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Cull more properties (#384)
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@JohnGilb
JohnGilb authored Mar 24, 2023
1 parent 5b619c3 commit 8156ac5
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Showing 6 changed files with 68 additions and 47 deletions.
5 changes: 4 additions & 1 deletion src/main/java/xbot/common/command/BaseMaintainerCommand.java
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Expand Up @@ -6,6 +6,7 @@
import xbot.common.logic.TimeStableValidator;
import xbot.common.properties.BooleanProperty;
import xbot.common.properties.DoubleProperty;
import xbot.common.properties.Property;
import xbot.common.properties.PropertyFactory;
import xbot.common.properties.StringProperty;

Expand All @@ -32,8 +33,10 @@ public BaseMaintainerCommand(BaseSetpointSubsystem subsystemToMaintain, Property

pf.setPrefix(this);
errorToleranceProp = pf.createPersistentProperty("Error Tolerance", defaultErrorTolerance);
errorWithinToleranceProp = pf.createEphemeralProperty("Error Within Tolerance", false);
errorTimeStableWindowProp = pf.createPersistentProperty("Error Time Stable Window", defaultTimeStableWindow);

pf.setDefaultLevel(Property.PropertyLevel.Debug);
errorWithinToleranceProp = pf.createEphemeralProperty("Error Within Tolerance", false);
errorIsTimeStableProp = pf.createEphemeralProperty("Error Is Time Stable", false);
currentModeProp = pf.createEphemeralProperty("Current Mode", "Not Yet Run");
subsystemReportsReadyProp = pf.createEphemeralProperty("Subsystem Ready", false);
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5 changes: 5 additions & 0 deletions src/main/java/xbot/common/command/BaseRobot.java
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Expand Up @@ -298,12 +298,16 @@ else if(timeSinceLastLog >= frequencyReportInterval.get()) {

@Override
public void simulationInit() {
/*
webots = injectorComponent.webotsClient();
webots.initialize();
*/
}

@Override
public void simulationPeriodic() {
/*
// find all simulatable motors
List<JSONObject> motors = new ArrayList<JSONObject>();
Expand All @@ -319,5 +323,6 @@ public void simulationPeriodic() {
JSONObject response = webots.sendMotors(motors);
simulationPayloadDistributor.distributeSimulationPayload(response);
*/
}
}
97 changes: 55 additions & 42 deletions src/main/java/xbot/common/controls/actuators/XCANSparkMax.java
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Expand Up @@ -21,18 +21,19 @@ public abstract class XCANSparkMax {
protected int deviceId;
protected String prefix = "";
PropertyFactory propertyFactory;
protected boolean usesPropertySystem = true;

final DoubleProperty kPprop;
final DoubleProperty kIprop;
final DoubleProperty kDprop;
final DoubleProperty kIzProp;
final DoubleProperty kFFprop;
final DoubleProperty kMaxOutputProp;
final DoubleProperty kMinOutoutProp;
DoubleProperty kPprop;
DoubleProperty kIprop;
DoubleProperty kDprop;
DoubleProperty kIzProp;
DoubleProperty kFFprop;
DoubleProperty kMaxOutputProp;
DoubleProperty kMinOutoutProp;

final DoubleProperty percentProp;
final DoubleProperty voltageProp;
final DoubleProperty currentProp;
DoubleProperty percentProp;
DoubleProperty voltageProp;
DoubleProperty currentProp;

protected final String policeTicket;

Expand All @@ -48,6 +49,10 @@ public abstract XCANSparkMax create(
public XCANSparkMax create(DeviceInfo deviceInfo, String owningSystemPrefix, String name) {
return create(deviceInfo, owningSystemPrefix, name, new XCANSparkMaxPIDProperties());
}

public XCANSparkMax createWithoutProperties(DeviceInfo deviceInfo, String owningSystemPrefix, String name) {
return create(deviceInfo, owningSystemPrefix, name, null);
}
}

protected XCANSparkMax(
Expand All @@ -64,18 +69,22 @@ protected XCANSparkMax(
prefix = pf.getPrefix();
policeTicket = police.registerDevice(DeviceType.CAN, deviceId, this);

kPprop = pf.createPersistentProperty("kP", defaultPIDProperties.p);
kIprop = pf.createPersistentProperty("kI", defaultPIDProperties.i);
kDprop = pf.createPersistentProperty("kD", defaultPIDProperties.d);
kMaxOutputProp = pf.createPersistentProperty("kMaxOutput", defaultPIDProperties.maxOutput);
kMinOutoutProp = pf.createPersistentProperty("kMinOutput", defaultPIDProperties.minOutput);

pf.setDefaultLevel(Property.PropertyLevel.Debug);
percentProp = pf.createEphemeralProperty("Percent", 0);
voltageProp = pf.createEphemeralProperty("Voltage", 0);
currentProp = pf.createEphemeralProperty("Current", 0);
kIzProp = pf.createPersistentProperty("kIzone", defaultPIDProperties.iZone);
kFFprop = pf.createPersistentProperty("kFeedForward", defaultPIDProperties.feedForward);
if (defaultPIDProperties == null) {
usesPropertySystem = false;
} else {
kPprop = pf.createPersistentProperty("kP", defaultPIDProperties.p);
kIprop = pf.createPersistentProperty("kI", defaultPIDProperties.i);
kDprop = pf.createPersistentProperty("kD", defaultPIDProperties.d);

pf.setDefaultLevel(Property.PropertyLevel.Debug);
percentProp = pf.createEphemeralProperty("Percent", 0);
voltageProp = pf.createEphemeralProperty("Voltage", 0);
currentProp = pf.createEphemeralProperty("Current", 0);
kIzProp = pf.createPersistentProperty("kIzone", defaultPIDProperties.iZone);
kFFprop = pf.createPersistentProperty("kFeedForward", defaultPIDProperties.feedForward);
kMaxOutputProp = pf.createPersistentProperty("kMaxOutput", defaultPIDProperties.maxOutput);
kMinOutoutProp = pf.createPersistentProperty("kMinOutput", defaultPIDProperties.minOutput);
}
}

///
Expand All @@ -87,30 +96,34 @@ public String getPrefix() {
}

private void setAllProperties() {
setP(kPprop.get());
setI(kIprop.get());
setD(kDprop.get());
setIZone(kIzProp.get());
setFF(kFFprop.get());
setOutputRange(kMinOutoutProp.get(), kMaxOutputProp.get());
if (usesPropertySystem) {
setP(kPprop.get());
setI(kIprop.get());
setD(kDprop.get());
setIZone(kIzProp.get());
setFF(kFFprop.get());
setOutputRange(kMinOutoutProp.get(), kMaxOutputProp.get());
}
}

public void periodic() {
if (firstPeriodicCall) {
setAllProperties();
firstPeriodicCall = false;
if (usesPropertySystem) {
if (firstPeriodicCall) {
setAllProperties();
firstPeriodicCall = false;
}
kPprop.hasChangedSinceLastCheck((value) -> setP(value));
kIprop.hasChangedSinceLastCheck((value) -> setI(value));
kDprop.hasChangedSinceLastCheck((value) -> setD(value));
kIzProp.hasChangedSinceLastCheck((value) -> setIZone(value));
kFFprop.hasChangedSinceLastCheck((value) -> setFF(value));
kMaxOutputProp.hasChangedSinceLastCheck((value) -> setOutputRange(kMinOutoutProp.get(), value));
kMinOutoutProp.hasChangedSinceLastCheck((value) -> setOutputRange(value, kMaxOutputProp.get()));

percentProp.set(getAppliedOutput());
voltageProp.set(getAppliedOutput() * getBusVoltage());
currentProp.set(getOutputCurrent());
}
kPprop.hasChangedSinceLastCheck((value) -> setP(value));
kIprop.hasChangedSinceLastCheck((value) -> setI(value));
kDprop.hasChangedSinceLastCheck((value) -> setD(value));
kIzProp.hasChangedSinceLastCheck((value) -> setIZone(value));
kFFprop.hasChangedSinceLastCheck((value) -> setFF(value));
kMaxOutputProp.hasChangedSinceLastCheck((value) -> setOutputRange(kMinOutoutProp.get(), value));
kMinOutoutProp.hasChangedSinceLastCheck((value) -> setOutputRange(value, kMaxOutputProp.get()));

percentProp.set(getAppliedOutput());
voltageProp.set(getAppliedOutput() * getBusVoltage());
currentProp.set(getOutputCurrent());
}

/**** Speed Controller Interface ****/
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4 changes: 2 additions & 2 deletions src/main/java/xbot/common/logic/HumanVsMachineDecider.java
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Expand Up @@ -5,6 +5,7 @@
import dagger.assisted.AssistedInject;
import xbot.common.controls.sensors.XTimer;
import xbot.common.properties.DoubleProperty;
import xbot.common.properties.Property;
import xbot.common.properties.PropertyFactory;

public class HumanVsMachineDecider {
Expand All @@ -30,11 +31,10 @@ public abstract static class HumanVsMachineDeciderFactory {
public HumanVsMachineDecider(@Assisted("prefix") String prefix, PropertyFactory propMan) {
propMan.setPrefix(prefix);
propMan.appendPrefix("Decider");
propMan.setDefaultLevel(Property.PropertyLevel.Debug);
deadbandProp = propMan.createPersistentProperty("Deadband", 0.1);
coastTimeProp = propMan.createPersistentProperty("Coast Time", 0.3);
reset();


}

public void reset() {
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2 changes: 1 addition & 1 deletion src/main/java/xbot/common/math/PIDManager.java
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Original file line number Diff line number Diff line change
Expand Up @@ -109,9 +109,9 @@ public PIDManager(
super(functionName, propMan, assertionManager, defaultP, defaultI, defaultD, defaultF, errorThreshold,
derivativeThreshold, timeThreshold, iZone);

propMan.setDefaultLevel(Property.PropertyLevel.Debug);
maxOutput = propMan.createPersistentProperty("Max Output", defaultMaxOutput);
minOutput = propMan.createPersistentProperty("Min Output", defaultMinOutput);
propMan.setDefaultLevel(Property.PropertyLevel.Debug);
isEnabled = propMan.createPersistentProperty("Is Enabled", true);
offTargetReasonProp = propMan.createEphemeralProperty("OffTargetReason", "");
propMan.setDefaultLevel(Property.PropertyLevel.Important);
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2 changes: 1 addition & 1 deletion src/main/java/xbot/common/properties/XPropertyManager.java
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@ public XPropertyManager(
this.properties = new ArrayList<Property>();
this.permanentStore = permanentStore;
this.randomAccessStore = randomAccessStore;
this.inMemoryRandomAccessStore = inMemoryRandomAccessStore;
this.inMemoryRandomAccessStore = new TableProxy();
}

/**
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