diff --git a/src/main/deploy/pathplanner/AutoBalance.path b/src/main/deploy/pathplanner/AutoBalance.path index 2f49c4f..246c9b3 100644 --- a/src/main/deploy/pathplanner/AutoBalance.path +++ b/src/main/deploy/pathplanner/AutoBalance.path @@ -26,11 +26,11 @@ }, { "anchorPoint": { - "x": 4.30215262712979, + "x": 4.816748235493618, "y": 2.15 }, "prevControl": { - "x": 3.3021526271297903, + "x": 3.816748235493618, "y": 2.15 }, "nextControl": null, diff --git a/src/main/deploy/pathplanner/AutoBalance2.path b/src/main/deploy/pathplanner/AutoBalance2.path new file mode 100644 index 0000000..012d026 --- /dev/null +++ b/src/main/deploy/pathplanner/AutoBalance2.path @@ -0,0 +1,79 @@ +{ + "waypoints": [ + { + "anchorPoint": { + "x": 1.8778355388379817, + "y": 2.149866097164433 + }, + "prevControl": null, + "nextControl": { + "x": 1.8778355388379817, + "y": 2.149866097164433 + }, + "holonomicAngle": 0.0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + 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"parallel", + "waitBehavior": "none", + "waitTime": 0 + } + } + ], + "markers": [] +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/Score2Guard.path b/src/main/deploy/pathplanner/Score2Guard.path index 1691050..8cb3e34 100644 --- a/src/main/deploy/pathplanner/Score2Guard.path +++ b/src/main/deploy/pathplanner/Score2Guard.path @@ -26,16 +26,16 @@ }, { "anchorPoint": { - "x": 3.5153670307340614, - "y": 0.804334942003217 + "x": 3.6503315232022757, + "y": 0.9034011791276062 }, "prevControl": { - "x": 3.366199539103919, - "y": 0.804334942003217 + "x": 3.545151398434038, + "y": 1.3340956971975744 }, "nextControl": { - "x": 3.5987291557929066, - "y": 0.804334942003217 + "x": 3.6701082400159057, + "y": 0.8224189257235414 }, "holonomicAngle": 15.0, "isReversal": false, @@ -51,16 +51,16 @@ }, { "anchorPoint": { - "x": 7.030734061468123, - "y": 0.7772415544831102 + "x": 6.829388837094364, + "y": 0.8919657211639663 }, "prevControl": { - "x": 6.489648965983618, - "y": 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a/src/main/deploy/pathplanner/Score3Substation.path +++ b/src/main/deploy/pathplanner/Score3Substation.path @@ -10,7 +10,7 @@ "x": 1.8020491227072364, "y": 5.0050349837765 }, - "holonomicAngle": 0.0, + "holonomicAngle": 179.0876620367383, "isReversal": false, "velOverride": null, "isLocked": false, @@ -27,15 +27,15 @@ { "anchorPoint": { "x": 6.732706798746932, - "y": 4.468715604097876 + "y": 4.36 }, "prevControl": { "x": 6.482092964185928, - "y": 4.475488950977903 + "y": 4.366773346880027 }, "nextControl": { "x": 6.482092964185928, - "y": 4.475488950977903 + "y": 4.366773346880027 }, "holonomicAngle": 0, "isReversal": true, @@ -51,78 +51,51 @@ }, { "anchorPoint": { - "x": 3.461180255693845, - "y": 4.699009398018797 + "x": 2.003625576438028, + "y": 4.91724692436546 }, "prevControl": { - "x": 3.8003729123225107, - "y": 4.706547012610544 + "x": 2.33937606967803, + "y": 5.375088506056373 }, "nextControl": { - "x": 3.156379646092626, - "y": 4.69223605113877 + "x": 1.8778355388379817, + "y": 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\ No newline at end of file diff --git a/src/main/java/com/cyberknights4911/robot/RobotContainer.java b/src/main/java/com/cyberknights4911/robot/RobotContainer.java index bcb9921..b659cf3 100644 --- a/src/main/java/com/cyberknights4911/robot/RobotContainer.java +++ b/src/main/java/com/cyberknights4911/robot/RobotContainer.java @@ -60,13 +60,13 @@ private void configureButtonBindings() { ); controllerBinding.triggersFor(ButtonAction.SLURPP_BACKWARD_FAST).whileTrue( - new SlurppCommand(subsystems.getSlurppSubsystem(), -0.85, subsystems.getArmSubsystem(), true)); + new SlurppCommand(subsystems.getSlurppSubsystem(), -0.95, subsystems.getArmSubsystem(), true)); controllerBinding.triggersFor(ButtonAction.SLURPP_BACKWARD_SLOW).whileTrue( new SlurppCommand(subsystems.getSlurppSubsystem(), -0.4, subsystems.getArmSubsystem(), true)); controllerBinding.triggersFor(ButtonAction.SLURPP_FORWARD_FAST).whileTrue( - new SlurppCommand(subsystems.getSlurppSubsystem(), 0.85, subsystems.getArmSubsystem(), true)); + new SlurppCommand(subsystems.getSlurppSubsystem(), 0.95, subsystems.getArmSubsystem(), true)); controllerBinding.triggersFor(ButtonAction.SLURPP_FORWARD_SLOW).whileTrue( new SlurppCommand(subsystems.getSlurppSubsystem(), 0.4, subsystems.getArmSubsystem(), true)); diff --git a/src/main/java/com/cyberknights4911/robot/commands/AutoBalanceCommand.java b/src/main/java/com/cyberknights4911/robot/commands/AutoBalanceCommand.java index ad05405..f7bc728 100644 --- a/src/main/java/com/cyberknights4911/robot/commands/AutoBalanceCommand.java +++ b/src/main/java/com/cyberknights4911/robot/commands/AutoBalanceCommand.java @@ -35,8 +35,8 @@ public void execute() { tilt = new Translation2d(getRoll(), getPitch()); tilt = tilt.times(Constants.MAX_SPEED); mSwerveSubsystem.setTeleopInputs( - -tilt.getX()*0.01, - -tilt.getY()*0.01, + -tilt.getX()*0.003, + -tilt.getY()*0.003, 0, false, false, diff --git a/src/main/java/com/cyberknights4911/robot/commands/MoveArmMotionMagicCommand.java b/src/main/java/com/cyberknights4911/robot/commands/MoveArmMotionMagicCommand.java index e69a01f..1da7ab1 100644 --- a/src/main/java/com/cyberknights4911/robot/commands/MoveArmMotionMagicCommand.java +++ b/src/main/java/com/cyberknights4911/robot/commands/MoveArmMotionMagicCommand.java @@ -127,8 +127,8 @@ public void execute() { private void checkCurrentMotionFinished() { double shoulderError = Math.abs(armSubsystem.getShoulderTrajectoryPosition() - ArmSubsystem.convertDegreesToCtreTicks(desiredPosition.shoulderPosition.getValue())); double wristError = Math.abs(armSubsystem.getWristTrajectoryPosition() - ArmSubsystem.convertDegreesToCtreTicks(desiredPosition.wristPosition.getValue())); - System.out.println("shoulder error: " + shoulderError); - System.out.println("wrist error: " + wristError); + // System.out.println("shoulder error: " + shoulderError); + // System.out.println("wrist error: " + wristError); if (shoulderError < shoulderErrorThreshold && wristError < wristErrorThreshold) { thresholdLoops++; } else { @@ -147,7 +147,7 @@ public ArmPositions getDesiredPosition() { /** Used in tuning mode to move to the desired positions after modifying them. */ private void rerunMoveToPosition() { - System.out.println("rerunMoveToPosition"); + //System.out.println("rerunMoveToPosition"); armSubsystem.moveWrist(desiredPosition.wristPosition.getValue()); armSubsystem.moveShoulder(desiredPosition.shoulderPosition.getValue()); } diff --git a/src/main/java/com/cyberknights4911/robot/commands/auto/AutoCommandChooser.java b/src/main/java/com/cyberknights4911/robot/commands/auto/AutoCommandChooser.java index b034ec8..7c6ff04 100644 --- a/src/main/java/com/cyberknights4911/robot/commands/auto/AutoCommandChooser.java +++ b/src/main/java/com/cyberknights4911/robot/commands/auto/AutoCommandChooser.java @@ -111,7 +111,7 @@ private SwerveAutoBuilder createSwerveAutoBuilder( private Command getAutoBalanceCommand() { HashMap eventMap = new HashMap<>(); - Command scoreConeOne = MoveArmMotionMagicCommand.create(subsystems.getArmSubsystem(), ArmPositions.COLLECT_SUBSTATION_BACK) + Command scoreConeOne = MoveArmMotionMagicCommand.create(subsystems.getArmSubsystem(), ArmPositions.SCORE_L3) // .andThen(Commands.waitSeconds(.1)) .andThen(new SlurppCommand(subsystems.getSlurppSubsystem(), -0.85, subsystems.getArmSubsystem(), false)) .andThen(Commands.waitSeconds(.03)); @@ -128,7 +128,7 @@ private Command getAutoBalanceCommand() { eventMap, subsystems.getSwerveSubsystem() ).fullAuto( - PathPlanner.loadPathGroup("AutoBalance", new PathConstraints(3, 1.5)) + PathPlanner.loadPathGroup("AutoBalance2", new PathConstraints(4, 3)) ); return new InstantCommand( @@ -149,7 +149,7 @@ private Command getNothingCommand() { private Command getScoreHighCommand() { HashMap eventMap = new HashMap<>(); - Command scoreConeOne = MoveArmMotionMagicCommand.create(subsystems.getArmSubsystem(), ArmPositions.COLLECT_SUBSTATION_BACK) + Command scoreConeOne = MoveArmMotionMagicCommand.create(subsystems.getArmSubsystem(), ArmPositions.SCORE_L3) .andThen(Commands.waitSeconds(.5)) .andThen(new SlurppCommand(subsystems.getSlurppSubsystem(), -0.85, subsystems.getArmSubsystem(), false)) .andThen(Commands.waitSeconds(.3)); @@ -193,7 +193,7 @@ private Command getScoreLowCommand() { private Command getBalanceScoreLeaveCommand() { HashMap eventMap = new HashMap<>(); - Command scoreConeOne = MoveArmMotionMagicCommand.create(subsystems.getArmSubsystem(), ArmPositions.COLLECT_SUBSTATION_BACK) + Command scoreConeOne = MoveArmMotionMagicCommand.create(subsystems.getArmSubsystem(), ArmPositions.SCORE_L3) // .andThen(Commands.waitSeconds(.1)) .andThen(new SlurppCommand(subsystems.getSlurppSubsystem(), -0.85, subsystems.getArmSubsystem(), false)) .andThen(Commands.waitSeconds(.03)); @@ -219,7 +219,7 @@ private Command getBalanceScoreLeaveCommand() { private Command getScoreCollectBalanceSubstationCommand() { HashMap eventMap = new HashMap<>(); - Command scoreConeOne = MoveArmMotionMagicCommand.create(subsystems.getArmSubsystem(), ArmPositions.COLLECT_SUBSTATION_BACK) + Command scoreConeOne = MoveArmMotionMagicCommand.create(subsystems.getArmSubsystem(), ArmPositions.SCORE_L3) // .andThen(Commands.waitSeconds(.1)) .andThen(new SlurppCommand(subsystems.getSlurppSubsystem(), -0.85, subsystems.getArmSubsystem(), false)) .andThen(Commands.waitSeconds(.03)); @@ -250,7 +250,7 @@ private Command getScoreCollectBalanceSubstationCommand() { private Command getScore2BalanceCommand() { HashMap eventMap = new HashMap<>(); - Command scoreConeOne = MoveArmMotionMagicCommand.create(subsystems.getArmSubsystem(), ArmPositions.COLLECT_SUBSTATION_BACK) + Command scoreConeOne = MoveArmMotionMagicCommand.create(subsystems.getArmSubsystem(), ArmPositions.SCORE_L3) // .andThen(Commands.waitSeconds(.1)) .andThen(new SlurppCommand(subsystems.getSlurppSubsystem(), -0.85, subsystems.getArmSubsystem(), false)) .andThen(Commands.waitSeconds(.1)); @@ -298,7 +298,7 @@ private Command getScoreLeaveGuardCommand() { eventMap, subsystems.getSwerveSubsystem() ).fullAuto( - PathPlanner.loadPathGroup("ScoreLeaveGuard", new PathConstraints(1, 3)) + PathPlanner.loadPathGroup("ScoreLeaveGuard", new PathConstraints(4, 2)) ); return new InstantCommand( @@ -331,7 +331,7 @@ private Command getScoreLeaveSubstationCommand() { private Command getScore2SubstationCommand() { HashMap eventMap = new HashMap<>(); - Command scoreConeOne = MoveArmMotionMagicCommand.create(subsystems.getArmSubsystem(), ArmPositions.COLLECT_SUBSTATION_BACK) + Command scoreConeOne = MoveArmMotionMagicCommand.create(subsystems.getArmSubsystem(), ArmPositions.SCORE_L3) .andThen(new SlurppCommand(subsystems.getSlurppSubsystem(), -0.85, subsystems.getArmSubsystem(), false)) .andThen(Commands.waitSeconds(.03)); Command collectConeTwo = MoveArmMotionMagicCommand.create(subsystems.getArmSubsystem(), ArmPositions.COLLECT_FLOOR_FRONT_CONE) @@ -363,7 +363,7 @@ private Command getScore2SubstationCommand() { private Command getScore2GuardrailCommand() { HashMap eventMap = new HashMap<>(); - Command scoreConeOne = MoveArmMotionMagicCommand.create(subsystems.getArmSubsystem(), ArmPositions.COLLECT_SUBSTATION_BACK) + Command scoreConeOne = MoveArmMotionMagicCommand.create(subsystems.getArmSubsystem(), ArmPositions.SCORE_L3) .andThen(new SlurppCommand(subsystems.getSlurppSubsystem(), -0.85, subsystems.getArmSubsystem(), false)) .andThen(Commands.waitSeconds(.03)); Command collectConeTwo = MoveArmMotionMagicCommand.create(subsystems.getArmSubsystem(), ArmPositions.COLLECT_FLOOR_FRONT_CONE) @@ -395,15 +395,14 @@ private Command getScore2GuardrailCommand() { private Command getScore3Substation() { HashMap eventMap = new HashMap<>(); - Command scoreConeOne = MoveArmMotionMagicCommand.create(subsystems.getArmSubsystem(), ArmPositions.COLLECT_SUBSTATION_BACK) + Command scoreConeOne = MoveArmMotionMagicCommand.create(subsystems.getArmSubsystem(), ArmPositions.SCORE_L3) // .andThen(Commands.waitSeconds(.1)) .andThen(new SlurppCommand(subsystems.getSlurppSubsystem(), -0.85, subsystems.getArmSubsystem(), false)) .andThen(Commands.waitSeconds(.1)); Command collectConeTwo = MoveArmMotionMagicCommand.create(subsystems.getArmSubsystem(), ArmPositions.COLLECT_FLOOR_FRONT_CONE) .andThen(new SlurppCommand(subsystems.getSlurppSubsystem(), 0.85, subsystems.getArmSubsystem(), false)) .andThen(Commands.waitSeconds(1)) - .andThen(new SlurppCommand(subsystems.getSlurppSubsystem(), 0.4, subsystems.getArmSubsystem(), false)); - Command moveArmL2 = MoveArmMotionMagicCommand.create(subsystems.getArmSubsystem(), ArmPositions.SCORE_L2); + .andThen(MoveArmMotionMagicCommand.create(subsystems.getArmSubsystem(), ArmPositions.STOWED)); Command scoreConeTwo = new SlurppCommand(subsystems.getSlurppSubsystem(), -0.85, subsystems.getArmSubsystem(), false) .andThen(Commands.waitSeconds(.1)); Command collectConeThree = MoveArmMotionMagicCommand.create(subsystems.getArmSubsystem(), ArmPositions.COLLECT_FLOOR_FRONT_CONE) @@ -415,7 +414,6 @@ private Command getScore3Substation() { eventMap.put("scoreConeOne", scoreConeOne); eventMap.put("collectConeTwo", collectConeTwo); - eventMap.put("moveArmL2", moveArmL2); eventMap.put("scoreConeTwo", scoreConeTwo); eventMap.put("collectConeThree", collectConeThree); eventMap.put("scoreConeThree", scoreConeThree); diff --git a/src/main/java/com/cyberknights4911/robot/constants/Constants.java b/src/main/java/com/cyberknights4911/robot/constants/Constants.java index c275d19..22e575f 100644 --- a/src/main/java/com/cyberknights4911/robot/constants/Constants.java +++ b/src/main/java/com/cyberknights4911/robot/constants/Constants.java @@ -21,7 +21,7 @@ public class Constants { * Used to control whether to log to NetworkTables. This can be resource intensive so it should * be disabled for competitions. */ - public static final boolean ENABLE_NT_LOGGING = true; + public static final boolean ENABLE_NT_LOGGING = false; //2023 Physical Robot Dimensions public static final double ROBOT_WHEEL_BASE = 22.75; @@ -99,7 +99,7 @@ public class Constants { public static class Arm { private Arm() {} - public static final boolean IS_TUNING_ENABLED = false; + public static final boolean IS_TUNING_ENABLED = true; public static BooleanPreference SHOULD_USE_GRAVITY_FEED_FORWARD = new BooleanPreference("Should use shoulder gravity feed forward", true); diff --git a/src/main/java/com/cyberknights4911/robot/subsystems/arm/ArmSubsystem.java b/src/main/java/com/cyberknights4911/robot/subsystems/arm/ArmSubsystem.java index 69ab682..9634627 100644 --- a/src/main/java/com/cyberknights4911/robot/subsystems/arm/ArmSubsystem.java +++ b/src/main/java/com/cyberknights4911/robot/subsystems/arm/ArmSubsystem.java @@ -57,8 +57,8 @@ public void resetCANCoders() { } @Override public void periodic() { - armIO.updateInputs(inputs); - Logger.getInstance().processInputs("Arm", inputs); + // armIO.updateInputs(inputs); + // Logger.getInstance().processInputs("Arm", inputs); } public double getShoulderPositionDegrees() { diff --git a/src/main/java/com/cyberknights4911/robot/subsystems/bob/BobSubsystem.java b/src/main/java/com/cyberknights4911/robot/subsystems/bob/BobSubsystem.java index 622afb3..78785d6 100644 --- a/src/main/java/com/cyberknights4911/robot/subsystems/bob/BobSubsystem.java +++ b/src/main/java/com/cyberknights4911/robot/subsystems/bob/BobSubsystem.java @@ -20,8 +20,8 @@ public BobSubsystem(BobIO bobIO) { @Override public void periodic() { - bobIO.updateInputs(inputs); - Logger.getInstance().processInputs("Bob", inputs); + // bobIO.updateInputs(inputs); + // Logger.getInstance().processInputs("Bob", inputs); } public void setLockout(boolean extend) { diff --git a/src/main/java/com/cyberknights4911/robot/subsystems/climber/ClimberSubsystem.java b/src/main/java/com/cyberknights4911/robot/subsystems/climber/ClimberSubsystem.java index 43fdc91..f703523 100644 --- a/src/main/java/com/cyberknights4911/robot/subsystems/climber/ClimberSubsystem.java +++ b/src/main/java/com/cyberknights4911/robot/subsystems/climber/ClimberSubsystem.java @@ -18,8 +18,8 @@ public ClimberSubsystem(ClimberIO climberIO) { @Override public void periodic() { - climberIO.updateInputs(inputs); - Logger.getInstance().processInputs("Climber", inputs); + // climberIO.updateInputs(inputs); + // Logger.getInstance().processInputs("Climber", inputs); } public void setExtended(boolean extended) { diff --git a/src/main/java/com/cyberknights4911/robot/subsystems/drive/GyroIOReal.java b/src/main/java/com/cyberknights4911/robot/subsystems/drive/GyroIOReal.java index a9a5b82..c4feed7 100644 --- a/src/main/java/com/cyberknights4911/robot/subsystems/drive/GyroIOReal.java +++ b/src/main/java/com/cyberknights4911/robot/subsystems/drive/GyroIOReal.java @@ -42,6 +42,6 @@ public double getRoll() { @Override public void setYaw(double angleInDegrees) { pigeon.setYaw(-angleInDegrees, Constants.LONG_CAN_TIMEOUTS_MS); - System.out.println("Pigeon yaw set to: " + angleInDegrees); + //System.out.println("Pigeon yaw set to: " + angleInDegrees); } } diff --git a/src/main/java/com/cyberknights4911/robot/subsystems/drive/SwerveDriveModule.java b/src/main/java/com/cyberknights4911/robot/subsystems/drive/SwerveDriveModule.java index 829fa46..c8771d6 100644 --- a/src/main/java/com/cyberknights4911/robot/subsystems/drive/SwerveDriveModule.java +++ b/src/main/java/com/cyberknights4911/robot/subsystems/drive/SwerveDriveModule.java @@ -91,7 +91,7 @@ protected void convertCancoderToFX2(boolean useCancoders){ cancoderDegrees = cancoderPositions[0]; } else{ - System.out.println(moduleName +" assuming wheels aligned to 0 degrees, not using CANCoders"); + //System.out.println(moduleName +" assuming wheels aligned to 0 degrees, not using CANCoders"); cancoderDegrees = 0; } double fxTicksBefore = swerveIO.getTurnSensorPosition(); @@ -107,9 +107,9 @@ protected void convertCancoderToFX2(boolean useCancoders){ loops++; } - System.out.println(config.name + " cancoder degrees: " + cancoderDegrees + - ", fx encoder ticks (before, target, adjusted): (" + fxTicksBefore + "," + fxTicksTarget + "," - + fxTicksNow + ") loops:" + loops); + // System.out.println(config.name + " cancoder degrees: " + cancoderDegrees + + // ", fx encoder ticks (before, target, adjusted): (" + fxTicksBefore + "," + fxTicksTarget + "," + // + fxTicksNow + ") loops:" + loops); } // protected void convertCancoderToFX(){ diff --git a/src/main/java/com/cyberknights4911/robot/subsystems/slurpp/SlurppIOReal.java b/src/main/java/com/cyberknights4911/robot/subsystems/slurpp/SlurppIOReal.java index 5b227b9..2dc3a76 100644 --- a/src/main/java/com/cyberknights4911/robot/subsystems/slurpp/SlurppIOReal.java +++ b/src/main/java/com/cyberknights4911/robot/subsystems/slurpp/SlurppIOReal.java @@ -20,6 +20,7 @@ public final class SlurppIOReal implements SlurppIO { public SlurppIOReal() { motor = TalonFXFactory.createTalon(Ports.Slurpp.MOTOR, Constants.CANIVORE_NAME); + motor.configFactoryDefault(); motor.setInverted(false); motor.configStatorCurrentLimit(Constants.SLURPP_STATOR_LIMIT, Constants.LONG_CAN_TIMEOUTS_MS); motor.configSupplyCurrentLimit(Constants.SLURPP_SUPPLY_LIMIT, Constants.LONG_CAN_TIMEOUTS_MS); diff --git a/src/main/java/com/cyberknights4911/robot/subsystems/slurpp/SlurppSubsystem.java b/src/main/java/com/cyberknights4911/robot/subsystems/slurpp/SlurppSubsystem.java index d49e605..b6f8d36 100644 --- a/src/main/java/com/cyberknights4911/robot/subsystems/slurpp/SlurppSubsystem.java +++ b/src/main/java/com/cyberknights4911/robot/subsystems/slurpp/SlurppSubsystem.java @@ -20,7 +20,7 @@ public SlurppSubsystem(SlurppIO splurppIO) { @Override public void periodic() { - // splurppIO.updateInputs(inputs); + // slurppIO.updateInputs(inputs); // Logger.getInstance().processInputs("Slurpp", inputs); } diff --git a/src/main/java/com/cyberknights4911/robot/vision/AprilTagCoprocessorMessenger.java b/src/main/java/com/cyberknights4911/robot/vision/AprilTagCoprocessorMessenger.java index 9796e68..b62c9f6 100644 --- a/src/main/java/com/cyberknights4911/robot/vision/AprilTagCoprocessorMessenger.java +++ b/src/main/java/com/cyberknights4911/robot/vision/AprilTagCoprocessorMessenger.java @@ -42,7 +42,7 @@ public void subscribe() { try { AprilTag[] tags = onTagsMessage(tableEvent.valueData.value.getString()); for (AprilTag tag: tags) { - System.out.println("tag: " + tag.toString()); + //System.out.println("tag: " + tag.toString()); } } catch (JsonProcessingException|IllegalArgumentException e) { e.printStackTrace(); diff --git a/src/main/java/libraries/cheesylib/control/FramePeriodSwitch.java b/src/main/java/libraries/cheesylib/control/FramePeriodSwitch.java index 0590b64..e634870 100644 --- a/src/main/java/libraries/cheesylib/control/FramePeriodSwitch.java +++ b/src/main/java/libraries/cheesylib/control/FramePeriodSwitch.java @@ -22,7 +22,7 @@ private static void setOneStatusFramePeriod(TalonFX FXMotor, StatusFrameEnhanced } while(!retVal.equals(ErrorCode.OK) && retries-- > 0); if (!retVal.equals(ErrorCode.OK)){ - System.out.println("setStatusFramePeriod("+statusFrame.toString()+") failed with status "+retVal.toString()); + //System.out.println("setStatusFramePeriod("+statusFrame.toString()+") failed with status "+retVal.toString()); } } @@ -40,7 +40,7 @@ private static void setOneControlFramePeriod(TalonFX FXMotor, ControlFrame contr } while(!retVal.equals(ErrorCode.OK) && retries-->0); if (!retVal.equals(ErrorCode.OK)){ - System.out.println("setControlFramePeriod("+controlFrame.toString()+") failed with status "+retVal.toString()); + //System.out.println("setControlFramePeriod("+controlFrame.toString()+") failed with status "+retVal.toString()); } } @@ -231,7 +231,7 @@ public static void setFramePeriodsVolatile(TalonFX FXMotor){ // } - System.out.println("setFramePeriods took "+(Timer.getFPGATimestamp()-start)); + //System.out.println("setFramePeriods took "+(Timer.getFPGATimestamp()-start)); } public static double getStatorCurrent(TalonFX FXMotor){ diff --git a/src/main/java/libraries/cyberlib/io/JoystickFinder.java b/src/main/java/libraries/cyberlib/io/JoystickFinder.java new file mode 100644 index 0000000..38d8865 --- /dev/null +++ b/src/main/java/libraries/cyberlib/io/JoystickFinder.java @@ -0,0 +1,143 @@ +package libraries.cyberlib.io; + +import edu.wpi.first.wpilibj.Joystick; +import libraries.cheesylib.util.CrashTrackingRunnable; + +// TODO: add rescan + +// a simple static class that finds all of the joysticks +// it runs at startup +// as each joystick is created in robot.java they +// call findThisJoystick which looks for the +// joystick name in the list of found joysticks +// if it finds a match it marks the slot as used and +// returns the index +public class JoystickFinder { + // Logitech + // Controller (Gamepad F310) + + // Logitech + // Logitech Extreme 3D + + // Logitech + // Logitech Attack 3 + + // Thrustmaster + // T.16000M + + // Turnigy + // Evolution PRO + + // Xbox + // Controller (Xbox One For Windows) + + // joystick names go in each slot as they are discovered + // if a match is found then the name is modified to reserve it + // an empty string means: check again + + // joysticks can/will be plugged in after startup + // so all slots are checked each time + private String[] mSlotName = { "", "", "", "", "", "" }; + private final String mAllocated = " allocated"; + private Joystick[] mAllJoysticks = new Joystick[mSlotName.length]; + private Thread mThread; + private int mThreadPriority = Thread.NORM_PRIORITY - 1; + private Object mObject = new Object(); + + // private static JoystickFinder mInstance = new JoystickFinder(); + // public static JoystickFinder getInstance(){ + // return mInstance; + // } + private static String sClassName; + private static int sInstanceCount; + private static JoystickFinder sInstance = null; + + public static JoystickFinder getInstance(String caller) { + if (sInstance == null) { + sInstance = new JoystickFinder(caller); + } else { + printUsage(caller); + } + return sInstance; + } + + private static void printUsage(String caller) { + System.out.println("(" + caller + ") " + "getInstance " + sClassName + " " + ++sInstanceCount); + } + + private JoystickFinder(String caller) { + sClassName = this.getClass().getSimpleName(); + //printUsage(caller); + + for (int i = 0; i < mAllJoysticks.length; i++) { + mAllJoysticks[i] = new Joystick(i); + mSlotName[i] = mAllJoysticks[i].getName(); + } + + createJoystickFinder(); + //printSticks(); + } + + private void printSticks() { + // print what was found + for (int i = 0; i < mSlotName.length; i++) { + if (mSlotName[i].length() == 0) { + System.out.println(i + ": "); + } else { + System.out.println(i + ": " + mSlotName[i]); + } + } + } + + // Joysticks are found in the order they are + // asked for. First request gets the first match found + // searches start in slot 0 and move up + public Joystick findThisJoystick(String name) { + // System.out.println("findThisJoystick: "+name+" "+System.currentTimeMillis()); + for (int i = 0; i < mSlotName.length; i++) { + if (mSlotName[i].equals(name)) { + // found a match + // save a modified name + // this will protect this joystick from being reallocated + // if a second identical joystick is searched for + mSlotName[i] = name + mAllocated; + return mAllJoysticks[i]; + } + } + synchronized (mObject) { + mObject.notifyAll(); + } + return null; + } + + private void lookForNewJoystick() { + // check empty slots to see if a stick appeared + for (int i = 0; i < mSlotName.length; i++) { + if (mSlotName[i].length() == 0) { + mSlotName[i] = mAllJoysticks[i].getName(); + } + } + } + + // create thread to look for joystick in background + private void createJoystickFinder() { + + mThread = new Thread(new CrashTrackingRunnable() { + @Override + public void runCrashTracked() { + while (true) { + try { + synchronized (mObject) { + mObject.wait(); + } + } catch (InterruptedException e) { + e.printStackTrace(); + } + lookForNewJoystick(); + } + } + }); + mThread.setPriority(mThreadPriority); + mThread.start(); + } +} \ No newline at end of file diff --git a/vendordeps/PathplannerLib.json b/vendordeps/PathplannerLib.json index fab5e5b..9e91343 100644 --- a/vendordeps/PathplannerLib.json +++ b/vendordeps/PathplannerLib.json @@ -1,7 +1,7 @@ { "fileName": "PathplannerLib.json", "name": "PathplannerLib", - "version": "2023.4.3", + "version": "2023.4.4", "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786", "mavenUrls": [ "https://3015rangerrobotics.github.io/pathplannerlib/repo" @@ -11,7 +11,7 @@ { "groupId": "com.pathplanner.lib", "artifactId": "PathplannerLib-java", - "version": "2023.4.3" + "version": "2023.4.4" } ], "jniDependencies": [], @@ -19,7 +19,7 @@ { "groupId": "com.pathplanner.lib", "artifactId": "PathplannerLib-cpp", - "version": "2023.4.3", + "version": "2023.4.4", "libName": "PathplannerLib", "headerClassifier": "headers", "sharedLibrary": false,