mirror of
https://github.com/Team4388/RiseOfRidgebotics2020.git
synced 2026-06-09 08:48:01 -06:00
Merge branch 'master' into add-elijahs-mystery-feature
This commit is contained in:
Elijah Price
@@ -10,6 +10,7 @@ package frc4388.robot.subsystems;
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import com.revrobotics.CANDigitalInput;
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import com.revrobotics.CANSparkMax;
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import com.revrobotics.CANDigitalInput.LimitSwitchPolarity;
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import com.revrobotics.CANSparkMax.IdleMode;
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import com.revrobotics.CANSparkMaxLowLevel.MotorType;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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@@ -17,18 +18,20 @@ import frc4388.robot.Constants.ClimberConstants;
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public class Climber extends SubsystemBase {
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CANSparkMax m_climberMotor = new CANSparkMax(ClimberConstants.CLIMBER_SPARK_ID, MotorType.kBrushless);
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CANDigitalInput m_forwardLimit, m_reverseLimit;
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CANDigitalInput m_climberForwardLimit, m_climberReverseLimit;
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/**
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* Creates a new Climber.
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*/
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public Climber() {
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m_climberMotor.restoreFactoryDefaults();
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m_forwardLimit = m_climberMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
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m_reverseLimit = m_climberMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
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m_forwardLimit.enableLimitSwitch(false);
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m_reverseLimit.enableLimitSwitch(false);
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m_climberMotor.setIdleMode(IdleMode.kBrake);
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m_climberMotor.setInverted(false);
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m_climberForwardLimit = m_climberMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
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m_climberReverseLimit = m_climberMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
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m_climberForwardLimit.enableLimitSwitch(false);
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m_climberReverseLimit.enableLimitSwitch(false);
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}
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@Override
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@@ -17,7 +17,7 @@ import java.util.ArrayList;
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import java.util.List;
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import java.util.stream.Collectors;
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import java.util.stream.Stream;
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import com.ctre.phoenix.motorcontrol.ControlMode;
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import com.ctre.phoenix.motorcontrol.DemandType;
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import com.ctre.phoenix.motorcontrol.FeedbackDevice;
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import com.ctre.phoenix.motorcontrol.FollowerType;
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@@ -33,6 +33,8 @@ import com.ctre.phoenix.sensors.PigeonIMU;
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import com.ctre.phoenix.sensors.PigeonIMU_StatusFrame;
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import edu.wpi.first.wpilibj.Filesystem;
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import edu.wpi.first.wpilibj.DoubleSolenoid;
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import edu.wpi.first.wpilibj.drive.DifferentialDrive;
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import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
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import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
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@@ -66,6 +68,8 @@ public class Drive extends SubsystemBase {
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SendableChooser<String> m_songChooser = new SendableChooser<String>();
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public DoubleSolenoid speedShift;
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/**
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* Add your docs here.
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*/
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@@ -78,6 +82,8 @@ public class Drive extends SubsystemBase {
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m_pigeon.configFactoryDefault();
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resetGyroYaw();
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speedShift = new DoubleSolenoid(7,0,1);
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/* set back motors as followers */
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m_leftBackMotor.follow(m_leftFrontMotor);
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m_rightBackMotor.follow(m_rightFrontMotor);
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@@ -95,7 +101,6 @@ public class Drive extends SubsystemBase {
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m_leftBackMotor.setInverted(InvertType.FollowMaster);
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m_rightBackMotor.setInverted(InvertType.FollowMaster);
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m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
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m_rightFrontMotor.config_kF(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kP(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
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@@ -117,6 +122,15 @@ public class Drive extends SubsystemBase {
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m_rightFrontMotor.config_kD(DriveConstants.SLOT_DISTANCE, m_gainsDistance.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_DISTANCE, m_gainsDistance.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_MOTION_MAGIC, DriveConstants.PID_PRIMARY);
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m_rightFrontMotor.config_kF(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kP(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kI(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kI, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.config_kD(DriveConstants.SLOT_MOTION_MAGIC, m_gainsMotionMagic.m_kD, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configMotionCruiseVelocity(DriveConstants.DRIVE_CRUISE_VELOCITY, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configMotionAcceleration(DriveConstants.DRIVE_ACCELERATION, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configMotionSCurveStrength(0, DriveConstants.DRIVE_TIMEOUT_MS);
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/* Setup Sensors for WPI_TalonFXs */
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m_leftFrontMotor.setSelectedSensorPosition(0, DriveConstants.PID_PRIMARY, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.setSelectedSensorPosition(0, DriveConstants.PID_PRIMARY, DriveConstants.DRIVE_TIMEOUT_MS);
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@@ -147,8 +161,8 @@ public class Drive extends SubsystemBase {
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m_rightFrontMotor.configSensorTerm(SensorTerm.Sum1, FeedbackDevice.IntegratedSensor, DriveConstants.DRIVE_TIMEOUT_MS);
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/* Diff Signal */
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m_rightFrontMotor.configSensorTerm(SensorTerm.Diff0, FeedbackDevice.RemoteSensor0, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configSensorTerm(SensorTerm.Diff1, FeedbackDevice.IntegratedSensor, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configSensorTerm(SensorTerm.Diff1, FeedbackDevice.RemoteSensor0, DriveConstants.DRIVE_TIMEOUT_MS);
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m_rightFrontMotor.configSensorTerm(SensorTerm.Diff0, FeedbackDevice.IntegratedSensor, DriveConstants.DRIVE_TIMEOUT_MS);
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/* Configure Sum [Sum of both QuadEncoders] to be used for Primary PID Index */
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m_rightFrontMotor.configSelectedFeedbackSensor( FeedbackDevice.SensorDifference,
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@@ -265,6 +279,7 @@ public class Drive extends SubsystemBase {
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SmartDashboard.putNumber("Right Motor Velocity Raw", m_rightFrontMotor.getSelectedSensorVelocity());
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SmartDashboard.putNumber("Left Motor Position Raw", m_leftFrontMotor.getSelectedSensorPosition());
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SmartDashboard.putNumber("Right Motor Position Raw", m_rightFrontMotor.getSelectedSensorPosition(0));
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SmartDashboard.putNumber("Right Motor Velocity Int Sensor", m_rightFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
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SmartDashboard.putNumber("Left Motor Velocity Int Sensor", m_leftFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
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@@ -350,14 +365,29 @@ public class Drive extends SubsystemBase {
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}
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/**
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* Add your docs here.
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* Runs percent output control on the moving and steering of the drive train,
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* using the Differential Drive class to manage the two inputs
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*/
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public void driveWithInput(double move, double steer){
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//m_driveTrain.arcadeDrive(move, steer);
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}
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/**
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* Runs a position PID while driving straight (has not been tested)
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* Runs percent output control on the drive train while using an AUX PID for rotation
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* @param targetPos The position to drive to in units
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* @param targetGyro The angle to drive at in units
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*/
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public void driveWithInputAux(double move, double targetGyro) {
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m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
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m_rightFrontMotor.set(TalonFXControlMode.PercentOutput, move, DemandType.AuxPID, targetGyro);
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m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
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m_driveTrain.feedWatchdog();
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}
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/**
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* Runs a position PID while driving straight
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* @param targetPos The position to drive to in units
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* @param targetGyro The angle to drive at in units
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*/
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@@ -365,7 +395,6 @@ public class Drive extends SubsystemBase {
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m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_DISTANCE, DriveConstants.PID_PRIMARY);
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m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
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targetPos *= 2;
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m_rightFrontMotor.set(TalonFXControlMode.Position, targetPos, DemandType.AuxPID, targetGyro);
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m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
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@@ -380,8 +409,6 @@ public class Drive extends SubsystemBase {
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public void runDriveStraightVelocityPID(double targetVel, double targetGyro) {
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m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
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m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
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targetVel *= 2;
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m_rightFrontMotor.set(TalonFXControlMode.Velocity, targetVel, DemandType.AuxPID, targetGyro);
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m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
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@@ -389,18 +416,19 @@ public class Drive extends SubsystemBase {
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}
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/**
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* Runs motion magic PID while driving straight (has not been tested)
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* Runs motion magic PID while driving straight
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* @param targetPos The position to drive to in units
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* @param targetGyro The angle to drive at in units
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*/
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public void runMotionMagicPID(double targetPos, double targetGyro){
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m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_MOTION_MAGIC, DriveConstants.PID_PRIMARY);
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m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN);
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m_rightFrontMotor.set(TalonFXControlMode.MotionMagic, targetPos, DemandType.AuxPID, targetGyro);
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m_rightFrontMotor.set(ControlMode.MotionMagic, targetPos, DemandType.AuxPID, targetGyro);
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m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1);
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//m_driveTrain.feedWatchdog();
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m_driveTrain.feedWatchdog();
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}
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/**
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@@ -465,5 +493,17 @@ public class Drive extends SubsystemBase {
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public void selectSong(String song) {
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SmartDashboard.putString("Selected Song", song);
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m_orchestra.loadMusic(song);
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/**
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* Set to high or low gear based on boolean state, true = high, false = low
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* @param state Chooses between high or low gear
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*/
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public void setShiftState(boolean state) {
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if (state == true) {
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speedShift.set(DoubleSolenoid.Value.kForward);
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}
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if (state == false) {
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speedShift.set(DoubleSolenoid.Value.kReverse);
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}
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}
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}
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@@ -7,19 +7,38 @@
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package frc4388.robot.subsystems;
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import com.revrobotics.CANDigitalInput;
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import com.revrobotics.CANSparkMax;
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import com.revrobotics.CANDigitalInput.LimitSwitchPolarity;
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import com.revrobotics.CANSparkMax.IdleMode;
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import com.revrobotics.CANSparkMaxLowLevel.MotorType;
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import edu.wpi.first.wpilibj.Spark;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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import frc4388.robot.Constants.IntakeConstants;
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public class Intake extends SubsystemBase {
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Spark m_intakeMotor = new Spark(IntakeConstants.INTAKE_SPARK_ID);
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CANSparkMax m_intakeMotor = new CANSparkMax(IntakeConstants.INTAKE_SPARK_ID, MotorType.kBrushless);
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CANSparkMax m_extenderMotor = new CANSparkMax(IntakeConstants.EXTENDER_SPARK_ID, MotorType.kBrushless);
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CANDigitalInput m_extenderForwardLimit;
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CANDigitalInput m_extenderReverseLimit;
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/**
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* Creates a new Intake.
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*/
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public Intake() {
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m_intakeMotor.restoreFactoryDefaults();
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m_extenderMotor.restoreFactoryDefaults();
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m_intakeMotor.setIdleMode(IdleMode.kCoast);
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m_extenderMotor.setIdleMode(IdleMode.kBrake);
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m_intakeMotor.setInverted(false);
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m_extenderMotor.setInverted(false);
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m_extenderForwardLimit = m_extenderMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
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m_extenderReverseLimit = m_extenderMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
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m_extenderForwardLimit.enableLimitSwitch(false);
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m_extenderReverseLimit.enableLimitSwitch(false);
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}
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@Override
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@@ -34,4 +53,12 @@ public class Intake extends SubsystemBase {
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public void runIntake(double input) {
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m_intakeMotor.set(input);
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}
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/**
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* Runs extender motor
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* @param input the percent output to run motor at
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*/
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public void runExtender(double input) {
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m_extenderMotor.set(input);
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}
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}
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@@ -26,7 +26,8 @@ public class Leveler extends SubsystemBase {
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*/
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public Leveler() {
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m_levelerMotor.restoreFactoryDefaults();
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m_levelerMotor.setIdleMode(IdleMode.kCoast);
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m_levelerMotor.setIdleMode(IdleMode.kBrake);
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m_levelerMotor.setInverted(false);
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}
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@@ -0,0 +1,89 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package frc4388.robot.subsystems;
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import com.ctre.phoenix.motorcontrol.NeutralMode;
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import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
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import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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import frc4388.robot.Gains;
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import frc4388.robot.Constants.DriveConstants;
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import frc4388.robot.Constants.ShooterConstants;
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|
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public class Shooter extends SubsystemBase {
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||||
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||||
public WPI_TalonFX m_shooterFalcon = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_ID);
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|
||||
public static Gains m_shooterGains = ShooterConstants.SHOOTER_GAINS;
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||||
|
||||
double velP;
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||||
/**
|
||||
* Creates a new Shooter subsystem.
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||||
*/
|
||||
public Shooter() {
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||||
m_shooterFalcon.configFactoryDefault();
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||||
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||||
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);
|
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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
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -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();
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user