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fixes from sun and mon

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all working minus drivetrain
 lil funky
This commit is contained in:
Ryan Manley
2022-03-07 15:26:05 -07:00
parent 8ca6a83bf0
commit 31241e3241
9 changed files with 70 additions and 59 deletions
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src/main/java/frc4388/robot/Constants.java
+9 -10
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@@ -32,9 +32,8 @@ import frc4388.utility.LEDPatterns;
public final class Constants {
public static final class SwerveDriveConstants {
public static final double ROTATION_SPEED = 4;
public static final double WHEEL_SPEED = 0.1;
public static final double WIDTH = 15.25;
public static final double HEIGHT = 15.25;
public static final double WIDTH = 23.5;
public static final double HEIGHT = 25.5;
public static final double JOYSTICK_TO_METERS_PER_SECOND_FAST = 11;
public static final double JOYSTICK_TO_METERS_PER_SECOND_SLOW = 2;
public static final double MAX_SPEED_FEET_PER_SEC = 20; // TODO: redundant constant?
@@ -67,9 +66,9 @@ public final class Constants {
// 180-2.021484375;//0.0;//134.384765625
public static final double RIGHT_FRONT_ENCODER_OFFSET = (4 * 360. - 152.05 - 180 - 90) % 360.;
public static final double LEFT_FRONT_ENCODER_OFFSET = (4 * 360. - 232.58 + 180 - 90) % 360.;
public static final double LEFT_FRONT_ENCODER_OFFSET = (4 * 360. - 232.58 + 180 - 90 ) % 360.;
public static final double LEFT_BACK_ENCODER_OFFSET = (4 * 360. - 189.50 - 90) % 360.;
public static final double RIGHT_BACK_ENCODER_OFFSET = (4 * 360. - 9.31 - 180 - 90) % 360.;
public static final double RIGHT_BACK_ENCODER_OFFSET = (4 * 360. - 9.31 - 90 - 180) % 360.;
// swerve PID constants
public static final int SWERVE_SLOT_IDX = 0;
@@ -164,7 +163,7 @@ public final class Constants {
true, 60, 40, 0.5);
public static final int SHOOTER_FALCON_LEFT_CAN_ID = 21;
public static final int SHOOTER_FALCON_RIGHT_CAN_ID = 22;
public static final double TURRET_SPEED_MULTIPLIER = 0.1d;
public static final double TURRET_SPEED_MULTIPLIER = 0.4d;
public static final int DEGREES_PER_ROT = 0;
public static final int TURRET_MOTOR_POS_AT_ZERO_ROT = 0;
public static final int TURRET_MOTOR_ROTS_PER_ROT = 0;
@@ -179,8 +178,8 @@ 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 double TURRET_FORWARD_LIMIT = 150; // TODO: find
public static final double TURRET_REVERSE_LIMIT = 0; // TODO: find
public static final double TURRET_FORWARD_LIMIT = 61.7; // TODO: find
public static final double TURRET_REVERSE_LIMIT = -42.3; // TODO: find
public static final Gains DRUM_SHOOTER_GAINS = new Gains(0, 0, 0, 0, 0, 0); // TODO: tune values
@@ -188,8 +187,8 @@ public final class Constants {
public static final int SHOOTER_ANGLE_ADJUST_ID = 20;
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 = 200; // TODO: find
public static final float HOOD_REVERSE_LIMIT = 0; // TODO: find
public static final double HOOD_FORWARD_LIMIT = 48.69; // TODO: find
public static final double HOOD_REVERSE_LIMIT = -100; // TODO: find
}
src/main/java/frc4388/robot/Robot.java
+4 -2
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@@ -128,6 +128,8 @@ public class Robot extends TimedRobot {
@Override
public void robotPeriodic() {
m_robotTime.updateTimes();
SmartDashboard.putNumber("Turret", m_robotContainer.m_robotMap.shooterTurret.getEncoder().getPosition());
SmartDashboard.putNumber("Hood", m_robotContainer.m_robotMap.angleAdjusterMotor.getEncoder().getPosition());
// Runs the Scheduler. This is responsible for polling buttons, adding
// newly-scheduled
// commands, running already-scheduled commands, removing finished or
@@ -137,8 +139,8 @@ public class Robot extends TimedRobot {
// block in order for anything in the Command-based framework to work.
CommandScheduler.getInstance().run();
SmartDashboard.putNumber("Turret Encoder Position", m_robotContainer.m_robotTurret.m_boomBoomRotateEncoder.getPosition());
SmartDashboard.putNumber("Hood Encoder Position", m_robotContainer.m_robotHood.m_angleEncoder.getPosition());
//SmartDashboard.putNumber("Turret Encoder Position", m_robotContainer.m_robotTurret.m_boomBoomRotateEncoder.getPosition());
//SmartDashboard.putNumber("Hood Encoder Position", m_robotContainer.m_robotHood.m_angleEncoder.getPosition());
// odo chooser stuff
addOdoChoices(new Pose2d(1, 1, new Rotation2d(Math.PI/6)),
src/main/java/frc4388/robot/RobotContainer.java
+34 -32
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@@ -87,17 +87,17 @@ import frc4388.utility.controller.DeadbandedXboxController;
public class RobotContainer {
private static final Logger LOGGER = Logger.getLogger(RobotContainer.class.getSimpleName());
/* RobotMap */
private final RobotMap m_robotMap = new RobotMap();
public final RobotMap m_robotMap = new RobotMap();
// Subsystems
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront, m_robotMap.leftBack, m_robotMap.rightFront, m_robotMap.rightBack, m_robotMap.gyro);
private final Serializer m_robotSerializer = new Serializer(m_robotMap.serializerBelt, /*m_robotMap.serializerShooterBelt,*/ m_robotMap.serializerBeam);
private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.extenderMotor, m_robotSerializer);
// private final Storage m_robotStorage = new Storage(m_robotMap.storageMotor, m_robotMap.beamIntake, m_robotMap.beamShooter);
public final Serializer m_robotSerializer = new Serializer(m_robotMap.serializerBelt, /*m_robotMap.serializerShooterBelt,*/ m_robotMap.serializerBeam);
public final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.extenderMotor, m_robotSerializer);
public final Storage m_robotStorage = new Storage(m_robotMap.storageMotor);
// private final LED m_robotLED = new LED(m_robotMap.LEDController);
private final BoomBoom m_robotBoomBoom = new BoomBoom(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight);
private final Hood m_robotHood = new Hood(m_robotMap.angleAdjusterMotor);
private final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret);
public final BoomBoom m_robotBoomBoom = new BoomBoom(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight);
public final Hood m_robotHood = new Hood(m_robotMap.angleAdjusterMotor);
public final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret);
// private final VisionOdometry m_robotVisionOdometry = new VisionOdometry(m_robotSwerveDrive, m_robotTurret);*/
/* Controllers */
@@ -127,31 +127,32 @@ public class RobotContainer {
/* Default Commands */
// Swerve Drive with Input
/*m_robotSwerveDrive.setDefaultCommand(
m_robotSwerveDrive.setDefaultCommand(
new RunCommand(() -> m_robotSwerveDrive.driveWithInput(
getDriverController().getLeftX(),
getDriverController().getLeftY(),
//getDriverController().getRightX(),
getDriverController().getRightX(),
getDriverController().getRightY(),
getDriverController().getRightY(),
true),
m_robotSwerveDrive).withName("Swerve driveWithInput defaultCommand"));*/
m_robotSwerveDrive).withName("Swerve driveWithInput defaultCommand"));
// Intake with Triggers
m_robotIntake.setDefaultCommand(
new RunCommand(() -> m_robotIntake.runWithTriggers(
getDriverController().getLeftTriggerAxis(),
getDriverController().getRightTriggerAxis()),
getOperatorController().getLeftTriggerAxis(),
getOperatorController().getRightTriggerAxis()),
m_robotIntake).withName("Intake runWithTriggers defaultCommand"));
// Storage Management
/*m_robotStorage.setDefaultCommand(
new RunCommand(() -> m_robotStorage.manageStorage(),
m_robotStorage).withName("Storage manageStorage defaultCommand"));*/
// Serializer Management
m_robotSerializer.setDefaultCommand(
new RunCommand(() -> m_robotSerializer.setSerializer(0.8),//m_robotSerializer.setSerializerStateWithBeam(),
m_robotSerializer).withName("Serializer setSerializerStateWithBeam defaultCommand"));
// m_robotSerializer.setDefaultCommand(
// new RunCommand(() -> m_robotSerializer.setSerializer(0.8),//m_robotSerializer.setSerializerStateWithBeam(),
// m_robotSerializer).withName("Serializer setSerializerStateWithBeam defaultCommand"));
// Turret Manual
m_robotTurret.setDefaultCommand(
new RunCommand(() -> m_robotTurret.runTurretWithInput(getOperatorController().getLeftX() * 0.1),
new RunCommand(() -> m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()),
m_robotTurret).withName("Turret runTurretWithInput defaultCommand"));
m_robotHood.setDefaultCommand(
new RunCommand(() -> m_robotHood.runHood(getOperatorController().getRightY() * 0.1), m_robotHood));
@@ -190,22 +191,14 @@ public class RobotContainer {
new JoystickButton(getDriverController(), XboxController.Button.kRightBumper.value)
.whenPressed(() -> m_robotSwerveDrive.highSpeed(true));
new JoystickButton(getDriverController(), XboxController.Button.kA.value)
.whileHeld( new RunCommand(() -> m_robotSerializer.setSerializer(0.25)))
.whenReleased(new RunCommand(() -> m_robotSerializer.setSerializer(0.0)));
new JoystickButton(getDriverController(), XboxController.Button.kB.value)
.whileHeld(new RunCommand(() -> m_robotSerializer.setSerializer(-0.25)))
.whenReleased(new RunCommand(() -> m_robotSerializer.setSerializer(0.0)));
// new JoystickButton(getDriverController(), XboxController.Button.kA.value)
// .whenPressed(() -> resetOdometry(new Pose2d(0, 0, new Rotation2d(0))));
// new JoystickButton(getDriverController(), XboxController.Button.kX.value) //Temp
// .whenPressed(() -> m_robotMap.leftFront.reset())
// .whenPressed(() -> m_robotMap.rightFront.reset())
// .whenPressed(() -> m_robotMap.leftBack.reset())
// .whenPressed(() -> m_robotMap.rightBack.reset());
new JoystickButton(getDriverController(), XboxController.Button.kX.value) //Temp
.whenPressed(() -> m_robotMap.leftFront.reset())
.whenPressed(() -> m_robotMap.rightFront.reset())
.whenPressed(() -> m_robotMap.leftBack.reset())
.whenPressed(() -> m_robotMap.rightBack.reset());
/* Operator Buttons */
@@ -216,14 +209,23 @@ public class RobotContainer {
new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
.whenPressed(() -> m_robotIntake.runExtender(false));*/
new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
.whenPressed(new InstantCommand(() -> m_robotTurret.m_boomBoomRotateEncoder.setPosition(0)));
// new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
// .whenPressed(new InstantCommand(() -> m_robotTurret.m_boomBoomRotateEncoder.setPosition(0)));
new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
.whenPressed(new InstantCommand(() -> m_robotHood.m_angleEncoder.setPosition(0)));
new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
.whenPressed(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.05)));
.whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.3)))
.whenReleased(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.0)));
new JoystickButton(getOperatorController(), XboxController.Button.kLeftBumper.value)
.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(-0.75), m_robotStorage))
.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
new JoystickButton(getOperatorController(), XboxController.Button.kRightBumper.value)
.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(0.75), m_robotStorage))
.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
// Right Bumper > Storage In
// new JoystickButton(getOperatorController(), XboxController.Button.kRightBumper.value)
// .whileHeld(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED)))
src/main/java/frc4388/robot/RobotMap.java
+4 -2
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@@ -159,7 +159,7 @@ public class RobotMap {
rightBackSteerMotor.configRemoteFeedbackFilter(rightBackEncoder.getDeviceID(),
RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0,
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
}
}
// Shooter Config
/* Boom Boom Subsystem */
@@ -204,6 +204,8 @@ public class RobotMap {
shooterFalconRight.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG,
ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconRight.follow(shooterFalconLeft);
// /* Turret Subsytem */
// shooterFalconRight.configStatorCurrentLimit(new
// StatorCurrentLimitConfiguration(true, 6, 9, 4.2)); // TODO: dont pull numbers
@@ -229,7 +231,7 @@ public class RobotMap {
public final CANSparkMax extenderMotor = new CANSparkMax(IntakeConstants.EXTENDER_MOTOR, MotorType.kBrushless);
/* Storage Subsystem */
// public final CANSparkMax storageMotor = new CANSparkMax(StorageConstants.STORAGE_CAN_ID, MotorType.kBrushless);
public final CANSparkMax storageMotor = new CANSparkMax(StorageConstants.STORAGE_CAN_ID, MotorType.kBrushless);
// public final DigitalInput beamShooter = new DigitalInput(StorageConstants.BEAM_SENSOR_SHOOTER);
// public final DigitalInput beamIntake = new DigitalInput(StorageConstants.BEAM_SENSOR_INTAKE);
}
src/main/java/frc4388/robot/subsystems/BoomBoom.java
+1 -1
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@@ -189,7 +189,7 @@ public class BoomBoom extends SubsystemBase {
public void runDrumShooterVelocityPID(double targetVel) {
m_shooterFalconLeft.set(TalonFXControlMode.Velocity, targetVel); // Init
m_shooterFalconRight.follow(m_shooterFalconLeft);
// New BoomBoom controller stuff
// Controls a motor with the output of the BangBang controller
// Controls a motor with the output of the BangBang conroller and a feedforward
src/main/java/frc4388/robot/subsystems/Hood.java
+2 -2
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@@ -46,8 +46,8 @@ public double m_fireAngle;
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);
m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kForward, (float) ShooterConstants.HOOD_FORWARD_LIMIT);
m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kReverse, (float) ShooterConstants.HOOD_REVERSE_LIMIT);
setHoodSoftLimits(true);
}
src/main/java/frc4388/robot/subsystems/Storage.java
+7 -1
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@@ -19,6 +19,12 @@ public class Storage extends SubsystemBase {
m_beamShooter = beamShooter;
m_beamIntake = beamIntake;
}
public Storage(CANSparkMax storageMotor) {
m_storageMotor = storageMotor;
m_beamShooter = null;
m_beamIntake = null;
}
/**
* If The Beam Is Broken, Run Storage
* If Else, Stop Running Storage
@@ -57,6 +63,6 @@ public class Storage extends SubsystemBase {
* Every Robot Tick Manage The Storage
*/
public void periodic() {
manageStorage();
//manageStorage();
}
}
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+1 -1
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@@ -152,7 +152,7 @@ public class SwerveDrive extends SubsystemBase {
for (int i = 0; i < desiredStates.length; i++) {
SwerveModule module = modules[i];
SwerveModuleState state = desiredStates[i];
module.setDesiredState(state, false);
module.setDesiredState(state, ignoreAngles);
}
// modules[0].setDesiredState(desiredStates[0], false);
}
src/main/java/frc4388/robot/subsystems/Turret.java
+8 -8
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@@ -29,7 +29,7 @@ public class Turret extends SubsystemBase {
public CANSparkMax m_boomBoomRotateMotor;// = new CANSparkMax(ShooterConstants.SHOOTER_ROTATE_ID,
// MotorType.kBrushless);
public static Gains m_shooterTGains = ShooterConstants.SHOOTER_TURRET_GAINS;
SparkMaxLimitSwitch m_boomBoomRightLimit, m_boomBoomLeftLimit;
// SparkMaxLimitSwitch m_boomBoomRightLimit, m_boomBoomLeftLimit;
public Gyro m_turretGyro;
public double m_targetDistance = 0;
@@ -47,18 +47,18 @@ public class Turret extends SubsystemBase {
m_boomBoomRotateEncoder = m_boomBoomRotateMotor.getEncoder();
m_boomBoomRotateMotor.setIdleMode(IdleMode.kBrake);
m_boomBoomLeftLimit = m_boomBoomRotateMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_boomBoomRightLimit = m_boomBoomRotateMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_boomBoomRightLimit.enableLimitSwitch(true);
m_boomBoomLeftLimit.enableLimitSwitch(true);
SmartDashboard.putBoolean("Right Limit Switch Enabled", m_boomBoomRightLimit.isLimitSwitchEnabled());
SmartDashboard.putBoolean("Left Limit Switch Enabled", m_boomBoomLeftLimit.isLimitSwitchEnabled());
// m_boomBoomLeftLimit = m_boomBoomRotateMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
// m_boomBoomRightLimit = m_boomBoomRotateMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
// m_boomBoomRightLimit.enableLimitSwitch(true);
// m_boomBoomLeftLimit.enableLimitSwitch(true);
// SmartDashboard.putBoolean("Right Limit Switch Enabled", m_boomBoomRightLimit.isLimitSwitchEnabled());
// SmartDashboard.putBoolean("Left Limit Switch Enabled", m_boomBoomLeftLimit.isLimitSwitchEnabled());
m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, (float) ShooterConstants.TURRET_FORWARD_LIMIT);
m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kReverse, (float) ShooterConstants.TURRET_REVERSE_LIMIT);
setTurretSoftLimits(true);
m_boomBoomRotateMotor.setInverted(false);
m_boomBoomRotateMotor.setInverted(true);
m_boomBoomRotatePIDController.setP(m_shooterTGains.kP);
m_boomBoomRotatePIDController.setI(m_shooterTGains.kI);