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Updates from Mr. Santos's Comments
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@SamanyaG
SamanyaG committed Mar 14, 2024
1 parent 2b40aac commit 57227d4
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Showing 7 changed files with 42 additions and 63 deletions.
11 changes: 7 additions & 4 deletions 2024Crescendo/src/main/java/frc/robot/Constants.java
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Expand Up @@ -29,6 +29,7 @@ public static class Climb {
public static class Feeder {
public static final int LEFT_ID = 17, RIGHT_ID = 18;
public static final double FEED_TIME = 5.0, FEED_SPEED = -0.8, REVERSE_SPEED = 0.2;
public static final int BEAM_ID = 8;
}

public static class Swerve {
Expand Down Expand Up @@ -135,16 +136,18 @@ public static class Shooter {

public static final double SPEAKER_TOP_VELOCITY = 100, SPEAKER_TOP_ACCELERATION = 90;
public static final double SPEAKER_BOTTOM_VELOCITY = 100, SPEAKER_BOTTOM_ACCELERATION = 90;

public static final double THRESHOLD_SPEED = 100;
}

public static class Pivot {
public static final int PIVOT_ID = 14, ENCODER_ID = 23;
public static final double GEAR_RATIO = 50/1;
public static final double GEAR_RATIO = 50.0/1.0;

public static final double kP = 3, kI = 0, kD = 0, kD_TIME = 0.02;

public static final double CONVERSION_FACTOR = 1.0/360.0;
public static final double INTAKE_SAFE = 110 * Constants.Pivot.CONVERSION_FACTOR;
public static final double INTAKE_DOWN = 6 * Constants.Pivot.CONVERSION_FACTOR;
public static final double DEGREES_TO_REVOLUTIONS = 1.0/360.0;
public static final double INTAKE_SAFE = 110 * Constants.Pivot.DEGREES_TO_REVOLUTIONS;
public static final double INTAKE_DOWN = 6 * Constants.Pivot.DEGREES_TO_REVOLUTIONS;
}
}
1 change: 1 addition & 0 deletions 2024Crescendo/src/main/java/frc/robot/RobotContainer.java
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Expand Up @@ -122,6 +122,7 @@ private void configureBindings() {
rightClimb.setDefaultCommand(new RunCommand(() -> rightClimb.runManual(() -> operatorController.getRightY()), rightClimb));
intake.setDefaultCommand(new RunIntake(intake, 0));
feeder.setDefaultCommand(new RunFeeder(feeder, 0));
shooter.setDefaultCommand(new InstantCommand(() -> shooter.stopMotors()));

driverController.start().onTrue(new InstantCommand(() -> swerve.resetGyro(), swerve));
driverController.x().onTrue(new InstantCommand(() -> swerve.defenseMode(), swerve));
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8 changes: 4 additions & 4 deletions 2024Crescendo/src/main/java/frc/robot/commands/HomePivot.java
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Expand Up @@ -29,15 +29,15 @@ public void execute() {
}

@Override
public void end(boolean interrupted) {}

@Override
public boolean isFinished() {
public void end(boolean interrupted) {
pivot.setpoint.velocity = 0;
pivot.setpoint.position = pivot.getAbsPos();
pivot.goal.velocity = 0;
pivot.goal.position = pivot.getAbsPos();
}

@Override
public boolean isFinished() {
SmartDashboard.putString("Did we finish", "yes");

return pivot.isReached();
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12 changes: 5 additions & 7 deletions 2024Crescendo/src/main/java/frc/robot/commands/ShootSpeaker.java
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Expand Up @@ -13,8 +13,8 @@
public class ShootSpeaker extends Command {
private Shooter shooter;
private Feeder feeder;
private double topVelocity, topAcceleration, bottomVelocity, bottomAcceleration;
private Timer timer;
private double topVelocity, topAcceleration, bottomVelocity, bottomAcceleration;
private boolean reachedShooterSpeed = false;

/**
* Creates a new ShootSpeaker
Expand All @@ -33,15 +33,13 @@ public ShootSpeaker(Shooter shooter, Feeder feeder) {
}

@Override
public void initialize() {
timer = new Timer();
timer.start();
}
public void initialize() {}

@Override
public void execute() {
shooter.runShooter(topVelocity, topAcceleration, bottomVelocity, bottomAcceleration);
if (shooter.getAverageVelocity() >= 90){
if (reachedShooterSpeed || shooter.getAverageTopVelocity() >= Constants.Shooter.THRESHOLD_SPEED*0.9) {
reachedShooterSpeed = true;
shooter.runShooter(topVelocity, topAcceleration, bottomVelocity, bottomAcceleration);
feeder.feedFeeder(Constants.Feeder.FEED_SPEED);
}
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1 change: 1 addition & 0 deletions 2024Crescendo/src/main/java/frc/robot/commands/VisionAlign.java
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Expand Up @@ -22,6 +22,7 @@ public VisionAlign(Swerve swerve, Vision vision) {

translateController.setTolerance(0.0001);
translateController.enableContinuousInput(0, 1);
addRequirements(swerve, vision);
}

public void initialize() {
Expand Down
2 changes: 1 addition & 1 deletion 2024Crescendo/src/main/java/frc/robot/subsystems/Feeder.java
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Expand Up @@ -21,7 +21,7 @@ public class Feeder extends SubsystemBase {
public Feeder() {
leftMotor = new CANSparkMax (Constants.Feeder.LEFT_ID, MotorType.kBrushless);
rightMotor = new CANSparkMax(Constants.Feeder.RIGHT_ID, MotorType.kBrushless);
sensor = new DigitalInput(8);
sensor = new DigitalInput(Constants.Feeder.BEAM_ID);
}

/**
Expand Down
70 changes: 23 additions & 47 deletions 2024Crescendo/src/main/java/frc/robot/subsystems/Shooter.java
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Expand Up @@ -3,15 +3,14 @@
// the WPILib BSD license file in the root directory of this project.
package frc.robot.subsystems;

import frc.robot.Constants;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.SubsystemBase;

import com.ctre.phoenix6.configs.TalonFXConfiguration;
import com.ctre.phoenix6.controls.MotionMagicVelocityVoltage;
import com.ctre.phoenix6.controls.VelocityVoltage;
import com.ctre.phoenix6.signals.NeutralModeValue;
import com.ctre.phoenix6.hardware.TalonFX;
import com.ctre.phoenix6.signals.NeutralModeValue;

import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants;

public class Shooter extends SubsystemBase {
private TalonFX topLeftMotor, topRightMotor, bottomLeftMotor, bottomRightMotor;
Expand All @@ -24,43 +23,25 @@ public Shooter() {
bottomRightMotor = new TalonFX(Constants.Shooter.BOTTOM_RIGHT_MOTOR_ID);

TalonFXConfiguration config = new TalonFXConfiguration();

configMotor(topLeftMotor, config);
configMotor(topRightMotor, config);
configMotor(bottomLeftMotor, config);
configMotor(bottomRightMotor, config);
}

/**
* Configure motor, add PID
* @param motor - motor to configure
* @param config - configuration to use
*/
private void configMotor(TalonFX motor, TalonFXConfiguration config) {
config.Slot0.kP = Constants.Shooter.kP;
config.Slot0.kI = Constants.Shooter.kI;
config.Slot0.kD = Constants.Shooter.kD;
config.Slot0.kV = Constants.Shooter.kV;
config.Slot0.kA = Constants.Shooter.kA;
config.Slot0.kI = Constants.Shooter.kI;

/*config.MotionMagic.MotionMagicCruiseVelocity = 3; //rps (4)
config.MotionMagic.MotionMagicAcceleration = 10; //rps/s
config.MotionMagic.MotionMagicJerk = 0;*/

motor.setNeutralMode(NeutralModeValue.Coast);
motor.getConfigurator().apply(config);

config.CurrentLimits.StatorCurrentLimitEnable = true;
config.CurrentLimits.StatorCurrentLimit = 60;
config.MotorOutput.NeutralMode = NeutralModeValue.Coast;

topLeftMotor.getConfigurator().apply(config);
topRightMotor.getConfigurator().apply(config);
bottomLeftMotor.getConfigurator().apply(config);
bottomRightMotor.getConfigurator().apply(config);
}

/**
* Run all shooter motors at inputted velocities/accelerations
* @param topVelocity
* @param topAcceleration
* @param bottomVelocity
* @param bottomAcceleration
* @param topSpeed - percentage of full power (1.0)
* @param bottomSpeed - percentage of full power (1.0)
*/
public void runNoPID(double topSpeed, double bottomSpeed) {
topLeftMotor.set(-topSpeed);
Expand All @@ -72,10 +53,8 @@ public void runNoPID(double topSpeed, double bottomSpeed) {
public void runShooter(double topVelocity, double topAcceleration, double bottomVelocity, double bottomAcceleration) {
topLeftMotor.setControl(new VelocityVoltage(-topVelocity, -topAcceleration, false, 0.0, 0, false, false, false));
topRightMotor.setControl(new VelocityVoltage(topVelocity, topAcceleration, false, 0.0, 0, false, false, false));
bottomLeftMotor
.setControl(new VelocityVoltage(-bottomVelocity, -bottomAcceleration, false, 0.0, 0, false, false, false));
bottomRightMotor
.setControl(new VelocityVoltage(bottomVelocity, bottomAcceleration, false, 0.0, 0, false, false, false));
bottomLeftMotor.setControl(new VelocityVoltage(-bottomVelocity, -bottomAcceleration, false, 0.0, 0, false, false, false));
bottomRightMotor.setControl(new VelocityVoltage(bottomVelocity, bottomAcceleration, false, 0.0, 0, false, false, false));
}

/*public void runTopPID(double topVelocity, double topAcceleration, double bottomSpeed) {
Expand All @@ -89,15 +68,10 @@ public void runShooter(double topVelocity, double topAcceleration, double bottom
* Stops all shooter motors
*/
public void stopMotors() {
/*topLeftMotor.setControl(new VelocityVoltage(0, 0, false, 0.0, 0, false, false, false));
topLeftMotor.setControl(new VelocityVoltage(0, 0, false, 0.0, 0, false, false, false));
topRightMotor.setControl(new VelocityVoltage(0, 0, false, 0.0, 0, false, false, false));
bottomLeftMotor.setControl(new VelocityVoltage(0, 0, false, 0.0, 0, false, false, false));
bottomRightMotor.setControl(new VelocityVoltage(0, 0, false, 0.0, 0, false, false, false));*/

topLeftMotor.stopMotor();
topRightMotor.stopMotor();
bottomLeftMotor.stopMotor();
bottomRightMotor.stopMotor();
bottomRightMotor.setControl(new VelocityVoltage(0, 0, false, 0.0, 0, false, false, false));
}

public void configDashboard(ShuffleboardTab tab) {
Expand All @@ -109,15 +83,17 @@ public void configDashboard(ShuffleboardTab tab) {
}

public double getAverageVelocity(){
double averageVelocity = (Math.abs(topLeftMotor.getVelocity().getValueAsDouble())+ Math.abs(topRightMotor.getVelocity().getValueAsDouble()) + Math.abs(bottomLeftMotor.getVelocity().getValueAsDouble()) + Math.abs(bottomRightMotor.getVelocity().getValueAsDouble()))/4.0;
return averageVelocity;
return (getMotorVelocity(topLeftMotor) + getMotorVelocity(topRightMotor) + getMotorVelocity(bottomLeftMotor) + getMotorVelocity(bottomRightMotor))/4.0;
}

public double getAverageTopVelocity(){
return (getMotorVelocity(topLeftMotor) + getMotorVelocity(topRightMotor))/2.0;
}

public double getMotorVelocity(TalonFX motor){
return Math.abs(motor.getVelocity().getValueAsDouble());
}

@Override
public void periodic() {
}
public void periodic() {}
}

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