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Untested example of using distance sensor sims #78

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b1b7cc1
Add distance sensor sim support.
brettle Apr 22, 2024
91b3f9a
Merge branch 'fix-use-lib199-with-compliant-sim-names' into add-dista…
brettle Jun 20, 2024
dd2475f
Add untested example of using distance sensor sims.
brettle Jun 20, 2024
26e0768
Revert unrelated formatting changes.
brettle Jun 20, 2024
292a7ca
Try again to revert unrelated formatting.
brettle Jun 20, 2024
8b3c9a0
Merge remote-tracking branch 'origin/master' into add-distance-sensor…
brettle Jun 20, 2024
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8 changes: 8 additions & 0 deletions simgui.json
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,11 @@
"open": true
}
},
"PlayingWithFusionTimeOfFlight[11]": {
"header": {
"open": true
}
},
"SparkMax[15]": {
"header": {
"open": true
Expand Down Expand Up @@ -84,6 +89,9 @@
"open": true
},
"SmartDashboard": {
"Arm": {
"open": true
},
"BL": {
"open": true
},
Expand Down
48 changes: 46 additions & 2 deletions src/main/java/org/carlmontrobotics/subsystems/IntakeShooter.java
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@

import org.carlmontrobotics.lib199.MotorConfig;
import org.carlmontrobotics.lib199.MotorControllerFactory;
import org.carlmontrobotics.lib199.SensorFactory;

import com.playingwithfusion.TimeOfFlight;
import com.playingwithfusion.TimeOfFlight.RangingMode;
Expand All @@ -14,12 +15,15 @@
import com.revrobotics.RelativeEncoder;
import com.revrobotics.SparkPIDController;

import edu.wpi.first.hal.SimDouble;
import edu.wpi.first.hal.SimEnum;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.util.datalog.DataLogEntry;
import edu.wpi.first.util.datalog.StringLogEntry;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.simulation.SimDeviceSim;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;

Expand All @@ -44,12 +48,19 @@ public class IntakeShooter extends SubsystemBase {

private double goalOutakeRPM = outtakeEncoder.getVelocity();

private TimeOfFlight intakeDistanceSensor = new TimeOfFlight(INTAKE_DISTANCE_SENSOR_PORT);
private TimeOfFlight outtakeDistanceSensor = new TimeOfFlight(OUTAKE_DISTANCE_SENSOR_PORT);
private TimeOfFlight intakeDistanceSensor = SensorFactory
.createPlayingWithFusionTimeOfFlight(INTAKE_DISTANCE_SENSOR_PORT);
private TimeOfFlight outtakeDistanceSensor = SensorFactory
.createPlayingWithFusionTimeOfFlight(OUTAKE_DISTANCE_SENSOR_PORT);

private double lastValidDistanceIntake = Double.POSITIVE_INFINITY;
private double lastValidDistanceOuttake = Double.POSITIVE_INFINITY;

private SimDouble intakeDistanceSensorRangeSim,
outtakeDistanceSensorRangeSim;
private SimEnum intakeDistanceSensorStatusSim,
outtakeDistanceSensorStatusSim;

public IntakeShooter() {
// Figure out which ones to set inverted
intakeMotor.setInverted(INTAKE_MOTOR_INVERSION);
Expand All @@ -73,6 +84,22 @@ public IntakeShooter() {
outtakeMotorVortex.setSmartCurrentLimit(60);
// SmartDashboard.putNumber("Intake target RPM", 0);
// SmartDashboard.putNumber("Vortex volts", 0);

SimDeviceSim intakeDistanceSensorSim = new SimDeviceSim(
"CANAIn:PlayingWithFusionTimeOfFlight[%d]-rangeVoltsIsMM"
.formatted(INTAKE_DISTANCE_SENSOR_PORT));
intakeDistanceSensorRangeSim =
intakeDistanceSensorSim.getDouble("voltage");
intakeDistanceSensorStatusSim =
intakeDistanceSensorSim.getEnum("status");

SimDeviceSim outtakeDistanceSensorSim = new SimDeviceSim(
"CANAIn:PlayingWithFusionTimeOfFlight[%d]-rangeVoltsIsMM"
.formatted(OUTAKE_DISTANCE_SENSOR_PORT));
outtakeDistanceSensorRangeSim =
outtakeDistanceSensorSim.getDouble("voltage");
outtakeDistanceSensorStatusSim =
outtakeDistanceSensorSim.getEnum("status");
}

public boolean intakeIsOverTemp() {
Expand Down Expand Up @@ -262,6 +289,23 @@ public void initSendable(SendableBuilder sendableBuilder) {
sendableBuilder.addBooleanProperty("Intake distance sensor length", this::intakeDetectsNote, null);
sendableBuilder.addDoubleProperty("Period time", this::countPeridoic, null);
}

public void simulationPeriodic() {
if (intakeMotor.get() > 0.0) {
intakeDistanceSensorRangeSim.set(
Units.inchesToMeters(DETECT_DISTANCE_INCHES / 2) * 1000);
outtakeDistanceSensorRangeSim.set(
Units.inchesToMeters(DETECT_DISTANCE_INCHES / 2) * 1000);
} else if (intakeMotor.get() < 0.0 || outtakeMotorVortex.get() > 0.0) {
intakeDistanceSensorRangeSim.set(
Units.inchesToMeters(DETECT_DISTANCE_INCHES * 2) * 1000);
outtakeDistanceSensorRangeSim.set(
Units.inchesToMeters(DETECT_DISTANCE_INCHES * 2) * 1000);
}
intakeDistanceSensorStatusSim.set(TimeOfFlight.Status.Valid.ordinal());
outtakeDistanceSensorStatusSim.set(TimeOfFlight.Status.Valid.ordinal());
}

/*
* public double calculateRPMAtDistance() {
*
Expand Down