Merge branch 'kraken_swerve'

release the kraken
Added a few shuffle board things
2025-01-27 21:38:03 -05:00 · 2025-01-27 14:18:28 +00:00 · 2025-01-26 19:31:38 +00:00 · 2025-01-26 19:28:49 +00:00 · 2025-01-21 04:18:36 +00:00 · 2025-01-21 03:56:00 +00:00
14 changed files with 380 additions and 201 deletions
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -4,20 +4,21 @@

 package frc.robot;

-import frc.robot.constants.ArmConstants;
+import frc.robot.constants.ManipulatorPivotConstants;
+import frc.robot.constants.ClimberPivotConstants;
 import frc.robot.constants.ElevatorConstants;
 import frc.robot.constants.OIConstants;
-import frc.robot.subsystems.Arm;
+import frc.robot.subsystems.ManipulatorPivot;
 import frc.robot.subsystems.ClimberPivot;
 import frc.robot.subsystems.ClimberRollers;
 import frc.robot.subsystems.Drivetrain;
 import frc.robot.subsystems.Elevator;
-import frc.robot.subsystems.Indexer;
 import frc.robot.subsystems.Manipulator;

 import com.pathplanner.lib.auto.AutoBuilder;
 import com.pathplanner.lib.auto.NamedCommands;

+import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
@@ -27,8 +28,6 @@ import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;

 public class RobotContainer {
-	private Arm arm;
-
 	private ClimberPivot climberPivot;

 	private ClimberRollers climberRollers;
@@ -37,18 +36,16 @@ public class RobotContainer {

 	private Elevator elevator;

-	private Indexer indexer;
-
 	private Manipulator manipulator;

+	private ManipulatorPivot manipulatorPivot;
+
 	private CommandXboxController driver;
 	private CommandXboxController operator;

 	private SendableChooser<Command> autoChooser;

 	public RobotContainer() {
-		arm = new Arm();
-
 		climberPivot = new ClimberPivot();

 		climberRollers = new ClimberRollers();
@@ -57,10 +54,10 @@ public class RobotContainer {

 		elevator = new Elevator();

-		indexer = new Indexer();
-
 		manipulator = new Manipulator();

+		manipulatorPivot = new ManipulatorPivot();
+
 		driver = new CommandXboxController(OIConstants.kDriverControllerPort);
 		operator = new CommandXboxController(OIConstants.kOperatorControllerPort);

@@ -74,12 +71,9 @@ public class RobotContainer {
 	}

 	private void configureButtonBindings() {
-		arm.setDefaultCommand(
-			arm.goToSetpoint(0, 1)
-		);
-
+		//Default commands
 		climberPivot.setDefaultCommand(
-			climberPivot.goToAngle(0, 1)
+			climberPivot.runPivot(0)
 		);

 		climberRollers.setDefaultCommand(
@@ -99,12 +93,12 @@ public class RobotContainer {
 			elevator.runAssistedElevator(operator::getLeftY)
 		);

-		indexer.setDefaultCommand(
-			indexer.runIndexer(0)
+		manipulator.setDefaultCommand(
+			manipulator.defaultCommand()
 		);

-		manipulator.setDefaultCommand(
-			manipulator.runManipulator(0)
+		manipulatorPivot.setDefaultCommand(
+			manipulatorPivot.runAssistedPivot(operator::getRightY)
 		);

 		//Driver inputs
@@ -113,35 +107,39 @@ public class RobotContainer {
 		);

 		driver.rightTrigger().whileTrue(
-			manipulator.runManipulator(1)
+			manipulator.runManipulator(() -> 1, true)
+		);
+
+		driver.start().and(driver.back()).onTrue(
+			startingConfig()
 		);

 		//Operator inputs
 		operator.povUp().onTrue(
 			moveManipulator(
-				ElevatorConstants.kElevatorL4Position, 
-				ArmConstants.kArmL4Position
+				ElevatorConstants.kL4Position, 
+				ManipulatorPivotConstants.kL4Position
 			)
 		);

 		operator.povRight().onTrue(
 			moveManipulator(
-				ElevatorConstants.kElevatorL3Position, 
-				ArmConstants.kArmL3Position
+				ElevatorConstants.kL3Position, 
+				ManipulatorPivotConstants.kL3Position
 			)
 		);

 		operator.povLeft().onTrue(
 			moveManipulator(
-				ElevatorConstants.kElevatorL2Position, 
-				ArmConstants.kArmL2Position
+				ElevatorConstants.kL2Position, 
+				ManipulatorPivotConstants.kL2Position
 			)
 		);

 		operator.povDown().onTrue(
 			moveManipulator(
-				ElevatorConstants.kElevatorL1Position, 
-				ArmConstants.kArmL1Position
+				ElevatorConstants.kL1Position, 
+				ManipulatorPivotConstants.kL1Position
 			)
 		);

@@ -174,84 +172,140 @@ public class RobotContainer {
 			.withPosition(0, 0)
 			.withWidget(BuiltInWidgets.kComboBoxChooser);

-		sensorTab.addDouble("ElevatorPosition", elevator::getEncoderPosition)
+		sensorTab.addDouble("Elevator Position", elevator::getEncoderPosition)
 			.withSize(2, 1)
-			.withPosition(0, 0)
+			.withPosition(0, 1)
 			.withWidget(BuiltInWidgets.kTextView);

-		sensorTab.addDouble("ArmPosition", arm::getEncoderPosition)
+		sensorTab.addDouble("Manipulator Position", manipulatorPivot::getEncoderPosition)
+			.withSize(2, 1)
+			.withPosition(2, 1)
+			.withWidget(BuiltInWidgets.kTextView);
+
+		sensorTab.addDouble("Climber Pivot Position", climberPivot::getEncoderPosition)
 			.withSize(2, 1)
 			.withPosition(2, 0)
 			.withWidget(BuiltInWidgets.kTextView);
+
+		sensorTab.addBoolean("Coral Sensor", manipulator::getCoralBeamBreak)
+			.withSize(1, 1)
+			.withPosition(4, 1)
+			.withWidget(BuiltInWidgets.kBooleanBox);
+
+		sensorTab.addBoolean("Algae Sensor", manipulator::getAlgaePhotoSwitch)
+			.withSize(1, 1)
+			.withPosition(4, 0)
+			.withWidget(BuiltInWidgets.kBooleanBox);
  }

 	public Command getAutonomousCommand() {
 		return autoChooser.getSelected();
 	}

-	//teleop routines
+	/**
+	 * Moves the elevator and arm to the coral intake position, then runs the manipulator until collected
+	 * @return Moves the elevator and arm, then intakes coral
+	 */
 	private Command coralIntakeRoutine() {
 		return moveManipulator(
-			ElevatorConstants.kElevatorCoralIntakePosition, 
-			ArmConstants.kArmCoralIntakePosition
+			ElevatorConstants.kCoralIntakePosition, 
+			ManipulatorPivotConstants.kCoralIntakePosition
 		)
 			.andThen(manipulator.runUntilCollected(1, true));
 	}

+	/**
+	 * Moves the elevator and arm to the constant setpoints and runs the manipulator until collected
+	 * 
+	 * @param l2 Is the algae on L2? (True = L2, False = L3)
+	 * @return Moves the elevator and arm then intakes algae
+	 */
 	private Command algaeIntakeRoutine(boolean l2) {
 		return moveManipulator(
-			l2 ? ElevatorConstants.kElevatorL2AlgaePosition : ElevatorConstants.kElevatorL3AlgaePosition, 
-			l2 ? ArmConstants.kArmL2AlgaePosition : ArmConstants.kArmL3AlgaePosition
+			l2 ? ElevatorConstants.kL2AlgaePosition : ElevatorConstants.kL3AlgaePosition, 
+			l2 ? ManipulatorPivotConstants.kL2AlgaePosition : ManipulatorPivotConstants.kL3AlgaePosition
 		)
 			.andThen(manipulator.runUntilCollected(1, false));
 	}

+	/**
+	 * Moves the elevator and arm in different order based on target positions
+	 * 
+	 * @param elevatorPosition The target position of the elevator
+	 * @param armPosition The target rotation of the arm
+	 * @return Moves the elevator and arm to the setpoints using the most efficient path
+	 */
 	private Command moveManipulator(double elevatorPosition, double armPosition) {
 		// If the elevator current and target positions are above the brace, or the arm current and target position is in
 		// front of the brace, move together
-		if ((elevator.isMotionSafe() && elevator.isMotionSafe(elevatorPosition)) || (arm.isMotionSafe() && arm.isMotionSafe(armPosition))) { 
+		if ((elevator.isMotionSafe() && elevator.isMotionSafe(elevatorPosition)) || (manipulatorPivot.isMotionSafe() && manipulatorPivot.isMotionSafe(armPosition))) { 
 			return moveManipulatorUtil(elevatorPosition, armPosition, false, false);
 		// If the target position is behind the brace, and the arm is not behind the brace, move the arm to a safe position first,
 		// then the elevator, then the arm again
-		} else if (!arm.isMotionSafe(armPosition) && !arm.isMotionSafe()) { 
-			return moveManipulatorUtil(elevatorPosition, ArmConstants.kArmSafeStowPosition, false, true)
-				.andThen(arm.goToSetpoint(armPosition, 2));
+		} else if (!manipulatorPivot.isMotionSafe(armPosition) && !manipulatorPivot.isMotionSafe()) { 
+			return moveManipulatorUtil(elevatorPosition, ManipulatorPivotConstants.kArmSafeStowPosition, false, true)
+				.andThen(manipulatorPivot.goToSetpoint(armPosition, 2));
 		// If the target position is behind the brace, and the arm is behind the brace, move the elevator first, then the arm
-		} else if (!arm.isMotionSafe(armPosition) && arm.isMotionSafe()) {
+		} else if (!manipulatorPivot.isMotionSafe(armPosition) && manipulatorPivot.isMotionSafe()) {
 			return moveManipulatorUtil(elevatorPosition, armPosition, true, true);
 		// If the arm is behind the brace, move the arm first, then the elevator
-		} else if (!arm.isMotionSafe()) {
+		} else if (!manipulatorPivot.isMotionSafe()) {
 			return moveManipulatorUtil(elevatorPosition, armPosition, false, true);
 		// Catch all command that's safe regardless of arm and elevator positions
 		} else { 
-			return moveManipulatorUtil(elevatorPosition, ArmConstants.kArmSafeStowPosition, false, true)
-				.andThen(arm.goToSetpoint(armPosition, 2));
+			return moveManipulatorUtil(elevatorPosition, ManipulatorPivotConstants.kArmSafeStowPosition, false, true)
+				.andThen(manipulatorPivot.goToSetpoint(armPosition, 2));
 		}
 	}

+	/**
+	 * Moves the elevator and arm in customizeable ways
+	 * 
+	 * @param elevatorPosition The target elevator position
+	 * @param armPosition The target arm position
+	 * @param elevatorFirst Does the elevator move first? (True = Elevator first, False = Arm first)
+	 * @param sequential Does the elevator and arm move separately? (True = .andThen, False = .alongWith)
+	 * @return Moves the elevator and arm to the setpoints
+	 */
 	private Command moveManipulatorUtil(double elevatorPosition, double armPosition, boolean elevatorFirst, boolean sequential) {
+		if (elevatorPosition <= ElevatorConstants.kBracePosition || elevatorPosition == 0) {
+			armPosition = MathUtil.clamp(
+				armPosition, 
+				0,
+				ManipulatorPivotConstants.kRotationLimit
+			);
+		}
+		
 		return Commands.either(
 			Commands.either(
-				elevator.goToSetpoint(elevatorPosition, 2).andThen(arm.goToSetpoint(armPosition, 2)),
-				elevator.goToSetpoint(elevatorPosition, 2).alongWith(arm.goToSetpoint(armPosition, 2)),
+				elevator.goToSetpoint(elevatorPosition, 2).andThen(manipulatorPivot.goToSetpoint(armPosition, 2)),
+				elevator.goToSetpoint(elevatorPosition, 2).alongWith(manipulatorPivot.goToSetpoint(armPosition, 2)),
 				() -> sequential
 			), 
 			Commands.either(
-				arm.goToSetpoint(armPosition, 2).andThen(elevator.goToSetpoint(elevatorPosition, 2)), 
-				arm.goToSetpoint(armPosition, 2).alongWith(elevator.goToSetpoint(elevatorPosition, 2)), 
+				manipulatorPivot.goToSetpoint(armPosition, 2).andThen(elevator.goToSetpoint(elevatorPosition, 2)), 
+				manipulatorPivot.goToSetpoint(armPosition, 2).alongWith(elevator.goToSetpoint(elevatorPosition, 2)), 
 				() -> sequential
 			), 
 			() -> elevatorFirst
 		);
 	}

-	/*
-	 * A moveManipulator method that will guarantee a safe movement. 
-	 * Here in case we need want to skip moveManipulator debugging
+	/**
+	 * Moves the arm and elevator in a safe way.
+	 * 
+	 * @param elevatorPosition The target position of the elevator
+	 * @param armPosition The target rotation of the arm
+	 * @return Moves the elevator and arm to the setpoints
 	 */
 	@SuppressWarnings("unused")
 	private Command safeMoveManipulator(double elevatorPosition, double armPosition) {
-		return moveManipulatorUtil(elevatorPosition, ArmConstants.kArmSafeStowPosition, false, true)
-			.andThen(arm.goToSetpoint(armPosition, 2));
+		return moveManipulatorUtil(elevatorPosition, ManipulatorPivotConstants.kArmSafeStowPosition, false, true)
+			.andThen(manipulatorPivot.goToSetpoint(armPosition, 2));
+	}
+
+	private Command startingConfig() {
+		return moveManipulatorUtil(0, 0, false, true)
+			.alongWith(climberPivot.climb(ClimberPivotConstants.kClimberStartingPosition, .1));
 	}
 }
--- a/src/main/java/frc/robot/constants/ClimberPivotConstants.java
+++ b/src/main/java/frc/robot/constants/ClimberPivotConstants.java
@@ -1,5 +1,7 @@
 package frc.robot.constants;

+import com.revrobotics.spark.config.SparkMaxConfig;
+
 public class ClimberPivotConstants {
    public static final int kPivotMotorID = 0;

@@ -10,4 +12,9 @@ public class ClimberPivotConstants {
    public static final double kPIDControllerP = 0;
    public static final double kPIDControllerI = 0;
    public static final double kPIDControllerD = 0;
+
+    public static final double kClimberClimbPosition = 0;
+    public static final double kClimberStartingPosition = 0;
+
+    public static final SparkMaxConfig motorConfig = new SparkMaxConfig();
 }
--- a/src/main/java/frc/robot/constants/ClimberRollersConstants.java
+++ b/src/main/java/frc/robot/constants/ClimberRollersConstants.java
@@ -1,5 +1,9 @@
 package frc.robot.constants;

+import com.revrobotics.spark.config.SparkMaxConfig;
+
 public class ClimberRollersConstants {
    public static final int kRollerMotorID = 0;
+
+    public static final SparkMaxConfig motorConfig = new SparkMaxConfig();
 }
--- a/src/main/java/frc/robot/constants/ElevatorConstants.java
+++ b/src/main/java/frc/robot/constants/ElevatorConstants.java
@@ -33,17 +33,18 @@ public class ElevatorConstants {
    public static final double kFeedForwardG = 0;
    public static final double kFeedForwardV = 0;

-    public static final double kElevatorMaxVelocity = 0;
+    public static final double kMaxVelocity = 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;
-    public static final double kElevatorMaxHeight = 0;
+    public static final double kCoralIntakePosition = 0;
+    public static final double kL1Position = 0;
+    public static final double kL2Position = 0;
+    public static final double kL3Position = 0;
+    public static final double kL4Position = 0;
+    public static final double kL2AlgaePosition = 0;
+    public static final double kL3AlgaePosition = 0;
+    /**The position of the top of the elevator brace */
+    public static final double kBracePosition = 0;
+    public static final double kMaxHeight = 0;

    // 1, 7, 10 are the defaults for these, change as necessary
    public static final double kSysIDRampRate = 1;
--- a/src/main/java/frc/robot/constants/IndexerConstants.java
+++ b/src/main/java/frc/robot/constants/IndexerConstants.java
@@ -1,6 +0,0 @@
-package frc.robot.constants;
-
-public class IndexerConstants {
-    public static final int kIndexerMotorID = 0;
-    public static final int kIndexerBeamBreakID = 0;
-}
--- a/src/main/java/frc/robot/constants/ManipulatorConstants.java
+++ b/src/main/java/frc/robot/constants/ManipulatorConstants.java
@@ -1,7 +1,11 @@
 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 SparkMaxConfig motorConfig = new SparkMaxConfig();
 }
--- a/src/main/java/frc/robot/constants/ManipulatorPivotConstants.java
+++ b/src/main/java/frc/robot/constants/ManipulatorPivotConstants.java
@@ -13,13 +13,13 @@ import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config;

-public class ArmConstants {
+public class ManipulatorPivotConstants {
    public static final int kArmMotorID = 0;
    public static final int kCANcoderID = 0;

    public static final int kMotorAmpsMax = 0;

-    public static final double kArmMaxVelocity = 0;
+    public static final double kPivotMaxVelocity = 0;

    public static final double kPositionalP = 0;
    public static final double kPositionalI = 0;
@@ -32,14 +32,17 @@ public class ArmConstants {
    // TODO Is this reasonable?
    public static final double kVelocityTolerance = Units.degreesToRadians(3) / 60;

-    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 kCoralIntakePosition = 0;
+    public static final double kL1Position = 0;
+    public static final double kL2Position = 0;
+    public static final double kL3Position = 0;
+    public static final double kL4Position = 0;
+    public static final double kL2AlgaePosition = 0;
+    public static final double kL3AlgaePosition = 0;
+    /**The closest position to the elevator brace without hitting it */
    public static final double kArmSafeStowPosition = 0;
+    /**The forward rotation limit of the arm */
+    public static final double kRotationLimit = 0;

    public static final double kMagnetOffset = 0.0;
    public static final double kAbsoluteSensorDiscontinuityPoint = 0.0;
@@ -66,7 +69,7 @@ public class ArmConstants {

    static {
        canCoderConfig.MagnetSensor.SensorDirection = SensorDirectionValue.CounterClockwise_Positive;
-        canCoderConfig.MagnetSensor.MagnetOffset = 0.0;
+        canCoderConfig.MagnetSensor.MagnetOffset = kMagnetOffset;
        // TODO Need to do more reading on this setting, and how to properly offset the Arm so that horizontal is 0
        //canCoderConfig.MagnetSensor.AbsoluteSensorDiscontinuityPoint = 0.5;

--- a/src/main/java/frc/robot/subsystems/ClimberPivot.java
+++ b/src/main/java/frc/robot/subsystems/ClimberPivot.java
@@ -2,9 +2,10 @@ package frc.robot.subsystems;

 import com.revrobotics.RelativeEncoder;
 import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkBase.PersistMode;
+import com.revrobotics.spark.SparkBase.ResetMode;
 import com.revrobotics.spark.SparkLowLevel.MotorType;

-import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -17,23 +18,21 @@ public class ClimberPivot extends SubsystemBase {

    private DigitalInput cageLimitSwitch;

-    private PIDController pidController;
-
    public ClimberPivot() {
        pivotMotor = new SparkMax(
            ClimberPivotConstants.kPivotMotorID, 
            MotorType.kBrushless
        );

+        pivotMotor.configure(
+            ClimberPivotConstants.motorConfig, 
+            ResetMode.kResetSafeParameters, 
+            PersistMode.kPersistParameters
+        );
+
        neoEncoder = pivotMotor.getEncoder();

        cageLimitSwitch = new DigitalInput(ClimberPivotConstants.kClimberLimitSwitchID);
-
-        pidController = new PIDController(
-            ClimberPivotConstants.kPIDControllerP,
-            ClimberPivotConstants.kPIDControllerI, 
-            ClimberPivotConstants.kPIDControllerD
-        );
    }

    public Command runPivot(double speed) {
@@ -42,18 +41,29 @@ public class ClimberPivot extends SubsystemBase {
        });
    }

-    public Command goToAngle(double setpoint, double timeout) {
+    /**
+     * Runs the climber until it is at setpoint
+     * 
+     * @param speed The speed at which the pivot runs
+     * @param setpoint The target position of the climber
+     * @return Sets the motor speed until at the target position
+     */
+    public Command climb(double setpoint, double speed) {
        return run(() -> {
-            pivotMotor.set(
-                pidController.calculate(
-                    neoEncoder.getPosition(), 
-                    setpoint
-                )
-            );
-        }).withTimeout(timeout);
+            pivotMotor.set(speed);
+        }).until(() -> neoEncoder.getPosition() >= setpoint);
    }

+    /**
+     * Returns the limit switch attached to the climber. Detects if the cage is present
+     * 
+     * @return Is the cage in the climber
+     */
    public boolean getCageLimitSwitch() {
        return cageLimitSwitch.get();
    }
+
+    public double getEncoderPosition() {
+        return neoEncoder.getPosition();
+    }
 }
--- a/src/main/java/frc/robot/subsystems/ClimberRollers.java
+++ b/src/main/java/frc/robot/subsystems/ClimberRollers.java
@@ -1,12 +1,15 @@
 package frc.robot.subsystems;

 import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkBase.PersistMode;
+import com.revrobotics.spark.SparkBase.ResetMode;
 import com.revrobotics.spark.SparkLowLevel.MotorType;

 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.constants.ClimberRollersConstants;

+//TODO Figure out a way to detect if we're at the top of the cage
 public class ClimberRollers extends SubsystemBase {
    private SparkMax rollerMotor;

@@ -15,8 +18,20 @@ public class ClimberRollers extends SubsystemBase {
            ClimberRollersConstants.kRollerMotorID, 
            MotorType.kBrushless
        );
+
+        rollerMotor.configure(
+            ClimberRollersConstants.motorConfig, 
+            ResetMode.kResetSafeParameters, 
+            PersistMode.kPersistParameters
+        );
    }

+    /**
+     * Runs the rollers at a set speed
+     * 
+     * @param speed The speed in which the roller runs
+     * @return Runs the rollers at a set speed
+     */
    public Command runRoller(double speed) {
        return run(() -> {
            rollerMotor.set(speed);
--- a/src/main/java/frc/robot/subsystems/Elevator.java
+++ b/src/main/java/frc/robot/subsystems/Elevator.java
@@ -8,10 +8,12 @@ import com.revrobotics.spark.SparkBase.PersistMode;
 import com.revrobotics.spark.SparkBase.ResetMode;
 import com.revrobotics.spark.SparkLowLevel.MotorType;

+import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.controller.ElevatorFeedforward;
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.constants.ElevatorConstants;

@@ -76,6 +78,13 @@ public class Elevator extends SubsystemBase {
        );
    }

+    @Override
+    public void periodic() {
+        if (getBottomLimitSwitch()) {
+            encoder.setPosition(0);
+        }
+    }
+
    /**
     * Returns whether or not the motion is safe relative to the encoder's current position
     * and the elevator brace position
@@ -94,27 +103,7 @@ public class Elevator extends SubsystemBase {
     * @return Is the motion safe
     */
    public boolean isMotionSafe(double motionTarget) {
-        return motionTarget > ElevatorConstants.kElevatorBracePosition;
-    }
-
-    /**
-     * A manual translation command that will move the elevator using a consistent velocity disregarding direction
-     * 
-     * @param speed How fast the elevator moves
-     * @return Sets motor voltage to move the elevator relative to the speed parameter
-     */
-    public Command runAssistedElevator(DoubleSupplier speed) {
-        return run(() -> {
-            double realSpeedTarget = speed.getAsDouble() * ElevatorConstants.kElevatorMaxVelocity;
-
-            double voltsOut = velocityController.calculate(
-                encoder.getVelocity(), 
-                realSpeedTarget
-            ) + feedForward.calculate(realSpeedTarget);
-
-            elevatorMotor1.setVoltage(voltsOut);
-        }).until(
-            () -> bottomLimitSwitch.get() || encoder.getPosition() >= ElevatorConstants.kElevatorMaxHeight);
+        return motionTarget > ElevatorConstants.kBracePosition;
    }
    
    /**
@@ -130,17 +119,61 @@ public class Elevator extends SubsystemBase {
    }

    /**
-     * Moves the elevator to a target destination (setpoint)
+     * A manual translation command that will move the elevator using a consistent velocity disregarding direction
+     * 
+     * @param speed How fast the elevator moves
+     * @return Sets motor voltage to move the elevator relative to the speed parameter
+     */
+    public Command runAssistedElevator(DoubleSupplier speed) {
+        return run(() -> {
+            double realSpeedTarget = speed.getAsDouble() * ElevatorConstants.kMaxVelocity;
+
+            double voltsOut = velocityController.calculate(
+                encoder.getVelocity(), 
+                realSpeedTarget
+            ) + feedForward.calculate(realSpeedTarget);
+
+            elevatorMotor1.setVoltage(voltsOut);
+        }).until(
+            () -> bottomLimitSwitch.get() || encoder.getPosition() >= ElevatorConstants.kMaxHeight);
+    }
+    
+    /**
+     * Moves the elevator to a target destination (setpoint). 
+     * If the setpoint is 0, the elevator will creep down to hit the limit switch
     * 
     * @param setpoint Target destination of the subsystem
     * @param timeout Time to achieve the setpoint before quitting
     * @return Sets motor voltage to achieve the target destination
     */
    public Command goToSetpoint(double setpoint, double timeout) {
+        double clampedSetpoint = MathUtil.clamp(
+            setpoint, 
+            0, 
+            ElevatorConstants.kMaxHeight
+        );
+
+        if (clampedSetpoint == 0) {
            return run(() -> {
                double voltsOut = positionController.calculate(
                    encoder.getPosition(),
-                setpoint
+                    clampedSetpoint
+                ) + feedForward.calculate(0);
+    
+                elevatorMotor1.setVoltage(voltsOut);
+            }).until(
+                () -> positionController.atSetpoint() || bottomLimitSwitch.get()
+            ).withTimeout(timeout)
+                .andThen(Commands.either(
+                    runAssistedElevator(() -> 0),
+                    runAssistedElevator(() -> -.2), 
+                    bottomLimitSwitch::get
+                )).withTimeout(timeout);
+        } else {
+            return run(() -> {
+                double voltsOut = positionController.calculate(
+                    encoder.getPosition(),
+                    clampedSetpoint
                ) + feedForward.calculate(0);
    
                elevatorMotor1.setVoltage(voltsOut);
@@ -148,6 +181,7 @@ public class Elevator extends SubsystemBase {
                () -> positionController.atSetpoint() || bottomLimitSwitch.get()
            ).withTimeout(timeout);
        }
+    }

    /**
     * Returns the current encoder position
--- a/src/main/java/frc/robot/subsystems/Indexer.java
+++ b/src/main/java/frc/robot/subsystems/Indexer.java
@@ -1,36 +0,0 @@
-package frc.robot.subsystems;
-
-import com.revrobotics.spark.SparkMax;
-import com.revrobotics.spark.SparkLowLevel.MotorType;
-
-import edu.wpi.first.wpilibj.DigitalInput;
-import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc.robot.constants.IndexerConstants;
-
-public class Indexer extends SubsystemBase {
-    private SparkMax indexerMotor;
-
-    private DigitalInput indexerBeamBreak;
-
-    public Indexer() {
-        indexerMotor = new SparkMax(
-            IndexerConstants.kIndexerMotorID, 
-            MotorType.kBrushless
-        );
-
-        indexerBeamBreak = new DigitalInput(IndexerConstants.kIndexerBeamBreakID);
-    }
-
-    public Command runIndexer(double speed) {
-        return run(() -> {
-            indexerMotor.set(speed);
-        });
-    }
-
-    public Command indexCoral(double speed) {
-        return run(() -> {
-            indexerMotor.set(speed);
-        }).until(indexerBeamBreak::get);
-    }
-}
--- a/src/main/java/frc/robot/subsystems/Manipulator.java
+++ b/src/main/java/frc/robot/subsystems/Manipulator.java
@@ -1,6 +1,10 @@
 package frc.robot.subsystems;

+import java.util.function.DoubleSupplier;
+
 import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkBase.PersistMode;
+import com.revrobotics.spark.SparkBase.ResetMode;
 import com.revrobotics.spark.SparkLowLevel.MotorType;

 import edu.wpi.first.wpilibj.DigitalInput;
@@ -20,19 +24,65 @@ public class Manipulator extends SubsystemBase {
            MotorType.kBrushless
        );

+        manipulatorMotor.configure(
+            ManipulatorConstants.motorConfig, 
+            ResetMode.kResetSafeParameters, 
+            PersistMode.kPersistParameters
+        );
+
        coralBeamBreak = new DigitalInput(ManipulatorConstants.kCoralBeamBreakID);
        algaeBeamBreak = new DigitalInput(ManipulatorConstants.kAlgaeBeamBreakID);
    }

-    public Command runManipulator(double speed) {
+    /**
+     * The default command for the manipulator that either stops the manipulator or slowly 
+     * runs the manipulator to retain the algae
+     * 
+     * @return Returns a command that sets the speed of the motor
+     */
+    public Command defaultCommand() {
        return run(() -> {
-            manipulatorMotor.set(speed);
+            manipulatorMotor.set(
+                algaeBeamBreak.get() ? 0.1 : 0
+            );
        });
    }

+    /**
+     * Runs the manipulator at a set speed with the direction based on the coral parameter
+     * 
+     * @param speed The speed at which the manipulator runs
+     * @param coral Is the manipulator manipulating a coral? (True = Coral, False = Algae)
+     * @return Returns a command that sets the speed of the motor
+     */
+    public Command runManipulator(DoubleSupplier speed, boolean coral) {
+        return run(() -> {
+            manipulatorMotor.set(
+                coral ? speed.getAsDouble() : speed.getAsDouble() * -1
+            );
+        });
+    }
+
+    /**
+     * Runs the manipulator until either the algae or coral beam break reads true
+     * 
+     * @param speed The speed at which the manipulator is run
+     * @param coral Is the object a coral? (True = Coral, False = Algae)
+     * @return Returns a command that sets the speed of the motor
+     */
    public Command runUntilCollected(double speed, boolean coral) {
        return run(() -> {
-            manipulatorMotor.set(coral ? speed : speed * -1);
+            manipulatorMotor.set(
+                coral ? speed : speed * -1
+            );
        }).until(() -> coralBeamBreak.get() || algaeBeamBreak.get());
    }
+
+    public boolean getCoralBeamBreak() {
+        return coralBeamBreak.get();
+    }
+
+    public boolean getAlgaePhotoSwitch() {
+        return algaeBeamBreak.get();
+    }
 }
--- a/src/main/java/frc/robot/subsystems/ManipulatorPivot.java
+++ b/src/main/java/frc/robot/subsystems/ManipulatorPivot.java
@@ -8,14 +8,15 @@ import com.revrobotics.spark.SparkBase.PersistMode;
 import com.revrobotics.spark.SparkBase.ResetMode;
 import com.revrobotics.spark.SparkLowLevel.MotorType;

+import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.controller.ArmFeedforward;
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc.robot.constants.ArmConstants;
+import frc.robot.constants.ManipulatorPivotConstants;

-public class Arm extends SubsystemBase {
+public class ManipulatorPivot extends SubsystemBase {
    protected SparkMax armMotor;

    private CANcoder canCoder;
@@ -25,34 +26,38 @@ public class Arm extends SubsystemBase {

    private ArmFeedforward feedForward;

-    public Arm() {
+    public ManipulatorPivot() {
        armMotor = new SparkMax(
-            ArmConstants.kArmMotorID, 
+            ManipulatorPivotConstants.kArmMotorID, 
            MotorType.kBrushless
        );

-        armMotor.configure(ArmConstants.motorConfig, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters);
+        armMotor.configure(
+            ManipulatorPivotConstants.motorConfig, 
+            ResetMode.kResetSafeParameters, 
+            PersistMode.kPersistParameters
+        );

        positionController = new PIDController(
-            ArmConstants.kPositionalP, 
-            ArmConstants.kPositionalI, 
-            ArmConstants.kPositionalD
+            ManipulatorPivotConstants.kPositionalP, 
+            ManipulatorPivotConstants.kPositionalI, 
+            ManipulatorPivotConstants.kPositionalD
        );
        
        // TODO: Generate constants for continuous input range based on CANcoder configuration?
        positionController.enableContinuousInput(Units.degreesToRadians(-180), Units.degreesToRadians(179));
-        positionController.setTolerance(ArmConstants.kPositionalTolerance);
+        positionController.setTolerance(ManipulatorPivotConstants.kPositionalTolerance);

        velocityController = new PIDController(
-            ArmConstants.kVelocityP, 
-            ArmConstants.kVelocityI, 
-            ArmConstants.kVelocityD
+            ManipulatorPivotConstants.kVelocityP, 
+            ManipulatorPivotConstants.kVelocityI, 
+            ManipulatorPivotConstants.kVelocityD
        );

-        velocityController.setTolerance(ArmConstants.kVelocityTolerance);
+        velocityController.setTolerance(ManipulatorPivotConstants.kVelocityTolerance);

-        canCoder = new CANcoder(ArmConstants.kCANcoderID);
-        canCoder.getConfigurator().apply(ArmConstants.canCoderConfig);
+        canCoder = new CANcoder(ManipulatorPivotConstants.kCANcoderID);
+        canCoder.getConfigurator().apply(ManipulatorPivotConstants.canCoderConfig);
    }

    /**
@@ -73,13 +78,24 @@ public class Arm extends SubsystemBase {
     * @return Is the motion safe
     */
    public boolean isMotionSafe(double motionTarget) {
-        return motionTarget > ArmConstants.kArmSafeStowPosition;
+        return motionTarget > ManipulatorPivotConstants.kArmSafeStowPosition;
    }

-    //manual command that keeps ouput speed consistent no matter the direction
-    public Command runArm(DoubleSupplier speed) {
+    /**
+     * A manual rotation command that will move the elevator using a consistent velocity disregarding direction
+     * 
+     * @param speed The velocity at which the arm rotates
+     * @return Sets motor voltage to achieve the target velocity
+     */
+    public Command runAssistedPivot(DoubleSupplier speed) {
+        double clampedSpeed = MathUtil.clamp(
+            speed.getAsDouble(), 
+            -1, 
+            1
+        );
+
        return run(() -> {
-            double realSpeedTarget = speed.getAsDouble() * ArmConstants.kArmMaxVelocity;
+            double realSpeedTarget = clampedSpeed * ManipulatorPivotConstants.kPivotMaxVelocity;

            double voltsOut = velocityController.calculate(
                getEncoderVelocity(), 
@@ -93,11 +109,24 @@ public class Arm extends SubsystemBase {
        });
    }

+    /**
+     * Moves the arm to a target destination (setpoint)
+     * 
+     * @param setpoint Target destination of the subsystem
+     * @param timeout Time to achieve the setpoint before quitting
+     * @return Sets motor voltage to achieve the target destination
+     */
    public Command goToSetpoint(double setpoint, double timeout) {
+        double clampedSetpoint = MathUtil.clamp(
+            setpoint, 
+            0, 
+            ManipulatorPivotConstants.kRotationLimit
+        );
+
        return run(() -> {
            double voltsOut = positionController.calculate(
                getEncoderPosition(), 
-                setpoint
+                clampedSetpoint
            ) + feedForward.calculate(
                getEncoderPosition(), 
                getEncoderVelocity()
@@ -107,10 +136,20 @@ public class Arm extends SubsystemBase {
        }).until(positionController::atSetpoint).withTimeout(timeout);
    }

+    /**
+     * Returns the CANCoder's position in radians
+     * 
+     * @return CANCoder's position in radians
+     */
    public double getEncoderPosition() {
        return Units.rotationsToRadians(canCoder.getAbsolutePosition().getValueAsDouble());
    }

+    /**
+     * Returns the CANCoder's velocity in radians per second
+     * 
+     * @return CANCoder's velocity in radians per second
+     */
    public double getEncoderVelocity() {
        return Units.rotationsToRadians(canCoder.getVelocity().getValueAsDouble());
    }
--- a/src/main/java/frc/robot/subsystems/sysid/ManipulatorPivotSysID.java
+++ b/src/main/java/frc/robot/subsystems/sysid/ManipulatorPivotSysID.java
@@ -10,29 +10,29 @@ import edu.wpi.first.units.measure.MutVoltage;
 import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
-import frc.robot.constants.ArmConstants;
-import frc.robot.subsystems.Arm;
+import frc.robot.constants.ManipulatorPivotConstants;
+import frc.robot.subsystems.ManipulatorPivot;

-public class ArmSysID extends Arm {
+public class ManipulatorPivotSysID extends ManipulatorPivot {
    private MutVoltage appliedVoltage;

-    private MutAngle armPosition;
+    private MutAngle pivotPosition;

-    private MutAngularVelocity armVelocity;
+    private MutAngularVelocity pivotVelocity;

    private SysIdRoutine routine;

-    public ArmSysID() {
+    public ManipulatorPivotSysID() {
        super();

        appliedVoltage = Volts.mutable(0);

-        armPosition = Radians.mutable(0);
+        pivotPosition = Radians.mutable(0);

-        armVelocity = RadiansPerSecond.mutable(0);
+        pivotVelocity = RadiansPerSecond.mutable(0);

        routine = new SysIdRoutine(
-            ArmConstants.kSysIDConfig,
+            ManipulatorPivotConstants.kSysIDConfig,
            new SysIdRoutine.Mechanism(
                armMotor::setVoltage, 
                (log) -> {
@@ -40,10 +40,10 @@ public class ArmSysID extends Arm {
                        .voltage(appliedVoltage.mut_replace(
                            armMotor.get() * RobotController.getBatteryVoltage(), Volts
                        ))
-                        .angularPosition(armPosition.mut_replace(
+                        .angularPosition(pivotPosition.mut_replace(
                            getEncoderPosition(), Radians
                        ))
-                        .angularVelocity(armVelocity.mut_replace(
+                        .angularVelocity(pivotVelocity.mut_replace(
                            getEncoderVelocity(), RadiansPerSecond
                        ));
                },
Author	SHA1	Message	Date
Tylr-J42	0e91643b57	Merge branch 'kraken_swerve' release the kraken	2025-01-27 21:38:03 -05:00
NoahLacks63	5fa4738b36	Added a few shuffle board things	2025-01-27 14:18:28 +00:00
NoahLacks63	ff3ecf6d1d	Didnt commit everything for some reason	2025-01-26 19:31:38 +00:00
NoahLacks63	cef200a864	Renamed things for consistency, added a few methods	2025-01-26 19:28:49 +00:00
NoahLacks63	dff4d0e04f	added spark configs to all subsystems, fixed a few formatting inconsistencies, added a TODO	2025-01-21 04:18:36 +00:00
NoahLacks63	9ab7ffad84	1,000 comments, reworked the climber pivot, removed indexer, added clamps on goToSetpoint methods	2025-01-21 03:56:00 +00:00