Team4388/2022NoWayHome
1
0
Fork 0
mirror of https://github.com/Team4388/2022NoWayHome.git synced 2026-06-09 00:38:05 -06:00
Code Issues Packages Projects Releases Wiki Activity

lots of weird turret limit shtuff, NOT COMPLETE

Browse Source
This commit is contained in:
Ryan Manley
2022-03-16 21:18:10 -06:00
parent 2f23aed7f1
commit 411e06211c
6 changed files with 80 additions and 27 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/subsystems/Turret.java
+59 -13
View File
@@ -37,23 +37,35 @@ public class Turret extends SubsystemBase {
SparkMaxLimitSwitch m_boomBoomLeftLimit;
SparkMaxLimitSwitch m_boomBoomRightLimit;
boolean hasLeftSwitchChanged = false;
boolean hasRightSwitchChanged = false;
boolean leftPrevState = false;
boolean rightPrevState = false;
boolean leftState;
boolean rightState;
long leftCurrentTime;
long rightCurrentTime;
long leftElapsedTime;
long rightElapsedTime;
public Turret(CANSparkMax boomBoomRotateMotor) {
m_boomBoomRotateMotor = boomBoomRotateMotor;
m_boomBoomRotatePIDController = m_boomBoomRotateMotor.getPIDController();
m_boomBoomRotateEncoder = m_boomBoomRotateMotor.getEncoder();
m_boomBoomLeftLimit = m_boomBoomRotateMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_boomBoomRightLimit = m_boomBoomRotateMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_boomBoomLeftLimit = m_boomBoomRotateMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_boomBoomRightLimit = m_boomBoomRotateMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
// m_boomBoomLeftLimit.enableLimitSwitch(true);
// m_boomBoomRightLimit.enableLimitSwitch(true);
setTurretLimitSwitches(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);
m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, (float) ShooterConstants.TURRET_FORWARD_SOFT_LIMIT);
m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kReverse, (float) ShooterConstants.TURRET_REVERSE_SOFT_LIMIT);
setTurretSoftLimits(true);
setTurretPIDGains();
}
@@ -68,19 +80,53 @@ public class Turret extends SubsystemBase {
m_boomBoomRotatePIDController.setIZone(m_shooterTGains.kIzone);
m_boomBoomRotatePIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterTGains.kPeakOutput);
}
@Override
public void periodic() {
// This method will be called once per scheduler run
SmartDashboard.putBoolean("Right Limit Switch Enabled", m_boomBoomRightLimit.isLimitSwitchEnabled());
SmartDashboard.putBoolean("Left Limit Switch Enabled", m_boomBoomLeftLimit.isLimitSwitchEnabled());
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());
if (m_boomBoomLeftLimit.isPressed()) m_boomBoomRotateEncoder.setPosition(ShooterConstants.TURRET_REVERSE_LIMIT - 2);
if (m_boomBoomRightLimit.isPressed()) m_boomBoomRotateEncoder.setPosition(ShooterConstants.TURRET_FORWARD_LIMIT + 2);
// limit switch annoying time thing
leftState = m_boomBoomLeftLimit.isPressed();
rightState = m_boomBoomRightLimit.isPressed();
hasLeftSwitchChanged = (leftState != leftPrevState);
hasRightSwitchChanged = (rightState != rightPrevState);
if (leftState && hasLeftSwitchChanged) {
leftCurrentTime = System.currentTimeMillis();
leftElapsedTime = 0;
}
if (rightState && hasRightSwitchChanged) {
rightCurrentTime = System.currentTimeMillis();
rightElapsedTime = 0;
}
if (leftState && !hasLeftSwitchChanged) {
leftElapsedTime = System.currentTimeMillis() - leftCurrentTime;
}
if (rightState && !hasRightSwitchChanged) {
rightElapsedTime = System.currentTimeMillis() - rightCurrentTime;
}
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*/);
}
leftPrevState = leftState;
rightPrevState = rightState;
}
/**
@@ -110,7 +156,7 @@ 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);
m_boomBoomRotateMotor.set(input * ShooterConstants.TURRET_SPEED_MULTIPLIER * 0.5);
}
public void runShooterRotatePID(double targetAngle) {