From 464657b84bd568e7f4ef0dc49656876d848b780e Mon Sep 17 00:00:00 2001 From: KPatel008 <122328545+KPatel008@users.noreply.github.com> Date: Thu, 4 Apr 2024 19:04:37 -0400 Subject: [PATCH] make dcmp changes --- ChoreoProject.chor | 2968 +++++++++-------- .../deploy/choreo/3PieceSourceSide.1.traj | 831 ++--- .../deploy/choreo/3PieceSourceSide.2.traj | 621 ++-- .../deploy/choreo/3PieceSourceSide.3.traj | 729 ++-- .../deploy/choreo/3PieceSourceSide.4.traj | 667 ++-- src/main/deploy/choreo/3PieceSourceSide.traj | 2824 ++++++++-------- .../paths/CenterNoteToBottomNote.path | 8 +- .../paths/Centerline 1 to Shot.path | 8 +- .../paths/Top Spike to Centerline 1.path | 8 +- src/main/java/frc/robot/Autos.java | 19 +- src/main/java/frc/robot/Robot.java | 6 +- src/main/java/frc/robot/arm/Arm.java | 2 +- src/main/java/frc/robot/intake/IntakeIO.java | 3 +- .../frc/robot/intake/IntakeIOSparkMAX.java | 52 +- .../frc/robot/intake/IntakeIOTalonFX.java | 4 +- src/main/java/frc/robot/shooter/Shooter.java | 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+ "angularVelocity": -0.15279681565785172, + "velocityX": -0.7092113990896721, + "velocityY": 0.5396545382869269, + "timestamp": 9.90240700135773 + }, + { + "x": 2.239124298095703, + "y": 3.3502418994903564, + "heading": -0.8110335498441125, + "angularVelocity": -0.07394413179217635, + "velocityX": -0.3503664839396478, + "velocityY": 0.27653533953531534, + "timestamp": 9.960144703500486 + }, + { + "x": 2.239124298095703, + "y": 3.3502418994903564, + "heading": -0.8110335498441125, + "angularVelocity": 2.516736410914592e-27, + "velocityX": -3.7731523932720006e-27, + "velocityY": -6.0927835101890684e-27, + "timestamp": 10.017882405643242 } ], "eventMarkers": [] diff --git a/src/main/deploy/pathplanner/paths/CenterNoteToBottomNote.path b/src/main/deploy/pathplanner/paths/CenterNoteToBottomNote.path index a79c350..4bf8141 100644 --- a/src/main/deploy/pathplanner/paths/CenterNoteToBottomNote.path +++ b/src/main/deploy/pathplanner/paths/CenterNoteToBottomNote.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 2.7506156436814293, - "y": 6.922939429924444 + "x": 2.7272273347965497, + "y": 6.911245275482004 }, "prevControl": { - "x": 1.8301230761922098, - "y": 6.563970167686302 + "x": 1.8067347673073302, + "y": 6.552276013243862 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Centerline 1 to Shot.path b/src/main/deploy/pathplanner/paths/Centerline 1 to Shot.path index 3d9a302..124370e 100644 --- a/src/main/deploy/pathplanner/paths/Centerline 1 to Shot.path +++ b/src/main/deploy/pathplanner/paths/Centerline 1 to Shot.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 2.71, - "y": 5.55 + "x": 2.8909454969907094, + "y": 5.5430292057165325 }, "prevControl": { - "x": 7.211301936709776, - "y": 7.058691480664211 + "x": 7.392247433700485, + "y": 7.051720686380744 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Top Spike to Centerline 1.path b/src/main/deploy/pathplanner/paths/Top Spike to Centerline 1.path index 3548174..1290e7d 100644 --- a/src/main/deploy/pathplanner/paths/Top Spike to Centerline 1.path +++ b/src/main/deploy/pathplanner/paths/Top Spike to Centerline 1.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 2.7506156436814293, - "y": 6.922939429924444 + "x": 2.7272273347965497, + "y": 6.911245275482004 }, "prevControl": null, "nextControl": { - "x": 3.4091098039710737, - "y": 7.225831448054944 + "x": 3.385721495086194, + "y": 7.214137293612504 }, "isLocked": false, "linkedName": "WallSpike" diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index fc8a4fc..ea71bf2 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -87,9 +87,11 @@ public Command threePieceSourceSide() { return Commands.sequence( resetPose("3PieceSourceSide"), aimAndShoot(), - intake().deadlineWith(getPathFollowingCommand("3PieceSourceSide.1")), + intake().raceWith(getPathFollowingCommand("3PieceSourceSide.1")), + getPathFollowingCommand("3PieceSourceSide.2"), aimAndShoot(), - intake().deadlineWith(getPathFollowingCommand("3PieceSourceSide.2")), + intake().raceWith(getPathFollowingCommand("3PieceSourceSide.3")), + getPathFollowingCommand("3PieceSourceSide.4"), aimAndShoot()) .withInterruptBehavior(InterruptionBehavior.kCancelIncoming) .withName("Three Piece Source Side"); @@ -115,12 +117,13 @@ private Command toggleShootingWhileMoving() { private Command getPathFollowingCommand( String trajectoryName, ChoreoControlFunction controlFunction) { return Choreo.choreoSwerveCommand( - Choreo.getTrajectory(trajectoryName), - PoseEstimation.getInstance()::getPose, - controlFunction, - m_drivetrain::runVelocity, - Constants.onRedAllianceSupplier, - m_drivetrain); + Choreo.getTrajectory(trajectoryName), + PoseEstimation.getInstance()::getPose, + controlFunction, + m_drivetrain::runVelocity, + Constants.onRedAllianceSupplier, + m_drivetrain) + .andThen(Commands.waitSeconds(3.0)); } private Command getPathFollowingCommand(String trajectoryName) { diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 44d960f..0e66e67 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -236,7 +236,10 @@ public Robot() { .onFalse(m_arm.holdSetpoint()); m_driverController.rightBumper().whileTrue(Superstructure.spit(m_shooter, m_feeder, m_intake)); m_operatorController.leftStick().onTrue(m_arm.goToSetpoint(ArmSetpoints.kClimb)); - m_operatorController.rightStick().onTrue(m_arm.goToSetpoint(ArmSetpoints.kStash)); + m_operatorController + .rightStick() + .whileTrue(m_arm.goToSetpoint(ArmSetpoints.kStash)) + .onFalse(m_arm.goToSetpoint(ArmSetpoints.kStowed)); m_driverController.b().onTrue(m_arm.goToSetpoint(ArmSetpoints.kTrap)); m_driverController.b().whileTrue(Commands.parallel(m_climber.windWinch())); m_driverController @@ -259,6 +262,7 @@ public Robot() { .onTrue(Commands.parallel(m_arm.aimWrist(2.083), m_shooter.runShooter())) .onFalse(m_arm.goToSetpoint(ArmSetpoints.kStowed)); + m_driverController.povDown().whileTrue(m_feeder.feed().alongWith(m_intake.spit())); m_operatorController.y().whileTrue(m_shooter.runShooter()); m_operatorController .leftBumper() diff --git a/src/main/java/frc/robot/arm/Arm.java b/src/main/java/frc/robot/arm/Arm.java index c8e917a..c5db21a 100644 --- a/src/main/java/frc/robot/arm/Arm.java +++ b/src/main/java/frc/robot/arm/Arm.java @@ -305,7 +305,7 @@ public Command wristStaticCharacterization() { public enum ArmSetpoints { kStowed(-0.548, 2.485, 0.15, 0.0), - kAmp(1.49 + 0.0873, Units.degreesToRadians(230), 0.0, 0.0), + kAmp(1.49 + 0.0873, Units.degreesToRadians(228), 0.0, 0.0), kClimb(1.633, -2.371, 0.0, 0.0), kTrap(Units.degreesToRadians(53.0), Units.degreesToRadians(80.0), 0.0, 0.0), kStash(Units.degreesToRadians(10.0), Units.degreesToRadians(170.0), 0.0, 0.0); diff --git a/src/main/java/frc/robot/intake/IntakeIO.java b/src/main/java/frc/robot/intake/IntakeIO.java index 78089e2..0ad6bf3 100644 --- a/src/main/java/frc/robot/intake/IntakeIO.java +++ b/src/main/java/frc/robot/intake/IntakeIO.java @@ -16,7 +16,8 @@ public class IntakeIOInputs { public double centeringBagMotorsAppliedVolts = 0.0; public double centeringBagMotorsCurrentAmps = 0.0; - public boolean allMotorsConnected = false; + public boolean rollerMotorsConnected = false; + public boolean centeringMotorConnected = false; } public default void updateInputs(IntakeIOInputs inputs) {} diff --git a/src/main/java/frc/robot/intake/IntakeIOSparkMAX.java b/src/main/java/frc/robot/intake/IntakeIOSparkMAX.java index c730d4a..1a3a823 100644 --- a/src/main/java/frc/robot/intake/IntakeIOSparkMAX.java +++ b/src/main/java/frc/robot/intake/IntakeIOSparkMAX.java @@ -1,28 +1,29 @@ package frc.robot.intake; import com.revrobotics.CANSparkMax; +import com.revrobotics.REVLibError; import com.revrobotics.RelativeEncoder; import edu.wpi.first.math.util.Units; public class IntakeIOSparkMAX implements IntakeIO { - private final CANSparkMax topRollerMotor, bottomRollerMotor, centeringMotors; + private final CANSparkMax m_topRollerMotor, m_bottomRollerMotor, m_centeringMotors; private final RelativeEncoder m_topRollerEncoder, m_bottomRollerEncoder; public IntakeIOSparkMAX() { - topRollerMotor = new CANSparkMax(5, CANSparkMax.MotorType.kBrushless); - bottomRollerMotor = new CANSparkMax(6, CANSparkMax.MotorType.kBrushless); - centeringMotors = new CANSparkMax(8, CANSparkMax.MotorType.kBrushed); + m_topRollerMotor = new CANSparkMax(5, CANSparkMax.MotorType.kBrushless); + m_bottomRollerMotor = new CANSparkMax(6, CANSparkMax.MotorType.kBrushless); + m_centeringMotors = new CANSparkMax(8, CANSparkMax.MotorType.kBrushed); - m_topRollerEncoder = topRollerMotor.getEncoder(); - m_bottomRollerEncoder = bottomRollerMotor.getEncoder(); + m_topRollerEncoder = m_topRollerMotor.getEncoder(); + m_bottomRollerEncoder = m_bottomRollerMotor.getEncoder(); - topRollerMotor.restoreFactoryDefaults(); - bottomRollerMotor.restoreFactoryDefaults(); + m_topRollerMotor.restoreFactoryDefaults(); + m_bottomRollerMotor.restoreFactoryDefaults(); - topRollerMotor.setSmartCurrentLimit(40); - bottomRollerMotor.setSmartCurrentLimit(40); - centeringMotors.setSmartCurrentLimit(40); + m_topRollerMotor.setSmartCurrentLimit(40); + m_bottomRollerMotor.setSmartCurrentLimit(40); + m_centeringMotors.setSmartCurrentLimit(40); } @Override @@ -30,39 +31,44 @@ public void updateInputs(IntakeIOInputs inputs) { inputs.topRollerVelocityRpm = Units.rotationsPerMinuteToRadiansPerSecond(m_topRollerEncoder.getVelocity()); inputs.topRollerAppliedVolts = - topRollerMotor.getAppliedOutput() * topRollerMotor.getBusVoltage(); - inputs.topRollerCurrentAmps = topRollerMotor.getOutputCurrent(); + m_topRollerMotor.getAppliedOutput() * m_topRollerMotor.getBusVoltage(); + inputs.topRollerCurrentAmps = m_topRollerMotor.getOutputCurrent(); inputs.bottomRollerVelocityRpm = Units.rotationsPerMinuteToRadiansPerSecond(m_bottomRollerEncoder.getVelocity()); inputs.bottomRollerAppliedVolts = - bottomRollerMotor.getAppliedOutput() * bottomRollerMotor.getBusVoltage(); - inputs.bottomRollerCurrentAmps = bottomRollerMotor.getOutputCurrent(); + m_bottomRollerMotor.getAppliedOutput() * m_bottomRollerMotor.getBusVoltage(); + inputs.bottomRollerCurrentAmps = m_bottomRollerMotor.getOutputCurrent(); inputs.centeringBagMotorsAppliedVolts = - centeringMotors.getAppliedOutput() * centeringMotors.getBusVoltage(); - inputs.bottomRollerCurrentAmps = centeringMotors.getOutputCurrent(); + m_centeringMotors.getAppliedOutput() * m_centeringMotors.getBusVoltage(); + inputs.bottomRollerCurrentAmps = m_centeringMotors.getOutputCurrent(); + + inputs.rollerMotorsConnected = + m_topRollerMotor.getLastError() == REVLibError.kOk + && m_bottomRollerMotor.getLastError() == REVLibError.kOk; + inputs.centeringMotorConnected = m_centeringMotors.getLastError() == REVLibError.kOk; } @Override public void setFrontRollersVoltage(double volts) { - topRollerMotor.setVoltage(volts); + m_topRollerMotor.setVoltage(volts); } @Override public void setBackRollersVoltage(double volts) { - bottomRollerMotor.setVoltage(volts); + m_bottomRollerMotor.setVoltage(volts); } @Override public void setCenteringMotorsVoltage(double volts) { - centeringMotors.setVoltage(volts); + m_centeringMotors.setVoltage(volts); } @Override public void stopRollers() { - topRollerMotor.stopMotor(); - bottomRollerMotor.stopMotor(); - centeringMotors.stopMotor(); + m_topRollerMotor.stopMotor(); + m_bottomRollerMotor.stopMotor(); + m_centeringMotors.stopMotor(); } } diff --git a/src/main/java/frc/robot/intake/IntakeIOTalonFX.java b/src/main/java/frc/robot/intake/IntakeIOTalonFX.java index f9b774c..1cad50c 100644 --- a/src/main/java/frc/robot/intake/IntakeIOTalonFX.java +++ b/src/main/java/frc/robot/intake/IntakeIOTalonFX.java @@ -1,5 +1,6 @@ package frc.robot.intake; +import com.ctre.phoenix.ErrorCode; import com.ctre.phoenix.motorcontrol.ControlMode; import com.ctre.phoenix.motorcontrol.SupplyCurrentLimitConfiguration; import com.ctre.phoenix.motorcontrol.can.BaseTalon; @@ -65,7 +66,7 @@ public IntakeIOTalonFX() { @Override public void updateInputs(IntakeIOInputs inputs) { - inputs.allMotorsConnected = + inputs.rollerMotorsConnected = BaseStatusSignal.refreshAll( m_topRollerVelocitySignal, m_topRollerAppliedVoltageSignal, @@ -74,6 +75,7 @@ public void updateInputs(IntakeIOInputs inputs) { m_bottomRollerAppliedVoltageSignal, m_bottomRollerCurrentSignal) .isOK(); + inputs.centeringMotorConnected = m_centeringMotors.getLastError() == ErrorCode.OK; inputs.topRollerVelocityRpm = m_topRollerVelocitySignal.getValue() * 60.0; inputs.topRollerAppliedVolts = m_topRollerAppliedVoltageSignal.getValue(); diff --git a/src/main/java/frc/robot/shooter/Shooter.java b/src/main/java/frc/robot/shooter/Shooter.java index 97bd94d..054a2d5 100644 --- a/src/main/java/frc/robot/shooter/Shooter.java +++ b/src/main/java/frc/robot/shooter/Shooter.java @@ -21,7 +21,7 @@ public class Shooter extends SubsystemBase { public static final double kFarShotVelocityRpm = 5800.0; private final double kTrapShot = 400.0; private final double kAmpShot = 5000.0; - private final double kReadyToShootToleranceRps = 3.0; + private final double kReadyToShootToleranceRps = 5.0; // Denominator for gains here are in rotations public static final double topRollerkS = 0.15945;