mirror of
https://github.com/Team4388/RiseOfRidgebotics2020.git
synced 2026-06-09 08:48:01 -06:00
Merge branch 'master' into add-shooter
This commit is contained in:
aarav18
@@ -36,23 +36,25 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
|
||||
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
||||
|
||||
import frc4388.robot.Constants.DriveConstants;
|
||||
import frc4388.robot.Constants.PneumaticsConstants;
|
||||
import frc4388.robot.Gains;
|
||||
|
||||
public class Drive extends SubsystemBase {
|
||||
/* Create Motors, Gyros, Solenoids, etc */
|
||||
/* Create Motors, Gyros, etc */
|
||||
public WPI_TalonFX m_leftFrontMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_FRONT_CAN_ID);
|
||||
public WPI_TalonFX m_rightFrontMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_FRONT_CAN_ID);
|
||||
public WPI_TalonFX m_leftBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_BACK_CAN_ID);
|
||||
public WPI_TalonFX m_rightBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_BACK_CAN_ID);
|
||||
public static PigeonIMU m_pigeon = new PigeonIMU(DriveConstants.PIGEON_ID);
|
||||
public DoubleSolenoid m_speedShift = new DoubleSolenoid(7,0,1);
|
||||
public DoubleSolenoid m_coolFalcon = new DoubleSolenoid(7,3,2);
|
||||
|
||||
/* Drive objects to manage Drive Train */
|
||||
public DifferentialDrive m_driveTrain;
|
||||
public final DifferentialDriveOdometry m_odometry;
|
||||
public Orchestra m_orchestra;
|
||||
|
||||
/* Pneumatics Subsystem */
|
||||
Pneumatics m_pneumaticsSubsystem;
|
||||
|
||||
/* Low Gear Gains */
|
||||
public static Gains m_gainsDistanceLow = DriveConstants.DRIVE_DISTANCE_GAINS_LOW;
|
||||
public static Gains m_gainsVelocityLow = DriveConstants.DRIVE_VELOCITY_GAINS_LOW;
|
||||
@@ -86,11 +88,11 @@ public class Drive extends SubsystemBase {
|
||||
public double m_lastAngleYaw = 0;
|
||||
public double m_currentAngleYaw = 0;
|
||||
|
||||
public double m_lastAngleGotoCoordinates;
|
||||
/* Smart Dashboard Objects */
|
||||
SendableChooser<String> m_songChooser = new SendableChooser<String>();
|
||||
|
||||
/* Misc */
|
||||
public boolean m_isSpeedShiftHigh;
|
||||
String m_currentSong = "";
|
||||
|
||||
/**
|
||||
@@ -105,12 +107,6 @@ public class Drive extends SubsystemBase {
|
||||
m_pigeon.configFactoryDefault();
|
||||
resetGyroYaw();
|
||||
|
||||
/* flip input so forward becomes back, etc */
|
||||
m_leftFrontMotor.setInverted(DriveConstants.isLeftMotorInverted);
|
||||
m_rightFrontMotor.setInverted(DriveConstants.isRightMotorInverted);
|
||||
m_leftBackMotor.setInverted(DriveConstants.isLeftMotorInverted);
|
||||
m_rightBackMotor.setInverted(DriveConstants.isRightMotorInverted);
|
||||
// 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);
|
||||
@@ -119,10 +115,10 @@ public class Drive extends SubsystemBase {
|
||||
m_leftBackMotor.configOpenloopRamp(DriveConstants.OPEN_LOOP_RAMP_RATE, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
|
||||
/* Config Supply Current Limit (Use only for debugging) */
|
||||
m_rightFrontMotor.configSupplyCurrentLimit(DriveConstants.SUPPLY_CURRENT_LIMIT_CONFIG);
|
||||
m_leftFrontMotor.configSupplyCurrentLimit(DriveConstants.SUPPLY_CURRENT_LIMIT_CONFIG);
|
||||
m_rightBackMotor.configSupplyCurrentLimit(DriveConstants.SUPPLY_CURRENT_LIMIT_CONFIG);
|
||||
m_leftBackMotor.configSupplyCurrentLimit(DriveConstants.SUPPLY_CURRENT_LIMIT_CONFIG);
|
||||
//m_rightFrontMotor.configSupplyCurrentLimit(DriveConstants.SUPPLY_CURRENT_LIMIT_CONFIG);
|
||||
//m_leftFrontMotor.configSupplyCurrentLimit(DriveConstants.SUPPLY_CURRENT_LIMIT_CONFIG);
|
||||
//m_rightBackMotor.configSupplyCurrentLimit(DriveConstants.SUPPLY_CURRENT_LIMIT_CONFIG);
|
||||
//m_leftBackMotor.configSupplyCurrentLimit(DriveConstants.SUPPLY_CURRENT_LIMIT_CONFIG);
|
||||
|
||||
/* Config deadbands so that */
|
||||
m_leftBackMotor.configNeutralDeadband(DriveConstants.NEUTRAL_DEADBAND, DriveConstants.DRIVE_TIMEOUT_MS);
|
||||
@@ -251,6 +247,13 @@ public class Drive extends SubsystemBase {
|
||||
|
||||
/* Set up Orchestra */
|
||||
m_orchestra = new Orchestra();
|
||||
|
||||
/* flip input so forward becomes back, etc */
|
||||
m_leftFrontMotor.setInverted(DriveConstants.isLeftMotorInverted);
|
||||
m_rightFrontMotor.setInverted(DriveConstants.isRightMotorInverted);
|
||||
m_leftBackMotor.setInverted(DriveConstants.isLeftMotorInverted);
|
||||
m_rightBackMotor.setInverted(DriveConstants.isRightMotorInverted);
|
||||
//m_driveTrain.setRightSideInverted(DriveConstants.isRightArcadeInverted);
|
||||
|
||||
/* Set up music for drive train */
|
||||
m_orchestra.addInstrument(m_leftBackMotor);
|
||||
@@ -273,14 +276,33 @@ public class Drive extends SubsystemBase {
|
||||
|
||||
@Override
|
||||
public void periodic() {
|
||||
updateTime();
|
||||
updateAngles();
|
||||
updatePosition();
|
||||
updateSmartDashboard();
|
||||
}
|
||||
|
||||
/**
|
||||
* Passes subsystem needed.
|
||||
* @param subsystem Subsystem needed.
|
||||
*/
|
||||
public void passRequiredSubsystem(Pneumatics subsystem) {
|
||||
m_pneumaticsSubsystem = subsystem;
|
||||
}
|
||||
|
||||
public void updateTime() {
|
||||
m_lastTimeMs = m_currentTimeMs;
|
||||
m_currentTimeMs = System.currentTimeMillis();
|
||||
m_currentTimeSec = m_currentTimeMs / 1000;
|
||||
m_deltaTimeMs = m_currentTimeMs - m_lastTimeMs;
|
||||
}
|
||||
|
||||
public void updateAngles() {
|
||||
m_lastAngleYaw = m_currentAngleYaw;
|
||||
m_currentAngleYaw = getGyroYaw();
|
||||
}
|
||||
|
||||
public void updatePosition() {
|
||||
m_rightFrontMotorPos = m_rightFrontMotor.getSelectedSensorPosition();
|
||||
m_rightFrontMotorVel = m_rightFrontMotor.getSelectedSensorVelocity();
|
||||
|
||||
@@ -295,9 +317,6 @@ public class Drive extends SubsystemBase {
|
||||
m_odometry.update(Rotation2d.fromDegrees( getHeading()),
|
||||
getDistanceInches(m_leftFrontMotor),
|
||||
-getDistanceInches(m_rightFrontMotor));
|
||||
|
||||
runFalconCooling();
|
||||
updateSmartDashboard();
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -431,47 +450,6 @@ public class Drive extends SubsystemBase {
|
||||
m_driveTrain.feedWatchdog();
|
||||
}
|
||||
|
||||
/**
|
||||
* 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) {
|
||||
m_speedShift.set(DoubleSolenoid.Value.kReverse);
|
||||
}
|
||||
if (state == false) {
|
||||
m_speedShift.set(DoubleSolenoid.Value.kForward);
|
||||
}
|
||||
setRightMotorGains(state);
|
||||
m_isSpeedShiftHigh = state;
|
||||
}
|
||||
|
||||
/**
|
||||
* Set to open or close solenoid that cools the falcon, true = open, false = close
|
||||
* @param state Chooses between open and close
|
||||
*/
|
||||
public void coolFalcon(boolean state) {
|
||||
if (state == true) {
|
||||
m_coolFalcon.set(DoubleSolenoid.Value.kForward);
|
||||
}
|
||||
if (state == false) {
|
||||
m_coolFalcon.set(DoubleSolenoid.Value.kReverse);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
*
|
||||
*/
|
||||
public void runFalconCooling() {
|
||||
if (m_currentTimeSec % 30 == 0) {
|
||||
coolFalcon(true);
|
||||
SmartDashboard.putBoolean("Solenoid", true);
|
||||
} else if ((m_currentTimeSec - 1) % 30 == 0) {
|
||||
coolFalcon(false);
|
||||
SmartDashboard.putBoolean("Solenoid", false);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Selects a song to play!
|
||||
* @param song The name of the song to be played
|
||||
@@ -624,7 +602,7 @@ public class Drive extends SubsystemBase {
|
||||
* @return The converted value in inches
|
||||
*/
|
||||
public double ticksToInches(double ticks) {
|
||||
if (m_isSpeedShiftHigh) {
|
||||
if (m_pneumaticsSubsystem.m_isSpeedShiftHigh) {
|
||||
return ticks * DriveConstants.INCHES_PER_TICK_HIGH;
|
||||
} else {
|
||||
return ticks * DriveConstants.INCHES_PER_TICK_LOW;
|
||||
@@ -637,7 +615,7 @@ public class Drive extends SubsystemBase {
|
||||
* @return The converted value in ticks
|
||||
*/
|
||||
public double inchesToTicks(double inches) {
|
||||
if (m_isSpeedShiftHigh) {
|
||||
if (m_pneumaticsSubsystem.m_isSpeedShiftHigh) {
|
||||
return inches * DriveConstants.TICKS_PER_INCH_HIGH;
|
||||
} else {
|
||||
return inches * DriveConstants.TICKS_PER_INCH_LOW;
|
||||
@@ -747,8 +725,14 @@ public class Drive extends SubsystemBase {
|
||||
//SmartDashboard.putNumber("Pigeon Roll", getGyroRoll());
|
||||
SmartDashboard.putNumber("Left Front Output", m_leftFrontMotor.get());
|
||||
SmartDashboard.putNumber("Right Front Output", m_rightFrontMotor.get());
|
||||
SmartDashboard.putNumber("Left Back Output", m_leftBackMotor.get());
|
||||
SmartDashboard.putNumber("Right Back Output", m_rightBackMotor.get());
|
||||
//SmartDashboard.putNumber("Left Back Output", m_leftBackMotor.get());
|
||||
//SmartDashboard.putNumber("Right Back Output", m_rightBackMotor.get());
|
||||
|
||||
double leftRPM = ticksToInches(m_leftFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
|
||||
double rightRPM = ticksToInches(m_rightFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
|
||||
|
||||
SmartDashboard.putNumber("Left Motor RPM", leftRPM);
|
||||
SmartDashboard.putNumber("Right Motor RPM", rightRPM);
|
||||
|
||||
//SmartDashboard.putNumber("Left Back Motor Velocity Raw", m_leftBackMotor.getSelectedSensorVelocity());
|
||||
//SmartDashboard.putNumber("Right Back Motor Velocity Raw", m_rightBackMotor.getSelectedSensorVelocity());
|
||||
@@ -780,9 +764,9 @@ public class Drive extends SubsystemBase {
|
||||
SmartDashboard.putNumber("Left Back Motor Current Stator", m_leftBackMotor.getStatorCurrent());
|
||||
|
||||
//SmartDashboard.putNumber("PID 0 Error", m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_PRIMARY));
|
||||
//SmartDashboard.putNumber("PID 1 Error", m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_TURN));
|
||||
SmartDashboard.putNumber("PID 1 Error", m_rightFrontMotor.getClosedLoopError(DriveConstants.PID_TURN));
|
||||
//SmartDashboard.putNumber("PID 0 Target", m_rightFrontMotor.getClosedLoopTarget(DriveConstants.PID_PRIMARY));
|
||||
//SmartDashboard.putNumber("PID 1 Target", m_rightFrontMotor.getClosedLoopTarget(DriveConstants.PID_TURN));
|
||||
SmartDashboard.putNumber("PID 1 Target", m_rightFrontMotor.getClosedLoopTarget(DriveConstants.PID_TURN));
|
||||
//SmartDashboard.putNumber("PID 0 Pos", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_PRIMARY));
|
||||
//SmartDashboard.putNumber("PID 1 Pos", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN));
|
||||
|
||||
@@ -790,7 +774,7 @@ public class Drive extends SubsystemBase {
|
||||
//SmartDashboard.putNumber("Odometry Heading", getHeading());
|
||||
|
||||
//SmartDashboard.putNumber("Time Seconds", m_currentTimeSec);
|
||||
//SmartDashboard.putNumber("Delta Time", m_deltaTime);
|
||||
SmartDashboard.putNumber("Delta Time", m_deltaTimeMs);
|
||||
|
||||
if (m_currentSong != m_songChooser.getSelected()){
|
||||
m_currentSong = m_songChooser.getSelected();
|
||||
|
||||
@@ -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 edu.wpi.first.wpilibj.DoubleSolenoid;
|
||||
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
|
||||
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
||||
import frc4388.robot.RobotContainer;
|
||||
import frc4388.robot.Constants.PneumaticsConstants;
|
||||
|
||||
public class Pneumatics extends SubsystemBase {
|
||||
/* Create Solenoids */
|
||||
public DoubleSolenoid m_speedShift = new DoubleSolenoid( PneumaticsConstants.PCM_MODULE_ID,
|
||||
PneumaticsConstants.SPEED_SHIFT_FORWARD_ID,
|
||||
PneumaticsConstants.SPEED_SHIFT_REVERSE_ID );
|
||||
|
||||
public DoubleSolenoid m_coolFalcon = new DoubleSolenoid( PneumaticsConstants.PCM_MODULE_ID,
|
||||
PneumaticsConstants.COOL_FALCON_FORWARD_ID,
|
||||
PneumaticsConstants.COOL_FALCON_REVERSE_ID );
|
||||
|
||||
/* Get Drive Subsystem */
|
||||
Drive m_driveSubsystem;
|
||||
|
||||
public boolean m_isSpeedShiftHigh;
|
||||
|
||||
/**
|
||||
* Creates a new Pneumatics.
|
||||
*/
|
||||
public Pneumatics() {
|
||||
}
|
||||
|
||||
@Override
|
||||
public void periodic() {
|
||||
// This method will be called once per scheduler run
|
||||
runFalconCooling();
|
||||
}
|
||||
|
||||
/**
|
||||
* Passes subsystem needed.
|
||||
* @param subsystem Subsystem needed.
|
||||
*/
|
||||
public void passRequiredSubsystem(Drive subsystem) {
|
||||
m_driveSubsystem = subsystem;
|
||||
}
|
||||
|
||||
/**
|
||||
* 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) {
|
||||
m_speedShift.set(DoubleSolenoid.Value.kReverse);
|
||||
}
|
||||
if (state == false) {
|
||||
m_speedShift.set(DoubleSolenoid.Value.kForward);
|
||||
}
|
||||
m_driveSubsystem.setRightMotorGains(state);
|
||||
m_isSpeedShiftHigh = state;
|
||||
}
|
||||
|
||||
/**
|
||||
* Set to open or close solenoid that cools the falcon, true = open, false = close
|
||||
* @param state Chooses between open and close
|
||||
*/
|
||||
public void coolFalcon(boolean state) {
|
||||
if (state == true) {
|
||||
m_coolFalcon.set(DoubleSolenoid.Value.kForward);
|
||||
}
|
||||
if (state == false) {
|
||||
m_coolFalcon.set(DoubleSolenoid.Value.kReverse);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Runs coolFalcon every 30 seconds for 1 second.
|
||||
*/
|
||||
public void runFalconCooling() {
|
||||
if (m_driveSubsystem.m_currentTimeSec % 30 == 0) {
|
||||
coolFalcon(true);
|
||||
} else if ((m_driveSubsystem.m_currentTimeSec - 1) % 30 == 0) {
|
||||
coolFalcon(false);
|
||||
}
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user