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turret soft limits + setter method

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This commit is contained in:
aarav18
2022-02-28 17:13:13 -07:00
parent 26ffb88ed7
commit 9c58e04ec7
2 changed files with 21 additions and 7 deletions
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src/main/java/frc4388/robot/Constants.java
+3 -1
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@@ -94,7 +94,6 @@ public final class Constants {
public static final int SHOOTER_FALCON_LEFT_CAN_ID = 23;
public static final int SHOOTER_FALCON_RIGHT_CAN_ID = 24;
public static final int SHOOTER_ROTATE_ID = 31; // TODO: find
public static final int TURRET_RIGHT_SOFT_LIMIT = 0;
public static final double TURRET_SPEED_MULTIPLIER = 0.1d;
public static final int DEGREES_PER_ROT = 0;
public static final int TURRET_MOTOR_POS_AT_ZERO_ROT = 0;
@@ -126,6 +125,9 @@ public final class Constants {
public static final double HOOD_MOTOR_ROTS_PER_ROT = 1; //TODO: Find
public static final double HOOD_MOTOR_POS_AT_ZERO_ROT = 0; //TODO: Find
public static final float TURRET_FORWARD_LIMIT = 0; // TODO: find
public static final float TURRET_REVERSE_LIMIT = 0; // TODO: find
}
public static final class VisionConstants {
public static final double TURN_P_VALUE = 0.8;
src/main/java/frc4388/robot/subsystems/Turret.java
+18 -6
View File
@@ -6,6 +6,10 @@ package frc4388.robot.subsystems;
import com.revrobotics.CANSparkMax.ControlType;
import com.revrobotics.CANSparkMax.IdleMode;
import com.revrobotics.CANSparkMax.SoftLimitDirection;
import java.util.concurrent.TimeoutException;
import com.revrobotics.CANSparkMax;
import com.revrobotics.RelativeEncoder;
import com.revrobotics.SparkMaxLimitSwitch;
@@ -16,6 +20,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.ShooterConstants;
import frc4388.robot.commands.Shoot;
import frc4388.utility.Gains;
public class Turret extends SubsystemBase {
@@ -52,12 +57,10 @@ public class Turret extends SubsystemBase {
SmartDashboard.putBoolean("Right Limit Switch Enabled", m_boomBoomRightLimit.isLimitSwitchEnabled());
SmartDashboard.putBoolean("Left Limit Switch Enabled", m_boomBoomLeftLimit.isLimitSwitchEnabled());
// m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kForward, false);
// m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kReverse, true);
// m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.TURRET_RIGHT_SOFT_LIMIT); // Set
// second
// soft
// limit
m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.TURRET_FORWARD_LIMIT);
m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kReverse, ShooterConstants.TURRET_REVERSE_LIMIT);
setSoftLimits(true);
m_boomBoomRotateMotor.setInverted(false);
m_boomBoomRotatePIDController.setP(m_shooterTGains.m_kP);
@@ -73,6 +76,15 @@ public class Turret extends SubsystemBase {
// This method will be called once per scheduler run
}
/**
* Set status of turret motor soft limits.
* @param set Boolean to set soft limits to.
*/
public void setSoftLimits(boolean set) {
m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kForward, set);
m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kReverse, set);
}
public void passRequiredSubsystem(BoomBoom subsystem0, SwerveDrive subsystem1) {
m_boomBoomSubsystem = subsystem0;
m_sDriveSubsystem = subsystem1;