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Merge branch 'master' into add-ramsete-controller-and-trajectories

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This commit is contained in:
Keenan D. Buckley
2020-02-13 03:53:34 +00:00
committed by GitHub
parent 27824bdcfc 3e248bd186
commit c96def0cdb
15 changed files with 653 additions and 79 deletions
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src/main/java/frc4388/robot/subsystems/Climber.java
+9 -6
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@@ -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
+52 -20
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@@ -7,6 +7,7 @@
package frc4388.robot.subsystems;
import com.ctre.phoenix.motorcontrol.ControlMode;
import com.ctre.phoenix.motorcontrol.DemandType;
import com.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.ctre.phoenix.motorcontrol.FollowerType;
@@ -20,6 +21,7 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.PigeonIMU;
import com.ctre.phoenix.sensors.PigeonIMU_StatusFrame;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
@@ -52,8 +54,10 @@ public class Drive extends SubsystemBase {
public static Gains m_gainsVelocity = DriveConstants.DRIVE_VELOCITY_GAINS;
public static Gains m_gainsTurning = DriveConstants.DRIVE_TURNING_GAINS;
public static Gains m_gainsMotionMagic = DriveConstants.DRIVE_MOTION_MAGIC_GAINS;
public final DifferentialDriveOdometry m_odometry;
public DoubleSolenoid speedShift;
/**
* Add your docs here.
@@ -69,6 +73,8 @@ public class Drive extends SubsystemBase {
m_odometry = new DifferentialDriveOdometry(Rotation2d.fromDegrees(getHeading()));
speedShift = new DoubleSolenoid(7,0,1);
/* set back motors as followers */
m_leftBackMotor.follow(m_leftFrontMotor);
m_rightBackMotor.follow(m_rightFrontMotor);
@@ -111,6 +117,15 @@ public class Drive extends SubsystemBase {
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 */
resetEncoders();
@@ -147,9 +162,8 @@ public class Drive extends SubsystemBase {
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, DriveConstants.PID_PRIMARY,
@@ -249,10 +263,8 @@ 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());
SmartDashboard.putNumber("Right Motor Velocity Int Sensor", m_rightFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
SmartDashboard.putNumber("Left Motor Velocity Int Sensor", m_leftFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
SmartDashboard.putNumber("Right Front Motor Current", m_rightFrontMotor.getSupplyCurrent());
SmartDashboard.putNumber("Left Front Motor Current", m_leftFrontMotor.getSupplyCurrent());
@@ -342,23 +354,33 @@ 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)
*
* @param targetPos The position to drive to in units
* 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();
}
* @param targetGyro The angle to drive at in units
*/
public void runDriveStraightPositionPID(double targetPos, double targetGyro) {
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);
@@ -374,8 +396,6 @@ 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);
@@ -383,16 +403,15 @@ public class Drive extends SubsystemBase {
}
/**
* Runs motion magic PID while driving straight (has not been tested)
*
* @param targetPos The position to drive to in units
* 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();
@@ -508,4 +527,17 @@ public class Drive extends SubsystemBase {
public double ticksToInches(double ticks) {
return ticks * DriveConstants.INCHES_PER_TICK;
}
}
/*
* 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
+30 -3
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@@ -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
+2 -1
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@@ -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
+89
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@@ -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
+39 -3
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@@ -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();
}
}