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fixes

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This commit is contained in:
Ryan Manley
2022-03-12 14:59:21 -07:00
parent 89ba3afb00
commit 79435399a3
9 changed files with 103 additions and 83 deletions
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src/main/java/frc4388/robot/Constants.java
-1
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@@ -105,7 +105,6 @@ public final class Constants {
public static final double INCHES_PER_WHEEL_REV = WHEEL_DIAMETER_INCHES * Math.PI;
public static final double INCHES_PER_METER = 39.370;
public static final double METERS_PER_INCH = 1 / INCHES_PER_METER;
public static final double WHEEL_REV_PER_MOTOR_REV = 1 / MOTOR_REV_PER_WHEEL_REV;
public static final double TICKS_PER_WHEEL_REV = TICKS_PER_MOTOR_REV * MOTOR_REV_PER_WHEEL_REV;
public static final double TICKS_PER_INCH = TICKS_PER_WHEEL_REV / INCHES_PER_WHEEL_REV;
src/main/java/frc4388/robot/Robot.java
+6 -6
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@@ -129,17 +129,17 @@ public class Robot extends TimedRobot {
@Override
public void robotPeriodic() {
m_robotTime.updateTimes();
SmartDashboard.putNumber("Turret", m_robotContainer.m_robotMap.shooterTurret.getEncoder().getPosition());
SmartDashboard.putNumber("Hood", m_robotContainer.m_robotMap.angleAdjusterMotor.getEncoder().getPosition());
// SmartDashboard.putNumber("Turret", m_robotContainer.m_robotMap.shooterTurret.getEncoder().getPosition());
// SmartDashboard.putNumber("Hood", m_robotContainer.m_robotMap.angleAdjusterMotor.getEncoder().getPosition());
current =
m_robotContainer.m_robotBoomBoom.getCurrent() +
// m_robotContainer.m_robotBoomBoom.getCurrent() +
m_robotContainer.m_robotClimber.getCurrent() +
m_robotContainer.m_robotHood.getCurrent() +
// m_robotContainer.m_robotHood.getCurrent() +
m_robotContainer.m_robotIntake.getCurrent() +
m_robotContainer.m_robotSerializer.getCurrent() +
m_robotContainer.m_robotStorage.getCurrent() +
m_robotContainer.m_robotSwerveDrive.getCurrent() +
m_robotContainer.m_robotTurret.getCurrent();
m_robotContainer.m_robotSwerveDrive.getCurrent();
// m_robotContainer.m_robotTurret.getCurrent();
SmartDashboard.putNumber("Total Robot Current Draw", current);
// Runs the Scheduler. This is responsible for polling buttons, adding
// newly-scheduled
src/main/java/frc4388/robot/RobotContainer.java
+22 -15
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@@ -100,11 +100,10 @@ public class RobotContainer {
public final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.extenderMotor, m_robotSerializer);
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);
public final Hood m_robotHood = new Hood(m_robotMap.angleAdjusterMotor);
// public final BoomBoom m_robotBoomBoom = new BoomBoom(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight);
// public final Hood m_robotHood = new Hood(m_robotMap.angleAdjusterMotor);
public final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret);
private final VisionOdometry m_robotVisionOdometry = new VisionOdometry(m_robotSwerveDrive, m_robotTurret);
private final WPI_TalonFX testElbowMotor = new WPI_TalonFX(30);
private final WPI_TalonFX testShoulderMotor = new WPI_TalonFX(31);
public final Climber m_robotClimber = new Climber(testElbowMotor);
@@ -133,7 +132,7 @@ public class RobotContainer {
*/
public RobotContainer() {
configureButtonBindings();
testShoulderMotor.setNeutralMode(NeutralMode.Brake);
// testShoulderMotor.setNeutralMode(NeutralMode.Brake);
/* Default Commands */
// Swerve Drive with Input
@@ -152,9 +151,9 @@ public class RobotContainer {
getOperatorController().getLeftTriggerAxis(),
getOperatorController().getRightTriggerAxis()),
m_robotIntake).withName("Intake runWithTriggers defaultCommand"));
m_robotClimber.setDefaultCommand(
new RunCommand(() -> m_robotClimber.runWithInput(getOperatorController().getRightY() * 0.6), m_robotClimber)
);
// m_robotClimber.setDefaultCommand(
// new RunCommand(() -> m_robotClimber.runWithInput(getOperatorController().getRightY() * 0.6), m_robotClimber)
// );
// Storage Management
/*m_robotStorage.setDefaultCommand(
new RunCommand(() -> m_robotStorage.manageStorage(),
@@ -167,8 +166,8 @@ public class RobotContainer {
m_robotTurret.setDefaultCommand(
new RunCommand(() -> m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()),
m_robotTurret).withName("Turret runTurretWithInput defaultCommand"));
m_robotHood.setDefaultCommand(
new RunCommand(() -> m_robotHood.runHood(getOperatorController().getLeftY() * 0.15), m_robotHood));
// m_robotHood.setDefaultCommand(
// new RunCommand(() -> m_robotHood.runHood(getOperatorController().getLeftY() * 0.15), m_robotHood));
// m_robotTurret.setDefaultCommand(
// new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry));
@@ -201,11 +200,11 @@ public class RobotContainer {
new JoystickButton(getDriverController(), XboxController.Button.kRightBumper.value)
.whenPressed(() -> m_robotSwerveDrive.highSpeed(true));
new JoystickButton(getDriverController(), XboxController.Button.kA.value)
.whenPressed(() -> m_robotBoomBoom.increaseSpeed(0.025));
// new JoystickButton(getDriverController(), XboxController.Button.kA.value)
// .whenPressed(() -> m_robotBoomBoom.increaseSpeed(0.025));
new JoystickButton(getDriverController(), XboxController.Button.kB.value)
.whenPressed(() -> m_robotBoomBoom.increaseSpeed(-0.025));
// new JoystickButton(getDriverController(), XboxController.Button.kB.value)
// .whenPressed(() -> m_robotBoomBoom.increaseSpeed(-0.025));
// .whileHeld(new RunCommand(() -> testElbowMotor.set(-0.2)))
// .whenReleased(new RunCommand(() -> testElbowMotor.set(0)));
@@ -256,6 +255,13 @@ public class RobotContainer {
new JoystickButton(getOperatorController(), XboxController.Button.kRightBumper.value)
.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(0.9), m_robotStorage))
.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));
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));
// Right Bumper > Storage In
// new JoystickButton(getOperatorController(), XboxController.Button.kRightBumper.value)
// .whileHeld(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED)))
@@ -265,13 +271,14 @@ public class RobotContainer {
// .whileHeld(new RunCommand(() -> m_robotStorage.runStorage(-StorageConstants.STORAGE_SPEED)))
// .whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0)));
// A > Shoot with Odo
/*new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
.whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood));*/
//B > Shoot with Lime
new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
.whenPressed(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotSwerveDrive, m_robotVisionOdometry));
// new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
// .whenPressed(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotSwerveDrive, m_robotVisionOdometry));
}
/**
src/main/java/frc4388/robot/RobotMap.java
+53 -54
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@@ -36,7 +36,7 @@ public class RobotMap {
public RobotMap() {
// configureLEDMotorControllers();
configureSwerveMotorControllers();
configureShooterMotorControllers();
// configureShooterMotorControllers();
}
/* LED Subsystem */
@@ -162,73 +162,72 @@ public class RobotMap {
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
}
// Shooter Config
/* 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);
// // Shooter Config
// /* 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);
// turret subsystem
// // turret subsystem
public final CANSparkMax shooterTurret = new CANSparkMax(ShooterConstants.TURRET_MOTOR_CAN_ID, MotorType.kBrushless);
// hood subsystem
public CANSparkMax angleAdjusterMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
// // hood subsystem
// public CANSparkMax angleAdjusterMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
// Create motor CANSparkMax
void configureShooterMotorControllers() {
// // Create motor CANSparkMax
// void configureShooterMotorControllers() {
// LEFT FALCON
shooterFalconLeft.configFactoryDefault();
shooterFalconLeft.setNeutralMode(NeutralMode.Coast);
shooterFalconLeft.setInverted(true);
shooterFalconLeft.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconLeft.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconLeft.configPeakOutputReverse(0, ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconLeft.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX,
ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconLeft.configClosedLoopPeriod(0, ShooterConstants.CLOSED_LOOP_TIME_MS,
ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconLeft.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG_SHOOTER,
ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconLeft.configStatorCurrentLimit(ShooterConstants.STATOR_CURRENT_LIMIT_CONFIG_SHOOTER,
ShooterConstants.SHOOTER_TIMEOUT_MS);
// // LEFT FALCON
// shooterFalconLeft.configFactoryDefault();
// shooterFalconLeft.setNeutralMode(NeutralMode.Coast);
// shooterFalconLeft.setInverted(true);
// shooterFalconLeft.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
// shooterFalconLeft.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS);
// shooterFalconLeft.configPeakOutputReverse(0, ShooterConstants.SHOOTER_TIMEOUT_MS);
// shooterFalconLeft.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX,
// ShooterConstants.SHOOTER_TIMEOUT_MS);
// shooterFalconLeft.configClosedLoopPeriod(0, ShooterConstants.CLOSED_LOOP_TIME_MS,
// ShooterConstants.SHOOTER_TIMEOUT_MS);
// shooterFalconLeft.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG_SHOOTER,
// ShooterConstants.SHOOTER_TIMEOUT_MS);
// shooterFalconLeft.configStatorCurrentLimit(ShooterConstants.STATOR_CURRENT_LIMIT_CONFIG_SHOOTER,
// ShooterConstants.SHOOTER_TIMEOUT_MS);
// RIGHT FALCON
shooterFalconRight.setInverted(false);
shooterFalconRight.setNeutralMode(NeutralMode.Coast);
shooterFalconRight.configFactoryDefault();
shooterFalconRight.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconRight.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS);
// m_shooterFalconRight.configPeakOutputForward(0,
// ShooterConstants.SHOOTER_TIMEOUT_MS);(comment it in if necessary)
shooterFalconRight.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX,
ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconRight.configClosedLoopPeriod(0, ShooterConstants.CLOSED_LOOP_TIME_MS,
ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconRight.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG_SHOOTER,
ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconRight.configStatorCurrentLimit(ShooterConstants.STATOR_CURRENT_LIMIT_CONFIG_SHOOTER,
ShooterConstants.SHOOTER_TIMEOUT_MS);
// // RIGHT FALCON
// shooterFalconRight.setInverted(false);
// shooterFalconRight.setNeutralMode(NeutralMode.Coast);
// shooterFalconRight.configFactoryDefault();
// shooterFalconRight.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
// shooterFalconRight.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS);
// // m_shooterFalconRight.configPeakOutputForward(0,
// // ShooterConstants.SHOOTER_TIMEOUT_MS);(comment it in if necessary)
// shooterFalconRight.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX,
// ShooterConstants.SHOOTER_TIMEOUT_MS);
// shooterFalconRight.configClosedLoopPeriod(0, ShooterConstants.CLOSED_LOOP_TIME_MS,
// ShooterConstants.SHOOTER_TIMEOUT_MS);
// shooterFalconRight.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG_SHOOTER,
// ShooterConstants.SHOOTER_TIMEOUT_MS);
// shooterFalconRight.configStatorCurrentLimit(ShooterConstants.STATOR_CURRENT_LIMIT_CONFIG_SHOOTER,
// ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconRight.follow(shooterFalconLeft);
// shooterFalconRight.follow(shooterFalconLeft);
// /* Turret Subsytem */
// shooterFalconRight.configStatorCurrentLimit(new
// StatorCurrentLimitConfiguration(true, 6, 9, 4.2)); // TODO: dont pull numbers
// out of our ass anymore
// shooterFalconLeft.configSupplyCurrentLimit(new
// SupplyCurrentLimitConfiguration(true, 12, 13, 0.4)); // TODO: dont pull
// numbers out of our ass anymore
// // /* Turret Subsytem */
// // shooterFalconRight.configStatorCurrentLimit(new
// // StatorCurrentLimitConfiguration(true, 6, 9, 4.2)); // TODO: dont pull numbers
// // out of our ass anymore
// // shooterFalconLeft.configSupplyCurrentLimit(new
// // SupplyCurrentLimitConfiguration(true, 12, 13, 0.4)); // TODO: dont pull
// // numbers out of our ass anymore
// hood subsystem
angleAdjusterMotor.restoreFactoryDefaults();
angleAdjusterMotor.setIdleMode(IdleMode.kBrake);
}
// // hood subsystem
// angleAdjusterMotor.restoreFactoryDefaults();
// angleAdjusterMotor.setIdleMode(IdleMode.kBrake);
// }
/* Serializer Subsystem */
public final CANSparkMax serializerBelt = new CANSparkMax(SerializerConstants.SERIALIZER_BELT, MotorType.kBrushless);
// public final CANSparkMax serializerShooterBelt = new CANSparkMax(SerializerConstants.SERIALIZER_SHOOTER_BELT, MotorType.kBrushless);
public final DigitalInput serializerBeam = new DigitalInput(SerializerConstants.SERIALIZER_BELT_BEAM);
/* Intake Subsytem */
src/main/java/frc4388/robot/subsystems/Hood.java
+4 -1
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@@ -79,7 +79,10 @@ public double m_fireAngle;
m_angleAdjusterPIDController.setReference(targetAngle, ControlType.kPosition);
}
/**
* Runs the hood with the given input
* @param input value from -1.0 to 1.0, postive is upward (more horizontal shootijng angle)
*/
public void runHood(double input) {
m_angleAdjusterMotor.set(input);
}
src/main/java/frc4388/robot/subsystems/Intake.java
+7 -4
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@@ -47,9 +47,9 @@ public class Intake extends SubsystemBase {
// This method will be called once per scheduler run
}
/**
* Runs The Intake With Triggers.
* @param leftTrigger Left Trigger to Run -
* @param rightTrigger Right Trigger to Run +
* Runs The Intake With Triggers as input
* @param leftTrigger Left Trigger to Run Inward
* @param rightTrigger Right Trigger to Run Outward
*/
public void runWithTriggers(double leftTrigger, double rightTrigger) {
m_intakeMotor.set((rightTrigger - leftTrigger) * 0.3);
@@ -65,7 +65,10 @@ public class Intake extends SubsystemBase {
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);
src/main/java/frc4388/robot/subsystems/Serializer.java
+4 -1
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@@ -19,7 +19,10 @@ public class Serializer extends SubsystemBase{
// m_serializerShooterBelt.set(0);
}
/**
*
* @param input from -1.0 to 1.0, positive is inward
*/
public void setSerializer(double input){
m_serializerBelt.set(input);
}
src/main/java/frc4388/robot/subsystems/Storage.java
+1 -1
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@@ -36,7 +36,7 @@ public class Storage extends SubsystemBase {
/**
* Runs The Storage at a Specifyed Speed
* @param input The Specifyed Speed
* @param input The value frm -1.0 to 1.0, positive is inwards (towards the shooter)
*/
public void runStorage(double input) {
m_storageMotor.set(input);