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worked on turret

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Pushkar9236
2022-01-24 19:55:08 -07:00
parent 982c81ffbe
commit 1d804903d8
3 changed files with 91 additions and 8 deletions
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src/main/java/frc4388/robot/subsystems/Turret.java
+79 -2
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@@ -4,21 +4,98 @@
package frc4388.robot.subsystems;
import edu.wpi.first.wpilibj.drive.RobotDriveBase.MotorType;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.ShooterConstants;
import frc4388.utility.Gains;
public class Turret extends SubsystemBase {
/** Creates a new Turret. */
public CANSparkMax m_turretMotor;
public BoomBoom m_boomBoomSubsystem;
public SwerveDrive m_sDriveSubsystem;
public CAnsparkMax m_boomBoomRotateMotor = new CANSparkMax(ShooterConstants.SHOOTER_ROTATE_ID, MotorType.kBrushless);
public static Gains m_shooterTGains = ShooterConstants.SHOOTER_TURRET_GAINS;
CANDigitalInput m_boomBoomRightLimit, m_boomBoomLeftLimit;
public GyroBase m_turretGyro;
public double m_targetDistance = 0;
public boolean m_isAimReady = false;
CANPIDController m_boomBoomRotatePIDController = m_boomBoomRotateMotor.getPIDController();
public CANEncoder m_boomBoomRotateEncoder = m_shooterRotateMotor.getEncoder();
public
public CANSparkMax m_turretMotor;
public boolean m_isAimReady;
public double m_targetDistance;
//Variables
public Turret() {
public <m_boomBoomRotateMotor> <m_boomBoomRotateMotor> Turret() {
m_boomBoomRotateMotor.setIdleMode(IdleMode.kBrake);
m_turretGyro = getGyroInterface();
m_boomBoomLeftLimit = m_boomBoomRotateMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
m_boomBoomRightLimit = m_boomBoomRotateMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
m_boomBoomRightLimit.enableLimitSwitch(true);
m_boomBoomLeftLimit.enableLimitSwitch(true);
m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kForward, false);
m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kReverse, true);
m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.TURRET_RIGHT_SOFT_LIMIT);
m_boomBoomRotateMotor.setInverted(false);
m_turretMotor = turretMotor;
}
@Override
public void periodic() {
SmartDashboard.putNumber("Turret Angle Raw", getboomBoomRotatePosition());
SmartDashboard.putData("Turret Angle", m_turretGyro);
SmartDashboard.putBoolean("Turret Aimed", m_isAimReady);
// This method will be called once per scheduler run
}
public void passRequiredSubsystem( BoomBoom subsystem0, SwerveDrive subsystem1){
m_boomBoomSubsystem = subsystem0;
m_sDriveSubsystem = subsystem1;
}
public void runShooterWithInput(double input) {
m_boomBoomRotateMotor.set(input*ShooterConstants.TURRET_SPEED_MULTIPLIER);
}
public void runshooterRotatePID(double targetAngle) {
m_boomBoomRotatePIDController.setP(m_shooterTGains.m_kP);
m_boomBoomRotatePIDController.setI(m_shooterTGains.m_kI);
m_boomBoomRotatePIDController.setD(m_shooterTGains.m_kD);
m_boomBoomRotatePIDController.setFF(m_shooterTGains.m_kF);
m_boomBoomRotatePIDController.setIZone(m_shooterTGains.m_kIzone);
m_boomBoomRotatePIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterTGains.m_kPeakOutput);
targetAngle = targetAngle/ShooterConstants.DEGREES_PER_ROT;
m_boomBoomRotatePIDController.setReference(targetAngle,ControlType.kPosition);
}
public void resetGyroShooterRotate()
{
m_boomBoomRotateEncoder.setPosition(0);
}
public double getboomBoomRotatePosition()
{
return m_boomBoomRotateEncoder.getPosition();
}
public double getAnglePositionDegrees() {
return (m_boomBoomRotateEncoder.getPosition() - ShooterConstants.TURRET_MOTOR_POS_AT_ZERO_ROT) * 360/ShooterConstants. TURRET_MOTOR_ROTS_PER_ROT;
}
public void turnWithJoystick (double input)
{
m_turretMotor.set(input);