mirror of
https://github.com/Team4388/2026KPopRobotHunters.git
synced 2026-06-09 00:38:03 -06:00
Working robot in testing
This commit is contained in:
Michael Mikovsky
@@ -84,13 +84,13 @@ public class RobotMap {
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swerveDrivetrain = new SwerveReal(swerveDrivetrainReal);
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// Configure Shooter 22,23,24
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TalonFX shooter1 = new TalonFX(ShooterConstants.SHOOTER1_ID.id, Constants.RIO_CANBUS);
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TalonFX shooter2 = new TalonFX(ShooterConstants.SHOOTER2_ID.id, Constants.RIO_CANBUS);
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TalonFX indexer = new TalonFX(ShooterConstants.INDEXER_ID.id, Constants.RIO_CANBUS);
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TalonFX shooter1 = new TalonFX(ShooterConstants.SHOOTER1_ID.id, Constants.CANIVORE_CANBUS);
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TalonFX shooter2 = new TalonFX(ShooterConstants.SHOOTER2_ID.id, Constants.CANIVORE_CANBUS);
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TalonFX indexer = new TalonFX(ShooterConstants.INDEXER_ID.id, Constants.CANIVORE_CANBUS);
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//Configure Intake 20,21
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TalonFX arm = new TalonFX(IntakeConstants.ARM_ID.id, Constants.RIO_CANBUS);
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TalonFX roller = new TalonFX(IntakeConstants.ROLLER_ID.id, Constants.RIO_CANBUS);
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TalonFX arm = new TalonFX(IntakeConstants.ARM_ID.id, Constants.CANIVORE_CANBUS);
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TalonFX roller = new TalonFX(IntakeConstants.ROLLER_ID.id, Constants.CANIVORE_CANBUS);
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// DigitalInput basinLimitSwitch = new DigitalInput(ElevatorConstants.BASIN_LIMIT_SWITCH);
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// DigitalInput endeffectorLimitSwitch = new DigitalInput(ElevatorConstants.ENDEFFECTOR_LIMIT_SWITCH);
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@@ -7,12 +7,12 @@ public final class BuildConstants {
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public static final String MAVEN_GROUP = "";
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public static final String MAVEN_NAME = "2026KPopRobotHunters";
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public static final String VERSION = "unspecified";
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public static final int GIT_REVISION = 36;
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public static final String GIT_SHA = "d90bddac0fff1c8f1bb6dd9a6b4a862c822a005a";
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public static final String GIT_DATE = "2026-02-09 17:03:48 MST";
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public static final int GIT_REVISION = 38;
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public static final String GIT_SHA = "6ce6d0eb0b8faec5af448ec23ffca156303cbed5";
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public static final String GIT_DATE = "2026-02-09 19:38:55 MST";
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public static final String GIT_BRANCH = "arm-test";
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public static final String BUILD_DATE = "2026-02-09 18:14:36 MST";
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public static final long BUILD_UNIX_TIME = 1770686076395L;
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public static final String BUILD_DATE = "2026-02-10 17:12:07 MST";
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public static final long BUILD_UNIX_TIME = 1770768727439L;
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public static final int DIRTY = 1;
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private BuildConstants(){}
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@@ -33,17 +33,10 @@ public class Intake extends SubsystemBase {
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Retracted,
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}
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private IntakeMode mode = IntakeMode.Extended;
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public void setMode(IntakeMode mode) {
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switch (mode) {
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case Extended:
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io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_EXTENDED.get()));
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io.setRollerVelocity(state, RotationsPerSecond.of(IntakeConstants.ROLLER_ACTIVE.get()));
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break;
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case Retracted:
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io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_RETRACTED.get()));
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io.setRollerVelocity(state, RotationsPerSecond.of(0));
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break;
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}
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this.mode = mode;
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}
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@@ -70,6 +63,17 @@ public class Intake extends SubsystemBase {
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io.updateInputs(state);
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switch (mode) {
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case Extended:
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io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_EXTENDED.get()));
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io.setRollerVelocity(state, RotationsPerSecond.of(IntakeConstants.ROLLER_ACTIVE.get()));
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break;
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case Retracted:
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io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_RETRACTED.get()));
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io.setRollerVelocity(state, RotationsPerSecond.of(0));
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break;
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}
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}
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}
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@@ -18,8 +18,8 @@ import frc4388.utility.status.CanDevice;
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public class IntakeConstants {
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// Motor conversions
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public static final double ARM_MOTOR_GEAR_RATIO = 1/100;
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public static final double ROLLER_MOTOR_GEAR_RATIO = 1/3;
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public static final double ARM_MOTOR_GEAR_RATIO = 100;
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public static final double ROLLER_MOTOR_GEAR_RATIO = 3;
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//IDs
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@@ -37,8 +37,8 @@ public class IntakeConstants {
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// public static final Angle ARM_LIMIT_LOWER = Degrees.of(90);
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// public static final Angle ARM_LIMIT_UPPER = Degrees.of(-90);
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public static final ConfigurableDouble ARM_LIMIT_RETRACTED = new ConfigurableDouble("Arm angle retracted", 0);
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public static final ConfigurableDouble ARM_LIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 0.25);
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public static final ConfigurableDouble ARM_LIMIT_RETRACTED = new ConfigurableDouble("Arm angle retracted", -0.3);
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public static final ConfigurableDouble ARM_LIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 0);
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public static final ConfigurableDouble ROLLER_ACTIVE = new ConfigurableDouble("Rolelr Active", 10);
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// public static final ConfigurableDouble ROLL = new ConfigurableDouble("Arm angle extended", 0.25);
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@@ -58,8 +58,8 @@ public class IntakeConstants {
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.withKD(0.0);
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public static ConfigurableDouble arm_kP = new ConfigurableDouble("ARM KP", 0.2);
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public static ConfigurableDouble arm_kI = new ConfigurableDouble("ARM KP", 0);
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public static ConfigurableDouble arm_kD = new ConfigurableDouble("ARM KP", 0);
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public static ConfigurableDouble arm_kI = new ConfigurableDouble("ARM KI", 0);
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public static ConfigurableDouble arm_kD = new ConfigurableDouble("ARM KD", 0);
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public static ConfigurableDouble roller_kP = new ConfigurableDouble("Roller KP", 0.2);
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public static ConfigurableDouble roller_kI = new ConfigurableDouble("Roller KI", 0);
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@@ -65,7 +65,7 @@ public class IntakeReal implements IntakeIO {
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}
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// (REAL_ROT / SEC) * (MOTOR_ROT / REAL_ROT) = (MOTOR_ROT / SEC)
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AngularVelocity motorSpeed = angularVelocity.div(IntakeConstants.ROLLER_MOTOR_GEAR_RATIO);
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AngularVelocity motorSpeed = angularVelocity.times(IntakeConstants.ROLLER_MOTOR_GEAR_RATIO);
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// m_rollerMotor.set(motorSpeed);
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// VelocityDutyCycle velocity = new VelocityDutyCycle(motorSpeed);
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@@ -80,7 +80,7 @@ public class IntakeReal implements IntakeIO {
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// (REAL_ROT) * (MOTOR_ROT / REAL_ROT) = MOTOR_ROT
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Angle motorAngle = angle.div(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
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Angle motorAngle = angle.times(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
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// PositionDutyCycle posRequest = new PositionDutyCycle(motorTargetAngle);
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m_armMotor.setControl(armPosition.withPosition(motorAngle));
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@@ -88,10 +88,10 @@ public class IntakeReal implements IntakeIO {
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@Override
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public void updateInputs(IntakeState state) {
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state.armAngle = m_armMotor.getPosition().getValue().times(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
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state.armMotorCurrent = m_armMotor.getStatorCurrent(false).getValue();
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state.armAngle = m_armMotor.getPosition().getValue().div(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
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state.armMotorCurrent = m_armMotor.getStatorCurrent().getValue();
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state.rollerVelocity = m_rollerMotor.getVelocity().getValue();
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state.rollerVelocity = m_rollerMotor.getVelocity().getValue().div(IntakeConstants.ROLLER_MOTOR_GEAR_RATIO);
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state.rollerMotorCurrent = m_rollerMotor.getStatorCurrent().getValue();
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}
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@@ -101,11 +101,11 @@ public class IntakeReal implements IntakeIO {
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IntakeConstants.ARM_PID.kP = IntakeConstants.arm_kP.get();
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IntakeConstants.ARM_PID.kI = IntakeConstants.arm_kI.get();
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IntakeConstants.ARM_PID.kD = IntakeConstants.arm_kD.get();
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m_armMotor.getConfigurator().apply(IntakeConstants.ARM_MOTOR_CONFIG);
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m_armMotor.getConfigurator().apply(IntakeConstants.ARM_PID);
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IntakeConstants.ROLLER_PID.kP = IntakeConstants.roller_kP.get();
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IntakeConstants.ROLLER_PID.kI = IntakeConstants.roller_kI.get();
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IntakeConstants.ROLLER_PID.kD = IntakeConstants.roller_kD.get();
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m_rollerMotor.getConfigurator().apply(IntakeConstants.ROLLER_MOTOR_CONFIG);
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m_rollerMotor.getConfigurator().apply(IntakeConstants.ROLLER_PID);
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}
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}
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@@ -40,25 +40,10 @@ public class Shooter extends SubsystemBase {
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Inactive,
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}
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private ShooterMode mode = ShooterMode.Inactive;
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public void setMode(ShooterMode mode) {
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switch (mode) {
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case Active:
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io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_ACTIVE_VELOCITY.get()));
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// io.setMotor2Velocity(state, ShooterConstants.SHOOTER_ACTIVE_VELOCITY);
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io.setIndexerVelocity(state, RotationsPerSecond.of(ShooterConstants.INDEXER_ACTIVE_VELOCITY.get()));
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break;
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case Resting:
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io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_RESTING_VELOCITY.get()));
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// io.setMotor2Velocity(state, ShooterConstants.SHOOTER_RESTING_VELOCITY);
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io.setIndexerVelocity(state, RotationsPerSecond.of(0));
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break;
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case Inactive:
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io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_RESTING_VELOCITY.get()));
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// io.setMotor2Velocity(state, ShooterConstants.SHOOTER_RESTING_VELOCITY);
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io.setIndexerVelocity(state, RotationsPerSecond.of(0));
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break;
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}
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this.mode = mode;
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}
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// Calculate what should be done based off of the position of the robot
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@@ -83,5 +68,23 @@ public class Shooter extends SubsystemBase {
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io.updateInputs(state);
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switch (mode) {
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case Active:
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io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_ACTIVE_VELOCITY.get()));
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// io.setMotor2Velocity(state, ShooterConstants.SHOOTER_ACTIVE_VELOCITY);
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io.setIndexerVelocity(state, RotationsPerSecond.of(ShooterConstants.INDEXER_ACTIVE_VELOCITY.get()));
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break;
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case Resting:
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io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_RESTING_VELOCITY.get()));
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// io.setMotor2Velocity(state, ShooterConstants.SHOOTER_RESTING_VELOCITY);
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io.setIndexerVelocity(state, RotationsPerSecond.of(0));
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break;
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case Inactive:
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io.setShooterVelocity(state, RotationsPerSecond.of(0));
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// io.setMotor2Velocity(state, ShooterConstants.SHOOTER_RESTING_VELOCITY);
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io.setIndexerVelocity(state, RotationsPerSecond.of(0));
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break;
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}
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}
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}
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@@ -14,7 +14,7 @@ import edu.wpi.first.units.measure.AngularVelocity;
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import frc4388.utility.configurable.ConfigurableDouble;
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import frc4388.utility.status.CanDevice;
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public class ShooterConstants {
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public class ShooterConstants {
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// Motor conversions
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public static final double FEEDER_INCHES_PER_ROT = 1.;
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@@ -33,25 +33,25 @@ public class ShooterConstants {
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public static final ConfigurableDouble SHOOTER_RESTING_VELOCITY = new ConfigurableDouble("Shooter Resting Velocity", 15);
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// public static final ConfigurableDouble SHOOTER_INACTIVE_VELOCITY = new ConfigurableDouble("Shooter Inactive Velocity", 0);
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public static final ConfigurableDouble INDEXER_ACTIVE_VELOCITY = new ConfigurableDouble("Shooter Active Velocity", 10);
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public static final ConfigurableDouble INDEXER_ACTIVE_VELOCITY = new ConfigurableDouble("Indexer Active Velocity", 10);
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// public static final ConfigurableDouble INDEXER_INACTIVE_VELOCITY = new ConfigurableDouble("Shooter Inactive Velocity", 0);
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public static Slot0Configs SHOOTER_PID = new Slot0Configs()
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.withKV(0.0)
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.withKP(0.0)
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.withKI(0.0)
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.withKD(0.0);
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.withKD(0.2);
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public static Slot0Configs INDEXER_PID = new Slot0Configs()
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.withKV(0.0)
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.withKP(0.0)
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.withKI(0.0)
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.withKD(0.0);
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.withKD(0.2);
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public static ConfigurableDouble indexer_kP = new ConfigurableDouble("Indexer KP", 0.2);
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public static ConfigurableDouble indexer_kI = new ConfigurableDouble("Indexer KP", 0);
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public static ConfigurableDouble indexer_kD = new ConfigurableDouble("Indexer KP", 0);
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public static ConfigurableDouble indexer_kI = new ConfigurableDouble("Indexer KI", 0);
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public static ConfigurableDouble indexer_kD = new ConfigurableDouble("Indexer KD", 0);
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public static ConfigurableDouble shooter_kP = new ConfigurableDouble("Shooter KP", 0.2);
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public static ConfigurableDouble shooter_kI = new ConfigurableDouble("Shooter KI", 0);
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@@ -100,7 +100,7 @@ public class ShooterReal implements ShooterIO {
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return;
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}
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AngularVelocity motorRps = target.div(ShooterConstants.INDEXER_GEAR_RATIO);
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AngularVelocity motorRps = target.times(ShooterConstants.INDEXER_GEAR_RATIO);
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m_shooter1Motor.setControl(shooter1Velocity.withVelocity(motorRps));
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m_shooter2Motor.setControl(shooter2Velocity.withVelocity(motorRps));
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@@ -109,7 +109,13 @@ public class ShooterReal implements ShooterIO {
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@Override
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public void setIndexerVelocity(ShooterState state, AngularVelocity target) {
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state.indexerTargetVelocity = target;
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AngularVelocity motorRps = target.div(ShooterConstants.INDEXER_GEAR_RATIO);
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if(target.baseUnitMagnitude() == 0) {
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m_indexerMotor.set(0);
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return;
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}
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AngularVelocity motorRps = target.times(ShooterConstants.INDEXER_GEAR_RATIO);
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m_indexerMotor.setControl(m_indexerVelocity.withVelocity(motorRps));
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}
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@@ -117,9 +123,9 @@ public class ShooterReal implements ShooterIO {
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@Override
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public void updateInputs(ShooterState state) {
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state.motor1Velocity = m_shooter1Motor.getVelocity().getValue().times(ShooterConstants.SHOOTERMOTOR1_GEAR_RATIO);
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state.motor2Velocity = m_shooter2Motor.getVelocity().getValue().times(ShooterConstants.SHOOTERMOTOR2_GEAR_RATIO);
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state.indexerVelocity = m_indexerMotor.getVelocity().getValue().times(ShooterConstants.INDEXER_GEAR_RATIO);
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state.motor1Velocity = m_shooter1Motor.getVelocity().getValue().div(ShooterConstants.SHOOTERMOTOR1_GEAR_RATIO);
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state.motor2Velocity = m_shooter2Motor.getVelocity().getValue().div(ShooterConstants.SHOOTERMOTOR2_GEAR_RATIO);
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state.indexerVelocity = m_indexerMotor.getVelocity().getValue().div(ShooterConstants.INDEXER_GEAR_RATIO);
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// state.motorLinearVelocity = InchesPerSecond.of(m_shooter1Motor.getVelocity().getValue().in(RotationsPerSecond) * ShooterConstants.FEEDER_INCHES_PER_ROT);
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