Compare commits
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master
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brad_contr
| Author | SHA1 | Date | |
|---|---|---|---|
| b58e4dc975 | |||
| d8bb8cfd05 |
@ -1,12 +0,0 @@
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@ -1,13 +0,0 @@
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package frc.robot.Commands;
|
||||
|
||||
import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
|
||||
import frc.robot.subsystems.Indexer;
|
||||
import frc.robot.subsystems.Shooter;
|
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|
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public class AmpHandoff extends ParallelCommandGroup{
|
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|
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AmpHandoff(Indexer indexer, Shooter shooter){
|
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//addCommands(indexer.shootNote(() -> 1), shooter.ampHandoff());
|
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}
|
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|
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}
|
||||
@ -1,13 +0,0 @@
|
||||
package frc.robot.Commands;
|
||||
|
||||
import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
|
||||
import frc.robot.constants.ShooterConstants;
|
||||
import frc.robot.subsystems.Indexer;
|
||||
import frc.robot.subsystems.Shooter;
|
||||
|
||||
public class SpeakerShot extends ParallelCommandGroup{
|
||||
|
||||
SpeakerShot(Indexer indexer, Shooter shooter){
|
||||
//addCommands(shooter.angleSpeedsSetpoints(ShooterConstants.kShooterLoadAngle, 0, 0), indexer.shootNote(() -> 1.0));
|
||||
}
|
||||
}
|
||||
@ -1,32 +0,0 @@
|
||||
package frc.robot.Commands;
|
||||
|
||||
import java.util.function.BooleanSupplier;
|
||||
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import frc.robot.constants.IntakeConstants;
|
||||
import frc.robot.subsystems.Intake;
|
||||
|
||||
public class autoIntaking extends Command{
|
||||
private Intake m_intake;
|
||||
private BooleanSupplier m_beamBreak;
|
||||
|
||||
public autoIntaking(Intake intake, BooleanSupplier beamBreak){
|
||||
m_intake = intake;
|
||||
m_beamBreak = beamBreak;
|
||||
|
||||
addRequirements(intake);
|
||||
}
|
||||
|
||||
@Override
|
||||
public void execute(){
|
||||
m_intake.intakeControl(() -> IntakeConstants.kDownAngle, () -> 1.0);
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean isFinished(){
|
||||
if(!m_beamBreak.getAsBoolean()){
|
||||
return true;
|
||||
}else {return false;}
|
||||
}
|
||||
|
||||
}
|
||||
@ -9,31 +9,20 @@ import java.util.Optional;
|
||||
|
||||
import com.pathplanner.lib.auto.AutoBuilder;
|
||||
import com.pathplanner.lib.auto.NamedCommands;
|
||||
import com.pathplanner.lib.util.PPLibTelemetry;
|
||||
import com.pathplanner.lib.util.PathPlannerLogging;
|
||||
|
||||
import edu.wpi.first.math.MathUtil;
|
||||
import edu.wpi.first.math.geometry.Pose2d;
|
||||
import edu.wpi.first.math.geometry.Transform3d;
|
||||
import edu.wpi.first.math.util.Units;
|
||||
import edu.wpi.first.wpilibj.DriverStation;
|
||||
import edu.wpi.first.wpilibj.RobotBase;
|
||||
import edu.wpi.first.wpilibj.GenericHID.RumbleType;
|
||||
import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
|
||||
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
|
||||
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
|
||||
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
|
||||
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import edu.wpi.first.wpilibj2.command.Commands;
|
||||
import edu.wpi.first.wpilibj2.command.InstantCommand;
|
||||
import edu.wpi.first.wpilibj2.command.PrintCommand;
|
||||
import edu.wpi.first.wpilibj2.command.RunCommand;
|
||||
import edu.wpi.first.wpilibj2.command.WaitCommand;
|
||||
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
|
||||
import edu.wpi.first.wpilibj2.command.button.Trigger;
|
||||
import frc.robot.Commands.autoIntaking;
|
||||
import frc.robot.constants.IntakeConstants;
|
||||
import frc.robot.constants.OIConstants;
|
||||
import frc.robot.constants.PhotonConstants;
|
||||
import frc.robot.constants.ShooterConstants;
|
||||
@ -60,8 +49,6 @@ public class RobotContainer {
|
||||
private CommandXboxController operator;
|
||||
|
||||
private Trigger isTeleopTrigger;
|
||||
private Trigger isEnabledTrigger;
|
||||
private Trigger indexerBeamBreakWatcher;
|
||||
|
||||
private SendableChooser<Command> autoChooser;
|
||||
|
||||
@ -73,10 +60,6 @@ public class RobotContainer {
|
||||
// TODO There's more than one speaker tag, how do we want to handle this?
|
||||
private int speakerTag;
|
||||
|
||||
private boolean setAmpAngle;
|
||||
private boolean intakeDown;
|
||||
private boolean invertXYDrive;
|
||||
|
||||
public RobotContainer() {
|
||||
/*try {
|
||||
|
||||
@ -97,87 +80,16 @@ public class RobotContainer {
|
||||
|
||||
intake = new Intake();
|
||||
|
||||
shooter = new Shooter();
|
||||
|
||||
climber = new Climber(shooter.getShooterAngle());
|
||||
|
||||
indexer = new Indexer();
|
||||
|
||||
shooter = new Shooter(indexer::getBeamBreak);
|
||||
|
||||
climber = new Climber(shooter::getShooterAngle);
|
||||
|
||||
NamedCommands.registerCommand(
|
||||
"Charge Shooter 2 Sec",
|
||||
shooter.angleSpeedsSetpoints(
|
||||
() -> ShooterConstants.kShooterLoadAngle,
|
||||
1.0,
|
||||
1.0
|
||||
).withTimeout(2.0)
|
||||
);
|
||||
|
||||
/*
|
||||
NamedCommands.registerCommand(
|
||||
"Speaker Note Shot",
|
||||
Commands.parallel(
|
||||
shooter.angleSpeedsSetpoints(
|
||||
() -> ShooterConstants.kShooterLoadAngle,
|
||||
1.0,
|
||||
1.0
|
||||
),
|
||||
indexer.shootNote(() -> 1.0)
|
||||
).withTimeout(1.0)
|
||||
);
|
||||
*/
|
||||
|
||||
NamedCommands.registerCommand(
|
||||
"Speaker Note Shot",
|
||||
shooter.angleSpeedsSetpoints(
|
||||
() -> ShooterConstants.kShooterLoadAngle,
|
||||
1.0,
|
||||
1.0
|
||||
).raceWith(
|
||||
new WaitCommand(1.0)
|
||||
).andThen(
|
||||
shooter.angleSpeedsSetpoints(
|
||||
() -> ShooterConstants.kShooterLoadAngle,
|
||||
1.0,
|
||||
1.0
|
||||
).alongWith(indexer.shootNote(() -> 1.0))
|
||||
.withTimeout(0.75)
|
||||
)
|
||||
);
|
||||
|
||||
/*
|
||||
NamedCommands.registerCommand(
|
||||
"Auto Intake",
|
||||
Commands.parallel(
|
||||
intake.intakeControl(
|
||||
() -> IntakeConstants.kDownAngle,
|
||||
() -> 1.0
|
||||
),
|
||||
indexer.advanceNote()
|
||||
).until(() -> !indexer.getBeamBreak())
|
||||
.withTimeout(1.0)
|
||||
);*/
|
||||
|
||||
NamedCommands.registerCommand(
|
||||
"Auto Intake",
|
||||
intake.intakeControl(
|
||||
() -> IntakeConstants.kDownAngle,
|
||||
() -> 1.0
|
||||
).alongWith(
|
||||
indexer.advanceNote()
|
||||
).until(() -> !indexer.getBeamBreak())
|
||||
.andThen(
|
||||
intake.stopAll()
|
||||
)
|
||||
.withTimeout(2.5)
|
||||
);
|
||||
|
||||
//NamedCommands.registerCommand("Auto Intake", new PrintCommand("Intake Note"));
|
||||
|
||||
// An example Named Command, doesn't need to remain once we start actually adding real things
|
||||
// ALL Named Commands need to be defined AFTER subsystem initialization and BEFORE auto/controller configuration
|
||||
NamedCommands.registerCommand("Set Drivetrain X", drivetrain.setXCommand());
|
||||
|
||||
|
||||
// TODO Specify a default auto string once we have one
|
||||
autoChooser = AutoBuilder.buildAutoChooser();
|
||||
|
||||
@ -185,11 +97,18 @@ public class RobotContainer {
|
||||
operator = new CommandXboxController(OIConstants.kSecondaryXboxUSB);
|
||||
|
||||
isTeleopTrigger = new Trigger(DriverStation::isTeleopEnabled);
|
||||
isEnabledTrigger = new Trigger(DriverStation::isEnabled);
|
||||
indexerBeamBreakWatcher = new Trigger(indexer::getBeamBreak);
|
||||
|
||||
setAmpAngle = false;
|
||||
intakeDown = false;
|
||||
Optional<DriverStation.Alliance> alliance = DriverStation.getAlliance();
|
||||
|
||||
if (alliance.isEmpty() || alliance.get() == DriverStation.Alliance.Red) {
|
||||
ampTagID = 5;
|
||||
sourceTagID = 9;
|
||||
speakerTag = 4;
|
||||
} else {
|
||||
ampTagID = 6;
|
||||
sourceTagID = 1;
|
||||
speakerTag = 8;
|
||||
}
|
||||
|
||||
configureBindings();
|
||||
shuffleboardSetup();
|
||||
@ -204,142 +123,17 @@ public class RobotContainer {
|
||||
private void configureBindings() {
|
||||
isTeleopTrigger.onTrue(new InstantCommand(() -> Shuffleboard.selectTab(kTeleopTabName)));
|
||||
|
||||
isEnabledTrigger.onTrue(
|
||||
new InstantCommand(
|
||||
() -> {
|
||||
Optional<DriverStation.Alliance> alliance = DriverStation.getAlliance();
|
||||
|
||||
if (alliance.isEmpty() || alliance.get() == DriverStation.Alliance.Red) {
|
||||
ampTagID = 5;
|
||||
sourceTagID = 9;
|
||||
speakerTag = 4;
|
||||
invertXYDrive = true;
|
||||
} else {
|
||||
ampTagID = 6;
|
||||
sourceTagID = 1;
|
||||
speakerTag = 8;
|
||||
invertXYDrive = false;
|
||||
}
|
||||
}
|
||||
)
|
||||
);
|
||||
|
||||
drivetrain.setDefaultCommand(
|
||||
drivetrain.teleopCommand(
|
||||
() -> { return driver.getLeftY(); /*(invertXYDrive ? -1 : 1);*/ },
|
||||
() -> { return driver.getLeftX(); /*(invertXYDrive ? -1 : 1);*/ },
|
||||
() -> { return driver.getRightX(); /*(invertXYDrive ? -1 : 1);*/ },
|
||||
driver::getLeftY,
|
||||
driver::getLeftX,
|
||||
driver::getRightX,
|
||||
OIConstants.kTeleopDriveDeadband
|
||||
)
|
||||
);
|
||||
|
||||
intake.setDefaultCommand(
|
||||
intake.intakeControl(
|
||||
() -> {
|
||||
if (intakeDown && indexer.getBeamBreak()) {
|
||||
return IntakeConstants.kDownAngle;
|
||||
} else {
|
||||
return IntakeConstants.kUpAngle;
|
||||
}
|
||||
},
|
||||
() -> {
|
||||
if(intakeDown && indexer.getBeamBreak()){
|
||||
return 1.0;
|
||||
}else if(operator.leftBumper().getAsBoolean()){
|
||||
return -1.0;
|
||||
}else{
|
||||
return 0.0;
|
||||
}
|
||||
}
|
||||
)
|
||||
);
|
||||
|
||||
driver.leftTrigger().whileFalse(
|
||||
new InstantCommand(
|
||||
() -> {
|
||||
intakeDown = false;
|
||||
}
|
||||
)
|
||||
);
|
||||
|
||||
driver.leftTrigger().whileTrue(Commands.parallel(
|
||||
new InstantCommand(
|
||||
() -> {
|
||||
intakeDown = true;
|
||||
}
|
||||
), indexer.advanceNote()
|
||||
));
|
||||
|
||||
shooter.setDefaultCommand(
|
||||
shooter.angleSpeedsSetpoints(
|
||||
() -> {
|
||||
if (setAmpAngle) {
|
||||
return ShooterConstants.kShooterAmpAngle;
|
||||
} else {
|
||||
return ShooterConstants.kShooterLoadAngle;
|
||||
}
|
||||
},
|
||||
() -> {
|
||||
if(driver.getRightTriggerAxis() > 0.25){
|
||||
return 1.0;
|
||||
} else if(operator.getRightTriggerAxis() > 0.25){
|
||||
return -1.0;
|
||||
}else{
|
||||
return 0.0;
|
||||
}
|
||||
}
|
||||
)
|
||||
);
|
||||
|
||||
driver.leftBumper().onTrue(
|
||||
shooter.angleSpeedsSetpoints(
|
||||
() -> ShooterConstants.kShooterLoadAngle,
|
||||
() -> 1.0
|
||||
).withTimeout(.5).andThen(
|
||||
shooter.angleSpeedsSetpoints(
|
||||
() -> ShooterConstants.kShooterLoadAngle,
|
||||
() -> 1.0
|
||||
).alongWith(
|
||||
indexer.shootNote(() -> 1.0)
|
||||
).withTimeout(2)
|
||||
)
|
||||
);
|
||||
|
||||
climber.setDefaultCommand(climber.stop());
|
||||
|
||||
indexer.setDefaultCommand(indexer.shootNote(
|
||||
() -> {
|
||||
if (driver.getRightTriggerAxis() > .25) {
|
||||
return 1.0;
|
||||
}else {
|
||||
return 0.0;
|
||||
}
|
||||
}
|
||||
));
|
||||
|
||||
indexerBeamBreakWatcher.onFalse(
|
||||
new RunCommand(() -> {
|
||||
driver.getHID().setRumble(RumbleType.kBothRumble, 1);
|
||||
}).withTimeout(.5).andThen(
|
||||
new InstantCommand(() -> {
|
||||
driver.getHID().setRumble(RumbleType.kBothRumble, 0);
|
||||
})
|
||||
)
|
||||
);
|
||||
|
||||
/*
|
||||
driver.povCenter().onFalse(
|
||||
drivetrain.driveCardinal(
|
||||
driver::getLeftY,
|
||||
driver::getLeftX,
|
||||
driver.getHID()::getPOV,
|
||||
OIConstants.kTeleopDriveDeadband).until(
|
||||
() -> MathUtil.applyDeadband(driver.getRightX(), OIConstants.kTeleopDriveDeadband) != 0
|
||||
)
|
||||
);
|
||||
|
||||
// Lock on to the appropriate Amp AprilTag while still being able to strafe and drive forward and back
|
||||
driver.leftBumper().onTrue(
|
||||
driver.a().onTrue(
|
||||
drivetrain.driveAprilTagLock(
|
||||
driver::getLeftY,
|
||||
driver::getLeftX,
|
||||
@ -372,7 +166,18 @@ public class RobotContainer {
|
||||
).until(
|
||||
() -> MathUtil.applyDeadband(driver.getRightX(), OIConstants.kTeleopDriveDeadband) != 0
|
||||
)
|
||||
); */
|
||||
);
|
||||
|
||||
driver.povCenter().onFalse(
|
||||
drivetrain.driveCardinal(
|
||||
driver::getLeftY,
|
||||
driver::getLeftX,
|
||||
driver.getHID()::getPOV,
|
||||
OIConstants.kTeleopDriveDeadband
|
||||
).until(
|
||||
() -> MathUtil.applyDeadband(driver.getRightX(), OIConstants.kTeleopDriveDeadband) != 0
|
||||
)
|
||||
);
|
||||
|
||||
// This was originally a run while held, not sure that's really necessary, change it if need be
|
||||
driver.y().onTrue(drivetrain.zeroHeadingCommand());
|
||||
@ -380,8 +185,6 @@ public class RobotContainer {
|
||||
// This was originally a run while held, not sure that's really necessary, change it if need be
|
||||
driver.rightBumper().onTrue(drivetrain.setXCommand());
|
||||
|
||||
operator.rightTrigger().whileTrue(indexer.shootNote(() -> -1.0));
|
||||
|
||||
/*
|
||||
* This has been added because interest has been expressed in trying field relative vs
|
||||
* robot relative control. This should <i>default</i> to field relative, but give the option
|
||||
@ -393,36 +196,48 @@ public class RobotContainer {
|
||||
*/
|
||||
driver.start().onTrue(drivetrain.toggleFieldRelativeControl());
|
||||
|
||||
operator.b().whileTrue(Commands.parallel(indexer.shootNote(() -> 1.0), shooter.ampHandoff(() -> driver.getRightTriggerAxis(), () -> {
|
||||
if(operator.getRightTriggerAxis()>0.25){
|
||||
return true;
|
||||
}else{
|
||||
return false;
|
||||
}
|
||||
})));
|
||||
|
||||
//intake.setDefaultCommand(intake.intakeUpCommand());
|
||||
//Intake rollers intentionally disabled at the moment
|
||||
intake.setDefaultCommand(
|
||||
intake.manualPivot(
|
||||
() -> { return operator.getRightY() / 2; },
|
||||
() -> { return 0; }
|
||||
)
|
||||
);
|
||||
|
||||
//driver.leftBumper().toggleOnTrue(intake.intakeDownCommand());
|
||||
// shooter.setDefaultCommand(shooter.angleSpeedsSetpoints(ShooterConstants.kShooterLoadAngle, 0.0, 0.0));
|
||||
shooter.setDefaultCommand(
|
||||
shooter.manualPivot(
|
||||
() -> { return operator.getLeftY() / 2; },
|
||||
() -> {
|
||||
if (MathUtil.applyDeadband(driver.getLeftTriggerAxis(), OIConstants.kTeleopDriveDeadband) != 0) {
|
||||
return driver.getLeftTriggerAxis();
|
||||
} else {
|
||||
return -operator.getLeftTriggerAxis();
|
||||
}
|
||||
}
|
||||
)
|
||||
);
|
||||
|
||||
operator.a().onTrue(new InstantCommand(() -> { setAmpAngle = true; }));
|
||||
operator.a().onFalse(new InstantCommand(() -> { setAmpAngle = false; }));
|
||||
|
||||
//operator.a().whileTrue(shooter.angleSpeedsSetpoints(ShooterConstants.kShooterAmpAngle, 0, 0));
|
||||
indexer.setDefaultCommand(
|
||||
indexer.shootNote(
|
||||
() -> {
|
||||
if (MathUtil.applyDeadband(driver.getLeftTriggerAxis(), OIConstants.kTeleopDriveDeadband) != 0) {
|
||||
return driver.getLeftTriggerAxis();
|
||||
} else {
|
||||
return -operator.getLeftTriggerAxis();
|
||||
}
|
||||
}
|
||||
)
|
||||
);
|
||||
|
||||
operator.y().toggleOnTrue(Commands.parallel(climber.setSpeedWithSupplier(operator::getRightTriggerAxis), shooter.climbState(), intake.climbingStateCommand()));
|
||||
climber.setDefaultCommand(climber.stop());
|
||||
|
||||
driver.a().whileTrue(indexer.shootNote(() -> 1.0));
|
||||
|
||||
operator.back().toggleOnTrue(shooter.manualPivot(
|
||||
() -> MathUtil.clamp(-operator.getLeftY(), -0.25, 0.25),
|
||||
() -> MathUtil.clamp(driver.getRightTriggerAxis(), -1, 1)
|
||||
));
|
||||
|
||||
driver.povDown().whileTrue(indexer.shootNote(() -> -1.0));
|
||||
|
||||
operator.leftTrigger().whileTrue(Commands.parallel( indexer.shootNote(() -> -1), intake.intakeControl(() -> IntakeConstants.kDownAngle, () -> -1.0)));
|
||||
|
||||
operator.start().toggleOnTrue(intake.manualPivot(() -> -operator.getRightY()*0.2, () -> driver.getLeftTriggerAxis()));
|
||||
operator.rightBumper().whileTrue(
|
||||
climber.setSpeedWithSupplier(
|
||||
operator::getRightTriggerAxis
|
||||
)
|
||||
);
|
||||
|
||||
}
|
||||
|
||||
@ -432,8 +247,6 @@ public class RobotContainer {
|
||||
.withPosition(0, 0)
|
||||
.withSize(2, 1)
|
||||
.withWidget(BuiltInWidgets.kComboBoxChooser);
|
||||
|
||||
|
||||
|
||||
//Always select the auto tab on startup
|
||||
Shuffleboard.selectTab(kAutoTabName);
|
||||
@ -443,13 +256,10 @@ public class RobotContainer {
|
||||
.withPosition(0, 0)
|
||||
.withSize(2, 1)
|
||||
.withWidget(BuiltInWidgets.kBooleanBox);
|
||||
teleopTab.addBoolean("indexer beam break", indexer::getBeamBreak);
|
||||
teleopTab.addBoolean("shooter beam break", shooter::getBeamBreak);
|
||||
teleopTab.addDouble("shooter angle", shooter::getShooterAngle);
|
||||
teleopTab.addDouble("intake angle", intake::getIntakeDegrees);
|
||||
//teleopTab.addDouble("intake pid", intake::getIntakePID);
|
||||
teleopTab.addDouble("heading swerve", drivetrain::getHeading);
|
||||
teleopTab.addDouble("steering encoder", drivetrain::getEncoderSteering);
|
||||
teleopTab.addBoolean("indexer beam break", indexer.getBeamBreak());
|
||||
teleopTab.addBoolean("shooter beam break", shooter.getBeamBreak());
|
||||
teleopTab.addDouble("shooter angle", shooter.getShooterAngle());
|
||||
teleopTab.addDouble("intake angle", intake.getIntakeAngle());
|
||||
}
|
||||
|
||||
public Command getAutonomousCommand() {
|
||||
|
||||
@ -8,14 +8,14 @@ import edu.wpi.first.math.trajectory.TrapezoidProfile;
|
||||
import edu.wpi.first.math.util.Units;
|
||||
|
||||
public final class AutoConstants {
|
||||
public static final double kMaxSpeedMetersPerSecond = 4; // max capable = 4.6
|
||||
public static final double kMaxAccelerationMetersPerSecondSquared = 4; // max capable = 7.4
|
||||
public static final double kMaxSpeedMetersPerSecond = 3.895; // max capable = 4.6
|
||||
public static final double kMaxAccelerationMetersPerSecondSquared = 3; // max capable = 7.4
|
||||
public static final double kMaxAngularSpeedRadiansPerSecond = Math.PI;
|
||||
public static final double kMaxAngularSpeedRadiansPerSecondSquared = Math.PI;
|
||||
|
||||
public static final double kPXController = 5.5;//5;
|
||||
public static final double kPYController = 5.5;//5;
|
||||
public static final double kPThetaController = 5;//0.5; // needs to be separate from heading control
|
||||
public static final double kPXController = 1.05;
|
||||
public static final double kPYController = 1.05;
|
||||
public static final double kPThetaController = 0.95; // needs to be separate from heading control
|
||||
|
||||
public static final double kPHeadingController = 0.02; // for heading control NOT PATHING
|
||||
public static final double kDHeadingController = 0.0025;
|
||||
@ -24,7 +24,7 @@ public final class AutoConstants {
|
||||
new PIDConstants(kPXController),
|
||||
new PIDConstants(kPThetaController),
|
||||
kMaxSpeedMetersPerSecond,
|
||||
Units.inchesToMeters(Math.sqrt(Math.pow(14-1.75, 2)+ Math.pow(14-1.75, 2))),
|
||||
Units.inchesToMeters(34.65),
|
||||
new ReplanningConfig()
|
||||
);
|
||||
|
||||
|
||||
@ -7,12 +7,12 @@ import edu.wpi.first.math.util.Units;
|
||||
public final class DrivetrainConstants {
|
||||
// Driving Parameters - Note that these are not the maximum capable speeds of
|
||||
// the robot, rather the allowed maximum speeds
|
||||
public static final double kMaxSpeedMetersPerSecond = 5.2;
|
||||
public static final double kMaxSpeedMetersPerSecond = 4.6;
|
||||
public static final double kMaxAngularSpeed = 2 * Math.PI; // radians per second
|
||||
|
||||
public static final double kDirectionSlewRate = 4.8; // radians per second
|
||||
public static final double kMagnitudeSlewRate = 6.4; // percent per second (1 = 100%)
|
||||
public static final double kRotationalSlewRate = 8.0; // percent per second (1 = 100%)
|
||||
public static final double kDirectionSlewRate = 2.4; // radians per second
|
||||
public static final double kMagnitudeSlewRate = 3.2; // percent per second (1 = 100%)
|
||||
public static final double kRotationalSlewRate = 4.0; // percent per second (1 = 100%)
|
||||
|
||||
// Chassis configuration
|
||||
public static final double kTrackWidth = Units.inchesToMeters(28-1.75*2);
|
||||
@ -26,34 +26,26 @@ public final class DrivetrainConstants {
|
||||
new Translation2d(-kWheelBase / 2, -kTrackWidth / 2));
|
||||
|
||||
// Angular offsets of the modules relative to the chassis in radians
|
||||
|
||||
public static final double kFrontLeftChassisAngularOffset = 0.0;// Math.PI
|
||||
public static final double kFrontRightChassisAngularOffset = Math.PI / 2;//-Math.PI / 2;
|
||||
public static final double kBackLeftChassisAngularOffset = -Math.PI/2;//Math.PI / 2;
|
||||
public static final double kBackRightChassisAngularOffset = Math.PI; //0;
|
||||
|
||||
/*
|
||||
public static final double kFrontLeftChassisAngularOffset = -2*Math.PI;
|
||||
public static final double kFrontRightChassisAngularOffset = -2*Math.PI;
|
||||
public static final double kBackLeftChassisAngularOffset = -2*Math.PI;
|
||||
public static final double kBackRightChassisAngularOffset = -2*Math.PI-(4/180.0);
|
||||
*/
|
||||
public static final double kFrontLeftChassisAngularOffset = -Math.PI / 2;
|
||||
public static final double kFrontRightChassisAngularOffset = 0;
|
||||
public static final double kBackLeftChassisAngularOffset = Math.PI;
|
||||
public static final double kBackRightChassisAngularOffset = Math.PI / 2;
|
||||
|
||||
// SPARK MAX CAN IDs
|
||||
public static final int kFrontLeftDrivingCanId = 1;//8
|
||||
public static final int kRearLeftDrivingCanId = 6;//3
|
||||
public static final int kFrontRightDrivingCanId = 3;//6
|
||||
public static final int kRearRightDrivingCanId = 8;//1
|
||||
public static final int kFrontLeftDrivingCanId = 8;
|
||||
public static final int kRearLeftDrivingCanId = 3;
|
||||
public static final int kFrontRightDrivingCanId = 6;
|
||||
public static final int kRearRightDrivingCanId = 1;
|
||||
|
||||
public static final int kFrontLeftTurningCanId = 5;//4
|
||||
public static final int kRearLeftTurningCanId = 2;//7
|
||||
public static final int kFrontRightTurningCanId = 7;//2
|
||||
public static final int kRearRightTurningCanId = 4;//5
|
||||
public static final int kFrontLeftTurningCanId = 4;
|
||||
public static final int kRearLeftTurningCanId = 7;
|
||||
public static final int kFrontRightTurningCanId = 2;
|
||||
public static final int kRearRightTurningCanId = 5;
|
||||
|
||||
public static final double kTurnToleranceDeg = 0;
|
||||
public static final double kTurnRateToleranceDegPerS = 0;
|
||||
|
||||
public static final boolean kGyroReversed = true;
|
||||
|
||||
public static final double kRobotStartOffset = 0;
|
||||
public static final double kRobotStartOffset = 90;
|
||||
}
|
||||
|
||||
@ -4,20 +4,19 @@ public class IntakeConstants {
|
||||
public static final int kIntakePivotID = 10;
|
||||
public static final int kIntakeRollerID = 12;
|
||||
|
||||
public static final double kIntakePivotConversionFactor = (20.0*(28.0/15.0));
|
||||
public static final double kIntakePivotConversionFactor = 1/(20.0*(28.0/15.0));
|
||||
|
||||
public static final int kPivotCurrentLimit = 40;
|
||||
|
||||
public static final double kPIntake = 3;//4; //2.5;
|
||||
public static final double kPIntake = 0;
|
||||
public static final double kIIntake = 0;
|
||||
public static final double kDIntake = 0.01;
|
||||
public static final double kDIntake = 0;
|
||||
|
||||
public static final double kSFeedForward = 0;
|
||||
public static final double kGFeedForward = 1;//1.11;
|
||||
public static final double kVFeedForward = .5;//0.73;
|
||||
public static final double kGFeedForward = 0;
|
||||
public static final double kVFeedForward = 0;
|
||||
|
||||
public static final double kStartingAngle = Math.toRadians(95.0);
|
||||
public static final double kStartingAngle = Math.toRadians(105.0);
|
||||
public static final double kUpAngle = Math.toRadians(90.0);
|
||||
public static final double kDownAngle = Math.toRadians(-34.0);
|
||||
|
||||
}
|
||||
|
||||
@ -10,9 +10,10 @@ public class ShooterConstants {
|
||||
public static final double kShooterI = 0.0;
|
||||
public static final double kShooterD = 0.0;
|
||||
|
||||
public static final double kShooterFF = 0.0;
|
||||
public static final double kSShooterFF = 0.0;
|
||||
public static final double kVShooterFF = 0.0;
|
||||
|
||||
public static final double kShooterPivotP = 3.0;
|
||||
public static final double kShooterPivotP = 0.0;
|
||||
public static final double kShooterPivotI = 0.0;
|
||||
public static final double kShooterPivotD = 0.0;
|
||||
|
||||
@ -22,8 +23,8 @@ public class ShooterConstants {
|
||||
public static final double kPivotConversion = 1/(40.0*(28.0/15.0));
|
||||
|
||||
public static final double kSShooterPivotFF = 0.0;
|
||||
public static final double kGShooterPivotFF = 0.33;
|
||||
public static final double kVShooterPivotFF = 1.44;
|
||||
public static final double kGShooterPivotFF = 0.0;
|
||||
public static final double kVShooterPivotFF = 0.0;
|
||||
|
||||
public static final double kMaxPivotSpeed = 0.0;
|
||||
public static final double kMaxPivotAcceleration = 0.0;
|
||||
|
||||
@ -16,8 +16,8 @@ public class SwerveModuleConstants {
|
||||
public static final double kDrivingMotorFreeSpeedRps = NeoMotorConstants.kFreeSpeedRpm / 60;
|
||||
public static final double kWheelDiameterMeters = 0.0762;
|
||||
public static final double kWheelCircumferenceMeters = kWheelDiameterMeters * Math.PI;
|
||||
// 45 teeth on the wheel's bevel gear, 20 teeth on the first-stage spur gear, 15 teeth on the bevel pinion
|
||||
public static final double kDrivingMotorReduction = (45.0 * 20) / (kDrivingMotorPinionTeeth * 15);
|
||||
// 45 teeth on the wheel's bevel gear, 22 teeth on the first-stage spur gear, 15 teeth on the bevel pinion
|
||||
public static final double kDrivingMotorReduction = (45.0 * 22) / (kDrivingMotorPinionTeeth * 15);
|
||||
public static final double kDriveWheelFreeSpeedRps = (kDrivingMotorFreeSpeedRps * kWheelCircumferenceMeters)
|
||||
/ kDrivingMotorReduction;
|
||||
|
||||
@ -49,6 +49,6 @@ public class SwerveModuleConstants {
|
||||
public static final IdleMode kDrivingMotorIdleMode = IdleMode.kBrake;
|
||||
public static final IdleMode kTurningMotorIdleMode = IdleMode.kBrake;
|
||||
|
||||
public static final int kDrivingMotorCurrentLimit = 70; // amps
|
||||
public static final int kDrivingMotorCurrentLimit = 60; // amps
|
||||
public static final int kTurningMotorCurrentLimit = 30; // amps
|
||||
}
|
||||
|
||||
@ -8,7 +8,6 @@ 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;
|
||||
import frc.robot.constants.ShooterConstants;
|
||||
|
||||
public class Climber extends SubsystemBase {
|
||||
private VictorSPX motor1;
|
||||
@ -16,25 +15,21 @@ public class Climber extends SubsystemBase {
|
||||
|
||||
private DoubleSupplier shooterAngle;
|
||||
|
||||
//TODO What tells the climber to stop climbing when it achieves the target height?
|
||||
public Climber(DoubleSupplier shooterAngle) {
|
||||
motor1 = new VictorSPX(ClimberConstants.kClimberMotor1CANID);
|
||||
motor2 = new VictorSPX(ClimberConstants.kClimberMotor2CANID);
|
||||
|
||||
if(shooterAngle.getAsDouble() > Math.toRadians(-10.0)){
|
||||
motor1 = new VictorSPX(ClimberConstants.kClimberMotor1CANID);
|
||||
motor2 = new VictorSPX(ClimberConstants.kClimberMotor2CANID);
|
||||
|
||||
motor2.follow(motor1);
|
||||
motor1.setInverted(true);
|
||||
motor2.setInverted(true);
|
||||
this.shooterAngle = shooterAngle;
|
||||
motor2.follow(motor1);
|
||||
}
|
||||
}
|
||||
|
||||
public Command setSpeedWithSupplier(DoubleSupplier speed) {
|
||||
return run(() -> {
|
||||
if(shooterAngle.getAsDouble() > ShooterConstants.kShooterLoadAngle){
|
||||
|
||||
|
||||
if(shooterAngle.getAsDouble() > Math.toRadians(-10.0)){
|
||||
motor1.set(VictorSPXControlMode.PercentOutput, speed.getAsDouble());
|
||||
|
||||
}else{
|
||||
motor1.set(VictorSPXControlMode.PercentOutput, 0.0);
|
||||
}
|
||||
});
|
||||
}
|
||||
|
||||
@ -20,10 +20,8 @@ import java.util.function.DoubleSupplier;
|
||||
import com.kauailabs.navx.frc.AHRS;
|
||||
import com.pathplanner.lib.auto.AutoBuilder;
|
||||
|
||||
import edu.wpi.first.wpilibj.ADXRS450_Gyro;
|
||||
import edu.wpi.first.wpilibj.DriverStation;
|
||||
import edu.wpi.first.wpilibj.SPI;
|
||||
import edu.wpi.first.wpilibj.interfaces.Gyro;
|
||||
import frc.robot.constants.AutoConstants;
|
||||
import frc.robot.constants.DrivetrainConstants;
|
||||
import frc.robot.utilities.MAXSwerveModule;
|
||||
@ -45,7 +43,6 @@ public class Drivetrain extends SubsystemBase {
|
||||
|
||||
// The gyro sensor
|
||||
private final AHRS m_gyro;
|
||||
//private final ADXRS450_Gyro m_gyro;
|
||||
|
||||
private final SlewRateLimiter m_magLimiter;
|
||||
private final SlewRateLimiter m_rotLimiter;
|
||||
@ -66,8 +63,6 @@ public class Drivetrain extends SubsystemBase {
|
||||
|
||||
private double m_prevTime;
|
||||
|
||||
private double gyroOffset;
|
||||
|
||||
/** Creates a new DriveSubsystem. */
|
||||
public Drivetrain(Pose2d initialPose, IAprilTagProvider aprilTagProvider, IVisualPoseProvider visualPoseProvider) {
|
||||
m_frontLeft = new MAXSwerveModule(
|
||||
@ -95,8 +90,6 @@ public class Drivetrain extends SubsystemBase {
|
||||
|
||||
// TODO The NavX is not centered in the robot, it's output probably needs to be translated
|
||||
m_gyro = new AHRS(SPI.Port.kMXP);
|
||||
// m_gyro = new ADXRS450_Gyro();
|
||||
//m_gyro.calibrate();
|
||||
|
||||
m_magLimiter = new SlewRateLimiter(DrivetrainConstants.kMagnitudeSlewRate);
|
||||
m_rotLimiter = new SlewRateLimiter(DrivetrainConstants.kRotationalSlewRate);
|
||||
@ -139,9 +132,6 @@ public class Drivetrain extends SubsystemBase {
|
||||
},
|
||||
this
|
||||
);
|
||||
|
||||
gyroOffset = DrivetrainConstants.kRobotStartOffset;
|
||||
|
||||
}
|
||||
|
||||
@Override
|
||||
@ -166,14 +156,6 @@ public class Drivetrain extends SubsystemBase {
|
||||
}
|
||||
}
|
||||
|
||||
public double getRobotStartOffset() {
|
||||
return gyroOffset;
|
||||
}
|
||||
|
||||
public void setRobotStartOffset(double offset) {
|
||||
gyroOffset = offset;
|
||||
}
|
||||
|
||||
public boolean isFieldRelativeControl() {
|
||||
return fieldRelativeControl;
|
||||
}
|
||||
@ -207,8 +189,6 @@ public class Drivetrain extends SubsystemBase {
|
||||
* @param pose The pose to which to set the odometry.
|
||||
*/
|
||||
public void resetOdometry(Pose2d pose) {
|
||||
m_gyro.setAngleAdjustment(pose.getRotation().getDegrees());
|
||||
|
||||
m_poseEstimator.resetPosition(
|
||||
Rotation2d.fromDegrees(getGyroAngle()),
|
||||
new SwerveModulePosition[] {
|
||||
@ -295,7 +275,7 @@ public class Drivetrain extends SubsystemBase {
|
||||
|
||||
var swerveModuleStates = DrivetrainConstants.kDriveKinematics.toSwerveModuleStates(
|
||||
fieldRelative.getAsBoolean()
|
||||
? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedDelivered, ySpeedDelivered, rotDelivered, m_poseEstimator.getEstimatedPosition().getRotation())
|
||||
? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedDelivered, ySpeedDelivered, rotDelivered, Rotation2d.fromDegrees(getGyroAngle()))
|
||||
: new ChassisSpeeds(xSpeedDelivered, ySpeedDelivered, rotDelivered));
|
||||
SwerveDriveKinematics.desaturateWheelSpeeds(
|
||||
swerveModuleStates, DrivetrainConstants.kMaxSpeedMetersPerSecond);
|
||||
@ -306,21 +286,12 @@ public class Drivetrain extends SubsystemBase {
|
||||
}
|
||||
|
||||
public void driveWithChassisSpeeds(ChassisSpeeds speeds) {
|
||||
//speeds.omegaRadiansPerSecond = -speeds.omegaRadiansPerSecond;
|
||||
ChassisSpeeds discreteSpeeds = ChassisSpeeds.discretize(speeds, 0.2);
|
||||
SwerveModuleState[] newStates = DrivetrainConstants.kDriveKinematics.toSwerveModuleStates(discreteSpeeds);
|
||||
SwerveDriveKinematics.desaturateWheelSpeeds(newStates, DrivetrainConstants.kMaxSpeedMetersPerSecond);
|
||||
setModuleStates(newStates);
|
||||
|
||||
/*
|
||||
//speeds.omegaRadiansPerSecond = -speeds.omegaRadiansPerSecond;
|
||||
SwerveModuleState[] states = DrivetrainConstants.kDriveKinematics.toSwerveModuleStates(speeds);
|
||||
|
||||
m_frontLeft.setDesiredState(states[0]);
|
||||
m_frontRight.setDesiredState(states[1]);
|
||||
m_rearLeft.setDesiredState(states[2]);
|
||||
m_rearRight.setDesiredState(states[3]);
|
||||
*/
|
||||
}
|
||||
|
||||
public Command teleopCommand(DoubleSupplier xSpeed, DoubleSupplier ySpeed, DoubleSupplier rotation, double deadband) {
|
||||
@ -330,7 +301,7 @@ public class Drivetrain extends SubsystemBase {
|
||||
-MathUtil.applyDeadband(ySpeed.getAsDouble(), deadband),
|
||||
-MathUtil.applyDeadband(rotation.getAsDouble(), deadband),
|
||||
() -> fieldRelativeControl,
|
||||
true
|
||||
false
|
||||
);
|
||||
});
|
||||
}
|
||||
@ -435,25 +406,15 @@ public class Drivetrain extends SubsystemBase {
|
||||
|
||||
/** Zeroes the heading of the robot. */
|
||||
public void zeroHeading() {
|
||||
Pose2d tempPose = m_poseEstimator.getEstimatedPosition();
|
||||
|
||||
Rotation2d tempRotation = Rotation2d.fromDegrees(0);
|
||||
|
||||
resetOdometry(
|
||||
new Pose2d(
|
||||
tempPose.getX(),
|
||||
tempPose.getY(),
|
||||
tempRotation
|
||||
)
|
||||
);
|
||||
m_gyro.reset();
|
||||
}
|
||||
|
||||
public Command zeroHeadingCommand() {
|
||||
return runOnce(this::zeroHeading);
|
||||
}
|
||||
|
||||
public void offsetZero(Pose2d angle){
|
||||
resetOdometry(angle);
|
||||
public void offsetZero(double angle){
|
||||
m_gyro.setAngleAdjustment(angle);
|
||||
}
|
||||
|
||||
/**
|
||||
@ -466,7 +427,7 @@ public class Drivetrain extends SubsystemBase {
|
||||
}
|
||||
|
||||
public double getGyroAngle(){
|
||||
return m_gyro.getAngle() * (DrivetrainConstants.kGyroReversed ? -1.0 : 1.0);
|
||||
return m_gyro.getAngle() * (DrivetrainConstants.kGyroReversed ? -1.0 : 1.0) + DrivetrainConstants.kRobotStartOffset;
|
||||
}
|
||||
|
||||
/**
|
||||
@ -477,8 +438,4 @@ public class Drivetrain extends SubsystemBase {
|
||||
public double getTurnRate() {
|
||||
return m_gyro.getRate() * (DrivetrainConstants.kGyroReversed ? -1.0 : 1.0);
|
||||
}
|
||||
|
||||
public double getEncoderSteering(){
|
||||
return m_frontLeft.steeringEncoder();
|
||||
}
|
||||
}
|
||||
|
||||
@ -2,6 +2,7 @@ package frc.robot.subsystems;
|
||||
|
||||
import com.revrobotics.CANSparkMax;
|
||||
|
||||
import java.util.function.BooleanSupplier;
|
||||
import java.util.function.DoubleSupplier;
|
||||
|
||||
import com.revrobotics.CANSparkBase.IdleMode;
|
||||
@ -30,23 +31,13 @@ public class Indexer extends SubsystemBase{
|
||||
public Command autoIndexing(){
|
||||
return run(() -> {
|
||||
if(!indexerBeamBreak.get()){
|
||||
indexerMotor.set(0.75);
|
||||
indexerMotor.set(0.5);
|
||||
}else if(indexerBeamBreak.get()){
|
||||
indexerMotor.set(0.0);
|
||||
}
|
||||
|
||||
});
|
||||
}
|
||||
|
||||
public Command advanceNote(){
|
||||
return run(() -> {
|
||||
if(indexerBeamBreak.get()){
|
||||
indexerMotor.set(1);
|
||||
}else{
|
||||
indexerMotor.set(0.0);
|
||||
}
|
||||
});
|
||||
}
|
||||
|
||||
public Command shootNote(DoubleSupplier indexerSpeed){
|
||||
return run(() -> {
|
||||
@ -54,7 +45,7 @@ public class Indexer extends SubsystemBase{
|
||||
});
|
||||
}
|
||||
|
||||
public boolean getBeamBreak(){
|
||||
return indexerBeamBreak.get();
|
||||
public BooleanSupplier getBeamBreak(){
|
||||
return indexerBeamBreak::get;
|
||||
}
|
||||
}
|
||||
|
||||
@ -9,8 +9,6 @@ import com.revrobotics.CANSparkLowLevel.MotorType;
|
||||
|
||||
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.util.function.BooleanConsumer;
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
||||
import frc.robot.constants.IntakeConstants;
|
||||
@ -25,22 +23,17 @@ public class Intake extends SubsystemBase{
|
||||
|
||||
private ArmFeedforward intakeFeedForward;
|
||||
|
||||
private double armOffset;
|
||||
|
||||
public Intake(){
|
||||
armOffset = 0;
|
||||
|
||||
intakeRoller = new CANSparkMax(IntakeConstants.kIntakeRollerID, MotorType.kBrushless);
|
||||
|
||||
intakeRoller.setSmartCurrentLimit(60);
|
||||
intakeRoller.setIdleMode(IdleMode.kBrake);
|
||||
intakeRoller.setIdleMode(IdleMode.kCoast);
|
||||
intakeRoller.burnFlash();
|
||||
|
||||
intakePivot = new CANSparkMax(IntakeConstants.kIntakePivotID, MotorType.kBrushless);
|
||||
|
||||
intakePivot.setIdleMode(IdleMode.kBrake);
|
||||
intakePivot.setSmartCurrentLimit(IntakeConstants.kPivotCurrentLimit);
|
||||
intakePivot.setInverted(true);
|
||||
intakePivot.burnFlash();
|
||||
|
||||
intakeFeedForward = new ArmFeedforward(
|
||||
@ -50,8 +43,8 @@ public class Intake extends SubsystemBase{
|
||||
);
|
||||
|
||||
intakeEncoder = intakePivot.getEncoder();
|
||||
intakeEncoder.setPosition(Units.radiansToRotations( IntakeConstants.kStartingAngle));
|
||||
// intakeEncoder.setPositionConversionFactor(IntakeConstants.kIntakePivotConversionFactor);
|
||||
intakeEncoder.setPosition(IntakeConstants.kStartingAngle);
|
||||
intakeEncoder.setPositionConversionFactor(IntakeConstants.kIntakePivotConversionFactor);
|
||||
|
||||
intakeAnglePID = new PIDController(
|
||||
IntakeConstants.kPIntake,
|
||||
@ -59,64 +52,23 @@ public class Intake extends SubsystemBase{
|
||||
IntakeConstants.kDIntake
|
||||
);
|
||||
|
||||
armOffset = getIntakeAngle()-IntakeConstants.kStartingAngle;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
public Command autoIntaking(BooleanSupplier beamBreak){
|
||||
return run(() -> {
|
||||
intakeRoller.set(1.0);
|
||||
|
||||
intakePivot.setVoltage(
|
||||
intakeAnglePID.calculate(
|
||||
getIntakeAngle(),
|
||||
IntakeConstants.kDownAngle
|
||||
) + intakeFeedForward.calculate(
|
||||
IntakeConstants.kDownAngle,
|
||||
0.0
|
||||
)
|
||||
);
|
||||
return isFinished(() -> {
|
||||
if(!beamBreak.getAsBoolean()){
|
||||
return true
|
||||
}
|
||||
});
|
||||
});
|
||||
}
|
||||
*/
|
||||
public Command intakeControl(DoubleSupplier pivotAngle, DoubleSupplier intakeSpeed) {
|
||||
return run(() -> {
|
||||
intakeRoller.set(intakeSpeed.getAsDouble());
|
||||
|
||||
intakePivot.setVoltage(
|
||||
intakeAnglePID.calculate(
|
||||
getIntakeAngle(),
|
||||
pivotAngle.getAsDouble()
|
||||
) + intakeFeedForward.calculate(
|
||||
pivotAngle.getAsDouble(),
|
||||
0.0
|
||||
)
|
||||
);
|
||||
});
|
||||
}
|
||||
|
||||
public Command intakeDownCommand() {
|
||||
return run(() -> {
|
||||
intakeRoller.set(0.0);
|
||||
intakeRoller.set(1.0);
|
||||
|
||||
intakePivot.setVoltage(
|
||||
intakeAnglePID.calculate(
|
||||
getIntakeAngle(),
|
||||
intakeEncoder.getPosition(),
|
||||
IntakeConstants.kDownAngle
|
||||
) + intakeFeedForward.calculate(
|
||||
IntakeConstants.kDownAngle,
|
||||
0.0
|
||||
intakeEncoder.getVelocity()
|
||||
)
|
||||
);
|
||||
});
|
||||
}
|
||||
|
||||
|
||||
public Command manualPivot(DoubleSupplier pivotPower, DoubleSupplier rollerSpinny){
|
||||
return run(() ->{
|
||||
@ -131,11 +83,11 @@ public class Intake extends SubsystemBase{
|
||||
|
||||
intakePivot.setVoltage(
|
||||
intakeAnglePID.calculate(
|
||||
getIntakeAngle(),
|
||||
intakeEncoder.getPosition(),
|
||||
IntakeConstants.kDownAngle
|
||||
) + intakeFeedForward.calculate(
|
||||
IntakeConstants.kDownAngle,
|
||||
0.0
|
||||
intakeEncoder.getVelocity()
|
||||
)
|
||||
);
|
||||
});
|
||||
@ -147,38 +99,17 @@ public class Intake extends SubsystemBase{
|
||||
|
||||
intakePivot.setVoltage(
|
||||
intakeAnglePID.calculate(
|
||||
getIntakeAngle(),
|
||||
intakeEncoder.getPosition(),
|
||||
IntakeConstants.kUpAngle
|
||||
) + intakeFeedForward.calculate(
|
||||
IntakeConstants.kUpAngle,
|
||||
0.0
|
||||
intakeEncoder.getVelocity()
|
||||
)
|
||||
);
|
||||
});
|
||||
}
|
||||
|
||||
public Command stopAll() {
|
||||
return runOnce(() -> {
|
||||
intakeRoller.set(0);
|
||||
intakePivot.setVoltage(0);
|
||||
});
|
||||
}
|
||||
|
||||
public double getIntakeAngle(){
|
||||
return Units.rotationsToRadians(intakeEncoder.getPosition()/IntakeConstants.kIntakePivotConversionFactor)-armOffset;
|
||||
}
|
||||
|
||||
public double getIntakePID(){
|
||||
return intakeAnglePID.calculate(
|
||||
getIntakeAngle(),
|
||||
IntakeConstants.kDownAngle
|
||||
) + intakeFeedForward.calculate(
|
||||
IntakeConstants.kDownAngle,
|
||||
0.0
|
||||
);
|
||||
}
|
||||
|
||||
public double getIntakeDegrees(){
|
||||
return Math.toDegrees(getIntakeAngle());
|
||||
public DoubleSupplier getIntakeAngle(){
|
||||
return intakeEncoder::getPosition;
|
||||
}
|
||||
}
|
||||
|
||||
@ -4,12 +4,13 @@ import java.util.function.BooleanSupplier;
|
||||
import java.util.function.DoubleSupplier;
|
||||
|
||||
import com.revrobotics.CANSparkMax;
|
||||
import com.revrobotics.RelativeEncoder;
|
||||
import com.revrobotics.CANSparkBase.IdleMode;
|
||||
import com.revrobotics.CANSparkLowLevel.MotorType;
|
||||
|
||||
import edu.wpi.first.math.MathUtil;
|
||||
import edu.wpi.first.math.controller.ArmFeedforward;
|
||||
import edu.wpi.first.math.controller.PIDController;
|
||||
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
|
||||
import edu.wpi.first.wpilibj.DigitalInput;
|
||||
import edu.wpi.first.wpilibj.Encoder;
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
@ -20,103 +21,103 @@ public class Shooter extends SubsystemBase{
|
||||
private CANSparkMax topShooter;
|
||||
private CANSparkMax bottomShooter;
|
||||
|
||||
private RelativeEncoder bottomEncoder;
|
||||
private RelativeEncoder topEncoder;
|
||||
|
||||
private CANSparkMax shooterPivot;
|
||||
|
||||
private Encoder pivotEncoder;
|
||||
|
||||
private PIDController topShooterPID;
|
||||
private SimpleMotorFeedforward topShooterFF;
|
||||
|
||||
private PIDController bottomShooterPID;
|
||||
private SimpleMotorFeedforward bottomShooterFF;
|
||||
|
||||
private PIDController shooterPivotPID;
|
||||
private ArmFeedforward shooterPivotFF;
|
||||
|
||||
private DigitalInput shooterBeamBreak;
|
||||
|
||||
private boolean indexerBeamBreak;
|
||||
|
||||
public Shooter(BooleanSupplier indexerBeamBreak){
|
||||
public Shooter(){
|
||||
topShooter = new CANSparkMax(ShooterConstants.kTopShooterID, MotorType.kBrushless);
|
||||
topShooter.setInverted(true);
|
||||
bottomShooter = new CANSparkMax(ShooterConstants.kBottomShooterID, MotorType.kBrushless);
|
||||
bottomShooter.setInverted(true);
|
||||
|
||||
topShooter.setSmartCurrentLimit(40);
|
||||
topShooter.burnFlash();
|
||||
|
||||
bottomShooter.setSmartCurrentLimit(40);
|
||||
bottomShooter.burnFlash();
|
||||
|
||||
topEncoder = topShooter.getEncoder();
|
||||
bottomEncoder = bottomShooter.getEncoder();
|
||||
|
||||
shooterPivot = new CANSparkMax(ShooterConstants.kShooterPivotID, MotorType.kBrushless);
|
||||
shooterPivot.setInverted(true);
|
||||
|
||||
/*
|
||||
topPID = topShooter.getPIDController();
|
||||
topPID.setFeedbackDevice(topEncoder);
|
||||
bottomPID = bottomShooter.getPIDController();
|
||||
bottomPID.setFeedbackDevice(bottomEncoder);
|
||||
*/
|
||||
|
||||
shooterPivot.setSmartCurrentLimit(50);
|
||||
topShooter.setSmartCurrentLimit(40);
|
||||
bottomShooter.setSmartCurrentLimit(40);
|
||||
shooterPivot.burnFlash();
|
||||
|
||||
pivotEncoder = new Encoder(0, 1);
|
||||
pivotEncoder.setDistancePerPulse(ShooterConstants.kPivotConversion);
|
||||
|
||||
shooterBeamBreak = new DigitalInput(ShooterConstants.kShooterBeamBreakChannel);
|
||||
|
||||
topShooter.setIdleMode(IdleMode.kCoast);
|
||||
bottomShooter.setIdleMode(IdleMode.kCoast);
|
||||
//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
|
||||
);
|
||||
|
||||
bottomShooter.burnFlash();
|
||||
shooterPivot.burnFlash();
|
||||
topShooter.burnFlash();
|
||||
topShooterFF = new SimpleMotorFeedforward(ShooterConstants.kSShooterFF, ShooterConstants.kVShooterFF);
|
||||
topShooterFF = new SimpleMotorFeedforward(ShooterConstants.kSShooterFF, ShooterConstants.kVShooterFF);
|
||||
|
||||
shooterPivotPID = new PIDController(
|
||||
ShooterConstants.kShooterPivotP,
|
||||
ShooterConstants.kShooterPivotI,
|
||||
ShooterConstants.kShooterPivotD
|
||||
);
|
||||
shooterPivotFF = new ArmFeedforward(ShooterConstants.kSShooterPivotFF, ShooterConstants.kGShooterPivotFF, ShooterConstants.kVShooterPivotFF);
|
||||
|
||||
shooterPivotFF = new ArmFeedforward(
|
||||
ShooterConstants.kSShooterPivotFF,
|
||||
ShooterConstants.kGShooterPivotFF,
|
||||
ShooterConstants.kVShooterPivotFF
|
||||
);
|
||||
}
|
||||
|
||||
/*
|
||||
public Command angleSpeedsSetpoints(double setpointAngle, double topRPM, double bottomRPM){
|
||||
return run(()-> {
|
||||
angleAndSpeedControl(setpointAngle, topRPM, bottomRPM);
|
||||
});
|
||||
}*/
|
||||
|
||||
public Command angleSpeedsSetpoints(DoubleSupplier setpointAngle, DoubleSupplier speed){
|
||||
return run(()-> {
|
||||
angleAndSpeedControl(setpointAngle.getAsDouble(), speed.getAsDouble(), speed.getAsDouble());
|
||||
});
|
||||
}
|
||||
|
||||
public Command angleSpeedsSetpoints(DoubleSupplier setpointAngle, double topRPM, double bottomRPM){
|
||||
return run(()-> {
|
||||
angleAndSpeedControl(setpointAngle.getAsDouble(), topRPM, bottomRPM);
|
||||
});
|
||||
}
|
||||
|
||||
private void angleAndSpeedControl(double setpointAngle, double topRPM, double bottomRPM){
|
||||
shooterPivot.setIdleMode(IdleMode.kBrake);
|
||||
|
||||
shooterPivot.setVoltage(
|
||||
shooterPivotPID.calculate(getShooterAngle(), setpointAngle) +
|
||||
shooterPivotFF.calculate(setpointAngle, 0.0));
|
||||
|
||||
//topPID.setReference(topRPM, CANSparkMax.ControlType.kVelocity);
|
||||
//bottomPID.setReference(bottomRPM, CANSparkMax.ControlType.kVelocity);
|
||||
topShooter.set(topRPM);
|
||||
bottomShooter.set(bottomRPM);
|
||||
}
|
||||
|
||||
public Command ampHandoff(DoubleSupplier shootNoteSpeed, BooleanSupplier ampAngleOrNah){
|
||||
return run(() -> {
|
||||
|
||||
shooterPivot.setIdleMode(IdleMode.kBrake);
|
||||
|
||||
shooterPivot.setVoltage(
|
||||
shooterPivotPID.calculate(getShooterAngle(), ShooterConstants.kShooterLoadAngle) +
|
||||
shooterPivotPID.calculate(pivotEncoder.getDistance(), setpointAngle) +
|
||||
shooterPivotFF.calculate(setpointAngle, 0.0));
|
||||
|
||||
topShooter.setVoltage(topShooterPID.calculate(topEncoder.getVelocity(), topRPM)+topShooterFF.calculate(topRPM));
|
||||
|
||||
bottomShooter.setVoltage(bottomShooterPID.calculate(bottomEncoder.getVelocity(), bottomRPM)+bottomShooterFF.calculate(bottomRPM));
|
||||
});
|
||||
}
|
||||
|
||||
public Command recieveNote(){
|
||||
return run(() -> {
|
||||
shooterPivot.setIdleMode(IdleMode.kBrake);
|
||||
|
||||
shooterPivot.setVoltage(
|
||||
shooterPivotPID.calculate(pivotEncoder.getDistance(), ShooterConstants.kShooterLoadAngle) +
|
||||
shooterPivotFF.calculate(ShooterConstants.kShooterLoadAngle, 0.0));
|
||||
|
||||
if(shooterBeamBreak.get() || indexerBeamBreak){
|
||||
angleAndSpeedControl(ShooterConstants.kShooterLoadAngle, 0.25, 0.25);
|
||||
if(shooterBeamBreak.get()){
|
||||
topShooter.set(0.25);
|
||||
bottomShooter.set(0.25);
|
||||
}else{
|
||||
angleAndSpeedControl(ShooterConstants.kShooterLoadAngle, shootNoteSpeed.getAsDouble(), shootNoteSpeed.getAsDouble());
|
||||
topShooter.set(0.);
|
||||
bottomShooter.set(0.);
|
||||
}
|
||||
});
|
||||
}
|
||||
@ -128,36 +129,20 @@ public class Shooter extends SubsystemBase{
|
||||
});
|
||||
}
|
||||
|
||||
public double getShooterAngle(){
|
||||
return pivotEncoder.getDistance() + ShooterConstants.kShooterLoadAngle;
|
||||
public DoubleSupplier getShooterAngle(){
|
||||
return () -> {return pivotEncoder.getDistance();};
|
||||
}
|
||||
|
||||
public Command zeroEncoder(){
|
||||
return run(() -> {
|
||||
pivotEncoder.reset();
|
||||
});
|
||||
}
|
||||
|
||||
public Boolean getBeamBreak(){
|
||||
return shooterBeamBreak.get();
|
||||
public BooleanSupplier getBeamBreak(){
|
||||
return shooterBeamBreak::get;
|
||||
}
|
||||
|
||||
public Command manualPivot(DoubleSupplier pivotPower, DoubleSupplier spinny){
|
||||
return run(() ->{
|
||||
shooterPivot.setIdleMode(IdleMode.kBrake);
|
||||
if(getShooterAngle() >= ShooterConstants.kShooterLoadAngle && getShooterAngle() <= ShooterConstants.kShooterAmpAngle){
|
||||
shooterPivot.set(pivotPower.getAsDouble());
|
||||
}else if(getShooterAngle() > ShooterConstants.kShooterAmpAngle){
|
||||
shooterPivot.set(MathUtil.clamp(pivotPower.getAsDouble(), -1.0, 0.0));
|
||||
}else if(getShooterAngle() < ShooterConstants.kShooterLoadAngle){
|
||||
shooterPivot.set(MathUtil.clamp(pivotPower.getAsDouble(), 0.0, 1.0));
|
||||
}
|
||||
|
||||
shooterPivot.set(pivotPower.getAsDouble());
|
||||
topShooter.set(spinny.getAsDouble());
|
||||
bottomShooter.set(spinny.getAsDouble());
|
||||
|
||||
});
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
@ -6,7 +6,6 @@ import edu.wpi.first.math.kinematics.SwerveModuleState;
|
||||
|
||||
import com.revrobotics.CANSparkMax;
|
||||
import com.revrobotics.CANSparkLowLevel.MotorType;
|
||||
import com.revrobotics.CANSparkLowLevel.PeriodicFrame;
|
||||
import com.revrobotics.SparkAbsoluteEncoder.Type;
|
||||
import com.revrobotics.SparkPIDController;
|
||||
import com.revrobotics.AbsoluteEncoder;
|
||||
@ -37,13 +36,6 @@ public class MAXSwerveModule {
|
||||
m_drivingSparkMax = new CANSparkMax(drivingCANId, MotorType.kBrushless);
|
||||
m_turningSparkMax = new CANSparkMax(turningCANId, MotorType.kBrushless);
|
||||
|
||||
// The periodic frame update rate for the absolute encoders for position is available to be changed at Status 5
|
||||
// The update rate for absolute encoder velocity is on Status 6.
|
||||
// The default update rate for the absolute encoder on both of those status frames is only 200ms which might be causing the swerve jitter
|
||||
// TODO: test if these changes break the swerve drive or fix the jitter.
|
||||
m_turningSparkMax.setPeriodicFramePeriod(PeriodicFrame.kStatus5, 20);
|
||||
m_turningSparkMax.setPeriodicFramePeriod(PeriodicFrame.kStatus6, 20);
|
||||
|
||||
// Factory reset, so we get the SPARKS MAX to a known state before configuring
|
||||
// them. This is useful in case a SPARK MAX is swapped out.
|
||||
m_drivingSparkMax.restoreFactoryDefaults();
|
||||
@ -165,8 +157,4 @@ public class MAXSwerveModule {
|
||||
public void resetEncoders() {
|
||||
m_drivingEncoder.setPosition(0);
|
||||
}
|
||||
|
||||
public double steeringEncoder(){
|
||||
return m_turningEncoder.getPosition();
|
||||
}
|
||||
}
|
||||
@ -1,7 +1,7 @@
|
||||
{
|
||||
"fileName": "PathplannerLib.json",
|
||||
"name": "PathplannerLib",
|
||||
"version": "2024.2.7",
|
||||
"version": "2024.1.2",
|
||||
"uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
|
||||
"frcYear": "2024",
|
||||
"mavenUrls": [
|
||||
@ -12,7 +12,7 @@
|
||||
{
|
||||
"groupId": "com.pathplanner.lib",
|
||||
"artifactId": "PathplannerLib-java",
|
||||
"version": "2024.2.7"
|
||||
"version": "2024.1.2"
|
||||
}
|
||||
],
|
||||
"jniDependencies": [],
|
||||
@ -20,7 +20,7 @@
|
||||
{
|
||||
"groupId": "com.pathplanner.lib",
|
||||
"artifactId": "PathplannerLib-cpp",
|
||||
"version": "2024.2.7",
|
||||
"version": "2024.1.2",
|
||||
"libName": "PathplannerLib",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": false,
|
||||
|
||||
@ -1,7 +1,7 @@
|
||||
{
|
||||
"fileName": "Phoenix5.json",
|
||||
"name": "CTRE-Phoenix (v5)",
|
||||
"version": "5.33.1",
|
||||
"version": "5.33.0",
|
||||
"frcYear": 2024,
|
||||
"uuid": "ab676553-b602-441f-a38d-f1296eff6537",
|
||||
"mavenUrls": [
|
||||
@ -20,19 +20,19 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix",
|
||||
"artifactId": "api-java",
|
||||
"version": "5.33.1"
|
||||
"version": "5.33.0"
|
||||
},
|
||||
{
|
||||
"groupId": "com.ctre.phoenix",
|
||||
"artifactId": "wpiapi-java",
|
||||
"version": "5.33.1"
|
||||
"version": "5.33.0"
|
||||
}
|
||||
],
|
||||
"jniDependencies": [
|
||||
{
|
||||
"groupId": "com.ctre.phoenix",
|
||||
"artifactId": "cci",
|
||||
"version": "5.33.1",
|
||||
"version": "5.33.0",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
@ -45,7 +45,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix.sim",
|
||||
"artifactId": "cci-sim",
|
||||
"version": "5.33.1",
|
||||
"version": "5.33.0",
|
||||
"isJar": false,
|
||||
"skipInvalidPlatforms": true,
|
||||
"validPlatforms": [
|
||||
@ -60,7 +60,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix",
|
||||
"artifactId": "wpiapi-cpp",
|
||||
"version": "5.33.1",
|
||||
"version": "5.33.0",
|
||||
"libName": "CTRE_Phoenix_WPI",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
@ -75,7 +75,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix",
|
||||
"artifactId": "api-cpp",
|
||||
"version": "5.33.1",
|
||||
"version": "5.33.0",
|
||||
"libName": "CTRE_Phoenix",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
@ -90,7 +90,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix",
|
||||
"artifactId": "cci",
|
||||
"version": "5.33.1",
|
||||
"version": "5.33.0",
|
||||
"libName": "CTRE_PhoenixCCI",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
@ -105,7 +105,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix.sim",
|
||||
"artifactId": "wpiapi-cpp-sim",
|
||||
"version": "5.33.1",
|
||||
"version": "5.33.0",
|
||||
"libName": "CTRE_Phoenix_WPISim",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
@ -120,7 +120,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix.sim",
|
||||
"artifactId": "api-cpp-sim",
|
||||
"version": "5.33.1",
|
||||
"version": "5.33.0",
|
||||
"libName": "CTRE_PhoenixSim",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
@ -135,7 +135,7 @@
|
||||
{
|
||||
"groupId": "com.ctre.phoenix.sim",
|
||||
"artifactId": "cci-sim",
|
||||
"version": "5.33.1",
|
||||
"version": "5.33.0",
|
||||
"libName": "CTRE_PhoenixCCISim",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": true,
|
||||
|
||||
@ -1,7 +1,7 @@
|
||||
{
|
||||
"fileName": "REVLib.json",
|
||||
"name": "REVLib",
|
||||
"version": "2024.2.4",
|
||||
"version": "2024.2.0",
|
||||
"frcYear": "2024",
|
||||
"uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
|
||||
"mavenUrls": [
|
||||
@ -12,14 +12,14 @@
|
||||
{
|
||||
"groupId": "com.revrobotics.frc",
|
||||
"artifactId": "REVLib-java",
|
||||
"version": "2024.2.4"
|
||||
"version": "2024.2.0"
|
||||
}
|
||||
],
|
||||
"jniDependencies": [
|
||||
{
|
||||
"groupId": "com.revrobotics.frc",
|
||||
"artifactId": "REVLib-driver",
|
||||
"version": "2024.2.4",
|
||||
"version": "2024.2.0",
|
||||
"skipInvalidPlatforms": true,
|
||||
"isJar": false,
|
||||
"validPlatforms": [
|
||||
@ -37,7 +37,7 @@
|
||||
{
|
||||
"groupId": "com.revrobotics.frc",
|
||||
"artifactId": "REVLib-cpp",
|
||||
"version": "2024.2.4",
|
||||
"version": "2024.2.0",
|
||||
"libName": "REVLib",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": false,
|
||||
@ -55,7 +55,7 @@
|
||||
{
|
||||
"groupId": "com.revrobotics.frc",
|
||||
"artifactId": "REVLib-driver",
|
||||
"version": "2024.2.4",
|
||||
"version": "2024.2.0",
|
||||
"libName": "REVLibDriver",
|
||||
"headerClassifier": "headers",
|
||||
"sharedLibrary": false,
|
||||
|
||||
Loading…
Reference in New Issue
Block a user