From 17ce243b5368d8927f0e44c1a7a627e7aab6d6c0 Mon Sep 17 00:00:00 2001 From: ColinH0 <119466406+ColinH0@users.noreply.github.com> Date: Thu, 12 Sep 2024 17:26:32 -0400 Subject: [PATCH 01/37] Shooter code (Elsa wrote) --- .../frc/robot/subsystems/shooter/Shooter.java | 26 ++++++++++++ .../robot/subsystems/shooter/ShooterIO.java | 20 +++++++++ .../subsystems/shooter/ShooterIOReal.java | 42 +++++++++++++++++++ .../subsystems/shooter/ShooterIOSim.java | 3 ++ 4 files changed, 91 insertions(+) create mode 100644 src/main/java/frc/robot/subsystems/shooter/Shooter.java create mode 100644 src/main/java/frc/robot/subsystems/shooter/ShooterIO.java create mode 100644 src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java create mode 100644 src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java new file mode 100644 index 0000000..3d07c42 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java @@ -0,0 +1,26 @@ +package frc.robot.subsystems.shooter; + +import edu.wpi.first.wpilibj2.command.SubsystemBase; + +public class Shooter extends SubsystemBase { + private ShooterIO io; + private ShooterIOInputsAutoLogged inputs = new ShooterIOInputsAutoLogged(); + + private static Shooter instance; + + public static Shooter getInstance() { + return instance; + } + + public static Shooter initialize(ShooterIO io) { + if (instance == null) { + instance = new Shooter(io); + } + return instance; + } + + private Shooter(ShooterIO shooterIO) { + io = shooterIO; + io.updateInputs(inputs); + } +} diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java new file mode 100644 index 0000000..1f7e6d1 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java @@ -0,0 +1,20 @@ +package frc.robot.subsystems.shooter; + +import org.littletonrobotics.junction.AutoLog; + +import frc.robot.subsystems.shooter.ShooterIO.ShooterIOInputs; + +public interface ShooterIO { + @AutoLog + public static class ShooterIOInputs{ + public double leftMotorVelocity = 0.0; + public double rightMotorVelocity = 0.0; + } + + public default void spinForwards() {} + + public default void spinBackwards() {} + + public default void updateInputs(ShooterIOInputs inputs) {} + +} diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java new file mode 100644 index 0000000..9c20730 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java @@ -0,0 +1,42 @@ +package frc.robot.subsystems.shooter; + +import com.revrobotics.CANSparkFlex; +import com.revrobotics.CANSparkLowLevel.MotorType; +import com.revrobotics.RelativeEncoder; + +public class ShooterIOReal implements ShooterIO { + private CANSparkFlex leftShooterMotor = new CANSparkFlex(0, MotorType.kBrushless); // Can IDs not accurate + private CANSparkFlex rightShooterMotor = new CANSparkFlex(1, MotorType.kBrushless); // Can IDs not accurate + private RelativeEncoder leftShooterEncoder = leftShooterMotor.getEncoder(); + private RelativeEncoder rightShooterEncoder = rightShooterMotor.getEncoder(); + + + public ShooterIOReal() { + rightShooterMotor.follow(leftShooterMotor, true); + + rightShooterMotor.burnFlash(); + leftShooterMotor.burnFlash(); + } + + public void spinForwards() { + leftShooterMotor.set(1.0); + } + + public void spinBackwards() { + leftShooterMotor.set(-1.0); + } + + public double getLeftvelocity() { + return leftShooterEncoder.getVelocity(); + } + + public double getRightvelocity() { + return rightShooterEncoder.getVelocity(); + } + + @Override + public void updateInputs(ShooterIOInputs inputs) { + inputs.leftMotorVelocity = getLeftvelocity(); + inputs.rightMotorVelocity = getRightvelocity(); + } +} diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java new file mode 100644 index 0000000..fbd83f1 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java @@ -0,0 +1,3 @@ +package frc.robot.subsystems.shooter; + +public class ShooterIOSim {} From c91f4fb3ae4178983710cdc754302b30a3601227 Mon Sep 17 00:00:00 2001 From: ColinH0 <119466406+ColinH0@users.noreply.github.com> Date: Mon, 16 Sep 2024 17:12:50 -0400 Subject: [PATCH 02/37] Swerve things --- logs/Log_f14a7d8ba8a7048a.wpilog | Bin 0 -> 87 bytes networktables.json | 1 + src/main/java/frc/robot/Constants.java | 2 +- src/main/java/frc/robot/RobotContainer.java | 13 +- .../frc/robot/subsystems/drive/Drive.java | 18 ++ .../frc/robot/subsystems/drive/GyroIO.java | 2 + .../robot/subsystems/drive/GyroIOPigeon2.java | 5 + .../subsystems/drive/ModuleIOSparkMax.java | 11 +- .../subsystems/drive/ModuleIOTalonFX.java | 193 ------------------ .../frc/robot/subsystems/shooter/Shooter.java | 5 + .../robot/subsystems/shooter/ShooterIO.java | 20 +- .../subsystems/shooter/ShooterIOReal.java | 71 ++++--- 12 files changed, 92 insertions(+), 249 deletions(-) create mode 100644 logs/Log_f14a7d8ba8a7048a.wpilog create mode 100644 networktables.json delete mode 100644 src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java diff --git a/logs/Log_f14a7d8ba8a7048a.wpilog b/logs/Log_f14a7d8ba8a7048a.wpilog new file mode 100644 index 0000000000000000000000000000000000000000..95b798aa9855e7f451bf8681f33243dbaeb1ccb0 GIT binary patch literal 87 zcmWF!@bvL_XJF)EU|?`eDND>NNlZ`m&MZ-2u#~iCXJ7;ha{;k_NM>$oaY -controller.getLeftX(), () -> -controller.getRightX())); controller.x().onTrue(Commands.runOnce(drive::stopWithX, drive)); + controller .b() .onTrue( @@ -160,11 +161,13 @@ private void configureButtonBindings() { new Pose2d(drive.getPose().getTranslation(), new Rotation2d())), drive) .ignoringDisable(true)); - controller - .a() - .whileTrue( - Commands.startEnd( - () -> flywheel.runVelocity(flywheelSpeedInput.get()), flywheel::stop, flywheel)); + // controller + // .a() + // .whileTrue( + // Commands.startEnd( + // () -> flywheel.runVelocity(flywheelSpeedInput.get()), flywheel::stop, flywheel)); + + controller.a().whileTrue(Commands.runOnce(() -> drive.zeroHeading(), drive)); } /** diff --git a/src/main/java/frc/robot/subsystems/drive/Drive.java b/src/main/java/frc/robot/subsystems/drive/Drive.java index 7d5474e..df5ee35 100644 --- a/src/main/java/frc/robot/subsystems/drive/Drive.java +++ b/src/main/java/frc/robot/subsystems/drive/Drive.java @@ -35,6 +35,8 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine; +import frc.robot.Constants; +import frc.robot.Constants.Mode; import frc.robot.util.LocalADStarAK; import org.littletonrobotics.junction.AutoLogOutput; import org.littletonrobotics.junction.Logger; @@ -203,6 +205,22 @@ public void stopWithX() { stop(); } + public void zeroHeading() { + if (Constants.currentMode == Mode.SIM) { + poseEstimator.resetPosition( + new Rotation2d(), + new SwerveModulePosition[] { + modules[0].getPosition(), + modules[1].getPosition(), + modules[2].getPosition(), + modules[3].getPosition() + }, + getPose()); + } + + gyroIO.reset(); + } + /** Returns a command to run a quasistatic test in the specified direction. */ public Command sysIdQuasistatic(SysIdRoutine.Direction direction) { return sysId.quasistatic(direction); diff --git a/src/main/java/frc/robot/subsystems/drive/GyroIO.java b/src/main/java/frc/robot/subsystems/drive/GyroIO.java index 7926fd0..b3121eb 100644 --- a/src/main/java/frc/robot/subsystems/drive/GyroIO.java +++ b/src/main/java/frc/robot/subsystems/drive/GyroIO.java @@ -24,5 +24,7 @@ public static class GyroIOInputs { public double yawVelocityRadPerSec = 0.0; } + public default void reset() {} + public default void updateInputs(GyroIOInputs inputs) {} } diff --git a/src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java b/src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java index 4c5fc2d..bee36ec 100644 --- a/src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java +++ b/src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java @@ -35,6 +35,11 @@ public GyroIOPigeon2() { pigeon.optimizeBusUtilization(); } + @Override + public void reset() { + pigeon.reset(); + } + @Override public void updateInputs(GyroIOInputs inputs) { inputs.connected = BaseStatusSignal.refreshAll(yaw, yawVelocity).equals(StatusCode.OK); diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java index edb1f3d..8589858 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java @@ -14,6 +14,7 @@ package frc.robot.subsystems.drive; import com.revrobotics.CANSparkBase.IdleMode; +import com.revrobotics.CANSparkFlex; import com.revrobotics.CANSparkLowLevel.MotorType; import com.revrobotics.CANSparkMax; import com.revrobotics.RelativeEncoder; @@ -40,7 +41,7 @@ public class ModuleIOSparkMax implements ModuleIO { private static final double TURN_GEAR_RATIO = 150.0 / 7.0; private final CANSparkMax driveSparkMax; - private final CANSparkMax turnSparkMax; + private final CANSparkFlex turnSparkMax; private final RelativeEncoder driveEncoder; private final RelativeEncoder turnRelativeEncoder; @@ -53,25 +54,25 @@ public ModuleIOSparkMax(int index) { switch (index) { case 0: driveSparkMax = new CANSparkMax(1, MotorType.kBrushless); - turnSparkMax = new CANSparkMax(2, MotorType.kBrushless); + turnSparkMax = new CANSparkFlex(2, MotorType.kBrushless); turnAbsoluteEncoder = new AnalogInput(0); absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED break; case 1: driveSparkMax = new CANSparkMax(3, MotorType.kBrushless); - turnSparkMax = new CANSparkMax(4, MotorType.kBrushless); + turnSparkMax = new CANSparkFlex(4, MotorType.kBrushless); turnAbsoluteEncoder = new AnalogInput(1); absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED break; case 2: driveSparkMax = new CANSparkMax(5, MotorType.kBrushless); - turnSparkMax = new CANSparkMax(6, MotorType.kBrushless); + turnSparkMax = new CANSparkFlex(6, MotorType.kBrushless); turnAbsoluteEncoder = new AnalogInput(2); absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED break; case 3: driveSparkMax = new CANSparkMax(7, MotorType.kBrushless); - turnSparkMax = new CANSparkMax(8, MotorType.kBrushless); + turnSparkMax = new CANSparkFlex(8, MotorType.kBrushless); turnAbsoluteEncoder = new AnalogInput(3); absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED break; diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java deleted file mode 100644 index f92591b..0000000 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java +++ /dev/null @@ -1,193 +0,0 @@ -// Copyright 2021-2024 FRC 6328 -// http://github.com/Mechanical-Advantage -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. - -package frc.robot.subsystems.drive; - -import com.ctre.phoenix6.BaseStatusSignal; -import com.ctre.phoenix6.StatusSignal; -import com.ctre.phoenix6.configs.CANcoderConfiguration; -import com.ctre.phoenix6.configs.MotorOutputConfigs; -import com.ctre.phoenix6.configs.TalonFXConfiguration; -import com.ctre.phoenix6.controls.VoltageOut; -import com.ctre.phoenix6.hardware.CANcoder; -import com.ctre.phoenix6.hardware.TalonFX; -import com.ctre.phoenix6.signals.InvertedValue; -import com.ctre.phoenix6.signals.NeutralModeValue; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.util.Units; - -/** - * Module IO implementation for Talon FX drive motor controller, Talon FX turn motor controller, and - * CANcoder - * - *

NOTE: This implementation should be used as a starting point and adapted to different hardware - * configurations (e.g. If using an analog encoder, copy from "ModuleIOSparkMax") - * - *

To calibrate the absolute encoder offsets, point the modules straight (such that forward - * motion on the drive motor will propel the robot forward) and copy the reported values from the - * absolute encoders using AdvantageScope. These values are logged under - * "/Drive/ModuleX/TurnAbsolutePositionRad" - */ -public class ModuleIOTalonFX implements ModuleIO { - private final TalonFX driveTalon; - private final TalonFX turnTalon; - private final CANcoder cancoder; - - private final StatusSignal drivePosition; - private final StatusSignal driveVelocity; - private final StatusSignal driveAppliedVolts; - private final StatusSignal driveCurrent; - - private final StatusSignal turnAbsolutePosition; - private final StatusSignal turnPosition; - private final StatusSignal turnVelocity; - private final StatusSignal turnAppliedVolts; - private final StatusSignal turnCurrent; - - // Gear ratios for SDS MK4i L2, adjust as necessary - private final double DRIVE_GEAR_RATIO = (50.0 / 14.0) * (17.0 / 27.0) * (45.0 / 15.0); - private final double TURN_GEAR_RATIO = 150.0 / 7.0; - - private final boolean isTurnMotorInverted = true; - private final Rotation2d absoluteEncoderOffset; - - public ModuleIOTalonFX(int index) { - switch (index) { - case 0: - driveTalon = new TalonFX(0); - turnTalon = new TalonFX(1); - cancoder = new CANcoder(2); - absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED - break; - case 1: - driveTalon = new TalonFX(3); - turnTalon = new TalonFX(4); - cancoder = new CANcoder(5); - absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED - break; - case 2: - driveTalon = new TalonFX(6); - turnTalon = new TalonFX(7); - cancoder = new CANcoder(8); - absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED - break; - case 3: - driveTalon = new TalonFX(9); - turnTalon = new TalonFX(10); - cancoder = new CANcoder(11); - absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED - break; - default: - throw new RuntimeException("Invalid module index"); - } - - var driveConfig = new TalonFXConfiguration(); - driveConfig.CurrentLimits.SupplyCurrentLimit = 40.0; - driveConfig.CurrentLimits.SupplyCurrentLimitEnable = true; - driveTalon.getConfigurator().apply(driveConfig); - setDriveBrakeMode(true); - - var turnConfig = new TalonFXConfiguration(); - turnConfig.CurrentLimits.SupplyCurrentLimit = 30.0; - turnConfig.CurrentLimits.SupplyCurrentLimitEnable = true; - turnTalon.getConfigurator().apply(turnConfig); - setTurnBrakeMode(true); - - cancoder.getConfigurator().apply(new CANcoderConfiguration()); - - drivePosition = driveTalon.getPosition(); - driveVelocity = driveTalon.getVelocity(); - driveAppliedVolts = driveTalon.getMotorVoltage(); - driveCurrent = driveTalon.getSupplyCurrent(); - - turnAbsolutePosition = cancoder.getAbsolutePosition(); - turnPosition = turnTalon.getPosition(); - turnVelocity = turnTalon.getVelocity(); - turnAppliedVolts = turnTalon.getMotorVoltage(); - turnCurrent = turnTalon.getSupplyCurrent(); - - BaseStatusSignal.setUpdateFrequencyForAll( - 100.0, drivePosition, turnPosition); // Required for odometry, use faster rate - BaseStatusSignal.setUpdateFrequencyForAll( - 50.0, - driveVelocity, - driveAppliedVolts, - driveCurrent, - turnAbsolutePosition, - turnVelocity, - turnAppliedVolts, - turnCurrent); - driveTalon.optimizeBusUtilization(); - turnTalon.optimizeBusUtilization(); - } - - @Override - public void updateInputs(ModuleIOInputs inputs) { - BaseStatusSignal.refreshAll( - drivePosition, - driveVelocity, - driveAppliedVolts, - driveCurrent, - turnAbsolutePosition, - turnPosition, - turnVelocity, - turnAppliedVolts, - turnCurrent); - - inputs.drivePositionRad = - Units.rotationsToRadians(drivePosition.getValueAsDouble()) / DRIVE_GEAR_RATIO; - inputs.driveVelocityRadPerSec = - Units.rotationsToRadians(driveVelocity.getValueAsDouble()) / DRIVE_GEAR_RATIO; - inputs.driveAppliedVolts = driveAppliedVolts.getValueAsDouble(); - inputs.driveCurrentAmps = new double[] {driveCurrent.getValueAsDouble()}; - - inputs.turnAbsolutePosition = - Rotation2d.fromRotations(turnAbsolutePosition.getValueAsDouble()) - .minus(absoluteEncoderOffset); - inputs.turnPosition = - Rotation2d.fromRotations(turnPosition.getValueAsDouble() / TURN_GEAR_RATIO); - inputs.turnVelocityRadPerSec = - Units.rotationsToRadians(turnVelocity.getValueAsDouble()) / TURN_GEAR_RATIO; - inputs.turnAppliedVolts = turnAppliedVolts.getValueAsDouble(); - inputs.turnCurrentAmps = new double[] {turnCurrent.getValueAsDouble()}; - } - - @Override - public void setDriveVoltage(double volts) { - driveTalon.setControl(new VoltageOut(volts)); - } - - @Override - public void setTurnVoltage(double volts) { - turnTalon.setControl(new VoltageOut(volts)); - } - - @Override - public void setDriveBrakeMode(boolean enable) { - var config = new MotorOutputConfigs(); - config.Inverted = InvertedValue.CounterClockwise_Positive; - config.NeutralMode = enable ? NeutralModeValue.Brake : NeutralModeValue.Coast; - driveTalon.getConfigurator().apply(config); - } - - @Override - public void setTurnBrakeMode(boolean enable) { - var config = new MotorOutputConfigs(); - config.Inverted = - isTurnMotorInverted - ? InvertedValue.Clockwise_Positive - : InvertedValue.CounterClockwise_Positive; - config.NeutralMode = enable ? NeutralModeValue.Brake : NeutralModeValue.Coast; - turnTalon.getConfigurator().apply(config); - } -} diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java index 3d07c42..b05ab38 100644 --- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java +++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java @@ -23,4 +23,9 @@ private Shooter(ShooterIO shooterIO) { io = shooterIO; io.updateInputs(inputs); } + + @Override + public void periodic() { + io.updateInputs(inputs); + } } diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java index 1f7e6d1..fe15e61 100644 --- a/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java +++ b/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java @@ -1,20 +1,18 @@ package frc.robot.subsystems.shooter; -import org.littletonrobotics.junction.AutoLog; - import frc.robot.subsystems.shooter.ShooterIO.ShooterIOInputs; +import org.littletonrobotics.junction.AutoLog; public interface ShooterIO { - @AutoLog - public static class ShooterIOInputs{ - public double leftMotorVelocity = 0.0; - public double rightMotorVelocity = 0.0; - } - - public default void spinForwards() {} + @AutoLog + public static class ShooterIOInputs { + public double leftMotorVelocity = 0.0; + public double rightMotorVelocity = 0.0; + } - public default void spinBackwards() {} + public default void spinForwards() {} - public default void updateInputs(ShooterIOInputs inputs) {} + public default void spinBackwards() {} + public default void updateInputs(ShooterIOInputs inputs) {} } diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java index 9c20730..2c110f0 100644 --- a/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java +++ b/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java @@ -5,38 +5,41 @@ import com.revrobotics.RelativeEncoder; public class ShooterIOReal implements ShooterIO { - private CANSparkFlex leftShooterMotor = new CANSparkFlex(0, MotorType.kBrushless); // Can IDs not accurate - private CANSparkFlex rightShooterMotor = new CANSparkFlex(1, MotorType.kBrushless); // Can IDs not accurate - private RelativeEncoder leftShooterEncoder = leftShooterMotor.getEncoder(); - private RelativeEncoder rightShooterEncoder = rightShooterMotor.getEncoder(); - - - public ShooterIOReal() { - rightShooterMotor.follow(leftShooterMotor, true); - - rightShooterMotor.burnFlash(); - leftShooterMotor.burnFlash(); - } - - public void spinForwards() { - leftShooterMotor.set(1.0); - } - - public void spinBackwards() { - leftShooterMotor.set(-1.0); - } - - public double getLeftvelocity() { - return leftShooterEncoder.getVelocity(); - } - - public double getRightvelocity() { - return rightShooterEncoder.getVelocity(); - } - - @Override - public void updateInputs(ShooterIOInputs inputs) { - inputs.leftMotorVelocity = getLeftvelocity(); - inputs.rightMotorVelocity = getRightvelocity(); - } + private CANSparkFlex leftShooterMotor = + new CANSparkFlex(0, MotorType.kBrushless); // Can IDs not accurate + private CANSparkFlex rightShooterMotor = + new CANSparkFlex(1, MotorType.kBrushless); // Can IDs not accurate + private RelativeEncoder leftShooterEncoder = leftShooterMotor.getEncoder(); + private RelativeEncoder rightShooterEncoder = rightShooterMotor.getEncoder(); + + public ShooterIOReal() { + rightShooterMotor.follow(leftShooterMotor, true); + + rightShooterMotor.burnFlash(); + leftShooterMotor.burnFlash(); + } + + @Override + public void spinForwards() { + leftShooterMotor.set(1.0); + } + + @Override + public void spinBackwards() { + leftShooterMotor.set(-1.0); + } + + public double getLeftvelocity() { + return leftShooterEncoder.getVelocity(); + } + + public double getRightvelocity() { + return rightShooterEncoder.getVelocity(); + } + + @Override + public void updateInputs(ShooterIOInputs inputs) { + inputs.leftMotorVelocity = getLeftvelocity(); + inputs.rightMotorVelocity = getRightvelocity(); + } } From 1ee0be2b0f3e5d0c26f3ebed53c2235c75617db6 Mon Sep 17 00:00:00 2001 From: Alan <150393046+Pouman1@users.noreply.github.com> Date: Tue, 17 Sep 2024 16:54:45 -0400 Subject: [PATCH 03/37] more shooter stuff (elsa) --- src/main/java/frc/robot/RobotContainer.java | 2 +- .../subsystems/shooter/ShooterIOReal.java | 31 ++++++++++++++++++- 2 files changed, 31 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 80cbe59..70a47d8 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -151,7 +151,7 @@ private void configureButtonBindings() { () -> -controller.getLeftX(), () -> -controller.getRightX())); controller.x().onTrue(Commands.runOnce(drive::stopWithX, drive)); - + controller .b() .onTrue( diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java index 2c110f0..5f70d9b 100644 --- a/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java +++ b/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java @@ -8,12 +8,15 @@ public class ShooterIOReal implements ShooterIO { private CANSparkFlex leftShooterMotor = new CANSparkFlex(0, MotorType.kBrushless); // Can IDs not accurate private CANSparkFlex rightShooterMotor = - new CANSparkFlex(1, MotorType.kBrushless); // Can IDs not accurate + new CANSparkFlex(1, MotorType.kBrushless); // Can IDsp not accurate private RelativeEncoder leftShooterEncoder = leftShooterMotor.getEncoder(); private RelativeEncoder rightShooterEncoder = rightShooterMotor.getEncoder(); public ShooterIOReal() { rightShooterMotor.follow(leftShooterMotor, true); + + leftShooterMotor.setSmartCurrentLimit(40); + rightShooterMotor.setSmartCurrentLimit(40); rightShooterMotor.burnFlash(); leftShooterMotor.burnFlash(); @@ -29,6 +32,11 @@ public void spinBackwards() { leftShooterMotor.set(-1.0); } + @Override + public void stopMotor() { + leftShooterMotor.set(0.0); + } + public double getLeftvelocity() { return leftShooterEncoder.getVelocity(); } @@ -37,9 +45,30 @@ public double getRightvelocity() { return rightShooterEncoder.getVelocity(); } + public double getLeftVoltage() { + return leftShooterMotor.getBusVoltage(); + } + + public double getRightVoltage() { + return rightShooterMotor.getBusVoltage(); + } + + public double getLeftCurrent() { + return leftShooterMotor.getOutputCurrent(); + } + + public double getRightCurrent() { + return rightShooterMotor.getOutputCurrent(); + } + @Override public void updateInputs(ShooterIOInputs inputs) { inputs.leftMotorVelocity = getLeftvelocity(); inputs.rightMotorVelocity = getRightvelocity(); + inputs.leftAppliedVolts = getLeftVoltage(); + inputs.rightAppliedVolts = getRightVoltage(); + inputs.leftOutputCurrent = getLeftCurrent(); + inputs.rightOutputCurrent = getRightCurrent(); } } + From 6a55ffbf38eaa1ac86b37471fb0dc42b82fea345 Mon Sep 17 00:00:00 2001 From: ColinH0 <119466406+ColinH0@users.noreply.github.com> Date: Tue, 17 Sep 2024 17:02:43 -0400 Subject: [PATCH 04/37] Drive singleton --- src/main/java/frc/robot/RobotContainer.java | 15 +++++++++++---- .../java/frc/robot/subsystems/drive/Drive.java | 13 +++++++++++++ 2 files changed, 24 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 80cbe59..bb30546 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -61,13 +61,20 @@ public RobotContainer() { switch (Constants.currentMode) { case REAL: // Real robot, instantiate hardware IO implementations - drive = - new Drive( - new GyroIOPigeon2(), + drive = Drive.initialize( + new GyroIOPigeon2(), new ModuleIOSparkMax(0), new ModuleIOSparkMax(1), new ModuleIOSparkMax(2), new ModuleIOSparkMax(3)); + + // new Drive( + // new GyroIOPigeon2(), + // new ModuleIOSparkMax(0), + // new ModuleIOSparkMax(1), + // new ModuleIOSparkMax(2), + // new ModuleIOSparkMax(3)); + flywheel = new Flywheel(new FlywheelIOSparkMax()); // drive = new Drive( // new GyroIOPigeon2(), @@ -151,7 +158,7 @@ private void configureButtonBindings() { () -> -controller.getLeftX(), () -> -controller.getRightX())); controller.x().onTrue(Commands.runOnce(drive::stopWithX, drive)); - + controller .b() .onTrue( diff --git a/src/main/java/frc/robot/subsystems/drive/Drive.java b/src/main/java/frc/robot/subsystems/drive/Drive.java index df5ee35..11cbffe 100644 --- a/src/main/java/frc/robot/subsystems/drive/Drive.java +++ b/src/main/java/frc/robot/subsystems/drive/Drive.java @@ -42,6 +42,7 @@ import org.littletonrobotics.junction.Logger; public class Drive extends SubsystemBase { + private static Drive instance; private static final double MAX_LINEAR_SPEED = Units.feetToMeters(14.5); private static final double TRACK_WIDTH_X = Units.inchesToMeters(25.0); private static final double TRACK_WIDTH_Y = Units.inchesToMeters(25.0); @@ -63,9 +64,21 @@ public class Drive extends SubsystemBase { new SwerveModulePosition(), new SwerveModulePosition() }; + private SwerveDrivePoseEstimator poseEstimator = new SwerveDrivePoseEstimator(kinematics, rawGyroRotation, lastModulePositions, new Pose2d()); + public static Drive getInstance() { + return instance; + } + + public static Drive initialize(GyroIO gyro, ModuleIO fl, ModuleIO fr, ModuleIO bl, ModuleIO br) { + if (instance == null) { + instance = new Drive(gyro, fl, fr, bl, br); + } + return instance; + } + public Drive( GyroIO gyroIO, ModuleIO flModuleIO, From 3e00609d1afa85644146da5457b71ea3c4b7a635 Mon Sep 17 00:00:00 2001 From: ColinH0 <119466406+ColinH0@users.noreply.github.com> Date: Thu, 19 Sep 2024 17:22:47 -0400 Subject: [PATCH 05/37] SysId stuff --- .DataLogTool/datalogtool-window.json | 41 ++++++++++ .DataLogTool/datalogtool.json | 1 + .SysId/sysid-window.json | 56 +++++++++++++ .SysId/sysid.json | 1 + logs/Log_f14a7d8ba8a7048a.wpilog | Bin 87 -> 0 bytes src/main/java/frc/robot/RobotContainer.java | 77 ++++++++++-------- .../frc/robot/subsystems/drive/Drive.java | 22 +++-- .../subsystems/drive/ModuleIOSparkMax.java | 21 +++-- 8 files changed, 169 insertions(+), 50 deletions(-) create mode 100644 .DataLogTool/datalogtool-window.json create mode 100644 .DataLogTool/datalogtool.json create mode 100644 .SysId/sysid-window.json create mode 100644 .SysId/sysid.json delete mode 100644 logs/Log_f14a7d8ba8a7048a.wpilog diff --git a/.DataLogTool/datalogtool-window.json b/.DataLogTool/datalogtool-window.json new file mode 100644 index 0000000..890055b --- /dev/null +++ b/.DataLogTool/datalogtool-window.json @@ -0,0 +1,41 @@ +{ + "MainWindow": { + "GLOBAL": { + "fps": "120", + "height": "510", + "maximized": "0", + "style": "0", + "userScale": "2", + "width": "925", + "xpos": "-1", + "ypos": "-1" + } + }, + "Window": { + "Debug##Default": { + "Collapsed": "0", + "Pos": "60,60", + "Size": "400,400" + }, + "Download": { + "Collapsed": "0", + "Pos": "0,250", + "Size": "375,260" + }, + "Entries": { + "Collapsed": "0", + "Pos": "380,20", + "Size": "540,365" + }, + "Input Files": { + "Collapsed": "0", + "Pos": "0,20", + "Size": "375,230" + }, + "Output": { + "Collapsed": "0", + "Pos": "380,390", + "Size": "540,120" + } + } +} diff --git a/.DataLogTool/datalogtool.json b/.DataLogTool/datalogtool.json new file mode 100644 index 0000000..0967ef4 --- /dev/null +++ b/.DataLogTool/datalogtool.json @@ -0,0 +1 @@ +{} diff --git a/.SysId/sysid-window.json b/.SysId/sysid-window.json new file mode 100644 index 0000000..59a50dd --- /dev/null +++ b/.SysId/sysid-window.json @@ -0,0 +1,56 @@ +{ + "MainWindow": { + "GLOBAL": { + "fps": "120", + "height": "720", + "maximized": "0", + "style": "0", + "userScale": "2", + "width": "1280", + "xpos": "115", + "ypos": "138" + } + }, + "Window": { + "###Analyzer": { + "Collapsed": "0", + "Pos": "320,25", + "Size": "360,550" + }, + "###Data Selector": { + "Collapsed": "0", + "Pos": "5,480", + "Size": "310,235" + }, + "###Log Loader": { + "Collapsed": "0", + "Pos": "5,25", + "Size": "310,450" + }, + "###Program Log": { + "Collapsed": "0", + "Pos": "323,581", + "Size": "360,135" + }, + "Debug##Default": { + "Collapsed": "0", + "Pos": "60,60", + "Size": "400,400" + }, + "Diagnostic Plots": { + "Collapsed": "0", + "Pos": "685,25", + "Size": "590,690" + }, + "Exception Caught!": { + "Collapsed": "0", + "Pos": "285,310", + "Size": "480,97" + }, + "Override Units": { + "Collapsed": "0", + "Pos": "480,288", + "Size": "320,144" + } + } +} diff --git a/.SysId/sysid.json b/.SysId/sysid.json new file mode 100644 index 0000000..0967ef4 --- /dev/null +++ b/.SysId/sysid.json @@ -0,0 +1 @@ +{} diff --git a/logs/Log_f14a7d8ba8a7048a.wpilog b/logs/Log_f14a7d8ba8a7048a.wpilog deleted file mode 100644 index 95b798aa9855e7f451bf8681f33243dbaeb1ccb0..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 87 zcmWF!@bvL_XJF)EU|?`eDND>NNlZ`m&MZ-2u#~iCXJ7;ha{;k_NM>$oaY -controller.getLeftY(), () -> -controller.getLeftX(), () -> -controller.getRightX())); - controller.x().onTrue(Commands.runOnce(drive::stopWithX, drive)); - - controller - .b() - .onTrue( - Commands.runOnce( - () -> - drive.setPose( - new Pose2d(drive.getPose().getTranslation(), new Rotation2d())), - drive) - .ignoringDisable(true)); + + // controller.x().onTrue(Commands.runOnce(drive::stopWithX, drive)); + + controller.leftBumper().whileTrue(drive.sysIdQuasistatic(SysIdRoutine.Direction.kForward)); + + controller.leftTrigger().whileTrue(drive.sysIdQuasistatic(SysIdRoutine.Direction.kReverse)); + + controller.rightBumper().whileTrue(drive.sysIdDynamic(SysIdRoutine.Direction.kForward)); + + controller.rightTrigger().whileTrue(drive.sysIdDynamic(SysIdRoutine.Direction.kReverse)); + + // controller + // .b() + // .onTrue( + // Commands.runOnce( + // () -> + // drive.setPose( + // new Pose2d(drive.getPose().getTranslation(), new Rotation2d())), + // drive) + // .ignoringDisable(true)); // controller // .a() // .whileTrue( // Commands.startEnd( // () -> flywheel.runVelocity(flywheelSpeedInput.get()), flywheel::stop, flywheel)); - controller.a().whileTrue(Commands.runOnce(() -> drive.zeroHeading(), drive)); + // controller.a().whileTrue(Commands.runOnce(() -> drive.zeroHeading(), drive)); } /** diff --git a/src/main/java/frc/robot/subsystems/drive/Drive.java b/src/main/java/frc/robot/subsystems/drive/Drive.java index 11cbffe..9b5deb2 100644 --- a/src/main/java/frc/robot/subsystems/drive/Drive.java +++ b/src/main/java/frc/robot/subsystems/drive/Drive.java @@ -30,6 +30,10 @@ import edu.wpi.first.math.kinematics.SwerveModulePosition; import edu.wpi.first.math.kinematics.SwerveModuleState; import edu.wpi.first.math.util.Units; +import edu.wpi.first.units.Angle; +import edu.wpi.first.units.MutableMeasure; +import edu.wpi.first.units.Velocity; +import edu.wpi.first.units.Voltage; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.DriverStation.Alliance; import edu.wpi.first.wpilibj2.command.Command; @@ -52,8 +56,13 @@ public class Drive extends SubsystemBase { private final GyroIO gyroIO; private final GyroIOInputsAutoLogged gyroInputs = new GyroIOInputsAutoLogged(); + private final ModuleIOInputsAutoLogged inputs = new ModuleIOInputsAutoLogged(); private final Module[] modules = new Module[4]; // FL, FR, BL, BR private final SysIdRoutine sysId; + private final MutableMeasure m_appliedVoltage = MutableMeasure.ofBaseUnits(0, Volts); + private final MutableMeasure m_position = MutableMeasure.ofBaseUnits(0, Radians); + private final MutableMeasure> m_velocity = + MutableMeasure.ofBaseUnits(0, RadiansPerSecond); private SwerveDriveKinematics kinematics = new SwerveDriveKinematics(getModuleTranslations()); private Rotation2d rawGyroRotation = new Rotation2d(); @@ -117,18 +126,19 @@ MAX_LINEAR_SPEED, DRIVE_BASE_RADIUS, new ReplanningConfig()), // Configure SysId sysId = new SysIdRoutine( - new SysIdRoutine.Config( - null, - null, - null, - (state) -> Logger.recordOutput("Drive/SysIdState", state.toString())), + new SysIdRoutine.Config(), new SysIdRoutine.Mechanism( (voltage) -> { for (int i = 0; i < 4; i++) { modules[i].runCharacterization(voltage.in(Volts)); } }, - null, + log -> { + log.motor("driveSparkMax") + .voltage(m_appliedVoltage.mut_replace(inputs.driveAppliedVolts, Volts)) + .angularPosition(m_position.mut_replace(inputs.drivePositionRad, Radians)) + .angularVelocity(m_velocity.mut_replace(inputs.driveVelocityRadPerSec, RadiansPerSecond)); + }, this)); } diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java index 8589858..22030d8 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java @@ -13,6 +13,7 @@ package frc.robot.subsystems.drive; +import com.revrobotics.AbsoluteEncoder; import com.revrobotics.CANSparkBase.IdleMode; import com.revrobotics.CANSparkFlex; import com.revrobotics.CANSparkLowLevel.MotorType; @@ -20,8 +21,6 @@ import com.revrobotics.RelativeEncoder; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.util.Units; -import edu.wpi.first.wpilibj.AnalogInput; -import edu.wpi.first.wpilibj.RobotController; /** * Module IO implementation for SparkMax drive motor controller, SparkMax turn motor controller (NEO @@ -45,7 +44,7 @@ public class ModuleIOSparkMax implements ModuleIO { private final RelativeEncoder driveEncoder; private final RelativeEncoder turnRelativeEncoder; - private final AnalogInput turnAbsoluteEncoder; + private final AbsoluteEncoder turnAbsoluteEncoder; private final boolean isTurnMotorInverted = true; private final Rotation2d absoluteEncoderOffset; @@ -55,25 +54,25 @@ public ModuleIOSparkMax(int index) { case 0: driveSparkMax = new CANSparkMax(1, MotorType.kBrushless); turnSparkMax = new CANSparkFlex(2, MotorType.kBrushless); - turnAbsoluteEncoder = new AnalogInput(0); + turnAbsoluteEncoder = turnSparkMax.getAbsoluteEncoder(); absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED break; case 1: driveSparkMax = new CANSparkMax(3, MotorType.kBrushless); turnSparkMax = new CANSparkFlex(4, MotorType.kBrushless); - turnAbsoluteEncoder = new AnalogInput(1); + turnAbsoluteEncoder = turnSparkMax.getAbsoluteEncoder(); absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED break; case 2: driveSparkMax = new CANSparkMax(5, MotorType.kBrushless); turnSparkMax = new CANSparkFlex(6, MotorType.kBrushless); - turnAbsoluteEncoder = new AnalogInput(2); + turnAbsoluteEncoder = turnSparkMax.getAbsoluteEncoder(); absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED break; case 3: driveSparkMax = new CANSparkMax(7, MotorType.kBrushless); turnSparkMax = new CANSparkFlex(8, MotorType.kBrushless); - turnAbsoluteEncoder = new AnalogInput(3); + turnAbsoluteEncoder = turnSparkMax.getAbsoluteEncoder(); absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED break; default: @@ -83,6 +82,9 @@ public ModuleIOSparkMax(int index) { driveSparkMax.restoreFactoryDefaults(); turnSparkMax.restoreFactoryDefaults(); + turnAbsoluteEncoder.setPositionConversionFactor(2 * Math.PI); // Radians + turnAbsoluteEncoder.setVelocityConversionFactor((2 * Math.PI) / 60.0); // Radians per second + driveSparkMax.setCANTimeout(250); turnSparkMax.setCANTimeout(250); @@ -119,10 +121,7 @@ public void updateInputs(ModuleIOInputs inputs) { inputs.driveAppliedVolts = driveSparkMax.getAppliedOutput() * driveSparkMax.getBusVoltage(); inputs.driveCurrentAmps = new double[] {driveSparkMax.getOutputCurrent()}; - inputs.turnAbsolutePosition = - new Rotation2d( - turnAbsoluteEncoder.getVoltage() / RobotController.getVoltage5V() * 2.0 * Math.PI) - .minus(absoluteEncoderOffset); + inputs.turnAbsolutePosition = Rotation2d.fromRadians(turnAbsoluteEncoder.getPosition()); inputs.turnPosition = Rotation2d.fromRotations(turnRelativeEncoder.getPosition() / TURN_GEAR_RATIO); inputs.turnVelocityRadPerSec = From 89f30bbf32d783a06c91ac0fb42ce04b50cbca6c Mon Sep 17 00:00:00 2001 From: ColinH0 <119466406+ColinH0@users.noreply.github.com> Date: Thu, 19 Sep 2024 23:08:06 -0400 Subject: [PATCH 06/37] Drive Talon? --- .../frc/robot/subsystems/drive/Drive.java | 3 +- .../frc/robot/subsystems/drive/Module.java | 8 + .../frc/robot/subsystems/drive/ModuleIO.java | 2 + .../subsystems/drive/ModuleIOTalonFX.java | 193 ++++++++++++++++++ 4 files changed, 204 insertions(+), 2 deletions(-) create mode 100644 src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java diff --git a/src/main/java/frc/robot/subsystems/drive/Drive.java b/src/main/java/frc/robot/subsystems/drive/Drive.java index 9b5deb2..409d017 100644 --- a/src/main/java/frc/robot/subsystems/drive/Drive.java +++ b/src/main/java/frc/robot/subsystems/drive/Drive.java @@ -61,8 +61,7 @@ public class Drive extends SubsystemBase { private final SysIdRoutine sysId; private final MutableMeasure m_appliedVoltage = MutableMeasure.ofBaseUnits(0, Volts); private final MutableMeasure m_position = MutableMeasure.ofBaseUnits(0, Radians); - private final MutableMeasure> m_velocity = - MutableMeasure.ofBaseUnits(0, RadiansPerSecond); + private final MutableMeasure> m_velocity = MutableMeasure.ofBaseUnits(0, RadiansPerSecond); private SwerveDriveKinematics kinematics = new SwerveDriveKinematics(getModuleTranslations()); private Rotation2d rawGyroRotation = new Rotation2d(); diff --git a/src/main/java/frc/robot/subsystems/drive/Module.java b/src/main/java/frc/robot/subsystems/drive/Module.java index 9ef4afc..732dede 100644 --- a/src/main/java/frc/robot/subsystems/drive/Module.java +++ b/src/main/java/frc/robot/subsystems/drive/Module.java @@ -22,6 +22,8 @@ import frc.robot.Constants; import org.littletonrobotics.junction.Logger; +import com.ctre.phoenix.sensors.Pigeon2; + public class Module { private static final double WHEEL_RADIUS = Units.inchesToMeters(2.0); @@ -44,6 +46,10 @@ public Module(ModuleIO io, int index) { // separate robot with different tuning) switch (Constants.currentMode) { case REAL: + driveFeedforward = new SimpleMotorFeedforward(0.1, 0.13); + driveFeedback = new PIDController(0.05, 0.0, 0.0); + turnFeedback = new PIDController(7.0, 0.0, 0.0); + break; case REPLAY: driveFeedforward = new SimpleMotorFeedforward(0.1, 0.13); driveFeedback = new PIDController(0.05, 0.0, 0.0); @@ -95,6 +101,8 @@ public void periodic() { io.setDriveVoltage( driveFeedforward.calculate(velocityRadPerSec) + driveFeedback.calculate(inputs.driveVelocityRadPerSec, velocityRadPerSec)); + + // If Talon use: io.runTalonPID(Units.radiansToRotations(velocityRadPerSec)); } } } diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIO.java b/src/main/java/frc/robot/subsystems/drive/ModuleIO.java index 78450e4..4a0ae89 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIO.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIO.java @@ -37,6 +37,8 @@ public default void updateInputs(ModuleIOInputs inputs) {} /** Run the drive motor at the specified voltage. */ public default void setDriveVoltage(double volts) {} + public default void runTalonPID(double desiredStateRotPerSecond) {} + /** Run the turn motor at the specified voltage. */ public default void setTurnVoltage(double volts) {} diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java new file mode 100644 index 0000000..ed69bba --- /dev/null +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java @@ -0,0 +1,193 @@ +// Copyright 2021-2024 FRC 6328 +// http://github.com/Mechanical-Advantage +// +// This program is free software; you can redistribute it and/or +// modify it under the terms of the GNU General Public License +// version 3 as published by the Free Software Foundation or +// available in the root directory of this project. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. + +package frc.robot.subsystems.drive; + +import com.ctre.phoenix6.StatusCode; +import com.ctre.phoenix6.configs.TalonFXConfiguration; +import com.ctre.phoenix6.controls.VelocityVoltage; +import com.ctre.phoenix6.hardware.TalonFX; +import com.ctre.phoenix6.signals.NeutralModeValue; +import com.revrobotics.AbsoluteEncoder; +import com.revrobotics.CANSparkBase.IdleMode; +import com.revrobotics.CANSparkFlex; +import com.revrobotics.CANSparkLowLevel.MotorType; +import com.revrobotics.CANSparkMax; +import com.revrobotics.RelativeEncoder; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.util.Units; + +/** + * Module IO implementation for SparkMax drive motor controller, SparkMax turn motor controller (NEO + * or NEO 550), and analog absolute encoder connected to the RIO + * + *

NOTE: This implementation should be used as a starting point and adapted to different hardware + * configurations (e.g. If using a CANcoder, copy from "ModuleIOTalonFX") + * + *

To calibrate the absolute encoder offsets, point the modules straight (such that forward + * motion on the drive motor will propel the robot forward) and copy the reported values from the + * absolute encoders using AdvantageScope. These values are logged under + * "/Drive/ModuleX/TurnAbsolutePositionRad" + */ +public class ModuleIOTalonFX implements ModuleIO { +final VelocityVoltage m_request = new VelocityVoltage(0).withSlot(0); + // Gear ratios for SDS MK4i L2, adjust as necessary + private static final double DRIVE_GEAR_RATIO = (50.0 / 14.0) * (17.0 / 27.0) * (45.0 / 15.0); + private static final double TURN_GEAR_RATIO = 150.0 / 7.0; + + private final TalonFX driveTalonFX; + private final CANSparkFlex turnSparkMax; + + private final RelativeEncoder turnRelativeEncoder; + private final AbsoluteEncoder turnAbsoluteEncoder; + + private final boolean isTurnMotorInverted = true; + private final Rotation2d absoluteEncoderOffset; + + public ModuleIOTalonFX(int index) { + switch (index) { + case 0: + driveTalonFX = new TalonFX(1); + turnSparkMax = new CANSparkFlex(2, MotorType.kBrushless); + turnAbsoluteEncoder = turnSparkMax.getAbsoluteEncoder(); + absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED + break; + case 1: + driveTalonFX = new TalonFX(3); + turnSparkMax = new CANSparkFlex(4, MotorType.kBrushless); + turnAbsoluteEncoder = turnSparkMax.getAbsoluteEncoder(); + absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED + break; + case 2: + driveTalonFX = new TalonFX(5); + turnSparkMax = new CANSparkFlex(6, MotorType.kBrushless); + turnAbsoluteEncoder = turnSparkMax.getAbsoluteEncoder(); + absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED + break; + case 3: + driveTalonFX = new TalonFX(7); + turnSparkMax = new CANSparkFlex(8, MotorType.kBrushless); + turnAbsoluteEncoder = turnSparkMax.getAbsoluteEncoder(); + absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED + break; + default: + throw new RuntimeException("Invalid module index"); + } + + turnSparkMax.restoreFactoryDefaults(); + + turnAbsoluteEncoder.setPositionConversionFactor(2 * Math.PI); // Radians + turnAbsoluteEncoder.setVelocityConversionFactor((2 * Math.PI) / 60.0); // Radians per second + + turnSparkMax.setCANTimeout(250); + + turnRelativeEncoder = turnSparkMax.getEncoder(); + + turnSparkMax.setInverted(isTurnMotorInverted); + turnSparkMax.setSmartCurrentLimit(30); + turnSparkMax.enableVoltageCompensation(12.0); + + driveTalonFX.setPosition(0); + + turnRelativeEncoder.setPosition(0.0); + turnRelativeEncoder.setMeasurementPeriod(10); + turnRelativeEncoder.setAverageDepth(2); + + turnSparkMax.setCANTimeout(0); + + turnSparkMax.burnFlash(); + + var config = config(); + + driveTalonFX.optimizeBusUtilization(); + + driveTalonFX.clearStickyFaults(); + + StatusCode status = StatusCode.StatusCodeNotInitialized; + for (int i = 0; i < 5; i++) { + status = driveTalonFX.getConfigurator().apply(config); + if (status.isOK()) break; + } + + if (!status.isOK()) { + System.out.println( + "Talon ID " + + driveTalonFX.getDeviceID() + + " failed config with error " + + status.toString()); + } + } + + @Override + public void updateInputs(ModuleIOInputs inputs) { + inputs.drivePositionRad = + Units.rotationsToRadians(driveTalonFX.getPosition().getValueAsDouble()) / DRIVE_GEAR_RATIO; + inputs.driveVelocityRadPerSec = + Units.rotationsPerMinuteToRadiansPerSecond(driveTalonFX.getVelocity().getValueAsDouble()) / DRIVE_GEAR_RATIO; + inputs.driveAppliedVolts = driveTalonFX.getMotorVoltage().getValueAsDouble(); + inputs.driveCurrentAmps = new double[] {driveTalonFX.getSupplyCurrent().getValueAsDouble()}; + + inputs.turnAbsolutePosition = Rotation2d.fromRadians(turnAbsoluteEncoder.getPosition()); + inputs.turnPosition = + Rotation2d.fromRotations(turnRelativeEncoder.getPosition() / TURN_GEAR_RATIO); + inputs.turnVelocityRadPerSec = + Units.rotationsPerMinuteToRadiansPerSecond(turnRelativeEncoder.getVelocity()) + / TURN_GEAR_RATIO; + inputs.turnAppliedVolts = turnSparkMax.getAppliedOutput() * turnSparkMax.getBusVoltage(); + inputs.turnCurrentAmps = new double[] {turnSparkMax.getOutputCurrent()}; + } + + private TalonFXConfiguration config() { + var talonFXConfig = new TalonFXConfiguration(); + + talonFXConfig.Slot0.kP = 1; + talonFXConfig.Slot0.kI = 0; + talonFXConfig.Slot0.kD = 0; + talonFXConfig.Slot0.kS = 0; + talonFXConfig.Slot0.kV = 0; + + talonFXConfig.CurrentLimits.StatorCurrentLimitEnable = true; + talonFXConfig.CurrentLimits.StatorCurrentLimit = 40; //CurrentLimits.drive; + + talonFXConfig.MotorOutput.NeutralMode = NeutralModeValue.Brake; + + talonFXConfig.Audio.BeepOnBoot = true; + + return talonFXConfig; + } + + @Override + public void setDriveVoltage(double volts) { + driveTalonFX.setVoltage(volts); + } + + @Override + public void runTalonPID(double desiredStateRotPerSecond) { + driveTalonFX.setControl(m_request.withVelocity(desiredStateRotPerSecond)); + } + + @Override + public void setTurnVoltage(double volts) { + turnSparkMax.setVoltage(volts); + } + +// @Override +// public void setDriveBrakeMode(boolean enable) { +// driveTalonFX.setBrakeMode(enable ? IdleMode.kBrake : IdleMode.kCoast); +// } + + @Override + public void setTurnBrakeMode(boolean enable) { + turnSparkMax.setIdleMode(enable ? IdleMode.kBrake : IdleMode.kCoast); + } +} From caff02b0e5fd3fb81e103835e0f80aa502d8dfc1 Mon Sep 17 00:00:00 2001 From: Arenacloserr <162641455+Arenacloserr@users.noreply.github.com> Date: Tue, 24 Sep 2024 20:46:58 -0400 Subject: [PATCH 07/37] Intake base --- src/main/java/frc/robot/Robot.java | 4 ++- .../frc/robot/subsystems/intake/Intake.java | 35 +++++++++++++++++++ .../subsystems/intake/IntakeConstants.java | 6 ++++ .../frc/robot/subsystems/intake/IntakeIO.java | 15 ++++++++ .../robot/subsystems/intake/IntakeIOReal.java | 22 ++++++++++++ .../robot/subsystems/intake/IntakeIOSim.java | 3 ++ 6 files changed, 84 insertions(+), 1 deletion(-) create mode 100644 src/main/java/frc/robot/subsystems/intake/Intake.java create mode 100644 src/main/java/frc/robot/subsystems/intake/IntakeConstants.java create mode 100644 src/main/java/frc/robot/subsystems/intake/IntakeIO.java create mode 100644 src/main/java/frc/robot/subsystems/intake/IntakeIOReal.java create mode 100644 src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index ea47d35..40e9df1 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -39,11 +39,13 @@ public class Robot extends LoggedRobot { @Override public void robotInit() { // Record metadata + /* Logger.recordMetadata("ProjectName", BuildConstants.MAVEN_NAME); Logger.recordMetadata("BuildDate", BuildConstants.BUILD_DATE); Logger.recordMetadata("GitSHA", BuildConstants.GIT_SHA); Logger.recordMetadata("GitDate", BuildConstants.GIT_DATE); Logger.recordMetadata("GitBranch", BuildConstants.GIT_BRANCH); + switch (BuildConstants.DIRTY) { case 0: Logger.recordMetadata("GitDirty", "All changes committed"); @@ -54,7 +56,7 @@ public void robotInit() { default: Logger.recordMetadata("GitDirty", "Unknown"); break; - } + } */ // Set up data receivers & replay source switch (Constants.currentMode) { diff --git a/src/main/java/frc/robot/subsystems/intake/Intake.java b/src/main/java/frc/robot/subsystems/intake/Intake.java new file mode 100644 index 0000000..b7be24d --- /dev/null +++ b/src/main/java/frc/robot/subsystems/intake/Intake.java @@ -0,0 +1,35 @@ +package frc.robot.subsystems.intake; + +import edu.wpi.first.wpilibj2.command.SubsystemBase; + +public class Intake extends SubsystemBase { + private IntakeIO io; + private IntakeIOInputsAutoLogged inputs = new IntakeIOInputsAutoLogged(); + private static Intake instance; + public double intakespd; + + private Intake(IntakeIO IO) { + io = IO; + } + + public static Intake getInstance() { + return instance; + } + + public static Intake initialize(IntakeIO io) { + if (instance == null) { + instance = new Intake(io); + } + return instance; + } + + public void setIntakeSpeed(double speed){ + intakespd = speed; + } + + @Override + public void periodic() { + io.updateInputs(inputs); + io.setMotorSpeed(intakespd); + } +} diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java b/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java new file mode 100644 index 0000000..78c2851 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java @@ -0,0 +1,6 @@ +package frc.robot.subsystems.intake; + +public class IntakeConstants { + public static final int CanID = 2; // .. + public static final int currentLimit = 60; // vortex +} diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeIO.java b/src/main/java/frc/robot/subsystems/intake/IntakeIO.java new file mode 100644 index 0000000..7a9bdb0 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/intake/IntakeIO.java @@ -0,0 +1,15 @@ +package frc.robot.subsystems.intake; + +import org.littletonrobotics.junction.AutoLog; + +public interface IntakeIO { + @AutoLog + public static class IntakeIOInputs { + public double voltage = 0.0; // .. + } + + public default void updateInputs(IntakeIOInputs inputs) {} + + public default void setMotorSpeed(double speed) {} + +} diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeIOReal.java b/src/main/java/frc/robot/subsystems/intake/IntakeIOReal.java new file mode 100644 index 0000000..3ae0fe8 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/intake/IntakeIOReal.java @@ -0,0 +1,22 @@ +package frc.robot.subsystems.intake; + +import com.revrobotics.CANSparkLowLevel.MotorType; +import com.revrobotics.CANSparkMax; + +public class IntakeIOReal implements IntakeIO { + private CANSparkMax IntakeMotor = new CANSparkMax(IntakeConstants.CanID, MotorType.kBrushless); + + public IntakeIOReal() { + IntakeMotor.setSmartCurrentLimit(IntakeConstants.currentLimit); + IntakeMotor.burnFlash(); + } + + @Override + public void setMotorSpeed(double speed) { + IntakeMotor.set(speed); + } + + @Override + public void updateInputs(IntakeIOInputs inputs) {} + +} diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java b/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java new file mode 100644 index 0000000..76ae0d8 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java @@ -0,0 +1,3 @@ +package frc.robot.subsystems.intake; + +public class IntakeIOSim {} From 3e27841dbfe1f0ec38f720044221804c0d0d0c3c Mon Sep 17 00:00:00 2001 From: GooseJuice898 Date: Thu, 26 Sep 2024 16:13:08 -0400 Subject: [PATCH 08/37] The Bad Pivot Code I forgot to Commit --- src/main/java/frc/robot/RobotContainer.java | 19 +++++- .../frc/robot/subsystems/pivot/Pivot.java | 65 +++++++++++++++++++ .../frc/robot/subsystems/pivot/PivotIO.java | 30 +++++++++ .../robot/subsystems/pivot/PivotIOReal.java | 38 +++++++++++ .../robot/subsystems/pivot/PivotIOSim.java | 40 ++++++++++++ 5 files changed, 190 insertions(+), 2 deletions(-) create mode 100644 src/main/java/frc/robot/subsystems/pivot/Pivot.java create mode 100644 src/main/java/frc/robot/subsystems/pivot/PivotIO.java create mode 100644 src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java create mode 100644 src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 8159492..705bb8a 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -13,8 +13,12 @@ package frc.robot; +import org.littletonrobotics.junction.networktables.LoggedDashboardChooser; +import org.littletonrobotics.junction.networktables.LoggedDashboardNumber; + import com.pathplanner.lib.auto.AutoBuilder; import com.pathplanner.lib.auto.NamedCommands; + import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.wpilibj.GenericHID; @@ -34,8 +38,8 @@ import frc.robot.subsystems.flywheel.FlywheelIO; import frc.robot.subsystems.flywheel.FlywheelIOSim; import frc.robot.subsystems.flywheel.FlywheelIOSparkMax; -import org.littletonrobotics.junction.networktables.LoggedDashboardChooser; -import org.littletonrobotics.junction.networktables.LoggedDashboardNumber; +import frc.robot.subsystems.pivot.Pivot; +import frc.robot.subsystems.pivot.PivotIOSim; /** * This class is where the bulk of the robot should be declared. Since Command-based is a @@ -47,6 +51,7 @@ public class RobotContainer { // Subsystems private final Drive drive; private final Flywheel flywheel; + private final Pivot pivot; // Controller private final CommandXboxController controller = new CommandXboxController(0); @@ -69,6 +74,8 @@ public RobotContainer() { new ModuleIOSparkMax(2), new ModuleIOSparkMax(3)); flywheel = new Flywheel(new FlywheelIOSparkMax()); + //change perchance + pivot = Pivot.initialize(new PivotIOSim()); // drive = new Drive( // new GyroIOPigeon2(), // new ModuleIOTalonFX(0), @@ -88,6 +95,7 @@ public RobotContainer() { new ModuleIOSim(), new ModuleIOSim()); flywheel = new Flywheel(new FlywheelIOSim()); + pivot = Pivot.initialize(new PivotIOSim()); break; default: @@ -100,6 +108,8 @@ public RobotContainer() { new ModuleIO() {}, new ModuleIO() {}); flywheel = new Flywheel(new FlywheelIO() {}); + //change? + pivot = Pivot.initialize(new PivotIOSim()); break; } @@ -165,6 +175,11 @@ private void configureButtonBindings() { .whileTrue( Commands.startEnd( () -> flywheel.runVelocity(flywheelSpeedInput.get()), flywheel::stop, flywheel)); + controller + .y() + .whileTrue( + Commands.startEnd( + () -> pivot.setVelocity(, pivot::stop, pivot))); } /** diff --git a/src/main/java/frc/robot/subsystems/pivot/Pivot.java b/src/main/java/frc/robot/subsystems/pivot/Pivot.java new file mode 100644 index 0000000..f888ac2 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/pivot/Pivot.java @@ -0,0 +1,65 @@ +package frc.robot.subsystems.pivot; + +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.robot.subsystems.pivot.PivotIO; +import org.littletonrobotics.junction.Logger; + +import edu.wpi.first.math.controller.SimpleMotorFeedforward; +import frc.robot.Constants; + +public class Pivot extends SubsystemBase { + + private static Pivot pivotInstance = null; + public final PivotIO io; + private final SimpleMotorFeedforward ffModel; + private final PivotIOInputsAutoLogged inputs = new PivotIOInputsAutoLogged(); + + private Pivot(PivotIO io) { + + this.io = io; + + switch (Constants.currentMode) { + case REAL: + case REPLAY: + ffModel = new SimpleMotorFeedforward(0.0, 0.0); + io.configurePID(1.0, 0.0, 0.0); + break; + case SIM: + ffModel = new SimpleMotorFeedforward(0.0, 0.0); + io.configurePID(1.0, 0.0, 0.0); + break; + default: + ffModel = new SimpleMotorFeedforward(0.0, 0.0); + break; + } + + + } + + public static Pivot getInstance() { + return pivotInstance; + } + + public static Pivot initialize(PivotIO io) { + if (Pivot.pivotInstance == null) { + pivotInstance = new Pivot(io); + } + return pivotInstance; + } + + @Override + public void periodic() { + io.updateInputs(inputs); + Logger.processInputs("Pivot", inputs); + } + + public void runVoltage(double volts) { + io.setVoltage(volts); + } + + public void stop() { + io.stop(); + } + + +} diff --git a/src/main/java/frc/robot/subsystems/pivot/PivotIO.java b/src/main/java/frc/robot/subsystems/pivot/PivotIO.java new file mode 100644 index 0000000..bf5f667 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/pivot/PivotIO.java @@ -0,0 +1,30 @@ +package frc.robot.subsystems.pivot; + +import org.littletonrobotics.junction.AutoLog; + +public interface PivotIO { + + @AutoLog + public static class PivotIOInputs { + public double positionRad = 0.0; + public double velocityRadPerSec = 0.0; + public double appliedVolts = 0.0; + public double[] currentAmps = new double[] {}; + } + + /** Updates the set of loggable inputs. */ + public default void updateInputs(PivotIOInputs inputs) {} + + /** Run open loop at the specified voltage. */ + public default void setVoltage(double volts) {} + + /** Run closed loop at the specified velocity. */ + public default void setVelocity(double velocityRadPerSec, double ffVolts) {} + + /** Stop in open loop. */ + public default void stop() {} + + /** Set velocity PID constants. */ + public default void configurePID(double kP, double kI, double kD) {} + +} diff --git a/src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java b/src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java new file mode 100644 index 0000000..9119bf6 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java @@ -0,0 +1,38 @@ +// package frc.robot.subsystems.pivot; + +// import edu.wpi.first.math.MathUtil; +// import edu.wpi.first.math.controller.PIDController; +// import edu.wpi.first.math.system.plant.DCMotor; +// import edu.wpi.first.wpilibj.simulation.SingleJointedArmSim; +// import frc.robot.subsystems.flywheel.FlywheelIO.FlywheelIOInputs; + +// public class PivotIOReal implements PivotIO { + + + + +// @Override +// public void setVoltage(double volts) { +// closedLoop = false; +// appliedVolts = volts; +// sim.setInputVoltage(volts); +// } + +// @Override +// public void setVelocity(double velocityRadPerSec, double ffVolts) { +// closedLoop = true; +// pid.setSetpoint(velocityRadPerSec); +// this.ffVolts = ffVolts; +// } + +// @Override +// public void stop() { +// setVoltage(0.0); +// } + +// @Override +// public void configurePID(double kP, double kI, double kD) { +// pid.setPID(kP, kI, kD); +// } + +// } diff --git a/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java b/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java new file mode 100644 index 0000000..c1a9d5f --- /dev/null +++ b/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java @@ -0,0 +1,40 @@ +package frc.robot.subsystems.pivot; + +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.controller.PIDController; +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.wpilibj.simulation.SingleJointedArmSim; +import frc.robot.subsystems.flywheel.FlywheelIO.FlywheelIOInputs; + +public class PivotIOSim implements PivotIO { + private SingleJointedArmSim sim = new SingleJointedArmSim(DCMotor.getNEO(1), 1.5, + 0.004, 0, 0, 0, + false, 0); + private PIDController pid = new PIDController(1.0, 0.0, 0.0); + + private boolean closedLoop = false; + private double ffVolts = 0.0; + private double appliedVolts = 0.0; + + @Override + public void updateInputs(PivotIOInputs inputs) { + if (closedLoop) { + appliedVolts = + MathUtil.clamp(pid.calculate(sim.getVelocityRadPerSec()) + ffVolts, -12.0, 12.0); + sim.setInputVoltage(appliedVolts); + } + } + + @Override + public void rotatePivot(double speed) { + pivotAppliedVolts = MathUtil.clamp(12 * speed, -12, 12); + sim.setInputVoltage(appliedVolts); + } + + @Override + public void setVoltage(double volts) { + sim.setInputVoltage(volts); + } + + +} From b472ff550cf8ed4169ec3ad00d77b78e79acd122 Mon Sep 17 00:00:00 2001 From: GooseJuice898 Date: Thu, 26 Sep 2024 17:27:42 -0400 Subject: [PATCH 09/37] More questionable changes, WIP obv --- src/main/java/frc/robot/subsystems/pivot/Pivot.java | 6 ++++++ src/main/java/frc/robot/subsystems/pivot/PivotIO.java | 4 ++-- .../java/frc/robot/subsystems/pivot/PivotIOSim.java | 10 ++++------ 3 files changed, 12 insertions(+), 8 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/pivot/Pivot.java b/src/main/java/frc/robot/subsystems/pivot/Pivot.java index f888ac2..3701027 100644 --- a/src/main/java/frc/robot/subsystems/pivot/Pivot.java +++ b/src/main/java/frc/robot/subsystems/pivot/Pivot.java @@ -13,10 +13,12 @@ public class Pivot extends SubsystemBase { public final PivotIO io; private final SimpleMotorFeedforward ffModel; private final PivotIOInputsAutoLogged inputs = new PivotIOInputsAutoLogged(); + private double goalRad; private Pivot(PivotIO io) { this.io = io; + goalRad = 0; switch (Constants.currentMode) { case REAL: @@ -57,6 +59,10 @@ public void runVoltage(double volts) { io.setVoltage(volts); } + public void setGoal() { + + } + public void stop() { io.stop(); } diff --git a/src/main/java/frc/robot/subsystems/pivot/PivotIO.java b/src/main/java/frc/robot/subsystems/pivot/PivotIO.java index bf5f667..3015d44 100644 --- a/src/main/java/frc/robot/subsystems/pivot/PivotIO.java +++ b/src/main/java/frc/robot/subsystems/pivot/PivotIO.java @@ -7,8 +7,8 @@ public interface PivotIO { @AutoLog public static class PivotIOInputs { public double positionRad = 0.0; - public double velocityRadPerSec = 0.0; public double appliedVolts = 0.0; + public double velocityRevolutionsPerSec = 0.0; public double[] currentAmps = new double[] {}; } @@ -19,7 +19,7 @@ public default void updateInputs(PivotIOInputs inputs) {} public default void setVoltage(double volts) {} /** Run closed loop at the specified velocity. */ - public default void setVelocity(double velocityRadPerSec, double ffVolts) {} + public default void setAngle(double positionRad) {} /** Stop in open loop. */ public default void stop() {} diff --git a/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java b/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java index c1a9d5f..7b16ba3 100644 --- a/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java +++ b/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java @@ -4,7 +4,6 @@ import edu.wpi.first.math.controller.PIDController; import edu.wpi.first.math.system.plant.DCMotor; import edu.wpi.first.wpilibj.simulation.SingleJointedArmSim; -import frc.robot.subsystems.flywheel.FlywheelIO.FlywheelIOInputs; public class PivotIOSim implements PivotIO { private SingleJointedArmSim sim = new SingleJointedArmSim(DCMotor.getNEO(1), 1.5, @@ -19,16 +18,15 @@ public class PivotIOSim implements PivotIO { @Override public void updateInputs(PivotIOInputs inputs) { if (closedLoop) { - appliedVolts = - MathUtil.clamp(pid.calculate(sim.getVelocityRadPerSec()) + ffVolts, -12.0, 12.0); + appliedVolts = + MathUtil.clamp(pid.calculate(sim.getAngleRads()) + ffVolts, -12.0, 12.0); sim.setInputVoltage(appliedVolts); } } @Override - public void rotatePivot(double speed) { - pivotAppliedVolts = MathUtil.clamp(12 * speed, -12, 12); - sim.setInputVoltage(appliedVolts); + public void setAngle(double targetAngle) { + pid.setSetpoint(targetAngle); } @Override From 69724b2d6cbc2f6ceb25267191b0308fdbe43bde Mon Sep 17 00:00:00 2001 From: ColinH0 <119466406+ColinH0@users.noreply.github.com> Date: Sun, 29 Sep 2024 11:30:49 -0400 Subject: [PATCH 10/37] Switch gyro to NavX --- src/main/java/frc/robot/RobotContainer.java | 4 +- .../frc/robot/subsystems/drive/Drive.java | 6 +- .../robot/subsystems/drive/GyroIONavX.java | 29 ++++++++ .../frc/robot/subsystems/drive/Module.java | 4 +- .../subsystems/drive/ModuleIOTalonFX.java | 66 +++++++++---------- vendordeps/NavX.json | 40 +++++++++++ 6 files changed, 109 insertions(+), 40 deletions(-) create mode 100644 src/main/java/frc/robot/subsystems/drive/GyroIONavX.java create mode 100644 vendordeps/NavX.json diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index becf44d..408b5a8 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -24,7 +24,7 @@ import frc.robot.commands.DriveCommands; import frc.robot.subsystems.drive.Drive; import frc.robot.subsystems.drive.GyroIO; -import frc.robot.subsystems.drive.GyroIOPigeon2; +import frc.robot.subsystems.drive.GyroIONavX; import frc.robot.subsystems.drive.ModuleIO; import frc.robot.subsystems.drive.ModuleIOSim; import frc.robot.subsystems.drive.ModuleIOSparkMax; @@ -61,7 +61,7 @@ public RobotContainer() { // Real robot, instantiate hardware IO implementations drive = Drive.initialize( - new GyroIOPigeon2(), + new GyroIONavX(), new ModuleIOSparkMax(0), new ModuleIOSparkMax(1), new ModuleIOSparkMax(2), diff --git a/src/main/java/frc/robot/subsystems/drive/Drive.java b/src/main/java/frc/robot/subsystems/drive/Drive.java index 409d017..f620b0f 100644 --- a/src/main/java/frc/robot/subsystems/drive/Drive.java +++ b/src/main/java/frc/robot/subsystems/drive/Drive.java @@ -61,7 +61,8 @@ public class Drive extends SubsystemBase { private final SysIdRoutine sysId; private final MutableMeasure m_appliedVoltage = MutableMeasure.ofBaseUnits(0, Volts); private final MutableMeasure m_position = MutableMeasure.ofBaseUnits(0, Radians); - private final MutableMeasure> m_velocity = MutableMeasure.ofBaseUnits(0, RadiansPerSecond); + private final MutableMeasure> m_velocity = + MutableMeasure.ofBaseUnits(0, RadiansPerSecond); private SwerveDriveKinematics kinematics = new SwerveDriveKinematics(getModuleTranslations()); private Rotation2d rawGyroRotation = new Rotation2d(); @@ -136,7 +137,8 @@ MAX_LINEAR_SPEED, DRIVE_BASE_RADIUS, new ReplanningConfig()), log.motor("driveSparkMax") .voltage(m_appliedVoltage.mut_replace(inputs.driveAppliedVolts, Volts)) .angularPosition(m_position.mut_replace(inputs.drivePositionRad, Radians)) - .angularVelocity(m_velocity.mut_replace(inputs.driveVelocityRadPerSec, RadiansPerSecond)); + .angularVelocity( + m_velocity.mut_replace(inputs.driveVelocityRadPerSec, RadiansPerSecond)); }, this)); } diff --git a/src/main/java/frc/robot/subsystems/drive/GyroIONavX.java b/src/main/java/frc/robot/subsystems/drive/GyroIONavX.java new file mode 100644 index 0000000..4b07259 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/drive/GyroIONavX.java @@ -0,0 +1,29 @@ +package frc.robot.subsystems.drive; + +import com.kauailabs.navx.frc.AHRS; +import edu.wpi.first.math.util.Units; +import edu.wpi.first.wpilibj.SPI; + +public class GyroIONavX implements GyroIO { + private final AHRS gyro = new AHRS(SPI.Port.kMXP); + + public GyroIONavX() { + reset(); + } + + @Override + public void updateInputs(GyroIOInputs inputs) { + inputs.connected = gyro.isConnected(); + inputs.yawPosition = gyro.getRotation2d(); + inputs.yawVelocityRadPerSec = Units.degreesToRadians(gyro.getRate()); + } + + @Override + public void reset() { + gyro.reset(); + } + + public void setOffset(double offset) { + gyro.setAngleAdjustment(offset); + } +} diff --git a/src/main/java/frc/robot/subsystems/drive/Module.java b/src/main/java/frc/robot/subsystems/drive/Module.java index 732dede..85f21c5 100644 --- a/src/main/java/frc/robot/subsystems/drive/Module.java +++ b/src/main/java/frc/robot/subsystems/drive/Module.java @@ -22,8 +22,6 @@ import frc.robot.Constants; import org.littletonrobotics.junction.Logger; -import com.ctre.phoenix.sensors.Pigeon2; - public class Module { private static final double WHEEL_RADIUS = Units.inchesToMeters(2.0); @@ -102,7 +100,7 @@ public void periodic() { driveFeedforward.calculate(velocityRadPerSec) + driveFeedback.calculate(inputs.driveVelocityRadPerSec, velocityRadPerSec)); - // If Talon use: io.runTalonPID(Units.radiansToRotations(velocityRadPerSec)); + // If Talon use: io.runTalonPID(Units.radiansToRotations(velocityRadPerSec)); } } } diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java index ed69bba..f0c66c8 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java @@ -22,7 +22,6 @@ import com.revrobotics.CANSparkBase.IdleMode; import com.revrobotics.CANSparkFlex; import com.revrobotics.CANSparkLowLevel.MotorType; -import com.revrobotics.CANSparkMax; import com.revrobotics.RelativeEncoder; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.util.Units; @@ -40,7 +39,7 @@ * "/Drive/ModuleX/TurnAbsolutePositionRad" */ public class ModuleIOTalonFX implements ModuleIO { -final VelocityVoltage m_request = new VelocityVoltage(0).withSlot(0); + final VelocityVoltage m_request = new VelocityVoltage(0).withSlot(0); // Gear ratios for SDS MK4i L2, adjust as necessary private static final double DRIVE_GEAR_RATIO = (50.0 / 14.0) * (17.0 / 27.0) * (45.0 / 15.0); private static final double TURN_GEAR_RATIO = 150.0 / 7.0; @@ -83,7 +82,7 @@ public ModuleIOTalonFX(int index) { default: throw new RuntimeException("Invalid module index"); } - + turnSparkMax.restoreFactoryDefaults(); turnAbsoluteEncoder.setPositionConversionFactor(2 * Math.PI); // Radians @@ -114,18 +113,18 @@ public ModuleIOTalonFX(int index) { driveTalonFX.clearStickyFaults(); StatusCode status = StatusCode.StatusCodeNotInitialized; - for (int i = 0; i < 5; i++) { - status = driveTalonFX.getConfigurator().apply(config); - if (status.isOK()) break; - } - - if (!status.isOK()) { - System.out.println( - "Talon ID " - + driveTalonFX.getDeviceID() - + " failed config with error " - + status.toString()); - } + for (int i = 0; i < 5; i++) { + status = driveTalonFX.getConfigurator().apply(config); + if (status.isOK()) break; + } + + if (!status.isOK()) { + System.out.println( + "Talon ID " + + driveTalonFX.getDeviceID() + + " failed config with error " + + status.toString()); + } } @Override @@ -133,7 +132,8 @@ public void updateInputs(ModuleIOInputs inputs) { inputs.drivePositionRad = Units.rotationsToRadians(driveTalonFX.getPosition().getValueAsDouble()) / DRIVE_GEAR_RATIO; inputs.driveVelocityRadPerSec = - Units.rotationsPerMinuteToRadiansPerSecond(driveTalonFX.getVelocity().getValueAsDouble()) / DRIVE_GEAR_RATIO; + Units.rotationsPerMinuteToRadiansPerSecond(driveTalonFX.getVelocity().getValueAsDouble()) + / DRIVE_GEAR_RATIO; inputs.driveAppliedVolts = driveTalonFX.getMotorVoltage().getValueAsDouble(); inputs.driveCurrentAmps = new double[] {driveTalonFX.getSupplyCurrent().getValueAsDouble()}; @@ -146,25 +146,25 @@ public void updateInputs(ModuleIOInputs inputs) { inputs.turnAppliedVolts = turnSparkMax.getAppliedOutput() * turnSparkMax.getBusVoltage(); inputs.turnCurrentAmps = new double[] {turnSparkMax.getOutputCurrent()}; } - + private TalonFXConfiguration config() { - var talonFXConfig = new TalonFXConfiguration(); + var talonFXConfig = new TalonFXConfiguration(); - talonFXConfig.Slot0.kP = 1; - talonFXConfig.Slot0.kI = 0; - talonFXConfig.Slot0.kD = 0; - talonFXConfig.Slot0.kS = 0; - talonFXConfig.Slot0.kV = 0; + talonFXConfig.Slot0.kP = 1; + talonFXConfig.Slot0.kI = 0; + talonFXConfig.Slot0.kD = 0; + talonFXConfig.Slot0.kS = 0; + talonFXConfig.Slot0.kV = 0; - talonFXConfig.CurrentLimits.StatorCurrentLimitEnable = true; - talonFXConfig.CurrentLimits.StatorCurrentLimit = 40; //CurrentLimits.drive; + talonFXConfig.CurrentLimits.StatorCurrentLimitEnable = true; + talonFXConfig.CurrentLimits.StatorCurrentLimit = 40; // CurrentLimits.drive; - talonFXConfig.MotorOutput.NeutralMode = NeutralModeValue.Brake; + talonFXConfig.MotorOutput.NeutralMode = NeutralModeValue.Brake; - talonFXConfig.Audio.BeepOnBoot = true; + talonFXConfig.Audio.BeepOnBoot = true; - return talonFXConfig; - } + return talonFXConfig; + } @Override public void setDriveVoltage(double volts) { @@ -181,10 +181,10 @@ public void setTurnVoltage(double volts) { turnSparkMax.setVoltage(volts); } -// @Override -// public void setDriveBrakeMode(boolean enable) { -// driveTalonFX.setBrakeMode(enable ? IdleMode.kBrake : IdleMode.kCoast); -// } + // @Override + // public void setDriveBrakeMode(boolean enable) { + // driveTalonFX.setBrakeMode(enable ? IdleMode.kBrake : IdleMode.kCoast); + // } @Override public void setTurnBrakeMode(boolean enable) { diff --git a/vendordeps/NavX.json b/vendordeps/NavX.json new file mode 100644 index 0000000..a142879 --- /dev/null +++ b/vendordeps/NavX.json @@ -0,0 +1,40 @@ +{ + "fileName": "NavX.json", + "name": "NavX", + "version": "2024.1.0", + "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", + "frcYear": "2024", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2024/" + ], + "jsonUrl": "https://dev.studica.com/releases/2024/NavX.json", + "javaDependencies": [ + { + "groupId": "com.kauailabs.navx.frc", + "artifactId": "navx-frc-java", + "version": "2024.1.0" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "com.kauailabs.navx.frc", + "artifactId": "navx-frc-cpp", + "version": "2024.1.0", + "headerClassifier": "headers", + "sourcesClassifier": "sources", + "sharedLibrary": false, + "libName": "navx_frc", + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "linuxraspbian", + "linuxarm32", + "linuxarm64", + "linuxx86-64", + "osxuniversal", + "windowsx86-64" + ] + } + ] +} From c804377dc8fee42410780f7e7a88e215ef029c78 Mon Sep 17 00:00:00 2001 From: GooseJuice898 Date: Mon, 30 Sep 2024 12:15:25 -0400 Subject: [PATCH 11/37] Real, in terms of Pivot (ykwim) --- src/main/java/frc/robot/RobotContainer.java | 6 +- .../frc/robot/subsystems/pivot/Pivot.java | 6 +- .../robot/subsystems/pivot/PivotIOReal.java | 95 ++++++++++++------- 3 files changed, 65 insertions(+), 42 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 705bb8a..c30b434 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -175,11 +175,7 @@ private void configureButtonBindings() { .whileTrue( Commands.startEnd( () -> flywheel.runVelocity(flywheelSpeedInput.get()), flywheel::stop, flywheel)); - controller - .y() - .whileTrue( - Commands.startEnd( - () -> pivot.setVelocity(, pivot::stop, pivot))); + } /** diff --git a/src/main/java/frc/robot/subsystems/pivot/Pivot.java b/src/main/java/frc/robot/subsystems/pivot/Pivot.java index 3701027..bca81f3 100644 --- a/src/main/java/frc/robot/subsystems/pivot/Pivot.java +++ b/src/main/java/frc/robot/subsystems/pivot/Pivot.java @@ -18,7 +18,7 @@ public class Pivot extends SubsystemBase { private Pivot(PivotIO io) { this.io = io; - goalRad = 0; + goalRad = 0.0; switch (Constants.currentMode) { case REAL: @@ -59,8 +59,8 @@ public void runVoltage(double volts) { io.setVoltage(volts); } - public void setGoal() { - + public void setGoal(double goal) { + goalRad = goal; } public void stop() { diff --git a/src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java b/src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java index 9119bf6..20f77a1 100644 --- a/src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java +++ b/src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java @@ -1,38 +1,65 @@ -// package frc.robot.subsystems.pivot; +package frc.robot.subsystems.pivot; -// import edu.wpi.first.math.MathUtil; -// import edu.wpi.first.math.controller.PIDController; -// import edu.wpi.first.math.system.plant.DCMotor; -// import edu.wpi.first.wpilibj.simulation.SingleJointedArmSim; -// import frc.robot.subsystems.flywheel.FlywheelIO.FlywheelIOInputs; +import com.revrobotics.CANSparkBase.IdleMode; +import com.revrobotics.CANSparkFlex; +import com.revrobotics.CANSparkLowLevel.MotorType; +import com.revrobotics.RelativeEncoder; -// public class PivotIOReal implements PivotIO { - - +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.controller.PIDController; + +public class PivotIOReal implements PivotIO { + private CANSparkFlex pivotLeft = new CANSparkFlex(0, MotorType.kBrushless); + private CANSparkFlex pivotRight = new CANSparkFlex(1, MotorType.kBrushless); + private RelativeEncoder pivotEncoderRight = pivotRight.getEncoder(); + private PIDController pid = new PIDController(1.0, 0.0, 0.0); + + private boolean closedLoop = false; + private double ffVolts = 0.0; + private double appliedVolts = 0.0; + public PivotIOReal() { + pivotLeft.restoreFactoryDefaults(); + pivotRight.restoreFactoryDefaults(); + + pivotLeft.follow(pivotRight); + pivotLeft.setInverted(true); + + pivotLeft.setCANTimeout(250); + pivotRight.setCANTimeout(250); + pivotLeft.enableVoltageCompensation(12); + pivotRight.enableVoltageCompensation(12); + pivotLeft.setSmartCurrentLimit(80); + pivotRight.setSmartCurrentLimit(80); + pivotLeft.setIdleMode(IdleMode.kBrake); + pivotRight.setIdleMode(IdleMode.kBrake); + + pivotLeft.burnFlash(); + pivotRight.burnFlash(); + } + + @Override + public void updateInputs(PivotIOInputs inputs) { + inputs.positionRad = pivotEncoderRight.getPosition() * 2 * Math.PI; + inputs.velocityRevolutionsPerSec = pivotEncoderRight.getVelocity(); + inputs.appliedVolts = appliedVolts; + + if (closedLoop) { + appliedVolts = + MathUtil.clamp(pid.calculate(inputs.positionRad) + ffVolts, -12.0, 12.0); + } + } + + @Override + public void setAngle(double targetAngle) { + pid.setSetpoint(targetAngle); + } + + @Override + public void setVoltage(double volts) { + appliedVolts = MathUtil.clamp(volts, -12, 12); + pivotRight.setVoltage(appliedVolts); + } + -// @Override -// public void setVoltage(double volts) { -// closedLoop = false; -// appliedVolts = volts; -// sim.setInputVoltage(volts); -// } - -// @Override -// public void setVelocity(double velocityRadPerSec, double ffVolts) { -// closedLoop = true; -// pid.setSetpoint(velocityRadPerSec); -// this.ffVolts = ffVolts; -// } - -// @Override -// public void stop() { -// setVoltage(0.0); -// } - -// @Override -// public void configurePID(double kP, double kI, double kD) { -// pid.setPID(kP, kI, kD); -// } - -// } +} From c7c2541938e943e3a47916cde3828485690d3b81 Mon Sep 17 00:00:00 2001 From: Arenacloserr <162641455+Arenacloserr@users.noreply.github.com> Date: Thu, 3 Oct 2024 16:04:19 -0400 Subject: [PATCH 12/37] intake updates --- .../frc/robot/subsystems/intake/Intake.java | 19 ++++++++++++++++--- .../subsystems/intake/IntakeConstants.java | 1 + .../frc/robot/subsystems/intake/IntakeIO.java | 3 ++- .../robot/subsystems/intake/IntakeIOReal.java | 5 ++++- 4 files changed, 23 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/intake/Intake.java b/src/main/java/frc/robot/subsystems/intake/Intake.java index b7be24d..28872fc 100644 --- a/src/main/java/frc/robot/subsystems/intake/Intake.java +++ b/src/main/java/frc/robot/subsystems/intake/Intake.java @@ -1,12 +1,13 @@ package frc.robot.subsystems.intake; +import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.SubsystemBase; public class Intake extends SubsystemBase { private IntakeIO io; private IntakeIOInputsAutoLogged inputs = new IntakeIOInputsAutoLogged(); private static Intake instance; - public double intakespd; + public double intakeSpeed; private Intake(IntakeIO IO) { io = IO; @@ -24,12 +25,24 @@ public static Intake initialize(IntakeIO io) { } public void setIntakeSpeed(double speed){ - intakespd = speed; + intakeSpeed = speed; + } + + public boolean bool() { // .. + return inputs.Amps > IntakeConstants.current; + } + + public Command intake() { + return startEnd(() -> setIntakeSpeed(1), () -> setIntakeSpeed(0)); + } + + public Command reverse() { + return startEnd(() -> setIntakeSpeed(1), () -> setIntakeSpeed(0)); } @Override public void periodic() { io.updateInputs(inputs); - io.setMotorSpeed(intakespd); + io.setMotorSpeed(intakeSpeed); } } diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java b/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java index 78c2851..695468c 100644 --- a/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java +++ b/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java @@ -3,4 +3,5 @@ public class IntakeConstants { public static final int CanID = 2; // .. public static final int currentLimit = 60; // vortex + public static final int current = 10; // .. } diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeIO.java b/src/main/java/frc/robot/subsystems/intake/IntakeIO.java index 7a9bdb0..6c15f5f 100644 --- a/src/main/java/frc/robot/subsystems/intake/IntakeIO.java +++ b/src/main/java/frc/robot/subsystems/intake/IntakeIO.java @@ -5,7 +5,8 @@ public interface IntakeIO { @AutoLog public static class IntakeIOInputs { - public double voltage = 0.0; // .. + public double Voltage = 0.0; // .. + public double Amps = 0.0; } public default void updateInputs(IntakeIOInputs inputs) {} diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeIOReal.java b/src/main/java/frc/robot/subsystems/intake/IntakeIOReal.java index 3ae0fe8..1ef4d18 100644 --- a/src/main/java/frc/robot/subsystems/intake/IntakeIOReal.java +++ b/src/main/java/frc/robot/subsystems/intake/IntakeIOReal.java @@ -17,6 +17,9 @@ public void setMotorSpeed(double speed) { } @Override - public void updateInputs(IntakeIOInputs inputs) {} + public void updateInputs(IntakeIOInputs inputs) { + inputs.Voltage = IntakeMotor.getBusVoltage(); + inputs.Amps = IntakeMotor.getOutputCurrent(); + } } From 2bf52e6f956ae49851debac0ec5292476e4dde24 Mon Sep 17 00:00:00 2001 From: Arenacloserr <162641455+Arenacloserr@users.noreply.github.com> Date: Fri, 4 Oct 2024 17:23:34 -0400 Subject: [PATCH 13/37] fix gradle --- build.gradle | 21 ++--- gradlew | 2 +- gradlew.bat | 2 +- src/main/java/frc/robot/Robot.java | 2 +- .../frc/robot/subsystems/intake/Intake.java | 82 +++++++++---------- .../subsystems/intake/IntakeConstants.java | 6 +- .../frc/robot/subsystems/intake/IntakeIO.java | 15 ++-- .../robot/subsystems/intake/IntakeIOReal.java | 29 ++++--- 8 files changed, 79 insertions(+), 80 deletions(-) diff --git a/build.gradle b/build.gradle index 51a55b2..3f19740 100644 --- a/build.gradle +++ b/build.gradle @@ -133,16 +133,17 @@ tasks.withType(JavaCompile) { } // Create version file -project.compileJava.dependsOn(createVersionFile) -gversion { - srcDir = "src/main/java/" - classPackage = "frc.robot" - className = "BuildConstants" - dateFormat = "yyyy-MM-dd HH:mm:ss z" - timeZone = "America/New_York" - indent = " " -} - +/* + project.compileJava.dependsOn(createVersionFile) + gversion { + srcDir = "src/main/java/" + classPackage = "frc.robot" + className = "BuildConstants" + dateFormat = "yyyy-MM-dd HH:mm:ss z" + timeZone = "America/New_York" + indent = " " + } + */ // Spotless formatting project.compileJava.dependsOn(spotlessApply) spotless { diff --git a/gradlew b/gradlew index 1aa94a4..31042a6 100644 --- a/gradlew +++ b/gradlew @@ -246,4 +246,4 @@ eval "set -- $( tr '\n' ' ' )" '"$@"' -exec "$JAVACMD" "$@" +exec "$JAVACMD" "$@" \ No newline at end of file diff --git a/gradlew.bat b/gradlew.bat index 93e3f59..2578005 100644 --- a/gradlew.bat +++ b/gradlew.bat @@ -89,4 +89,4 @@ exit /b %EXIT_CODE% :mainEnd if "%OS%"=="Windows_NT" endlocal -:omega +:omega \ No newline at end of file diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 40e9df1..29da16b 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -45,7 +45,7 @@ public void robotInit() { Logger.recordMetadata("GitSHA", BuildConstants.GIT_SHA); Logger.recordMetadata("GitDate", BuildConstants.GIT_DATE); Logger.recordMetadata("GitBranch", BuildConstants.GIT_BRANCH); - + switch (BuildConstants.DIRTY) { case 0: Logger.recordMetadata("GitDirty", "All changes committed"); diff --git a/src/main/java/frc/robot/subsystems/intake/Intake.java b/src/main/java/frc/robot/subsystems/intake/Intake.java index 28872fc..2626a57 100644 --- a/src/main/java/frc/robot/subsystems/intake/Intake.java +++ b/src/main/java/frc/robot/subsystems/intake/Intake.java @@ -4,45 +4,45 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase; public class Intake extends SubsystemBase { - private IntakeIO io; - private IntakeIOInputsAutoLogged inputs = new IntakeIOInputsAutoLogged(); - private static Intake instance; - public double intakeSpeed; - - private Intake(IntakeIO IO) { - io = IO; - } - - public static Intake getInstance() { - return instance; - } - - public static Intake initialize(IntakeIO io) { - if (instance == null) { - instance = new Intake(io); - } - return instance; - } - - public void setIntakeSpeed(double speed){ - intakeSpeed = speed; - } - - public boolean bool() { // .. - return inputs.Amps > IntakeConstants.current; - } - - public Command intake() { - return startEnd(() -> setIntakeSpeed(1), () -> setIntakeSpeed(0)); - } - - public Command reverse() { - return startEnd(() -> setIntakeSpeed(1), () -> setIntakeSpeed(0)); - } - - @Override - public void periodic() { - io.updateInputs(inputs); - io.setMotorSpeed(intakeSpeed); - } + private IntakeIO io; + private IntakeIOInputsAutoLogged inputs = new IntakeIOInputsAutoLogged(); + private static Intake instance; + public double intakeSpeed; + + private Intake(IntakeIO IO) { + io = IO; + } + + public static Intake getInstance() { + return instance; + } + + public static Intake initialize(IntakeIO io) { + if (instance == null) { + instance = new Intake(io); + } + return instance; + } + + public void setIntakeSpeed(double speed) { + intakeSpeed = speed; + } + + public boolean bool() { // .. + return inputs.Amps > IntakeConstants.current; + } + + public Command intake() { + return startEnd(() -> setIntakeSpeed(1), () -> setIntakeSpeed(0)); + } + + public Command reverse() { + return startEnd(() -> setIntakeSpeed(1), () -> setIntakeSpeed(0)); + } + + @Override + public void periodic() { + io.updateInputs(inputs); + io.setMotorSpeed(intakeSpeed); + } } diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java b/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java index 695468c..63c7e25 100644 --- a/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java +++ b/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java @@ -1,7 +1,7 @@ package frc.robot.subsystems.intake; public class IntakeConstants { - public static final int CanID = 2; // .. - public static final int currentLimit = 60; // vortex - public static final int current = 10; // .. + public static final int CanID = 2; // .. + public static final int currentLimit = 60; // vortex + public static final int current = 10; // .. } diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeIO.java b/src/main/java/frc/robot/subsystems/intake/IntakeIO.java index 6c15f5f..0b783dc 100644 --- a/src/main/java/frc/robot/subsystems/intake/IntakeIO.java +++ b/src/main/java/frc/robot/subsystems/intake/IntakeIO.java @@ -3,14 +3,13 @@ import org.littletonrobotics.junction.AutoLog; public interface IntakeIO { - @AutoLog - public static class IntakeIOInputs { - public double Voltage = 0.0; // .. - public double Amps = 0.0; - } + @AutoLog + public static class IntakeIOInputs { + public double Voltage = 0.0; // .. + public double Amps = 0.0; + } - public default void updateInputs(IntakeIOInputs inputs) {} - - public default void setMotorSpeed(double speed) {} + public default void updateInputs(IntakeIOInputs inputs) {} + public default void setMotorSpeed(double speed) {} } diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeIOReal.java b/src/main/java/frc/robot/subsystems/intake/IntakeIOReal.java index 1ef4d18..182d7cd 100644 --- a/src/main/java/frc/robot/subsystems/intake/IntakeIOReal.java +++ b/src/main/java/frc/robot/subsystems/intake/IntakeIOReal.java @@ -4,22 +4,21 @@ import com.revrobotics.CANSparkMax; public class IntakeIOReal implements IntakeIO { - private CANSparkMax IntakeMotor = new CANSparkMax(IntakeConstants.CanID, MotorType.kBrushless); + private CANSparkMax IntakeMotor = new CANSparkMax(IntakeConstants.CanID, MotorType.kBrushless); - public IntakeIOReal() { - IntakeMotor.setSmartCurrentLimit(IntakeConstants.currentLimit); - IntakeMotor.burnFlash(); - } + public IntakeIOReal() { + IntakeMotor.setSmartCurrentLimit(IntakeConstants.currentLimit); + IntakeMotor.burnFlash(); + } - @Override - public void setMotorSpeed(double speed) { - IntakeMotor.set(speed); - } - - @Override - public void updateInputs(IntakeIOInputs inputs) { - inputs.Voltage = IntakeMotor.getBusVoltage(); - inputs.Amps = IntakeMotor.getOutputCurrent(); - } + @Override + public void setMotorSpeed(double speed) { + IntakeMotor.set(speed); + } + @Override + public void updateInputs(IntakeIOInputs inputs) { + inputs.Voltage = IntakeMotor.getBusVoltage(); + inputs.Amps = IntakeMotor.getOutputCurrent(); + } } From 16a3dfcbf8a5a88d396779541b8e2cf0cf97e932 Mon Sep 17 00:00:00 2001 From: Arenacloserr <162641455+Arenacloserr@users.noreply.github.com> Date: Fri, 4 Oct 2024 23:15:38 -0400 Subject: [PATCH 14/37] sim update --- logs/Log_453809fd5c0e7d60.wpilog | Bin 0 -> 87 bytes networktables.json | 1 + src/main/java/frc/robot/Constants.java | 2 +- .../robot/subsystems/intake/IntakeIOSim.java | 19 +++++++++++++++++- 4 files changed, 20 insertions(+), 2 deletions(-) create mode 100644 logs/Log_453809fd5c0e7d60.wpilog create mode 100644 networktables.json diff --git a/logs/Log_453809fd5c0e7d60.wpilog b/logs/Log_453809fd5c0e7d60.wpilog new file mode 100644 index 0000000000000000000000000000000000000000..670e6e4945aeb919a2942eb55d2a2ed339540073 GIT binary patch literal 87 zcmWF!@bvL_XJF)EU|?`eDND>NNlZ`m&MZ-2uv})t#lQ#@<^p2 Date: Tue, 8 Oct 2024 16:59:43 -0400 Subject: [PATCH 15/37] shooter fix eeelsa --- .../robot/subsystems/shooter/ShooterIO.java | 7 +++++- .../subsystems/shooter/ShooterIOReal.java | 23 ++++++++++++------- 2 files changed, 21 insertions(+), 9 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java index fe15e61..c2b3476 100644 --- a/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java +++ b/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java @@ -1,6 +1,5 @@ package frc.robot.subsystems.shooter; -import frc.robot.subsystems.shooter.ShooterIO.ShooterIOInputs; import org.littletonrobotics.junction.AutoLog; public interface ShooterIO { @@ -8,11 +7,17 @@ public interface ShooterIO { public static class ShooterIOInputs { public double leftMotorVelocity = 0.0; public double rightMotorVelocity = 0.0; + public double leftAppliedVolts = 0.0; + public double rightAppliedVolts = 0.0; + public double leftOutputCurrent = 0.0; + public double rightOutputCurrent = 0.0; } public default void spinForwards() {} public default void spinBackwards() {} + public default void stopMotor() {} + public default void updateInputs(ShooterIOInputs inputs) {} } diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java index 5f70d9b..5bcf7d2 100644 --- a/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java +++ b/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java @@ -1,5 +1,6 @@ package frc.robot.subsystems.shooter; +import com.revrobotics.CANSparkBase.IdleMode; import com.revrobotics.CANSparkFlex; import com.revrobotics.CANSparkLowLevel.MotorType; import com.revrobotics.RelativeEncoder; @@ -9,15 +10,22 @@ public class ShooterIOReal implements ShooterIO { new CANSparkFlex(0, MotorType.kBrushless); // Can IDs not accurate private CANSparkFlex rightShooterMotor = new CANSparkFlex(1, MotorType.kBrushless); // Can IDsp not accurate + private RelativeEncoder leftShooterEncoder = leftShooterMotor.getEncoder(); private RelativeEncoder rightShooterEncoder = rightShooterMotor.getEncoder(); public ShooterIOReal() { + rightShooterMotor.restoreFactoryDefaults(); + leftShooterMotor.restoreFactoryDefaults(); + rightShooterMotor.follow(leftShooterMotor, true); - + leftShooterMotor.setSmartCurrentLimit(40); rightShooterMotor.setSmartCurrentLimit(40); + rightShooterMotor.setIdleMode(IdleMode.kCoast); + leftShooterMotor.setIdleMode(IdleMode.kCoast); + rightShooterMotor.burnFlash(); leftShooterMotor.burnFlash(); } @@ -50,25 +58,24 @@ public double getLeftVoltage() { } public double getRightVoltage() { - return rightShooterMotor.getBusVoltage(); + return rightShooterMotor.getBusVoltage(); } public double getLeftCurrent() { - return leftShooterMotor.getOutputCurrent(); + return leftShooterMotor.getOutputCurrent(); } public double getRightCurrent() { - return rightShooterMotor.getOutputCurrent(); + return rightShooterMotor.getOutputCurrent(); } @Override public void updateInputs(ShooterIOInputs inputs) { inputs.leftMotorVelocity = getLeftvelocity(); inputs.rightMotorVelocity = getRightvelocity(); - inputs.leftAppliedVolts = getLeftVoltage(); + inputs.leftAppliedVolts = getLeftVoltage(); inputs.rightAppliedVolts = getRightVoltage(); - inputs.leftOutputCurrent = getLeftCurrent(); + inputs.leftOutputCurrent = getLeftCurrent(); inputs.rightOutputCurrent = getRightCurrent(); } -} - +} \ No newline at end of file From ea1e3c6bf479f7d1f57a4de54b7ed3874c8d97df Mon Sep 17 00:00:00 2001 From: Thomas Jin <83102001+Bob127227311@users.noreply.github.com> Date: Tue, 8 Oct 2024 17:28:29 -0400 Subject: [PATCH 16/37] shooter sim --- .../subsystems/shooter/ShooterIOSim.java | 57 ++++++++++++++++++- 1 file changed, 56 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java index fbd83f1..71e58b4 100644 --- a/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java +++ b/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java @@ -1,3 +1,58 @@ +//thomas jin fix this +//i just copy pasta from flywheel sim +//type shi pray emoji package frc.robot.subsystems.shooter; -public class ShooterIOSim {} +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.controller.PIDController; +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.wpilibj.simulation.FlywheelSim; + +public class FlywheelIOSim implements FlywheelIO { + private FlywheelSim sim = new FlywheelSim(DCMotor.getNEO(1), 1.5, 0.004); + private PIDController pid = new PIDController(0.0, 0.0, 0.0); + + private boolean closedLoop = false; + private double ffVolts = 0.0; + private double appliedVolts = 0.0; + + @Override + public void updateInputs(FlywheelIOInputs inputs) { + if (closedLoop) { + appliedVolts = + MathUtil.clamp(pid.calculate(sim.getAngularVelocityRadPerSec()) + ffVolts, -12.0, 12.0); + sim.setInputVoltage(appliedVolts); + } + + sim.update(0.02); + + inputs.positionRad = 0.0; + inputs.velocityRadPerSec = sim.getAngularVelocityRadPerSec(); + inputs.appliedVolts = appliedVolts; + inputs.currentAmps = new double[] {sim.getCurrentDrawAmps()}; + } + + @Override + public void setVoltage(double volts) { + closedLoop = false; + appliedVolts = volts; + sim.setInputVoltage(volts); + } + + @Override + public void setVelocity(double velocityRadPerSec, double ffVolts) { + closedLoop = true; + pid.setSetpoint(velocityRadPerSec); + this.ffVolts = ffVolts; + } + + @Override + public void stop() { + setVoltage(0.0); + } + + @Override + public void configurePID(double kP, double kI, double kD) { + pid.setPID(kP, kI, kD); + } +} From 034d44fda9ce4ce26ca4758068e63773ec4cdec1 Mon Sep 17 00:00:00 2001 From: GooseJuice898 Date: Wed, 9 Oct 2024 12:35:18 -0400 Subject: [PATCH 17/37] Flywheel gone, CANid errors fixed --- ctre_sim/Pigeon 2 - 020 - 0 - ext.dat | Bin 0 -> 2048 bytes logs/Log_24-10-09_12-26-37.wpilog | Bin 0 -> 3084124 bytes logs/Log_5fc0f61a818611e2.wpilog | Bin 0 -> 87 bytes logs/Log_7ef8dfb8c7d4b407.wpilog | Bin 0 -> 87 bytes networktables.json | 1 + src/main/java/frc/robot/RobotContainer.java | 49 +++----- .../robot/subsystems/flywheel/Flywheel.java | 110 ------------------ .../robot/subsystems/flywheel/FlywheelIO.java | 41 ------- .../subsystems/flywheel/FlywheelIOSim.java | 68 ----------- .../flywheel/FlywheelIOSparkMax.java | 89 -------------- .../flywheel/FlywheelIOTalonFX.java | 98 ---------------- .../frc/robot/subsystems/pivot/Pivot.java | 96 +++++++-------- .../frc/robot/subsystems/pivot/PivotIO.java | 5 +- .../robot/subsystems/pivot/PivotIOReal.java | 102 ++++++++-------- .../robot/subsystems/pivot/PivotIOSim.java | 44 ++++--- 15 files changed, 131 insertions(+), 572 deletions(-) create mode 100644 ctre_sim/Pigeon 2 - 020 - 0 - ext.dat create mode 100644 logs/Log_24-10-09_12-26-37.wpilog create mode 100644 logs/Log_5fc0f61a818611e2.wpilog create mode 100644 logs/Log_7ef8dfb8c7d4b407.wpilog create mode 100644 networktables.json delete mode 100644 src/main/java/frc/robot/subsystems/flywheel/Flywheel.java delete mode 100644 src/main/java/frc/robot/subsystems/flywheel/FlywheelIO.java delete mode 100644 src/main/java/frc/robot/subsystems/flywheel/FlywheelIOSim.java delete mode 100644 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0000000000000000000000000000000000000000..5f894a63c480acaab61906a5b103b619d31b5d5c GIT binary patch literal 87 zcmWF!@bvL_XJF)EU|?`eDND>NNlZ`m&MZ-2uyhpVW?%#ga{;k_NM>$oaY flywheel.runVelocity(flywheelSpeedInput.get()), flywheel::stop, flywheel) - .withTimeout(5.0)); + // NamedCommands.registerCommand( + // "Run Flywheel", + // Commands.startEnd( + // () -> flywheel.runVelocity(flywheelSpeedInput.get()), flywheel::stop, flywheel) + // .withTimeout(5.0)); autoChooser = new LoggedDashboardChooser<>("Auto Choices", AutoBuilder.buildAutoChooser()); // Set up SysId routines @@ -132,16 +125,6 @@ public RobotContainer() { "Drive SysId (Dynamic Forward)", drive.sysIdDynamic(SysIdRoutine.Direction.kForward)); autoChooser.addOption( "Drive SysId (Dynamic Reverse)", drive.sysIdDynamic(SysIdRoutine.Direction.kReverse)); - autoChooser.addOption( - "Flywheel SysId (Quasistatic Forward)", - flywheel.sysIdQuasistatic(SysIdRoutine.Direction.kForward)); - autoChooser.addOption( - "Flywheel SysId (Quasistatic Reverse)", - flywheel.sysIdQuasistatic(SysIdRoutine.Direction.kReverse)); - autoChooser.addOption( - "Flywheel SysId (Dynamic Forward)", flywheel.sysIdDynamic(SysIdRoutine.Direction.kForward)); - autoChooser.addOption( - "Flywheel SysId (Dynamic Reverse)", flywheel.sysIdDynamic(SysIdRoutine.Direction.kReverse)); // Configure the button bindings configureButtonBindings(); @@ -170,12 +153,8 @@ private void configureButtonBindings() { new Pose2d(drive.getPose().getTranslation(), new Rotation2d())), drive) .ignoringDisable(true)); - controller - .a() - .whileTrue( - Commands.startEnd( - () -> flywheel.runVelocity(flywheelSpeedInput.get()), flywheel::stop, flywheel)); - + + controller.y().onTrue(Commands.runEnd(() -> pivot.setGoal(45), () -> pivot.setGoal(0))); } /** diff --git a/src/main/java/frc/robot/subsystems/flywheel/Flywheel.java b/src/main/java/frc/robot/subsystems/flywheel/Flywheel.java deleted file mode 100644 index 6056b24..0000000 --- a/src/main/java/frc/robot/subsystems/flywheel/Flywheel.java +++ /dev/null @@ -1,110 +0,0 @@ -// Copyright 2021-2024 FRC 6328 -// http://github.com/Mechanical-Advantage -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. - -package frc.robot.subsystems.flywheel; - -import static edu.wpi.first.units.Units.*; - -import edu.wpi.first.math.controller.SimpleMotorFeedforward; -import edu.wpi.first.math.util.Units; -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.SubsystemBase; -import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine; -import frc.robot.Constants; -import org.littletonrobotics.junction.AutoLogOutput; -import org.littletonrobotics.junction.Logger; - -public class Flywheel extends SubsystemBase { - private final FlywheelIO io; - private final FlywheelIOInputsAutoLogged inputs = new FlywheelIOInputsAutoLogged(); - private final SimpleMotorFeedforward ffModel; - private final SysIdRoutine sysId; - - /** Creates a new Flywheel. */ - public Flywheel(FlywheelIO io) { - this.io = io; - - // Switch constants based on mode (the physics simulator is treated as a - // separate robot with different tuning) - switch (Constants.currentMode) { - case REAL: - case REPLAY: - ffModel = new SimpleMotorFeedforward(0.1, 0.05); - io.configurePID(1.0, 0.0, 0.0); - break; - case SIM: - ffModel = new SimpleMotorFeedforward(0.0, 0.03); - io.configurePID(0.5, 0.0, 0.0); - break; - default: - ffModel = new SimpleMotorFeedforward(0.0, 0.0); - break; - } - - // Configure SysId - sysId = - new SysIdRoutine( - new SysIdRoutine.Config( - null, - null, - null, - (state) -> Logger.recordOutput("Flywheel/SysIdState", state.toString())), - new SysIdRoutine.Mechanism((voltage) -> runVolts(voltage.in(Volts)), null, this)); - } - - @Override - public void periodic() { - io.updateInputs(inputs); - Logger.processInputs("Flywheel", inputs); - } - - /** Run open loop at the specified voltage. */ - public void runVolts(double volts) { - io.setVoltage(volts); - } - - /** Run closed loop at the specified velocity. */ - public void runVelocity(double velocityRPM) { - var velocityRadPerSec = Units.rotationsPerMinuteToRadiansPerSecond(velocityRPM); - io.setVelocity(velocityRadPerSec, ffModel.calculate(velocityRadPerSec)); - - // Log flywheel setpoint - Logger.recordOutput("Flywheel/SetpointRPM", velocityRPM); - } - - /** Stops the flywheel. */ - public void stop() { - io.stop(); - } - - /** Returns a command to run a quasistatic test in the specified direction. */ - public Command sysIdQuasistatic(SysIdRoutine.Direction direction) { - return sysId.quasistatic(direction); - } - - /** Returns a command to run a dynamic test in the specified direction. */ - public Command sysIdDynamic(SysIdRoutine.Direction direction) { - return sysId.dynamic(direction); - } - - /** Returns the current velocity in RPM. */ - @AutoLogOutput - public double getVelocityRPM() { - return Units.radiansPerSecondToRotationsPerMinute(inputs.velocityRadPerSec); - } - - /** Returns the current velocity in radians per second. */ - public double getCharacterizationVelocity() { - return inputs.velocityRadPerSec; - } -} diff --git a/src/main/java/frc/robot/subsystems/flywheel/FlywheelIO.java b/src/main/java/frc/robot/subsystems/flywheel/FlywheelIO.java deleted file mode 100644 index 98f7624..0000000 --- a/src/main/java/frc/robot/subsystems/flywheel/FlywheelIO.java +++ /dev/null @@ -1,41 +0,0 @@ -// Copyright 2021-2024 FRC 6328 -// http://github.com/Mechanical-Advantage -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. - -package frc.robot.subsystems.flywheel; - -import org.littletonrobotics.junction.AutoLog; - -public interface FlywheelIO { - @AutoLog - public static class FlywheelIOInputs { - public double positionRad = 0.0; - public double velocityRadPerSec = 0.0; - public double appliedVolts = 0.0; - public double[] currentAmps = new double[] {}; - } - - /** Updates the set of loggable inputs. */ - public default void updateInputs(FlywheelIOInputs inputs) {} - - /** Run open loop at the specified voltage. */ - public default void setVoltage(double volts) {} - - /** Run closed loop at the specified velocity. */ - public default void setVelocity(double velocityRadPerSec, double ffVolts) {} - - /** Stop in open loop. */ - public default void stop() {} - - /** Set velocity PID constants. */ - public default void configurePID(double kP, double kI, double kD) {} -} diff --git a/src/main/java/frc/robot/subsystems/flywheel/FlywheelIOSim.java b/src/main/java/frc/robot/subsystems/flywheel/FlywheelIOSim.java deleted file mode 100644 index 32ffa6f..0000000 --- a/src/main/java/frc/robot/subsystems/flywheel/FlywheelIOSim.java +++ /dev/null @@ -1,68 +0,0 @@ -// Copyright 2021-2024 FRC 6328 -// http://github.com/Mechanical-Advantage -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. - -package frc.robot.subsystems.flywheel; - -import edu.wpi.first.math.MathUtil; -import edu.wpi.first.math.controller.PIDController; -import edu.wpi.first.math.system.plant.DCMotor; -import edu.wpi.first.wpilibj.simulation.FlywheelSim; - -public class FlywheelIOSim implements FlywheelIO { - private FlywheelSim sim = new FlywheelSim(DCMotor.getNEO(1), 1.5, 0.004); - private PIDController pid = new PIDController(0.0, 0.0, 0.0); - - private boolean closedLoop = false; - private double ffVolts = 0.0; - private double appliedVolts = 0.0; - - @Override - public void updateInputs(FlywheelIOInputs inputs) { - if (closedLoop) { - appliedVolts = - MathUtil.clamp(pid.calculate(sim.getAngularVelocityRadPerSec()) + ffVolts, -12.0, 12.0); - sim.setInputVoltage(appliedVolts); - } - - sim.update(0.02); - - inputs.positionRad = 0.0; - inputs.velocityRadPerSec = sim.getAngularVelocityRadPerSec(); - inputs.appliedVolts = appliedVolts; - inputs.currentAmps = new double[] {sim.getCurrentDrawAmps()}; - } - - @Override - public void setVoltage(double volts) { - closedLoop = false; - appliedVolts = volts; - sim.setInputVoltage(volts); - } - - @Override - public void setVelocity(double velocityRadPerSec, double ffVolts) { - closedLoop = true; - pid.setSetpoint(velocityRadPerSec); - this.ffVolts = ffVolts; - } - - @Override - public void stop() { - setVoltage(0.0); - } - - @Override - public void configurePID(double kP, double kI, double kD) { - pid.setPID(kP, kI, kD); - } -} diff --git a/src/main/java/frc/robot/subsystems/flywheel/FlywheelIOSparkMax.java b/src/main/java/frc/robot/subsystems/flywheel/FlywheelIOSparkMax.java deleted file mode 100644 index 787f369..0000000 --- a/src/main/java/frc/robot/subsystems/flywheel/FlywheelIOSparkMax.java +++ /dev/null @@ -1,89 +0,0 @@ -// Copyright 2021-2024 FRC 6328 -// http://github.com/Mechanical-Advantage -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. - -package frc.robot.subsystems.flywheel; - -import com.revrobotics.CANSparkBase.ControlType; -import com.revrobotics.CANSparkLowLevel.MotorType; -import com.revrobotics.CANSparkMax; -import com.revrobotics.RelativeEncoder; -import com.revrobotics.SparkPIDController; -import com.revrobotics.SparkPIDController.ArbFFUnits; -import edu.wpi.first.math.util.Units; - -/** - * NOTE: To use the Spark Flex / NEO Vortex, replace all instances of "CANSparkMax" with - * "CANSparkFlex". - */ -public class FlywheelIOSparkMax implements FlywheelIO { - private static final double GEAR_RATIO = 1.5; - - private final CANSparkMax leader = new CANSparkMax(0, MotorType.kBrushless); - private final CANSparkMax follower = new CANSparkMax(1, MotorType.kBrushless); - private final RelativeEncoder encoder = leader.getEncoder(); - private final SparkPIDController pid = leader.getPIDController(); - - public FlywheelIOSparkMax() { - leader.restoreFactoryDefaults(); - follower.restoreFactoryDefaults(); - - leader.setCANTimeout(250); - follower.setCANTimeout(250); - - leader.setInverted(false); - follower.follow(leader, false); - - leader.enableVoltageCompensation(12.0); - leader.setSmartCurrentLimit(30); - - leader.burnFlash(); - follower.burnFlash(); - } - - @Override - public void updateInputs(FlywheelIOInputs inputs) { - inputs.positionRad = Units.rotationsToRadians(encoder.getPosition() / GEAR_RATIO); - inputs.velocityRadPerSec = - Units.rotationsPerMinuteToRadiansPerSecond(encoder.getVelocity() / GEAR_RATIO); - inputs.appliedVolts = leader.getAppliedOutput() * leader.getBusVoltage(); - inputs.currentAmps = new double[] {leader.getOutputCurrent(), follower.getOutputCurrent()}; - } - - @Override - public void setVoltage(double volts) { - leader.setVoltage(volts); - } - - @Override - public void setVelocity(double velocityRadPerSec, double ffVolts) { - pid.setReference( - Units.radiansPerSecondToRotationsPerMinute(velocityRadPerSec) * GEAR_RATIO, - ControlType.kVelocity, - 0, - ffVolts, - ArbFFUnits.kVoltage); - } - - @Override - public void stop() { - leader.stopMotor(); - } - - @Override - public void configurePID(double kP, double kI, double kD) { - pid.setP(kP, 0); - pid.setI(kI, 0); - pid.setD(kD, 0); - pid.setFF(0, 0); - } -} diff --git a/src/main/java/frc/robot/subsystems/flywheel/FlywheelIOTalonFX.java b/src/main/java/frc/robot/subsystems/flywheel/FlywheelIOTalonFX.java deleted file mode 100644 index 3f53512..0000000 --- a/src/main/java/frc/robot/subsystems/flywheel/FlywheelIOTalonFX.java +++ /dev/null @@ -1,98 +0,0 @@ -// Copyright 2021-2024 FRC 6328 -// http://github.com/Mechanical-Advantage -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. - -package frc.robot.subsystems.flywheel; - -import com.ctre.phoenix6.BaseStatusSignal; -import com.ctre.phoenix6.StatusSignal; -import com.ctre.phoenix6.configs.Slot0Configs; -import com.ctre.phoenix6.configs.TalonFXConfiguration; -import com.ctre.phoenix6.controls.Follower; -import com.ctre.phoenix6.controls.VelocityVoltage; -import com.ctre.phoenix6.controls.VoltageOut; -import com.ctre.phoenix6.hardware.TalonFX; -import com.ctre.phoenix6.signals.NeutralModeValue; -import edu.wpi.first.math.util.Units; - -public class FlywheelIOTalonFX implements FlywheelIO { - private static final double GEAR_RATIO = 1.5; - - private final TalonFX leader = new TalonFX(0); - private final TalonFX follower = new TalonFX(1); - - private final StatusSignal leaderPosition = leader.getPosition(); - private final StatusSignal leaderVelocity = leader.getVelocity(); - private final StatusSignal leaderAppliedVolts = leader.getMotorVoltage(); - private final StatusSignal leaderCurrent = leader.getSupplyCurrent(); - private final StatusSignal followerCurrent = follower.getSupplyCurrent(); - - public FlywheelIOTalonFX() { - var config = new TalonFXConfiguration(); - config.CurrentLimits.SupplyCurrentLimit = 30.0; - config.CurrentLimits.SupplyCurrentLimitEnable = true; - config.MotorOutput.NeutralMode = NeutralModeValue.Coast; - leader.getConfigurator().apply(config); - follower.getConfigurator().apply(config); - follower.setControl(new Follower(leader.getDeviceID(), false)); - - BaseStatusSignal.setUpdateFrequencyForAll( - 50.0, leaderPosition, leaderVelocity, leaderAppliedVolts, leaderCurrent, followerCurrent); - leader.optimizeBusUtilization(); - follower.optimizeBusUtilization(); - } - - @Override - public void updateInputs(FlywheelIOInputs inputs) { - BaseStatusSignal.refreshAll( - leaderPosition, leaderVelocity, leaderAppliedVolts, leaderCurrent, followerCurrent); - inputs.positionRad = Units.rotationsToRadians(leaderPosition.getValueAsDouble()) / GEAR_RATIO; - inputs.velocityRadPerSec = - Units.rotationsToRadians(leaderVelocity.getValueAsDouble()) / GEAR_RATIO; - inputs.appliedVolts = leaderAppliedVolts.getValueAsDouble(); - inputs.currentAmps = - new double[] {leaderCurrent.getValueAsDouble(), followerCurrent.getValueAsDouble()}; - } - - @Override - public void setVoltage(double volts) { - leader.setControl(new VoltageOut(volts)); - } - - @Override - public void setVelocity(double velocityRadPerSec, double ffVolts) { - leader.setControl( - new VelocityVoltage( - Units.radiansToRotations(velocityRadPerSec), - 0.0, - true, - ffVolts, - 0, - false, - false, - false)); - } - - @Override - public void stop() { - leader.stopMotor(); - } - - @Override - public void configurePID(double kP, double kI, double kD) { - var config = new Slot0Configs(); - config.kP = kP; - config.kI = kI; - config.kD = kD; - leader.getConfigurator().apply(config); - } -} diff --git a/src/main/java/frc/robot/subsystems/pivot/Pivot.java b/src/main/java/frc/robot/subsystems/pivot/Pivot.java index bca81f3..4fae70f 100644 --- a/src/main/java/frc/robot/subsystems/pivot/Pivot.java +++ b/src/main/java/frc/robot/subsystems/pivot/Pivot.java @@ -1,71 +1,65 @@ package frc.robot.subsystems.pivot; -import edu.wpi.first.wpilibj2.command.SubsystemBase; -import frc.robot.subsystems.pivot.PivotIO; -import org.littletonrobotics.junction.Logger; - import edu.wpi.first.math.controller.SimpleMotorFeedforward; +import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.Constants; +import org.littletonrobotics.junction.Logger; public class Pivot extends SubsystemBase { - - private static Pivot pivotInstance = null; - public final PivotIO io; - private final SimpleMotorFeedforward ffModel; - private final PivotIOInputsAutoLogged inputs = new PivotIOInputsAutoLogged(); - private double goalRad; - private Pivot(PivotIO io) { - - this.io = io; - goalRad = 0.0; + private static Pivot pivotInstance = null; + public final PivotIO io; + private final SimpleMotorFeedforward ffModel; + private final PivotIOInputsAutoLogged inputs = new PivotIOInputsAutoLogged(); + private double goalRad; - switch (Constants.currentMode) { - case REAL: - case REPLAY: - ffModel = new SimpleMotorFeedforward(0.0, 0.0); - io.configurePID(1.0, 0.0, 0.0); - break; - case SIM: - ffModel = new SimpleMotorFeedforward(0.0, 0.0); - io.configurePID(1.0, 0.0, 0.0); - break; - default: - ffModel = new SimpleMotorFeedforward(0.0, 0.0); - break; - } + private Pivot(PivotIO io) { + this.io = io; + goalRad = 0.0; + switch (Constants.currentMode) { + case REAL: + case REPLAY: + ffModel = new SimpleMotorFeedforward(0.0, 0.0); + io.configurePID(1.0, 0.0, 0.0); + break; + case SIM: + ffModel = new SimpleMotorFeedforward(0.0, 0.0); + io.configurePID(1.0, 0.0, 0.0); + break; + default: + ffModel = new SimpleMotorFeedforward(0.0, 0.0); + break; } + } - public static Pivot getInstance() { - return pivotInstance; - } + public static Pivot getInstance() { + return pivotInstance; + } - public static Pivot initialize(PivotIO io) { - if (Pivot.pivotInstance == null) { - pivotInstance = new Pivot(io); - } - return pivotInstance; + public static Pivot initialize(PivotIO io) { + if (Pivot.pivotInstance == null) { + pivotInstance = new Pivot(io); } + return pivotInstance; + } - @Override - public void periodic() { - io.updateInputs(inputs); + @Override + public void periodic() { + io.updateInputs(inputs); Logger.processInputs("Pivot", inputs); - } - - public void runVoltage(double volts) { - io.setVoltage(volts); - } + } - public void setGoal(double goal) { - goalRad = goal; - } - - public void stop() { - io.stop(); - } + public void runVoltage(double volts) { + io.setVoltage(volts); + } + public void setGoal(double goal) { + goalRad = goal; + } + public void stop() { + io.stop(); + } } diff --git a/src/main/java/frc/robot/subsystems/pivot/PivotIO.java b/src/main/java/frc/robot/subsystems/pivot/PivotIO.java index 3015d44..8e0f346 100644 --- a/src/main/java/frc/robot/subsystems/pivot/PivotIO.java +++ b/src/main/java/frc/robot/subsystems/pivot/PivotIO.java @@ -3,8 +3,8 @@ import org.littletonrobotics.junction.AutoLog; public interface PivotIO { - - @AutoLog + + @AutoLog public static class PivotIOInputs { public double positionRad = 0.0; public double appliedVolts = 0.0; @@ -26,5 +26,4 @@ public default void stop() {} /** Set velocity PID constants. */ public default void configurePID(double kP, double kI, double kD) {} - } diff --git a/src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java b/src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java index 20f77a1..70d0a7f 100644 --- a/src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java +++ b/src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java @@ -4,62 +4,58 @@ import com.revrobotics.CANSparkFlex; import com.revrobotics.CANSparkLowLevel.MotorType; import com.revrobotics.RelativeEncoder; - import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.controller.PIDController; public class PivotIOReal implements PivotIO { - private CANSparkFlex pivotLeft = new CANSparkFlex(0, MotorType.kBrushless); - private CANSparkFlex pivotRight = new CANSparkFlex(1, MotorType.kBrushless); - private RelativeEncoder pivotEncoderRight = pivotRight.getEncoder(); - private PIDController pid = new PIDController(1.0, 0.0, 0.0); - - private boolean closedLoop = false; - private double ffVolts = 0.0; - private double appliedVolts = 0.0; - - public PivotIOReal() { - pivotLeft.restoreFactoryDefaults(); - pivotRight.restoreFactoryDefaults(); - - pivotLeft.follow(pivotRight); - pivotLeft.setInverted(true); - - pivotLeft.setCANTimeout(250); - pivotRight.setCANTimeout(250); - pivotLeft.enableVoltageCompensation(12); - pivotRight.enableVoltageCompensation(12); - pivotLeft.setSmartCurrentLimit(80); - pivotRight.setSmartCurrentLimit(80); - pivotLeft.setIdleMode(IdleMode.kBrake); - pivotRight.setIdleMode(IdleMode.kBrake); - - pivotLeft.burnFlash(); - pivotRight.burnFlash(); + private CANSparkFlex pivotLeft = new CANSparkFlex(10, MotorType.kBrushless); + private CANSparkFlex pivotRight = new CANSparkFlex(11, MotorType.kBrushless); + private RelativeEncoder pivotEncoderRight = pivotRight.getEncoder(); + private PIDController pid = new PIDController(1.0, 0.0, 0.0); + + private boolean closedLoop = false; + private double ffVolts = 0.0; + private double appliedVolts = 0.0; + + public PivotIOReal() { + pivotLeft.restoreFactoryDefaults(); + pivotRight.restoreFactoryDefaults(); + + pivotLeft.follow(pivotRight); + pivotLeft.setInverted(true); + + pivotLeft.setCANTimeout(250); + pivotRight.setCANTimeout(250); + pivotLeft.enableVoltageCompensation(12); + pivotRight.enableVoltageCompensation(12); + pivotLeft.setSmartCurrentLimit(80); + pivotRight.setSmartCurrentLimit(80); + pivotLeft.setIdleMode(IdleMode.kBrake); + pivotRight.setIdleMode(IdleMode.kBrake); + + pivotLeft.burnFlash(); + pivotRight.burnFlash(); + } + + @Override + public void updateInputs(PivotIOInputs inputs) { + inputs.positionRad = pivotEncoderRight.getPosition() * 2 * Math.PI; + inputs.velocityRevolutionsPerSec = pivotEncoderRight.getVelocity(); + inputs.appliedVolts = appliedVolts; + + if (closedLoop) { + appliedVolts = MathUtil.clamp(pid.calculate(inputs.positionRad) + ffVolts, -12.0, 12.0); } - - @Override - public void updateInputs(PivotIOInputs inputs) { - inputs.positionRad = pivotEncoderRight.getPosition() * 2 * Math.PI; - inputs.velocityRevolutionsPerSec = pivotEncoderRight.getVelocity(); - inputs.appliedVolts = appliedVolts; - - if (closedLoop) { - appliedVolts = - MathUtil.clamp(pid.calculate(inputs.positionRad) + ffVolts, -12.0, 12.0); - } - } - - @Override - public void setAngle(double targetAngle) { - pid.setSetpoint(targetAngle); - } - - @Override - public void setVoltage(double volts) { - appliedVolts = MathUtil.clamp(volts, -12, 12); - pivotRight.setVoltage(appliedVolts); - } - - + } + + @Override + public void setAngle(double targetAngle) { + pid.setSetpoint(targetAngle); + } + + @Override + public void setVoltage(double volts) { + appliedVolts = MathUtil.clamp(volts, -12, 12); + pivotRight.setVoltage(appliedVolts); + } } diff --git a/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java b/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java index 7b16ba3..6133641 100644 --- a/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java +++ b/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java @@ -6,33 +6,29 @@ import edu.wpi.first.wpilibj.simulation.SingleJointedArmSim; public class PivotIOSim implements PivotIO { - private SingleJointedArmSim sim = new SingleJointedArmSim(DCMotor.getNEO(1), 1.5, - 0.004, 0, 0, 0, - false, 0); - private PIDController pid = new PIDController(1.0, 0.0, 0.0); + private SingleJointedArmSim sim = + new SingleJointedArmSim(DCMotor.getNEO(1), 1.5, 0.004, 0, 0, 0, false, 0); + private PIDController pid = new PIDController(1.0, 0.0, 0.0); - private boolean closedLoop = false; - private double ffVolts = 0.0; - private double appliedVolts = 0.0; - - @Override - public void updateInputs(PivotIOInputs inputs) { - if (closedLoop) { - appliedVolts = - MathUtil.clamp(pid.calculate(sim.getAngleRads()) + ffVolts, -12.0, 12.0); - sim.setInputVoltage(appliedVolts); - } - } - - @Override - public void setAngle(double targetAngle) { - pid.setSetpoint(targetAngle); - } + private boolean closedLoop = false; + private double ffVolts = 0.0; + private double appliedVolts = 0.0; - @Override - public void setVoltage(double volts) { - sim.setInputVoltage(volts); + @Override + public void updateInputs(PivotIOInputs inputs) { + if (closedLoop) { + appliedVolts = MathUtil.clamp(pid.calculate(sim.getAngleRads()) + ffVolts, -12.0, 12.0); + sim.setInputVoltage(appliedVolts); } + } + @Override + public void setAngle(double targetAngle) { + pid.setSetpoint(targetAngle); + } + @Override + public void setVoltage(double volts) { + sim.setInputVoltage(volts); + } } From cc944c3e2a3399aef737ae539adcc11bc54412d0 Mon Sep 17 00:00:00 2001 From: Arenacloserr <162641455+Arenacloserr@users.noreply.github.com> Date: Thu, 10 Oct 2024 00:29:47 -0400 Subject: [PATCH 18/37] Intake update --- .../frc/robot/subsystems/intake/Intake.java | 27 ++++++++++++++++--- .../subsystems/intake/IntakeConstants.java | 2 +- .../frc/robot/subsystems/intake/IntakeIO.java | 1 + .../robot/subsystems/intake/IntakeIOReal.java | 5 ++++ 4 files changed, 30 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/intake/Intake.java b/src/main/java/frc/robot/subsystems/intake/Intake.java index 2626a57..e3ee678 100644 --- a/src/main/java/frc/robot/subsystems/intake/Intake.java +++ b/src/main/java/frc/robot/subsystems/intake/Intake.java @@ -1,13 +1,17 @@ package frc.robot.subsystems.intake; +import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.SubsystemBase; public class Intake extends SubsystemBase { + private Timer noteTime = new Timer(); private IntakeIO io; private IntakeIOInputsAutoLogged inputs = new IntakeIOInputsAutoLogged(); private static Intake instance; public double intakeSpeed; + public static double time1 = 0; // static + public static boolean flag = false; private Intake(IntakeIO IO) { io = IO; @@ -28,16 +32,31 @@ public void setIntakeSpeed(double speed) { intakeSpeed = speed; } - public boolean bool() { // .. - return inputs.Amps > IntakeConstants.current; + public boolean noteNotInIntake() { // .. + if (inputs.Amps < IntakeConstants.current) { + noteTime.start(); + flag = true; + return inputs.Amps < IntakeConstants.current; + } else { + if (flag) { + time1 = noteTime.get(); + noteTime.stop(); + noteTime.reset(); + } + return inputs.Amps < IntakeConstants.current; + } } public Command intake() { - return startEnd(() -> setIntakeSpeed(1), () -> setIntakeSpeed(0)); + return startEnd(() -> setIntakeSpeed(1), () -> setIntakeSpeed(0)).onlyWhile(() -> noteNotInIntake()); + // return (startEnd(() -> setIntakeSpeed(1), () -> setIntakeSpeed(0)).onlyWhile(() -> + // noteNotInIntake())).alongWith(startEnd(() -> setIntakeSpeed(0.1), () -> + // setIntakeSpeed(0)).onlyIf(() -> noteNotInIntake() == true).onlyWhile(() -> noteNotInIntake() + // == true)); } public Command reverse() { - return startEnd(() -> setIntakeSpeed(1), () -> setIntakeSpeed(0)); + return startEnd(() -> setIntakeSpeed(-1), () -> setIntakeSpeed(0)); } @Override diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java b/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java index 63c7e25..3ac7650 100644 --- a/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java +++ b/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java @@ -2,6 +2,6 @@ public class IntakeConstants { public static final int CanID = 2; // .. - public static final int currentLimit = 60; // vortex + public static final int currentLimit = 40; // vortex public static final int current = 10; // .. } diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeIO.java b/src/main/java/frc/robot/subsystems/intake/IntakeIO.java index 0b783dc..23cc17e 100644 --- a/src/main/java/frc/robot/subsystems/intake/IntakeIO.java +++ b/src/main/java/frc/robot/subsystems/intake/IntakeIO.java @@ -7,6 +7,7 @@ public interface IntakeIO { public static class IntakeIOInputs { public double Voltage = 0.0; // .. public double Amps = 0.0; + public double noteTime = 0.0; } public default void updateInputs(IntakeIOInputs inputs) {} diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeIOReal.java b/src/main/java/frc/robot/subsystems/intake/IntakeIOReal.java index 182d7cd..589f255 100644 --- a/src/main/java/frc/robot/subsystems/intake/IntakeIOReal.java +++ b/src/main/java/frc/robot/subsystems/intake/IntakeIOReal.java @@ -2,9 +2,11 @@ import com.revrobotics.CANSparkLowLevel.MotorType; import com.revrobotics.CANSparkMax; +import com.revrobotics.RelativeEncoder; public class IntakeIOReal implements IntakeIO { private CANSparkMax IntakeMotor = new CANSparkMax(IntakeConstants.CanID, MotorType.kBrushless); + private final RelativeEncoder IntakEncoder = IntakeMotor.getEncoder(); public IntakeIOReal() { IntakeMotor.setSmartCurrentLimit(IntakeConstants.currentLimit); @@ -18,7 +20,10 @@ public void setMotorSpeed(double speed) { @Override public void updateInputs(IntakeIOInputs inputs) { + inputs.angularVelocityRPM = IntakEncoder.getVelocity(); + inputs.angularPositionRot = IntakEncoder.getPosition(); inputs.Voltage = IntakeMotor.getBusVoltage(); inputs.Amps = IntakeMotor.getOutputCurrent(); + inputs.noteTime = Intake.time1; } } From 32feff91c1fcb6377210a8f64a512735b5e3ac92 Mon Sep 17 00:00:00 2001 From: GooseJuice898 Date: Thu, 10 Oct 2024 16:56:12 -0400 Subject: [PATCH 19/37] Runs in sim now, button binding temporary --- 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zr}{DBgBu#SlwkzYm-)B>R_)7);Nqo;3Me5yR5ey4$yRxCgNH&`^)fom)xExB7&JfH$fNE1~# zkKu_0QZlfZCZzl=?G9z>w61 z9&KPqYGb752UYSkz2~w6DxickQI!Ovsp#5}vgo0_j1)_0spI6 literal 0 HcmV?d00001 diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index a82210e..a390c3f 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -22,7 +22,7 @@ * constants are needed, to reduce verbosity. */ public final class Constants { - public static final Mode currentMode = Mode.REAL; + public static final Mode currentMode = Mode.SIM; public static enum Mode { /** Running on a real robot. */ diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index b9fb89c..5580f85 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -14,7 +14,6 @@ package frc.robot; import com.pathplanner.lib.auto.AutoBuilder; -import com.pathplanner.lib.auto.NamedCommands; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.wpilibj.GenericHID; @@ -103,8 +102,7 @@ public RobotContainer() { break; } - - //This can go away + // This can go away // Set up auto routines // NamedCommands.registerCommand( @@ -154,7 +152,9 @@ private void configureButtonBindings() { drive) .ignoringDisable(true)); - controller.y().onTrue(Commands.runEnd(() -> pivot.setGoal(45), () -> pivot.setGoal(0))); + controller + .y() + .whileTrue(Commands.runEnd(() -> pivot.setGoal(Math.PI / 4), () -> pivot.setGoal(0), pivot)); } /** diff --git a/src/main/java/frc/robot/subsystems/pivot/Pivot.java b/src/main/java/frc/robot/subsystems/pivot/Pivot.java index 4fae70f..866ed0c 100644 --- a/src/main/java/frc/robot/subsystems/pivot/Pivot.java +++ b/src/main/java/frc/robot/subsystems/pivot/Pivot.java @@ -39,7 +39,7 @@ public static Pivot getInstance() { } public static Pivot initialize(PivotIO io) { - if (Pivot.pivotInstance == null) { + if (Pivot.pivotInstance == null) { pivotInstance = new Pivot(io); } return pivotInstance; @@ -48,6 +48,7 @@ public static Pivot initialize(PivotIO io) { @Override public void periodic() { io.updateInputs(inputs); + io.setVoltage(inputs.appliedVolts); Logger.processInputs("Pivot", inputs); } @@ -56,7 +57,7 @@ public void runVoltage(double volts) { } public void setGoal(double goal) { - goalRad = goal; + io.setAngle(goal); } public void stop() { diff --git a/src/main/java/frc/robot/subsystems/pivot/PivotIO.java b/src/main/java/frc/robot/subsystems/pivot/PivotIO.java index 8e0f346..c46129f 100644 --- a/src/main/java/frc/robot/subsystems/pivot/PivotIO.java +++ b/src/main/java/frc/robot/subsystems/pivot/PivotIO.java @@ -8,7 +8,7 @@ public interface PivotIO { public static class PivotIOInputs { public double positionRad = 0.0; public double appliedVolts = 0.0; - public double velocityRevolutionsPerSec = 0.0; + public double velocityRadPerSec = 0.0; public double[] currentAmps = new double[] {}; } diff --git a/src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java b/src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java index 70d0a7f..319d6e6 100644 --- a/src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java +++ b/src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java @@ -40,7 +40,7 @@ public PivotIOReal() { @Override public void updateInputs(PivotIOInputs inputs) { inputs.positionRad = pivotEncoderRight.getPosition() * 2 * Math.PI; - inputs.velocityRevolutionsPerSec = pivotEncoderRight.getVelocity(); + inputs.velocityRadPerSec = pivotEncoderRight.getVelocity() * 2 * Math.PI / 60; inputs.appliedVolts = appliedVolts; if (closedLoop) { diff --git a/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java b/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java index 6133641..bbf0015 100644 --- a/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java +++ b/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java @@ -7,19 +7,23 @@ public class PivotIOSim implements PivotIO { private SingleJointedArmSim sim = - new SingleJointedArmSim(DCMotor.getNEO(1), 1.5, 0.004, 0, 0, 0, false, 0); - private PIDController pid = new PIDController(1.0, 0.0, 0.0); + new SingleJointedArmSim(DCMotor.getNEO(1), 1.5, 0.004, 0.2, 0, Math.PI, false, 0); + private PIDController pid = new PIDController(0.2, 0.0, 0.0); - private boolean closedLoop = false; + private boolean closedLoop = true; private double ffVolts = 0.0; private double appliedVolts = 0.0; @Override public void updateInputs(PivotIOInputs inputs) { - if (closedLoop) { - appliedVolts = MathUtil.clamp(pid.calculate(sim.getAngleRads()) + ffVolts, -12.0, 12.0); - sim.setInputVoltage(appliedVolts); - } + sim.update(0.02); + + appliedVolts = MathUtil.clamp(pid.calculate(sim.getAngleRads()) + ffVolts, -12.0, 12.0); + sim.setInputVoltage(appliedVolts); + + inputs.positionRad = sim.getAngleRads(); + inputs.appliedVolts = appliedVolts; + inputs.velocityRadPerSec = sim.getVelocityRadPerSec(); } @Override From d80f603feba4131bdb4020be00ffccc7f09d8be5 Mon Sep 17 00:00:00 2001 From: Arenacloserr <162641455+Arenacloserr@users.noreply.github.com> Date: Thu, 10 Oct 2024 17:16:47 -0400 Subject: [PATCH 20/37] Intake Timer --- src/main/java/frc/robot/RobotContainer.java | 8 ++++++++ .../frc/robot/subsystems/intake/Intake.java | 17 +++++++++++++---- .../frc/robot/subsystems/intake/IntakeIO.java | 2 ++ .../robot/subsystems/intake/IntakeIOSim.java | 5 ++++- 4 files changed, 27 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 8159492..173f7d4 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -34,6 +34,9 @@ import frc.robot.subsystems.flywheel.FlywheelIO; import frc.robot.subsystems.flywheel.FlywheelIOSim; import frc.robot.subsystems.flywheel.FlywheelIOSparkMax; +import frc.robot.subsystems.intake.Intake; +import frc.robot.subsystems.intake.IntakeIOReal; +import frc.robot.subsystems.intake.IntakeIOSim; import org.littletonrobotics.junction.networktables.LoggedDashboardChooser; import org.littletonrobotics.junction.networktables.LoggedDashboardNumber; @@ -69,6 +72,7 @@ public RobotContainer() { new ModuleIOSparkMax(2), new ModuleIOSparkMax(3)); flywheel = new Flywheel(new FlywheelIOSparkMax()); + Intake.initialize(new IntakeIOReal()); // drive = new Drive( // new GyroIOPigeon2(), // new ModuleIOTalonFX(0), @@ -88,6 +92,8 @@ public RobotContainer() { new ModuleIOSim(), new ModuleIOSim()); flywheel = new Flywheel(new FlywheelIOSim()); + Intake.initialize(new IntakeIOSim()); + break; default: @@ -165,6 +171,8 @@ private void configureButtonBindings() { .whileTrue( Commands.startEnd( () -> flywheel.runVelocity(flywheelSpeedInput.get()), flywheel::stop, flywheel)); + controller.leftTrigger().whileTrue(Intake.getInstance().intake()); + // controller.rightTrigger().whileTrue(Intake.getInstance().spike()); } /** diff --git a/src/main/java/frc/robot/subsystems/intake/Intake.java b/src/main/java/frc/robot/subsystems/intake/Intake.java index e3ee678..adc7444 100644 --- a/src/main/java/frc/robot/subsystems/intake/Intake.java +++ b/src/main/java/frc/robot/subsystems/intake/Intake.java @@ -3,14 +3,16 @@ import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.SubsystemBase; +import org.littletonrobotics.junction.Logger; public class Intake extends SubsystemBase { private Timer noteTime = new Timer(); private IntakeIO io; - private IntakeIOInputsAutoLogged inputs = new IntakeIOInputsAutoLogged(); + private final IntakeIOInputsAutoLogged inputs = new IntakeIOInputsAutoLogged(); private static Intake instance; public double intakeSpeed; public static double time1 = 0; // static + private double testamps = 0; public static boolean flag = false; private Intake(IntakeIO IO) { @@ -48,20 +50,27 @@ public boolean noteNotInIntake() { // .. } public Command intake() { - return startEnd(() -> setIntakeSpeed(1), () -> setIntakeSpeed(0)).onlyWhile(() -> noteNotInIntake()); + return startEnd(() -> setIntakeSpeed(1), () -> setIntakeSpeed(0)) + .onlyWhile(() -> noteNotInIntake()); // return (startEnd(() -> setIntakeSpeed(1), () -> setIntakeSpeed(0)).onlyWhile(() -> // noteNotInIntake())).alongWith(startEnd(() -> setIntakeSpeed(0.1), () -> // setIntakeSpeed(0)).onlyIf(() -> noteNotInIntake() == true).onlyWhile(() -> noteNotInIntake() // == true)); } - +/* + public Command spike() { + return startEnd(() -> testamps = 150, () -> testamps = 0); + } +*/ public Command reverse() { return startEnd(() -> setIntakeSpeed(-1), () -> setIntakeSpeed(0)); } @Override public void periodic() { - io.updateInputs(inputs); + Logger.recordOutput("Intake/testamps", testamps); io.setMotorSpeed(intakeSpeed); + io.updateInputs(inputs); + Logger.processInputs("Intake", inputs); } } diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeIO.java b/src/main/java/frc/robot/subsystems/intake/IntakeIO.java index 23cc17e..9289b8f 100644 --- a/src/main/java/frc/robot/subsystems/intake/IntakeIO.java +++ b/src/main/java/frc/robot/subsystems/intake/IntakeIO.java @@ -5,6 +5,8 @@ public interface IntakeIO { @AutoLog public static class IntakeIOInputs { + public double angularVelocityRPM = 0.0; + public double angularPositionRot = 0.0; public double Voltage = 0.0; // .. public double Amps = 0.0; public double noteTime = 0.0; diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java b/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java index 07bf5c4..7e878ba 100644 --- a/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java +++ b/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java @@ -8,9 +8,12 @@ public class IntakeIOSim implements IntakeIO { @Override public void updateInputs(IntakeIOInputs inputs) { - motor.update(0.01); + motor.update(0.02); + inputs.angularPositionRot = motor.getAngularPositionRotations(); + inputs.angularVelocityRPM = motor.getAngularVelocityRPM(); inputs.Amps = motor.getCurrentDrawAmps(); + inputs.noteTime = Intake.time1; } @Override From 497ae2a2171678e44dd696c141b9252a09f7d7b0 Mon Sep 17 00:00:00 2001 From: ozziexyz Date: Wed, 16 Oct 2024 18:27:15 -0400 Subject: [PATCH 21/37] Code review w/ Oscar --- gradlew | 0 src/main/java/frc/robot/RobotContainer.java | 15 +++++---------- .../java/frc/robot/subsystems/intake/Intake.java | 10 +++++----- .../java/frc/robot/subsystems/pivot/Pivot.java | 4 +--- .../java/frc/robot/subsystems/pivot/PivotIO.java | 3 --- .../frc/robot/subsystems/pivot/PivotIOSim.java | 6 +++--- 6 files changed, 14 insertions(+), 24 deletions(-) mode change 100644 => 100755 gradlew diff --git a/gradlew b/gradlew old mode 100644 new mode 100755 diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 8743b14..01f2e6b 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -29,15 +29,11 @@ import frc.robot.subsystems.drive.ModuleIO; import frc.robot.subsystems.drive.ModuleIOSim; import frc.robot.subsystems.drive.ModuleIOSparkMax; -import frc.robot.subsystems.pivot.Pivot; -import frc.robot.subsystems.pivot.PivotIOSim; -import frc.robot.subsystems.flywheel.Flywheel; -import frc.robot.subsystems.flywheel.FlywheelIO; -import frc.robot.subsystems.flywheel.FlywheelIOSim; -import frc.robot.subsystems.flywheel.FlywheelIOSparkMax; import frc.robot.subsystems.intake.Intake; import frc.robot.subsystems.intake.IntakeIOReal; import frc.robot.subsystems.intake.IntakeIOSim; +import frc.robot.subsystems.pivot.Pivot; +import frc.robot.subsystems.pivot.PivotIOSim; import org.littletonrobotics.junction.networktables.LoggedDashboardChooser; import org.littletonrobotics.junction.networktables.LoggedDashboardNumber; @@ -74,7 +70,6 @@ public RobotContainer() { new ModuleIOSparkMax(3)); // change perchance pivot = Pivot.initialize(new PivotIOSim()); - flywheel = new Flywheel(new FlywheelIOSparkMax()); Intake.initialize(new IntakeIOReal()); // drive = new Drive( // new GyroIOPigeon2(), @@ -95,7 +90,6 @@ public RobotContainer() { new ModuleIOSim(), new ModuleIOSim()); pivot = Pivot.initialize(new PivotIOSim()); - flywheel = new Flywheel(new FlywheelIOSim()); Intake.initialize(new IntakeIOSim()); break; @@ -166,10 +160,11 @@ private void configureButtonBindings() { controller .y() - .whileTrue(Commands.runEnd(() -> pivot.setGoal(Math.PI / 4), () -> pivot.setGoal(0), pivot)); + .whileTrue( + Commands.runEnd(() -> pivot.setGoal(Math.PI / 4), () -> pivot.setGoal(0), pivot)); } - /** + /** * Use this to pass the autonomous command to the main {@link Robot} class. * * @return the command to run in autonomous diff --git a/src/main/java/frc/robot/subsystems/intake/Intake.java b/src/main/java/frc/robot/subsystems/intake/Intake.java index adc7444..35499d2 100644 --- a/src/main/java/frc/robot/subsystems/intake/Intake.java +++ b/src/main/java/frc/robot/subsystems/intake/Intake.java @@ -57,11 +57,11 @@ public Command intake() { // setIntakeSpeed(0)).onlyIf(() -> noteNotInIntake() == true).onlyWhile(() -> noteNotInIntake() // == true)); } -/* - public Command spike() { - return startEnd(() -> testamps = 150, () -> testamps = 0); - } -*/ + /* + public Command spike() { + return startEnd(() -> testamps = 150, () -> testamps = 0); + } + */ public Command reverse() { return startEnd(() -> setIntakeSpeed(-1), () -> setIntakeSpeed(0)); } diff --git a/src/main/java/frc/robot/subsystems/pivot/Pivot.java b/src/main/java/frc/robot/subsystems/pivot/Pivot.java index 866ed0c..105d517 100644 --- a/src/main/java/frc/robot/subsystems/pivot/Pivot.java +++ b/src/main/java/frc/robot/subsystems/pivot/Pivot.java @@ -22,11 +22,9 @@ private Pivot(PivotIO io) { case REAL: case REPLAY: ffModel = new SimpleMotorFeedforward(0.0, 0.0); - io.configurePID(1.0, 0.0, 0.0); break; case SIM: ffModel = new SimpleMotorFeedforward(0.0, 0.0); - io.configurePID(1.0, 0.0, 0.0); break; default: ffModel = new SimpleMotorFeedforward(0.0, 0.0); @@ -39,7 +37,7 @@ public static Pivot getInstance() { } public static Pivot initialize(PivotIO io) { - if (Pivot.pivotInstance == null) { + if (Pivot.pivotInstance == null) { pivotInstance = new Pivot(io); } return pivotInstance; diff --git a/src/main/java/frc/robot/subsystems/pivot/PivotIO.java b/src/main/java/frc/robot/subsystems/pivot/PivotIO.java index c46129f..067b819 100644 --- a/src/main/java/frc/robot/subsystems/pivot/PivotIO.java +++ b/src/main/java/frc/robot/subsystems/pivot/PivotIO.java @@ -23,7 +23,4 @@ public default void setAngle(double positionRad) {} /** Stop in open loop. */ public default void stop() {} - - /** Set velocity PID constants. */ - public default void configurePID(double kP, double kI, double kD) {} } diff --git a/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java b/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java index bbf0015..f51a65d 100644 --- a/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java +++ b/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java @@ -7,7 +7,7 @@ public class PivotIOSim implements PivotIO { private SingleJointedArmSim sim = - new SingleJointedArmSim(DCMotor.getNEO(1), 1.5, 0.004, 0.2, 0, Math.PI, false, 0); + new SingleJointedArmSim(DCMotor.getNEO(1), 1.5, 0.004, 0.2, 0, Math.PI, false, 0); private PIDController pid = new PIDController(0.2, 0.0, 0.0); private boolean closedLoop = true; @@ -20,7 +20,7 @@ public void updateInputs(PivotIOInputs inputs) { appliedVolts = MathUtil.clamp(pid.calculate(sim.getAngleRads()) + ffVolts, -12.0, 12.0); sim.setInputVoltage(appliedVolts); - + inputs.positionRad = sim.getAngleRads(); inputs.appliedVolts = appliedVolts; inputs.velocityRadPerSec = sim.getVelocityRadPerSec(); @@ -30,7 +30,7 @@ public void updateInputs(PivotIOInputs inputs) { public void setAngle(double targetAngle) { pid.setSetpoint(targetAngle); } - + @Override public void setVoltage(double volts) { sim.setInputVoltage(volts); From 93c72e3be0017b0eca765ac4b45563db7a0553a9 Mon Sep 17 00:00:00 2001 From: ozziexyz Date: Wed, 16 Oct 2024 19:01:17 -0400 Subject: [PATCH 22/37] logged goal angle --- src/main/java/frc/robot/subsystems/pivot/PivotIO.java | 1 + src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java | 1 + src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java | 5 +++-- 3 files changed, 5 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/pivot/PivotIO.java b/src/main/java/frc/robot/subsystems/pivot/PivotIO.java index 067b819..879fd49 100644 --- a/src/main/java/frc/robot/subsystems/pivot/PivotIO.java +++ b/src/main/java/frc/robot/subsystems/pivot/PivotIO.java @@ -10,6 +10,7 @@ public static class PivotIOInputs { public double appliedVolts = 0.0; public double velocityRadPerSec = 0.0; public double[] currentAmps = new double[] {}; + public double goalAngle = 0.0; } /** Updates the set of loggable inputs. */ diff --git a/src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java b/src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java index 319d6e6..e48ca28 100644 --- a/src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java +++ b/src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java @@ -42,6 +42,7 @@ public void updateInputs(PivotIOInputs inputs) { inputs.positionRad = pivotEncoderRight.getPosition() * 2 * Math.PI; inputs.velocityRadPerSec = pivotEncoderRight.getVelocity() * 2 * Math.PI / 60; inputs.appliedVolts = appliedVolts; + inputs.goalAngle = pid.getSetpoint(); if (closedLoop) { appliedVolts = MathUtil.clamp(pid.calculate(inputs.positionRad) + ffVolts, -12.0, 12.0); diff --git a/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java b/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java index f51a65d..f59b1be 100644 --- a/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java +++ b/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java @@ -7,7 +7,7 @@ public class PivotIOSim implements PivotIO { private SingleJointedArmSim sim = - new SingleJointedArmSim(DCMotor.getNEO(1), 1.5, 0.004, 0.2, 0, Math.PI, false, 0); + new SingleJointedArmSim(DCMotor.getNEO(1), 1.5, 0.004, 0.2, 0, Math.PI, false, 0); private PIDController pid = new PIDController(0.2, 0.0, 0.0); private boolean closedLoop = true; @@ -24,13 +24,14 @@ public void updateInputs(PivotIOInputs inputs) { inputs.positionRad = sim.getAngleRads(); inputs.appliedVolts = appliedVolts; inputs.velocityRadPerSec = sim.getVelocityRadPerSec(); + inputs.goalAngle = pid.getSetpoint(); } @Override public void setAngle(double targetAngle) { pid.setSetpoint(targetAngle); } - + @Override public void setVoltage(double volts) { sim.setInputVoltage(volts); From 5035ef456c5402dd4ab51bdd034ed0c665d7503a Mon Sep 17 00:00:00 2001 From: elsaroni Date: Thu, 17 Oct 2024 16:52:28 -0400 Subject: [PATCH 23/37] fix shooter code --- src/main/java/frc/robot/Robot.java | 1 - .../robot/subsystems/shooter/ShooterIO.java | 18 ++--- .../subsystems/shooter/ShooterIOReal.java | 81 +++++++------------ .../subsystems/shooter/ShooterIOSim.java | 63 +++++---------- 4 files changed, 56 insertions(+), 107 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index ea47d35..2e4832e 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -38,7 +38,6 @@ public class Robot extends LoggedRobot { */ @Override public void robotInit() { - // Record metadata Logger.recordMetadata("ProjectName", BuildConstants.MAVEN_NAME); Logger.recordMetadata("BuildDate", BuildConstants.BUILD_DATE); Logger.recordMetadata("GitSHA", BuildConstants.GIT_SHA); diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java index c2b3476..28a004a 100644 --- a/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java +++ b/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java @@ -5,19 +5,17 @@ public interface ShooterIO { @AutoLog public static class ShooterIOInputs { - public double leftMotorVelocity = 0.0; - public double rightMotorVelocity = 0.0; - public double leftAppliedVolts = 0.0; - public double rightAppliedVolts = 0.0; - public double leftOutputCurrent = 0.0; - public double rightOutputCurrent = 0.0; + public double topMotorVelocity = 0.0; + public double bottomMotorVelocity = 0.0; + public double topAppliedVolts = 0.0; + public double bottomAppliedVolts = 0.0; + public double topOutputCurrent = 0.0; + public double bottomOutputCurrent = 0.0; } - public default void spinForwards() {} + public default void setVoltage(double voltage) {} - public default void spinBackwards() {} - - public default void stopMotor() {} + public default void setVelocity(double velocity) {} public default void updateInputs(ShooterIOInputs inputs) {} } diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java index 5bcf7d2..f115479 100644 --- a/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java +++ b/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java @@ -4,78 +4,51 @@ import com.revrobotics.CANSparkFlex; import com.revrobotics.CANSparkLowLevel.MotorType; import com.revrobotics.RelativeEncoder; +import edu.wpi.first.math.controller.SimpleMotorFeedforward; public class ShooterIOReal implements ShooterIO { - private CANSparkFlex leftShooterMotor = + private CANSparkFlex topShooterMotor = new CANSparkFlex(0, MotorType.kBrushless); // Can IDs not accurate - private CANSparkFlex rightShooterMotor = + private CANSparkFlex bottomShooterMotor = new CANSparkFlex(1, MotorType.kBrushless); // Can IDsp not accurate - private RelativeEncoder leftShooterEncoder = leftShooterMotor.getEncoder(); - private RelativeEncoder rightShooterEncoder = rightShooterMotor.getEncoder(); + private RelativeEncoder topShooterEncoder = topShooterMotor.getEncoder(); + private RelativeEncoder bottomShooterEncoder = bottomShooterMotor.getEncoder(); + private SimpleMotorFeedforward ffmodel = new SimpleMotorFeedforward(0, 0); public ShooterIOReal() { - rightShooterMotor.restoreFactoryDefaults(); - leftShooterMotor.restoreFactoryDefaults(); + bottomShooterMotor.restoreFactoryDefaults(); + topShooterMotor.restoreFactoryDefaults(); - rightShooterMotor.follow(leftShooterMotor, true); + bottomShooterMotor.follow(topShooterMotor, true); - leftShooterMotor.setSmartCurrentLimit(40); - rightShooterMotor.setSmartCurrentLimit(40); + topShooterMotor.setSmartCurrentLimit(40); + bottomShooterMotor.setSmartCurrentLimit(40); - rightShooterMotor.setIdleMode(IdleMode.kCoast); - leftShooterMotor.setIdleMode(IdleMode.kCoast); + bottomShooterMotor.setIdleMode(IdleMode.kCoast); + topShooterMotor.setIdleMode(IdleMode.kCoast); - rightShooterMotor.burnFlash(); - leftShooterMotor.burnFlash(); + bottomShooterMotor.burnFlash(); + topShooterMotor.burnFlash(); } @Override - public void spinForwards() { - leftShooterMotor.set(1.0); + public void setVoltage(double voltage) { + topShooterMotor.setVoltage(voltage); } @Override - public void spinBackwards() { - leftShooterMotor.set(-1.0); - } - - @Override - public void stopMotor() { - leftShooterMotor.set(0.0); - } - - public double getLeftvelocity() { - return leftShooterEncoder.getVelocity(); - } - - public double getRightvelocity() { - return rightShooterEncoder.getVelocity(); - } - - public double getLeftVoltage() { - return leftShooterMotor.getBusVoltage(); - } - - public double getRightVoltage() { - return rightShooterMotor.getBusVoltage(); - } - - public double getLeftCurrent() { - return leftShooterMotor.getOutputCurrent(); - } - - public double getRightCurrent() { - return rightShooterMotor.getOutputCurrent(); + public void setVelocity(double velocity) { + topShooterMotor.setVoltage(ffmodel.calculate(velocity)); } @Override public void updateInputs(ShooterIOInputs inputs) { - inputs.leftMotorVelocity = getLeftvelocity(); - inputs.rightMotorVelocity = getRightvelocity(); - inputs.leftAppliedVolts = getLeftVoltage(); - inputs.rightAppliedVolts = getRightVoltage(); - inputs.leftOutputCurrent = getLeftCurrent(); - inputs.rightOutputCurrent = getRightCurrent(); - } -} \ No newline at end of file + inputs.topMotorVelocity = topShooterEncoder.getVelocity(); + inputs.bottomMotorVelocity = bottomShooterEncoder.getVelocity(); + inputs.topAppliedVolts = topShooterMotor.getBusVoltage(); + inputs.bottomAppliedVolts = bottomShooterMotor.getBusVoltage(); + inputs.topOutputCurrent = topShooterMotor.getOutputCurrent(); + inputs.bottomOutputCurrent = bottomShooterMotor.getOutputCurrent(); + } +} diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java index 71e58b4..5fb77ba 100644 --- a/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java +++ b/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java @@ -1,58 +1,37 @@ -//thomas jin fix this -//i just copy pasta from flywheel sim -//type shi pray emoji +// thomas jin fix this +// i just copy pasta from flywheel sim +// type shi pray emoji package frc.robot.subsystems.shooter; -import edu.wpi.first.math.MathUtil; -import edu.wpi.first.math.controller.PIDController; +import edu.wpi.first.math.controller.SimpleMotorFeedforward; import edu.wpi.first.math.system.plant.DCMotor; -import edu.wpi.first.wpilibj.simulation.FlywheelSim; +import edu.wpi.first.wpilibj.simulation.DCMotorSim; -public class FlywheelIOSim implements FlywheelIO { - private FlywheelSim sim = new FlywheelSim(DCMotor.getNEO(1), 1.5, 0.004); - private PIDController pid = new PIDController(0.0, 0.0, 0.0); - - private boolean closedLoop = false; - private double ffVolts = 0.0; +public class ShooterIOSim implements ShooterIO { + private DCMotorSim sim = new DCMotorSim(DCMotor.getNEO(1), 1.5, 0.004); private double appliedVolts = 0.0; + private SimpleMotorFeedforward ffmodel = new SimpleMotorFeedforward(0, 0); @Override - public void updateInputs(FlywheelIOInputs inputs) { - if (closedLoop) { - appliedVolts = - MathUtil.clamp(pid.calculate(sim.getAngularVelocityRadPerSec()) + ffVolts, -12.0, 12.0); - sim.setInputVoltage(appliedVolts); - } - - sim.update(0.02); - - inputs.positionRad = 0.0; - inputs.velocityRadPerSec = sim.getAngularVelocityRadPerSec(); - inputs.appliedVolts = appliedVolts; - inputs.currentAmps = new double[] {sim.getCurrentDrawAmps()}; - } - - @Override - public void setVoltage(double volts) { - closedLoop = false; - appliedVolts = volts; - sim.setInputVoltage(volts); + public void setVoltage(double voltage) { + appliedVolts = voltage; + sim.setInputVoltage(voltage); } @Override - public void setVelocity(double velocityRadPerSec, double ffVolts) { - closedLoop = true; - pid.setSetpoint(velocityRadPerSec); - this.ffVolts = ffVolts; + public void setVelocity(double velocity) { + setVoltage(ffmodel.calculate(velocity)); } @Override - public void stop() { - setVoltage(0.0); - } + public void updateInputs(ShooterIOInputs inputs) { + sim.update(0.02); - @Override - public void configurePID(double kP, double kI, double kD) { - pid.setPID(kP, kI, kD); + inputs.topMotorVelocity = sim.getAngularVelocityRPM(); + inputs.bottomMotorVelocity = sim.getAngularVelocityRPM(); + inputs.topAppliedVolts = appliedVolts; + inputs.bottomAppliedVolts = appliedVolts; + inputs.topOutputCurrent = sim.getCurrentDrawAmps(); + inputs.bottomOutputCurrent = sim.getCurrentDrawAmps(); } } From cbe6499dd1c9b0433f84f9f36591de8ff2c53c8d Mon Sep 17 00:00:00 2001 From: Thomas Jin <83102001+Bob1272001@users.noreply.github.com> Date: Mon, 21 Oct 2024 16:24:01 -0400 Subject: [PATCH 24/37] Can IDs --- .../subsystems/drive/ModuleIOSparkMax.java | 6 ++-- .../subsystems/intake/IntakeConstants.java | 2 +- .../robot/subsystems/pivot/PivotIOReal.java | 32 +++++++------------ 3 files changed, 15 insertions(+), 25 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java index edb1f3d..cb7e073 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java @@ -58,13 +58,13 @@ public ModuleIOSparkMax(int index) { absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED break; case 1: - driveSparkMax = new CANSparkMax(3, MotorType.kBrushless); - turnSparkMax = new CANSparkMax(4, MotorType.kBrushless); + driveSparkMax = new CANSparkMax(9, MotorType.kBrushless); + turnSparkMax = new CANSparkMax(10, MotorType.kBrushless); turnAbsoluteEncoder = new AnalogInput(1); absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED break; case 2: - driveSparkMax = new CANSparkMax(5, MotorType.kBrushless); + driveSparkMax = new CANSparkMax(4, MotorType.kBrushless); turnSparkMax = new CANSparkMax(6, MotorType.kBrushless); turnAbsoluteEncoder = new AnalogInput(2); absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java b/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java index 3ac7650..deb74f1 100644 --- a/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java +++ b/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java @@ -1,7 +1,7 @@ package frc.robot.subsystems.intake; public class IntakeConstants { - public static final int CanID = 2; // .. + public static final int CanID = 5; // .. public static final int currentLimit = 40; // vortex public static final int current = 10; // .. } diff --git a/src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java b/src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java index e48ca28..a8436cc 100644 --- a/src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java +++ b/src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java @@ -8,9 +8,8 @@ import edu.wpi.first.math.controller.PIDController; public class PivotIOReal implements PivotIO { - private CANSparkFlex pivotLeft = new CANSparkFlex(10, MotorType.kBrushless); - private CANSparkFlex pivotRight = new CANSparkFlex(11, MotorType.kBrushless); - private RelativeEncoder pivotEncoderRight = pivotRight.getEncoder(); + private CANSparkFlex pivotMotor = new CANSparkFlex(11, MotorType.kBrushless); + private RelativeEncoder pivotEncoderRight = pivotMotor.getEncoder(); private PIDController pid = new PIDController(1.0, 0.0, 0.0); private boolean closedLoop = false; @@ -18,23 +17,14 @@ public class PivotIOReal implements PivotIO { private double appliedVolts = 0.0; public PivotIOReal() { - pivotLeft.restoreFactoryDefaults(); - pivotRight.restoreFactoryDefaults(); - - pivotLeft.follow(pivotRight); - pivotLeft.setInverted(true); - - pivotLeft.setCANTimeout(250); - pivotRight.setCANTimeout(250); - pivotLeft.enableVoltageCompensation(12); - pivotRight.enableVoltageCompensation(12); - pivotLeft.setSmartCurrentLimit(80); - pivotRight.setSmartCurrentLimit(80); - pivotLeft.setIdleMode(IdleMode.kBrake); - pivotRight.setIdleMode(IdleMode.kBrake); - - pivotLeft.burnFlash(); - pivotRight.burnFlash(); + pivotMotor.restoreFactoryDefaults(); + + pivotMotor.setCANTimeout(250); + pivotMotor.enableVoltageCompensation(12); + pivotMotor.setSmartCurrentLimit(80); + pivotMotor.setIdleMode(IdleMode.kBrake); + + pivotMotor.burnFlash(); } @Override @@ -57,6 +47,6 @@ public void setAngle(double targetAngle) { @Override public void setVoltage(double volts) { appliedVolts = MathUtil.clamp(volts, -12, 12); - pivotRight.setVoltage(appliedVolts); + pivotMotor.setVoltage(appliedVolts); } } From 88a16be0a0a5534d905d5d6669529aaee1a43a7a Mon Sep 17 00:00:00 2001 From: Thomas Jin <83102001+Bob1272001@users.noreply.github.com> Date: Mon, 21 Oct 2024 16:25:01 -0400 Subject: [PATCH 25/37] Can IDs --- src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java index f115479..de8988b 100644 --- a/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java +++ b/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java @@ -8,9 +8,9 @@ public class ShooterIOReal implements ShooterIO { private CANSparkFlex topShooterMotor = - new CANSparkFlex(0, MotorType.kBrushless); // Can IDs not accurate + new CANSparkFlex(12, MotorType.kBrushless); // Can IDs not accurate private CANSparkFlex bottomShooterMotor = - new CANSparkFlex(1, MotorType.kBrushless); // Can IDsp not accurate + new CANSparkFlex(3, MotorType.kBrushless); // Can IDsp not accurate private RelativeEncoder topShooterEncoder = topShooterMotor.getEncoder(); private RelativeEncoder bottomShooterEncoder = bottomShooterMotor.getEncoder(); From 378079142c42d051360c1152865f363f7f938d7a Mon Sep 17 00:00:00 2001 From: Thomas Jin <83102001+Bob1272001@users.noreply.github.com> Date: Mon, 21 Oct 2024 16:27:16 -0400 Subject: [PATCH 26/37] Can IDs --- .../java/frc/robot/subsystems/drive/ModuleIOSparkMax.java | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java index 22030d8..631556a 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java @@ -58,13 +58,13 @@ public ModuleIOSparkMax(int index) { absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED break; case 1: - driveSparkMax = new CANSparkMax(3, MotorType.kBrushless); - turnSparkMax = new CANSparkFlex(4, MotorType.kBrushless); + driveSparkMax = new CANSparkMax(10, MotorType.kBrushless); + turnSparkMax = new CANSparkFlex(9, MotorType.kBrushless); turnAbsoluteEncoder = turnSparkMax.getAbsoluteEncoder(); absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED break; case 2: - driveSparkMax = new CANSparkMax(5, MotorType.kBrushless); + driveSparkMax = new CANSparkMax(4, MotorType.kBrushless); turnSparkMax = new CANSparkFlex(6, MotorType.kBrushless); turnAbsoluteEncoder = turnSparkMax.getAbsoluteEncoder(); absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED From 0a1c0738128a8a7bd01ad6b10f60d6a7177cf1aa Mon Sep 17 00:00:00 2001 From: ColinH0 Date: Mon, 21 Oct 2024 16:51:22 -0400 Subject: [PATCH 27/37] Can IDs with Talon now --- src/main/java/frc/robot/RobotContainer.java | 8 ++++---- .../java/frc/robot/subsystems/drive/ModuleIOTalonFX.java | 6 +++--- 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 408b5a8..9aafb18 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -62,10 +62,10 @@ public RobotContainer() { drive = Drive.initialize( new GyroIONavX(), - new ModuleIOSparkMax(0), - new ModuleIOSparkMax(1), - new ModuleIOSparkMax(2), - new ModuleIOSparkMax(3)); + new ModuleIOTalonFX(0), + new ModuleIOTalonFX(1), + new ModuleIOTalonFX(2), + new ModuleIOTalonFX(3)); // new Drive( // new GyroIOPigeon2(), diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java index f0c66c8..6e7513b 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java @@ -62,13 +62,13 @@ public ModuleIOTalonFX(int index) { absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED break; case 1: - driveTalonFX = new TalonFX(3); - turnSparkMax = new CANSparkFlex(4, MotorType.kBrushless); + driveTalonFX = new TalonFX(10); + turnSparkMax = new CANSparkFlex(9, MotorType.kBrushless); turnAbsoluteEncoder = turnSparkMax.getAbsoluteEncoder(); absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED break; case 2: - driveTalonFX = new TalonFX(5); + driveTalonFX = new TalonFX(4); turnSparkMax = new CANSparkFlex(6, MotorType.kBrushless); turnAbsoluteEncoder = turnSparkMax.getAbsoluteEncoder(); absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED From db2ed4d4c95fc0ad9088604e1361d1ae30e4741c Mon Sep 17 00:00:00 2001 From: GooseJuice898 Date: Mon, 21 Oct 2024 17:10:28 -0400 Subject: [PATCH 28/37] current detection for pivot also added backup manual pivot inputs on bumpers that we'll probably use instead idrk --- src/main/java/frc/robot/RobotContainer.java | 15 +++++++++++---- .../java/frc/robot/subsystems/pivot/Pivot.java | 16 ++++++++++++++++ 2 files changed, 27 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 01f2e6b..59a0a9a 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -20,6 +20,7 @@ import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; +import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine; import frc.robot.commands.DriveCommands; @@ -158,12 +159,18 @@ private void configureButtonBindings() { drive) .ignoringDisable(true)); - controller - .y() - .whileTrue( - Commands.runEnd(() -> pivot.setGoal(Math.PI / 4), () -> pivot.setGoal(0), pivot)); + // controller + // .leftBumper() + // .onTrue( + // Commands.runOnce(() -> pivot.setGoal(Math.PI / 6), pivot)); + // controller + // .rightBumper() + // .onTrue( + // Commands.runOnce(() -> pivot.setGoal(0), pivot)); + } + /** * Use this to pass the autonomous command to the main {@link Robot} class. * diff --git a/src/main/java/frc/robot/subsystems/pivot/Pivot.java b/src/main/java/frc/robot/subsystems/pivot/Pivot.java index 105d517..b8a18f1 100644 --- a/src/main/java/frc/robot/subsystems/pivot/Pivot.java +++ b/src/main/java/frc/robot/subsystems/pivot/Pivot.java @@ -1,8 +1,12 @@ package frc.robot.subsystems.pivot; import edu.wpi.first.math.controller.SimpleMotorFeedforward; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.Constants; +import frc.robot.subsystems.intake.Intake; + import org.littletonrobotics.junction.Logger; public class Pivot extends SubsystemBase { @@ -30,6 +34,9 @@ private Pivot(PivotIO io) { ffModel = new SimpleMotorFeedforward(0.0, 0.0); break; } + + setDefaultCommand(Pivot.getInstance().currDetPivot()); + } public static Pivot getInstance() { @@ -43,6 +50,15 @@ public static Pivot initialize(PivotIO io) { return pivotInstance; } + public Command currDetPivot() { + return Commands.sequence( + Commands.waitUntil(() -> Intake.getInstance().noteNotInIntake()), + Commands.runOnce(() -> Pivot.getInstance().setGoal(Math.PI / 6)), + Commands.waitUntil(() -> !Intake.getInstance().noteNotInIntake()), + Commands.runOnce(() -> Pivot.getInstance().setGoal(0)) + ); + } + @Override public void periodic() { io.updateInputs(inputs); From 152a9bc4b63cda18670b32ba4c68bf2c511c3e6b Mon Sep 17 00:00:00 2001 From: Ozzie Hassel Date: Mon, 21 Oct 2024 20:00:18 -0400 Subject: [PATCH 29/37] driving forward and backwards works --- src/main/java/frc/robot/Constants.java | 2 +- src/main/java/frc/robot/RobotContainer.java | 4 ++-- src/main/java/frc/robot/subsystems/drive/GyroIONavX.java | 4 ++-- src/main/java/frc/robot/subsystems/drive/Module.java | 2 +- .../java/frc/robot/subsystems/drive/ModuleIOTalonFX.java | 9 +++++++-- .../robot/subsystems/flywheel/FlywheelIOSparkMax.java | 4 ++-- 6 files changed, 15 insertions(+), 10 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index a390c3f..a82210e 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -22,7 +22,7 @@ * constants are needed, to reduce verbosity. */ public final class Constants { - public static final Mode currentMode = Mode.SIM; + public static final Mode currentMode = Mode.REAL; public static enum Mode { /** Running on a real robot. */ diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 9aafb18..653368a 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -27,7 +27,7 @@ import frc.robot.subsystems.drive.GyroIONavX; import frc.robot.subsystems.drive.ModuleIO; import frc.robot.subsystems.drive.ModuleIOSim; -import frc.robot.subsystems.drive.ModuleIOSparkMax; +import frc.robot.subsystems.drive.ModuleIOTalonFX; import frc.robot.subsystems.flywheel.Flywheel; import frc.robot.subsystems.flywheel.FlywheelIO; import frc.robot.subsystems.flywheel.FlywheelIOSim; @@ -185,7 +185,7 @@ private void configureButtonBindings() { // Commands.startEnd( // () -> flywheel.runVelocity(flywheelSpeedInput.get()), flywheel::stop, flywheel)); - // controller.a().whileTrue(Commands.runOnce(() -> drive.zeroHeading(), drive)); + controller.a().whileTrue(Commands.runOnce(() -> drive.zeroHeading(), drive)); } /** diff --git a/src/main/java/frc/robot/subsystems/drive/GyroIONavX.java b/src/main/java/frc/robot/subsystems/drive/GyroIONavX.java index 4b07259..e3518cb 100644 --- a/src/main/java/frc/robot/subsystems/drive/GyroIONavX.java +++ b/src/main/java/frc/robot/subsystems/drive/GyroIONavX.java @@ -14,8 +14,8 @@ public GyroIONavX() { @Override public void updateInputs(GyroIOInputs inputs) { inputs.connected = gyro.isConnected(); - inputs.yawPosition = gyro.getRotation2d(); - inputs.yawVelocityRadPerSec = Units.degreesToRadians(gyro.getRate()); + inputs.yawPosition = gyro.getRotation2d().times(-1); + inputs.yawVelocityRadPerSec = -Units.degreesToRadians(gyro.getRate()); } @Override diff --git a/src/main/java/frc/robot/subsystems/drive/Module.java b/src/main/java/frc/robot/subsystems/drive/Module.java index 85f21c5..973fc48 100644 --- a/src/main/java/frc/robot/subsystems/drive/Module.java +++ b/src/main/java/frc/robot/subsystems/drive/Module.java @@ -46,7 +46,7 @@ public Module(ModuleIO io, int index) { case REAL: driveFeedforward = new SimpleMotorFeedforward(0.1, 0.13); driveFeedback = new PIDController(0.05, 0.0, 0.0); - turnFeedback = new PIDController(7.0, 0.0, 0.0); + turnFeedback = new PIDController(3.5, 0.0, 0.0); break; case REPLAY: driveFeedforward = new SimpleMotorFeedforward(0.1, 0.13); diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java index 6e7513b..f4ae255 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java @@ -41,8 +41,8 @@ public class ModuleIOTalonFX implements ModuleIO { final VelocityVoltage m_request = new VelocityVoltage(0).withSlot(0); // Gear ratios for SDS MK4i L2, adjust as necessary - private static final double DRIVE_GEAR_RATIO = (50.0 / 14.0) * (17.0 / 27.0) * (45.0 / 15.0); - private static final double TURN_GEAR_RATIO = 150.0 / 7.0; + private static final double DRIVE_GEAR_RATIO = 5.46; + private static final double TURN_GEAR_RATIO = 11.3142; private final TalonFX driveTalonFX; private final CANSparkFlex turnSparkMax; @@ -56,24 +56,28 @@ public class ModuleIOTalonFX implements ModuleIO { public ModuleIOTalonFX(int index) { switch (index) { case 0: + // Front left driveTalonFX = new TalonFX(1); turnSparkMax = new CANSparkFlex(2, MotorType.kBrushless); turnAbsoluteEncoder = turnSparkMax.getAbsoluteEncoder(); absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED break; case 1: + // Front right driveTalonFX = new TalonFX(10); turnSparkMax = new CANSparkFlex(9, MotorType.kBrushless); turnAbsoluteEncoder = turnSparkMax.getAbsoluteEncoder(); absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED break; case 2: + // Back left driveTalonFX = new TalonFX(4); turnSparkMax = new CANSparkFlex(6, MotorType.kBrushless); turnAbsoluteEncoder = turnSparkMax.getAbsoluteEncoder(); absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED break; case 3: + // Back right driveTalonFX = new TalonFX(7); turnSparkMax = new CANSparkFlex(8, MotorType.kBrushless); turnAbsoluteEncoder = turnSparkMax.getAbsoluteEncoder(); @@ -87,6 +91,7 @@ public ModuleIOTalonFX(int index) { turnAbsoluteEncoder.setPositionConversionFactor(2 * Math.PI); // Radians turnAbsoluteEncoder.setVelocityConversionFactor((2 * Math.PI) / 60.0); // Radians per second + // turnAbsoluteEncoder.setZeroOffset(absoluteEncoderOffset.getRadians()); turnSparkMax.setCANTimeout(250); diff --git a/src/main/java/frc/robot/subsystems/flywheel/FlywheelIOSparkMax.java b/src/main/java/frc/robot/subsystems/flywheel/FlywheelIOSparkMax.java index 787f369..f7b5d85 100644 --- a/src/main/java/frc/robot/subsystems/flywheel/FlywheelIOSparkMax.java +++ b/src/main/java/frc/robot/subsystems/flywheel/FlywheelIOSparkMax.java @@ -28,8 +28,8 @@ public class FlywheelIOSparkMax implements FlywheelIO { private static final double GEAR_RATIO = 1.5; - private final CANSparkMax leader = new CANSparkMax(0, MotorType.kBrushless); - private final CANSparkMax follower = new CANSparkMax(1, MotorType.kBrushless); + private final CANSparkMax leader = new CANSparkMax(13, MotorType.kBrushless); + private final CANSparkMax follower = new CANSparkMax(14, MotorType.kBrushless); private final RelativeEncoder encoder = leader.getEncoder(); private final SparkPIDController pid = leader.getPIDController(); From 7284c6e52dca482a6490ae862b432fe085e86ea8 Mon Sep 17 00:00:00 2001 From: Ozzie Hassel Date: Tue, 22 Oct 2024 17:07:59 -0400 Subject: [PATCH 30/37] Drive works! --- .../robot/subsystems/drive/GyroIONavX.java | 4 +- .../subsystems/drive/ModuleIOTalonFX.java | 9 ++-- .../frc/robot/subsystems/shooter/Shooter.java | 31 ------------- .../robot/subsystems/shooter/ShooterIO.java | 18 -------- .../subsystems/shooter/ShooterIOReal.java | 45 ------------------- .../subsystems/shooter/ShooterIOSim.java | 3 -- 6 files changed, 5 insertions(+), 105 deletions(-) delete mode 100644 src/main/java/frc/robot/subsystems/shooter/Shooter.java delete mode 100644 src/main/java/frc/robot/subsystems/shooter/ShooterIO.java delete mode 100644 src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java delete mode 100644 src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java diff --git a/src/main/java/frc/robot/subsystems/drive/GyroIONavX.java b/src/main/java/frc/robot/subsystems/drive/GyroIONavX.java index e3518cb..4b07259 100644 --- a/src/main/java/frc/robot/subsystems/drive/GyroIONavX.java +++ b/src/main/java/frc/robot/subsystems/drive/GyroIONavX.java @@ -14,8 +14,8 @@ public GyroIONavX() { @Override public void updateInputs(GyroIOInputs inputs) { inputs.connected = gyro.isConnected(); - inputs.yawPosition = gyro.getRotation2d().times(-1); - inputs.yawVelocityRadPerSec = -Units.degreesToRadians(gyro.getRate()); + inputs.yawPosition = gyro.getRotation2d(); + inputs.yawVelocityRadPerSec = Units.degreesToRadians(gyro.getRate()); } @Override diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java index f4ae255..721a149 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java @@ -51,7 +51,6 @@ public class ModuleIOTalonFX implements ModuleIO { private final AbsoluteEncoder turnAbsoluteEncoder; private final boolean isTurnMotorInverted = true; - private final Rotation2d absoluteEncoderOffset; public ModuleIOTalonFX(int index) { switch (index) { @@ -60,28 +59,26 @@ public ModuleIOTalonFX(int index) { driveTalonFX = new TalonFX(1); turnSparkMax = new CANSparkFlex(2, MotorType.kBrushless); turnAbsoluteEncoder = turnSparkMax.getAbsoluteEncoder(); - absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED + driveTalonFX.setInverted(false); break; case 1: // Front right driveTalonFX = new TalonFX(10); turnSparkMax = new CANSparkFlex(9, MotorType.kBrushless); turnAbsoluteEncoder = turnSparkMax.getAbsoluteEncoder(); - absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED break; case 2: // Back left driveTalonFX = new TalonFX(4); turnSparkMax = new CANSparkFlex(6, MotorType.kBrushless); turnAbsoluteEncoder = turnSparkMax.getAbsoluteEncoder(); - absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED + driveTalonFX.setInverted(false); break; case 3: // Back right driveTalonFX = new TalonFX(7); turnSparkMax = new CANSparkFlex(8, MotorType.kBrushless); turnAbsoluteEncoder = turnSparkMax.getAbsoluteEncoder(); - absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED break; default: throw new RuntimeException("Invalid module index"); @@ -91,7 +88,6 @@ public ModuleIOTalonFX(int index) { turnAbsoluteEncoder.setPositionConversionFactor(2 * Math.PI); // Radians turnAbsoluteEncoder.setVelocityConversionFactor((2 * Math.PI) / 60.0); // Radians per second - // turnAbsoluteEncoder.setZeroOffset(absoluteEncoderOffset.getRadians()); turnSparkMax.setCANTimeout(250); @@ -102,6 +98,7 @@ public ModuleIOTalonFX(int index) { turnSparkMax.enableVoltageCompensation(12.0); driveTalonFX.setPosition(0); + driveTalonFX.setInverted(true); turnRelativeEncoder.setPosition(0.0); turnRelativeEncoder.setMeasurementPeriod(10); diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java deleted file mode 100644 index b05ab38..0000000 --- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java +++ /dev/null @@ -1,31 +0,0 @@ -package frc.robot.subsystems.shooter; - -import edu.wpi.first.wpilibj2.command.SubsystemBase; - -public class Shooter extends SubsystemBase { - private ShooterIO io; - private ShooterIOInputsAutoLogged inputs = new ShooterIOInputsAutoLogged(); - - private static Shooter instance; - - public static Shooter getInstance() { - return instance; - } - - public static Shooter initialize(ShooterIO io) { - if (instance == null) { - instance = new Shooter(io); - } - return instance; - } - - private Shooter(ShooterIO shooterIO) { - io = shooterIO; - io.updateInputs(inputs); - } - - @Override - public void periodic() { - io.updateInputs(inputs); - } -} diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java deleted file mode 100644 index fe15e61..0000000 --- a/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java +++ /dev/null @@ -1,18 +0,0 @@ -package frc.robot.subsystems.shooter; - -import frc.robot.subsystems.shooter.ShooterIO.ShooterIOInputs; -import org.littletonrobotics.junction.AutoLog; - -public interface ShooterIO { - @AutoLog - public static class ShooterIOInputs { - public double leftMotorVelocity = 0.0; - public double rightMotorVelocity = 0.0; - } - - public default void spinForwards() {} - - public default void spinBackwards() {} - - public default void updateInputs(ShooterIOInputs inputs) {} -} diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java deleted file mode 100644 index 2c110f0..0000000 --- a/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java +++ /dev/null @@ -1,45 +0,0 @@ -package frc.robot.subsystems.shooter; - -import com.revrobotics.CANSparkFlex; -import com.revrobotics.CANSparkLowLevel.MotorType; -import com.revrobotics.RelativeEncoder; - -public class ShooterIOReal implements ShooterIO { - private CANSparkFlex leftShooterMotor = - new CANSparkFlex(0, MotorType.kBrushless); // Can IDs not accurate - private CANSparkFlex rightShooterMotor = - new CANSparkFlex(1, MotorType.kBrushless); // Can IDs not accurate - private RelativeEncoder leftShooterEncoder = leftShooterMotor.getEncoder(); - private RelativeEncoder rightShooterEncoder = rightShooterMotor.getEncoder(); - - public ShooterIOReal() { - rightShooterMotor.follow(leftShooterMotor, true); - - rightShooterMotor.burnFlash(); - leftShooterMotor.burnFlash(); - } - - @Override - public void spinForwards() { - leftShooterMotor.set(1.0); - } - - @Override - public void spinBackwards() { - leftShooterMotor.set(-1.0); - } - - public double getLeftvelocity() { - return leftShooterEncoder.getVelocity(); - } - - public double getRightvelocity() { - return rightShooterEncoder.getVelocity(); - } - - @Override - public void updateInputs(ShooterIOInputs inputs) { - inputs.leftMotorVelocity = getLeftvelocity(); - inputs.rightMotorVelocity = getRightvelocity(); - } -} diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java deleted file mode 100644 index fbd83f1..0000000 --- a/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java +++ /dev/null @@ -1,3 +0,0 @@ -package frc.robot.subsystems.shooter; - -public class ShooterIOSim {} From 92bf9feaf2f99c69e1d5524db7d0c801ed895d45 Mon Sep 17 00:00:00 2001 From: Ozzie Hassel Date: Tue, 22 Oct 2024 18:33:30 -0400 Subject: [PATCH 31/37] semi-working intake code --- src/main/java/frc/robot/Constants.java | 2 +- src/main/java/frc/robot/RobotContainer.java | 77 ++++++------------- .../frc/robot/subsystems/intake/Intake.java | 7 +- .../subsystems/intake/IntakeConstants.java | 2 +- .../frc/robot/subsystems/pivot/Pivot.java | 13 +--- .../robot/subsystems/pivot/PivotIOReal.java | 5 +- 6 files changed, 35 insertions(+), 71 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index a390c3f..a82210e 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -22,7 +22,7 @@ * constants are needed, to reduce verbosity. */ public final class Constants { - public static final Mode currentMode = Mode.SIM; + public static final Mode currentMode = Mode.REAL; public static enum Mode { /** Running on a real robot. */ diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 0d2574c..539bed7 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -18,7 +18,6 @@ import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; -import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine; import frc.robot.commands.DriveCommands; @@ -29,12 +28,14 @@ import frc.robot.subsystems.drive.ModuleIOSim; import frc.robot.subsystems.drive.ModuleIOTalonFX; import frc.robot.subsystems.intake.Intake; +import frc.robot.subsystems.intake.IntakeIO; import frc.robot.subsystems.intake.IntakeIOReal; import frc.robot.subsystems.intake.IntakeIOSim; import frc.robot.subsystems.pivot.Pivot; +import frc.robot.subsystems.pivot.PivotIO; +import frc.robot.subsystems.pivot.PivotIOReal; import frc.robot.subsystems.pivot.PivotIOSim; import org.littletonrobotics.junction.networktables.LoggedDashboardChooser; -import org.littletonrobotics.junction.networktables.LoggedDashboardNumber; /** * This class is where the bulk of the robot should be declared. Since Command-based is a @@ -45,6 +46,7 @@ public class RobotContainer { // Subsystems private final Drive drive; + private final Intake intake; private final Pivot pivot; // Controller @@ -52,8 +54,6 @@ public class RobotContainer { // Dashboard inputs private final LoggedDashboardChooser autoChooser; - private final LoggedDashboardNumber flywheelSpeedInput = - new LoggedDashboardNumber("Flywheel Speed", 1500.0); /** The container for the robot. Contains subsystems, OI devices, and commands. */ public RobotContainer() { @@ -67,13 +67,8 @@ public RobotContainer() { new ModuleIOTalonFX(1), new ModuleIOTalonFX(2), new ModuleIOTalonFX(3)); - // drive = new Drive( - // new GyroIOPigeon2(), - // new ModuleIOTalonFX(0), - // new ModuleIOTalonFX(1), - // new ModuleIOTalonFX(2), - // new ModuleIOTalonFX(3)); - // flywheel = new Flywheel(new FlywheelIOTalonFX()); + intake = Intake.initialize(new IntakeIOReal()); + pivot = Pivot.initialize(new PivotIOReal()); break; case SIM: @@ -85,8 +80,8 @@ public RobotContainer() { new ModuleIOSim(), new ModuleIOSim(), new ModuleIOSim()); + intake = Intake.initialize(new IntakeIOSim()); pivot = Pivot.initialize(new PivotIOSim()); - Intake.initialize(new IntakeIOSim()); break; @@ -99,19 +94,12 @@ public RobotContainer() { new ModuleIO() {}, new ModuleIO() {}, new ModuleIO() {}); + intake = Intake.initialize(new IntakeIO() {}); + pivot = Pivot.initialize(new PivotIO() {}); // change? - pivot = Pivot.initialize(new PivotIOSim()); break; } - // This can go away - - // Set up auto routines - // NamedCommands.registerCommand( - // "Run Flywheel", - // Commands.startEnd( - // () -> flywheel.runVelocity(flywheelSpeedInput.get()), flywheel::stop, flywheel) - // .withTimeout(5.0)); autoChooser = new LoggedDashboardChooser<>("Auto Choices", AutoBuilder.buildAutoChooser()); // Set up SysId routines @@ -126,19 +114,6 @@ public RobotContainer() { autoChooser.addOption( "Drive SysId (Dynamic Reverse)", drive.sysIdDynamic(SysIdRoutine.Direction.kReverse)); - // autoChooser.addOption( - // "Flywheel SysId (Quasistatic Forward)", - // flywheel.sysIdQuasistatic(SysIdRoutine.Direction.kForward)); - // autoChooser.addOption( - // "Flywheel SysId (Quasistatic Reverse)", - // flywheel.sysIdQuasistatic(SysIdRoutine.Direction.kReverse)); - // autoChooser.addOption( - // "Flywheel SysId (Dynamic Forward)", - // flywheel.sysIdDynamic(SysIdRoutine.Direction.kForward)); - // autoChooser.addOption( - // "Flywheel SysId (Dynamic Reverse)", - // flywheel.sysIdDynamic(SysIdRoutine.Direction.kReverse)); - // Configure the button bindings configureButtonBindings(); } @@ -157,35 +132,27 @@ private void configureButtonBindings() { () -> -controller.getLeftX(), () -> -controller.getRightX())); - // controller.x().onTrue(Commands.runOnce(drive::stopWithX, drive)); - - controller.leftBumper().whileTrue(drive.sysIdQuasistatic(SysIdRoutine.Direction.kForward)); + controller.rightBumper() + .onTrue(Commands.run(() -> intake.setIntakeSpeed(0.75))) + .onFalse(Commands.run(() -> intake.setIntakeSpeed(0))); - controller.leftTrigger().whileTrue(drive.sysIdQuasistatic(SysIdRoutine.Direction.kReverse)); - - controller.rightBumper().whileTrue(drive.sysIdDynamic(SysIdRoutine.Direction.kForward)); - - controller.rightTrigger().whileTrue(drive.sysIdDynamic(SysIdRoutine.Direction.kReverse)); + controller.leftBumper() + .onTrue(Commands.run(() -> intake.setIntakeSpeed(-0.75))) + .onFalse(Commands.run(() -> intake.setIntakeSpeed(0))); // controller - // .b() - // .onTrue( - // Commands.runOnce( - // () -> - // drive.setPose( - // new Pose2d(drive.getPose().getTranslation(), new Rotation2d())), - // drive) - // .ignoringDisable(true)); + // .leftBumper() + // .whileTrue(Commands.startEnd(() -> pivot.runVoltage(3), () -> pivot.runVoltage(0), + // pivot)); + // controller - // .a() - // .whileTrue( - // Commands.startEnd( - // () -> flywheel.runVelocity(flywheelSpeedInput.get()), flywheel::stop, flywheel)); + // .rightBumper() + // .whileTrue(Commands.startEnd(() -> pivot.runVoltage(-3), () -> pivot.runVoltage(0), + // pivot)); controller.a().whileTrue(Commands.runOnce(() -> drive.zeroHeading(), drive)); } - /** * Use this to pass the autonomous command to the main {@link Robot} class. * diff --git a/src/main/java/frc/robot/subsystems/intake/Intake.java b/src/main/java/frc/robot/subsystems/intake/Intake.java index 35499d2..99f37c9 100644 --- a/src/main/java/frc/robot/subsystems/intake/Intake.java +++ b/src/main/java/frc/robot/subsystems/intake/Intake.java @@ -2,6 +2,7 @@ import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.SubsystemBase; import org.littletonrobotics.junction.Logger; @@ -50,8 +51,8 @@ public boolean noteNotInIntake() { // .. } public Command intake() { - return startEnd(() -> setIntakeSpeed(1), () -> setIntakeSpeed(0)) - .onlyWhile(() -> noteNotInIntake()); + return Commands.startEnd(() -> io.setMotorSpeed(1), () -> io.setMotorSpeed(0)); + // .onlyWhile(() -> noteNotInIntake()); // return (startEnd(() -> setIntakeSpeed(1), () -> setIntakeSpeed(0)).onlyWhile(() -> // noteNotInIntake())).alongWith(startEnd(() -> setIntakeSpeed(0.1), () -> // setIntakeSpeed(0)).onlyIf(() -> noteNotInIntake() == true).onlyWhile(() -> noteNotInIntake() @@ -63,7 +64,7 @@ public Command spike() { } */ public Command reverse() { - return startEnd(() -> setIntakeSpeed(-1), () -> setIntakeSpeed(0)); + return startEnd(() -> io.setMotorSpeed(-1), () -> io.setMotorSpeed(0)); } @Override diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java b/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java index deb74f1..1e3efba 100644 --- a/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java +++ b/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java @@ -2,6 +2,6 @@ public class IntakeConstants { public static final int CanID = 5; // .. - public static final int currentLimit = 40; // vortex + public static final int currentLimit = 60; // vortex public static final int current = 10; // .. } diff --git a/src/main/java/frc/robot/subsystems/pivot/Pivot.java b/src/main/java/frc/robot/subsystems/pivot/Pivot.java index b8a18f1..538e186 100644 --- a/src/main/java/frc/robot/subsystems/pivot/Pivot.java +++ b/src/main/java/frc/robot/subsystems/pivot/Pivot.java @@ -6,7 +6,6 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.Constants; import frc.robot.subsystems.intake.Intake; - import org.littletonrobotics.junction.Logger; public class Pivot extends SubsystemBase { @@ -34,9 +33,6 @@ private Pivot(PivotIO io) { ffModel = new SimpleMotorFeedforward(0.0, 0.0); break; } - - setDefaultCommand(Pivot.getInstance().currDetPivot()); - } public static Pivot getInstance() { @@ -52,11 +48,10 @@ public static Pivot initialize(PivotIO io) { public Command currDetPivot() { return Commands.sequence( - Commands.waitUntil(() -> Intake.getInstance().noteNotInIntake()), - Commands.runOnce(() -> Pivot.getInstance().setGoal(Math.PI / 6)), - Commands.waitUntil(() -> !Intake.getInstance().noteNotInIntake()), - Commands.runOnce(() -> Pivot.getInstance().setGoal(0)) - ); + Commands.waitUntil(() -> Intake.getInstance().noteNotInIntake()), + Commands.runOnce(() -> Pivot.getInstance().setGoal(Math.PI / 6)), + Commands.waitUntil(() -> !Intake.getInstance().noteNotInIntake()), + Commands.runOnce(() -> Pivot.getInstance().setGoal(0))); } @Override diff --git a/src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java b/src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java index a8436cc..7f35187 100644 --- a/src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java +++ b/src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java @@ -11,6 +11,7 @@ public class PivotIOReal implements PivotIO { private CANSparkFlex pivotMotor = new CANSparkFlex(11, MotorType.kBrushless); private RelativeEncoder pivotEncoderRight = pivotMotor.getEncoder(); private PIDController pid = new PIDController(1.0, 0.0, 0.0); + private double gearing = 36; private boolean closedLoop = false; private double ffVolts = 0.0; @@ -29,8 +30,8 @@ public PivotIOReal() { @Override public void updateInputs(PivotIOInputs inputs) { - inputs.positionRad = pivotEncoderRight.getPosition() * 2 * Math.PI; - inputs.velocityRadPerSec = pivotEncoderRight.getVelocity() * 2 * Math.PI / 60; + inputs.positionRad = (pivotEncoderRight.getPosition() * 2 * Math.PI) / gearing; + inputs.velocityRadPerSec = (pivotEncoderRight.getVelocity() * 2 * Math.PI / 60) / gearing; inputs.appliedVolts = appliedVolts; inputs.goalAngle = pid.getSetpoint(); From 6846074d8f69609f7ae457b2e4426de12370d376 Mon Sep 17 00:00:00 2001 From: Thomas Jin <83102001+Bob1272001@users.noreply.github.com> Date: Tue, 22 Oct 2024 22:02:14 -0400 Subject: [PATCH 32/37] Some button bindings for testing --- src/main/java/frc/robot/Robot.java | 2 +- src/main/java/frc/robot/RobotContainer.java | 51 ++++++++++++------- .../frc/robot/subsystems/shooter/Shooter.java | 4 ++ .../robot/subsystems/shooter/ShooterIO.java | 2 + .../subsystems/shooter/ShooterIOReal.java | 20 ++++++-- 5 files changed, 55 insertions(+), 24 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 5e0a84d..62793ce 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -54,7 +54,7 @@ public void robotInit() { default: Logger.recordMetadata("GitDirty", "Unknown"); break; - } + } // Set up data receivers & replay source switch (Constants.currentMode) { diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 539bed7..4ee60d8 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -35,6 +35,8 @@ import frc.robot.subsystems.pivot.PivotIO; import frc.robot.subsystems.pivot.PivotIOReal; import frc.robot.subsystems.pivot.PivotIOSim; +import frc.robot.subsystems.shooter.Shooter; +import frc.robot.subsystems.shooter.ShooterIOReal; import org.littletonrobotics.junction.networktables.LoggedDashboardChooser; /** @@ -48,6 +50,7 @@ public class RobotContainer { private final Drive drive; private final Intake intake; private final Pivot pivot; + private final Shooter shooter; // Controller private final CommandXboxController controller = new CommandXboxController(0); @@ -69,6 +72,7 @@ public RobotContainer() { new ModuleIOTalonFX(3)); intake = Intake.initialize(new IntakeIOReal()); pivot = Pivot.initialize(new PivotIOReal()); + shooter = Shooter.initialize(new ShooterIOReal()); break; case SIM: @@ -82,7 +86,7 @@ public RobotContainer() { new ModuleIOSim()); intake = Intake.initialize(new IntakeIOSim()); pivot = Pivot.initialize(new PivotIOSim()); - + shooter = Shooter.initialize(new ShooterIOReal()); break; default: @@ -96,6 +100,7 @@ public RobotContainer() { new ModuleIO() {}); intake = Intake.initialize(new IntakeIO() {}); pivot = Pivot.initialize(new PivotIO() {}); + shooter = Shooter.initialize(new ShooterIOReal()); // change? break; } @@ -132,23 +137,33 @@ private void configureButtonBindings() { () -> -controller.getLeftX(), () -> -controller.getRightX())); - controller.rightBumper() - .onTrue(Commands.run(() -> intake.setIntakeSpeed(0.75))) - .onFalse(Commands.run(() -> intake.setIntakeSpeed(0))); - - controller.leftBumper() - .onTrue(Commands.run(() -> intake.setIntakeSpeed(-0.75))) - .onFalse(Commands.run(() -> intake.setIntakeSpeed(0))); - - // controller - // .leftBumper() - // .whileTrue(Commands.startEnd(() -> pivot.runVoltage(3), () -> pivot.runVoltage(0), - // pivot)); - - // controller - // .rightBumper() - // .whileTrue(Commands.startEnd(() -> pivot.runVoltage(-3), () -> pivot.runVoltage(0), - // pivot)); + controller + .rightTrigger() + .onTrue(Commands.run(() -> intake.setIntakeSpeed(0.75))) + .onFalse(Commands.run(() -> intake.setIntakeSpeed(0))); + + controller + .leftTrigger() + .onTrue(Commands.run(() -> intake.setIntakeSpeed(-0.75))) + .onFalse(Commands.run(() -> intake.setIntakeSpeed(0))); + + controller + .leftBumper() + .whileTrue(Commands.startEnd(() -> pivot.runVoltage(3), () -> pivot.runVoltage(0), pivot)); + controller + .povUp() + .whileTrue( + Commands.startEnd(() -> shooter.setVoltage(6), () -> shooter.setVoltage(0), pivot)); + // controller.leftBumper() + // .onTrue(Commands.runOnce(() -> pivot.runVoltage(3))) + // .onFalse(Commands.runOnce(() ->pivot.runVoltage(0), pivot)); + // controller.rightBumper() + // .onTrue(Commands.runOnce(() -> pivot.runVoltage(3))) + // .onFalse(Commands.runOnce(() ->pivot.runVoltage(0), pivot)); + + controller + .rightBumper() + .whileTrue(Commands.startEnd(() -> pivot.runVoltage(-3), () -> pivot.runVoltage(0), pivot)); controller.a().whileTrue(Commands.runOnce(() -> drive.zeroHeading(), drive)); } diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java index b05ab38..ef904d0 100644 --- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java +++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java @@ -24,6 +24,10 @@ private Shooter(ShooterIO shooterIO) { io.updateInputs(inputs); } + public void setVoltage(double voltage) { + io.setVoltage(voltage); + } + @Override public void periodic() { io.updateInputs(inputs); diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java index fe15e61..d6dc2cc 100644 --- a/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java +++ b/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java @@ -14,5 +14,7 @@ public default void spinForwards() {} public default void spinBackwards() {} + public default void setVoltage(double voltage) {} + public default void updateInputs(ShooterIOInputs inputs) {} } diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java index 2c110f0..88b5e8c 100644 --- a/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java +++ b/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java @@ -6,14 +6,19 @@ public class ShooterIOReal implements ShooterIO { private CANSparkFlex leftShooterMotor = - new CANSparkFlex(0, MotorType.kBrushless); // Can IDs not accurate + new CANSparkFlex(3, MotorType.kBrushless); // Can IDs not accurate private CANSparkFlex rightShooterMotor = - new CANSparkFlex(1, MotorType.kBrushless); // Can IDs not accurate + new CANSparkFlex(12, MotorType.kBrushless); // Can IDs not accurate private RelativeEncoder leftShooterEncoder = leftShooterMotor.getEncoder(); private RelativeEncoder rightShooterEncoder = rightShooterMotor.getEncoder(); public ShooterIOReal() { - rightShooterMotor.follow(leftShooterMotor, true); + rightShooterMotor.restoreFactoryDefaults(); + leftShooterMotor.restoreFactoryDefaults(); + leftShooterMotor.follow(rightShooterMotor, true); + + rightShooterMotor.setSmartCurrentLimit(40); + leftShooterMotor.setSmartCurrentLimit(40); rightShooterMotor.burnFlash(); leftShooterMotor.burnFlash(); @@ -21,12 +26,17 @@ public ShooterIOReal() { @Override public void spinForwards() { - leftShooterMotor.set(1.0); + rightShooterMotor.set(1.0); + } + + @Override + public void setVoltage(double voltage) { + rightShooterMotor.setVoltage(voltage); } @Override public void spinBackwards() { - leftShooterMotor.set(-1.0); + rightShooterMotor.set(-1.0); } public double getLeftvelocity() { From d5e2634be21b24c6a8345a5b5f23dd0d615ce8e3 Mon Sep 17 00:00:00 2001 From: Thomas Date: Wed, 23 Oct 2024 13:12:04 -0400 Subject: [PATCH 33/37] Switched SPARKFlex to SPARKMax (oops) --- src/main/java/frc/robot/Robot.java | 18 ------------------ .../robot/subsystems/pivot/PivotIOReal.java | 4 ++-- .../robot/subsystems/shooter/ShooterIO.java | 1 - .../subsystems/shooter/ShooterIOReal.java | 10 +++++----- 4 files changed, 7 insertions(+), 26 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 62793ce..e2868f5 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -38,24 +38,6 @@ public class Robot extends LoggedRobot { */ @Override public void robotInit() { - Logger.recordMetadata("ProjectName", BuildConstants.MAVEN_NAME); - Logger.recordMetadata("BuildDate", BuildConstants.BUILD_DATE); - Logger.recordMetadata("GitSHA", BuildConstants.GIT_SHA); - Logger.recordMetadata("GitDate", BuildConstants.GIT_DATE); - Logger.recordMetadata("GitBranch", BuildConstants.GIT_BRANCH); - - switch (BuildConstants.DIRTY) { - case 0: - Logger.recordMetadata("GitDirty", "All changes committed"); - break; - case 1: - Logger.recordMetadata("GitDirty", "Uncomitted changes"); - break; - default: - Logger.recordMetadata("GitDirty", "Unknown"); - break; - } - // Set up data receivers & replay source switch (Constants.currentMode) { case REAL: diff --git a/src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java b/src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java index fd44e7d..3ec13f4 100644 --- a/src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java +++ b/src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java @@ -1,14 +1,14 @@ package frc.robot.subsystems.pivot; import com.revrobotics.CANSparkBase.IdleMode; -import com.revrobotics.CANSparkFlex; +import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkLowLevel.MotorType; import com.revrobotics.RelativeEncoder; import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.controller.PIDController; public class PivotIOReal implements PivotIO { - private CANSparkFlex pivotMotor = new CANSparkFlex(11, MotorType.kBrushless); + private CANSparkMax pivotMotor = new CANSparkMax(11, MotorType.kBrushless); private RelativeEncoder pivotEncoderRight = pivotMotor.getEncoder(); private PIDController pid = new PIDController(1.0, 0.0, 0.0); private double gearing = 36; diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java index d6dc2cc..4dc253b 100644 --- a/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java +++ b/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java @@ -1,6 +1,5 @@ package frc.robot.subsystems.shooter; -import frc.robot.subsystems.shooter.ShooterIO.ShooterIOInputs; import org.littletonrobotics.junction.AutoLog; public interface ShooterIO { diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java index 88b5e8c..48e4654 100644 --- a/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java +++ b/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java @@ -1,14 +1,14 @@ package frc.robot.subsystems.shooter; -import com.revrobotics.CANSparkFlex; +import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkLowLevel.MotorType; import com.revrobotics.RelativeEncoder; public class ShooterIOReal implements ShooterIO { - private CANSparkFlex leftShooterMotor = - new CANSparkFlex(3, MotorType.kBrushless); // Can IDs not accurate - private CANSparkFlex rightShooterMotor = - new CANSparkFlex(12, MotorType.kBrushless); // Can IDs not accurate + private CANSparkMax leftShooterMotor = + new CANSparkMax(3, MotorType.kBrushless); // Can IDs not accurate + private CANSparkMax rightShooterMotor = + new CANSparkMax(12, MotorType.kBrushless); // Can IDs not accurate private RelativeEncoder leftShooterEncoder = leftShooterMotor.getEncoder(); private RelativeEncoder rightShooterEncoder = rightShooterMotor.getEncoder(); From 44661488c18beee48650949db215dd7bedb3ea1a Mon Sep 17 00:00:00 2001 From: Thomas Date: Fri, 25 Oct 2024 20:59:42 -0400 Subject: [PATCH 34/37] testing 10/24 --- src/main/java/frc/robot/RobotContainer.java | 64 ++++++++++++++----- src/main/java/frc/robot/commands/Auto.java | 25 ++++++++ .../robot/subsystems/pivot/PivotIOReal.java | 2 +- .../frc/robot/subsystems/shooter/Shooter.java | 5 ++ .../robot/subsystems/shooter/ShooterIO.java | 4 ++ .../subsystems/shooter/ShooterIOReal.java | 15 ++++- 6 files changed, 95 insertions(+), 20 deletions(-) create mode 100644 src/main/java/frc/robot/commands/Auto.java diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 4ee60d8..39a435e 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -54,6 +54,7 @@ public class RobotContainer { // Controller private final CommandXboxController controller = new CommandXboxController(0); + private final CommandXboxController controller1 = new CommandXboxController(1); // Dashboard inputs private final LoggedDashboardChooser autoChooser; @@ -137,33 +138,62 @@ private void configureButtonBindings() { () -> -controller.getLeftX(), () -> -controller.getRightX())); - controller + controller1 .rightTrigger() - .onTrue(Commands.run(() -> intake.setIntakeSpeed(0.75))) - .onFalse(Commands.run(() -> intake.setIntakeSpeed(0))); + .whileTrue( + Commands.startEnd(() -> intake.setIntakeSpeed(0.75), () -> intake.setIntakeSpeed(0))); - controller + controller1 .leftTrigger() - .onTrue(Commands.run(() -> intake.setIntakeSpeed(-0.75))) - .onFalse(Commands.run(() -> intake.setIntakeSpeed(0))); + .whileTrue( + Commands.startEnd(() -> intake.setIntakeSpeed(-0.75), () -> intake.setIntakeSpeed(0))); - controller + controller1 .leftBumper() .whileTrue(Commands.startEnd(() -> pivot.runVoltage(3), () -> pivot.runVoltage(0), pivot)); + + controller1 + .rightBumper() + .whileTrue(Commands.startEnd(() -> pivot.runVoltage(-3), () -> pivot.runVoltage(0), pivot)); + + // Shoot sequence + controller + .leftTrigger() + .onTrue( + Commands.race( + Commands.startEnd( + () -> shooter.setLeftRightVoltage(11, 2), () -> shooter.setVoltage(0)), + Commands.sequence( + Commands.waitSeconds(2), + Commands.startEnd( + () -> intake.setIntakeSpeed(0.75), () -> intake.setIntakeSpeed(0)) + .withTimeout(1)))); + + // controller + // .povLeft() + // .onTrue( + // Commands.sequence( + // Commands.startEnd(() -> pivot.runVoltage(3), () -> pivot.runVoltage(0), pivot) + // .withTimeout(1), + // Commands.race( + // Commands.startEnd(() -> shooter.setVoltage(9), () -> shooter.setVoltage(0)), + // Commands.sequence( + // Commands.waitSeconds(3), + // Commands.startEnd( + // () -> intake.setIntakeSpeed(-0.75), () -> + // intake.setIntakeSpeed(0)) + // .withTimeout(3))))); + controller - .povUp() + .povDown() .whileTrue( - Commands.startEnd(() -> shooter.setVoltage(6), () -> shooter.setVoltage(0), pivot)); - // controller.leftBumper() - // .onTrue(Commands.runOnce(() -> pivot.runVoltage(3))) - // .onFalse(Commands.runOnce(() ->pivot.runVoltage(0), pivot)); - // controller.rightBumper() - // .onTrue(Commands.runOnce(() -> pivot.runVoltage(3))) - // .onFalse(Commands.runOnce(() ->pivot.runVoltage(0), pivot)); + Commands.startEnd(() -> shooter.setVoltage(-9), () -> shooter.setVoltage(0), pivot)); controller - .rightBumper() - .whileTrue(Commands.startEnd(() -> pivot.runVoltage(-3), () -> pivot.runVoltage(0), pivot)); + .povRight() + .whileTrue( + Commands.startEnd( + () -> shooter.setLeftRightVoltage(11, 2), () -> shooter.setLeftRightVoltage(0, 0))); controller.a().whileTrue(Commands.runOnce(() -> drive.zeroHeading(), drive)); } diff --git a/src/main/java/frc/robot/commands/Auto.java b/src/main/java/frc/robot/commands/Auto.java new file mode 100644 index 0000000..8f69f98 --- /dev/null +++ b/src/main/java/frc/robot/commands/Auto.java @@ -0,0 +1,25 @@ +package frc.robot.commands; + +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import frc.robot.subsystems.drive.Drive; +import frc.robot.subsystems.intake.Intake; +import frc.robot.subsystems.shooter.Shooter; + +public class Auto { + public static Command taxiandshoot() { + return Commands.sequence( + DriveCommands.joystickDrive(Drive.getInstance(), () -> .5, () -> 0, () -> 0).withTimeout(3), + DriveCommands.joystickDrive(Drive.getInstance(), () -> 0, () -> 0, () -> 0), + Commands.race( + Commands.startEnd( + () -> Shooter.getInstance().setVoltage(9), + () -> Shooter.getInstance().setVoltage(0)), + Commands.sequence( + Commands.waitSeconds(3), + Commands.startEnd( + () -> Intake.getInstance().setIntakeSpeed(-0.75), + () -> Intake.getInstance().setIntakeSpeed(0)) + .withTimeout(3)))); + } +} diff --git a/src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java b/src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java index 3ec13f4..0891b2d 100644 --- a/src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java +++ b/src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java @@ -1,8 +1,8 @@ package frc.robot.subsystems.pivot; import com.revrobotics.CANSparkBase.IdleMode; -import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkLowLevel.MotorType; +import com.revrobotics.CANSparkMax; import com.revrobotics.RelativeEncoder; import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.controller.PIDController; diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java index ef904d0..b0f741a 100644 --- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java +++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java @@ -28,6 +28,11 @@ public void setVoltage(double voltage) { io.setVoltage(voltage); } + public void setLeftRightVoltage(double leftVoltage, double rightVoltage) { + io.setRightVoltage(rightVoltage); + io.setLeftVoltage(leftVoltage); + } + @Override public void periodic() { io.updateInputs(inputs); diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java index 4dc253b..b348493 100644 --- a/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java +++ b/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java @@ -15,5 +15,9 @@ public default void spinBackwards() {} public default void setVoltage(double voltage) {} + public default void setRightVoltage(double voltage) {} + + public default void setLeftVoltage(double voltage) {} + public default void updateInputs(ShooterIOInputs inputs) {} } diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java index 48e4654..0a32b81 100644 --- a/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java +++ b/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java @@ -1,7 +1,7 @@ package frc.robot.subsystems.shooter; -import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkLowLevel.MotorType; +import com.revrobotics.CANSparkMax; import com.revrobotics.RelativeEncoder; public class ShooterIOReal implements ShooterIO { @@ -15,7 +15,7 @@ public class ShooterIOReal implements ShooterIO { public ShooterIOReal() { rightShooterMotor.restoreFactoryDefaults(); leftShooterMotor.restoreFactoryDefaults(); - leftShooterMotor.follow(rightShooterMotor, true); + leftShooterMotor.setInverted(false); rightShooterMotor.setSmartCurrentLimit(40); leftShooterMotor.setSmartCurrentLimit(40); @@ -32,6 +32,17 @@ public void spinForwards() { @Override public void setVoltage(double voltage) { rightShooterMotor.setVoltage(voltage); + leftShooterMotor.setVoltage(voltage); + } + + @Override + public void setRightVoltage(double voltage) { + rightShooterMotor.setVoltage(voltage); + } + + @Override + public void setLeftVoltage(double voltage) { + leftShooterMotor.setVoltage(voltage); } @Override From 701f90de90426af5399a45d7765ad74d04473e98 Mon Sep 17 00:00:00 2001 From: Thomas <119466406+ColinH0@users.noreply.github.com> Date: Sat, 26 Oct 2024 06:56:03 -0400 Subject: [PATCH 35/37] shooter voltage control --- src/main/java/frc/robot/RobotContainer.java | 14 +++++++++++++- .../java/frc/robot/subsystems/shooter/Shooter.java | 7 +++++++ .../frc/robot/subsystems/shooter/ShooterIO.java | 2 ++ .../robot/subsystems/shooter/ShooterIOReal.java | 2 ++ 4 files changed, 24 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 39a435e..2ff85d4 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -185,10 +185,22 @@ private void configureButtonBindings() { // .withTimeout(3))))); controller - .povDown() + .povLeft() .whileTrue( Commands.startEnd(() -> shooter.setVoltage(-9), () -> shooter.setVoltage(0), pivot)); + controller + .povUp() + .onTrue( + Commands.startEnd(() -> shooter.changeVoltage(1), () -> shooter.setVoltage(1)) + ); + + controller + .povUp() + .onTrue( + Commands.startEnd(() -> shooter.changeVoltage(-1), () -> shooter.setVoltage(-1)) + ); + controller .povRight() .whileTrue( diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java index b0f741a..4df7e79 100644 --- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java +++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java @@ -28,6 +28,13 @@ public void setVoltage(double voltage) { io.setVoltage(voltage); } + public void changeVoltage(double dv) { + setLeftRightVoltage( + inputs.leftVoltage >= 1 + dv ? inputs.leftVoltage + dv : 0, + inputs.rightVoltage >= 1 + dv ? inputs.rightVoltage + dv : 0 + ); + } + public void setLeftRightVoltage(double leftVoltage, double rightVoltage) { io.setRightVoltage(rightVoltage); io.setLeftVoltage(leftVoltage); diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java index b348493..3721d6e 100644 --- a/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java +++ b/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java @@ -7,6 +7,8 @@ public interface ShooterIO { public static class ShooterIOInputs { public double leftMotorVelocity = 0.0; public double rightMotorVelocity = 0.0; + public double leftVoltage = 0.0; + public double rightVoltage = 0.0; } public default void spinForwards() {} diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java index 0a32b81..efa5e31 100644 --- a/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java +++ b/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java @@ -62,5 +62,7 @@ public double getRightvelocity() { public void updateInputs(ShooterIOInputs inputs) { inputs.leftMotorVelocity = getLeftvelocity(); inputs.rightMotorVelocity = getRightvelocity(); + inputs.leftVoltage = leftShooterMotor.getBusVoltage(); + inputs.leftVoltage = rightShooterMotor.getBusVoltage(); } } From cb1083014593a30daaa8963d2ec3dcdd4c3cdfbc Mon Sep 17 00:00:00 2001 From: Thomas Jin <83102001+Bob1272001@users.noreply.github.com> Date: Sat, 26 Oct 2024 23:36:27 -0400 Subject: [PATCH 36/37] Update Drive.java --- src/main/java/frc/robot/subsystems/drive/Drive.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/subsystems/drive/Drive.java b/src/main/java/frc/robot/subsystems/drive/Drive.java index f620b0f..a937611 100644 --- a/src/main/java/frc/robot/subsystems/drive/Drive.java +++ b/src/main/java/frc/robot/subsystems/drive/Drive.java @@ -47,7 +47,7 @@ public class Drive extends SubsystemBase { private static Drive instance; - private static final double MAX_LINEAR_SPEED = Units.feetToMeters(14.5); + private static final double MAX_LINEAR_SPEED = Units.feetToMeters(5); private static final double TRACK_WIDTH_X = Units.inchesToMeters(25.0); private static final double TRACK_WIDTH_Y = Units.inchesToMeters(25.0); private static final double DRIVE_BASE_RADIUS = From 9d74ee950a4ff57e2f12337c61be6d2796ab34ff Mon Sep 17 00:00:00 2001 From: Thomas Jin <83102001+Bob1272001@users.noreply.github.com> Date: Sat, 26 Oct 2024 23:37:52 -0400 Subject: [PATCH 37/37] slo-mo for off-season bot --- src/main/java/frc/robot/RobotContainer.java | 14 ++++++++++++-- 1 file changed, 12 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 2ff85d4..f7afcf6 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -151,6 +151,16 @@ private void configureButtonBindings() { controller1 .leftBumper() .whileTrue(Commands.startEnd(() -> pivot.runVoltage(3), () -> pivot.runVoltage(0), pivot)); + controller + .povUp() + .whileTrue( + Commands.startEnd(() -> shooter.setVoltage(3), () -> shooter.setVoltage(0), pivot)); + // controller.leftBumper() + // .onTrue(Commands.runOnce(() -> pivot.runVoltage(3))) + // .onFalse(Commands.runOnce(() ->pivot.runVoltage(0), pivot)); + // controller.rightBumper() + // .onTrue(Commands.runOnce(() -> pivot.runVoltage(3))) + // .onFalse(Commands.runOnce(() ->pivot.runVoltage(0), pivot)); controller1 .rightBumper() @@ -162,7 +172,7 @@ private void configureButtonBindings() { .onTrue( Commands.race( Commands.startEnd( - () -> shooter.setLeftRightVoltage(11, 2), () -> shooter.setVoltage(0)), + () -> shooter.setLeftRightVoltage(5, 1), () -> shooter.setVoltage(0)), Commands.sequence( Commands.waitSeconds(2), Commands.startEnd( @@ -187,7 +197,7 @@ private void configureButtonBindings() { controller .povLeft() .whileTrue( - Commands.startEnd(() -> shooter.setVoltage(-9), () -> shooter.setVoltage(0), pivot)); + Commands.startEnd(() -> shooter.setVoltage(-4), () -> shooter.setVoltage(0), pivot)); controller .povUp()

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