temp

src/main/deploy/ShooterValueDataGenerated.dfa

@@ -0,0 +1,8 @@
+0.5
+0.26309475799897647
+1.0
+0.3598490045176868
+1.5
+0.6206778576674324
+2.0
+0.9494694075016604

src/main/java/com/team766/ViSIONbase/AutomaticShooterPowerCalibration.java

@@ -1,6 +1,7 @@
 package com.team766.ViSIONbase;
 
 import com.team766.framework.AprilTagErrorCode;
+import com.team766.framework.Context;
 import com.team766.robot.Robot;
 import edu.wpi.first.math.geometry.Transform3d;
 import edu.wpi.first.wpilibj.Filesystem;
@@ -144,7 +145,7 @@ public double shootAndCalculate() {
 
         }
         powersTried.add(power);
-        Robot.shooter.shoot(power); //TODO: Make sure this runs for ample time so ball can actually be shot
+        //Robot.shooter.shoot(power); //TODO: Make sure this runs for ample time so ball can actually be shot
 
 
         return power;
@@ -269,7 +270,7 @@ public double thisHappenedWithShot(boolean wentIn, boolean wasLong){
             powersTried.clear();
             wasTooLong.clear();
             first = true;
-            return -1;
+            return 0;
         } else {
             ballWentIn = false;
 

src/main/java/com/team766/robot/OI.java

@@ -116,11 +116,56 @@ public void run(final Context context) {
 
 
 		if(joystick2.getButton(1)){
-			Robot.shooter.shoot(1, 1);
+			//Robot.shooter.shoot(1, 1);
+			try {
+				Robot.shooter.testS(context);
+			} catch (InterruptedException e) {
+				// TODO Auto-generated catch block
+				e.printStackTrace();
+			}
 		}else{
-			Robot.shooter.shoot(0,0);
+			//Robot.shooter.shoot(0,0);
+		}
+
+		if(joystick2.getButtonPressed(2)){
+			try {
+				Robot.shooter.startNewCalibrationDistanceSession(context);
+			} catch (InterruptedException e) {
+				// TODO Auto-generated catch block
+				e.printStackTrace();
+			}
+		}
+
+		if(joystick2.getButtonPressed(3)){
+			try {
+				Robot.shooter.inputDataFromShot(false, true, context);
+			} catch (InterruptedException e) {
+				// TODO Auto-generated catch block
+				e.printStackTrace();
+			}
 		}
 
+		if(joystick2.getButtonPressed(4)){
+			try {
+				Robot.shooter.inputDataFromShot(false, false, context);
+			} catch (InterruptedException e) {
+				// TODO Auto-generated catch block
+				e.printStackTrace();
+			}
+		}
+
+		if(joystick2.getButtonPressed(5)){
+			try {
+				Robot.shooter.inputDataFromShot(true, false, context);
+			} catch (InterruptedException e) {
+				// TODO Auto-generated catch block
+				e.printStackTrace();
+			}
+		}
+
+		if(joystick2.getButtonPressed(6)){
+			Robot.shooter.resetCalibrationAndStoreDataInFine();
+		}
 
 
 		}

src/main/java/com/team766/robot/mechanisms/Shooter.java

@@ -1,8 +1,13 @@
 package com.team766.robot.mechanisms;
 
+import java.util.ArrayList;
+import javax.swing.text.AbstractDocument.Content;
+import com.team766.ViSIONbase.AutomaticShooterPowerCalibration;
+import com.team766.framework.Context;
 import com.team766.framework.Mechanism;
 import com.team766.hal.MotorController;
 import com.team766.hal.RobotProvider;
+import com.team766.robot.procedures.ShootPower;
 
 public class Shooter extends Mechanism {
 
@@ -11,8 +16,14 @@ public class Shooter extends Mechanism {
 	private MotorController leftShooterMotor;
 	private MotorController rightShooterMotor;
 
+
+
+
+	static AutomaticShooterPowerCalibration calibration;
+
 	private double lastSpeed = 0;
 	public Shooter(){
+		calibration = new AutomaticShooterPowerCalibration(1);
 		topShooterMotor = RobotProvider.instance.getMotor("shooter.topMotor");
 
 		leftShooterMotor = RobotProvider.instance.getMotor("shooter.leftMotor");
@@ -38,6 +49,7 @@ public void shoot(double speedSides, double speedTop){
 	}
 
 	public void shoot(double speed){
+		checkContextOwnership();
 		topShooterMotor.set(speed);
 		lastSpeed = speed;
 		//TODO: Check to see if this is the correct direction
@@ -48,5 +60,39 @@ public void shoot(double speed){
 	public double getLastSpeed(){
 		return lastSpeed;
 	}
+
+	public void testS(Context context) throws InterruptedException{
+		shootForFiveSeconds(0.8, context);
+
+		shoot(0,0);
+		System.out.println("iyrueajil;k");
+	}
+
+	public void startNewCalibrationDistanceSession(Context context) throws InterruptedException{
+		context.yield();
+		//Context contexta = new Context();
+		//context.startAsync(shootForFiveSeconds(ab, context));
+
+		double ab = calibration.shootAndCalculate();
+		context.startAsync(new ShootPower(ab));
+		log("ab: " + ab);
+	}
+
+	public void inputDataFromShot(boolean wentIn, boolean wasLong, Context context) throws InterruptedException{
+		double ab = calibration.thisHappenedWithShot(wentIn, wasLong);
+		context.startAsync(new ShootPower(ab));
+	}
+
+	public void resetCalibrationAndStoreDataInFine(){
+		calibration.reset();
+	}
+
+	public void shootForFiveSeconds(double power, Context context) throws InterruptedException{
+		shoot(power);
+		context.yield();
+		context.waitForSeconds(5);
+	}
+
+
 }
 

src/main/java/com/team766/robot/procedures/ShootPower.java

@@ -0,0 +1,18 @@
+package com.team766.robot.procedures;
+
+import com.team766.framework.Context;
+import com.team766.framework.Procedure;
+import com.team766.robot.Robot;
+
+public class ShootPower extends Procedure {
+	private double power;
+	public ShootPower(double power){
+		this.power = power;
+	}
+	public void run(Context context){
+		context.takeOwnership(Robot.shooter);
+		Robot.shooter.shoot(power);
+		context.waitForSeconds(5);
+		Robot.shooter.shoot(0);
+	}
+}

src/test/java/com/team766/shooter/ShooterTestCase.java

@@ -31,7 +31,7 @@ public class ShooterTestCase {
 	public static void setUp() throws Exception {
 
 
-		calibration = new AutomaticShooterPowerCalibration(3);
+		calibration = new AutomaticShooterPowerCalibration(1);
 
 		//The powers we get back should model y = 0.15(2.5)^x
 		distancesToTest.add(0.5);