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Merge branch 'shoot-button' into operator-controls

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This commit is contained in:
SHikhar
2026-02-14 15:05:25 -07:00
parent 8f595e8741 da6f9b50b5
commit 7f251857dc
6 changed files with 61 additions and 61 deletions
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src/main/java/frc4388/robot/subsystems/LED.java
+1
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@@ -49,6 +49,7 @@ public class LED extends SubsystemBase implements Queryable {
}
}
@AutoLogOutput
public String getMode(){
return mode.name();
}
src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+1 -1
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@@ -53,7 +53,7 @@ public class IntakeConstants {
.withKI(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", 0.1);
public static ConfigurableDouble arm_kI = new ConfigurableDouble("ARM KI", 0);
public static ConfigurableDouble arm_kD = new ConfigurableDouble("ARM KD", 0);
src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
+44 -43
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@@ -61,9 +61,9 @@ public class Shooter extends SubsystemBase {
private ShooterMode mode = ShooterMode.NotReady;
public void setShooterReady() {
// if(this.mode == ShooterMode.NotReady) {
this.mode = ShooterMode.Shooting;
// }
if(this.mode == ShooterMode.NotReady) {
this.mode = ShooterMode.Ready;
}
}
public void setShooterNotReady() {
@@ -98,52 +98,53 @@ public class Shooter extends SubsystemBase {
// TODO: get if the robot is within the angle of the hub
// boolean driverError =
// XYSpeed <= ShooterConstants.ROBOT_SPEED_TOLERANCE.get() |
// AngSpeed <= ShooterConstants.ROBOT_ANG_SPEED_TOLERANCE.get() |
// distanceToHub <= ShooterConstants.ROBOT_MIN_HUB.get() |
// distanceToHub >= ShooterConstants.ROBOT_MAX_HUB.get();
boolean driverError = false;
// XYSpeed <= ShooterConstants.ROBOT_SPEED_TOLERANCE.get() |
// AngSpeed <= ShooterConstants.ROBOT_ANG_SPEED_TOLERANCE.get() |
// distanceToHub <= ShooterConstants.ROBOT_MIN_HUB.get() |
// distanceToHub >= ShooterConstants.ROBOT_MAX_HUB.get();
// double shooterSpeed = Math.abs(state.motor1Velocity.in(RotationsPerSecond) + state.motor2Velocity.in(RotationsPerSecond)) / 2;
double shooterSpeed = Math.abs(state.motor1Velocity.in(RotationsPerSecond) + state.motor2Velocity.in(RotationsPerSecond)) / 2;
double shooterSpeedTarget = Math.abs(state.motor1TargetVelocity.in(RotationsPerSecond) + state.motor2TargetVelocity.in(RotationsPerSecond)) / 2;
// boolean badShooterVelocity = shooterSpeed < ShooterConstants.SHOOTER_SPEED_TOLERANCE.get();
// boolean intakeBad = m_Intake.getMode() == IntakeMode.Extended;
boolean badShooterVelocity = Math.abs(shooterSpeed - shooterSpeedTarget) > ShooterConstants.SHOOTER_SPEED_TOLERANCE.get();
// boolean intakeBad = m_Intake.getMode() == IntxakeMode.Extended;
// int bitmask = (driverError ? 1 : 0) + (badShooterVelocity ? 2 : 0) + (intakeBad ? 4 : 0);
// switch (bitmask) {
// case 0b000: // No Errors
// m_robotLED.setMode(Constants.LEDConstants.OPREADY);
// break;
// case 0b001: // No op err, yes driver err
// m_robotLED.setMode(Constants.LEDConstants.OPREADY_BADPHYS);
// break;
// case 0b010: // Bad flywheel, no driver err
// m_robotLED.setMode(Constants.LEDConstants.BAD_FLYWEEL);
// break;
// case 0b011: // Bad flywheel, yes driver err
// m_robotLED.setMode(Constants.LEDConstants.BAD_FLYWEEL_BADPHYS);
// break;
// case 0b100: // Bad intake, no driver err
// m_robotLED.setMode(Constants.LEDConstants.INTAKE_OUT);
// break;
// case 0b101: // Bad intake, yes driver err
// m_robotLED.setMode(Constants.LEDConstants.INTAKE_OUT_BADPHYS);
// break;
// case 0b110: // Bad intake and shooter (intake is more important), no driver err
// m_robotLED.setMode(Constants.LEDConstants.INTAKE_OUT);
// break;
// case 0b111: // Bad intake and shooter (intake is more important), yes driver err
// m_robotLED.setMode(Constants.LEDConstants.INTAKE_OUT_BADPHYS);
// break;
// }
int bitmask = (driverError ? 1 : 0) + (badShooterVelocity ? 2 : 0);// + (intakeBad ? 4 : 0);
switch (bitmask) {
case 0b000: // No Errors
m_robotLED.setMode(Constants.LEDConstants.OPREADY);
break;
case 0b001: // No op err, yes driver err
m_robotLED.setMode(Constants.LEDConstants.OPREADY_BADPHYS);
break;
case 0b010: // Bad flywheel, no driver err
m_robotLED.setMode(Constants.LEDConstants.BAD_FLYWEEL);
break;
case 0b011: // Bad flywheel, yes driver err
m_robotLED.setMode(Constants.LEDConstants.BAD_FLYWEEL_BADPHYS);
break;
case 0b100: // Bad intake, no driver err
m_robotLED.setMode(Constants.LEDConstants.INTAKE_OUT);
break;
case 0b101: // Bad intake, yes driver err
m_robotLED.setMode(Constants.LEDConstants.INTAKE_OUT_BADPHYS);
break;
case 0b110: // Bad intake and shooter (intake is more important), no driver err
m_robotLED.setMode(Constants.LEDConstants.INTAKE_OUT);
break;
case 0b111: // Bad intake and shooter (intake is more important), yes driver err
m_robotLED.setMode(Constants.LEDConstants.INTAKE_OUT_BADPHYS);
break;
}
// // We set the shooter mode to ready if there are no errors
// mode = (
// bitmask == 0 ?
// ShooterMode.Ready :
// ShooterMode.NotReady
// );
mode = (
bitmask == 0 ?
ShooterMode.Shooting :
ShooterMode.Ready
);
}
src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+6 -8
View File
@@ -12,9 +12,7 @@ import frc4388.utility.status.CanDevice;
public class ShooterConstants {
// Motor conversions
public static final double FEEDER_INCHES_PER_ROT = 1.;
public static final double SHOOTERMOTOR1_GEAR_RATIO = 1.;
public static final double SHOOTERMOTOR2_GEAR_RATIO = 1.;
public static final double SHOOTERMOTOR_GEAR_RATIO = 1.5;
public static final double INDEXER_GEAR_RATIO = 1.;
// public static final AngularVelocity SHOOTER_ACTIVE_VELOCITY = RotationsPerSecond.of(30);
@@ -40,15 +38,15 @@ public class ShooterConstants {
public static final ConfigurableDouble ROBOT_SPEED_TOLERANCE = new ConfigurableDouble("Speed tolerance MS", 1);
public static final ConfigurableDouble ROBOT_ANG_SPEED_TOLERANCE = new ConfigurableDouble("Shoot Ang speed tolerance DEG", 3);
public static final ConfigurableDouble SHOOTER_SPEED_TOLERANCE = new ConfigurableDouble("Shooter speed tolerance RPS", 1);
public static final ConfigurableDouble SHOOTER_SPEED_TOLERANCE = new ConfigurableDouble("Shooter speed tolerance RPS", 5);
public static Slot0Configs SHOOTER_PID = new Slot0Configs()
.withKV(0.0)
.withKP(0.0)
.withKI(0.0)
.withKD(0.2);
.withKI(0.1)
.withKD(0.08);
public static Slot0Configs INDEXER_PID = new Slot0Configs()
.withKV(0.0)
@@ -61,8 +59,8 @@ public class ShooterConstants {
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", 0.2);
public static ConfigurableDouble shooter_kI = new ConfigurableDouble("Shooter KI", 0);
public static ConfigurableDouble shooter_kP = new ConfigurableDouble("Shooter KP", 0.08);
public static ConfigurableDouble shooter_kI = new ConfigurableDouble("Shooter KI", 0.1);
public static ConfigurableDouble shooter_kD = new ConfigurableDouble("Shooter KD", 0);
// Limits
src/main/java/frc4388/robot/subsystems/shooter/ShooterReal.java
+3 -3
View File
@@ -49,7 +49,7 @@ public class ShooterReal implements ShooterIO {
return;
}
AngularVelocity motorRps = target.times(ShooterConstants.INDEXER_GEAR_RATIO);
AngularVelocity motorRps = target.times(ShooterConstants.SHOOTERMOTOR_GEAR_RATIO);
m_shooter1Motor.setControl(shooter1Velocity.withVelocity(motorRps));
m_shooter2Motor.setControl(shooter2Velocity.withVelocity(motorRps));
@@ -72,8 +72,8 @@ public class ShooterReal implements ShooterIO {
@Override
public void updateInputs(ShooterState state) {
state.motor1Velocity = m_shooter1Motor.getVelocity().getValue().div(ShooterConstants.SHOOTERMOTOR1_GEAR_RATIO);
state.motor2Velocity = m_shooter2Motor.getVelocity().getValue().div(ShooterConstants.SHOOTERMOTOR2_GEAR_RATIO);
state.motor1Velocity = m_shooter1Motor.getVelocity().getValue().div(ShooterConstants.SHOOTERMOTOR_GEAR_RATIO);
state.motor2Velocity = m_shooter2Motor.getVelocity().getValue().div(ShooterConstants.SHOOTERMOTOR_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);