Changes from at the practice field on the morning of GSD load-in day, as well as changes made at the event on Thursday night: new "1-button" ShooterFiringSequency, enhancements and code-sharing of some autonomous programs,

Author: coach-streeter

src/main/java/org/mayheminc/robot2020/RobotContainer.java

@@ -106,18 +106,19 @@ private void configureDefaultCommands() {
     private void configureAutonomousPrograms() {
         LinkedList<Command> autonomousPrograms = new LinkedList<Command>();
 
-        autonomousPrograms.push(/* 11 */ new StayStill());
-        autonomousPrograms.push(/* 10 */ new StartBWDriveOnlyToRP());
-        autonomousPrograms.push(/* 09 */ new StartBWDriveOnlyToWall());
-        autonomousPrograms.push(/* 08 */ new StartFWDriveOnlyToRP());
-        autonomousPrograms.push(/* 07 */ new StartFWDriveOnlyToWall());
-        autonomousPrograms.push(/* 06 */ new StartBWShoot3ThenToRP());
-        autonomousPrograms.push(/* 05 */ new StartBWShoot3ThenToWall());
-        autonomousPrograms.push(/* 04 */ new StartFWShoot3ThenToRP());
-        autonomousPrograms.push(/* 03 */ new StartFWShoot3ThenToWall());
-        autonomousPrograms.push(/* 02 */ new StartFWRendezvous());
-        autonomousPrograms.push(/* 01 */ new StartBWOppTrench());
-        autonomousPrograms.push(/* 00 */ new StartBWTrench());
+        autonomousPrograms.push(/* 12 */ new StayStill());
+        autonomousPrograms.push(/* 11 */ new StartBWDriveOnlyToRP());
+        autonomousPrograms.push(/* 10 */ new StartBWDriveOnlyToWall());
+        autonomousPrograms.push(/* 09 */ new StartFWDriveOnlyToRP());
+        autonomousPrograms.push(/* 08 */ new StartFWDriveOnlyToWall());
+        autonomousPrograms.push(/* 07 */ new StartBWShoot3ThenToRP());
+        autonomousPrograms.push(/* 06 */ new StartBWShoot3ThenToWall());
+        autonomousPrograms.push(/* 05 */ new StartFWShoot3ThenToRP());
+        autonomousPrograms.push(/* 04 */ new StartFWShoot3ThenToWall());
+        autonomousPrograms.push(/* 03 */ new StartFWRendezvous());
+        autonomousPrograms.push(/* 02 */ new StartBWOppTrench());
+        autonomousPrograms.push(/* 01 */ new StartBWTrench3());
+        autonomousPrograms.push(/* 00 */ new StartBWTrench5());
 
         autonomous.setAutonomousPrograms(autonomousPrograms);
 
@@ -204,7 +205,9 @@ private void configureDriverPadButtons() {
         // TODO: above hard-coded constant (3000) should be a named constant from
         // Shooter.java
 
-        DRIVER_PAD.DRIVER_PAD_LEFT_UPPER_TRIGGER_BUTTON.whileHeld(new ShooterPermissionToFire());
+        DRIVER_PAD.DRIVER_PAD_LEFT_UPPER_TRIGGER_BUTTON.whenHeld(new ShooterFiringSequence(60.0));
+        DRIVER_PAD.DRIVER_PAD_LEFT_UPPER_TRIGGER_BUTTON.whenReleased(new ShooterCeaseFire());
+
         DRIVER_PAD.DRIVER_PAD_LEFT_LOWER_TRIGGER_BUTTON.whileHeld(new FeederSet(1.0));
 
     }

src/main/java/org/mayheminc/robot2020/autonomousroutines/StartBWOppTrench.java

@@ -27,6 +27,7 @@ public StartBWOppTrench() {
                 // lower the intake and turn it on before driving forwards
                 addCommands(new IntakeSetPosition(RobotContainer.intake.PIVOT_DOWN));
                 addCommands(new IntakeSetRollers(-1.0));
+                addCommands(new Wait(5.0));
 
                 // make sure the hood is down
                 addCommands(new HoodSetAbsWhileHeld(Hood.TARGET_ZONE_POSITION));
@@ -51,7 +52,9 @@ public StartBWOppTrench() {
 
                 // turn on the intake gently while shooting to help balls settle
                 addCommands(new IntakeSetRollers(-0.2));
-                addCommands(new ShooterReadyAimFire(5.0));
+
+                // use the "one button" firing sequence
+                addCommands(new ShooterFiringSequence(5.0));
 
                 // turn the shooter wheel and intake off now that the shooting is all done
                 addCommands(new ShooterWheelSet(0.0));

src/main/java/org/mayheminc/robot2020/autonomousroutines/StartBWShoot3.java

@@ -31,12 +31,14 @@ public StartBWShoot3() {
                                 new HoodSetAbsWhileHeld(Hood.INITIATION_LINE_POSITION),
                                 new TurretSetAbs((180.0 * Turret.TICKS_PER_DEGREE), Turret.WAIT_FOR_DONE)));
 
-                addCommands(new ShooterReadyAimFire(1.5));
+                addCommands(new ShooterFiringSequence(1.5));
+
+                // note that the above turns everything off again when it is done.
 
                 // turn the shooter wheel and intake off now that the shooting is all done
-                addCommands(new ParallelCommandGroup( // below commands in parallel
-                                new ShooterWheelSet(0.0), //
-                                new IntakeSetRollers(0.0), // turn off the rollers
-                                new HoodSetAbs(Hood.STARTING_POSITION)));
+                // addCommands(new ParallelRaceGroup( // below commands in parallel
+                // new ShooterWheelSet(0.0), //
+                // new IntakeSetRollers(0.0), // turn off the rollers
+                // new HoodSetAbs(Hood.STARTING_POSITION)));
         }
 }

src/main/java/org/mayheminc/robot2020/autonomousroutines/StartBWTrench.java

@@ -19,13 +19,14 @@ public class StartBWTrench extends SequentialCommandGroup {
         /**
          * Add your docs here.
          */
-        public StartBWTrench() {
+        public StartBWTrench(double extraDistance) {
+                // Note: extra distance planned to be 40 inches
 
                 // start backwards and shoot the first three balls
                 addCommands(new StartBWShoot3());
 
                 // then, drive to the trench entrance (jog left a little to get there)
-                addCommands(new DriveStraightOnHeading(0.5, DistanceUnits.INCHES, 40, 150));
+                addCommands(new DriveStraightOnHeading(0.4, DistanceUnits.INCHES, 46, 140));
 
                 // pick up balls while heading down the trench.
                 addCommands(new ParallelCommandGroup(
@@ -34,7 +35,7 @@ public StartBWTrench() {
                                 // ensure the hood is down
                                 new HoodSetAbsWhileHeld(Hood.STARTING_POSITION),
                                 // drive the path under the control panel to the end
-                                new DriveStraightOnHeading(0.3, DistanceUnits.INCHES, 180, 180)));
+                                new DriveStraightOnHeading(0.3, DistanceUnits.INCHES, 140 + extraDistance, 180)));
 
                 // now driven to the balls at far end of trench
                 addCommands(new Wait(0.8), // wait for last two balls to get into robot
@@ -44,7 +45,7 @@ public StartBWTrench() {
 
                 // after getting all three balls, go back to shooting position
                 // first, make sure we drive straight out from under the control panel
-                addCommands(new DriveStraightOnHeading(-0.5, DistanceUnits.INCHES, 48, 180));
+                addCommands(new DriveStraightOnHeading(-0.6, DistanceUnits.INCHES, 8 + extraDistance, 180));
 
                 // drive diagonally over towards the shooting position, while turning on shooter
                 // wheels, raising the hood, and re-aiming the turret
@@ -61,7 +62,7 @@ public StartBWTrench() {
                 addCommands(new IntakeSetRollers(-0.2));
 
                 // start the shooting sequence
-                addCommands(new ShooterReadyAimFire(6.0));
+                addCommands(new ShooterFiringSequence(6.0));
 
                 // turn the shooter wheel and intake off now that the shooting is all done
                 addCommands(new ShooterWheelSet(0.0));

src/main/java/org/mayheminc/robot2020/autonomousroutines/StartBWTrench3.java

@@ -0,0 +1,19 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package org.mayheminc.robot2020.autonomousroutines;
+
+import edu.wpi.first.wpilibj2.command.*;
+
+public class StartBWTrench3 extends SequentialCommandGroup {
+        /**
+         * Add your docs here.
+         */
+        public StartBWTrench3() {
+                addCommands(new StartBWTrench(0.0)); // use extraDistance of 0 inches to stop before control panel
+        }
+}

src/main/java/org/mayheminc/robot2020/autonomousroutines/StartBWTrench5.java

@@ -0,0 +1,19 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package org.mayheminc.robot2020.autonomousroutines;
+
+import edu.wpi.first.wpilibj2.command.*;
+
+public class StartBWTrench5 extends SequentialCommandGroup {
+        /**
+         * Add your docs here.
+         */
+        public StartBWTrench5() {
+                addCommands(new StartBWTrench(40)); // use extraDistance of 40 inches for control panel
+        }
+}

src/main/java/org/mayheminc/robot2020/autonomousroutines/StartFWRendezvous.java

@@ -25,6 +25,8 @@ public StartFWRendezvous() {
                 // start out facing in the normal direction
                 addCommands(new DriveZeroGyro(0.0));
 
+                addCommands(new IntakeSetPosition(RobotContainer.intake.PIVOT_DOWN));
+
                 // shoot the 3 balls we started with
                 // first, lower the intake, start the shooter wheel, and wait until the turret
                 // is turned towards the target
@@ -34,7 +36,7 @@ public StartFWRendezvous() {
                                 new HoodSetAbs(Hood.INITIATION_LINE_POSITION),
                                 new TurretSetAbs((10.0 * Turret.TICKS_PER_DEGREE), Turret.WAIT_FOR_DONE)));
 
-                addCommands(new ShooterReadyAimFire(1.0));
+                addCommands(new ShooterFiringSequence(1.5));
 
                 // drive a little bit out to get away from other robots.
                 addCommands(new DriveStraightOnHeading(-0.2, DistanceUnits.INCHES, 36, 30));
@@ -43,13 +45,17 @@ public StartFWRendezvous() {
                 // further
                 addCommands(new IntakeSetPosition(RobotContainer.intake.PIVOT_DOWN));
 
-                // rais the hood a little to shoot from this increased distance
+                // raise the hood a little to shoot from this increased distance
                 addCommands(new HoodSetAbsWhileHeld((Hood.INITIATION_LINE_POSITION + Hood.TRENCH_MID_POSITION) / 2.0));
-                addCommands(new DriveStraightOnHeading(-0.3, DistanceUnits.INCHES, 144, 50));
+                addCommands(new DriveStraightOnHeading(-0.3, DistanceUnits.INCHES, 124, 40));
 
                 // turn on the intake to pick up balls
                 addCommands(new IntakeSetRollers(-1.0));
-                addCommands(new DriveStraightOnHeading(0.3, DistanceUnits.INCHES, 84, 30));
+                addCommands(new DriveStraightOnHeading(0.15, DistanceUnits.INCHES, 72, 65));
+
+                // back up to get free of the boundary post, then turn and drive towards goal
+                addCommands(new DriveStraightOnHeading(-0.1, DistanceUnits.INCHES, 16, 20));
+                addCommands(new DriveStraightOnHeading(+0.2, DistanceUnits.INCHES, 48, 20));
 
                 // now driven to get the balls, stay here and shoot them
                 addCommands(new Wait(0.8), // wait for the balls to get into robot
@@ -58,11 +64,11 @@ public StartFWRendezvous() {
                 // in shooting position, prepare everything for shooting
                 addCommands(new ParallelCommandGroup( // run the following commands in parallel:
                                 new ShooterWheelSet(ShooterWheel.SHOOTER_WHEEL_TRENCH_FRONT_SPEED),
-                                new TurretSetAbs((-40.0 * Turret.TICKS_PER_DEGREE), Turret.WAIT_FOR_DONE)));
+                                new TurretSetAbs((0.0 * Turret.TICKS_PER_DEGREE), Turret.WAIT_FOR_DONE)));
 
                 // turn on the intake gently while shooting to help balls settle
                 addCommands(new IntakeSetRollers(-0.2));
-                addCommands(new ShooterReadyAimFire(5.0));
+                addCommands(new ShooterFiringSequence(6.0));
 
                 // turn the shooter wheel and intake off now that the shooting is all done
                 addCommands(new ShooterWheelSet(0.0));

src/main/java/org/mayheminc/robot2020/commands/HoodSetAbsWhileHeld.java

@@ -9,9 +9,9 @@
 
 import org.mayheminc.robot2020.RobotContainer;
 
-import edu.wpi.first.wpilibj2.command.InstantCommand;
+import edu.wpi.first.wpilibj2.command.CommandBase;
 
-public class HoodSetAbsWhileHeld extends InstantCommand {
+public class HoodSetAbsWhileHeld extends CommandBase {
   double m_set;
 
   /**
@@ -30,4 +30,9 @@ public void initialize() {
     RobotContainer.hood.setPosition(m_set);
   }
 
+  @Override
+  public boolean isFinished() {
+    return true;
+  }
+
 }

src/main/java/org/mayheminc/robot2020/commands/PrintAutonomousTimeRemaining.java

@@ -8,15 +8,18 @@
  *
  */
 public class PrintAutonomousTimeRemaining extends CommandBase {
-	String Message = ""; 
+    String Message = "";
+
     public PrintAutonomousTimeRemaining(String msg) {
         this.Message = msg;
     }
-    
+
     // Called just before this Command runs the first time
     @Override
     public void initialize() {
-		// DriverStation.reportError(Message + " At: " + Robot.autonomousTimeRemaining() + "\n", false);
+
+        // DriverStation.reportError(Message + " At: " + Robot.autonomousTimeRemaining()
+        // + "\n", false);
     }
 
     // Make this return true when this Command no longer needs to run execute()

src/main/java/org/mayheminc/robot2020/commands/ShooterAimToTarget.java

@@ -18,7 +18,6 @@ public class ShooterAimToTarget extends CommandBase {
   public ShooterAimToTarget() {
     // Use addRequirements() here to declare subsystem dependencies.
     addRequirements(RobotContainer.hood);
-    addRequirements(RobotContainer.shooterWheel);
     addRequirements(RobotContainer.turret);
   }
 
@@ -42,7 +41,7 @@ public void execute() {
   @Override
   public void end(boolean interrupted) {
     if (!interrupted) {
-      RobotContainer.shooterWheel.setSpeed(RobotContainer.targeting.getDesiredWheelSpeed());
+      // RobotContainer.shooterWheel.setSpeed(RobotContainer.targeting.getDesiredWheelSpeed());
 
       // want to also schedule a command here that does the shooting!
     }