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Finished up shooter (still needs review), started working on Vision

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Pushkar9236
2022-01-21 20:58:13 -07:00
parent ed87f4deac
commit a1c9f0cef5
3 changed files with 100 additions and 6 deletions
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src/main/java/frc4388/robot/subsystems/BoomBoom.java
+58 -2
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@@ -8,16 +8,42 @@ import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import edu.wpi.first.wpilibj.SmartDashboard.SmartDashboard;
import edu.wpi.first.math.controller.BangBangController;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.ShooterConstants;
import frc4388.utility.ShooterTables;
import frc4388.utility.Gains;
import frc4388.utility.Trims;
import frc4388.utility.controller.IHandController;
public class BoomBoom extends SubsystemBase {
public WPI_TalonFX m_shooterFalconLeft;
public WPI_TalonFX m_shooterFalconRight;
public WPI_TalonFX m_shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_BALLER_ID);
public WPI_TalonFX m_shooterFalconRight= new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_BALLER_FOLLOWER_ID);
public ShooterTables m_shooterTable;
public static Gains m_drumShooterGains = ShooterConstants.DRUM_SHOOTER_GAINS;
public static BoomBoom m_boomBoom;
public static IHandController m_driverController; //not sure if driverController in 2022 = m_controller in 2020
double velP;
double input;
public boolean m_isDrumReady = false;
public double m_fireVel;
public Trims shooterTrims;
public Hood m_hoodSubsystem;
public Turret m_turretSubsystem;
/*
* Creates new BoomBoom subsystem, has drum shooter and angle adjuster
*/
public BoomBoom(){
//Testing purposes resetting gyros
//resetGryoAngleADj();
shooterTrims = new Trims(0,0);
}
/** Creates a new BoomBoom. */
public BoomBoom(WPI_TalonFX shooterFalconLeft, WPI_TalonFX shooterFalconRight) {
m_shooterFalconLeft = shooterFalconLeft;
@@ -56,12 +82,42 @@ public ShooterTables m_shooterTable;
public void periodic() {
// This method will be called once per scheduler run
// Abhi was here
try {
// SmartDashboard.putNumber("Drum Velocity", m_shooterFalconLeft.getSelectedSensorVelocity());
// SmartDashboard.putNumber("Drum Velocity CSV", m_fireVel);
// SmartDashboard.putNumber("Shooter Temp C", m_shooterFalconLeft.getTemperature()); //all these values should be "defined" elsewhere, fix this
// SmartDashboard.putNumber("Shooter Current", m_shooterFalconLeft.getSupplyCurrent());
// SmartDashboard.putNumber("Drum Ready", m_isDrumReady);
} catch (Exception e) {
//TODO: handle exception
}
}
public void passRequiredSubsystem(Hood subsystem0, Turret subsystem1) {
m_hoodSubsystem = subsystem0;
m_turretSubsystem = subsystem1;
}
public double addFireVel(){
return m_fireVel;
}
public void runDrumShooter(double speed) {
m_shooterFalconLeft.set(TalonFXControlMode.PercentOutput, speed);
m_shooterFalconRight.follow(m_shooterFalconLeft);
}
public void setShooterGains() {
m_shooterFalconLeft.selectProfileSlot(ShooterConstants.SHOOTER_SLOT_IDX, ShooterConstants.SHOOTER_PID_LOOP_IDX);
m_shooterFalconLeft.config_kF(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kF, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconLeft.config_kP(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kP, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconLeft.config_kI(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kI, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconLeft.config_kD(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kD, ShooterConstants.SHOOTER_TIMEOUT_MS);
}
public void runDrumShooterVelocityPID(double targetVel) {
m_shooterFalconLeft.set(TalonFXControlMode.Velocity, targetVel); //Init