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Added support for walter to become a shooter bot (by James) #78

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Added support for walter to become a shooter bot (by James) #78

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178 changes: 17 additions & 161 deletions CompetitionRobot/src/org/frc4931/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -23,38 +23,19 @@
/* Created Sun Jan 10 12:59:55 CST 2016 */
package org.frc4931.robot;

import java.util.HashMap;
import java.util.Map;
import java.util.function.Supplier;

import org.frc4931.robot.arm.Arm;
import org.frc4931.robot.arm.CalibrateArm;
import org.frc4931.robot.arm.LowerArmWhile;
import org.frc4931.robot.arm.MoveArmTo;
import org.frc4931.robot.arm.RaiseArmWhile;
import org.frc4931.robot.drive.AutoChevalDeFrise;
import org.frc4931.robot.drive.AutoPortcullis;
import org.frc4931.robot.drive.DriveSystem;
import org.frc4931.robot.drive.TimedDrive;
import org.frc4931.robot.math.PIDGains;
import org.frc4931.robot.roller.Roller;
import org.frc4931.robot.roller.SpitWhile;
import org.frc4931.robot.roller.SuckWhile;
import org.frc4931.robot.shooter.Shooter;
import org.strongback.Strongback;
import org.strongback.SwitchReactor;
import org.strongback.command.Command;
import org.strongback.components.DistanceSensor;
import org.strongback.components.Motor;
import org.strongback.components.Switch;
import org.strongback.components.TalonSRX;
import org.strongback.components.ui.ContinuousRange;
import org.strongback.components.ui.FlightStick;
import org.strongback.control.TalonController;
import org.strongback.drive.TankDrive;
import org.strongback.hardware.Hardware;

import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

public class Robot extends IterativeRobot {
Expand All @@ -64,55 +45,22 @@ public class Robot extends IterativeRobot {
private static final int LEFT_REAR_MOTOR_PWM_CHANNEL = 3;
private static final int RIGHT_FRONT_MOTOR_PWM_CHANNEL = 0;
private static final int RIGHT_REAR_MOTOR_PWM_CHANNEL = 1;
private static final int BALL_SENSOR_A_DIO_CHANNEL = 2;
private static final int BALL_SENSOR_B_DIO_CHANNEL = 3;
private static final int ROLLER_MOTOR_CAN_ID = 0;
private static final int ARM_MOTOR_CAN_ID = 1;
private static final int LEFT_SHOOTER_PWM_CHANNEL = 4;
private static final int RIGHT_SHOOTER_PWM_CHANNEL = 5;
private static final int FORWARD_AIN_CHANNEL = 0;
private static final double FORWARD_INCHES_PER_VOLT = 102.4;

// 7 pulses per rev; 71:1 motor gearing ratio; 28:12 sprocket ratio; 360 degrees per rev
private static final double ARM_PULSES_PER_DEGREE = 3.2213;
public static final double ARM_HOME_ANGLE = 0.0;
public static final double ARM_LOW_ANGLE = 190.0; // lifting the portcullis
public static final double ARM_MID_ANGLE = 150.0; // grabbing boulders
public static final double ARM_HIGH_ANGLE = 130.0; // cheval de frise and portcullis
public static final double ARM_CHEVAL_DOWN_ANGLE = 180.0; // pushing down cheval de frise
//public static final PIDGains ARM_DEFAULT_GAINS = new PIDGains(47.4, 0.015, 0.0);
public static final PIDGains ARM_DEFAULT_GAINS = new PIDGains(100.4, 0.015, 0.0);

public static final double AUTO_DRIVE_SPEED = 0.65;
public static final double AUTO_DRIVE_TIME = 2.8;
public static final double CHEVAL_DE_FRISE_DISTANCE_IN_INCHES = 10.0;

private DriveSystem drive;
private Arm arm;
private Roller roller;
private ContinuousRange driveSpeed;
private ContinuousRange turnSpeed;
private double driveScale = 1.0;
private SendableChooser autoChooser;

private static final Map<String,Supplier<Command>> AUTONOMOUS_SELECTION = new HashMap<>();

public static final class Auto {
public static final String LOW_BAR = "Low Bar";
public static final String RAMPARTS = "Ramparts";
public static final String ROUGH_TERRAIN = "Rough Terrain";
public static final String MOAT = "Moat";
public static final String ROCK_WALL = "Rock Wall";
public static final String PORTCULLIS = "Portcullis";
public static final String CHEVAL_DE_FRISE = "Cheval de Frise";
public static final String DRAWBRIDGE = "Drawbridge";
public static final String SALLY_DOOR = "Sally Door";
}

@Override
public void robotInit() {
Strongback.configure()
// .recordNoData().recordNoEvents().recordNoCommands();
.recordDataToFile(LOG_FILES_DIRECTORY_PATH)
.recordEventsToFile(LOG_FILES_DIRECTORY_PATH, 2097152);
Strongback.configure();
// .recordEventsToFile(LOG_FILES_DIRECTORY_PATH, 2097152)
// .recordDataToFile(LOG_FILES_DIRECTORY_PATH)
//.initialize();

// Define the motors and the drive system ...
Motor leftFrontMotor = Hardware.Motors.victorSP(LEFT_FRONT_MOTOR_PWM_CHANNEL);
Expand All @@ -121,140 +69,48 @@ public void robotInit() {
Motor rightRearMotor = Hardware.Motors.victorSP(RIGHT_REAR_MOTOR_PWM_CHANNEL);
Motor leftMotors = Motor.compose(leftFrontMotor, leftRearMotor);
Motor rightMotors = Motor.compose(rightFrontMotor, rightRearMotor).invert();
Motor leftShooter = Hardware.Motors.talonSRX(LEFT_SHOOTER_PWM_CHANNEL);
Motor rightShooter = Hardware.Motors.talonSRX(RIGHT_SHOOTER_PWM_CHANNEL).invert();
Motor shooterMotors = Motor.compose(leftShooter, rightShooter);
TankDrive tankDrive = new TankDrive(leftMotors, rightMotors);
DistanceSensor forward = Hardware.DistanceSensors.analogUltrasonic(FORWARD_AIN_CHANNEL, FORWARD_INCHES_PER_VOLT);
Shooter shooter = new Shooter(shooterMotors);
drive = new DriveSystem(tankDrive, forward);

// Initialize the subsystems ...
TalonController armMotor = Hardware.Controllers.talonController(ARM_MOTOR_CAN_ID, ARM_PULSES_PER_DEGREE, 0.0);
armMotor.setFeedbackDevice(TalonSRX.FeedbackDevice.QUADRATURE_ENCODER);
armMotor.reverseOutput(true);
armMotor.reverseSensor(true);
// armMotor.setForwardSoftLimit(0);
// armMotor.setReverseSoftLimit(205);
// armMotor.setForwardSoftLimit(-120);
// armMotor.setReverseSoftLimit(-40);
arm = new Arm(armMotor);
arm.setGains(ARM_DEFAULT_GAINS);
arm.setSoftLimitsEnabled(false);

Motor rollerMotor = Hardware.Motors.talonSRX(ROLLER_MOTOR_CAN_ID);
Switch ballInA = Hardware.Switches.normallyOpen(BALL_SENSOR_A_DIO_CHANNEL);
Switch ballInB = Hardware.Switches.normallyOpen(BALL_SENSOR_B_DIO_CHANNEL);
roller = new Roller(rollerMotor, Switch.and(ballInA, ballInB));

// CameraServer.getInstance().setQuality(50);
// CameraServer.getInstance().startAutomaticCapture(new USBCamera());

// Define the interface components ...
FlightStick driverJoystick = Hardware.HumanInterfaceDevices.logitechAttack3D(0);
ContinuousRange throttle = driverJoystick.getThrottle().map(t -> (1.0 - t) / 2);
driveSpeed = driverJoystick.getPitch().scale(throttle::read).scale(() -> driveScale).invert();
turnSpeed = driverJoystick.getYaw().scale(throttle::read);
Switch flipDirection = driverJoystick.getTrigger();
Switch armUp = driverJoystick.getButton(6);
Switch armDown = driverJoystick.getButton(4);
Switch suck = driverJoystick.getButton(3);
Switch spit = driverJoystick.getButton(5);

FlightStick coDriverJoystick = Hardware.HumanInterfaceDevices.logitechAttack3D(1);
Switch armUpB = coDriverJoystick.getButton(3);
Switch armDownB = coDriverJoystick.getButton(2);
Switch armLow = coDriverJoystick.getButton(7);
Switch armMid = coDriverJoystick.getButton(11);
Switch armHigh = coDriverJoystick.getButton(6);
// Switch raisePortcullis = coDriverJoystick.getButton(12); // If other PID constants are needed
Switch shoot = driverJoystick.getThumb();

// Register the functions that run when the switches change state ...
SwitchReactor reactor = Strongback.switchReactor();
reactor.onTriggered(shoot, () -> shooter.changeShootState());
reactor.onTriggered(flipDirection, () -> shooter.shoot());
reactor.onUntriggered(flipDirection, () -> shooter.stopShooting());

reactor.onTriggered(flipDirection, () -> driveScale *= -1.0);
reactor.onTriggeredSubmit(suck, () -> new SuckWhile(roller, suck));
reactor.onTriggeredSubmit(spit, () -> new SpitWhile(roller, spit));
reactor.onTriggeredSubmit(armUp, () -> new RaiseArmWhile(arm, armUp));
reactor.onTriggeredSubmit(armDown, () -> new LowerArmWhile(arm, armDown));
reactor.onTriggeredSubmit(driverJoystick.getThumb(), () -> new CalibrateArm(arm));

reactor.onTriggeredSubmit(armUpB, () -> new RaiseArmWhile(arm, armUpB));
reactor.onTriggeredSubmit(armDownB, () -> new LowerArmWhile(arm, armDownB));
reactor.onTriggeredSubmit(armLow, () -> new MoveArmTo(arm, ARM_LOW_ANGLE));
reactor.onTriggeredSubmit(armMid, () -> new MoveArmTo(arm, ARM_MID_ANGLE));
reactor.onTriggeredSubmit(armHigh, () -> new MoveArmTo(arm, ARM_HIGH_ANGLE));
//reactor.onTriggered(flipDirection, () -> driveScale *= -1.0);


// Set up the data recorder to capture the left & right motor speeds and the sensivity.
// We have to do this before we start Strongback...
// Strongback.dataRecorder()
// .register("Left motors", leftMotors)
// .register("Right motors", rightMotors)
// .register("Sensitivity", throttle.scaleAsInt(1000))
// .register("Arm Angle", ()-> (int)(100*arm.getCurrentAngle()));

// Set up the auto mode chooser for the Smart Dashboard ...
autoChooser = new SendableChooser();
autoChooser.addDefault(Auto.LOW_BAR, Auto.LOW_BAR);
autoChooser.addObject(Auto.LOW_BAR, Auto.LOW_BAR);
autoChooser.addObject(Auto.RAMPARTS, Auto.RAMPARTS);
autoChooser.addObject(Auto.ROUGH_TERRAIN, Auto.ROUGH_TERRAIN);
autoChooser.addObject(Auto.MOAT, Auto.MOAT);
autoChooser.addObject(Auto.ROCK_WALL, Auto.ROCK_WALL);
autoChooser.addObject(Auto.PORTCULLIS, Auto.PORTCULLIS);
autoChooser.addObject(Auto.CHEVAL_DE_FRISE, Auto.CHEVAL_DE_FRISE);
autoChooser.addObject(Auto.DRAWBRIDGE, Auto.DRAWBRIDGE);
autoChooser.addObject(Auto.SALLY_DOOR, Auto.SALLY_DOOR);
SmartDashboard.putData("Autonomous Modes", autoChooser);

AUTONOMOUS_SELECTION.clear();
AUTONOMOUS_SELECTION.put(Auto.LOW_BAR, ()->new TimedDrive(drive,0.60,3.0));
AUTONOMOUS_SELECTION.put(Auto.MOAT, ()->new TimedDrive(drive,0.70,3.5));
AUTONOMOUS_SELECTION.put(Auto.ROUGH_TERRAIN, ()->new TimedDrive(drive,0.75,2.5));
AUTONOMOUS_SELECTION.put(Auto.RAMPARTS, ()->new TimedDrive(drive,0.65,3.75));
AUTONOMOUS_SELECTION.put(Auto.ROCK_WALL, ()->new TimedDrive(drive,0.75,2.5));
AUTONOMOUS_SELECTION.put(Auto.PORTCULLIS, ()->new AutoPortcullis(drive,arm,forward));
AUTONOMOUS_SELECTION.put(Auto.DRAWBRIDGE, ()->null);
AUTONOMOUS_SELECTION.put(Auto.SALLY_DOOR, ()->null);
AUTONOMOUS_SELECTION.put(Auto.CHEVAL_DE_FRISE, ()->new AutoChevalDeFrise(drive,arm,forward));
}

@Override
public void autonomousInit() {
// Start Strongback functions ...
Strongback.restart();

// Figure out which autonomous command we will use ...
String selected = (String) autoChooser.getSelected();
Supplier<Command> commandSupplier = selected == null ? null : AUTONOMOUS_SELECTION.get(selected);
if ( commandSupplier == null ) commandSupplier = AUTONOMOUS_SELECTION.get(Auto.LOW_BAR);
System.out.println("Running autonomous: " + selected);
Strongback.submit(commandSupplier.get());
}

@Override
public void autonomousPeriodic() {
SmartDashboard.putNumber("Arm Angle", arm.getCurrentAngle());
SmartDashboard.putNumber("Arm Target", arm.getTargetAngle());
SmartDashboard.putBoolean("Arm At Home", arm.isAtHome());
SmartDashboard.putNumber("Throttle", driveSpeed.read());

double forwardDistance = drive.getForwardProximity().getDistanceInInches();
SmartDashboard.putNumber("Forward Distance", forwardDistance);
SmartDashboard.putBoolean("Distance < 12in", forwardDistance < 12.0);
}

@Override
public void teleopInit() {
// Kill anything running, and start it ...
Strongback.restart();
Strongback.submit(new CalibrateArm(arm));
}

@Override
public void teleopPeriodic() {
drive.arcade(driveSpeed.read(), turnSpeed.read());

SmartDashboard.putNumber("Arm Angle", arm.getCurrentAngle());
SmartDashboard.putNumber("Arm Target", arm.getTargetAngle());
SmartDashboard.putBoolean("Arm At Home", arm.isAtHome());
SmartDashboard.putNumber("Throttle", driveSpeed.read());

double forwardDistance = drive.getForwardProximity().getDistanceInInches();
Expand Down
34 changes: 34 additions & 0 deletions CompetitionRobot/src/org/frc4931/robot/shooter/Shooter.java
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Original file line number Diff line number Diff line change
@@ -0,0 +1,34 @@
package org.frc4931.robot.shooter;

import org.strongback.command.Requirable;
import org.strongback.components.Motor;

/**
* Created by jcrane on 5/26/17.
*/
public class Shooter implements Requirable {
private static final double shooterSpeed = 1.0;
private final Motor shootingMotor;
private boolean isShootng = false;

public Shooter(Motor shootingMotor) {
this.shootingMotor = shootingMotor;
}

public void shoot () {
shootingMotor.setSpeed(shooterSpeed);
}

public void stopShooting () {
shootingMotor.setSpeed(0);
}

public void changeShootState() {
if (isShootng)
stopShooting();
else
shoot();
isShootng = !isShootng;
}

}