Team4388/RiseOfRidgebotics2020
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Messing with Turret and storage

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Not completly sure why the shooting actions arent happening in the right order
This commit is contained in:
ryan123rudder
2020-02-28 20:05:56 -07:00
parent 7c83d87085
commit b45f66b023
15 changed files with 85 additions and 35 deletions
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src/main/java/frc4388/robot/subsystems/Drive.java
+1 -1
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@@ -110,7 +110,7 @@ public class Drive extends SubsystemBase {
m_rightFrontMotor.setInverted(DriveConstants.isRightMotorInverted);
m_leftBackMotor.setInverted(DriveConstants.isLeftMotorInverted);
m_rightBackMotor.setInverted(DriveConstants.isRightMotorInverted);
m_driveTrain.setRightSideInverted(DriveConstants.isRightArcadeInverted);
// m_driveTrain.setRightSideInverted(DriveConstants.isRightArcadeInverted);
/* Config Open Loop Ramp so we don't make sudden output changes */
m_rightFrontMotor.configOpenloopRamp(DriveConstants.OPEN_LOOP_RAMP_RATE, DriveConstants.DRIVE_TIMEOUT_MS);
src/main/java/frc4388/robot/subsystems/LimeLight.java
+2 -2
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@@ -18,12 +18,12 @@ public class LimeLight extends SubsystemBase {
}
public static void limeOff(){
public void limeOff(){
NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(1);
NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(0);
}
public static void limeOn(){
public void limeOn(){
NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0);
NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(3);
}
src/main/java/frc4388/robot/subsystems/Shooter.java
+10
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@@ -13,9 +13,11 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMax.IdleMode;
import com.revrobotics.CANDigitalInput;
import com.revrobotics.CANEncoder;
import com.revrobotics.CANPIDController;
import com.revrobotics.ControlType;
import com.revrobotics.CANDigitalInput.LimitSwitchPolarity;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj.Joystick;
@@ -48,6 +50,7 @@ public class Shooter extends SubsystemBase {
public boolean velReached;
public double m_fireVel;
public double m_fireAngle;
CANDigitalInput m_hoodUpLimit, m_hoodDownLimit;
/*
* Creates a new Shooter subsystem.
@@ -81,6 +84,13 @@ public class Shooter extends SubsystemBase {
SmartDashboard.putNumber("CSV A 10", m_shooterTable.getAngleDisplacement(10));
SmartDashboard.putNumber("CSV A 5", m_shooterTable.getAngleDisplacement(5));
SmartDashboard.putNumber("CSV A 30", m_shooterTable.getAngleDisplacement(30));
m_hoodUpLimit = m_angleAdjustMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
m_hoodDownLimit = m_angleAdjustMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
m_hoodUpLimit.enableLimitSwitch(true);
m_hoodDownLimit.enableLimitSwitch(true);
}
@Override
src/main/java/frc4388/robot/subsystems/ShooterAim.java
+9 -1
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@@ -7,10 +7,12 @@
package frc4388.robot.subsystems;
import com.revrobotics.CANDigitalInput;
import com.revrobotics.CANEncoder;
import com.revrobotics.CANPIDController;
import com.revrobotics.CANSparkMax;
import com.revrobotics.ControlType;
import com.revrobotics.CANDigitalInput.LimitSwitchPolarity;
import com.revrobotics.CANSparkMax.IdleMode;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
@@ -22,6 +24,7 @@ import frc4388.robot.Constants.ShooterConstants;
public class ShooterAim extends SubsystemBase {
public CANSparkMax m_shooterRotateMotor = new CANSparkMax(ShooterConstants.SHOOTER_ROTATE_ID, MotorType.kBrushless);
public static Gains m_shooterTurretGains = ShooterConstants.SHOOTER_TURRET_GAINS;
CANDigitalInput m_shooterRightLimit, m_shooterLeftLimit;
// Configure PID Controllers
CANPIDController m_shooterRotatePIDController = m_shooterRotateMotor.getPIDController();
@@ -32,10 +35,15 @@ public class ShooterAim extends SubsystemBase {
public ShooterAim() {
resetGyroShooterRotate();
m_shooterRotateMotor.setIdleMode(IdleMode.kBrake);
m_shooterRightLimit = m_shooterRotateMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
m_shooterLeftLimit = m_shooterRotateMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
m_shooterRightLimit.enableLimitSwitch(true);
m_shooterLeftLimit.enableLimitSwitch(true);
}
public void runShooterWithInput(double input) {
m_shooterRotateMotor.set(input);
m_shooterRotateMotor.set(input/3);
}
src/main/java/frc4388/robot/subsystems/Storage.java
+9 -1
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@@ -20,12 +20,13 @@ import com.revrobotics.CANDigitalInput.LimitSwitchPolarity;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.command.WaitUntilCommand;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Gains;
import frc4388.robot.Constants.StorageConstants;
public class Storage extends SubsystemBase {
private CANSparkMax m_storageMotor = new CANSparkMax(StorageConstants.STORAGE_CAN_ID, MotorType.kBrushless);
public CANSparkMax m_storageMotor = new CANSparkMax(StorageConstants.STORAGE_CAN_ID, MotorType.kBrushless);
private DigitalInput[] m_beamSensors = new DigitalInput[6];
CANPIDController m_storagePIDController = m_storageMotor.getPIDController();
@@ -69,6 +70,11 @@ public class Storage extends SubsystemBase {
m_encoder.setPosition(0);
}
public void testBeams(){
SmartDashboard.putBoolean("Beam 0", m_beamSensors[0].get());
SmartDashboard.putBoolean("Beam 1", m_beamSensors[1].get());
}
/* Storage PID Control */
public void runStoragePositionPID(double targetPos){
// Set PID Coefficients
@@ -79,6 +85,8 @@ public class Storage extends SubsystemBase {
m_storagePIDController.setFF(storageGains.m_kF);
m_storagePIDController.setOutputRange(StorageConstants.STORAGE_MIN_OUTPUT, storageGains.m_kmaxOutput);
SmartDashboard.putNumber("Storage Position PID Target", targetPos);
SmartDashboard.putNumber("Storage Position Pos", getEncoderPos());
m_storagePIDController.setReference(targetPos, ControlType.kPosition);
}