Turret tracking from field location

src/main/java/frc/robot/Constants.java

@@ -99,7 +99,7 @@ public final class Constants {
     public static final Angle LIMIT_AXIMUTH_POS = edu.wpi.first.units.Units.Degrees.of(165);
     public static final Angle LIMIT_AXIMUTH_NEG = edu.wpi.first.units.Units.Degrees.of(5);
     public static final double HOMING_SPEED = .35;
-    public static final double TURRET_GEAR_RATIO  = 1;
+    public static final double TURRET_GEAR_RATIO  = 6;
 
     public static final int HOOD_SERVO_CHANNEL = 0;
     public static final boolean HOOD_SERVO_INVERTED = false; // TODO: Test this

src/main/java/frc/robot/RobotContainer.java

@@ -9,6 +9,7 @@ import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 import frc.robot.Constants.OperatorConstants;
 import frc.robot.commands.AutoShootCommandChassisTurret;
+import frc.robot.commands.AutoTurretCommand;
 import frc.robot.commands.ManualHopperCommand;
 import frc.robot.commands.ManualIntake;
 import frc.robot.commands.ManualShootCommand;
@@ -42,6 +43,9 @@ public class RobotContainer {
   
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
+
+    turretSubsystem.setDefaultCommand(new AutoTurretCommand(turretSubsystem, driveSubsystem));
+
     // Configure the trigger bindings
     configureBindings();
   }
@@ -57,7 +61,6 @@ public class RobotContainer {
    */
 
   private void configureBindings() {
-    turretSubsystem.startHoming();
     m_driverController.povDown().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_STORED_ANGLE));
     m_driverController.povLeft().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE1));
     m_driverController.povRight().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE3));

src/main/java/frc/robot/commands/AutoShootCommandChassisTurret.java

@@ -105,7 +105,7 @@ public class AutoShootCommandChassisTurret extends Command{
             Logger.recordOutput("AutoAlignState", "Look for tag");
 
             Pose3d botPose = driveSubsystem.getBotPose();
-            driveSubsystem.rotateChassis(deadreckoningAutoCenterController.calculate(botPose.getRotation().toRotation2d().getRadians())); // May need to flip this
+            driveSubsystem.rotateChassis(deadreckoningAutoCenterController.calculate(botPose.getRotation().toRotation2d().getRadians()));
         }
         else // We have an april tag, center it to the camera frame
         {

src/main/java/frc/robot/commands/AutoTurretCommand.java

@@ -0,0 +1,87 @@
+package frc.robot.commands;
+
+import org.littletonrobotics.junction.Logger;
+
+import edu.wpi.first.apriltag.AprilTagFieldLayout;
+import edu.wpi.first.apriltag.AprilTagFields;
+import edu.wpi.first.math.geometry.Pose3d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Rotation3d;
+import edu.wpi.first.math.geometry.Transform2d;
+import edu.wpi.first.math.geometry.Transform3d;
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.geometry.Translation3d;
+import edu.wpi.first.units.Units;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.Constants;
+import frc.robot.subsystems.DriveSubsystem;
+import frc.robot.subsystems.TurretSubsystem;
+
+public class AutoTurretCommand extends Command {
+
+    private final Translation2d CENTER_TURRET_TO_ROBOT = new Translation2d(-0.1335024, -0.1824736);
+
+    private TurretSubsystem turretSubsystem;
+    private DriveSubsystem driveSubsystem;
+
+    private int[] shootingTagFilters;
+
+    private AprilTagFieldLayout fieldTags = AprilTagFieldLayout.loadField(AprilTagFields.k2026RebuiltAndymark);
+
+    private Pose3d closestTag;
+    private Pose3d scoringHubPose;
+
+    public AutoTurretCommand(TurretSubsystem turretSubsystem, DriveSubsystem driveSubsystem) {
+        this.turretSubsystem = turretSubsystem;
+        this.driveSubsystem = driveSubsystem;
+
+        addRequirements(turretSubsystem); // Not adding drive as we don't wan't the drive command to be de-scheduled
+    }
+
+    @Override
+    public void initialize() {
+        // Perform auto-home
+
+        DriverStation.getAlliance().ifPresent((aliance) -> {
+            if (aliance == Alliance.Blue) {
+                shootingTagFilters = Constants.CameraConstanst.IDFilters.BLUE_HUB_SHOOTING_IDS;
+
+                scoringHubPose = fieldTags.getTagPose(26).get();
+                scoringHubPose = scoringHubPose.transformBy(new Transform3d(new Transform2d(0.5207, 0, Rotation2d.kZero)));
+            } else {
+                shootingTagFilters = Constants.CameraConstanst.IDFilters.RED_HUB_SHOOTING_IDS;
+
+                scoringHubPose = fieldTags.getTagPose(10).get();
+                scoringHubPose = scoringHubPose.transformBy(new Transform3d(new Transform2d(-0.5207, 0, Rotation2d.kZero)));
+            }
+            Logger.recordOutput("AutoTurret-ScoringTarget", scoringHubPose);
+        });
+
+    }
+
+    @Override
+    public void execute() {
+
+        Pose3d botPose = driveSubsystem.getBotPose();
+        Pose3d turretPose = botPose.plus(new Transform3d(new Translation3d(CENTER_TURRET_TO_ROBOT),
+                new Rotation3d(Rotation2d.fromRotations(turretSubsystem.getTurretAngle().in(Units.Rotations)))));
+        Logger.recordOutput("AutoTurret-TurretPose", turretPose);
+
+        Translation2d targetTranslation = scoringHubPose.getTranslation().toTranslation2d().minus(turretPose.getTranslation().toTranslation2d());
+        
+        turretSubsystem.setTurretRotation(botPose.getRotation().toRotation2d().minus(targetTranslation.getAngle()).getMeasure());
+
+    }
+
+    @Override
+    public boolean isFinished() {
+        return false;
+    }
+
+    @Override
+    public void end(boolean interrupted) {
+    }
+
+}

src/main/java/frc/robot/commands/ExampleCommand.java

@@ -0,0 +1,43 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import frc.robot.subsystems.ExampleSubsystem;
+import edu.wpi.first.wpilibj2.command.Command;
+
+/** An example command that uses an example subsystem. */
+public class ExampleCommand extends Command {
+  @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"})
+  private final ExampleSubsystem m_subsystem;
+
+  /**
+   * Creates a new ExampleCommand.
+   *
+   * @param subsystem The subsystem used by this command.
+   */
+  public ExampleCommand(ExampleSubsystem subsystem) {
+    m_subsystem = subsystem;
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(subsystem);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/ManualShootCommand.java

@@ -26,17 +26,17 @@ public class ManualShootCommand extends Command {
   public void execute() {
     if(m_controller.getRightTriggerAxis()>.5 && m_controller.getLeftTriggerAxis()==0)
     {
-      m_subsystem.startRotate(-.5);
+      m_subsystem.turretRotateDir(-.5);
       m_controller.setRumble(RumbleType.kRightRumble, 1);
     }
     else if(m_controller.getLeftTriggerAxis()>.5 && m_controller.getRightTriggerAxis()==0)
     {
-      m_subsystem.startRotate(.5);
+      m_subsystem.turretRotateDir(.5);
       m_controller.setRumble(RumbleType.kLeftRumble, 1);
     }
     else
     {
-      m_subsystem.startRotate(0);
+      m_subsystem.turretRotateDir(0);
       m_controller.setRumble(RumbleType.kBothRumble, 0);
     }
   }

src/main/java/frc/robot/subsystems/TurretSubsystem.java

@@ -17,6 +17,7 @@ import com.ctre.phoenix6.configs.Slot0Configs;
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
 import com.ctre.phoenix6.hardware.TalonFX;
 import com.ctre.phoenix6.signals.InvertedValue;
+import com.ctre.phoenix6.sim.TalonFXSimState;
 import com.revrobotics.PersistMode;
 import com.revrobotics.ResetMode;
 import com.revrobotics.spark.ClosedLoopSlot;
@@ -43,6 +44,7 @@ public class TurretSubsystem extends TestableSubsystem {
   private TurretState currentState;
   private DigitalInput turretLimitSwitch;
   private TalonFX turretMotor;
+  private TalonFXSimState turretSim;
   private SparkMax launcherMotor;
   private SparkClosedLoopController launcherControler;
 
@@ -73,6 +75,8 @@ public class TurretSubsystem extends TestableSubsystem {
         )
     );
 
+    turretSim = turretMotor.getSimState();
+
     // Launcher configuration
     launcherMotor = new SparkMax(Constants.ShooterConstants.LAUNCHER_MOTOR_ID, MotorType.kBrushless);
     SparkMaxConfig config = new SparkMaxConfig().apply((SparkMaxConfig) SparkMaxConfig.Presets.REV_NEO);
@@ -119,7 +123,7 @@ public class TurretSubsystem extends TestableSubsystem {
     currentState = TurretState.HOMING;
   }
 
-  public void startRotate(double speed)
+  public void turretRotateDir(double speed)
   {
     turretGoingPos=speed>0;
 
@@ -139,23 +143,24 @@ public class TurretSubsystem extends TestableSubsystem {
 
   public Angle getTurretAngle()
   {
-    return turretMotor.getPosition().refresh().getValue().times(Constants.ShooterConstants.TURRET_GEAR_RATIO);
+    return turretMotor.getPosition().refresh().getValue().div(Constants.ShooterConstants.TURRET_GEAR_RATIO);
   }
 
+
   @Override
   public void periodic() {
     // This method will be called once per scheduler run
-    switch (currentState) {
-      case HOMING:
-        periodicHoming();
-        break;
-      case MANUAL:
-        periodicManual();
-        break;
+    // switch (currentState) {
+    //   case HOMING:
+    //     periodicHoming();
+    //     break;
+    //   case MANUAL:
+    //     periodicManual();
+    //     break;
 
-      default:
-        break;
-    }
+    //   default:
+    //     break;
+    // }
 
     if(LOGGING)
     {
@@ -171,26 +176,14 @@ public class TurretSubsystem extends TestableSubsystem {
       currentState = TurretState.MANUAL;
       turretMotor.set(0);
       turretMotor.setPosition(0);
-      goTo(limitPos);
+      setTurretRotation(limitPos);
     }
   }
 
-  private void goTo(Angle pos)
+  public void setTurretRotation(Angle pos)
   {
-    if(pos.gt(limitNeg) && pos.lt(limitPos))
-    {
-      while(getTurretAngle()!=pos)
-    {
-      if(getTurretAngle().gt(pos))
-      {
-        turretMotor.set(.5);
-      }
-      else
-      {
-        turretMotor.set(-.5);
-      }
-    }
-    }
+    turretMotor.setControl(new PositionVoltage(pos.times(Constants.ShooterConstants.TURRET_GEAR_RATIO)));
+    turretSim.setRawRotorPosition(pos.times(Constants.ShooterConstants.TURRET_GEAR_RATIO));
   }
 
   private void periodicManual()
@@ -203,7 +196,7 @@ public class TurretSubsystem extends TestableSubsystem {
 
   @PostTest()
   public void TurretSubsystem_CANDevicesConnected(){
-    assertThat(launcherMotor.getDeviceId()).as("Launcher motor not connected!").isGreaterThan(0);
+    assertThat(launcherMotor.getFaults().can).as("Launcher motor not connected!").isTrue();
     assertThat(turretMotor.isConnected()).as("Turret motor not connected!").isTrue();
   }