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defualt command and soft limits

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This commit is contained in:
Abhi Sachi
2023-01-21 13:22:37 -07:00
parent 2b71be8c7c
commit 904c3dcc2d
4 changed files with 49 additions and 1 deletions
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src/main/java/frc4388/robot/Constants.java
+10
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@@ -104,6 +104,16 @@ public final class Constants {
public static final class GyroConstants {
public static final int ID = -1; // TODO: find the actual ID
}
public static final class ArmConstants {
public static final double PIVOT_FORWARD_SOFT_LIMIT = -1.0; // TODO: find actual value
public static final double PIVOT_REVERSE_SOFT_LIMIT = -1.0; // TODO: find actual value
public static final double TELE_FORWARD_SOFT_LIMIT = -1.0; // TODO: find actual value
public static final double TELE_REVERSE_SOFT_LIMIT = -1.0; // TODO: find actual value
}
public static final class LEDConstants {
public static final int LED_SPARK_ID = 0;
src/main/java/frc4388/robot/RobotContainer.java
+8
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@@ -13,6 +13,7 @@ import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.subsystems.Arm;
import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.utility.LEDPatterns;
@@ -33,7 +34,9 @@ public class RobotContainer {
/* Subsystems */
private final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront, m_robotMap.rightFront, m_robotMap.leftBack, m_robotMap.rightBack, m_robotMap.gyro);
private final Arm m_robotArm = new Arm(m_robotMap.pivot, m_robotMap.tele);
private final LED m_robotLED = new LED(m_robotMap.LEDController);
/* Controllers */
@@ -58,6 +61,11 @@ public class RobotContainer {
getDriverController().getLeftYAxis(),
-getDriverController().getRightXAxis(), false), m_robotSwerveDrive)
);
m_robotArm.setDefaultCommand(new RunCommand(() -> m_robotArm.runPivotAndTele(
getOperatorController().getLeftYAxis(),
getOperatorController().getLeftXAxis()), m_robotArm)
);
}
/**
src/main/java/frc4388/robot/RobotMap.java
+17
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@@ -7,11 +7,13 @@
package frc4388.robot;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.CANCoder;
import com.ctre.phoenix.sensors.WPI_Pigeon2;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import frc4388.robot.Constants.ArmConstants;
import frc4388.robot.Constants.LEDConstants;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.robot.subsystems.SwerveModule;
@@ -145,5 +147,20 @@ public class RobotMap {
// config closed loop ramp
pivot.configClosedloopRamp(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
tele.configClosedloopRamp(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
// config neutral mode to brake
pivot.setNeutralMode(NeutralMode.Brake);
tele.setNeutralMode(NeutralMode.Brake);
// soft limits
pivot.configForwardSoftLimitThreshold(ArmConstants.PIVOT_FORWARD_SOFT_LIMIT);
pivot.configReverseSoftLimitThreshold(ArmConstants.PIVOT_REVERSE_SOFT_LIMIT);
pivot.configForwardSoftLimitEnable(false);
pivot.configReverseSoftLimitEnable(false);
tele.configForwardSoftLimitThreshold(ArmConstants.TELE_FORWARD_SOFT_LIMIT);
tele.configReverseSoftLimitThreshold(ArmConstants.TELE_REVERSE_SOFT_LIMIT);
tele.configForwardSoftLimitEnable(false);
tele.configReverseSoftLimitEnable(false);
}
}
src/main/java/frc4388/robot/subsystems/Arm.java
+14 -1
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@@ -22,10 +22,23 @@ public class Arm extends SubsystemBase {
pivot.set(output);
}
public void runTelescope(double output) {
public void runTele(double output) {
tele.set(output);
}
public void runPivotAndTele(double pOutput, double tOutput) {
pivot.set(pOutput);
tele.set(tOutput);
}
public double getPivotPos() {
return pivot.getSelectedSensorPosition();
}
public double getTelePos() {
return tele.getSelectedSensorPosition();
}
@Override
public void periodic() {
// This method will be called once per scheduler run