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Castor2026
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Added turret changes and manual command for testing

This commit is contained in:
TheRealGrayden 2026-03-26 19:15:38 -04:00
parent d6824df962
commit 556a5067b3
4 changed files with 39 additions and 41 deletions
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3
src/main/java/frc/robot/Constants.java
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@ -27,7 +27,6 @@ public final class Constants {
public static class IDFilters {
public static final int[] RED_HUB_SHOOTING_IDS = new int[]{ 8, 9, 10, 11 };
public static final int[] BLUE_HUB_SHOOTING_IDS = new int[]{ 27, 26, 25, 24 };
// public static final int[] BLUE_HUB_SHOOTING_IDS = new int[]{ 18, 19, 20, 21 };
}
public static final String BACK_CAMERA_NAME = "limelight-back";
@ -97,7 +96,7 @@ public final class Constants {
public static final int TURRET_MOTOR_ID = 4;
public static final InvertedValue TURRET_MOTOR_DIRECTION = InvertedValue.CounterClockwise_Positive;
public static final int TURRET_LIMIT_CHANNEL = 0;
public static final Angle LIMIT_AXIMUTH_POS = edu.wpi.first.units.Units.Degrees.of(265);
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;

10
src/main/java/frc/robot/RobotContainer.java
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@ -42,7 +42,6 @@ public class RobotContainer {
/** The container for the robot. Contains subsystems, OI devices, and commands. */
public RobotContainer() {
// Configure the trigger bindings
configureBindings();
}
@ -58,20 +57,13 @@ public class RobotContainer {
*/
private void configureBindings() {
// turretSubsystem.setDefaultCommand(new ManualShootCommand(turretSubsystem, m_driverController.getHID()));
// hopperSubsystem.setDefaultCommand(new ManualHopperCommand(hopperSubsystem, m_driverController.getHID()));
// intakeSubsystem.setDefaultCommand(new ManualIntake(intakeSubsystem, m_driverController.getHID()));
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));
m_driverController.povUp().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE2));
// m_driverController.x().onTrue(intakeSubsystem.killSpeedCommand());
// m_driverController.a().onTrue(intakeSubsystem.startSpeedCommand());
m_driverController.a().whileTrue(new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem));
}
/**

19
src/main/java/frc/robot/commands/ManualShootCommand.java
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@ -24,24 +24,19 @@ public class ManualShootCommand extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if(m_controller.getRightTriggerAxis()>.8)
if(m_controller.getRightTriggerAxis()>.5 && m_controller.getLeftTriggerAxis()==0)
{
m_subsystem.setLauncher(5000);
m_controller.setRumble(RumbleType.kBothRumble, 1);
m_subsystem.startRotate(-.5);
m_controller.setRumble(RumbleType.kRightRumble, 1);
}
else if(m_controller.getRightTriggerAxis()>.5)
else if(m_controller.getLeftTriggerAxis()>.5 && m_controller.getRightTriggerAxis()==0)
{
m_subsystem.setLauncher(3000);
m_controller.setRumble(RumbleType.kBothRumble, .67);
}
else if(m_controller.getRightTriggerAxis()>.2)
{
m_subsystem.setLauncher(2000);
m_controller.setRumble(RumbleType.kBothRumble, .33);
m_subsystem.startRotate(.5);
m_controller.setRumble(RumbleType.kLeftRumble, 1);
}
else
{
m_subsystem.setLauncher(0);
m_subsystem.startRotate(0);
m_controller.setRumble(RumbleType.kBothRumble, 0);
}
}

48
src/main/java/frc/robot/subsystems/TurretSubsystem.java
View File

@ -27,8 +27,6 @@ import com.revrobotics.spark.SparkLowLevel.MotorType;
import com.revrobotics.spark.config.SparkMaxConfig;
import frc.robot.Constants;
import edu.wpi.first.units.AngleUnit;
import edu.wpi.first.units.Units;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.Servo;
@ -42,7 +40,6 @@ public class TurretSubsystem extends TestableSubsystem {
}
private final boolean LOGGING = true;
private TurretState currentState;
private DigitalInput turretLimitSwitch;
private TalonFX turretMotor;
@ -78,8 +75,7 @@ public class TurretSubsystem extends TestableSubsystem {
// Launcher configuration
launcherMotor = new SparkMax(Constants.ShooterConstants.LAUNCHER_MOTOR_ID, MotorType.kBrushless);
SparkMaxConfig config = new SparkMaxConfig()
.apply((SparkMaxConfig) SparkMaxConfig.Presets.REV_NEO);
SparkMaxConfig config = new SparkMaxConfig().apply((SparkMaxConfig) SparkMaxConfig.Presets.REV_NEO);
config.inverted(Constants.ShooterConstants.LAUNCHER_MOTOR_INVERTED);
config.closedLoop.p(1).i(0).d(0.1);
config.closedLoop.allowedClosedLoopError(10, ClosedLoopSlot.kSlot0);
@ -119,13 +115,13 @@ public class TurretSubsystem extends TestableSubsystem {
public void startHoming()
{
//turretMotor.set(Constants.ShooterConstants.HOMING_SPEED);
//currentState = TurretState.HOMING;
turretMotor.set(Constants.ShooterConstants.HOMING_SPEED);
currentState = TurretState.HOMING;
}
public void startRotate(double speed)
{
/*turretGoingPos=speed>0;
turretGoingPos=speed>0;
if(!passedLimit())
{
@ -134,7 +130,7 @@ public class TurretSubsystem extends TestableSubsystem {
else
{
turretMotor.set(0);
}*/
}
}
public boolean passedLimit(){
@ -148,7 +144,6 @@ public class TurretSubsystem extends TestableSubsystem {
@Override
public void periodic() {
// This method will be called once per scheduler run
switch (currentState) {
case HOMING:
@ -174,19 +169,36 @@ public class TurretSubsystem extends TestableSubsystem {
if(turretLimitSwitch.get())
{
currentState = TurretState.MANUAL;
//turretMotor.set(0);
//turretMotor.setPosition(0);
turretMotor.set(0);
turretMotor.setPosition(0);
goTo(limitPos);
}
}
private void goTo(Angle pos)
{
if(pos.gt(limitNeg) && pos.lt(limitPos))
{
while(getTurretAngle()!=pos)
{
if(getTurretAngle().gt(pos))
{
turretMotor.set(.5);
}
else
{
turretMotor.set(-.5);
}
}
}
}
private void periodicManual()
{
//If the turret move, it will be a uh-oh, so DONT MOVE IT
/*if(passedLimit())
{
if(passedLimit())
{
//turretMotor.set(0);
}*/
turretMotor.set(0);
}
}
@PostTest()