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Created and Added Solenoid Functionality for Pneumatics Subsystem

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This commit is contained in:
Aarav Shah
2020-02-26 17:26:49 -07:00
parent 5bcf6c0390
commit 2e3fea423e
4 changed files with 123 additions and 51 deletions
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src/main/java/frc4388/robot/Constants.java
+10
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@@ -156,6 +156,16 @@ public final class Constants {
public static final double STORAGE_MIN_OUTPUT = -1.0;
public static final Gains STORAGE_GAINS = new Gains(0.2, 0.0, 0.0, 0.0, 0, 1.0);
}
public static final class PneumaticsConstants {
public static final int PCM_MODULE_ID = 7;
public static final int SPEED_SHIFT_FORWARD_ID = 0;
public static final int SPEED_SHIFT_REVERSE_ID = 1;
public static final int COOL_FALCON_FORWARD_ID = 3;
public static final int COOL_FALCON_REVERSE_ID = 2;
}
public static final class LEDConstants {
public static final int LED_SPARK_ID = 0;
src/main/java/frc4388/robot/RobotContainer.java
+9 -3
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@@ -42,6 +42,7 @@ import frc4388.robot.commands.TrackTarget;
import frc4388.robot.commands.storageOutake;
import frc4388.robot.subsystems.Camera;
import frc4388.robot.subsystems.Leveler;
import frc4388.robot.subsystems.Pneumatics;
import frc4388.robot.subsystems.Storage;
import frc4388.utility.controller.IHandController;
import frc4388.utility.controller.XboxController;
@@ -56,6 +57,7 @@ import frc4388.utility.controller.XboxController;
public class RobotContainer {
/* Subsystems */
private final Drive m_robotDrive = new Drive();
private final Pneumatics m_robotPneumatics = new Pneumatics();
private final LED m_robotLED = new LED();
private final Intake m_robotIntake = new Intake();
private final Shooter m_robotShooter = new Shooter();
@@ -75,6 +77,10 @@ public class RobotContainer {
* The container for the robot. Contains subsystems, OI devices, and commands.
*/
public RobotContainer() {
/* Passing Drive and Pneumatics Subsystems */
m_robotPneumatics.passRequiredSubsystem(m_robotDrive);
m_robotDrive.passRequiredSubsystem(m_robotPneumatics);
configureButtonBindings();
/* Default Commands */
@@ -120,11 +126,11 @@ public class RobotContainer {
/* Driver Buttons */
// sets solenoids into high gear
new JoystickButton(getDriverJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(false), m_robotDrive));
.whenPressed(new InstantCommand(() -> m_robotPneumatics.setShiftState(false), m_robotDrive));
// sets solenoids into low gear
new JoystickButton(getDriverJoystick(), XboxController.LEFT_BUMPER_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(true), m_robotDrive));
.whenPressed(new InstantCommand(() -> m_robotPneumatics.setShiftState(true), m_robotDrive));
/* Operator Buttons */
//TODO: Shooter Buttons
@@ -231,7 +237,7 @@ public class RobotContainer {
* @param state the gearing of the gearbox (true is high, false is low)
*/
public void setDriveGearState(boolean state) {
m_robotDrive.setShiftState(state);
m_robotPneumatics.setShiftState(state);
}
/**
src/main/java/frc4388/robot/subsystems/Drive.java
+15 -48
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@@ -36,23 +36,25 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.DriveConstants;
import frc4388.robot.Constants.PneumaticsConstants;
import frc4388.robot.Gains;
public class Drive extends SubsystemBase {
/* Create Motors, Gyros, Solenoids, etc */
/* Create Motors, Gyros, etc */
public WPI_TalonFX m_leftFrontMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_FRONT_CAN_ID);
public WPI_TalonFX m_rightFrontMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_FRONT_CAN_ID);
public WPI_TalonFX m_leftBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_BACK_CAN_ID);
public WPI_TalonFX m_rightBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_BACK_CAN_ID);
public static PigeonIMU m_pigeon = new PigeonIMU(DriveConstants.PIGEON_ID);
public DoubleSolenoid m_speedShift = new DoubleSolenoid(7,0,1);
public DoubleSolenoid m_coolFalcon = new DoubleSolenoid(7,3,2);
/* Drive objects to manage Drive Train */
public DifferentialDrive m_driveTrain;
public final DifferentialDriveOdometry m_odometry;
public Orchestra m_orchestra;
/* Pneumatics Subsystem */
Pneumatics m_pneumaticsSubsystem;
/* Low Gear Gains */
public static Gains m_gainsDistanceLow = DriveConstants.DRIVE_DISTANCE_GAINS_LOW;
public static Gains m_gainsVelocityLow = DriveConstants.DRIVE_VELOCITY_GAINS_LOW;
@@ -90,7 +92,6 @@ public class Drive extends SubsystemBase {
SendableChooser<String> m_songChooser = new SendableChooser<String>();
/* Misc */
public boolean m_isSpeedShiftHigh;
String m_currentSong = "";
/**
@@ -276,10 +277,17 @@ public class Drive extends SubsystemBase {
updateTime();
updateAngles();
updatePosition();
runFalconCooling();
updateSmartDashboard();
}
/**
* Passes subsystem needed.
* @param subsystem Subsystem needed.
*/
public void passRequiredSubsystem(Pneumatics subsystem) {
m_pneumaticsSubsystem = subsystem;
}
public void updateTime() {
m_lastTimeMs = m_currentTimeMs;
m_currentTimeMs = System.currentTimeMillis();
@@ -440,47 +448,6 @@ public class Drive extends SubsystemBase {
m_driveTrain.feedWatchdog();
}
/**
* Set to high or low gear based on boolean state, true = high, false = low
* @param state Chooses between high or low gear
*/
public void setShiftState(boolean state) {
if (state == true) {
m_speedShift.set(DoubleSolenoid.Value.kReverse);
}
if (state == false) {
m_speedShift.set(DoubleSolenoid.Value.kForward);
}
setRightMotorGains(state);
m_isSpeedShiftHigh = state;
}
/**
* Set to open or close solenoid that cools the falcon, true = open, false = close
* @param state Chooses between open and close
*/
public void coolFalcon(boolean state) {
if (state == true) {
m_coolFalcon.set(DoubleSolenoid.Value.kForward);
}
if (state == false) {
m_coolFalcon.set(DoubleSolenoid.Value.kReverse);
}
}
/**
*
*/
public void runFalconCooling() {
if (m_currentTimeSec % 30 == 0) {
coolFalcon(true);
SmartDashboard.putBoolean("Solenoid", true);
} else if ((m_currentTimeSec - 1) % 30 == 0) {
coolFalcon(false);
SmartDashboard.putBoolean("Solenoid", false);
}
}
/**
* Selects a song to play!
* @param song The name of the song to be played
@@ -633,7 +600,7 @@ public class Drive extends SubsystemBase {
* @return The converted value in inches
*/
public double ticksToInches(double ticks) {
if (m_isSpeedShiftHigh) {
if (m_pneumaticsSubsystem.m_isSpeedShiftHigh) {
return ticks * DriveConstants.INCHES_PER_TICK_HIGH;
} else {
return ticks * DriveConstants.INCHES_PER_TICK_LOW;
@@ -646,7 +613,7 @@ public class Drive extends SubsystemBase {
* @return The converted value in ticks
*/
public double inchesToTicks(double inches) {
if (m_isSpeedShiftHigh) {
if (m_pneumaticsSubsystem.m_isSpeedShiftHigh) {
return inches * DriveConstants.TICKS_PER_INCH_HIGH;
} else {
return inches * DriveConstants.TICKS_PER_INCH_LOW;
src/main/java/frc4388/robot/subsystems/Pneumatics.java
+89
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@@ -0,0 +1,89 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package frc4388.robot.subsystems;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.RobotContainer;
import frc4388.robot.Constants.PneumaticsConstants;
public class Pneumatics extends SubsystemBase {
/* Create Solenoids */
public DoubleSolenoid m_speedShift = new DoubleSolenoid( PneumaticsConstants.PCM_MODULE_ID,
PneumaticsConstants.SPEED_SHIFT_FORWARD_ID,
PneumaticsConstants.SPEED_SHIFT_REVERSE_ID );
public DoubleSolenoid m_coolFalcon = new DoubleSolenoid( PneumaticsConstants.PCM_MODULE_ID,
PneumaticsConstants.COOL_FALCON_FORWARD_ID,
PneumaticsConstants.COOL_FALCON_REVERSE_ID );
/* Get Drive Subsystem */
Drive m_driveSubsystem;
public boolean m_isSpeedShiftHigh;
/**
* Creates a new Pneumatics.
*/
public Pneumatics() {
}
@Override
public void periodic() {
// This method will be called once per scheduler run
runFalconCooling();
}
/**
* Passes subsystem needed.
* @param subsystem Subsystem needed.
*/
public void passRequiredSubsystem(Drive subsystem) {
m_driveSubsystem = subsystem;
}
/**
* Set to high or low gear based on boolean state, true = high, false = low
* @param state Chooses between high or low gear
*/
public void setShiftState(boolean state) {
if (state == true) {
m_speedShift.set(DoubleSolenoid.Value.kReverse);
}
if (state == false) {
m_speedShift.set(DoubleSolenoid.Value.kForward);
}
m_driveSubsystem.setRightMotorGains(state);
m_isSpeedShiftHigh = state;
}
/**
* Set to open or close solenoid that cools the falcon, true = open, false = close
* @param state Chooses between open and close
*/
public void coolFalcon(boolean state) {
if (state == true) {
m_coolFalcon.set(DoubleSolenoid.Value.kForward);
}
if (state == false) {
m_coolFalcon.set(DoubleSolenoid.Value.kReverse);
}
}
/**
* Runs coolFalcon every 30 seconds for 1 second.
*/
public void runFalconCooling() {
if (m_driveSubsystem.m_currentTimeSec % 30 == 0) {
coolFalcon(true);
} else if ((m_driveSubsystem.m_currentTimeSec - 1) % 30 == 0) {
coolFalcon(false);
}
}
}