Compare commits
No commits in common. "main" and "PRE-FLR" have entirely different histories.
|
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@ -1,6 +1,6 @@
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plugins {
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id "java"
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id "edu.wpi.first.GradleRIO" version "2026.2.1"
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id "edu.wpi.first.GradleRIO" version "${wpiVersion}"
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}
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java {
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@ -1 +1 @@
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Subproject commit c0478b01a526712b8308ac329017857177a3c876
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Subproject commit 915b14b4c7023240ac1e70d6af3558d38770153c
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@ -1,9 +1,4 @@
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@ -12,20 +7,17 @@
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90,
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@ -99,7 +91,7 @@
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],
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@ -1,88 +0,0 @@
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"type": "path",
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"data": {
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"pathName": "1.1 Hub to Shoot"
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"name": "ChassisAlignShoot"
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}
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"type": "path",
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"data": {
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"pathName": "1.2 Shoot to Depot Path"
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"type": "deadline",
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"type": "path",
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"pathName": "1.3 Depot to Shoot Path"
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"name": "ChassisAlignShoot"
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@ -1,25 +0,0 @@
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"type": "path",
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"data": {
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"pathName": "9.1 Chaos Monkey Path"
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}
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"type": "named",
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"name": "Shoot preload"
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@ -1,25 +0,0 @@
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"version": "2025.0",
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"command": {
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"commands": [
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{
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"type": "path",
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"data": {
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"pathName": "S. Hub. shoot 8. E-Hub"
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}
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},
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{
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"type": "path",
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"data": {
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"pathName": "M. Depot. "
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}
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}
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@ -1,25 +0,0 @@
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"commands": [
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{
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"type": "path",
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||||
"data": {
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"pathName": "S. L-Tre. Preload."
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}
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},
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{
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"type": "path",
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||||
"data": {
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"pathName": "M. Depot. "
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}
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}
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]
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}
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},
|
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"resetOdom": true,
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"folder": null,
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"choreoAuto": false
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@ -1,25 +0,0 @@
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{
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"version": "2025.0",
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"command": {
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"type": "sequential",
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"commands": [
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{
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"type": "path",
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"data": {
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"pathName": "S. R-Trench. E-Hub"
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}
|
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},
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{
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"type": "path",
|
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"data": {
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"pathName": "M. Depot. "
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}
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}
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@ -1,19 +0,0 @@
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{
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"command": {
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"type": "sequential",
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"commands": [
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{
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"type": "path",
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||||
"data": {
|
||||
"pathName": "HUB_START"
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||||
}
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||||
}
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||||
]
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}
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},
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"resetOdom": true,
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"choreoAuto": false
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@ -1,19 +0,0 @@
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{
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"version": "2025.0",
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"command": {
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"type": "sequential",
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"commands": [
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{
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"type": "path",
|
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"data": {
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"pathName": "LEFT_TRENCH_START"
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}
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@ -1,19 +0,0 @@
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"commands": [
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{
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"type": "path",
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"data": {
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"pathName": "RIGHT_TRENCH_START"
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}
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}
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"resetOdom": true,
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"folder": null,
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"choreoAuto": false
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@ -1,19 +0,0 @@
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"command": {
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"type": "path",
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"data": {
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"pathName": "Relay. L-Tr."
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}
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@ -1,19 +0,0 @@
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{
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"command": {
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"type": "sequential",
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"commands": [
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{
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"type": "path",
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"data": {
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"pathName": "Relay. R-Tr."
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}
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@ -1,38 +0,0 @@
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{
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{
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"type": "path",
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"data": {
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"pathName": "S. Hub. shoot 8. E-Hub"
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}
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"type": "named",
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"name": "TurretShoot"
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@ -1,19 +0,0 @@
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"data": {
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"pathName": "S. L-Tre. Preload."
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@ -1,19 +0,0 @@
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"pathName": "S. R-Trench. E-Hub"
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File diff suppressed because one or more lines are too long
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@ -1,58 +0,0 @@
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<<<<<<< HEAD:src/main/deploy/pathplanner/paths/Hub to Depot.path
|
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"rotation": -179.99999999992184
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=======
|
||||
"rotation": -179.69626968995792
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>>>>>>> c2fa27aa5cc22124b930645e802b8176658edb7a:src/main/deploy/pathplanner/paths/1.1 Hub to Shoot Path.path
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@ -1,54 +0,0 @@
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@ -1,54 +0,0 @@
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"velocity": 0,
|
||||
"rotation": 180.0
|
||||
},
|
||||
"reversed": false,
|
||||
"folder": null,
|
||||
"idealStartingState": {
|
||||
"velocity": 0,
|
||||
"rotation": 0.0
|
||||
},
|
||||
"useDefaultConstraints": true
|
||||
}
|
||||
|
|
@ -1,91 +0,0 @@
|
|||
{
|
||||
"version": "2025.0",
|
||||
"waypoints": [
|
||||
{
|
||||
"anchor": {
|
||||
"x": 3.5164457831325304,
|
||||
"y": 0.5599879518072293
|
||||
},
|
||||
"prevControl": null,
|
||||
"nextControl": {
|
||||
"x": 2.716570175215442,
|
||||
"y": 2.6055674399847426
|
||||
},
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
},
|
||||
{
|
||||
"anchor": {
|
||||
"x": 3.5164457831325304,
|
||||
"y": 3.958506024096385
|
||||
},
|
||||
"prevControl": {
|
||||
"x": 3.3576574884732078,
|
||||
"y": 2.7315170387830205
|
||||
},
|
||||
"nextControl": null,
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
}
|
||||
],
|
||||
"rotationTargets": [
|
||||
{
|
||||
"waypointRelativePos": 0.24787401574803541,
|
||||
"rotationDegrees": 90.0
|
||||
},
|
||||
{
|
||||
"waypointRelativePos": 0.29574803149607193,
|
||||
"rotationDegrees": -90.0
|
||||
},
|
||||
{
|
||||
"waypointRelativePos": 0.3398425196850417,
|
||||
"rotationDegrees": 90.0
|
||||
},
|
||||
{
|
||||
"waypointRelativePos": 0.38267716535433216,
|
||||
"rotationDegrees": -90.0
|
||||
},
|
||||
{
|
||||
"waypointRelativePos": 0.4305511811023681,
|
||||
"rotationDegrees": -90.0
|
||||
},
|
||||
{
|
||||
"waypointRelativePos": 0.465826771653542,
|
||||
"rotationDegrees": 90.0
|
||||
},
|
||||
{
|
||||
"waypointRelativePos": 0.5099212598425222,
|
||||
"rotationDegrees": -90.0
|
||||
},
|
||||
{
|
||||
"waypointRelativePos": 0.5363779527559113,
|
||||
"rotationDegrees": 90.0
|
||||
},
|
||||
{
|
||||
"waypointRelativePos": 0.5565354330708714,
|
||||
"rotationDegrees": -90.0
|
||||
}
|
||||
],
|
||||
"constraintZones": [],
|
||||
"pointTowardsZones": [],
|
||||
"eventMarkers": [],
|
||||
"globalConstraints": {
|
||||
"maxVelocity": 3.0,
|
||||
"maxAcceleration": 3.0,
|
||||
"maxAngularVelocity": 360.0,
|
||||
"maxAngularAcceleration": 720.0,
|
||||
"nominalVoltage": 12.0,
|
||||
"unlimited": false
|
||||
},
|
||||
"goalEndState": {
|
||||
"velocity": 0,
|
||||
"rotation": 0.0
|
||||
},
|
||||
"reversed": false,
|
||||
"folder": null,
|
||||
"idealStartingState": {
|
||||
"velocity": 0,
|
||||
"rotation": 0.0
|
||||
},
|
||||
"useDefaultConstraints": true
|
||||
}
|
||||
|
|
@ -1,32 +0,0 @@
|
|||
{
|
||||
"robotWidth": 0.8763,
|
||||
"robotLength": 0.8763,
|
||||
"holonomicMode": true,
|
||||
"pathFolders": [],
|
||||
"autoFolders": [],
|
||||
"defaultMaxVel": 3.0,
|
||||
"defaultMaxAccel": 3.0,
|
||||
"defaultMaxAngVel": 360.0,
|
||||
"defaultMaxAngAccel": 720.0,
|
||||
"defaultNominalVoltage": 12.0,
|
||||
"robotMass": 44.4521,
|
||||
"robotMOI": 6.883,
|
||||
"robotTrackwidth": 0.546,
|
||||
"driveWheelRadius": 0.051,
|
||||
"driveGearing": 8.14,
|
||||
"maxDriveSpeed": 3.9,
|
||||
"driveMotorType": "krakenX60",
|
||||
"driveCurrentLimit": 60.0,
|
||||
"wheelCOF": 1.2,
|
||||
"flModuleX": 0.273,
|
||||
"flModuleY": 0.273,
|
||||
"frModuleX": 0.273,
|
||||
"frModuleY": -0.273,
|
||||
"blModuleX": -0.273,
|
||||
"blModuleY": 0.273,
|
||||
"brModuleX": -0.273,
|
||||
"brModuleY": -0.273,
|
||||
"bumperOffsetX": 0.0,
|
||||
"bumperOffsetY": 0.0,
|
||||
"robotFeatures": []
|
||||
}
|
||||
|
|
@ -1,220 +1,109 @@
|
|||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
package frc.robot;
|
||||
|
||||
import edu.wpi.first.math.util.Units;
|
||||
import edu.wpi.first.units.Unit;
|
||||
import edu.wpi.first.units.measure.Angle;
|
||||
import java.security.PublicKey;
|
||||
|
||||
import com.ctre.phoenix6.signals.InvertedValue;
|
||||
|
||||
import edu.wpi.first.apriltag.AprilTagFieldLayout;
|
||||
import edu.wpi.first.apriltag.AprilTagFields;
|
||||
import edu.wpi.first.math.geometry.Pose3d;
|
||||
import edu.wpi.first.math.geometry.Rotation2d;
|
||||
import edu.wpi.first.math.geometry.Rotation3d;
|
||||
import edu.wpi.first.math.geometry.Transform2d;
|
||||
import edu.wpi.first.math.geometry.Transform3d;
|
||||
import edu.wpi.first.units.measure.Angle;
|
||||
|
||||
/**
|
||||
* The Constants class provides a convenient place for teams to hold robot-wide
|
||||
* numerical or boolean constants. This class should not be used for any other
|
||||
* purpose. All constants should be declared globally (i.e. public static). Do
|
||||
* not put anything functional in this class.
|
||||
* The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
|
||||
* constants. This class should not be used for any other purpose. All constants should be declared
|
||||
* globally (i.e. public static). Do not put anything functional in this class.
|
||||
*
|
||||
* <p>
|
||||
* It is advised to statically import this class (or one of its inner classes)
|
||||
* wherever the constants are needed, to reduce verbosity.
|
||||
* <p>It is advised to statically import this class (or one of its inner classes) wherever the
|
||||
* constants are needed, to reduce verbosity.
|
||||
*/
|
||||
public final class Constants {
|
||||
public static class OperatorConstants {
|
||||
public static final int kDriverControllerPort = 0;
|
||||
}
|
||||
|
||||
public static class OperatorConstants {
|
||||
|
||||
public static final int kDriverControllerPort = 0;
|
||||
public static class AdvantageKitConstants{
|
||||
public enum RobotType{
|
||||
SIM,
|
||||
REAL,
|
||||
REPLAY
|
||||
}
|
||||
public static final RobotType CURRENT_MODE = RobotType.REAL;
|
||||
|
||||
public static class CameraConstanst {
|
||||
|
||||
public static class IDFilters {
|
||||
|
||||
public static final int[] RED_HUB_SHOOTING_IDS = new int[]{8, 9, 10, 11};
|
||||
public static final int[] BLUE_HUB_SHOOTING_IDS = new int[]{27, 26, 25, 24};
|
||||
}
|
||||
|
||||
public static final String BACK_CAMERA_NAME = "limelight-back";
|
||||
public static final int BACK_LOCALIZATION_PIPELINE_NUMBER = 0;
|
||||
public static final int BACK_HUB_TRACKING_2D_PIPELINE_NUMBER = 1;
|
||||
public static final int BACK_HUB_TRACKING_3D_PIPELINE_NUMBER = 2;
|
||||
|
||||
public static final String FRONT_CAMERA_NAME = "limelight-front";
|
||||
public static final int FRONT_LOCALIZATION_PIPELINE_NUMBER = 0;
|
||||
public static final double[] BLUE_ZONE_COOR = new double[]{0, 3.5};
|
||||
public static final double[] RED_ZONE_COOR = new double[]{13, 16};
|
||||
public static final double[] NEUTRAL_ZONE_COOR = new double[]{5.5, 11};
|
||||
public static final double[] NEUTRAL1_ZONE_COOR = new double[]{5.5, 11, 0, 3};
|
||||
public static final double[] NEUTRAL2_ZONE_COOR = new double[]{5.5, 11, 5, 8};
|
||||
public static final double[] BLUE1_ZONE_COOR = new double[]{0, 3.5, 0, 3};
|
||||
public static final double[] BLUE2_ZONE_COOR = new double[]{0, 3.5, 5, 8};
|
||||
public static final double[] RED1_ZONE_COOR = new double[]{13, 16, 0, 3};
|
||||
public static final double[] RED2_ZONE_COOR = new double[]{13, 16, 5, 8};
|
||||
|
||||
}
|
||||
|
||||
public static class AdvantageKitConstants {
|
||||
|
||||
public enum RobotType {
|
||||
SIM,
|
||||
REAL,
|
||||
REPLAY
|
||||
}
|
||||
public static final RobotType CURRENT_MODE = RobotType.REAL;
|
||||
}
|
||||
// Swerve offsets as of 3/2/26
|
||||
|
||||
public static class SwerveDriveOffsets {
|
||||
|
||||
public static final float FRONT_LEFT_MOTOR_OFFSET = -0.336426f;
|
||||
public static final float FRONT_RIGHT_MOTOR_OFFSET = 0.108887f;
|
||||
public static final float BACK_LEFT_MOTOR_OFFSET = -0.492432f;
|
||||
public static final float BACK_RIGHT_MOTOR_OFFSET = 0.470215f;
|
||||
}
|
||||
|
||||
/*
|
||||
}
|
||||
// Swerve offsets as of 3/2/26
|
||||
public static class SwerveDriveOffsets {
|
||||
public static final float FRONT_LEFT_MOTOR_OFFSET = -0.336426f;
|
||||
public static final float FRONT_RIGHT_MOTOR_OFFSET = 0.108887f;
|
||||
public static final float BACK_LEFT_MOTOR_OFFSET = -0.492432f;
|
||||
public static final float BACK_RIGHT_MOTOR_OFFSET = 0.470215f;
|
||||
}
|
||||
/*
|
||||
* Numbers starting with 1 (E.g. 11, 12, 13) are in the Front Left of the robot
|
||||
* Numbers starting with 2 (E.g. 21, 22, 23) are in the Front Right of the robot
|
||||
* Numbers starting with 3 (E.g. 31, 32, 33) are in the Back Left of the robot
|
||||
* Numbers starting with 4 (E.g. 41, 42, 43) are in the Back Right of the robot
|
||||
* Laters numbers will be added for more subsystems
|
||||
* Single diget numbers (E.g. 1, 2, 3) are extra, non-motor, pieces that require IDs, such as the Pigeon
|
||||
*/
|
||||
public static class SwerveDriveIDs {
|
||||
*/
|
||||
public static class SwerveDriveIDs {
|
||||
public static final int FRONT_LEFT_STEER_ID = 11;
|
||||
public static final int FRONT_LEFT_DRIVE_ID = 12;
|
||||
public static final int FRONT_LEFT_ENCODER_ID = 13;
|
||||
public static final int FRONT_RIGHT_STEER_ID = 21;
|
||||
public static final int FRONT_RIGHT_DRIVE_ID = 22;
|
||||
public static final int FRONT_RIGHT_ENCODER_ID = 23;
|
||||
public static final int BACK_LEFT_STEER_ID = 31;
|
||||
public static final int BACK_LEFT_DRIVE_ID = 32;
|
||||
public static final int BACK_LEFT_ENCODER_ID = 33;
|
||||
public static final int BACK_RIGHT_STEER_ID = 41;
|
||||
public static final int BACK_RIGHT_DRIVE_ID = 42;
|
||||
public static final int BACK_RIGHT_ENCODER_ID = 43;
|
||||
}
|
||||
//Bird
|
||||
public static class ExtraIDEntities {
|
||||
public static final int PIGEON_ID = 1;
|
||||
}
|
||||
|
||||
public static final int FRONT_LEFT_STEER_ID = 11;
|
||||
public static final int FRONT_LEFT_DRIVE_ID = 12;
|
||||
public static final int FRONT_LEFT_ENCODER_ID = 13;
|
||||
public static final int FRONT_RIGHT_STEER_ID = 21;
|
||||
public static final int FRONT_RIGHT_DRIVE_ID = 22;
|
||||
public static final int FRONT_RIGHT_ENCODER_ID = 23;
|
||||
public static final int BACK_LEFT_STEER_ID = 31;
|
||||
public static final int BACK_LEFT_DRIVE_ID = 32;
|
||||
public static final int BACK_LEFT_ENCODER_ID = 33;
|
||||
public static final int BACK_RIGHT_STEER_ID = 41;
|
||||
public static final int BACK_RIGHT_DRIVE_ID = 42;
|
||||
public static final int BACK_RIGHT_ENCODER_ID = 43;
|
||||
}
|
||||
public static class IntakeConstants {
|
||||
public static final int DEPLOY_MOTOR_ID = 12;
|
||||
public static final boolean DEPLOY_MOTOR_INVERTED = true; // TODO: Test this
|
||||
|
||||
public static class RobotChassisLimits {
|
||||
// Max velocity in meters per second
|
||||
public static final int INTAKE_MOTOR_ID = 1;
|
||||
public static final InvertedValue INTAKE_MOTOR_DIRECTION = InvertedValue.Clockwise_Positive; // TODO: Test this
|
||||
}
|
||||
|
||||
public static final double MAX_ROBOT_LINEAR_VELOCITY = 3;
|
||||
// In meters per second squared
|
||||
public static final double MAX_ROBOT_LINEAR_VELOCITY_ACCEL = 2;
|
||||
public static class ShooterConstants {
|
||||
public static final int LAUNCHER_MOTOR_ID = 2;
|
||||
public static final boolean LAUNCHER_MOTOR_INVERTED = true; // TODO: Test this
|
||||
|
||||
// In radians per second
|
||||
public static final double MAX_ROBOT_ANGULAR_VELOCITY = Math.PI;
|
||||
// In radians per second squared
|
||||
public static final double MAX_ROBOT_ANGULAR_VELOCITY_ACCEL = Math.PI;
|
||||
}
|
||||
public static final int TURRET_MOTOR_ID = 1;
|
||||
public static final InvertedValue TURRET_MOTOR_DIRECTION = InvertedValue.CounterClockwise_Positive;
|
||||
public static final int TURRET_LIMIT_CHANNEL = 0;
|
||||
public static final Angle LIMIT_AXIMUTH_POS = edu.wpi.first.units.Units.Degrees.of(265);
|
||||
public static final Angle LIMIT_AXIMUTH_NEG = edu.wpi.first.units.Units.Degrees.of(5);
|
||||
public static final double HOMING_SPEED = .35;
|
||||
public static final double TURRET_GEAR_RATIO = 1;
|
||||
|
||||
//Bird
|
||||
public static class ExtraIDEntities {
|
||||
public static final int HOOD_SERVO_CHANNEL = 3;
|
||||
public static final boolean HOOD_SERVO_INVERTED = true; // TODO: Test this
|
||||
public static final int HOOD_ENCODER_ID = 4;
|
||||
public static final Angle TARGET_ELEVATION_DIF = edu.wpi.first.units.Units.Degrees.of(1);
|
||||
public static final Angle LIMIT_ELEVATION_POS = edu.wpi.first.units.Units.Degrees.of(90);
|
||||
public static final Angle LIMIT_ELEVATION_NEG = edu.wpi.first.units.Units.Degrees.of(0);
|
||||
public static final Angle DEFLECTOR_STORED_ANGLE = edu.wpi.first.units.Units.Degrees.of(0);
|
||||
public static final Angle DEFLECTOR_SET_ANGLE1 = edu.wpi.first.units.Units.Degrees.of(20);
|
||||
public static final Angle DEFLECTOR_SET_ANGLE2 = edu.wpi.first.units.Units.Degrees.of(40);
|
||||
public static final Angle DEFLECTOR_SET_ANGLE3 = edu.wpi.first.units.Units.Degrees.of(60);
|
||||
}
|
||||
|
||||
public static final int PIGEON_ID = 1;
|
||||
}
|
||||
public static class HopperConstants {
|
||||
public static final int KICKER_MOTOR_ID = 0;
|
||||
public static final InvertedValue KICKER_MOTOR_DIRECTION = InvertedValue.CounterClockwise_Positive;
|
||||
|
||||
public static class IntakeConstants {
|
||||
|
||||
public static final int DEPLOY_MOTOR_ID = 17;
|
||||
public static final boolean DEPLOY_MOTOR_INVERTED = true; // TODO: Test this
|
||||
|
||||
public static final int INTAKE_MOTOR_ID = 2;
|
||||
public static final InvertedValue INTAKE_MOTOR_DIRECTION = InvertedValue.Clockwise_Positive; // TODO: Test this
|
||||
}
|
||||
|
||||
public static class ShooterConstants {
|
||||
|
||||
public static final int LAUNCHER_MOTOR_ID = 3;
|
||||
public static final boolean LAUNCHER_MOTOR_INVERTED = false;
|
||||
|
||||
public static final int TURRET_MOTOR_ID = 4;
|
||||
public static final InvertedValue TURRET_MOTOR_DIRECTION = InvertedValue.CounterClockwise_Positive;
|
||||
public static final int TURRET_LIMIT_CHANNEL = 9;
|
||||
public static final Angle LIMIT_AXIMUTH_POS = edu.wpi.first.units.Units.Degrees.of(165);
|
||||
public static final Angle LIMIT_AXIMUTH_NEG = edu.wpi.first.units.Units.Degrees.of(5);
|
||||
public static final double HOMING_SPEED = .05;
|
||||
public static final double TURRET_GEAR_RATIO = 6;
|
||||
|
||||
public static final int HOOD_SERVO_CHANNEL = 0;
|
||||
public static final boolean HOOD_SERVO_INVERTED = false; // TODO: Test this
|
||||
public static final int HOOD_ENCODER_ID = 4;
|
||||
public static final Angle TARGET_ELEVATION_DIF = edu.wpi.first.units.Units.Degrees.of(1);
|
||||
public static final Angle LIMIT_ELEVATION_POS = edu.wpi.first.units.Units.Degrees.of(90);
|
||||
public static final Angle LIMIT_ELEVATION_NEG = edu.wpi.first.units.Units.Degrees.of(0);
|
||||
public static final double DEFLECTOR_STORED_ANGLE = 0;
|
||||
public static final double DEFLECTOR_SET_ANGLE1 = 100;
|
||||
public static final double DEFLECTOR_SET_ANGLE2 = 200;
|
||||
public static final double DEFLECTOR_SET_ANGLE3 = 300;
|
||||
public static final double DEFLECTOR_SERVO_RATIO = 1.0;
|
||||
}
|
||||
|
||||
public static class HopperConstants {
|
||||
|
||||
public static final int KICKER_MOTOR_ID = 9;
|
||||
public static final InvertedValue KICKER_MOTOR_DIRECTION = InvertedValue.Clockwise_Positive;
|
||||
|
||||
public static final int SPINDEXER_MOTOR_ID = 8;
|
||||
public static final InvertedValue SPINDEXER_MOTOR_DIRECTION = InvertedValue.CounterClockwise_Positive;
|
||||
}
|
||||
|
||||
public static class FieldPoses {
|
||||
|
||||
private static AprilTagFieldLayout fieldTags = AprilTagFieldLayout.loadField(AprilTagFields.k2026RebuiltWelded);
|
||||
|
||||
public static Pose3d BLUE_HUB_POSE = fieldTags.getTagPose(26).get().transformBy(new Transform3d(new Transform2d(-0.5207, 0, Rotation2d.kZero)));
|
||||
public static Pose3d RED_HUB_POSE = fieldTags.getTagPose(10).get().transformBy(new Transform3d(new Transform2d(-0.5207, 0, Rotation2d.kZero)));
|
||||
|
||||
// These are the field targets for passing fuel to the Alliance Zone or to the Neutral Zone from the opponent's side.
|
||||
// Left/Right are from driver's perspective. Coordinates assume origin at blue side of field.
|
||||
// Rotation are zero because they don't matter.
|
||||
public static Pose3d BLUE_LEFT_ALLIANCE_ZONE_PASS_TARGET_POSE = new Pose3d(1.99, 6.35, 0, new Rotation3d());
|
||||
public static Pose3d BLUE_RIGHT_ALLIANCE_ZONE_PASS_TARGET_POSE = new Pose3d(1.99, 1.72, 0, new Rotation3d());
|
||||
public static Pose3d BLUE_LEFT_NEUTRAL_ZONE_PASS_TARGET_POSE = new Pose3d(8.27, 6.35, 0, new Rotation3d());
|
||||
public static Pose3d BLUE_RIGHT_NEUTRAL_ZONE_PASS_TARGET_POSE = new Pose3d(8.27, 1.72, 0, new Rotation3d());
|
||||
|
||||
public static Pose3d RED_LEFT_ALLIANCE_ZONE_PASS_TARGET_POSE = new Pose3d(14.55, 1.72, 0, new Rotation3d());
|
||||
public static Pose3d RED_RIGHT_ALLIANCE_ZONE_PASS_TARGET_POSE = new Pose3d(14.55, 6.35, 0, new Rotation3d());
|
||||
public static Pose3d RED_LEFT_NEUTRAL_ZONE_PASS_TARGET_POSE = new Pose3d(8.27, 1.72, 0, new Rotation3d());
|
||||
public static Pose3d RED_RIGHT_NEUTRAL_ZONE_PASS_TARGET_POSE = new Pose3d(8.27, 6.35, 0, new Rotation3d());
|
||||
|
||||
|
||||
}
|
||||
|
||||
// These represent the dividing lines for the regions in our shooting strategy.
|
||||
public static class ShootingRegionDimensions {
|
||||
|
||||
public static double BLUE_ALLIANCE_ZONE_REGION_X_MAX = 3.5;
|
||||
public static double RED_ALLIANCE_ZONE_REGION_X_MIN = 13.0;
|
||||
public static double NEUTRAL_ZONE_REGION_X_MIN = 5.5;
|
||||
public static double NEUTRAL_ZONE_REGION_X_MAX = 11.0;
|
||||
public static double BLUE_RIGHT_REGION_Y_MAX = 3.0;
|
||||
public static double RED_LEFT_REGION_Y_MAX = 3.0; // same meaning as the previous one, but from red perspective
|
||||
public static double BLUE_LEFT_REGION_Y_MIN = 5.0;
|
||||
public static double RED_RIGHT_REGION_Y_MIN = 5.0; // same meaning as the previous one, but from red perspective
|
||||
|
||||
}
|
||||
|
||||
// Regions that define the AutoTurret shooting behaviors.
|
||||
// Color ID in the name reflects robot's alliance since region definitions vary by alliance.
|
||||
// Left/Right are from driver's perspective.
|
||||
public enum ShootingRegion {
|
||||
NON_SHOOTING_REGION, // Any part of the field that's not in one of the regions
|
||||
BLUE_OWN_ALLIANCE_ZONE,
|
||||
BLUE_LEFT_NEUTRAL_ZONE,
|
||||
BLUE_RIGHT_NEUTRAL_ZONE,
|
||||
BLUE_LEFT_OPPONENT_ALLIANCE_ZONE,
|
||||
BLUE_RIGHT_OPPONENT_ALLIANCE_ZONE,
|
||||
RED_OWN_ALLIANCE_ZONE,
|
||||
RED_LEFT_NEUTRAL_ZONE,
|
||||
RED_RIGHT_NEUTRAL_ZONE,
|
||||
RED_LEFT_OPPONENT_ALLIANCE_ZONE,
|
||||
RED_RIGHT_OPPONENT_ALLIANCE_ZONE
|
||||
}
|
||||
public static final int SPINDEXER_MOTOR_ID = 1;
|
||||
public static final InvertedValue SPINDEXER_MOTOR_DIRECTION = InvertedValue.Clockwise_Positive;
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -14,8 +14,6 @@ import org.littletonrobotics.junction.Logger;
|
|||
import org.littletonrobotics.junction.networktables.NT4Publisher;
|
||||
import org.littletonrobotics.junction.wpilog.WPILOGWriter;
|
||||
|
||||
import com.ctre.phoenix6.swerve.SwerveModule;
|
||||
|
||||
import edu.wpi.first.wpilibj.Filesystem;
|
||||
import edu.wpi.first.wpilibj.PowerDistribution;
|
||||
import edu.wpi.first.wpilibj.PowerDistribution.ModuleType;
|
||||
|
|
@ -57,9 +55,8 @@ public class Robot extends LoggedRobot {
|
|||
@Override
|
||||
public void robotInit() {
|
||||
|
||||
String swVersion = getVersion();
|
||||
Logger.recordMetadata("ProjectName", "MyProject"); // Set a metadata value
|
||||
Logger.recordMetadata("Software Version", swVersion);
|
||||
Logger.recordMetadata("Software Version", getVersion());
|
||||
|
||||
if (isReal()) {
|
||||
Logger.addDataReceiver(new WPILOGWriter()); // Log to a USB stick ("/U/logs")
|
||||
|
|
@ -78,9 +75,7 @@ public class Robot extends LoggedRobot {
|
|||
Logger.start(); // Start logging! No more data receivers, replay sources, or metadata values may
|
||||
// be added.
|
||||
|
||||
// Print out software version
|
||||
Logger.recordOutput("Software Version", swVersion);
|
||||
System.out.println("Robot Software Version: " + swVersion);
|
||||
Logger.recordOutput("Software Version", getVersion());
|
||||
|
||||
// Instantiate our RobotContainer. This will perform all our button bindings,
|
||||
// and put our
|
||||
|
|
@ -92,9 +87,6 @@ public class Robot extends LoggedRobot {
|
|||
|
||||
// Run all POST tests after robot has been initialized
|
||||
PostyManager.getInstance().runAllPOSTs();
|
||||
|
||||
|
||||
m_robotContainer.driveSubsystem.driveSystem.setBrakeMode(false);
|
||||
}
|
||||
|
||||
/**
|
||||
|
|
@ -122,7 +114,6 @@ public class Robot extends LoggedRobot {
|
|||
/** This function is called once each time the robot enters Disabled mode. */
|
||||
@Override
|
||||
public void disabledInit() {
|
||||
m_robotContainer.driveSubsystem.driveSystem.setBrakeMode(true);
|
||||
}
|
||||
|
||||
@Override
|
||||
|
|
|
|||
|
|
@ -1,103 +1,87 @@
|
|||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
package frc.robot;
|
||||
|
||||
import com.pathplanner.lib.auto.NamedCommands;
|
||||
|
||||
import edu.wpi.first.wpilibj.GenericHID.RumbleType;
|
||||
import edu.wpi.first.units.Unit;
|
||||
import edu.wpi.first.units.Units;
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import edu.wpi.first.wpilibj2.command.Commands;
|
||||
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
|
||||
import edu.wpi.first.wpilibj2.command.button.Trigger;
|
||||
import frc.robot.Constants.OperatorConstants;
|
||||
import frc.robot.commands.AutoShootCommandChassisTurret;
|
||||
import frc.robot.commands.AutoTurretCommand;
|
||||
import frc.robot.commands.AutoTurretShootCommand;
|
||||
import frc.robot.commands.Reverse;
|
||||
import frc.robot.commands.Autos;
|
||||
import frc.robot.commands.ExampleCommand;
|
||||
import frc.robot.commands.ManualHopperCommand;
|
||||
import frc.robot.commands.ManualShootCommand;
|
||||
import frc.robot.commands.SetDeflectorCommand;
|
||||
import frc.robot.subsystems.DriveSubsystem;
|
||||
import frc.robot.subsystems.ExampleSubsystem;
|
||||
import frc.robot.subsystems.HopperSubsystem;
|
||||
import frc.robot.subsystems.IntakeSubsystem;
|
||||
import frc.robot.subsystems.TurretSubsystem;
|
||||
|
||||
/**
|
||||
* This class is where the bulk of the robot should be declared. Since
|
||||
* Command-based is a "declarative" paradigm, very little robot logic should
|
||||
* actually be handled in the {@link Robot} periodic methods (other than the
|
||||
* scheduler calls). Instead, the structure of the robot (including subsystems,
|
||||
* commands, and trigger mappings) should be declared here.
|
||||
* This class is where the bulk of the robot should be declared. Since Command-based is a
|
||||
* "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
|
||||
* periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
|
||||
* subsystems, commands, and trigger mappings) should be declared here.
|
||||
*/
|
||||
public class RobotContainer {
|
||||
// The robot's subsystems and commands are defined here...
|
||||
// Replace with CommandPS4Controller or CommandJoystick if needed
|
||||
// The robot's subsystems and commands are defined here...
|
||||
private final ExampleSubsystem m_exampleSubsystem = new ExampleSubsystem();
|
||||
|
||||
private final CommandXboxController m_driverController
|
||||
= new CommandXboxController(OperatorConstants.kDriverControllerPort);
|
||||
// Replace with CommandPS4Controller or CommandJoystick if needed
|
||||
private final CommandXboxController m_driverController =
|
||||
new CommandXboxController(OperatorConstants.kDriverControllerPort);
|
||||
|
||||
// private final CommandPS4Controller m_driverController = new CommandPS4Controller(OperatorConstants.kDriverControllerPort);
|
||||
public final DriveSubsystem driveSubsystem = new DriveSubsystem(m_driverController);
|
||||
// private final CommandPS4Controller m_driverController = new CommandPS4Controller(OperatorConstants.kDriverControllerPort);
|
||||
|
||||
public final IntakeSubsystem intakeSubsystem = new IntakeSubsystem();
|
||||
public final DriveSubsystem driveSubsystem = new DriveSubsystem(m_driverController);
|
||||
|
||||
public final TurretSubsystem turretSubsystem = new TurretSubsystem();
|
||||
public final IntakeSubsystem intakeSubsystem = new IntakeSubsystem();
|
||||
|
||||
public final HopperSubsystem hopperSubsystem = new HopperSubsystem();
|
||||
public final TurretSubsystem turretSubsystem = new TurretSubsystem();
|
||||
|
||||
/**
|
||||
* The container for the robot. Contains subsystems, OI devices, and
|
||||
* commands.
|
||||
*/
|
||||
public RobotContainer() {
|
||||
public final HopperSubsystem hopperSubsystem = new HopperSubsystem();
|
||||
|
||||
// turretSubsystem.setDefaultCommand(new AutoTurretCommand(turretSubsystem, driveSubsystem));
|
||||
// turretSubsystem.homeTurret();
|
||||
// Configure the trigger bindings
|
||||
configureBindings();
|
||||
/** The container for the robot. Contains subsystems, OI devices, and commands. */
|
||||
public RobotContainer() {
|
||||
// Configure the trigger bindings
|
||||
configureBindings();
|
||||
|
||||
NamedCommands.registerCommand("ChassisAlignShoot", new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem));
|
||||
NamedCommands.registerCommand("RunIntake", intakeSubsystem.intake(m_driverController.getHID()));
|
||||
NamedCommands.registerCommand("TurretShoot", new AutoTurretShootCommand(hopperSubsystem, turretSubsystem, intakeSubsystem, driveSubsystem));
|
||||
}
|
||||
|
||||
turretSubsystem.setDefaultCommand(new AutoTurretCommand(turretSubsystem, driveSubsystem));
|
||||
}
|
||||
/**
|
||||
* Use this method to define your trigger->command mappings. Triggers can be created via the
|
||||
* {@link Trigger#Trigger(java.util.function.BooleanSupplier)} constructor with an arbitrary
|
||||
* predicate, or via the named factories in {@link
|
||||
* edu.wpi.first.wpilibj2.command.button.CommandGenericHID}'s subclasses for {@link
|
||||
* CommandXboxController Xbox}/{@link edu.wpi.first.wpilibj2.command.button.CommandPS4Controller
|
||||
* PS4} controllers or {@link edu.wpi.first.wpilibj2.command.button.CommandJoystick Flight
|
||||
* joysticks}.
|
||||
*/
|
||||
private void configureBindings() {
|
||||
turretSubsystem.setDefaultCommand(new ManualShootCommand(turretSubsystem, m_driverController.getHID()));
|
||||
hopperSubsystem.setDefaultCommand(new ManualHopperCommand(hopperSubsystem, m_driverController.getHID()));
|
||||
|
||||
/**
|
||||
* Use this method to define your trigger->command mappings. Triggers can be
|
||||
* created via the
|
||||
* {@link Trigger#Trigger(java.util.function.BooleanSupplier)} constructor
|
||||
* with an arbitrary predicate, or via the named factories in {@link
|
||||
* edu.wpi.first.wpilibj2.command.button.CommandGenericHID}'s subclasses for {@link
|
||||
* CommandXboxController Xbox}/{@link edu.wpi.first.wpilibj2.command.button.CommandPS4Controller
|
||||
* PS4} controllers or {@link edu.wpi.first.wpilibj2.command.button.CommandJoystick Flight
|
||||
* joysticks}.
|
||||
*
|
||||
*/
|
||||
private void configureBindings() {
|
||||
// m_driverController.povDown().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_STORED_ANGLE));
|
||||
// m_driverController.povLeft().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE1));
|
||||
// m_driverController.povRight().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE3));
|
||||
// m_driverController.povUp().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE2));
|
||||
m_driverController.povDown().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_STORED_ANGLE));
|
||||
m_driverController.povLeft().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE1));
|
||||
m_driverController.povRight().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE3));
|
||||
m_driverController.povUp().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE2));
|
||||
|
||||
//m_driverController.back().whileTrue(new AutoShootCommandChassisTurretPathPlanner(driveSubsystem, hopperSubsystem, turretSubsystem));
|
||||
m_driverController.leftBumper().onTrue(Commands.runOnce(() -> turretSubsystem.homeTurret(), turretSubsystem));
|
||||
m_driverController.rightBumper().onTrue(Commands.parallel(intakeSubsystem.intake(m_driverController.getHID())));
|
||||
m_driverController.start().whileTrue(intakeSubsystem.resetDeploy());
|
||||
m_driverController.a().whileTrue((new AutoTurretShootCommand(hopperSubsystem, turretSubsystem, intakeSubsystem, driveSubsystem)));
|
||||
m_driverController.x().whileTrue((new AutoTurretShootCommand(hopperSubsystem, turretSubsystem, intakeSubsystem, driveSubsystem)));
|
||||
m_driverController.b().whileTrue(new Reverse(intakeSubsystem, hopperSubsystem, m_driverController.getHID()));
|
||||
m_driverController.y().onTrue(intakeSubsystem.deploy());
|
||||
}
|
||||
m_driverController.y().onTrue(intakeSubsystem.deployCommand());
|
||||
m_driverController.a().onTrue(intakeSubsystem.retractCommand());
|
||||
m_driverController.b().onTrue(intakeSubsystem.reverseCommand());
|
||||
}
|
||||
|
||||
/**
|
||||
* Use this to pass the autonomous command to the main {@link Robot} class.
|
||||
*
|
||||
* @return the command to run in autonomous
|
||||
*/
|
||||
public Command getAutonomousCommand() {
|
||||
// An example command will be run in autonomous
|
||||
return Commands.parallel(intakeSubsystem.deploy(), Commands.run(() -> {
|
||||
turretSubsystem.homeTurret();
|
||||
}, turretSubsystem), driveSubsystem.getAutoCommand());
|
||||
}
|
||||
/**
|
||||
* Use this to pass the autonomous command to the main {@link Robot} class.
|
||||
*
|
||||
* @return the command to run in autonomous
|
||||
*/
|
||||
public Command getAutonomousCommand() {
|
||||
// An example command will be run in autonomous
|
||||
return Autos.exampleAuto(m_exampleSubsystem);
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,173 +0,0 @@
|
|||
package frc.robot;
|
||||
|
||||
import edu.wpi.first.wpilibj.DriverStation.Alliance;
|
||||
import frc.robot.Constants;
|
||||
import frc.robot.Constants.ShootingRegion;
|
||||
import frc.robot.Constants.ShootingRegionDimensions;
|
||||
|
||||
import org.littletonrobotics.junction.Logger;
|
||||
|
||||
import edu.wpi.first.math.geometry.Pose3d;
|
||||
import edu.wpi.first.units.measure.Angle;
|
||||
|
||||
public class Utils {
|
||||
|
||||
/**
|
||||
* Calculates the needed angle of the turret for a distance from the HUB.
|
||||
* @param distanceToTag
|
||||
* @return number of rotations of the turret, robot relative
|
||||
*/
|
||||
public static double calculateTurretAngleFromCameraTagDistance(double distanceToTag){
|
||||
|
||||
// Calculate turret Angle
|
||||
double cameraDistanceToTarget = distanceToTag + .6;
|
||||
double cameraToShootDistance = 0.26035;
|
||||
// a^2 + b^2 = c^2
|
||||
double shooterDistanceToTarget = Math
|
||||
.sqrt(Math.pow(cameraDistanceToTarget, 2) + Math.pow(cameraToShootDistance, 2));
|
||||
double angleAtShooter = Math.acos(cameraToShootDistance / shooterDistanceToTarget);
|
||||
double robotTurretAngle = (Math.PI / 2) - angleAtShooter;
|
||||
double robotTurretRotations = (robotTurretAngle / Math.PI);
|
||||
|
||||
return robotTurretRotations;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/**
|
||||
* Determines the region for the robot based on its location and alliance.
|
||||
* Assumes the robot is a 27" square. Thresholds based on observations from simulator.
|
||||
* @param robotPose: the robot's pose
|
||||
* @param alliance: the red/blue alliance of the robot, as a sanity check
|
||||
* @return the robot's shooting region
|
||||
*/
|
||||
public static ShootingRegion findRobotShootingRegion(Pose3d robotPose, Alliance alliance){
|
||||
ShootingRegion region = Constants.ShootingRegion.NON_SHOOTING_REGION; // the default return value if robot isn't in a valid region
|
||||
double robotX = robotPose.getX();
|
||||
double robotY = robotPose.getY();
|
||||
|
||||
// Receommended: Add a sanity check for invalid robot poses.
|
||||
|
||||
if (alliance == Alliance.Blue) {
|
||||
if (robotX < Constants.ShootingRegionDimensions.BLUE_ALLIANCE_ZONE_REGION_X_MAX) {
|
||||
region = Constants.ShootingRegion.BLUE_OWN_ALLIANCE_ZONE;
|
||||
}
|
||||
else if (robotX > Constants.ShootingRegionDimensions.NEUTRAL_ZONE_REGION_X_MIN &&
|
||||
robotX < Constants.ShootingRegionDimensions.NEUTRAL_ZONE_REGION_X_MAX &&
|
||||
robotY > Constants.ShootingRegionDimensions.BLUE_LEFT_REGION_Y_MIN) {
|
||||
region = Constants.ShootingRegion.BLUE_LEFT_NEUTRAL_ZONE;
|
||||
}
|
||||
else if (robotX > Constants.ShootingRegionDimensions.NEUTRAL_ZONE_REGION_X_MIN &&
|
||||
robotX < Constants.ShootingRegionDimensions.NEUTRAL_ZONE_REGION_X_MAX &&
|
||||
robotY < Constants.ShootingRegionDimensions.BLUE_RIGHT_REGION_Y_MAX) {
|
||||
region = Constants.ShootingRegion.BLUE_RIGHT_NEUTRAL_ZONE;
|
||||
}
|
||||
else if (robotX > Constants.ShootingRegionDimensions.RED_ALLIANCE_ZONE_REGION_X_MIN &&
|
||||
robotY > Constants.ShootingRegionDimensions.BLUE_LEFT_REGION_Y_MIN) {
|
||||
region = Constants.ShootingRegion.BLUE_LEFT_OPPONENT_ALLIANCE_ZONE;
|
||||
}
|
||||
else if (robotX > Constants.ShootingRegionDimensions.RED_ALLIANCE_ZONE_REGION_X_MIN &&
|
||||
robotY < Constants.ShootingRegionDimensions.BLUE_RIGHT_REGION_Y_MAX) {
|
||||
region = Constants.ShootingRegion.BLUE_RIGHT_OPPONENT_ALLIANCE_ZONE;
|
||||
}
|
||||
}
|
||||
else if (alliance == Alliance.Red) {
|
||||
if (robotX > Constants.ShootingRegionDimensions.RED_ALLIANCE_ZONE_REGION_X_MIN) {
|
||||
region = Constants.ShootingRegion.RED_OWN_ALLIANCE_ZONE;
|
||||
}
|
||||
else if (robotX > Constants.ShootingRegionDimensions.NEUTRAL_ZONE_REGION_X_MIN &&
|
||||
robotX < Constants.ShootingRegionDimensions.NEUTRAL_ZONE_REGION_X_MAX &&
|
||||
robotY < Constants.ShootingRegionDimensions.RED_LEFT_REGION_Y_MAX) {
|
||||
region = Constants.ShootingRegion.RED_LEFT_NEUTRAL_ZONE;
|
||||
}
|
||||
else if (robotX > Constants.ShootingRegionDimensions.NEUTRAL_ZONE_REGION_X_MIN &&
|
||||
robotX < Constants.ShootingRegionDimensions.NEUTRAL_ZONE_REGION_X_MAX &&
|
||||
robotY > Constants.ShootingRegionDimensions.RED_RIGHT_REGION_Y_MIN) {
|
||||
region = Constants.ShootingRegion.RED_RIGHT_NEUTRAL_ZONE;
|
||||
}
|
||||
else if (robotX < Constants.ShootingRegionDimensions.BLUE_ALLIANCE_ZONE_REGION_X_MAX &&
|
||||
robotY < Constants.ShootingRegionDimensions.RED_LEFT_REGION_Y_MAX) {
|
||||
region = Constants.ShootingRegion.RED_LEFT_OPPONENT_ALLIANCE_ZONE;
|
||||
}
|
||||
else if (robotX > Constants.ShootingRegionDimensions.RED_ALLIANCE_ZONE_REGION_X_MIN &&
|
||||
robotY > Constants.ShootingRegionDimensions.RED_RIGHT_REGION_Y_MIN) {
|
||||
region = Constants.ShootingRegion.RED_RIGHT_OPPONENT_ALLIANCE_ZONE;
|
||||
}
|
||||
}
|
||||
|
||||
Logger.recordOutput("Utils-ShootingRegion", region);
|
||||
|
||||
return region;
|
||||
}
|
||||
|
||||
public static double getHoodAngleForDistance(double distanceInMeters){
|
||||
if(distanceInMeters >= 4){
|
||||
return 200;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
public static double getLauncherRPMForDistance(double distanceInMeters){
|
||||
return Math.min((667.557*distanceInMeters) + 1500.699, 5000);
|
||||
}
|
||||
|
||||
/**
|
||||
* Determines the appropriate shooting target for the robot based on its alliance
|
||||
* and its current region on the field. There are 10 possible targets:
|
||||
* Scoring hub, 2x passing from Neutral Zone, 2x passing from opponent's Alliance Zone,
|
||||
* and these exist for both red and blue alliances.
|
||||
* Right/left are from driver's perspective.
|
||||
* @param region: the identifier of the robot's current field region
|
||||
* @param alliance: the red/blue alliance of the robot, as a sanity check
|
||||
* @return the shooting target for a robot with the provided properties. Returns all-zero
|
||||
* Pose3d object if the region/alliance combination is invalid.
|
||||
*/
|
||||
public static Pose3d findShootingTarget(ShootingRegion region, Alliance alliance){
|
||||
|
||||
Pose3d shootingTarget = new Pose3d();
|
||||
if (alliance == Alliance.Blue) {
|
||||
switch (region) {
|
||||
case BLUE_OWN_ALLIANCE_ZONE:
|
||||
shootingTarget = Constants.FieldPoses.BLUE_HUB_POSE;
|
||||
break;
|
||||
case BLUE_LEFT_NEUTRAL_ZONE:
|
||||
shootingTarget = Constants.FieldPoses.BLUE_LEFT_ALLIANCE_ZONE_PASS_TARGET_POSE;
|
||||
break;
|
||||
case BLUE_RIGHT_NEUTRAL_ZONE:
|
||||
shootingTarget = Constants.FieldPoses.BLUE_RIGHT_ALLIANCE_ZONE_PASS_TARGET_POSE;
|
||||
break;
|
||||
case BLUE_LEFT_OPPONENT_ALLIANCE_ZONE:
|
||||
shootingTarget = Constants.FieldPoses.BLUE_LEFT_NEUTRAL_ZONE_PASS_TARGET_POSE;
|
||||
break;
|
||||
case BLUE_RIGHT_OPPONENT_ALLIANCE_ZONE:
|
||||
shootingTarget = Constants.FieldPoses.BLUE_RIGHT_NEUTRAL_ZONE_PASS_TARGET_POSE;
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
else if (alliance == Alliance.Red) {
|
||||
switch (region) {
|
||||
case RED_OWN_ALLIANCE_ZONE:
|
||||
shootingTarget = Constants.FieldPoses.RED_HUB_POSE;
|
||||
break;
|
||||
case RED_LEFT_NEUTRAL_ZONE:
|
||||
shootingTarget = Constants.FieldPoses.RED_LEFT_ALLIANCE_ZONE_PASS_TARGET_POSE;
|
||||
break;
|
||||
case RED_RIGHT_NEUTRAL_ZONE:
|
||||
shootingTarget = Constants.FieldPoses.RED_RIGHT_ALLIANCE_ZONE_PASS_TARGET_POSE;
|
||||
break;
|
||||
case RED_LEFT_OPPONENT_ALLIANCE_ZONE:
|
||||
shootingTarget = Constants.FieldPoses.RED_LEFT_NEUTRAL_ZONE_PASS_TARGET_POSE;
|
||||
break;
|
||||
case RED_RIGHT_OPPONENT_ALLIANCE_ZONE:
|
||||
shootingTarget = Constants.FieldPoses.RED_RIGHT_NEUTRAL_ZONE_PASS_TARGET_POSE;
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
return shootingTarget;
|
||||
}
|
||||
|
||||
}
|
||||
|
|
@ -1,154 +0,0 @@
|
|||
package frc.robot.commands;
|
||||
|
||||
import java.util.Arrays;
|
||||
import java.util.List;
|
||||
|
||||
import org.fairportrobotics.frc.robolib.vision.limelight.LimelightHelpers;
|
||||
import org.littletonrobotics.junction.Logger;
|
||||
|
||||
import edu.wpi.first.apriltag.AprilTagFieldLayout;
|
||||
import edu.wpi.first.apriltag.AprilTagFields;
|
||||
import edu.wpi.first.math.controller.PIDController;
|
||||
import edu.wpi.first.math.geometry.Pose2d;
|
||||
import edu.wpi.first.math.geometry.Pose3d;
|
||||
import edu.wpi.first.math.geometry.Rotation2d;
|
||||
import edu.wpi.first.math.geometry.Rotation3d;
|
||||
import edu.wpi.first.math.geometry.Transform2d;
|
||||
import edu.wpi.first.math.geometry.Transform3d;
|
||||
import edu.wpi.first.math.geometry.Translation2d;
|
||||
import edu.wpi.first.math.geometry.Translation3d;
|
||||
import edu.wpi.first.units.Units;
|
||||
import edu.wpi.first.units.measure.Angle;
|
||||
import edu.wpi.first.wpilibj.DriverStation;
|
||||
import edu.wpi.first.wpilibj.DriverStation.Alliance;
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import frc.robot.Constants;
|
||||
import frc.robot.Utils;
|
||||
import frc.robot.subsystems.DriveSubsystem;
|
||||
import frc.robot.subsystems.HopperSubsystem;
|
||||
import frc.robot.subsystems.TurretSubsystem;
|
||||
|
||||
public class AutoShootCommandChassisTurret extends Command{
|
||||
|
||||
// For Chassis Control
|
||||
private DriveSubsystem driveSubsystem;
|
||||
|
||||
private HopperSubsystem hopperSubsystem;
|
||||
private TurretSubsystem turretSubsystem;
|
||||
|
||||
private PIDController cameraAutoCenterController;
|
||||
private PIDController deadreckoningAutoCenterController;
|
||||
|
||||
private int[] tagFilters;
|
||||
|
||||
private AprilTagFieldLayout fieldTags = AprilTagFieldLayout.loadField(AprilTagFields.k2026RebuiltWelded);
|
||||
|
||||
private Pose3d closestTag;
|
||||
|
||||
private final double chassisRotateSpeed = Math.PI * 0.1;
|
||||
|
||||
public AutoShootCommandChassisTurret(DriveSubsystem driveSubsystem, HopperSubsystem hopperSubsystem, TurretSubsystem turretSubsystem)
|
||||
{
|
||||
this.driveSubsystem = driveSubsystem;
|
||||
this.hopperSubsystem = hopperSubsystem;
|
||||
this.turretSubsystem = turretSubsystem;
|
||||
|
||||
this.addRequirements(driveSubsystem, hopperSubsystem, turretSubsystem);
|
||||
|
||||
cameraAutoCenterController = new PIDController(0.15, 0.0, 0.0);
|
||||
cameraAutoCenterController.setTolerance(0.2); // Units degrees
|
||||
cameraAutoCenterController.setSetpoint(0);
|
||||
|
||||
|
||||
deadreckoningAutoCenterController = new PIDController(Math.PI * 0.1, 0, 0.0);
|
||||
deadreckoningAutoCenterController.setTolerance(0.2); // Units is rotations
|
||||
deadreckoningAutoCenterController.enableContinuousInput(-Math.PI, Math.PI);
|
||||
}
|
||||
|
||||
@Override
|
||||
public void initialize() {
|
||||
DriverStation.getAlliance().ifPresent((aliance) -> {
|
||||
if (aliance == Alliance.Blue) {
|
||||
tagFilters = Constants.CameraConstanst.IDFilters.BLUE_HUB_SHOOTING_IDS;
|
||||
} else {
|
||||
tagFilters = Constants.CameraConstanst.IDFilters.RED_HUB_SHOOTING_IDS;
|
||||
}
|
||||
});
|
||||
|
||||
turretSubsystem.setLauncher(3000);
|
||||
turretSubsystem.setTargetElevation(Constants.ShooterConstants.DEFLECTOR_STORED_ANGLE);
|
||||
hopperSubsystem.spindexerOn();
|
||||
cameraAutoCenterController.calculate(-100);
|
||||
|
||||
// Change to HUB tracking pipeline
|
||||
LimelightHelpers.setPipelineIndex(Constants.CameraConstanst.BACK_CAMERA_NAME, Constants.CameraConstanst.BACK_HUB_TRACKING_3D_PIPELINE_NUMBER);
|
||||
LimelightHelpers.SetFiducialIDFiltersOverride(Constants.CameraConstanst.BACK_CAMERA_NAME, tagFilters);
|
||||
|
||||
Pose3d botPose = driveSubsystem.getBotPose();
|
||||
// Find closest target to us
|
||||
List<Pose3d> tagPoses = Arrays.stream(tagFilters).mapToObj(tagId -> fieldTags.getTagPose(tagId).get()).toList();
|
||||
closestTag = botPose.nearest(tagPoses);
|
||||
Logger.recordOutput("AutoAlign-ClosestAprilTagPose", closestTag);
|
||||
|
||||
Translation2d delta = botPose.getTranslation().toTranslation2d().minus(closestTag.getTranslation().toTranslation2d());
|
||||
Logger.recordOutput("AutoAlign-ClosestAprilTagTransform", delta);
|
||||
|
||||
deadreckoningAutoCenterController.setSetpoint(delta.getAngle().plus(Rotation2d.kZero).getRadians());
|
||||
}
|
||||
|
||||
@Override
|
||||
public void execute() {
|
||||
// Need to compute shoot speed and angle
|
||||
|
||||
Logger.recordOutput("AutoAlign-CenteringError", cameraAutoCenterController.getError());
|
||||
|
||||
// No april tag in camera view. Rotate towards our theoretical closest tag
|
||||
if(!LimelightHelpers.getTV(Constants.CameraConstanst.BACK_CAMERA_NAME)){
|
||||
Logger.recordOutput("AutoAlignState-Tracking", "Deadreckoning");
|
||||
|
||||
Pose3d botPose = driveSubsystem.getBotPose();
|
||||
//driveSubsystem.rotateChassis(-deadreckoningAutoCenterController.calculate(botPose.getRotation().toRotation2d().getRadians()));
|
||||
}
|
||||
else // We have an april tag, center it to the camera frame
|
||||
{
|
||||
Logger.recordOutput("AutoAlignState-Tracking", "Camera");
|
||||
// [tx, ty, tz, pitch, yaw, roll]
|
||||
double[] targetsPose = LimelightHelpers.getTargetPose_CameraSpace(Constants.CameraConstanst.BACK_CAMERA_NAME);
|
||||
if(targetsPose.length >= 1){
|
||||
Logger.recordOutput("AutoAlign-Target Distance", targetsPose[2]);
|
||||
|
||||
// Calculate turret Angle
|
||||
double turretAngle = Utils.calculateTurretAngleFromCameraTagDistance(targetsPose[2]) * Constants.ShooterConstants.TURRET_GEAR_RATIO;
|
||||
turretSubsystem.setTurretMotorRotation(-turretAngle);
|
||||
|
||||
driveSubsystem.rotateChassis(-cameraAutoCenterController.calculate(targetsPose[0])); // This may need to be negated
|
||||
}
|
||||
}
|
||||
|
||||
// If robot is centered on HUB and shooter is up to speed. Run the kicker
|
||||
if(turretSubsystem.isLauncherUpToSpeed() && cameraAutoCenterController.atSetpoint()){
|
||||
Logger.recordOutput("AutoAlignState-Shoot", "FIRE!");
|
||||
hopperSubsystem.feedKicker();
|
||||
}else{
|
||||
Logger.recordOutput("AutoAlignState-Shoot", "Waiting");
|
||||
}
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean isFinished() {
|
||||
return false;
|
||||
}
|
||||
|
||||
@Override
|
||||
public void end(boolean interrupted) {
|
||||
turretSubsystem.setLauncher(0);
|
||||
|
||||
hopperSubsystem.stopKicker();
|
||||
hopperSubsystem.spindexerOff();
|
||||
|
||||
driveSubsystem.stopDrive();
|
||||
|
||||
LimelightHelpers.setPipelineIndex(Constants.CameraConstanst.BACK_CAMERA_NAME, Constants.CameraConstanst.BACK_LOCALIZATION_PIPELINE_NUMBER);
|
||||
}
|
||||
|
||||
}
|
||||
|
|
@ -1,130 +0,0 @@
|
|||
package frc.robot.commands;
|
||||
|
||||
import java.util.Arrays;
|
||||
import java.util.List;
|
||||
|
||||
import org.fairportrobotics.frc.robolib.vision.limelight.LimelightHelpers;
|
||||
import org.littletonrobotics.junction.Logger;
|
||||
|
||||
import com.pathplanner.lib.auto.AutoBuilder;
|
||||
import com.pathplanner.lib.path.PathConstraints;
|
||||
import edu.wpi.first.apriltag.AprilTagFieldLayout;
|
||||
import edu.wpi.first.apriltag.AprilTagFields;
|
||||
import edu.wpi.first.math.geometry.Pose2d;
|
||||
import edu.wpi.first.math.geometry.Pose3d;
|
||||
import edu.wpi.first.math.geometry.Translation2d;
|
||||
import edu.wpi.first.wpilibj.DriverStation;
|
||||
import edu.wpi.first.wpilibj.DriverStation.Alliance;
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import edu.wpi.first.wpilibj2.command.CommandScheduler;
|
||||
import frc.robot.Constants;
|
||||
import frc.robot.subsystems.DriveSubsystem;
|
||||
import frc.robot.subsystems.HopperSubsystem;
|
||||
import frc.robot.subsystems.TurretSubsystem;
|
||||
|
||||
public class AutoShootCommandChassisTurretPathPlanner extends Command {
|
||||
|
||||
// For Chassis Control
|
||||
private DriveSubsystem driveSubsystem;
|
||||
|
||||
private HopperSubsystem hopperSubsystem;
|
||||
private TurretSubsystem turretSubsystem;
|
||||
|
||||
private int[] tagFilters;
|
||||
|
||||
private AprilTagFieldLayout fieldTags = AprilTagFieldLayout.loadField(AprilTagFields.k2026RebuiltWelded);
|
||||
|
||||
private Pose3d closestTag;
|
||||
private Pose2d targetPPPose;
|
||||
|
||||
private Command pathFollowCommand;
|
||||
|
||||
public AutoShootCommandChassisTurretPathPlanner(DriveSubsystem driveSubsystem, HopperSubsystem hopperSubsystem,
|
||||
TurretSubsystem turretSubsystem) {
|
||||
this.driveSubsystem = driveSubsystem;
|
||||
this.hopperSubsystem = hopperSubsystem;
|
||||
this.turretSubsystem = turretSubsystem;
|
||||
|
||||
this.addRequirements(driveSubsystem, hopperSubsystem, turretSubsystem);
|
||||
|
||||
}
|
||||
|
||||
@Override
|
||||
public void initialize() {
|
||||
|
||||
DriverStation.getAlliance().ifPresent((aliance) -> {
|
||||
Pose3d targetHub;
|
||||
if (aliance == Alliance.Blue) {
|
||||
tagFilters = Constants.CameraConstanst.IDFilters.BLUE_HUB_SHOOTING_IDS;
|
||||
targetHub = Constants.FieldPoses.BLUE_HUB_POSE;
|
||||
} else {
|
||||
tagFilters = Constants.CameraConstanst.IDFilters.RED_HUB_SHOOTING_IDS;
|
||||
targetHub = Constants.FieldPoses.RED_HUB_POSE;
|
||||
}
|
||||
|
||||
Pose3d botPose = driveSubsystem.getBotPose();
|
||||
// Find closest target to us
|
||||
List<Pose3d> tagPoses = Arrays.stream(tagFilters).mapToObj(tagId -> fieldTags.getTagPose(tagId).get())
|
||||
.toList();
|
||||
closestTag = botPose.nearest(tagPoses);
|
||||
Logger.recordOutput("AutoAlignPP-ClosestAprilTagPose", closestTag);
|
||||
|
||||
Translation2d delta = botPose.getTranslation().toTranslation2d()
|
||||
.minus(closestTag.getTranslation().toTranslation2d());
|
||||
Logger.recordOutput("AutoAlignPP-ClosestAprilTagTransform", delta);
|
||||
|
||||
// Add 180 because we want the back of the robot to face the HUB
|
||||
// deadreckoningAutoCenterController.setSetpoint(delta.getAngle().plus(Rotation2d.k180deg).getRadians());
|
||||
|
||||
// Translate back 1 meter from HUB
|
||||
Translation2d newTrans = targetHub.getTranslation().toTranslation2d()
|
||||
.plus(new Translation2d(1.5, delta.getAngle()));
|
||||
targetPPPose = new Pose2d(newTrans, delta.getAngle());
|
||||
Logger.recordOutput("AutoAlignPP-PPTargetPose", targetPPPose);
|
||||
|
||||
pathFollowCommand = AutoBuilder.pathfindToPose(targetPPPose,
|
||||
new PathConstraints(Constants.RobotChassisLimits.MAX_ROBOT_LINEAR_VELOCITY,
|
||||
Constants.RobotChassisLimits.MAX_ROBOT_LINEAR_VELOCITY_ACCEL,
|
||||
Constants.RobotChassisLimits.MAX_ROBOT_ANGULAR_VELOCITY,
|
||||
Constants.RobotChassisLimits.MAX_ROBOT_LINEAR_VELOCITY_ACCEL));
|
||||
|
||||
CommandScheduler.getInstance().schedule(pathFollowCommand);
|
||||
});
|
||||
|
||||
turretSubsystem.setLauncher(5500);
|
||||
hopperSubsystem.spindexerOn();
|
||||
|
||||
}
|
||||
|
||||
@Override
|
||||
public void execute() {
|
||||
|
||||
// If robot is centered on HUB and shooter is up to speed. Run the kicker
|
||||
if (turretSubsystem.isLauncherUpToSpeed() && pathFollowCommand.isFinished()) {
|
||||
Logger.recordOutput("AutoAlignState-Shoot", "FIRE!");
|
||||
hopperSubsystem.feedKicker();
|
||||
} else {
|
||||
Logger.recordOutput("AutoAlignState-Shoot", "Waiting");
|
||||
}
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean isFinished() {
|
||||
return false;
|
||||
}
|
||||
|
||||
@Override
|
||||
public void end(boolean interrupted) {
|
||||
CommandScheduler.getInstance().cancel(pathFollowCommand);
|
||||
turretSubsystem.setLauncher(0);
|
||||
|
||||
hopperSubsystem.stopKicker();
|
||||
hopperSubsystem.spindexerOff();
|
||||
|
||||
driveSubsystem.stopDrive();
|
||||
|
||||
LimelightHelpers.setPipelineIndex(Constants.CameraConstanst.BACK_CAMERA_NAME,
|
||||
Constants.CameraConstanst.BACK_LOCALIZATION_PIPELINE_NUMBER);
|
||||
}
|
||||
|
||||
}
|
||||
|
|
@ -1,96 +0,0 @@
|
|||
package frc.robot.commands;
|
||||
|
||||
import org.littletonrobotics.junction.Logger;
|
||||
|
||||
import edu.wpi.first.apriltag.AprilTagFieldLayout;
|
||||
import edu.wpi.first.apriltag.AprilTagFields;
|
||||
import edu.wpi.first.math.geometry.Pose3d;
|
||||
import edu.wpi.first.math.geometry.Rotation2d;
|
||||
import edu.wpi.first.math.geometry.Rotation3d;
|
||||
import edu.wpi.first.math.geometry.Transform2d;
|
||||
import edu.wpi.first.math.geometry.Transform3d;
|
||||
import edu.wpi.first.math.geometry.Translation2d;
|
||||
import edu.wpi.first.math.geometry.Translation3d;
|
||||
import edu.wpi.first.units.Units;
|
||||
import edu.wpi.first.units.measure.Angle;
|
||||
import edu.wpi.first.wpilibj.DriverStation;
|
||||
import edu.wpi.first.wpilibj.DriverStation.Alliance;
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import frc.robot.Constants;
|
||||
import frc.robot.Constants.ShootingRegion;
|
||||
import frc.robot.Utils;
|
||||
import frc.robot.subsystems.DriveSubsystem;
|
||||
import frc.robot.subsystems.TurretSubsystem;
|
||||
|
||||
public class AutoTurretCommand extends Command {
|
||||
|
||||
private final Translation2d CENTER_TURRET_TO_ROBOT = new Translation2d(-0.1335024, -0.1824736);
|
||||
|
||||
private TurretSubsystem turretSubsystem;
|
||||
private DriveSubsystem driveSubsystem;
|
||||
|
||||
private Alliance alliance;
|
||||
|
||||
public AutoTurretCommand(TurretSubsystem turretSubsystem, DriveSubsystem driveSubsystem) {
|
||||
this.turretSubsystem = turretSubsystem;
|
||||
this.driveSubsystem = driveSubsystem;
|
||||
|
||||
addRequirements(turretSubsystem); // Not adding drive as we don't wan't the drive command to be de-scheduled
|
||||
}
|
||||
|
||||
@Override
|
||||
public void initialize() {
|
||||
// Perform auto-home
|
||||
turretSubsystem.homeTurret();
|
||||
|
||||
DriverStation.getAlliance().ifPresent((aliance) -> {
|
||||
if (aliance == Alliance.Blue) {
|
||||
turretSubsystem.setTurretTargetPose(Constants.FieldPoses.BLUE_HUB_POSE);
|
||||
aliance = Alliance.Blue;
|
||||
} else {
|
||||
turretSubsystem.setTurretTargetPose(Constants.FieldPoses.RED_HUB_POSE);
|
||||
aliance = Alliance.Red;
|
||||
}
|
||||
});
|
||||
|
||||
}
|
||||
|
||||
@Override
|
||||
public void execute() {
|
||||
|
||||
ShootingRegion shootingRegion = Utils.findRobotShootingRegion(driveSubsystem.getBotPose(), DriverStation.getAlliance().get());
|
||||
|
||||
if(shootingRegion != ShootingRegion.NON_SHOOTING_REGION){
|
||||
Pose3d targetPose = Utils.findShootingTarget(shootingRegion, DriverStation.getAlliance().get());
|
||||
|
||||
turretSubsystem.setTurretTargetPose(targetPose);
|
||||
}
|
||||
|
||||
Logger.recordOutput("AutoTurret-ScoringTarget", turretSubsystem.getTurretTargetPose());
|
||||
|
||||
Pose3d botPose = driveSubsystem.getBotPose();
|
||||
Pose3d turretPose = botPose.plus(new Transform3d(new Translation3d(CENTER_TURRET_TO_ROBOT),
|
||||
new Rotation3d(Rotation2d.fromRotations(turretSubsystem.getTurretAngleRobotRelative() + 0.5))));
|
||||
Logger.recordOutput("AutoTurret-TurretPose", turretPose);
|
||||
|
||||
Translation2d targetTranslation = turretSubsystem.getTurretTargetPose().getTranslation().toTranslation2d().minus(turretPose.getTranslation().toTranslation2d());
|
||||
Logger.recordOutput("AutoTurret-Translation", targetTranslation);
|
||||
|
||||
if(turretSubsystem.isTurretReady()){
|
||||
turretSubsystem.setTurretFieldRelative(botPose, targetTranslation.getAngle().getRotations());
|
||||
// turretSubsystem.setTurretRobotRelative(0.25);
|
||||
// turretSubsystem.setTurretMotorRotation(0);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean isFinished() {
|
||||
return false;
|
||||
}
|
||||
|
||||
@Override
|
||||
public void end(boolean interrupted) {
|
||||
}
|
||||
|
||||
}
|
||||
|
|
@ -1,90 +0,0 @@
|
|||
package frc.robot.commands;
|
||||
|
||||
import org.littletonrobotics.junction.Logger;
|
||||
|
||||
import edu.wpi.first.math.geometry.Pose3d;
|
||||
import edu.wpi.first.units.Units;
|
||||
import edu.wpi.first.units.measure.Angle;
|
||||
import edu.wpi.first.wpilibj.DriverStation;
|
||||
import edu.wpi.first.wpilibj.DriverStation.Alliance;
|
||||
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import edu.wpi.first.wpilibj2.command.CommandScheduler;
|
||||
import edu.wpi.first.wpilibj2.command.Commands;
|
||||
import frc.robot.Constants;
|
||||
import frc.robot.Utils;
|
||||
import frc.robot.subsystems.DriveSubsystem;
|
||||
import frc.robot.subsystems.HopperSubsystem;
|
||||
import frc.robot.subsystems.IntakeSubsystem;
|
||||
import frc.robot.subsystems.TurretSubsystem;
|
||||
|
||||
public class AutoTurretShootCommand extends Command{
|
||||
|
||||
private HopperSubsystem hopperSubsystem;
|
||||
private TurretSubsystem turretSubsystem;
|
||||
private IntakeSubsystem intakeSubsystem;
|
||||
private DriveSubsystem driveSubsystem;
|
||||
|
||||
private Command waitCommand = Commands.waitSeconds(1.5);
|
||||
|
||||
private Alliance alliance;
|
||||
public AutoTurretShootCommand(HopperSubsystem hopperSubsystem, TurretSubsystem turretSubsystem, IntakeSubsystem intakeSubsystem, DriveSubsystem driveSubsystem){
|
||||
this.hopperSubsystem = hopperSubsystem;
|
||||
this.turretSubsystem = turretSubsystem;
|
||||
this.intakeSubsystem = intakeSubsystem;
|
||||
this.driveSubsystem = driveSubsystem;
|
||||
|
||||
addRequirements(hopperSubsystem, intakeSubsystem);
|
||||
}
|
||||
|
||||
@Override
|
||||
public void initialize() {
|
||||
hopperSubsystem.spindexerOn();
|
||||
CommandScheduler.getInstance().schedule(waitCommand);
|
||||
alliance = DriverStation.getAlliance().get();
|
||||
Logger.recordOutput("AutoTurretShoot-State", "SHOOTING");
|
||||
}
|
||||
|
||||
@Override
|
||||
public void execute() {
|
||||
double distance = turretSubsystem.getTurretTargetPose().toPose2d().getTranslation().getDistance(driveSubsystem.getBotPose().getTranslation().toTranslation2d());
|
||||
Logger.recordOutput("AutoTurretShoot-DistanceToTarget(Meters)", distance);
|
||||
|
||||
turretSubsystem.setTargetElevation(Utils.getHoodAngleForDistance(distance));
|
||||
turretSubsystem.setLauncher(Utils.getLauncherRPMForDistance(distance));
|
||||
|
||||
if(turretSubsystem.isLauncherUpToSpeed() && waitCommand.isFinished()){
|
||||
hopperSubsystem.feedKicker();
|
||||
}else{
|
||||
hopperSubsystem.stopKicker();
|
||||
}
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean isFinished() {
|
||||
return false;
|
||||
}
|
||||
|
||||
@Override
|
||||
public void end(boolean interrupted) {
|
||||
waitCommand.cancel();
|
||||
hopperSubsystem.spindexerOff();
|
||||
hopperSubsystem.stopKicker();
|
||||
|
||||
turretSubsystem.setLauncher(0);
|
||||
turretSubsystem.setTargetElevation(Constants.ShooterConstants.DEFLECTOR_STORED_ANGLE);
|
||||
|
||||
Logger.recordOutput("AutoTurretShoot-State", "NOT SHOOTING");
|
||||
|
||||
DriverStation.getAlliance().ifPresent((aliance) -> {
|
||||
if (aliance == Alliance.Blue) {
|
||||
turretSubsystem.setTurretTargetPose(Constants.FieldPoses.BLUE_HUB_POSE);
|
||||
} else {
|
||||
turretSubsystem.setTurretTargetPose(Constants.FieldPoses.RED_HUB_POSE);
|
||||
}
|
||||
});
|
||||
|
||||
// turretSubsystem.setTurretMotorRotation(-0.34); // Return to 0 after MIAMI VALLEY
|
||||
}
|
||||
|
||||
}
|
||||
|
|
@ -4,7 +4,15 @@
|
|||
|
||||
package frc.robot.commands;
|
||||
|
||||
import frc.robot.subsystems.ExampleSubsystem;
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import edu.wpi.first.wpilibj2.command.Commands;
|
||||
|
||||
public final class Autos {
|
||||
/** Example static factory for an autonomous command. */
|
||||
public static Command exampleAuto(ExampleSubsystem subsystem) {
|
||||
return Commands.sequence(subsystem.exampleMethodCommand(), new ExampleCommand(subsystem));
|
||||
}
|
||||
|
||||
private Autos() {
|
||||
throw new UnsupportedOperationException("This is a utility class!");
|
||||
|
|
|
|||
|
|
@ -0,0 +1,50 @@
|
|||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
package frc.robot.commands;
|
||||
|
||||
import frc.robot.subsystems.HopperSubsystem;
|
||||
import edu.wpi.first.wpilibj.XboxController;
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
|
||||
/** An example command that uses an example subsystem. */
|
||||
public class ManualHopperCommand extends Command {
|
||||
private final HopperSubsystem m_subsystem;
|
||||
private final XboxController m_xboxController;
|
||||
|
||||
public ManualHopperCommand(HopperSubsystem subsystem, XboxController xboxController) {
|
||||
m_subsystem = subsystem;
|
||||
m_xboxController = xboxController;
|
||||
addRequirements(subsystem);
|
||||
}
|
||||
|
||||
// Called when the command is initially scheduled.
|
||||
@Override
|
||||
public void initialize() {
|
||||
m_subsystem.spin(.5);
|
||||
}
|
||||
|
||||
// Called every time the scheduler runs while the command is scheduled.
|
||||
@Override
|
||||
public void execute() {
|
||||
if(m_xboxController.getLeftTriggerAxis()>.5 && m_xboxController.getRightTriggerAxis()>.5)
|
||||
{
|
||||
m_subsystem.feed();
|
||||
}
|
||||
else
|
||||
{
|
||||
m_subsystem.stop();
|
||||
}
|
||||
}
|
||||
|
||||
// Called once the command ends or is interrupted.
|
||||
@Override
|
||||
public void end(boolean interrupted) {}
|
||||
|
||||
// Returns true when the command should end.
|
||||
@Override
|
||||
public boolean isFinished() {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,40 @@
|
|||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
package frc.robot.commands;
|
||||
|
||||
import frc.robot.subsystems.TurretSubsystem;
|
||||
import edu.wpi.first.wpilibj.XboxController;
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
|
||||
/** An example command that uses an example subsystem. */
|
||||
public class ManualShootCommand extends Command {
|
||||
private final TurretSubsystem m_subsystem;
|
||||
private final XboxController m_controller;
|
||||
|
||||
public ManualShootCommand(TurretSubsystem subsystem, XboxController controller) {
|
||||
m_subsystem = subsystem;
|
||||
m_controller = controller;
|
||||
// Use addRequirements() here to declare subsystem dependencies.
|
||||
addRequirements(subsystem);
|
||||
}
|
||||
|
||||
// Called every time the scheduler runs while the command is scheduled.
|
||||
@Override
|
||||
public void execute() {
|
||||
if(m_controller.getLeftTriggerAxis()>.5 || m_controller.getRightTriggerAxis()>.5)
|
||||
{
|
||||
m_subsystem.setLauncher(1);
|
||||
}
|
||||
else
|
||||
{
|
||||
m_subsystem.setLauncher(0);
|
||||
}
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean isFinished() {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
|
@ -1,57 +0,0 @@
|
|||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
package frc.robot.commands;
|
||||
|
||||
import edu.wpi.first.wpilibj.XboxController;
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import frc.robot.subsystems.HopperSubsystem;
|
||||
import frc.robot.subsystems.IntakeSubsystem;
|
||||
|
||||
/**
|
||||
* An example command that uses an example subsystem.
|
||||
*/
|
||||
public class Reverse extends Command {
|
||||
|
||||
private IntakeSubsystem intakeSubsystem;
|
||||
private HopperSubsystem hopperSubsystem;
|
||||
private XboxController m_XboxController;
|
||||
|
||||
/**
|
||||
* Creates a new ExampleCommand.
|
||||
*
|
||||
* @param subsystem The subsystem used by this command.
|
||||
*/
|
||||
public Reverse(IntakeSubsystem intakeSubsystem, HopperSubsystem hopperSubsystem, XboxController m_XboxController) {
|
||||
this.intakeSubsystem = intakeSubsystem;
|
||||
this.hopperSubsystem = hopperSubsystem;
|
||||
this.m_XboxController = m_XboxController;
|
||||
}
|
||||
|
||||
// Called when the command is initially scheduled.
|
||||
@Override
|
||||
public void initialize() {
|
||||
}
|
||||
|
||||
// Called every time the scheduler runs while the command is scheduled.
|
||||
@Override
|
||||
public void execute() {
|
||||
intakeSubsystem.reverseIntake();
|
||||
hopperSubsystem.spindexerReverse();
|
||||
hopperSubsystem.reverseKicker();
|
||||
}
|
||||
|
||||
// Called once the command ends or is interrupted.
|
||||
@Override
|
||||
public void end(boolean interrupted) {
|
||||
hopperSubsystem.stopKicker();
|
||||
hopperSubsystem.spindexerOff();
|
||||
intakeSubsystem.stopIntake(m_XboxController);
|
||||
}
|
||||
|
||||
// Returns true when the command should end.
|
||||
@Override
|
||||
public boolean isFinished() {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
|
@ -5,14 +5,15 @@
|
|||
package frc.robot.commands;
|
||||
|
||||
import frc.robot.subsystems.TurretSubsystem;
|
||||
import edu.wpi.first.units.measure.Angle;
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
|
||||
/** An example command that uses an example subsystem. **/
|
||||
public class SetDeflectorCommand extends Command {
|
||||
private final TurretSubsystem m_subsystem;
|
||||
private double deployAngle;
|
||||
private Angle deployAngle;
|
||||
|
||||
public SetDeflectorCommand(TurretSubsystem subsystem, double deployAngle) {
|
||||
public SetDeflectorCommand(TurretSubsystem subsystem, Angle deployAngle) {
|
||||
m_subsystem = subsystem;
|
||||
this.deployAngle = deployAngle;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,86 +0,0 @@
|
|||
package frc.robot.commands;
|
||||
|
||||
import org.fairportrobotics.frc.robolib.vision.limelight.LimelightHelpers;
|
||||
import org.littletonrobotics.junction.Logger;
|
||||
|
||||
import edu.wpi.first.apriltag.AprilTagFieldLayout;
|
||||
import edu.wpi.first.apriltag.AprilTagFields;
|
||||
import edu.wpi.first.wpilibj.DriverStation;
|
||||
import edu.wpi.first.wpilibj.DriverStation.Alliance;
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import frc.robot.Constants;
|
||||
import frc.robot.subsystems.DriveSubsystem;
|
||||
|
||||
public class ZoneCheck extends Command {
|
||||
private Zone zone;
|
||||
private DriveSubsystem driveSubsystem;
|
||||
|
||||
public ZoneCheck(DriveSubsystem driveSubsystem)
|
||||
{
|
||||
this.driveSubsystem = driveSubsystem;
|
||||
}
|
||||
|
||||
public enum Zone {
|
||||
Blue,
|
||||
Red,
|
||||
Neutral,
|
||||
INIT;
|
||||
}
|
||||
|
||||
@Override
|
||||
public void initialize() {
|
||||
zone = Zone.INIT;
|
||||
}
|
||||
|
||||
@Override
|
||||
public void execute() {
|
||||
getZone();
|
||||
Logger.recordOutput("FieldZone", zone);
|
||||
DriverStation.getAlliance().ifPresent((aliance) -> {
|
||||
if (aliance == Alliance.Blue) {
|
||||
switch (zone) {
|
||||
case Blue:
|
||||
System.out.println("BLUE");
|
||||
break;
|
||||
case Neutral:
|
||||
System.out.println("NEUTRAL");
|
||||
break;
|
||||
case Red:
|
||||
System.out.println("RED");
|
||||
break;
|
||||
default:
|
||||
System.out.println("****");
|
||||
}
|
||||
} else {
|
||||
switch (zone) {
|
||||
case Blue:
|
||||
System.out.println("BLUE");
|
||||
break;
|
||||
case Neutral:
|
||||
System.out.println("NEUTRAL");
|
||||
break;
|
||||
case Red:
|
||||
System.out.println("RED");
|
||||
break;
|
||||
default:
|
||||
System.out.println("****");
|
||||
}
|
||||
}
|
||||
});
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean isFinished() {
|
||||
return false;
|
||||
}
|
||||
|
||||
private void getZone() {
|
||||
if (driveSubsystem.getBotPose().getX() >= Constants.CameraConstanst.RED_ZONE_COOR[0]) {
|
||||
zone = Zone.Red;
|
||||
} else if (driveSubsystem.getBotPose().getX() >= Constants.CameraConstanst.NEUTRAL_ZONE_COOR[0]) {
|
||||
zone = Zone.Neutral;
|
||||
} else {
|
||||
zone = Zone.Blue;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -1,41 +1,25 @@
|
|||
package frc.robot.subsystems;
|
||||
|
||||
import static org.fairportrobotics.frc.posty.assertions.Assertions.assertThat;
|
||||
|
||||
import org.fairportrobotics.frc.posty.TestableSubsystem;
|
||||
import org.fairportrobotics.frc.posty.test.PostTest;
|
||||
import static org.fairportrobotics.frc.posty.assertions.Assertions.*;
|
||||
import org.fairportrobotics.frc.robolib.drivesystems.swerve.SwerveBuilder;
|
||||
import org.fairportrobotics.frc.robolib.drivesystems.swerve.SwerveDriveSystem;
|
||||
import org.fairportrobotics.frc.robolib.drivesystems.swerve.SwerveModule;
|
||||
import org.fairportrobotics.frc.robolib.vision.limelight.LimelightHelpers;
|
||||
import org.littletonrobotics.junction.Logger;
|
||||
|
||||
import com.pathplanner.lib.auto.AutoBuilder;
|
||||
import com.pathplanner.lib.config.PIDConstants;
|
||||
import com.pathplanner.lib.config.RobotConfig;
|
||||
import com.pathplanner.lib.controllers.PPHolonomicDriveController;
|
||||
import com.pathplanner.lib.util.PathPlannerLogging;
|
||||
import com.fasterxml.jackson.annotation.JsonCreator.Mode;
|
||||
|
||||
import edu.wpi.first.math.VecBuilder;
|
||||
import edu.wpi.first.math.geometry.Pose2d;
|
||||
import edu.wpi.first.math.geometry.Pose3d;
|
||||
import edu.wpi.first.math.geometry.Translation2d;
|
||||
import edu.wpi.first.math.kinematics.ChassisSpeeds;
|
||||
import edu.wpi.first.wpilibj.DriverStation;
|
||||
import edu.wpi.first.wpilibj.RobotState;
|
||||
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
|
||||
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import edu.wpi.first.wpilibj2.command.Commands;
|
||||
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
|
||||
|
||||
import frc.robot.Constants;
|
||||
|
||||
public class DriveSubsystem extends TestableSubsystem {
|
||||
|
||||
private SendableChooser<Command> autoChooser;
|
||||
|
||||
private SwerveBuilder swerveBuilder = new SwerveBuilder();
|
||||
public SwerveDriveSystem driveSystem;
|
||||
private SwerveDriveSystem driveSystem;
|
||||
|
||||
private double driveP = 0.1;
|
||||
private double driveI = 0.0;
|
||||
|
|
@ -52,8 +36,8 @@ public class DriveSubsystem extends TestableSubsystem {
|
|||
driveSystem = swerveBuilder
|
||||
.withCanbusName("Drive")
|
||||
.withPigeonId(Constants.ExtraIDEntities.PIGEON_ID)
|
||||
.withMaxLinearVelocity(Constants.RobotChassisLimits.MAX_ROBOT_LINEAR_VELOCITY)
|
||||
.withMaxAngularVelocity(Constants.RobotChassisLimits.MAX_ROBOT_ANGULAR_VELOCITY)
|
||||
.withMaxLinearVelocity(3.0)
|
||||
.withMaxAngularVelocity(Math.PI)
|
||||
.withSwerveModule(
|
||||
swerveBuilder.new SwerveModuleBuilder()
|
||||
.withDriveMotorId(Constants.SwerveDriveIDs.FRONT_LEFT_DRIVE_ID)
|
||||
|
|
@ -66,7 +50,7 @@ public class DriveSubsystem extends TestableSubsystem {
|
|||
.withSteerKI(steerI)
|
||||
.withSteerKD(steerD)
|
||||
.withSteerKV(steerKV)
|
||||
// If the offsets don't work, contact Tyler W or Dom G
|
||||
//If the offsets don't work, contact Tyler W or Dom G
|
||||
.withSteerOffset(Constants.SwerveDriveOffsets.FRONT_LEFT_MOTOR_OFFSET)
|
||||
.withSteerEncoderId(Constants.SwerveDriveIDs.FRONT_LEFT_ENCODER_ID)
|
||||
.withModuleLocation(new Translation2d(1, 1))
|
||||
|
|
@ -135,107 +119,30 @@ public class DriveSubsystem extends TestableSubsystem {
|
|||
.build())
|
||||
.build();
|
||||
|
||||
// Set vision measurement confidence values
|
||||
driveSystem.getPoseEstimator().setVisionMeasurementStdDevs(VecBuilder.fill(0.7, 0.7, 0.7, 0.1));
|
||||
|
||||
this.setDefaultCommand(Commands.run(new Runnable() {
|
||||
|
||||
@Override
|
||||
public void run() {
|
||||
driveSystem.setChassisSpeedsFromJoystickFieldRelative(
|
||||
driveSystem.setChassisSpeedsFromJoystickRobotRelative(
|
||||
-(xboxController.getLeftY() * Math.abs(xboxController.getLeftY())),
|
||||
-(xboxController.getLeftX() * Math.abs(xboxController.getLeftX())),
|
||||
-(xboxController.getRawAxis(4) * Math.abs(xboxController.getRawAxis(4))));
|
||||
|
||||
// driveSubsystem.setChassisSpeed(new ChassisSpeeds(1, 0, 0));
|
||||
|
||||
Logger.recordOutput("RequestedSwerveState", driveSystem.getRequestedModuleStates());
|
||||
Logger.recordOutput("ActualSwerveState", driveSystem.getActualModuleStates());
|
||||
Logger.recordOutput("Pose Estimation", driveSystem.getRobotPose());
|
||||
}
|
||||
|
||||
}, this));
|
||||
|
||||
RobotConfig config;
|
||||
try {
|
||||
config = RobotConfig.fromGUISettings();
|
||||
|
||||
AutoBuilder.configure(
|
||||
driveSystem::getRobotPose2d,
|
||||
driveSystem::setPose2d,
|
||||
driveSystem::getRobotRelativeSpeeds,
|
||||
(speeds, feedforwards) -> {driveSystem.setChassisSpeed(ChassisSpeeds.fromRobotRelativeSpeeds(-speeds.vxMetersPerSecond, -speeds.vyMetersPerSecond, -speeds.omegaRadiansPerSecond, driveSystem.getRobotHeading()), new Translation2d());},
|
||||
new PPHolonomicDriveController(
|
||||
new PIDConstants(5, 0, 0),
|
||||
new PIDConstants(Math.PI, 0, 0)),
|
||||
config,
|
||||
() -> {
|
||||
var alliance = DriverStation.getAlliance();
|
||||
if (alliance.isPresent()) {
|
||||
return alliance.get() == DriverStation.Alliance.Red;
|
||||
}
|
||||
return false;
|
||||
},
|
||||
this);
|
||||
|
||||
autoChooser = AutoBuilder.buildAutoChooser();
|
||||
autoChooser.setDefaultOption("Do Nothing", Commands.none());
|
||||
SmartDashboard.putData("Auto Chooser", autoChooser);
|
||||
|
||||
// PathPlannerLogging.setLogActivePathCallback((List<Pose2d> pose) -> {});
|
||||
PathPlannerLogging.setLogTargetPoseCallback((Pose2d targetPose) -> { Logger.recordOutput("PathPlanner-TargetPose", targetPose);});
|
||||
|
||||
} catch (Exception e) {
|
||||
e.printStackTrace();
|
||||
}
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
@Override
|
||||
public void periodic() {
|
||||
super.periodic();
|
||||
driveSystem.periodic();
|
||||
|
||||
Logger.recordOutput("RobotPose", driveSystem.getRobotPose3d());
|
||||
|
||||
LimelightHelpers.SetRobotOrientation(Constants.CameraConstanst.FRONT_CAMERA_NAME, driveSystem.getRobotPose2d().getRotation().getDegrees(), 0, 0, 0, 0, 0);
|
||||
LimelightHelpers.SetRobotOrientation(Constants.CameraConstanst.BACK_CAMERA_NAME, driveSystem.getRobotPose2d().getRotation().getDegrees(), 0, 0, 0, 0, 0);
|
||||
|
||||
// MegaTag 2 impl
|
||||
if(RobotState.isDisabled()){
|
||||
LimelightHelpers.SetIMUMode(Constants.CameraConstanst.FRONT_CAMERA_NAME, 1);
|
||||
LimelightHelpers.SetIMUMode(Constants.CameraConstanst.BACK_CAMERA_NAME, 1);
|
||||
}else{
|
||||
LimelightHelpers.SetIMUMode(Constants.CameraConstanst.FRONT_CAMERA_NAME, 4);
|
||||
LimelightHelpers.SetIMUMode(Constants.CameraConstanst.BACK_CAMERA_NAME, 4);
|
||||
}
|
||||
|
||||
LimelightHelpers.PoseEstimate frontTag = LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2(Constants.CameraConstanst.FRONT_CAMERA_NAME);
|
||||
LimelightHelpers.PoseEstimate backTag = LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2(Constants.CameraConstanst.BACK_CAMERA_NAME);
|
||||
|
||||
if(frontTag.tagCount >= 2){
|
||||
driveSystem.getPoseEstimator().addVisionMeasurement(new Pose3d(frontTag.pose), frontTag.timestampSeconds);
|
||||
Logger.recordOutput("FrontPose-Estimate", frontTag.pose);
|
||||
Logger.recordOutput("FrontPose-IsMegaTag2", frontTag.isMegaTag2);
|
||||
}
|
||||
|
||||
if(backTag.tagCount >= 2){
|
||||
driveSystem.getPoseEstimator().addVisionMeasurement(new Pose3d(backTag.pose), backTag.timestampSeconds);
|
||||
Logger.recordOutput("BackPose-Estimate", backTag.pose);
|
||||
Logger.recordOutput("BackPose-IsMegaTag2", frontTag.isMegaTag2);
|
||||
}
|
||||
|
||||
|
||||
// MegaTag 1 Impl
|
||||
// LimelightHelpers.PoseEstimate frontCameraPose = LimelightHelpers.getBotPoseEstimate_wpiBlue(Constants.CameraConstanst.FRONT_CAMERA_NAME);
|
||||
// if (frontCameraPose.tagCount >= 2) {
|
||||
// driveSystem.getPoseEstimator().addVisionMeasurement(new Pose3d(frontCameraPose.pose), frontCameraPose.timestampSeconds);
|
||||
// Logger.recordOutput("FrontPoseEstimate", frontCameraPose.pose);
|
||||
// }
|
||||
// LimelightHelpers.PoseEstimate backCameraPose = LimelightHelpers.getBotPoseEstimate_wpiBlue(Constants.CameraConstanst.BACK_CAMERA_NAME);
|
||||
// if (backCameraPose.tagCount >= 2) {
|
||||
// driveSystem.getPoseEstimator().addVisionMeasurement(new Pose3d(backCameraPose.pose), backCameraPose.timestampSeconds);
|
||||
// Logger.recordOutput("BackPoseEstimate", backCameraPose.pose);
|
||||
// }
|
||||
}
|
||||
|
||||
@Override
|
||||
|
|
@ -244,37 +151,19 @@ public class DriveSubsystem extends TestableSubsystem {
|
|||
driveSystem.simulationPeriodic();
|
||||
}
|
||||
|
||||
public Command getAutoCommand() {
|
||||
return autoChooser.getSelected();
|
||||
}
|
||||
|
||||
public void stopDrive() {
|
||||
driveSystem.setChassisSpeed(ChassisSpeeds.fromRobotRelativeSpeeds(0, 0, 0, driveSystem.getGyro().getRotation2d()), Translation2d.kZero);
|
||||
}
|
||||
|
||||
public void rotateChassis(double rotSpeed) {
|
||||
driveSystem.setChassisSpeed(ChassisSpeeds.fromRobotRelativeSpeeds(0, 0, rotSpeed, driveSystem.getGyro().getRotation2d()), Translation2d.kZero);
|
||||
}
|
||||
|
||||
public Pose3d getBotPose() {
|
||||
return driveSystem.getRobotPose3d();
|
||||
}
|
||||
|
||||
@PostTest()
|
||||
public void DriveSubsystem_CanDevicesConnected() {
|
||||
public void DriveSubsystem_CanDevicesConnected(){
|
||||
|
||||
SwerveModule[] modules = driveSystem.getModules();
|
||||
|
||||
for (int i = 0; i < modules.length; i++) {
|
||||
assertThat(modules[i].getDriveMotor().isConnected())
|
||||
.as(modules[i].getModuleName() + " drive motor is not connected").isTrue();
|
||||
assertThat(modules[i].getSteerMotor().isConnected())
|
||||
.as(modules[i].getModuleName() + " steer motor is not connected").isTrue();
|
||||
assertThat(modules[i].getSteerEncoder().isConnected())
|
||||
.as(modules[i].getModuleName() + " CANCoder is not connected").isTrue();
|
||||
for(int i=0;i < modules.length; i++){
|
||||
assertThat(modules[i].getDriveMotor().isConnected()).as(modules[i].getModuleName() + " drive motor is not connected").isTrue();
|
||||
assertThat(modules[i].getSteerMotor().isConnected()).as(modules[i].getModuleName() + " steer motor is not connected").isTrue();
|
||||
assertThat(modules[i].getSteerEncoder().isConnected()).as(modules[i].getModuleName() + " CANCoder is not connected").isTrue();
|
||||
}
|
||||
|
||||
assertThat(driveSystem.getGyro().isConnected()).as("Pigeon is not connected").isTrue();
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,114 +1,46 @@
|
|||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
package frc.robot.subsystems;
|
||||
|
||||
import org.fairportrobotics.frc.posty.TestableSubsystem;
|
||||
import static org.fairportrobotics.frc.posty.assertions.Assertions.assertThat;
|
||||
import org.fairportrobotics.frc.posty.test.PostTest;
|
||||
import org.littletonrobotics.junction.Logger;
|
||||
|
||||
import com.ctre.phoenix6.StatusSignal;
|
||||
import com.ctre.phoenix6.configs.MotorOutputConfigs;
|
||||
import com.ctre.phoenix6.configs.Slot0Configs;
|
||||
import com.ctre.phoenix6.configs.TalonFXConfiguration;
|
||||
import com.ctre.phoenix6.controls.VelocityVoltage;
|
||||
import com.ctre.phoenix6.hardware.TalonFX;
|
||||
|
||||
import edu.wpi.first.units.Units;
|
||||
import edu.wpi.first.units.measure.AngularVelocity;
|
||||
import edu.wpi.first.wpilibj.GenericHID.RumbleType;
|
||||
import edu.wpi.first.wpilibj.XboxController;
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import static org.fairportrobotics.frc.posty.assertions.Assertions.*;
|
||||
import static org.fairportrobotics.frc.robolib.motors.Utils.*;
|
||||
import frc.robot.Constants;
|
||||
|
||||
public class HopperSubsystem extends TestableSubsystem {
|
||||
|
||||
private TalonFX spindexerMotor;
|
||||
|
||||
private TalonFX kickerMotor;
|
||||
private VelocityVoltage kickerControl = new VelocityVoltage(0);
|
||||
private StatusSignal<AngularVelocity> kickerVelocity;
|
||||
/** Creates a new HopperSubsystem. */
|
||||
public HopperSubsystem() {
|
||||
spindexerMotor = new TalonFX(Constants.HopperConstants.SPINDEXER_MOTOR_ID);
|
||||
SetMotorDirection(spindexerMotor, Constants.HopperConstants.SPINDEXER_MOTOR_DIRECTION);
|
||||
|
||||
/**
|
||||
* Creates a new HopperSubsystem.
|
||||
*/
|
||||
public HopperSubsystem() {
|
||||
spindexerMotor = new TalonFX(Constants.HopperConstants.SPINDEXER_MOTOR_ID);
|
||||
spindexerMotor.getConfigurator().apply(
|
||||
new TalonFXConfiguration()
|
||||
.withMotorOutput(
|
||||
new MotorOutputConfigs()
|
||||
.withInverted(Constants.HopperConstants.SPINDEXER_MOTOR_DIRECTION))
|
||||
.withSlot0(
|
||||
new Slot0Configs()
|
||||
.withKP(0)
|
||||
.withKI(0)
|
||||
.withKD(0)
|
||||
.withKS(0)));
|
||||
kickerMotor = new TalonFX(Constants.HopperConstants.KICKER_MOTOR_ID);
|
||||
SetMotorDirection(kickerMotor, Constants.HopperConstants.KICKER_MOTOR_DIRECTION);
|
||||
}
|
||||
|
||||
kickerMotor = new TalonFX(Constants.HopperConstants.KICKER_MOTOR_ID);
|
||||
kickerMotor.getConfigurator().apply(
|
||||
new TalonFXConfiguration()
|
||||
.withMotorOutput(
|
||||
new MotorOutputConfigs()
|
||||
.withInverted(Constants.HopperConstants.KICKER_MOTOR_DIRECTION)
|
||||
)
|
||||
.withSlot0(new Slot0Configs()
|
||||
.withKP(0)
|
||||
.withKI(0)
|
||||
.withKD(0)
|
||||
.withKS(0)
|
||||
));
|
||||
kickerVelocity = kickerMotor.getVelocity();
|
||||
}
|
||||
public void feed() {kickerMotor.set(0.5);}
|
||||
|
||||
public void feedKicker() {
|
||||
//kickerMotor.setControl(kickerControl.withVelocity(1000));
|
||||
kickerMotor.set(0.75);
|
||||
}
|
||||
public void reverse() {kickerMotor.set(-0.5);}
|
||||
|
||||
public void reverseKicker() {
|
||||
//kickerMotor.setControl(kickerControl.withVelocity(-500));
|
||||
kickerMotor.set(-0.5);
|
||||
}
|
||||
public void stop() {kickerMotor.set(0);}
|
||||
|
||||
public void stopKicker() {
|
||||
kickerMotor.stopMotor();
|
||||
}
|
||||
public void spin(double speed) {spindexerMotor.set(speed);}
|
||||
|
||||
public void spindexerOn() {
|
||||
spindexerMotor.set(0.75);
|
||||
}
|
||||
|
||||
public void spindexerReverse() {
|
||||
spindexerMotor.set(-0.75);
|
||||
}
|
||||
|
||||
public void spindexerOff() {
|
||||
spindexerMotor.stopMotor();
|
||||
}
|
||||
|
||||
public Command spinny() {
|
||||
return this.runOnce(() -> {
|
||||
if (spindexerMotor.get() == 0) {
|
||||
spindexerOn();
|
||||
} else {
|
||||
spindexerOff();
|
||||
}
|
||||
});
|
||||
}
|
||||
|
||||
|
||||
@Override
|
||||
public void periodic() {
|
||||
Logger.recordOutput("HopperSubsystem-KickerSpeed(Rotations/sec)", kickerVelocity.refresh().getValue().in(Units.RotationsPerSecond));
|
||||
}
|
||||
|
||||
@PostTest(enabled = true)
|
||||
public void hopperSystem_CANDevicesConnected() {
|
||||
assertThat(kickerMotor.isConnected()).as("Kicker motor not connected!").isTrue();
|
||||
assertThat(spindexerMotor.isConnected()).as("Spindexer motor not connected!").isTrue();
|
||||
}
|
||||
@PostTest(name = "A friendly name", enabled = true)
|
||||
public void myFailingPostTest(){
|
||||
assertThat(true).isFalse();
|
||||
}
|
||||
|
||||
@PostTest(enabled = true)
|
||||
public void myPassingPostTest(){
|
||||
assertThat("Hello World").endWith("World");
|
||||
}
|
||||
}
|
||||
|
|
@ -1,93 +1,94 @@
|
|||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
package frc.robot.subsystems;
|
||||
|
||||
import org.fairportrobotics.frc.posty.TestableSubsystem;
|
||||
import static org.fairportrobotics.frc.posty.assertions.Assertions.assertThat;
|
||||
import org.fairportrobotics.frc.posty.test.PostTest;
|
||||
import static org.fairportrobotics.frc.robolib.motors.Utils.SetMotorDirection;
|
||||
|
||||
import com.ctre.phoenix.motorcontrol.LimitSwitchNormal;
|
||||
import com.ctre.phoenix.motorcontrol.LimitSwitchSource;
|
||||
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
|
||||
import com.ctre.phoenix6.hardware.TalonFX;
|
||||
|
||||
import edu.wpi.first.wpilibj.XboxController;
|
||||
import edu.wpi.first.wpilibj.GenericHID.RumbleType;
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import edu.wpi.first.wpilibj2.command.Commands;
|
||||
import frc.robot.Constants;
|
||||
|
||||
import static org.fairportrobotics.frc.posty.assertions.Assertions.*;
|
||||
import static org.fairportrobotics.frc.robolib.motors.Utils.*;
|
||||
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import edu.wpi.first.wpilibj2.command.Commands;
|
||||
import edu.wpi.first.wpilibj2.command.FunctionalCommand;
|
||||
|
||||
public class IntakeSubsystem extends TestableSubsystem {
|
||||
/** Creates a new ExampleSubsystem. */
|
||||
|
||||
/**
|
||||
* Creates a new ExampleSubsystem.
|
||||
*/
|
||||
private TalonFX intakeMotor;
|
||||
private WPI_TalonSRX deployMotor;
|
||||
|
||||
private TalonFX intakeMotor;
|
||||
private WPI_TalonSRX deployMotor;
|
||||
public IntakeSubsystem()
|
||||
{
|
||||
intakeMotor = new TalonFX(Constants.IntakeConstants.INTAKE_MOTOR_ID);
|
||||
SetMotorDirection(intakeMotor, Constants.IntakeConstants.INTAKE_MOTOR_DIRECTION);
|
||||
|
||||
public IntakeSubsystem() {
|
||||
intakeMotor = new TalonFX(Constants.IntakeConstants.INTAKE_MOTOR_ID);
|
||||
SetMotorDirection(intakeMotor, Constants.IntakeConstants.INTAKE_MOTOR_DIRECTION);
|
||||
deployMotor = new WPI_TalonSRX(Constants.IntakeConstants.DEPLOY_MOTOR_ID);
|
||||
deployMotor.configForwardLimitSwitchSource(LimitSwitchSource.FeedbackConnector, LimitSwitchNormal.NormallyOpen);
|
||||
deployMotor.configReverseLimitSwitchSource(LimitSwitchSource.FeedbackConnector, LimitSwitchNormal.NormallyOpen);
|
||||
deployMotor.setInverted(Constants.IntakeConstants.DEPLOY_MOTOR_INVERTED);
|
||||
}
|
||||
|
||||
deployMotor = new WPI_TalonSRX(Constants.IntakeConstants.DEPLOY_MOTOR_ID);
|
||||
deployMotor.configForwardLimitSwitchSource(LimitSwitchSource.FeedbackConnector, LimitSwitchNormal.NormallyOpen);
|
||||
deployMotor.configReverseLimitSwitchSource(LimitSwitchSource.FeedbackConnector, LimitSwitchNormal.NormallyOpen);
|
||||
deployMotor.setInverted(Constants.IntakeConstants.DEPLOY_MOTOR_INVERTED);
|
||||
}
|
||||
public void neutral()
|
||||
{
|
||||
deployMotor.set(0);
|
||||
}
|
||||
|
||||
public Command deploy() {
|
||||
return Commands.sequence(
|
||||
Commands.deadline(
|
||||
Commands.waitSeconds(2),
|
||||
this.runOnce(
|
||||
() -> {
|
||||
deployMotor.set(1);
|
||||
} // Bump this speed up if intake doesn't deploy
|
||||
)
|
||||
),
|
||||
this.runOnce(() -> deployMotor.stopMotor())
|
||||
);
|
||||
}
|
||||
public void extend()
|
||||
{
|
||||
deployMotor.set(1);
|
||||
}
|
||||
|
||||
public Command resetDeploy() {
|
||||
return this.runEnd(() -> deployMotor.set(-1), () -> deployMotor.stopMotor());
|
||||
}
|
||||
public void retract()
|
||||
{
|
||||
deployMotor.set(-1);
|
||||
}
|
||||
|
||||
public void setSpeed(double speed) {
|
||||
intakeMotor.set(speed);
|
||||
}
|
||||
public void setSpeed(double speed)
|
||||
{
|
||||
intakeMotor.set(speed);
|
||||
}
|
||||
|
||||
public Command stopIntake(XboxController m_XboxController) {
|
||||
return this.runOnce(() -> {
|
||||
intakeMotor.stopMotor();
|
||||
m_XboxController.setRumble(RumbleType.kBothRumble, .0);
|
||||
});
|
||||
}
|
||||
public boolean isDeployed()
|
||||
{
|
||||
return deployMotor.isFwdLimitSwitchClosed()==1;
|
||||
}
|
||||
|
||||
public Command intake(XboxController m_XboxController) {
|
||||
return this.runOnce(() -> {
|
||||
if (intakeMotor.get() == 0) {
|
||||
setSpeed(-.5);
|
||||
m_XboxController.setRumble(RumbleType.kBothRumble, .5);
|
||||
} else {
|
||||
intakeMotor.stopMotor();
|
||||
m_XboxController.setRumble(RumbleType.kBothRumble, .0);
|
||||
}
|
||||
});
|
||||
}
|
||||
public boolean isRetracted()
|
||||
{
|
||||
return deployMotor.isRevLimitSwitchClosed()==1;
|
||||
}
|
||||
|
||||
public Command reverseIntake() {
|
||||
return this.runEnd(() -> setSpeed(.5), () -> {
|
||||
intakeMotor.stopMotor();
|
||||
});
|
||||
}
|
||||
public Command deployCommand()
|
||||
{
|
||||
return new FunctionalCommand(this::extend, this::extend, interrupted -> neutral(), this::isDeployed, this).andThen(Commands.startEnd(() -> setSpeed(50), () -> setSpeed(0), this));
|
||||
}
|
||||
|
||||
@PostTest(enabled = true)
|
||||
public void IntakeSubsystem_CANDevicesConnected() {
|
||||
assertThat(intakeMotor.isConnected()).as("Intake motor not connected!").isTrue();
|
||||
assertThat(deployMotor.isAlive()).as("Deploy controller not connected!").isTrue();
|
||||
}
|
||||
public Command reverseCommand()
|
||||
{
|
||||
return new FunctionalCommand(this::extend, this::extend, interrupted -> neutral(), this::isDeployed, this).andThen(Commands.startEnd(() -> setSpeed(-50), () -> setSpeed(0), this));
|
||||
}
|
||||
|
||||
public Command retractCommand()
|
||||
{
|
||||
return this.runOnce(() -> setSpeed(0)).andThen(new FunctionalCommand(this::retract, this::retract, interrupted -> neutral(), this::isRetracted, this));
|
||||
}
|
||||
|
||||
@PostTest(name = "A friendly name", enabled = true)
|
||||
public void myFailingPostTest(){
|
||||
assertThat(true).isFalse();
|
||||
}
|
||||
|
||||
@PostTest(enabled = true)
|
||||
public void myPassingPostTest(){
|
||||
assertThat("Hello World").endWith("World");
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -5,314 +5,152 @@
|
|||
package frc.robot.subsystems;
|
||||
|
||||
import org.fairportrobotics.frc.posty.TestableSubsystem;
|
||||
import org.fairportrobotics.frc.posty.test.PostTest;
|
||||
import org.littletonrobotics.junction.Logger;
|
||||
import org.littletonrobotics.junction.ConsoleSource.RoboRIO;
|
||||
|
||||
import static org.fairportrobotics.frc.posty.assertions.Assertions.*;
|
||||
|
||||
import com.ctre.phoenix6.controls.PositionVoltage;
|
||||
import com.ctre.phoenix6.StatusSignal;
|
||||
import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
|
||||
import com.ctre.phoenix6.configs.FeedbackConfigs;
|
||||
import com.ctre.phoenix6.configs.MotorOutputConfigs;
|
||||
import com.ctre.phoenix6.configs.Slot0Configs;
|
||||
import com.ctre.phoenix6.configs.SoftwareLimitSwitchConfigs;
|
||||
import com.ctre.phoenix6.configs.TalonFXConfiguration;
|
||||
import com.ctre.phoenix6.hardware.CANcoder;
|
||||
import com.ctre.phoenix6.hardware.TalonFX;
|
||||
import com.ctre.phoenix6.signals.ForwardLimitValue;
|
||||
import com.ctre.phoenix6.signals.InvertedValue;
|
||||
import com.ctre.phoenix6.signals.ReverseLimitValue;
|
||||
import com.ctre.phoenix6.sim.TalonFXSimState;
|
||||
import com.revrobotics.PersistMode;
|
||||
import com.revrobotics.ResetMode;
|
||||
import com.revrobotics.spark.ClosedLoopSlot;
|
||||
import com.revrobotics.spark.FeedbackSensor;
|
||||
import com.revrobotics.spark.SparkClosedLoopController;
|
||||
import com.revrobotics.spark.SparkMax;
|
||||
import com.revrobotics.spark.SparkBase.ControlType;
|
||||
import com.revrobotics.spark.SparkLowLevel.MotorType;
|
||||
import com.revrobotics.spark.config.SparkMaxConfig;
|
||||
|
||||
import frc.robot.Constants;
|
||||
import frc.robot.Robot;
|
||||
import edu.wpi.first.math.geometry.Pose3d;
|
||||
import edu.wpi.first.math.geometry.Rotation2d;
|
||||
import edu.wpi.first.units.AngleUnit;
|
||||
import static org.fairportrobotics.frc.robolib.motors.Utils.*;
|
||||
|
||||
import edu.wpi.first.units.Units;
|
||||
import edu.wpi.first.units.measure.Angle;
|
||||
import edu.wpi.first.wpilibj.DigitalInput;
|
||||
import edu.wpi.first.wpilibj.Servo;
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import edu.wpi.first.wpilibj2.command.Commands;
|
||||
|
||||
public class TurretSubsystem extends TestableSubsystem {
|
||||
public enum TurretState {
|
||||
INIT,
|
||||
HOMING,
|
||||
READY;
|
||||
MANUAL;
|
||||
}
|
||||
|
||||
private final boolean LOGGING = true;
|
||||
private TurretState turretState;
|
||||
private TurretState currentState;
|
||||
private DigitalInput turretLimitSwitch;
|
||||
private TalonFX turretMotor;
|
||||
private PositionVoltage turretControlMode = new PositionVoltage(0);
|
||||
private TalonFXSimState turretSim;
|
||||
private StatusSignal<Angle> turretMotorPosition;
|
||||
private StatusSignal<ForwardLimitValue> turretMotorForwardLimit;
|
||||
private StatusSignal<ReverseLimitValue> turretMotorReverseLimit;
|
||||
private StatusSignal<Double> turretPositionError;
|
||||
private double forwardLimit = 0;
|
||||
private double reverseLimit = 0;
|
||||
|
||||
// TODO: Reinsert the turret once motor is installed
|
||||
//private TalonFX turretMotor;
|
||||
private SparkMax launcherMotor;
|
||||
private SparkClosedLoopController launcherControler;
|
||||
|
||||
private double turretOffsetInRotations = 0;
|
||||
|
||||
private Servo hood;
|
||||
|
||||
private Pose3d turretTarget;
|
||||
private CANcoder hoodEncoder;
|
||||
private Angle limitPos;
|
||||
private Angle limitNeg;
|
||||
private boolean turretGoingPos;
|
||||
private Angle targElev;
|
||||
|
||||
public TurretSubsystem() {
|
||||
|
||||
// Turret configuration
|
||||
turretLimitSwitch = new DigitalInput(Constants.ShooterConstants.TURRET_LIMIT_CHANNEL);
|
||||
turretMotor = new TalonFX(Constants.ShooterConstants.TURRET_MOTOR_ID);
|
||||
turretMotor.getConfigurator().apply(
|
||||
new TalonFXConfiguration()
|
||||
.withSlot0(
|
||||
new Slot0Configs()
|
||||
.withKP(6)
|
||||
.withKI(0)
|
||||
.withKD(0.3)
|
||||
.withKS(0)
|
||||
)
|
||||
.withMotorOutput(
|
||||
new MotorOutputConfigs()
|
||||
.withInverted(InvertedValue.Clockwise_Positive)
|
||||
)
|
||||
.withCurrentLimits(
|
||||
new CurrentLimitsConfigs()
|
||||
.withStatorCurrentLimit(50)
|
||||
)
|
||||
.withSoftwareLimitSwitch(new SoftwareLimitSwitchConfigs().withForwardSoftLimitEnable(false).withReverseSoftLimitEnable(false))
|
||||
.withFeedback(
|
||||
new FeedbackConfigs()
|
||||
.withFeedbackRotorOffset(0)
|
||||
)
|
||||
);
|
||||
turretMotorPosition = turretMotor.getPosition();
|
||||
turretMotorForwardLimit = turretMotor.getForwardLimit();
|
||||
turretMotorReverseLimit = turretMotor.getReverseLimit();
|
||||
turretPositionError = turretMotor.getClosedLoopError();
|
||||
//turretMotor = new TalonFX(Constants.ShooterConstants.TURRET_MOTOR_ID);
|
||||
//SetMotorDirection(turretMotor, Constants.ShooterConstants.TURRET_MOTOR_DIRECTION);
|
||||
|
||||
turretSim = turretMotor.getSimState();
|
||||
|
||||
// Launcher configuration
|
||||
launcherMotor = new SparkMax(Constants.ShooterConstants.LAUNCHER_MOTOR_ID, MotorType.kBrushless);
|
||||
SparkMaxConfig config = new SparkMaxConfig().apply((SparkMaxConfig) SparkMaxConfig.Presets.REV_NEO);
|
||||
SparkMaxConfig config = new SparkMaxConfig()
|
||||
.apply((SparkMaxConfig) SparkMaxConfig.Presets.REV_NEO_2);
|
||||
config.inverted(Constants.ShooterConstants.LAUNCHER_MOTOR_INVERTED);
|
||||
config.voltageCompensation(10);
|
||||
config.closedLoop.p(0.0002).i(0.000001).d(0.0005); // I = 0.0000001
|
||||
config.closedLoop.feedForward.kS(0.2).kV(0.00005).kA(0.001);
|
||||
// config.closedLoop.allowedClosedLoopError(10, ClosedLoopSlot.kSlot0);
|
||||
config.closedLoop.feedbackSensor(FeedbackSensor.kPrimaryEncoder);
|
||||
config.closedLoop.positionWrappingEnabled(false);
|
||||
// config.closedLoopRampRate(0.5);
|
||||
// config.smartCurrentLimit(5, 50);
|
||||
launcherMotor.configure(config, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters);
|
||||
launcherControler = launcherMotor.getClosedLoopController();
|
||||
|
||||
// Hood configuration
|
||||
hood = new Servo(Constants.ShooterConstants.HOOD_SERVO_CHANNEL);
|
||||
turretState = TurretState.INIT;
|
||||
hoodEncoder = new CANcoder(Constants.ShooterConstants.HOOD_ENCODER_ID);
|
||||
currentState = TurretState.INIT;
|
||||
limitNeg = Constants.ShooterConstants.LIMIT_AXIMUTH_NEG;
|
||||
limitPos = Constants.ShooterConstants.LIMIT_AXIMUTH_POS;
|
||||
turretGoingPos = false;
|
||||
targElev = edu.wpi.first.units.Units.Degrees.of(45);
|
||||
}
|
||||
|
||||
public void setLauncher(double speed) {
|
||||
if(speed == 0)
|
||||
public void setLauncher(double speed) {launcherMotor.set(speed);}
|
||||
|
||||
public void setTargetElevation(Angle elev)
|
||||
{
|
||||
if(elev.gt(Constants.ShooterConstants.LIMIT_ELEVATION_NEG) && elev.lt(Constants.ShooterConstants.LIMIT_ELEVATION_POS))
|
||||
{
|
||||
launcherMotor.stopMotor();
|
||||
return;
|
||||
targElev=elev;
|
||||
}
|
||||
launcherControler.setSetpoint(speed, ControlType.kVelocity, ClosedLoopSlot.kSlot0);
|
||||
}
|
||||
|
||||
public boolean isLauncherUpToSpeed() {
|
||||
// Valid if velcity is within 10% of setpoint.
|
||||
// May need to lower this
|
||||
return true;
|
||||
// return Math.abs(launcherControler.getSetpoint() - launcherMotor.getEncoder().getVelocity()) >= launcherControler.getSetpoint() * 0.03;
|
||||
}
|
||||
|
||||
public void setTargetElevation(double elev)
|
||||
public void startHoming()
|
||||
{
|
||||
double pos = Math.abs((elev - 300)/300);
|
||||
Logger.recordOutput("ShooterHood-Angle", pos);
|
||||
hood.set(pos);
|
||||
//turretMotor.set(Constants.ShooterConstants.HOMING_SPEED);
|
||||
currentState = TurretState.HOMING;
|
||||
}
|
||||
|
||||
public Command revSpeedCommand()
|
||||
public void startRotate(double speed)
|
||||
{
|
||||
return this.runOnce(() -> setLauncher(-.5));
|
||||
}
|
||||
turretGoingPos=speed>0;
|
||||
|
||||
public Command setShooter(int speedRPM){
|
||||
return Commands.runEnd(() -> {
|
||||
setLauncher(speedRPM);
|
||||
}, () -> {
|
||||
launcherMotor.stopMotor();
|
||||
}, this);
|
||||
}
|
||||
|
||||
public void homeTurret()
|
||||
{
|
||||
if(turretState != TurretState.INIT){
|
||||
return;
|
||||
if(!passedLimit())
|
||||
{
|
||||
//turretMotor.set(speed);
|
||||
}
|
||||
else
|
||||
{
|
||||
//turretMotor.set(0);
|
||||
}
|
||||
turretMotor.set(Constants.ShooterConstants.HOMING_SPEED);
|
||||
turretState = TurretState.HOMING;
|
||||
}
|
||||
|
||||
public boolean isTurretReady(){
|
||||
return turretState == TurretState.READY;
|
||||
public boolean passedLimit(){
|
||||
return (getTurretAngle().gt(limitPos) && turretGoingPos) || (getTurretAngle().lt(limitNeg) && !turretGoingPos);
|
||||
}
|
||||
|
||||
public void turretRotateDir(double speed)
|
||||
public Angle getTurretAngle()
|
||||
{
|
||||
turretMotor.set(speed);
|
||||
}
|
||||
|
||||
public double getTurretAngleRobotRelative()
|
||||
{
|
||||
return getTurretMotorPosition() / Constants.ShooterConstants.TURRET_GEAR_RATIO;
|
||||
}
|
||||
|
||||
public void setTurretTargetPose(Pose3d targetPose){
|
||||
turretTarget = targetPose;
|
||||
}
|
||||
|
||||
public Pose3d getTurretTargetPose(){
|
||||
return turretTarget;
|
||||
}
|
||||
|
||||
private double getTurretMotorPosition(){
|
||||
return turretMotorPosition.refresh().getValueAsDouble() - turretOffsetInRotations;
|
||||
// return turretMotor.getPosition().refresh().getValue().times(Constants.ShooterConstants.TURRET_GEAR_RATIO);
|
||||
return Units.Degrees.of(0.0);
|
||||
}
|
||||
|
||||
@Override
|
||||
public void periodic() {
|
||||
if (turretState == TurretState.HOMING) {
|
||||
if (turretLimitSwitch.get()) { // Turret has tripped the switch
|
||||
turretMotor.stopMotor();
|
||||
turretOffsetInRotations = (turretMotorPosition.refresh().getValueAsDouble() - 1.323);
|
||||
if (!Robot.isReal()) {
|
||||
turretOffsetInRotations = 0; // Flip turret around
|
||||
}
|
||||
turretState = TurretState.READY;
|
||||
forwardLimit = (1.5 + turretOffsetInRotations);
|
||||
reverseLimit = (-1.5 + turretOffsetInRotations);
|
||||
Logger.recordOutput("TurretSubsystem-TurretForwardLimit", forwardLimit);
|
||||
Logger.recordOutput("TurretSubsystem-TurretReverseLimit", reverseLimit);
|
||||
turretMotor.getConfigurator().apply(
|
||||
new SoftwareLimitSwitchConfigs()
|
||||
.withForwardSoftLimitEnable(true)
|
||||
.withForwardSoftLimitThreshold(forwardLimit)
|
||||
.withReverseSoftLimitEnable(true)
|
||||
.withReverseSoftLimitThreshold(reverseLimit));
|
||||
// setTurretRobotRelative(0);
|
||||
// setTurretMotorRotation(-0.34); // Return to 0 after MIAMI VALLEY
|
||||
}
|
||||
}
|
||||
// This method will be called once per scheduler run
|
||||
switch (currentState) {
|
||||
case HOMING:
|
||||
periodicHoming();
|
||||
break;
|
||||
case MANUAL:
|
||||
periodicManual();
|
||||
break;
|
||||
|
||||
if (LOGGING) {
|
||||
Logger.recordOutput("TurretSubsystem-TurretLimitSwitch", turretLimitSwitch.get());
|
||||
Logger.recordOutput("TurretSubsystem-Launcher Speed (RPM)", launcherMotor.getEncoder().getVelocity());
|
||||
Logger.recordOutput("TurretSubsystem-TurretState", turretState);
|
||||
Logger.recordOutput("TurretSubsystem-TurretPositionRobotRelative", getTurretAngleRobotRelative());
|
||||
Logger.recordOutput("TurretSubsystem-TurretMotorPositionWithOffset", getTurretMotorPosition());
|
||||
Logger.recordOutput("TurretSubsystem-TurretMotorPositionRaw",
|
||||
turretMotorPosition.refresh().getValue().in(Units.Rotations));
|
||||
Logger.recordOutput("TurretSubsystem-TurretRequestedPosRaw",
|
||||
turretControlMode.getPositionMeasure().in(Units.Rotations));
|
||||
Logger.recordOutput("TurretSubsystem-TurretRequestedPos", getRequestedPosTurretRelative());
|
||||
Logger.recordOutput("TurretSubsystem-TurretOffset", turretOffsetInRotations);
|
||||
Logger.recordOutput("TurretSubsystem-TurretForwardLimitHit", turretMotorForwardLimit.refresh().getValue());
|
||||
Logger.recordOutput("TurretSubsystem-TurretReverseLimitHit", turretMotorReverseLimit.refresh().getValue());
|
||||
Logger.recordOutput("TurretSubsystem-TurretPositionError", turretPositionError.refresh().getValueAsDouble());
|
||||
Logger.recordOutput("TurretSubsystem-LauncherSetpoint(RPM)", launcherControler.getSetpoint());
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
public void setTurretFieldRelative(Pose3d robotPose, double pos)
|
||||
private void periodicHoming()
|
||||
{
|
||||
if(turretState != TurretState.READY)
|
||||
if(turretLimitSwitch.get())
|
||||
{
|
||||
// Not ready to set angle
|
||||
return;
|
||||
currentState = TurretState.MANUAL;
|
||||
//turretMotor.set(0);
|
||||
//turretMotor.setPosition(0);
|
||||
}
|
||||
|
||||
double correctedPos = -pos; // Flip angle to match CCW positive. Add 0.5 to flip around
|
||||
|
||||
double robotRotations = robotPose.getRotation().toRotation2d().getRotations();
|
||||
|
||||
Rotation2d turretAngle = Rotation2d.fromRotations(correctedPos).plus(Rotation2d.fromRotations(robotRotations)).minus(Rotation2d.fromRotations(0.5));
|
||||
|
||||
Logger.recordOutput("TurretSubsystem-TurretFieldTarget", turretAngle.getRotations());
|
||||
|
||||
setTurretRobotRelative(((turretAngle.getRotations())));
|
||||
}
|
||||
|
||||
public void setTurretRobotRelative(double pos)
|
||||
private void periodicManual()
|
||||
{
|
||||
if(turretState != TurretState.READY)
|
||||
if(passedLimit())
|
||||
{
|
||||
// Not ready to set angle
|
||||
return;
|
||||
//turretMotor.set(0);
|
||||
}
|
||||
|
||||
double correctedPos = -pos; // Flip angle to match CCW positive
|
||||
|
||||
setTurretMotorRotation(correctedPos * Constants.ShooterConstants.TURRET_GEAR_RATIO);
|
||||
}
|
||||
|
||||
public void setTurretMotorRotation(double pos){
|
||||
double posWithOffset = pos + turretOffsetInRotations;
|
||||
|
||||
Logger.recordOutput("Blah", posWithOffset);
|
||||
|
||||
if(Robot.isSimulation()){
|
||||
if(posWithOffset >= forwardLimit){
|
||||
turretSim.setForwardLimit(true);
|
||||
} else {
|
||||
turretSim.setForwardLimit(false);
|
||||
}
|
||||
|
||||
if(posWithOffset <= reverseLimit){
|
||||
turretSim.setReverseLimit(true);
|
||||
} else {
|
||||
turretSim.setReverseLimit(false);
|
||||
}
|
||||
int k = 1;
|
||||
if(Constants.ShooterConstants.HOOD_SERVO_INVERTED) {
|
||||
k=-1;
|
||||
}
|
||||
|
||||
turretMotor.setControl(turretControlMode.withPosition(posWithOffset));
|
||||
turretSim.setRawRotorPosition(-posWithOffset);
|
||||
Angle curElev = hoodEncoder.getAbsolutePosition().getValue();
|
||||
if(targElev.minus(curElev).abs(Units.Degrees)>Constants.ShooterConstants.TARGET_ELEVATION_DIF.in(Units.Degrees))
|
||||
{
|
||||
if(targElev.gt(curElev))
|
||||
{
|
||||
hood.set(k * 0.5);
|
||||
}
|
||||
else
|
||||
{
|
||||
hood.set(k * -0.5);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
hood.set(0);
|
||||
}
|
||||
}
|
||||
|
||||
public boolean isTurretAtTarget(){
|
||||
return Math.abs(turretPositionError.refresh().getValueAsDouble()) <= 0.1;
|
||||
}
|
||||
|
||||
private double getRequestedPosTurretRelative() {
|
||||
return (turretControlMode.getPositionMeasure().in(Units.Rotations) - turretOffsetInRotations) / Constants.ShooterConstants.TURRET_GEAR_RATIO;
|
||||
}
|
||||
|
||||
@PostTest()
|
||||
public void TurretSubsystem_CANDevicesConnected(){
|
||||
assertThat(launcherMotor.getFaults().can).as("Launcher motor not connected!").isFalse();
|
||||
assertThat(turretMotor.isConnected()).as("Turret motor not connected!").isTrue();
|
||||
}
|
||||
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
{
|
||||
"fileName": "AdvantageKit.json",
|
||||
"name": "AdvantageKit",
|
||||
"version": "26.0.2",
|
||||
"version": "26.0.1",
|
||||
"uuid": "d820cc26-74e3-11ec-90d6-0242ac120003",
|
||||
"frcYear": "2026",
|
||||
"mavenUrls": [
|
||||
|
|
@ -12,14 +12,14 @@
|
|||
{
|
||||
"groupId": "org.littletonrobotics.akit",
|
||||
"artifactId": "akit-java",
|
||||
"version": "26.0.2"
|
||||
"version": "26.0.1"
|
||||
}
|
||||
],
|
||||
"jniDependencies": [
|
||||
{
|
||||
"groupId": "org.littletonrobotics.akit",
|
||||
"artifactId": "akit-wpilibio",
|
||||
"version": "26.0.2",
|
||||
"version": "26.0.1",
|
||||
"skipInvalidPlatforms": false,
|
||||
"isJar": false,
|
||||
"validPlatforms": [
|
||||
|
|
|
|||
|
|
@ -1,38 +0,0 @@
|
|||
{
|
||||
"fileName": "PathplannerLib-2026.1.2.json",
|
||||
"name": "PathplannerLib",
|
||||
"version": "2026.1.2",
|
||||
"uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
|
||||
"frcYear": "2026",
|
||||
"mavenUrls": [
|
||||
"https://3015rangerrobotics.github.io/pathplannerlib/repo"
|
||||
],
|
||||
"jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json",
|
||||
"javaDependencies": [
|
||||
{
|
||||
"groupId": "com.pathplanner.lib",
|
||||
"artifactId": "PathplannerLib-java",
|
||||
"version": "2026.1.2"
|
||||
}
|
||||
],
|
||||
"jniDependencies": [],
|
||||
"cppDependencies": [
|
||||
{
|
||||
"groupId": "com.pathplanner.lib",
|
||||
"artifactId": "PathplannerLib-cpp",
|
||||
"version": "2026.1.2",
|
||||
"libName": "PathplannerLib",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"binaryPlatforms": [
|
||||
"windowsx86-64",
|
||||
"linuxx86-64",
|
||||
"osxuniversal",
|
||||
"linuxathena",
|
||||
"linuxarm32",
|
||||
"linuxarm64"
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
|
|
@ -1,7 +1,7 @@
|
|||
{
|
||||
"fileName": "Phoenix6-26.1.2.json",
|
||||
"fileName": "Phoenix6-26.1.1.json",
|
||||
"name": "CTRE-Phoenix (v6)",
|
||||
"version": "26.1.2",
|
||||
"version": "26.1.1",
|
||||
"frcYear": "2026",
|
||||
"uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
|
||||
"mavenUrls": [
|
||||
|
|
@ -19,14 +19,14 @@
|
|||
{
|
||||
"groupId": "com.ctre.phoenix6",
|
||||
"artifactId": "wpiapi-java",
|
||||
"version": "26.1.2"
|
||||
"version": "26.1.1"
|
||||
}
|
||||
],
|
||||
"jniDependencies": [
|
||||
{
|
||||
"groupId": "com.ctre.phoenix6",
|
||||
"artifactId": "api-cpp",
|
||||
"version": "26.1.2",
|
||||
"version": "26.1.1",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
|
|
@ -40,7 +40,7 @@
|
|||
{
|
||||
"groupId": "com.ctre.phoenix6",
|
||||
"artifactId": "tools",
|
||||
"version": "26.1.2",
|
||||
"version": "26.1.1",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
|
|
@ -54,7 +54,7 @@
|
|||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "api-cpp-sim",
|
||||
"version": "26.1.2",
|
||||
"version": "26.1.1",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
|
|
@ -68,7 +68,7 @@
|
|||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "tools-sim",
|
||||
"version": "26.1.2",
|
||||
"version": "26.1.1",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
|
|
@ -82,7 +82,7 @@
|
|||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simTalonSRX",
|
||||
"version": "26.1.2",
|
||||
"version": "26.1.1",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
|
|
@ -96,7 +96,7 @@
|
|||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simVictorSPX",
|
||||
"version": "26.1.2",
|
||||
"version": "26.1.1",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
|
|
@ -110,7 +110,7 @@
|
|||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simPigeonIMU",
|
||||
"version": "26.1.2",
|
||||
"version": "26.1.1",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
|
|
@ -124,7 +124,7 @@
|
|||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProTalonFX",
|
||||
"version": "26.1.2",
|
||||
"version": "26.1.1",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
|
|
@ -138,7 +138,7 @@
|
|||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProTalonFXS",
|
||||
"version": "26.1.2",
|
||||
"version": "26.1.1",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
|
|
@ -152,7 +152,7 @@
|
|||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProCANcoder",
|
||||
"version": "26.1.2",
|
||||
"version": "26.1.1",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
|
|
@ -166,7 +166,7 @@
|
|||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProPigeon2",
|
||||
"version": "26.1.2",
|
||||
"version": "26.1.1",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
|
|
@ -180,7 +180,7 @@
|
|||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProCANrange",
|
||||
"version": "26.1.2",
|
||||
"version": "26.1.1",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
|
|
@ -194,7 +194,7 @@
|
|||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProCANdi",
|
||||
"version": "26.1.2",
|
||||
"version": "26.1.1",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
|
|
@ -208,7 +208,7 @@
|
|||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProCANdle",
|
||||
"version": "26.1.2",
|
||||
"version": "26.1.1",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
|
|
@ -224,7 +224,7 @@
|
|||
{
|
||||
"groupId": "com.ctre.phoenix6",
|
||||
"artifactId": "wpiapi-cpp",
|
||||
"version": "26.1.2",
|
||||
"version": "26.1.1",
|
||||
"libName": "CTRE_Phoenix6_WPI",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
|
|
@ -240,7 +240,7 @@
|
|||
{
|
||||
"groupId": "com.ctre.phoenix6",
|
||||
"artifactId": "tools",
|
||||
"version": "26.1.2",
|
||||
"version": "26.1.1",
|
||||
"libName": "CTRE_PhoenixTools",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
|
|
@ -256,7 +256,7 @@
|
|||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "wpiapi-cpp-sim",
|
||||
"version": "26.1.2",
|
||||
"version": "26.1.1",
|
||||
"libName": "CTRE_Phoenix6_WPISim",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
|
|
@ -272,7 +272,7 @@
|
|||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "tools-sim",
|
||||
"version": "26.1.2",
|
||||
"version": "26.1.1",
|
||||
"libName": "CTRE_PhoenixTools_Sim",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
|
|
@ -288,7 +288,7 @@
|
|||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simTalonSRX",
|
||||
"version": "26.1.2",
|
||||
"version": "26.1.1",
|
||||
"libName": "CTRE_SimTalonSRX",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
|
|
@ -304,7 +304,7 @@
|
|||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simVictorSPX",
|
||||
"version": "26.1.2",
|
||||
"version": "26.1.1",
|
||||
"libName": "CTRE_SimVictorSPX",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
|
|
@ -320,7 +320,7 @@
|
|||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simPigeonIMU",
|
||||
"version": "26.1.2",
|
||||
"version": "26.1.1",
|
||||
"libName": "CTRE_SimPigeonIMU",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
|
|
@ -336,7 +336,7 @@
|
|||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProTalonFX",
|
||||
"version": "26.1.2",
|
||||
"version": "26.1.1",
|
||||
"libName": "CTRE_SimProTalonFX",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
|
|
@ -352,7 +352,7 @@
|
|||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProTalonFXS",
|
||||
"version": "26.1.2",
|
||||
"version": "26.1.1",
|
||||
"libName": "CTRE_SimProTalonFXS",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
|
|
@ -368,7 +368,7 @@
|
|||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProCANcoder",
|
||||
"version": "26.1.2",
|
||||
"version": "26.1.1",
|
||||
"libName": "CTRE_SimProCANcoder",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
|
|
@ -384,7 +384,7 @@
|
|||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProPigeon2",
|
||||
"version": "26.1.2",
|
||||
"version": "26.1.1",
|
||||
"libName": "CTRE_SimProPigeon2",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
|
|
@ -400,7 +400,7 @@
|
|||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProCANrange",
|
||||
"version": "26.1.2",
|
||||
"version": "26.1.1",
|
||||
"libName": "CTRE_SimProCANrange",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
|
|
@ -416,7 +416,7 @@
|
|||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProCANdi",
|
||||
"version": "26.1.2",
|
||||
"version": "26.1.1",
|
||||
"libName": "CTRE_SimProCANdi",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
|
|
@ -432,7 +432,7 @@
|
|||
{
|
||||
"groupId": "com.ctre.phoenix6.sim",
|
||||
"artifactId": "simProCANdle",
|
||||
"version": "26.1.2",
|
||||
"version": "26.1.1",
|
||||
"libName": "CTRE_SimProCANdle",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
|
|
@ -1,7 +1,7 @@
|
|||
{
|
||||
"fileName": "REVLib.json",
|
||||
"name": "REVLib",
|
||||
"version": "2026.0.5",
|
||||
"version": "2026.0.4",
|
||||
"frcYear": "2026",
|
||||
"uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
|
||||
"mavenUrls": [
|
||||
|
|
@ -12,14 +12,14 @@
|
|||
{
|
||||
"groupId": "com.revrobotics.frc",
|
||||
"artifactId": "REVLib-java",
|
||||
"version": "2026.0.5"
|
||||
"version": "2026.0.4"
|
||||
}
|
||||
],
|
||||
"jniDependencies": [
|
||||
{
|
||||
"groupId": "com.revrobotics.frc",
|
||||
"artifactId": "REVLib-driver",
|
||||
"version": "2026.0.5",
|
||||
"version": "2026.0.4",
|
||||
"skipInvalidPlatforms": true,
|
||||
"isJar": false,
|
||||
"validPlatforms": [
|
||||
|
|
@ -34,7 +34,7 @@
|
|||
{
|
||||
"groupId": "com.revrobotics.frc",
|
||||
"artifactId": "RevLibBackendDriver",
|
||||
"version": "2026.0.5",
|
||||
"version": "2026.0.4",
|
||||
"skipInvalidPlatforms": true,
|
||||
"isJar": false,
|
||||
"validPlatforms": [
|
||||
|
|
@ -49,7 +49,7 @@
|
|||
{
|
||||
"groupId": "com.revrobotics.frc",
|
||||
"artifactId": "RevLibWpiBackendDriver",
|
||||
"version": "2026.0.5",
|
||||
"version": "2026.0.4",
|
||||
"skipInvalidPlatforms": true,
|
||||
"isJar": false,
|
||||
"validPlatforms": [
|
||||
|
|
@ -66,7 +66,7 @@
|
|||
{
|
||||
"groupId": "com.revrobotics.frc",
|
||||
"artifactId": "REVLib-cpp",
|
||||
"version": "2026.0.5",
|
||||
"version": "2026.0.4",
|
||||
"libName": "REVLib",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": false,
|
||||
|
|
@ -83,7 +83,7 @@
|
|||
{
|
||||
"groupId": "com.revrobotics.frc",
|
||||
"artifactId": "REVLib-driver",
|
||||
"version": "2026.0.5",
|
||||
"version": "2026.0.4",
|
||||
"libName": "REVLibDriver",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": false,
|
||||
|
|
@ -100,7 +100,7 @@
|
|||
{
|
||||
"groupId": "com.revrobotics.frc",
|
||||
"artifactId": "RevLibBackendDriver",
|
||||
"version": "2026.0.5",
|
||||
"version": "2026.0.4",
|
||||
"libName": "BackendDriver",
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
|
|
@ -116,7 +116,7 @@
|
|||
{
|
||||
"groupId": "com.revrobotics.frc",
|
||||
"artifactId": "RevLibWpiBackendDriver",
|
||||
"version": "2026.0.5",
|
||||
"version": "2026.0.4",
|
||||
"libName": "REVLibWpi",
|
||||
"sharedLibrary": true,
|
||||
"skipInvalidPlatforms": true,
|
||||
|
|
|
|||
Loading…
Reference in New Issue