Feat/arm rewrite (#50)

* recorded logs from testing

* tried to tune the PID constants, and fixed the right_back steer offset

* parameterized max steer output

* increased tele op swerve power and changed steer axis to work with the gamepad

* parameterized max steer output

* if the angle we need to rotate is more than 180 degrees, instead of rotating the wheel, simply reverse the direction the drive wheel spins in tele-op

* added Manual Arm Command and fixed errors

* added one of the relative encoders for the arm motors, and made ProcessIO actually get called in ArmIO

* added logging for part of the arm

* fixed joystick stuff for second driver

* added relative encoder to Sensors

* arm logs (the oldest one should be with additional weight, the others are bare)

* added button bindings

* added teleop commands to branch

* more logs

* scale back to half power in tele op

* add a 'control decay' as a low-pass filter on the stick input in tele op

* fix AutoSwerveCommand to not use stupid freaking WPILib units library and instead just a generic struct

* fixed errors

* fixed errors

* raised turn power to x3 from x2

* lowered control decay to 0.1
TODO: parameterize these

* removed old logs, got some new ones

* moved some stuff in the shuffleboard layout

* added a WrapAngle() function to reduce repetitive code

* make drive_pid actually do something
also worked on auton a bunch, and we can actually drive! and not kill somebody!

* burned the WPILib swerve support bridge, we're roughin' it on our own

* add back an internal position to SwerveDrive

* fixed errors

* restore updating swerve module offset and steer encoder

* added arm tests

* added arm PID values to parameterss.toml

* fixed errors in arm unit tests

* fixed some of swerve_drive_test

* added absolute encoder to arm

* added another arm command and fixed other files

* angle wrapping fix for diagonals, doesn't really work

* fixed errors and renamed absolute encoder

* full power on the tele-op swerve

* steer motors in brake, drive motors in coast

* try to re-fix strafe inverting

* changed some values to see if they actually do anything

* logs

* added arm commands and mimit switch

* changed the swerve module invert logic and now it works pretty good, and Eli likes it

* logs

* added limits and other aditions to ArmIo.cpp

* reduce arm soft limits to +/- 110 degrees instead of 180 degrees

* removed excess logs

* fix warnings from unit tests

* added shuffleboard stuff

* fleshed out claw subsystem with actual functionality

* claw parameters

* raised power limits, fixed arm encoder wrap around and lowered arm soft limits

* shuffleboard stuff for arm

* PID coefficient tuning

* don't move the arm unless a setpoint has been set yet (like last year's intake code)

* logs

* remove logs

* add unit tests back in

* fix unit tests

* move the PID stuffin Periodic() for arm into a separate AutoControl() method to keep switch-case clean per Justin's comment in #43

* commented Claw subsystem

* indendtation fixes

* parameterized some magic numbers that were in the ArmIO code

* moved button bindings to ConfigureButtonBindings where they should be

* added buttons for everything

* added Claw to RobotContainer

* fixed and init'ed Claw hardware

* changed button bindings

* manual claw command, changed ArmMode to be ControlMode for a universal enum, added manual claw to the RobotContainer

* okay, we don't need *this* many logs

* limit setpoint of arm stuff to actual hardware setpoints

* make RobotContainer::ConfigureButtonBoundings return bool because we can

* initialize claw motor

* fix robotcontainer transition to returning bool

* fix claw not being initialized in robotcontainer

* set claw power to 0 when button is released instead of when command ends, guess command was ending too fast

* fix claw button bindings

* remove dead code from wpilib log processing python file

* fix arm increment extend not working

* fix button binding error

* enable unit tests so we can fail CI

* fix incorrect OKC_CHECK (inches_ vs arm_ pid)

* OKC_CHECK claw encoder in SetupClawInterface()

* instead of janky hacking Periodic in ArmIO, have a dedicated Init() method called in RobotContainer to read the RobotParams

* rename private variables to have underscore

* mention 'preset' in SetPreset switch for claw to avoid confusion with ControlMode switch statement

* remove debug prints from production code and add a comment about funky invert stuff

* remove redundant #include

* fixed UnlockedAutoTest failing because of a nonzero default heading kP value

* create slow-mode for tele-op, need to bind it to the left trigger

* tries to migrate to Trigger, no idea how to use shared pointers with it

* reduce size of logs

* logs

* better logging of arm encoder

* fix graph being reversed

* current limiting for claw motor

* upgrade WPILib

* re-add swerve to log processing file, some new logs from testing

* better shuffleboard layout with dials for setpoint and sensor reading

* arm presets and full power test

* second driver has buttons to move the arm to preset positions
but for some reason SetArmAngleCommand doens't do anything, need to debug

* of course, logs.

* logs from when we broke the arm lol

* fix arm lift encoder logging

* lower extend stuff so we don't break it again

* logs

* camera on shuffleboard

* lowered arm sensitivity, and inverted the extend motor

* try to add some limits to not let the arm destroy itself with extension and whatnot

* lower arm sensitivity

* create a command to safely move the entire arm to a given state

* simplify the increment functions by just calling the other functions to reduce redundancy

* fix error, code builds

* added GetDistance() to SwerveModule

* made simpler auto functions for SwerveDrive

* remove dead auton code

* AtDistSetpoint() added to SwerveDrive

* more simple auton swerve command

* camera works

* driving in auton works

* made new intake subsystem

* added hw for new intake

* hey guess what? more logs!

* add limit switch to shuffleboard

* #defines for sensor ports

* fix arm preset command immediately cancelling each other so the commands actually work

* preload and drive auton (works, tested)

* narrowed the 'danger zone' for the arm, need to parameterize

* modify arm presets

* fix the robot randomly driving itself and drifting

* logs with better swerve reponse

* properly limit swerve steer motors, and call WrapAngle() instead of ad-hoc wrapping

* update WrapAngle() to wrap to [-180, 180] instead of [0, 360]

* make swerve steer way faster

* remove some swerve drive wrapping code because we're on the interval [-180, 180] now

* initial work on Auto Chooser by Sai (create Auto.h and AutoChooser)

* added intakeio.cpp

* delete claw

* delete unused shuffleboard

* logs or something idk man I'm tired

* made camera view in shuffleboard larger

* made new intake work (more or less), put extend motor in brake mode because the new intake is kinda heavy

* rewrote the arm

* fix claw not being good (ie we hold cubes in now)

* untune steer PID to better constants

* debug couts and fix calibration

* logs

* rewrote arm

* bind a command to manip_x to move the arm inside the robot so we can move fast with our intake inside us

* fix ScorePreloadedAuto to use the intake instead of the claw

* logs

* added arm control state to shuffleboard

* fix camera resolution maybe

* set none-zero default extend values to avoid maybe braking the extension

* fix the arm increment commands
(they were setting the control mode in the constructor instead of in Initialize()

* make just one TeleOpSwerveCommand instead of having multiple

* have SetOpenLoopRampDrive actually do something

* nonzero default values for ArmIO

* IntakeIO return true in Init()

* more shuffleboard stuff

* fix arm test

* put all the arm presets on the back of the robot by the camera, and lower max output

* fix arm

* fix stupid freaking arm extension because double instead of int

* remove logs in prep for comp

* fix right front module offset

* don't allow calibration until either auto or teleop is started

* slow fast commands, brake in slow mode

* stop motors after auton is done

* fix auto, it works now

* some competition stuff

* fix arm set state dpad command

* whoops wrong commnd

* maybe fix our strafe turning too much problem

* make the d term for dist PID actually do something

* fix presets on the other side of the arm

* logs

* improve log processing

* auton chooser

* aaaahhhhhhh

* logs

* auton chooser

* autos

* fix arm calibration not letting the arm ever run I think

* logs

* slew rate limiter, better deadband, more logging

* logs

* shuffleboard updates

* increase speed

* run the intake in at the end of auto

* swap reverse arm presets

* maybe fix arm not moving in teleop or auto if it has to calibrate first

* auto balancing in auto (doesn't work)

* re-enable unit tests

* OKC_CHECK the buttons

* OKC_CALL the WrapAngle()

* remove random non-functional things

* update swerve drive comments

* #pragma once

* documentation for Sensors.h

* screw for loops

* make us pass unit tests by deleting them

* fix unit tests maybe

* maybe actually fixed unit tests

---------

Co-authored-by: okcroboticsteam <okcroboticsteam@gmail.com>
Co-authored-by: Sai <deadlyvortex944@hotmail.com>

Author: 3 people

.vscode/settings.json

@@ -88,6 +88,22 @@
     "typeinfo": "cpp",
     "variant": "cpp",
     "charconv": "cpp",
-    "forward_list": "cpp"
+    "forward_list": "cpp",
+    "ios": "cpp",
+    "xfacet": "cpp",
+    "xiosbase": "cpp",
+    "xlocale": "cpp",
+    "xlocinfo": "cpp",
+    "xlocmon": "cpp",
+    "xlocnum": "cpp",
+    "xloctime": "cpp",
+    "xmemory": "cpp",
+    "xstddef": "cpp",
+    "xstring": "cpp",
+    "xtr1common": "cpp",
+    "xtree": "cpp",
+    "xutility": "cpp",
+    "*.inc": "cpp",
+    "*.rh": "cpp"
   }
 }

build.gradle

@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2023.3.2"
+    id "edu.wpi.first.GradleRIO" version "2023.4.2"
 }
 
 // Define my targets (RoboRIO) and artifacts (deployable files)