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integrated indexer motor with manipulator

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This commit is contained in:
Tylr-J42 2025-03-28 01:21:28 -04:00
parent 11512e140c
commit 9b7d2b45a4
4 changed files with 35 additions and 44 deletions
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22
src/main/java/frc/robot/RobotContainer.java
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@ -43,7 +43,7 @@ public class RobotContainer {
private Elevator elevator;
//private ElevatorSysID elevator;
private Indexer indexer;
//private Indexer indexer;
private Manipulator manipulator;
@ -66,7 +66,7 @@ public class RobotContainer {
elevator = new Elevator();
//elevator = new ElevatorSysID();
indexer = new Indexer();
//indexer = new Indexer();
manipulator = new Manipulator();
@ -123,9 +123,9 @@ public class RobotContainer {
elevator.maintainPosition()
);
indexer.setDefaultCommand(
indexer.runIndexer(() -> 0)
);
//indexer.setDefaultCommand(
// indexer.runIndexer(() -> 0)
//);
manipulatorPivot.setDefaultCommand(
@ -149,7 +149,7 @@ public class RobotContainer {
driver.leftTrigger().whileTrue(
manipulator.runUntilCollected(() -> 0.75)
.alongWith(indexer.runIndexer(() -> .75))
//.alongWith(indexer.runIndexer(() -> .75))
.until(() -> manipulator.getCoralBeamBreak() == false)
.andThen(manipulator.retractCommand(() -> .1))
);
@ -215,7 +215,9 @@ public class RobotContainer {
operator.back().onTrue(elevator.homeCommand());
operator.start().toggleOnTrue(climberPivot.runPivot(() -> -operator.getRightY()*0.5).alongWith(climberRollers.runRoller(() -> operator.getLeftY()*0.5)));
operator.start().toggleOnTrue(
climberPivot.runPivot(() -> -operator.getRightY()*0.5)
.alongWith(climberRollers.runRoller(() -> operator.getLeftY()*0.5)));
operator.a().onTrue(
safeMoveManipulator(ElevatorConstants.kCoralIntakePosition, ManipulatorPivotConstants.kStartingPosition)
@ -223,18 +225,18 @@ public class RobotContainer {
operator.x().onTrue(
safeMoveManipulator(ElevatorConstants.kL2AlgaePosition, ManipulatorPivotConstants.kL2AlgaePosition)
.alongWith(manipulator.runManipulator(() -> 0.85, false))
.alongWith(manipulator.runManipulator(() -> 0.5, false))
.until(() -> driver.a().getAsBoolean())
);
operator.b().onTrue(
safeMoveManipulator(ElevatorConstants.kL3AlgaePosition, ManipulatorPivotConstants.kL3AlgaePosition)
.alongWith(manipulator.runManipulator(() -> 0.85, false))
.alongWith(manipulator.runManipulator(() -> 0.5, false))
.until(() -> driver.a().getAsBoolean())
);
operator.y().onTrue(moveWithAlgae(ElevatorConstants.kProcessorPosition, ManipulatorPivotConstants.kProcessorPosition)
.alongWith(manipulator.runManipulator(() -> 0.85, false))
.alongWith(manipulator.runManipulator(() -> 0.5, false))
.until(() -> driver.a().getAsBoolean())
);

4
src/main/java/frc/robot/constants/IndexerConstants.java
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@ -9,7 +9,7 @@ public class IndexerConstants {
public static final SparkMaxConfig motorConfig = new SparkMaxConfig();
static{
motorConfig.smartCurrentLimit(40)
.idleMode(IdleMode.kCoast);
motorConfig.smartCurrentLimit(30)
.idleMode(IdleMode.kBrake);
};
}

32
src/main/java/frc/robot/subsystems/Indexer.java
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@ -1,32 +0,0 @@
package frc.robot.subsystems;
import java.util.function.DoubleSupplier;
import com.revrobotics.spark.SparkMax;
import com.revrobotics.spark.SparkBase.PersistMode;
import com.revrobotics.spark.SparkBase.ResetMode;
import com.revrobotics.spark.SparkLowLevel.MotorType;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.constants.IndexerConstants;
public class Indexer extends SubsystemBase {
private SparkMax indexerMotor;
public Indexer() {
indexerMotor = new SparkMax(IndexerConstants.kIndexerMotorID, MotorType.kBrushless);
indexerMotor.configure(
IndexerConstants.motorConfig,
ResetMode.kResetSafeParameters,
PersistMode.kPersistParameters
);
}
public Command runIndexer(DoubleSupplier speed) {
return run(() -> {
indexerMotor.set(speed.getAsDouble());
});
}
}

21
src/main/java/frc/robot/subsystems/Manipulator.java
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@ -10,11 +10,14 @@ import com.revrobotics.spark.SparkLowLevel.MotorType;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.constants.IndexerConstants;
import frc.robot.constants.ManipulatorConstants;
public class Manipulator extends SubsystemBase {
private SparkMax manipulatorMotor;
private SparkMax indexerMotor;
private DigitalInput coralBeamBreak;
public Manipulator() {
@ -29,6 +32,17 @@ public class Manipulator extends SubsystemBase {
PersistMode.kPersistParameters
);
indexerMotor = new SparkMax(
IndexerConstants.kIndexerMotorID,
MotorType.kBrushless
);
indexerMotor.configure(
IndexerConstants.motorConfig,
ResetMode.kResetSafeParameters,
PersistMode.kPersistParameters
);
coralBeamBreak = new DigitalInput(ManipulatorConstants.kCoralBeamBreakID);
}
@ -56,6 +70,8 @@ public class Manipulator extends SubsystemBase {
manipulatorMotor.set(
coral ? speed.getAsDouble() : speed.getAsDouble() * -1
);
indexerMotor.set(0);
});
}
@ -71,6 +87,9 @@ public class Manipulator extends SubsystemBase {
manipulatorMotor.set(
speed.getAsDouble()
);
indexerMotor.set(1);
}).unless(() -> !coralBeamBreak.get())
.until(() -> !coralBeamBreak.get());
/*
@ -90,6 +109,8 @@ public class Manipulator extends SubsystemBase {
public Command retractCommand(DoubleSupplier retractSpeed){
return run(() -> {
manipulatorMotor.set(-retractSpeed.getAsDouble());
indexerMotor.set(0);
}
).until(() -> coralBeamBreak.get());
}