Develop

boards/swerveboard.json

@@ -11,22 +11,6 @@
         "vgap": 16.0,
         "titleType": 0,
         "tiles": {
-          "0,0": {
-            "size": [
-              16,
-              8
-            ],
-            "content": {
-              "_type": "Field",
-              "_source0": "network_table:///SmartDashboard/Field",
-              "_title": "Field",
-              "_glyph": 148,
-              "_showGlyph": false,
-              "Game/Game": "k2024Crescendo",
-              "Visuals/Robot Icon Size": 50.0,
-              "Visuals/Show Outside Circles": false
-            }
-          },
           "16,0": {
             "size": [
               1,
@@ -363,6 +347,48 @@
               "_glyph": 148,
               "_showGlyph": false
             }
+          },
+          "0,0": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "ComboBox Chooser",
+              "_source0": "network_table:///SmartDashboard/Auto choices",
+              "_title": "Auto choices",
+              "_glyph": 148,
+              "_showGlyph": false
+            }
+          },
+          "1,0": {
+            "size": [
+              8,
+              5
+            ],
+            "content": {
+              "_type": "Field",
+              "_source0": "network_table:///SmartDashboard/Field",
+              "_title": "Field",
+              "_glyph": 148,
+              "_showGlyph": false,
+              "Game/Game": "k2024Crescendo",
+              "Visuals/Robot Icon Size": 50.0,
+              "Visuals/Show Outside Circles": false
+            }
+          },
+          "9,0": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/fieldOriented",
+              "_title": "fieldOriented",
+              "_glyph": 148,
+              "_showGlyph": false
+            }
           }
         }
       }
@@ -580,12 +606,98 @@
           }
         }
       }
+    },
+    {
+      "title": "Odometry",
+      "autoPopulate": false,
+      "autoPopulatePrefix": "",
+      "widgetPane": {
+        "gridSize": 128.0,
+        "showGrid": true,
+        "hgap": 16.0,
+        "vgap": 16.0,
+        "titleType": 0,
+        "tiles": {
+          "0,0": {
+            "size": [
+              2,
+              2
+            ],
+            "content": {
+              "_type": "Gyro",
+              "_source0": "network_table:///Pose Table/Odometry R",
+              "_title": "Pose Table/Odometry R",
+              "_glyph": 148,
+              "_showGlyph": false,
+              "Visuals/Major tick spacing": 45.0,
+              "Visuals/Starting angle": 90.0,
+              "Visuals/Show tick mark ring": true,
+              "Visuals/Counter clockwise": true
+            }
+          },
+          "0,2": {
+            "size": [
+              4,
+              1
+            ],
+            "content": {
+              "_type": "Number Bar",
+              "_source0": "network_table:///Pose Table/Odometry X",
+              "_title": "Pose Table/Odometry X",
+              "_glyph": 148,
+              "_showGlyph": false,
+              "Range/Min": 0.0,
+              "Range/Max": 16.0,
+              "Range/Center": 0.0,
+              "Visuals/Num tick marks": 5,
+              "Visuals/Show text": true,
+              "Visuals/Orientation": "HORIZONTAL"
+            }
+          },
+          "4,0": {
+            "size": [
+              1,
+              3
+            ],
+            "content": {
+              "_type": "Number Bar",
+              "_source0": "network_table:///Pose Table/Odometry Y",
+              "_title": "Pose Table/Odometry Y",
+              "_glyph": 148,
+              "_showGlyph": false,
+              "Range/Min": 0.0,
+              "Range/Max": 10.0,
+              "Range/Center": 0.0,
+              "Visuals/Num tick marks": 5,
+              "Visuals/Show text": true,
+              "Visuals/Orientation": "VERTICAL"
+            }
+          },
+          "2,0": {
+            "size": [
+              2,
+              2
+            ],
+            "content": {
+              "_type": "Gyro",
+              "_source0": "network_table:///Pose Table/Gyro Angle",
+              "_title": "Pose Table/Gyro Angle",
+              "_glyph": 148,
+              "_showGlyph": false,
+              "Visuals/Major tick spacing": 45.0,
+              "Visuals/Starting angle": 180.0,
+              "Visuals/Show tick mark ring": true,
+              "Visuals/Counter clockwise": false
+            }
+          }
+        }
+      }
     }
   ],
   "windowGeometry": {
-    "x": -8.0,
-    "y": -8.0,
-    "width": 2576.0,
-    "height": 1568.0
+    "x": 0.800000011920929,
+    "y": 0.800000011920929,
+    "width": 1534.4000244140625,
+    "height": 910.4000244140625
   }
 }

src/constants/FieldConstants.py

@@ -0,0 +1,36 @@
+import math
+
+from wpimath.geometry import Pose2d, Translation2d
+
+from constants.RobotConstants import RobotConstants
+
+MetersPerInch = 0.0254
+
+kSpeakerShootingRange = (72 + (RobotConstants.frame_length / 2)) * MetersPerInch
+kAmpShootingRange = (
+  0 + (RobotConstants.frame_length / 2 + RobotConstants.bumper_width)
+) * MetersPerInch
+kPickupRange = (20 + (RobotConstants.frame_length / 2)) * MetersPerInch
+## Locations -- https://firstfrc.blob.core.windows.net/frc2024/FieldAssets/2024LayoutMarkingDiagram.pdf, page 4 ##
+
+# Speaker locations #
+kBlueSpeakerLocation = Pose2d(0, 218.42 * MetersPerInch, math.pi)
+kRedSpeakerLocation = Pose2d(652.77 * MetersPerInch, 216.32 * MetersPerInch, 0)
+# Amp locations #
+kBlueAmpLocation = Pose2d(72.5 * MetersPerInch, 323 * MetersPerInch, math.pi / 2)
+kRedAmpLocation = Pose2d(578.757 * MetersPerInch, 323 * MetersPerInch, math.pi / 2)
+# Pickup locations (Scoring table perspective) #
+kBluePickupLeftLocation = Pose2d(
+  14.02 * MetersPerInch, 34.79 * MetersPerInch, math.pi / 3
+)
+kBluePickupRightLocation = Pose2d(
+  57.54 * MetersPerInch, 9.68 * MetersPerInch, math.pi / 3
+)
+kRedPickupLeftLocation = Pose2d(
+  593.68 * MetersPerInch, 9.68 * MetersPerInch, math.pi * 2 / 3
+)
+kRedPickupRightLocation = Pose2d(
+  637.21 * MetersPerInch, 34.79 * MetersPerInch, math.pi * 2 / 3
+)
+BluePickupOffset = Translation2d(kPickupRange, math.pi / 3)
+RedPickupOffset = Translation2d(kPickupRange, math.pi * 2 / 3)

src/driveteam.py

@@ -6,6 +6,7 @@ def __init__(self):
     self.pilot = wpilib.XboxController(0)
     self.copilot = wpilib.XboxController(1)
 
+  ### Pilot ###
   def get_strafe_command(self):
     return -self.pilot.getLeftX()
 
@@ -30,6 +31,25 @@ def get_hook_left_command(self):
   def get_hook_right_command(self):
     return self.pilot.getPOV() == 180
 
+  def get_view_command(self) -> bool:  # swap between 3rd & first person view
+    return self.pilot.getBackButtonPressed()
+
+  def get_move_to_amp_command(self):
+    # return self.pilot.getYButton()
+    return False
+
+  def get_move_to_speaker_command(self):
+    return self.pilot.getAButton()
+
+  def get_move_to_pickup_left_command(self):
+    # return self.pilot.getXButton()
+    return False
+
+  def get_move_to_pickup_right_command(self):
+    # return self.pilot.getBButton()
+    return False
+
+  ### Copilot ###
   def get_aim_command(self) -> float:  # raise/lower shooter
     return self.copilot.getLeftY()
 
@@ -45,11 +65,5 @@ def get_pickup_command(self) -> float:  # used to pickup rings
   def get_eject_command(self) -> bool:  # eject stuck note
     return self.copilot.getLeftBumper()
 
-  def get_test_command(self):
-    return self.pilot.getAButton()
-
   def get_test_command2(self):
     return self.copilot.getAButton()
-
-  def get_view_command(self) -> bool:  # swap between 3rd & first person view
-    return self.pilot.getBackButtonPressed()

src/launcher.py

@@ -10,10 +10,10 @@ def __init__(self):
 
     self.feed = rev.CANSparkMax(12, rev.CANSparkLowLevel.MotorType.kBrushless)
 
-    if wpilib.RobotBase.isReal():
-      self.elevator = rev.CANSparkMax(13, rev.CANSparkLowLevel.MotorType.kBrushed)
-    else:
-      self.elevator = rev.CANSparkMax(13, rev.CANSparkLowLevel.MotorType.kBrushless)
+    # if wpilib.RobotBase.isReal():
+    #   self.elevator = rev.CANSparkMax(13, rev.CANSparkLowLevel.MotorType.kBrushed)
+    # else:
+    #   self.elevator = rev.CANSparkMax(13, rev.CANSparkLowLevel.MotorType.kBrushless)
 
     # Limit switches
     self.upperswitch = wpilib.DigitalInput(1)
@@ -24,10 +24,11 @@ def __init__(self):
     self.firetimer = 75
 
   def stop(self):
-    # self.motor1.set(0.0)
-    # self.motor2.set(0.0)
+    self.motor1.set(0.0)
+    self.motor2.set(0.0)
+
     self.feed.set(0.0)
-    self.elevator.set(0.0)
+    # self.elevator.set(0.0)
     self.firetimer = 75  # In robot cycles
 
   def shoot(self, fire: float):
@@ -37,8 +38,8 @@ def shoot(self, fire: float):
       # Stop unrelated motors
       # self.elevator.set(0.0)
       # Spool up rollers
-      # self.motor1.set(-fire)
-      # self.motor2.set(fire)
+      self.motor1.set(-fire)
+      self.motor2.set(fire)
       self.firetimer = self.firetimer - 1
 
       # Feed ring into launcher when we are at the lowered position
@@ -52,8 +53,8 @@ def unjams(self):
     # Stop unrelated motors
     # self.elevator.set(0.0)
     # Reverse rollers
-    # self.motor1.set(0.25)
-    # self.motor2.set(-0.25)
+    self.motor1.set(0.25)
+    self.motor2.set(-0.25)
     self.feed.set(-0.5)
 
   ### Elevator is currently not physically implemented. Might be added later. ###
@@ -101,8 +102,8 @@ def unjams(self):
 
   def pickup(self):
     # # Stop unrelated motors
-    # self.motor1.set(0.0)
-    # self.motor2.set(0.0)
+    self.motor1.set(0.0)
+    self.motor2.set(0.0)
     # self.elevator.set(0.0)
     # Stop when note reaches limit switch in the feed mechanism
     if not self.feedswitch.get():
@@ -113,8 +114,8 @@ def pickup(self):
 
   def eject(self):
     # Stop unrelated motors
-    # self.motor1.set(0.0)
-    # self.motor2.set(0.0)
+    self.motor1.set(0.0)
+    self.motor2.set(0.0)
     # self.elevator.set(0.0)
     # Push note back out the pickup
     self.feed.set(-0.5)

src/pyproject.toml

@@ -6,7 +6,7 @@
 [tool.robotpy]
 
 # Version of robotpy this project depends on
-robotpy_version = "2024.3.1.0"
+robotpy_version = "2024.3.2.1"
 
 # Which extra RobotPy components should be installed
 # -> equivalent to `pip install robotpy[extra1, ...]
@@ -93,4 +93,4 @@ indent-style = "space"
 # Respect magic trailing commas.
 skip-magic-trailing-comma = false
 # Automatically detect the appropriate line ending.
-line-ending = "auto"
+line-ending = "auto"