Team_2648/2025_Robot_Code
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began adding elevator and arm methods

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This commit is contained in:
NoahLacks63 2025-01-16 15:26:54 +00:00
parent f391d1540b
commit f4cfd2874b
5 changed files with 67 additions and 6 deletions
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45
src/main/java/frc/robot/RobotContainer.java
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@ -4,6 +4,8 @@
package frc.robot; package frc.robot;
import frc.robot.constants.ArmConstants;
import frc.robot.constants.ElevatorConstants;
import frc.robot.constants.OIConstants; import frc.robot.constants.OIConstants;
import frc.robot.subsystems.Arm; import frc.robot.subsystems.Arm;
import frc.robot.subsystems.ClimberPivot; import frc.robot.subsystems.ClimberPivot;
@ -100,23 +102,58 @@ public class RobotContainer {
//Operator inputs //Operator inputs
operator.povUp().onTrue( operator.povUp().onTrue(
elevator.goToSetpoint(0, 0) moveManipulator(
ElevatorConstants.kElevatorL4Position,
ArmConstants.kArmL4Position
)
); );
operator.povRight().onTrue( operator.povRight().onTrue(
elevator.goToSetpoint(0, 0) moveManipulator(
ElevatorConstants.kElevatorL3Position,
ArmConstants.kArmL3Position
)
); );
operator.povLeft().onTrue( operator.povLeft().onTrue(
elevator.goToSetpoint(0, 0) moveManipulator(
ElevatorConstants.kElevatorL2Position,
ArmConstants.kArmL2Position
)
); );
operator.povDown().onTrue( operator.povDown().onTrue(
elevator.goToSetpoint(0, 0) moveManipulator(
ElevatorConstants.kElevatorL1Position,
ArmConstants.kArmL1Position
)
);
operator.a().onTrue(
coralIntakeRoutine()
); );
} }
public Command getAutonomousCommand() { public Command getAutonomousCommand() {
return new PrintCommand("NO AUTO DEFINED"); return new PrintCommand("NO AUTO DEFINED");
} }
//teleop routines
private Command coralIntakeRoutine() {
return moveManipulator(
ElevatorConstants.kElevatorCoralIntakePosition,
ArmConstants.kArmCoralIntakePosition
)
.andThen(manipulator.indexCoral(.5));
}
private Command moveManipulator(double elevatorPosition, double armPosition) {
if ((arm.getEncoderPosition() < ArmConstants.kArmSafeStowPosition && armPosition < ArmConstants.kArmSafeStowPosition) || (elevator.getEncoderPosition() > ElevatorConstants.kElevatorBracePosition && elevatorPosition > ElevatorConstants.kElevatorBracePosition)) {
return arm.goToSetpoint(armPosition, 2)
.alongWith(elevator.goToSetpoint(elevatorPosition, 2));
} else {
return arm.goToSetpoint(armPosition, 2)
.andThen(elevator.goToSetpoint(elevatorPosition, 2));
}
}
} }

9
src/main/java/frc/robot/constants/ArmConstants.java
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@ -7,4 +7,13 @@ public class ArmConstants {
public static final double kEncoderConversionFactor = 0; public static final double kEncoderConversionFactor = 0;
public static final double kArmMaxVelocity = 0; public static final double kArmMaxVelocity = 0;
public static final double kArmCoralIntakePosition = 0;
public static final double kArmL1Position = 0;
public static final double kArmL2Position = 0;
public static final double kArmL3Position = 0;
public static final double kArmL4Position = 0;
public static final double kArmL2AlgaePosition = 0;
public static final double kArmL3AlgaePosition = 0;
public static final double kArmSafeStowPosition = 0;
} }

9
src/main/java/frc/robot/constants/ElevatorConstants.java
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@ -35,6 +35,15 @@ public class ElevatorConstants {
public static final double kElevatorMaxVelocity = 0; public static final double kElevatorMaxVelocity = 0;
public static final double kElevatorCoralIntakePosition = 0;
public static final double kElevatorL1Position = 0;
public static final double kElevatorL2Position = 0;
public static final double kElevatorL3Position = 0;
public static final double kElevatorL4Position = 0;
public static final double kElevatorL2AlgaePosition = 0;
public static final double kElevatorL3AlgaePosition = 0;
public static final double kElevatorBracePosition = 0;
// 1, 7, 10 are the defaults for these, change as necessary // 1, 7, 10 are the defaults for these, change as necessary
public static final double kSysIDRampRate = 1; public static final double kSysIDRampRate = 1;
public static final double kSysIDStepVolts = 7; public static final double kSysIDStepVolts = 7;

4
src/main/java/frc/robot/subsystems/Arm.java
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@ -62,6 +62,10 @@ public class Arm extends SubsystemBase {
}).until(positionController::atSetpoint).withTimeout(timeout); }).until(positionController::atSetpoint).withTimeout(timeout);
} }
public double getEncoderPosition() {
return canCoder.getPosition().getValueAsDouble();
}
protected double rotationsToRadians(double rotations) { protected double rotationsToRadians(double rotations) {
return rotations * 2 * Math.PI; return rotations * 2 * Math.PI;
} }

6
src/main/java/frc/robot/subsystems/Elevator.java
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@ -6,8 +6,6 @@ import com.revrobotics.RelativeEncoder;
import com.revrobotics.spark.SparkMax; import com.revrobotics.spark.SparkMax;
import com.revrobotics.spark.SparkBase.PersistMode; import com.revrobotics.spark.SparkBase.PersistMode;
import com.revrobotics.spark.SparkBase.ResetMode; import com.revrobotics.spark.SparkBase.ResetMode;
import com.revrobotics.spark.SparkBase.PersistMode;
import com.revrobotics.spark.SparkBase.ResetMode;
import com.revrobotics.spark.SparkLowLevel.MotorType; import com.revrobotics.spark.SparkLowLevel.MotorType;
import edu.wpi.first.math.controller.ElevatorFeedforward; import edu.wpi.first.math.controller.ElevatorFeedforward;
@ -111,4 +109,8 @@ public class Elevator extends SubsystemBase {
() -> positionController.atSetpoint() || topLimitSwitch.get() || bottomLimitSwitch.get() () -> positionController.atSetpoint() || topLimitSwitch.get() || bottomLimitSwitch.get()
).withTimeout(timeout); ).withTimeout(timeout);
} }
public double getEncoderPosition() {
return encoder.getPosition();
}
} }