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Shooter Groups Framework

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This commit is contained in:
ryan123rudder
2020-02-22 11:23:57 -07:00
parent 97d64f36ce
commit 0b77117f50
6 changed files with 103 additions and 34 deletions
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src/main/java/frc4388/robot/subsystems/Shooter.java
+29 -3
View File
@@ -29,12 +29,16 @@ import frc4388.utility.controller.IHandController;
public class Shooter extends SubsystemBase {
public WPI_TalonFX m_shooterFalcon = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_ID);
public CANSparkMax m_angleAdjustMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
CANPIDController m_angleAdjustPIDController = m_angleAdjustMotor.getPIDController();
CANEncoder m_angleEncoder = m_angleAdjustMotor.getEncoder();
public static Gains m_drumShooterGains = ShooterConstants.DRUM_SHOOTER_GAINS;
public static Gains m_angleAdjustGains = ShooterConstants.SHOOTER_ANGLE_GAINS;
public static Shooter m_shooter;
public static IHandController m_controller;
double velP;
double input;
public boolean velReached;
@@ -46,11 +50,11 @@ public class Shooter extends SubsystemBase {
*/
public Shooter() {
//Testing purposes reseting gyros
resetGyroAngleAdj();
m_shooterFalcon.configFactoryDefault();
m_shooterFalcon.setNeutralMode(NeutralMode.Coast);
m_shooterFalcon.setInverted(false);
m_angleAdjustMotor.setIdleMode(IdleMode.kBrake);
setShooterGains();
m_shooterFalcon.configPeakOutputReverse(0, ShooterConstants.SHOOTER_TIMEOUT_MS);
@@ -94,6 +98,23 @@ public class Shooter extends SubsystemBase {
m_shooterFalcon.config_kD(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kD, ShooterConstants.SHOOTER_TIMEOUT_MS);
}
/* Angle Adjustment PID Control */
public void runAngleAdjustPID(double targetAngle)
{
// Set PID Coefficients
m_angleAdjustPIDController.setP(m_angleAdjustGains.m_kP);
m_angleAdjustPIDController.setI(m_angleAdjustGains.m_kI);
m_angleAdjustPIDController.setD(m_angleAdjustGains.m_kD);
m_angleAdjustPIDController.setIZone(m_angleAdjustGains.m_kIzone);
m_angleAdjustPIDController.setFF(m_angleAdjustGains.m_kF);
m_angleAdjustPIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_angleAdjustGains.m_kPeakOutput);
// Convert input angle in degrees to rotations of the motor
targetAngle = targetAngle/ShooterConstants.DEGREES_PER_ROT;
m_angleAdjustPIDController.setReference(targetAngle, ControlType.kPosition);
}
/**
* Runs drum shooter velocity PID.
* @param falcon Motor to use
@@ -123,4 +144,9 @@ public class Shooter extends SubsystemBase {
velReached = false;
}
}
public void resetGyroAngleAdj()
{
m_angleEncoder.setPosition(0);
}
}
src/main/java/frc4388/robot/subsystems/ShooterAim.java
-30
View File
@@ -13,53 +13,29 @@ import com.revrobotics.CANSparkMax;
import com.revrobotics.ControlType;
import com.revrobotics.CANSparkMax.IdleMode;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Gains;
import frc4388.robot.Constants.ShooterConstants;
public class ShooterAim extends SubsystemBase {
public CANSparkMax m_angleAdjustMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
public CANSparkMax m_shooterRotateMotor = new CANSparkMax(ShooterConstants.SHOOTER_ROTATE_ID, MotorType.kBrushless);
public static Gains m_shooterTurretGains = ShooterConstants.SHOOTER_TURRET_GAINS;
// Configure PID Controllers
CANPIDController m_angleAdjustPIDController = m_angleAdjustMotor.getPIDController();
CANPIDController m_shooterRotatePIDController = m_shooterRotateMotor.getPIDController();
CANEncoder m_angleEncoder = m_angleAdjustMotor.getEncoder();
CANEncoder m_shooterRotateEncoder = m_shooterRotateMotor.getEncoder();
/**
* Creates a new ShooterAim.
*/
public ShooterAim() {
resetGyroAngleAdj();
resetGyroShooterRotate();
m_shooterRotateMotor.setIdleMode(IdleMode.kBrake);
m_angleAdjustMotor.setIdleMode(IdleMode.kBrake);
}
public void runShooterWithInput(double input) {
m_shooterRotateMotor.set(input);
}
/* Angle Adjustment PID Control */
public void runAngleAdjustPID(double targetAngle)
{
// Set PID Coefficients
m_angleAdjustPIDController.setP(m_shooterTurretGains.m_kP);
m_angleAdjustPIDController.setI(m_shooterTurretGains.m_kI);
m_angleAdjustPIDController.setD(m_shooterTurretGains.m_kD);
m_angleAdjustPIDController.setIZone(m_shooterTurretGains.m_kIzone);
m_angleAdjustPIDController.setFF(m_shooterTurretGains.m_kF);
m_angleAdjustPIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterTurretGains.m_kPeakOutput);
// Convert input angle in degrees to rotations of the motor
targetAngle = targetAngle/ShooterConstants.DEGREES_PER_ROT;
m_angleAdjustPIDController.setReference(targetAngle, ControlType.kPosition);
}
/* Rotate Shooter PID Control */
public void runshooterRotatePID(double targetAngle)
@@ -78,12 +54,6 @@ public class ShooterAim extends SubsystemBase {
m_shooterRotatePIDController.setReference(targetAngle, ControlType.kPosition);
}
/* For Testing Purposes, reseting gyro for angle adjuster */
public void resetGyroAngleAdj()
{
m_angleEncoder.setPosition(0);
}
/* For Testing Purposes, reseting gyro for shooter rotation */
public void resetGyroShooterRotate()