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some aimtocenter stuff, unfinished + has errors

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This commit is contained in:
evan
2022-02-24 18:12:57 -07:00
parent f97c7d8b9d
commit 449a3dc8c4
4 changed files with 187 additions and 135 deletions
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src/main/java/frc4388/robot/subsystems/Turret.java
+19 -22
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@@ -4,7 +4,6 @@
package frc4388.robot.subsystems;
import com.revrobotics.CANSparkMax.ControlType;
import com.revrobotics.CANSparkMax.IdleMode;
import com.revrobotics.CANEncoder;
@@ -21,16 +20,14 @@ import frc4388.robot.Constants.ShooterConstants;
import frc4388.utility.Gains;
import com.revrobotics.CANSparkMax.SoftLimitDirection;
public class Turret extends SubsystemBase {
/** Creates a new Turret. */
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;
@@ -41,16 +38,15 @@ public class Turret extends SubsystemBase {
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
// Variables
public Turret(CANSparkMax boomBoomRotateMotor) { // Take in rotate motor as an argument
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);
@@ -58,7 +54,10 @@ public class Turret extends SubsystemBase {
m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kForward, false);
m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kReverse, true);
m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.TURRET_RIGHT_SOFT_LIMIT); //Set second soft limit
m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.TURRET_RIGHT_SOFT_LIMIT); // Set
// second
// soft
// limit
m_boomBoomRotateMotor.setInverted(false);
m_boomBoomRotatePIDController.setP(m_shooterTGains.m_kP);
@@ -69,38 +68,36 @@ public class Turret extends SubsystemBase {
m_boomBoomRotatePIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterTGains.m_kPeakOutput);
}
@Override
public void periodic() {
// This method will be called once per scheduler run
}
public void passRequiredSubsystem( BoomBoom subsystem0, SwerveDrive subsystem1){
public void passRequiredSubsystem(BoomBoom subsystem0, SwerveDrive subsystem1) {
m_boomBoomSubsystem = subsystem0;
m_sDriveSubsystem = subsystem1;
}
public void runTurretWithInput(double input) {
m_boomBoomRotateMotor.set(input*ShooterConstants.TURRET_SPEED_MULTIPLIER);
m_boomBoomRotateMotor.set(input * ShooterConstants.TURRET_SPEED_MULTIPLIER);
}
public void runshooterRotatePID(double targetAngle) {
targetAngle = targetAngle/ShooterConstants.DEGREES_PER_ROT;
m_boomBoomRotatePIDController.setReference(targetAngle,ControlType.kPosition);
targetAngle = targetAngle / ShooterConstants.DEGREES_PER_ROT;
m_boomBoomRotatePIDController.setReference(targetAngle, ControlType.kPosition);
}
public void resetGyroShooterRotate()
{
public void resetGyroShooterRotate() {
m_boomBoomRotateEncoder.setPosition(0);
}
public double getboomBoomRotatePosition()
{
public double getboomBoomRotatePosition() {
return m_boomBoomRotateEncoder.getPosition();
}
public double getBoomBoomAngleDegrees() {
return (m_boomBoomRotateEncoder.getPosition() - ShooterConstants.TURRET_MOTOR_POS_AT_ZERO_ROT) * 360/ShooterConstants. TURRET_MOTOR_ROTS_PER_ROT;
return (m_boomBoomRotateEncoder.getPosition() - ShooterConstants.TURRET_MOTOR_POS_AT_ZERO_ROT) * 360
/ ShooterConstants.TURRET_MOTOR_ROTS_PER_ROT;
}
}