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Amp trap goto action #73
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b9ea612
created action
themehdev 742f317
updated, realized that something was wrong cuz i wasnt using the subs…
themehdev 94c986b
updated to support params value settings as well
themehdev 2665dc1
created the no-go-zones for the wrist in the params, and the elevator…
themehdev 7769c7c
got arid of the wrist
themehdev d624f8d
Made so the goto action cant move through the no-go-zone
themehdev da608a0
Updated to meet butch's requirements, and made it faster supposedly
themehdev 9955523
hopefully that fixes the problem
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125 changes: 125 additions & 0 deletions
125
src/main/java/frc/robot/subsystems/amp_trap/AmpTrapGotoAction.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,125 @@ | ||
| package frc.robot.subsystems.amp_trap; | ||
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| import org.xero1425.base.actions.Action; | ||
| import org.xero1425.base.subsystems.motorsubsystem.MCMotionMagicAction; | ||
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| public class AmpTrapGotoAction extends Action { | ||
| private MCMotionMagicAction elevatorThreshAction; | ||
| private MCMotionMagicAction elevatorGotoAction; | ||
| private MCMotionMagicAction armAction; | ||
| private AmpTrapSubsystem subsystem; | ||
| private double elevatorThreshold; | ||
| private double armNoGoZoneLower; | ||
| private double armNoGoZoneUpper; | ||
| private double armTarget; | ||
| private double elevatorTarget; | ||
| private enum State { | ||
| Goto, | ||
| ThreshGoto, | ||
| ArmGoto, | ||
| Thresh | ||
| }; | ||
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| private State state; | ||
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| public AmpTrapGotoAction(AmpTrapSubsystem subsystem, String elevatorTarget, String armTarget) throws Exception{ | ||
| this(subsystem, subsystem.getSettingsValue(elevatorTarget).getDouble(), subsystem.getSettingsValue(armTarget).getDouble()); | ||
| } | ||
| public AmpTrapGotoAction(AmpTrapSubsystem subsystem, double elevatorTarget, double armTarget) throws Exception{ | ||
| super(subsystem.getRobot().getMessageLogger()); | ||
| this.subsystem = subsystem; | ||
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| // Get the elevator threshold and the no-go zone limits for the arm from the params file | ||
| this.elevatorThreshold = subsystem.getElevator().getSettingsValue("threshold").getDouble(); | ||
| this.armNoGoZoneLower = subsystem.getArm().getSettingsValue("no-go-zone:lower").getDouble(); | ||
| this.armNoGoZoneUpper = subsystem.getArm().getSettingsValue("no-go-zone:upper").getDouble(); | ||
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| this.armTarget = armTarget; | ||
| this.elevatorTarget = elevatorTarget; | ||
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| this.elevatorThreshAction = new MCMotionMagicAction(subsystem.getElevator(), "ElevatorThresh", elevatorThreshold, 0.01, 0.02); | ||
| this.elevatorGotoAction = new MCMotionMagicAction(subsystem.getArm(), "ElevatorThresh", elevatorTarget, 0.01, 0.02); | ||
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| // Create the MCMotionMagicAction for the arm motor | ||
| this.armAction = new MCMotionMagicAction(subsystem.getArm(), "ArmGoto", armTarget, 3, 10); | ||
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| state = State.Thresh; | ||
| } | ||
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| @Override | ||
| public void start() throws Exception{ | ||
| super.start(); | ||
| subsystem.getElevator().setAction(elevatorGotoAction); | ||
| subsystem.getElevator().setAction(elevatorThreshAction); | ||
| subsystem.getArm().setAction(armAction); | ||
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| // Start the MCMotionMagicActions | ||
| // If arm target isn't in no-go-zone | ||
| // and the arm target and arm actual aren't on opposite sides | ||
| // then they can be run in paralell | ||
| if(((armTarget < armNoGoZoneLower || armTarget > armNoGoZoneUpper) && (!(armTarget > armNoGoZoneUpper && subsystem.getArm().getPosition() < armNoGoZoneLower) || !(armTarget < armNoGoZoneLower && subsystem.getArm().getPosition() > armNoGoZoneUpper)))){ | ||
| subsystem.getArm().setAction(armAction); | ||
| subsystem.getElevator().setAction(elevatorGotoAction); | ||
| state = State.Goto; | ||
| }else if (elevatorTarget > elevatorThreshold){ | ||
| // Otherwise, start the | ||
| subsystem.getElevator().setAction(elevatorGotoAction); | ||
| state = State.ThreshGoto; | ||
| }else{ | ||
| subsystem.getElevator().setAction(elevatorThreshAction); | ||
| state = State.Thresh; | ||
| } | ||
| } | ||
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| @Override | ||
| public void run() throws Exception{ | ||
| super.run(); | ||
| // Update the MCMotionMagicActions | ||
| if(state == State.Goto || state == State.ThreshGoto){ | ||
| elevatorGotoAction.run(); | ||
| } | ||
| if(state == State.Goto || state == State.ArmGoto){ | ||
| armAction.run(); | ||
| } | ||
| if(state == State.Thresh){ | ||
| elevatorThreshAction.run(); | ||
| } | ||
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| if(state == State.ThreshGoto && subsystem.getElevator().getPosition() > elevatorThreshold){ | ||
| subsystem.getArm().setAction(armAction); | ||
| state = State.Goto; | ||
| } | ||
| // If the elevator has moved up past the elevator threshold, move the arm to its target position | ||
| if (elevatorThreshAction.isDone() && state == State.Thresh){ | ||
| subsystem.getArm().setAction(armAction); | ||
| state = State.ArmGoto; | ||
| } | ||
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| if(armAction.isDone()){ | ||
| if(elevatorGotoAction.isDone() && state == State.Goto){ | ||
| setDone(); | ||
| return; | ||
| } | ||
| if(state == State.ArmGoto){ | ||
| subsystem.getElevator().setAction(elevatorGotoAction); | ||
| state = State.Goto; | ||
| } | ||
| } | ||
| } | ||
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| @Override | ||
| public void cancel() { | ||
| super.cancel(); | ||
| // Cancel the MCMotionMagicActions | ||
| elevatorGotoAction.cancel(); | ||
| elevatorThreshAction.cancel(); | ||
| armAction.cancel(); | ||
| } | ||
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| @Override | ||
| public String toString(int indent) { | ||
| return prefix(indent) + "AmpTrapGotoAction"; | ||
| } | ||
| } | ||
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The armTarget cannot be in the no go zone, so the first part of this conditional will always be true and can be removed.
Also, I believe the conditions (ignoring the first part) is ...
if !crossesMaxToMin || !crossesMinToMax which is probably not what you want.
given the actions, you probably want this to be && because you want to go directly to the targets if you are not crossing.
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Why not? if the elevator target is always above the threshold when we move the arm to the no-go-zone, we can have the arm be wherever we want.
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That was to the first q, the second q, you are right.