Feature/intake phx6 alon #6

AlonSchwierz · 2023-12-08T11:36:33Z

Hello we are donating washing machines for homeless dogs

תודה

katzuv · 2023-12-08T12:02:42Z

src/main/java/frc/robot/subsystems/intake/Intake.java

@@ -106,6 +106,9 @@ public Command lowerIntake() {
                .andThen(new RunCommand(() -> setAngleMotorAngle(-40), this));
    }

+    // You Jerk :) 😎
+    // I'm gonna kill them all.
+    // All the jews must die


src/main/java/frc/robot/subsystems/intake/IntakeConstants.java

src/main/java/frc/robot/subsystems/intake/IntakeIOReal.java

katzuv · 2023-12-10T23:44:43Z

src/main/java/frc/robot/subsystems/intake/IntakeIOReal.java

@@ -48,27 +50,30 @@ public void setSpinMotorPower(double power) {

    @Override
    public void setAngleMotorAngle(double angle) {
-        angleMotor.set(ControlMode.Position, angle);
+        var motorRequest = new PositionVoltage(Units.radiansToRotations(angle));


From the Phoenix 6 documentation:

Java users should reuse control requests to prevent excessive invocation of the Garbage Collector.

You can create the request object as a class member and change the value as needed with withPosition() (this doesn't create a new object but changes the same one).

Not really, you still create the request every time this function is called. You should create it once and only once.

src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java

katzuv · 2023-12-11T00:07:16Z

src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java

+        var motorRequest = new DutyCycleOut(power);
+        powerMotorSim.setControl(motorRequest);
    }

    @Override
    public void setAngleMotorAngle(double angle) {
-        double angleMotorAppliedVoltage = angleFeedback.calculate(angleMotor.getAngleRads(), angle);
-        angleMotor.setInputVoltage(angleMotorAppliedVoltage);
+        var motorRequest = new PositionVoltage(Units.radiansToRotations(angle));
+        angleMotorSim.setControl(motorRequest);
    }

    @Override
    public void setAngleMotorPower(double power) {
-        angleMotor.setInputVoltage(power * 12);
+        var motorRequest = new DutyCycleOut(power);
+        angleMotorSim.setControl(motorRequest);


Again, you should reuse control requests.

Nope, you still create it in each function call.

src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java

katzuv · 2023-12-11T00:10:17Z

src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java

-
-        spinMotor.update(0.02);
-        angleMotor.update(0.02);
+        inputs.angleMotorPower = angleMotorSim.getAppliedVoltage() / 12;


Again, better to log the voltage directly.

You write OK but change nothing, and resolve the thread?

yes but this is a simulation and the BatterySim Class is private for some reason.

WDYM private? It's very much public https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj/simulation/BatterySim.html

I understand your problem, you're trying to instantiate BatterySim. True, it's constructor is private, but all of its methods are static, so you don't need to instantiate the class.

katzuv · 2023-12-11T00:12:18Z

src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java

+        inputs.angleMotorPower = angleMotorSim.getAppliedVoltage() / 12;
+        inputs.angleMotorcurrent = angleMotorSim.getAppliedCurrent();
+        inputs.angleMotorVelocity = angleMotorSim.getRotorVelocity();
+        inputs.angleMotorAngle = angleMotorSim.getRotorPosition() * Math.PI * 2 % Math.PI * 2;


IntakeConstants.ANGLE_GEAR_RATIO should be calculated to take the conversion to rotations.

what do you mean?

Modify this constant so getRotorPosition() will already return a value in rotations and not in meters (I presume). Also, why not use degrees instead of rotations?

katzuv · 2023-12-12T22:46:24Z

src/main/java/frc/robot/subsystems/intake/IntakeConstants.java

@@ -9,7 +10,8 @@ public class IntakeConstants {
    public static final double kP = 2;
    public static final double kI = 0;
    public static final double kD = 0.2;
-    public static final double kF = 0;
+    public static final double kF = 0; // not relevant anymore


If that's not relevant, delete it. Why isn't it, though?

katzuv · 2023-12-12T22:46:59Z

src/main/java/frc/robot/subsystems/intake/IntakeConstants.java

@@ -9,7 +10,8 @@ public class IntakeConstants {
    public static final double kP = 2;
    public static final double kI = 0;
    public static final double kD = 0.2;
-    public static final double kF = 0;
+    public static final double kF = 0; // not relevant anymore
+    public static final Slot0Configs PIDGains = new Slot0Configs().withKP(IntakeConstants.kP).withKI(IntakeConstants.kI).withKD(IntakeConstants.kD);


You don't need to create individual constants, just put the numbers on this line instead.

katzuv · 2023-12-12T22:47:09Z

src/main/java/frc/robot/subsystems/intake/IntakeIOReal.java

+
+

Redundant

Suggested change

katzuv · 2023-12-12T22:48:18Z

src/main/java/frc/robot/subsystems/intake/IntakeIOReal.java

+    private final TalonFXConfigurator angleConfigurator;
+    private TalonFXConfiguration angleConfiguration = new TalonFXConfiguration();


Do you need a variable for that? And as a class member, even?

katzuv · 2023-12-12T22:49:24Z

src/main/java/frc/robot/subsystems/intake/IntakeIOReal.java

+        motorControlReqeust = new PositionVoltage(angle);
+        angleMotor.setControl(motorControlReqeust);
    }

    @Override
    public void setAngleMotorPower(double power) {
-        angleMotor.set(ControlMode.PercentOutput, power);
+        motorControlReqeust = new DutyCycleOut(power);


Cache control requests.

katzuv · 2023-12-12T22:53:08Z

src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java

+        angleMotorSim.setController(angleController);
+
+        angleConfiguration.Slot0 = IntakeConstants.PIDGains;
+//        angleMotorSim.configure(angleConfiguration);


katzuv · 2023-12-12T22:54:05Z

src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java

-
-        spinMotor.update(0.02);
-        angleMotor.update(0.02);
+        inputs.angleMotorPower = angleMotorSim.getAppliedVoltage() / 12;


You write OK but change nothing, and resolve the thread?

katzuv · 2023-12-12T22:54:26Z

src/test/java/frc/robot/subsystems/example/ExampleSubsystemTest.java

+//
+//import org.junit.Test;
+//
+//public class ExampleSubsystemTest {
+//
+//    @Test
+//    public void setPower() {
+//    }
+//}


Why is that needed?

…ro123/Sim-bot-2023 into feature/Intake-phx6-Alon

katzuv · 2023-12-14T00:12:24Z

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

-    private final SwerveDrive swerveDrive = SwerveDrive.getInstance(Robot.isReal());
+    static {
+        SwerveDrive.setInstance(Robot.isReal(),
+                Ports.SwerveDrive.DRIVE_IDS,
+                Ports.SwerveDrive.ANGLE_IDS,
+                Ports.SwerveDrive.ENCODER_IDS);
+    }
+    private final SwerveDrive swerveDrive = SwerveDrive.getInstance();


Why did you change this here? It's not related to this branch.

יבה דבא דו בי דו

katzuv · 2023-12-16T16:44:09Z

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

-
-        rb.whileTrue(new ArmAxisControl(0.02, 0.02)
-                .until(() -> gripper.getDistance() < ArmConstants.FEEDER_DISTANCE));
+      //  a.whileTrue(new RunCommand(()-> intake.setAngleMotorAngle(Math.PI)));


katzuv · 2023-12-16T16:45:00Z

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

-        leftJoystickTrigger.onTrue(new InstantCommand(swerveDrive::resetGyro));
-        y.whileTrue(new ArmWithSpline(ArmPosition.TOP_SCORING));
-        x.whileTrue(new ArmWithSpline(ArmPosition.MIDDLE_SCORING));
-        b.whileTrue(new ArmWithSpline(ArmPosition.FEEDER));
-        back.whileTrue(new ArmWithSpline(ArmPosition.FEEDER_CONE));
-        a.whileTrue(new ArmWithSpline(ArmPosition.NEUTRAL));
-
-        lb.onTrue(new InstantCommand(gripper::toggle));
-
-        start.onTrue(new InstantCommand(leds::toggle));
-
-        leftJoystickTopBottom.toggleOnTrue(
-                new InstantCommand(swerveDrive::lock, swerveDrive)
-        );
-        leftJoystickTopBottom.onTrue(
-                new InstantCommand(leds::toggleRainbow)
-        );
-
-        xboxLeftTrigger.whileTrue(new PickUpCubeTeleop())
-                .onFalse(new Retract(Retract.Mode.UP).andThen(new InstantCommand(() -> intake.setSpinMotorPower(0))));
-        xboxRightTrigger.whileTrue(new ReturnIntake());
-
-        rb.whileTrue(new ArmAxisControl(0.02, 0.02)
-                .until(() -> gripper.getDistance() < ArmConstants.FEEDER_DISTANCE));


Why did you delete all of that?

katzuv · 2023-12-16T16:46:55Z

src/main/java/frc/robot/commandgroups/FeedTeleop.java

@@ -12,7 +13,7 @@ public FeedTeleop(boolean outtake) {

        addCommands(
                new Retract(Retract.Mode.DOWN)
-                        .andThen(new RunCommand(() -> intake.setAngleMotorAngle(IntakeConstants.ANGLE_DOWN))),
+                        .andThen(new RunCommand(() -> intake.setAngleMotorAngle(Rotation2d.fromDegrees(IntakeConstants.ANGLE_DOWN)))),


Instead of creating a Rotation2d here, ANGLE_DOWN should already be a Rotation2d.

katzuv · 2023-12-16T16:47:09Z

src/main/java/frc/robot/commandgroups/bits/CheckSwerve.java

@@ -7,7 +7,7 @@

 public class CheckSwerve extends SequentialCommandGroup {
    public CheckSwerve() {
-        SwerveDrive swerveDrive = SwerveDrive.getInstance(Robot.isReal());
+        SwerveDrive swerveDrive = SwerveDrive.getInstance();


Shouldn't be changed here. You can use interactive rebasing to remove this diff.

katzuv · 2023-12-16T16:47:23Z

src/main/java/frc/robot/subsystems/intake/Intake.java

+    // You Jerk :) 😎
+    // I'm gonna kill them all.
+    // All the juice must die


Aren't you going to delete it?

katzuv · 2023-12-16T17:33:01Z

src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java

+        angleMotorSim.update(Timer.getFPGATimestamp());
+        powerMotorSim.update(Timer.getFPGATimestamp());


Does update receive the time since the last call or the system clock since the system started?
Also, I'm not sure the function you used is available in simulation.

katzuv · 2023-12-16T17:33:21Z

src/main/java/frc/robot/subsystems/intake/IntakeLoggedInputs.java

+    public double spinMotorPower;
+    public double spinMotorAppliedCurrent;
+    public double spinMotorAppliedVoltage;
+    public Rotation2d angleMotorVelocity = new Rotation2d();


How is a velocity value represented by a Rotation2d?

katzuv · 2023-12-16T17:33:41Z

src/main/java/frc/robot/subsystems/intake/IntakeLoggedInputs.java

@@ -1,18 +1,21 @@
 package frc.robot.subsystems.intake;

+import edu.wpi.first.math.geometry.Rotation2d;
 import org.littletonrobotics.junction.LogTable;
 import org.littletonrobotics.junction.inputs.LoggableInputs;

 public class IntakeLoggedInputs implements LoggableInputs {


Why not use @Autolog?

katzuv · 2023-12-16T17:34:22Z

src/main/java/frc/robot/subsystems/intake/commands/HoldIntakeInPlace.java

@@ -17,9 +18,9 @@ public HoldIntakeInPlace() {
    @Override
    public void execute() {
        if (intake.switchedToDefaultCommand() || Robot.justEnabled()) {


Why are these two conditions needed?

katzuv · 2023-12-16T17:35:36Z

src/main/java/frc/robot/subsystems/intake/commands/HoldIntakeInPlace.java

            angle = MathUtil.clamp(angle, IntakeConstants.ANGLE_DOWN, IntakeConstants.ANGLE_UP);
        }
-        intake.setAngleMotorAngle(IntakeConstants.ANGLE_UP);
+        intake.setAngleMotorAngle(Rotation2d.fromDegrees( IntakeConstants.ANGLE_UP));


Instead of casting, IntakeConstants.ANGLE_UP should be of type Rotation2d. Be consistent in your code, try to minimize the types you use.

…5987/Sim-bot-2023 into feature/Intake-phx6-Alon

katzuv · 2023-12-18T00:07:50Z

src/main/java/frc/robot/subsystems/intake/Intake.java

@@ -132,10 +132,10 @@ public void periodic() {
                !(lastCommand instanceof HoldIntakeInPlace);
        lastCommand = currentCommand;

-        intakeP1.setAngle(Math.toDegrees(getAngleMotorAngle()) + IntakeConstants.INTAKE_MECH_OFFSET);
+        intakeP1.setAngle(getAngleMotorAngle().getDegrees() + IntakeConstants.INTAKE_MECH_OFFSET);


MechanismLigament2d can also receive Rotation2d objects.

Alon Schwierz and others added 4 commits December 3, 2023 19:54

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Update common version

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Tooda uluhim

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AlonSchwierz requested review from rakrakon, vichik123, katzuv, barel13, tirtsa5987, Se-gol, GaiaZano05 and Emma03L December 8, 2023 11:36

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Alon Schwierz added 2 commits December 12, 2023 16:00

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vichik123 and others added 4 commits December 13, 2023 11:24

Change swerve intialization

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Merge branch 'feature/Intake-phx6-Alon' of https://github.com/littleb…

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…ro123/Sim-bot-2023 into feature/Intake-phx6-Alon

after Common fixing

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katzuv reviewed Dec 14, 2023

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Alon Schwierz added 3 commits December 15, 2023 10:47

change logging for position and velocity to type Rotation2d

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config gearratio on dcMotor and remove on unnecessary places

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יבה דבא דו בי דו

correct wrong controlRequest usage.

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katzuv requested changes Dec 16, 2023

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Alon Schwierz added 2 commits December 17, 2023 18:13

correct wrong controlRequest usage.

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Merge branch 'feature/Intake-phx6-Alon' of https://github.com/Galaxia…

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…5987/Sim-bot-2023 into feature/Intake-phx6-Alon

katzuv requested changes Dec 18, 2023

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		private final TalonFXConfigurator angleConfigurator;
		private TalonFXConfiguration angleConfiguration = new TalonFXConfiguration();

		angleMotorSim.update(Timer.getFPGATimestamp());
		powerMotorSim.update(Timer.getFPGATimestamp());

Feature/intake phx6 alon #6

Are you sure you want to change the base?

Feature/intake phx6 alon #6

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AlonSchwierz commented Dec 8, 2023

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katzuv Dec 16, 2023 •

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