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Amp scoring action and Mechanism2d (#51)
* Adds HoodIOs and integrates into ScoringSubsystem * Adds mechanism2d for scoring subsystem * Flips hood to correct side * Tunes hood to be reasonable and visible * Fixes minor intake bugs * Fixes aiming latency * Reformats scoring constants
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,17 @@ | ||
| package frc.robot.subsystems.scoring; | ||
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| import org.littletonrobotics.junction.AutoLog; | ||
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| public interface HoodIO { | ||
| @AutoLog | ||
| public static class HoodIOInputs { | ||
| public double hoodAngleRad = 0.0; | ||
| public double hoodGoalAngleRad = 0.0; | ||
| public double hoodAppliedVolts = 0.0; | ||
| public double hoodCurrentAmps = 0.0; | ||
| } | ||
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| public default void updateInputs(HoodIOInputs inputs) {} | ||
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| public default void setHoodAngleRad(double angle) {} | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,45 @@ | ||
| package frc.robot.subsystems.scoring; | ||
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| import edu.wpi.first.math.controller.PIDController; | ||
| import edu.wpi.first.math.system.plant.DCMotor; | ||
| import edu.wpi.first.wpilibj.simulation.SingleJointedArmSim; | ||
| import frc.robot.Constants; | ||
| import frc.robot.Constants.ScoringConstants; | ||
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| public class HoodIOSim implements HoodIO { | ||
| private final SingleJointedArmSim sim = | ||
| new SingleJointedArmSim( | ||
| DCMotor.getNeoVortex(1), | ||
| 0.2, | ||
| SingleJointedArmSim.estimateMOI(0.1, 2), | ||
| 0.1, | ||
| 0.0, | ||
| Math.PI, | ||
| false, | ||
| 0.0); | ||
| private final PIDController controller = | ||
| new PIDController( | ||
| ScoringConstants.aimerkP, ScoringConstants.aimerkI, ScoringConstants.aimerkD); | ||
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| double goalAngleRad = 0.0; | ||
| double appliedVolts = 0.0; | ||
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| @Override | ||
| public void setHoodAngleRad(double angle) { | ||
| goalAngleRad = angle; | ||
| } | ||
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| @Override | ||
| public void updateInputs(HoodIOInputs inputs) { | ||
| sim.update(Constants.loopTime); | ||
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| appliedVolts = controller.calculate(sim.getAngleRads(), goalAngleRad); | ||
| sim.setInputVoltage(appliedVolts); | ||
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| inputs.hoodAngleRad = sim.getAngleRads(); | ||
| inputs.hoodGoalAngleRad = goalAngleRad; | ||
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| inputs.hoodAppliedVolts = appliedVolts; | ||
| inputs.hoodCurrentAmps = sim.getCurrentDrawAmps(); | ||
| } | ||
| } |
39 changes: 39 additions & 0 deletions
39
src/main/java/frc/robot/subsystems/scoring/HoodIOVortex.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,39 @@ | ||
| // FIXME: Fix once we get the real robot | ||
| package frc.robot.subsystems.scoring; | ||
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| import com.revrobotics.CANSparkFlex; | ||
| import frc.robot.Constants.ScoringConstants; | ||
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| public class HoodIOVortex implements HoodIO { | ||
| private final CANSparkFlex hoodMotor = | ||
| new CANSparkFlex(ScoringConstants.hoodId, CANSparkFlex.MotorType.kBrushless); | ||
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| double goalAngleRad = 0.0; | ||
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| public HoodIOVortex() { | ||
| hoodMotor.setSmartCurrentLimit(10); | ||
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| hoodMotor.getPIDController().setP(ScoringConstants.hoodkP); | ||
| hoodMotor.getPIDController().setI(ScoringConstants.hoodkI); | ||
| hoodMotor.getPIDController().setD(ScoringConstants.hoodkD); | ||
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| hoodMotor.getEncoder().setPosition(0); | ||
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| // TODO: Get position later | ||
| // hoodMotor.getEncoder().setPositionConversionFactor() | ||
| } | ||
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| @Override | ||
| public void setHoodAngleRad(double angle) { | ||
| goalAngleRad = angle; | ||
| } | ||
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| @Override | ||
| public void updateInputs(HoodIOInputs inputs) { | ||
| inputs.hoodAngleRad = hoodMotor.getEncoder().getPosition(); | ||
| inputs.hoodGoalAngleRad = goalAngleRad; | ||
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| inputs.hoodAppliedVolts = hoodMotor.getAppliedOutput(); | ||
| inputs.hoodCurrentAmps = hoodMotor.getOutputCurrent(); | ||
| } | ||
| } |
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