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Merge remote-tracking branch 'origin/master'

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# Conflicts:
#	TeamCode/src/main/java/org/timecrafters/Autonomous/States/DriverStateWithOdometer.java
This commit is contained in:
Sodi
2023-02-04 12:55:07 -06:00
parent 0217495975 c4b404ee19
commit 365ed7a602
3 changed files with 23 additions and 7 deletions
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19
TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixBot1.java
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@@ -29,6 +29,11 @@ public class PhoenixBot1 {
public static double leftCompensatorGlobal; public static double leftCompensatorGlobal;
public static double RightCompensatorGlobal; public static double RightCompensatorGlobal;
public double VEER_COMPENSATION_DBL; // some place around 1, .99 is 1% power reduction public double VEER_COMPENSATION_DBL; // some place around 1, .99 is 1% power reduction
public double DRIVETRAIN_MINIMUM_POWER;
public double ROTATION_MINIMUM_POWER;
public double STRAFE_MINIMUM_POWER;
public double DRIVE_TOLERANCE;
public double ROTATION_TOLERANCE;
// private static final String TFOD_MODEL_ASSET = "22-23_PowerPlay_Colors.tflite"; // private static final String TFOD_MODEL_ASSET = "22-23_PowerPlay_Colors.tflite";
private static final String TFOD_MODEL_ASSET = "AprilTagsV1.tflite"; private static final String TFOD_MODEL_ASSET = "AprilTagsV1.tflite";
@@ -86,6 +91,11 @@ public class PhoenixBot1 {
public void initConstants(){ public void initConstants(){
VEER_COMPENSATION_DBL = configuration.variable("Robot", "Tuning", "VEER_COMPENSATION_DBL").value(); VEER_COMPENSATION_DBL = configuration.variable("Robot", "Tuning", "VEER_COMPENSATION_DBL").value();
DRIVETRAIN_MINIMUM_POWER = configuration.variable("Robot", "Tuning", "DRIVETRAIN_MINIMUM_POWER").value();
ROTATION_MINIMUM_POWER = configuration.variable("Robot", "Tuning", "ROTATION_MINIMUM_POWER").value();
STRAFE_MINIMUM_POWER = configuration.variable("Robot", "Tuning", "STRAFE_MINIMUM_POWER").value();
DRIVE_TOLERANCE = configuration.variable("Robot", "Tuning", "DRIVE_TOLERANCE").value();
ROTATION_TOLERANCE = configuration.variable("Robot", "Tuning", "ROTATION_TOLERANCE").value();
} }
private void initVuforia(){ private void initVuforia(){
@@ -217,11 +227,10 @@ public class PhoenixBot1 {
// HighRiserRight.setDirection(Servo.Direction.FORWARD); // HighRiserRight.setDirection(Servo.Direction.FORWARD);
LowRiserLeft.setDirection(Servo.Direction.FORWARD); LowRiserLeft.setDirection(Servo.Direction.FORWARD);
LowRiserRight.setDirection(Servo.Direction.REVERSE); LowRiserRight.setDirection(Servo.Direction.REVERSE);
ArmMotor.setDirection(DcMotorSimple.Direction.REVERSE); // ArmMotor.setDirection(DcMotorSimple.Direction.REVERSE);
ArmMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); // ArmMotor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
ArmMotor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER); // ArmMotor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
ArmMotor.setMode(DcMotor.RunMode.RUN_TO_POSITION); // ArmMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
ArmMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
CameraServo.setDirection(Servo.Direction.FORWARD); CameraServo.setDirection(Servo.Direction.FORWARD);

9
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/Robot.java
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@@ -43,7 +43,7 @@ public class Robot {
public final ColorSensor indicatorA, indicatorB; public final ColorSensor indicatorA, indicatorB;
public LynxModule expansionHub; public LynxModule expansionHub;
public final double imuAngleOffset; public final double imuAngleOffset, initialFacing;
public boolean wristManuallyControlled = false, armManuallyControlled = false; public boolean wristManuallyControlled = false, armManuallyControlled = false;
public boolean automaticAntiTipActive = false; public boolean automaticAntiTipActive = false;
public boolean hardwareFault = false; public boolean hardwareFault = false;
@@ -191,6 +191,9 @@ public class Robot {
imu.initialize(parameters); imu.initialize(parameters);
// Preserve our "initial" facing, since we transform it from zero.
initialFacing = facing();
// BulkRead from Hubs // BulkRead from Hubs
for (LynxModule hub : engine.hardwareMap.getAll(LynxModule.class)) { for (LynxModule hub : engine.hardwareMap.getAll(LynxModule.class)) {
hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL); hub.setBulkCachingMode(LynxModule.BulkCachingMode.MANUAL);
@@ -725,6 +728,10 @@ public class Robot {
arm.setPower(tuningConfig("arm_automatic_power").value()); arm.setPower(tuningConfig("arm_automatic_power").value());
} }
public double initialFacing() {
return initialFacing;
}
public double facing() { public double facing() {
double imuDegrees = -imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES); double imuDegrees = -imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES);

2
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/states/autonomous/Rotate.java
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@@ -32,7 +32,7 @@ public class Rotate extends CyberarmState {
stateDisabled = !robot.getConfiguration().action(groupName, actionName).enabled; stateDisabled = !robot.getConfiguration().action(groupName, actionName).enabled;
facing = (robot.facing() + targetFacing + 360.0) % 360.0; facing = (robot.initialFacing() + targetFacing + 360.0) % 360.0;
velocity = targetVelocity; velocity = targetVelocity;
} }