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"electron-packager": "^10.1.1" + "electron-packager": "^13.0.1" }, "dependencies": { "wpilib-nt-client": "^1.7.1" diff --git a/dashboard_src/src/css/style.css b/dashboard_src/src/css/style.css index 741b43b..4d72364 100644 --- a/dashboard_src/src/css/style.css +++ b/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');*/ } diff --git a/dashboard_src/src/ui.js b/dashboard_src/src/ui.js index 8ddace2..be83b35 100644 --- a/dashboard_src/src/ui.js +++ b/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(${ui.gyro.visualVal}deg)`; - ui.gyro.number.innerHTML = ui.gyro.visualVal + 'ยบ'; + // ui.gyro.val = value; + // ui.gyro.visualVal = Math.floor(ui.gyro.val - ui.gyro.offset); + // ui.gyro.visualVal %= 360; + // if (ui.gyro.visualVal < 0) { + // ui.gyro.visualVal += 360; + // } + // ui.gyro.arm.style.transform = `rotate(${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}) -}) \ No newline at end of file +}) diff --git a/robot_src/robot.py b/robot_src/robot.py index 5c93143..2af3cec 100644 --- a/robot_src/robot.py +++ b/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)) @@ -70,6 +70,7 @@ 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. @@ -77,6 +78,7 @@ 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): diff --git a/robot_src/subsystems/arm.py b/robot_src/subsystems/arm.py index f4f683d..d09837c 100644 --- a/robot_src/subsystems/arm.py +++ b/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) diff --git a/robot_src/subsystems/ballintake.py b/robot_src/subsystems/ballintake.py index 3ea6441..f82dc78 100644 --- a/robot_src/subsystems/ballintake.py +++ b/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. diff --git a/robot_src/subsystems/base.py b/robot_src/subsystems/base.py index 6f33a44..9e76cef 100644 --- a/robot_src/subsystems/base.py +++ b/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. diff --git a/robot_src/subsystems/lift.py b/robot_src/subsystems/lift.py index ebce55d..2b83a89 100644 --- a/robot_src/subsystems/lift.py +++ b/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)