changes at competition

blair-robot-project · Mar 3, 2025 · abdf468 · abdf468
1 parent 25bcfb1
commit abdf468
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Showing 12 changed files with 189 additions and 151 deletions.
diff --git a/src/main/deploy/autoscore/reefPlacement.js b/src/main/deploy/autoscore/reefPlacement.js
@@ -32,7 +32,9 @@ const confirmReefButton = document.getElementById("confirmReefButton");
 
 ["touchend", "mouseleave"].forEach(_ => {
     locationImg.addEventListener(_, () => {
-        locationImg.src = "locationSelectorImages/locationSelectorNone.png";
+        if(!areaSelected) {
+            locationImg.src = "locationSelectorImages/locationSelectorNone.png";
+        }
     });
 });
 

diff --git a/src/main/deploy/autoscore/robotCommunication.js b/src/main/deploy/autoscore/robotCommunication.js
@@ -46,6 +46,20 @@ function valueUpdateHandler( topic, timestamp_us, value ) {
   console.log("value updated: " + topic.name);
   if(topic.name == "/webcom/Alliance") {
     setAlliance(value);
+  } else if(topic.name == "/webcom/isDone" && value===true) {
+    document.getElementById("manualText").innerText = `Scoring on Area ${numberToLetter[11-(reefArea+4)%12]} and Level ${coralLevel}`;
+    showContainer("manualContainer");
+    ["pivotForward", "pivotBack", "elevatorUp", "elevatorDown", "wristForward", "wristBack"].forEach(
+      id => {
+        const elt = document.getElementById(id);
+        const eltinterval = setInterval(() => {
+          if(window.getComputedStyle(elt).backgroundColor == "rgb(200, 0, 0)") {
+            setCommand(id);
+          }
+        }, 0.02);
+        intervalList.push(eltinterval);
+      }
+    );
   }
 }
 
@@ -97,8 +111,9 @@ let coralLevel = -1;
 let reefArea = -1;
 let coralSelected = false;
 let areaSelected = false;
+let intervalList = [];
 
-const resetReefStuff = () => {
+const resetReef = () => {
   coralSelected = false;
   areaSelected = false;
   coralLevel = -1;
@@ -108,12 +123,14 @@ const resetReefStuff = () => {
   document.getElementById("areaText").innerText = "Reef Area: None";
   document.getElementById("coralText").innerText = "Coral Level: None";
   document.getElementById("locationSelect").src = "locationSelectorImages/locationSelectorNone.png";
+  intervalList.forEach(ivl => clearInterval(ivl));
+  intervalList.length = 0;
 }
 
 document.getElementById("confirmReefButton").onclick = async () => {
   if(coralSelected && areaSelected) {
-    document.getElementById("manualText").innerText = `Scoring on Area ${numberToLetter[11-(reefArea+4)%12]} and Level ${coralLevel}`
-    showContainer("manualContainer");
+    scoreReef(reefArea, coralLevel);
+    document.getElementById("confirmReefButton").innerText = "Scoring...";
   }
 }
 
@@ -132,7 +149,6 @@ const scoreProcessor = async () => {
 }
 
 const intakeCoral = async (isAtTopSide) => {
-  console.log("intaking coral");
   if(isAtTopSide) {
     setCommand("intakeCoralTop");
   } else {
@@ -145,11 +161,6 @@ const scoreReef = async (location, level) => {
   setCommand(`l${level} location${location > 3 ? location-3 : location+9}`);
 }
 
-["pivotForward", "pivotBack", "elevatorUp", "elevatorDown", "wristForward", "wristBack"].forEach(
-  id => document.getElementById(id).onclick = () => {
-    setCommand(id);
-  });
-
 const scoringContainer = document.querySelector(".scoringContainer");
 const messageContainer = document.querySelector(".messageContainer");
 const msgDisplay = document.getElementById("messageDisplay");
@@ -169,18 +180,19 @@ const connection = () => {
   messageContainer.style.display = "none";
   scoringContainer.style.display = "flex";
   msgDisplay.innerText = "";
+  resetReef();
   showContainer("reefContainer");
 }
 
 document.getElementById("cancel").onclick = () => {
   setCommand("cancel");
-  resetReefStuff();
+  resetReef();
   showContainer("reefContainer");
 }
 
 document.getElementById("score").onclick = () => {
-  scoreReef();
-  resetReefStuff();
+  setCommand("score");
+  resetReef();
   showContainer("reefContainer");
 }
 

diff --git a/src/main/deploy/autoscore/style.css b/src/main/deploy/autoscore/style.css
@@ -47,6 +47,8 @@ body {
 
 .coralLevelImage {
     width: 25%;
+    align-items: center;
+    align-content: center;
 }
 
 .reefText {
@@ -78,7 +80,7 @@ body {
 
 #coral {
     width: 100%;
-    height: 100%;
+    aspect-ratio: 0.5;
 }
 
 #locationSelect {
@@ -122,6 +124,7 @@ body {
     justify-content: center;
     text-align: center;
     padding: 0 1vh;
+    user-select: none;
 }
 
 #confirmReefButton {

diff --git a/src/main/kotlin/frc/team449/commands/autoscoreCommands/AutoScoreCommands.kt b/src/main/kotlin/frc/team449/commands/autoscoreCommands/AutoScoreCommands.kt
@@ -1,7 +1,6 @@
 package frc.team449.commands.autoscoreCommands
 
 import edu.wpi.first.math.geometry.Pose2d
-import edu.wpi.first.math.kinematics.ChassisSpeeds
 import edu.wpi.first.wpilibj.DriverStation
 import edu.wpi.first.wpilibj.DriverStation.Alliance
 import edu.wpi.first.wpilibj.RobotBase
@@ -13,9 +12,26 @@ import frc.team449.subsystems.superstructure.SuperstructureGoal
 
 class AutoScoreCommands(private val robot: Robot) {
   private var currentCommand: Command = InstantCommand()
+  private var scoreCommand: Command = InstantCommand()
+  var waitingForScore = false
+  private var moving = false
+
+  fun scoreCommand(): Command {
+    waitingForScore = false
+    return scoreCommand
+  }
+
+  fun currentCommandFinished(): Boolean {
+    if(!currentCommand.isScheduled && moving) {
+      moving = false
+      return true
+    }
+    return false
+  }
 
   fun getReefCommand(rl: AutoScoreCommandConstants.ReefLocation, cl: AutoScoreCommandConstants.CoralLevel): Command {
     return runOnce({
+      moving = true
       val reefLocationPose =
         if (DriverStation.getAlliance().get() == Alliance.Red) {
           when (rl) {
@@ -62,64 +78,82 @@ class AutoScoreCommands(private val robot: Robot) {
       }
       robot.poseSubsystem.autoscoreCommandPose = reefLocationPose
 
-      val scoreCommand = if (!RobotBase.isSimulation()) {
+      scoreCommand = if (!RobotBase.isSimulation()) {
         robot.superstructureManager.requestGoal(scoreGoal)
-      } else InstantCommand()
+      } else {
+        InstantCommand()
+      }
 
       val premoveCommand = robot.superstructureManager.requestGoal(premoveGoal)
 
       currentCommand =
         AutoScoreWrapperCommand(
-        robot, AutoScorePathfinder(robot, reefLocationPose), premoveCommand
-        ).andThen(InstantCommand({
-          scoreCommand.schedule()
-          robot.drive.defaultCommand = robot.driveCommand
-        }))
+          robot,
+          AutoScorePathfinder(robot, reefLocationPose),
+          premoveCommand
+        ).andThen(
+          InstantCommand({
+            robot.drive.defaultCommand = robot.driveCommand
+            waitingForScore = true
+          })
+        )
       currentCommand.schedule()
     })
   }
 
   fun getProcessorCommand(): Command {
     return runOnce({
+      moving = true
       val processorPose = if (DriverStation.getAlliance().get() == Alliance.Red) AutoScoreCommandConstants.processorPoseRed else AutoScoreCommandConstants.processorPoseBlue
-      val scoreCommand = InstantCommand()
+      scoreCommand = InstantCommand()
       val premoveCommand = InstantCommand()
       robot.poseSubsystem.autoscoreCommandPose = processorPose
       currentCommand =
         AutoScoreWrapperCommand(
-          robot, AutoScorePathfinder(robot, processorPose), premoveCommand
-        ).andThen(InstantCommand({
-          scoreCommand.schedule()
-          robot.drive.defaultCommand = robot.driveCommand
-        }))
+          robot,
+          AutoScorePathfinder(robot, processorPose),
+          premoveCommand
+        ).andThen(
+          InstantCommand({
+            robot.drive.defaultCommand = robot.driveCommand
+            waitingForScore = true
+          })
+        )
       currentCommand.schedule()
     })
   }
 
   fun getNetCommand(atRedSide: Boolean): Command {
     return runOnce({
+      moving = true
       val netPose = Pose2d(
         AutoScoreCommandConstants.centerOfField + AutoScoreCommandConstants.centerOfField * if (atRedSide) 1 else -1,
         robot.poseSubsystem.pose.translation.y,
         if (atRedSide) AutoScoreCommandConstants.netRotation2dRed else AutoScoreCommandConstants.netRotation2dBlue
       )
-      val scoreCommand = InstantCommand()
+      scoreCommand = InstantCommand()
       val premoveCommand = InstantCommand()
       currentCommand =
         AutoScoreWrapperCommand(
-          robot, AutoScorePathfinder(robot, netPose), premoveCommand
-        ).andThen(InstantCommand({
-          scoreCommand.schedule()
-          robot.drive.defaultCommand = robot.driveCommand
-        }))
+          robot,
+          AutoScorePathfinder(robot, netPose),
+          premoveCommand
+        ).andThen(
+          InstantCommand({
+            robot.drive.defaultCommand = robot.driveCommand
+            waitingForScore = true
+          })
+        )
       currentCommand.schedule()
     })
   }
 
   fun cancelCommand(): Command {
     return InstantCommand({
+      moving = false
       currentCommand.cancel()
       robot.drive.defaultCommand = robot.driveCommand
+      waitingForScore = false
     })
   }
 }