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Castor2026
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turret position cycle

This commit is contained in:
TheRealGrayden 2026-03-22 15:03:31 -04:00
parent 4f0f38a893
commit 942606ca1e
3 changed files with 18 additions and 14 deletions
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2
lib/RoboLib

@ -1 +1 @@
Subproject commit 30421c381aaa883745985b7852f90da5bc42b624
Subproject commit eea76939a3cbb76aba47874adf15eaf49a8333de

17
src/main/java/frc/robot/RobotContainer.java
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@ -16,13 +16,11 @@ 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.Autos;
import frc.robot.commands.ExampleCommand;
import frc.robot.commands.ManualHopperCommand;
import frc.robot.commands.ManualIntake;
import frc.robot.commands.ManualShootCommand;
import frc.robot.commands.SetDeflectorCommand;
import frc.robot.subsystems.DriveSubsystem;
import frc.robot.subsystems.ExampleSubsystem;
import frc.robot.subsystems.HopperSubsystem;
import frc.robot.subsystems.IntakeSubsystem;
import frc.robot.subsystems.TurretSubsystem;
@ -35,14 +33,14 @@ import frc.robot.subsystems.TurretSubsystem;
*/
public class RobotContainer {
// The robot's subsystems and commands are defined here...
private final ExampleSubsystem m_exampleSubsystem = new ExampleSubsystem();
// Replace with CommandPS4Controller or CommandJoystick if needed
private final CommandXboxController m_driverController =
new CommandXboxController(OperatorConstants.kDriverControllerPort);
// private final CommandPS4Controller m_driverController = new CommandPS4Controller(OperatorConstants.kDriverControllerPort);
private final SendableChooser<Command> autoChooser;
public final DriveSubsystem driveSubsystem = new DriveSubsystem(m_driverController);
public final IntakeSubsystem intakeSubsystem = new IntakeSubsystem();
@ -53,10 +51,11 @@ public class RobotContainer {
/** The container for the robot. Contains subsystems, OI devices, and commands. */
public RobotContainer() {
autoChooser = AutoBuilder.buildAutoChooser();
SmartDashboard.putData("Auto Chooser", autoChooser);
// Configure the trigger bindings
configureBindings();
}
/**
@ -68,6 +67,7 @@ public class RobotContainer {
* PS4} controllers or {@link edu.wpi.first.wpilibj2.command.button.CommandJoystick Flight
* joysticks}.
*/
private void configureBindings() {
turretSubsystem.setDefaultCommand(new ManualShootCommand(turretSubsystem, m_driverController.getHID()));
hopperSubsystem.setDefaultCommand(new ManualHopperCommand(hopperSubsystem, m_driverController.getHID()));
@ -77,13 +77,8 @@ public class RobotContainer {
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.y().onTrue(intakeSubsystem.deployCommand());
m_driverController.a().onTrue(intakeSubsystem.retractCommand());
m_driverController.b().onTrue(intakeSubsystem.reverseCommand());*/
m_driverController.x().onTrue(intakeSubsystem.killSpeedCommand());
m_driverController.a().onTrue(intakeSubsystem.startSpeedCommand());
//m_driverController.b().onTrue(intakeSubsystem.revSpeedCommand());
intakeSubsystem.setDefaultCommand(new ManualIntake(intakeSubsystem, m_driverController.getHID()));
}
@ -95,6 +90,6 @@ public class RobotContainer {
*/
public Command getAutonomousCommand() {
// An example command will be run in autonomous
return driveSubsystem.getAutoCommand();
return autoChooser.getSelected();
}
}

13
src/main/java/frc/robot/subsystems/TurretSubsystem.java
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@ -6,6 +6,10 @@ package frc.robot.subsystems;
import org.fairportrobotics.frc.posty.TestableSubsystem;
import com.ctre.phoenix6.controls.ControlRequest;
import com.ctre.phoenix6.controls.DutyCycleOut;
import com.ctre.phoenix6.controls.PositionDutyCycle;
import com.ctre.phoenix6.controls.VelocityDutyCycle;
import com.ctre.phoenix6.hardware.CANcoder;
import com.ctre.phoenix6.hardware.TalonFX;
import com.revrobotics.spark.SparkMax;
@ -17,6 +21,7 @@ import static org.fairportrobotics.frc.robolib.motors.Utils.*;
import edu.wpi.first.units.Units;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.Velocity;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.Servo;
@ -29,8 +34,7 @@ public class TurretSubsystem extends TestableSubsystem {
private TurretState currentState;
private DigitalInput turretLimitSwitch;
// TODO: Reinsert the turret once motor is installed
//private TalonFX turretMotor;
private TalonFX turretMotor;
private SparkMax launcherMotor;
private Servo hood;
private Angle limitPos;
@ -56,6 +60,11 @@ public class TurretSubsystem extends TestableSubsystem {
public void setLauncher(double speed) {launcherMotor.set(speed);}
public void turretControl(double position)
{
turretMotor.setControl(new PositionDutyCycle(position));
}
public void setTargetElevation(Angle elev)
{
if(Constants.ShooterConstants.HOOD_SERVO_INVERTED){