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3 changes: 3 additions & 0 deletions
3
comp/swerve100/src/main/java/org/team100/frc2024/MockSensors.java
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185 changes: 96 additions & 89 deletions
185
comp/swerve100/src/main/java/org/team100/frc2024/RobotContainer.java
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130 changes: 130 additions & 0 deletions
130
comp/swerve100/src/main/java/org/team100/frc2024/commands/climber/HomeClimber.java
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| package org.team100.frc2024.commands.climber; | ||
|
|
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| import java.util.OptionalDouble; | ||
|
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| import org.team100.frc2024.motion.climber.ClimberSubsystem; | ||
| import org.team100.lib.dashboard.Glassy; | ||
| import org.team100.lib.motion.LimitedLinearMechanism; | ||
| import org.team100.lib.telemetry.SupplierLogger; | ||
| import org.team100.lib.telemetry.Telemetry.Level; | ||
| import org.team100.lib.util.Timer100; | ||
| import org.team100.lib.util.Util; | ||
|
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| import edu.wpi.first.wpilibj2.command.Command; | ||
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| /** | ||
| * The zeroing process has four states, which are indicated by the states of the | ||
| * two timers: | ||
| * | ||
| * <pre> | ||
| * initial: set the effort to low and start the start timer | ||
| * | ||
| * starting state (start timer running, end timer not running): run at the target speed | ||
| * | ||
| * transition: when the start timer runs out: | ||
| * | ||
| * running state (start timer > limit, end timer not running): run at the target speed | ||
| * | ||
| * transition: when the actual speed is below the threshold, start the stop timer | ||
| * | ||
| * stopping state (start timer > limit, end timer running): run at the target speed | ||
| * | ||
| * transition: when the stop timer runs out, zero the mechanism | ||
| * | ||
| * done state (start timer > limit, end timer > limit): set speed to zero | ||
| * </pre> | ||
| */ | ||
| public class HomeClimber extends Command implements Glassy { | ||
| /** Target speed is negative, i.e. down. */ | ||
| private static final double kTargetSpeedM_S = -0.03; | ||
| /** Threshold is unsigned. */ | ||
| private static final double kThresholdSpeedM_S = 0.003; | ||
| /** Wait 0.5s to start moving. */ | ||
| private static final double kStartTimeS = 0.2; | ||
| /** Wait 0.5s to stop moving. */ | ||
| private static final double kHomeTimeS = 0.2; | ||
|
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| private final SupplierLogger m_logger; | ||
| private final ClimberSubsystem m_climber; | ||
| private final Timer100 m_leftStart; | ||
| private final Timer100 m_leftDone; | ||
| private final Timer100 m_rightStart; | ||
| private final Timer100 m_rightDone; | ||
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| public HomeClimber( | ||
| SupplierLogger logger, | ||
| ClimberSubsystem climber) { | ||
| m_logger = logger.child(this); | ||
| m_climber = climber; | ||
| m_leftStart = new Timer100(); | ||
| m_leftDone = new Timer100(); | ||
| m_rightStart = new Timer100(); | ||
| m_rightDone = new Timer100(); | ||
| } | ||
|
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| @Override | ||
| public void initialize() { | ||
| init(m_leftStart, m_leftDone); | ||
| init(m_rightStart, m_rightDone); | ||
| m_climber.setHomingForce(); | ||
| } | ||
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| @Override | ||
| public void execute() { | ||
| oneSide("left", m_leftStart, m_leftDone, m_climber.getLeft()); | ||
| oneSide("right", m_rightStart, m_rightDone, m_climber.getRight()); | ||
| } | ||
|
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| private static void init(Timer100 start, Timer100 done) { | ||
| done.stop(); | ||
| done.reset(); | ||
| start.restart(); | ||
| } | ||
|
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| private void oneSide( | ||
| String name, | ||
| Timer100 start, | ||
| Timer100 done, | ||
| LimitedLinearMechanism mech) { | ||
| m_logger.logDouble(Level.TRACE, name + " start timer (s)", start::get); | ||
| m_logger.logDouble(Level.TRACE, name + " done timer (s)", done::get); | ||
| OptionalDouble opt = mech.getVelocityM_S(); | ||
| if (opt.isEmpty()) { | ||
| Util.warn("HomeClimber: can't home, broken velocity sensor!"); | ||
| mech.stop(); | ||
| return; | ||
| } | ||
| if (start.get() < kStartTimeS) { | ||
| // starting up, run the mech unconditionally | ||
| mech.setVelocityUnlimited(kTargetSpeedM_S, 0, 0); | ||
| } else { | ||
| if (done.isStopped()) { | ||
| // have not noticed speed decline, keep going. | ||
| mech.setVelocityUnlimited(kTargetSpeedM_S, 0, 0); | ||
| if (Math.abs(opt.getAsDouble()) < kThresholdSpeedM_S) { | ||
| // mech seems stopped, start the done timer | ||
| done.start(); | ||
| } | ||
| } else { | ||
| if (done.get() < kHomeTimeS) { | ||
| // speed is below the threshold, wait a bit. | ||
| mech.setVelocityUnlimited(kTargetSpeedM_S, 0, 0); | ||
| } else { | ||
| // speed has been below the threshold for awhile, so we're done | ||
| mech.stop(); | ||
| mech.resetEncoderPosition(); | ||
| } | ||
| } | ||
| } | ||
| } | ||
|
|
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| @Override | ||
| public boolean isFinished() { | ||
| return m_leftDone.get() > kHomeTimeS && m_rightDone.get() > kHomeTimeS; | ||
| } | ||
|
|
||
| @Override | ||
| public String getGlassName() { | ||
| return "HomeClimber"; | ||
| } | ||
| } |
4 changes: 2 additions & 2 deletions
4
.../drivetrain/manual/ManualWithAmpLock.java → .../drivetrain/manual/ManualWithAmpLock.java
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4 changes: 2 additions & 2 deletions
4
...vetrain/manual/ManualWithShooterLock.java → ...vetrain/manual/ManualWithShooterLock.java
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