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This commit is contained in:
aarav18
2022-03-12 22:19:42 -07:00
parent 42a8f0672e
commit ba9dce23af
6 changed files with 51 additions and 27 deletions
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src/main/java/frc4388/robot/Constants.java
+4 -4
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@@ -183,7 +183,7 @@ public final class Constants {
true, 27, 0, 0);
public static final int SHOOTER_FALCON_LEFT_CAN_ID = 21;
public static final int SHOOTER_FALCON_RIGHT_CAN_ID = 22;
public static final double TURRET_SPEED_MULTIPLIER = 0.4d;
public static final double TURRET_SPEED_MULTIPLIER = 0.75d;
public static final int DEGREES_PER_ROT = 0;
public static final int TURRET_MOTOR_POS_AT_ZERO_ROT = 0;
public static final int TURRET_MOTOR_ROTS_PER_ROT = 0;
@@ -198,8 +198,8 @@ public final class Constants {
public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.6, 0.0, 0.0, 0.0, 0, 1.0);
public static final Gains SHOOTER_ANGLE_GAINS = new Gains(0.1, 0.0, 0.0, 0.0, 0, 0.7);
public static final double SHOOTER_TURRET_MIN = -1.0;
public static final double TURRET_FORWARD_LIMIT = 55.0; // TODO: find
public static final double TURRET_REVERSE_LIMIT = -55.0; // TODO: find
public static final double TURRET_FORWARD_LIMIT = 17.0;
public static final double TURRET_REVERSE_LIMIT = -105.0;
public static final Gains DRUM_SHOOTER_GAINS = new Gains(0, 0, 0, 0, 0, 0); // TODO: tune values
@@ -207,7 +207,7 @@ public final class Constants {
public static final int SHOOTER_ANGLE_ADJUST_ID = 20;
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 double HOOD_FORWARD_LIMIT = 0.0; // TODO: find
public static final double HOOD_FORWARD_LIMIT = -0.0; // TODO: find
public static final double HOOD_REVERSE_LIMIT = -150; // TODO: find
}
src/main/java/frc4388/robot/RobotContainer.java
+32 -12
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@@ -105,7 +105,7 @@ public class RobotContainer {
public final Storage m_robotStorage = new Storage(m_robotMap.storageMotor);
// private final LED m_robotLED = new LED(m_robotMap.LEDController);
public final BoomBoom m_robotBoomBoom = new BoomBoom(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight);
// public final Hood m_robotHood = new Hood(m_robotMap.angleAdjusterMotor);
public final Hood m_robotHood = new Hood(m_robotMap.angleAdjusterMotor);
public final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret);
private final VisionOdometry m_robotVisionOdometry = new VisionOdometry(m_robotSwerveDrive, m_robotTurret);
private final WPI_TalonFX testElbowMotor = new WPI_TalonFX(30);
@@ -134,6 +134,7 @@ public class RobotContainer {
public boolean manual = false;
public static boolean softLimits = true;
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
@@ -174,8 +175,8 @@ public class RobotContainer {
m_robotTurret.setDefaultCommand(
new RunCommand(() -> m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()),
m_robotTurret).withName("Turret runTurretWithInput defaultCommand"));
// m_robotHood.setDefaultCommand(
// new RunCommand(() -> m_robotHood.runHood(getOperatorController().getLeftY() * 0.15), m_robotHood));
m_robotHood.setDefaultCommand(
new RunCommand(() -> m_robotHood.runHood(getOperatorController().getLeftY()), m_robotHood));
// m_robotTurret.setDefaultCommand(
// new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry));
@@ -228,11 +229,17 @@ public class RobotContainer {
/* Operator Buttons */
// X > Extend Intake
new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
.whenPressed(new InstantCommand(() -> m_robotVisionOdometry.setLEDs(true), m_robotVisionOdometry));
// Y > Retract Intake
// new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
// .whenPressed(new InstantCommand(() -> m_robotVisionOdometry.setLEDs(true), m_robotVisionOdometry));
// new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
// .whenPressed(new InstantCommand(() -> m_robotTurret.m_boomBoomRotateEncoder.setPosition(0), m_robotTurret));
new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
.whenPressed(new InstantCommand(() -> m_robotVisionOdometry.setLEDs(false), m_robotVisionOdometry));
// new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
// .whenPressed(() -> m_robotIntake.runExtender(false));
// .whenPressed(new InstantCommand(() -> m_robotVisionOdometry.setLEDs(false), m_robotVisionOdometry));
// new JoystickButton(getOperatorController(), XboxController.Button.kA.value) //8ft
// .whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.425)))
@@ -252,7 +259,7 @@ public class RobotContainer {
// .whenReleased(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.0)));
new JoystickButton(getOperatorController(), XboxController.Button.kX.value) //20ft
.whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.1)))
.whileHeld(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.2)))
// .whileHeld(new RunCommand(() -> m_robotHood.runAngleAdjustPID(-96)))
.whenReleased(new RunCommand(() -> m_robotBoomBoom.runDrumShooter(0.0)));
@@ -289,12 +296,21 @@ public class RobotContainer {
// .whenPressed(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotSwerveDrive, m_robotVisionOdometry));
/* Button Box Buttons */
new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftSwitch.value)
.whileHeld(new RunCommand(() -> RunMiddleSwitch.setManual(true)))
.whenReleased(new RunCommand(() -> RunMiddleSwitch.setManual(false)));
.whenPressed(new InstantCommand(() -> m_robotTurret.setTurretSoftLimits(false), m_robotTurret))
.whenPressed(new InstantCommand(() -> m_robotHood.setHoodSoftLimits(false), m_robotHood))
.whenReleased(new InstantCommand(() -> m_robotTurret.setTurretSoftLimits(true), m_robotTurret))
.whenReleased(new InstantCommand(() -> m_robotHood.setHoodSoftLimits(true), m_robotHood))
.whenReleased(new InstantCommand(() -> m_robotTurret.m_boomBoomRotateEncoder.setPosition(0), m_robotTurret))
.whenReleased(new InstantCommand(() -> m_robotHood.m_angleEncoder.setPosition(0), m_robotHood));
// new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftSwitch.value)
// .whileHeld(new RunCommand(() -> RunMiddleSwitch.setManual(true)))
// .whenReleased(new RunCommand(() -> RunMiddleSwitch.setManual(false)));
new JoystickButton(getButtonBox(), ButtonBox.Button.kMiddleSwitch.value)
.whileHeld(new RunMiddleSwitch());
// new JoystickButton(getButtonBox(), ButtonBox.Button.kMiddleSwitch.value)
// .whileHeld(new RunMiddleSwitch());
new JoystickButton(getButtonBox(), ButtonBox.Button.kRightSwitch.value)
.whileHeld(new RunCommand(() -> System.out.println("RightSwitch")));
@@ -350,6 +366,10 @@ public class RobotContainer {
this.manual = set;
}
public static void setSoftLimits(boolean set) {
softLimits = set;
}
/**
* Get odometry.
*
src/main/java/frc4388/robot/RobotMap.java
+5 -5
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@@ -236,7 +236,7 @@ public class RobotMap {
ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconRight.follow(shooterFalconLeft);
}
// }
// // /* Turret Subsytem */
// shooterFalconRight.configStatorCurrentLimit(new
@@ -247,10 +247,10 @@ public class RobotMap {
// // numbers out of our ass anymore
// // hood subsystem
// angleAdjusterMotor.restoreFactoryDefaults();
// angleAdjusterMotor.setIdleMode(IdleMode.kBrake);
// angleAdjusterMotor.setInverted(true);
// }
angleAdjusterMotor.restoreFactoryDefaults();
angleAdjusterMotor.setIdleMode(IdleMode.kBrake);
angleAdjusterMotor.setInverted(true);
}
src/main/java/frc4388/robot/subsystems/Hood.java
+2 -2
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@@ -50,13 +50,14 @@ public class Hood extends SubsystemBase {
m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kForward, (float) ShooterConstants.HOOD_FORWARD_LIMIT);
m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kReverse, (float) ShooterConstants.HOOD_REVERSE_LIMIT);
setHoodSoftLimits(false);
setHoodSoftLimits(true);
}
@Override
public void periodic() {
// This method will be called once per scheduler run
SmartDashboard.putNumber("Hood Angle", m_angleEncoder.getPosition());
}
/**
@@ -87,7 +88,6 @@ public class Hood extends SubsystemBase {
*/
public void runHood(double input) {
m_angleAdjusterMotor.set(input);
SmartDashboard.putNumber("Hood Angle", m_angleAdjusterMotor.getAlternateEncoder(1024).getPosition());
}
public void resetGyroAngleAdj(){
src/main/java/frc4388/robot/subsystems/Intake.java
+1 -1
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@@ -35,7 +35,7 @@ public class Intake extends SubsystemBase {
* @param rightTrigger Right Trigger to Run Outward
*/
public void runWithTriggers(double leftTrigger, double rightTrigger) {
m_intakeMotor.set((rightTrigger - leftTrigger) * 0.3);
m_intakeMotor.set((rightTrigger - leftTrigger) * 0.4);
SmartDashboard.putNumber("Intake Current Supply", m_intakeMotor.getSupplyCurrent());
SmartDashboard.putNumber("Intake Current Stator", m_intakeMotor.getStatorCurrent());
}
src/main/java/frc4388/robot/subsystems/Turret.java
+7 -3
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@@ -7,7 +7,7 @@ package frc4388.robot.subsystems;
import com.revrobotics.CANSparkMax.ControlType;
import com.revrobotics.CANSparkMax.IdleMode;
import com.revrobotics.CANSparkMax.SoftLimitDirection;
import com.revrobotics.SparkMaxRelativeEncoder.Type;
import com.revrobotics.CANSparkMax;
import com.revrobotics.RelativeEncoder;
import com.revrobotics.SparkMaxLimitSwitch;
@@ -56,10 +56,12 @@ public class Turret extends SubsystemBase {
m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, (float) ShooterConstants.TURRET_FORWARD_LIMIT);
m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kReverse, (float) ShooterConstants.TURRET_REVERSE_LIMIT);
setTurretSoftLimits(false);
setTurretSoftLimits(true);
m_boomBoomRotateMotor.setInverted(true);
// m_boomBoomRotateMotor.getAlternateEncoder(4096).setPosition(0);
m_boomBoomRotatePIDController.setP(m_shooterTGains.kP);
m_boomBoomRotatePIDController.setI(m_shooterTGains.kI);
m_boomBoomRotatePIDController.setD(m_shooterTGains.kD);
@@ -71,6 +73,7 @@ public class Turret extends SubsystemBase {
@Override
public void periodic() {
// This method will be called once per scheduler run
SmartDashboard.putNumber("Turret Angle", m_boomBoomRotateEncoder.getPosition());
}
/**
@@ -89,7 +92,6 @@ public class Turret extends SubsystemBase {
public void runTurretWithInput(double input) {
m_boomBoomRotateMotor.set(input * ShooterConstants.TURRET_SPEED_MULTIPLIER);
SmartDashboard.putNumber("Turret Angle", m_boomBoomRotateMotor.getAlternateEncoder(1024).getPosition());
}
public void runshooterRotatePID(double targetAngle) {
@@ -102,10 +104,12 @@ public class Turret extends SubsystemBase {
}
public double getboomBoomRotatePosition() {
// return 0.0;
return m_boomBoomRotateEncoder.getPosition();
}
public double getBoomBoomAngleDegrees() {
// return 0.0;
return (m_boomBoomRotateEncoder.getPosition() - ShooterConstants.TURRET_MOTOR_POS_AT_ZERO_ROT) * 360
/ ShooterConstants.TURRET_MOTOR_ROTS_PER_ROT;
}