TimeCrafters/CenterStage
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Merge remote-tracking branch 'origin/master'

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This commit is contained in:
NerdyBirdy460
2023-12-02 12:02:09 -06:00
parent 2f911879a3 f06b8252bf
commit 84fd173082
3 changed files with 57 additions and 10 deletions
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9
TeamCode/src/main/java/org/timecrafters/CenterStage/Common/XDrivetrainBot.java
View File

@@ -27,9 +27,10 @@ public class XDrivetrainBot extends Robot {
public int oldArmPosition = 0;
public long waitTime;
private HardwareMap hardwareMap;
public DcMotor frontLeft, frontRight, backLeft, backRight, armMotor;
public DcMotor frontLeft, frontRight, backLeft, backRight, armMotor, chinUpMotor;
public DcMotor odometerR, odometerL, odometerA;
public IMU imu;
public Servo liftServo;
private String string;
private double drivePower = 1;
@@ -93,6 +94,10 @@ public class XDrivetrainBot extends Robot {
backRight = engine.hardwareMap.dcMotor.get("backRight");
backLeft = engine.hardwareMap.dcMotor.get("backLeft");
armMotor = engine.hardwareMap.dcMotor.get("arm");
chinUpMotor = engine.hardwareMap.dcMotor.get("chinUpMotor");
//SERVOS
liftServo = engine.hardwareMap.servo.get("lift");
// configuration = new TimeCraftersConfiguration("Blue Crab");
@@ -103,6 +108,7 @@ public class XDrivetrainBot extends Robot {
backLeft.setDirection(DcMotorSimple.Direction.REVERSE);
frontLeft.setDirection(DcMotorSimple.Direction.REVERSE);
armMotor.setDirection(DcMotorSimple.Direction.FORWARD);
chinUpMotor.setDirection(DcMotorSimple.Direction.REVERSE);
@@ -112,6 +118,7 @@ public class XDrivetrainBot extends Robot {
backLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
frontLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
armMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
chinUpMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
//IMU
IMU.Parameters parameters = new IMU.Parameters(
new RevHubOrientationOnRobot(

5
TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/PrototypeRobotDrivetrainState.java
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@@ -107,11 +107,6 @@ public class PrototypeRobotDrivetrainState extends CyberarmState {
// drivetrain
robot.driveTrainTeleOp();
if (engine.gamepad1.b){
// targetHeading = robot.backDropLock;
}
// lift
SliderTeleOp();
// collector depositor

53
TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/XDrivetrainRobotState.java
View File

@@ -2,6 +2,7 @@ package org.timecrafters.CenterStage.TeleOp.States;
import com.acmerobotics.dashboard.config.Config;
import com.arcrobotics.ftclib.controller.PIDController;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.util.ElapsedTime;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
@@ -13,23 +14,29 @@ import dev.cyberarm.engine.V2.CyberarmState;
public class XDrivetrainRobotState extends CyberarmState {
private XDrivetrainBot robot;
private PIDController ArmPidController;
public static double ArmP, ArmI, ArmD;
private float ticksInDegree = 144 / 180;
public static double ArmP = 0, ArmI = 0, ArmD = 0, ArmF = 0;
private double targetHeading;
public double power;
private double currentHeading;
public double integralSum = 0;
public double ArmintegralSum = 0;
public static double liftServoPos = 0.5;
public static double Kp = 1;
public static double Ki = 0;
public static double Kd = 0;
public static double target;
ElapsedTime timer = new ElapsedTime();
private double lastError = 0;
private double ArmlastError = 0;
private boolean headingLock = false;
private long lastCheckedTime;
public XDrivetrainRobotState(XDrivetrainBot robot) {
this.robot = robot;
ArmPidController = new PIDController(ArmP, ArmI, ArmD);
}
@@ -45,10 +52,30 @@ public class XDrivetrainRobotState extends CyberarmState {
return radians;
}
public void ArmControl(){
public double ArmControlPower(double reference, double current){
double error = (current - reference);
ArmintegralSum += error * timer.seconds();
double derivative = (error - ArmlastError) / timer.seconds();
timer.reset();
double output = (error * ArmP) + (derivative * ArmD) + (integralSum * ArmI);
return output;
}
public void chinUpControl(){
if(engine.gamepad1.left_bumper){
robot.chinUpMotor.setPower(-1);
} else if(engine.gamepad1.right_bumper){
robot.chinUpMotor.setPower(1);
} else {
robot.chinUpMotor.setPower(0);
}
}
public double HeadingPIDControl(double reference, double current){
double error = angleWrap(current - reference);
integralSum += error * timer.seconds();
@@ -66,6 +93,10 @@ public class XDrivetrainRobotState extends CyberarmState {
@Override
public void exec() {
if (engine.gamepad2.right_stick_button){
robot.armMotor.setMode(DcMotor.RunMode.RESET_ENCODERS);
}
currentHeading = robot.imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.RADIANS);
if (engine.gamepad1.right_stick_button) {
@@ -78,6 +109,11 @@ public class XDrivetrainRobotState extends CyberarmState {
robot.rx = engine.gamepad1.right_stick_x;
}
robot.armMotor.setPower(ArmControlPower(target, robot.armMotor.getCurrentPosition()));
robot.liftServo.setPosition(liftServoPos);
// drivetrain
robot.driveTrainTeleOp();
@@ -97,6 +133,9 @@ public class XDrivetrainRobotState extends CyberarmState {
headingLock = false;
}
chinUpControl();
}
@Override
@@ -109,6 +148,12 @@ public class XDrivetrainRobotState extends CyberarmState {
engine.telemetry.addData("time", System.currentTimeMillis() - robot.startOfSequencerTime);
engine.telemetry.addData("heading lock?", headingLock);
engine.telemetry.addData("pid heading power", HeadingPIDControl(targetHeading, currentHeading));
engine.telemetry.addData("robot arm current pos ", robot.armMotor.getCurrentPosition());
engine.telemetry.addData("arm pid power ", power);
engine.telemetry.addData("p", ArmP);
engine.telemetry.addData("i", ArmI);
engine.telemetry.addData("d", ArmD);
engine.telemetry.addData("f", ArmF);
}
}