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11/2/23 [master] - Post CCC Additions/Fixes #7

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125 changes: 112 additions & 13 deletions .Glass/glass.json
View file
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Original file line number Diff line number Diff line change
@@ -1,40 +1,139 @@
{
"NetworkTables": {
"Persistent Values": {
"open": false
},
"Retained Values": {
"open": false
},
"Transitory Values": {
"open": false
},
"retained": {
"SmartDashboard": {
"Auton Chooser": {
"Rotation PID": {
"open": true
},
"open": true
}
},
"transitory": {
"LiveWindow": {
"AngledElevator": {
"open": true
},
"Claw": {
"open": true
},
"Drivetrain": {
"open": true
},
"Ungrouped": {
"open": true
}
},
"SmartDashboard": {
"Auton Chooser": {
"open": true
}
},
"datatable": {
"Align Pitch": {
"open": true
},
"Drivetrain": {
"open": true
},
"Elevator": {
"open": true
},
"Swerve Module": {
"open": true
},
"SwervePositionController": {
"open": true
},
"open": true
}
},
"types": {
"/FMSInfo": "FMSInfo",
"/LiveWindow/AngledElevator": "Subsystem",
"/LiveWindow/AngledElevator/Limit Switch": "Digital Input",
"/LiveWindow/Claw": "Subsystem",
"/LiveWindow/Drivetrain": "Subsystem",
"/LiveWindow/Ungrouped/DigitalInput[0]": "Digital Input",
"/LiveWindow/Ungrouped/PIDController[1]": "PIDController",
"/LiveWindow/Ungrouped/PIDController[2]": "PIDController",
"/LiveWindow/Ungrouped/PIDController[3]": "PIDController",
"/LiveWindow/Ungrouped/PIDController[4]": "PIDController",
"/LiveWindow/Ungrouped/PIDController[5]": "PIDController",
"/LiveWindow/Ungrouped/PIDController[6]": "PIDController",
"/LiveWindow/Ungrouped/Scheduler": "Scheduler",
"/SmartDashboard/Auton Chooser": "String Chooser"
"/SmartDashboard/AngledElevator": "Subsystem",
"/SmartDashboard/Auton Chooser": "String Chooser",
"/SmartDashboard/Field": "Field2d",
"/SmartDashboard/Rotation PID": "String Chooser",
"/SmartDashboard/test controller": "PIDController"
},
"windows": {
"/LiveWindow/AngledElevator": {
"window": {
"visible": true
}
},
"/LiveWindow/Claw": {
"window": {
"visible": true
}
},
"/LiveWindow/Drivetrain": {
"window": {
"visible": true
}
},
"/SmartDashboard/AngledElevator": {
"window": {
"visible": true
}
},
"/SmartDashboard/Auton Chooser": {
"window": {
"visible": true
}
}
}
},
"NetworkTables Settings": {
"mode": "Client (NT4)",
"serverTeam": "1072"
}
"serverTeam": "10.10.72.2"
},
"Plots": {
"Plot <0>": {
"plots": [
{
"height": 0,
"series": [
{
"color": [
0.2980392277240753,
0.44705885648727417,
0.6901960968971252,
1.0
],
"id": "NT:/SmartDashboard/test controller/p"
},
{
"color": [
0.8666667342185974,
0.5176470875740051,
0.32156863808631897,
1.0
],
"id": "NT:/SmartDashboard/kP"
}
]
}
]
},
"Plot <1>": {
"plots": [
{
"height": 0
}
]
}
},
"enterKey": 345
}
2 changes: 2 additions & 0 deletions src/main/java/frc/robot/OI.java
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@
import frc.robot.commands.claw.ToggleClaw;
import frc.robot.commands.drivetrain.AlignPitch;
import frc.robot.commands.elevator.MoveToPosition;
import frc.robot.commands.elevator.SoftZero;
import frc.robot.commands.elevator.ZeroElevator;
import frc.robot.subsystems.Drivetrain;
import harkerrobolib.joysticks.XboxGamepad;
Expand Down Expand Up @@ -63,6 +64,7 @@ private void initBindings() {
//operator.getRightDPadButton().debounce(0.13, DebounceType.kRising).onTrue(new ToggleClaw());
operator.getRightDPadButton().onTrue(new ToggleClaw());
operator.getRightBumper().onTrue(new ZeroElevator());
operator.getLeftBumper().onTrue(new SoftZero());
// set A button on OPERATOR controller to set Elevator to POSITION LOW
operator.getButtonX().whileTrue(new MoveToPosition(RobotMap.AngledElevator.POSITIONS[3]));
operator.getButtonY().whileTrue(new MoveToPosition(RobotMap.AngledElevator.POSITIONS[2]));
Expand Down
28 changes: 22 additions & 6 deletions src/main/java/frc/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -22,10 +22,12 @@
import frc.robot.commands.claw.ToggleClaw;
import frc.robot.commands.drivetrain.SwerveManual;
import frc.robot.commands.elevator.ElevatorManual;
import frc.robot.commands.elevator.ZeroElevator;
import frc.robot.subsystems.AngledElevator;
import frc.robot.subsystems.Claw;
import frc.robot.subsystems.Drivetrain;
import frc.robot.util.CameraPoseEstimation;
import frc.robot.util.Telemetry;

/**
* The VM is configured to automatically run this class, and to call the
Expand All @@ -40,6 +42,7 @@ public class Robot extends TimedRobot {

private SendableChooser<String> autonChooser;
private PowerDistribution powerDistribution;
private Telemetry telemetry;

/**
* This function is run when the robot is first started up and should be used
Expand All @@ -62,11 +65,16 @@ public void robotInit() {
autonChooser.addOption("Bottom Path", "Bottom Path");
autonChooser.addOption("Top Path", "Top Path");
autonChooser.addOption("No auton", "No auton");
autonChooser.addOption("Bottom Path Middle", "Bottom Path Middle");
autonChooser.addOption("Top Path Middle", "Top Path Middle");
SmartDashboard.putData("Auton Chooser", autonChooser);
CameraPoseEstimation.getInstance().getCamera().setDriverMode(true);
AngledElevator.getInstance().resetEncoders();

// rio voltage and current

telemetry = new Telemetry();

powerDistribution = new PowerDistribution();
}

Expand All @@ -77,11 +85,6 @@ public void robotPeriodic() {

SmartDashboard.putString("Current Auton:", autonChooser.getSelected());

// double pdhVoltage = powerDistribution.getVoltage();
// double pdhCurrent = powerDistribution.getCurrent(20);
// SmartDashboard.putNumber("pdh voltage", pdhVoltage);
// SmartDashboard.putNumber("rio current", pdhCurrent);

// SmartDashboard.putNumber("kP",);
// SmartDashboard.putNumber("kI",
// Drivetrain.getInstance().thetaController.getI());
Expand All @@ -91,6 +94,8 @@ public void robotPeriodic() {
// SmartDashboard.putData(Drivetrain.getInstance());
// SmartDashboard.putData(Claw.getInstance());



NetworkTableInstance.getDefault().flushLocal();
NetworkTableInstance.getDefault().flush();
}
Expand Down Expand Up @@ -139,6 +144,16 @@ public void autonomousInit() {
.setPose(Trajectories.apply(new Pose2d(1.91, 2.75, Rotation2d.fromDegrees(180))));
Autons.noAuton.schedule();
break;
case "Bottom Path Middle":
Drivetrain.getInstance()
.setPose(Trajectories.apply(new Pose2d(1.91, 1.09, Rotation2d.fromDegrees(180))));
Autons.bottomPathMid.schedule();
break;
case "Top Path Middle":
Drivetrain.getInstance()
.setPose(Trajectories.apply(new Pose2d(1.91, 4.44, Rotation2d.fromDegrees(180))));
Autons.topPathMid.schedule();
break;
default:
Drivetrain.getInstance()
.setPose(Trajectories.apply(new Pose2d(1.91, 2.75, Rotation2d.fromDegrees(180))));
Expand All @@ -159,11 +174,12 @@ public void teleopInit() {
Autons.middleAndCross.cancel();
Autons.noAuton.cancel();
Drivetrain.getInstance().setYaw(180);
new ZeroElevator();
}

@Override
public void teleopPeriodic() {

telemetry.putButtons();
}

@Override
Expand Down
11 changes: 6 additions & 5 deletions src/main/java/frc/robot/RobotMap.java
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -143,12 +143,12 @@ public static final class Claw {

public static final class AngledElevator {
public static final double kP = 0.12; // Based on RoboCode2023; TUNE
public static final double kG = 0.087; // Based on RoboCode2023; TUNE
public static final double kG = 0.073; // Based on RoboCode2023; TUNE

public static final double MAX_ERROR = 100;
public static final double MAX_ERROR = 500;

public static final double CRUISE_VELOCITY = 7447; // NEEDS TO BE TUNED (based on RoboCode2023)
public static final double CRUISE_ACCELERATION = 4447; // NEEDS TO BE TUNED (based on RoboCode2023)
public static final double CRUISE_ACCELERATION = 4447; // NEEDS TO BE TUNED (based on RoboCode2023) 4447

public static final int MASTER_ID = 15; // Left Motor
public static final int FOLLOWER_ID = 14; // Right Motor
Expand All @@ -158,15 +158,16 @@ public static final class AngledElevator {
public static final boolean FOLLOWER_INVERTED = false; // TODO

// Thresholds for soft-limits
public static final double FORWARD_LIMIT = 41000;
public static final double FORWARD_LIMIT = 45500;
public static final double REVERSE_LIMIT = 0;

// Time for the motor to go from neutral to full
public static final double RAMP_TIME = 0.01;


// POSITIONS: Low, Middle, High, Human Player (HP)
public static double[] POSITIONS = {
10018, 27000, 41000, 28750
10018, 27000, 45000, 31000
};

// HORIZONTAL Offsets: Middle, High, Human Player (HP)
Expand Down
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