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VIsion and Roller

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vision constants and implementation
roller percent output
operator controls update
This commit is contained in:
Michael Mikovsky
2026-02-17 18:53:26 -08:00
parent 7ec022bc7a
commit 3a5057fc41
11 changed files with 69 additions and 87 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+9 -9
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@@ -62,7 +62,7 @@ public class RobotContainer {
/* Subsystems */
public final LED m_robotLED = new LED(Constants.LEDConstants.LED_SPARK_ID);
//Testing of Colors
public final Vision m_vision = new Vision();
public final Vision m_vision = new Vision(m_robotMap.rightCamera);
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain, m_vision);
public final Intake m_robotIntake = new Intake(m_robotMap.intakeIO);
public final Shooter m_robotShooter = new Shooter(m_robotMap.shooterIO, m_robotSwerveDrive, m_robotIntake, m_robotLED);
@@ -248,25 +248,25 @@ public class RobotContainer {
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive));
//Operator Controls
new Trigger(() -> getDeadbandedOperatorController().getLeftTriggerAxis() >= 0.5)
new Trigger(() -> getDeadbandedOperatorController().getRightTriggerAxis() >= 0.5)
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Extended);
}));
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Retracted);
}));
new Trigger(() -> getDeadbandedOperatorController().getRightTriggerAxis() >= 0.5)
.onTrue(new InstantCommand(() -> {
m_robotShooter.setShooterReady();
}));
new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
new Trigger(() -> getDeadbandedOperatorController().getLeftTriggerAxis() >= 0.5)
.onTrue(new InstantCommand(() -> {
m_robotShooter.setShooterNotReady();
}));
new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> {
m_robotShooter.setShooterReady();
}));
new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
.onTrue(new InstantCommand(() -> {
src/main/java/frc4388/robot/RobotMap.java
+11 -5
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@@ -9,6 +9,8 @@ package frc4388.robot;
import com.ctre.phoenix6.hardware.TalonFX;
import org.photonvision.PhotonCamera;
import com.ctre.phoenix6.hardware.CANcoder;
import com.ctre.phoenix6.swerve.SwerveDrivetrain;
@@ -16,6 +18,7 @@ import edu.wpi.first.wpilibj.DigitalInput;
import frc4388.robot.constants.Constants;
//import frc4388.robot.constants.Constants.ElevatorConstants;
import frc4388.robot.constants.Constants.SimConstants;
import frc4388.robot.constants.Constants.VisionConstants;
import frc4388.robot.subsystems.intake.IntakeConstants;
import frc4388.robot.subsystems.intake.IntakeIO;
import frc4388.robot.subsystems.intake.IntakeReal;
@@ -27,7 +30,10 @@ import frc4388.robot.subsystems.shooter.ShooterReal;
import frc4388.robot.subsystems.swerve.SwerveDriveConstants;
import frc4388.robot.subsystems.swerve.SwerveIO;
import frc4388.robot.subsystems.swerve.SwerveReal;
import frc4388.robot.subsystems.vision.VisionIO;
import frc4388.robot.subsystems.vision.VisionReal;
import frc4388.utility.status.FaultCANCoder;
import frc4388.utility.status.FaultPhotonCamera;
import frc4388.utility.status.FaultPidgeon2;
import frc4388.utility.status.FaultTalonFX;
@@ -40,7 +46,7 @@ public class RobotMap {
// public RobotGyro gyro = new RobotGyro(m_pigeon2);
// public final VisionIO leftCamera;
// public final VisionIO rightCamera;
public final VisionIO rightCamera;
// public final LiDAR lidar = new
@@ -63,13 +69,13 @@ public class RobotMap {
case REAL:
// Configure cameras
// PhotonCamera leftCameraReal = new PhotonCamera(VisionConstants.LEFT_CAMERA_NAME);
// PhotonCamera rightCameraReal = new PhotonCamera(VisionConstants.RIGHT_CAMERA_NAME);
PhotonCamera rightCameraReal = new PhotonCamera(VisionConstants.RIGHT_CAMERA_NAME);
// leftCamera = new VisionReal(leftCameraReal, VisionConstants.RIGHT_CAMERA_POS); ;
// rightCamera = new VisionReal(rightCameraReal, VisionConstants.LEFT_CAMERA_POS);
rightCamera = new VisionReal(rightCameraReal, VisionConstants.RIGHT_CAMERA_POS);
// FaultPhotonCamera.addDevice(leftCameraReal, "Left Camera");
// FaultPhotonCamera.addDevice(rightCameraReal , "Right Camera");
FaultPhotonCamera.addDevice(rightCameraReal , "Right Camera");
// // Configure LiDAR
// reefLidar = new LidarReal(LiDARConstants.REEF_LIDAR_DIO_CHANNEL);
@@ -131,7 +137,7 @@ public class RobotMap {
// break;
default:
// leftCamera = new VisionIO() {};
// rightCamera = new VisionIO() {};
rightCamera = new VisionIO() {};
swerveDrivetrain = new SwerveIO() {};
intakeIO = new IntakeIO() {};
shooterIO = new ShooterIO() {};
src/main/java/frc4388/robot/constants/BuildConstants.java
+5 -5
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@@ -7,12 +7,12 @@ public final class BuildConstants {
public static final String MAVEN_GROUP = "";
public static final String MAVEN_NAME = "2026KPopRobotHunters";
public static final String VERSION = "unspecified";
public static final int GIT_REVISION = 61;
public static final String GIT_SHA = "8551843831dbdc8790c0f9c02fb406248b69ec7a";
public static final String GIT_DATE = "2026-02-16 15:57:24 MST";
public static final int GIT_REVISION = 65;
public static final String GIT_SHA = "7ec022bc7a2732fef46e2b0a7e5d5d31b88e1cde";
public static final String GIT_DATE = "2026-02-16 18:21:53 MST";
public static final String GIT_BRANCH = "operator-controls";
public static final String BUILD_DATE = "2026-02-16 15:58:06 MST";
public static final long BUILD_UNIX_TIME = 1771282686680L;
public static final String BUILD_DATE = "2026-02-17 19:45:30 MST";
public static final long BUILD_UNIX_TIME = 1771382730050L;
public static final int DIRTY = 1;
private BuildConstants(){}
src/main/java/frc4388/robot/constants/Constants.java
+1 -1
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@@ -78,7 +78,7 @@ public final class Constants {
public static final String RIGHT_CAMERA_NAME = "CAMERA_RIGHT";
public static final Transform3d LEFT_CAMERA_POS = new Transform3d(new Translation3d(Units.inchesToMeters(4.547), Units.inchesToMeters(8.031), Units.inchesToMeters(8.858)), new Rotation3d(0,0.0,0.0));
public static final Transform3d RIGHT_CAMERA_POS = new Transform3d(new Translation3d(Units.inchesToMeters(4.547), -Units.inchesToMeters(8.031), Units.inchesToMeters(8.858)), new Rotation3d(0,0.0,0.0));
public static final Transform3d RIGHT_CAMERA_POS = new Transform3d(new Translation3d(Units.inchesToMeters(-13), Units.inchesToMeters(10.75), Units.inchesToMeters(9.5)), new Rotation3d(0,40.*(Math.PI/180.),Math.PI));
public static final double MIN_ESTIMATION_DISTANCE = 2; // Meters
src/main/java/frc4388/robot/constants/FieldConstants.java
+8 -10
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@@ -4,23 +4,21 @@ import java.util.Arrays;
import edu.wpi.first.apriltag.AprilTag;
import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.apriltag.AprilTagFields;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.geometry.Translation3d;
public final class FieldConstants {
// public static final AprilTagFieldLayout kTagLayout = AprilTagFieldLayout.loadField(AprilTagFields.k2025ReefscapeWelded);
public static final AprilTagFieldLayout kTagLayout = AprilTagFieldLayout.loadField(AprilTagFields.k2026RebuiltAndymark);
public static final Translation2d BLUE_HUB_POS = new Translation2d();
public static final Translation2d RED_HUB_POS = new Translation2d();
// Test april tag field layout
public static final AprilTagFieldLayout kTagLayout = new AprilTagFieldLayout(
Arrays.asList(new AprilTag[] {
new AprilTag(0, new Pose3d(
new Translation3d(0.,0.,0.26035), new Rotation3d(0.,0.,0.)
)),
}), 100, 100);
// public static final AprilTagFieldLayout kTagLayout = new AprilTagFieldLayout(
// Arrays.asList(new AprilTag[] {
// new AprilTag(0, new Pose3d(
// new Translation3d(0.,0.,0.26035), new Rotation3d(0.,0.,0.)
// )),
// }), 100, 100);
}
src/main/java/frc4388/robot/subsystems/intake/Intake.java
+7 -7
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@@ -69,27 +69,27 @@ public class Intake extends SubsystemBase {
switch (mode) {
case Extended:
io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_EXTENDED.get()));
io.setRollerVelocity(state, RotationsPerSecond.of(IntakeConstants.ROLLER_ACTIVE.get()));
io.setRollerOutput(state, IntakeConstants.ROLLER_PERCENT_OUTPUT.get());
break;
case Retracted:
io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_RETRACTED.get()));
io.setRollerVelocity(state, RotationsPerSecond.of(0));
io.setRollerOutput(state, 0);
break;
case Extending:
io.armOutput(IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get());
io.setRollerVelocity(state, RotationsPerSecond.of(IntakeConstants.ROLLER_ACTIVE.get()));
io.setRollerOutput(state, IntakeConstants.ROLLER_PERCENT_OUTPUT.get());
break;
case Retracting:
io.armOutput(IntakeConstants.ARM_RETRACT_PERCENT_OUTPUT.get());
io.setRollerVelocity(state, RotationsPerSecond.of(0));
io.setRollerOutput(state, 0);
break;
case Idle:
io.stopArm();
break;
}
if (state.retractedLimit){
this.mode = IntakeMode.Retracted;
}
// if (state.retractedLimit){
// this.mode = IntakeMode.Retracted;
// }
}
}
src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+5 -10
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@@ -33,11 +33,11 @@ public class IntakeConstants {
// public static final Angle ARM_LIMIT_LOWER = Degrees.of(90);
// public static final Angle ARM_LIMIT_UPPER = Degrees.of(-90);
public static final ConfigurableDouble ARM_LIMIT_RETRACTED = new ConfigurableDouble("Arm angle retracted", -0.3*0);
public static final ConfigurableDouble ARM_LIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 0);
public static final ConfigurableDouble ARM_LIMIT_RETRACTED = new ConfigurableDouble("Arm angle retracted", 0);
public static final ConfigurableDouble ARM_LIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 0*0.4);
public static final ConfigurableDouble ARM_EXTEND_PERCENT_OUTPUT = new ConfigurableDouble("Arm extend % output", 0.1);
public static final ConfigurableDouble ARM_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Arm retract % output", -0.1);
public static final ConfigurableDouble ROLLER_ACTIVE = new ConfigurableDouble("Rolelr Active", 10);
public static final ConfigurableDouble ROLLER_PERCENT_OUTPUT = new ConfigurableDouble("Roller Percent Output", .10);
// public static final ConfigurableDouble ROLL = new ConfigurableDouble("Arm angle extended", 0.25);
// public static final AngularVelocity ROLLER_MAX_VELOCITY = RotationsPerSecond.of(4.0);
@@ -49,18 +49,13 @@ public class IntakeConstants {
.withKI(0.0)
.withKD(0.0);
public static final Slot0Configs ROLLER_PID = new Slot0Configs()
.withKP(0.2)
.withKI(0.0)
.withKD(0.0);
public static ConfigurableDouble arm_kP = new ConfigurableDouble("ARM KP", 0.1);
public static ConfigurableDouble arm_kI = new ConfigurableDouble("ARM KI", 0);
public static ConfigurableDouble arm_kD = new ConfigurableDouble("ARM KD", 0);
public static ConfigurableDouble roller_kP = new ConfigurableDouble("Roller KP", 0.2);
public static ConfigurableDouble roller_kI = new ConfigurableDouble("Roller KI", 0);
public static ConfigurableDouble roller_kD = new ConfigurableDouble("Roller KD", 0);
// 0 is paralell to the ground, 90 is directly up
src/main/java/frc4388/robot/subsystems/intake/IntakeIO.java
+3 -3
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@@ -22,8 +22,8 @@ public interface IntakeIO {
// Angle shooterTargetPitch = Rotations.of(0);
// Current pitchMotorCurrent = Amps.of(0);
AngularVelocity rollerVelocity = RotationsPerSecond.of(0);
AngularVelocity rollerTargetVelocity = RotationsPerSecond.of(0);
double rollerOutput = 0;
double rollerTargetOutput = 0;
Current rollerMotorCurrent = Amps.of(0);
// LinearVelocity feederVelocity = InchesPerSecond.of(0);
@@ -35,7 +35,7 @@ public interface IntakeIO {
// public default void setShooterPitch(ShooterState state, Angle angle) {}
public default void setArmAngle(IntakeState state, Angle angle) {}
public default void stopArm() {}
public default void setRollerVelocity(IntakeState state, AngularVelocity angularVelocity) {}
public default void setRollerOutput(IntakeState state, double rollerOutput) {}
public default void armOutput(double percentOutput) {}
public default void updateInputs(IntakeState state) {}
public default void updateGains() {}
src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java
+14 -19
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@@ -19,7 +19,7 @@ public class IntakeReal implements IntakeIO {
DigitalInput m_armLimitSwitch;
PositionDutyCycle armPosition = new PositionDutyCycle(0);
VelocityDutyCycle rollerVelocity = new VelocityDutyCycle(0);
// VelocityDutyCycle rollerVelocity = new VelocityDutyCycle(0);
public IntakeReal(
DigitalInput armLimitSwitch,
@@ -35,11 +35,10 @@ public class IntakeReal implements IntakeIO {
// Apply the configs
m_armMotor.getConfigurator().apply(IntakeConstants.ARM_PID);
m_armMotor.getConfigurator().apply(IntakeConstants.ARM_MOTOR_CONFIG);
m_rollerMotor.getConfigurator().apply(IntakeConstants.ROLLER_PID);
m_rollerMotor.getConfigurator().apply(IntakeConstants.ROLLER_MOTOR_CONFIG);
armPosition.Slot = 0;
rollerVelocity.Slot = 0;
// rollerVelocity.Slot = 0;
}
private Angle clampAng(Angle x, Angle min, Angle max){
@@ -55,20 +54,15 @@ public class IntakeReal implements IntakeIO {
@Override
public void setRollerVelocity(IntakeState state, AngularVelocity angularVelocity) {
state.rollerTargetVelocity = angularVelocity;
public void setRollerOutput(IntakeState state, double rollerOutput) {
state.rollerTargetOutput = rollerOutput;
if(angularVelocity.baseUnitMagnitude() == 0) {
if(rollerOutput == 0) {
m_rollerMotor.set(0);
return;
}
// (REAL_ROT / SEC) * (MOTOR_ROT / REAL_ROT) = (MOTOR_ROT / SEC)
AngularVelocity motorSpeed = angularVelocity.times(IntakeConstants.ROLLER_MOTOR_GEAR_RATIO);
// m_rollerMotor.set(motorSpeed);
// VelocityDutyCycle velocity = new VelocityDutyCycle(motorSpeed);
m_rollerMotor.setControl(rollerVelocity.withVelocity(motorSpeed));
m_rollerMotor.set(rollerOutput);
}
@Override
@@ -109,9 +103,14 @@ public class IntakeReal implements IntakeIO {
public void updateInputs(IntakeState state) {
state.armAngle = m_armMotor.getPosition().getValue().div(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
state.armMotorCurrent = m_armMotor.getStatorCurrent().getValue();
state.retractedLimit = !m_armLimitSwitch.get();
state.rollerVelocity = m_rollerMotor.getVelocity().getValue().div(IntakeConstants.ROLLER_MOTOR_GEAR_RATIO);
state.rollerOutput = m_rollerMotor.get();
state.rollerMotorCurrent = m_rollerMotor.getStatorCurrent().getValue();
state.retractedLimit = !m_armLimitSwitch.get();
if(state.retractedLimit) {
// Set the arm motor to be zero if the limit switch is pressed
m_armMotor.setPosition(0., 0);
}
}
@Override
@@ -122,9 +121,5 @@ public class IntakeReal implements IntakeIO {
IntakeConstants.ARM_PID.kD = IntakeConstants.arm_kD.get();
m_armMotor.getConfigurator().apply(IntakeConstants.ARM_PID);
IntakeConstants.ROLLER_PID.kP = IntakeConstants.roller_kP.get();
IntakeConstants.ROLLER_PID.kI = IntakeConstants.roller_kI.get();
IntakeConstants.ROLLER_PID.kD = IntakeConstants.roller_kD.get();
m_rollerMotor.getConfigurator().apply(IntakeConstants.ROLLER_PID);
}
}
src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+4 -10
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@@ -25,8 +25,8 @@ public class ShooterConstants {
public static final ConfigurableDouble SHOOTER_ACTIVE_VELOCITY = new ConfigurableDouble("Shooter Active Velocity", -35);
public static final ConfigurableDouble SHOOTER_RESTING_VELOCITY = new ConfigurableDouble("Shooter Resting Velocity", -10);
public static final ConfigurableDouble INDEXER_FORWARD_OUTPUT = new ConfigurableDouble("Indexer FWD Velocity", -10);
public static final ConfigurableDouble INDEXER_REVERSE_OUTPUT = new ConfigurableDouble("Indexer reverse Velocity", 10);
public static final ConfigurableDouble INDEXER_FORWARD_OUTPUT = new ConfigurableDouble("Indexer FWD % Output", -0.1);
public static final ConfigurableDouble INDEXER_REVERSE_OUTPUT = new ConfigurableDouble("Indexer reverse % Output", 0.1);
// Tolerances
@@ -48,16 +48,10 @@ public class ShooterConstants {
.withKI(0.1)
.withKD(0.08);
public static Slot0Configs INDEXER_PID = new Slot0Configs()
.withKV(0.0)
.withKP(0.0)
.withKI(0.0)
.withKD(0.2);
public static ConfigurableDouble indexer_kP = new ConfigurableDouble("Indexer KP", 0.2);
public static ConfigurableDouble indexer_kI = new ConfigurableDouble("Indexer KI", 0);
public static ConfigurableDouble indexer_kD = new ConfigurableDouble("Indexer KD", 0);
public static ConfigurableDouble shooter_kP = new ConfigurableDouble("Shooter KP", 0.08);
public static ConfigurableDouble shooter_kI = new ConfigurableDouble("Shooter KI", 0.1);
src/main/java/frc4388/robot/subsystems/shooter/ShooterReal.java
+2 -8
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@@ -13,7 +13,7 @@ public class ShooterReal implements ShooterIO {
VelocityDutyCycle shooter1Velocity = new VelocityDutyCycle(0);
VelocityDutyCycle shooter2Velocity = new VelocityDutyCycle(0);
VelocityDutyCycle m_indexerVelocity = new VelocityDutyCycle(0);
// VelocityDutyCycle m_indexerVelocity = new VelocityDutyCycle(0);
public ShooterReal(
@@ -27,7 +27,6 @@ public class ShooterReal implements ShooterIO {
m_shooter1Motor.getConfigurator().apply(ShooterConstants.SHOOTER_PID);
m_shooter2Motor.getConfigurator().apply(ShooterConstants.SHOOTER_PID);
m_indexerMotor.getConfigurator().apply(ShooterConstants.SHOOTER_PID);
m_shooter1Motor.getConfigurator().apply(ShooterConstants.SHOOTER1_MOTOR_CONFIG);
m_shooter2Motor.getConfigurator().apply(ShooterConstants.SHOOTER2_MOTOR_CONFIG);
@@ -35,7 +34,7 @@ public class ShooterReal implements ShooterIO {
shooter1Velocity.Slot = 0;
shooter2Velocity.Slot = 0;
m_indexerVelocity.Slot = 0;
// m_indexerVelocity.Slot = 0;
}
@Override
@@ -95,11 +94,6 @@ public class ShooterReal implements ShooterIO {
ShooterConstants.SHOOTER_PID.kD = ShooterConstants.shooter_kD.get();
m_shooter1Motor.getConfigurator().apply(ShooterConstants.SHOOTER_PID);
m_shooter2Motor.getConfigurator().apply(ShooterConstants.SHOOTER_PID);
ShooterConstants.INDEXER_PID.kP = ShooterConstants.indexer_kP.get();
ShooterConstants.INDEXER_PID.kI = ShooterConstants.indexer_kI.get();
ShooterConstants.INDEXER_PID.kD = ShooterConstants.indexer_kD.get();
m_indexerMotor.getConfigurator().apply(ShooterConstants.INDEXER_PID);
}
}