Waterford Competition Changes #36
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These are correct as of Feburary 26th, 2018
These controls are much less complex and also way easier to test.
The robot now shifts into high gear when holding down the left bumper on the driver controller!
Xbox controllers have an inverted y-axis for some reason, which means that forwards and backwards will be reversed from normal unless we negate it. Also, update some comments
Grabber is now controlled by the operator sticks and the elevator is now controlled by the operator triggers.
…vision somebody finish this please im busy today
I should have tested before I committed oops
INCREASED DISTANCE FOR POST ROTATION
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| # Used when the robot starts in the center, no vision implemented at all | ||
| def center_straight(grabber, elevator, drivetrain, gyro, vision_socket, switch_position): | ||
| yield from Timed(ElevatorAutonomous(elevator, up_speed=0.10)).run() |
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Missing duration, duration defaults to 0, this won't run. Remove it or set a duration.
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We should change duration=0 to duration in the class, since it never makes sense to create a Timed(…, duration=0) auto.
| print("end elevator 1") | ||
| yield from Timed(ArcadeAutonomous(drivetrain, forward=0.7, rotate=0), duration = 1.5).run() | ||
| print("end drive 1") | ||
| rotate = 0.7 if switch_position == Position.RIGHT else -0.7 |
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I'm not sure how well tested this is, but we should leave a note on here to raise the speed and lower the rotate time (or use the gyros)
| def __init__(self, drivetrain, gyro, vision_socket, forward): | ||
| def __init__(self, drivetrain, gyro, vision_socket, forward, look_for): | ||
| """ | ||
| forward is |
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"forward is the forward speed for the robot to drive while doing vision"
| correction = self.correction | ||
| # print("self.Correction: ", self.correction) | ||
| # print("Correction: ", correction) | ||
| correction = math.copysign(self.correction, angle)/3.33 # 30% |
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Hm… this means that the PID is not able to suggest a decelerating rotation direction in anticipation of catching up, does this perhaps cause trouble for us?
| if self.angle_goal > 0: | ||
| self.drivetrain.arcade_drive(0, self.speed * correction_factor) | ||
| else: | ||
| self.drivetrain.arcade_drive(0, -self.speed * correction_factor) | ||
| if angle_error > 1: |
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Oh! This is bad, this will make us get stuck in the loop if the error is small.
This should probably be something like
if angle_error < 1:
break
yield| @@ -79,18 +82,28 @@ def run(self): | |||
| def _read_packet(self, data): | |||
| parsed = json.loads(data.decode()) | |||
| if parsed["sender"] == "vision": | |||
| self.angle = parsed["angle"] | |||
| key = parsed["object"] | |||
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Noting here, we need to catch more exceptions in the try/except above, for instance, we need to catch JSONDecodeError, which means maybe we should just have a catch-all Exception case above so the network case doesn't fail.
Alternately, we should catch errors inside _read_packet and re-throw a uniform error.
| @@ -47,7 +50,7 @@ def __init__(self): | |||
| except IOError as e: | |||
| print("Could not bind: {}".format(e)) | |||
| self.last_packet_time = time.time() | |||
| self.angle = None | |||
| self.vision_dict = dict() | |||
| if max_staleness > time.time() - self.last_packet_time: | ||
| return self.angle | ||
| try: |
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return self.vision_dict.get(key)will do the same job as this try/except and return None if missing.
| from subsystems.drivetrain import Drivetrain | ||
| from subsystems.elevator import Elevator | ||
| from subsystems.grabber import Grabber | ||
| from subsystems.wings import Wings | ||
| from wpilib import DoubleSolenoid, SmartDashboard |
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"wpilib.DoubleSolenoid imported but unused"
| self.timer += 1 | ||
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| def teleopInit(self): | ||
| print("Teleop Init Begin!") | ||
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| def teleopPeriodic(self): | ||
| # @Todo: Deadzone these | ||
| forward = self.driver.getY(RIGHT) | ||
| DEADZONE = 0.1 |
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Remove the @Todo comment above, these look deadzoned to me.
This PR adds way too much, including
EncoderAutonomous,GrabberAutonomousandElevatorAutonomousAddedVisionSocketthat can choose to look for specific objectsVisionAutothat can choose to follow after specific objects