From ef476a862fe4a6eec913e439ffbcecaa2e4aef77 Mon Sep 17 00:00:00 2001 From: Joshua Purushothaman <52509691+joshuathooyavan@users.noreply.github.com> Date: Wed, 2 Dec 2020 11:54:32 -0600 Subject: [PATCH 1/5] Cleaned out files, here's a mostly empty project --- src/main/java/frc/robot/Constants.java | 11 +---- src/main/java/frc/robot/Robot.java | 43 +++---------------- .../frc/robot/subsystems/ControlPanel.java | 5 --- .../java/frc/robot/subsystems/Feeder.java | 5 --- .../java/frc/robot/subsystems/Intake.java | 5 --- src/main/java/frc/robot/subsystems/Lift.java | 5 --- .../java/frc/robot/subsystems/Shooter.java | 5 --- 7 files changed, 7 insertions(+), 72 deletions(-) delete mode 100644 src/main/java/frc/robot/subsystems/ControlPanel.java delete mode 100644 src/main/java/frc/robot/subsystems/Feeder.java delete mode 100644 src/main/java/frc/robot/subsystems/Intake.java delete mode 100644 src/main/java/frc/robot/subsystems/Lift.java delete mode 100644 src/main/java/frc/robot/subsystems/Shooter.java diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 36177ad..6c079b1 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -2,14 +2,5 @@ public class Constants { - public final static int LF_MOTOR_ID = 1; - public final static int LB_MOTOR_ID = 2; - public final static int RF_MOTOR_ID = 3; - public final static int RB_MOTOR_ID = 4; - - public final static int FEEDER_MOTOR_ID = 5; - public final static int CONTROL_MOTOR_ID = 6; - public final static int INTAKE_MOTOR_ID = 7; - public final static int LIFT_MOTOR_ID = 8; - public final static int SHOOTER_MOTOR_ID = 9; + } \ No newline at end of file diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 768abcf..690ee80 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -5,46 +5,15 @@ /* the project. */ /*----------------------------------------------------------------------------*/ -// Names: -/* - Jacob Lewis - Zane Badgett - Joshua P - Arrio Gonsalves - Zayaan Rahman - Neeka Lin - Gabriel Rivera - Fernando Tovar - Matthew Metta -*/ - - package frc.robot; -import edu.wpi.first.wpilibj.*; - -import edu.wpi.first.wpilibj.SpeedControllerGroup; -import edu.wpi.first.wpilibj.drive.DifferentialDrive; - import edu.wpi.first.wpilibj.TimedRobot; -import edu.wpi.first.wpilibj.XboxController; -import edu.wpi.first.wpilibj.GenericHID.Hand; - -public class Robot extends TimedRobot { - private static PWMVictorSPX lf = new PWMVictorSPX(Constants.LF_MOTOR_ID); - private static PWMVictorSPX lb = new PWMVictorSPX(Constants.LB_MOTOR_ID); - private static PWMVictorSPX rf = new PWMVictorSPX(Constants.RF_MOTOR_ID); - private static PWMVictorSPX rb = new PWMVictorSPX(Constants.RB_MOTOR_ID); - - private static SpeedControllerGroup leftSide = new SpeedControllerGroup(lf, lb); - private static SpeedControllerGroup rightSide = new SpeedControllerGroup(rf, rb); - DifferentialDrive dt = new DifferentialDrive(leftSide, rightSide); - XboxController driverController = new XboxController(0); +public class Robot extends TimedRobot +{ + @Override + public void teleopPeriodic() + { - @Override - public void teleopPeriodic() - { - dt.arcadeDrive(driverController.getY(Hand.kLeft), driverController.getX(Hand.kRight)); - } + } } diff --git a/src/main/java/frc/robot/subsystems/ControlPanel.java b/src/main/java/frc/robot/subsystems/ControlPanel.java deleted file mode 100644 index 0bd2e67..0000000 --- a/src/main/java/frc/robot/subsystems/ControlPanel.java +++ /dev/null @@ -1,5 +0,0 @@ -package frc.robot.subsystems; - -public class ControlPanel { - -} \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/Feeder.java b/src/main/java/frc/robot/subsystems/Feeder.java deleted file mode 100644 index 791a65d..0000000 --- a/src/main/java/frc/robot/subsystems/Feeder.java +++ /dev/null @@ -1,5 +0,0 @@ -package frc.robot.subsystems; - -public class Feeder { - -} \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java deleted file mode 100644 index 2515a98..0000000 --- a/src/main/java/frc/robot/subsystems/Intake.java +++ /dev/null @@ -1,5 +0,0 @@ -package frc.robot.subsystems; - -public class Intake { - -} \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/Lift.java b/src/main/java/frc/robot/subsystems/Lift.java deleted file mode 100644 index 9b3341a..0000000 --- a/src/main/java/frc/robot/subsystems/Lift.java +++ /dev/null @@ -1,5 +0,0 @@ -package frc.robot.subsystems; - -public class Lift { - -} \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/Shooter.java b/src/main/java/frc/robot/subsystems/Shooter.java deleted file mode 100644 index 92bac0e..0000000 --- a/src/main/java/frc/robot/subsystems/Shooter.java +++ /dev/null @@ -1,5 +0,0 @@ -package frc.robot.subsystems; - -public class Shooter { - -} \ No newline at end of file From f53bbb23498d04e783d87d2d34b46a67c4859936 Mon Sep 17 00:00:00 2001 From: Joshua Purushothaman <52509691+joshuathooyavan@users.noreply.github.com> Date: Wed, 2 Dec 2020 18:14:44 -0600 Subject: [PATCH 2/5] committing as is, fails build but first day ya kno --- src/main/java/frc/robot/Constants.java | 3 ++ .../java/frc/robot/subsystems/Drivetrain.java | 47 +++++++++++++++++++ .../java/frc/robot/subsystems/Intake.java | 16 +++++++ 3 files changed, 66 insertions(+) create mode 100644 src/main/java/frc/robot/subsystems/Drivetrain.java create mode 100644 src/main/java/frc/robot/subsystems/Intake.java diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 6c079b1..55830bc 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -2,5 +2,8 @@ public class Constants { + + public static final int LF_MOTOR_ID = 0; + public final static int INTAKE_MOTOR_ID = 3; } \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/Drivetrain.java b/src/main/java/frc/robot/subsystems/Drivetrain.java new file mode 100644 index 0000000..afcb6f5 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/Drivetrain.java @@ -0,0 +1,47 @@ + +import static com.revrobotics.CANSparkMaxLowLevel.MotorType.*; + +import com.revrobotics.CANSparkMax; + +import edu.wpi.first.wpilibj.SpeedControllerGroup; +import edu.wpi.first.wpilibj.drive.DifferentialDrive; +import frc.robot.Constants; + +public class Drivetrain +{ + private static CANSparkMax lf = new CANSparkMax(Constants.LF_MOTOR_ID, kBrushless); + private static CANSparkMax lm = new CANSparkMax(Constants.LM_MOTOR_ID, kBrushless); // I think we dont need the bottom ones... the upper ones are instance variables... IDK what the bottom ones are lol + private static CANSparkMax lb = new CANSparkMax(Constants.LB_MOTOR_ID, kBrushless); + private static CANSparkMax rf = new CANSparkMax(Constants.RF_MOTOR_ID, kBrushless); + private static CANSparkMax rm = new CANSparkMax(Constants.RM_MOTOR_ID, kBrushless); + private static CANSparkMax rb = new CANSparkMax(Constants.RB_MOTOR_ID, kBrushless); + + /** DifferentialDrive m_drive; + CANSparkMax m_frontLeft = new CANSparkMax(LF_MOTOR_ID, kBrushless); + CANSparkMax m_midLeft = new CANSparkMax(LM_MOTOR_ID, kBrushless); + CANSparkMax m_rearLeft = new CANSparkMax(LB_MOTOR_ID, kBrushless); + SpeedControllerGroup m_left = new SpeedControllerGroup(m_frontLeft, m_midLeft, m_rearLeft); + + CANSparkMax m_frontRight = new CANSparkMax(RF_MOTOR_ID, kBrushless); + CANSparkMax m_midRight = new CANSparkMax(RM_MOTOR_ID, kBrushless); + CANSparkMax m_rearRight = new CANSparkMax(RB_MOTOR_ID, kBrushless); + SpeedControllerGroup m_right = new SpeedControllerGroup(m_frontRight, m_midRight, m_rearRight); + +*/} + + +/** + * Straight from the Wpilib + * + * Talon m_frontLeft = new Talon(1); + Talon m_midLeft = new Talon(2); + Talon m_rearLeft = new Talon(3); + SpeedControllerGroup m_left = new SpeedControllerGroup(m_frontLeft, m_midLeft, m_rearLeft); + + Talon m_frontRight = new Talon(4); + Talon m_midRight = new Talon(5); + Talon m_rearRight = new Talon(6); + SpeedControllerGroup m_right = new SpeedControllerGroup(m_frontRight, m_midRight, m_rearRight); + + DifferentialDrive m_drive = new DifferentialDrive(m_left, m_right); + */ \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java new file mode 100644 index 0000000..37d82ae --- /dev/null +++ b/src/main/java/frc/robot/subsystems/Intake.java @@ -0,0 +1,16 @@ +import static com.revrobotics.CANSparkMaxLowLevel.MotorType.*; + +import com.revrobotics.CANSparkMax; +import frc.robot.Constants; + + +public class Intake +{ + //TODO: use talonsrx (@josh add vendordep talonsrx) + CANSparkMax intakeMotor; + + public Intake() + { + intakeMotor = new CANSparkMax(Constants.INTAKE_MOTOR_ID, kBrushless); + } +} \ No newline at end of file From 2b5ca1e4104b39e84fc32e9337489a7e53bd3c8c Mon Sep 17 00:00:00 2001 From: Joshua Purushothaman <52509691+joshuathooyavan@users.noreply.github.com> Date: Thu, 3 Dec 2020 17:57:03 -0600 Subject: [PATCH 3/5] glad with today's work --- src/main/java/frc/robot/Constants.java | 10 ++- src/main/java/frc/robot/Robot.java | 28 +++++++ .../java/frc/robot/subsystems/Drivetrain.java | 70 +++++++++-------- .../java/frc/robot/subsystems/Intake.java | 15 +++- src/main/java/frc/robot/subsystems/Lift.java | 28 +++++++ .../java/frc/robot/subsystems/Limelight.java | 78 +++++++++++++++++++ 6 files changed, 192 insertions(+), 37 deletions(-) create mode 100644 src/main/java/frc/robot/subsystems/Lift.java create mode 100644 src/main/java/frc/robot/subsystems/Limelight.java diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 55830bc..cf94983 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -4,6 +4,12 @@ public class Constants { public static final int LF_MOTOR_ID = 0; - public final static int INTAKE_MOTOR_ID = 3; - + public static final int INTAKE_MOTOR_ID = 3; + public static final int LM_MOTOR_ID = 4; + public static final int LB_MOTOR_ID = 5; + public static final int RF_MOTOR_ID = 6; + public static final int RM_MOTOR_ID = 7; + public static final int RB_MOTOR_ID = 8; + public static final int RIGHT_LIFT_MOTOR_ID = 9; + public static final int LEFT_LIFT_MOTOR_ID = 10; } \ No newline at end of file diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 690ee80..9097670 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -8,12 +8,40 @@ package frc.robot; import edu.wpi.first.wpilibj.TimedRobot; +import edu.wpi.first.wpilibj.XboxController; +import static edu.wpi.first.wpilibj.GenericHID.Hand.*; +import frc.robot.subsystems.*; public class Robot extends TimedRobot { + XboxController operatorController = new XboxController(1); + XboxController driverController = new XboxController(0); + + Intake intaker = new Intake(); + Limelight ll = new Limelight(); + Drivetrain dt = new Drivetrain(ll); + Lift lift = new Lift(); + @Override public void teleopPeriodic() { + //Manages intake components + if (operatorController.getAButton()) + intaker.IntakeStart(); + else + intaker.IntakeStop(); + //Slows down if holding trigger + if(driverController.getBumper(kLeft)) + dt.driveSlow(driverController.getY(kLeft), -driverController.getX(kRight)); + else + dt.drive(driverController.getX(kLeft), -driverController.getX(kRight)); + + if(operatorController.getPOV() == 0) + lift.raiseLift(); + else if(operatorController.getPOV() == 180) + lift.lowerLift(); + else + lift.stopLift(); } } diff --git a/src/main/java/frc/robot/subsystems/Drivetrain.java b/src/main/java/frc/robot/subsystems/Drivetrain.java index afcb6f5..8ced3be 100644 --- a/src/main/java/frc/robot/subsystems/Drivetrain.java +++ b/src/main/java/frc/robot/subsystems/Drivetrain.java @@ -1,47 +1,49 @@ import static com.revrobotics.CANSparkMaxLowLevel.MotorType.*; +import com.revrobotics.CANEncoder; +import com.revrobotics.CANPIDController; import com.revrobotics.CANSparkMax; - +import edu.wpi.first.wpilibj.geometry.Pose2d; import edu.wpi.first.wpilibj.SpeedControllerGroup; import edu.wpi.first.wpilibj.drive.DifferentialDrive; +import edu.wpi.first.wpilibj.geometry.Rotation2d; +import edu.wpi.first.wpilibj.kinematics.*; +import edu.wpi.first.wpilibj.interfaces.Gyro; +import edu.wpi.first.wpilibj.ADXRS450_Gyro; +import edu.wpi.first.wpilibj.trajectory.Trajectory; +import edu.wpi.first.wpilibj.trajectory.TrajectoryUtil; + + + import frc.robot.Constants; public class Drivetrain { - private static CANSparkMax lf = new CANSparkMax(Constants.LF_MOTOR_ID, kBrushless); - private static CANSparkMax lm = new CANSparkMax(Constants.LM_MOTOR_ID, kBrushless); // I think we dont need the bottom ones... the upper ones are instance variables... IDK what the bottom ones are lol + private static CANSparkMax lf = new CANSparkMax(Constants.LF_MOTOR_ID, kBrushless); + private static CANSparkMax lm = new CANSparkMax(Constants.LM_MOTOR_ID, kBrushless); private static CANSparkMax lb = new CANSparkMax(Constants.LB_MOTOR_ID, kBrushless); private static CANSparkMax rf = new CANSparkMax(Constants.RF_MOTOR_ID, kBrushless); private static CANSparkMax rm = new CANSparkMax(Constants.RM_MOTOR_ID, kBrushless); - private static CANSparkMax rb = new CANSparkMax(Constants.RB_MOTOR_ID, kBrushless); - - /** DifferentialDrive m_drive; - CANSparkMax m_frontLeft = new CANSparkMax(LF_MOTOR_ID, kBrushless); - CANSparkMax m_midLeft = new CANSparkMax(LM_MOTOR_ID, kBrushless); - CANSparkMax m_rearLeft = new CANSparkMax(LB_MOTOR_ID, kBrushless); - SpeedControllerGroup m_left = new SpeedControllerGroup(m_frontLeft, m_midLeft, m_rearLeft); - - CANSparkMax m_frontRight = new CANSparkMax(RF_MOTOR_ID, kBrushless); - CANSparkMax m_midRight = new CANSparkMax(RM_MOTOR_ID, kBrushless); - CANSparkMax m_rearRight = new CANSparkMax(RB_MOTOR_ID, kBrushless); - SpeedControllerGroup m_right = new SpeedControllerGroup(m_frontRight, m_midRight, m_rearRight); - -*/} - - -/** - * Straight from the Wpilib - * - * Talon m_frontLeft = new Talon(1); - Talon m_midLeft = new Talon(2); - Talon m_rearLeft = new Talon(3); - SpeedControllerGroup m_left = new SpeedControllerGroup(m_frontLeft, m_midLeft, m_rearLeft); - - Talon m_frontRight = new Talon(4); - Talon m_midRight = new Talon(5); - Talon m_rearRight = new Talon(6); - SpeedControllerGroup m_right = new SpeedControllerGroup(m_frontRight, m_midRight, m_rearRight); - - DifferentialDrive m_drive = new DifferentialDrive(m_left, m_right); - */ \ No newline at end of file + private static CANSparkMax rb = new CANSparkMax(Constants.RB_MOTOR_ID, kBrushless); + + private static SpeedControllerGroup leftSide = new SpeedControllerGroup(lb, lm, lf); + private static SpeedControllerGroup rightSide = new SpeedControllerGroup(rb, rm, rf); + + DifferentialDrive dt = new DifferentialDrive(leftSide, rightSide); + Limelight limelight; + + public Drivetrain(Limelight limelight) { + this.limelight = limelight; + dt.setMaxOutput(0.5); + } + + //TODO: @joshua tankdrive or arcadedrive?? + public void drive(double xSpeed, double zRotation) { + dt.arcadeDrive(xSpeed, zRotation); + } + + public void driveSlow(double xSpeed, double zRotation){ + drive(0.5 * xSpeed, zRotation); + } +} diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java index 37d82ae..263e502 100644 --- a/src/main/java/frc/robot/subsystems/Intake.java +++ b/src/main/java/frc/robot/subsystems/Intake.java @@ -1,3 +1,5 @@ +package frc.robot.subsystems; + import static com.revrobotics.CANSparkMaxLowLevel.MotorType.*; import com.revrobotics.CANSparkMax; @@ -8,9 +10,20 @@ public class Intake { //TODO: use talonsrx (@josh add vendordep talonsrx) CANSparkMax intakeMotor; - + + //constructor public Intake() { intakeMotor = new CANSparkMax(Constants.INTAKE_MOTOR_ID, kBrushless); } + + public void IntakeStart() + { + intakeMotor.set(0.5); + } + + public void IntakeStop() + { + intakeMotor.set(0); + } } \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/Lift.java b/src/main/java/frc/robot/subsystems/Lift.java new file mode 100644 index 0000000..676a609 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/Lift.java @@ -0,0 +1,28 @@ +package frc.robot.subsystems; + +import static com.revrobotics.CANSparkMaxLowLevel.MotorType.*; + +import com.revrobotics.CANSparkMax; +import frc.robot.Constants; + +public class Lift +{ + CANSparkMax motorLeft = new CANSparkMax(Constants.LEFT_LIFT_MOTOR_ID, kBrushless); + CANSparkMax motorRight = new CANSparkMax(Constants.RIGHT_LIFT_MOTOR_ID,kBrushless); + + public void raiseLift() + { + motorLeft.set(0.5); + motorRight.set(0.5); + } + public void lowerLift() + { + motorLeft.set(-0.5); + motorRight.set(-0.5); + } + public void stopLift() + { + motorLeft.set(0); + motorRight.set(0); + } +} \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/Limelight.java b/src/main/java/frc/robot/subsystems/Limelight.java new file mode 100644 index 0000000..08a81df --- /dev/null +++ b/src/main/java/frc/robot/subsystems/Limelight.java @@ -0,0 +1,78 @@ +package frc.robot.subsystems; + +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.networktables.NetworkTable; +import edu.wpi.first.networktables.NetworkTableEntry; +import edu.wpi.first.networktables.NetworkTableInstance; + +public class Limelight { + + // PUBLIC METHODS: + NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight"); + NetworkTableEntry tx = table.getEntry("tx"); + NetworkTableEntry ty = table.getEntry("ty"); + NetworkTableEntry ta = table.getEntry("ta"); + NetworkTableEntry tv = table.getEntry("tv"); + + double x = tx.getDouble(0.0); + double y = ty.getDouble(0.0); + double area = ta.getDouble(0.0); + boolean v = tv.getBoolean(false); + + // getTv() + public boolean getTv(){ + return v; + } + + // getTx() + public double getTx(){ + return x; + } + + // getTy() + public double getTy() { + return y; + } + + // getTa() + public double getTa(){ + return area; + } + + public void Update() { + x = tx.getDouble(0.0); + y = ty.getDouble(0.0); + area = ta.getDouble(0.0); + v = tv.getBoolean(false); + } + + public void shuffleboardUpdate() { + SmartDashboard.putNumber("LimelightX", x); + SmartDashboard.putNumber("LimelightY", y); + SmartDashboard.putNumber("LimelightArea", area); + SmartDashboard.putBoolean("LimelightV",v); + + } + + public void toggleLimelightLED() { + if(table.getEntry("ledMode").getDouble(1) == 1 ) //Light is off + { + table.getEntry("ledMode").setNumber(3); //Turn it on + } + else + { + table.getEntry("ledMode").setNumber(1); //Turn it off + } + } + + public void toggleLimelightBlinkLED(){ + if(table.getEntry("ledMode").getDouble(2) == 2 ) //Light is off + { + table.getEntry("ledMode").setNumber(1); //Turn it off + } + else + { + table.getEntry("ledMode").setNumber(2); //Turn it on + } + } +} \ No newline at end of file From 1ad86f96ef644a262b64cef734861531a2252f84 Mon Sep 17 00:00:00 2001 From: neekalin <33007448+neekalin@users.noreply.github.com> Date: Tue, 8 Dec 2020 17:32:09 -0600 Subject: [PATCH 4/5] added pathweaver for 2016 --- PathWeaver/Paths/1 | 5 +++++ PathWeaver/Paths/2 | 5 +++++ PathWeaver/Paths/3 | 5 +++++ PathWeaver/Paths/4 | 5 +++++ PathWeaver/output/1.wpilib.json | 1 + PathWeaver/output/2.wpilib.json | 1 + PathWeaver/output/3.wpilib.json | 1 + PathWeaver/output/4.wpilib.json | 1 + PathWeaver/pathweaver.json | 9 +++++++++ 9 files changed, 33 insertions(+) create mode 100644 PathWeaver/Paths/1 create mode 100644 PathWeaver/Paths/2 create mode 100644 PathWeaver/Paths/3 create mode 100644 PathWeaver/Paths/4 create mode 100644 PathWeaver/output/1.wpilib.json create mode 100644 PathWeaver/output/2.wpilib.json create mode 100644 PathWeaver/output/3.wpilib.json create mode 100644 PathWeaver/output/4.wpilib.json create mode 100644 PathWeaver/pathweaver.json diff --git a/PathWeaver/Paths/1 b/PathWeaver/Paths/1 new file mode 100644 index 0000000..a740a87 --- /dev/null +++ b/PathWeaver/Paths/1 @@ -0,0 +1,5 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Name +3.2232858272832465,-2.400719053109834,-2.312694921266794,-0.03434695427623957,true, +6.074083032211126,-0.7406162630915906,1.3967761405670727,0.08014289331122548,true, +7.9860634869217915,-0.9123510344727883,-1.534163957672031,-1.0647555825634245,true, +3.131693949213274,-3.3738827576032864,-2.8507972049278787,0.744184009318523,true, diff --git a/PathWeaver/Paths/2 b/PathWeaver/Paths/2 new file mode 100644 index 0000000..6bef2c0 --- /dev/null +++ b/PathWeaver/Paths/2 @@ -0,0 +1,5 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Name +3.1774898882482607,-2.549555854973538,0.6640411160072963,-0.22897969517493033,true, +5.776409428483716,-3.9005360565056257,0.24042867993367611,-0.6182451769723114,true, +5.6161236418612654,-4.198209660233033,-0.7899799483535093,0.12593883234621028,true, +3.1087959796957816,-3.6028624527782167,-2.4615317231304985,0.858673856905988,true, diff --git a/PathWeaver/Paths/3 b/PathWeaver/Paths/3 new file mode 100644 index 0000000..0c86641 --- /dev/null +++ b/PathWeaver/Paths/3 @@ -0,0 +1,5 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Name +3.246183796800739,-2.41216803786858,-2.427184768854258,-0.011448984758746672,true, +5.776409428483716,-3.7631482394006674,0.2862246189686637,-0.652592131248551,true, +5.696266535172491,-4.4729852944429505,-1.6257558357420034,0.3434695427623957,true, +3.131693949213274,-3.728801285124428,-2.713409387822921,1.213592384427129,true, diff --git a/PathWeaver/Paths/4 b/PathWeaver/Paths/4 new file mode 100644 index 0000000..1cbedb1 --- /dev/null +++ b/PathWeaver/Paths/4 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\ No newline at end of file diff --git a/PathWeaver/pathweaver.json b/PathWeaver/pathweaver.json new file mode 100644 index 0000000..870a423 --- /dev/null +++ b/PathWeaver/pathweaver.json @@ -0,0 +1,9 @@ +{ + "lengthUnit": "Meter", + "exportUnit": "Always Meters", + "maxVelocity": 0.5, + "maxAcceleration": 0.5, + "wheelBase": 0.5, + "gameName": "Infinite Recharge", + "outputDir": "" +} \ No newline at end of file From 7f1005fe9b86a8337a66b4df749e40374dec112a Mon Sep 17 00:00:00 2001 From: Joshua Purushothaman <52509691+joshuathooyavan@users.noreply.github.com> Date: Tue, 8 Dec 2020 17:49:33 -0600 Subject: [PATCH 5/5] tingz --- .vscode/settings.json | 4 +- src/main/java/frc/robot/Constants.java | 6 +- src/main/java/frc/robot/Robot.java | 38 +++++ .../java/frc/robot/subsystems/Drivetrain.java | 52 +++---- src/main/java/frc/robot/subsystems/Ramp.java | 37 +++++ .../java/frc/robot/subsystems/Shooter.java | 137 ++++++++++++++++++ 6 files changed, 246 insertions(+), 28 deletions(-) create mode 100644 src/main/java/frc/robot/subsystems/Ramp.java create mode 100644 src/main/java/frc/robot/subsystems/Shooter.java diff --git a/.vscode/settings.json b/.vscode/settings.json index 5200b5c..69dd5ec 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -11,5 +11,7 @@ "**/.project": true, "**/.settings": true, "**/.factorypath": true - } + }, + "extensions.ignoreRecommendations": true + "extensions.ignoreRecommendations": true } diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index cf94983..92e75c4 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -11,5 +11,9 @@ public class Constants public static final int RM_MOTOR_ID = 7; public static final int RB_MOTOR_ID = 8; public static final int RIGHT_LIFT_MOTOR_ID = 9; - public static final int LEFT_LIFT_MOTOR_ID = 10; + public static final int LEFT_LIFT_MOTOR_ID = 10; + public static final int SHOOTER_LIFT_MOTOR_ID = 11; + public static final int LEFT_SHOOTER_MOTOR_ID = 12; + public static final int RIGHT_SHOOTER_MOTOR_ID = 13; + public static final int RAMP_MOTOR_ID = 14; } \ No newline at end of file diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 9097670..2756b1b 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -21,6 +21,8 @@ public class Robot extends TimedRobot Limelight ll = new Limelight(); Drivetrain dt = new Drivetrain(ll); Lift lift = new Lift(); + Ramp r = new Ramp(); + Shooter shooter = new Shooter(); @Override public void teleopPeriodic() @@ -43,5 +45,41 @@ else if(operatorController.getPOV() == 180) lift.lowerLift(); else lift.stopLift(); + + if(driverController.getBumper(kRight)) + r.pushTime(0.5, 2.0); + + if(operatorController.get/**button */) + shooter.liftShooter(); + else + shooter.lowerShooter(); + //cuz i feel lik one button should both lift n shoot u know? //ok lets go back to Shooter.java or not idk + //le ts do ii m yea, we need some method to like determine when to lift then shoot, all in one button though + //this is fancy timer stuff right.imma rewatch the vidwait + //same ok + //what is the difference between lift motor and shoot motor:: lift brings it at the angle + //ok how about we find when the lift stops lifting, and gets to the desired angle, then shoot + //we could do psuedo code for the time and bs it + //so doesnt limelight determine the angle to lift to + + /** PSEUDO CODE: + we need to figure out how to use limelight with the lift + angle = getTy() <-- this is the angle the lift motor will lift to + does the angle it needs to lift to not vary + it does, that's why we need the limelight + oh + + + +yea MOVE TO SHOOOTER CLASS EVERYONE + + + */ + if(operatorController.getBButton()) + shooter.shoot(); + + else + shooter.stop(); + } } diff --git a/src/main/java/frc/robot/subsystems/Drivetrain.java b/src/main/java/frc/robot/subsystems/Drivetrain.java index 8ced3be..a866282 100644 --- a/src/main/java/frc/robot/subsystems/Drivetrain.java +++ b/src/main/java/frc/robot/subsystems/Drivetrain.java @@ -1,3 +1,4 @@ +package frc.robot.subsystems; import static com.revrobotics.CANSparkMaxLowLevel.MotorType.*; @@ -20,30 +21,29 @@ public class Drivetrain { - private static CANSparkMax lf = new CANSparkMax(Constants.LF_MOTOR_ID, kBrushless); - private static CANSparkMax lm = new CANSparkMax(Constants.LM_MOTOR_ID, kBrushless); - private static CANSparkMax lb = new CANSparkMax(Constants.LB_MOTOR_ID, kBrushless); - private static CANSparkMax rf = new CANSparkMax(Constants.RF_MOTOR_ID, kBrushless); - private static CANSparkMax rm = new CANSparkMax(Constants.RM_MOTOR_ID, kBrushless); - private static CANSparkMax rb = new CANSparkMax(Constants.RB_MOTOR_ID, kBrushless); - - private static SpeedControllerGroup leftSide = new SpeedControllerGroup(lb, lm, lf); - private static SpeedControllerGroup rightSide = new SpeedControllerGroup(rb, rm, rf); - - DifferentialDrive dt = new DifferentialDrive(leftSide, rightSide); - Limelight limelight; - - public Drivetrain(Limelight limelight) { - this.limelight = limelight; - dt.setMaxOutput(0.5); - } - - //TODO: @joshua tankdrive or arcadedrive?? - public void drive(double xSpeed, double zRotation) { - dt.arcadeDrive(xSpeed, zRotation); - } - - public void driveSlow(double xSpeed, double zRotation){ - drive(0.5 * xSpeed, zRotation); - } + private static CANSparkMax lf = new CANSparkMax(Constants.LF_MOTOR_ID, kBrushless); + private static CANSparkMax lm = new CANSparkMax(Constants.LM_MOTOR_ID, kBrushless); + private static CANSparkMax lb = new CANSparkMax(Constants.LB_MOTOR_ID, kBrushless); + private static CANSparkMax rf = new CANSparkMax(Constants.RF_MOTOR_ID, kBrushless); + private static CANSparkMax rm = new CANSparkMax(Constants.RM_MOTOR_ID, kBrushless); + private static CANSparkMax rb = new CANSparkMax(Constants.RB_MOTOR_ID, kBrushless); + + private static SpeedControllerGroup leftSide = new SpeedControllerGroup(lb, lm, lf); + private static SpeedControllerGroup rightSide = new SpeedControllerGroup(rb, rm, rf); + + DifferentialDrive dt = new DifferentialDrive(leftSide, rightSide); + Limelight limelight; + + public Drivetrain(Limelight limelight) { + this.limelight = limelight; + dt.setMaxOutput(0.5); + } + + public void drive(double xSpeed, double zRotation) { + dt.arcadeDrive(xSpeed, zRotation); + } + + public void driveSlow(double xSpeed, double zRotation){ + drive(0.5 * xSpeed, zRotation); + } } diff --git a/src/main/java/frc/robot/subsystems/Ramp.java b/src/main/java/frc/robot/subsystems/Ramp.java new file mode 100644 index 0000000..748b36a --- /dev/null +++ b/src/main/java/frc/robot/subsystems/Ramp.java @@ -0,0 +1,37 @@ +package frc.robot.subsystems; + +import edu.wpi.first.wpilibj.*; +import com.revrobotics.*; +import frc.robot.*; + + + +public class Ramp { + TalonSRX rampMotor; + private Timer timer = new Timer(); + public Ramp() { + rampMotor = new TalonSRX(Constants.RAMP_MOTOR_ID); + } + public void push(double power) + { + rampMotor.set(ControlMode.PercentOutput, power); + } + + //pushes for specified amt of time + public void pushTime(double power, double time) + { + if(rampMotor.getPower() == 0) + { + timer.start(); + push(0.5); + } + if(timer.get() >= time) /* num of seconds it would take to push it down */) + { + timer.stop(); + rampMotor.set(0); + + } + } +} + +/// TODO: import talonsrx packages and show them how \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/Shooter.java b/src/main/java/frc/robot/subsystems/Shooter.java new file mode 100644 index 0000000..7cc0d10 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/Shooter.java @@ -0,0 +1,137 @@ +package frc.robot.subsystems; + +import com.revrobotics.CANSparkMax; +import static com.revrobotics.CANSparkMaxLowLevel.MotorType.*; + +import frc.robot.Constants; + + +public class Shooter +{ + CANSparkMax ShooterLiftMotor = new CANSparkMax(Constants.SHOOTER_LIFT_MOTOR_ID, kBrushless); + CANSparkMax LEFTShooterMotor = new CANSparkMax(Constants.LEFT_SHOOTER_MOTOR_ID, kBrushless); + CANSparkMax RIGHTShooterMotor = new CANSparkMax(Constants.RIGHT_SHOOTER_MOTOR_ID, kBrushless); + Limelight limelight; + double Angle; + + /** DISCUSSION TIME + * okay so last time we were trying to get the limelight to work so we could make the shooter lift to the right angle automatically + * + * Code someone else used to follow a target. Tx needs replacing with Ty, don't know if this works for our robot + * + * does anyone know how to use the limelight properly? cuz like im not sure how we can + * us + * what does this do exactly? but by changing it to Ty doesnt work? im confused and idk what to do + * 0, aimPID.calculate(limelight.getTx(), 0)); + * From the current code. It uses Tx to aim the drivetrain, so if we change it to Ty and use the shooterlift motor that should work, right? + * It activates the drivetrain to track a target horizontaly + * anyone know how to impement steering_adjust? + */ + //guys i dont get how limelight works as a whole, ik that we can get the veritcal angle from like.getTy but like what do we need it to be to shoot or like uih98g98h idk + + //man I felt that + + //yea i mean to aim. is this the only way? + //I think an encoder is involved somewhere but idk where + //how do we look at the old code ok + //i think we should ask for a hint or something + //I went to github and downloaded a copy of the 2021-xperi branch + //then open with vscode +//We have everything set up to shoot on its own, but it doesn't aim. +//Rn we have two buttons. One lift up the shooter, the other shoots the ball, but neither actually aim. THe goal was to use a limelight so we could press one button +//have it aim, then shoot without having to manually set it up. +//do we need to use limelight to shoot the thing? cuz idk how to use it..yeah me neither...can someone please help me understand this, yeah I could use the info too... wait, is limelight the light on the drive. +// on the xperi file theres a method for aiming using hte limelight but i hthink we have to create a pid controller? +/** + * Oh we're just turning this whole subsytem green from how much we're talking + * Convert it all + * PIDController aimPID = new PIDController(0., 0, 0); yea lol + * aimPID.calculate(limelight.getTx(), 0)); + * this was from the drivetrain + * WAIT i thinkt hese pid thinks jsut give us speed or something wiat because the parameters for the .arcadeDrive() method are speed and rotation but use limelight methods to ge tthose? idk + * public void aim() { + dt.arcadeDrive( + // distPID.calculate(limelight.getTy(), 0), + 0, aimPID.calculate(limelight.getTx(), 0)); + } + * + * I'm just confused and don't know how to use what's being put in + * + * i guess a final solution would be to just set the angle to something and when someone like josh or jacob comes they can correct the issue we have regarding not being able to + * determine an angle to set the thing to shoot using limelight so like + * go likt if (ty==1028309) + * I guess we could ignore a limelight and use a PID to set an angle... we r already using limelight, so why not cont. using it...yeah I thought the same... fair enough... would it be easier to set the angle without a PID? I don't think so + * + * guys i have an idea of how we can aim but i think it might involve an encoder or something + * we can set the shoot method to shoot at any angle but we just have to determine how far the robot has to be away for the ball to reach the goal at that angle + * would this work? to shoot the ball we would set the shooting mo + * It's more comedic this way//I agree lol + * + * + */ + + public Shooter(Limelight ll) + { + limelight = ll; + RIGHTShooterMotor.follow(LEFTShooterMotor, true); + } + /** + * Lifts the shooter + */ + public void liftShooter() + { + ShooterLiftMotor.set(0.5); + } + + /** + Starts shooter Motor + */ + public void shoot() + { + /** + limelight.getTy() + + + + */ + double angle = limelight.getTy(); //the method is private to limelight, we probably need to create limelight object. + ShooterLiftMotor.getEncoder().get //?? + //would we do like if(ty =/= 0) shooterLift + //with doubles it isnt too precide to like determine 0. like it might be 0.00000001 + + LEFTShooterMotor.set(0.5); + } + + /** Stops the shooter + * + */ + public void stop() + { + LEFTShooterMotor.set(0); + } + + /** lowers the shooter + * + */ + public void lowerShooter() + { + ShooterLiftMotor.set(-0.5); + } + + + public double getVelocity() + { + return LEFTShooterMotor.getEncoder().getVelocity(); + } + /** + * Activates drive train to track the target horizontally + */ + public void horizontalTracker() + { + aimPID.calculate(limelight.getTx(), 0)); + + } + + + +} \ No newline at end of file