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Fixing garbage formatting, adding Phoenix and rudimentary climber subsystem

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This commit is contained in:
Bradley Bickford 2024-02-15 21:40:23 -05:00
parent ff66313260
commit 56fb39d38c
6 changed files with 572 additions and 11 deletions
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6
src/main/java/frc/robot/constants/ClimberConstants.java Normal file
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@ -0,0 +1,6 @@
package frc.robot.constants;
public class ClimberConstants {
public static final int kClimberMotor1CANID = 1;
public static final int kClimberMotor2CANID = 2;
}

39
src/main/java/frc/robot/subsystems/Climber.java Normal file
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@ -0,0 +1,39 @@
package frc.robot.subsystems;
import java.util.function.DoubleSupplier;
import com.ctre.phoenix.motorcontrol.VictorSPXControlMode;
import com.ctre.phoenix.motorcontrol.can.VictorSPX;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.constants.ClimberConstants;
public class Climber extends SubsystemBase {
private VictorSPX motor1;
private VictorSPX motor2;
//TODO What tells the climber to stop climbing when it achieves the target height?
public Climber() {
motor1 = new VictorSPX(ClimberConstants.kClimberMotor1CANID);
motor2 = new VictorSPX(ClimberConstants.kClimberMotor2CANID);
motor2.follow(motor1);
}
public Command setSpeedWithSupplier(DoubleSupplier speed) {
return run(() -> {
motor1.set(VictorSPXControlMode.PercentOutput, speed.getAsDouble());
});
}
public Command setSpeed(double speed) {
return run(() -> {
motor1.set(VictorSPXControlMode.PercentOutput, speed);
});
}
public Command stop() {
return setSpeed(0);
}
}

12
src/main/java/frc/robot/subsystems/Intake.java
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@ -29,13 +29,21 @@ public class Intake extends SubsystemBase{
intakePivot.setSmartCurrentLimit(IntakeConstants.kPivotCurrentLimit);
intakePivot.burnFlash();
intakeFeedForward = new ArmFeedforward(IntakeConstants.kSFeedForward, IntakeConstants.kGFeedForward, IntakeConstants.kVFeedForward);
intakeFeedForward = new ArmFeedforward(
IntakeConstants.kSFeedForward,
IntakeConstants.kGFeedForward,
IntakeConstants.kVFeedForward
);
intakeEncoder = intakePivot.getEncoder();
intakeEncoder.setPosition(IntakeConstants.kStartingAngle);
intakeEncoder.setPositionConversionFactor(IntakeConstants.kIntakePivotConversionFactor);
intakeAnglePID = new PIDController(IntakeConstants.kPIntake, IntakeConstants.kIIntake, IntakeConstants.kDIntake);
intakeAnglePID = new PIDController(
IntakeConstants.kPIntake,
IntakeConstants.kIIntake,
IntakeConstants.kDIntake
);
}

36
src/main/java/frc/robot/subsystems/Shooter.java
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@ -45,25 +45,43 @@ public class Shooter extends SubsystemBase{
pivotEncoder = new Encoder(0, 1);
topShooterPID = new PIDController(ShooterConstants.kShooterP, ShooterConstants.kShooterI, ShooterConstants.kShooterD);
bottomShooterPID = new PIDController(ShooterConstants.kShooterP, ShooterConstants.kShooterI, ShooterConstants.kShooterD);
//TODO These can probably devolve into BangBang controllers and let the feed forwards maintain speed
topShooterPID = new PIDController(
ShooterConstants.kShooterP,
ShooterConstants.kShooterI,
ShooterConstants.kShooterD
);
bottomShooterPID = new PIDController(
ShooterConstants.kShooterP,
ShooterConstants.kShooterI,
ShooterConstants.kShooterD
);
topShooterFF = new SimpleMotorFeedforward(ShooterConstants.kSShooterFF, ShooterConstants.kVShooterFF);
topShooterFF = new SimpleMotorFeedforward(ShooterConstants.kSShooterFF, ShooterConstants.kVShooterFF);
shooterPivotPID = new ProfiledPIDController(
ShooterConstants.kShooterPivotP,
ShooterConstants.kShooterPivotI,
ShooterConstants.kShooterPivotD,
new TrapezoidProfile.Constraints(ShooterConstants.kMaxPivotSpeed, ShooterConstants.kMaxPivotAcceleration));
ShooterConstants.kShooterPivotP,
ShooterConstants.kShooterPivotI,
ShooterConstants.kShooterPivotD,
new TrapezoidProfile.Constraints(
ShooterConstants.kMaxPivotSpeed,
ShooterConstants.kMaxPivotAcceleration
)
);
shooterPivotFF = new ArmFeedforward(ShooterConstants.kSShooterPivotFF,
ShooterConstants.kGShooterPivotFF, ShooterConstants.kVShooterPivotFF);
shooterPivotFF = new ArmFeedforward(
ShooterConstants.kSShooterPivotFF,
ShooterConstants.kGShooterPivotFF,
ShooterConstants.kVShooterPivotFF
);
}
public Command setShooterAngle(double setpointAngle){
return run(()-> {
shooterPivot.setVoltage(shooterPivotPID.calculate(pivotEncoder.getPosition(), setpointAngle) + );
shooterPivot.setVoltage(
shooterPivotPID.calculate(pivotEncoder.getDistance(), setpointAngle) +
shooterPivotFF.calculate(setpointAngle, 0));
});
}
}

151
vendordeps/Phoenix5.json Normal file
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@ -0,0 +1,151 @@
{
"fileName": "Phoenix5.json",
"name": "CTRE-Phoenix (v5)",
"version": "5.33.0",
"frcYear": 2024,
"uuid": "ab676553-b602-441f-a38d-f1296eff6537",
"mavenUrls": [
"https://maven.ctr-electronics.com/release/"
],
"jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2024-latest.json",
"requires": [
{
"uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
"errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6. Please add the Phoenix 6 vendordep before adding Phoenix 5.",
"offlineFileName": "Phoenix6.json",
"onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json"
}
],
"javaDependencies": [
{
"groupId": "com.ctre.phoenix",
"artifactId": "api-java",
"version": "5.33.0"
},
{
"groupId": "com.ctre.phoenix",
"artifactId": "wpiapi-java",
"version": "5.33.0"
}
],
"jniDependencies": [
{
"groupId": "com.ctre.phoenix",
"artifactId": "cci",
"version": "5.33.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxathena"
],
"simMode": "hwsim"
},
{
"groupId": "com.ctre.phoenix.sim",
"artifactId": "cci-sim",
"version": "5.33.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
}
],
"cppDependencies": [
{
"groupId": "com.ctre.phoenix",
"artifactId": "wpiapi-cpp",
"version": "5.33.0",
"libName": "CTRE_Phoenix_WPI",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxathena"
],
"simMode": "hwsim"
},
{
"groupId": "com.ctre.phoenix",
"artifactId": "api-cpp",
"version": "5.33.0",
"libName": "CTRE_Phoenix",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxathena"
],
"simMode": "hwsim"
},
{
"groupId": "com.ctre.phoenix",
"artifactId": "cci",
"version": "5.33.0",
"libName": "CTRE_PhoenixCCI",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxathena"
],
"simMode": "hwsim"
},
{
"groupId": "com.ctre.phoenix.sim",
"artifactId": "wpiapi-cpp-sim",
"version": "5.33.0",
"libName": "CTRE_Phoenix_WPISim",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix.sim",
"artifactId": "api-cpp-sim",
"version": "5.33.0",
"libName": "CTRE_PhoenixSim",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix.sim",
"artifactId": "cci-sim",
"version": "5.33.0",
"libName": "CTRE_PhoenixCCISim",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
}
]
}

339
vendordeps/Phoenix6.json Normal file
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@ -0,0 +1,339 @@
{
"fileName": "Phoenix6.json",
"name": "CTRE-Phoenix (v6)",
"version": "24.2.0",
"frcYear": 2024,
"uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
"mavenUrls": [
"https://maven.ctr-electronics.com/release/"
],
"jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json",
"conflictsWith": [
{
"uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a",
"errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.",
"offlineFileName": "Phoenix6And5.json"
}
],
"javaDependencies": [
{
"groupId": "com.ctre.phoenix6",
"artifactId": "wpiapi-java",
"version": "24.2.0"
}
],
"jniDependencies": [
{
"groupId": "com.ctre.phoenix6",
"artifactId": "tools",
"version": "24.2.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxathena"
],
"simMode": "hwsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "tools-sim",
"version": "24.2.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simTalonSRX",
"version": "24.2.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simTalonFX",
"version": "24.2.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simVictorSPX",
"version": "24.2.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simPigeonIMU",
"version": "24.2.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simCANCoder",
"version": "24.2.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProTalonFX",
"version": "24.2.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANcoder",
"version": "24.2.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProPigeon2",
"version": "24.2.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
}
],
"cppDependencies": [
{
"groupId": "com.ctre.phoenix6",
"artifactId": "wpiapi-cpp",
"version": "24.2.0",
"libName": "CTRE_Phoenix6_WPI",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxathena"
],
"simMode": "hwsim"
},
{
"groupId": "com.ctre.phoenix6",
"artifactId": "tools",
"version": "24.2.0",
"libName": "CTRE_PhoenixTools",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxathena"
],
"simMode": "hwsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "wpiapi-cpp-sim",
"version": "24.2.0",
"libName": "CTRE_Phoenix6_WPISim",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "tools-sim",
"version": "24.2.0",
"libName": "CTRE_PhoenixTools_Sim",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simTalonSRX",
"version": "24.2.0",
"libName": "CTRE_SimTalonSRX",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simTalonFX",
"version": "24.2.0",
"libName": "CTRE_SimTalonFX",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simVictorSPX",
"version": "24.2.0",
"libName": "CTRE_SimVictorSPX",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simPigeonIMU",
"version": "24.2.0",
"libName": "CTRE_SimPigeonIMU",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simCANCoder",
"version": "24.2.0",
"libName": "CTRE_SimCANCoder",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProTalonFX",
"version": "24.2.0",
"libName": "CTRE_SimProTalonFX",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANcoder",
"version": "24.2.0",
"libName": "CTRE_SimProCANcoder",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProPigeon2",
"version": "24.2.0",
"libName": "CTRE_SimProPigeon2",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"osxuniversal"
],
"simMode": "swsim"
}
]
}