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Merge branch 'comp/mttd' into feat/advantage-kit
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@DerekChen1
DerekChen1 committed Nov 17, 2023
2 parents 744fbb5 + f47a927 commit 6c0fcd9
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Showing 24 changed files with 839 additions and 396 deletions.
2 changes: 1 addition & 1 deletion scripts/SetStaticEthernetIP.bat
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@ echo off
set "params=%*"
cd /d "%~dp0" && ( if exist "%temp%\getadmin.vbs" del "%temp%\getadmin.vbs" ) && fsutil dirty query %systemdrive% 1>nul 2>nul || ( echo Set UAC = CreateObject^("Shell.Application"^) : UAC.ShellExecute "cmd.exe", "/k cd ""%~sdp0"" && %~s0 %params%", "", "runas", 1 >> "%temp%\getadmin.vbs" && "%temp%\getadmin.vbs" && exit /B )

netsh interface ip set address name="Ethernet 5" source=static ^ address=10.50.26.5 mask=255.255.255.0 gate=10.10.0.1
netsh interface ip set address name="Ethernet 5" source=static ^ address=10.99.92.5 mask=255.255.255.0 gate=10.10.0.1


exit
2 changes: 1 addition & 1 deletion scripts/SetStaticIP.bat
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@ echo off
set "params=%*"
cd /d "%~dp0" && ( if exist "%temp%\getadmin.vbs" del "%temp%\getadmin.vbs" ) && fsutil dirty query %systemdrive% 1>nul 2>nul || ( echo Set UAC = CreateObject^("Shell.Application"^) : UAC.ShellExecute "cmd.exe", "/k cd ""%~sdp0"" && %~s0 %params%", "", "runas", 1 >> "%temp%\getadmin.vbs" && "%temp%\getadmin.vbs" && exit /B )

netsh interface ip set address name="Wi-Fi" source=static ^ address=10.50.26.5 mask=255.255.255.0 gate=10.10.0.1
netsh interface ip set address name="Wi-Fi" source=static ^ address=10.99.92.5 mask=255.255.255.0 gate=10.10.0.1

netsh interface ip set dnsservers "Wi-Fi" static 8.8.8.8 validate=no

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116 changes: 75 additions & 41 deletions src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@
import edu.wpi.first.math.numbers.N3;
import edu.wpi.first.wpilibj.Filesystem;
import frc.robot.Constants.Drive.Dims;
import frc.robot.Constants.Elevator;
import frc.robot.commands.ScoreCommand.ScoreStep;
import frc.robot.subsystems.ElevatorSubsystem.ElevatorState;
import frc.robot.subsystems.IntakeSubsystem;
Expand Down Expand Up @@ -151,7 +152,7 @@ public static final class Module1 { // historically front right

public static final double STEER_OFFSET =
IS_COMP_BOT
? -Math.toRadians(8.07400 + 180) // comp bot offset
? -Math.toRadians(162.59765625 + 180) // comp bot offset
: -Math.toRadians(184.833984); // practice bot offset
}

Expand All @@ -162,7 +163,7 @@ public static final class Module2 { // historically front left

public static final double STEER_OFFSET =
IS_COMP_BOT
? -Math.toRadians(274.562 + 180) // comp bot offset
? -Math.toRadians(219.7265625) // comp bot offset
: -Math.toRadians(307.968750); // practice bot offset
}

Expand All @@ -173,7 +174,7 @@ public static final class Module3 { // historically back left

public static final double STEER_OFFSET =
IS_COMP_BOT
? -Math.toRadians(225.082 + 180) // comp bot offset
? -Math.toRadians(135.966796875) // comp bot offset
: -Math.toRadians(306.738281 + 180); // practice bot offset
}

Expand All @@ -184,7 +185,7 @@ public static final class Module4 { // historically back right

public static final double STEER_OFFSET =
IS_COMP_BOT
? -Math.toRadians(335.124 + 180) // comp bot offset
? -Math.toRadians(200.0390625 + 180) // comp bot offset
: -Math.toRadians(60.908203); // practice bot offset
}
}
Expand All @@ -193,74 +194,107 @@ public static final class Module4 { // historically back right
public static final class Elevator {
public static final class Ports {

public static final int ELEVATOR_LEFT_MOTOR_PORT = CAN.at(0, "elevator left motor");
public static final int ELEVATOR_RIGHT_MOTOR_PORT = CAN.at(0, "elevator right motor");
public static final int WRIST_MOTOR_PORT = CAN.at(0, "wrist motor port");
public static final int ELEVATOR_LEFT_MOTOR_PORT = CAN.at(14, "elevator left motor");
public static final int ELEVATOR_RIGHT_MOTOR_PORT = CAN.at(15, "elevator right motor");
public static final int WRIST_MOTOR_PORT = CAN.at(16, "wrist motor port");
}

public static final class Setpoints {
public static final ElevatorState STOWED = new ElevatorState(20, 0);
public static final ElevatorState SHELF_INTAKE = new ElevatorState(20, 20);
public static final ElevatorState GROUND_INTAKE = new ElevatorState(0, 0);
public static final ElevatorState SCORE_HIGH = new ElevatorState(MAX_HEIGHT, 0);
public static final ElevatorState SCORE_MID = new ElevatorState(15, 20);
public static final ElevatorState SCORE_LOW = new ElevatorState(MIN_HEIGHT, 40);
public static final ElevatorState STOWED =
new ElevatorState(MIN_EXTENSION_INCHES, MIN_ANGLE_DEGREES);
public static final ElevatorState SHELF_INTAKE_CONE = new ElevatorState(47.3, 68.5);
public static final ElevatorState SHELF_INTAKE_CUBE = new ElevatorState(43.2, 68.5);
public static final ElevatorState GROUND_INTAKE_CONE =
new ElevatorState(MIN_EXTENSION_INCHES, 72.5);
public static final ElevatorState GROUND_INTAKE_CUBE =
new ElevatorState(MIN_EXTENSION_INCHES, 83);
public static final ElevatorState SCORE_HIGH_CONE = new ElevatorState(43, 52.5);
public static final ElevatorState SCORE_HIGH_CUBE = new ElevatorState(53.8, 74.5);
public static final ElevatorState SCORE_MID_CONE = new ElevatorState(22.5, 35.5);
public static final ElevatorState SCORE_MID_CUBE = new ElevatorState(30, 74.5);
public static final ElevatorState SCORE_LOW_CONE =
new ElevatorState(MIN_EXTENSION_INCHES, 55);
public static final ElevatorState SCORE_LOW_CUBE =
new ElevatorState(MIN_EXTENSION_INCHES, 48);
}

public static final double MAX_HEIGHT = 20;
public static final double MIN_HEIGHT = 0;
public static final double MAX_EXTENSION_INCHES = 54;
public static final double MIN_EXTENSION_INCHES = 1;

public static final int ELEVATOR_TICKS = 2048;
public static final double ELEVATOR_GEAR_RATIO = 1.0;
public static final double ELEVATOR_GEAR_CIRCUMFERENCE = 1.5 * Math.PI;
public static final double MIN_ANGLE_DEGREES = 5;
public static final double MAX_ANGLE_DEGREES = 109.25;

public static final int FALCON_CPR = 2048;
public static final double ELEVATOR_GEAR_RATIO = 0.1008;
public static final double ELEVATOR_SPROCKET_DIAMETER_INCHES = 1.432;
public static final double CARRIAGE_RATIO = 2;

public static final int WRIST_TICKS = 2048;
public static final double WRIST_DEGREES = 360;
public static final double WRIST_GEAR_RATIO = 0.061;
public static final double WRIST_GEAR_RATIO = 1 / 38.6719;

public static final double ANGLE_EPSILON = 0.5;
public static final double HEIGHT_EPSILON = 5;
public static final double EXTENSION_EPSILON = 5;
public static final double ANGULAR_OFFSET = 0;

public static final double ZERO_MOTOR_POWER = -0.12;
public static final double ZERO_STATOR_LIMIT = 7;
public static final double STATOR_LIMIT = 25;

public static final double GRAVITY_OFFSET_PERCENT = .2;
}

public static final class Intake {

public static final double INTAKE_PERCENT = 1;
public static final double INTAKE_CONE_PERCENT = 0.7;
public static final double INTAKE_CUBE_PERCENT = -0.7;

public static final double OUTTAKE_CONE_PERCENT = -0.7;
public static final double OUTTAKE_CUBE_PERCENT = 0.7;

public static final double OUTTAKE_PERCENT = -1;
public static final double HOLD_CONE_PERCENT = 0.1;
public static final double HOLD_CUBE_PERCENT = -0.2;

public static final double HOLD_PERCENT = 0.15;
public static final double CONE_STATOR_LIMIT = 75;
public static final double CUBE_STATOR_LIMIT = 69;
public static final double GROUND_CUBE_STATOR_LIMIT = 60;

public static final class Ports {
public static final int INTAKE_MOTOR_PORT = CAN.at(18, "intake motor");
public static final int CONE_TOF_PORT = 0;
public static final int CUBE_TOF_PORT = 0;
}
}

public static final Map<ScoreTypeIdentifier, List<ScoreStep>> SCORE_STEP_MAP =
Map.of(
NodeType.CONE.atHeight(Height.HIGH),
List.of(
new ScoreStep(Elevator.Setpoints.SCORE_HIGH).canWaitHere(),
new ScoreStep(Elevator.Setpoints.SCORE_HIGH, IntakeSubsystem.Modes.OUTTAKE)),
new ScoreStep(Elevator.Setpoints.SCORE_HIGH_CONE).canWaitHere(),
new ScoreStep(new ElevatorState(22.5, 0), IntakeSubsystem.Modes.OUTTAKE, false)),
NodeType.CONE.atHeight(Height.MID),
List.of(
new ScoreStep(Elevator.Setpoints.SCORE_MID).canWaitHere(),
new ScoreStep(Elevator.Setpoints.SCORE_MID, IntakeSubsystem.Modes.OUTTAKE)),
new ScoreStep(Elevator.Setpoints.SCORE_MID_CONE).canWaitHere(),
new ScoreStep(
Elevator.Setpoints.SCORE_MID_CONE, IntakeSubsystem.Modes.OUTTAKE, false)),
NodeType.CONE.atHeight(Height.LOW),
List.of(
new ScoreStep(Elevator.Setpoints.SCORE_LOW).canWaitHere(),
new ScoreStep(IntakeSubsystem.Modes.OUTTAKE)),
new ScoreStep(Elevator.Setpoints.SCORE_LOW_CONE).canWaitHere(),
new ScoreStep(IntakeSubsystem.Modes.OUTTAKE, false)),
NodeType.CUBE.atHeight(Height.HIGH),
List.of(
new ScoreStep(Elevator.Setpoints.SCORE_HIGH).canWaitHere(),
new ScoreStep(Elevator.Setpoints.SCORE_HIGH, IntakeSubsystem.Modes.OUTTAKE)),
new ScoreStep(Elevator.Setpoints.SCORE_HIGH_CUBE).canWaitHere(),
new ScoreStep(
Elevator.Setpoints.SCORE_HIGH_CUBE, IntakeSubsystem.Modes.OUTTAKE, true)),
NodeType.CUBE.atHeight(Height.MID),
List.of(
new ScoreStep(Elevator.Setpoints.SCORE_MID).canWaitHere(),
new ScoreStep(Elevator.Setpoints.SCORE_MID, IntakeSubsystem.Modes.OUTTAKE)),
new ScoreStep(Elevator.Setpoints.SCORE_MID_CUBE).canWaitHere(),
new ScoreStep(
Elevator.Setpoints.SCORE_MID_CUBE, IntakeSubsystem.Modes.OUTTAKE, true)),
NodeType.CUBE.atHeight(Height.LOW),
List.of(
new ScoreStep(Elevator.Setpoints.SCORE_LOW).canWaitHere(),
new ScoreStep(IntakeSubsystem.Modes.OUTTAKE)));
new ScoreStep(Elevator.Setpoints.SCORE_LOW_CUBE).canWaitHere(),
new ScoreStep(IntakeSubsystem.Modes.OUTTAKE, true)));

public static final class Vision {
public static record VisionSource(String name, Transform3d robotToCamera) {}
Expand All @@ -271,9 +305,9 @@ public static record VisionSource(String name, Transform3d robotToCamera) {}
"frontCam",
new Transform3d(
new Translation3d(
0.228110, // front/back
0.253802, // left/right
0.443955 // up/down
0.23749, // front/back
0.2403348, // left/right
0.7973822 // up/down
),
new Rotation3d(
0,
Expand All @@ -283,9 +317,9 @@ public static record VisionSource(String name, Transform3d robotToCamera) {}
"backCam",
new Transform3d(
new Translation3d(
0.102078, // front/back
-0.253802, // left/right
1.222387 // up/down
0, // front/back
-0.212725, // left/right
0.6470142 // up/down
),
new Rotation3d(0, Math.toRadians(17), Math.PI))));

Expand Down
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