Team4388/2026KPopRobotHunters
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Add JankCoder

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This commit is contained in:
Shatcar
2026-03-28 13:30:33 -06:00
parent aead1c165a
commit d010829c21
7 changed files with 150 additions and 16 deletions
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src/main/java/frc4388/robot/RobotMap.java
+3 -3
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@@ -34,6 +34,7 @@ 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.compute.JankCoder;
import frc4388.utility.status.FaultCANCoder;
import frc4388.utility.status.FaultPhotonCamera;
import frc4388.utility.status.FaultPidgeon2;
@@ -106,11 +107,10 @@ public class RobotMap {
// DigitalInput endeffectorLimitSwitch = new DigitalInput(ElevatorConstants.ENDEFFECTOR_LIMIT_SWITCH);
// DigitalInput IRIntakeBeam = new DigitalInput(ElevatorConstants.INTAKE_LIMIT_SWITCH);
// shooterIO = new ShooterIO() {};
shooterIO = new ShooterReal(shooter1, shooter2, indexer);
JankCoder armEncoder = new JankCoder(0, IntakeConstants.ARM_ENCODER_OFFSET);
intakeIO = new IntakeReal(arm, roller);
intakeIO = new IntakeReal(arm, roller, armEncoder);
// Fault
FaultPidgeon2.addDevice(swerveDrivetrainReal.getPigeon2(), "Gyro");
src/main/java/frc4388/robot/subsystems/intake/Intake.java
+4 -4
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@@ -44,7 +44,7 @@ public class Intake extends SubsystemBase {
switch (mode) {
case Bouncing:
// When bounce is enabled: set the bounce timer
this.state.currentBounceTime = Utils.getSystemTimeSeconds() + IntakeConstants.BOUNCE_HALF_PERIOD;
this.state.currentBounceTime = Utils.getSystemTimeSeconds() + IntakeConstants.INTAKE_BOUNCE_HALF_PERIOD.get();
break;
default:
break;
@@ -118,15 +118,15 @@ public class Intake extends SubsystemBase {
state.armMotorCurrent.in(Amps) < IntakeConstants.INTAKE_BOUNCE_CURRENT_LIMIT.get() &&
state.armMotorVelocity.in(RotationsPerSecond) < IntakeConstants.INTAKE_BOUNCE_VELOCITY_LIMIT.get()
) {
this.state.currentBounceTime = Utils.getSystemTimeSeconds() + IntakeConstants.BOUNCE_HALF_PERIOD;
this.state.currentBounceTime = Utils.getSystemTimeSeconds() + IntakeConstants.INTAKE_BOUNCE_HALF_PERIOD.get();
}
// Get the time delta from the last bounce time update
double currentTime = Utils.getSystemTimeSeconds() - state.currentBounceTime;
// Get the percentage through the bounce period (0 output means one half period has passed)
double percentOutput = (currentTime / IntakeConstants.BOUNCE_HALF_PERIOD) * IntakeConstants.INTAKE_BOUNCE_OUTPUT;
double percentOutput = (currentTime / IntakeConstants.INTAKE_BOUNCE_HALF_PERIOD.get()) * IntakeConstants.INTAKE_BOUNCE_OUTPUT.get();
// Clamp the output of the motor to some value
percentOutput = Math.max(Math.min(percentOutput, IntakeConstants.INTAKE_BOUNCE_MAX_OUTPUT), -IntakeConstants.INTAKE_BOUNCE_MAX_OUTPUT);
percentOutput = Math.max(Math.min(percentOutput, IntakeConstants.INTAKE_BOUNCE_MAX_OUTPUT.get()), -IntakeConstants.INTAKE_BOUNCE_MAX_OUTPUT.get());
io.armOutput(percentOutput);
break;
src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+7 -5
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@@ -13,11 +13,13 @@ public class IntakeConstants {
public static final double ARM_MOTOR_GEAR_RATIO = 125;
public static final double ROLLER_MOTOR_GEAR_RATIO = 3;
public static final double ARM_ENCODER_OFFSET = 0.;
public static final double BOUNCE_HALF_PERIOD = 5.;
public static final double INTAKE_BOUNCE_OUTPUT = 0.2;
public static final double INTAKE_BOUNCE_MAX_OUTPUT = 0.5;
public static final ConfigurableDouble INTAKE_BOUNCE_HALF_PERIOD = new ConfigurableDouble("Bounce Half Period", 5.);
public static final ConfigurableDouble INTAKE_BOUNCE_OUTPUT = new ConfigurableDouble("Bounce Output", 0.2);
public static final ConfigurableDouble INTAKE_BOUNCE_MAX_OUTPUT = new ConfigurableDouble("Bounce Max Output", 0.5);
public static final ConfigurableDouble INTAKE_BOUNCE_CURRENT_LIMIT = new ConfigurableDouble("Intake Bounce Current Limit", 20);
public static final ConfigurableDouble INTAKE_BOUNCE_VELOCITY_LIMIT = new ConfigurableDouble("Intake Bounce Velocity Limit", 20);
@@ -27,7 +29,7 @@ public class IntakeConstants {
public static final CanDevice ARM_ID = new CanDevice("ARM", 20);
public static final CanDevice ROLLER_ID = new CanDevice("INTAKE_ROLLER", 21);
// public static final int ARM_LIMIT_SWITCH_CHANNEL = 9;
public static final int ARM_ENCODER_ID = 0;
// Limits
@@ -40,7 +42,7 @@ public class IntakeConstants {
// public static final Angle ARM_LIMIT_UPPER = Degrees.of(-90);
public static final ConfigurableDouble ARM_LIMIT_RETRACTED = new ConfigurableDouble("Arm angle retracted", 0.1);
public static final ConfigurableDouble ARM_ssLIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 0.33);
public static final ConfigurableDouble ARM_LIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 0.33);
public static final ConfigurableDouble ARM_EXTEND_PERCENT_OUTPUT = new ConfigurableDouble("Arm extend % output", 0.4);
public static final ConfigurableDouble ARM_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Arm retract % output", -0.4);
public static final ConfigurableDouble ROLLER_PERCENT_OUTPUT = new ConfigurableDouble("Roller Percent Output", .70);
src/main/java/frc4388/robot/subsystems/intake/IntakeIO.java
+4
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@@ -17,11 +17,15 @@ public interface IntakeIO {
public class IntakeState {
double currentBounceTime = 0;
boolean extendedLimit = false;
boolean retractedLimit = false;
Angle intakeEncoder = Rotations.of(0);
Angle armAngle = Rotations.of(0);
Angle armTargetAngle = Rotations.of(0);
Current armMotorCurrent = Amps.of(0);
AngularVelocity armMotorVelocity = RotationsPerSecond.of(0);
// AngularAcceleration armMotorAcceleration = RotationsPerSecondPerSecond.of(0);
src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java
+26 -3
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@@ -19,22 +19,24 @@ import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.Velocity;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.DutyCycleEncoder;
import frc4388.utility.compute.JankCoder;
public class IntakeReal implements IntakeIO {
SparkMax m_armMotor;
SparkMax m_rollerMotor;
DutyCycleEncoder encoder;
JankCoder m_encoder;
public IntakeReal(
// DigitalInput armLimitSwitch,
SparkMax armMotor,
SparkMax rollerMotor
SparkMax rollerMotor,
JankCoder jankCoder
) {
// m_angleMotor = angleMotor;
// m_pitchMotor = pitchMotor;
m_armMotor = armMotor;
m_rollerMotor = rollerMotor;
m_encoder = jankCoder;
// m_armLimitSwitch = armLimitSwitch;
}
@@ -74,9 +76,24 @@ public class IntakeReal implements IntakeIO {
// m_rollerMotor.set(0);
}
private boolean retractedLimit() {
return m_encoder.get() >= IntakeConstants.ARM_LIMIT_EXTENDED.get();
}
private boolean extendedLimit() {
return m_encoder.get() <= IntakeConstants.ARM_LIMIT_RETRACTED.get();
}
@Override
public void armOutput(double percentOutput){
if(retractedLimit()) {
percentOutput = Math.max(percentOutput, 0);
} else if (extendedLimit()) {
percentOutput = Math.min(percentOutput, 0);
}
m_armMotor.set(percentOutput);
}
@Override
@@ -89,6 +106,12 @@ public class IntakeReal implements IntakeIO {
state.rollerOutput = m_rollerMotor.get();
state.rollerMotorCurrent = Amps.of(m_rollerMotor.getOutputCurrent());
state.retractedLimit = retractedLimit();
state.extendedLimit = extendedLimit();
state.armAngle = m_encoder.getRotations();
// if(state.retractedLimit) {
// // Set the arm motor to be zero if the limit switch is pressed