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Optimization and improvements

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This commit is contained in:
Michael Mikovsky
2025-03-03 16:32:27 -07:00
parent 97630fe2b4
commit 204ba6d511
7 changed files with 74 additions and 34 deletions
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src/main/java/frc4388/robot/subsystems/Elevator.java
+8 -5
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@@ -49,6 +49,7 @@ public class Elevator extends Subsystem {
private DigitalInput basinBeamBreak;
private DigitalInput endeffectorLimitSwitch;
// private DigitalInput intakeIR;
public enum CoordinationState {
Waiting, // for coral into the though
@@ -69,12 +70,14 @@ public class Elevator extends Subsystem {
private CoordinationState currentState;
public Elevator(TalonFX elevatorTalonFX, TalonFX endeffectorTalonFX, DigitalInput basinLimitSwitch, DigitalInput endeffectorLimitSwitch, LED led) {
// public Elevator(TalonFX elevatorTalonFX, TalonFX endeffectorTalonFX, DigitalInput basinLimitSwitch, DigitalInput endeffectorLimitSwitch, DigitalInput intakeDigitalInput, LED led) {
elevatorMotor = elevatorTalonFX;
endeffectorMotor = endeffectorTalonFX;
this.led = led;
this.basinBeamBreak = basinLimitSwitch;
this.endeffectorLimitSwitch = endeffectorLimitSwitch;
// this.intakeIR = intakeDigitalInput;
elevatorMotor.setNeutralMode(NeutralModeValue.Brake);
endeffectorMotor.setNeutralMode(NeutralModeValue.Brake);
@@ -129,14 +132,14 @@ public class Elevator extends Subsystem {
}
case Hovering: {
PIDPosition(elevatorMotor, ElevatorConstants.WAITING_POSITION_ELEVATOR);
PIDPosition(elevatorMotor, ElevatorConstants.HOVERING_POSITION_ELEVATOR);
PIDPosition(endeffectorMotor, ElevatorConstants.COMPLETLY_DOWN_ENDEFFECTOR);
led.setMode(LEDConstants.READY_PATTERN);
break;
}
case L2Score: {
PIDPosition(elevatorMotor, ElevatorConstants.WAITING_POSITION_ELEVATOR + AutoConstants.ELEVATOR_OFFSET_TRIM.get());
PIDPosition(elevatorMotor, ElevatorConstants.HOVERING_POSITION_ELEVATOR + AutoConstants.ELEVATOR_OFFSET_TRIM.get());
PIDPosition(endeffectorMotor, ElevatorConstants.L2_SCORE_ENDEFFECTOR + AutoConstants.ARM_OFFSET_TRIM.get());
led.setMode(TimesNegativeOne.isRed ? LEDConstants.RED_PATTERN : LEDConstants.BLUE_PATTERN);
break;
@@ -240,8 +243,8 @@ public class Elevator extends Subsystem {
private void periodicWaiting() {
if (!basinBeamBreak.get())
transitionState(CoordinationState.Ready);
if(!endeffectorLimitSwitch.get())
transitionState(CoordinationState.Hovering);
// if(!endeffectorLimitSwitch.get())
// transitionState(CoordinationState.Hovering);
}
// private void periodicWaitingTripped() {
@@ -253,7 +256,7 @@ public class Elevator extends Subsystem {
if (elevatorAtReference() && !endeffectorLimitSwitch.get())
transitionState(CoordinationState.Hovering);
if(elevatorAtReference() && endeffectorLimitSwitch.get())
transitionState(CoordinationState.Waiting);
transitionState(CoordinationState.Hovering);
}
private void periodicScoring() {