--- /dev/null
+package org.usfirst.frc.team3501.robot.commands.auton;
+
+import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance;
+import org.usfirst.frc.team3501.robot.commands.driving.TurnForAngle;
+
+import edu.wpi.first.wpilibj.command.CommandGroup;
+
+/**
+ * This command group will be used in autonomous. Based on what position the
+ * robot is in, the robot will align with the goal. In the Software 2015-2016
+ * Google folder is a picture explaining each of the cases.
+ *
+ * dependency on sensors: lidars, encoders, gyro
+ *
+ * dependency on subsystems: drivetrain
+ *
+ * dependency on other commands: TurnForAngle(), DriveForDistance()
+ *
+ * pre-condition: robot is flush against a defense at the specified position in
+ * the opponent's courtyard
+ *
+ * post-condition: the robot is parallel to one of the three goals and the
+ * shooter is facing that goal
+ *
+ */
+public class AlignToScore extends CommandGroup {
+ private final static double CENTER_OF_MASS_TO_ROBOT_FRONT = 0;
+ private final static double DIST_CASTLE_WALL_TO_SIDE_GOAL = 0;
+ private final static double DIST_CASTLE_WALL_TO_FRONT_GOAL = 0;
+
+ private final double DEFAULT_SPEED = 0.5;
+ private final double maxTimeout = 5;
+
+ // in inches
+ // assuming that positive angle means turning right
+ // and negative angle means turning left
+
+ // constants for position 1: low bar
+ private final double POS1_DIST1 = 109;
+ private final double POS1_TURN1 = 60;
+ private final double POS1_DIST2 = 0;
+
+ // constants for position 2
+ private final double POS2_DIST1 = 140;
+ private final double POS2_TURN1 = 60;
+ private final double POS2_DIST2 = 0;
+
+ // constants for position 3
+ private final double POS3_DIST1 = 0;
+ private final double POS3_TURN1 = 90;
+ private final double POS3_DIST2 = 35.5;
+ private final double POS3_TURN2 = -90;
+ private final double POS3_DIST3 = 0;
+
+ // constants for position 4
+ private final double POS4_DIST1 = 0;
+ private final double POS4_TURN1 = -90;
+ private final double POS4_DIST2 = 18.5;
+ private final double POS4_TURN2 = 90;
+ private final double POS4_DIST3 = 0;
+
+ // constants for position 5
+ private final double POS5_DIST1 = 0;
+ private final double POS5_TURN1 = -90;
+ private final double POS5_DIST2 = 72.5;
+ private final double POS5_TURN2 = 90;
+ private final double POS5_DIST3 = 0;
+
+ public double horizontalDistToGoal;
+
+ public AlignToScore(int position) {
+
+ if (position == 1) {
+
+ // position 1 is always the low bar
+
+ addSequential(new DriveDistance(POS1_DIST1, DEFAULT_SPEED));
+ addSequential(new TurnForAngle(POS1_TURN1, maxTimeout));
+ addSequential(new DriveDistance(POS1_DIST2, DEFAULT_SPEED));
+ horizontalDistToGoal = 0;
+ } else if (position == 2) {
+
+ addSequential(new DriveDistance(POS2_DIST1, DEFAULT_SPEED));
+ addSequential(new TurnForAngle(POS2_TURN1, maxTimeout));
+ addSequential(new DriveDistance(POS2_DIST2, DEFAULT_SPEED));
+ horizontalDistToGoal = 0;
+
+ } else if (position == 3) {
+
+ addSequential(new DriveDistance(POS3_DIST1, DEFAULT_SPEED));
+ addSequential(new TurnForAngle(POS3_TURN1, maxTimeout));
+ addSequential(new DriveDistance(POS3_DIST2, DEFAULT_SPEED));
+ addSequential(new TurnForAngle(POS3_TURN2, maxTimeout));
+ addSequential(new DriveDistance(POS3_DIST3, DEFAULT_SPEED));
+ horizontalDistToGoal = 0;
+
+ } else if (position == 4) {
+
+ addSequential(new DriveDistance(POS4_DIST1, DEFAULT_SPEED));
+ addSequential(new TurnForAngle(POS4_TURN1, maxTimeout));
+ addSequential(new DriveDistance(POS4_DIST2, DEFAULT_SPEED));
+ addSequential(new TurnForAngle(POS4_TURN2, maxTimeout));
+ addSequential(new DriveDistance(POS4_DIST3, DEFAULT_SPEED));
+ horizontalDistToGoal = 0;
+
+ } else if (position == 5) {
+
+ addSequential(new DriveDistance(POS5_DIST1, DEFAULT_SPEED));
+ addSequential(new TurnForAngle(POS5_TURN1, maxTimeout));
+ addSequential(new DriveDistance(POS5_DIST2, DEFAULT_SPEED));
+ addSequential(new TurnForAngle(POS5_TURN2, maxTimeout));
+ addSequential(new DriveDistance(POS5_DIST3, DEFAULT_SPEED));
+ horizontalDistToGoal = 0;
+
+ }
+ }
+
+ // following commented out method is calculations for path of robot in auton
+ // after passing through defense using two lidars
+ /*
+ * public static double lidarCalculateAngleToTurn(int position,
+ * double horizontalDistToGoal) {
+ * double leftDist = Robot.driveTrain.getLeftLidarDistance();
+ * double rightDist = Robot.driveTrain.getRightLidarDistance();
+ *
+ * double errorAngle = Math.atan(Math.abs(leftDist - rightDist) / 2);
+ * double distToTower;
+ * // TODO: figure out if we do want to shoot into the side goal if we are
+ * // in position 1 or 2, or if we want to change that
+ * if (position == 1 || position == 2) {
+ * distToTower = Math
+ * .cos(CENTER_OF_MASS_TO_ROBOT_FRONT + (leftDist - rightDist) / 2)
+ * - DIST_CASTLE_WALL_TO_SIDE_GOAL;
+ * }
+ *
+ * // TODO: figure out if we do want to shoot into the font goal if we are
+ * // in position 3, 4, 5, or if we want to change that
+ * else {
+ * distToTower = Math
+ * .cos(CENTER_OF_MASS_TO_ROBOT_FRONT + (leftDist - rightDist) / 2)
+ * - DIST_CASTLE_WALL_TO_SIDE_GOAL;
+ * }
+ *
+ * double angleToTurn = Math.atan(distToTower / horizontalDistToGoal);
+ *
+ * return angleToTurn;
+ * }
+ */
+}
import edu.wpi.first.wpilibj.command.PIDSubsystem;
public class DriveTrain extends PIDSubsystem {
- private static double kp = 0.013, ki = 0.000015, kd = -0.002;
- private static double gp = 0.018, gi = 0.000015, gd = 0;
- private static double pidOutput = 0;
-
- // PID Controller tolerances for the error
- private static double encoderTolerance = 8.0, gyroTolerance = 5.0;
-
// Current Drive Mode Default Drive Mode is Manual
private int DRIVE_MODE = 1;
-
- // Different Drive Modes
- private static final int MANUAL_MODE = 1, ENCODER_MODE = 2, GYRO_MODE = 3;
+ private static double pidOutput = 0;
private Encoder leftEncoder, rightEncoder;
private GyroLib gyro;
private DoubleSolenoid leftGearPiston, rightGearPiston;
+
// Drivetrain specific constants that relate to the inches per pulse value for
// the encoders
- private final static double WHEEL_DIAMETER = 6.0; // in inches
- private final static double PULSES_PER_ROTATION = 256; // in pulses
- private final static double OUTPUT_SPROCKET_DIAMETER = 2.0; // in inches
- private final static double WHEEL_SPROCKET_DIAMETER = 3.5; // in inches
- public final static double INCHES_PER_PULSE = (((Math.PI)
- * OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION)
- / WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER;
-
- // Drivetrain specific constants that relate to the PID controllers
- private final static double Kp = 1.0, Ki = 0.0,
- Kd = 0.0 * (OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION)
- / (WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER;
public DriveTrain() {
- super(kp, ki, kd);
+ super(Constants.DriveTrain.kp, Constants.DriveTrain.ki,
+ Constants.DriveTrain.kd);
frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
leftLidar = new Lidar(I2C.Port.kOnboard);
rightLidar = new Lidar(I2C.Port.kOnboard); // TODO: find port for second
- // lidar
+ // lidar
leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
Constants.DriveTrain.ENCODER_LEFT_B, false, EncodingType.k4X);
rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
// Updates the PID constants based on which control mode is being used
public void updatePID() {
if (DRIVE_MODE == Constants.DriveTrain.ENCODER_MODE)
- this.getPIDController().setPID(kp, ki, kd);
+ this.getPIDController().setPID(Constants.DriveTrain.kp,
+ Constants.DriveTrain.ki, Constants.DriveTrain.kd);
else
- this.getPIDController().setPID(gp, gd, gi);
+ this.getPIDController().setPID(Constants.DriveTrain.gp,
+ Constants.DriveTrain.gd, Constants.DriveTrain.gi);
}
public CANTalon getFrontLeft() {
if (Math.abs(output) > 0 && Math.abs(output) < 0.3)
output = Math.signum(output) * 0.3;
left = output;
- right = output + drift * kp / 10;
+ right = output + drift * Constants.DriveTrain.kp / 10;
} else if (DRIVE_MODE == Constants.DriveTrain.GYRO_MODE) {
left = output;
right = -output;
public void setEncoderPID() {
DRIVE_MODE = Constants.DriveTrain.ENCODER_MODE;
this.updatePID();
- this.setAbsoluteTolerance(encoderTolerance);
+ this.setAbsoluteTolerance(Constants.DriveTrain.encoderTolerance);
this.setOutputRange(-1.0, 1.0);
this.setInputRange(-200.0, 200.0);
this.enable();
private void setGyroPID() {
DRIVE_MODE = Constants.DriveTrain.GYRO_MODE;
this.updatePID();
- this.getPIDController().setPID(gp, gi, gd);
+ this.getPIDController().setPID(Constants.DriveTrain.gp,
+ Constants.DriveTrain.gi, Constants.DriveTrain.gd);
- this.setAbsoluteTolerance(gyroTolerance);
+ this.setAbsoluteTolerance(Constants.DriveTrain.gyroTolerance);
this.setOutputRange(-1.0, 1.0);
this.setInputRange(-360.0, 360.0);
this.enable();
projects / 3501 / stronghold-2016 / commitdiff