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amikhalevamikhalev
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Improved subsystems a bit
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‎classes/production/desktop/2016_Field_Labeled.png‎

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‎classes/production/desktop/logback.xml‎

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<?xml version="1.0" encoding="UTF-8" ?>
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<configuration>
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<appender name="Console" class="ch.qos.logback.core.ConsoleAppender">
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<encoder>
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<pattern>%d{HH:mm:ss.SSS} [%thread] %-5level %logger{36} - %msg%n</pattern>
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</encoder>
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</appender>
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<root level="debug">
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<appender-ref ref="Console"/>
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</root>
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</configuration>

‎classes/production/rio/logback.xml‎

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<?xml version="1.0" encoding="UTF-8" ?>
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<configuration>
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<appender name="Console" class="ch.qos.logback.core.ConsoleAppender">
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<encoder>
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<pattern>%d{HH:mm:ss.SSS} [%thread] %-5level %logger{36} - %msg%n</pattern>
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</encoder>
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</appender>
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<root level="debug">
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<appender-ref ref="Console"/>
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</root>
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</configuration>

‎config/commands.yml‎

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@@ -3,9 +3,10 @@
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#
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DriveTank:
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deadzone: .15
6-
leftMultiplier: 120.0
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rightMultiplier: 120.0
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exponent: 2.0
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multiplier:
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left: 120.0
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right: 120.0
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DriveArcade:
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deadzone: .1

‎config/ports.yml‎

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Drive:
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leftMotor: { channel: 0, inverted: true }
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rightMotor: { channel: 1, inverted: false }
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leftEncoder: { aChannel: 2, bChannel: 3, reverse: true, distancePerPulse: .06597 }
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rightEncoder: { aChannel: 0, bChannel: 1, distancePerPulse: .06597 }
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Turret:
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pinchRollerMotor: { channel: 5, inverted: false }
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kingRollerMotor: { channel: 3, inverted: false }
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ballSensor: { channel: 4, minDistance: 300.0, maxDistance: 26.0 }
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ballCompressionSensor: { channel: 1, scale: 1.0, offset: 0.0 }
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hoodDeploySolenoid: 0
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shortSolenoid: 1
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longSolenoid: 2
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shooterWheelMotor: { channel: 2, inverted: true }
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shooterWheelEncoder:
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aChannel: 4
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bChannel: 5
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reverse: true
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distancePerPulse: 0.0009765625
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encodingType: k1X
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# samplesToAverage: 100
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turretRotationMotor: { channel: 4, inverted: true }
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turretRotationEncoder: { aChannel: 6, bChannel: 7, reverse: true, distancePerPulse: 0.02538 }
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leftLimit: { channel: 11, type: NPN }
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rightLimit: { channel: 10, type: NPN }
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centerLimit: { channel: 12, type: NPN }

‎config/simulation.yml‎

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Original file line numberDiff line numberDiff line change
@@ -10,9 +10,6 @@ Drive:
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momentum: 50
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dampening: 4
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encoder: { multiplier: 25.13 } # 8 * pi
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controller: { type: PID, P: .5, F: .00641 }
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driveMode: CONTROLLER
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maxSpeed: 156.0
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OperatorInterface:
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Picker:
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motor: # 775Pro
@@ -22,6 +19,13 @@ Picker:
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momentum: 50
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dampening: 4
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encoder: { multiplier: 1 }
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pinchRollerMotor: # 1 x 550
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maxRPM: 19000
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maxTorque: 3.36 # 3.36in-lbf * 1
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gearRatio: 70.0
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momentum: 50
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dampening: 4
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pinchRollerEncoder: { multiplier: 1 }
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Turret:
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shooterWheelMotor: # 2 x 775Pro
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maxRPM: 18730
@@ -30,15 +34,6 @@ Turret:
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momentum: 50
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dampening: 4
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shooterWheelEncoder: { multiplier: 1 }
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shooterWheelController:
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type: PID
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inputSamplesToAverage: 16
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P: 0.025
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I: 0.025
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maxIError: 10.0
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F: 0.004
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minOutput: 0.0
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target: { within: 1.0 }
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rotationMotor: # 1 x 550
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maxRPM: 19000
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maxTorque: 3.36 # 3.36in-lbf * 1
@@ -53,18 +48,5 @@ Turret:
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momentum: 50
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dampening: 4
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kingRollerEncoder: { multiplier: 1 }
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pinchRollerMotor: # 1 x 550
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maxRPM: 19000
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maxTorque: 3.36 # 3.36in-lbf * 1
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gearRatio: 70.0
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momentum: 50
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dampening: 4
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pinchRollerEncoder: { multiplier: 1 }
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angleController:
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type: PID
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maxAbsoluteSetpoint: 110.0
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P: .1
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D: 0
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maxAbsoluteOutput: 0.75
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target: { within: .5, stop: true }
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angleRange: 110.0
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Vision:

‎config/subsystems.yml‎

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@@ -1,8 +1,4 @@
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Drive:
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leftMotor: { channel: 0, inverted: true }
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rightMotor: { channel: 1, inverted: false }
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leftEncoder: { aChannel: 2, bChannel: 3, reverse: true, distancePerPulse: .06597 }
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rightEncoder: { aChannel: 0, bChannel: 1, distancePerPulse: .06597 }
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controller:
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type: PID
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P: .01
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minISetpoint: 1.0
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maxIError: 12.0
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dataLogging: false
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driveMode: CONTROLLER
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maxSpeed: 120.0
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Picker:
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pickMotor: { channel: 6, inverted: false }
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driverJoystick: 0
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gunnerJoystick: 1
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Turret:
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pinchRollerMotor: { channel: 5, inverted: false }
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kingRollerMotor: { channel: 3, inverted: false }
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ballSensor: { channel: 4, minDistance: 300.0, maxDistance: 26.0 }
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ballCompressionSensor: { channel: 1, scale: 1.0, offset: 0.0 }
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hoodDeploySolenoid: 0
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shortSolenoid: 1
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longSolenoid: 2
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shooterWheelMotor: { channel: 2, inverted: true }
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shooterWheelEncoder:
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aChannel: 4
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bChannel: 5
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reverse: true
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distancePerPulse: 0.0009765625
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encodingType: k1X
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# samplesToAverage: 100
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shooterWheelController:
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type: PID
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# inputSamplesToAverage 16
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minOutput: 0.0
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target: { within: 1.0 }
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# dataLogging: true
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turretRotationMotor: { channel: 4, inverted: true }
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turretRotationEncoder: { aChannel: 6, bChannel: 7, reverse: true, distancePerPulse: 0.02538 }
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angleController:
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type: PID
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maxAbsoluteSetpoint: 110.0
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leftLimit: { channel: 11, type: NPN }
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rightLimit: { channel: 10, type: NPN }
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centerLimit: { channel: 12, type: NPN }
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defaultBallAge: NEW
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defaultBallAge: AGED
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Vision:
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ledPower: { channel: 7, inverted: false } #not finalized
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tableName: TatorVision

‎core/src/main/java/org/teamtators/rotator/CoreModule.java‎

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@@ -5,6 +5,7 @@
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import dagger.Module;
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import dagger.Provides;
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import org.teamtators.rotator.commands.CoreCommands;
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import org.teamtators.rotator.components.*;
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import org.teamtators.rotator.config.ConfigCommandStore;
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import org.teamtators.rotator.control.ForController;
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import org.teamtators.rotator.control.Stepper;
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import org.teamtators.rotator.scheduler.Scheduler;
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import org.teamtators.rotator.scheduler.Subsystem;
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import org.teamtators.rotator.subsystems.Drive;
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import org.teamtators.rotator.subsystems.AbstractPicker;
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import org.teamtators.rotator.subsystems.AbstractTurret;
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import org.teamtators.rotator.subsystems.AbstractVision;
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import org.teamtators.rotator.subsystems.Turret;
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import org.teamtators.rotator.tester.ManualTester;
2019

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import javax.inject.Named;
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import javax.inject.Singleton;
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import java.util.Arrays;
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import java.util.List;
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@Provides
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@Singleton
65-
public List<Subsystem> providesSubsystems(Drive drive, AbstractPicker picker, AbstractTurret turret,
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@Named("subsystems")
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public List<Subsystem> providesSubsystems(Drive drive, Turret turret) {
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return Arrays.asList(drive, turret);
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}
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70+
@Provides
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@Singleton
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@Named("components")
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public List<Component> providesComponents(AbstractDrive drive, AbstractPicker picker, AbstractTurret turret,
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AbstractOperatorInterface operatorInterface, AbstractVision vision) {
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return Arrays.asList(drive, picker, turret, operatorInterface, vision);
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}

‎core/src/main/java/org/teamtators/rotator/CoreRobot.java‎

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package org.teamtators.rotator;
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import com.fasterxml.jackson.databind.ObjectMapper;
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import org.teamtators.rotator.components.Chooser;
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import org.teamtators.rotator.components.*;
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import org.teamtators.rotator.config.ConfigCommandStore;
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import org.teamtators.rotator.config.ConfigLoader;
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import org.teamtators.rotator.config.ControllerFactory;
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import org.teamtators.rotator.scheduler.Scheduler;
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import org.teamtators.rotator.scheduler.Subsystem;
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import org.teamtators.rotator.subsystems.Drive;
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import org.teamtators.rotator.subsystems.AbstractPicker;
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import org.teamtators.rotator.subsystems.AbstractTurret;
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import org.teamtators.rotator.subsystems.AbstractVision;
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import org.teamtators.rotator.subsystems.Turret;
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import org.teamtators.rotator.tester.ManualTester;
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import javax.inject.Named;
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AbstractPicker picker();
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35-
AbstractTurret turret();
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Turret turret();
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AbstractVision vision();
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ControllerFactory controllerFactory();
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@Named("components")
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List<Component> components();
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@Named("subsystems")
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List<Subsystem> subsystems();
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TriggerBinder triggerBinder();

‎core/src/main/java/org/teamtators/rotator/commands/DriveArcade.java‎

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import org.teamtators.rotator.CommandBase;
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import org.teamtators.rotator.CoreRobot;
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import org.teamtators.rotator.config.Configurable;
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import org.teamtators.rotator.operatorInterface.DriveUtils;
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import org.teamtators.rotator.operatorInterface.LogitechF310;
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import org.teamtators.rotator.scheduler.RobotState;
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import org.teamtators.rotator.subsystems.Drive;

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