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Distance adjusted shoot #8

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Distance adjusted shoot #8

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cd94503
Merge pull request #7 from IrishRobotics/auto
Slickwish1 Mar 7, 2022
36ada6c
distance based shooting
Slickwish1 Mar 8, 2022
fe51e7a
distance based shooting
Slickwish1 Mar 8, 2022
f2723c4
Merge branch 'combined' into distance-adjusted-shoot
rxleska Mar 10, 2022
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1 change: 1 addition & 0 deletions RapidReact2606/src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -102,6 +102,7 @@ public static final class VisionConstants{

//Sim Position
public static final org.photonvision.SimVisionTarget farTarget = new SimVisionTarget(farTargetPose,targetHeightAboveGround, targetWidth, targetHeight);
public static final double cameraHeight = .5;
}
public static final class IndexerConstants{
public static final int firstDIO = 11;
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3 changes: 2 additions & 1 deletion RapidReact2606/src/main/java/frc/robot/RobotContainer.java
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Expand Up @@ -18,6 +18,7 @@
import frc.robot.commands.Intake.SimpleIntakeOn;
import frc.robot.commands.Intake.SimpleIntakeOnVar;
import frc.robot.commands.Shooter.SimpleShooterOn;

// import frc.robot.commands.ExampleCommand;
import frc.robot.subsystems.DriveSubsystem;
import frc.robot.subsystems.IndexerSubsystem;
Expand All @@ -42,7 +43,7 @@ public class RobotContainer {
// The robot's subsystems and commands are defined here...
private final DriveSubsystem robotDrive = new DriveSubsystem();
private final IntakeSubsystem intakeSystem = new IntakeSubsystem();
private final ShooterSubsystem shooterSubsystem = new ShooterSubsystem();
private final ShooterSubsystem shooterSubsystem = new ShooterSubsystem(robotDrive.getCamera());
private final IndexerSubsystem indexSubsystem = new IndexerSubsystem();


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54 changes: 37 additions & 17 deletions RapidReact2606/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -10,18 +10,28 @@
import com.revrobotics.CANSparkMax.IdleMode;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;

import org.photonvision.PhotonCamera;
import org.photonvision.PhotonUtils;
import org.photonvision.targeting.PhotonPipelineResult;

import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants.ShooterConstants;
import frc.robot.commands.Shooter.isShooterUpToSpeed;
import frc.robot.Constants.VisionConstants;

public class ShooterSubsystem extends SubsystemBase {
/**
*
*/
private static final int shooterTolerance = 50;

CANSparkMax shooter = new CANSparkMax(ShooterConstants.shooterCan, MotorType.kBrushless);

RelativeEncoder shootEncoder;
SparkMaxPIDController pidController;
public double kP, kI, kD, KIz, kFF, kMaxOutput, kMinOutput, maxRPM;

private PhotonCamera camera;

public enum MOTOR_STATUS {
ON, OFF
Expand All @@ -30,12 +40,13 @@ public enum MOTOR_STATUS {
MOTOR_STATUS motorState = MOTOR_STATUS.OFF;

/** Creates a new ExampleSubsystem. */
public ShooterSubsystem() {
public ShooterSubsystem(PhotonCamera cam) {
shooter.setIdleMode(IdleMode.kCoast);
shootEncoder = shooter.getEncoder();
pidController = shooter.getPIDController();
camera = cam;

//PID coefficients
// PID coefficients
kP = 6e-5;
kI = 0;
kD = 0;
Expand All @@ -45,8 +56,8 @@ public ShooterSubsystem() {
kMinOutput = -1;
maxRPM = 5700;

pidController.setP(kP); //position
pidController.setI(kI); //Integral
pidController.setP(kP); // position
pidController.setI(kI); // Integral
pidController.setD(kD); // Derivitive
pidController.setIZone(KIz); // INtegral zone
pidController.setFF(kFF); // feed forward gain value
Expand All @@ -55,10 +66,10 @@ public ShooterSubsystem() {

@Override
public void periodic() {
//updateMotorsProp();
// updateMotorsProp();
updateMotorsVel();
SmartDashboard.putNumber("Encoder Vel", shootEncoder.getVelocity());
SmartDashboard.putBoolean("Is Up to Speed", isUpToSpeed());
SmartDashboard.putBoolean("Is Up to Speed", isUpToSpeed());
}

public void updateMotorsProp() {
Expand All @@ -69,24 +80,33 @@ public void updateMotorsProp() {
}
}

public void updateMotorsVel(){
if(motorState == MOTOR_STATUS.OFF){
public void updateMotorsVel() {
if (motorState == MOTOR_STATUS.OFF) {
shooter.set(0.0);
}
else{
pidController.setReference(5000*-4.284*ShooterConstants.shootSpeed, CANSparkMax.ControlType.kVelocity);
} else {
pidController.setReference(getSpeedTarget(), CANSparkMax.ControlType.kVelocity);
}
}

public double getSpeedTarget() {
PhotonPipelineResult result = camera.getLatestResult();
double speed = 5000 * -4.284 * ShooterConstants.shootSpeed;


if (result.hasTargets()) {
double range = PhotonUtils.calculateDistanceToTargetMeters(VisionConstants.cameraHeight, VisionConstants.targetHeight, 0, Units.degreesToRadians(result.getBestTarget().getPitch()));
//vary speed based on range
speed = 5000 * -4.284 * ShooterConstants.shootSpeed;
}

return speed;
}

public void setMode(MOTOR_STATUS mode) {
motorState = mode;
}

public boolean isUpToSpeed(){
return shootEncoder.getVelocity() < -5250;
public boolean isUpToSpeed() {
return Math.abs(shootEncoder.getVelocity() - getSpeedTarget()) < shooterTolerance;
}

@Override
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