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driving works even with shooter stuff, chassis speeds

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This commit is contained in:
aarav18
2022-03-03 17:50:08 -07:00
parent 4f39a33a8b
commit 92d0e5a11c
5 changed files with 59 additions and 27 deletions
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src/main/java/frc4388/robot/subsystems/Hood.java
+17 -17
View File
@@ -21,13 +21,13 @@ import frc4388.utility.Gains;
public class Hood extends SubsystemBase {
public BoomBoom m_shooterSubsystem;
public CANSparkMax m_angleAdjusterMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
// public CANSparkMax m_angleAdjusterMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
public SparkMaxLimitSwitch m_hoodUpLimitSwitch;
public SparkMaxLimitSwitch m_hoodDownLimitSwitch;
public static Gains m_angleAdjusterGains = ShooterConstants.SHOOTER_ANGLE_GAINS;
public RelativeEncoder m_angleEncoder = m_angleAdjusterMotor.getEncoder();
// public RelativeEncoder m_angleEncoder = m_angleAdjusterMotor.getEncoder();
public SparkMaxPIDController m_angleAdjusterPIDController = m_angleAdjusterMotor.getPIDController();
// public SparkMaxPIDController m_angleAdjusterPIDController = m_angleAdjusterMotor.getPIDController();
//public boolean m_isHoodReady = false;
@@ -37,15 +37,15 @@ public double m_fireAngle;
/** Creates a new Hood. */
public Hood() {
m_angleAdjusterMotor.setIdleMode(IdleMode.kBrake);
// m_angleAdjusterMotor.setIdleMode(IdleMode.kBrake);
// m_hoodUpLimitSwitch = m_angleAdjusterMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_hoodDownLimitSwitch = m_angleAdjusterMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
// m_hoodDownLimitSwitch = m_angleAdjusterMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
// m_hoodUpLimitSwitch.enableLimitSwitch(true);
m_hoodDownLimitSwitch.enableLimitSwitch(true);
// m_hoodDownLimitSwitch.enableLimitSwitch(true);
m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.HOOD_FORWARD_LIMIT);
m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kReverse, ShooterConstants.HOOD_REVERSE_LIMIT);
// m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.HOOD_FORWARD_LIMIT);
// m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kReverse, ShooterConstants.HOOD_REVERSE_LIMIT);
setHoodSoftLimits(true);
}
@@ -60,21 +60,21 @@ public double m_fireAngle;
* @param set Boolean to set soft limits to.
*/
public void setHoodSoftLimits(boolean set) {
m_angleAdjusterMotor.enableSoftLimit(SoftLimitDirection.kForward, set);
m_angleAdjusterMotor.enableSoftLimit(SoftLimitDirection.kReverse, set);
// m_angleAdjusterMotor.enableSoftLimit(SoftLimitDirection.kForward, set);
// m_angleAdjusterMotor.enableSoftLimit(SoftLimitDirection.kReverse, set);
}
public void runAngleAdjustPID(double targetAngle)
{
//Set PID Coefficients
m_angleAdjusterPIDController.setP(m_angleAdjusterGains.m_kP);
m_angleAdjusterPIDController.setI(m_angleAdjusterGains.m_kI);
m_angleAdjusterPIDController.setD(m_angleAdjusterGains.m_kD);
m_angleAdjusterPIDController.setIZone(m_angleAdjusterGains.m_kIzone);
m_angleAdjusterPIDController.setFF(m_angleAdjusterGains.m_kF);
m_angleAdjusterPIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_angleAdjusterGains.m_kPeakOutput);
// m_angleAdjusterPIDController.setP(m_angleAdjusterGains.m_kP);
// m_angleAdjusterPIDController.setI(m_angleAdjusterGains.m_kI);
// m_angleAdjusterPIDController.setD(m_angleAdjusterGains.m_kD);
// m_angleAdjusterPIDController.setIZone(m_angleAdjusterGains.m_kIzone);
// m_angleAdjusterPIDController.setFF(m_angleAdjusterGains.m_kF);
// m_angleAdjusterPIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_angleAdjusterGains.m_kPeakOutput);
m_angleAdjusterPIDController.setReference(targetAngle, ControlType.kPosition);
// m_angleAdjusterPIDController.setReference(targetAngle, ControlType.kPosition);
}
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+37 -5
View File
@@ -59,6 +59,7 @@ public class SwerveDrive extends SubsystemBase {
public double speedAdjust = SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND_SLOW;
public boolean ignoreAngles;
public Rotation2d rotTarget = new Rotation2d();
public ChassisSpeeds chassisSpeeds = new ChassisSpeeds();
private final Field2d m_field = new Field2d();
@@ -112,6 +113,24 @@ public class SwerveDrive extends SubsystemBase {
: new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot * SwerveDriveConstants.ROTATION_SPEED));
setModuleStates(states);
}
// public void driveWithInput(double leftX, double leftY, double rightX, double rightY, boolean fieldRelative)
// {
// ignoreAngles = leftX == 0 && leftY == 0 && rightX == 0 && rightY == 0;
// Translation2d speed = new Translation2d(leftX, leftY);
// speed = speed.times(speed.getNorm() * speedAdjust);
// if (Math.abs(rightX) > OIConstants.RIGHT_AXIS_DEADBAND || Math.abs(rightY) > OIConstants.RIGHT_AXIS_DEADBAND)
// rotTarget = new Rotation2d(rightX, -rightY).minus(new Rotation2d(0, 1));
// double rot = rotTarget.minus(m_gyro.getRotation2d()).getRadians();
// double xSpeedMetersPerSecond = -speed.getX();
// double ySpeedMetersPerSecond = speed.getY();
// SwerveModuleState[] states =
// m_kinematics.toSwerveModuleStates(
// fieldRelative
// ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot * SwerveDriveConstants.ROTATION_SPEED, m_gyro.getRotation2d())
// : new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rightX * SwerveDriveConstants.ROTATION_SPEED));
// setModuleStates(states);
// }
public void driveWithInput(double leftX, double leftY, double rightX, double rightY, boolean fieldRelative)
{
ignoreAngles = leftX == 0 && leftY == 0 && rightX == 0 && rightY == 0;
@@ -122,11 +141,12 @@ public class SwerveDrive extends SubsystemBase {
double rot = rotTarget.minus(m_gyro.getRotation2d()).getRadians();
double xSpeedMetersPerSecond = -speed.getX();
double ySpeedMetersPerSecond = speed.getY();
chassisSpeeds = fieldRelative
? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot * SwerveDriveConstants.ROTATION_SPEED, m_gyro.getRotation2d())
: new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rightX * SwerveDriveConstants.ROTATION_SPEED);
SwerveModuleState[] states =
m_kinematics.toSwerveModuleStates(
fieldRelative
? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot * SwerveDriveConstants.ROTATION_SPEED, m_gyro.getRotation2d())
: new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rightX * SwerveDriveConstants.ROTATION_SPEED));
chassisSpeeds);
setModuleStates(states);
}
@@ -148,14 +168,26 @@ public class SwerveDrive extends SubsystemBase {
public void periodic() {
updateOdometry();
// SmartDashboard.putNumber("Pigeon Fused Heading", m_gyro.getFusedHeading(fstatus));
updateSmartDash();
SmartDashboard.putNumber("Pigeon Yaw", m_gyro.getYaw());
// m_field.setRobotPose(m_poseEstimator.getEstimatedPosition());
m_field.setRobotPose(m_poseEstimator.getEstimatedPosition());
super.periodic();
}
private void updateSmartDash() {
// odometry
SmartDashboard.putNumber("Odometry: X", getOdometry().getX());
SmartDashboard.putNumber("Odometry: Y", getOdometry().getY());
SmartDashboard.putNumber("Odometry: θ", getOdometry().getRotation().getDegrees());
// chassis speeds
// TODO: find the actual max velocity in m/s of the robot in fast mode to have accurate chassis speeds
SmartDashboard.putNumber("Chassis Vel: X", chassisSpeeds.vxMetersPerSecond);
SmartDashboard.putNumber("Chassis Vel: Y", chassisSpeeds.vyMetersPerSecond);
SmartDashboard.putNumber("Chassis Vel: ω", chassisSpeeds.omegaRadiansPerSecond);
}
/**
* Gets the distance between two given poses.
* @param p1 The first pose.