Manejando el Robot con Modo Tanque y Controles
Un caso de uso común es tener un joystick que debería controlar algunos actuadores que forman parte de un subsistema. El problema es que el joystick se crea en la clase RobotContainer y los motores a controlar están en el subsistema. La idea es crear un comando que, cuando esté programado, lea la entrada del joystick y llame a un método que se crea en el subsistema que impulsa los motores.
En este ejemplo se muestra un subsistema de base de conducción que funciona en la conducción de un tanque usando un par de controles.
Crear un Subsistema del Chasis
Cree un subsistema llamado Drive Train. Su responsabilidad será manejar la conducción de la base del robot.
Inside the Drive Train, create a Differential Drive object. The Differential Drive object can contain a left motor controller and a right motor controller.
Create two Motor Controllers in the Differential Drive, and two more outside the Differential Drive, inside the Drive Train subsystem.
In the Differential Drive, set the left and right motors to the appropriate motor controllers.
Finally, for the two motor controllers that aren’t in the differential drive, set them to follow the motor controllers in the differential drive.
Agregar los controles a la Interfaz Operadora
Agregar dos controles a la Interfaz Operadora, uno es la palanca izquierda y el otro es la palanca derecha. El eje Y de los dos controles se usa para manejar los robots a la izquierda y a la derecha.
Nota
Asegúrese de exportar su programa a C++ o Java antes de continuar con el siguiente paso.
Crear un método para escribir los motores en el subsistema
11// ROBOTBUILDER TYPE: Subsystem.
12
13package frc.robot.subsystems;
14
15
16import frc.robot.commands.*;
17import edu.wpi.first.wpilibj.livewindow.LiveWindow;
18import edu.wpi.first.wpilibj2.command.SubsystemBase;
19
20// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
21import edu.wpi.first.wpilibj.AnalogGyro;
22import edu.wpi.first.wpilibj.AnalogInput;
23import edu.wpi.first.wpilibj.CounterBase.EncodingType;
24import edu.wpi.first.wpilibj.Encoder;
25import edu.wpi.first.wpilibj.drive.DifferentialDrive;
26import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX;
27
28 // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
29
30
31/**
32 *
33 */
34public class DriveTrain extends SubsystemBase {
35 // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
36public static final double PlaceDistance = 0.1;
37public static final double BackAwayDistance = 0.6;
38
39 // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
40
41 // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
42private PWMVictorSPX left1;
43private PWMVictorSPX right1;
44private DifferentialDrive drive;
45private PWMVictorSPX left2;
46private PWMVictorSPX right2;
47private Encoder leftencoder;
48private Encoder rightencoder;
49private AnalogGyro gyro;
50private AnalogInput rangefinder;
51
52 // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
53
54 /**
55 *
56 */
57 public DriveTrain() {
58 // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
59left1 = new PWMVictorSPX(0);
60 addChild("left1",left1);
61 left1.setInverted(false);
62
63right1 = new PWMVictorSPX(1);
64 addChild("right1",right1);
65 right1.setInverted(true);
66
67drive = new DifferentialDrive(left1, right1);
68 addChild("Drive",drive);
69 drive.setSafetyEnabled(true);
70drive.setExpiration(0.1);
71drive.setMaxOutput(1.0);
72
73
74left2 = new PWMVictorSPX(2);
75 addChild("left2",left2);
76 left1.addFollower(left2);
77left2.setInverted(false);
78
79right2 = new PWMVictorSPX(3);
80 addChild("right2",right2);
81 right1.addFollower(right2);
82right2.setInverted(false);
83
84leftencoder = new Encoder(0, 1, false, EncodingType.k4X);
85 addChild("left encoder",leftencoder);
86 leftencoder.setDistancePerPulse(1.0);
87
88rightencoder = new Encoder(2, 3, false, EncodingType.k4X);
89 addChild("right encoder",rightencoder);
90 rightencoder.setDistancePerPulse(1.0);
91
92gyro = new AnalogGyro(0);
93 addChild("gyro",gyro);
94 gyro.setSensitivity(0.007);
95
96rangefinder = new AnalogInput(1);
97 addChild("range finder", rangefinder);
98
99
100
101 // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
102 }
103
104 @Override
105 public void periodic() {
106 // This method will be called once per scheduler run
107
108 }
109
110 @Override
111 public void simulationPeriodic() {
112 // This method will be called once per scheduler run when in simulation
113
114 }
115
116 // Put methods for controlling this subsystem
117 // here. Call these from Commands.
118
119 public void drive(double left, double right) {
120 drive.tankDrive(left, right);
121 }
122
123 public void stop() {
124 drive.tankDrive(0.0, 0.0);
125 }
126
127}
11// ROBOTBUILDER TYPE: Subsystem.
12#pragma once
13
14// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
15#include <frc2/command/SubsystemBase.h>
16#include <frc/AnalogGyro.h>
17#include <frc/AnalogInput.h>
18#include <frc/Encoder.h>
19#include <frc/drive/DifferentialDrive.h>
20#include <frc/motorcontrol/PWMVictorSPX.h>
21
22 // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
23
24/**
25 *
26 *
27 * @author ExampleAuthor
28 */
29class DriveTrain: public frc2::SubsystemBase {
30private:
31 // It's desirable that everything possible is private except
32 // for methods that implement subsystem capabilities
33 // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
34frc::AnalogInput m_rangefinder{1};
35frc::AnalogGyro m_gyro{0};
36frc::Encoder m_rightencoder{2, 3, false, frc::Encoder::k4X};
37frc::Encoder m_leftencoder{0, 1, false, frc::Encoder::k4X};
38frc::PWMVictorSPX m_right2{3};
39frc::PWMVictorSPX m_left2{2};
40frc::DifferentialDrive m_drive{m_left1, m_right1};
41frc::PWMVictorSPX m_right1{1};
42frc::PWMVictorSPX m_left1{0};
43
44 // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
45public:
46DriveTrain();
47
48 void Periodic() override;
49 void SimulationPeriodic() override;
50 void Drive(double left, double right);
51 void Stop();
52 // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CMDPIDGETTERS
53
54 // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CMDPIDGETTERS
55 // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
56static constexpr const double PlaceDistance = 0.1;
57static constexpr const double BackAwayDistance = 0.6;
58
59 // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTANTS
60
61
62};
11// ROBOTBUILDER TYPE: Subsystem.
12
13// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
14#include "subsystems/DriveTrain.h"
15#include <frc/smartdashboard/SmartDashboard.h>
16
17 // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
18
19DriveTrain::DriveTrain(){
20 SetName("Drive Train");
21 // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
22 SetSubsystem("Drive Train");
23
24 AddChild("range finder", &m_rangefinder);
25
26
27 AddChild("gyro", &m_gyro);
28 m_gyro.SetSensitivity(0.007);
29
30 AddChild("right encoder", &m_rightencoder);
31 m_rightencoder.SetDistancePerPulse(1.0);
32
33 AddChild("left encoder", &m_leftencoder);
34 m_leftencoder.SetDistancePerPulse(1.0);
35
36 AddChild("right2", &m_right2);
37 m_right2.SetInverted(false);
38m_right1.AddFollower(m_right2);
39
40 AddChild("left2", &m_left2);
41 m_left2.SetInverted(false);
42m_left1.AddFollower(m_left2);
43
44 AddChild("Drive", &m_drive);
45 m_drive.SetSafetyEnabled(true);
46m_drive.SetExpiration(0.1_s);
47m_drive.SetMaxOutput(1.0);
48
49
50 AddChild("right1", &m_right1);
51 m_right1.SetInverted(true);
52
53
54 AddChild("left1", &m_left1);
55 m_left1.SetInverted(false);
56
57
58 // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
59}
60
61void DriveTrain::Periodic() {
62 // Put code here to be run every loop
63
64}
65
66void DriveTrain::SimulationPeriodic() {
67 // This method will be called once per scheduler run when in simulation
68
69}
70
71// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CMDPIDGETTERS
72
73 // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CMDPIDGETTERS
74
75
76// Put methods for controlling this subsystem
77// here. Call these from Commands.
78
79void DriveTrain::Drive(double left, double right) {
80 m_drive.TankDrive(left, right);
81}
82
83void DriveTrain::Stop() {
84 m_drive.TankDrive(0.0, 0.0);
85}
Create a method that takes the joystick inputs, in this case the left and right driver joystick. The values are passed to the DifferentialDrive object that in turn does tank steering using the joystick values. Also create a method called stop() that stops the robot from driving, this might come in handy later.
Leer los valores de las palancas y llamar los métodos del subsistema
Cree un comando, en este caso llamado Tank Drive. Su propósito será leer los valores del joystick y enviarlos al subsistema Drive Base. Tenga en cuenta que este comando requiere el subsistema Drive Train. Esto hará que deje de funcionar cada vez que cualquier otra cosa intente utilizar el tren de transmisión.
Create two parameters (DoubleSupplier for Java or std::function<double()> for C++) for the left and right speeds.
Create a parameter preset to retrieve joystick values. Java: For the left parameter enter () -> getJoystick1().getY() and for right enter () -> getJoystick2().getY(). C++: For the left parameter enter [this] {return getJoystick1()->GetY();} and for the right enter [this] {return getJoystick2()->GetY();}
Nota
Asegúrese de exportar su programa a C++ o Java antes de continuar con el siguiente paso.
Añada el Código para hacer la conducción
11// ROBOTBUILDER TYPE: Command.
12
13package frc.robot.commands;
14import edu.wpi.first.wpilibj2.command.Command;
15import java.util.function.DoubleSupplier;
16
17// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
18import frc.robot.subsystems.DriveTrain;
19
20 // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=IMPORTS
21
22/**
23 *
24 */
25public class TankDrive extends Command {
26
27 // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_DECLARATIONS
28 private final DriveTrain m_driveTrain;
29 private DoubleSupplier m_left;
30 private DoubleSupplier m_right;
31
32 // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_DECLARATIONS
33
34 // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
35
36
37 public TankDrive(DoubleSupplier left, DoubleSupplier right, DriveTrain subsystem) {
38
39 // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
40 // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_SETTING
41 m_left = left;
42 m_right = right;
43
44 // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLE_SETTING
45 // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=REQUIRES
46
47 m_driveTrain = subsystem;
48 addRequirements(m_driveTrain);
49
50 // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=REQUIRES
51 }
52
53 // Called when the command is initially scheduled.
54 @Override
55 public void initialize() {
56 }
57
58 // Called every time the scheduler runs while the command is scheduled.
59 @Override
60 public void execute() {
61 m_driveTrain.drive(m_left.getAsDouble(), m_right.getAsDouble());
62 }
63
64 // Called once the command ends or is interrupted.
65 @Override
66 public void end(boolean interrupted) {
67 m_driveTrain.stop();
68 }
69
70 // Returns true when the command should end.
71 @Override
72 public boolean isFinished() {
73 return false;
74 }
75
76 @Override
77 public boolean runsWhenDisabled() {
78 // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DISABLED
79 return false;
80
81 // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DISABLED
82 }
83}
11// ROBOTBUILDER TYPE: Command.
12
13#pragma once
14
15 // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
16
17#include <frc2/command/CommandHelper.h>
18#include <frc2/command/Command.h>
19
20#include "subsystems/DriveTrain.h"
21
22 // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INCLUDES
23
24/**
25 *
26 *
27 * @author ExampleAuthor
28 */
29class TankDrive: public frc2::CommandHelper<frc2::Command, TankDrive> {
30public:
31 // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR
32 explicit TankDrive(std::function<double()> left, std::function<double()> right, DriveTrain* m_drivetrain);
33
34 // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR
35
36void Initialize() override;
37void Execute() override;
38bool IsFinished() override;
39void End(bool interrupted) override;
40bool RunsWhenDisabled() const override;
41
42
43private:
44 // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLES
45
46std::function<double()> m_left;
47std::function<double()> m_right;
48
49DriveTrain* m_drivetrain;
50
51
52 // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=VARIABLES
53};
11// ROBOTBUILDER TYPE: Command.
12
13// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR
14
15#include "commands/TankDrive.h"
16
17TankDrive::TankDrive(std::function<double()> left, std::function<double()> right, DriveTrain* m_drivetrain) :
18 m_left(left),
19 m_right(right),
20m_drivetrain(m_drivetrain)
21{
22
23 // Use AddRequirements() here to declare subsystem dependencies
24 // eg. AddRequirements(m_Subsystem);
25 SetName("TankDrive");
26 AddRequirements({m_drivetrain});
27
28 // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTOR
29
30}
31
32// Called just before this Command runs the first time
33void TankDrive::Initialize() {
34
35}
36
37// Called repeatedly when this Command is scheduled to run
38void TankDrive::Execute() {
39 m_drivetrain->Drive(m_left(),m_right());
40}
41
42// Make this return true when this Command no longer needs to run execute()
43bool TankDrive::IsFinished() {
44 return false;
45}
46
47// Called once after isFinished returns true
48void TankDrive::End(bool interrupted) {
49 m_drivetrain->Drive(0,0);
50}
51
52bool TankDrive::RunsWhenDisabled() const {
53 // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DISABLED
54 return false;
55
56 // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DISABLED
57}
Add code to the execute method to do the actual driving. All that is needed is pass the for the left and right parameters to the Drive Train subsystem. The subsystem just uses them for the tank steering method on its DifferentialDrive object. And we get tank steering.
También completamos el método end() para que cuando este comando se interrumpa o se detenga, los motores se detendrán como medida de seguridad.
Hacer el Comando por defecto
El último paso es hacer que el comando Tank Drive sea el «Comando predeterminado» para el subsistema Drive Train. Esto significa que siempre que ningún otro comando esté usando Drive Train, los Joysticks tendrán el control. Este es probablemente el comportamiento deseable. Cuando el código autónomo se está ejecutando, también requerirá el tren de transmisión e interrumpirá el comando Tank Drive. Cuando finalice el código autónomo, el comando DriveWithJoysticks se reiniciará automáticamente (porque es el comando predeterminado) y los operadores volverán a tener el control. Si escribe cualquier código que haga teleoperación automática, esos comandos también deberían «requerir» el DriveTrain para que también interrumpan el comando Tank Drive y tengan control total.
The final step is to choose the joystick parameter preset previously set up.
Nota
Asegúrese de exportar su programa a C++ o Java antes de continuar.