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the issue is our ToF sensor
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@GearBoxFox
GearBoxFox committed Mar 8, 2024
1 parent 4c1dbdd commit 76240af
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Showing 5 changed files with 70 additions and 59 deletions.
24 changes: 12 additions & 12 deletions src/main/java/frc/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -48,26 +48,26 @@ public void robotInit() {

String logPath = "/media/sda1/aoide";

DataLogManager.start(logPath);
DriverStation.startDataLog(DataLogManager.getLog());
// DataLogManager.start(logPath);
// DriverStation.startDataLog(DataLogManager.getLog());

SignalLogger.setPath(logPath);
SignalLogger.start();
// SignalLogger.setPath(logPath);
// SignalLogger.start();

// Instantiate our RobotContainer. This will perform all our button bindings,
// and put our autonomous chooser on the dashboard.
robotContainer = new RobotContainer();

pdp = new PowerDistribution();

final StringLogEntry entry = new StringLogEntry(DataLogManager.getLog(), "/ntlog");
NetworkTableInstance.getDefault()
.addLogger(
0,
100,
event ->
entry.append(
event.logMessage.filename + ":" + event.logMessage.line + ":" + event.logMessage.message));
// final StringLogEntry entry = new StringLogEntry(DataLogManager.getLog(), "/ntlog");
// NetworkTableInstance.getDefault()
// .addLogger(
// 0,
// 100,
// event ->
// entry.append(
// event.logMessage.filename + ":" + event.logMessage.line + ":" + event.logMessage.message));
}

/** This function is called periodically during all modes. */
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93 changes: 48 additions & 45 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -59,9 +59,9 @@
public class RobotContainer {
// Subsystems
private final DriveSubsystem m_driveSubsystem;
// private final ShooterSubsystem m_shooter;
// public final ArmSubsystem m_armSubsystem;
// private final ClimberSubsystem m_climber;
private final ShooterSubsystem m_shooter;
public final ArmSubsystem m_armSubsystem;
private final ClimberSubsystem m_climber;

// Controller
private final CommandXboxController controller = new CommandXboxController(0);
Expand All @@ -81,13 +81,14 @@ public RobotContainer() {
new ModuleIOTalonFX(Constants.DriveConstants.FL_MOD_CONSTANTS),
new ModuleIOTalonFX(Constants.DriveConstants.FR_MOD_CONSTANTS),
new ModuleIOTalonFX(Constants.DriveConstants.BL_MOD_CONSTANTS),
new ModuleIOTalonFX(Constants.DriveConstants.BR_MOD_CONSTANTS),
new VisionSubsystem[]{
new VisionSubsystem("RightCamera", DriveConstants.RIGHT_CAMERA_TRANSFORMATION)
});
// m_shooter = new ShooterSubsystem(new ShooterIOKraken());
// m_armSubsystem = new ArmSubsystem(new ArmIOKraken(), m_driveSubsystem::getVisionPose);
// m_climber = new ClimberSubsystem(new ClimberIOKraken() {});
new ModuleIOTalonFX(Constants.DriveConstants.BR_MOD_CONSTANTS)
// new VisionSubsystem[]{
// new VisionSubsystem("RightCamera", DriveConstants.RIGHT_CAMERA_TRANSFORMATION)
// }
);
m_shooter = new ShooterSubsystem(new ShooterIOKraken() {});
m_armSubsystem = new ArmSubsystem(new ArmIOKraken());
m_climber = new ClimberSubsystem(new ClimberIOKraken() {});
}
case PROTO_ARM -> {
m_driveSubsystem = new DriveSubsystem(
Expand All @@ -96,9 +97,9 @@ public RobotContainer() {
new ModuleIO() {},
new ModuleIO() {},
new ModuleIO() {});
// m_shooter = new ShooterSubsystem(new ShooterIO() {});
// m_armSubsystem = new ArmSubsystem(new ArmIOPrototype());
// m_climber = new ClimberSubsystem(new ClimberIO() {});
m_shooter = new ShooterSubsystem(new ShooterIO() {});
m_armSubsystem = new ArmSubsystem(new ArmIOPrototype());
m_climber = new ClimberSubsystem(new ClimberIO() {});
}
case PROTO_SHOOTER -> {
m_driveSubsystem = new DriveSubsystem(
Expand All @@ -108,9 +109,9 @@ public RobotContainer() {
new ModuleIO() {},
new ModuleIO() {},
new ModuleIO() {});
// m_shooter = new ShooterSubsystem(new ShooterIOKraken());
// m_climber = new ClimberSubsystem(new ClimberIO() {});
// m_armSubsystem = new ArmSubsystem(new ArmIO() {});
m_shooter = new ShooterSubsystem(new ShooterIOKraken());
m_climber = new ClimberSubsystem(new ClimberIO() {});
m_armSubsystem = new ArmSubsystem(new ArmIO() {});
}
case SIM -> {
// Sim robot, instantiate physics sim IO implementations
Expand All @@ -121,9 +122,9 @@ public RobotContainer() {
new ModuleIOSim(DriveConstants.FR_MOD_CONSTANTS),
new ModuleIOSim(DriveConstants.BL_MOD_CONSTANTS),
new ModuleIOSim(DriveConstants.BR_MOD_CONSTANTS));
// m_shooter = new ShooterSubsystem(new ShooterIOSim());
// m_armSubsystem = new ArmSubsystem(new ArmIOSim(), m_driveSubsystem::getPose);
// m_climber = new ClimberSubsystem(new ClimberIO() {});
m_shooter = new ShooterSubsystem(new ShooterIOSim());
m_armSubsystem = new ArmSubsystem(new ArmIOSim());
m_climber = new ClimberSubsystem(new ClimberIO() {});
}
default -> {
// Replayed robot, disable IO implementations
Expand All @@ -134,22 +135,22 @@ public RobotContainer() {
new ModuleIO() {},
new ModuleIO() {},
new ModuleIO() {});
// m_shooter = new ShooterSubsystem(new ShooterIO() {});
// m_armSubsystem = new ArmSubsystem(new ArmIO() {});
// m_climber = new ClimberSubsystem(new ClimberIO() {});
m_shooter = new ShooterSubsystem(new ShooterIO() {});
m_armSubsystem = new ArmSubsystem(new ArmIO() {});
m_climber = new ClimberSubsystem(new ClimberIO() {});
}
}

// Set up auto routines
autoChooser = new SendableChooser<>();

// Set up feedforward characterization
autoChooser.addOption(
"Drive FF Characterization",
new FeedForwardCharacterization(
m_driveSubsystem,
m_driveSubsystem::runCharacterizationVolts,
m_driveSubsystem::getCharacterizationVelocity));
// autoChooser.addOption(
// "Drive FF Characterization",
// new FeedForwardCharacterization(
// m_driveSubsystem,
// m_driveSubsystem::runCharacterizationVolts,
// m_driveSubsystem::getCharacterizationVelocity));

// Configure the button bindings
configureButtonBindings();
Expand Down Expand Up @@ -183,22 +184,22 @@ private void configureButtonBindings() {

double centerDistance = 1.34 - Units.inchesToMeters(3.0);

m_driveSubsystem.setDefaultCommand(
DriveCommands.joystickDrive(
m_driveSubsystem,
() -> -controller.getLeftY(),
() -> -controller.getLeftX(),
() -> -controller.getRightX()));
controller
.start()
.onTrue(
Commands.runOnce(
() ->
m_driveSubsystem.setPose(AllianceFlipUtil.apply(
new Pose2d(new Translation2d(centerDistance + Units.inchesToMeters(240.25), 5.55),
Rotation2d.fromDegrees(180.0)))),
m_driveSubsystem)
.ignoringDisable(true));
// m_driveSubsystem.setDefaultCommand(
// DriveCommands.joystickDrive(
// m_driveSubsystem,
// () -> -controller.getLeftY(),
// () -> -controller.getLeftX(),
// () -> -controller.getRightX()));
// controller
// .start()
// .onTrue(
// Commands.runOnce(
// () ->
// m_driveSubsystem.setPose(AllianceFlipUtil.apply(
// new Pose2d(new Translation2d(centerDistance + Units.inchesToMeters(240.25), 5.55),
// Rotation2d.fromDegrees(180.0)))),
// m_driveSubsystem)
// .ignoringDisable(true));
}

/**
Expand All @@ -214,7 +215,7 @@ private void configureDashboard() {

// commandTab.add("Disable Arm Brake", m_armSubsystem.enableBrakeMode(false));
// commandTab.add("Enable Arm Brake", m_armSubsystem.enableBrakeMode(true));

/*
commandTab.add("Center Robot Pose", Commands.runOnce(
() ->
m_driveSubsystem.setPose(
Expand Down Expand Up @@ -290,6 +291,8 @@ private void configureDashboard() {
Rotation2d.fromDegrees(180.0)))),
m_driveSubsystem)
.ignoringDisable(true));
*/
}

/**
Expand Down
1 change: 1 addition & 0 deletions src/main/java/frc/robot/subsystems/shooter/ShooterIO.java
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Original file line number Diff line number Diff line change
Expand Up @@ -245,6 +245,7 @@ default void setKickerVoltage(double voltage) {}
default void setIntakeVoltage(double voltage) {}
default void setLeftVelocityRpm(double rpm) {}
default void setRightVelocityRpm(double rpm) {}
default boolean hasPiece() {return false;}
default void updateInputs(ShooterIOInputs inputs) {}
default void stop() {}

Expand Down
9 changes: 8 additions & 1 deletion src/main/java/frc/robot/subsystems/shooter/ShooterIOKraken.java
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Original file line number Diff line number Diff line change
Expand Up @@ -60,6 +60,8 @@ public ShooterIOKraken() {
m_tof = new TimeOfFlight(28);
m_tof.setRangingMode(TimeOfFlight.RangingMode.Short, 25);

m_tof.pidGet();

// general motor configs
TalonFXConfiguration shooterConfig = new TalonFXConfiguration();
shooterConfig.CurrentLimits.SupplyCurrentLimitEnable = true;
Expand Down Expand Up @@ -188,12 +190,17 @@ public void updateInputs(ShooterIOInputs inputs) {
inputs.intakeTemperature = m_intakeTemperatureSignal.getValueAsDouble();
inputs.indexerTemperature = m_indexerTemperatureSignal.getValueAsDouble();

inputs.tofDistanceIn = m_tof.getRange();
// inputs.tofDistanceIn = m_tof.getRange();

m_leftProperty.updateIfChanged();
m_rightProperty.updateIfChanged();
}

// @Override
// public boolean hasPiece() {
// return m_tof.getRange() < 60;
// }

@Override
public void setMotorVoltageTL(double voltage) {
m_leftTalon.setVoltage(voltage);
Expand Down
2 changes: 1 addition & 1 deletion src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -68,7 +68,7 @@ public Command runShooterVelocity(boolean runKicker) {
}

public boolean hasPiece() {
return m_inputs.tofDistanceIn < 60;
return m_io.hasPiece();
}

/** Command Factories */
Expand Down

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