Team4388/2022NoWayHome
1
0
Fork 0
mirror of https://github.com/Team4388/2022NoWayHome.git synced 2026-06-09 00:38:05 -06:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
Abhishrek05
2022-02-19 10:57:33 -07:00
parent ed8cf1443c 006f38d786
commit dc103ad646
5 changed files with 48 additions and 24 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/Constants.java
+3
View File
@@ -88,7 +88,10 @@ public final class Constants {
public static final class ShooterConstants {
/* PID Constants Shooter */
<<<<<<< Updated upstream
public static final int CLOSED_LOOP_TIME_MS = 1;
=======
>>>>>>> Stashed changes
public static final int SHOOTER_TIMEOUT_MS = 32;
public static final int SHOOTER_SLOT_IDX = 0;
public static final int SHOOTER_PID_LOOP_IDX = 1;
src/main/java/frc4388/robot/RobotContainer.java
+34 -19
View File
@@ -5,6 +5,8 @@
package frc4388.robot;
import com.revrobotics.CANSparkMax;
import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
import com.ctre.phoenix.motorcontrol.can.TalonFX;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj2.command.Command;
@@ -14,6 +16,7 @@ import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.subsystems.BoomBoom;
import frc4388.robot.subsystems.Hood;
//import frc4388.robot.subsystems.Intake;
import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.robot.subsystems.Turret;
@@ -32,23 +35,24 @@ import frc4388.utility.controller.XboxController;
public class RobotContainer {
/* RobotMap */
private final RobotMap m_robotMap = new RobotMap();
private final TalonFX m_testMotor = new TalonFX(2);
/* Subsystems */
// private final SwerveDrive m_robotSwerveDrive = new SwerveDrive(
// m_robotMap.leftFrontSteerMotor, m_robotMap.leftFrontWheelMotor,
// m_robotMap.rightFrontSteerMotor, m_robotMap.rightFrontWheelMotor,
// m_robotMap.leftBackSteerMotor, m_robotMap.leftBackWheelMotor,
// m_robotMap.rightBackSteerMotor, m_robotMap.rightBackWheelMotor,
// m_robotMap.leftFrontEncoder,
// m_robotMap.rightFrontEncoder,
// m_robotMap.leftBackEncoder,
// m_robotMap.rightBackEncoder
// );
/* Subsystems
private final SwerveDrive m_robotSwerveDrive = new SwerveDrive(
m_robotMap.leftFrontSteerMotor, m_robotMap.leftFrontWheelMotor,
m_robotMap.rightFrontSteerMotor, m_robotMap.rightFrontWheelMotor,
m_robotMap.leftBackSteerMotor, m_robotMap.leftBackWheelMotor,
m_robotMap.rightBackSteerMotor, m_robotMap.rightBackWheelMotor,
m_robotMap.leftFrontEncoder,
m_robotMap.rightFrontEncoder,
m_robotMap.leftBackEncoder,
m_robotMap.rightBackEncoder
);
*/
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 Hood m_robotHood = new Hood();
private final Turret m_robotTurret = new Turret();
private final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret);
private final Vision m_robotVison = new Vision(m_robotTurret, m_robotBoomBoom);
/* Controllers */
private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
@@ -62,15 +66,15 @@ public class RobotContainer {
/* Default Commands */
// drives the swerve drive with a two-axis input from the driver controller
// m_robotSwerveDrive.setDefaultCommand(
// new RunCommand(() -> m_robotSwerveDrive.driveWithInput(-getDriverController().getLeftXAxis(),
// getDriverController().getLeftYAxis(), -getDriverController().getRightXAxis(), false), m_robotSwerveDrive));
/*m_robotSwerveDrive.setDefaultCommand(
new RunCommand(() -> m_robotSwerveDrive.driveWithInput(-getDriverController().getLeftXAxis(),
getDriverController().getLeftYAxis(), -getDriverController().getRightXAxis(), false), m_robotSwerveDrive));
// continually sends updates to the Blinkin LED controller to keep the lights on
m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED, m_robotLED));
*/
//Turret default command
m_robotTurret.setDefaultCommand(
@@ -90,6 +94,10 @@ public class RobotContainer {
/* Operator Buttons */
// activates "Lit Mode"
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
.whileHeld(() -> m_testMotor.set(TalonFXControlMode.PercentOutput, 0.5));
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
.whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
@@ -97,9 +105,16 @@ public class RobotContainer {
new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
.whenPressed(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0.1))
.whenReleased(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0));
/* Driver Buttons */
//activates intake
new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON);
// .whenPressed() -> m_robot
/*operator button*/
//activates hood
new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON)
.whenPressed(() -> m_robotHood.runHood(0.5d))
.whenReleased(() -> m_robotHood.runHood(0.d));
// new JoystickButton(getOperatorJoystick());
}
/**
* Use this to pass the autonomous command to the main {@link Robot} class.
src/main/java/frc4388/robot/RobotMap.java
+7 -3
View File
@@ -5,11 +5,12 @@
package frc4388.robot;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.StatorCurrentLimitConfiguration;
import com.ctre.phoenix.motorcontrol.SupplyCurrentLimitConfiguration;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.CANCoder;
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import frc4388.robot.Constants.LEDConstants;
import frc4388.robot.Constants.ShooterConstants;
@@ -119,9 +120,9 @@ public class RobotMap {
//RIGHT FALCON
shooterFalconRight.configFactoryDefault();
shooterFalconRight.setNeutralMode(NeutralMode.Coast);
shooterFalconRight.setInverted(false);
shooterFalconRight.setNeutralMode(NeutralMode.Coast);
shooterFalconRight.configFactoryDefault();
shooterFalconRight.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconRight.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS);
//m_shooterFalconRight.configPeakOutputForward(0, ShooterConstants.SHOOTER_TIMEOUT_MS);(comment it in if necessary)
@@ -130,6 +131,9 @@ public class RobotMap {
shooterFalconRight.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS);
/*Turret Subsytem*/
shooterFalconRight.configStatorCurrentLimit(new StatorCurrentLimitConfiguration(true, 6, 9, 4.2));
shooterFalconLeft.configSupplyCurrentLimit(new SupplyCurrentLimitConfiguration(true, 12, 13, 0.4));
}
src/main/java/frc4388/robot/subsystems/BoomBoom.java
+1 -1
View File
@@ -58,7 +58,7 @@ public BoomBoom(WPI_TalonFX shooterFalconLeft, WPI_TalonFX shooterFalconRight) {
@Override
public void periodic() {
// This method will be called once per scheduler run
// Abhi was here
try {
// SmartDashboard.putNumber("Drum Velocity", m_shooterFalconLeft.getSelectedSensorVelocity());
src/main/java/frc4388/robot/subsystems/Hood.java
+3 -1
View File
@@ -4,6 +4,8 @@
package frc4388.robot.subsystems;
import javax.sql.rowset.WebRowSet;
import com.revrobotics.CANSparkMax;
import com.revrobotics.RelativeEncoder;
import com.revrobotics.SparkMaxPIDController;
@@ -21,7 +23,7 @@ import frc4388.utility.Gains;
public class Hood extends SubsystemBase {
public BoomBoom m_shooterSubsystem;
// public CANSparkMax m_angleAdjusterMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
//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;