Merge branch 'master' into add-elijahs-mystery-feature

src/main/java/frc4388/robot/Constants.java

@@ -29,11 +29,11 @@ public final class Constants {
         /* PID Constants Drive*/
         public static final int DRIVE_TIMEOUT_MS = 30;
         public static final Gains DRIVE_DISTANCE_GAINS = new Gains(0.2, 0.0, 0.0, 0.0, 0, 0.3);
-        public static final Gains DRIVE_VELOCITY_GAINS = new Gains(0.0, 0.0, 0.0, 0.1, 0, 1.0);
-        public static final Gains DRIVE_TURNING_GAINS = new Gains(0.4, 0.0, 0.0, 0.0, 0, 0.3);
+        public static final Gains DRIVE_VELOCITY_GAINS = new Gains(0.1, 0.0, 0.0, 0.1, 0, 1.0);
+        public static final Gains DRIVE_TURNING_GAINS = new Gains(0.4, 0.0, 0.0, 0.0, 0, 0.5);
         public static final Gains DRIVE_MOTION_MAGIC_GAINS = new Gains(0.2, 0.0, 0.0, 0.0, 0, 1.0);
-        public static final int DRIVE_CRUISE_VELOCITY = 2000;
-        public static final int DRIVE_ACCELERATION = 1000;
+        public static final int DRIVE_CRUISE_VELOCITY = 20000;
+        public static final int DRIVE_ACCELERATION = 7000;
 
         /* Remote Sensors */
         public final static int REMOTE_0 = 0;
@@ -66,7 +66,20 @@ public final class Constants {
     }
     
     public static final class IntakeConstants {
-        public static final int INTAKE_SPARK_ID = 1;
+        public static final int INTAKE_SPARK_ID = 9;
+        public static final int EXTENDER_SPARK_ID = 10;
+    }
+  
+    public static final class ShooterConstants {
+        public static final int SHOOTER_FALCON_ID = 8;
+
+        /* PID Constants Shooter */
+        public static final int SHOOTER_SLOT_IDX = 0;
+        public static final int SHOOTER_PID_LOOP_IDX = 1;
+        public static final int SHOOTER_TIMEOUT_MS = 30;
+        public static final Gains SHOOTER_GAINS = new Gains(0.4, 0.0005, 13, 0.05, 0, 1.0);
+        
+        public static final double ENCODER_TICKS_PER_REV = 2048;
     }
     
     public static final class ClimberConstants {
@@ -74,17 +87,34 @@ public final class Constants {
     }
   
     public static final class LevelerConstants {
-        public static final int LEVELER_CAN_ID = 9;
+        public static final int LEVELER_CAN_ID = -1;
     }
   
     public static final class StorageConstants {
-        public static final int STORAGE_CAN_ID = -1;
+        public static final int STORAGE_CAN_ID = 10;
+
+        /* Ball Indexes */
         public static final int BEAM_SENSOR_DIO_0 = 0;
         public static final int BEAM_SENSOR_DIO_1 = 1;
         public static final int BEAM_SENSOR_DIO_2 = 2;
         public static final int BEAM_SENSOR_DIO_3 = 3;
         public static final int BEAM_SENSOR_DIO_4 = 4;
         public static final int BEAM_SENSOR_DIO_5 = 5;
+
+        /* PID Values */
+        public static final int SLOT_DISTANCE = 0;
+
+        /* PID Indexes */
+        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 class LEDConstants {

src/main/java/frc4388/robot/Gains.java

@@ -17,6 +17,8 @@ public class Gains {
     public double m_kF;
     public int m_kIzone;
     public double m_kPeakOutput;
+    public double m_kmaxOutput;
+    public double m_kminOutput;
 
     /**
      * Creates Gains object for PIDs

src/main/java/frc4388/robot/RobotContainer.java

@@ -17,14 +17,19 @@ import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import frc4388.robot.Constants.*;
 import frc4388.robot.commands.DriveStraightAtVelocityPID;
 import frc4388.robot.commands.DriveWithJoystick;
-import frc4388.robot.commands.PlaySongDrive;
+import frc4388.robot.commands.DriveStraightToPositionMM;
+import frc4388.robot.commands.DriveStraightToPositionPID;
+import frc4388.robot.commands.DriveWithJoystickUsingDeadAssistPID;
 import frc4388.robot.commands.RunClimberWithTriggers;
+import frc4388.robot.commands.RunExtenderOutIn;
 import frc4388.robot.commands.RunIntakeWithTriggers;
-import frc4388.robot.subsystems.Climber;
-import frc4388.robot.commands.RunLevelerWithJoystick;
+import frc4388.robot.commands.ShooterVelocityControlPID;
 import frc4388.robot.subsystems.Drive;
 import frc4388.robot.subsystems.Intake;
 import frc4388.robot.subsystems.LED;
+import frc4388.robot.subsystems.Shooter;
+import frc4388.robot.subsystems.Climber;
+import frc4388.robot.commands.RunLevelerWithJoystick;
 import frc4388.robot.subsystems.Leveler;
 import frc4388.robot.subsystems.Storage;
 import frc4388.utility.LEDPatterns;
@@ -43,6 +48,7 @@ public class RobotContainer {
     private final Drive m_robotDrive = new Drive();
     private final LED m_robotLED = new LED();
     private final Intake m_robotIntake = new Intake();
+    private final Shooter m_robotShooter = new Shooter();
     private final Climber m_robotClimber = new Climber();
     private final Leveler m_robotLeveler = new Leveler();
     private final Storage m_robotStorage = new Storage();
@@ -59,13 +65,15 @@ public class RobotContainer {
 
         /* Default Commands */
         // drives the robot with a two-axis input from the driver controller
-        m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, getDriverController()));
-        // drives motor with input from triggers on the opperator controller
+        m_robotDrive.setDefaultCommand(new DriveWithJoystickUsingDeadAssistPID(m_robotDrive, getDriverController()));
+        // drives intake with input from triggers on the opperator controller
         m_robotIntake.setDefaultCommand(new RunIntakeWithTriggers(m_robotIntake, getOperatorController()));
         // drives climber with input from triggers on the opperator controller
         m_robotClimber.setDefaultCommand(new RunClimberWithTriggers(m_robotClimber, getDriverController()));
         // 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.runDrumShooter(0.15), 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
@@ -80,32 +88,54 @@ public class RobotContainer {
     */
     private void configureButtonBindings() {
         /* Driver Buttons */
-        //new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
-        //    .whenPressed(new DriveStraightToPositionPID(m_robotDrive, 36));
+        new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
+            .whenPressed(new DriveStraightToPositionPID(m_robotDrive, 144));
 
         /* 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.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()));
+      
         // resets the yaw of the pigeon
         new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
-            .whenPressed(new InstantCommand(() -> m_robotDrive.resetGyroYaw(), m_robotDrive));
-
+            .whenPressed(new DriveStraightToPositionMM(m_robotDrive, 72));
+      
+        // turn 45 degrees
         new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
-            .whenPressed(new PlaySongDrive(m_robotDrive));
+            .whenPressed(new RunCommand(() -> m_robotDrive.runTurningPID(45), m_robotDrive));
 
-        //new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
-        //    .whenPressed(new RunCommand(() -> m_robotDrive.runMotionMagicPID(5000, 0), m_robotDrive));
+
+        // sets solenoids into high gear
+        new JoystickButton(getDriverJoystick(), XboxController.START_BUTTON)
+            .whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(true), m_robotDrive));
+
+        // sets solenoids into low gear
+        new JoystickButton(getDriverJoystick(), XboxController.BACK_BUTTON)
+            .whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(false), m_robotDrive));
+        
         // interrupts any running command
         new JoystickButton(getDriverJoystick(), XboxController.LEFT_JOYSTICK_BUTTON)
             .whenPressed(new InstantCommand(() -> System.out.print("Gamer"), m_robotDrive));
+
+        /* Storage Neo PID Test */
+        new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
+            .whileHeld(new RunCommand(() -> m_robotStorage.runStoragePositionPID(0.5, 0.2, 0.0, 0.0, 0.0, 0.0, 1, -1)));
     }
       
     /**

src/main/java/frc4388/robot/commands/DriveStraightToPositionMM.java

@@ -0,0 +1,70 @@
+/*----------------------------------------------------------------------------*/
+/* 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.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.Constants.DriveConstants;
+import frc4388.robot.subsystems.Drive;
+
+public class DriveStraightToPositionMM extends CommandBase {
+  Drive m_drive;
+  double m_targetPosIn;
+  double m_targetPosOut;
+  double m_targetGyro;
+  boolean isGoneFast;
+  
+  /**
+   * Creates a new DriveToDistancePID.
+   * @param subsystem drive subsystem
+   * @param targetPos distance to travel in inches
+   */
+  public DriveStraightToPositionMM(Drive subsystem, double targetPos) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    m_drive = subsystem;
+    m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH;
+    addRequirements(m_drive);
+    //SmartDashboard.putNumber("Distance Target Inches", targetPos);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    System.err.println("PID START \n | \n |");
+    m_targetGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN);
+    m_targetPosOut = m_targetPosIn + m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_PRIMARY);
+    isGoneFast = false;
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    //System.err.println("| \n Sensor Pos \n" + m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN));
+    //System.err.println("Sensor Error \n" + m_drive.m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_TURN));
+    //System.err.println("Sensor Target \n" + m_drive.m_rightFrontMotor.getClosedLoopTarget(DriveConstants.PID_TURN));
+    m_drive.runMotionMagicPID(m_targetPosOut, m_targetGyro);
+  }
+
+  // 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 (Math.abs((int)m_drive.m_rightFrontMotor.getSelectedSensorVelocity(DriveConstants.PID_PRIMARY)) < 5 && isGoneFast){
+      return true;
+    } else {
+      if (m_drive.m_rightFrontMotor.getSelectedSensorVelocity(DriveConstants.PID_PRIMARY) > 100) {
+        isGoneFast = true;
+      }
+      return false;
+    }
+  }
+}

src/main/java/frc4388/robot/commands/DriveStraightToPositionPID.java

@@ -14,8 +14,10 @@ import frc4388.robot.subsystems.Drive;
 
 public class DriveStraightToPositionPID extends CommandBase {
   Drive m_drive;
-  double m_targetPos;
+  double m_targetPosIn;
+  double m_targetPosOut;
   double m_targetGyro;
+  int i;
   
   /**
    * Creates a new DriveToDistancePID.
@@ -25,22 +27,27 @@ public class DriveStraightToPositionPID extends CommandBase {
   public DriveStraightToPositionPID(Drive subsystem, double targetPos) {
     // Use addRequirements() here to declare subsystem dependencies.
     m_drive = subsystem;
-    m_targetPos = targetPos * DriveConstants.TICKS_PER_INCH;
+    m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH;
     addRequirements(m_drive);
-    SmartDashboard.putNumber("Distance Target Inches", targetPos);
+    //SmartDashboard.putNumber("Distance Target Inches", targetPos);
   }
 
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
+    //System.err.println("PID START \n | \n |");
     m_targetGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN);
+    m_targetPosOut = m_targetPosIn + m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_PRIMARY);
+    i = 0;
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    //System.err.println(m_drive.m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_TURN));
-    m_drive.runDriveStraightPositionPID(m_targetPos, m_targetGyro);
+    //System.err.println("| \n Sensor Pos \n" + m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_PRIMARY));
+    //System.err.println("Sensor Error \n" + m_drive.m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_PRIMARY));
+    //System.err.println("Sensor Target \n" + m_drive.m_rightFrontMotor.getClosedLoopTarget(DriveConstants.PID_PRIMARY));
+    m_drive.runDriveStraightPositionPID(m_targetPosOut, m_targetGyro);
   }
 
   // Called once the command ends or is interrupted.
@@ -51,9 +58,11 @@ public class DriveStraightToPositionPID extends CommandBase {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    if (Math.abs(m_drive.m_leftFrontMotor.getActiveTrajectoryPosition() - m_targetPos) < 500){
+    if (Math.abs((int)m_drive.m_rightFrontMotor.getSelectedSensorVelocity(DriveConstants.PID_PRIMARY)) < 5 && i > 5){
       return true;
     } else {
+      i++;
+      //System.err.println(i);
       return false;
     }
   }

src/main/java/frc4388/robot/commands/DriveWithJoystickAuxPID.java

@@ -0,0 +1,79 @@
+/*----------------------------------------------------------------------------*/
+/* 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 com.ctre.phoenix.motorcontrol.TalonFXControlMode;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import edu.wpi.first.wpiutil.math.MathUtil;
+import frc4388.robot.Constants.DriveConstants;
+import frc4388.robot.subsystems.Drive;
+import frc4388.utility.controller.IHandController;
+
+public class DriveWithJoystickAuxPID extends CommandBase {
+  Drive m_drive;
+  double m_targetGyro;
+  long lastTime;
+  IHandController m_controller;
+
+  /**
+   * Creates a new DriveWithJoystickAuxPID.
+   */
+  public DriveWithJoystickAuxPID(Drive subsystem, IHandController controller) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    m_drive = subsystem;
+    m_controller = controller;
+    addRequirements(m_drive);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    m_targetGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN);
+    lastTime = System.currentTimeMillis();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    double currentGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN);
+    double moveInput = m_controller.getLeftYAxis();
+    double steerInput = m_controller.getRightXAxis();
+    double moveOutput = 0;
+    long deltaTime = System.currentTimeMillis() - lastTime;
+    lastTime = System.currentTimeMillis();
+    if (moveInput >= 0){
+      moveOutput = -Math.cos(1.571*moveInput)+1;
+    } else {
+      moveOutput = Math.cos(1.571*moveInput)-1;
+    }
+
+    m_targetGyro += 2 * steerInput * deltaTime;
+
+    m_targetGyro = MathUtil.clamp(m_targetGyro, 
+                                  currentGyro-(DriveConstants.TICKS_PER_GYRO_REV/4),
+                                  currentGyro+(DriveConstants.TICKS_PER_GYRO_REV/4));
+
+    m_drive.driveWithInputAux(moveOutput, m_targetGyro);
+
+    System.err.println("Target: " + m_targetGyro);
+    System.err.println("Current: " + currentGyro);
+    System.err.println();
+  }
+
+  // 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;
+  }
+}

src/main/java/frc4388/robot/commands/DriveWithJoystickUsingDeadAssistPID.java

@@ -0,0 +1,114 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpiutil.math.MathUtil;
+import frc4388.robot.Constants.DriveConstants;
+import frc4388.robot.subsystems.Drive;
+import frc4388.utility.controller.IHandController;
+
+public class DriveWithJoystickUsingDeadAssistPID extends CommandBase {
+  Drive m_drive;
+  double m_targetGyro;
+  long lastTime;
+  IHandController m_controller;
+  boolean isAuxPIDEnabled = false;
+
+  /**
+   * Creates a new DriveWithJoystickUsingDeadAssistPID to control the drivetrain with an Xbox controller.
+   * Applies a curved ramp to the input from the controllers to make the robot less "touchy".
+   * Also uses PIDs to keep the robot on course when given a "dead" or 0 input.
+   * @param subsystem pass the Drive subsystem from {@link frc4388.robot.RobotContainer#RobotContainer() RobotContainer}
+   * @param controller pass the Driver {@link frc4388.utility.controller.IHandController#getClass() IHandController} using the
+   * {@link frc4388.robot.RobotContainer#getDriverJoystick() getDriverJoystick()} method in
+   * {@link frc4388.robot.RobotContainer#RobotContainer() RobotContainer}
+   */
+  public DriveWithJoystickUsingDeadAssistPID(Drive subsystem, IHandController controller) {
+    // Use addRequirements() here to declare subsystem dependencies.    
+    m_drive = subsystem;
+    m_controller = controller;
+    addRequirements(m_drive);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    lastTime = System.currentTimeMillis();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    double currentGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN);
+    double moveInput = m_controller.getLeftYAxis();
+    double steerInput = m_controller.getRightXAxis();
+    double moveOutput = 0;
+    double steerOutput = 0;
+    long deltaTime = System.currentTimeMillis() - lastTime;
+    lastTime = System.currentTimeMillis();
+
+    /* If AuxPID is enabled, then update using the steer input */
+    if (isAuxPIDEnabled) {
+      m_targetGyro += 2 * steerInput * deltaTime;
+  
+      m_targetGyro = MathUtil.clamp(  m_targetGyro, 
+                                      currentGyro-(DriveConstants.TICKS_PER_GYRO_REV/4),
+                                      currentGyro+(DriveConstants.TICKS_PER_GYRO_REV/4));
+    }
+    /* Otherwise set target angle to current angle (prevents buildup of gyro error) */
+    else {
+      m_targetGyro = currentGyro;
+    }
+
+    /* If move stick is being used */
+    if (moveInput != 0) {
+      /* Curves the moveInput to be slightly more gradual at first */
+      if (moveInput >= 0) {
+        moveOutput = -Math.cos(1.571*moveInput)+1;
+      } else {
+        moveOutput = Math.cos(1.571*moveInput)-1;
+      }
+
+      /* If steer stick is being used. */
+      if (steerInput != 0) {
+        double cosMultiplier = .45;
+        double deadzone = .2;
+        /* Curves the steer output to be similarily gradual */
+        if (steerInput > 0){
+          steerOutput = -cosMultiplier*Math.cos(1.571*steerInput)+(cosMultiplier+deadzone);
+        } else {
+          steerOutput = cosMultiplier*Math.cos(1.571*steerInput)-(cosMultiplier+deadzone);
+        }
+        m_drive.driveWithInput(moveOutput, steerOutput);
+        isAuxPIDEnabled = false;
+      }
+      /* If only the move stick is being used */
+      else {
+        m_drive.driveWithInputAux(moveOutput, m_targetGyro);
+        isAuxPIDEnabled = true;
+      }
+    }
+    /* If the move stick is not being used */
+    else {
+      m_drive.runDriveStraightVelocityPID(0, m_targetGyro);
+      isAuxPIDEnabled = true;
+    }
+  }
+
+  // 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;
+  }
+}

src/main/java/frc4388/robot/commands/RunExtenderOutIn.java

@@ -8,53 +8,55 @@
 package frc4388.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.CommandBase;
-import frc4388.robot.Constants.DriveConstants;
-import frc4388.robot.subsystems.Drive;
+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;
 
-public class DriveToDistanceMM extends CommandBase {
-  Drive m_drive;
-  double m_distance;
-  double m_leftTarget;
-  double m_rightTarget;
-  
   /**
-   * Creates a new DriveToDistancePID.
-   * @param subsystem drive subsystem
-   * @param distance distance to travel in inches
+   * Uses input from opperator to run the extender motor.
+   * The left bumper will run the extender in and out.
+   * @param subsystem pass the Intake subsystem from {@link frc4388.robot.RobotContainer#RobotContainer() RobotContainer}
    */
-  public DriveToDistanceMM(Drive subsystem, double distance) {
+  public RunExtenderOutIn(Intake subsystem) {
     // Use addRequirements() here to declare subsystem dependencies.
-    m_drive = subsystem;
-    m_distance = distance * DriveConstants.TICKS_PER_INCH;
-    addRequirements(m_drive);
+    m_intake = subsystem;
+    addRequirements(m_intake);
   }
 
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    m_leftTarget = m_drive.m_leftFrontMotor.getActiveTrajectoryPosition() + m_distance;
-    m_rightTarget = -(m_drive.m_rightFrontMotor.getActiveTrajectoryPosition() + m_distance);
+    isOut = !isOut;
+    startTime = System.currentTimeMillis();
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    //m_drive.runMotionMagicPID(m_drive.m_leftFrontMotor, m_leftTarget);
-    //m_drive.runMotionMagicPID(m_drive.m_rightFrontMotor, m_rightTarget);
+    if (isOut){
+      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) {
+    m_intake.runExtender(0.0);
   }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    if (Math.abs(m_drive.m_leftFrontMotor.getActiveTrajectoryPosition() - m_leftTarget) < 100){
+    if (startTime + 3000 < System.currentTimeMillis()) {
       return true;
-    } else {
-      return false;
     }
+    return false;
   }
 }

src/main/java/frc4388/robot/commands/ShooterVelocityControlPID.java

@@ -0,0 +1,48 @@
+/*----------------------------------------------------------------------------*/
+/* 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.Shooter;
+
+public class ShooterVelocityControlPID extends CommandBase {
+  Shooter m_shooter;
+  double m_targetVel;
+  /**
+   * Creates a new ShooterVelocityControlPID.
+   */
+  public ShooterVelocityControlPID(Shooter subsystem, double targetVel) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    m_shooter = subsystem;
+    m_targetVel = targetVel;
+    addRequirements(m_shooter);
+  }
+
+  // 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() {
+    System.err.println(m_shooter.m_shooterFalcon.getSelectedSensorVelocity());
+    m_shooter.runDrumShooterVelocityPID(m_targetVel, m_shooter.m_shooterFalcon.getSelectedSensorVelocity());
+  }
+
+  // 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;
+  }
+}

src/main/java/frc4388/robot/subsystems/Climber.java

@@ -10,6 +10,7 @@ package frc4388.robot.subsystems;
 import com.revrobotics.CANDigitalInput;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANDigitalInput.LimitSwitchPolarity;
+import com.revrobotics.CANSparkMax.IdleMode;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -17,18 +18,20 @@ import frc4388.robot.Constants.ClimberConstants;
 
 public class Climber extends SubsystemBase {
   CANSparkMax m_climberMotor = new CANSparkMax(ClimberConstants.CLIMBER_SPARK_ID, MotorType.kBrushless);
-  CANDigitalInput m_forwardLimit, m_reverseLimit;
+  CANDigitalInput m_climberForwardLimit, m_climberReverseLimit;
   /**
    * Creates a new Climber.
    */
   public Climber() {
     m_climberMotor.restoreFactoryDefaults();
-    
-    m_forwardLimit = m_climberMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
-    m_reverseLimit = m_climberMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
 
-    m_forwardLimit.enableLimitSwitch(false);
-    m_reverseLimit.enableLimitSwitch(false);
+    m_climberMotor.setIdleMode(IdleMode.kBrake);
+    m_climberMotor.setInverted(false);
+    
+    m_climberForwardLimit = m_climberMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
+    m_climberReverseLimit = m_climberMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
+    m_climberForwardLimit.enableLimitSwitch(false);
+    m_climberReverseLimit.enableLimitSwitch(false);
   }
 
   @Override

src/main/java/frc4388/robot/subsystems/Drive.java

@@ -17,7 +17,7 @@ import java.util.ArrayList;
 import java.util.List;
 import java.util.stream.Collectors;
 import java.util.stream.Stream;
-
+import com.ctre.phoenix.motorcontrol.ControlMode;
 import com.ctre.phoenix.motorcontrol.DemandType;
 import com.ctre.phoenix.motorcontrol.FeedbackDevice;
 import com.ctre.phoenix.motorcontrol.FollowerType;
@@ -33,6 +33,8 @@ import com.ctre.phoenix.sensors.PigeonIMU;
 import com.ctre.phoenix.sensors.PigeonIMU_StatusFrame;
 
 import edu.wpi.first.wpilibj.Filesystem;
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
@@ -66,6 +68,8 @@ public class Drive extends SubsystemBase {
 
   SendableChooser<String> m_songChooser = new SendableChooser<String>();
 
+  public DoubleSolenoid speedShift;
+
   /**
    * Add your docs here.
    */
@@ -78,6 +82,8 @@ public class Drive extends SubsystemBase {
     m_pigeon.configFactoryDefault();
     resetGyroYaw();
 
+    speedShift = new DoubleSolenoid(7,0,1);
+
     /* set back motors as followers */
     m_leftBackMotor.follow(m_leftFrontMotor);
     m_rightBackMotor.follow(m_rightFrontMotor);
@@ -95,7 +101,6 @@ public class Drive extends SubsystemBase {
     m_leftBackMotor.setInverted(InvertType.FollowMaster);
     m_rightBackMotor.setInverted(InvertType.FollowMaster);
 
-
     m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
     m_rightFrontMotor.config_kF(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
     m_rightFrontMotor.config_kP(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
@@ -117,6 +122,15 @@ public class Drive extends SubsystemBase {
     m_rightFrontMotor.config_kD(DriveConstants.SLOT_DISTANCE, m_gainsDistance.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
     m_rightFrontMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_DISTANCE, m_gainsDistance.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);    
 
+    m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_MOTION_MAGIC, DriveConstants.PID_PRIMARY);
+    m_rightFrontMotor.config_kF(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
+    m_rightFrontMotor.config_kP(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
+    m_rightFrontMotor.config_kI(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
+    m_rightFrontMotor.config_kD(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
+    m_rightFrontMotor.configMotionCruiseVelocity(DriveConstants.DRIVE_CRUISE_VELOCITY, DriveConstants.DRIVE_TIMEOUT_MS);
+    m_rightFrontMotor.configMotionAcceleration(DriveConstants.DRIVE_ACCELERATION, DriveConstants.DRIVE_TIMEOUT_MS);
+    m_rightFrontMotor.configMotionSCurveStrength(0, DriveConstants.DRIVE_TIMEOUT_MS);
+
     /* Setup Sensors for WPI_TalonFXs */
     m_leftFrontMotor.setSelectedSensorPosition(0, DriveConstants.PID_PRIMARY, DriveConstants.DRIVE_TIMEOUT_MS);
     m_rightFrontMotor.setSelectedSensorPosition(0, DriveConstants.PID_PRIMARY, DriveConstants.DRIVE_TIMEOUT_MS);
@@ -147,8 +161,8 @@ public class Drive extends SubsystemBase {
     m_rightFrontMotor.configSensorTerm(SensorTerm.Sum1, FeedbackDevice.IntegratedSensor, DriveConstants.DRIVE_TIMEOUT_MS);
 
     /* Diff Signal */
-    m_rightFrontMotor.configSensorTerm(SensorTerm.Diff0, FeedbackDevice.RemoteSensor0, DriveConstants.DRIVE_TIMEOUT_MS);
-    m_rightFrontMotor.configSensorTerm(SensorTerm.Diff1, FeedbackDevice.IntegratedSensor, DriveConstants.DRIVE_TIMEOUT_MS);
+    m_rightFrontMotor.configSensorTerm(SensorTerm.Diff1, FeedbackDevice.RemoteSensor0, DriveConstants.DRIVE_TIMEOUT_MS);
+    m_rightFrontMotor.configSensorTerm(SensorTerm.Diff0, FeedbackDevice.IntegratedSensor, DriveConstants.DRIVE_TIMEOUT_MS);
 
     /* Configure Sum [Sum of both QuadEncoders] to be used for Primary PID Index */
 		m_rightFrontMotor.configSelectedFeedbackSensor(	FeedbackDevice.SensorDifference,
@@ -265,6 +279,7 @@ public class Drive extends SubsystemBase {
       SmartDashboard.putNumber("Right Motor Velocity Raw", m_rightFrontMotor.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());
 
@@ -350,14 +365,29 @@ public class Drive extends SubsystemBase {
   }
 
   /**
-   * Add your docs here.
+   * Runs percent output control on the moving and steering of the drive train,
+   * using the Differential Drive class to manage the two inputs
    */
   public void driveWithInput(double move, double steer){
     //m_driveTrain.arcadeDrive(move, steer);
   }
 
   /**
-   * Runs a position PID while driving straight (has not been tested)
+   * Runs percent output control on the drive train while using an AUX PID for rotation
+   * @param targetPos The position to drive to in units
+   * @param targetGyro The angle to drive at in units
+   */
+  public void driveWithInputAux(double move, double targetGyro) {
+    m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
+
+    m_rightFrontMotor.set(TalonFXControlMode.PercentOutput, move, DemandType.AuxPID, targetGyro);
+    m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
+
+    m_driveTrain.feedWatchdog();
+  }
+
+  /**
+   * Runs a position PID while driving straight
    * @param targetPos The position to drive to in units
    * @param targetGyro The angle to drive at in units
    */
@@ -365,7 +395,6 @@ public class Drive extends SubsystemBase {
     m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_DISTANCE, DriveConstants.PID_PRIMARY);
     m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
 
-    targetPos *= 2;
     m_rightFrontMotor.set(TalonFXControlMode.Position, targetPos, DemandType.AuxPID, targetGyro);
     m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
 
@@ -380,8 +409,6 @@ public class Drive extends SubsystemBase {
   public void runDriveStraightVelocityPID(double targetVel, double targetGyro) {
     m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
     m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
-
-    targetVel *= 2;
     m_rightFrontMotor.set(TalonFXControlMode.Velocity, targetVel, DemandType.AuxPID, targetGyro);
     m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
 
@@ -389,18 +416,19 @@ public class Drive extends SubsystemBase {
   }
 
   /**
-   * Runs motion magic PID while driving straight (has not been tested)
+   * Runs motion magic PID while driving straight
    * @param targetPos The position to drive to in units
    * @param targetGyro The angle to drive at in units
    */
   public void runMotionMagicPID(double targetPos, double targetGyro){
     m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_MOTION_MAGIC, DriveConstants.PID_PRIMARY);
     m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
-    
-    m_rightFrontMotor.set(TalonFXControlMode.MotionMagic, targetPos, DemandType.AuxPID, targetGyro);
+
+    m_rightFrontMotor.set(ControlMode.MotionMagic, targetPos, DemandType.AuxPID, targetGyro);
     m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
-    
-    //m_driveTrain.feedWatchdog();
+
+    m_driveTrain.feedWatchdog();
+
   }
 
   /**
@@ -465,5 +493,17 @@ public class Drive extends SubsystemBase {
   public void selectSong(String song) {
     SmartDashboard.putString("Selected Song", song);
     m_orchestra.loadMusic(song);
+    
+  /**
+   * Set to high or low gear based on boolean state, true = high, false = low
+   * @param state Chooses between high or low gear
+   */
+  public void setShiftState(boolean state) {
+    if (state == true) {
+			speedShift.set(DoubleSolenoid.Value.kForward);
+		}
+		if (state == false) {
+			speedShift.set(DoubleSolenoid.Value.kReverse);
+		}
   }
 }

src/main/java/frc4388/robot/subsystems/Intake.java

@@ -7,19 +7,38 @@
 
 package frc4388.robot.subsystems;
 
+import com.revrobotics.CANDigitalInput;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANDigitalInput.LimitSwitchPolarity;
+import com.revrobotics.CANSparkMax.IdleMode;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+
 import edu.wpi.first.wpilibj.Spark;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.Constants.IntakeConstants;
 
 public class Intake extends SubsystemBase {
-  Spark m_intakeMotor = new Spark(IntakeConstants.INTAKE_SPARK_ID);
-  
+  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;
+
   /**
    * Creates a new Intake.
    */
   public Intake() {
-    
+    m_intakeMotor.restoreFactoryDefaults();
+    m_extenderMotor.restoreFactoryDefaults();
+
+    m_intakeMotor.setIdleMode(IdleMode.kCoast);
+    m_extenderMotor.setIdleMode(IdleMode.kBrake);
     m_intakeMotor.setInverted(false);
+    m_extenderMotor.setInverted(false);
+    
+    m_extenderForwardLimit = m_extenderMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
+    m_extenderReverseLimit = m_extenderMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
+    m_extenderForwardLimit.enableLimitSwitch(false);
+    m_extenderReverseLimit.enableLimitSwitch(false);
   }
 
   @Override
@@ -34,4 +53,12 @@ public class Intake extends SubsystemBase {
   public void runIntake(double input) {
     m_intakeMotor.set(input);
   }
+  
+   /**
+   * Runs extender motor
+   * @param input the percent output to run motor at
+   */
+  public void runExtender(double input) {
+    m_extenderMotor.set(input);
+  }
 }

src/main/java/frc4388/robot/subsystems/Leveler.java

@@ -26,7 +26,8 @@ public class Leveler extends SubsystemBase {
    */
   public Leveler() {
     m_levelerMotor.restoreFactoryDefaults();
-    m_levelerMotor.setIdleMode(IdleMode.kCoast);
+
+    m_levelerMotor.setIdleMode(IdleMode.kBrake);
     m_levelerMotor.setInverted(false);
   }
 

src/main/java/frc4388/robot/subsystems/Shooter.java

@@ -0,0 +1,89 @@
+/*----------------------------------------------------------------------------*/
+/* 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.subsystems;
+
+import com.ctre.phoenix.motorcontrol.NeutralMode;
+import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
+
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc4388.robot.Gains;
+import frc4388.robot.Constants.DriveConstants;
+import frc4388.robot.Constants.ShooterConstants;
+
+public class Shooter extends SubsystemBase {
+
+  public WPI_TalonFX m_shooterFalcon = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_ID);
+
+  public static Gains m_shooterGains = ShooterConstants.SHOOTER_GAINS;
+
+  double velP;
+  /**
+   * Creates a new Shooter subsystem.
+   */
+  public Shooter() {
+    m_shooterFalcon.configFactoryDefault();
+
+    m_shooterFalcon.setNeutralMode(NeutralMode.Coast);
+    m_shooterFalcon.setInverted(false);
+    
+    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);
+    m_shooterFalcon.configClosedLoopPeriod(1, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS);
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+    SmartDashboard.putNumber("Shooter Velocity", m_shooterFalcon.getSelectedSensorVelocity()*600/ShooterConstants.ENCODER_TICKS_PER_REV);
+  }
+
+  /**
+   * Runs drum shooter motor.
+   * @param speed Speed to set the motor at
+   */
+  public void runDrumShooter(double speed) {
+    m_shooterFalcon.set(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_shooterGains.m_kF, ShooterConstants.SHOOTER_TIMEOUT_MS);
+    m_shooterFalcon.config_kP(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.m_kP, ShooterConstants.SHOOTER_TIMEOUT_MS);
+    m_shooterFalcon.config_kI(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.m_kI, ShooterConstants.SHOOTER_TIMEOUT_MS);
+    m_shooterFalcon.config_kD(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.m_kD, ShooterConstants.SHOOTER_TIMEOUT_MS);
+  }
+  /**
+   * Runs drum shooter velocity PID.
+   * @param falcon Motor to use
+   * @param targetVel Target velocity to run motor at
+   */
+  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
+    }
+  }
+}

src/main/java/frc4388/robot/subsystems/Storage.java

@@ -9,11 +9,15 @@ package frc4388.robot.subsystems;
 
 import com.ctre.phoenix.motorcontrol.can.TalonSRX;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+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 edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 import frc4388.robot.Constants.StorageConstants;
@@ -21,10 +25,17 @@ import frc4388.robot.Constants.StorageConstants;
 public class Storage extends SubsystemBase {
   private CANSparkMax m_storageMotor = new CANSparkMax(StorageConstants.STORAGE_CAN_ID, MotorType.kBrushless);
   private DigitalInput[] m_beamSensors = new DigitalInput[6];
+
+  CANPIDController m_storagePIDController = m_storageMotor.getPIDController();
+
+  CANEncoder m_encoder = m_storageMotor.getEncoder();
+
   /**
    * 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);
@@ -40,17 +51,42 @@ public class Storage extends SubsystemBase {
 
   /**
    * Runs storage motor
+   * 
    * @param input the voltage to run motor at
    */
-  public void runStorage(double input) {
+  public void runStorage(final double input) {
     m_storageMotor.set(input);
-    boolean beam_on = m_beamSensors[0].get();
+    final boolean beam_on = m_beamSensors[0].get();
 
     if (beam_on) {
       //System.err.println("Beam on");
     } else {
       //System.err.println("Beam off");
     }
-    
+
+  }
+
+  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)
+  {
+    // 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.setReference(targetPos, ControlType.kPosition);
+  }
+
+  public void getEncoderPos()
+  {
+    m_encoder.getPosition();
   }
 }