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2-ball Internals #20

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merged 7 commits into from
Feb 19, 2022
Merged

2-ball Internals #20

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04d4f47
2-ball internals code, turret enum renaming
ky28059 Feb 18, 2022
1496eef
Fix motor conditions
ky28059 Feb 18, 2022
90cd7e1
Testing code
ky28059 Feb 18, 2022
9d44eba
Fix infinite storage state updates
ky28059 Feb 18, 2022
0ce8e27
more print statements + failsafes, will probably rewrite but just to …
eggaskin Feb 19, 2022
d65ad69
internals, but now on transition timers
eggaskin Feb 19, 2022
cd2ccc2
auton 1-ball start & total ball count
eggaskin Feb 19, 2022
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44 changes: 31 additions & 13 deletions src/main/java/frc/robot/subsystems/internals/InternalSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -101,11 +101,17 @@ public InternalSubsystem(TurretSubsystem turretSubsystem) {
public void periodic() {
// Check sensors for incoming and exiting balls and update ball counts accordingly
boolean entranceDetected = entrance.get() >= 0.4;
if (!prevEntranceDetected && entranceDetected) entranceStorageBallCount++;
if (!prevEntranceDetected && entranceDetected) {
entranceStorageBallCount++;
System.out.println("entrance ball detected");
//TODO shouldn't this set rejectingChecked to false?
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It should not, because we only want to tell the turret to reject based on the color of the first ball. That's why rejectingChecked exists in the first place -- to not have a second ball in storage override the rejection logic for the first ball.

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oop i thought i deleted that TODO but yes, i did follow that logic

}
prevEntranceDetected = entranceDetected;

Color storageColor = matchColor(colorSensorThread.getLastStorage());
//System.out.println("storage color:: " + colorToString(storageColor));
boolean storageDetected = isBall(storageColor);
if (storageDetected) System.out.println("storage ball detected");
if (!prevStorageDetected && storageDetected) {
// If we haven't already checked rejection logic, reject the ball if it doesn't match alliance color
if (!rejectingChecked) {
Expand All @@ -114,13 +120,17 @@ public void periodic() {
}
entranceStorageBallCount--;
storageStagingBallCount++;
System.out.println();
System.out.println("new storage detected, - entrance + storage from prev storage detected");
}
prevStorageDetected = storageDetected;

boolean stagingDetected = staging.get() >= 0.2;
boolean stagingDetected = staging.get() >= 0.13;
if (stagingDetected) System.out.println("staging ball detected");
if (!prevStagingDetected && stagingDetected) {
storageStagingBallCount--;
stagingExitBallCount++;
System.out.println("ball moved from storage to staging");
}
prevStagingDetected = stagingDetected;

Expand All @@ -145,20 +155,28 @@ public void periodic() {
if (shotRequested /* && turretSubsystem.getState() == TurretSubsystem.ModuleState.HIGH_TOLERANCE
|| rejecting && turretSubsystem.getState() == TurretSubsystem.ModuleState.LOW_TOLERANCE */) {
// Spin the top motor on a timer
exitTimer.start();
motorTop.set(0.5);

// If 1.5 seconds have elapsed, mark the shot as finished
if (exitTimer.hasElapsed(1.5)) {
exitTimer.stop();
exitTimer.reset();
motorTop.set(0);

// Reset states
if (!stagingDetected) {
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We shouldn't set shotRequested to false if there's not a ball in staging. The idea of shotRequested is that the driver tells internals to shoot by setting the boolean to true, and internals will fire the ball as soon as everything is ready; shotRequested is just a way of saying "please shoot the next ball you get". Setting it to false if there's not a staging ball would break being able to press it when internals isn't fully ready yet.

shotRequested = false;
rejectingChecked = false;
stagingExitBallCount--;
System.out.println("false alarm");
} else {
exitTimer.start();
motorTop.set(0.5);

// If 1.5 seconds have elapsed, mark the shot as finished
if (exitTimer.hasElapsed(1.5)) {
exitTimer.stop();
exitTimer.reset();
motorTop.set(0);

// Reset states
shotRequested = false;
rejectingChecked = false;
stagingExitBallCount--;
System.out.println("ball exited");
}
}

}
}
}
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