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Merge pull request #3 from Team4388/temp-intake

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This commit is contained in:
C4llSqin
2024-12-03 17:45:32 -07:00
committed by GitHub
parent 69d97e2eb9 304be80610
commit f7b759df6b
4 changed files with 96 additions and 8 deletions
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src/main/java/frc4388/robot/Constants.java
+14 -4
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@@ -41,10 +41,10 @@ public final class Constants {
public static final double TURBO_SPEED = 1.0;
public static final class DefaultSwerveRotOffsets {
public static final double FRONT_LEFT_ROT_OFFSET = -0.362548828125 - 0.25; //TODO: per robot swerve module offsets.
public static final double FRONT_RIGHT_ROT_OFFSET = -0.138916015625 - 0.25; //TODO: per robot swerve module offsets.
public static final double BACK_LEFT_ROT_OFFSET = 0.024169921875 - 0.25; //TODO: per robot swerve module offsets.
public static final double BACK_RIGHT_ROT_OFFSET = -0.1435546875 - 0.25; //TODO: per robot swerve module offsets.
public static final double FRONT_LEFT_ROT_OFFSET = -0.363525390625 - 0.25; //TODO: per robot swerve module offsets.
public static final double FRONT_RIGHT_ROT_OFFSET = 0.365966796875 + 0.25; //TODO: per robot swerve module offsets.
public static final double BACK_LEFT_ROT_OFFSET = 0.02392578125 - 0.25; //TODO: per robot swerve module offsets.
public static final double BACK_RIGHT_ROT_OFFSET = 0.35498046875 + 0.25; //TODO: per robot swerve module offsets.
}
public static final class IDs {
@@ -146,7 +146,17 @@ public final class Constants {
public static final double LEFT_AXIS_DEADBAND = 0.1;
}
public static final class IntakeConstants {
public static final class IDs{
public static final int PIVOTMOTOR_ID = 17;
public static final int INTAKEMOTOR_ID = 18;
}
public static final double IN_POSITION =0.0;
public static final double OUT_POSITION =0.0;
public static final double INTAKE_SPEED= 0.0;
public static final double OUTTAKE_SPEED= 0.0;
}
public static final class ShooterConstants
{
public static final int LEFT_SHOOTER_ID = 15;
src/main/java/frc4388/robot/RobotContainer.java
+20 -4
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@@ -21,12 +21,12 @@ import edu.wpi.first.wpilibj2.command.button.Trigger;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
// Autos
import frc4388.utility.controller.VirtualController;
import frc4388.robot.commands.Swerve.neoJoystickPlayback;
import frc4388.robot.commands.Swerve.neoJoystickRecorder;
import frc4388.robot.subsystems.Intake;
// Subsystems
import frc4388.robot.subsystems.Shooter;
@@ -51,7 +51,7 @@ public class RobotContainer {
/* Subsystems */
public final Shooter m_robotShooter = new Shooter(m_robotMap.leftShooter, m_robotMap.rightShooter);
// private final LED m_robotLED = new LED();
public final Intake m_robotIntake= new Intake(m_robotMap.pivotArm, m_robotMap.intakeWheel);
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront,
m_robotMap.rightFront,
m_robotMap.leftBack,
@@ -59,7 +59,8 @@ public class RobotContainer {
m_robotMap.gyro);
/* Controllers */
/* Controllers */
private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
private final DeadbandedXboxController m_autoRecorderXbox = new DeadbandedXboxController(OIConstants.XBOX_PROGRAMMER_ID);
@@ -155,6 +156,21 @@ public class RobotContainer {
// ? /* Operator Buttons */
/*Intake */
DualJoystickButton(getDeadbandedDriverController(), getVirtualOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
.onTrue(new SequentialCommandGroup(
new InstantCommand(() -> m_robotIntake.PIDOut()),
new InstantCommand(() -> m_robotIntake.spinIntakeMotor())
))
.onFalse(new InstantCommand(() -> m_robotIntake.stopIntakeMotor()));
DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.PIDIn()));
DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(()->m_robotIntake.handoff()))
.onFalse(new InstantCommand(()-> m_robotIntake.stopIntakeMotor()));
/*Shooter*/
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
src/main/java/frc4388/robot/RobotMap.java
+5
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@@ -11,6 +11,7 @@ import com.ctre.phoenix6.hardware.TalonFX;
import com.ctre.phoenix6.hardware.CANcoder;
import com.ctre.phoenix6.hardware.Pigeon2;
import frc4388.robot.Constants.IntakeConstants;
import frc4388.robot.Constants.ShooterConstants;
// import edu.wpi.first.wpilibj.motorcontrol.Spark;
// import frc4388.robot.Constants.LEDConstants;
@@ -56,10 +57,14 @@ public class RobotMap {
public final TalonFX rightBackSteer = new TalonFX(SwerveDriveConstants.IDs.RIGHT_BACK_STEER_ID);
public final CANcoder rightBackEncoder = new CANcoder(SwerveDriveConstants.IDs.RIGHT_BACK_ENCODER_ID);
public final TalonFX pivotArm = new TalonFX(IntakeConstants.IDs.PIVOTMOTOR_ID);
public final TalonFX intakeWheel = new TalonFX(IntakeConstants.IDs.INTAKEMOTOR_ID);
/* Shooter Subsystem */
public final TalonFX leftShooter = new TalonFX(ShooterConstants.LEFT_SHOOTER_ID);
public final TalonFX rightShooter = new TalonFX(ShooterConstants.RIGHT_SHOOTER_ID);
void configureDriveMotorControllers() {
// initialize SwerveModules
this.rightFront = new SwerveModule(rightFrontWheel, rightFrontSteer, rightFrontEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.FRONT_RIGHT_ROT_OFFSET);
src/main/java/frc4388/robot/subsystems/Intake.java
+57
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@@ -0,0 +1,57 @@
package frc4388.robot.subsystems;
import com.ctre.phoenix6.configs.Slot0Configs;
import com.ctre.phoenix6.controls.PositionVoltage;
import com.ctre.phoenix6.hardware.TalonFX;
import com.ctre.phoenix6.signals.NeutralModeValue;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.IntakeConstants;
public class Intake extends SubsystemBase{
private TalonFX pivotMotor;
private TalonFX intakeMotor;
public Intake(TalonFX pivotTalonFX, TalonFX intakeTalonFX){
pivotMotor = pivotTalonFX;
intakeMotor = intakeTalonFX;
pivotMotor.setNeutralMode(NeutralModeValue.Brake);
intakeMotor.setNeutralMode(NeutralModeValue.Brake);
var PIDConfigs = new Slot0Configs();
PIDConfigs.kP = 0;
PIDConfigs.kI = 0;
PIDConfigs.kD = 0;
pivotMotor.getConfigurator().apply(PIDConfigs);
}
public void PIDPosition(double position) {
var request = new PositionVoltage(position);
pivotMotor.setControl(request);
}
public void PIDIn() {
PIDPosition(IntakeConstants.IN_POSITION);
}
public void PIDOut() {
PIDPosition(IntakeConstants.OUT_POSITION);
}
public void handoff(){
intakeMotor.set(IntakeConstants.OUTTAKE_SPEED);
}
public void spinIntakeMotor(){
intakeMotor.set(IntakeConstants.INTAKE_SPEED);
}
public void stopIntakeMotor(){
intakeMotor.set(0);
}
public void stopArmMotor(){
pivotMotor.set(0);
}
}