final day changes

dashboard_src/package.json

@@ -21,7 +21,7 @@
   "homepage": "http://frcdashboard.github.io",
   "devDependencies": {
     "electron": "^1.7.12",
-    "electron-packager": "^10.1.1"
+    "electron-packager": "^13.0.1"
   },
   "dependencies": {
     "wpilib-nt-client": "^1.7.1"

dashboard_src/src/css/style.css

@@ -75,6 +75,10 @@ header {
     height: 80vh;
     overflow: hidden;
     background-color: #333;
+    background-image:url('http://frcvision.local:1181/?action=stream');
+    background-repeat: no-repeat;
+    backround-size: cover;
+
     /* You'll need to mess with this a bit to get your camera to work. Replace the url with a live-updating image feed from your camera. Using other camera streaming systems will require some tweaking. */
     /*background-image: url('LINK TO CAMERA SOURCE HERE');*/
 }

dashboard_src/src/ui.js

@@ -25,16 +25,16 @@ let ui = {
 
 // Gyro rotation
 let updateGyro = (key, value) => {
-    ui.gyro.val = value;
-    ui.gyro.visualVal = Math.floor(ui.gyro.val - ui.gyro.offset);
-    ui.gyro.visualVal %= 360;
-    if (ui.gyro.visualVal < 0) {
-        ui.gyro.visualVal += 360;
-    }
-    ui.gyro.arm.style.transform = `rotate(${ui.gyro.visualVal}deg)`;
-    ui.gyro.number.innerHTML = ui.gyro.visualVal + 'º';
+    // ui.gyro.val = value;
+    // ui.gyro.visualVal = Math.floor(ui.gyro.val - ui.gyro.offset);
+    // ui.gyro.visualVal %= 360;
+    // if (ui.gyro.visualVal < 0) {
+    //     ui.gyro.visualVal += 360;
+    // }
+    // ui.gyro.arm.style.transform = `rotate(${ui.gyro.visualVal}deg)`;
+    ui.gyro.number.innerHTML = value;
 };
-NetworkTables.addKeyListener('/SmartDashboard/drive/navx/yaw', updateGyro);
+NetworkTables.addKeyListener('/SmartDashboard/hatchsolenoid1_status', updateGyro);
 
 // The following case is an example, for a robot with an arm at the front.
 NetworkTables.addKeyListener('/SmartDashboard/arm/encoder', (key, value) => {
@@ -108,4 +108,4 @@ ui.armPosition.oninput = function() {
 
 addEventListener('error',(ev)=>{
     ipc.send('windowError',{mesg:ev.message,file:ev.filename,lineNumber:ev.lineno})
-})
+})

robot_src/robot.py

@@ -49,10 +49,10 @@ def robotInit(self):
         )
         self.lift = Lift(WPI_TalonSRX(3), wpilib.DigitalInput(0), wpilib.DigitalInput(1), self.stick)
         self.arm = Arm(
-            wpilib.Solenoid(5,1),
-            wpilib.Solenoid(5,0),
             wpilib.Solenoid(5,2),
-            wpilib.Solenoid(5,3),
+            wpilib.Solenoid(5,4),
+            wpilib.Solenoid(5,1),
+            wpilib.Solenoid(5,5),
             self.stick
         )
         self.ballintake = BallIntake(WPI_TalonSRX(4))
@@ -70,13 +70,15 @@ def disabledPeriodic(self):
         self.arm.log()
         self.base.log()
         self.ballintake.log()
+        wpilib.SmartDashboard.putNumber("visionerror", self.visiontable.getNumber("heading_error", 0))
 
     # Called once on teleop start.
     # Rezero lift encoder and rezero navx heading.
     def teleopInit(self):
         self.lift.initSensor()
         self.base.navx.reset()
 
+
     # Called repeatedly during teleop.
     # Update all of the subsystems and log new data to SmartDashboard.
     def teleopPeriodic(self):

robot_src/subsystems/arm.py

@@ -38,8 +38,8 @@ def __init__(self, hs1, hs2, as1, as2, stick):
 
         # the corresponding solenoids for each subsystem must be in opposite
         # states.
-        self.hatchsolenoid1.set(True)
-        self.hatchsolenoid2.set(False)
+        self.hatchsolenoid1.set(False)
+        self.hatchsolenoid2.set(True)
         self.armsolenoid1.set(True)
         self.armsolenoid2.set(False)
 

robot_src/subsystems/ballintake.py

@@ -41,9 +41,9 @@ def update(self):
         # 90, directly down is 180, etc.  Center is -1.
         if wpilib.DriverStation.getInstance().getStickPOV(0, 0) == -1:
             self.motor.set(WPI_TalonSRX.ControlMode.PercentOutput, 0)
-        elif wpilib.DriverStation.getInstance().getStickPOV(0, 0) == 0:
-            self.motor.set(WPI_TalonSRX.ControlMode.PercentOutput, 1)
         elif wpilib.DriverStation.getInstance().getStickPOV(0, 0) == 180:
+            self.motor.set(WPI_TalonSRX.ControlMode.PercentOutput, 1)
+        elif wpilib.DriverStation.getInstance().getStickPOV(0, 0) == 0:
             self.motor.set(WPI_TalonSRX.ControlMode.PercentOutput, -1)
 
     # Log values for the BallIntake for debug.

robot_src/subsystems/base.py

@@ -42,10 +42,11 @@ def __init__(self, fl, rl, fr, rr, navx, stick):
         self.stick = stick
         self.foctoggle = JoystickButton(self.stick,11)
         self.focenabled = False
+        self.foctoggledown = False
 
     # Ignore all joystick inputs that are below a certain threshold.
     def deadband(self, val):
-        if abs(val) < .05:
+        if abs(val) < .2:
             val = 0
         return val
 
@@ -54,24 +55,26 @@ def update(self):
 
         # You *cannot* use a simple if statement without the helper focenabled
         # variable to toggle FOC state.
-        if self.foctoggle.get() and not self.focenabled:
-            self.focenabled = True
-        elif not self.foctoggle.get() and self.focenabled:
-            self.focenabled = False
+        if self.foctoggle.get() and not self.foctoggledown:
+            self.focenabled = not self.focenabled
+            self.foctoggledown = True
+        elif not self.foctoggle.get() and self.foctoggledown:
+            self.foctoggledown = False
 
+        scaleval = (1 - self.stick.getThrottle()) * 0.8 + 0.1
         # Based on FOC state, decide whether or not to pass NavX heading.
         if self.focenabled:
             self.drive.driveCartesian(
-                self.deadband(self.stick.getX()),
-                -self.deadband(self.stick.getY()),
-                self.stick.getZ()*0.25,
+                self.deadband(self.stick.getX()) * scaleval * 2,
+                -self.deadband(self.stick.getY()) * scaleval,
+                self.stick.getZ()*0.25 * scaleval,
                 self.navx.getAngle()
             )
         else:
             self.drive.driveCartesian(
-                self.deadband(self.stick.getX()),
-                -self.deadband(self.stick.getY()),
-                self.stick.getZ()*0.25
+                self.deadband(self.stick.getX()) * scaleval * 2,
+                -self.deadband(self.stick.getY()) * scaleval,
+                self.stick.getZ()*0.25 * scaleval
             )
 
     # Log as much data as possible to SmartDashboard for debug purposes.

robot_src/subsystems/lift.py

@@ -30,13 +30,13 @@ class Lift():
     # Encoder constants for the lift.
     # TODO recalibrate.
     POSITION_MAX          = -6.624 * (10**4)
-    POSITION_HATCH_TOP    = -6.590 * (10**4)
-    POSITION_HATCH_MIDDLE = -3.547 * (10**4)
+    POSITION_HATCH_TOP    = -6.300 * (10**4)
+    POSITION_HATCH_MIDDLE = -3.022 * (10**4)
     POSITION_HATCH_BOTTOM =  0.000
 
-    POSITION_BALL_TOP     = -6.324 * (10**4)
-    POSITION_BALL_MIDDLE  = -5.670 * (10**4)
-    POSITION_BALL_BOTTOM  = -2.632 * (10**4)
+    POSITION_BALL_TOP     = -6.400 * (10**4)
+    POSITION_BALL_MIDDLE  = -4.735  * (10**4)
+    POSITION_BALL_BOTTOM  = -2.323 * (10**4)
 
     POSITION_HUMAN_PLAYER = -3.993 * (10**4)