FairportRobotics
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Castor2026
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This commit is contained in:
TheRealGrayden 2026-03-07 14:12:12 -05:00
parent 4105d15a53
commit 3d09d17ab5
2 changed files with 17 additions and 16 deletions
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6
src/main/java/frc/robot/Constants.java
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@ -77,11 +77,13 @@ public final class Constants {
public static final int LAUNCHER_ID = 2; public static final int LAUNCHER_ID = 2;
public static final int HOOD_CHANNEL = 3; public static final int HOOD_CHANNEL = 3;
public static final int HOOD_ENCODER_ID = 4; public static final int HOOD_ENCODER_ID = 4;
public static final Angle LIMIT_POS = edu.wpi.first.units.Units.Degrees.of(265); public static final Angle LIMIT_AXIMUTH_POS = edu.wpi.first.units.Units.Degrees.of(265);
public static final Angle LIMIT_NEG = edu.wpi.first.units.Units.Degrees.of(5); public static final Angle LIMIT_AXIMUTH_NEG = edu.wpi.first.units.Units.Degrees.of(5);
public static final Angle TARGET_ELEVATION_DIF = edu.wpi.first.units.Units.Degrees.of(1); public static final Angle TARGET_ELEVATION_DIF = edu.wpi.first.units.Units.Degrees.of(1);
public static final Angle LIMIT_ELEVATION_POS = edu.wpi.first.units.Units.Degrees.of(90); public static final Angle LIMIT_ELEVATION_POS = edu.wpi.first.units.Units.Degrees.of(90);
public static final Angle LIMIT_ELEVATION_NEG = edu.wpi.first.units.Units.Degrees.of(0); public static final Angle LIMIT_ELEVATION_NEG = edu.wpi.first.units.Units.Degrees.of(0);
public static final double HOMING_SPEED = .35;
public static final double GEAR_RATIO = 1;
} }
public static class HopperConstants { public static class HopperConstants {

27
src/main/java/frc/robot/subsystems/TurretSubsystem.java
View File

@ -20,14 +20,14 @@ import edu.wpi.first.wpilibj.Servo;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
public class TurretSubsystem extends TestableSubsystem { public class TurretSubsystem extends TestableSubsystem {
public enum ShootyRootyTootyState { public enum TurretState {
INIT, INIT,
HOMING, HOMING,
MANUAL; MANUAL;
} }
private ShootyRootyTootyState currentState; private TurretState currentState;
private DigitalInput limitSwitch; private DigitalInput turretLimitSwitch;
private TalonFX turret; private TalonFX turret;
private TalonFX launcher; private TalonFX launcher;
private Servo hood; private Servo hood;
@ -38,12 +38,14 @@ public class TurretSubsystem extends TestableSubsystem {
private Angle targElev; private Angle targElev;
public TurretSubsystem() { public TurretSubsystem() {
limitSwitch = new DigitalInput(Constants.ShooterConstants.LIMIT_CHANNEL); turretLimitSwitch = new DigitalInput(Constants.ShooterConstants.LIMIT_CHANNEL);
turret = new TalonFX(Constants.ShooterConstants.TURRET_ID); turret = new TalonFX(Constants.ShooterConstants.TURRET_ID);
launcher = new TalonFX(Constants.ShooterConstants.LAUNCHER_ID); launcher = new TalonFX(Constants.ShooterConstants.LAUNCHER_ID);
hood = new Servo(Constants.ShooterConstants.HOOD_CHANNEL); hood = new Servo(Constants.ShooterConstants.HOOD_CHANNEL);
hoodEncoder = new CANcoder(Constants.ShooterConstants.HOOD_ENCODER_ID); hoodEncoder = new CANcoder(Constants.ShooterConstants.HOOD_ENCODER_ID);
currentState = ShootyRootyTootyState.INIT; currentState = TurretState.INIT;
limitNeg = Constants.ShooterConstants.LIMIT_NEG; limitNeg = Constants.ShooterConstants.LIMIT_NEG;
limitPos = Constants.ShooterConstants.LIMIT_POS; limitPos = Constants.ShooterConstants.LIMIT_POS;
turretGoingPos = false; turretGoingPos = false;
@ -63,11 +65,10 @@ public class TurretSubsystem extends TestableSubsystem {
} }
} }
private static final double homingSpeed=.35;
public void startHoming() public void startHoming()
{ {
turret.set(homingSpeed); turret.set(Constants.ShooterConstants.HOMING_SPEED);
currentState = ShootyRootyTootyState.HOMING; currentState = TurretState.HOMING;
} }
public void startRotate(double speed) public void startRotate(double speed)
@ -85,14 +86,12 @@ public class TurretSubsystem extends TestableSubsystem {
} }
public boolean passedLimit() public boolean passedLimit()
{ return (getTurretAngle().gt(limitPos) && turretGoingPos) || (getTurretAngle().lt(limitNeg) && !turretGoingPos);
return ((getTurretAngle().gt(limitPos) && turretGoingPos)||(getTurretAngle().lt(limitNeg) && !turretGoingPos));
} }
private static final double turretGearRatio=1;
public Angle getTurretAngle() public Angle getTurretAngle()
{ {
return turret.getPosition().refresh().getValue().times(turretGearRatio); return turret.getPosition().refresh().getValue().times(Constants.ShooterConstants.GEAR_RATIO);
} }
@Override @Override
@ -113,9 +112,9 @@ public class TurretSubsystem extends TestableSubsystem {
private void periodicHoming() private void periodicHoming()
{ {
if(limitSwitch.get()) if(turretLimitSwitch.get())
{ {
currentState = ShootyRootyTootyState.MANUAL; currentState = TurretState.MANUAL;
turret.set(0); turret.set(0);
turret.setPosition(0); turret.setPosition(0);
} }