Team4388/2024AcrossTheRidgebotiverse
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AHHHHHHHHHHHHHHHHH (Im tweakin)

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This commit is contained in:
Abhishrek05
2024-02-21 00:03:15 -07:00
parent 904a2f2688
commit 313776ddf0
10 changed files with 246 additions and 205 deletions
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src/main/java/frc4388/robot/Constants.java
+1 -1
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@@ -169,7 +169,7 @@ public final class Constants {
public static final int LEFT_SHOOTER_ID = 15; // final
public static final int RIGHT_SHOOTER_ID = 16; // final
public static final double SHOOTER_SPEED = 0.35; // final
public static final double SHOOTER_IDLE = 0.4; // final
public static final double SHOOTER_IDLE = 0.35; // final
public static final double SHOOTER_IDLE_LIMELIGHT = 0.8;
}
src/main/java/frc4388/robot/RobotContainer.java
+66 -64
View File
@@ -76,20 +76,20 @@ public class RobotContainer {
private Command intakeToShootStuff = new ArmIntakeIn(m_robotIntake, m_robotShooter);
private SequentialCommandGroup intakeToShoot = new SequentialCommandGroup(
new InstantCommand(() -> m_robotIntake.talonPIDIn()),
new InstantCommand(() -> m_robotShooter.spin())
new InstantCommand(() -> m_robotIntake.talonPIDIn())
//new InstantCommand(() -> m_robotShooter.spin())
);
private SequentialCommandGroup outtakeToShootFull = new SequentialCommandGroup(
new InstantCommand(() -> m_robotShooter.spin()),
new InstantCommand(() -> m_robotIntake.handoff())
);
// private SequentialCommandGroup outtakeToShootFull = new SequentialCommandGroup(
// new InstantCommand(() -> m_robotShooter.spin()),
// new InstantCommand(() -> m_robotIntake.handoff())
// );
private SequentialCommandGroup intakeInToOut = new SequentialCommandGroup(
new InstantCommand(() -> m_robotIntake.rotateArmOut2(), m_robotIntake),
new RunCommand(() -> m_robotIntake.limitNote(), m_robotIntake).until(m_robotIntake.getArmFowardLimitState()),
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter)
);
// private SequentialCommandGroup intakeInToOut = new SequentialCommandGroup(
// new InstantCommand(() -> m_robotIntake.rotateArmOut2(), m_robotIntake),
// new RunCommand(() -> m_robotIntake.limitNote(), m_robotIntake).until(m_robotIntake.getArmFowardLimitState()),
// new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter)
// );
private AutoAlign autoAlign = new AutoAlign(m_robotSwerveDrive, limelight);
@@ -99,7 +99,7 @@ public class RobotContainer {
autoAlign,
new InstantCommand(() -> m_robotShooter.spin()),
new WaitCommand(3.0),
new InstantCommand(() -> m_robotIntake.handoff(), m_robotIntake),
new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
new WaitCommand(3.0),
new InstantCommand(() -> m_robotShooter.idle()),
new InstantCommand(() -> autoAlign.reverse()),
@@ -112,8 +112,9 @@ public class RobotContainer {
);
private SequentialCommandGroup ejectToShoot = new SequentialCommandGroup(
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake)
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter)
// new WaitCommand(0.75),
//new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake)
);
private SequentialCommandGroup turnOffShoot = new SequentialCommandGroup(
@@ -190,7 +191,7 @@ public class RobotContainer {
*/
public RobotContainer() {
configureButtonBindings();
configureVirtualButtonBindings();
// configureVirtualButtonBindings();
DriverStation.silenceJoystickConnectionWarning(true);
@@ -218,43 +219,44 @@ public class RobotContainer {
private void configureButtonBindings() {
/* Driver Buttons */
new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive));
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroFlip(), m_robotSwerveDrive));
/* Auto Recording */
// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
// .whileTrue(new JoystickRecorder(m_robotSwerveDrive,
// () -> getDeadbandedDriverController().getLeftX(),
// () -> getDeadbandedDriverController().getLeftY(),
// () -> getDeadbandedDriverController().getRightX(),
// () -> getDeadbandedDriverController().getRightY(),
// () -> getDeadbandedOperatorController().getLeftBumper(),
// () -> getDeadbandedOperatorController().getRightBumper(),
// "TwoNotePrt1.txt"))
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
.whileTrue(new JoystickRecorder(m_robotSwerveDrive, m_robotShooter, m_robotIntake,
() -> getDeadbandedDriverController().getLeftX(),
() -> getDeadbandedDriverController().getLeftY(),
() -> getDeadbandedDriverController().getRightX(),
() -> getDeadbandedDriverController().getRightY(),
() -> getDeadbandedOperatorController().getLeftBumper(),
() -> getDeadbandedOperatorController().getRightBumper(),
"Taxi.txt"))
.onFalse(new InstantCommand());
new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt"))
.onFalse(new InstantCommand());
// new JoystickButton(m_autoRecorderXbox, XboxController.LEFT_BUMPER_BUTTON)
// .whileTrue(new neoJoystickRecorder(m_robotSwerveDrive,
// new DeadbandedXboxController[]{getDeadbandedDriverController(), getDeadbandedOperatorController()},
// "2note.auto"))
// .onFalse(new InstantCommand());
// new JoystickButton(m_autoRecorderXbox, XboxController.RIGHT_BUMPER_BUTTON)
// .onTrue(new neoJoystickPlayback(m_robotSwerveDrive,
// "2note.auto",
// new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
// true, false))
// .onFalse(new InstantCommand());
// new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
// .onTrue(new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt"))
// .onFalse(new InstantCommand());
new JoystickButton(m_autoRecorderXbox, XboxController.LEFT_BUMPER_BUTTON)
.whileTrue(new neoJoystickRecorder(m_robotSwerveDrive,
new DeadbandedXboxController[]{getDeadbandedDriverController(), getDeadbandedOperatorController()},
"2note.auto"))
.onFalse(new InstantCommand());
new JoystickButton(m_autoRecorderXbox, XboxController.RIGHT_BUMPER_BUTTON)
.onTrue(new neoJoystickPlayback(m_robotSwerveDrive,
"2note.auto",
new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
true, false))
.onFalse(new InstantCommand());
// /* Speed */
// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
// // .onFalse(new InstantCommand(() -> m_robotSwerveDrive.setToFast()));
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.setToFast()));
// new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
@@ -264,18 +266,18 @@ public class RobotContainer {
.onTrue(new InstantCommand(() -> m_robotIntake.talonPIDIn()))
.onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.talonPIDOut()))
.onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.talonSpinIntakeMotor()))
new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.talonHandoff()))
.onFalse(new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors()));
// Override Intake Position encoder: out
new JoystickButton(getDeadbandedOperatorController(), XboxController.BACK_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(-53), m_robotIntake));
.onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(-57), m_robotIntake));
// Override Intake Position encoder: in
new JoystickButton(getDeadbandedOperatorController(), XboxController.START_BUTTON)
@@ -287,7 +289,7 @@ public class RobotContainer {
.onFalse(new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter));
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(ejectToShoot)
.onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter))
.onFalse(turnOffShoot);
@@ -301,7 +303,7 @@ public class RobotContainer {
}
private void configureVirtualButtonBindings() {
private void configureVirtualButtonBindings() {
/* Driver Buttons */
new JoystickButton(getVirtualDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive));
@@ -319,21 +321,21 @@ public class RobotContainer {
/* Operator Buttons */
new JoystickButton(getVirtualOperatorController(), XboxController.Y_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.pidIn()))
.onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
.onTrue(new InstantCommand(() -> m_robotIntake.talonPIDIn()))
.onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor()));
new JoystickButton(getVirtualOperatorController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.pidOut()))
.onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
.onTrue(new InstantCommand(() -> m_robotIntake.talonPIDOut()))
.onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor()));
// Override Intake Position encoder: out
new JoystickButton(getVirtualOperatorController(), XboxController.BACK_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.setPivotEncoderPosition(-53), m_robotIntake));
.onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(-53), m_robotIntake));
// Override Intake Position encoder: in
new JoystickButton(getVirtualOperatorController(), XboxController.START_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.setPivotEncoderPosition(0), m_robotIntake));
.onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(0), m_robotIntake));
//Spin Shooter Motors
new JoystickButton(getVirtualOperatorController(), XboxController.X_BUTTON)
@@ -347,7 +349,7 @@ public class RobotContainer {
new JoystickButton(getVirtualOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
.onTrue(i)
.onFalse(new InstantCommand(() -> m_robotIntake.pidIn()));
.onFalse(new InstantCommand(() -> m_robotIntake.talonPIDIn()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_JOYSTICK_BUTTON)
@@ -361,11 +363,11 @@ public class RobotContainer {
*/
public Command getAutonomousCommand() {
//no auto
return new neoJoystickPlayback(m_robotSwerveDrive,
"2note.auto",
new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
true, false);
//return playbackChooser.getCommand();
// return new neoJoystickPlayback(m_robotSwerveDrive,
// "2note.auto",
// new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
// true, false);
return playbackChooser.getCommand();
}
/**
src/main/java/frc4388/robot/RobotMap.java
+6
View File
@@ -11,6 +11,7 @@ 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 com.ctre.phoenix6.configs.TalonFXConfiguration;
import com.ctre.phoenix6.hardware.TalonFX;
import com.revrobotics.CANSparkLowLevel;
import com.revrobotics.CANSparkMax;
@@ -76,6 +77,11 @@ public class RobotMap {
void configureLEDMotorControllers() {
}
void configureIntakeMotorControllers() {
intakeMotor.getConfigurator().apply(new TalonFXConfiguration());
pivotMotor.getConfigurator().apply(new TalonFXConfiguration());
}
void configureDriveMotorControllers() {
// config factory default
leftFrontWheel.configFactoryDefault();
src/main/java/frc4388/robot/commands/Swerve/JoystickRecorder.java
+3 -3
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@@ -65,7 +65,7 @@ public class JoystickRecorder extends Command {
intakeToShootStuff = new ArmIntakeIn(m_robotIntake, m_robotShooter);
intakeToShoot = new SequentialCommandGroup(
new InstantCommand(() -> m_robotIntake.pidIn()),
new InstantCommand(() -> m_robotIntake.talonPIDIn()),
new InstantCommand(() -> m_robotShooter.spin())
);
i = new SequentialCommandGroup(
@@ -105,14 +105,14 @@ public class JoystickRecorder extends Command {
if(lastOPLB != inputs.OPLB && inputs.OPLB == true){
m_robotShooter.spin();
m_robotIntake.handoff();
m_robotIntake.talonHandoff();
}else if(lastOPLB != inputs.OPLB && inputs.OPLB == false){
}
if(lastOPRB != inputs.OPRB){
m_robotShooter.spin();
m_robotIntake.handoff();
m_robotIntake.talonHandoff();
}
System.out.println("RECORDING");
src/main/java/frc4388/robot/subsystems/Intake.java
+152 -134
View File
@@ -51,6 +51,8 @@ public class Intake extends SubsystemBase {
private TalonFX talonPivot;
private CANcoder encoder;
private boolean r;
private HardwareLimitSwitchConfigs l;
TalonFXConfiguration doodooController = new TalonFXConfiguration();
@@ -65,33 +67,33 @@ public class Intake extends SubsystemBase {
/** Creates a new Intake. */
//For NEO
public Intake(CANSparkMax intakeMotor, CANSparkMax pivot) {
this.intakeMotor = intakeMotor;
this.pivot = pivot;
// public Intake(CANSparkMax intakeMotor, CANSparkMax pivot) {
// this.intakeMotor = intakeMotor;
// this.pivot = pivot;
pivot.restoreFactoryDefaults();
//pivot.setInverted(true);
// pivot.restoreFactoryDefaults();
// //pivot.setInverted(true);
forwardLimit = pivot.getForwardLimitSwitch(SparkLimitSwitch.Type.kNormallyOpen);
reverseLimit = pivot.getReverseLimitSwitch(SparkLimitSwitch.Type.kNormallyOpen);
forwardLimit.enableLimitSwitch(true);
reverseLimit.enableLimitSwitch(true);
// forwardLimit = pivot.getForwardLimitSwitch(SparkLimitSwitch.Type.kNormallyOpen);
// reverseLimit = pivot.getReverseLimitSwitch(SparkLimitSwitch.Type.kNormallyOpen);
// forwardLimit.enableLimitSwitch(true);
// reverseLimit.enableLimitSwitch(true);
intakeMotor.restoreFactoryDefaults();
// intakeMotor.restoreFactoryDefaults();
intakeforwardLimit = intakeMotor.getForwardLimitSwitch(SparkLimitSwitch.Type.kNormallyOpen);
intakereverseLimit = intakeMotor.getReverseLimitSwitch(SparkLimitSwitch.Type.kNormallyOpen);
intakeforwardLimit.enableLimitSwitch(true);
intakereverseLimit.enableLimitSwitch(false);
// intakeforwardLimit = intakeMotor.getForwardLimitSwitch(SparkLimitSwitch.Type.kNormallyOpen);
// intakereverseLimit = intakeMotor.getReverseLimitSwitch(SparkLimitSwitch.Type.kNormallyOpen);
// intakeforwardLimit.enableLimitSwitch(true);
// intakereverseLimit.enableLimitSwitch(false);
//Arm PID
m_spedController = pivot.getPIDController();
m_spedController.setP(armGains.kP);
m_spedController.setI(armGains.kI);
m_spedController.setD(armGains.kD);
// //Arm PID
// m_spedController = pivot.getPIDController();
// m_spedController.setP(armGains.kP);
// m_spedController.setI(armGains.kI);
// m_spedController.setD(armGains.kD);
SmartDashboard.putNumber("Outtake Speed", IntakeConstants.INTAKE_OUT_SPEED_UNPRESSED);
}
// SmartDashboard.putNumber("Outtake Speed", IntakeConstants.INTAKE_OUT_SPEED_UNPRESSED);
// }
//For Talon
public Intake(TalonFX talonIntake, TalonFX talonPivot) {
@@ -115,9 +117,9 @@ public class Intake extends SubsystemBase {
// in init function, set slot 0 gains
var slot0Configs = new Slot0Configs();
slot0Configs.kP = 0.05; // An error of 0.5 rotations results in 12 V output
slot0Configs.kP = 0.7; // An error of 0.5 rotations results in 12 V output
slot0Configs.kI = 0.0; // no output for integrated error
slot0Configs.kD = 0.0; // A velocity of 1 rps results in 0.1 V output
slot0Configs.kD = 0.06; // A velocity of 1 rps results in 0.1 V output
talonPivot.getConfigurator().apply(slot0Configs);
@@ -126,13 +128,13 @@ public class Intake extends SubsystemBase {
// ! Talon Methods
public void talonPIDIn() {
PositionVoltage request = new PositionVoltage(0).withSlot(0);
talonPivot.setControl(request.withPosition(53)); //TODO: Find actual value
PositionVoltage request = new PositionVoltage(-59);
talonPivot.setControl(request.withPosition(0)); //TODO: Find actual value
}
public void talonPIDOut() {
PositionVoltage request = new PositionVoltage(53).withSlot(53);
talonPivot.setControl(request.withPosition(0)); //TODO: Find actual value
PositionVoltage request = new PositionVoltage(0);
talonPivot.setControl(request.withPosition(-59)); //TODO: Find actual value
}
public void talonHandoff() {
@@ -144,8 +146,10 @@ public class Intake extends SubsystemBase {
}
public boolean getTalonIntakeLimitSwitchState() {
var r = talonIntake.getForwardLimit().getValue().value == 1;
return r;
if(r = talonIntake.getForwardLimit().getValue().value == 0) {
return true;
}
return false;
}
public void talonSetPivotEncoderPosition(int val) {
@@ -160,144 +164,158 @@ public class Intake extends SubsystemBase {
talonPivot.set(0);
}
public double getArmPos() {
return talonPivot.getPosition().getValue();
}
public void resetArmPosition() {
if(getTalonIntakeLimitSwitchState()){
// talonPivot.setPosition(0);
}
}
// ! NEO Methods
//hanoff
public void spinIntakeMotor() {
intakeMotor.set(IntakeConstants.INTAKE_SPEED);
}
// public void spinIntakeMotor() {
// intakeMotor.set(IntakeConstants.INTAKE_SPEED);
// }
//Rotate robot in for handoff
public void rotateArmIn() {
pivot.set(IntakeConstants.PIVOT_SPEED);
}
// //Rotate robot in for handoff
// public void rotateArmIn() {
// pivot.set(IntakeConstants.PIVOT_SPEED);
// }
//Rotates robot out for intake
public void rotateArmOut() {
pivot.set(-IntakeConstants.PIVOT_SPEED);
// //Rotates robot out for intake
// public void rotateArmOut() {
// pivot.set(-IntakeConstants.PIVOT_SPEED);
}
// }
public void pidIn() {
m_spedController.setReference(2.5, CANSparkMax.ControlType.kPosition);
//SmartDashboard.putNumber("Velocity Output", pivot.getEncoder().getVelocity());
}
// public void pidIn() {
// m_spedController.setReference(2.5, CANSparkMax.ControlType.kPosition);
// //SmartDashboard.putNumber("Velocity Output", pivot.getEncoder().getVelocity());
// }
public void pidOut() {
m_spedController.setReference(-53, CANSparkMax.ControlType.kPosition);
}
// public void pidOut() {
// m_spedController.setReference(-53, CANSparkMax.ControlType.kPosition);
// }
public void limitNote() {
if (intakeforwardLimit.isPressed()) {
rotateArmIn2();
} else {
spinIntakeMotor();
}
}
// public void limitNote() {
// if (intakeforwardLimit.isPressed()) {
// rotateArmIn2();
// } else {
// spinIntakeMotor();
// }
// }
public void rotateArmOut2() {
if(reverseLimit.isPressed()){
stopArmMotor();
} else {
pidOut();
}
}
// public void rotateArmOut2() {
// if(reverseLimit.isPressed()){
// stopArmMotor();
// } else {
// pidOut();
// }
// }
public void rotateArmIn2() {
if(forwardLimit.isPressed()){
stopArmMotor();
} else {
pidIn();
}
}
// public void rotateArmIn2() {
// if(forwardLimit.isPressed()){
// stopArmMotor();
// } else {
// pidIn();
// }
// }
public void handoff() {
intakeMotor.set(-IntakeConstants.INTAKE_OUT_SPEED_UNPRESSED);
}
// public void handoff() {
// intakeMotor.set(-IntakeConstants.INTAKE_OUT_SPEED_UNPRESSED);
// }
public void handoff2() {
if(intakeforwardLimit.isPressed()) {
intakeMotor.set(-smartDashboardOuttakeValue);
} else {
intakeMotor.set(-smartDashboardOuttakeValue);
}
}
// public void handoff2() {
// if(intakeforwardLimit.isPressed()) {
// intakeMotor.set(-smartDashboardOuttakeValue);
// } else {
// intakeMotor.set(-smartDashboardOuttakeValue);
// }
// }
public void stopIntakeMotors() {
intakeMotor.set(0);
}
// public void stopIntakeMotors() {
// intakeMotor.set(0);
// }
public void stopArmMotor() {
pivot.set(0);
}
// public void stopArmMotor() {
// pivot.set(0);
// }
public RelativeEncoder getEncoder() {
return pivot.getEncoder();
}
// public RelativeEncoder getEncoder() {
// return pivot.getEncoder();
// }
public boolean getForwardLimitSwitchState() {
return forwardLimit.isPressed();
}
// public boolean getForwardLimitSwitchState() {
// return forwardLimit.isPressed();
// }
public boolean getReverseLimitSwitchState() {
return reverseLimit.isPressed();
}
// public boolean getReverseLimitSwitchState() {
// return reverseLimit.isPressed();
// }
public boolean getIntakeLimitSwtichState() {
return intakeforwardLimit.isPressed();
}
// public boolean getIntakeLimitSwtichState() {
// return intakeforwardLimit.isPressed();
// }
public void setVoltage(double voltage) {
pivot.setVoltage(voltage);
}
// public void setVoltage(double voltage) {
// pivot.setVoltage(voltage);
// }
public double getVelocity() {
return pivot.getEncoder().getVelocity();
}
// public double getVelocity() {
// return pivot.getEncoder().getVelocity();
// }
public void setPivotEncoderPosition(int val) {
pivot.getEncoder().setPosition(val);
}
// public void setPivotEncoderPosition(int val) {
// pivot.getEncoder().setPosition(val);
// }
public void resetPosition() {
if(forwardLimit.isPressed()) {
setPivotEncoderPosition(0);
}
}
// public void resetPosition() {
// if(forwardLimit.isPressed()) {
// setPivotEncoderPosition(0);
// }
// }
public double getPos() {
return pivot.getEncoder().getPosition();
}
// public double getPos() {
// return pivot.getEncoder().getPosition();
// }
public double getIntakeVelocity() {
return intakeMotor.getEncoder().getVelocity();
}
// public double getIntakeVelocity() {
// return intakeMotor.getEncoder().getVelocity();
// }
public void rotateArm() {
// public void rotateArm() {
}
// }
public BooleanSupplier getArmFowardLimitState() {
if(forwardLimit.isPressed()) {
return sup;
} else {
return dup;
}
}
// public BooleanSupplier getArmFowardLimitState() {
// if(forwardLimit.isPressed()) {
// return sup;
// } else {
// return dup;
// }
// }
public void changeIntakeNeutralState() {
if(forwardLimit.isPressed()) {
intakeMotor.setIdleMode(CANSparkBase.IdleMode.kCoast);
}
}
// public void changeIntakeNeutralState() {
// if(forwardLimit.isPressed()) {
// intakeMotor.setIdleMode(CANSparkBase.IdleMode.kCoast);
// }
// }
@Override
public void periodic() {
// This method will be called once per scheduler run
SmartDashboard.putNumber("Vel Output", getVelocity());
SmartDashboard.putNumber("Position", getPos());
resetPosition();
changeIntakeNeutralState();
// SmartDashboard.putNumber("Vel Output", getVelocity());
// SmartDashboard.putNumber("Position", getPos());
// resetPosition();
// changeIntakeNeutralState();
resetArmPosition();
SmartDashboard.putNumber("Pivot Position", getArmPos());
smartDashboardOuttakeValue = SmartDashboard.getNumber("Outtake Speed", IntakeConstants.INTAKE_OUT_SPEED_UNPRESSED);
}
src/main/java/frc4388/robot/subsystems/Shooter.java
+1 -1
View File
@@ -49,7 +49,7 @@ public class Shooter extends SubsystemBase {
}
public void spin() {
spin(smartDashboardShooterSpeed);
spin(ShooterConstants.SHOOTER_SPEED);
}
public void spin(double speed) {
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+5
View File
@@ -139,6 +139,11 @@ public class SwerveDrive extends SubsystemBase {
gyro.reset();
rotTarget = 0.0;
}
public void resetGyroFlip() {
gyro.resetFlip();
rotTarget = 0.0;
}
public void stopModules() {
for (SwerveModule module : this.modules) {