cleveland

h

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2023.4.2"
+    id "edu.wpi.first.GradleRIO" version "2023.4.3"
 }
 
 repositories {

final-final-final.json

@@ -120,34 +120,12 @@
               "Crosshair/Crosshair color": "#FFFFFFFF",
               "Controls/Show controls": true,
               "Controls/Rotation": "NONE",
-              "compression": 35.0,
+              "compression": 27.078429483899882,
               "fps": 15,
               "imageWidth": 640,
               "imageHeight": 480
             }
           },
-          "25,8": {
-            "size": [
-              7,
-              7
-            ],
-            "content": {
-              "_type": "Graph",
-              "_source0": "network_table:///FMSInfo/FMSControlData",
-              "_source1": "network_table:///Shuffleboard/PDP/PDP/Voltage",
-              "_title": "Voltage",
-              "_glyph": 148,
-              "_showGlyph": false,
-              "Graph/Visible time": 60.0,
-              "Graph/X-axis auto scrolling": true,
-              "Y-axis/Automatic bounds": false,
-              "Y-axis/Upper bound": 13.0,
-              "Y-axis/Lower bound": 6.0,
-              "Y-axis/Unit": "v",
-              "Visible data/FMSInfo/FMSControlData": true,
-              "Visible data/Shuffleboard/PDP/PDP/Voltage": true
-            }
-          },
           "24,0": {
             "size": [
               3,
@@ -498,9 +476,9 @@
     }
   ],
   "windowGeometry": {
-    "x": -7.199999809265137,
-    "y": -7.199999809265137,
-    "width": 1550.4000244140625,
-    "height": 838.4000244140625
+    "x": -6.400000095367432,
+    "y": 1.600000023841858,
+    "width": 1547.199951171875,
+    "height": 828.7999877929688
   }
 }

src/main/java/frc/robot/RobotContainer.java

@@ -52,6 +52,7 @@ public class RobotContainer {
   private final DecreaseMaxSpeedCommand m_DecreaseMaxSpeedCommand =
       new DecreaseMaxSpeedCommand(m_Tank);
   private final FineDriveCommand m_FineDriveCommand = new FineDriveCommand(m_Tank);
+  private final PlaceCubeSecondLevelCommand m_PlaceCubeSecondLevelCommand = new PlaceCubeSecondLevelCommand(m_Tank, m_Arm, m_Claw);
 
   private GenericEntry timeWidget = Shuffleboard.getTab("stuff").add("time", 0).withWidget("Match Time").getEntry();  
 
@@ -73,6 +74,7 @@ public RobotContainer() {
     tab.add(m_IncreaseMaxSpeedCommand);
     tab.add(m_MoveArmYCommand);
     tab.add(m_PDP);
+    tab.add(m_PlaceCubeSecondLevelCommand);
 
 
 
@@ -106,6 +108,8 @@ private void configureButtonBindings() {
     //     .whileTrue(m_OpenClawCommand);
     new JoystickButton(m_armController2, XboxController.Button.kLeftBumper.value)
         .whileTrue(m_FineDriveCommand);
+    new JoystickButton(m_armController2, XboxController.Button.kY.value).whileTrue(m_PlaceConeSecondLevelCommand);
+
     // new JoystickButton(m_armController2, XboxController.Button.kB.value)
     //     .whileTrue(m_PlaceConeSecondLevelCommand);
   }

src/main/java/frc/robot/commands/AutoCommand.java

@@ -11,8 +11,14 @@ public class AutoCommand extends SequentialCommandGroup {
   public AutoCommand(PID m_pid, Tank m_driveBase, Arm m_arm, Claw m_claw) {
     addCommands(new PlaceConeSecondLevelCommand(m_driveBase, m_arm, m_claw), new BalanceCommand(m_pid, m_driveBase));
 
+    //side autonomous
+    //addCommands(new PlaceConeSecondLevelCommand(m_driveBase, m_arm, m_claw));
+
+    //middle autonomous
+    //addCommands(new PlaceConeSecondLevelCommand(m_driveBase, m_arm, m_claw), new BalanceCommand(m_pid, m_driveBase));
+
+
     // new BalanceCommand(m_pid, m_driveBase)
-    // new PlaceCubeFirstLevelCommand(m_driveBase, m_claw, m_arm)
     // new PlaceConeSecondLevelCommand(m_driveBase, m_arm)
   }
 }

src/main/java/frc/robot/commands/MoveArmYCommand.java

@@ -22,7 +22,7 @@ public void initialize() {}
 
   @Override
   public void execute() {
-    m_subsystem.moveArm(-RobotContainer.getControllerLeftStickY());
+    m_subsystem.moveArm(RobotContainer.getControllerLeftStickY());
   }
 
   @Override

src/main/java/frc/robot/commands/PlaceConeSecondLevelCommand.java

@@ -39,7 +39,7 @@ public void execute() {
     if (firstStep) {
       if (Math.abs(arm.armMotor.getEncoder().getPosition()) < 115) {
         claw.closeClaw();
-        arm.armMotor.set(0.4);
+        arm.armMotor.set(0.5);
       }
 
       if (Math.abs(arm.armMotor.getEncoder().getPosition()) >= 115) {
@@ -49,13 +49,13 @@ public void execute() {
       }
 
       // go over charge station
-      if (Math.abs(drive.getAverageDistance()) < 4.8 && firstStep == false) {
+      if (Math.abs(drive.getAverageDistance()) < 4.95 && firstStep == false) {
         claw.stopClaw(); 
         drive.setAllMotors(-0.3); // move back so that cone falls in
-        arm.armMotor.set(-0.45);
+        arm.armMotor.set(-0.5);
       }
 
-      if (Math.abs(drive.getAverageDistance()) >= 4.8) {
+      if (Math.abs(drive.getAverageDistance()) >= 4.95) {
         drive.setAllMotors(0);
       }
     }
@@ -75,6 +75,6 @@ public void end(boolean interrupted) {
 
   @Override
   public boolean isFinished() {
-    return Math.abs(drive.getAverageDistance()) >= 4.8;
+    return Math.abs(drive.getAverageDistance()) >= 4.95;
   }
 }

src/main/java/frc/robot/commands/PlaceCubeSecondLevelCommand.java

@@ -0,0 +1,92 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.networktables.GenericEntry;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.*;
+
+public class PlaceCubeSecondLevelCommand extends CommandBase {
+  @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"})
+  private final Tank drive;
+  private final Claw claw;
+  private final Arm arm;
+  private GenericEntry widget;
+
+  private boolean firstStep = true;
+
+  public PlaceCubeSecondLevelCommand(Tank drive, Arm arm, Claw claw) {
+    this.drive = drive;
+    this.arm = arm;
+    this.claw = claw;
+    addRequirements(drive);
+    addRequirements(arm);
+
+
+
+  }
+
+  @Override
+   public void initialize() {
+/*    drive.leftFront.getEncoder().setPosition(0);
+    drive.leftRear.getEncoder().setPosition(0);
+    drive.rightFront.getEncoder().setPosition(0);
+    drive.rightRear.getEncoder().setPosition(0); */
+
+    arm.armMotor.getEncoder().setPosition(0);
+    widget = Shuffleboard.getTab("stuff").add("arm thing", arm.armMotor.getEncoder().getPosition()).getEntry();
+
+  }
+
+  // double check constants
+  @Override
+  public void execute() {
+    widget.setDouble(arm.armMotor.getEncoder().getPosition());
+
+      if (firstStep) {
+        claw.closeClaw();
+        arm.armMotor.set(0.25);
+      }
+
+
+      if (arm.armMotor.getEncoder().getPosition() >= 60) {
+        firstStep = false;
+        arm.armMotor.set(0);
+        arm.armMotor.getEncoder().setPosition(0);
+        claw.openClaw();
+      }
+
+      // go over charge station
+/*       if (Math.abs(drive.getAverageDistance()) < 4.95 && firstStep == false) {
+        claw.stopClaw(); 
+        drive.setAllMotors(-0.3); // move back so that cone falls in
+        arm.armMotor.set(-0.5);
+      }
+
+      if (Math.abs(drive.getAverageDistance()) >= 4.95) {
+        drive.setAllMotors(0);
+      } */
+
+  }
+
+  @Override
+  public void end(boolean interrupted) {
+/*     drive.leftFront.getEncoder().setPosition(0);
+    drive.leftRear.getEncoder().setPosition(0);
+    drive.rightFront.getEncoder().setPosition(0);
+    drive.rightRear.getEncoder().setPosition(0); */
+    arm.armMotor.getEncoder().setPosition(0);
+
+    //drive.setAllMotors(0);
+    arm.armMotor.set(0); // stop the arm motor
+  }
+
+  @Override
+  public boolean isFinished() {
+/*     return Math.abs(drive.getAverageDistance()) >= 4.95; */
+return false;
+  }
+}

src/main/java/frc/robot/subsystems/Arm.java

@@ -6,6 +6,8 @@
 
 import com.revrobotics.CANSparkMax.IdleMode;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+
+import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -21,19 +23,28 @@ public class Arm extends SubsystemBase {
 
   public double gearRatio = 87;
 
+
+  public GenericEntry encoderWidget;
+
   public Arm() {
     armMotor = new CANSparkMax(7, MotorType.kBrushless);
     armMotor.setIdleMode(IdleMode.kBrake);
     armMotor.setSmartCurrentLimit(30, 40);
     armMotor.burnFlash();
     addChild("Arm Motor", armMotor);
 
+    encoderWidget = Shuffleboard.getTab("Motors").add("Arm Encoder", armMotor.getEncoder().getPosition()).getEntry();
+
+
     Shuffleboard.getTab("Motors").add("Arm", armMotor);
+
   }
 
   @Override
   public void periodic() {
     SmartDashboard.putBoolean("zeroDeg", allTheWayDownRear.get());
+
+    encoderWidget.setDouble(armMotor.getEncoder().getPosition());
   }
 
   public void moveArm(double leftStickYaxis) {

src/main/java/frc/robot/subsystems/Claw.java

@@ -16,14 +16,11 @@
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.RobotContainer;
 import frc.robot.Interfaces.*;
-import java.util.Map;
+
 
 public class Claw extends SubsystemBase {
   public CANSparkMax clawMotor;
 
-  private GenericEntry stallWidget;
-  private GenericEntry freeWidget;
-  private ShuffleboardLayout layout;
 
   // gear ratio is 100:1
 
@@ -36,20 +33,6 @@ public Claw() {
 
     Shuffleboard.getTab("Motors").add("Claw", clawMotor);
 
-    layout = Shuffleboard.getTab("Config").getLayout("Claw", BuiltInLayouts.kList);
-
-    stallWidget =
-        layout
-            .add("Stall Limit", 10)
-            .withWidget(BuiltInWidgets.kNumberSlider)
-            .withProperties(Map.of("min", 0, "max", 20))
-            .getEntry();
-    freeWidget =
-        layout
-            .add("Free Limit", 11)
-            .withWidget(BuiltInWidgets.kNumberSlider)
-            .withProperties(Map.of("min", 0, "max", 20))
-            .getEntry();
   }
 
   @Override
@@ -58,11 +41,11 @@ public void periodic() {
   }
 
   public void closeClaw() {
-    clawMotor.set(0.7);
+    clawMotor.set(1);
   }
 
   public void openClaw() {
-    clawMotor.set(-0.7);
+    clawMotor.set(-1);
   }
 
   public void stopClaw() {

src/main/java/frc/robot/subsystems/PDP.java

@@ -26,7 +26,7 @@ public PDP() {
   @Override
   public void periodic() {
     // This method will be called once per scheduler run
-    SmartDashboard.putNumber("PDP Voltage", pdp.getVoltage());
+
   }
   /**
    * @return the voltage of the PDP in Volts

src/main/java/frc/robot/subsystems/PID.java

@@ -25,16 +25,14 @@ public class PID extends SubsystemBase {
 
   private float initPitch;
 
-  public PIDController pidController;
 
   public PID() {
     toleranceDeg = 0.5;
     iLimit = 2.0;
 
 
     initPitch = gyro.getPitch();
-    pidController = new PIDController(P, I, D);
-    addChild("PID Controller", pidController);
+
   }
 
   @Override
@@ -69,9 +67,6 @@ public double PIDoutput() {
     I = kI * errorSum;
     D = kD * errorRate;
 
-    pidController.setP(P);
-    pidController.setI(I);
-    pidController.setD(D);
 
     double outputSpeed = P + I + D;