Merge "Fix field dimensions for 2023 debug webpage"
diff --git a/frc971/control_loops/python/BUILD b/frc971/control_loops/python/BUILD
index c547833..e308954 100644
--- a/frc971/control_loops/python/BUILD
+++ b/frc971/control_loops/python/BUILD
@@ -188,7 +188,7 @@
data = glob([
"field_images/*.png",
"field_images/*.svg",
- ]),
+ ]) + ["//third_party/y2023/field:pictures"],
legacy_create_init = False,
target_compatible_with = ["@platforms//cpu:x86_64"],
visibility = ["//visibility:public"],
diff --git a/frc971/control_loops/python/constants.py b/frc971/control_loops/python/constants.py
index b2d9d57..3a61b5e 100644
--- a/frc971/control_loops/python/constants.py
+++ b/frc971/control_loops/python/constants.py
@@ -15,6 +15,9 @@
ROBOT_SIDE_TO_HATCH_PANEL = 0.1
HATCH_PANEL_WIDTH = 0.4826
+# field_id is either just a file prefix for a .png in field_images/ or is a
+# full path preceded by // specifying a location relative to the root of the
+# repository.
FieldType = namedtuple(
'Field', ['name', 'tags', 'year', 'width', 'length', 'robot', 'field_id'])
RobotType = namedtuple("Robot", ['width', 'length'])
@@ -33,6 +36,7 @@
Robot2020 = RobotType(width=0.8128, length=0.8636) # 32 in x 34 in
Robot2021 = Robot2020
Robot2022 = RobotType(width=0.8763, length=0.96647)
+Robot2023 = RobotType(width=0.8763, length=0.96647)
FIELDS = {
"2019 Field":
@@ -115,9 +119,17 @@
length=8.2296,
robot=Robot2022,
field_id="2022"),
+ "2023 Field":
+ FieldType("2023 Field",
+ tags=[],
+ year=2023,
+ width=16.59255,
+ length=8.10895,
+ robot=Robot2023,
+ field_id="//third_party/y2023/field/2023.png"),
}
-FIELD = FIELDS["2022 Field"]
+FIELD = FIELDS["2023 Field"]
def get_json_folder(field):
diff --git a/frc971/control_loops/python/path_edit.py b/frc971/control_loops/python/path_edit.py
index 2b55e94..86777e5 100755
--- a/frc971/control_loops/python/path_edit.py
+++ b/frc971/control_loops/python/path_edit.py
@@ -81,9 +81,13 @@
def set_field(self, field):
self.field = field
try:
- self.field_png = cairo.ImageSurface.create_from_png(
- "frc971/control_loops/python/field_images/" +
- self.field.field_id + ".png")
+ if self.field.field_id.startswith('//'):
+ self.field_png = cairo.ImageSurface.create_from_png(
+ self.field.field_id[2:])
+ else:
+ self.field_png = cairo.ImageSurface.create_from_png(
+ "frc971/control_loops/python/field_images/" +
+ self.field.field_id + ".png")
except cairo.Error:
self.field_png = None
diff --git a/frc971/control_loops/python/spline_graph.py b/frc971/control_loops/python/spline_graph.py
index fbe43bf..ce5efe1 100755
--- a/frc971/control_loops/python/spline_graph.py
+++ b/frc971/control_loops/python/spline_graph.py
@@ -107,7 +107,7 @@
self.file_name_box = Gtk.Entry()
self.file_name_box.set_size_request(50, 40)
- self.file_name_box.set_text(FIELD.field_id + ".json")
+ self.file_name_box.set_text("test.json")
self.file_name_box.set_editable(True)
self.long_input = Gtk.SpinButton()
diff --git a/y2023/www/2023.png b/third_party/y2023/field/2023.png
similarity index 100%
rename from y2023/www/2023.png
rename to third_party/y2023/field/2023.png
Binary files differ
diff --git a/third_party/y2023/field/BUILD b/third_party/y2023/field/BUILD
index e7ba4e2..de1d382 100644
--- a/third_party/y2023/field/BUILD
+++ b/third_party/y2023/field/BUILD
@@ -1,11 +1,14 @@
-# Pictures from FIRST modified by Tea Fazio.
-# https://firstfrc.blob.core.windows.net/frc2023/Manual/2023FRCGameManual.pdf
-# Copyright 2023 FIRST
-
filegroup(
name = "pictures",
srcs = [
- "field.jpg",
- ],
+ # Picture from the FIRST inspires field drawings.
+ # https://www.firstinspires.org/robotics/frc/playing-field
+ # Copyright 2023 FIRST
+ "2023.png",
+ # Picture from FIRST modified by Tea Fazio.
+ # https://firstfrc.blob.core.windows.net/frc2023/Manual/2023FRCGameManual.pdf
+ # Copyright 2023 FIRST
+ "field.jpg",
+ ],
visibility = ["//visibility:public"],
)
diff --git a/y2023/control_loops/superstructure/arm/arm.cc b/y2023/control_loops/superstructure/arm/arm.cc
index 6cd8d0d..fd3028c 100644
--- a/y2023/control_loops/superstructure/arm/arm.cc
+++ b/y2023/control_loops/superstructure/arm/arm.cc
@@ -292,7 +292,6 @@
follower_.Update(X_hat, disable, constants::Values::kArmDt(), vmax_,
max_operating_voltage);
- AOS_LOG(INFO, "Max voltage: %f\n", max_operating_voltage);
arm_ekf_.Predict(follower_.U().head<2>(), constants::Values::kArmDt());
roll_joint_loop_.UpdateObserver(follower_.U().tail<1>(),
diff --git a/y2023/joystick_reader.cc b/y2023/joystick_reader.cc
index 68fe6af..4c4b1e3 100644
--- a/y2023/joystick_reader.cc
+++ b/y2023/joystick_reader.cc
@@ -43,7 +43,7 @@
namespace joysticks {
// TODO(milind): add correct locations
-const ButtonLocation kScore(4, 4);
+const ButtonLocation kDriverSpit(2, 1);
const ButtonLocation kSpit(4, 13);
const ButtonLocation kHighConeScoreLeft(4, 14);
@@ -68,6 +68,7 @@
const ButtonLocation kBack(4, 12);
const ButtonLocation kWrist(4, 10);
+const ButtonLocation kStayIn(3, 4);
namespace superstructure = y2023::control_loops::superstructure;
namespace arm = superstructure::arm;
@@ -386,9 +387,12 @@
// And, pull the bits out of it.
if (current_setpoint_ != nullptr) {
- wrist_goal = current_setpoint_->wrist_goal;
- arm_goal_position_ = current_setpoint_->index;
- score_wrist_goal = current_setpoint_->score_wrist_goal;
+ if (!data.IsPressed(kStayIn)) {
+ wrist_goal = current_setpoint_->wrist_goal;
+ arm_goal_position_ = current_setpoint_->index;
+ score_wrist_goal = current_setpoint_->score_wrist_goal;
+ }
+
placing_row = current_setpoint_->row_hint;
}
@@ -396,7 +400,7 @@
if (data.IsPressed(kSuck)) {
roller_goal = RollerGoal::INTAKE_LAST;
- } else if (data.IsPressed(kSpit)) {
+ } else if (data.IsPressed(kSpit) || data.IsPressed(kDriverSpit)) {
if (score_wrist_goal.has_value()) {
wrist_goal = score_wrist_goal.value();
diff --git a/y2023/www/BUILD b/y2023/www/BUILD
index 27cc69e..09cd4d8 100644
--- a/y2023/www/BUILD
+++ b/y2023/www/BUILD
@@ -7,10 +7,17 @@
"**/*.html",
"**/*.css",
"**/*.png",
- ]),
+ ]) + ["2023.png"],
visibility = ["//visibility:public"],
)
+genrule(
+ name = "2023_field_png",
+ srcs = ["//third_party/y2023/field:pictures"],
+ outs = ["2023.png"],
+ cmd = "cp third_party/y2023/field/2023.png $@",
+)
+
ts_project(
name = "field_main",
srcs = [
