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random code cleanup shtuff

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This commit is contained in:
aarav18
2022-03-16 11:22:51 -06:00
parent ca4d87977a
commit 35e6515a74
7 changed files with 56 additions and 50 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+2 -2
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@@ -62,7 +62,7 @@ import frc4388.robot.Constants.OIConstants;
import frc4388.robot.Constants.ShooterConstants;
import frc4388.robot.Constants.StorageConstants;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.robot.commands.RunMiddleSwitch;
import frc4388.robot.commands.ButtonBoxCommands.RunMiddleSwitch;
import frc4388.robot.commands.ExtenderIntakeCommands.ExtenderIntakeGroup;
import frc4388.robot.commands.ShooterCommands.AimToCenter;
import frc4388.robot.commands.ShooterCommands.Shoot;
@@ -316,7 +316,7 @@ public class RobotContainer {
.whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood));*/
// new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
// .whileHeld(new RunCommand(() -> m_robotTurret.runShooterRotatePID(-44 * ShooterConstants.TURRET_DEGREES_PER_ROT), m_robotTurret));
// .whileHeld(new RunCommand(() -> m_robotTurret.gotoMidpoint(), m_robotTurret));
//B > Shoot with Lime
new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
src/main/java/frc4388/robot/RobotMap.java
+16 -24
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@@ -188,16 +188,16 @@ public class RobotMap {
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
}
// // Shooter Config
// /* Boom Boom Subsystem */
// 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);
// // turret subsystem
// turret subsystem
public final CANSparkMax shooterTurret = new CANSparkMax(ShooterConstants.TURRET_MOTOR_CAN_ID, MotorType.kBrushless);
// hood subsystem
public CANSparkMax angleAdjusterMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
public final CANSparkMax angleAdjusterMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
// Create motor CANSparkMax
void configureShooterMotorControllers() {
@@ -219,9 +219,9 @@ public class RobotMap {
ShooterConstants.SHOOTER_TIMEOUT_MS);
// RIGHT FALCON
shooterFalconRight.setInverted(false);
shooterFalconRight.setNeutralMode(NeutralMode.Coast);
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,
@@ -236,24 +236,18 @@ public class RobotMap {
ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconRight.follow(shooterFalconLeft);
// }
// // /* Turret Subsytem */
// shooterFalconRight.configStatorCurrentLimit(new
// StatorCurrentLimitConfiguration(true, 6, 9, 4.2)); // TODO: dont pull numbers
// out of our ass anymore
// shooterFalconLeft.configSupplyCurrentLimit(new
// SupplyCurrentLimitConfiguration(true, 12, 13, 0.4)); // TODO: dont pull
// // numbers out of our ass anymore
// turret
shooterTurret.restoreFactoryDefaults();
shooterTurret.setIdleMode(IdleMode.kBrake);
shooterTurret.setInverted(true);
// // hood subsystem
// hood subsystem
angleAdjusterMotor.restoreFactoryDefaults();
angleAdjusterMotor.setIdleMode(IdleMode.kBrake);
angleAdjusterMotor.setInverted(true);
}
/* Serializer Subsystem */
public final CANSparkMax serializerBelt = new CANSparkMax(SerializerConstants.SERIALIZER_BELT, MotorType.kBrushless);
public final DigitalInput serializerBeam = new DigitalInput(SerializerConstants.SERIALIZER_BELT_BEAM);
@@ -277,14 +271,12 @@ public class RobotMap {
extenderMotor.setIdleMode(IdleMode.kBrake);
}
void configureSerializerMotors() {
serializerBelt.restoreFactoryDefaults();
}
void configureSerializerMotors() {
serializerBelt.restoreFactoryDefaults();
}
/* Storage Subsystem */
/* Storage Subsystem */
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);
void configureStorageMotors() {
storageMotor.restoreFactoryDefaults();
src/main/java/frc4388/robot/commands/RunMiddleSwitch.java → src/main/java/frc4388/robot/commands/ButtonBoxCommands/RunMiddleSwitch.java
+1 -1
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@@ -2,7 +2,7 @@
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc4388.robot.commands;
package frc4388.robot.commands.ButtonBoxCommands;
import edu.wpi.first.wpilibj2.command.CommandBase;
src/main/java/frc4388/robot/commands/ExtenderIntakeCommands/ExtenderIntakeGroup.java
+3 -2
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@@ -13,13 +13,14 @@ import frc4388.robot.subsystems.Intake;
// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
public class ExtenderIntakeGroup extends ParallelRaceGroup {
public static int direction = 1; // assume extender starts retracted completely
public static int direction;
/** Creates a new RunExtenderAndIntake. */
public ExtenderIntakeGroup(Intake intake, Extender extender) {
// Add your commands in the addCommands() call, e.g.
// addCommands(new FooCommand(), new BarCommand());
ExtenderIntakeGroup.direction = 1; // Does this make sense? It kind of defeats the purpose of making it static, does it work without?
ExtenderIntakeGroup.direction = 1; // assume extender starts retracted completely
addCommands(new RunIntakeConditionally(intake), new RunExtender(extender));
}
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+1 -1
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@@ -65,7 +65,7 @@ public class SwerveDrive extends SubsystemBase {
m_rightBack = rightBack;
m_gyro = gyro;
modules = new SwerveModule[] { m_leftFront, m_rightFront, m_leftBack, m_rightBack};
modules = new SwerveModule[] {m_leftFront, m_rightFront, m_leftBack, m_rightBack};
m_poseEstimator = new SwerveDrivePoseEstimator(
m_gyro.getRotation2d(),
src/main/java/frc4388/robot/subsystems/Turret.java
+31 -18
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@@ -29,28 +29,20 @@ 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;
public Gyro m_turretGyro;
SparkMaxLimitSwitch m_boomBoomRightLimit, m_boomBoomLeftLimit;
public double m_targetDistance = 0;
SparkMaxPIDController m_boomBoomRotatePIDController;
public RelativeEncoder m_boomBoomRotateEncoder;
public boolean m_isAimReady = false;
SparkMaxPIDController m_boomBoomRotatePIDController;// = m_boomBoomRotateMotor.getPIDController();
public RelativeEncoder m_boomBoomRotateEncoder;// = m_boomBoomRotateMotor.getEncoder();
// Variables
public Turret(CANSparkMax boomBoomRotateMotor) { // Take in rotate motor as an argument
public Turret(CANSparkMax boomBoomRotateMotor) {
m_boomBoomRotateMotor = boomBoomRotateMotor;
m_boomBoomRotatePIDController = m_boomBoomRotateMotor.getPIDController();
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);
m_boomBoomRightLimit = m_boomBoomRotateMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_boomBoomLeftLimit = m_boomBoomRotateMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
setTurretLimitSwitches(false);
// SmartDashboard.putBoolean("Right Limit Switch Enabled", m_boomBoomRightLimit.isLimitSwitchEnabled());
// SmartDashboard.putBoolean("Left Limit Switch Enabled", m_boomBoomLeftLimit.isLimitSwitchEnabled());
@@ -58,8 +50,13 @@ public class Turret extends SubsystemBase {
m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kReverse, (float) ShooterConstants.TURRET_REVERSE_LIMIT);
setTurretSoftLimits(true);
m_boomBoomRotateMotor.setInverted(true);
setTurretPIDGains();
}
/**
* Set gains for turret PIDs.
*/
public void setTurretPIDGains() {
m_boomBoomRotatePIDController.setP(m_shooterTGains.kP);
m_boomBoomRotatePIDController.setI(m_shooterTGains.kI);
m_boomBoomRotatePIDController.setD(m_shooterTGains.kD);
@@ -84,6 +81,15 @@ public class Turret extends SubsystemBase {
m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kReverse, set);
}
/**
* Set status of turret limit switches.
* @param set Boolean to set limit switches to.
*/
public void setTurretLimitSwitches(boolean set) {
m_boomBoomRightLimit.enableLimitSwitch(set);
m_boomBoomLeftLimit.enableLimitSwitch(set);
}
public void passRequiredSubsystem(BoomBoom subsystem0, SwerveDrive subsystem1) {
m_boomBoomSubsystem = subsystem0;
m_sDriveSubsystem = subsystem1;
@@ -109,6 +115,13 @@ public class Turret extends SubsystemBase {
runShooterRotatePID(0);
}
/**
* Run a PID to go to the midpoint position, between the two soft limits.
*/
public void gotoMidpoint() {
runShooterRotatePID(-44 * ShooterConstants.TURRET_DEGREES_PER_ROT);
}
public double getboomBoomRotatePosition() {
return m_boomBoomRotateEncoder.getPosition();
}
@@ -116,7 +129,7 @@ public class Turret extends SubsystemBase {
public double getBoomBoomAngleDegrees() {
return (m_boomBoomRotateEncoder.getPosition() - ShooterConstants.TURRET_MOTOR_POS_AT_ZERO_ROT) * 360
/ ShooterConstants.TURRET_MOTOR_ROTS_PER_ROT;
}
} // TODO: does this method work?
public double getCurrent(){
return m_boomBoomRotateMotor.getOutputCurrent();
src/main/java/frc4388/robot/subsystems/Vision.java
+2 -2
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@@ -86,10 +86,10 @@ public void track(){
public void checkFinished(){
if (xAngle < 0.5 && xAngle > -0.5 && target == 1){
m_turret.m_isAimReady = true;
// m_turret.m_isAimReady = true;
}
else{
m_turret.m_isAimReady = false;
// m_turret.m_isAimReady = false;
}
}