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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,41 @@ | ||
| // Copyright (c) FIRST and other WPILib contributors. | ||
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // the WPILib BSD license file in the root directory of this project. | ||
|
|
||
| package frc.robot.commands.Feeder; | ||
|
|
||
| import edu.wpi.first.wpilibj2.command.CommandBase; | ||
| import frc.robot.Constants; | ||
| import frc.robot.subsystems.Feeder; | ||
|
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| public class PrepareAmmo extends CommandBase { | ||
| Feeder m_feeder; | ||
| /** Creates a new PrepareAmmo. */ | ||
| public PrepareAmmo(Feeder feeder) { | ||
| // Use addRequirements() here to declare subsystem dependencies. | ||
| addRequirements(feeder); | ||
| m_feeder = feeder; | ||
| } | ||
|
|
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| // Called when the command is initially scheduled. | ||
| @Override | ||
| public void initialize() {} | ||
|
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| // Called every time the scheduler runs while the command is scheduled. | ||
| @Override | ||
| public void execute() { | ||
| m_feeder.enableFeeder(); | ||
| } | ||
|
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||
| // Called once the command ends or is interrupted. | ||
| @Override | ||
| public void end(boolean interrupted) { | ||
| m_feeder.disableFeeder(); | ||
| } | ||
|
|
||
| // Returns true when the command should end. | ||
| @Override | ||
| public boolean isFinished() { | ||
| return false; | ||
| } | ||
| } |
53 changes: 53 additions & 0 deletions
53
src/main/java/frc/robot/commands/Flywheel/CharacterizeFlywheel.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,53 @@ | ||
| // Copyright (c) FIRST and other WPILib contributors. | ||
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // the WPILib BSD license file in the root directory of this project. | ||
|
|
||
| package frc.robot.commands.Flywheel; | ||
|
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| import edu.wpi.first.wpilibj2.command.CommandBase; | ||
| import frc.robot.subsystems.Flywheel; | ||
|
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| public class CharacterizeFlywheel extends CommandBase { | ||
| Flywheel m_flywheel; | ||
| double m_voltage; | ||
| double m_pastVelocity; | ||
| /** Creates a new CharacterizeFlywheel. */ | ||
| public CharacterizeFlywheel(Flywheel flywheel) { | ||
| // Use addRequirements() here to declare subsystem dependencies. | ||
| addRequirements(flywheel); | ||
| m_flywheel = flywheel; | ||
| } | ||
|
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| // Called when the command is initially scheduled. | ||
| @Override | ||
| public void initialize() { | ||
| m_pastVelocity = 0; | ||
| } | ||
|
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| // Called every time the scheduler runs while the command is scheduled. | ||
| @Override | ||
| public void execute() { | ||
| m_flywheel.setVoltage(m_voltage); | ||
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| System.out.printf("%f", m_voltage); | ||
| System.out.print(","); | ||
| System.out.printf("%f", m_flywheel.getVelocity()); | ||
| System.out.print(","); | ||
| System.out.printf("%f", (m_flywheel.getVelocity() - m_pastVelocity) / (20.0 / 1000.0) /* deltatime */); | ||
| System.out.println(); | ||
| m_voltage += 0.01; | ||
| m_pastVelocity = m_flywheel.getVelocity(); | ||
| } | ||
|
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| // Called once the command ends or is interrupted. | ||
| @Override | ||
| public void end(boolean interrupted) { | ||
| m_flywheel.setVoltage(0); | ||
| } | ||
|
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| // Returns true when the command should end. | ||
| @Override | ||
| public boolean isFinished() { | ||
| return m_voltage >= 12; | ||
| } | ||
| } |
41 changes: 41 additions & 0 deletions
41
src/main/java/frc/robot/commands/Flywheel/FlywheelToSpeed.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,41 @@ | ||
| // Copyright (c) FIRST and other WPILib contributors. | ||
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // the WPILib BSD license file in the root directory of this project. | ||
|
|
||
| package frc.robot.commands.Flywheel; | ||
|
|
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| import edu.wpi.first.wpilibj2.command.CommandBase; | ||
| import frc.robot.subsystems.Flywheel; | ||
|
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| public class FlywheelToSpeed extends CommandBase { | ||
| Flywheel m_flywheel; | ||
| double m_speed; | ||
| /** Creates a new FlywheelToSpeed. */ | ||
| public FlywheelToSpeed(Flywheel flywheel,double speed) { | ||
| // Use addRequirements() here to declare subsystem dependencies. | ||
| addRequirements(flywheel); | ||
| m_flywheel = flywheel; | ||
| m_speed = speed; | ||
| } | ||
|
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| // Called when the command is initially scheduled. | ||
| @Override | ||
| public void initialize() {} | ||
|
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| // Called every time the scheduler runs while the command is scheduled. | ||
| @Override | ||
| public void execute() { | ||
| m_flywheel.setVelocity(m_speed); | ||
| //System.out.println(m_flywheel.getVelocity()); | ||
| } | ||
|
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| // Called once the command ends or is interrupted. | ||
| @Override | ||
| public void end(boolean interrupted) {} | ||
|
|
||
| // Returns true when the command should end. | ||
| @Override | ||
| public boolean isFinished() { | ||
| return false; | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,43 @@ | ||
| // Copyright (c) FIRST and other WPILib contributors. | ||
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // the WPILib BSD license file in the root directory of this project. | ||
|
|
||
| package frc.robot.subsystems; | ||
|
|
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| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
| import frc.robot.Constants; | ||
| import frc.robot.Utility.Motor; | ||
| import frc.robot.Utility.Motor.ControlMode; | ||
| import frc.robot.Utility.Motor.MotorType; | ||
|
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| public class Feeder extends SubsystemBase { | ||
| private Motor m_kicker = new Motor(Constants.KICKER, MotorType.CANSparkMax); | ||
| private Motor m_feeder = new Motor(Constants.FEEDER, MotorType.CANSparkMax); | ||
|
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| /** Creates a new Feeder. */ | ||
| public Feeder() { | ||
| m_kicker.enableBrakeMode(true); | ||
| m_feeder.enableBrakeMode(true); | ||
| } | ||
|
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| @Override | ||
| public void periodic() { | ||
| // This method will be called once per scheduler run | ||
| } | ||
|
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| public void enableKicker(){ | ||
| m_kicker.set(ControlMode.PercentOutput, 1); | ||
| } | ||
|
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| public void disableKicker(){ | ||
| m_kicker.set(ControlMode.PercentOutput, 0); | ||
| } | ||
|
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| public void enableFeeder(){ | ||
| m_feeder.set(ControlMode.PercentOutput, 1); | ||
| } | ||
|
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| public void disableFeeder(){ | ||
| m_feeder.set(ControlMode.PercentOutput, 0); | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,41 @@ | ||
| // Copyright (c) FIRST and other WPILib contributors. | ||
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // the WPILib BSD license file in the root directory of this project. | ||
|
|
||
| package frc.robot.subsystems; | ||
|
|
||
| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
| import frc.robot.Constants; | ||
| import frc.robot.Utility.Motor; | ||
| import frc.robot.Utility.Motor.ControlMode; | ||
| import frc.robot.Utility.Motor.MotorType; | ||
|
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| public class Flywheel extends SubsystemBase { | ||
| private Motor m_left = new Motor(Constants.FLYWHEEL_LEFT, MotorType.TalonFX); | ||
| private Motor m_right = new Motor(Constants.FLYWHEEL_RIGHT, MotorType.TalonFX); | ||
|
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| /** Creates a new Flywheel. */ | ||
| public Flywheel() { | ||
| m_left.enableBrakeMode(false); | ||
| m_right.enableBrakeMode(false); | ||
| m_right.follow(m_left, true); | ||
| m_left.configFeedforward(0.606918644699, 0.10519315078, -0.0000948594470576); | ||
| } | ||
|
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| @Override | ||
| public void periodic() { | ||
| // This method will be called once per scheduler run | ||
| } | ||
|
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| public void setVoltage(double voltage){ | ||
| m_left.set(ControlMode.Voltage, voltage); | ||
| } | ||
|
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| public void setVelocity(double velocity){ | ||
| m_left.set(ControlMode.Velocity, velocity); | ||
| } | ||
|
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| public double getVelocity(){ | ||
| return m_left.getVelocity(); | ||
| } | ||
| } |