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WIP

DO NOT MERGE YET

closes #225
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@FRCTeam3255-Shared-K1-10
FRCTeam3255-Shared-K1-10 committed Mar 25, 2022
1 parent b9cc0a5 commit 420765d
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Showing 4 changed files with 159 additions and 152 deletions.
40 changes: 28 additions & 12 deletions src/main/java/frc/robot/subsystems/Climber.java
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@

import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.PneumaticsModuleType;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.RobotContainer;
import frc.robot.RobotMap;
Expand All @@ -30,6 +30,10 @@ public class Climber extends SubsystemBase {
// ok
private SN_DoubleSolenoid climberHookPiston;

private ShuffleboardTab tab;
private int shuffleboardWidgetWidth;
private int shuffleboardWidgetHeight;

public Climber() {

climberBottomSafetySwitch = new DigitalInput(ClimberMap.BOTTOM_SAFETY_MAG_SWITCH_DIO);
Expand Down Expand Up @@ -151,16 +155,28 @@ public boolean isClimberClosedLoopErrorAcceptable() {
@Override
public void periodic() {
// This method will be called once per scheduler run
// SmartDashboard.putNumber("Climber Encoder Counts", getClimberEncoderCount());
// SmartDashboard.putNumber("Climber Closed Loop Error",
// getClimberClosedLoopError());
SmartDashboard.putBoolean("Is Climber At Bottom", isClimberAtBottom());
SmartDashboard.putBoolean("Is Climber Locked", isClimberLocked());
SmartDashboard.putBoolean("Is Climber Angled", isClimberAngled());
SmartDashboard.putBoolean("Is Climber Hooked", isHookDeployed());
// SmartDashboard.putBoolean("Is Climber Error Acceptable",
// isClimberClosedLoopErrorAcceptable());
// SmartDashboard.putNumber("Climber Motor Speed",
// climbMotor.getMotorOutputPercent());
tab.add("Climber Encoder Counts", getClimberEncoderCount()).withSize(shuffleboardWidgetWidth,
shuffleboardWidgetHeight);

tab.add("Climber Closed Loop Error", getClimberClosedLoopError()).withSize(shuffleboardWidgetWidth,
shuffleboardWidgetHeight);

tab.add("Is Climber At Bottom", isClimberAtBottom()).withSize(shuffleboardWidgetWidth,
shuffleboardWidgetHeight);

tab.add("Is Climber Locked", isClimberLocked()).withSize(shuffleboardWidgetWidth,
shuffleboardWidgetHeight);

tab.add("Is Climber Angled", isClimberAngled()).withSize(shuffleboardWidgetWidth,
shuffleboardWidgetHeight);

tab.add("Is Climber Hooked", isHookDeployed()).withSize(shuffleboardWidgetWidth,
shuffleboardWidgetHeight);

tab.add("Is Climber Error Acceptable", isClimberClosedLoopErrorAcceptable()).withSize(shuffleboardWidgetWidth,
shuffleboardWidgetHeight);

tab.add("Climber Motor Speed", climbMotor.getMotorOutputPercent()).withSize(shuffleboardWidgetWidth,
shuffleboardWidgetHeight);
}
}
141 changes: 92 additions & 49 deletions src/main/java/frc/robot/subsystems/Drivetrain.java
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Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,10 @@
import com.ctre.phoenix.motorcontrol.can.TalonFX;

import edu.wpi.first.math.filter.SlewRateLimiter;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.RobotContainer;
import frc.robot.RobotPreferences;
Expand All @@ -31,6 +34,18 @@ public class Drivetrain extends SubsystemBase {

private TalonFXConfiguration config;

// For Shuffleboard
private ShuffleboardTab tab;
private ShuffleboardLayout encoderCountsLayout;
private ShuffleboardLayout motorPercentOutputLayout;
private ShuffleboardLayout feetDrivenLayout;
private ShuffleboardLayout feetPerSecondLayout;
private ShuffleboardLayout encoderCountsPer100msLayout;
private ShuffleboardLayout closedLoopErrorLayout;

private int shuffleboardWidgetWidth;
private int shuffleboardWidgetHeight;

public SlewRateLimiter posSlewRateLimiter;
public SlewRateLimiter negSlewRateLimiter;

Expand All @@ -46,6 +61,22 @@ public Drivetrain() {
posSlewRateLimiter = new SlewRateLimiter(DrivetrainPrefs.drivePosSlewRateLimit.getValue());
negSlewRateLimiter = new SlewRateLimiter(DrivetrainPrefs.driveNegSlewRateLimit.getValue());

tab = Shuffleboard.getTab("Drivetrain");
motorPercentOutputLayout = tab.getLayout("Motor Percent Output", BuiltInLayouts.kList).withSize(4, 4)
.withPosition(0, 0);
encoderCountsLayout = tab.getLayout("Encoder Counts", BuiltInLayouts.kList).withSize(3, 3).withPosition(4, 0);
encoderCountsPer100msLayout = tab.getLayout("Encoder Counts per 100ms", BuiltInLayouts.kList).withSize(3, 3)
.withPosition(7, 0);
closedLoopErrorLayout = tab.getLayout("Closed Loop Error", BuiltInLayouts.kList).withSize(4, 3).withPosition(10, 0);
feetPerSecondLayout = tab.getLayout("Feet Per Second", BuiltInLayouts.kList).withSize(3, 3).withPosition(14, 0);
feetDrivenLayout = tab.getLayout("Feet Driven", BuiltInLayouts.kList).withSize(3, 3).withPosition(17, 0);

// Shuffleboard Layout Width
shuffleboardWidgetWidth = 2;

// Shuffleboard Layout Height
shuffleboardWidgetHeight = 1;

configure();
}

Expand Down Expand Up @@ -243,53 +274,65 @@ public void setCoastMode() {
public void periodic() {
// This method will be called once per scheduler run

// // Encoder Counts
// SmartDashboard.putNumber("Drivetrain Left Encoder", getLeftEncoderCount());
// SmartDashboard.putNumber("Drivetrain Right Encoder", getRightEncoderCount());
// SmartDashboard.putNumber("Drivetrain Average Encoder",
// getAverageEncoderCount());

// // Motion Profile
// SmartDashboard.putBoolean("Is Drivetrain Motion Profile Finished",
// isMotionProfileFinished());

// // Motor Percent Output
// SmartDashboard.putNumber("Drivetrain Left Lead Motor Speed",
// leftLeadMotor.getMotorOutputPercent());
// SmartDashboard.putNumber("Drivetrain Right Lead Motor Speed",
// rightLeadMotor.getMotorOutputPercent());
// SmartDashboard.putNumber("Drivetrain Left Follow Motor Speed",
// leftFollowMotor.getMotorOutputPercent());
// SmartDashboard.putNumber("Drivetrain Right Follow Motor Speed",
// rightFollowMotor.getMotorOutputPercent());

// // Feet Driven
// SmartDashboard.putNumber("Drivetrain Left Feet Driven", getLeftFeetDriven());
// SmartDashboard.putNumber("Drivetrain Right Feet Driven",
// getRightFeetDriven());
// SmartDashboard.putNumber("Drivetrain Average Feet Driven",
// getAverageFeetDriven());

// // Feet Per Second
// SmartDashboard.putNumber("Drivetrain Left Feet Per Second",
// getLeftFeetPerSecond());
// SmartDashboard.putNumber("Drivetrain Right Feet Per Second",
// getRightFeetPerSecond());
// SmartDashboard.putNumber("Drivetrain Average Feet Per Second",
// getAverageFeetPerSecond());

// // Encoder Counts per 100ms
// SmartDashboard.putNumber("Drivetrain Left Velocity", getLeftVelocity());
// SmartDashboard.putNumber("Drivetrain Right Velocity", getRightVelocity());
// SmartDashboard.putNumber("Drivetrain Average Velocity",
// getAverageVelocity());

// // Closed Loop Error
// SmartDashboard.putNumber("Drivetrain Left Closed Loop Error Inches",
// getLeftClosedLoopErrorInches());
// SmartDashboard.putNumber("Drivetrain Right Closed Loop Error Inches",
// getRightClosedLoopErrorInches());
// SmartDashboard.putNumber("Drivetrain Average Closed Loop Error Inches",
// getAverageClosedLoopErrorInches());
// {
// Shuffleboard Layouts
// Encoder Counts
encoderCountsLayout.add("Drivetrain Left Encoder", getLeftEncoderCount()).withSize(shuffleboardWidgetWidth,
shuffleboardWidgetHeight);
encoderCountsLayout.add("Drivetrain Right Encoder", getRightEncoderCount()).withSize(shuffleboardWidgetWidth,
shuffleboardWidgetHeight);
encoderCountsLayout.add("Drivetrain Average Encoder", getAverageEncoderCount()).withSize(shuffleboardWidgetWidth,
shuffleboardWidgetHeight);

// Motion Profile
tab.add("Is Drivetrain Motion Profile Finished", isMotionProfileFinished()).withSize(4, 2).withPosition(0, 4);

// Motor Percent Output
motorPercentOutputLayout.add("Drivetrain Left Lead Motor Speed", leftLeadMotor.getMotorOutputPercent()).withSize(
shuffleboardWidgetWidth,
shuffleboardWidgetHeight);
motorPercentOutputLayout.add("Drivetrain Right Lead Motor Speed", rightLeadMotor.getMotorOutputPercent())
.withSize(shuffleboardWidgetWidth, shuffleboardWidgetHeight);
motorPercentOutputLayout.add("Drivetrain Left Follow Motor Speed", leftFollowMotor.getMotorOutputPercent())
.withSize(shuffleboardWidgetWidth, shuffleboardWidgetHeight);
motorPercentOutputLayout.add("Drivetrain Right Follow Motor Speed", rightFollowMotor.getMotorOutputPercent())
.withSize(shuffleboardWidgetWidth, shuffleboardWidgetHeight);

// Feet Driven
feetDrivenLayout.add("Drivetrain Left Feet Driven", getLeftFeetDriven()).withSize(3,
4);
feetDrivenLayout.add("Drivetrain Right Feet Driven", getRightFeetDriven()).withSize(3, 4);
feetDrivenLayout.add("Drivetrain Average Feet Driven", getAverageFeetDriven()).withSize(3, 4);

// Feet Per Second
feetPerSecondLayout.add("Drivetrain Left Feet Per Second", getLeftFeetPerSecond()).withSize(
shuffleboardWidgetWidth,
shuffleboardWidgetHeight);
feetPerSecondLayout.add("Drivetrain Right Feet Per Second", getRightFeetPerSecond()).withSize(
shuffleboardWidgetWidth,
shuffleboardWidgetHeight);
feetPerSecondLayout.add("Drivetrain Average Feet Per Second", getAverageFeetPerSecond()).withSize(
shuffleboardWidgetWidth,
shuffleboardWidgetHeight);

// Encoder Counts per 100ms
encoderCountsPer100msLayout.add("Drivetrain Left Velocity", getLeftVelocity()).withSize(shuffleboardWidgetWidth,
shuffleboardWidgetHeight);
encoderCountsPer100msLayout.add("Drivetrain Right Velocity", getRightVelocity()).withSize(
shuffleboardWidgetWidth,
shuffleboardWidgetHeight);
encoderCountsPer100msLayout.add("Drivetrain Average Velocity", getAverageVelocity()).withSize(
shuffleboardWidgetWidth,
shuffleboardWidgetHeight);

// Closed Loop Error
closedLoopErrorLayout.add("Drivetrain Left Closed Loop Error Inches", getLeftClosedLoopErrorInches())
.withSize(3, shuffleboardWidgetHeight);
closedLoopErrorLayout.add("Drivetrain Right Closed Loop Error Inches", getRightClosedLoopErrorInches())
.withSize(3, shuffleboardWidgetHeight);
closedLoopErrorLayout.add("Drivetrain Average Closed Loop Error Inches", getAverageClosedLoopErrorInches())
.withSize(3, shuffleboardWidgetHeight);

// End Shuffleboard Layout
}
}
14 changes: 12 additions & 2 deletions src/main/java/frc/robot/subsystems/Hood.java
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,8 @@
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.PneumaticsModuleType;
import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.RobotMap.*;

Expand All @@ -19,12 +20,21 @@ public class Hood extends SubsystemBase {
private DoubleSolenoid.Value shallowAngleHoodValue = Value.kReverse;
private DoubleSolenoid.Value steepAngleHoodValue = Value.kForward;

private ShuffleboardTab tab;
private int shuffleboardWidgetWidth;
private int shuffleboardWidgetHeight;

// Initializes Hood Variables
public Hood() {
angleHoodSolenoid = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,
HoodMap.HOOD_SOLENOID_STEEP_ANGLE_PCM_A,
HoodMap.HOOD_SOLENOID_SHALLOW_ANGLE_PCM_B);

tab = Shuffleboard.getTab("Hood");
shuffleboardWidgetHeight = 1;
shuffleboardWidgetWidth = 2;
// configure is not needed since this is a solenoid

}

// Method checks if solenoid is extended
Expand Down Expand Up @@ -56,6 +66,6 @@ public void shallowHood() {
@Override
public void periodic() {
// This method will be called once per scheduler run
SmartDashboard.putBoolean("Hood Solenoid", isHoodSteep());
tab.add("Hood Solenoid", isHoodSteep()).withSize(shuffleboardWidgetHeight, shuffleboardWidgetWidth);
}
}
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