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IntakePivot and Shooter changes to make me hate them less, other minor fixes

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This commit is contained in:
Bradley Bickford
2026-02-07 07:17:55 -05:00
parent faff80fb9a
commit b68d7b7399
4 changed files with 46 additions and 60 deletions
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12
src/main/java/frc/robot/constants/IntakePivotConstants.java
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@@ -40,18 +40,18 @@ public class IntakePivotConstants {
// YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A CONFIGURATION ITEM
public static final SparkMaxConfig leftMotorConfig = new SparkMaxConfig();
public static final SparkMaxConfig rightMotorConfig = new SparkMaxConfig();
public static final SparkMaxConfig KLeftMotorConfig = new SparkMaxConfig();
public static final SparkMaxConfig kRightMotorConfig = new SparkMaxConfig();
static {
leftMotorConfig
KLeftMotorConfig
.idleMode(kIdleMode)
.smartCurrentLimit(kCurrentLimit)
.inverted(kInvertMotors);
leftMotorConfig.absoluteEncoder
KLeftMotorConfig.absoluteEncoder
.positionConversionFactor(kConversionFactor)
.velocityConversionFactor(kConversionFactor / 60);
leftMotorConfig.closedLoop
KLeftMotorConfig.closedLoop
.feedbackSensor(FeedbackSensor.kAbsoluteEncoder)
.pid(kP, kI, kD)
.outputRange(-1, 1)
@@ -60,7 +60,7 @@ public class IntakePivotConstants {
.feedForward
.sva(kS, kV, kA);
rightMotorConfig
kRightMotorConfig
.idleMode(kIdleMode)
.smartCurrentLimit(kCurrentLimit)
.inverted(kInvertMotors)

2
src/main/java/frc/robot/constants/ShooterConstants.java
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@@ -28,6 +28,8 @@ public class ShooterConstants {
}
}
// TODO Conversion factor?
public static final double kWheelDiameter = Units.inchesToMeters(6);
// TODO Real values

27
src/main/java/frc/robot/subsystems/IntakePivot.java
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@@ -32,13 +32,13 @@ public class IntakePivot extends SubsystemBase {
rightMotor = new SparkMax(IntakePivotConstants.kRightMotorCANID, MotorType.kBrushless);
leftMotor.configure(
IntakePivotConstants.leftMotorConfig,
IntakePivotConstants.KLeftMotorConfig,
ResetMode.kResetSafeParameters,
PersistMode.kPersistParameters
);
rightMotor.configure(
IntakePivotConstants.rightMotorConfig,
IntakePivotConstants.kRightMotorConfig,
ResetMode.kResetSafeParameters,
PersistMode.kPersistParameters
);
@@ -50,13 +50,6 @@ public class IntakePivot extends SubsystemBase {
@Override
public void periodic() {
if(currentTargetPosition == null) {
leftMotor.disable();
rightMotor.disable();
} else {
controller.setSetpoint(currentTargetPosition.getPositionRadians(), ControlType.kPosition);
}
Logger.recordOutput(
"IntakePivot/TargetPosition",
currentTargetPosition == null ? -1 : currentTargetPosition.getPositionRadians());
@@ -64,19 +57,23 @@ public class IntakePivot extends SubsystemBase {
Logger.recordOutput("IntakePivot/AtSetpoint", controller.isAtSetpoint());
}
public Command setTargetPosition(IntakePivotPosition position) {
return runOnce(() -> {
public Command maintainPosition(IntakePivotPosition position) {
currentTargetPosition = position;
return run(() -> {
if(currentTargetPosition == null) {
leftMotor.disable();
} else {
controller.setSetpoint(currentTargetPosition.getPositionRadians(), ControlType.kPosition);
}
});
}
public Command stop() {
return runOnce(() -> {
currentTargetPosition = null;
});
return maintainPosition(null);
}
public Optional<IntakePivotPosition> getCurrentTargetPosition() {
return Optional.of(currentTargetPosition);
return Optional.ofNullable(currentTargetPosition);
}
}

63
src/main/java/frc/robot/subsystems/Shooter.java
View File

@@ -29,7 +29,7 @@ public class Shooter extends SubsystemBase {
private SparkClosedLoopController frontClosedLoopController;
private SparkClosedLoopController rearClosedLoopController;
private ShooterSpeeds currentSpeeds;
private ShooterSpeeds targetSpeeds;
public Shooter() {
frontMotor1 = new SparkMax(ShooterConstants.kFrontShooterMotor1CANID, MotorType.kBrushless);
@@ -68,45 +68,19 @@ public class Shooter extends SubsystemBase {
rearClosedLoopController = rearMotor1.getClosedLoopController();
// TODO Set this to the initial startup speed
currentSpeeds = null;
targetSpeeds = null;
}
@Override
public void periodic() {
if(currentSpeeds == null) {
if(frontClosedLoopController.getSetpoint() != 0) {
frontClosedLoopController.setSetpoint(
0,
ControlType.kVelocity
);
}
if(rearClosedLoopController.getSetpoint() != 0) {
rearClosedLoopController.setSetpoint(
0,
ControlType.kVelocity
);
}
} else {
frontClosedLoopController.setSetpoint(
currentSpeeds.getFrontRollerMPS(),
ControlType.kVelocity
);
rearClosedLoopController.setSetpoint(
currentSpeeds.getRearRollerMPS(),
ControlType.kVelocity
);
}
Logger.recordOutput(
"Shooter/FrontRollers/TargetMPS",
currentSpeeds == null ? 0 : currentSpeeds.getFrontRollerMPS()
targetSpeeds == null ? 0 : targetSpeeds.getFrontRollerMPS()
);
Logger.recordOutput(
"Shooter/RearRollers/TargetMPS",
currentSpeeds == null ? 0 : currentSpeeds.getRearRollerMPS()
targetSpeeds == null ? 0 : targetSpeeds.getRearRollerMPS()
);
Logger.recordOutput("Shooter/FrontRollers/CurrentMPS", frontEncoder.getVelocity());
@@ -117,19 +91,32 @@ public class Shooter extends SubsystemBase {
Logger.recordOutput("Shooter/RearRollers/AtSetpoint", rearClosedLoopController.isAtSetpoint());
}
public Command setCurrentSpeeds(ShooterSpeeds speeds) {
return runOnce(() -> {
currentSpeeds = speeds;
public Command maintainSpeed(ShooterSpeeds speeds) {
targetSpeeds = speeds;
return run(() -> {
if(targetSpeeds == null) {
frontMotor1.disable();
rearMotor1.disable();
} else {
frontClosedLoopController.setSetpoint(
targetSpeeds.getFrontRollerMPS(),
ControlType.kVelocity
);
rearClosedLoopController.setSetpoint(
targetSpeeds.getRearRollerMPS(),
ControlType.kVelocity
);
}
});
}
public Command stop() {
return runOnce(() -> {
currentSpeeds = null;
});
return maintainSpeed(null);
}
public Optional<ShooterSpeeds> getCurrentSpeeds() {
return Optional.ofNullable(currentSpeeds);
public Optional<ShooterSpeeds> getTargetSpeeds() {
return Optional.ofNullable(targetSpeeds);
}
}