conclude merge

Author: henrymwestfall

.github/workflows/main.yml

@@ -0,0 +1,20 @@
+name: Gradle Build
+
+on:
+  push:
+    branches: [ master ]
+  pull_request:
+    branches: [ master ]
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v2
+    - name: Set up JDK 11
+      uses: actions/setup-java@v2
+      with:
+        java-version: '11'
+        distribution: 'adopt'
+    - name: Gradle Build
+      run: ./gradlew build

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2020",
+    "projectYear": "2021",
     "teamNumber": 2036
-}
+}

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2020.3.2"
+    id "edu.wpi.first.GradleRIO" version "2021.3.1"
     id "org.jetbrains.kotlin.jvm" version "1.3.50"
 }
 

src/main/kotlin/frc/robot/RobotContainer.kt

@@ -77,6 +77,7 @@ class RobotContainer {
     /*** --- commands --- ***/
     //drive by a joystick (controller1)
     val XboxDriveCommand = XboxDrive(drivetrain, controller1)
+    val XboxDriveSpecial = XboxDrive(drivetrain, controller1)
 
     /** -- 0 point autos -- **/
     val noAuto = DriveDoubleSupplier(drivetrain, { 0.0 }, { 0.0 })
@@ -225,13 +226,17 @@ class RobotContainer {
 
         /* setup default commands */
         drivetrain.defaultCommand = XboxDriveCommand
+        //drivetrain.defaultCommand = XboxDriveSpecial
+      
         /* default gate - run forward on X, backwards on A
          * If left bumper held, run until a ball is seen by the sensor
          */
         gate.defaultCommand = SensoredFixedGateSpeed(gate, {
             if (controller0.xButton) Constants.kGateSpeed else (
                 if (controller0.aButton) -Constants.kGateSpeed else (
-                    if (controller0.getBumper(kLeft)) Constants.kGateLoadSpeed else 0.0
+                    if (controller0.getBumper(kLeft)) Constants.kGateLoadSpeed else (
+                        if (controller0.getTriggerAxis(kLeft) >= Constants.kTriggerThresh) -Constants.kGateLoadSpeed else 0.0
+                    )
                 ))
         }, {
             /* only run in sensored mode if controller0 left bumper held */
@@ -298,13 +303,6 @@ class RobotContainer {
     }
 
     fun getAutonomousCommand(): Command {
-        if (gate.isBallTriggered()) {
-            return pathPlanningCommand("paths/", drivetrain) // update
-        } else{
-            return pathPlanningCommand("paths/", drivetrain)
-        }
-        
-
         // Return the selected command
         return m_autoCommandChooser.selected
     }

src/main/kotlin/frc/robot/commands/CompositeShoot.kt

@@ -41,6 +41,7 @@ class CompositeShoot(val intakeSubsystem: IntakeSubsystem, val indexerSubsystem:
         /* run shooter full speed */
         /* wait for a time to run gate to allow  */
         if (timer.get() > Constants.kShooterSpinUpTime) {
+            shooterSubsystem.setSpeed(Constants.kShooterSpeed)
             /* pulse gate to slow down balls going into shooter */
             if (timer.get() % Constants.kGatePulseTime < Constants.kGatePulseTime / 2) {
                 gateSubsystem.setSpeed(Constants.kGateSpeed)

src/main/kotlin/frc/robot/commands/XboxDriveSpecial.kt

@@ -0,0 +1,65 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 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 frc.robot.commands
+
+import edu.wpi.first.wpilibj.GenericHID
+import edu.wpi.first.wpilibj.XboxController
+import edu.wpi.first.wpilibj2.command.CommandBase
+import frc.robot.subsystems.DrivetrainSubsystem
+import kotlin.math.abs
+import kotlin.math.pow
+
+/**
+ * Drive the drivetrain based on a joystick
+ */
+class XboxDriveSpecial(val driveSubsystem: DrivetrainSubsystem, val controller: XboxController) : CommandBase() {
+    init {
+        addRequirements(driveSubsystem)
+    }
+
+    fun joystickToSpeed(joystickPosSigned: Double): Double {
+        val gainSwitchThresh = 0.25
+        val gainSwitchPos = 0.25
+
+        val modPower = 4
+        val joystickPos = abs(joystickPosSigned)
+        val joystickSign = (joystickPosSigned / joystickPos)
+        return if (joystickPos < gainSwitchThresh) {
+            joystickPosSigned * (gainSwitchPos / gainSwitchThresh)
+        } else {
+            ((joystickPos - gainSwitchThresh).pow(modPower) * joystickSign * 1.1) + (gainSwitchPos * joystickSign)
+        }
+    }
+
+    fun joystickToRadius(joystickPosSigned: Double) : Double {
+        val gainSwitchThresh = 0.25
+        val gainSwitchPos = 0.25
+
+        val radiusMod = 2 // make this a constant after tuning is finished!
+        val radiusPower = 2 // see above
+
+        val joystickPos = abs(joystickPosSigned)
+        val joystickPosSign = (joystickPosSigned / joystickPos)
+        return if (joystickPos < gainSwitchThresh) {
+            joystickPosSigned * (gainSwitchPos / gainSwitchThresh) // probably bad but eh
+        } else {
+            radiusMod * joystickPosSign * (1/(joystickPos - gainSwitchThresh).pow(radiusPower) - 1 + (gainSwitchPos * joystickPosSign))
+        }
+    }
+
+
+    override fun execute() {
+        driveSubsystem.driveArcadeSpecial(-controller.getY(GenericHID.Hand.kLeft), joystickToRadius(controller.getX(GenericHID.Hand.kRight)), false)
+    }
+
+    override fun end(interrupted: Boolean) {
+        driveSubsystem.driveArcadeSpecial(0.0, 0.0, true)
+    }
+
+    override fun isFinished() = false
+}

src/main/kotlin/frc/robot/subsystems/DriveDoubleSpecialSupplier.kt

@@ -0,0 +1,22 @@
+package frc.robot.subsystems
+
+import edu.wpi.first.wpilibj2.command.CommandBase
+import frc.robot.subsystems.DrivetrainSubsystem
+
+
+class DriveDoubleSpecialSupplier(val driveSubsystem: DrivetrainSubsystem, val forwardSpeed: () -> Double, val turnRadius: () -> Double) : CommandBase() {
+    init {
+        addRequirements(driveSubsystem)
+    }
+
+    override fun execute() {
+        driveSubsystem.driveArcade(forwardSpeed(), turnRadius())
+    }
+
+    override fun end(interrupted: Boolean) {
+        driveSubsystem.driveArcadeSpecial(0.0, 0.0, true)
+    }
+
+    override fun isFinished() = false
+
+}

src/main/kotlin/frc/robot/subsystems/DrivetrainSubsystem.kt

@@ -12,6 +12,8 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard
 import frc.robot.Constants
 import kotlin.math.IEEErem
+import kotlin.math.abs
+import kotlin.math.min
 
 /**
  * Drivetrain subsystem
@@ -99,4 +101,17 @@ class DrivetrainSubsystem(val leftSpeedController: SpeedControllerGroup, val rig
         setMaxOutput(1.0)
         drivetrain.arcadeDrive(forwardSpeed, turnSpeed, squareInputs)
     }
+
+    /* drive with a stick setting turn radius rather than speed*/
+    fun driveArcadeSpecial(forwardSpeed: Double, turnRadius: Double, squareInputs: Boolean = false){
+        setMaxOutput(1.0)
+        var xSpeed = turnRadius + (0.5*Constants.kTrackwidthMeters)
+        var ySpeed = turnRadius - (0.5*Constants.kTrackwidthMeters)
+
+        var normMin = min(xSpeed, ySpeed)
+        xSpeed = xSpeed/abs(normMin)
+        ySpeed = ySpeed/abs(normMin)
+
+        drivetrain.tankDrive(xSpeed, ySpeed, squareInputs)
+    }
 }