add sound code for mech and driver station

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2023.2.1"
+    id "edu.wpi.first.GradleRIO" version "2023.4.3"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11

src/main/deploy/How_To_Run_DS.txt

@@ -0,0 +1,17 @@
+To run the sound system on the 2023 Haunted House:
+
+1. Plug the 3.5mm audio cable into the speaker and the audio jack on the driverstation computer.
+2. Save 'driverstation_script.py' and 'explosion_sound.wav' to a directory on the driverstation computer.
+3. If python3 is not installed, install it. 
+4. If desired (such as if running on non-GRT computer), create a virtual environment (venv) with python3.
+5. Install pygame and pynetworktables:
+    Run 'python3 -m pip install pynetworktables' to install the module needed for networktables comms.
+    Run 'python3 -m pip install pygame' to install the module needed for sound playback.
+6. Once on robot WiFi, trigger the python3 script:
+    either by entering 'python3 <filepath/driverstation_script.py>
+    or using the editor's run function (e.g. VSCode run)
+7. Script should print an initialization confirmation.
+8. When triggered via networktables on robot, code should play audio file.
+
+Troubleshooting:
+    1. Change 'debug' variable to True in code to print out trigger value constantly (to check if values are being received).

src/main/deploy/driverstation_script.py

@@ -0,0 +1,33 @@
+# BEFORE RUNNING THIS:
+# run 'python3 -m pip install pynetworktables' to install the module needed for networktables comms
+# run 'python3 -m pip install pygame' to install the module needed for sound playback
+
+from networktables import NetworkTables # <--- this will raise an error when in the java env, create a python venv on DS and run this there
+import pygame
+
+NetworkTables.initialize(server='10.1.92.2') 
+
+audio_table = NetworkTables.getTable("audio")
+
+pygame.mixer.init()
+sound = pygame.mixer.Sound('explosion_sound.wav')
+
+old_trigger_value = 0.0
+debug = False
+
+print("GRT HH Driverstation script initialized and running.")
+
+while True:
+    trigger_value = audio_table.getNumber("trigger_audio", -1.0)
+    if debug:
+        print("Trigger value received: ", trigger_value)
+
+    if old_trigger_value == 0.0 and trigger_value == 1.0:
+        sound.play()
+
+    old_trigger_value = trigger_value
+
+
+
+
+

src/main/java/frc/robot/RobotContainer.java

@@ -4,6 +4,8 @@
 
 package frc.robot;
 
+import frc.robot.subsystems.AryaMech;
+import frc.robot.subsystems.LukeMech;
 import frc.robot.subsystems.SolenoidMech;
 import edu.wpi.first.wpilibj.PneumaticsControlModule;
 
@@ -21,21 +23,21 @@ public class RobotContainer {
   private final SolenoidMech vivienMech;
   private final SolenoidMech seanMech;
   private final SolenoidMech riyaMech;
-  private final SolenoidMech christineMech;
   private final SolenoidMech gregMech;
   private final SolenoidMech williamMech;
 
+  private final LukeMech lukeMech;
+  private final AryaMech aryaMech;
 
 
-  /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
-    christineMech = new SolenoidMech(pcm1.makeSolenoid(0), 5, 5);
-    gregMech = new SolenoidMech(pcm1.makeSolenoid(4), 5, 5);
-    williamMech = new SolenoidMech(pcm1.makeSolenoid(5), 5, 5);
-    seanMech = new SolenoidMech(pcm2.makeSolenoid(0), 5, 5);
-    riyaMech = new SolenoidMech(pcm2.makeSolenoid(1), 5, 5);
-    vivienMech = new SolenoidMech(pcm2.makeSolenoid(2), 5, 5);
-    // Configure the trigger bindings
+    gregMech = new SolenoidMech(pcm1.makeSolenoid(4), 20, 20);
+    williamMech = new SolenoidMech(pcm1.makeSolenoid(7), 3, 3, .5);
+    seanMech = new SolenoidMech(pcm2.makeSolenoid(0), 1.5, 6);
+    riyaMech = new SolenoidMech(pcm2.makeSolenoid(2), 7.5, 14);
+    vivienMech = new SolenoidMech(pcm2.makeSolenoid(4), 2, 5);
+    lukeMech = new LukeMech(pcm1.makeSolenoid(5), pcm1.makeSolenoid(6));
+    aryaMech = new AryaMech(pcm1.makeSolenoid(0), pcm1.makeSolenoid(1), pcm1.makeSolenoid(2));
   }
 
 }

src/main/java/frc/robot/subsystems/AryaMech.java

@@ -0,0 +1,128 @@
+package frc.robot.subsystems;
+
+import javax.swing.text.StyledEditorKit.BoldAction;
+
+import edu.wpi.first.wpilibj.Solenoid;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.util.Color;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.subsystems.leds.LEDLayer;
+import frc.robot.subsystems.leds.LEDStrip;
+import edu.wpi.first.networktables.DoublePublisher;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
+
+public class AryaMech extends SubsystemBase{
+    private Timer timer;
+    private Solenoid shortSolenoid;
+    private Solenoid longSolenoid;
+    private final Solenoid ledStrip;
+
+    private double SHORT_OUT = 40;
+    private double END = SHORT_OUT + 16;
+    private double FLASH_INTERVAL = 0.15;
+    private double SHORT_INTERVAL_IN = 0.2;
+    private double SHORT_INTERVAL_OUT= 2.0;
+
+
+    private boolean out;
+
+    NetworkTableInstance inst;
+    NetworkTable table;
+    DoublePublisher audioPub;
+    private Timer audio_timer;
+    private final double time_to_wait_before_turning_off_audio_signal;
+    private boolean s40 = false;
+    private boolean s41 = false;
+    private boolean s42 = false;
+    private boolean s46 = false;
+    private boolean led = false;
+
+
+    private Timer ledTimer;
+    private Timer pumpTimer;
+
+    public AryaMech(Solenoid shortSolenoid, Solenoid longSolenoid, Solenoid ledStrip){
+        this.shortSolenoid = shortSolenoid;
+        this.longSolenoid = longSolenoid;
+        this.ledStrip = ledStrip;
+
+        inst = NetworkTableInstance.getDefault();
+        table = inst.getTable("audio");
+        audioPub = table.getDoubleTopic("trigger_audio").publish();
+        audio_timer = new Timer();
+        audio_timer.start();
+        pumpTimer = new Timer();
+        time_to_wait_before_turning_off_audio_signal = 1.0;
+
+        ledTimer = new Timer();
+
+        timer = new Timer();
+        timer.start();
+        pumpTimer.start();
+
+        out = true;
+
+    }
+
+    public void periodic() {
+        //skeleton pumps thing to set off tnt
+
+        if(timer.get() < SHORT_OUT && pumpTimer.advanceIfElapsed(out ? SHORT_INTERVAL_IN : SHORT_INTERVAL_OUT)){ 
+            shortSolenoid.set(out);
+            out = !out;
+        }
+
+        if(timer.hasElapsed(SHORT_OUT) && !s40){
+            shortSolenoid.set(true);
+            s40 = true;
+        }
+        if(timer.hasElapsed(SHORT_OUT + 1.7) && !s41){
+            shortSolenoid.set(false);
+            s41 = true;
+        }
+
+        // audioPub.set(1.0); // this publishes the trigger signal to networktables, which gets picked up by the driverstation python script
+        if(timer.hasElapsed(SHORT_OUT + 2) && !s42){
+            audioPub.set(1.0); // Set the value on networktables to zero so we don't restart the audio
+            ledTimer.reset();
+            ledTimer.start();
+            s42 = true;
+        }
+
+        if(timer.hasElapsed(SHORT_OUT + 6) && !s46){
+            longSolenoid.set(true);
+            s46 = true;
+        }
+
+        if(timer.hasElapsed(SHORT_OUT + 7) && ledTimer.advanceIfElapsed(FLASH_INTERVAL)){
+            System.out.println("asdfasdf");
+            led = !led;
+            ledStrip.set(led);
+        } else if (timer.hasElapsed(SHORT_OUT + 4) && ledTimer.advanceIfElapsed(FLASH_INTERVAL * 3)){
+            System.out.println("asdfasdf");
+            led = !led;
+            ledStrip.set(led);
+        } else if (timer.hasElapsed(SHORT_OUT + 2) && ledTimer.advanceIfElapsed(FLASH_INTERVAL * 5)){
+            System.out.println("asdfasdf");
+            led = !led;
+            ledStrip.set(led);
+        }
+
+        if (timer.advanceIfElapsed(END)){
+            longSolenoid.set(false);
+            ledStrip.set(false);
+            s40 = false;
+            s41 = false;
+            s42 = false;
+            s46 = false;
+            ledTimer.stop();
+            audioPub.set(0.0);
+        }
+        // if(audio_timer.advanceIfElapsed(.05)){
+        //     System.out.println(((int) (timer.get() * 10)) / 10. + "  SHORT: " + shortSolenoid.get() + "  LONG: " + longSolenoid.get() + "  LED:" + led);
+        // }
+
+    }
+
+}

src/main/java/frc/robot/subsystems/LukeMech.java

@@ -0,0 +1,78 @@
+package frc.robot.subsystems;
+
+import edu.wpi.first.hal.FRCNetComm.tInstances;
+import edu.wpi.first.wpilibj.Solenoid;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class LukeMech extends SubsystemBase{
+    private Timer timer;
+    private Solenoid verSolenoid;
+    private Solenoid horSolenoid;
+
+    private double vertUp;
+    private double vertDown;
+    private double horOut;
+    private double horIn;
+    private int state = 0;
+    private int oldState = 3;
+
+
+    public LukeMech(Solenoid verSolenoid, Solenoid horSolenoid){
+        this.verSolenoid = verSolenoid;
+        this.horSolenoid = horSolenoid;
+
+        //ik this looks sus but its for ease of change
+        vertUp = 7;
+        horOut = 5;
+        horIn = 3;
+        vertDown = 3;
+
+        timer= new Timer();
+        timer.start();
+
+    }
+
+    public void periodic() {
+
+        if((state == 1 || state == 2) && !verSolenoid.get()){
+            state = 0;
+        }
+
+
+        if(timer.hasElapsed(vertUp) && state == 0){
+            verSolenoid.set(true);
+            state = 1;
+            timer.reset();
+            timer.start();
+        }
+        else if (timer.hasElapsed(horOut) && state == 1){
+            if(verSolenoid.get()){ 
+                horSolenoid.set(true);
+            }
+            state = 2;
+            timer.reset();
+            timer.start();
+        }
+        else if (timer.hasElapsed(horIn) && state == 2){
+            if(verSolenoid.get()){ 
+                horSolenoid.set(false);
+            }
+            state = 3;
+            timer.reset();
+            timer.start();
+        }
+        else if (timer.hasElapsed(vertDown) && state == 3){
+            if(!horSolenoid.get()){
+                verSolenoid.set(false);
+            }
+            state = 0;
+            timer.reset();
+            timer.start();
+        }
+
+        // System.out.println((((int) (timer.get() * 10)) / 10.) +" " + state + "," + verSolenoid.get() + " , " + horSolenoid.get());
+
+
+    }
+}

src/main/java/frc/robot/subsystems/SolenoidMech.java

@@ -4,18 +4,16 @@
 
 package frc.robot.subsystems;
 
-import edu.wpi.first.wpilibj.PneumaticsControlModule;
-import edu.wpi.first.wpilibj.PneumaticsModuleType;
 import edu.wpi.first.wpilibj.Solenoid;
 import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj2.command.CommandBase;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class SolenoidMech extends SubsystemBase {
 
   private double uptime;
   private double downtime;
-  private double randomness = 0.0;
+  private double randomnessUp = 0.0;
+  private double randomnessDown = 0.0;
   private Timer timer;
   private Solenoid solenoid;
 
@@ -30,7 +28,14 @@ public SolenoidMech(Solenoid solenoid, double uptime, double downtime) {
 
   public SolenoidMech(Solenoid solenoid, double uptime, double downtime, double randomness) {
     this(solenoid, uptime, downtime);
-    this.randomness = randomness;
+    this.randomnessUp = randomness;
+    this.randomnessDown = randomness;
+  }
+
+  public SolenoidMech(Solenoid solenoid, double uptime, double downtime, double randomnessUp, double randomnessDown) {
+    this(solenoid, uptime, downtime);
+    this.randomnessUp = randomnessUp;
+    this.randomnessDown = randomnessDown;
   }
 
 
@@ -41,7 +46,9 @@ public SolenoidMech(Solenoid solenoid, double uptime, double downtime, double ra
   public void periodic() {
     if(timer.advanceIfElapsed(timeUntilNextEvent)){
       up = !up;
-      timeUntilNextEvent = (up ? uptime : downtime) * (1 + (Math.random() * 2 - 1) * randomness);
+      // Time is random in the range [uptime - uptime * randomnesesUp, uptime + uptime * randomnessUp] if switching to up
+      // or [downtime - downtime * randomnesesDown, downtime + downtime * randomnessDown] if switching to down
+      timeUntilNextEvent = (up ? uptime * (1 + (Math.random() * 2 - 1) * randomnessUp) : downtime * (1 + (Math.random() * 2 - 1) * randomnessDown)) ;
     }
 
     solenoid.set(up);