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fixed

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This commit is contained in:
aarav18
2022-03-17 11:18:08 -06:00
parent ebd78f2543
commit 2c18973dfa
4 changed files with 54 additions and 58 deletions
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src/main/java/frc4388/robot/subsystems/Turret.java
+45 -49
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@@ -44,6 +44,7 @@ public class Turret extends SubsystemBase {
boolean rightPrevState = false;
boolean leftState;
boolean rightState;
boolean recentlyPressed;
long leftCurrentTime;
long rightCurrentTime;
@@ -56,20 +57,22 @@ public class Turret extends SubsystemBase {
m_boomBoomRotatePIDController = m_boomBoomRotateMotor.getPIDController();
m_boomBoomRotateEncoder = m_boomBoomRotateMotor.getEncoder();
// m_boomBoomLeftLimit = m_boomBoomRotateMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
// m_boomBoomRightLimit = m_boomBoomRotateMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
// m_boomBoomLeftLimit.enableLimitSwitch(false);
// m_boomBoomRightLimit.enableLimitSwitch(false);
// setTurretLimitSwitches(true);
// setTurretSoftLimits(true);
m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kForward, true);
m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kReverse, true);
m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, (float) ShooterConstants.TURRET_FORWARD_SOFT_LIMIT);
m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kReverse, (float) ShooterConstants.TURRET_REVERSE_SOFT_LIMIT);
setTurretSoftLimits(false);
m_boomBoomLeftLimit = m_boomBoomRotateMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_boomBoomRightLimit = m_boomBoomRotateMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
// setTurretLimitSwitches(true);
m_boomBoomRightLimit.enableLimitSwitch(true);
m_boomBoomLeftLimit.enableLimitSwitch(true);
setTurretPIDGains();
}
public void toggleLeftLimitSwitch() {
// public void toggleLeftLimitSwitch() {
// TODO: find better way to do this, but im in a hurry
@@ -77,20 +80,20 @@ public class Turret extends SubsystemBase {
// leftSwitch.enableLimitSwitch(false);
// } else {
// leftSwitch.enableLimitSwitch(true);
}
// }
// }
public void turnOnLeftLimitSwitch() {
SparkMaxLimitSwitch leftSwitch = m_boomBoomRotateMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
System.out.println("Left Switch ENABLED");
leftSwitch.enableLimitSwitch(true);
}
// public void turnOnLeftLimitSwitch() {
// SparkMaxLimitSwitch leftSwitch = m_boomBoomRotateMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
// System.out.println("Left Switch ENABLED");
// leftSwitch.enableLimitSwitch(true);
// }
public void turnOffLeftLimitSwitch() {
SparkMaxLimitSwitch leftSwitch = m_boomBoomRotateMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
System.out.println("Left Switch DISABLED");
leftSwitch.enableLimitSwitch(false);
}
// public void turnOffLeftLimitSwitch() {
// SparkMaxLimitSwitch leftSwitch = m_boomBoomRotateMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
// System.out.println("Left Switch DISABLED");
// leftSwitch.enableLimitSwitch(false);
// }
/**
* Set gains for turret PIDs.
@@ -113,42 +116,35 @@ public class Turret extends SubsystemBase {
SmartDashboard.putNumber("Turret Angle Rotations", m_boomBoomRotateEncoder.getPosition());
SmartDashboard.putNumber("Turret Angle Degrees", m_boomBoomRotateEncoder.getPosition() * ShooterConstants.TURRET_DEGREES_PER_ROT);
// SmartDashboard.putBoolean("Left Limit Switch Pressed", m_boomBoomLeftLimit.isPressed());
// SmartDashboard.putBoolean("Right Limit Switch Pressed", m_boomBoomRightLimit.isPressed());
SmartDashboard.putBoolean("Left Limit Switch Pressed", m_boomBoomLeftLimit.isPressed());
SmartDashboard.putBoolean("Right Limit Switch Pressed", m_boomBoomRightLimit.isPressed());
// limit switch annoying time thing but actually worked first try wtf
// leftState = m_boomBoomLeftLimit.isPressed();
// rightState = m_boomBoomRightLimit.isPressed();
leftState = m_boomBoomLeftLimit.isPressed();
// hasLeftSwitchChanged = (leftState != leftPrevState);
// hasRightSwitchChanged = (rightState != rightPrevState);
hasLeftSwitchChanged = (leftState != leftPrevState);
// if (leftState && hasLeftSwitchChanged) {
// leftCurrentTime = System.currentTimeMillis();
// leftElapsedTime = 0;
// }
// if (rightState && hasRightSwitchChanged) {
// rightCurrentTime = System.currentTimeMillis();
// rightElapsedTime = 0;
// }
if (leftState && hasLeftSwitchChanged) {
leftCurrentTime = System.currentTimeMillis();
leftElapsedTime = 0;
}
// if (leftState && !hasLeftSwitchChanged) {
// leftElapsedTime = System.currentTimeMillis() - leftCurrentTime;
// }
// if (rightState && !hasRightSwitchChanged) {
// rightElapsedTime = System.currentTimeMillis() - rightCurrentTime;
// }
if (leftState && !hasLeftSwitchChanged) {
leftElapsedTime = System.currentTimeMillis() - leftCurrentTime;
}
if (leftState && (leftElapsedTime > 500)) {
m_boomBoomRotateEncoder.setPosition(ShooterConstants.TURRET_REVERSE_HARD_LIMIT);
}
if (!m_boomBoomRightLimit.isPressed()) recentlyPressed = false;
// if (leftState && (leftElapsedTime > 500)) {
// m_boomBoomRotateEncoder.setPosition(ShooterConstants.TURRET_FORWARD_HARD_LIMIT);// -95/*ShooterConstants.TURRET_FORWARD_SOFT_LIMIT - 2*/);
// }
// if (rightState && (rightElapsedTime > 500)) {
// m_boomBoomRotateEncoder.setPosition(ShooterConstants.TURRET_REVERSE_HARD_LIMIT);// 0/*ShooterConstants.TURRET_REVERSE_LIMIT + 2*/);
// }
if(m_boomBoomRightLimit.isPressed() && !recentlyPressed){
recentlyPressed = true;
m_boomBoomRotateEncoder.setPosition(ShooterConstants.TURRET_FORWARD_HARD_LIMIT);// 0/*ShooterConstants.TURRET_REVERSE_LIMIT + 2*/);
}
SmartDashboard.putBoolean("Recently Pressed", recentlyPressed);
// leftPrevState = leftState;
leftPrevState = leftState;
// rightPrevState = rightState;
}
@@ -179,7 +175,7 @@ public class Turret extends SubsystemBase {
* @param input from -1.0 to 1.0, positive is clockwise
*/
public void runTurretWithInput(double input) {
m_boomBoomRotateMotor.set(input * ShooterConstants.TURRET_SPEED_MULTIPLIER * 0.5);
m_boomBoomRotateMotor.set(input * ShooterConstants.TURRET_SPEED_MULTIPLIER);
}
public void runShooterRotatePID(double targetAngle) {