Team_2648/2025_Robot_Code
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working on dt offsets

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This commit is contained in:
Team 2648 2025-02-11 16:44:51 -05:00
parent aff9a4f2cb
commit f0b7955faa
10 changed files with 30 additions and 27 deletions
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3
src/main/java/frc/robot/RobotContainer.java
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@ -196,6 +196,9 @@ public class RobotContainer {
.withPosition(4, 1)
.withWidget(BuiltInWidgets.kBooleanBox);
sensorTab.addDouble("gyro angle", drivetrain::getGyroValue);
/*
sensorTab.addBoolean("Algae Sensor", manipulator::getAlgaePhotoSwitch)
.withSize(1, 1)

2
src/main/java/frc/robot/constants/ClimberPivotConstants.java
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@ -3,7 +3,7 @@ package frc.robot.constants;
import com.revrobotics.spark.config.SparkMaxConfig;
public class ClimberPivotConstants {
public static final int kPivotMotorID = 0;
public static final int kPivotMotorID = 10;
public static final int kClimberLimitSwitchID = 0;

2
src/main/java/frc/robot/constants/ClimberRollersConstants.java
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@ -3,7 +3,7 @@ package frc.robot.constants;
import com.revrobotics.spark.config.SparkMaxConfig;
public class ClimberRollersConstants {
public static final int kRollerMotorID = 0;
public static final int kRollerMotorID = 9;
public static final SparkMaxConfig motorConfig = new SparkMaxConfig();
}

16
src/main/java/frc/robot/constants/DrivetrainConstants.java
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@ -38,15 +38,15 @@ public class DrivetrainConstants {
public static final double kSysIDTurningTimeout = 10;
// SPARK MAX CAN IDs
public static final int kFrontLeftDrivingCanId = 11;
public static final int kRearLeftDrivingCanId = 13;
public static final int kFrontRightDrivingCanId = 15;
public static final int kRearRightDrivingCanId = 17;
public static final int kFrontLeftDrivingCanId = 0;
public static final int kRearLeftDrivingCanId = 2;
public static final int kFrontRightDrivingCanId = 1;
public static final int kRearRightDrivingCanId = 3;
public static final int kFrontLeftTurningCanId = 10;
public static final int kRearLeftTurningCanId = 12;
public static final int kFrontRightTurningCanId = 14;
public static final int kRearRightTurningCanId = 16;
public static final int kFrontLeftTurningCanId = 2;
public static final int kRearLeftTurningCanId = 4;
public static final int kFrontRightTurningCanId = 7;
public static final int kRearRightTurningCanId = 5;
public static final boolean kGyroReversed = true;

9
src/main/java/frc/robot/constants/ElevatorConstants.java
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@ -11,13 +11,13 @@ import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config;
public class ElevatorConstants {
public static final int kElevatorMotor1ID = 0;
public static final int kElevatorMotor2ID = 0;
public static final int kElevatorMotor1ID = 8;
public static final int kElevatorMotor2ID = 6;
public static final int kBottomLimitSwitchID = 0;
// 60/11 gearing multiplied by circumference of sprocket multiplied by 2 for carriage position
public static final double kEncoderConversionFactor = 11/60 * (22*0.25) * 2;
public static final double kEncoderConversionFactor = 11.0/60.0 * (22.0*0.25) * 2.0;
public static final int kCurrentLimit = 40;
@ -75,8 +75,7 @@ public class ElevatorConstants {
.smartCurrentLimit(kCurrentLimit)
.idleMode(kIdleMode);
motorConfig.encoder
.positionConversionFactor(kEncoderConversionFactor)
.velocityConversionFactor(kEncoderConversionFactor / 60.0);
.positionConversionFactor(kEncoderConversionFactor);
motorConfig.closedLoop
.p(kPositionControllerP)
.i(kPositionControllerI)

6
src/main/java/frc/robot/constants/ManipulatorConstants.java
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@ -3,9 +3,9 @@ package frc.robot.constants;
import com.revrobotics.spark.config.SparkMaxConfig;
public class ManipulatorConstants {
public static final int kManipulatorMotorID = 0;
public static final int kCoralBeamBreakID = 0;
public static final int kAlgaeBeamBreakID = 0;
public static final int kManipulatorMotorID = 12;
public static final int kCoralBeamBreakID = 1;
public static final int kAlgaeBeamBreakID = 2;
public static final SparkMaxConfig motorConfig = new SparkMaxConfig();
}

4
src/main/java/frc/robot/constants/ManipulatorPivotConstants.java
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@ -13,11 +13,11 @@ import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config;
public class ManipulatorPivotConstants {
public static final int kArmMotorID = 0;
public static final int kArmMotorID = 1;
public static final int kMotorCurrentMax = 40;
public static final double kPivotConversion = 12/60 * 20/60 * 12/28;
public static final double kPivotConversion = 12.0/60.0 * 20.0/60.0 * 12.0/28.0;
public static final double kPivotMaxVelocity = 0;

10
src/main/java/frc/robot/subsystems/ClimberPivot.java
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@ -16,7 +16,7 @@ public class ClimberPivot extends SubsystemBase {
private RelativeEncoder neoEncoder;
private DigitalInput cageLimitSwitch;
//private DigitalInput cageLimitSwitch;
public ClimberPivot() {
pivotMotor = new SparkMax(
@ -32,7 +32,7 @@ public class ClimberPivot extends SubsystemBase {
neoEncoder = pivotMotor.getEncoder();
cageLimitSwitch = new DigitalInput(ClimberPivotConstants.kClimberLimitSwitchID);
//cageLimitSwitch = new DigitalInput(ClimberPivotConstants.kClimberLimitSwitchID);
}
public Command runPivot(double speed) {
@ -59,9 +59,9 @@ public class ClimberPivot extends SubsystemBase {
*
* @return Is the cage in the climber
*/
public boolean getCageLimitSwitch() {
return cageLimitSwitch.get();
}
// public boolean getCageLimitSwitch() {
// return cageLimitSwitch.get();
//}
public double getEncoderPosition() {
return neoEncoder.getPosition();

2
src/main/java/frc/robot/subsystems/Drivetrain.java
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@ -228,7 +228,7 @@ public class Drivetrain extends SubsystemBase {
/** Zeroes the heading of the robot. */
public void zeroHeading() {
ahrs.reset();;
ahrs.reset();
}
public double getGyroValue() {

3
src/main/java/frc/robot/subsystems/Manipulator.java
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@ -42,7 +42,8 @@ public class Manipulator extends SubsystemBase {
*/
public Command defaultCommand() {
return run(() -> {
runUntilCollected(0.1);
//runUntilCollected(0.1);
manipulatorMotor.set(0);
});
}