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Merge branch 'testRoboReveal' of https://github.com/Team4388/2022NoWayHome into testRoboReveal

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This commit is contained in:
Ryan Manley
2022-03-16 12:08:22 -06:00
parent a67e3ebd4b db61c85202
commit 83c9369aa7
8 changed files with 132 additions and 45 deletions
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src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+1 -1
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@@ -65,7 +65,7 @@ public class SwerveDrive extends SubsystemBase {
m_rightBack = rightBack;
m_gyro = gyro;
modules = new SwerveModule[] { m_leftFront, m_rightFront, m_leftBack, m_rightBack};
modules = new SwerveModule[] {m_leftFront, m_rightFront, m_leftBack, m_rightBack};
m_poseEstimator = new SwerveDrivePoseEstimator(
m_gyro.getRotation2d(),
src/main/java/frc4388/robot/subsystems/Turret.java
+34 -13
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@@ -30,37 +30,42 @@ public class Turret extends SubsystemBase {
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;
public double m_targetDistance = 0;
SparkMaxPIDController m_boomBoomRotatePIDController;
public RelativeEncoder m_boomBoomRotateEncoder;
public boolean m_isAimReady = false;
SparkMaxPIDController m_boomBoomRotatePIDController;
public RelativeEncoder m_boomBoomRotateEncoder;
SparkMaxPIDController m_boomBoomRotatePIDController;// = m_boomBoomRotateMotor.getPIDController();
public RelativeEncoder m_boomBoomRotateEncoder;// = m_boomBoomRotateMotor.getEncoder();
SparkMaxLimitSwitch m_boomBoomLeftLimit;
SparkMaxLimitSwitch m_boomBoomRightLimit;
// Variables
public Turret(CANSparkMax boomBoomRotateMotor) { // Take in rotate motor as an argument
public Turret(CANSparkMax boomBoomRotateMotor) {
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);
m_boomBoomLeftLimit.enableLimitSwitch(true);
// setTurretLimitSwitches(false);
// SmartDashboard.putBoolean("Right Limit Switch Enabled", m_boomBoomRightLimit.isLimitSwitchEnabled());
// SmartDashboard.putBoolean("Left Limit Switch Enabled", m_boomBoomLeftLimit.isLimitSwitchEnabled());
m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, (float) ShooterConstants.TURRET_FORWARD_LIMIT);
m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kReverse, (float) ShooterConstants.TURRET_REVERSE_LIMIT);
setTurretSoftLimits(true);
m_boomBoomRotateMotor.setInverted(true);
setTurretPIDGains();
}
/**
* Set gains for turret PIDs.
*/
public void setTurretPIDGains() {
m_boomBoomRotatePIDController.setP(m_shooterTGains.kP);
m_boomBoomRotatePIDController.setI(m_shooterTGains.kI);
m_boomBoomRotatePIDController.setD(m_shooterTGains.kD);
@@ -87,6 +92,15 @@ public class Turret extends SubsystemBase {
m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kReverse, set);
}
/**
* Set status of turret limit switches.
* @param set Boolean to set limit switches to.
*/
public void setTurretLimitSwitches(boolean set) {
m_boomBoomRightLimit.enableLimitSwitch(set);
m_boomBoomLeftLimit.enableLimitSwitch(set);
}
public void passRequiredSubsystem(BoomBoom subsystem0, SwerveDrive subsystem1) {
m_boomBoomSubsystem = subsystem0;
m_sDriveSubsystem = subsystem1;
@@ -115,14 +129,21 @@ public class Turret extends SubsystemBase {
runShooterRotatePID(0);
}
public double getboomBoomRotatePosition() {
/**
* Run a PID to go to the midpoint position, between the two soft limits.
*/
public void gotoMidpoint() {
runShooterRotatePID(-44 * ShooterConstants.TURRET_DEGREES_PER_ROT);
}
public double getEncoderPosition() {
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;
}
} // TODO: does this method work?
public double getCurrent(){
return m_boomBoomRotateMotor.getOutputCurrent();
src/main/java/frc4388/robot/subsystems/Vision.java
+2 -2
View File
@@ -86,10 +86,10 @@ public void track(){
public void checkFinished(){
if (xAngle < 0.5 && xAngle > -0.5 && target == 1){
m_turret.m_isAimReady = true;
// m_turret.m_isAimReady = true;
}
else{
m_turret.m_isAimReady = false;
// m_turret.m_isAimReady = false;
}
}