Team4388/2022NoWayHome
1
0
Fork 0
mirror of https://github.com/Team4388/2022NoWayHome.git synced 2026-06-09 00:38:05 -06:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'full-robot-test' into Intake

Browse Source
This commit is contained in:
66945
2022-03-05 11:11:20 -08:00
committed by GitHub
parent 78f3b47846 ca9b247955
commit 9bfee4f194
65 changed files with 5023 additions and 957 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/subsystems/Hood.java
+47 -44
View File
@@ -16,19 +16,21 @@ import com.revrobotics.CANSparkMax.SoftLimitDirection;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
// import frc4388.robot.Constants.ShooterConstants;
import frc4388.robot.Constants.ShooterConstants;
import frc4388.utility.Gains;
public class Hood extends SubsystemBase {
// public BoomBoom m_shooterSubsystem;
public BoomBoom m_shooterSubsystem;
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;
public CANSparkMax m_angleAdjustMotor;
public SparkMaxPIDController m_angleAdjusterPIDController;
public static Gains m_angleAdjusterGains = ShooterConstants.SHOOTER_ANGLE_GAINS;
public RelativeEncoder m_angleEncoder = m_angleAdjusterMotor.getEncoder();
public SparkMaxPIDController m_angleAdjusterPIDController = m_angleAdjusterMotor.getPIDController();
public boolean m_isHoodReady = false;
@@ -37,15 +39,17 @@ public double m_fireAngle;
/** Creates a new Hood. */
public Hood(CANSparkMax angleAdjustMotor) {
m_angleAdjustMotor = angleAdjustMotor;
m_angleAdjustMotor.setIdleMode(IdleMode.kBrake);
m_angleEncoder= m_angleAdjustMotor.getEncoder();
m_angleAdjusterPIDController = m_angleAdjustMotor.getPIDController();
m_hoodUpLimitSwitch = m_angleAdjustMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_hoodDownLimitSwitch = m_angleAdjustMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
public Hood() {
m_angleAdjusterMotor.setIdleMode(IdleMode.kBrake);
m_hoodUpLimitSwitch = m_angleAdjusterMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_hoodDownLimitSwitch = m_angleAdjusterMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_hoodUpLimitSwitch.enableLimitSwitch(true);
m_hoodDownLimitSwitch.enableLimitSwitch(true);
m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.HOOD_FORWARD_LIMIT);
m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kReverse, ShooterConstants.HOOD_REVERSE_LIMIT);
setHoodSoftLimits(true);
}
@@ -53,44 +57,43 @@ public double m_fireAngle;
public void periodic() {
// This method will be called once per scheduler run
}
// 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 / 5, m_angleAdjusterGains.m_kPeakOutput / 5);
// m_angleAdjusterPIDController.setReference(targetAngle, ControlType.kPosition);
// }
/**
* Runs The Hood
* @param input The Speed Times 0.6
/**
* Set status of hood motor soft limits.
* @param set Boolean to set soft limits to.
*/
public void runHood(double input) {
input *= .6;
m_angleAdjustMotor.set(input);
public void setHoodSoftLimits(boolean 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.kP);
m_angleAdjusterPIDController.setI(m_angleAdjusterGains.kI);
m_angleAdjusterPIDController.setD(m_angleAdjusterGains.kD);
m_angleAdjusterPIDController.setIZone(m_angleAdjusterGains.kIzone);
m_angleAdjusterPIDController.setFF(m_angleAdjusterGains.kF);
m_angleAdjusterPIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_angleAdjusterGains.kPeakOutput);
m_angleAdjusterPIDController.setReference(targetAngle, ControlType.kPosition);
}
public void runHood(double input) {
m_angleAdjusterMotor.set(input);
}
/**
* Resets The Encoder
*/
public void resetGyroAngleAdj(){
m_angleEncoder.setPosition(0);
}
/**
* Gets The Encoders Position
* @return The Encoders Position
*/
public double getAnglePositionPID() {
return m_angleEncoder.getPosition();
public double getAnglePosition(){
return 0.0;//m_angleEncoder.getPosition();
}
// public double getAnglePositionDegrees(){
// return ((m_angleEncoder.getPosition() - ShooterConstants.HOOD_MOTOR_POS_AT_ZERO_ROT) * 360/ShooterConstants.HOOD_MOTOR_ROTS_PER_ROT) - 90;
// }
public double getAnglePositionDegrees(){
return 0.0;//((m_angleEncoder.getPosition() - ShooterConstants.HOOD_MOTOR_POS_AT_ZERO_ROT) * 360/ShooterConstants.HOOD_MOTOR_ROTS_PER_ROT) - 90;
}
}