Week0 #142
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Week0 #142
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… on left joystick
…ick up for added consistancy
bot3O3
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Mar 2, 2024
* added reverse intake command * added back code for hasGamePiece method * fixed intake commands * applied spotless * added isArmRaised and isArmLowered methods * Added game piece sensor method * Added note sensor and changed intake current limit * Changed IntakePID values * changed some intake commands * worked on intake sensor * moved note sensor from limit switch to a DIO port * ran spotless * added DIO port for note sensor to constants file * fine tuned intake * added new intake commands * worked on giveGamePieceCommand * worked more on intake commands * Drivetrain control, auto selection, pose management (#84) * Creates 2023 bot * invert joysticks, resetgyro tested and working * added red spin * set CAN IDs to match 2023 comp robot * set pose heading instead of resetting gyro * added breaks to switch statement, tested and working * removed commented lines * remove alliance color logic from abstract Drive command * create Autonomous class to reduce code duplication * added documentation * make innerclass methods private * remove unused Auto enums * Change can ID and added auto * spotless * Added Autos selection * spotless * Inverted alliance side * AttempToFixNUll problems Notworking * Fixed Null issues * spotless and removed unused function * updated documentation * FirstTry * spot * spot * Pose management (#77) * alliance color managed in DT subsystem, and other changes * remove commented lines * remove alliance param from xboxdrive * spotless * Additional simplification downstream of managing allianceColor within the drivetrain (#78) * simplify logic and remove allianceColor enum * spotless * remove commented lines * Revert additional errors from previous merge conflict resolution (#79) revert additional errors from #74 merge conflict resolution * update command naming and unnest ifs (#80) * create separate set of auto pathfollowing PID gains (#81) * set CAN IDs for 2024 chassis --------- Co-authored-by: bot3O3 <[email protected]> * added update frequency to turning absolute encoder * finished give-note-to-teammate command * Climber subsystem (#90) * created climber subsystem * worked on creating methods for climber * added Climber file * worked on climber commands * added methods and commands to climber and added calibrate command file * broke climber into climberside subsystems * moved command factories from climberside to climber * worked on adding climber commands and using them * added getEncoderValue and Deploy position constant * added end check for position control * cleanup * climber setvoltage is open-loop * AddedProfiledPidControler * added until to move after calibrating climber * added Smart dashboard and control for arms for testing removed B button * arcadedrive controls voltage * Adds current to smart dashboard * stuff * tests * add linear filter * remove periodic * simplify isfinished of calibrateCommand * slow and fast driveTo modes * add name getter to ClimberSide * add javadoc * debounce current sense * delete unused voltage constant during hard-stop seeking * calibration state enum * variable naming * Climber/unit conversions (#89) * Create climber-narrative.md * invert pulley ratio * Update climber-narrative.md * Update climber-narrative.md * Update climber-narrative.md * Update Constants.java * Update climber-narrative.md * output motorrotations and filtered current to dashboard * spotless * working * fix merge conflicts * spotless * indenting --------- Co-authored-by: DylanTaylor29 <[email protected]> Co-authored-by: bot3O3 <[email protected]> * Climber/power measurement (#95) * added pdh object * Changed Climberside to allow tha passing in of pdp * added get pdh current * Adjust limit and changed method * fixed adjust constants * polarityAdder should not zero out the signal * spotless --------- Co-authored-by: bot3O3 <[email protected]> * Get PDH current from singleton RobotContainer instance (#96) * singleton robotContainer * method naming * Bugfix/motor safety (#97) * feed motor safety in climber periodic * revert robotContainer extends subsystemBase * newAutos (#99) * newAutos * spotless * change back default command * adjusts auto switcher * adjust auto name and add two autos to a switch * spot * changed names of autos * Le ds (#102) * added LED subsystem * added LED methods * worked on commands and methods for the LEDs * cleanup and spotless * created a command that shows what auto is selected using LEDs * auto lights run during init, instead of runonce during periodic * spotless * added smart dashboard prints * move dashboard prints to methods * commands running during disable * got the LEDs to work and show what auto is selected * resolve merge conflicts --------- Co-authored-by: Nate Laverdure <[email protected]> Co-authored-by: Nate Laverdure <[email protected]> * More autos (#103) * added red one piece * added new autos, commands * more auto * moves away before turning * trying to fix it * moved more command structure to code rather than path planner gui * Fix one piece autos * tape has been swapped * broke sections of robotContainer constructor into void methods --------- Co-authored-by: bot3O3 <[email protected]> * Profiled pid for intake (#104) * add profiled pid controller * add command to use new profiled pid controler * new Command * Add Functional command * changed distance and now prints out * print * variable naming * reset positionPID to 0 instead of getPosition * works but needs to fix while right bumper held * added trigger for gamepiece detection * create createIntakeCommand command * changed setpoints * moved intake constants to their own class * spotless * move reposition amount to constants * spotless * resolved merge conflicts * visibility * reposition during auto intaking --------- Co-authored-by: bot3O3 <[email protected]> * Intake/add beam break (#105) * add beam break sensor * invert * adjusted values * advance position method is able to update position controller based on 2nd sensor * spotless * reduce amount note will shift into intake --------- Co-authored-by: bot3O3 <[email protected]> * Fixing two piece (#106) * fixed twopiece auto * it works * spot * Variable hardstop feature (#110) * added hard stop * changed intake command declaration location * spot * fixed Commands * retract hard stop on teleopInit * autofixes --------- Co-authored-by: bot3O3 <[email protected]> * Trap tuning (#111) * Now the left joystick can directly control the intake. Use for trap scoring and moving * added new feature for drive command. allows constructor to be given a swerve kinematics and change the "center" of the robot. * changed it so button a on zorro changes it * adds outake to driver button and moves heading reset to button h * spot * removed unused command --------- Co-authored-by: bot3O3 <[email protected]> * changed the teleop method in LEDs where if a piece is not detected, the LEDs are purple. * changed some LED things and attempted to work on a system that would add two LEDs on each side to tell if the arm is raised or lowered * worked on fixing LED indicators * added LEDs for autonomous * made it schedule LED commands * fixed error in LEDs * ran spotless * More led stuff (#116) * changed some LED things and attempted to work on a system that would add two LEDs on each side to tell if the arm is raised or lowered * worked on fixing LED indicators * added LEDs for autonomous * made it schedule LED commands * fixed error in LEDs * ran spotless * changed the autos are ordered * added the new flap pneumatics and controls for them on the D-Pad * Mid autoand drive tuning (#113) * new auto and intaking adjustments * auto * spot * changed names and reordered switch * Reallocate buttons on operator controller (#120) * free up X and B buttons on operator controller * assign B and X buttons to deploy/retract of flap * Fix#122 (#123) * Returns Null if file name is null * BugFixed tested using simulation * spot * fixed pneumatics command * Compose arm commands that keep track of state in the subsystem (#117) * add arm state and change command composition * lower arm to stow at the start of the intake sequence * fixed LED merge conflict * reversed logic now works whenever arm not deployed * display on dashboard * fixed logic * changed logic * raise arm when carry * Fixed Issues and spotless --------- Co-authored-by: Lucas <[email protected]> * added climber position to preferences * ran spotless * Stateful intake (#128) * initialize intakebutton once * Idea to use boolean to track if piece is moving and stop cancel based on it * intake methods set state, command sequence respects it * renamed trigger * remove unused methods and commands * removed button from logic * Auto and added new intake command * adjusted commands * removed get arm state return false if null * added null handling in intake statechecker * spotless * fixed Auto * spot --------- Co-authored-by: bot3O3 <[email protected]> * uses larger facotr for piece movement left stick (#134) Co-authored-by: bot3O3 <[email protected]> * removed tilt from climber (#136) * removed tilt from climber * spot * Update autosboth2pieces (#135) * ctrl+v old changes * spot --------- Co-authored-by: bot3O3 <[email protected]> * mirror all competition autos, added buttons and removed unused/useless autos (#139) * adjust wait (#140) * Week0 (#142) * autochanges * changed pick up far * added a flap deploy command upon teleop init and changed speed factor on left joystick * schedule command group on match mode start * moved reposition speed to constants * changed constraint values * auto changes, path changes, named command changed to seperate pick up and arm up * mirrored changes to on red far to blue and added stop point on near pick up for added consistancy * renamedCommand intake piece and raise to intake piece because no longer raises --------- Co-authored-by: DylanTaylor29 <[email protected]> Co-authored-by: Nate Laverdure <[email protected]> * turning motor current limit * update wpilib to 2024.3.1 (#144) * update vendorlibs (#145) * remove subsystems not present * remove autos not used * Revert "remove autos not used" This reverts commit 1cdf4c2. * Revert "remove subsystems not present" This reverts commit caac5f3. * deletd subsystems not present * deleted constants for subsystems not present * additional cleanup --------- Co-authored-by: DylanTaylor29 <[email protected]> Co-authored-by: bot3O3 <[email protected]>
nlaverdure
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that referenced
this pull request
Mar 2, 2024
* added reverse intake command * added back code for hasGamePiece method * fixed intake commands * applied spotless * added isArmRaised and isArmLowered methods * Added game piece sensor method * Added note sensor and changed intake current limit * Changed IntakePID values * changed some intake commands * worked on intake sensor * moved note sensor from limit switch to a DIO port * ran spotless * added DIO port for note sensor to constants file * fine tuned intake * added new intake commands * worked on giveGamePieceCommand * worked more on intake commands * Drivetrain control, auto selection, pose management (#84) * Creates 2023 bot * invert joysticks, resetgyro tested and working * added red spin * set CAN IDs to match 2023 comp robot * set pose heading instead of resetting gyro * added breaks to switch statement, tested and working * removed commented lines * remove alliance color logic from abstract Drive command * create Autonomous class to reduce code duplication * added documentation * make innerclass methods private * remove unused Auto enums * Change can ID and added auto * spotless * Added Autos selection * spotless * Inverted alliance side * AttempToFixNUll problems Notworking * Fixed Null issues * spotless and removed unused function * updated documentation * FirstTry * spot * spot * Pose management (#77) * alliance color managed in DT subsystem, and other changes * remove commented lines * remove alliance param from xboxdrive * spotless * Additional simplification downstream of managing allianceColor within the drivetrain (#78) * simplify logic and remove allianceColor enum * spotless * remove commented lines * Revert additional errors from previous merge conflict resolution (#79) revert additional errors from #74 merge conflict resolution * update command naming and unnest ifs (#80) * create separate set of auto pathfollowing PID gains (#81) * set CAN IDs for 2024 chassis --------- Co-authored-by: bot3O3 <[email protected]> * added update frequency to turning absolute encoder * finished give-note-to-teammate command * Climber subsystem (#90) * created climber subsystem * worked on creating methods for climber * added Climber file * worked on climber commands * added methods and commands to climber and added calibrate command file * broke climber into climberside subsystems * moved command factories from climberside to climber * worked on adding climber commands and using them * added getEncoderValue and Deploy position constant * added end check for position control * cleanup * climber setvoltage is open-loop * AddedProfiledPidControler * added until to move after calibrating climber * added Smart dashboard and control for arms for testing removed B button * arcadedrive controls voltage * Adds current to smart dashboard * stuff * tests * add linear filter * remove periodic * simplify isfinished of calibrateCommand * slow and fast driveTo modes * add name getter to ClimberSide * add javadoc * debounce current sense * delete unused voltage constant during hard-stop seeking * calibration state enum * variable naming * Climber/unit conversions (#89) * Create climber-narrative.md * invert pulley ratio * Update climber-narrative.md * Update climber-narrative.md * Update climber-narrative.md * Update Constants.java * Update climber-narrative.md * output motorrotations and filtered current to dashboard * spotless * working * fix merge conflicts * spotless * indenting --------- Co-authored-by: DylanTaylor29 <[email protected]> Co-authored-by: bot3O3 <[email protected]> * Climber/power measurement (#95) * added pdh object * Changed Climberside to allow tha passing in of pdp * added get pdh current * Adjust limit and changed method * fixed adjust constants * polarityAdder should not zero out the signal * spotless --------- Co-authored-by: bot3O3 <[email protected]> * Get PDH current from singleton RobotContainer instance (#96) * singleton robotContainer * method naming * Bugfix/motor safety (#97) * feed motor safety in climber periodic * revert robotContainer extends subsystemBase * newAutos (#99) * newAutos * spotless * change back default command * adjusts auto switcher * adjust auto name and add two autos to a switch * spot * changed names of autos * Le ds (#102) * added LED subsystem * added LED methods * worked on commands and methods for the LEDs * cleanup and spotless * created a command that shows what auto is selected using LEDs * auto lights run during init, instead of runonce during periodic * spotless * added smart dashboard prints * move dashboard prints to methods * commands running during disable * got the LEDs to work and show what auto is selected * resolve merge conflicts --------- Co-authored-by: Nate Laverdure <[email protected]> Co-authored-by: Nate Laverdure <[email protected]> * More autos (#103) * added red one piece * added new autos, commands * more auto * moves away before turning * trying to fix it * moved more command structure to code rather than path planner gui * Fix one piece autos * tape has been swapped * broke sections of robotContainer constructor into void methods --------- Co-authored-by: bot3O3 <[email protected]> * Profiled pid for intake (#104) * add profiled pid controller * add command to use new profiled pid controler * new Command * Add Functional command * changed distance and now prints out * print * variable naming * reset positionPID to 0 instead of getPosition * works but needs to fix while right bumper held * added trigger for gamepiece detection * create createIntakeCommand command * changed setpoints * moved intake constants to their own class * spotless * move reposition amount to constants * spotless * resolved merge conflicts * visibility * reposition during auto intaking --------- Co-authored-by: bot3O3 <[email protected]> * Intake/add beam break (#105) * add beam break sensor * invert * adjusted values * advance position method is able to update position controller based on 2nd sensor * spotless * reduce amount note will shift into intake --------- Co-authored-by: bot3O3 <[email protected]> * Fixing two piece (#106) * fixed twopiece auto * it works * spot * Variable hardstop feature (#110) * added hard stop * changed intake command declaration location * spot * fixed Commands * retract hard stop on teleopInit * autofixes --------- Co-authored-by: bot3O3 <[email protected]> * Trap tuning (#111) * Now the left joystick can directly control the intake. Use for trap scoring and moving * added new feature for drive command. allows constructor to be given a swerve kinematics and change the "center" of the robot. * changed it so button a on zorro changes it * adds outake to driver button and moves heading reset to button h * spot * removed unused command --------- Co-authored-by: bot3O3 <[email protected]> * changed the teleop method in LEDs where if a piece is not detected, the LEDs are purple. * changed some LED things and attempted to work on a system that would add two LEDs on each side to tell if the arm is raised or lowered * worked on fixing LED indicators * added LEDs for autonomous * made it schedule LED commands * fixed error in LEDs * ran spotless * More led stuff (#116) * changed some LED things and attempted to work on a system that would add two LEDs on each side to tell if the arm is raised or lowered * worked on fixing LED indicators * added LEDs for autonomous * made it schedule LED commands * fixed error in LEDs * ran spotless * changed the autos are ordered * added the new flap pneumatics and controls for them on the D-Pad * Mid autoand drive tuning (#113) * new auto and intaking adjustments * auto * spot * changed names and reordered switch * Reallocate buttons on operator controller (#120) * free up X and B buttons on operator controller * assign B and X buttons to deploy/retract of flap * Fix#122 (#123) * Returns Null if file name is null * BugFixed tested using simulation * spot * fixed pneumatics command * Compose arm commands that keep track of state in the subsystem (#117) * add arm state and change command composition * lower arm to stow at the start of the intake sequence * fixed LED merge conflict * reversed logic now works whenever arm not deployed * display on dashboard * fixed logic * changed logic * raise arm when carry * Fixed Issues and spotless --------- Co-authored-by: Lucas <[email protected]> * added climber position to preferences * ran spotless * Stateful intake (#128) * initialize intakebutton once * Idea to use boolean to track if piece is moving and stop cancel based on it * intake methods set state, command sequence respects it * renamed trigger * remove unused methods and commands * removed button from logic * Auto and added new intake command * adjusted commands * removed get arm state return false if null * added null handling in intake statechecker * spotless * fixed Auto * spot --------- Co-authored-by: bot3O3 <[email protected]> * uses larger facotr for piece movement left stick (#134) Co-authored-by: bot3O3 <[email protected]> * removed tilt from climber (#136) * removed tilt from climber * spot * Update autosboth2pieces (#135) * ctrl+v old changes * spot --------- Co-authored-by: bot3O3 <[email protected]> * mirror all competition autos, added buttons and removed unused/useless autos (#139) * adjust wait (#140) * Week0 (#142) * autochanges * changed pick up far * added a flap deploy command upon teleop init and changed speed factor on left joystick * schedule command group on match mode start * moved reposition speed to constants * changed constraint values * auto changes, path changes, named command changed to seperate pick up and arm up * mirrored changes to on red far to blue and added stop point on near pick up for added consistancy * renamedCommand intake piece and raise to intake piece because no longer raises --------- Co-authored-by: DylanTaylor29 <[email protected]> Co-authored-by: Nate Laverdure <[email protected]> * turning motor current limit * update wpilib to 2024.3.1 (#144) * update vendorlibs (#145) * added outake button to driver (#149) * added outake button to driver * spot * moved game-state commands back into void methods (#151) --------- Co-authored-by: DylanTaylor29 <[email protected]> Co-authored-by: bot3O3 <[email protected]>
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