Merge pull request #101 from robototes/full-target-tuning

Full target tuning

src/main/deploy/launcher_data.csv

@@ -2,11 +2,29 @@
 
 # DISTANCE (meters), ANGLE (degrees), RPM (velocity)
 
-1.397, 254, 4500
-2.05, 249, 4500
-2.6, 245, 4500
-3.2, 243, 4500
-5, 240, 5000
-5.64,239, 5000
-6, 238, 5000
-14, 233, 5000
+# These RPMs are target RPMs, actual was much lower
+
+# Front subwoofer
+1.30, 254, 3500
+# Front bumper at autoline
+2.13, 250, 3500
+# Near podium
+5.66, 246, 3600
+# Auto point 1 (X 2.870, Y 2.196, theta 130.6)
+4.46, 242, 3600
+
+# After this, these are setpoint angles
+# Auto point 2 (X 5.699, Y 7.501, theta -162.8)
+5.55, 240.3, 4400
+# Auto point 3 (X 4.299, Y 5.134, theta 176.222)
+4.32, 242, 4300 # Might be a little low, and could probably lower RPM- Ran out of time to fully test
+
+# Pre 3/28 values:
+# 1.397, 254, 4500
+# 2.05, 249, 4500
+# 2.6, 245, 4500
+# 3.2, 243, 4500
+# 5, 240, 5000
+# 5.64,239, 5000
+# 6, 238, 5000
+# 14, 233, 5000

src/main/java/frc/team2412/robot/Controls.java

@@ -8,10 +8,12 @@
 import static frc.team2412.robot.Subsystems.SubsystemConstants.LED_ENABLED;
 
 import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.GenericHID.RumbleType;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
@@ -108,6 +110,22 @@ public Controls(Subsystems s) {
 		if (LED_ENABLED) {
 			bindLEDControls();
 		}
+		Pose2d SPEAKER_POSE =
+				Robot.isBlue()
+						? new Pose2d(0.0, 5.55, Rotation2d.fromRotations(0))
+						: new Pose2d(16.5, 5.55, Rotation2d.fromRotations(0));
+		if (DRIVEBASE_ENABLED && LAUNCHER_ENABLED) {
+			Commands.run(
+							() -> {
+								Pose2d robotPose = s.drivebaseSubsystem.getPose();
+								Pose2d relativeSpeaker = robotPose.relativeTo(SPEAKER_POSE);
+								double distance = relativeSpeaker.getTranslation().getNorm();
+								s.launcherSubsystem.updateDistanceEntry(distance);
+							})
+					.withName("Update distance")
+					.ignoringDisable(true)
+					.schedule();
+		}
 		if (DRIVEBASE_ENABLED && LAUNCHER_ENABLED && INTAKE_ENABLED) {
 			// temporary controls, not sure what drive team wants
 			driveController

src/main/java/frc/team2412/robot/Robot.java

@@ -3,6 +3,7 @@
 import com.ctre.phoenix6.SignalLogger;
 import edu.wpi.first.wpilibj.DataLogManager;
 import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj.PowerDistribution;
 import edu.wpi.first.wpilibj.PowerDistribution.ModuleType;
 import edu.wpi.first.wpilibj.RobotBase;
@@ -207,4 +208,12 @@ public static boolean isDebugMode() {
 	public static boolean isSysIdMode() {
 		return sysIdMode;
 	}
+
+	public static boolean isBlue() {
+		return DriverStation.getAlliance().orElse(Alliance.Red) == Alliance.Blue;
+	}
+
+	public static boolean isRed() {
+		return DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red;
+	}
 }

src/main/java/frc/team2412/robot/subsystems/LauncherSubsystem.java

@@ -23,6 +23,7 @@
 import edu.wpi.first.wpilibj.sysid.SysIdRoutineLog;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
 import frc.team2412.robot.Hardware;
 import frc.team2412.robot.Robot;
@@ -89,6 +90,8 @@ public class LauncherSubsystem extends SubsystemBase {
 
 	private GenericEntry setLauncherSpeedEntry;
 
+	private GenericEntry setLauncherAngleEntry;
+
 	private GenericEntry launcherAngleEntry;
 
 	private GenericEntry launcherSpeedEntry;
@@ -340,9 +343,13 @@ private void initShuffleboard() {
 						.withPosition(5, 0)
 						.getEntry();
 
+		setLauncherAngleEntry =
+				Shuffleboard.getTab("Launcher").add("Launcher Angle Setpoint", getAngle()).getEntry();
+
 		launcherAngleManual =
 				Shuffleboard.getTab("Launcher")
-						.add("Launcher manual increase", 0)
+						.add("Launcher manual angle (rot.)", 0)
+						.withPosition(0, 1)
 						.withSize(1, 1)
 						.withWidget(BuiltInWidgets.kTextView)
 						.getEntry();
@@ -362,6 +369,19 @@ private void initShuffleboard() {
 				Shuffleboard.getTab("Launcher").add("Angle Setpoint", 0).withPosition(2, 2).getEntry();
 		launcherFlywheelSetpointEntry =
 				Shuffleboard.getTab("Launcher").add("Flywheel Setpoint", 0).withPosition(4, 5).getEntry();
+
+		var manualModeEntry =
+				Shuffleboard.getTab("Launcher")
+						.add("Full manual mode", false)
+						.withPosition(3, 0)
+						.getEntry();
+		new Trigger(() -> manualModeEntry.getBoolean(false))
+				.whileTrue(
+						run(() -> {
+									setAngle(setLauncherAngleEntry.getDouble(getAngle()));
+									launch(setLauncherSpeedEntry.getDouble(SPEAKER_SHOOT_SPEED_RPM));
+								})
+								.withName("Full Manual"));
 	}
 
 	public void updateDistanceEntry(double distance) {

vendordeps/REVLib.json

@@ -1,7 +1,7 @@
 {
     "fileName": "REVLib.json",
     "name": "REVLib",
-    "version": "2024.2.1",
+    "version": "2024.2.3",
     "frcYear": "2024",
     "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
     "mavenUrls": [
@@ -12,14 +12,14 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-java",
-            "version": "2024.2.1"
+            "version": "2024.2.3"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
-            "version": "2024.2.1",
+            "version": "2024.2.3",
             "skipInvalidPlatforms": true,
             "isJar": false,
             "validPlatforms": [
@@ -37,7 +37,7 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-cpp",
-            "version": "2024.2.1",
+            "version": "2024.2.3",
             "libName": "REVLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -55,7 +55,7 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
-            "version": "2024.2.1",
+            "version": "2024.2.3",
             "libName": "REVLibDriver",
             "headerClassifier": "headers",
             "sharedLibrary": false,