7.10晚
This commit is contained in:
OnDYCLaptop
+3
-851
@@ -1010,19 +1010,6 @@
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"data_type": "boolean"
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"data_type": "boolean"
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}
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}
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},
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},
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{
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"title": "Shooter Conv Enable",
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"x": 0.0,
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"y": 384.0,
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"width": 128.0,
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"height": 128.0,
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"type": "Toggle Switch",
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"properties": {
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"topic": "/Tuning/conveyor/conveyorEnable",
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"period": 0.06,
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"data_type": "boolean"
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}
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},
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{
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{
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"title": "Backboard Enable",
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"title": "Backboard Enable",
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"x": 0.0,
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"x": 0.0,
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@@ -1036,33 +1023,6 @@
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"data_type": "boolean"
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"data_type": "boolean"
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}
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}
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},
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},
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{
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"title": "Backboard Run",
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"x": 128.0,
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"y": 576.0,
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"width": 128.0,
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"height": 128.0,
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"type": "Toggle Switch",
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"properties": {
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"topic": "/Tuning/backboard/backboardEnableRunning",
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"period": 0.06,
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"data_type": "boolean"
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}
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},
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{
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"title": "Backboard Run RPS",
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"x": 256.0,
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"y": 576.0,
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"width": 256.0,
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"height": 128.0,
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"type": "Text Display",
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"properties": {
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"topic": "/Tuning/backboard/backboardRunningSpeedRPS",
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"period": 0.06,
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"data_type": "double",
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"show_submit_button": true
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}
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},
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{
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{
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"title": "Backboard kP",
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"title": "Backboard kP",
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"x": 512.0,
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"x": 512.0,
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@@ -1147,86 +1107,6 @@
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"show_submit_button": true
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"show_submit_button": true
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}
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}
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},
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},
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{
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"title": "Main Conv Enable",
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"x": 0.0,
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"y": 768.0,
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"width": 128.0,
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"height": 128.0,
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"type": "Toggle Switch",
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"properties": {
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"topic": "/Tuning/mainconveyor/mainconveyorEnable",
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"period": 0.06,
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"data_type": "boolean"
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}
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},
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{
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"title": "Main Conv Run",
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"x": 128.0,
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"y": 768.0,
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"width": 128.0,
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"height": 128.0,
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"type": "Toggle Switch",
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"properties": {
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"topic": "/Tuning/mainconveyor/mainconveyorEnableRunning",
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"period": 0.06,
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"data_type": "boolean"
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}
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},
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{
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"title": "Main Conv Run Volts",
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"x": 256.0,
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"y": 768.0,
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"width": 256.0,
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"height": 128.0,
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"type": "Text Display",
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"properties": {
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"topic": "/Tuning/mainconveyor/mainconveyorRunningVolts",
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"period": 0.06,
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"data_type": "double",
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"show_submit_button": true
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}
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},
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{
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"title": "Intake Roller Enable",
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"x": 0.0,
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"y": 960.0,
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"width": 128.0,
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"height": 128.0,
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"type": "Toggle Switch",
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"properties": {
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"topic": "/Tuning/intakerroller/intakerrollerEnable",
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"period": 0.06,
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"data_type": "boolean"
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}
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},
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{
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"title": "Intake Roller Run",
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"x": 128.0,
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"y": 960.0,
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"width": 128.0,
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"height": 128.0,
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"type": "Toggle Switch",
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"properties": {
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"topic": "/Tuning/intakerroller/intakerrollerEnableRunning",
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"period": 0.06,
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"data_type": "boolean"
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}
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},
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{
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"title": "Intake Roller Run Volts",
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"x": 256.0,
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"y": 960.0,
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"width": 256.0,
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"height": 128.0,
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"type": "Text Display",
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"properties": {
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"topic": "/Tuning/intakerroller/intakerrollerRunningVolts",
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"period": 0.06,
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"data_type": "double",
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"show_submit_button": true
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}
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},
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{
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{
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"title": "Intake Roller Left Speed",
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"title": "Intake Roller Left Speed",
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"x": 512.0,
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"x": 512.0,
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@@ -1275,46 +1155,6 @@
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"line_width": 2.0
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"line_width": 2.0
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}
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}
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},
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},
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{
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"title": "Intake Rotater Enable",
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"x": 0.0,
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"y": 1152.0,
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"width": 128.0,
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"height": 128.0,
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"type": "Toggle Switch",
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"properties": {
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"topic": "/Tuning/intakerrotater/intakerrotaterEnable",
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"period": 0.06,
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"data_type": "boolean"
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}
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},
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{
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"title": "Intake Rotater Run",
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"x": 128.0,
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"y": 1152.0,
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"width": 128.0,
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"height": 128.0,
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"type": "Toggle Switch",
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"properties": {
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"topic": "/Tuning/intakerrotater/intakerrotaterEnableRunning",
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"period": 0.06,
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"data_type": "boolean"
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}
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},
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{
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"title": "Intake Rotater Run Volts",
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"x": 256.0,
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"y": 1152.0,
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"width": 256.0,
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"height": 128.0,
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"type": "Text Display",
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"properties": {
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"topic": "/Tuning/intakerrotater/intakerrotaterRunningVolts",
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"period": 0.06,
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"data_type": "double",
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"show_submit_button": true
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}
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},
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{
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{
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"title": "Intake Rotater Left Speed",
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"title": "Intake Rotater Left Speed",
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"x": 512.0,
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"x": 512.0,
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@@ -1366,321 +1206,6 @@
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]
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]
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}
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}
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},
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},
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{
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"name": "Intaker",
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"grid_layout": {
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"layouts": [],
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"containers": [
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{
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"title": "Roller Enable",
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"x": 0.0,
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"y": 0.0,
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"width": 128.0,
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"height": 128.0,
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"type": "Toggle Switch",
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"properties": {
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"topic": "/Tuning/intakerroller/intakerrollerEnable",
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"period": 0.06,
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"data_type": "boolean"
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}
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},
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{
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"title": "Roller Run",
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"x": 128.0,
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"y": 0.0,
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"width": 128.0,
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"height": 128.0,
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"type": "Toggle Switch",
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"properties": {
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"topic": "/Tuning/intakerroller/intakerrollerEnableRunning",
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"period": 0.06,
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"data_type": "boolean"
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}
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},
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{
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"title": "Roller Run Volts",
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"x": 256.0,
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"y": 0.0,
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"width": 256.0,
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"height": 128.0,
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"type": "Text Display",
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"properties": {
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"topic": "/Tuning/intakerroller/intakerrollerRunningVolts",
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"period": 0.06,
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"data_type": "double",
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"show_submit_button": true
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}
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},
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{
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"title": "Roller Output Volts",
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"x": 512.0,
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"y": 0.0,
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"width": 256.0,
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"height": 128.0,
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"type": "Text Display",
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"properties": {
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"topic": "/IntakeRoller/targetOutputVolts",
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"period": 0.06,
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"data_type": "double",
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"show_submit_button": false
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}
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},
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{
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"title": "Roller Left Speed",
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"x": 768.0,
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"y": 0.0,
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"width": 256.0,
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"height": 128.0,
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"type": "Text Display",
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"properties": {
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"topic": "/IntakeRoller/leftVelocity",
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"period": 0.06,
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"data_type": "double",
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"show_submit_button": false
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}
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},
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{
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"title": "Roller Right Speed",
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"x": 1024.0,
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"y": 0.0,
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"width": 256.0,
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"height": 128.0,
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"type": "Text Display",
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"properties": {
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"topic": "/IntakeRoller/rightVelocity",
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"period": 0.06,
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"data_type": "double",
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"show_submit_button": false
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}
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},
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{
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"title": "Roller Speed Diff",
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"x": 1280.0,
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"y": 0.0,
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"width": 256.0,
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"height": 128.0,
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"type": "Text Display",
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"properties": {
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"topic": "/IntakeRoller/velocityDifference",
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"period": 0.06,
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"data_type": "double",
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"show_submit_button": false
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}
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},
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{
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"title": "Roller Left Speed Trend",
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"x": 0.0,
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"y": 128.0,
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"width": 512.0,
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"height": 256.0,
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"type": "Graph",
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"properties": {
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"topic": "/IntakeRoller/leftVelocity",
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|
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"period": 0.033,
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"data_type": "double",
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"time_displayed": 5.0,
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"color": 4278238420,
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|
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"line_width": 2.0
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}
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},
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{
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"title": "Roller Right Speed Trend",
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"x": 512.0,
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|
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"y": 128.0,
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"width": 512.0,
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|
||||||
"height": 256.0,
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|
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"type": "Graph",
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|
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"properties": {
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|
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"topic": "/IntakeRoller/rightVelocity",
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|
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"period": 0.033,
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|
||||||
"data_type": "double",
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|
||||||
"time_displayed": 5.0,
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|
||||||
"color": 4278238420,
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|
||||||
"line_width": 2.0
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|
||||||
}
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|
||||||
},
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|
||||||
{
|
|
||||||
"title": "Roller Speed Diff Trend",
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|
||||||
"x": 1024.0,
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|
||||||
"y": 128.0,
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|
||||||
"width": 512.0,
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|
||||||
"height": 256.0,
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|
||||||
"type": "Graph",
|
|
||||||
"properties": {
|
|
||||||
"topic": "/IntakeRoller/velocityDifference",
|
|
||||||
"period": 0.033,
|
|
||||||
"data_type": "double",
|
|
||||||
"time_displayed": 5.0,
|
|
||||||
"color": 4278238420,
|
|
||||||
"line_width": 2.0
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"title": "Rotater Enable",
|
|
||||||
"x": 0.0,
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|
||||||
"y": 448.0,
|
|
||||||
"width": 128.0,
|
|
||||||
"height": 128.0,
|
|
||||||
"type": "Toggle Switch",
|
|
||||||
"properties": {
|
|
||||||
"topic": "/Tuning/intakerrotater/intakerrotaterEnable",
|
|
||||||
"period": 0.06,
|
|
||||||
"data_type": "boolean"
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"title": "Rotater Run",
|
|
||||||
"x": 128.0,
|
|
||||||
"y": 448.0,
|
|
||||||
"width": 128.0,
|
|
||||||
"height": 128.0,
|
|
||||||
"type": "Toggle Switch",
|
|
||||||
"properties": {
|
|
||||||
"topic": "/Tuning/intakerrotater/intakerrotaterEnableRunning",
|
|
||||||
"period": 0.06,
|
|
||||||
"data_type": "boolean"
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"title": "Rotater Run Volts",
|
|
||||||
"x": 256.0,
|
|
||||||
"y": 448.0,
|
|
||||||
"width": 256.0,
|
|
||||||
"height": 128.0,
|
|
||||||
"type": "Text Display",
|
|
||||||
"properties": {
|
|
||||||
"topic": "/Tuning/intakerrotater/intakerrotaterRunningVolts",
|
|
||||||
"period": 0.06,
|
|
||||||
"data_type": "double",
|
|
||||||
"show_submit_button": true
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"title": "Rotater Output Volts",
|
|
||||||
"x": 512.0,
|
|
||||||
"y": 448.0,
|
|
||||||
"width": 256.0,
|
|
||||||
"height": 128.0,
|
|
||||||
"type": "Text Display",
|
|
||||||
"properties": {
|
|
||||||
"topic": "/IntakeRotater/outputVoltage",
|
|
||||||
"period": 0.06,
|
|
||||||
"data_type": "double",
|
|
||||||
"show_submit_button": false
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"title": "Rotater Position",
|
|
||||||
"x": 768.0,
|
|
||||||
"y": 448.0,
|
|
||||||
"width": 256.0,
|
|
||||||
"height": 128.0,
|
|
||||||
"type": "Text Display",
|
|
||||||
"properties": {
|
|
||||||
"topic": "/IntakeRotater/position",
|
|
||||||
"period": 0.06,
|
|
||||||
"data_type": "double",
|
|
||||||
"show_submit_button": false
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"title": "Rotater Running",
|
|
||||||
"x": 1024.0,
|
|
||||||
"y": 448.0,
|
|
||||||
"width": 256.0,
|
|
||||||
"height": 128.0,
|
|
||||||
"type": "Boolean Box",
|
|
||||||
"properties": {
|
|
||||||
"topic": "/IntakeRotater/isRunning",
|
|
||||||
"period": 0.06,
|
|
||||||
"data_type": "boolean",
|
|
||||||
"true_color": 4283215696,
|
|
||||||
"false_color": 4294198070,
|
|
||||||
"true_icon": "None",
|
|
||||||
"false_icon": "None"
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"title": "Rotater Speed Diff",
|
|
||||||
"x": 1280.0,
|
|
||||||
"y": 448.0,
|
|
||||||
"width": 256.0,
|
|
||||||
"height": 128.0,
|
|
||||||
"type": "Text Display",
|
|
||||||
"properties": {
|
|
||||||
"topic": "/IntakeRotater/velocityDifference",
|
|
||||||
"period": 0.06,
|
|
||||||
"data_type": "double",
|
|
||||||
"show_submit_button": false
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"title": "Rotater Left Speed Trend",
|
|
||||||
"x": 0.0,
|
|
||||||
"y": 576.0,
|
|
||||||
"width": 512.0,
|
|
||||||
"height": 256.0,
|
|
||||||
"type": "Graph",
|
|
||||||
"properties": {
|
|
||||||
"topic": "/IntakeRotater/leftVelocity",
|
|
||||||
"period": 0.033,
|
|
||||||
"data_type": "double",
|
|
||||||
"time_displayed": 5.0,
|
|
||||||
"color": 4278238420,
|
|
||||||
"line_width": 2.0
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"title": "Rotater Right Speed Trend",
|
|
||||||
"x": 512.0,
|
|
||||||
"y": 576.0,
|
|
||||||
"width": 512.0,
|
|
||||||
"height": 256.0,
|
|
||||||
"type": "Graph",
|
|
||||||
"properties": {
|
|
||||||
"topic": "/IntakeRotater/rightVelocity",
|
|
||||||
"period": 0.033,
|
|
||||||
"data_type": "double",
|
|
||||||
"time_displayed": 5.0,
|
|
||||||
"color": 4278238420,
|
|
||||||
"line_width": 2.0
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"title": "Rotater Speed Diff Trend",
|
|
||||||
"x": 1024.0,
|
|
||||||
"y": 576.0,
|
|
||||||
"width": 512.0,
|
|
||||||
"height": 256.0,
|
|
||||||
"type": "Graph",
|
|
||||||
"properties": {
|
|
||||||
"topic": "/IntakeRotater/velocityDifference",
|
|
||||||
"period": 0.033,
|
|
||||||
"data_type": "double",
|
|
||||||
"time_displayed": 5.0,
|
|
||||||
"color": 4278238420,
|
|
||||||
"line_width": 2.0
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"title": "Rotater Position Trend",
|
|
||||||
"x": 0.0,
|
|
||||||
"y": 832.0,
|
|
||||||
"width": 512.0,
|
|
||||||
"height": 256.0,
|
|
||||||
"type": "Graph",
|
|
||||||
"properties": {
|
|
||||||
"topic": "/IntakeRotater/position",
|
|
||||||
"period": 0.033,
|
|
||||||
"data_type": "double",
|
|
||||||
"time_displayed": 5.0,
|
|
||||||
"color": 4278238420,
|
|
||||||
"line_width": 2.0
|
|
||||||
}
|
|
||||||
}
|
|
||||||
]
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
{
|
||||||
"name": "Backboard Debug",
|
"name": "Backboard Debug",
|
||||||
"grid_layout": {
|
"grid_layout": {
|
||||||
@@ -2051,33 +1576,6 @@
|
|||||||
"data_type": "boolean"
|
"data_type": "boolean"
|
||||||
}
|
}
|
||||||
},
|
},
|
||||||
{
|
|
||||||
"title": "Backboard Run",
|
|
||||||
"x": 128.0,
|
|
||||||
"y": 768.0,
|
|
||||||
"width": 128.0,
|
|
||||||
"height": 128.0,
|
|
||||||
"type": "Toggle Switch",
|
|
||||||
"properties": {
|
|
||||||
"topic": "/Tuning/backboard/backboardEnableRunning",
|
|
||||||
"period": 0.06,
|
|
||||||
"data_type": "boolean"
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"title": "Backboard Run RPS",
|
|
||||||
"x": 256.0,
|
|
||||||
"y": 768.0,
|
|
||||||
"width": 256.0,
|
|
||||||
"height": 128.0,
|
|
||||||
"type": "Text Display",
|
|
||||||
"properties": {
|
|
||||||
"topic": "/Tuning/backboard/backboardRunningSpeedRPS",
|
|
||||||
"period": 0.06,
|
|
||||||
"data_type": "double",
|
|
||||||
"show_submit_button": true
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
{
|
||||||
"title": "Talon kP",
|
"title": "Talon kP",
|
||||||
"x": 512.0,
|
"x": 512.0,
|
||||||
@@ -2180,7 +1678,7 @@
|
|||||||
}
|
}
|
||||||
},
|
},
|
||||||
{
|
{
|
||||||
"name": "Flywheel Velocity Tuning",
|
"name": "Flywheel Debug",
|
||||||
"grid_layout": {
|
"grid_layout": {
|
||||||
"layouts": [],
|
"layouts": [],
|
||||||
"containers": [
|
"containers": [
|
||||||
@@ -2696,354 +2194,8 @@
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
]
|
]
|
||||||
}
|
},
|
||||||
},
|
"title": "Flywheel Debug"
|
||||||
{
|
|
||||||
"name": "Shooter Conveyor Velocity Tuning",
|
|
||||||
"grid_layout": {
|
|
||||||
"layouts": [],
|
|
||||||
"containers": [
|
|
||||||
{
|
|
||||||
"title": "Apply Gains",
|
|
||||||
"x": 0.0,
|
|
||||||
"y": 0.0,
|
|
||||||
"width": 128.0,
|
|
||||||
"height": 128.0,
|
|
||||||
"type": "Toggle Switch",
|
|
||||||
"properties": {
|
|
||||||
"topic": "/Tuning/conveyor/conveyorEnable",
|
|
||||||
"period": 0.06,
|
|
||||||
"data_type": "boolean"
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"title": "Velocity Test",
|
|
||||||
"x": 128.0,
|
|
||||||
"y": 0.0,
|
|
||||||
"width": 128.0,
|
|
||||||
"height": 128.0,
|
|
||||||
"type": "Toggle Switch",
|
|
||||||
"properties": {
|
|
||||||
"topic": "/Tuning/conveyor/conveyorVelocityEnable",
|
|
||||||
"period": 0.06,
|
|
||||||
"data_type": "boolean"
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"title": "Test Active",
|
|
||||||
"x": 256.0,
|
|
||||||
"y": 0.0,
|
|
||||||
"width": 192.0,
|
|
||||||
"height": 128.0,
|
|
||||||
"type": "Boolean Box",
|
|
||||||
"properties": {
|
|
||||||
"topic": "/Tuning/conveyor/conveyorVelocityEnableActive",
|
|
||||||
"period": 0.06,
|
|
||||||
"data_type": "boolean",
|
|
||||||
"true_color": 4283215696,
|
|
||||||
"false_color": 4294198070,
|
|
||||||
"true_icon": "None",
|
|
||||||
"false_icon": "None"
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"title": "Subsystem Active",
|
|
||||||
"x": 448.0,
|
|
||||||
"y": 0.0,
|
|
||||||
"width": 192.0,
|
|
||||||
"height": 128.0,
|
|
||||||
"type": "Boolean Box",
|
|
||||||
"properties": {
|
|
||||||
"topic": "/Shooter/conveyorVelocityTuningActive",
|
|
||||||
"period": 0.06,
|
|
||||||
"data_type": "boolean",
|
|
||||||
"true_color": 4283215696,
|
|
||||||
"false_color": 4294198070,
|
|
||||||
"true_icon": "None",
|
|
||||||
"false_icon": "None"
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"title": "Superstructure Holdoff",
|
|
||||||
"x": 640.0,
|
|
||||||
"y": 0.0,
|
|
||||||
"width": 192.0,
|
|
||||||
"height": 128.0,
|
|
||||||
"type": "Boolean Box",
|
|
||||||
"properties": {
|
|
||||||
"topic": "/Superstructure/shooterConveyorTuningControlActive",
|
|
||||||
"period": 0.06,
|
|
||||||
"data_type": "boolean",
|
|
||||||
"true_color": 4283215696,
|
|
||||||
"false_color": 4294198070,
|
|
||||||
"true_icon": "None",
|
|
||||||
"false_icon": "None"
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"title": "Target Velocity",
|
|
||||||
"x": 0.0,
|
|
||||||
"y": 128.0,
|
|
||||||
"width": 256.0,
|
|
||||||
"height": 128.0,
|
|
||||||
"type": "Text Display",
|
|
||||||
"properties": {
|
|
||||||
"topic": "/Tuning/conveyor/conveyorTargetVelocity",
|
|
||||||
"period": 0.06,
|
|
||||||
"data_type": "double",
|
|
||||||
"show_submit_button": true
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"title": "Commanded Target",
|
|
||||||
"x": 256.0,
|
|
||||||
"y": 128.0,
|
|
||||||
"width": 256.0,
|
|
||||||
"height": 128.0,
|
|
||||||
"type": "Text Display",
|
|
||||||
"properties": {
|
|
||||||
"topic": "/Tuning/conveyor/conveyorCommandedTargetVelocity",
|
|
||||||
"period": 0.06,
|
|
||||||
"data_type": "double",
|
|
||||||
"show_submit_button": false
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"title": "Clamped Target",
|
|
||||||
"x": 512.0,
|
|
||||||
"y": 128.0,
|
|
||||||
"width": 256.0,
|
|
||||||
"height": 128.0,
|
|
||||||
"type": "Text Display",
|
|
||||||
"properties": {
|
|
||||||
"topic": "/Tuning/conveyor/conveyorClampedTargetVelocity",
|
|
||||||
"period": 0.06,
|
|
||||||
"data_type": "double",
|
|
||||||
"show_submit_button": false
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"title": "Target Velocity Now",
|
|
||||||
"x": 768.0,
|
|
||||||
"y": 128.0,
|
|
||||||
"width": 256.0,
|
|
||||||
"height": 128.0,
|
|
||||||
"type": "Text Display",
|
|
||||||
"properties": {
|
|
||||||
"topic": "/Shooter/conveyorTargetVelocity",
|
|
||||||
"period": 0.06,
|
|
||||||
"data_type": "double",
|
|
||||||
"show_submit_button": false
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"title": "Velocity Error",
|
|
||||||
"x": 1024.0,
|
|
||||||
"y": 128.0,
|
|
||||||
"width": 256.0,
|
|
||||||
"height": 128.0,
|
|
||||||
"type": "Text Display",
|
|
||||||
"properties": {
|
|
||||||
"topic": "/Shooter/conveyorVelocityError",
|
|
||||||
"period": 0.06,
|
|
||||||
"data_type": "double",
|
|
||||||
"show_submit_button": false
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"title": "kP",
|
|
||||||
"x": 0.0,
|
|
||||||
"y": 320.0,
|
|
||||||
"width": 128.0,
|
|
||||||
"height": 128.0,
|
|
||||||
"type": "Text Display",
|
|
||||||
"properties": {
|
|
||||||
"topic": "/Tuning/conveyor/conveyorkP",
|
|
||||||
"period": 0.06,
|
|
||||||
"data_type": "double",
|
|
||||||
"show_submit_button": true
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"title": "kI",
|
|
||||||
"x": 128.0,
|
|
||||||
"y": 320.0,
|
|
||||||
"width": 128.0,
|
|
||||||
"height": 128.0,
|
|
||||||
"type": "Text Display",
|
|
||||||
"properties": {
|
|
||||||
"topic": "/Tuning/conveyor/conveyorkI",
|
|
||||||
"period": 0.06,
|
|
||||||
"data_type": "double",
|
|
||||||
"show_submit_button": true
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"title": "kD",
|
|
||||||
"x": 256.0,
|
|
||||||
"y": 320.0,
|
|
||||||
"width": 128.0,
|
|
||||||
"height": 128.0,
|
|
||||||
"type": "Text Display",
|
|
||||||
"properties": {
|
|
||||||
"topic": "/Tuning/conveyor/conveyorkD",
|
|
||||||
"period": 0.06,
|
|
||||||
"data_type": "double",
|
|
||||||
"show_submit_button": true
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"title": "kV",
|
|
||||||
"x": 384.0,
|
|
||||||
"y": 320.0,
|
|
||||||
"width": 128.0,
|
|
||||||
"height": 128.0,
|
|
||||||
"type": "Text Display",
|
|
||||||
"properties": {
|
|
||||||
"topic": "/Tuning/conveyor/conveyorkV",
|
|
||||||
"period": 0.06,
|
|
||||||
"data_type": "double",
|
|
||||||
"show_submit_button": true
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"title": "kA",
|
|
||||||
"x": 512.0,
|
|
||||||
"y": 320.0,
|
|
||||||
"width": 128.0,
|
|
||||||
"height": 128.0,
|
|
||||||
"type": "Text Display",
|
|
||||||
"properties": {
|
|
||||||
"topic": "/Tuning/conveyor/conveyorkA",
|
|
||||||
"period": 0.06,
|
|
||||||
"data_type": "double",
|
|
||||||
"show_submit_button": true
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"title": "kS",
|
|
||||||
"x": 640.0,
|
|
||||||
"y": 320.0,
|
|
||||||
"width": 128.0,
|
|
||||||
"height": 128.0,
|
|
||||||
"type": "Text Display",
|
|
||||||
"properties": {
|
|
||||||
"topic": "/Tuning/conveyor/conveyorkS",
|
|
||||||
"period": 0.06,
|
|
||||||
"data_type": "double",
|
|
||||||
"show_submit_button": true
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"title": "Output Volts",
|
|
||||||
"x": 768.0,
|
|
||||||
"y": 320.0,
|
|
||||||
"width": 256.0,
|
|
||||||
"height": 128.0,
|
|
||||||
"type": "Text Display",
|
|
||||||
"properties": {
|
|
||||||
"topic": "/Shooter/shooterConveyorOutputVolts",
|
|
||||||
"period": 0.06,
|
|
||||||
"data_type": "double",
|
|
||||||
"show_submit_button": false
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"title": "Stator Current",
|
|
||||||
"x": 1024.0,
|
|
||||||
"y": 320.0,
|
|
||||||
"width": 256.0,
|
|
||||||
"height": 128.0,
|
|
||||||
"type": "Text Display",
|
|
||||||
"properties": {
|
|
||||||
"topic": "/Shooter/statorCurrent",
|
|
||||||
"period": 0.06,
|
|
||||||
"data_type": "double",
|
|
||||||
"show_submit_button": false
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"title": "Velocity",
|
|
||||||
"x": 0.0,
|
|
||||||
"y": 512.0,
|
|
||||||
"width": 384.0,
|
|
||||||
"height": 256.0,
|
|
||||||
"type": "Graph",
|
|
||||||
"properties": {
|
|
||||||
"topic": "/Shooter/conveyorVelocity",
|
|
||||||
"period": 0.033,
|
|
||||||
"data_type": "double",
|
|
||||||
"time_displayed": 8.0,
|
|
||||||
"color": 4278238420,
|
|
||||||
"line_width": 2.0
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"title": "Target Velocity",
|
|
||||||
"x": 384.0,
|
|
||||||
"y": 512.0,
|
|
||||||
"width": 384.0,
|
|
||||||
"height": 256.0,
|
|
||||||
"type": "Graph",
|
|
||||||
"properties": {
|
|
||||||
"topic": "/Shooter/conveyorTargetVelocity",
|
|
||||||
"period": 0.033,
|
|
||||||
"data_type": "double",
|
|
||||||
"time_displayed": 8.0,
|
|
||||||
"color": 4283443184,
|
|
||||||
"line_width": 2.0
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"title": "Velocity Error",
|
|
||||||
"x": 768.0,
|
|
||||||
"y": 512.0,
|
|
||||||
"width": 384.0,
|
|
||||||
"height": 256.0,
|
|
||||||
"type": "Graph",
|
|
||||||
"properties": {
|
|
||||||
"topic": "/Shooter/conveyorVelocityError",
|
|
||||||
"period": 0.033,
|
|
||||||
"data_type": "double",
|
|
||||||
"time_displayed": 8.0,
|
|
||||||
"color": 4294198070,
|
|
||||||
"line_width": 2.0
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"title": "Output Volts",
|
|
||||||
"x": 1152.0,
|
|
||||||
"y": 512.0,
|
|
||||||
"width": 384.0,
|
|
||||||
"height": 256.0,
|
|
||||||
"type": "Graph",
|
|
||||||
"properties": {
|
|
||||||
"topic": "/Shooter/shooterConveyorOutputVolts",
|
|
||||||
"period": 0.033,
|
|
||||||
"data_type": "double",
|
|
||||||
"time_displayed": 8.0,
|
|
||||||
"color": 4289374890,
|
|
||||||
"line_width": 2.0
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"title": "Stator Current",
|
|
||||||
"x": 0.0,
|
|
||||||
"y": 768.0,
|
|
||||||
"width": 384.0,
|
|
||||||
"height": 256.0,
|
|
||||||
"type": "Graph",
|
|
||||||
"properties": {
|
|
||||||
"topic": "/Shooter/statorCurrent",
|
|
||||||
"period": 0.033,
|
|
||||||
"data_type": "double",
|
|
||||||
"time_displayed": 8.0,
|
|
||||||
"color": 4278238420,
|
|
||||||
"line_width": 2.0
|
|
||||||
}
|
|
||||||
}
|
|
||||||
]
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
]
|
]
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -27,22 +27,9 @@ public final class Constants {
|
|||||||
public static final double flywheelReadyDelaySeconds = 0.5;
|
public static final double flywheelReadyDelaySeconds = 0.5;
|
||||||
|
|
||||||
// Distance (meters) -> flywheel velocity (rotations per second).
|
// Distance (meters) -> flywheel velocity (rotations per second).
|
||||||
public static final InterpolatingDoubleTreeMap flywheelVelocityByDistance = new InterpolatingDoubleTreeMap();
|
|
||||||
static {
|
|
||||||
flywheelVelocityByDistance.put(1.2, 2.0 / flywheelNominalKv);
|
|
||||||
flywheelVelocityByDistance.put(2.5, 2.1 / flywheelNominalKv);
|
|
||||||
flywheelVelocityByDistance.put(3.5, 2.2 / flywheelNominalKv);
|
|
||||||
flywheelVelocityByDistance.put(5.0, 2.3 / flywheelNominalKv);
|
|
||||||
}
|
|
||||||
|
|
||||||
public static final double shooterConveyorFeedVoltage = 3.0;
|
public static final double shooterConveyorFeedVelocity = 40;
|
||||||
public static final double shooterConveyorReverseVoltage = -2.0;
|
public static final double shooterConveyorReverseVelocity = -10;
|
||||||
public static final double shooterConveyorNominalKv = 0.125;
|
|
||||||
public static final double shooterConveyorMaxVelocity = 12.0 / shooterConveyorNominalKv;
|
|
||||||
public static final double shooterConveyorFeedVelocity =
|
|
||||||
shooterConveyorFeedVoltage / shooterConveyorNominalKv;
|
|
||||||
public static final double shooterConveyorReverseVelocity =
|
|
||||||
shooterConveyorReverseVoltage / shooterConveyorNominalKv;
|
|
||||||
|
|
||||||
public static final Slot0Configs flyWheelSlot0Configs = new Slot0Configs()
|
public static final Slot0Configs flyWheelSlot0Configs = new Slot0Configs()
|
||||||
.withKP(0.21)
|
.withKP(0.21)
|
||||||
@@ -54,7 +41,7 @@ public final class Constants {
|
|||||||
|
|
||||||
public static final Slot0Configs conveyorSlot0Configs = new Slot0Configs()
|
public static final Slot0Configs conveyorSlot0Configs = new Slot0Configs()
|
||||||
.withKP(0.19).withKI(0).withKD(0.001)
|
.withKP(0.19).withKI(0).withKD(0.001)
|
||||||
.withKV(shooterConveyorNominalKv).withKA(0.0).withKS(0.07);
|
.withKV(0.125).withKA(0.0).withKS(0.07);
|
||||||
|
|
||||||
public static final Slot0Configs backboardSlot0Configs = new Slot0Configs()
|
public static final Slot0Configs backboardSlot0Configs = new Slot0Configs()
|
||||||
.withKP(0.01).withKI(0).withKD(0)
|
.withKP(0.01).withKI(0).withKD(0)
|
||||||
@@ -168,8 +155,7 @@ public final class Constants {
|
|||||||
|
|
||||||
public static class Superstructure {
|
public static class Superstructure {
|
||||||
// State-machine timing and gate tolerances; tune on the real robot.
|
// State-machine timing and gate tolerances; tune on the real robot.
|
||||||
public static final double shooterFeedVoltage = Shooter.shooterConveyorFeedVoltage;
|
|
||||||
public static final double shooterReverseVoltage = Shooter.shooterConveyorReverseVoltage;
|
|
||||||
public static final double shooterFeedVelocity = Shooter.shooterConveyorFeedVelocity;
|
public static final double shooterFeedVelocity = Shooter.shooterConveyorFeedVelocity;
|
||||||
public static final double shooterReverseVelocity = Shooter.shooterConveyorReverseVelocity;
|
public static final double shooterReverseVelocity = Shooter.shooterConveyorReverseVelocity;
|
||||||
public static final double shootTimeoutSeconds = 1.0;
|
public static final double shootTimeoutSeconds = 1.0;
|
||||||
|
|||||||
@@ -36,9 +36,8 @@ public class RobotContainer {
|
|||||||
/* 手柄 */
|
/* 手柄 */
|
||||||
/* ====================== */
|
/* ====================== */
|
||||||
|
|
||||||
// 使用两个 Xbox 手柄：0 号给底盘驾驶，1 号给机构操作员。
|
// 使用一个 Xbox 手柄：0 号口同时负责底盘驾驶和机构操作。
|
||||||
private final CommandXboxController controllerlower = new CommandXboxController(0);
|
private final CommandXboxController controller = new CommandXboxController(0);
|
||||||
private final CommandXboxController controllerupper = new CommandXboxController(1);
|
|
||||||
|
|
||||||
/* ====================== */
|
/* ====================== */
|
||||||
/* 子系统 */
|
/* 子系统 */
|
||||||
@@ -70,7 +69,7 @@ public class RobotContainer {
|
|||||||
/* 控制封装/调参 */
|
/* 控制封装/调参 */
|
||||||
/* ====================== */
|
/* ====================== */
|
||||||
|
|
||||||
public final DriveControls driveControls = new DriveControls(drivetrain, controllerlower, superstructure);
|
public final DriveControls driveControls = new DriveControls(drivetrain, controller, superstructure);
|
||||||
|
|
||||||
// 操作员意图层替代旧的射击/进球分离控制类，让复杂动作判断集中留在 Superstructure。
|
// 操作员意图层替代旧的射击/进球分离控制类，让复杂动作判断集中留在 Superstructure。
|
||||||
private final OperatorControls operatorControls = new OperatorControls(superstructure, shooterSubsystem);
|
private final OperatorControls operatorControls = new OperatorControls(superstructure, shooterSubsystem);
|
||||||
@@ -78,16 +77,8 @@ public class RobotContainer {
|
|||||||
private final GameData2026 gameData2026 = new GameData2026();
|
private final GameData2026 gameData2026 = new GameData2026();
|
||||||
private ConfigTalonFXMotorTuner configFlywheelTuner =
|
private ConfigTalonFXMotorTuner configFlywheelTuner =
|
||||||
new ConfigTalonFXMotorTuner(shooterSubsystem.leftFlywheel, "flywheel", Constants.Shooter.flyWheelSlot0Configs, false);
|
new ConfigTalonFXMotorTuner(shooterSubsystem.leftFlywheel, "flywheel", Constants.Shooter.flyWheelSlot0Configs, false);
|
||||||
private ConfigTalonFXMotorTuner configConveyorTuner =
|
|
||||||
new ConfigTalonFXMotorTuner(shooterSubsystem.leftConveyor, "conveyor", Constants.Shooter.conveyorSlot0Configs, false);
|
|
||||||
private ConfigTalonFXSMotorTuner configBackboardTuner =
|
private ConfigTalonFXSMotorTuner configBackboardTuner =
|
||||||
new ConfigTalonFXSMotorTuner(shooterSubsystem.backboardMotor, "backboard", Constants.Shooter.backboardSlot0Configs);
|
new ConfigTalonFXSMotorTuner(shooterSubsystem.backboardMotor, "backboard", Constants.Shooter.backboardSlot0Configs);
|
||||||
private ConfigTalonFXMotorTuner configMainConveyorTuner =
|
|
||||||
new ConfigTalonFXMotorTuner(conveyorSubsystem.mainConveyor, "mainconveyor", Constants.Conveyor.mainConveyorSlot0Configs);
|
|
||||||
private ConfigTalonFXMotorTuner configIntakerRollerTuner =
|
|
||||||
new ConfigTalonFXMotorTuner(intakeRollerSubsystem.leftIntakeRoller, "intakerroller", Constants.Intaker.intakeRollerSlot0Configs);
|
|
||||||
private ConfigTalonFXMotorTuner configIntakerRotaterTuner =
|
|
||||||
new ConfigTalonFXMotorTuner(intakeRotaterSubsystem.leftIntakeRotater, "intakerrotater", Constants.Intaker.intakeRotaterSlot0Configs);
|
|
||||||
|
|
||||||
private final SendableChooser<Command> autoChooser;
|
private final SendableChooser<Command> autoChooser;
|
||||||
private final Trigger enableTrigger = new Trigger(DriverStation::isEnabled);
|
private final Trigger enableTrigger = new Trigger(DriverStation::isEnabled);
|
||||||
@@ -128,44 +119,12 @@ public class RobotContainer {
|
|||||||
// 禁用状态下进入空闲命令，防止模块继续响应上一周期的运动请求。
|
// 禁用状态下进入空闲命令，防止模块继续响应上一周期的运动请求。
|
||||||
RobotModeTriggers.disabled().whileTrue(driveControls.idleCommand());
|
RobotModeTriggers.disabled().whileTrue(driveControls.idleCommand());
|
||||||
|
|
||||||
// 左保险：按住刹车。
|
|
||||||
controllerlower.leftBumper()
|
|
||||||
.onTrue(Commands.runOnce(driveControls::emergencyStop))
|
|
||||||
.whileTrue(driveControls.brakeWhileHeld());
|
|
||||||
|
|
||||||
// 右保险：按住开启加速模式，松开后恢复普通速度。
|
|
||||||
controllerlower.rightBumper()
|
|
||||||
.onTrue(Commands.runOnce(() -> driveControls.setBoostEnabled(true)))
|
|
||||||
.onFalse(Commands.runOnce(() -> driveControls.setBoostEnabled(false)));
|
|
||||||
|
|
||||||
// Back 键：重置场地坐标系角度。
|
// Back 键：重置场地坐标系角度。
|
||||||
controllerlower.back().onTrue(drivetrain.runOnce(drivetrain::seedFieldCentric));
|
controller.back().onTrue(drivetrain.runOnce(drivetrain::seedFieldCentric));
|
||||||
|
|
||||||
// Start 键：强行使用 shooter 侧 Limelight 的 MegaTag2 全场定位。
|
|
||||||
controllerlower.start().whileTrue(drivetrain.run(drivetrain::forceUsingLimelightmt2));
|
|
||||||
|
|
||||||
controllerlower.a().whileTrue(drivetrain.run(() -> {
|
|
||||||
drivetrain.forceUsingLimelightmt2WithllName(Constants.Limelight.LIMELIGHT_NAME_Shooter);
|
|
||||||
System.out.println("Try using shooter for metatag2");
|
|
||||||
}));
|
|
||||||
controllerlower.b().whileTrue(drivetrain.run(() -> {
|
|
||||||
drivetrain.forceUsingLimelightmt2WithllName(Constants.Limelight.LIMELIGHT_NAME_Intaker);
|
|
||||||
System.out.println("Try using intaker for metatag2");
|
|
||||||
}));
|
|
||||||
|
|
||||||
// 预留的左摇杆自动瞄准切换，当前保持注释，避免改变驾驶员已习惯的按键。
|
// 预留的左摇杆自动瞄准切换，当前保持注释，避免改变驾驶员已习惯的按键。
|
||||||
// controllerlower.leftStick().onTrue(operatorControls.requestAimHubCommand());
|
// controller.leftStick().onTrue(operatorControls.requestAimHubCommand());
|
||||||
// controllerlower.leftStick().onFalse(operatorControls.requestIdleCommand());
|
// controller.leftStick().onFalse(operatorControls.requestIdleCommand());
|
||||||
|
|
||||||
// 上操作员右保险：按住进入自动瞄准模式，松开回到全手动模式。
|
|
||||||
Trigger autoAim = controllerupper.rightBumper(); // 可按需要再并入驾驶员左摇杆。
|
|
||||||
autoAim.onTrue(operatorControls.requestAimHubCommand());
|
|
||||||
autoAim.onFalse(operatorControls.requestIdleCommand());
|
|
||||||
|
|
||||||
// 上操作员左保险：按住进入传球模式，松开回到全手动模式。
|
|
||||||
Trigger autoAim2 = controllerupper.leftBumper(); // 可按需要再并入驾驶员左摇杆。
|
|
||||||
autoAim2.onTrue(operatorControls.requestPassBallCommand());
|
|
||||||
autoAim2.onFalse(operatorControls.requestIdleCommand());
|
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -175,18 +134,17 @@ public class RobotContainer {
|
|||||||
// 这些命令 require Superstructure，与自动程序共用需求；
|
// 这些命令 require Superstructure，与自动程序共用需求；
|
||||||
// 用 teleop 门控避免自动赛阶段误触直接取消整个 PathPlanner 自动。
|
// 用 teleop 门控避免自动赛阶段误触直接取消整个 PathPlanner 自动。
|
||||||
Trigger teleopOnly = RobotModeTriggers.teleop();
|
Trigger teleopOnly = RobotModeTriggers.teleop();
|
||||||
controllerupper.rightTrigger().and(teleopOnly)
|
controller.rightTrigger().and(teleopOnly)
|
||||||
.onTrue(operatorControls.requestShootHubCommand())
|
.onTrue(operatorControls.requestShootHubCommand())
|
||||||
.onFalse(operatorControls.requestIdleCommand());
|
.onFalse(operatorControls.requestIdleCommand());
|
||||||
controllerupper.b().and(teleopOnly)
|
controller.rightBumper().and(teleopOnly)
|
||||||
.onTrue(operatorControls.requestEjectCommand())
|
.onTrue(operatorControls.requestEjectCommand())
|
||||||
.onFalse(operatorControls.requestIdleCommand());
|
.onFalse(operatorControls.requestIdleCommand());
|
||||||
controllerupper.povLeft().onTrue(Commands.runOnce(() -> operatorControls.adjustFlywheelVelocityOffset(-1.0)));
|
controller.povLeft().onTrue(Commands.runOnce(() -> operatorControls.adjustFlywheelVelocityOffset(-1.0)));
|
||||||
controllerupper.povRight().onTrue(Commands.runOnce(() -> operatorControls.adjustFlywheelVelocityOffset(1.0)));
|
controller.povRight().onTrue(Commands.runOnce(() -> operatorControls.adjustFlywheelVelocityOffset(1.0)));
|
||||||
controllerupper.povUp().onTrue(Commands.runOnce(() -> operatorControls.adjustBackboardRateOffset(100)));
|
controller.povUp().onTrue(Commands.runOnce(() -> operatorControls.adjustBackboardRateOffset(100)));
|
||||||
controllerupper.povDown().onTrue(Commands.runOnce(() -> operatorControls.adjustBackboardRateOffset(-100)));
|
controller.povDown().onTrue(Commands.runOnce(() -> operatorControls.adjustBackboardRateOffset(-100)));
|
||||||
controllerupper.back().onTrue(Commands.runOnce(() -> operatorControls.resetOffsets()));
|
controller.start().onTrue(operatorControls.resetBackboardCommand());
|
||||||
controllerupper.start().onTrue(operatorControls.resetBackboardCommand());
|
|
||||||
}
|
}
|
||||||
|
|
||||||
private void bingdingLED() {
|
private void bingdingLED() {
|
||||||
@@ -198,16 +156,13 @@ public class RobotContainer {
|
|||||||
}
|
}
|
||||||
|
|
||||||
public void tunerPeriodic() {
|
public void tunerPeriodic() {
|
||||||
|
boolean allowMotorOutputTuning = DriverStation.isTest();
|
||||||
|
|
||||||
driveGainsTuner.periodic();
|
driveGainsTuner.periodic();
|
||||||
configFlywheelTuner.periodic(() -> shooterSubsystem.applyLeftConfigurationToRight());
|
configFlywheelTuner.periodic(() -> shooterSubsystem.applyLeftConfigurationToRight());
|
||||||
shooterSubsystem.debugFlywheelVelocityPeriodic();
|
|
||||||
configConveyorTuner.periodic(null);
|
|
||||||
shooterSubsystem.debugShooterConveyorVelocityPeriodic();
|
|
||||||
configBackboardTuner.periodic();
|
configBackboardTuner.periodic();
|
||||||
shooterSubsystem.debugBackboardTargetPeriodic();
|
shooterSubsystem.debugFlywheelVelocityPeriodic(allowMotorOutputTuning);
|
||||||
configMainConveyorTuner.periodic(null);
|
shooterSubsystem.debugBackboardTargetPeriodic(allowMotorOutputTuning);
|
||||||
configIntakerRollerTuner.periodic(null);
|
|
||||||
configIntakerRotaterTuner.periodic(null);
|
|
||||||
shooterSubsystem.setRightFlywheelFollowLeft();
|
shooterSubsystem.setRightFlywheelFollowLeft();
|
||||||
shooterSubsystem.setRightConveyorFollowLeft();
|
shooterSubsystem.setRightConveyorFollowLeft();
|
||||||
}
|
}
|
||||||
@@ -219,27 +174,24 @@ public class RobotContainer {
|
|||||||
private void configueIntaker() {
|
private void configueIntaker() {
|
||||||
// 进球相关按钮也只请求 Superstructure 状态；intaker 开赛后默认保持下放。
|
// 进球相关按钮也只请求 Superstructure 状态；intaker 开赛后默认保持下放。
|
||||||
Trigger teleopOnly = RobotModeTriggers.teleop();
|
Trigger teleopOnly = RobotModeTriggers.teleop();
|
||||||
controllerupper.leftTrigger().and(teleopOnly)
|
controller.leftTrigger().and(teleopOnly)
|
||||||
|
.onTrue(operatorControls.requestPassBallCommand())
|
||||||
|
.onFalse(operatorControls.requestIdleCommand());
|
||||||
|
|
||||||
|
controller.leftBumper().and(teleopOnly)
|
||||||
.onTrue(operatorControls.requestIntakeCommand())
|
.onTrue(operatorControls.requestIntakeCommand())
|
||||||
.onFalse(operatorControls.requestIdleCommand());
|
.onFalse(operatorControls.requestIdleCommand());
|
||||||
|
|
||||||
Trigger manualRaiseIntaker = controllerupper.x().and(teleopOnly);
|
Trigger manualRaiseIntaker = controller.y().and(teleopOnly);
|
||||||
manualRaiseIntaker
|
manualRaiseIntaker
|
||||||
.onTrue(operatorControls.requestManualCommand())
|
.onTrue(operatorControls.requestManualCommand())
|
||||||
.whileTrue(operatorControls.manualRaiseIntakeRotaterCommand(intakeRotaterSubsystem))
|
.whileTrue(operatorControls.manualRaiseIntakeRotaterCommand(intakeRotaterSubsystem))
|
||||||
.onFalse(operatorControls.requestIdleCommand());
|
.onFalse(operatorControls.requestIdleCommand());
|
||||||
|
|
||||||
Trigger manualLowerIntaker = controllerupper.a().and(teleopOnly);
|
Trigger manualLowerIntaker = controller.a().and(teleopOnly);
|
||||||
manualLowerIntaker
|
manualLowerIntaker
|
||||||
.onTrue(operatorControls.requestManualCommand())
|
.onTrue(operatorControls.requestManualCommand())
|
||||||
.whileTrue(operatorControls.manualLowerIntakeRotaterCommand(intakeRotaterSubsystem))
|
.whileTrue(operatorControls.manualLowerIntakeRotaterCommand(intakeRotaterSubsystem))
|
||||||
.onFalse(operatorControls.requestIdleCommand());
|
.onFalse(operatorControls.requestIdleCommand());
|
||||||
|
|
||||||
controllerupper.y().and(teleopOnly)
|
|
||||||
.onTrue(Commands.sequence(
|
|
||||||
operatorControls.requestManualCommand(),
|
|
||||||
operatorControls.lowerIntakeRotaterForMatchCommand(intakeRotaterSubsystem),
|
|
||||||
operatorControls.requestIdleCommand()
|
|
||||||
));
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -37,8 +37,8 @@ public class DriveControls {
|
|||||||
private final double maxAngularRate = RotationsPerSecond.of(0.75).in(edu.wpi.first.units.Units.RadiansPerSecond);
|
private final double maxAngularRate = RotationsPerSecond.of(0.75).in(edu.wpi.first.units.Units.RadiansPerSecond);
|
||||||
|
|
||||||
// 默认速度比例，普通驾驶使用。
|
// 默认速度比例，普通驾驶使用。
|
||||||
private double normalDriveScale = 0.3;
|
private double normalDriveScale = 1.0;
|
||||||
private double normalTurnScale = 0.7;
|
private double normalTurnScale = 1.0;
|
||||||
|
|
||||||
// 加速模式比例，按住 RB 时使用。
|
// 加速模式比例，按住 RB 时使用。
|
||||||
private double boostDriveScale = 1.0;
|
private double boostDriveScale = 1.0;
|
||||||
@@ -48,7 +48,7 @@ public class DriveControls {
|
|||||||
|
|
||||||
private boolean boostEnabled = false;
|
private boolean boostEnabled = false;
|
||||||
|
|
||||||
private final SlewRateLimiter vxLimiter = new SlewRateLimiter(5.0); // m/s^2 等效加速度限制
|
private final SlewRateLimiter vxLimiter = new SlewRateLimiter(3.5); // m/s^2 等效加速度限制
|
||||||
private final SlewRateLimiter vyLimiter = new SlewRateLimiter(5.0);
|
private final SlewRateLimiter vyLimiter = new SlewRateLimiter(5.0);
|
||||||
private final SlewRateLimiter omegaLimiter = new SlewRateLimiter(9.0); // rad/s^2 等效角加速度限制
|
private final SlewRateLimiter omegaLimiter = new SlewRateLimiter(9.0); // rad/s^2 等效角加速度限制
|
||||||
|
|
||||||
|
|||||||
@@ -3,6 +3,7 @@ package frc.robot.controls;
|
|||||||
import edu.wpi.first.wpilibj2.command.Command;
|
import edu.wpi.first.wpilibj2.command.Command;
|
||||||
import edu.wpi.first.wpilibj2.command.Commands;
|
import edu.wpi.first.wpilibj2.command.Commands;
|
||||||
import frc.robot.Constants;
|
import frc.robot.Constants;
|
||||||
|
import frc.robot.subsystems.IntakeRollerSubsystem;
|
||||||
import frc.robot.subsystems.IntakeRotaterSubsystem;
|
import frc.robot.subsystems.IntakeRotaterSubsystem;
|
||||||
import frc.robot.subsystems.ShooterSubsystem;
|
import frc.robot.subsystems.ShooterSubsystem;
|
||||||
import frc.robot.subsystems.Superstructure;
|
import frc.robot.subsystems.Superstructure;
|
||||||
@@ -74,6 +75,24 @@ public class OperatorControls {
|
|||||||
return Commands.runEnd(intakeRotater::manualRaise, intakeRotater::stop, intakeRotater);
|
return Commands.runEnd(intakeRotater::manualRaise, intakeRotater::stop, intakeRotater);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
public Command manualRaiseIntakeWithRollerCommand(
|
||||||
|
IntakeRotaterSubsystem intakeRotater,
|
||||||
|
IntakeRollerSubsystem intakeRoller
|
||||||
|
) {
|
||||||
|
return Commands.runEnd(
|
||||||
|
() -> {
|
||||||
|
intakeRotater.manualRaise();
|
||||||
|
intakeRoller.intake();
|
||||||
|
},
|
||||||
|
() -> {
|
||||||
|
intakeRotater.stop();
|
||||||
|
intakeRoller.stop();
|
||||||
|
},
|
||||||
|
intakeRotater,
|
||||||
|
intakeRoller
|
||||||
|
);
|
||||||
|
}
|
||||||
|
|
||||||
public Command manualLowerIntakeRotaterCommand(IntakeRotaterSubsystem intakeRotater) {
|
public Command manualLowerIntakeRotaterCommand(IntakeRotaterSubsystem intakeRotater) {
|
||||||
return Commands.runEnd(intakeRotater::manualLower, intakeRotater::stop, intakeRotater);
|
return Commands.runEnd(intakeRotater::manualLower, intakeRotater::stop, intakeRotater);
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -77,7 +77,7 @@ public class TunerConstants {
|
|||||||
new Pigeon2Configuration()
|
new Pigeon2Configuration()
|
||||||
.withGyroTrim(
|
.withGyroTrim(
|
||||||
new GyroTrimConfigs()
|
new GyroTrimConfigs()
|
||||||
.withGyroScalarZ(-5.0)
|
.withGyroScalarZ(-6.7)
|
||||||
)
|
)
|
||||||
.withPigeon2Features(
|
.withPigeon2Features(
|
||||||
new Pigeon2FeaturesConfigs()
|
new Pigeon2FeaturesConfigs()
|
||||||
|
|||||||
@@ -46,8 +46,4 @@ public class LimelightSubsystem extends SubsystemBase {
|
|||||||
public Pose2d getEstimatedPose() {
|
public Pose2d getEstimatedPose() {
|
||||||
return LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2(limelightName).pose;
|
return LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2(limelightName).pose;
|
||||||
}
|
}
|
||||||
|
|
||||||
public double getShooterVelocityByDistance() {
|
|
||||||
return Constants.Shooter.flywheelVelocityByDistance.get(getDistanceToTarget());
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -9,12 +9,14 @@ import com.ctre.phoenix6.hardware.TalonFX;
|
|||||||
import com.ctre.phoenix6.hardware.TalonFXS;
|
import com.ctre.phoenix6.hardware.TalonFXS;
|
||||||
import com.ctre.phoenix6.signals.InvertedValue;
|
import com.ctre.phoenix6.signals.InvertedValue;
|
||||||
import com.ctre.phoenix6.signals.MotorAlignmentValue;
|
import com.ctre.phoenix6.signals.MotorAlignmentValue;
|
||||||
|
import com.ctre.phoenix6.signals.NeutralModeValue;
|
||||||
|
|
||||||
import edu.wpi.first.math.MathUtil;
|
import edu.wpi.first.math.MathUtil;
|
||||||
import edu.wpi.first.math.controller.ProfiledPIDController;
|
import edu.wpi.first.math.controller.ProfiledPIDController;
|
||||||
import edu.wpi.first.math.trajectory.TrapezoidProfile.Constraints;
|
import edu.wpi.first.math.trajectory.TrapezoidProfile.Constraints;
|
||||||
import edu.wpi.first.networktables.NetworkTable;
|
import edu.wpi.first.networktables.NetworkTable;
|
||||||
import edu.wpi.first.networktables.NetworkTableInstance;
|
import edu.wpi.first.networktables.NetworkTableInstance;
|
||||||
|
import edu.wpi.first.wpilibj.DriverStation;
|
||||||
import edu.wpi.first.wpilibj.Encoder;
|
import edu.wpi.first.wpilibj.Encoder;
|
||||||
import edu.wpi.first.wpilibj.Timer;
|
import edu.wpi.first.wpilibj.Timer;
|
||||||
import edu.wpi.first.wpilibj2.command.Command;
|
import edu.wpi.first.wpilibj2.command.Command;
|
||||||
@@ -49,7 +51,6 @@ public class ShooterSubsystem extends SubsystemBase {
|
|||||||
|
|
||||||
private final NetworkTable shooterNetworkTable;
|
private final NetworkTable shooterNetworkTable;
|
||||||
private final NetworkTable flywheelTuningTable;
|
private final NetworkTable flywheelTuningTable;
|
||||||
private final NetworkTable conveyorTuningTable;
|
|
||||||
private final NetworkTable backboardTuningTable;
|
private final NetworkTable backboardTuningTable;
|
||||||
|
|
||||||
private double flywheelOutputVolts = 0.0;
|
private double flywheelOutputVolts = 0.0;
|
||||||
@@ -90,6 +91,7 @@ public class ShooterSubsystem extends SubsystemBase {
|
|||||||
|
|
||||||
backboardMotor = new TalonFXS(Constants.Shooter.backboardMotorID);
|
backboardMotor = new TalonFXS(Constants.Shooter.backboardMotorID);
|
||||||
backboardMotor.getConfigurator().apply(Constants.Shooter.backboardSlot0Configs);
|
backboardMotor.getConfigurator().apply(Constants.Shooter.backboardSlot0Configs);
|
||||||
|
setBackboardBrakeMode();
|
||||||
|
|
||||||
backboardEncoder = new Encoder(0, 1, false, Encoder.EncodingType.k4X);
|
backboardEncoder = new Encoder(0, 1, false, Encoder.EncodingType.k4X);
|
||||||
backboardEncoder.setSamplesToAverage(5);
|
backboardEncoder.setSamplesToAverage(5);
|
||||||
@@ -109,9 +111,6 @@ public class ShooterSubsystem extends SubsystemBase {
|
|||||||
flywheelTuningTable.getEntry("flywheelVelocityEnable").setDefaultBoolean(false);
|
flywheelTuningTable.getEntry("flywheelVelocityEnable").setDefaultBoolean(false);
|
||||||
flywheelTuningTable.getEntry("flywheelTargetVelocity").setDefaultDouble(Constants.Shooter.defaultFlywheelVelocity);
|
flywheelTuningTable.getEntry("flywheelTargetVelocity").setDefaultDouble(Constants.Shooter.defaultFlywheelVelocity);
|
||||||
flywheelTuningTable.getEntry("flywheelVelocityTolerance").setDefaultDouble(Constants.Shooter.flywheelReadyVelocityTolerance);
|
flywheelTuningTable.getEntry("flywheelVelocityTolerance").setDefaultDouble(Constants.Shooter.flywheelReadyVelocityTolerance);
|
||||||
conveyorTuningTable = NetworkTableInstance.getDefault().getTable("Tuning/conveyor");
|
|
||||||
conveyorTuningTable.getEntry("conveyorVelocityEnable").setDefaultBoolean(false);
|
|
||||||
conveyorTuningTable.getEntry("conveyorTargetVelocity").setDefaultDouble(Constants.Shooter.shooterConveyorFeedVelocity);
|
|
||||||
backboardTuningTable = NetworkTableInstance.getDefault().getTable("Tuning/backboard");
|
backboardTuningTable = NetworkTableInstance.getDefault().getTable("Tuning/backboard");
|
||||||
backboardTuningTable.getEntry("backboardPositionEnable").setDefaultBoolean(false);
|
backboardTuningTable.getEntry("backboardPositionEnable").setDefaultBoolean(false);
|
||||||
backboardTuningTable.getEntry("backboardTargetPosition").setDefaultDouble(0.0);
|
backboardTuningTable.getEntry("backboardTargetPosition").setDefaultDouble(0.0);
|
||||||
@@ -155,16 +154,12 @@ public class ShooterSubsystem extends SubsystemBase {
|
|||||||
}
|
}
|
||||||
|
|
||||||
public boolean atVelocity() {
|
public boolean atVelocity() {
|
||||||
if (Math.abs(flywheelTargetVelocity) < Constants.Shooter.flywheelReadyVelocityThreshold) {
|
double currentvelocity = getAverageFlywheelVelocity();
|
||||||
flywheelVelocityReadyStartTimestamp = Timer.getFPGATimestamp();
|
if(currentvelocity>flywheelTargetVelocity*0.95){
|
||||||
|
return true;
|
||||||
|
} else {
|
||||||
return false;
|
return false;
|
||||||
}
|
}
|
||||||
if (Math.abs(getFlywheelVelocityError()) > flywheelVelocityTolerance) {
|
|
||||||
flywheelVelocityReadyStartTimestamp = Timer.getFPGATimestamp();
|
|
||||||
return false;
|
|
||||||
}
|
|
||||||
return Timer.getFPGATimestamp() - flywheelVelocityReadyStartTimestamp
|
|
||||||
>= Constants.Shooter.flywheelReadyDelaySeconds;
|
|
||||||
}
|
}
|
||||||
|
|
||||||
public double getLeftFlywheelVelocity() {
|
public double getLeftFlywheelVelocity() {
|
||||||
@@ -196,11 +191,7 @@ public class ShooterSubsystem extends SubsystemBase {
|
|||||||
/* ====================== */
|
/* ====================== */
|
||||||
|
|
||||||
public void runShooterConveyorVelocity(double targetVelocityRps) {
|
public void runShooterConveyorVelocity(double targetVelocityRps) {
|
||||||
shooterConveyorTargetVelocity = MathUtil.clamp(
|
shooterConveyorTargetVelocity = targetVelocityRps;
|
||||||
targetVelocityRps,
|
|
||||||
-Constants.Shooter.shooterConveyorMaxVelocity,
|
|
||||||
Constants.Shooter.shooterConveyorMaxVelocity
|
|
||||||
);
|
|
||||||
leftConveyor.setControl(conveyorVelocityRequest.withVelocity(shooterConveyorTargetVelocity));
|
leftConveyor.setControl(conveyorVelocityRequest.withVelocity(shooterConveyorTargetVelocity));
|
||||||
setRightConveyorFollowLeft();
|
setRightConveyorFollowLeft();
|
||||||
}
|
}
|
||||||
@@ -318,6 +309,12 @@ public class ShooterSubsystem extends SubsystemBase {
|
|||||||
setBackboardVoltage(0.0);
|
setBackboardVoltage(0.0);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
public void setBackboardBrakeMode() {
|
||||||
|
var backboardMotorOutputConfigs = new MotorOutputConfigs();
|
||||||
|
backboardMotorOutputConfigs.NeutralMode = NeutralModeValue.Brake;
|
||||||
|
backboardMotor.getConfigurator().apply(backboardMotorOutputConfigs);
|
||||||
|
}
|
||||||
|
|
||||||
public double getBackboardPosition() {
|
public double getBackboardPosition() {
|
||||||
return backboardEncoder.getDistance();
|
return backboardEncoder.getDistance();
|
||||||
}
|
}
|
||||||
@@ -339,17 +336,17 @@ public class ShooterSubsystem extends SubsystemBase {
|
|||||||
}
|
}
|
||||||
|
|
||||||
public boolean isBackboardPositionTuningActive() {
|
public boolean isBackboardPositionTuningActive() {
|
||||||
return backboardTuningTable.getEntry("backboardPositionEnable").getBoolean(false);
|
return DriverStation.isTest()
|
||||||
|
&& backboardTuningTable.getEntry("backboardPositionEnable").getBoolean(false);
|
||||||
}
|
}
|
||||||
|
|
||||||
public boolean isFlywheelTuningControlActive() {
|
public boolean isFlywheelTuningControlActive() {
|
||||||
boolean velocityTunerEnabled = flywheelTuningTable.getEntry("flywheelVelocityEnable").getBoolean(false);
|
return DriverStation.isTest()
|
||||||
return velocityTunerEnabled;
|
&& flywheelTuningTable.getEntry("flywheelVelocityEnable").getBoolean(false);
|
||||||
}
|
}
|
||||||
|
|
||||||
public boolean isShooterConveyorTuningControlActive() {
|
public boolean isShooterConveyorTuningControlActive() {
|
||||||
boolean velocityTunerEnabled = conveyorTuningTable.getEntry("conveyorVelocityEnable").getBoolean(false);
|
return false;
|
||||||
return velocityTunerEnabled;
|
|
||||||
}
|
}
|
||||||
|
|
||||||
public void resetbackboardencoder() {
|
public void resetbackboardencoder() {
|
||||||
@@ -379,8 +376,9 @@ public class ShooterSubsystem extends SubsystemBase {
|
|||||||
stopBackboard();
|
stopBackboard();
|
||||||
}
|
}
|
||||||
|
|
||||||
public void debugBackboardTargetPeriodic() {
|
public void debugBackboardTargetPeriodic(boolean allowMotorOutput) {
|
||||||
boolean positionEnable = backboardTuningTable.getEntry("backboardPositionEnable").getBoolean(false);
|
boolean positionEnable =
|
||||||
|
allowMotorOutput && backboardTuningTable.getEntry("backboardPositionEnable").getBoolean(false);
|
||||||
double requestedTarget = backboardTuningTable.getEntry("backboardTargetPosition").getDouble(0.0);
|
double requestedTarget = backboardTuningTable.getEntry("backboardTargetPosition").getDouble(0.0);
|
||||||
double clampedTarget = MathUtil.clamp(
|
double clampedTarget = MathUtil.clamp(
|
||||||
requestedTarget,
|
requestedTarget,
|
||||||
@@ -397,8 +395,9 @@ public class ShooterSubsystem extends SubsystemBase {
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
public void debugFlywheelVelocityPeriodic() {
|
public void debugFlywheelVelocityPeriodic(boolean allowMotorOutput) {
|
||||||
flywheelVelocityTuningActive = flywheelTuningTable.getEntry("flywheelVelocityEnable").getBoolean(false);
|
flywheelVelocityTuningActive =
|
||||||
|
allowMotorOutput && flywheelTuningTable.getEntry("flywheelVelocityEnable").getBoolean(false);
|
||||||
double requestedTargetVelocity =
|
double requestedTargetVelocity =
|
||||||
flywheelTuningTable.getEntry("flywheelTargetVelocity").getDouble(Constants.Shooter.defaultFlywheelVelocity);
|
flywheelTuningTable.getEntry("flywheelTargetVelocity").getDouble(Constants.Shooter.defaultFlywheelVelocity);
|
||||||
flywheelVelocityTolerance = Math.max(
|
flywheelVelocityTolerance = Math.max(
|
||||||
@@ -422,28 +421,6 @@ public class ShooterSubsystem extends SubsystemBase {
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
public void debugShooterConveyorVelocityPeriodic() {
|
|
||||||
shooterConveyorVelocityTuningActive =
|
|
||||||
conveyorTuningTable.getEntry("conveyorVelocityEnable").getBoolean(false);
|
|
||||||
double requestedTargetVelocity =
|
|
||||||
conveyorTuningTable.getEntry("conveyorTargetVelocity")
|
|
||||||
.getDouble(Constants.Shooter.shooterConveyorFeedVelocity);
|
|
||||||
double clampedTargetVelocity = MathUtil.clamp(
|
|
||||||
requestedTargetVelocity,
|
|
||||||
-Constants.Shooter.shooterConveyorMaxVelocity,
|
|
||||||
Constants.Shooter.shooterConveyorMaxVelocity
|
|
||||||
);
|
|
||||||
|
|
||||||
conveyorTuningTable.getEntry("conveyorVelocityEnableActive")
|
|
||||||
.setBoolean(shooterConveyorVelocityTuningActive);
|
|
||||||
conveyorTuningTable.getEntry("conveyorCommandedTargetVelocity").setDouble(requestedTargetVelocity);
|
|
||||||
conveyorTuningTable.getEntry("conveyorClampedTargetVelocity").setDouble(clampedTargetVelocity);
|
|
||||||
|
|
||||||
if (shooterConveyorVelocityTuningActive) {
|
|
||||||
runShooterConveyorVelocity(clampedTargetVelocity);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
@Override
|
@Override
|
||||||
public void periodic() {
|
public void periodic() {
|
||||||
double backboardPosition = getBackboardPosition();
|
double backboardPosition = getBackboardPosition();
|
||||||
@@ -499,4 +476,3 @@ public class ShooterSubsystem extends SubsystemBase {
|
|||||||
shooterNetworkTable.getEntry("statorCurrent").setDouble(getConveyorStatorCurrent());
|
shooterNetworkTable.getEntry("statorCurrent").setDouble(getConveyorStatorCurrent());
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|||||||
@@ -1,5 +1,6 @@
|
|||||||
package frc.robot.subsystems;
|
package frc.robot.subsystems;
|
||||||
|
|
||||||
|
import edu.wpi.first.math.MathUtil;
|
||||||
import edu.wpi.first.math.kinematics.ChassisSpeeds;
|
import edu.wpi.first.math.kinematics.ChassisSpeeds;
|
||||||
import edu.wpi.first.networktables.NetworkTable;
|
import edu.wpi.first.networktables.NetworkTable;
|
||||||
import edu.wpi.first.networktables.NetworkTableInstance;
|
import edu.wpi.first.networktables.NetworkTableInstance;
|
||||||
@@ -284,8 +285,13 @@ public class Superstructure extends SubsystemBase {
|
|||||||
}
|
}
|
||||||
|
|
||||||
private void handleShootHub() {
|
private void handleShootHub() {
|
||||||
double targetVelocity = limelight.getShooterVelocityByDistance() + flywheelVelocityOffset;
|
double x = NetworkTableInstance.getDefault().getTable("AutoControl").getEntry("distanceToHub").getDouble(0.0);
|
||||||
double backboardPosition = Constants.Superstructure.backboardShootPosition + backboardPositionOffset;
|
x = MathUtil.clamp(x, 1.2, 4.5);
|
||||||
|
double rawtargetVelocity = -0.9702766369910669*x*x*x*x*x*x+16.17984114722666*x*x*x*x*x-107.89020547785285*x*x*x*x+365.6895126610877*x*x*x-659.1553030522557*x*x+598.8266122952737*x-188.96203796840197;
|
||||||
|
double targetVelocity = rawtargetVelocity + flywheelVelocityOffset;
|
||||||
|
double rawtargetbackboardPosition = +72.63723930800967*x*x*x*x*x*x-1226.7072434356646*x*x*x*x*x+8380.732539436454*x*x*x*x-29585.06108203164*x*x*x+56753.91414329895*x*x-55469.56099616276*x+21418.08191862802;
|
||||||
|
rawtargetbackboardPosition = MathUtil.clamp(rawtargetbackboardPosition, 0, 2200);
|
||||||
|
double backboardPosition = rawtargetbackboardPosition + backboardPositionOffset;
|
||||||
handlePreparedFeed(targetVelocity, backboardPosition);
|
handlePreparedFeed(targetVelocity, backboardPosition);
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -301,8 +307,6 @@ public class Superstructure extends SubsystemBase {
|
|||||||
setSystemState(SystemState.PREP_SHOOT);
|
setSystemState(SystemState.PREP_SHOOT);
|
||||||
}
|
}
|
||||||
intakeRoller.stop();
|
intakeRoller.stop();
|
||||||
conveyor.stop();
|
|
||||||
stopShooterConveyorUnlessTuning();
|
|
||||||
// 距离到射速的映射由 LimelightSubsystem 提供；操作员 offset 用于现场微调，
|
// 距离到射速的映射由 LimelightSubsystem 提供；操作员 offset 用于现场微调，
|
||||||
// 但不会绕过 Superstructure 状态机。
|
// 但不会绕过 Superstructure 状态机。
|
||||||
shooter.setFlywheelVelocity(targetVelocity);
|
shooter.setFlywheelVelocity(targetVelocity);
|
||||||
@@ -312,6 +316,7 @@ public class Superstructure extends SubsystemBase {
|
|||||||
// 只有 canShoot() 通过后才会进入本状态；喂球期间不再复查门控，
|
// 只有 canShoot() 通过后才会进入本状态；喂球期间不再复查门控，
|
||||||
// 避免球接触飞轮导致的掉速中断喂球。
|
// 避免球接触飞轮导致的掉速中断喂球。
|
||||||
intakeRotater.shootAssist();
|
intakeRotater.shootAssist();
|
||||||
|
|
||||||
conveyor.feedToShooter();
|
conveyor.feedToShooter();
|
||||||
runShooterConveyorVelocityUnlessTuning(Constants.Superstructure.shooterFeedVelocity);
|
runShooterConveyorVelocityUnlessTuning(Constants.Superstructure.shooterFeedVelocity);
|
||||||
return;
|
return;
|
||||||
@@ -382,6 +387,9 @@ public class Superstructure extends SubsystemBase {
|
|||||||
if (systemState != nextState) {
|
if (systemState != nextState) {
|
||||||
systemState = nextState;
|
systemState = nextState;
|
||||||
stateStartTimestamp = Timer.getFPGATimestamp();
|
stateStartTimestamp = Timer.getFPGATimestamp();
|
||||||
|
if (nextState == SystemState.SHOOTING) {
|
||||||
|
shooter.setBackboardBrakeMode();
|
||||||
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|||||||
@@ -1,6 +1,5 @@
|
|||||||
package frc.robot.tuning;
|
package frc.robot.tuning;
|
||||||
import com.ctre.phoenix6.configs.Slot0Configs;
|
import com.ctre.phoenix6.configs.Slot0Configs;
|
||||||
import com.ctre.phoenix6.controls.VelocityDutyCycle;
|
|
||||||
import com.ctre.phoenix6.hardware.TalonFXS;
|
import com.ctre.phoenix6.hardware.TalonFXS;
|
||||||
|
|
||||||
import edu.wpi.first.networktables.*;
|
import edu.wpi.first.networktables.*;
|
||||||
@@ -20,11 +19,8 @@ public class ConfigTalonFXSMotorTuner {
|
|||||||
private final DoubleSubscriber KaSub;
|
private final DoubleSubscriber KaSub;
|
||||||
private final DoubleSubscriber KsSub;
|
private final DoubleSubscriber KsSub;
|
||||||
|
|
||||||
private final BooleanSubscriber enableRuningSub;
|
|
||||||
private final DoubleSubscriber runningSpeedRPS;
|
|
||||||
private double lastKp = 0, lastKi = 0, lastKd = 0, lastKv = 0, lastKa = 0, lastKs = 0;
|
private double lastKp = 0, lastKi = 0, lastKd = 0, lastKv = 0, lastKa = 0, lastKs = 0;
|
||||||
|
|
||||||
private final VelocityDutyCycle velocityRequest = new VelocityDutyCycle(0);
|
|
||||||
public ConfigTalonFXSMotorTuner(TalonFXS motor_, String motorName_, Slot0Configs motorSlot0Configs_) {
|
public ConfigTalonFXSMotorTuner(TalonFXS motor_, String motorName_, Slot0Configs motorSlot0Configs_) {
|
||||||
this.motor = motor_;
|
this.motor = motor_;
|
||||||
this.motorName = motorName_;
|
this.motorName = motorName_;
|
||||||
@@ -39,9 +35,6 @@ public class ConfigTalonFXSMotorTuner {
|
|||||||
table.getDoubleTopic(motorName+"kA").publish().set(motorSlot0Configs.kA);
|
table.getDoubleTopic(motorName+"kA").publish().set(motorSlot0Configs.kA);
|
||||||
table.getDoubleTopic(motorName+"kS").publish().set(motorSlot0Configs.kS);
|
table.getDoubleTopic(motorName+"kS").publish().set(motorSlot0Configs.kS);
|
||||||
|
|
||||||
table.getBooleanTopic(motorName+"EnableRunning").publish().set(false);
|
|
||||||
table.getDoubleTopic(motorName+"RunningSpeedRPS").publish().set(0);
|
|
||||||
|
|
||||||
this.enableSub = table.getBooleanTopic(motorName+"Enable").subscribe(false);
|
this.enableSub = table.getBooleanTopic(motorName+"Enable").subscribe(false);
|
||||||
this.KpSub = table.getDoubleTopic(motorName+"kP").subscribe(motorSlot0Configs.kP);
|
this.KpSub = table.getDoubleTopic(motorName+"kP").subscribe(motorSlot0Configs.kP);
|
||||||
this.KiSub = table.getDoubleTopic(motorName+"kI").subscribe(motorSlot0Configs.kI);
|
this.KiSub = table.getDoubleTopic(motorName+"kI").subscribe(motorSlot0Configs.kI);
|
||||||
@@ -49,8 +42,6 @@ public class ConfigTalonFXSMotorTuner {
|
|||||||
this.KvSub = table.getDoubleTopic(motorName+"kV").subscribe(motorSlot0Configs.kV);
|
this.KvSub = table.getDoubleTopic(motorName+"kV").subscribe(motorSlot0Configs.kV);
|
||||||
this.KaSub = table.getDoubleTopic(motorName+"kA").subscribe(motorSlot0Configs.kA);
|
this.KaSub = table.getDoubleTopic(motorName+"kA").subscribe(motorSlot0Configs.kA);
|
||||||
this.KsSub = table.getDoubleTopic(motorName+"kS").subscribe(motorSlot0Configs.kS);
|
this.KsSub = table.getDoubleTopic(motorName+"kS").subscribe(motorSlot0Configs.kS);
|
||||||
this.enableRuningSub = table.getBooleanTopic(motorName+"EnableRunning").subscribe(false);
|
|
||||||
this.runningSpeedRPS = table.getDoubleTopic(motorName+"RunningSpeedRPS").subscribe(0);
|
|
||||||
}
|
}
|
||||||
|
|
||||||
public void periodic() {
|
public void periodic() {
|
||||||
@@ -73,13 +64,5 @@ public class ConfigTalonFXSMotorTuner {
|
|||||||
|
|
||||||
lastKp = kp; lastKi = ki; lastKd = kd; lastKv = kv; lastKa = ka; lastKs = ks;
|
lastKp = kp; lastKi = ki; lastKd = kd; lastKv = kv; lastKa = ka; lastKs = ks;
|
||||||
}
|
}
|
||||||
|
|
||||||
if (enableRuningSub.get()) {;
|
|
||||||
double speed = runningSpeedRPS.get();
|
|
||||||
motor.setControl(velocityRequest.withVelocity(speed));
|
|
||||||
// System.out.println("running motor with speed: "+speed+" on motor: "+motorName);
|
|
||||||
}else{
|
|
||||||
motor.setControl(velocityRequest.withVelocity(0));
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
Reference in New Issue
Block a user