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Better rev up, better amp shot, more buttons for zach #134

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merged 8 commits into from
May 3, 2024
Merged

Better rev up, better amp shot, more buttons for zach #134

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d5710e3
added lower pass angle that does not change the robot angle
2491NoMythic Apr 30, 2024
123d1df
moved autos that are unosed into "obsolete" folder
2491NoMythic Apr 30, 2024
58f1907
simpler revState without absolute values
2491NoMythic May 1, 2024
99b910f
lower current limit while using source intake
2491NoMythic May 1, 2024
30fdbed
changed numbers for HCPA field
2491NoMythic May 1, 2024
ed977b1
lower current limit for amp shot
2491NoMythic May 1, 2024
b2207b4
added option to rev down to zero
2491NoMythic May 1, 2024
4f193cb
fix big power draw when source intaking by defaulting to PID loop
2491NoMythic May 1, 2024
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2 changes: 1 addition & 1 deletion src/main/deploy/pathplanner/autos/(AP)StartAmpScore3FarAmp.auto
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Expand Up @@ -5,7 +5,7 @@
"x": 0.6842044526319189,
"y": 6.690138362483131
},
"rotation": -125.5
"rotation": -117.0
},
"command": {
"type": "sequential",
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2 changes: 1 addition & 1 deletion src/main/deploy/pathplanner/autos/(AP)StartSourceScore3FarSource.auto
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Expand Up @@ -5,7 +5,7 @@
"x": 0.7523718013035084,
"y": 4.450354048988052
},
"rotation": 119.3
"rotation": 117.3
},
"command": {
"type": "sequential",
Expand Down
0 ...lanner/autos/(AP)StartAmpScore3Close.auto → ...ths/Obsolete/(AP)StartAmpScore3Close.auto
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0 ...oy/pathplanner/autos/(AP)StartMLeft3.auto → ...anner/paths/Obsolete/(AP)StartMLeft3.auto
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0 .../autos/(AP)StartMid2Close1FarAmpSide.auto → ...solete/(AP)StartMid2Close1FarAmpSide.auto
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0 ...nner/autos/(AP)StartMidScoreCloseMid.auto → ...s/Obsolete/(AP)StartMidScoreCloseMid.auto
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0 ...ner/autos/(AP)StartSourceScore3Close.auto → .../Obsolete/(AP)StartSourceScore3Close.auto
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0 ...main/deploy/pathplanner/autos/5METER.auto → ...oy/pathplanner/paths/Obsolete/5METER.auto
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0 ...oy/pathplanner/autos/AmpShotPathTest.auto → ...anner/paths/Obsolete/AmpShotPathTest.auto
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0 ...ain/deploy/pathplanner/autos/FleeAmp.auto → ...y/pathplanner/paths/Obsolete/FleeAmp.auto
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0 ...ain/deploy/pathplanner/autos/FleeMid.auto → ...y/pathplanner/paths/Obsolete/FleeMid.auto
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0 .../deploy/pathplanner/autos/FleeSource.auto → ...athplanner/paths/Obsolete/FleeSource.auto
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0 .../deploy/pathplanner/autos/rotateTest.auto → ...athplanner/paths/Obsolete/rotateTest.auto
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14 changes: 7 additions & 7 deletions src/main/java/frc/robot/RobotContainer.java
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Expand Up @@ -134,7 +134,7 @@ public class RobotContainer {
BooleanSupplier ForceVisionSup;
BooleanSupplier GroundIntakeSup;
BooleanSupplier FarStageAngleSup;
BooleanSupplier OperatorRevForPass;
BooleanSupplier OperatorRevToZero;
BooleanSupplier OverStagePassSup;
BooleanSupplier OppositeStageShotSup;
BooleanSupplier falseSup;
Expand Down Expand Up @@ -187,7 +187,7 @@ public RobotContainer() {
ManualShootSup = driverController::getR2Button;
ClimberDownSup = operatorController::getPSButton;
GroundIntakeSup = driverController::getL1Button;
OperatorRevForPass = ()->operatorController.getPOV() != -1;
OperatorRevToZero = ()->operatorController.getPOV() != -1;
SubwooferAngleSup =()-> driverController.getCrossButton()||operatorController.getCrossButton();
StageAngleSup = ()->operatorController.getTriangleButton()||driverController.getTriangleButton();;
FarStageAngleSup = ()->operatorController.getSquareButton()||driverController.getSquareButton();
Expand Down Expand Up @@ -250,7 +250,7 @@ private void shooterInst() {
}
private void angleShooterInst(){
angleShooterSubsystem = new AngleShooterSubsystem();
defaultShooterAngleCommand = new AimShooter(angleShooterSubsystem, AmpAngleSup, HumanPlaySup, SubwooferAngleSup, StageAngleSup, GroundIntakeSup, FarStageAngleSup, OverStagePassSup, OppositeStageShotSup);
defaultShooterAngleCommand = new AimShooter(angleShooterSubsystem, AmpAngleSup, HumanPlaySup, SubwooferAngleSup, StageAngleSup, GroundIntakeSup, FarStageAngleSup, OverStagePassSup, OppositeStageShotSup, CenterAmpPassSup);
angleShooterSubsystem.setDefaultCommand(defaultShooterAngleCommand);
}
private void intakeInst() {
Expand All @@ -268,7 +268,7 @@ private void indexInit() {
indexer = new IndexerSubsystem(intakeExists ? intake::isNoteSeen : () -> false);
}
private void indexCommandInst() {
defaulNoteHandlingCommand = new IndexCommand(indexer, ShootIfReadySup, AimWhileMovingSup, shooter, intake, driveTrain, angleShooterSubsystem, HumanPlaySup, StageAngleSup, SubwooferAngleSup, GroundIntakeSup, FarStageAngleSup, OperatorRevForPass, intakeReverse, OverStagePassSup, OppositeStageShotSup);
defaulNoteHandlingCommand = new IndexCommand(indexer, ShootIfReadySup, AimWhileMovingSup, shooter, intake, driveTrain, angleShooterSubsystem, HumanPlaySup, StageAngleSup, SubwooferAngleSup, GroundIntakeSup, FarStageAngleSup, OperatorRevToZero, intakeReverse, OverStagePassSup, OppositeStageShotSup);
indexer.setDefaultCommand(defaulNoteHandlingCommand);
}

Expand Down Expand Up @@ -398,7 +398,7 @@ private void configureBindings() {
);
SmartDashboard.putNumber("Indexer Amp Speed", indexerAmpSpeed);
SequentialCommandGroup orbitAmpShot = new SequentialCommandGroup(
new InstantCommand(()->shooter.shootWithSupplier(()->shooterAmpSpeed, true), shooter),
new InstantCommand(()->shooter.setTargetVelocity(shooterAmpSpeed, shooterAmpSpeed, 50, 50), shooter),
new MoveMeters(driveTrain, 0.015, 0.5, 0, 0),
new InstantCommand(driveTrain::pointWheelsInward, driveTrain),
new InstantCommand(()->angleShooterSubsystem.setDesiredShooterAngle(50), angleShooterSubsystem),
Expand Down Expand Up @@ -607,8 +607,8 @@ public void execute() {
}
if(angleShooterExists) {
//the same command that we use during teleop, but all the buttons that would aim the shooter anywhere other than the speaker are set to false.
NamedCommands.registerCommand("autoAimAtSpeaker", new AimShooter(angleShooterSubsystem, ()->false, ()->false, ()->false, ()->false, ()->false, ()->false, ()->false, ()->false));
SmartDashboard.putData("autoAimAtSpeaker", new AimShooter(angleShooterSubsystem, ()->false, ()->false, ()->false, ()->false, ()->false, ()->false, ()->false, ()->false));
NamedCommands.registerCommand("autoAimAtSpeaker", new AimShooter(angleShooterSubsystem, ()->false, ()->false, ()->false, ()->false, ()->false, ()->false, ()->false, ()->false, ()->false));
SmartDashboard.putData("autoAimAtSpeaker", new AimShooter(angleShooterSubsystem, ()->false, ()->false, ()->false, ()->false, ()->false, ()->false, ()->false, ()->false, ()->false));
}
if (indexerExists&&intakeExists) {
NamedCommands.registerCommand("groundIntake", new AutoGroundIntake(indexer, intake, driveTrain));
Expand Down
6 changes: 5 additions & 1 deletion src/main/java/frc/robot/commands/AimShooter.java
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Expand Up @@ -20,6 +20,7 @@ public class AimShooter extends Command {
BooleanSupplier farStageAngleSup;
BooleanSupplier OverStageAngleSup;
BooleanSupplier OppositeStageShotSup;
BooleanSupplier LowPassAngleSup;
/**
* A Command that will control the angle of the shooter. If none of the supplied buttons are pressed, than it will automatically aim at the speaker
* @param angleShooterSubsystem the subsytem to control the angle of the shooter
Expand All @@ -33,7 +34,7 @@ public class AimShooter extends Command {
* @param OppositeStageShotSup button to press to aim at the speaker from the opposite side of the stage (from the speaker)
*/
public AimShooter(AngleShooterSubsystem angleShooterSubsystem, BooleanSupplier AmpSup, BooleanSupplier humanPlayerSupplier,
BooleanSupplier SubwooferSupplier1, BooleanSupplier StageAngleSupplier, BooleanSupplier groundIntakeSup, BooleanSupplier farStageAngleSup, BooleanSupplier OverStageAngleSup, BooleanSupplier OppositeStageShotSup) {
BooleanSupplier SubwooferSupplier1, BooleanSupplier StageAngleSupplier, BooleanSupplier groundIntakeSup, BooleanSupplier farStageAngleSup, BooleanSupplier OverStageAngleSup, BooleanSupplier OppositeStageShotSup, BooleanSupplier LowPassAngleSup) {
this.angleShooterSubsystem = angleShooterSubsystem;
this.AmpSup = AmpSup;
this.humanPlayerSupplier = humanPlayerSupplier;
Expand All @@ -43,6 +44,7 @@ public AimShooter(AngleShooterSubsystem angleShooterSubsystem, BooleanSupplier A
this.farStageAngleSup = farStageAngleSup;
this.OverStageAngleSup = OverStageAngleSup;
this.OppositeStageShotSup = OppositeStageShotSup;
this.LowPassAngleSup = LowPassAngleSup;
addRequirements(angleShooterSubsystem);
}

Expand Down Expand Up @@ -70,6 +72,8 @@ public void execute() {
angleShooterSubsystem.setDesiredShooterAngle(ShooterConstants.OVER_STAGE_PASS_ANGLE);
} else if(OppositeStageShotSup.getAsBoolean()) {
angleShooterSubsystem.setDesiredShooterAngle(Field.OPPOSITE_STAGE_SHOOTER_ANGLE);
} else if (LowPassAngleSup.getAsBoolean()) {
angleShooterSubsystem.setDesiredShooterAngle(12);
} else {
angleShooterSubsystem.setDesiredShooterAngle(angleShooterSubsystem.calculateSpeakerAngle());
}
Expand Down
11 changes: 6 additions & 5 deletions src/main/java/frc/robot/commands/IndexCommand.java
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Expand Up @@ -6,6 +6,7 @@

import static frc.robot.settings.Constants.DriveConstants.MAX_VELOCITY_METERS_PER_SECOND;
import static frc.robot.settings.Constants.ShooterConstants.PRAC_AMP_RPS;
import static frc.robot.settings.Constants.ShooterConstants.HUMAN_PLAYER_RPS;
import static frc.robot.settings.Constants.ShooterConstants.LONG_SHOOTING_RPS;
import static frc.robot.settings.Constants.ShooterConstants.PASS_RPS;

Expand Down Expand Up @@ -45,7 +46,7 @@ public class IndexCommand extends Command {
BooleanSupplier stageAngleSup;
BooleanSupplier subwooferAngleSup;
BooleanSupplier farStageAngleSup;
BooleanSupplier operatorOverStageRev;
BooleanSupplier revToZeroSup;
BooleanSupplier intakeReverse;
BooleanSupplier OverStagePassSup;
BooleanSupplier OppositeStageShotSup;
Expand Down Expand Up @@ -89,7 +90,7 @@ public IndexCommand(IndexerSubsystem m_IndexerSubsystem, BooleanSupplier shootIf
this.stageAngleSup = stageAngleSup;
this.farStageAngleSup = farStageAngleSup;
this.groundIntakeSup = groundIntakeSup;
this.operatorOverStageRev = operatorRevSup;
this.revToZeroSup = operatorRevSup;
this.intakeReverse = intakeReverse;
this.OverStagePassSup = OverStagePassSup;
this.OppositeStageShotSup = OppositeStageShotSup;
Expand Down Expand Up @@ -123,7 +124,7 @@ public void execute() {
intake.setNoteHeld(false);
if(humanPlayerSupplier.getAsBoolean()) {
m_Indexer.set(IndexerConstants.HUMAN_PLAYER_INDEXER_SPEED);
shooter.shootSameRPS(ShooterConstants.HUMAN_PLAYER_RPS);
shooter.setTargetVelocity(HUMAN_PLAYER_RPS, HUMAN_PLAYER_RPS, 40, 40);
intake.intakeOff();
} else {
if(!groundIntakeSup.getAsBoolean()) {
Expand All @@ -144,8 +145,8 @@ public void execute() {
idleReving = false;
}
} else {
if (operatorOverStageRev.getAsBoolean()){
shooter.shootRPSWithCurrent(PASS_RPS, 20, 30);
if (revToZeroSup.getAsBoolean()){
shooter.shootRPSWithCurrent(0, 20, 30);
idleReving = false;
} else {
shooter.shootRPSWithCurrent(LONG_SHOOTING_RPS, 20, 30);
Expand Down
4 changes: 2 additions & 2 deletions src/main/java/frc/robot/settings/Constants.java
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Expand Up @@ -466,8 +466,8 @@ public final class Field{

public static final double CALCULATED_SHOOTER_RED_SPEAKER_X = AMP_SIDE_OUTER_TAPE_CORNER_RED_X+3.213;
public static final double CALCULATED_RED_SPEAKER_Y = AMP_SIDE_OUTER_TAPE_CORNER_RED_Y+1.263;
public static final double RED_SPEAKER_Y = 5.613;//home field: 5.613 HCPA: 5.68
public static final double SHOOTER_RED_SPEAKER_X = 16.582;//home field: 16.582 HCPA: 16.55
public static final double RED_SPEAKER_Y = 5.68;//home field: 5.613 HCPA: 5.68
public static final double SHOOTER_RED_SPEAKER_X = 16.55;//home field: 16.582 HCPA: 16.55
public static final double ROBOT_RED_SPEAKER_X = SHOOTER_RED_SPEAKER_X-0.165;//changed so that shots from the side wil aim to the opposite side, and bank in

public static final double CALCULATED_SHOOTER_BLUE_SPEAKER_X = AMP_SIDE_OUTER_TAPE_CORNER_BLUE_X-3.213; //changed so that shots from the side wil aim to the opposite side, and bank in
Expand Down
24 changes: 12 additions & 12 deletions src/main/java/frc/robot/subsystems/ShooterSubsystem.java
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Expand Up @@ -198,17 +198,17 @@ public void turnOff(){
* @return Updated isReving
*/
private static int updateIsReving(int revState, double targetSpeed, double speed){
double revUpEn = -10;
double revUpDis = -2;
double revDownEn = 10;
double revUpEn = 10;
double revUpDis = 2;
double revDownEn = -10;
double revDownDis = 2;
targetSpeed = Math.abs(targetSpeed);
speed = Math.abs(speed);
if (speed < targetSpeed + revUpEn){
double difference = targetSpeed - speed;
SmartDashboard.putNumber("SHOOTER/desired speed difference", difference);
if (difference>revUpEn){
revState = 1;
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@EchoNotation EchoNotation May 2, 2024 •
edited
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Having this revstate variable be an integer is acceptable here-- especially since there is an obvious connection between the sign of revstate and the motor behavior. However, whenever you're implementing some logic that should only take certain states, it's a good idea to use an enum. https://www.w3schools.com/java/java_enums.asp Using an enum could improve readability (e.g. revState = RevState.REVVING_UP or revState = RevState.IDLE), but more importantly can prevent bugs like accidently setting revState to 2.

} else if (speed > targetSpeed + revDownEn && targetSpeed<10){
} else if (difference<revDownEn && targetSpeed<10){
revState = -1;
} else if((revState == 1 && speed > targetSpeed + revUpDis) || (revState == -1 && speed < targetSpeed + revDownDis)) {
} else if(revState != 0 && Math.abs(difference)<revDownDis) {
revState = 0;
}
return revState;
Expand All @@ -221,10 +221,10 @@ private static void updateMotor(TalonFX shooterMotor, int revState, double targe
shooterMotor.getConfigurator().apply(currentLimits);
if(targetSpeed == 0) {
shooterMotor.set(0);
} else if (revState == -1) {
shooterMotor.set(-Math.signum(targetSpeed));
} else if(revState == 1) {
shooterMotor.set(Math.signum(targetSpeed));
} else if(targetSpeed<0) {
shooterMotor.setControl(new VelocityDutyCycle(targetSpeed).withSlot(0));
} else if (revState != 0) {
shooterMotor.set(revState);
} else {
shooterMotor.setControl(new VelocityDutyCycle(targetSpeed).withSlot(0));
}
Expand Down
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