Kitbot ready!

Mechanical-Advantage · Jan 16, 2024 · 4c6de5a · 4c6de5a
1 parent d9b4c64
commit 4c6de5a
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Showing 5 changed files with 14 additions and 15 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -15,6 +15,7 @@
 
 import edu.wpi.first.wpilibj.RobotBase;
 import frc.robot.util.Alert;
+import java.util.Map;
 
 /**
  * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
@@ -27,7 +28,7 @@
 public final class Constants {
   public static final int loopPeriodMs = 20;
   private static RobotType robotType = RobotType.KITBOT;
-  public static final boolean tuningMode = true;
+  public static final boolean tuningMode = false;
   public static final boolean characterizationMode = false;
 
   private static boolean invalidRobotAlertSent = false;
@@ -49,6 +50,8 @@ public static Mode getMode() {
     };
   }
 
+  public static final Map<RobotType, String> logFolders = Map.of(RobotType.KITBOT, "/media/sda1/");
+
   public enum Mode {
     /** Running on a real robot. */
     REAL,

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -65,7 +65,8 @@ public void robotInit() {
     switch (Constants.getMode()) {
       case REAL:
         // Running on a real robot, log to a USB stick ("/U/logs")
-        Logger.addDataReceiver(new WPILOGWriter());
+        String folder = Constants.logFolders.get(Constants.getRobot());
+        Logger.addDataReceiver(new WPILOGWriter(folder));
         Logger.addDataReceiver(new NT4Publisher());
         break;
 

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -24,12 +24,7 @@
 import frc.robot.commands.DriveCommands;
 import frc.robot.commands.DriveTrajectory;
 import frc.robot.commands.FeedForwardCharacterization;
-import frc.robot.subsystems.drive.Drive;
-import frc.robot.subsystems.drive.GyroIO;
-import frc.robot.subsystems.drive.GyroIOPigeon2;
-import frc.robot.subsystems.drive.ModuleIO;
-import frc.robot.subsystems.drive.ModuleIOSim;
-import frc.robot.subsystems.drive.ModuleIOSparkMax;
+import frc.robot.subsystems.drive.*;
 import frc.robot.subsystems.kitbotshooter.*;
 import frc.robot.util.trajectory.ChoreoTrajectoryReader;
 import frc.robot.util.trajectory.Trajectory;
@@ -73,8 +68,7 @@ public RobotContainer() {
                     new ModuleIOSparkMax(1),
                     new ModuleIOSparkMax(2),
                     new ModuleIOSparkMax(3));
-            shooter =
-                new KitbotShooter(new KitbotFlywheelIOSparkMax(), new KitbotFeederIOSparkMax());
+            shooter = new KitbotShooter(new KitbotFlywheelIO() {}, new KitbotFeederIO() {});
           }
         }
       }
@@ -165,6 +159,7 @@ private void configureButtonBindings() {
                             new Pose2d(drive.getPose().getTranslation(), new Rotation2d())),
                     drive)
                 .ignoringDisable(true));
+    controller.button(8).onTrue(Commands.runOnce(() -> drive.setPose(new Pose2d())));
     controller
         .a()
         .whileTrue(

diff --git a/src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java b/src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java
@@ -24,7 +24,7 @@
 
 /** IO implementation for Pigeon2 */
 public class GyroIOPigeon2 implements GyroIO {
-  private final Pigeon2 pigeon = new Pigeon2(20);
+  private final Pigeon2 pigeon = new Pigeon2(0);
   private final StatusSignal<Double> yaw = pigeon.getYaw();
   private final Queue<Double> yawPositionQueue;
   private final StatusSignal<Double> yawVelocity = pigeon.getAngularVelocityZWorld();

diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java
@@ -59,25 +59,25 @@ public ModuleIOSparkMax(int index) {
         driveSparkMax = new CANSparkMax(15, MotorType.kBrushless);
         turnSparkMax = new CANSparkMax(11, MotorType.kBrushless);
         turnAbsoluteEncoder = new AnalogInput(0);
-        absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED
+        absoluteEncoderOffset = new Rotation2d(-0.036); // MUST BE CALIBRATED
         break;
       case 1:
         driveSparkMax = new CANSparkMax(12, MotorType.kBrushless);
         turnSparkMax = new CANSparkMax(9, MotorType.kBrushless);
         turnAbsoluteEncoder = new AnalogInput(1);
-        absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED
+        absoluteEncoderOffset = new Rotation2d(1.0185); // MUST BE CALIBRATED
         break;
       case 2:
         driveSparkMax = new CANSparkMax(14, MotorType.kBrushless);
         turnSparkMax = new CANSparkMax(10, MotorType.kBrushless);
         turnAbsoluteEncoder = new AnalogInput(2);
-        absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED
+        absoluteEncoderOffset = new Rotation2d(1.0705); // MUST BE CALIBRATED
         break;
       case 3:
         driveSparkMax = new CANSparkMax(13, MotorType.kBrushless);
         turnSparkMax = new CANSparkMax(8, MotorType.kBrushless);
         turnAbsoluteEncoder = new AnalogInput(3);
-        absoluteEncoderOffset = new Rotation2d(0.0); // MUST BE CALIBRATED
+        absoluteEncoderOffset = new Rotation2d(0.7465); // MUST BE CALIBRATED
         break;
       default:
         throw new RuntimeException("Invalid module index");