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hood soft limits + setter method

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aarav18
2022-02-28 17:20:01 -07:00
parent 9c58e04ec7
commit 14cd859005
3 changed files with 24 additions and 6 deletions
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src/main/java/frc4388/robot/Constants.java
+5 -2
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@@ -108,6 +108,8 @@ public final class Constants {
public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.6, 0.0, 0.0, 0.0, 0, 1.0);
public static final Gains SHOOTER_ANGLE_GAINS = new Gains(0.05, 0.0, 0.0, 0.0, 0, 0.3);
public static final double SHOOTER_TURRET_MIN = -1.0;
public static final float TURRET_FORWARD_LIMIT = 0; // TODO: find
public static final float TURRET_REVERSE_LIMIT = 0; // TODO: find
// deadzones
public static final double HARD_DEADZONE_LEFT = 0.0;
@@ -120,13 +122,14 @@ public final class Constants {
public static final int SHOOTER_FALCON_BALLER_FOLLOWER_ID = 0; //"//
public static final Gains DRUM_SHOOTER_GAINS = new Gains(0,0,0,0,0,0); // TODO: tune values
/* Hood Constants */
public static final int SHOOTER_ANGLE_ADJUST_ID = 32;
public static final double HOOD_MOTOR_ROTS_PER_ROT = 1; //TODO: Find
public static final double HOOD_MOTOR_POS_AT_ZERO_ROT = 0; //TODO: Find
public static final float HOOD_FORWARD_LIMIT = 0; //TODO: find
public static final float HOOD_REVERSE_LIMIT = 0; //TODO: find
public static final float TURRET_FORWARD_LIMIT = 0; // TODO: find
public static final float TURRET_REVERSE_LIMIT = 0; // TODO: find
}
public static final class VisionConstants {
src/main/java/frc4388/robot/subsystems/Hood.java
+17 -2
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@@ -10,6 +10,7 @@ import com.revrobotics.SparkMaxPIDController;
import com.revrobotics.SparkMaxLimitSwitch;
import com.revrobotics.CANSparkMax.ControlType;
import com.revrobotics.CANSparkMax.IdleMode;
import com.revrobotics.CANSparkMax.SoftLimitDirection;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -38,10 +39,14 @@ public double m_fireAngle;
public Hood() {
m_angleAdjusterMotor.setIdleMode(IdleMode.kBrake);
m_hoodUpLimitSwitch = m_angleAdjusterMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
// m_hoodUpLimitSwitch = m_angleAdjusterMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_hoodDownLimitSwitch = m_angleAdjusterMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_hoodUpLimitSwitch.enableLimitSwitch(true);
// m_hoodUpLimitSwitch.enableLimitSwitch(true);
m_hoodDownLimitSwitch.enableLimitSwitch(true);
m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.HOOD_FORWARD_LIMIT);
m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kReverse, ShooterConstants.HOOD_REVERSE_LIMIT);
setHoodSoftLimits(true);
}
@@ -49,6 +54,16 @@ public double m_fireAngle;
public void periodic() {
// This method will be called once per scheduler run
}
/**
* Set status of hood motor soft limits.
* @param set Boolean to set soft limits to.
*/
public void setHoodSoftLimits(boolean set) {
m_angleAdjusterMotor.enableSoftLimit(SoftLimitDirection.kForward, set);
m_angleAdjusterMotor.enableSoftLimit(SoftLimitDirection.kReverse, set);
}
public void runAngleAdjustPID(double targetAngle)
{
//Set PID Coefficients
src/main/java/frc4388/robot/subsystems/Turret.java
+2 -2
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@@ -59,7 +59,7 @@ public class Turret extends SubsystemBase {
m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.TURRET_FORWARD_LIMIT);
m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kReverse, ShooterConstants.TURRET_REVERSE_LIMIT);
setSoftLimits(true);
setTurretSoftLimits(true);
m_boomBoomRotateMotor.setInverted(false);
@@ -80,7 +80,7 @@ public class Turret extends SubsystemBase {
* Set status of turret motor soft limits.
* @param set Boolean to set soft limits to.
*/
public void setSoftLimits(boolean set) {
public void setTurretSoftLimits(boolean set) {
m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kForward, set);
m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kReverse, set);
}