diff --git a/simgui-ds.json b/simgui-ds.json deleted file mode 100644 index b16ea5c..0000000 --- a/simgui-ds.json +++ /dev/null @@ -1,101 +0,0 @@ -{ - "keyboardJoysticks": [ - { - "axisConfig": [ - { - "decKey": 65, - "incKey": 68 - }, - { - "decKey": 87, - "incKey": 83 - }, - { - "decKey": 69, - "decayRate": 0.0, - "incKey": 82, - "keyRate": 0.009999999776482582 - } - ], - "axisCount": 3, - "buttonCount": 4, - "buttonKeys": [ - 90, - 88, - 67, - 86 - ], - "povConfig": [ - { - "key0": 328, - "key135": 323, - "key180": 322, - "key225": 321, - "key270": 324, - "key315": 327, - "key45": 329, - "key90": 326 - } - ], - "povCount": 1 - }, - { - "axisConfig": [ - { - "decKey": 74, - "incKey": 76 - }, - { - "decKey": 73, - "incKey": 75 - } - ], - "axisCount": 2, - "buttonCount": 4, - "buttonKeys": [ - 77, - 44, - 46, - 47 - ], - "povCount": 0 - }, - { - "axisConfig": [ - { - "decKey": 263, - "incKey": 262 - }, - { - "decKey": 265, - "incKey": 264 - } - ], - "axisCount": 2, - "buttonCount": 6, - "buttonKeys": [ - 260, - 268, - 266, - 261, - 269, - 267 - ], - "povCount": 0 - }, - { - "axisCount": 0, - "buttonCount": 0, - "povCount": 0 - } - ], - "robotJoysticks": [ - { - "useGamepad": true - }, - { - "guid": "78696e70757401000000000000000000", - "useGamepad": true - } - ] -} diff --git a/simgui.json b/simgui.json deleted file mode 100644 index 72aab8f..0000000 --- a/simgui.json +++ /dev/null @@ -1,34 +0,0 @@ -{ - "HALProvider": { - "Other Devices": { - "SPARK MAX [10]": { - "header": { - "open": true - } - }, - "SPARK MAX [30]": { - "header": { - "open": true - } - }, - "SPARK MAX [31]": { - "header": { - "open": true - } - } - } - }, - "NTProvider": { - "types": { - "/FMSInfo": "FMSInfo", - "/LiveWindow/BoomBoom": "Subsystem", - "/LiveWindow/Hood": "Subsystem", - "/LiveWindow/LED": "Subsystem", - "/LiveWindow/SwerveDrive": "Subsystem", - "/LiveWindow/SwerveModule": "Subsystem", - "/LiveWindow/Turret": "Subsystem", - "/LiveWindow/Ungrouped/Scheduler": "Scheduler", - "/LiveWindow/Vision": "Subsystem" - } - } -} diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index f51492d..a0cef9f 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -94,9 +94,9 @@ public final class Constants { public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG = new SupplyCurrentLimitConfiguration(true, 60, 40, 0.5); public static final int SHOOTER_FALCON_LEFT_CAN_ID = 0; public static final int SHOOTER_FALCON_RIGHT_CAN_ID = 0; - public static final int SHOOTER_ROTATE_ID = 31; //"unknown value" //figure out later + public static final int SHOOTER_ROTATE_ID = 0; //"unknown value" //figure out later public static final int TURRET_RIGHT_SOFT_LIMIT = 0; //""// - public static final double TURRET_SPEED_MULTIPLIER = 0.1d; //""// + public static final int TURRET_SPEED_MULTIPLIER = 0; //""// public static final int DEGREES_PER_ROT = 0; //""// public static final int TURRET_MOTOR_POS_AT_ZERO_ROT = 0; //""// public static final int TURRET_MOTOR_ROTS_PER_ROT = 0; //""// @@ -105,7 +105,7 @@ public final class Constants { /* Turret Constants */ //ID - public static final int TURRET_MOTOR_CAN_ID = 30; + public static final int TURRET_MOTOR_CAN_ID = 0; public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.6, 0.0, 0.0, 0.0, 0, 1.0); public static final Gains SHOOTER_ANGLE_GAINS = new Gains(0.05, 0.0, 0.0, 0.0, 0, 0.3); public static final double SHOOTER_TURRET_MIN = -1.0; diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 8dee4e3..d72c42a 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -73,11 +73,11 @@ public class RobotContainer { m_robotTurret.setDefaultCommand( new RunCommand(() -> m_robotTurret.runShooterWithInput(getOperatorController().getLeftXAxis()), m_robotTurret) - ); - // m_robotTurret.setDefaultCommand( - // new RunCommand(() -> m_robotTurret.aimToCenter())); - } + ); + + m_robotTurret.setDefaultCommand( + new RunCommand(() -> m_robotTurret.aimToCenter())); /** * Use this method to define your button->command mappings. Buttons can be * created by instantiating a {@link GenericHID} or one of its subclasses diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java index a1ee217..d713cbe 100644 --- a/src/main/java/frc4388/robot/RobotMap.java +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -6,8 +6,6 @@ package frc4388.robot; import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; import com.ctre.phoenix.sensors.CANCoder; -import com.revrobotics.CANSparkMax; -import com.revrobotics.CANSparkMaxLowLevel.MotorType; import edu.wpi.first.wpilibj.motorcontrol.Spark; import frc4388.robot.Constants.LEDConstants; @@ -99,7 +97,7 @@ public class RobotMap { /*Boom Boom Subsystem*/ public final WPI_TalonFX shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_LEFT_CAN_ID); public final WPI_TalonFX shooterFalconRight = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_RIGHT_CAN_ID); - public final CANSparkMax shooterTurret = new CANSparkMax(ShooterConstants.TURRET_MOTOR_CAN_ID, MotorType.kBrushless); + public final CANSparkMax shooterTurret = new CANSparkMax(ShooterConstants.SHOOTER_TURRET_CAN_ID); //Create motor CANSparkMax void ConfigureShooterMotorControllers() { diff --git a/src/main/java/frc4388/robot/subsystems/BoomBoom.java b/src/main/java/frc4388/robot/subsystems/BoomBoom.java index 10713d5..2fa28d1 100644 --- a/src/main/java/frc4388/robot/subsystems/BoomBoom.java +++ b/src/main/java/frc4388/robot/subsystems/BoomBoom.java @@ -4,7 +4,6 @@ package frc4388.robot.subsystems; -import java.io.Console; import java.util.Base64.Encoder; import com.ctre.phoenix.motorcontrol.NeutralMode; @@ -28,7 +27,6 @@ public ShooterTables m_shooterTable; public static Gains m_drumShooterGains = ShooterConstants.DRUM_SHOOTER_GAINS; public static BoomBoom m_boomBoom; public static IHandController m_driverController; //not sure if driverController in 2022 = m_controller in 2020 -BangBangController m_controller = new BangBangController(); double velP; double input; @@ -137,6 +135,7 @@ public void setShooterGains() { m_shooterFalconLeft.set(TalonFXControlMode.Velocity, targetVel); //Init m_shooterFalconRight.follow(m_shooterFalconLeft); // New BoomBoom controller stuff + BangBangController controller = new BangBangController(); //Controls a motor with the output of the BangBang controller //Controls a motor with the output of the BangBang conroller and a feedforward //Shrinks the feedforward slightly to avoid over speeding the shooter @@ -144,4 +143,4 @@ public void setShooterGains() { } -} \ No newline at end of file +} diff --git a/src/main/java/frc4388/robot/subsystems/Turret.java b/src/main/java/frc4388/robot/subsystems/Turret.java index 0528c73..0202c6d 100644 --- a/src/main/java/frc4388/robot/subsystems/Turret.java +++ b/src/main/java/frc4388/robot/subsystems/Turret.java @@ -67,11 +67,11 @@ public class Turret extends SubsystemBase { @Override public void periodic() { - // SmartDashboard.putNumber("Turret Angle Raw", getboomBoomRotatePosition()); + SmartDashboard.putNumber("Turret Angle Raw", getboomBoomRotatePosition()); - // SmartDashboard.putData("Turret Angle", (Sendable) m_turretGyro); + SmartDashboard.putData("Turret Angle", (Sendable) m_turretGyro); - // SmartDashboard.putBoolean("Turret Aimed", m_isAimReady); + SmartDashboard.putBoolean("Turret Aimed", m_isAimReady); // This method will be called once per scheduler run }