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Tested elevator

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This commit is contained in:
C4llSiqn
2025-01-20 14:35:34 -07:00
parent 453e0e54af
commit d341b6a7d7
3 changed files with 28 additions and 30 deletions
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src/main/java/frc4388/robot/Constants.java
+13 -13
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@@ -328,32 +328,32 @@ public final class Constants {
}
public static final class ElevatorConstants {
public static final CanDevice ELEVATOR_ID = new CanDevice("Elevator", 724);
public static final CanDevice ELEVATOR_ID = new CanDevice("Elevator", 16);
public static final double GEAR_RATIO = 100.0;
public static final double LEVEL_1 = 123 * GEAR_RATIO;
public static final double LEVEL_2 = 123 * GEAR_RATIO;
public static final double ELEVATOR_MAX_HEIGHT = 123 * GEAR_RATIO;
public static final double ELEVATOR_SPEED_UP = 123 * GEAR_RATIO;
public static final double ELEVATOR_SPEED_DOWN = -123 * GEAR_RATIO;
public static final double GEAR_RATIO = 36.0;
public static final double LEVEL_1 = 0 * GEAR_RATIO;
public static final double LEVEL_2 = 5 * GEAR_RATIO;
public static final double ELEVATOR_MAX_HEIGHT = 5 * GEAR_RATIO;
public static final double ELEVATOR_SPEED_UP = 1 * GEAR_RATIO;
public static final double ELEVATOR_SPEED_DOWN = -1 * GEAR_RATIO;
public static final Slot0Configs ELEVATOR_PID = new Slot0Configs()
.withKP(0)
.withKP(1)
.withKI(0)
.withKD(0);
}
public static class EndeffectorConstants {
public static final CanDevice ENDEFFECTOR_ID = new CanDevice("Endeffector", 42);
public static final CanDevice ENDEFFECTOR_ID = new CanDevice("Endeffector", 15);
public static final double GEAR_RATIO = 100.0;
public static final double TOP = 8.0 * GEAR_RATIO;
public static final double MIDDLE = 6.0 * GEAR_RATIO;
public static final double BOTTOM = 4.0 * GEAR_RATIO;
public static final double TOP = 0.25 * GEAR_RATIO;
public static final double MIDDLE = 0.0 * GEAR_RATIO;
public static final double BOTTOM = -0.25 * GEAR_RATIO;
public static final Slot0Configs ENDEFECTOR_PID = new Slot0Configs()
.withKP(0)
.withKP(1)
.withKI(0)
.withKD(0);
src/main/java/frc4388/robot/RobotContainer.java
+10 -7
View File
@@ -64,7 +64,7 @@ public class RobotContainer {
public final Vision m_vision = new Vision(m_robotMap.camera);
public final Elevator m_robotELevator= new Elevator(m_robotMap.elevator);
public final Endeffector m_robotEndeffector = new Endeffector(m_robotMap.elevator);
public final Endeffector m_robotEndeffector = new Endeffector(m_robotMap.endeffector);
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain, m_vision);
// public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain);
@@ -197,11 +197,11 @@ public class RobotContainer {
.onFalse(new InstantCommand());
/*DPad for Level 1 and 2*/
new Trigger(() -> getDeadbandedOperatorController().getRawAxis(XboxController.TOP_BOTTOM_DPAD_AXIS) > 0.9)
new Trigger(() -> getDeadbandedOperatorController().getRawAxis(XboxController.RIGHT_TRIGGER_AXIS) > 0.9)
.onTrue(new InstantCommand(() -> m_robotELevator.PIDLevel2()))
.onFalse(new InstantCommand(() -> m_robotELevator.elevatorStop()));
new Trigger(() -> getDeadbandedOperatorController().getRawAxis(XboxController.TOP_BOTTOM_DPAD_AXIS) > -0.9)
new Trigger(() -> getDeadbandedOperatorController().getRawAxis(XboxController.LEFT_TRIGGER_AXIS) > 0.9)
.onTrue(new InstantCommand(() -> m_robotELevator.PIDLevel1()))
.onFalse(new InstantCommand(() -> m_robotELevator.elevatorStop()));
@@ -217,13 +217,16 @@ public class RobotContainer {
/*Endeffector Controls*/
new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
.onTrue(new InstantCommand(() -> m_robotEndeffector.endeffectorTop()));
.onTrue(new InstantCommand(() -> m_robotEndeffector.PIDTop()))
.onFalse(new InstantCommand(() -> m_robotEndeffector.endEffectorStop()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> m_robotEndeffector.endeffectorMiddle()));
.onTrue(new InstantCommand(() -> m_robotEndeffector.PIDMiddle()))
.onFalse(new InstantCommand(() -> m_robotEndeffector.endEffectorStop()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> m_robotEndeffector.endeffectorBottom()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotEndeffector.PIDBottom()))
.onFalse(new InstantCommand(() -> m_robotEndeffector.endEffectorStop()));;
}
/**
src/main/java/frc4388/robot/subsystems/Endeffector.java
+5 -10
View File
@@ -9,6 +9,7 @@ import com.ctre.phoenix6.hardware.TalonFX;
import com.ctre.phoenix6.signals.NeutralModeValue;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.ElevatorConstants;
import frc4388.robot.Constants.EndeffectorConstants;
public class Endeffector extends SubsystemBase {
@@ -18,6 +19,8 @@ public class Endeffector extends SubsystemBase {
endeffectorMotor = endffectorTalonFX;
endeffectorMotor.setNeutralMode(NeutralModeValue.Brake);
endeffectorMotor.getConfigurator().apply(EndeffectorConstants.ENDEFECTOR_PID);
}
public void PIDPosition(double position) {
@@ -37,16 +40,8 @@ public class Endeffector extends SubsystemBase {
PIDPosition(EndeffectorConstants.BOTTOM);
}
public void endeffectorTop() {
endeffectorMotor.set(EndeffectorConstants.TOP);
}
public void endeffectorMiddle() {
endeffectorMotor.set(EndeffectorConstants.MIDDLE);
}
public void endeffectorBottom() {
endeffectorMotor.set(EndeffectorConstants.BOTTOM);
public void endEffectorStop() {
endeffectorMotor.set(0);
}
@Override