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BoomBoom is working, but the motors are spinning in opposite directions

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This commit is contained in:
aarav18
2022-02-09 17:56:22 -07:00
parent 3e43b50f04
commit 0fedb240d7
4 changed files with 40 additions and 33 deletions
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src/main/java/frc4388/robot/Constants.java
+5 -3
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@@ -88,12 +88,13 @@ public final class Constants {
public static final class ShooterConstants {
/* PID Constants Shooter */
public static final int SHOOTER_TIMEOUT_MS = 30;
public static final int CLOSED_LOOP_TIME_MS = 1;
public static final int SHOOTER_TIMEOUT_MS = 32;
public static final int SHOOTER_SLOT_IDX = 0;
public static final int SHOOTER_PID_LOOP_IDX = 1;
public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG = new SupplyCurrentLimitConfiguration(true, 60, 40, 0.5);
public static final int SHOOTER_FALCON_LEFT_CAN_ID = 0;
public static final int SHOOTER_FALCON_RIGHT_CAN_ID = 0;
public static final int SHOOTER_FALCON_LEFT_CAN_ID = 23;
public static final int SHOOTER_FALCON_RIGHT_CAN_ID = 24;
public static final int SHOOTER_ROTATE_ID = 31; //"unknown value" //figure out later
public static final int TURRET_RIGHT_SOFT_LIMIT = 0; //""//
public static final double TURRET_SPEED_MULTIPLIER = 0.1d; //""//
@@ -102,6 +103,7 @@ public final class Constants {
public static final int TURRET_MOTOR_ROTS_PER_ROT = 0; //""//
public static final double ENCODER_TICKS_PER_REV = 2048; //""//
/* Turret Constants */
//ID
src/main/java/frc4388/robot/RobotContainer.java
+3 -1
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@@ -44,7 +44,7 @@ public class RobotContainer {
// );
private final LED m_robotLED = new LED(m_robotMap.LEDController);
private final BoomBoom m_robotBoomBoom = new BoomBoom();
private final BoomBoom m_robotBoomBoom = new BoomBoom(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight);
private final Hood m_robotHood = new Hood();
private final Turret m_robotTurret = new Turret();
private final Vision m_robotVison = new Vision(m_robotTurret, m_robotBoomBoom);
@@ -95,6 +95,8 @@ public class RobotContainer {
new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
.whenPressed(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0.1))
.whenReleased(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0));
/* Driver Buttons */
}
/**
src/main/java/frc4388/robot/RobotMap.java
+28 -3
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@@ -4,6 +4,7 @@
package frc4388.robot;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.CANCoder;
import com.revrobotics.CANSparkMax;
@@ -97,12 +98,36 @@ public class RobotMap {
//Shooter Config
/*Boom Boom Subsystem*/
// public final WPI_TalonFX shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_LEFT_CAN_ID);
// public final WPI_TalonFX shooterFalconRight = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_RIGHT_CAN_ID);
public final WPI_TalonFX shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_LEFT_CAN_ID);
public final WPI_TalonFX shooterFalconRight = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_RIGHT_CAN_ID);
// public final CANSparkMax shooterTurret = new CANSparkMax(ShooterConstants.TURRET_MOTOR_CAN_ID, MotorType.kBrushless);
//Create motor CANSparkMax
// Create motor CANSparkMax
void ConfigureShooterMotorControllers() {
//LEFT FALCON
shooterFalconLeft.configFactoryDefault();
shooterFalconLeft.setNeutralMode(NeutralMode.Coast);
shooterFalconLeft.setInverted(true);
shooterFalconLeft.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconLeft.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconLeft.configPeakOutputReverse(0, ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconLeft.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconLeft.configClosedLoopPeriod(0, ShooterConstants.CLOSED_LOOP_TIME_MS, ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconLeft.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS);
//RIGHT FALCON
shooterFalconRight.configFactoryDefault();
shooterFalconRight.setNeutralMode(NeutralMode.Coast);
shooterFalconRight.setInverted(false);
shooterFalconRight.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconRight.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS);
//m_shooterFalconRight.configPeakOutputForward(0, ShooterConstants.SHOOTER_TIMEOUT_MS);(comment it in if necessary)
shooterFalconRight.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconRight.configClosedLoopPeriod(0,ShooterConstants.CLOSED_LOOP_TIME_MS, ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconRight.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS);
/*Turret Subsytem*/
src/main/java/frc4388/robot/subsystems/BoomBoom.java
+4 -26
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@@ -22,8 +22,8 @@ import frc4388.utility.controller.IHandController;
import com.revrobotics.RelativeEncoder;
public class BoomBoom extends SubsystemBase {
public WPI_TalonFX m_shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_BALLER_ID);
public WPI_TalonFX m_shooterFalconRight= new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_BALLER_FOLLOWER_ID);
public WPI_TalonFX m_shooterFalconLeft;
public WPI_TalonFX m_shooterFalconRight;
public ShooterTables m_shooterTable;
public static Gains m_drumShooterGains = ShooterConstants.DRUM_SHOOTER_GAINS;
public static BoomBoom m_boomBoom;
@@ -59,31 +59,9 @@ feedforward.calculate(15, 20); // feedforward.calculate(velocity, acceleration);
m_shooterFalconLeft = shooterFalconLeft;
m_shooterFalconRight = shooterFalconRight;
int closedLoopTimeMs = 1;
//LEFT FALCON
m_shooterFalconLeft.configFactoryDefault();
m_shooterFalconLeft.setNeutralMode(NeutralMode.Coast);
m_shooterFalconLeft.setInverted(true);
m_shooterFalconLeft.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconLeft.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconLeft.configPeakOutputReverse(0, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconLeft.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconLeft.configClosedLoopPeriod(0, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconLeft.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS);
//RIGHT FALCON
m_shooterFalconRight.configFactoryDefault();
m_shooterFalconRight.setNeutralMode(NeutralMode.Coast);
m_shooterFalconRight.setInverted(false);
m_shooterFalconRight.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconRight.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS);
//m_shooterFalconRight.configPeakOutputForward(0, ShooterConstants.SHOOTER_TIMEOUT_MS);(comment it in if necessary)
m_shooterFalconRight.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconRight.configClosedLoopPeriod(0, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconRight.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterTable = new ShooterTables();
@@ -117,7 +95,7 @@ try {
public void runDrumShooter(double speed) {
m_shooterFalconLeft.set(TalonFXControlMode.PercentOutput, speed);
m_shooterFalconRight.follow(m_shooterFalconLeft);
}
public void setShooterGains() {