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Full functional #138

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merged 11 commits into from
May 11, 2024
Merged

Full functional #138

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de1116c
fixed switch ports
Alenguye582 May 4, 2024
1526243
Update entrance wheel to be CANSparkMax
ACat701 May 11, 2024
960f5ff
Fix turret unit conversion and update soft limits
ACat701 May 11, 2024
676fe49
Fix hood units
ACat701 May 11, 2024
4466191
Merge branch 'fixing-things' of https://github.com/FRCTeam3255/2022_O…
ACat701 May 11, 2024
20369f8
Transfer switches use constants for determining inversion
ACat701 May 11, 2024
f8fa614
The rotation was inverted but instead of solving the problem i just p…
ACat701 May 11, 2024
569c683
Discard functionality w/o Pneumatics (Rollers spin backwards)
ACat701 May 11, 2024
a207ac0
Debugging hood (it no work :( )
ACat701 May 11, 2024
9887999
got rid of setGoalSpeed and just made a setSpeed function
Alenguye582 May 11, 2024
5e83b22
the manual hood works :D
Alenguye582 May 11, 2024
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4 changes: 3 additions & 1 deletion src/main/java/frc/robot/Constants.java
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Expand Up @@ -169,9 +169,11 @@ public static final class constShooter {
}

public static final class constTransfer {

public static final boolean ENTRANCE_WHEEL_INVERTED = true;

public static final boolean BOTTOM_LIMIT_SWITCH_INVERT = true;
public static final boolean TOP_LIMIT_SWITCH_INVERT = true;

}

public static final class constTurret {
Expand Down
3 changes: 3 additions & 0 deletions src/main/java/frc/robot/Robot.java
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Expand Up @@ -6,6 +6,7 @@

import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import edu.wpi.first.cameraserver.CameraServer;
Expand Down Expand Up @@ -60,6 +61,8 @@ public void robotPeriodic() {
// robot's periodic
// block in order for anything in the Command-based framework to work.
CommandScheduler.getInstance().run();

SmartDashboard.putString("Cargo State", RobotContainer.cargoState.toString());
}

/** This function is called once each time the robot enters Disabled mode. */
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22 changes: 16 additions & 6 deletions src/main/java/frc/robot/RobotContainer.java
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Expand Up @@ -70,7 +70,7 @@ public RobotContainer() {
subDrivetrain.setDefaultCommand(
new RunCommand(
() -> subDrivetrain.arcadeDrive(
driveSlewRateLimiter.calculate(conDriver.getArcadeMove()), conDriver.getArcadeRotate()),
driveSlewRateLimiter.calculate(conDriver.getArcadeMove()), -conDriver.getArcadeRotate()),
subDrivetrain));

subClimber.setDefaultCommand(comMoveClimber);
Expand Down Expand Up @@ -123,7 +123,7 @@ private void configureButtonBindings() {
conOperator.btn_RTrig
.whileTrue(comShootCargo);

conOperator.btn_RBump.onTrue(new RunCommand(() -> subShooter.setMotorSpeedToGoalSpeed(), subShooter));
conOperator.btn_RBump.onTrue(new RunCommand(() -> subShooter.setMotorSpeed(1), subShooter));
conOperator.btn_Start.onTrue(new InstantCommand(() -> subShooter.neutralOutput(), subShooter));

// Turret
Expand All @@ -133,22 +133,32 @@ private void configureButtonBindings() {
conOperator.btn_RStick
.onTrue(Commands.runOnce(() -> subTurret.setAngle(prefTurret.turretFacingAwayFromIntakeDegrees)));

// Intake
// Hood
conOperator.btn_A.whileTrue(Commands.runOnce(() -> subHood.setSpeed(0.15)))
.onFalse(Commands.runOnce(() -> subHood.setSpeed(0)))
.onFalse(Commands.runOnce(() -> subHood.setAngle(subHood.getAngleDegrees())));
conOperator.btn_Y.whileTrue(Commands.runOnce(() -> subHood.setSpeed(-0.15)))
.onFalse(Commands.runOnce(() -> subHood.setSpeed(0)))
.onFalse(Commands.runOnce(() -> subHood.setAngle(subHood.getAngleDegrees())));

// Intake
conOperator.btn_LTrig.whileTrue(comCollectCargo);
conOperator.btn_B.whileTrue(comDiscardCargo);

// Presets
conOperator.POV_North
.onTrue(Commands.runOnce(() -> subShooter.setGoalSpeed(prefPreset.presetFenderShooterSpeed)))
// .onTrue(Commands.runOnce(() ->
// subShooter.setGoalSpeed(prefPreset.presetFenderShooterSpeed)))
.onTrue(Commands.runOnce(() -> subHood.setAngle(prefPreset.presetFenderHoodDegrees)));

conOperator.POV_South
.onTrue(Commands.runOnce(() -> subShooter.setGoalSpeed(prefPreset.presetLaunchpadShooterSpeed)))
// .onTrue(Commands.runOnce(() ->
// subShooter.setGoalSpeed(prefPreset.presetLaunchpadShooterSpeed)))
.onTrue(Commands.runOnce(() -> subHood.setAngle(prefPreset.presetLaunchpadHoodDegrees)));

conOperator.POV_West
.onTrue(Commands.runOnce(() -> subShooter.setGoalSpeed(prefPreset.presetTarmacShooterSpeed)))
// .onTrue(Commands.runOnce(() ->
// subShooter.setGoalSpeed(prefPreset.presetTarmacShooterSpeed)))
.onTrue(Commands.runOnce(() -> subHood.setAngle(prefPreset.presetTarmacHoodDegrees)));
Comment on lines 149 to 162
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Remove hood presets in another PR

}

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12 changes: 5 additions & 7 deletions src/main/java/frc/robot/RobotMap.java
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Expand Up @@ -10,8 +10,8 @@ public static final class mapClimber {

public static final int CLIMBER_MOTOR_CAN = 10;
public static final int CLIMBER_MINIMUM_SWITCH_DIO = 6;
public static final int CLIMBER_MAXIMUM_SWITCH_DIO = 0;

public static final int CLIMBER_MAXIMUM_SWITCH_DIO = 9;
// TODO: Physically Plug in Climber Limit Switch
}

public static final class mapControllers {
Expand All @@ -34,7 +34,7 @@ public static final class mapHood {

public static final int HOOD_MOTOR_CAN = 25;

public static final int HOOD_BOTTOM_SWITCH_DIO = 5;
public static final int HOOD_BOTTOM_SWITCH_DIO = 1;

}

Expand All @@ -57,10 +57,8 @@ public static final class mapTransfer {
public static final int BOTTOM_MOTOR_CAN = 51;
public static final int TOP_MOTOR_CAN = 52;

public static final int TOP_LEFT_SWITCH_DIO = 4;
public static final int TOP_RIGHT_SWITCH_DIO = 1;
public static final int BOTTOM_RIGHT_SWITCH_DIO = 2;
public static final int BOTTOM_LEFT_SWITCH_DIO = 3;
public static final int TOP_SWITCH_DIO = 2;
public static final int BOTTOM_SWITCH_DIO = 0;

}

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41 changes: 12 additions & 29 deletions src/main/java/frc/robot/RobotPreferences.java
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Expand Up @@ -73,19 +73,10 @@ public static final class prefDrivetrain {
}

public static final class prefHood {

public static final SN_DoublePreference hoodArbitraryFeedForward = new SN_DoublePreference(
"hoodArbitraryFeedForward", 0.040078);

public static final SN_DoublePreference hoodP = new SN_DoublePreference("hoodP", 0.09);
public static final SN_DoublePreference hoodP = new SN_DoublePreference("hoodP", 0.05);
public static final SN_DoublePreference hoodI = new SN_DoublePreference("hoodI", 0);
public static final SN_DoublePreference hoodD = new SN_DoublePreference("hoodD", 0);

public static final SN_DoublePreference hoodAllowableClosedLoopErrorDegrees = new SN_DoublePreference(
"hoodAllowableClosedLoopErrorDegrees", 0.0001);
public static final SN_DoublePreference hoodClosedLoopPeakOutput = new SN_DoublePreference(
"hoodClosedLoopPeakOutput", .25);

public static final SN_DoublePreference hoodMinDegrees = new SN_DoublePreference("hoodMinDegrees", 4.89);
public static final SN_DoublePreference hoodMaxDegrees = new SN_DoublePreference("hoodMaxDegrees", 37);

Expand All @@ -94,9 +85,8 @@ public static final class prefHood {
}

public static final class prefIntake {

public static final SN_DoublePreference intakeRollerSpeed = new SN_DoublePreference("intakeRollerSpeed", 0.8);

public static final SN_DoublePreference intakeSpitSpeed = new SN_DoublePreference("intakeSpitSpeed", -0.8);
}

public static final class prefPreset {
Expand All @@ -119,17 +109,10 @@ public static final class prefPreset {
}

public static final class prefShooter {

public static final SN_DoublePreference shooterF = new SN_DoublePreference("shooterF", 0.04609);
public static final SN_DoublePreference shooterP = new SN_DoublePreference("shooterP", 0.21);
public static final SN_DoublePreference shooterI = new SN_DoublePreference("shooterI", 0.006);
public static final SN_DoublePreference shooterD = new SN_DoublePreference("shooterD", 10);

public static final SN_DoublePreference shooterIZone = new SN_DoublePreference("shooterIZone", 200);

public static final SN_DoublePreference shooterClosedLoopRamp = new SN_DoublePreference(
"shooterClosedLoopRamp", 0.2);

public static final SN_DoublePreference shooterF = new SN_DoublePreference("shooterF", 0);
public static final SN_DoublePreference shooterP = new SN_DoublePreference("shooterP", 1);
public static final SN_DoublePreference shooterI = new SN_DoublePreference("shooterI", 0);
public static final SN_DoublePreference shooterD = new SN_DoublePreference("shooterD", 0);
Comment on lines +112 to +115
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Are these being used anywhere?

}

public static final class prefTransfer {
Expand All @@ -142,17 +125,16 @@ public static final class prefTransfer {
"transferBeltSpeed", 0.5);
public static final SN_DoublePreference transferBeltReverseSpeed = new SN_DoublePreference(
"transferBeltReverseSpeed", -0.5);

}

public static final class prefTurret {

public static final SN_DoublePreference turretArbitraryFeedForward = new SN_DoublePreference(
"turretArbitraryFeedForward", 0.01);

public static final SN_DoublePreference turretP = new SN_DoublePreference("turretP", 0.2);
public static final SN_DoublePreference turretP = new SN_DoublePreference("turretP", 1);
public static final SN_DoublePreference turretI = new SN_DoublePreference("turretI", 0);
public static final SN_DoublePreference turretD = new SN_DoublePreference("turretD", 3.4);
public static final SN_DoublePreference turretD = new SN_DoublePreference("turretD", 0);

public static final SN_DoublePreference turretAllowableClosedloopErrorDegrees = new SN_DoublePreference(
"turretAllowableClosedloopErrorDegrees", 0.5);
Expand All @@ -161,15 +143,16 @@ public static final class prefTurret {

public static final SN_DoublePreference turretOpenLoopSpeed = new SN_DoublePreference("turretOpenLoopSpeed",
0.3);
public static final SN_DoublePreference turretMinDegrees = new SN_DoublePreference("turretMinDegrees", -270);
public static final SN_DoublePreference turretMaxDegrees = new SN_DoublePreference("turretMaxDegrees", 110);
public static final SN_DoublePreference turretMinDegrees = new SN_DoublePreference("turretMinDegrees", 0);
public static final SN_DoublePreference turretMaxDegrees = new SN_DoublePreference("turretMaxDegrees", 360);
public static final SN_DoublePreference turretFacingTowardsIntakeDegrees = new SN_DoublePreference(
"turretFacingTowardsIntakeDegrees", -90);
"turretFacingTowardsIntakeDegrees", 270);
public static final SN_DoublePreference turretFacingAwayFromIntakeDegrees = new SN_DoublePreference(
"turretFacingAwayFromIntakeDegrees", 90);

public static final SN_DoublePreference turretClimberThreshold = new SN_DoublePreference(
"turretClimberThreshold", -269);
// TODO: Update if we want climber functionality

public static final SN_DoublePreference turretDeadzoneSmall = new SN_DoublePreference("turretDeadzoneMin", -205);
public static final SN_DoublePreference turretDeadzoneLarge = new SN_DoublePreference("turretDeadzoneMax", 25);
Expand Down
6 changes: 1 addition & 5 deletions src/main/java/frc/robot/commands/Cargo/CollectCargo.java
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Expand Up @@ -92,13 +92,9 @@ public void execute() {
subTransfer.setEntranceWheelSpeed(outputEntrance);
subTransfer.setBottomBeltSpeed(outputBottom);
subTransfer.setTopBeltSpeed(outputTop);

subIntake.setRollerSpeed(outputIntake);
}

// intake doesn't affect other commands so it gets set regardless of this
// command taking precedence
subIntake.setRollerSpeed(outputIntake);

}

@Override
Expand Down
4 changes: 3 additions & 1 deletion src/main/java/frc/robot/commands/Cargo/DiscardCargo.java
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Expand Up @@ -8,6 +8,7 @@
import frc.robot.RobotContainer;
import frc.robot.RobotPreferences;
import frc.robot.Constants.CargoState;
import frc.robot.RobotPreferences.prefIntake;
import frc.robot.RobotPreferences.prefTransfer;
import frc.robot.subsystems.Intake;
import frc.robot.subsystems.Transfer;
Expand Down Expand Up @@ -60,12 +61,13 @@ public void execute() {
subTransfer.setTopBeltSpeed(prefTransfer.transferBeltReverseSpeed);
subTransfer.setBottomBeltSpeed(prefTransfer.transferBeltReverseSpeed);
subTransfer.setEntranceWheelSpeed(prefTransfer.transferEntranceReverseSpeed);

subIntake.setRollerSpeed(prefIntake.intakeSpitSpeed);
}
}

@Override
public void end(boolean interrupted) {
subIntake.setRollerSpeed(RobotPreferences.zeroDoublePref);

if (precedence) {

Expand Down
4 changes: 3 additions & 1 deletion src/main/java/frc/robot/subsystems/Climber.java
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Expand Up @@ -52,7 +52,9 @@ public void setClimberSpeed(double speed) {
if ((isMinSwitch() && speed < 0) || (isMaxSwitch() && speed > 0)) {
speed = 0;
}
climberMotor.set(speed);
// climberMotor.set(speed);
// TODO: Climber Functionality
climberMotor.set(0);
}

public double getClimberEncoderCounts() {
Expand Down
1 change: 0 additions & 1 deletion src/main/java/frc/robot/subsystems/Drivetrain.java
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Expand Up @@ -223,7 +223,6 @@ public void periodic() {
SmartDashboard.putNumber("Drivetrain Right Meters", getRightMeters());

SmartDashboard.putNumber("Drivetrain Heading Degrees", navx.getRotation2d().getDegrees());

}
}
}
28 changes: 19 additions & 9 deletions src/main/java/frc/robot/subsystems/Hood.java
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Expand Up @@ -27,8 +27,9 @@ public class Hood extends SubsystemBase {

boolean displayOnDashboard;

public Hood() {
double desiredAngle;

public Hood() {
hoodMotor = new CANSparkMax(mapHood.HOOD_MOTOR_CAN, MotorType.kBrushless);
bottomSwitch = new DigitalInput(mapHood.HOOD_BOTTOM_SWITCH_DIO);
hoodPIDController = hoodMotor.getPIDController();
Expand All @@ -48,19 +49,21 @@ public void configure() {
hoodMotor.setInverted(constHood.INVERTED);
hoodMotor.setIdleMode(IdleMode.kBrake);

hoodMotor.getEncoder().setPositionConversionFactor(360 / constHood.GEAR_RATIO);

hoodMotor.enableSoftLimit(SoftLimitDirection.kForward, true);
hoodMotor.setSoftLimit(SoftLimitDirection.kForward,
(float) ((prefHood.hoodMaxDegrees.getValue() / 360) * constHood.GEAR_RATIO));
(float) prefHood.hoodMaxDegrees.getValue());

hoodMotor.enableSoftLimit(SoftLimitDirection.kReverse, true);
hoodMotor.setSoftLimit(SoftLimitDirection.kReverse,
(float) ((prefHood.hoodMinDegrees.getValue() / 360) * constHood.GEAR_RATIO));
(float) prefHood.hoodMinDegrees.getValue());

resetAngleToBottom();
}

public double getAngleDegrees() {
return (hoodMotor.getEncoder().getPosition()) * 360;
return (hoodMotor.getEncoder().getPosition());
}

public double getRawAngle() {
Expand All @@ -70,20 +73,24 @@ public double getRawAngle() {
public void setAngle(double a_degrees) {

double degrees = MathUtil.clamp(a_degrees, prefHood.hoodMinDegrees.getValue(), prefHood.hoodMaxDegrees.getValue());

hoodPIDController.setReference((degrees / 360), CANSparkMax.ControlType.kPosition);
desiredAngle = degrees;
hoodPIDController.setReference(degrees, CANSparkMax.ControlType.kPosition);
}

public void setAngle(SN_DoublePreference degrees) {
setAngle(degrees.getValue());
}

public void setSpeed(double speed) {
hoodMotor.set(speed);
}

public boolean isBottomSwitch() {
return !bottomSwitch.get();
}

public void resetAngleToBottom() {
hoodMotor.getEncoder().setPosition((prefHood.hoodMinDegrees.getValue()) / 360);
hoodMotor.getEncoder().setPosition(prefHood.hoodMinDegrees.getValue());
}

public void neutralOutput() {
Expand All @@ -104,8 +111,11 @@ public void periodic() {
if (displayOnDashboard) {

SmartDashboard.putNumber("Hood Angle Degrees", getAngleDegrees());
SmartDashboard.putNumber("Hood Raw Angle", getRawAngle());
SmartDashboard.putBoolean("Hood Is Bottom Switch", isBottomSwitch());

// SmartDashboard.putNumber("Hood Desired Angle Degrees", desiredAngle);

// SmartDashboard.putNumber("Hood Raw Angle", getRawAngle());
// SmartDashboard.putBoolean("Hood Is Bottom Switch", isBottomSwitch());

}

Expand Down
8 changes: 4 additions & 4 deletions src/main/java/frc/robot/subsystems/Intake.java
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Expand Up @@ -16,8 +16,8 @@
public class Intake extends SubsystemBase {

TalonSRX roller;

boolean displayOnDashboard;
double desiredPercentOutput = 0;

public Intake() {

Expand All @@ -32,10 +32,10 @@ public void configure() {
roller.configFactoryDefault();

roller.setInverted(constIntake.ROLLER_INVERTED);

}

public void setRollerSpeed(SN_DoublePreference speed) {
desiredPercentOutput = speed.getValue();
roller.set(ControlMode.PercentOutput, speed.getValue());
}

Expand All @@ -49,10 +49,10 @@ public void hideValuesOnDashboard() {

@Override
public void periodic() {

if (displayOnDashboard) {

SmartDashboard.putNumber("Intake Roller Percent Output", roller.getMotorOutputPercent());
SmartDashboard.putNumber("Intake Roller Desired Percent Output", desiredPercentOutput);

}

}
Expand Down
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