Merge branch 'main' into 126-make-trap-sequence

LakotaRobotics1038 · Apr 4, 2024 · d21eaac · d21eaac
2 parents 907d0ac + 5038798
commit d21eaac
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Showing 13 changed files with 66 additions and 114 deletions.
diff --git a/build.gradle b/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.3.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.2"
 }
 
 java {

diff --git a/src/main/deploy/pathplanner/paths/From amp to midline acquire.path b/src/main/deploy/pathplanner/paths/From amp to midline acquire.path
@@ -48,12 +48,12 @@
     },
     {
       "anchor": {
-        "x": 8.54,
-        "y": 7.34
+        "x": 8.515833783804318,
+        "y": 7.4608705342766815
       },
       "prevControl": {
-        "x": 7.904677120863775,
-        "y": 7.5503162432548745
+        "x": 7.825878671700363,
+        "y": 7.3556231442947215
       },
       "nextControl": null,
       "isLocked": false,
@@ -82,7 +82,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 0.0,
+    "rotation": 8.62,
     "rotateFast": false
   },
   "reversed": false,

diff --git a/src/main/deploy/pathplanner/paths/From midline note to amp.path b/src/main/deploy/pathplanner/paths/From midline note to amp.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 8.540000000000001,
-        "y": 7.343809471653955
+        "x": 8.515833783804318,
+        "y": 7.4608705342766815
       },
       "prevControl": null,
       "nextControl": {
-        "x": 8.683718987153075,
-        "y": 7.280092322567236
+        "x": 8.659552770957392,
+        "y": 7.397153385189962
       },
       "isLocked": false,
       "linkedName": "MidAcquireTopNote"
@@ -48,11 +48,11 @@
     },
     {
       "anchor": {
-        "x": 1.95,
+        "x": 2.0,
         "y": 8.1
       },
       "prevControl": {
-        "x": 2.514708547080911,
+        "x": 2.5647085470809112,
         "y": 8.05967115979816
       },
       "nextControl": null,
@@ -83,7 +83,7 @@
   "reversed": false,
   "folder": null,
   "previewStartingState": {
-    "rotation": 0.0,
+    "rotation": 8.62,
     "velocity": 0
   },
   "useDefaultConstraints": true

diff --git a/src/main/java/frc/robot/commands/ShootPasserCommand.java b/src/main/java/frc/robot/commands/ShootPasserCommand.java
@@ -25,15 +25,13 @@ public ShootPasserCommand() {
     @Override
     public void initialize() {
         timer.start();
+        passer.shoot();
     }
 
     @Override
     public void execute() {
-        scoring.feedForPasser();
-        passer.shoot();
-        if (!storage.noteExitingStorage()) {
-            storage.stopStorage();
-        } else {
+        if (timer.get() > 0.25) {
+            scoring.feedForPasser();
             storage.runStorage();
         }
     }

diff --git a/src/main/java/frc/robot/constants/DrawbridgeConstants.java b/src/main/java/frc/robot/constants/DrawbridgeConstants.java
@@ -6,7 +6,7 @@ public class DrawbridgeConstants {
     public static final int rightServoPort = 3;
 
     public static final double minLeftDrawbridgeExtension = 0.0;
-    public static final double maxLeftDrawbridgeExtension = 0.3;
-    public static final double minRightDrawbridgeExtension = 0.08;
-    public static final double maxRightDrawbridgeExtension = 0.45;
+    public static final double maxLeftDrawbridgeExtension = 0.65;
+    public static final double minRightDrawbridgeExtension = 0.0;
+    public static final double maxRightDrawbridgeExtension = 0.6;
 }
diff --git a/src/main/java/frc/robot/constants/NeoMotorConstants.java b/src/main/java/frc/robot/constants/NeoMotorConstants.java
@@ -5,7 +5,7 @@ public final class NeoMotorConstants {
     public static final double kVortexFreeSpeedRpm = 6784;
     public static final double kNeo550FreeSpeedRpm = 11000;
     public static final int kMaxNeoCurrent = 50; // amps
-    public static final int kMaxVortexCurrent = 50; // amps
+    public static final int kMaxVortexCurrent = 70; // amps
     public static final int kMaxNeo550Current = 20; // amps
     public static final double kMinPower = 0.05;
     public static final double kMaxPower = 1.0;

diff --git a/src/main/java/frc/robot/constants/PneumaticsConstants.java b/src/main/java/frc/robot/constants/PneumaticsConstants.java
diff --git a/src/main/java/frc/robot/constants/ScoringElevatorConstants.java b/src/main/java/frc/robot/constants/ScoringElevatorConstants.java
@@ -9,8 +9,8 @@ public class ScoringElevatorConstants {
     public static final double elevatorEncoderConversionFactor = 1 / (maxElevatorEncoderCounts / maxElevatorInches);
 
     public static final double groundSetpoint = 0;
-    public static final double ampSetpoint = 4.0;
-    public static final double passerSetpoint = 6.0;
+    public static final double ampSetpoint = 4.5;
+    public static final double passerSetpoint = 6.75;
     public static final double trapSetpoint = 15.0;
 
     public static final double maxDistance = 0;

diff --git a/src/main/java/frc/robot/constants/VisionConstants.java b/src/main/java/frc/robot/constants/VisionConstants.java
@@ -5,11 +5,12 @@ public final class VisionConstants {
     public static final String kValuesTopic = "values";
     public static final String kRecordingTopic = "recording";
     public static final String kStreamCam0 = "shouldStream0";
-    public static final String kEnabled0Topic = "on0";
-    public static final String kEnabled1Topic = "on1";
+    public static final String kEnabled0Topic = "enable0";
+    public static final String kEnabled1Topic = "enable1";
 
-    public static final double width = 640;
-    public static final double height = 480;
+    public static final double width = 1280;
+    public static final double height = 720;
+    public static final double fov = 100;
 
     public static final double driveP = 0.005;
     public static final double driveI = 0;

diff --git a/src/main/java/frc/robot/subsystems/Vision.java b/src/main/java/frc/robot/subsystems/Vision.java
@@ -21,24 +21,23 @@
 public class Vision extends SubsystemBase {
     // Enum for different things vision can find
     public enum VisionTarget {
-        APR1(0),
-        APT2(1),
-        APT3(2),
-        APT4(3),
-        APT5(4),
-        APT6(5),
-        APT7(6),
-        APT8(7),
-        APT9(8),
-        APT10(9),
-        APT11(10),
-        APT12(11),
-        APT13(12),
-        APT14(13),
-        APT15(14),
-        APT16(15),
-        GAVIN(16),
-        NOTE(17);
+        NOTE(0),
+        APR1(1),
+        APT2(2),
+        APT3(3),
+        APT4(4),
+        APT5(5),
+        APT6(6),
+        APT7(7),
+        APT8(8),
+        APT9(9),
+        APT10(10),
+        APT11(11),
+        APT12(12),
+        APT13(13),
+        APT14(14),
+        APT15(15),
+        APT16(16);
 
         public final int id;
 
@@ -57,7 +56,7 @@ public enum CameraStream {
     private boolean recording = false;
     private boolean enabled0 = false;
     private boolean enabled1 = false;
-    private List<VisionData> visionData;
+    private List<VisionData> visionData = new ArrayList<VisionData>();
 
     // Network Tables Setup
     NetworkTableInstance inst = NetworkTableInstance.getDefault();
@@ -84,18 +83,21 @@ public static Vision getInstance() {
     }
 
     private Vision() {
+        streamCam0Publisher.set(true);
+        enabled0Publisher.set(false);
+        enabled1Publisher.set(false);
+        recordingPublisher.set(false);
     }
 
     @Override
     public void periodic() {
         String value = valuesSubscriber.get();
         try {
             JSONArray unparsedData = (JSONArray) jsonParser.parse(value);
-            visionData = new ArrayList<VisionData>();
+            visionData.clear();
             for (Object data : unparsedData) {
                 JSONObject jsonObject = (JSONObject) data;
                 VisionData mappedData = new VisionData((String) jsonObject.get("x"), (String) jsonObject.get("y"),
-                        (String) jsonObject.get("area"), (String) jsonObject.get("conf"),
                         (String) jsonObject.get("id"));
                 visionData.add(mappedData);
             }
@@ -166,46 +168,15 @@ public double getY(VisionTarget target) {
         return -1;
     }
 
-    public double getArea(VisionTarget target) {
-        for (int i = 0; i < visionData.size(); i++) {
-            if (visionData.get(i).getTarget() == target) {
-                return visionData.get(i).getArea();
-            }
-        }
-        return -1;
-    }
-
     public double getAngle(VisionTarget target) {
         double x = getX(target);
-        double y = getY(target);
-        if (x < VisionConstants.width / 2) {
-            x = -getX(target);
-        }
-        if (y < VisionConstants.height / 2) {
-            y = -y;
+
+        if (x == -1) {
+            return 0;
         }
-        return Math.toDegrees(Math.atan(x / y));
-    }
 
-    public double getDistance(VisionTarget target) {
-        double y = getY(target);
-        double oldY = 0.0;
+        x = x - (VisionConstants.width / 2);
 
-        if (target == VisionTarget.NOTE) {
-            if (y > oldY) {
-                oldY = y;
-                return 0;
-            } else {
-                oldY = 0.0;
-                return -1;
-            }
-
-        } else if (target.id >= VisionTarget.APR1.id && target.id <= VisionTarget.APT16.id) {
-            double area = getArea(target);
-            return area;
-        } else {
-            return 1;
-        }
+        return x / (VisionConstants.width / (VisionConstants.fov / 2));
     }
-
 }
diff --git a/src/main/java/frc/robot/utils/VisionData.java b/src/main/java/frc/robot/utils/VisionData.java
@@ -5,22 +5,18 @@
 public class VisionData {
     private double x;
     private double y;
-    private double area;
-    private double confidence;
     private VisionTarget target;
 
-    public VisionData(String x, String y, String area, String confidence, String target) {
+    public VisionData(String x, String y, String target) {
+        System.out.println("x " + x + " y " + y);
         this.x = Double.parseDouble(x);
         this.y = Double.parseDouble(y);
-        this.area = Double.parseDouble(area);
-        this.confidence = Double.parseDouble(confidence);
         this.target = VisionTarget.values()[Integer.parseInt(target)];
     }
 
     @Override
     public String toString() {
-        return "x: " + this.x + " y: " + this.y + " area: " + this.area + " conf: " + this.confidence + " tgt: "
-                + this.target;
+        return "x: " + this.x + " y: " + this.y + " area: " + " tgt: " + this.target;
     }
 
     public double getX() {
@@ -34,8 +30,4 @@ public double getY() {
     public VisionTarget getTarget() {
         return target;
     }
-
-    public double getArea() {
-        return area;
-    }
 }
diff --git a/vendordeps/PathplannerLib.json b/vendordeps/PathplannerLib.json
@@ -1,7 +1,7 @@
 {
     "fileName": "PathplannerLib.json",
     "name": "PathplannerLib",
-    "version": "2024.2.4",
+    "version": "2024.2.8",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
     "frcYear": "2024",
     "mavenUrls": [
@@ -12,15 +12,15 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2024.2.4"
+            "version": "2024.2.8"
         }
     ],
     "jniDependencies": [],
     "cppDependencies": [
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2024.2.4",
+            "version": "2024.2.8",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,

diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib.json
@@ -1,7 +1,7 @@
 {
     "fileName": "REVLib.json",
     "name": "REVLib",
-    "version": "2024.2.3",
+    "version": "2024.2.4",
     "frcYear": "2024",
     "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
     "mavenUrls": [
@@ -12,14 +12,14 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-java",
-            "version": "2024.2.3"
+            "version": "2024.2.4"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
-            "version": "2024.2.3",
+            "version": "2024.2.4",
             "skipInvalidPlatforms": true,
             "isJar": false,
             "validPlatforms": [
@@ -37,7 +37,7 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-cpp",
-            "version": "2024.2.3",
+            "version": "2024.2.4",
             "libName": "REVLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -55,7 +55,7 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
-            "version": "2024.2.3",
+            "version": "2024.2.4",
             "libName": "REVLibDriver",
             "headerClassifier": "headers",
             "sharedLibrary": false,