From 63b0ccb790ee1f35df14bffcb2566616474e5cef Mon Sep 17 00:00:00 2001 From: Nummun14 Date: Wed, 8 Nov 2023 20:34:04 +0200 Subject: [PATCH 001/207] InitiatedCanSparkMotors --- .../frc/trigon/robot/subsystems/arm/arm.java | 4 +++ .../robot/subsystems/arm/armConstants.java | 27 +++++++++++++++++++ 2 files changed, 31 insertions(+) create mode 100644 src/main/java/frc/trigon/robot/subsystems/arm/arm.java create mode 100644 src/main/java/frc/trigon/robot/subsystems/arm/armConstants.java diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/arm.java new file mode 100644 index 000000000..987810cfa --- /dev/null +++ b/src/main/java/frc/trigon/robot/subsystems/arm/arm.java @@ -0,0 +1,4 @@ +package frc.trigon.robot.subsystems.arm; + +public class arm { +} diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/armConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/armConstants.java new file mode 100644 index 000000000..05ab2bd69 --- /dev/null +++ b/src/main/java/frc/trigon/robot/subsystems/arm/armConstants.java @@ -0,0 +1,27 @@ +package frc.trigon.robot.subsystems.arm; + +import com.revrobotics.CANSparkMax; +import com.revrobotics.CANSparkMaxLowLevel; + +public class armConstants { + + private static final int + ANGLE_CAN_SPARK_ID = 1, + ANGLE_NEO_ID = 2, + ELEVATOR_CAN_SPARK_ID = 3, + ELEVATOR_NEO_ID = 4; + + private static final CANSparkMax + CAN_SPARK_ANGLE = new CANSparkMax(ANGLE_CAN_SPARK_ID, CANSparkMaxLowLevel.MotorType.kBrushless), + CAN_SPARK_ELEVATOR = new CANSparkMax(ELEVATOR_CAN_SPARK_ID, CANSparkMaxLowLevel.MotorType.kBrushless); + + static { + CAN_SPARK_ANGLE.restoreFactoryDefaults(); + CAN_SPARK_ELEVATOR.restoreFactoryDefaults(); + } + + public enum armState{ + ANGLE, + ELEVATOR_POSITION + } +} From 36c5c3c58a7dbb82f9f9efe31922a4ca55df6863 Mon Sep 17 00:00:00 2001 From: Nummun14 Date: Wed, 8 Nov 2023 20:39:40 +0200 Subject: [PATCH 002/207] added PIDControler --- .../frc/trigon/robot/subsystems/arm/armConstants.java | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/armConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/armConstants.java index 05ab2bd69..9f0ace20e 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/armConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/armConstants.java @@ -2,6 +2,7 @@ import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMaxLowLevel; +import edu.wpi.first.math.controller.PIDController; public class armConstants { @@ -15,6 +16,13 @@ public class armConstants { CAN_SPARK_ANGLE = new CANSparkMax(ANGLE_CAN_SPARK_ID, CANSparkMaxLowLevel.MotorType.kBrushless), CAN_SPARK_ELEVATOR = new CANSparkMax(ELEVATOR_CAN_SPARK_ID, CANSparkMaxLowLevel.MotorType.kBrushless); + static final double + P = 1, + I = 0, + D = 0; + + static final PIDController PID_CONTROLLER = new PIDController(P, I, D); + static { CAN_SPARK_ANGLE.restoreFactoryDefaults(); CAN_SPARK_ELEVATOR.restoreFactoryDefaults(); From a833f5ccf78ae464a4628158072b4c97b5d14139 Mon Sep 17 00:00:00 2001 From: Nummun14 Date: Wed, 8 Nov 2023 20:51:27 +0200 Subject: [PATCH 003/207] added TalonSRX --- .../robot/subsystems/arm/armConstants.java | 20 ++++++++++++++++--- 1 file changed, 17 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/armConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/armConstants.java index 9f0ace20e..04aef4afa 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/armConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/armConstants.java @@ -1,5 +1,7 @@ package frc.trigon.robot.subsystems.arm; +import com.ctre.phoenix.motorcontrol.NeutralMode; +import com.ctre.phoenix.motorcontrol.can.TalonSRX; import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMaxLowLevel; import edu.wpi.first.math.controller.PIDController; @@ -8,13 +10,19 @@ public class armConstants { private static final int ANGLE_CAN_SPARK_ID = 1, - ANGLE_NEO_ID = 2, - ELEVATOR_CAN_SPARK_ID = 3, - ELEVATOR_NEO_ID = 4; + ELEVATOR_CAN_SPARK_ID = 2, + ANGLE_NEO_ID = 3, + ELEVATOR_NEO_ID = 4, + TALON_SRX_ID = 5; private static final CANSparkMax CAN_SPARK_ANGLE = new CANSparkMax(ANGLE_CAN_SPARK_ID, CANSparkMaxLowLevel.MotorType.kBrushless), CAN_SPARK_ELEVATOR = new CANSparkMax(ELEVATOR_CAN_SPARK_ID, CANSparkMaxLowLevel.MotorType.kBrushless); + private static final TalonSRX TALON_SRX = new TalonSRX(TALON_SRX_ID); + + private static final NeutralMode TALON_SRX_NEUTRAL_MODE_VALUE = NeutralMode.Coast; + private static final boolean TALON_SRX_INVERTED = false; + private static final int TALON_SRX_VOLTAGE_COMPENSATION_SATURATION = 12; static final double P = 1, @@ -26,6 +34,12 @@ public class armConstants { static { CAN_SPARK_ANGLE.restoreFactoryDefaults(); CAN_SPARK_ELEVATOR.restoreFactoryDefaults(); + + TALON_SRX.configFactoryDefault(); + TALON_SRX.configVoltageCompSaturation(TALON_SRX_VOLTAGE_COMPENSATION_SATURATION); + TALON_SRX.enableVoltageCompensation(true); + TALON_SRX.setNeutralMode(TALON_SRX_NEUTRAL_MODE_VALUE); + TALON_SRX.setInverted(TALON_SRX_INVERTED); } public enum armState{ From e74b59cacdb93482e85e0414d4e1e425356957a2 Mon Sep 17 00:00:00 2001 From: Nummun14 Date: Wed, 8 Nov 2023 21:19:48 +0200 Subject: [PATCH 004/207] attempted to add cancoder --- .../robot/subsystems/arm/armConstants.java | 18 +++++++++++++++++- 1 file changed, 17 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/armConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/armConstants.java index 04aef4afa..98d81cbe5 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/armConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/armConstants.java @@ -2,6 +2,9 @@ import com.ctre.phoenix.motorcontrol.NeutralMode; import com.ctre.phoenix.motorcontrol.can.TalonSRX; +import com.ctre.phoenix.sensors.AbsoluteSensorRange; +import com.ctre.phoenix.sensors.CANCoder; +import com.ctre.phoenix.sensors.CANCoderConfiguration; import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMaxLowLevel; import edu.wpi.first.math.controller.PIDController; @@ -13,17 +16,23 @@ public class armConstants { ELEVATOR_CAN_SPARK_ID = 2, ANGLE_NEO_ID = 3, ELEVATOR_NEO_ID = 4, - TALON_SRX_ID = 5; + TALON_SRX_ID = 5, + CAN_CODER_ID = 6; private static final CANSparkMax CAN_SPARK_ANGLE = new CANSparkMax(ANGLE_CAN_SPARK_ID, CANSparkMaxLowLevel.MotorType.kBrushless), CAN_SPARK_ELEVATOR = new CANSparkMax(ELEVATOR_CAN_SPARK_ID, CANSparkMaxLowLevel.MotorType.kBrushless); private static final TalonSRX TALON_SRX = new TalonSRX(TALON_SRX_ID); + private static final CANCoder CAN_CODER = new CANCoder(CAN_CODER_ID); private static final NeutralMode TALON_SRX_NEUTRAL_MODE_VALUE = NeutralMode.Coast; private static final boolean TALON_SRX_INVERTED = false; private static final int TALON_SRX_VOLTAGE_COMPENSATION_SATURATION = 12; + private static final boolean CAN_CODER_DIRECTION = false; + private static final AbsoluteSensorRange CAN_CODER_RANGE = new AbsoluteSensorRange(0.5, -0.5); + private static final double CAN_CODER_OFFSET = 10; + static final double P = 1, I = 0, @@ -40,6 +49,13 @@ public class armConstants { TALON_SRX.enableVoltageCompensation(true); TALON_SRX.setNeutralMode(TALON_SRX_NEUTRAL_MODE_VALUE); TALON_SRX.setInverted(TALON_SRX_INVERTED); + + CAN_CODER.configFactoryDefault(); + CANCoderConfiguration canCoderConfig = new CANCoderConfiguration(); + canCoderConfig.sensorDirection = CAN_CODER_DIRECTION; + canCoderConfig.absoluteSensorRange = CAN_CODER_RANGE; + canCoderConfig.magnetOffsetDegrees = CAN_CODER_OFFSET; + CAN_CODER.configAllSettings(canCoderConfig); } public enum armState{ From 050897dea1862253b40e2b21500bcfbed5eebfb5 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 9 Nov 2023 09:35:29 +0200 Subject: [PATCH 005/207] Made Can_Spark_Config --- .../subsystems/arm/{arm.java => Arm.java} | 2 +- .../{armConstants.java => ArmConstants.java} | 35 +++++++++++++------ 2 files changed, 26 insertions(+), 11 deletions(-) rename src/main/java/frc/trigon/robot/subsystems/arm/{arm.java => Arm.java} (69%) rename src/main/java/frc/trigon/robot/subsystems/arm/{armConstants.java => ArmConstants.java} (59%) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java similarity index 69% rename from src/main/java/frc/trigon/robot/subsystems/arm/arm.java rename to src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 987810cfa..babdf8608 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -1,4 +1,4 @@ package frc.trigon.robot.subsystems.arm; -public class arm { +public class Arm { } diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/armConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java similarity index 59% rename from src/main/java/frc/trigon/robot/subsystems/arm/armConstants.java rename to src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index 98d81cbe5..cda001777 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/armConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -9,27 +9,36 @@ import com.revrobotics.CANSparkMaxLowLevel; import edu.wpi.first.math.controller.PIDController; -public class armConstants { +public class ArmConstants { private static final int - ANGLE_CAN_SPARK_ID = 1, - ELEVATOR_CAN_SPARK_ID = 2, + ANGLE_MOTOR_ID = 1, + ELEVATOR_MOTOR_ID = 2, ANGLE_NEO_ID = 3, ELEVATOR_NEO_ID = 4, TALON_SRX_ID = 5, CAN_CODER_ID = 6; private static final CANSparkMax - CAN_SPARK_ANGLE = new CANSparkMax(ANGLE_CAN_SPARK_ID, CANSparkMaxLowLevel.MotorType.kBrushless), - CAN_SPARK_ELEVATOR = new CANSparkMax(ELEVATOR_CAN_SPARK_ID, CANSparkMaxLowLevel.MotorType.kBrushless); + ANGLE_MOTOR = new CANSparkMax(ANGLE_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), + ELEVATOR_MOTOR = new CANSparkMax(ELEVATOR_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless); + private static final CANSparkMax.IdleMode + ELEVATOR_IDLE_MODE = CANSparkMax.IdleMode.kCoast, + ANGLE_IDLE_MODE = CANSparkMax.IdleMode.kCoast; private static final TalonSRX TALON_SRX = new TalonSRX(TALON_SRX_ID); private static final CANCoder CAN_CODER = new CANCoder(CAN_CODER_ID); private static final NeutralMode TALON_SRX_NEUTRAL_MODE_VALUE = NeutralMode.Coast; private static final boolean TALON_SRX_INVERTED = false; - private static final int TALON_SRX_VOLTAGE_COMPENSATION_SATURATION = 12; + private static final int + ANGLE_MOTOR_VOLTAGE_COMPENSATION_SATURATION = 12, + ELEVATOR_MOTOR_VOLTAGE_COMPENSATION_SATURATION = 12, + TALON_SRX_VOLTAGE_COMPENSATION_SATURATION = 12; - private static final boolean CAN_CODER_DIRECTION = false; + private static final boolean + ELEVATOR_INVERTED = false, + ANGLE_INVERTED = false, + CAN_CODER_DIRECTION = false; private static final AbsoluteSensorRange CAN_CODER_RANGE = new AbsoluteSensorRange(0.5, -0.5); private static final double CAN_CODER_OFFSET = 10; @@ -41,8 +50,14 @@ public class armConstants { static final PIDController PID_CONTROLLER = new PIDController(P, I, D); static { - CAN_SPARK_ANGLE.restoreFactoryDefaults(); - CAN_SPARK_ELEVATOR.restoreFactoryDefaults(); + ANGLE_MOTOR.restoreFactoryDefaults(); + ELEVATOR_MOTOR.restoreFactoryDefaults(); + ANGLE_MOTOR.setIdleMode(ANGLE_IDLE_MODE); + ELEVATOR_MOTOR.setIdleMode(ELEVATOR_IDLE_MODE); + ANGLE_MOTOR.setInverted(ANGLE_INVERTED); + ELEVATOR_MOTOR.setInverted(ELEVATOR_INVERTED); + ANGLE_MOTOR.enableVoltageCompensation(ANGLE_MOTOR_VOLTAGE_COMPENSATION_SATURATION); + ELEVATOR_MOTOR.enableVoltageCompensation(ELEVATOR_MOTOR_VOLTAGE_COMPENSATION_SATURATION); TALON_SRX.configFactoryDefault(); TALON_SRX.configVoltageCompSaturation(TALON_SRX_VOLTAGE_COMPENSATION_SATURATION); @@ -58,7 +73,7 @@ public class armConstants { CAN_CODER.configAllSettings(canCoderConfig); } - public enum armState{ + public enum ArmState{ ANGLE, ELEVATOR_POSITION } From 5826d790ba9c177df2eae18f38b10eda8b0ae634 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 9 Nov 2023 09:36:54 +0200 Subject: [PATCH 006/207] removed ExtraNewLine --- src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java | 1 - 1 file changed, 1 deletion(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index cda001777..21e651770 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -10,7 +10,6 @@ import edu.wpi.first.math.controller.PIDController; public class ArmConstants { - private static final int ANGLE_MOTOR_ID = 1, ELEVATOR_MOTOR_ID = 2, From 6546c5479173e1303079f16d2ad5294d996056a0 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 9 Nov 2023 09:49:28 +0200 Subject: [PATCH 007/207] fixed angle encoder config --- .../robot/subsystems/arm/ArmConstants.java | 50 ++++++++++++------- 1 file changed, 31 insertions(+), 19 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index 21e651770..44948b87e 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -16,7 +16,7 @@ public class ArmConstants { ANGLE_NEO_ID = 3, ELEVATOR_NEO_ID = 4, TALON_SRX_ID = 5, - CAN_CODER_ID = 6; + ANGLE_ENCODER_ID = 6; private static final CANSparkMax ANGLE_MOTOR = new CANSparkMax(ANGLE_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), @@ -25,7 +25,7 @@ public class ArmConstants { ELEVATOR_IDLE_MODE = CANSparkMax.IdleMode.kCoast, ANGLE_IDLE_MODE = CANSparkMax.IdleMode.kCoast; private static final TalonSRX TALON_SRX = new TalonSRX(TALON_SRX_ID); - private static final CANCoder CAN_CODER = new CANCoder(CAN_CODER_ID); + private static final CANCoder ANGLE_ENCODER = new CANCoder(ANGLE_ENCODER_ID); private static final NeutralMode TALON_SRX_NEUTRAL_MODE_VALUE = NeutralMode.Coast; private static final boolean TALON_SRX_INVERTED = false; @@ -37,9 +37,9 @@ public class ArmConstants { private static final boolean ELEVATOR_INVERTED = false, ANGLE_INVERTED = false, - CAN_CODER_DIRECTION = false; - private static final AbsoluteSensorRange CAN_CODER_RANGE = new AbsoluteSensorRange(0.5, -0.5); - private static final double CAN_CODER_OFFSET = 10; + ANGLE_ENCODER_DIRECTION = false; + private static final AbsoluteSensorRange ANGLE_ENCODER_RANGE = new AbsoluteSensorRange(0.5, -0.5); + private static final double ANGLE_ENCODER_OFFSET = 10; static final double P = 1, @@ -49,14 +49,8 @@ public class ArmConstants { static final PIDController PID_CONTROLLER = new PIDController(P, I, D); static { - ANGLE_MOTOR.restoreFactoryDefaults(); - ELEVATOR_MOTOR.restoreFactoryDefaults(); - ANGLE_MOTOR.setIdleMode(ANGLE_IDLE_MODE); - ELEVATOR_MOTOR.setIdleMode(ELEVATOR_IDLE_MODE); - ANGLE_MOTOR.setInverted(ANGLE_INVERTED); - ELEVATOR_MOTOR.setInverted(ELEVATOR_INVERTED); - ANGLE_MOTOR.enableVoltageCompensation(ANGLE_MOTOR_VOLTAGE_COMPENSATION_SATURATION); - ELEVATOR_MOTOR.enableVoltageCompensation(ELEVATOR_MOTOR_VOLTAGE_COMPENSATION_SATURATION); + configureAngleMotor(); + configureElevatorMotor(); TALON_SRX.configFactoryDefault(); TALON_SRX.configVoltageCompSaturation(TALON_SRX_VOLTAGE_COMPENSATION_SATURATION); @@ -64,16 +58,34 @@ public class ArmConstants { TALON_SRX.setNeutralMode(TALON_SRX_NEUTRAL_MODE_VALUE); TALON_SRX.setInverted(TALON_SRX_INVERTED); - CAN_CODER.configFactoryDefault(); - CANCoderConfiguration canCoderConfig = new CANCoderConfiguration(); - canCoderConfig.sensorDirection = CAN_CODER_DIRECTION; - canCoderConfig.absoluteSensorRange = CAN_CODER_RANGE; - canCoderConfig.magnetOffsetDegrees = CAN_CODER_OFFSET; - CAN_CODER.configAllSettings(canCoderConfig); + configureAngleEncoder(); } public enum ArmState{ ANGLE, ELEVATOR_POSITION } + + private static void configureElevatorMotor(){ + ELEVATOR_MOTOR.restoreFactoryDefaults(); + ELEVATOR_MOTOR.setIdleMode(ELEVATOR_IDLE_MODE); + ELEVATOR_MOTOR.setInverted(ELEVATOR_INVERTED); + ELEVATOR_MOTOR.enableVoltageCompensation(ELEVATOR_MOTOR_VOLTAGE_COMPENSATION_SATURATION); + } + + private static void configureAngleMotor(){ + ANGLE_MOTOR.restoreFactoryDefaults(); + ANGLE_MOTOR.setIdleMode(ANGLE_IDLE_MODE); + ANGLE_MOTOR.setInverted(ANGLE_INVERTED); + ANGLE_MOTOR.enableVoltageCompensation(ANGLE_MOTOR_VOLTAGE_COMPENSATION_SATURATION); + } + + private static void configureAngleEncoder(){ + ANGLE_ENCODER.configFactoryDefault(); + CANCoderConfiguration angleEncoderConfig = new CANCoderConfiguration(); + angleEncoderConfig.sensorDirection = ANGLE_ENCODER_DIRECTION; + angleEncoderConfig.absoluteSensorRange = ANGLE_ENCODER_RANGE; + angleEncoderConfig.magnetOffsetDegrees = ANGLE_ENCODER_OFFSET; + ANGLE_ENCODER.configAllSettings(angleEncoderConfig); + } } From d499b6398d6082f3c9d14cdc38473dcf89d8f966 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 9 Nov 2023 10:12:10 +0200 Subject: [PATCH 008/207] fixed enum --- .../frc/trigon/robot/subsystems/arm/ArmConstants.java | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index 44948b87e..993a9a1fe 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -62,8 +62,13 @@ public class ArmConstants { } public enum ArmState{ - ANGLE, - ELEVATOR_POSITION + ANGLE(0.5), + ELEVATOR_POSITION(-0.5); + + final double rotation2d; + ArmState(double rotation2d){ + this.rotation2d = rotation2d; + } } private static void configureElevatorMotor(){ From 03a04c8850801605172d3edd3e14196ff4bb4b0a Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 9 Nov 2023 10:41:57 +0200 Subject: [PATCH 009/207] removed extra new lines --- .../java/frc/trigon/robot/subsystems/arm/ArmConstants.java | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index 993a9a1fe..ac249030d 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -26,21 +26,18 @@ public class ArmConstants { ANGLE_IDLE_MODE = CANSparkMax.IdleMode.kCoast; private static final TalonSRX TALON_SRX = new TalonSRX(TALON_SRX_ID); private static final CANCoder ANGLE_ENCODER = new CANCoder(ANGLE_ENCODER_ID); - private static final NeutralMode TALON_SRX_NEUTRAL_MODE_VALUE = NeutralMode.Coast; private static final boolean TALON_SRX_INVERTED = false; private static final int ANGLE_MOTOR_VOLTAGE_COMPENSATION_SATURATION = 12, ELEVATOR_MOTOR_VOLTAGE_COMPENSATION_SATURATION = 12, TALON_SRX_VOLTAGE_COMPENSATION_SATURATION = 12; - private static final boolean ELEVATOR_INVERTED = false, ANGLE_INVERTED = false, ANGLE_ENCODER_DIRECTION = false; - private static final AbsoluteSensorRange ANGLE_ENCODER_RANGE = new AbsoluteSensorRange(0.5, -0.5); + private static final AbsoluteSensorRange ANGLE_ENCODER_RANGE = AbsoluteSensorRange(AbsoluteSensorRange.Signed_PlusMinus180); private static final double ANGLE_ENCODER_OFFSET = 10; - static final double P = 1, I = 0, From d3126b5ce822e08277cbbda5832e4e00699c2b7f Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 9 Nov 2023 10:55:41 +0200 Subject: [PATCH 010/207] corrected type of canCOder --- .../trigon/robot/subsystems/arm/ArmConstants.java | 13 ++++++------- 1 file changed, 6 insertions(+), 7 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index ac249030d..facfb0dde 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -5,6 +5,9 @@ import com.ctre.phoenix.sensors.AbsoluteSensorRange; import com.ctre.phoenix.sensors.CANCoder; import com.ctre.phoenix.sensors.CANCoderConfiguration; +import com.ctre.phoenix6.configs.CANcoderConfiguration; +import com.ctre.phoenix6.configs.CANcoderConfigurator; +import com.ctre.phoenix6.hardware.CANcoder; import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMaxLowLevel; import edu.wpi.first.math.controller.PIDController; @@ -25,7 +28,7 @@ public class ArmConstants { ELEVATOR_IDLE_MODE = CANSparkMax.IdleMode.kCoast, ANGLE_IDLE_MODE = CANSparkMax.IdleMode.kCoast; private static final TalonSRX TALON_SRX = new TalonSRX(TALON_SRX_ID); - private static final CANCoder ANGLE_ENCODER = new CANCoder(ANGLE_ENCODER_ID); + private static final CANcoder ANGLE_ENCODER = new CANcoder(ANGLE_ENCODER_ID); private static final NeutralMode TALON_SRX_NEUTRAL_MODE_VALUE = NeutralMode.Coast; private static final boolean TALON_SRX_INVERTED = false; private static final int @@ -83,11 +86,7 @@ private static void configureAngleMotor(){ } private static void configureAngleEncoder(){ - ANGLE_ENCODER.configFactoryDefault(); - CANCoderConfiguration angleEncoderConfig = new CANCoderConfiguration(); - angleEncoderConfig.sensorDirection = ANGLE_ENCODER_DIRECTION; - angleEncoderConfig.absoluteSensorRange = ANGLE_ENCODER_RANGE; - angleEncoderConfig.magnetOffsetDegrees = ANGLE_ENCODER_OFFSET; - ANGLE_ENCODER.configAllSettings(angleEncoderConfig); + CANcoderConfigurator angelEncoderConfig = ANGLE_ENCODER.getConfigurator(); + } } From 51ecd4857298a925f458651736f2cb8a4e8c034a Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 9 Nov 2023 14:11:09 +0200 Subject: [PATCH 011/207] added follower motors --- .../robot/subsystems/arm/ArmConstants.java | 76 ++++++++++++------- 1 file changed, 49 insertions(+), 27 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index facfb0dde..0475557b2 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -3,9 +3,6 @@ import com.ctre.phoenix.motorcontrol.NeutralMode; import com.ctre.phoenix.motorcontrol.can.TalonSRX; import com.ctre.phoenix.sensors.AbsoluteSensorRange; -import com.ctre.phoenix.sensors.CANCoder; -import com.ctre.phoenix.sensors.CANCoderConfiguration; -import com.ctre.phoenix6.configs.CANcoderConfiguration; import com.ctre.phoenix6.configs.CANcoderConfigurator; import com.ctre.phoenix6.hardware.CANcoder; import com.revrobotics.CANSparkMax; @@ -14,30 +11,38 @@ public class ArmConstants { private static final int - ANGLE_MOTOR_ID = 1, - ELEVATOR_MOTOR_ID = 2, - ANGLE_NEO_ID = 3, - ELEVATOR_NEO_ID = 4, + ANGLE_MASTER_MOTOR_ID = 1, + ELEVATOR_MASTER_MOTOR_ID = 2, + ANGLE_FOLLOWER_MOTOR_ID = 3, + ELEVATOR_FOLLOWER_MOTOR_ID = 4, TALON_SRX_ID = 5, ANGLE_ENCODER_ID = 6; private static final CANSparkMax - ANGLE_MOTOR = new CANSparkMax(ANGLE_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), - ELEVATOR_MOTOR = new CANSparkMax(ELEVATOR_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless); + ANGLE_MASTER_MOTOR = new CANSparkMax(ANGLE_MASTER_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), + ELEVATOR_MASTER_MOTOR = new CANSparkMax(ELEVATOR_MASTER_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), + ANGLE_FOLLOWER_MOTOR = new CANSparkMax(ANGLE_FOLLOWER_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), + ELEVATOR_FOLLOWER_MOTOR = new CANSparkMax(ELEVATOR_FOLLOWER_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless); private static final CANSparkMax.IdleMode - ELEVATOR_IDLE_MODE = CANSparkMax.IdleMode.kCoast, - ANGLE_IDLE_MODE = CANSparkMax.IdleMode.kCoast; + ELEVATOR_MASTER_IDLE_MODE = CANSparkMax.IdleMode.kCoast, + ANGLE_MASTER_IDLE_MODE = CANSparkMax.IdleMode.kCoast, + ELEVATOR_FOLLOWER_IDLE_MODE = CANSparkMax.IdleMode.kCoast, + ANGLE_FOLLOWER_IDLE_MODE = CANSparkMax.IdleMode.kCoast; private static final TalonSRX TALON_SRX = new TalonSRX(TALON_SRX_ID); private static final CANcoder ANGLE_ENCODER = new CANcoder(ANGLE_ENCODER_ID); private static final NeutralMode TALON_SRX_NEUTRAL_MODE_VALUE = NeutralMode.Coast; private static final boolean TALON_SRX_INVERTED = false; private static final int - ANGLE_MOTOR_VOLTAGE_COMPENSATION_SATURATION = 12, - ELEVATOR_MOTOR_VOLTAGE_COMPENSATION_SATURATION = 12, + ANGLE_MASTER_MOTOR_VOLTAGE_COMPENSATION_SATURATION = 12, + ELEVATOR_MASTER_MOTOR_VOLTAGE_COMPENSATION_SATURATION = 12, + ANGLE_FOLLOWER_MOTOR_VOLTAGE_COMPENSATION_SATURATION = 12, + ELEVATOR_FOLLOWER_MOTOR_VOLTAGE_COMPENSATION_SATURATION = 12, TALON_SRX_VOLTAGE_COMPENSATION_SATURATION = 12; private static final boolean - ELEVATOR_INVERTED = false, - ANGLE_INVERTED = false, + ELEVATOR_MASTER_INVERTED = false, + ANGLE_MASTER_INVERTED = false, + ELEVATOR_FOLLOWER_INVERTED = false, + ANGLE_FOLLOWER_INVERTED = false, ANGLE_ENCODER_DIRECTION = false; private static final AbsoluteSensorRange ANGLE_ENCODER_RANGE = AbsoluteSensorRange(AbsoluteSensorRange.Signed_PlusMinus180); private static final double ANGLE_ENCODER_OFFSET = 10; @@ -49,8 +54,10 @@ public class ArmConstants { static final PIDController PID_CONTROLLER = new PIDController(P, I, D); static { - configureAngleMotor(); - configureElevatorMotor(); + configureAngleMasterMotor(); + configureElevatorMasterMotor(); + configureAngleFollowerMotor(); + configureElevatorFollowerMotor(); TALON_SRX.configFactoryDefault(); TALON_SRX.configVoltageCompSaturation(TALON_SRX_VOLTAGE_COMPENSATION_SATURATION); @@ -71,22 +78,37 @@ public enum ArmState{ } } - private static void configureElevatorMotor(){ - ELEVATOR_MOTOR.restoreFactoryDefaults(); - ELEVATOR_MOTOR.setIdleMode(ELEVATOR_IDLE_MODE); - ELEVATOR_MOTOR.setInverted(ELEVATOR_INVERTED); - ELEVATOR_MOTOR.enableVoltageCompensation(ELEVATOR_MOTOR_VOLTAGE_COMPENSATION_SATURATION); + private static void configureElevatorMasterMotor(){ + ELEVATOR_MASTER_MOTOR.restoreFactoryDefaults(); + ELEVATOR_MASTER_MOTOR.setIdleMode(ELEVATOR_MASTER_IDLE_MODE); + ELEVATOR_MASTER_MOTOR.setInverted(ELEVATOR_MASTER_INVERTED); + ELEVATOR_MASTER_MOTOR.enableVoltageCompensation(ELEVATOR_MASTER_MOTOR_VOLTAGE_COMPENSATION_SATURATION); } - private static void configureAngleMotor(){ - ANGLE_MOTOR.restoreFactoryDefaults(); - ANGLE_MOTOR.setIdleMode(ANGLE_IDLE_MODE); - ANGLE_MOTOR.setInverted(ANGLE_INVERTED); - ANGLE_MOTOR.enableVoltageCompensation(ANGLE_MOTOR_VOLTAGE_COMPENSATION_SATURATION); + private static void configureAngleMasterMotor(){ + ANGLE_MASTER_MOTOR.restoreFactoryDefaults(); + ANGLE_MASTER_MOTOR.setIdleMode(ANGLE_MASTER_IDLE_MODE); + ANGLE_MASTER_MOTOR.setInverted(ANGLE_MASTER_INVERTED); + ANGLE_MASTER_MOTOR.enableVoltageCompensation(ANGLE_MASTER_MOTOR_VOLTAGE_COMPENSATION_SATURATION); + } + + private static void configureElevatorFollowerMotor(){ + ELEVATOR_FOLLOWER_MOTOR.restoreFactoryDefaults(); + ELEVATOR_FOLLOWER_MOTOR.setIdleMode(ELEVATOR_FOLLOWER_IDLE_MODE); + ELEVATOR_FOLLOWER_MOTOR.setInverted(ELEVATOR_FOLLOWER_INVERTED); + ELEVATOR_FOLLOWER_MOTOR.enableVoltageCompensation(ELEVATOR_FOLLOWER_MOTOR_VOLTAGE_COMPENSATION_SATURATION); + } + + private static void configureAngleFollowerMotor(){ + ANGLE_FOLLOWER_MOTOR.restoreFactoryDefaults(); + ANGLE_FOLLOWER_MOTOR.setIdleMode(ANGLE_FOLLOWER_IDLE_MODE); + ANGLE_FOLLOWER_MOTOR.setInverted(ANGLE_FOLLOWER_INVERTED); + ANGLE_FOLLOWER_MOTOR.enableVoltageCompensation(ANGLE_FOLLOWER_MOTOR_VOLTAGE_COMPENSATION_SATURATION); } private static void configureAngleEncoder(){ CANcoderConfigurator angelEncoderConfig = ANGLE_ENCODER.getConfigurator(); + } } From a5194f219b7c2dd0941be4b1bcabe52612f1ad90 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 9 Nov 2023 16:23:28 +0200 Subject: [PATCH 012/207] Made TalonSRX configuration --- .../robot/subsystems/arm/ArmConstants.java | 23 ++++++------------- 1 file changed, 7 insertions(+), 16 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index 0475557b2..11c3c6551 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -2,7 +2,9 @@ import com.ctre.phoenix.motorcontrol.NeutralMode; import com.ctre.phoenix.motorcontrol.can.TalonSRX; +import com.ctre.phoenix.motorcontrol.can.TalonSRXConfiguration; import com.ctre.phoenix.sensors.AbsoluteSensorRange; +import com.ctre.phoenix6.configs.CANcoderConfiguration; import com.ctre.phoenix6.configs.CANcoderConfigurator; import com.ctre.phoenix6.hardware.CANcoder; import com.revrobotics.CANSparkMax; @@ -15,8 +17,7 @@ public class ArmConstants { ELEVATOR_MASTER_MOTOR_ID = 2, ANGLE_FOLLOWER_MOTOR_ID = 3, ELEVATOR_FOLLOWER_MOTOR_ID = 4, - TALON_SRX_ID = 5, - ANGLE_ENCODER_ID = 6; + ANGLE_ENCODER_ID = 5; private static final CANSparkMax ANGLE_MASTER_MOTOR = new CANSparkMax(ANGLE_MASTER_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), @@ -28,16 +29,13 @@ public class ArmConstants { ANGLE_MASTER_IDLE_MODE = CANSparkMax.IdleMode.kCoast, ELEVATOR_FOLLOWER_IDLE_MODE = CANSparkMax.IdleMode.kCoast, ANGLE_FOLLOWER_IDLE_MODE = CANSparkMax.IdleMode.kCoast; - private static final TalonSRX TALON_SRX = new TalonSRX(TALON_SRX_ID); + private static final TalonSRXConfiguration TALON_SRX_CONFIGURATION = new TalonSRXConfiguration(); private static final CANcoder ANGLE_ENCODER = new CANcoder(ANGLE_ENCODER_ID); - private static final NeutralMode TALON_SRX_NEUTRAL_MODE_VALUE = NeutralMode.Coast; - private static final boolean TALON_SRX_INVERTED = false; private static final int ANGLE_MASTER_MOTOR_VOLTAGE_COMPENSATION_SATURATION = 12, ELEVATOR_MASTER_MOTOR_VOLTAGE_COMPENSATION_SATURATION = 12, ANGLE_FOLLOWER_MOTOR_VOLTAGE_COMPENSATION_SATURATION = 12, - ELEVATOR_FOLLOWER_MOTOR_VOLTAGE_COMPENSATION_SATURATION = 12, - TALON_SRX_VOLTAGE_COMPENSATION_SATURATION = 12; + ELEVATOR_FOLLOWER_MOTOR_VOLTAGE_COMPENSATION_SATURATION = 12; private static final boolean ELEVATOR_MASTER_INVERTED = false, ANGLE_MASTER_INVERTED = false, @@ -58,13 +56,7 @@ public class ArmConstants { configureElevatorMasterMotor(); configureAngleFollowerMotor(); configureElevatorFollowerMotor(); - - TALON_SRX.configFactoryDefault(); - TALON_SRX.configVoltageCompSaturation(TALON_SRX_VOLTAGE_COMPENSATION_SATURATION); - TALON_SRX.enableVoltageCompensation(true); - TALON_SRX.setNeutralMode(TALON_SRX_NEUTRAL_MODE_VALUE); - TALON_SRX.setInverted(TALON_SRX_INVERTED); - + configureAngleEncoder(); } @@ -107,8 +99,7 @@ private static void configureAngleFollowerMotor(){ } private static void configureAngleEncoder(){ - CANcoderConfigurator angelEncoderConfig = ANGLE_ENCODER.getConfigurator(); - + CANcoderConfigurator angleEncoderConfig = ANGLE_ENCODER.getConfigurator(); } } From d0ab93e30c58cb046cda5cc6d9bc8fbe97a8eb78 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 9 Nov 2023 16:32:20 +0200 Subject: [PATCH 013/207] made elevator encoder --- .../frc/trigon/robot/subsystems/arm/ArmConstants.java | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index 11c3c6551..2ef4c1993 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -1,15 +1,13 @@ package frc.trigon.robot.subsystems.arm; -import com.ctre.phoenix.motorcontrol.NeutralMode; -import com.ctre.phoenix.motorcontrol.can.TalonSRX; import com.ctre.phoenix.motorcontrol.can.TalonSRXConfiguration; import com.ctre.phoenix.sensors.AbsoluteSensorRange; -import com.ctre.phoenix6.configs.CANcoderConfiguration; import com.ctre.phoenix6.configs.CANcoderConfigurator; import com.ctre.phoenix6.hardware.CANcoder; import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMaxLowLevel; import edu.wpi.first.math.controller.PIDController; +import edu.wpi.first.wpilibj.Encoder; public class ArmConstants { private static final int @@ -30,6 +28,7 @@ public class ArmConstants { ELEVATOR_FOLLOWER_IDLE_MODE = CANSparkMax.IdleMode.kCoast, ANGLE_FOLLOWER_IDLE_MODE = CANSparkMax.IdleMode.kCoast; private static final TalonSRXConfiguration TALON_SRX_CONFIGURATION = new TalonSRXConfiguration(); + private static final Encoder ELEVATOR_ENCODER = new Encoder(0, 1, false); private static final CANcoder ANGLE_ENCODER = new CANcoder(ANGLE_ENCODER_ID); private static final int ANGLE_MASTER_MOTOR_VOLTAGE_COMPENSATION_SATURATION = 12, @@ -56,8 +55,8 @@ public class ArmConstants { configureElevatorMasterMotor(); configureAngleFollowerMotor(); configureElevatorFollowerMotor(); - configureAngleEncoder(); + } public enum ArmState{ @@ -102,4 +101,8 @@ private static void configureAngleEncoder(){ CANcoderConfigurator angleEncoderConfig = ANGLE_ENCODER.getConfigurator(); } + + private static void configureElevatorEncoder(){ + ELEVATOR_ENCODER.reset(); + } } From 77e39a0dea92722057836249c2e5a341b4b35c1c Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 9 Nov 2023 16:39:56 +0200 Subject: [PATCH 014/207] removed redundent code --- .../java/frc/trigon/robot/subsystems/arm/ArmConstants.java | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index 2ef4c1993..7253cc896 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -39,10 +39,7 @@ public class ArmConstants { ELEVATOR_MASTER_INVERTED = false, ANGLE_MASTER_INVERTED = false, ELEVATOR_FOLLOWER_INVERTED = false, - ANGLE_FOLLOWER_INVERTED = false, - ANGLE_ENCODER_DIRECTION = false; - private static final AbsoluteSensorRange ANGLE_ENCODER_RANGE = AbsoluteSensorRange(AbsoluteSensorRange.Signed_PlusMinus180); - private static final double ANGLE_ENCODER_OFFSET = 10; + ANGLE_FOLLOWER_INVERTED = false; static final double P = 1, I = 0, From af0ec9c76035fd0b1cf120a4f54f224e524606e7 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 9 Nov 2023 18:44:39 +0200 Subject: [PATCH 015/207] corrected enum --- .../robot/subsystems/arm/ArmConstants.java | 19 +++++++++++-------- 1 file changed, 11 insertions(+), 8 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index 7253cc896..abe96a4b6 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -1,5 +1,6 @@ package frc.trigon.robot.subsystems.arm; +import com.ctre.phoenix.motorcontrol.can.TalonSRX; import com.ctre.phoenix.motorcontrol.can.TalonSRXConfiguration; import com.ctre.phoenix.sensors.AbsoluteSensorRange; import com.ctre.phoenix6.configs.CANcoderConfigurator; @@ -15,21 +16,21 @@ public class ArmConstants { ELEVATOR_MASTER_MOTOR_ID = 2, ANGLE_FOLLOWER_MOTOR_ID = 3, ELEVATOR_FOLLOWER_MOTOR_ID = 4, - ANGLE_ENCODER_ID = 5; + ANGLE_ENCODER_ID = 5, + ELEVATOR_ENCODER_ID = 6; private static final CANSparkMax ANGLE_MASTER_MOTOR = new CANSparkMax(ANGLE_MASTER_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), ELEVATOR_MASTER_MOTOR = new CANSparkMax(ELEVATOR_MASTER_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), ANGLE_FOLLOWER_MOTOR = new CANSparkMax(ANGLE_FOLLOWER_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), ELEVATOR_FOLLOWER_MOTOR = new CANSparkMax(ELEVATOR_FOLLOWER_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless); + private static final CANcoder ANGLE_ENCODER = new CANcoder(ANGLE_ENCODER_ID); + private static final TalonSRX ELEVATOR_ENCODER = new TalonSRX(ELEVATOR_ENCODER_ID); private static final CANSparkMax.IdleMode ELEVATOR_MASTER_IDLE_MODE = CANSparkMax.IdleMode.kCoast, ANGLE_MASTER_IDLE_MODE = CANSparkMax.IdleMode.kCoast, ELEVATOR_FOLLOWER_IDLE_MODE = CANSparkMax.IdleMode.kCoast, ANGLE_FOLLOWER_IDLE_MODE = CANSparkMax.IdleMode.kCoast; - private static final TalonSRXConfiguration TALON_SRX_CONFIGURATION = new TalonSRXConfiguration(); - private static final Encoder ELEVATOR_ENCODER = new Encoder(0, 1, false); - private static final CANcoder ANGLE_ENCODER = new CANcoder(ANGLE_ENCODER_ID); private static final int ANGLE_MASTER_MOTOR_VOLTAGE_COMPENSATION_SATURATION = 12, ELEVATOR_MASTER_MOTOR_VOLTAGE_COMPENSATION_SATURATION = 12, @@ -57,12 +58,14 @@ public class ArmConstants { } public enum ArmState{ - ANGLE(0.5), - ELEVATOR_POSITION(-0.5); + ANGLE(0.5, 7), + ELEVATOR_POSITION(-0.5, 5); final double rotation2d; - ArmState(double rotation2d){ + final double elevatorPosition; + ArmState(double rotation2d, double elevatorPosition){ this.rotation2d = rotation2d; + this.elevatorPosition = elevatorPosition; } } @@ -100,6 +103,6 @@ private static void configureAngleEncoder(){ } private static void configureElevatorEncoder(){ - ELEVATOR_ENCODER.reset(); + ELEVATOR_ENCODER.configFactoryDefault(); } } From d56fa7a8cd8de7e937514b422218a7a7fe95fc88 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 9 Nov 2023 19:12:27 +0200 Subject: [PATCH 016/207] added canCoder config --- .../frc/trigon/robot/subsystems/arm/ArmConstants.java | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index abe96a4b6..7c2774634 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -3,8 +3,10 @@ import com.ctre.phoenix.motorcontrol.can.TalonSRX; import com.ctre.phoenix.motorcontrol.can.TalonSRXConfiguration; import com.ctre.phoenix.sensors.AbsoluteSensorRange; +import com.ctre.phoenix6.configs.CANcoderConfiguration; import com.ctre.phoenix6.configs.CANcoderConfigurator; import com.ctre.phoenix6.hardware.CANcoder; +import com.ctre.phoenix6.signals.AbsoluteSensorRangeValue; import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMaxLowLevel; import edu.wpi.first.math.controller.PIDController; @@ -41,6 +43,9 @@ public class ArmConstants { ANGLE_MASTER_INVERTED = false, ELEVATOR_FOLLOWER_INVERTED = false, ANGLE_FOLLOWER_INVERTED = false; + private static final int ANGLE_ENCODER_OFFSET = 5; + private static final AbsoluteSensorRangeValue ANGLE_ENCODER_RANGE = AbsoluteSensorRangeValue.Signed_PlusMinusHalf; + static final double P = 1, I = 0, @@ -98,8 +103,10 @@ private static void configureAngleFollowerMotor(){ } private static void configureAngleEncoder(){ - CANcoderConfigurator angleEncoderConfig = ANGLE_ENCODER.getConfigurator(); - + CANcoderConfiguration angleEncoderConfig = new CANcoderConfiguration(); + angleEncoderConfig.MagnetSensor.MagnetOffset = ANGLE_ENCODER_OFFSET; + angleEncoderConfig.MagnetSensor.AbsoluteSensorRange = ANGLE_ENCODER_RANGE; + ANGLE_ENCODER.getConfigurator().apply(angleEncoderConfig); } private static void configureElevatorEncoder(){ From 9315c1dbe9f8587329242225f06a45a93163e80f Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 9 Nov 2023 20:04:06 +0200 Subject: [PATCH 017/207] corrected names --- .../robot/subsystems/arm/ArmConstants.java | 103 +++++++----------- 1 file changed, 38 insertions(+), 65 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index 7c2774634..feec161bf 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -1,48 +1,36 @@ package frc.trigon.robot.subsystems.arm; +import com.ctre.phoenix.motorcontrol.FeedbackDevice; import com.ctre.phoenix.motorcontrol.can.TalonSRX; -import com.ctre.phoenix.motorcontrol.can.TalonSRXConfiguration; -import com.ctre.phoenix.sensors.AbsoluteSensorRange; import com.ctre.phoenix6.configs.CANcoderConfiguration; -import com.ctre.phoenix6.configs.CANcoderConfigurator; import com.ctre.phoenix6.hardware.CANcoder; import com.ctre.phoenix6.signals.AbsoluteSensorRangeValue; import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMaxLowLevel; import edu.wpi.first.math.controller.PIDController; -import edu.wpi.first.wpilibj.Encoder; +import edu.wpi.first.math.geometry.Rotation2d; public class ArmConstants { private static final int - ANGLE_MASTER_MOTOR_ID = 1, - ELEVATOR_MASTER_MOTOR_ID = 2, - ANGLE_FOLLOWER_MOTOR_ID = 3, - ELEVATOR_FOLLOWER_MOTOR_ID = 4, + MASTER_ANGLE_MOTOR_ID = 1, + MASTER_ELEVATOR_MOTOR_ID = 2, + FOLLOWER_ANGLE_MOTOR_ID = 3, + FOLLOWER_ELEVATOR_MOTOR_ID = 4, ANGLE_ENCODER_ID = 5, ELEVATOR_ENCODER_ID = 6; private static final CANSparkMax - ANGLE_MASTER_MOTOR = new CANSparkMax(ANGLE_MASTER_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), - ELEVATOR_MASTER_MOTOR = new CANSparkMax(ELEVATOR_MASTER_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), - ANGLE_FOLLOWER_MOTOR = new CANSparkMax(ANGLE_FOLLOWER_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), - ELEVATOR_FOLLOWER_MOTOR = new CANSparkMax(ELEVATOR_FOLLOWER_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless); + MASTER_ANGLE_MOTOR = new CANSparkMax(MASTER_ANGLE_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), + MASTER_ELEVATOR_MOTOR = new CANSparkMax(MASTER_ELEVATOR_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), + FOLLOWER_ANGLE_MOTOR = new CANSparkMax(FOLLOWER_ANGLE_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), + FOLLOWER_ELEVATOR_MOTOR = new CANSparkMax(FOLLOWER_ELEVATOR_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless); private static final CANcoder ANGLE_ENCODER = new CANcoder(ANGLE_ENCODER_ID); private static final TalonSRX ELEVATOR_ENCODER = new TalonSRX(ELEVATOR_ENCODER_ID); private static final CANSparkMax.IdleMode - ELEVATOR_MASTER_IDLE_MODE = CANSparkMax.IdleMode.kCoast, - ANGLE_MASTER_IDLE_MODE = CANSparkMax.IdleMode.kCoast, - ELEVATOR_FOLLOWER_IDLE_MODE = CANSparkMax.IdleMode.kCoast, - ANGLE_FOLLOWER_IDLE_MODE = CANSparkMax.IdleMode.kCoast; - private static final int - ANGLE_MASTER_MOTOR_VOLTAGE_COMPENSATION_SATURATION = 12, - ELEVATOR_MASTER_MOTOR_VOLTAGE_COMPENSATION_SATURATION = 12, - ANGLE_FOLLOWER_MOTOR_VOLTAGE_COMPENSATION_SATURATION = 12, - ELEVATOR_FOLLOWER_MOTOR_VOLTAGE_COMPENSATION_SATURATION = 12; - private static final boolean - ELEVATOR_MASTER_INVERTED = false, - ANGLE_MASTER_INVERTED = false, - ELEVATOR_FOLLOWER_INVERTED = false, - ANGLE_FOLLOWER_INVERTED = false; + ELEVATOR_IDLE_MODE = CANSparkMax.IdleMode.kBrake, + ANGLE_IDLE_MODE = CANSparkMax.IdleMode.kBrake; + private static final int VOLTAGE_COMPANSATION_SATURATION = 12; + private static final boolean inverted = false; private static final int ANGLE_ENCODER_OFFSET = 5; private static final AbsoluteSensorRangeValue ANGLE_ENCODER_RANGE = AbsoluteSensorRangeValue.Signed_PlusMinusHalf; @@ -50,66 +38,51 @@ public class ArmConstants { P = 1, I = 0, D = 0; - static final PIDController PID_CONTROLLER = new PIDController(P, I, D); static { - configureAngleMasterMotor(); - configureElevatorMasterMotor(); - configureAngleFollowerMotor(); - configureElevatorFollowerMotor(); configureAngleEncoder(); - + configureElevatorEncoder(); + configureAngleMotor(MASTER_ANGLE_MOTOR); + configureAngleMotor(FOLLOWER_ANGLE_MOTOR); + configureElevatorMotor(MASTER_ELEVATOR_MOTOR); + configureElevatorMotor(FOLLOWER_ELEVATOR_MOTOR); } - public enum ArmState{ - ANGLE(0.5, 7), - ELEVATOR_POSITION(-0.5, 5); + public enum ArmState { + ANGLE( 7), + ELEVATOR_POSITION( 5); - final double rotation2d; - final double elevatorPosition; - ArmState(double rotation2d, double elevatorPosition){ - this.rotation2d = rotation2d; + final Rotation2d elevatorPosition; + + ArmState( Rotation2d elevatorPosition) { this.elevatorPosition = elevatorPosition; } } - private static void configureElevatorMasterMotor(){ - ELEVATOR_MASTER_MOTOR.restoreFactoryDefaults(); - ELEVATOR_MASTER_MOTOR.setIdleMode(ELEVATOR_MASTER_IDLE_MODE); - ELEVATOR_MASTER_MOTOR.setInverted(ELEVATOR_MASTER_INVERTED); - ELEVATOR_MASTER_MOTOR.enableVoltageCompensation(ELEVATOR_MASTER_MOTOR_VOLTAGE_COMPENSATION_SATURATION); - } - - private static void configureAngleMasterMotor(){ - ANGLE_MASTER_MOTOR.restoreFactoryDefaults(); - ANGLE_MASTER_MOTOR.setIdleMode(ANGLE_MASTER_IDLE_MODE); - ANGLE_MASTER_MOTOR.setInverted(ANGLE_MASTER_INVERTED); - ANGLE_MASTER_MOTOR.enableVoltageCompensation(ANGLE_MASTER_MOTOR_VOLTAGE_COMPENSATION_SATURATION); - } - - private static void configureElevatorFollowerMotor(){ - ELEVATOR_FOLLOWER_MOTOR.restoreFactoryDefaults(); - ELEVATOR_FOLLOWER_MOTOR.setIdleMode(ELEVATOR_FOLLOWER_IDLE_MODE); - ELEVATOR_FOLLOWER_MOTOR.setInverted(ELEVATOR_FOLLOWER_INVERTED); - ELEVATOR_FOLLOWER_MOTOR.enableVoltageCompensation(ELEVATOR_FOLLOWER_MOTOR_VOLTAGE_COMPENSATION_SATURATION); + private static void configureElevatorMotor(CANSparkMax motor) { + motor.restoreFactoryDefaults(); + motor.setIdleMode(ELEVATOR_IDLE_MODE); + motor.setInverted(inverted); + motor.enableVoltageCompensation(VOLTAGE_COMPANSATION_SATURATION); } - private static void configureAngleFollowerMotor(){ - ANGLE_FOLLOWER_MOTOR.restoreFactoryDefaults(); - ANGLE_FOLLOWER_MOTOR.setIdleMode(ANGLE_FOLLOWER_IDLE_MODE); - ANGLE_FOLLOWER_MOTOR.setInverted(ANGLE_FOLLOWER_INVERTED); - ANGLE_FOLLOWER_MOTOR.enableVoltageCompensation(ANGLE_FOLLOWER_MOTOR_VOLTAGE_COMPENSATION_SATURATION); + private static void configureAngleMotor(CANSparkMax motor) { + motor.restoreFactoryDefaults(); + motor.setIdleMode(ANGLE_IDLE_MODE); + motor.setInverted(inverted); + motor.enableVoltageCompensation(VOLTAGE_COMPANSATION_SATURATION); } - private static void configureAngleEncoder(){ + private static void configureAngleEncoder() { CANcoderConfiguration angleEncoderConfig = new CANcoderConfiguration(); angleEncoderConfig.MagnetSensor.MagnetOffset = ANGLE_ENCODER_OFFSET; angleEncoderConfig.MagnetSensor.AbsoluteSensorRange = ANGLE_ENCODER_RANGE; ANGLE_ENCODER.getConfigurator().apply(angleEncoderConfig); } - private static void configureElevatorEncoder(){ + private static void configureElevatorEncoder() { ELEVATOR_ENCODER.configFactoryDefault(); + ELEVATOR_ENCODER.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, 0, 10); } } From 6d51eb6886ff2171ce84a1a677ce193f530952b9 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 9 Nov 2023 20:11:44 +0200 Subject: [PATCH 018/207] corrected enum made code cleaner --- .../robot/subsystems/arm/ArmConstants.java | 19 +++++++++---------- 1 file changed, 9 insertions(+), 10 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index feec161bf..08f0c7f3c 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -18,14 +18,6 @@ public class ArmConstants { FOLLOWER_ELEVATOR_MOTOR_ID = 4, ANGLE_ENCODER_ID = 5, ELEVATOR_ENCODER_ID = 6; - - private static final CANSparkMax - MASTER_ANGLE_MOTOR = new CANSparkMax(MASTER_ANGLE_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), - MASTER_ELEVATOR_MOTOR = new CANSparkMax(MASTER_ELEVATOR_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), - FOLLOWER_ANGLE_MOTOR = new CANSparkMax(FOLLOWER_ANGLE_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), - FOLLOWER_ELEVATOR_MOTOR = new CANSparkMax(FOLLOWER_ELEVATOR_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless); - private static final CANcoder ANGLE_ENCODER = new CANcoder(ANGLE_ENCODER_ID); - private static final TalonSRX ELEVATOR_ENCODER = new TalonSRX(ELEVATOR_ENCODER_ID); private static final CANSparkMax.IdleMode ELEVATOR_IDLE_MODE = CANSparkMax.IdleMode.kBrake, ANGLE_IDLE_MODE = CANSparkMax.IdleMode.kBrake; @@ -39,6 +31,13 @@ public class ArmConstants { I = 0, D = 0; static final PIDController PID_CONTROLLER = new PIDController(P, I, D); + private static final CANSparkMax + MASTER_ANGLE_MOTOR = new CANSparkMax(MASTER_ANGLE_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), + MASTER_ELEVATOR_MOTOR = new CANSparkMax(MASTER_ELEVATOR_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), + FOLLOWER_ANGLE_MOTOR = new CANSparkMax(FOLLOWER_ANGLE_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), + FOLLOWER_ELEVATOR_MOTOR = new CANSparkMax(FOLLOWER_ELEVATOR_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless); + private static final CANcoder ANGLE_ENCODER = new CANcoder(ANGLE_ENCODER_ID); + private static final TalonSRX ELEVATOR_ENCODER = new TalonSRX(ELEVATOR_ENCODER_ID); static { configureAngleEncoder(); @@ -50,8 +49,8 @@ public class ArmConstants { } public enum ArmState { - ANGLE( 7), - ELEVATOR_POSITION( 5); + ANGLE( new Rotation2d(5)), + ELEVATOR_POSITION(new Rotation2d(7)); final Rotation2d elevatorPosition; From 8bffce326c08fbc9d99c0a75f5052eca6626be22 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 9 Nov 2023 20:22:06 +0200 Subject: [PATCH 019/207] added inverted to encoders --- .../trigon/robot/subsystems/arm/ArmConstants.java | 13 +++++++++---- 1 file changed, 9 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index 08f0c7f3c..57d17fb69 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -5,6 +5,7 @@ import com.ctre.phoenix6.configs.CANcoderConfiguration; import com.ctre.phoenix6.hardware.CANcoder; import com.ctre.phoenix6.signals.AbsoluteSensorRangeValue; +import com.ctre.phoenix6.signals.SensorDirectionValue; import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMaxLowLevel; import edu.wpi.first.math.controller.PIDController; @@ -23,6 +24,8 @@ public class ArmConstants { ANGLE_IDLE_MODE = CANSparkMax.IdleMode.kBrake; private static final int VOLTAGE_COMPANSATION_SATURATION = 12; private static final boolean inverted = false; + private static final SensorDirectionValue angleEncoderDirection = SensorDirectionValue.CounterClockwise_Positive; + private static final boolean ELEVATOR_ENCODER_PHASE = false; private static final int ANGLE_ENCODER_OFFSET = 5; private static final AbsoluteSensorRangeValue ANGLE_ENCODER_RANGE = AbsoluteSensorRangeValue.Signed_PlusMinusHalf; @@ -37,7 +40,7 @@ public class ArmConstants { FOLLOWER_ANGLE_MOTOR = new CANSparkMax(FOLLOWER_ANGLE_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), FOLLOWER_ELEVATOR_MOTOR = new CANSparkMax(FOLLOWER_ELEVATOR_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless); private static final CANcoder ANGLE_ENCODER = new CANcoder(ANGLE_ENCODER_ID); - private static final TalonSRX ELEVATOR_ENCODER = new TalonSRX(ELEVATOR_ENCODER_ID); + private static final TalonSRX ELEVATOR_ENCODER = new TalonSRX(ELEVATOR_ENCODER_ID); static { configureAngleEncoder(); @@ -49,12 +52,12 @@ public class ArmConstants { } public enum ArmState { - ANGLE( new Rotation2d(5)), + ANGLE(new Rotation2d(5)), ELEVATOR_POSITION(new Rotation2d(7)); final Rotation2d elevatorPosition; - - ArmState( Rotation2d elevatorPosition) { + + ArmState(Rotation2d elevatorPosition) { this.elevatorPosition = elevatorPosition; } } @@ -77,11 +80,13 @@ private static void configureAngleEncoder() { CANcoderConfiguration angleEncoderConfig = new CANcoderConfiguration(); angleEncoderConfig.MagnetSensor.MagnetOffset = ANGLE_ENCODER_OFFSET; angleEncoderConfig.MagnetSensor.AbsoluteSensorRange = ANGLE_ENCODER_RANGE; + angleEncoderConfig.MagnetSensor.SensorDirection = angleEncoderDirection; ANGLE_ENCODER.getConfigurator().apply(angleEncoderConfig); } private static void configureElevatorEncoder() { ELEVATOR_ENCODER.configFactoryDefault(); ELEVATOR_ENCODER.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, 0, 10); + ELEVATOR_ENCODER.setSensorPhase(ELEVATOR_ENCODER_PHASE); } } From 94c9ade17f0122b23827ad35ad82b5210ce376be Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 9 Nov 2023 20:23:15 +0200 Subject: [PATCH 020/207] ctrl alt l --- src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index 57d17fb69..2010ee6ea 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -24,7 +24,7 @@ public class ArmConstants { ANGLE_IDLE_MODE = CANSparkMax.IdleMode.kBrake; private static final int VOLTAGE_COMPANSATION_SATURATION = 12; private static final boolean inverted = false; - private static final SensorDirectionValue angleEncoderDirection = SensorDirectionValue.CounterClockwise_Positive; + private static final SensorDirectionValue angleEncoderDirection = SensorDirectionValue.CounterClockwise_Positive; private static final boolean ELEVATOR_ENCODER_PHASE = false; private static final int ANGLE_ENCODER_OFFSET = 5; private static final AbsoluteSensorRangeValue ANGLE_ENCODER_RANGE = AbsoluteSensorRangeValue.Signed_PlusMinusHalf; From b13259058d8bb0be6e83cf41ed699b6639ba2e69 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 9 Nov 2023 21:55:53 +0200 Subject: [PATCH 021/207] added offset to elevatorencoder --- .../java/frc/trigon/robot/subsystems/arm/ArmConstants.java | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index 2010ee6ea..f9d2886e5 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -26,7 +26,9 @@ public class ArmConstants { private static final boolean inverted = false; private static final SensorDirectionValue angleEncoderDirection = SensorDirectionValue.CounterClockwise_Positive; private static final boolean ELEVATOR_ENCODER_PHASE = false; - private static final int ANGLE_ENCODER_OFFSET = 5; + private static final int + ELEVATOR_ENCODER_OFFSET = 5, + ANGLE_ENCODER_OFFSET = 5; private static final AbsoluteSensorRangeValue ANGLE_ENCODER_RANGE = AbsoluteSensorRangeValue.Signed_PlusMinusHalf; static final double @@ -86,7 +88,7 @@ private static void configureAngleEncoder() { private static void configureElevatorEncoder() { ELEVATOR_ENCODER.configFactoryDefault(); - ELEVATOR_ENCODER.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, 0, 10); + ELEVATOR_ENCODER.setSelectedSensorPosition(ELEVATOR_ENCODER.getSelectedSensorPosition() - ELEVATOR_ENCODER_OFFSET); ELEVATOR_ENCODER.setSensorPhase(ELEVATOR_ENCODER_PHASE); } } From a86c2c3106683ea99f72855ec18eaaa2387c38b4 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 9 Nov 2023 22:55:40 +0200 Subject: [PATCH 022/207] fixed code acording to review --- .../robot/subsystems/arm/ArmConstants.java | 35 ++++++++++--------- 1 file changed, 18 insertions(+), 17 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index f9d2886e5..e4110234f 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -1,6 +1,5 @@ package frc.trigon.robot.subsystems.arm; -import com.ctre.phoenix.motorcontrol.FeedbackDevice; import com.ctre.phoenix.motorcontrol.can.TalonSRX; import com.ctre.phoenix6.configs.CANcoderConfiguration; import com.ctre.phoenix6.hardware.CANcoder; @@ -10,6 +9,7 @@ import com.revrobotics.CANSparkMaxLowLevel; import edu.wpi.first.math.controller.PIDController; import edu.wpi.first.math.geometry.Rotation2d; +import static frc.trigon.robot.utilities.Conversions.offsetRead; public class ArmConstants { private static final int @@ -23,19 +23,13 @@ public class ArmConstants { ELEVATOR_IDLE_MODE = CANSparkMax.IdleMode.kBrake, ANGLE_IDLE_MODE = CANSparkMax.IdleMode.kBrake; private static final int VOLTAGE_COMPANSATION_SATURATION = 12; - private static final boolean inverted = false; - private static final SensorDirectionValue angleEncoderDirection = SensorDirectionValue.CounterClockwise_Positive; + private static final boolean INVERTED_VALUE = false; + private static final SensorDirectionValue ANGLE_ENCODER_DIRECTION = SensorDirectionValue.CounterClockwise_Positive; private static final boolean ELEVATOR_ENCODER_PHASE = false; private static final int ELEVATOR_ENCODER_OFFSET = 5, ANGLE_ENCODER_OFFSET = 5; private static final AbsoluteSensorRangeValue ANGLE_ENCODER_RANGE = AbsoluteSensorRangeValue.Signed_PlusMinusHalf; - - static final double - P = 1, - I = 0, - D = 0; - static final PIDController PID_CONTROLLER = new PIDController(P, I, D); private static final CANSparkMax MASTER_ANGLE_MOTOR = new CANSparkMax(MASTER_ANGLE_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), MASTER_ELEVATOR_MOTOR = new CANSparkMax(MASTER_ELEVATOR_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), @@ -43,6 +37,11 @@ public class ArmConstants { FOLLOWER_ELEVATOR_MOTOR = new CANSparkMax(FOLLOWER_ELEVATOR_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless); private static final CANcoder ANGLE_ENCODER = new CANcoder(ANGLE_ENCODER_ID); private static final TalonSRX ELEVATOR_ENCODER = new TalonSRX(ELEVATOR_ENCODER_ID); + static final double + P = 1, + I = 0, + D = 0; + static final PIDController PID_CONTROLLER = new PIDController(P, I, D); static { configureAngleEncoder(); @@ -54,12 +53,14 @@ public class ArmConstants { } public enum ArmState { - ANGLE(new Rotation2d(5)), - ELEVATOR_POSITION(new Rotation2d(7)); + ANGLE(new Rotation2d(5), 7), + ELEVATOR_POSITION(new Rotation2d(7), 5); - final Rotation2d elevatorPosition; + final Rotation2d angle; + final double elevatorPosition; - ArmState(Rotation2d elevatorPosition) { + ArmState(Rotation2d angle, double elevatorPosition) { + this.angle = angle; this.elevatorPosition = elevatorPosition; } } @@ -67,14 +68,14 @@ public enum ArmState { private static void configureElevatorMotor(CANSparkMax motor) { motor.restoreFactoryDefaults(); motor.setIdleMode(ELEVATOR_IDLE_MODE); - motor.setInverted(inverted); + motor.setInverted(INVERTED_VALUE); motor.enableVoltageCompensation(VOLTAGE_COMPANSATION_SATURATION); } private static void configureAngleMotor(CANSparkMax motor) { motor.restoreFactoryDefaults(); motor.setIdleMode(ANGLE_IDLE_MODE); - motor.setInverted(inverted); + motor.setInverted(INVERTED_VALUE); motor.enableVoltageCompensation(VOLTAGE_COMPANSATION_SATURATION); } @@ -82,13 +83,13 @@ private static void configureAngleEncoder() { CANcoderConfiguration angleEncoderConfig = new CANcoderConfiguration(); angleEncoderConfig.MagnetSensor.MagnetOffset = ANGLE_ENCODER_OFFSET; angleEncoderConfig.MagnetSensor.AbsoluteSensorRange = ANGLE_ENCODER_RANGE; - angleEncoderConfig.MagnetSensor.SensorDirection = angleEncoderDirection; + angleEncoderConfig.MagnetSensor.SensorDirection = ANGLE_ENCODER_DIRECTION; ANGLE_ENCODER.getConfigurator().apply(angleEncoderConfig); } private static void configureElevatorEncoder() { ELEVATOR_ENCODER.configFactoryDefault(); - ELEVATOR_ENCODER.setSelectedSensorPosition(ELEVATOR_ENCODER.getSelectedSensorPosition() - ELEVATOR_ENCODER_OFFSET); ELEVATOR_ENCODER.setSensorPhase(ELEVATOR_ENCODER_PHASE); + ELEVATOR_ENCODER.setSelectedSensorPosition(offsetRead(ELEVATOR_ENCODER.getSelectedSensorPosition(), ELEVATOR_ENCODER_OFFSET)); } } From 4d0c790a72dfb803c7d5fb78d6e963eaae07002d Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Fri, 10 Nov 2023 08:47:35 +0200 Subject: [PATCH 023/207] fixed coder acording to review --- .../robot/subsystems/arm/ArmConstants.java | 22 ++++++++++++------- 1 file changed, 14 insertions(+), 8 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index e4110234f..941f99c4e 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -1,5 +1,6 @@ package frc.trigon.robot.subsystems.arm; +import com.ctre.phoenix.motorcontrol.FeedbackDevice; import com.ctre.phoenix.motorcontrol.can.TalonSRX; import com.ctre.phoenix6.configs.CANcoderConfiguration; import com.ctre.phoenix6.hardware.CANcoder; @@ -22,8 +23,12 @@ public class ArmConstants { private static final CANSparkMax.IdleMode ELEVATOR_IDLE_MODE = CANSparkMax.IdleMode.kBrake, ANGLE_IDLE_MODE = CANSparkMax.IdleMode.kBrake; - private static final int VOLTAGE_COMPANSATION_SATURATION = 12; - private static final boolean INVERTED_VALUE = false; + private static final int + ANGLE_VOLTAGE_COMPANSATION_SATURATION = 12, + ELEVATOR_VOLTAGE_COMPANSATION_SATURATION = 12; + private static final boolean + ANGLE_INVERTED = false, + ELEVATOR_INVERTED = false; private static final SensorDirectionValue ANGLE_ENCODER_DIRECTION = SensorDirectionValue.CounterClockwise_Positive; private static final boolean ELEVATOR_ENCODER_PHASE = false; private static final int @@ -53,8 +58,8 @@ public class ArmConstants { } public enum ArmState { - ANGLE(new Rotation2d(5), 7), - ELEVATOR_POSITION(new Rotation2d(7), 5); + FIRST_STATE(Rotation2d.fromDegrees(100), 7), + SECOND_STATE(Rotation2d.fromDegrees(70), 5); final Rotation2d angle; final double elevatorPosition; @@ -68,15 +73,15 @@ public enum ArmState { private static void configureElevatorMotor(CANSparkMax motor) { motor.restoreFactoryDefaults(); motor.setIdleMode(ELEVATOR_IDLE_MODE); - motor.setInverted(INVERTED_VALUE); - motor.enableVoltageCompensation(VOLTAGE_COMPANSATION_SATURATION); + motor.setInverted(ELEVATOR_INVERTED); + motor.enableVoltageCompensation(ELEVATOR_VOLTAGE_COMPANSATION_SATURATION); } private static void configureAngleMotor(CANSparkMax motor) { motor.restoreFactoryDefaults(); motor.setIdleMode(ANGLE_IDLE_MODE); - motor.setInverted(INVERTED_VALUE); - motor.enableVoltageCompensation(VOLTAGE_COMPANSATION_SATURATION); + motor.setInverted(ANGLE_INVERTED); + motor.enableVoltageCompensation(ANGLE_VOLTAGE_COMPANSATION_SATURATION); } private static void configureAngleEncoder() { @@ -88,6 +93,7 @@ private static void configureAngleEncoder() { } private static void configureElevatorEncoder() { + ELEVATOR_ENCODER.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, 0, 10); ELEVATOR_ENCODER.configFactoryDefault(); ELEVATOR_ENCODER.setSensorPhase(ELEVATOR_ENCODER_PHASE); ELEVATOR_ENCODER.setSelectedSensorPosition(offsetRead(ELEVATOR_ENCODER.getSelectedSensorPosition(), ELEVATOR_ENCODER_OFFSET)); From 931356adf5c52747af095cbc1c21a7543835e961 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sat, 11 Nov 2023 22:26:47 +0200 Subject: [PATCH 024/207] Updated acording to review --- .../robot/subsystems/arm/ArmConstants.java | 81 +++++++++++-------- 1 file changed, 48 insertions(+), 33 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index 941f99c4e..54eda53c2 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -24,11 +24,12 @@ public class ArmConstants { ELEVATOR_IDLE_MODE = CANSparkMax.IdleMode.kBrake, ANGLE_IDLE_MODE = CANSparkMax.IdleMode.kBrake; private static final int - ANGLE_VOLTAGE_COMPANSATION_SATURATION = 12, - ELEVATOR_VOLTAGE_COMPANSATION_SATURATION = 12; + VOLTAGE_COMPANSATION_SATURATION = 12; private static final boolean - ANGLE_INVERTED = false, - ELEVATOR_INVERTED = false; + MASTER_ANGLE_INVERTED = false, + MASTER_ELEVATOR_INVERTED = false, + FOLLOWER_ANGLE_INVERTED = false, + FOLLOWER_ELEVATOR_INVERTED = false; private static final SensorDirectionValue ANGLE_ENCODER_DIRECTION = SensorDirectionValue.CounterClockwise_Positive; private static final boolean ELEVATOR_ENCODER_PHASE = false; private static final int @@ -43,47 +44,48 @@ public class ArmConstants { private static final CANcoder ANGLE_ENCODER = new CANcoder(ANGLE_ENCODER_ID); private static final TalonSRX ELEVATOR_ENCODER = new TalonSRX(ELEVATOR_ENCODER_ID); static final double - P = 1, - I = 0, - D = 0; - static final PIDController PID_CONTROLLER = new PIDController(P, I, D); + ANGLE_P = 1, + ELEVATOR_P = 1, + ANGLE_I = 0, + ELEVATOR_I = 0, + ANGLE_D = 0, + ELEVATOR_D = 0; + static final PIDController + ANGLE_PID_CONTROLLER = new PIDController(ANGLE_P, ANGLE_I, ANGLE_D), + ELEVATOR_PID_CONTROLLER = new PIDController(ELEVATOR_P, ELEVATOR_I, ELEVATOR_D); static { configureAngleEncoder(); configureElevatorEncoder(); - configureAngleMotor(MASTER_ANGLE_MOTOR); - configureAngleMotor(FOLLOWER_ANGLE_MOTOR); - configureElevatorMotor(MASTER_ELEVATOR_MOTOR); - configureElevatorMotor(FOLLOWER_ELEVATOR_MOTOR); + configureElevatorMotors(); + configureAngleMotors(); } - public enum ArmState { - FIRST_STATE(Rotation2d.fromDegrees(100), 7), - SECOND_STATE(Rotation2d.fromDegrees(70), 5); + private static void configureElevatorMotors() { + MASTER_ELEVATOR_MOTOR.restoreFactoryDefaults(); + MASTER_ELEVATOR_MOTOR.setIdleMode(ELEVATOR_IDLE_MODE); + MASTER_ELEVATOR_MOTOR.setInverted(MASTER_ELEVATOR_INVERTED); + MASTER_ELEVATOR_MOTOR.enableVoltageCompensation(VOLTAGE_COMPANSATION_SATURATION); - final Rotation2d angle; - final double elevatorPosition; - - ArmState(Rotation2d angle, double elevatorPosition) { - this.angle = angle; - this.elevatorPosition = elevatorPosition; - } + FOLLOWER_ELEVATOR_MOTOR.restoreFactoryDefaults(); + FOLLOWER_ELEVATOR_MOTOR.setIdleMode(ELEVATOR_IDLE_MODE); + FOLLOWER_ELEVATOR_MOTOR.setInverted(FOLLOWER_ELEVATOR_INVERTED); + FOLLOWER_ELEVATOR_MOTOR.enableVoltageCompensation(VOLTAGE_COMPANSATION_SATURATION); } - private static void configureElevatorMotor(CANSparkMax motor) { - motor.restoreFactoryDefaults(); - motor.setIdleMode(ELEVATOR_IDLE_MODE); - motor.setInverted(ELEVATOR_INVERTED); - motor.enableVoltageCompensation(ELEVATOR_VOLTAGE_COMPANSATION_SATURATION); - } + private static void configureAngleMotors() { + MASTER_ANGLE_MOTOR.restoreFactoryDefaults(); + MASTER_ANGLE_MOTOR.setIdleMode(ANGLE_IDLE_MODE); + MASTER_ANGLE_MOTOR.setInverted(MASTER_ANGLE_INVERTED); + MASTER_ANGLE_MOTOR.enableVoltageCompensation(VOLTAGE_COMPANSATION_SATURATION); - private static void configureAngleMotor(CANSparkMax motor) { - motor.restoreFactoryDefaults(); - motor.setIdleMode(ANGLE_IDLE_MODE); - motor.setInverted(ANGLE_INVERTED); - motor.enableVoltageCompensation(ANGLE_VOLTAGE_COMPANSATION_SATURATION); + FOLLOWER_ANGLE_MOTOR.restoreFactoryDefaults(); + FOLLOWER_ANGLE_MOTOR.setIdleMode(ANGLE_IDLE_MODE); + FOLLOWER_ANGLE_MOTOR.setInverted(FOLLOWER_ANGLE_INVERTED); + FOLLOWER_ANGLE_MOTOR.enableVoltageCompensation(VOLTAGE_COMPANSATION_SATURATION); } + private static void configureAngleEncoder() { CANcoderConfiguration angleEncoderConfig = new CANcoderConfiguration(); angleEncoderConfig.MagnetSensor.MagnetOffset = ANGLE_ENCODER_OFFSET; @@ -98,4 +100,17 @@ private static void configureElevatorEncoder() { ELEVATOR_ENCODER.setSensorPhase(ELEVATOR_ENCODER_PHASE); ELEVATOR_ENCODER.setSelectedSensorPosition(offsetRead(ELEVATOR_ENCODER.getSelectedSensorPosition(), ELEVATOR_ENCODER_OFFSET)); } + + public enum ArmState { + FIRST_STATE(Rotation2d.fromDegrees(100), 7), + SECOND_STATE(Rotation2d.fromDegrees(70), 5); + + final Rotation2d angle; + final double elevatorPosition; + + ArmState(Rotation2d angle, double elevatorPosition) { + this.angle = angle; + this.elevatorPosition = elevatorPosition; + } + } } From 4e210341366b2e7b2c3109e6efa044b7a88babb7 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sun, 12 Nov 2023 14:18:49 +0200 Subject: [PATCH 025/207] fixed code acording to review --- .../robot/subsystems/arm/ArmConstants.java | 20 +++++++++---------- 1 file changed, 9 insertions(+), 11 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index 54eda53c2..3a8cd54e8 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -45,10 +45,10 @@ public class ArmConstants { private static final TalonSRX ELEVATOR_ENCODER = new TalonSRX(ELEVATOR_ENCODER_ID); static final double ANGLE_P = 1, - ELEVATOR_P = 1, ANGLE_I = 0, - ELEVATOR_I = 0, ANGLE_D = 0, + ELEVATOR_P = 1, + ELEVATOR_I = 0, ELEVATOR_D = 0; static final PIDController ANGLE_PID_CONTROLLER = new PIDController(ANGLE_P, ANGLE_I, ANGLE_D), @@ -63,25 +63,23 @@ public class ArmConstants { private static void configureElevatorMotors() { MASTER_ELEVATOR_MOTOR.restoreFactoryDefaults(); - MASTER_ELEVATOR_MOTOR.setIdleMode(ELEVATOR_IDLE_MODE); - MASTER_ELEVATOR_MOTOR.setInverted(MASTER_ELEVATOR_INVERTED); - MASTER_ELEVATOR_MOTOR.enableVoltageCompensation(VOLTAGE_COMPANSATION_SATURATION); - FOLLOWER_ELEVATOR_MOTOR.restoreFactoryDefaults(); + MASTER_ELEVATOR_MOTOR.setIdleMode(ELEVATOR_IDLE_MODE); FOLLOWER_ELEVATOR_MOTOR.setIdleMode(ELEVATOR_IDLE_MODE); + MASTER_ELEVATOR_MOTOR.setInverted(MASTER_ELEVATOR_INVERTED); FOLLOWER_ELEVATOR_MOTOR.setInverted(FOLLOWER_ELEVATOR_INVERTED); + MASTER_ELEVATOR_MOTOR.enableVoltageCompensation(VOLTAGE_COMPANSATION_SATURATION); FOLLOWER_ELEVATOR_MOTOR.enableVoltageCompensation(VOLTAGE_COMPANSATION_SATURATION); } private static void configureAngleMotors() { MASTER_ANGLE_MOTOR.restoreFactoryDefaults(); - MASTER_ANGLE_MOTOR.setIdleMode(ANGLE_IDLE_MODE); - MASTER_ANGLE_MOTOR.setInverted(MASTER_ANGLE_INVERTED); - MASTER_ANGLE_MOTOR.enableVoltageCompensation(VOLTAGE_COMPANSATION_SATURATION); - FOLLOWER_ANGLE_MOTOR.restoreFactoryDefaults(); + MASTER_ANGLE_MOTOR.setIdleMode(ANGLE_IDLE_MODE); FOLLOWER_ANGLE_MOTOR.setIdleMode(ANGLE_IDLE_MODE); + MASTER_ANGLE_MOTOR.setInverted(MASTER_ANGLE_INVERTED); FOLLOWER_ANGLE_MOTOR.setInverted(FOLLOWER_ANGLE_INVERTED); + MASTER_ANGLE_MOTOR.enableVoltageCompensation(VOLTAGE_COMPANSATION_SATURATION); FOLLOWER_ANGLE_MOTOR.enableVoltageCompensation(VOLTAGE_COMPANSATION_SATURATION); } @@ -95,8 +93,8 @@ private static void configureAngleEncoder() { } private static void configureElevatorEncoder() { - ELEVATOR_ENCODER.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, 0, 10); ELEVATOR_ENCODER.configFactoryDefault(); + ELEVATOR_ENCODER.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, 0, 10); ELEVATOR_ENCODER.setSensorPhase(ELEVATOR_ENCODER_PHASE); ELEVATOR_ENCODER.setSelectedSensorPosition(offsetRead(ELEVATOR_ENCODER.getSelectedSensorPosition(), ELEVATOR_ENCODER_OFFSET)); } From 9d361c03f9981e8444289c40400f5d1d7631bed8 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sun, 12 Nov 2023 22:07:39 +0200 Subject: [PATCH 026/207] fixed code acording to review --- .../java/frc/trigon/robot/subsystems/arm/ArmConstants.java | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index 3a8cd54e8..16f5f7d1d 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -10,7 +10,7 @@ import com.revrobotics.CANSparkMaxLowLevel; import edu.wpi.first.math.controller.PIDController; import edu.wpi.first.math.geometry.Rotation2d; -import static frc.trigon.robot.utilities.Conversions.offsetRead; +import frc.trigon.robot.utilities.Conversions; public class ArmConstants { private static final int @@ -94,9 +94,9 @@ private static void configureAngleEncoder() { private static void configureElevatorEncoder() { ELEVATOR_ENCODER.configFactoryDefault(); - ELEVATOR_ENCODER.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, 0, 10); + ELEVATOR_ENCODER.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, 0, 0); ELEVATOR_ENCODER.setSensorPhase(ELEVATOR_ENCODER_PHASE); - ELEVATOR_ENCODER.setSelectedSensorPosition(offsetRead(ELEVATOR_ENCODER.getSelectedSensorPosition(), ELEVATOR_ENCODER_OFFSET)); + ELEVATOR_ENCODER.setSelectedSensorPosition(Conversions.offsetRead(ELEVATOR_ENCODER.getSelectedSensorPosition(), ELEVATOR_ENCODER_OFFSET)); } public enum ArmState { From e42415a365f43d977204b27b48e20a4c52b91514 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sun, 12 Nov 2023 22:18:52 +0200 Subject: [PATCH 027/207] added motion profiles --- .../trigon/robot/subsystems/arm/ArmConstants.java | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index 16f5f7d1d..1b7015cbe 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -10,6 +10,7 @@ import com.revrobotics.CANSparkMaxLowLevel; import edu.wpi.first.math.controller.PIDController; import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.trajectory.TrapezoidProfile; import frc.trigon.robot.utilities.Conversions; public class ArmConstants { @@ -35,6 +36,17 @@ public class ArmConstants { private static final int ELEVATOR_ENCODER_OFFSET = 5, ANGLE_ENCODER_OFFSET = 5; + private static final double + MAX_ANGLE_VELOCITY = 100, + MAX_ANGLE_ACCELERATION = 100, + MAX_ELEVATOR_VELOCITY = 100, + MAX_ELEVATOR_ACCELERATION = 100; + static final TrapezoidProfile.Constraints ANGLE_CONSTRAINTS = new TrapezoidProfile.Constraints( + MAX_ANGLE_VELOCITY, MAX_ANGLE_ACCELERATION + ); + static final TrapezoidProfile.Constraints ELEVATOR_CONSTRAINTS = new TrapezoidProfile.Constraints( + MAX_ELEVATOR_VELOCITY, MAX_ELEVATOR_ACCELERATION + ); private static final AbsoluteSensorRangeValue ANGLE_ENCODER_RANGE = AbsoluteSensorRangeValue.Signed_PlusMinusHalf; private static final CANSparkMax MASTER_ANGLE_MOTOR = new CANSparkMax(MASTER_ANGLE_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), From 6bd97e897ab43c2ac7d608e657b096f5056e72a7 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Mon, 13 Nov 2023 08:55:08 +0200 Subject: [PATCH 028/207] Update ArmConstants.java --- .../robot/subsystems/arm/ArmConstants.java | 24 +++++++++---------- 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index 1b7015cbe..2d4e4be96 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -25,7 +25,7 @@ public class ArmConstants { ELEVATOR_IDLE_MODE = CANSparkMax.IdleMode.kBrake, ANGLE_IDLE_MODE = CANSparkMax.IdleMode.kBrake; private static final int - VOLTAGE_COMPANSATION_SATURATION = 12; + VOLTAGE_COMPENSATION_SATURATION = 12; private static final boolean MASTER_ANGLE_INVERTED = false, MASTER_ELEVATOR_INVERTED = false, @@ -36,17 +36,6 @@ public class ArmConstants { private static final int ELEVATOR_ENCODER_OFFSET = 5, ANGLE_ENCODER_OFFSET = 5; - private static final double - MAX_ANGLE_VELOCITY = 100, - MAX_ANGLE_ACCELERATION = 100, - MAX_ELEVATOR_VELOCITY = 100, - MAX_ELEVATOR_ACCELERATION = 100; - static final TrapezoidProfile.Constraints ANGLE_CONSTRAINTS = new TrapezoidProfile.Constraints( - MAX_ANGLE_VELOCITY, MAX_ANGLE_ACCELERATION - ); - static final TrapezoidProfile.Constraints ELEVATOR_CONSTRAINTS = new TrapezoidProfile.Constraints( - MAX_ELEVATOR_VELOCITY, MAX_ELEVATOR_ACCELERATION - ); private static final AbsoluteSensorRangeValue ANGLE_ENCODER_RANGE = AbsoluteSensorRangeValue.Signed_PlusMinusHalf; private static final CANSparkMax MASTER_ANGLE_MOTOR = new CANSparkMax(MASTER_ANGLE_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), @@ -65,6 +54,17 @@ public class ArmConstants { static final PIDController ANGLE_PID_CONTROLLER = new PIDController(ANGLE_P, ANGLE_I, ANGLE_D), ELEVATOR_PID_CONTROLLER = new PIDController(ELEVATOR_P, ELEVATOR_I, ELEVATOR_D); + private static final double + MAX_ANGLE_VELOCITY = 100, + MAX_ANGLE_ACCELERATION = 100, + MAX_ELEVATOR_VELOCITY = 100, + MAX_ELEVATOR_ACCELERATION = 100; + static final TrapezoidProfile.Constraints ANGLE_CONSTRAINTS = new TrapezoidProfile.Constraints( + MAX_ANGLE_VELOCITY, MAX_ANGLE_ACCELERATION + ); + static final TrapezoidProfile.Constraints ELEVATOR_CONSTRAINTS = new TrapezoidProfile.Constraints( + MAX_ELEVATOR_VELOCITY, MAX_ELEVATOR_ACCELERATION + ); static { configureAngleEncoder(); From 9a834967006ec62d8b5657cd379c6495cd4e6fac Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Mon, 13 Nov 2023 08:57:11 +0200 Subject: [PATCH 029/207] fixed Vcomp variable --- .../frc/trigon/robot/subsystems/arm/ArmConstants.java | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index 2d4e4be96..9349659b1 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -80,8 +80,8 @@ private static void configureElevatorMotors() { FOLLOWER_ELEVATOR_MOTOR.setIdleMode(ELEVATOR_IDLE_MODE); MASTER_ELEVATOR_MOTOR.setInverted(MASTER_ELEVATOR_INVERTED); FOLLOWER_ELEVATOR_MOTOR.setInverted(FOLLOWER_ELEVATOR_INVERTED); - MASTER_ELEVATOR_MOTOR.enableVoltageCompensation(VOLTAGE_COMPANSATION_SATURATION); - FOLLOWER_ELEVATOR_MOTOR.enableVoltageCompensation(VOLTAGE_COMPANSATION_SATURATION); + MASTER_ELEVATOR_MOTOR.enableVoltageCompensation(VOLTAGE_COMPENSATION_SATURATION); + FOLLOWER_ELEVATOR_MOTOR.enableVoltageCompensation(VOLTAGE_COMPENSATION_SATURATION); } private static void configureAngleMotors() { @@ -91,8 +91,8 @@ private static void configureAngleMotors() { FOLLOWER_ANGLE_MOTOR.setIdleMode(ANGLE_IDLE_MODE); MASTER_ANGLE_MOTOR.setInverted(MASTER_ANGLE_INVERTED); FOLLOWER_ANGLE_MOTOR.setInverted(FOLLOWER_ANGLE_INVERTED); - MASTER_ANGLE_MOTOR.enableVoltageCompensation(VOLTAGE_COMPANSATION_SATURATION); - FOLLOWER_ANGLE_MOTOR.enableVoltageCompensation(VOLTAGE_COMPANSATION_SATURATION); + MASTER_ANGLE_MOTOR.enableVoltageCompensation(VOLTAGE_COMPENSATION_SATURATION); + FOLLOWER_ANGLE_MOTOR.enableVoltageCompensation(VOLTAGE_COMPENSATION_SATURATION); } From 8848dcd36872133a92a3bf6e3a5aab47fdea43e9 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Mon, 13 Nov 2023 09:25:29 +0200 Subject: [PATCH 030/207] removed extra import --- .../trigon/robot/subsystems/collector/CollectorConstants.java | 1 - 1 file changed, 1 deletion(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/CollectorConstants.java b/src/main/java/frc/trigon/robot/subsystems/collector/CollectorConstants.java index a3e8acd0b..3295bafa3 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/CollectorConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/CollectorConstants.java @@ -2,7 +2,6 @@ import com.ctre.phoenix.motorcontrol.NeutralMode; import com.ctre.phoenix.motorcontrol.can.TalonSRX; -import java.util.function.Supplier; public class CollectorConstants { private static final int MOTOR_ID = 1; From b869fe674f03db4a86b2ab2ede1aa3dbba5c6375 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Mon, 13 Nov 2023 09:39:19 +0200 Subject: [PATCH 031/207] fixed code acording to review --- .../java/frc/trigon/robot/subsystems/arm/ArmConstants.java | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index 9349659b1..6de012183 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -34,8 +34,8 @@ public class ArmConstants { private static final SensorDirectionValue ANGLE_ENCODER_DIRECTION = SensorDirectionValue.CounterClockwise_Positive; private static final boolean ELEVATOR_ENCODER_PHASE = false; private static final int - ELEVATOR_ENCODER_OFFSET = 5, - ANGLE_ENCODER_OFFSET = 5; + ELEVATOR_ENCODER_OFFSET = 0, + ANGLE_ENCODER_OFFSET = 0; private static final AbsoluteSensorRangeValue ANGLE_ENCODER_RANGE = AbsoluteSensorRangeValue.Signed_PlusMinusHalf; private static final CANSparkMax MASTER_ANGLE_MOTOR = new CANSparkMax(MASTER_ANGLE_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), @@ -106,7 +106,7 @@ private static void configureAngleEncoder() { private static void configureElevatorEncoder() { ELEVATOR_ENCODER.configFactoryDefault(); - ELEVATOR_ENCODER.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, 0, 0); + ELEVATOR_ENCODER.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Absolute, 0, 0); ELEVATOR_ENCODER.setSensorPhase(ELEVATOR_ENCODER_PHASE); ELEVATOR_ENCODER.setSelectedSensorPosition(Conversions.offsetRead(ELEVATOR_ENCODER.getSelectedSensorPosition(), ELEVATOR_ENCODER_OFFSET)); } From 8f1ce72f5ebf487efb11944d1e9721c7f774cf4d Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Mon, 13 Nov 2023 11:24:30 +0200 Subject: [PATCH 032/207] removed extranewline --- .../java/frc/trigon/robot/subsystems/arm/ArmConstants.java | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index 6de012183..fe2e10bd2 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -94,8 +94,7 @@ private static void configureAngleMotors() { MASTER_ANGLE_MOTOR.enableVoltageCompensation(VOLTAGE_COMPENSATION_SATURATION); FOLLOWER_ANGLE_MOTOR.enableVoltageCompensation(VOLTAGE_COMPENSATION_SATURATION); } - - + private static void configureAngleEncoder() { CANcoderConfiguration angleEncoderConfig = new CANcoderConfiguration(); angleEncoderConfig.MagnetSensor.MagnetOffset = ANGLE_ENCODER_OFFSET; From 4930fcef2091137e38244013530e05fa63b26ad8 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Mon, 13 Nov 2023 11:27:11 +0200 Subject: [PATCH 033/207] removed extranewline --- .../java/frc/trigon/robot/subsystems/arm/ArmConstants.java | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index fe2e10bd2..8a0782ed1 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -24,8 +24,7 @@ public class ArmConstants { private static final CANSparkMax.IdleMode ELEVATOR_IDLE_MODE = CANSparkMax.IdleMode.kBrake, ANGLE_IDLE_MODE = CANSparkMax.IdleMode.kBrake; - private static final int - VOLTAGE_COMPENSATION_SATURATION = 12; + private static final int VOLTAGE_COMPENSATION_SATURATION = 12; private static final boolean MASTER_ANGLE_INVERTED = false, MASTER_ELEVATOR_INVERTED = false, @@ -94,7 +93,7 @@ private static void configureAngleMotors() { MASTER_ANGLE_MOTOR.enableVoltageCompensation(VOLTAGE_COMPENSATION_SATURATION); FOLLOWER_ANGLE_MOTOR.enableVoltageCompensation(VOLTAGE_COMPENSATION_SATURATION); } - + private static void configureAngleEncoder() { CANcoderConfiguration angleEncoderConfig = new CANcoderConfiguration(); angleEncoderConfig.MagnetSensor.MagnetOffset = ANGLE_ENCODER_OFFSET; From 08ffebcfa9267cc67c0c902e094d04b41d3d3925 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Mon, 13 Nov 2023 11:30:33 +0200 Subject: [PATCH 034/207] made arm a subsystem --- .../frc/trigon/robot/subsystems/arm/Arm.java | 17 ++++++++++++++++- 1 file changed, 16 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index babdf8608..06bb5e177 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -1,4 +1,19 @@ package frc.trigon.robot.subsystems.arm; -public class Arm { + +import edu.wpi.first.wpilibj2.command.SubsystemBase; + +public class Arm extends SubsystemBase { + + private final static Arm INSTANCE = new Arm(); + + public static Arm getInstance() { + return INSTANCE; + } + + private Arm() { + } + + } + From 4230bb5e27e0d74f710cd03e1d0fb55cdb0d313d Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Mon, 13 Nov 2023 12:50:19 +0200 Subject: [PATCH 035/207] made Angle motion profile --- .../frc/trigon/robot/subsystems/arm/Arm.java | 39 ++++++++++++++++++- .../robot/subsystems/arm/ArmConstants.java | 6 +-- 2 files changed, 41 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 06bb5e177..94a4f0383 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -1,6 +1,12 @@ package frc.trigon.robot.subsystems.arm; +import com.ctre.phoenix.motorcontrol.can.TalonSRX; +import com.ctre.phoenix6.hardware.CANcoder; +import com.revrobotics.CANSparkMax; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.trajectory.TrapezoidProfile; +import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj2.command.SubsystemBase; public class Arm extends SubsystemBase { @@ -14,6 +20,37 @@ public static Arm getInstance() { private Arm() { } - + private final CANSparkMax + masterAngleMotor = ArmConstants.MASTER_ANGLE_MOTOR, + followerAngleMotor = ArmConstants.FOLLOWER_ANGLE_MOTOR, + masterElevatorMotor = ArmConstants.MASTER_ELEVATOR_MOTOR, + followerElevatorMotor = ArmConstants.FOLLOWER_ELEVATOR_MOTOR; + private final CANcoder angleEncoder = ArmConstants.ANGLE_ENCODER; + private final TalonSRX elevatorEncoder = ArmConstants.ELEVATOR_ENCODER; + private TrapezoidProfile + angleMotorProfile = null, + elevatorMotorProfile = null; + private double + lastAngleMotorProfileGenerationTime, + lastElevatorMotorProfileGenerationTime; + + private void generateAngleMotorProfile(Rotation2d targetAngle){ + angleMotorProfile = new TrapezoidProfile( + ArmConstants.ANGLE_CONSTRAINTS, + new TrapezoidProfile.State(targetAngle.getDegrees(),0), + new TrapezoidProfile.State(getAngleMotorPositionDegrees(), getAngleMotorVelocity()) + ); + + lastAngleMotorProfileGenerationTime = Timer.getFPGATimestamp(); + } + + private double getAngleMotorPositionDegrees(){ + return Rotation2d.fromDegrees(angleEncoder.getPosition().getValue()).getDegrees(); + } + + private double getAngleMotorVelocity(){ + return angleEncoder.getVelocity().getValue(); + } + } diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index 8a0782ed1..49be1cec7 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -36,13 +36,13 @@ public class ArmConstants { ELEVATOR_ENCODER_OFFSET = 0, ANGLE_ENCODER_OFFSET = 0; private static final AbsoluteSensorRangeValue ANGLE_ENCODER_RANGE = AbsoluteSensorRangeValue.Signed_PlusMinusHalf; - private static final CANSparkMax + static final CANSparkMax MASTER_ANGLE_MOTOR = new CANSparkMax(MASTER_ANGLE_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), MASTER_ELEVATOR_MOTOR = new CANSparkMax(MASTER_ELEVATOR_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), FOLLOWER_ANGLE_MOTOR = new CANSparkMax(FOLLOWER_ANGLE_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), FOLLOWER_ELEVATOR_MOTOR = new CANSparkMax(FOLLOWER_ELEVATOR_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless); - private static final CANcoder ANGLE_ENCODER = new CANcoder(ANGLE_ENCODER_ID); - private static final TalonSRX ELEVATOR_ENCODER = new TalonSRX(ELEVATOR_ENCODER_ID); + static final CANcoder ANGLE_ENCODER = new CANcoder(ANGLE_ENCODER_ID); + static final TalonSRX ELEVATOR_ENCODER = new TalonSRX(ELEVATOR_ENCODER_ID); static final double ANGLE_P = 1, ANGLE_I = 0, From 03d947d7eb370b5e57ebb054c1a953b3f41a313c Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Mon, 13 Nov 2023 12:57:51 +0200 Subject: [PATCH 036/207] added elevator motion profiles --- .../frc/trigon/robot/subsystems/arm/Arm.java | 18 ++++++++++++++++++ 1 file changed, 18 insertions(+) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 94a4f0383..1dacbd758 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -44,13 +44,31 @@ private void generateAngleMotorProfile(Rotation2d targetAngle){ lastAngleMotorProfileGenerationTime = Timer.getFPGATimestamp(); } + private void generateElevatorMotorProfile(Rotation2d targetAngle){ + angleMotorProfile = new TrapezoidProfile( + ArmConstants.ELEVATOR_CONSTRAINTS, + new TrapezoidProfile.State(targetAngle.getDegrees(),0), + new TrapezoidProfile.State(getElevatorMotorPositionDegrees(), getElevatorMotorVelocity()) + ); + + lastElevatorMotorProfileGenerationTime = Timer.getFPGATimestamp(); + } + private double getAngleMotorPositionDegrees(){ return Rotation2d.fromDegrees(angleEncoder.getPosition().getValue()).getDegrees(); } + private double getElevatorMotorPositionDegrees(){ + return Rotation2d.fromDegrees(elevatorEncoder.getSelectedSensorPosition()).getDegrees(); + } + private double getAngleMotorVelocity(){ return angleEncoder.getVelocity().getValue(); } + private double getElevatorMotorVelocity(){ + return elevatorEncoder.getSelectedSensorVelocity(); + } + } From 62a2d12b5968638b490ef0c2ab56ad4f33e1e37e Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Mon, 13 Nov 2023 13:10:22 +0200 Subject: [PATCH 037/207] added setTargetElevatorFromProfile --- .../frc/trigon/robot/subsystems/arm/Arm.java | 38 +++++++++++++++++++ 1 file changed, 38 insertions(+) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 1dacbd758..180e33be0 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -34,6 +34,26 @@ private Arm() { lastAngleMotorProfileGenerationTime, lastElevatorMotorProfileGenerationTime; + private void setTargetAngleFromProfile(){ + if (angleMotorProfile == null){ + stopAngleMotors(); + return; + } + + final TrapezoidProfile.State targetState = angleMotorProfile.calculate(getAngleMotorProfileTime()); + masterAngleMotor.getPIDController().setReference(targetState.position, CANSparkMax.ControlType.kPosition); + } + + private void setTargetElevatorFromProfile(){ + if (elevatorMotorProfile == null){ + stopElevatorMotors(); + return; + } + + final TrapezoidProfile.State targetState = elevatorMotorProfile.calculate(getElevatorMotorProfileTime()); + masterElevatorMotor.getPIDController().setReference(targetState.position, CANSparkMax.ControlType.kPosition); + } + private void generateAngleMotorProfile(Rotation2d targetAngle){ angleMotorProfile = new TrapezoidProfile( ArmConstants.ANGLE_CONSTRAINTS, @@ -54,6 +74,14 @@ private void generateElevatorMotorProfile(Rotation2d targetAngle){ lastElevatorMotorProfileGenerationTime = Timer.getFPGATimestamp(); } + private double getAngleMotorProfileTime(){ + return Timer.getFPGATimestamp() - lastAngleMotorProfileGenerationTime; + } + + private double getElevatorMotorProfileTime(){ + return Timer.getFPGATimestamp() - lastElevatorMotorProfileGenerationTime; + } + private double getAngleMotorPositionDegrees(){ return Rotation2d.fromDegrees(angleEncoder.getPosition().getValue()).getDegrees(); } @@ -70,5 +98,15 @@ private double getElevatorMotorVelocity(){ return elevatorEncoder.getSelectedSensorVelocity(); } + private void stopAngleMotors(){ + masterAngleMotor.stopMotor(); + followerAngleMotor.stopMotor(); + } + + private void stopElevatorMotors(){ + masterElevatorMotor.stopMotor(); + followerElevatorMotor.stopMotor(); + } + } From 6886357c47d48e0095003fa282854888ed587250 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Mon, 13 Nov 2023 13:37:08 +0200 Subject: [PATCH 038/207] added getSetTargetCommand --- .../frc/trigon/robot/subsystems/arm/Arm.java | 22 +++++++++++++++++++ 1 file changed, 22 insertions(+) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 180e33be0..2a728a4ac 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -7,6 +7,8 @@ import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.wpilibj.Timer; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.FunctionalCommand; import edu.wpi.first.wpilibj2.command.SubsystemBase; public class Arm extends SubsystemBase { @@ -34,6 +36,26 @@ private Arm() { lastAngleMotorProfileGenerationTime, lastElevatorMotorProfileGenerationTime; + public Command getSetTargetAngleCommand(Rotation2d angle){ + return new FunctionalCommand( + () -> generateAngleMotorProfile(angle), + this::setTargetAngleFromProfile, + (interrupted) -> {}, + () -> false, + this + ); + } + + public Command getSetTargetElevatorCommand(Rotation2d angle){ + return new FunctionalCommand( + () -> generateElevatorMotorProfile(angle), + this::setTargetElevatorFromProfile, + (interrupted) -> {}, + () -> false, + this + ); + } + private void setTargetAngleFromProfile(){ if (angleMotorProfile == null){ stopAngleMotors(); From 1eb2d0016800165ae8a080ecc7d7e7e41edbbd5f Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Mon, 13 Nov 2023 15:46:57 +0200 Subject: [PATCH 039/207] fixed coder acroding to review --- .../frc/trigon/robot/subsystems/arm/Arm.java | 40 +++++++++---------- .../robot/subsystems/arm/ArmConstants.java | 1 + 2 files changed, 20 insertions(+), 21 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 2a728a4ac..d5589a8de 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -12,21 +12,13 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase; public class Arm extends SubsystemBase { - private final static Arm INSTANCE = new Arm(); - public static Arm getInstance() { - return INSTANCE; - } - - private Arm() { - } - private final CANSparkMax - masterAngleMotor = ArmConstants.MASTER_ANGLE_MOTOR, - followerAngleMotor = ArmConstants.FOLLOWER_ANGLE_MOTOR, - masterElevatorMotor = ArmConstants.MASTER_ELEVATOR_MOTOR, - followerElevatorMotor = ArmConstants.FOLLOWER_ELEVATOR_MOTOR; + masterAngleMotor = ArmConstants.MASTER_ANGLE_MOTOR, + followerAngleMotor = ArmConstants.FOLLOWER_ANGLE_MOTOR, + masterElevatorMotor = ArmConstants.MASTER_ELEVATOR_MOTOR, + followerElevatorMotor = ArmConstants.FOLLOWER_ELEVATOR_MOTOR; private final CANcoder angleEncoder = ArmConstants.ANGLE_ENCODER; private final TalonSRX elevatorEncoder = ArmConstants.ELEVATOR_ENCODER; private TrapezoidProfile @@ -36,6 +28,13 @@ private Arm() { lastAngleMotorProfileGenerationTime, lastElevatorMotorProfileGenerationTime; + public static Arm getInstance() { + return INSTANCE; + } + + private Arm() { + } + public Command getSetTargetAngleCommand(Rotation2d angle){ return new FunctionalCommand( () -> generateAngleMotorProfile(angle), @@ -46,7 +45,7 @@ public Command getSetTargetAngleCommand(Rotation2d angle){ ); } - public Command getSetTargetElevatorCommand(Rotation2d angle){ + public Command getSetElevatorTargetCommand((){ return new FunctionalCommand( () -> generateElevatorMotorProfile(angle), this::setTargetElevatorFromProfile, @@ -80,7 +79,7 @@ private void generateAngleMotorProfile(Rotation2d targetAngle){ angleMotorProfile = new TrapezoidProfile( ArmConstants.ANGLE_CONSTRAINTS, new TrapezoidProfile.State(targetAngle.getDegrees(),0), - new TrapezoidProfile.State(getAngleMotorPositionDegrees(), getAngleMotorVelocity()) + new TrapezoidProfile.State(getAngleMotorPosition().getDegrees(), getAngleMotorVelocity()) ); lastAngleMotorProfileGenerationTime = Timer.getFPGATimestamp(); @@ -90,7 +89,7 @@ private void generateElevatorMotorProfile(Rotation2d targetAngle){ angleMotorProfile = new TrapezoidProfile( ArmConstants.ELEVATOR_CONSTRAINTS, new TrapezoidProfile.State(targetAngle.getDegrees(),0), - new TrapezoidProfile.State(getElevatorMotorPositionDegrees(), getElevatorMotorVelocity()) + new TrapezoidProfile.State(getElevatorMotorPositionDegrees(), getElevatorVelocityRevolutionsPerSecond()) ); lastElevatorMotorProfileGenerationTime = Timer.getFPGATimestamp(); @@ -104,20 +103,20 @@ private double getElevatorMotorProfileTime(){ return Timer.getFPGATimestamp() - lastElevatorMotorProfileGenerationTime; } - private double getAngleMotorPositionDegrees(){ - return Rotation2d.fromDegrees(angleEncoder.getPosition().getValue()).getDegrees(); + private Rotation2d getAngleMotorPosition (){ + return Rotation2d.fromRotations(angleEncoder.getPosition().getValue()); } private double getElevatorMotorPositionDegrees(){ - return Rotation2d.fromDegrees(elevatorEncoder.getSelectedSensorPosition()).getDegrees(); + return Rotation2d.fromDegrees(elevatorEncoder.getSelectedSensorPosition()).getRotations(); } private double getAngleMotorVelocity(){ return angleEncoder.getVelocity().getValue(); } - private double getElevatorMotorVelocity(){ - return elevatorEncoder.getSelectedSensorVelocity(); + private double getElevatorVelocityRevolutionsPerSecond(){ + return elevatorEncoder.getSelectedSensorVelocity() / ArmConstants.ENCODER_TICS_PER_REVOLUTION * 10 / 100; } private void stopAngleMotors(){ @@ -129,6 +128,5 @@ private void stopElevatorMotors(){ masterElevatorMotor.stopMotor(); followerElevatorMotor.stopMotor(); } - } diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index 49be1cec7..cd97696de 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -36,6 +36,7 @@ public class ArmConstants { ELEVATOR_ENCODER_OFFSET = 0, ANGLE_ENCODER_OFFSET = 0; private static final AbsoluteSensorRangeValue ANGLE_ENCODER_RANGE = AbsoluteSensorRangeValue.Signed_PlusMinusHalf; + static final int ENCODER_TICS_PER_REVOLUTION = 1024; static final CANSparkMax MASTER_ANGLE_MOTOR = new CANSparkMax(MASTER_ANGLE_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), MASTER_ELEVATOR_MOTOR = new CANSparkMax(MASTER_ELEVATOR_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), From 17440b3eb67940e691329a01a683dbe5cebed712 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Mon, 13 Nov 2023 16:19:08 +0200 Subject: [PATCH 040/207] corrected angleVelocity method --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index d5589a8de..8c06c32a7 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -45,7 +45,7 @@ public Command getSetTargetAngleCommand(Rotation2d angle){ ); } - public Command getSetElevatorTargetCommand((){ + public Command getSetElevatorTargetCommand(Rotation2d angle){ return new FunctionalCommand( () -> generateElevatorMotorProfile(angle), this::setTargetElevatorFromProfile, @@ -111,8 +111,8 @@ private double getElevatorMotorPositionDegrees(){ return Rotation2d.fromDegrees(elevatorEncoder.getSelectedSensorPosition()).getRotations(); } - private double getAngleMotorVelocity(){ - return angleEncoder.getVelocity().getValue(); + private Rotation2d getAngleMotorVelocity(){ + return Rotation2d.fromRotations(angleEncoder.getVelocity().getValue()); } private double getElevatorVelocityRevolutionsPerSecond(){ From 40de5fb8359fb123950ccf9c292a9246dd676ab1 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Mon, 13 Nov 2023 18:31:21 +0200 Subject: [PATCH 041/207] changed elevator functions from Rotation2d to double --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 8c06c32a7..85a4e53e2 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -45,9 +45,9 @@ public Command getSetTargetAngleCommand(Rotation2d angle){ ); } - public Command getSetElevatorTargetCommand(Rotation2d angle){ + public Command getSetElevatorTargetCommand(double rotations){ return new FunctionalCommand( - () -> generateElevatorMotorProfile(angle), + () -> generateElevatorMotorProfile(rotations), this::setTargetElevatorFromProfile, (interrupted) -> {}, () -> false, @@ -85,10 +85,10 @@ private void generateAngleMotorProfile(Rotation2d targetAngle){ lastAngleMotorProfileGenerationTime = Timer.getFPGATimestamp(); } - private void generateElevatorMotorProfile(Rotation2d targetAngle){ + private void generateElevatorMotorProfile(double targetAngle){ angleMotorProfile = new TrapezoidProfile( ArmConstants.ELEVATOR_CONSTRAINTS, - new TrapezoidProfile.State(targetAngle.getDegrees(),0), + new TrapezoidProfile.State(targetAngle,0), new TrapezoidProfile.State(getElevatorMotorPositionDegrees(), getElevatorVelocityRevolutionsPerSecond()) ); From 327af2aca1765a38d6b0a2f8e6016849d1b084f9 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Mon, 13 Nov 2023 18:34:23 +0200 Subject: [PATCH 042/207] fixed generateAngleMotorProfile --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 85a4e53e2..3e7f4981b 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -79,7 +79,7 @@ private void generateAngleMotorProfile(Rotation2d targetAngle){ angleMotorProfile = new TrapezoidProfile( ArmConstants.ANGLE_CONSTRAINTS, new TrapezoidProfile.State(targetAngle.getDegrees(),0), - new TrapezoidProfile.State(getAngleMotorPosition().getDegrees(), getAngleMotorVelocity()) + new TrapezoidProfile.State(getAngleMotorPosition().getDegrees(), getAngleMotorVelocity().getRotations()) ); lastAngleMotorProfileGenerationTime = Timer.getFPGATimestamp(); From e55d720190e34ef20fd5f5694878d67d783fb320 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Mon, 13 Nov 2023 19:35:27 +0200 Subject: [PATCH 043/207] fixed getAngleMotorVelocity --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 6 +++--- .../java/frc/trigon/robot/subsystems/arm/ArmConstants.java | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 3e7f4981b..1738bfdbf 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -79,7 +79,7 @@ private void generateAngleMotorProfile(Rotation2d targetAngle){ angleMotorProfile = new TrapezoidProfile( ArmConstants.ANGLE_CONSTRAINTS, new TrapezoidProfile.State(targetAngle.getDegrees(),0), - new TrapezoidProfile.State(getAngleMotorPosition().getDegrees(), getAngleMotorVelocity().getRotations()) + new TrapezoidProfile.State(getAngleMotorPosition().getDegrees(), getAngleMotorVelocity()) ); lastAngleMotorProfileGenerationTime = Timer.getFPGATimestamp(); @@ -111,8 +111,8 @@ private double getElevatorMotorPositionDegrees(){ return Rotation2d.fromDegrees(elevatorEncoder.getSelectedSensorPosition()).getRotations(); } - private Rotation2d getAngleMotorVelocity(){ - return Rotation2d.fromRotations(angleEncoder.getVelocity().getValue()); + private double getAngleMotorVelocity(){ + return angleEncoder.getVelocity().getValue() / ArmConstants.ENCODER_TICS_PER_REVOLUTION * 10 / 100; } private double getElevatorVelocityRevolutionsPerSecond(){ diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index cd97696de..a12d6c1d5 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -36,7 +36,7 @@ public class ArmConstants { ELEVATOR_ENCODER_OFFSET = 0, ANGLE_ENCODER_OFFSET = 0; private static final AbsoluteSensorRangeValue ANGLE_ENCODER_RANGE = AbsoluteSensorRangeValue.Signed_PlusMinusHalf; - static final int ENCODER_TICS_PER_REVOLUTION = 1024; + static final double ENCODER_TICS_PER_REVOLUTION = 1024; static final CANSparkMax MASTER_ANGLE_MOTOR = new CANSparkMax(MASTER_ANGLE_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), MASTER_ELEVATOR_MOTOR = new CANSparkMax(MASTER_ELEVATOR_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), From 50918f4bbc5f46604a6e0b64cce5d9a82ccdf984 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Mon, 13 Nov 2023 19:57:55 +0200 Subject: [PATCH 044/207] fixed getVelocity functions --- .../java/frc/trigon/robot/subsystems/arm/Arm.java | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 1738bfdbf..5d1b9ce0b 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -10,6 +10,7 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.FunctionalCommand; import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.trigon.robot.utilities.Conversions; public class Arm extends SubsystemBase { private final static Arm INSTANCE = new Arm(); @@ -71,7 +72,7 @@ private void setTargetElevatorFromProfile(){ return; } - final TrapezoidProfile.State targetState = elevatorMotorProfile.calculate(getElevatorMotorProfileTime()); + TrapezoidProfile.State targetState = elevatorMotorProfile.calculate(getElevatorMotorProfileTime()); masterElevatorMotor.getPIDController().setReference(targetState.position, CANSparkMax.ControlType.kPosition); } @@ -79,7 +80,7 @@ private void generateAngleMotorProfile(Rotation2d targetAngle){ angleMotorProfile = new TrapezoidProfile( ArmConstants.ANGLE_CONSTRAINTS, new TrapezoidProfile.State(targetAngle.getDegrees(),0), - new TrapezoidProfile.State(getAngleMotorPosition().getDegrees(), getAngleMotorVelocity()) + new TrapezoidProfile.State(getAngleMotorPosition().getDegrees(), getAngleMotorVelocityRevolutionsPerSecond()) ); lastAngleMotorProfileGenerationTime = Timer.getFPGATimestamp(); @@ -111,12 +112,12 @@ private double getElevatorMotorPositionDegrees(){ return Rotation2d.fromDegrees(elevatorEncoder.getSelectedSensorPosition()).getRotations(); } - private double getAngleMotorVelocity(){ - return angleEncoder.getVelocity().getValue() / ArmConstants.ENCODER_TICS_PER_REVOLUTION * 10 / 100; + private double getAngleMotorVelocityRevolutionsPerSecond(){ + return angleEncoder.getVelocity().getValue(); } private double getElevatorVelocityRevolutionsPerSecond(){ - return elevatorEncoder.getSelectedSensorVelocity() / ArmConstants.ENCODER_TICS_PER_REVOLUTION * 10 / 100; + return Conversions.magTicksToRevolutions(elevatorEncoder.getSelectedSensorVelocity()); } private void stopAngleMotors(){ From d14442b4a411aaafb7ee188675428c619a6605a3 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Tue, 14 Nov 2023 12:23:36 +0200 Subject: [PATCH 045/207] fixed getElevatorMotorPositionRevolutions --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 6 +++--- .../java/frc/trigon/robot/subsystems/arm/ArmConstants.java | 1 - 2 files changed, 3 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 5d1b9ce0b..4ff050f90 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -90,7 +90,7 @@ private void generateElevatorMotorProfile(double targetAngle){ angleMotorProfile = new TrapezoidProfile( ArmConstants.ELEVATOR_CONSTRAINTS, new TrapezoidProfile.State(targetAngle,0), - new TrapezoidProfile.State(getElevatorMotorPositionDegrees(), getElevatorVelocityRevolutionsPerSecond()) + new TrapezoidProfile.State(getElevatorMotorPositionRevolutions(), getElevatorVelocityRevolutionsPerSecond()) ); lastElevatorMotorProfileGenerationTime = Timer.getFPGATimestamp(); @@ -108,8 +108,8 @@ private Rotation2d getAngleMotorPosition (){ return Rotation2d.fromRotations(angleEncoder.getPosition().getValue()); } - private double getElevatorMotorPositionDegrees(){ - return Rotation2d.fromDegrees(elevatorEncoder.getSelectedSensorPosition()).getRotations(); + private double getElevatorMotorPositionRevolutions(){ + return Conversions.magTicksToRevolutions(elevatorEncoder.getSelectedSensorPosition()); } private double getAngleMotorVelocityRevolutionsPerSecond(){ diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index a12d6c1d5..49be1cec7 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -36,7 +36,6 @@ public class ArmConstants { ELEVATOR_ENCODER_OFFSET = 0, ANGLE_ENCODER_OFFSET = 0; private static final AbsoluteSensorRangeValue ANGLE_ENCODER_RANGE = AbsoluteSensorRangeValue.Signed_PlusMinusHalf; - static final double ENCODER_TICS_PER_REVOLUTION = 1024; static final CANSparkMax MASTER_ANGLE_MOTOR = new CANSparkMax(MASTER_ANGLE_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), MASTER_ELEVATOR_MOTOR = new CANSparkMax(MASTER_ELEVATOR_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), From 39de4e70ad8d121ce15b4a6861a611e78cdfd148 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Tue, 14 Nov 2023 12:34:18 +0200 Subject: [PATCH 046/207] changed generateElevatorMotorProfile param name --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 4ff050f90..c85be3a51 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -86,10 +86,10 @@ private void generateAngleMotorProfile(Rotation2d targetAngle){ lastAngleMotorProfileGenerationTime = Timer.getFPGATimestamp(); } - private void generateElevatorMotorProfile(double targetAngle){ + private void generateElevatorMotorProfile(double targetPostition){ angleMotorProfile = new TrapezoidProfile( ArmConstants.ELEVATOR_CONSTRAINTS, - new TrapezoidProfile.State(targetAngle,0), + new TrapezoidProfile.State(targetPostition,0), new TrapezoidProfile.State(getElevatorMotorPositionRevolutions(), getElevatorVelocityRevolutionsPerSecond()) ); From a011e7e9d84db0b4151040561a45e3ba313c1aa3 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Tue, 14 Nov 2023 12:34:48 +0200 Subject: [PATCH 047/207] reformatted class --- .../frc/trigon/robot/subsystems/arm/Arm.java | 42 ++++++++++--------- 1 file changed, 22 insertions(+), 20 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index c85be3a51..56b83aefe 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -36,28 +36,30 @@ public static Arm getInstance() { private Arm() { } - public Command getSetTargetAngleCommand(Rotation2d angle){ + public Command getSetTargetAngleCommand(Rotation2d angle) { return new FunctionalCommand( () -> generateAngleMotorProfile(angle), this::setTargetAngleFromProfile, - (interrupted) -> {}, + (interrupted) -> { + }, () -> false, this ); } - public Command getSetElevatorTargetCommand(double rotations){ + public Command getSetElevatorTargetCommand(double rotations) { return new FunctionalCommand( () -> generateElevatorMotorProfile(rotations), this::setTargetElevatorFromProfile, - (interrupted) -> {}, + (interrupted) -> { + }, () -> false, this ); } - private void setTargetAngleFromProfile(){ - if (angleMotorProfile == null){ + private void setTargetAngleFromProfile() { + if (angleMotorProfile == null) { stopAngleMotors(); return; } @@ -66,8 +68,8 @@ private void setTargetAngleFromProfile(){ masterAngleMotor.getPIDController().setReference(targetState.position, CANSparkMax.ControlType.kPosition); } - private void setTargetElevatorFromProfile(){ - if (elevatorMotorProfile == null){ + private void setTargetElevatorFromProfile() { + if (elevatorMotorProfile == null) { stopElevatorMotors(); return; } @@ -76,56 +78,56 @@ private void setTargetElevatorFromProfile(){ masterElevatorMotor.getPIDController().setReference(targetState.position, CANSparkMax.ControlType.kPosition); } - private void generateAngleMotorProfile(Rotation2d targetAngle){ + private void generateAngleMotorProfile(Rotation2d targetAngle) { angleMotorProfile = new TrapezoidProfile( ArmConstants.ANGLE_CONSTRAINTS, - new TrapezoidProfile.State(targetAngle.getDegrees(),0), + new TrapezoidProfile.State(targetAngle.getDegrees(), 0), new TrapezoidProfile.State(getAngleMotorPosition().getDegrees(), getAngleMotorVelocityRevolutionsPerSecond()) ); lastAngleMotorProfileGenerationTime = Timer.getFPGATimestamp(); } - private void generateElevatorMotorProfile(double targetPostition){ + private void generateElevatorMotorProfile(double targetPosition) { angleMotorProfile = new TrapezoidProfile( ArmConstants.ELEVATOR_CONSTRAINTS, - new TrapezoidProfile.State(targetPostition,0), + new TrapezoidProfile.State(targetPosition, 0), new TrapezoidProfile.State(getElevatorMotorPositionRevolutions(), getElevatorVelocityRevolutionsPerSecond()) ); lastElevatorMotorProfileGenerationTime = Timer.getFPGATimestamp(); } - private double getAngleMotorProfileTime(){ + private double getAngleMotorProfileTime() { return Timer.getFPGATimestamp() - lastAngleMotorProfileGenerationTime; } - private double getElevatorMotorProfileTime(){ + private double getElevatorMotorProfileTime() { return Timer.getFPGATimestamp() - lastElevatorMotorProfileGenerationTime; } - private Rotation2d getAngleMotorPosition (){ + private Rotation2d getAngleMotorPosition() { return Rotation2d.fromRotations(angleEncoder.getPosition().getValue()); } - private double getElevatorMotorPositionRevolutions(){ + private double getElevatorMotorPositionRevolutions() { return Conversions.magTicksToRevolutions(elevatorEncoder.getSelectedSensorPosition()); } - private double getAngleMotorVelocityRevolutionsPerSecond(){ + private double getAngleMotorVelocityRevolutionsPerSecond() { return angleEncoder.getVelocity().getValue(); } - private double getElevatorVelocityRevolutionsPerSecond(){ + private double getElevatorVelocityRevolutionsPerSecond() { return Conversions.magTicksToRevolutions(elevatorEncoder.getSelectedSensorVelocity()); } - private void stopAngleMotors(){ + private void stopAngleMotors() { masterAngleMotor.stopMotor(); followerAngleMotor.stopMotor(); } - private void stopElevatorMotors(){ + private void stopElevatorMotors() { masterElevatorMotor.stopMotor(); followerElevatorMotor.stopMotor(); } From 221bcc023822fd6178a9a2835a0f61ac3429f226 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Tue, 14 Nov 2023 12:35:27 +0200 Subject: [PATCH 048/207] corrected generateElevatorMotorProfile --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 56b83aefe..2e2d1f560 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -89,7 +89,7 @@ private void generateAngleMotorProfile(Rotation2d targetAngle) { } private void generateElevatorMotorProfile(double targetPosition) { - angleMotorProfile = new TrapezoidProfile( + elevatorMotorProfile = new TrapezoidProfile( ArmConstants.ELEVATOR_CONSTRAINTS, new TrapezoidProfile.State(targetPosition, 0), new TrapezoidProfile.State(getElevatorMotorPositionRevolutions(), getElevatorVelocityRevolutionsPerSecond()) From 10e669c80d8d3111d1c9cbf7d49cec666f4f5316 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Tue, 14 Nov 2023 12:36:44 +0200 Subject: [PATCH 049/207] corrected getSetElevatorTargetCommand --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 2e2d1f560..d9118b409 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -47,9 +47,9 @@ public Command getSetTargetAngleCommand(Rotation2d angle) { ); } - public Command getSetElevatorTargetCommand(double rotations) { + public Command getSetElevatorTargetCommand(double elevatorPosition) { return new FunctionalCommand( - () -> generateElevatorMotorProfile(rotations), + () -> generateElevatorMotorProfile(elevatorPosition), this::setTargetElevatorFromProfile, (interrupted) -> { }, From e033ede665bd10e8edaa701d5b71c3227e8c1476 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Tue, 14 Nov 2023 12:37:16 +0200 Subject: [PATCH 050/207] corrected getSetTargetAngleCommand --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index d9118b409..83ae92aa4 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -36,9 +36,9 @@ public static Arm getInstance() { private Arm() { } - public Command getSetTargetAngleCommand(Rotation2d angle) { + public Command getSetTargetAngleCommand(Rotation2d targetAngle) { return new FunctionalCommand( - () -> generateAngleMotorProfile(angle), + () -> generateAngleMotorProfile(targetAngle), this::setTargetAngleFromProfile, (interrupted) -> { }, From 2eeebdf0d1aa40847e1e1bf912e48153bc4a3111 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Tue, 14 Nov 2023 14:31:57 +0200 Subject: [PATCH 051/207] corrected getSetElevatorTargetCommand --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 83ae92aa4..b00ff972c 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -47,9 +47,9 @@ public Command getSetTargetAngleCommand(Rotation2d targetAngle) { ); } - public Command getSetElevatorTargetCommand(double elevatorPosition) { + public Command getSetElevatorTargetCommand(double targetElevatorPosition) { return new FunctionalCommand( - () -> generateElevatorMotorProfile(elevatorPosition), + () -> generateElevatorMotorProfile(targetElevatorPosition), this::setTargetElevatorFromProfile, (interrupted) -> { }, From 6a753298ea51f73a4ba178e9e3b55e30aa43ac2e Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Tue, 14 Nov 2023 14:32:43 +0200 Subject: [PATCH 052/207] fixed name of getSetTargetElevatorPositionCommand --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index b00ff972c..cb3f52a0c 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -47,7 +47,7 @@ public Command getSetTargetAngleCommand(Rotation2d targetAngle) { ); } - public Command getSetElevatorTargetCommand(double targetElevatorPosition) { + public Command getSetTargetElevatorPositionCommand(double targetElevatorPosition) { return new FunctionalCommand( () -> generateElevatorMotorProfile(targetElevatorPosition), this::setTargetElevatorFromProfile, From ab517b7270c469181d65272db353c1dfff59efc5 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Tue, 14 Nov 2023 14:33:43 +0200 Subject: [PATCH 053/207] removed final from setTargetAngleFromProfile --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index cb3f52a0c..cc78706de 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -64,7 +64,7 @@ private void setTargetAngleFromProfile() { return; } - final TrapezoidProfile.State targetState = angleMotorProfile.calculate(getAngleMotorProfileTime()); + TrapezoidProfile.State targetState = angleMotorProfile.calculate(getAngleMotorProfileTime()); masterAngleMotor.getPIDController().setReference(targetState.position, CANSparkMax.ControlType.kPosition); } From 48fb2b648ba6ff02a83ea3ee408a9e17ea26b22b Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Tue, 14 Nov 2023 14:36:21 +0200 Subject: [PATCH 054/207] corrected name of param in generateElevatorMotorProfile --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index cc78706de..5af603b57 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -88,10 +88,10 @@ private void generateAngleMotorProfile(Rotation2d targetAngle) { lastAngleMotorProfileGenerationTime = Timer.getFPGATimestamp(); } - private void generateElevatorMotorProfile(double targetPosition) { + private void generateElevatorMotorProfile(double targetElevatorPosition) { elevatorMotorProfile = new TrapezoidProfile( ArmConstants.ELEVATOR_CONSTRAINTS, - new TrapezoidProfile.State(targetPosition, 0), + new TrapezoidProfile.State(targetElevatorPosition, 0), new TrapezoidProfile.State(getElevatorMotorPositionRevolutions(), getElevatorVelocityRevolutionsPerSecond()) ); From 3cc49ad049261a5857477a82a2cb5f449c722368 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Tue, 14 Nov 2023 14:37:16 +0200 Subject: [PATCH 055/207] changed name of setTargetElevatorPositionFromProfile --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 5af603b57..b63a2fe3b 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -50,7 +50,7 @@ public Command getSetTargetAngleCommand(Rotation2d targetAngle) { public Command getSetTargetElevatorPositionCommand(double targetElevatorPosition) { return new FunctionalCommand( () -> generateElevatorMotorProfile(targetElevatorPosition), - this::setTargetElevatorFromProfile, + this::setTargetElevatorPositionFromProfile, (interrupted) -> { }, () -> false, @@ -68,7 +68,7 @@ private void setTargetAngleFromProfile() { masterAngleMotor.getPIDController().setReference(targetState.position, CANSparkMax.ControlType.kPosition); } - private void setTargetElevatorFromProfile() { + private void setTargetElevatorPositionFromProfile() { if (elevatorMotorProfile == null) { stopElevatorMotors(); return; From 3592990b1b5bd9beeb2c5ecb3e9c1beb10f90bd6 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Tue, 14 Nov 2023 16:31:41 +0200 Subject: [PATCH 056/207] corrected getElevatorVelocityRevolutionsPerSecond --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index b63a2fe3b..6123ee3ab 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -119,7 +119,7 @@ private double getAngleMotorVelocityRevolutionsPerSecond() { } private double getElevatorVelocityRevolutionsPerSecond() { - return Conversions.magTicksToRevolutions(elevatorEncoder.getSelectedSensorVelocity()); + return Conversions.perHundredMsToPerSecond(elevatorEncoder.getSelectedSensorVelocity()); } private void stopAngleMotors() { From 8aa85d2b9058898bc99647f770fc35da31415649 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Tue, 14 Nov 2023 16:50:41 +0200 Subject: [PATCH 057/207] changed name to getAngleMotorVelocityDegrees --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 6123ee3ab..e03a05302 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -82,7 +82,7 @@ private void generateAngleMotorProfile(Rotation2d targetAngle) { angleMotorProfile = new TrapezoidProfile( ArmConstants.ANGLE_CONSTRAINTS, new TrapezoidProfile.State(targetAngle.getDegrees(), 0), - new TrapezoidProfile.State(getAngleMotorPosition().getDegrees(), getAngleMotorVelocityRevolutionsPerSecond()) + new TrapezoidProfile.State(getAngleMotorPosition().getDegrees(), getAngleMotorVelocityDegrees()) ); lastAngleMotorProfileGenerationTime = Timer.getFPGATimestamp(); @@ -114,7 +114,7 @@ private double getElevatorMotorPositionRevolutions() { return Conversions.magTicksToRevolutions(elevatorEncoder.getSelectedSensorPosition()); } - private double getAngleMotorVelocityRevolutionsPerSecond() { + private double getAngleMotorVelocityDegrees() { return angleEncoder.getVelocity().getValue(); } From bc258c3fc0eea2c2bba6a76ddc56422ad236b6ef Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Tue, 14 Nov 2023 19:21:58 +0200 Subject: [PATCH 058/207] fixed getElevatorVelocityRevolutionsPerSecond --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index e03a05302..1363663ae 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -82,7 +82,7 @@ private void generateAngleMotorProfile(Rotation2d targetAngle) { angleMotorProfile = new TrapezoidProfile( ArmConstants.ANGLE_CONSTRAINTS, new TrapezoidProfile.State(targetAngle.getDegrees(), 0), - new TrapezoidProfile.State(getAngleMotorPosition().getDegrees(), getAngleMotorVelocityDegrees()) + new TrapezoidProfile.State(getAngleMotorPosition().getDegrees(), getAngleMotorVelocityDegreesPerSecond()) ); lastAngleMotorProfileGenerationTime = Timer.getFPGATimestamp(); @@ -114,12 +114,13 @@ private double getElevatorMotorPositionRevolutions() { return Conversions.magTicksToRevolutions(elevatorEncoder.getSelectedSensorPosition()); } - private double getAngleMotorVelocityDegrees() { - return angleEncoder.getVelocity().getValue(); + private double getAngleMotorVelocityDegreesPerSecond() { + return Conversions.revolutionsToDegrees(angleEncoder.getVelocity().getValue()); } private double getElevatorVelocityRevolutionsPerSecond() { - return Conversions.perHundredMsToPerSecond(elevatorEncoder.getSelectedSensorVelocity()); + double msPerSecond = Conversions.perHundredMsToPerSecond(elevatorEncoder.getSelectedSensorVelocity()); + return Conversions.magTicksToRevolutions(msPerSecond); } private void stopAngleMotors() { From 61ea993f2594e7539db335ab77d2e52d75ea72e0 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Tue, 14 Nov 2023 19:38:09 +0200 Subject: [PATCH 059/207] added feedforward to constants --- .../robot/subsystems/arm/ArmConstants.java | 17 +++++++++++++++++ 1 file changed, 17 insertions(+) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index 49be1cec7..91f5ce2f7 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -8,6 +8,8 @@ import com.ctre.phoenix6.signals.SensorDirectionValue; import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMaxLowLevel; +import edu.wpi.first.math.controller.ArmFeedforward; +import edu.wpi.first.math.controller.ElevatorFeedforward; import edu.wpi.first.math.controller.PIDController; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.trajectory.TrapezoidProfile; @@ -53,6 +55,21 @@ public class ArmConstants { static final PIDController ANGLE_PID_CONTROLLER = new PIDController(ANGLE_P, ANGLE_I, ANGLE_D), ELEVATOR_PID_CONTROLLER = new PIDController(ELEVATOR_P, ELEVATOR_I, ELEVATOR_D); + private static final double + ANGLE_MOTOR_KS = 0, + ANGLE_MOTOR_KV = 0, + ANGLE_MOTOR_KA = 0, + ANGLE_MOTOR_KG = 0, + ELEVATOR_MOTOR_KS = 0, + ELEVATOR_MOTOR_KV = 0, + ELEVATOR_MOTOR_KA = 0, + ELEVATOR_MOTOR_KG = 0; + static final ArmFeedforward ANGLE_FEED_FORWARD = new ArmFeedforward( + ANGLE_MOTOR_KS, ANGLE_MOTOR_KG, ANGLE_MOTOR_KV, ANGLE_MOTOR_KA + ); + static final ElevatorFeedforward ELEVATOR_FEED_FORWARD = new ElevatorFeedforward( + ELEVATOR_MOTOR_KS, ELEVATOR_MOTOR_KG, ELEVATOR_MOTOR_KV, ELEVATOR_MOTOR_KA + ); private static final double MAX_ANGLE_VELOCITY = 100, MAX_ANGLE_ACCELERATION = 100, From 6649fdcc81ec045995e68889fd1ad985e292a39d Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Tue, 14 Nov 2023 20:46:42 +0200 Subject: [PATCH 060/207] added feedforward --- .../frc/trigon/robot/subsystems/arm/Arm.java | 34 +++++++++++++++++-- 1 file changed, 32 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 1363663ae..433b9be3b 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -6,6 +6,7 @@ import com.revrobotics.CANSparkMax; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.trajectory.TrapezoidProfile; +import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.FunctionalCommand; @@ -65,7 +66,8 @@ private void setTargetAngleFromProfile() { } TrapezoidProfile.State targetState = angleMotorProfile.calculate(getAngleMotorProfileTime()); - masterAngleMotor.getPIDController().setReference(targetState.position, CANSparkMax.ControlType.kPosition); + masterAngleMotor.setVoltage(calculateAngleMotorOutput(targetState)); + followerAngleMotor.setVoltage(calculateAngleMotorOutput(targetState)); } private void setTargetElevatorPositionFromProfile() { @@ -75,7 +77,35 @@ private void setTargetElevatorPositionFromProfile() { } TrapezoidProfile.State targetState = elevatorMotorProfile.calculate(getElevatorMotorProfileTime()); - masterElevatorMotor.getPIDController().setReference(targetState.position, CANSparkMax.ControlType.kPosition); + masterElevatorMotor.setVoltage(calculateElevatorMotorOutput(targetState)); + followerElevatorMotor.setVoltage(calculateElevatorMotorOutput(targetState)); + + } + + private double calculateAngleMotorOutput(TrapezoidProfile.State targetState){ + double pidOutput = ArmConstants.ANGLE_PID_CONTROLLER.calculate( + getAngleMotorPosition().getDegrees(), + targetState.position + ); + double feedForward = ArmConstants.ANGLE_FEED_FORWARD.calculate( + Units.degreesToRadians(targetState.position), + Units.degreesToRadians(targetState.velocity) + ); + + return pidOutput + feedForward; + } + + private double calculateElevatorMotorOutput(TrapezoidProfile.State targetState){ + double pidOutput = ArmConstants.ELEVATOR_PID_CONTROLLER.calculate( + getElevatorMotorPositionRevolutions(), + targetState.position + ); + double feedForward = ArmConstants.ELEVATOR_FEED_FORWARD.calculate( + Units.degreesToRadians(targetState.position), + Units.degreesToRadians(targetState.velocity) + ); + + return pidOutput + feedForward; } private void generateAngleMotorProfile(Rotation2d targetAngle) { From f0dce60400b34c003a0d7ff7666f10f147684326 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Tue, 14 Nov 2023 21:12:13 +0200 Subject: [PATCH 061/207] added setMotorVoltage functions and removed whitespace --- .../frc/trigon/robot/subsystems/arm/Arm.java | 21 ++++++++++++------- .../robot/subsystems/arm/ArmConstants.java | 7 +++++-- 2 files changed, 19 insertions(+), 9 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 433b9be3b..3a760fc92 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -66,8 +66,7 @@ private void setTargetAngleFromProfile() { } TrapezoidProfile.State targetState = angleMotorProfile.calculate(getAngleMotorProfileTime()); - masterAngleMotor.setVoltage(calculateAngleMotorOutput(targetState)); - followerAngleMotor.setVoltage(calculateAngleMotorOutput(targetState)); + setAngleMotorsVoltage(targetState); } private void setTargetElevatorPositionFromProfile() { @@ -77,9 +76,17 @@ private void setTargetElevatorPositionFromProfile() { } TrapezoidProfile.State targetState = elevatorMotorProfile.calculate(getElevatorMotorProfileTime()); + setElevatorMotorsVoltage(targetState); + } + + private void setAngleMotorsVoltage(TrapezoidProfile.State targetState){ + masterAngleMotor.setVoltage(calculateAngleMotorOutput(targetState)); + followerAngleMotor.setVoltage(calculateAngleMotorOutput(targetState)); + } + + private void setElevatorMotorsVoltage(TrapezoidProfile.State targetState){ masterElevatorMotor.setVoltage(calculateElevatorMotorOutput(targetState)); followerElevatorMotor.setVoltage(calculateElevatorMotorOutput(targetState)); - } private double calculateAngleMotorOutput(TrapezoidProfile.State targetState){ @@ -87,7 +94,7 @@ private double calculateAngleMotorOutput(TrapezoidProfile.State targetState){ getAngleMotorPosition().getDegrees(), targetState.position ); - double feedForward = ArmConstants.ANGLE_FEED_FORWARD.calculate( + double feedForward = ArmConstants.ANGLE_FEEDFORWARD.calculate( Units.degreesToRadians(targetState.position), Units.degreesToRadians(targetState.velocity) ); @@ -100,7 +107,7 @@ private double calculateElevatorMotorOutput(TrapezoidProfile.State targetState){ getElevatorMotorPositionRevolutions(), targetState.position ); - double feedForward = ArmConstants.ELEVATOR_FEED_FORWARD.calculate( + double feedForward = ArmConstants.ELEVATOR_FEEDFORWARD.calculate( Units.degreesToRadians(targetState.position), Units.degreesToRadians(targetState.velocity) ); @@ -149,8 +156,8 @@ private double getAngleMotorVelocityDegreesPerSecond() { } private double getElevatorVelocityRevolutionsPerSecond() { - double msPerSecond = Conversions.perHundredMsToPerSecond(elevatorEncoder.getSelectedSensorVelocity()); - return Conversions.magTicksToRevolutions(msPerSecond); + double magTicksPerSecond = Conversions.perHundredMsToPerSecond(elevatorEncoder.getSelectedSensorVelocity()); + return Conversions.magTicksToRevolutions(magTicksPerSecond); } private void stopAngleMotors() { diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index 91f5ce2f7..8808e4426 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -45,6 +45,7 @@ public class ArmConstants { FOLLOWER_ELEVATOR_MOTOR = new CANSparkMax(FOLLOWER_ELEVATOR_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless); static final CANcoder ANGLE_ENCODER = new CANcoder(ANGLE_ENCODER_ID); static final TalonSRX ELEVATOR_ENCODER = new TalonSRX(ELEVATOR_ENCODER_ID); + static final double ANGLE_P = 1, ANGLE_I = 0, @@ -55,6 +56,7 @@ public class ArmConstants { static final PIDController ANGLE_PID_CONTROLLER = new PIDController(ANGLE_P, ANGLE_I, ANGLE_D), ELEVATOR_PID_CONTROLLER = new PIDController(ELEVATOR_P, ELEVATOR_I, ELEVATOR_D); + private static final double ANGLE_MOTOR_KS = 0, ANGLE_MOTOR_KV = 0, @@ -64,12 +66,13 @@ public class ArmConstants { ELEVATOR_MOTOR_KV = 0, ELEVATOR_MOTOR_KA = 0, ELEVATOR_MOTOR_KG = 0; - static final ArmFeedforward ANGLE_FEED_FORWARD = new ArmFeedforward( + static final ArmFeedforward ANGLE_FEEDFORWARD = new ArmFeedforward( ANGLE_MOTOR_KS, ANGLE_MOTOR_KG, ANGLE_MOTOR_KV, ANGLE_MOTOR_KA ); - static final ElevatorFeedforward ELEVATOR_FEED_FORWARD = new ElevatorFeedforward( + static final ElevatorFeedforward ELEVATOR_FEEDFORWARD = new ElevatorFeedforward( ELEVATOR_MOTOR_KS, ELEVATOR_MOTOR_KG, ELEVATOR_MOTOR_KV, ELEVATOR_MOTOR_KA ); + private static final double MAX_ANGLE_VELOCITY = 100, MAX_ANGLE_ACCELERATION = 100, From af21637dc1d0e49daf026fee94fb907eb71917c8 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Tue, 14 Nov 2023 21:14:30 +0200 Subject: [PATCH 062/207] fixed calculateElevatorMotorOutput --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 3a760fc92..8043fb91d 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -108,8 +108,8 @@ private double calculateElevatorMotorOutput(TrapezoidProfile.State targetState){ targetState.position ); double feedForward = ArmConstants.ELEVATOR_FEEDFORWARD.calculate( - Units.degreesToRadians(targetState.position), - Units.degreesToRadians(targetState.velocity) + Units.rotationsToRadians(targetState.position), + Units.rotationsToRadians(targetState.velocity) ); return pidOutput + feedForward; From 9b307eb424595544cc83bad1d64e8caff27cf44c Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Tue, 14 Nov 2023 21:30:26 +0200 Subject: [PATCH 063/207] removed redundent TrapezoidProfile.Constraints --- .../java/frc/trigon/robot/subsystems/arm/ArmConstants.java | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index 8808e4426..9942e17a1 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -78,10 +78,11 @@ public class ArmConstants { MAX_ANGLE_ACCELERATION = 100, MAX_ELEVATOR_VELOCITY = 100, MAX_ELEVATOR_ACCELERATION = 100; - static final TrapezoidProfile.Constraints ANGLE_CONSTRAINTS = new TrapezoidProfile.Constraints( + static final TrapezoidProfile.Constraints + ANGLE_CONSTRAINTS = new TrapezoidProfile.Constraints( MAX_ANGLE_VELOCITY, MAX_ANGLE_ACCELERATION - ); - static final TrapezoidProfile.Constraints ELEVATOR_CONSTRAINTS = new TrapezoidProfile.Constraints( + ), + ELEVATOR_CONSTRAINTS = new TrapezoidProfile.Constraints( MAX_ELEVATOR_VELOCITY, MAX_ELEVATOR_ACCELERATION ); From 7e37b954e58095edfbbde84b287e99f81be55828 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Tue, 14 Nov 2023 21:37:41 +0200 Subject: [PATCH 064/207] added angle status signals to constants --- .../java/frc/trigon/robot/subsystems/arm/ArmConstants.java | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index 9942e17a1..3609f31a0 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -2,6 +2,7 @@ import com.ctre.phoenix.motorcontrol.FeedbackDevice; import com.ctre.phoenix.motorcontrol.can.TalonSRX; +import com.ctre.phoenix6.StatusSignal; import com.ctre.phoenix6.configs.CANcoderConfiguration; import com.ctre.phoenix6.hardware.CANcoder; import com.ctre.phoenix6.signals.AbsoluteSensorRangeValue; @@ -85,6 +86,7 @@ public class ArmConstants { ELEVATOR_CONSTRAINTS = new TrapezoidProfile.Constraints( MAX_ELEVATOR_VELOCITY, MAX_ELEVATOR_ACCELERATION ); + static final StatusSignal ANGLE_ENCODER_POSITION_SIGNAL = ANGLE_ENCODER.getPosition(); static { configureAngleEncoder(); @@ -116,6 +118,7 @@ private static void configureAngleMotors() { } private static void configureAngleEncoder() { + ANGLE_ENCODER_POSITION_SIGNAL.setUpdateFrequency(100); CANcoderConfiguration angleEncoderConfig = new CANcoderConfiguration(); angleEncoderConfig.MagnetSensor.MagnetOffset = ANGLE_ENCODER_OFFSET; angleEncoderConfig.MagnetSensor.AbsoluteSensorRange = ANGLE_ENCODER_RANGE; From c6b525920fb1ca9783f7b885640d036fae95d533 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Tue, 14 Nov 2023 21:41:53 +0200 Subject: [PATCH 065/207] corrected setMotorVoltage --- .../frc/trigon/robot/subsystems/arm/Arm.java | 18 ++++++++++-------- 1 file changed, 10 insertions(+), 8 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 8043fb91d..df6bbd6cd 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -66,7 +66,8 @@ private void setTargetAngleFromProfile() { } TrapezoidProfile.State targetState = angleMotorProfile.calculate(getAngleMotorProfileTime()); - setAngleMotorsVoltage(targetState); + double voltage = calculateAngleMotorOutput(targetState); + setAngleMotorsVoltage(voltage); } private void setTargetElevatorPositionFromProfile() { @@ -76,17 +77,18 @@ private void setTargetElevatorPositionFromProfile() { } TrapezoidProfile.State targetState = elevatorMotorProfile.calculate(getElevatorMotorProfileTime()); - setElevatorMotorsVoltage(targetState); + double voltage = calculateElevatorMotorOutput(targetState); + setElevatorMotorsVoltage(voltage); } - private void setAngleMotorsVoltage(TrapezoidProfile.State targetState){ - masterAngleMotor.setVoltage(calculateAngleMotorOutput(targetState)); - followerAngleMotor.setVoltage(calculateAngleMotorOutput(targetState)); + private void setAngleMotorsVoltage(double voltage){ + masterAngleMotor.setVoltage(voltage); + followerAngleMotor.setVoltage(voltage); } - private void setElevatorMotorsVoltage(TrapezoidProfile.State targetState){ - masterElevatorMotor.setVoltage(calculateElevatorMotorOutput(targetState)); - followerElevatorMotor.setVoltage(calculateElevatorMotorOutput(targetState)); + private void setElevatorMotorsVoltage(double voltage){ + masterElevatorMotor.setVoltage(voltage); + followerElevatorMotor.setVoltage(voltage); } private double calculateAngleMotorOutput(TrapezoidProfile.State targetState){ From 6eb1d247638d488bfccb8c6b7b62d6a0d90d33d2 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Tue, 14 Nov 2023 22:00:11 +0200 Subject: [PATCH 066/207] added getAngleEncoderPosition --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index df6bbd6cd..acbaa515f 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -162,6 +162,11 @@ private double getElevatorVelocityRevolutionsPerSecond() { return Conversions.magTicksToRevolutions(magTicksPerSecond); } + private Rotation2d getAngleEncoderPosition(){ + double positionRevolutions = ArmConstants.ANGLE_ENCODER_POSITION_SIGNAL.refresh().getValue(); + return Rotation2d.fromRotations(positionRevolutions); + } + private void stopAngleMotors() { masterAngleMotor.stopMotor(); followerAngleMotor.stopMotor(); From 037185519bcbe298bcd792bcaa41ef43bca8a834 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Wed, 15 Nov 2023 09:04:40 +0200 Subject: [PATCH 067/207] added status signals --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 9 +++------ .../frc/trigon/robot/subsystems/arm/ArmConstants.java | 7 +++++-- 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index acbaa515f..bf5dd8ece 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -146,7 +146,8 @@ private double getElevatorMotorProfileTime() { } private Rotation2d getAngleMotorPosition() { - return Rotation2d.fromRotations(angleEncoder.getPosition().getValue()); + double positionRevolutions = ArmConstants.ANGLE_MOTOR_POSITION_SIGNAL.refresh().getValue(); + return Rotation2d.fromRotations(positionRevolutions); } private double getElevatorMotorPositionRevolutions() { @@ -154,6 +155,7 @@ private double getElevatorMotorPositionRevolutions() { } private double getAngleMotorVelocityDegreesPerSecond() { + double positionRevolutions = ArmConstants.ANGLE_MOTOR_VELOCITY_SIGNAL.refresh().getValue(); return Conversions.revolutionsToDegrees(angleEncoder.getVelocity().getValue()); } @@ -162,11 +164,6 @@ private double getElevatorVelocityRevolutionsPerSecond() { return Conversions.magTicksToRevolutions(magTicksPerSecond); } - private Rotation2d getAngleEncoderPosition(){ - double positionRevolutions = ArmConstants.ANGLE_ENCODER_POSITION_SIGNAL.refresh().getValue(); - return Rotation2d.fromRotations(positionRevolutions); - } - private void stopAngleMotors() { masterAngleMotor.stopMotor(); followerAngleMotor.stopMotor(); diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index 3609f31a0..5f7adf36a 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -86,7 +86,9 @@ public class ArmConstants { ELEVATOR_CONSTRAINTS = new TrapezoidProfile.Constraints( MAX_ELEVATOR_VELOCITY, MAX_ELEVATOR_ACCELERATION ); - static final StatusSignal ANGLE_ENCODER_POSITION_SIGNAL = ANGLE_ENCODER.getPosition(); + static final StatusSignal + ANGLE_MOTOR_POSITION_SIGNAL = ANGLE_ENCODER.getPosition(), + ANGLE_MOTOR_VELOCITY_SIGNAL = ANGLE_ENCODER.getVelocity(); static { configureAngleEncoder(); @@ -115,10 +117,11 @@ private static void configureAngleMotors() { FOLLOWER_ANGLE_MOTOR.setInverted(FOLLOWER_ANGLE_INVERTED); MASTER_ANGLE_MOTOR.enableVoltageCompensation(VOLTAGE_COMPENSATION_SATURATION); FOLLOWER_ANGLE_MOTOR.enableVoltageCompensation(VOLTAGE_COMPENSATION_SATURATION); + ANGLE_MOTOR_POSITION_SIGNAL.setUpdateFrequency(100); + ANGLE_MOTOR_VELOCITY_SIGNAL.setUpdateFrequency(100); } private static void configureAngleEncoder() { - ANGLE_ENCODER_POSITION_SIGNAL.setUpdateFrequency(100); CANcoderConfiguration angleEncoderConfig = new CANcoderConfiguration(); angleEncoderConfig.MagnetSensor.MagnetOffset = ANGLE_ENCODER_OFFSET; angleEncoderConfig.MagnetSensor.AbsoluteSensorRange = ANGLE_ENCODER_RANGE; From 4fc05e8dcc96d154f8a0ebe21f00e360f3534a16 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Wed, 15 Nov 2023 09:05:27 +0200 Subject: [PATCH 068/207] corrected getAngleMotorVelocityDegreesPerSecond --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index bf5dd8ece..16ee6ed67 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -156,7 +156,7 @@ private double getElevatorMotorPositionRevolutions() { private double getAngleMotorVelocityDegreesPerSecond() { double positionRevolutions = ArmConstants.ANGLE_MOTOR_VELOCITY_SIGNAL.refresh().getValue(); - return Conversions.revolutionsToDegrees(angleEncoder.getVelocity().getValue()); + return Conversions.revolutionsToDegrees(positionRevolutions); } private double getElevatorVelocityRevolutionsPerSecond() { From ebf16c5e267ae9dd40f20a5915f7c9935c183963 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Wed, 15 Nov 2023 14:10:32 +0200 Subject: [PATCH 069/207] corrected calculateElevatorMotorOutput --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 1 - 1 file changed, 1 deletion(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 16ee6ed67..212059db7 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -110,7 +110,6 @@ private double calculateElevatorMotorOutput(TrapezoidProfile.State targetState){ targetState.position ); double feedForward = ArmConstants.ELEVATOR_FEEDFORWARD.calculate( - Units.rotationsToRadians(targetState.position), Units.rotationsToRadians(targetState.velocity) ); From bac71a7986e68129baff84f3a3d577799f4d8d14 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Wed, 15 Nov 2023 15:32:44 +0200 Subject: [PATCH 070/207] cleaned up constants --- .../frc/trigon/robot/subsystems/arm/ArmConstants.java | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index 5f7adf36a..753c0248f 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -84,8 +84,9 @@ public class ArmConstants { MAX_ANGLE_VELOCITY, MAX_ANGLE_ACCELERATION ), ELEVATOR_CONSTRAINTS = new TrapezoidProfile.Constraints( - MAX_ELEVATOR_VELOCITY, MAX_ELEVATOR_ACCELERATION - ); + MAX_ELEVATOR_VELOCITY, MAX_ELEVATOR_ACCELERATION + ); + static final StatusSignal ANGLE_MOTOR_POSITION_SIGNAL = ANGLE_ENCODER.getPosition(), ANGLE_MOTOR_VELOCITY_SIGNAL = ANGLE_ENCODER.getVelocity(); @@ -117,8 +118,6 @@ private static void configureAngleMotors() { FOLLOWER_ANGLE_MOTOR.setInverted(FOLLOWER_ANGLE_INVERTED); MASTER_ANGLE_MOTOR.enableVoltageCompensation(VOLTAGE_COMPENSATION_SATURATION); FOLLOWER_ANGLE_MOTOR.enableVoltageCompensation(VOLTAGE_COMPENSATION_SATURATION); - ANGLE_MOTOR_POSITION_SIGNAL.setUpdateFrequency(100); - ANGLE_MOTOR_VELOCITY_SIGNAL.setUpdateFrequency(100); } private static void configureAngleEncoder() { @@ -127,6 +126,9 @@ private static void configureAngleEncoder() { angleEncoderConfig.MagnetSensor.AbsoluteSensorRange = ANGLE_ENCODER_RANGE; angleEncoderConfig.MagnetSensor.SensorDirection = ANGLE_ENCODER_DIRECTION; ANGLE_ENCODER.getConfigurator().apply(angleEncoderConfig); + ANGLE_ENCODER.optimizeBusUtilization(); + ANGLE_MOTOR_POSITION_SIGNAL.setUpdateFrequency(100); + ANGLE_MOTOR_VELOCITY_SIGNAL.setUpdateFrequency(100); } private static void configureElevatorEncoder() { From 026c66b53dd54f66f435698536fb8f64cbbfe684 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Wed, 15 Nov 2023 15:33:48 +0200 Subject: [PATCH 071/207] fixed calculateElevatorMotorOutput --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 2 +- src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 212059db7..e6e1e3633 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -110,7 +110,7 @@ private double calculateElevatorMotorOutput(TrapezoidProfile.State targetState){ targetState.position ); double feedForward = ArmConstants.ELEVATOR_FEEDFORWARD.calculate( - Units.rotationsToRadians(targetState.velocity) + Units.rotationsToDegrees(targetState.velocity) ); return pidOutput + feedForward; diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index 753c0248f..69e2e2dc3 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -86,7 +86,7 @@ public class ArmConstants { ELEVATOR_CONSTRAINTS = new TrapezoidProfile.Constraints( MAX_ELEVATOR_VELOCITY, MAX_ELEVATOR_ACCELERATION ); - + static final StatusSignal ANGLE_MOTOR_POSITION_SIGNAL = ANGLE_ENCODER.getPosition(), ANGLE_MOTOR_VELOCITY_SIGNAL = ANGLE_ENCODER.getVelocity(); From 4d80cbb5060bdafbd81b80e866b2bb602ba7827e Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Wed, 15 Nov 2023 18:47:52 +0200 Subject: [PATCH 072/207] added setArmTarget --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index e6e1e3633..abd921858 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -10,6 +10,7 @@ import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.FunctionalCommand; +import edu.wpi.first.wpilibj2.command.StartEndCommand; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.trigon.robot.utilities.Conversions; @@ -37,6 +38,13 @@ public static Arm getInstance() { private Arm() { } + public Command setArmTarget(ArmConstants.ArmState targetState){ + return new StartEndCommand( + () -> getSetTargetAngleCommand(targetState.angle), + () -> getSetTargetElevatorPositionCommand(targetState.elevatorPosition) + ); + } + public Command getSetTargetAngleCommand(Rotation2d targetAngle) { return new FunctionalCommand( () -> generateAngleMotorProfile(targetAngle), From 3bdded38ebd8134bf856e83af210dae86e228959 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 16 Nov 2023 11:57:08 +0200 Subject: [PATCH 073/207] fixed setArmTarget --- .../frc/trigon/robot/subsystems/arm/Arm.java | 18 ++++++++++++++---- 1 file changed, 14 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index abd921858..234ca802e 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -39,10 +39,20 @@ private Arm() { } public Command setArmTarget(ArmConstants.ArmState targetState){ - return new StartEndCommand( - () -> getSetTargetAngleCommand(targetState.angle), - () -> getSetTargetElevatorPositionCommand(targetState.elevatorPosition) - ); + if (masterAngleMotor.getOutputCurrent() > targetState.elevatorPosition){ + return new StartEndCommand( + () -> getSetTargetAngleCommand(targetState.angle), + () -> getSetTargetElevatorPositionCommand(targetState.elevatorPosition), + this + ); + } else { + return new StartEndCommand( + () -> getSetTargetElevatorPositionCommand(targetState.elevatorPosition), + () -> getSetTargetAngleCommand(targetState.angle), + this + ); + } + } public Command getSetTargetAngleCommand(Rotation2d targetAngle) { From 2f855463a4f9a637340e8360b4040d3df6c0d59f Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 16 Nov 2023 13:44:37 +0200 Subject: [PATCH 074/207] corrected names, made unnecery methods private and remived else --- .../frc/trigon/robot/subsystems/arm/Arm.java | 20 +++++++++---------- 1 file changed, 9 insertions(+), 11 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 234ca802e..392d1ea0d 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -38,24 +38,22 @@ public static Arm getInstance() { private Arm() { } - public Command setArmTarget(ArmConstants.ArmState targetState){ - if (masterAngleMotor.getOutputCurrent() > targetState.elevatorPosition){ + public Command getSetArmTarget(ArmConstants.ArmState targetState){ + if (masterAngleMotor.getOutputCurrent() > targetState.elevatorPosition) { return new StartEndCommand( () -> getSetTargetAngleCommand(targetState.angle), () -> getSetTargetElevatorPositionCommand(targetState.elevatorPosition), this ); - } else { + } return new StartEndCommand( () -> getSetTargetElevatorPositionCommand(targetState.elevatorPosition), () -> getSetTargetAngleCommand(targetState.angle), this ); - } - } - public Command getSetTargetAngleCommand(Rotation2d targetAngle) { + private Command getSetTargetAngleCommand(Rotation2d targetAngle) { return new FunctionalCommand( () -> generateAngleMotorProfile(targetAngle), this::setTargetAngleFromProfile, @@ -66,7 +64,7 @@ public Command getSetTargetAngleCommand(Rotation2d targetAngle) { ); } - public Command getSetTargetElevatorPositionCommand(double targetElevatorPosition) { + private Command getSetTargetElevatorPositionCommand(double targetElevatorPosition) { return new FunctionalCommand( () -> generateElevatorMotorProfile(targetElevatorPosition), this::setTargetElevatorPositionFromProfile, @@ -114,12 +112,12 @@ private double calculateAngleMotorOutput(TrapezoidProfile.State targetState){ getAngleMotorPosition().getDegrees(), targetState.position ); - double feedForward = ArmConstants.ANGLE_FEEDFORWARD.calculate( + double feedforward = ArmConstants.ANGLE_FEEDFORWARD.calculate( Units.degreesToRadians(targetState.position), Units.degreesToRadians(targetState.velocity) ); - return pidOutput + feedForward; + return pidOutput + feedforward; } private double calculateElevatorMotorOutput(TrapezoidProfile.State targetState){ @@ -127,11 +125,11 @@ private double calculateElevatorMotorOutput(TrapezoidProfile.State targetState){ getElevatorMotorPositionRevolutions(), targetState.position ); - double feedForward = ArmConstants.ELEVATOR_FEEDFORWARD.calculate( + double feedforward = ArmConstants.ELEVATOR_FEEDFORWARD.calculate( Units.rotationsToDegrees(targetState.velocity) ); - return pidOutput + feedForward; + return pidOutput + feedforward; } private void generateAngleMotorProfile(Rotation2d targetAngle) { From f79e185dee9b20127cb5d6725bcc721a6ad72fc7 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 16 Nov 2023 13:45:47 +0200 Subject: [PATCH 075/207] corrected names --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 392d1ea0d..fa6f41927 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -109,7 +109,7 @@ private void setElevatorMotorsVoltage(double voltage){ private double calculateAngleMotorOutput(TrapezoidProfile.State targetState){ double pidOutput = ArmConstants.ANGLE_PID_CONTROLLER.calculate( - getAngleMotorPosition().getDegrees(), + getMotorPosition().getDegrees(), targetState.position ); double feedforward = ArmConstants.ANGLE_FEEDFORWARD.calculate( @@ -136,7 +136,7 @@ private void generateAngleMotorProfile(Rotation2d targetAngle) { angleMotorProfile = new TrapezoidProfile( ArmConstants.ANGLE_CONSTRAINTS, new TrapezoidProfile.State(targetAngle.getDegrees(), 0), - new TrapezoidProfile.State(getAngleMotorPosition().getDegrees(), getAngleMotorVelocityDegreesPerSecond()) + new TrapezoidProfile.State(getMotorPosition().getDegrees(), getAngleVelocityDegreesPerSecond()) ); lastAngleMotorProfileGenerationTime = Timer.getFPGATimestamp(); @@ -160,7 +160,7 @@ private double getElevatorMotorProfileTime() { return Timer.getFPGATimestamp() - lastElevatorMotorProfileGenerationTime; } - private Rotation2d getAngleMotorPosition() { + private Rotation2d getMotorPosition() { double positionRevolutions = ArmConstants.ANGLE_MOTOR_POSITION_SIGNAL.refresh().getValue(); return Rotation2d.fromRotations(positionRevolutions); } @@ -169,7 +169,7 @@ private double getElevatorMotorPositionRevolutions() { return Conversions.magTicksToRevolutions(elevatorEncoder.getSelectedSensorPosition()); } - private double getAngleMotorVelocityDegreesPerSecond() { + private double getAngleVelocityDegreesPerSecond() { double positionRevolutions = ArmConstants.ANGLE_MOTOR_VELOCITY_SIGNAL.refresh().getValue(); return Conversions.revolutionsToDegrees(positionRevolutions); } From c76ccba5ebb385e56d908f46f72bd0badcc1c90a Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 16 Nov 2023 13:46:17 +0200 Subject: [PATCH 076/207] corredted configureAngleEncoder --- src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index 69e2e2dc3..1adb9b2a4 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -126,9 +126,9 @@ private static void configureAngleEncoder() { angleEncoderConfig.MagnetSensor.AbsoluteSensorRange = ANGLE_ENCODER_RANGE; angleEncoderConfig.MagnetSensor.SensorDirection = ANGLE_ENCODER_DIRECTION; ANGLE_ENCODER.getConfigurator().apply(angleEncoderConfig); - ANGLE_ENCODER.optimizeBusUtilization(); ANGLE_MOTOR_POSITION_SIGNAL.setUpdateFrequency(100); ANGLE_MOTOR_VELOCITY_SIGNAL.setUpdateFrequency(100); + ANGLE_ENCODER.optimizeBusUtilization(); } private static void configureElevatorEncoder() { From cc1efeab0144ebb8d23f208074a0cc336b1ed4ca Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 16 Nov 2023 13:48:48 +0200 Subject: [PATCH 077/207] corrected getSetArmTarget --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index fa6f41927..270e64165 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -39,7 +39,7 @@ private Arm() { } public Command getSetArmTarget(ArmConstants.ArmState targetState){ - if (masterAngleMotor.getOutputCurrent() > targetState.elevatorPosition) { + if (elevatorEncoder.getSelectedSensorPosition() > targetState.elevatorPosition) { return new StartEndCommand( () -> getSetTargetAngleCommand(targetState.angle), () -> getSetTargetElevatorPositionCommand(targetState.elevatorPosition), From a38a846c4c4005a5326e002dd2e66381c2a72adf Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 16 Nov 2023 13:51:42 +0200 Subject: [PATCH 078/207] corrected getSetArmTarget and updated names --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 270e64165..689852ad8 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -39,7 +39,7 @@ private Arm() { } public Command getSetArmTarget(ArmConstants.ArmState targetState){ - if (elevatorEncoder.getSelectedSensorPosition() > targetState.elevatorPosition) { + if (getElevatorPositionRevolutions() > targetState.elevatorPosition) { return new StartEndCommand( () -> getSetTargetAngleCommand(targetState.angle), () -> getSetTargetElevatorPositionCommand(targetState.elevatorPosition), @@ -122,7 +122,7 @@ private double calculateAngleMotorOutput(TrapezoidProfile.State targetState){ private double calculateElevatorMotorOutput(TrapezoidProfile.State targetState){ double pidOutput = ArmConstants.ELEVATOR_PID_CONTROLLER.calculate( - getElevatorMotorPositionRevolutions(), + getElevatorPositionRevolutions(), targetState.position ); double feedforward = ArmConstants.ELEVATOR_FEEDFORWARD.calculate( @@ -146,7 +146,7 @@ private void generateElevatorMotorProfile(double targetElevatorPosition) { elevatorMotorProfile = new TrapezoidProfile( ArmConstants.ELEVATOR_CONSTRAINTS, new TrapezoidProfile.State(targetElevatorPosition, 0), - new TrapezoidProfile.State(getElevatorMotorPositionRevolutions(), getElevatorVelocityRevolutionsPerSecond()) + new TrapezoidProfile.State(getElevatorPositionRevolutions(), getElevatorVelocityRevolutionsPerSecond()) ); lastElevatorMotorProfileGenerationTime = Timer.getFPGATimestamp(); @@ -165,7 +165,7 @@ private Rotation2d getMotorPosition() { return Rotation2d.fromRotations(positionRevolutions); } - private double getElevatorMotorPositionRevolutions() { + private double getElevatorPositionRevolutions() { return Conversions.magTicksToRevolutions(elevatorEncoder.getSelectedSensorPosition()); } From 15b2c8507eb5325fe0e8abf6ce96ce0559d10e62 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 16 Nov 2023 13:52:41 +0200 Subject: [PATCH 079/207] corrected calculateElevatorMotorOutput --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 689852ad8..5af054bb7 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -126,7 +126,7 @@ private double calculateElevatorMotorOutput(TrapezoidProfile.State targetState){ targetState.position ); double feedforward = ArmConstants.ELEVATOR_FEEDFORWARD.calculate( - Units.rotationsToDegrees(targetState.velocity) + (targetState.velocity) ); return pidOutput + feedforward; From 6b1d2a167d1df29598da048b45762a706067cbaf Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 16 Nov 2023 15:19:02 +0200 Subject: [PATCH 080/207] removed extra new line --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 1 - 1 file changed, 1 deletion(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 5af054bb7..45d74e787 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -1,6 +1,5 @@ package frc.trigon.robot.subsystems.arm; - import com.ctre.phoenix.motorcontrol.can.TalonSRX; import com.ctre.phoenix6.hardware.CANcoder; import com.revrobotics.CANSparkMax; From 1bac01817d60b700fc5e572b105446e8a220de71 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 16 Nov 2023 15:35:07 +0200 Subject: [PATCH 081/207] corrected names and logic --- .../java/frc/trigon/robot/subsystems/arm/Arm.java | 13 +++++-------- 1 file changed, 5 insertions(+), 8 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 45d74e787..978939bf7 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -38,7 +38,7 @@ private Arm() { } public Command getSetArmTarget(ArmConstants.ArmState targetState){ - if (getElevatorPositionRevolutions() > targetState.elevatorPosition) { + if (getElevatorPositionRevolutions() < targetState.elevatorPosition) { return new StartEndCommand( () -> getSetTargetAngleCommand(targetState.angle), () -> getSetTargetElevatorPositionCommand(targetState.elevatorPosition), @@ -108,7 +108,7 @@ private void setElevatorMotorsVoltage(double voltage){ private double calculateAngleMotorOutput(TrapezoidProfile.State targetState){ double pidOutput = ArmConstants.ANGLE_PID_CONTROLLER.calculate( - getMotorPosition().getDegrees(), + getAnglePosition().getDegrees(), targetState.position ); double feedforward = ArmConstants.ANGLE_FEEDFORWARD.calculate( @@ -124,10 +124,7 @@ private double calculateElevatorMotorOutput(TrapezoidProfile.State targetState){ getElevatorPositionRevolutions(), targetState.position ); - double feedforward = ArmConstants.ELEVATOR_FEEDFORWARD.calculate( - (targetState.velocity) - ); - + double feedforward = ArmConstants.ELEVATOR_FEEDFORWARD.calculate(targetState.velocity); return pidOutput + feedforward; } @@ -135,7 +132,7 @@ private void generateAngleMotorProfile(Rotation2d targetAngle) { angleMotorProfile = new TrapezoidProfile( ArmConstants.ANGLE_CONSTRAINTS, new TrapezoidProfile.State(targetAngle.getDegrees(), 0), - new TrapezoidProfile.State(getMotorPosition().getDegrees(), getAngleVelocityDegreesPerSecond()) + new TrapezoidProfile.State(getAnglePosition().getDegrees(), getAngleVelocityDegreesPerSecond()) ); lastAngleMotorProfileGenerationTime = Timer.getFPGATimestamp(); @@ -159,7 +156,7 @@ private double getElevatorMotorProfileTime() { return Timer.getFPGATimestamp() - lastElevatorMotorProfileGenerationTime; } - private Rotation2d getMotorPosition() { + private Rotation2d getAnglePosition() { double positionRevolutions = ArmConstants.ANGLE_MOTOR_POSITION_SIGNAL.refresh().getValue(); return Rotation2d.fromRotations(positionRevolutions); } From db6b373dd3ea51222c46b448d4f7bfc98cde5b9a Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 16 Nov 2023 15:39:54 +0200 Subject: [PATCH 082/207] corrected getSetArmTarget --- .../frc/trigon/robot/subsystems/arm/Arm.java | 19 +++++++------------ 1 file changed, 7 insertions(+), 12 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 978939bf7..abdca5184 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -7,10 +7,7 @@ import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.Timer; -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.FunctionalCommand; -import edu.wpi.first.wpilibj2.command.StartEndCommand; -import edu.wpi.first.wpilibj2.command.SubsystemBase; +import edu.wpi.first.wpilibj2.command.*; import frc.trigon.robot.utilities.Conversions; public class Arm extends SubsystemBase { @@ -39,16 +36,14 @@ private Arm() { public Command getSetArmTarget(ArmConstants.ArmState targetState){ if (getElevatorPositionRevolutions() < targetState.elevatorPosition) { - return new StartEndCommand( - () -> getSetTargetAngleCommand(targetState.angle), - () -> getSetTargetElevatorPositionCommand(targetState.elevatorPosition), - this + return new SequentialCommandGroup( + getSetTargetAngleCommand(targetState.angle).andThen(), + getSetTargetElevatorPositionCommand(targetState.elevatorPosition) ); } - return new StartEndCommand( - () -> getSetTargetElevatorPositionCommand(targetState.elevatorPosition), - () -> getSetTargetAngleCommand(targetState.angle), - this + return new SequentialCommandGroup( + getSetTargetElevatorPositionCommand(targetState.elevatorPosition).andThen(), + getSetTargetAngleCommand(targetState.angle) ); } From e7e4c8c030ad433bac47cdc0c2ffada877184ddf Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 16 Nov 2023 16:11:36 +0200 Subject: [PATCH 083/207] removed andThen --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index abdca5184..47320317d 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -37,12 +37,12 @@ private Arm() { public Command getSetArmTarget(ArmConstants.ArmState targetState){ if (getElevatorPositionRevolutions() < targetState.elevatorPosition) { return new SequentialCommandGroup( - getSetTargetAngleCommand(targetState.angle).andThen(), + getSetTargetAngleCommand(targetState.angle), getSetTargetElevatorPositionCommand(targetState.elevatorPosition) ); } return new SequentialCommandGroup( - getSetTargetElevatorPositionCommand(targetState.elevatorPosition).andThen(), + getSetTargetElevatorPositionCommand(targetState.elevatorPosition), getSetTargetAngleCommand(targetState.angle) ); } From 9abeec79fbc6024466d2856b079bc93e904cd177 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 16 Nov 2023 16:12:19 +0200 Subject: [PATCH 084/207] reformatted and changed names --- .../frc/trigon/robot/subsystems/arm/Arm.java | 23 +++++++++++-------- 1 file changed, 13 insertions(+), 10 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 47320317d..58faf5339 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -7,7 +7,10 @@ import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.Timer; -import edu.wpi.first.wpilibj2.command.*; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.FunctionalCommand; +import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; +import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.trigon.robot.utilities.Conversions; public class Arm extends SubsystemBase { @@ -34,17 +37,17 @@ public static Arm getInstance() { private Arm() { } - public Command getSetArmTarget(ArmConstants.ArmState targetState){ + public Command getSetArmState(ArmConstants.ArmState targetState) { if (getElevatorPositionRevolutions() < targetState.elevatorPosition) { return new SequentialCommandGroup( getSetTargetAngleCommand(targetState.angle), getSetTargetElevatorPositionCommand(targetState.elevatorPosition) ); } - return new SequentialCommandGroup( - getSetTargetElevatorPositionCommand(targetState.elevatorPosition), - getSetTargetAngleCommand(targetState.angle) - ); + return new SequentialCommandGroup( + getSetTargetElevatorPositionCommand(targetState.elevatorPosition), + getSetTargetAngleCommand(targetState.angle) + ); } private Command getSetTargetAngleCommand(Rotation2d targetAngle) { @@ -91,17 +94,17 @@ private void setTargetElevatorPositionFromProfile() { setElevatorMotorsVoltage(voltage); } - private void setAngleMotorsVoltage(double voltage){ + private void setAngleMotorsVoltage(double voltage) { masterAngleMotor.setVoltage(voltage); followerAngleMotor.setVoltage(voltage); } - private void setElevatorMotorsVoltage(double voltage){ + private void setElevatorMotorsVoltage(double voltage) { masterElevatorMotor.setVoltage(voltage); followerElevatorMotor.setVoltage(voltage); } - private double calculateAngleMotorOutput(TrapezoidProfile.State targetState){ + private double calculateAngleMotorOutput(TrapezoidProfile.State targetState) { double pidOutput = ArmConstants.ANGLE_PID_CONTROLLER.calculate( getAnglePosition().getDegrees(), targetState.position @@ -114,7 +117,7 @@ private double calculateAngleMotorOutput(TrapezoidProfile.State targetState){ return pidOutput + feedforward; } - private double calculateElevatorMotorOutput(TrapezoidProfile.State targetState){ + private double calculateElevatorMotorOutput(TrapezoidProfile.State targetState) { double pidOutput = ArmConstants.ELEVATOR_PID_CONTROLLER.calculate( getElevatorPositionRevolutions(), targetState.position From 1c5db4e8e5d84142cda345a6c38552fbeb2d59c4 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 16 Nov 2023 22:24:20 +0200 Subject: [PATCH 085/207] recloned repository --- ...Build & Deploy Robot for Debugging.run.xml | 22 ++++++++++++++++ .run/Build & Deploy Robot.run.xml | 22 ++++++++++++++++ .run/Build & Run Simulate Java.run.xml | 24 ++++++++++++++++++ .run/Build Robot.run.xml | 22 ++++++++++++++++ ...Build & Deploy Robot for Debugging.run.xml | 23 +++++++++++++++++ .run/Clean Build & Deploy Robot.run.xml | 23 +++++++++++++++++ .run/Clean Build & Run Simulate Java.run.xml | 25 +++++++++++++++++++ .run/Clean Build Robot.run.xml | 23 +++++++++++++++++ .run/Clean.run.xml | 22 ++++++++++++++++ 9 files changed, 206 insertions(+) create mode 100644 .run/Build & Run Simulate Java.run.xml create mode 100644 .run/Clean Build & Run Simulate Java.run.xml diff --git a/.run/Build & Deploy Robot for Debugging.run.xml b/.run/Build & Deploy Robot for Debugging.run.xml index 821ba32df..0fa85ce5d 100644 --- a/.run/Build & Deploy Robot for Debugging.run.xml +++ b/.run/Build & Deploy Robot for Debugging.run.xml @@ -65,4 +65,26 @@ false + + + + + + true + true + false + false + + \ No newline at end of file diff --git a/.run/Build & Deploy Robot.run.xml b/.run/Build & Deploy Robot.run.xml index 3d60b7bd7..618fba1aa 100644 --- a/.run/Build & Deploy Robot.run.xml +++ b/.run/Build & Deploy Robot.run.xml @@ -65,4 +65,26 @@ false + + + + + + true + true + false + false + + \ No newline at end of file diff --git a/.run/Build & Run Simulate Java.run.xml b/.run/Build & Run Simulate Java.run.xml new file mode 100644 index 000000000..a7218b9a4 --- /dev/null +++ b/.run/Build & Run Simulate Java.run.xml @@ -0,0 +1,24 @@ + + + + + + + true + true + false + false + + + \ No newline at end of file diff --git a/.run/Build Robot.run.xml b/.run/Build Robot.run.xml index 3899ab5c5..6b0d2ec71 100644 --- a/.run/Build Robot.run.xml +++ b/.run/Build Robot.run.xml @@ -65,4 +65,26 @@ false + + + + + + true + true + false + false + + \ No newline at end of file diff --git a/.run/Clean Build & Deploy Robot for Debugging.run.xml b/.run/Clean Build & Deploy Robot for Debugging.run.xml index 21d486c52..4e4b2d324 100644 --- a/.run/Clean Build & Deploy Robot for Debugging.run.xml +++ b/.run/Clean Build & Deploy Robot for Debugging.run.xml @@ -68,4 +68,27 @@ false + + + + + + true + true + false + false + + \ No newline at end of file diff --git a/.run/Clean Build & Deploy Robot.run.xml b/.run/Clean Build & Deploy Robot.run.xml index f1b07cd4e..d38efbee8 100644 --- a/.run/Clean Build & Deploy Robot.run.xml +++ b/.run/Clean Build & Deploy Robot.run.xml @@ -68,4 +68,27 @@ false + + + + + + true + true + false + false + + \ No newline at end of file diff --git a/.run/Clean Build & Run Simulate Java.run.xml b/.run/Clean Build & Run Simulate Java.run.xml new file mode 100644 index 000000000..d9cc9eaa4 --- /dev/null +++ b/.run/Clean Build & Run Simulate Java.run.xml @@ -0,0 +1,25 @@ + + + + + + + true + true + false + false + + + \ No newline at end of file diff --git a/.run/Clean Build Robot.run.xml b/.run/Clean Build Robot.run.xml index 7003ca64d..f11d1fd5a 100644 --- a/.run/Clean Build Robot.run.xml +++ b/.run/Clean Build Robot.run.xml @@ -68,4 +68,27 @@ false + + + + + + true + true + false + false + + \ No newline at end of file diff --git a/.run/Clean.run.xml b/.run/Clean.run.xml index c6b522475..a0b5a0241 100644 --- a/.run/Clean.run.xml +++ b/.run/Clean.run.xml @@ -65,4 +65,26 @@ false + + + + + + true + true + false + false + + \ No newline at end of file From bd23984ff3c3e3edac8072b33ade2100d87916ce Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Fri, 17 Nov 2023 10:38:00 +0200 Subject: [PATCH 086/207] atempted to make DefferedCommand, but I'm defenetly wrong --- .../frc/trigon/robot/subsystems/arm/Arm.java | 16 ++++++++++++---- 1 file changed, 12 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 58faf5339..d2b3e2d17 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -7,12 +7,13 @@ import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.Timer; -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.FunctionalCommand; -import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; -import edu.wpi.first.wpilibj2.command.SubsystemBase; +import edu.wpi.first.wpilibj2.command.*; import frc.trigon.robot.utilities.Conversions; +import java.util.HashSet; +import java.util.Set; +import java.util.function.Supplier; + public class Arm extends SubsystemBase { private final static Arm INSTANCE = new Arm(); @@ -38,6 +39,13 @@ private Arm() { } public Command getSetArmState(ArmConstants.ArmState targetState) { + Supplier getSetTargetAngleCommandSupplier = () -> getSetTargetAngleCommand(targetState.angle); + Supplier getSetTargetElevatorPositionCommandSupplier = () -> getSetTargetElevatorPositionCommand(targetState.elevatorPosition); + Set set = new HashSet<>(); + new DeferredCommand( + getSetTargetAngleCommandSupplier, + set + ); if (getElevatorPositionRevolutions() < targetState.elevatorPosition) { return new SequentialCommandGroup( getSetTargetAngleCommand(targetState.angle), From efa98083fbc80e65d3f9570f479ac04f4b4f1786 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Fri, 17 Nov 2023 14:15:42 +0200 Subject: [PATCH 087/207] added DeferedCommands --- .../frc/trigon/robot/subsystems/arm/Arm.java | 31 ++++++++++++------- 1 file changed, 20 insertions(+), 11 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index d2b3e2d17..d6b4eeb26 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -39,22 +39,31 @@ private Arm() { } public Command getSetArmState(ArmConstants.ArmState targetState) { - Supplier getSetTargetAngleCommandSupplier = () -> getSetTargetAngleCommand(targetState.angle); - Supplier getSetTargetElevatorPositionCommandSupplier = () -> getSetTargetElevatorPositionCommand(targetState.elevatorPosition); - Set set = new HashSet<>(); - new DeferredCommand( - getSetTargetAngleCommandSupplier, - set - ); if (getElevatorPositionRevolutions() < targetState.elevatorPosition) { return new SequentialCommandGroup( - getSetTargetAngleCommand(targetState.angle), - getSetTargetElevatorPositionCommand(targetState.elevatorPosition) + setAngleStateDeferedCommand(targetState.angle), + setElevatorPositionDeferedCommand(targetState.elevatorPosition) ); } return new SequentialCommandGroup( - getSetTargetElevatorPositionCommand(targetState.elevatorPosition), - getSetTargetAngleCommand(targetState.angle) + setElevatorPositionDeferedCommand(targetState.elevatorPosition), + setAngleStateDeferedCommand(targetState.angle) + ); + } + + private Command setAngleStateDeferedCommand(Rotation2d targetAngle){ + Supplier getSetTargetAngleCommandSupplier = () -> getSetTargetAngleCommand(targetAngle); + return new DeferredCommand( + getSetTargetAngleCommandSupplier, + Set.of(this) + ); + } + + private Command setElevatorPositionDeferedCommand(double targetPosition){ + Supplier getSetTargetElevatorPositionCommandSupplier = () -> getSetTargetElevatorPositionCommand(targetPosition); + return new DeferredCommand( + getSetTargetElevatorPositionCommandSupplier, + Set.of(this) ); } From 6a4a3bbc41ea0208655462bc4161cfe4fa6cb105 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sat, 18 Nov 2023 19:07:07 +0200 Subject: [PATCH 088/207] added new line --- src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java | 1 + 1 file changed, 1 insertion(+) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index 1adb9b2a4..2823571bc 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -126,6 +126,7 @@ private static void configureAngleEncoder() { angleEncoderConfig.MagnetSensor.AbsoluteSensorRange = ANGLE_ENCODER_RANGE; angleEncoderConfig.MagnetSensor.SensorDirection = ANGLE_ENCODER_DIRECTION; ANGLE_ENCODER.getConfigurator().apply(angleEncoderConfig); + ANGLE_MOTOR_POSITION_SIGNAL.setUpdateFrequency(100); ANGLE_MOTOR_VELOCITY_SIGNAL.setUpdateFrequency(100); ANGLE_ENCODER.optimizeBusUtilization(); From 36fcff8945591559a6a174edaf159b742727180a Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sat, 18 Nov 2023 19:08:29 +0200 Subject: [PATCH 089/207] reordered code --- .../frc/trigon/robot/subsystems/arm/Arm.java | 40 +++++++++---------- .../robot/subsystems/arm/ArmConstants.java | 2 +- 2 files changed, 21 insertions(+), 21 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index d6b4eeb26..b971dd36b 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -111,6 +111,26 @@ private void setTargetElevatorPositionFromProfile() { setElevatorMotorsVoltage(voltage); } + private void generateAngleMotorProfile(Rotation2d targetAngle) { + angleMotorProfile = new TrapezoidProfile( + ArmConstants.ANGLE_CONSTRAINTS, + new TrapezoidProfile.State(targetAngle.getDegrees(), 0), + new TrapezoidProfile.State(getAnglePosition().getDegrees(), getAngleVelocityDegreesPerSecond()) + ); + + lastAngleMotorProfileGenerationTime = Timer.getFPGATimestamp(); + } + + private void generateElevatorMotorProfile(double targetElevatorPosition) { + elevatorMotorProfile = new TrapezoidProfile( + ArmConstants.ELEVATOR_CONSTRAINTS, + new TrapezoidProfile.State(targetElevatorPosition, 0), + new TrapezoidProfile.State(getElevatorPositionRevolutions(), getElevatorVelocityRevolutionsPerSecond()) + ); + + lastElevatorMotorProfileGenerationTime = Timer.getFPGATimestamp(); + } + private void setAngleMotorsVoltage(double voltage) { masterAngleMotor.setVoltage(voltage); followerAngleMotor.setVoltage(voltage); @@ -143,26 +163,6 @@ private double calculateElevatorMotorOutput(TrapezoidProfile.State targetState) return pidOutput + feedforward; } - private void generateAngleMotorProfile(Rotation2d targetAngle) { - angleMotorProfile = new TrapezoidProfile( - ArmConstants.ANGLE_CONSTRAINTS, - new TrapezoidProfile.State(targetAngle.getDegrees(), 0), - new TrapezoidProfile.State(getAnglePosition().getDegrees(), getAngleVelocityDegreesPerSecond()) - ); - - lastAngleMotorProfileGenerationTime = Timer.getFPGATimestamp(); - } - - private void generateElevatorMotorProfile(double targetElevatorPosition) { - elevatorMotorProfile = new TrapezoidProfile( - ArmConstants.ELEVATOR_CONSTRAINTS, - new TrapezoidProfile.State(targetElevatorPosition, 0), - new TrapezoidProfile.State(getElevatorPositionRevolutions(), getElevatorVelocityRevolutionsPerSecond()) - ); - - lastElevatorMotorProfileGenerationTime = Timer.getFPGATimestamp(); - } - private double getAngleMotorProfileTime() { return Timer.getFPGATimestamp() - lastAngleMotorProfileGenerationTime; } diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index 2823571bc..f50314bca 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -126,7 +126,7 @@ private static void configureAngleEncoder() { angleEncoderConfig.MagnetSensor.AbsoluteSensorRange = ANGLE_ENCODER_RANGE; angleEncoderConfig.MagnetSensor.SensorDirection = ANGLE_ENCODER_DIRECTION; ANGLE_ENCODER.getConfigurator().apply(angleEncoderConfig); - + ANGLE_MOTOR_POSITION_SIGNAL.setUpdateFrequency(100); ANGLE_MOTOR_VELOCITY_SIGNAL.setUpdateFrequency(100); ANGLE_ENCODER.optimizeBusUtilization(); From 5f7ff700fb0e94f603ca3d57789f5463971e9ff4 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sat, 18 Nov 2023 21:52:21 +0200 Subject: [PATCH 090/207] corrected DefferedCommandLogic --- .../frc/trigon/robot/subsystems/arm/Arm.java | 40 +++++++++---------- 1 file changed, 18 insertions(+), 22 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index b971dd36b..30f18928f 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -38,33 +38,29 @@ public static Arm getInstance() { private Arm() { } - public Command getSetArmState(ArmConstants.ArmState targetState) { - if (getElevatorPositionRevolutions() < targetState.elevatorPosition) { - return new SequentialCommandGroup( - setAngleStateDeferedCommand(targetState.angle), - setElevatorPositionDeferedCommand(targetState.elevatorPosition) - ); - } - return new SequentialCommandGroup( - setElevatorPositionDeferedCommand(targetState.elevatorPosition), - setAngleStateDeferedCommand(targetState.angle) - ); - } - - private Command setAngleStateDeferedCommand(Rotation2d targetAngle){ - Supplier getSetTargetAngleCommandSupplier = () -> getSetTargetAngleCommand(targetAngle); + public Command getSetArmStateCommand(ArmConstants.ArmState targetState){ + Supplier setArmStateSupplier = () -> setArmStateCommand(targetState); return new DeferredCommand( - getSetTargetAngleCommandSupplier, + setArmStateSupplier, Set.of(this) ); } - private Command setElevatorPositionDeferedCommand(double targetPosition){ - Supplier getSetTargetElevatorPositionCommandSupplier = () -> getSetTargetElevatorPositionCommand(targetPosition); - return new DeferredCommand( - getSetTargetElevatorPositionCommandSupplier, - Set.of(this) - ); + private Command setArmStateCommand(ArmConstants.ArmState targetState){ + if (isElevatorOpening(targetState.elevatorPosition)) { + return new SequentialCommandGroup( + getSetTargetAngleCommand(targetState.angle), + getSetTargetElevatorPositionCommand(targetState.elevatorPosition) + ); + } + return new SequentialCommandGroup( + getSetTargetElevatorPositionCommand(targetState.elevatorPosition), + getSetTargetAngleCommand(targetState.angle) + ); + } + + private boolean isElevatorOpening(double elevatorPosition){ + return getElevatorPositionRevolutions() < elevatorPosition; } private Command getSetTargetAngleCommand(Rotation2d targetAngle) { From bccb7da533b804430e86ab0de55630e91dadfbfb Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sun, 19 Nov 2023 13:13:40 +0200 Subject: [PATCH 091/207] renamed and reformatted --- .../java/frc/trigon/robot/subsystems/arm/Arm.java | 15 +++++++-------- 1 file changed, 7 insertions(+), 8 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 30f18928f..d303ffe23 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -10,7 +10,6 @@ import edu.wpi.first.wpilibj2.command.*; import frc.trigon.robot.utilities.Conversions; -import java.util.HashSet; import java.util.Set; import java.util.function.Supplier; @@ -38,7 +37,7 @@ public static Arm getInstance() { private Arm() { } - public Command getSetArmStateCommand(ArmConstants.ArmState targetState){ + public Command getSetTargetArmStateCommand(ArmConstants.ArmState targetState) { Supplier setArmStateSupplier = () -> setArmStateCommand(targetState); return new DeferredCommand( setArmStateSupplier, @@ -46,20 +45,20 @@ public Command getSetArmStateCommand(ArmConstants.ArmState targetState){ ); } - private Command setArmStateCommand(ArmConstants.ArmState targetState){ + private Command setArmStateCommand(ArmConstants.ArmState targetState) { if (isElevatorOpening(targetState.elevatorPosition)) { return new SequentialCommandGroup( getSetTargetAngleCommand(targetState.angle), getSetTargetElevatorPositionCommand(targetState.elevatorPosition) ); } - return new SequentialCommandGroup( - getSetTargetElevatorPositionCommand(targetState.elevatorPosition), - getSetTargetAngleCommand(targetState.angle) - ); + return new SequentialCommandGroup( + getSetTargetElevatorPositionCommand(targetState.elevatorPosition), + getSetTargetAngleCommand(targetState.angle) + ); } - private boolean isElevatorOpening(double elevatorPosition){ + private boolean isElevatorOpening(double elevatorPosition) { return getElevatorPositionRevolutions() < elevatorPosition; } From 7cd766aa829224025cec01448c87d6458f6789de Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sun, 19 Nov 2023 13:22:07 +0200 Subject: [PATCH 092/207] renamed and removed redundent code --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index d303ffe23..d6740f77f 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -38,14 +38,13 @@ private Arm() { } public Command getSetTargetArmStateCommand(ArmConstants.ArmState targetState) { - Supplier setArmStateSupplier = () -> setArmStateCommand(targetState); return new DeferredCommand( - setArmStateSupplier, + () -> getCurrentSetTargetArmStateCommand(targetState), Set.of(this) ); } - private Command setArmStateCommand(ArmConstants.ArmState targetState) { + private Command getCurrentSetTargetArmStateCommand(ArmConstants.ArmState targetState) { if (isElevatorOpening(targetState.elevatorPosition)) { return new SequentialCommandGroup( getSetTargetAngleCommand(targetState.angle), From 890035b7c7c4e7ba22a2d17c21864dbf677680f6 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sun, 19 Nov 2023 13:56:43 +0200 Subject: [PATCH 093/207] added first command --- .../frc/trigon/robot/subsystems/arm/Arm.java | 17 ++++++++++++----- 1 file changed, 12 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index d6740f77f..32bcaafa6 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -39,16 +39,23 @@ private Arm() { public Command getSetTargetArmStateCommand(ArmConstants.ArmState targetState) { return new DeferredCommand( - () -> getCurrentSetTargetArmStateCommand(targetState), + () -> getCurrentSetTargetArmStateCommand(targetState.angle, targetState.elevatorPosition), Set.of(this) ); } - private Command getCurrentSetTargetArmStateCommand(ArmConstants.ArmState targetState) { - if (isElevatorOpening(targetState.elevatorPosition)) { + public Command getSetTargetArmStateCommand(Rotation2d angle, double elevatorPosition){ + return new DeferredCommand( + () -> getCurrentSetTargetArmStateCommand(angle, elevatorPosition), + Set.of(this) + ); + } + + private Command getCurrentSetTargetArmStateCommand(Rotation2d angle, double elevatorPosition) { + if (isElevatorOpening(elevatorPosition)) { return new SequentialCommandGroup( - getSetTargetAngleCommand(targetState.angle), - getSetTargetElevatorPositionCommand(targetState.elevatorPosition) + getSetTargetAngleCommand(angle), + getSetTargetElevatorPositionCommand(elevatorPosition) ); } return new SequentialCommandGroup( From 5cd1987f26f7223e2e6a0a6784760678cba386e0 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sun, 19 Nov 2023 13:58:33 +0200 Subject: [PATCH 094/207] fixed getCurrentSetTargetArmStateCommand --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 32bcaafa6..e1968802e 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -59,8 +59,8 @@ private Command getCurrentSetTargetArmStateCommand(Rotation2d angle, double elev ); } return new SequentialCommandGroup( - getSetTargetElevatorPositionCommand(targetState.elevatorPosition), - getSetTargetAngleCommand(targetState.angle) + getSetTargetElevatorPositionCommand(elevatorPosition), + getSetTargetAngleCommand(angle) ); } From f0045bec8cfe396455f94fe97b48cb726c34c057 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sun, 19 Nov 2023 14:09:01 +0200 Subject: [PATCH 095/207] reformatted --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index e1968802e..32595c997 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -9,9 +9,7 @@ import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj2.command.*; import frc.trigon.robot.utilities.Conversions; - import java.util.Set; -import java.util.function.Supplier; public class Arm extends SubsystemBase { private final static Arm INSTANCE = new Arm(); @@ -44,7 +42,7 @@ public Command getSetTargetArmStateCommand(ArmConstants.ArmState targetState) { ); } - public Command getSetTargetArmStateCommand(Rotation2d angle, double elevatorPosition){ + public Command getSetTargetArmStateCommand(Rotation2d angle, double elevatorPosition) { return new DeferredCommand( () -> getCurrentSetTargetArmStateCommand(angle, elevatorPosition), Set.of(this) From 6d4be9d0204f84c6b829faca3f6501d9b924942b Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sun, 19 Nov 2023 14:22:25 +0200 Subject: [PATCH 096/207] atemted to add other commands --- .../frc/trigon/robot/subsystems/arm/Arm.java | 17 ++++++++++++----- 1 file changed, 12 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 32595c997..ff924a7c7 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -36,15 +36,22 @@ private Arm() { } public Command getSetTargetArmStateCommand(ArmConstants.ArmState targetState) { - return new DeferredCommand( - () -> getCurrentSetTargetArmStateCommand(targetState.angle, targetState.elevatorPosition), - Set.of(this) - ); + return setTargetArmPosition(targetState.angle, targetState.elevatorPosition, 100, 100); } public Command getSetTargetArmStateCommand(Rotation2d angle, double elevatorPosition) { + return setTargetArmPosition(angle, elevatorPosition, 100, 100); + } + + public Command setTargetArmPosition(ArmConstants.ArmState targetState, double angleSpeedPercentage, double elevatorSpeedPercentage){ + return setTargetArmPosition(targetState.angle, targetState.elevatorPosition, angleSpeedPercentage, elevatorSpeedPercentage); + } + + private Command setTargetArmPosition(Rotation2d targetAngle, double targetElevatorPosition, double angleSpeedPercentage, double elevatorSpeedPercentage){ + Conversions.scaleConstraints(ArmConstants.ANGLE_CONSTRAINTS, angleSpeedPercentage); + Conversions.scaleConstraints(ArmConstants.ELEVATOR_CONSTRAINTS, elevatorSpeedPercentage); return new DeferredCommand( - () -> getCurrentSetTargetArmStateCommand(angle, elevatorPosition), + () -> getCurrentSetTargetArmStateCommand(targetAngle, targetElevatorPosition), Set.of(this) ); } From e105509e54bf2d1a832e3bd5739200d00474a0bf Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sun, 19 Nov 2023 15:13:51 +0200 Subject: [PATCH 097/207] fixed names and reformated --- .../java/frc/trigon/robot/subsystems/arm/Arm.java | 15 ++++++++------- 1 file changed, 8 insertions(+), 7 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index ff924a7c7..69071463a 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -39,15 +39,15 @@ public Command getSetTargetArmStateCommand(ArmConstants.ArmState targetState) { return setTargetArmPosition(targetState.angle, targetState.elevatorPosition, 100, 100); } - public Command getSetTargetArmStateCommand(Rotation2d angle, double elevatorPosition) { + public Command getSetTargetArmPositionCommand(Rotation2d angle, double elevatorPosition) { return setTargetArmPosition(angle, elevatorPosition, 100, 100); } - public Command setTargetArmPosition(ArmConstants.ArmState targetState, double angleSpeedPercentage, double elevatorSpeedPercentage){ + public Command getSetTargetArmPositionCommandAndSetPercentage(ArmConstants.ArmState targetState, double angleSpeedPercentage, double elevatorSpeedPercentage) { return setTargetArmPosition(targetState.angle, targetState.elevatorPosition, angleSpeedPercentage, elevatorSpeedPercentage); } - private Command setTargetArmPosition(Rotation2d targetAngle, double targetElevatorPosition, double angleSpeedPercentage, double elevatorSpeedPercentage){ + private Command setTargetArmPosition(Rotation2d targetAngle, double targetElevatorPosition, double angleSpeedPercentage, double elevatorSpeedPercentage) { Conversions.scaleConstraints(ArmConstants.ANGLE_CONSTRAINTS, angleSpeedPercentage); Conversions.scaleConstraints(ArmConstants.ELEVATOR_CONSTRAINTS, elevatorSpeedPercentage); return new DeferredCommand( @@ -69,10 +69,6 @@ private Command getCurrentSetTargetArmStateCommand(Rotation2d angle, double elev ); } - private boolean isElevatorOpening(double elevatorPosition) { - return getElevatorPositionRevolutions() < elevatorPosition; - } - private Command getSetTargetAngleCommand(Rotation2d targetAngle) { return new FunctionalCommand( () -> generateAngleMotorProfile(targetAngle), @@ -95,6 +91,11 @@ private Command getSetTargetElevatorPositionCommand(double targetElevatorPositio ); } + + private boolean isElevatorOpening(double elevatorPosition) { + return getElevatorPositionRevolutions() < elevatorPosition; + } + private void setTargetAngleFromProfile() { if (angleMotorProfile == null) { stopAngleMotors(); From 6384a1cf97562f0b095bd32a184c2ffe895a82c8 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sun, 19 Nov 2023 15:19:32 +0200 Subject: [PATCH 098/207] fixed constraints logic --- .../java/frc/trigon/robot/subsystems/arm/Arm.java | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 69071463a..9bdca28e7 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -21,6 +21,9 @@ public class Arm extends SubsystemBase { followerElevatorMotor = ArmConstants.FOLLOWER_ELEVATOR_MOTOR; private final CANcoder angleEncoder = ArmConstants.ANGLE_ENCODER; private final TalonSRX elevatorEncoder = ArmConstants.ELEVATOR_ENCODER; + private TrapezoidProfile.Constraints + angleConstraints = ArmConstants.ANGLE_CONSTRAINTS, + elevatorConstraints = ArmConstants.ELEVATOR_CONSTRAINTS; private TrapezoidProfile angleMotorProfile = null, elevatorMotorProfile = null; @@ -48,8 +51,8 @@ public Command getSetTargetArmPositionCommandAndSetPercentage(ArmConstants.ArmSt } private Command setTargetArmPosition(Rotation2d targetAngle, double targetElevatorPosition, double angleSpeedPercentage, double elevatorSpeedPercentage) { - Conversions.scaleConstraints(ArmConstants.ANGLE_CONSTRAINTS, angleSpeedPercentage); - Conversions.scaleConstraints(ArmConstants.ELEVATOR_CONSTRAINTS, elevatorSpeedPercentage); + angleConstraints = Conversions.scaleConstraints(ArmConstants.ANGLE_CONSTRAINTS, angleSpeedPercentage); + elevatorConstraints = Conversions.scaleConstraints(ArmConstants.ELEVATOR_CONSTRAINTS, elevatorSpeedPercentage); return new DeferredCommand( () -> getCurrentSetTargetArmStateCommand(targetAngle, targetElevatorPosition), Set.of(this) @@ -120,7 +123,7 @@ private void setTargetElevatorPositionFromProfile() { private void generateAngleMotorProfile(Rotation2d targetAngle) { angleMotorProfile = new TrapezoidProfile( - ArmConstants.ANGLE_CONSTRAINTS, + angleConstraints, new TrapezoidProfile.State(targetAngle.getDegrees(), 0), new TrapezoidProfile.State(getAnglePosition().getDegrees(), getAngleVelocityDegreesPerSecond()) ); @@ -130,7 +133,7 @@ private void generateAngleMotorProfile(Rotation2d targetAngle) { private void generateElevatorMotorProfile(double targetElevatorPosition) { elevatorMotorProfile = new TrapezoidProfile( - ArmConstants.ELEVATOR_CONSTRAINTS, + elevatorConstraints, new TrapezoidProfile.State(targetElevatorPosition, 0), new TrapezoidProfile.State(getElevatorPositionRevolutions(), getElevatorVelocityRevolutionsPerSecond()) ); From d9395e3e88df9edb4bb48b382ef64c769b7fc92c Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sun, 19 Nov 2023 15:42:54 +0200 Subject: [PATCH 099/207] made speedPercentage simpler --- .../java/frc/trigon/robot/subsystems/arm/Arm.java | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 9bdca28e7..a126e8e2d 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -21,9 +21,9 @@ public class Arm extends SubsystemBase { followerElevatorMotor = ArmConstants.FOLLOWER_ELEVATOR_MOTOR; private final CANcoder angleEncoder = ArmConstants.ANGLE_ENCODER; private final TalonSRX elevatorEncoder = ArmConstants.ELEVATOR_ENCODER; - private TrapezoidProfile.Constraints - angleConstraints = ArmConstants.ANGLE_CONSTRAINTS, - elevatorConstraints = ArmConstants.ELEVATOR_CONSTRAINTS; + private double + angleSpeedPercentage = 100, + elevatorSpeedPercentage = 100; private TrapezoidProfile angleMotorProfile = null, elevatorMotorProfile = null; @@ -51,8 +51,8 @@ public Command getSetTargetArmPositionCommandAndSetPercentage(ArmConstants.ArmSt } private Command setTargetArmPosition(Rotation2d targetAngle, double targetElevatorPosition, double angleSpeedPercentage, double elevatorSpeedPercentage) { - angleConstraints = Conversions.scaleConstraints(ArmConstants.ANGLE_CONSTRAINTS, angleSpeedPercentage); - elevatorConstraints = Conversions.scaleConstraints(ArmConstants.ELEVATOR_CONSTRAINTS, elevatorSpeedPercentage); + this.angleSpeedPercentage = angleSpeedPercentage; + this.elevatorSpeedPercentage = elevatorSpeedPercentage; return new DeferredCommand( () -> getCurrentSetTargetArmStateCommand(targetAngle, targetElevatorPosition), Set.of(this) @@ -123,7 +123,7 @@ private void setTargetElevatorPositionFromProfile() { private void generateAngleMotorProfile(Rotation2d targetAngle) { angleMotorProfile = new TrapezoidProfile( - angleConstraints, + Conversions.scaleConstraints(ArmConstants.ANGLE_CONSTRAINTS, angleSpeedPercentage), new TrapezoidProfile.State(targetAngle.getDegrees(), 0), new TrapezoidProfile.State(getAnglePosition().getDegrees(), getAngleVelocityDegreesPerSecond()) ); @@ -133,7 +133,7 @@ private void generateAngleMotorProfile(Rotation2d targetAngle) { private void generateElevatorMotorProfile(double targetElevatorPosition) { elevatorMotorProfile = new TrapezoidProfile( - elevatorConstraints, + Conversions.scaleConstraints(ArmConstants.ELEVATOR_CONSTRAINTS, elevatorSpeedPercentage), new TrapezoidProfile.State(targetElevatorPosition, 0), new TrapezoidProfile.State(getElevatorPositionRevolutions(), getElevatorVelocityRevolutionsPerSecond()) ); From 987cbc9b07f30563a604f589d9bab1ed594cd758 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sun, 19 Nov 2023 17:50:16 +0200 Subject: [PATCH 100/207] reorgenized code --- .../frc/trigon/robot/subsystems/arm/Arm.java | 29 ++++++++----------- 1 file changed, 12 insertions(+), 17 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index a126e8e2d..996933225 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -21,9 +21,6 @@ public class Arm extends SubsystemBase { followerElevatorMotor = ArmConstants.FOLLOWER_ELEVATOR_MOTOR; private final CANcoder angleEncoder = ArmConstants.ANGLE_ENCODER; private final TalonSRX elevatorEncoder = ArmConstants.ELEVATOR_ENCODER; - private double - angleSpeedPercentage = 100, - elevatorSpeedPercentage = 100; private TrapezoidProfile angleMotorProfile = null, elevatorMotorProfile = null; @@ -51,30 +48,28 @@ public Command getSetTargetArmPositionCommandAndSetPercentage(ArmConstants.ArmSt } private Command setTargetArmPosition(Rotation2d targetAngle, double targetElevatorPosition, double angleSpeedPercentage, double elevatorSpeedPercentage) { - this.angleSpeedPercentage = angleSpeedPercentage; - this.elevatorSpeedPercentage = elevatorSpeedPercentage; return new DeferredCommand( - () -> getCurrentSetTargetArmStateCommand(targetAngle, targetElevatorPosition), + () -> getCurrentSetTargetArmStateCommand(targetAngle, targetElevatorPosition, angleSpeedPercentage, elevatorSpeedPercentage), Set.of(this) ); } - private Command getCurrentSetTargetArmStateCommand(Rotation2d angle, double elevatorPosition) { + private Command getCurrentSetTargetArmStateCommand(Rotation2d angle, double elevatorPosition, double angleSpeedPercentage, double elevatorSpeedPercentage) { if (isElevatorOpening(elevatorPosition)) { return new SequentialCommandGroup( - getSetTargetAngleCommand(angle), - getSetTargetElevatorPositionCommand(elevatorPosition) + getSetTargetAngleCommand(angle, angleSpeedPercentage), + getSetTargetElevatorPositionCommand(elevatorPosition, elevatorSpeedPercentage) ); } return new SequentialCommandGroup( - getSetTargetElevatorPositionCommand(elevatorPosition), - getSetTargetAngleCommand(angle) + getSetTargetElevatorPositionCommand(elevatorPosition, elevatorSpeedPercentage), + getSetTargetAngleCommand(angle, angleSpeedPercentage) ); } - private Command getSetTargetAngleCommand(Rotation2d targetAngle) { + private Command getSetTargetAngleCommand(Rotation2d targetAngle, double angleSpeedPercentage) { return new FunctionalCommand( - () -> generateAngleMotorProfile(targetAngle), + () -> generateAngleMotorProfile(targetAngle, angleSpeedPercentage), this::setTargetAngleFromProfile, (interrupted) -> { }, @@ -83,9 +78,9 @@ private Command getSetTargetAngleCommand(Rotation2d targetAngle) { ); } - private Command getSetTargetElevatorPositionCommand(double targetElevatorPosition) { + private Command getSetTargetElevatorPositionCommand(double targetElevatorPosition, double elevatorSpeedPercentage) { return new FunctionalCommand( - () -> generateElevatorMotorProfile(targetElevatorPosition), + () -> generateElevatorMotorProfile(targetElevatorPosition, elevatorSpeedPercentage), this::setTargetElevatorPositionFromProfile, (interrupted) -> { }, @@ -121,7 +116,7 @@ private void setTargetElevatorPositionFromProfile() { setElevatorMotorsVoltage(voltage); } - private void generateAngleMotorProfile(Rotation2d targetAngle) { + private void generateAngleMotorProfile(Rotation2d targetAngle, double angleSpeedPercentage) { angleMotorProfile = new TrapezoidProfile( Conversions.scaleConstraints(ArmConstants.ANGLE_CONSTRAINTS, angleSpeedPercentage), new TrapezoidProfile.State(targetAngle.getDegrees(), 0), @@ -131,7 +126,7 @@ private void generateAngleMotorProfile(Rotation2d targetAngle) { lastAngleMotorProfileGenerationTime = Timer.getFPGATimestamp(); } - private void generateElevatorMotorProfile(double targetElevatorPosition) { + private void generateElevatorMotorProfile(double targetElevatorPosition, double elevatorSpeedPercentage) { elevatorMotorProfile = new TrapezoidProfile( Conversions.scaleConstraints(ArmConstants.ELEVATOR_CONSTRAINTS, elevatorSpeedPercentage), new TrapezoidProfile.State(targetElevatorPosition, 0), From 0e79dc27a60f3c1c9c8719f3e2e1ff4eb60e1e78 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sun, 19 Nov 2023 18:14:19 +0200 Subject: [PATCH 101/207] updated names --- .../frc/trigon/robot/subsystems/arm/Arm.java | 27 +++++++++---------- 1 file changed, 13 insertions(+), 14 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 996933225..171f1a92d 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -36,18 +36,18 @@ private Arm() { } public Command getSetTargetArmStateCommand(ArmConstants.ArmState targetState) { - return setTargetArmPosition(targetState.angle, targetState.elevatorPosition, 100, 100); + return setTargetArmPositionCommand(targetState.angle, targetState.elevatorPosition, 100, 100); } public Command getSetTargetArmPositionCommand(Rotation2d angle, double elevatorPosition) { - return setTargetArmPosition(angle, elevatorPosition, 100, 100); + return setTargetArmPositionCommand(angle, elevatorPosition, 100, 100); } - public Command getSetTargetArmPositionCommandAndSetPercentage(ArmConstants.ArmState targetState, double angleSpeedPercentage, double elevatorSpeedPercentage) { - return setTargetArmPosition(targetState.angle, targetState.elevatorPosition, angleSpeedPercentage, elevatorSpeedPercentage); + public Command getSetTargetArmStateCommand(ArmConstants.ArmState targetState, double angleSpeedPercentage, double elevatorSpeedPercentage) { + return getSetTargetArmPositionCommand(targetState.angle, targetState.elevatorPosition); } - private Command setTargetArmPosition(Rotation2d targetAngle, double targetElevatorPosition, double angleSpeedPercentage, double elevatorSpeedPercentage) { + public Command setTargetArmPositionCommand(Rotation2d targetAngle, double targetElevatorPosition, double angleSpeedPercentage, double elevatorSpeedPercentage) { return new DeferredCommand( () -> getCurrentSetTargetArmStateCommand(targetAngle, targetElevatorPosition, angleSpeedPercentage, elevatorSpeedPercentage), Set.of(this) @@ -67,9 +67,9 @@ private Command getCurrentSetTargetArmStateCommand(Rotation2d angle, double elev ); } - private Command getSetTargetAngleCommand(Rotation2d targetAngle, double angleSpeedPercentage) { + private Command getSetTargetAngleCommand(Rotation2d targetAngle, double speedPercentage) { return new FunctionalCommand( - () -> generateAngleMotorProfile(targetAngle, angleSpeedPercentage), + () -> generateAngleMotorProfile(targetAngle, speedPercentage), this::setTargetAngleFromProfile, (interrupted) -> { }, @@ -78,9 +78,9 @@ private Command getSetTargetAngleCommand(Rotation2d targetAngle, double angleSpe ); } - private Command getSetTargetElevatorPositionCommand(double targetElevatorPosition, double elevatorSpeedPercentage) { + private Command getSetTargetElevatorPositionCommand(double targetElevatorPosition, double speedPercentage) { return new FunctionalCommand( - () -> generateElevatorMotorProfile(targetElevatorPosition, elevatorSpeedPercentage), + () -> generateElevatorMotorProfile(targetElevatorPosition, speedPercentage), this::setTargetElevatorPositionFromProfile, (interrupted) -> { }, @@ -89,7 +89,6 @@ private Command getSetTargetElevatorPositionCommand(double targetElevatorPositio ); } - private boolean isElevatorOpening(double elevatorPosition) { return getElevatorPositionRevolutions() < elevatorPosition; } @@ -116,9 +115,9 @@ private void setTargetElevatorPositionFromProfile() { setElevatorMotorsVoltage(voltage); } - private void generateAngleMotorProfile(Rotation2d targetAngle, double angleSpeedPercentage) { + private void generateAngleMotorProfile(Rotation2d targetAngle, double speedPercentage) { angleMotorProfile = new TrapezoidProfile( - Conversions.scaleConstraints(ArmConstants.ANGLE_CONSTRAINTS, angleSpeedPercentage), + Conversions.scaleConstraints(ArmConstants.ANGLE_CONSTRAINTS, speedPercentage), new TrapezoidProfile.State(targetAngle.getDegrees(), 0), new TrapezoidProfile.State(getAnglePosition().getDegrees(), getAngleVelocityDegreesPerSecond()) ); @@ -126,9 +125,9 @@ private void generateAngleMotorProfile(Rotation2d targetAngle, double angleSpeed lastAngleMotorProfileGenerationTime = Timer.getFPGATimestamp(); } - private void generateElevatorMotorProfile(double targetElevatorPosition, double elevatorSpeedPercentage) { + private void generateElevatorMotorProfile(double targetElevatorPosition, double speedPercentage) { elevatorMotorProfile = new TrapezoidProfile( - Conversions.scaleConstraints(ArmConstants.ELEVATOR_CONSTRAINTS, elevatorSpeedPercentage), + Conversions.scaleConstraints(ArmConstants.ELEVATOR_CONSTRAINTS, speedPercentage), new TrapezoidProfile.State(targetElevatorPosition, 0), new TrapezoidProfile.State(getElevatorPositionRevolutions(), getElevatorVelocityRevolutionsPerSecond()) ); From 5cbe2a35dfb3eb07d97ecfdbd926a95a3471c9dc Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sun, 19 Nov 2023 18:24:33 +0200 Subject: [PATCH 102/207] added javadocs --- .../frc/trigon/robot/subsystems/arm/Arm.java | 18 ++++++++++++++++++ 1 file changed, 18 insertions(+) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 171f1a92d..495ed6976 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -43,10 +43,28 @@ public Command getSetTargetArmPositionCommand(Rotation2d angle, double elevatorP return setTargetArmPositionCommand(angle, elevatorPosition, 100, 100); } + /** + * Retrieves a command to set the target state of the arm with specified parameters. + * + * @param targetState The target state for the arm. + * @param angleSpeedPercentage The percentage of the maximum speed for arm angle movement. + * @param elevatorSpeedPercentage The percentage of the maximum speed for elevator movement. + * @return A command to set the target arm position based on the specified parameters. + */ public Command getSetTargetArmStateCommand(ArmConstants.ArmState targetState, double angleSpeedPercentage, double elevatorSpeedPercentage) { return getSetTargetArmPositionCommand(targetState.angle, targetState.elevatorPosition); } + /** + * Generates a command to set the target arm position with specified parameters. + * + * @param targetAngle The target angle for the arm rotation. + * @param targetElevatorPosition The target position for the arm's elevator. + * @param angleSpeedPercentage The percentage of the maximum speed for arm angle movement. + * @param elevatorSpeedPercentage The percentage of the maximum speed for elevator movement. + * @return A command to set the target arm position based on the specified parameters, + * wrapped in a DeferredCommand for deferred execution. + */ public Command setTargetArmPositionCommand(Rotation2d targetAngle, double targetElevatorPosition, double angleSpeedPercentage, double elevatorSpeedPercentage) { return new DeferredCommand( () -> getCurrentSetTargetArmStateCommand(targetAngle, targetElevatorPosition, angleSpeedPercentage, elevatorSpeedPercentage), From cbd4daf45c574980be311affffbed69c1a95e6b9 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sun, 19 Nov 2023 18:44:58 +0200 Subject: [PATCH 103/207] fixed javadocs --- .../frc/trigon/robot/subsystems/arm/Arm.java | 24 +++++++++---------- 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 495ed6976..2e2baa0f0 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -9,6 +9,7 @@ import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj2.command.*; import frc.trigon.robot.utilities.Conversions; + import java.util.Set; public class Arm extends SubsystemBase { @@ -44,26 +45,25 @@ public Command getSetTargetArmPositionCommand(Rotation2d angle, double elevatorP } /** - * Retrieves a command to set the target state of the arm with specified parameters. + * Creates a command that set's the arm's state. * - * @param targetState The target state for the arm. - * @param angleSpeedPercentage The percentage of the maximum speed for arm angle movement. - * @param elevatorSpeedPercentage The percentage of the maximum speed for elevator movement. - * @return A command to set the target arm position based on the specified parameters. + * @param targetState The target state for the arm. + * @param angleSpeedPercentage the percentage of speed that the angle will move + * @param elevatorSpeedPercentage the percentage of speed that the elevator will move + * @return A command to set the target arm position based on the parameters. */ public Command getSetTargetArmStateCommand(ArmConstants.ArmState targetState, double angleSpeedPercentage, double elevatorSpeedPercentage) { return getSetTargetArmPositionCommand(targetState.angle, targetState.elevatorPosition); } /** - * Generates a command to set the target arm position with specified parameters. + * Creates a command that set's the arm's state. * - * @param targetAngle The target angle for the arm rotation. - * @param targetElevatorPosition The target position for the arm's elevator. - * @param angleSpeedPercentage The percentage of the maximum speed for arm angle movement. - * @param elevatorSpeedPercentage The percentage of the maximum speed for elevator movement. - * @return A command to set the target arm position based on the specified parameters, - * wrapped in a DeferredCommand for deferred execution. + * @param targetAngle The target angle for the arm rotation. + * @param targetElevatorPosition The target position for the arm's elevator. + * @param angleSpeedPercentage the percentage of speed that the angle will move + * @param elevatorSpeedPercentage the percentage of speed that the elevator will move + * @return A command to set the target arm position based on the parameters. */ public Command setTargetArmPositionCommand(Rotation2d targetAngle, double targetElevatorPosition, double angleSpeedPercentage, double elevatorSpeedPercentage) { return new DeferredCommand( From 4fa9c8911ac16a725a4d0fed111b7c2a1aa1dd90 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sun, 19 Nov 2023 19:15:05 +0200 Subject: [PATCH 104/207] fixed javadocs --- .../frc/trigon/robot/subsystems/arm/Arm.java | 22 +++++++++---------- 1 file changed, 11 insertions(+), 11 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 2e2baa0f0..0178dce8f 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -45,25 +45,25 @@ public Command getSetTargetArmPositionCommand(Rotation2d angle, double elevatorP } /** - * Creates a command that set's the arm's state. + * Creates a command that sets the arm's state. * - * @param targetState The target state for the arm. - * @param angleSpeedPercentage the percentage of speed that the angle will move - * @param elevatorSpeedPercentage the percentage of speed that the elevator will move - * @return A command to set the target arm position based on the parameters. + * @param targetState The target state of the arm. + * @param angleSpeedPercentage the percentage of speed that the angle will move in + * @param elevatorSpeedPercentage the percentage of speed that the elevator will move in + * @return the command */ public Command getSetTargetArmStateCommand(ArmConstants.ArmState targetState, double angleSpeedPercentage, double elevatorSpeedPercentage) { return getSetTargetArmPositionCommand(targetState.angle, targetState.elevatorPosition); } /** - * Creates a command that set's the arm's state. + * Creates a command that sets the target position of the arm. * - * @param targetAngle The target angle for the arm rotation. - * @param targetElevatorPosition The target position for the arm's elevator. - * @param angleSpeedPercentage the percentage of speed that the angle will move - * @param elevatorSpeedPercentage the percentage of speed that the elevator will move - * @return A command to set the target arm position based on the parameters. + * @param targetAngle The target angle of the arm rotation. + * @param targetElevatorPosition The target position of the arm's elevator. + * @param angleSpeedPercentage the percentage of speed that the angle will move in + * @param elevatorSpeedPercentage the percentage of speed that the elevator will move in + * @return the command */ public Command setTargetArmPositionCommand(Rotation2d targetAngle, double targetElevatorPosition, double angleSpeedPercentage, double elevatorSpeedPercentage) { return new DeferredCommand( From 07fa3d20a910702f4d51c8f833d64faad4d7d6a2 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sun, 19 Nov 2023 19:22:08 +0200 Subject: [PATCH 105/207] !!++==__ERROR--FIX--ERROR__==++!! --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 0178dce8f..a3f2c4061 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -45,9 +45,9 @@ public Command getSetTargetArmPositionCommand(Rotation2d angle, double elevatorP } /** - * Creates a command that sets the arm's state. + * Creates a command that sets the arm's target state. * - * @param targetState The target state of the arm. + * @param targetState the target state of the arm * @param angleSpeedPercentage the percentage of speed that the angle will move in * @param elevatorSpeedPercentage the percentage of speed that the elevator will move in * @return the command @@ -59,8 +59,8 @@ public Command getSetTargetArmStateCommand(ArmConstants.ArmState targetState, do /** * Creates a command that sets the target position of the arm. * - * @param targetAngle The target angle of the arm rotation. - * @param targetElevatorPosition The target position of the arm's elevator. + * @param targetAngle the target angle of the arm + * @param targetElevatorPosition the target position of the arm's elevator * @param angleSpeedPercentage the percentage of speed that the angle will move in * @param elevatorSpeedPercentage the percentage of speed that the elevator will move in * @return the command From f9077948151ba00e96f2e880d4ecf5002e3ecda2 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sun, 19 Nov 2023 19:36:16 +0200 Subject: [PATCH 106/207] updated javadocs --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index a3f2c4061..8ae69a535 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -45,7 +45,7 @@ public Command getSetTargetArmPositionCommand(Rotation2d angle, double elevatorP } /** - * Creates a command that sets the arm's target state. + * Creates a command that sets the target state of the arm. * * @param targetState the target state of the arm * @param angleSpeedPercentage the percentage of speed that the angle will move in From fa3789f5d8d068fbc674c03dd3c07c402f0d51cb Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sun, 19 Nov 2023 19:42:57 +0200 Subject: [PATCH 107/207] removed extra new line --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 1 - 1 file changed, 1 deletion(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 8ae69a535..9cf849b99 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -9,7 +9,6 @@ import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj2.command.*; import frc.trigon.robot.utilities.Conversions; - import java.util.Set; public class Arm extends SubsystemBase { From e029a41d2ab1e9574da9549cef31308a78324df4 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sun, 19 Nov 2023 19:43:25 +0200 Subject: [PATCH 108/207] added new line --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 1 + 1 file changed, 1 insertion(+) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 9cf849b99..8ae69a535 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -9,6 +9,7 @@ import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj2.command.*; import frc.trigon.robot.utilities.Conversions; + import java.util.Set; public class Arm extends SubsystemBase { From 5ac460624daa9fb2f7957c0ec864ed0eb8477dc6 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sun, 19 Nov 2023 19:52:07 +0200 Subject: [PATCH 109/207] fixed code --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 8ae69a535..f0e08dbf5 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -20,7 +20,6 @@ public class Arm extends SubsystemBase { followerAngleMotor = ArmConstants.FOLLOWER_ANGLE_MOTOR, masterElevatorMotor = ArmConstants.MASTER_ELEVATOR_MOTOR, followerElevatorMotor = ArmConstants.FOLLOWER_ELEVATOR_MOTOR; - private final CANcoder angleEncoder = ArmConstants.ANGLE_ENCODER; private final TalonSRX elevatorEncoder = ArmConstants.ELEVATOR_ENCODER; private TrapezoidProfile angleMotorProfile = null, @@ -53,7 +52,7 @@ public Command getSetTargetArmPositionCommand(Rotation2d angle, double elevatorP * @return the command */ public Command getSetTargetArmStateCommand(ArmConstants.ArmState targetState, double angleSpeedPercentage, double elevatorSpeedPercentage) { - return getSetTargetArmPositionCommand(targetState.angle, targetState.elevatorPosition); + return setTargetArmPositionCommand(targetState.angle, targetState.elevatorPosition, angleSpeedPercentage, elevatorSpeedPercentage); } /** From 11c5d30ffe5fd90f76b72f4c2a2e50295b578c14 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sun, 19 Nov 2023 19:54:20 +0200 Subject: [PATCH 110/207] fixed====+-*$#*&%! --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index f0e08dbf5..7b59de677 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -52,7 +52,7 @@ public Command getSetTargetArmPositionCommand(Rotation2d angle, double elevatorP * @return the command */ public Command getSetTargetArmStateCommand(ArmConstants.ArmState targetState, double angleSpeedPercentage, double elevatorSpeedPercentage) { - return setTargetArmPositionCommand(targetState.angle, targetState.elevatorPosition, angleSpeedPercentage, elevatorSpeedPercentage); + return getSetTargetArmStateCommand(targetState, angleSpeedPercentage, elevatorSpeedPercentage); } /** From 16e284b290eef17ad7b3a094ea6f1766787ba04e Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sun, 19 Nov 2023 20:03:06 +0200 Subject: [PATCH 111/207] added GETTTTTTTTTTTTTTTTTTTTTTTTTTT --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 7b59de677..48fb28ff8 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -1,7 +1,6 @@ package frc.trigon.robot.subsystems.arm; import com.ctre.phoenix.motorcontrol.can.TalonSRX; -import com.ctre.phoenix6.hardware.CANcoder; import com.revrobotics.CANSparkMax; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.trajectory.TrapezoidProfile; @@ -36,11 +35,11 @@ private Arm() { } public Command getSetTargetArmStateCommand(ArmConstants.ArmState targetState) { - return setTargetArmPositionCommand(targetState.angle, targetState.elevatorPosition, 100, 100); + return getSetTargetArmPositionCommand(targetState.angle, targetState.elevatorPosition, 100, 100); } public Command getSetTargetArmPositionCommand(Rotation2d angle, double elevatorPosition) { - return setTargetArmPositionCommand(angle, elevatorPosition, 100, 100); + return getSetTargetArmPositionCommand(angle, elevatorPosition, 100, 100); } /** @@ -64,7 +63,7 @@ public Command getSetTargetArmStateCommand(ArmConstants.ArmState targetState, do * @param elevatorSpeedPercentage the percentage of speed that the elevator will move in * @return the command */ - public Command setTargetArmPositionCommand(Rotation2d targetAngle, double targetElevatorPosition, double angleSpeedPercentage, double elevatorSpeedPercentage) { + public Command getSetTargetArmPositionCommand(Rotation2d targetAngle, double targetElevatorPosition, double angleSpeedPercentage, double elevatorSpeedPercentage) { return new DeferredCommand( () -> getCurrentSetTargetArmStateCommand(targetAngle, targetElevatorPosition, angleSpeedPercentage, elevatorSpeedPercentage), Set.of(this) From 7e732ad82ffccfebc19fcab793477cd295311b60 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sun, 19 Nov 2023 20:08:11 +0200 Subject: [PATCH 112/207] =?UTF-8?q?=D7=AA=D7=99=D7=A7=D7=A0=D7=AA=D7=A0?= =?UTF-8?q?=D7=99=20(=D7=A7=D7=99=D7=91=D7=9C=D7=AA=D7=99=20=D7=94=D7=A9?= =?UTF-8?q?=D7=A8=D7=90=D7=94=20=D7=9E=D7=90=D7=96=D7=95=D7=9C=D7=90=D7=99?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 48fb28ff8..05ef0e42d 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -35,7 +35,7 @@ private Arm() { } public Command getSetTargetArmStateCommand(ArmConstants.ArmState targetState) { - return getSetTargetArmPositionCommand(targetState.angle, targetState.elevatorPosition, 100, 100); + return getSetTargetArmStateCommand(targetState, 100, 100); } public Command getSetTargetArmPositionCommand(Rotation2d angle, double elevatorPosition) { @@ -51,7 +51,7 @@ public Command getSetTargetArmPositionCommand(Rotation2d angle, double elevatorP * @return the command */ public Command getSetTargetArmStateCommand(ArmConstants.ArmState targetState, double angleSpeedPercentage, double elevatorSpeedPercentage) { - return getSetTargetArmStateCommand(targetState, angleSpeedPercentage, elevatorSpeedPercentage); + return getSetTargetArmPositionCommand(targetState.angle, targetState.elevatorPosition, angleSpeedPercentage, elevatorSpeedPercentage); } /** From 18b9313f815df1be2f05991dcaeb59b92c72cdd9 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sun, 19 Nov 2023 20:15:50 +0200 Subject: [PATCH 113/207] =?UTF-8?q?=D7=AA=D7=95=D7=A7=D7=9F=20*&%$#@!?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 05ef0e42d..97e234e6d 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -105,8 +105,8 @@ private Command getSetTargetElevatorPositionCommand(double targetElevatorPositio ); } - private boolean isElevatorOpening(double elevatorPosition) { - return getElevatorPositionRevolutions() < elevatorPosition; + private boolean isElevatorOpening(double targetElevatorPosition) { + return getElevatorPositionRevolutions() < targetElevatorPosition; } private void setTargetAngleFromProfile() { From 1188b07dcf03c07c912c05ddd72d72d8ba1c99cd Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Tue, 21 Nov 2023 17:35:30 +0200 Subject: [PATCH 114/207] added Akit --- .../robot/subsystems/collector/Collector.java | 18 +++++++---- .../collector/CollectorConstants.java | 13 -------- .../subsystems/collector/CollectorIO.java | 30 +++++++++++++++++++ .../KablamaCollectorConstants.java | 20 +++++++++++++ .../kablamacollector/KablamaCollectorIO.java | 18 +++++++++++ 5 files changed, 80 insertions(+), 19 deletions(-) create mode 100644 src/main/java/frc/trigon/robot/subsystems/collector/CollectorIO.java create mode 100644 src/main/java/frc/trigon/robot/subsystems/collector/kablamacollector/KablamaCollectorConstants.java create mode 100644 src/main/java/frc/trigon/robot/subsystems/collector/kablamacollector/KablamaCollectorIO.java diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/Collector.java b/src/main/java/frc/trigon/robot/subsystems/collector/Collector.java index 817f120f5..c4a7b5c5e 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/Collector.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/Collector.java @@ -1,15 +1,15 @@ package frc.trigon.robot.subsystems.collector; -import com.ctre.phoenix.motorcontrol.ControlMode; -import com.ctre.phoenix.motorcontrol.can.TalonSRX; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.StartEndCommand; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.trigon.robot.utilities.CurrentWatcher; +import org.littletonrobotics.junction.Logger; public class Collector extends SubsystemBase { private final static Collector INSTANCE = new Collector(); - private final TalonSRX motor = CollectorConstants.MOTOR; + private final CollectorIO collectorIO = CollectorIO.generateIO(); + private final CollectorInputsAutoLogged collectorInputs = new CollectorInputsAutoLogged(); public static Collector getInstance() { return INSTANCE; @@ -19,22 +19,28 @@ private Collector() { startCurrentWatcher(); } + @Override + public void periodic() { + collectorIO.updateInputs(collectorInputs); + Logger.processInputs("Collector", collectorInputs); + } + public Command getSetTargetStateCommand(CollectorConstants.CollectorStates state) { return new StartEndCommand( - () -> motor.set(ControlMode.PercentOutput, state.power), + () -> collectorIO.setPower(state.power), () -> {}, this ); } private void stop() { - motor.set(ControlMode.Disabled, 0); + collectorIO.stop(); } private void startCurrentWatcher(){ new CurrentWatcher( this::stop, - motor::getSupplyCurrent, + () -> collectorInputs.motorCurrent, CollectorConstants.MAX_CURRENT, CollectorConstants.MAX_CURRENT_TIME ); diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/CollectorConstants.java b/src/main/java/frc/trigon/robot/subsystems/collector/CollectorConstants.java index 3295bafa3..91dc12d8a 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/CollectorConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/CollectorConstants.java @@ -4,22 +4,9 @@ import com.ctre.phoenix.motorcontrol.can.TalonSRX; public class CollectorConstants { - private static final int MOTOR_ID = 1; - private static final NeutralMode NEUTRAL_MODE_VALUE = NeutralMode.Coast; - private static final boolean INVERTED = false; - private static final int VOLTAGE_COMPENSATION_SATURATION = 12; - static final TalonSRX MOTOR = new TalonSRX(MOTOR_ID); static final int MAX_CURRENT = 10; static final double MAX_CURRENT_TIME = 0.5; - static { - MOTOR.configFactoryDefault(); - MOTOR.configVoltageCompSaturation(VOLTAGE_COMPENSATION_SATURATION); - MOTOR.enableVoltageCompensation(true); - MOTOR.setNeutralMode(NEUTRAL_MODE_VALUE); - MOTOR.setInverted(INVERTED); - } - public enum CollectorStates{ COLLECT(-1), EJECT(1), diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/CollectorIO.java b/src/main/java/frc/trigon/robot/subsystems/collector/CollectorIO.java new file mode 100644 index 000000000..5d95f2b8e --- /dev/null +++ b/src/main/java/frc/trigon/robot/subsystems/collector/CollectorIO.java @@ -0,0 +1,30 @@ +package frc.trigon.robot.subsystems.collector; + +import frc.trigon.robot.constants.RobotConstants; +import frc.trigon.robot.subsystems.collector.kablamacollector.KablamaCollectorIO; +import org.littletonrobotics.junction.AutoLog; + +public class CollectorIO { + static CollectorIO generateIO(){ + if (RobotConstants.IS_REPLAY) + return new CollectorIO(); + if (RobotConstants.ROBOT_TYPE == RobotConstants.RobotType.KABLAMA) + return new KablamaCollectorIO(); + return new SimulationCollectorIO(); + } + protected void updateInputs(CollectorInputsAutoLogged inputs) { + } + + protected void setPower(double power) { + } + + protected void stop() { + } + + @AutoLog + protected static class CollectorInputs { + public double + motorCurrent = 0, + motorVoltage = 0; + } +} diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/kablamacollector/KablamaCollectorConstants.java b/src/main/java/frc/trigon/robot/subsystems/collector/kablamacollector/KablamaCollectorConstants.java new file mode 100644 index 000000000..6df5edc57 --- /dev/null +++ b/src/main/java/frc/trigon/robot/subsystems/collector/kablamacollector/KablamaCollectorConstants.java @@ -0,0 +1,20 @@ +package frc.trigon.robot.subsystems.collector.kablamacollector; + +import com.ctre.phoenix.motorcontrol.NeutralMode; +import com.ctre.phoenix.motorcontrol.can.TalonSRX; + +public class KablamaCollectorConstants { + private static final int MOTOR_ID = 1; + private static final NeutralMode NEUTRAL_MODE_VALUE = NeutralMode.Coast; + private static final boolean INVERTED = false; + private static final int VOLTAGE_COMPENSATION_SATURATION = 12; + static final TalonSRX MOTOR = new TalonSRX(MOTOR_ID); + + static { + MOTOR.configFactoryDefault(); + MOTOR.configVoltageCompSaturation(VOLTAGE_COMPENSATION_SATURATION); + MOTOR.enableVoltageCompensation(true); + MOTOR.setNeutralMode(NEUTRAL_MODE_VALUE); + MOTOR.setInverted(INVERTED); + } +} diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/kablamacollector/KablamaCollectorIO.java b/src/main/java/frc/trigon/robot/subsystems/collector/kablamacollector/KablamaCollectorIO.java new file mode 100644 index 000000000..45e209f45 --- /dev/null +++ b/src/main/java/frc/trigon/robot/subsystems/collector/kablamacollector/KablamaCollectorIO.java @@ -0,0 +1,18 @@ +package frc.trigon.robot.subsystems.collector.kablamacollector; + +import com.ctre.phoenix.motorcontrol.ControlMode; +import com.ctre.phoenix.motorcontrol.can.TalonSRX; +import frc.trigon.robot.subsystems.collector.CollectorIO; + +public class KablamaCollectorIO extends CollectorIO { + private final TalonSRX motor = KablamaCollectorConstants.MOTOR; + + @Override + protected void setPower(double power) { + motor.set(ControlMode.PercentOutput, power); + } + @Override + protected void stop() { + motor.set(ControlMode.Disabled, 0); + } +} From cbd408c4951eae16bd435c8d6d1bcf38a72df75a Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Tue, 21 Nov 2023 17:37:58 +0200 Subject: [PATCH 115/207] added updateInputs --- .../collector/kablamacollector/KablamaCollectorIO.java | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/kablamacollector/KablamaCollectorIO.java b/src/main/java/frc/trigon/robot/subsystems/collector/kablamacollector/KablamaCollectorIO.java index 45e209f45..66fbdf1a2 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/kablamacollector/KablamaCollectorIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/kablamacollector/KablamaCollectorIO.java @@ -3,10 +3,17 @@ import com.ctre.phoenix.motorcontrol.ControlMode; import com.ctre.phoenix.motorcontrol.can.TalonSRX; import frc.trigon.robot.subsystems.collector.CollectorIO; +import frc.trigon.robot.subsystems.collector.CollectorInputsAutoLogged; public class KablamaCollectorIO extends CollectorIO { private final TalonSRX motor = KablamaCollectorConstants.MOTOR; + @Override + protected void updateInputs(CollectorInputsAutoLogged inputs) { + inputs.motorVoltage = motor.getMotorOutputVoltage(); + inputs.motorCurrent = motor.getSupplyCurrent(); + } + @Override protected void setPower(double power) { motor.set(ControlMode.PercentOutput, power); From 2d91362dd2f84e103c98c98fd4cf3e446b26c918 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Wed, 22 Nov 2023 14:45:05 +0200 Subject: [PATCH 116/207] made code cleaner --- .../trigon/robot/subsystems/collector/CollectorIO.java | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/CollectorIO.java b/src/main/java/frc/trigon/robot/subsystems/collector/CollectorIO.java index 5d95f2b8e..6da3965f9 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/CollectorIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/CollectorIO.java @@ -5,13 +5,14 @@ import org.littletonrobotics.junction.AutoLog; public class CollectorIO { - static CollectorIO generateIO(){ + static CollectorIO generateIO() { if (RobotConstants.IS_REPLAY) return new CollectorIO(); if (RobotConstants.ROBOT_TYPE == RobotConstants.RobotType.KABLAMA) return new KablamaCollectorIO(); return new SimulationCollectorIO(); } + protected void updateInputs(CollectorInputsAutoLogged inputs) { } @@ -23,8 +24,7 @@ protected void stop() { @AutoLog protected static class CollectorInputs { - public double - motorCurrent = 0, - motorVoltage = 0; + public double motorCurrent = 0; + public double motorVoltage = 0; } } From 198462cb8e51854cd88d9dbf623f1562bd0c2df4 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Wed, 22 Nov 2023 17:23:32 +0200 Subject: [PATCH 117/207] started arm Akit --- .../frc/trigon/robot/subsystems/arm/Arm.java | 42 +++----- .../trigon/robot/subsystems/arm/ArmIO.java | 41 ++++++++ .../arm/kablamaArm/KablamaArmConstants.java | 97 +++++++++++++++++++ .../arm/kablamaArm/KablamaArmIO.java | 45 +++++++++ .../subsystems/collector/CollectorIO.java | 3 +- 5 files changed, 198 insertions(+), 30 deletions(-) create mode 100644 src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java create mode 100644 src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java create mode 100644 src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 97e234e6d..4c5c98e22 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -8,17 +8,15 @@ import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj2.command.*; import frc.trigon.robot.utilities.Conversions; +import org.littletonrobotics.junction.Logger; import java.util.Set; public class Arm extends SubsystemBase { private final static Arm INSTANCE = new Arm(); - private final CANSparkMax - masterAngleMotor = ArmConstants.MASTER_ANGLE_MOTOR, - followerAngleMotor = ArmConstants.FOLLOWER_ANGLE_MOTOR, - masterElevatorMotor = ArmConstants.MASTER_ELEVATOR_MOTOR, - followerElevatorMotor = ArmConstants.FOLLOWER_ELEVATOR_MOTOR; + private final ArmIO armIO = ArmIO.generateIO(); + private final ArmInputsAutoLogged armInputs = new ArmInputsAutoLogged(); private final TalonSRX elevatorEncoder = ArmConstants.ELEVATOR_ENCODER; private TrapezoidProfile angleMotorProfile = null, @@ -34,6 +32,12 @@ public static Arm getInstance() { private Arm() { } + @Override + public void periodic() { + armIO.updateInputs(armInputs); + Logger.processInputs("Arm", armInputs); + } + public Command getSetTargetArmStateCommand(ArmConstants.ArmState targetState) { return getSetTargetArmStateCommand(targetState, 100, 100); } @@ -111,24 +115,24 @@ private boolean isElevatorOpening(double targetElevatorPosition) { private void setTargetAngleFromProfile() { if (angleMotorProfile == null) { - stopAngleMotors(); + armIO.stopAngleMotors(); return; } TrapezoidProfile.State targetState = angleMotorProfile.calculate(getAngleMotorProfileTime()); double voltage = calculateAngleMotorOutput(targetState); - setAngleMotorsVoltage(voltage); + armIO.setAnglePower(voltage); } private void setTargetElevatorPositionFromProfile() { if (elevatorMotorProfile == null) { - stopElevatorMotors(); + armIO.stopElevatorMotors(); return; } TrapezoidProfile.State targetState = elevatorMotorProfile.calculate(getElevatorMotorProfileTime()); double voltage = calculateElevatorMotorOutput(targetState); - setElevatorMotorsVoltage(voltage); + armIO.setElevatorPower(voltage); } private void generateAngleMotorProfile(Rotation2d targetAngle, double speedPercentage) { @@ -151,16 +155,6 @@ private void generateElevatorMotorProfile(double targetElevatorPosition, double lastElevatorMotorProfileGenerationTime = Timer.getFPGATimestamp(); } - private void setAngleMotorsVoltage(double voltage) { - masterAngleMotor.setVoltage(voltage); - followerAngleMotor.setVoltage(voltage); - } - - private void setElevatorMotorsVoltage(double voltage) { - masterElevatorMotor.setVoltage(voltage); - followerElevatorMotor.setVoltage(voltage); - } - private double calculateAngleMotorOutput(TrapezoidProfile.State targetState) { double pidOutput = ArmConstants.ANGLE_PID_CONTROLLER.calculate( getAnglePosition().getDegrees(), @@ -209,15 +203,5 @@ private double getElevatorVelocityRevolutionsPerSecond() { double magTicksPerSecond = Conversions.perHundredMsToPerSecond(elevatorEncoder.getSelectedSensorVelocity()); return Conversions.magTicksToRevolutions(magTicksPerSecond); } - - private void stopAngleMotors() { - masterAngleMotor.stopMotor(); - followerAngleMotor.stopMotor(); - } - - private void stopElevatorMotors() { - masterElevatorMotor.stopMotor(); - followerElevatorMotor.stopMotor(); - } } diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java new file mode 100644 index 000000000..f2e520a86 --- /dev/null +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java @@ -0,0 +1,41 @@ +package frc.trigon.robot.subsystems.arm; + +import frc.trigon.robot.constants.RobotConstants; +import frc.trigon.robot.subsystems.arm.kablamaArm.KablamaArmIO; +import org.littletonrobotics.junction.AutoLog; + +public class ArmIO { + + static ArmIO generateIO() { + if (RobotConstants.IS_REPLAY) + return new ArmIO(); + if (RobotConstants.ROBOT_TYPE == RobotConstants.RobotType.KABLAMA) + return new KablamaArmIO(); + //return new SimulationArmIO(); + return new ArmIO(); + } + + protected void updateInputs(ArmInputsAutoLogged inputs) { + } + + protected void setAnglePower(double power) { + } + + protected void setElevatorPower(double power) { + } + + protected void stopAngleMotors() { + } + + protected void stopElevatorMotors() { + } + + @AutoLog + protected static class ArmInputs { + public double angleMotorCurrent = 0; + public double angleMotorVoltage = 0; + + public double elevatorMotorCurrent = 0; + public double elevatorMotorVoltage = 0; + } +} diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java new file mode 100644 index 000000000..6242a5e4b --- /dev/null +++ b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java @@ -0,0 +1,97 @@ +package frc.trigon.robot.subsystems.arm.kablamaArm; + +import com.ctre.phoenix.motorcontrol.FeedbackDevice; +import com.ctre.phoenix.motorcontrol.can.TalonSRX; +import com.ctre.phoenix6.StatusSignal; +import com.ctre.phoenix6.configs.CANcoderConfiguration; +import com.ctre.phoenix6.hardware.CANcoder; +import com.ctre.phoenix6.signals.AbsoluteSensorRangeValue; +import com.ctre.phoenix6.signals.SensorDirectionValue; +import com.revrobotics.CANSparkMax; +import com.revrobotics.CANSparkMaxLowLevel; +import frc.trigon.robot.utilities.Conversions; + +public class KablamaArmConstants { + private static final int + MASTER_ANGLE_MOTOR_ID = 1, + MASTER_ELEVATOR_MOTOR_ID = 2, + FOLLOWER_ANGLE_MOTOR_ID = 3, + FOLLOWER_ELEVATOR_MOTOR_ID = 4, + ANGLE_ENCODER_ID = 5, + ELEVATOR_ENCODER_ID = 6; + private static final CANSparkMax.IdleMode + ELEVATOR_IDLE_MODE = CANSparkMax.IdleMode.kBrake, + ANGLE_IDLE_MODE = CANSparkMax.IdleMode.kBrake; + private static final int VOLTAGE_COMPENSATION_SATURATION = 12; + private static final boolean + MASTER_ANGLE_INVERTED = false, + MASTER_ELEVATOR_INVERTED = false, + FOLLOWER_ANGLE_INVERTED = false, + FOLLOWER_ELEVATOR_INVERTED = false; + private static final SensorDirectionValue ANGLE_ENCODER_DIRECTION = SensorDirectionValue.CounterClockwise_Positive; + private static final boolean ELEVATOR_ENCODER_PHASE = false; + private static final int + ELEVATOR_ENCODER_OFFSET = 0, + ANGLE_ENCODER_OFFSET = 0; + private static final AbsoluteSensorRangeValue ANGLE_ENCODER_RANGE = AbsoluteSensorRangeValue.Signed_PlusMinusHalf; + + static final CANcoder ANGLE_ENCODER = new CANcoder(ANGLE_ENCODER_ID); + static final TalonSRX ELEVATOR_ENCODER = new TalonSRX(ELEVATOR_ENCODER_ID); + static final CANSparkMax + MASTER_ANGLE_MOTOR = new CANSparkMax(MASTER_ANGLE_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), + MASTER_ELEVATOR_MOTOR = new CANSparkMax(MASTER_ELEVATOR_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), + FOLLOWER_ANGLE_MOTOR = new CANSparkMax(FOLLOWER_ANGLE_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), + FOLLOWER_ELEVATOR_MOTOR = new CANSparkMax(FOLLOWER_ELEVATOR_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless); + + static final StatusSignal + ANGLE_MOTOR_POSITION_SIGNAL = ANGLE_ENCODER.getPosition(), + ANGLE_MOTOR_VELOCITY_SIGNAL = ANGLE_ENCODER.getVelocity(); + + static { + configureAngleEncoder(); + configureElevatorEncoder(); + configureElevatorMotors(); + configureAngleMotors(); + } + + private static void configureElevatorMotors() { + MASTER_ELEVATOR_MOTOR.restoreFactoryDefaults(); + FOLLOWER_ELEVATOR_MOTOR.restoreFactoryDefaults(); + MASTER_ELEVATOR_MOTOR.setIdleMode(ELEVATOR_IDLE_MODE); + FOLLOWER_ELEVATOR_MOTOR.setIdleMode(ELEVATOR_IDLE_MODE); + MASTER_ELEVATOR_MOTOR.setInverted(MASTER_ELEVATOR_INVERTED); + FOLLOWER_ELEVATOR_MOTOR.setInverted(FOLLOWER_ELEVATOR_INVERTED); + MASTER_ELEVATOR_MOTOR.enableVoltageCompensation(VOLTAGE_COMPENSATION_SATURATION); + FOLLOWER_ELEVATOR_MOTOR.enableVoltageCompensation(VOLTAGE_COMPENSATION_SATURATION); + } + + private static void configureAngleMotors() { + MASTER_ANGLE_MOTOR.restoreFactoryDefaults(); + FOLLOWER_ANGLE_MOTOR.restoreFactoryDefaults(); + MASTER_ANGLE_MOTOR.setIdleMode(ANGLE_IDLE_MODE); + FOLLOWER_ANGLE_MOTOR.setIdleMode(ANGLE_IDLE_MODE); + MASTER_ANGLE_MOTOR.setInverted(MASTER_ANGLE_INVERTED); + FOLLOWER_ANGLE_MOTOR.setInverted(FOLLOWER_ANGLE_INVERTED); + MASTER_ANGLE_MOTOR.enableVoltageCompensation(VOLTAGE_COMPENSATION_SATURATION); + FOLLOWER_ANGLE_MOTOR.enableVoltageCompensation(VOLTAGE_COMPENSATION_SATURATION); + } + + private static void configureAngleEncoder() { + CANcoderConfiguration angleEncoderConfig = new CANcoderConfiguration(); + angleEncoderConfig.MagnetSensor.MagnetOffset = ANGLE_ENCODER_OFFSET; + angleEncoderConfig.MagnetSensor.AbsoluteSensorRange = ANGLE_ENCODER_RANGE; + angleEncoderConfig.MagnetSensor.SensorDirection = ANGLE_ENCODER_DIRECTION; + ANGLE_ENCODER.getConfigurator().apply(angleEncoderConfig); + + ANGLE_MOTOR_POSITION_SIGNAL.setUpdateFrequency(100); + ANGLE_MOTOR_VELOCITY_SIGNAL.setUpdateFrequency(100); + ANGLE_ENCODER.optimizeBusUtilization(); + } + + private static void configureElevatorEncoder() { + ELEVATOR_ENCODER.configFactoryDefault(); + ELEVATOR_ENCODER.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Absolute, 0, 0); + ELEVATOR_ENCODER.setSensorPhase(ELEVATOR_ENCODER_PHASE); + ELEVATOR_ENCODER.setSelectedSensorPosition(Conversions.offsetRead(ELEVATOR_ENCODER.getSelectedSensorPosition(), ELEVATOR_ENCODER_OFFSET)); + } +} diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java new file mode 100644 index 000000000..202e82ca5 --- /dev/null +++ b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java @@ -0,0 +1,45 @@ +package frc.trigon.robot.subsystems.arm.kablamaArm; + +import com.revrobotics.CANSparkMax; +import frc.trigon.robot.subsystems.arm.ArmConstants; +import frc.trigon.robot.subsystems.arm.ArmIO; +import frc.trigon.robot.subsystems.arm.ArmInputsAutoLogged; + +public class KablamaArmIO extends ArmIO { + private final CANSparkMax + masterAngleMotor = KablamaArmConstants.MASTER_ANGLE_MOTOR, + followerAngleMotor = KablamaArmConstants.FOLLOWER_ANGLE_MOTOR, + masterElevatorMotor = KablamaArmConstants.MASTER_ELEVATOR_MOTOR, + followerElevatorMotor = KablamaArmConstants.FOLLOWER_ELEVATOR_MOTOR; + @Override + protected void updateInputs(ArmInputsAutoLogged inputs) { + inputs.angleMotorVoltage = masterAngleMotor.getBusVoltage(); + inputs.angleMotorCurrent = masterAngleMotor.getOutputCurrent(); + inputs.elevatorMotorVoltage = masterElevatorMotor.getBusVoltage(); + inputs.elevatorMotorCurrent = masterElevatorMotor.getOutputCurrent(); + } + + @Override + protected void setAnglePower(double power) { + masterAngleMotor.setVoltage(power); + followerAngleMotor.setVoltage(power); + } + + @Override + protected void setElevatorPower(double power) { + masterAngleMotor.setVoltage(power); + followerAngleMotor.setVoltage(power); + } + + @Override + protected void stopAngleMotors() { + masterAngleMotor.stopMotor(); + followerAngleMotor.stopMotor(); + } + + @Override + protected void stopElevatorMotors() { + masterElevatorMotor.stopMotor(); + followerAngleMotor.stopMotor(); + } +} diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/CollectorIO.java b/src/main/java/frc/trigon/robot/subsystems/collector/CollectorIO.java index 6da3965f9..257133909 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/CollectorIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/CollectorIO.java @@ -10,7 +10,8 @@ static CollectorIO generateIO() { return new CollectorIO(); if (RobotConstants.ROBOT_TYPE == RobotConstants.RobotType.KABLAMA) return new KablamaCollectorIO(); - return new SimulationCollectorIO(); + //return new SimulationCollectorIO(); + return new CollectorIO(); } protected void updateInputs(CollectorInputsAutoLogged inputs) { From 62fbe0dcc9f337850b52eb13f2eb6a2ae789e8ed Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Wed, 22 Nov 2023 17:49:22 +0200 Subject: [PATCH 118/207] removed redundent config --- .../robot/subsystems/arm/ArmConstants.java | 42 ------------------- 1 file changed, 42 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index f50314bca..12812c047 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -18,32 +18,14 @@ public class ArmConstants { private static final int - MASTER_ANGLE_MOTOR_ID = 1, - MASTER_ELEVATOR_MOTOR_ID = 2, - FOLLOWER_ANGLE_MOTOR_ID = 3, - FOLLOWER_ELEVATOR_MOTOR_ID = 4, ANGLE_ENCODER_ID = 5, ELEVATOR_ENCODER_ID = 6; - private static final CANSparkMax.IdleMode - ELEVATOR_IDLE_MODE = CANSparkMax.IdleMode.kBrake, - ANGLE_IDLE_MODE = CANSparkMax.IdleMode.kBrake; - private static final int VOLTAGE_COMPENSATION_SATURATION = 12; - private static final boolean - MASTER_ANGLE_INVERTED = false, - MASTER_ELEVATOR_INVERTED = false, - FOLLOWER_ANGLE_INVERTED = false, - FOLLOWER_ELEVATOR_INVERTED = false; private static final SensorDirectionValue ANGLE_ENCODER_DIRECTION = SensorDirectionValue.CounterClockwise_Positive; private static final boolean ELEVATOR_ENCODER_PHASE = false; private static final int ELEVATOR_ENCODER_OFFSET = 0, ANGLE_ENCODER_OFFSET = 0; private static final AbsoluteSensorRangeValue ANGLE_ENCODER_RANGE = AbsoluteSensorRangeValue.Signed_PlusMinusHalf; - static final CANSparkMax - MASTER_ANGLE_MOTOR = new CANSparkMax(MASTER_ANGLE_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), - MASTER_ELEVATOR_MOTOR = new CANSparkMax(MASTER_ELEVATOR_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), - FOLLOWER_ANGLE_MOTOR = new CANSparkMax(FOLLOWER_ANGLE_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), - FOLLOWER_ELEVATOR_MOTOR = new CANSparkMax(FOLLOWER_ELEVATOR_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless); static final CANcoder ANGLE_ENCODER = new CANcoder(ANGLE_ENCODER_ID); static final TalonSRX ELEVATOR_ENCODER = new TalonSRX(ELEVATOR_ENCODER_ID); @@ -94,30 +76,6 @@ public class ArmConstants { static { configureAngleEncoder(); configureElevatorEncoder(); - configureElevatorMotors(); - configureAngleMotors(); - } - - private static void configureElevatorMotors() { - MASTER_ELEVATOR_MOTOR.restoreFactoryDefaults(); - FOLLOWER_ELEVATOR_MOTOR.restoreFactoryDefaults(); - MASTER_ELEVATOR_MOTOR.setIdleMode(ELEVATOR_IDLE_MODE); - FOLLOWER_ELEVATOR_MOTOR.setIdleMode(ELEVATOR_IDLE_MODE); - MASTER_ELEVATOR_MOTOR.setInverted(MASTER_ELEVATOR_INVERTED); - FOLLOWER_ELEVATOR_MOTOR.setInverted(FOLLOWER_ELEVATOR_INVERTED); - MASTER_ELEVATOR_MOTOR.enableVoltageCompensation(VOLTAGE_COMPENSATION_SATURATION); - FOLLOWER_ELEVATOR_MOTOR.enableVoltageCompensation(VOLTAGE_COMPENSATION_SATURATION); - } - - private static void configureAngleMotors() { - MASTER_ANGLE_MOTOR.restoreFactoryDefaults(); - FOLLOWER_ANGLE_MOTOR.restoreFactoryDefaults(); - MASTER_ANGLE_MOTOR.setIdleMode(ANGLE_IDLE_MODE); - FOLLOWER_ANGLE_MOTOR.setIdleMode(ANGLE_IDLE_MODE); - MASTER_ANGLE_MOTOR.setInverted(MASTER_ANGLE_INVERTED); - FOLLOWER_ANGLE_MOTOR.setInverted(FOLLOWER_ANGLE_INVERTED); - MASTER_ANGLE_MOTOR.enableVoltageCompensation(VOLTAGE_COMPENSATION_SATURATION); - FOLLOWER_ANGLE_MOTOR.enableVoltageCompensation(VOLTAGE_COMPENSATION_SATURATION); } private static void configureAngleEncoder() { From 7a4c31692258d54dfa776f3f2fc645aa4536008d Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Wed, 22 Nov 2023 19:42:19 +0200 Subject: [PATCH 119/207] removed getters --- .../frc/trigon/robot/subsystems/arm/Arm.java | 30 +++----------- .../robot/subsystems/arm/ArmConstants.java | 40 ------------------- .../trigon/robot/subsystems/arm/ArmIO.java | 6 ++- .../arm/kablamaArm/KablamaArmIO.java | 34 +++++++++++++--- .../robot/subsystems/collector/Collector.java | 6 +-- 5 files changed, 40 insertions(+), 76 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 4c5c98e22..8562a457d 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -17,7 +17,6 @@ public class Arm extends SubsystemBase { private final ArmIO armIO = ArmIO.generateIO(); private final ArmInputsAutoLogged armInputs = new ArmInputsAutoLogged(); - private final TalonSRX elevatorEncoder = ArmConstants.ELEVATOR_ENCODER; private TrapezoidProfile angleMotorProfile = null, elevatorMotorProfile = null; @@ -110,7 +109,7 @@ private Command getSetTargetElevatorPositionCommand(double targetElevatorPositio } private boolean isElevatorOpening(double targetElevatorPosition) { - return getElevatorPositionRevolutions() < targetElevatorPosition; + return armInputs.elevatorPositionRevolution < targetElevatorPosition; } private void setTargetAngleFromProfile() { @@ -139,7 +138,7 @@ private void generateAngleMotorProfile(Rotation2d targetAngle, double speedPerce angleMotorProfile = new TrapezoidProfile( Conversions.scaleConstraints(ArmConstants.ANGLE_CONSTRAINTS, speedPercentage), new TrapezoidProfile.State(targetAngle.getDegrees(), 0), - new TrapezoidProfile.State(getAnglePosition().getDegrees(), getAngleVelocityDegreesPerSecond()) + new TrapezoidProfile.State(armInputs.anglePositionDegrees, armInputs.angleVelocityDegreesPerSecond) ); lastAngleMotorProfileGenerationTime = Timer.getFPGATimestamp(); @@ -149,7 +148,7 @@ private void generateElevatorMotorProfile(double targetElevatorPosition, double elevatorMotorProfile = new TrapezoidProfile( Conversions.scaleConstraints(ArmConstants.ELEVATOR_CONSTRAINTS, speedPercentage), new TrapezoidProfile.State(targetElevatorPosition, 0), - new TrapezoidProfile.State(getElevatorPositionRevolutions(), getElevatorVelocityRevolutionsPerSecond()) + new TrapezoidProfile.State(armInputs.elevatorPositionRevolution, armInputs.elevatorVelocityRevolutionsPerSecond) ); lastElevatorMotorProfileGenerationTime = Timer.getFPGATimestamp(); @@ -157,7 +156,7 @@ private void generateElevatorMotorProfile(double targetElevatorPosition, double private double calculateAngleMotorOutput(TrapezoidProfile.State targetState) { double pidOutput = ArmConstants.ANGLE_PID_CONTROLLER.calculate( - getAnglePosition().getDegrees(), + armInputs.anglePositionDegrees, targetState.position ); double feedforward = ArmConstants.ANGLE_FEEDFORWARD.calculate( @@ -170,7 +169,7 @@ private double calculateAngleMotorOutput(TrapezoidProfile.State targetState) { private double calculateElevatorMotorOutput(TrapezoidProfile.State targetState) { double pidOutput = ArmConstants.ELEVATOR_PID_CONTROLLER.calculate( - getElevatorPositionRevolutions(), + armInputs.elevatorPositionRevolution, targetState.position ); double feedforward = ArmConstants.ELEVATOR_FEEDFORWARD.calculate(targetState.velocity); @@ -184,24 +183,5 @@ private double getAngleMotorProfileTime() { private double getElevatorMotorProfileTime() { return Timer.getFPGATimestamp() - lastElevatorMotorProfileGenerationTime; } - - private Rotation2d getAnglePosition() { - double positionRevolutions = ArmConstants.ANGLE_MOTOR_POSITION_SIGNAL.refresh().getValue(); - return Rotation2d.fromRotations(positionRevolutions); - } - - private double getElevatorPositionRevolutions() { - return Conversions.magTicksToRevolutions(elevatorEncoder.getSelectedSensorPosition()); - } - - private double getAngleVelocityDegreesPerSecond() { - double positionRevolutions = ArmConstants.ANGLE_MOTOR_VELOCITY_SIGNAL.refresh().getValue(); - return Conversions.revolutionsToDegrees(positionRevolutions); - } - - private double getElevatorVelocityRevolutionsPerSecond() { - double magTicksPerSecond = Conversions.perHundredMsToPerSecond(elevatorEncoder.getSelectedSensorVelocity()); - return Conversions.magTicksToRevolutions(magTicksPerSecond); - } } diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index 12812c047..c763db143 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -17,18 +17,6 @@ import frc.trigon.robot.utilities.Conversions; public class ArmConstants { - private static final int - ANGLE_ENCODER_ID = 5, - ELEVATOR_ENCODER_ID = 6; - private static final SensorDirectionValue ANGLE_ENCODER_DIRECTION = SensorDirectionValue.CounterClockwise_Positive; - private static final boolean ELEVATOR_ENCODER_PHASE = false; - private static final int - ELEVATOR_ENCODER_OFFSET = 0, - ANGLE_ENCODER_OFFSET = 0; - private static final AbsoluteSensorRangeValue ANGLE_ENCODER_RANGE = AbsoluteSensorRangeValue.Signed_PlusMinusHalf; - static final CANcoder ANGLE_ENCODER = new CANcoder(ANGLE_ENCODER_ID); - static final TalonSRX ELEVATOR_ENCODER = new TalonSRX(ELEVATOR_ENCODER_ID); - static final double ANGLE_P = 1, ANGLE_I = 0, @@ -69,34 +57,6 @@ public class ArmConstants { MAX_ELEVATOR_VELOCITY, MAX_ELEVATOR_ACCELERATION ); - static final StatusSignal - ANGLE_MOTOR_POSITION_SIGNAL = ANGLE_ENCODER.getPosition(), - ANGLE_MOTOR_VELOCITY_SIGNAL = ANGLE_ENCODER.getVelocity(); - - static { - configureAngleEncoder(); - configureElevatorEncoder(); - } - - private static void configureAngleEncoder() { - CANcoderConfiguration angleEncoderConfig = new CANcoderConfiguration(); - angleEncoderConfig.MagnetSensor.MagnetOffset = ANGLE_ENCODER_OFFSET; - angleEncoderConfig.MagnetSensor.AbsoluteSensorRange = ANGLE_ENCODER_RANGE; - angleEncoderConfig.MagnetSensor.SensorDirection = ANGLE_ENCODER_DIRECTION; - ANGLE_ENCODER.getConfigurator().apply(angleEncoderConfig); - - ANGLE_MOTOR_POSITION_SIGNAL.setUpdateFrequency(100); - ANGLE_MOTOR_VELOCITY_SIGNAL.setUpdateFrequency(100); - ANGLE_ENCODER.optimizeBusUtilization(); - } - - private static void configureElevatorEncoder() { - ELEVATOR_ENCODER.configFactoryDefault(); - ELEVATOR_ENCODER.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Absolute, 0, 0); - ELEVATOR_ENCODER.setSensorPhase(ELEVATOR_ENCODER_PHASE); - ELEVATOR_ENCODER.setSelectedSensorPosition(Conversions.offsetRead(ELEVATOR_ENCODER.getSelectedSensorPosition(), ELEVATOR_ENCODER_OFFSET)); - } - public enum ArmState { FIRST_STATE(Rotation2d.fromDegrees(100), 7), SECOND_STATE(Rotation2d.fromDegrees(70), 5); diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java index f2e520a86..e2a1b1f8b 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java @@ -5,7 +5,6 @@ import org.littletonrobotics.junction.AutoLog; public class ArmIO { - static ArmIO generateIO() { if (RobotConstants.IS_REPLAY) return new ArmIO(); @@ -37,5 +36,10 @@ protected static class ArmInputs { public double elevatorMotorCurrent = 0; public double elevatorMotorVoltage = 0; + + public double anglePositionDegrees = 0; + public double elevatorPositionRevolution = 0; + public double angleVelocityDegreesPerSecond = 0; + public double elevatorVelocityRevolutionsPerSecond = 0; } } diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java index 202e82ca5..1c4b29a6e 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java @@ -1,9 +1,10 @@ package frc.trigon.robot.subsystems.arm.kablamaArm; import com.revrobotics.CANSparkMax; -import frc.trigon.robot.subsystems.arm.ArmConstants; +import edu.wpi.first.math.geometry.Rotation2d; import frc.trigon.robot.subsystems.arm.ArmIO; import frc.trigon.robot.subsystems.arm.ArmInputsAutoLogged; +import frc.trigon.robot.utilities.Conversions; public class KablamaArmIO extends ArmIO { private final CANSparkMax @@ -11,12 +12,17 @@ public class KablamaArmIO extends ArmIO { followerAngleMotor = KablamaArmConstants.FOLLOWER_ANGLE_MOTOR, masterElevatorMotor = KablamaArmConstants.MASTER_ELEVATOR_MOTOR, followerElevatorMotor = KablamaArmConstants.FOLLOWER_ELEVATOR_MOTOR; + @Override protected void updateInputs(ArmInputsAutoLogged inputs) { inputs.angleMotorVoltage = masterAngleMotor.getBusVoltage(); inputs.angleMotorCurrent = masterAngleMotor.getOutputCurrent(); inputs.elevatorMotorVoltage = masterElevatorMotor.getBusVoltage(); inputs.elevatorMotorCurrent = masterElevatorMotor.getOutputCurrent(); + inputs.elevatorPositionRevolution = getElevatorPositionRevolutions(); + inputs.angleVelocityDegreesPerSecond = getAngleVelocityDegreesPerSecond(); + inputs.elevatorVelocityRevolutionsPerSecond = getElevatorVelocityRevolutionsPerSecond(); + inputs.anglePositionDegrees = getAngleMotorPositionDegrees().getDegrees(); } @Override @@ -27,8 +33,8 @@ protected void setAnglePower(double power) { @Override protected void setElevatorPower(double power) { - masterAngleMotor.setVoltage(power); - followerAngleMotor.setVoltage(power); + masterElevatorMotor.setVoltage(power); + followerElevatorMotor.setVoltage(power); } @Override @@ -37,9 +43,27 @@ protected void stopAngleMotors() { followerAngleMotor.stopMotor(); } - @Override protected void stopElevatorMotors() { masterElevatorMotor.stopMotor(); - followerAngleMotor.stopMotor(); + followerElevatorMotor.stopMotor(); + } + + protected double getElevatorPositionRevolutions() { + return Conversions.magTicksToRevolutions(KablamaArmConstants.ELEVATOR_ENCODER.getSelectedSensorPosition()); + } + + protected double getAngleVelocityDegreesPerSecond() { + double positionRevolutions = KablamaArmConstants.ANGLE_MOTOR_VELOCITY_SIGNAL.refresh().getValue(); + return Conversions.revolutionsToDegrees(positionRevolutions); + } + + protected double getElevatorVelocityRevolutionsPerSecond() { + double magTicksPerSecond = Conversions.perHundredMsToPerSecond(KablamaArmConstants.ELEVATOR_ENCODER.getSelectedSensorVelocity()); + return Conversions.magTicksToRevolutions(magTicksPerSecond); + } + + protected Rotation2d getAngleMotorPositionDegrees() { + double positionRevolutions = KablamaArmConstants.ANGLE_MOTOR_POSITION_SIGNAL.refresh().getValue(); + return Rotation2d.fromRotations(positionRevolutions); } } diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/Collector.java b/src/main/java/frc/trigon/robot/subsystems/collector/Collector.java index c4a7b5c5e..db7f24864 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/Collector.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/Collector.java @@ -33,13 +33,9 @@ public Command getSetTargetStateCommand(CollectorConstants.CollectorStates state ); } - private void stop() { - collectorIO.stop(); - } - private void startCurrentWatcher(){ new CurrentWatcher( - this::stop, + collectorIO::stop, () -> collectorInputs.motorCurrent, CollectorConstants.MAX_CURRENT, CollectorConstants.MAX_CURRENT_TIME From d47d24e883e46d4da0f776ab08540ba43e93fbc3 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Wed, 22 Nov 2023 19:58:43 +0200 Subject: [PATCH 120/207] added pid and ff to IOconstants --- .../trigon/robot/subsystems/arm/ArmIO.java | 1 + .../arm/kablamaArm/KablamaArmConstants.java | 31 +++++++++++++++++++ .../arm/kablamaArm/KablamaArmIO.java | 2 ++ 3 files changed, 34 insertions(+) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java index e2a1b1f8b..6e961b8c3 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java @@ -1,5 +1,6 @@ package frc.trigon.robot.subsystems.arm; +import edu.wpi.first.math.geometry.Rotation2d; import frc.trigon.robot.constants.RobotConstants; import frc.trigon.robot.subsystems.arm.kablamaArm.KablamaArmIO; import org.littletonrobotics.junction.AutoLog; diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java index 6242a5e4b..1fef39e12 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java @@ -9,6 +9,9 @@ import com.ctre.phoenix6.signals.SensorDirectionValue; import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMaxLowLevel; +import edu.wpi.first.math.controller.ArmFeedforward; +import edu.wpi.first.math.controller.ElevatorFeedforward; +import edu.wpi.first.math.controller.PIDController; import frc.trigon.robot.utilities.Conversions; public class KablamaArmConstants { @@ -47,6 +50,34 @@ public class KablamaArmConstants { ANGLE_MOTOR_POSITION_SIGNAL = ANGLE_ENCODER.getPosition(), ANGLE_MOTOR_VELOCITY_SIGNAL = ANGLE_ENCODER.getVelocity(); + static final double + ANGLE_P = 1, + ANGLE_I = 0, + ANGLE_D = 0, + ELEVATOR_P = 1, + ELEVATOR_I = 0, + ELEVATOR_D = 0; + static final PIDController + ANGLE_PID_CONTROLLER = new PIDController(ANGLE_P, ANGLE_I, ANGLE_D), + ELEVATOR_PID_CONTROLLER = new PIDController(ELEVATOR_P, ELEVATOR_I, ELEVATOR_D); + + private static final double + ANGLE_MOTOR_KS = 0, + ANGLE_MOTOR_KV = 0, + ANGLE_MOTOR_KA = 0, + ANGLE_MOTOR_KG = 0, + ELEVATOR_MOTOR_KS = 0, + ELEVATOR_MOTOR_KV = 0, + ELEVATOR_MOTOR_KA = 0, + ELEVATOR_MOTOR_KG = 0; + static final ArmFeedforward ANGLE_FEEDFORWARD = new ArmFeedforward( + ANGLE_MOTOR_KS, ANGLE_MOTOR_KG, ANGLE_MOTOR_KV, ANGLE_MOTOR_KA + ); + static final ElevatorFeedforward ELEVATOR_FEEDFORWARD = new ElevatorFeedforward( + ELEVATOR_MOTOR_KS, ELEVATOR_MOTOR_KG, ELEVATOR_MOTOR_KV, ELEVATOR_MOTOR_KA + ); + + static { configureAngleEncoder(); configureElevatorEncoder(); diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java index 1c4b29a6e..daa15d1e4 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java @@ -2,6 +2,8 @@ import com.revrobotics.CANSparkMax; import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.util.Units; +import frc.trigon.robot.subsystems.arm.ArmConstants; import frc.trigon.robot.subsystems.arm.ArmIO; import frc.trigon.robot.subsystems.arm.ArmInputsAutoLogged; import frc.trigon.robot.utilities.Conversions; From 8401451bdfaea1c88b8ddffd4a4575285264a4d5 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 23 Nov 2023 10:36:27 +0200 Subject: [PATCH 121/207] moved PID and ff to kablamaArmConstants --- .../frc/trigon/robot/subsystems/arm/Arm.java | 9 ++++--- .../robot/subsystems/arm/ArmConstants.java | 27 ------------------- .../arm/kablamaArm/KablamaArmConstants.java | 6 ++--- 3 files changed, 8 insertions(+), 34 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 8562a457d..31ae0919a 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -7,6 +7,7 @@ import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj2.command.*; +import frc.trigon.robot.subsystems.arm.kablamaArm.KablamaArmConstants; import frc.trigon.robot.utilities.Conversions; import org.littletonrobotics.junction.Logger; @@ -155,11 +156,11 @@ private void generateElevatorMotorProfile(double targetElevatorPosition, double } private double calculateAngleMotorOutput(TrapezoidProfile.State targetState) { - double pidOutput = ArmConstants.ANGLE_PID_CONTROLLER.calculate( + double pidOutput = KablamaArmConstants.ANGLE_PID_CONTROLLER.calculate( armInputs.anglePositionDegrees, targetState.position ); - double feedforward = ArmConstants.ANGLE_FEEDFORWARD.calculate( + double feedforward = KablamaArmConstants.ANGLE_FEEDFORWARD.calculate( Units.degreesToRadians(targetState.position), Units.degreesToRadians(targetState.velocity) ); @@ -168,11 +169,11 @@ private double calculateAngleMotorOutput(TrapezoidProfile.State targetState) { } private double calculateElevatorMotorOutput(TrapezoidProfile.State targetState) { - double pidOutput = ArmConstants.ELEVATOR_PID_CONTROLLER.calculate( + double pidOutput = KablamaArmConstants.ELEVATOR_PID_CONTROLLER.calculate( armInputs.elevatorPositionRevolution, targetState.position ); - double feedforward = ArmConstants.ELEVATOR_FEEDFORWARD.calculate(targetState.velocity); + double feedforward = KablamaArmConstants.ELEVATOR_FEEDFORWARD.calculate(targetState.velocity); return pidOutput + feedforward; } diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index c763db143..a6d0cd036 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -17,33 +17,6 @@ import frc.trigon.robot.utilities.Conversions; public class ArmConstants { - static final double - ANGLE_P = 1, - ANGLE_I = 0, - ANGLE_D = 0, - ELEVATOR_P = 1, - ELEVATOR_I = 0, - ELEVATOR_D = 0; - static final PIDController - ANGLE_PID_CONTROLLER = new PIDController(ANGLE_P, ANGLE_I, ANGLE_D), - ELEVATOR_PID_CONTROLLER = new PIDController(ELEVATOR_P, ELEVATOR_I, ELEVATOR_D); - - private static final double - ANGLE_MOTOR_KS = 0, - ANGLE_MOTOR_KV = 0, - ANGLE_MOTOR_KA = 0, - ANGLE_MOTOR_KG = 0, - ELEVATOR_MOTOR_KS = 0, - ELEVATOR_MOTOR_KV = 0, - ELEVATOR_MOTOR_KA = 0, - ELEVATOR_MOTOR_KG = 0; - static final ArmFeedforward ANGLE_FEEDFORWARD = new ArmFeedforward( - ANGLE_MOTOR_KS, ANGLE_MOTOR_KG, ANGLE_MOTOR_KV, ANGLE_MOTOR_KA - ); - static final ElevatorFeedforward ELEVATOR_FEEDFORWARD = new ElevatorFeedforward( - ELEVATOR_MOTOR_KS, ELEVATOR_MOTOR_KG, ELEVATOR_MOTOR_KV, ELEVATOR_MOTOR_KA - ); - private static final double MAX_ANGLE_VELOCITY = 100, MAX_ANGLE_ACCELERATION = 100, diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java index 1fef39e12..f66ebd6dd 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java @@ -57,7 +57,7 @@ public class KablamaArmConstants { ELEVATOR_P = 1, ELEVATOR_I = 0, ELEVATOR_D = 0; - static final PIDController + public static final PIDController ANGLE_PID_CONTROLLER = new PIDController(ANGLE_P, ANGLE_I, ANGLE_D), ELEVATOR_PID_CONTROLLER = new PIDController(ELEVATOR_P, ELEVATOR_I, ELEVATOR_D); @@ -70,10 +70,10 @@ public class KablamaArmConstants { ELEVATOR_MOTOR_KV = 0, ELEVATOR_MOTOR_KA = 0, ELEVATOR_MOTOR_KG = 0; - static final ArmFeedforward ANGLE_FEEDFORWARD = new ArmFeedforward( + public static final ArmFeedforward ANGLE_FEEDFORWARD = new ArmFeedforward( ANGLE_MOTOR_KS, ANGLE_MOTOR_KG, ANGLE_MOTOR_KV, ANGLE_MOTOR_KA ); - static final ElevatorFeedforward ELEVATOR_FEEDFORWARD = new ElevatorFeedforward( + public static final ElevatorFeedforward ELEVATOR_FEEDFORWARD = new ElevatorFeedforward( ELEVATOR_MOTOR_KS, ELEVATOR_MOTOR_KG, ELEVATOR_MOTOR_KV, ELEVATOR_MOTOR_KA ); From 97354e7065cc6b227c3bc9e60362661e070b41d9 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 23 Nov 2023 19:36:39 +0200 Subject: [PATCH 122/207] added setTargetAngle and setTargetElevatorPosition --- .../frc/trigon/robot/subsystems/arm/Arm.java | 28 ++----------------- .../trigon/robot/subsystems/arm/ArmIO.java | 7 +++++ .../arm/kablamaArm/KablamaArmIO.java | 26 +++++++++++++++++ 3 files changed, 35 insertions(+), 26 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 31ae0919a..07643a798 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -120,8 +120,7 @@ private void setTargetAngleFromProfile() { } TrapezoidProfile.State targetState = angleMotorProfile.calculate(getAngleMotorProfileTime()); - double voltage = calculateAngleMotorOutput(targetState); - armIO.setAnglePower(voltage); + armIO.setTargetAngle(targetState); } private void setTargetElevatorPositionFromProfile() { @@ -131,8 +130,7 @@ private void setTargetElevatorPositionFromProfile() { } TrapezoidProfile.State targetState = elevatorMotorProfile.calculate(getElevatorMotorProfileTime()); - double voltage = calculateElevatorMotorOutput(targetState); - armIO.setElevatorPower(voltage); + armIO.setTargetElevatorPosition(targetState); } private void generateAngleMotorProfile(Rotation2d targetAngle, double speedPercentage) { @@ -155,28 +153,6 @@ private void generateElevatorMotorProfile(double targetElevatorPosition, double lastElevatorMotorProfileGenerationTime = Timer.getFPGATimestamp(); } - private double calculateAngleMotorOutput(TrapezoidProfile.State targetState) { - double pidOutput = KablamaArmConstants.ANGLE_PID_CONTROLLER.calculate( - armInputs.anglePositionDegrees, - targetState.position - ); - double feedforward = KablamaArmConstants.ANGLE_FEEDFORWARD.calculate( - Units.degreesToRadians(targetState.position), - Units.degreesToRadians(targetState.velocity) - ); - - return pidOutput + feedforward; - } - - private double calculateElevatorMotorOutput(TrapezoidProfile.State targetState) { - double pidOutput = KablamaArmConstants.ELEVATOR_PID_CONTROLLER.calculate( - armInputs.elevatorPositionRevolution, - targetState.position - ); - double feedforward = KablamaArmConstants.ELEVATOR_FEEDFORWARD.calculate(targetState.velocity); - return pidOutput + feedforward; - } - private double getAngleMotorProfileTime() { return Timer.getFPGATimestamp() - lastAngleMotorProfileGenerationTime; } diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java index 6e961b8c3..5d2cfd5c8 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java @@ -1,6 +1,7 @@ package frc.trigon.robot.subsystems.arm; import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.trajectory.TrapezoidProfile; import frc.trigon.robot.constants.RobotConstants; import frc.trigon.robot.subsystems.arm.kablamaArm.KablamaArmIO; import org.littletonrobotics.junction.AutoLog; @@ -30,6 +31,12 @@ protected void stopAngleMotors() { protected void stopElevatorMotors() { } + protected void setTargetAngle(TrapezoidProfile.State targetState) { + } + + protected void setTargetElevatorPosition(TrapezoidProfile.State targetState) { + } + @AutoLog protected static class ArmInputs { public double angleMotorCurrent = 0; diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java index daa15d1e4..8078470ec 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java @@ -2,6 +2,7 @@ import com.revrobotics.CANSparkMax; import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.math.util.Units; import frc.trigon.robot.subsystems.arm.ArmConstants; import frc.trigon.robot.subsystems.arm.ArmIO; @@ -45,11 +46,36 @@ protected void stopAngleMotors() { followerAngleMotor.stopMotor(); } + @Override protected void stopElevatorMotors() { masterElevatorMotor.stopMotor(); followerElevatorMotor.stopMotor(); } + @Override + protected void setTargetAngle (TrapezoidProfile.State targetState) { + double pidOutput = KablamaArmConstants.ANGLE_PID_CONTROLLER.calculate( + getAngleMotorPositionDegrees().getDegrees(), + targetState.position + ); + double feedforward = KablamaArmConstants.ANGLE_FEEDFORWARD.calculate( + Units.degreesToRadians(targetState.position), + Units.degreesToRadians(targetState.velocity) + ); + setAnglePower(pidOutput + feedforward); + } + + @Override + protected void setTargetElevatorPosition(TrapezoidProfile.State targetState) { + double pidOutput = KablamaArmConstants.ELEVATOR_PID_CONTROLLER.calculate( + getElevatorPositionRevolutions(), + targetState.position + ); + double feedforward = KablamaArmConstants.ELEVATOR_FEEDFORWARD.calculate(targetState.velocity); + + setElevatorPower(pidOutput + feedforward); + } + protected double getElevatorPositionRevolutions() { return Conversions.magTicksToRevolutions(KablamaArmConstants.ELEVATOR_ENCODER.getSelectedSensorPosition()); } From e7ef4b6b032ac55856214b25124d689ca17c4aad Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 23 Nov 2023 20:50:14 +0200 Subject: [PATCH 123/207] cleaned up code --- .../trigon/robot/subsystems/arm/ArmIO.java | 12 +++-------- .../arm/kablamaArm/KablamaArmIO.java | 21 +++++-------------- .../kablamacollector/KablamaCollectorIO.java | 1 + 3 files changed, 9 insertions(+), 25 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java index 5d2cfd5c8..2d0b0e380 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java @@ -19,12 +19,6 @@ static ArmIO generateIO() { protected void updateInputs(ArmInputsAutoLogged inputs) { } - protected void setAnglePower(double power) { - } - - protected void setElevatorPower(double power) { - } - protected void stopAngleMotors() { } @@ -41,13 +35,13 @@ protected void setTargetElevatorPosition(TrapezoidProfile.State targetState) { protected static class ArmInputs { public double angleMotorCurrent = 0; public double angleMotorVoltage = 0; + public double anglePositionDegrees = 0; + public double angleVelocityDegreesPerSecond = 0; + public double elevatorMotorCurrent = 0; public double elevatorMotorVoltage = 0; - - public double anglePositionDegrees = 0; public double elevatorPositionRevolution = 0; - public double angleVelocityDegreesPerSecond = 0; public double elevatorVelocityRevolutionsPerSecond = 0; } } diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java index 8078470ec..389dd4c5b 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java @@ -4,7 +4,6 @@ import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.math.util.Units; -import frc.trigon.robot.subsystems.arm.ArmConstants; import frc.trigon.robot.subsystems.arm.ArmIO; import frc.trigon.robot.subsystems.arm.ArmInputsAutoLogged; import frc.trigon.robot.utilities.Conversions; @@ -28,18 +27,6 @@ protected void updateInputs(ArmInputsAutoLogged inputs) { inputs.anglePositionDegrees = getAngleMotorPositionDegrees().getDegrees(); } - @Override - protected void setAnglePower(double power) { - masterAngleMotor.setVoltage(power); - followerAngleMotor.setVoltage(power); - } - - @Override - protected void setElevatorPower(double power) { - masterElevatorMotor.setVoltage(power); - followerElevatorMotor.setVoltage(power); - } - @Override protected void stopAngleMotors() { masterAngleMotor.stopMotor(); @@ -53,7 +40,7 @@ protected void stopElevatorMotors() { } @Override - protected void setTargetAngle (TrapezoidProfile.State targetState) { + protected void setTargetAngle(TrapezoidProfile.State targetState) { double pidOutput = KablamaArmConstants.ANGLE_PID_CONTROLLER.calculate( getAngleMotorPositionDegrees().getDegrees(), targetState.position @@ -62,7 +49,8 @@ protected void setTargetAngle (TrapezoidProfile.State targetState) { Units.degreesToRadians(targetState.position), Units.degreesToRadians(targetState.velocity) ); - setAnglePower(pidOutput + feedforward); + masterAngleMotor.setVoltage(pidOutput + feedforward); + followerAngleMotor.setVoltage(pidOutput + feedforward); } @Override @@ -73,7 +61,8 @@ protected void setTargetElevatorPosition(TrapezoidProfile.State targetState) { ); double feedforward = KablamaArmConstants.ELEVATOR_FEEDFORWARD.calculate(targetState.velocity); - setElevatorPower(pidOutput + feedforward); + masterElevatorMotor.setVoltage(pidOutput + feedforward); + followerElevatorMotor.setVoltage(pidOutput + feedforward); } protected double getElevatorPositionRevolutions() { diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/kablamacollector/KablamaCollectorIO.java b/src/main/java/frc/trigon/robot/subsystems/collector/kablamacollector/KablamaCollectorIO.java index 66fbdf1a2..5b66919c9 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/kablamacollector/KablamaCollectorIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/kablamacollector/KablamaCollectorIO.java @@ -18,6 +18,7 @@ protected void updateInputs(CollectorInputsAutoLogged inputs) { protected void setPower(double power) { motor.set(ControlMode.PercentOutput, power); } + @Override protected void stop() { motor.set(ControlMode.Disabled, 0); From 4561f533885fba853b0ecb1daed9f1b2d4ed45e2 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 23 Nov 2023 21:02:01 +0200 Subject: [PATCH 124/207] corrected names --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 8 ++------ src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java | 5 ++--- .../robot/subsystems/arm/kablamaArm/KablamaArmIO.java | 4 ++-- 3 files changed, 6 insertions(+), 11 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 07643a798..9f4ec41fa 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -1,13 +1,9 @@ package frc.trigon.robot.subsystems.arm; -import com.ctre.phoenix.motorcontrol.can.TalonSRX; -import com.revrobotics.CANSparkMax; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.trajectory.TrapezoidProfile; -import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj2.command.*; -import frc.trigon.robot.subsystems.arm.kablamaArm.KablamaArmConstants; import frc.trigon.robot.utilities.Conversions; import org.littletonrobotics.junction.Logger; @@ -120,7 +116,7 @@ private void setTargetAngleFromProfile() { } TrapezoidProfile.State targetState = angleMotorProfile.calculate(getAngleMotorProfileTime()); - armIO.setTargetAngle(targetState); + armIO.setTargetAngleState(targetState); } private void setTargetElevatorPositionFromProfile() { @@ -130,7 +126,7 @@ private void setTargetElevatorPositionFromProfile() { } TrapezoidProfile.State targetState = elevatorMotorProfile.calculate(getElevatorMotorProfileTime()); - armIO.setTargetElevatorPosition(targetState); + armIO.setTargetElevatorPositionState(targetState); } private void generateAngleMotorProfile(Rotation2d targetAngle, double speedPercentage) { diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java index 2d0b0e380..c8e17de6e 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java @@ -1,6 +1,5 @@ package frc.trigon.robot.subsystems.arm; -import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.trajectory.TrapezoidProfile; import frc.trigon.robot.constants.RobotConstants; import frc.trigon.robot.subsystems.arm.kablamaArm.KablamaArmIO; @@ -25,10 +24,10 @@ protected void stopAngleMotors() { protected void stopElevatorMotors() { } - protected void setTargetAngle(TrapezoidProfile.State targetState) { + protected void setTargetAngleState(TrapezoidProfile.State targetState) { } - protected void setTargetElevatorPosition(TrapezoidProfile.State targetState) { + protected void setTargetElevatorPositionState(TrapezoidProfile.State targetState) { } @AutoLog diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java index 389dd4c5b..432c1a9d9 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java @@ -40,7 +40,7 @@ protected void stopElevatorMotors() { } @Override - protected void setTargetAngle(TrapezoidProfile.State targetState) { + protected void setTargetAngleState(TrapezoidProfile.State targetState) { double pidOutput = KablamaArmConstants.ANGLE_PID_CONTROLLER.calculate( getAngleMotorPositionDegrees().getDegrees(), targetState.position @@ -54,7 +54,7 @@ protected void setTargetAngle(TrapezoidProfile.State targetState) { } @Override - protected void setTargetElevatorPosition(TrapezoidProfile.State targetState) { + protected void setTargetElevatorPositionState(TrapezoidProfile.State targetState) { double pidOutput = KablamaArmConstants.ELEVATOR_PID_CONTROLLER.calculate( getElevatorPositionRevolutions(), targetState.position From ac72e38f3aac6865fcf742c3d8a21308869854aa Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 23 Nov 2023 21:17:55 +0200 Subject: [PATCH 125/207] __==Cleaned up code==__ --- .../frc/trigon/robot/subsystems/arm/Arm.java | 2 +- .../trigon/robot/subsystems/arm/ArmIO.java | 3 +- .../arm/kablamaArm/KablamaArmConstants.java | 2 +- .../arm/kablamaArm/KablamaArmIO.java | 31 ++++++++++++------- 4 files changed, 23 insertions(+), 15 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 9f4ec41fa..b8553ac96 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -126,7 +126,7 @@ private void setTargetElevatorPositionFromProfile() { } TrapezoidProfile.State targetState = elevatorMotorProfile.calculate(getElevatorMotorProfileTime()); - armIO.setTargetElevatorPositionState(targetState); + armIO.setTargetElevatorState(targetState); } private void generateAngleMotorProfile(Rotation2d targetAngle, double speedPercentage) { diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java index c8e17de6e..7df28e39f 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java @@ -27,7 +27,7 @@ protected void stopElevatorMotors() { protected void setTargetAngleState(TrapezoidProfile.State targetState) { } - protected void setTargetElevatorPositionState(TrapezoidProfile.State targetState) { + protected void setTargetElevatorState(TrapezoidProfile.State targetState) { } @AutoLog @@ -37,7 +37,6 @@ protected static class ArmInputs { public double anglePositionDegrees = 0; public double angleVelocityDegreesPerSecond = 0; - public double elevatorMotorCurrent = 0; public double elevatorMotorVoltage = 0; public double elevatorPositionRevolution = 0; diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java index f66ebd6dd..a62b92b4e 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java @@ -57,7 +57,7 @@ public class KablamaArmConstants { ELEVATOR_P = 1, ELEVATOR_I = 0, ELEVATOR_D = 0; - public static final PIDController + protected static final PIDController ANGLE_PID_CONTROLLER = new PIDController(ANGLE_P, ANGLE_I, ANGLE_D), ELEVATOR_PID_CONTROLLER = new PIDController(ELEVATOR_P, ELEVATOR_I, ELEVATOR_D); diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java index 432c1a9d9..893a726bf 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java @@ -19,12 +19,13 @@ public class KablamaArmIO extends ArmIO { protected void updateInputs(ArmInputsAutoLogged inputs) { inputs.angleMotorVoltage = masterAngleMotor.getBusVoltage(); inputs.angleMotorCurrent = masterAngleMotor.getOutputCurrent(); + inputs.angleVelocityDegreesPerSecond = getAngleVelocityDegreesPerSecond(); + inputs.anglePositionDegrees = getAngleMotorPositionDegrees().getDegrees(); + inputs.elevatorMotorVoltage = masterElevatorMotor.getBusVoltage(); inputs.elevatorMotorCurrent = masterElevatorMotor.getOutputCurrent(); inputs.elevatorPositionRevolution = getElevatorPositionRevolutions(); - inputs.angleVelocityDegreesPerSecond = getAngleVelocityDegreesPerSecond(); inputs.elevatorVelocityRevolutionsPerSecond = getElevatorVelocityRevolutionsPerSecond(); - inputs.anglePositionDegrees = getAngleMotorPositionDegrees().getDegrees(); } @Override @@ -49,37 +50,45 @@ protected void setTargetAngleState(TrapezoidProfile.State targetState) { Units.degreesToRadians(targetState.position), Units.degreesToRadians(targetState.velocity) ); - masterAngleMotor.setVoltage(pidOutput + feedforward); - followerAngleMotor.setVoltage(pidOutput + feedforward); + setElevatorVoltage(pidOutput + feedforward); } @Override - protected void setTargetElevatorPositionState(TrapezoidProfile.State targetState) { + protected void setTargetElevatorState(TrapezoidProfile.State targetState) { double pidOutput = KablamaArmConstants.ELEVATOR_PID_CONTROLLER.calculate( getElevatorPositionRevolutions(), targetState.position ); double feedforward = KablamaArmConstants.ELEVATOR_FEEDFORWARD.calculate(targetState.velocity); - masterElevatorMotor.setVoltage(pidOutput + feedforward); - followerElevatorMotor.setVoltage(pidOutput + feedforward); + setAngleVoltage(pidOutput + feedforward); + } + + private void setAngleVoltage(double voltage) { + masterAngleMotor.setVoltage(voltage); + followerAngleMotor.setVoltage(voltage); + } + + private void setElevatorVoltage(double voltage) { + masterElevatorMotor.setVoltage(voltage); + followerElevatorMotor.setVoltage(voltage); } - protected double getElevatorPositionRevolutions() { + private double getElevatorPositionRevolutions() { return Conversions.magTicksToRevolutions(KablamaArmConstants.ELEVATOR_ENCODER.getSelectedSensorPosition()); } - protected double getAngleVelocityDegreesPerSecond() { + private double getAngleVelocityDegreesPerSecond() { double positionRevolutions = KablamaArmConstants.ANGLE_MOTOR_VELOCITY_SIGNAL.refresh().getValue(); return Conversions.revolutionsToDegrees(positionRevolutions); } - protected double getElevatorVelocityRevolutionsPerSecond() { + private double getElevatorVelocityRevolutionsPerSecond() { double magTicksPerSecond = Conversions.perHundredMsToPerSecond(KablamaArmConstants.ELEVATOR_ENCODER.getSelectedSensorVelocity()); return Conversions.magTicksToRevolutions(magTicksPerSecond); } - protected Rotation2d getAngleMotorPositionDegrees() { + private Rotation2d getAngleMotorPositionDegrees() { double positionRevolutions = KablamaArmConstants.ANGLE_MOTOR_POSITION_SIGNAL.refresh().getValue(); return Rotation2d.fromRotations(positionRevolutions); } From 0c81176b0d9b52d3fdf3ea2145be75af1e4aafba Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Fri, 24 Nov 2023 12:06:03 +0200 Subject: [PATCH 126/207] extracted code into functions --- .../arm/kablamaArm/KablamaArmConstants.java | 3 +- .../arm/kablamaArm/KablamaArmIO.java | 40 +++++++++++-------- 2 files changed, 25 insertions(+), 18 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java index a62b92b4e..f40fd4447 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java @@ -57,7 +57,7 @@ public class KablamaArmConstants { ELEVATOR_P = 1, ELEVATOR_I = 0, ELEVATOR_D = 0; - protected static final PIDController + static final PIDController ANGLE_PID_CONTROLLER = new PIDController(ANGLE_P, ANGLE_I, ANGLE_D), ELEVATOR_PID_CONTROLLER = new PIDController(ELEVATOR_P, ELEVATOR_I, ELEVATOR_D); @@ -77,7 +77,6 @@ public class KablamaArmConstants { ELEVATOR_MOTOR_KS, ELEVATOR_MOTOR_KG, ELEVATOR_MOTOR_KV, ELEVATOR_MOTOR_KA ); - static { configureAngleEncoder(); configureElevatorEncoder(); diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java index 893a726bf..99a9bd7ea 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java @@ -42,26 +42,13 @@ protected void stopElevatorMotors() { @Override protected void setTargetAngleState(TrapezoidProfile.State targetState) { - double pidOutput = KablamaArmConstants.ANGLE_PID_CONTROLLER.calculate( - getAngleMotorPositionDegrees().getDegrees(), - targetState.position - ); - double feedforward = KablamaArmConstants.ANGLE_FEEDFORWARD.calculate( - Units.degreesToRadians(targetState.position), - Units.degreesToRadians(targetState.velocity) - ); - setElevatorVoltage(pidOutput + feedforward); + setAngleVoltage(calculateAnglePosition(targetState)); + } @Override protected void setTargetElevatorState(TrapezoidProfile.State targetState) { - double pidOutput = KablamaArmConstants.ELEVATOR_PID_CONTROLLER.calculate( - getElevatorPositionRevolutions(), - targetState.position - ); - double feedforward = KablamaArmConstants.ELEVATOR_FEEDFORWARD.calculate(targetState.velocity); - - setAngleVoltage(pidOutput + feedforward); + setAngleVoltage(calculateElevatorPosition(targetState)); } private void setAngleVoltage(double voltage) { @@ -83,6 +70,27 @@ private double getAngleVelocityDegreesPerSecond() { return Conversions.revolutionsToDegrees(positionRevolutions); } + private double calculateAnglePosition(TrapezoidProfile.State targetState) { + double pidOutput = KablamaArmConstants.ANGLE_PID_CONTROLLER.calculate( + getAngleMotorPositionDegrees().getDegrees(), + targetState.position + ); + double feedforward = KablamaArmConstants.ANGLE_FEEDFORWARD.calculate( + Units.degreesToRadians(targetState.position), + Units.degreesToRadians(targetState.velocity) + ); + return pidOutput + feedforward; + } + + private double calculateElevatorPosition(TrapezoidProfile.State targetState) { + double pidOutput = KablamaArmConstants.ELEVATOR_PID_CONTROLLER.calculate( + getElevatorPositionRevolutions(), + targetState.position + ); + double feedforward = KablamaArmConstants.ELEVATOR_FEEDFORWARD.calculate(targetState.velocity); + return pidOutput + feedforward; + } + private double getElevatorVelocityRevolutionsPerSecond() { double magTicksPerSecond = Conversions.perHundredMsToPerSecond(KablamaArmConstants.ELEVATOR_ENCODER.getSelectedSensorVelocity()); return Conversions.magTicksToRevolutions(magTicksPerSecond); From 583a8f500f575c18ac89e6710f2b73b0ef791207 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Fri, 24 Nov 2023 13:16:59 +0200 Subject: [PATCH 127/207] reordered code --- .../arm/kablamaArm/KablamaArmConstants.java | 4 +-- .../arm/kablamaArm/KablamaArmIO.java | 26 +++++++++---------- 2 files changed, 15 insertions(+), 15 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java index f40fd4447..4008e7f3d 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java @@ -70,10 +70,10 @@ public class KablamaArmConstants { ELEVATOR_MOTOR_KV = 0, ELEVATOR_MOTOR_KA = 0, ELEVATOR_MOTOR_KG = 0; - public static final ArmFeedforward ANGLE_FEEDFORWARD = new ArmFeedforward( + static final ArmFeedforward ANGLE_FEEDFORWARD = new ArmFeedforward( ANGLE_MOTOR_KS, ANGLE_MOTOR_KG, ANGLE_MOTOR_KV, ANGLE_MOTOR_KA ); - public static final ElevatorFeedforward ELEVATOR_FEEDFORWARD = new ElevatorFeedforward( + static final ElevatorFeedforward ELEVATOR_FEEDFORWARD = new ElevatorFeedforward( ELEVATOR_MOTOR_KS, ELEVATOR_MOTOR_KG, ELEVATOR_MOTOR_KV, ELEVATOR_MOTOR_KA ); diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java index 99a9bd7ea..6ead1fd5c 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java @@ -42,13 +42,13 @@ protected void stopElevatorMotors() { @Override protected void setTargetAngleState(TrapezoidProfile.State targetState) { - setAngleVoltage(calculateAnglePosition(targetState)); + setAngleVoltage(calculateAngleOutput(targetState)); } @Override protected void setTargetElevatorState(TrapezoidProfile.State targetState) { - setAngleVoltage(calculateElevatorPosition(targetState)); + setElevatorVoltage(calculateElevatorOutput(targetState)); } private void setAngleVoltage(double voltage) { @@ -61,16 +61,7 @@ private void setElevatorVoltage(double voltage) { followerElevatorMotor.setVoltage(voltage); } - private double getElevatorPositionRevolutions() { - return Conversions.magTicksToRevolutions(KablamaArmConstants.ELEVATOR_ENCODER.getSelectedSensorPosition()); - } - - private double getAngleVelocityDegreesPerSecond() { - double positionRevolutions = KablamaArmConstants.ANGLE_MOTOR_VELOCITY_SIGNAL.refresh().getValue(); - return Conversions.revolutionsToDegrees(positionRevolutions); - } - - private double calculateAnglePosition(TrapezoidProfile.State targetState) { + private double calculateAngleOutput(TrapezoidProfile.State targetState) { double pidOutput = KablamaArmConstants.ANGLE_PID_CONTROLLER.calculate( getAngleMotorPositionDegrees().getDegrees(), targetState.position @@ -82,7 +73,7 @@ private double calculateAnglePosition(TrapezoidProfile.State targetState) { return pidOutput + feedforward; } - private double calculateElevatorPosition(TrapezoidProfile.State targetState) { + private double calculateElevatorOutput(TrapezoidProfile.State targetState) { double pidOutput = KablamaArmConstants.ELEVATOR_PID_CONTROLLER.calculate( getElevatorPositionRevolutions(), targetState.position @@ -90,6 +81,15 @@ private double calculateElevatorPosition(TrapezoidProfile.State targetState) { double feedforward = KablamaArmConstants.ELEVATOR_FEEDFORWARD.calculate(targetState.velocity); return pidOutput + feedforward; } + + private double getElevatorPositionRevolutions() { + return Conversions.magTicksToRevolutions(KablamaArmConstants.ELEVATOR_ENCODER.getSelectedSensorPosition()); + } + + private double getAngleVelocityDegreesPerSecond() { + double positionRevolutions = KablamaArmConstants.ANGLE_MOTOR_VELOCITY_SIGNAL.refresh().getValue(); + return Conversions.revolutionsToDegrees(positionRevolutions); + } private double getElevatorVelocityRevolutionsPerSecond() { double magTicksPerSecond = Conversions.perHundredMsToPerSecond(KablamaArmConstants.ELEVATOR_ENCODER.getSelectedSensorVelocity()); From 3ec284cf23902bcc503acbc2c1d2e550d144b03c Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Fri, 24 Nov 2023 14:53:15 +0200 Subject: [PATCH 128/207] optimized imports --- .../trigon/robot/subsystems/arm/ArmConstants.java | 13 ------------- .../subsystems/arm/kablamaArm/KablamaArmIO.java | 8 ++++---- .../subsystems/collector/CollectorConstants.java | 7 ++----- 3 files changed, 6 insertions(+), 22 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index a6d0cd036..4ef3ec7e4 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -1,20 +1,7 @@ package frc.trigon.robot.subsystems.arm; -import com.ctre.phoenix.motorcontrol.FeedbackDevice; -import com.ctre.phoenix.motorcontrol.can.TalonSRX; -import com.ctre.phoenix6.StatusSignal; -import com.ctre.phoenix6.configs.CANcoderConfiguration; -import com.ctre.phoenix6.hardware.CANcoder; -import com.ctre.phoenix6.signals.AbsoluteSensorRangeValue; -import com.ctre.phoenix6.signals.SensorDirectionValue; -import com.revrobotics.CANSparkMax; -import com.revrobotics.CANSparkMaxLowLevel; -import edu.wpi.first.math.controller.ArmFeedforward; -import edu.wpi.first.math.controller.ElevatorFeedforward; -import edu.wpi.first.math.controller.PIDController; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.trajectory.TrapezoidProfile; -import frc.trigon.robot.utilities.Conversions; public class ArmConstants { private static final double diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java index 6ead1fd5c..96eaf0fd2 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java @@ -20,7 +20,7 @@ protected void updateInputs(ArmInputsAutoLogged inputs) { inputs.angleMotorVoltage = masterAngleMotor.getBusVoltage(); inputs.angleMotorCurrent = masterAngleMotor.getOutputCurrent(); inputs.angleVelocityDegreesPerSecond = getAngleVelocityDegreesPerSecond(); - inputs.anglePositionDegrees = getAngleMotorPositionDegrees().getDegrees(); + inputs.anglePositionDegrees = getAngleMotorPosition().getDegrees(); inputs.elevatorMotorVoltage = masterElevatorMotor.getBusVoltage(); inputs.elevatorMotorCurrent = masterElevatorMotor.getOutputCurrent(); @@ -63,7 +63,7 @@ private void setElevatorVoltage(double voltage) { private double calculateAngleOutput(TrapezoidProfile.State targetState) { double pidOutput = KablamaArmConstants.ANGLE_PID_CONTROLLER.calculate( - getAngleMotorPositionDegrees().getDegrees(), + getAngleMotorPosition().getDegrees(), targetState.position ); double feedforward = KablamaArmConstants.ANGLE_FEEDFORWARD.calculate( @@ -81,7 +81,7 @@ private double calculateElevatorOutput(TrapezoidProfile.State targetState) { double feedforward = KablamaArmConstants.ELEVATOR_FEEDFORWARD.calculate(targetState.velocity); return pidOutput + feedforward; } - + private double getElevatorPositionRevolutions() { return Conversions.magTicksToRevolutions(KablamaArmConstants.ELEVATOR_ENCODER.getSelectedSensorPosition()); } @@ -96,7 +96,7 @@ private double getElevatorVelocityRevolutionsPerSecond() { return Conversions.magTicksToRevolutions(magTicksPerSecond); } - private Rotation2d getAngleMotorPositionDegrees() { + private Rotation2d getAngleMotorPosition() { double positionRevolutions = KablamaArmConstants.ANGLE_MOTOR_POSITION_SIGNAL.refresh().getValue(); return Rotation2d.fromRotations(positionRevolutions); } diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/CollectorConstants.java b/src/main/java/frc/trigon/robot/subsystems/collector/CollectorConstants.java index 91dc12d8a..1adec2487 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/CollectorConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/CollectorConstants.java @@ -1,20 +1,17 @@ package frc.trigon.robot.subsystems.collector; -import com.ctre.phoenix.motorcontrol.NeutralMode; -import com.ctre.phoenix.motorcontrol.can.TalonSRX; - public class CollectorConstants { static final int MAX_CURRENT = 10; static final double MAX_CURRENT_TIME = 0.5; - public enum CollectorStates{ + public enum CollectorStates { COLLECT(-1), EJECT(1), HOLD(-0.2); final double power; - CollectorStates(double power){ + CollectorStates(double power) { this.power = power; } } From 7b3523236663ee0815fa1754b5e2484c55178f21 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sun, 26 Nov 2023 12:06:25 +0200 Subject: [PATCH 129/207] attempted to add simulation --- .../SimulationCollectorIO.java | 30 +++++++++++++++++++ .../SimulationCollectorIOConstants.java | 20 +++++++++++++ 2 files changed, 50 insertions(+) create mode 100644 src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java create mode 100644 src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIOConstants.java diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java b/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java new file mode 100644 index 000000000..895f34e49 --- /dev/null +++ b/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java @@ -0,0 +1,30 @@ +package frc.trigon.robot.subsystems.collector.simulationcollector; + +import com.ctre.phoenix.motorcontrol.ControlMode; +import com.ctre.phoenix.motorcontrol.can.TalonSRX; +import frc.trigon.robot.subsystems.collector.CollectorIO; +import frc.trigon.robot.subsystems.collector.CollectorInputsAutoLogged; + +public class SimulationCollectorIO extends CollectorIO { + private final TalonSRX motor = SimulationCollectorIOConstants.MOTOR; + + public SimulationCollectorIO() { + System.out.println("[Init] Creating CollectorIOSim"); + } + + @Override + protected void updateInputs(CollectorInputsAutoLogged inputs) { + inputs.motorVoltage = motor.getMotorOutputVoltage(); + inputs.motorCurrent = motor.getSupplyCurrent(); + } + + @Override + protected void setPower(double power) { + motor.set(ControlMode.PercentOutput, power); + } + + @Override + protected void stop() { + motor.set(ControlMode.Disabled, 0); + } +} diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIOConstants.java b/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIOConstants.java new file mode 100644 index 000000000..57b31e062 --- /dev/null +++ b/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIOConstants.java @@ -0,0 +1,20 @@ +package frc.trigon.robot.subsystems.collector.simulationcollector; + +import com.ctre.phoenix.motorcontrol.NeutralMode; +import com.ctre.phoenix.motorcontrol.can.TalonSRX; + +public class SimulationCollectorIOConstants { + private static final int MOTOR_ID = 1; + private static final NeutralMode NEUTRAL_MODE_VALUE = NeutralMode.Coast; + private static final boolean INVERTED = false; + private static final int VOLTAGE_COMPENSATION_SATURATION = 12; + static final TalonSRX MOTOR = new TalonSRX(MOTOR_ID); + + static { + MOTOR.configFactoryDefault(); + MOTOR.configVoltageCompSaturation(VOLTAGE_COMPENSATION_SATURATION); + MOTOR.enableVoltageCompensation(true); + MOTOR.setNeutralMode(NEUTRAL_MODE_VALUE); + MOTOR.setInverted(INVERTED); + } +} From b51537d5e399fe5af4c98b08d4e8f636f02330f6 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sun, 26 Nov 2023 14:48:40 +0200 Subject: [PATCH 130/207] attempted to add ElevatorSim and SingleJointedArmSim --- .../SimulationCollectorIO.java | 29 +++++++++++++++++++ .../SimulationCollectorIOConstants.java | 9 ++++++ 2 files changed, 38 insertions(+) diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java b/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java index 895f34e49..e9a33c9d1 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java @@ -2,11 +2,40 @@ import com.ctre.phoenix.motorcontrol.ControlMode; import com.ctre.phoenix.motorcontrol.can.TalonSRX; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.system.LinearSystem; +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.math.system.plant.LinearSystemId; +import edu.wpi.first.wpilibj.simulation.ElevatorSim; +import edu.wpi.first.wpilibj.simulation.SingleJointedArmSim; import frc.trigon.robot.subsystems.collector.CollectorIO; import frc.trigon.robot.subsystems.collector.CollectorInputsAutoLogged; public class SimulationCollectorIO extends CollectorIO { private final TalonSRX motor = SimulationCollectorIOConstants.MOTOR; + private final DCMotor dcMotor = SimulationCollectorIOConstants.DC_MOTOR; + private final ElevatorSim elevatorSim = + new ElevatorSim( + LinearSystemId.createElevatorSystem(dcMotor, 5, 5, 5), + dcMotor, + 5, + 7, + true, + 10, + VecBuilder.fill(0.01) + ); + private final SingleJointedArmSim singleJointedArmSim = + new SingleJointedArmSim( + LinearSystemId.createElevatorSystem(dcMotor, 5, 5, 5), + dcMotor, + 5, + 2, + 1, + 5, + true, + 2, + VecBuilder.fill(0.01) + ); public SimulationCollectorIO() { System.out.println("[Init] Creating CollectorIOSim"); diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIOConstants.java b/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIOConstants.java index 57b31e062..9436b1ae6 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIOConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIOConstants.java @@ -2,13 +2,22 @@ import com.ctre.phoenix.motorcontrol.NeutralMode; import com.ctre.phoenix.motorcontrol.can.TalonSRX; +import edu.wpi.first.math.system.plant.DCMotor; public class SimulationCollectorIOConstants { private static final int MOTOR_ID = 1; private static final NeutralMode NEUTRAL_MODE_VALUE = NeutralMode.Coast; private static final boolean INVERTED = false; private static final int VOLTAGE_COMPENSATION_SATURATION = 12; + private static final double + nominalVoltageVolts = 1, + stallTorqueNewtonMeters = 1, + stallCurrentAmps = 1, + freeCurrentAmps = 1, + freeSpeedRadPerSec = 1; + private static final int numMotors = 1; static final TalonSRX MOTOR = new TalonSRX(MOTOR_ID); + static final DCMotor DC_MOTOR = new DCMotor(nominalVoltageVolts, stallTorqueNewtonMeters, stallCurrentAmps, freeCurrentAmps, freeSpeedRadPerSec, numMotors); static { MOTOR.configFactoryDefault(); From 607ecafd16b116e55f7d3b1184ff225300d34979 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sun, 26 Nov 2023 16:04:42 +0200 Subject: [PATCH 131/207] made dcMotorSim --- .../SimulationCollectorIO.java | 26 ++++--------------- 1 file changed, 5 insertions(+), 21 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java b/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java index e9a33c9d1..d85bfd53f 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java @@ -6,6 +6,7 @@ import edu.wpi.first.math.system.LinearSystem; import edu.wpi.first.math.system.plant.DCMotor; import edu.wpi.first.math.system.plant.LinearSystemId; +import edu.wpi.first.wpilibj.simulation.DCMotorSim; import edu.wpi.first.wpilibj.simulation.ElevatorSim; import edu.wpi.first.wpilibj.simulation.SingleJointedArmSim; import frc.trigon.robot.subsystems.collector.CollectorIO; @@ -14,29 +15,12 @@ public class SimulationCollectorIO extends CollectorIO { private final TalonSRX motor = SimulationCollectorIOConstants.MOTOR; private final DCMotor dcMotor = SimulationCollectorIOConstants.DC_MOTOR; - private final ElevatorSim elevatorSim = - new ElevatorSim( - LinearSystemId.createElevatorSystem(dcMotor, 5, 5, 5), + private final DCMotorSim dcMotorSim = + new DCMotorSim( + LinearSystemId.createDCMotorSystem(dcMotor, 1, 1), dcMotor, - 5, - 7, - true, - 10, - VecBuilder.fill(0.01) + 1 ); - private final SingleJointedArmSim singleJointedArmSim = - new SingleJointedArmSim( - LinearSystemId.createElevatorSystem(dcMotor, 5, 5, 5), - dcMotor, - 5, - 2, - 1, - 5, - true, - 2, - VecBuilder.fill(0.01) - ); - public SimulationCollectorIO() { System.out.println("[Init] Creating CollectorIOSim"); } From 4e40e1dd908314858cb957e905f95722c0894a7f Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Mon, 27 Nov 2023 12:51:38 +0200 Subject: [PATCH 132/207] implemented DCMotorSim --- .../SimulationCollectorIO.java | 28 ++--------- .../SimulationCollectorIOConstants.java | 47 +++++++++++-------- 2 files changed, 32 insertions(+), 43 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java b/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java index d85bfd53f..7da285e41 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java @@ -1,43 +1,25 @@ package frc.trigon.robot.subsystems.collector.simulationcollector; -import com.ctre.phoenix.motorcontrol.ControlMode; -import com.ctre.phoenix.motorcontrol.can.TalonSRX; -import edu.wpi.first.math.VecBuilder; -import edu.wpi.first.math.system.LinearSystem; -import edu.wpi.first.math.system.plant.DCMotor; -import edu.wpi.first.math.system.plant.LinearSystemId; import edu.wpi.first.wpilibj.simulation.DCMotorSim; -import edu.wpi.first.wpilibj.simulation.ElevatorSim; -import edu.wpi.first.wpilibj.simulation.SingleJointedArmSim; import frc.trigon.robot.subsystems.collector.CollectorIO; import frc.trigon.robot.subsystems.collector.CollectorInputsAutoLogged; public class SimulationCollectorIO extends CollectorIO { - private final TalonSRX motor = SimulationCollectorIOConstants.MOTOR; - private final DCMotor dcMotor = SimulationCollectorIOConstants.DC_MOTOR; - private final DCMotorSim dcMotorSim = - new DCMotorSim( - LinearSystemId.createDCMotorSystem(dcMotor, 1, 1), - dcMotor, - 1 - ); - public SimulationCollectorIO() { - System.out.println("[Init] Creating CollectorIOSim"); - } + private final DCMotorSim dcMotorSim = SimulationCollectorIOConstants.DC_MOTOR_SIM; @Override protected void updateInputs(CollectorInputsAutoLogged inputs) { - inputs.motorVoltage = motor.getMotorOutputVoltage(); - inputs.motorCurrent = motor.getSupplyCurrent(); + inputs.motorVoltage = dcMotorSim.getOutput().get(0, 0); + inputs.motorCurrent = dcMotorSim.getCurrentDrawAmps(); } @Override protected void setPower(double power) { - motor.set(ControlMode.PercentOutput, power); + dcMotorSim.setInputVoltage(power); } @Override protected void stop() { - motor.set(ControlMode.Disabled, 0); + dcMotorSim.setInputVoltage(0); } } diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIOConstants.java b/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIOConstants.java index 9436b1ae6..5033d4144 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIOConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIOConstants.java @@ -3,27 +3,34 @@ import com.ctre.phoenix.motorcontrol.NeutralMode; import com.ctre.phoenix.motorcontrol.can.TalonSRX; import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.math.system.plant.LinearSystemId; +import edu.wpi.first.wpilibj.simulation.DCMotorSim; public class SimulationCollectorIOConstants { - private static final int MOTOR_ID = 1; - private static final NeutralMode NEUTRAL_MODE_VALUE = NeutralMode.Coast; - private static final boolean INVERTED = false; - private static final int VOLTAGE_COMPENSATION_SATURATION = 12; private static final double - nominalVoltageVolts = 1, - stallTorqueNewtonMeters = 1, - stallCurrentAmps = 1, - freeCurrentAmps = 1, - freeSpeedRadPerSec = 1; - private static final int numMotors = 1; - static final TalonSRX MOTOR = new TalonSRX(MOTOR_ID); - static final DCMotor DC_MOTOR = new DCMotor(nominalVoltageVolts, stallTorqueNewtonMeters, stallCurrentAmps, freeCurrentAmps, freeSpeedRadPerSec, numMotors); - - static { - MOTOR.configFactoryDefault(); - MOTOR.configVoltageCompSaturation(VOLTAGE_COMPENSATION_SATURATION); - MOTOR.enableVoltageCompensation(true); - MOTOR.setNeutralMode(NEUTRAL_MODE_VALUE); - MOTOR.setInverted(INVERTED); - } + NOMINAL_VOLTAGE_VOLTS = 1, + STALL_TORQUE_NEWTON_METERS = 1, + STALL_CURRENT_AMPS = 1, + FREE_CURRENT_AMPS = 1, + FREE_SPEED_RAD_PER_SEC = 1; + private static final int NUM_MOTORS = 1; + private static final double + JKG_METERS_SQUARED = 1, + G = 1, + GEARING = 1; + static final DCMotor DC_MOTOR = + new DCMotor( + NOMINAL_VOLTAGE_VOLTS, + STALL_TORQUE_NEWTON_METERS, + STALL_CURRENT_AMPS, + FREE_CURRENT_AMPS, + FREE_SPEED_RAD_PER_SEC, + NUM_MOTORS + ); + static final DCMotorSim DC_MOTOR_SIM = + new DCMotorSim( + LinearSystemId.createDCMotorSystem(DC_MOTOR, JKG_METERS_SQUARED, G), + DC_MOTOR, + GEARING + ); } From a2d947527af92fe68de4bc30bfbae901b61ed75a Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Mon, 27 Nov 2023 14:51:59 +0200 Subject: [PATCH 133/207] fixed code acording to review --- .../SimulationCollectorIO.java | 17 +++++++------ .../SimulationCollectorIOConstants.java | 24 +++++-------------- 2 files changed, 16 insertions(+), 25 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java b/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java index 7da285e41..badcdcc6a 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java @@ -1,25 +1,28 @@ package frc.trigon.robot.subsystems.collector.simulationcollector; import edu.wpi.first.wpilibj.simulation.DCMotorSim; +import frc.trigon.robot.constants.RobotConstants; import frc.trigon.robot.subsystems.collector.CollectorIO; import frc.trigon.robot.subsystems.collector.CollectorInputsAutoLogged; public class SimulationCollectorIO extends CollectorIO { - private final DCMotorSim dcMotorSim = SimulationCollectorIOConstants.DC_MOTOR_SIM; + private final DCMotorSim motor = SimulationCollectorIOConstants.MOTOR; + private double voltage; @Override protected void updateInputs(CollectorInputsAutoLogged inputs) { - inputs.motorVoltage = dcMotorSim.getOutput().get(0, 0); - inputs.motorCurrent = dcMotorSim.getCurrentDrawAmps(); + motor.update(RobotConstants.PERIODIC_TIME_SECONDS); + inputs.motorVoltage = voltage; + inputs.motorCurrent = motor.getCurrentDrawAmps(); } - @Override - protected void setPower(double power) { - dcMotorSim.setInputVoltage(power); + protected void setVoltage(double voltage) { + this.voltage = voltage; + motor.setInputVoltage(voltage); } @Override protected void stop() { - dcMotorSim.setInputVoltage(0); + motor.setInputVoltage(0); } } diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIOConstants.java b/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIOConstants.java index 5033d4144..2743f2a5b 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIOConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIOConstants.java @@ -1,9 +1,6 @@ package frc.trigon.robot.subsystems.collector.simulationcollector; -import com.ctre.phoenix.motorcontrol.NeutralMode; -import com.ctre.phoenix.motorcontrol.can.TalonSRX; import edu.wpi.first.math.system.plant.DCMotor; -import edu.wpi.first.math.system.plant.LinearSystemId; import edu.wpi.first.wpilibj.simulation.DCMotorSim; public class SimulationCollectorIOConstants { @@ -12,25 +9,16 @@ public class SimulationCollectorIOConstants { STALL_TORQUE_NEWTON_METERS = 1, STALL_CURRENT_AMPS = 1, FREE_CURRENT_AMPS = 1, - FREE_SPEED_RAD_PER_SEC = 1; + MOMENT_OF_INERTIA = 1; private static final int NUM_MOTORS = 1; + private static final DCMotor GEARBOX = DCMotor.getFalcon500(NUM_MOTORS); private static final double JKG_METERS_SQUARED = 1, - G = 1, GEARING = 1; - static final DCMotor DC_MOTOR = - new DCMotor( - NOMINAL_VOLTAGE_VOLTS, - STALL_TORQUE_NEWTON_METERS, - STALL_CURRENT_AMPS, - FREE_CURRENT_AMPS, - FREE_SPEED_RAD_PER_SEC, - NUM_MOTORS - ); - static final DCMotorSim DC_MOTOR_SIM = + static final DCMotorSim MOTOR = new DCMotorSim( - LinearSystemId.createDCMotorSystem(DC_MOTOR, JKG_METERS_SQUARED, G), - DC_MOTOR, - GEARING + GEARBOX, + GEARING, + JKG_METERS_SQUARED ); } From fdbc558c3fb0a58c312b068492e5b287d614cf97 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Mon, 27 Nov 2023 20:21:48 +0200 Subject: [PATCH 134/207] updated names --- .../SimulationCollectorIO.java | 12 +++++---- .../SimulationCollectorIOConstants.java | 25 +++++++------------ 2 files changed, 16 insertions(+), 21 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java b/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java index badcdcc6a..d43c34bdc 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java @@ -4,21 +4,23 @@ import frc.trigon.robot.constants.RobotConstants; import frc.trigon.robot.subsystems.collector.CollectorIO; import frc.trigon.robot.subsystems.collector.CollectorInputsAutoLogged; +import frc.trigon.robot.utilities.Conversions; public class SimulationCollectorIO extends CollectorIO { private final DCMotorSim motor = SimulationCollectorIOConstants.MOTOR; - private double voltage; + private double motorVoltage; @Override protected void updateInputs(CollectorInputsAutoLogged inputs) { motor.update(RobotConstants.PERIODIC_TIME_SECONDS); - inputs.motorVoltage = voltage; + + inputs.motorVoltage = motorVoltage; inputs.motorCurrent = motor.getCurrentDrawAmps(); } - protected void setVoltage(double voltage) { - this.voltage = voltage; - motor.setInputVoltage(voltage); + protected void setVoltage(double power) { + this.motorVoltage = Conversions.compensatedPowerToVoltage(power, SimulationCollectorIOConstants.VOLTAGE_COMPENSATION_SATURATION); + motor.setInputVoltage(motorVoltage); } @Override diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIOConstants.java b/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIOConstants.java index 2743f2a5b..4c22a9bd6 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIOConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIOConstants.java @@ -4,21 +4,14 @@ import edu.wpi.first.wpilibj.simulation.DCMotorSim; public class SimulationCollectorIOConstants { - private static final double - NOMINAL_VOLTAGE_VOLTS = 1, - STALL_TORQUE_NEWTON_METERS = 1, - STALL_CURRENT_AMPS = 1, - FREE_CURRENT_AMPS = 1, - MOMENT_OF_INERTIA = 1; - private static final int NUM_MOTORS = 1; - private static final DCMotor GEARBOX = DCMotor.getFalcon500(NUM_MOTORS); - private static final double - JKG_METERS_SQUARED = 1, - GEARING = 1; - static final DCMotorSim MOTOR = - new DCMotorSim( - GEARBOX, - GEARING, - JKG_METERS_SQUARED + private static final int MOTOR_AMOUNT = 1; + private static final DCMotor MOTOR_GEARBOX = DCMotor.getBag(MOTOR_AMOUNT); + private static final double MOMENT_OF_INERTIA = 1; + private static final double GEAR_RATIO = 12.8; + static final int VOLTAGE_COMPENSATION_SATURATION = 12; + static final DCMotorSim MOTOR = new DCMotorSim( + MOTOR_GEARBOX, + GEAR_RATIO, + MOMENT_OF_INERTIA ); } From cfd1b39d9e74684a8cc50ca0cc3ce4c754434b8f Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Mon, 27 Nov 2023 20:46:31 +0200 Subject: [PATCH 135/207] added arm simulation constants --- .../arm/simulationarm/SimulationArmIO.java | 27 +++++++++++ .../SimulationArmIOConstants.java | 47 +++++++++++++++++++ 2 files changed, 74 insertions(+) create mode 100644 src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java create mode 100644 src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java new file mode 100644 index 000000000..d4269e63d --- /dev/null +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java @@ -0,0 +1,27 @@ +package frc.trigon.robot.subsystems.arm.simulationarm; + +import edu.wpi.first.math.trajectory.TrapezoidProfile; +import frc.trigon.robot.subsystems.arm.ArmIO; +import frc.trigon.robot.subsystems.arm.ArmInputsAutoLogged; + +public class SimulationArmIO extends ArmIO { + @Override + protected void updateInputs(ArmInputsAutoLogged inputs) { + } + + @Override + protected void stopAngleMotors() { + } + + @Override + protected void stopElevatorMotors() { + } + + @Override + protected void setTargetAngleState(TrapezoidProfile.State targetState) { + } + + @Override + protected void setTargetElevatorState(TrapezoidProfile.State targetState) { + } +} diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java new file mode 100644 index 000000000..a48876105 --- /dev/null +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java @@ -0,0 +1,47 @@ +package frc.trigon.robot.subsystems.arm.simulationarm; + +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.wpilibj.simulation.ElevatorSim; +import edu.wpi.first.wpilibj.simulation.SingleJointedArmSim; + +public class SimulationArmIOConstants { + private static final int MOTOR_AMOUNT = 1; + private static final DCMotor + ANGLE_MOTOR_GEARBOX = DCMotor.getBag(MOTOR_AMOUNT), + ELEVATOR_MOTOR_GEARBOX = DCMotor.getBag(MOTOR_AMOUNT); + private static final double MOMENT_OF_INERTIA = 1; + private static final double GEAR_RATIO = 12.8; + private static final double + KA = 1, + KV = 1; + private static final double + MIN_HEIGHT_METERS = 0, + MAX_HEIGHT_METERS = 1; + private static final double + STARTING_ANGLE_RADS = 0, + MIN_ANGLE_RADS = 0, + MAX_ANGLE_RADS = 1; + private static final boolean SIMULATE_GRAVITY = true; + private static final double + ANGLE_ARM_LENGTH_METERS = 1, + ELEVATOR_STARTING_HEIGHT_METERS = 1; + static final SingleJointedArmSim ANGLE_MOTOR = new SingleJointedArmSim( + ANGLE_MOTOR_GEARBOX, + GEAR_RATIO, + MOMENT_OF_INERTIA, + ANGLE_ARM_LENGTH_METERS, + MIN_ANGLE_RADS, + MAX_ANGLE_RADS, + SIMULATE_GRAVITY, + STARTING_ANGLE_RADS + ); + static final ElevatorSim ELEVATOR_MOTOR = new ElevatorSim( + KA, + KV, + ELEVATOR_MOTOR_GEARBOX, + MIN_HEIGHT_METERS, + MAX_HEIGHT_METERS, + SIMULATE_GRAVITY, + ELEVATOR_STARTING_HEIGHT_METERS + ); +} From c054fdd1bbad0e04789af88802bb9e4b2e2d70c9 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Mon, 27 Nov 2023 20:50:17 +0200 Subject: [PATCH 136/207] made SimulationArmIOMotors --- .../robot/subsystems/arm/simulationarm/SimulationArmIO.java | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java index d4269e63d..432112f68 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java @@ -1,10 +1,14 @@ package frc.trigon.robot.subsystems.arm.simulationarm; import edu.wpi.first.math.trajectory.TrapezoidProfile; +import edu.wpi.first.wpilibj.simulation.ElevatorSim; +import edu.wpi.first.wpilibj.simulation.SingleJointedArmSim; import frc.trigon.robot.subsystems.arm.ArmIO; import frc.trigon.robot.subsystems.arm.ArmInputsAutoLogged; public class SimulationArmIO extends ArmIO { + private final SingleJointedArmSim angleMotor = SimulationArmIOConstants.ANGLE_MOTOR; + private final ElevatorSim elevatorMotor = SimulationArmIOConstants.ELEVATOR_MOTOR; @Override protected void updateInputs(ArmInputsAutoLogged inputs) { } From ae088e180c40f655bcac1ac0d851835658e3709b Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Tue, 28 Nov 2023 10:08:46 +0200 Subject: [PATCH 137/207] added set voltage functions --- .../subsystems/arm/simulationarm/SimulationArmIO.java | 10 ++++++++++ .../arm/simulationarm/SimulationArmIOConstants.java | 6 +++--- 2 files changed, 13 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java index 432112f68..d10f42faf 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java @@ -15,10 +15,12 @@ protected void updateInputs(ArmInputsAutoLogged inputs) { @Override protected void stopAngleMotors() { + angleMotor.setInputVoltage(0); } @Override protected void stopElevatorMotors() { + elevatorMotor.setInputVoltage(0); } @Override @@ -28,4 +30,12 @@ protected void setTargetAngleState(TrapezoidProfile.State targetState) { @Override protected void setTargetElevatorState(TrapezoidProfile.State targetState) { } + + private void setAngleVoltage(double voltage) { + angleMotor.setInputVoltage(voltage); + } + + private void setElevatorVoltage(double voltage) { + elevatorMotor.setInputVoltage(voltage); + } } diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java index a48876105..9d8066792 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java @@ -5,10 +5,10 @@ import edu.wpi.first.wpilibj.simulation.SingleJointedArmSim; public class SimulationArmIOConstants { - private static final int MOTOR_AMOUNT = 1; + private static final int MOTOR_AMOUNT = 2; private static final DCMotor - ANGLE_MOTOR_GEARBOX = DCMotor.getBag(MOTOR_AMOUNT), - ELEVATOR_MOTOR_GEARBOX = DCMotor.getBag(MOTOR_AMOUNT); + ANGLE_MOTOR_GEARBOX = DCMotor.getNEO(MOTOR_AMOUNT), + ELEVATOR_MOTOR_GEARBOX = DCMotor.getNEO(MOTOR_AMOUNT); private static final double MOMENT_OF_INERTIA = 1; private static final double GEAR_RATIO = 12.8; private static final double From 411f606c7ca600ba94c0a294489cf6a34257fb22 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Tue, 28 Nov 2023 11:39:37 +0200 Subject: [PATCH 138/207] fixed most of review --- .../arm/simulationarm/SimulationArmIO.java | 19 ++-- .../SimulationArmIOConstants.java | 88 +++++++++++++------ .../SimulationCollectorIO.java | 7 +- .../SimulationCollectorIOConstants.java | 10 +-- 4 files changed, 83 insertions(+), 41 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java index d10f42faf..a7dbd7519 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java @@ -7,20 +7,25 @@ import frc.trigon.robot.subsystems.arm.ArmInputsAutoLogged; public class SimulationArmIO extends ArmIO { - private final SingleJointedArmSim angleMotor = SimulationArmIOConstants.ANGLE_MOTOR; - private final ElevatorSim elevatorMotor = SimulationArmIOConstants.ELEVATOR_MOTOR; + private final SingleJointedArmSim + masterAngleMotor = SimulationArmIOConstants.MASTER_ANGLE_MOTOR, + followerAngleMotor = SimulationArmIOConstants.FOLLOWER_ANGLE_MOTOR; + private final ElevatorSim + masterElevatorMotor = SimulationArmIOConstants.MASTER_ELEVATOR_MOTOR, + followerElevatorMotor = SimulationArmIOConstants.FOLLOWER_ELEVATOR_MOTOR; + @Override protected void updateInputs(ArmInputsAutoLogged inputs) { } @Override protected void stopAngleMotors() { - angleMotor.setInputVoltage(0); + setAngleVoltage(0); } @Override protected void stopElevatorMotors() { - elevatorMotor.setInputVoltage(0); + setElevatorVoltage(0); } @Override @@ -32,10 +37,12 @@ protected void setTargetElevatorState(TrapezoidProfile.State targetState) { } private void setAngleVoltage(double voltage) { - angleMotor.setInputVoltage(voltage); + masterAngleMotor.setInputVoltage(voltage); + followerAngleMotor.setInputVoltage(voltage); } private void setElevatorVoltage(double voltage) { - elevatorMotor.setInputVoltage(voltage); + masterElevatorMotor.setInputVoltage(voltage); + followerElevatorMotor.setInputVoltage(voltage); } } diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java index 9d8066792..6df3fa30a 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java @@ -1,47 +1,79 @@ package frc.trigon.robot.subsystems.arm.simulationarm; +import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.system.plant.DCMotor; import edu.wpi.first.wpilibj.simulation.ElevatorSim; import edu.wpi.first.wpilibj.simulation.SingleJointedArmSim; public class SimulationArmIOConstants { - private static final int MOTOR_AMOUNT = 2; + private static final int MOTOR_AMOUNT = 1; private static final DCMotor - ANGLE_MOTOR_GEARBOX = DCMotor.getNEO(MOTOR_AMOUNT), - ELEVATOR_MOTOR_GEARBOX = DCMotor.getNEO(MOTOR_AMOUNT); - private static final double MOMENT_OF_INERTIA = 1; - private static final double GEAR_RATIO = 12.8; + MASTER_ANGLE_MOTOR_GEARBOX = DCMotor.getNEO(MOTOR_AMOUNT), + FOLLOWER_ANGLE_MOTOR_GEARBOX = DCMotor.getNEO(MOTOR_AMOUNT), + MASTER_ELEVATOR_MOTOR_GEARBOX = DCMotor.getNEO(MOTOR_AMOUNT), + FOLLOWER_ELEVATOR_MOTOR_GEARBOX = DCMotor.getNEO(MOTOR_AMOUNT); + private static final double MOMENT_OF_INERTIA = 0.003; + private static final double + ANGLE_GEAR_RATIO = 12.8, + ELEVATOR_GEAR_RATIO = 12.8; private static final double KA = 1, KV = 1; private static final double - MIN_HEIGHT_METERS = 0, - MAX_HEIGHT_METERS = 1; - private static final double - STARTING_ANGLE_RADS = 0, - MIN_ANGLE_RADS = 0, - MAX_ANGLE_RADS = 1; - private static final boolean SIMULATE_GRAVITY = true; + MIN_ELEVATOR_HEIGHT_METERS = 0, + MAX_ELEVATOR_HEIGHT_METERS = 1; + private static final Rotation2d + STARTING_ANGLE_RADIANS = Rotation2d.fromRadians(5), + MIN_ANGLE_RADIANS = Rotation2d.fromRadians(5), + MAX_ANGLE_RADIANS = Rotation2d.fromRadians(5); + private static final boolean + ANGLE_SIMULATE_GRAVITY = true, + ELEVATOR_SIMULATE_GRAVITY = true; private static final double - ANGLE_ARM_LENGTH_METERS = 1, + RETRACTED_ARM_LENGTH_METERS = 1, ELEVATOR_STARTING_HEIGHT_METERS = 1; - static final SingleJointedArmSim ANGLE_MOTOR = new SingleJointedArmSim( - ANGLE_MOTOR_GEARBOX, - GEAR_RATIO, + private static final double + CARRIAGE_MASS_KG = 1, + DRUM_RADIUS_METERS = 1; + + static final SingleJointedArmSim MASTER_ANGLE_MOTOR = new SingleJointedArmSim( + MASTER_ANGLE_MOTOR_GEARBOX, + ANGLE_GEAR_RATIO, MOMENT_OF_INERTIA, - ANGLE_ARM_LENGTH_METERS, - MIN_ANGLE_RADS, - MAX_ANGLE_RADS, - SIMULATE_GRAVITY, - STARTING_ANGLE_RADS + RETRACTED_ARM_LENGTH_METERS, + MIN_ANGLE_RADIANS.getRadians(), + MAX_ANGLE_RADIANS.getRadians(), + ANGLE_SIMULATE_GRAVITY, + STARTING_ANGLE_RADIANS.getRadians() + ); + static final SingleJointedArmSim FOLLOWER_ANGLE_MOTOR = new SingleJointedArmSim( + FOLLOWER_ANGLE_MOTOR_GEARBOX, + ANGLE_GEAR_RATIO, + SingleJointedArmSim.estimateMOI(RETRACTED_ARM_LENGTH_METERS, CARRIAGE_MASS_KG), + RETRACTED_ARM_LENGTH_METERS, + MIN_ANGLE_RADIANS.getRadians(), + MAX_ANGLE_RADIANS.getRadians(), + ANGLE_SIMULATE_GRAVITY, + STARTING_ANGLE_RADIANS.getRadians() + ); + static final ElevatorSim MASTER_ELEVATOR_MOTOR = new ElevatorSim( + MASTER_ELEVATOR_MOTOR_GEARBOX, + SingleJointedArmSim.estimateMOI(RETRACTED_ARM_LENGTH_METERS, CARRIAGE_MASS_KG), + CARRIAGE_MASS_KG, + DRUM_RADIUS_METERS, + MIN_ELEVATOR_HEIGHT_METERS, + MAX_ELEVATOR_HEIGHT_METERS, + ELEVATOR_SIMULATE_GRAVITY, + ELEVATOR_STARTING_HEIGHT_METERS ); - static final ElevatorSim ELEVATOR_MOTOR = new ElevatorSim( - KA, - KV, - ELEVATOR_MOTOR_GEARBOX, - MIN_HEIGHT_METERS, - MAX_HEIGHT_METERS, - SIMULATE_GRAVITY, + static final ElevatorSim FOLLOWER_ELEVATOR_MOTOR = new ElevatorSim( + FOLLOWER_ELEVATOR_MOTOR_GEARBOX, + ELEVATOR_GEAR_RATIO, + CARRIAGE_MASS_KG, + DRUM_RADIUS_METERS, + MIN_ELEVATOR_HEIGHT_METERS, + MAX_ELEVATOR_HEIGHT_METERS, + ELEVATOR_SIMULATE_GRAVITY, ELEVATOR_STARTING_HEIGHT_METERS ); } diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java b/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java index d43c34bdc..ac8cb88a9 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java @@ -1,5 +1,6 @@ package frc.trigon.robot.subsystems.collector.simulationcollector; +import edu.wpi.first.math.MathUtil; import edu.wpi.first.wpilibj.simulation.DCMotorSim; import frc.trigon.robot.constants.RobotConstants; import frc.trigon.robot.subsystems.collector.CollectorIO; @@ -18,13 +19,15 @@ protected void updateInputs(CollectorInputsAutoLogged inputs) { inputs.motorCurrent = motor.getCurrentDrawAmps(); } - protected void setVoltage(double power) { + @Override + protected void setPower(double power) { this.motorVoltage = Conversions.compensatedPowerToVoltage(power, SimulationCollectorIOConstants.VOLTAGE_COMPENSATION_SATURATION); + this.motorVoltage = MathUtil.clamp(this.motorVoltage, SimulationCollectorIOConstants.VOLTAGE_COMPENSATION_SATURATION * -1, SimulationCollectorIOConstants.VOLTAGE_COMPENSATION_SATURATION); motor.setInputVoltage(motorVoltage); } @Override protected void stop() { - motor.setInputVoltage(0); + setPower(0); } } diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIOConstants.java b/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIOConstants.java index 4c22a9bd6..13f6a1ae2 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIOConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIOConstants.java @@ -6,12 +6,12 @@ public class SimulationCollectorIOConstants { private static final int MOTOR_AMOUNT = 1; private static final DCMotor MOTOR_GEARBOX = DCMotor.getBag(MOTOR_AMOUNT); - private static final double MOMENT_OF_INERTIA = 1; + private static final double MOMENT_OF_INERTIA = 0.003; private static final double GEAR_RATIO = 12.8; static final int VOLTAGE_COMPENSATION_SATURATION = 12; static final DCMotorSim MOTOR = new DCMotorSim( - MOTOR_GEARBOX, - GEAR_RATIO, - MOMENT_OF_INERTIA - ); + MOTOR_GEARBOX, + GEAR_RATIO, + MOMENT_OF_INERTIA + ); } From 106b4dc10423071a59d5f2fa8715cdc8fe841c70 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Tue, 28 Nov 2023 11:48:29 +0200 Subject: [PATCH 139/207] added calulate functions --- .../arm/kablamaArm/KablamaArmConstants.java | 2 +- .../arm/simulationarm/SimulationArmIO.java | 24 +++++++++++++++ .../SimulationArmIOConstants.java | 30 +++++++++++++++++++ 3 files changed, 55 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java index 4008e7f3d..4d4f2ba50 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java @@ -50,7 +50,7 @@ public class KablamaArmConstants { ANGLE_MOTOR_POSITION_SIGNAL = ANGLE_ENCODER.getPosition(), ANGLE_MOTOR_VELOCITY_SIGNAL = ANGLE_ENCODER.getVelocity(); - static final double + private static final double ANGLE_P = 1, ANGLE_I = 0, ANGLE_D = 0, diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java index a7dbd7519..a4233cb3f 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java @@ -1,10 +1,12 @@ package frc.trigon.robot.subsystems.arm.simulationarm; import edu.wpi.first.math.trajectory.TrapezoidProfile; +import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.simulation.ElevatorSim; import edu.wpi.first.wpilibj.simulation.SingleJointedArmSim; import frc.trigon.robot.subsystems.arm.ArmIO; import frc.trigon.robot.subsystems.arm.ArmInputsAutoLogged; +import frc.trigon.robot.subsystems.arm.kablamaArm.KablamaArmConstants; public class SimulationArmIO extends ArmIO { private final SingleJointedArmSim @@ -30,6 +32,7 @@ protected void stopElevatorMotors() { @Override protected void setTargetAngleState(TrapezoidProfile.State targetState) { + } @Override @@ -45,4 +48,25 @@ private void setElevatorVoltage(double voltage) { masterElevatorMotor.setInputVoltage(voltage); followerElevatorMotor.setInputVoltage(voltage); } + + private double calculateAngleOutput(TrapezoidProfile.State targetState) { + double pidOutput = SimulationArmIOConstants.ANGLE_PID_CONTROLLER.calculate( + masterAngleMotor.getAngleRads(), + targetState.position + ); + double feedforward = SimulationArmIOConstants.ANGLE_FEEDFORWARD.calculate( + Units.degreesToRadians(targetState.position), + Units.degreesToRadians(targetState.velocity) + ); + return pidOutput + feedforward; + } + + private double calculateElevatorOutput(TrapezoidProfile.State targetState) { + double pidOutput = SimulationArmIOConstants.ELEVATOR_PID_CONTROLLER.calculate( + masterElevatorMotor.getPositionMeters(), + targetState.position + ); + double feedforward = SimulationArmIOConstants.ELEVATOR_FEEDFORWARD.calculate(targetState.velocity); + return pidOutput + feedforward; + } } diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java index 6df3fa30a..cead503c9 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java @@ -1,5 +1,8 @@ package frc.trigon.robot.subsystems.arm.simulationarm; +import edu.wpi.first.math.controller.ArmFeedforward; +import edu.wpi.first.math.controller.ElevatorFeedforward; +import edu.wpi.first.math.controller.PIDController; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.system.plant.DCMotor; import edu.wpi.first.wpilibj.simulation.ElevatorSim; @@ -76,4 +79,31 @@ public class SimulationArmIOConstants { ELEVATOR_SIMULATE_GRAVITY, ELEVATOR_STARTING_HEIGHT_METERS ); + + private static final double + ANGLE_P = 1, + ANGLE_I = 0, + ANGLE_D = 0, + ELEVATOR_P = 1, + ELEVATOR_I = 0, + ELEVATOR_D = 0; + static final PIDController + ANGLE_PID_CONTROLLER = new PIDController(ANGLE_P, ANGLE_I, ANGLE_D), + ELEVATOR_PID_CONTROLLER = new PIDController(ELEVATOR_P, ELEVATOR_I, ELEVATOR_D); + + private static final double + ANGLE_MOTOR_KS = 0, + ANGLE_MOTOR_KV = 0, + ANGLE_MOTOR_KA = 0, + ANGLE_MOTOR_KG = 0, + ELEVATOR_MOTOR_KS = 0, + ELEVATOR_MOTOR_KV = 0, + ELEVATOR_MOTOR_KA = 0, + ELEVATOR_MOTOR_KG = 0; + static final ArmFeedforward ANGLE_FEEDFORWARD = new ArmFeedforward( + ANGLE_MOTOR_KS, ANGLE_MOTOR_KG, ANGLE_MOTOR_KV, ANGLE_MOTOR_KA + ); + static final ElevatorFeedforward ELEVATOR_FEEDFORWARD = new ElevatorFeedforward( + ELEVATOR_MOTOR_KS, ELEVATOR_MOTOR_KG, ELEVATOR_MOTOR_KV, ELEVATOR_MOTOR_KA + ); } From a8edef9df768561cf13809bed30b39fcdd1369f1 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Wed, 29 Nov 2023 00:17:35 +0200 Subject: [PATCH 140/207] added inputs --- .../frc/trigon/robot/subsystems/arm/Arm.java | 1 - .../arm/simulationarm/SimulationArmIO.java | 27 ++++++++++++++++++- 2 files changed, 26 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index b8553ac96..827a0a3c0 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -11,7 +11,6 @@ public class Arm extends SubsystemBase { private final static Arm INSTANCE = new Arm(); - private final ArmIO armIO = ArmIO.generateIO(); private final ArmInputsAutoLogged armInputs = new ArmInputsAutoLogged(); private TrapezoidProfile diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java index a4233cb3f..21e1b5b49 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java @@ -1,14 +1,19 @@ package frc.trigon.robot.subsystems.arm.simulationarm; +import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.simulation.ElevatorSim; import edu.wpi.first.wpilibj.simulation.SingleJointedArmSim; +import frc.trigon.robot.constants.RobotConstants; import frc.trigon.robot.subsystems.arm.ArmIO; import frc.trigon.robot.subsystems.arm.ArmInputsAutoLogged; import frc.trigon.robot.subsystems.arm.kablamaArm.KablamaArmConstants; public class SimulationArmIO extends ArmIO { + private double + angleVoltage = 0, + elevatorVoltage = 0; private final SingleJointedArmSim masterAngleMotor = SimulationArmIOConstants.MASTER_ANGLE_MOTOR, followerAngleMotor = SimulationArmIOConstants.FOLLOWER_ANGLE_MOTOR; @@ -18,6 +23,19 @@ public class SimulationArmIO extends ArmIO { @Override protected void updateInputs(ArmInputsAutoLogged inputs) { + masterAngleMotor.update(RobotConstants.PERIODIC_TIME_SECONDS); + followerAngleMotor.update(RobotConstants.PERIODIC_TIME_SECONDS); + masterElevatorMotor.update(RobotConstants.PERIODIC_TIME_SECONDS); + followerElevatorMotor.update(RobotConstants.PERIODIC_TIME_SECONDS); + + inputs.angleMotorVoltage = angleVoltage; + inputs.angleMotorCurrent = masterAngleMotor.getCurrentDrawAmps(); + inputs.angleVelocityDegreesPerSecond = getAngleVelocityDegreesPerSecond(); + + inputs.elevatorMotorVoltage = elevatorVoltage; + inputs.elevatorMotorCurrent = masterElevatorMotor.getCurrentDrawAmps(); + inputs.elevatorPositionRevolution = masterElevatorMotor.getPositionMeters(); + inputs.elevatorVelocityRevolutionsPerSecond = masterElevatorMotor.getVelocityMetersPerSecond(); } @Override @@ -32,19 +50,22 @@ protected void stopElevatorMotors() { @Override protected void setTargetAngleState(TrapezoidProfile.State targetState) { - + setAngleVoltage(calculateAngleOutput(targetState)); } @Override protected void setTargetElevatorState(TrapezoidProfile.State targetState) { + setElevatorVoltage(calculateElevatorOutput(targetState)); } private void setAngleVoltage(double voltage) { + this.angleVoltage = voltage; masterAngleMotor.setInputVoltage(voltage); followerAngleMotor.setInputVoltage(voltage); } private void setElevatorVoltage(double voltage) { + this.elevatorVoltage = voltage; masterElevatorMotor.setInputVoltage(voltage); followerElevatorMotor.setInputVoltage(voltage); } @@ -69,4 +90,8 @@ private double calculateElevatorOutput(TrapezoidProfile.State targetState) { double feedforward = SimulationArmIOConstants.ELEVATOR_FEEDFORWARD.calculate(targetState.velocity); return pidOutput + feedforward; } + + private double getAngleVelocityDegreesPerSecond(){ + return Rotation2d.fromRadians(masterAngleMotor.getAngleRads()).getDegrees(); + } } From 5f4dd567681b093fd69bf9845b5af60a33f45c27 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Wed, 29 Nov 2023 10:12:28 +0200 Subject: [PATCH 141/207] reformatted --- .../robot/subsystems/arm/simulationarm/SimulationArmIO.java | 3 +-- .../frc/trigon/robot/subsystems/collector/Collector.java | 5 +++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java index 21e1b5b49..9c58d6409 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java @@ -8,7 +8,6 @@ import frc.trigon.robot.constants.RobotConstants; import frc.trigon.robot.subsystems.arm.ArmIO; import frc.trigon.robot.subsystems.arm.ArmInputsAutoLogged; -import frc.trigon.robot.subsystems.arm.kablamaArm.KablamaArmConstants; public class SimulationArmIO extends ArmIO { private double @@ -91,7 +90,7 @@ private double calculateElevatorOutput(TrapezoidProfile.State targetState) { return pidOutput + feedforward; } - private double getAngleVelocityDegreesPerSecond(){ + private double getAngleVelocityDegreesPerSecond() { return Rotation2d.fromRadians(masterAngleMotor.getAngleRads()).getDegrees(); } } diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/Collector.java b/src/main/java/frc/trigon/robot/subsystems/collector/Collector.java index db7f24864..cb4ca7ed1 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/Collector.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/Collector.java @@ -28,12 +28,13 @@ public void periodic() { public Command getSetTargetStateCommand(CollectorConstants.CollectorStates state) { return new StartEndCommand( () -> collectorIO.setPower(state.power), - () -> {}, + () -> { + }, this ); } - private void startCurrentWatcher(){ + private void startCurrentWatcher() { new CurrentWatcher( collectorIO::stop, () -> collectorInputs.motorCurrent, From def5f73932c5ad65b33307b74528f49630611f1c Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Wed, 29 Nov 2023 13:35:07 +0200 Subject: [PATCH 142/207] finished inputs --- .../arm/simulationarm/SimulationArmIO.java | 36 ++++++------- .../SimulationArmIOConstants.java | 50 +++++-------------- .../SimulationCollectorIO.java | 4 +- 3 files changed, 29 insertions(+), 61 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java index 9c58d6409..0c23ca369 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java @@ -1,6 +1,5 @@ package frc.trigon.robot.subsystems.arm.simulationarm; -import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.simulation.ElevatorSim; @@ -13,28 +12,23 @@ public class SimulationArmIO extends ArmIO { private double angleVoltage = 0, elevatorVoltage = 0; - private final SingleJointedArmSim - masterAngleMotor = SimulationArmIOConstants.MASTER_ANGLE_MOTOR, - followerAngleMotor = SimulationArmIOConstants.FOLLOWER_ANGLE_MOTOR; - private final ElevatorSim - masterElevatorMotor = SimulationArmIOConstants.MASTER_ELEVATOR_MOTOR, - followerElevatorMotor = SimulationArmIOConstants.FOLLOWER_ELEVATOR_MOTOR; + private final SingleJointedArmSim angleMotor = SimulationArmIOConstants.ANGLE_MOTOR; + private final ElevatorSim elevatorMotor = SimulationArmIOConstants.ELEVATOR_MOTOR; @Override protected void updateInputs(ArmInputsAutoLogged inputs) { - masterAngleMotor.update(RobotConstants.PERIODIC_TIME_SECONDS); - followerAngleMotor.update(RobotConstants.PERIODIC_TIME_SECONDS); - masterElevatorMotor.update(RobotConstants.PERIODIC_TIME_SECONDS); - followerElevatorMotor.update(RobotConstants.PERIODIC_TIME_SECONDS); + angleMotor.update(RobotConstants.PERIODIC_TIME_SECONDS); + elevatorMotor.update(RobotConstants.PERIODIC_TIME_SECONDS); inputs.angleMotorVoltage = angleVoltage; - inputs.angleMotorCurrent = masterAngleMotor.getCurrentDrawAmps(); + inputs.angleMotorCurrent = angleMotor.getCurrentDrawAmps(); inputs.angleVelocityDegreesPerSecond = getAngleVelocityDegreesPerSecond(); + inputs.anglePositionDegrees = Units.radiansToDegrees(angleMotor.getAngleRads()); inputs.elevatorMotorVoltage = elevatorVoltage; - inputs.elevatorMotorCurrent = masterElevatorMotor.getCurrentDrawAmps(); - inputs.elevatorPositionRevolution = masterElevatorMotor.getPositionMeters(); - inputs.elevatorVelocityRevolutionsPerSecond = masterElevatorMotor.getVelocityMetersPerSecond(); + inputs.elevatorMotorCurrent = elevatorMotor.getCurrentDrawAmps(); + inputs.elevatorPositionRevolution = elevatorMotor.getPositionMeters(); + inputs.elevatorVelocityRevolutionsPerSecond = elevatorMotor.getVelocityMetersPerSecond() * SimulationArmIOConstants.METERS_PER_REVOLUTION; } @Override @@ -59,19 +53,17 @@ protected void setTargetElevatorState(TrapezoidProfile.State targetState) { private void setAngleVoltage(double voltage) { this.angleVoltage = voltage; - masterAngleMotor.setInputVoltage(voltage); - followerAngleMotor.setInputVoltage(voltage); + angleMotor.setInputVoltage(voltage); } private void setElevatorVoltage(double voltage) { this.elevatorVoltage = voltage; - masterElevatorMotor.setInputVoltage(voltage); - followerElevatorMotor.setInputVoltage(voltage); + elevatorMotor.setInputVoltage(voltage); } private double calculateAngleOutput(TrapezoidProfile.State targetState) { double pidOutput = SimulationArmIOConstants.ANGLE_PID_CONTROLLER.calculate( - masterAngleMotor.getAngleRads(), + angleMotor.getAngleRads(), targetState.position ); double feedforward = SimulationArmIOConstants.ANGLE_FEEDFORWARD.calculate( @@ -83,7 +75,7 @@ private double calculateAngleOutput(TrapezoidProfile.State targetState) { private double calculateElevatorOutput(TrapezoidProfile.State targetState) { double pidOutput = SimulationArmIOConstants.ELEVATOR_PID_CONTROLLER.calculate( - masterElevatorMotor.getPositionMeters(), + elevatorMotor.getPositionMeters(), targetState.position ); double feedforward = SimulationArmIOConstants.ELEVATOR_FEEDFORWARD.calculate(targetState.velocity); @@ -91,6 +83,6 @@ private double calculateElevatorOutput(TrapezoidProfile.State targetState) { } private double getAngleVelocityDegreesPerSecond() { - return Rotation2d.fromRadians(masterAngleMotor.getAngleRads()).getDegrees(); + return Units.radiansToDegrees(angleMotor.getAngleRads()); } } diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java index cead503c9..960e19839 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java @@ -9,19 +9,14 @@ import edu.wpi.first.wpilibj.simulation.SingleJointedArmSim; public class SimulationArmIOConstants { - private static final int MOTOR_AMOUNT = 1; + private static final int + ANGLE_MOTOR_AMOUNT = 2, + ELEVATOR_MOTOR_AMOUNT = 2; private static final DCMotor - MASTER_ANGLE_MOTOR_GEARBOX = DCMotor.getNEO(MOTOR_AMOUNT), - FOLLOWER_ANGLE_MOTOR_GEARBOX = DCMotor.getNEO(MOTOR_AMOUNT), - MASTER_ELEVATOR_MOTOR_GEARBOX = DCMotor.getNEO(MOTOR_AMOUNT), - FOLLOWER_ELEVATOR_MOTOR_GEARBOX = DCMotor.getNEO(MOTOR_AMOUNT); - private static final double MOMENT_OF_INERTIA = 0.003; + MASTER_ANGLE_MOTOR_GEARBOX = DCMotor.getNEO(ANGLE_MOTOR_AMOUNT), + MASTER_ELEVATOR_MOTOR_GEARBOX = DCMotor.getNEO(ELEVATOR_MOTOR_AMOUNT); private static final double - ANGLE_GEAR_RATIO = 12.8, - ELEVATOR_GEAR_RATIO = 12.8; - private static final double - KA = 1, - KV = 1; + ANGLE_GEAR_RATIO = 12.8; private static final double MIN_ELEVATOR_HEIGHT_METERS = 0, MAX_ELEVATOR_HEIGHT_METERS = 1; @@ -36,43 +31,24 @@ public class SimulationArmIOConstants { RETRACTED_ARM_LENGTH_METERS = 1, ELEVATOR_STARTING_HEIGHT_METERS = 1; private static final double - CARRIAGE_MASS_KG = 1, + ARM_MASS = 1, DRUM_RADIUS_METERS = 1; + static final double METERS_PER_REVOLUTION = 2048; - static final SingleJointedArmSim MASTER_ANGLE_MOTOR = new SingleJointedArmSim( + static final SingleJointedArmSim ANGLE_MOTOR = new SingleJointedArmSim( MASTER_ANGLE_MOTOR_GEARBOX, ANGLE_GEAR_RATIO, - MOMENT_OF_INERTIA, - RETRACTED_ARM_LENGTH_METERS, - MIN_ANGLE_RADIANS.getRadians(), - MAX_ANGLE_RADIANS.getRadians(), - ANGLE_SIMULATE_GRAVITY, - STARTING_ANGLE_RADIANS.getRadians() - ); - static final SingleJointedArmSim FOLLOWER_ANGLE_MOTOR = new SingleJointedArmSim( - FOLLOWER_ANGLE_MOTOR_GEARBOX, - ANGLE_GEAR_RATIO, - SingleJointedArmSim.estimateMOI(RETRACTED_ARM_LENGTH_METERS, CARRIAGE_MASS_KG), + SingleJointedArmSim.estimateMOI(RETRACTED_ARM_LENGTH_METERS, ARM_MASS), RETRACTED_ARM_LENGTH_METERS, MIN_ANGLE_RADIANS.getRadians(), MAX_ANGLE_RADIANS.getRadians(), ANGLE_SIMULATE_GRAVITY, STARTING_ANGLE_RADIANS.getRadians() ); - static final ElevatorSim MASTER_ELEVATOR_MOTOR = new ElevatorSim( + static final ElevatorSim ELEVATOR_MOTOR = new ElevatorSim( MASTER_ELEVATOR_MOTOR_GEARBOX, - SingleJointedArmSim.estimateMOI(RETRACTED_ARM_LENGTH_METERS, CARRIAGE_MASS_KG), - CARRIAGE_MASS_KG, - DRUM_RADIUS_METERS, - MIN_ELEVATOR_HEIGHT_METERS, - MAX_ELEVATOR_HEIGHT_METERS, - ELEVATOR_SIMULATE_GRAVITY, - ELEVATOR_STARTING_HEIGHT_METERS - ); - static final ElevatorSim FOLLOWER_ELEVATOR_MOTOR = new ElevatorSim( - FOLLOWER_ELEVATOR_MOTOR_GEARBOX, - ELEVATOR_GEAR_RATIO, - CARRIAGE_MASS_KG, + SingleJointedArmSim.estimateMOI(RETRACTED_ARM_LENGTH_METERS, ARM_MASS), + ARM_MASS, DRUM_RADIUS_METERS, MIN_ELEVATOR_HEIGHT_METERS, MAX_ELEVATOR_HEIGHT_METERS, diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java b/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java index ac8cb88a9..5fd5d32c6 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java @@ -22,8 +22,8 @@ protected void updateInputs(CollectorInputsAutoLogged inputs) { @Override protected void setPower(double power) { this.motorVoltage = Conversions.compensatedPowerToVoltage(power, SimulationCollectorIOConstants.VOLTAGE_COMPENSATION_SATURATION); - this.motorVoltage = MathUtil.clamp(this.motorVoltage, SimulationCollectorIOConstants.VOLTAGE_COMPENSATION_SATURATION * -1, SimulationCollectorIOConstants.VOLTAGE_COMPENSATION_SATURATION); - motor.setInputVoltage(motorVoltage); + double clampedVoltage = MathUtil.clamp(this.motorVoltage, -SimulationCollectorIOConstants.VOLTAGE_COMPENSATION_SATURATION, SimulationCollectorIOConstants.VOLTAGE_COMPENSATION_SATURATION); + motor.setInputVoltage(clampedVoltage); } @Override From 9a09dd0a91ad49fd6731cc03aac5c96f047c4eb3 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Wed, 29 Nov 2023 13:36:00 +0200 Subject: [PATCH 143/207] corrected angle_radians --- .../arm/simulationarm/SimulationArmIOConstants.java | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java index 960e19839..ab370afc8 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java @@ -21,9 +21,9 @@ public class SimulationArmIOConstants { MIN_ELEVATOR_HEIGHT_METERS = 0, MAX_ELEVATOR_HEIGHT_METERS = 1; private static final Rotation2d - STARTING_ANGLE_RADIANS = Rotation2d.fromRadians(5), - MIN_ANGLE_RADIANS = Rotation2d.fromRadians(5), - MAX_ANGLE_RADIANS = Rotation2d.fromRadians(5); + STARTING_ANGLE_RADIANS = Rotation2d.fromDegrees(5), + MIN_ANGLE_RADIANS = Rotation2d.fromDegrees(5), + MAX_ANGLE_RADIANS = Rotation2d.fromDegrees(5); private static final boolean ANGLE_SIMULATE_GRAVITY = true, ELEVATOR_SIMULATE_GRAVITY = true; From 7f5d318f4ed94f2bf527f4cbb887659ebb76dead Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Wed, 29 Nov 2023 18:02:49 +0200 Subject: [PATCH 144/207] fixed inputs --- .../arm/simulationarm/SimulationArmIO.java | 12 ++++++-- .../SimulationArmIOConstants.java | 28 +++++++++---------- .../SimulationCollectorIO.java | 5 ++-- 3 files changed, 25 insertions(+), 20 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java index 0c23ca369..5cd04fecd 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java @@ -9,11 +9,11 @@ import frc.trigon.robot.subsystems.arm.ArmInputsAutoLogged; public class SimulationArmIO extends ArmIO { + private final SingleJointedArmSim angleMotor = SimulationArmIOConstants.ANGLE_MOTOR; + private final ElevatorSim elevatorMotor = SimulationArmIOConstants.ELEVATOR_MOTOR; private double angleVoltage = 0, elevatorVoltage = 0; - private final SingleJointedArmSim angleMotor = SimulationArmIOConstants.ANGLE_MOTOR; - private final ElevatorSim elevatorMotor = SimulationArmIOConstants.ELEVATOR_MOTOR; @Override protected void updateInputs(ArmInputsAutoLogged inputs) { @@ -27,7 +27,7 @@ protected void updateInputs(ArmInputsAutoLogged inputs) { inputs.elevatorMotorVoltage = elevatorVoltage; inputs.elevatorMotorCurrent = elevatorMotor.getCurrentDrawAmps(); - inputs.elevatorPositionRevolution = elevatorMotor.getPositionMeters(); + inputs.elevatorPositionRevolution = getElevatorPositionRevolution(); inputs.elevatorVelocityRevolutionsPerSecond = elevatorMotor.getVelocityMetersPerSecond() * SimulationArmIOConstants.METERS_PER_REVOLUTION; } @@ -85,4 +85,10 @@ private double calculateElevatorOutput(TrapezoidProfile.State targetState) { private double getAngleVelocityDegreesPerSecond() { return Units.radiansToDegrees(angleMotor.getAngleRads()); } + + private double getElevatorPositionRevolution() { + if (elevatorMotor.getPositionMeters() == SimulationArmIOConstants.MIN_ELEVATOR_HEIGHT_METERS) + return 0; + return elevatorMotor.getPositionMeters() * SimulationArmIOConstants.METERS_PER_REVOLUTION; + } } diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java index ab370afc8..2a0e42435 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java @@ -13,47 +13,45 @@ public class SimulationArmIOConstants { ANGLE_MOTOR_AMOUNT = 2, ELEVATOR_MOTOR_AMOUNT = 2; private static final DCMotor - MASTER_ANGLE_MOTOR_GEARBOX = DCMotor.getNEO(ANGLE_MOTOR_AMOUNT), - MASTER_ELEVATOR_MOTOR_GEARBOX = DCMotor.getNEO(ELEVATOR_MOTOR_AMOUNT); + ANGLE_MOTOR_GEARBOX = DCMotor.getNEO(ANGLE_MOTOR_AMOUNT), + ELEVATOR_MOTOR_GEARBOX = DCMotor.getNEO(ELEVATOR_MOTOR_AMOUNT); private static final double ANGLE_GEAR_RATIO = 12.8; - private static final double - MIN_ELEVATOR_HEIGHT_METERS = 0, - MAX_ELEVATOR_HEIGHT_METERS = 1; + private static final double MAX_ELEVATOR_HEIGHT_METERS = 1; private static final Rotation2d - STARTING_ANGLE_RADIANS = Rotation2d.fromDegrees(5), MIN_ANGLE_RADIANS = Rotation2d.fromDegrees(5), MAX_ANGLE_RADIANS = Rotation2d.fromDegrees(5); private static final boolean ANGLE_SIMULATE_GRAVITY = true, ELEVATOR_SIMULATE_GRAVITY = true; - private static final double - RETRACTED_ARM_LENGTH_METERS = 1, - ELEVATOR_STARTING_HEIGHT_METERS = 1; + private static final double RETRACTED_ARM_LENGTH_METERS = 1; private static final double ARM_MASS = 1, + ELEVATOR_MASS = 1, DRUM_RADIUS_METERS = 1; + + static final double MIN_ELEVATOR_HEIGHT_METERS = 0; static final double METERS_PER_REVOLUTION = 2048; static final SingleJointedArmSim ANGLE_MOTOR = new SingleJointedArmSim( - MASTER_ANGLE_MOTOR_GEARBOX, + ANGLE_MOTOR_GEARBOX, ANGLE_GEAR_RATIO, SingleJointedArmSim.estimateMOI(RETRACTED_ARM_LENGTH_METERS, ARM_MASS), RETRACTED_ARM_LENGTH_METERS, MIN_ANGLE_RADIANS.getRadians(), MAX_ANGLE_RADIANS.getRadians(), ANGLE_SIMULATE_GRAVITY, - STARTING_ANGLE_RADIANS.getRadians() + MIN_ANGLE_RADIANS.getRadians() ); static final ElevatorSim ELEVATOR_MOTOR = new ElevatorSim( - MASTER_ELEVATOR_MOTOR_GEARBOX, - SingleJointedArmSim.estimateMOI(RETRACTED_ARM_LENGTH_METERS, ARM_MASS), + ELEVATOR_MOTOR_GEARBOX, + SingleJointedArmSim.estimateMOI(RETRACTED_ARM_LENGTH_METERS, ELEVATOR_MASS), ARM_MASS, DRUM_RADIUS_METERS, - MIN_ELEVATOR_HEIGHT_METERS, + RETRACTED_ARM_LENGTH_METERS, MAX_ELEVATOR_HEIGHT_METERS, ELEVATOR_SIMULATE_GRAVITY, - ELEVATOR_STARTING_HEIGHT_METERS + MIN_ELEVATOR_HEIGHT_METERS ); private static final double diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java b/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java index 5fd5d32c6..6201daddd 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java @@ -21,8 +21,9 @@ protected void updateInputs(CollectorInputsAutoLogged inputs) { @Override protected void setPower(double power) { - this.motorVoltage = Conversions.compensatedPowerToVoltage(power, SimulationCollectorIOConstants.VOLTAGE_COMPENSATION_SATURATION); - double clampedVoltage = MathUtil.clamp(this.motorVoltage, -SimulationCollectorIOConstants.VOLTAGE_COMPENSATION_SATURATION, SimulationCollectorIOConstants.VOLTAGE_COMPENSATION_SATURATION); + double voltage = Conversions.compensatedPowerToVoltage(power, SimulationCollectorIOConstants.VOLTAGE_COMPENSATION_SATURATION); + double clampedVoltage = MathUtil.clamp(voltage, -SimulationCollectorIOConstants.VOLTAGE_COMPENSATION_SATURATION, SimulationCollectorIOConstants.VOLTAGE_COMPENSATION_SATURATION); + this.motorVoltage = clampedVoltage; motor.setInputVoltage(clampedVoltage); } From fbba8f425dce00d5bdd3fc9cc17dd5dc972b4920 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 30 Nov 2023 19:05:20 +0200 Subject: [PATCH 145/207] updated names and elevatorPosition logic --- .../arm/simulationarm/SimulationArmIO.java | 11 +++++------ .../simulationarm/SimulationArmIOConstants.java | 17 +++++++++-------- .../SimulationCollectorIO.java | 5 ++--- 3 files changed, 16 insertions(+), 17 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java index 5cd04fecd..d5bf0cf7d 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java @@ -27,8 +27,8 @@ protected void updateInputs(ArmInputsAutoLogged inputs) { inputs.elevatorMotorVoltage = elevatorVoltage; inputs.elevatorMotorCurrent = elevatorMotor.getCurrentDrawAmps(); - inputs.elevatorPositionRevolution = getElevatorPositionRevolution(); - inputs.elevatorVelocityRevolutionsPerSecond = elevatorMotor.getVelocityMetersPerSecond() * SimulationArmIOConstants.METERS_PER_REVOLUTION; + inputs.elevatorPositionRevolution = getElevatorPositionRevolutions(); + inputs.elevatorVelocityRevolutionsPerSecond = elevatorMotor.getVelocityMetersPerSecond() / SimulationArmIOConstants.METERS_PER_REVOLUTION; } @Override @@ -86,9 +86,8 @@ private double getAngleVelocityDegreesPerSecond() { return Units.radiansToDegrees(angleMotor.getAngleRads()); } - private double getElevatorPositionRevolution() { - if (elevatorMotor.getPositionMeters() == SimulationArmIOConstants.MIN_ELEVATOR_HEIGHT_METERS) - return 0; - return elevatorMotor.getPositionMeters() * SimulationArmIOConstants.METERS_PER_REVOLUTION; + private double getElevatorPositionRevolutions() { + double positionAfterOffset = elevatorMotor.getPositionMeters() - SimulationArmIOConstants.MIN_ELEVATOR_HEIGHT_METERS; + return positionAfterOffset / SimulationArmIOConstants.METERS_PER_REVOLUTION; } } diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java index 2a0e42435..91e6266dd 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java @@ -16,19 +16,20 @@ public class SimulationArmIOConstants { ANGLE_MOTOR_GEARBOX = DCMotor.getNEO(ANGLE_MOTOR_AMOUNT), ELEVATOR_MOTOR_GEARBOX = DCMotor.getNEO(ELEVATOR_MOTOR_AMOUNT); private static final double - ANGLE_GEAR_RATIO = 12.8; - private static final double MAX_ELEVATOR_HEIGHT_METERS = 1; + ANGLE_GEAR_RATIO = 12.8, + ELEVATOR_GEAR_RATIO = 12.8; private static final Rotation2d MIN_ANGLE_RADIANS = Rotation2d.fromDegrees(5), MAX_ANGLE_RADIANS = Rotation2d.fromDegrees(5); private static final boolean ANGLE_SIMULATE_GRAVITY = true, ELEVATOR_SIMULATE_GRAVITY = true; - private static final double RETRACTED_ARM_LENGTH_METERS = 1; private static final double - ARM_MASS = 1, - ELEVATOR_MASS = 1, - DRUM_RADIUS_METERS = 1; + RETRACTED_ARM_LENGTH_METERS = 1, + FULLY_OPENED_ARM_LENGTH = 1; + private static final double + ARM_MASS = 1; + private static final double DRUM_RADIUS_METERS = 1; static final double MIN_ELEVATOR_HEIGHT_METERS = 0; static final double METERS_PER_REVOLUTION = 2048; @@ -45,11 +46,11 @@ public class SimulationArmIOConstants { ); static final ElevatorSim ELEVATOR_MOTOR = new ElevatorSim( ELEVATOR_MOTOR_GEARBOX, - SingleJointedArmSim.estimateMOI(RETRACTED_ARM_LENGTH_METERS, ELEVATOR_MASS), + ELEVATOR_GEAR_RATIO, ARM_MASS, DRUM_RADIUS_METERS, RETRACTED_ARM_LENGTH_METERS, - MAX_ELEVATOR_HEIGHT_METERS, + FULLY_OPENED_ARM_LENGTH, ELEVATOR_SIMULATE_GRAVITY, MIN_ELEVATOR_HEIGHT_METERS ); diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java b/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java index 6201daddd..b8b167a50 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java @@ -22,9 +22,8 @@ protected void updateInputs(CollectorInputsAutoLogged inputs) { @Override protected void setPower(double power) { double voltage = Conversions.compensatedPowerToVoltage(power, SimulationCollectorIOConstants.VOLTAGE_COMPENSATION_SATURATION); - double clampedVoltage = MathUtil.clamp(voltage, -SimulationCollectorIOConstants.VOLTAGE_COMPENSATION_SATURATION, SimulationCollectorIOConstants.VOLTAGE_COMPENSATION_SATURATION); - this.motorVoltage = clampedVoltage; - motor.setInputVoltage(clampedVoltage); + this.motorVoltage = MathUtil.clamp(voltage, -SimulationCollectorIOConstants.VOLTAGE_COMPENSATION_SATURATION, SimulationCollectorIOConstants.VOLTAGE_COMPENSATION_SATURATION); + motor.setInputVoltage(this.motorVoltage); } @Override From c469f96104a38f4d2f5a7c3401d7f7d12ac61bdc Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 30 Nov 2023 19:09:25 +0200 Subject: [PATCH 146/207] removed extra new lines --- .../arm/simulationarm/SimulationArmIOConstants.java | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java index 91e6266dd..bfc7f36d8 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java @@ -27,13 +27,11 @@ public class SimulationArmIOConstants { private static final double RETRACTED_ARM_LENGTH_METERS = 1, FULLY_OPENED_ARM_LENGTH = 1; - private static final double - ARM_MASS = 1; + private static final double ARM_MASS = 1; private static final double DRUM_RADIUS_METERS = 1; static final double MIN_ELEVATOR_HEIGHT_METERS = 0; static final double METERS_PER_REVOLUTION = 2048; - static final SingleJointedArmSim ANGLE_MOTOR = new SingleJointedArmSim( ANGLE_MOTOR_GEARBOX, ANGLE_GEAR_RATIO, From 30a569e98d089cbbf280b537e6ae1919150e1484 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 30 Nov 2023 19:11:27 +0200 Subject: [PATCH 147/207] removed extra new line --- .../subsystems/arm/simulationarm/SimulationArmIOConstants.java | 1 - 1 file changed, 1 deletion(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java index bfc7f36d8..cf9ba3f1c 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java @@ -29,7 +29,6 @@ public class SimulationArmIOConstants { FULLY_OPENED_ARM_LENGTH = 1; private static final double ARM_MASS = 1; private static final double DRUM_RADIUS_METERS = 1; - static final double MIN_ELEVATOR_HEIGHT_METERS = 0; static final double METERS_PER_REVOLUTION = 2048; static final SingleJointedArmSim ANGLE_MOTOR = new SingleJointedArmSim( From 5ae757583e87d3fca9e717d265ac80749f5ae2a9 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 30 Nov 2023 22:58:44 +0200 Subject: [PATCH 148/207] corrected variable names --- .../subsystems/arm/simulationarm/SimulationArmIO.java | 6 +++--- .../arm/simulationarm/SimulationArmIOConstants.java | 8 +++----- 2 files changed, 6 insertions(+), 8 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java index d5bf0cf7d..174b6c380 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java @@ -75,7 +75,7 @@ private double calculateAngleOutput(TrapezoidProfile.State targetState) { private double calculateElevatorOutput(TrapezoidProfile.State targetState) { double pidOutput = SimulationArmIOConstants.ELEVATOR_PID_CONTROLLER.calculate( - elevatorMotor.getPositionMeters(), + getElevatorPositionRevolutions(), targetState.position ); double feedforward = SimulationArmIOConstants.ELEVATOR_FEEDFORWARD.calculate(targetState.velocity); @@ -87,7 +87,7 @@ private double getAngleVelocityDegreesPerSecond() { } private double getElevatorPositionRevolutions() { - double positionAfterOffset = elevatorMotor.getPositionMeters() - SimulationArmIOConstants.MIN_ELEVATOR_HEIGHT_METERS; - return positionAfterOffset / SimulationArmIOConstants.METERS_PER_REVOLUTION; + double offsettedPosition = elevatorMotor.getPositionMeters() - SimulationArmIOConstants.RETRACTED_ARM_LENGTH_METERS; + return offsettedPosition / SimulationArmIOConstants.METERS_PER_REVOLUTION; } } diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java index cf9ba3f1c..8a61c627e 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java @@ -24,12 +24,10 @@ public class SimulationArmIOConstants { private static final boolean ANGLE_SIMULATE_GRAVITY = true, ELEVATOR_SIMULATE_GRAVITY = true; - private static final double - RETRACTED_ARM_LENGTH_METERS = 1, - FULLY_OPENED_ARM_LENGTH = 1; + private static final double FULLY_OPENED_ARM_LENGTH = 1; private static final double ARM_MASS = 1; private static final double DRUM_RADIUS_METERS = 1; - static final double MIN_ELEVATOR_HEIGHT_METERS = 0; + static final double RETRACTED_ARM_LENGTH_METERS = 1; static final double METERS_PER_REVOLUTION = 2048; static final SingleJointedArmSim ANGLE_MOTOR = new SingleJointedArmSim( ANGLE_MOTOR_GEARBOX, @@ -49,7 +47,7 @@ public class SimulationArmIOConstants { RETRACTED_ARM_LENGTH_METERS, FULLY_OPENED_ARM_LENGTH, ELEVATOR_SIMULATE_GRAVITY, - MIN_ELEVATOR_HEIGHT_METERS + RETRACTED_ARM_LENGTH_METERS ); private static final double From 29efec56c8942505d1d0062cd94d151f7b121a2c Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 30 Nov 2023 23:15:10 +0200 Subject: [PATCH 149/207] corrected variable name --- .../arm/simulationarm/SimulationArmIOConstants.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java index 8a61c627e..7edbf6407 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java @@ -24,9 +24,9 @@ public class SimulationArmIOConstants { private static final boolean ANGLE_SIMULATE_GRAVITY = true, ELEVATOR_SIMULATE_GRAVITY = true; - private static final double FULLY_OPENED_ARM_LENGTH = 1; private static final double ARM_MASS = 1; private static final double DRUM_RADIUS_METERS = 1; + private static final double FULLY_OPENED_ARM_LENGTH_METERS = 1; static final double RETRACTED_ARM_LENGTH_METERS = 1; static final double METERS_PER_REVOLUTION = 2048; static final SingleJointedArmSim ANGLE_MOTOR = new SingleJointedArmSim( @@ -45,7 +45,7 @@ public class SimulationArmIOConstants { ARM_MASS, DRUM_RADIUS_METERS, RETRACTED_ARM_LENGTH_METERS, - FULLY_OPENED_ARM_LENGTH, + FULLY_OPENED_ARM_LENGTH_METERS, ELEVATOR_SIMULATE_GRAVITY, RETRACTED_ARM_LENGTH_METERS ); From 13daf8a159547e659fec3fa45d86586b8f027c62 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 30 Nov 2023 23:37:30 +0200 Subject: [PATCH 150/207] attempted to add Mechanism2d --- .../subsystems/arm/simulationarm/SimulationArmIO.java | 7 +++++++ .../arm/simulationarm/SimulationArmIOConstants.java | 5 +++++ 2 files changed, 12 insertions(+) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java index 174b6c380..a8861327e 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java @@ -4,13 +4,16 @@ import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.simulation.ElevatorSim; import edu.wpi.first.wpilibj.simulation.SingleJointedArmSim; +import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d; import frc.trigon.robot.constants.RobotConstants; import frc.trigon.robot.subsystems.arm.ArmIO; import frc.trigon.robot.subsystems.arm.ArmInputsAutoLogged; +import org.littletonrobotics.junction.LogTable; public class SimulationArmIO extends ArmIO { private final SingleJointedArmSim angleMotor = SimulationArmIOConstants.ANGLE_MOTOR; private final ElevatorSim elevatorMotor = SimulationArmIOConstants.ELEVATOR_MOTOR; + private final Mechanism2d mechanism2d = SimulationArmIOConstants.MECHANISM2D; private double angleVoltage = 0, elevatorVoltage = 0; @@ -51,6 +54,10 @@ protected void setTargetElevatorState(TrapezoidProfile.State targetState) { setElevatorVoltage(calculateElevatorOutput(targetState)); } + protected void startAdvantageKitLogging(LogTable logTable) { + mechanism2d.akitLog(logTable); + } + private void setAngleVoltage(double voltage) { this.angleVoltage = voltage; angleMotor.setInputVoltage(voltage); diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java index 7edbf6407..d77daaf99 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java @@ -7,6 +7,7 @@ import edu.wpi.first.math.system.plant.DCMotor; import edu.wpi.first.wpilibj.simulation.ElevatorSim; import edu.wpi.first.wpilibj.simulation.SingleJointedArmSim; +import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d; public class SimulationArmIOConstants { private static final int @@ -24,11 +25,15 @@ public class SimulationArmIOConstants { private static final boolean ANGLE_SIMULATE_GRAVITY = true, ELEVATOR_SIMULATE_GRAVITY = true; + private static final double + MECHANISM2D_WIDTH = 1, + MECHANISM2D_HEIGHT = 1; private static final double ARM_MASS = 1; private static final double DRUM_RADIUS_METERS = 1; private static final double FULLY_OPENED_ARM_LENGTH_METERS = 1; static final double RETRACTED_ARM_LENGTH_METERS = 1; static final double METERS_PER_REVOLUTION = 2048; + static final Mechanism2d MECHANISM2D = new Mechanism2d(MECHANISM2D_WIDTH, MECHANISM2D_HEIGHT); static final SingleJointedArmSim ANGLE_MOTOR = new SingleJointedArmSim( ANGLE_MOTOR_GEARBOX, ANGLE_GEAR_RATIO, From 62cea6927438d2300f5cf003d008a6df01456d6d Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sat, 2 Dec 2023 19:54:23 +0200 Subject: [PATCH 151/207] added mechanism2d and ran --- networktables.json | 1 + nulllogs/Log_23-12-02_19-51-25.wpilog | Bin 0 -> 761519 bytes nulllogs/Log_23-12-02_19-52-12.wpilog | Bin 0 -> 2146802 bytes simgui-ds.json | 107 ++++++++++++++++++ simgui.json | 29 +++++ .../trigon/robot/subsystems/arm/ArmIO.java | 8 +- .../arm/kablamaArm/KablamaArmConstants.java | 7 +- .../arm/kablamaArm/KablamaArmIO.java | 11 ++ .../arm/simulationarm/SimulationArmIO.java | 3 + 9 files changed, 163 insertions(+), 3 deletions(-) create mode 100644 networktables.json create mode 100644 nulllogs/Log_23-12-02_19-51-25.wpilog create mode 100644 nulllogs/Log_23-12-02_19-52-12.wpilog create mode 100644 simgui-ds.json create mode 100644 simgui.json diff --git a/networktables.json b/networktables.json new file mode 100644 index 000000000..fe51488c7 --- 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ANGLE_MOTOR_VELOCITY_SIGNAL = ANGLE_ENCODER.getVelocity(); diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java index 96eaf0fd2..48148ccba 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java @@ -4,9 +4,13 @@ import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.math.util.Units; +import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import frc.trigon.robot.subsystems.arm.ArmIO; import frc.trigon.robot.subsystems.arm.ArmInputsAutoLogged; +import frc.trigon.robot.subsystems.arm.simulationarm.SimulationArmIOConstants; import frc.trigon.robot.utilities.Conversions; +import org.littletonrobotics.junction.LogTable; public class KablamaArmIO extends ArmIO { private final CANSparkMax @@ -14,6 +18,7 @@ public class KablamaArmIO extends ArmIO { followerAngleMotor = KablamaArmConstants.FOLLOWER_ANGLE_MOTOR, masterElevatorMotor = KablamaArmConstants.MASTER_ELEVATOR_MOTOR, followerElevatorMotor = KablamaArmConstants.FOLLOWER_ELEVATOR_MOTOR; + private final Mechanism2d mechanism2d = KablamaArmConstants.MECHANISM2D; @Override protected void updateInputs(ArmInputsAutoLogged inputs) { @@ -51,6 +56,12 @@ protected void setTargetElevatorState(TrapezoidProfile.State targetState) { setElevatorVoltage(calculateElevatorOutput(targetState)); } + @Override + protected void startAdvantageKitLogging(LogTable logTable) { + mechanism2d.akitLog(logTable); + SmartDashboard.putData("Mech2d", mechanism2d); + } + private void setAngleVoltage(double voltage) { masterAngleMotor.setVoltage(voltage); followerAngleMotor.setVoltage(voltage); diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java index a8861327e..59b81ba2a 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java @@ -5,6 +5,7 @@ import edu.wpi.first.wpilibj.simulation.ElevatorSim; import edu.wpi.first.wpilibj.simulation.SingleJointedArmSim; import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import frc.trigon.robot.constants.RobotConstants; import frc.trigon.robot.subsystems.arm.ArmIO; import frc.trigon.robot.subsystems.arm.ArmInputsAutoLogged; @@ -54,8 +55,10 @@ protected void setTargetElevatorState(TrapezoidProfile.State targetState) { setElevatorVoltage(calculateElevatorOutput(targetState)); } + @Override protected void startAdvantageKitLogging(LogTable logTable) { mechanism2d.akitLog(logTable); + SmartDashboard.putData("Mech2d", mechanism2d); } private void setAngleVoltage(double voltage) { From 57afd92c68d87bce51b21d2cedc7736cac04837e Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sat, 2 Dec 2023 20:22:55 +0200 Subject: [PATCH 152/207] logged mechanism --- nulllogs/Log_23-12-02_19-58-08.wpilog | Bin 0 -> 8120542 bytes nulllogs/Log_23-12-02_20-20-42.wpilog | Bin 0 -> 2614316 bytes nulllogs/Log_23-12-02_20-21-47.wpilog | Bin 0 -> 2772379 bytes simgui-ds.json | 15 ----------- simgui.json | 24 +++++++----------- .../frc/trigon/robot/subsystems/arm/Arm.java | 4 +++ .../trigon/robot/subsystems/arm/ArmIO.java | 3 +++ .../arm/kablamaArm/KablamaArmIO.java | 2 ++ .../arm/simulationarm/SimulationArmIO.java | 2 ++ 9 files changed, 20 insertions(+), 30 deletions(-) create mode 100644 nulllogs/Log_23-12-02_19-58-08.wpilog create mode 100644 nulllogs/Log_23-12-02_20-20-42.wpilog create mode 100644 nulllogs/Log_23-12-02_20-21-47.wpilog diff --git 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z0M3Mxg|ANNrCQa;+Qu~LYlQtsU(4AGBBA=gbBZr8+t*`W`ig8{q~XUUopN?xRehyJ zX@elTe$>(`dV4WKG~3A0`yH5TWTLFRMy3JnEW#|H#v?iV##Oz|cB|)T@--6rilGsP z@yLeZHgE75n|$X0X4^bspM$b(l14b_1AS*YlaWwv%PmS9^wIU>?WP95Jb(8&S08u{ z!xIdTI|tub^nuy>uCHI2t&cRq&H+5}i44Jw>$VWJhD zR`e0g)_3PkugTRnRaX6q!A|FQ!Z6wW#FC^9zUcbyvZ=vdy}pnJdNH<&Zg;Jh8_{fE PE023!wlC6HIE(QA=8Sbu literal 0 HcmV?d00001 diff --git a/simgui-ds.json b/simgui-ds.json index 9d31d15a0..73cc713cb 100644 --- a/simgui-ds.json +++ b/simgui-ds.json @@ -1,19 +1,4 @@ { - "FMS": { - "window": { - "visible": false - } - }, - "Joysticks": { - "window": { - "visible": false - } - }, - "System Joysticks": { - "window": { - "visible": false - } - }, "keyboardJoysticks": [ { "axisConfig": [ diff --git a/simgui.json b/simgui.json index 0e3677aa0..79eeb6fa2 100644 --- a/simgui.json +++ b/simgui.json @@ -1,16 +1,4 @@ { - "HALProvider": { - "Other Devices": { - "window": { - "visible": false - } - }, - "Timing": { - "window": { - "visible": false - } - } - }, "NTProvider": { "types": { "/FMSInfo": "FMSInfo" @@ -19,11 +7,17 @@ "NetworkTables": { "transitory": { "AdvantageKit": { + "RealOutputs": { + "LoggedRobot": { + "open": true + }, + "Logger": { + "open": true + }, + "open": true + }, "open": true } } - }, - "NetworkTables View": { - "visible": false } } diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 827a0a3c0..ae1cc8dd4 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -3,7 +3,9 @@ import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.wpilibj.Timer; +import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d; import edu.wpi.first.wpilibj2.command.*; +import frc.trigon.robot.subsystems.arm.kablamaArm.KablamaArmConstants; import frc.trigon.robot.utilities.Conversions; import org.littletonrobotics.junction.Logger; @@ -13,6 +15,7 @@ public class Arm extends SubsystemBase { private final static Arm INSTANCE = new Arm(); private final ArmIO armIO = ArmIO.generateIO(); private final ArmInputsAutoLogged armInputs = new ArmInputsAutoLogged(); + private final Mechanism2d mechanism2d = armInputs.mechanism2d; private TrapezoidProfile angleMotorProfile = null, elevatorMotorProfile = null; @@ -31,6 +34,7 @@ private Arm() { public void periodic() { armIO.updateInputs(armInputs); Logger.processInputs("Arm", armInputs); + Logger.recordOutput("Arm", mechanism2d); } public Command getSetTargetArmStateCommand(ArmConstants.ArmState targetState) { diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java index c192980b3..85da87716 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java @@ -1,6 +1,7 @@ package frc.trigon.robot.subsystems.arm; import edu.wpi.first.math.trajectory.TrapezoidProfile; +import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d; import frc.trigon.robot.constants.RobotConstants; import frc.trigon.robot.subsystems.arm.kablamaArm.KablamaArmIO; import frc.trigon.robot.subsystems.arm.simulationarm.SimulationArmIO; @@ -45,5 +46,7 @@ protected static class ArmInputs { public double elevatorMotorVoltage = 0; public double elevatorPositionRevolution = 0; public double elevatorVelocityRevolutionsPerSecond = 0; + + public Mechanism2d mechanism2d; } } diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java index 48148ccba..c51b804ed 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java @@ -31,6 +31,8 @@ protected void updateInputs(ArmInputsAutoLogged inputs) { inputs.elevatorMotorCurrent = masterElevatorMotor.getOutputCurrent(); inputs.elevatorPositionRevolution = getElevatorPositionRevolutions(); inputs.elevatorVelocityRevolutionsPerSecond = getElevatorVelocityRevolutionsPerSecond(); + + inputs.mechanism2d = mechanism2d; } @Override diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java index 59b81ba2a..0fdfe1bcf 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java @@ -33,6 +33,8 @@ protected void updateInputs(ArmInputsAutoLogged inputs) { inputs.elevatorMotorCurrent = elevatorMotor.getCurrentDrawAmps(); inputs.elevatorPositionRevolution = getElevatorPositionRevolutions(); inputs.elevatorVelocityRevolutionsPerSecond = elevatorMotor.getVelocityMetersPerSecond() / SimulationArmIOConstants.METERS_PER_REVOLUTION; + + inputs.mechanism2d = mechanism2d; } @Override From 460743691e3647d5ccf3508ec1e4170bcd9d7a47 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sat, 2 Dec 2023 21:16:16 +0200 Subject: [PATCH 153/207] moved commands to ArmCommands --- .../frc/trigon/robot/subsystems/arm/Arm.java | 86 ++----------------- .../robot/subsystems/arm/ArmCommands.java | 80 +++++++++++++++++ .../robot/subsystems/arm/ArmConstants.java | 5 ++ .../trigon/robot/subsystems/arm/ArmIO.java | 3 - .../arm/kablamaArm/KablamaArmConstants.java | 5 -- .../arm/kablamaArm/KablamaArmIO.java | 9 -- .../arm/simulationarm/SimulationArmIO.java | 8 +- .../SimulationArmIOConstants.java | 2 +- 8 files changed, 96 insertions(+), 102 deletions(-) create mode 100644 src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index ae1cc8dd4..4957a6318 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -5,7 +5,6 @@ import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d; import edu.wpi.first.wpilibj2.command.*; -import frc.trigon.robot.subsystems.arm.kablamaArm.KablamaArmConstants; import frc.trigon.robot.utilities.Conversions; import org.littletonrobotics.junction.Logger; @@ -15,7 +14,7 @@ public class Arm extends SubsystemBase { private final static Arm INSTANCE = new Arm(); private final ArmIO armIO = ArmIO.generateIO(); private final ArmInputsAutoLogged armInputs = new ArmInputsAutoLogged(); - private final Mechanism2d mechanism2d = armInputs.mechanism2d; + private final Mechanism2d armMechanism = ArmConstants.ARM_MECHANISM; private TrapezoidProfile angleMotorProfile = null, elevatorMotorProfile = null; @@ -34,85 +33,14 @@ private Arm() { public void periodic() { armIO.updateInputs(armInputs); Logger.processInputs("Arm", armInputs); - Logger.recordOutput("Arm", mechanism2d); + Logger.recordOutput("Arm", armMechanism); } - public Command getSetTargetArmStateCommand(ArmConstants.ArmState targetState) { - return getSetTargetArmStateCommand(targetState, 100, 100); - } - - public Command getSetTargetArmPositionCommand(Rotation2d angle, double elevatorPosition) { - return getSetTargetArmPositionCommand(angle, elevatorPosition, 100, 100); - } - - /** - * Creates a command that sets the target state of the arm. - * - * @param targetState the target state of the arm - * @param angleSpeedPercentage the percentage of speed that the angle will move in - * @param elevatorSpeedPercentage the percentage of speed that the elevator will move in - * @return the command - */ - public Command getSetTargetArmStateCommand(ArmConstants.ArmState targetState, double angleSpeedPercentage, double elevatorSpeedPercentage) { - return getSetTargetArmPositionCommand(targetState.angle, targetState.elevatorPosition, angleSpeedPercentage, elevatorSpeedPercentage); - } - - /** - * Creates a command that sets the target position of the arm. - * - * @param targetAngle the target angle of the arm - * @param targetElevatorPosition the target position of the arm's elevator - * @param angleSpeedPercentage the percentage of speed that the angle will move in - * @param elevatorSpeedPercentage the percentage of speed that the elevator will move in - * @return the command - */ - public Command getSetTargetArmPositionCommand(Rotation2d targetAngle, double targetElevatorPosition, double angleSpeedPercentage, double elevatorSpeedPercentage) { - return new DeferredCommand( - () -> getCurrentSetTargetArmStateCommand(targetAngle, targetElevatorPosition, angleSpeedPercentage, elevatorSpeedPercentage), - Set.of(this) - ); - } - - private Command getCurrentSetTargetArmStateCommand(Rotation2d angle, double elevatorPosition, double angleSpeedPercentage, double elevatorSpeedPercentage) { - if (isElevatorOpening(elevatorPosition)) { - return new SequentialCommandGroup( - getSetTargetAngleCommand(angle, angleSpeedPercentage), - getSetTargetElevatorPositionCommand(elevatorPosition, elevatorSpeedPercentage) - ); - } - return new SequentialCommandGroup( - getSetTargetElevatorPositionCommand(elevatorPosition, elevatorSpeedPercentage), - getSetTargetAngleCommand(angle, angleSpeedPercentage) - ); - } - - private Command getSetTargetAngleCommand(Rotation2d targetAngle, double speedPercentage) { - return new FunctionalCommand( - () -> generateAngleMotorProfile(targetAngle, speedPercentage), - this::setTargetAngleFromProfile, - (interrupted) -> { - }, - () -> false, - this - ); - } - - private Command getSetTargetElevatorPositionCommand(double targetElevatorPosition, double speedPercentage) { - return new FunctionalCommand( - () -> generateElevatorMotorProfile(targetElevatorPosition, speedPercentage), - this::setTargetElevatorPositionFromProfile, - (interrupted) -> { - }, - () -> false, - this - ); - } - - private boolean isElevatorOpening(double targetElevatorPosition) { + boolean isElevatorOpening(double targetElevatorPosition) { return armInputs.elevatorPositionRevolution < targetElevatorPosition; } - private void setTargetAngleFromProfile() { + void setTargetAngleFromProfile() { if (angleMotorProfile == null) { armIO.stopAngleMotors(); return; @@ -122,7 +50,7 @@ private void setTargetAngleFromProfile() { armIO.setTargetAngleState(targetState); } - private void setTargetElevatorPositionFromProfile() { + void setTargetElevatorPositionFromProfile() { if (elevatorMotorProfile == null) { armIO.stopElevatorMotors(); return; @@ -132,7 +60,7 @@ private void setTargetElevatorPositionFromProfile() { armIO.setTargetElevatorState(targetState); } - private void generateAngleMotorProfile(Rotation2d targetAngle, double speedPercentage) { + void generateAngleMotorProfile(Rotation2d targetAngle, double speedPercentage) { angleMotorProfile = new TrapezoidProfile( Conversions.scaleConstraints(ArmConstants.ANGLE_CONSTRAINTS, speedPercentage), new TrapezoidProfile.State(targetAngle.getDegrees(), 0), @@ -142,7 +70,7 @@ private void generateAngleMotorProfile(Rotation2d targetAngle, double speedPerce lastAngleMotorProfileGenerationTime = Timer.getFPGATimestamp(); } - private void generateElevatorMotorProfile(double targetElevatorPosition, double speedPercentage) { + void generateElevatorMotorProfile(double targetElevatorPosition, double speedPercentage) { elevatorMotorProfile = new TrapezoidProfile( Conversions.scaleConstraints(ArmConstants.ELEVATOR_CONSTRAINTS, speedPercentage), new TrapezoidProfile.State(targetElevatorPosition, 0), diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java new file mode 100644 index 000000000..3685edc74 --- /dev/null +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java @@ -0,0 +1,80 @@ +package frc.trigon.robot.subsystems.arm; + +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.wpilibj2.command.*; +import java.util.Set; + +public class ArmCommands extends SubsystemBase { + + public Command getSetTargetArmStateCommand(ArmConstants.ArmState targetState) { + + return getSetTargetArmStateCommand(targetState, 100, 100); + } + + public Command getSetTargetArmPositionCommand(Rotation2d angle, double elevatorPosition) { + return getSetTargetArmPositionCommand(angle, elevatorPosition, 100, 100); + } + + /** + * Creates a command that sets the target state of the arm. + * + * @param targetState the target state of the arm + * @param angleSpeedPercentage the percentage of speed that the angle will move in + * @param elevatorSpeedPercentage the percentage of speed that the elevator will move in + * @return the command + */ + public Command getSetTargetArmStateCommand(ArmConstants.ArmState targetState, double angleSpeedPercentage, double elevatorSpeedPercentage) { + return getSetTargetArmPositionCommand(targetState.angle, targetState.elevatorPosition, angleSpeedPercentage, elevatorSpeedPercentage); + } + + /** + * Creates a command that sets the target position of the arm. + * + * @param targetAngle the target angle of the arm + * @param targetElevatorPosition the target position of the arm's elevator + * @param angleSpeedPercentage the percentage of speed that the angle will move in + * @param elevatorSpeedPercentage the percentage of speed that the elevator will move in + * @return the command + */ + public Command getSetTargetArmPositionCommand(Rotation2d targetAngle, double targetElevatorPosition, double angleSpeedPercentage, double elevatorSpeedPercentage) { + return new DeferredCommand( + () -> getCurrentSetTargetArmStateCommand(targetAngle, targetElevatorPosition, angleSpeedPercentage, elevatorSpeedPercentage), + Set.of(this) + ); + } + + private Command getCurrentSetTargetArmStateCommand(Rotation2d angle, double elevatorPosition, double angleSpeedPercentage, double elevatorSpeedPercentage) { + if (Arm.getInstance().isElevatorOpening(elevatorPosition)) { + return new SequentialCommandGroup( + getSetTargetAngleCommand(angle, angleSpeedPercentage), + getSetTargetElevatorPositionCommand(elevatorPosition, elevatorSpeedPercentage) + ); + } + return new SequentialCommandGroup( + getSetTargetElevatorPositionCommand(elevatorPosition, elevatorSpeedPercentage), + getSetTargetAngleCommand(angle, angleSpeedPercentage) + ); + } + + private Command getSetTargetAngleCommand(Rotation2d targetAngle, double speedPercentage) { + return new FunctionalCommand( + () -> Arm.getInstance().generateAngleMotorProfile(targetAngle, speedPercentage), + () -> Arm.getInstance().setTargetAngleFromProfile(), + (interrupted) -> { + }, + () -> false, + this + ); + } + + private Command getSetTargetElevatorPositionCommand(double targetElevatorPosition, double speedPercentage) { + return new FunctionalCommand( + () -> Arm.getInstance().generateElevatorMotorProfile(targetElevatorPosition, speedPercentage), + () -> Arm.getInstance().setTargetElevatorPositionFromProfile(), + (interrupted) -> { + }, + () -> false, + this + ); + } +} diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index 4ef3ec7e4..96a0203d5 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -2,6 +2,7 @@ import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.trajectory.TrapezoidProfile; +import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d; public class ArmConstants { private static final double @@ -16,6 +17,10 @@ public class ArmConstants { ELEVATOR_CONSTRAINTS = new TrapezoidProfile.Constraints( MAX_ELEVATOR_VELOCITY, MAX_ELEVATOR_ACCELERATION ); + private static final double + MECHANISM2D_WIDTH = 1, + MECHANISM2D_HEIGHT = 1; + static final Mechanism2d ARM_MECHANISM = new Mechanism2d(MECHANISM2D_WIDTH, MECHANISM2D_HEIGHT); public enum ArmState { FIRST_STATE(Rotation2d.fromDegrees(100), 7), diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java index 85da87716..c192980b3 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java @@ -1,7 +1,6 @@ package frc.trigon.robot.subsystems.arm; import edu.wpi.first.math.trajectory.TrapezoidProfile; -import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d; import frc.trigon.robot.constants.RobotConstants; import frc.trigon.robot.subsystems.arm.kablamaArm.KablamaArmIO; import frc.trigon.robot.subsystems.arm.simulationarm.SimulationArmIO; @@ -46,7 +45,5 @@ protected static class ArmInputs { public double elevatorMotorVoltage = 0; public double elevatorPositionRevolution = 0; public double elevatorVelocityRevolutionsPerSecond = 0; - - public Mechanism2d mechanism2d; } } diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java index cadaa1731..145f6da6b 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java @@ -38,9 +38,6 @@ public class KablamaArmConstants { ELEVATOR_ENCODER_OFFSET = 0, ANGLE_ENCODER_OFFSET = 0; private static final AbsoluteSensorRangeValue ANGLE_ENCODER_RANGE = AbsoluteSensorRangeValue.Signed_PlusMinusHalf; - private static final double - MECHANISM2D_WIDTH = 1, - MECHANISM2D_HEIGHT = 1; static final CANcoder ANGLE_ENCODER = new CANcoder(ANGLE_ENCODER_ID); static final TalonSRX ELEVATOR_ENCODER = new TalonSRX(ELEVATOR_ENCODER_ID); static final CANSparkMax @@ -49,8 +46,6 @@ public class KablamaArmConstants { FOLLOWER_ANGLE_MOTOR = new CANSparkMax(FOLLOWER_ANGLE_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), FOLLOWER_ELEVATOR_MOTOR = new CANSparkMax(FOLLOWER_ELEVATOR_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless); - static final Mechanism2d MECHANISM2D = new Mechanism2d(MECHANISM2D_WIDTH, MECHANISM2D_HEIGHT); - static final StatusSignal ANGLE_MOTOR_POSITION_SIGNAL = ANGLE_ENCODER.getPosition(), ANGLE_MOTOR_VELOCITY_SIGNAL = ANGLE_ENCODER.getVelocity(); diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java index c51b804ed..47261f79f 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java @@ -18,7 +18,6 @@ public class KablamaArmIO extends ArmIO { followerAngleMotor = KablamaArmConstants.FOLLOWER_ANGLE_MOTOR, masterElevatorMotor = KablamaArmConstants.MASTER_ELEVATOR_MOTOR, followerElevatorMotor = KablamaArmConstants.FOLLOWER_ELEVATOR_MOTOR; - private final Mechanism2d mechanism2d = KablamaArmConstants.MECHANISM2D; @Override protected void updateInputs(ArmInputsAutoLogged inputs) { @@ -31,8 +30,6 @@ protected void updateInputs(ArmInputsAutoLogged inputs) { inputs.elevatorMotorCurrent = masterElevatorMotor.getOutputCurrent(); inputs.elevatorPositionRevolution = getElevatorPositionRevolutions(); inputs.elevatorVelocityRevolutionsPerSecond = getElevatorVelocityRevolutionsPerSecond(); - - inputs.mechanism2d = mechanism2d; } @Override @@ -58,12 +55,6 @@ protected void setTargetElevatorState(TrapezoidProfile.State targetState) { setElevatorVoltage(calculateElevatorOutput(targetState)); } - @Override - protected void startAdvantageKitLogging(LogTable logTable) { - mechanism2d.akitLog(logTable); - SmartDashboard.putData("Mech2d", mechanism2d); - } - private void setAngleVoltage(double voltage) { masterAngleMotor.setVoltage(voltage); followerAngleMotor.setVoltage(voltage); diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java index 0fdfe1bcf..07248965d 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java @@ -14,7 +14,7 @@ public class SimulationArmIO extends ArmIO { private final SingleJointedArmSim angleMotor = SimulationArmIOConstants.ANGLE_MOTOR; private final ElevatorSim elevatorMotor = SimulationArmIOConstants.ELEVATOR_MOTOR; - private final Mechanism2d mechanism2d = SimulationArmIOConstants.MECHANISM2D; + private final Mechanism2d armMechanism = SimulationArmIOConstants.ARM_MECHANISM; private double angleVoltage = 0, elevatorVoltage = 0; @@ -33,8 +33,6 @@ protected void updateInputs(ArmInputsAutoLogged inputs) { inputs.elevatorMotorCurrent = elevatorMotor.getCurrentDrawAmps(); inputs.elevatorPositionRevolution = getElevatorPositionRevolutions(); inputs.elevatorVelocityRevolutionsPerSecond = elevatorMotor.getVelocityMetersPerSecond() / SimulationArmIOConstants.METERS_PER_REVOLUTION; - - inputs.mechanism2d = mechanism2d; } @Override @@ -59,8 +57,8 @@ protected void setTargetElevatorState(TrapezoidProfile.State targetState) { @Override protected void startAdvantageKitLogging(LogTable logTable) { - mechanism2d.akitLog(logTable); - SmartDashboard.putData("Mech2d", mechanism2d); + armMechanism.akitLog(logTable); + SmartDashboard.putData("Mech2d", armMechanism); } private void setAngleVoltage(double voltage) { diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java index d77daaf99..6d0aa8f58 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java @@ -33,7 +33,7 @@ public class SimulationArmIOConstants { private static final double FULLY_OPENED_ARM_LENGTH_METERS = 1; static final double RETRACTED_ARM_LENGTH_METERS = 1; static final double METERS_PER_REVOLUTION = 2048; - static final Mechanism2d MECHANISM2D = new Mechanism2d(MECHANISM2D_WIDTH, MECHANISM2D_HEIGHT); + static final Mechanism2d ARM_MECHANISM = new Mechanism2d(MECHANISM2D_WIDTH, MECHANISM2D_HEIGHT); static final SingleJointedArmSim ANGLE_MOTOR = new SingleJointedArmSim( ANGLE_MOTOR_GEARBOX, ANGLE_GEAR_RATIO, From f45789b62125c56e3a7221a826792e94756cbb0d Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sat, 2 Dec 2023 21:38:12 +0200 Subject: [PATCH 154/207] corrected requierments --- .../java/frc/trigon/robot/subsystems/arm/ArmCommands.java | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java index 3685edc74..7ffd3ba10 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java @@ -4,7 +4,7 @@ import edu.wpi.first.wpilibj2.command.*; import java.util.Set; -public class ArmCommands extends SubsystemBase { +public class ArmCommands { public Command getSetTargetArmStateCommand(ArmConstants.ArmState targetState) { @@ -39,7 +39,7 @@ public Command getSetTargetArmStateCommand(ArmConstants.ArmState targetState, do public Command getSetTargetArmPositionCommand(Rotation2d targetAngle, double targetElevatorPosition, double angleSpeedPercentage, double elevatorSpeedPercentage) { return new DeferredCommand( () -> getCurrentSetTargetArmStateCommand(targetAngle, targetElevatorPosition, angleSpeedPercentage, elevatorSpeedPercentage), - Set.of(this) + Set.of(Arm.getInstance()) ); } @@ -63,7 +63,7 @@ private Command getSetTargetAngleCommand(Rotation2d targetAngle, double speedPer (interrupted) -> { }, () -> false, - this + Arm.getInstance() ); } @@ -74,7 +74,7 @@ private Command getSetTargetElevatorPositionCommand(double targetElevatorPositio (interrupted) -> { }, () -> false, - this + Arm.getInstance() ); } } From 8f63234f2ff3c6636957c8293e9d138df9775235 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sat, 2 Dec 2023 21:46:08 +0200 Subject: [PATCH 155/207] made commands static --- .../trigon/robot/subsystems/arm/ArmCommands.java | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java index 7ffd3ba10..9b148b3d6 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java @@ -6,12 +6,12 @@ public class ArmCommands { - public Command getSetTargetArmStateCommand(ArmConstants.ArmState targetState) { + public static Command getSetTargetArmStateCommand(ArmConstants.ArmState targetState) { return getSetTargetArmStateCommand(targetState, 100, 100); } - public Command getSetTargetArmPositionCommand(Rotation2d angle, double elevatorPosition) { + public static Command getSetTargetArmPositionCommand(Rotation2d angle, double elevatorPosition) { return getSetTargetArmPositionCommand(angle, elevatorPosition, 100, 100); } @@ -23,7 +23,7 @@ public Command getSetTargetArmPositionCommand(Rotation2d angle, double elevatorP * @param elevatorSpeedPercentage the percentage of speed that the elevator will move in * @return the command */ - public Command getSetTargetArmStateCommand(ArmConstants.ArmState targetState, double angleSpeedPercentage, double elevatorSpeedPercentage) { + public static Command getSetTargetArmStateCommand(ArmConstants.ArmState targetState, double angleSpeedPercentage, double elevatorSpeedPercentage) { return getSetTargetArmPositionCommand(targetState.angle, targetState.elevatorPosition, angleSpeedPercentage, elevatorSpeedPercentage); } @@ -36,14 +36,14 @@ public Command getSetTargetArmStateCommand(ArmConstants.ArmState targetState, do * @param elevatorSpeedPercentage the percentage of speed that the elevator will move in * @return the command */ - public Command getSetTargetArmPositionCommand(Rotation2d targetAngle, double targetElevatorPosition, double angleSpeedPercentage, double elevatorSpeedPercentage) { + public static Command getSetTargetArmPositionCommand(Rotation2d targetAngle, double targetElevatorPosition, double angleSpeedPercentage, double elevatorSpeedPercentage) { return new DeferredCommand( () -> getCurrentSetTargetArmStateCommand(targetAngle, targetElevatorPosition, angleSpeedPercentage, elevatorSpeedPercentage), Set.of(Arm.getInstance()) ); } - private Command getCurrentSetTargetArmStateCommand(Rotation2d angle, double elevatorPosition, double angleSpeedPercentage, double elevatorSpeedPercentage) { + private static Command getCurrentSetTargetArmStateCommand(Rotation2d angle, double elevatorPosition, double angleSpeedPercentage, double elevatorSpeedPercentage) { if (Arm.getInstance().isElevatorOpening(elevatorPosition)) { return new SequentialCommandGroup( getSetTargetAngleCommand(angle, angleSpeedPercentage), @@ -56,7 +56,7 @@ private Command getCurrentSetTargetArmStateCommand(Rotation2d angle, double elev ); } - private Command getSetTargetAngleCommand(Rotation2d targetAngle, double speedPercentage) { + private static Command getSetTargetAngleCommand(Rotation2d targetAngle, double speedPercentage) { return new FunctionalCommand( () -> Arm.getInstance().generateAngleMotorProfile(targetAngle, speedPercentage), () -> Arm.getInstance().setTargetAngleFromProfile(), @@ -67,7 +67,7 @@ private Command getSetTargetAngleCommand(Rotation2d targetAngle, double speedPer ); } - private Command getSetTargetElevatorPositionCommand(double targetElevatorPosition, double speedPercentage) { + private static Command getSetTargetElevatorPositionCommand(double targetElevatorPosition, double speedPercentage) { return new FunctionalCommand( () -> Arm.getInstance().generateElevatorMotorProfile(targetElevatorPosition, speedPercentage), () -> Arm.getInstance().setTargetElevatorPositionFromProfile(), From 65fda2319ff3390909c32c54105a113d4a2c8c2f Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sat, 2 Dec 2023 22:25:26 +0200 Subject: [PATCH 156/207] added mechanism2d to collector --- .../arm/kablamaArm/KablamaArmConstants.java | 1 - .../robot/subsystems/collector/Collector.java | 15 ++++----------- .../subsystems/collector/CollectorCommands.java | 15 +++++++++++++++ .../subsystems/collector/CollectorConstants.java | 6 ++++++ .../robot/subsystems/collector/CollectorIO.java | 8 ++++++-- .../SimulationCollectorIO.java | 10 ++++++++++ .../SimulationCollectorIOConstants.java | 7 +++++++ 7 files changed, 48 insertions(+), 14 deletions(-) create mode 100644 src/main/java/frc/trigon/robot/subsystems/collector/CollectorCommands.java diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java index 145f6da6b..c9934eb7d 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java @@ -12,7 +12,6 @@ import edu.wpi.first.math.controller.ArmFeedforward; import edu.wpi.first.math.controller.ElevatorFeedforward; import edu.wpi.first.math.controller.PIDController; -import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d; import frc.trigon.robot.utilities.Conversions; public class KablamaArmConstants { diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/Collector.java b/src/main/java/frc/trigon/robot/subsystems/collector/Collector.java index cb4ca7ed1..9a2858929 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/Collector.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/Collector.java @@ -1,5 +1,6 @@ package frc.trigon.robot.subsystems.collector; +import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.StartEndCommand; import edu.wpi.first.wpilibj2.command.SubsystemBase; @@ -8,9 +9,9 @@ public class Collector extends SubsystemBase { private final static Collector INSTANCE = new Collector(); - private final CollectorIO collectorIO = CollectorIO.generateIO(); private final CollectorInputsAutoLogged collectorInputs = new CollectorInputsAutoLogged(); - + private final Mechanism2d collectorMechanism = CollectorConstants.COLLECTOR_MECHANISM; + final CollectorIO collectorIO = CollectorIO.generateIO(); public static Collector getInstance() { return INSTANCE; } @@ -23,15 +24,7 @@ private Collector() { public void periodic() { collectorIO.updateInputs(collectorInputs); Logger.processInputs("Collector", collectorInputs); - } - - public Command getSetTargetStateCommand(CollectorConstants.CollectorStates state) { - return new StartEndCommand( - () -> collectorIO.setPower(state.power), - () -> { - }, - this - ); + Logger.recordOutput("Collector", collectorMechanism); } private void startCurrentWatcher() { diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/CollectorCommands.java b/src/main/java/frc/trigon/robot/subsystems/collector/CollectorCommands.java new file mode 100644 index 000000000..6808826d8 --- /dev/null +++ b/src/main/java/frc/trigon/robot/subsystems/collector/CollectorCommands.java @@ -0,0 +1,15 @@ +package frc.trigon.robot.subsystems.collector; + +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.StartEndCommand; + +public class CollectorCommands { + public Command getSetTargetStateCommand(CollectorConstants.CollectorStates state) { + return new StartEndCommand( + () -> Collector.getInstance().collectorIO.setPower(state.power), + () -> { + }, + Collector.getInstance() + ); + } +} diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/CollectorConstants.java b/src/main/java/frc/trigon/robot/subsystems/collector/CollectorConstants.java index 1adec2487..0e0583ddd 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/CollectorConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/CollectorConstants.java @@ -1,8 +1,14 @@ package frc.trigon.robot.subsystems.collector; +import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d; + public class CollectorConstants { static final int MAX_CURRENT = 10; static final double MAX_CURRENT_TIME = 0.5; + private static final double + MECHANISM2D_WIDTH = 1, + MECHANISM2D_HEIGHT = 1; + static final Mechanism2d COLLECTOR_MECHANISM = new Mechanism2d(MECHANISM2D_WIDTH, MECHANISM2D_HEIGHT); public enum CollectorStates { COLLECT(-1), diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/CollectorIO.java b/src/main/java/frc/trigon/robot/subsystems/collector/CollectorIO.java index 257133909..544e01293 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/CollectorIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/CollectorIO.java @@ -2,7 +2,9 @@ import frc.trigon.robot.constants.RobotConstants; import frc.trigon.robot.subsystems.collector.kablamacollector.KablamaCollectorIO; +import frc.trigon.robot.subsystems.collector.simulationcollector.SimulationCollectorIO; import org.littletonrobotics.junction.AutoLog; +import org.littletonrobotics.junction.LogTable; public class CollectorIO { static CollectorIO generateIO() { @@ -10,8 +12,7 @@ static CollectorIO generateIO() { return new CollectorIO(); if (RobotConstants.ROBOT_TYPE == RobotConstants.RobotType.KABLAMA) return new KablamaCollectorIO(); - //return new SimulationCollectorIO(); - return new CollectorIO(); + return new SimulationCollectorIO(); } protected void updateInputs(CollectorInputsAutoLogged inputs) { @@ -23,6 +24,9 @@ protected void setPower(double power) { protected void stop() { } + protected void startAdvantageKitLogging(LogTable logTable) { + } + @AutoLog protected static class CollectorInputs { public double motorCurrent = 0; diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java b/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java index b8b167a50..2dba6958b 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java @@ -2,13 +2,17 @@ import edu.wpi.first.math.MathUtil; import edu.wpi.first.wpilibj.simulation.DCMotorSim; +import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import frc.trigon.robot.constants.RobotConstants; import frc.trigon.robot.subsystems.collector.CollectorIO; import frc.trigon.robot.subsystems.collector.CollectorInputsAutoLogged; import frc.trigon.robot.utilities.Conversions; +import org.littletonrobotics.junction.LogTable; public class SimulationCollectorIO extends CollectorIO { private final DCMotorSim motor = SimulationCollectorIOConstants.MOTOR; + private final Mechanism2d collectorMechanism = SimulationCollectorIOConstants.COLLECTOR_MECHANISM; private double motorVoltage; @Override @@ -30,4 +34,10 @@ protected void setPower(double power) { protected void stop() { setPower(0); } + + @Override + protected void startAdvantageKitLogging(LogTable logTable) { + collectorMechanism.akitLog(logTable); + SmartDashboard.putData("Mech2d", collectorMechanism); + } } diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIOConstants.java b/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIOConstants.java index 13f6a1ae2..72a4c520b 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIOConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIOConstants.java @@ -2,6 +2,7 @@ import edu.wpi.first.math.system.plant.DCMotor; import edu.wpi.first.wpilibj.simulation.DCMotorSim; +import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d; public class SimulationCollectorIOConstants { private static final int MOTOR_AMOUNT = 1; @@ -9,6 +10,12 @@ public class SimulationCollectorIOConstants { private static final double MOMENT_OF_INERTIA = 0.003; private static final double GEAR_RATIO = 12.8; static final int VOLTAGE_COMPENSATION_SATURATION = 12; + private static final double + MECHANISM2D_WIDTH = 1, + MECHANISM2D_HEIGHT = 1; + + static final Mechanism2d COLLECTOR_MECHANISM = new Mechanism2d(MECHANISM2D_WIDTH, MECHANISM2D_HEIGHT); + static final DCMotorSim MOTOR = new DCMotorSim( MOTOR_GEARBOX, GEAR_RATIO, From c23f627e088b230be339052187f882ab9ec206f4 Mon Sep 17 00:00:00 2001 From: Yishai Levy <96019039+levyishai@users.noreply.github.com> Date: Sun, 3 Dec 2023 10:03:32 +0200 Subject: [PATCH 157/207] Delete networktables.json --- networktables.json | 1 - 1 file changed, 1 deletion(-) delete mode 100644 networktables.json diff --git a/networktables.json b/networktables.json deleted file mode 100644 index fe51488c7..000000000 --- a/networktables.json +++ /dev/null @@ -1 +0,0 @@ -[] From 2c7e36fd9ec12ced8af14ebf20699d07277184e6 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sun, 3 Dec 2023 11:53:05 +0200 Subject: [PATCH 158/207] removed mechanism from collector --- .../java/frc/trigon/robot/subsystems/arm/ArmCommands.java | 2 -- .../frc/trigon/robot/subsystems/collector/Collector.java | 8 ++++++-- .../robot/subsystems/collector/CollectorCommands.java | 4 ++-- .../robot/subsystems/collector/CollectorConstants.java | 4 ---- .../trigon/robot/subsystems/collector/CollectorIO.java | 3 --- .../simulationcollector/SimulationCollectorIO.java | 7 ------- .../SimulationCollectorIOConstants.java | 5 ----- 7 files changed, 8 insertions(+), 25 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java index 9b148b3d6..7539b7350 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java @@ -5,9 +5,7 @@ import java.util.Set; public class ArmCommands { - public static Command getSetTargetArmStateCommand(ArmConstants.ArmState targetState) { - return getSetTargetArmStateCommand(targetState, 100, 100); } diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/Collector.java b/src/main/java/frc/trigon/robot/subsystems/collector/Collector.java index 9a2858929..d861fa67c 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/Collector.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/Collector.java @@ -11,7 +11,8 @@ public class Collector extends SubsystemBase { private final static Collector INSTANCE = new Collector(); private final CollectorInputsAutoLogged collectorInputs = new CollectorInputsAutoLogged(); private final Mechanism2d collectorMechanism = CollectorConstants.COLLECTOR_MECHANISM; - final CollectorIO collectorIO = CollectorIO.generateIO(); + private final CollectorIO collectorIO = CollectorIO.generateIO(); + public static Collector getInstance() { return INSTANCE; } @@ -24,7 +25,10 @@ private Collector() { public void periodic() { collectorIO.updateInputs(collectorInputs); Logger.processInputs("Collector", collectorInputs); - Logger.recordOutput("Collector", collectorMechanism); + } + + void setPower(double power) { + collectorIO.setPower(power); } private void startCurrentWatcher() { diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/CollectorCommands.java b/src/main/java/frc/trigon/robot/subsystems/collector/CollectorCommands.java index 6808826d8..5f06163b9 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/CollectorCommands.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/CollectorCommands.java @@ -4,9 +4,9 @@ import edu.wpi.first.wpilibj2.command.StartEndCommand; public class CollectorCommands { - public Command getSetTargetStateCommand(CollectorConstants.CollectorStates state) { + public static Command getSetTargetStateCommand(CollectorConstants.CollectorStates state) { return new StartEndCommand( - () -> Collector.getInstance().collectorIO.setPower(state.power), + () -> Collector.getInstance().setPower(state.power), () -> { }, Collector.getInstance() diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/CollectorConstants.java b/src/main/java/frc/trigon/robot/subsystems/collector/CollectorConstants.java index 0e0583ddd..e2e1616dd 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/CollectorConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/CollectorConstants.java @@ -5,10 +5,6 @@ public class CollectorConstants { static final int MAX_CURRENT = 10; static final double MAX_CURRENT_TIME = 0.5; - private static final double - MECHANISM2D_WIDTH = 1, - MECHANISM2D_HEIGHT = 1; - static final Mechanism2d COLLECTOR_MECHANISM = new Mechanism2d(MECHANISM2D_WIDTH, MECHANISM2D_HEIGHT); public enum CollectorStates { COLLECT(-1), diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/CollectorIO.java b/src/main/java/frc/trigon/robot/subsystems/collector/CollectorIO.java index 544e01293..a24934b08 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/CollectorIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/CollectorIO.java @@ -24,9 +24,6 @@ protected void setPower(double power) { protected void stop() { } - protected void startAdvantageKitLogging(LogTable logTable) { - } - @AutoLog protected static class CollectorInputs { public double motorCurrent = 0; diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java b/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java index 2dba6958b..f33bfcf64 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java @@ -12,7 +12,6 @@ public class SimulationCollectorIO extends CollectorIO { private final DCMotorSim motor = SimulationCollectorIOConstants.MOTOR; - private final Mechanism2d collectorMechanism = SimulationCollectorIOConstants.COLLECTOR_MECHANISM; private double motorVoltage; @Override @@ -34,10 +33,4 @@ protected void setPower(double power) { protected void stop() { setPower(0); } - - @Override - protected void startAdvantageKitLogging(LogTable logTable) { - collectorMechanism.akitLog(logTable); - SmartDashboard.putData("Mech2d", collectorMechanism); - } } diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIOConstants.java b/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIOConstants.java index 72a4c520b..3666202f6 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIOConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIOConstants.java @@ -10,11 +10,6 @@ public class SimulationCollectorIOConstants { private static final double MOMENT_OF_INERTIA = 0.003; private static final double GEAR_RATIO = 12.8; static final int VOLTAGE_COMPENSATION_SATURATION = 12; - private static final double - MECHANISM2D_WIDTH = 1, - MECHANISM2D_HEIGHT = 1; - - static final Mechanism2d COLLECTOR_MECHANISM = new Mechanism2d(MECHANISM2D_WIDTH, MECHANISM2D_HEIGHT); static final DCMotorSim MOTOR = new DCMotorSim( MOTOR_GEARBOX, From eefc55ce543ce8f9a284252fc213e7846d6df27d Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sun, 3 Dec 2023 11:56:52 +0200 Subject: [PATCH 159/207] removed extra files --- nulllogs/Log_23-12-02_19-51-25.wpilog | Bin 761519 -> 0 bytes nulllogs/Log_23-12-02_19-52-12.wpilog | Bin 2146802 -> 0 bytes nulllogs/Log_23-12-02_19-58-08.wpilog | Bin 8120542 -> 0 bytes nulllogs/Log_23-12-02_20-20-42.wpilog | Bin 2614316 -> 0 bytes nulllogs/Log_23-12-02_20-21-47.wpilog | Bin 2772379 -> 0 bytes simgui-ds.json | 92 -------------------------- simgui.json | 23 ------- 7 files changed, 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z0M3Mxg|ANNrCQa;+Qu~LYlQtsU(4AGBBA=gbBZr8+t*`W`ig8{q~XUUopN?xRehyJ zX@elTe$>(`dV4WKG~3A0`yH5TWTLFRMy3JnEW#|H#v?iV##Oz|cB|)T@--6rilGsP z@yLeZHgE75n|$X0X4^bspM$b(l14b_1AS*YlaWwv%PmS9^wIU>?WP95Jb(8&S08u{ z!xIdTI|tub^nuy>uCHI2t&cRq&H+5}i44Jw>$VWJhD zR`e0g)_3PkugTRnRaX6q!A|FQ!Z6wW#FC^9zUcbyvZ=vdy}pnJdNH<&Zg;Jh8_{fE PE023!wlC6HIE(QA=8Sbu diff --git a/simgui-ds.json b/simgui-ds.json deleted file mode 100644 index 73cc713cb..000000000 --- a/simgui-ds.json +++ /dev/null @@ -1,92 +0,0 @@ -{ - "keyboardJoysticks": [ - { - "axisConfig": [ - { - "decKey": 65, - "incKey": 68 - }, - { - "decKey": 87, - "incKey": 83 - }, - { - "decKey": 69, - "decayRate": 0.0, - "incKey": 82, - "keyRate": 0.009999999776482582 - } - ], - "axisCount": 3, - "buttonCount": 4, - "buttonKeys": [ - 90, - 88, - 67, - 86 - ], - "povConfig": [ - { - "key0": 328, - "key135": 323, - "key180": 322, - "key225": 321, - "key270": 324, - "key315": 327, - "key45": 329, - "key90": 326 - } - ], - "povCount": 1 - }, - { - "axisConfig": [ - { - "decKey": 74, - "incKey": 76 - }, - { - "decKey": 73, - "incKey": 75 - } - ], - "axisCount": 2, - "buttonCount": 4, - "buttonKeys": [ - 77, - 44, - 46, - 47 - ], - "povCount": 0 - }, - { - "axisConfig": [ - { - "decKey": 263, - "incKey": 262 - }, - { - "decKey": 265, - "incKey": 264 - } - ], - "axisCount": 2, - "buttonCount": 6, - "buttonKeys": [ - 260, - 268, - 266, - 261, - 269, - 267 - ], - "povCount": 0 - }, - { - "axisCount": 0, - "buttonCount": 0, - "povCount": 0 - } - ] -} diff --git a/simgui.json b/simgui.json deleted file mode 100644 index 79eeb6fa2..000000000 --- a/simgui.json +++ /dev/null @@ -1,23 +0,0 @@ -{ - "NTProvider": { - "types": { - "/FMSInfo": "FMSInfo" - } - }, - "NetworkTables": { - "transitory": { - "AdvantageKit": { - "RealOutputs": { - "LoggedRobot": { - "open": true - }, - "Logger": { - "open": true - }, - "open": true - }, - "open": true - } - } - } -} From 1beae0ae616db4da77404c716e040d2da3a71487 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sun, 3 Dec 2023 14:43:31 +0200 Subject: [PATCH 160/207] corrected startAdvantageKitLogging --- .../robot/subsystems/arm/simulationarm/SimulationArmIO.java | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java index 07248965d..50b376582 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java @@ -10,6 +10,7 @@ import frc.trigon.robot.subsystems.arm.ArmIO; import frc.trigon.robot.subsystems.arm.ArmInputsAutoLogged; import org.littletonrobotics.junction.LogTable; +import org.littletonrobotics.junction.Logger; public class SimulationArmIO extends ArmIO { private final SingleJointedArmSim angleMotor = SimulationArmIOConstants.ANGLE_MOTOR; @@ -58,7 +59,7 @@ protected void setTargetElevatorState(TrapezoidProfile.State targetState) { @Override protected void startAdvantageKitLogging(LogTable logTable) { armMechanism.akitLog(logTable); - SmartDashboard.putData("Mech2d", armMechanism); + Logger.recordOutput("Arm", armMechanism); } private void setAngleVoltage(double voltage) { From 9d6b464edcc024efeecf87e21d3673e22ca4fbf3 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sun, 3 Dec 2023 17:21:20 +0200 Subject: [PATCH 161/207] changed TalonSRX to WPI_TalonSRX --- .../robot/subsystems/arm/kablamaArm/KablamaArmIO.java | 5 ----- .../frc/trigon/robot/subsystems/collector/Collector.java | 1 - .../robot/subsystems/collector/CollectorCommands.java | 4 ++-- .../kablamacollector/KablamaCollectorConstants.java | 3 ++- .../collector/kablamacollector/KablamaCollectorIO.java | 6 +++--- 5 files changed, 7 insertions(+), 12 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java index 47261f79f..0c8792b8f 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java @@ -4,13 +4,9 @@ import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.math.util.Units; -import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import frc.trigon.robot.subsystems.arm.ArmIO; import frc.trigon.robot.subsystems.arm.ArmInputsAutoLogged; -import frc.trigon.robot.subsystems.arm.simulationarm.SimulationArmIOConstants; import frc.trigon.robot.utilities.Conversions; -import org.littletonrobotics.junction.LogTable; public class KablamaArmIO extends ArmIO { private final CANSparkMax @@ -47,7 +43,6 @@ protected void stopElevatorMotors() { @Override protected void setTargetAngleState(TrapezoidProfile.State targetState) { setAngleVoltage(calculateAngleOutput(targetState)); - } @Override diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/Collector.java b/src/main/java/frc/trigon/robot/subsystems/collector/Collector.java index d861fa67c..be1bc20a4 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/Collector.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/Collector.java @@ -10,7 +10,6 @@ public class Collector extends SubsystemBase { private final static Collector INSTANCE = new Collector(); private final CollectorInputsAutoLogged collectorInputs = new CollectorInputsAutoLogged(); - private final Mechanism2d collectorMechanism = CollectorConstants.COLLECTOR_MECHANISM; private final CollectorIO collectorIO = CollectorIO.generateIO(); public static Collector getInstance() { diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/CollectorCommands.java b/src/main/java/frc/trigon/robot/subsystems/collector/CollectorCommands.java index 5f06163b9..dacd19f3b 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/CollectorCommands.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/CollectorCommands.java @@ -4,9 +4,9 @@ import edu.wpi.first.wpilibj2.command.StartEndCommand; public class CollectorCommands { - public static Command getSetTargetStateCommand(CollectorConstants.CollectorStates state) { + public static Command getSetTargetStateCommand(CollectorConstants.CollectorStates targetState) { return new StartEndCommand( - () -> Collector.getInstance().setPower(state.power), + () -> Collector.getInstance().setPower(targetState.power), () -> { }, Collector.getInstance() diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/kablamacollector/KablamaCollectorConstants.java b/src/main/java/frc/trigon/robot/subsystems/collector/kablamacollector/KablamaCollectorConstants.java index 6df5edc57..d25fb0214 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/kablamacollector/KablamaCollectorConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/kablamacollector/KablamaCollectorConstants.java @@ -2,13 +2,14 @@ import com.ctre.phoenix.motorcontrol.NeutralMode; import com.ctre.phoenix.motorcontrol.can.TalonSRX; +import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; public class KablamaCollectorConstants { private static final int MOTOR_ID = 1; private static final NeutralMode NEUTRAL_MODE_VALUE = NeutralMode.Coast; private static final boolean INVERTED = false; private static final int VOLTAGE_COMPENSATION_SATURATION = 12; - static final TalonSRX MOTOR = new TalonSRX(MOTOR_ID); + static final WPI_TalonSRX MOTOR = new WPI_TalonSRX(MOTOR_ID); static { MOTOR.configFactoryDefault(); diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/kablamacollector/KablamaCollectorIO.java b/src/main/java/frc/trigon/robot/subsystems/collector/kablamacollector/KablamaCollectorIO.java index 5b66919c9..a75b6443b 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/kablamacollector/KablamaCollectorIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/kablamacollector/KablamaCollectorIO.java @@ -1,12 +1,12 @@ package frc.trigon.robot.subsystems.collector.kablamacollector; import com.ctre.phoenix.motorcontrol.ControlMode; -import com.ctre.phoenix.motorcontrol.can.TalonSRX; +import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; import frc.trigon.robot.subsystems.collector.CollectorIO; import frc.trigon.robot.subsystems.collector.CollectorInputsAutoLogged; public class KablamaCollectorIO extends CollectorIO { - private final TalonSRX motor = KablamaCollectorConstants.MOTOR; + private final WPI_TalonSRX motor = KablamaCollectorConstants.MOTOR; @Override protected void updateInputs(CollectorInputsAutoLogged inputs) { @@ -21,6 +21,6 @@ protected void setPower(double power) { @Override protected void stop() { - motor.set(ControlMode.Disabled, 0); + motor.stopMotor(); } } From 5964480dee7400065b872cca666737a1ff6e20cf Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sun, 3 Dec 2023 19:24:58 +0200 Subject: [PATCH 162/207] corrected addition of mech2d --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 2 ++ .../frc/trigon/robot/subsystems/arm/ArmConstants.java | 10 ++++++++++ .../java/frc/trigon/robot/subsystems/arm/ArmIO.java | 3 --- .../subsystems/arm/simulationarm/SimulationArmIO.java | 6 ------ .../arm/simulationarm/SimulationArmIOConstants.java | 10 ++++++++++ 5 files changed, 22 insertions(+), 9 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 4957a6318..f0a9c9299 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -34,6 +34,8 @@ public void periodic() { armIO.updateInputs(armInputs); Logger.processInputs("Arm", armInputs); Logger.recordOutput("Arm", armMechanism); + ArmConstants.ARM_LIGAMENT.setLength(armInputs.elevatorPositionRevolution); + ArmConstants.ARM_LIGAMENT.setAngle(armInputs.anglePositionDegrees); } boolean isElevatorOpening(double targetElevatorPosition) { diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index 96a0203d5..ed584c247 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -3,6 +3,8 @@ import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d; +import edu.wpi.first.wpilibj.smartdashboard.MechanismLigament2d; +import edu.wpi.first.wpilibj.smartdashboard.MechanismRoot2d; public class ArmConstants { private static final double @@ -20,7 +22,15 @@ public class ArmConstants { private static final double MECHANISM2D_WIDTH = 1, MECHANISM2D_HEIGHT = 1; + private static final double + MECHANISM2D_ROOT_X = 0, + MECHANISM2D_ROOT_Y = 0; + private static final double + MECHANISM2D_LIGAMENT_LENGTH = 0, + MECHANISM2D_LIGAMENT_ANGLE = 0; static final Mechanism2d ARM_MECHANISM = new Mechanism2d(MECHANISM2D_WIDTH, MECHANISM2D_HEIGHT); + static final MechanismRoot2d ARM_ROOT = ARM_MECHANISM.getRoot("Arm", MECHANISM2D_ROOT_X, MECHANISM2D_ROOT_Y); + static final MechanismLigament2d ARM_LIGAMENT = ARM_ROOT.append(new MechanismLigament2d("Arm", MECHANISM2D_LIGAMENT_LENGTH, MECHANISM2D_LIGAMENT_ANGLE)); public enum ArmState { FIRST_STATE(Rotation2d.fromDegrees(100), 7), diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java index c192980b3..1474f9993 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java @@ -31,9 +31,6 @@ protected void setTargetAngleState(TrapezoidProfile.State targetState) { protected void setTargetElevatorState(TrapezoidProfile.State targetState) { } - protected void startAdvantageKitLogging(LogTable logTable) { - } - @AutoLog protected static class ArmInputs { public double angleMotorCurrent = 0; diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java index 50b376582..5f767c446 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java @@ -56,12 +56,6 @@ protected void setTargetElevatorState(TrapezoidProfile.State targetState) { setElevatorVoltage(calculateElevatorOutput(targetState)); } - @Override - protected void startAdvantageKitLogging(LogTable logTable) { - armMechanism.akitLog(logTable); - Logger.recordOutput("Arm", armMechanism); - } - private void setAngleVoltage(double voltage) { this.angleVoltage = voltage; angleMotor.setInputVoltage(voltage); diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java index 6d0aa8f58..9703be1b5 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java @@ -8,6 +8,8 @@ import edu.wpi.first.wpilibj.simulation.ElevatorSim; import edu.wpi.first.wpilibj.simulation.SingleJointedArmSim; import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d; +import edu.wpi.first.wpilibj.smartdashboard.MechanismLigament2d; +import edu.wpi.first.wpilibj.smartdashboard.MechanismRoot2d; public class SimulationArmIOConstants { private static final int @@ -28,12 +30,20 @@ public class SimulationArmIOConstants { private static final double MECHANISM2D_WIDTH = 1, MECHANISM2D_HEIGHT = 1; + private static final double + MECHANISM2D_ROOT_X = 0, + MECHANISM2D_ROOT_Y = 0; + private static final double + MECHANISM2D_LIGAMENT_LENGTH = 1, + MECHANISM2D_LIGAMENT_ANGLE = 1; private static final double ARM_MASS = 1; private static final double DRUM_RADIUS_METERS = 1; private static final double FULLY_OPENED_ARM_LENGTH_METERS = 1; static final double RETRACTED_ARM_LENGTH_METERS = 1; static final double METERS_PER_REVOLUTION = 2048; static final Mechanism2d ARM_MECHANISM = new Mechanism2d(MECHANISM2D_WIDTH, MECHANISM2D_HEIGHT); + private static final MechanismRoot2d ARM_ROOT = ARM_MECHANISM.getRoot("ARM", MECHANISM2D_ROOT_X, MECHANISM2D_ROOT_Y); + static final MechanismLigament2d ARM_Ligament = ARM_ROOT.append(new MechanismLigament2d("Arm", MECHANISM2D_LIGAMENT_LENGTH, MECHANISM2D_LIGAMENT_ANGLE)); static final SingleJointedArmSim ANGLE_MOTOR = new SingleJointedArmSim( ANGLE_MOTOR_GEARBOX, ANGLE_GEAR_RATIO, From b4302dd4295c7abf5d17af1f78a46388569967f5 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sun, 3 Dec 2023 20:59:18 +0200 Subject: [PATCH 163/207] corrected names --- .../frc/trigon/robot/subsystems/arm/Arm.java | 11 +++++----- .../robot/subsystems/arm/ArmCommands.java | 21 ++++++++++--------- .../robot/subsystems/arm/ArmConstants.java | 18 ++++++++-------- .../arm/kablamaArm/KablamaArmIO.java | 6 ++++-- .../arm/simulationarm/SimulationArmIO.java | 1 - .../SimulationArmIOConstants.java | 12 ----------- .../collector/CollectorCommands.java | 5 +++-- 7 files changed, 33 insertions(+), 41 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index f0a9c9299..577e5e424 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -8,8 +8,6 @@ import frc.trigon.robot.utilities.Conversions; import org.littletonrobotics.junction.Logger; -import java.util.Set; - public class Arm extends SubsystemBase { private final static Arm INSTANCE = new Arm(); private final ArmIO armIO = ArmIO.generateIO(); @@ -33,9 +31,8 @@ private Arm() { public void periodic() { armIO.updateInputs(armInputs); Logger.processInputs("Arm", armInputs); + updateMechanism(); Logger.recordOutput("Arm", armMechanism); - ArmConstants.ARM_LIGAMENT.setLength(armInputs.elevatorPositionRevolution); - ArmConstants.ARM_LIGAMENT.setAngle(armInputs.anglePositionDegrees); } boolean isElevatorOpening(double targetElevatorPosition) { @@ -89,5 +86,9 @@ private double getAngleMotorProfileTime() { private double getElevatorMotorProfileTime() { return Timer.getFPGATimestamp() - lastElevatorMotorProfileGenerationTime; } -} + private void updateMechanism() { + ArmConstants.ARM_MECHANISM_LIGAMENT.setLength(armInputs.elevatorPositionRevolution); + ArmConstants.ARM_MECHANISM_LIGAMENT.setAngle(armInputs.anglePositionDegrees); + } +} \ No newline at end of file diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java index 7539b7350..ecc16c7d7 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java @@ -5,6 +5,7 @@ import java.util.Set; public class ArmCommands { + private static final Arm arm = Arm.getInstance(); public static Command getSetTargetArmStateCommand(ArmConstants.ArmState targetState) { return getSetTargetArmStateCommand(targetState, 100, 100); } @@ -37,42 +38,42 @@ public static Command getSetTargetArmStateCommand(ArmConstants.ArmState targetSt public static Command getSetTargetArmPositionCommand(Rotation2d targetAngle, double targetElevatorPosition, double angleSpeedPercentage, double elevatorSpeedPercentage) { return new DeferredCommand( () -> getCurrentSetTargetArmStateCommand(targetAngle, targetElevatorPosition, angleSpeedPercentage, elevatorSpeedPercentage), - Set.of(Arm.getInstance()) + Set.of(arm) ); } private static Command getCurrentSetTargetArmStateCommand(Rotation2d angle, double elevatorPosition, double angleSpeedPercentage, double elevatorSpeedPercentage) { - if (Arm.getInstance().isElevatorOpening(elevatorPosition)) { + if (arm.isElevatorOpening(elevatorPosition)) { return new SequentialCommandGroup( - getSetTargetAngleCommand(angle, angleSpeedPercentage), + getSetTargetAngleCommand(angle, angleSpeedPercentage).until(() -> true), getSetTargetElevatorPositionCommand(elevatorPosition, elevatorSpeedPercentage) ); } return new SequentialCommandGroup( - getSetTargetElevatorPositionCommand(elevatorPosition, elevatorSpeedPercentage), + getSetTargetElevatorPositionCommand(elevatorPosition, elevatorSpeedPercentage).until(() -> true), getSetTargetAngleCommand(angle, angleSpeedPercentage) ); } private static Command getSetTargetAngleCommand(Rotation2d targetAngle, double speedPercentage) { return new FunctionalCommand( - () -> Arm.getInstance().generateAngleMotorProfile(targetAngle, speedPercentage), - () -> Arm.getInstance().setTargetAngleFromProfile(), + () -> arm.generateAngleMotorProfile(targetAngle, speedPercentage), + () -> arm.setTargetAngleFromProfile(), (interrupted) -> { }, () -> false, - Arm.getInstance() + arm ); } private static Command getSetTargetElevatorPositionCommand(double targetElevatorPosition, double speedPercentage) { return new FunctionalCommand( - () -> Arm.getInstance().generateElevatorMotorProfile(targetElevatorPosition, speedPercentage), - () -> Arm.getInstance().setTargetElevatorPositionFromProfile(), + () -> arm.generateElevatorMotorProfile(targetElevatorPosition, speedPercentage), + () -> arm.setTargetElevatorPositionFromProfile(), (interrupted) -> { }, () -> false, - Arm.getInstance() + arm ); } } diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index ed584c247..97d7e2b54 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -20,17 +20,17 @@ public class ArmConstants { MAX_ELEVATOR_VELOCITY, MAX_ELEVATOR_ACCELERATION ); private static final double - MECHANISM2D_WIDTH = 1, - MECHANISM2D_HEIGHT = 1; + ARM_WIDTH = 1, + ARM_HEIGHT = 1; private static final double - MECHANISM2D_ROOT_X = 0, - MECHANISM2D_ROOT_Y = 0; + ARM_ROOT_WIDTH = 0, + ARM_ROOT_LENGTH = 0; private static final double - MECHANISM2D_LIGAMENT_LENGTH = 0, - MECHANISM2D_LIGAMENT_ANGLE = 0; - static final Mechanism2d ARM_MECHANISM = new Mechanism2d(MECHANISM2D_WIDTH, MECHANISM2D_HEIGHT); - static final MechanismRoot2d ARM_ROOT = ARM_MECHANISM.getRoot("Arm", MECHANISM2D_ROOT_X, MECHANISM2D_ROOT_Y); - static final MechanismLigament2d ARM_LIGAMENT = ARM_ROOT.append(new MechanismLigament2d("Arm", MECHANISM2D_LIGAMENT_LENGTH, MECHANISM2D_LIGAMENT_ANGLE)); + ARM_LIGAMENT_LENGTH = 0, + ARM_LIGAMENT_ANGLE = 0; + static final Mechanism2d ARM_MECHANISM = new Mechanism2d(ARM_WIDTH, ARM_HEIGHT); + private static final MechanismRoot2d ARM_MECHANISM_ROOT = ARM_MECHANISM.getRoot("Arm root", ARM_ROOT_WIDTH, ARM_ROOT_LENGTH); + static final MechanismLigament2d ARM_MECHANISM_LIGAMENT = ARM_MECHANISM_ROOT.append(new MechanismLigament2d("Arm ligament", ARM_LIGAMENT_LENGTH, ARM_LIGAMENT_ANGLE)); public enum ArmState { FIRST_STATE(Rotation2d.fromDegrees(100), 7), diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java index 0c8792b8f..81f2f3c73 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java @@ -1,5 +1,6 @@ package frc.trigon.robot.subsystems.arm.kablamaArm; +import com.ctre.phoenix.motorcontrol.can.TalonSRX; import com.revrobotics.CANSparkMax; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.trajectory.TrapezoidProfile; @@ -14,6 +15,7 @@ public class KablamaArmIO extends ArmIO { followerAngleMotor = KablamaArmConstants.FOLLOWER_ANGLE_MOTOR, masterElevatorMotor = KablamaArmConstants.MASTER_ELEVATOR_MOTOR, followerElevatorMotor = KablamaArmConstants.FOLLOWER_ELEVATOR_MOTOR; + private final TalonSRX elevatorEncoder = KablamaArmConstants.ELEVATOR_ENCODER; @Override protected void updateInputs(ArmInputsAutoLogged inputs) { @@ -82,7 +84,7 @@ private double calculateElevatorOutput(TrapezoidProfile.State targetState) { } private double getElevatorPositionRevolutions() { - return Conversions.magTicksToRevolutions(KablamaArmConstants.ELEVATOR_ENCODER.getSelectedSensorPosition()); + return Conversions.magTicksToRevolutions(elevatorEncoder.getSelectedSensorPosition()); } private double getAngleVelocityDegreesPerSecond() { @@ -91,7 +93,7 @@ private double getAngleVelocityDegreesPerSecond() { } private double getElevatorVelocityRevolutionsPerSecond() { - double magTicksPerSecond = Conversions.perHundredMsToPerSecond(KablamaArmConstants.ELEVATOR_ENCODER.getSelectedSensorVelocity()); + double magTicksPerSecond = Conversions.perHundredMsToPerSecond(elevatorEncoder.getSelectedSensorVelocity()); return Conversions.magTicksToRevolutions(magTicksPerSecond); } diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java index 5f767c446..f558566e2 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java @@ -15,7 +15,6 @@ public class SimulationArmIO extends ArmIO { private final SingleJointedArmSim angleMotor = SimulationArmIOConstants.ANGLE_MOTOR; private final ElevatorSim elevatorMotor = SimulationArmIOConstants.ELEVATOR_MOTOR; - private final Mechanism2d armMechanism = SimulationArmIOConstants.ARM_MECHANISM; private double angleVoltage = 0, elevatorVoltage = 0; diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java index 9703be1b5..ae0a8a446 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java @@ -27,23 +27,11 @@ public class SimulationArmIOConstants { private static final boolean ANGLE_SIMULATE_GRAVITY = true, ELEVATOR_SIMULATE_GRAVITY = true; - private static final double - MECHANISM2D_WIDTH = 1, - MECHANISM2D_HEIGHT = 1; - private static final double - MECHANISM2D_ROOT_X = 0, - MECHANISM2D_ROOT_Y = 0; - private static final double - MECHANISM2D_LIGAMENT_LENGTH = 1, - MECHANISM2D_LIGAMENT_ANGLE = 1; private static final double ARM_MASS = 1; private static final double DRUM_RADIUS_METERS = 1; private static final double FULLY_OPENED_ARM_LENGTH_METERS = 1; static final double RETRACTED_ARM_LENGTH_METERS = 1; static final double METERS_PER_REVOLUTION = 2048; - static final Mechanism2d ARM_MECHANISM = new Mechanism2d(MECHANISM2D_WIDTH, MECHANISM2D_HEIGHT); - private static final MechanismRoot2d ARM_ROOT = ARM_MECHANISM.getRoot("ARM", MECHANISM2D_ROOT_X, MECHANISM2D_ROOT_Y); - static final MechanismLigament2d ARM_Ligament = ARM_ROOT.append(new MechanismLigament2d("Arm", MECHANISM2D_LIGAMENT_LENGTH, MECHANISM2D_LIGAMENT_ANGLE)); static final SingleJointedArmSim ANGLE_MOTOR = new SingleJointedArmSim( ANGLE_MOTOR_GEARBOX, ANGLE_GEAR_RATIO, diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/CollectorCommands.java b/src/main/java/frc/trigon/robot/subsystems/collector/CollectorCommands.java index dacd19f3b..54727aeec 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/CollectorCommands.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/CollectorCommands.java @@ -4,12 +4,13 @@ import edu.wpi.first.wpilibj2.command.StartEndCommand; public class CollectorCommands { + public static final Collector collector = Collector.getInstance(); public static Command getSetTargetStateCommand(CollectorConstants.CollectorStates targetState) { return new StartEndCommand( - () -> Collector.getInstance().setPower(targetState.power), + () -> collector.setPower(targetState.power), () -> { }, - Collector.getInstance() + collector ); } } From c12dde85055801a77f295f9510fc128092a3bf49 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Mon, 4 Dec 2023 10:52:58 +0200 Subject: [PATCH 164/207] fixed naming and reorginized --- .../frc/trigon/robot/subsystems/arm/Arm.java | 8 +++----- .../robot/subsystems/arm/ArmCommands.java | 19 ++++++++++--------- .../robot/subsystems/arm/ArmConstants.java | 11 ++++++----- .../collector/CollectorCommands.java | 7 ++++--- 4 files changed, 23 insertions(+), 22 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 577e5e424..e7928a999 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -3,7 +3,6 @@ import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.wpilibj.Timer; -import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d; import edu.wpi.first.wpilibj2.command.*; import frc.trigon.robot.utilities.Conversions; import org.littletonrobotics.junction.Logger; @@ -12,7 +11,6 @@ public class Arm extends SubsystemBase { private final static Arm INSTANCE = new Arm(); private final ArmIO armIO = ArmIO.generateIO(); private final ArmInputsAutoLogged armInputs = new ArmInputsAutoLogged(); - private final Mechanism2d armMechanism = ArmConstants.ARM_MECHANISM; private TrapezoidProfile angleMotorProfile = null, elevatorMotorProfile = null; @@ -32,7 +30,6 @@ public void periodic() { armIO.updateInputs(armInputs); Logger.processInputs("Arm", armInputs); updateMechanism(); - Logger.recordOutput("Arm", armMechanism); } boolean isElevatorOpening(double targetElevatorPosition) { @@ -88,7 +85,8 @@ private double getElevatorMotorProfileTime() { } private void updateMechanism() { - ArmConstants.ARM_MECHANISM_LIGAMENT.setLength(armInputs.elevatorPositionRevolution); - ArmConstants.ARM_MECHANISM_LIGAMENT.setAngle(armInputs.anglePositionDegrees); + ArmConstants.ARM_LIGAMENT.setLength(armInputs.elevatorPositionRevolution); + ArmConstants.ARM_LIGAMENT.setAngle(armInputs.anglePositionDegrees); + Logger.recordOutput("Arm mechanism", ArmConstants.ARM_MECHANISM); } } \ No newline at end of file diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java index ecc16c7d7..336953e3d 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java @@ -5,7 +5,8 @@ import java.util.Set; public class ArmCommands { - private static final Arm arm = Arm.getInstance(); + private static final Arm ARM = Arm.getInstance(); + public static Command getSetTargetArmStateCommand(ArmConstants.ArmState targetState) { return getSetTargetArmStateCommand(targetState, 100, 100); } @@ -38,12 +39,12 @@ public static Command getSetTargetArmStateCommand(ArmConstants.ArmState targetSt public static Command getSetTargetArmPositionCommand(Rotation2d targetAngle, double targetElevatorPosition, double angleSpeedPercentage, double elevatorSpeedPercentage) { return new DeferredCommand( () -> getCurrentSetTargetArmStateCommand(targetAngle, targetElevatorPosition, angleSpeedPercentage, elevatorSpeedPercentage), - Set.of(arm) + Set.of(ARM) ); } private static Command getCurrentSetTargetArmStateCommand(Rotation2d angle, double elevatorPosition, double angleSpeedPercentage, double elevatorSpeedPercentage) { - if (arm.isElevatorOpening(elevatorPosition)) { + if (ARM.isElevatorOpening(elevatorPosition)) { return new SequentialCommandGroup( getSetTargetAngleCommand(angle, angleSpeedPercentage).until(() -> true), getSetTargetElevatorPositionCommand(elevatorPosition, elevatorSpeedPercentage) @@ -57,23 +58,23 @@ private static Command getCurrentSetTargetArmStateCommand(Rotation2d angle, doub private static Command getSetTargetAngleCommand(Rotation2d targetAngle, double speedPercentage) { return new FunctionalCommand( - () -> arm.generateAngleMotorProfile(targetAngle, speedPercentage), - () -> arm.setTargetAngleFromProfile(), + () -> ARM.generateAngleMotorProfile(targetAngle, speedPercentage), + () -> ARM.setTargetAngleFromProfile(), (interrupted) -> { }, () -> false, - arm + ARM ); } private static Command getSetTargetElevatorPositionCommand(double targetElevatorPosition, double speedPercentage) { return new FunctionalCommand( - () -> arm.generateElevatorMotorProfile(targetElevatorPosition, speedPercentage), - () -> arm.setTargetElevatorPositionFromProfile(), + () -> ARM.generateElevatorMotorProfile(targetElevatorPosition, speedPercentage), + () -> ARM.setTargetElevatorPositionFromProfile(), (interrupted) -> { }, () -> false, - arm + ARM ); } } diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index 97d7e2b54..e03feee52 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -19,18 +19,19 @@ public class ArmConstants { ELEVATOR_CONSTRAINTS = new TrapezoidProfile.Constraints( MAX_ELEVATOR_VELOCITY, MAX_ELEVATOR_ACCELERATION ); + private static final double - ARM_WIDTH = 1, - ARM_HEIGHT = 1; + ARM_MECHANISM_WIDTH = 1, + ARM_MECHANISM_HEIGHT = 1; private static final double ARM_ROOT_WIDTH = 0, ARM_ROOT_LENGTH = 0; private static final double ARM_LIGAMENT_LENGTH = 0, ARM_LIGAMENT_ANGLE = 0; - static final Mechanism2d ARM_MECHANISM = new Mechanism2d(ARM_WIDTH, ARM_HEIGHT); - private static final MechanismRoot2d ARM_MECHANISM_ROOT = ARM_MECHANISM.getRoot("Arm root", ARM_ROOT_WIDTH, ARM_ROOT_LENGTH); - static final MechanismLigament2d ARM_MECHANISM_LIGAMENT = ARM_MECHANISM_ROOT.append(new MechanismLigament2d("Arm ligament", ARM_LIGAMENT_LENGTH, ARM_LIGAMENT_ANGLE)); + static final Mechanism2d ARM_MECHANISM = new Mechanism2d(ARM_MECHANISM_WIDTH, ARM_MECHANISM_HEIGHT); + private static final MechanismRoot2d ARM_ROOT = ARM_MECHANISM.getRoot("ArmRoot", ARM_ROOT_WIDTH, ARM_ROOT_LENGTH); + static final MechanismLigament2d ARM_LIGAMENT = ARM_ROOT.append(new MechanismLigament2d("ArmLigament", ARM_LIGAMENT_LENGTH, ARM_LIGAMENT_ANGLE)); public enum ArmState { FIRST_STATE(Rotation2d.fromDegrees(100), 7), diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/CollectorCommands.java b/src/main/java/frc/trigon/robot/subsystems/collector/CollectorCommands.java index 54727aeec..cfc7263f1 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/CollectorCommands.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/CollectorCommands.java @@ -4,13 +4,14 @@ import edu.wpi.first.wpilibj2.command.StartEndCommand; public class CollectorCommands { - public static final Collector collector = Collector.getInstance(); + public static final Collector COLLECTOR = Collector.getInstance(); + public static Command getSetTargetStateCommand(CollectorConstants.CollectorStates targetState) { return new StartEndCommand( - () -> collector.setPower(targetState.power), + () -> COLLECTOR.setPower(targetState.power), () -> { }, - collector + COLLECTOR ); } } From e8d8f4364c2c1a7b43e36407bd9f1da255d76df0 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Mon, 4 Dec 2023 10:57:18 +0200 Subject: [PATCH 165/207] fixed commandgroup logic --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 8 ++++++++ .../java/frc/trigon/robot/subsystems/arm/ArmCommands.java | 4 ++-- 2 files changed, 10 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index e7928a999..754033a94 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -32,6 +32,14 @@ public void periodic() { updateMechanism(); } + boolean reachedTargetAngle(double targetAngle) { + return armInputs.anglePositionDegrees == targetAngle; + } + + boolean reachedTargetElevatorPosition(double targetElevatorPosition) { + return armInputs.elevatorPositionRevolution == targetElevatorPosition; + } + boolean isElevatorOpening(double targetElevatorPosition) { return armInputs.elevatorPositionRevolution < targetElevatorPosition; } diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java index 336953e3d..6864cbcd2 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java @@ -46,12 +46,12 @@ public static Command getSetTargetArmPositionCommand(Rotation2d targetAngle, dou private static Command getCurrentSetTargetArmStateCommand(Rotation2d angle, double elevatorPosition, double angleSpeedPercentage, double elevatorSpeedPercentage) { if (ARM.isElevatorOpening(elevatorPosition)) { return new SequentialCommandGroup( - getSetTargetAngleCommand(angle, angleSpeedPercentage).until(() -> true), + getSetTargetAngleCommand(angle, angleSpeedPercentage).until(() -> ARM.reachedTargetAngle(angle.getDegrees())), getSetTargetElevatorPositionCommand(elevatorPosition, elevatorSpeedPercentage) ); } return new SequentialCommandGroup( - getSetTargetElevatorPositionCommand(elevatorPosition, elevatorSpeedPercentage).until(() -> true), + getSetTargetElevatorPositionCommand(elevatorPosition, elevatorSpeedPercentage).until(() -> ARM.reachedTargetElevatorPosition(elevatorPosition)), getSetTargetAngleCommand(angle, angleSpeedPercentage) ); } From 543c987caceb9e3c1277f40ba4bcd46c7d76c694 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Mon, 4 Dec 2023 21:10:01 +0200 Subject: [PATCH 166/207] added values --- .../frc/trigon/robot/subsystems/arm/Arm.java | 12 ++++---- .../robot/subsystems/arm/ArmCommands.java | 4 +-- ...tants.java => SimulationArmConstants.java} | 29 +++++++++---------- .../arm/simulationarm/SimulationArmIO.java | 22 ++++++-------- .../collector/CollectorCommands.java | 2 +- ...java => SimulationCollectorConstants.java} | 3 +- .../SimulationCollectorIO.java | 9 ++---- 7 files changed, 35 insertions(+), 46 deletions(-) rename src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/{SimulationArmIOConstants.java => SimulationArmConstants.java} (77%) rename src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/{SimulationCollectorIOConstants.java => SimulationCollectorConstants.java} (85%) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 754033a94..38470a700 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -3,7 +3,7 @@ import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.wpilibj.Timer; -import edu.wpi.first.wpilibj2.command.*; +import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.trigon.robot.utilities.Conversions; import org.littletonrobotics.junction.Logger; @@ -32,12 +32,12 @@ public void periodic() { updateMechanism(); } - boolean reachedTargetAngle(double targetAngle) { - return armInputs.anglePositionDegrees == targetAngle; + boolean isAtAngle(double targetAngle) { + return Math.abs(armInputs.anglePositionDegrees - targetAngle) >= 1; } - boolean reachedTargetElevatorPosition(double targetElevatorPosition) { - return armInputs.elevatorPositionRevolution == targetElevatorPosition; + boolean isAtPosition(double targetElevatorPosition) { + return Math.abs(armInputs.elevatorPositionRevolution - targetElevatorPosition) >= 1; } boolean isElevatorOpening(double targetElevatorPosition) { @@ -95,6 +95,6 @@ private double getElevatorMotorProfileTime() { private void updateMechanism() { ArmConstants.ARM_LIGAMENT.setLength(armInputs.elevatorPositionRevolution); ArmConstants.ARM_LIGAMENT.setAngle(armInputs.anglePositionDegrees); - Logger.recordOutput("Arm mechanism", ArmConstants.ARM_MECHANISM); + Logger.recordOutput("ArmMechanism", ArmConstants.ARM_MECHANISM); } } \ No newline at end of file diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java index 6864cbcd2..63d9bc796 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java @@ -46,12 +46,12 @@ public static Command getSetTargetArmPositionCommand(Rotation2d targetAngle, dou private static Command getCurrentSetTargetArmStateCommand(Rotation2d angle, double elevatorPosition, double angleSpeedPercentage, double elevatorSpeedPercentage) { if (ARM.isElevatorOpening(elevatorPosition)) { return new SequentialCommandGroup( - getSetTargetAngleCommand(angle, angleSpeedPercentage).until(() -> ARM.reachedTargetAngle(angle.getDegrees())), + getSetTargetAngleCommand(angle, angleSpeedPercentage).until(() -> ARM.isAtAngle(angle.getDegrees())), getSetTargetElevatorPositionCommand(elevatorPosition, elevatorSpeedPercentage) ); } return new SequentialCommandGroup( - getSetTargetElevatorPositionCommand(elevatorPosition, elevatorSpeedPercentage).until(() -> ARM.reachedTargetElevatorPosition(elevatorPosition)), + getSetTargetElevatorPositionCommand(elevatorPosition, elevatorSpeedPercentage).until(() -> ARM.isAtPosition(elevatorPosition)), getSetTargetAngleCommand(angle, angleSpeedPercentage) ); } diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmConstants.java similarity index 77% rename from src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java rename to src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmConstants.java index ae0a8a446..272441bb1 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIOConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmConstants.java @@ -7,11 +7,8 @@ import edu.wpi.first.math.system.plant.DCMotor; import edu.wpi.first.wpilibj.simulation.ElevatorSim; import edu.wpi.first.wpilibj.simulation.SingleJointedArmSim; -import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d; -import edu.wpi.first.wpilibj.smartdashboard.MechanismLigament2d; -import edu.wpi.first.wpilibj.smartdashboard.MechanismRoot2d; -public class SimulationArmIOConstants { +public class SimulationArmConstants { private static final int ANGLE_MOTOR_AMOUNT = 2, ELEVATOR_MOTOR_AMOUNT = 2; @@ -19,28 +16,28 @@ public class SimulationArmIOConstants { ANGLE_MOTOR_GEARBOX = DCMotor.getNEO(ANGLE_MOTOR_AMOUNT), ELEVATOR_MOTOR_GEARBOX = DCMotor.getNEO(ELEVATOR_MOTOR_AMOUNT); private static final double - ANGLE_GEAR_RATIO = 12.8, - ELEVATOR_GEAR_RATIO = 12.8; + ANGLE_GEAR_RATIO = 95.2, + ELEVATOR_GEAR_RATIO = 13.29; private static final Rotation2d - MIN_ANGLE_RADIANS = Rotation2d.fromDegrees(5), - MAX_ANGLE_RADIANS = Rotation2d.fromDegrees(5); + MINIMUM_ANGLE = Rotation2d.fromDegrees(-45), + MAXIMUM_ANGLE = Rotation2d.fromDegrees(180); private static final boolean ANGLE_SIMULATE_GRAVITY = true, ELEVATOR_SIMULATE_GRAVITY = true; - private static final double ARM_MASS = 1; - private static final double DRUM_RADIUS_METERS = 1; - private static final double FULLY_OPENED_ARM_LENGTH_METERS = 1; - static final double RETRACTED_ARM_LENGTH_METERS = 1; - static final double METERS_PER_REVOLUTION = 2048; + private static final double ARM_MASS = 12; + private static final double DRUM_RADIUS_METERS = 0.1256 / 2; + private static final double FULLY_OPENED_ARM_LENGTH_METERS = 1.7; + static final double RETRACTED_ARM_LENGTH_METERS = 0.65; + static final double METERS_PER_REVOLUTION = 0.1256; static final SingleJointedArmSim ANGLE_MOTOR = new SingleJointedArmSim( ANGLE_MOTOR_GEARBOX, ANGLE_GEAR_RATIO, SingleJointedArmSim.estimateMOI(RETRACTED_ARM_LENGTH_METERS, ARM_MASS), RETRACTED_ARM_LENGTH_METERS, - MIN_ANGLE_RADIANS.getRadians(), - MAX_ANGLE_RADIANS.getRadians(), + MINIMUM_ANGLE.getRadians(), + MAXIMUM_ANGLE.getRadians(), ANGLE_SIMULATE_GRAVITY, - MIN_ANGLE_RADIANS.getRadians() + MINIMUM_ANGLE.getRadians() ); static final ElevatorSim ELEVATOR_MOTOR = new ElevatorSim( ELEVATOR_MOTOR_GEARBOX, diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java index f558566e2..47e292748 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java @@ -4,17 +4,13 @@ import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.simulation.ElevatorSim; import edu.wpi.first.wpilibj.simulation.SingleJointedArmSim; -import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import frc.trigon.robot.constants.RobotConstants; import frc.trigon.robot.subsystems.arm.ArmIO; import frc.trigon.robot.subsystems.arm.ArmInputsAutoLogged; -import org.littletonrobotics.junction.LogTable; -import org.littletonrobotics.junction.Logger; public class SimulationArmIO extends ArmIO { - private final SingleJointedArmSim angleMotor = SimulationArmIOConstants.ANGLE_MOTOR; - private final ElevatorSim elevatorMotor = SimulationArmIOConstants.ELEVATOR_MOTOR; + private final SingleJointedArmSim angleMotor = SimulationArmConstants.ANGLE_MOTOR; + private final ElevatorSim elevatorMotor = SimulationArmConstants.ELEVATOR_MOTOR; private double angleVoltage = 0, elevatorVoltage = 0; @@ -32,7 +28,7 @@ protected void updateInputs(ArmInputsAutoLogged inputs) { inputs.elevatorMotorVoltage = elevatorVoltage; inputs.elevatorMotorCurrent = elevatorMotor.getCurrentDrawAmps(); inputs.elevatorPositionRevolution = getElevatorPositionRevolutions(); - inputs.elevatorVelocityRevolutionsPerSecond = elevatorMotor.getVelocityMetersPerSecond() / SimulationArmIOConstants.METERS_PER_REVOLUTION; + inputs.elevatorVelocityRevolutionsPerSecond = elevatorMotor.getVelocityMetersPerSecond() / SimulationArmConstants.METERS_PER_REVOLUTION; } @Override @@ -66,11 +62,11 @@ private void setElevatorVoltage(double voltage) { } private double calculateAngleOutput(TrapezoidProfile.State targetState) { - double pidOutput = SimulationArmIOConstants.ANGLE_PID_CONTROLLER.calculate( + double pidOutput = SimulationArmConstants.ANGLE_PID_CONTROLLER.calculate( angleMotor.getAngleRads(), targetState.position ); - double feedforward = SimulationArmIOConstants.ANGLE_FEEDFORWARD.calculate( + double feedforward = SimulationArmConstants.ANGLE_FEEDFORWARD.calculate( Units.degreesToRadians(targetState.position), Units.degreesToRadians(targetState.velocity) ); @@ -78,11 +74,11 @@ private double calculateAngleOutput(TrapezoidProfile.State targetState) { } private double calculateElevatorOutput(TrapezoidProfile.State targetState) { - double pidOutput = SimulationArmIOConstants.ELEVATOR_PID_CONTROLLER.calculate( + double pidOutput = SimulationArmConstants.ELEVATOR_PID_CONTROLLER.calculate( getElevatorPositionRevolutions(), targetState.position ); - double feedforward = SimulationArmIOConstants.ELEVATOR_FEEDFORWARD.calculate(targetState.velocity); + double feedforward = SimulationArmConstants.ELEVATOR_FEEDFORWARD.calculate(targetState.velocity); return pidOutput + feedforward; } @@ -91,7 +87,7 @@ private double getAngleVelocityDegreesPerSecond() { } private double getElevatorPositionRevolutions() { - double offsettedPosition = elevatorMotor.getPositionMeters() - SimulationArmIOConstants.RETRACTED_ARM_LENGTH_METERS; - return offsettedPosition / SimulationArmIOConstants.METERS_PER_REVOLUTION; + double offsettedPosition = elevatorMotor.getPositionMeters() - SimulationArmConstants.RETRACTED_ARM_LENGTH_METERS; + return offsettedPosition / SimulationArmConstants.METERS_PER_REVOLUTION; } } diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/CollectorCommands.java b/src/main/java/frc/trigon/robot/subsystems/collector/CollectorCommands.java index cfc7263f1..95c466466 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/CollectorCommands.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/CollectorCommands.java @@ -4,7 +4,7 @@ import edu.wpi.first.wpilibj2.command.StartEndCommand; public class CollectorCommands { - public static final Collector COLLECTOR = Collector.getInstance(); + private static final Collector COLLECTOR = Collector.getInstance(); public static Command getSetTargetStateCommand(CollectorConstants.CollectorStates targetState) { return new StartEndCommand( diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIOConstants.java b/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorConstants.java similarity index 85% rename from src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIOConstants.java rename to src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorConstants.java index 3666202f6..4356fa630 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIOConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorConstants.java @@ -2,9 +2,8 @@ import edu.wpi.first.math.system.plant.DCMotor; import edu.wpi.first.wpilibj.simulation.DCMotorSim; -import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d; -public class SimulationCollectorIOConstants { +public class SimulationCollectorConstants { private static final int MOTOR_AMOUNT = 1; private static final DCMotor MOTOR_GEARBOX = DCMotor.getBag(MOTOR_AMOUNT); private static final double MOMENT_OF_INERTIA = 0.003; diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java b/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java index f33bfcf64..718336094 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/simulationcollector/SimulationCollectorIO.java @@ -2,16 +2,13 @@ import edu.wpi.first.math.MathUtil; import edu.wpi.first.wpilibj.simulation.DCMotorSim; -import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import frc.trigon.robot.constants.RobotConstants; import frc.trigon.robot.subsystems.collector.CollectorIO; import frc.trigon.robot.subsystems.collector.CollectorInputsAutoLogged; import frc.trigon.robot.utilities.Conversions; -import org.littletonrobotics.junction.LogTable; public class SimulationCollectorIO extends CollectorIO { - private final DCMotorSim motor = SimulationCollectorIOConstants.MOTOR; + private final DCMotorSim motor = SimulationCollectorConstants.MOTOR; private double motorVoltage; @Override @@ -24,8 +21,8 @@ protected void updateInputs(CollectorInputsAutoLogged inputs) { @Override protected void setPower(double power) { - double voltage = Conversions.compensatedPowerToVoltage(power, SimulationCollectorIOConstants.VOLTAGE_COMPENSATION_SATURATION); - this.motorVoltage = MathUtil.clamp(voltage, -SimulationCollectorIOConstants.VOLTAGE_COMPENSATION_SATURATION, SimulationCollectorIOConstants.VOLTAGE_COMPENSATION_SATURATION); + double voltage = Conversions.compensatedPowerToVoltage(power, SimulationCollectorConstants.VOLTAGE_COMPENSATION_SATURATION); + this.motorVoltage = MathUtil.clamp(voltage, -SimulationCollectorConstants.VOLTAGE_COMPENSATION_SATURATION, SimulationCollectorConstants.VOLTAGE_COMPENSATION_SATURATION); motor.setInputVoltage(this.motorVoltage); } From 189d1d10c2226c8f3ee1eebc6a1ed43ceb79fbaf Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Mon, 4 Dec 2023 23:08:57 +0200 Subject: [PATCH 167/207] attempted to add target position mechanism --- .../java/frc/trigon/robot/subsystems/arm/Arm.java | 4 ++++ .../frc/trigon/robot/subsystems/arm/ArmConstants.java | 11 ++++++++++- 2 files changed, 14 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 38470a700..148f01284 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -96,5 +96,9 @@ private void updateMechanism() { ArmConstants.ARM_LIGAMENT.setLength(armInputs.elevatorPositionRevolution); ArmConstants.ARM_LIGAMENT.setAngle(armInputs.anglePositionDegrees); Logger.recordOutput("ArmMechanism", ArmConstants.ARM_MECHANISM); + + ArmConstants.TARGET_POSITION_LIGAMENT.setLength(armInputs.elevatorPositionRevolution); + ArmConstants.TARGET_POSITION_LIGAMENT.setAngle(armInputs.anglePositionDegrees); + Logger.recordOutput("TargetPositionMechanism", ArmConstants.TARGET_POSITION_MECHANISM); } } \ No newline at end of file diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index e03feee52..1216fe39c 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -5,6 +5,7 @@ import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d; import edu.wpi.first.wpilibj.smartdashboard.MechanismLigament2d; import edu.wpi.first.wpilibj.smartdashboard.MechanismRoot2d; +import edu.wpi.first.wpilibj.util.Color8Bit; public class ArmConstants { private static final double @@ -29,9 +30,17 @@ public class ArmConstants { private static final double ARM_LIGAMENT_LENGTH = 0, ARM_LIGAMENT_ANGLE = 0; + private static final Color8Bit + BLUE = new Color8Bit(0, 0, 100), + GRAY = new Color8Bit(100, 100, 100); + private static final double ARM_MECHANISM_LENGTH = 1; static final Mechanism2d ARM_MECHANISM = new Mechanism2d(ARM_MECHANISM_WIDTH, ARM_MECHANISM_HEIGHT); + static final Mechanism2d TARGET_POSITION_MECHANISM = new Mechanism2d(ARM_MECHANISM_WIDTH, ARM_MECHANISM_HEIGHT); private static final MechanismRoot2d ARM_ROOT = ARM_MECHANISM.getRoot("ArmRoot", ARM_ROOT_WIDTH, ARM_ROOT_LENGTH); - static final MechanismLigament2d ARM_LIGAMENT = ARM_ROOT.append(new MechanismLigament2d("ArmLigament", ARM_LIGAMENT_LENGTH, ARM_LIGAMENT_ANGLE)); + private static final MechanismRoot2d TARGET_POSITION_ROOT = TARGET_POSITION_MECHANISM.getRoot("TargetPositionRoot", ARM_ROOT_WIDTH, ARM_ROOT_LENGTH); + static final MechanismLigament2d ARM_LIGAMENT = ARM_ROOT.append(new MechanismLigament2d("ArmLigament", ARM_LIGAMENT_LENGTH, ARM_LIGAMENT_ANGLE, ARM_MECHANISM_LENGTH, BLUE)); + static final MechanismLigament2d TARGET_POSITION_LIGAMENT = TARGET_POSITION_ROOT.append(new MechanismLigament2d("TargetPositionLigament", ARM_LIGAMENT_LENGTH, ARM_LIGAMENT_ANGLE, ARM_MECHANISM_LENGTH, GRAY)); + public enum ArmState { FIRST_STATE(Rotation2d.fromDegrees(100), 7), From dacece02e1d69448b8de01d2228340ddafb524c1 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Tue, 5 Dec 2023 11:52:54 +0200 Subject: [PATCH 168/207] fixed target position ligment --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 148f01284..7a371c499 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -51,6 +51,7 @@ void setTargetAngleFromProfile() { } TrapezoidProfile.State targetState = angleMotorProfile.calculate(getAngleMotorProfileTime()); + ArmConstants.TARGET_POSITION_LIGAMENT.setAngle(targetState.position); armIO.setTargetAngleState(targetState); } @@ -61,6 +62,7 @@ void setTargetElevatorPositionFromProfile() { } TrapezoidProfile.State targetState = elevatorMotorProfile.calculate(getElevatorMotorProfileTime()); + ArmConstants.TARGET_POSITION_LIGAMENT.setLength(targetState.position); armIO.setTargetElevatorState(targetState); } @@ -96,9 +98,5 @@ private void updateMechanism() { ArmConstants.ARM_LIGAMENT.setLength(armInputs.elevatorPositionRevolution); ArmConstants.ARM_LIGAMENT.setAngle(armInputs.anglePositionDegrees); Logger.recordOutput("ArmMechanism", ArmConstants.ARM_MECHANISM); - - ArmConstants.TARGET_POSITION_LIGAMENT.setLength(armInputs.elevatorPositionRevolution); - ArmConstants.TARGET_POSITION_LIGAMENT.setAngle(armInputs.anglePositionDegrees); - Logger.recordOutput("TargetPositionMechanism", ArmConstants.TARGET_POSITION_MECHANISM); } } \ No newline at end of file From f8e90043a3f71a672505362678f03363fd68e70a Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Tue, 5 Dec 2023 16:09:27 +0200 Subject: [PATCH 169/207] corrected elevatorEncoder config --- .../robot/subsystems/arm/kablamaArm/KablamaArmConstants.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java index c9934eb7d..1f0fa46b8 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java @@ -119,7 +119,7 @@ private static void configureAngleEncoder() { private static void configureElevatorEncoder() { ELEVATOR_ENCODER.configFactoryDefault(); - ELEVATOR_ENCODER.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Absolute, 0, 0); + ELEVATOR_ENCODER.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Absolute); ELEVATOR_ENCODER.setSensorPhase(ELEVATOR_ENCODER_PHASE); ELEVATOR_ENCODER.setSelectedSensorPosition(Conversions.offsetRead(ELEVATOR_ENCODER.getSelectedSensorPosition(), ELEVATOR_ENCODER_OFFSET)); } From 717c8289f180156edb73c56e239c5fb568790679 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Tue, 5 Dec 2023 16:14:53 +0200 Subject: [PATCH 170/207] fixed tolerance --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 4 ++-- .../java/frc/trigon/robot/subsystems/arm/ArmConstants.java | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 7a371c499..2881f0e8b 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -33,11 +33,11 @@ public void periodic() { } boolean isAtAngle(double targetAngle) { - return Math.abs(armInputs.anglePositionDegrees - targetAngle) >= 1; + return Math.abs(armInputs.anglePositionDegrees - targetAngle) >= ArmConstants.TOLERANCE; } boolean isAtPosition(double targetElevatorPosition) { - return Math.abs(armInputs.elevatorPositionRevolution - targetElevatorPosition) >= 1; + return Math.abs(armInputs.elevatorPositionRevolution - targetElevatorPosition) >= ArmConstants.TOLERANCE; } boolean isElevatorOpening(double targetElevatorPosition) { diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index 1216fe39c..ce8fb8bc0 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -40,7 +40,7 @@ public class ArmConstants { private static final MechanismRoot2d TARGET_POSITION_ROOT = TARGET_POSITION_MECHANISM.getRoot("TargetPositionRoot", ARM_ROOT_WIDTH, ARM_ROOT_LENGTH); static final MechanismLigament2d ARM_LIGAMENT = ARM_ROOT.append(new MechanismLigament2d("ArmLigament", ARM_LIGAMENT_LENGTH, ARM_LIGAMENT_ANGLE, ARM_MECHANISM_LENGTH, BLUE)); static final MechanismLigament2d TARGET_POSITION_LIGAMENT = TARGET_POSITION_ROOT.append(new MechanismLigament2d("TargetPositionLigament", ARM_LIGAMENT_LENGTH, ARM_LIGAMENT_ANGLE, ARM_MECHANISM_LENGTH, GRAY)); - + static final double TOLERANCE = 1; public enum ArmState { FIRST_STATE(Rotation2d.fromDegrees(100), 7), From a1c327d56bebfe9fdba794a3d57cf15693cd7982 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Tue, 5 Dec 2023 17:50:38 +0200 Subject: [PATCH 171/207] minor fixes --- .../java/frc/trigon/robot/RobotContainer.java | 12 ++++++++++ .../robot/constants/RobotConstants.java | 2 +- .../frc/trigon/robot/subsystems/arm/Arm.java | 6 ++--- .../robot/subsystems/arm/ArmCommands.java | 6 ++--- .../robot/subsystems/arm/ArmConstants.java | 23 ++++++++++--------- 5 files changed, 31 insertions(+), 18 deletions(-) diff --git a/src/main/java/frc/trigon/robot/RobotContainer.java b/src/main/java/frc/trigon/robot/RobotContainer.java index 14b354c88..f2401d2aa 100644 --- a/src/main/java/frc/trigon/robot/RobotContainer.java +++ b/src/main/java/frc/trigon/robot/RobotContainer.java @@ -5,9 +5,16 @@ package frc.trigon.robot; +import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.button.CommandXboxController; +import frc.trigon.robot.subsystems.arm.Arm; +import frc.trigon.robot.subsystems.arm.ArmCommands; public class RobotContainer { + private final CommandXboxController controller = new CommandXboxController(0); + private final Arm arm = Arm.getInstance(); + public RobotContainer() { configureBindings(); } @@ -18,7 +25,12 @@ public RobotContainer() { public Command getAutonomousCommand() { return null; } + private final Rotation2d rotation2d = Rotation2d.fromDegrees(90); private void configureBindings() { + arm.setDefaultCommand(ArmCommands.getSetTargetArmPositionCommand(rotation2d, 50)); + ArmCommands.getSetTargetArmPositionCommand(rotation2d, 50).schedule(); + controller.a().whileTrue(ArmCommands.getSetTargetArmPositionCommand(rotation2d, 50)); + } } diff --git a/src/main/java/frc/trigon/robot/constants/RobotConstants.java b/src/main/java/frc/trigon/robot/constants/RobotConstants.java index 241158b1a..494275396 100644 --- a/src/main/java/frc/trigon/robot/constants/RobotConstants.java +++ b/src/main/java/frc/trigon/robot/constants/RobotConstants.java @@ -3,10 +3,10 @@ import edu.wpi.first.wpilibj.Filesystem; public class RobotConstants { + private static final String DEPLOY_PATH = Filesystem.getDeployDirectory().getPath() + "/"; public static final RobotType ROBOT_TYPE = RobotType.SIMULATION; public static final boolean IS_REPLAY = false; public static final double PERIODIC_TIME_SECONDS = 0.02; - private static final String DEPLOY_PATH = Filesystem.getDeployDirectory().getPath() + "/"; public enum RobotType { KABLAMA("/media/sda1/logs/"), diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 2881f0e8b..b95de26cf 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -32,8 +32,8 @@ public void periodic() { updateMechanism(); } - boolean isAtAngle(double targetAngle) { - return Math.abs(armInputs.anglePositionDegrees - targetAngle) >= ArmConstants.TOLERANCE; + boolean isAtAngle(Rotation2d targetAngle) { + return Math.abs(armInputs.anglePositionDegrees - targetAngle.getDegrees()) >= ArmConstants.TOLERANCE; } boolean isAtPosition(double targetElevatorPosition) { @@ -95,7 +95,7 @@ private double getElevatorMotorProfileTime() { } private void updateMechanism() { - ArmConstants.ARM_LIGAMENT.setLength(armInputs.elevatorPositionRevolution); + ArmConstants.ARM_LIGAMENT.setLength(armInputs.elevatorPositionRevolution + ArmConstants.RETRACTED_ARM_LENGTH); ArmConstants.ARM_LIGAMENT.setAngle(armInputs.anglePositionDegrees); Logger.recordOutput("ArmMechanism", ArmConstants.ARM_MECHANISM); } diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java index 63d9bc796..b944d2437 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java @@ -46,7 +46,7 @@ public static Command getSetTargetArmPositionCommand(Rotation2d targetAngle, dou private static Command getCurrentSetTargetArmStateCommand(Rotation2d angle, double elevatorPosition, double angleSpeedPercentage, double elevatorSpeedPercentage) { if (ARM.isElevatorOpening(elevatorPosition)) { return new SequentialCommandGroup( - getSetTargetAngleCommand(angle, angleSpeedPercentage).until(() -> ARM.isAtAngle(angle.getDegrees())), + getSetTargetAngleCommand(angle, angleSpeedPercentage).until(() -> ARM.isAtAngle(angle)), getSetTargetElevatorPositionCommand(elevatorPosition, elevatorSpeedPercentage) ); } @@ -59,7 +59,7 @@ private static Command getCurrentSetTargetArmStateCommand(Rotation2d angle, doub private static Command getSetTargetAngleCommand(Rotation2d targetAngle, double speedPercentage) { return new FunctionalCommand( () -> ARM.generateAngleMotorProfile(targetAngle, speedPercentage), - () -> ARM.setTargetAngleFromProfile(), + ARM::setTargetAngleFromProfile, (interrupted) -> { }, () -> false, @@ -70,7 +70,7 @@ private static Command getSetTargetAngleCommand(Rotation2d targetAngle, double s private static Command getSetTargetElevatorPositionCommand(double targetElevatorPosition, double speedPercentage) { return new FunctionalCommand( () -> ARM.generateElevatorMotorProfile(targetElevatorPosition, speedPercentage), - () -> ARM.setTargetElevatorPositionFromProfile(), + ARM::setTargetElevatorPositionFromProfile, (interrupted) -> { }, () -> false, diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index ce8fb8bc0..bef9a1ecd 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -5,8 +5,11 @@ import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d; import edu.wpi.first.wpilibj.smartdashboard.MechanismLigament2d; import edu.wpi.first.wpilibj.smartdashboard.MechanismRoot2d; +import edu.wpi.first.wpilibj.util.Color; import edu.wpi.first.wpilibj.util.Color8Bit; +import java.awt.*; + public class ArmConstants { private static final double MAX_ANGLE_VELOCITY = 100, @@ -22,25 +25,23 @@ public class ArmConstants { ); private static final double - ARM_MECHANISM_WIDTH = 1, - ARM_MECHANISM_HEIGHT = 1; + ARM_MECHANISM_WIDTH = 2, + ARM_MECHANISM_HEIGHT = 2; private static final double - ARM_ROOT_WIDTH = 0, - ARM_ROOT_LENGTH = 0; + ARM_ROOT_WIDTH = 2, + ARM_ROOT_LENGTH = 2; private static final double - ARM_LIGAMENT_LENGTH = 0, - ARM_LIGAMENT_ANGLE = 0; - private static final Color8Bit - BLUE = new Color8Bit(0, 0, 100), - GRAY = new Color8Bit(100, 100, 100); + ARM_LIGAMENT_LENGTH = 2, + ARM_LIGAMENT_ANGLE = 2; private static final double ARM_MECHANISM_LENGTH = 1; static final Mechanism2d ARM_MECHANISM = new Mechanism2d(ARM_MECHANISM_WIDTH, ARM_MECHANISM_HEIGHT); static final Mechanism2d TARGET_POSITION_MECHANISM = new Mechanism2d(ARM_MECHANISM_WIDTH, ARM_MECHANISM_HEIGHT); private static final MechanismRoot2d ARM_ROOT = ARM_MECHANISM.getRoot("ArmRoot", ARM_ROOT_WIDTH, ARM_ROOT_LENGTH); private static final MechanismRoot2d TARGET_POSITION_ROOT = TARGET_POSITION_MECHANISM.getRoot("TargetPositionRoot", ARM_ROOT_WIDTH, ARM_ROOT_LENGTH); - static final MechanismLigament2d ARM_LIGAMENT = ARM_ROOT.append(new MechanismLigament2d("ArmLigament", ARM_LIGAMENT_LENGTH, ARM_LIGAMENT_ANGLE, ARM_MECHANISM_LENGTH, BLUE)); - static final MechanismLigament2d TARGET_POSITION_LIGAMENT = TARGET_POSITION_ROOT.append(new MechanismLigament2d("TargetPositionLigament", ARM_LIGAMENT_LENGTH, ARM_LIGAMENT_ANGLE, ARM_MECHANISM_LENGTH, GRAY)); + static final MechanismLigament2d ARM_LIGAMENT = ARM_ROOT.append(new MechanismLigament2d("ArmLigament", ARM_LIGAMENT_LENGTH, ARM_LIGAMENT_ANGLE, ARM_MECHANISM_LENGTH, new Color8Bit(Color.kBlue))); + static final MechanismLigament2d TARGET_POSITION_LIGAMENT = TARGET_POSITION_ROOT.append(new MechanismLigament2d("TargetPositionLigament", ARM_LIGAMENT_LENGTH, ARM_LIGAMENT_ANGLE, ARM_MECHANISM_LENGTH, new Color8Bit(Color.kGray))); static final double TOLERANCE = 1; + static final double RETRACTED_ARM_LENGTH = 1; public enum ArmState { FIRST_STATE(Rotation2d.fromDegrees(100), 7), From 4d7c6984ae2c3329fc429678cc8b8d6a6c7a9733 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Tue, 5 Dec 2023 18:51:25 +0200 Subject: [PATCH 172/207] =?UTF-8?q?=D7=AA=D7=95=D7=A7=D7=9F?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/main/java/frc/trigon/robot/RobotContainer.java | 6 +++--- .../java/frc/trigon/robot/subsystems/arm/Arm.java | 6 +++--- .../trigon/robot/subsystems/arm/ArmConstants.java | 7 +++---- .../arm/kablamaArm/KablamaArmConstants.java | 12 ++++++------ 4 files changed, 15 insertions(+), 16 deletions(-) diff --git a/src/main/java/frc/trigon/robot/RobotContainer.java b/src/main/java/frc/trigon/robot/RobotContainer.java index f2401d2aa..7f33ecae6 100644 --- a/src/main/java/frc/trigon/robot/RobotContainer.java +++ b/src/main/java/frc/trigon/robot/RobotContainer.java @@ -25,11 +25,11 @@ public RobotContainer() { public Command getAutonomousCommand() { return null; } - private final Rotation2d rotation2d = Rotation2d.fromDegrees(90); + private final Rotation2d rotation2d = Rotation2d.fromDegrees(300); private void configureBindings() { - arm.setDefaultCommand(ArmCommands.getSetTargetArmPositionCommand(rotation2d, 50)); - ArmCommands.getSetTargetArmPositionCommand(rotation2d, 50).schedule(); + arm.setDefaultCommand(ArmCommands.getSetTargetArmPositionCommand(rotation2d, 150)); + ArmCommands.getSetTargetArmPositionCommand(rotation2d, 19).schedule(); controller.a().whileTrue(ArmCommands.getSetTargetArmPositionCommand(rotation2d, 50)); } diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index b95de26cf..b4d052c7d 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -33,11 +33,11 @@ public void periodic() { } boolean isAtAngle(Rotation2d targetAngle) { - return Math.abs(armInputs.anglePositionDegrees - targetAngle.getDegrees()) >= ArmConstants.TOLERANCE; + return Math.abs(armInputs.anglePositionDegrees - targetAngle.getDegrees()) <= ArmConstants.TOLERANCE; } boolean isAtPosition(double targetElevatorPosition) { - return Math.abs(armInputs.elevatorPositionRevolution - targetElevatorPosition) >= ArmConstants.TOLERANCE; + return Math.abs(armInputs.elevatorPositionRevolution - targetElevatorPosition) <= ArmConstants.TOLERANCE; } boolean isElevatorOpening(double targetElevatorPosition) { @@ -61,7 +61,7 @@ void setTargetElevatorPositionFromProfile() { return; } - TrapezoidProfile.State targetState = elevatorMotorProfile.calculate(getElevatorMotorProfileTime()); + TrapezoidProfile.State targetState = elevatorMotorProfile.calculate(getElevatorMotorProfileTime() + ArmConstants.RETRACTED_ARM_LENGTH); ArmConstants.TARGET_POSITION_LIGAMENT.setLength(targetState.position); armIO.setTargetElevatorState(targetState); } diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index bef9a1ecd..cdab860ba 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -28,16 +28,15 @@ public class ArmConstants { ARM_MECHANISM_WIDTH = 2, ARM_MECHANISM_HEIGHT = 2; private static final double - ARM_ROOT_WIDTH = 2, - ARM_ROOT_LENGTH = 2; + ARM_ROOT_WIDTH = 1, + ARM_ROOT_LENGTH = 1; private static final double ARM_LIGAMENT_LENGTH = 2, ARM_LIGAMENT_ANGLE = 2; private static final double ARM_MECHANISM_LENGTH = 1; static final Mechanism2d ARM_MECHANISM = new Mechanism2d(ARM_MECHANISM_WIDTH, ARM_MECHANISM_HEIGHT); - static final Mechanism2d TARGET_POSITION_MECHANISM = new Mechanism2d(ARM_MECHANISM_WIDTH, ARM_MECHANISM_HEIGHT); private static final MechanismRoot2d ARM_ROOT = ARM_MECHANISM.getRoot("ArmRoot", ARM_ROOT_WIDTH, ARM_ROOT_LENGTH); - private static final MechanismRoot2d TARGET_POSITION_ROOT = TARGET_POSITION_MECHANISM.getRoot("TargetPositionRoot", ARM_ROOT_WIDTH, ARM_ROOT_LENGTH); + private static final MechanismRoot2d TARGET_POSITION_ROOT = ARM_MECHANISM.getRoot("TargetPositionRoot", ARM_ROOT_WIDTH, ARM_ROOT_LENGTH); static final MechanismLigament2d ARM_LIGAMENT = ARM_ROOT.append(new MechanismLigament2d("ArmLigament", ARM_LIGAMENT_LENGTH, ARM_LIGAMENT_ANGLE, ARM_MECHANISM_LENGTH, new Color8Bit(Color.kBlue))); static final MechanismLigament2d TARGET_POSITION_LIGAMENT = TARGET_POSITION_ROOT.append(new MechanismLigament2d("TargetPositionLigament", ARM_LIGAMENT_LENGTH, ARM_LIGAMENT_ANGLE, ARM_MECHANISM_LENGTH, new Color8Bit(Color.kGray))); static final double TOLERANCE = 1; diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java index 1f0fa46b8..86fc37b12 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java @@ -50,12 +50,12 @@ public class KablamaArmConstants { ANGLE_MOTOR_VELOCITY_SIGNAL = ANGLE_ENCODER.getVelocity(); private static final double - ANGLE_P = 1, - ANGLE_I = 0, - ANGLE_D = 0, - ELEVATOR_P = 1, - ELEVATOR_I = 0, - ELEVATOR_D = 0; + ANGLE_P = 5, + ANGLE_I = 1, + ANGLE_D = 1, + ELEVATOR_P = 5, + ELEVATOR_I = 1, + ELEVATOR_D = 1; static final PIDController ANGLE_PID_CONTROLLER = new PIDController(ANGLE_P, ANGLE_I, ANGLE_D), ELEVATOR_PID_CONTROLLER = new PIDController(ELEVATOR_P, ELEVATOR_I, ELEVATOR_D); From 992b0e4bcaedb6a1c694cf877e67b89057c42a1f Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Tue, 5 Dec 2023 19:45:31 +0200 Subject: [PATCH 173/207] fixed names and reorgenized --- .../frc/trigon/robot/subsystems/arm/Arm.java | 54 +++++++++---------- .../robot/subsystems/arm/ArmCommands.java | 4 +- .../robot/subsystems/arm/ArmConstants.java | 19 ++++--- .../arm/kablamaArm/KablamaArmConstants.java | 3 +- .../simulationarm/SimulationArmConstants.java | 11 ++-- .../arm/simulationarm/SimulationArmIO.java | 7 +-- 6 files changed, 51 insertions(+), 47 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index b4d052c7d..f956595e5 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -32,40 +32,18 @@ public void periodic() { updateMechanism(); } - boolean isAtAngle(Rotation2d targetAngle) { - return Math.abs(armInputs.anglePositionDegrees - targetAngle.getDegrees()) <= ArmConstants.TOLERANCE; + boolean atAngle(Rotation2d targetAngle) { + return Math.abs(armInputs.anglePositionDegrees - targetAngle.getDegrees()) <= ArmConstants.ANGLE_TOLERANCE; } - boolean isAtPosition(double targetElevatorPosition) { - return Math.abs(armInputs.elevatorPositionRevolution - targetElevatorPosition) <= ArmConstants.TOLERANCE; + boolean atPosition(double targetElevatorPosition) { + return Math.abs(armInputs.elevatorPositionRevolution - targetElevatorPosition) <= ArmConstants.ELEVATOR_TOLERANCE; } boolean isElevatorOpening(double targetElevatorPosition) { return armInputs.elevatorPositionRevolution < targetElevatorPosition; } - void setTargetAngleFromProfile() { - if (angleMotorProfile == null) { - armIO.stopAngleMotors(); - return; - } - - TrapezoidProfile.State targetState = angleMotorProfile.calculate(getAngleMotorProfileTime()); - ArmConstants.TARGET_POSITION_LIGAMENT.setAngle(targetState.position); - armIO.setTargetAngleState(targetState); - } - - void setTargetElevatorPositionFromProfile() { - if (elevatorMotorProfile == null) { - armIO.stopElevatorMotors(); - return; - } - - TrapezoidProfile.State targetState = elevatorMotorProfile.calculate(getElevatorMotorProfileTime() + ArmConstants.RETRACTED_ARM_LENGTH); - ArmConstants.TARGET_POSITION_LIGAMENT.setLength(targetState.position); - armIO.setTargetElevatorState(targetState); - } - void generateAngleMotorProfile(Rotation2d targetAngle, double speedPercentage) { angleMotorProfile = new TrapezoidProfile( Conversions.scaleConstraints(ArmConstants.ANGLE_CONSTRAINTS, speedPercentage), @@ -86,6 +64,28 @@ void generateElevatorMotorProfile(double targetElevatorPosition, double speedPer lastElevatorMotorProfileGenerationTime = Timer.getFPGATimestamp(); } + void setTargetAngleFromProfile() { + if (angleMotorProfile == null) { + armIO.stopAngleMotors(); + return; + } + + TrapezoidProfile.State targetState = angleMotorProfile.calculate(getAngleMotorProfileTime()); + ArmConstants.TARGET_POSITION_LIGAMENT.setAngle(targetState.position); + armIO.setTargetAngleState(targetState); + } + + void setTargetElevatorPositionFromProfile() { + if (elevatorMotorProfile == null) { + armIO.stopElevatorMotors(); + return; + } + + TrapezoidProfile.State targetState = elevatorMotorProfile.calculate(getElevatorMotorProfileTime()); + ArmConstants.TARGET_POSITION_LIGAMENT.setLength(targetState.position + ArmConstants.RETRACTED_ARM_LENGTH_METERS * ArmConstants.THEORETICAL_METERS_PER_REVOLUTION); + armIO.setTargetElevatorState(targetState); + } + private double getAngleMotorProfileTime() { return Timer.getFPGATimestamp() - lastAngleMotorProfileGenerationTime; } @@ -95,7 +95,7 @@ private double getElevatorMotorProfileTime() { } private void updateMechanism() { - ArmConstants.ARM_LIGAMENT.setLength(armInputs.elevatorPositionRevolution + ArmConstants.RETRACTED_ARM_LENGTH); + ArmConstants.ARM_LIGAMENT.setLength(armInputs.elevatorPositionRevolution + ArmConstants.RETRACTED_ARM_LENGTH_METERS); ArmConstants.ARM_LIGAMENT.setAngle(armInputs.anglePositionDegrees); Logger.recordOutput("ArmMechanism", ArmConstants.ARM_MECHANISM); } diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java index b944d2437..163924220 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java @@ -46,12 +46,12 @@ public static Command getSetTargetArmPositionCommand(Rotation2d targetAngle, dou private static Command getCurrentSetTargetArmStateCommand(Rotation2d angle, double elevatorPosition, double angleSpeedPercentage, double elevatorSpeedPercentage) { if (ARM.isElevatorOpening(elevatorPosition)) { return new SequentialCommandGroup( - getSetTargetAngleCommand(angle, angleSpeedPercentage).until(() -> ARM.isAtAngle(angle)), + getSetTargetAngleCommand(angle, angleSpeedPercentage).until(() -> ARM.atAngle(angle)), getSetTargetElevatorPositionCommand(elevatorPosition, elevatorSpeedPercentage) ); } return new SequentialCommandGroup( - getSetTargetElevatorPositionCommand(elevatorPosition, elevatorSpeedPercentage).until(() -> ARM.isAtPosition(elevatorPosition)), + getSetTargetElevatorPositionCommand(elevatorPosition, elevatorSpeedPercentage).until(() -> ARM.atPosition(elevatorPosition)), getSetTargetAngleCommand(angle, angleSpeedPercentage) ); } diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index cdab860ba..c8418bd2d 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -8,8 +8,6 @@ import edu.wpi.first.wpilibj.util.Color; import edu.wpi.first.wpilibj.util.Color8Bit; -import java.awt.*; - public class ArmConstants { private static final double MAX_ANGLE_VELOCITY = 100, @@ -35,12 +33,17 @@ public class ArmConstants { ARM_LIGAMENT_ANGLE = 2; private static final double ARM_MECHANISM_LENGTH = 1; static final Mechanism2d ARM_MECHANISM = new Mechanism2d(ARM_MECHANISM_WIDTH, ARM_MECHANISM_HEIGHT); - private static final MechanismRoot2d ARM_ROOT = ARM_MECHANISM.getRoot("ArmRoot", ARM_ROOT_WIDTH, ARM_ROOT_LENGTH); - private static final MechanismRoot2d TARGET_POSITION_ROOT = ARM_MECHANISM.getRoot("TargetPositionRoot", ARM_ROOT_WIDTH, ARM_ROOT_LENGTH); - static final MechanismLigament2d ARM_LIGAMENT = ARM_ROOT.append(new MechanismLigament2d("ArmLigament", ARM_LIGAMENT_LENGTH, ARM_LIGAMENT_ANGLE, ARM_MECHANISM_LENGTH, new Color8Bit(Color.kBlue))); - static final MechanismLigament2d TARGET_POSITION_LIGAMENT = TARGET_POSITION_ROOT.append(new MechanismLigament2d("TargetPositionLigament", ARM_LIGAMENT_LENGTH, ARM_LIGAMENT_ANGLE, ARM_MECHANISM_LENGTH, new Color8Bit(Color.kGray))); - static final double TOLERANCE = 1; - static final double RETRACTED_ARM_LENGTH = 1; + private static final MechanismRoot2d + ARM_ROOT = ARM_MECHANISM.getRoot("ArmRoot", ARM_ROOT_WIDTH, ARM_ROOT_LENGTH), + TARGET_POSITION_ROOT = ARM_MECHANISM.getRoot("TargetPositionRoot", ARM_ROOT_WIDTH, ARM_ROOT_LENGTH); + static final MechanismLigament2d + ARM_LIGAMENT = ARM_ROOT.append(new MechanismLigament2d("ArmLigament", ARM_LIGAMENT_LENGTH, ARM_LIGAMENT_ANGLE, ARM_MECHANISM_LENGTH, new Color8Bit(Color.kBlue))), + TARGET_POSITION_LIGAMENT = TARGET_POSITION_ROOT.append(new MechanismLigament2d("TargetPositionLigament", ARM_LIGAMENT_LENGTH, ARM_LIGAMENT_ANGLE, ARM_MECHANISM_LENGTH, new Color8Bit(Color.kGray))); + static final double + ANGLE_TOLERANCE = 1, + ELEVATOR_TOLERANCE = 1; + public static final double RETRACTED_ARM_LENGTH_METERS = 1; + public static final double THEORETICAL_METERS_PER_REVOLUTION = 0.1256; public enum ArmState { FIRST_STATE(Rotation2d.fromDegrees(100), 7), diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java index 86fc37b12..419223003 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java @@ -2,6 +2,7 @@ import com.ctre.phoenix.motorcontrol.FeedbackDevice; import com.ctre.phoenix.motorcontrol.can.TalonSRX; +import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; import com.ctre.phoenix6.StatusSignal; import com.ctre.phoenix6.configs.CANcoderConfiguration; import com.ctre.phoenix6.hardware.CANcoder; @@ -38,7 +39,7 @@ public class KablamaArmConstants { ANGLE_ENCODER_OFFSET = 0; private static final AbsoluteSensorRangeValue ANGLE_ENCODER_RANGE = AbsoluteSensorRangeValue.Signed_PlusMinusHalf; static final CANcoder ANGLE_ENCODER = new CANcoder(ANGLE_ENCODER_ID); - static final TalonSRX ELEVATOR_ENCODER = new TalonSRX(ELEVATOR_ENCODER_ID); + static final WPI_TalonSRX ELEVATOR_ENCODER = new WPI_TalonSRX(ELEVATOR_ENCODER_ID); static final CANSparkMax MASTER_ANGLE_MOTOR = new CANSparkMax(MASTER_ANGLE_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), MASTER_ELEVATOR_MOTOR = new CANSparkMax(MASTER_ELEVATOR_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless), diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmConstants.java index 272441bb1..9105627ce 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmConstants.java @@ -7,6 +7,7 @@ import edu.wpi.first.math.system.plant.DCMotor; import edu.wpi.first.wpilibj.simulation.ElevatorSim; import edu.wpi.first.wpilibj.simulation.SingleJointedArmSim; +import frc.trigon.robot.subsystems.arm.ArmConstants; public class SimulationArmConstants { private static final int @@ -27,13 +28,11 @@ public class SimulationArmConstants { private static final double ARM_MASS = 12; private static final double DRUM_RADIUS_METERS = 0.1256 / 2; private static final double FULLY_OPENED_ARM_LENGTH_METERS = 1.7; - static final double RETRACTED_ARM_LENGTH_METERS = 0.65; - static final double METERS_PER_REVOLUTION = 0.1256; static final SingleJointedArmSim ANGLE_MOTOR = new SingleJointedArmSim( ANGLE_MOTOR_GEARBOX, ANGLE_GEAR_RATIO, - SingleJointedArmSim.estimateMOI(RETRACTED_ARM_LENGTH_METERS, ARM_MASS), - RETRACTED_ARM_LENGTH_METERS, + SingleJointedArmSim.estimateMOI(ArmConstants.RETRACTED_ARM_LENGTH_METERS, ARM_MASS), + ArmConstants.RETRACTED_ARM_LENGTH_METERS, MINIMUM_ANGLE.getRadians(), MAXIMUM_ANGLE.getRadians(), ANGLE_SIMULATE_GRAVITY, @@ -44,10 +43,10 @@ public class SimulationArmConstants { ELEVATOR_GEAR_RATIO, ARM_MASS, DRUM_RADIUS_METERS, - RETRACTED_ARM_LENGTH_METERS, + ArmConstants.RETRACTED_ARM_LENGTH_METERS, FULLY_OPENED_ARM_LENGTH_METERS, ELEVATOR_SIMULATE_GRAVITY, - RETRACTED_ARM_LENGTH_METERS + ArmConstants.RETRACTED_ARM_LENGTH_METERS ); private static final double diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java index 47e292748..c09ba2729 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java @@ -5,6 +5,7 @@ import edu.wpi.first.wpilibj.simulation.ElevatorSim; import edu.wpi.first.wpilibj.simulation.SingleJointedArmSim; import frc.trigon.robot.constants.RobotConstants; +import frc.trigon.robot.subsystems.arm.ArmConstants; import frc.trigon.robot.subsystems.arm.ArmIO; import frc.trigon.robot.subsystems.arm.ArmInputsAutoLogged; @@ -28,7 +29,7 @@ protected void updateInputs(ArmInputsAutoLogged inputs) { inputs.elevatorMotorVoltage = elevatorVoltage; inputs.elevatorMotorCurrent = elevatorMotor.getCurrentDrawAmps(); inputs.elevatorPositionRevolution = getElevatorPositionRevolutions(); - inputs.elevatorVelocityRevolutionsPerSecond = elevatorMotor.getVelocityMetersPerSecond() / SimulationArmConstants.METERS_PER_REVOLUTION; + inputs.elevatorVelocityRevolutionsPerSecond = elevatorMotor.getVelocityMetersPerSecond() / ArmConstants.THEORETICAL_METERS_PER_REVOLUTION; } @Override @@ -87,7 +88,7 @@ private double getAngleVelocityDegreesPerSecond() { } private double getElevatorPositionRevolutions() { - double offsettedPosition = elevatorMotor.getPositionMeters() - SimulationArmConstants.RETRACTED_ARM_LENGTH_METERS; - return offsettedPosition / SimulationArmConstants.METERS_PER_REVOLUTION; + double offsettedPosition = elevatorMotor.getPositionMeters() - ArmConstants.RETRACTED_ARM_LENGTH_METERS; + return offsettedPosition / ArmConstants.THEORETICAL_METERS_PER_REVOLUTION; } } From eb6491b7a447c56f20da093113753aa7be6ccedb Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Tue, 5 Dec 2023 20:31:10 +0200 Subject: [PATCH 174/207] restored robot container and fixed pid --- src/main/java/frc/trigon/robot/RobotContainer.java | 14 +------------- .../java/frc/trigon/robot/subsystems/arm/Arm.java | 2 +- .../trigon/robot/subsystems/arm/ArmCommands.java | 2 +- .../arm/simulationarm/SimulationArmConstants.java | 2 +- .../arm/simulationarm/SimulationArmIO.java | 2 +- 5 files changed, 5 insertions(+), 17 deletions(-) diff --git a/src/main/java/frc/trigon/robot/RobotContainer.java b/src/main/java/frc/trigon/robot/RobotContainer.java index 7f33ecae6..32b0f5712 100644 --- a/src/main/java/frc/trigon/robot/RobotContainer.java +++ b/src/main/java/frc/trigon/robot/RobotContainer.java @@ -5,16 +5,9 @@ package frc.trigon.robot; -import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.button.CommandXboxController; -import frc.trigon.robot.subsystems.arm.Arm; -import frc.trigon.robot.subsystems.arm.ArmCommands; public class RobotContainer { - private final CommandXboxController controller = new CommandXboxController(0); - private final Arm arm = Arm.getInstance(); - public RobotContainer() { configureBindings(); } @@ -25,12 +18,7 @@ public RobotContainer() { public Command getAutonomousCommand() { return null; } - private final Rotation2d rotation2d = Rotation2d.fromDegrees(300); private void configureBindings() { - arm.setDefaultCommand(ArmCommands.getSetTargetArmPositionCommand(rotation2d, 150)); - ArmCommands.getSetTargetArmPositionCommand(rotation2d, 19).schedule(); - controller.a().whileTrue(ArmCommands.getSetTargetArmPositionCommand(rotation2d, 50)); - } -} +} \ No newline at end of file diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index f956595e5..0d2d12de7 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -36,7 +36,7 @@ boolean atAngle(Rotation2d targetAngle) { return Math.abs(armInputs.anglePositionDegrees - targetAngle.getDegrees()) <= ArmConstants.ANGLE_TOLERANCE; } - boolean atPosition(double targetElevatorPosition) { + boolean atTargetPosition(double targetElevatorPosition) { return Math.abs(armInputs.elevatorPositionRevolution - targetElevatorPosition) <= ArmConstants.ELEVATOR_TOLERANCE; } diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java index 163924220..fa6a49e50 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java @@ -51,7 +51,7 @@ private static Command getCurrentSetTargetArmStateCommand(Rotation2d angle, doub ); } return new SequentialCommandGroup( - getSetTargetElevatorPositionCommand(elevatorPosition, elevatorSpeedPercentage).until(() -> ARM.atPosition(elevatorPosition)), + getSetTargetElevatorPositionCommand(elevatorPosition, elevatorSpeedPercentage).until(() -> ARM.atTargetPosition(elevatorPosition)), getSetTargetAngleCommand(angle, angleSpeedPercentage) ); } diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmConstants.java index 9105627ce..6b8f5748e 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmConstants.java @@ -50,7 +50,7 @@ public class SimulationArmConstants { ); private static final double - ANGLE_P = 1, + ANGLE_P = 1.5, ANGLE_I = 0, ANGLE_D = 0, ELEVATOR_P = 1, diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java index c09ba2729..2eb9e5e3f 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java @@ -64,7 +64,7 @@ private void setElevatorVoltage(double voltage) { private double calculateAngleOutput(TrapezoidProfile.State targetState) { double pidOutput = SimulationArmConstants.ANGLE_PID_CONTROLLER.calculate( - angleMotor.getAngleRads(), + Units.radiansToDegrees(angleMotor.getAngleRads()), targetState.position ); double feedforward = SimulationArmConstants.ANGLE_FEEDFORWARD.calculate( From e9b3b83037cc40db6cdd619a79054f992166472a Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Tue, 5 Dec 2023 20:50:06 +0200 Subject: [PATCH 175/207] changed names --- .../robot/subsystems/arm/kablamaArm/KablamaArmIO.java | 9 +++++---- .../subsystems/arm/simulationarm/SimulationArmIO.java | 11 +++++------ 2 files changed, 10 insertions(+), 10 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java index 81f2f3c73..676b516c0 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java @@ -5,6 +5,7 @@ import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.math.util.Units; +import frc.trigon.robot.subsystems.arm.ArmConstants; import frc.trigon.robot.subsystems.arm.ArmIO; import frc.trigon.robot.subsystems.arm.ArmInputsAutoLogged; import frc.trigon.robot.utilities.Conversions; @@ -26,7 +27,7 @@ protected void updateInputs(ArmInputsAutoLogged inputs) { inputs.elevatorMotorVoltage = masterElevatorMotor.getBusVoltage(); inputs.elevatorMotorCurrent = masterElevatorMotor.getOutputCurrent(); - inputs.elevatorPositionRevolution = getElevatorPositionRevolutions(); + inputs.elevatorPositionRevolution = getElevatorPositionMeters(); inputs.elevatorVelocityRevolutionsPerSecond = getElevatorVelocityRevolutionsPerSecond(); } @@ -76,15 +77,15 @@ private double calculateAngleOutput(TrapezoidProfile.State targetState) { private double calculateElevatorOutput(TrapezoidProfile.State targetState) { double pidOutput = KablamaArmConstants.ELEVATOR_PID_CONTROLLER.calculate( - getElevatorPositionRevolutions(), + getElevatorPositionMeters(), targetState.position ); double feedforward = KablamaArmConstants.ELEVATOR_FEEDFORWARD.calculate(targetState.velocity); return pidOutput + feedforward; } - private double getElevatorPositionRevolutions() { - return Conversions.magTicksToRevolutions(elevatorEncoder.getSelectedSensorPosition()); + private double getElevatorPositionMeters() { + return Conversions.magTicksToRevolutions(elevatorEncoder.getSelectedSensorPosition()) / ArmConstants.THEORETICAL_METERS_PER_REVOLUTION; } private double getAngleVelocityDegreesPerSecond() { diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java index 2eb9e5e3f..69948187c 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java @@ -28,8 +28,8 @@ protected void updateInputs(ArmInputsAutoLogged inputs) { inputs.elevatorMotorVoltage = elevatorVoltage; inputs.elevatorMotorCurrent = elevatorMotor.getCurrentDrawAmps(); - inputs.elevatorPositionRevolution = getElevatorPositionRevolutions(); - inputs.elevatorVelocityRevolutionsPerSecond = elevatorMotor.getVelocityMetersPerSecond() / ArmConstants.THEORETICAL_METERS_PER_REVOLUTION; + inputs.elevatorPositionRevolution = getElevatorPositionMeters(); + inputs.elevatorVelocityRevolutionsPerSecond = elevatorMotor.getVelocityMetersPerSecond(); } @Override @@ -76,7 +76,7 @@ private double calculateAngleOutput(TrapezoidProfile.State targetState) { private double calculateElevatorOutput(TrapezoidProfile.State targetState) { double pidOutput = SimulationArmConstants.ELEVATOR_PID_CONTROLLER.calculate( - getElevatorPositionRevolutions(), + getElevatorPositionMeters(), targetState.position ); double feedforward = SimulationArmConstants.ELEVATOR_FEEDFORWARD.calculate(targetState.velocity); @@ -87,8 +87,7 @@ private double getAngleVelocityDegreesPerSecond() { return Units.radiansToDegrees(angleMotor.getAngleRads()); } - private double getElevatorPositionRevolutions() { - double offsettedPosition = elevatorMotor.getPositionMeters() - ArmConstants.RETRACTED_ARM_LENGTH_METERS; - return offsettedPosition / ArmConstants.THEORETICAL_METERS_PER_REVOLUTION; + private double getElevatorPositionMeters() { + return elevatorMotor.getPositionMeters() - ArmConstants.RETRACTED_ARM_LENGTH_METERS; } } From 894124c5bb350f7f1d12ac7fb5fae94cdfdc62f3 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Wed, 6 Dec 2023 09:35:35 +0200 Subject: [PATCH 176/207] finished tweeking sim --- .../frc/trigon/robot/subsystems/arm/Arm.java | 10 +++++----- .../robot/subsystems/arm/ArmCommands.java | 20 ++++++++++++------- .../robot/subsystems/arm/ArmConstants.java | 20 +++++++++---------- .../trigon/robot/subsystems/arm/ArmIO.java | 5 ++--- .../arm/kablamaArm/KablamaArmIO.java | 4 ++-- .../simulationarm/SimulationArmConstants.java | 2 +- .../arm/simulationarm/SimulationArmIO.java | 10 +++------- 7 files changed, 36 insertions(+), 35 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 0d2d12de7..424f0019c 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -37,11 +37,11 @@ boolean atAngle(Rotation2d targetAngle) { } boolean atTargetPosition(double targetElevatorPosition) { - return Math.abs(armInputs.elevatorPositionRevolution - targetElevatorPosition) <= ArmConstants.ELEVATOR_TOLERANCE; + return Math.abs(armInputs.elevatorPositionMeters - targetElevatorPosition) <= ArmConstants.ELEVATOR_TOLERANCE; } boolean isElevatorOpening(double targetElevatorPosition) { - return armInputs.elevatorPositionRevolution < targetElevatorPosition; + return armInputs.elevatorPositionMeters < targetElevatorPosition; } void generateAngleMotorProfile(Rotation2d targetAngle, double speedPercentage) { @@ -58,7 +58,7 @@ void generateElevatorMotorProfile(double targetElevatorPosition, double speedPer elevatorMotorProfile = new TrapezoidProfile( Conversions.scaleConstraints(ArmConstants.ELEVATOR_CONSTRAINTS, speedPercentage), new TrapezoidProfile.State(targetElevatorPosition, 0), - new TrapezoidProfile.State(armInputs.elevatorPositionRevolution, armInputs.elevatorVelocityRevolutionsPerSecond) + new TrapezoidProfile.State(armInputs.elevatorPositionMeters, armInputs.elevatorVelocityMetersPerSecond) ); lastElevatorMotorProfileGenerationTime = Timer.getFPGATimestamp(); @@ -82,7 +82,7 @@ void setTargetElevatorPositionFromProfile() { } TrapezoidProfile.State targetState = elevatorMotorProfile.calculate(getElevatorMotorProfileTime()); - ArmConstants.TARGET_POSITION_LIGAMENT.setLength(targetState.position + ArmConstants.RETRACTED_ARM_LENGTH_METERS * ArmConstants.THEORETICAL_METERS_PER_REVOLUTION); + ArmConstants.TARGET_POSITION_LIGAMENT.setLength(targetState.position + ArmConstants.RETRACTED_ARM_LENGTH_METERS); armIO.setTargetElevatorState(targetState); } @@ -95,7 +95,7 @@ private double getElevatorMotorProfileTime() { } private void updateMechanism() { - ArmConstants.ARM_LIGAMENT.setLength(armInputs.elevatorPositionRevolution + ArmConstants.RETRACTED_ARM_LENGTH_METERS); + ArmConstants.ARM_LIGAMENT.setLength(armInputs.elevatorPositionMeters + ArmConstants.RETRACTED_ARM_LENGTH_METERS); ArmConstants.ARM_LIGAMENT.setAngle(armInputs.anglePositionDegrees); Logger.recordOutput("ArmMechanism", ArmConstants.ARM_MECHANISM); } diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java index fa6a49e50..bc855f384 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java @@ -2,6 +2,8 @@ import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.wpilibj2.command.*; +import frc.trigon.robot.utilities.Commands; + import java.util.Set; public class ArmCommands { @@ -11,8 +13,8 @@ public static Command getSetTargetArmStateCommand(ArmConstants.ArmState targetSt return getSetTargetArmStateCommand(targetState, 100, 100); } - public static Command getSetTargetArmPositionCommand(Rotation2d angle, double elevatorPosition) { - return getSetTargetArmPositionCommand(angle, elevatorPosition, 100, 100); + public static Command getSetTargetArmPositionCommand(Rotation2d targetAngle, double elevatorPosition) { + return getSetTargetArmPositionCommand(targetAngle, elevatorPosition, 100, 100); } /** @@ -24,7 +26,7 @@ public static Command getSetTargetArmPositionCommand(Rotation2d angle, double el * @return the command */ public static Command getSetTargetArmStateCommand(ArmConstants.ArmState targetState, double angleSpeedPercentage, double elevatorSpeedPercentage) { - return getSetTargetArmPositionCommand(targetState.angle, targetState.elevatorPosition, angleSpeedPercentage, elevatorSpeedPercentage); + return getSetTargetArmPositionCommand(targetState.angle, targetState.elevatorPositionMeters, angleSpeedPercentage, elevatorSpeedPercentage); } /** @@ -43,16 +45,20 @@ public static Command getSetTargetArmPositionCommand(Rotation2d targetAngle, dou ); } - private static Command getCurrentSetTargetArmStateCommand(Rotation2d angle, double elevatorPosition, double angleSpeedPercentage, double elevatorSpeedPercentage) { + private static Command getCurrentSetTargetArmStateCommand(Rotation2d targetAngle, double elevatorPosition, double angleSpeedPercentage, double elevatorSpeedPercentage) { if (ARM.isElevatorOpening(elevatorPosition)) { return new SequentialCommandGroup( - getSetTargetAngleCommand(angle, angleSpeedPercentage).until(() -> ARM.atAngle(angle)), - getSetTargetElevatorPositionCommand(elevatorPosition, elevatorSpeedPercentage) + getSetTargetAngleCommand(targetAngle, angleSpeedPercentage).until(() -> ARM.atAngle(targetAngle)), + getSetTargetElevatorPositionCommand(elevatorPosition, elevatorSpeedPercentage).alongWith( + Commands.removeRequirements(getSetTargetAngleCommand(targetAngle, angleSpeedPercentage)) + ) ); } return new SequentialCommandGroup( getSetTargetElevatorPositionCommand(elevatorPosition, elevatorSpeedPercentage).until(() -> ARM.atTargetPosition(elevatorPosition)), - getSetTargetAngleCommand(angle, angleSpeedPercentage) + getSetTargetAngleCommand(targetAngle, angleSpeedPercentage).alongWith( + Commands.removeRequirements(getSetTargetElevatorPositionCommand(elevatorPosition, elevatorSpeedPercentage)) + ) ); } diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index c8418bd2d..13988e08b 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -10,10 +10,10 @@ public class ArmConstants { private static final double - MAX_ANGLE_VELOCITY = 100, - MAX_ANGLE_ACCELERATION = 100, - MAX_ELEVATOR_VELOCITY = 100, - MAX_ELEVATOR_ACCELERATION = 100; + MAX_ANGLE_VELOCITY = 150, + MAX_ANGLE_ACCELERATION = 190, + MAX_ELEVATOR_VELOCITY = 2, + MAX_ELEVATOR_ACCELERATION = 3; static final TrapezoidProfile.Constraints ANGLE_CONSTRAINTS = new TrapezoidProfile.Constraints( MAX_ANGLE_VELOCITY, MAX_ANGLE_ACCELERATION @@ -23,8 +23,8 @@ public class ArmConstants { ); private static final double - ARM_MECHANISM_WIDTH = 2, - ARM_MECHANISM_HEIGHT = 2; + ARM_MECHANISM_WIDTH = 4, + ARM_MECHANISM_HEIGHT = 4; private static final double ARM_ROOT_WIDTH = 1, ARM_ROOT_LENGTH = 1; @@ -42,7 +42,7 @@ public class ArmConstants { static final double ANGLE_TOLERANCE = 1, ELEVATOR_TOLERANCE = 1; - public static final double RETRACTED_ARM_LENGTH_METERS = 1; + public static final double RETRACTED_ARM_LENGTH_METERS = 0.64; public static final double THEORETICAL_METERS_PER_REVOLUTION = 0.1256; public enum ArmState { @@ -50,11 +50,11 @@ public enum ArmState { SECOND_STATE(Rotation2d.fromDegrees(70), 5); final Rotation2d angle; - final double elevatorPosition; + final double elevatorPositionMeters; - ArmState(Rotation2d angle, double elevatorPosition) { + ArmState(Rotation2d angle, double elevatorPositionMeters) { this.angle = angle; - this.elevatorPosition = elevatorPosition; + this.elevatorPositionMeters = elevatorPositionMeters; } } } diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java index 1474f9993..34f83265d 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java @@ -5,7 +5,6 @@ import frc.trigon.robot.subsystems.arm.kablamaArm.KablamaArmIO; import frc.trigon.robot.subsystems.arm.simulationarm.SimulationArmIO; import org.littletonrobotics.junction.AutoLog; -import org.littletonrobotics.junction.LogTable; public class ArmIO { static ArmIO generateIO() { @@ -40,7 +39,7 @@ protected static class ArmInputs { public double elevatorMotorCurrent = 0; public double elevatorMotorVoltage = 0; - public double elevatorPositionRevolution = 0; - public double elevatorVelocityRevolutionsPerSecond = 0; + public double elevatorPositionMeters = 0; + public double elevatorVelocityMetersPerSecond = 0; } } diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java index 676b516c0..ff5859cae 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java @@ -27,8 +27,8 @@ protected void updateInputs(ArmInputsAutoLogged inputs) { inputs.elevatorMotorVoltage = masterElevatorMotor.getBusVoltage(); inputs.elevatorMotorCurrent = masterElevatorMotor.getOutputCurrent(); - inputs.elevatorPositionRevolution = getElevatorPositionMeters(); - inputs.elevatorVelocityRevolutionsPerSecond = getElevatorVelocityRevolutionsPerSecond(); + inputs.elevatorPositionMeters = getElevatorPositionMeters(); + inputs.elevatorVelocityMetersPerSecond = getElevatorVelocityRevolutionsPerSecond(); } @Override diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmConstants.java index 6b8f5748e..e9e6e2a16 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmConstants.java @@ -53,7 +53,7 @@ public class SimulationArmConstants { ANGLE_P = 1.5, ANGLE_I = 0, ANGLE_D = 0, - ELEVATOR_P = 1, + ELEVATOR_P = 5, ELEVATOR_I = 0, ELEVATOR_D = 0; static final PIDController diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java index 69948187c..5f7a7c9bd 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java @@ -23,13 +23,13 @@ protected void updateInputs(ArmInputsAutoLogged inputs) { inputs.angleMotorVoltage = angleVoltage; inputs.angleMotorCurrent = angleMotor.getCurrentDrawAmps(); - inputs.angleVelocityDegreesPerSecond = getAngleVelocityDegreesPerSecond(); inputs.anglePositionDegrees = Units.radiansToDegrees(angleMotor.getAngleRads()); + inputs.angleVelocityDegreesPerSecond = Units.radiansToDegrees(angleMotor.getVelocityRadPerSec()); inputs.elevatorMotorVoltage = elevatorVoltage; inputs.elevatorMotorCurrent = elevatorMotor.getCurrentDrawAmps(); - inputs.elevatorPositionRevolution = getElevatorPositionMeters(); - inputs.elevatorVelocityRevolutionsPerSecond = elevatorMotor.getVelocityMetersPerSecond(); + inputs.elevatorPositionMeters = getElevatorPositionMeters(); + inputs.elevatorVelocityMetersPerSecond = elevatorMotor.getVelocityMetersPerSecond(); } @Override @@ -83,10 +83,6 @@ private double calculateElevatorOutput(TrapezoidProfile.State targetState) { return pidOutput + feedforward; } - private double getAngleVelocityDegreesPerSecond() { - return Units.radiansToDegrees(angleMotor.getAngleRads()); - } - private double getElevatorPositionMeters() { return elevatorMotor.getPositionMeters() - ArmConstants.RETRACTED_ARM_LENGTH_METERS; } From e80a87e06980ec3ab5f40ef50b625ddab4b8a181 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Wed, 6 Dec 2023 15:22:03 +0200 Subject: [PATCH 177/207] optimized names and imports --- .../frc/trigon/robot/subsystems/arm/Arm.java | 17 +++++++------- .../robot/subsystems/arm/ArmCommands.java | 22 +++++++++---------- .../robot/subsystems/arm/ArmConstants.java | 20 ++++++++--------- .../trigon/robot/subsystems/arm/ArmIO.java | 2 +- .../KablamaArmConstants.java | 5 +++-- .../KablamaArmIO.java | 12 +++++----- .../simulationarm/SimulationArmConstants.java | 9 ++++---- .../arm/simulationarm/SimulationArmIO.java | 3 ++- .../robot/subsystems/collector/Collector.java | 3 --- .../collector/CollectorConstants.java | 2 -- .../subsystems/collector/CollectorIO.java | 1 - .../KablamaCollectorConstants.java | 1 - 12 files changed, 46 insertions(+), 51 deletions(-) rename src/main/java/frc/trigon/robot/subsystems/arm/{kablamaArm => kablamaarm}/KablamaArmConstants.java (96%) rename src/main/java/frc/trigon/robot/subsystems/arm/{kablamaArm => kablamaarm}/KablamaArmIO.java (90%) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 424f0019c..744870dc5 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -4,6 +4,7 @@ import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.trigon.robot.subsystems.arm.kablamaarm.KablamaArmConstants; import frc.trigon.robot.utilities.Conversions; import org.littletonrobotics.junction.Logger; @@ -36,12 +37,12 @@ boolean atAngle(Rotation2d targetAngle) { return Math.abs(armInputs.anglePositionDegrees - targetAngle.getDegrees()) <= ArmConstants.ANGLE_TOLERANCE; } - boolean atTargetPosition(double targetElevatorPosition) { - return Math.abs(armInputs.elevatorPositionMeters - targetElevatorPosition) <= ArmConstants.ELEVATOR_TOLERANCE; + boolean atTargetElevatorPosition(double targetElevatorPositionMeters) { + return Math.abs(armInputs.elevatorPositionMeters - targetElevatorPositionMeters) <= ArmConstants.ELEVATOR_TOLERANCE; } - boolean isElevatorOpening(double targetElevatorPosition) { - return armInputs.elevatorPositionMeters < targetElevatorPosition; + boolean isElevatorOpening(double targetElevatorPositionMeters) { + return armInputs.elevatorPositionMeters < targetElevatorPositionMeters; } void generateAngleMotorProfile(Rotation2d targetAngle, double speedPercentage) { @@ -54,10 +55,10 @@ void generateAngleMotorProfile(Rotation2d targetAngle, double speedPercentage) { lastAngleMotorProfileGenerationTime = Timer.getFPGATimestamp(); } - void generateElevatorMotorProfile(double targetElevatorPosition, double speedPercentage) { + void generateElevatorMotorProfile(double targetElevatorPositionMeters, double speedPercentage) { elevatorMotorProfile = new TrapezoidProfile( Conversions.scaleConstraints(ArmConstants.ELEVATOR_CONSTRAINTS, speedPercentage), - new TrapezoidProfile.State(targetElevatorPosition, 0), + new TrapezoidProfile.State(targetElevatorPositionMeters, 0), new TrapezoidProfile.State(armInputs.elevatorPositionMeters, armInputs.elevatorVelocityMetersPerSecond) ); @@ -82,7 +83,7 @@ void setTargetElevatorPositionFromProfile() { } TrapezoidProfile.State targetState = elevatorMotorProfile.calculate(getElevatorMotorProfileTime()); - ArmConstants.TARGET_POSITION_LIGAMENT.setLength(targetState.position + ArmConstants.RETRACTED_ARM_LENGTH_METERS); + ArmConstants.TARGET_POSITION_LIGAMENT.setLength(targetState.position + KablamaArmConstants.RETRACTED_ARM_LENGTH_METERS); armIO.setTargetElevatorState(targetState); } @@ -95,7 +96,7 @@ private double getElevatorMotorProfileTime() { } private void updateMechanism() { - ArmConstants.ARM_LIGAMENT.setLength(armInputs.elevatorPositionMeters + ArmConstants.RETRACTED_ARM_LENGTH_METERS); + ArmConstants.ARM_LIGAMENT.setLength(armInputs.elevatorPositionMeters + KablamaArmConstants.RETRACTED_ARM_LENGTH_METERS); ArmConstants.ARM_LIGAMENT.setAngle(armInputs.anglePositionDegrees); Logger.recordOutput("ArmMechanism", ArmConstants.ARM_MECHANISM); } diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java index bc855f384..885885f59 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java @@ -13,8 +13,8 @@ public static Command getSetTargetArmStateCommand(ArmConstants.ArmState targetSt return getSetTargetArmStateCommand(targetState, 100, 100); } - public static Command getSetTargetArmPositionCommand(Rotation2d targetAngle, double elevatorPosition) { - return getSetTargetArmPositionCommand(targetAngle, elevatorPosition, 100, 100); + public static Command getSetTargetArmPositionCommand(Rotation2d targetAngle, double targetElevatorPositionMeter) { + return getSetTargetArmPositionCommand(targetAngle, targetElevatorPositionMeter, 100, 100); } /** @@ -33,31 +33,31 @@ public static Command getSetTargetArmStateCommand(ArmConstants.ArmState targetSt * Creates a command that sets the target position of the arm. * * @param targetAngle the target angle of the arm - * @param targetElevatorPosition the target position of the arm's elevator + * @param targetElevatorPositionMeters the target position of the arm's elevator * @param angleSpeedPercentage the percentage of speed that the angle will move in * @param elevatorSpeedPercentage the percentage of speed that the elevator will move in * @return the command */ - public static Command getSetTargetArmPositionCommand(Rotation2d targetAngle, double targetElevatorPosition, double angleSpeedPercentage, double elevatorSpeedPercentage) { + public static Command getSetTargetArmPositionCommand(Rotation2d targetAngle, double targetElevatorPositionMeters, double angleSpeedPercentage, double elevatorSpeedPercentage) { return new DeferredCommand( - () -> getCurrentSetTargetArmStateCommand(targetAngle, targetElevatorPosition, angleSpeedPercentage, elevatorSpeedPercentage), + () -> getCurrentSetTargetArmStateCommand(targetAngle, targetElevatorPositionMeters, angleSpeedPercentage, elevatorSpeedPercentage), Set.of(ARM) ); } - private static Command getCurrentSetTargetArmStateCommand(Rotation2d targetAngle, double elevatorPosition, double angleSpeedPercentage, double elevatorSpeedPercentage) { + private static Command getCurrentSetTargetArmStateCommand(Rotation2d targetAngle, double elevatorPosition, double angleSpeedPercentage, double elevatorSpeedPercentageMeters) { if (ARM.isElevatorOpening(elevatorPosition)) { return new SequentialCommandGroup( getSetTargetAngleCommand(targetAngle, angleSpeedPercentage).until(() -> ARM.atAngle(targetAngle)), - getSetTargetElevatorPositionCommand(elevatorPosition, elevatorSpeedPercentage).alongWith( + getSetTargetElevatorPositionCommand(elevatorPosition, elevatorSpeedPercentageMeters).alongWith( Commands.removeRequirements(getSetTargetAngleCommand(targetAngle, angleSpeedPercentage)) ) ); } return new SequentialCommandGroup( - getSetTargetElevatorPositionCommand(elevatorPosition, elevatorSpeedPercentage).until(() -> ARM.atTargetPosition(elevatorPosition)), + getSetTargetElevatorPositionCommand(elevatorPosition, elevatorSpeedPercentageMeters).until(() -> ARM.atTargetElevatorPosition(elevatorPosition)), getSetTargetAngleCommand(targetAngle, angleSpeedPercentage).alongWith( - Commands.removeRequirements(getSetTargetElevatorPositionCommand(elevatorPosition, elevatorSpeedPercentage)) + Commands.removeRequirements(getSetTargetElevatorPositionCommand(elevatorPosition, elevatorSpeedPercentageMeters)) ) ); } @@ -73,9 +73,9 @@ private static Command getSetTargetAngleCommand(Rotation2d targetAngle, double s ); } - private static Command getSetTargetElevatorPositionCommand(double targetElevatorPosition, double speedPercentage) { + private static Command getSetTargetElevatorPositionCommand(double targetElevatorPositionMeters, double speedPercentage) { return new FunctionalCommand( - () -> ARM.generateElevatorMotorProfile(targetElevatorPosition, speedPercentage), + () -> ARM.generateElevatorMotorProfile(targetElevatorPositionMeters, speedPercentage), ARM::setTargetElevatorPositionFromProfile, (interrupted) -> { }, diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index 13988e08b..935d97008 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -26,24 +26,22 @@ public class ArmConstants { ARM_MECHANISM_WIDTH = 4, ARM_MECHANISM_HEIGHT = 4; private static final double - ARM_ROOT_WIDTH = 1, - ARM_ROOT_LENGTH = 1; + ARM_ROOT_X = 1, + ARM_ROOT_Y = 1; private static final double - ARM_LIGAMENT_LENGTH = 2, - ARM_LIGAMENT_ANGLE = 2; - private static final double ARM_MECHANISM_LENGTH = 1; + ARM_LIGAMENT_LENGTH = 0, + ARM_LIGAMENT_ANGLE = 0; + private static final double MECHANISM_LINE_WIDTH = 10; static final Mechanism2d ARM_MECHANISM = new Mechanism2d(ARM_MECHANISM_WIDTH, ARM_MECHANISM_HEIGHT); private static final MechanismRoot2d - ARM_ROOT = ARM_MECHANISM.getRoot("ArmRoot", ARM_ROOT_WIDTH, ARM_ROOT_LENGTH), - TARGET_POSITION_ROOT = ARM_MECHANISM.getRoot("TargetPositionRoot", ARM_ROOT_WIDTH, ARM_ROOT_LENGTH); + ARM_ROOT = ARM_MECHANISM.getRoot("ArmRoot", ARM_ROOT_X, ARM_ROOT_Y), + TARGET_POSITION_ROOT = ARM_MECHANISM.getRoot("TargetPositionRoot", ARM_ROOT_X, ARM_ROOT_Y); static final MechanismLigament2d - ARM_LIGAMENT = ARM_ROOT.append(new MechanismLigament2d("ArmLigament", ARM_LIGAMENT_LENGTH, ARM_LIGAMENT_ANGLE, ARM_MECHANISM_LENGTH, new Color8Bit(Color.kBlue))), - TARGET_POSITION_LIGAMENT = TARGET_POSITION_ROOT.append(new MechanismLigament2d("TargetPositionLigament", ARM_LIGAMENT_LENGTH, ARM_LIGAMENT_ANGLE, ARM_MECHANISM_LENGTH, new Color8Bit(Color.kGray))); + ARM_LIGAMENT = ARM_ROOT.append(new MechanismLigament2d("ArmLigament", ARM_LIGAMENT_LENGTH, ARM_LIGAMENT_ANGLE, MECHANISM_LINE_WIDTH, new Color8Bit(Color.kBlue))), + TARGET_POSITION_LIGAMENT = TARGET_POSITION_ROOT.append(new MechanismLigament2d("TargetPositionLigament", ARM_LIGAMENT_LENGTH, ARM_LIGAMENT_ANGLE, MECHANISM_LINE_WIDTH, new Color8Bit(Color.kGray))); static final double ANGLE_TOLERANCE = 1, ELEVATOR_TOLERANCE = 1; - public static final double RETRACTED_ARM_LENGTH_METERS = 0.64; - public static final double THEORETICAL_METERS_PER_REVOLUTION = 0.1256; public enum ArmState { FIRST_STATE(Rotation2d.fromDegrees(100), 7), diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java index 34f83265d..3586e4522 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmIO.java @@ -2,7 +2,7 @@ import edu.wpi.first.math.trajectory.TrapezoidProfile; import frc.trigon.robot.constants.RobotConstants; -import frc.trigon.robot.subsystems.arm.kablamaArm.KablamaArmIO; +import frc.trigon.robot.subsystems.arm.kablamaarm.KablamaArmIO; import frc.trigon.robot.subsystems.arm.simulationarm.SimulationArmIO; import org.littletonrobotics.junction.AutoLog; diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaarm/KablamaArmConstants.java similarity index 96% rename from src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java rename to src/main/java/frc/trigon/robot/subsystems/arm/kablamaarm/KablamaArmConstants.java index 419223003..577a2a914 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaarm/KablamaArmConstants.java @@ -1,7 +1,6 @@ -package frc.trigon.robot.subsystems.arm.kablamaArm; +package frc.trigon.robot.subsystems.arm.kablamaarm; import com.ctre.phoenix.motorcontrol.FeedbackDevice; -import com.ctre.phoenix.motorcontrol.can.TalonSRX; import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; import com.ctre.phoenix6.StatusSignal; import com.ctre.phoenix6.configs.CANcoderConfiguration; @@ -76,6 +75,8 @@ public class KablamaArmConstants { static final ElevatorFeedforward ELEVATOR_FEEDFORWARD = new ElevatorFeedforward( ELEVATOR_MOTOR_KS, ELEVATOR_MOTOR_KG, ELEVATOR_MOTOR_KV, ELEVATOR_MOTOR_KA ); + public static final double RETRACTED_ARM_LENGTH_METERS = 0.64; + public static final double THEORETICAL_METERS_PER_REVOLUTION = 0.1256; static { configureAngleEncoder(); diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaarm/KablamaArmIO.java similarity index 90% rename from src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java rename to src/main/java/frc/trigon/robot/subsystems/arm/kablamaarm/KablamaArmIO.java index ff5859cae..951b1a9ea 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaArm/KablamaArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaarm/KablamaArmIO.java @@ -1,11 +1,10 @@ -package frc.trigon.robot.subsystems.arm.kablamaArm; +package frc.trigon.robot.subsystems.arm.kablamaarm; import com.ctre.phoenix.motorcontrol.can.TalonSRX; import com.revrobotics.CANSparkMax; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.math.util.Units; -import frc.trigon.robot.subsystems.arm.ArmConstants; import frc.trigon.robot.subsystems.arm.ArmIO; import frc.trigon.robot.subsystems.arm.ArmInputsAutoLogged; import frc.trigon.robot.utilities.Conversions; @@ -28,7 +27,7 @@ protected void updateInputs(ArmInputsAutoLogged inputs) { inputs.elevatorMotorVoltage = masterElevatorMotor.getBusVoltage(); inputs.elevatorMotorCurrent = masterElevatorMotor.getOutputCurrent(); inputs.elevatorPositionMeters = getElevatorPositionMeters(); - inputs.elevatorVelocityMetersPerSecond = getElevatorVelocityRevolutionsPerSecond(); + inputs.elevatorVelocityMetersPerSecond = getElevatorVelocityMetersPerSecond(); } @Override @@ -85,7 +84,7 @@ private double calculateElevatorOutput(TrapezoidProfile.State targetState) { } private double getElevatorPositionMeters() { - return Conversions.magTicksToRevolutions(elevatorEncoder.getSelectedSensorPosition()) / ArmConstants.THEORETICAL_METERS_PER_REVOLUTION; + return Conversions.magTicksToRevolutions(elevatorEncoder.getSelectedSensorPosition()) / KablamaArmConstants.THEORETICAL_METERS_PER_REVOLUTION; } private double getAngleVelocityDegreesPerSecond() { @@ -93,9 +92,10 @@ private double getAngleVelocityDegreesPerSecond() { return Conversions.revolutionsToDegrees(positionRevolutions); } - private double getElevatorVelocityRevolutionsPerSecond() { + private double getElevatorVelocityMetersPerSecond() { double magTicksPerSecond = Conversions.perHundredMsToPerSecond(elevatorEncoder.getSelectedSensorVelocity()); - return Conversions.magTicksToRevolutions(magTicksPerSecond); + double elevatorPositionRevolutions = Conversions.magTicksToRevolutions(magTicksPerSecond); + return elevatorPositionRevolutions / KablamaArmConstants.THEORETICAL_METERS_PER_REVOLUTION; } private Rotation2d getAngleMotorPosition() { diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmConstants.java index e9e6e2a16..04e8a4c0f 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmConstants.java @@ -8,6 +8,7 @@ import edu.wpi.first.wpilibj.simulation.ElevatorSim; import edu.wpi.first.wpilibj.simulation.SingleJointedArmSim; import frc.trigon.robot.subsystems.arm.ArmConstants; +import frc.trigon.robot.subsystems.arm.kablamaarm.KablamaArmConstants; public class SimulationArmConstants { private static final int @@ -31,8 +32,8 @@ public class SimulationArmConstants { static final SingleJointedArmSim ANGLE_MOTOR = new SingleJointedArmSim( ANGLE_MOTOR_GEARBOX, ANGLE_GEAR_RATIO, - SingleJointedArmSim.estimateMOI(ArmConstants.RETRACTED_ARM_LENGTH_METERS, ARM_MASS), - ArmConstants.RETRACTED_ARM_LENGTH_METERS, + SingleJointedArmSim.estimateMOI(KablamaArmConstants.RETRACTED_ARM_LENGTH_METERS, ARM_MASS), + KablamaArmConstants.RETRACTED_ARM_LENGTH_METERS, MINIMUM_ANGLE.getRadians(), MAXIMUM_ANGLE.getRadians(), ANGLE_SIMULATE_GRAVITY, @@ -43,10 +44,10 @@ public class SimulationArmConstants { ELEVATOR_GEAR_RATIO, ARM_MASS, DRUM_RADIUS_METERS, - ArmConstants.RETRACTED_ARM_LENGTH_METERS, + KablamaArmConstants.RETRACTED_ARM_LENGTH_METERS, FULLY_OPENED_ARM_LENGTH_METERS, ELEVATOR_SIMULATE_GRAVITY, - ArmConstants.RETRACTED_ARM_LENGTH_METERS + KablamaArmConstants.RETRACTED_ARM_LENGTH_METERS ); private static final double diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java index 5f7a7c9bd..2fb10ff29 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java @@ -8,6 +8,7 @@ import frc.trigon.robot.subsystems.arm.ArmConstants; import frc.trigon.robot.subsystems.arm.ArmIO; import frc.trigon.robot.subsystems.arm.ArmInputsAutoLogged; +import frc.trigon.robot.subsystems.arm.kablamaarm.KablamaArmConstants; public class SimulationArmIO extends ArmIO { private final SingleJointedArmSim angleMotor = SimulationArmConstants.ANGLE_MOTOR; @@ -84,6 +85,6 @@ private double calculateElevatorOutput(TrapezoidProfile.State targetState) { } private double getElevatorPositionMeters() { - return elevatorMotor.getPositionMeters() - ArmConstants.RETRACTED_ARM_LENGTH_METERS; + return elevatorMotor.getPositionMeters() - KablamaArmConstants.RETRACTED_ARM_LENGTH_METERS; } } diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/Collector.java b/src/main/java/frc/trigon/robot/subsystems/collector/Collector.java index be1bc20a4..8b4e17baa 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/Collector.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/Collector.java @@ -1,8 +1,5 @@ package frc.trigon.robot.subsystems.collector; -import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d; -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.StartEndCommand; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.trigon.robot.utilities.CurrentWatcher; import org.littletonrobotics.junction.Logger; diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/CollectorConstants.java b/src/main/java/frc/trigon/robot/subsystems/collector/CollectorConstants.java index e2e1616dd..1adec2487 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/CollectorConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/CollectorConstants.java @@ -1,7 +1,5 @@ package frc.trigon.robot.subsystems.collector; -import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d; - public class CollectorConstants { static final int MAX_CURRENT = 10; static final double MAX_CURRENT_TIME = 0.5; diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/CollectorIO.java b/src/main/java/frc/trigon/robot/subsystems/collector/CollectorIO.java index a24934b08..6009850ab 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/CollectorIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/CollectorIO.java @@ -4,7 +4,6 @@ import frc.trigon.robot.subsystems.collector.kablamacollector.KablamaCollectorIO; import frc.trigon.robot.subsystems.collector.simulationcollector.SimulationCollectorIO; import org.littletonrobotics.junction.AutoLog; -import org.littletonrobotics.junction.LogTable; public class CollectorIO { static CollectorIO generateIO() { diff --git a/src/main/java/frc/trigon/robot/subsystems/collector/kablamacollector/KablamaCollectorConstants.java b/src/main/java/frc/trigon/robot/subsystems/collector/kablamacollector/KablamaCollectorConstants.java index d25fb0214..565fc0a19 100644 --- a/src/main/java/frc/trigon/robot/subsystems/collector/kablamacollector/KablamaCollectorConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/collector/kablamacollector/KablamaCollectorConstants.java @@ -1,7 +1,6 @@ package frc.trigon.robot.subsystems.collector.kablamacollector; import com.ctre.phoenix.motorcontrol.NeutralMode; -import com.ctre.phoenix.motorcontrol.can.TalonSRX; import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; public class KablamaCollectorConstants { From 1073dcaf17d6f9dc349cf3cf7c27ee0283a67097 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Wed, 6 Dec 2023 22:04:36 +0200 Subject: [PATCH 178/207] fninished armSim --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 5 ++--- .../frc/trigon/robot/subsystems/arm/ArmConstants.java | 1 + .../subsystems/arm/kablamaarm/KablamaArmConstants.java | 3 +-- .../arm/simulationarm/SimulationArmConstants.java | 9 ++++----- .../subsystems/arm/simulationarm/SimulationArmIO.java | 3 +-- 5 files changed, 9 insertions(+), 12 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 744870dc5..619a6be70 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -4,7 +4,6 @@ import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj2.command.SubsystemBase; -import frc.trigon.robot.subsystems.arm.kablamaarm.KablamaArmConstants; import frc.trigon.robot.utilities.Conversions; import org.littletonrobotics.junction.Logger; @@ -83,7 +82,7 @@ void setTargetElevatorPositionFromProfile() { } TrapezoidProfile.State targetState = elevatorMotorProfile.calculate(getElevatorMotorProfileTime()); - ArmConstants.TARGET_POSITION_LIGAMENT.setLength(targetState.position + KablamaArmConstants.RETRACTED_ARM_LENGTH_METERS); + ArmConstants.TARGET_POSITION_LIGAMENT.setLength(targetState.position + ArmConstants.RETRACTED_ARM_LENGTH_METERS); armIO.setTargetElevatorState(targetState); } @@ -96,7 +95,7 @@ private double getElevatorMotorProfileTime() { } private void updateMechanism() { - ArmConstants.ARM_LIGAMENT.setLength(armInputs.elevatorPositionMeters + KablamaArmConstants.RETRACTED_ARM_LENGTH_METERS); + ArmConstants.ARM_LIGAMENT.setLength(armInputs.elevatorPositionMeters + ArmConstants.RETRACTED_ARM_LENGTH_METERS); ArmConstants.ARM_LIGAMENT.setAngle(armInputs.anglePositionDegrees); Logger.recordOutput("ArmMechanism", ArmConstants.ARM_MECHANISM); } diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index 935d97008..d572f1934 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -42,6 +42,7 @@ public class ArmConstants { static final double ANGLE_TOLERANCE = 1, ELEVATOR_TOLERANCE = 1; + public static final double RETRACTED_ARM_LENGTH_METERS = 0.64; public enum ArmState { FIRST_STATE(Rotation2d.fromDegrees(100), 7), diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaarm/KablamaArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaarm/KablamaArmConstants.java index 577a2a914..b716d6329 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/kablamaarm/KablamaArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/kablamaarm/KablamaArmConstants.java @@ -75,8 +75,7 @@ public class KablamaArmConstants { static final ElevatorFeedforward ELEVATOR_FEEDFORWARD = new ElevatorFeedforward( ELEVATOR_MOTOR_KS, ELEVATOR_MOTOR_KG, ELEVATOR_MOTOR_KV, ELEVATOR_MOTOR_KA ); - public static final double RETRACTED_ARM_LENGTH_METERS = 0.64; - public static final double THEORETICAL_METERS_PER_REVOLUTION = 0.1256; + static final double THEORETICAL_METERS_PER_REVOLUTION = 0.1256; static { configureAngleEncoder(); diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmConstants.java index 04e8a4c0f..e9e6e2a16 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmConstants.java @@ -8,7 +8,6 @@ import edu.wpi.first.wpilibj.simulation.ElevatorSim; import edu.wpi.first.wpilibj.simulation.SingleJointedArmSim; import frc.trigon.robot.subsystems.arm.ArmConstants; -import frc.trigon.robot.subsystems.arm.kablamaarm.KablamaArmConstants; public class SimulationArmConstants { private static final int @@ -32,8 +31,8 @@ public class SimulationArmConstants { static final SingleJointedArmSim ANGLE_MOTOR = new SingleJointedArmSim( ANGLE_MOTOR_GEARBOX, ANGLE_GEAR_RATIO, - SingleJointedArmSim.estimateMOI(KablamaArmConstants.RETRACTED_ARM_LENGTH_METERS, ARM_MASS), - KablamaArmConstants.RETRACTED_ARM_LENGTH_METERS, + SingleJointedArmSim.estimateMOI(ArmConstants.RETRACTED_ARM_LENGTH_METERS, ARM_MASS), + ArmConstants.RETRACTED_ARM_LENGTH_METERS, MINIMUM_ANGLE.getRadians(), MAXIMUM_ANGLE.getRadians(), ANGLE_SIMULATE_GRAVITY, @@ -44,10 +43,10 @@ public class SimulationArmConstants { ELEVATOR_GEAR_RATIO, ARM_MASS, DRUM_RADIUS_METERS, - KablamaArmConstants.RETRACTED_ARM_LENGTH_METERS, + ArmConstants.RETRACTED_ARM_LENGTH_METERS, FULLY_OPENED_ARM_LENGTH_METERS, ELEVATOR_SIMULATE_GRAVITY, - KablamaArmConstants.RETRACTED_ARM_LENGTH_METERS + ArmConstants.RETRACTED_ARM_LENGTH_METERS ); private static final double diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java index 2fb10ff29..5f7a7c9bd 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmIO.java @@ -8,7 +8,6 @@ import frc.trigon.robot.subsystems.arm.ArmConstants; import frc.trigon.robot.subsystems.arm.ArmIO; import frc.trigon.robot.subsystems.arm.ArmInputsAutoLogged; -import frc.trigon.robot.subsystems.arm.kablamaarm.KablamaArmConstants; public class SimulationArmIO extends ArmIO { private final SingleJointedArmSim angleMotor = SimulationArmConstants.ANGLE_MOTOR; @@ -85,6 +84,6 @@ private double calculateElevatorOutput(TrapezoidProfile.State targetState) { } private double getElevatorPositionMeters() { - return elevatorMotor.getPositionMeters() - KablamaArmConstants.RETRACTED_ARM_LENGTH_METERS; + return elevatorMotor.getPositionMeters() - ArmConstants.RETRACTED_ARM_LENGTH_METERS; } } From 02f9742a6cb9e3306b1ebece203690b8e071f229 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Wed, 6 Dec 2023 22:29:22 +0200 Subject: [PATCH 179/207] made turret constants --- .../robot/subsystems/turret/Turret.java | 14 +++++ .../subsystems/turret/TurretConstants.java | 54 +++++++++++++++++++ 2 files changed, 68 insertions(+) create mode 100644 src/main/java/frc/trigon/robot/subsystems/turret/Turret.java create mode 100644 src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java b/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java new file mode 100644 index 000000000..b6a0bb47c --- /dev/null +++ b/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java @@ -0,0 +1,14 @@ +package frc.trigon.robot.subsystems.turret; + +import edu.wpi.first.wpilibj2.command.SubsystemBase; + +public class Turret extends SubsystemBase { + private final static Turret INSTANCE = new Turret(); + + public static Turret getInstance() { + return INSTANCE; + } + + private Turret() { + } +} diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java b/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java new file mode 100644 index 000000000..47e11aecf --- /dev/null +++ b/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java @@ -0,0 +1,54 @@ +package frc.trigon.robot.subsystems.turret; + +import com.ctre.phoenix6.configs.CANcoderConfiguration; +import com.ctre.phoenix6.configs.TalonFXConfiguration; +import com.ctre.phoenix6.hardware.CANcoder; +import com.ctre.phoenix6.hardware.TalonFX; +import com.ctre.phoenix6.signals.AbsoluteSensorRangeValue; +import com.ctre.phoenix6.signals.InvertedValue; +import com.ctre.phoenix6.signals.NeutralModeValue; +import com.ctre.phoenix6.signals.SensorDirectionValue; +import edu.wpi.first.math.controller.PIDController; + +public class TurretConstants { + private static final int + MOTOR_ID = 1, + ENCODER_ID = 2; + private static final InvertedValue INVERTED_VALUE = InvertedValue.CounterClockwise_Positive; + private static final NeutralModeValue NEUTRAL_MODE_VALUE = NeutralModeValue.Brake; + private static final AbsoluteSensorRangeValue ENCODER_RANGE = AbsoluteSensorRangeValue.Signed_PlusMinusHalf; + private static final SensorDirectionValue ENCODER_DIRECTION = SensorDirectionValue.CounterClockwise_Positive; + private static final double ENCODER_OFFSET = 0; + static final TalonFX MOTOR = new TalonFX(MOTOR_ID); + static final CANcoder encoder = new CANcoder(ENCODER_ID); + static final double GEAR_RATIO = 100; + static final double MOMENT_OF_INERTIA = 0.003; + + static final double + P = 1, + I = 0, + D = 0; + static final PIDController PID_CONTROLLER = new PIDController(P, I, D); + + static { + configureMotor(); + configureEncoder(); + } + + private static void configureMotor() { + TalonFXConfiguration config = new TalonFXConfiguration(); + config.MotorOutput.Inverted = INVERTED_VALUE; + config.MotorOutput.NeutralMode = NEUTRAL_MODE_VALUE; + config.Audio.BeepOnConfig = false; + config.Audio.BeepOnBoot = false; + MOTOR.getConfigurator().apply(config); + } + + private static void configureEncoder() { + CANcoderConfiguration config = new CANcoderConfiguration(); + config.MagnetSensor.AbsoluteSensorRange = ENCODER_RANGE; + config.MagnetSensor.SensorDirection = ENCODER_DIRECTION; + config.MagnetSensor.MagnetOffset = ENCODER_OFFSET; + encoder.getConfigurator().apply(config); + } +} From 4d4ef64316fae4525b2206e5c981a6f59d5bd741 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 7 Dec 2023 09:18:55 +0200 Subject: [PATCH 180/207] added translation2d --- .../frc/trigon/robot/subsystems/turret/Turret.java | 7 +++++++ .../robot/subsystems/turret/TurretConstants.java | 12 ++++++++++-- 2 files changed, 17 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java b/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java index b6a0bb47c..8f7a96d75 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java @@ -1,9 +1,16 @@ package frc.trigon.robot.subsystems.turret; +import com.ctre.phoenix6.hardware.CANcoder; +import com.ctre.phoenix6.hardware.TalonFX; +import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.wpilibj2.command.SubsystemBase; public class Turret extends SubsystemBase { private final static Turret INSTANCE = new Turret(); + private final TalonFX motor = TurretConstants.MOTOR; + private final CANcoder encoder = TurretConstants.ENCODER; + private final Pose2d pose = TurretConstants.POSE; + public static Turret getInstance() { return INSTANCE; diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java b/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java index 47e11aecf..141f48b8a 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java @@ -9,6 +9,8 @@ import com.ctre.phoenix6.signals.NeutralModeValue; import com.ctre.phoenix6.signals.SensorDirectionValue; import edu.wpi.first.math.controller.PIDController; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Translation2d; public class TurretConstants { private static final int @@ -19,8 +21,12 @@ public class TurretConstants { private static final AbsoluteSensorRangeValue ENCODER_RANGE = AbsoluteSensorRangeValue.Signed_PlusMinusHalf; private static final SensorDirectionValue ENCODER_DIRECTION = SensorDirectionValue.CounterClockwise_Positive; private static final double ENCODER_OFFSET = 0; + private static final double + TRANSLATION_X = 8.2296, + TRANSLATION_Y = 0.5121; static final TalonFX MOTOR = new TalonFX(MOTOR_ID); - static final CANcoder encoder = new CANcoder(ENCODER_ID); + static final CANcoder ENCODER = new CANcoder(ENCODER_ID); + static final Translation2d TARGET_POSITION = new Translation2d(TRANSLATION_X, TRANSLATION_Y); static final double GEAR_RATIO = 100; static final double MOMENT_OF_INERTIA = 0.003; @@ -30,6 +36,8 @@ public class TurretConstants { D = 0; static final PIDController PID_CONTROLLER = new PIDController(P, I, D); + static final Pose2d POSE = new Pose2d(); + static { configureMotor(); configureEncoder(); @@ -49,6 +57,6 @@ private static void configureEncoder() { config.MagnetSensor.AbsoluteSensorRange = ENCODER_RANGE; config.MagnetSensor.SensorDirection = ENCODER_DIRECTION; config.MagnetSensor.MagnetOffset = ENCODER_OFFSET; - encoder.getConfigurator().apply(config); + ENCODER.getConfigurator().apply(config); } } From 0fb2d996c1f67a4f5539b31a02f3f42ff9386625 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 7 Dec 2023 17:16:41 +0200 Subject: [PATCH 181/207] attempted to make Turret --- .../robot/subsystems/turret/Turret.java | 49 +++++++++++++++++-- .../subsystems/turret/TurretConstants.java | 11 +++-- 2 files changed, 54 insertions(+), 6 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java b/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java index 8f7a96d75..ef16f1486 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java @@ -1,16 +1,19 @@ package frc.trigon.robot.subsystems.turret; -import com.ctre.phoenix6.hardware.CANcoder; +import com.ctre.phoenix6.controls.VoltageOut; import com.ctre.phoenix6.hardware.TalonFX; import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.FunctionalCommand; import edu.wpi.first.wpilibj2.command.SubsystemBase; +import java.util.function.Supplier; + public class Turret extends SubsystemBase { private final static Turret INSTANCE = new Turret(); private final TalonFX motor = TurretConstants.MOTOR; - private final CANcoder encoder = TurretConstants.ENCODER; private final Pose2d pose = TurretConstants.POSE; - + private final VoltageOut voltageRequest = new VoltageOut(0, TurretConstants.FOC_ENABLED, false); public static Turret getInstance() { return INSTANCE; @@ -18,4 +21,44 @@ public static Turret getInstance() { private Turret() { } + + public Command getSetTurretPositionCommand(Supplier targetAngle) { + return new FunctionalCommand( + () -> { + }, + () -> turretCalculate(targetAngle.get()), + (interrupted) -> stop(), + () -> false, + this + ); + } + + private void turretCalculate(double targetAngle) { + if (atTarget()) + return; + if (!checkTurretSpinLimit(targetAngle)) + return; + double output = TurretConstants.PID_CONTROLLER.calculate(targetAngle); + setMotorVoltage(output); + } + + private boolean atTarget() { + return getPosition() == TurretConstants.TARGET_POSITION.getAngle().getRotations(); + } + + private boolean checkTurretSpinLimit(double targetAngle) { + return Math.abs(getPosition() - targetAngle) == 200; + } + + private double getPosition() { + return TurretConstants.STATUS_SIGNAL.refresh().getValue(); + } + + private void setMotorVoltage(double voltage) { + motor.setControl(voltageRequest.withOutput(voltage)); + } + + private void stop() { + motor.stopMotor(); + } } diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java b/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java index 141f48b8a..6a7c2ad2c 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java @@ -1,5 +1,6 @@ package frc.trigon.robot.subsystems.turret; +import com.ctre.phoenix6.StatusSignal; import com.ctre.phoenix6.configs.CANcoderConfiguration; import com.ctre.phoenix6.configs.TalonFXConfiguration; import com.ctre.phoenix6.hardware.CANcoder; @@ -27,17 +28,18 @@ public class TurretConstants { static final TalonFX MOTOR = new TalonFX(MOTOR_ID); static final CANcoder ENCODER = new CANcoder(ENCODER_ID); static final Translation2d TARGET_POSITION = new Translation2d(TRANSLATION_X, TRANSLATION_Y); + static final Pose2d POSE = new Pose2d(); static final double GEAR_RATIO = 100; static final double MOMENT_OF_INERTIA = 0.003; + static final boolean FOC_ENABLED = true; + static final StatusSignal STATUS_SIGNAL = ENCODER.getPosition(); - static final double + private static final double P = 1, I = 0, D = 0; static final PIDController PID_CONTROLLER = new PIDController(P, I, D); - static final Pose2d POSE = new Pose2d(); - static { configureMotor(); configureEncoder(); @@ -58,5 +60,8 @@ private static void configureEncoder() { config.MagnetSensor.SensorDirection = ENCODER_DIRECTION; config.MagnetSensor.MagnetOffset = ENCODER_OFFSET; ENCODER.getConfigurator().apply(config); + + STATUS_SIGNAL.setUpdateFrequency(100); + ENCODER.optimizeBusUtilization(); } } From b44a710398d153cf44671485675beca44eac7cb1 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 7 Dec 2023 20:18:08 +0200 Subject: [PATCH 182/207] attempted calulation --- .../robot/subsystems/turret/Turret.java | 26 ++++++++++--------- .../subsystems/turret/TurretConstants.java | 12 ++++++--- 2 files changed, 22 insertions(+), 16 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java b/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java index ef16f1486..7fb3861a4 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java @@ -7,12 +7,12 @@ import edu.wpi.first.wpilibj2.command.FunctionalCommand; import edu.wpi.first.wpilibj2.command.SubsystemBase; -import java.util.function.Supplier; - public class Turret extends SubsystemBase { private final static Turret INSTANCE = new Turret(); private final TalonFX motor = TurretConstants.MOTOR; - private final Pose2d pose = TurretConstants.POSE; + private final Pose2d + hubPose = TurretConstants.HUB_POSE, + robotPose = TurretConstants.ROBOT_POSE; private final VoltageOut voltageRequest = new VoltageOut(0, TurretConstants.FOC_ENABLED, false); public static Turret getInstance() { @@ -22,32 +22,34 @@ public static Turret getInstance() { private Turret() { } - public Command getSetTurretPositionCommand(Supplier targetAngle) { + public Command getSetTurretPositionCommand() { return new FunctionalCommand( () -> { }, - () -> turretCalculate(targetAngle.get()), + this::turretCalculate, (interrupted) -> stop(), () -> false, this ); } - private void turretCalculate(double targetAngle) { + private void turretCalculate() { if (atTarget()) return; - if (!checkTurretSpinLimit(targetAngle)) + double xDifference = hubPose.getX() - getPosition(); + double yDifference = hubPose.getY() - getPosition(); + double desiredHeading = Math.atan2(xDifference, yDifference); + if (checkTurretSpinLimit(desiredHeading)) return; - double output = TurretConstants.PID_CONTROLLER.calculate(targetAngle); - setMotorVoltage(output); + setMotorVoltage(desiredHeading); } private boolean atTarget() { - return getPosition() == TurretConstants.TARGET_POSITION.getAngle().getRotations(); + return getPosition() == hubPose.getRotation().getRotations(); } - private boolean checkTurretSpinLimit(double targetAngle) { - return Math.abs(getPosition() - targetAngle) == 200; + private boolean checkTurretSpinLimit(double angleChange) { + return Math.abs(getPosition() - angleChange) == 200; } private double getPosition() { diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java b/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java index 6a7c2ad2c..e858bff59 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java @@ -11,6 +11,7 @@ import com.ctre.phoenix6.signals.SensorDirectionValue; import edu.wpi.first.math.controller.PIDController; import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Translation2d; public class TurretConstants { @@ -23,16 +24,19 @@ public class TurretConstants { private static final SensorDirectionValue ENCODER_DIRECTION = SensorDirectionValue.CounterClockwise_Positive; private static final double ENCODER_OFFSET = 0; private static final double - TRANSLATION_X = 8.2296, - TRANSLATION_Y = 0.5121; + HUB_X = 8.2296, + HUB_Y = 0.5121; + + private static final Translation2d HUB_POSITION = new Translation2d(HUB_X, HUB_Y); + private static final Rotation2d HUB_ROTATION = Rotation2d.fromRotations(0); static final TalonFX MOTOR = new TalonFX(MOTOR_ID); static final CANcoder ENCODER = new CANcoder(ENCODER_ID); - static final Translation2d TARGET_POSITION = new Translation2d(TRANSLATION_X, TRANSLATION_Y); - static final Pose2d POSE = new Pose2d(); static final double GEAR_RATIO = 100; static final double MOMENT_OF_INERTIA = 0.003; static final boolean FOC_ENABLED = true; static final StatusSignal STATUS_SIGNAL = ENCODER.getPosition(); + static final Pose2d HUB_POSE = new Pose2d(HUB_POSITION, HUB_ROTATION); + static final Pose2d ROBOT_POSE = new Pose2d(); private static final double P = 1, From ec1ae5aaab2fea2f9525c5b2db3e444273029198 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 7 Dec 2023 20:40:59 +0200 Subject: [PATCH 183/207] corrected output calulation --- .../robot/subsystems/turret/Turret.java | 50 +++++++++++++------ 1 file changed, 35 insertions(+), 15 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java b/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java index 7fb3861a4..a21579076 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java @@ -3,6 +3,7 @@ import com.ctre.phoenix6.controls.VoltageOut; import com.ctre.phoenix6.hardware.TalonFX; import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.FunctionalCommand; import edu.wpi.first.wpilibj2.command.SubsystemBase; @@ -22,34 +23,53 @@ public static Turret getInstance() { private Turret() { } - public Command getSetTurretPositionCommand() { + public Command getSetMotorOutputCommand(Pose2d robotPose) { return new FunctionalCommand( () -> { }, - this::turretCalculate, + () -> setMotorOutput(robotPose), (interrupted) -> stop(), () -> false, this ); } - private void turretCalculate() { - if (atTarget()) - return; - double xDifference = hubPose.getX() - getPosition(); - double yDifference = hubPose.getY() - getPosition(); - double desiredHeading = Math.atan2(xDifference, yDifference); - if (checkTurretSpinLimit(desiredHeading)) - return; - setMotorVoltage(desiredHeading); + private void setMotorOutput(Pose2d robotPose) { + setMotorVoltage(calculateMotorOutput(robotPose)); } - private boolean atTarget() { - return getPosition() == hubPose.getRotation().getRotations(); + private double calculateMotorOutput(Pose2d robotPose) { + double targetAngle = calculateTargetAngle(robotPose); + double targetAngleAfterLimitCheck = limitCheck(targetAngle); + double error = calculateError(targetAngleAfterLimitCheck); + double output = TurretConstants.PID_CONTROLLER.calculate(error); + return output; } - private boolean checkTurretSpinLimit(double angleChange) { - return Math.abs(getPosition() - angleChange) == 200; + private double calculateTargetAngle(Pose2d robotPose) { + double robotX = robotPose.getX(); + double robotY = robotPose.getY(); + double robotHeading = robotPose.getRotation().getRadians(); + double hubVecX = hubPose.getX() - robotX; + double hubVecY = hubPose.getY() - robotY; + double theta = Math.atan2(hubVecY, hubVecX); + double targetAngle = theta - robotHeading; + return targetAngle; + } + + private double limitCheck(double targetAngle) { + if (targetAngle > 200) { + targetAngle -= 360; + } else if (targetAngle < -200) { + targetAngle += 360; + } + return targetAngle; + } + + private double calculateError(double targetAngle) { + double currentAngleDegrees = Units.rotationsToDegrees(getPosition()); + double error = targetAngle - currentAngleDegrees; + return error; } private double getPosition() { From 12076c1fd82bc9c4547c3e297b69d1af38006edb Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 7 Dec 2023 20:54:27 +0200 Subject: [PATCH 184/207] fixed names --- .../frc/trigon/robot/subsystems/turret/Turret.java | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java b/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java index a21579076..92dca765e 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java @@ -50,9 +50,9 @@ private double calculateTargetAngle(Pose2d robotPose) { double robotX = robotPose.getX(); double robotY = robotPose.getY(); double robotHeading = robotPose.getRotation().getRadians(); - double hubVecX = hubPose.getX() - robotX; - double hubVecY = hubPose.getY() - robotY; - double theta = Math.atan2(hubVecY, hubVecX); + double differenceX = hubPose.getX() - robotX; + double differenceY = hubPose.getY() - robotY; + double theta = Math.atan2(differenceY, differenceX); double targetAngle = theta - robotHeading; return targetAngle; } @@ -67,13 +67,13 @@ private double limitCheck(double targetAngle) { } private double calculateError(double targetAngle) { - double currentAngleDegrees = Units.rotationsToDegrees(getPosition()); + double currentAngleDegrees = getPositionDegrees(); double error = targetAngle - currentAngleDegrees; return error; } - private double getPosition() { - return TurretConstants.STATUS_SIGNAL.refresh().getValue(); + private double getPositionDegrees() { + return Units.rotationsToDegrees(TurretConstants.STATUS_SIGNAL.refresh().getValue()); } private void setMotorVoltage(double voltage) { From eec4a60db11408a5690e6bfbf8cee452ff63c36b Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Fri, 8 Dec 2023 11:00:30 +0200 Subject: [PATCH 185/207] corrected units --- .../robot/subsystems/turret/Turret.java | 31 +++++++++---------- 1 file changed, 14 insertions(+), 17 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java b/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java index 92dca765e..49fa1b8d4 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java @@ -8,6 +8,8 @@ import edu.wpi.first.wpilibj2.command.FunctionalCommand; import edu.wpi.first.wpilibj2.command.SubsystemBase; +import java.util.function.Supplier; + public class Turret extends SubsystemBase { private final static Turret INSTANCE = new Turret(); private final TalonFX motor = TurretConstants.MOTOR; @@ -23,24 +25,20 @@ public static Turret getInstance() { private Turret() { } - public Command getSetMotorOutputCommand(Pose2d robotPose) { + public Command getSetMotorOutputCommand(Supplier robotPose) { return new FunctionalCommand( () -> { }, - () -> setMotorOutput(robotPose), + () -> setMotorVoltage(calculateMotorOutput(robotPose.get())), (interrupted) -> stop(), () -> false, this ); } - private void setMotorOutput(Pose2d robotPose) { - setMotorVoltage(calculateMotorOutput(robotPose)); - } - private double calculateMotorOutput(Pose2d robotPose) { - double targetAngle = calculateTargetAngle(robotPose); - double targetAngleAfterLimitCheck = limitCheck(targetAngle); + double targetAngleRadians = calculateTargetAngle(robotPose); + double targetAngleAfterLimitCheck = limitCheck(Units.radiansToDegrees(targetAngleRadians)); double error = calculateError(targetAngleAfterLimitCheck); double output = TurretConstants.PID_CONTROLLER.calculate(error); return output; @@ -57,18 +55,17 @@ private double calculateTargetAngle(Pose2d robotPose) { return targetAngle; } - private double limitCheck(double targetAngle) { - if (targetAngle > 200) { - targetAngle -= 360; - } else if (targetAngle < -200) { - targetAngle += 360; + private double limitCheck(double targetAngleDegrees) { + if (targetAngleDegrees > 200) { + targetAngleDegrees -= 360; + } else if (targetAngleDegrees < -200) { + targetAngleDegrees += 360; } - return targetAngle; + return targetAngleDegrees; } - private double calculateError(double targetAngle) { - double currentAngleDegrees = getPositionDegrees(); - double error = targetAngle - currentAngleDegrees; + private double calculateError(double targetAngleDegrees) { + double error = targetAngleDegrees - getPositionDegrees(); return error; } From 0556a939135028bf1d0f9538ea36f65daf6fce06 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sun, 10 Dec 2023 14:31:03 +0200 Subject: [PATCH 186/207] added most of turretAkit --- .../robot/subsystems/turret/Turret.java | 34 ++++------ .../subsystems/turret/TurretConstants.java | 48 +------------ .../robot/subsystems/turret/TurretIO.java | 32 +++++++++ .../kablamaturret/KablamaTurretConstants.java | 68 +++++++++++++++++++ .../turret/kablamaturret/KablamaTurretIO.java | 27 ++++++++ 5 files changed, 141 insertions(+), 68 deletions(-) create mode 100644 src/main/java/frc/trigon/robot/subsystems/turret/TurretIO.java create mode 100644 src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretConstants.java create mode 100644 src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java b/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java index 49fa1b8d4..a8c5c7c25 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java @@ -1,22 +1,19 @@ package frc.trigon.robot.subsystems.turret; -import com.ctre.phoenix6.controls.VoltageOut; -import com.ctre.phoenix6.hardware.TalonFX; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.FunctionalCommand; import edu.wpi.first.wpilibj2.command.SubsystemBase; +import org.littletonrobotics.junction.Logger; import java.util.function.Supplier; public class Turret extends SubsystemBase { private final static Turret INSTANCE = new Turret(); - private final TalonFX motor = TurretConstants.MOTOR; - private final Pose2d - hubPose = TurretConstants.HUB_POSE, - robotPose = TurretConstants.ROBOT_POSE; - private final VoltageOut voltageRequest = new VoltageOut(0, TurretConstants.FOC_ENABLED, false); + private final TurretIO turretIO = TurretIO.generateIO(); + private final TurretInputsAutoLogged turretInputs = new TurretInputsAutoLogged(); + private final Pose2d hubPose = TurretConstants.HUB_POSE; public static Turret getInstance() { return INSTANCE; @@ -25,12 +22,18 @@ public static Turret getInstance() { private Turret() { } + @Override + public void periodic() { + turretIO.updateInputs(turretInputs); + Logger.processInputs("Turret", turretInputs); + } + public Command getSetMotorOutputCommand(Supplier robotPose) { return new FunctionalCommand( () -> { }, - () -> setMotorVoltage(calculateMotorOutput(robotPose.get())), - (interrupted) -> stop(), + () -> turretIO.setMotorVoltage(calculateMotorOutput(robotPose.get())), + (interrupted) -> turretIO.stop(), () -> false, this ); @@ -65,19 +68,8 @@ private double limitCheck(double targetAngleDegrees) { } private double calculateError(double targetAngleDegrees) { - double error = targetAngleDegrees - getPositionDegrees(); + double error = targetAngleDegrees - turretInputs.motorPositionDegrees; return error; } - private double getPositionDegrees() { - return Units.rotationsToDegrees(TurretConstants.STATUS_SIGNAL.refresh().getValue()); - } - - private void setMotorVoltage(double voltage) { - motor.setControl(voltageRequest.withOutput(voltage)); - } - - private void stop() { - motor.stopMotor(); - } } diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java b/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java index e858bff59..b98d4009b 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java @@ -1,71 +1,25 @@ package frc.trigon.robot.subsystems.turret; -import com.ctre.phoenix6.StatusSignal; -import com.ctre.phoenix6.configs.CANcoderConfiguration; -import com.ctre.phoenix6.configs.TalonFXConfiguration; -import com.ctre.phoenix6.hardware.CANcoder; -import com.ctre.phoenix6.hardware.TalonFX; -import com.ctre.phoenix6.signals.AbsoluteSensorRangeValue; -import com.ctre.phoenix6.signals.InvertedValue; -import com.ctre.phoenix6.signals.NeutralModeValue; -import com.ctre.phoenix6.signals.SensorDirectionValue; import edu.wpi.first.math.controller.PIDController; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Translation2d; public class TurretConstants { - private static final int - MOTOR_ID = 1, - ENCODER_ID = 2; - private static final InvertedValue INVERTED_VALUE = InvertedValue.CounterClockwise_Positive; - private static final NeutralModeValue NEUTRAL_MODE_VALUE = NeutralModeValue.Brake; - private static final AbsoluteSensorRangeValue ENCODER_RANGE = AbsoluteSensorRangeValue.Signed_PlusMinusHalf; - private static final SensorDirectionValue ENCODER_DIRECTION = SensorDirectionValue.CounterClockwise_Positive; - private static final double ENCODER_OFFSET = 0; private static final double HUB_X = 8.2296, HUB_Y = 0.5121; private static final Translation2d HUB_POSITION = new Translation2d(HUB_X, HUB_Y); private static final Rotation2d HUB_ROTATION = Rotation2d.fromRotations(0); - static final TalonFX MOTOR = new TalonFX(MOTOR_ID); - static final CANcoder ENCODER = new CANcoder(ENCODER_ID); + static final double GEAR_RATIO = 100; static final double MOMENT_OF_INERTIA = 0.003; - static final boolean FOC_ENABLED = true; - static final StatusSignal STATUS_SIGNAL = ENCODER.getPosition(); static final Pose2d HUB_POSE = new Pose2d(HUB_POSITION, HUB_ROTATION); - static final Pose2d ROBOT_POSE = new Pose2d(); private static final double P = 1, I = 0, D = 0; static final PIDController PID_CONTROLLER = new PIDController(P, I, D); - - static { - configureMotor(); - configureEncoder(); - } - - private static void configureMotor() { - TalonFXConfiguration config = new TalonFXConfiguration(); - config.MotorOutput.Inverted = INVERTED_VALUE; - config.MotorOutput.NeutralMode = NEUTRAL_MODE_VALUE; - config.Audio.BeepOnConfig = false; - config.Audio.BeepOnBoot = false; - MOTOR.getConfigurator().apply(config); - } - - private static void configureEncoder() { - CANcoderConfiguration config = new CANcoderConfiguration(); - config.MagnetSensor.AbsoluteSensorRange = ENCODER_RANGE; - config.MagnetSensor.SensorDirection = ENCODER_DIRECTION; - config.MagnetSensor.MagnetOffset = ENCODER_OFFSET; - ENCODER.getConfigurator().apply(config); - - STATUS_SIGNAL.setUpdateFrequency(100); - ENCODER.optimizeBusUtilization(); - } } diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/TurretIO.java b/src/main/java/frc/trigon/robot/subsystems/turret/TurretIO.java new file mode 100644 index 000000000..da530f98f --- /dev/null +++ b/src/main/java/frc/trigon/robot/subsystems/turret/TurretIO.java @@ -0,0 +1,32 @@ +package frc.trigon.robot.subsystems.turret; + +import frc.trigon.robot.constants.RobotConstants; +import frc.trigon.robot.subsystems.turret.kablamaturret.KablamaTurretIO; +import org.littletonrobotics.junction.AutoLog; + +public class TurretIO { + + static TurretIO generateIO() { + if (RobotConstants.IS_REPLAY) + return new TurretIO(); + if (RobotConstants.ROBOT_TYPE == RobotConstants.RobotType.KABLAMA) + return new KablamaTurretIO(); + // return new SimulationTurretIO; + return new TurretIO(); + } + + protected void updateInputs(TurretInputsAutoLogged inputs) { + } + + protected void setMotorVoltage(double voltage) { + } + + protected void stop() { + } + + @AutoLog + + protected static class TurretInputs { + public double motorPositionDegrees = 0; + } +} diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretConstants.java b/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretConstants.java new file mode 100644 index 000000000..a49f503bb --- /dev/null +++ b/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretConstants.java @@ -0,0 +1,68 @@ +package frc.trigon.robot.subsystems.turret.kablamaturret; + +import com.ctre.phoenix6.StatusSignal; +import com.ctre.phoenix6.configs.CANcoderConfiguration; +import com.ctre.phoenix6.configs.TalonFXConfiguration; +import com.ctre.phoenix6.hardware.CANcoder; +import com.ctre.phoenix6.hardware.TalonFX; +import com.ctre.phoenix6.signals.AbsoluteSensorRangeValue; +import com.ctre.phoenix6.signals.InvertedValue; +import com.ctre.phoenix6.signals.NeutralModeValue; +import com.ctre.phoenix6.signals.SensorDirectionValue; +import edu.wpi.first.math.controller.PIDController; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; + +public class KablamaTurretConstants { + private static final int + MOTOR_ID = 1, + ENCODER_ID = 2; + private static final InvertedValue INVERTED_VALUE = InvertedValue.CounterClockwise_Positive; + private static final NeutralModeValue NEUTRAL_MODE_VALUE = NeutralModeValue.Brake; + private static final AbsoluteSensorRangeValue ENCODER_RANGE = AbsoluteSensorRangeValue.Signed_PlusMinusHalf; + private static final SensorDirectionValue ENCODER_DIRECTION = SensorDirectionValue.CounterClockwise_Positive; + private static final double ENCODER_OFFSET = 0; + private static final double + HUB_X = 8.2296, + HUB_Y = 0.5121; + + private static final Translation2d HUB_POSITION = new Translation2d(HUB_X, HUB_Y); + private static final Rotation2d HUB_ROTATION = Rotation2d.fromRotations(0); + private static final CANcoder ENCODER = new CANcoder(ENCODER_ID); + static final TalonFX MOTOR = new TalonFX(MOTOR_ID); + static final boolean FOC_ENABLED = true; + static final StatusSignal STATUS_SIGNAL = ENCODER.getPosition(); + static final Pose2d HUB_POSE = new Pose2d(HUB_POSITION, HUB_ROTATION); + + private static final double + P = 1, + I = 0, + D = 0; + static final PIDController PID_CONTROLLER = new PIDController(P, I, D); + + static { + configureMotor(); + configureEncoder(); + } + + private static void configureMotor() { + TalonFXConfiguration config = new TalonFXConfiguration(); + config.MotorOutput.Inverted = INVERTED_VALUE; + config.MotorOutput.NeutralMode = NEUTRAL_MODE_VALUE; + config.Audio.BeepOnConfig = false; + config.Audio.BeepOnBoot = false; + MOTOR.getConfigurator().apply(config); + } + + private static void configureEncoder() { + CANcoderConfiguration config = new CANcoderConfiguration(); + config.MagnetSensor.AbsoluteSensorRange = ENCODER_RANGE; + config.MagnetSensor.SensorDirection = ENCODER_DIRECTION; + config.MagnetSensor.MagnetOffset = ENCODER_OFFSET; + ENCODER.getConfigurator().apply(config); + + STATUS_SIGNAL.setUpdateFrequency(100); + ENCODER.optimizeBusUtilization(); + } +} diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java b/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java new file mode 100644 index 000000000..e84fd34fc --- /dev/null +++ b/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java @@ -0,0 +1,27 @@ +package frc.trigon.robot.subsystems.turret.kablamaturret; + +import com.ctre.phoenix6.controls.VoltageOut; +import com.ctre.phoenix6.hardware.TalonFX; +import edu.wpi.first.math.util.Units; +import frc.trigon.robot.subsystems.turret.TurretIO; +import frc.trigon.robot.subsystems.turret.TurretInputsAutoLogged; + +public class KablamaTurretIO extends TurretIO { + private final TalonFX motor = KablamaTurretConstants.MOTOR; + private final VoltageOut voltageRequest = new VoltageOut(0, KablamaTurretConstants.FOC_ENABLED, false); + + @Override + protected void updateInputs(TurretInputsAutoLogged inputs) { + inputs.motorPositionDegrees = Units.rotationsToDegrees(KablamaTurretConstants.STATUS_SIGNAL.refresh().getValue()); + } + + @Override + protected void setMotorVoltage(double voltage) { + motor.setControl(voltageRequest.withOutput(voltage)); + } + + @Override + protected void stop() { + motor.stopMotor(); + } +} From 1cacd1791ca80076bbbe59e236cb906346e62a57 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sun, 10 Dec 2023 14:57:41 +0200 Subject: [PATCH 187/207] finished adding akit --- .../robot/subsystems/turret/Turret.java | 49 ++----------------- .../subsystems/turret/TurretCommands.java | 23 +++++++++ .../subsystems/turret/TurretConstants.java | 19 ------- .../robot/subsystems/turret/TurretIO.java | 3 +- .../turret/kablamaturret/KablamaTurretIO.java | 49 +++++++++++++++++-- 5 files changed, 73 insertions(+), 70 deletions(-) create mode 100644 src/main/java/frc/trigon/robot/subsystems/turret/TurretCommands.java diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java b/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java index a8c5c7c25..f25d81523 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java @@ -1,14 +1,9 @@ package frc.trigon.robot.subsystems.turret; import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.util.Units; -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.FunctionalCommand; import edu.wpi.first.wpilibj2.command.SubsystemBase; import org.littletonrobotics.junction.Logger; -import java.util.function.Supplier; - public class Turret extends SubsystemBase { private final static Turret INSTANCE = new Turret(); private final TurretIO turretIO = TurretIO.generateIO(); @@ -28,48 +23,12 @@ public void periodic() { Logger.processInputs("Turret", turretInputs); } - public Command getSetMotorOutputCommand(Supplier robotPose) { - return new FunctionalCommand( - () -> { - }, - () -> turretIO.setMotorVoltage(calculateMotorOutput(robotPose.get())), - (interrupted) -> turretIO.stop(), - () -> false, - this - ); - } - - private double calculateMotorOutput(Pose2d robotPose) { - double targetAngleRadians = calculateTargetAngle(robotPose); - double targetAngleAfterLimitCheck = limitCheck(Units.radiansToDegrees(targetAngleRadians)); - double error = calculateError(targetAngleAfterLimitCheck); - double output = TurretConstants.PID_CONTROLLER.calculate(error); - return output; - } - - private double calculateTargetAngle(Pose2d robotPose) { - double robotX = robotPose.getX(); - double robotY = robotPose.getY(); - double robotHeading = robotPose.getRotation().getRadians(); - double differenceX = hubPose.getX() - robotX; - double differenceY = hubPose.getY() - robotY; - double theta = Math.atan2(differenceY, differenceX); - double targetAngle = theta - robotHeading; - return targetAngle; - } - - private double limitCheck(double targetAngleDegrees) { - if (targetAngleDegrees > 200) { - targetAngleDegrees -= 360; - } else if (targetAngleDegrees < -200) { - targetAngleDegrees += 360; - } - return targetAngleDegrees; + void calculateMotorOutput(Pose2d robotPose) { + turretIO.calculateMotorOutput(robotPose); } - private double calculateError(double targetAngleDegrees) { - double error = targetAngleDegrees - turretInputs.motorPositionDegrees; - return error; + void stop() { + turretIO.stop(); } } diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/TurretCommands.java b/src/main/java/frc/trigon/robot/subsystems/turret/TurretCommands.java new file mode 100644 index 000000000..4e16afdd2 --- /dev/null +++ b/src/main/java/frc/trigon/robot/subsystems/turret/TurretCommands.java @@ -0,0 +1,23 @@ +package frc.trigon.robot.subsystems.turret; + +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.FunctionalCommand; + +import java.util.function.Supplier; + +public class TurretCommands { + private static Turret TURRET = Turret.getInstance(); + + + public static Command getSetMotorOutputCommand(Supplier robotPose) { + return new FunctionalCommand( + () -> { + }, + () -> TURRET.calculateMotorOutput(robotPose.get()), + (interrupted) -> TURRET.stop(), + () -> false, + TURRET + ); + } +} diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java b/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java index b98d4009b..0bf3f7bb5 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java @@ -1,25 +1,6 @@ package frc.trigon.robot.subsystems.turret; -import edu.wpi.first.math.controller.PIDController; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Translation2d; - public class TurretConstants { - private static final double - HUB_X = 8.2296, - HUB_Y = 0.5121; - - private static final Translation2d HUB_POSITION = new Translation2d(HUB_X, HUB_Y); - private static final Rotation2d HUB_ROTATION = Rotation2d.fromRotations(0); - static final double GEAR_RATIO = 100; static final double MOMENT_OF_INERTIA = 0.003; - static final Pose2d HUB_POSE = new Pose2d(HUB_POSITION, HUB_ROTATION); - - private static final double - P = 1, - I = 0, - D = 0; - static final PIDController PID_CONTROLLER = new PIDController(P, I, D); } diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/TurretIO.java b/src/main/java/frc/trigon/robot/subsystems/turret/TurretIO.java index da530f98f..5538f30a6 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/TurretIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/TurretIO.java @@ -1,5 +1,6 @@ package frc.trigon.robot.subsystems.turret; +import edu.wpi.first.math.geometry.Pose2d; import frc.trigon.robot.constants.RobotConstants; import frc.trigon.robot.subsystems.turret.kablamaturret.KablamaTurretIO; import org.littletonrobotics.junction.AutoLog; @@ -18,7 +19,7 @@ static TurretIO generateIO() { protected void updateInputs(TurretInputsAutoLogged inputs) { } - protected void setMotorVoltage(double voltage) { + protected void calculateMotorOutput(Pose2d robotPose) { } protected void stop() { diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java b/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java index e84fd34fc..4ca45b7f1 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java @@ -2,6 +2,7 @@ import com.ctre.phoenix6.controls.VoltageOut; import com.ctre.phoenix6.hardware.TalonFX; +import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.util.Units; import frc.trigon.robot.subsystems.turret.TurretIO; import frc.trigon.robot.subsystems.turret.TurretInputsAutoLogged; @@ -9,19 +10,57 @@ public class KablamaTurretIO extends TurretIO { private final TalonFX motor = KablamaTurretConstants.MOTOR; private final VoltageOut voltageRequest = new VoltageOut(0, KablamaTurretConstants.FOC_ENABLED, false); + private final Pose2d hubPose = KablamaTurretConstants.HUB_POSE; @Override protected void updateInputs(TurretInputsAutoLogged inputs) { - inputs.motorPositionDegrees = Units.rotationsToDegrees(KablamaTurretConstants.STATUS_SIGNAL.refresh().getValue()); + inputs.motorPositionDegrees = getPositionDegrees(); } @Override - protected void setMotorVoltage(double voltage) { - motor.setControl(voltageRequest.withOutput(voltage)); + protected void stop() { + motor.stopMotor(); } @Override - protected void stop() { - motor.stopMotor(); + protected void calculateMotorOutput(Pose2d robotPose) { + double targetAngleRadians = calculateTargetAngle(robotPose); + double targetAngleAfterLimitCheck = limitCheck(Units.radiansToDegrees(targetAngleRadians)); + double error = calculateError(targetAngleAfterLimitCheck); + double output = KablamaTurretConstants.PID_CONTROLLER.calculate(error); + setMotorVoltage(output); + } + + private double calculateTargetAngle(Pose2d robotPose) { + double robotX = robotPose.getX(); + double robotY = robotPose.getY(); + double robotHeading = robotPose.getRotation().getRadians(); + double differenceX = hubPose.getX() - robotX; + double differenceY = hubPose.getY() - robotY; + double theta = Math.atan2(differenceY, differenceX); + double targetAngle = theta - robotHeading; + return targetAngle; + } + + private double limitCheck(double targetAngleDegrees) { + if (targetAngleDegrees > 200) { + targetAngleDegrees -= 360; + } else if (targetAngleDegrees < -200) { + targetAngleDegrees += 360; + } + return targetAngleDegrees; + } + + private double calculateError(double targetAngleDegrees) { + double error = targetAngleDegrees - getPositionDegrees(); + return error; + } + + private double getPositionDegrees() { + return Units.rotationsToDegrees(KablamaTurretConstants.STATUS_SIGNAL.refresh().getValue()); + } + + private void setMotorVoltage(double voltage) { + motor.setControl(voltageRequest.withOutput(voltage)); } } From 2f3d308bfe4e25c0293e33a8960ff86a96bf33cd Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Mon, 11 Dec 2023 21:58:45 +0200 Subject: [PATCH 188/207] corrected turret code logic --- .../frc/trigon/robot/subsystems/arm/Arm.java | 6 ++- .../robot/subsystems/arm/ArmConstants.java | 14 ++++--- .../simulationarm/SimulationArmConstants.java | 2 +- .../robot/subsystems/turret/Turret.java | 33 +++++++++++++-- .../subsystems/turret/TurretCommands.java | 3 +- .../subsystems/turret/TurretConstants.java | 8 ++++ .../robot/subsystems/turret/TurretIO.java | 5 +-- .../kablamaturret/KablamaTurretConstants.java | 19 +++------ .../turret/kablamaturret/KablamaTurretIO.java | 41 +++---------------- 9 files changed, 63 insertions(+), 68 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 619a6be70..8b04c3aed 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -5,6 +5,7 @@ import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.trigon.robot.utilities.Conversions; +import org.littletonrobotics.junction.AutoLogOutput; import org.littletonrobotics.junction.Logger; public class Arm extends SubsystemBase { @@ -33,11 +34,11 @@ public void periodic() { } boolean atAngle(Rotation2d targetAngle) { - return Math.abs(armInputs.anglePositionDegrees - targetAngle.getDegrees()) <= ArmConstants.ANGLE_TOLERANCE; + return Math.abs(armInputs.anglePositionDegrees - targetAngle.getDegrees()) <= ArmConstants.ANGLE_TOLERANCE_DEGREES; } boolean atTargetElevatorPosition(double targetElevatorPositionMeters) { - return Math.abs(armInputs.elevatorPositionMeters - targetElevatorPositionMeters) <= ArmConstants.ELEVATOR_TOLERANCE; + return Math.abs(armInputs.elevatorPositionMeters - targetElevatorPositionMeters) <= ArmConstants.ELEVATOR_TOLERANCE_METERS; } boolean isElevatorOpening(double targetElevatorPositionMeters) { @@ -94,6 +95,7 @@ private double getElevatorMotorProfileTime() { return Timer.getFPGATimestamp() - lastElevatorMotorProfileGenerationTime; } + @AutoLogOutput(key = "Arm/ArmMechanism") private void updateMechanism() { ArmConstants.ARM_LIGAMENT.setLength(armInputs.elevatorPositionMeters + ArmConstants.RETRACTED_ARM_LENGTH_METERS); ArmConstants.ARM_LIGAMENT.setAngle(armInputs.anglePositionDegrees); diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index d572f1934..389fc9d06 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -34,19 +34,21 @@ public class ArmConstants { private static final double MECHANISM_LINE_WIDTH = 10; static final Mechanism2d ARM_MECHANISM = new Mechanism2d(ARM_MECHANISM_WIDTH, ARM_MECHANISM_HEIGHT); private static final MechanismRoot2d - ARM_ROOT = ARM_MECHANISM.getRoot("ArmRoot", ARM_ROOT_X, ARM_ROOT_Y), + ZArmRoot = ARM_MECHANISM.getRoot("ArmRoot", ARM_ROOT_X, ARM_ROOT_Y), TARGET_POSITION_ROOT = ARM_MECHANISM.getRoot("TargetPositionRoot", ARM_ROOT_X, ARM_ROOT_Y); static final MechanismLigament2d - ARM_LIGAMENT = ARM_ROOT.append(new MechanismLigament2d("ArmLigament", ARM_LIGAMENT_LENGTH, ARM_LIGAMENT_ANGLE, MECHANISM_LINE_WIDTH, new Color8Bit(Color.kBlue))), + ARM_LIGAMENT = ZArmRoot.append(new MechanismLigament2d("ArmLigament", ARM_LIGAMENT_LENGTH, ARM_LIGAMENT_ANGLE, MECHANISM_LINE_WIDTH, new Color8Bit(Color.kBlue))), TARGET_POSITION_LIGAMENT = TARGET_POSITION_ROOT.append(new MechanismLigament2d("TargetPositionLigament", ARM_LIGAMENT_LENGTH, ARM_LIGAMENT_ANGLE, MECHANISM_LINE_WIDTH, new Color8Bit(Color.kGray))); static final double - ANGLE_TOLERANCE = 1, - ELEVATOR_TOLERANCE = 1; + ANGLE_TOLERANCE_DEGREES = 1, + ELEVATOR_TOLERANCE_METERS = 1; public static final double RETRACTED_ARM_LENGTH_METERS = 0.64; public enum ArmState { - FIRST_STATE(Rotation2d.fromDegrees(100), 7), - SECOND_STATE(Rotation2d.fromDegrees(70), 5); + DEFAULT_STATE(Rotation2d.fromDegrees(50), 0.9), + CONE_COLLECTION(Rotation2d.fromDegrees(15), 1), + HIGH_CONE(Rotation2d.fromDegrees(85), 1.6), + LOW_CONE(Rotation2d.fromDegrees(25), 0.4); final Rotation2d angle; final double elevatorPositionMeters; diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmConstants.java index e9e6e2a16..b1d4f7a3d 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/simulationarm/SimulationArmConstants.java @@ -53,7 +53,7 @@ public class SimulationArmConstants { ANGLE_P = 1.5, ANGLE_I = 0, ANGLE_D = 0, - ELEVATOR_P = 5, + ELEVATOR_P = 120, ELEVATOR_I = 0, ELEVATOR_D = 0; static final PIDController diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java b/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java index f25d81523..52549f1a9 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java @@ -1,6 +1,8 @@ package frc.trigon.robot.subsystems.turret; import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj2.command.SubsystemBase; import org.littletonrobotics.junction.Logger; @@ -8,7 +10,7 @@ public class Turret extends SubsystemBase { private final static Turret INSTANCE = new Turret(); private final TurretIO turretIO = TurretIO.generateIO(); private final TurretInputsAutoLogged turretInputs = new TurretInputsAutoLogged(); - private final Pose2d hubPose = TurretConstants.HUB_POSE; + private final Translation2d hubPose = TurretConstants.HUB_POSE; public static Turret getInstance() { return INSTANCE; @@ -23,8 +25,33 @@ public void periodic() { Logger.processInputs("Turret", turretInputs); } - void calculateMotorOutput(Pose2d robotPose) { - turretIO.calculateMotorOutput(robotPose); + public void calculateMotorVoltage(Pose2d robotPose) { + double targetAngleRadians = calculateTargetAngle(robotPose); + double targetAngleAfterLimitCheck = spinLimitCheck(Units.radiansToDegrees(targetAngleRadians)); + double error = calculateError(targetAngleAfterLimitCheck); + turretIO.calculateMotorVoltage(error); + } + + private double calculateTargetAngle(Pose2d robotPose) { + double robotHeading = robotPose.getRotation().getRadians(); + Translation2d difference = hubPose.minus(robotPose.getTranslation()); + double theta = Math.atan2(difference.getY(), difference.getX()); + double targetAngle = theta - robotHeading; + return targetAngle; + } + + private double spinLimitCheck(double targetAngleDegrees) { + if (targetAngleDegrees > TurretConstants.DEGREES_LIMIT) { + targetAngleDegrees -= 360; + } else if (targetAngleDegrees < -TurretConstants.DEGREES_LIMIT) { + targetAngleDegrees += 360; + } + return targetAngleDegrees; + } + + private double calculateError(double targetAngleDegrees) { + double error = targetAngleDegrees - turretInputs.motorPositionDegrees; + return error; } void stop() { diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/TurretCommands.java b/src/main/java/frc/trigon/robot/subsystems/turret/TurretCommands.java index 4e16afdd2..63ea69fcf 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/TurretCommands.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/TurretCommands.java @@ -9,12 +9,11 @@ public class TurretCommands { private static Turret TURRET = Turret.getInstance(); - public static Command getSetMotorOutputCommand(Supplier robotPose) { return new FunctionalCommand( () -> { }, - () -> TURRET.calculateMotorOutput(robotPose.get()), + () -> TURRET.calculateMotorVoltage(robotPose.get()), (interrupted) -> TURRET.stop(), () -> false, TURRET diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java b/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java index 0bf3f7bb5..7a34b1eba 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java @@ -1,6 +1,14 @@ package frc.trigon.robot.subsystems.turret; +import edu.wpi.first.math.geometry.Translation2d; + public class TurretConstants { + + private static final double + HUB_X = 8.248, + HUB_Y = 4.176; + static final Translation2d HUB_POSE = new Translation2d(HUB_X, HUB_Y); + static final double DEGREES_LIMIT = 200; static final double GEAR_RATIO = 100; static final double MOMENT_OF_INERTIA = 0.003; } diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/TurretIO.java b/src/main/java/frc/trigon/robot/subsystems/turret/TurretIO.java index 5538f30a6..5a41271cd 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/TurretIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/TurretIO.java @@ -1,12 +1,10 @@ package frc.trigon.robot.subsystems.turret; -import edu.wpi.first.math.geometry.Pose2d; import frc.trigon.robot.constants.RobotConstants; import frc.trigon.robot.subsystems.turret.kablamaturret.KablamaTurretIO; import org.littletonrobotics.junction.AutoLog; public class TurretIO { - static TurretIO generateIO() { if (RobotConstants.IS_REPLAY) return new TurretIO(); @@ -19,14 +17,13 @@ static TurretIO generateIO() { protected void updateInputs(TurretInputsAutoLogged inputs) { } - protected void calculateMotorOutput(Pose2d robotPose) { + protected void calculateMotorVoltage(double voltage) { } protected void stop() { } @AutoLog - protected static class TurretInputs { public double motorPositionDegrees = 0; } diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretConstants.java b/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretConstants.java index a49f503bb..3a1c47715 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretConstants.java @@ -9,10 +9,6 @@ import com.ctre.phoenix6.signals.InvertedValue; import com.ctre.phoenix6.signals.NeutralModeValue; import com.ctre.phoenix6.signals.SensorDirectionValue; -import edu.wpi.first.math.controller.PIDController; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Translation2d; public class KablamaTurretConstants { private static final int @@ -23,23 +19,15 @@ public class KablamaTurretConstants { private static final AbsoluteSensorRangeValue ENCODER_RANGE = AbsoluteSensorRangeValue.Signed_PlusMinusHalf; private static final SensorDirectionValue ENCODER_DIRECTION = SensorDirectionValue.CounterClockwise_Positive; private static final double ENCODER_OFFSET = 0; - private static final double - HUB_X = 8.2296, - HUB_Y = 0.5121; - - private static final Translation2d HUB_POSITION = new Translation2d(HUB_X, HUB_Y); - private static final Rotation2d HUB_ROTATION = Rotation2d.fromRotations(0); private static final CANcoder ENCODER = new CANcoder(ENCODER_ID); static final TalonFX MOTOR = new TalonFX(MOTOR_ID); static final boolean FOC_ENABLED = true; - static final StatusSignal STATUS_SIGNAL = ENCODER.getPosition(); - static final Pose2d HUB_POSE = new Pose2d(HUB_POSITION, HUB_ROTATION); + static final StatusSignal TURRET_POSITION_SIGNAL = ENCODER.getPosition(); private static final double P = 1, I = 0, D = 0; - static final PIDController PID_CONTROLLER = new PIDController(P, I, D); static { configureMotor(); @@ -52,6 +40,9 @@ private static void configureMotor() { config.MotorOutput.NeutralMode = NEUTRAL_MODE_VALUE; config.Audio.BeepOnConfig = false; config.Audio.BeepOnBoot = false; + config.Slot0.kP = P; + config.Slot0.kI = I; + config.Slot0.kD = D; MOTOR.getConfigurator().apply(config); } @@ -62,7 +53,7 @@ private static void configureEncoder() { config.MagnetSensor.MagnetOffset = ENCODER_OFFSET; ENCODER.getConfigurator().apply(config); - STATUS_SIGNAL.setUpdateFrequency(100); + TURRET_POSITION_SIGNAL.setUpdateFrequency(100); ENCODER.optimizeBusUtilization(); } } diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java b/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java index 4ca45b7f1..0eabef751 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java @@ -2,7 +2,6 @@ import com.ctre.phoenix6.controls.VoltageOut; import com.ctre.phoenix6.hardware.TalonFX; -import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.util.Units; import frc.trigon.robot.subsystems.turret.TurretIO; import frc.trigon.robot.subsystems.turret.TurretInputsAutoLogged; @@ -10,7 +9,6 @@ public class KablamaTurretIO extends TurretIO { private final TalonFX motor = KablamaTurretConstants.MOTOR; private final VoltageOut voltageRequest = new VoltageOut(0, KablamaTurretConstants.FOC_ENABLED, false); - private final Pose2d hubPose = KablamaTurretConstants.HUB_POSE; @Override protected void updateInputs(TurretInputsAutoLogged inputs) { @@ -18,46 +16,17 @@ protected void updateInputs(TurretInputsAutoLogged inputs) { } @Override - protected void stop() { - motor.stopMotor(); + protected void calculateMotorVoltage(double voltage) { + setMotorVoltage(voltage); } @Override - protected void calculateMotorOutput(Pose2d robotPose) { - double targetAngleRadians = calculateTargetAngle(robotPose); - double targetAngleAfterLimitCheck = limitCheck(Units.radiansToDegrees(targetAngleRadians)); - double error = calculateError(targetAngleAfterLimitCheck); - double output = KablamaTurretConstants.PID_CONTROLLER.calculate(error); - setMotorVoltage(output); - } - - private double calculateTargetAngle(Pose2d robotPose) { - double robotX = robotPose.getX(); - double robotY = robotPose.getY(); - double robotHeading = robotPose.getRotation().getRadians(); - double differenceX = hubPose.getX() - robotX; - double differenceY = hubPose.getY() - robotY; - double theta = Math.atan2(differenceY, differenceX); - double targetAngle = theta - robotHeading; - return targetAngle; - } - - private double limitCheck(double targetAngleDegrees) { - if (targetAngleDegrees > 200) { - targetAngleDegrees -= 360; - } else if (targetAngleDegrees < -200) { - targetAngleDegrees += 360; - } - return targetAngleDegrees; - } - - private double calculateError(double targetAngleDegrees) { - double error = targetAngleDegrees - getPositionDegrees(); - return error; + protected void stop() { + motor.stopMotor(); } private double getPositionDegrees() { - return Units.rotationsToDegrees(KablamaTurretConstants.STATUS_SIGNAL.refresh().getValue()); + return Units.rotationsToDegrees(KablamaTurretConstants.TURRET_POSITION_SIGNAL.refresh().getValue()); } private void setMotorVoltage(double voltage) { From 641404446f08afb26778edc31dfb427d244edc43 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Wed, 13 Dec 2023 13:00:59 +0200 Subject: [PATCH 189/207] added pid usage --- .../turret/kablamaturret/KablamaTurretIO.java | 10 +++------- 1 file changed, 3 insertions(+), 7 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java b/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java index 0eabef751..156feacc2 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java @@ -1,6 +1,6 @@ package frc.trigon.robot.subsystems.turret.kablamaturret; -import com.ctre.phoenix6.controls.VoltageOut; +import com.ctre.phoenix6.controls.PositionVoltage; import com.ctre.phoenix6.hardware.TalonFX; import edu.wpi.first.math.util.Units; import frc.trigon.robot.subsystems.turret.TurretIO; @@ -8,7 +8,7 @@ public class KablamaTurretIO extends TurretIO { private final TalonFX motor = KablamaTurretConstants.MOTOR; - private final VoltageOut voltageRequest = new VoltageOut(0, KablamaTurretConstants.FOC_ENABLED, false); + private final PositionVoltage voltageRequest = new PositionVoltage(0); @Override protected void updateInputs(TurretInputsAutoLogged inputs) { @@ -17,7 +17,7 @@ protected void updateInputs(TurretInputsAutoLogged inputs) { @Override protected void calculateMotorVoltage(double voltage) { - setMotorVoltage(voltage); + motor.setControl(voltageRequest.withPosition(voltage)); } @Override @@ -28,8 +28,4 @@ protected void stop() { private double getPositionDegrees() { return Units.rotationsToDegrees(KablamaTurretConstants.TURRET_POSITION_SIGNAL.refresh().getValue()); } - - private void setMotorVoltage(double voltage) { - motor.setControl(voltageRequest.withOutput(voltage)); - } } From 71edd73b733744a0e434cf23d4cde98e503f6b28 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Wed, 13 Dec 2023 13:49:45 +0200 Subject: [PATCH 190/207] fixed zArmRoot --- src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index 389fc9d06..0a9c5baf4 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -34,7 +34,7 @@ public class ArmConstants { private static final double MECHANISM_LINE_WIDTH = 10; static final Mechanism2d ARM_MECHANISM = new Mechanism2d(ARM_MECHANISM_WIDTH, ARM_MECHANISM_HEIGHT); private static final MechanismRoot2d - ZArmRoot = ARM_MECHANISM.getRoot("ArmRoot", ARM_ROOT_X, ARM_ROOT_Y), + ZArmRoot = ARM_MECHANISM.getRoot("ZArmRoot", ARM_ROOT_X, ARM_ROOT_Y), TARGET_POSITION_ROOT = ARM_MECHANISM.getRoot("TargetPositionRoot", ARM_ROOT_X, ARM_ROOT_Y); static final MechanismLigament2d ARM_LIGAMENT = ZArmRoot.append(new MechanismLigament2d("ArmLigament", ARM_LIGAMENT_LENGTH, ARM_LIGAMENT_ANGLE, MECHANISM_LINE_WIDTH, new Color8Bit(Color.kBlue))), From c657737ebf2e86d614a13b7d3f320df7a9bd9144 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 14 Dec 2023 00:15:01 +0200 Subject: [PATCH 191/207] fixed angle logic --- .../java/frc/trigon/robot/subsystems/turret/Turret.java | 7 +++---- .../trigon/robot/subsystems/turret/TurretConstants.java | 2 +- .../turret/simulationturret/SimulationTurretConstants.java | 7 +++++++ .../turret/simulationturret/SimulationTurretIO.java | 4 ++++ 4 files changed, 15 insertions(+), 5 deletions(-) create mode 100644 src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretConstants.java create mode 100644 src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretIO.java diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java b/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java index 52549f1a9..cb70acf06 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java @@ -10,7 +10,7 @@ public class Turret extends SubsystemBase { private final static Turret INSTANCE = new Turret(); private final TurretIO turretIO = TurretIO.generateIO(); private final TurretInputsAutoLogged turretInputs = new TurretInputsAutoLogged(); - private final Translation2d hubPose = TurretConstants.HUB_POSE; + private final Translation2d hubPosition = TurretConstants.HUB_POSITION; public static Turret getInstance() { return INSTANCE; @@ -33,10 +33,9 @@ public void calculateMotorVoltage(Pose2d robotPose) { } private double calculateTargetAngle(Pose2d robotPose) { - double robotHeading = robotPose.getRotation().getRadians(); - Translation2d difference = hubPose.minus(robotPose.getTranslation()); + Translation2d difference = hubPosition.minus(robotPose.getTranslation()); double theta = Math.atan2(difference.getY(), difference.getX()); - double targetAngle = theta - robotHeading; + double targetAngle = theta - Units.degreesToRadians(turretInputs.motorPositionDegrees); return targetAngle; } diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java b/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java index 7a34b1eba..c481f3d97 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java @@ -7,7 +7,7 @@ public class TurretConstants { private static final double HUB_X = 8.248, HUB_Y = 4.176; - static final Translation2d HUB_POSE = new Translation2d(HUB_X, HUB_Y); + static final Translation2d HUB_POSITION = new Translation2d(HUB_X, HUB_Y); static final double DEGREES_LIMIT = 200; static final double GEAR_RATIO = 100; static final double MOMENT_OF_INERTIA = 0.003; diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretConstants.java b/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretConstants.java new file mode 100644 index 000000000..a1b73b366 --- /dev/null +++ b/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretConstants.java @@ -0,0 +1,7 @@ +package frc.trigon.robot.subsystems.turret.simulationturret; + +import frc.trigon.robot.subsystems.turret.TurretIO; + +public class SimulationTurretConstants extends TurretIO { + +} diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretIO.java b/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretIO.java new file mode 100644 index 000000000..227d5ac46 --- /dev/null +++ b/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretIO.java @@ -0,0 +1,4 @@ +package frc.trigon.robot.subsystems.turret.simulationturret; + +public class SimulationTurretIO { +} From a029de631f16349977def4a8b3ee2c1a3e96cc97 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sun, 17 Dec 2023 15:35:41 +0200 Subject: [PATCH 192/207] corrected mechanism, and turret names --- .../frc/trigon/robot/subsystems/arm/Arm.java | 4 -- .../robot/subsystems/arm/ArmConstants.java | 17 ++++---- .../robot/subsystems/turret/Turret.java | 40 +++++++++---------- .../subsystems/turret/TurretCommands.java | 4 +- .../subsystems/turret/TurretConstants.java | 1 - .../robot/subsystems/turret/TurretIO.java | 4 +- .../kablamaturret/KablamaTurretConstants.java | 8 ++-- .../turret/kablamaturret/KablamaTurretIO.java | 4 +- .../simulationturret/SimulationTurretIO.java | 4 +- 9 files changed, 41 insertions(+), 45 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index 8b04c3aed..bf908373f 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -5,7 +5,6 @@ import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.trigon.robot.utilities.Conversions; -import org.littletonrobotics.junction.AutoLogOutput; import org.littletonrobotics.junction.Logger; public class Arm extends SubsystemBase { @@ -94,11 +93,8 @@ private double getAngleMotorProfileTime() { private double getElevatorMotorProfileTime() { return Timer.getFPGATimestamp() - lastElevatorMotorProfileGenerationTime; } - - @AutoLogOutput(key = "Arm/ArmMechanism") private void updateMechanism() { ArmConstants.ARM_LIGAMENT.setLength(armInputs.elevatorPositionMeters + ArmConstants.RETRACTED_ARM_LENGTH_METERS); ArmConstants.ARM_LIGAMENT.setAngle(armInputs.anglePositionDegrees); - Logger.recordOutput("ArmMechanism", ArmConstants.ARM_MECHANISM); } } \ No newline at end of file diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index 0a9c5baf4..8ed679852 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -7,8 +7,11 @@ import edu.wpi.first.wpilibj.smartdashboard.MechanismRoot2d; import edu.wpi.first.wpilibj.util.Color; import edu.wpi.first.wpilibj.util.Color8Bit; +import org.littletonrobotics.junction.AutoLogOutput; public class ArmConstants { + + public static final double RETRACTED_ARM_LENGTH_METERS = 0.64; private static final double MAX_ANGLE_VELOCITY = 150, MAX_ANGLE_ACCELERATION = 190, @@ -28,21 +31,19 @@ public class ArmConstants { private static final double ARM_ROOT_X = 1, ARM_ROOT_Y = 1; - private static final double - ARM_LIGAMENT_LENGTH = 0, - ARM_LIGAMENT_ANGLE = 0; private static final double MECHANISM_LINE_WIDTH = 10; + + @AutoLogOutput(key = "Arm/ArmMechanism") static final Mechanism2d ARM_MECHANISM = new Mechanism2d(ARM_MECHANISM_WIDTH, ARM_MECHANISM_HEIGHT); private static final MechanismRoot2d - ZArmRoot = ARM_MECHANISM.getRoot("ZArmRoot", ARM_ROOT_X, ARM_ROOT_Y), + ARM_ROOT = ARM_MECHANISM.getRoot("ARM_ROOT", ARM_ROOT_X, ARM_ROOT_Y), TARGET_POSITION_ROOT = ARM_MECHANISM.getRoot("TargetPositionRoot", ARM_ROOT_X, ARM_ROOT_Y); static final MechanismLigament2d - ARM_LIGAMENT = ZArmRoot.append(new MechanismLigament2d("ArmLigament", ARM_LIGAMENT_LENGTH, ARM_LIGAMENT_ANGLE, MECHANISM_LINE_WIDTH, new Color8Bit(Color.kBlue))), - TARGET_POSITION_LIGAMENT = TARGET_POSITION_ROOT.append(new MechanismLigament2d("TargetPositionLigament", ARM_LIGAMENT_LENGTH, ARM_LIGAMENT_ANGLE, MECHANISM_LINE_WIDTH, new Color8Bit(Color.kGray))); + ARM_LIGAMENT = ARM_ROOT.append(new MechanismLigament2d("ArmLigament", 0, 0, MECHANISM_LINE_WIDTH, new Color8Bit(Color.kBlue))), + TARGET_POSITION_LIGAMENT = TARGET_POSITION_ROOT.append(new MechanismLigament2d("TargetPositionLigament", 0, 0, MECHANISM_LINE_WIDTH, new Color8Bit(Color.kGray))); static final double ANGLE_TOLERANCE_DEGREES = 1, - ELEVATOR_TOLERANCE_METERS = 1; - public static final double RETRACTED_ARM_LENGTH_METERS = 0.64; + ELEVATOR_TOLERANCE_METERS = 0.01; public enum ArmState { DEFAULT_STATE(Rotation2d.fromDegrees(50), 0.9), diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java b/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java index cb70acf06..04f7f91c1 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java @@ -1,6 +1,7 @@ package frc.trigon.robot.subsystems.turret; import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj2.command.SubsystemBase; @@ -10,7 +11,6 @@ public class Turret extends SubsystemBase { private final static Turret INSTANCE = new Turret(); private final TurretIO turretIO = TurretIO.generateIO(); private final TurretInputsAutoLogged turretInputs = new TurretInputsAutoLogged(); - private final Translation2d hubPosition = TurretConstants.HUB_POSITION; public static Turret getInstance() { return INSTANCE; @@ -25,36 +25,34 @@ public void periodic() { Logger.processInputs("Turret", turretInputs); } - public void calculateMotorVoltage(Pose2d robotPose) { - double targetAngleRadians = calculateTargetAngle(robotPose); - double targetAngleAfterLimitCheck = spinLimitCheck(Units.radiansToDegrees(targetAngleRadians)); - double error = calculateError(targetAngleAfterLimitCheck); - turretIO.calculateMotorVoltage(error); + void setMotorVoltage(Pose2d robotPose) { + Rotation2d targetAngle = calculateTargetAngle(robotPose); + Rotation2d targetAngleAfterLimitCheck = angleLimitCorrection(targetAngle.getDegrees()); + Rotation2d error = calculateError(targetAngleAfterLimitCheck.getDegrees()); + turretIO.calculateMotorVoltage(error.getDegrees()); } - private double calculateTargetAngle(Pose2d robotPose) { - Translation2d difference = hubPosition.minus(robotPose.getTranslation()); + void stop() { + turretIO.stop(); + } + + private Rotation2d calculateTargetAngle(Pose2d robotPose) { + Translation2d difference = TurretConstants.HUB_POSITION.minus(robotPose.getTranslation()); double theta = Math.atan2(difference.getY(), difference.getX()); double targetAngle = theta - Units.degreesToRadians(turretInputs.motorPositionDegrees); - return targetAngle; + return Rotation2d.fromRadians(targetAngle); } - private double spinLimitCheck(double targetAngleDegrees) { - if (targetAngleDegrees > TurretConstants.DEGREES_LIMIT) { + private Rotation2d angleLimitCorrection(double targetAngleDegrees) { + if (targetAngleDegrees > TurretConstants.DEGREES_LIMIT) targetAngleDegrees -= 360; - } else if (targetAngleDegrees < -TurretConstants.DEGREES_LIMIT) { + else if (targetAngleDegrees < -TurretConstants.DEGREES_LIMIT) targetAngleDegrees += 360; - } - return targetAngleDegrees; - } - private double calculateError(double targetAngleDegrees) { - double error = targetAngleDegrees - turretInputs.motorPositionDegrees; - return error; + return Rotation2d.fromDegrees(targetAngleDegrees); } - void stop() { - turretIO.stop(); + private Rotation2d calculateError(double targetAngleDegrees) { + return Rotation2d.fromDegrees(targetAngleDegrees - turretInputs.motorPositionDegrees); } - } diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/TurretCommands.java b/src/main/java/frc/trigon/robot/subsystems/turret/TurretCommands.java index 63ea69fcf..a19960799 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/TurretCommands.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/TurretCommands.java @@ -9,11 +9,11 @@ public class TurretCommands { private static Turret TURRET = Turret.getInstance(); - public static Command getSetMotorOutputCommand(Supplier robotPose) { + public static Command getSetMotorVoltageCommand(Supplier robotPose) { return new FunctionalCommand( () -> { }, - () -> TURRET.calculateMotorVoltage(robotPose.get()), + () -> TURRET.setMotorVoltage(robotPose.get()), (interrupted) -> TURRET.stop(), () -> false, TURRET diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java b/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java index c481f3d97..bd68c0f3c 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java @@ -3,7 +3,6 @@ import edu.wpi.first.math.geometry.Translation2d; public class TurretConstants { - private static final double HUB_X = 8.248, HUB_Y = 4.176; diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/TurretIO.java b/src/main/java/frc/trigon/robot/subsystems/turret/TurretIO.java index 5a41271cd..922cad3ac 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/TurretIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/TurretIO.java @@ -2,6 +2,7 @@ import frc.trigon.robot.constants.RobotConstants; import frc.trigon.robot.subsystems.turret.kablamaturret.KablamaTurretIO; +import frc.trigon.robot.subsystems.turret.simulationturret.SimulationTurretIO; import org.littletonrobotics.junction.AutoLog; public class TurretIO { @@ -10,8 +11,7 @@ static TurretIO generateIO() { return new TurretIO(); if (RobotConstants.ROBOT_TYPE == RobotConstants.RobotType.KABLAMA) return new KablamaTurretIO(); - // return new SimulationTurretIO; - return new TurretIO(); + return new SimulationTurretIO(); } protected void updateInputs(TurretInputsAutoLogged inputs) { diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretConstants.java b/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretConstants.java index 3a1c47715..6a22e4c68 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretConstants.java @@ -11,6 +11,7 @@ import com.ctre.phoenix6.signals.SensorDirectionValue; public class KablamaTurretConstants { + static final boolean FOC_ENABLED = true; private static final int MOTOR_ID = 1, ENCODER_ID = 2; @@ -19,15 +20,14 @@ public class KablamaTurretConstants { private static final AbsoluteSensorRangeValue ENCODER_RANGE = AbsoluteSensorRangeValue.Signed_PlusMinusHalf; private static final SensorDirectionValue ENCODER_DIRECTION = SensorDirectionValue.CounterClockwise_Positive; private static final double ENCODER_OFFSET = 0; - private static final CANcoder ENCODER = new CANcoder(ENCODER_ID); - static final TalonFX MOTOR = new TalonFX(MOTOR_ID); - static final boolean FOC_ENABLED = true; - static final StatusSignal TURRET_POSITION_SIGNAL = ENCODER.getPosition(); private static final double P = 1, I = 0, D = 0; + private static final CANcoder ENCODER = new CANcoder(ENCODER_ID); + static final TalonFX MOTOR = new TalonFX(MOTOR_ID); + static final StatusSignal TURRET_POSITION_SIGNAL = ENCODER.getPosition(); static { configureMotor(); diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java b/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java index 156feacc2..00b2cfa6d 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java @@ -16,8 +16,8 @@ protected void updateInputs(TurretInputsAutoLogged inputs) { } @Override - protected void calculateMotorVoltage(double voltage) { - motor.setControl(voltageRequest.withPosition(voltage)); + protected void calculateMotorVoltage(double targetPosition) { + motor.setControl(voltageRequest.withPosition(targetPosition)); } @Override diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretIO.java b/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretIO.java index 227d5ac46..9bea9a55e 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretIO.java @@ -1,4 +1,6 @@ package frc.trigon.robot.subsystems.turret.simulationturret; -public class SimulationTurretIO { +import frc.trigon.robot.subsystems.turret.TurretIO; + +public class SimulationTurretIO extends TurretIO { } From b3d2c41d05a12862007426c8436c8ded4a22b617 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sun, 17 Dec 2023 16:31:08 +0200 Subject: [PATCH 193/207] added simulation --- .../SimulationTurretConstants.java | 21 ++++++++++++++++++- .../simulationturret/SimulationTurretIO.java | 19 +++++++++++++++++ 2 files changed, 39 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretConstants.java b/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretConstants.java index a1b73b366..a18afacbe 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretConstants.java @@ -1,7 +1,26 @@ package frc.trigon.robot.subsystems.turret.simulationturret; +import edu.wpi.first.math.controller.PIDController; +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.wpilibj.simulation.DCMotorSim; import frc.trigon.robot.subsystems.turret.TurretIO; public class SimulationTurretConstants extends TurretIO { - + private static final int MOTOR_AMOUNT = 1; + private static final DCMotor MOTOR_GEARBOX = DCMotor.getFalcon500Foc(MOTOR_AMOUNT); + private static final double MOMENT_OF_INERTIA = 0.003; + private static final double GEAR_RATIO = 12.8; + + static final DCMotorSim MOTOR = new DCMotorSim( + MOTOR_GEARBOX, + GEAR_RATIO, + MOMENT_OF_INERTIA + ); + + private static final double + P = 1, + I = 0, + D = 0; + + static final PIDController PID_CONTROLLER = new PIDController(P, I, D); } diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretIO.java b/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretIO.java index 9bea9a55e..a3c442a5d 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretIO.java @@ -1,6 +1,25 @@ package frc.trigon.robot.subsystems.turret.simulationturret; +import edu.wpi.first.math.util.Units; +import edu.wpi.first.wpilibj.simulation.DCMotorSim; import frc.trigon.robot.subsystems.turret.TurretIO; +import frc.trigon.robot.subsystems.turret.TurretInputsAutoLogged; public class SimulationTurretIO extends TurretIO { + private final DCMotorSim motor = SimulationTurretConstants.MOTOR; + + @Override + protected void updateInputs(TurretInputsAutoLogged inputs) { + inputs.motorPositionDegrees = Units.radiansToDegrees(motor.getAngularPositionRad()); + } + + @Override + protected void calculateMotorVoltage(double voltage) { + motor.setInputVoltage(SimulationTurretConstants.PID_CONTROLLER.calculate(voltage)); + } + + @Override + protected void stop() { + motor.setInputVoltage(0); + } } From 4a04d4c7826ee3371de3c91a20b1df428cdcd012 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Mon, 18 Dec 2023 15:11:35 +0200 Subject: [PATCH 194/207] removed redundent constants --- .../frc/trigon/robot/subsystems/turret/TurretConstants.java | 2 -- 1 file changed, 2 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java b/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java index bd68c0f3c..4c4dc9469 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java @@ -8,6 +8,4 @@ public class TurretConstants { HUB_Y = 4.176; static final Translation2d HUB_POSITION = new Translation2d(HUB_X, HUB_Y); static final double DEGREES_LIMIT = 200; - static final double GEAR_RATIO = 100; - static final double MOMENT_OF_INERTIA = 0.003; } From 3c63367d9144843c6ac74527ca56f12b2ca47a75 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Mon, 18 Dec 2023 15:23:35 +0200 Subject: [PATCH 195/207] corrected logic of calculateTargetAngle --- src/main/java/frc/trigon/robot/subsystems/turret/Turret.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java b/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java index 04f7f91c1..ff276ecaa 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java @@ -39,7 +39,7 @@ void stop() { private Rotation2d calculateTargetAngle(Pose2d robotPose) { Translation2d difference = TurretConstants.HUB_POSITION.minus(robotPose.getTranslation()); double theta = Math.atan2(difference.getY(), difference.getX()); - double targetAngle = theta - Units.degreesToRadians(turretInputs.motorPositionDegrees); + double targetAngle = theta - Units.degreesToRadians(turretInputs.motorPositionDegrees) - robotPose.getRotation().getRadians(); return Rotation2d.fromRadians(targetAngle); } From 6c62c8241fc35baebd3d09b80d9fe8d4a134700c Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Mon, 18 Dec 2023 17:04:46 +0200 Subject: [PATCH 196/207] corrected mechaism --- src/main/java/frc/trigon/robot/subsystems/arm/Arm.java | 1 + .../java/frc/trigon/robot/subsystems/arm/ArmConstants.java | 4 +--- 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java index bf908373f..3d45581e8 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/Arm.java @@ -96,5 +96,6 @@ private double getElevatorMotorProfileTime() { private void updateMechanism() { ArmConstants.ARM_LIGAMENT.setLength(armInputs.elevatorPositionMeters + ArmConstants.RETRACTED_ARM_LENGTH_METERS); ArmConstants.ARM_LIGAMENT.setAngle(armInputs.anglePositionDegrees); + Logger.recordOutput("ArmMechanism", ArmConstants.ARM_MECHANISM); } } \ No newline at end of file diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java index 8ed679852..a39858ee5 100644 --- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java @@ -7,7 +7,6 @@ import edu.wpi.first.wpilibj.smartdashboard.MechanismRoot2d; import edu.wpi.first.wpilibj.util.Color; import edu.wpi.first.wpilibj.util.Color8Bit; -import org.littletonrobotics.junction.AutoLogOutput; public class ArmConstants { @@ -33,10 +32,9 @@ public class ArmConstants { ARM_ROOT_Y = 1; private static final double MECHANISM_LINE_WIDTH = 10; - @AutoLogOutput(key = "Arm/ArmMechanism") static final Mechanism2d ARM_MECHANISM = new Mechanism2d(ARM_MECHANISM_WIDTH, ARM_MECHANISM_HEIGHT); private static final MechanismRoot2d - ARM_ROOT = ARM_MECHANISM.getRoot("ARM_ROOT", ARM_ROOT_X, ARM_ROOT_Y), + ARM_ROOT = ARM_MECHANISM.getRoot("Z_ARM_ROOT", ARM_ROOT_X, ARM_ROOT_Y), TARGET_POSITION_ROOT = ARM_MECHANISM.getRoot("TargetPositionRoot", ARM_ROOT_X, ARM_ROOT_Y); static final MechanismLigament2d ARM_LIGAMENT = ARM_ROOT.append(new MechanismLigament2d("ArmLigament", 0, 0, MECHANISM_LINE_WIDTH, new Color8Bit(Color.kBlue))), From 12c6e1a801b1d9e4d038c7362b11f8942437dbd6 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Mon, 18 Dec 2023 19:13:49 +0200 Subject: [PATCH 197/207] corrected names and tested --- .../robot/subsystems/turret/Turret.java | 23 +++++++++---------- .../subsystems/turret/TurretCommands.java | 6 ++--- .../robot/subsystems/turret/TurretIO.java | 3 ++- .../kablamaturret/KablamaTurretConstants.java | 1 - .../turret/kablamaturret/KablamaTurretIO.java | 12 +++++----- .../SimulationTurretConstants.java | 1 - .../simulationturret/SimulationTurretIO.java | 5 ++-- 7 files changed, 25 insertions(+), 26 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java b/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java index ff276ecaa..e2cbc1e53 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java @@ -25,11 +25,11 @@ public void periodic() { Logger.processInputs("Turret", turretInputs); } - void setMotorVoltage(Pose2d robotPose) { + void alignTurretToHub(Pose2d robotPose) { Rotation2d targetAngle = calculateTargetAngle(robotPose); - Rotation2d targetAngleAfterLimitCheck = angleLimitCorrection(targetAngle.getDegrees()); + Rotation2d targetAngleAfterLimitCheck = limitAngle(targetAngle); Rotation2d error = calculateError(targetAngleAfterLimitCheck.getDegrees()); - turretIO.calculateMotorVoltage(error.getDegrees()); + turretIO.setTargetAngle(error); } void stop() { @@ -38,18 +38,17 @@ void stop() { private Rotation2d calculateTargetAngle(Pose2d robotPose) { Translation2d difference = TurretConstants.HUB_POSITION.minus(robotPose.getTranslation()); - double theta = Math.atan2(difference.getY(), difference.getX()); - double targetAngle = theta - Units.degreesToRadians(turretInputs.motorPositionDegrees) - robotPose.getRotation().getRadians(); + double theta = Math.atan2(Math.abs(difference.getY()), Math.abs(difference.getX())); + double targetAngle = theta - Units.degreesToRadians(turretInputs.motorPositionDegrees); return Rotation2d.fromRadians(targetAngle); } - private Rotation2d angleLimitCorrection(double targetAngleDegrees) { - if (targetAngleDegrees > TurretConstants.DEGREES_LIMIT) - targetAngleDegrees -= 360; - else if (targetAngleDegrees < -TurretConstants.DEGREES_LIMIT) - targetAngleDegrees += 360; - - return Rotation2d.fromDegrees(targetAngleDegrees); + private Rotation2d limitAngle(Rotation2d targetAngle) { + if (targetAngle.getDegrees() > TurretConstants.DEGREES_LIMIT) + return Rotation2d.fromDegrees(targetAngle.getDegrees() - 360); + if (targetAngle.getDegrees() < -TurretConstants.DEGREES_LIMIT) + return Rotation2d.fromDegrees(targetAngle.getDegrees() + 360); + return targetAngle; } private Rotation2d calculateError(double targetAngleDegrees) { diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/TurretCommands.java b/src/main/java/frc/trigon/robot/subsystems/turret/TurretCommands.java index a19960799..08ea798fe 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/TurretCommands.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/TurretCommands.java @@ -7,13 +7,13 @@ import java.util.function.Supplier; public class TurretCommands { - private static Turret TURRET = Turret.getInstance(); + private static final Turret TURRET = Turret.getInstance(); - public static Command getSetMotorVoltageCommand(Supplier robotPose) { + public static Command getAlignTurretToHubCommand(Supplier robotPose) { return new FunctionalCommand( () -> { }, - () -> TURRET.setMotorVoltage(robotPose.get()), + () -> TURRET.alignTurretToHub(robotPose.get()), (interrupted) -> TURRET.stop(), () -> false, TURRET diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/TurretIO.java b/src/main/java/frc/trigon/robot/subsystems/turret/TurretIO.java index 922cad3ac..adee6f8a2 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/TurretIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/TurretIO.java @@ -1,5 +1,6 @@ package frc.trigon.robot.subsystems.turret; +import edu.wpi.first.math.geometry.Rotation2d; import frc.trigon.robot.constants.RobotConstants; import frc.trigon.robot.subsystems.turret.kablamaturret.KablamaTurretIO; import frc.trigon.robot.subsystems.turret.simulationturret.SimulationTurretIO; @@ -17,7 +18,7 @@ static TurretIO generateIO() { protected void updateInputs(TurretInputsAutoLogged inputs) { } - protected void calculateMotorVoltage(double voltage) { + protected void setTargetAngle(Rotation2d targetAngle) { } protected void stop() { diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretConstants.java b/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretConstants.java index 6a22e4c68..ad9fa0647 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretConstants.java @@ -20,7 +20,6 @@ public class KablamaTurretConstants { private static final AbsoluteSensorRangeValue ENCODER_RANGE = AbsoluteSensorRangeValue.Signed_PlusMinusHalf; private static final SensorDirectionValue ENCODER_DIRECTION = SensorDirectionValue.CounterClockwise_Positive; private static final double ENCODER_OFFSET = 0; - private static final double P = 1, I = 0, diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java b/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java index 00b2cfa6d..7f6b188a0 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java @@ -2,7 +2,7 @@ import com.ctre.phoenix6.controls.PositionVoltage; import com.ctre.phoenix6.hardware.TalonFX; -import edu.wpi.first.math.util.Units; +import edu.wpi.first.math.geometry.Rotation2d; import frc.trigon.robot.subsystems.turret.TurretIO; import frc.trigon.robot.subsystems.turret.TurretInputsAutoLogged; @@ -12,12 +12,12 @@ public class KablamaTurretIO extends TurretIO { @Override protected void updateInputs(TurretInputsAutoLogged inputs) { - inputs.motorPositionDegrees = getPositionDegrees(); + inputs.motorPositionDegrees = getPosition().getDegrees(); } @Override - protected void calculateMotorVoltage(double targetPosition) { - motor.setControl(voltageRequest.withPosition(targetPosition)); + protected void setTargetAngle(Rotation2d targetAngle) { + motor.setControl(voltageRequest.withPosition(targetAngle.getDegrees())); } @Override @@ -25,7 +25,7 @@ protected void stop() { motor.stopMotor(); } - private double getPositionDegrees() { - return Units.rotationsToDegrees(KablamaTurretConstants.TURRET_POSITION_SIGNAL.refresh().getValue()); + private Rotation2d getPosition() { + return Rotation2d.fromRotations(KablamaTurretConstants.TURRET_POSITION_SIGNAL.refresh().getValue()); } } diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretConstants.java b/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretConstants.java index a18afacbe..fb4e0c1b4 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretConstants.java @@ -21,6 +21,5 @@ public class SimulationTurretConstants extends TurretIO { P = 1, I = 0, D = 0; - static final PIDController PID_CONTROLLER = new PIDController(P, I, D); } diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretIO.java b/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretIO.java index a3c442a5d..2066a9da8 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretIO.java @@ -1,5 +1,6 @@ package frc.trigon.robot.subsystems.turret.simulationturret; +import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.simulation.DCMotorSim; import frc.trigon.robot.subsystems.turret.TurretIO; @@ -14,8 +15,8 @@ protected void updateInputs(TurretInputsAutoLogged inputs) { } @Override - protected void calculateMotorVoltage(double voltage) { - motor.setInputVoltage(SimulationTurretConstants.PID_CONTROLLER.calculate(voltage)); + protected void setTargetAngle(Rotation2d targetAngle) { + motor.setInputVoltage(SimulationTurretConstants.PID_CONTROLLER.calculate(targetAngle.getDegrees())); } @Override From 96cac05e516231f14daccbb6aa0c75f5e83ec9de Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Wed, 20 Dec 2023 00:00:50 +0200 Subject: [PATCH 198/207] minor fixes --- .../frc/trigon/robot/subsystems/turret/Turret.java | 3 +-- .../turret/kablamaturret/KablamaTurretConstants.java | 11 ++++++++++- .../turret/kablamaturret/KablamaTurretIO.java | 4 ++-- 3 files changed, 13 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java b/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java index e2cbc1e53..ed65c2780 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java @@ -28,8 +28,7 @@ public void periodic() { void alignTurretToHub(Pose2d robotPose) { Rotation2d targetAngle = calculateTargetAngle(robotPose); Rotation2d targetAngleAfterLimitCheck = limitAngle(targetAngle); - Rotation2d error = calculateError(targetAngleAfterLimitCheck.getDegrees()); - turretIO.setTargetAngle(error); + turretIO.setTargetAngle(calculateError(targetAngleAfterLimitCheck.getDegrees())); } void stop() { diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretConstants.java b/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretConstants.java index ad9fa0647..b3288ec93 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretConstants.java @@ -23,7 +23,11 @@ public class KablamaTurretConstants { private static final double P = 1, I = 0, - D = 0; + D = 0, + A = 0, + G = 1, + S = 0, + V = 0; private static final CANcoder ENCODER = new CANcoder(ENCODER_ID); static final TalonFX MOTOR = new TalonFX(MOTOR_ID); static final StatusSignal TURRET_POSITION_SIGNAL = ENCODER.getPosition(); @@ -42,6 +46,11 @@ private static void configureMotor() { config.Slot0.kP = P; config.Slot0.kI = I; config.Slot0.kD = D; + config.Slot0.kA = A; + config.Slot0.kG = G; + config.Slot0.kS = S; + config.Slot0.kV = V; + config.DifferentialSensors.DifferentialRemoteSensorID = ENCODER_ID; MOTOR.getConfigurator().apply(config); } diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java b/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java index 7f6b188a0..d29da07ac 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java @@ -8,7 +8,7 @@ public class KablamaTurretIO extends TurretIO { private final TalonFX motor = KablamaTurretConstants.MOTOR; - private final PositionVoltage voltageRequest = new PositionVoltage(0); + private final PositionVoltage PositionVoltageRequest = new PositionVoltage(0); @Override protected void updateInputs(TurretInputsAutoLogged inputs) { @@ -17,7 +17,7 @@ protected void updateInputs(TurretInputsAutoLogged inputs) { @Override protected void setTargetAngle(Rotation2d targetAngle) { - motor.setControl(voltageRequest.withPosition(targetAngle.getDegrees())); + motor.setControl(PositionVoltageRequest.withPosition(targetAngle.getDegrees())); } @Override From a66c1a3e6e6ffbea6cc95dd91d14d0ba2f871d20 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Wed, 20 Dec 2023 22:55:25 +0200 Subject: [PATCH 199/207] minor fixes --- .../java/frc/trigon/robot/RobotContainer.java | 20 +++++++++++++++++++ .../kablamaturret/KablamaTurretConstants.java | 18 ++++++++--------- 2 files changed, 29 insertions(+), 9 deletions(-) diff --git a/src/main/java/frc/trigon/robot/RobotContainer.java b/src/main/java/frc/trigon/robot/RobotContainer.java index 32b0f5712..12d52399f 100644 --- a/src/main/java/frc/trigon/robot/RobotContainer.java +++ b/src/main/java/frc/trigon/robot/RobotContainer.java @@ -5,9 +5,24 @@ package frc.trigon.robot; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.button.CommandXboxController; +import frc.trigon.robot.subsystems.arm.Arm; +import frc.trigon.robot.subsystems.arm.ArmCommands; +import frc.trigon.robot.subsystems.arm.ArmConstants; +import frc.trigon.robot.subsystems.turret.Turret; +import frc.trigon.robot.subsystems.turret.TurretCommands; public class RobotContainer { + private final CommandXboxController controller = new CommandXboxController(0); + private final Translation2d translation = new Translation2d(4, 9); + private final Pose2d pose = new Pose2d(translation, Rotation2d.fromDegrees(50)); + private final Arm arm = Arm.getInstance(); + private final Turret turret = Turret.getInstance(); + public RobotContainer() { configureBindings(); } @@ -20,5 +35,10 @@ public Command getAutonomousCommand() { } private void configureBindings() { + arm.setDefaultCommand(ArmCommands.getSetTargetArmStateCommand(ArmConstants.ArmState.DEFAULT_STATE)); + turret.setDefaultCommand(TurretCommands.getAlignTurretToHubCommand(() -> pose)); + controller.a().whileTrue(ArmCommands.getSetTargetArmStateCommand(ArmConstants.ArmState.CONE_COLLECTION)); + controller.b().whileTrue(ArmCommands.getSetTargetArmStateCommand(ArmConstants.ArmState.HIGH_CONE)); + controller.x().whileTrue(ArmCommands.getSetTargetArmStateCommand(ArmConstants.ArmState.LOW_CONE)); } } \ No newline at end of file diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretConstants.java b/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretConstants.java index b3288ec93..817665aca 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretConstants.java @@ -24,10 +24,10 @@ public class KablamaTurretConstants { P = 1, I = 0, D = 0, - A = 0, - G = 1, - S = 0, - V = 0; + KA = 0, + KG = 1, + KS = 0, + KV = 0; private static final CANcoder ENCODER = new CANcoder(ENCODER_ID); static final TalonFX MOTOR = new TalonFX(MOTOR_ID); static final StatusSignal TURRET_POSITION_SIGNAL = ENCODER.getPosition(); @@ -46,11 +46,11 @@ private static void configureMotor() { config.Slot0.kP = P; config.Slot0.kI = I; config.Slot0.kD = D; - config.Slot0.kA = A; - config.Slot0.kG = G; - config.Slot0.kS = S; - config.Slot0.kV = V; - config.DifferentialSensors.DifferentialRemoteSensorID = ENCODER_ID; + config.Slot0.kA = KA; + config.Slot0.kG = KG; + config.Slot0.kS = KS; + config.Slot0.kV = KV; + config.Feedback.FeedbackRemoteSensorID = ENCODER_ID; MOTOR.getConfigurator().apply(config); } From ec46d1c48eef25c4f4f889a461008fdee417adc8 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Wed, 20 Dec 2023 23:22:07 +0200 Subject: [PATCH 200/207] added motion magic --- .../turret/kablamaturret/KablamaTurretConstants.java | 7 +++++++ .../subsystems/turret/kablamaturret/KablamaTurretIO.java | 4 ++-- .../turret/simulationturret/SimulationTurretConstants.java | 2 +- 3 files changed, 10 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretConstants.java b/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretConstants.java index 817665aca..1e93598c4 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretConstants.java @@ -20,6 +20,10 @@ public class KablamaTurretConstants { private static final AbsoluteSensorRangeValue ENCODER_RANGE = AbsoluteSensorRangeValue.Signed_PlusMinusHalf; private static final SensorDirectionValue ENCODER_DIRECTION = SensorDirectionValue.CounterClockwise_Positive; private static final double ENCODER_OFFSET = 0; + private static final double + MOTION_MAGIC_VELOCITY = 80, + MOTION_MAGIC_ACCELERATION = 160, + MOTION_MAGIC_JERK = 1600; private static final double P = 1, I = 0, @@ -51,6 +55,9 @@ private static void configureMotor() { config.Slot0.kS = KS; config.Slot0.kV = KV; config.Feedback.FeedbackRemoteSensorID = ENCODER_ID; + config.MotionMagic.MotionMagicCruiseVelocity = MOTION_MAGIC_VELOCITY; + config.MotionMagic.MotionMagicAcceleration = MOTION_MAGIC_ACCELERATION; + config.MotionMagic.MotionMagicJerk = MOTION_MAGIC_JERK; MOTOR.getConfigurator().apply(config); } diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java b/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java index d29da07ac..0ec7021df 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java @@ -1,6 +1,6 @@ package frc.trigon.robot.subsystems.turret.kablamaturret; -import com.ctre.phoenix6.controls.PositionVoltage; +import com.ctre.phoenix6.controls.MotionMagicVoltage; import com.ctre.phoenix6.hardware.TalonFX; import edu.wpi.first.math.geometry.Rotation2d; import frc.trigon.robot.subsystems.turret.TurretIO; @@ -8,7 +8,7 @@ public class KablamaTurretIO extends TurretIO { private final TalonFX motor = KablamaTurretConstants.MOTOR; - private final PositionVoltage PositionVoltageRequest = new PositionVoltage(0); + private final MotionMagicVoltage PositionVoltageRequest = new MotionMagicVoltage(0).withSlot(0); @Override protected void updateInputs(TurretInputsAutoLogged inputs) { diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretConstants.java b/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretConstants.java index fb4e0c1b4..7c28d6f52 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretConstants.java @@ -9,7 +9,7 @@ public class SimulationTurretConstants extends TurretIO { private static final int MOTOR_AMOUNT = 1; private static final DCMotor MOTOR_GEARBOX = DCMotor.getFalcon500Foc(MOTOR_AMOUNT); private static final double MOMENT_OF_INERTIA = 0.003; - private static final double GEAR_RATIO = 12.8; + private static final double GEAR_RATIO = 100; static final DCMotorSim MOTOR = new DCMotorSim( MOTOR_GEARBOX, From e8c15739431f0faa89840e2da1f2c88a7632aa49 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 21 Dec 2023 15:29:57 +0200 Subject: [PATCH 201/207] added mech2d --- .../trigon/robot/subsystems/turret/Turret.java | 2 ++ .../robot/subsystems/turret/TurretConstants.java | 16 ++++++++++++++++ .../trigon/robot/subsystems/turret/TurretIO.java | 3 +++ .../turret/kablamaturret/KablamaTurretIO.java | 9 ++++++++- .../SimulationTurretConstants.java | 7 ++++++- .../simulationturret/SimulationTurretIO.java | 15 ++++++++++++++- 6 files changed, 49 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java b/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java index ed65c2780..3c3808073 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java @@ -23,6 +23,8 @@ private Turret() { public void periodic() { turretIO.updateInputs(turretInputs); Logger.processInputs("Turret", turretInputs); + TurretConstants.TURRET_LIGAMENT.setAngle(turretInputs.motorPositionDegrees); + Logger.recordOutput("TurretMechanism", TurretConstants.TURRET_MECHANISM); } void alignTurretToHub(Pose2d robotPose) { diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java b/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java index 4c4dc9469..df4c7bd34 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java @@ -1,6 +1,11 @@ package frc.trigon.robot.subsystems.turret; import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d; +import edu.wpi.first.wpilibj.smartdashboard.MechanismLigament2d; +import edu.wpi.first.wpilibj.smartdashboard.MechanismRoot2d; +import edu.wpi.first.wpilibj.util.Color; +import edu.wpi.first.wpilibj.util.Color8Bit; public class TurretConstants { private static final double @@ -8,4 +13,15 @@ public class TurretConstants { HUB_Y = 4.176; static final Translation2d HUB_POSITION = new Translation2d(HUB_X, HUB_Y); static final double DEGREES_LIMIT = 200; + private static final double + TURRET_MECHANISM_WIDTH = 4, + TURRET_MECHANISM_HEIGHT = 4; + private static final double + TURRET_ROOT_X = 1, + TURRET_ROOT_Y = 1; + private static final double MECHANISM_LINE_WIDTH = 10; + + static final Mechanism2d TURRET_MECHANISM = new Mechanism2d(TURRET_MECHANISM_WIDTH, TURRET_MECHANISM_HEIGHT); + private static final MechanismRoot2d TURRET_ROOT = TURRET_MECHANISM.getRoot("TURRET_ROOT", TURRET_ROOT_X, TURRET_ROOT_Y); + static final MechanismLigament2d TURRET_LIGAMENT = TURRET_ROOT.append(new MechanismLigament2d("TURRET_LIGAMENT", 0, 0, MECHANISM_LINE_WIDTH, new Color8Bit(Color.kBlue))); } diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/TurretIO.java b/src/main/java/frc/trigon/robot/subsystems/turret/TurretIO.java index adee6f8a2..a55cd679f 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/TurretIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/TurretIO.java @@ -27,5 +27,8 @@ protected void stop() { @AutoLog protected static class TurretInputs { public double motorPositionDegrees = 0; + + public double motorVelocityDegreesPerSecond = 0; + public double motorVoltage = 0; } } diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java b/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java index 0ec7021df..e35e60d04 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java @@ -3,6 +3,7 @@ import com.ctre.phoenix6.controls.MotionMagicVoltage; import com.ctre.phoenix6.hardware.TalonFX; import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.util.Units; import frc.trigon.robot.subsystems.turret.TurretIO; import frc.trigon.robot.subsystems.turret.TurretInputsAutoLogged; @@ -13,6 +14,8 @@ public class KablamaTurretIO extends TurretIO { @Override protected void updateInputs(TurretInputsAutoLogged inputs) { inputs.motorPositionDegrees = getPosition().getDegrees(); + inputs.motorVelocityDegreesPerSecond = motor.getVelocity().getValue(); + inputs.motorVoltage = getVelocityDegreesPerSecond(); } @Override @@ -26,6 +29,10 @@ protected void stop() { } private Rotation2d getPosition() { - return Rotation2d.fromRotations(KablamaTurretConstants.TURRET_POSITION_SIGNAL.refresh().getValue()); + return Rotation2d.fromRotations(motor.getPosition().refresh().getValue()); + } + + private double getVelocityDegreesPerSecond() { + return Units.rotationsToDegrees(motor.getVelocity().refresh().getValue()); } } diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretConstants.java b/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretConstants.java index 7c28d6f52..f5902fa29 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretConstants.java @@ -1,6 +1,7 @@ package frc.trigon.robot.subsystems.turret.simulationturret; import edu.wpi.first.math.controller.PIDController; +import edu.wpi.first.math.controller.SimpleMotorFeedforward; import edu.wpi.first.math.system.plant.DCMotor; import edu.wpi.first.wpilibj.simulation.DCMotorSim; import frc.trigon.robot.subsystems.turret.TurretIO; @@ -20,6 +21,10 @@ public class SimulationTurretConstants extends TurretIO { private static final double P = 1, I = 0, - D = 0; + D = 0, + KS = 0, + KV = 0, + KA = 0; static final PIDController PID_CONTROLLER = new PIDController(P, I, D); + static final SimpleMotorFeedforward FEEDFORWARD = new SimpleMotorFeedforward(KS, KV, KA); } diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretIO.java b/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretIO.java index 2066a9da8..f9c6307a8 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretIO.java @@ -3,24 +3,37 @@ import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.simulation.DCMotorSim; +import frc.trigon.robot.constants.RobotConstants; import frc.trigon.robot.subsystems.turret.TurretIO; import frc.trigon.robot.subsystems.turret.TurretInputsAutoLogged; public class SimulationTurretIO extends TurretIO { private final DCMotorSim motor = SimulationTurretConstants.MOTOR; + private double voltage = 0; @Override protected void updateInputs(TurretInputsAutoLogged inputs) { + motor.update(RobotConstants.PERIODIC_TIME_SECONDS); inputs.motorPositionDegrees = Units.radiansToDegrees(motor.getAngularPositionRad()); + inputs.motorVelocityDegreesPerSecond = Units.radiansToDegrees(motor.getAngularVelocityRadPerSec()); + inputs.motorVoltage = voltage; } @Override protected void setTargetAngle(Rotation2d targetAngle) { - motor.setInputVoltage(SimulationTurretConstants.PID_CONTROLLER.calculate(targetAngle.getDegrees())); + this.voltage = calculateTargetAngle(targetAngle); + motor.setInputVoltage(calculateTargetAngle(targetAngle)); } @Override protected void stop() { + this.voltage = 0; motor.setInputVoltage(0); } + + private double calculateTargetAngle(Rotation2d targetAngle) { + double pidOutput = SimulationTurretConstants.PID_CONTROLLER.calculate((targetAngle.getDegrees())); + double feedforwardOutput = SimulationTurretConstants.FEEDFORWARD.calculate(motor.getAngularVelocityRadPerSec()); + return pidOutput + feedforwardOutput; + } } From 318a7eabea33f515c127af1c3abb50c3bd9a7c21 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 21 Dec 2023 16:03:53 +0200 Subject: [PATCH 202/207] added mechanism --- .../frc/trigon/robot/subsystems/turret/Turret.java | 8 ++++++-- .../robot/subsystems/turret/TurretConstants.java | 8 +++++--- .../simulationturret/SimulationTurretConstants.java | 12 +++++++++--- .../turret/simulationturret/SimulationTurretIO.java | 2 +- 4 files changed, 21 insertions(+), 9 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java b/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java index 3c3808073..583114ec0 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java @@ -23,8 +23,7 @@ private Turret() { public void periodic() { turretIO.updateInputs(turretInputs); Logger.processInputs("Turret", turretInputs); - TurretConstants.TURRET_LIGAMENT.setAngle(turretInputs.motorPositionDegrees); - Logger.recordOutput("TurretMechanism", TurretConstants.TURRET_MECHANISM); + updateMechanism(); } void alignTurretToHub(Pose2d robotPose) { @@ -55,4 +54,9 @@ private Rotation2d limitAngle(Rotation2d targetAngle) { private Rotation2d calculateError(double targetAngleDegrees) { return Rotation2d.fromDegrees(targetAngleDegrees - turretInputs.motorPositionDegrees); } + + private void updateMechanism() { + TurretConstants.TURRET_LIGAMENT.setAngle(turretInputs.motorPositionDegrees); + Logger.recordOutput("TurretMechanism", TurretConstants.TURRET_MECHANISM); + } } diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java b/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java index df4c7bd34..e544a2c7e 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java @@ -14,8 +14,8 @@ public class TurretConstants { static final Translation2d HUB_POSITION = new Translation2d(HUB_X, HUB_Y); static final double DEGREES_LIMIT = 200; private static final double - TURRET_MECHANISM_WIDTH = 4, - TURRET_MECHANISM_HEIGHT = 4; + TURRET_MECHANISM_WIDTH = 10, + TURRET_MECHANISM_HEIGHT = 10; private static final double TURRET_ROOT_X = 1, TURRET_ROOT_Y = 1; @@ -23,5 +23,7 @@ public class TurretConstants { static final Mechanism2d TURRET_MECHANISM = new Mechanism2d(TURRET_MECHANISM_WIDTH, TURRET_MECHANISM_HEIGHT); private static final MechanismRoot2d TURRET_ROOT = TURRET_MECHANISM.getRoot("TURRET_ROOT", TURRET_ROOT_X, TURRET_ROOT_Y); - static final MechanismLigament2d TURRET_LIGAMENT = TURRET_ROOT.append(new MechanismLigament2d("TURRET_LIGAMENT", 0, 0, MECHANISM_LINE_WIDTH, new Color8Bit(Color.kBlue))); + private static final MechanismRoot2d HUB_ROOT = TURRET_MECHANISM.getRoot("HUB_ROOT", HUB_X, HUB_Y); + static final MechanismLigament2d TURRET_LIGAMENT = TURRET_ROOT.append(new MechanismLigament2d("TURRET_LIGAMENT", 2.5, 0, MECHANISM_LINE_WIDTH, new Color8Bit(Color.kBlue))); + static final MechanismLigament2d HUB_LIGAMENT = HUB_ROOT.append(new MechanismLigament2d("HUB_LIGAMENT", 0.5, 0, MECHANISM_LINE_WIDTH, new Color8Bit(Color.kRed))); } diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretConstants.java b/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretConstants.java index f5902fa29..628b1c2da 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretConstants.java @@ -1,8 +1,9 @@ package frc.trigon.robot.subsystems.turret.simulationturret; -import edu.wpi.first.math.controller.PIDController; +import edu.wpi.first.math.controller.ProfiledPIDController; import edu.wpi.first.math.controller.SimpleMotorFeedforward; import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.wpilibj.simulation.DCMotorSim; import frc.trigon.robot.subsystems.turret.TurretIO; @@ -11,7 +12,6 @@ public class SimulationTurretConstants extends TurretIO { private static final DCMotor MOTOR_GEARBOX = DCMotor.getFalcon500Foc(MOTOR_AMOUNT); private static final double MOMENT_OF_INERTIA = 0.003; private static final double GEAR_RATIO = 100; - static final DCMotorSim MOTOR = new DCMotorSim( MOTOR_GEARBOX, GEAR_RATIO, @@ -25,6 +25,12 @@ public class SimulationTurretConstants extends TurretIO { KS = 0, KV = 0, KA = 0; - static final PIDController PID_CONTROLLER = new PIDController(P, I, D); + private static final double + MAX_MOTOR_VELOCITY = 500, + MAX_MOTOR_ACCELERATION = 600; + private static final TrapezoidProfile.Constraints CONSTRAINTS = new TrapezoidProfile.Constraints( + MAX_MOTOR_VELOCITY, MAX_MOTOR_ACCELERATION + ); static final SimpleMotorFeedforward FEEDFORWARD = new SimpleMotorFeedforward(KS, KV, KA); + static final ProfiledPIDController PROFILED_PID_CONTROLLER = new ProfiledPIDController(P, I, D, CONSTRAINTS); } diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretIO.java b/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretIO.java index f9c6307a8..83d1b274e 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretIO.java @@ -32,7 +32,7 @@ protected void stop() { } private double calculateTargetAngle(Rotation2d targetAngle) { - double pidOutput = SimulationTurretConstants.PID_CONTROLLER.calculate((targetAngle.getDegrees())); + double pidOutput = SimulationTurretConstants.PROFILED_PID_CONTROLLER.calculate((targetAngle.getDegrees())); double feedforwardOutput = SimulationTurretConstants.FEEDFORWARD.calculate(motor.getAngularVelocityRadPerSec()); return pidOutput + feedforwardOutput; } From c2612fee87b22e001cf6b5837fad5b1e85e5363c Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 21 Dec 2023 16:15:15 +0200 Subject: [PATCH 203/207] attempted to fix mechanism --- .../java/frc/trigon/robot/subsystems/turret/Turret.java | 6 ++++++ .../frc/trigon/robot/subsystems/turret/TurretConstants.java | 2 +- 2 files changed, 7 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java b/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java index 583114ec0..8027e8249 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java @@ -11,6 +11,9 @@ public class Turret extends SubsystemBase { private final static Turret INSTANCE = new Turret(); private final TurretIO turretIO = TurretIO.generateIO(); private final TurretInputsAutoLogged turretInputs = new TurretInputsAutoLogged(); + private double + robotX = 1, + robotY = 1; public static Turret getInstance() { return INSTANCE; @@ -27,6 +30,8 @@ public void periodic() { } void alignTurretToHub(Pose2d robotPose) { + this.robotX = robotPose.getX(); + this.robotY = robotPose.getY(); Rotation2d targetAngle = calculateTargetAngle(robotPose); Rotation2d targetAngleAfterLimitCheck = limitAngle(targetAngle); turretIO.setTargetAngle(calculateError(targetAngleAfterLimitCheck.getDegrees())); @@ -56,6 +61,7 @@ private Rotation2d calculateError(double targetAngleDegrees) { } private void updateMechanism() { + TurretConstants.TURRET_ROOT.setPosition(robotX, robotY); TurretConstants.TURRET_LIGAMENT.setAngle(turretInputs.motorPositionDegrees); Logger.recordOutput("TurretMechanism", TurretConstants.TURRET_MECHANISM); } diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java b/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java index e544a2c7e..5e5b6e22d 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java @@ -22,7 +22,7 @@ public class TurretConstants { private static final double MECHANISM_LINE_WIDTH = 10; static final Mechanism2d TURRET_MECHANISM = new Mechanism2d(TURRET_MECHANISM_WIDTH, TURRET_MECHANISM_HEIGHT); - private static final MechanismRoot2d TURRET_ROOT = TURRET_MECHANISM.getRoot("TURRET_ROOT", TURRET_ROOT_X, TURRET_ROOT_Y); + static final MechanismRoot2d TURRET_ROOT = TURRET_MECHANISM.getRoot("TURRET_ROOT", TURRET_ROOT_X, TURRET_ROOT_Y); private static final MechanismRoot2d HUB_ROOT = TURRET_MECHANISM.getRoot("HUB_ROOT", HUB_X, HUB_Y); static final MechanismLigament2d TURRET_LIGAMENT = TURRET_ROOT.append(new MechanismLigament2d("TURRET_LIGAMENT", 2.5, 0, MECHANISM_LINE_WIDTH, new Color8Bit(Color.kBlue))); static final MechanismLigament2d HUB_LIGAMENT = HUB_ROOT.append(new MechanismLigament2d("HUB_LIGAMENT", 0.5, 0, MECHANISM_LINE_WIDTH, new Color8Bit(Color.kRed))); From 2f06d9fdb00fd54408a1fa3414bec6eb34f61018 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 21 Dec 2023 18:47:24 +0200 Subject: [PATCH 204/207] fixed status signals --- .../robot/subsystems/turret/Turret.java | 6 +----- .../subsystems/turret/TurretConstants.java | 12 +++++++----- .../kablamaturret/KablamaTurretConstants.java | 11 ++++++++++- .../turret/kablamaturret/KablamaTurretIO.java | 12 ++++++------ .../SimulationTurretConstants.java | 19 +++++++++++-------- .../simulationturret/SimulationTurretIO.java | 14 ++++++++++++-- 6 files changed, 47 insertions(+), 27 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java b/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java index 8027e8249..646a313e4 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java @@ -34,7 +34,7 @@ void alignTurretToHub(Pose2d robotPose) { this.robotY = robotPose.getY(); Rotation2d targetAngle = calculateTargetAngle(robotPose); Rotation2d targetAngleAfterLimitCheck = limitAngle(targetAngle); - turretIO.setTargetAngle(calculateError(targetAngleAfterLimitCheck.getDegrees())); + turretIO.setTargetAngle((targetAngleAfterLimitCheck)); } void stop() { @@ -56,10 +56,6 @@ private Rotation2d limitAngle(Rotation2d targetAngle) { return targetAngle; } - private Rotation2d calculateError(double targetAngleDegrees) { - return Rotation2d.fromDegrees(targetAngleDegrees - turretInputs.motorPositionDegrees); - } - private void updateMechanism() { TurretConstants.TURRET_ROOT.setPosition(robotX, robotY); TurretConstants.TURRET_LIGAMENT.setAngle(turretInputs.motorPositionDegrees); diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java b/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java index 5e5b6e22d..e0f29fbb4 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java @@ -8,22 +8,24 @@ import edu.wpi.first.wpilibj.util.Color8Bit; public class TurretConstants { + static final double DEGREES_LIMIT = 200; + private static final double HUB_X = 8.248, HUB_Y = 4.176; static final Translation2d HUB_POSITION = new Translation2d(HUB_X, HUB_Y); - static final double DEGREES_LIMIT = 200; + private static final double TURRET_MECHANISM_WIDTH = 10, TURRET_MECHANISM_HEIGHT = 10; private static final double TURRET_ROOT_X = 1, TURRET_ROOT_Y = 1; + private static final double + TURRET_ROOT_LENGTH = 1, + TURRET_ROOT_ANGLE = 0; private static final double MECHANISM_LINE_WIDTH = 10; - static final Mechanism2d TURRET_MECHANISM = new Mechanism2d(TURRET_MECHANISM_WIDTH, TURRET_MECHANISM_HEIGHT); static final MechanismRoot2d TURRET_ROOT = TURRET_MECHANISM.getRoot("TURRET_ROOT", TURRET_ROOT_X, TURRET_ROOT_Y); - private static final MechanismRoot2d HUB_ROOT = TURRET_MECHANISM.getRoot("HUB_ROOT", HUB_X, HUB_Y); - static final MechanismLigament2d TURRET_LIGAMENT = TURRET_ROOT.append(new MechanismLigament2d("TURRET_LIGAMENT", 2.5, 0, MECHANISM_LINE_WIDTH, new Color8Bit(Color.kBlue))); - static final MechanismLigament2d HUB_LIGAMENT = HUB_ROOT.append(new MechanismLigament2d("HUB_LIGAMENT", 0.5, 0, MECHANISM_LINE_WIDTH, new Color8Bit(Color.kRed))); + static final MechanismLigament2d TURRET_LIGAMENT = TURRET_ROOT.append(new MechanismLigament2d("TURRET_LIGAMENT", TURRET_ROOT_LENGTH, TURRET_ROOT_ANGLE, MECHANISM_LINE_WIDTH, new Color8Bit(Color.kBlue))); } diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretConstants.java b/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretConstants.java index 1e93598c4..527a934bd 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretConstants.java @@ -34,7 +34,10 @@ public class KablamaTurretConstants { KV = 0; private static final CANcoder ENCODER = new CANcoder(ENCODER_ID); static final TalonFX MOTOR = new TalonFX(MOTOR_ID); - static final StatusSignal TURRET_POSITION_SIGNAL = ENCODER.getPosition(); + + static final StatusSignal + TURRET_POSITION_SIGNAL = ENCODER.getPosition(), + TURRET_VELOCITY_SIGNAL = ENCODER.getVelocity(); static { configureMotor(); @@ -47,6 +50,7 @@ private static void configureMotor() { config.MotorOutput.NeutralMode = NEUTRAL_MODE_VALUE; config.Audio.BeepOnConfig = false; config.Audio.BeepOnBoot = false; + config.Slot0.kP = P; config.Slot0.kI = I; config.Slot0.kD = D; @@ -55,10 +59,14 @@ private static void configureMotor() { config.Slot0.kS = KS; config.Slot0.kV = KV; config.Feedback.FeedbackRemoteSensorID = ENCODER_ID; + config.Feedback.FeedbackRotorOffset = ENCODER_OFFSET; + config.MotionMagic.MotionMagicCruiseVelocity = MOTION_MAGIC_VELOCITY; config.MotionMagic.MotionMagicAcceleration = MOTION_MAGIC_ACCELERATION; config.MotionMagic.MotionMagicJerk = MOTION_MAGIC_JERK; + MOTOR.getConfigurator().apply(config); + MOTOR.optimizeBusUtilization(); } private static void configureEncoder() { @@ -69,6 +77,7 @@ private static void configureEncoder() { ENCODER.getConfigurator().apply(config); TURRET_POSITION_SIGNAL.setUpdateFrequency(100); + TURRET_VELOCITY_SIGNAL.setUpdateFrequency(100); ENCODER.optimizeBusUtilization(); } } diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java b/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java index e35e60d04..6ad42f0f3 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java @@ -9,18 +9,18 @@ public class KablamaTurretIO extends TurretIO { private final TalonFX motor = KablamaTurretConstants.MOTOR; - private final MotionMagicVoltage PositionVoltageRequest = new MotionMagicVoltage(0).withSlot(0); + private final MotionMagicVoltage PositionVoltageRequest = new MotionMagicVoltage(0).withEnableFOC(KablamaTurretConstants.FOC_ENABLED); @Override protected void updateInputs(TurretInputsAutoLogged inputs) { inputs.motorPositionDegrees = getPosition().getDegrees(); - inputs.motorVelocityDegreesPerSecond = motor.getVelocity().getValue(); - inputs.motorVoltage = getVelocityDegreesPerSecond(); + inputs.motorVelocityDegreesPerSecond = getVelocityDegreesPerSecond(); + inputs.motorVoltage = motor.getMotorVoltage().getValue(); } @Override protected void setTargetAngle(Rotation2d targetAngle) { - motor.setControl(PositionVoltageRequest.withPosition(targetAngle.getDegrees())); + motor.setControl(PositionVoltageRequest.withPosition(targetAngle.getRotations())); } @Override @@ -29,10 +29,10 @@ protected void stop() { } private Rotation2d getPosition() { - return Rotation2d.fromRotations(motor.getPosition().refresh().getValue()); + return Rotation2d.fromRotations(KablamaTurretConstants.TURRET_POSITION_SIGNAL.refresh().getValue()); } private double getVelocityDegreesPerSecond() { - return Units.rotationsToDegrees(motor.getVelocity().refresh().getValue()); + return Units.rotationsToDegrees(KablamaTurretConstants.TURRET_VELOCITY_SIGNAL.refresh().getValue()); } } diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretConstants.java b/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretConstants.java index 628b1c2da..89a06c041 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretConstants.java @@ -8,6 +8,7 @@ import frc.trigon.robot.subsystems.turret.TurretIO; public class SimulationTurretConstants extends TurretIO { + static final double VOLTAGE_COMPENSATION_SATURATION = 12; private static final int MOTOR_AMOUNT = 1; private static final DCMotor MOTOR_GEARBOX = DCMotor.getFalcon500Foc(MOTOR_AMOUNT); private static final double MOMENT_OF_INERTIA = 0.003; @@ -18,19 +19,21 @@ public class SimulationTurretConstants extends TurretIO { MOMENT_OF_INERTIA ); - private static final double - P = 1, - I = 0, - D = 0, - KS = 0, - KV = 0, - KA = 0; private static final double MAX_MOTOR_VELOCITY = 500, MAX_MOTOR_ACCELERATION = 600; private static final TrapezoidProfile.Constraints CONSTRAINTS = new TrapezoidProfile.Constraints( MAX_MOTOR_VELOCITY, MAX_MOTOR_ACCELERATION ); - static final SimpleMotorFeedforward FEEDFORWARD = new SimpleMotorFeedforward(KS, KV, KA); + private static final double + P = 1, + I = 0, + D = 0; static final ProfiledPIDController PROFILED_PID_CONTROLLER = new ProfiledPIDController(P, I, D, CONSTRAINTS); + + private static final double + KS = 0, + KV = 0, + KA = 0; + static final SimpleMotorFeedforward FEEDFORWARD = new SimpleMotorFeedforward(KS, KV, KA); } diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretIO.java b/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretIO.java index 83d1b274e..5d5a3358a 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretIO.java @@ -1,5 +1,6 @@ package frc.trigon.robot.subsystems.turret.simulationturret; +import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.simulation.DCMotorSim; @@ -22,13 +23,22 @@ protected void updateInputs(TurretInputsAutoLogged inputs) { @Override protected void setTargetAngle(Rotation2d targetAngle) { this.voltage = calculateTargetAngle(targetAngle); - motor.setInputVoltage(calculateTargetAngle(targetAngle)); + setTargetVoltage(calculateTargetAngle(targetAngle)); } @Override protected void stop() { this.voltage = 0; - motor.setInputVoltage(0); + setTargetVoltage(0); + } + + private void setTargetVoltage(double voltage) { + double compensatedVoltage = MathUtil.clamp( + voltage, + -SimulationTurretConstants.VOLTAGE_COMPENSATION_SATURATION, + SimulationTurretConstants.VOLTAGE_COMPENSATION_SATURATION + ); + motor.setInputVoltage(compensatedVoltage); } private double calculateTargetAngle(Rotation2d targetAngle) { From 156f017a530686118efca949da4406a676cb2ba3 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 21 Dec 2023 18:53:36 +0200 Subject: [PATCH 205/207] fixed robotContainer --- .../java/frc/trigon/robot/RobotContainer.java | 20 ------------------- 1 file changed, 20 deletions(-) diff --git a/src/main/java/frc/trigon/robot/RobotContainer.java b/src/main/java/frc/trigon/robot/RobotContainer.java index 12d52399f..32b0f5712 100644 --- a/src/main/java/frc/trigon/robot/RobotContainer.java +++ b/src/main/java/frc/trigon/robot/RobotContainer.java @@ -5,24 +5,9 @@ package frc.trigon.robot; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.button.CommandXboxController; -import frc.trigon.robot.subsystems.arm.Arm; -import frc.trigon.robot.subsystems.arm.ArmCommands; -import frc.trigon.robot.subsystems.arm.ArmConstants; -import frc.trigon.robot.subsystems.turret.Turret; -import frc.trigon.robot.subsystems.turret.TurretCommands; public class RobotContainer { - private final CommandXboxController controller = new CommandXboxController(0); - private final Translation2d translation = new Translation2d(4, 9); - private final Pose2d pose = new Pose2d(translation, Rotation2d.fromDegrees(50)); - private final Arm arm = Arm.getInstance(); - private final Turret turret = Turret.getInstance(); - public RobotContainer() { configureBindings(); } @@ -35,10 +20,5 @@ public Command getAutonomousCommand() { } private void configureBindings() { - arm.setDefaultCommand(ArmCommands.getSetTargetArmStateCommand(ArmConstants.ArmState.DEFAULT_STATE)); - turret.setDefaultCommand(TurretCommands.getAlignTurretToHubCommand(() -> pose)); - controller.a().whileTrue(ArmCommands.getSetTargetArmStateCommand(ArmConstants.ArmState.CONE_COLLECTION)); - controller.b().whileTrue(ArmCommands.getSetTargetArmStateCommand(ArmConstants.ArmState.HIGH_CONE)); - controller.x().whileTrue(ArmCommands.getSetTargetArmStateCommand(ArmConstants.ArmState.LOW_CONE)); } } \ No newline at end of file From 140143616ad05112a20927b781f705c5dfd635cc Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Thu, 21 Dec 2023 19:47:41 +0200 Subject: [PATCH 206/207] minor fixes --- .../robot/subsystems/turret/Turret.java | 7 +------ .../subsystems/turret/TurretConstants.java | 19 +++++++++++++------ .../robot/subsystems/turret/TurretIO.java | 1 - .../kablamaturret/KablamaTurretConstants.java | 8 ++++---- .../turret/kablamaturret/KablamaTurretIO.java | 2 +- .../simulationturret/SimulationTurretIO.java | 8 ++++---- 6 files changed, 23 insertions(+), 22 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java b/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java index 646a313e4..4a6b7bc20 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java @@ -11,9 +11,6 @@ public class Turret extends SubsystemBase { private final static Turret INSTANCE = new Turret(); private final TurretIO turretIO = TurretIO.generateIO(); private final TurretInputsAutoLogged turretInputs = new TurretInputsAutoLogged(); - private double - robotX = 1, - robotY = 1; public static Turret getInstance() { return INSTANCE; @@ -30,10 +27,9 @@ public void periodic() { } void alignTurretToHub(Pose2d robotPose) { - this.robotX = robotPose.getX(); - this.robotY = robotPose.getY(); Rotation2d targetAngle = calculateTargetAngle(robotPose); Rotation2d targetAngleAfterLimitCheck = limitAngle(targetAngle); + TurretConstants.TARGET_ANGLE_LIGAMENT.setAngle(targetAngleAfterLimitCheck); turretIO.setTargetAngle((targetAngleAfterLimitCheck)); } @@ -57,7 +53,6 @@ private Rotation2d limitAngle(Rotation2d targetAngle) { } private void updateMechanism() { - TurretConstants.TURRET_ROOT.setPosition(robotX, robotY); TurretConstants.TURRET_LIGAMENT.setAngle(turretInputs.motorPositionDegrees); Logger.recordOutput("TurretMechanism", TurretConstants.TURRET_MECHANISM); } diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java b/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java index e0f29fbb4..4c42e72aa 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/TurretConstants.java @@ -6,6 +6,7 @@ import edu.wpi.first.wpilibj.smartdashboard.MechanismRoot2d; import edu.wpi.first.wpilibj.util.Color; import edu.wpi.first.wpilibj.util.Color8Bit; +import org.littletonrobotics.junction.AutoLogOutput; public class TurretConstants { static final double DEGREES_LIMIT = 200; @@ -16,16 +17,22 @@ public class TurretConstants { static final Translation2d HUB_POSITION = new Translation2d(HUB_X, HUB_Y); private static final double - TURRET_MECHANISM_WIDTH = 10, - TURRET_MECHANISM_HEIGHT = 10; + TURRET_MECHANISM_WIDTH = 4, + TURRET_MECHANISM_HEIGHT = 4; private static final double - TURRET_ROOT_X = 1, - TURRET_ROOT_Y = 1; + TURRET_ROOT_X = 2, + TURRET_ROOT_Y = 2; private static final double TURRET_ROOT_LENGTH = 1, TURRET_ROOT_ANGLE = 0; private static final double MECHANISM_LINE_WIDTH = 10; + @AutoLogOutput(key = "Turret/TurretMechanism") static final Mechanism2d TURRET_MECHANISM = new Mechanism2d(TURRET_MECHANISM_WIDTH, TURRET_MECHANISM_HEIGHT); - static final MechanismRoot2d TURRET_ROOT = TURRET_MECHANISM.getRoot("TURRET_ROOT", TURRET_ROOT_X, TURRET_ROOT_Y); - static final MechanismLigament2d TURRET_LIGAMENT = TURRET_ROOT.append(new MechanismLigament2d("TURRET_LIGAMENT", TURRET_ROOT_LENGTH, TURRET_ROOT_ANGLE, MECHANISM_LINE_WIDTH, new Color8Bit(Color.kBlue))); + static final MechanismRoot2d + TURRET_ROOT = TURRET_MECHANISM.getRoot("Z_TURRET_ROOT", TURRET_ROOT_X, TURRET_ROOT_Y), + TARGET_ANGLE_ROOT = TURRET_MECHANISM.getRoot("TARGET_ANGLE_ROOT", TURRET_ROOT_X, TURRET_ROOT_Y); + static final MechanismLigament2d + TURRET_LIGAMENT = TURRET_ROOT.append(new MechanismLigament2d("TURRET_LIGAMENT", TURRET_ROOT_LENGTH, TURRET_ROOT_ANGLE, MECHANISM_LINE_WIDTH, new Color8Bit(Color.kBlue))), + TARGET_ANGLE_LIGAMENT = TARGET_ANGLE_ROOT.append(new MechanismLigament2d("TargetAngleLigament", TURRET_ROOT_LENGTH, TURRET_ROOT_ANGLE, MECHANISM_LINE_WIDTH, new Color8Bit(Color.kGray))); + } diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/TurretIO.java b/src/main/java/frc/trigon/robot/subsystems/turret/TurretIO.java index a55cd679f..25266b687 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/TurretIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/TurretIO.java @@ -27,7 +27,6 @@ protected void stop() { @AutoLog protected static class TurretInputs { public double motorPositionDegrees = 0; - public double motorVelocityDegreesPerSecond = 0; public double motorVoltage = 0; } diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretConstants.java b/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretConstants.java index 527a934bd..c16254a44 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretConstants.java @@ -5,10 +5,7 @@ import com.ctre.phoenix6.configs.TalonFXConfiguration; import com.ctre.phoenix6.hardware.CANcoder; import com.ctre.phoenix6.hardware.TalonFX; -import com.ctre.phoenix6.signals.AbsoluteSensorRangeValue; -import com.ctre.phoenix6.signals.InvertedValue; -import com.ctre.phoenix6.signals.NeutralModeValue; -import com.ctre.phoenix6.signals.SensorDirectionValue; +import com.ctre.phoenix6.signals.*; public class KablamaTurretConstants { static final boolean FOC_ENABLED = true; @@ -20,6 +17,7 @@ public class KablamaTurretConstants { private static final AbsoluteSensorRangeValue ENCODER_RANGE = AbsoluteSensorRangeValue.Signed_PlusMinusHalf; private static final SensorDirectionValue ENCODER_DIRECTION = SensorDirectionValue.CounterClockwise_Positive; private static final double ENCODER_OFFSET = 0; + private static final FeedbackSensorSourceValue ENCODER_TYPE = FeedbackSensorSourceValue.RemoteCANcoder; private static final double MOTION_MAGIC_VELOCITY = 80, MOTION_MAGIC_ACCELERATION = 160, @@ -58,8 +56,10 @@ private static void configureMotor() { config.Slot0.kG = KG; config.Slot0.kS = KS; config.Slot0.kV = KV; + config.Feedback.FeedbackRemoteSensorID = ENCODER_ID; config.Feedback.FeedbackRotorOffset = ENCODER_OFFSET; + config.Feedback.FeedbackSensorSource = ENCODER_TYPE; config.MotionMagic.MotionMagicCruiseVelocity = MOTION_MAGIC_VELOCITY; config.MotionMagic.MotionMagicAcceleration = MOTION_MAGIC_ACCELERATION; diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java b/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java index 6ad42f0f3..e7fb12017 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java @@ -15,7 +15,7 @@ public class KablamaTurretIO extends TurretIO { protected void updateInputs(TurretInputsAutoLogged inputs) { inputs.motorPositionDegrees = getPosition().getDegrees(); inputs.motorVelocityDegreesPerSecond = getVelocityDegreesPerSecond(); - inputs.motorVoltage = motor.getMotorVoltage().getValue(); + inputs.motorVoltage = motor.getMotorVoltage().refresh().getValue(); } @Override diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretIO.java b/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretIO.java index 5d5a3358a..f57d74888 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretIO.java @@ -15,6 +15,7 @@ public class SimulationTurretIO extends TurretIO { @Override protected void updateInputs(TurretInputsAutoLogged inputs) { motor.update(RobotConstants.PERIODIC_TIME_SECONDS); + inputs.motorPositionDegrees = Units.radiansToDegrees(motor.getAngularPositionRad()); inputs.motorVelocityDegreesPerSecond = Units.radiansToDegrees(motor.getAngularVelocityRadPerSec()); inputs.motorVoltage = voltage; @@ -22,13 +23,11 @@ protected void updateInputs(TurretInputsAutoLogged inputs) { @Override protected void setTargetAngle(Rotation2d targetAngle) { - this.voltage = calculateTargetAngle(targetAngle); setTargetVoltage(calculateTargetAngle(targetAngle)); } @Override protected void stop() { - this.voltage = 0; setTargetVoltage(0); } @@ -38,12 +37,13 @@ private void setTargetVoltage(double voltage) { -SimulationTurretConstants.VOLTAGE_COMPENSATION_SATURATION, SimulationTurretConstants.VOLTAGE_COMPENSATION_SATURATION ); + this.voltage = compensatedVoltage; motor.setInputVoltage(compensatedVoltage); } private double calculateTargetAngle(Rotation2d targetAngle) { - double pidOutput = SimulationTurretConstants.PROFILED_PID_CONTROLLER.calculate((targetAngle.getDegrees())); - double feedforwardOutput = SimulationTurretConstants.FEEDFORWARD.calculate(motor.getAngularVelocityRadPerSec()); + double pidOutput = SimulationTurretConstants.PROFILED_PID_CONTROLLER.calculate((targetAngle.getRotations())); + double feedforwardOutput = SimulationTurretConstants.FEEDFORWARD.calculate(Units.radiansToRotations(motor.getAngularVelocityRadPerSec())); return pidOutput + feedforwardOutput; } } From 59503708f72f2c4cfebe0343db34cb39f8056c54 Mon Sep 17 00:00:00 2001 From: Nummun14 <142012009+Nummun14@users.noreply.github.com> Date: Sun, 24 Dec 2023 16:18:50 +0200 Subject: [PATCH 207/207] tuned PID, and added runCommand --- .../java/frc/trigon/robot/subsystems/turret/Turret.java | 6 +----- .../trigon/robot/subsystems/turret/TurretCommands.java | 8 ++------ .../subsystems/turret/kablamaturret/KablamaTurretIO.java | 4 ++-- .../simulationturret/SimulationTurretConstants.java | 2 +- .../turret/simulationturret/SimulationTurretIO.java | 5 +++-- 5 files changed, 9 insertions(+), 16 deletions(-) diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java b/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java index 4a6b7bc20..f6735f8fd 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/Turret.java @@ -30,11 +30,7 @@ void alignTurretToHub(Pose2d robotPose) { Rotation2d targetAngle = calculateTargetAngle(robotPose); Rotation2d targetAngleAfterLimitCheck = limitAngle(targetAngle); TurretConstants.TARGET_ANGLE_LIGAMENT.setAngle(targetAngleAfterLimitCheck); - turretIO.setTargetAngle((targetAngleAfterLimitCheck)); - } - - void stop() { - turretIO.stop(); + turretIO.setTargetAngle(targetAngleAfterLimitCheck); } private Rotation2d calculateTargetAngle(Pose2d robotPose) { diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/TurretCommands.java b/src/main/java/frc/trigon/robot/subsystems/turret/TurretCommands.java index 08ea798fe..02c18d922 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/TurretCommands.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/TurretCommands.java @@ -2,7 +2,7 @@ import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.FunctionalCommand; +import edu.wpi.first.wpilibj2.command.RunCommand; import java.util.function.Supplier; @@ -10,12 +10,8 @@ public class TurretCommands { private static final Turret TURRET = Turret.getInstance(); public static Command getAlignTurretToHubCommand(Supplier robotPose) { - return new FunctionalCommand( - () -> { - }, + return new RunCommand( () -> TURRET.alignTurretToHub(robotPose.get()), - (interrupted) -> TURRET.stop(), - () -> false, TURRET ); } diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java b/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java index e7fb12017..767eb25b1 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/kablamaturret/KablamaTurretIO.java @@ -9,7 +9,7 @@ public class KablamaTurretIO extends TurretIO { private final TalonFX motor = KablamaTurretConstants.MOTOR; - private final MotionMagicVoltage PositionVoltageRequest = new MotionMagicVoltage(0).withEnableFOC(KablamaTurretConstants.FOC_ENABLED); + private final MotionMagicVoltage positionVoltageRequest = new MotionMagicVoltage(0).withEnableFOC(KablamaTurretConstants.FOC_ENABLED); @Override protected void updateInputs(TurretInputsAutoLogged inputs) { @@ -20,7 +20,7 @@ protected void updateInputs(TurretInputsAutoLogged inputs) { @Override protected void setTargetAngle(Rotation2d targetAngle) { - motor.setControl(PositionVoltageRequest.withPosition(targetAngle.getRotations())); + motor.setControl(positionVoltageRequest.withPosition(targetAngle.getRotations())); } @Override diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretConstants.java b/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretConstants.java index 89a06c041..c9ab48ce3 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretConstants.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretConstants.java @@ -26,7 +26,7 @@ public class SimulationTurretConstants extends TurretIO { MAX_MOTOR_VELOCITY, MAX_MOTOR_ACCELERATION ); private static final double - P = 1, + P = 10, I = 0, D = 0; static final ProfiledPIDController PROFILED_PID_CONTROLLER = new ProfiledPIDController(P, I, D, CONSTRAINTS); diff --git a/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretIO.java b/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretIO.java index f57d74888..e3bc47246 100644 --- a/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretIO.java +++ b/src/main/java/frc/trigon/robot/subsystems/turret/simulationturret/SimulationTurretIO.java @@ -42,8 +42,9 @@ private void setTargetVoltage(double voltage) { } private double calculateTargetAngle(Rotation2d targetAngle) { - double pidOutput = SimulationTurretConstants.PROFILED_PID_CONTROLLER.calculate((targetAngle.getRotations())); - double feedforwardOutput = SimulationTurretConstants.FEEDFORWARD.calculate(Units.radiansToRotations(motor.getAngularVelocityRadPerSec())); + SimulationTurretConstants.PROFILED_PID_CONTROLLER.setGoal(targetAngle.getRotations()); + double pidOutput = SimulationTurretConstants.PROFILED_PID_CONTROLLER.calculate(targetAngle.getRotations()); + double feedforwardOutput = SimulationTurretConstants.FEEDFORWARD.calculate(targetAngle.getRotations()); return pidOutput + feedforwardOutput; } }

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