Merge slew rate changes with extras. (#29)

* Testing tunable slew rates.

* git checkout

* Replaced bad pipeline with states version.

* Make driver able to outtake.

* Sunday Oct 16 Climb Limit setting

Co-authored-by: y0shi <y0shi@noreply.github.com>
Co-authored-by: IgniteRobotics <ignite@igniterobtics.com>

Author: 3 people

Pipeline_Name.vpr

@@ -1,18 +1,22 @@
 area_max:100
 area_min:0
 area_similarity:0
-aspect_max:20
-aspect_min:0.07206001250000002
-black_level:7
+aspect_max:9.265007812499999
+aspect_min:0.03532201249999999
+black_level:11
 blue_balance:998
 calibration_type:0
 contour_grouping:3
 contour_sort_final:6
 convexity_max:100
 convexity_min:12
 corner_approx:5.000000
+crop_x_max:1.000000
+crop_x_min:-1.000000
+crop_y_max:1.000000
+crop_y_min:-1.000000
 cross_a_a:1
-cross_a_x:0
+cross_a_x:-0.05
 cross_a_y:0
 cross_b_a:1
 cross_b_x:0
@@ -22,11 +26,11 @@ desired_contour_region:0
 dilation_steps:1
 direction_filter:0
 dual_close_sort_origin:0
-erosion_steps:1
+erosion_steps:0
 exposure:3
 force_convex:1
-hue_max:72
-hue_min:47
+hue_max:80
+hue_min:39
 image_flip:0
 image_source:0
 img_to_show:0
@@ -39,11 +43,11 @@ pipeline_led_enabled:1
 pipeline_led_power:100
 pipeline_res:0
 pipeline_type:0
-red_balance:1198
+red_balance:2301
 roi_x:0.000000
 roi_y:0.000000
 sat_max:255
-sat_min:208
+sat_min:128
 send_corners:0
 send_raw_contours:0
 solve3d:0
@@ -57,8 +61,8 @@ solve3d_precies:1
 solve3d_precise:0
 solve3d_zoffset:0.000000
 val_max:244
-val_min:115
-x_outlier_miqr:1.5
+val_min:82
+x_outlier_miqr:1.1
 y_max:1.000000
 y_min:-1.000000
-y_outlier_miqr:1.5
+y_outlier_miqr:1

networktables.ini

@@ -1,12 +1,27 @@
 [NetworkTables Storage 3.0]
 string "/Preferences/.type"="RobotPreferences"
 double "/Preferences/Belt Delay"=0.35
+double "/Preferences/Climb Down Effort"=1
+double "/Preferences/Climb Up Effort"=1
 double "/Preferences/Default Turret Position"=0
+double "/Preferences/Drive Slew Rate"=2.5
 double "/Preferences/Eject Velocity"=9000
 double "/Preferences/FenderHigh Velocity"=7000
 double "/Preferences/FenderLow Velocity"=2500
+double "/Preferences/Forward Drive Multiplier"=0.7
 double "/Preferences/Hood Set Position"=0
+double "/Preferences/Indexer/Belt Speed"=1
+double "/Preferences/Indexer/Kickup Speed"=1
 double "/Preferences/Initial Turret Offset"=0
+double "/Preferences/Intake Speed"=0.5
 double "/Preferences/Passive shooter velocity"=7500
+double "/Preferences/Reverse Drive Multiplier"=0.7
+double "/Preferences/Rotation Slew Rate"=3
+double "/Preferences/Shooter Feed Effort"=0.5
 double "/Preferences/Shooter Set Velocity"=0
+double "/Preferences/Shooter kD"=0.03
+double "/Preferences/Shooter kF"=0.05568
+double "/Preferences/Shooter kP"=0.2
+double "/Preferences/Slow Mode Multiplier"=0.4
+double "/Preferences/Turn Multiplier"=0.69
 double "/Preferences/VELOCITY OFFSET"=0

networktables.ini.bak

@@ -0,0 +1,12 @@
+[NetworkTables Storage 3.0]
+string "/Preferences/.type"="RobotPreferences"
+double "/Preferences/Belt Delay"=0.35
+double "/Preferences/Default Turret Position"=0
+double "/Preferences/Eject Velocity"=9000
+double "/Preferences/FenderHigh Velocity"=7000
+double "/Preferences/FenderLow Velocity"=2500
+double "/Preferences/Hood Set Position"=0
+double "/Preferences/Initial Turret Offset"=0
+double "/Preferences/Passive shooter velocity"=7500
+double "/Preferences/Shooter Set Velocity"=0
+double "/Preferences/VELOCITY OFFSET"=0

src/main/java/frc/robot/Robot.java

@@ -52,27 +52,28 @@ public void robotInit() {
     pneumaticHub.enableCompressorAnalog(100, 120);
     compressor.enableDigital();
     m_robotContainer.m_driveTrain.setNeutralMode(NeutralMode.Coast);
-    final UsbCamera camera = CameraServer.startAutomaticCapture();
+    if (Robot.isReal()){
+      final UsbCamera camera = CameraServer.startAutomaticCapture();
 
-    visionThread = new Thread(() -> {
-      CvSink cvSink = CameraServer.getVideo();
-      CvSource outputStream = CameraServer.putVideo("Driver Camera", 600, 800);
+      visionThread = new Thread(() -> {
+        CvSink cvSink = CameraServer.getVideo();
+        CvSource outputStream = CameraServer.putVideo("Driver Camera", 600, 800);
 
-      Mat imageMat = new Mat();
+        Mat imageMat = new Mat();
 
-      Scalar color = new Scalar(255, 0, 0);
+        Scalar color = new Scalar(255, 0, 0);
 
-      while(!Thread.interrupted()) {
-        if(cvSink.grabFrame(imageMat) == 0) continue;
+        while(!Thread.interrupted()) {
+          if(cvSink.grabFrame(imageMat) == 0) continue;
 
-        Imgproc.circle(imageMat, new Point(imageMat.width() / 2, imageMat.height() / 2), 5, color);
+          Imgproc.circle(imageMat, new Point(imageMat.width() / 2, imageMat.height() / 2), 5, color);
 
-        outputStream.putFrame(imageMat);
-      }
-    });
-
-    visionThread.start();
+          outputStream.putFrame(imageMat);
+        }
+      });
 
+      visionThread.start();
+    }
     m_robotContainer.stableSensor.schedule();
   }
 

src/main/java/frc/robot/commands/drivetrain/ArcadeDrive.java

@@ -19,6 +19,8 @@ public class ArcadeDrive extends CommandBase { // TODO Figure out how to make a
     private DoublePreference driveMultiplier = new DoublePreference("Forward Drive Multiplier", 0.7);
     private DoublePreference reverseDriveMultiplier = new DoublePreference("Reverse Drive Multiplier", 0.7);
     private DoublePreference slowMultiplier = new DoublePreference("Slow Mode Multiplier", 0.4);
+    private DoublePreference velocityRateLimit = new DoublePreference("Drive Slew Rate", 2.5);
+    private DoublePreference rotationRateLimit = new DoublePreference("Rotation Slew Rate", 3.0);
 
     private Drivetrain m_driveTrain = null;
     private XboxController driverController = null;
@@ -41,6 +43,7 @@ public ArcadeDrive(XboxController driveController, Drivetrain driveTrain) {
     // Called when the command is initially scheduled.
     @Override
     public void initialize() {
+        this.m_driveTrain.updateSlewRates(velocityRateLimit.getValue(), rotationRateLimit.getValue());
     }
 
     // Called every time the scheduler runs while the command is scheduled.

src/main/java/frc/robot/commands/intake/RunIntake.java

@@ -47,13 +47,14 @@ public void execute() {
       return;
     } else {
       //spin will extend
+    //   intake.spin();
+    // }
+      if (this.direction){
       intake.spin();
+      } else {
+      intake.outtake();
+      }
     }
-    // if (this.direction){
-    // intake.spin(Intake.INTAKE_SPEED);
-    // } else {
-    // intake.spin(Intake.OUTTAKE_SPEED);
-    // }
 
   }
 

src/main/java/frc/robot/constants/ClimbConstants.java

@@ -3,7 +3,7 @@
 public class ClimbConstants {
     public static final int CLIMBER_FORWARD_LIMIT_LEFT = 337000;
     public static final int CLIMBER_REVERSE_LIMIT_LEFT = 100;
-    public static final int CLIMBER_FORWARD_LIMIT_RIGHT = 336463;
+    public static final int CLIMBER_FORWARD_LIMIT_RIGHT = 385000;
     public static final int CLIMBER_REVERSE_LIMIT_RIGHT = 100;
 
     //Defines speeds for climber movement

src/main/java/frc/robot/subsystems/Drivetrain.java

@@ -77,8 +77,8 @@ public class Drivetrain extends SubsystemBase {
 
     private final DifferentialDriveOdometry m_odometry;
 
-    private final SlewRateLimiter speedRateLimiter = new SlewRateLimiter(SPEED_RATE_LIMIT_ARCADE);
-    private final SlewRateLimiter rotationRateLimiter = new SlewRateLimiter(ROTATION_RATE_LIMIT_ARCADE);
+    private SlewRateLimiter speedRateLimiter = new SlewRateLimiter(SPEED_RATE_LIMIT_ARCADE);
+    private SlewRateLimiter rotationRateLimiter = new SlewRateLimiter(ROTATION_RATE_LIMIT_ARCADE);
 
     private SensorProfile sensorProfile = new SensorProfile(2048, 10);
 
@@ -182,6 +182,11 @@ public void resetOdometry(Pose2d startingPose) {
         m_odometry.resetPosition(startingPose, navX.getRotation2d());
     }
 
+    public void updateSlewRates(double velocityLimit, double rotationLimit){
+        this.speedRateLimiter = new SlewRateLimiter(velocityLimit);
+        this.rotationRateLimiter = new SlewRateLimiter(rotationLimit);
+    }
+
     public void arcadeDrive(final double speed, final double rotation, final boolean useSquares) {
         var xSpeed = speedRateLimiter.calculate(safeClamp(speed));
         var zRotation = rotationRateLimiter.calculate(safeClamp(rotation));