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fixed a few bugs

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This commit is contained in:
Pushkar9236
2022-01-25 19:37:37 -07:00
parent 93a72b6b87
commit f9142d40d8
3 changed files with 34 additions and 22 deletions
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src/main/java/frc4388/robot/Constants.java
+2 -2
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@@ -101,7 +101,7 @@ public final class Constants {
public static final int TURRET_MOTOR_POS_AT_ZERO_ROT = 0; //""//
public static final int TURRET_MOTOR_ROTS_PER_ROT = 0; //""//
}
/* Turret Constants */
//ID
@@ -113,7 +113,7 @@ public final class Constants {
public static final int SHOOTER_FALCON_BALLER_ID = 0; //unknown value, fix later//
public static final int SHOOTER_FALCON_BALLER_FOLLOWER_ID = 0; //"//
public static final Gains DRUM_SHOOTER_GAINS = new Gains(0,0,0,0,0);//x,y,z,a,b are not actual values, fix later
public static final Gains DRUM_SHOOTER_GAINS = new Gains(0,0,0,0,0,0);//x,y,z,a,b are not actual values, fix later
/* Hood Constants */
public static final int SHOOTER_ANGLE_ADJUST_ID = 10;
public static final double HOOD_MOTOR_ROTS_PER_ROT = 1; //TODO: Find
src/main/java/frc4388/robot/subsystems/BoomBoom.java
+1 -1
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@@ -41,7 +41,7 @@ public Turret m_turretSubsystem;
public BoomBoom(){
//Testing purposes resetting gyros
//resetGryoAngleADj();
shooterTrims = new Trims(0,0);
}
/** Creates a new BoomBoom. */
public BoomBoom(WPI_TalonFX shooterFalconLeft, WPI_TalonFX shooterFalconRight) {
src/main/java/frc4388/robot/subsystems/Turret.java
+31 -19
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@@ -4,57 +4,69 @@
package frc4388.robot.subsystems;
import java.lang.ModuleLayer.Controller;
import javax.naming.ldap.Control;
import com.ctre.phoenix.sensors.CANCoder;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.wpilibj.drive.RobotDriveBase.MotorType;
import edu.wpi.first.wpilibj.interfaces.Gyro;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.ShooterConstants;
import frc4388.utility.Gains;
public class Turret extends SubsystemBase {
public class Turret<CANSparkMax, CANDigitalInput> extends SubsystemBase {
private static final String turretMotor = null;
/** Creates a new Turret. */
public BoomBoom m_boomBoomSubsystem;
public SwerveDrive m_sDriveSubsystem;
public CAnsparkMax m_boomBoomRotateMotor = new CANSparkMax(ShooterConstants.SHOOTER_ROTATE_ID, MotorType.kBrushless);
public CANSparkMax m_boomBoomRotateMotor = new CANSparkMax(ShooterConstants.SHOOTER_ROTATE_ID, MotorType.kBrushless);
public static Gains m_shooterTGains = ShooterConstants.SHOOTER_TURRET_GAINS;
CANDigitalInput m_boomBoomRightLimit, m_boomBoomLeftLimit;
public GyroBase m_turretGyro;
public Gyro m_turretGyro;
public double m_targetDistance = 0;
public boolean m_isAimReady = false;
CANPIDController m_boomBoomRotatePIDController = m_boomBoomRotateMotor.getPIDController();
public CANEncoder m_boomBoomRotateEncoder = m_shooterRotateMotor.getEncoder();
public
public CANSparkMax m_turretMotor;
public boolean m_isAimReady;
public double m_targetDistance;
Controller m_boomBoomRotatePIDController = m_boomBoomRotateMotor.getPIDController();
public CANCoder m_boomBoomRotateEncoder = m_boomBoomRotateMotor.getEncoder();
//Variables
public <m_boomBoomRotateMotor> <m_boomBoomRotateMotor> Turret() {
public <m_boomBoomRotateMotor> Turret() {
Object IdleMode;
m_boomBoomRotateMotor.setIdleMode(IdleMode.kBrake);
boolean enableLimitSwitch = true;
m_turretGyro = getGyroInterface();
m_boomBoomLeftLimit = m_boomBoomRotateMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
m_boomBoomRightLimit = m_boomBoomRotateMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
m_boomBoomRightLimit.enableLimitSwitch(true);
m_boomBoomLeftLimit.enableLimitSwitch(true);
m_boomBoomRightLimit.enableLimitSwitch;
m_boomBoomLeftLimit.enableLimitSwitch;
m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kForward, false);
m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kReverse, true);
m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.TURRET_RIGHT_SOFT_LIMIT);
boolean setInverted = false;
m_boomBoomRotateMotor.setInverted;
Object turretMotor;
Object m_turretMotor = turretMotor;
}
m_boomBoomRotateMotor.setInverted(false);
m_turretMotor = turretMotor;
private Gyro getGyroInterface() {
return null;
}
@Override
public void periodic() {
SmartDashboard.putNumber("Turret Angle Raw", getboomBoomRotatePosition());
SmartDashboard.putData("Turret Angle", m_turretGyro);
SmartDashboard.putData("Turret Angle", (Sendable) m_turretGyro);
SmartDashboard.putBoolean("Turret Aimed", m_isAimReady);
// This method will be called once per scheduler run
@@ -73,7 +85,7 @@ public class Turret extends SubsystemBase {
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.setF(m_shooterTGains.m_kF);
m_boomBoomRotatePIDController.setIZone(m_shooterTGains.m_kIzone);
m_boomBoomRotatePIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterTGains.m_kPeakOutput);
@@ -98,7 +110,7 @@ public class Turret extends SubsystemBase {
public void turnWithJoystick (double input)
{
m_turretMotor.set(input);
turretMotor.set(input);
}