Team_2648/2025_Robot_Code
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removed algae beam break

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This commit is contained in:
Tylr-J42 2025-01-30 12:54:43 -05:00
parent 89c1914d11
commit 6fa4377e52
4 changed files with 17 additions and 17 deletions
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8
src/main/java/frc/robot/RobotContainer.java
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@ -192,10 +192,12 @@ public class RobotContainer {
.withPosition(4, 1) .withPosition(4, 1)
.withWidget(BuiltInWidgets.kBooleanBox); .withWidget(BuiltInWidgets.kBooleanBox);
/*
sensorTab.addBoolean("Algae Sensor", manipulator::getAlgaePhotoSwitch) sensorTab.addBoolean("Algae Sensor", manipulator::getAlgaePhotoSwitch)
.withSize(1, 1) .withSize(1, 1)
.withPosition(4, 0) .withPosition(4, 0)
.withWidget(BuiltInWidgets.kBooleanBox); .withWidget(BuiltInWidgets.kBooleanBox);
*/
} }
public Command getAutonomousCommand() { public Command getAutonomousCommand() {
@ -211,8 +213,8 @@ public class RobotContainer {
ElevatorConstants.kCoralIntakePosition, ElevatorConstants.kCoralIntakePosition,
ManipulatorPivotConstants.kCoralIntakePosition ManipulatorPivotConstants.kCoralIntakePosition
) )
.andThen(manipulator.runUntilCollected(1, true)); .andThen(manipulator.runUntilCollected(1));
} }
/** /**
* Moves the elevator and arm to the constant setpoints and runs the manipulator until collected * Moves the elevator and arm to the constant setpoints and runs the manipulator until collected
@ -225,7 +227,7 @@ public class RobotContainer {
l2 ? ElevatorConstants.kL2AlgaePosition : ElevatorConstants.kL3AlgaePosition, l2 ? ElevatorConstants.kL2AlgaePosition : ElevatorConstants.kL3AlgaePosition,
l2 ? ManipulatorPivotConstants.kL2AlgaePosition : ManipulatorPivotConstants.kL3AlgaePosition l2 ? ManipulatorPivotConstants.kL2AlgaePosition : ManipulatorPivotConstants.kL3AlgaePosition
) )
.andThen(manipulator.runUntilCollected(1, false)); .andThen(manipulator.runUntilCollected(1));
} }
/** /**

3
src/main/java/frc/robot/constants/ElevatorConstants.java
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@ -17,7 +17,8 @@ public class ElevatorConstants {
public static final int kTopLimitSwitchID = 0; public static final int kTopLimitSwitchID = 0;
public static final int kBottomLimitSwitchID = 0; public static final int kBottomLimitSwitchID = 0;
public static final double kEncoderConversionFactor = 0; // 60/12 gearing multiplied by circumference of sprocket multiplied by 2 for carriage position
public static final double kEncoderConversionFactor = 11/60 * Math.PI * 1.75 * 2;
public static final int kMotorAmpsMax = 40; public static final int kMotorAmpsMax = 40;

3
src/main/java/frc/robot/constants/ManipulatorPivotConstants.java
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@ -19,6 +19,8 @@ public class ManipulatorPivotConstants {
public static final int kMotorAmpsMax = 40; public static final int kMotorAmpsMax = 40;
public static final double kPivotConversion = 12/60 * 20/60 * 28/12;
public static final double kPivotMaxVelocity = 0; public static final double kPivotMaxVelocity = 0;
public static final double kPositionalP = 0; public static final double kPositionalP = 0;
@ -81,6 +83,7 @@ public class ManipulatorPivotConstants {
motorConfig motorConfig
.smartCurrentLimit(kMotorAmpsMax) .smartCurrentLimit(kMotorAmpsMax)
.idleMode(kIdleMode); .idleMode(kIdleMode);
motorConfig.encoder.positionConversionFactor(kPivotConversion);
} }

20
src/main/java/frc/robot/subsystems/Manipulator.java
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@ -16,7 +16,7 @@ public class Manipulator extends SubsystemBase {
private SparkMax manipulatorMotor; private SparkMax manipulatorMotor;
private DigitalInput coralBeamBreak; private DigitalInput coralBeamBreak;
private DigitalInput algaeBeamBreak; // private DigitalInput algaeBeamBreak;
public Manipulator() { public Manipulator() {
manipulatorMotor = new SparkMax( manipulatorMotor = new SparkMax(
@ -31,7 +31,7 @@ public class Manipulator extends SubsystemBase {
); );
coralBeamBreak = new DigitalInput(ManipulatorConstants.kCoralBeamBreakID); coralBeamBreak = new DigitalInput(ManipulatorConstants.kCoralBeamBreakID);
algaeBeamBreak = new DigitalInput(ManipulatorConstants.kAlgaeBeamBreakID); // algaeBeamBreak = new DigitalInput(ManipulatorConstants.kAlgaeBeamBreakID);
} }
/** /**
@ -42,10 +42,8 @@ public class Manipulator extends SubsystemBase {
*/ */
public Command defaultCommand() { public Command defaultCommand() {
return run(() -> { return run(() -> {
manipulatorMotor.set( runUntilCollected(0.1);
algaeBeamBreak.get() ? 0.1 : 0 });
);
});
} }
/** /**
@ -70,19 +68,15 @@ public class Manipulator extends SubsystemBase {
* @param coral Is the object a coral? (True = Coral, False = Algae) * @param coral Is the object a coral? (True = Coral, False = Algae)
* @return Returns a command that sets the speed of the motor * @return Returns a command that sets the speed of the motor
*/ */
public Command runUntilCollected(double speed, boolean coral) { public Command runUntilCollected(double speed) {
return run(() -> { return run(() -> {
manipulatorMotor.set( manipulatorMotor.set(
coral ? speed : speed * -1 speed * -1
); );
}).until(() -> coralBeamBreak.get() || algaeBeamBreak.get()); }).until(() -> coralBeamBreak.get());
} }
public boolean getCoralBeamBreak() { public boolean getCoralBeamBreak() {
return coralBeamBreak.get(); return coralBeamBreak.get();
} }
public boolean getAlgaePhotoSwitch() {
return algaeBeamBreak.get();
}
} }