Team_2648/2025_Robot_Code
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working on dt offsets

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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) .withPosition(4, 1)
.withWidget(BuiltInWidgets.kBooleanBox); .withWidget(BuiltInWidgets.kBooleanBox);
sensorTab.addDouble("gyro angle", drivetrain::getGyroValue);
/* /*
sensorTab.addBoolean("Algae Sensor", manipulator::getAlgaePhotoSwitch) sensorTab.addBoolean("Algae Sensor", manipulator::getAlgaePhotoSwitch)
.withSize(1, 1) .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; import com.revrobotics.spark.config.SparkMaxConfig;
public class ClimberPivotConstants { public class ClimberPivotConstants {
public static final int kPivotMotorID = 0; public static final int kPivotMotorID = 10;
public static final int kClimberLimitSwitchID = 0; 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; import com.revrobotics.spark.config.SparkMaxConfig;
public class ClimberRollersConstants { public class ClimberRollersConstants {
public static final int kRollerMotorID = 0; public static final int kRollerMotorID = 9;
public static final SparkMaxConfig motorConfig = new SparkMaxConfig(); 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; public static final double kSysIDTurningTimeout = 10;
// SPARK MAX CAN IDs // SPARK MAX CAN IDs
public static final int kFrontLeftDrivingCanId = 11; public static final int kFrontLeftDrivingCanId = 0;
public static final int kRearLeftDrivingCanId = 13; public static final int kRearLeftDrivingCanId = 2;
public static final int kFrontRightDrivingCanId = 15; public static final int kFrontRightDrivingCanId = 1;
public static final int kRearRightDrivingCanId = 17; public static final int kRearRightDrivingCanId = 3;
public static final int kFrontLeftTurningCanId = 10; public static final int kFrontLeftTurningCanId = 2;
public static final int kRearLeftTurningCanId = 12; public static final int kRearLeftTurningCanId = 4;
public static final int kFrontRightTurningCanId = 14; public static final int kFrontRightTurningCanId = 7;
public static final int kRearRightTurningCanId = 16; public static final int kRearRightTurningCanId = 5;
public static final boolean kGyroReversed = true; 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; import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config;
public class ElevatorConstants { public class ElevatorConstants {
public static final int kElevatorMotor1ID = 0; public static final int kElevatorMotor1ID = 8;
public static final int kElevatorMotor2ID = 0; public static final int kElevatorMotor2ID = 6;
public static final int kBottomLimitSwitchID = 0; public static final int kBottomLimitSwitchID = 0;
// 60/11 gearing multiplied by circumference of sprocket multiplied by 2 for carriage position // 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; public static final int kCurrentLimit = 40;
@ -75,8 +75,7 @@ public class ElevatorConstants {
.smartCurrentLimit(kCurrentLimit) .smartCurrentLimit(kCurrentLimit)
.idleMode(kIdleMode); .idleMode(kIdleMode);
motorConfig.encoder motorConfig.encoder
.positionConversionFactor(kEncoderConversionFactor) .positionConversionFactor(kEncoderConversionFactor);
.velocityConversionFactor(kEncoderConversionFactor / 60.0);
motorConfig.closedLoop motorConfig.closedLoop
.p(kPositionControllerP) .p(kPositionControllerP)
.i(kPositionControllerI) .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; import com.revrobotics.spark.config.SparkMaxConfig;
public class ManipulatorConstants { public class ManipulatorConstants {
public static final int kManipulatorMotorID = 0; public static final int kManipulatorMotorID = 12;
public static final int kCoralBeamBreakID = 0; public static final int kCoralBeamBreakID = 1;
public static final int kAlgaeBeamBreakID = 0; public static final int kAlgaeBeamBreakID = 2;
public static final SparkMaxConfig motorConfig = new SparkMaxConfig(); 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; import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config;
public class ManipulatorPivotConstants { public class ManipulatorPivotConstants {
public static final int kArmMotorID = 0; public static final int kArmMotorID = 1;
public static final int kMotorCurrentMax = 40; 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; 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 RelativeEncoder neoEncoder;
private DigitalInput cageLimitSwitch; //private DigitalInput cageLimitSwitch;
public ClimberPivot() { public ClimberPivot() {
pivotMotor = new SparkMax( pivotMotor = new SparkMax(
@ -32,7 +32,7 @@ public class ClimberPivot extends SubsystemBase {
neoEncoder = pivotMotor.getEncoder(); neoEncoder = pivotMotor.getEncoder();
cageLimitSwitch = new DigitalInput(ClimberPivotConstants.kClimberLimitSwitchID); //cageLimitSwitch = new DigitalInput(ClimberPivotConstants.kClimberLimitSwitchID);
} }
public Command runPivot(double speed) { public Command runPivot(double speed) {
@ -59,9 +59,9 @@ public class ClimberPivot extends SubsystemBase {
* *
* @return Is the cage in the climber * @return Is the cage in the climber
*/ */
public boolean getCageLimitSwitch() { // public boolean getCageLimitSwitch() {
return cageLimitSwitch.get(); // return cageLimitSwitch.get();
} //}
public double getEncoderPosition() { public double getEncoderPosition() {
return neoEncoder.getPosition(); 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. */ /** Zeroes the heading of the robot. */
public void zeroHeading() { public void zeroHeading() {
ahrs.reset();; ahrs.reset();
} }
public double getGyroValue() { 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() { public Command defaultCommand() {
return run(() -> { return run(() -> {
runUntilCollected(0.1); //runUntilCollected(0.1);
manipulatorMotor.set(0);
}); });
} }