mirror of
https://github.com/Team4388/RiseOfRidgebotics2020.git
synced 2026-06-09 08:48:01 -06:00
Merge branch 'master' into vision_camera_final
This commit is contained in:
ryan123rudder
@@ -10,6 +10,7 @@ package frc4388.robot.subsystems;
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import com.revrobotics.CANDigitalInput;
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import com.revrobotics.CANSparkMax;
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import com.revrobotics.CANDigitalInput.LimitSwitchPolarity;
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import com.revrobotics.CANSparkMax.IdleMode;
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import com.revrobotics.CANSparkMaxLowLevel.MotorType;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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@@ -17,18 +18,20 @@ import frc4388.robot.Constants.ClimberConstants;
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public class Climber extends SubsystemBase {
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CANSparkMax m_climberMotor = new CANSparkMax(ClimberConstants.CLIMBER_SPARK_ID, MotorType.kBrushless);
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CANDigitalInput m_forwardLimit, m_reverseLimit;
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CANDigitalInput m_climberForwardLimit, m_climberReverseLimit;
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/**
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* Creates a new Climber.
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*/
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public Climber() {
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m_climberMotor.restoreFactoryDefaults();
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m_forwardLimit = m_climberMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
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m_reverseLimit = m_climberMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
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m_forwardLimit.enableLimitSwitch(false);
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m_reverseLimit.enableLimitSwitch(false);
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m_climberMotor.setIdleMode(IdleMode.kBrake);
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m_climberMotor.setInverted(false);
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m_climberForwardLimit = m_climberMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
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m_climberReverseLimit = m_climberMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
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m_climberForwardLimit.enableLimitSwitch(false);
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m_climberReverseLimit.enableLimitSwitch(false);
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}
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@Override
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@@ -7,6 +7,17 @@
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package frc4388.robot.subsystems;
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import java.io.File;
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import java.io.FilenameFilter;
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import java.io.IOException;
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import java.nio.file.Files;
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import java.nio.file.Path;
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import java.nio.file.Paths;
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import java.util.ArrayList;
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import java.util.List;
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import java.util.stream.Collectors;
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import java.util.stream.Stream;
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import com.ctre.phoenix.motorcontrol.ControlMode;
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import com.ctre.phoenix.motorcontrol.DemandType;
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import com.ctre.phoenix.motorcontrol.FeedbackDevice;
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import com.ctre.phoenix.motorcontrol.FollowerType;
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@@ -17,11 +28,15 @@ import com.ctre.phoenix.motorcontrol.SensorTerm;
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import com.ctre.phoenix.motorcontrol.StatusFrame;
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import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
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import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
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import com.ctre.phoenix.music.Orchestra;
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import com.ctre.phoenix.sensors.PigeonIMU;
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import com.ctre.phoenix.sensors.PigeonIMU_StatusFrame;
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import edu.wpi.first.wpilibj.Filesystem;
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import edu.wpi.first.wpilibj.DoubleSolenoid;
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import edu.wpi.first.wpilibj.drive.DifferentialDrive;
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import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
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import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
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import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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@@ -41,6 +56,7 @@ public class Drive extends SubsystemBase {
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public WPI_TalonFX m_leftBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_BACK_CAN_ID);
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public WPI_TalonFX m_rightBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_BACK_CAN_ID);
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public static PigeonIMU m_pigeon = new PigeonIMU(DriveConstants.PIGEON_ID);
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public Orchestra m_orchestra = new Orchestra();
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public DifferentialDrive m_driveTrain = new DifferentialDrive(m_leftFrontMotor, m_rightFrontMotor);
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@@ -50,6 +66,8 @@ public class Drive extends SubsystemBase {
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public static Gains m_gainsTurning = DriveConstants.DRIVE_TURNING_GAINS;
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public static Gains m_gainsMotionMagic = DriveConstants.DRIVE_MOTION_MAGIC_GAINS;
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SendableChooser<String> m_songChooser = new SendableChooser<String>();
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public DoubleSolenoid speedShift;
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/**
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@@ -79,7 +97,7 @@ public class Drive extends SubsystemBase {
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/* flip input so forward becomes back, etc */
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m_leftFrontMotor.setInverted(false);
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m_rightFrontMotor.setInverted(true);
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m_driveTrain.setRightSideInverted(false);
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//m_driveTrain.setRightSideInverted(false);
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m_leftBackMotor.setInverted(InvertType.FollowMaster);
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m_rightBackMotor.setInverted(InvertType.FollowMaster);
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@@ -104,6 +122,15 @@ public class Drive extends SubsystemBase {
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m_rightFrontMotor.config_kD(DriveConstants.SLOT_DISTANCE, m_gainsDistance.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_DISTANCE, m_gainsDistance.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_MOTION_MAGIC, DriveConstants.PID_PRIMARY);
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m_rightFrontMotor.config_kF(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kP(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kI(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kD(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configMotionCruiseVelocity(DriveConstants.DRIVE_CRUISE_VELOCITY, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configMotionAcceleration(DriveConstants.DRIVE_ACCELERATION, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configMotionSCurveStrength(0, DriveConstants.DRIVE_TIMEOUT_MS);
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/* Setup Sensors for WPI_TalonFXs */
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m_leftFrontMotor.setSelectedSensorPosition(0, DriveConstants.PID_PRIMARY, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.setSelectedSensorPosition(0, DriveConstants.PID_PRIMARY, DriveConstants.DRIVE_TIMEOUT_MS);
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@@ -134,8 +161,8 @@ public class Drive extends SubsystemBase {
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m_rightFrontMotor.configSensorTerm(SensorTerm.Sum1, FeedbackDevice.IntegratedSensor, DriveConstants.DRIVE_TIMEOUT_MS);
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/* Diff Signal */
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m_rightFrontMotor.configSensorTerm(SensorTerm.Diff0, FeedbackDevice.RemoteSensor0, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configSensorTerm(SensorTerm.Diff1, FeedbackDevice.IntegratedSensor, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configSensorTerm(SensorTerm.Diff1, FeedbackDevice.RemoteSensor0, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configSensorTerm(SensorTerm.Diff0, FeedbackDevice.IntegratedSensor, DriveConstants.DRIVE_TIMEOUT_MS);
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/* Configure Sum [Sum of both QuadEncoders] to be used for Primary PID Index */
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m_rightFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.SensorDifference,
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@@ -225,8 +252,22 @@ public class Drive extends SubsystemBase {
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* true means talon's local output is PID0 - PID1, and other side Talon is PID0 + PID1
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*/
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m_rightFrontMotor.configAuxPIDPolarity(false, DriveConstants.DRIVE_TIMEOUT_MS);
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m_orchestra.addInstrument(m_leftBackMotor);
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m_orchestra.addInstrument(m_rightFrontMotor);
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m_orchestra.addInstrument(m_rightBackMotor);
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m_orchestra.addInstrument(m_leftFrontMotor);
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File songsDir = new File(Filesystem.getDeployDirectory().getAbsolutePath() + "/songs");
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System.err.println(songsDir.getPath());
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String[] songsStrings = songsDir.list();
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for (String songString : songsStrings){
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m_songChooser.addOption(songString, songsDir.getAbsolutePath() + "/" + songString);
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}
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Shuffleboard.getTab("Songs").add(m_songChooser);
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}
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String currentSong = "";
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@Override
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public void periodic() {
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try {
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@@ -254,6 +295,11 @@ public class Drive extends SubsystemBase {
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SmartDashboard.putNumber("PID 0 Pos", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_PRIMARY));
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SmartDashboard.putNumber("PID 1 Pos", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN));
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if (currentSong != m_songChooser.getSelected()){
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currentSong = m_songChooser.getSelected();
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selectSong(currentSong);
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System.err.println(currentSong);
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}
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} catch (Exception e) {
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System.err.println("Error in the Drive Subsystem");
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//e.printStackTrace(System.err);
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@@ -319,14 +365,29 @@ public class Drive extends SubsystemBase {
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}
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/**
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* Add your docs here.
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* Runs percent output control on the moving and steering of the drive train,
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* using the Differential Drive class to manage the two inputs
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*/
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public void driveWithInput(double move, double steer){
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m_driveTrain.arcadeDrive(move, steer);
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//m_driveTrain.arcadeDrive(move, steer);
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}
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/**
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* Runs a position PID while driving straight (has not been tested)
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* Runs percent output control on the drive train while using an AUX PID for rotation
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* @param targetPos The position to drive to in units
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* @param targetGyro The angle to drive at in units
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*/
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public void driveWithInputAux(double move, double targetGyro) {
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m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
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m_rightFrontMotor.set(TalonFXControlMode.PercentOutput, move, DemandType.AuxPID, targetGyro);
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m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
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m_driveTrain.feedWatchdog();
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}
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/**
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* Runs a position PID while driving straight
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* @param targetPos The position to drive to in units
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* @param targetGyro The angle to drive at in units
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*/
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@@ -334,11 +395,10 @@ public class Drive extends SubsystemBase {
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m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_DISTANCE, DriveConstants.PID_PRIMARY);
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m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
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targetPos *= 2;
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m_rightFrontMotor.set(TalonFXControlMode.Position, targetPos, DemandType.AuxPID, targetGyro);
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m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
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m_driveTrain.feedWatchdog();
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//m_driveTrain.feedWatchdog();
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}
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/**
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@@ -349,27 +409,26 @@ public class Drive extends SubsystemBase {
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public void runDriveStraightVelocityPID(double targetVel, double targetGyro) {
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m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
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m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
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targetVel *= 2;
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m_rightFrontMotor.set(TalonFXControlMode.Velocity, targetVel, DemandType.AuxPID, targetGyro);
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m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
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m_driveTrain.feedWatchdog();
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//m_driveTrain.feedWatchdog();
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}
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/**
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* Runs motion magic PID while driving straight (has not been tested)
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* Runs motion magic PID while driving straight
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* @param targetPos The position to drive to in units
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* @param targetGyro The angle to drive at in units
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*/
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public void runMotionMagicPID(double targetPos, double targetGyro){
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m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_MOTION_MAGIC, DriveConstants.PID_PRIMARY);
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m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
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m_rightFrontMotor.set(TalonFXControlMode.MotionMagic, targetPos, DemandType.AuxPID, targetGyro);
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m_rightFrontMotor.set(ControlMode.MotionMagic, targetPos, DemandType.AuxPID, targetGyro);
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m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
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m_driveTrain.feedWatchdog();
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}
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/**
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@@ -420,6 +479,21 @@ public class Drive extends SubsystemBase {
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m_pigeon.setAccumZAngle(0);
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}
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/**
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* Plays Music!
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*/
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public void playSong() {
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m_orchestra.play();
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}
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/**
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* Selects a song to play!
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* @param song The name of the song to be played
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*/
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public void selectSong(String song) {
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SmartDashboard.putString("Selected Song", song);
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m_orchestra.loadMusic(song);
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}
|
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/**
|
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* Set to high or low gear based on boolean state, true = high, false = low
|
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* @param state Chooses between high or low gear
|
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@@ -26,7 +26,8 @@ public class Leveler extends SubsystemBase {
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*/
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public Leveler() {
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m_levelerMotor.restoreFactoryDefaults();
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m_levelerMotor.setIdleMode(IdleMode.kCoast);
|
||||
|
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m_levelerMotor.setIdleMode(IdleMode.kBrake);
|
||||
m_levelerMotor.setInverted(false);
|
||||
}
|
||||
|
||||
|
||||
@@ -11,28 +11,56 @@ import com.ctre.phoenix.motorcontrol.NeutralMode;
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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;
|
||||
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_shooterTurretGains = ShooterConstants.SHOOTER_TURRET_GAINS;
|
||||
public static Gains m_drumShooterGains = 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;
|
||||
|
||||
/*
|
||||
* Creates a new Shooter subsystem.
|
||||
*/
|
||||
public Shooter() {
|
||||
//Testing purposes reseting gyros
|
||||
resetGyroAngleAdj();
|
||||
resetGyroShooterRotate();
|
||||
|
||||
m_shooterFalcon.configFactoryDefault();
|
||||
|
||||
m_shooterRotateMotor.setIdleMode(IdleMode.kBrake);
|
||||
m_shooterFalcon.setNeutralMode(NeutralMode.Coast);
|
||||
|
||||
m_shooterFalcon.setInverted(true);
|
||||
m_shooterFalcon.setInverted(false);
|
||||
|
||||
setShooterGains();
|
||||
|
||||
@@ -64,10 +92,10 @@ public class Shooter extends SubsystemBase {
|
||||
*/
|
||||
public void setShooterGains() {
|
||||
m_shooterFalcon.selectProfileSlot(ShooterConstants.SHOOTER_SLOT_IDX, ShooterConstants.SHOOTER_PID_LOOP_IDX);
|
||||
m_shooterFalcon.config_kF(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.m_kF, ShooterConstants.SHOOTER_TIMEOUT_MS);
|
||||
m_shooterFalcon.config_kP(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.m_kP, ShooterConstants.SHOOTER_TIMEOUT_MS);
|
||||
m_shooterFalcon.config_kI(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.m_kI, ShooterConstants.SHOOTER_TIMEOUT_MS);
|
||||
m_shooterFalcon.config_kD(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.m_kD, ShooterConstants.SHOOTER_TIMEOUT_MS);
|
||||
m_shooterFalcon.config_kF(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterTurretGains.m_kF, ShooterConstants.SHOOTER_TIMEOUT_MS);
|
||||
m_shooterFalcon.config_kP(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterTurretGains.m_kP, ShooterConstants.SHOOTER_TIMEOUT_MS);
|
||||
m_shooterFalcon.config_kI(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterTurretGains.m_kI, ShooterConstants.SHOOTER_TIMEOUT_MS);
|
||||
m_shooterFalcon.config_kD(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterTurretGains.m_kD, ShooterConstants.SHOOTER_TIMEOUT_MS);
|
||||
}
|
||||
/**
|
||||
* Runs drum shooter velocity PID.
|
||||
@@ -87,4 +115,58 @@ public class Shooter extends SubsystemBase {
|
||||
m_shooterFalcon.set(TalonFXControlMode.Velocity, targetVel); //Init PID
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
public void runShooterWithInput(IHandController controller) {
|
||||
m_controller = controller;
|
||||
input = m_controller.getLeftXAxis();
|
||||
System.err.println(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)
|
||||
{
|
||||
// Set PID Coefficients
|
||||
m_shooterRotatePIDController.setP(m_shooterTurretGains.m_kP);
|
||||
m_shooterRotatePIDController.setI(m_shooterTurretGains.m_kI);
|
||||
m_shooterRotatePIDController.setD(m_shooterTurretGains.m_kD);
|
||||
m_shooterRotatePIDController.setFF(m_shooterTurretGains.m_kF);
|
||||
m_shooterRotatePIDController.setIZone(m_shooterTurretGains.m_kIzone);
|
||||
m_shooterRotatePIDController.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_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);
|
||||
}
|
||||
}
|
||||
@@ -9,11 +9,14 @@ package frc4388.robot.subsystems;
|
||||
|
||||
import com.ctre.phoenix.motorcontrol.can.TalonSRX;
|
||||
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
|
||||
import com.revrobotics.CANEncoder;
|
||||
import com.revrobotics.CANPIDController;
|
||||
import com.revrobotics.CANSparkMax;
|
||||
import com.revrobotics.ControlType;
|
||||
import com.revrobotics.SparkMax;
|
||||
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
|
||||
|
||||
import edu.wpi.first.wpilibj.DigitalInput;
|
||||
import edu.wpi.first.wpilibj.Encoder;
|
||||
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
||||
|
||||
import frc4388.robot.Constants.StorageConstants;
|
||||
@@ -21,10 +24,17 @@ import frc4388.robot.Constants.StorageConstants;
|
||||
public class Storage extends SubsystemBase {
|
||||
private CANSparkMax m_storageMotor = new CANSparkMax(StorageConstants.STORAGE_CAN_ID, MotorType.kBrushless);
|
||||
private DigitalInput[] m_beamSensors = new DigitalInput[6];
|
||||
|
||||
CANPIDController m_storagePIDController = m_storageMotor.getPIDController();
|
||||
|
||||
CANEncoder m_encoder = m_storageMotor.getEncoder();
|
||||
|
||||
/**
|
||||
* Creates a new Storage.
|
||||
*/
|
||||
public Storage() {
|
||||
resetEncoder();
|
||||
|
||||
m_beamSensors[0] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_0);
|
||||
m_beamSensors[1] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_1);
|
||||
m_beamSensors[2] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_2);
|
||||
@@ -40,17 +50,36 @@ public class Storage extends SubsystemBase {
|
||||
|
||||
/**
|
||||
* Runs storage motor
|
||||
*
|
||||
* @param input the voltage to run motor at
|
||||
*/
|
||||
public void runStorage(double input) {
|
||||
public void runStorage(final double input) {
|
||||
m_storageMotor.set(input);
|
||||
boolean beam_on = m_beamSensors[0].get();
|
||||
final boolean beam_on = m_beamSensors[0].get();
|
||||
|
||||
if (beam_on) {
|
||||
System.err.println("Beam on");
|
||||
} else {
|
||||
System.err.println("Beam off");
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
public void resetEncoder()
|
||||
{
|
||||
m_encoder.setPosition(0);
|
||||
}
|
||||
|
||||
/* Storage PID Control */
|
||||
public void runStoragePositionPID(double targetPos, double kP, double kI, double kD, double kIz, double kF, double kmaxOutput, double kminOutput)
|
||||
{
|
||||
// Set PID Coefficients
|
||||
m_storagePIDController.setP(kP);
|
||||
m_storagePIDController.setI(kI);
|
||||
m_storagePIDController.setD(kD);
|
||||
m_storagePIDController.setIZone(kIz);
|
||||
m_storagePIDController.setFF(kF);
|
||||
m_storagePIDController.setOutputRange(kminOutput, kmaxOutput);
|
||||
|
||||
m_storagePIDController.setReference(targetPos, ControlType.kPosition);
|
||||
}
|
||||
|
||||
public void getEncoderPos()
|
||||
{
|
||||
m_encoder.getPosition();
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user