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Storm surge #91

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merged 6 commits into from
Oct 29, 2024
Merged

Storm surge #91

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0186c23
fix: zero pivot
Oct 19, 2024
9ba016f
fix: don't flip joysticks on red alliance
Oct 19, 2024
4722ed9
fix: update rotation sensitivity
Oct 19, 2024
7c9abac
feat: add auto align
Oct 19, 2024
cfc907d
fix: gyro zeroing
Oct 19, 2024
376c762
push DS code
Oct 29, 2024
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7 changes: 7 additions & 0 deletions build.gradle
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Original file line number Diff line number Diff line change
Expand Up @@ -53,6 +53,13 @@ deploy {
// getTargetTypeClass is a shortcut to get the class type using a string

frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
// Enable VisualVM connection
jvmArgs.add("-Dcom.sun.management.jmxremote=true")
jvmArgs.add("-Dcom.sun.management.jmxremote.port=1198")
jvmArgs.add("-Dcom.sun.management.jmxremote.local.only=false")
jvmArgs.add("-Dcom.sun.management.jmxremote.ssl=false")
jvmArgs.add("-Dcom.sun.management.jmxremote.authenticate=false")
jvmArgs.add("-Djava.rmi.server.hostname=10.36.36.2") // Replace TE.AM with team number
}

// Static files artifact
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1 change: 1 addition & 0 deletions src/main/java/com/frcteam3636/frc2024/Dashboard.kt
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Expand Up @@ -18,6 +18,7 @@ object Dashboard {
SmartDashboard.putBoolean("CANivore Bus OK", (talonCanStatus.isOK))
SmartDashboard.putString("CANivore Bus Status", talonCanStatus.getName())
SmartDashboard.putBoolean("Pivot Encoder OK", Shooter.Pivot.encoderConnected)
SmartDashboard.putBoolean("Pivot Stowed", Shooter.Pivot.isStowed.asBoolean)
Thread.sleep(250)
}
}
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38 changes: 19 additions & 19 deletions src/main/java/com/frcteam3636/frc2024/Robot.kt
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Expand Up @@ -3,6 +3,7 @@ package com.frcteam3636.frc2024
import com.frcteam3636.frc2024.subsystems.drivetrain.Drivetrain
import com.frcteam3636.frc2024.subsystems.intake.Intake
import com.frcteam3636.frc2024.subsystems.shooter.Shooter
import com.frcteam3636.frc2024.subsystems.shooter.speakerTranslation
import com.pathplanner.lib.auto.AutoBuilder
import com.pathplanner.lib.auto.NamedCommands
import edu.wpi.first.hal.FRCNetComm.tInstances
Expand Down Expand Up @@ -56,14 +57,15 @@ object Robot : LoggedRobot() {
tResourceType.kResourceType_Language, tInstances.kLanguage_Kotlin, 0, WPILibVersion.Version
)

DriverStation.silenceJoystickConnectionWarning(true)

if (isReal()) {
Logger.addDataReceiver(WPILOGWriter("/U")) // Log to a USB stick
Logger.addDataReceiver(NT4Publisher()) // Publish data to NetworkTables
PowerDistribution(
1, PowerDistribution.ModuleType.kRev
) // Enables power distribution logging
} else {
DriverStation.silenceJoystickConnectionWarning(true)
var logPath: String? = null
try {
logPath = LogFileUtil.findReplayLog() // Pull the replay log from AdvantageScope (or
Expand Down Expand Up @@ -171,17 +173,17 @@ object Robot : LoggedRobot() {


// Polar driving
// Trigger(joystickLeft::getTrigger)
// .whileTrue(
// Commands.defer({
// Drivetrain.driveWithJoystickPointingTowards(
// joystickLeft,
// DriverStation.getAlliance()
// .orElse(DriverStation.Alliance.Blue)
// .speakerTranslation.toTranslation2d()
// )
// }, setOf(Drivetrain))
// )
Trigger(joystickLeft::getTrigger)
.whileTrue(
Commands.defer({
Drivetrain.driveWithJoystickPointingTowards(
joystickLeft,
DriverStation.getAlliance()
.orElse(DriverStation.Alliance.Blue)
.speakerTranslation.toTranslation2d()
)
}, setOf(Drivetrain))
)

// Follow a motion profile to the selected pivot target
controller.leftTrigger()
Expand Down Expand Up @@ -236,18 +238,16 @@ object Robot : LoggedRobot() {
Commands.sequence(
Commands.waitUntil(Shooter.Flywheels.atDesiredVelocity),
Shooter.Feeder.feed().withTimeout(0.4).beforeStarting({
if (Note.state == Note.State.SHOOTER) {
Note.state = Note.State.NONE
}
Note.state = Note.State.NONE
}),
Shooter.Pivot.followMotionProfile(Shooter.Pivot.Target.STOWED),
)
)
)
Trigger(joystickLeft::getTrigger)
.whileTrue(
Shooter.Flywheels.intake()
)
// Trigger(joystickLeft::getTrigger)
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We can delete this, right?

// .whileTrue(
// Shooter.Flywheels.intake()
// )

JoystickButton(joystickLeft, 8).onTrue(Commands.runOnce({
println("Zeroing gyro.")
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26 changes: 14 additions & 12 deletions src/main/java/com/frcteam3636/frc2024/subsystems/drivetrain/Drivetrain.kt
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Expand Up @@ -38,7 +38,6 @@ import org.littletonrobotics.junction.LogTable
import org.littletonrobotics.junction.Logger
import org.littletonrobotics.junction.inputs.LoggableInputs
import java.util.*
import kotlin.math.PI
import kotlin.math.abs

// A singleton object representing the drivetrain.
Expand All @@ -47,7 +46,7 @@ object Drivetrain : Subsystem, TalonFXStatusProvider {
/** Unit: Percent of max robot speed */
private const val TRANSLATION_SENSITIVITY = 1.0
/** Unit: Rotations per second */
private const val ROTATION_SENSITIVITY = 0.9
private const val ROTATION_SENSITIVITY = 1.25
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1.25 comes from getting joystick control that felt good to Calvin. Note this.


private val io = when (Robot.model) {
Robot.Model.SIMULATION -> DrivetrainIOSim()
Expand Down Expand Up @@ -246,7 +245,7 @@ object Drivetrain : Subsystem, TalonFXStatusProvider {
|| abs(rotationJoystick.x) > JOYSTICK_DEADBAND
) {
val translationInput =
Translation2d(-translationJoystick.y, -translationJoystick.x).rotateBy(DRIVER_ROTATION)
Translation2d(-translationJoystick.y, -translationJoystick.x)

chassisSpeeds =
ChassisSpeeds.fromFieldRelativeSpeeds(
Expand Down Expand Up @@ -281,28 +280,31 @@ object Drivetrain : Subsystem, TalonFXStatusProvider {
enableContinuousInput(0.0, TAU)
}
return run {
val translationInput = if (abs(translationJoystick.x) > JOYSTICK_DEADBAND
|| abs(translationJoystick.y) > JOYSTICK_DEADBAND
) {
Translation2d(-translationJoystick.y, -translationJoystick.x)
} else {
Translation2d()
}
val magnitude = rotationPIDController.calculate(
target.minus(estimatedPose.translation).angle.radians - (TAU/2),
estimatedPose.rotation.radians
)

chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(
translationJoystick.y * FREE_SPEED.baseUnitMagnitude(),
translationJoystick.x * FREE_SPEED.baseUnitMagnitude(),
magnitude,
gyroRotation.toRotation2d(),
translationInput.x * FREE_SPEED.baseUnitMagnitude() * TRANSLATION_SENSITIVITY,
translationInput.y * FREE_SPEED.baseUnitMagnitude() * TRANSLATION_SENSITIVITY,
-magnitude,
gyroRotation.toRotation2d()
)
}
}

fun zeroGyro() {
// When zeroing the gyro happens, the robot is facing the speaker-side.
// This is a different direction on the red vs. blue sides.
gyroRotation = if (DriverStation.getAlliance() == Optional.of(DriverStation.Alliance.Red)) {
Rotation3d(0.0, 0.0, PI)
} else {
Rotation3d()
}
gyroRotation = Rotation3d()
}

@Suppress("unused")
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5 changes: 2 additions & 3 deletions src/main/java/com/frcteam3636/frc2024/subsystems/shooter/PivotIO.kt
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Expand Up @@ -3,7 +3,6 @@ package com.frcteam3636.frc2024.subsystems.shooter
import com.ctre.phoenix6.StatusSignal
import com.ctre.phoenix6.configs.TalonFXConfiguration
import com.ctre.phoenix6.controls.MotionMagicTorqueCurrentFOC
import com.ctre.phoenix6.controls.PositionTorqueCurrentFOC
import com.ctre.phoenix6.controls.VelocityTorqueCurrentFOC
import com.ctre.phoenix6.controls.VoltageOut
import com.ctre.phoenix6.signals.GravityTypeValue
Expand Down Expand Up @@ -200,7 +199,7 @@ class PivotIOKraken : PivotIO {
override fun pivotToAndMove(position: Rotation2d, velocity: Rotation2d) {
Logger.recordOutput("Shooter/Pivot/Position Setpoint", position)

val leftControl = PositionTorqueCurrentFOC(0.0).apply {
val leftControl = MotionMagicTorqueCurrentFOC(0.0).apply {
Slot = 0
Position = position.rotations
}
Expand Down Expand Up @@ -264,7 +263,7 @@ class PivotIOKraken : PivotIO {
const val PROFILE_JERK = 80.0

val HARDSTOP_OFFSET: Rotation2d = Rotation2d.fromDegrees(-27.0)
val ABSOLUTE_ENCODER_OFFSET: Rotation2d = Rotation2d.fromDegrees(229.5) + HARDSTOP_OFFSET
val ABSOLUTE_ENCODER_OFFSET: Rotation2d = Rotation2d.fromDegrees(343.3) + HARDSTOP_OFFSET
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where the hell did 343.3 come from? Explain in comment.

}

override val talonCANStatuses = listOf(leftMotor.version, rightMotor.version)
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11 changes: 9 additions & 2 deletions src/main/java/com/frcteam3636/frc2024/subsystems/shooter/Shooter.kt
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Expand Up @@ -188,6 +188,8 @@ object Shooter {

var target: Target = Target.AIM

var numTicks: Int = 0


private val processedAbsoluteEncoderPosition
get() =
Expand All @@ -196,7 +198,9 @@ object Shooter {
val encoderConnected get() = inputs.absoluteEncoderConnected

override fun periodic() {
val currentZero = zeroPos.getDouble(PivotIOKraken.ABSOLUTE_ENCODER_OFFSET.radians)
numTicks++
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@rezetta15 rezetta15 Oct 30, 2024 •
edited
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assert(numTicks <= 20 && numTicks >=0)

// println(numTicks)
// val currentZero = zeroPos.getDouble(PivotIOKraken.ABSOLUTE_ENCODER_OFFSET.radians)
// io.offset = Rotation2d(currentZero)

Logger.recordOutput("Shooter/Pivot/Offset Constant", PivotIOKraken.ABSOLUTE_ENCODER_OFFSET)
Expand All @@ -205,7 +209,10 @@ object Shooter {
Logger.processInputs("Shooter/Pivot", inputs)

val encoderPos = processedAbsoluteEncoderPosition
io.setPivotPosition(encoderPos)
if (numTicks == 20) {
io.setPivotPosition(encoderPos)
numTicks = 0
}
Logger.recordOutput("Shooter/Pivot/Processed Encoder Position", encoderPos)
Logger.recordOutput("Shooter/Pivot/Required Offset", -inputs.uncorrectedEncoderPosition)

Expand Down
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