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Updated ftclib.

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Cleaned up the dashboard display code and move to the slow loop.
Moved the steer zero calibration display code to FtcSwerveDrive.
This commit is contained in:
Titan Robotics Club
2024-08-20 16:04:10 -07:00
parent 5749715f28
commit 98b0eb8008
2 changed files with 64 additions and 88 deletions
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2
TeamCode/src/main/java/ftclib

Submodule TeamCode/src/main/java/ftclib updated: 0793b9d453...e53d15f41a

150
TeamCode/src/main/java/teamcode/FtcTest.java
View File

@ -415,68 +415,6 @@ public class FtcTest extends FtcTeleOp
lineNum++, "Drive Accel: (%.1f/%.1f)", acceleration, maxDriveAcceleration); lineNum++, "Drive Accel: (%.1f/%.1f)", acceleration, maxDriveAcceleration);
} }
break; break;
case X_TIMED_DRIVE:
case Y_TIMED_DRIVE:
if (robot.robotDrive != null)
{
robot.dashboard.displayPrintf(lineNum++, "Timed Drive: %.0f sec", testChoices.driveTime);
robot.dashboard.displayPrintf(
lineNum++, "RobotPose=%s", robot.robotDrive.driveBase.getFieldPosition());
robot.dashboard.displayPrintf(
lineNum++, "rawEnc=lf:%.0f,rf:%.0f,lb:%.0f,rb:%.0f",
robot.robotDrive.driveMotors[FtcRobotDrive.INDEX_LEFT_FRONT].getPosition(),
robot.robotDrive.driveMotors[FtcRobotDrive.INDEX_RIGHT_FRONT].getPosition(),
robot.robotDrive.driveMotors[FtcRobotDrive.INDEX_LEFT_BACK].getPosition(),
robot.robotDrive.driveMotors[FtcRobotDrive.INDEX_RIGHT_BACK].getPosition());
}
break;
case TUNE_X_PID:
case TUNE_Y_PID:
case TUNE_TURN_PID:
if (robot.robotDrive != null && testChoices.tunePidCoeffs != null)
{
robot.dashboard.displayPrintf(7, "TunePid=%s", testChoices.tunePidCoeffs);
}
//
// Intentionally falling through.
//
case PURE_PURSUIT_DRIVE:
case PID_DRIVE:
if (robot.robotDrive != null)
{
TrcPidController xPidCtrl, yPidCtrl, turnPidCtrl;
if (testChoices.test == Test.PURE_PURSUIT_DRIVE)
{
xPidCtrl = robot.robotDrive.purePursuitDrive.getXPosPidCtrl();
yPidCtrl = robot.robotDrive.purePursuitDrive.getYPosPidCtrl();
turnPidCtrl = robot.robotDrive.purePursuitDrive.getTurnPidCtrl();
}
else
{
xPidCtrl = robot.robotDrive.pidDrive.getXPidCtrl();
yPidCtrl = robot.robotDrive.pidDrive.getYPidCtrl();
turnPidCtrl = robot.robotDrive.pidDrive.getTurnPidCtrl();
}
robot.dashboard.displayPrintf(
lineNum++, "RobotPose=%s,rawEnc=lf:%.0f,rf:%.0f,lb:%.0f,rb:%.0f",
robot.robotDrive.driveBase.getFieldPosition(),
robot.robotDrive.driveMotors[FtcRobotDrive.INDEX_LEFT_FRONT].getPosition(),
robot.robotDrive.driveMotors[FtcRobotDrive.INDEX_RIGHT_FRONT].getPosition(),
robot.robotDrive.driveMotors[FtcRobotDrive.INDEX_LEFT_BACK].getPosition(),
robot.robotDrive.driveMotors[FtcRobotDrive.INDEX_RIGHT_BACK].getPosition());
if (xPidCtrl != null)
{
xPidCtrl.displayPidInfo(lineNum);
lineNum += 2;
}
yPidCtrl.displayPidInfo(lineNum);
lineNum += 2;
turnPidCtrl.displayPidInfo(lineNum);
}
break;
} }
if (elapsedTimer != null) if (elapsedTimer != null)
@ -510,36 +448,74 @@ public class FtcTest extends FtcTeleOp
doVisionTest(); doVisionTest();
break; break;
case X_TIMED_DRIVE:
case Y_TIMED_DRIVE:
if (robot.robotDrive != null)
{
robot.dashboard.displayPrintf(lineNum++, "Timed Drive: %.0f sec", testChoices.driveTime);
robot.dashboard.displayPrintf(
lineNum++, "RobotPose=%s", robot.robotDrive.driveBase.getFieldPosition());
robot.dashboard.displayPrintf(
lineNum++, "rawEnc=lf:%.0f,rf:%.0f,lb:%.0f,rb:%.0f",
robot.robotDrive.driveMotors[FtcRobotDrive.INDEX_LEFT_FRONT].getPosition(),
robot.robotDrive.driveMotors[FtcRobotDrive.INDEX_RIGHT_FRONT].getPosition(),
robot.robotDrive.driveMotors[FtcRobotDrive.INDEX_LEFT_BACK].getPosition(),
robot.robotDrive.driveMotors[FtcRobotDrive.INDEX_RIGHT_BACK].getPosition());
}
break;
case TUNE_X_PID:
case TUNE_Y_PID:
case TUNE_TURN_PID:
if (robot.robotDrive != null && testChoices.tunePidCoeffs != null)
{
robot.dashboard.displayPrintf(7, "TunePid=%s", testChoices.tunePidCoeffs);
}
//
// Intentionally falling through.
//
case PURE_PURSUIT_DRIVE:
case PID_DRIVE:
if (robot.robotDrive != null)
{
TrcPidController xPidCtrl, yPidCtrl, turnPidCtrl;
if (testChoices.test == Test.PURE_PURSUIT_DRIVE)
{
xPidCtrl = robot.robotDrive.purePursuitDrive.getXPosPidCtrl();
yPidCtrl = robot.robotDrive.purePursuitDrive.getYPosPidCtrl();
turnPidCtrl = robot.robotDrive.purePursuitDrive.getTurnPidCtrl();
}
else
{
xPidCtrl = robot.robotDrive.pidDrive.getXPidCtrl();
yPidCtrl = robot.robotDrive.pidDrive.getYPidCtrl();
turnPidCtrl = robot.robotDrive.pidDrive.getTurnPidCtrl();
}
robot.dashboard.displayPrintf(
lineNum++, "RobotPose=%s,rawEnc=lf:%.0f,rf:%.0f,lb:%.0f,rb:%.0f",
robot.robotDrive.driveBase.getFieldPosition(),
robot.robotDrive.driveMotors[FtcRobotDrive.INDEX_LEFT_FRONT].getPosition(),
robot.robotDrive.driveMotors[FtcRobotDrive.INDEX_RIGHT_FRONT].getPosition(),
robot.robotDrive.driveMotors[FtcRobotDrive.INDEX_LEFT_BACK].getPosition(),
robot.robotDrive.driveMotors[FtcRobotDrive.INDEX_RIGHT_BACK].getPosition());
if (xPidCtrl != null)
{
xPidCtrl.displayPidInfo(lineNum);
lineNum += 2;
}
yPidCtrl.displayPidInfo(lineNum);
lineNum += 2;
turnPidCtrl.displayPidInfo(lineNum);
}
break;
case CALIBRATE_SWERVE_STEERING: case CALIBRATE_SWERVE_STEERING:
if (robot.robotDrive != null && (robot.robotDrive instanceof FtcSwerveDrive) && steerCalibrating) if (robot.robotDrive != null && (robot.robotDrive instanceof FtcSwerveDrive) && steerCalibrating)
{ {
FtcSwerveDrive swerveDrive = (FtcSwerveDrive) robot.robotDrive; FtcSwerveDrive swerveDrive = (FtcSwerveDrive) robot.robotDrive;
swerveDrive.runSteeringCalibration(); swerveDrive.runSteeringCalibration();
if (swerveDrive.steerZeroCalibrationCount > 0) swerveDrive.displaySteerZeroCalibration(lineNum);
{
robot.dashboard.displayPrintf(
lineNum++, "Count = %d", swerveDrive.steerZeroCalibrationCount);
robot.dashboard.displayPrintf(
lineNum++, "Encoder: lf=%.3f/%f",
swerveDrive.steerEncoders[FtcSwerveDrive.INDEX_LEFT_FRONT].getRawPosition(),
swerveDrive.steerZeros[FtcSwerveDrive.INDEX_LEFT_FRONT]
/ swerveDrive.steerZeroCalibrationCount);
robot.dashboard.displayPrintf(
lineNum++, "Encoder: rf=%.3f/%f",
swerveDrive.steerEncoders[FtcSwerveDrive.INDEX_RIGHT_FRONT].getRawPosition(),
swerveDrive.steerZeros[FtcSwerveDrive.INDEX_RIGHT_FRONT]
/ swerveDrive.steerZeroCalibrationCount);
robot.dashboard.displayPrintf(
lineNum++, "Encoder: lb=%.3f/%f",
swerveDrive.steerEncoders[FtcSwerveDrive.INDEX_LEFT_BACK].getRawPosition(),
swerveDrive.steerZeros[FtcSwerveDrive.INDEX_LEFT_BACK]
/ swerveDrive.steerZeroCalibrationCount);
robot.dashboard.displayPrintf(
lineNum++, "Encoder: rb=%.3f/%f",
swerveDrive.steerEncoders[FtcSwerveDrive.INDEX_RIGHT_BACK].getRawPosition(),
swerveDrive.steerZeros[FtcSwerveDrive.INDEX_RIGHT_BACK]
/ swerveDrive.steerZeroCalibrationCount);
}
} }
break; break;
} }