mirror of
https://github.com/Team4388/2022NoWayHome.git
synced 2026-06-09 08:48:07 -06:00
commented out bunch of stuff in order to make turret work
This commit is contained in:
Ryan Manley
@@ -31,18 +31,18 @@ public final class Constants {
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public static final double JOYSTICK_TO_METERS_PER_SECOND = 5;
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public static final double MAX_SPEED_FEET_PER_SEC = 16;
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public static final double SPEED_FEET_PER_SECOND_AT_FULL_POWER = 20;
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public static final int LEFT_FRONT_STEER_CAN_ID = 2;
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public static final int LEFT_FRONT_WHEEL_CAN_ID = 3;
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public static final int RIGHT_FRONT_STEER_CAN_ID = 4;
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public static final int RIGHT_FRONT_WHEEL_CAN_ID = 5;
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public static final int LEFT_BACK_STEER_CAN_ID = 6;
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public static final int LEFT_BACK_WHEEL_CAN_ID = 7;
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public static final int RIGHT_BACK_STEER_CAN_ID = 8;
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public static final int RIGHT_BACK_WHEEL_CAN_ID = 9;
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public static final int LEFT_FRONT_STEER_CAN_ENCODER_ID = 10;
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public static final int RIGHT_FRONT_STEER_CAN_ENCODER_ID = 11;
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public static final int LEFT_BACK_STEER_CAN_ENCODER_ID = 12;
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public static final int RIGHT_BACK_STEER_CAN_ENCODER_ID = 13;
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// public static final int LEFT_FRONT_STEER_CAN_ID = 2;
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// public static final int LEFT_FRONT_WHEEL_CAN_ID = 3;
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// public static final int RIGHT_FRONT_STEER_CAN_ID = 4;
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// public static final int RIGHT_FRONT_WHEEL_CAN_ID = 5;
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// public static final int LEFT_BACK_STEER_CAN_ID = 6;
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// public static final int LEFT_BACK_WHEEL_CAN_ID = 7;
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// public static final int RIGHT_BACK_STEER_CAN_ID = 8;
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// public static final int RIGHT_BACK_WHEEL_CAN_ID = 9;
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// public static final int LEFT_FRONT_STEER_CAN_ENCODER_ID = 10;
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// public static final int RIGHT_FRONT_STEER_CAN_ENCODER_ID = 11;
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// public static final int LEFT_BACK_STEER_CAN_ENCODER_ID = 12;
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// public static final int RIGHT_BACK_STEER_CAN_ENCODER_ID = 13;
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// ofsets are in degrees
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//ofsets are in degrees
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// public static final double LEFT_FRONT_ENCODER_OFFSET = 181.494141;
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@@ -115,7 +115,7 @@ public final class Constants {
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public static final Gains DRUM_SHOOTER_GAINS = new Gains(0,0,0,0,0,0);//x,y,z,a,b are not actual values, fix later
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/* Hood Constants */
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public static final int SHOOTER_ANGLE_ADJUST_ID = 10;
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public static final int SHOOTER_ANGLE_ADJUST_ID = 32;
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public static final double HOOD_MOTOR_ROTS_PER_ROT = 1; //TODO: Find
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public static final double HOOD_MOTOR_POS_AT_ZERO_ROT = 0; //TODO: Find
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@@ -32,16 +32,16 @@ public class RobotContainer {
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private final RobotMap m_robotMap = new RobotMap();
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/* Subsystems */
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private final SwerveDrive m_robotSwerveDrive = new SwerveDrive(
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m_robotMap.leftFrontSteerMotor, m_robotMap.leftFrontWheelMotor,
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m_robotMap.rightFrontSteerMotor, m_robotMap.rightFrontWheelMotor,
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m_robotMap.leftBackSteerMotor, m_robotMap.leftBackWheelMotor,
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m_robotMap.rightBackSteerMotor, m_robotMap.rightBackWheelMotor,
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m_robotMap.leftFrontEncoder,
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m_robotMap.rightFrontEncoder,
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m_robotMap.leftBackEncoder,
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m_robotMap.rightBackEncoder
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);
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// private final SwerveDrive m_robotSwerveDrive = new SwerveDrive(
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// m_robotMap.leftFrontSteerMotor, m_robotMap.leftFrontWheelMotor,
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// m_robotMap.rightFrontSteerMotor, m_robotMap.rightFrontWheelMotor,
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// m_robotMap.leftBackSteerMotor, m_robotMap.leftBackWheelMotor,
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// m_robotMap.rightBackSteerMotor, m_robotMap.rightBackWheelMotor,
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// m_robotMap.leftFrontEncoder,
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// m_robotMap.rightFrontEncoder,
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// m_robotMap.leftBackEncoder,
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// m_robotMap.rightBackEncoder
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// );
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private final LED m_robotLED = new LED(m_robotMap.LEDController);
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private final BoomBoom m_robotBoomBoom = new BoomBoom();
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@@ -60,9 +60,9 @@ public class RobotContainer {
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/* Default Commands */
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// drives the swerve drive with a two-axis input from the driver controller
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m_robotSwerveDrive.setDefaultCommand(
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new RunCommand(() -> m_robotSwerveDrive.driveWithInput(-getDriverController().getLeftXAxis(),
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getDriverController().getLeftYAxis(), -getDriverController().getRightXAxis(), false), m_robotSwerveDrive));
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// m_robotSwerveDrive.setDefaultCommand(
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// new RunCommand(() -> m_robotSwerveDrive.driveWithInput(-getDriverController().getLeftXAxis(),
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// getDriverController().getLeftYAxis(), -getDriverController().getRightXAxis(), false), m_robotSwerveDrive));
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// continually sends updates to the Blinkin LED controller to keep the lights on
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m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED, m_robotLED));
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@@ -72,8 +72,7 @@ public class RobotContainer {
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//Turret default command
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m_robotTurret.setDefaultCommand(
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new RunCommand(() -> m_robotTurret.runShooterWithInput(getOperatorController().getLeftXAxis()), m_robotTurret)
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);
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new RunCommand(() -> m_robotTurret.runShooterWithInput(getOperatorController().getLeftXAxis()), m_robotTurret));
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// m_robotTurret.setDefaultCommand(
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// new RunCommand(() -> m_robotTurret.aimToCenter()));
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}
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@@ -22,7 +22,7 @@ public class RobotMap {
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public RobotMap() {
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configureLEDMotorControllers();
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configureSwerveMotorControllers();
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//configureSwerveMotorControllers();
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}
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/* LED Subsystem */
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@@ -33,73 +33,73 @@ public class RobotMap {
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}
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/* Swerve Subsystem */
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public final WPI_TalonFX leftFrontSteerMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_STEER_CAN_ID);
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public final WPI_TalonFX leftFrontWheelMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_WHEEL_CAN_ID);
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public final WPI_TalonFX rightFrontSteerMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_FRONT_STEER_CAN_ID);
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public final WPI_TalonFX rightFrontWheelMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_FRONT_WHEEL_CAN_ID);
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public final WPI_TalonFX leftBackSteerMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_BACK_STEER_CAN_ID);
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public final WPI_TalonFX leftBackWheelMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_BACK_WHEEL_CAN_ID);
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public final WPI_TalonFX rightBackSteerMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_BACK_STEER_CAN_ID);
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public final WPI_TalonFX rightBackWheelMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_BACK_WHEEL_CAN_ID);
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public final CANCoder leftFrontEncoder = new CANCoder(SwerveDriveConstants.LEFT_FRONT_STEER_CAN_ENCODER_ID);
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public final CANCoder rightFrontEncoder = new CANCoder(SwerveDriveConstants.RIGHT_FRONT_STEER_CAN_ENCODER_ID);
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public final CANCoder leftBackEncoder = new CANCoder(SwerveDriveConstants.LEFT_BACK_STEER_CAN_ENCODER_ID);
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public final CANCoder rightBackEncoder = new CANCoder(SwerveDriveConstants.RIGHT_BACK_STEER_CAN_ENCODER_ID);
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// public final WPI_TalonFX leftFrontSteerMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_STEER_CAN_ID);
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// public final WPI_TalonFX leftFrontWheelMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_WHEEL_CAN_ID);
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// public final WPI_TalonFX rightFrontSteerMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_FRONT_STEER_CAN_ID);
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// public final WPI_TalonFX rightFrontWheelMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_FRONT_WHEEL_CAN_ID);
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// public final WPI_TalonFX leftBackSteerMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_BACK_STEER_CAN_ID);
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// public final WPI_TalonFX leftBackWheelMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_BACK_WHEEL_CAN_ID);
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// public final WPI_TalonFX rightBackSteerMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_BACK_STEER_CAN_ID);
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// public final WPI_TalonFX rightBackWheelMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_BACK_WHEEL_CAN_ID);
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// public final CANCoder leftFrontEncoder = new CANCoder(SwerveDriveConstants.LEFT_FRONT_STEER_CAN_ENCODER_ID);
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// public final CANCoder rightFrontEncoder = new CANCoder(SwerveDriveConstants.RIGHT_FRONT_STEER_CAN_ENCODER_ID);
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// public final CANCoder leftBackEncoder = new CANCoder(SwerveDriveConstants.LEFT_BACK_STEER_CAN_ENCODER_ID);
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// public final CANCoder rightBackEncoder = new CANCoder(SwerveDriveConstants.RIGHT_BACK_STEER_CAN_ENCODER_ID);
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void configureSwerveMotorControllers() {
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leftFrontEncoder.configMagnetOffset(SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET);
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rightFrontEncoder.configMagnetOffset(SwerveDriveConstants.RIGHT_FRONT_ENCODER_OFFSET);
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leftBackEncoder.configMagnetOffset(SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET);
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rightBackEncoder.configMagnetOffset(SwerveDriveConstants.RIGHT_BACK_ENCODER_OFFSET);
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// void configureSwerveMotorControllers() {
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// leftFrontEncoder.configMagnetOffset(SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET);
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// rightFrontEncoder.configMagnetOffset(SwerveDriveConstants.RIGHT_FRONT_ENCODER_OFFSET);
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// leftBackEncoder.configMagnetOffset(SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET);
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// rightBackEncoder.configMagnetOffset(SwerveDriveConstants.RIGHT_BACK_ENCODER_OFFSET);
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leftFrontSteerMotor.configFactoryDefault();
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leftFrontWheelMotor.configFactoryDefault();
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rightFrontSteerMotor.configFactoryDefault();
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rightFrontWheelMotor.configFactoryDefault();
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leftBackSteerMotor.configFactoryDefault();
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leftBackWheelMotor.configFactoryDefault();
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rightBackSteerMotor.configFactoryDefault();
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rightBackWheelMotor.configFactoryDefault();
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// leftFrontSteerMotor.configFactoryDefault();
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// leftFrontWheelMotor.configFactoryDefault();
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// rightFrontSteerMotor.configFactoryDefault();
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// rightFrontWheelMotor.configFactoryDefault();
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// leftBackSteerMotor.configFactoryDefault();
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// leftBackWheelMotor.configFactoryDefault();
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// rightBackSteerMotor.configFactoryDefault();
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// rightBackWheelMotor.configFactoryDefault();
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leftFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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leftFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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rightFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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rightFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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leftBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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leftBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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rightBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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rightBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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leftFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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leftFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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rightFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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rightFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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leftBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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leftBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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rightBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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rightBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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leftFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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leftFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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rightFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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rightFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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leftBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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leftBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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rightBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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rightBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// config cancoder as remote encoder for swerve steer motors
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// // config cancoder as remote encoder for swerve steer motors
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//leftFrontSteerMotor.configRemoteFeedbackFilter(leftFrontEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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//leftBackSteerMotor.configRemoteFeedbackFilter(leftBackEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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//rightFrontSteerMotor.configRemoteFeedbackFilter(rightFrontEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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//rightBackSteerMotor.configRemoteFeedbackFilter(rightBackEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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}
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//}
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//Shooter Config
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/*Boom Boom Subsystem*/
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public final WPI_TalonFX shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_LEFT_CAN_ID);
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public final WPI_TalonFX shooterFalconRight = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_RIGHT_CAN_ID);
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public final CANSparkMax shooterTurret = new CANSparkMax(ShooterConstants.TURRET_MOTOR_CAN_ID, MotorType.kBrushless);
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// public final WPI_TalonFX shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_LEFT_CAN_ID);
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// public final WPI_TalonFX shooterFalconRight = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_RIGHT_CAN_ID);
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// public final CANSparkMax shooterTurret = new CANSparkMax(ShooterConstants.TURRET_MOTOR_CAN_ID, MotorType.kBrushless);
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//Create motor CANSparkMax
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void ConfigureShooterMotorControllers() {
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@@ -21,13 +21,13 @@ import frc4388.utility.Gains;
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public class Hood extends SubsystemBase {
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public BoomBoom m_shooterSubsystem;
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public CANSparkMax m_angleAdjusterMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
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// public CANSparkMax m_angleAdjusterMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
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public SparkMaxLimitSwitch m_hoodUpLimitSwitch;
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public SparkMaxLimitSwitch m_hoodDownLimitSwitch;
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public static Gains m_angleAdjusterGains = ShooterConstants.SHOOTER_ANGLE_GAINS;
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public RelativeEncoder m_angleEncoder = m_angleAdjusterMotor.getEncoder();
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// public RelativeEncoder m_angleEncoder = m_angleAdjusterMotor.getEncoder();
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public SparkMaxPIDController m_angleAdjusterPIDController = m_angleAdjusterMotor.getPIDController();
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// public SparkMaxPIDController m_angleAdjusterPIDController = m_angleAdjusterMotor.getPIDController();
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//public boolean m_isHoodReady = false;
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@@ -37,12 +37,12 @@ public double m_fireAngle;
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/** Creates a new Hood. */
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public Hood() {
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m_angleAdjusterMotor.setIdleMode(IdleMode.kBrake);
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// m_angleAdjusterMotor.setIdleMode(IdleMode.kBrake);
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m_hoodUpLimitSwitch = m_angleAdjusterMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
|
||||
m_hoodDownLimitSwitch = m_angleAdjusterMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
|
||||
m_hoodUpLimitSwitch.enableLimitSwitch(true);
|
||||
m_hoodDownLimitSwitch.enableLimitSwitch(true);
|
||||
// m_hoodUpLimitSwitch = m_angleAdjusterMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
|
||||
// m_hoodDownLimitSwitch = m_angleAdjusterMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
|
||||
// m_hoodUpLimitSwitch.enableLimitSwitch(true);
|
||||
// m_hoodDownLimitSwitch.enableLimitSwitch(true);
|
||||
}
|
||||
|
||||
|
||||
@@ -53,30 +53,30 @@ public double m_fireAngle;
|
||||
public void runAngleAdjustPID(double targetAngle)
|
||||
{
|
||||
//Set PID Coefficients
|
||||
m_angleAdjusterPIDController.setP(m_angleAdjusterGains.m_kP);
|
||||
m_angleAdjusterPIDController.setI(m_angleAdjusterGains.m_kI);
|
||||
m_angleAdjusterPIDController.setD(m_angleAdjusterGains.m_kD);
|
||||
m_angleAdjusterPIDController.setIZone(m_angleAdjusterGains.m_kIzone);
|
||||
m_angleAdjusterPIDController.setFF(m_angleAdjusterGains.m_kF);
|
||||
m_angleAdjusterPIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_angleAdjusterGains.m_kPeakOutput);
|
||||
// m_angleAdjusterPIDController.setP(m_angleAdjusterGains.m_kP);
|
||||
// m_angleAdjusterPIDController.setI(m_angleAdjusterGains.m_kI);
|
||||
// m_angleAdjusterPIDController.setD(m_angleAdjusterGains.m_kD);
|
||||
// m_angleAdjusterPIDController.setIZone(m_angleAdjusterGains.m_kIzone);
|
||||
// m_angleAdjusterPIDController.setFF(m_angleAdjusterGains.m_kF);
|
||||
// m_angleAdjusterPIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_angleAdjusterGains.m_kPeakOutput);
|
||||
|
||||
m_angleAdjusterPIDController.setReference(targetAngle, ControlType.kPosition);
|
||||
// m_angleAdjusterPIDController.setReference(targetAngle, ControlType.kPosition);
|
||||
}
|
||||
|
||||
|
||||
public void runHood(double input) {
|
||||
m_angleAdjusterMotor.set(input);
|
||||
// m_angleAdjusterMotor.set(input);
|
||||
}
|
||||
|
||||
public void resetGyroAngleAdj(){
|
||||
m_angleEncoder.setPosition(0);
|
||||
// m_angleEncoder.setPosition(0);
|
||||
}
|
||||
|
||||
public double getAnglePosition(){
|
||||
return m_angleEncoder.getPosition();
|
||||
return 0.0;//m_angleEncoder.getPosition();
|
||||
}
|
||||
|
||||
public double getAnglePositionDegrees(){
|
||||
return ((m_angleEncoder.getPosition() - ShooterConstants.HOOD_MOTOR_POS_AT_ZERO_ROT) * 360/ShooterConstants.HOOD_MOTOR_ROTS_PER_ROT) - 90;
|
||||
return 0.0;//((m_angleEncoder.getPosition() - ShooterConstants.HOOD_MOTOR_POS_AT_ZERO_ROT) * 360/ShooterConstants.HOOD_MOTOR_ROTS_PER_ROT) - 90;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -28,7 +28,7 @@ public class Turret extends SubsystemBase {
|
||||
public BoomBoom m_boomBoomSubsystem;
|
||||
public SwerveDrive m_sDriveSubsystem;
|
||||
|
||||
public CANSparkMax m_boomBoomRotateMotor = new CANSparkMax(ShooterConstants.SHOOTER_ROTATE_ID, MotorType.kBrushless);
|
||||
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;
|
||||
@@ -37,14 +37,16 @@ public class Turret extends SubsystemBase {
|
||||
|
||||
public boolean m_isAimReady = false;
|
||||
|
||||
SparkMaxPIDController m_boomBoomRotatePIDController = m_boomBoomRotateMotor.getPIDController();
|
||||
public RelativeEncoder m_boomBoomRotateEncoder = m_boomBoomRotateMotor.getEncoder();
|
||||
SparkMaxPIDController m_boomBoomRotatePIDController;// = m_boomBoomRotateMotor.getPIDController();
|
||||
public RelativeEncoder m_boomBoomRotateEncoder;// = m_boomBoomRotateMotor.getEncoder();
|
||||
|
||||
|
||||
//Variables
|
||||
public Turret() {
|
||||
|
||||
|
||||
m_boomBoomRotateMotor = new CANSparkMax(30, MotorType.kBrushless);
|
||||
m_boomBoomRotatePIDController = m_boomBoomRotateMotor.getPIDController();
|
||||
m_boomBoomRotateEncoder = m_boomBoomRotateMotor.getEncoder();
|
||||
m_boomBoomRotateMotor.setIdleMode(IdleMode.kBrake);
|
||||
|
||||
m_turretGyro = getGyroInterface();
|
||||
|
||||
Reference in New Issue
Block a user