Team4388/RiseOfRidgebotics2020
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Merge branch 'master' into Manual-Shooter

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This commit is contained in:
ryan123rudder
2020-02-15 13:18:15 -08:00
committed by GitHub
parent 24a2a43a44 0469897501
commit 406e1a03e9
31 changed files with 245 additions and 46 deletions
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src/main/java/frc4388/robot/subsystems/Shooter.java
+68 -13
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@@ -10,8 +10,12 @@ package frc4388.robot.subsystems;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMax.IdleMode;
import com.revrobotics.CANEncoder;
import com.revrobotics.CANPIDController;
import com.revrobotics.ControlType;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj.Joystick;
@@ -19,25 +23,40 @@ import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Gains;
import frc4388.robot.Constants.DriveConstants;
import frc4388.robot.Constants.ShooterConstants;
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);
public CANSparkMax m_shooterRotateMotor = new CANSparkMax(ShooterConstants.SHOOTER_ROTATE_ID, MotorType.kBrushless);
public static Gains m_shooterGains = ShooterConstants.SHOOTER_GAINS;
public static Gains m_shooterGains = ShooterConstants.DRUM_SHOOTER_GAINS;
public static Shooter m_shooter;
public static IHandController m_controller;
// 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();
double velP;
double input;
public static CANSparkMax m_shooterRotate = new CANSparkMax(ShooterConstants.SHOOTERROTATION_SPARK_ID, MotorType.kBrushless);
/*
* Creates a new Shooter subsystem.
*/
public Shooter() {
//Testing purposes reseting gyros
resetGyroAngleAdj();
resetGyroShooterRotate();
m_shooterFalcon.configFactoryDefault();
m_shooterRotate.setIdleMode(IdleMode.kBrake);
m_shooterFalcon.setNeutralMode(NeutralMode.Coast);
@@ -96,17 +115,8 @@ public class Shooter extends SubsystemBase {
m_shooterFalcon.set(TalonFXControlMode.Velocity, targetVel); //Init PID
}
}
//PLZ Help I Have No Idea What I Am Doing
//Help PLZ
//I Am Desperate
//PLZ
//PLZ
//With A Cherry On Top
//#Janky
public void runShooterWithInput(IHandController controller) {
/* m_controller = controller;
input = controller.getLeftXAxis();
@@ -115,7 +125,52 @@ public class Shooter extends SubsystemBase {
*/
input = controller.getLeftXAxis();
System.err.println(input);
m_shooterRotate.set(input);
m_shooterRotateMotor.set(input);
}
/* Angle Adjustment PID Control */
public void runAngleAdjustPID(double targetAngle)
{
// Set PID Coefficients
m_angleAdjustPIDController.setP(m_shooterGains.m_kP);
m_angleAdjustPIDController.setI(m_shooterGains.m_kI);
m_angleAdjustPIDController.setD(m_shooterGains.m_kD);
m_angleAdjustPIDController.setIZone(m_shooterGains.m_kIzone);
m_angleAdjustPIDController.setFF(m_shooterGains.m_kF);
m_angleAdjustPIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterGains.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)
{
// Set PID Coefficients
m_shooterRotatePIDController.setP(m_shooterGains.m_kP);
m_shooterRotatePIDController.setI(m_shooterGains.m_kI);
m_shooterRotatePIDController.setD(m_shooterGains.m_kD);
m_shooterRotatePIDController.setFF(m_shooterGains.m_kF);
m_shooterRotatePIDController.setIZone(m_shooterGains.m_kIzone);
m_shooterRotatePIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterGains.m_kPeakOutput);
// Convert input angle in degrees to rotations of the motor
targetAngle = targetAngle/ShooterConstants.DEGREES_PER_ROT;
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()
{
m_shooterRotateEncoder.setPosition(0);
}
//#Janky
}