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Hardware.java
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Hardware.java
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// ----------------------------------------------------------
// Copyright (c) 2017-2018 GaCo FRC Team 1629
//
// Date Version Comment
// 2019-02-09 1.0 Original verion as a Sample class
// 2019-03-15 1.1 Week 3 upgrades: Jack functions. New button config
// 2019-03-16 1.2 Updated auto speed scale and 2 speeds in Hab to cargo front
// 2019-03-16 1.3 fixed the jack offset for it to be zero.
// 2019-03-16 1.4 push buttons slower and little wheel full power
// 2019-03-16 1.5 Increased timeout and push power on habto cargo front
// 2019-03-16 1.6 Lift drop enhanced for cargo collection. Slower Hab push.
// 2019-03-17-1.7 Loader heights decreased by 2 inches.
// 2019-03-17-1.8 increaed the power threshold from 7.5 amps to 10 amps
// 2019-03-17-1.9 Added peak current pause
// 2019-03-21-1.10 Duplicated height buttons Adding Vectordrive
// 2019-04-03-2.0 New for District Comp
// Don't set auto from left hand controls
// Use new target Enums when determining approach headinghabtofront
// 2019-04-08-2.2 Fater driving and reduced timeout on
// 2019-04-08-2.3 Added short push after collecting hatch Telop only
// 2019-04-11-2.4 Increased drive till contact amps and decreased climber speed
// 2019-04-11-2.5 Reduced timeout and distance on front to hab
// 2019-04-11.2.6 Increased auto loader push & dec current lim to 8.25
// 2019-04-11.2.7 Increased auto loader raise heigt & time and push
// 2019-04-11.2.8 Added left/right shift on loader
// 2019-04-11.2.9 Stronger shift and new feed buttons (9,10 and tilt down)
// 2019-04-11.2.A Shorter timeouts on loader
// 2019-04-18.3.0 Uses updated motor controller API
// Updated Limelight code with larger target recognition
// 2019-04-24.1 Updated the limit on current for the clibing motor
// 2-19-04-25 3.2 Increased time and distance on hab to cargo front.
// 2019-04-25 3.3 Changed the code so it only uses limelight when tracking in teliop
//2019-04-25 3.4 increased the ampage limity on drive till contact
// 2019-04-26 3.6 decreased distance on loader to cargo ship
// 2019-04-26 3.7 restored to same values as 3.4
// ----------------------------------------------------------
//
// ----------------------------------------------------------
package frc.robot;
import java.util.ArrayList;
import java.util.Arrays;
import com.revrobotics.CANEncoder;
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import com.ctre.phoenix.motorcontrol.ControlMode;
import com.ctre.phoenix.motorcontrol.can.TalonSRX;
import com.kauailabs.navx.frc.AHRS;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.AnalogInput;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PowerDistributionPanel;
import edu.wpi.first.wpilibj.drive.MecanumDrive;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj.SPI;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.Timer;
/**
* This is a demo program showing the use of the RobotDrive class, specifically
* it contains the code necessary to operate a robot with tank drive.
*/
public class Hardware {
// ##### PUBLIC DATA #####
public final double REVISION = 3.7;
// =================== Hardware Interfaces =============
private Robot myRobot = null;
public DigitalInput liftLimitTop;
public DigitalInput liftLimitBottom;
public DigitalInput jackLimitUp;
public AnalogInput liftStringPot;
public Joystick pilotGamepad;
public Joystick copilotLH;
public Joystick copilotRH;
public PowerDistributionPanel pdp;
public DoubleSolenoid intakeExtend;
public DoubleSolenoid intakeLower;
public DoubleSolenoid intakeEject;
public MecanumDrive robot;
public TalonSRX liftMotor1;
public TalonSRX liftMotor2;
public TalonSRX intakeMotor;
public TalonSRX jackWheel;
private CANSparkMax leftFrontDrive ;
private CANSparkMax rightFrontDrive ;
private CANSparkMax leftBackDrive ;
private CANSparkMax rightBackDrive ;
public CANSparkMax jackLifter ;
private CANEncoder leftFrontEncoder ;
private CANEncoder rightFrontEncoder ;
private CANEncoder leftBackEncoder ;
private CANEncoder rightBackEncoder ;
public CANEncoder jackLifterEncoder ;
// Operator buttons (Some have dual purposes)
public boolean PB_PushForward = false;
public boolean PB_PushBackwards = false;
public boolean PB_ApproachZero = false;
public boolean PB_LiftRocketHatchLow = false;
public boolean PB_LiftRocketHatchMid = false;
public boolean PB_LiftRocketHatchHigh = false;
public boolean PB_LiftRocketCargoLow = false;
public boolean PB_LiftRocketCargoMid = false;
public boolean PB_LiftRocketCargoHigh = false;
public boolean PB_LiftLoaderShipCargo = false;
public boolean PB_LiftUseSetpoint = false;
public boolean PB_LiftManualUp = false;
public boolean PB_LiftManualDown = false;
public boolean PB_CollectorExtend = false;
public boolean PB_CollectorRetract = false;
public boolean PB_CollectorEject = false;
public boolean PB_CollectorTiltDown = false;
public boolean PB_CollectorTiltUp = false;
public boolean PB_CollectorFeedIn = false;
public boolean PB_CollectorFeedOut = false;
public boolean PB_ResetGyro = false;
public boolean PB_AutoScore = false;
public boolean PB_CollectHatch = false;
public boolean PB_AssistRocketHatchLow = false;
public boolean PB_AssistRocketHatchMid = false;
public boolean PB_AssistRocketHatchHigh = false;
public boolean PB_AssistShipHatch = false;
public boolean PB_AssistRocketCargoLow = false;
public boolean PB_AssistRocketCargoMid = false;
public boolean PB_AssistRocketCargoHigh = false;
public boolean PB_DefenseEnable = false;
public boolean PB_EndGameEnable = false;
public boolean PB_EndGameExtendJack = false;
public boolean PB_EndGameRetractJack = false;
public boolean PB_EndGameRetractJackOverride = false;
public boolean PB_EndGameClimbLow = false;
public boolean PB_EndGameClimbHigh = false;
// General Variables
public boolean targetLocked; //
public double currentHeading; // Current Gyro heading
public double currentPitch; // Current Gyro pitch. +ve = front up
public double headingLock; // Current locked heading (from Gyro)
public double axialInches = 0; // used to track motion
public double lateralInches = 0;
public double vectorInches = 0;
public double maxDriveCurrent = 0;
public double yawDegrees = 0;
public double liftHeight;
public double liftSetPoint;
public boolean liftInPosition;
public double jackOffset;
public double jackHeight;
public double pitchOffset;
public boolean autoAlarm;
// ##### CONSTANTS #####
public static ArrayList<Targets> RocketHatches = new ArrayList <> (Arrays.asList(
Targets.RR1, Targets.RR3,
Targets.LR1, Targets.LR3 ));
public static ArrayList<Targets> RocketCargo = new ArrayList <> (Arrays.asList(
Targets.RR2,
Targets.LR2 ));
public static ArrayList<Targets> ShipTargets = new ArrayList <> (Arrays.asList(
Targets.RC1, Targets.RC2, Targets.RC3, Targets.RC4,
Targets.LC1, Targets.LC2, Targets.LC3, Targets.LC4 ));
public final int SMART_CURRENT_LIMIT = 45;
public final double SECONDARY_CURRENT_LIMIT = 55;
public final int kPeakCurrentDurationMills = 0;
public final double AXIAL_SCALE = 0.7;
public final double LATERAL_SCALE = 0.7;
public final double YAW_SCALE = 0.5;
public final double SAFE_POWER = 1.0; //was .9
public final double GYRO_SCALE = 1.01;
public final double HEIGHT_LOADER_HATCH = 7.5;
public final double HEIGHT_LOADERSHIP_CARGO = 33.0;
public final double HEIGHT_SHIP_HATCH = 7.5;
public final double HEIGHT_ROCKET_HATCH1 = 7.5;
public final double HEIGHT_ROCKET_HATCH2 = 36.5;
public final double HEIGHT_ROCKET_HATCH3 = 64.5;
public final double HEIGHT_ROCKET_CARGO1 = 17.0;
public final double HEIGHT_ROCKET_CARGO2 = 44.0;
public final double HEIGHT_ROCKET_CARGO3 = 70.0;
public final double HEIGHT_HIGH_ENDGAME = 22.5;
public final double HEIGHT_LOW_ENDGAME = 8.5;
public final double HOLDING_POWER = 0.16; //Least amount of power required to hold arm in place
public final double LIFTING_POWER = 0.35; //Least amount of power required to raise lift
public final double LIFT_GAIN = 0.05;
public final double LIFT_MAX_HEIGHT = 70;
public final double LIFT_MIN_HEIGHT = 1;
public final double LIFT_INCHES_PER_SECOND = 24 ;
public final double MOTOR_CONTACT_CURRENT = 8.5 ; //was 8.25
public final double JACK_PITCH = 1.0 / 20.0;
private final double DESIRED_DISTANCE = 10 ; //
private final double P1x = 0.0989;
private final double P1y = 0.0;
private final double P2x = 4.239;
private final double P2y = 69.5;
private final double LIFT_SCALE = (P2y-P1y) / (P2x-P1x); // Rise / Run
private final double LIFT_OFFSET = P1y - (LIFT_SCALE * P1x);
private final double HEADING_GAIN = 0.012; // was 0.01
private final double MIN_HEADING_ERROR = 3;
private final double MAX_YAW_POWER = 0.5; // was .5
private final double VRAMP = 0.03; // full speed in 33 inches was .024
private final double INCHES_PER_AXIAL_REV = 2.08;
private final double PUSH_POWER = 0.15; // used to push forward onto HAB
// Limelight tracking information
NetworkTable table;
NetworkTableEntry tx; //Horizontal Offset From Crosshair To Target (-27 degrees to 27 degrees)
NetworkTableEntry tx0; //Horizontal Offset From Crosshair To Target (-27 degrees to 27 degrees)
NetworkTableEntry tx1; //Horizontal Offset From Crosshair To Target (-27 degrees to 27 degrees)
NetworkTableEntry ty; //Vertical Offset From Crosshair To Target (-20.5 degrees to 20.5 degrees)
NetworkTableEntry ta; //Target Area (0% of image to 100% of image)
NetworkTableEntry ta0; //Target Area (0% of image to 100% of image) (large)
NetworkTableEntry ta1; //Target Area (0% of image to 100% of image) (small)
NetworkTableEntry tv; //Whether the limelight has any valid targets (0 or 1)
NetworkTableEntry thor; //Horizontal sidelength of the rough bounding box (0 - 320 pixels)
NetworkTableEntry tvert; //Vertical sidelength of the rough bounding box (0 - 320 pixels)
NetworkTableEntry tvert0;
NetworkTableEntry tvert1;
NetworkTableEntry led; //
NetworkTableEntry snapshot; //
NetworkTableEntry stream;
// Vision processing varibales
private double targetOffAxis; //how far off center using tx
private double targetOffAxisDistance ;
private double targetOffAngle; //horizontal off perpendicular using tx0 and tx1
private double targetRange; //how far away is target
// actuator variables
private boolean autoLevel;
private double liftPower;
public boolean endgameActive;
public boolean oldAuto;
// Driving variables
private double driveAxial; // Power for fwd/rev driving
private double driveLateral; // Power for left-right strafing
private double driveYaw; // Power for rotating
private boolean turning; // We are still turning
private boolean prototypeRobot = false;
public TargetType assistTargetType;
public double assistLiftTransitHeight;
public double assistLiftScoreHeight;
public double flipFactor; // used to flip heading and strafe values
double LF1 = 0;
double RF1 = 0;
double LB1 = 0;
double RB1 = 0;
private Timer timer; // timer
private AHRS ahrs; //gyro
// ###############################################################################
// ###############################################################################
public void init(Robot aRobot) {
myRobot = aRobot;
leftFrontDrive = new CANSparkMax(11, MotorType.kBrushless);
leftBackDrive = new CANSparkMax(12, MotorType.kBrushless);
rightBackDrive = new CANSparkMax(13, MotorType.kBrushless);
rightFrontDrive = new CANSparkMax(14, MotorType.kBrushless);
leftFrontDrive.setSmartCurrentLimit(SMART_CURRENT_LIMIT);
leftFrontDrive.setSecondaryCurrentLimit(SECONDARY_CURRENT_LIMIT, kPeakCurrentDurationMills);
leftBackDrive.setSmartCurrentLimit(SMART_CURRENT_LIMIT);
leftBackDrive.setSecondaryCurrentLimit(SECONDARY_CURRENT_LIMIT, kPeakCurrentDurationMills);
rightFrontDrive.setSmartCurrentLimit(SMART_CURRENT_LIMIT);
rightFrontDrive.setSecondaryCurrentLimit(SECONDARY_CURRENT_LIMIT, kPeakCurrentDurationMills);
rightBackDrive.setSmartCurrentLimit(SMART_CURRENT_LIMIT);
rightBackDrive.setSecondaryCurrentLimit(SECONDARY_CURRENT_LIMIT, kPeakCurrentDurationMills);
jackLifter = new CANSparkMax(20, MotorType.kBrushless);
jackLifter.setSmartCurrentLimit(80);
jackLifter.setSecondaryCurrentLimit(80, kPeakCurrentDurationMills);
jackLifter.set(0);
jackLifter.setInverted(true);
liftMotor1 = new TalonSRX(15);
liftMotor1.set(ControlMode.PercentOutput, 0);
liftMotor1.setInverted(true);
liftMotor2 = new TalonSRX(16);
liftMotor2.set(ControlMode.PercentOutput, 0);
liftMotor2.setInverted(true);
intakeMotor = new TalonSRX(17);
intakeMotor.set(ControlMode.PercentOutput, 0);
intakeMotor.setInverted(true);
jackWheel = new TalonSRX(18);
jackWheel.set(ControlMode.PercentOutput, 0);
jackWheel.setInverted(false);
pdp = new PowerDistributionPanel();
liftLimitTop = new DigitalInput(0);
liftLimitBottom = new DigitalInput(1);
jackLimitUp = new DigitalInput(2);
liftStringPot = new AnalogInput(0);
intakeExtend = new DoubleSolenoid(1, 5, 4);
intakeExtend.set(DoubleSolenoid.Value.kReverse);
intakeLower = new DoubleSolenoid(1, 3, 2);
intakeLower.set(DoubleSolenoid.Value.kReverse);
intakeEject = new DoubleSolenoid(1, 1, 0);
intakeEject.set(DoubleSolenoid.Value.kReverse);
timer = new Timer();
timer.start();
try {
ahrs = new AHRS(SPI.Port.kMXP);
} catch (RuntimeException ex ) {
DriverStation.reportError("Error instantiating navX MXP: " + ex.getMessage(), true);
}
robot = new MecanumDrive(leftFrontDrive, leftBackDrive, rightFrontDrive, rightBackDrive);
leftFrontEncoder = new CANEncoder(leftFrontDrive);
rightFrontEncoder = new CANEncoder(rightFrontDrive);
leftBackEncoder = new CANEncoder(leftBackDrive);
rightBackEncoder = new CANEncoder(rightBackDrive);
jackLifterEncoder = new CANEncoder(jackLifter);
jackOffset = jackLifterEncoder.getPosition();
pilotGamepad = new Joystick(0);
copilotLH = new Joystick(1);
copilotRH = new Joystick(2);
// Network variables
table = NetworkTableInstance.getDefault().getTable("limelight");
targetLocked = false;
tx = table.getEntry("tx");
tx0 = table.getEntry("tx0");
tx1 = table.getEntry("tx1");
ty = table.getEntry("ty");
ta = table.getEntry("ta");
ta0 = table.getEntry("ta0");
ta1 = table.getEntry("ta1");
tv = table.getEntry("tv");
thor = table.getEntry("thor");
tvert = table.getEntry("tvert");
tvert0 = table.getEntry("tvert0");
tvert1 =table.getEntry("tvert1");
led = table.getEntry("ledMode");
stream = table.getEntry("stream");
snapshot = table.getEntry("snapshot");
led.setValue(0);
stream.setValue(2);
targetOffAxis=0;
targetOffAngle=0; //positive off set means largest angle is on the right
targetRange=0;
driveAxial = 0; // Power for fwd/rev driving
driveLateral = 0; // Power for left-right strafing
driveYaw = 0; // Power for rotating
liftPower = 0;
currentHeading = 0; // Current Gyro heading
headingLock = 0; // Current locked heading (from Gyro)
turning = false; // We are not turning
flipFactor = 1.0; // used to flip heading and strafe values
jackOffset = 0;
endgameActive = false;
prototypeRobot = false;
oldAuto = false;
autoAlarm = false;
assistTargetType = TargetType.ROCKET_HATCH;
assistLiftTransitHeight = HEIGHT_ROCKET_HATCH1;
assistLiftScoreHeight = HEIGHT_ROCKET_HATCH1;
// Reset Gyro to 0
resetHeading();
periodic();
liftSetPoint = liftHeight;
autoLevel = false;
liftInPosition = false;
}
// ############################################################################################
// periodic style methods
// ############################################################################################
// Run all periodic tasks
public void periodic() {
sensors();
tracking();
runLiftControl();
dashboard();
}
public void sensors() {
// button pad
// 270
// 180 -1 0
// 90
//
// A2 B5
// B1 B3
// B2 B4
// A3 B6
// Process CoPilot Tilt Buttons
PB_CollectorTiltDown = (copilotRH.getPOV() == 90);
PB_CollectorTiltUp = (copilotRH.getPOV() == 270);
// Process Pilot Buttons
PB_CollectorEject = pilotGamepad.getRawButton(6);
PB_CollectorFeedIn = (pilotGamepad.getRawButton(2) || copilotRH.getRawButton(9) || PB_CollectorTiltDown);
PB_CollectorFeedOut = (pilotGamepad.getRawButton(4) || copilotRH.getRawButton(10));
PB_PushForward = (pilotGamepad.getPOV() == 0);
PB_PushBackwards = (pilotGamepad.getPOV() == 180);
PB_ApproachZero = pilotGamepad.getRawButton(3);
PB_CollectHatch = pilotGamepad.getRawButton(7);
PB_AutoScore = pilotGamepad.getRawButton(8);
PB_ResetGyro = (pilotGamepad.getRawButton(9) && pilotGamepad.getRawButton(10));
// Process CoPilot lefthand Buttons
PB_LiftRocketHatchLow = (copilotLH.getRawAxis(3) > 0.5);
PB_LiftRocketHatchMid = copilotLH.getRawButton(2);
PB_LiftRocketHatchHigh = copilotLH.getRawButton(1);
PB_LiftRocketCargoLow = copilotLH.getRawButton(6);
PB_LiftRocketCargoMid = copilotLH.getRawButton(4);
PB_LiftRocketCargoHigh = copilotLH.getRawButton(3);
PB_LiftLoaderShipCargo = copilotLH.getRawButton(5);
PB_LiftUseSetpoint = (copilotLH.getPOV() == -1);
PB_LiftManualUp = (copilotLH.getPOV() == 270);
PB_LiftManualDown = (copilotLH.getPOV() == 90);
PB_CollectorExtend = copilotLH.getRawButton(10);
PB_CollectorRetract = copilotLH.getRawButton(9);
PB_EndGameEnable = (copilotLH.getRawAxis(2) > 0.5);
// Process CoPilot Right hand Buttons
if (PB_EndGameEnable) {
// Only respond to end game controls.
PB_AssistRocketHatchLow = false;
PB_AssistRocketHatchMid = false;
PB_AssistRocketHatchHigh = false;
PB_AssistShipHatch = false;
PB_AssistRocketCargoLow = false;
PB_AssistRocketCargoMid = false;
PB_AssistRocketCargoHigh = false;
PB_DefenseEnable = false;
PB_EndGameClimbLow = copilotRH.getRawButton(6);
PB_EndGameClimbHigh = (copilotRH.getRawAxis(3) > 0.5);
PB_EndGameExtendJack = copilotRH.getRawButton(2);
PB_EndGameRetractJack = copilotRH.getRawButton(1);
PB_EndGameRetractJackOverride = (copilotRH.getRawAxis(2) > 0.5);
}
else {
// Only respond to assist controls.
if (PB_AssistRocketHatchLow = (copilotRH.getRawAxis(3) > 0.5)) // Dont reset from Left Hand
{
assistTargetType = TargetType.ROCKET_HATCH;
assistLiftTransitHeight = HEIGHT_ROCKET_HATCH1;
assistLiftScoreHeight = HEIGHT_ROCKET_HATCH1;
}
if (PB_AssistRocketHatchMid = (copilotRH.getRawButton(2) || copilotLH.getRawButton(2)))
{
assistTargetType = TargetType.ROCKET_HATCH;
assistLiftTransitHeight = HEIGHT_ROCKET_HATCH1;
assistLiftScoreHeight = HEIGHT_ROCKET_HATCH2;
}
if (PB_AssistRocketHatchHigh = (copilotRH.getRawButton(1) || copilotLH.getRawButton(1)))
{
assistTargetType = TargetType.ROCKET_HATCH;
assistLiftTransitHeight = HEIGHT_ROCKET_HATCH1;
assistLiftScoreHeight = HEIGHT_ROCKET_HATCH3;
}
if (PB_AssistShipHatch = ((copilotRH.getRawAxis(2) > 0.5) || (copilotLH.getRawAxis(2) > 0.5)))
{
assistTargetType = TargetType.SHIP_HATCH;
assistLiftTransitHeight = HEIGHT_SHIP_HATCH;
assistLiftScoreHeight = HEIGHT_SHIP_HATCH;
}
if (PB_AssistRocketCargoLow = (copilotRH.getRawButton(6) || copilotLH.getRawButton(6)))
{
assistTargetType = TargetType.ROCKET_CARGO;
assistLiftTransitHeight = HEIGHT_ROCKET_CARGO1;
assistLiftScoreHeight = HEIGHT_ROCKET_CARGO1;
}
if (PB_AssistRocketCargoMid = (copilotRH.getRawButton(4) || copilotLH.getRawButton(4)))
{
assistTargetType = TargetType.ROCKET_CARGO;
assistLiftTransitHeight = HEIGHT_ROCKET_CARGO1;
assistLiftScoreHeight = HEIGHT_ROCKET_CARGO2;
}
if (PB_AssistRocketCargoHigh = (copilotRH.getRawButton(3) || copilotLH.getRawButton(3)))
{
assistTargetType = TargetType.ROCKET_CARGO;
assistLiftTransitHeight = HEIGHT_ROCKET_CARGO1;
assistLiftScoreHeight = HEIGHT_ROCKET_CARGO3;
}
PB_DefenseEnable = copilotRH.getRawButton(5);
PB_EndGameClimbLow = false;
PB_EndGameClimbHigh = false;
PB_EndGameExtendJack = false;
PB_EndGameRetractJack = false;
PB_EndGameRetractJackOverride = false;
}
// Process attitude sensors
currentHeading = getHeading();
currentPitch = -(ahrs.getPitch() - pitchOffset);
liftHeight = (liftStringPot.getAverageVoltage() * LIFT_SCALE) + LIFT_OFFSET;
jackHeight = (jackLifterEncoder.getPosition() - jackOffset) * JACK_PITCH ;
endgameActive = (jackHeight < -0.5); // have we started extending the jack ?
updateMotion();
}
public void tracking() {
// See if we have a target
targetLocked = (tv.getDouble(0) > 0);
// Update tracking data if we have a target
if (targetLocked) {
// Read angle to target
targetOffAngle =tx.getDouble(0);
// Determine distance to target using target height
double V0 = tvert0.getDouble(0);
double V1 = tvert1.getDouble(0);
double Hor = thor.getDouble(1);
//double targetX=1/((V0 + V1)/2);
//targetRange = (1664 * targetX) + 2.93;
// This calculation adjusted for demo robot.... test on field
targetRange = (3860 / Hor) - 5.178; // was (3860 / Hor) - 5.178
// Determine off axis distance using shapes
targetOffAxis = (V0 - V1) / ((V0 + V1)/2);
//is target 0 on the left
if (tx0.getDouble(0) > tx1.getDouble(0)){
targetOffAxis *= -1.0 ;
}
}
else {
targetOffAxis = 0;
targetOffAngle = 0;
targetRange = -1;
}
}
public void dashboard() {
// SmartDashboard.putBoolean("Prototype", prototypeRobot);
prototypeRobot = SmartDashboard.getBoolean("Prototype", false);
oldAuto = SmartDashboard.getBoolean("Old Auto", false);
//prints off the off angle and the off axis
SmartDashboard.putNumber("Target Axis ", targetOffAxis);
SmartDashboard.putNumber("Target angle ", targetOffAngle);
SmartDashboard.putNumber("OffAxisDist", targetOffAxisDistance);
SmartDashboard.putBoolean("Target Lock ", targetLocked);
SmartDashboard.putNumber("Left front Speed", leftFrontEncoder.getVelocity());
SmartDashboard.putNumber("Right front Speed", -rightFrontEncoder.getVelocity());
SmartDashboard.putNumber("Left back Speed", leftBackEncoder.getVelocity());
SmartDashboard.putNumber("Right back Speed", -rightBackEncoder.getVelocity());
SmartDashboard.putNumber("Left front Enc", leftFrontEncoder.getPosition());
SmartDashboard.putNumber("Right front Enc", -rightFrontEncoder.getPosition());
SmartDashboard.putNumber("Left Back Enc", leftBackEncoder.getPosition());
SmartDashboard.putNumber("Right back Enc", -rightBackEncoder.getPosition());
SmartDashboard.putNumber("Jack Enc",jackLifterEncoder.getPosition());
SmartDashboard.putNumber("Target Inches", targetRange);
SmartDashboard.putNumber("Axial Power", driveAxial);
SmartDashboard.putNumber("Lateral Power", driveLateral);
SmartDashboard.putNumber("Yaw Power", driveYaw);
SmartDashboard.putNumber("Jack Height", jackHeight);
SmartDashboard.putNumber("Lift Height", liftHeight);
SmartDashboard.putNumber("Lift Voltage", liftStringPot.getAverageVoltage());
SmartDashboard.putNumber("Lift Power", liftPower);
SmartDashboard.putNumber("Heading", currentHeading);
SmartDashboard.putNumber("Pitch", currentPitch);
SmartDashboard.putNumber("Flip Factor", flipFactor);
SmartDashboard.putBoolean("Top Limit", liftLimitTop.get());
SmartDashboard.putBoolean("Bottom Limit", liftLimitBottom.get());
SmartDashboard.putBoolean("Jack Limit", jackLimitUp.get());
SmartDashboard.putNumber("Lift Setpoint", liftSetPoint);
SmartDashboard.putBoolean("Auto Alarm", autoAlarm);
SmartDashboard.putNumber("Revision", REVISION);
}
// ############################################################################################
// VISION TARGET DRIVING
// ############################################################################################
//drives to vision target using image size for offAxis distance.
public boolean driveVision(double approachHeading){
double approachError;
boolean inPosition = ((targetRange < (DESIRED_DISTANCE + 4)) && (Math.abs(targetOffAxis) <= 1));
// only drive if we have a valid range
if(targetRange > 0){
double rangeError = targetRange - DESIRED_DISTANCE;
driveAxial = clip(rangeError / 55, 0.5) ; // was 55
driveYaw = clip(targetOffAngle / 100, 0.3); // was 0.2 clip
if (targetRange < 36) {
driveLateral = clip(targetOffAxis * 2.0, .2);
}
else {
// determine off axis distance based on normalized heading
approachError = normalizeHeading(currentHeading - approachHeading);
targetOffAxisDistance = Math.sin(Math.toRadians((targetOffAngle + approachError))) * targetRange;
driveLateral = clip( targetOffAxisDistance / 60, 0.35); // was 50 with a 0.3 clip
}
}
headingLock = currentHeading;
return inPosition;
}
public double getTargetHeading() {
double targetHeading;
periodic();
// Offsett current heading with target off angle to get actual heading
if (targetLocked) {
targetHeading = currentHeading + targetOffAngle;
}
else {
targetHeading = currentHeading;
}
return targetHeading;
}
// Drive towards vision target... Adjust for left side mirror action.
public boolean driveToTarget(Targets target, double axialDistance, double lateralDistance, double maxSpeed, double heading,
double approachDistance, double timeout) {
double endTime = timer.get() + timeout;
boolean exit = false;
// Flip the heading and lateral signs if we are on left side.
heading *= flipFactor ;
lateralDistance *= flipFactor;
// Drive the robot towards target
resetMotion();
while (myRobot.isEnabled() && !exit && (timer.get() <= endTime)) {
periodic(); // get latest robot data
if (targetLocked) {
if ((targetRange > approachDistance) || (Math.abs(targetOffAxis) > 1) ) {
driveVision(getApproachHeading(target) * flipFactor); // compensate for left/right flip
}
else {
exit = true;
}
} else {
driveYaw = getYawPower(heading);
driveAxial = getPowerProfile(axialDistance, maxSpeed, axialInches, VRAMP);
driveLateral = getPowerProfile(lateralDistance, maxSpeed, lateralInches, VRAMP);
if((driveAxial == 0) && (driveLateral == 0))
exit = true;
}
// Determine rotation power required to hold heading
driveRobot();
}
//if the target is not locked, turn to the heading of the target
if (!targetLocked){
turnToHeading(getApproachHeading(target), 1);
}
// Stop the robot
stopRobot();
return (timer.get()> endTime);
}
//
public double getApproachHeading(Targets target){
double approach = 0;
switch(target){
case LC1:
case RC1:
approach = 0;
break;
case RC2:
case RC3:
case RC4:
case LR2:
approach = -90;
break;
case LC2:
case LC3:
case LC4:
case RR2:
approach = 90;
break;
case LL1:
case RL1:
approach = 180;
break;
case LR1:
approach = -30;
break;
case RR1:
approach = 30;
break;
case LR3:
approach = -150;
break;
case RR3:
approach = 150;
break;
default:
approach = 0;
break;
}
return approach;
}
// Find the target with the approach angle closest to our current heading
public double findClosestTargetApproach() {
double bestApproach = 0;
double bestError = 600;
double normalHeading = normalizeHeading(currentHeading);
double error;
ArrayList<Targets> selectedTargets;
// select the correct list of targets
switch (assistTargetType) {
case ROCKET_HATCH:
default:
selectedTargets = RocketHatches;
break;
case ROCKET_CARGO:
selectedTargets = RocketCargo;
break;
case SHIP_CARGO:
case SHIP_HATCH:
selectedTargets = ShipTargets;
break;
}
// iterate all the approach headings to find the one with the smallest error
for (Targets target : selectedTargets) {
error = Math.abs(getApproachHeading(target) - normalHeading);
if (error < bestError) {
bestError = error;
bestApproach = getApproachHeading(target);
SmartDashboard.putString ("FOUND", target.toString());
SmartDashboard.putNumber("Approach", bestApproach);
}
}
return (bestApproach);
}
public double normalizeHeading(double heading) {
while (heading > 180)
heading -= 360;
while (heading < -180)
heading += 360;
return heading;
}
// ############################################################################################
// STANDARD DRIVING & HEADING METHODS
// ############################################################################################
public void setAutoSide(boolean startingOnRight) {
flipFactor = startingOnRight ? 1.0 : -1.0 ;
}
//drive by joystick
public void driveJoystick(){
if (PB_PushForward) {
driveAxial = PUSH_POWER;
driveLateral = 0;
driveYaw = 0;
}
else if (PB_PushBackwards) {
driveAxial = - PUSH_POWER;
driveLateral = 0;
driveYaw = 0;
}
else {
driveAxial = (pilotGamepad.getY() * pilotGamepad.getY()) * -Math.signum(pilotGamepad.getY());
driveLateral = (pilotGamepad.getX() * pilotGamepad.getX()) * Math.signum(pilotGamepad.getX());
driveYaw = (pilotGamepad.getZ() * pilotGamepad.getZ()) * Math.signum(pilotGamepad.getZ()) ;
if (!PB_DefenseEnable) {
driveAxial *= AXIAL_SCALE;
driveLateral *= LATERAL_SCALE;
driveYaw *= YAW_SCALE;
}
}
// We are in manual driving mode
// If the driver is turning, update heading lock for future, else lock to heading
if (Math.abs(driveYaw) > 0.05) {
turning = true;
headingLock = currentHeading;
}
else {
// Allow the robot to stop rotating and then lock in the heading.
if (turning) {
if (Math.abs(ahrs.getRawGyroZ()) < 75) {
headingLock = getHeading();
turning = false;
}
}
driveYaw = getYawPower(headingLock);
}
// also control the jack wheel if it is down
if (endgameActive) {
// Slave the jackWheel to the forward drive
if (driveAxial > 0.075)
jackWheel.set(ControlMode.PercentOutput, 1 );
else if (driveAxial < -0.075)
jackWheel.set(ControlMode.PercentOutput, -0.25 );
else
jackWheel.set(ControlMode.PercentOutput, 0 );
}
else {
jackWheel.set(ControlMode.PercentOutput, 0);
}
}
// Drive to a lateral and axial goal distance, while holding heading.
public boolean driveProfile(double axialDistance, double lateralDistance, double maxSpeed, double heading, double timeout){
double endTime = timer.get() + timeout;
//limit speed for now
maxSpeed *= SAFE_POWER;
// Flip the heading and lateral signs if we are on left side.
heading *= flipFactor ;
lateralDistance *= flipFactor;
resetMotion(); //remember where we started
while (myRobot.isEnabled() && (timer.get() <= endTime)) {
periodic(); // get latest robot data
driveYaw = getYawPower(heading);
driveAxial = getPowerProfile(axialDistance, maxSpeed, axialInches, VRAMP);
driveLateral = getPowerProfile(lateralDistance, maxSpeed, lateralInches, VRAMP);
driveRobot();
if((driveAxial == 0) && (driveLateral == 0)){
break;
}
}
// Stop the robot
stopRobot();
return (timer.get() <= endTime); // return true if we reached the target before timing out
}
// Drive a distance in a direction, while rotating robot to finalHeading.
public boolean driveVector(double vectorDistance, double maxSpeed, double direction, double finalHeading, double timeout){
double endTime = timer.get() + timeout;
double vectorPower = 0;
//limit speed for now
maxSpeed *= SAFE_POWER;
// Flip the heading and lateral signs if we are on left side.
direction *= flipFactor ;
finalHeading *= flipFactor ;
resetMotion(); //remember where we started
while (myRobot.isEnabled() && (timer.get() <= endTime)) {
periodic(); // get latest robot data
driveYaw = clip(getYawPower(finalHeading), 0.2); // slow turn rate
vectorPower = getPowerProfile(vectorDistance, maxSpeed, vectorInches, VRAMP);
driveLateral = vectorPower * Math.sin(direction * (Math.PI / 180.0));
driveAxial = vectorPower * Math.cos(direction * (Math.PI / 180.0));
driveRobot(-currentHeading);
if(vectorPower == 0){
break;
}
}
// Stop the robot
stopRobot();
return (timer.get() <= endTime); // return true if we reached the target before timing out
}
// Drive on heading until wheels stop turning.
public boolean driveTillContact(double axialDistance, double maxSpeed, double heading, double timeout){
double endTime = timer.get() + timeout;
double peakTime = timer.get() + .25;
// Flip the heading if we are on left side.
heading *= flipFactor ;
resetMotion(); //remember where we started