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Add ShooterHood Subsystem

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This commit is contained in:
Keenan D. Buckley
2020-03-02 23:56:05 -07:00
parent 6d501b6bb9
commit 8f6578a47b
11 changed files with 179 additions and 93 deletions
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src/main/java/frc4388/robot/commands/shooter/CalibrateShooter.java
+12 -8
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@@ -13,19 +13,23 @@ import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.Constants.ShooterConstants;
import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.ShooterAim;
import frc4388.robot.subsystems.ShooterHood;
public class CalibrateShooter extends CommandBase {
Shooter m_shooter;
ShooterAim m_shooterAim;
ShooterHood m_shooterHood;
/**
* Calibrates the turret by moving the hood all the way down and moving the turret all the way right, then reseting the encoders
* @param shootSub The Shooter subsystem
* @param aimSub The ShooterAim subsystem
*/
public CalibrateShooter(Shooter shootSub, ShooterAim aimSub) {
public CalibrateShooter(Shooter shootSub, ShooterAim aimSub, ShooterHood hoodSub) {
m_shooter = shootSub;
m_shooterAim = aimSub;
addRequirements(m_shooter, m_shooterAim);
m_shooterHood = hoodSub;
addRequirements(m_shooter, m_shooterHood, m_shooterAim);
}
// Called when the command is initially scheduled.
@@ -36,10 +40,10 @@ public class CalibrateShooter extends CommandBase {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
m_shooter.m_angleAdjustMotor.enableSoftLimit(SoftLimitDirection.kForward, false);
m_shooter.m_angleAdjustMotor.enableSoftLimit(SoftLimitDirection.kReverse, false);
m_shooter.m_angleEncoder.setPosition(0);
m_shooter.m_angleAdjustMotor.set(-ShooterConstants.HOOD_CALIBRATE_SPEED);
m_shooterHood.m_angleAdjustMotor.enableSoftLimit(SoftLimitDirection.kForward, false);
m_shooterHood.m_angleAdjustMotor.enableSoftLimit(SoftLimitDirection.kReverse, false);
m_shooterHood.m_angleEncoder.setPosition(0);
m_shooterHood.m_angleAdjustMotor.set(-ShooterConstants.HOOD_CALIBRATE_SPEED);
m_shooterAim.m_shooterRotateMotor.enableSoftLimit(SoftLimitDirection.kForward, false);
m_shooterAim.m_shooterRotateMotor.enableSoftLimit(SoftLimitDirection.kReverse, false);
@@ -50,8 +54,8 @@ public class CalibrateShooter extends CommandBase {
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
m_shooter.m_angleAdjustMotor.enableSoftLimit(SoftLimitDirection.kForward, true);
m_shooter.m_angleAdjustMotor.enableSoftLimit(SoftLimitDirection.kReverse, true);
m_shooterHood.m_angleAdjustMotor.enableSoftLimit(SoftLimitDirection.kForward, true);
m_shooterHood.m_angleAdjustMotor.enableSoftLimit(SoftLimitDirection.kReverse, true);
m_shooterAim.m_shooterRotateMotor.enableSoftLimit(SoftLimitDirection.kForward, true);
m_shooterAim.m_shooterRotateMotor.enableSoftLimit(SoftLimitDirection.kReverse, true);
src/main/java/frc4388/robot/commands/shooter/HoldTarget.java
+6 -3
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@@ -14,15 +14,17 @@ import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.Constants.VisionConstants;
import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.ShooterAim;
import frc4388.robot.subsystems.ShooterHood;
import frc4388.utility.controller.IHandController;
public class HoldTarget extends CommandBase {
//Setup
// Setup
NetworkTableEntry xEntry;
ShooterAim m_shooterAim;
Shooter m_shooter;
ShooterHood m_shooterHood;
IHandController m_driverController;
//Aiming
// Aiming
double turnAmount = 0;
double xAngle = 0;
double yAngle = 0;
@@ -42,6 +44,7 @@ public class HoldTarget extends CommandBase {
public HoldTarget(Shooter shooterSubsystem, ShooterAim aimSubsystem) {
m_shooterAim = aimSubsystem;
m_shooter = shooterSubsystem;
m_shooterHood = m_shooter.m_shooterHoodSubsystem;
addRequirements(m_shooterAim);
NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(1);
}
@@ -99,7 +102,7 @@ public class HoldTarget extends CommandBase {
m_shooter.m_fireVel = fireVel;
m_shooter.m_fireAngle = fireAngle;// + m_shooter.shooterTrims.m_hoodTrim;
m_shooterHood.m_fireAngle = fireAngle;// + m_shooter.shooterTrims.m_hoodTrim;
}
}
src/main/java/frc4388/robot/commands/shooter/HoodPositionPID.java
+7 -6
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@@ -10,16 +10,17 @@ package frc4388.robot.commands.shooter;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.ShooterHood;
public class HoodPositionPID extends CommandBase {
Shooter m_shooter;
double firingAngle;
private ShooterHood m_shooterHood;
/**
* Creates a new HoodPositionPID.
*/
public HoodPositionPID(Shooter subSystem) {
m_shooter = subSystem;
//addRequirements(m_shooter);
public HoodPositionPID(ShooterHood subSystem) {
m_shooterHood = subSystem;
addRequirements(m_shooterHood);
}
// Called when the command is initially scheduled.
@@ -35,7 +36,7 @@ public class HoodPositionPID extends CommandBase {
firingAngle = (-slope*m_shooter.addFireAngle())+b;*/
//SmartDashboard.putNumber("Shoot Angle From Equation", m_shooter.addFireAngle());
//SmartDashboard.putNumber("Fire Angle", firingAngle);
m_shooter.runAngleAdjustPID(firingAngle);
m_shooterHood.runAngleAdjustPID(firingAngle);
}
// Called once the command ends or is interrupted.
@@ -46,7 +47,7 @@ public class HoodPositionPID extends CommandBase {
// Returns true when the command should end.
@Override
public boolean isFinished() {
double encoderPos = m_shooter.m_angleAdjustMotor.getEncoder().getPosition();
double encoderPos = m_shooterHood.m_angleAdjustMotor.getEncoder().getPosition();
if(encoderPos < firingAngle + 1 || encoderPos < firingAngle - 1){
return false;
}
src/main/java/frc4388/robot/commands/shooter/ShootFireGroup.java
+4 -1
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@@ -12,6 +12,7 @@ import edu.wpi.first.wpilibj2.command.RunCommand;
import frc4388.robot.commands.storage.StorageRun;
import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.ShooterAim;
import frc4388.robot.subsystems.ShooterHood;
import frc4388.robot.subsystems.Storage;
// NOTE: Consider using this command inline, rather than writing a subclass. For more
@@ -25,9 +26,11 @@ public class ShootFireGroup extends ParallelRaceGroup {
* @param m_storage The Storage subsytem
*/
public ShootFireGroup(Shooter m_shooter, ShooterAim m_shooterAim, Storage m_storage) {
ShooterHood m_shooterHood = m_shooter.m_shooterHoodSubsystem;
addCommands(
new RunCommand(() -> m_shooter.runDrumShooterVelocityPID(m_shooter.addFireVel())),
new RunCommand(() -> m_shooter.runAngleAdjustPID(m_shooter.addFireAngle())),
new RunCommand(() -> m_shooterHood.runAngleAdjustPID(m_shooterHood.addFireAngle())),
new HoldTarget(m_shooter, m_shooterAim),
new StorageRun(m_storage)
);
src/main/java/frc4388/robot/commands/shooter/ShooterVelocityControlPID.java
+7 -3
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@@ -11,18 +11,22 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.Constants.ShooterConstants;
import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.ShooterHood;
public class ShooterVelocityControlPID extends CommandBase {
Shooter m_shooter;
double m_targetVel;
double m_actualVel;
private ShooterHood m_shooterHood;
/**
* Runs the drum at a velocity
* @param subsystem The Shooter subsytem
*/
public ShooterVelocityControlPID(Shooter subsystem) {
public ShooterVelocityControlPID(Shooter subsystem, ShooterHood subHood) {
m_shooter = subsystem;
addRequirements(m_shooter);
m_shooterHood = subHood;
addRequirements(m_shooter, m_shooterHood);
}
// Called when the command is initially scheduled.
@@ -35,7 +39,7 @@ public class ShooterVelocityControlPID extends CommandBase {
@Override
public void execute() {
m_shooter.runDrumShooterVelocityPID(/*m_shooter.addFireVel()*/13000);
m_shooter.runAngleAdjustPID(m_shooter.addFireAngle());
m_shooterHood.runAngleAdjustPID(m_shooterHood.addFireAngle());
//SmartDashboard.putNumber("Fire Velocity", m_shooter.addFireVel());
//SmartDashboard.putNumber("Fire Angle", m_shooter.addFireAngle());
}
src/main/java/frc4388/robot/commands/shooter/TrackTarget.java
+4 -1
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@@ -14,6 +14,7 @@ import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.Constants.VisionConstants;
import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.ShooterAim;
import frc4388.robot.subsystems.ShooterHood;
import frc4388.utility.controller.IHandController;
public class TrackTarget extends CommandBase {
@@ -33,6 +34,7 @@ public class TrackTarget extends CommandBase {
public double m_hoodTrim;
public double m_turretTrim;
private ShooterHood m_shooterHood;
/**
* Uses the Limelight to track the target
@@ -42,6 +44,7 @@ public class TrackTarget extends CommandBase {
public TrackTarget(Shooter shooterSubsystem, ShooterAim aimSubsystem) {
m_shooterAim = aimSubsystem;
m_shooter = shooterSubsystem;
m_shooterHood = m_shooter.m_shooterHoodSubsystem;
addRequirements(m_shooterAim);
NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(1);
}
@@ -97,7 +100,7 @@ public class TrackTarget extends CommandBase {
m_shooter.m_fireVel = fireVel;
m_shooter.m_fireAngle = fireAngle;// + m_shooter.shooterTrims.m_hoodTrim;
m_shooterHood.m_fireAngle = fireAngle;// + m_shooter.shooterTrims.m_hoodTrim;
}
}