Ofir

.vscode/launch.json

@@ -4,18 +4,24 @@
   // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
   "version": "0.2.0",
   "configurations": [
-
+    {
+      "type": "java",
+      "name": "Launch Main",
+      "request": "launch",
+      "mainClass": "frc.trigon.robot.Main",
+      "projectName": ""
+    },
     {
       "type": "wpilib",
       "name": "WPILib Desktop Debug",
       "request": "launch",
-      "desktop": true,
+      "desktop": true
     },
     {
       "type": "wpilib",
       "name": "WPILib roboRIO Debug",
       "request": "launch",
-      "desktop": false,
+      "desktop": false
     }
   ]
 }

src/main/java/frc/trigon/robot/subsystems/arm/Arm.java

@@ -0,0 +1,180 @@
+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.utilities.Conversions;
+
+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 TalonSRX elevatorEncoder = ArmConstants.ELEVATOR_ENCODER;
+
+    private TrapezoidProfile
+            angleMotorProfile = null,
+            elevatorMotorProfile = null;
+    private double
+            lastAngleProfileGenerationTime,
+            lastElevatorProfileGenerationTime;
+
+    public static Arm getInstance() {
+        return INSTANCE;
+    }
+
+    private Arm() {
+    }
+
+    Command getCurrentSetTargetStateCommand(double elevatorPosition, Rotation2d angle, 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 getSetTargetElevatorPositionCommand(double targetElevatorPosition, double speedPercentage) {
+        return new FunctionalCommand(
+                () -> generateElevatorMotorProfile(targetElevatorPosition, speedPercentage),
+                this::setTargetElevatorFromProfile,
+                (interrupted) -> {
+                },
+                () -> false,
+                this
+        );
+    }
+
+    private Command getSetTargetAngleCommand(Rotation2d angle, double angleSpeedPercentage) {
+        return new FunctionalCommand(
+                () -> generateAngleMotorProfile(angle, angleSpeedPercentage),
+                this::setTargetAngleFromProfile,
+                (interrupted) -> {
+                },
+                () -> false,
+                this
+        );
+    }
+
+    private boolean isElevatorOpening(double targetElevatorPosition) {
+        return targetElevatorPosition > getElevatorPositionRevolutions();
+    }
+
+    private void generateAngleMotorProfile(Rotation2d targetAngle, double speedPercentage) {
+        angleMotorProfile = new TrapezoidProfile(
+                Conversions.scaleConstraints(ArmConstants.ANGLE_CONSTRAINS, speedPercentage),
+                new TrapezoidProfile.State(targetAngle.getDegrees(), 0),
+                new TrapezoidProfile.State(getAnglePosition().getDegrees(), getAngleVelocityDegreesPerSecond())
+        );
+        lastAngleProfileGenerationTime = Timer.getFPGATimestamp();
+    }
+
+    private void generateElevatorMotorProfile(double targetElevator, double speedPercentage) {
+        elevatorMotorProfile = new TrapezoidProfile(
+                Conversions.scaleConstraints(ArmConstants.ELEVATOR_CONSTRAINS, speedPercentage),
+                new TrapezoidProfile.State(targetElevator, 0),
+                new TrapezoidProfile.State(getElevatorPositionRevolutions(), getElevatorVelocityRevolutionsPerSecond())
+        );
+        lastElevatorProfileGenerationTime = Timer.getFPGATimestamp();
+    }
+
+    private void setTargetAngleFromProfile() {
+        if (angleMotorProfile == null) {
+            stopAngleMotors();
+            return;
+        }
+        TrapezoidProfile.State targetState = angleMotorProfile.calculate(getAngleMotorProfileTime());
+        setAngleMotorsVoltage(calculateAngleMotorOutput(targetState));
+    }
+
+    private void setTargetElevatorFromProfile() {
+        if (elevatorMotorProfile == null) {
+            stopElevatorMotors();
+            return;
+        }
+        TrapezoidProfile.State targetState = elevatorMotorProfile.calculate(getElevatorMotorProfileTime());
+        setElevatorMotorsVoltage(calculateElevatorMotorOutput(targetState));
+    }
+
+    private double getAngleMotorProfileTime() {
+        return Timer.getFPGATimestamp() - lastAngleProfileGenerationTime;
+    }
+
+    private double getElevatorMotorProfileTime() {
+        return Timer.getFPGATimestamp() - lastElevatorProfileGenerationTime;
+    }
+
+    private double calculateAngleMotorOutput(TrapezoidProfile.State targetState) {
+        double pidOutput = ArmConstants.ANGLE_PID_CONTROLLER.calculate(
+                getAnglePosition().getDegrees(),
+                targetState.position
+        );
+        double feedforward = ArmConstants.ANGLE_MOTOR_FEEDFORWARD.calculate(
+                Units.degreesToRadians(targetState.position),
+                Units.degreesToRadians(targetState.velocity)
+        );
+        return feedforward + pidOutput;
+    }
+
+    private double calculateElevatorMotorOutput(TrapezoidProfile.State targetState) {
+        double pidOutput = ArmConstants.ELEVATOR_PID_CONTROLLER.calculate(
+                getElevatorPositionRevolutions(),
+                targetState.position
+        );
+        double feedforward = ArmConstants.ELEVATOR_MOTOR_FEEDFORWARD.calculate(targetState.velocity);
+        return feedforward + pidOutput;
+    }
+
+    private double getAngleVelocityDegreesPerSecond() {
+        double positionRevolutions = ArmConstants.ANGLE_VELOCITY_SIGNAL.refresh().getValue();
+        return Conversions.revolutionsToDegrees(positionRevolutions);
+    }
+
+    private double getElevatorVelocityRevolutionsPerSecond() {
+        double magTicksPerSecond = Conversions.perHundredMsToPerSecond(elevatorEncoder.getSelectedSensorVelocity());
+        return Conversions.magTicksToRevolutions(magTicksPerSecond);
+    }
+
+    private Rotation2d getAnglePosition() {
+        double positionRevolutions = ArmConstants.ANGLE_POSITION_SIGNAL.refresh().getValue();
+        return Rotation2d.fromRotations(positionRevolutions);
+    }
+
+    private double getElevatorPositionRevolutions() {
+        return Conversions.magTicksToRevolutions(elevatorEncoder.getSelectedSensorPosition());
+    }
+
+    private void stopAngleMotors() {
+        masterAngleMotor.stopMotor();
+        followerAngleMotor.stopMotor();
+    }
+
+    private void stopElevatorMotors() {
+        masterElevatorMotor.stopMotor();
+        followerElevatorMotor.stopMotor();
+    }
+
+    private void setAngleMotorsVoltage(double voltage) {
+        masterAngleMotor.setVoltage(voltage);
+        followerAngleMotor.setVoltage(voltage);
+    }
+
+    private void setElevatorMotorsVoltage(double voltage) {
+        masterElevatorMotor.setVoltage(voltage);
+        followerElevatorMotor.setVoltage(voltage);
+    }
+}

src/main/java/frc/trigon/robot/subsystems/arm/ArmCommands.java

@@ -0,0 +1,33 @@
+package frc.trigon.robot.subsystems.arm;
+
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.DeferredCommand;
+
+import java.util.Set;
+
+public class ArmCommands {
+    private static final Arm ARM = Arm.getInstance();
+
+    public Command getSetTargetArmStateCommand(ArmConstants.ArmState targetState) {
+        return getSetTargetArmStateCommand(targetState.elevatorPositionMeters, targetState.angle, 100, 100);
+    }
+
+    public Command getSetTargetArmStateCommand(ArmConstants.ArmState targetState, double angleSpeedPercentage, double elevatorSpeedPercentage) {
+        return getSetTargetArmStateCommand(targetState.elevatorPositionMeters, targetState.angle, angleSpeedPercentage, elevatorSpeedPercentage);
+    }
+
+    public Command getSetTargetArmStateCommand(double elevatorPosition, Rotation2d angle, double angleSpeedPercentage, double elevatorSpeedPercentage) {
+        return new DeferredCommand(
+                () -> ARM.getCurrentSetTargetStateCommand(elevatorPosition, angle, angleSpeedPercentage, elevatorSpeedPercentage),
+                Set.of(ARM)
+        );
+    }
+
+    public Command getSetTargetArmPositionCommand(double elevatorPosition, Rotation2d angle) {
+        return new DeferredCommand(
+                () -> ARM.getCurrentSetTargetStateCommand(elevatorPosition, angle, 100, 100),
+                Set.of(ARM)
+        );
+    }
+}