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extender rework new subsystem

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This commit is contained in:
aarav18
2022-03-12 15:05:32 -07:00
parent 863af799e0
commit 64391c99c2
4 changed files with 83 additions and 51 deletions
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src/main/java/frc4388/robot/Robot.java
+5 -4
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@@ -137,6 +137,7 @@ public class Robot extends TimedRobot {
m_robotContainer.m_robotClimber.getCurrent() +
// m_robotContainer.m_robotHood.getCurrent() +
m_robotContainer.m_robotIntake.getCurrent() +
m_robotContainer.m_robotExtender.getCurrent() +
m_robotContainer.m_robotSerializer.getCurrent() +
m_robotContainer.m_robotStorage.getCurrent() +
m_robotContainer.m_robotSwerveDrive.getCurrent();
@@ -151,10 +152,10 @@ public class Robot extends TimedRobot {
// block in order for anything in the Command-based framework to work.
CommandScheduler.getInstance().run();
VelocityCorrection vc = new VelocityCorrection(m_robotContainer.m_robotSwerveDrive, m_robotContainer.m_robotBoomBoom);
System.out.println("Position: " + vc.position);
System.out.println("Velocity: " + vc.cartesianVelocity);
System.out.println("Target: " + vc.target.toString());
// VelocityCorrection vc = new VelocityCorrection(m_robotContainer.m_robotSwerveDrive, m_robotContainer.m_robotBoomBoom);
// System.out.println("Position: " + vc.position);
// System.out.println("Velocity: " + vc.cartesianVelocity);
// System.out.println("Target: " + vc.target.toString());
//SmartDashboard.putNumber("Turret Encoder Position", m_robotContainer.m_robotTurret.m_boomBoomRotateEncoder.getPosition());
src/main/java/frc4388/robot/RobotContainer.java
+8 -5
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@@ -67,6 +67,7 @@ import frc4388.robot.commands.Shoot;
import frc4388.robot.commands.TrackTarget;
import frc4388.robot.subsystems.BoomBoom;
import frc4388.robot.subsystems.Climber;
import frc4388.robot.subsystems.Extender;
import frc4388.robot.subsystems.Hood;
import frc4388.robot.subsystems.Intake;
import frc4388.robot.subsystems.LED;
@@ -98,7 +99,9 @@ public class RobotContainer {
// Subsystems
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront, m_robotMap.leftBack, m_robotMap.rightFront, m_robotMap.rightBack, m_robotMap.gyro);
public final Serializer m_robotSerializer = new Serializer(m_robotMap.serializerBelt, /*m_robotMap.serializerShooterBelt,*/ m_robotMap.serializerBeam);
public final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.extenderMotor, m_robotSerializer);
public final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotSerializer);
public final Extender m_robotExtender = new Extender(m_robotMap.extenderMotor);
public final Storage m_robotStorage = new Storage(m_robotMap.storageMotor);
// private final LED m_robotLED = new LED(m_robotMap.LEDController);
// public final BoomBoom m_robotBoomBoom = new BoomBoom(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight);
@@ -258,11 +261,11 @@ public class RobotContainer {
.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
.whileHeld(new RunCommand(() -> m_robotIntake.runExtender(1.0), m_robotIntake))
.whenReleased(new RunCommand(() -> m_robotIntake.runExtender(0.0), m_robotIntake));
.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(1.0), m_robotExtender))
.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
.whileHeld(new RunCommand(() -> m_robotIntake.runExtender(-1.0), m_robotIntake))
.whenReleased(new RunCommand(() -> m_robotIntake.runExtender(0.0), m_robotIntake));
.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(-1.0), m_robotExtender))
.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
// Right Bumper > Storage In
// new JoystickButton(getOperatorController(), XboxController.Button.kRightBumper.value)
// .whileHeld(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED)))
src/main/java/frc4388/robot/subsystems/Extender.java
+66
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@@ -0,0 +1,66 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc4388.robot.subsystems;
import com.revrobotics.CANSparkMax;
import com.revrobotics.SparkMaxLimitSwitch;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Extender extends SubsystemBase {
CANSparkMax m_extenderMotor;
private SparkMaxLimitSwitch m_inLimit;
private SparkMaxLimitSwitch m_outLimit;
public boolean toggle;
/** Creates a new Extender. */
public Extender(CANSparkMax extenderMotor) {
m_extenderMotor = extenderMotor;
m_extenderMotor.restoreFactoryDefaults();
m_extenderMotor.setInverted(true);
m_inLimit = m_extenderMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_outLimit = m_extenderMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_inLimit.enableLimitSwitch(true);
m_outLimit.enableLimitSwitch(true);
}
@Override
public void periodic() {
// This method will be called once per scheduler run
}
/**
* Runs The Extender-
* @param extended Wether the Extender Is Extended
*/
// public void runExtender(boolean extended) {
// if (!m_serializer.getBeam() && !extended) return;
// double extenderMotorSpeed = extended ? 0.25d : -0.25d;
// m_extenderMotor.set(extenderMotorSpeed);
// }
public void runExtender(double input) {
// if (!m_serializer.getBeam() && input < 0.) return;
m_extenderMotor.set(input);
}
public double getCurrent() {
return m_extenderMotor.getOutputCurrent();
}
/**
* Toggles The Extender
*/
// public void toggleExtender() {
// toggle = !toggle;
// runExtender(toggle);
// }
}
src/main/java/frc4388/robot/subsystems/Intake.java
+4 -42
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@@ -17,29 +17,15 @@ import com.revrobotics.CANSparkMax;
public class Intake extends SubsystemBase {
private WPI_TalonFX m_intakeMotor;
private CANSparkMax m_extenderMotor;
private Serializer m_serializer;
private SparkMaxLimitSwitch m_inLimit;
private SparkMaxLimitSwitch m_outLimit;
public boolean toggle;
/** Creates a new Intake. */
public Intake(WPI_TalonFX intakeMotor, CANSparkMax extenderMotor, Serializer serializer) {
public Intake(WPI_TalonFX intakeMotor, Serializer serializer) {
m_intakeMotor = intakeMotor;
m_extenderMotor = extenderMotor;
m_serializer = serializer;
m_extenderMotor.restoreFactoryDefaults();
m_intakeMotor.setNeutralMode(NeutralMode.Brake);
m_intakeMotor.setInverted(false);
m_extenderMotor.setInverted(true);
m_inLimit = m_extenderMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_outLimit = m_extenderMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_inLimit.enableLimitSwitch(true);
m_outLimit.enableLimitSwitch(true);
}
@Override
@@ -56,32 +42,8 @@ public class Intake extends SubsystemBase {
SmartDashboard.putNumber("Intake Current Supply", m_intakeMotor.getSupplyCurrent());
SmartDashboard.putNumber("Intake Current Stator", m_intakeMotor.getStatorCurrent());
}
/**
* Runs The Extender-
* @param extended Wether the Extender Is Extended
*/
public void runExtender(boolean extended) {
if (!m_serializer.getBeam() && !extended) return;
double extenderMotorSpeed = extended ? 0.25d : -0.25d;
m_extenderMotor.set(extenderMotorSpeed);
}
/**
* Moves the extender motor to pull the intake in or out
* @param input A value from -1.0 to 1.0, positive is in
*/
public void runExtender(double input) {
if (!m_serializer.getBeam() && input < 0.) return;
m_extenderMotor.set(input);
}
/**
* Toggles The Extender
*/
public void toggleExtender() {
toggle = !toggle;
runExtender(toggle);
}
public double getCurrent(){
return m_intakeMotor.getSupplyCurrent() + m_extenderMotor.getOutputCurrent();
public double getCurrent() {
return m_intakeMotor.getSupplyCurrent();
}
}