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storage and turret shtuff

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This commit is contained in:
Ryan Manley
2022-03-16 12:05:34 -06:00
parent ca4d87977a
commit a67e3ebd4b
4 changed files with 24 additions and 15 deletions
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src/main/deploy/ShooterData.csv
+2 -2
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@@ -8,5 +8,5 @@ Distance (in) ,Hood Ext. (u) ,Drum Velocity (u/ds) ,Duration (s),
186 ,-76.24 ,10000 ,0, 186 ,-76.24 ,10000 ,0,
207 ,-104.07 ,11000 ,0, 207 ,-104.07 ,11000 ,0,
227 ,-105.32 ,11500 ,0, 227 ,-105.32 ,11500 ,0,
255.5 ,-105.8 ,13500 ,0, 255.5 ,-105.8 ,13500 ,0,
999 ,-105.8 ,13500 ,0, 999 ,-105.8 ,13500 ,0,
1 Distance (in) Hood Ext. (u) Drum Velocity (u/ds) Duration (s)
8 186 -76.24 10000 0
9 207 -104.07 11000 0
10 227 -105.32 11500 0
11 255.5 -105.8 -105.8 13500 0
12 999 -105.8 -105.8 13500 0
src/main/java/frc4388/robot/Constants.java
+4 -4
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@@ -203,12 +203,12 @@ public final class Constants {
// ID // ID
public static final int TURRET_MOTOR_CAN_ID = 19; public static final int TURRET_MOTOR_CAN_ID = 19;
//Gains for turret //Gains for turret
public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.1, 0.0, 0.1, 0.0, 0, 0.6); public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.1, 0.0, 0.1, 0.0, 0, TURRET_SPEED_MULTIPLIER);
public static final double SHOOTER_TURRET_MIN = -0.6; public static final double SHOOTER_TURRET_MIN = -TURRET_SPEED_MULTIPLIER;
//Gains for hood //Gains for hood
public static final Gains SHOOTER_ANGLE_GAINS = new Gains(0.1, 0.0, 0.0, 0.0, 0, 0.7); public static final Gains SHOOTER_ANGLE_GAINS = new Gains(0.1, 0.0, 0.0, 0.0, 0, 0.7);
public static final double TURRET_FORWARD_LIMIT = 17.0; // TODO: find public static final double TURRET_FORWARD_LIMIT = 0.0;
public static final double TURRET_REVERSE_LIMIT = -105.0; // TODO: find public static final double TURRET_REVERSE_LIMIT = -95.0; //Find
//Shooter gains for actual Drum //Shooter gains for actual Drum
public static final Gains DRUM_SHOOTER_GAINS = new Gains(0.4, 0.0, 15.0, 0.05, 0, 0); // TODO: tune values public static final Gains DRUM_SHOOTER_GAINS = new Gains(0.4, 0.0, 15.0, 0.05, 0, 0); // TODO: tune values
src/main/java/frc4388/robot/subsystems/Storage.java
+5 -2
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@@ -8,6 +8,7 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMax;
import edu.wpi.first.wpilibj.DigitalInput; import edu.wpi.first.wpilibj.DigitalInput;
import com.revrobotics.ColorSensorV3; import com.revrobotics.ColorSensorV3;
import edu.wpi.first.wpilibj.util.Color;
public class Storage extends SubsystemBase { public class Storage extends SubsystemBase {
public CANSparkMax m_storageMotor; public CANSparkMax m_storageMotor;
@@ -49,11 +50,13 @@ public class Storage extends SubsystemBase {
} }
public boolean getRed(){ public boolean getRed(){
return (m_colorSensor.getRed() >= 200); // return (m_colorSensor.getRed() >= 200 && m_colorSensor.getBlue() < 100 && m_colorSensor.getGreen() < 100);
return (m_colorSensor.getColor() == Color.kRed);
} }
public boolean getBlue(){ public boolean getBlue(){
return (m_colorSensor.getBlue() >= 200); // return (m_colorSensor.getBlue() >= 200 && m_colorSensor.getRed() < 100 && m_colorSensor.getGreen() < 100);
return (m_colorSensor.getColor() == Color.kBlue);
} }
src/main/java/frc4388/robot/subsystems/Turret.java
+13 -7
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@@ -18,6 +18,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.ShooterConstants; import frc4388.robot.Constants.ShooterConstants;
import frc4388.robot.commands.ShooterCommands.Shoot;
import frc4388.utility.Gains; import frc4388.utility.Gains;
public class Turret extends SubsystemBase { public class Turret extends SubsystemBase {
@@ -38,6 +39,8 @@ public class Turret extends SubsystemBase {
SparkMaxPIDController m_boomBoomRotatePIDController;// = m_boomBoomRotateMotor.getPIDController(); SparkMaxPIDController m_boomBoomRotatePIDController;// = m_boomBoomRotateMotor.getPIDController();
public RelativeEncoder m_boomBoomRotateEncoder;// = m_boomBoomRotateMotor.getEncoder(); public RelativeEncoder m_boomBoomRotateEncoder;// = m_boomBoomRotateMotor.getEncoder();
SparkMaxLimitSwitch m_boomBoomLeftLimit;
SparkMaxLimitSwitch m_boomBoomRightLimit;
// Variables // Variables
public Turret(CANSparkMax boomBoomRotateMotor) { // Take in rotate motor as an argument public Turret(CANSparkMax boomBoomRotateMotor) { // Take in rotate motor as an argument
@@ -47,12 +50,10 @@ public class Turret extends SubsystemBase {
m_boomBoomRotateEncoder = m_boomBoomRotateMotor.getEncoder(); m_boomBoomRotateEncoder = m_boomBoomRotateMotor.getEncoder();
m_boomBoomRotateMotor.setIdleMode(IdleMode.kBrake); m_boomBoomRotateMotor.setIdleMode(IdleMode.kBrake);
// m_boomBoomLeftLimit = m_boomBoomRotateMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen); m_boomBoomLeftLimit = m_boomBoomRotateMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
// m_boomBoomRightLimit = m_boomBoomRotateMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen); m_boomBoomRightLimit = m_boomBoomRotateMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
// m_boomBoomRightLimit.enableLimitSwitch(true); m_boomBoomRightLimit.enableLimitSwitch(true);
// m_boomBoomLeftLimit.enableLimitSwitch(true); m_boomBoomLeftLimit.enableLimitSwitch(true);
// SmartDashboard.putBoolean("Right Limit Switch Enabled", m_boomBoomRightLimit.isLimitSwitchEnabled());
// SmartDashboard.putBoolean("Left Limit Switch Enabled", m_boomBoomLeftLimit.isLimitSwitchEnabled());
m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, (float) ShooterConstants.TURRET_FORWARD_LIMIT); m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, (float) ShooterConstants.TURRET_FORWARD_LIMIT);
m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kReverse, (float) ShooterConstants.TURRET_REVERSE_LIMIT); m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kReverse, (float) ShooterConstants.TURRET_REVERSE_LIMIT);
@@ -73,6 +74,8 @@ public class Turret extends SubsystemBase {
// This method will be called once per scheduler run // This method will be called once per scheduler run
SmartDashboard.putNumber("Turret Angle Rotations", m_boomBoomRotateEncoder.getPosition()); SmartDashboard.putNumber("Turret Angle Rotations", m_boomBoomRotateEncoder.getPosition());
SmartDashboard.putNumber("Turret Angle Degrees", m_boomBoomRotateEncoder.getPosition() * ShooterConstants.TURRET_DEGREES_PER_ROT); SmartDashboard.putNumber("Turret Angle Degrees", m_boomBoomRotateEncoder.getPosition() * ShooterConstants.TURRET_DEGREES_PER_ROT);
if (m_boomBoomLeftLimit.isPressed()) m_boomBoomRotateEncoder.setPosition(ShooterConstants.TURRET_REVERSE_LIMIT - 2);
if (m_boomBoomRightLimit.isPressed()) m_boomBoomRotateEncoder.setPosition(ShooterConstants.TURRET_FORWARD_LIMIT + 2);
} }
/** /**
@@ -88,7 +91,10 @@ public class Turret extends SubsystemBase {
m_boomBoomSubsystem = subsystem0; m_boomBoomSubsystem = subsystem0;
m_sDriveSubsystem = subsystem1; m_sDriveSubsystem = subsystem1;
} }
/**
* Move the turret with an input
* @param input from -1.0 to 1.0, positive is clockwise
*/
public void runTurretWithInput(double input) { public void runTurretWithInput(double input) {
m_boomBoomRotateMotor.set(input * ShooterConstants.TURRET_SPEED_MULTIPLIER); m_boomBoomRotateMotor.set(input * ShooterConstants.TURRET_SPEED_MULTIPLIER);
} }