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[#472] Retuned and made spot for tuning #480

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Mar 23, 2024
Merged

[#472] Retuned and made spot for tuning #480

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56 changes: 41 additions & 15 deletions src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -39,8 +39,7 @@ public static final boolean isMercury() {

public class DrivetrainConstants { // TODO Get new for new robot
public static final double MaxSpeed = 6; // 6 meters per second desired top speed
private static final double WHEELBASE = TunerConstants.kFrontLeftXPosInches * 2; // 2 * x distance from center
// of robot to wheel
private static final double WHEELBASE = TunerConstants.kFrontLeftXPosInches * 2; // 2 * x distance from center of robot to wheel
public static final double MaxAngularRate = 2 * Math.PI * ( // convert to radians per second
TunerConstants.kSpeedAt12VoltsMps / Math.PI * Math.sqrt(2 * Math.pow(WHEELBASE, 2))); // free speed / circumference of circle with radius of wheelbase

Expand Down Expand Up @@ -132,8 +131,7 @@ public static class AutonomousConstants {

public static final double CONTROL_LOOP_PERIOD = 0.01;

public static final PathConstraints PATH_CONSTRAINTS = new PathConstraints(2.0, 1, 1.0, 0.5); // TODO get
// constants
public static final PathConstraints PATH_CONSTRAINTS = new PathConstraints(2.0, 1, 1.0, 0.5); // TODO get constants

public static final double BLUE_CHASE_BOUNDARY = 8.5; // The highest X value the robot can be at before ending.
// Prevents going over center line.
Expand Down Expand Up @@ -426,19 +424,19 @@ public class FlywheelConstants {
public static final double TOP_1_MOTOR_KA = 0;

// SLOT 0 BOTTOM, 0 - 49 RPS
public static final double BOTTOM_0_MOTOR_KP = 0.15;
public static final double BOTTOM_0_MOTOR_KP = 0.155;
public static final double BOTTOM_0_MOTOR_KI = 0;
public static final double BOTTOM_0_MOTOR_KD = 0;
public static final double BOTTOM_0_MOTOR_KS = 0.3;
public static final double BOTTOM_0_MOTOR_KV = 0.11;
public static final double BOTTOM_0_MOTOR_KS = 0.35;
public static final double BOTTOM_0_MOTOR_KV = 0.112;
public static final double BOTTOM_0_MOTOR_KA = 0;

// SLOT 1 BOTTOM, 50 - 107 RPS
public static final double BOTTOM_1_MOTOR_KP = 0.16;
public static final double BOTTOM_1_MOTOR_KP = 0.15;
public static final double BOTTOM_1_MOTOR_KI = 0;
public static final double BOTTOM_1_MOTOR_KD = 0;
public static final double BOTTOM_1_MOTOR_KS = 0.3;
public static final double BOTTOM_1_MOTOR_KV = 0.1155;
public static final double BOTTOM_1_MOTOR_KS = 0.35;
public static final double BOTTOM_1_MOTOR_KV = 0.114;
public static final double BOTTOM_1_MOTOR_KA = 0;

public static final double RPM_TOLERANCE = 50d;
Expand Down Expand Up @@ -540,7 +538,7 @@ public class ShooterConstants {
public static final double FAR_WING_X = 3.3;

// Distance in meters, angle in degrees
public static final InterpolationMap ANGLE_MAP = new InterpolationMap() {
public static final InterpolationMap TUBE_ANGLE_MAP = new InterpolationMap() {
{
// As distance gets smaller angle goes up
put(1.21d, 52d);
Expand All @@ -554,7 +552,35 @@ public class ShooterConstants {
};

// Distance in meters, speed in RPM
public static final InterpolationMap SPEED_MAP = new InterpolationMap() {
public static final InterpolationMap TUBE_SPEED_MAP = new InterpolationMap() {
{
// As distance get smaller RPM gets smaller
put(1.21d, 2000d);
put(2d, 2500d);
put(2.5d, 3000d);
put(3d, 3500d);
put(3.5d, 4000d);
put(4.09d, 3600d);
put(4.86d, 4600d);
}
};

// Distance in meters, angle in degrees
public static final InterpolationMap STEALTH_ANGLE_MAP = new InterpolationMap() {
{
// As distance gets smaller angle goes up
put(1.21d, 52d);
put(2d, 45d);
put(2.5d, 41.5d);
put(3d, 37d);
put(3.5d, 30d);
put(4.09d, 26.5d);
put(4.86, 26.5d);
}
};

// Distance in meters, speed in RPM
public static final InterpolationMap STEALTH_SPEED_MAP = new InterpolationMap() {
{
// As distance get smaller RPM gets smaller
put(1.21d, 2000d);
Expand Down Expand Up @@ -655,9 +681,9 @@ public class LEDsConstants {

public static final Map<Integer, Integer> STRAND_LENGTH = new HashMap<Integer, Integer>() {
{
put(-1, LEDsConstants.LED_LENGTH);
put(0, 14);
put(1, 14);
put(-1, LEDsConstants.LED_LENGTH);
put(0, 14);
put(1, 14);
}
};

Expand Down
11 changes: 9 additions & 2 deletions src/main/java/frc/robot/command/shoot/SmartShoot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@
import edu.wpi.first.wpilibj.DataLogManager;
import edu.wpi.first.util.datalog.DoubleLogEntry;
import edu.wpi.first.util.datalog.StringLogEntry;
import frc.robot.Constants;
import frc.robot.RobotContainer;
import frc.robot.Constants.CandConstants;
import frc.robot.Constants.LEDsConstants.LED_STATES;
Expand Down Expand Up @@ -144,7 +145,10 @@ public boolean onTarget() {
* @return Angle to set pivot to
*/
public double calculateTargetAngle(double distance) {
return ShooterConstants.ANGLE_MAP.get(distance);
if(Constants.isMercury()){
return ShooterConstants.TUBE_ANGLE_MAP.get(distance);
}
return ShooterConstants.STEALTH_ANGLE_MAP.get(distance);
}

/**
Expand All @@ -153,6 +157,9 @@ public double calculateTargetAngle(double distance) {
* @return RPM to set the Flywheels
*/
public double calculateTargetRPM(double distance) {
return ShooterConstants.SPEED_MAP.get(distance);
if(Constants.isMercury()){
return ShooterConstants.TUBE_SPEED_MAP.get(distance);
}
return ShooterConstants.STEALTH_SPEED_MAP.get(distance);
}
}
11 changes: 9 additions & 2 deletions src/main/java/frc/robot/command/shoot/preAim.java
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Original file line number Diff line number Diff line change
@@ -1,6 +1,7 @@
package frc.robot.command.shoot;

import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.Constants;
import frc.robot.Constants.ShooterConstants;
import frc.robot.subsystems.Flywheel;
import frc.robot.subsystems.Pivot;
Expand Down Expand Up @@ -49,7 +50,10 @@ public boolean isFinished() {
* @return Angle to set pivot to
*/
public double calculateTargetAngle(double distance) {
return ShooterConstants.ANGLE_MAP.get(distance);
if(Constants.isMercury()){
return ShooterConstants.TUBE_ANGLE_MAP.get(distance);
}
return ShooterConstants.STEALTH_ANGLE_MAP.get(distance);
}

/**
Expand All @@ -59,6 +63,9 @@ public double calculateTargetAngle(double distance) {
* @return RPM to set the Flywheels
*/
public double calculateTargetRPM(double distance) {
return ShooterConstants.SPEED_MAP.get(distance);
if(Constants.isMercury()){
return ShooterConstants.TUBE_SPEED_MAP.get(distance);
}
return ShooterConstants.STEALTH_SPEED_MAP.get(distance);
}
}
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