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Merge remote-tracking branch 'origin/master'

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This commit is contained in:
SpencerPiha
2023-02-01 20:37:22 -06:00
parent c86ecfc6c9 90d5eed245
commit 0fb19f030c
2 changed files with 69 additions and 17 deletions
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4
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/Robot.java
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@@ -209,6 +209,10 @@ public class Robot {
vuforia = initVuforia(); vuforia = initVuforia();
tfod = initTfod(); tfod = initTfod();
// Drive Encoder Error Setup
engine.blackboardSet("left_drive_error", 0);
engine.blackboardSet("right_drive_error", 0);
// INITIALIZE AFTER EVERYTHING ELSE to prevent use before set crashes // INITIALIZE AFTER EVERYTHING ELSE to prevent use before set crashes
this.fieldLocalizer.setRobot(this); this.fieldLocalizer.setRobot(this);
this.fieldLocalizer.standardSetup(); this.fieldLocalizer.standardSetup();

82
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/states/autonomous/Move.java
View File

@@ -10,16 +10,18 @@ public class Move extends CyberarmState {
private final Robot robot; private final Robot robot;
private final String groupName, actionName; private final String groupName, actionName;
private final double targetDistance, tolerance, facing, targetVelocity, minimumVelocity, timeInMS, easeInDistance, easeOutDistance; private final double tolerance, facing, targetVelocity, minimumVelocity, timeInMS, easeInDistance, easeOutDistance;
private final int targetDistance;
private final double maxVelocity; private final double maxVelocity;
private double speed; private double speed;
private int distanceAlreadyTravelled, travelledDistance; private int leftDistanceAlreadyTravelled, rightDistanceAlreadyTravelled, leftTravelledDistance, rightTravelledDistance;
private final boolean stateDisabled; private final boolean stateDisabled;
private double velocity; private double velocity;
private double ratio = 1.0; private double ratio;
private boolean stopped = false, correcting = false, correctingLeft = false;
public Move(Robot robot, String groupName, String actionName) { public Move(Robot robot, String groupName, String actionName) {
this.robot = robot; this.robot = robot;
@@ -44,7 +46,8 @@ public class Move extends CyberarmState {
@Override @Override
public void start() { public void start() {
// TODO: Use a dead wheel for this // TODO: Use a dead wheel for this
distanceAlreadyTravelled = -robot.frontRightDrive.getCurrentPosition(); leftDistanceAlreadyTravelled = -robot.frontRightDrive.getCurrentPosition();
rightDistanceAlreadyTravelled = -robot.backLeftDrive.getCurrentPosition();
} }
@Override @Override
@@ -63,36 +66,42 @@ public class Move extends CyberarmState {
return; return;
} }
travelledDistance = -robot.frontRightDrive.getCurrentPosition() - distanceAlreadyTravelled; leftTravelledDistance = -robot.frontRightDrive.getCurrentPosition() - leftDistanceAlreadyTravelled;
rightTravelledDistance = -robot.backLeftDrive.getCurrentPosition() - rightDistanceAlreadyTravelled;
if (robot.isBetween(travelledDistance, targetDistance - tolerance, targetDistance + tolerance)) { if (robot.isBetween(leftTravelledDistance, targetDistance - tolerance, targetDistance + tolerance) ||
stop(); robot.isBetween(rightTravelledDistance, targetDistance - tolerance, targetDistance + tolerance)) {
correctOrientation();
setHasFinished(true); } else {
moveDirectional();
return;
} }
moveDirectional(travelledDistance);
} }
@Override @Override
public void telemetry() { public void telemetry() {
engine.telemetry.addLine("Move"); engine.telemetry.addLine("Move");
engine.telemetry.addData("Ratio", ratio);
engine.telemetry.addData("Minimum Velocity", minimumVelocity); engine.telemetry.addData("Minimum Velocity", minimumVelocity);
engine.telemetry.addData("Target Velocity", targetVelocity); engine.telemetry.addData("Target Velocity", targetVelocity);
engine.telemetry.addData("Velocity", velocity); engine.telemetry.addData("Velocity", velocity);
engine.telemetry.addData("Target Distance", targetDistance); engine.telemetry.addData("Target Distance", targetDistance);
engine.telemetry.addData("Travelled Distance", travelledDistance); engine.telemetry.addData("Travelled Distance", leftTravelledDistance);
engine.telemetry.addData("Distance Already Travelled", distanceAlreadyTravelled); engine.telemetry.addData("Distance Already Travelled", leftDistanceAlreadyTravelled);
engine.telemetry.addData("Travel Forward", targetDistance > travelledDistance); engine.telemetry.addData("Travel Forward", targetDistance > leftTravelledDistance);
engine.telemetry.addData("Left Drive Error", engine.blackboardGetInt("left_drive_error"));
engine.telemetry.addData("Right Drive Error", engine.blackboardGetInt("right_drive_error"));
} }
private void moveDirectional(double travelledDistance) { private void moveDirectional() {
double travelledDistance = leftTravelledDistance;
ratio = 1.0;
if (Math.abs(travelledDistance) < easeInDistance) { if (Math.abs(travelledDistance) < easeInDistance) {
ratio = Math.abs(travelledDistance) / easeInDistance; ratio = Math.abs(travelledDistance) / easeInDistance;
} else if (Math.abs(travelledDistance) > Math.abs(targetDistance) - easeOutDistance) { } else if (Math.abs(travelledDistance) > Math.abs(targetDistance) - easeOutDistance) {
ratio = (Math.abs(targetDistance) - Math.abs(travelledDistance)) / easeOutDistance; ratio = (Math.abs(targetDistance) - Math.abs(travelledDistance)) / easeOutDistance;
} else {
ratio = 1.0;
} }
ratio = Range.clip(ratio, 0.0, 1.0); ratio = Range.clip(ratio, 0.0, 1.0);
@@ -154,6 +163,42 @@ public class Move extends CyberarmState {
robot.backRightDrive.setVelocity(backRightPower * targetVelocity); robot.backRightDrive.setVelocity(backRightPower * targetVelocity);
} }
private void correctOrientation() {
if (!stopped && Math.abs(robot.backLeftDrive.getVelocity()) > 0 && Math.abs(robot.frontRightDrive.getVelocity()) > 0) {
stop();
} else {
stopped = true;
if (!correcting) {
correcting = true;
if (leftTravelledDistance > rightTravelledDistance) {
correctingLeft = true;
} else if (leftTravelledDistance < rightTravelledDistance) {
correctingLeft = false;
}
}
if (correctingLeft) {
robot.frontRightDrive.setVelocity(robot.unitToTicks(DistanceUnit.INCH, 1));
if (leftTravelledDistance <= rightTravelledDistance) {
stop();
setHasFinished(true);
}
} else {
robot.backLeftDrive.setVelocity(robot.unitToTicks(DistanceUnit.INCH, 1));
if (leftTravelledDistance >= rightTravelledDistance) {
stop();
setHasFinished(true);
}
}
}
}
@Override @Override
public void stop() { public void stop() {
robot.backLeftDrive.setVelocity(0); robot.frontLeftDrive.setPower(0); robot.backLeftDrive.setVelocity(0); robot.frontLeftDrive.setPower(0);
@@ -161,5 +206,8 @@ public class Move extends CyberarmState {
robot.frontLeftDrive.setVelocity(0); robot.backLeftDrive.setPower(0); robot.frontLeftDrive.setVelocity(0); robot.backLeftDrive.setPower(0);
robot.backRightDrive.setVelocity(0); robot.backRightDrive.setPower(0); robot.backRightDrive.setVelocity(0); robot.backRightDrive.setPower(0);
engine.blackboardSet("left_drive_error", (int)(targetDistance - leftTravelledDistance));
engine.blackboardSet("right_drive_error", (int)(targetDistance - rightTravelledDistance));
} }
} }