Auton now reliably scores gears; PID changes, offset value changes,

shooter PID
Mercury1089 · Nov 8, 2017 · f56f66f · f56f66f
1 parent aa5f4b6
commit f56f66f
Show file tree

Hide file tree

Showing 6 changed files with 12 additions and 9 deletions.
diff --git a/src/org/usfirst/frc/team1089/robot/OI.java b/src/org/usfirst/frc/team1089/robot/OI.java
@@ -5,6 +5,8 @@
 import org.usfirst.frc.team1089.robot.auton.AutonPosition;
 import org.usfirst.frc.team1089.robot.auton.AutonSecondAction;
 import org.usfirst.frc.team1089.robot.auton.AutonSecondMovement;
+import org.usfirst.frc.team1089.robot.commands.AutoAlign;
+import org.usfirst.frc.team1089.robot.commands.AutoShoot;
 import org.usfirst.frc.team1089.robot.commands.BasicGearDelivery;
 import org.usfirst.frc.team1089.robot.commands.CalibrateGyro;
 import org.usfirst.frc.team1089.robot.commands.DriveWithJoysticks;
@@ -128,8 +130,8 @@ public OI() {
         start = new JoystickButton(gamePad, RobotMap.GamepadButtons.START);
         start.whenPressed(new CalibrateGyro());
 
-        //rightStick1 = new JoystickButton(rightStick, RobotMap.JoystickButtons.BTN1);
-        //rightStick1.whenPressed(new AutoAlign(TargetType.HIGH_GOAL));
+        rightStick1 = new JoystickButton(rightStick, RobotMap.JoystickButtons.BTN1);
+        rightStick1.whenPressed(new AutoShoot());
 
         leftStick1 = new JoystickButton(leftStick, RobotMap.JoystickButtons.BTN1);
         leftStick1.whenPressed(new BasicGearDelivery());        
@@ -146,7 +148,7 @@ public OI() {
         leftStick7 = new JoystickButton(leftStick, RobotMap.JoystickButtons.BTN7);
         leftStick7.whenPressed(new RunClimber(false));
 
-/*        rightStick3 = new JoystickButton(rightStick, RobotMap.JoystickButtons.BTN3);
+      /*rightStick3 = new JoystickButton(rightStick, RobotMap.JoystickButtons.BTN3);
         rightStick3.whenPressed(new AutoAlign(TargetType.HIGH_GOAL));*/
 
         rightStick6 = new JoystickButton(rightStick, RobotMap.JoystickButtons.BTN6);

diff --git a/src/org/usfirst/frc/team1089/robot/commands/AutoAlign.java b/src/org/usfirst/frc/team1089/robot/commands/AutoAlign.java
@@ -29,9 +29,9 @@ public AutoAlign(TargetType t) {
     // Called just before this Command runs the first time
     protected void initialize() {
     	if (target.equals(TargetType.GEAR_VISION))
-			_heading = Robot.visionProcessor.angleGear - 6;
+			_heading = Robot.visionProcessor.angleGear - 5;
 		else if (target.equals(TargetType.HIGH_GOAL))
-			_heading = Robot.visionProcessor.angleHigh;
+			_heading = Robot.visionProcessor.angleHigh - 3;
 		else
 			_heading = 0;
 

diff --git a/src/org/usfirst/frc/team1089/robot/commands/DegreeRotate.java b/src/org/usfirst/frc/team1089/robot/commands/DegreeRotate.java
@@ -24,7 +24,7 @@ public class DegreeRotate extends PIDCommand {
     private final double MIN_PERCENT_VBUS = 0.15;
 
     protected DegreeRotate() {
-    	super(0.195, 0.0008, 0.0);
+    	super(0.460, 0.002, 0.0);							//super(0.195 -> 0.225 -> 0.260 -> 0.360, 0.0008 -> 0.001 -> 0.002, 0.0);
     	_heading = 0.0;
     	requires(Robot.driveTrain);
     	LiveWindow.addActuator("Robot.driveTrain", "DegreeRotate", getPIDController());

diff --git a/src/org/usfirst/frc/team1089/robot/commands/RunAllShooters.java b/src/org/usfirst/frc/team1089/robot/commands/RunAllShooters.java
@@ -29,6 +29,6 @@ public RunAllShooters() {
         // arm.
 
     	this.addParallel(new ShootWithDistance(Robot.leftShooter, new BoilerTargetProvider(Robot.visionProcessor)));
-    	//this.addParallel(new ShootWithDistance(Robot.rightShooter, new BoilerTargetProvider(Robot.visionProcessor)));
+    	this.addParallel(new ShootWithDistance(Robot.rightShooter, new BoilerTargetProvider(Robot.visionProcessor)));
     }
 }
diff --git a/src/org/usfirst/frc/team1089/robot/commands/ShootWithDistance.java b/src/org/usfirst/frc/team1089/robot/commands/ShootWithDistance.java
@@ -73,7 +73,8 @@ protected void execute() {
 
     	if ( distance >= 6 && distance <= 14) {
     		speed = -0.00283*Math.pow(distance, 2)+0.914*distance+16.926;	//temporary, will work for 12 ft and under
-        	speed = speed/29.1585 * 3600;		//XXX Attempt at converting big boy to little enc	
+        	speed = speed/29.1585 * 3600; //XXX Attempt at converting big boy to little enc
+        	speed = speed + 100; //Offset value
     	} else {
     		speed = 0;
     	}

diff --git a/src/org/usfirst/frc/team1089/robot/util/VisionProcessor.java b/src/org/usfirst/frc/team1089/robot/util/VisionProcessor.java
@@ -433,7 +433,7 @@ public double getAverageDistanceToGearTargetsHorizontal() {
 	}
 
 	public double getAdjustedAverageDistanceToGearTargetsHorizontal() {
-		return -(getAverageDistanceToGearTargetsHorizontal() - 0.5); 
+		return -(getAverageDistanceToGearTargetsHorizontal() - 0.5 - 0.25); 
 	}
 
 	public boolean isOnTarget(TargetType target) {