common/narwhaldashboard/NarwhalDashboard.java @@ -41,7 +41,6 @@ public static int getUpdateWavelength() { private static String selectedAuto = null; private static String selectedLimelight = null; private static boolean pushed = false; - private static volatile boolean constantsChanged = true; public NarwhalDashboard(int port) throws UnknownHostException { super(new InetSocketAddress(port)); @@ -156,9 +155,9 @@ public void onOpen(WebSocket conn, ClientHandshake handshake) { } JSONObject constantsObj = new JSONObject(); - for(String category : ConstantsInt.categories.keySet()) { + for(String category : ConstantsInt.getCategories()) { JSONArray catArr = new JSONArray(); - List fields = ConstantsInt.getConstantInfo(category); + ArrayList fields = ConstantsInt.getConstantInfo(category); for(Field field : fields) { try { // get value from Field @@ -171,6 +170,10 @@ public void onOpen(WebSocket conn, ClientHandshake handshake) { Log.info("Narwhal Dashboard", "Constant Of "+newConstant.toJSONString()); } catch(IllegalAccessException e) { + JSONObject error = new JSONObject(); + error.put("key","Private"); + error.put("value","Constant"); + catArr.add(error); continue; } } @@ -294,9 +297,29 @@ public void onMessage(WebSocket conn, String message) { String category = parts[1]; String name = parts[2]; String value = parts[3]; - ConstantsInt.updateConstant(category, name, value); + try { + ConstantsInt.updateConstant(category, name, value); + } + catch(IllegalArgumentException e) { + e.printStackTrace(); + JSONObject errorObj = new JSONObject(); + errorObj.put("error", e.getMessage()); + conn.send(errorObj.toJSONString()); + } //constantsChanged = true; - } else { + } else if(parts[0].equals("newconstant")){ + String category = parts[1]; + String name = parts[2]; + try{ + ConstantsInt.addConstant(category, name); + } + catch (IllegalArgumentException e){ + e.printStackTrace(); + JSONObject errorObj = new JSONObject(); + errorObj.put("error", e.getMessage()); + conn.send(errorObj.toJSONString()); + } + }else { Log.info("NarwhalDashboard", "Message recieved: " + message); } @@ -311,4 +334,5 @@ public void onError(WebSocket conn, Exception ex) { public void onStart() { } + } diff --git a/src/main/java/frc/team3128/subsystems/Hood.java b/src/main/java/frc/team3128/subsystems/Hood.java index a3d827d5..e26422be 100644 --- a/src/main/java/frc/team3128/subsystems/Hood.java +++ b/src/main/java/frc/team3128/subsystems/Hood.java @@ -1,6 +1,5 @@ package frc.team3128.subsystems; -import frc.team3128.ConstantsInt; import static frc.team3128.Constants.HoodConstants.*; import java.util.function.DoubleSupplier; diff --git a/src/main/java/frc/team3128/subsystems/LimelightSubsystem.java b/src/main/java/frc/team3128/subsystems/LimelightSubsystem.java index cc591792..a4ec3fb8 100644 --- a/src/main/java/frc/team3128/subsystems/LimelightSubsystem.java +++ b/src/main/java/frc/team3128/subsystems/LimelightSubsystem.java @@ -22,11 +22,13 @@ public class LimelightSubsystem extends SubsystemBase{ private Limelight m_ballLimelight; private BooleanSupplier isAligned; + private BooleanSupplier addPlateau; public LimelightSubsystem() { m_shooterLimelight = new Limelight("limelight-cog", TOP_CAMERA_ANGLE, TOP_CAMERA_HEIGHT, TOP_FRONT_DIST); m_ballLimelight = new Limelight("limelight-sog", BALL_LL_ANGLE, BALL_LL_HEIGHT, BALL_LL_FRONT_DIST); isAligned = () -> Math.abs(getShooterTX()) <= TX_THRESHOLD && getShooterHasValidTarget(); + addPlateau = () -> Math.abs(getShooterTX()) <= 3 && getShooterHasValidTarget(); } public static synchronized LimelightSubsystem getInstance() { @@ -38,6 +40,7 @@ public static synchronized LimelightSubsystem getInstance() { public void initShuffleboard() { // General Tab + NAR_Shuffleboard.addData("COMP","isAligned", this::isAligned); NAR_Shuffleboard.addData("General","isAligned", this::isAligned).withPosition(3, 2); NAR_Shuffleboard.addData("General", "Range", this::calculateShooterDistance).withPosition(1, 3); NAR_Shuffleboard.addData("General", "hasValidTarget", this::getShooterHasValidTarget).withPosition(2, 2); @@ -139,4 +142,8 @@ public boolean isAligned() { return isAligned.getAsBoolean(); } + public boolean addPlateau() { + return addPlateau.getAsBoolean(); + } + } diff --git a/src/main/java/frc/team3128/subsystems/Shooter.java b/src/main/java/frc/team3128/subsystems/Shooter.java index 212cbfab..60b3fda8 100644 --- a/src/main/java/frc/team3128/subsystems/Shooter.java +++ b/src/main/java/frc/team3128/subsystems/Shooter.java @@ -96,6 +96,7 @@ public void initShuffleboard() { NAR_Shuffleboard.addData("General","Shooter Setpoint",this::getSetpoint).withPosition(5, 2); NAR_Shuffleboard.addData("General","Shooter RPM",this::getMeasurement).withPosition(4, 2); NAR_Shuffleboard.addData("General","Shooter isReady",this::isReady).withPosition(2, 3).withSize(2, 1); + NAR_Shuffleboard.addData("COMP","Shooter isReady",this::isReady); // Shooter Tab NAR_Shuffleboard.addData("Shooter + Hood","Shooter Setpoint",this::getSetpoint).withPosition(2, 0); NAR_Shuffleboard.addData("Shooter + Hood","Shooter RPM",this::getMeasurement).withPosition(3, 0);