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Merge branch 'Intake/#248-convertToDistance' of https://github.com/fr…
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…c5687/2018-robot into Intake/#248-convertToDistance
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@BenBernardCIS
BenBernardCIS committed Apr 6, 2018
2 parents a4db705 + 28bd26e commit 5e1c6c6
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Showing 91 changed files with 51,065 additions and 38,490 deletions.
1 change: 1 addition & 0 deletions build.gradle
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,7 @@ deploy {

wpi {
wpilibVersion = '2018.4.1'
shuffleboardVersion = '1.3.1'
}

// Defining my dependencies. In this case, WPILib (+ friends), CTRE Phoenix (Talon SRX)
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156 changes: 123 additions & 33 deletions src/main/java/org/frc5687/powerup/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@ public class Constants {
public static final int CYCLES_PER_SECOND = 50;
public static final double START_ALERT = 32;
public static final double END_ALERT = 28;
public static final int HEALTH_CHECK_CYCLES = 10;

public enum IR_SENSOR {
GP2Y0A21YK, // 10cm to 80cm
Expand Down Expand Up @@ -52,6 +53,10 @@ public class Lights {
public static final double PULSING_YELLOW = 0.10;
public static final double BEATING_YELLOW = 0.11;

public static final double SOLID_BLACK = 0.99;

public static final double SOLID_HOT_PINK = 0.57;

public static final double CONFETTI = -0.87;


Expand All @@ -62,8 +67,10 @@ public class Lights {
public static final double INTAKE_IN = -0.91; // green blue strobe;
public static final double INTAKE_OUT = -0.93; // red strobe!

public static final double TELEOP_BLUE = SOLID_BLUE;
public static final double TELEOP_RED = SOLID_RED;
public static final double GIMME_CUBE = SOLID_GREEN;

public static final double TELEOP_BLUE = SOLID_BLACK;
public static final double TELEOP_RED = SOLID_BLACK;

public static final double AUTO_BLUE = PULSING_BLUE;
public static final double AUTO_RED = PULSING_RED;
Expand All @@ -77,7 +84,13 @@ public class Lights {
public static final double CLIMBER_DOWN = PULSING_BLUE;
public static final double TIME_WARNING = -.07;
}

public class OI {
public static final double RUMBLE_INTENSITY = 1;
public static final double END_GAME_START = 30; // In seconds
public static final double START_RUMBLE_AT = END_GAME_START;
public static final double RUMBLE_DURATION = 2; //In seconds
public static final double END_RUMBLE_AT = END_GAME_START - RUMBLE_DURATION;
}
public class DriveTrain {
public static final double DEADBAND = 0.0;
public static final boolean LEFT_MOTORS_INVERTED = false;
Expand All @@ -97,15 +110,21 @@ public class Intake {
public static final boolean RIGHT_MOTORS_INVERTED_PROTO = true;
public static final double DROP_SPEED = -0.75;
public static final double OUTTAKE_SPEED = -0.75;
public static final double SERVO_BOTTOM = 0.87;
public static final double SERVO_UP = 0.2;
public static final double SERVO_UP = 0.87;
public static final double SERVO_BOTTOM = 0.2;
public static final long EJECT_TIME = 350;

public static final double HOLD_SPEED = 0.35;
public static final double HOLD_SPEED = 0.30;
public static final double INTAKE_SPEED = 0.75;
public static final double SENSITIVITY = 0.5;
public static final long SETTLE_TIME = 750;
public static final long SETTLE_TIME = 1500;
public static final double PLATE_MINIMUM_CLARANCE = 24.0;
public static final double SCALE_DROP_SPEED = -0.6;
public static final double SCALE_SHOOT_SPEED = -0.70;
public static final double SWITCH_DROP_SPEED = -0.42;

public static final double HC_MIN_SPEED = 0.1;
public static final double HC_MIN_CURRENT = 0.5;

public class DOWN_IR {
public final IR_SENSOR COMP_HARDWARE = IR_SENSOR.GP2Y0A21YK; // TODO: Verify
Expand All @@ -118,9 +137,16 @@ public class BACK_IR {
public final IR_SENSOR COMP_HARDWARE = IR_SENSOR.GP2Y0A21YK; // TODO: Verify
public final IR_SENSOR PROTO_HARDWARE = IR_SENSOR.GP2Y0A41SK0F; // TODO: Verify
public static final boolean ENABLED = true;
public static final int DETECTION_THRESHOLD = 1200;
public static final int DETECTED_THRESHOLD = 1140;
public static final int SECURED_THRESHOLD = 1600;
public static final int SECURED_LOW_END = 1500;
public static final int SECURED_HIGH_END = Integer.MAX_VALUE;
public static final int DETECTED_LOW_END = 500;
public static final int DETECTED_HIGH_END = Integer.MAX_VALUE;
}

public class UP_IR {
public static final boolean ENABLED = true;
public static final int PLATE_DETECTION_THRESHOLD = 550;
public static final double MIN_ARM_ANGLE = 151;
}
}

Expand All @@ -130,17 +156,17 @@ public class Auto {

public class Align {

public static final double SPEED = 0.6;
public static final double SPEED = 0.9;

public static final double kP = 0.05;
public static final double kI = 0.15;
public static final double kD = 0.1;
public static final double TOLERANCE = 5.5; // 0.5
public static final double kP = 0.04;
public static final double kI = 0.003;//0.01;
public static final double kD = 0.80;//0.3;
public static final double TOLERANCE = 1.0; // 0.5
public static final double MAX_OUTPUT = 0;
/*
*time the angle must be on target for to be considered steady
*/
public static final double STEADY_TIME = 100;
public static final double STEADY_TIME = 40;

}

Expand Down Expand Up @@ -170,10 +196,10 @@ public class MaxJerk {

public class TrajectoryFollowing {
public class Talon {
public static final double kP = 0.0; // Talon doesn't use kP
public static final double kI = 0.0;
public static final double kP = 0.15; // Talon doesn't use kP
public static final double kI = 0.001;//02;
public static final double kD = 0.0;
public static final double kF = 0.38; // 0.28 works well
public static final double kF = 0.2; // 0.28 works well
}

public class Cheese {
Expand All @@ -187,7 +213,7 @@ public class kV {
}
public class kA {
public static final double METERS = 1.0 / MaxAcceleration.METERS;
public static final double INCHES = 0.0;//1.0 / MaxAcceleration.INCHES;
public static final double INCHES = 1.0;//1.0 / MaxAcceleration.INCHES;
}
}
}
Expand Down Expand Up @@ -276,10 +302,44 @@ public class IR {

public class Carriage {
public static final double PDP_EXCESSIVE_CURRENT = 100.0;
public static final double HC_MIN_CURRENT = .5;
public static final double DEADBAND = 0.13;
public static final boolean MOTOR_INVERTED = true;
public static final double HC_MIN_SPEED = 0.1; // Minimum speed to triggr the amp/isHalthy check
public class HoldSpeeds {
public static final double PAST_TOP_PROTO = 0.42;
public static final double PAST_TOP_GRETA = 0.5;

public static final double PAST_NEG_20_PROTO = 0.42;
public static final double PAST_NEG_20_GRETA = 0.5;

public static final double PAST_NEG_50_PROTO = 0.42;
public static final double PAST_NEG_50_GRETA = 0.5;

public static final double HOLD_SPEED = 0.01;
public static final double PAST_NEG_100_PROTO = 0.42;
public static final double PAST_NEG_100_GRETA = 0.5;

public static final double PAST_NEG_200_PROTO = 0.3;
public static final double PAST_NEG_200_GRETA = 0.0;

public static final double PAST_NEG_400_PROTO = 0.2;
public static final double PAST_NEG_400_GRETA = 0.0;

public static final double PAST_NEG_500_PROTO = 0.1;
public static final double PAST_NEG_500_GRETA = 0.05;

public static final double PAST_NEG_600_PROTO = -0.2;
public static final double PAST_NEG_600_GRETA = -0.2;

public static final double PAST_NEG_700_PROTO = -0.35;
public static final double PAST_NEG_700_GRETA = -0.0; // TODO: Too low

public static final double PAST_NEG_800_PROTO = -0.45;
public static final double PAST_NEG_800_GRETA = -0.0; // TODO: Too low

public static final double PAST_NEG_900_PROTO = -0.45;
public static final double PAST_NEG_900_GRETA = -0.45;
}
public static final double SENSITIVITY = 0.2;
public static final double ZERO_SPEED = 1.00;

Expand All @@ -295,9 +355,10 @@ public class Carriage {
public static final int ENCODER_MIDDLE_COMP = -443;
public static final int ENCODER_CLEAR_BUMPERS_COMP = -702;
public static final int ENCODER_DRIVE_COMP = -530; // -394
public static final int ENCODER_BOTTOM_COMP = -955;
public static final int ENCODER_BOTTOM_COMP = -960;
public static final int ENCODER_RANGE_COMP = ENCODER_TOP_COMP - ENCODER_BOTTOM_COMP;


// public static
public static final double RUNWAY = 25.5; // in

Expand All @@ -312,30 +373,27 @@ public class Carriage {
public static final double RANGE_INCHES = TOP_INCHES - BOTTOM_INCHES;

public static final double MAXIMUM_SPEED = 1.0;
public static final double MINIMUM_SPEED = -.5;
public static final double MINIMUM_SPEED = -.7;
}

public class Arm {
public static final double PDP_EXCESSIVE_CURRENT = 40.0;

public static final boolean MOTOR_INVERTED_PROTO = false;
public static final boolean MOTOR_INVERTED_COMP = true;
public static final double HC_MIN_SPEED = 0.25;
public static final double HC_MIN_CURRENT = 0.5;

public class Encoder {
public static final double ENCODER_START = 0;
public static final double ENCODER_MIDDLE = 133;
public static final double ENCODER_FENCE = 90;
public static final double ENCODER_TOP = 340;
}

public static final double HOLD_SPEED_COMP = 0.135;
public static final double HOLD_SPEED_PROTO = 0.0;
public static final double HOLD_SPEED_WITH_CUBE_COMP = 0.15;
public static final double HOLD_SPEED_WITH_CUBE_PROTO = 0.0;
public static final double SENSITIVITY = 0.75;

public static final double MAX_SPEED = 0.75;
public static final double MIN_SPEED = -.5;
public static final double MIN_SPEED = -.75;


public class Pot {
Expand All @@ -362,9 +420,36 @@ public class Pot {
public static final double INTAKE = 47.0;
public static final double DRIVE = 33.0;

public static final double SCALE = 150.0;
public static final double SWITCH_HEIGHT_WITH_CARRIAGE = 100;
public static final double SWITCH_HEIGHT_BROKEN_CARRIAGE = 72; // I guess this shouldn't be lower, but I'm just removing a magic number..
public static final double switchHeightWithCarriageHalfwayUp = 91;
public static final double switchHeightWithCarriageAllTheWayUp = 80;
}

public static final double LENGTH = 34.0;

public class HoldSpeeds {
public static final double PAST_160_CUBE_PROTO = 0.0;
public static final double PAST_160_CUBE_GRETA = 0.25;
public static final double PAST_160_NO_CUBE_PROTO = 0.0;
public static final double PAST_160_NO_CUBE_GRETA = 0.25;

public static final double PAST_90_CUBE_PROTO = 0.0;
public static final double PAST_90_CUBE_GRETA = 0.1;
public static final double PAST_90_NO_CUBE_PROTO = 0.0;
public static final double PAST_90_NO_CUBE_GRETA = 0.1;

public static final double PAST_55_CUBE_PROTO = -0.2;
public static final double PAST_55_CUBE_GRETA = 0.15;
public static final double PAST_55_NO_CUBE_PROTO = -0.2;
public static final double PAST_55_NO_CUBE_GRETA = 0.1;

public static final double PAST_BOTTOM_CUBE_PROTO = -0.1;
public static final double PAST_BOTTOM_CUBE_GRETA = -0.10;
public static final double PAST_BOTTOM_NO_CUBE_PROTO = -0.1;
public static final double PAST_BOTTOM_NO_CUBE_GRETA = -0.10;
}
}

public class Climber {
Expand All @@ -373,6 +458,8 @@ public class Climber {
public static final double WIND_SPEED = 1.0;
public static final double UNWIND_SPEED = -1.0;
public static final double HOLD_SPEED = 0.30; // Number pulled out of thin air by JohnZ
public static final double HC_MIN_SPEED = 0.1;
public static final double HC_MIN_CURRENT = 0.5;
}

public class RotarySwitch {
Expand All @@ -395,11 +482,14 @@ public class Position {
public class Mode {
public static final int STAY_PUT = 0;
public static final int CROSS_AUTOLINE = 1;
public static final int SWITCH_ONLY = 2;
public static final int SCALE_ONLY = 3;
public static final int SWITCH_THEN_SCALE = 4;
public static final int SWITCH_THEN_PICKUP_CUBE = 2;
public static final int SCALE_THEN_SCALE = 3;
public static final int SWITCH_THEN_SWITCH = 4;
public static final int SCALE_THEN_SWITCH = 5;
public static final int SWITCH_OR_SCALE = 6;
public static final int SWITCH_DRIVE = 1001;
public static final int SWITCH_ONLY = 10002;
public static final int SCALE_DRIVE = 1003;
public static final int SCALE_ONLY = 1004;
}
}
public class Limits {
Expand Down
29 changes: 23 additions & 6 deletions src/main/java/org/frc5687/powerup/robot/OI.java
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Original file line number Diff line number Diff line change
@@ -1,6 +1,7 @@
package org.frc5687.powerup.robot;

import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.GenericHID.RumbleType;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.buttons.JoystickButton;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
Expand Down Expand Up @@ -144,21 +145,18 @@ public double getRightIntakeSpeed() {

public double getCarriageSpeed() {
double operator = -getSpeedFromAxis(operatorGamepad, ButtonNumbers.LEFT_AXIS);
double driver = driverCarriageUp.get() ? 1 : (driverCarriageDown.get() ? -0.3 : 0);
double driver = driverCarriageUp.get() ? 1 : (driverCarriageDown.get() ? -0.99 : 0);
double speed = Helpers.absMax(operator, driver);
speed = Helpers.applySensitivityFactor(speed, Constants.Carriage.SENSITIVITY);
return Helpers.applyDeadband(speed, Constants.Carriage.DEADBAND, .1);
return Helpers.applyDeadband(speed, Constants.Carriage.DEADBAND);
}

public double getArmSpeed() {
double driver = driverArmUp.get() ? -0.75 : (driverArmDown.get() ? 0.5 : 0);
double operator = getSpeedFromAxis(operatorGamepad, ButtonNumbers.RIGHT_AXIS);
double speed = Helpers.absMax(operator, driver);
speed = Helpers.applySensitivityFactor(speed,Constants.Arm.SENSITIVITY);
double holdSpeed = _robot.pickConstant(Constants.Arm.HOLD_SPEED_COMP, Constants.Arm.HOLD_SPEED_PROTO);
double holdSpeedWithCube = _robot.pickConstant(Constants.Arm.HOLD_SPEED_WITH_CUBE_COMP, Constants.Arm.HOLD_SPEED_WITH_CUBE_PROTO);
double final_speed = _robot.getIntake().cubeIsDetected() ? holdSpeedWithCube : holdSpeed;
return Helpers.applyDeadband(-speed, 0.05, final_speed);
return Helpers.applyDeadband(-speed, 0.05);
}

public double getClimberSpeed() {
Expand Down Expand Up @@ -207,4 +205,23 @@ public void initializeButtons(Robot robot) {
DriverStation.reportError("arm " + (robot.getArm()==null), false);
}

public void setDriverGamepadRumble(double leftIntensity, double rightIntensity) {
driverGamepad.setRumble(RumbleType.kLeftRumble, leftIntensity);
driverGamepad.setRumble(RumbleType.kRightRumble, rightIntensity);
}

public void setDriverGamepadRumble(double intensity) {
driverGamepad.setRumble(RumbleType.kLeftRumble, intensity);
driverGamepad.setRumble(RumbleType.kRightRumble, intensity);
}

public void setOperatorGamepadRumble(double leftIntensity, double rightIntensity) {
operatorGamepad.setRumble(RumbleType.kLeftRumble, leftIntensity);
operatorGamepad.setRumble(RumbleType.kRightRumble, rightIntensity);
}

public void setOperatorGamepadRumble(double intensity) {
operatorGamepad.setRumble(RumbleType.kLeftRumble, intensity);
operatorGamepad.setRumble(RumbleType.kRightRumble, intensity);
}
}
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