Jogilber/improve sensor experience (#9)

* Change encoder values to higher-count ticks, and then additionally convert those ticks to inches in the pose subsystem * Add default shuffleboard * Use newer commonlib * use newer commonlib * Better names for motors
Team488 · Feb 3, 2021 · 7fecbff · 7fecbff
1 parent 11be7af
commit 7fecbff
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Showing 4 changed files with 161 additions and 15 deletions.
diff --git a/SeriouslyCommonLib b/SeriouslyCommonLib
diff --git a/shuffleboard.json b/shuffleboard.json
@@ -0,0 +1,143 @@
+{
+  "tabPane": [
+    {
+      "title": "LiveWindow",
+      "autoPopulate": true,
+      "autoPopulatePrefix": "LiveWindow/",
+      "widgetPane": {
+        "gridSize": 128.0,
+        "showGrid": true,
+        "hgap": 16.0,
+        "vgap": 16.0,
+        "tiles": {
+          "0,0": {
+            "size": [
+              2,
+              4
+            ],
+            "content": {
+              "_type": "Subsystem Layout",
+              "_source0": "network_table:///LiveWindow/PoseSubsystem",
+              "_title": "PoseSubsystem",
+              "Layout/Label position": "BOTTOM",
+              "_children": []
+            }
+          },
+          "2,0": {
+            "size": [
+              2,
+              4
+            ],
+            "content": {
+              "_type": "Subsystem Layout",
+              "_source0": "network_table:///LiveWindow/AutonomousCommandSelector",
+              "_title": "AutonomousCommandSelector",
+              "Layout/Label position": "BOTTOM",
+              "_children": []
+            }
+          },
+          "4,0": {
+            "size": [
+              2,
+              4
+            ],
+            "content": {
+              "_type": "Subsystem Layout",
+              "_source0": "network_table:///LiveWindow/DriveSubsystem",
+              "_title": "DriveSubsystem",
+              "Layout/Label position": "BOTTOM",
+              "_children": []
+            }
+          },
+          "6,0": {
+            "size": [
+              2,
+              4
+            ],
+            "content": {
+              "_type": "Subsystem Layout",
+              "_source0": "network_table:///LiveWindow/Ungrouped",
+              "_title": "Ungrouped",
+              "Layout/Label position": "BOTTOM",
+              "_children": []
+            }
+          }
+        }
+      }
+    },
+    {
+      "title": "Basic Sensors",
+      "autoPopulate": false,
+      "autoPopulatePrefix": "",
+      "widgetPane": {
+        "gridSize": 128.0,
+        "showGrid": true,
+        "hgap": 16.0,
+        "vgap": 16.0,
+        "tiles": {
+          "3,1": {
+            "size": [
+              2,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/LeftDrive/LeftLeader/position",
+              "_title": "SmartDashboard/LeftDrive/LeftLeader/position"
+            }
+          },
+          "3,2": {
+            "size": [
+              1,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/PoseSubsystem/CurrentHeading",
+              "_title": "SmartDashboard/PoseSubsystem/CurrentHeading"
+            }
+          },
+          "5,1": {
+            "size": [
+              2,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/RightDrive/RightLeader/position",
+              "_title": "SmartDashboard/RightDrive/RightLeader/position"
+            }
+          },
+          "3,0": {
+            "size": [
+              2,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/LeftDrive/LeftLeader/voltage",
+              "_title": "SmartDashboard/LeftDrive/LeftLeader/voltage"
+            }
+          },
+          "5,0": {
+            "size": [
+              2,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/RightDrive/RightLeader/voltage",
+              "_title": "SmartDashboard/RightDrive/RightLeader/voltage"
+            }
+          }
+        }
+      }
+    }
+  ],
+  "windowGeometry": {
+    "x": -1288.0,
+    "y": -9.0,
+    "width": 1296.0,
+    "height": 1000.0
+  }
+}
diff --git a/src/main/java/competition/subsystems/drive/DriveSubsystem.java b/src/main/java/competition/subsystems/drive/DriveSubsystem.java
@@ -32,33 +32,31 @@ public class DriveSubsystem extends BaseDriveSubsystem {
     public final XAnalogDistanceSensor distanceSensor2;
 
     int i;
+    private final double simulatedEncoderFactor = 256.0 / Math.PI;
 
     @Inject
     public DriveSubsystem(CommonLibFactory factory, XPropertyManager propManager) {
         log.info("Creating DriveSubsystem");
 
         this.leftLeader = factory
-                .createCANTalon(new CANTalonInfo(1, true, FeedbackDevice.CTRE_MagEncoder_Absolute, true, 1));
+                .createCANTalon(new CANTalonInfo(1, true, FeedbackDevice.CTRE_MagEncoder_Absolute, true, simulatedEncoderFactor));
         this.leftFollower1 = factory
-                .createCANTalon(new CANTalonInfo(3, true, FeedbackDevice.CTRE_MagEncoder_Absolute, true, 1));
+                .createCANTalon(new CANTalonInfo(3, true, FeedbackDevice.CTRE_MagEncoder_Absolute, true, simulatedEncoderFactor));
         this.leftFollower2= factory
-                .createCANTalon(new CANTalonInfo(5, true, FeedbackDevice.CTRE_MagEncoder_Absolute, true, 1));
+                .createCANTalon(new CANTalonInfo(5, true, FeedbackDevice.CTRE_MagEncoder_Absolute, true, simulatedEncoderFactor));
 
         this.rightLeader = factory
-                .createCANTalon(new CANTalonInfo(2, true, FeedbackDevice.CTRE_MagEncoder_Absolute, true, 1));
+                .createCANTalon(new CANTalonInfo(2, true, FeedbackDevice.CTRE_MagEncoder_Absolute, true, simulatedEncoderFactor));
         this.rightFollower1 = factory
-                .createCANTalon(new CANTalonInfo(4, true, FeedbackDevice.CTRE_MagEncoder_Absolute, true, 1));
+                .createCANTalon(new CANTalonInfo(4, true, FeedbackDevice.CTRE_MagEncoder_Absolute, true, simulatedEncoderFactor));
         this.rightFollower2 = factory
-                .createCANTalon(new CANTalonInfo(6, true, FeedbackDevice.CTRE_MagEncoder_Absolute, true, 1));
-
-        leftLeader.createTelemetryProperties(this.getPrefix(), "LeftLeader");
-        rightLeader.createTelemetryProperties(this.getPrefix(), "RightLeader");
+                .createCANTalon(new CANTalonInfo(6, true, FeedbackDevice.CTRE_MagEncoder_Absolute, true, simulatedEncoderFactor));
 
         this.distanceSensor = factory.createAnalogDistanceSensor(1, VoltageMaps::sharp0A51SK);
         this.distanceSensor2 = factory.createAnalogDistanceSensor(2, VoltageMaps::sharp0A51SK);
 
-        XCANTalon.configureMotorTeam("LeftDrive", "LeftLeader", leftLeader, leftFollower1, leftFollower2, true, true, true, true);
-        XCANTalon.configureMotorTeam("RightDrive", "RightLeader", rightLeader, rightFollower1, rightFollower2, true, true, true, true);
+        XCANTalon.configureMotorTeam(this.getPrefix(), "LeftLeader", leftLeader, leftFollower1, leftFollower2, true, true, true, true);
+        XCANTalon.configureMotorTeam(this.getPrefix(), "RightLeader", rightLeader, rightFollower1, rightFollower2, true, true, true, true);
 
         this.register();
     }

diff --git a/src/main/java/competition/subsystems/pose/PoseSubsystem.java b/src/main/java/competition/subsystems/pose/PoseSubsystem.java
@@ -13,21 +13,26 @@ public class PoseSubsystem extends BasePoseSubsystem {
 
     DriveSubsystem drive;
 
+    // each wheel revolution is 256 ticks, and the wheels are 6 inches in diameter.
+    // this means each revolution would move the robot (if not slipping at all) 6*pi inches. 
+    // So, one tick would move us (6*pi)/256 inches
+    // Conversely, we can 
+    private double scalingFactorFromTicksToInches = 6.0 * Math.PI / 256.0;
+
     @Inject
     public PoseSubsystem(CommonLibFactory clf, PropertyFactory propManager, DriveSubsystem drive) {
         super(clf, propManager);
         this.drive = drive;
     }
 
-
     @Override
     protected double getLeftDriveDistance() {
-        return drive.leftLeader.getSelectedSensorPosition(0);
+        return drive.leftLeader.getSelectedSensorPosition(0) * scalingFactorFromTicksToInches;
     }
 
     @Override
     protected double getRightDriveDistance() {
-        return drive.rightLeader.getSelectedSensorPosition(0);
+        return drive.rightLeader.getSelectedSensorPosition(0) * scalingFactorFromTicksToInches;
     }
 
 }
+6 −1		src/main/java/xbot/common/controls/sensors/mock_adapters/MockGyro.java
+1 −1		src/test/java/xbot/common/simulation/SimulatedIMUTest.java