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https://github.com/Team4388/2024AcrossTheRidgebotiverse.git
synced 2026-06-09 00:38:02 -06:00
Add Intake and Shooter Subsystems
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Abhishrek05
@@ -61,47 +61,47 @@ public final class Constants {
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}
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public static final class PIDConstants {
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public static final int SWERVE_SLOT_IDX = 0;
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public static final int SWERVE_PID_LOOP_IDX = 1;
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public static final Gains SWERVE_GAINS = new Gains(1.2, 0.0, 0, 0.0, 0, 1.0);
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public static final int SWERVE_SLOT_IDX = 0;
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public static final int SWERVE_PID_LOOP_IDX = 1;
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public static final Gains SWERVE_GAINS = new Gains(1.2, 0.0, 0, 0.0, 0, 1.0);
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}
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public static final class AutoConstants {
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public static final Gains X_CONTROLLER = new Gains(0.8, 0.0, 0.0);
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public static final Gains Y_CONTROLLER = new Gains(0.8, 0.0, 0.0);
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public static final Gains THETA_CONTROLLER = new Gains(-0.8, 0.0, 0.0);
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public static final TrapezoidProfile.Constraints THETA_CONSTRAINTS = new TrapezoidProfile.Constraints(Math.PI/2, Math.PI/2); // TODO: tune
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public static final double PATH_MAX_VEL = 0.3; // TODO: find the actual value
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public static final double PATH_MAX_ACC = 0.3; // TODO: find the actual value
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public static final Gains X_CONTROLLER = new Gains(0.8, 0.0, 0.0);
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public static final Gains Y_CONTROLLER = new Gains(0.8, 0.0, 0.0);
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public static final Gains THETA_CONTROLLER = new Gains(-0.8, 0.0, 0.0);
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public static final TrapezoidProfile.Constraints THETA_CONSTRAINTS = new TrapezoidProfile.Constraints(Math.PI/2, Math.PI/2); // TODO: tune
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public static final double PATH_MAX_VEL = 0.3; // TODO: find the actual value
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public static final double PATH_MAX_ACC = 0.3; // TODO: find the actual value
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}
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public static final class Conversions {
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public static final int CANCODER_TICKS_PER_ROTATION = 4096;
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public static final double JOYSTICK_TO_METERS_PER_SECOND_FAST = 4.8;
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public static final double JOYSTICK_TO_METERS_PER_SECOND_SLOW = 0.8;
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public static final double MOTOR_REV_PER_WHEEL_REV = 5.12;
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public static final double MOTOR_REV_PER_STEER_REV = 12.8;
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public static final double TICKS_PER_MOTOR_REV = 2048;
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public static final double WHEEL_DIAMETER_INCHES = 3.9;
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public static final double INCHES_PER_WHEEL_REV = WHEEL_DIAMETER_INCHES * Math.PI;
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public static final double WHEEL_REV_PER_MOTOR_REV = 1 / MOTOR_REV_PER_WHEEL_REV;
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public static final double TICKS_PER_WHEEL_REV = TICKS_PER_MOTOR_REV * MOTOR_REV_PER_WHEEL_REV;
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public static final double TICKS_PER_INCH = TICKS_PER_WHEEL_REV / INCHES_PER_WHEEL_REV;
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public static final double INCHES_PER_TICK = 1 / TICKS_PER_INCH;
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public static final double TICK_TIME_TO_SECONDS = 10;
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public static final double SECONDS_TO_TICK_TIME = 1 / TICK_TIME_TO_SECONDS;
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public static final int CANCODER_TICKS_PER_ROTATION = 4096;
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public static final double JOYSTICK_TO_METERS_PER_SECOND_FAST = 4.8;
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public static final double JOYSTICK_TO_METERS_PER_SECOND_SLOW = 0.8;
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public static final double MOTOR_REV_PER_WHEEL_REV = 5.12;
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public static final double MOTOR_REV_PER_STEER_REV = 12.8;
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public static final double TICKS_PER_MOTOR_REV = 2048;
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public static final double WHEEL_DIAMETER_INCHES = 3.9;
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public static final double INCHES_PER_WHEEL_REV = WHEEL_DIAMETER_INCHES * Math.PI;
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public static final double WHEEL_REV_PER_MOTOR_REV = 1 / MOTOR_REV_PER_WHEEL_REV;
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public static final double TICKS_PER_WHEEL_REV = TICKS_PER_MOTOR_REV * MOTOR_REV_PER_WHEEL_REV;
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public static final double TICKS_PER_INCH = TICKS_PER_WHEEL_REV / INCHES_PER_WHEEL_REV;
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public static final double INCHES_PER_TICK = 1 / TICKS_PER_INCH;
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public static final double TICK_TIME_TO_SECONDS = 10;
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public static final double SECONDS_TO_TICK_TIME = 1 / TICK_TIME_TO_SECONDS;
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}
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public static final class Configurations {
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public static final double OPEN_LOOP_RAMP_RATE = 0.2; // TODO: find the actual value
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public static final double CLOSED_LOOP_RAMP_RATE = 0.2; // TODO: find the actual value
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public static final double NEUTRAL_DEADBAND = 0.04; // TODO: find the actual value
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public static final double OPEN_LOOP_RAMP_RATE = 0.2; // TODO: find the actual value
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public static final double CLOSED_LOOP_RAMP_RATE = 0.2; // TODO: find the actual value
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public static final double NEUTRAL_DEADBAND = 0.04; // TODO: find the actual value
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}
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public static final double MAX_SPEED_FEET_PER_SECOND = 5; // TODO: find the actual value
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@@ -118,7 +118,7 @@ public final class Constants {
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public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
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}
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public static final class VisionConstants {
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public static final class VisionConstants {
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public static final String NAME = "photonCamera";
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public static final int LIME_HIXELS = 640;
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@@ -138,7 +138,7 @@ public final class Constants {
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public static final double APRIL_HEIGHT = -1.0; // TODO: find actual value
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}
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}
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public static final class DriveConstants {
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public static final int DRIVE_PIGEON_ID = 14;
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@@ -152,6 +152,17 @@ public final class Constants {
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public static final LEDPatterns DEFAULT_PATTERN = LEDPatterns.FOREST_WAVES;
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}
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public static final class ShooterConstants {
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public static final int LEFT_SHOOTER_ID = 15; //TODO:
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public static final int RIGHT_SHOOTER_ID = 16; //TODO:
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public static final double SHOOTER_SPEED = 1.d; //TODO:
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}
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public static final class IntakeConstants {
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public static final int INTAKE_MOTOR_ID = 17; //TODO:
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public static final double INTAKE_SPEED = 0.2; //TODO:
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}
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public static final class OIConstants {
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public static final int XBOX_DRIVER_ID = 0;
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public static final int XBOX_OPERATOR_ID = 1;
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@@ -18,6 +18,8 @@ import frc4388.robot.commands.Swerve.JoystickPlayback;
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import frc4388.robot.commands.Swerve.JoystickRecorder;
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import frc4388.robot.subsystems.LED;
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import frc4388.robot.subsystems.SwerveDrive;
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import frc4388.robot.subsystems.Shooter;
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import frc4388.robot.subsystems.Intake;
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import frc4388.utility.controller.DeadbandedXboxController;
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import frc4388.utility.controller.XboxController;
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@@ -41,6 +43,9 @@ public class RobotContainer {
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m_robotMap.rightBack,
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m_robotMap.gyro);
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private final Shooter m_robotShooter = new Shooter(m_robotMap.leftShooter, m_robotMap.rightShooter);
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private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor);
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/* Controllers */
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private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
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@@ -105,8 +110,12 @@ public class RobotContainer {
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new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.setToSlow()));
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/* Operator Buttons */
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// activates "Lit Mode"s
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/* Operator Buttons */
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new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter))
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.onFalse(new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter));
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}
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@@ -11,10 +11,14 @@ import com.ctre.phoenix.motorcontrol.NeutralMode;
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import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
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import com.ctre.phoenix.sensors.CANCoder;
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import com.ctre.phoenix.sensors.WPI_Pigeon2;
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import com.revrobotics.CANSparkMax;
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import com.revrobotics.CANSparkMaxLowLevel.MotorType;
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import edu.wpi.first.wpilibj.motorcontrol.Spark;
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import frc4388.robot.Constants.LEDConstants;
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import frc4388.robot.Constants.SwerveDriveConstants;
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import frc4388.robot.Constants.ShooterConstants;
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import frc4388.robot.Constants.IntakeConstants;
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import frc4388.robot.subsystems.SwerveModule;
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import frc4388.utility.RobotGyro;
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@@ -58,6 +62,13 @@ public class RobotMap {
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public final WPI_TalonFX rightBackSteer = new WPI_TalonFX(SwerveDriveConstants.IDs.RIGHT_BACK_STEER_ID);
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public final CANCoder rightBackEncoder = new CANCoder(SwerveDriveConstants.IDs.RIGHT_BACK_ENCODER_ID);
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/* Shooter Subsystem */
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public final WPI_TalonFX leftShooter = new WPI_TalonFX(ShooterConstants.LEFT_SHOOTER_ID);
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public final WPI_TalonFX rightShooter = new WPI_TalonFX(ShooterConstants.RIGHT_SHOOTER_ID);
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/* Intake Subsystem */
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public final CANSparkMax intakeMotor = new CANSparkMax(IntakeConstants.INTAKE_MOTOR_ID, MotorType.kBrushed); //TODO: MOTOR TYPE
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void configureLEDMotorControllers() {
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}
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@@ -10,6 +10,7 @@ import com.revrobotics.SparkLimitSwitch;
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import edu.wpi.first.wpilibj.CAN;
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import edu.wpi.first.wpilibj.motorcontrol.Spark;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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import frc4388.robot.Constants.IntakeConstants;
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public class Intake extends SubsystemBase {
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/** Creates a new Intake. */
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@@ -20,7 +21,7 @@ public class Intake extends SubsystemBase {
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}
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public void spinIntakeMotor() {
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intakeMotor.set(0.2);
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intakeMotor.set(IntakeConstants.INTAKE_SPEED);
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}
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@Override
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@@ -0,0 +1,44 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc4388.robot.subsystems;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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import frc4388.robot.Constants.ShooterConstants;
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import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
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import com.ctre.phoenix.motorcontrol.NeutralMode;
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public class Shooter extends SubsystemBase {
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private WPI_TalonFX leftShooter;
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private WPI_TalonFX rightShooter;
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/** Creates a new Shooter. */
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public Shooter(WPI_TalonFX leftTalonFX, WPI_TalonFX rightTalonFX) {
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leftShooter = leftTalonFX;
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rightShooter = rightTalonFX;
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leftShooter.setNeutralMode(NeutralMode.Coast);
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rightShooter.setNeutralMode(NeutralMode.Coast);
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}
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public void spin() {
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spin(ShooterConstants.SHOOTER_SPEED);
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}
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public void spin(double speed) {
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leftShooter.set(speed);
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rightShooter.set(-speed);
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}
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public void stop() {
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spin(0.d);
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}
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@Override
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public void periodic() {
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// This method will be called once per scheduler run
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}
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}
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