updated repo with mechansim specs

.wpilib/wpilib_preferences.json

@@ -2,5 +2,5 @@
     "enableCppIntellisense": false,
     "currentLanguage": "java",
     "projectYear": "2024",
-    "teamNumber": 364
+    "teamNumber": 4011
 }

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1"
+    id "edu.wpi.first.GradleRIO" version "2024.2.1"
 }
 
 java {

src/main/java/frc/robot/Constants.java

@@ -15,15 +15,20 @@
 public final class Constants {
     public static final double stickDeadband = 0.1;
 
-    public static final class Swerve {
-        public static final int pigeonID = 1;
+    public static final class Swerve { 
+        public static final int pigeonID = 13;
+
+        public static final class ShooterConstants {
+            public static final double kRightShooterCMDVolts = 10.0;
+            public static final double kLeftShooterCMDVolts = 6.0;
+        }
 
         public static final COTSTalonFXSwerveConstants chosenModule =  //TODO: This must be tuned to specific robot
-        COTSTalonFXSwerveConstants.SDS.MK4i.Falcon500(COTSTalonFXSwerveConstants.SDS.MK4i.driveRatios.L2);
+        COTSTalonFXSwerveConstants.SDS.MK4i.Falcon500(COTSTalonFXSwerveConstants.SDS.MK4i.driveRatios.L3);
 
         /* Drivetrain Constants */
-        public static final double trackWidth = Units.inchesToMeters(21.73); //TODO: This must be tuned to specific robot
-        public static final double wheelBase = Units.inchesToMeters(21.73); //TODO: This must be tuned to specific robot
+        public static final double trackWidth = Units.inchesToMeters(23.81); //TODO: This must be tuned to specific robot
+        public static final double wheelBase = Units.inchesToMeters(23.63); //TODO: This must be tuned to specific robot
         public static final double wheelCircumference = chosenModule.wheelCircumference;
 
         /* Swerve Kinematics 
@@ -92,8 +97,8 @@ public static final class Swerve {
         public static final class Mod0 { //TODO: This must be tuned to specific robot
             public static final int driveMotorID = 1;
             public static final int angleMotorID = 2;
-            public static final int canCoderID = 1;
-            public static final Rotation2d angleOffset = Rotation2d.fromDegrees(0.0);
+            public static final int canCoderID = 9;
+            public static final Rotation2d angleOffset = Rotation2d.fromDegrees(101.953);
             public static final SwerveModuleConstants constants = 
                 new SwerveModuleConstants(driveMotorID, angleMotorID, canCoderID, angleOffset);
         }
@@ -102,18 +107,18 @@ public static final class Mod0 { //TODO: This must be tuned to specific robot
         public static final class Mod1 { //TODO: This must be tuned to specific robot
             public static final int driveMotorID = 3;
             public static final int angleMotorID = 4;
-            public static final int canCoderID = 2;
-            public static final Rotation2d angleOffset = Rotation2d.fromDegrees(0.0);
+            public static final int canCoderID = 10;
+            public static final Rotation2d angleOffset = Rotation2d.fromDegrees(68.379);
             public static final SwerveModuleConstants constants = 
                 new SwerveModuleConstants(driveMotorID, angleMotorID, canCoderID, angleOffset);
         }
 
         /* Back Left Module - Module 2 */
         public static final class Mod2 { //TODO: This must be tuned to specific robot
-            public static final int driveMotorID = 5;
+            public static final int driveMotorID = 5 ;
             public static final int angleMotorID = 6;
-            public static final int canCoderID = 3;
-            public static final Rotation2d angleOffset = Rotation2d.fromDegrees(0.0);
+            public static final int canCoderID = 11;
+            public static final Rotation2d angleOffset = Rotation2d.fromDegrees(173.936);
             public static final SwerveModuleConstants constants = 
                 new SwerveModuleConstants(driveMotorID, angleMotorID, canCoderID, angleOffset);
         }
@@ -122,16 +127,16 @@ public static final class Mod2 { //TODO: This must be tuned to specific robot
         public static final class Mod3 { //TODO: This must be tuned to specific robot
             public static final int driveMotorID = 7;
             public static final int angleMotorID = 8;
-            public static final int canCoderID = 4;
-            public static final Rotation2d angleOffset = Rotation2d.fromDegrees(0.0);
+            public static final int canCoderID = 12;
+            public static final Rotation2d angleOffset = Rotation2d.fromDegrees(-3.604);
             public static final SwerveModuleConstants constants = 
                 new SwerveModuleConstants(driveMotorID, angleMotorID, canCoderID, angleOffset);
         }
     }
 
     public static final class AutoConstants { //TODO: The below constants are used in the example auto, and must be tuned to specific robot
         public static final double kMaxSpeedMetersPerSecond = 3;
-        public static final double kMaxAccelerationMetersPerSecondSquared = 3;
+        public static final double kMaxAccelerationMetersPerSecondSquared =3;
         public static final double kMaxAngularSpeedRadiansPerSecond = Math.PI;
         public static final double kMaxAngularSpeedRadiansPerSecondSquared = Math.PI;
 

src/main/java/frc/robot/RobotContainer.java

@@ -6,7 +6,8 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
-
+import edu.wpi.first.wpilibj2.command.button.Trigger;
+import frc.robot.Constants.Swerve.ShooterConstants;
 import frc.robot.autos.*;
 import frc.robot.commands.*;
 import frc.robot.subsystems.*;
@@ -19,16 +20,22 @@
  */
 public class RobotContainer {
     /* Controllers */
-    private final Joystick driver = new Joystick(0);
+   // private final Joystick driver = new Joystick(0);
+
+    private final ShooterSubsystem shooterSubsystem = new ShooterSubsystem();
+    private final KickerSubsystem kickerSubsystem = new KickerSubsystem();
+    private final XboxController driverXbox = new XboxController(0);
+
 
     /* Drive Controls */
     private final int translationAxis = XboxController.Axis.kLeftY.value;
     private final int strafeAxis = XboxController.Axis.kLeftX.value;
     private final int rotationAxis = XboxController.Axis.kRightX.value;
 
     /* Driver Buttons */
-    private final JoystickButton zeroGyro = new JoystickButton(driver, XboxController.Button.kY.value);
-    private final JoystickButton robotCentric = new JoystickButton(driver, XboxController.Button.kLeftBumper.value);
+    private final JoystickButton zeroGyro = new JoystickButton(driverXbox, XboxController.Button.kY.value);
+    private final JoystickButton robotCentric = new JoystickButton(driverXbox, XboxController.Button.kLeftBumper.value);
+
 
     /* Subsystems */
     private final Swerve s_Swerve = new Swerve();
@@ -39,12 +46,14 @@ public RobotContainer() {
         s_Swerve.setDefaultCommand(
             new TeleopSwerve(
                 s_Swerve, 
-                () -> -driver.getRawAxis(translationAxis), 
-                () -> -driver.getRawAxis(strafeAxis), 
-                () -> -driver.getRawAxis(rotationAxis), 
+                () -> -driverXbox.getRawAxis(translationAxis), 
+                () -> -driverXbox.getRawAxis(strafeAxis), 
+                () -> -driverXbox.getRawAxis(rotationAxis), 
                 () -> robotCentric.getAsBoolean()
             )
         );
+
+        shooterSubsystem.setDefaultCommand(new ShooterCommand(shooterSubsystem, 0,0));
 
         // Configure the button bindings
         configureButtonBindings();
@@ -59,8 +68,36 @@ public RobotContainer() {
     private void configureButtonBindings() {
         /* Driver Buttons */
         zeroGyro.onTrue(new InstantCommand(() -> s_Swerve.zeroHeading()));
+
+        //new Trigger(driverXbox.getLeftTriggerAxis() > 0.5) .whileTrue(new ShooterCommand(shooterSubsytem, 10.0, 6.0 ));
+
+       // driverXbox.a().whileTrue(new ShooterCommand(shooterSubsytem , 10.0,6.0));
+        //new JoystickButton(driverXbox, 1).whileTrue(new ShooterCommand(shooterSubsytem, 10.0, 6.0));
+
+
+       new JoystickButton(driverXbox, 1).whileTrue(new ShooterCommand(shooterSubsystem, 6.0, 10.0 ));
+       new JoystickButton(driverXbox, 2).whileTrue(new KickerCommand(kickerSubsystem, 11.0));
+       /*if(new JoystickButton(driverXbox, 1).whileTrue(new ShooterCommand(shooterSubsystem, 6.0, 10.0)) != null) {
+        if(shooterSubsystem.getRightMotorVoltage() <= 10.0){
+            new KickerCommand(kickerSubsystem, 11.0);
+
+        }
+       }*/
+
     }
 
+
+    /*public void ampShooter() {
+        if(driverXbox.getAButtonPressed()) {
+            new ShooterCommand(shooterSubsystem, 6.0, 10.0);
+                if(shooterSubsystem.getRightMotorVoltage() >= 10.0  ){
+                    new KickerCommand(kickerSubsystem, 5.0);
+                }
+
+
+
+        }
+    }*/
     /**
      * Use this to pass the autonomous command to the main {@link Robot} class.
      *

src/main/java/frc/robot/SwerveModule.java

@@ -35,16 +35,16 @@ public SwerveModule(int moduleNumber, SwerveModuleConstants moduleConstants){
         this.angleOffset = moduleConstants.angleOffset;
 
         /* Angle Encoder Config */
-        angleEncoder = new CANcoder(moduleConstants.cancoderID);
+        angleEncoder = new CANcoder(moduleConstants.cancoderID, "canivore");
         angleEncoder.getConfigurator().apply(Robot.ctreConfigs.swerveCANcoderConfig);
 
         /* Angle Motor Config */
-        mAngleMotor = new TalonFX(moduleConstants.angleMotorID);
+        mAngleMotor = new TalonFX(moduleConstants.angleMotorID, "canivore");
         mAngleMotor.getConfigurator().apply(Robot.ctreConfigs.swerveAngleFXConfig);
         resetToAbsolute();
 
         /* Drive Motor Config */
-        mDriveMotor = new TalonFX(moduleConstants.driveMotorID);
+        mDriveMotor = new TalonFX(moduleConstants.driveMotorID, "canivore");
         mDriveMotor.getConfigurator().apply(Robot.ctreConfigs.swerveDriveFXConfig);
         mDriveMotor.getConfigurator().setPosition(0.0);
     }

src/main/java/frc/robot/commands/KickerCommand.java

@@ -0,0 +1,45 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.KickerSubsystem;
+
+public class KickerCommand extends Command {
+  /** Creates a new KickerCommand. */
+  private final KickerSubsystem kickerSubsystem;
+  private double kickerVoltage;
+  public KickerCommand(KickerSubsystem kickerSubsystem, double kickerVoltage) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.kickerSubsystem = kickerSubsystem;
+    this.kickerVoltage = kickerVoltage;
+    addRequirements(kickerSubsystem);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    System.out.println("kickerCMD started");
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    kickerSubsystem.setKickerSpeed( kickerVoltage);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    kickerSubsystem.setKickerSpeed(0);
+    System.out.println("kickerCMD stopped");
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/ShooterCommand.java

@@ -0,0 +1,49 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.ShooterSubsystem;
+
+public class ShooterCommand extends Command {
+  /** Creates a new ShooterCommand. */
+  private final ShooterSubsystem shooterSubsytem;
+  private double leftVoltage;
+  private double rightVoltage;
+ // private double kickerVoltage;
+  public ShooterCommand(ShooterSubsystem shooterSubsytem, double leftVoltage, double rightVoltage) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.shooterSubsytem = shooterSubsytem;
+    this.leftVoltage = leftVoltage;
+    this.rightVoltage = rightVoltage;
+    //this.kickerVoltage = kickerVoltage;
+    addRequirements(shooterSubsytem);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    System.out.println("ShooterCMD started");
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+   shooterSubsytem.setShooterSpeed(leftVoltage, rightVoltage);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    shooterSubsytem.setShooterSpeed(0, 0);
+    System.out.println("ShooterCMD stopped");
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/subsystems/KickerSubsystem.java

@@ -0,0 +1,34 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.subsystems;
+
+import com.revrobotics.CANSparkBase.IdleMode;
+import com.revrobotics.CANSparkLowLevel.MotorType;
+import com.revrobotics.CANSparkMax;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class KickerSubsystem extends SubsystemBase {
+  /** Creates a new KickerSubsystem. */
+  private static CANSparkMax kickerMotor;
+  public KickerSubsystem() {
+   // kickerMotor.restoreFactoryDefaults();
+    kickerMotor = new CANSparkMax(14, MotorType.kBrushless);
+    kickerMotor.restoreFactoryDefaults();
+    kickerMotor.setInverted(false);
+    kickerMotor.setIdleMode(IdleMode.kBrake);
+    kickerMotor.setSmartCurrentLimit(80);
+    kickerMotor.burnFlash();
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+
+  public void setKickerSpeed(double kickerVoltage) {
+    kickerMotor.setVoltage(kickerVoltage);
+  }
+}