Team_2648/2025_Robot_Code
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end of southern maine code

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Team 2648 2025-03-04 17:57:13 -05:00
parent 24d6a7a5cf
commit 87c0772982
6 changed files with 39 additions and 26 deletions
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20
src/main/java/frc/robot/RobotContainer.java
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@ -109,8 +109,8 @@ public class RobotContainer {
drivetrain.setDefaultCommand(
drivetrain.drive(
() -> Math.pow(driver.getLeftY(), 3),
() -> Math.pow(driver.getLeftX(), 3),
() -> driver.getLeftY() * Math.pow(Math.abs(driver.getLeftY()) + Math.abs(driver.getLeftX()), 3),
() -> driver.getLeftX() * Math.pow(Math.abs(driver.getLeftY()) + Math.abs(driver.getLeftX()), 3),
driver::getRightX, //Math.signum(driver.getRightX()) * Math.pow(driver.getRightX(), 3)
() -> true
)
@ -143,7 +143,7 @@ public class RobotContainer {
);
driver.leftTrigger().whileTrue(
manipulator.runUntilCollected(() -> 0.75).andThen(manipulator.retractCommand(() -> 0.25))
manipulator.runUntilCollected(() -> 0.75)
);
driver.start().and(driver.back()).onTrue(
@ -154,6 +154,8 @@ public class RobotContainer {
driver.a().whileTrue(manipulator.runManipulator(() -> -0.5, false));
driver.b().whileTrue(manipulator.runManipulator(() -> -0.35, true));
/*
driver.rightBumper().whileTrue(
drivetrain.goToPose(
@ -201,26 +203,28 @@ public class RobotContainer {
)
);
operator.start().toggleOnTrue(climberPivot.runPivot(() -> operator.getRightY()*0.5).alongWith(climberRollers.runRoller(() -> operator.getLeftY()*0.5)));
operator.back().onTrue(elevator.homeCommand());
operator.start().toggleOnTrue(climberPivot.runPivot(() -> -operator.getRightY()*0.5).alongWith(climberRollers.runRoller(() -> operator.getLeftY()*0.5)));
operator.a().onTrue(
safeMoveManipulator(ElevatorConstants.kL1Position, 0.0)
safeMoveManipulator(ElevatorConstants.kL1Position, ManipulatorPivotConstants.kStartingPosition)
);
operator.x().onTrue(
safeMoveManipulator(ElevatorConstants.kL2AlgaePosition, ManipulatorPivotConstants.kL2AlgaePosition)
.alongWith(manipulator.runManipulator(() -> 0.5, false))
.alongWith(manipulator.runManipulator(() -> 0.85, false))
.until(() -> driver.a().getAsBoolean())
);
operator.b().onTrue(
safeMoveManipulator(ElevatorConstants.kL3AlgaePosition, ManipulatorPivotConstants.kL3AlgaePosition)
.alongWith(manipulator.runManipulator(() -> 0.5, false))
.alongWith(manipulator.runManipulator(() -> 0.85, false))
.until(() -> driver.a().getAsBoolean())
);
operator.y().onTrue(moveWithAlgae(ElevatorConstants.kProcessorPosition, ManipulatorPivotConstants.kProcessorPosition)
.alongWith(manipulator.runManipulator(() -> 0.5, false))
.alongWith(manipulator.runManipulator(() -> 0.85, false))
.until(() -> driver.a().getAsBoolean())
);

4
src/main/java/frc/robot/constants/ElevatorConstants.java
View File

@ -43,8 +43,8 @@ public class ElevatorConstants {
public static final double kCoralIntakePosition = 0;
public static final double kL1Position = 0;
public static final double kL2Position = 9;
public static final double kL3Position = 23.0;
public static final double kL2Position = 11;
public static final double kL3Position = 27;
public static final double kL4Position = 50.5;
public static final double kL4TransitionPosition = 40.0;
public static final double kL2AlgaePosition = 23.0;

27
src/main/java/frc/robot/constants/ManipulatorPivotConstants.java
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@ -29,26 +29,27 @@ public class ManipulatorPivotConstants {
public static final double kFeedForwardG = (0.3+0.19) / 2; // calculated value 0.41
public static final double kFeedForwardV = 0.68; //calculated value 0.68
public static final double kFFGravityOffset = Units.degreesToRadians(135.0);
public static final double kFFGravityOffset = Units.degreesToRadians(135.0+90);
public static final double kMaxAcceleration = Units.degreesToRadians(1000.0); // degrees per second^2 calculated max = 2100
public static final double kMaxVelocity = Units.degreesToRadians(100.0); // degrees per second calculated max = 168
public static final double kEncoderOffset = 0.780;
public static final double kEncoderOffset = 0.78-0.25;
public static final double kCoralIntakePosition = Units.degreesToRadians(175.0);
public static final double kL1Position = Units.degreesToRadians(0.0);
public static final double kL2Position = Units.degreesToRadians(22.0);
public static final double kL3Position = Units.degreesToRadians(22.0);
public static final double kL4Position = Units.degreesToRadians(45.0);
public static final double kL2AlgaePosition = Units.degreesToRadians(175.0);
public static final double kL3AlgaePosition = Units.degreesToRadians(175.0);
public static final double kProcessorPosition = Units.degreesToRadians(175.0);
public static final double kNetPosition = Units.degreesToRadians(175.0);
public static final double kStartingPosition = Units.degreesToRadians(90);
public static final double kCoralIntakePosition = Units.degreesToRadians(175.0+90);
public static final double kL1Position = Units.degreesToRadians(0.0+90);
public static final double kL2Position = Units.degreesToRadians(22.0+90);
public static final double kL3Position = Units.degreesToRadians(22.0+90);
public static final double kL4Position = Units.degreesToRadians(45.0+90);
public static final double kL2AlgaePosition = Units.degreesToRadians(175.0+90);
public static final double kL3AlgaePosition = Units.degreesToRadians(175.0+90);
public static final double kProcessorPosition = Units.degreesToRadians(175.0+90);
public static final double kNetPosition = Units.degreesToRadians(175.0+90);
/**The closest position to the elevator brace without hitting it */
public static final double kPivotSafeStowPosition = Units.degreesToRadians(71.0);
public static final double kPivotSafeStowPosition = Units.degreesToRadians(71.0+90);
/**The forward rotation limit of the pivot */
public static final double kRotationLimit = Units.degreesToRadians(175.0);
public static final double kRotationLimit = Units.degreesToRadians(175.0+90);
public static final double kSysIDRampRate = 1;
public static final double kSysIDStepVolts = 7;

2
src/main/java/frc/robot/constants/OIConstants.java
View File

@ -4,7 +4,7 @@ public class OIConstants {
public static final int kDriverControllerPort = 0;
public static final int kOperatorControllerPort = 1;
public static final double kDriveDeadband = 0.05;
public static final double kDriveDeadband = Math.pow(0.05, 3);
public static final String kAutoTab = "Auto Tab";
public static final String kSensorsTab = "Sensors Tab";

10
src/main/java/frc/robot/subsystems/Elevator.java
View File

@ -174,6 +174,14 @@ public class Elevator extends SubsystemBase {
}
public Command homeCommand(){
return run(() -> {
elevatorMotor1.setVoltage(0.5);
})
.until(() -> elevatorMotor1.getOutputCurrent() > 5)
.andThen(run(() -> encoder.setPosition(0)));
}
/**
* Moves the elevator to a target destination (setpoint).
*
@ -208,7 +216,7 @@ public class Elevator extends SubsystemBase {
}
}).until(() -> pidControllerUp.atSetpoint() || pidControllerDown.atSetpoint())
.andThen(runManualElevator(() -> -.1)
.andThen(runManualElevator(() -> -.5)
.until(() -> encoder.getPosition() == 0));
} else {

2
src/main/java/frc/robot/subsystems/ManipulatorPivot.java
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@ -47,7 +47,7 @@ public class ManipulatorPivot extends SubsystemBase {
);
pidController.setSetpoint(0);
pidController.enableContinuousInput(0, 180);
pidController.enableContinuousInput(0, 280);
feedForward = new ArmFeedforward(
ManipulatorPivotConstants.kFeedForwardS,