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187e7385c8
...
aff9a4f2cb
@ -1,13 +0,0 @@
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{
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"NetworkTables Settings": {
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"mode": "Client (NT4)"
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},
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"transitory": {
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"Shuffleboard": {
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"Sensors Tab": {
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"open": true
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},
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"open": true
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}
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}
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}
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@ -93,8 +93,7 @@ public class RobotContainer {
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//elevator.runAssistedElevator(operator::getLeftY)
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// );
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//elevator.setDefaultCommand(moveManipulator(ElevatorConstants.kCoralIntakePosition, ManipulatorPivotConstants.kCoralIntakePosition));
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elevator.setDefaultCommand(elevator.manualControl(() -> 0.0));
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elevator.setDefaultCommand(moveManipulator(ElevatorConstants.kCoralIntakePosition, ManipulatorPivotConstants.kCoralIntakePosition));
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manipulatorPivot.setDefaultCommand(moveManipulator(ElevatorConstants.kCoralIntakePosition, ManipulatorPivotConstants.kCoralIntakePosition));
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@ -115,27 +114,10 @@ public class RobotContainer {
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manipulator.runManipulator(() -> 1, true)
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);
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driver.leftTrigger().whileTrue(
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manipulator.runUntilCollected(() -> 0.75)
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);
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driver.start().and(driver.back()).onTrue(
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startingConfig()
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);
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driver.povDown().whileTrue(climberPivot.runPivot(-0.5));
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driver.povUp().whileTrue(climberPivot.runPivot(0.5));
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driver.povLeft().whileTrue(climberRollers.runRoller(0.5));
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driver.povRight().whileTrue(climberRollers.runRoller(-0.5));
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operator.povUp().whileTrue(elevator.goToSetpoint(30.0));
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operator.a().whileTrue(elevator.manualControl(() -> 0.5));
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operator.b().whileTrue(elevator.manualControl(() ->-0.1));
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/*
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//Operator inputs
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operator.povUp().onTrue(
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moveManipulator(
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@ -176,8 +158,6 @@ public class RobotContainer {
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operator.b().onTrue(
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algaeIntakeRoutine(false)
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);
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*/
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}
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private void configureNamedCommands() {
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@ -216,12 +196,6 @@ public class RobotContainer {
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.withPosition(4, 1)
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.withWidget(BuiltInWidgets.kBooleanBox);
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sensorTab.addDouble("gyro angle", drivetrain::getGyroValue);
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sensorTab.addBoolean("bottom limit switch", elevator::getBottomLimitSwitch);
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sensorTab.addDouble("elevator position", elevator::getEncoderPosition);
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/*
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sensorTab.addBoolean("Algae Sensor", manipulator::getAlgaePhotoSwitch)
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.withSize(1, 1)
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@ -243,7 +217,7 @@ public class RobotContainer {
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ElevatorConstants.kCoralIntakePosition,
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ManipulatorPivotConstants.kCoralIntakePosition
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)
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.andThen(manipulator.runUntilCollected(() -> 1));
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.andThen(manipulator.runUntilCollected(1));
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}
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/**
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@ -257,7 +231,7 @@ public class RobotContainer {
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l2 ? ElevatorConstants.kL2AlgaePosition : ElevatorConstants.kL3AlgaePosition,
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l2 ? ManipulatorPivotConstants.kL2AlgaePosition : ManipulatorPivotConstants.kL3AlgaePosition
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)
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.andThen(manipulator.runUntilCollected(() -> 1));
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.andThen(manipulator.runUntilCollected(1));
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}
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/**
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@ -3,7 +3,7 @@ package frc.robot.constants;
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import com.revrobotics.spark.config.SparkMaxConfig;
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public class ClimberPivotConstants {
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public static final int kPivotMotorID = 10;
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public static final int kPivotMotorID = 0;
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public static final int kClimberLimitSwitchID = 0;
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@ -3,7 +3,7 @@ package frc.robot.constants;
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import com.revrobotics.spark.config.SparkMaxConfig;
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public class ClimberRollersConstants {
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public static final int kRollerMotorID = 9;
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public static final int kRollerMotorID = 0;
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public static final SparkMaxConfig motorConfig = new SparkMaxConfig();
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}
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@ -22,10 +22,10 @@ public class DrivetrainConstants {
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public static final double kWheelBase = Units.inchesToMeters(24.5);
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// Angular offsets of the modules relative to the chassis in radians
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public static final double kFrontLeftChassisAngularOffset = Math.PI;
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public static final double kFrontRightChassisAngularOffset = -Math.PI / 2;
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public static final double kBackLeftChassisAngularOffset = Math.PI / 2;
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public static final double kBackRightChassisAngularOffset = 0;
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public static final double kFrontLeftChassisAngularOffset = -Math.PI / 2;
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public static final double kFrontRightChassisAngularOffset = 0;
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public static final double kBackLeftChassisAngularOffset = Math.PI;
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public static final double kBackRightChassisAngularOffset = Math.PI / 2;
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// 1, 7, 10 is the default for these three values
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public static final double kSysIDDrivingRampRate = 1;
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@ -38,15 +38,15 @@ public class DrivetrainConstants {
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public static final double kSysIDTurningTimeout = 10;
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// SPARK MAX CAN IDs
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public static final int kFrontLeftDrivingCanId = 0;
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public static final int kRearLeftDrivingCanId = 2;
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public static final int kFrontRightDrivingCanId = 1;
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public static final int kRearRightDrivingCanId = 3;
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public static final int kFrontLeftDrivingCanId = 11;
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public static final int kRearLeftDrivingCanId = 13;
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public static final int kFrontRightDrivingCanId = 15;
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public static final int kRearRightDrivingCanId = 17;
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public static final int kFrontLeftTurningCanId = 2;
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public static final int kRearLeftTurningCanId = 4;
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public static final int kFrontRightTurningCanId = 7;
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public static final int kRearRightTurningCanId = 5;
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public static final int kFrontLeftTurningCanId = 10;
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public static final int kRearLeftTurningCanId = 12;
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public static final int kFrontRightTurningCanId = 14;
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public static final int kRearRightTurningCanId = 16;
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public static final boolean kGyroReversed = true;
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@ -11,17 +11,17 @@ import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
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import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config;
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public class ElevatorConstants {
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public static final int kElevatorMotor1ID = 8;
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public static final int kElevatorMotor2ID = 6;
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public static final int kElevatorMotor1ID = 0;
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public static final int kElevatorMotor2ID = 0;
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public static final int kBottomLimitSwitchID = 0;
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// 60/11 gearing multiplied by circumference of sprocket multiplied by 2 for carriage position
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public static final double kEncoderConversionFactor = 11.0/60.0 * (22.0*0.25) * 2.0;
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public static final double kEncoderConversionFactor = 11/60 * (22*0.25) * 2;
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public static final int kCurrentLimit = 40;
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public static final double kPositionControllerP = 0.2;
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public static final double kPositionControllerP = 0;
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public static final double kPositionControllerI = 0;
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public static final double kPositionControllerD = 0;
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@ -73,10 +73,10 @@ public class ElevatorConstants {
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static {
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motorConfig
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.smartCurrentLimit(kCurrentLimit)
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.idleMode(kIdleMode)
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.inverted(false);
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.idleMode(kIdleMode);
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motorConfig.encoder
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.positionConversionFactor(kEncoderConversionFactor);
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.positionConversionFactor(kEncoderConversionFactor)
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.velocityConversionFactor(kEncoderConversionFactor / 60.0);
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motorConfig.closedLoop
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.p(kPositionControllerP)
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.i(kPositionControllerI)
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@ -3,8 +3,9 @@ package frc.robot.constants;
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import com.revrobotics.spark.config.SparkMaxConfig;
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public class ManipulatorConstants {
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public static final int kManipulatorMotorID = 12;
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public static final int kCoralBeamBreakID = 2;
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public static final int kManipulatorMotorID = 0;
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public static final int kCoralBeamBreakID = 0;
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public static final int kAlgaeBeamBreakID = 0;
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public static final SparkMaxConfig motorConfig = new SparkMaxConfig();
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}
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@ -13,11 +13,11 @@ import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
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import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config;
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public class ManipulatorPivotConstants {
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public static final int kArmMotorID = 1;
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public static final int kArmMotorID = 0;
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public static final int kMotorCurrentMax = 40;
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public static final double kPivotConversion = 12.0/60.0 * 20.0/60.0 * 12.0/28.0;
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public static final double kPivotConversion = 12/60 * 20/60 * 12/28;
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public static final double kPivotMaxVelocity = 0;
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@ -16,7 +16,7 @@ public class ClimberPivot extends SubsystemBase {
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private RelativeEncoder neoEncoder;
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//private DigitalInput cageLimitSwitch;
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private DigitalInput cageLimitSwitch;
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public ClimberPivot() {
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pivotMotor = new SparkMax(
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@ -32,7 +32,7 @@ public class ClimberPivot extends SubsystemBase {
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neoEncoder = pivotMotor.getEncoder();
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//cageLimitSwitch = new DigitalInput(ClimberPivotConstants.kClimberLimitSwitchID);
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cageLimitSwitch = new DigitalInput(ClimberPivotConstants.kClimberLimitSwitchID);
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}
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public Command runPivot(double speed) {
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@ -59,9 +59,9 @@ public class ClimberPivot extends SubsystemBase {
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*
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* @return Is the cage in the climber
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*/
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// public boolean getCageLimitSwitch() {
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// return cageLimitSwitch.get();
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//}
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public boolean getCageLimitSwitch() {
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return cageLimitSwitch.get();
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}
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public double getEncoderPosition() {
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return neoEncoder.getPosition();
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@ -228,7 +228,7 @@ public class Drivetrain extends SubsystemBase {
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/** Zeroes the heading of the robot. */
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public void zeroHeading() {
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ahrs.reset();
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ahrs.reset();;
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}
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public double getGyroValue() {
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@ -1,6 +1,5 @@
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package frc.robot.subsystems;
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import java.util.ResourceBundle.Control;
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import java.util.function.DoubleSupplier;
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import com.revrobotics.RelativeEncoder;
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@ -8,7 +7,6 @@ import com.revrobotics.spark.ClosedLoopSlot;
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import com.revrobotics.spark.SparkBase;
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import com.revrobotics.spark.SparkClosedLoopController;
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import com.revrobotics.spark.SparkMax;
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import com.revrobotics.spark.SparkBase.ControlType;
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import com.revrobotics.spark.SparkBase.PersistMode;
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import com.revrobotics.spark.SparkBase.ResetMode;
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import com.revrobotics.spark.SparkLowLevel.MotorType;
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@ -80,7 +78,7 @@ public class Elevator extends SubsystemBase {
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@Override
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public void periodic() {
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if (!getBottomLimitSwitch()) {
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if (getBottomLimitSwitch()) {
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encoder.setPosition(0);
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}
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}
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@ -141,7 +139,8 @@ public class Elevator extends SubsystemBase {
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public Command manualControl(DoubleSupplier speed){
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return run(() -> {
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elevatorClosedLoop.setReference(speed.getAsDouble(), ControlType.kDutyCycle);
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elevatorMotor1.setVoltage(feedForward.calculate(0) + (speed.getAsDouble()/12));
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});
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}
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@ -167,7 +166,7 @@ public class Elevator extends SubsystemBase {
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SparkBase.ControlType.kMAXMotionPositionControl,
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ClosedLoopSlot.kSlot0,
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feedForward.calculate(0)
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);
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);
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});
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/*
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@ -212,7 +211,6 @@ public class Elevator extends SubsystemBase {
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return encoder.getPosition();
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}
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/**
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* Returns the value of the bottom limit switch on the elevator (false = disabled, true = enabled)
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*
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@ -42,8 +42,7 @@ public class Manipulator extends SubsystemBase {
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*/
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public Command defaultCommand() {
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return run(() -> {
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//runUntilCollected(0.1);
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manipulatorMotor.set(0);
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runUntilCollected(0.1);
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});
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}
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@ -69,12 +68,12 @@ public class Manipulator extends SubsystemBase {
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* @param coral Is the object a coral? (True = Coral, False = Algae)
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* @return Returns a command that sets the speed of the motor
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*/
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public Command runUntilCollected(DoubleSupplier speed) {
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public Command runUntilCollected(double speed) {
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return run(() -> {
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manipulatorMotor.set(
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speed.getAsDouble()
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speed * -1
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);
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}).until(() -> !coralBeamBreak.get());
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}).until(() -> coralBeamBreak.get());
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}
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public boolean getCoralBeamBreak() {
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