Team_2648/2025_Robot_Code
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Didnt commit everything for some reason

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This commit is contained in:
NoahLacks63 2025-01-26 19:31:38 +00:00
parent cef200a864
commit ff3ecf6d1d
3 changed files with 10 additions and 10 deletions
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2
src/main/java/frc/robot/RobotContainer.java
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@ -98,7 +98,7 @@ public class RobotContainer {
); );
manipulatorPivot.setDefaultCommand( manipulatorPivot.setDefaultCommand(
manipulatorPivot.runAssistedArm(operator::getRightY) manipulatorPivot.runAssistedPivot(operator::getRightY)
); );
//Driver inputs //Driver inputs

2
src/main/java/frc/robot/subsystems/ManipulatorPivot.java
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@ -87,7 +87,7 @@ public class ManipulatorPivot extends SubsystemBase {
* @param speed The velocity at which the arm rotates * @param speed The velocity at which the arm rotates
* @return Sets motor voltage to achieve the target velocity * @return Sets motor voltage to achieve the target velocity
*/ */
public Command runAssistedArm(DoubleSupplier speed) { public Command runAssistedPivot(DoubleSupplier speed) {
double clampedSpeed = MathUtil.clamp( double clampedSpeed = MathUtil.clamp(
speed.getAsDouble(), speed.getAsDouble(),
-1, -1,

16
src/main/java/frc/robot/subsystems/sysid/ArmSysID.java → src/main/java/frc/robot/subsystems/sysid/ManipulatorPivotSysID.java
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@ -13,23 +13,23 @@ import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
import frc.robot.constants.ManipulatorPivotConstants; import frc.robot.constants.ManipulatorPivotConstants;
import frc.robot.subsystems.ManipulatorPivot; import frc.robot.subsystems.ManipulatorPivot;
public class ArmSysID extends ManipulatorPivot { public class ManipulatorPivotSysID extends ManipulatorPivot {
private MutVoltage appliedVoltage; private MutVoltage appliedVoltage;
private MutAngle armPosition; private MutAngle pivotPosition;
private MutAngularVelocity armVelocity; private MutAngularVelocity pivotVelocity;
private SysIdRoutine routine; private SysIdRoutine routine;
public ArmSysID() { public ManipulatorPivotSysID() {
super(); super();
appliedVoltage = Volts.mutable(0); appliedVoltage = Volts.mutable(0);
armPosition = Radians.mutable(0); pivotPosition = Radians.mutable(0);
armVelocity = RadiansPerSecond.mutable(0); pivotVelocity = RadiansPerSecond.mutable(0);
routine = new SysIdRoutine( routine = new SysIdRoutine(
ManipulatorPivotConstants.kSysIDConfig, ManipulatorPivotConstants.kSysIDConfig,
@ -40,10 +40,10 @@ public class ArmSysID extends ManipulatorPivot {
.voltage(appliedVoltage.mut_replace( .voltage(appliedVoltage.mut_replace(
armMotor.get() * RobotController.getBatteryVoltage(), Volts armMotor.get() * RobotController.getBatteryVoltage(), Volts
)) ))
.angularPosition(armPosition.mut_replace( .angularPosition(pivotPosition.mut_replace(
getEncoderPosition(), Radians getEncoderPosition(), Radians
)) ))
.angularVelocity(armVelocity.mut_replace( .angularVelocity(pivotVelocity.mut_replace(
getEncoderVelocity(), RadiansPerSecond getEncoderVelocity(), RadiansPerSecond
)); ));
}, },