Team4388/2026KPopRobotHunters
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Working robot in testing

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This commit is contained in:
Michael Mikovsky
2026-02-10 17:33:39 -08:00
parent 6ce6d0eb0b
commit 539c1bd8eb
8 changed files with 74 additions and 61 deletions
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src/main/java/frc4388/robot/RobotMap.java
+5 -5
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@@ -84,13 +84,13 @@ public class RobotMap {
swerveDrivetrain = new SwerveReal(swerveDrivetrainReal); swerveDrivetrain = new SwerveReal(swerveDrivetrainReal);
// Configure Shooter 22,23,24 // Configure Shooter 22,23,24
TalonFX shooter1 = new TalonFX(ShooterConstants.SHOOTER1_ID.id, Constants.RIO_CANBUS); TalonFX shooter1 = new TalonFX(ShooterConstants.SHOOTER1_ID.id, Constants.CANIVORE_CANBUS);
TalonFX shooter2 = new TalonFX(ShooterConstants.SHOOTER2_ID.id, Constants.RIO_CANBUS); TalonFX shooter2 = new TalonFX(ShooterConstants.SHOOTER2_ID.id, Constants.CANIVORE_CANBUS);
TalonFX indexer = new TalonFX(ShooterConstants.INDEXER_ID.id, Constants.RIO_CANBUS); TalonFX indexer = new TalonFX(ShooterConstants.INDEXER_ID.id, Constants.CANIVORE_CANBUS);
//Configure Intake 20,21 //Configure Intake 20,21
TalonFX arm = new TalonFX(IntakeConstants.ARM_ID.id, Constants.RIO_CANBUS); TalonFX arm = new TalonFX(IntakeConstants.ARM_ID.id, Constants.CANIVORE_CANBUS);
TalonFX roller = new TalonFX(IntakeConstants.ROLLER_ID.id, Constants.RIO_CANBUS); TalonFX roller = new TalonFX(IntakeConstants.ROLLER_ID.id, Constants.CANIVORE_CANBUS);
// DigitalInput basinLimitSwitch = new DigitalInput(ElevatorConstants.BASIN_LIMIT_SWITCH); // DigitalInput basinLimitSwitch = new DigitalInput(ElevatorConstants.BASIN_LIMIT_SWITCH);
// DigitalInput endeffectorLimitSwitch = new DigitalInput(ElevatorConstants.ENDEFFECTOR_LIMIT_SWITCH); // DigitalInput endeffectorLimitSwitch = new DigitalInput(ElevatorConstants.ENDEFFECTOR_LIMIT_SWITCH);
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_GROUP = "";
public static final String MAVEN_NAME = "2026KPopRobotHunters"; public static final String MAVEN_NAME = "2026KPopRobotHunters";
public static final String VERSION = "unspecified"; public static final String VERSION = "unspecified";
public static final int GIT_REVISION = 36; public static final int GIT_REVISION = 38;
public static final String GIT_SHA = "d90bddac0fff1c8f1bb6dd9a6b4a862c822a005a"; public static final String GIT_SHA = "6ce6d0eb0b8faec5af448ec23ffca156303cbed5";
public static final String GIT_DATE = "2026-02-09 17:03:48 MST"; public static final String GIT_DATE = "2026-02-09 19:38:55 MST";
public static final String GIT_BRANCH = "arm-test"; public static final String GIT_BRANCH = "arm-test";
public static final String BUILD_DATE = "2026-02-09 18:14:36 MST"; public static final String BUILD_DATE = "2026-02-10 17:12:07 MST";
public static final long BUILD_UNIX_TIME = 1770686076395L; public static final long BUILD_UNIX_TIME = 1770768727439L;
public static final int DIRTY = 1; public static final int DIRTY = 1;
private BuildConstants(){} private BuildConstants(){}
src/main/java/frc4388/robot/subsystems/intake/Intake.java
+14 -10
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@@ -33,17 +33,10 @@ public class Intake extends SubsystemBase {
Retracted, Retracted,
} }
private IntakeMode mode = IntakeMode.Extended;
public void setMode(IntakeMode mode) { public void setMode(IntakeMode mode) {
switch (mode) { this.mode = mode;
case Extended:
io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_EXTENDED.get()));
io.setRollerVelocity(state, RotationsPerSecond.of(IntakeConstants.ROLLER_ACTIVE.get()));
break;
case Retracted:
io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_RETRACTED.get()));
io.setRollerVelocity(state, RotationsPerSecond.of(0));
break;
}
} }
@@ -70,6 +63,17 @@ public class Intake extends SubsystemBase {
io.updateInputs(state); io.updateInputs(state);
switch (mode) {
case Extended:
io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_EXTENDED.get()));
io.setRollerVelocity(state, RotationsPerSecond.of(IntakeConstants.ROLLER_ACTIVE.get()));
break;
case Retracted:
io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_RETRACTED.get()));
io.setRollerVelocity(state, RotationsPerSecond.of(0));
break;
}
} }
} }
src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+6 -6
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@@ -18,8 +18,8 @@ import frc4388.utility.status.CanDevice;
public class IntakeConstants { public class IntakeConstants {
// Motor conversions // Motor conversions
public static final double ARM_MOTOR_GEAR_RATIO = 1/100; public static final double ARM_MOTOR_GEAR_RATIO = 100;
public static final double ROLLER_MOTOR_GEAR_RATIO = 1/3; public static final double ROLLER_MOTOR_GEAR_RATIO = 3;
//IDs //IDs
@@ -37,8 +37,8 @@ public class IntakeConstants {
// public static final Angle ARM_LIMIT_LOWER = Degrees.of(90); // public static final Angle ARM_LIMIT_LOWER = Degrees.of(90);
// public static final Angle ARM_LIMIT_UPPER = 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); public static final ConfigurableDouble ARM_LIMIT_RETRACTED = new ConfigurableDouble("Arm angle retracted", -0.3);
public static final ConfigurableDouble ARM_LIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 0.25); public static final ConfigurableDouble ARM_LIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 0);
public static final ConfigurableDouble ROLLER_ACTIVE = new ConfigurableDouble("Rolelr Active", 10); public static final ConfigurableDouble ROLLER_ACTIVE = new ConfigurableDouble("Rolelr Active", 10);
// public static final ConfigurableDouble ROLL = new ConfigurableDouble("Arm angle extended", 0.25); // public static final ConfigurableDouble ROLL = new ConfigurableDouble("Arm angle extended", 0.25);
@@ -58,8 +58,8 @@ public class IntakeConstants {
.withKD(0.0); .withKD(0.0);
public static ConfigurableDouble arm_kP = new ConfigurableDouble("ARM KP", 0.2); public static ConfigurableDouble arm_kP = new ConfigurableDouble("ARM KP", 0.2);
public static ConfigurableDouble arm_kI = new ConfigurableDouble("ARM KP", 0); public static ConfigurableDouble arm_kI = new ConfigurableDouble("ARM KI", 0);
public static ConfigurableDouble arm_kD = new ConfigurableDouble("ARM KP", 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_kP = new ConfigurableDouble("Roller KP", 0.2);
public static ConfigurableDouble roller_kI = new ConfigurableDouble("Roller KI", 0); public static ConfigurableDouble roller_kI = new ConfigurableDouble("Roller KI", 0);
src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java
+7 -7
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@@ -65,7 +65,7 @@ public class IntakeReal implements IntakeIO {
} }
// (REAL_ROT / SEC) * (MOTOR_ROT / REAL_ROT) = (MOTOR_ROT / SEC) // (REAL_ROT / SEC) * (MOTOR_ROT / REAL_ROT) = (MOTOR_ROT / SEC)
AngularVelocity motorSpeed = angularVelocity.div(IntakeConstants.ROLLER_MOTOR_GEAR_RATIO); AngularVelocity motorSpeed = angularVelocity.times(IntakeConstants.ROLLER_MOTOR_GEAR_RATIO);
// m_rollerMotor.set(motorSpeed); // m_rollerMotor.set(motorSpeed);
// VelocityDutyCycle velocity = new VelocityDutyCycle(motorSpeed); // VelocityDutyCycle velocity = new VelocityDutyCycle(motorSpeed);
@@ -80,7 +80,7 @@ public class IntakeReal implements IntakeIO {
// (REAL_ROT) * (MOTOR_ROT / REAL_ROT) = MOTOR_ROT // (REAL_ROT) * (MOTOR_ROT / REAL_ROT) = MOTOR_ROT
Angle motorAngle = angle.div(IntakeConstants.ARM_MOTOR_GEAR_RATIO); Angle motorAngle = angle.times(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
// PositionDutyCycle posRequest = new PositionDutyCycle(motorTargetAngle); // PositionDutyCycle posRequest = new PositionDutyCycle(motorTargetAngle);
m_armMotor.setControl(armPosition.withPosition(motorAngle)); m_armMotor.setControl(armPosition.withPosition(motorAngle));
@@ -88,10 +88,10 @@ public class IntakeReal implements IntakeIO {
@Override @Override
public void updateInputs(IntakeState state) { public void updateInputs(IntakeState state) {
state.armAngle = m_armMotor.getPosition().getValue().times(IntakeConstants.ARM_MOTOR_GEAR_RATIO); state.armAngle = m_armMotor.getPosition().getValue().div(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
state.armMotorCurrent = m_armMotor.getStatorCurrent(false).getValue(); state.armMotorCurrent = m_armMotor.getStatorCurrent().getValue();
state.rollerVelocity = m_rollerMotor.getVelocity().getValue(); state.rollerVelocity = m_rollerMotor.getVelocity().getValue().div(IntakeConstants.ROLLER_MOTOR_GEAR_RATIO);
state.rollerMotorCurrent = m_rollerMotor.getStatorCurrent().getValue(); state.rollerMotorCurrent = m_rollerMotor.getStatorCurrent().getValue();
} }
@@ -101,11 +101,11 @@ public class IntakeReal implements IntakeIO {
IntakeConstants.ARM_PID.kP = IntakeConstants.arm_kP.get(); IntakeConstants.ARM_PID.kP = IntakeConstants.arm_kP.get();
IntakeConstants.ARM_PID.kI = IntakeConstants.arm_kI.get(); IntakeConstants.ARM_PID.kI = IntakeConstants.arm_kI.get();
IntakeConstants.ARM_PID.kD = IntakeConstants.arm_kD.get(); IntakeConstants.ARM_PID.kD = IntakeConstants.arm_kD.get();
m_armMotor.getConfigurator().apply(IntakeConstants.ARM_MOTOR_CONFIG); m_armMotor.getConfigurator().apply(IntakeConstants.ARM_PID);
IntakeConstants.ROLLER_PID.kP = IntakeConstants.roller_kP.get(); IntakeConstants.ROLLER_PID.kP = IntakeConstants.roller_kP.get();
IntakeConstants.ROLLER_PID.kI = IntakeConstants.roller_kI.get(); IntakeConstants.ROLLER_PID.kI = IntakeConstants.roller_kI.get();
IntakeConstants.ROLLER_PID.kD = IntakeConstants.roller_kD.get(); IntakeConstants.ROLLER_PID.kD = IntakeConstants.roller_kD.get();
m_rollerMotor.getConfigurator().apply(IntakeConstants.ROLLER_MOTOR_CONFIG); m_rollerMotor.getConfigurator().apply(IntakeConstants.ROLLER_PID);
} }
} }
src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
+20 -17
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@@ -40,25 +40,10 @@ public class Shooter extends SubsystemBase {
Inactive, Inactive,
} }
private ShooterMode mode = ShooterMode.Inactive;
public void setMode(ShooterMode mode) { public void setMode(ShooterMode mode) {
switch (mode) { this.mode = mode;
case Active:
io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_ACTIVE_VELOCITY.get()));
// io.setMotor2Velocity(state, ShooterConstants.SHOOTER_ACTIVE_VELOCITY);
io.setIndexerVelocity(state, RotationsPerSecond.of(ShooterConstants.INDEXER_ACTIVE_VELOCITY.get()));
break;
case Resting:
io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_RESTING_VELOCITY.get()));
// io.setMotor2Velocity(state, ShooterConstants.SHOOTER_RESTING_VELOCITY);
io.setIndexerVelocity(state, RotationsPerSecond.of(0));
break;
case Inactive:
io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_RESTING_VELOCITY.get()));
// io.setMotor2Velocity(state, ShooterConstants.SHOOTER_RESTING_VELOCITY);
io.setIndexerVelocity(state, RotationsPerSecond.of(0));
break;
}
} }
// Calculate what should be done based off of the position of the robot // Calculate what should be done based off of the position of the robot
@@ -83,5 +68,23 @@ public class Shooter extends SubsystemBase {
io.updateInputs(state); io.updateInputs(state);
switch (mode) {
case Active:
io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_ACTIVE_VELOCITY.get()));
// io.setMotor2Velocity(state, ShooterConstants.SHOOTER_ACTIVE_VELOCITY);
io.setIndexerVelocity(state, RotationsPerSecond.of(ShooterConstants.INDEXER_ACTIVE_VELOCITY.get()));
break;
case Resting:
io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_RESTING_VELOCITY.get()));
// io.setMotor2Velocity(state, ShooterConstants.SHOOTER_RESTING_VELOCITY);
io.setIndexerVelocity(state, RotationsPerSecond.of(0));
break;
case Inactive:
io.setShooterVelocity(state, RotationsPerSecond.of(0));
// io.setMotor2Velocity(state, ShooterConstants.SHOOTER_RESTING_VELOCITY);
io.setIndexerVelocity(state, RotationsPerSecond.of(0));
break;
}
} }
} }
src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+6 -6
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@@ -14,7 +14,7 @@ import edu.wpi.first.units.measure.AngularVelocity;
import frc4388.utility.configurable.ConfigurableDouble; import frc4388.utility.configurable.ConfigurableDouble;
import frc4388.utility.status.CanDevice; import frc4388.utility.status.CanDevice;
public class ShooterConstants { public class ShooterConstants {
// Motor conversions // Motor conversions
public static final double FEEDER_INCHES_PER_ROT = 1.; public static final double FEEDER_INCHES_PER_ROT = 1.;
@@ -33,25 +33,25 @@ public class ShooterConstants {
public static final ConfigurableDouble SHOOTER_RESTING_VELOCITY = new ConfigurableDouble("Shooter Resting Velocity", 15); public static final ConfigurableDouble SHOOTER_RESTING_VELOCITY = new ConfigurableDouble("Shooter Resting Velocity", 15);
// public static final ConfigurableDouble SHOOTER_INACTIVE_VELOCITY = new ConfigurableDouble("Shooter Inactive Velocity", 0); // public static final ConfigurableDouble SHOOTER_INACTIVE_VELOCITY = new ConfigurableDouble("Shooter Inactive Velocity", 0);
public static final ConfigurableDouble INDEXER_ACTIVE_VELOCITY = new ConfigurableDouble("Shooter Active Velocity", 10); public static final ConfigurableDouble INDEXER_ACTIVE_VELOCITY = new ConfigurableDouble("Indexer Active Velocity", 10);
// public static final ConfigurableDouble INDEXER_INACTIVE_VELOCITY = new ConfigurableDouble("Shooter Inactive Velocity", 0); // public static final ConfigurableDouble INDEXER_INACTIVE_VELOCITY = new ConfigurableDouble("Shooter Inactive Velocity", 0);
public static Slot0Configs SHOOTER_PID = new Slot0Configs() public static Slot0Configs SHOOTER_PID = new Slot0Configs()
.withKV(0.0) .withKV(0.0)
.withKP(0.0) .withKP(0.0)
.withKI(0.0) .withKI(0.0)
.withKD(0.0); .withKD(0.2);
public static Slot0Configs INDEXER_PID = new Slot0Configs() public static Slot0Configs INDEXER_PID = new Slot0Configs()
.withKV(0.0) .withKV(0.0)
.withKP(0.0) .withKP(0.0)
.withKI(0.0) .withKI(0.0)
.withKD(0.0); .withKD(0.2);
public static ConfigurableDouble indexer_kP = new ConfigurableDouble("Indexer KP", 0.2); public static ConfigurableDouble indexer_kP = new ConfigurableDouble("Indexer KP", 0.2);
public static ConfigurableDouble indexer_kI = new ConfigurableDouble("Indexer KP", 0); public static ConfigurableDouble indexer_kI = new ConfigurableDouble("Indexer KI", 0);
public static ConfigurableDouble indexer_kD = new ConfigurableDouble("Indexer KP", 0); public static ConfigurableDouble indexer_kD = new ConfigurableDouble("Indexer KD", 0);
public static ConfigurableDouble shooter_kP = new ConfigurableDouble("Shooter KP", 0.2); public static ConfigurableDouble shooter_kP = new ConfigurableDouble("Shooter KP", 0.2);
public static ConfigurableDouble shooter_kI = new ConfigurableDouble("Shooter KI", 0); public static ConfigurableDouble shooter_kI = new ConfigurableDouble("Shooter KI", 0);
src/main/java/frc4388/robot/subsystems/shooter/ShooterReal.java
+11 -5
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@@ -100,7 +100,7 @@ public class ShooterReal implements ShooterIO {
return; return;
} }
AngularVelocity motorRps = target.div(ShooterConstants.INDEXER_GEAR_RATIO); AngularVelocity motorRps = target.times(ShooterConstants.INDEXER_GEAR_RATIO);
m_shooter1Motor.setControl(shooter1Velocity.withVelocity(motorRps)); m_shooter1Motor.setControl(shooter1Velocity.withVelocity(motorRps));
m_shooter2Motor.setControl(shooter2Velocity.withVelocity(motorRps)); m_shooter2Motor.setControl(shooter2Velocity.withVelocity(motorRps));
@@ -109,7 +109,13 @@ public class ShooterReal implements ShooterIO {
@Override @Override
public void setIndexerVelocity(ShooterState state, AngularVelocity target) { public void setIndexerVelocity(ShooterState state, AngularVelocity target) {
state.indexerTargetVelocity = target; state.indexerTargetVelocity = target;
AngularVelocity motorRps = target.div(ShooterConstants.INDEXER_GEAR_RATIO);
if(target.baseUnitMagnitude() == 0) {
m_indexerMotor.set(0);
return;
}
AngularVelocity motorRps = target.times(ShooterConstants.INDEXER_GEAR_RATIO);
m_indexerMotor.setControl(m_indexerVelocity.withVelocity(motorRps)); m_indexerMotor.setControl(m_indexerVelocity.withVelocity(motorRps));
} }
@@ -117,9 +123,9 @@ public class ShooterReal implements ShooterIO {
@Override @Override
public void updateInputs(ShooterState state) { public void updateInputs(ShooterState state) {
state.motor1Velocity = m_shooter1Motor.getVelocity().getValue().times(ShooterConstants.SHOOTERMOTOR1_GEAR_RATIO); state.motor1Velocity = m_shooter1Motor.getVelocity().getValue().div(ShooterConstants.SHOOTERMOTOR1_GEAR_RATIO);
state.motor2Velocity = m_shooter2Motor.getVelocity().getValue().times(ShooterConstants.SHOOTERMOTOR2_GEAR_RATIO); state.motor2Velocity = m_shooter2Motor.getVelocity().getValue().div(ShooterConstants.SHOOTERMOTOR2_GEAR_RATIO);
state.indexerVelocity = m_indexerMotor.getVelocity().getValue().times(ShooterConstants.INDEXER_GEAR_RATIO); state.indexerVelocity = m_indexerMotor.getVelocity().getValue().div(ShooterConstants.INDEXER_GEAR_RATIO);
// state.motorLinearVelocity = InchesPerSecond.of(m_shooter1Motor.getVelocity().getValue().in(RotationsPerSecond) * ShooterConstants.FEEDER_INCHES_PER_ROT); // state.motorLinearVelocity = InchesPerSecond.of(m_shooter1Motor.getVelocity().getValue().in(RotationsPerSecond) * ShooterConstants.FEEDER_INCHES_PER_ROT);