Team_2648/2026-Robot-Code
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Work from build 2/28

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This commit is contained in:
Bradley Bickford
2026-02-28 17:42:37 -05:00
parent 7621cfd009
commit 3791333f56
12 changed files with 101 additions and 136 deletions
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1
src/main/java/frc/robot/subsystems/Hood.java
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@@ -4,7 +4,6 @@ import java.util.function.DoubleSupplier;
import org.littletonrobotics.junction.Logger;
import com.revrobotics.AbsoluteEncoder;
import com.revrobotics.PersistMode;
import com.revrobotics.RelativeEncoder;
import com.revrobotics.ResetMode;

20
src/main/java/frc/robot/subsystems/IntakeRoller.java
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@@ -10,41 +10,33 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.constants.IntakeRollerConstants;
public class IntakeRoller extends SubsystemBase {
private SparkMax leftMotor;
private SparkMax rightMotor;
private SparkMax motor;
public IntakeRoller() {
leftMotor = new SparkMax(IntakeRollerConstants.kLeftMotorCANID, MotorType.kBrushless);
rightMotor = new SparkMax(IntakeRollerConstants.kRightMotorCANID, MotorType.kBrushless);
motor = new SparkMax(IntakeRollerConstants.kMotorCANID, MotorType.kBrushless);
leftMotor.configure(
motor.configure(
IntakeRollerConstants.leftMotorConfig,
ResetMode.kResetSafeParameters,
PersistMode.kPersistParameters
);
rightMotor.configure(
IntakeRollerConstants.rightMotorConfig,
ResetMode.kResetSafeParameters,
PersistMode.kPersistParameters
);
}
public Command runIn() {
return run(() -> {
leftMotor.set(1);
motor.set(IntakeRollerConstants.kSpeed);
});
}
public Command runOut() {
return run(() -> {
leftMotor.set(-1);
motor.set(-IntakeRollerConstants.kSpeed);
});
}
public Command stop() {
return run(() -> {
leftMotor.set(0);
motor.set(0);
});
}

20
src/main/java/frc/robot/subsystems/PhotonVision.java
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@@ -75,19 +75,19 @@ public class PhotonVision extends SubsystemBase {
if(!results.isEmpty()) {
latestResults.set(i, results.get(results.size() - 1));
}
Optional<EstimatedRobotPose> pose = estimators[i].update(latestResults.get(i));
Optional<EstimatedRobotPose> pose = estimators[i].update(latestResults.get(i));
if(!pose.isEmpty()) {
VisualPose visualPose = new VisualPose(
cameras[i].getName(),
pose.get().estimatedPose.toPose2d(),
pose.get().timestampSeconds
);
if(!pose.isEmpty()) {
VisualPose visualPose = new VisualPose(
cameras[i].getName(),
pose.get().estimatedPose.toPose2d(),
pose.get().timestampSeconds
);
for(Consumer<VisualPose> consumer: poseEstimateConsumers) {
consumer.accept(visualPose);
for(Consumer<VisualPose> consumer: poseEstimateConsumers) {
consumer.accept(visualPose);
}
}
}
}

50
src/main/java/frc/robot/subsystems/Shooter.java
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@@ -19,10 +19,8 @@ import frc.robot.constants.ShooterConstants;
import frc.robot.constants.ShooterConstants.ShooterSpeeds;
public class Shooter extends SubsystemBase {
private SparkMax leftMotor1;
private SparkMax leftMotor2;
private SparkMax rightMotor1;
private SparkMax rightMotor2;
private SparkMax leftMotor;
private SparkMax rightMotor;
private AbsoluteEncoder leftEncoder;
private AbsoluteEncoder rightEncoder;
@@ -33,40 +31,26 @@ public class Shooter extends SubsystemBase {
private ShooterSpeeds targetSpeeds;
public Shooter() {
leftMotor1 = new SparkMax(ShooterConstants.kLeftShooterMotor1CANID, MotorType.kBrushless);
leftMotor2 = new SparkMax(ShooterConstants.kLeftShooterMotor2CANID, MotorType.kBrushless);
rightMotor1 = new SparkMax(ShooterConstants.kRightShooterMotor1CANID, MotorType.kBrushless);
rightMotor2 = new SparkMax(ShooterConstants.kRightShooterMotor2CANID, MotorType.kBrushless);
leftMotor = new SparkMax(ShooterConstants.kLeftShooterMotorCANID, MotorType.kBrushless);
rightMotor = new SparkMax(ShooterConstants.kRightShooterMotorCANID, MotorType.kBrushless);
leftMotor1.configure(
ShooterConstants.kLeftMotor1Config,
leftMotor.configure(
ShooterConstants.kLeftMotorConfig,
ResetMode.kResetSafeParameters,
PersistMode.kPersistParameters
);
rightMotor1.configure(
ShooterConstants.kRightMotor1Config,
rightMotor.configure(
ShooterConstants.kRightMotorConfig,
ResetMode.kResetSafeParameters,
PersistMode.kPersistParameters
);
leftMotor2.configure(
ShooterConstants.kLeftMotor2Config,
ResetMode.kResetSafeParameters,
PersistMode.kPersistParameters
);
leftEncoder = leftMotor.getAbsoluteEncoder();
rightEncoder = rightMotor.getAbsoluteEncoder();
rightMotor2.configure(
ShooterConstants.kRightMotor2Config,
ResetMode.kResetSafeParameters,
PersistMode.kPersistParameters
);
leftEncoder = leftMotor1.getAbsoluteEncoder();
rightEncoder = rightMotor1.getAbsoluteEncoder();
leftClosedLoopController = leftMotor1.getClosedLoopController();
rightClosedLoopController = rightMotor1.getClosedLoopController();
leftClosedLoopController = leftMotor.getClosedLoopController();
rightClosedLoopController = rightMotor.getClosedLoopController();
// TODO Set this to the initial startup speed
targetSpeeds = null;
@@ -92,8 +76,8 @@ public class Shooter extends SubsystemBase {
return run(() -> {
if(targetSpeeds == null) {
leftMotor1.disable();
rightMotor1.disable();
leftMotor.disable();
rightMotor.disable();
} else {
leftClosedLoopController.setSetpoint(
targetSpeeds.getSpeedMPS(),
@@ -101,7 +85,7 @@ public class Shooter extends SubsystemBase {
);
rightClosedLoopController.setSetpoint(
targetSpeeds.getSpeedMPS(),
-targetSpeeds.getSpeedMPS(),
ControlType.kVelocity
);
}
@@ -112,8 +96,8 @@ public class Shooter extends SubsystemBase {
targetSpeeds = null;
return run(() -> {
leftMotor1.set(speed.getAsDouble());
rightMotor1.set(speed.getAsDouble());
leftMotor.set(speed.getAsDouble() * ShooterConstants.kMaxManualSpeedMultiplier);
rightMotor.set(speed.getAsDouble() * ShooterConstants.kMaxManualSpeedMultiplier);
});
}

12
src/main/java/frc/robot/subsystems/Spindexer.java
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@@ -37,15 +37,19 @@ public class Spindexer extends SubsystemBase {
public Command spinToShooter() {
return run(() -> {
spindexerMotor.setControl(spindexerMotorOutput.withOutput(1));
feederMotor.set(1);
spindexerMotor.setControl(
spindexerMotorOutput.withOutput(SpindexerConstants.kSpindexerSpeed)
);
feederMotor.set(SpindexerConstants.kFeederSpeed);
});
}
public Command spinToIntake() {
return run(() -> {
spindexerMotor.setControl(spindexerMotorOutput.withOutput(-1));
feederMotor.set(-1);
spindexerMotor.setControl(
spindexerMotorOutput.withOutput(-SpindexerConstants.kSpindexerSpeed)
);
feederMotor.set(-SpindexerConstants.kFeederSpeed);
});
}