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

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This commit is contained in:
Pushkar9236
2022-01-26 17:16:02 -07:00
parent 64e706cc17 0d98471339
commit 9e72f6f1ec
3 changed files with 32 additions and 26 deletions
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src/main/java/frc4388/robot/subsystems/BoomBoom.java
+2 -4
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@@ -32,8 +32,6 @@ double input;
public boolean m_isDrumReady = false;
public double m_fireVel;
public Hood m_hoodSubsystem;
public Turret m_turretSubsystem;
@@ -43,7 +41,7 @@ public Turret m_turretSubsystem;
public BoomBoom(){
//Testing purposes resetting gyros
//resetGryoAngleADj();
//shooterTrims = new Trims(0,0);
}
/** Creates a new BoomBoom. */
public BoomBoom(WPI_TalonFX shooterFalconLeft, WPI_TalonFX shooterFalconRight) {
@@ -128,7 +126,7 @@ public void setShooterGains() {
//Controls a motor with the output of the BangBang controller
//Controls a motor with the output of the BangBang conroller and a feedforward
//Shrinks the feedforward slightly to avoid over speeding the shooter
m_shooterFalconLeft.set(controller.calculate(Encoder.getRate(), targetVel) + 0.9 * feedforward.calculate(targetVel);
m_shooterFalconLeft.set(controller.calculate(encoder.getRate(), targetVel) + 0.9 * feedforward.calculate(targetVel));
}
src/main/java/frc4388/robot/subsystems/Hood.java
+28 -21
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@@ -3,11 +3,12 @@
// the WPILib BSD license file in the root directory of this project.
package frc4388.robot.subsystems;
import com.revrobotics.CANEncoder;
import com.revrobotics.CANPIDController;
import com.revrobotics.CANSparkMax;
import com.revrobotics.ControlType;
import com.revrobotics.CANDigitalInput.LimitSwitchPolarity;
import com.revrobotics.RelativeEncoder;
import com.revrobotics.SparkMaxPIDController;
import com.revrobotics.SparkMaxLimitSwitch;
import com.revrobotics.CANSparkMax.ControlType;
import com.revrobotics.CANSparkMax.IdleMode;
import com.revrobotics.CANSparkMax.SoftLimitDirection;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
@@ -20,23 +21,28 @@ import frc4388.utility.Gains;
public class Hood extends SubsystemBase {
public BoomBoom m_shooterSubsystem;
public CANSparkMax m_angleAdjustMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
public static Gains m_angleGains = ShooterConstants.SHOOTER_ANGLE_GAINS;
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 CANPIDController m_angleAdjustPIDController = m_angleAdjustMotor.getPIDController();
public CANEncoder m_angleEncoder = m_angleAdjustMotor.getEncoder();
public boolean m_isHoodReady = false;
public SparkMaxPIDController m_angleAdjusterPIDController = m_angleAdjusterMotor.getPIDController();
//public boolean m_isHoodReady = false;
public double m_fireAngle;
/** Creates a new Hood. */
public Hood() {
m_angleAdjusterMotor.setIdleMode(IdleMode.kBrake);
m_angleAdjusterMotor.setIdleMode(IdleMode.kBrake);
m_hoodUpLimit = m_angleAdjusterMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
m_hoodDownLimit = m_angleAdjusterMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
m_hoodUpLimit.enableLimitSwitch(true);
m_hoodDownLimit.enableLimitSwitch(true);
m_hoodUpLimitSwitch = m_angleAdjusterMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_hoodDownLimitSwitch = m_angleAdjusterMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_hoodUpLimitSwitch.enableLimitSwitch(true);
m_hoodDownLimitSwitch.enableLimitSwitch(true);
}
@@ -47,15 +53,16 @@ public class Hood extends SubsystemBase {
public void runAngleAdjustPID(double targetAngle)
{
//Set PID Coefficients
m_angleAdjustPIDController.setP(m_angleAdjusterGains.m_kP);
m_angleAdjustPIDController.setI(m_angleAdjusterGains.m_kI);
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_angleAdjustGains.m_IZone);
m_angleAdjusterPIDController.setFF(m_angleAdjustGains.m_kF);
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_angleAdjustPIDController.setReference(targetAngle, ControlType.kPosition);
m_angleAdjusterPIDController.setReference(targetAngle, ControlType.kPosition);
}
public void runHood(double input) {
m_angleAdjusterMotor.set(input);
src/main/java/frc4388/robot/subsystems/Vision.java
+2 -1
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@@ -9,6 +9,7 @@ import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.Constants.ShooterConstants;
import frc4388.robot.Constants.VisionConstants;
import frc4388.robot.subsystems.BoomBoom;
import frc4388.robot.subsystems.Turret;
@@ -35,7 +36,7 @@ public static double fireAngle;
public double m_hoodTrim;
public double m_turretTrim;
public double m_fireAngle;
public Vision(Turret aimSubsystem, BoomBoom boomBoom) {
m_turret = aimSubsystem;
m_boomBoom = boomBoom;