From cb0976ee0e42a2724a47b476aece98ffe93d71b0 Mon Sep 17 00:00:00 2001 From: John Joseph Date: Mon, 15 Jan 2024 12:34:55 -0500 Subject: [PATCH] Prototype code + correct motor IDs --- .../deploy/choreo/Experimental-4_Piece.chor | 22 +- .../choreo/Experimental-4_Piece_Proto.chor | 6888 +++++++++++++++++ .../Experimental-4_Piece_Prototype.chor | 136 - .../robot2024/auto/routines/Proto4Piece.kt | 35 - .../robot2024/auto/routines/RoutineChooser.kt | 12 - .../constants/drives/SwerveConstants.kt | 26 +- .../subsystem/ProtoIntakeConstants.kt | 8 +- .../robot2024/subsystems/ProtoIntake.kt | 3 +- 8 files changed, 6919 insertions(+), 211 deletions(-) create mode 100644 src/main/deploy/choreo/Experimental-4_Piece_Proto.chor delete mode 100644 src/main/deploy/choreo/Experimental-4_Piece_Prototype.chor delete mode 100644 src/main/kotlin/frc/team449/robot2024/auto/routines/Proto4Piece.kt diff --git a/src/main/deploy/choreo/Experimental-4_Piece.chor b/src/main/deploy/choreo/Experimental-4_Piece.chor index 4a1c88b..bef3007 100644 --- a/src/main/deploy/choreo/Experimental-4_Piece.chor +++ b/src/main/deploy/choreo/Experimental-4_Piece.chor @@ -1284,14 +1284,14 @@ "first" ], "type": "StopPoint", - "uuid": "69c3c26b-11f4-45f5-81ef-5c62fc04b19c" + "uuid": "0281d458-e113-4933-b472-e4c4203bfeaf" }, { "scope": [ "last" ], "type": "StopPoint", - "uuid": "add15e94-fd82-423e-b7b5-1e35f0d36985" + "uuid": "c22a32f3-9720-419e-beb5-e560ad7fdd3e" }, { "scope": [ @@ -1299,7 +1299,7 @@ 2 ], "type": "MaxVelocity", - "uuid": "fb1851d3-f822-4332-990d-7da00b0953f1", + "uuid": "633a4d32-271f-4d6c-9d30-2793d70d7c2c", "velocity": 0.825 } ], @@ -4199,14 +4199,14 @@ "first" ], "type": "StopPoint", - "uuid": "6d3dadeb-4180-4b44-91f9-eb6e893da4d4" + "uuid": "5daf990f-deca-4652-8c6d-886da8a3dfcc" }, { "scope": [ "last" ], "type": "StopPoint", - "uuid": "ff1ca46b-52b3-44a2-a410-083692fe1512" + "uuid": "3572a5e2-c776-45bb-8b96-8333beb20461" }, { "scope": [ @@ -4214,7 +4214,7 @@ 2 ], "type": "StraightLine", - "uuid": "c8cbe424-08b8-4e05-851e-ce115b29d337" + "uuid": "a4de517e-c70b-467b-9037-ad744b5afcd1" }, { "scope": [ @@ -4222,7 +4222,7 @@ 2 ], "type": "MaxVelocity", - "uuid": "e392d9bc-6eb1-4d1e-8344-0d2868304fbe", + "uuid": "ef52e912-ef37-42e3-a513-9ab8635e900c", "velocity": 0.825 } ], @@ -6987,14 +6987,14 @@ "first" ], "type": "StopPoint", - "uuid": "7c802b38-a917-4602-8d46-2db6460e3067" + "uuid": "fb7119aa-67c9-4a50-a01e-7486b8c1fe5d" }, { "scope": [ "last" ], "type": "StopPoint", - "uuid": "02c9bf2f-dbfc-4f57-98d2-7e5e0cd407cb" + "uuid": "2698d8f4-ca24-4769-9dbb-e8596e0ddbdb" }, { "scope": [ @@ -7002,7 +7002,7 @@ 2 ], "type": "StraightLine", - "uuid": "ebccc4a0-c356-4819-a12f-8f4c3582531e" + "uuid": "7dfcc746-a52b-468b-8dd2-491fab77c168" }, { "scope": [ @@ -7010,7 +7010,7 @@ 2 ], "type": "MaxVelocity", - "uuid": "3c618628-64ad-44c7-be7a-a55dc6ace9ec", + "uuid": "1010f584-08e9-4b94-9a77-0960e910ef27", "velocity": 0.625 } ], diff --git 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[ + 1, + 2 + ], + "type": "MaxVelocity", + "uuid": "1010f584-08e9-4b94-9a77-0960e910ef27", + "velocity": 0.575 + } + ], + "usesControlIntervalGuessing": false, + "defaultControlIntervalCount": 100, + "usesDefaultFieldObstacles": true, + "circleObstacles": [] + } + } +} \ No newline at end of file diff --git a/src/main/deploy/choreo/Experimental-4_Piece_Prototype.chor b/src/main/deploy/choreo/Experimental-4_Piece_Prototype.chor deleted file mode 100644 index e258eb7..0000000 --- a/src/main/deploy/choreo/Experimental-4_Piece_Prototype.chor +++ /dev/null @@ -1,136 +0,0 @@ -{ - "version": "v0.2", - "robotConfiguration": { - "mass": 60, - "rotationalInertia": 6, - "motorMaxTorque": 1.162295081967213, - "motorMaxVelocity": 4800, - "gearing": 6.75, - "wheelbase": 0.6223, - "trackWidth": 0.5461, - "bumperLength": 0.9271, - "bumperWidth": 0.851, - "wheelRadius": 0.0508 - }, - "paths": { - "4": { - "waypoints": [ - { - "x": 9.335601806640625, - "y": 0.9251009821891785, - "heading": 0, - 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"defaultControlIntervalCount": 40, - "usesDefaultFieldObstacles": true, - "circleObstacles": [] - }, - "9": { - "waypoints": [ - { - "x": 9.487251281738281, - "y": 1.0334224700927734, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 0 - }, - { - "x": 9.443922996520996, - "y": 4.337231159210205, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 0 - }, - { - "x": 9.443922996520996, - "y": 5.182139873504639, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 0 - }, - { - "x": 7.158337116241455, - "y": 5.182139873504639, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 0 - }, - { - "x": 7.1691694259643555, - "y": 3.600644588470459, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 0 - }, - { - "x": 9.443922996520996, - "y": 3.6439731121063232, - "heading": 0, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 0 - } - ], - "trajectory": [], - "constraints": [], - "usesControlIntervalGuessing": true, - "defaultControlIntervalCount": 40, - "usesDefaultFieldObstacles": true, - "circleObstacles": [] - } - } -} \ No newline at end of file diff --git a/src/main/kotlin/frc/team449/robot2024/auto/routines/Proto4Piece.kt b/src/main/kotlin/frc/team449/robot2024/auto/routines/Proto4Piece.kt deleted file mode 100644 index 7cc1b2e..0000000 --- a/src/main/kotlin/frc/team449/robot2024/auto/routines/Proto4Piece.kt +++ /dev/null @@ -1,35 +0,0 @@ -package frc.team449.robot2024.auto.routines - -import edu.wpi.first.wpilibj2.command.WaitCommand -import frc.team449.control.auto.ChoreoRoutine -import frc.team449.control.auto.ChoreoRoutineStructure -import frc.team449.control.auto.ChoreoTrajectory -import frc.team449.robot2024.Robot -import frc.team449.robot2024.auto.AutoUtil - -class Proto4Piece( - robot: Robot, - isRed: Boolean -) : ChoreoRoutineStructure { - - override val routine = - ChoreoRoutine( - drive = robot.drive, - parallelEventMap = hashMapOf(), - stopEventMap = hashMapOf( - 0 to WaitCommand(1.25), - 1 to WaitCommand(1.25), - 2 to WaitCommand(1.25) - ), - debug = true - ) - - override val trajectory: MutableList = - if (isRed) { - AutoUtil.transformForRed( - ChoreoTrajectory.createTrajectory("Experimental-4_Piece_Prototype") - ) - } else { - ChoreoTrajectory.createTrajectory("Experimental-4_Piece_Prototype") - } -} diff --git a/src/main/kotlin/frc/team449/robot2024/auto/routines/RoutineChooser.kt b/src/main/kotlin/frc/team449/robot2024/auto/routines/RoutineChooser.kt index c669dcd..6e263aa 100644 --- a/src/main/kotlin/frc/team449/robot2024/auto/routines/RoutineChooser.kt +++ b/src/main/kotlin/frc/team449/robot2024/auto/routines/RoutineChooser.kt @@ -11,9 +11,6 @@ class RoutineChooser(private val robot: Robot) : SendableChooser() { "DoNothing" to DoNothing(robot).createCommand(), "Red4Piece" to Experimental4Piece(robot, true).createCommand(), "Blue4Piece" to Experimental4Piece(robot, false).createCommand(), - "RedProto4Piece" to Proto4Piece(robot, true).createCommand(), - "BlueProto4Piece" to Proto4Piece(robot, false).createCommand() - ) } @@ -33,14 +30,5 @@ class RoutineChooser(private val robot: Robot) : SendableChooser() { "Blue4Piece" } ) - - this.addOption( - "Proto 4 piece", - if (isRed) { - "RedProto4Piece" - } else { - "BlueProto4Piece" - } - ) } } diff --git a/src/main/kotlin/frc/team449/robot2024/constants/drives/SwerveConstants.kt b/src/main/kotlin/frc/team449/robot2024/constants/drives/SwerveConstants.kt index 27f9910..58d1b5e 100644 --- a/src/main/kotlin/frc/team449/robot2024/constants/drives/SwerveConstants.kt +++ b/src/main/kotlin/frc/team449/robot2024/constants/drives/SwerveConstants.kt @@ -6,26 +6,26 @@ object SwerveConstants { const val EFFICIENCY = 0.95 /** Drive motor ports */ - const val DRIVE_MOTOR_FL = 11 - const val DRIVE_MOTOR_FR = 17 - const val DRIVE_MOTOR_BL = 38 + const val DRIVE_MOTOR_FL = 3 + const val DRIVE_MOTOR_FR = 33 + const val DRIVE_MOTOR_BL = 11 const val DRIVE_MOTOR_BR = 22 - const val TURN_MOTOR_FL = 20 - const val TURN_MOTOR_FR = 3 + const val TURN_MOTOR_FL = 38 + const val TURN_MOTOR_FR = 17 const val TURN_MOTOR_BL = 41 const val TURN_MOTOR_BR = 45 /** Turning encoder channels */ - const val TURN_ENC_CHAN_FL = 6 - const val TURN_ENC_CHAN_FR = 9 - const val TURN_ENC_CHAN_BL = 5 - const val TURN_ENC_CHAN_BR = 8 + const val TURN_ENC_CHAN_FL = 8 + const val TURN_ENC_CHAN_FR = 5 + const val TURN_ENC_CHAN_BL = 9 + const val TURN_ENC_CHAN_BR = 6 /** Offsets for the absolute encoders in rotations */ - const val TURN_ENC_OFFSET_FL = 0.396987 - const val TURN_ENC_OFFSET_FR = 0.389095 - const val TURN_ENC_OFFSET_BL = 0.787267 - 0.5 - const val TURN_ENC_OFFSET_BR = 0.215026 + const val TURN_ENC_OFFSET_FL = 1.0 - 0.108883 + 0.5 + const val TURN_ENC_OFFSET_FR = 1.0 - 0.037868 + const val TURN_ENC_OFFSET_BL = 0.297095 + const val TURN_ENC_OFFSET_BR = 1.0 - 0.359929 /** PID gains for turning each module */ const val TURN_KP = 0.85 diff --git a/src/main/kotlin/frc/team449/robot2024/constants/subsystem/ProtoIntakeConstants.kt b/src/main/kotlin/frc/team449/robot2024/constants/subsystem/ProtoIntakeConstants.kt index 923c11f..8c4716c 100644 --- a/src/main/kotlin/frc/team449/robot2024/constants/subsystem/ProtoIntakeConstants.kt +++ b/src/main/kotlin/frc/team449/robot2024/constants/subsystem/ProtoIntakeConstants.kt @@ -1,9 +1,11 @@ package frc.team449.robot2024.constants.subsystem object ProtoIntakeConstants { - const val MOTOR_ID = 21 - const val INVERTED = false - const val CURRENT_LIM = 20 + const val MOTOR_ID = 7 + const val FOLLOLWER_ID = 55 + const val FOLLOWER_INV = false + const val INVERTED = true + const val CURRENT_LIM = 15 const val INTAKE_VOLTAGE = 8.0 const val REVERSE_VOLTAGE = -5.0 diff --git a/src/main/kotlin/frc/team449/robot2024/subsystems/ProtoIntake.kt b/src/main/kotlin/frc/team449/robot2024/subsystems/ProtoIntake.kt index ec62e2a..acf173f 100644 --- a/src/main/kotlin/frc/team449/robot2024/subsystems/ProtoIntake.kt +++ b/src/main/kotlin/frc/team449/robot2024/subsystems/ProtoIntake.kt @@ -45,7 +45,8 @@ class ProtoIntake( 1.0 ), inverted = ProtoIntakeConstants.INVERTED, - currentLimit = ProtoIntakeConstants.CURRENT_LIM + currentLimit = ProtoIntakeConstants.CURRENT_LIM, + slaveSparks = mapOf(Pair(ProtoIntakeConstants.FOLLOLWER_ID, ProtoIntakeConstants.FOLLOWER_INV)) ) return ProtoIntake(motor)