mirror of
https://github.com/Team4388/2022NoWayHome.git
synced 2026-06-09 08:48:07 -06:00
Merge branch 'testRoboReveal' of https://github.com/Team4388/2022NoWayHome into testRoboReveal
This commit is contained in:
aarav18
@@ -219,7 +219,7 @@ public final class Constants {
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// public static final double TARGET_HEIGHT = 67.5;
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// public static final double FOV = 29.8; //Field of view limelight
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public static final double LIME_ANGLE = 24.7;
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public static final double LIME_ANGLE = 50;
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public static final String NAME = "photonCamera";
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@@ -104,7 +104,7 @@ public class RobotContainer {
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public final Storage m_robotStorage = new Storage(m_robotMap.storageMotor);
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// private final LED m_robotLED = new LED(m_robotMap.LEDController);
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// public final BoomBoom m_robotBoomBoom = new BoomBoom(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight);
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public final BoomBoom m_robotBoomBoom = new BoomBoom(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight);
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// public final Hood m_robotHood = new Hood(m_robotMap.angleAdjusterMotor);
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public final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret);
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private final VisionOdometry m_robotVisionOdometry = new VisionOdometry(m_robotSwerveDrive, m_robotTurret);
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@@ -151,7 +151,7 @@ public class RobotContainer {
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//getDriverController().getRightX(),
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getDriverController().getRightX(),
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// getDriverController().getRightY(),
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false),
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true),
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m_robotSwerveDrive).withName("Swerve driveWithInput defaultCommand"));
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// Intake with Triggers
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m_robotIntake.setDefaultCommand(
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@@ -251,10 +251,10 @@ public class RobotContainer {
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// .whileHeld(new RunCommand(() -> m_robotHood.runAngleAdjustPID(-55.55)))
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// .whenReleased(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.0)));
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// new JoystickButton(getOperatorController(), XboxController.Button.kX.value) //20ft
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// .whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.525)))
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new JoystickButton(getOperatorController(), XboxController.Button.kX.value) //20ft
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.whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.1)))
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// .whileHeld(new RunCommand(() -> m_robotHood.runAngleAdjustPID(-96)))
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// .whenReleased(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.0)));
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.whenReleased(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.0)));
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new JoystickButton(getOperatorController(), XboxController.Button.kLeftBumper.value)
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.whenPressed(new RunCommand(() -> m_robotStorage.runStorage(-0.9), m_robotStorage))
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@@ -36,7 +36,7 @@ public class RobotMap {
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public RobotMap() {
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// configureLEDMotorControllers();
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configureSwerveMotorControllers();
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// configureShooterMotorControllers();
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configureShooterMotorControllers();
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configureIntakeMotors();
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configureExtenderMotors();
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configureSerializerMotors();
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@@ -190,59 +190,60 @@ public class RobotMap {
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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 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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// // turret subsystem
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public final CANSparkMax shooterTurret = new CANSparkMax(ShooterConstants.TURRET_MOTOR_CAN_ID, MotorType.kBrushless);
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// // hood subsystem
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// public CANSparkMax angleAdjusterMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
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// hood subsystem
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public CANSparkMax angleAdjusterMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
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// // Create motor CANSparkMax
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// void configureShooterMotorControllers() {
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// Create motor CANSparkMax
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void configureShooterMotorControllers() {
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// // LEFT FALCON
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// shooterFalconLeft.configFactoryDefault();
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// shooterFalconLeft.setNeutralMode(NeutralMode.Coast);
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// shooterFalconLeft.setInverted(true);
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// shooterFalconLeft.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
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// shooterFalconLeft.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS);
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// shooterFalconLeft.configPeakOutputReverse(0, ShooterConstants.SHOOTER_TIMEOUT_MS);
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// shooterFalconLeft.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX,
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// ShooterConstants.SHOOTER_TIMEOUT_MS);
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// shooterFalconLeft.configClosedLoopPeriod(0, ShooterConstants.CLOSED_LOOP_TIME_MS,
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// ShooterConstants.SHOOTER_TIMEOUT_MS);
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// shooterFalconLeft.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG_SHOOTER,
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// ShooterConstants.SHOOTER_TIMEOUT_MS);
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// shooterFalconLeft.configStatorCurrentLimit(ShooterConstants.STATOR_CURRENT_LIMIT_CONFIG_SHOOTER,
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// ShooterConstants.SHOOTER_TIMEOUT_MS);
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// LEFT FALCON
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shooterFalconLeft.configFactoryDefault();
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shooterFalconLeft.setNeutralMode(NeutralMode.Coast);
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shooterFalconLeft.setInverted(true);
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shooterFalconLeft.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
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shooterFalconLeft.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS);
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shooterFalconLeft.configPeakOutputReverse(0, ShooterConstants.SHOOTER_TIMEOUT_MS);
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shooterFalconLeft.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX,
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ShooterConstants.SHOOTER_TIMEOUT_MS);
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shooterFalconLeft.configClosedLoopPeriod(0, ShooterConstants.CLOSED_LOOP_TIME_MS,
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ShooterConstants.SHOOTER_TIMEOUT_MS);
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shooterFalconLeft.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG_SHOOTER,
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ShooterConstants.SHOOTER_TIMEOUT_MS);
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shooterFalconLeft.configStatorCurrentLimit(ShooterConstants.STATOR_CURRENT_LIMIT_CONFIG_SHOOTER,
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ShooterConstants.SHOOTER_TIMEOUT_MS);
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// // RIGHT FALCON
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// shooterFalconRight.setInverted(false);
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// shooterFalconRight.setNeutralMode(NeutralMode.Coast);
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// shooterFalconRight.configFactoryDefault();
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// shooterFalconRight.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
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// shooterFalconRight.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS);
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// // m_shooterFalconRight.configPeakOutputForward(0,
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// // ShooterConstants.SHOOTER_TIMEOUT_MS);(comment it in if necessary)
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// shooterFalconRight.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX,
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// ShooterConstants.SHOOTER_TIMEOUT_MS);
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// shooterFalconRight.configClosedLoopPeriod(0, ShooterConstants.CLOSED_LOOP_TIME_MS,
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// ShooterConstants.SHOOTER_TIMEOUT_MS);
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// shooterFalconRight.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG_SHOOTER,
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// ShooterConstants.SHOOTER_TIMEOUT_MS);
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// shooterFalconRight.configStatorCurrentLimit(ShooterConstants.STATOR_CURRENT_LIMIT_CONFIG_SHOOTER,
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// ShooterConstants.SHOOTER_TIMEOUT_MS);
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// RIGHT FALCON
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shooterFalconRight.setInverted(false);
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shooterFalconRight.setNeutralMode(NeutralMode.Coast);
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shooterFalconRight.configFactoryDefault();
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shooterFalconRight.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
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shooterFalconRight.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS);
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// m_shooterFalconRight.configPeakOutputForward(0,
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// ShooterConstants.SHOOTER_TIMEOUT_MS);(comment it in if necessary)
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shooterFalconRight.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX,
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ShooterConstants.SHOOTER_TIMEOUT_MS);
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shooterFalconRight.configClosedLoopPeriod(0, ShooterConstants.CLOSED_LOOP_TIME_MS,
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ShooterConstants.SHOOTER_TIMEOUT_MS);
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shooterFalconRight.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG_SHOOTER,
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ShooterConstants.SHOOTER_TIMEOUT_MS);
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shooterFalconRight.configStatorCurrentLimit(ShooterConstants.STATOR_CURRENT_LIMIT_CONFIG_SHOOTER,
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ShooterConstants.SHOOTER_TIMEOUT_MS);
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// shooterFalconRight.follow(shooterFalconLeft);
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shooterFalconRight.follow(shooterFalconLeft);
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}
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// // /* Turret Subsytem */
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// // shooterFalconRight.configStatorCurrentLimit(new
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// // StatorCurrentLimitConfiguration(true, 6, 9, 4.2)); // TODO: dont pull numbers
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// // out of our ass anymore
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// // shooterFalconLeft.configSupplyCurrentLimit(new
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// // SupplyCurrentLimitConfiguration(true, 12, 13, 0.4)); // TODO: dont pull
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// shooterFalconRight.configStatorCurrentLimit(new
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// StatorCurrentLimitConfiguration(true, 6, 9, 4.2)); // TODO: dont pull numbers
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// out of our ass anymore
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// shooterFalconLeft.configSupplyCurrentLimit(new
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// SupplyCurrentLimitConfiguration(true, 12, 13, 0.4)); // TODO: dont pull
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// // numbers out of our ass anymore
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// // hood subsystem
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@@ -12,6 +12,7 @@ import com.revrobotics.CANSparkMax.ControlType;
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import com.revrobotics.CANSparkMax.SoftLimitDirection;
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import com.revrobotics.SparkMaxRelativeEncoder.Type;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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import frc4388.robot.Constants.ShooterConstants;
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@@ -49,7 +50,7 @@ public class Hood extends SubsystemBase {
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m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kForward, (float) ShooterConstants.HOOD_FORWARD_LIMIT);
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m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kReverse, (float) ShooterConstants.HOOD_REVERSE_LIMIT);
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setHoodSoftLimits(true);
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setHoodSoftLimits(false);
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}
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@@ -86,6 +87,7 @@ public class Hood extends SubsystemBase {
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*/
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public void runHood(double input) {
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m_angleAdjusterMotor.set(input);
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SmartDashboard.putNumber("Hood Angle", m_angleAdjusterMotor.getAlternateEncoder(1024).getPosition());
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}
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public void resetGyroAngleAdj(){
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@@ -56,7 +56,7 @@ public class Turret extends SubsystemBase {
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m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, (float) ShooterConstants.TURRET_FORWARD_LIMIT);
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m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kReverse, (float) ShooterConstants.TURRET_REVERSE_LIMIT);
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setTurretSoftLimits(true);
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setTurretSoftLimits(false);
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m_boomBoomRotateMotor.setInverted(true);
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@@ -89,6 +89,7 @@ public class Turret extends SubsystemBase {
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public void runTurretWithInput(double input) {
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m_boomBoomRotateMotor.set(input * ShooterConstants.TURRET_SPEED_MULTIPLIER);
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SmartDashboard.putNumber("Turret Angle", m_boomBoomRotateMotor.getAlternateEncoder(1024).getPosition());
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}
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public void runshooterRotatePID(double targetAngle) {
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