Team4388/2025RidgeScape
1
0
Fork 0
mirror of https://github.com/Team4388/2025RidgeScape.git synced 2026-06-09 00:38:02 -06:00
Code Issues Packages Projects Releases Wiki Activity

Tested elevator

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/Constants.java
+13 -13
View File
@@ -328,32 +328,32 @@ public final class Constants {
} }
public static final class ElevatorConstants { 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 GEAR_RATIO = 36.0;
public static final double LEVEL_1 = 123 * GEAR_RATIO; public static final double LEVEL_1 = 0 * GEAR_RATIO;
public static final double LEVEL_2 = 123 * GEAR_RATIO; public static final double LEVEL_2 = 5 * GEAR_RATIO;
public static final double ELEVATOR_MAX_HEIGHT = 123 * GEAR_RATIO; public static final double ELEVATOR_MAX_HEIGHT = 5 * GEAR_RATIO;
public static final double ELEVATOR_SPEED_UP = 123 * GEAR_RATIO; public static final double ELEVATOR_SPEED_UP = 1 * GEAR_RATIO;
public static final double ELEVATOR_SPEED_DOWN = -123 * GEAR_RATIO; public static final double ELEVATOR_SPEED_DOWN = -1 * GEAR_RATIO;
public static final Slot0Configs ELEVATOR_PID = new Slot0Configs() public static final Slot0Configs ELEVATOR_PID = new Slot0Configs()
.withKP(0) .withKP(1)
.withKI(0) .withKI(0)
.withKD(0); .withKD(0);
} }
public static class EndeffectorConstants { 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 GEAR_RATIO = 100.0;
public static final double TOP = 8.0 * GEAR_RATIO; public static final double TOP = 0.25 * GEAR_RATIO;
public static final double MIDDLE = 6.0 * GEAR_RATIO; public static final double MIDDLE = 0.0 * GEAR_RATIO;
public static final double BOTTOM = 4.0 * GEAR_RATIO; public static final double BOTTOM = -0.25 * GEAR_RATIO;
public static final Slot0Configs ENDEFECTOR_PID = new Slot0Configs() public static final Slot0Configs ENDEFECTOR_PID = new Slot0Configs()
.withKP(0) .withKP(1)
.withKI(0) .withKI(0)
.withKD(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 Vision m_vision = new Vision(m_robotMap.camera);
public final Elevator m_robotELevator= new Elevator(m_robotMap.elevator); 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, m_vision);
// public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain); // public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain);
@@ -197,11 +197,11 @@ public class RobotContainer {
.onFalse(new InstantCommand()); .onFalse(new InstantCommand());
/*DPad for Level 1 and 2*/ /*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())) .onTrue(new InstantCommand(() -> m_robotELevator.PIDLevel2()))
.onFalse(new InstantCommand(() -> m_robotELevator.elevatorStop())); .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())) .onTrue(new InstantCommand(() -> m_robotELevator.PIDLevel1()))
.onFalse(new InstantCommand(() -> m_robotELevator.elevatorStop())); .onFalse(new InstantCommand(() -> m_robotELevator.elevatorStop()));
@@ -217,13 +217,16 @@ public class RobotContainer {
/*Endeffector Controls*/ /*Endeffector Controls*/
new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON) 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) 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) new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotEndeffector.endeffectorBottom())); .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 com.ctre.phoenix6.signals.NeutralModeValue;
import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.ElevatorConstants;
import frc4388.robot.Constants.EndeffectorConstants; import frc4388.robot.Constants.EndeffectorConstants;
public class Endeffector extends SubsystemBase { public class Endeffector extends SubsystemBase {
@@ -18,6 +19,8 @@ public class Endeffector extends SubsystemBase {
endeffectorMotor = endffectorTalonFX; endeffectorMotor = endffectorTalonFX;
endeffectorMotor.setNeutralMode(NeutralModeValue.Brake); endeffectorMotor.setNeutralMode(NeutralModeValue.Brake);
endeffectorMotor.getConfigurator().apply(EndeffectorConstants.ENDEFECTOR_PID);
} }
public void PIDPosition(double position) { public void PIDPosition(double position) {
@@ -37,16 +40,8 @@ public class Endeffector extends SubsystemBase {
PIDPosition(EndeffectorConstants.BOTTOM); PIDPosition(EndeffectorConstants.BOTTOM);
} }
public void endeffectorTop() { public void endEffectorStop() {
endeffectorMotor.set(EndeffectorConstants.TOP); endeffectorMotor.set(0);
}
public void endeffectorMiddle() {
endeffectorMotor.set(EndeffectorConstants.MIDDLE);
}
public void endeffectorBottom() {
endeffectorMotor.set(EndeffectorConstants.BOTTOM);
} }
@Override @Override