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commented out bunch of stuff in order to make turret work

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This commit is contained in:
Ryan Manley
2022-02-05 14:27:11 -07:00
parent d666e9eb9d
commit 3e43b50f04
5 changed files with 107 additions and 106 deletions
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src/main/java/frc4388/robot/subsystems/Hood.java
+19 -19
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@@ -21,13 +21,13 @@ import frc4388.utility.Gains;
public class Hood extends SubsystemBase {
public BoomBoom m_shooterSubsystem;
public CANSparkMax m_angleAdjusterMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
// public CANSparkMax m_angleAdjusterMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
public SparkMaxLimitSwitch m_hoodUpLimitSwitch;
public SparkMaxLimitSwitch m_hoodDownLimitSwitch;
public static Gains m_angleAdjusterGains = ShooterConstants.SHOOTER_ANGLE_GAINS;
public RelativeEncoder m_angleEncoder = m_angleAdjusterMotor.getEncoder();
// public RelativeEncoder m_angleEncoder = m_angleAdjusterMotor.getEncoder();
public SparkMaxPIDController m_angleAdjusterPIDController = m_angleAdjusterMotor.getPIDController();
// public SparkMaxPIDController m_angleAdjusterPIDController = m_angleAdjusterMotor.getPIDController();
//public boolean m_isHoodReady = false;
@@ -37,12 +37,12 @@ public double m_fireAngle;
/** Creates a new Hood. */
public Hood() {
m_angleAdjusterMotor.setIdleMode(IdleMode.kBrake);
// m_angleAdjusterMotor.setIdleMode(IdleMode.kBrake);
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;
}
}
src/main/java/frc4388/robot/subsystems/Turret.java
+6 -4
View File
@@ -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();