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weird ass limit stuff shtuff (IDK WHY IT WORKS)

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aarav18
2022-03-16 23:44:20 -06:00
parent 63f8476b85
commit ebd78f2543
3 changed files with 66 additions and 38 deletions
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src/main/java/frc4388/robot/Constants.java
+2 -1
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@@ -191,6 +191,7 @@ public final class Constants {
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 = 0.6;
public static final double TURRET_CALIBRATION_MULTIPLIER = 0.5;
public static final double TURRET_DEGREES_PER_ROT = 180.0/105.45445251464844;
public static final int TURRET_MOTOR_POS_AT_ZERO_ROT = 0;
public static final int TURRET_MOTOR_ROTS_PER_ROT = 0;
@@ -212,7 +213,7 @@ public final class Constants {
//#endregion test end
public static final double TURRET_FORWARD_HARD_LIMIT = 0.0;
public static final double TURRET_REVERSE_HARD_LIMIT = -85.0;
public static final double TURRET_REVERSE_HARD_LIMIT = -123.0;
public static final double TURRET_FORWARD_SOFT_LIMIT = TURRET_FORWARD_HARD_LIMIT - 2;
public static final double TURRET_REVERSE_SOFT_LIMIT = TURRET_REVERSE_HARD_LIMIT + 2;
src/main/java/frc4388/robot/RobotContainer.java
+4
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@@ -359,6 +359,10 @@ public class RobotContainer {
// .whileHeld(new RunCommand(() -> TurretManual.setManual(true)))
// .whenReleased(new RunCommand(() -> TurretManual.setManual(false)));
new JoystickButton(getButtonBox(), ButtonBox.Button.kRightSwitch.value)
.whileHeld(new RunCommand(() -> m_robotTurret.turnOnLeftLimitSwitch(), m_robotTurret))
.whenReleased(new RunCommand(() -> m_robotTurret.turnOffLeftLimitSwitch(), m_robotTurret));
new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftButton.value)
.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(-1.0), m_robotExtender))
.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
src/main/java/frc4388/robot/subsystems/Turret.java
+60 -37
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@@ -56,19 +56,42 @@ public class Turret extends SubsystemBase {
m_boomBoomRotatePIDController = m_boomBoomRotateMotor.getPIDController();
m_boomBoomRotateEncoder = m_boomBoomRotateMotor.getEncoder();
m_boomBoomLeftLimit = m_boomBoomRotateMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_boomBoomRightLimit = m_boomBoomRotateMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
// m_boomBoomLeftLimit.enableLimitSwitch(true);
// m_boomBoomRightLimit.enableLimitSwitch(true);
setTurretLimitSwitches(true);
// m_boomBoomLeftLimit = m_boomBoomRotateMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
// m_boomBoomRightLimit = m_boomBoomRotateMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
// m_boomBoomLeftLimit.enableLimitSwitch(false);
// m_boomBoomRightLimit.enableLimitSwitch(false);
// setTurretLimitSwitches(true);
m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, (float) ShooterConstants.TURRET_FORWARD_SOFT_LIMIT);
m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kReverse, (float) ShooterConstants.TURRET_REVERSE_SOFT_LIMIT);
setTurretSoftLimits(true);
setTurretSoftLimits(false);
setTurretPIDGains();
}
public void toggleLeftLimitSwitch() {
// TODO: find better way to do this, but im in a hurry
// if (leftSwitch.isLimitSwitchEnabled()) {
// leftSwitch.enableLimitSwitch(false);
// } else {
// leftSwitch.enableLimitSwitch(true);
}
// }
public void turnOnLeftLimitSwitch() {
SparkMaxLimitSwitch leftSwitch = m_boomBoomRotateMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
System.out.println("Left Switch ENABLED");
leftSwitch.enableLimitSwitch(true);
}
public void turnOffLeftLimitSwitch() {
SparkMaxLimitSwitch leftSwitch = m_boomBoomRotateMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
System.out.println("Left Switch DISABLED");
leftSwitch.enableLimitSwitch(false);
}
/**
* Set gains for turret PIDs.
*/
@@ -85,48 +108,48 @@ public class Turret extends SubsystemBase {
public void periodic() {
// This method will be called once per scheduler run
SmartDashboard.putBoolean("Right Limit Switch Enabled", m_boomBoomRightLimit.isLimitSwitchEnabled());
SmartDashboard.putBoolean("Left Limit Switch Enabled", m_boomBoomLeftLimit.isLimitSwitchEnabled());
// SmartDashboard.putBoolean("Right Limit Switch Enabled", m_boomBoomRightLimit.isLimitSwitchEnabled());
// SmartDashboard.putBoolean("Left Limit Switch Enabled", m_boomBoomLeftLimit.isLimitSwitchEnabled());
SmartDashboard.putNumber("Turret Angle Rotations", m_boomBoomRotateEncoder.getPosition());
SmartDashboard.putNumber("Turret Angle Degrees", m_boomBoomRotateEncoder.getPosition() * ShooterConstants.TURRET_DEGREES_PER_ROT);
SmartDashboard.putBoolean("Left Limit Switch Pressed", m_boomBoomLeftLimit.isPressed());
SmartDashboard.putBoolean("Right Limit Switch Pressed", m_boomBoomRightLimit.isPressed());
// SmartDashboard.putBoolean("Left Limit Switch Pressed", m_boomBoomLeftLimit.isPressed());
// SmartDashboard.putBoolean("Right Limit Switch Pressed", m_boomBoomRightLimit.isPressed());
// limit switch annoying time thing
leftState = m_boomBoomLeftLimit.isPressed();
rightState = m_boomBoomRightLimit.isPressed();
// limit switch annoying time thing but actually worked first try wtf
// leftState = m_boomBoomLeftLimit.isPressed();
// rightState = m_boomBoomRightLimit.isPressed();
hasLeftSwitchChanged = (leftState != leftPrevState);
hasRightSwitchChanged = (rightState != rightPrevState);
// hasLeftSwitchChanged = (leftState != leftPrevState);
// hasRightSwitchChanged = (rightState != rightPrevState);
if (leftState && hasLeftSwitchChanged) {
leftCurrentTime = System.currentTimeMillis();
leftElapsedTime = 0;
}
// if (leftState && hasLeftSwitchChanged) {
// leftCurrentTime = System.currentTimeMillis();
// leftElapsedTime = 0;
// }
if (rightState && hasRightSwitchChanged) {
rightCurrentTime = System.currentTimeMillis();
rightElapsedTime = 0;
}
// if (rightState && hasRightSwitchChanged) {
// rightCurrentTime = System.currentTimeMillis();
// rightElapsedTime = 0;
// }
if (leftState && !hasLeftSwitchChanged) {
leftElapsedTime = System.currentTimeMillis() - leftCurrentTime;
}
// if (leftState && !hasLeftSwitchChanged) {
// leftElapsedTime = System.currentTimeMillis() - leftCurrentTime;
// }
if (rightState && !hasRightSwitchChanged) {
rightElapsedTime = System.currentTimeMillis() - rightCurrentTime;
}
// if (rightState && !hasRightSwitchChanged) {
// rightElapsedTime = System.currentTimeMillis() - rightCurrentTime;
// }
if (leftState && (leftElapsedTime > 500)) {
m_boomBoomRotateEncoder.setPosition(ShooterConstants.TURRET_FORWARD_HARD_LIMIT);// -95/*ShooterConstants.TURRET_FORWARD_SOFT_LIMIT - 2*/);
}
if (rightState && (rightElapsedTime > 500)) {
m_boomBoomRotateEncoder.setPosition(ShooterConstants.TURRET_REVERSE_HARD_LIMIT);// 0/*ShooterConstants.TURRET_REVERSE_LIMIT + 2*/);
}
// if (leftState && (leftElapsedTime > 500)) {
// m_boomBoomRotateEncoder.setPosition(ShooterConstants.TURRET_FORWARD_HARD_LIMIT);// -95/*ShooterConstants.TURRET_FORWARD_SOFT_LIMIT - 2*/);
// }
// if (rightState && (rightElapsedTime > 500)) {
// m_boomBoomRotateEncoder.setPosition(ShooterConstants.TURRET_REVERSE_HARD_LIMIT);// 0/*ShooterConstants.TURRET_REVERSE_LIMIT + 2*/);
// }
leftPrevState = leftState;
rightPrevState = rightState;
// leftPrevState = leftState;
// rightPrevState = rightState;
}
/**