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turret is debugged

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This commit is contained in:
Pushkar9236
2022-01-26 16:53:05 -07:00
parent 9ab312f84a
commit 64e706cc17
2 changed files with 24 additions and 27 deletions
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src/main/java/frc4388/robot/subsystems/Turret.java
+23 -25
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@@ -4,38 +4,42 @@
package frc4388.robot.subsystems;
import java.lang.ModuleLayer.Controller;
import javax.naming.ldap.Control;
import com.ctre.phoenix.sensors.CANCoder;
import com.revrobotics.CANSparkMax.ControlType;
import com.revrobotics.CANSparkMax.IdleMode;
import com.revrobotics.CANSparkMax;
import com.revrobotics.RelativeEncoder;
import com.revrobotics.SparkMaxLimitSwitch;
import com.revrobotics.SparkMaxPIDController;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.wpilibj.drive.RobotDriveBase.MotorType;
import edu.wpi.first.wpilibj.interfaces.Gyro;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.ShooterConstants;
import frc4388.utility.Gains;
import com.revrobotics.CANSparkMax.SoftLimitDirection;
public class Turret<CANSparkMax, CANDigitalInput,> extends SubsystemBase {
private static final String turretMotor = null;
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 static Gains m_shooterTGains = ShooterConstants.SHOOTER_TURRET_GAINS;
CANDigitalInput m_boomBoomRightLimit, m_boomBoomLeftLimit;
SparkMaxLimitSwitch m_boomBoomRightLimit, m_boomBoomLeftLimit;
public Gyro m_turretGyro;
public double m_targetDistance = 0;
public boolean m_isAimReady = false;
Controller m_boomBoomRotatePIDController = m_boomBoomRotateMotor.getPIDController();
public CANCoder m_boomBoomRotateEncoder = m_boomBoomRotateMotor.getEncoder();
SparkMaxPIDController m_boomBoomRotatePIDController = m_boomBoomRotateMotor.getPIDController();
public RelativeEncoder m_boomBoomRotateEncoder = m_boomBoomRotateMotor.getEncoder();
//Variables
@@ -43,20 +47,18 @@ public class Turret<CANSparkMax, CANDigitalInput,> extends SubsystemBase {
m_boomBoomRotateMotor.setIdleMode(IdleMode.kBrake);
boolean enableLimitSwitch = true;
m_turretGyro = getGyroInterface();
m_boomBoomLeftLimit = m_boomBoomRotateMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
m_boomBoomRightLimit = m_boomBoomRotateMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
m_boomBoomRightLimit.enableLimitSwitch;
m_boomBoomLeftLimit.enableLimitSwitch;
m_boomBoomLeftLimit = m_boomBoomRotateMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_boomBoomRightLimit = m_boomBoomRotateMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_boomBoomRightLimit.enableLimitSwitch(true);
m_boomBoomLeftLimit.enableLimitSwitch(true);
m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kForward, false);
m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kReverse, true);
m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.TURRET_RIGHT_SOFT_LIMIT);
boolean setInverted = false;
m_boomBoomRotateMotor.setInverted;
Object turretMotor;
Object m_turretMotor = turretMotor;
m_boomBoomRotateMotor.setInverted(false);
}
private Gyro getGyroInterface() {
@@ -86,7 +88,7 @@ public class Turret<CANSparkMax, CANDigitalInput,> extends SubsystemBase {
m_boomBoomRotatePIDController.setP(m_shooterTGains.m_kP);
m_boomBoomRotatePIDController.setI(m_shooterTGains.m_kI);
m_boomBoomRotatePIDController.setD(m_shooterTGains.m_kD);
m_boomBoomRotatePIDController.setF(m_shooterTGains.m_kF);
m_boomBoomRotatePIDController.setFF(m_shooterTGains.m_kF);
m_boomBoomRotatePIDController.setIZone(m_shooterTGains.m_kIzone);
m_boomBoomRotatePIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterTGains.m_kPeakOutput);
@@ -109,11 +111,7 @@ public class Turret<CANSparkMax, CANDigitalInput,> extends SubsystemBase {
return (m_boomBoomRotateEncoder.getPosition() - ShooterConstants.TURRET_MOTOR_POS_AT_ZERO_ROT) * 360/ShooterConstants. TURRET_MOTOR_ROTS_PER_ROT;
}
public void turnWithJoystick (double input)
{
turretMotor.set(input);
}
//function turnWithJoystick(double input)
// motor.set(input)