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Rejection fix #28

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Rejection fix #28

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b7ceef8
Made some changed to attempt to fix the indexer rejection. Doesn't wo…
clmazzac Nov 10, 2022
7fcd288
Fixed intake rejection
clmazzac Nov 10, 2022
401b648
Merge branch 'master' into rejection-fix
clmazzac Nov 10, 2022
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4 changes: 2 additions & 2 deletions src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -145,7 +145,7 @@ public final class Constants {
public static final double INDEXER_LOADING_WAIT = 0.5;
public static final double INDEXER_HUMAN_LOADING_WAIT = 1;

public static final double INDEXER_SHOOTER_REJECTION_TIME = 0.5;
public static final double INDEXER_SHOOTER_REJECTION_TIME = 2; // put back to .5 when using full battery
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@amichaelyu amichaelyu Nov 10, 2022

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Why is this a thing?

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@clmazzac clmazzac Nov 17, 2022

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because the battery was not full
"don't commit temporary changes" blah blah blah i don't care

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@amichaelyu amichaelyu Nov 18, 2022

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The battery voltage will vary in a match, maybe some sort of system to calculate based on voltage of battery? Another probably better method would be to analyze current of shooter to determine when there is a ball there, as there will an increased amount of current when there is a ball touching it.

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@clmazzac clmazzac Nov 21, 2022

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Oh that's helpful information, I wasn't aware of that
I'll work on that next time we meet

public static final double INDEXER_INTAKE_REJECTION_TIME = 1;

public static final I2C.Port INDEXER_COLOR = I2C.Port.kMXP;
Expand All @@ -171,7 +171,7 @@ public final class Constants {
public static final double SHOOTER_P = 0.0002;
public static final double SHOOTER_FEEDFORWARD = 0.00218;

public static final double SHOOTER_TOLERANCE = 100;
public static final double SHOOTER_TOLERANCE = 0.20;

public static final InterpolatingTreeMap SHOOTER_SPEED_MAP = new InterpolatingTreeMap();
static {
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6 changes: 4 additions & 2 deletions src/main/java/frc/robot/subsystems/indexer/Indexer.java
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Expand Up @@ -91,6 +91,7 @@ public void periodic() {
Logger.getInstance().recordOutput("Indexer/InstantShooterBall", ballCurrentlyAtShooter);
getAllianceColorFMS();
Logger.getInstance().recordOutput("Indexer/AllianceColor", allianceColor.toString());
Logger.getInstance().recordOutput("Indexer/RejectiomTimerState", rejectionTimerStarted);
switch (state) {
case FIELD2:
stomachMotorOff();
Expand Down Expand Up @@ -336,12 +337,13 @@ else if (rejectionTimerStarted && rejectionTimer.hasElapsed(Constants.INDEXER_SH
shootBall();
intakeBall();
rejectionTimerStarted = false;
state = State.INTAKE1;
state = State.FIELD2;
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@amichaelyu amichaelyu Nov 10, 2022

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Why is this, a ball can be intaked while a ball is rejected.

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@clmazzac clmazzac Nov 17, 2022

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good point doing some testing now
I figured this wasn't necessary since it would be put to intake1 either way, but this change definitely does break things

}
/* This shouldn't happen, it would be at a state with 2 balls not 1
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@amichaelyu amichaelyu Nov 10, 2022

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This can happen, 1 ball tower, 1 ball intake

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@clmazzac clmazzac Nov 17, 2022

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True

else if (ballCurrentlyAtIntake) {
intakeBall();
state = State.REJECT1INTAKE1;
}
} */
else if (rejectionTimerStarted && rejectionTimer.hasElapsed(Constants.INDEXER_SHOOTER_REJECTION_TIME)) {
shootBall();
rejectionTimerStarted = false;
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5 changes: 3 additions & 2 deletions src/main/java/frc/robot/subsystems/shooter/Shooter.java
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Expand Up @@ -67,7 +67,8 @@ public void setSetpoint(double setpoint, boolean forced) {
this.setpoint = setpoint;
}
else {
forcedSetpoint = setpoint;
this.setpoint = setpoint;
// forcedSetpoint = setpoint;
}
}

Expand All @@ -76,7 +77,7 @@ public double getVelocity() {
}

public boolean isAtSetpoint() {
return BetterMath.epsilonEquals(inputs.velocityRotPerMin, Constants.SHOOTER_TOLERANCE) || (Constants.ROBOT_DEMO_MODE && RobotBase.isSimulation());
return BetterMath.epsilonEquals(inputs.velocityRotPerMin, this.setpoint, Constants.SHOOTER_TOLERANCE*this.setpoint) || (Constants.ROBOT_DEMO_MODE && RobotBase.isSimulation());
}

}