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Feature/arm 2024 #7

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Feature/arm 2024 #7

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29607bf
Starting out
GaiaZano05 Dec 8, 2023
3391e5f
Changing name
GaiaZano05 Dec 8, 2023
3b19694
Change Name
GaiaZano05 Dec 13, 2023
893d53b
Katzuv don't be mad....
GaiaZano05 Dec 15, 2023
693a41f
Changing to armLoggedInputs
GaiaZano05 Dec 15, 2023
71c1971
Change to ArmLoggedInputs
GaiaZano05 Dec 15, 2023
edcb9a8
delete AutoLog
GaiaZano05 Dec 15, 2023
7f455bf
Add ArmLoggedInputs
GaiaZano05 Dec 15, 2023
8e12c73
Add currentLimit
GaiaZano05 Dec 15, 2023
700f911
Use ArmInputsLogged
GaiaZano05 Dec 15, 2023
3ead9e7
Fixing inputs
GaiaZano05 Dec 15, 2023
38d3357
ArmIOReal
GaiaZano05 Dec 15, 2023
a0e58c8
Changing functions to work with phoenix6
GaiaZano05 Dec 15, 2023
b51421d
Adding IO func
GaiaZano05 Dec 15, 2023
76c0dde
Change ArmLoggedInputs to ArmInputs
GaiaZano05 Dec 17, 2023
7da4eee
Adding configurations to Constants
GaiaZano05 Dec 17, 2023
30b28f2
Change name of inputs class
GaiaZano05 Dec 17, 2023
19dbdff
Add variable to ArmIO
GaiaZano05 Dec 17, 2023
4d60400
Delete some configurations and add to Constants
GaiaZano05 Dec 17, 2023
9dc2d35
Katsuv Fixes
GaiaZano05 Dec 19, 2023
f06bf8d
Starting fixes
GaiaZano05 Dec 22, 2023
0f4c619
dont touch my sphaget
GaiaZano05 Dec 27, 2023
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20 changes: 7 additions & 13 deletions src/main/java/frc/robot/subsystems/arm/ArmIOReal.java
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Original file line number Diff line number Diff line change
@@ -1,9 +1,6 @@
package frc.robot.subsystems.arm;


import com.ctre.phoenix6.configs.Slot0Configs;
import com.ctre.phoenix6.configs.Slot1Configs;
import com.ctre.phoenix6.configs.TalonFXConfiguration;
import com.ctre.phoenix6.controls.*;
import com.ctre.phoenix6.hardware.TalonFX;
import com.ctre.phoenix6.signals.NeutralModeValue;
Expand Down Expand Up @@ -45,9 +42,7 @@ public class ArmIOReal implements ArmIO {
private ControlRequest motorControlRequest = null;




ArmIOReal() {
public ArmIOReal() {

this.shoulderEncoder = new DutyCycleEncoder(Ports.ArmPorts.SHOULDER_ENCODER);
this.elbowEncoder = new DutyCycleEncoder(Ports.ArmPorts.ELBOW_ENCODER);
Expand All @@ -61,7 +56,6 @@ public class ArmIOReal implements ArmIO {
this.elbowAuxMotor = new TalonFX(Ports.ArmPorts.ELBOW_AUX_MOTOR);



shoulderAuxMotor.setControl(new StrictFollower(shoulderMainMotor.getDeviceID()));
elbowAuxMotor.setControl(new StrictFollower(elbowMainMotor.getDeviceID()));

Expand Down Expand Up @@ -199,7 +193,7 @@ private void setElbowJointAngle(double angle, double ffMultiplier, int velocity)
public Translation2d getEndPosition() {
Rotation2d shoulderAngle = getShoulderJointAngle();
Rotation2d elbowAngle = getElbowJointAngle();
return kinematics.forwardKinematics(shoulderAngle.getRadians(),shoulderAngle.getRadians() + elbowAngle.getRadians() - Math.PI);
return kinematics.forwardKinematics(shoulderAngle.getRadians(), shoulderAngle.getRadians() + elbowAngle.getRadians() - Math.PI);
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Kinematics should work with Rotation2d too.

}

/**
Expand Down Expand Up @@ -234,7 +228,7 @@ public double getShoulderMotorVelocity() {

public void setFinalSetpointAngles(Translation2d position, ArmInputs inputs) {
var solution = kinematics.inverseKinematics(position);
inputs.finalSetpointAngles = new Translation2d( Math.toDegrees(solution.shoulderAngle), Math.toDegrees(solution.elbowAngle));
inputs.finalSetpointAngles = new Translation2d(Math.toDegrees(solution.shoulderAngle), Math.toDegrees(solution.elbowAngle));
}

/**
Expand All @@ -255,10 +249,10 @@ public void resetArmEncoders() {

public Translation2d getElbowJointPosition() {
Rotation2d shoulderAngle = getShoulderJointAngle();
return new Translation2d(
SHOULDER_ARM_LENGTH,
shoulderAngle
);
return new Translation2d(
SHOULDER_ARM_LENGTH,
shoulderAngle
);
}

public boolean armIsOutOfFrame() {
Expand Down
3 changes: 2 additions & 1 deletion src/main/java/frc/robot/subsystems/arm/ArmInputs.java
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I would say to put this class in the io interface, but this is enormous, so I get it.

Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,7 @@

import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import org.littletonrobotics.junction.AutoLog;
import org.littletonrobotics.junction.LogTable;
import org.littletonrobotics.junction.inputs.LoggableInputs;

Expand Down Expand Up @@ -44,7 +45,7 @@ public class ArmInputs implements LoggableInputs {
ArmIO.ControlMode elbowControlMode;


@Override

public void toLog(LogTable table) {
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In your case you can remove toLog and fromLog and just use @AutoLog.

table.put("shoulderAngle", shoulderAngle);
table.put("elbowAngle", elbowAngle);
Expand Down