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Add Gyro for Turret Angle

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Co-Authored-By: Keenan D. Buckley <hfocus@users.noreply.github.com>
This commit is contained in:
Aarav Shah
2020-03-07 15:24:25 -07:00
parent 5484c2262b
commit 74f60f0e85
2 changed files with 46 additions and 11 deletions
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src/main/java/frc4388/robot/subsystems/Shooter.java
+6 -11
View File
@@ -83,21 +83,16 @@ public class Shooter extends SubsystemBase {
public void periodic() {
// This method will be called once per scheduler run
try{
SmartDashboard.putNumber("Drum Velocity", m_shooterFalcon.getSelectedSensorVelocity());
SmartDashboard.putNumber("Drum Velocity", m_shooterFalcon.getSelectedSensorVelocity());
SmartDashboard.putNumber("Drum Velocity CSV", m_fireVel);
SmartDashboard.putNumber("Drum Velocity CSV", m_fireVel);
SmartDashboard.putNumber("Shooter Temp C", m_shooterFalcon.getTemperature());
SmartDashboard.putNumber("Shooter Temp C", m_shooterFalcon.getTemperature());
SmartDashboard.putNumber("Shooter Current", m_shooterFalcon.getSupplyCurrent());
SmartDashboard.putNumber("Shooter Current", m_shooterFalcon.getSupplyCurrent());
SmartDashboard.putBoolean("Drum Ready", m_isDrumReady);
//SmartDashboard.putNumber("Hood Position", m_shooter.getAnglePosition());
}
catch(Exception e)
{
SmartDashboard.putBoolean("Drum Ready", m_isDrumReady);
} catch(Exception e) {
}
}
src/main/java/frc4388/robot/subsystems/ShooterAim.java
+40
View File
@@ -17,6 +17,7 @@ import com.revrobotics.CANSparkMax.SoftLimitDirection;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import com.revrobotics.ControlType;
import edu.wpi.first.wpilibj.GyroBase;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.ShooterConstants;
@@ -28,6 +29,7 @@ public class ShooterAim extends SubsystemBase {
public CANSparkMax m_shooterRotateMotor = new CANSparkMax(ShooterConstants.SHOOTER_ROTATE_ID, MotorType.kBrushless);
public static Gains m_shooterTurretGains = ShooterConstants.SHOOTER_TURRET_GAINS;
CANDigitalInput m_shooterRightLimit, m_shooterLeftLimit;
public GyroBase m_turretGyro;
public boolean m_isAimReady = false;
@@ -42,6 +44,8 @@ public class ShooterAim extends SubsystemBase {
//resetGyroShooterRotate();
m_shooterRotateMotor.setIdleMode(IdleMode.kBrake);
m_turretGyro = getGyroInterface();
m_shooterLeftLimit = m_shooterRotateMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
m_shooterRightLimit = m_shooterRotateMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
m_shooterRightLimit.enableLimitSwitch(true);
@@ -61,8 +65,44 @@ public class ShooterAim extends SubsystemBase {
SmartDashboard.putNumber("Turret Angle Raw", getShooterRotatePosition());
SmartDashboard.putBoolean("Aim Ready", m_isAimReady);
SmartDashboard.putData("Turret Angle", m_turretGyro);
}
public GyroBase getGyroInterface() {
return new GyroBase(){
@Override
public void close() throws Exception {
// TODO Auto-generated method stub
}
@Override
public void reset() {
// TODO Auto-generated method stub
}
@Override
public double getRate() {
// TODO Auto-generated method stub
return 0;
}
@Override
public double getAngle() {
// TODO Auto-generated method stub
return getShooterRotatePosition();
}
@Override
public void calibrate() {
// TODO Auto-generated method stub
}
};
}
/**
* Passes subsystem needed.
* @param subsystem Subsystem needed.