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

src/main/java/frc4388/robot/Constants.java

@@ -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

@@ -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 */
+  /* Subsystems 
-  // private final SwerveDrive m_robotSwerveDrive = new SwerveDrive(
+  private final SwerveDrive m_robotSwerveDrive = new SwerveDrive(
-  //   m_robotMap.leftFrontSteerMotor, m_robotMap.leftFrontWheelMotor,
+    m_robotMap.leftFrontSteerMotor, m_robotMap.leftFrontWheelMotor,
-  //   m_robotMap.rightFrontSteerMotor, m_robotMap.rightFrontWheelMotor,
+    m_robotMap.rightFrontSteerMotor, m_robotMap.rightFrontWheelMotor,
-  //   m_robotMap.leftBackSteerMotor, m_robotMap.leftBackWheelMotor,
+    m_robotMap.leftBackSteerMotor, m_robotMap.leftBackWheelMotor,
-  //   m_robotMap.rightBackSteerMotor, m_robotMap.rightBackWheelMotor,
+    m_robotMap.rightBackSteerMotor, m_robotMap.rightBackWheelMotor,
-  //   m_robotMap.leftFrontEncoder,
+    m_robotMap.leftFrontEncoder,
-  //   m_robotMap.rightFrontEncoder,
+    m_robotMap.rightFrontEncoder,
-  //   m_robotMap.leftBackEncoder,
+    m_robotMap.leftBackEncoder,
-  //   m_robotMap.rightBackEncoder
+    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(
+    /*m_robotSwerveDrive.setDefaultCommand(
-    //     new RunCommand(() -> m_robotSwerveDrive.driveWithInput(-getDriverController().getLeftXAxis(),
+        new RunCommand(() -> m_robotSwerveDrive.driveWithInput(-getDriverController().getLeftXAxis(),
-    //         getDriverController().getLeftYAxis(), -getDriverController().getRightXAxis(), false), m_robotSwerveDrive));
+            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

@@ -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

@@ -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

@@ -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;