Add more field settings

Surely there's a better method right
the-orange-alliance · Sep 17, 2024 · 88a8c4d · 88a8c4d
1 parent cd96e20
commit 88a8c4d
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Showing 4 changed files with 192 additions and 29 deletions.
diff --git a/front-end/src/seasons/fgc-2024/settings.tsx b/front-end/src/seasons/fgc-2024/settings.tsx
@@ -7,15 +7,23 @@ import {
   centerWledWebSocketAddressAtom,
   fieldFaultColorAtom,
   fieldOptionsSelector,
-  foodProductionMotorDurationSecondsAtom,
+  foodProductionDelayMsAtom,
+  foodProductionMotorDurationMsAtom,
   foodProductionMotorSetpointAtom,
   foodResetMotorSetpointAtom,
+  goalBlueOnlyColorAtom,
+  goalEmptyColorAtom,
+  goalFullColorAtom,
+  goalGreenOnlyColorAtom,
   goalLedLengthAtom,
   matchEndBlueNexusGoalColorAtom,
   matchEndRampColorAtom,
   matchEndRedNexusGoalColorAtom,
   prepareFieldColorAtom,
+  rampBalancedColorAtom,
+  rampHysteresisWindowMsAtom,
   rampLedLengthAtom,
+  rampUnbalancedColorAtom,
   redWledWebSocketAddressAtom
 } from './stores/settings-store';
 import { NumberSetting } from 'src/apps/settings/components/number-setting';
@@ -49,13 +57,32 @@ export const Settings: FC = () => {
     useRecoilState(centerWledWebSocketAddressAtom);
   const [foodProductionMotorSetpoint, setFoodProductionMotorSetpoint] =
     useRecoilState(foodProductionMotorSetpointAtom);
-  const [
-    foodProductionMotorDurationSeconds,
-    setFoodProductionMotorDurationSeconds
-  ] = useRecoilState(foodProductionMotorDurationSecondsAtom);
+  const [foodProductionMotorDurationMs, setFoodProductionMotorDurationMs] =
+    useRecoilState(foodProductionMotorDurationMsAtom);
   const [foodResetMotorSetpoint, setFoodResetMotorSetpoint] = useRecoilState(
     foodResetMotorSetpointAtom
   );
+  const [foodProductionDelayMs, setFoodProductionDelayMs] = useRecoilState(
+    foodProductionDelayMsAtom
+  );
+  const [rampHysteresisWindowMs, setRampHysteresisWindowMs] = useRecoilState(
+    rampHysteresisWindowMsAtom
+  );
+  const [goalEmptyColor, setGoalEmptyColor] =
+    useRecoilState(goalEmptyColorAtom);
+  const [goalBlueOnlyColor, setGoalBlueOnlyColor] = useRecoilState(
+    goalBlueOnlyColorAtom
+  );
+  const [goalGreenOnlyColor, setGoalGreenOnlyColor] = useRecoilState(
+    goalGreenOnlyColorAtom
+  );
+  const [goalFullColor, setGoalFullColor] = useRecoilState(goalFullColorAtom);
+  const [rampBalancedColor, setRampBalancedColor] = useRecoilState(
+    rampBalancedColorAtom
+  );
+  const [rampUnbalancedColor, setRampUnbalancedColor] = useRecoilState(
+    rampUnbalancedColorAtom
+  );
 
   const fieldOptions: FieldOptions = useRecoilValue(fieldOptionsSelector);
 
@@ -138,9 +165,9 @@ export const Settings: FC = () => {
         inline
       />
       <NumberSetting
-        name='Food Production Moto rDuration Seconds'
-        value={foodProductionMotorDurationSeconds}
-        onChange={setFoodProductionMotorDurationSeconds}
+        name='Food Production Motor Duration (ms)'
+        value={foodProductionMotorDurationMs}
+        onChange={setFoodProductionMotorDurationMs}
         inline
       />
       <NumberSetting
@@ -149,6 +176,54 @@ export const Settings: FC = () => {
         onChange={setFoodResetMotorSetpoint}
         inline
       />
+      <NumberSetting
+        name='Food Production Delay (ms)'
+        value={foodProductionDelayMs}
+        onChange={setFoodProductionDelayMs}
+        inline
+      />
+      <NumberSetting
+        name='Ramp Hysteresis Window (ms)'
+        value={rampHysteresisWindowMs}
+        onChange={setRampHysteresisWindowMs}
+        inline
+      />
+      <TextSetting
+        name='Empty Goal Color'
+        value={goalEmptyColor}
+        onChange={setGoalEmptyColor}
+        inline
+      />
+      <TextSetting
+        name='Blue Only Goal Color'
+        value={goalBlueOnlyColor}
+        onChange={setGoalBlueOnlyColor}
+        inline
+      />
+      <TextSetting
+        name='Green Only Goal Color'
+        value={goalGreenOnlyColor}
+        onChange={setGoalGreenOnlyColor}
+        inline
+      />
+      <TextSetting
+        name='Full Goal Color'
+        value={goalFullColor}
+        onChange={setGoalFullColor}
+        inline
+      />
+      <TextSetting
+        name='Ramp Balanced Color'
+        value={rampBalancedColor}
+        onChange={setRampBalancedColor}
+        inline
+      />
+      <TextSetting
+        name='Ramp Unbalanced Color'
+        value={rampUnbalancedColor}
+        onChange={setRampUnbalancedColor}
+        inline
+      />
     </Box>
   );
 };
diff --git a/front-end/src/seasons/fgc-2024/stores/settings-store.tsx b/front-end/src/seasons/fgc-2024/stores/settings-store.tsx
@@ -74,10 +74,10 @@ export const foodProductionMotorSetpointAtom = atom<number>({
   effects: [localStorageEffect('ftf.foodProductionMotorSetpoint')]
 });
 
-export const foodProductionMotorDurationSecondsAtom = atom<number>({
-  key: 'ftf.foodProductionMotorDurationSeconds',
-  default: defaultFieldOptions.foodProductionMotorDurationSeconds,
-  effects: [localStorageEffect('ftf.foodProductionMotorDurationSeconds')]
+export const foodProductionMotorDurationMsAtom = atom<number>({
+  key: 'ftf.foodProductionMotorDurationMs',
+  default: defaultFieldOptions.foodProductionMotorDurationMs,
+  effects: [localStorageEffect('ftf.foodProductionMotorDurationMs')]
 });
 
 export const foodResetMotorSetpointAtom = atom<number>({
@@ -86,6 +86,54 @@ export const foodResetMotorSetpointAtom = atom<number>({
   effects: [localStorageEffect('ftf.foodResetMotorSetpoint')]
 });
 
+export const foodProductionDelayMsAtom = atom<number>({
+  key: 'ftf.foodProductionDelayMs',
+  default: defaultFieldOptions.foodProductionDelayMs,
+  effects: [localStorageEffect('ftf.foodProductionDelayMs')]
+});
+
+export const rampHysteresisWindowMsAtom = atom<number>({
+  key: 'ftf.rampHysteresisWindowMs',
+  default: defaultFieldOptions.rampHysteresisWindowMs,
+  effects: [localStorageEffect('ftf.rampHysteresisWindowMs')]
+});
+
+export const goalEmptyColorAtom = atom<string>({
+  key: 'ftf.goalEmptyColor',
+  default: defaultFieldOptions.goalEmptyColor,
+  effects: [localStorageEffect('ftf.goalEmptyColor')]
+});
+
+export const goalBlueOnlyColorAtom = atom<string>({
+  key: 'ftf.goalBlueOnlyColor',
+  default: defaultFieldOptions.goalBlueOnlyColor,
+  effects: [localStorageEffect('ftf.goalBlueOnlyColor')]
+});
+
+export const goalGreenOnlyColorAtom = atom<string>({
+  key: 'ftf.goalGreenOnlyColor',
+  default: defaultFieldOptions.goalGreenOnlyColor,
+  effects: [localStorageEffect('ftf.goalGreenOnlyColor')]
+});
+
+export const goalFullColorAtom = atom<string>({
+  key: 'ftf.goalFullColor',
+  default: defaultFieldOptions.goalFullColor,
+  effects: [localStorageEffect('ftf.goalFullColor')]
+});
+
+export const rampBalancedColorAtom = atom<string>({
+  key: 'ftf.rampBalancedColor',
+  default: defaultFieldOptions.rampBalancedColor,
+  effects: [localStorageEffect('ftf.rampBalancedColor')]
+});
+
+export const rampUnbalancedColorAtom = atom<string>({
+  key: 'ftf.rampUnbalancedColor',
+  default: defaultFieldOptions.rampUnbalancedColor,
+  effects: [localStorageEffect('ftf.rampUnbalancedColor')]
+});
+
 export const fieldOptionsSelector: RecoilValueReadOnly<FieldOptions> = selector(
   {
     key: 'ftf.fieldOptions',
@@ -103,10 +151,16 @@ export const fieldOptionsSelector: RecoilValueReadOnly<FieldOptions> = selector(
         blueWledWebSocketAddress: get(blueWledWebSocketAddressAtom),
         centerWledWebSocketAddress: get(centerWledWebSocketAddressAtom),
         foodProductionMotorSetpoint: get(foodProductionMotorSetpointAtom),
-        foodProductionMotorDurationSeconds: get(
-          foodProductionMotorDurationSecondsAtom
-        ),
-        foodResetMotorSetpoint: get(foodResetMotorSetpointAtom)
+        foodProductionMotorDurationMs: get(foodProductionMotorDurationMsAtom),
+        foodResetMotorSetpoint: get(foodResetMotorSetpointAtom),
+        foodProductionDelayMs: get(foodProductionDelayMsAtom),
+        rampHysteresisWindowMs: get(rampHysteresisWindowMsAtom),
+        goalEmptyColor: get(goalEmptyColorAtom),
+        goalBlueOnlyColor: get(goalBlueOnlyColorAtom),
+        goalGreenOnlyColor: get(goalGreenOnlyColorAtom),
+        goalFullColor: get(goalFullColorAtom),
+        rampBalancedColor: get(rampBalancedColorAtom),
+        rampUnbalancedColor: get(rampUnbalancedColorAtom)
       };
     }
   }

diff --git a/lib/models/src/base/FieldControl.ts b/lib/models/src/base/FieldControl.ts
@@ -122,8 +122,16 @@ export interface FieldOptions {
   blueWledWebSocketAddress: string;
   centerWledWebSocketAddress: string;
   foodProductionMotorSetpoint: number;
-  foodProductionMotorDurationSeconds: number;
+  foodProductionMotorDurationMs: number;
   foodResetMotorSetpoint: number;
+  foodProductionDelayMs: number;
+  rampHysteresisWindowMs: number;
+  goalEmptyColor: string;
+  goalBlueOnlyColor: string;
+  goalGreenOnlyColor: string;
+  goalFullColor: string;
+  rampBalancedColor: string;
+  rampUnbalancedColor: string;
 }
 
 export const defaultFieldOptions: FieldOptions = {
@@ -139,6 +147,14 @@ export const defaultFieldOptions: FieldOptions = {
   blueWledWebSocketAddress: '',
   centerWledWebSocketAddress: '',
   foodProductionMotorSetpoint: 1.0,
-  foodProductionMotorDurationSeconds: 5,
-  foodResetMotorSetpoint: -0.5
+  foodProductionMotorDurationMs: 5000,
+  foodResetMotorSetpoint: -0.5,
+  foodProductionDelayMs: 5000,
+  rampHysteresisWindowMs: 500,
+  goalEmptyColor: '000000',
+  goalBlueOnlyColor: '0000ff',
+  goalGreenOnlyColor: '00ff00',
+  goalFullColor: 'ffa500',
+  rampBalancedColor: 'ff00ff',
+  rampUnbalancedColor: '000000'
 };
diff --git a/lib/models/src/fcs/FeedingTheFutureFCS.ts b/lib/models/src/fcs/FeedingTheFutureFCS.ts
@@ -261,7 +261,11 @@ export class PacketManager {
     this.matchInProgress = true;
 
     const result: FieldControlUpdatePacket = { hubs: {}, wleds: {} };
-    applyPatternToStrips('000000', LedStripA.ALL_STRIPS, result);
+    applyPatternToStrips(
+      this.fieldOptions.goalEmptyColor,
+      LedStripA.ALL_STRIPS,
+      result
+    );
 
     this.broadcastCallback(result);
   };
@@ -557,16 +561,24 @@ export class PacketManager {
 
     switch (currentState) {
       case NexusGoalState.Full:
-        applyPatternToStrips('ffa500', [strip], result);
+        applyPatternToStrips(this.fieldOptions.goalFullColor, [strip], result);
         break;
       case NexusGoalState.BlueOnly:
-        applyPatternToStrips('0000ff', [strip], result);
+        applyPatternToStrips(
+          this.fieldOptions.goalBlueOnlyColor,
+          [strip],
+          result
+        );
         break;
       case NexusGoalState.GreenOnly:
-        applyPatternToStrips('00ff00', [strip], result);
+        applyPatternToStrips(
+          this.fieldOptions.goalGreenOnlyColor,
+          [strip],
+          result
+        );
         break;
       default:
-        applyPatternToStrips('000000', [strip], result);
+        applyPatternToStrips(this.fieldOptions.goalEmptyColor, [strip], result);
     }
 
     if (
@@ -582,14 +594,18 @@ export class PacketManager {
           // Set pattern
           const result: FieldControlUpdatePacket = { hubs: {}, wleds: {} };
           applyPatternToStrips('ffffff', [strip], result);
-          applySetpointToMotors(1.0, [motor], result);
+          applySetpointToMotors(
+            this.fieldOptions.foodProductionMotorSetpoint,
+            [motor],
+            result
+          );
           broadcast(result);
 
           setTimeout(() => {
             const result: FieldControlUpdatePacket = { hubs: {}, wleds: {} };
             applySetpointToMotors(0, [motor], result);
             broadcast(result);
-          }, 5000); // TODO(jan): Use field options
+          }, this.fieldOptions.foodProductionMotorDurationMs);
 
           this.matchEmitter.emit(MatchSocketEvent.MATCH_ADJUST_DETAILS_NUMBER, {
             key: `${side}FoodProduced`,
@@ -600,7 +616,7 @@ export class PacketManager {
             key: goal,
             value: NexusGoalState.Produced
           });
-        }, 5000) // TODO(jan): Make this time configurable
+        }, this.fieldOptions.foodProductionDelayMs)
       );
     } else if (
       currentState !== NexusGoalState.Full &&
@@ -628,12 +644,14 @@ export class PacketManager {
       setTimeout(() => {
         const result: FieldControlUpdatePacket = { hubs: {}, wleds: {} };
         applyPatternToStrips(
-          currentBalanced ? 'ff00ff' : '000000',
+          currentBalanced
+            ? this.fieldOptions.rampBalancedColor
+            : this.fieldOptions.rampUnbalancedColor,
           [LedStripA.RAMP],
           result
         );
         broadcast(result);
-      }, 500) // TODO(jan): Make this configurable
+      }, this.fieldOptions.rampHysteresisWindowMs)
     );
   };