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Monday Fixes

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This commit is contained in:
Ryan Manley
2022-03-08 16:14:34 -07:00
parent 931c0cbd12
commit dce8ab320c
6 changed files with 90 additions and 61 deletions
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src/main/java/frc4388/robot/subsystems/BoomBoom.java
+10 -2
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@@ -20,6 +20,7 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import edu.wpi.first.wpilibj.Filesystem;
import edu.wpi.first.wpilibj.RobotBase;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.ShooterConstants;
import frc4388.utility.CSV;
@@ -31,6 +32,7 @@ public class BoomBoom extends SubsystemBase {
public WPI_TalonFX m_shooterFalconRight;
public static Gains m_drumShooterGains = ShooterConstants.DRUM_SHOOTER_GAINS;
public static BoomBoom m_boomBoom;
double speed2;
double velP;
double input;
@@ -168,14 +170,15 @@ public class BoomBoom extends SubsystemBase {
public void passRequiredSubsystem(Hood subsystem0, Turret subsystem1) {
m_hoodSubsystem = subsystem0;
m_turretSubsystem = subsystem1;
}
}
/**
* Runs the Drum motor at a given speed
* @param speed percent output form -1.0 to 1.0
*/
public void runDrumShooter(double speed) {
m_shooterFalconLeft.set(TalonFXControlMode.PercentOutput, speed);
m_shooterFalconLeft.set(TalonFXControlMode.PercentOutput, speed + speed2);
SmartDashboard.putNumber("BoomBoom percent speed", speed + speed2);
}
@@ -199,4 +202,9 @@ public class BoomBoom extends SubsystemBase {
// feedforward.calculate(targetVel));
// m_shooterFalconLeft.set(m_controller.calculate(m_shooterFalconLeft.get(), targetVel));
}
public void increaseSpeed(double amount)
{
speed2 = speed2 + amount;
}
}
src/main/java/frc4388/robot/subsystems/Hood.java
+6 -6
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@@ -20,8 +20,8 @@ public class Hood extends SubsystemBase {
public BoomBoom m_shooterSubsystem;
public CANSparkMax m_angleAdjusterMotor;
public SparkMaxLimitSwitch m_hoodUpLimitSwitch;
public SparkMaxLimitSwitch m_hoodDownLimitSwitch;
// public SparkMaxLimitSwitch m_hoodUpLimitSwitch;
// public SparkMaxLimitSwitch m_hoodDownLimitSwitch;
public static Gains m_angleAdjusterGains;
public RelativeEncoder m_angleEncoder;
@@ -41,10 +41,10 @@ public double m_fireAngle;
m_angleAdjusterPIDController = m_angleAdjusterMotor.getPIDController();
m_angleAdjusterGains = ShooterConstants.SHOOTER_ANGLE_GAINS;
m_hoodUpLimitSwitch = m_angleAdjusterMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_hoodDownLimitSwitch = m_angleAdjusterMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_hoodUpLimitSwitch.enableLimitSwitch(true);
m_hoodDownLimitSwitch.enableLimitSwitch(true);
// m_hoodUpLimitSwitch = m_angleAdjusterMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
// m_hoodDownLimitSwitch = m_angleAdjusterMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
// m_hoodUpLimitSwitch.enableLimitSwitch(true);
// m_hoodDownLimitSwitch.enableLimitSwitch(true);
m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kForward, (float) ShooterConstants.HOOD_FORWARD_LIMIT);
m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kReverse, (float) ShooterConstants.HOOD_REVERSE_LIMIT);
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+14 -11
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@@ -38,13 +38,13 @@ public class SwerveDrive extends SubsystemBase {
public static Gains m_swerveGains = SwerveDriveConstants.SWERVE_GAINS;
Translation2d m_frontLeftLocation = new Translation2d(Units.inchesToMeters(halfHeight),
Units.inchesToMeters(halfWidth));
Units.inchesToMeters(-halfWidth));
Translation2d m_frontRightLocation = new Translation2d(Units.inchesToMeters(halfHeight),
Units.inchesToMeters(-halfWidth));
Translation2d m_backLeftLocation = new Translation2d(Units.inchesToMeters(-halfHeight),
Units.inchesToMeters(halfWidth));
Translation2d m_backRightLocation = new Translation2d(Units.inchesToMeters(-halfHeight),
Translation2d m_backLeftLocation = new Translation2d(Units.inchesToMeters(-halfHeight),
Units.inchesToMeters(-halfWidth));
Translation2d m_backRightLocation = new Translation2d(Units.inchesToMeters(-halfHeight),
Units.inchesToMeters(halfWidth));
public SwerveDriveKinematics m_kinematics = new SwerveDriveKinematics(m_frontLeftLocation, m_frontRightLocation,
m_backLeftLocation, m_backRightLocation);
@@ -77,7 +77,7 @@ public class SwerveDrive extends SubsystemBase {
m_rightBack = rightBack;
m_gyro = gyro;
modules = new SwerveModule[] { m_leftFront, m_rightFront, m_leftBack, m_rightBack };
modules = new SwerveModule[] { m_leftFront, m_rightFront, m_leftBack, m_rightBack};
m_poseEstimator = new SwerveDrivePoseEstimator(
m_gyro.getRotation2d(),
@@ -108,7 +108,7 @@ public class SwerveDrive extends SubsystemBase {
ignoreAngles = true;
else
ignoreAngles = false;
Translation2d speed = new Translation2d(-speedX, speedY);
Translation2d speed = new Translation2d(-speedY, -speedX);
double mag = speed.getNorm();
speed = speed.times(mag * speedAdjust);
@@ -116,9 +116,9 @@ public class SwerveDrive extends SubsystemBase {
double ySpeedMetersPerSecond = speed.getY();
chassisSpeeds = fieldRelative
? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond,
rot * SwerveDriveConstants.ROTATION_SPEED, m_gyro.getRotation2d())
rot * SwerveDriveConstants.ROTATION_SPEED * 8, m_gyro.getRotation2d())
: new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond,
rot * SwerveDriveConstants.ROTATION_SPEED);
-rot * SwerveDriveConstants.ROTATION_SPEED * 8);
SwerveModuleState[] states = m_kinematics.toSwerveModuleStates(chassisSpeeds);
setModuleStates(states);
}
@@ -128,17 +128,19 @@ public class SwerveDrive extends SubsystemBase {
Translation2d speed = new Translation2d(-leftX, leftY);
speed = speed.times(speed.getNorm() * speedAdjust);
if (Math.abs(rightX) > OIConstants.RIGHT_AXIS_DEADBAND || Math.abs(rightY) > OIConstants.RIGHT_AXIS_DEADBAND)
rotTarget = new Rotation2d(rightX, -rightY).minus(new Rotation2d(0, 1));
rotTarget = new Rotation2d(rightX, -rightY).plus(new Rotation2d(0, 1));
double rot = rotTarget.minus(m_gyro.getRotation2d()).getRadians();
double xSpeedMetersPerSecond = -speed.getX();
double ySpeedMetersPerSecond = speed.getY();
chassisSpeeds = fieldRelative
? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond,
rot * SwerveDriveConstants.ROTATION_SPEED, m_gyro.getRotation2d())
: new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rightX * SwerveDriveConstants.ROTATION_SPEED);
rot * SwerveDriveConstants.ROTATION_SPEED, new Rotation2d(m_gyro.getRotation2d().getDegrees()))
: new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rightX * SwerveDriveConstants.ROTATION_SPEED * 8);
SwerveModuleState[] states = m_kinematics.toSwerveModuleStates(
chassisSpeeds);
setModuleStates(states);
// SmartDashboard.putNumber("rot", rot);
// SmartDashboard.putNumber("rotarget", rotTarget.getDegrees());
}
/**
@@ -149,6 +151,7 @@ public class SwerveDrive extends SubsystemBase {
public void setModuleStates(SwerveModuleState[] desiredStates) {
SwerveDriveKinematics.desaturateWheelSpeeds(desiredStates,
Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC));
// int i = 2; {
for (int i = 0; i < desiredStates.length; i++) {
SwerveModule module = modules[i];
SwerveModuleState state = desiredStates[i];
src/main/java/frc4388/robot/subsystems/SwerveModule.java
+1
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@@ -120,6 +120,7 @@ public class SwerveModule extends SubsystemBase {
double desiredTicks = currentTicks + deltaTicks;
if (!ignoreAngle) {
angleMotor.set(TalonFXControlMode.Position, desiredTicks);
}