Team4388/RiseOfRidgebotics2020
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hood turret and tracking working

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This commit is contained in:
ryan123rudder
2020-02-29 18:42:37 -07:00
parent 7c9bdc030f
commit 493c4f69de
8 changed files with 184 additions and 35 deletions
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src/main/java/frc4388/robot/subsystems/Shooter.java
+15 -8
View File
@@ -13,6 +13,7 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMax.IdleMode;
import com.revrobotics.CANSparkMax.SoftLimitDirection;
import com.revrobotics.CANDigitalInput;
import com.revrobotics.CANEncoder;
import com.revrobotics.CANPIDController;
@@ -35,7 +36,7 @@ public class Shooter extends SubsystemBase {
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 CANEncoder m_angleEncoder = m_angleAdjustMotor.getEncoder();
public static Gains m_drumShooterGains = ShooterConstants.DRUM_SHOOTER_GAINS;
public static Gains m_angleAdjustGains = ShooterConstants.SHOOTER_ANGLE_GAINS;
@@ -57,10 +58,10 @@ public class Shooter extends SubsystemBase {
*/
public Shooter() {
//Testing purposes reseting gyros
resetGyroAngleAdj();
//resetGyroAngleAdj();
m_shooterFalcon.configFactoryDefault();
m_shooterFalcon.setNeutralMode(NeutralMode.Coast);
m_shooterFalcon.setInverted(false);
m_shooterFalcon.setInverted(true);
m_angleAdjustMotor.setIdleMode(IdleMode.kBrake);
m_shooterFalcon.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
setShooterGains();
@@ -91,6 +92,11 @@ public class Shooter extends SubsystemBase {
m_hoodDownLimit = m_angleAdjustMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
m_hoodUpLimit.enableLimitSwitch(true);
m_hoodDownLimit.enableLimitSwitch(true);
m_angleAdjustMotor.enableSoftLimit(SoftLimitDirection.kForward, true);
m_angleAdjustMotor.enableSoftLimit(SoftLimitDirection.kReverse, true);
m_angleAdjustMotor.setSoftLimit(SoftLimitDirection.kForward, 33);
m_angleAdjustMotor.setSoftLimit(SoftLimitDirection.kReverse, 3);
}
@Override
@@ -106,6 +112,7 @@ public class Shooter extends SubsystemBase {
return m_fireAngle;
}
/**
* Runs drum shooter motor.
* @param speed Speed to set the motor at
@@ -126,9 +133,8 @@ public class Shooter extends SubsystemBase {
}
/* Angle Adjustment PID Control */
public void runAngleAdjustPID(double mmtargetAngle)
public void runAngleAdjustPID(double targetAngle)
{
double targetAngle = addFireAngle();
// Set PID Coefficients
m_angleAdjustPIDController.setP(m_angleAdjustGains.m_kP);
m_angleAdjustPIDController.setI(m_angleAdjustGains.m_kI);
@@ -137,9 +143,6 @@ public class Shooter extends SubsystemBase {
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);
}
@@ -162,4 +165,8 @@ public class Shooter extends SubsystemBase {
public void resetGyroAngleAdj(){
m_angleEncoder.setPosition(0);
}
public double getAnglePosition(){
return m_angleAdjustMotor.getEncoder().getPosition();
}
}
src/main/java/frc4388/robot/subsystems/ShooterAim.java
+17 -7
View File
@@ -14,9 +14,11 @@ import com.revrobotics.CANSparkMax;
import com.revrobotics.ControlType;
import com.revrobotics.CANDigitalInput.LimitSwitchPolarity;
import com.revrobotics.CANSparkMax.IdleMode;
import com.revrobotics.CANSparkMax.SoftLimitDirection;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Gains;
import frc4388.robot.Constants.ShooterConstants;
@@ -28,18 +30,24 @@ public class ShooterAim extends SubsystemBase {
// Configure PID Controllers
CANPIDController m_shooterRotatePIDController = m_shooterRotateMotor.getPIDController();
CANEncoder m_shooterRotateEncoder = m_shooterRotateMotor.getEncoder();
public CANEncoder m_shooterRotateEncoder = m_shooterRotateMotor.getEncoder();
/**
* Creates a new ShooterAim.
*/
public ShooterAim() {
resetGyroShooterRotate();
//resetGyroShooterRotate();
m_shooterRotateMotor.setIdleMode(IdleMode.kBrake);
m_shooterRightLimit = m_shooterRotateMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
m_shooterLeftLimit = m_shooterRotateMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
m_shooterLeftLimit = m_shooterRotateMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
m_shooterRightLimit = m_shooterRotateMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
m_shooterRightLimit.enableLimitSwitch(true);
m_shooterLeftLimit.enableLimitSwitch(true);
m_shooterRotateMotor.enableSoftLimit(SoftLimitDirection.kForward, false);
m_shooterRotateMotor.enableSoftLimit(SoftLimitDirection.kReverse, true);
m_shooterRotateMotor.setSoftLimit(SoftLimitDirection.kForward, -2);
m_shooterRotateMotor.setSoftLimit(SoftLimitDirection.kReverse, -56);
}
public void runShooterWithInput(double input) {
@@ -64,11 +72,13 @@ public class ShooterAim extends SubsystemBase {
m_shooterRotatePIDController.setReference(targetAngle, ControlType.kPosition);
}
/* For Testing Purposes, reseting gyro for shooter rotation */
public void resetGyroShooterRotate()
{
m_shooterRotateEncoder.setPosition(0);
m_shooterRotateEncoder.setPosition(0);
}
public double getShooterRotatePosition(){
return m_shooterRotateMotor.getEncoder().getPosition();
}
@Override