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DummySensor class, shoot is tested

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This commit is contained in:
aarav18
2022-03-05 11:07:54 -07:00
parent 71e082e7bd
commit f895352bb9
10 changed files with 185 additions and 119 deletions
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src/main/java/frc4388/robot/subsystems/BoomBoom.java
+4 -4
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@@ -181,10 +181,10 @@ public class BoomBoom extends SubsystemBase {
public void setShooterGains() {
m_shooterFalconLeft.selectProfileSlot(ShooterConstants.SHOOTER_SLOT_IDX, ShooterConstants.SHOOTER_PID_LOOP_IDX);
m_shooterFalconLeft.config_kF(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kF, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconLeft.config_kP(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kP, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconLeft.config_kI(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kI, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconLeft.config_kD(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kD, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconLeft.config_kF(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.kF, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconLeft.config_kP(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.kP, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconLeft.config_kI(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.kI, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconLeft.config_kD(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.kD, ShooterConstants.SHOOTER_TIMEOUT_MS);
}
public void runDrumShooterVelocityPID(double targetVel) {
src/main/java/frc4388/robot/subsystems/Hood.java
+22 -22
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@@ -21,31 +21,31 @@ 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;
// public RelativeEncoder m_angleEncoder = m_angleAdjusterMotor.getEncoder();
public RelativeEncoder m_angleEncoder = m_angleAdjusterMotor.getEncoder();
// public SparkMaxPIDController m_angleAdjusterPIDController = m_angleAdjusterMotor.getPIDController();
public SparkMaxPIDController m_angleAdjusterPIDController = m_angleAdjusterMotor.getPIDController();
//public boolean m_isHoodReady = false;
public boolean m_isHoodReady = false;
public double m_fireAngle;
/** Creates a new Hood. */
public Hood() {
// m_angleAdjusterMotor.setIdleMode(IdleMode.kBrake);
m_angleAdjusterMotor.setIdleMode(IdleMode.kBrake);
// 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, ShooterConstants.HOOD_FORWARD_LIMIT);
// m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kReverse, ShooterConstants.HOOD_REVERSE_LIMIT);
m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.HOOD_FORWARD_LIMIT);
m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kReverse, ShooterConstants.HOOD_REVERSE_LIMIT);
setHoodSoftLimits(true);
}
@@ -60,30 +60,30 @@ public double m_fireAngle;
* @param set Boolean to set soft limits to.
*/
public void setHoodSoftLimits(boolean set) {
// m_angleAdjusterMotor.enableSoftLimit(SoftLimitDirection.kForward, set);
// m_angleAdjusterMotor.enableSoftLimit(SoftLimitDirection.kReverse, set);
m_angleAdjusterMotor.enableSoftLimit(SoftLimitDirection.kForward, set);
m_angleAdjusterMotor.enableSoftLimit(SoftLimitDirection.kReverse, set);
}
public void runAngleAdjustPID(double targetAngle)
{
//Set PID Coefficients
// m_angleAdjusterPIDController.setP(m_angleAdjusterGains.m_kP);
// m_angleAdjusterPIDController.setI(m_angleAdjusterGains.m_kI);
// m_angleAdjusterPIDController.setD(m_angleAdjusterGains.m_kD);
// m_angleAdjusterPIDController.setIZone(m_angleAdjusterGains.m_kIzone);
// m_angleAdjusterPIDController.setFF(m_angleAdjusterGains.m_kF);
// m_angleAdjusterPIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_angleAdjusterGains.m_kPeakOutput);
m_angleAdjusterPIDController.setP(m_angleAdjusterGains.kP);
m_angleAdjusterPIDController.setI(m_angleAdjusterGains.kI);
m_angleAdjusterPIDController.setD(m_angleAdjusterGains.kD);
m_angleAdjusterPIDController.setIZone(m_angleAdjusterGains.kIzone);
m_angleAdjusterPIDController.setFF(m_angleAdjusterGains.kF);
m_angleAdjusterPIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_angleAdjusterGains.kPeakOutput);
// m_angleAdjusterPIDController.setReference(targetAngle, ControlType.kPosition);
m_angleAdjusterPIDController.setReference(targetAngle, ControlType.kPosition);
}
public void runHood(double input) {
// m_angleAdjusterMotor.set(input);
m_angleAdjusterMotor.set(input);
}
public void resetGyroAngleAdj(){
// m_angleEncoder.setPosition(0);
m_angleEncoder.setPosition(0);
}
public double getAnglePosition(){
src/main/java/frc4388/robot/subsystems/SwerveModule.java
+3 -3
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@@ -47,9 +47,9 @@ public class SwerveModule extends SubsystemBase {
TalonFXConfiguration angleTalonFXConfiguration = new TalonFXConfiguration();
angleTalonFXConfiguration.slot0.kP = m_swerveGains.m_kP;
angleTalonFXConfiguration.slot0.kI = m_swerveGains.m_kI;
angleTalonFXConfiguration.slot0.kD = m_swerveGains.m_kD;
angleTalonFXConfiguration.slot0.kP = m_swerveGains.kP;
angleTalonFXConfiguration.slot0.kI = m_swerveGains.kI;
angleTalonFXConfiguration.slot0.kD = m_swerveGains.kD;
// Use the CANCoder as the remote sensor for the primary TalonFX PID
angleTalonFXConfiguration.remoteFilter0.remoteSensorDeviceID = canCoder.getDeviceID();
src/main/java/frc4388/robot/subsystems/Turret.java
+6 -6
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@@ -63,12 +63,12 @@ public class Turret extends SubsystemBase {
m_boomBoomRotateMotor.setInverted(false);
m_boomBoomRotatePIDController.setP(m_shooterTGains.m_kP);
m_boomBoomRotatePIDController.setI(m_shooterTGains.m_kI);
m_boomBoomRotatePIDController.setD(m_shooterTGains.m_kD);
m_boomBoomRotatePIDController.setFF(m_shooterTGains.m_kF);
m_boomBoomRotatePIDController.setIZone(m_shooterTGains.m_kIzone);
m_boomBoomRotatePIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterTGains.m_kPeakOutput);
m_boomBoomRotatePIDController.setP(m_shooterTGains.kP);
m_boomBoomRotatePIDController.setI(m_shooterTGains.kI);
m_boomBoomRotatePIDController.setD(m_shooterTGains.kD);
m_boomBoomRotatePIDController.setFF(m_shooterTGains.kF);
m_boomBoomRotatePIDController.setIZone(m_shooterTGains.kIzone);
m_boomBoomRotatePIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterTGains.kPeakOutput);
}
@Override