Changes from practice field on 20 Feb 2020: (1) Draft of "ShooterReadyAimFire" (2) More complete motor configuration in Shooter.java (3) better calibration of Azimuth angle from Camera Positioning (4) regular use of voltage compensation (5) enable CTRE Voltage Compensation at 11.0 volts

Author: coach-streeter

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

@@ -22,9 +22,13 @@ public ShooterReadyAimFire() {
     // super(new FooCommand(), new BarCommand());
     super();
     addCommands(new TargetingIsOnTarget());
+    addCommands(new ShooterFireWhenReady());
+    addCommands(new ShooterSetFeeder(1.0));
+    addCommands(new ChimneySetChimney(0.5));
     addCommands(new MagazineSetTurntable(0.3));
-    addCommands(new ChimneySetChimney(0.3));
-    addCommands(new ParallelRaceGroup(new ShooterFireWhenReady(), new Wait(5.0)));
+
+    addCommands(new Wait(4.0));
+
     addCommands(new MagazineSetTurntable(0.0));
     addCommands(new ChimneySetChimney(0.0));
   }

src/main/java/org/mayheminc/robot2020/subsystems/Shooter.java

@@ -68,7 +68,7 @@ public void init() {
 
     private void configureFeederTalon() {
         feederTalon.changeControlMode(ControlMode.PercentOutput);
-
+        feederTalon.setNeutralMode(NeutralMode.Brake);
         feederTalon.configNominalOutputVoltage(+0.0f, -0.0f);
         feederTalon.configPeakOutputVoltage(+6.0, -6.0);
     }
@@ -80,6 +80,7 @@ private void configureHoodTalon() {
         hoodTalon.config_kF(0, 0.0, 0);
 
         hoodTalon.changeControlMode(ControlMode.Position);
+        feederTalon.setNeutralMode(NeutralMode.Coast);
         hoodTalon.configSelectedFeedbackSensor(FeedbackDevice.QuadEncoder);
 
         hoodTalon.configNominalOutputVoltage(+0.0f, -0.0f);
@@ -93,14 +94,6 @@ private void configureHoodTalon() {
         hoodTalon.configReverseSoftLimitEnable(true);
     }
 
-    private void configureWheelTalon() {
-
-        shooterWheelTalon.setFeedbackDevice(FeedbackDevice.IntegratedSensor);
-
-        shooterWheelTalon.configNominalOutputVoltage(+0.0f, -0.0f);
-        shooterWheelTalon.configPeakOutputVoltage(+12.0, 0.0);
-    }
-
     void configureTurretTalon() {
         turretTalon.config_kP(0, 1.0, 0);
         turretTalon.config_kI(0, 0.0, 0);
@@ -120,6 +113,13 @@ void configureTurretTalon() {
         this.setTurretVBus(0.0);
     }
 
+    private void configureWheelTalon() {
+        shooterWheelTalon.setFeedbackDevice(FeedbackDevice.IntegratedSensor);
+        shooterWheelTalon.setNeutralMode(NeutralMode.Coast);
+        shooterWheelTalon.configNominalOutputVoltage(+0.0f, -0.0f);
+        shooterWheelTalon.configPeakOutputVoltage(+12.0, 0.0);
+    }
+
     @Override
     public void periodic() {
         // This method will be called once per scheduler run

src/main/java/org/mayheminc/robot2020/subsystems/Targeting.java

@@ -22,8 +22,19 @@
  */
 
 public class Targeting extends SubsystemBase {
-  // Put methods for controlling this subsystem
-  // here. Call these from Commands.
+
+  // Logitech C920 Field of View Information:
+  // Diagonal FOV = 78.0
+  // Horizontal FOV = 70.42
+  // Vertical FOV = 43.3
+  private final static double FOV_HORIZ_CAMERA_IN_DEGREES = 78.0;
+
+  // Define the "target location" to be halfway from left to right
+  private final double CENTER_OF_TARGET_X = 0.5;
+
+  // Calculate ticks per degree.
+  // encoder ticks * turret pulley teeth / drive pulley teeth / 360 degrees
+  private final double TICKS_PER_DEGREE = (4096.0 * 225.0 / 18.0 / 360.0); // was 6300 / 45
 
   private static final double SPEED_EQ_M = -4.115;
   private static final double SPEED_EQ_B = 2.244;
@@ -37,7 +48,7 @@ public class Targeting extends SubsystemBase {
   private int m_priorFrameCount;
   private double m_priorFrameTime;
   private double[] ARRAY_OF_NEG_ONE = { -1.0 };
-  private final static double FOV_CAMERA_IN_DEGREES = 78.0;
+
   private double m_bestY = 0.0;
   private double m_bestX = 0.0;
   private double m_tilt = 0.0;
@@ -155,9 +166,6 @@ public double getRecommendedSpeed() {
     return speed;
   }
 
-  private final double CENTER_OF_TARGET_X = 0.5;
-  private final double TICKS_PER_DEGREE = (6300.0 / 45.0);
-
   /**
    * Return the desired turrent encoder ticks in the turret for the center of the
    * target.
@@ -178,7 +186,7 @@ public double findDesiredAzimuth(double X, double Y, double tilt, double area) {
     // compute the "x error" based upon the center for shooting
     xError = X - CENTER_OF_TARGET_X;
     // Find the angle error
-    angleError = FOV_CAMERA_IN_DEGREES * xError;
+    angleError = FOV_HORIZ_CAMERA_IN_DEGREES * xError;
     // convert the angle error into ticks
     ticksError = angleError * TICKS_PER_DEGREE;
 

src/main/java/org/mayheminc/util/MayhemTalonSRX.java

@@ -23,6 +23,8 @@ public MayhemTalonSRX(int deviceNumber) {
 		this.configNominalOutputReverse(0.0, 0);
 		this.configPeakOutputForward(1.0, 0);
 		this.configPeakOutputReverse(-1.0, 0);
+		this.configVoltageCompSaturation(12.0); // "full output" scaled to 12.0V for all modes when enabled.
+		this.enableVoltageCompensation(true); // turn on voltage compensation
 
 		this.setNeutralMode(NeutralMode.Coast);
 
@@ -91,10 +93,6 @@ public void setFeedbackDevice(FeedbackDevice feedback) {
 		this.configSelectedFeedbackSensor(feedback, 0, 0);
 	}
 
-	// public void reverseSensor(boolean b) {
-
-	// }
-
 	public void configNominalOutputVoltage(float f, float g) {
 		this.configNominalOutputForward(f / 12.0, 1000);
 		this.configNominalOutputReverse(g / 12.0, 1000);
@@ -114,18 +112,10 @@ public void setPID(double wheelP, double wheelI, double wheelD, double wheelF, i
 		this.config_kF(pidProfile, wheelF, 1000);
 	}
 
-	// public double getSetpoint() {
-	// return 0;
-	// }
-
 	public double getError() {
 		return this.getClosedLoopError(0);
 	}
 
-	// public float getOutputVoltage() {
-	// return (float) this.getMotorOutputVoltage();
-	// }
-
 	int pidProfile;
 
 	public void setProfile(int pidSlot) {
@@ -141,10 +131,6 @@ public void setVoltageRampRate(double d) {
 		this.configClosedloopRamp(0, 0);
 	}
 
-	// public void enableControl() {
-
-	// }
-
 	public void setPosition(int zeroPositionCount) {
 		this.setSelectedSensorPosition(zeroPositionCount, 0, 1000);
 	}
@@ -160,8 +146,4 @@ public double getSpeed() {
 	public void setEncPosition(int i) {
 		setPosition(i);
 	}
-
-	// public double get() {
-	// return this.getOutputCurrent();
-	// }
 }