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2/17 Full changes

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This commit is contained in:
Michael Mikovsky
2025-02-17 15:45:59 -07:00
parent b4b123237b
commit 47646dc12b
3 changed files with 38 additions and 16 deletions
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src/main/java/frc4388/robot/Constants.java
+3 -3
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@@ -404,11 +404,11 @@ public final class Constants {
public static final double GEAR_RATIO_ELEVATOR = -9.0;
public static final double GROUND_POSITION_ELEVATOR = 0 * GEAR_RATIO_ELEVATOR;
public static final double WAITING_POSITION_ELEVATOR = 2 * GEAR_RATIO_ELEVATOR; // TODO: find 2-4 in off the pipe
public static final double WAITING_POSITION_ELEVATOR = (2 / 3.d) * GEAR_RATIO_ELEVATOR; // TODO: find 2-4 in off the pipe
public static final double WAITING_POSITION_BEAM_BREAK_ELEVATOR = 2 * GEAR_RATIO_ELEVATOR; // TODO: find on the pipe
public static final double MAX_POSITION_ELEVATOR = 4.5 * GEAR_RATIO_ELEVATOR; // TODO: find MAX position
public static final double GEAR_RATIO_ENDEFECTOR = 100.0;
public static final double GEAR_RATIO_ENDEFECTOR = -100.0;
public static final double COMPLETLY_DOWN_ENDEFECTOR = 0 * GEAR_RATIO_ENDEFECTOR;
public static final double COMPLETLY_MIDDLE_ENDEFECTOR = 0.25 * GEAR_RATIO_ENDEFECTOR;
@@ -416,7 +416,7 @@ public final class Constants {
public static final double COMPLETLY_TOP_ENDEFECTOR = 0.5 * GEAR_RATIO_ENDEFECTOR;
public static final Slot0Configs ELEVATOR_PID = new Slot0Configs()
.withKP(.1)
.withKP(1)
.withKI(0)
.withKD(0);
src/main/java/frc4388/robot/RobotContainer.java
+11 -5
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@@ -175,6 +175,12 @@ public class RobotContainer {
}, m_robotSwerveDrive)
.withName("SwerveDrive DefaultCommand"));
m_robotSwerveDrive.setToSlow();
// m_robotElevator.setDefaultCommand(new RunCommand(() -> {
// m_robotElevator.driveElevatorStick(m_operatorXbox.getRight());
// }, m_robotElevator)
// .withName("Elevator"));
makeAutoChooser();
SmartDashboard.putData("Auto Chooser", autoChooser);
// this.subsystems.add(m_robotSwerveDrive);
@@ -225,19 +231,19 @@ public class RobotContainer {
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
// ! /* Speed */
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
new JoystickButton(getDeadbandedDriverController(), XboxController.START_BUTTON) // final
new JoystickButton(getDeadbandedDriverController(), XboxController.START_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.activateLuigiMode()));
new JoystickButton(getDeadbandedDriverController(), XboxController.BACK_BUTTON) // final
new JoystickButton(getDeadbandedDriverController(), XboxController.BACK_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.deactivateLuigiMode()));
new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
new Trigger(() -> getDeadbandedDriverController().getPOV() == 270)
src/main/java/frc4388/robot/subsystems/Elevator.java
+24 -8
View File
@@ -5,10 +5,12 @@
package frc4388.robot.subsystems;
import com.ctre.phoenix6.configs.Slot0Configs;
import com.ctre.phoenix6.controls.PositionDutyCycle;
import com.ctre.phoenix6.controls.PositionVoltage;
import com.ctre.phoenix6.hardware.TalonFX;
import com.ctre.phoenix6.signals.NeutralModeValue;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
@@ -58,8 +60,8 @@ public class Elevator extends SubsystemBase {
//PID methods
private void PIDPosition(TalonFX motor, double position) {
var request = new PositionVoltage(position);
elevatorMotor.setControl(request);
var request = new PositionDutyCycle(position);
motor.setControl(request);
}
public void elevatorStop() {
@@ -82,6 +84,7 @@ public class Elevator extends SubsystemBase {
case WatingBeamTriped: {
PIDPosition(elevatorMotor, ElevatorConstants.WAITING_POSITION_BEAM_BREAK_ELEVATOR);
PIDPosition(endefectorMotor, ElevatorConstants.COMPLETLY_DOWN_ENDEFECTOR);
armShuffle();
break;
}
@@ -106,6 +109,12 @@ public class Elevator extends SubsystemBase {
}
// public void driveElevatorStick(Translation2d stick) {
// if (stick.getNorm() > 0.05) {
// elevatorMotor.set(stick.getY());
// }
// }
private void periodicWaiting() {
if (basinBeamBreak.get()) transitionState(CoordinationState.WatingBeamTriped);
}
@@ -122,14 +131,21 @@ public class Elevator extends SubsystemBase {
public void periodic() {
// This method will be called once per scheduler run
SmartDashboard.putNumber("Basin", basinBeamBreak.get() ? 1 : 0);
SmartDashboard.putNumber("endefector", basinBeamBreak.get() ? 1 : 0);
if (currentState == CoordinationState.Waiting) {
periodicWaiting();
} else if (currentState == CoordinationState.WatingBeamTriped) {
periodicWaitingTripped();
}
SmartDashboard.putNumber("endefector", endefectorLimitSwitch.get() ? 1 : 0);
// if (currentState == CoordinationState.Waiting) {
// periodicWaiting();
// } else if (currentState == CoordinationState.WatingBeamTriped) {
// periodicWaitingTripped();
// }
// } else if (currentState == CoordinationState.ScoringThree || currentState == CoordinationState.ScoringFour) {
// periodicScoring();
// }
}
public void armShuffle(){
if(!basinBeamBreak.get()){
//shuffle the coral with the arm until coral hits beam break
}
}
}