From 24a2a43a44c473dc4cc24be667c2274e27ac1ca3 Mon Sep 17 00:00:00 2001 From: Kerem <59713772+KyraRivera@users.noreply.github.com> Date: Sat, 15 Feb 2020 13:34:53 -0700 Subject: [PATCH 1/2] Made Janky Code Added Manual Shooter --- src/main/java/frc4388/robot/Constants.java | 4 ++ .../java/frc4388/robot/RobotContainer.java | 6 ++- .../frc4388/robot/subsystems/Shooter.java | 38 +++++++++++++++++-- .../frc4388/robot/subsystems/Storage.java | 8 ---- 4 files changed, 44 insertions(+), 12 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index e05af11..9cd89a2 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -79,6 +79,10 @@ public final class Constants { 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); + //#Janky + public static final int SHOOTERROTATION_SPARK_ID = 9; + //#Janky + public static final double ENCODER_TICKS_PER_REV = 2048; } diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index a431921..a1ee52b 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -72,7 +72,11 @@ public class RobotContainer { // 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)); + + //#Janky + m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runShooterWithInput(m_operatorXbox), m_robotShooter)); + //#Janky + // 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 diff --git a/src/main/java/frc4388/robot/subsystems/Shooter.java b/src/main/java/frc4388/robot/subsystems/Shooter.java index f8649ae..438bfc1 100644 --- a/src/main/java/frc4388/robot/subsystems/Shooter.java +++ b/src/main/java/frc4388/robot/subsystems/Shooter.java @@ -10,26 +10,36 @@ 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 com.revrobotics.CANSparkMax; +import com.revrobotics.CANSparkMax.IdleMode; +import com.revrobotics.CANSparkMaxLowLevel.MotorType; +import edu.wpi.first.wpilibj.Joystick; +import edu.wpi.first.wpilibj.XboxController; 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; +import frc4388.utility.controller.IHandController; 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; - + public static Shooter m_shooter; + public static IHandController m_controller; double velP; - /** + double input; + public static CANSparkMax m_shooterRotate = new CANSparkMax(ShooterConstants.SHOOTERROTATION_SPARK_ID, MotorType.kBrushless); + + /* * Creates a new Shooter subsystem. */ public Shooter() { m_shooterFalcon.configFactoryDefault(); - + m_shooterRotate.setIdleMode(IdleMode.kBrake); m_shooterFalcon.setNeutralMode(NeutralMode.Coast); m_shooterFalcon.setInverted(false); @@ -86,4 +96,26 @@ public class Shooter extends SubsystemBase { m_shooterFalcon.set(TalonFXControlMode.Velocity, targetVel); //Init PID } } + //PLZ Help I Have No Idea What I Am Doing + //Help PLZ + //I Am Desperate + //PLZ + //PLZ + //With A Cherry On Top + + + + + //#Janky + public void runShooterWithInput(IHandController controller) { + /* m_controller = controller; + input = controller.getLeftXAxis(); + * System.err.println(input); + * m_shooterFalcon.set(TalonFXControlMode.PercentOutput, 0.3); + */ + input = controller.getLeftXAxis(); + System.err.println(input); + m_shooterRotate.set(input); + } + //#Janky } \ No newline at end of file diff --git a/src/main/java/frc4388/robot/subsystems/Storage.java b/src/main/java/frc4388/robot/subsystems/Storage.java index 84f01ec..f14295b 100644 --- a/src/main/java/frc4388/robot/subsystems/Storage.java +++ b/src/main/java/frc4388/robot/subsystems/Storage.java @@ -15,7 +15,6 @@ 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; @@ -57,13 +56,6 @@ public class Storage extends SubsystemBase { public void runStorage(final double input) { m_storageMotor.set(input); 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() From b467b324ef960dc31863324aa2351fe814b5d4be Mon Sep 17 00:00:00 2001 From: ryan123rudder <42309874+ryan123rudder@users.noreply.github.com> Date: Sat, 15 Feb 2020 14:23:41 -0700 Subject: [PATCH 2/2] Fix --- .../frc4388/robot/subsystems/Shooter.java | 38 +++++++++---------- 1 file changed, 19 insertions(+), 19 deletions(-) diff --git a/src/main/java/frc4388/robot/subsystems/Shooter.java b/src/main/java/frc4388/robot/subsystems/Shooter.java index af71925..a0a8c9d 100644 --- a/src/main/java/frc4388/robot/subsystems/Shooter.java +++ b/src/main/java/frc4388/robot/subsystems/Shooter.java @@ -33,8 +33,8 @@ public class Shooter extends SubsystemBase { public CANSparkMax m_shooterRotateMotor = new CANSparkMax(ShooterConstants.SHOOTER_ROTATE_ID, MotorType.kBrushless); - public static Gains m_shooterGains = ShooterConstants.SHOOTER_GAINS; - public static Gains m_shooterGains = ShooterConstants.DRUM_SHOOTER_GAINS; + public static Gains m_shooterTurretGains = ShooterConstants.SHOOTER_TURRET_GAINS; + public static Gains m_drumShooterGains = ShooterConstants.DRUM_SHOOTER_GAINS; public static Shooter m_shooter; public static IHandController m_controller; @@ -58,7 +58,7 @@ public class Shooter extends SubsystemBase { resetGyroShooterRotate(); m_shooterFalcon.configFactoryDefault(); - m_shooterRotate.setIdleMode(IdleMode.kBrake); + m_shooterRotateMotor.setIdleMode(IdleMode.kBrake); m_shooterFalcon.setNeutralMode(NeutralMode.Coast); m_shooterFalcon.setInverted(false); @@ -92,10 +92,10 @@ public class Shooter extends SubsystemBase { */ 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); + m_shooterFalcon.config_kF(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterTurretGains.m_kF, ShooterConstants.SHOOTER_TIMEOUT_MS); + m_shooterFalcon.config_kP(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterTurretGains.m_kP, ShooterConstants.SHOOTER_TIMEOUT_MS); + m_shooterFalcon.config_kI(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterTurretGains.m_kI, ShooterConstants.SHOOTER_TIMEOUT_MS); + m_shooterFalcon.config_kD(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterTurretGains.m_kD, ShooterConstants.SHOOTER_TIMEOUT_MS); } /** * Runs drum shooter velocity PID. @@ -132,12 +132,12 @@ public class Shooter extends SubsystemBase { public void runAngleAdjustPID(double targetAngle) { // Set PID Coefficients - m_angleAdjustPIDController.setP(m_shooterGains.m_kP); - m_angleAdjustPIDController.setI(m_shooterGains.m_kI); - m_angleAdjustPIDController.setD(m_shooterGains.m_kD); - m_angleAdjustPIDController.setIZone(m_shooterGains.m_kIzone); - m_angleAdjustPIDController.setFF(m_shooterGains.m_kF); - m_angleAdjustPIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterGains.m_kPeakOutput); + m_angleAdjustPIDController.setP(m_shooterTurretGains.m_kP); + m_angleAdjustPIDController.setI(m_shooterTurretGains.m_kI); + m_angleAdjustPIDController.setD(m_shooterTurretGains.m_kD); + m_angleAdjustPIDController.setIZone(m_shooterTurretGains.m_kIzone); + m_angleAdjustPIDController.setFF(m_shooterTurretGains.m_kF); + m_angleAdjustPIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterTurretGains.m_kPeakOutput); // Convert input angle in degrees to rotations of the motor targetAngle = targetAngle/ShooterConstants.DEGREES_PER_ROT; @@ -149,12 +149,12 @@ public class Shooter extends SubsystemBase { public void runshooterRotatePID(double targetAngle) { // Set PID Coefficients - m_shooterRotatePIDController.setP(m_shooterGains.m_kP); - m_shooterRotatePIDController.setI(m_shooterGains.m_kI); - m_shooterRotatePIDController.setD(m_shooterGains.m_kD); - m_shooterRotatePIDController.setFF(m_shooterGains.m_kF); - m_shooterRotatePIDController.setIZone(m_shooterGains.m_kIzone); - m_shooterRotatePIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterGains.m_kPeakOutput); + m_shooterRotatePIDController.setP(m_shooterTurretGains.m_kP); + m_shooterRotatePIDController.setI(m_shooterTurretGains.m_kI); + m_shooterRotatePIDController.setD(m_shooterTurretGains.m_kD); + m_shooterRotatePIDController.setFF(m_shooterTurretGains.m_kF); + m_shooterRotatePIDController.setIZone(m_shooterTurretGains.m_kIzone); + m_shooterRotatePIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterTurretGains.m_kPeakOutput); // Convert input angle in degrees to rotations of the motor targetAngle = targetAngle/ShooterConstants.DEGREES_PER_ROT;