From e934037d001c439c0eeaa88ac5128de782fa3e3a Mon Sep 17 00:00:00 2001 From: BrunoOsio Date: Thu, 18 Mar 2021 11:18:25 -0300 Subject: [PATCH 1/4] added parallel commands --- src/main/java/frc/robot/RobotContainer.java | 3 ++- .../java/frc/robot/commands/autons/GalacticA.java | 15 +++++++++++++-- 2 files changed, 15 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 2fd5032..f824e8f 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -126,7 +126,8 @@ public void configureButtonBindingsDrivetrain() { } public Command getAutonomousCommand() { - return new GalacticA(this.trajectoryBuilder); + // return new GalacticA(this.trajectoryBuilder); + return null; } public void reset() { diff --git a/src/main/java/frc/robot/commands/autons/GalacticA.java b/src/main/java/frc/robot/commands/autons/GalacticA.java index 6b76b7c..5d43437 100644 --- a/src/main/java/frc/robot/commands/autons/GalacticA.java +++ b/src/main/java/frc/robot/commands/autons/GalacticA.java @@ -1,13 +1,24 @@ package frc.robot.commands.autons; import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; +import frc.core.components.Limelight; import frc.core.util.TrajectoryBuilder; +import frc.robot.commands.buffer.SmartFeed; +import frc.robot.commands.intake.CollectPowerCell; +import frc.robot.subsystems.Buffer; +import frc.robot.subsystems.Intake; public class GalacticA extends ParallelCommandGroup { + public GalacticA(TrajectoryBuilder trajectoryBuilder, Buffer buffer, Intake intake) { + Limelight.setPipeline(1); + + var galacticCommand = Limelight.isTarget() ? "red" : "blue"; + var path = String.format("galacticA_%s", galacticCommand); - public GalacticA(TrajectoryBuilder trajectoryBuilder) { super.addCommands( - // trajectoryBuilder.build("galacticA") + trajectoryBuilder.build(path), + new SmartFeed(buffer), + new CollectPowerCell(intake) ); } } From e8789cf2448ea775bcf25977b6bd19f58d1e2659 Mon Sep 17 00:00:00 2001 From: BrunoOsio Date: Thu, 18 Mar 2021 11:52:17 -0300 Subject: [PATCH 2/4] constants for colors --- src/main/java/frc/robot/Constants.java | 6 ++++++ src/main/java/frc/robot/commands/autons/GalacticA.java | 5 +++-- 2 files changed, 9 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 48c3cc1..781707b 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -137,4 +137,10 @@ public static final class Seeking { public static final double kP = 0; } } + + public static final class FieldConstants { + public static final String + red = "red", + blue = "blue"; + } } \ No newline at end of file diff --git a/src/main/java/frc/robot/commands/autons/GalacticA.java b/src/main/java/frc/robot/commands/autons/GalacticA.java index 5d43437..a176706 100644 --- a/src/main/java/frc/robot/commands/autons/GalacticA.java +++ b/src/main/java/frc/robot/commands/autons/GalacticA.java @@ -3,6 +3,7 @@ import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; import frc.core.components.Limelight; import frc.core.util.TrajectoryBuilder; +import frc.robot.Constants.FieldConstants; import frc.robot.commands.buffer.SmartFeed; import frc.robot.commands.intake.CollectPowerCell; import frc.robot.subsystems.Buffer; @@ -12,8 +13,8 @@ public class GalacticA extends ParallelCommandGroup { public GalacticA(TrajectoryBuilder trajectoryBuilder, Buffer buffer, Intake intake) { Limelight.setPipeline(1); - var galacticCommand = Limelight.isTarget() ? "red" : "blue"; - var path = String.format("galacticA_%s", galacticCommand); + var allianceColor = Limelight.isTarget() ? FieldConstants.red : FieldConstants.blue; + var path = String.format("galacticA_%s", allianceColor); super.addCommands( trajectoryBuilder.build(path), From a316a7d426fe4f7f15b6a3bf4d59e560159cb2d4 Mon Sep 17 00:00:00 2001 From: luan machado Date: Thu, 18 Mar 2021 19:02:43 -0300 Subject: [PATCH 3/4] galacticA working --- PathWeaver/Paths/galacticA_red.path | 7 +++ PathWeaver/pathweaver.json | 4 +- .../paths/output/autoAwards.wpilib.json | 2 +- .../paths/output/autoAwards_0.wpilib.json | 2 +- .../paths/output/autoAwards_1.wpilib.json | 2 +- .../deploy/paths/output/galacticA.wpilib.json | 2 +- .../paths/output/galacticA_0.wpilib.json | 2 +- .../paths/output/galacticA_1.wpilib.json | 2 +- .../paths/output/galacticA_red.wpilib.json | 1 + src/main/deploy/paths/output/test.wpilib.json | 2 +- .../deploy/paths/output/teste1.wpilib.json | 2 +- src/main/java/frc/robot/RobotContainer.java | 61 +++++++------------ .../frc/robot/commands/autons/GalacticA.java | 1 - .../commands/intake/CollectPowerCell.java | 2 +- .../commands/intake/ReleasePowerCell.java | 2 +- .../java/frc/robot/subsystems/Intake.java | 6 +- 16 files changed, 46 insertions(+), 54 deletions(-) create mode 100644 PathWeaver/Paths/galacticA_red.path create mode 100644 src/main/deploy/paths/output/galacticA_red.wpilib.json diff --git a/PathWeaver/Paths/galacticA_red.path b/PathWeaver/Paths/galacticA_red.path new file mode 100644 index 0000000..aa5e53e --- /dev/null +++ b/PathWeaver/Paths/galacticA_red.path @@ -0,0 +1,7 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name +0.7085502306750777,-2.2543606063459185,3.048,0.0,true,false, +3.104104321626966,-2.579794369645043,0.777425101214575,-0.696066660389794,true,false, +4.812631578947368,-3.14930345541851,0.14463722813294488,1.2113367856134072,true,false, +4.7222333113642785,-0.1932801054514641,1.0486199039638455,0.16271688164956216,true,false, +6.6296367573674795,-0.7175900574333868,1.3045366714638862,-0.6162471416749186,false,false, +8.555119856887298,-2.2001216457960644,1.4030385086150083,-1.186082666415592,true,false, diff --git a/PathWeaver/pathweaver.json b/PathWeaver/pathweaver.json index 383c004..c4cee77 100644 --- a/PathWeaver/pathweaver.json +++ b/PathWeaver/pathweaver.json @@ -2,8 +2,8 @@ "lengthUnit": "Meter", "exportUnit": "Always Meters", "maxVelocity": 1.5, - "maxAcceleration": 1.5, + "maxAcceleration": 2.0, "wheelBase": 0.585, - "gameName": "Slalom Path", + "gameName": "Galactic Search A", "outputDir": "../src/main/deploy/paths" } \ No newline at end of file diff --git a/src/main/deploy/paths/output/autoAwards.wpilib.json b/src/main/deploy/paths/output/autoAwards.wpilib.json index 86d9837..968ddd1 100644 --- a/src/main/deploy/paths/output/autoAwards.wpilib.json +++ b/src/main/deploy/paths/output/autoAwards.wpilib.json @@ -1 +1 @@ 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\ No newline at end of file diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index f824e8f..2fd13ca 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -17,7 +17,6 @@ import frc.robot.commands.shooter.ShootPowerCellAngle; import frc.robot.commands.shooter.ShootPowerCellDefault; import frc.robot.commands.autons.GalacticA; -import frc.robot.commands.drivetrain.AimTarget; import frc.robot.commands.drivetrain.ArcadeDrive; import frc.robot.commands.drivetrain.CurvatureDrive; import frc.robot.commands.buffer.SmartFeed; @@ -45,24 +44,36 @@ public RobotContainer() { this.driver = new XboxController(OIConstants.driverControllerPort); this.operator = new XboxController(OIConstants.operatorControllerPort); - this.trajectoryBuilder = new TrajectoryBuilder( - this.drivetrain, - "autoAwards" - // "barrel", - // "slalom", - // "galacticA", - // "galacticB", - // "bounce" - ); + this.trajectoryBuilder = new TrajectoryBuilder(this.drivetrain, "autoAwards_0","autoAwards_1", "autoAwards", "galacticA_red"); this.configureButtonBindings(); + this.configureDefaultCommand(); + } + + private void configureDefaultCommand() { + var buttonBumperLeft = new JoystickButton(this.driver, Button.kBumperLeft.value); + + buttonBumperLeft.whenHeld( + new CurvatureDrive( + this.drivetrain, + () -> this.driver.getY(Hand.kLeft), + () -> this.driver.getX(Hand.kRight) + ) + ); + + this.drivetrain.setDefaultCommand( + new ArcadeDrive( + drivetrain, + () -> this.driver.getY(Hand.kLeft), + () -> this.driver.getX(Hand.kRight) + ) + ); } private void configureButtonBindings() { this.configureButtonBindingsIntake(); this.configureButtonBindingsBuffer(); this.configureButtonBindingsShooter(); - this.configureButtonBindingsDrivetrain(); } private void configureButtonBindingsIntake() { @@ -100,34 +111,8 @@ private void configureButtonBindingsShooter() { doubleButton.whileActiveContinuous(new ShootPowerCellAngle(this.shooter)); } - public void configureButtonBindingsDrivetrain() { - var buttonBumperLeft = new JoystickButton(this.driver, Button.kBumperLeft.value); - - buttonBumperLeft.whenHeld( - new CurvatureDrive( - this.drivetrain, - () -> this.driver.getY(Hand.kLeft), - () -> this.driver.getX(Hand.kRight) - ) - ); - - this.drivetrain.setDefaultCommand( - new ArcadeDrive( - drivetrain, - () -> this.driver.getY(Hand.kLeft), - () -> this.driver.getX(Hand.kRight) - ) - ); - - var buttonBumperRight = new JoystickButton(this.driver, Button.kBumperRight.value); - - buttonBumperRight - .whileHeld(new AimTarget(this.drivetrain)); - } - public Command getAutonomousCommand() { - // return new GalacticA(this.trajectoryBuilder); - return null; + return new GalacticA(this.trajectoryBuilder, this.buffer, this.intake); } public void reset() { diff --git a/src/main/java/frc/robot/commands/autons/GalacticA.java b/src/main/java/frc/robot/commands/autons/GalacticA.java index a176706..20a1d00 100644 --- a/src/main/java/frc/robot/commands/autons/GalacticA.java +++ b/src/main/java/frc/robot/commands/autons/GalacticA.java @@ -11,7 +11,6 @@ public class GalacticA extends ParallelCommandGroup { public GalacticA(TrajectoryBuilder trajectoryBuilder, Buffer buffer, Intake intake) { - Limelight.setPipeline(1); var allianceColor = Limelight.isTarget() ? FieldConstants.red : FieldConstants.blue; var path = String.format("galacticA_%s", allianceColor); diff --git a/src/main/java/frc/robot/commands/intake/CollectPowerCell.java b/src/main/java/frc/robot/commands/intake/CollectPowerCell.java index 235eea1..4973466 100644 --- a/src/main/java/frc/robot/commands/intake/CollectPowerCell.java +++ b/src/main/java/frc/robot/commands/intake/CollectPowerCell.java @@ -14,7 +14,7 @@ public CollectPowerCell(Intake intake) { @Override public void execute() { - this.intake.setSpeed(0.4, 1); + this.intake.setSpeed(0.6); } @Override diff --git a/src/main/java/frc/robot/commands/intake/ReleasePowerCell.java b/src/main/java/frc/robot/commands/intake/ReleasePowerCell.java index 4b71e24..a261b16 100644 --- a/src/main/java/frc/robot/commands/intake/ReleasePowerCell.java +++ b/src/main/java/frc/robot/commands/intake/ReleasePowerCell.java @@ -14,7 +14,7 @@ public ReleasePowerCell(Intake intake) { @Override public void execute() { - this.intake.setSpeed(-1, 0); + // this.intake.setSpeed(-1, 0); } @Override diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java index d0fdaac..9e11a2c 100644 --- a/src/main/java/frc/robot/subsystems/Intake.java +++ b/src/main/java/frc/robot/subsystems/Intake.java @@ -13,9 +13,9 @@ public Intake() { this.motorRight = new VictorSPX(IntakeConstants.motorsPorts[1]); } - public void setSpeed(double speedY, double speedX) { - this.motorLeft.set(ControlMode.PercentOutput, speedY); - this.motorRight.set(ControlMode.PercentOutput, speedX); + public void setSpeed(double speed) { + this.motorLeft.set(ControlMode.PercentOutput, speed); + this.motorRight.set(ControlMode.PercentOutput, speed); } public void stop() { From 413150e9aaa032404a68b1b45ce031671bcafb02 Mon Sep 17 00:00:00 2001 From: luan machado Date: Thu, 18 Mar 2021 19:15:43 -0300 Subject: [PATCH 4/4] removed unused paths --- PathWeaver/Paths/autoAwards_0.path | 7 - PathWeaver/Paths/autoAwards_1.path | 7 - PathWeaver/Paths/galacticA.path | 5 - PathWeaver/Paths/galacticA_0.path | 3 - PathWeaver/Paths/galacticA_1.path | 4 - PathWeaver/Paths/teste1.path | 3 - .../paths/output/autoAwards_0.wpilib.json | 1 - .../paths/output/autoAwards_1.wpilib.json | 1 - .../deploy/paths/output/galacticA.wpilib.json | 1 - .../paths/output/galacticA_0.wpilib.json | 1 - .../paths/output/galacticA_1.wpilib.json | 1 - .../deploy/paths/output/teste1.wpilib.json | 1 - src/main/deploy/paths/test.wpilib.json | 1037 ----------------- src/main/java/frc/robot/RobotContainer.java | 63 +- 14 files changed, 40 insertions(+), 1095 deletions(-) delete mode 100644 PathWeaver/Paths/autoAwards_0.path delete mode 100644 PathWeaver/Paths/autoAwards_1.path delete mode 100644 PathWeaver/Paths/galacticA.path delete mode 100644 PathWeaver/Paths/galacticA_0.path delete mode 100644 PathWeaver/Paths/galacticA_1.path delete mode 100644 PathWeaver/Paths/teste1.path delete mode 100644 src/main/deploy/paths/output/autoAwards_0.wpilib.json delete mode 100644 src/main/deploy/paths/output/autoAwards_1.wpilib.json delete mode 100644 src/main/deploy/paths/output/galacticA.wpilib.json delete mode 100644 src/main/deploy/paths/output/galacticA_0.wpilib.json delete mode 100644 src/main/deploy/paths/output/galacticA_1.wpilib.json delete mode 100644 src/main/deploy/paths/output/teste1.wpilib.json delete mode 100644 src/main/deploy/paths/test.wpilib.json diff --git a/PathWeaver/Paths/autoAwards_0.path b/PathWeaver/Paths/autoAwards_0.path deleted file mode 100644 index 7bb5ad8..0000000 --- a/PathWeaver/Paths/autoAwards_0.path +++ /dev/null @@ -1,7 +0,0 @@ -X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name -0.4577714206360227,-2.2482227468407165,4.711045688098875,0.6095153450909598,true,false, -4.076768782113595,-2.159335092348285,1.1047465629773638,-0.21587001805304817,true,false, -4.368828218303014,-3.352969309818081,-1.1301430356894873,-1.4222024718789061,true,false, 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"acceleration": -1.9999999999999998, - "pose": { - "translation": { - "x": 4.102165254825725, - "y": 3.6443938341896924 - }, - "rotation": { - "radians": 1.5707963267947362 - } - }, - "curvature": -3.0601372030406003E-12 - } -] \ No newline at end of file diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 2fd13ca..0eb47f2 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -1,3 +1,4 @@ + package frc.robot; import edu.wpi.first.wpilibj.GenericHID.Hand; @@ -17,6 +18,7 @@ import frc.robot.commands.shooter.ShootPowerCellAngle; import frc.robot.commands.shooter.ShootPowerCellDefault; import frc.robot.commands.autons.GalacticA; +import frc.robot.commands.drivetrain.AimTarget; import frc.robot.commands.drivetrain.ArcadeDrive; import frc.robot.commands.drivetrain.CurvatureDrive; import frc.robot.commands.buffer.SmartFeed; @@ -44,36 +46,26 @@ public RobotContainer() { this.driver = new XboxController(OIConstants.driverControllerPort); this.operator = new XboxController(OIConstants.operatorControllerPort); - this.trajectoryBuilder = new TrajectoryBuilder(this.drivetrain, "autoAwards_0","autoAwards_1", "autoAwards", "galacticA_red"); - - this.configureButtonBindings(); - this.configureDefaultCommand(); - } - - private void configureDefaultCommand() { - var buttonBumperLeft = new JoystickButton(this.driver, Button.kBumperLeft.value); - - buttonBumperLeft.whenHeld( - new CurvatureDrive( - this.drivetrain, - () -> this.driver.getY(Hand.kLeft), - () -> this.driver.getX(Hand.kRight) - ) + this.trajectoryBuilder = new TrajectoryBuilder( + this.drivetrain, + "autoAwards", + // "barrel", + // "slalom", + "galacticA_red" + // "galacticA_blue", + // "galacticB_red", + // "galacticB_blue", + // "bounce" ); - this.drivetrain.setDefaultCommand( - new ArcadeDrive( - drivetrain, - () -> this.driver.getY(Hand.kLeft), - () -> this.driver.getX(Hand.kRight) - ) - ); + this.configureButtonBindings(); } private void configureButtonBindings() { this.configureButtonBindingsIntake(); this.configureButtonBindingsBuffer(); this.configureButtonBindingsShooter(); + this.configureButtonBindingsDrivetrain(); } private void configureButtonBindingsIntake() { @@ -111,6 +103,31 @@ private void configureButtonBindingsShooter() { doubleButton.whileActiveContinuous(new ShootPowerCellAngle(this.shooter)); } + public void configureButtonBindingsDrivetrain() { + var buttonBumperLeft = new JoystickButton(this.driver, Button.kBumperLeft.value); + + buttonBumperLeft.whenHeld( + new CurvatureDrive( + this.drivetrain, + () -> this.driver.getY(Hand.kLeft), + () -> this.driver.getX(Hand.kRight) + ) + ); + + this.drivetrain.setDefaultCommand( + new ArcadeDrive( + drivetrain, + () -> this.driver.getY(Hand.kLeft), + () -> this.driver.getX(Hand.kRight) + ) + ); + + var buttonBumperRight = new JoystickButton(this.driver, Button.kBumperRight.value); + + buttonBumperRight + .whileHeld(new AimTarget(this.drivetrain)); + } + public Command getAutonomousCommand() { return new GalacticA(this.trajectoryBuilder, this.buffer, this.intake); } @@ -118,4 +135,4 @@ public Command getAutonomousCommand() { public void reset() { this.drivetrain.reset(); } -} +} \ No newline at end of file