From bb80945ddd4e2f3dd8354b92907f26ac388e6761 Mon Sep 17 00:00:00 2001 From: cyblazer Date: Wed, 21 Feb 2024 14:56:00 -0800 Subject: [PATCH 1/7] Only Intake Subsystem and commands --- build.gradle | 2 +- src/main/java/frc/robot/Constants.java | 13 +- src/main/java/frc/robot/RobotContainer.java | 75 +----- .../frc/robot/commands/IntakeCommand.java | 50 ++++ .../frc/robot/subsystems/DriveSubsystem.java | 232 ------------------ .../frc/robot/subsystems/IntakeSubsystem.java | 99 ++++++-- .../robot/subsystems/ShooterSubsystem.java | 32 --- .../frc/robot/subsystems/SwerveModule.java | 118 --------- .../frc/robot/subsystems/VisionSubsystem.java | 128 ---------- vendordeps/REV2mDistanceSensor.json | 56 +++++ 10 files changed, 201 insertions(+), 604 deletions(-) create mode 100644 src/main/java/frc/robot/commands/IntakeCommand.java delete mode 100644 src/main/java/frc/robot/subsystems/DriveSubsystem.java delete mode 100644 src/main/java/frc/robot/subsystems/ShooterSubsystem.java delete mode 100644 src/main/java/frc/robot/subsystems/SwerveModule.java delete mode 100644 src/main/java/frc/robot/subsystems/VisionSubsystem.java create mode 100644 vendordeps/REV2mDistanceSensor.json diff --git a/build.gradle b/build.gradle index d141f06..a34fb4c 100644 --- a/build.gradle +++ b/build.gradle @@ -1,6 +1,6 @@ plugins { id "java" - id "edu.wpi.first.GradleRIO" version "2024.1.1" + id "edu.wpi.first.GradleRIO" version "2024.2.1" } java { diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index a963b8d..6b8bf5c 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -100,18 +100,15 @@ public static final class DriveConstants { // Intake PID and Encoder Constants public static class IntakeConstants { + //TODO: figure out constants + //public static final boolean kPivotMotorInverted = true; public static final double kIntakeLoweredAngle = 9.0; - public static final double kIntakeRaisedAngle = 9.0; + public static final double kIntakeRaisedAngle = 60.0; public static final int kIntakeMotorID = 0; + public static final double kIntakeMotorSpeed = -3.0; public static final int kArmMotorID = 0; - public static final double kIntakeP = 0; - public static final double kIntakeI = 0; - public static final double kIntakeD = 0; - public static final double kArmP = 0; - public static final double kArmI = 0; - public static final double kArmD = 0; public static final int kArmEncoderCh = 0; - public static double kIntakeSpeed; + public static double kIntakeSpeed = 3.0; } // Shooter subsystem speed constants diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 535c73b..5606606 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -13,11 +13,10 @@ import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.button.JoystickButton; import frc.robot.Constants.IntakeConstants; +import frc.robot.commands.IntakeCommand; import frc.robot.Constants.DriveConstants; import frc.robot.Constants.IOConstants; -import frc.robot.subsystems.DriveSubsystem; import frc.robot.subsystems.IntakeSubsystem; -import frc.robot.subsystems.ShooterSubsystem; /* * This class is where the bulk of the robot should be declared. Since Command-based is a @@ -26,84 +25,34 @@ * (including subsystems, commands, and button mappings) should be declared here. */ public class RobotContainer { - - private final DriveSubsystem m_robotDrive = new DriveSubsystem(); - public final ShooterSubsystem m_shooterSubsystem = new ShooterSubsystem(); public final IntakeSubsystem m_intakeSubsystem = new IntakeSubsystem(); - private boolean IntakeDropped = false; - private boolean lastAButton = false; - private final XboxController m_driverController = new XboxController(IOConstants.kDriverControllerPort); public RobotContainer() { // Configure the trigger bindings configureBindings(); - m_intakeSubsystem.setDefaultCommand(m_driverController.getLeftTriggerAxis() > 0.5 - ? new InstantCommand(m_intakeSubsystem::intakeDisk, m_intakeSubsystem) - : new InstantCommand(m_intakeSubsystem::stopIntaking, m_intakeSubsystem)); - - m_robotDrive.setDefaultCommand( - new RunCommand( - () -> m_robotDrive.drive( - MathUtil.applyDeadband( - -m_driverController.getLeftY(), - IOConstants.kControllerDeadband) - * DriveConstants.kMaxSpeedMetersPerSecond - * (1 - m_driverController - .getLeftTriggerAxis() - * IOConstants.kSlowModeScalar) - * 0.8, - MathUtil.applyDeadband( - -m_driverController.getLeftX(), - IOConstants.kControllerDeadband) - * DriveConstants.kMaxSpeedMetersPerSecond - * (1 - m_driverController - .getLeftTriggerAxis() - * IOConstants.kSlowModeScalar) - * 0.8, - MathUtil.applyDeadband( - m_driverController.getRightX(), - IOConstants.kControllerDeadband) - * DriveConstants.kMaxAngularSpeedRadiansPerSecond - * (1 - m_driverController - .getLeftTriggerAxis() - * IOConstants.kSlowModeScalar) - / 2, - !m_driverController.getRightBumper()), - m_robotDrive)); - } public void periodic() { - if (m_driverController.getAButton()) { - lastAButton = true; - if (!lastAButton) - IntakeDropped = !IntakeDropped; - } else { - lastAButton = false; - } } /** * Use this method to define your button->command mappings. */ private void configureBindings() { - // TODO: Move shoot commands to operator controller - new JoystickButton(m_driverController, Button.kY.value) - .onTrue(new InstantCommand(() -> m_intakeSubsystem.tiltToAngle(IntakeConstants.kIntakeLoweredAngle), - m_intakeSubsystem)) - .onFalse(new InstantCommand(m_intakeSubsystem::stopRotating, m_intakeSubsystem)); new JoystickButton(m_driverController, Button.kX.value) - .onTrue(new InstantCommand(() -> m_intakeSubsystem.tiltToAngle(IntakeConstants.kIntakeRaisedAngle), - m_intakeSubsystem)) - .onFalse(new InstantCommand(m_intakeSubsystem::stopRotating, m_intakeSubsystem)); - new JoystickButton(m_driverController, Button.kB.value) - .onTrue(new InstantCommand(() -> m_shooterSubsystem.spin(0.75), m_shooterSubsystem)) - .onFalse(new InstantCommand(() -> m_shooterSubsystem.spin(0), m_shooterSubsystem)); - new JoystickButton(m_driverController, Button.kA.value) - .onTrue(new InstantCommand(() -> m_shooterSubsystem.spin(-0.75), m_shooterSubsystem)) - .onFalse(new InstantCommand(() -> m_shooterSubsystem.spin(0), m_shooterSubsystem)); + .whileTrue( new IntakeCommand(m_intakeSubsystem) ); + // TODO: Move shoot commands to operator controller + // new JoystickButton(m_driverController, Button.kY.value) + // .onTrue(new InstantCommand(() -> m_intakeSubsystem.tiltToAngle(IntakeConstants.kIntakeLoweredAngle), + // m_intakeSubsystem)) + // .onFalse(new InstantCommand(m_intakeSubsystem::stopRotating, m_intakeSubsystem)); + // new JoystickButton(m_driverController, Button.kX.value) + // .onTrue(new InstantCommand(() -> m_intakeSubsystem.tiltToAngle(IntakeConstants.kIntakeRaisedAngle), + // m_intakeSubsystem)) + // .onFalse(new InstantCommand(m_intakeSubsystem::stopRotating, m_intakeSubsystem)); + } /** diff --git a/src/main/java/frc/robot/commands/IntakeCommand.java b/src/main/java/frc/robot/commands/IntakeCommand.java new file mode 100644 index 0000000..39c081a --- /dev/null +++ b/src/main/java/frc/robot/commands/IntakeCommand.java @@ -0,0 +1,50 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot.commands; + +import edu.wpi.first.math.controller.PIDController; +import edu.wpi.first.wpilibj.DutyCycleEncoder; +import edu.wpi.first.wpilibj.Timer; +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.subsystems.IntakeSubsystem; + +public class IntakeCommand extends Command { + private IntakeSubsystem m_intakeSubsystem; + private Timer m_timer = new Timer(); + + + /** Creates a new intakeCommand. */ + public IntakeCommand(IntakeSubsystem subsystem) { + m_intakeSubsystem = subsystem; + addRequirements(m_intakeSubsystem); + } + + // Called when the command is initially scheduled. + @Override + public void initialize() { + m_timer.reset(); + m_timer.start(); + m_intakeSubsystem.turnOn(); + } + + // Called every time the scheduler runs while the command is scheduled. + @Override + public void execute() { + if (m_intakeSubsystem.getDistanceSensor() < 5){ + m_intakeSubsystem.turnOff(); + } + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) { + m_intakeSubsystem.turnOff(); + } + + @Override + public boolean isFinished(){ + return m_timer.hasElapsed(5); + } +} diff --git a/src/main/java/frc/robot/subsystems/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/DriveSubsystem.java deleted file mode 100644 index f606d5b..0000000 --- a/src/main/java/frc/robot/subsystems/DriveSubsystem.java +++ /dev/null @@ -1,232 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package frc.robot.subsystems; - -import com.kauailabs.navx.frc.AHRS; - -import edu.wpi.first.math.MathUtil; -import edu.wpi.first.math.controller.PIDController; -import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.kinematics.ChassisSpeeds; -import edu.wpi.first.math.kinematics.SwerveDriveKinematics; -import edu.wpi.first.math.kinematics.SwerveModulePosition; -import edu.wpi.first.math.kinematics.SwerveModuleState; -import edu.wpi.first.wpilibj.Timer; -import edu.wpi.first.wpilibj.smartdashboard.Field2d; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import edu.wpi.first.wpilibj2.command.SubsystemBase; -import frc.robot.Constants.DriveConstants; -import frc.robot.Constants.VisionConstants; -import frc.robot.Robot; - -public class DriveSubsystem extends SubsystemBase { - private final SwerveModule m_frontLeft = new SwerveModule( - DriveConstants.kFrontLeftDriveMotorPort, - DriveConstants.kFrontLeftTurningMotorPort, - DriveConstants.kFrontLeftTurningEncoderPort, - DriveConstants.kFrontLeftDriveMotorReversed, - DriveConstants.kFrontLeftTurningEncoderOffset); - - private final SwerveModule m_rearLeft = new SwerveModule( - DriveConstants.kRearLeftDriveMotorPort, - DriveConstants.kRearLeftTurningMotorPort, - DriveConstants.kRearLeftTurningEncoderPort, - DriveConstants.kRearLeftDriveMotorReversed, - DriveConstants.kRearLeftTurningEncoderOffset); - - private final SwerveModule m_frontRight = new SwerveModule( - DriveConstants.kFrontRightDriveMotorPort, - DriveConstants.kFrontRightTurningMotorPort, - DriveConstants.kFrontRightTurningEncoderPort, - DriveConstants.kFrontRightDriveMotorReversed, - DriveConstants.kFrontRightTurningEncoderOffset); - - private final SwerveModule m_rearRight = new SwerveModule( - DriveConstants.kRearRightDriveMotorPort, - DriveConstants.kRearRightTurningMotorPort, - DriveConstants.kRearRightTurningEncoderPort, - DriveConstants.kRearRightDriveMotorReversed, - DriveConstants.kRearRightTurningEncoderOffset); - - private final AHRS m_gyro = new AHRS(); - private double m_gyroAngle; - - private final Timer m_headingCorrectionTimer = new Timer(); - private final PIDController m_headingCorrectionPID = new PIDController(DriveConstants.kPHeadingCorrectionController, - 0, 0); - private SwerveModulePosition[] m_swerveModulePositions = new SwerveModulePosition[] { - m_frontLeft.getPosition(), - m_frontRight.getPosition(), - m_rearLeft.getPosition(), - m_rearRight.getPosition() - }; - - private final SwerveDrivePoseEstimator m_poseEstimator = new SwerveDrivePoseEstimator(DriveConstants.kDriveKinematics, - m_gyro.getRotation2d(), m_swerveModulePositions, new Pose2d(), VisionConstants.kOdometrySTDDevs, - VisionConstants.kVisionSTDDevs); - - private final Field2d m_field = new Field2d(); - - /** Creates a new DriveSubsystem. */ - public DriveSubsystem() { - SmartDashboard.putData("Field", m_field); - m_headingCorrectionTimer.restart(); - m_headingCorrectionPID.enableContinuousInput(-Math.PI, Math.PI); - } - - @Override - public void periodic() { - // This method will be called once per scheduler run - - m_swerveModulePositions = new SwerveModulePosition[] { - m_frontLeft.getPosition(), - m_frontRight.getPosition(), - m_rearLeft.getPosition(), - m_rearRight.getPosition() - }; - - m_poseEstimator.update(Robot.isReal() ? m_gyro.getRotation2d() : new Rotation2d(m_gyroAngle), - m_swerveModulePositions); - - m_field.setRobotPose(m_poseEstimator.getEstimatedPosition()); - - SmartDashboard.putNumber("gyro angle", m_gyro.getAngle()); - SmartDashboard.putNumber("odometryX", m_poseEstimator.getEstimatedPosition().getX()); - SmartDashboard.putNumber("odometryY", m_poseEstimator.getEstimatedPosition().getY()); - - // AdvantageScope Logging - double[] logData = { - m_frontLeft.getPosition().angle.getDegrees(), m_frontLeft.driveOutput, - m_frontRight.getPosition().angle.getDegrees(), m_frontRight.driveOutput, - m_rearLeft.getPosition().angle.getDegrees(), m_rearLeft.driveOutput, - m_rearRight.getPosition().angle.getDegrees(), m_rearRight.driveOutput, - }; - SmartDashboard.putNumberArray("AdvantageScope Swerve States", logData); - } - - /** - * Returns the currently-estimated pose of the robot. - * - * @return The pose. - */ - public Pose2d getPose() { - return m_poseEstimator.getEstimatedPosition(); - } - - /** - * Method to drive the robot using joystick info. - * - * @param xSpeed Speed of the robot in the x direction (forward). - * @param ySpeed Speed of the robot in the y direction (sideways). - * @param rotation Angular rotation speed of the robot. - * @param fieldRelative Whether the provided x and y speeds are relative to the - * field. - */ - public void drive(double xSpeed, double ySpeed, double rotation, boolean fieldRelative) { - // If we are rotating, reset the timer - if (rotation != 0) { - m_headingCorrectionTimer.reset(); - } - - /* - * Heading correction helps maintain the same heading and - * prevents rotational drive while our robot is translating - * - * For heading correction we use a timer to ensure that we - * lose all rotational momentum before saving the heading - * that we want to maintain - */ - - // TODO: Test heading correction without timer - // TODO: Test heading correction using gyro's rotational velocity (if it is 0 - // then set heading instead of timer) - - // Save our desired rotation to a variable we can add our heading correction - // adjustments to - double calculatedRotation = rotation; - - double currentAngle = MathUtil.angleModulus(m_gyro.getRotation2d().getRadians()); - - // If we are not translating or if not enough time has passed since the last - // time we rotated - if ((xSpeed == 0 && ySpeed == 0) - || m_headingCorrectionTimer.get() < DriveConstants.kHeadingCorrectionTurningStopTime) { - // Update our desired angle - m_headingCorrectionPID.setSetpoint(currentAngle); - } else { - // If we are translating or if we have not rotated for a long enough time - // then maintain our desired angle - calculatedRotation = m_headingCorrectionPID.calculate(currentAngle); - } - - // Depending on whether the robot is being driven in field relative, calculate - // the desired states for each of the modules - SwerveModuleState[] swerveModuleStates = DriveConstants.kDriveKinematics.toSwerveModuleStates( - fieldRelative - ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeed, ySpeed, calculatedRotation, - Robot.isReal() ? m_gyro.getRotation2d() : new Rotation2d(m_gyroAngle)) - : new ChassisSpeeds(xSpeed, ySpeed, calculatedRotation)); - - setModuleStates(swerveModuleStates); - } - - /** - * Resets the odometry to the specified pose. - * - * @param pose The pose to which to set the odometry. - */ - public void resetOdometry(Pose2d pose) { - m_poseEstimator.resetPosition( - Robot.isReal() ? m_gyro.getRotation2d() : new Rotation2d(m_gyroAngle), - new SwerveModulePosition[] { - m_frontLeft.getPosition(), - m_frontRight.getPosition(), - m_rearLeft.getPosition(), - m_rearRight.getPosition() - }, - pose); - } - - /** Zeroes the heading of the robot. */ - public void zeroHeading() { - m_gyro.reset(); - m_gyroAngle = 0; - } - - public void addVisionMeasurement(Pose2d pose, double timestamp) { - m_poseEstimator.addVisionMeasurement(pose, timestamp); - } - - /** - * Sets the swerve ModuleStates. - * - * @param desiredStates The desired SwerveModule states. - */ - public void setModuleStates(SwerveModuleState[] desiredStates) { - SwerveDriveKinematics.desaturateWheelSpeeds( - desiredStates, DriveConstants.kMaxSpeedMetersPerSecond); - m_frontLeft.setDesiredState(desiredStates[0]); - m_frontRight.setDesiredState(desiredStates[1]); - m_rearLeft.setDesiredState(desiredStates[2]); - m_rearRight.setDesiredState(desiredStates[3]); - - // AdvantageScope Logging - double[] logData = { - desiredStates[0].angle.getDegrees(), desiredStates[0].speedMetersPerSecond, - desiredStates[1].angle.getDegrees(), desiredStates[1].speedMetersPerSecond, - desiredStates[2].angle.getDegrees(), desiredStates[2].speedMetersPerSecond, - desiredStates[3].angle.getDegrees(), desiredStates[3].speedMetersPerSecond, - }; - SmartDashboard.putNumberArray("AdvantageScope Swerve Desired States", logData); - - // Takes the integral of the rotation speed to find the current angle for the - // simulator - m_gyroAngle += DriveConstants.kDriveKinematics.toChassisSpeeds(desiredStates).omegaRadiansPerSecond - * Robot.kDefaultPeriod; - } - -} diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java index 9d55b9c..15e145c 100644 --- a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java +++ b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java @@ -4,59 +4,114 @@ package frc.robot.subsystems; +import com.ctre.phoenix6.signals.AbsoluteSensorRangeValue; import com.revrobotics.CANSparkFlex; +import com.revrobotics.Rev2mDistanceSensor; +import com.revrobotics.CANSparkBase.IdleMode; import com.revrobotics.CANSparkLowLevel.MotorType; +import com.revrobotics.Rev2mDistanceSensor.Port; +import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.controller.PIDController; import edu.wpi.first.wpilibj.DutyCycleEncoder; import edu.wpi.first.wpilibj2.command.SubsystemBase; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import frc.robot.Constants; import frc.robot.Constants.IntakeConstants; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; public class IntakeSubsystem extends SubsystemBase { - CANSparkFlex m_intakeMotor = new CANSparkFlex(IntakeConstants.kIntakeMotorID, MotorType.kBrushless); - CANSparkFlex m_armMotor = new CANSparkFlex(IntakeConstants.kArmMotorID, MotorType.kBrushless); + boolean deployed = true; + + private double m_pivotSpeed = 0; + private double m_intakeSpeed = 0; + + CANSparkFlex m_topFeeder = new CANSparkFlex(0, MotorType.kBrushless); + CANSparkFlex m_bottomFeeder = new CANSparkFlex(0, MotorType.kBrushless); + CANSparkFlex m_pivotMotor = new CANSparkFlex(0, MotorType.kBrushless); + + PIDController m_pivotPID = new PIDController(0.5, 0, 0); - PIDController m_intakeVeloPID = new PIDController(IntakeConstants.kIntakeP, IntakeConstants.kIntakeI, - IntakeConstants.kIntakeD); - PIDController m_armPID = new PIDController(IntakeConstants.kArmP, IntakeConstants.kArmI, IntakeConstants.kArmD); + DutyCycleEncoder m_pivotEncoder = new DutyCycleEncoder(0); - DutyCycleEncoder m_armEncoder = new DutyCycleEncoder(IntakeConstants.kArmEncoderCh); + Rev2mDistanceSensor m_distanceSensor; /** Creates a new intake. */ public IntakeSubsystem() { + //m_pivotMotor.setInverted(Constants.IntakeConstants.kPivotMotorInverted); + + // TODO: honestly no idea waht to set + //m_pivotEncoder.configMagnetOffset(Constants.IntakeConstants.kPivotEncoderOffset); + //m_pivotEncoder.configAbsoluteSensorRange(); + + m_topFeeder.setIdleMode(IdleMode.kBrake); + m_bottomFeeder.setIdleMode(IdleMode.kBrake); + + m_pivotMotor.setIdleMode(IdleMode.kBrake); + + m_pivotPID.setTolerance(2); + m_distanceSensor = new Rev2mDistanceSensor(Port.kOnboard); //onboard I2C port + m_distanceSensor.setAutomaticMode(true); } - // Starts intaking the disk - public void intakeDisk() { - m_intakeMotor.set(IntakeConstants.kIntakeSpeed); + public void turnOn(){ + m_pivotPID.setSetpoint(Constants.IntakeConstants.kIntakeLoweredAngle); + + deployed = true; } - //Stops rotating the intake - public void stopIntaking() { - m_intakeMotor.set(0); + public void turnOff(){ + m_pivotPID.setSetpoint(Constants.IntakeConstants.kIntakeRaisedAngle); + + deployed = false; } /** - * Rotates the arm to a given angle - * @param angle motor to apply to intake + * Gets distance from Rev 2m sensor * */ - public void tiltToAngle(double angle) { - m_armMotor.set(m_armPID.calculate(m_armEncoder.getAbsolutePosition(), angle)); + public double getDistanceSensor() { + return m_distanceSensor.getRange(); } - //Stops rotating the arm - public void stopRotating(){ - m_armMotor.set(0); + /* + * Helper function to calculate motor speeds + * + */ + private void calculateSpeeds(){ + if (m_pivotEncoder.getAbsolutePosition() > IntakeConstants.kIntakeLoweredAngle && m_pivotEncoder.getAbsolutePosition() < IntakeConstants.kIntakeRaisedAngle){ + m_pivotSpeed = MathUtil.clamp(m_pivotPID.calculate(m_pivotEncoder.getAbsolutePosition()), -0.5, 0.5); + } + else{ + if (m_pivotPID.atSetpoint()){ + m_pivotSpeed = 0.0; + } + } + + if (m_pivotEncoder.getAbsolutePosition() < 15.0 && deployed){ + m_intakeSpeed = Constants.IntakeConstants.kIntakeSpeed; //TODO: i have no idea which speed + } else { + m_intakeSpeed = 0.0; + } } @Override public void periodic() { - SmartDashboard.putBoolean("Intake",m_intakeMotor.get()>0); + calculateSpeeds(); + + m_pivotMotor.set(m_pivotSpeed); + + m_bottomFeeder.set(m_intakeSpeed); + m_topFeeder.set(m_intakeSpeed); + } + + public double getPivotPosition(){ + return m_pivotEncoder.getAbsolutePosition(); + } - // This method will be called once per scheduler run + public boolean readyForShooter(){ + return (m_pivotEncoder.getAbsolutePosition() < Constants.IntakeConstants.kIntakeRaisedAngle + 5) + || (m_pivotEncoder.getAbsolutePosition() > Constants.IntakeConstants.kIntakeRaisedAngle - 5); } } diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java deleted file mode 100644 index a47de12..0000000 --- a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java +++ /dev/null @@ -1,32 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package frc.robot.subsystems; - -import com.revrobotics.CANSparkFlex; -import com.revrobotics.CANSparkLowLevel.MotorType; - -import edu.wpi.first.wpilibj2.command.SubsystemBase; -import frc.robot.Constants.ShooterConstants; - -public class ShooterSubsystem extends SubsystemBase { - /** Creates a new ShooterSubsystem. */ - CANSparkFlex m_bottom = new CANSparkFlex(ShooterConstants.kBottomShooterMotorPort, MotorType.kBrushless); - CANSparkFlex m_top = new CANSparkFlex(ShooterConstants.kTopShooterMotorPort, MotorType.kBrushless); - - public ShooterSubsystem() { - - } - - public void spin(double speed) { - m_bottom.set(speed); - m_top.set(speed); - } - - @Override - public void periodic() { - // This method will be called once per scheduler run - // SmartDashboard.putNumber("Speed", m_bottom.); - } -} \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/SwerveModule.java b/src/main/java/frc/robot/subsystems/SwerveModule.java deleted file mode 100644 index 9d98ea8..0000000 --- a/src/main/java/frc/robot/subsystems/SwerveModule.java +++ /dev/null @@ -1,118 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package frc.robot.subsystems; - -import com.ctre.phoenix6.configs.CANcoderConfigurator; -import com.ctre.phoenix6.configs.MagnetSensorConfigs; -import com.ctre.phoenix6.hardware.CANcoder; -import com.revrobotics.CANSparkBase.IdleMode; -import com.revrobotics.CANSparkLowLevel.MotorType; -import com.revrobotics.CANSparkMax; - -import edu.wpi.first.math.controller.PIDController; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.kinematics.SwerveModulePosition; -import edu.wpi.first.math.kinematics.SwerveModuleState; -import frc.robot.Constants.DriveConstants; -import frc.robot.Robot; - -public class SwerveModule { - private final CANSparkMax m_driveMotor; - private final CANSparkMax m_turningMotor; - - private final CANcoder m_turningEncoder; - private final CANcoderConfigurator m_turningEncoderConfigurator; - - private final PIDController m_turningPIDController = new PIDController(DriveConstants.kPModuleTurningController, 0, - 0); - - private SwerveModuleState m_state = new SwerveModuleState(); - private double m_distance; - - public double driveOutput; - public double turnOutput; - - /** - * Constructs a {@link SwerveModule}. - * - * @param driveMotorPort The port of the drive motor. - * @param turningMotorPort The port of the turning motor. - * @param turningEncoderPort The port of the turning encoder. - * @param driveMotorReversed Whether the drive motor is reversed. - * @param turningEncoderOffset Offset of the turning encoder. - */ - public SwerveModule( - int driveMotorPort, - int turningMotorPort, - int turningEncoderPort, - boolean driveMotorReversed, - double turningEncoderOffset) { - m_driveMotor = new CANSparkMax(driveMotorPort, MotorType.kBrushless); - m_turningMotor = new CANSparkMax(turningMotorPort, MotorType.kBrushless); - m_turningEncoder = new CANcoder(turningEncoderPort); - m_turningEncoderConfigurator = m_turningEncoder.getConfigurator(); - - // converts default units to meters per second - m_driveMotor.getEncoder().setVelocityConversionFactor( - DriveConstants.kWheelDiameterMeters * Math.PI / 60 / DriveConstants.kDrivingGearRatio); - - m_driveMotor.setInverted(driveMotorReversed); - - m_turningMotor.setIdleMode(IdleMode.kBrake); - - // TODO: CANcoder offsets are now set on the device manually using Pheonix Tuner - // (or maybe Pheonix X) - m_turningEncoderConfigurator.apply(new MagnetSensorConfigs().withMagnetOffset(-turningEncoderOffset)); - - m_turningPIDController.enableContinuousInput(-Math.PI, Math.PI); - } - - /** - * Returns the current position of the module. - * - * @return The current position of the module. - */ - public SwerveModulePosition getPosition() { - m_distance += m_state.speedMetersPerSecond * Robot.kDefaultPeriod; - - // If the robot is real, then return the swerve module state by reading from the - // actual encoders - // If the robot is simulated, then return the swerve module state using the - // expected values - return Robot.isReal() - ? new SwerveModulePosition(m_driveMotor.getEncoder().getPosition(), - getEncoderAngle(m_turningEncoder)) - : new SwerveModulePosition(m_distance, m_state.angle); - } - - /** - * Sets the desired state for the module. - * - * @param desiredState Desired state with speed and angle. - */ - public void setDesiredState(SwerveModuleState desiredState) { - m_state = SwerveModuleState.optimize(desiredState, getEncoderAngle(m_turningEncoder)); - driveOutput = m_state.speedMetersPerSecond / DriveConstants.kMaxSpeedMetersPerSecond; - - turnOutput = m_turningPIDController.calculate(getEncoderAngle(m_turningEncoder).getRadians(), - m_state.angle.getRadians()); - - m_driveMotor.set(driveOutput); - m_turningMotor.set(turnOutput); - } - - /** - * Returns the angle of a CANcoder - * - * The CANcoder now gives values in rotations which is useless, so this method - * translates the CANcoder output into a Rotation2D - * - * @param encoder The encoder to get the absolute angle of. - * @return A Rotation2d of the absolute angle. - */ - public static Rotation2d getEncoderAngle(CANcoder encoder) { - return new Rotation2d(encoder.getAbsolutePosition().getValueAsDouble() * 2 * Math.PI); - } -} diff --git a/src/main/java/frc/robot/subsystems/VisionSubsystem.java b/src/main/java/frc/robot/subsystems/VisionSubsystem.java deleted file mode 100644 index daeea25..0000000 --- a/src/main/java/frc/robot/subsystems/VisionSubsystem.java +++ /dev/null @@ -1,128 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package frc.robot.subsystems; - -import java.util.Arrays; -import java.util.Optional; - -import edu.wpi.first.math.Matrix; -import edu.wpi.first.math.geometry.Pose3d; -import edu.wpi.first.math.geometry.Rotation3d; -import edu.wpi.first.math.geometry.Translation3d; -import edu.wpi.first.math.numbers.N1; -import edu.wpi.first.math.numbers.N3; -import edu.wpi.first.math.util.Units; -import edu.wpi.first.networktables.DoubleArraySubscriber; -import edu.wpi.first.networktables.DoubleSubscriber; -import edu.wpi.first.networktables.NetworkTable; -import edu.wpi.first.networktables.NetworkTableInstance; -import edu.wpi.first.networktables.TimestampedDoubleArray; -import edu.wpi.first.wpilibj2.command.SubsystemBase; -import frc.robot.Constants.VisionConstants; - -/** - *

- * In 3D poses and transforms: - *

- * - *

- * On the field (0, 0, 0) in 3D space is the right corner of the blue alliance - * driver station - * Therefore, from the blue driver station: +X is forward, +Y is left, +Z is up - * - *

- * In 2D poses and transforms: - *

- */ -public class VisionSubsystem extends SubsystemBase { - - NetworkTable m_visionNetworkTable = NetworkTableInstance.getDefault().getTable("limelight"); - - private final DoubleArraySubscriber m_botPose; - private final DoubleSubscriber m_cl; - private final DoubleSubscriber m_tl; - - /** Creates a new Limelight. */ - public VisionSubsystem() { - // Provide the limelight with the camera pose relative to the center of the - // robot - m_visionNetworkTable.getEntry("camerapose_robotspace_set").setDoubleArray(VisionConstants.kLimelightCamPose); - - // Create subscribers to get values from the limelight - m_botPose = m_visionNetworkTable.getDoubleArrayTopic("botpose_wpiblue").subscribe(null); - m_cl = m_visionNetworkTable.getDoubleTopic("cl").subscribe(0); - m_tl = m_visionNetworkTable.getDoubleTopic("tl").subscribe(0); - } - - @Override - public void periodic() { - // This method will be called once per scheduler run - } - - public Optional getMeasurement() { - TimestampedDoubleArray[] updates = m_botPose.readQueue(); - - // If we have had no updates since the last time this method ran then return - // nothing - if (updates.length == 0) { - return Optional.empty(); - } - - TimestampedDoubleArray update = updates[updates.length - 1]; - - // If the latest update is empty then return nothing - if (Arrays.equals(update.value, new double[6])) { - return Optional.empty(); - } - - double x = update.value[0]; - double y = update.value[1]; - double z = update.value[2]; - double roll = Units.degreesToRadians(update.value[3]); - double pitch = Units.degreesToRadians(update.value[4]); - double yaw = Units.degreesToRadians(update.value[5]); - - double latency = m_cl.get() + m_tl.get(); - - double timestamp = (update.timestamp * 1e-6) - (latency * 1e-3); - Pose3d pose = new Pose3d(new Translation3d(x, y, z), new Rotation3d(roll, pitch, yaw)); - - /* - * The limelight returns 3D field poses where (0, 0, 0) is located at the center - * of the field - * - * So to input this pose into our pose estimator we need to tranform so that (0, - * 0, 0) is the right corner of the blue driver stations - */ - // TODO: Check if we actually need to do this... - // pose.transformBy(new Transform3d(new Translation3d(VisionConstants.kFieldLength, VisionConstants.kFieldWidth, 0.0), new Rotation3d())); - - return Optional.of(new Measurement( - timestamp, - pose, - VisionConstants.kVisionSTDDevs)); - } - - public static class Measurement { - public double timestamp; - public Pose3d pose; - public Matrix stdDeviation; - - public Measurement(double timestamp, Pose3d pose, Matrix stdDeviation) { - this.timestamp = timestamp; - this.pose = pose; - this.stdDeviation = stdDeviation; - } - } -} diff --git a/vendordeps/REV2mDistanceSensor.json b/vendordeps/REV2mDistanceSensor.json new file mode 100644 index 0000000..adcfa42 --- /dev/null +++ b/vendordeps/REV2mDistanceSensor.json @@ -0,0 +1,56 @@ +{ + "fileName": "REV2mDistanceSensor.json", + "name": "REV2mDistanceSensor", + "version": "0.4.0", + "frcYear": "2024", + "uuid": "9e352acd-4eec-40f7-8490-3357b5ed65ae", + "mavenUrls": [ + "https://www.revrobotics.com/content/sw/max/sdk/maven/" + ], + "jsonUrl": "https://www.revrobotics.com/content/sw/max/sdk/Rev2mDistanceSensor.json", + "javaDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "DistanceSensor-java", + "version": "0.4.0" + } + ], + "jniDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "DistanceSensor-driver", + "version": "0.4.0", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "linuxathena" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "DistanceSensor-cpp", + "version": "0.4.0", + "libName": "libDistanceSensor", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "DistanceSensor-driver", + "version": "0.4.0", + "libName": "libDistanceSensorDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena" + ] + } + ] +} \ No newline at end of file From 657e810060470695e071a7824d15a9825847dafc Mon Sep 17 00:00:00 2001 From: Anay Nagar Date: Thu, 22 Feb 2024 23:39:26 -0800 Subject: [PATCH 2/7] Merge branch 'main' into intake --- build.gradle | 2 +- src/main/java/frc/robot/Constants.java | 222 ++++++++------- src/main/java/frc/robot/RobotContainer.java | 111 ++++++-- .../frc/robot/subsystems/DriveSubsystem.java | 252 ++++++++++++++++++ .../robot/subsystems/ShooterSubsystem.java | 32 +++ .../frc/robot/subsystems/SwerveModule.java | 113 ++++++++ .../frc/robot/subsystems/VisionSubsystem.java | 120 +++++++++ vendordeps/PathplannerLib.json | 38 +++ vendordeps/REVLib.json | 10 +- 9 files changed, 762 insertions(+), 138 deletions(-) create mode 100644 src/main/java/frc/robot/subsystems/DriveSubsystem.java create mode 100644 src/main/java/frc/robot/subsystems/ShooterSubsystem.java create mode 100644 src/main/java/frc/robot/subsystems/SwerveModule.java create mode 100644 src/main/java/frc/robot/subsystems/VisionSubsystem.java create mode 100644 vendordeps/PathplannerLib.json diff --git a/build.gradle b/build.gradle index a34fb4c..5159c6c 100644 --- a/build.gradle +++ b/build.gradle @@ -1,6 +1,6 @@ plugins { id "java" - id "edu.wpi.first.GradleRIO" version "2024.2.1" + id "edu.wpi.first.GradleRIO" version "2024.3.1" } java { diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 6b8bf5c..0921878 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -25,118 +25,112 @@ * constants are needed, to reduce verbosity. */ public final class Constants { - /** - * Input/Output constants - */ - public static final class IOConstants { - public static final int kDriverControllerPort = 0; - - public static final double kControllerDeadband = 0.2; - public static final double kSlowModeScalar = 0.8; - } - - public static final class DriveConstants { - // TODO: set motor and encoder constants - public static final int kFrontLeftDriveMotorPort = 32; - public static final int kRearLeftDriveMotorPort = 29; - public static final int kFrontRightDriveMotorPort = 38; - public static final int kRearRightDriveMotorPort = 34; - - public static final int kFrontLeftTurningMotorPort = 28; - public static final int kRearLeftTurningMotorPort = 22; - public static final int kFrontRightTurningMotorPort = 37; - public static final int kRearRightTurningMotorPort = 26; - - public static final int kFrontLeftTurningEncoderPort = 19; - public static final int kRearLeftTurningEncoderPort = 20; - public static final int kFrontRightTurningEncoderPort = 18; - public static final int kRearRightTurningEncoderPort = 17; - - public static final double kFrontLeftTurningEncoderOffset = 0; - public static final double kRearLeftTurningEncoderOffset = 0; - public static final double kFrontRightTurningEncoderOffset = 0; - public static final double kRearRightTurningEncoderOffset = 0; - - // TODO: Test motor orientations before driving on an actual robot - public static final boolean kFrontLeftDriveMotorReversed = false; - public static final boolean kRearLeftDriveMotorReversed = false; - public static final boolean kFrontRightDriveMotorReversed = true; - public static final boolean kRearRightDriveMotorReversed = true; - - /** Distance between centers of right and left wheels on robot (in meters). */ - public static final double kTrackWidth = 0.57785; - - /** Distance between front and back wheels on robot (in meters). */ - public static final double kWheelBase = 0.57785; - - /** Diameter of each wheel in the SDS MK4i swerve module (in meters) */ - public static final double kWheelDiameterMeters = 0.1; - - /** Gear ratio between the motor and the wheel. */ - public static final double kDrivingGearRatio = 8.14; // SDS MK4i's in L1 Configuration - // public static final double kDrivingGearRatio = 6.75; // SDS MK4i's in L2 - // configuration - - // TODO: Tune this PID before running on a robot on the ground - public static final double kPModuleTurningController = -0.3; - - public static final SwerveDriveKinematics kDriveKinematics = new SwerveDriveKinematics( - new Translation2d(kWheelBase / 2, kTrackWidth / 2), - new Translation2d(kWheelBase / 2, -kTrackWidth / 2), - new Translation2d(-kWheelBase / 2, kTrackWidth / 2), - new Translation2d(-kWheelBase / 2, -kTrackWidth / 2)); - - /** For a a SDS Mk4i L1 swerve base with Neo Vortexes */ - public static final double kMaxSpeedMetersPerSecond = 4.4196; - /** For a a SDS Mk4i L1 swerve base with Neo Vortexes */ - public static final double kMaxAngularSpeedRadiansPerSecond = 10.8164; - // ^^ Calculated using the method taken from the old SDS github example - - /** Heading Correction */ - public static final double kHeadingCorrectionTurningStopTime = 0.2; - // TODO: Tune this PID before running on a robot on the ground - public static final double kPHeadingCorrectionController = 5; - } - - // Intake PID and Encoder Constants - public static class IntakeConstants { - //TODO: figure out constants - //public static final boolean kPivotMotorInverted = true; - public static final double kIntakeLoweredAngle = 9.0; - public static final double kIntakeRaisedAngle = 60.0; - public static final int kIntakeMotorID = 0; - public static final double kIntakeMotorSpeed = -3.0; - public static final int kArmMotorID = 0; - public static final int kArmEncoderCh = 0; - public static double kIntakeSpeed = 3.0; - } - - // Shooter subsystem speed constants - public static class ShooterConstants { - public static final double kSpinSpeedTrue = 0.75; - public static final double kSpinSpeedFalse = 0; - public static int kBottomShooterMotorPort; - public static int kTopShooterMotorPort; - - } - - public static final class VisionConstants { - // TODO: Update cam pose relative to center of bot - public static final Pose3d kCamPose = new Pose3d(0, 0, 0, new Rotation3d(0, 0, 0)); - public static final double[] kLimelightCamPose = { - kCamPose.getX(), - kCamPose.getY(), - kCamPose.getZ(), - kCamPose.getRotation().getX(), - kCamPose.getRotation().getY(), - kCamPose.getRotation().getZ() }; - - // TODO: Experiment with different std devs in the pose estimator - public static final Vector kOdometrySTDDevs = VecBuilder.fill(0.1, 0.1, 0.1); - public static final Vector kVisionSTDDevs = VecBuilder.fill(0.9, 0.9, 0.9); - - // Field size in meters - public static final double kFieldWidth = 8.21055; - public static final double kFieldLength = 16.54175; - } + + /** + * Input/Output constants + */ + public static final class IOConstants { + public static final int kDriverControllerPort = 0; + public static final int kOperatorControllerPort = 1; + + public static final double kControllerDeadband = 0.05; + public static final double kSlowModeScalar = 0.8; + } + + public static final class DriveConstants { + // TODO: set motor and encoder constants + public static final int kFrontLeftDriveMotorPort = 32; + public static final int kRearLeftDriveMotorPort = 29; + public static final int kFrontRightDriveMotorPort = 38; + public static final int kRearRightDriveMotorPort = 34; + + public static final int kFrontLeftTurningMotorPort = 28; + public static final int kRearLeftTurningMotorPort = 22; + public static final int kFrontRightTurningMotorPort = 37; + public static final int kRearRightTurningMotorPort = 26; + + public static final int kFrontLeftTurningEncoderPort = 5; + public static final int kRearLeftTurningEncoderPort = 6; + public static final int kFrontRightTurningEncoderPort = 3; + public static final int kRearRightTurningEncoderPort = 4; + + // TODO: Test motor orientations before driving on an actual robot + public static final boolean kFrontLeftDriveMotorReversed = false; + public static final boolean kRearLeftDriveMotorReversed = false; + public static final boolean kFrontRightDriveMotorReversed = true; + public static final boolean kRearRightDriveMotorReversed = true; + + /** Distance between centers of right and left wheels on robot (in meters). */ + public static final double kTrackWidth = 0.57785; + + /** Distance between front and back wheels on robot (in meters). */ + public static final double kWheelBase = 0.57785; + + /** Diameter of each wheel in the SDS MK4i swerve module (in meters) */ + public static final double kWheelDiameterMeters = 0.1; + + /** Gear ratio between the motor and the wheel. */ + public static final double kDrivingGearRatio = 8.14; // SDS MK4i's in L1 Configuration + // public static final double kDrivingGearRatio = 6.75; // SDS MK4i's in L2 + // configuration + + // TODO: Tune this PID before running on a robot on the ground + public static final double kPModuleTurningController = 0.3; + + public static final SwerveDriveKinematics kDriveKinematics = new SwerveDriveKinematics( + new Translation2d(kWheelBase / 2, kTrackWidth / 2), + new Translation2d(kWheelBase / 2, -kTrackWidth / 2), + new Translation2d(-kWheelBase / 2, kTrackWidth / 2), + new Translation2d(-kWheelBase / 2, -kTrackWidth / 2)); + + /** For a a SDS Mk4i L1 swerve base with Neo Vortexes */ + public static final double kMaxSpeedMetersPerSecond = 4.4196; + /** For a a SDS Mk4i L1 swerve base with Neo Vortexes */ + public static final double kMaxAngularSpeedRadiansPerSecond = 10.8164; + // ^^ Calculated using the method taken from the old SDS github example + + /** Heading Correction */ + public static final double kHeadingCorrectionTurningStopTime = 0.2; + // TODO: Tune this PID before running on a robot on the ground + public static final double kPHeadingCorrectionController = 5; + } + + // Intake PID and Encoder Constants + public static class IntakeConstants { + // TODO: figure out constants + // public static final boolean kPivotMotorInverted = true; + public static final double kIntakeLoweredAngle = 9.0; + public static final double kIntakeRaisedAngle = 60.0; + public static final int kIntakeMotorID = 0; + public static final double kIntakeMotorSpeed = -3.0; + public static final int kArmMotorID = 0; + public static final int kArmEncoderCh = 0; + public static double kIntakeSpeed = 3.0; + } + + public static final class ShooterConstants { + public static final int kTopShooterMotorPort = 35; + public static final int kBottomShooterMotorPort = 20; + } + + public static final class VisionConstants { + // TODO: Update cam pose relative to center of bot + public static final Pose3d kCamPose = new Pose3d(0, 0, 0, new Rotation3d(0, 0, 0)); + public static final double[] kLimelightCamPose = { + kCamPose.getX(), + kCamPose.getY(), + kCamPose.getZ(), + kCamPose.getRotation().getX(), + kCamPose.getRotation().getY(), + kCamPose.getRotation().getZ() }; + + // TODO: Experiment with different std devs in the pose estimator + public static final Vector kOdometrySTDDevs = VecBuilder.fill(0.1, 0.1, 0.01); + public static final Vector kVisionSTDDevs = VecBuilder.fill(0.9, 0.9, 0.9); + + // Field size in meters + public static final double kFieldWidth = 8.21055; + public static final double kFieldLength = 16.54175; + } + } diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 5606606..9c71381 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -4,19 +4,29 @@ package frc.robot; +import com.pathplanner.lib.auto.AutoBuilder; +import com.pathplanner.lib.path.PathConstraints; +import com.pathplanner.lib.path.PathPlannerPath; +import com.pathplanner.lib.util.HolonomicPathFollowerConfig; +import com.pathplanner.lib.util.PIDConstants; +import com.pathplanner.lib.util.ReplanningConfig; + import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj.XboxController.Button; import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.button.JoystickButton; -import frc.robot.Constants.IntakeConstants; -import frc.robot.commands.IntakeCommand; import frc.robot.Constants.DriveConstants; import frc.robot.Constants.IOConstants; +import frc.robot.commands.IntakeCommand; +import frc.robot.subsystems.DriveSubsystem; import frc.robot.subsystems.IntakeSubsystem; +import frc.robot.subsystems.ShooterSubsystem; /* * This class is where the bulk of the robot should be declared. Since Command-based is a @@ -25,34 +35,85 @@ * (including subsystems, commands, and button mappings) should be declared here. */ public class RobotContainer { + // The robot's subsystems and commands are defined here + private final DriveSubsystem m_robotDrive = new DriveSubsystem(); + private final ShooterSubsystem m_shooterSubsystem = new ShooterSubsystem(); public final IntakeSubsystem m_intakeSubsystem = new IntakeSubsystem(); private final XboxController m_driverController = new XboxController(IOConstants.kDriverControllerPort); + private final XboxController m_operatorController = new XboxController(IOConstants.kOperatorControllerPort); + /** + * The container for the robot. Contains subsystems, IO devices, and commands. + */ public RobotContainer() { + + AutoBuilder.configureHolonomic(m_robotDrive::getPose, m_robotDrive::resetOdometry, + m_robotDrive::getChassisSpeeds, + m_robotDrive::autonDrive, + new HolonomicPathFollowerConfig( + new PIDConstants(5, 0.0, 0.0), // Translation PID constants + new PIDConstants(5, 0.0, 0.0), // Rotation PID constants + DriveConstants.kMaxSpeedMetersPerSecond, // Max module speed, in m/s + Math.hypot(DriveConstants.kTrackWidth, DriveConstants.kWheelBase), // Drive base radius in meters. Distance + // from robot center to furthest module. + new ReplanningConfig(true, true)), + () -> false, m_robotDrive); + // Configure the trigger bindings configureBindings(); - } - public void periodic() { + m_robotDrive.setDefaultCommand( + new RunCommand( + () -> m_robotDrive.drive( + MathUtil.applyDeadband( + -m_driverController.getLeftY(), + IOConstants.kControllerDeadband) + * DriveConstants.kMaxSpeedMetersPerSecond + * (1 - m_driverController + .getLeftTriggerAxis() + * IOConstants.kSlowModeScalar), + // * 0.8, + MathUtil.applyDeadband( + -m_driverController.getLeftX(), + IOConstants.kControllerDeadband) + * DriveConstants.kMaxSpeedMetersPerSecond + * (1 - m_driverController + .getLeftTriggerAxis() + * IOConstants.kSlowModeScalar), + // * 0.8, + MathUtil.applyDeadband( + -m_driverController.getRightX(), + IOConstants.kControllerDeadband) + * DriveConstants.kMaxAngularSpeedRadiansPerSecond + * (1 - m_driverController + .getLeftTriggerAxis() + * IOConstants.kSlowModeScalar) + / 2, + !m_driverController.getRightBumper()), + m_robotDrive)); } /** * Use this method to define your button->command mappings. */ private void configureBindings() { - new JoystickButton(m_driverController, Button.kX.value) - .whileTrue( new IntakeCommand(m_intakeSubsystem) ); - // TODO: Move shoot commands to operator controller - // new JoystickButton(m_driverController, Button.kY.value) - // .onTrue(new InstantCommand(() -> m_intakeSubsystem.tiltToAngle(IntakeConstants.kIntakeLoweredAngle), - // m_intakeSubsystem)) - // .onFalse(new InstantCommand(m_intakeSubsystem::stopRotating, m_intakeSubsystem)); - // new JoystickButton(m_driverController, Button.kX.value) - // .onTrue(new InstantCommand(() -> m_intakeSubsystem.tiltToAngle(IntakeConstants.kIntakeRaisedAngle), - // m_intakeSubsystem)) - // .onFalse(new InstantCommand(m_intakeSubsystem::stopRotating, m_intakeSubsystem)); + new JoystickButton(m_driverController, Button.kStart.value) + .onTrue(new InstantCommand(m_robotDrive::zeroHeading, m_robotDrive)); + + // new JoystickButton(m_driverController, Button.kA.value).whileTrue( + // AutoBuilder.pathfindToPose(new Pose2d(2.8, 5.5, new Rotation2d()), new PathConstraints( + // DriveConstants.kMaxSpeedMetersPerSecond - 1, 5, DriveConstants.kMaxAngularSpeedRadiansPerSecond - 1, 5))); + new JoystickButton(m_operatorController, Button.kX.value) + .onTrue(new InstantCommand(() -> m_shooterSubsystem.spin(0.75), m_shooterSubsystem)) + .onFalse(new InstantCommand(() -> m_shooterSubsystem.spin(0), m_shooterSubsystem)); + new JoystickButton(m_operatorController, Button.kY.value) + .onTrue(new InstantCommand(() -> m_shooterSubsystem.spin(-0.75), m_shooterSubsystem)) + .onFalse(new InstantCommand(() -> m_shooterSubsystem.spin(0), m_shooterSubsystem)); + + new JoystickButton(m_driverController, Button.kX.value) + .whileTrue(new IntakeCommand(m_intakeSubsystem)); } /** @@ -61,6 +122,20 @@ private void configureBindings() { * @return the command to run in autonomous */ public Command getAutonomousCommand() { - return Commands.print("No autonomous command configured"); + PathPlannerPath path = PathPlannerPath.fromPathFile("New New Path"); + + var alliance = DriverStation.getAlliance(); + PathPlannerPath autonPath = path; + if (alliance.isPresent() && alliance.get() == DriverStation.Alliance.Red) { + autonPath = autonPath.flipPath(); + } + m_robotDrive.resetOdometry(autonPath.getPreviewStartingHolonomicPose()); + + // return AutoBuilder.followPath(autonPath); + return null; + + // PathPlannerAuto pathPlannerAuto = new PathPlannerAuto("New Auto"); + + // return pathPlannerAuto; } -} \ No newline at end of file +} diff --git a/src/main/java/frc/robot/subsystems/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/DriveSubsystem.java new file mode 100644 index 0000000..6df1fae --- /dev/null +++ b/src/main/java/frc/robot/subsystems/DriveSubsystem.java @@ -0,0 +1,252 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot.subsystems; + +import java.util.Optional; + +import com.kauailabs.navx.frc.AHRS; + +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.controller.PIDController; +import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.kinematics.SwerveDriveKinematics; +import edu.wpi.first.math.kinematics.SwerveModulePosition; +import edu.wpi.first.math.kinematics.SwerveModuleState; +import edu.wpi.first.wpilibj.Timer; +import edu.wpi.first.wpilibj.smartdashboard.Field2d; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.robot.Constants.DriveConstants; +import frc.robot.Constants.VisionConstants; +import frc.robot.Robot; +import frc.robot.subsystems.VisionSubsystem.Measurement; + +public class DriveSubsystem extends SubsystemBase { + private final SwerveModule m_frontLeft = new SwerveModule( + DriveConstants.kFrontLeftDriveMotorPort, + DriveConstants.kFrontLeftTurningMotorPort, + DriveConstants.kFrontLeftTurningEncoderPort, + DriveConstants.kFrontLeftDriveMotorReversed); + + private final SwerveModule m_rearLeft = new SwerveModule( + DriveConstants.kRearLeftDriveMotorPort, + DriveConstants.kRearLeftTurningMotorPort, + DriveConstants.kRearLeftTurningEncoderPort, + DriveConstants.kRearLeftDriveMotorReversed); + + private final SwerveModule m_frontRight = new SwerveModule( + DriveConstants.kFrontRightDriveMotorPort, + DriveConstants.kFrontRightTurningMotorPort, + DriveConstants.kFrontRightTurningEncoderPort, + DriveConstants.kFrontRightDriveMotorReversed); + + private final SwerveModule m_rearRight = new SwerveModule( + DriveConstants.kRearRightDriveMotorPort, + DriveConstants.kRearRightTurningMotorPort, + DriveConstants.kRearRightTurningEncoderPort, + DriveConstants.kRearRightDriveMotorReversed); + + private final AHRS m_gyro = new AHRS(); + private double m_gyroAngle; + + private final Timer m_headingCorrectionTimer = new Timer(); + private final PIDController m_headingCorrectionPID = new PIDController(DriveConstants.kPHeadingCorrectionController, + 0, 0); + private SwerveModulePosition[] m_swerveModulePositions = new SwerveModulePosition[] { + m_frontLeft.getPosition(), + m_frontRight.getPosition(), + m_rearLeft.getPosition(), + m_rearRight.getPosition() + }; + + SwerveModuleState[] swerveModuleStates = { new SwerveModuleState(), new SwerveModuleState(), new SwerveModuleState(), + new SwerveModuleState() }; + + private final SwerveDrivePoseEstimator m_poseEstimator = new SwerveDrivePoseEstimator(DriveConstants.kDriveKinematics, + m_gyro.getRotation2d(), m_swerveModulePositions, new Pose2d(), VisionConstants.kOdometrySTDDevs, + VisionConstants.kVisionSTDDevs); + + private final VisionSubsystem m_visionSubsystem = new VisionSubsystem(); + + private final Field2d m_field = new Field2d(); + + /** Creates a new DriveSubsystem. */ + public DriveSubsystem() { + SmartDashboard.putData("Field", m_field); + m_headingCorrectionTimer.restart(); + m_headingCorrectionPID.enableContinuousInput(-Math.PI, Math.PI); + } + + @Override + public void periodic() { + // This method will be called once per scheduler run + + m_swerveModulePositions = new SwerveModulePosition[] { + m_frontLeft.getPosition(), + m_frontRight.getPosition(), + m_rearLeft.getPosition(), + m_rearRight.getPosition() + }; + + m_poseEstimator.update(Robot.isReal() ? m_gyro.getRotation2d() : new Rotation2d(m_gyroAngle), + m_swerveModulePositions); + + Optional latestReading = m_visionSubsystem.getMeasurement(); + + // SmartDashboard.putBoolean("reading present", latestReading.isPresent()); + + if (latestReading.isPresent()) { + m_poseEstimator.addVisionMeasurement(latestReading.get().pose.toPose2d(), latestReading.get().timestamp); + } + + m_field.setRobotPose(m_poseEstimator.getEstimatedPosition()); + + SmartDashboard.putNumber("gyro angle", m_gyro.getAngle()); + SmartDashboard.putNumber("odometryX", m_poseEstimator.getEstimatedPosition().getX()); + SmartDashboard.putNumber("odometryY", m_poseEstimator.getEstimatedPosition().getY()); + + // AdvantageScope Logging + double[] logData = { + m_frontLeft.getPosition().angle.getDegrees(), m_frontLeft.driveOutput, + m_frontRight.getPosition().angle.getDegrees(), m_frontRight.driveOutput, + m_rearLeft.getPosition().angle.getDegrees(), m_rearLeft.driveOutput, + m_rearRight.getPosition().angle.getDegrees(), m_rearRight.driveOutput, + }; + SmartDashboard.putNumberArray("AdvantageScope Swerve States", logData); + + setModuleStates(swerveModuleStates); + } + + /** + * Returns the currently-estimated pose of the robot. + * + * @return The pose. + */ + public Pose2d getPose() { + return m_poseEstimator.getEstimatedPosition(); + } + + /** + * Method to drive the robot using joystick info. + * + * @param xSpeed Speed of the robot in the x direction (forward). + * @param ySpeed Speed of the robot in the y direction (sideways). + * @param rotation Angular rotation speed of the robot. + * @param fieldRelative Whether the provided x and y speeds are relative to the + * field. + */ + public void drive(double xSpeed, double ySpeed, double rotation, boolean fieldRelative) { + // If we are rotating, reset the timer + if (rotation != 0) { + m_headingCorrectionTimer.reset(); + } + + /* + * Heading correction helps maintain the same heading and + * prevents rotational drive while our robot is translating + * + * For heading correction we use a timer to ensure that we + * lose all rotational momentum before saving the heading + * that we want to maintain + */ + + // TODO: Test heading correction without timer + // TODO: Test heading correction using gyro's rotational velocity (if it is 0 + // then set heading instead of timer) + + // Save our desired rotation to a variable we can add our heading correction + // adjustments to + double calculatedRotation = rotation; + + double currentAngle = MathUtil.angleModulus(m_gyro.getRotation2d().getRadians()); + + // If we are not translating or if not enough time has passed since the last + // time we rotated + if ((xSpeed == 0 && ySpeed == 0) + || m_headingCorrectionTimer.get() < DriveConstants.kHeadingCorrectionTurningStopTime) { + // Update our desired angle + m_headingCorrectionPID.setSetpoint(currentAngle); + } else { + // If we are translating or if we have not rotated for a long enough time + // then maintain our desired angle + calculatedRotation = m_headingCorrectionPID.calculate(currentAngle); + } + + // Depending on whether the robot is being driven in field relative, calculate + // the desired states for each of the modules + swerveModuleStates = DriveConstants.kDriveKinematics.toSwerveModuleStates( + fieldRelative + ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeed, ySpeed, calculatedRotation, + Robot.isReal() ? m_gyro.getRotation2d() : new Rotation2d(m_gyroAngle)) + : new ChassisSpeeds(xSpeed, ySpeed, calculatedRotation)); + } + + public ChassisSpeeds getChassisSpeeds() { + return DriveConstants.kDriveKinematics.toChassisSpeeds(swerveModuleStates); + } + + /** + * Resets the odometry to the specified pose. + * + * @param pose The pose to which to set the odometry. + */ + public void resetOdometry(Pose2d pose) { + m_poseEstimator.resetPosition( + Robot.isReal() ? m_gyro.getRotation2d() : new Rotation2d(m_gyroAngle), + new SwerveModulePosition[] { + m_frontLeft.getPosition(), + m_frontRight.getPosition(), + m_rearLeft.getPosition(), + m_rearRight.getPosition() + }, + pose); + } + + /** Zeroes the heading of the robot. */ + public void zeroHeading() { + m_gyro.reset(); + m_gyroAngle = 0; + } + + public void addVisionMeasurement(Pose2d pose, double timestamp) { + m_poseEstimator.addVisionMeasurement(pose, timestamp); + } + + /** + * Sets the swerve ModuleStates. Overloaded for either auton builder or teleop. + * + * @param desiredStates The desired SwerveModule states. + */ + public void setModuleStates(SwerveModuleState[] desiredStates) { + SwerveDriveKinematics.desaturateWheelSpeeds(desiredStates, DriveConstants.kMaxSpeedMetersPerSecond); + + m_frontLeft.setDesiredState(desiredStates[0]); + m_frontRight.setDesiredState(desiredStates[1]); + m_rearLeft.setDesiredState(desiredStates[2]); + m_rearRight.setDesiredState(desiredStates[3]); + + // AdvantageScope Logging + double[] logData = { + desiredStates[0].angle.getDegrees(), desiredStates[0].speedMetersPerSecond, + desiredStates[1].angle.getDegrees(), desiredStates[1].speedMetersPerSecond, + desiredStates[2].angle.getDegrees(), desiredStates[2].speedMetersPerSecond, + desiredStates[3].angle.getDegrees(), desiredStates[3].speedMetersPerSecond, + }; + SmartDashboard.putNumberArray("AdvantageScope Swerve Desired States", logData); + + // Takes the integral of the rotation speed to find the current angle for the + // simulator + m_gyroAngle += DriveConstants.kDriveKinematics.toChassisSpeeds(desiredStates).omegaRadiansPerSecond + * Robot.kDefaultPeriod; + } + + public void autonDrive(ChassisSpeeds desiredChassisSpeeds) { + swerveModuleStates = DriveConstants.kDriveKinematics.toSwerveModuleStates(desiredChassisSpeeds); + } + +} diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java new file mode 100644 index 0000000..afdbd19 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java @@ -0,0 +1,32 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot.subsystems; + +import com.revrobotics.CANSparkFlex; +import com.revrobotics.CANSparkLowLevel.MotorType; + +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.robot.Constants.ShooterConstants; + +public class ShooterSubsystem extends SubsystemBase { + /** Creates a new ShooterSubsystem. */ + CANSparkFlex m_bottom = new CANSparkFlex(ShooterConstants.kBottomShooterMotorPort, MotorType.kBrushless); + CANSparkFlex m_top = new CANSparkFlex(ShooterConstants.kTopShooterMotorPort, MotorType.kBrushless); + + public ShooterSubsystem() { + + } + + public void spin(double speed) { + m_bottom.set(speed); + m_top.set(speed); + } + + @Override + public void periodic() { + // This method will be called once per scheduler run + // SmartDashboard.putNumber("Speed", m_bottom.); + } +} diff --git a/src/main/java/frc/robot/subsystems/SwerveModule.java b/src/main/java/frc/robot/subsystems/SwerveModule.java new file mode 100644 index 0000000..674e125 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/SwerveModule.java @@ -0,0 +1,113 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot.subsystems; + +import com.ctre.phoenix6.hardware.CANcoder; +import com.revrobotics.CANSparkBase.IdleMode; +import com.revrobotics.CANSparkFlex; +import com.revrobotics.CANSparkLowLevel.MotorType; + +import edu.wpi.first.math.controller.PIDController; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.kinematics.SwerveModulePosition; +import edu.wpi.first.math.kinematics.SwerveModuleState; +import frc.robot.Constants.DriveConstants; +import frc.robot.Robot; + +public class SwerveModule { + private final CANSparkFlex m_driveMotor; + private final CANSparkFlex m_turningMotor; + + private final CANcoder m_turningEncoder; + + private final PIDController m_turningPIDController = new PIDController(DriveConstants.kPModuleTurningController, 0, + 0); + + private SwerveModuleState m_state = new SwerveModuleState(); + private double m_distance; + + public double driveOutput; + public double turnOutput; + + /** + * Constructs a {@link SwerveModule}. + * + * @param driveMotorPort The port of the drive motor. + * @param turningMotorPort The port of the turning motor. + * @param turningEncoderPort The port of the turning encoder. + * @param driveMotorReversed Whether the drive motor is reversed. + */ + public SwerveModule( + int driveMotorPort, + int turningMotorPort, + int turningEncoderPort, + boolean driveMotorReversed) { + m_driveMotor = new CANSparkFlex(driveMotorPort, MotorType.kBrushless); + m_turningMotor = new CANSparkFlex(turningMotorPort, MotorType.kBrushless); + m_turningEncoder = new CANcoder(turningEncoderPort); + + // converts default units to meters per second + m_driveMotor.getEncoder().setVelocityConversionFactor( + DriveConstants.kWheelDiameterMeters * Math.PI / 60 / DriveConstants.kDrivingGearRatio); + m_driveMotor.getEncoder().setPositionConversionFactor( + DriveConstants.kWheelDiameterMeters * Math.PI / DriveConstants.kDrivingGearRatio); + + m_driveMotor.setInverted(driveMotorReversed); + + m_driveMotor.setIdleMode(IdleMode.kBrake); + + m_turningMotor.setInverted(true); + + m_turningMotor.setIdleMode(IdleMode.kBrake); + + m_turningPIDController.enableContinuousInput(-Math.PI, Math.PI); + } + + /** + * Returns the current position of the module. + * + * @return The current position of the module. + */ + public SwerveModulePosition getPosition() { + m_distance += m_state.speedMetersPerSecond * Robot.kDefaultPeriod; + + // If the robot is real, then return the swerve module state by reading from the + // actual encoders + // If the robot is simulated, then return the swerve module state using the + // expected values + return Robot.isReal() + ? new SwerveModulePosition(m_driveMotor.getEncoder().getPosition(), + getTurnEncoderAngle()) + : new SwerveModulePosition(m_distance, m_state.angle); + } + + /** + * Sets the desired state for the module. + * + * @param desiredState Desired state with speed and angle. + */ + public void setDesiredState(SwerveModuleState desiredState) { + m_state = SwerveModuleState.optimize(desiredState, getTurnEncoderAngle()); + driveOutput = m_state.speedMetersPerSecond / DriveConstants.kMaxSpeedMetersPerSecond; + + turnOutput = m_turningPIDController.calculate(getTurnEncoderAngle().getRadians(), + m_state.angle.getRadians()); + + m_driveMotor.set(driveOutput); + m_turningMotor.set(turnOutput); + } + + /** + * Returns the angle of the turning CANcoder + * + * The CANcoder now gives values in rotations which is useless, so this method + * translates the CANcoder output into a Rotation2D + * + * @return A Rotation2d of the absolute angle. + */ + public Rotation2d getTurnEncoderAngle() { + return new Rotation2d(m_turningEncoder.getAbsolutePosition().getValueAsDouble() * 2 * Math.PI); + } +} diff --git a/src/main/java/frc/robot/subsystems/VisionSubsystem.java b/src/main/java/frc/robot/subsystems/VisionSubsystem.java new file mode 100644 index 0000000..e22d3e0 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/VisionSubsystem.java @@ -0,0 +1,120 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot.subsystems; + +import java.util.Arrays; +import java.util.Optional; + +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.geometry.Rotation3d; +import edu.wpi.first.math.geometry.Translation3d; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.numbers.N3; +import edu.wpi.first.math.util.Units; +import edu.wpi.first.networktables.DoubleArraySubscriber; +import edu.wpi.first.networktables.IntegerSubscriber; +import edu.wpi.first.networktables.NetworkTable; +import edu.wpi.first.networktables.NetworkTableInstance; +import edu.wpi.first.networktables.TimestampedDoubleArray; +import edu.wpi.first.wpilibj.Timer; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.robot.Constants.VisionConstants; + +/** + *

+ * In 3D poses and transforms: + *

    + *
  • +X is north/forward, + *
  • +Y is west/left, + *
  • +Z is up. + *
+ * + *

+ * On the field (0, 0, 0) in 3D space is the right corner of the blue alliance + * driver station + * Therefore, from the blue driver station: +X is forward, +Y is left, +Z is up + * + *

+ * In 2D poses and transforms: + *

    + *
  • +X is away from the driver, + *
  • +Y is toward the blue alliance driver's left and to the red alliance + * driver's right + *
  • +Rotation is clockwise + *
+ */ +public class VisionSubsystem extends SubsystemBase { + + NetworkTable m_visionNetworkTable = NetworkTableInstance.getDefault().getTable("limelight"); + + private final DoubleArraySubscriber m_botPose; + + private final IntegerSubscriber m_tv; + + /** Creates a new Limelight. */ + public VisionSubsystem() { + // Provide the limelight with the camera pose relative to the center of the + // robot + m_visionNetworkTable.getEntry("camerapose_robotspace_set").setDoubleArray(VisionConstants.kLimelightCamPose); + + // Create subscribers to get values from the limelight + m_botPose = m_visionNetworkTable.getDoubleArrayTopic("botpose_wpiblue").subscribe(null); + m_tv = m_visionNetworkTable.getIntegerTopic("tv").subscribe(0); + } + + @Override + public void periodic() { + // This method will be called once per scheduler run + + SmartDashboard.putBoolean("Limelight Has Target", m_tv.get() == 1); + } + + public Optional getMeasurement() { + TimestampedDoubleArray[] updates = m_botPose.readQueue(); + + // If we have had no updates since the last time this method ran then return + // nothing + if (updates.length == 0) { + return Optional.empty(); + } + + TimestampedDoubleArray update = updates[updates.length - 1]; + + // If the latest update is empty or we don't see an april tag then return + // nothing + if (Arrays.equals(update.value, new double[6]) || m_tv.get() == 0) { + return Optional.empty(); + } + + double x = update.value[0]; + double y = update.value[1]; + double z = update.value[2]; + double roll = Units.degreesToRadians(update.value[3]); + double pitch = Units.degreesToRadians(update.value[4]); + double yaw = Units.degreesToRadians(update.value[5]); + + double timestamp = Timer.getFPGATimestamp() - (update.value[6] / 1000.0); + Pose3d pose = new Pose3d(new Translation3d(x, y, z), new Rotation3d(roll, pitch, yaw)); + + return Optional.of(new Measurement( + timestamp, + pose, + VisionConstants.kVisionSTDDevs)); + } + + public static class Measurement { + public double timestamp; + public Pose3d pose; + public Matrix stdDeviation; + + public Measurement(double timestamp, Pose3d pose, Matrix stdDeviation) { + this.timestamp = timestamp; + this.pose = pose; + this.stdDeviation = stdDeviation; + } + } +} diff --git a/vendordeps/PathplannerLib.json b/vendordeps/PathplannerLib.json new file mode 100644 index 0000000..ff15fab --- /dev/null +++ b/vendordeps/PathplannerLib.json @@ -0,0 +1,38 @@ +{ + "fileName": "PathplannerLib.json", + "name": "PathplannerLib", + "version": "2024.2.3", + "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786", + "frcYear": "2024", + "mavenUrls": [ + "https://3015rangerrobotics.github.io/pathplannerlib/repo" + ], + "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json", + "javaDependencies": [ + { + "groupId": "com.pathplanner.lib", + "artifactId": "PathplannerLib-java", + "version": "2024.2.3" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "com.pathplanner.lib", + "artifactId": "PathplannerLib-cpp", + "version": "2024.2.3", + "libName": "PathplannerLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal", + "linuxathena", + "linuxarm32", + "linuxarm64" + ] + } + ] +} \ No newline at end of file diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib.json index 0f3520e..a829581 100644 --- a/vendordeps/REVLib.json +++ b/vendordeps/REVLib.json @@ -1,7 +1,7 @@ { "fileName": "REVLib.json", "name": "REVLib", - "version": "2024.2.0", + "version": "2024.2.1", "frcYear": "2024", "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", "mavenUrls": [ @@ -12,14 +12,14 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-java", - "version": "2024.2.0" + "version": "2024.2.1" } ], "jniDependencies": [ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2024.2.0", + "version": "2024.2.1", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -37,7 +37,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-cpp", - "version": "2024.2.0", + "version": "2024.2.1", "libName": "REVLib", "headerClassifier": "headers", "sharedLibrary": false, @@ -55,7 +55,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2024.2.0", + "version": "2024.2.1", "libName": "REVLibDriver", "headerClassifier": "headers", "sharedLibrary": false, From e36a1f0336fad9173938b65b3b77761b52c4a98f Mon Sep 17 00:00:00 2001 From: Anay Nagar Date: Fri, 23 Feb 2024 00:19:57 -0800 Subject: [PATCH 3/7] Fixed vendordep issue --- build.gradle | 2 + .../DistanceSensor-java-0.4.0-javadoc.jar.md5 | 1 + ...DistanceSensor-java-0.4.0-javadoc.jar.sha1 | 1 + ...stanceSensor-java-0.4.0-javadoc.jar.sha256 | 1 + ...stanceSensor-java-0.4.0-javadoc.jar.sha512 | 1 + .../DistanceSensor-java-0.4.0-sources.jar.md5 | 1 + ...DistanceSensor-java-0.4.0-sources.jar.sha1 | 1 + ...stanceSensor-java-0.4.0-sources.jar.sha256 | 1 + ...stanceSensor-java-0.4.0-sources.jar.sha512 | 1 + .../0.4.0/DistanceSensor-java-0.4.0.jar.md5 | 1 + .../0.4.0/DistanceSensor-java-0.4.0.jar.sha1 | 1 + .../DistanceSensor-java-0.4.0.jar.sha256 | 1 + .../DistanceSensor-java-0.4.0.jar.sha512 | 1 + .../0.4.0/DistanceSensor-java-0.4.0.pom | 8 +++ .../0.4.0/DistanceSensor-java-0.4.0.pom.md5 | 1 + .../0.4.0/DistanceSensor-java-0.4.0.pom.sha1 | 1 + .../DistanceSensor-java-0.4.0.pom.sha256 | 1 + .../DistanceSensor-java-0.4.0.pom.sha512 | 1 + .../DistanceSensor-java/maven-metadata.xml | 13 +++++ .../maven-metadata.xml.md5 | 1 + .../maven-metadata.xml.sha1 | 1 + .../maven-metadata.xml.sha256 | 1 + .../maven-metadata.xml.sha512 | 1 + vendordeps/REV2mDistanceSensor.json | 56 ------------------- 24 files changed, 43 insertions(+), 56 deletions(-) create mode 100644 vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-javadoc.jar.md5 create mode 100644 vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-javadoc.jar.sha1 create mode 100644 vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-javadoc.jar.sha256 create mode 100644 vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-javadoc.jar.sha512 create mode 100644 vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-sources.jar.md5 create mode 100644 vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-sources.jar.sha1 create mode 100644 vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-sources.jar.sha256 create mode 100644 vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-sources.jar.sha512 create mode 100644 vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.jar.md5 create mode 100644 vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.jar.sha1 create mode 100644 vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.jar.sha256 create mode 100644 vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.jar.sha512 create mode 100644 vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.pom create mode 100644 vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.pom.md5 create mode 100644 vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.pom.sha1 create mode 100644 vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.pom.sha256 create mode 100644 vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.pom.sha512 create mode 100644 vendordeps/DistanceSensor-java/maven-metadata.xml create mode 100644 vendordeps/DistanceSensor-java/maven-metadata.xml.md5 create mode 100644 vendordeps/DistanceSensor-java/maven-metadata.xml.sha1 create mode 100644 vendordeps/DistanceSensor-java/maven-metadata.xml.sha256 create mode 100644 vendordeps/DistanceSensor-java/maven-metadata.xml.sha512 delete mode 100644 vendordeps/REV2mDistanceSensor.json diff --git a/build.gradle b/build.gradle index 5159c6c..1781415 100644 --- a/build.gradle +++ b/build.gradle @@ -69,6 +69,8 @@ dependencies { testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' //testRuntimeOnly 'org.junit.platform:junit-platform-launcher' + + implementation files(project.fileTree('vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.jar')) } test { diff --git a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-javadoc.jar.md5 b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-javadoc.jar.md5 new file mode 100644 index 0000000..7b1240e --- /dev/null +++ b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-javadoc.jar.md5 @@ -0,0 +1 @@ +6f8c70f2552b1cd0e30686f819ed40a5 \ No newline at end of file diff --git a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-javadoc.jar.sha1 b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-javadoc.jar.sha1 new file mode 100644 index 0000000..adb2a2d --- /dev/null +++ b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-javadoc.jar.sha1 @@ -0,0 +1 @@ +ca009843c7d6b8fd20f6dc1bc37625730acd1079 \ No newline at end of file diff --git a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-javadoc.jar.sha256 b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-javadoc.jar.sha256 new file mode 100644 index 0000000..ac7e7ee --- /dev/null +++ b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-javadoc.jar.sha256 @@ -0,0 +1 @@ +7ff96ec68307f5a595b108b76c5b31522582ddd0b977b626a171541870c4ba13 \ No newline at end of file diff --git a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-javadoc.jar.sha512 b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-javadoc.jar.sha512 new file mode 100644 index 0000000..279128c --- /dev/null +++ b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-javadoc.jar.sha512 @@ -0,0 +1 @@ +8cfe8e644d9e3fa3b36b3b7ca4872d2b4db0a7e1598d26bedf578906198d6ff31370418745edb312c2e51867bddf0f22477c213d59184cd18227c0f8d1d2ba0f \ No newline at end of file diff --git a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-sources.jar.md5 b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-sources.jar.md5 new file mode 100644 index 0000000..509062b --- /dev/null +++ b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-sources.jar.md5 @@ -0,0 +1 @@ +f8a95e780a6748d68cf00439afe201bf \ No newline at end of file diff --git a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-sources.jar.sha1 b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-sources.jar.sha1 new file mode 100644 index 0000000..47e01a2 --- /dev/null +++ b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-sources.jar.sha1 @@ -0,0 +1 @@ +9ac6bb02a3f11690604087483118356982dc6f7e \ No newline at end of file diff --git a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-sources.jar.sha256 b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-sources.jar.sha256 new file mode 100644 index 0000000..2ff1dcc --- /dev/null +++ b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-sources.jar.sha256 @@ -0,0 +1 @@ +253e46cc86398f67d68d9e7b1b2d144c10ad38042fb6d87d9d6c78e53607d22e \ No newline at end of file diff --git a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-sources.jar.sha512 b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-sources.jar.sha512 new file mode 100644 index 0000000..ae5ac0d --- /dev/null +++ b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-sources.jar.sha512 @@ -0,0 +1 @@ +fe0b2ce49f50874577023ba31467abcabefb59738b15be32bb93834fe03e96ebce74dc5eff0fef803868a380454249fd4ec288686fb7d06c0c3e7dd74b68fe97 \ No newline at end of file diff --git a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.jar.md5 b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.jar.md5 new file mode 100644 index 0000000..1c4f7d6 --- /dev/null +++ b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.jar.md5 @@ -0,0 +1 @@ +f2b14559a827ace1877acd63b14944b1 \ No newline at end of file diff --git a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.jar.sha1 b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.jar.sha1 new file mode 100644 index 0000000..f80bfb1 --- /dev/null +++ b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.jar.sha1 @@ -0,0 +1 @@ +4414d84e6e41ffdad3e288dd16719fa176ae3b9f \ No newline at end of file diff --git a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.jar.sha256 b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.jar.sha256 new file mode 100644 index 0000000..536d1f4 --- /dev/null +++ b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.jar.sha256 @@ -0,0 +1 @@ +941e036108cb2d655e176796edb14c20e211c35007d46ef3eb6180804409502a \ No newline at end of file diff --git a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.jar.sha512 b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.jar.sha512 new file mode 100644 index 0000000..a5743a1 --- /dev/null +++ b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.jar.sha512 @@ -0,0 +1 @@ +2dc6fc4542ad979a1e079fa1481c2121847ba4898348e80e3aa39b011bb81b6978ba293462a2fef6e69fbf7ff059eb3eb5e5dd305bf10694ce3e2178cf843417 \ No newline at end of file diff --git a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.pom b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.pom new file mode 100644 index 0000000..a06c542 --- /dev/null +++ b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.pom @@ -0,0 +1,8 @@ + + + 4.0.0 + com.revrobotics.frc + DistanceSensor-java + 0.4.0 + diff --git a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.pom.md5 b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.pom.md5 new file mode 100644 index 0000000..1331e43 --- /dev/null +++ b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.pom.md5 @@ -0,0 +1 @@ +819293d5a23b2f0c48f0bd7b7c63de58 \ No newline at end of file diff --git a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.pom.sha1 b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.pom.sha1 new file mode 100644 index 0000000..e1b0201 --- /dev/null +++ b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.pom.sha1 @@ -0,0 +1 @@ +7dca382e0eb14d77848c218c2a3144f5fedf5793 \ No newline at end of file diff --git a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.pom.sha256 b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.pom.sha256 new file mode 100644 index 0000000..11b6731 --- /dev/null +++ b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.pom.sha256 @@ -0,0 +1 @@ +7493f2ebb2971d6495d8ec38e3a4fc4f37ca60693ca8df2a543f0fe5bed7d44f \ No newline at end of file diff --git a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.pom.sha512 b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.pom.sha512 new file mode 100644 index 0000000..486c48d --- /dev/null +++ b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.pom.sha512 @@ -0,0 +1 @@ +25422d83b3da5f25bad0113ea96273df8115f2322b67135cad61d83d6a3019f95f9eb1ea6d748a0e9fa12ec98e5f382b9300dc9b98c3ce062dffaca2ac75d83b \ No newline at end of file diff --git a/vendordeps/DistanceSensor-java/maven-metadata.xml b/vendordeps/DistanceSensor-java/maven-metadata.xml new file mode 100644 index 0000000..32d1d4b --- /dev/null +++ b/vendordeps/DistanceSensor-java/maven-metadata.xml @@ -0,0 +1,13 @@ + + + com.revrobotics.frc + DistanceSensor-java + + 0.4.0 + 0.4.0 + + 0.4.0 + + 20240110235233 + + diff --git a/vendordeps/DistanceSensor-java/maven-metadata.xml.md5 b/vendordeps/DistanceSensor-java/maven-metadata.xml.md5 new file mode 100644 index 0000000..ed04e20 --- /dev/null +++ b/vendordeps/DistanceSensor-java/maven-metadata.xml.md5 @@ -0,0 +1 @@ +e6fe7a7d309afdf067f3ba1a504d2515 \ No newline at end of file diff --git a/vendordeps/DistanceSensor-java/maven-metadata.xml.sha1 b/vendordeps/DistanceSensor-java/maven-metadata.xml.sha1 new file mode 100644 index 0000000..5e198ff --- /dev/null +++ b/vendordeps/DistanceSensor-java/maven-metadata.xml.sha1 @@ -0,0 +1 @@ +187ec2474e677e682cedf3aa50981be7e54b4369 \ No newline at end of file diff --git a/vendordeps/DistanceSensor-java/maven-metadata.xml.sha256 b/vendordeps/DistanceSensor-java/maven-metadata.xml.sha256 new file mode 100644 index 0000000..dc823a7 --- /dev/null +++ b/vendordeps/DistanceSensor-java/maven-metadata.xml.sha256 @@ -0,0 +1 @@ +adef4d4cf0f7d12e0f4045428b042acc72f8bb9f61f65916ff03cb0cfb8aba34 \ No newline at end of file diff --git a/vendordeps/DistanceSensor-java/maven-metadata.xml.sha512 b/vendordeps/DistanceSensor-java/maven-metadata.xml.sha512 new file mode 100644 index 0000000..7dfca02 --- /dev/null +++ b/vendordeps/DistanceSensor-java/maven-metadata.xml.sha512 @@ -0,0 +1 @@ +d0d24c1cfb09bbc9c373f9b28341d45a201df3ef4dcd2455202f8db549c8bfc66298f5f46180cb0b570c80354c4dab0cb2e43b34e85e55c20a372ab9edfc25ff \ No newline at end of file diff --git a/vendordeps/REV2mDistanceSensor.json b/vendordeps/REV2mDistanceSensor.json deleted file mode 100644 index adcfa42..0000000 --- a/vendordeps/REV2mDistanceSensor.json +++ /dev/null @@ -1,56 +0,0 @@ -{ - "fileName": "REV2mDistanceSensor.json", - "name": "REV2mDistanceSensor", - "version": "0.4.0", - "frcYear": "2024", - "uuid": "9e352acd-4eec-40f7-8490-3357b5ed65ae", - "mavenUrls": [ - "https://www.revrobotics.com/content/sw/max/sdk/maven/" - ], - "jsonUrl": "https://www.revrobotics.com/content/sw/max/sdk/Rev2mDistanceSensor.json", - "javaDependencies": [ - { - "groupId": "com.revrobotics.frc", - "artifactId": "DistanceSensor-java", - "version": "0.4.0" - } - ], - "jniDependencies": [ - { - "groupId": "com.revrobotics.frc", - "artifactId": "DistanceSensor-driver", - "version": "0.4.0", - "skipInvalidPlatforms": true, - "isJar": false, - "validPlatforms": [ - "linuxathena" - ] - } - ], - "cppDependencies": [ - { - "groupId": "com.revrobotics.frc", - "artifactId": "DistanceSensor-cpp", - "version": "0.4.0", - "libName": "libDistanceSensor", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "linuxathena" - ] - }, - { - "groupId": "com.revrobotics.frc", - "artifactId": "DistanceSensor-driver", - "version": "0.4.0", - "libName": "libDistanceSensorDriver", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "linuxathena" - ] - } - ] -} \ No newline at end of file From a3e8eff99c8ebfedfef77fc58a2ba25d39877b6a Mon Sep 17 00:00:00 2001 From: Anay Nagar Date: Fri, 23 Feb 2024 15:17:01 -0800 Subject: [PATCH 4/7] feat: Intake Subsystem --- src/main/java/frc/robot/Constants.java | 21 +-- src/main/java/frc/robot/RobotContainer.java | 10 +- .../frc/robot/commands/IntakeCommand.java | 19 +-- .../frc/robot/subsystems/IntakeSubsystem.java | 121 +++++++++--------- 4 files changed, 79 insertions(+), 92 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 0921878..13d5f01 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -95,17 +95,20 @@ public static final class DriveConstants { public static final double kPHeadingCorrectionController = 5; } - // Intake PID and Encoder Constants - public static class IntakeConstants { - // TODO: figure out constants - // public static final boolean kPivotMotorInverted = true; - public static final double kIntakeLoweredAngle = 9.0; - public static final double kIntakeRaisedAngle = 60.0; + public static final class IntakeConstants { public static final int kIntakeMotorID = 0; - public static final double kIntakeMotorSpeed = -3.0; public static final int kArmMotorID = 0; - public static final int kArmEncoderCh = 0; - public static double kIntakeSpeed = 3.0; + public static final int kArmEncoderChannel = 0; + + public static final double kIntakeLoweredAngle = 0; + public static final double kIntakeRaisedAngle = 120; + + public static final double kArmEncoderOffset = 0; + + public static final double kIntakeSpeed = 3.0; + + // TODO: Tune distance sensor threshold for detecting note + public static final double kDistanceSensorThreshold = 10; } public static final class ShooterConstants { diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 9c71381..ee32cba 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -21,6 +21,7 @@ import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.button.JoystickButton; +import edu.wpi.first.wpilibj2.command.button.Trigger; import frc.robot.Constants.DriveConstants; import frc.robot.Constants.IOConstants; import frc.robot.commands.IntakeCommand; @@ -112,8 +113,9 @@ private void configureBindings() { .onTrue(new InstantCommand(() -> m_shooterSubsystem.spin(-0.75), m_shooterSubsystem)) .onFalse(new InstantCommand(() -> m_shooterSubsystem.spin(0), m_shooterSubsystem)); - new JoystickButton(m_driverController, Button.kX.value) - .whileTrue(new IntakeCommand(m_intakeSubsystem)); + new Trigger(() -> { + return m_driverController.getRightTriggerAxis() > 0.5; + }).whileTrue(new IntakeCommand(m_intakeSubsystem)); } /** @@ -133,9 +135,5 @@ public Command getAutonomousCommand() { // return AutoBuilder.followPath(autonPath); return null; - - // PathPlannerAuto pathPlannerAuto = new PathPlannerAuto("New Auto"); - - // return pathPlannerAuto; } } diff --git a/src/main/java/frc/robot/commands/IntakeCommand.java b/src/main/java/frc/robot/commands/IntakeCommand.java index 39c081a..3e0813d 100644 --- a/src/main/java/frc/robot/commands/IntakeCommand.java +++ b/src/main/java/frc/robot/commands/IntakeCommand.java @@ -4,16 +4,11 @@ package frc.robot.commands; -import edu.wpi.first.math.controller.PIDController; -import edu.wpi.first.wpilibj.DutyCycleEncoder; -import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.subsystems.IntakeSubsystem; public class IntakeCommand extends Command { private IntakeSubsystem m_intakeSubsystem; - private Timer m_timer = new Timer(); - /** Creates a new intakeCommand. */ public IntakeCommand(IntakeSubsystem subsystem) { @@ -24,27 +19,23 @@ public IntakeCommand(IntakeSubsystem subsystem) { // Called when the command is initially scheduled. @Override public void initialize() { - m_timer.reset(); - m_timer.start(); - m_intakeSubsystem.turnOn(); + m_intakeSubsystem.armExtend(); } // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - if (m_intakeSubsystem.getDistanceSensor() < 5){ - m_intakeSubsystem.turnOff(); - } + } // Called once the command ends or is interrupted. @Override public void end(boolean interrupted) { - m_intakeSubsystem.turnOff(); + m_intakeSubsystem.armRetract(); } @Override - public boolean isFinished(){ - return m_timer.hasElapsed(5); + public boolean isFinished() { + return false; } } diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java index 15e145c..85533f4 100644 --- a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java +++ b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java @@ -4,69 +4,82 @@ package frc.robot.subsystems; -import com.ctre.phoenix6.signals.AbsoluteSensorRangeValue; -import com.revrobotics.CANSparkFlex; -import com.revrobotics.Rev2mDistanceSensor; import com.revrobotics.CANSparkBase.IdleMode; +import com.revrobotics.CANSparkFlex; import com.revrobotics.CANSparkLowLevel.MotorType; +import com.revrobotics.Rev2mDistanceSensor; import com.revrobotics.Rev2mDistanceSensor.Port; -import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.controller.PIDController; import edu.wpi.first.wpilibj.DutyCycleEncoder; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; -import frc.robot.Constants; import frc.robot.Constants.IntakeConstants; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; - public class IntakeSubsystem extends SubsystemBase { - boolean deployed = true; + private boolean deployed = false; + private boolean haveNote = false; - private double m_pivotSpeed = 0; - private double m_intakeSpeed = 0; + private CANSparkFlex m_intakeMotor = new CANSparkFlex(IntakeConstants.kIntakeMotorID, MotorType.kBrushless); + private CANSparkFlex m_armMotor = new CANSparkFlex(IntakeConstants.kArmMotorID, MotorType.kBrushless); - CANSparkFlex m_topFeeder = new CANSparkFlex(0, MotorType.kBrushless); - CANSparkFlex m_bottomFeeder = new CANSparkFlex(0, MotorType.kBrushless); - CANSparkFlex m_pivotMotor = new CANSparkFlex(0, MotorType.kBrushless); + private PIDController m_armPID = new PIDController(0.5, 0, 0); - PIDController m_pivotPID = new PIDController(0.5, 0, 0); + private DutyCycleEncoder m_armEncoder = new DutyCycleEncoder(IntakeConstants.kArmEncoderChannel); - DutyCycleEncoder m_pivotEncoder = new DutyCycleEncoder(0); + private Rev2mDistanceSensor m_distanceSensor = new Rev2mDistanceSensor(Port.kOnboard); // onboard I2C port; - Rev2mDistanceSensor m_distanceSensor; + private double m_intakeSpeed = 0; - /** Creates a new intake. */ + /** Creates a new IntakeSubsystem */ public IntakeSubsystem() { - //m_pivotMotor.setInverted(Constants.IntakeConstants.kPivotMotorInverted); - - // TODO: honestly no idea waht to set - //m_pivotEncoder.configMagnetOffset(Constants.IntakeConstants.kPivotEncoderOffset); - //m_pivotEncoder.configAbsoluteSensorRange(); + // m_armMotor.setInverted(IntakeConstants.kArmMotorInverted); + // m_intakeMotor.setInverted(IntakeConstants.kIntakeMotorInverted); - m_topFeeder.setIdleMode(IdleMode.kBrake); - m_bottomFeeder.setIdleMode(IdleMode.kBrake); + m_armEncoder.setPositionOffset(IntakeConstants.kArmEncoderOffset); + m_armEncoder.setDistancePerRotation(2 * Math.PI); - m_pivotMotor.setIdleMode(IdleMode.kBrake); + m_intakeMotor.setIdleMode(IdleMode.kCoast); + m_armMotor.setIdleMode(IdleMode.kBrake); - m_pivotPID.setTolerance(2); + m_armPID.setTolerance(0.05); - m_distanceSensor = new Rev2mDistanceSensor(Port.kOnboard); //onboard I2C port - m_distanceSensor.setAutomaticMode(true); + // TODO: See if this is needed + // m_distanceSensor.setAutomaticMode(true); } - public void turnOn(){ - m_pivotPID.setSetpoint(Constants.IntakeConstants.kIntakeLoweredAngle); + public void armExtend() { + m_armPID.setSetpoint(IntakeConstants.kIntakeLoweredAngle); + + stopIntake(); deployed = true; } - public void turnOff(){ - m_pivotPID.setSetpoint(Constants.IntakeConstants.kIntakeRaisedAngle); + public void armRetract() { + m_armPID.setSetpoint(IntakeConstants.kIntakeRaisedAngle); + + stopIntake(); deployed = false; } + public void intake() { + if (deployed && !haveNote) { + m_intakeSpeed = IntakeConstants.kIntakeSpeed; + } + } + + public void outake() { + if (!deployed && haveNote) { + m_intakeSpeed = -IntakeConstants.kIntakeSpeed; + } + } + + public void stopIntake() { + m_intakeSpeed = 0; + } + /** * Gets distance from Rev 2m sensor * @@ -75,43 +88,25 @@ public double getDistanceSensor() { return m_distanceSensor.getRange(); } - /* - * Helper function to calculate motor speeds - * - */ - private void calculateSpeeds(){ - if (m_pivotEncoder.getAbsolutePosition() > IntakeConstants.kIntakeLoweredAngle && m_pivotEncoder.getAbsolutePosition() < IntakeConstants.kIntakeRaisedAngle){ - m_pivotSpeed = MathUtil.clamp(m_pivotPID.calculate(m_pivotEncoder.getAbsolutePosition()), -0.5, 0.5); - } - else{ - if (m_pivotPID.atSetpoint()){ - m_pivotSpeed = 0.0; - } - } - - if (m_pivotEncoder.getAbsolutePosition() < 15.0 && deployed){ - m_intakeSpeed = Constants.IntakeConstants.kIntakeSpeed; //TODO: i have no idea which speed - } else { - m_intakeSpeed = 0.0; - } - } - @Override public void periodic() { - calculateSpeeds(); + haveNote = getDistanceSensor() < IntakeConstants.kDistanceSensorThreshold; - m_pivotMotor.set(m_pivotSpeed); + // If we have a note and the arm is deployed, automatically bring it back in + if (haveNote && deployed) { + stopIntake(); + armRetract(); + } - m_bottomFeeder.set(m_intakeSpeed); - m_topFeeder.set(m_intakeSpeed); - } + m_armMotor.set(m_armPID.calculate(m_armEncoder.getAbsolutePosition())); + m_intakeMotor.set(m_intakeSpeed); - public double getPivotPosition(){ - return m_pivotEncoder.getAbsolutePosition(); + SmartDashboard.putNumber("Arm Angle", m_armEncoder.getAbsolutePosition()); + SmartDashboard.putBoolean("Arm Deployed?", deployed); + SmartDashboard.putBoolean("Have Note?", haveNote); } - public boolean readyForShooter(){ - return (m_pivotEncoder.getAbsolutePosition() < Constants.IntakeConstants.kIntakeRaisedAngle + 5) - || (m_pivotEncoder.getAbsolutePosition() > Constants.IntakeConstants.kIntakeRaisedAngle - 5); + public boolean readyToShoot() { + return haveNote && !deployed && m_armPID.atSetpoint(); } } From b3494bea254659bae69e40fab8de0b4906713d2b Mon Sep 17 00:00:00 2001 From: SR1899 Date: Fri, 23 Feb 2024 17:14:05 -0800 Subject: [PATCH 5/7] fix: properly vendored the jar files --- build.gradle | 2 +- vendordeps/DistanceSensor-java/.gitignore | 1 + .../DistanceSensor-java-0.4.0-javadoc.jar.md5 | 1 - .../DistanceSensor-java-0.4.0-javadoc.jar.sha1 | 1 - ...istanceSensor-java-0.4.0-javadoc.jar.sha256 | 1 - ...istanceSensor-java-0.4.0-javadoc.jar.sha512 | 1 - .../DistanceSensor-java-0.4.0-sources.jar.md5 | 1 - .../DistanceSensor-java-0.4.0-sources.jar.sha1 | 1 - ...istanceSensor-java-0.4.0-sources.jar.sha256 | 1 - ...istanceSensor-java-0.4.0-sources.jar.sha512 | 1 - .../0.4.0/DistanceSensor-java-0.4.0.jar.md5 | 1 - .../0.4.0/DistanceSensor-java-0.4.0.jar.sha1 | 1 - .../0.4.0/DistanceSensor-java-0.4.0.jar.sha256 | 1 - .../0.4.0/DistanceSensor-java-0.4.0.jar.sha512 | 1 - .../0.4.0/DistanceSensor-java-0.4.0.pom | 8 -------- .../0.4.0/DistanceSensor-java-0.4.0.pom.md5 | 1 - .../0.4.0/DistanceSensor-java-0.4.0.pom.sha1 | 1 - .../0.4.0/DistanceSensor-java-0.4.0.pom.sha256 | 1 - .../0.4.0/DistanceSensor-java-0.4.0.pom.sha512 | 1 - .../DistanceSensor-java-0.4.0-javadoc.jar | Bin 0 -> 416906 bytes .../DistanceSensor-java-0.4.0-sources.jar | Bin 0 -> 7402 bytes .../DistanceSensor-java-0.4.0.jar | Bin 0 -> 10516 bytes .../DistanceSensor-java/maven-metadata.xml | 13 ------------- .../DistanceSensor-java/maven-metadata.xml.md5 | 1 - .../maven-metadata.xml.sha1 | 1 - .../maven-metadata.xml.sha256 | 1 - .../maven-metadata.xml.sha512 | 1 - 27 files changed, 2 insertions(+), 42 deletions(-) create mode 100644 vendordeps/DistanceSensor-java/.gitignore delete mode 100644 vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-javadoc.jar.md5 delete mode 100644 vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-javadoc.jar.sha1 delete mode 100644 vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-javadoc.jar.sha256 delete mode 100644 vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-javadoc.jar.sha512 delete mode 100644 vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-sources.jar.md5 delete mode 100644 vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-sources.jar.sha1 delete mode 100644 vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-sources.jar.sha256 delete mode 100644 vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-sources.jar.sha512 delete mode 100644 vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.jar.md5 delete mode 100644 vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.jar.sha1 delete mode 100644 vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.jar.sha256 delete mode 100644 vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.jar.sha512 delete mode 100644 vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.pom delete mode 100644 vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.pom.md5 delete mode 100644 vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.pom.sha1 delete mode 100644 vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.pom.sha256 delete mode 100644 vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.pom.sha512 create mode 100644 vendordeps/DistanceSensor-java/DistanceSensor-java-0.4.0-javadoc.jar create mode 100644 vendordeps/DistanceSensor-java/DistanceSensor-java-0.4.0-sources.jar create mode 100644 vendordeps/DistanceSensor-java/DistanceSensor-java-0.4.0.jar delete mode 100644 vendordeps/DistanceSensor-java/maven-metadata.xml delete mode 100644 vendordeps/DistanceSensor-java/maven-metadata.xml.md5 delete mode 100644 vendordeps/DistanceSensor-java/maven-metadata.xml.sha1 delete mode 100644 vendordeps/DistanceSensor-java/maven-metadata.xml.sha256 delete mode 100644 vendordeps/DistanceSensor-java/maven-metadata.xml.sha512 diff --git a/build.gradle b/build.gradle index 1781415..58026ff 100644 --- a/build.gradle +++ b/build.gradle @@ -70,7 +70,7 @@ dependencies { testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' //testRuntimeOnly 'org.junit.platform:junit-platform-launcher' - implementation files(project.fileTree('vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.jar')) + implementation files('vendordeps/DistanceSensor-java/DistanceSensor-java-0.4.0.jar') } test { diff --git a/vendordeps/DistanceSensor-java/.gitignore b/vendordeps/DistanceSensor-java/.gitignore new file mode 100644 index 0000000..87762bd --- /dev/null +++ b/vendordeps/DistanceSensor-java/.gitignore @@ -0,0 +1 @@ +!*.jar \ No newline at end of file diff --git a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-javadoc.jar.md5 b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-javadoc.jar.md5 deleted file mode 100644 index 7b1240e..0000000 --- a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-javadoc.jar.md5 +++ /dev/null @@ -1 +0,0 @@ -6f8c70f2552b1cd0e30686f819ed40a5 \ No newline at end of file diff --git a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-javadoc.jar.sha1 b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-javadoc.jar.sha1 deleted file mode 100644 index adb2a2d..0000000 --- a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-javadoc.jar.sha1 +++ /dev/null @@ -1 +0,0 @@ -ca009843c7d6b8fd20f6dc1bc37625730acd1079 \ No newline at end of file diff --git a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-javadoc.jar.sha256 b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-javadoc.jar.sha256 deleted file mode 100644 index ac7e7ee..0000000 --- a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-javadoc.jar.sha256 +++ /dev/null @@ -1 +0,0 @@ -7ff96ec68307f5a595b108b76c5b31522582ddd0b977b626a171541870c4ba13 \ No newline at end of file diff --git a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-javadoc.jar.sha512 b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-javadoc.jar.sha512 deleted file mode 100644 index 279128c..0000000 --- a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-javadoc.jar.sha512 +++ /dev/null @@ -1 +0,0 @@ -8cfe8e644d9e3fa3b36b3b7ca4872d2b4db0a7e1598d26bedf578906198d6ff31370418745edb312c2e51867bddf0f22477c213d59184cd18227c0f8d1d2ba0f \ No newline at end of file diff --git a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-sources.jar.md5 b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-sources.jar.md5 deleted file mode 100644 index 509062b..0000000 --- a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-sources.jar.md5 +++ /dev/null @@ -1 +0,0 @@ -f8a95e780a6748d68cf00439afe201bf \ No newline at end of file diff --git a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-sources.jar.sha1 b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-sources.jar.sha1 deleted file mode 100644 index 47e01a2..0000000 --- a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-sources.jar.sha1 +++ /dev/null @@ -1 +0,0 @@ -9ac6bb02a3f11690604087483118356982dc6f7e \ No newline at end of file diff --git a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-sources.jar.sha256 b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-sources.jar.sha256 deleted file mode 100644 index 2ff1dcc..0000000 --- a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-sources.jar.sha256 +++ /dev/null @@ -1 +0,0 @@ -253e46cc86398f67d68d9e7b1b2d144c10ad38042fb6d87d9d6c78e53607d22e \ No newline at end of file diff --git a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-sources.jar.sha512 b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-sources.jar.sha512 deleted file mode 100644 index ae5ac0d..0000000 --- a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0-sources.jar.sha512 +++ /dev/null @@ -1 +0,0 @@ -fe0b2ce49f50874577023ba31467abcabefb59738b15be32bb93834fe03e96ebce74dc5eff0fef803868a380454249fd4ec288686fb7d06c0c3e7dd74b68fe97 \ No newline at end of file diff --git a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.jar.md5 b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.jar.md5 deleted file mode 100644 index 1c4f7d6..0000000 --- a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.jar.md5 +++ /dev/null @@ -1 +0,0 @@ -f2b14559a827ace1877acd63b14944b1 \ No newline at end of file diff --git a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.jar.sha1 b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.jar.sha1 deleted file mode 100644 index f80bfb1..0000000 --- a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.jar.sha1 +++ /dev/null @@ -1 +0,0 @@ -4414d84e6e41ffdad3e288dd16719fa176ae3b9f \ No newline at end of file diff --git a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.jar.sha256 b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.jar.sha256 deleted file mode 100644 index 536d1f4..0000000 --- a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.jar.sha256 +++ /dev/null @@ -1 +0,0 @@ -941e036108cb2d655e176796edb14c20e211c35007d46ef3eb6180804409502a \ No newline at end of file diff --git a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.jar.sha512 b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.jar.sha512 deleted file mode 100644 index a5743a1..0000000 --- a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.jar.sha512 +++ /dev/null @@ -1 +0,0 @@ -2dc6fc4542ad979a1e079fa1481c2121847ba4898348e80e3aa39b011bb81b6978ba293462a2fef6e69fbf7ff059eb3eb5e5dd305bf10694ce3e2178cf843417 \ No newline at end of file diff --git a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.pom b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.pom deleted file mode 100644 index a06c542..0000000 --- a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.pom +++ /dev/null @@ -1,8 +0,0 @@ - - - 4.0.0 - com.revrobotics.frc - DistanceSensor-java - 0.4.0 - diff --git a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.pom.md5 b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.pom.md5 deleted file mode 100644 index 1331e43..0000000 --- a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.pom.md5 +++ /dev/null @@ -1 +0,0 @@ -819293d5a23b2f0c48f0bd7b7c63de58 \ No newline at end of file diff --git a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.pom.sha1 b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.pom.sha1 deleted file mode 100644 index e1b0201..0000000 --- a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.pom.sha1 +++ /dev/null @@ -1 +0,0 @@ -7dca382e0eb14d77848c218c2a3144f5fedf5793 \ No newline at end of file diff --git a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.pom.sha256 b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.pom.sha256 deleted file mode 100644 index 11b6731..0000000 --- a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.pom.sha256 +++ /dev/null @@ -1 +0,0 @@ -7493f2ebb2971d6495d8ec38e3a4fc4f37ca60693ca8df2a543f0fe5bed7d44f \ No newline at end of file diff --git a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.pom.sha512 b/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.pom.sha512 deleted file mode 100644 index 486c48d..0000000 --- a/vendordeps/DistanceSensor-java/0.4.0/DistanceSensor-java-0.4.0.pom.sha512 +++ /dev/null @@ -1 +0,0 @@ -25422d83b3da5f25bad0113ea96273df8115f2322b67135cad61d83d6a3019f95f9eb1ea6d748a0e9fa12ec98e5f382b9300dc9b98c3ce062dffaca2ac75d83b \ No newline at end of file diff --git a/vendordeps/DistanceSensor-java/DistanceSensor-java-0.4.0-javadoc.jar b/vendordeps/DistanceSensor-java/DistanceSensor-java-0.4.0-javadoc.jar new file mode 100644 index 0000000000000000000000000000000000000000..f6b8238f18b6d0875b055e69156052fe2e21f20d GIT binary patch literal 416906 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a/vendordeps/DistanceSensor-java/maven-metadata.xml.sha1 +++ /dev/null @@ -1 +0,0 @@ -187ec2474e677e682cedf3aa50981be7e54b4369 \ No newline at end of file diff --git a/vendordeps/DistanceSensor-java/maven-metadata.xml.sha256 b/vendordeps/DistanceSensor-java/maven-metadata.xml.sha256 deleted file mode 100644 index dc823a7..0000000 --- a/vendordeps/DistanceSensor-java/maven-metadata.xml.sha256 +++ /dev/null @@ -1 +0,0 @@ -adef4d4cf0f7d12e0f4045428b042acc72f8bb9f61f65916ff03cb0cfb8aba34 \ No newline at end of file diff --git a/vendordeps/DistanceSensor-java/maven-metadata.xml.sha512 b/vendordeps/DistanceSensor-java/maven-metadata.xml.sha512 deleted file mode 100644 index 7dfca02..0000000 --- a/vendordeps/DistanceSensor-java/maven-metadata.xml.sha512 +++ /dev/null @@ -1 +0,0 @@ -d0d24c1cfb09bbc9c373f9b28341d45a201df3ef4dcd2455202f8db549c8bfc66298f5f46180cb0b570c80354c4dab0cb2e43b34e85e55c20a372ab9edfc25ff \ No newline at end of file From 682b54063dc7e9bbe38e1dcd58f35552e8887daf Mon Sep 17 00:00:00 2001 From: SR1899 Date: Fri, 23 Feb 2024 17:58:13 -0800 Subject: [PATCH 6/7] Actually starts and stops intake in the command --- src/main/java/frc/robot/commands/IntakeCommand.java | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/main/java/frc/robot/commands/IntakeCommand.java b/src/main/java/frc/robot/commands/IntakeCommand.java index 3e0813d..fb9d504 100644 --- a/src/main/java/frc/robot/commands/IntakeCommand.java +++ b/src/main/java/frc/robot/commands/IntakeCommand.java @@ -20,6 +20,7 @@ public IntakeCommand(IntakeSubsystem subsystem) { @Override public void initialize() { m_intakeSubsystem.armExtend(); + m_intakeSubsystem.intake(); } // Called every time the scheduler runs while the command is scheduled. @@ -32,6 +33,7 @@ public void execute() { @Override public void end(boolean interrupted) { m_intakeSubsystem.armRetract(); + m_intakeSubsystem.stopIntake(); } @Override From 3eebe9920b5197d757b3e22d6b619ccf616f550c Mon Sep 17 00:00:00 2001 From: SR1899 Date: Fri, 23 Feb 2024 18:08:05 -0800 Subject: [PATCH 7/7] Motor Constants --- src/main/java/frc/robot/Constants.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 13d5f01..feec7fe 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -96,8 +96,8 @@ public static final class DriveConstants { } public static final class IntakeConstants { - public static final int kIntakeMotorID = 0; - public static final int kArmMotorID = 0; + public static final int kIntakeMotorID = 25; + public static final int kArmMotorID = 39; public static final int kArmEncoderChannel = 0; public static final double kIntakeLoweredAngle = 0;