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spacey-sootyspacey-sooty
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YIPEEEEEEEEE
2 parents 1d6144f + eaa0623 commit 77fe57f

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lines changed

‎.editorconfig

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root = true
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[*]
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indent_style = space
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indent_size = 2

‎.gitattributes

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* text=auto
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*.sh text eol=lf
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<<<<<<< HEAD
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*.bat text eol=crlf
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=======
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>>>>>>> eaa0623252b24fabd56e50f6a52c382e4c9640a4
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*.gradle text eol=lf
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*.java text eol=lf
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*.json text eol=lf

‎.github/workflows/format.yml

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with:
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python-version: 3.8
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- name: Install wpiformat
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<<<<<<< HEAD
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run: pip3 install wpiformat==2024.31
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=======
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run: pip3 install wpiformat==2023.36
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>>>>>>> eaa0623252b24fabd56e50f6a52c382e4c9640a4
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- name: Run
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run: wpiformat
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- name: Check output

‎.gitignore

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# clangd
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/.cache
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compile_commands.json
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<<<<<<< HEAD
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# sim
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ctre_sim
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=======
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>>>>>>> eaa0623252b24fabd56e50f6a52c382e4c9640a4

‎.styleguide

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<<<<<<< HEAD
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=======
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>>>>>>> eaa0623252b24fabd56e50f6a52c382e4c9640a4
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cppHeaderFileInclude {
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\.h$
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\.hpp$

‎README.md

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@@ -10,8 +10,21 @@ Fork this repository then open up a terminal and run :
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```bash
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git clone https://github.com/*yourusernamehere*/2024-Crescendo.git
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cd 2024-Crescendo
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chmod +x init.sh
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./init.sh
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```
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Now look in [CONTRIBUTING.md](./CONTRIBUTING.md) before continuing!
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Windows
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---
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Fork this repository then open up a terminal and run :
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```powershell
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git clone https:\\github.com\*yourusernamehere*\2024-Crescendo.git
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cd 2024-Crescendo
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.\init
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```
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Now look in [CONTRIBUTING.md](./CONTRIBUTING.md) before continuing!
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Quick Commands
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===
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These commands can be used in a variety of combinations, feel free to experiment!
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**Debug**
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`./gradlew :simulateNativeDebug`
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Runs a debug simulation of your code, including a variety of debugging tools similar to glass but at lower optimisation.
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Documentation

‎init.ps1

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./gradlew installRoborioToolchain
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./gradlew build

‎init.sh

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#!/usr/bin/sh
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sudo apt update
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chmod +x gradlew
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./gradlew installRoborioToolchain
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./gradlew build

‎src/main/cpp/AlphaArm.cpp

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#include "AlphaArm.h"
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7-
// fiddle with these values
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AlphaArm::AlphaArm(AlphaArmConfig config)
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: _config(config),
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_pidWom(_config.path + "/pid",
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config.pidConfigA) /*_table(nt::NetworkTableInstance::GetDefault().GetTable(config.path)*/ {}
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AlphaArm::AlphaArm(AlphaArmConfig config) : _config(config) {}
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13-
void AlphaArm::OnStart() {
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started = false;
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// _pidWom.Reset();
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// _pidWom.SetSetpoint(_config.alphaArmGearbox.encoder->GetEncoderPosition());
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AlphaArmConfig AlphaArm::GetConfig() {
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return _config;
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}
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void AlphaArm::OnUpdate(units::second_t dt) {
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_table->GetEntry("Error").SetDouble(_pidWom.GetError().value());
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_table->GetEntry("Current Pos").SetDouble(_config.alphaArmGearbox.encoder->GetEncoderPosition().value());
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_table->GetEntry("Setpoint").SetDouble(_pidWom.GetSetpoint().value());
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_table->GetEntry("State ").SetString(_stateName);
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switch (_state) {
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case AlphaArmState::kIdle:
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_stateName = "Idle";
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// _pidWom.SetSetpoint(_config.alphaArmGearbox.encoder->GetEncoderPosition());
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// _config.alphaArmGearbox.motorController->SetVoltage(0_V);
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// _config.wristGearbox.motorController->SetVoltage(0_V);
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_setAlphaArmVoltage = 0_V;
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_setWristVoltage = 0_V;
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3122
break;
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case AlphaArmState::kRaw:
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_stateName = "Raw";
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_setAlphaArmVoltage = _rawArmVoltage;
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_setWristVoltage = _rawWristVoltage;
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_config.alphaArmGearbox.motorController->SetVoltage(_rawArmVoltage);
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_config.wristGearbox.motorController->SetVoltage(_rawWristVoltage);
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break;
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case AlphaArmState::kAmpAngle: {
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_stateName = "Amp Angle";
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// _pidWom.SetSetpoint(_goal);
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// _setAlphaArmVoltage = _pidWom.Calculate(_config.alphaArmGearbox.encoder->GetEncoderPosition(), dt,
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// 0_V);
30+
case AlphaArmState::kForwardWrist:
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_config.wristGearbox.motorController->SetVoltage(3_V);
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_setWristVoltage = 3_V;
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45-
if (started) {
46-
if (_controlledRawVoltage.value() == 0) {
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if (-_config.alphaArmGearbox.encoder->GetEncoderPosition() > (_startingPos + (3.1415_rad / 2))) {
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// _pidWom.SetSetpoint(_encoderSetpoint);
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// _setAlphaArmVoltage =
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// -_pidWom.Calculate(-_config.alphaArmGearbox.encoder->GetEncoderPosition(), dt, 0.0_V);
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// _table->GetEntry("Demand").SetDouble(_setAlphaArmVoltage.value());
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// } else if (_config.alphaArmGearbox.encoder->GetEncoderPosition() < 0_rad) {
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// _pidWom.SetSetpoint(_encoderSetpoint);
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// _setAlphaArmVoltage =
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// _pidWom.Calculate(_config.alphaArmGearbox.encoder->GetEncoderPosition(), dt, 0.0_V);
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// _table->GetEntry("Demand").SetDouble(_setAlphaArmVoltage.value());
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_setAlphaArmVoltage = 0_V;
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} else {
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_pidWom.SetSetpoint(_encoderSetpoint);
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_setAlphaArmVoltage =
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-_pidWom.Calculate(-_config.alphaArmGearbox.encoder->GetEncoderPosition(), dt, 0.0_V);
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// _pidWom.Reset();
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// _encoderSetpoint = _config.alphaArmGearbox.encoder->GetEncoderPosition();
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// _setAlphaArmVoltage = _controlledRawVoltage;
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}
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} else {
67-
_pidWom.Reset();
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_encoderSetpoint = -_config.alphaArmGearbox.encoder->GetEncoderPosition();
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_setAlphaArmVoltage = _controlledRawVoltage;
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}
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} else {
72-
_pidWom.Reset();
73-
_encoderSetpoint = -_config.alphaArmGearbox.encoder->GetEncoderPosition();
74-
_setAlphaArmVoltage = _controlledRawVoltage;
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76-
if (std::abs(_controlledRawVoltage.value()) > 0) {
77-
_startingPos = -_config.alphaArmGearbox.encoder->GetEncoderPosition();
78-
started = true;
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}
80-
}
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} break;
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case AlphaArmState::kSpeakerAngle:
83-
_stateName = "Speaker Angle";
84-
// _pidWom.SetSetpoint(_goal);
85-
// _setAlphaArmVoltage = _pidWom.Calculate(_config.alphaArmGearbox.encoder->GetEncoderPosition(), dt,
86-
// 0_V);
87-
break;
88-
case AlphaArmState::kStowed:
89-
_stateName = "Stowed";
90-
// _pidWom.SetSetpoint(_goal);
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// _setAlphaArmVoltage = _pidWom.Calculate(_config.alphaArmGearbox.encoder->GetEncoderPosition(), dt,
92-
// 0_V);
93-
break;
34+
case AlphaArmState::kReverseWrist:
35+
_config.wristGearbox.motorController->SetVoltage(-3_V);
36+
_setWristVoltage = -3_V;
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default:
95-
_stateName = "Error";
9638
std::cout << "oops, wrong state" << std::endl;
9739
break;
9840
}
99-
std::cout << " ARM POSITION: " << _config.alphaArmGearbox.encoder->GetEncoderPosition().value()
100-
<< std::endl;
101-
// std::cout << "OUTPUT VOLTAGE: " << _setAlphaArmVoltage.value() << std::endl;
41+
// transmission translate
42+
// _config.armGearBox.motorController->SetVoltage(setAlphaArmVoltage);
43+
// _config.alphaArmGearbox.motorController->SetVoltage(setAlphaArmVoltage);
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// _config.wristGearbox.motorController->SetVoltage(setWristVoltage);
10245
_config.alphaArmGearbox.motorController->SetVoltage(_setAlphaArmVoltage);
46+
_config.wristGearbox.motorController->SetVoltage(_setWristVoltage);
47+
48+
// _config.wristGearbox.motorController->SetVoltage(_setVoltage);
10349
}
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10551
void AlphaArm::SetState(AlphaArmState state) {
10652
_state = state;
10753
}
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109-
void AlphaArm::SetGoal(units::radian_t goal) {
110-
_goal = goal;
111-
}
55+
// void AlphaArm::SetRaw(units::volt_t voltage){
56+
// _rawArmVoltage = voltage;
57+
// _rawWristVoltage = voltage;
58+
// }
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11360
void AlphaArm::SetArmRaw(units::volt_t voltage) {
114-
std::cout << "VOLTAGE: " << voltage.value() << std::endl;
11561
_rawArmVoltage = voltage;
11662
}
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118-
void AlphaArm::setControllerRaw(units::volt_t voltage) {
119-
_controlledRawVoltage = voltage;
64+
void AlphaArm::setWristRaw(units::volt_t voltage) {
65+
_rawWristVoltage = voltage;
12066
}

‎src/main/cpp/AlphaArmBehaviour.cpp

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@@ -12,7 +12,7 @@ AlphaArmManualControl::AlphaArmManualControl(AlphaArm* alphaArm, frc::XboxContro
1212
}
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1414
void AlphaArmManualControl::OnTick(units::second_t dt) {
15-
if (_codriver->GetStartButtonPressed()) {
15+
if (_codriver->GetXButtonPressed()) {
1616
if (_rawControl == true) {
1717
_rawControl = false;
1818
} else {
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2222

2323
if (_rawControl) {
2424
_alphaArm->SetState(AlphaArmState::kRaw);
25-
_alphaArm->SetArmRaw(_codriver->GetRightY() * 12_V);
25+
_alphaArm->SetArmRaw(_codriver->GetRightY() * 6_V);
26+
_alphaArm->setWristRaw(_codriver->GetLeftY() * -6_V);
2627
} else {
27-
_alphaArm->SetState(AlphaArmState::kAmpAngle);
28-
_alphaArm->setControllerRaw(wom::deadzone(_codriver->GetRightY()) * 12_V);
28+
if (_codriver->GetRightBumperPressed()) {
29+
_alphaArm->SetState(AlphaArmState::kForwardWrist);
30+
}
31+
if (_codriver->GetLeftBumperPressed()) {
32+
_alphaArm->SetState(AlphaArmState::kReverseWrist);
33+
}
2934
}
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}

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