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Adding everything necessary for the RollerIndexer, while all the Spindexer stuff intact

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This commit is contained in:
Bradley Bickford
2026-04-11 12:24:08 -04:00
parent 013050ee19
commit 864e3159ee
5 changed files with 143 additions and 18 deletions
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38
src/main/java/frc/robot/RobotContainer.java
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@@ -32,6 +32,8 @@ import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.FunctionalCommand;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.PrintCommand;
import edu.wpi.first.wpilibj2.command.Subsystem;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.button.RobotModeTriggers;
import edu.wpi.first.wpilibj2.command.button.Trigger;
@@ -42,12 +44,14 @@ import frc.robot.constants.OIConstants;
import frc.robot.constants.ShooterConstants;
import frc.robot.constants.IntakePivotConstants.IntakePivotPosition;
import frc.robot.constants.ShooterConstants.ShooterSpeeds;
import frc.robot.interfaces.IIndexer;
import frc.robot.subsystems.Climber;
import frc.robot.subsystems.Drivetrain;
import frc.robot.subsystems.Hood;
import frc.robot.subsystems.IntakePivot;
import frc.robot.subsystems.IntakeRoller;
import frc.robot.subsystems.PhotonVision;
import frc.robot.subsystems.RollerIndexer;
import frc.robot.subsystems.Shooter;
import frc.robot.subsystems.Spindexer;
import frc.robot.utilities.Elastic;
@@ -60,7 +64,7 @@ public class RobotContainer {
private Shooter shooter;
private IntakePivot intakePivot;
private IntakeRoller intakeRoller;
private Spindexer spindexer;
private IIndexer indexer;
//private Climber climber;
private CommandXboxController driver;
@@ -79,7 +83,7 @@ public class RobotContainer {
shooter = new Shooter();
intakePivot = new IntakePivot();
intakeRoller = new IntakeRoller();
spindexer = new Spindexer();
indexer = new RollerIndexer();
//climber = new Climber();
configureNamedCommands();
@@ -184,7 +188,7 @@ public class RobotContainer {
intakePivot.setDefaultCommand(intakePivot.stop());
intakeRoller.setDefaultCommand(intakeRoller.stop());
hood.setDefaultCommand(hood.stop());
spindexer.setDefaultCommand(spindexer.stop());
((SubsystemBase)indexer).setDefaultCommand(indexer.stop());
//climber.setDefaultCommand(climber.stop());
// While holding POV up of the driver controller, the climber
@@ -198,23 +202,23 @@ public class RobotContainer {
//}));
// While holding the right bumper of the driver controller, the intake rollers
// and the spindexer and feeder should move such that all motors are moving in such a way
// that it would draw balls from the floor, through the spindexer, and into the
// and the indexer and feeder should move such that all motors are moving in such a way
// that it would draw balls from the floor, through the indexer, and into the
// feeder.
// DO NOT INVERT MOTION WITH UNARY MINUS (-). Every motor can be inverted from the
// constants file for the subsystem having the problem
driver.rightBumper().whileTrue(
spindexer.spinToShooter()
indexer.spinToShooter()
);
// While holding the left bumper of the driver controller, the intake rollers
// and the spindexer and feeder should move such that all motors are moving in such a way
// and the indexer and feeder should move such that all motors are moving in such a way
// that it would try to eject balls through the intake.
// DO NOT INVERT MOTION WITH UNARY MINUS (-). Every motor can be inverted from the
// constants file for the subsystem having the problem
driver.leftBumper().whileTrue(
intakeRoller.runIn()
//intakeRoller.runOut().alongWith(spindexer.spinToIntake())
//intakeRoller.runOut().alongWith(indexer.spinToIntake())
);
// While holding D-Pad up on the secondary controller, the shooter should spin
@@ -281,7 +285,7 @@ public class RobotContainer {
);
shooter.setDefaultCommand(shooter.stop());
intakeRoller.setDefaultCommand(intakeRoller.stop());
spindexer.setDefaultCommand(spindexer.stop());
((SubsystemBase)indexer).setDefaultCommand(indexer.stop());
intakePivot.setDefaultCommand(intakePivot.manualSpeed(() -> secondary.getLeftY()));
@@ -303,7 +307,7 @@ public class RobotContainer {
driver.rightBumper().whileTrue(intakeRoller.runIn());
driver.rightTrigger().whileTrue(
spindexer.spinToShooter(shooter::getAverageActualSpeeds, 2000).alongWith(
indexer.spinToShooter(shooter::getAverageActualSpeeds, 2000).alongWith(
intakeRoller.runIn()/* ,
intakePivot.jimmy(.5)*/
)
@@ -318,7 +322,7 @@ public class RobotContainer {
intakePivot.manualSpeed(() -> 0.75).withTimeout(0.5)
);
driver.b().whileTrue(spindexer.spinToIntake());
driver.b().whileTrue(indexer.spinToIntake());
/* driver.b().whileTrue(
drivetrain.lockToYaw(
() -> {
@@ -412,10 +416,10 @@ public class RobotContainer {
.withTimeout(2));
NamedCommands.registerCommand("shoot close",
spindexer.spinToShooter()
indexer.spinToShooter()
.alongWith(shooter.maintainSpeed(ShooterSpeeds.kHubSpeed))
.alongWith(hood.trackToAngle(() -> Units.degreesToRadians(10)))
.withTimeout(3).andThen(spindexer.instantaneousStop()));
.withTimeout(3).andThen(indexer.instantaneousStop()));
// NamedCommands.registerCommand("Intake Start", intakeRoller.runIn());
@@ -427,7 +431,7 @@ public class RobotContainer {
.onTrue(
shooter.maintainSpeed(ShooterSpeeds.kHubSpeed));
NamedCommands.registerCommand("stop spindexer", spindexer.instantaneousStop());
NamedCommands.registerCommand("stop spindexer", indexer.instantaneousStop());
NamedCommands.registerCommand("jimmy",
intakePivot.jimmy(0.2)
@@ -436,11 +440,11 @@ public class RobotContainer {
NamedCommands.registerCommand("shoot N jimmy",
Commands.parallel(
intakePivot.jimmy(0.5),
spindexer.spinToShooter()
indexer.spinToShooter()
.alongWith(shooter.maintainSpeed(ShooterSpeeds.kHubSpeed),
hood.trackToAngle(() -> Units.degreesToRadians(10)))
).withTimeout(3).andThen(spindexer.instantaneousStop()));
).withTimeout(3).andThen(indexer.instantaneousStop()));
NamedCommands.registerCommand("aim",
hood.trackToAnglePoseBased(drivetrain, shooter)
@@ -454,7 +458,7 @@ public class RobotContainer {
hood.trackToAnglePoseBased(drivetrain, shooter)
.alongWith(
shooter.maintainSpeed(ShooterSpeeds.kHubSpeed),
spindexer.spinToShooter(),
indexer.spinToShooter(),
intakePivot.jimmy(0.5),
drivetrain.lockRotationToHub(() -> 0.0, () -> 0.0, false)));
}

28
src/main/java/frc/robot/constants/RollerIndexerConstants.java Normal file
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@@ -0,0 +1,28 @@
package frc.robot.constants;
import com.revrobotics.spark.config.SparkMaxConfig;
import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
public class RollerIndexerConstants {
public static final int kMotor1CANID = -1;
public static final int kMotor2CANID = 4;
public static final int kCurrentLimit = 30;
public static final double kMotorSpeed = 1;
public static final boolean kMotorInverted = false;
public static final IdleMode kIdleMode = IdleMode.kBrake;
// YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A CONFIGURATION ITEM
public static final SparkMaxConfig kMotorConfig = new SparkMaxConfig();
static {
kMotorConfig
.inverted(kMotorInverted)
.smartCurrentLimit(kCurrentLimit)
.idleMode(kIdleMode);
}
}

13
src/main/java/frc/robot/interfaces/IIndexer.java Normal file
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@@ -0,0 +1,13 @@
package frc.robot.interfaces;
import java.util.function.DoubleSupplier;
import edu.wpi.first.wpilibj2.command.Command;
public interface IIndexer {
public Command spinToShooter();
public Command spinToShooter(DoubleSupplier shooterSpeedRPM, double cutOffRPM);
public Command spinToIntake();
public Command stop();
public Command instantaneousStop();
}

79
src/main/java/frc/robot/subsystems/RollerIndexer.java Normal file
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@@ -0,0 +1,79 @@
package frc.robot.subsystems;
import java.util.function.DoubleSupplier;
import com.ctre.phoenix6.controls.DutyCycleOut;
import com.ctre.phoenix6.hardware.TalonFX;
import com.revrobotics.PersistMode;
import com.revrobotics.ResetMode;
import com.revrobotics.spark.SparkMax;
import com.revrobotics.spark.SparkLowLevel.MotorType;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.constants.RollerIndexerConstants;
import frc.robot.constants.SpindexerConstants;
import frc.robot.interfaces.IIndexer;
public class RollerIndexer extends SubsystemBase implements IIndexer {
private SparkMax motor1;
private SparkMax motor2;
public RollerIndexer() {
motor1 = new SparkMax(RollerIndexerConstants.kMotor1CANID, MotorType.kBrushless);
motor2 = new SparkMax(RollerIndexerConstants.kMotor2CANID, MotorType.kBrushless);
motor1.configure(
SpindexerConstants.kFeederConfig,
ResetMode.kResetSafeParameters,
PersistMode.kPersistParameters
);
motor2.configure(
SpindexerConstants.kFeederConfig,
ResetMode.kResetSafeParameters,
PersistMode.kPersistParameters
);
}
public Command spinToShooter() {
return run(() -> {
motor1.set(RollerIndexerConstants.kMotorSpeed);
motor2.set(-RollerIndexerConstants.kMotorSpeed);
});
}
public Command spinToShooter(DoubleSupplier shooterSpeedRPM, double cutOffRPM) {
return run(() -> {
if(shooterSpeedRPM.getAsDouble() < cutOffRPM) {
motor1.set(0);
motor2.set(0);
} else {
motor1.set(RollerIndexerConstants.kMotorSpeed);
motor2.set(-RollerIndexerConstants.kMotorSpeed);
}
});
}
public Command spinToIntake() {
return run(() -> {
motor1.set(-RollerIndexerConstants.kMotorSpeed);
motor2.set(RollerIndexerConstants.kMotorSpeed);
});
}
public Command stop() {
return run(() -> {
motor1.set(0);
motor2.set(0);
});
}
public Command instantaneousStop() {
return runOnce(() -> {
motor1.set(0);
motor2.set(0);
});
}
}

3
src/main/java/frc/robot/subsystems/Spindexer.java
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@@ -12,8 +12,9 @@ import com.revrobotics.spark.SparkLowLevel.MotorType;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.constants.SpindexerConstants;
import frc.robot.interfaces.IIndexer;
public class Spindexer extends SubsystemBase {
public class Spindexer extends SubsystemBase implements IIndexer {
private TalonFX spindexerMotor;
private SparkMax feederMotor;