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A very small amount of work on IntakePivot and IntakeRoller

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This commit is contained in:
Bradley Bickford 2024-04-21 16:53:25 -04:00
parent fb9395fd71
commit aef38aef8f
3 changed files with 50 additions and 36 deletions
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2
src/main/java/frc/robot/constants/IntakeRollerConstants.java
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@ -2,4 +2,6 @@ package frc.robot.constants;
public class IntakeRollerConstants { public class IntakeRollerConstants {
public static final int kMotorCANID = 12; public static final int kMotorCANID = 12;
public static final int kMotorCurrentLimit = 60;
} }

41
src/main/java/frc/robot/subsystems/IntakePivot.java
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@ -1,7 +1,48 @@
package frc.robot.subsystems; package frc.robot.subsystems;
import com.revrobotics.CANSparkBase.IdleMode;
import com.revrobotics.CANSparkLowLevel.MotorType;
import com.revrobotics.CANSparkMax;
import com.revrobotics.RelativeEncoder;
import edu.wpi.first.math.controller.ArmFeedforward;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.constants.IntakeRollerConstants;
import frc.robot.constants.IntakePivotConstants;
public class IntakePivot extends SubsystemBase { public class IntakePivot extends SubsystemBase {
private CANSparkMax intakePivot;
private RelativeEncoder intakeEncoder;
private PIDController intakeAnglePID;
private ArmFeedforward intakeFeedForward;
private double armOffset;
public IntakePivot() {
intakePivot = new CANSparkMax(IntakePivotConstants.kIntakePivotID, MotorType.kBrushless);
intakePivot.setIdleMode(IdleMode.kBrake);
intakePivot.setSmartCurrentLimit(IntakePivotConstants.kPivotCurrentLimit);
intakePivot.setInverted(true);
intakePivot.burnFlash();
intakeEncoder = intakePivot.getEncoder();
intakeEncoder.setPosition(Units.radiansToRotations(IntakePivotConstants.kStartingAngle));
intakeAnglePID = new PIDController(
IntakePivotConstants.kP
);
intakeFeedForward = new ArmFeedforward(
IntakeRollerConstants.kSFeedForward,
IntakeRollerConstants.kGFeedForward,
IntakeRollerConstants.kVFeedForward
);
}
} }

37
src/main/java/frc/robot/subsystems/IntakeRoller.java
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@ -15,49 +15,20 @@ import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.constants.IntakeRollerConstants; import frc.robot.constants.IntakeRollerConstants;
public class Intake extends SubsystemBase{ public class IntakeRoller extends SubsystemBase{
private PIDController intakeAnglePID;
private CANSparkMax intakeRoller; private CANSparkMax intakeRoller;
private CANSparkMax intakePivot;
private RelativeEncoder intakeEncoder; public IntakeRoller(){
private ArmFeedforward intakeFeedForward;
private double armOffset;
public Intake(){
armOffset = 0; armOffset = 0;
intakeRoller = new CANSparkMax(IntakeRollerConstants.kIntakeRollerID, MotorType.kBrushless); intakeRoller = new CANSparkMax(IntakeRollerConstants.kMotorCANID, MotorType.kBrushless);
intakeRoller.setSmartCurrentLimit(60); intakeRoller.setSmartCurrentLimit(IntakeRollerConstants.kMotorCurrentLimit);
intakeRoller.setIdleMode(IdleMode.kBrake); intakeRoller.setIdleMode(IdleMode.kBrake);
intakeRoller.burnFlash(); intakeRoller.burnFlash();
intakePivot = new CANSparkMax(IntakeRollerConstants.kIntakePivotID, MotorType.kBrushless);
intakePivot.setIdleMode(IdleMode.kBrake);
intakePivot.setSmartCurrentLimit(IntakeRollerConstants.kPivotCurrentLimit);
intakePivot.setInverted(true);
intakePivot.burnFlash();
intakeFeedForward = new ArmFeedforward(
IntakeRollerConstants.kSFeedForward,
IntakeRollerConstants.kGFeedForward,
IntakeRollerConstants.kVFeedForward
);
intakeEncoder = intakePivot.getEncoder();
intakeEncoder.setPosition(Units.radiansToRotations( IntakeRollerConstants.kStartingAngle));
// intakeEncoder.setPositionConversionFactor(IntakeConstants.kIntakePivotConversionFactor);
intakeAnglePID = new PIDController(
IntakeRollerConstants.kPIntake,
IntakeRollerConstants.kIIntake,
IntakeRollerConstants.kDIntake
);
armOffset = getIntakeAngle()-IntakeRollerConstants.kStartingAngle; armOffset = getIntakeAngle()-IntakeRollerConstants.kStartingAngle;
} }