Mechanism2D in AdvantageScope testing #151
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| LiveWindow.disableAllTelemetry(); | ||
| LiveWindow.enableTelemetry(PDH); | ||
| mech = new Mechanism2d(1, 2); | ||
| root = mech.getRoot("climber", 0.5 + Units.inchesToMeters(5.5), Units.inchesToMeters(19.5)); |
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? Not sure what the "climber" is, as this year's robot isn't supposed to climb.
| root = mech.getRoot("climber", 0.5 + Units.inchesToMeters(5.5), Units.inchesToMeters(19.5)); | ||
| SmartDashboard.putData("Mechanism", mech); | ||
| m_elevator = | ||
| root.append(new MechanismLigament2d("elevator", 1, 90, 2, new Color8Bit(Color.kRed))); |
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Worth a comment that this is a single-stage elevator even though the robot actually uses a multi-stage elevator.
| public static final double CORAL_QUICK_INTAKE = 1.6; | ||
| public static final double MIN_EMPTY_GROUND_INTAKE = 4.5; | ||
| public static final double MIN_FULL_GROUND_INTAKE = 8.0; | ||
| private static final double MOTOR_ROTATIONS_PER_METER = 40; // Inaccurate |
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Should be able to make this accurate by measuring how far the elevator extends (in meters) at CORAL_LEVEL_FOUR_PRE_POS and then simply change this to 37.5 / <actual relative elevator extension>, where <actual relative elevator extension> is what's measured with a tape measure.
| Mechanism2d mech; | ||
| MechanismRoot2d root; | ||
| MechanismLigament2d m_elevator; | ||
| MechanismLigament2d m_wrist; |
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Would be nicer to encapsulate the Mechanism (and similar "report physical position") code in a different class instead of adding it to the main Robot class. These are generally called 'digital twins', so could use something like DigitalTwin.java and have robotPeriodic() simply call an update() function on it.
| m_motorOneSimState.setRawRotorPosition(targetPos); | ||
| m_motorTwoSimState.setRawRotorPosition(targetPos); | ||
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| elevatorPose3d.set(new Pose3d(new Pose2d(0.0, getHeightMeters(), new Rotation2d(0.0,0.0)))); |
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When running this in the simulator, it's continually logging this error here:
Error at java.base/java.lang.Thread.getStackTrace(Thread.java:1619): x and y components of Rotation2d are zero
at java.base/java.lang.Thread.getStackTrace(Thread.java:1619)
at edu.wpi.first.math.geometry.Rotation2d.<init>(Rotation2d.java:126)
at frc.robot.subsystems.ElevatorSubsystem.periodic(ElevatorSubsystem.java:388)
at edu.wpi.first.wpilibj2.command.CommandScheduler.run(CommandScheduler.java:269)
at frc.robot.Robot.robotPeriodic(Robot.java:137)
at edu.wpi.first.wpilibj.IterativeRobotBase.loopFunc(IterativeRobotBase.java:400)
at edu.wpi.first.wpilibj.TimedRobot.startCompetition(TimedRobot.java:148)
at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:419)
at edu.wpi.first.wpilibj.RobotBase.lambda$startRobot$1(RobotBase.java:490)
at java.base/java.lang.Thread.run(Thread.java:840)
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