Changes for/from Robo Replay (#198)

* Robo Replay * Fix first cone score auto * Change arm intake to not have intermediate shoulder state * Raise auto balance angle threshold * Change arm intake to prevent stuck on ramp * Lower balance speed (compeition specific) * Add error log file * add logs * Undo strut broken fixes --------- Co-authored-by: Prog694 <[email protected]>
StuyPulse · Oct 27, 2023 · f34fc6a · f34fc6a
1 parent 1c8490b
commit f34fc6a
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Showing 9 changed files with 824 additions and 13 deletions.
diff --git a/norobotcode-error-stacktrack.txt b/norobotcode-error-stacktrack.txt
diff --git a/radio-noconnection-trace.txt b/radio-noconnection-trace.txt
@@ -0,0 +1,74 @@
+Driver Station reported IP: 172.22.11.2
+
+> Task :discoverroborio
+Discovering Target roborio
+Using [email protected]:22 for target roborio
+
+> Task :deployprogramKillroborioroborio
+    -C-> . /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t 2> /dev/null @ /home/lvuser
+
+> Task :deployrobotCommandfrcJavaroborio
+    -C-> echo '/usr/local/frc/JRE/bin/java -XX:+UseG1GC -XX:MaxGCPauseMillis=1 -XX:GCTimeRatio=1 -XX:+AlwaysPreTouch
+-Djava.lang.invoke.stringConcat=BC_SB -Djava.library.path=/usr/local/frc/third-party/lib -jar "/home/lvuser/Jim.jar"
+' > /home/lvuser/robotCommand @ /home/lvuser
+      -[-1]
+    -C-> chmod +x /home/lvuser/robotCommand; chown lvuser /home/lvuser/robotCommand @ /home/lvuser
+
+> Task :deployfrcStaticFileDeployroborio
+    -C-> mkdir -p pathplanner @ /home/lvuser/deploy
+      -[-1]
+    20 file(s) are up-to-date and were not deployed
+
+> Task :deployjrefrcJavaroborio
+    -C-> if [[ -f "/usr/local/frc/JRE/bin/java" ]]; then echo OK; else echo MISSING; fi @ /tmp
+      -[0]-> OK
+
+    -C-> opkg list-installed | grep openjdk @ /tmp
+      -[0]-> frc2023-openjdk-17-jre - 17.0.5u7-1 - FRC OpenJDK Java Runtime Environment
+
+  Searching for JRE 17.0.5u7-1
+  Found JRE frc2023-openjdk-17-jre - 17.0.5u7-1 - FRC OpenJDK Java Runtime Environment
+  JRE Is Correct Version
+  Artifact skipped
+
+> Task :deployfrcJavaroborio
+    -F-> C:\Users\StuyPulse\Desktop\Robot Code\Jim\build\libs\Jim.jar -> Jim.jar @ /home/lvuser
+
+> Task :deployfrcJavaroborio FAILED
+> Task :deploynativeZipsfrcJavaroborio FAILED
+
+FAILURE: Build completed with 2 failures.
+
+1: Task failed with an exception.
+-----------
+* What went wrong:
+Execution failed for task ':deployfrcJavaroborio'.
+> A failure occurred while executing edu.wpi.first.deployutils.deploy.artifact.ArtifactDeployWorker
+   > 4: java.io.IOException: inputstream is closed
+
+* Try:
+> Run with --stacktrace option to get the stack trace.
+> Run with --info or --debug option to get more log output.
+> Run with --scan to get full insights.
+==============================================================================
+
+2: Task failed with an exception.
+-----------
+* What went wrong:
+Execution failed for task ':deploynativeZipsfrcJavaroborio'.
+> A failure occurred while executing edu.wpi.first.deployutils.deploy.artifact.ArtifactDeployWorker
+   > com.jcraft.jsch.JSchException: session is down
+
+* Try:
+> Run with --stacktrace option to get the stack trace.
+> Run with --info or --debug option to get more log output.
+> Run with --scan to get full insights.
+==============================================================================
+
+* Get more help at https://help.gradle.org
+
+BUILD FAILED in 10s
+10 actionable tasks: 8 executed, 2 up-to-date
+
+ *  The terminal process "cmd.exe /d /c gradlew deploy  -PteamNumber=694 --offline  -Dorg.gradle.java.home="C:\Users\Public\wpilib\2023\jdk"" terminated with exit code: 1. 
+ *  Terminal will be reused by tasks, press any key to close it. 
diff --git a/shuffleboard.json b/shuffleboard.json
@@ -588,9 +588,9 @@
     }
   ],
   "windowGeometry": {
-    "x": -1543.199951171875,
+    "x": -7.199999809265137,
     "y": -7.199999809265137,
     "width": 1550.4000244140625,
-    "height": 878.4000244140625
+    "height": 838.4000244140625
   }
 }
diff --git a/src/main/java/com/stuypulse/robot/RobotContainer.java b/src/main/java/com/stuypulse/robot/RobotContainer.java
@@ -245,13 +245,13 @@ public void configureAutons() {
         autonChooser.addOption("Two Piece", new TwoPiece());
         autonChooser.addOption("Two Piece Bump", new TwoPieceBump());
         autonChooser.addOption("Two Piece Dock Red", new TwoPieceDockRed());
-        autonChooser.addOption("Two Piece Dock Blue", new TwoPieceDockBlue());
+        autonChooser.setDefaultOption("Two Piece Dock Blue", new TwoPieceDockBlue());
         // autonChooser.addOption("Two Piece Dock Bump Removed Blue", new BCTwoPieceDockBumpBlue());
         // autonChooser.addOption("Two Piece Dock Bump Removed Red", new BCTwoPieceDockBumpRed());
 
         // Three Piece
 
-        autonChooser.setDefaultOption("Three Piece", new ThreePiece()); // basically blue
+        autonChooser.addOption("Three Piece", new ThreePiece()); // basically blue
         autonChooser.addOption("Three Piece Red", new ThreePieceRed());
         autonChooser.addOption("Three Piece Blue", new ThreePieceBlue());
         // autonChooser.addOption("Three Piece Bump Removed Blue", new BCThreePieceBumpBlue());

diff --git a/src/main/java/com/stuypulse/robot/commands/arm/routines/ArmIntake.java b/src/main/java/com/stuypulse/robot/commands/arm/routines/ArmIntake.java
@@ -56,17 +56,32 @@ protected ArmTrajectory getTrajectory(ArmState src, ArmState dest) {
         double intermediateShoulderDegrees = Acquire.kIntermediate.getShoulderDegrees();
         double wristSafeAngle = Wrist.WRIST_SAFE_ANGLE.get();
 
+        // return new ArmTrajectory()
+        //     .addState(src.getShoulderDegrees(), wristSafeAngle)
+
+        //     .addState(
+        //         new ArmState(intermediateShoulderDegrees, wristSafeAngle)
+        //             .setShoulderTolerance(15)
+        //             .setWristTolerance(360))
+
+        //     .addState(
+        //         new ArmState(intermediateShoulderDegrees, dest.getWristDegrees())
+        //             .setWristTolerance(360))
+
+        //     .addState(
+        //         new ArmState(dest.getShoulderDegrees(), dest.getWristDegrees())
+        //             .setShoulderTolerance(3)
+        //             .setWristTolerance(4));
+
+
         return new ArmTrajectory()
             .addState(src.getShoulderDegrees(), wristSafeAngle)
 
             .addState(
-                new ArmState(intermediateShoulderDegrees, wristSafeAngle)
+                new ArmState(intermediateShoulderDegrees, dest.getWristDegrees())
                     .setShoulderTolerance(15)
                     .setWristTolerance(360))
 
-            .addState(
-                new ArmState(intermediateShoulderDegrees, dest.getWristDegrees())
-                    .setWristTolerance(360))
 
             .addState(
                 new ArmState(dest.getShoulderDegrees(), dest.getWristDegrees())

diff --git a/src/main/java/com/stuypulse/robot/commands/auton/TwoPieceBump.java b/src/main/java/com/stuypulse/robot/commands/auton/TwoPieceBump.java
@@ -71,7 +71,7 @@ public TwoPieceBump() {
 
         // initial setup
         addCommands(
-            new ManagerSetNodeLevel(NodeLevel.HIGH),
+            new ManagerSetNodeLevel(NodeLevel.MID),
             new ManagerSetGamePiece(GamePiece.CONE_TIP_UP),
             new ManagerSetScoreSide(ScoreSide.BACK)
         );

diff --git a/src/main/java/com/stuypulse/robot/commands/auton/TwoPieceDockBlue.java b/src/main/java/com/stuypulse/robot/commands/auton/TwoPieceDockBlue.java
@@ -112,7 +112,7 @@ public TwoPieceDockBlue() {
 
         // initial setup
         addCommands(
-            new ManagerSetNodeLevel(NodeLevel.HIGH),
+            new ManagerSetNodeLevel(NodeLevel.MID),
             new ManagerSetGamePiece(GamePiece.CONE_TIP_UP),
             new ManagerSetScoreSide(ScoreSide.BACK)
         );

diff --git a/src/main/java/com/stuypulse/robot/commands/auton/TwoPieceDockRed.java b/src/main/java/com/stuypulse/robot/commands/auton/TwoPieceDockRed.java
@@ -111,7 +111,7 @@ public TwoPieceDockRed() {
 
         // initial setup
         addCommands(
-            new ManagerSetNodeLevel(NodeLevel.HIGH),
+            new ManagerSetNodeLevel(NodeLevel.MID),
             new ManagerSetGamePiece(GamePiece.CONE_TIP_UP),
             new ManagerSetScoreSide(ScoreSide.BACK)
         );

diff --git a/src/main/java/com/stuypulse/robot/constants/Settings.java b/src/main/java/com/stuypulse/robot/constants/Settings.java
@@ -282,10 +282,10 @@ public interface Wings {
 
     public interface AutoBalance {
         SmartNumber DISTANCE_THRESHOLD = new SmartNumber("Auto Balance/Dual PID/Distance Threshold", 0.05);
-        SmartNumber ANGLE_THRESHOLD = new SmartNumber("Auto Balance/Dual PID/Angle Thrshold", 6); // 12 originally
+        SmartNumber ANGLE_THRESHOLD = new SmartNumber("Auto Balance/Dual PID/Angle Thrshold", 8); // 6 originally
 
         SmartNumber MAX_TILT = new SmartNumber("Auto Balance/Max Tilt (deg)", 15.0);
-        SmartNumber MAX_SPEED = new SmartNumber("Auto Balance/Max Engage Speed (m per s)", 0.8);
+        SmartNumber MAX_SPEED = new SmartNumber("Auto Balance/Max Engage Speed (m per s)", 0.5); // 0.8 originally
 
         SmartNumber kT_u = new SmartNumber("Auto Balance/With Plant/Tu", 0.2);  // from Zieger-Nichols tuning method