diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index b2d0534..50f0f9c 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -137,13 +137,9 @@ public final class Constants { public static final int PID_PRIMARY = 0; /* PID Gains */ - public static final double storP = 0.1; - public static final double storI = 1e-4; - public static final double storD = 1.0; - public static final double storIz = 0.0; - public static final double storF = 0.0; - public static final double storkmaxOutput = 1.0; - public static final double storkminOutput = -1.0; + + 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 LEDConstants { @@ -160,6 +156,7 @@ public final class Constants { public static final double MOTOR_DEAD_ZONE = 0.3; public static final double DISTANCE_ERROR_EQUATION_M = 1.1279; public static final double DISTANCE_ERROR_EQUATION_B = -15.0684; + public static final double GRAV = 385.83; } public static final class OIConstants { diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java index eca8337..ec52eb2 100644 --- a/src/main/java/frc4388/robot/Robot.java +++ b/src/main/java/frc4388/robot/Robot.java @@ -64,7 +64,6 @@ public class Robot extends TimedRobot { @Override public void disabledInit() { m_robotContainer.setDriveNeutralMode(NeutralMode.Coast); - //m_robotContainer.setDriveGearState(true); } @Override @@ -106,7 +105,7 @@ public class Robot extends TimedRobot { @Override public void teleopInit() { - m_robotContainer.setDriveNeutralMode(NeutralMode.Coast); + m_robotContainer.setDriveNeutralMode(NeutralMode.Brake); m_robotContainer.setDriveGearState(true); //m_robotContainer.configDriveTrainSensors(FeedbackDevice.IntegratedSensor); diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index eae6ae0..97676e6 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -40,6 +40,7 @@ import frc4388.robot.commands.RunClimberWithTriggers; import frc4388.robot.commands.RunExtenderOutIn; import frc4388.robot.commands.RunIntakeWithTriggers; import frc4388.robot.commands.ShooterVelocityControlPID; +import frc4388.robot.commands.StorageIntakeGroup; import frc4388.robot.subsystems.Drive; import frc4388.robot.subsystems.Intake; import frc4388.robot.subsystems.LED; @@ -52,6 +53,7 @@ import frc4388.robot.subsystems.LED; import frc4388.robot.commands.TrackTarget; import frc4388.robot.commands.TurnDegrees; import frc4388.robot.commands.Wait; +import frc4388.robot.commands.storageOutake; import frc4388.robot.subsystems.Camera; import frc4388.robot.subsystems.Leveler; import frc4388.robot.subsystems.Storage; @@ -100,13 +102,12 @@ public class RobotContainer { // continually sends updates to the Blinkin LED controller to keep the lights on m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED)); // runs the drum shooter in idle mode - m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runShooterWithInput(m_operatorXbox.getLeftXAxis()), m_robotShooter)); // drives the leveler with an axis input from the driver controller - // m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getDriverController())); - // runs storage motor at 50 percent - // m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage)); + m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getDriverController())); + } + /** * Use this method to define your button->command mappings. Buttons can be created by @@ -116,30 +117,6 @@ public class RobotContainer { */ private void configureButtonBindings() { /* Driver Buttons */ - new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON) - .whenPressed(new RunCommand(() -> m_robotDrive.runTurningPID(0), m_robotDrive)); - - /* Operator Buttons */ - // activates "Lit Mode" - //new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON) - // .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW)) - // .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN)); - - new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON) - .whileHeld(new ShooterVelocityControlPID(m_robotShooter, 4000)); - - new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON) - .whileHeld(new TrackTarget(m_robotShooter)); - - new JoystickButton(getOperatorJoystick(), XboxController.LEFT_BUMPER_BUTTON) - .whenPressed(new RunExtenderOutIn(m_robotIntake)); - - /* PID Test Command */ - // runs velocity PID while driving straight - new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON) - .whenPressed(new DriveStraightAtVelocityPID(m_robotDrive, 500)) - .whenReleased(new InstantCommand(() -> System.out.print("Gamer"), m_robotDrive)); - //new JoystickButton(getDriverJoystick(), XboxController.RIGHT_BUMPER_BUTTON) // .whileHeld(new DriveWithJoystickAuxPID(m_robotDrive, getDriverController())); @@ -150,19 +127,34 @@ public class RobotContainer { // turn 45 degrees new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON) .whenPressed(new RunCommand(() -> m_robotDrive.driveWithInputAux(0.2, 0), m_robotDrive)); - - + // sets solenoids into high gear new JoystickButton(getDriverJoystick(), XboxController.RIGHT_BUMPER_BUTTON) - .whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(true), m_robotDrive)); + .whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(false), m_robotDrive)); // sets solenoids into low gear new JoystickButton(getDriverJoystick(), XboxController.LEFT_BUMPER_BUTTON) - .whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(false), m_robotDrive)); + .whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(true), m_robotDrive)); + + /* Operator Buttons */ + + //TODO: Shooter Buttons + // shoots until released + //new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_BUMPER_BUTTON) + // .whileHeld(new ShootShooter(m_robotShooter, m_robotStorage, 5)); + + // shoots one ball + //new JoystickButton(getOperatorJoystick(), XboxController.LEFT_BUMPER_BUTTON) + // .whileHeld(new ShootShooter(m_robotShooter, m_robotStorage, 1)); + + // aims the turret + new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON) + .whileHeld(new TrackTarget(m_robotShooter)); + //.whenPressed(new RunCommand(() -> m_robotStorage.storeAim())); - // interrupts any running command - new JoystickButton(getDriverJoystick(), XboxController.LEFT_JOYSTICK_BUTTON) - .whenPressed(new TurnDegrees(90, m_robotDrive)); + // extends or retracts the extender + new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON) + .whenPressed(new RunExtenderOutIn(m_robotIntake)); // safety for climber and leveler new JoystickButton(getOperatorJoystick(), XboxController.BACK_BUTTON) @@ -172,6 +164,14 @@ public class RobotContainer { /* Storage Neo PID Test */ new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON) .whileHeld(new TrackTarget(m_robotShooter)); + + //Prepares storage for intaking + new JoystickButton(getOperatorJoystick(), XboxController.LEFT_TRIGGER_AXIS) + .whileHeld(new StorageIntakeGroup(m_robotIntake, m_robotStorage)); + + //Runs storage to outtake + new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_TRIGGER_AXIS) + .whileHeld(new storageOutake(m_robotStorage)); } /** diff --git a/src/main/java/frc4388/robot/commands/DriveWithJoystick.java b/src/main/java/frc4388/robot/commands/DriveWithJoystick.java index 42aedfc..f51621a 100644 --- a/src/main/java/frc4388/robot/commands/DriveWithJoystick.java +++ b/src/main/java/frc4388/robot/commands/DriveWithJoystick.java @@ -49,11 +49,11 @@ public class DriveWithJoystick extends CommandBase { } double cosMultiplier = .55; - double deadzone = .2; + double deadzone = .1; if (steerInput > 0){ - steerOutput = -cosMultiplier*Math.cos(1.571*steerInput)+(cosMultiplier+deadzone); + steerOutput = -(cosMultiplier - deadzone) * Math.cos(1.571*steerInput) + cosMultiplier; } else if (steerInput < 0) { - steerOutput = cosMultiplier*Math.cos(1.571*steerInput)-(cosMultiplier+deadzone); + steerOutput = (cosMultiplier - deadzone) * Math.cos(1.571*steerInput) - cosMultiplier; } else { steerOutput = 0; } diff --git a/src/main/java/frc4388/robot/commands/RunExtenderOutIn.java b/src/main/java/frc4388/robot/commands/RunExtenderOutIn.java index b0bb140..3c062a0 100644 --- a/src/main/java/frc4388/robot/commands/RunExtenderOutIn.java +++ b/src/main/java/frc4388/robot/commands/RunExtenderOutIn.java @@ -7,14 +7,25 @@ package frc4388.robot.commands; +import com.revrobotics.CANDigitalInput; +import com.revrobotics.CANSparkMax; +import com.revrobotics.CANDigitalInput.LimitSwitchPolarity; +import com.revrobotics.CANSparkMaxLowLevel.MotorType; + import edu.wpi.first.wpilibj2.command.CommandBase; +import frc4388.robot.Constants.IntakeConstants; import frc4388.robot.subsystems.Intake; import frc4388.utility.controller.IHandController; public class RunExtenderOutIn extends CommandBase { private Intake m_intake; - private boolean isOut = false; - private long startTime; + + CANSparkMax m_intakeMotor = new CANSparkMax(IntakeConstants.INTAKE_SPARK_ID, MotorType.kBrushless); + CANSparkMax m_extenderMotor = new CANSparkMax(IntakeConstants.EXTENDER_SPARK_ID, MotorType.kBrushless); + CANDigitalInput m_extenderForwardLimit; + CANDigitalInput m_extenderReverseLimit; + + /** * Uses input from opperator to run the extender motor. @@ -25,19 +36,23 @@ public class RunExtenderOutIn extends CommandBase { // Use addRequirements() here to declare subsystem dependencies. m_intake = subsystem; addRequirements(m_intake); + + m_extenderForwardLimit = m_extenderMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyClosed); + m_extenderReverseLimit = m_extenderMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyClosed); + m_extenderForwardLimit.enableLimitSwitch(false); + m_extenderReverseLimit.enableLimitSwitch(false); } // Called when the command is initially scheduled. @Override public void initialize() { - isOut = !isOut; - startTime = System.currentTimeMillis(); + m_intake.isExtended = !m_intake.isExtended; } // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - if (isOut){ + if (m_intake.isExtended){ m_intake.runExtender(0.3); } else { m_intake.runExtender(-0.3); @@ -54,9 +69,16 @@ public class RunExtenderOutIn extends CommandBase { // Returns true when the command should end. @Override public boolean isFinished() { - if (startTime + 3000 < System.currentTimeMillis()) { + if (m_intake.isExtended && m_extenderForwardLimit.get() == true){ return true; } - return false; + + else if(m_intake.isExtended && m_extenderReverseLimit.get() == true){ + return true; + } + + else{ + return false; + } } } diff --git a/src/main/java/frc4388/robot/commands/StorageIntakeFinal.java b/src/main/java/frc4388/robot/commands/StorageIntakeFinal.java new file mode 100644 index 0000000..9576f35 --- /dev/null +++ b/src/main/java/frc4388/robot/commands/StorageIntakeFinal.java @@ -0,0 +1,46 @@ +/*----------------------------------------------------------------------------*/ +/* 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.commands; + +import edu.wpi.first.wpilibj2.command.CommandBase; +import frc4388.robot.subsystems.Storage; + +public class StorageIntakeFinal extends CommandBase { + Storage m_storage; + /** + * Creates a new StorageIntakeFinal. + */ + public StorageIntakeFinal(Storage subsystem) { + m_storage = subsystem; + addRequirements(m_storage); + } + + // Called when the command is initially scheduled. + @Override + public void initialize() { + } + + // Called every time the scheduler runs while the command is scheduled. + @Override + public void execute() { + if (m_storage.getBeam(1)){ + m_storage.setStoragePID(m_storage.getEncoderPos() + 5); + } + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) { + } + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return false; + } +} diff --git a/src/main/java/frc4388/robot/commands/StorageIntakeGroup.java b/src/main/java/frc4388/robot/commands/StorageIntakeGroup.java new file mode 100644 index 0000000..767ed69 --- /dev/null +++ b/src/main/java/frc4388/robot/commands/StorageIntakeGroup.java @@ -0,0 +1,27 @@ +/*----------------------------------------------------------------------------*/ +/* 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.commands; + +import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; +import frc4388.robot.subsystems.Intake; +import frc4388.robot.subsystems.Storage; + +// NOTE: Consider using this command inline, rather than writing a subclass. For more +// information, see: +// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html +public class StorageIntakeGroup extends SequentialCommandGroup { + /** + * Creates a new StorageIntakeGroup. + */ + public StorageIntakeGroup(Intake m_intake, Storage m_storage) { + addCommands( + new storagePrepIntake(m_intake, m_storage), + new storageIntake(m_intake, m_storage), + new StorageIntakeFinal(m_storage)); + } +} diff --git a/src/main/java/frc4388/robot/commands/TrackTarget.java b/src/main/java/frc4388/robot/commands/TrackTarget.java index 2853242..8102f13 100644 --- a/src/main/java/frc4388/robot/commands/TrackTarget.java +++ b/src/main/java/frc4388/robot/commands/TrackTarget.java @@ -7,6 +7,7 @@ package frc4388.robot.commands; +import frc4388.robot.Constants.ShooterConstants; import frc4388.robot.Constants.VisionConstants; import frc4388.robot.subsystems.Drive; import frc4388.robot.subsystems.Shooter; @@ -28,6 +29,8 @@ public class TrackTarget extends CommandBase { double yAngle = 0; double target = 0; public double distance; + public static double fireVel; + public static double fireAngle; /** * Uses the Limelight to track the target @@ -46,6 +49,8 @@ public class TrackTarget extends CommandBase { NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(3); } + + // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { @@ -65,6 +70,14 @@ public class TrackTarget extends CommandBase { //Finding Distance distance = VisionConstants.TARGET_HEIGHT/Math.tan((VisionConstants.LIME_ANGLE + yAngle)*(Math.PI/180)); SmartDashboard.putNumber("Distance to Target", distance); + + double yVel = Math.sqrt(2*VisionConstants.GRAV*VisionConstants.TARGET_HEIGHT); + double xVel = (distance*VisionConstants.GRAV)/(yVel); + + fireVel = Math.sqrt((Math.pow(xVel, 2))+(Math.pow(yVel,2))); + fireAngle = Math.atan(yVel/xVel); + m_shooter.m_fireVel = fireVel; + m_shooter.m_fireAngle = fireAngle; } } diff --git a/src/main/java/frc4388/robot/commands/storageIntake.java b/src/main/java/frc4388/robot/commands/storageIntake.java new file mode 100644 index 0000000..ee30708 --- /dev/null +++ b/src/main/java/frc4388/robot/commands/storageIntake.java @@ -0,0 +1,58 @@ +/*----------------------------------------------------------------------------*/ +/* 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.commands; + +import edu.wpi.first.wpilibj2.command.CommandBase; +import frc4388.robot.subsystems.Intake; +import frc4388.robot.subsystems.Storage; + +public class storageIntake extends CommandBase { + public Intake m_intake; + public Storage m_storage; + /** + * Creates a new storageIntake. + */ + public storageIntake(Intake inSub, Storage storeSub) { + m_intake = inSub; + m_storage = storeSub; + addRequirements(m_intake); + addRequirements(m_storage); + } + + // Called when the command is initially scheduled. + @Override + public void initialize() { + } + + // Called every time the scheduler runs while the command is scheduled. + @Override + public void execute() { + + if (m_storage.getBeam(0)){ + m_storage.setStoragePID(m_storage.getEncoderPos() + 2); + m_intake.runExtender(-0.3); + } + else{ + m_intake.runExtender(0.3); + } + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) { + } + + // Returns true when the command should end. + @Override + public boolean isFinished() { + if (m_storage.getBeam(0)){ + return true; + } + return false; + } +} diff --git a/src/main/java/frc4388/robot/commands/storageOutake.java b/src/main/java/frc4388/robot/commands/storageOutake.java new file mode 100644 index 0000000..4820dc0 --- /dev/null +++ b/src/main/java/frc4388/robot/commands/storageOutake.java @@ -0,0 +1,44 @@ +/*----------------------------------------------------------------------------*/ +/* 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.commands; + +import edu.wpi.first.wpilibj2.command.CommandBase; +import frc4388.robot.subsystems.Storage; + +public class storageOutake extends CommandBase { + Storage m_storage; + /** + * Creates a new storageOutake. + */ + public storageOutake(Storage storeSub) { + m_storage = storeSub; + addRequirements(m_storage); + } + + // Called when the command is initially scheduled. + @Override + public void initialize() { + } + + // Called every time the scheduler runs while the command is scheduled. + @Override + public void execute() { + m_storage.runStorage(-0.5); + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) { + } + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return false; + } +} diff --git a/src/main/java/frc4388/robot/commands/storagePrepAim.java b/src/main/java/frc4388/robot/commands/storagePrepAim.java new file mode 100644 index 0000000..c8b3bad --- /dev/null +++ b/src/main/java/frc4388/robot/commands/storagePrepAim.java @@ -0,0 +1,52 @@ +/*----------------------------------------------------------------------------*/ +/* 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.commands; + +import edu.wpi.first.wpilibj2.command.CommandBase; +import frc4388.robot.subsystems.Storage; + +public class storagePrepAim extends CommandBase { + Storage m_storage; + /** + * Creates a new storagePrepAim. + */ + public storagePrepAim(Storage storeSub) { + m_storage = storeSub; + addRequirements(m_storage); + } + + // Called when the command is initially scheduled. + @Override + public void initialize() { + } + + // Called every time the scheduler runs while the command is scheduled. + @Override + public void execute() { + if (m_storage.getBeam(2) == false){ + m_storage.runStorage(0.5); + } + else{ + m_storage.runStorage(0); + } + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) { + } + + // Returns true when the command should end. + @Override + public boolean isFinished() { + if (m_storage.getBeam(2)){ + return true; + } + return false; + } +} diff --git a/src/main/java/frc4388/robot/commands/storagePrepIntake.java b/src/main/java/frc4388/robot/commands/storagePrepIntake.java new file mode 100644 index 0000000..7fab016 --- /dev/null +++ b/src/main/java/frc4388/robot/commands/storagePrepIntake.java @@ -0,0 +1,56 @@ +/*----------------------------------------------------------------------------*/ +/* 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.commands; + +import edu.wpi.first.wpilibj2.command.CommandBase; +import frc4388.robot.subsystems.Intake; +import frc4388.robot.subsystems.Storage; + +public class storagePrepIntake extends CommandBase { + public Intake m_intake; + public Storage m_storage; + /** + * Creates a new storagePrepIntake. + */ + public storagePrepIntake(Intake inSub, Storage storeSub) { + m_intake = inSub; + m_storage = storeSub; + addRequirements(m_intake); + addRequirements(m_storage); + } + + // Called when the command is initially scheduled. + @Override + public void initialize() { + } + + // Called every time the scheduler runs while the command is scheduled. + @Override + public void execute() { + if (m_storage.getBeam(1) == false){ + m_storage.runStorage(-0.5); + } + else{ + m_storage.runStorage(0); + } + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) { + } + + // Returns true when the command should end. + @Override + public boolean isFinished() { + if (m_storage.getBeam(1)){ + return true; + } + return false; + } +} diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java index edbd73a..b690162 100644 --- a/src/main/java/frc4388/robot/subsystems/Drive.java +++ b/src/main/java/frc4388/robot/subsystems/Drive.java @@ -26,6 +26,7 @@ import com.ctre.phoenix.motorcontrol.NeutralMode; import com.ctre.phoenix.motorcontrol.RemoteSensorSource; import com.ctre.phoenix.motorcontrol.SensorTerm; import com.ctre.phoenix.motorcontrol.StatusFrame; +import com.ctre.phoenix.motorcontrol.SupplyCurrentLimitConfiguration; import com.ctre.phoenix.motorcontrol.TalonFXControlMode; import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; import com.ctre.phoenix.music.Orchestra; @@ -33,6 +34,7 @@ import com.ctre.phoenix.sensors.PigeonIMU; import com.ctre.phoenix.sensors.PigeonIMU_StatusFrame; import edu.wpi.first.wpilibj.Filesystem; +import edu.wpi.first.wpilibj.RobotDrive; import edu.wpi.first.wpilibj.DoubleSolenoid; import edu.wpi.first.wpilibj.drive.DifferentialDrive; @@ -126,16 +128,24 @@ public class Drive extends SubsystemBase { /* flip input so forward becomes back, etc */ m_leftFrontMotor.setInverted(false); - m_rightFrontMotor.setInverted(true); + m_rightFrontMotor.setInverted(false); //m_driveTrain.setRightSideInverted(false); m_leftBackMotor.setInverted(InvertType.FollowMaster); m_rightBackMotor.setInverted(InvertType.FollowMaster); - setDriveTrainNeutralMode(NeutralMode.Coast); + float rampRate = 0.1f; + m_rightFrontMotor.configOpenloopRamp(rampRate, DriveConstants.DRIVE_TIMEOUT_MS); + m_rightBackMotor.configOpenloopRamp(rampRate, DriveConstants.DRIVE_TIMEOUT_MS); + m_leftFrontMotor.configOpenloopRamp(rampRate, DriveConstants.DRIVE_TIMEOUT_MS); + m_leftBackMotor.configOpenloopRamp(rampRate, DriveConstants.DRIVE_TIMEOUT_MS); + + //SupplyCurrentLimitConfiguration c = new SupplyCurrentLimitConfiguration(true, 40, 35, 0.01); + //m_rightFrontMotor.configSupplyCurrentLimit(c); + //m_leftFrontMotor.configSupplyCurrentLimit(c); /* deadbands */ - m_leftBackMotor.configNeutralDeadband(0.0, DriveConstants.DRIVE_TIMEOUT_MS); // DO NOT CHANGE - m_rightBackMotor.configNeutralDeadband(0.0, DriveConstants.DRIVE_TIMEOUT_MS); // Ensures motors run at the same speed + //m_leftBackMotor.configNeutralDeadband(0.0, DriveConstants.DRIVE_TIMEOUT_MS); // DO NOT CHANGE + //m_rightBackMotor.configNeutralDeadband(0.0, DriveConstants.DRIVE_TIMEOUT_MS); // Ensures motors run at the same speed //m_leftFrontMotor.configNeutralDeadband(0.0, DriveConstants.DRIVE_TIMEOUT_MS); // DO NOT CHANGE //m_rightFrontMotor.configNeutralDeadband(0.0, DriveConstants.DRIVE_TIMEOUT_MS); // Ensures motors run at the same speed @@ -312,9 +322,11 @@ public class Drive extends SubsystemBase { -getDistanceInches(m_rightFrontMotor)); try { - SmartDashboard.putNumber("Pigeon Yaw", getGyroYaw()); + //SmartDashboard.putNumber("Pigeon Yaw", getGyroYaw()); //SmartDashboard.putNumber("Pigeon Pitch", getGyroPitch()); //SmartDashboard.putNumber("Pigeon Roll", getGyroRoll()); + SmartDashboard.putNumber("Left Front Output", m_leftFrontMotor.get()); + SmartDashboard.putNumber("Right Front Output", m_rightFrontMotor.get()); SmartDashboard.putNumber("Left Back Output", m_leftBackMotor.get()); SmartDashboard.putNumber("Right Back Output", m_rightBackMotor.get()); @@ -322,18 +334,30 @@ public class Drive extends SubsystemBase { //SmartDashboard.putNumber("Right Back Motor Velocity Raw", m_rightBackMotor.getSelectedSensorVelocity()); //SmartDashboard.putNumber("Left Motor Position Raw", m_leftFrontMotor.getSelectedSensorPosition()); //SmartDashboard.putNumber("Right Motor Position Raw", m_rightFrontMotor.getSelectedSensorPosition(0)); + //SmartDashboard.putNumber("Right Motor Velocity Int Sensor", m_rightFrontMotor.getSensorCollection().getIntegratedSensorVelocity()); //SmartDashboard.putNumber("Left Motor Velocity Int Sensor", m_leftFrontMotor.getSensorCollection().getIntegratedSensorVelocity()); SmartDashboard.putNumber("Left Motor Pos Inches", getDistanceInches(m_rightFrontMotor)); SmartDashboard.putNumber("Right Motor Pos Inches", getDistanceInches(m_leftFrontMotor)); + /*SmartDashboard.putNumber("Right Front Velocity", m_rightFrontMotor.getSensorCollection().getIntegratedSensorVelocity()); + SmartDashboard.putNumber("Left Front Velocity", m_leftFrontMotor.getSensorCollection().getIntegratedSensorVelocity()); + SmartDashboard.putNumber("Right Back Velocity", m_rightBackMotor.getSensorCollection().getIntegratedSensorVelocity()); + SmartDashboard.putNumber("Left Back Velocity", m_leftBackMotor.getSensorCollection().getIntegratedSensorVelocity()); + */ + SmartDashboard.putNumber("Right Motor Temp", m_rightFrontMotor.getTemperature()); SmartDashboard.putNumber("Left Motor Temp", m_leftFrontMotor.getTemperature()); - //SmartDashboard.putNumber("Right Front Motor Current Supply", m_rightFrontMotor.getSupplyCurrent()); - //SmartDashboard.putNumber("Left Front Motor Current Supply", m_leftFrontMotor.getSupplyCurrent()); - //SmartDashboard.putNumber("Right Front Motor Current Stator ", m_rightFrontMotor.getStatorCurrent()); - //SmartDashboard.putNumber("Left Front Motor Current Stator", m_leftFrontMotor.getSupplyCurrent()); + SmartDashboard.putNumber("Right Front Motor Current Supply", m_rightFrontMotor.getSupplyCurrent()); + SmartDashboard.putNumber("Left Front Motor Current Supply", m_leftFrontMotor.getSupplyCurrent()); + SmartDashboard.putNumber("Right Back Motor Current Supply", m_rightBackMotor.getSupplyCurrent()); + SmartDashboard.putNumber("Left Back Motor Current Supply", m_leftBackMotor.getSupplyCurrent()); + + SmartDashboard.putNumber("Right Front Motor Current Stator ", m_rightFrontMotor.getStatorCurrent()); + SmartDashboard.putNumber("Left Front Motor Current Stator", m_leftFrontMotor.getStatorCurrent()); + SmartDashboard.putNumber("Right Back Motor Current Stator ", m_rightBackMotor.getStatorCurrent()); + SmartDashboard.putNumber("Left Back Motor Current Stator", m_leftBackMotor.getStatorCurrent()); //SmartDashboard.putNumber("PID 0 Error", m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_PRIMARY)); //SmartDashboard.putNumber("PID 1 Error", m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_TURN)); @@ -342,10 +366,10 @@ public class Drive extends SubsystemBase { //SmartDashboard.putNumber("PID 0 Pos", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_PRIMARY)); //SmartDashboard.putNumber("PID 1 Pos", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN)); - SmartDashboard.putString("Odometry Values Meters", getPose().toString()); - SmartDashboard.putNumber("Odometry Heading", getHeading()); + //SmartDashboard.putString("Odometry Values Meters", getPose().toString()); + //SmartDashboard.putNumber("Odometry Heading", getHeading()); - SmartDashboard.putNumber("Time Seconds", m_currentTimeSec); + //SmartDashboard.putNumber("Time Seconds", m_currentTimeSec); //SmartDashboard.putNumber("Delta Time", m_deltaTime); if (currentSong != m_songChooser.getSelected()){ @@ -584,6 +608,7 @@ public class Drive extends SubsystemBase { * Returns the current yaw of the pigeon */ public double getGyroYaw() { + double[] ypr = new double[3]; m_pigeon.getYawPitchRoll(ypr); diff --git a/src/main/java/frc4388/robot/subsystems/Intake.java b/src/main/java/frc4388/robot/subsystems/Intake.java index 62bb30a..6b716f4 100644 --- a/src/main/java/frc4388/robot/subsystems/Intake.java +++ b/src/main/java/frc4388/robot/subsystems/Intake.java @@ -17,16 +17,21 @@ import edu.wpi.first.wpilibj.Spark; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc4388.robot.Constants.IntakeConstants; + + public class Intake extends SubsystemBase { CANSparkMax m_intakeMotor = new CANSparkMax(IntakeConstants.INTAKE_SPARK_ID, MotorType.kBrushless); CANSparkMax m_extenderMotor = new CANSparkMax(IntakeConstants.EXTENDER_SPARK_ID, MotorType.kBrushless); CANDigitalInput m_extenderForwardLimit; CANDigitalInput m_extenderReverseLimit; + public boolean isExtended = false; /** * Creates a new Intake. */ public Intake() { + + m_intakeMotor.restoreFactoryDefaults(); m_extenderMotor.restoreFactoryDefaults(); @@ -59,6 +64,18 @@ public class Intake extends SubsystemBase { * @param input the percent output to run motor at */ public void runExtender(double input) { - m_extenderMotor.set(input); + if (m_extenderForwardLimit.get()) { + isExtended = true; + } + if (m_extenderReverseLimit.get()) { + isExtended = false; + } + + if (isExtended == false) { + m_extenderMotor.set(input); + } + if (isExtended == true) { + m_extenderMotor.set(-input); + } } -} +} \ No newline at end of file diff --git a/src/main/java/frc4388/robot/subsystems/Shooter.java b/src/main/java/frc4388/robot/subsystems/Shooter.java index a62be93..9bca6c9 100644 --- a/src/main/java/frc4388/robot/subsystems/Shooter.java +++ b/src/main/java/frc4388/robot/subsystems/Shooter.java @@ -52,6 +52,10 @@ public class Shooter extends SubsystemBase { ShooterTables m_shooterTable; + public boolean velReached; + public double m_fireVel; + public double m_fireAngle; + /* * Creates a new Shooter subsystem. */ @@ -94,6 +98,13 @@ public class Shooter extends SubsystemBase { SmartDashboard.putNumber("Shooter Velocity", m_shooterFalcon.getSelectedSensorVelocity()*600/ShooterConstants.ENCODER_TICKS_PER_REV); } + public double addFireVel() { + return m_fireVel; + } + public double addFireAngle() { + return m_fireAngle; + } + /** * Runs drum shooter motor. * @param speed Speed to set the motor at @@ -120,15 +131,26 @@ public class Shooter extends SubsystemBase { public void runDrumShooterVelocityPID(double targetVel, double actualVel) { velP = actualVel/targetVel; //Percent of target double runSpeed = actualVel + (12000*velP); //Ramp up equation - //if (runSpeed > targetVel) {runSpeed = targetVel;} SmartDashboard.putNumber("shoot", actualVel); runSpeed = runSpeed/targetVel; //Convert to percent + if (actualVel < targetVel - 1000){ //PID Based on ramp up amount m_shooterFalcon.set(TalonFXControlMode.PercentOutput, runSpeed); } else{ //PID Based on targetVel m_shooterFalcon.set(TalonFXControlMode.Velocity, targetVel); //Init PID } + + //Tells wether the target velocity has been reached + double upperBound = targetVel + 300; + double lowerBound = targetVel - 300; + if (actualVel < upperBound && actualVel > lowerBound) + { + velReached = true; + } + else{ + velReached = false; + } } diff --git a/src/main/java/frc4388/robot/subsystems/Storage.java b/src/main/java/frc4388/robot/subsystems/Storage.java index f14295b..3d460fe 100644 --- a/src/main/java/frc4388/robot/subsystems/Storage.java +++ b/src/main/java/frc4388/robot/subsystems/Storage.java @@ -9,16 +9,19 @@ package frc4388.robot.subsystems; import com.ctre.phoenix.motorcontrol.can.TalonSRX; import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; +import com.revrobotics.CANDigitalInput; 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 com.revrobotics.CANDigitalInput.LimitSwitchPolarity; import edu.wpi.first.wpilibj.DigitalInput; import edu.wpi.first.wpilibj.Encoder; +import edu.wpi.first.wpilibj.command.WaitUntilCommand; import edu.wpi.first.wpilibj2.command.SubsystemBase; - +import frc4388.robot.Gains; import frc4388.robot.Constants.StorageConstants; public class Storage extends SubsystemBase { @@ -29,12 +32,16 @@ public class Storage extends SubsystemBase { CANEncoder m_encoder = m_storageMotor.getEncoder(); + Gains storageGains = StorageConstants.STORAGE_GAINS; + + Intake m_intake; + + /** * 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); @@ -53,32 +60,38 @@ public class Storage extends SubsystemBase { * * @param input the voltage to run motor at */ - public void runStorage(final double input) { + + public void runStorage(double input) { m_storageMotor.set(input); - final boolean beam_on = m_beamSensors[0].get(); } - public void resetEncoder() - { + 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) - { + public void runStoragePositionPID(double targetPos){ // 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.setP(storageGains.m_kP); + m_storagePIDController.setI(storageGains.m_kI); + m_storagePIDController.setD(storageGains.m_kD); + m_storagePIDController.setIZone(storageGains.m_kIzone); + m_storagePIDController.setFF(storageGains.m_kF); + m_storagePIDController.setOutputRange(StorageConstants.STORAGE_MIN_OUTPUT, storageGains.m_kmaxOutput); m_storagePIDController.setReference(targetPos, ControlType.kPosition); } - public void getEncoderPos() - { - m_encoder.getPosition(); + + public double getEncoderPos(){ + return m_encoder.getPosition(); + } + + public boolean getBeam(int id){ + return m_beamSensors[id].get(); + } + + public void setStoragePID(double position){ + m_storagePIDController.setReference(position , ControlType.kPosition); } }