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Add Conversion to degrees on Hood and Turret

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This commit is contained in:
Keenan D. Buckley
2020-03-08 15:20:55 -06:00
parent 74f60f0e85
commit 7e760c1b55
3 changed files with 50 additions and 36 deletions
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src/main/java/frc4388/robot/Constants.java
+4
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@@ -138,12 +138,16 @@ public final class Constants {
public static final int TURRET_LEFT_SOFT_LIMIT = -55;
public static final double TURRET_SPEED_MULTIPLIER = 0.3;
public static final double TURRET_CALIBRATE_SPEED = 0.075;
public static final double TURRET_MOTOR_ROTS_PER_ROT = 1; //TODO: Find
public static final double TURRET_MOTOR_POS_AT_ZERO_ROT = 0; //TODO: Find
public static final int HOOD_UP_SOFT_LIMIT = 33;
public static final int HOOD_DOWN_SOFT_LIMIT = 3;
public static final double HOOD_CONVERT_SLOPE = 0.47;
public static final double HOOD_CONVERT_B = 40.5;
public static final double HOOD_CALIBRATE_SPEED = 0.2;
public static final double HOOD_MOTOR_ROTS_PER_ROT = 1; //TODO: Find
public static final double HOOD_MOTOR_POS_AT_ZERO_ROT = 0; //TODO: Find
public static final double DRUM_RAMP_LIMIT = 1000;
public static final double DRUM_VELOCITY_BOUND = 300;
src/main/java/frc4388/robot/subsystems/ShooterAim.java
+41 -35
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@@ -69,40 +69,6 @@ public class ShooterAim extends SubsystemBase {
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.
@@ -140,6 +106,46 @@ public class ShooterAim extends SubsystemBase {
public double getShooterRotatePosition()
{
return m_shooterRotateMotor.getEncoder().getPosition();
return m_shooterRotateEncoder.getPosition();
}
public double getShooterRotatePositionDegrees()
{
return (m_shooterRotateEncoder.getPosition() - ShooterConstants.TURRET_MOTOR_POS_AT_ZERO_ROT) * 360/ShooterConstants.TURRET_MOTOR_ROTS_PER_ROT;
}
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 getShooterRotatePositionDegrees();
}
@Override
public void calibrate() {
// TODO Auto-generated method stub
}
};
}
}
src/main/java/frc4388/robot/subsystems/ShooterHood.java
+5 -1
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@@ -59,7 +59,7 @@ public class ShooterHood extends SubsystemBase {
// This method will be called once per scheduler run
SmartDashboard.putNumber("Fire Angle CSV", m_fireAngle);
SmartDashboard.putNumber("Hood Angle Raw", getAnglePosition());
SmartDashboard.putNumber("Hood Angle Raw", getAnglePositionDegrees());
}
/**
@@ -95,4 +95,8 @@ public class ShooterHood extends SubsystemBase {
public double getAnglePosition(){
return m_angleEncoder.getPosition();
}
public double getAnglePositionDegrees(){
return (m_angleEncoder.getPosition() - ShooterConstants.HOOD_MOTOR_POS_AT_ZERO_ROT) * 360/ShooterConstants.HOOD_MOTOR_ROTS_PER_ROT;
}
}