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OnDYCLaptop
2026-02-23 14:25:19 +08:00
parent 27e177df3d
commit da6e3d4a5a
5 changed files with 389 additions and 17 deletions
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elastic-layout.json
+353
View File
@@ -972,6 +972,359 @@
"color": 4278238420,
"line_width": 2.0
}
},
{
"title": "Robot",
"x": 0.0,
"y": 512.0,
"width": 384.0,
"height": 128.0,
"type": "Text Display",
"properties": {
"topic": "/SmartDashboard/PositioningIntakerll/Robot",
"period": 0.06,
"data_type": "double[]",
"show_submit_button": true
}
},
{
"title": "Robot",
"x": 384.0,
"y": 512.0,
"width": 384.0,
"height": 128.0,
"type": "Text Display",
"properties": {
"topic": "/SmartDashboard/PositioningShooterll/Robot",
"period": 0.06,
"data_type": "double[]",
"show_submit_button": true
}
},
{
"title": "X",
"x": 0.0,
"y": 640.0,
"width": 128.0,
"height": 128.0,
"type": "Text Display",
"properties": {
"topic": "/Positioning/limelight-intaker/X",
"period": 0.06,
"data_type": "double",
"show_submit_button": true
}
},
{
"title": "Y",
"x": 128.0,
"y": 640.0,
"width": 128.0,
"height": 128.0,
"type": "Text Display",
"properties": {
"topic": "/Positioning/limelight-intaker/Y",
"period": 0.06,
"data_type": "double",
"show_submit_button": true
}
},
{
"title": "X",
"x": 384.0,
"y": 640.0,
"width": 128.0,
"height": 128.0,
"type": "Text Display",
"properties": {
"topic": "/Positioning/limelight-shooter/X",
"period": 0.06,
"data_type": "double",
"show_submit_button": true
}
},
{
"title": "Y",
"x": 512.0,
"y": 640.0,
"width": 128.0,
"height": 128.0,
"type": "Text Display",
"properties": {
"topic": "/Positioning/limelight-shooter/Y",
"period": 0.06,
"data_type": "double",
"show_submit_button": true
}
}
]
}
},
{
"name": "Shooter",
"grid_layout": {
"layouts": [],
"containers": [
{
"title": "limelight-shooter",
"x": 1152.0,
"y": 0.0,
"width": 384.0,
"height": 384.0,
"type": "Camera Stream",
"properties": {
"topic": "/CameraPublisher/limelight-shooter",
"period": 0.06,
"rotation_turns": 0
}
},
{
"title": "backboardCurrentRate",
"x": 896.0,
"y": 0.0,
"width": 256.0,
"height": 256.0,
"type": "Graph",
"properties": {
"topic": "/Shooter/backboardCurrentRate",
"period": 0.033,
"data_type": "double",
"time_displayed": 5.0,
"color": 4278238420,
"line_width": 2.0
}
},
{
"title": "conveyorSpeed",
"x": 384.0,
"y": 256.0,
"width": 128.0,
"height": 128.0,
"type": "Text Display",
"properties": {
"topic": "/Shooter/conveyorSpeed",
"period": 0.06,
"data_type": "double",
"show_submit_button": true
}
},
{
"title": "distanceGetted",
"x": 0.0,
"y": 0.0,
"width": 384.0,
"height": 256.0,
"type": "Graph",
"properties": {
"topic": "/Shooter/distanceGetted",
"period": 0.033,
"data_type": "double",
"time_displayed": 5.0,
"color": 4278238420,
"line_width": 2.0
}
},
{
"title": "isBackboardAtTarget",
"x": 896.0,
"y": 640.0,
"width": 256.0,
"height": 128.0,
"type": "Boolean Box",
"properties": {
"topic": "/Shooter/isBackboardAtTarget",
"period": 0.06,
"data_type": "boolean",
"true_color": 4283215696,
"false_color": 4294198070,
"true_icon": "None",
"false_icon": "None"
}
},
{
"title": "flywheelSpeed",
"x": 640.0,
"y": 0.0,
"width": 256.0,
"height": 256.0,
"type": "Graph",
"properties": {
"topic": "/Shooter/flywheelSpeed",
"period": 0.033,
"data_type": "double",
"time_displayed": 5.0,
"color": 4278238420,
"line_width": 2.0
}
},
{
"title": "Field",
"x": 1152.0,
"y": 384.0,
"width": 384.0,
"height": 256.0,
"type": "Field",
"properties": {
"topic": "/SmartDashboard/Field",
"period": 0.06,
"field_game": "Rebuilt",
"robot_width": 0.85,
"robot_length": 0.85,
"show_other_objects": true,
"show_trajectories": true,
"field_rotation": 180.0,
"robot_color": 4294198070,
"trajectory_color": 4294967295,
"show_robot_outside_widget": true
}
},
{
"title": "distanceGetted",
"x": 0.0,
"y": 256.0,
"width": 384.0,
"height": 128.0,
"type": "Text Display",
"properties": {
"topic": "/Shooter/distanceGetted",
"period": 0.033,
"data_type": "double",
"show_submit_button": true
}
},
{
"title": "conveyorSpeed",
"x": 384.0,
"y": 0.0,
"width": 256.0,
"height": 256.0,
"type": "Graph",
"properties": {
"topic": "/Shooter/conveyorSpeed",
"period": 0.033,
"data_type": "double",
"time_displayed": 5.0,
"color": 4278238420,
"line_width": 2.0
}
},
{
"title": "flywheelSpeed",
"x": 640.0,
"y": 256.0,
"width": 128.0,
"height": 128.0,
"type": "Text Display",
"properties": {
"topic": "/Shooter/flywheelSpeed",
"period": 0.033,
"data_type": "double",
"show_submit_button": true
}
},
{
"title": "backboardCurrentRate",
"x": 896.0,
"y": 256.0,
"width": 128.0,
"height": 128.0,
"type": "Text Display",
"properties": {
"topic": "/Shooter/backboardCurrentRate",
"period": 0.06,
"data_type": "double",
"show_submit_button": true
}
},
{
"title": "backboardTargetRate",
"x": 1024.0,
"y": 256.0,
"width": 128.0,
"height": 128.0,
"type": "Text Display",
"properties": {
"topic": "/Shooter/backboardTargetRate",
"period": 0.06,
"data_type": "double",
"show_submit_button": true
}
},
{
"title": "conveyorPIDReference",
"x": 512.0,
"y": 256.0,
"width": 128.0,
"height": 128.0,
"type": "Text Display",
"properties": {
"topic": "/Shooter/conveyorPIDReference",
"period": 0.06,
"data_type": "double",
"show_submit_button": true
}
},
{
"title": "flywheelPIDReference",
"x": 768.0,
"y": 256.0,
"width": 128.0,
"height": 128.0,
"type": "Text Display",
"properties": {
"topic": "/Shooter/flywheelPIDReference",
"period": 0.06,
"data_type": "double",
"show_submit_button": true
}
},
{
"title": "conveyorPIDReference",
"x": 384.0,
"y": 384.0,
"width": 256.0,
"height": 256.0,
"type": "Graph",
"properties": {
"topic": "/Shooter/conveyorPIDReference",
"period": 0.033,
"data_type": "double",
"time_displayed": 5.0,
"color": 4278238420,
"line_width": 2.0
}
},
{
"title": "flywheelPIDReference",
"x": 640.0,
"y": 384.0,
"width": 256.0,
"height": 256.0,
"type": "Graph",
"properties": {
"topic": "/Shooter/flywheelPIDReference",
"period": 0.033,
"data_type": "double",
"time_displayed": 5.0,
"color": 4278238420,
"line_width": 2.0
}
},
{
"title": "backboardTargetRate",
"x": 896.0,
"y": 384.0,
"width": 256.0,
"height": 256.0,
"type": "Graph",
"properties": {
"topic": "/Shooter/backboardTargetRate",
"period": 0.033,
"data_type": "double",
"time_displayed": 5.0,
"color": 4278238420,
"line_width": 2.0
}
}
]
}
src/main/java/frc/robot/Constants.java
+2 -2
View File
@@ -6,7 +6,7 @@ import edu.wpi.first.math.geometry.Pose2d;
public final class Constants {
public static final boolean LEDUsing = false;
public class Shooter {
public static final double conveyorSpeedkP = 10;
public static final double conveyorSpeed = 20;
public static final Slot0Configs flyWheelSlot0Configs = new Slot0Configs()
.withKP(0.0).withKI(0).withKD(0)
.withKV(0.1).withKA(0.0).withKS(0.15);
@@ -67,7 +67,7 @@ public final class Constants {
public class Limelight {
public static final String LIMELIGHT_NAME_Shooter = "limelight-shooter";
public static final String LIMELIGHT_NAME_Intaker = "limelight-intaker";
public static final Boolean UsingMetaTag2 = false;
public static final Boolean UsingMetaTag2 = true;
}
public class Field {
src/main/java/frc/robot/RobotContainer.java
+2 -2
View File
@@ -104,8 +104,8 @@ public class RobotContainer {
controller.povLeft().onTrue(Commands.runOnce(() -> shooterControls.adjustFlywheelSpeedOffset(-5)));
controller.povRight().onTrue(Commands.runOnce(() -> shooterControls.adjustFlywheelSpeedOffset(5)));
controller.povUp().onTrue(Commands.runOnce(() -> shooterControls.adjustBackboardRateOffset(1500)));
controller.povDown().onTrue(Commands.runOnce(() -> shooterControls.adjustBackboardRateOffset(-1500)));
controller.povUp().onTrue(Commands.runOnce(() -> shooterControls.adjustBackboardRateOffset(500)));
controller.povDown().onTrue(Commands.runOnce(() -> shooterControls.adjustBackboardRateOffset(-500)));
controller.b().onTrue(shooterControls.resetBackboardCommand());
}
src/main/java/frc/robot/controls/ShooterControls.java
+23 -12
View File
@@ -1,8 +1,9 @@
package frc.robot.controls;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import frc.robot.Constants;
import frc.robot.subsystems.ShooterSubsystem;
@@ -14,31 +15,35 @@ public class ShooterControls {
private double flywheelSpeedOffset = 0.0;
private double backboardPositionOffset = 0.0;
private NetworkTable shooterControlTable;
public ShooterControls(ShooterSubsystem shooterSubsystem, CommandXboxController controller) {
this.shooterSubsystem = shooterSubsystem;
this.controller = controller;
shooterControlTable = NetworkTableInstance.getDefault().getTable("shooterControl");
}
public Command defaultShooterCommand() {
return Commands.run(() -> {
// System.out.println("running");
if (controller.getRightTriggerAxis() < 0.1) {
shooterSubsystem.setConveyorSpeedByRPS(0);
shooterSubsystem.setFlywheelSpeedByRPS(0);
return;
}
double flywheelSpeed;
double backboardPosition;
double conveyorSpeed;
flywheelSpeed = calculateFlywheelSpeedOnlywithOffset(20);
flywheelSpeed = calculateFlywheelSpeedOnlywithOffset(30);
backboardPosition = calculateBackboardPositionOnlywithOffset(100);
conveyorSpeed = controller.getRightTriggerAxis() * Constants.Shooter.conveyorSpeedkP;
conveyorSpeed = Constants.Shooter.conveyorSpeed;
shooterControlTable.getEntry("flywheelTargetSpeed").setDouble(flywheelSpeed);
shooterControlTable.getEntry("conveyerTargetSpeed").setDouble(conveyorSpeed);
shooterControlTable.getEntry("backboardTargetPosition").setDouble(backboardPosition);
// System.out.println("running");
if (controller.getRightTriggerAxis() < 0.1) {
flywheelSpeed = 0;
conveyorSpeed = 0;
}
// double flywheelSpeed = calculateFlywheelSpeed(0);
// double BackboardPosition = calculateBackboardPosition(0);
// shooterSubsystem.setFlywheelSpeedByRPS(flywheelSpeed);
// shooterSubsystem.setConveyorSpeedByRPS(conveyorSpeed);
shooterSubsystem.setFlywheelSpeedByRPS(flywheelSpeed);
shooterSubsystem.setConveyorSpeedByRPS(conveyorSpeed);
shooterSubsystem.setBackboardPosition(backboardPosition);
}, shooterSubsystem);
}
@@ -60,6 +65,12 @@ public class ShooterControls {
// shooterSubsystem.currentBackboardInalyzeMode = Mode.Inalyzed;}, shooterSubsystem));
// }
public void outputInfo(){
double currentConveyorSpeed = shooterSubsystem.conveyorMotor.getVelocity().getValueAsDouble();
double currentFlywheelSpeed = shooterSubsystem.flywheelMotorLeft.getVelocity().getValueAsDouble();
double currentBackboardRate = shooterSubsystem.getBackboardPosition();
System.out.println("Conveyor: " + currentConveyorSpeed + "\t Flywheel: " + currentFlywheelSpeed + "\t Backboard:" + currentBackboardRate);
}
public Command resetBackboardCommand(){
return
Commands.runOnce(()->{
src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
+8
View File
@@ -193,6 +193,8 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
}else if (shooterAvailable && !intakerAvailable) {
double shooterDistance = current.getTranslation().getDistance(mt2_shooter.pose.getTranslation());
ll_shooter_NT.getEntry("Distance").setDouble(shooterDistance);
ll_shooter_NT.getEntry("X").setDouble(mt2_shooter.pose.getX());
ll_shooter_NT.getEntry("Y").setDouble(mt2_shooter.pose.getY());
positioningNetworkTable.getEntry("MetaTag2Available").setBoolean(true);
positioningNetworkTable.getEntry("Usingll").setString("Shooter");
//positioningNetworkTable.getEntry("MetaTag2DistanceDifference").setDouble(Double.NaN);
@@ -200,6 +202,8 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
}else if (!shooterAvailable && intakerAvailable) {
double intakerDistance = current.getTranslation().getDistance(mt2_intaker.pose.getTranslation());
ll_intaker_NT.getEntry("Distance").setDouble(intakerDistance);
ll_intaker_NT.getEntry("X").setDouble(mt2_intaker.pose.getX());
ll_intaker_NT.getEntry("Y").setDouble(mt2_intaker.pose.getY());
positioningNetworkTable.getEntry("MetaTag2Available").setBoolean(true);
positioningNetworkTable.getEntry("Usingll").setString("Intaker");
//positioningNetworkTable.getEntry("MetaTag2DistanceDifference").setDouble(Double.NaN);
@@ -212,6 +216,10 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
ll_shooter_NT.getEntry("Distance").setDouble(shooterDistance);
ll_intaker_NT.getEntry("Distance").setDouble(intakerDistance);
ll_shooter_NT.getEntry("X").setDouble(mt2_shooter.pose.getX());
ll_shooter_NT.getEntry("Y").setDouble(mt2_shooter.pose.getY());
ll_intaker_NT.getEntry("X").setDouble(mt2_intaker.pose.getX());
ll_intaker_NT.getEntry("Y").setDouble(mt2_intaker.pose.getY());
positioningNetworkTable.getEntry("MetaTag2DistanceDifference").setDouble(difference);
positioningNetworkTable.getEntry("MetaTag2XDifference").setDouble(Math.abs(mt2_shooter.pose.getX() - mt2_intaker.pose.getX()));
positioningNetworkTable.getEntry("MetaTag2YDifference").setDouble(Math.abs(mt2_shooter.pose.getY() - mt2_intaker.pose.getY()));