mirror of
https://github.com/Team4388/RiseOfRidgebotics2020.git
synced 2026-06-09 00:38:00 -06:00
KyraRivera
89 lines
3.6 KiB
Java
89 lines
3.6 KiB
Java
/*----------------------------------------------------------------------------*/
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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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public class Shooter extends SubsystemBase {
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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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/**
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* Creates a new Shooter subsystem.
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*/
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public Shooter() {
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m_shooterFalcon.configFactoryDefault();
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m_shooterFalcon.setNeutralMode(NeutralMode.Coast);
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m_shooterFalcon.setInverted(false);
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setShooterGains();
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m_shooterFalcon.configPeakOutputReverse(0, ShooterConstants.SHOOTER_TIMEOUT_MS);
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m_shooterFalcon.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS);
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int closedLoopTimeMs = 1;
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m_shooterFalcon.configClosedLoopPeriod(0, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS);
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m_shooterFalcon.configClosedLoopPeriod(1, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS);
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}
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@Override
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public void periodic() {
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// This method will be called once per scheduler run
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SmartDashboard.putNumber("Shooter Velocity", m_shooterFalcon.getSelectedSensorVelocity()*600/ShooterConstants.ENCODER_TICKS_PER_REV);
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}
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/**
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* Runs drum shooter motor.
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* @param speed Speed to set the motor at
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*/
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public void runDrumShooter(double speed) {
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m_shooterFalcon.set(speed);
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}
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/**
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* Configures gains for shooter PID.
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*/
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public void setShooterGains() {
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m_shooterFalcon.selectProfileSlot(ShooterConstants.SHOOTER_SLOT_IDX, ShooterConstants.SHOOTER_PID_LOOP_IDX);
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m_shooterFalcon.config_kF(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.m_kF, ShooterConstants.SHOOTER_TIMEOUT_MS);
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m_shooterFalcon.config_kP(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.m_kP, ShooterConstants.SHOOTER_TIMEOUT_MS);
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m_shooterFalcon.config_kI(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.m_kI, ShooterConstants.SHOOTER_TIMEOUT_MS);
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m_shooterFalcon.config_kD(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.m_kD, ShooterConstants.SHOOTER_TIMEOUT_MS);
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}
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/**
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* Runs drum shooter velocity PID.
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* @param falcon Motor to use
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* @param targetVel Target velocity to run motor at
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*/
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public void runDrumShooterVelocityPID(double targetVel, double actualVel) {
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velP = actualVel/targetVel; //Percent of target
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double runSpeed = actualVel + (12000*velP); //Ramp up equation
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//if (runSpeed > targetVel) {runSpeed = targetVel;}
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SmartDashboard.putNumber("shoot", actualVel);
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runSpeed = runSpeed/targetVel; //Convert to percent
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if (actualVel < targetVel - 1000){ //PID Based on ramp up amount
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m_shooterFalcon.set(TalonFXControlMode.PercentOutput, runSpeed);
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}
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else{ //PID Based on targetVel
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m_shooterFalcon.set(TalonFXControlMode.Velocity, targetVel); //Init PID
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}
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}
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} |