TASK - BUMP - DrivebaseVisionC

[shueja]

Drivebase Vision Align Command

Dependencies

• WPILIB 2020.2.2
• Drivebase
  • Differential Drive

Description

• Guides our drivebase to aim our shooter at the top power port

Inputs

• Limelight Network Table

Outputs

• Limelight Network Table
• Drivebase Differential drive

Actions

• Remains at Vision Pipeline throughout the match
• Keeps Vision LEDs off throughout the match
• when Vision is initiated:
  • turns on LEDs
  • finds target
  • when it sees target calculate our error
  • close the horizontal and vertical error gap
  • when crosshairs are on limelight, end command

Constraints

• Whether the limelight has any valid targets (0 or 1)
• angle of limelight = 40 degrees
• needs drivebase
• Horizontal Offset From Crosshair To Target (-29.8 degrees to 29.8 degrees)
• Vertical Offset From Crosshair To Target (-24.85 degrees to 24.85 degrees)

Design

Constants (In Constants.java) - public

• the horizontal point we need to adjust to is defined as our horizontal error times our horizontal P Value
• Vision Aim (yaw) proportional term - double
• Vision Distance proportional term - doublez
• Vision Ramp Time

Variables

Network Table

• Get target's horizintal position from network table
• Get target's vertical position from network table
• Get the status of the LED on limelight fron network table
• Get the status of the pipeline from network table

double

• Target area in percents - double
• The error of our Horizontal offset - double
• The error of our Vertical offset - double
• target horizontal position - double
• target vertical position - double
• clampValue instance - double
• the horizontal point we need to adjust to - double
• the vertical point we need to adjust to - double
• the target's valid Horizontal Range - double
• the target's valid Vertical Range - double

boolean

• Check to see if this is the first loop - boolean

int

• counts how long we are in range - int
• the amount of counts that are in range to be called valid - int

WPILIB

• Ramp timer - WPILIB Timer

Methods

• Default State

  • Sets Pipline to Vision Align
  • Turns off LEDS

• initialize()

  • tell this is the first loop of this new instance of the command

• execute()

  • when the first loop runs, reset the ramp timer and start it
  • after the first loop, first loop returns false
  • set the pipline to the vision mode
  • turns on LED
  • get horizontal position offset and assign it to a double
  • get vertical position offset and assign it to a double
  • the horizontal point we need to adjust to is defined as our horizontal error times our horizontal P Value
  • the Vertical point we need to adjust to is defined as our vertical error times our vertical P Value
  • input these values into the drivebases arcadeDrive

• end()

  • stop ramp timer
  • reset to first loop
  • turn off LEDs

• isFinished()

  • when crosshairs are within zone, increment the count
  • if the range count is equal to the valid count
  • call end()

• clamp()

  • if within max range and min range, return number
  • else return max range or min range value

For Research

• how to compute distance
• tracking power cells with chameleon vision
• skew value
• valid target boolean

[shueja]

This still needs to be done, but it needs a full rework most likely, so it's a new, more recent issue.

[EliSauder]

Is this something that goes into the base? If so it might make more sense to make it a more generic VisionC that can be extended if needed.