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Merged
CoolSpy3 merged 2 commits into from
May 9, 2022
Merged

Use WPILib logging #2

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e4b162f
use wpilib logging
CoolSpy3 May 8, 2022
c3daed8
add shooter currents to smartdashboard
CoolSpy3 May 9, 2022
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11 changes: 4 additions & 7 deletions src/main/java/org/team199/robot2022/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -4,11 +4,12 @@

package org.team199.robot2022;

import edu.wpi.first.wpilibj.DataLogManager;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import frc.robot.lib.MotorErrors;
import frc.robot.lib.logging.Log;

/**
* The VM is configured to automatically run this class, and to call the functions corresponding to
Expand All @@ -25,10 +26,11 @@ public class Robot extends TimedRobot {
*/
@Override
public void robotInit() {
DataLogManager.start();
DriverStation.startDataLog(DataLogManager.getLog());
// Instantiate our RobotContainer. This will perform all our button bindings, and put our
// autonomous chooser on the dashboard.
robotContainer = new RobotContainer(this);
Log.init();
}

/**
Expand All @@ -49,7 +51,6 @@ public void robotPeriodic() {
double totalAmps = robotContainer.pdp.getTotalCurrent();
SmartDashboard.putNumber("PDP Voltage", batteryVolts);
SmartDashboard.putNumber("PDP Current", totalAmps);
Log.logData();
MotorErrors.printSparkMaxErrorMessages();
}

Expand All @@ -62,8 +63,6 @@ public void disabledInit() {
robotContainer.dt.coast();
} catch(InterruptedException e) {}
}).start();
Log.flush();
Log.setDataLoggingDisabled(true);
}

@Override
Expand All @@ -75,7 +74,6 @@ public void autonomousInit() {
robotContainer.dt.brake();
robotContainer.dt.resetOdometry();
robotContainer.getAutonomousCommand().schedule();
Log.setDataLoggingDisabled(false);
robotContainer.initShooterConfig();
}

Expand All @@ -91,7 +89,6 @@ public void teleopInit() {
// this line or comment it out.
CommandScheduler.getInstance().cancelAll();
robotContainer.dt.brake();
Log.setDataLoggingDisabled(false);
robotContainer.initShooterConfig();
}

Expand Down
2 changes: 2 additions & 0 deletions src/main/java/org/team199/robot2022/RobotContainer.java
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Expand Up @@ -107,6 +107,8 @@ public RobotContainer(Robot robot) {
autoSelector.addOption(Integer.toString(i), autoPaths[i]);
}

SmartDashboard.putData(shooter);

SmartDashboard.putData("Auto Selector", autoSelector);

SmartDashboard.putNumber("Field Offset from North (degrees)", getAutoPath() == null ? 180 : getAutoPath().path.get(0).getRotation2d(0).getDegrees() + 180);
Expand Down
15 changes: 8 additions & 7 deletions src/main/java/org/team199/robot2022/subsystems/Shooter.java
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Original file line number Diff line number Diff line change
Expand Up @@ -5,16 +5,14 @@

import org.team199.robot2022.Constants;

import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
//import edu.wpi.first.wpilibj.SpeedController;
//import java.lang.AutoCloseable;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.lib.MotorControllerFactory;
import frc.robot.lib.SparkVelocityPIDController;
import frc.robot.lib.MotorErrors.TemperatureLimit;
import frc.robot.lib.LinearActuator;
import frc.robot.lib.LinearInterpolation;
import frc.robot.lib.logging.Log;

public class Shooter extends SubsystemBase {
private static double kV = 0.129 / 60;
Expand Down Expand Up @@ -64,10 +62,6 @@ public Shooter() {
slave.setIdleMode(IdleMode.kCoast);

SmartDashboard.putNumber("Ball PSI", ballPSI);

Log.registerDoubleVar("Shooter RPM", () -> pidController.getEncoder().getVelocity());
Log.registerDoubleVar("Shooter Current Master", () -> master.getOutputCurrent());
Log.registerDoubleVar("Shooter Current Slave", () -> slave.getOutputCurrent());
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}

public void updateFromPSI() {
Expand Down Expand Up @@ -180,6 +174,13 @@ public <T> T chooseFromPosition(T fender, T awayFender, T tarmac) {
}
}

@Override
public void initSendable(SendableBuilder builder) {
super.initSendable(builder);
builder.addDoubleProperty("Shooter Master Current", master::getOutputCurrent, null);
builder.addDoubleProperty("Shooter Slave Current", slave::getOutputCurrent, null);
}

public static enum ShotPosition {
FENDER, AWAY_FROM_FENDER, TARMAC;
}
Expand Down