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hood change

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This commit is contained in:
aarav18
2022-03-06 00:24:47 -07:00
parent 317c0f5219
commit c26fa62747
3 changed files with 17 additions and 10 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+1 -1
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@@ -95,7 +95,7 @@ public class RobotContainer {
private final Storage m_robotStorage = new Storage(m_robotMap.storageMotor, m_robotMap.beamIntake, m_robotMap.beamShooter); private final Storage m_robotStorage = new Storage(m_robotMap.storageMotor, m_robotMap.beamIntake, m_robotMap.beamShooter);
private final LED m_robotLED = new LED(m_robotMap.LEDController); private final LED m_robotLED = new LED(m_robotMap.LEDController);
private final BoomBoom m_robotBoomBoom = new BoomBoom(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight); private final BoomBoom m_robotBoomBoom = new BoomBoom(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight);
private final Hood m_robotHood = new Hood(); private final Hood m_robotHood = new Hood(m_robotMap.angleAdjusterMotor);
private final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret); private final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret);
private final VisionOdometry m_robotVisionOdometry = new VisionOdometry(m_robotSwerveDrive, m_robotTurret); private final VisionOdometry m_robotVisionOdometry = new VisionOdometry(m_robotSwerveDrive, m_robotTurret);
private final Vision m_robotVision = new Vision(m_robotTurret, m_robotBoomBoom); private final Vision m_robotVision = new Vision(m_robotTurret, m_robotBoomBoom);
src/main/java/frc4388/robot/RobotMap.java
+11 -5
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@@ -13,6 +13,7 @@ import com.ctre.phoenix.sensors.CANCoder;
import com.ctre.phoenix.sensors.WPI_PigeonIMU; import com.ctre.phoenix.sensors.WPI_PigeonIMU;
import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMax.IdleMode;
import com.revrobotics.CANSparkMaxLowLevel.MotorType; import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj.DigitalInput; import edu.wpi.first.wpilibj.DigitalInput;
@@ -32,17 +33,15 @@ import frc4388.robot.subsystems.SwerveModule;
public class RobotMap { public class RobotMap {
public RobotMap() { public RobotMap() {
// configureLEDMotorControllers(); configureLEDMotorControllers();
configureSwerveMotorControllers(); configureSwerveMotorControllers();
// configureShooterMotorControllers(); configureShooterMotorControllers();
} }
/* LED Subsystem */ /* LED Subsystem */
public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID); public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
void configureLEDMotorControllers() { void configureLEDMotorControllers() {}
}
/* Swerve Subsystem */ /* Swerve Subsystem */
@@ -167,8 +166,12 @@ public class RobotMap {
public final WPI_TalonFX shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_LEFT_CAN_ID); public final WPI_TalonFX shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_LEFT_CAN_ID);
public final WPI_TalonFX shooterFalconRight = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_RIGHT_CAN_ID); public final WPI_TalonFX shooterFalconRight = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_RIGHT_CAN_ID);
// turret subsystem
public final CANSparkMax shooterTurret = new CANSparkMax(ShooterConstants.TURRET_MOTOR_CAN_ID, MotorType.kBrushless); public final CANSparkMax shooterTurret = new CANSparkMax(ShooterConstants.TURRET_MOTOR_CAN_ID, MotorType.kBrushless);
// hood subsystem
public CANSparkMax angleAdjusterMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
// Create motor CANSparkMax // Create motor CANSparkMax
void configureShooterMotorControllers() { void configureShooterMotorControllers() {
@@ -209,6 +212,9 @@ public class RobotMap {
// SupplyCurrentLimitConfiguration(true, 12, 13, 0.4)); // TODO: dont pull // SupplyCurrentLimitConfiguration(true, 12, 13, 0.4)); // TODO: dont pull
// numbers out of our ass anymore // numbers out of our ass anymore
// hood subsystem
angleAdjusterMotor.restoreFactoryDefaults();
angleAdjusterMotor.setIdleMode(IdleMode.kBrake);
} }
src/main/java/frc4388/robot/subsystems/Hood.java
+4 -3
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@@ -24,7 +24,7 @@ import frc4388.utility.Gains;
public class Hood extends SubsystemBase { public class Hood extends SubsystemBase {
public BoomBoom m_shooterSubsystem; public BoomBoom m_shooterSubsystem;
public CANSparkMax m_angleAdjusterMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless); public CANSparkMax m_angleAdjusterMotor;
public SparkMaxLimitSwitch m_hoodUpLimitSwitch; public SparkMaxLimitSwitch m_hoodUpLimitSwitch;
public SparkMaxLimitSwitch m_hoodDownLimitSwitch; public SparkMaxLimitSwitch m_hoodDownLimitSwitch;
public static Gains m_angleAdjusterGains = ShooterConstants.SHOOTER_ANGLE_GAINS; public static Gains m_angleAdjusterGains = ShooterConstants.SHOOTER_ANGLE_GAINS;
@@ -39,8 +39,9 @@ public double m_fireAngle;
/** Creates a new Hood. */ /** Creates a new Hood. */
public Hood() { public Hood(CANSparkMax angleAdjusterMotor) {
m_angleAdjusterMotor.setIdleMode(IdleMode.kBrake);
m_angleAdjusterMotor = angleAdjusterMotor;
m_hoodUpLimitSwitch = m_angleAdjusterMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen); m_hoodUpLimitSwitch = m_angleAdjusterMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_hoodDownLimitSwitch = m_angleAdjusterMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen); m_hoodDownLimitSwitch = m_angleAdjusterMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);