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Fixed the falcon for double falcons

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Co-Authored-By: Nirvan Bhalala <78400306+nbhalala27@users.noreply.github.com>
This commit is contained in:
Aarav Shah
2021-02-26 12:36:28 -07:00
parent 5d75b044cc
commit a7c41ebe2d
5 changed files with 52 additions and 30 deletions
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src/main/java/frc4388/robot/Constants.java
+3 -2
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@@ -112,7 +112,8 @@ public final class Constants {
public static final class ShooterConstants {
/* Motor IDs */
public static final int SHOOTER_FALCON_ID = 8;
public static final int SHOOTER_FALCON_BALLER_ID = 8;
public static final int SHOOTER_FALCON_BALLER_FOLLOWER_ID = 15;
public static final int SHOOTER_ANGLE_ADJUST_ID = 10;
public static final int SHOOTER_ROTATE_ID = 9;
@@ -156,7 +157,7 @@ public final class Constants {
}
public static final class LevelerConstants {
public static final int LEVELER_CAN_ID = 15;
public static final int LEVELER_CAN_ID = 30;
}
public static final class IntakeConstants {;
src/main/java/frc4388/robot/RobotContainer.java
+1 -1
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@@ -163,7 +163,7 @@ public class RobotContainer {
// runs the hood with joystick
m_robotShooterHood.setDefaultCommand(new RunHoodWithJoystick(m_robotShooterHood, getOperatorController()));
// moves the drum not
m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(1500), m_robotShooter));
m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runDrumShooter(0.2), m_robotShooter));
// drives climber with input from triggers on the opperator controller
m_robotClimber.setDefaultCommand(new RunClimberWithTriggers(m_robotClimber, getDriverController()));
// drives the leveler with an axis input from the driver controller
src/main/java/frc4388/robot/commands/shooter/ShooterVelocityControlPID.java
+1 -1
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@@ -35,7 +35,7 @@ public class ShooterVelocityControlPID extends CommandBase {
@Override
public void execute() {
//Tells whether the target velocity has been reached
m_actualVel = m_shooter.m_shooterFalcon.getSelectedSensorPosition();
m_actualVel = m_shooter.m_shooterFalconLeft.getSelectedSensorPosition();
m_targetVel = m_shooter.addFireVel();
double error = m_actualVel - m_targetVel;
if (Math.abs(error) < ShooterConstants.DRUM_VELOCITY_BOUND){
src/main/java/frc4388/robot/subsystems/Drive.java
+1 -1
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@@ -312,7 +312,7 @@ public class Drive extends SubsystemBase {
public void passRequiredSubsystem(Pneumatics subsystem, Shooter shooter) {
m_pneumaticsSubsystem = subsystem;
m_shooter = shooter;
m_orchestra.addInstrument(m_shooter.m_shooterFalcon);
m_orchestra.addInstrument(m_shooter.m_shooterFalconLeft);
}
public void updateTime() {
src/main/java/frc4388/robot/subsystems/Shooter.java
+46 -25
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@@ -21,8 +21,8 @@ import frc4388.utility.controller.IHandController;
public class Shooter extends SubsystemBase {
public WPI_TalonFX m_shooterFalcon = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_ID);
public WPI_TalonFX m_shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_BALLER_ID);
public WPI_TalonFX m_shooterFalconRight = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_BALLER_FOLLOWER_ID);
public static Gains m_drumShooterGains = ShooterConstants.DRUM_SHOOTER_GAINS;
public static Shooter m_shooter;
public static IHandController m_controller;
@@ -50,24 +50,42 @@ public class Shooter extends SubsystemBase {
//SmartDashboard.putNumber("Velocity Target", 10000);
//SmartDashboard.putNumber("Angle Target", 3);
m_shooterFalcon.configFactoryDefault();
m_shooterFalcon.setNeutralMode(NeutralMode.Coast);
m_shooterFalcon.setInverted(true);
m_shooterFalcon.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS);
//LEFT FALCON
m_shooterFalconLeft.configFactoryDefault();
m_shooterFalconLeft.setNeutralMode(NeutralMode.Coast);
m_shooterFalconLeft.setInverted(true);
m_shooterFalconLeft.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconLeft.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS);
//RIGHT FALCON
m_shooterFalconRight.configFactoryDefault();
m_shooterFalconRight.setNeutralMode(NeutralMode.Coast);
m_shooterFalconRight.setInverted(false);
m_shooterFalconRight.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconRight.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS);
setShooterGains();
m_shooterFalcon.configPeakOutputReverse(0, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS);
int closedLoopTimeMs = 1;
m_shooterFalcon.configClosedLoopPeriod(0, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS);
//LEFT FALCON
m_shooterFalconLeft.configPeakOutputReverse(0, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconLeft.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconLeft.configClosedLoopPeriod(0, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconLeft.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS);
//RIGHT FALCON
//m_shooterFalconRight.configPeakOutputForward(0, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconRight.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconRight.configClosedLoopPeriod(0, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconRight.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterTable = new ShooterTables();
m_shooterFalcon.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS);
//SmartDashboard.putNumber("CSV 10", m_shooterTable.getVelocity(10));
//SmartDashboard.putNumber("CSV 200", m_shooterTable.getVelocity(200));
//SmartDashboard.putNumber("CSV 250", m_shooterTable.getVelocity(250));
@@ -83,13 +101,13 @@ 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_shooterFalconLeft.getSelectedSensorVelocity());
SmartDashboard.putNumber("Drum Velocity CSV", m_fireVel);
SmartDashboard.putNumber("Shooter Temp C", m_shooterFalcon.getTemperature());
SmartDashboard.putNumber("Shooter Temp C", m_shooterFalconLeft.getTemperature());
SmartDashboard.putNumber("Shooter Current", m_shooterFalcon.getSupplyCurrent());
SmartDashboard.putNumber("Shooter Current", m_shooterFalconLeft.getSupplyCurrent());
SmartDashboard.putBoolean("Drum Ready" , m_isDrumReady);
}
@@ -118,18 +136,20 @@ public class Shooter extends SubsystemBase {
* @param speed Speed to set the motor at
*/
public void runDrumShooter(double speed) {
m_shooterFalcon.set(speed);
m_shooterFalconLeft.set(TalonFXControlMode.PercentOutput, speed);
m_shooterFalconRight.follow(m_shooterFalconLeft);
//m_shooterFalconRight.set(TalonFXControlMode.PercentOutput, speed);
}
/**
* Configures gains for shooter PID.
*/
public void setShooterGains() {
m_shooterFalcon.selectProfileSlot(ShooterConstants.SHOOTER_SLOT_IDX, ShooterConstants.SHOOTER_PID_LOOP_IDX);
m_shooterFalcon.config_kF(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kF, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.config_kP(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kP, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.config_kI(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kI, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalcon.config_kD(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kD, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconLeft.selectProfileSlot(ShooterConstants.SHOOTER_SLOT_IDX, ShooterConstants.SHOOTER_PID_LOOP_IDX);
m_shooterFalconLeft.config_kF(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kF, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconLeft.config_kP(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kP, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconLeft.config_kI(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kI, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconLeft.config_kD(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kD, ShooterConstants.SHOOTER_TIMEOUT_MS);
}
/**
@@ -138,6 +158,7 @@ public class Shooter extends SubsystemBase {
*/
public void runDrumShooterVelocityPID(double targetVel) {
//System.out.println("Target Velocity" + targetVel);
m_shooterFalcon.set(TalonFXControlMode.Velocity, targetVel); //Init PID
m_shooterFalconLeft.set(TalonFXControlMode.Velocity, targetVel); //Init PID
m_shooterFalconRight.follow(m_shooterFalconLeft);
}
}