diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index c76a54a..62bd110 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -705,12 +705,12 @@ public static final class Shooter { public static final class Hood { public static final int HOOD_ID = 12; - public static final double KP = 0.0; + public static final double KP = 2000; public static final double KI = 0.0; - public static final double KD = 0.0; - public static final double KV = 0.0; + public static final double KD = 80.0; + public static final double KV = 0.124; public static final double KS = 0.0; - public static final double KG = 0.0; + public static final double KG = 0.4; public static final double STATOR_CURRENT_LIMIT = 40.0; public static final double SUPPLY_CURRENT_LIMIT = 40.0; @@ -748,14 +748,15 @@ public static final class Rollers { public static final int WARMUP_2_ID = 9; public static final int WARMUP_3_ID = 11; - public static final double KP = 0.0; + public static final double KP = 0.85; public static final double KI = 0.0; public static final double KD = 0.0; - public static final double KV = 0.0; + public static final double KV = 0.124; public static final double KS = 0.0; public static final double STATOR_CURRENT_LIMIT = 120.0; public static final double SUPPLY_CURRENT_LIMIT = 40.0; + public static final double MOTOR_ROTS_PER_WHEEL_ROTS = 15.0 / 12.0; } } diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 44ec208..781fc87 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -10,6 +10,7 @@ // import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.DriverStation.Alliance; +import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; // * KEEP FOR WIN COMMAND TESTING import frc.robot.commands.SwerveCommands.SwerveJoystickCommand; @@ -19,6 +20,7 @@ import frc.robot.subsystems.HopperSubsystem; import frc.robot.subsystems.IntakeSubsystem; import frc.robot.subsystems.IntakeVisionDetection; +import frc.robot.subsystems.ShooterSubsystem; import frc.robot.subsystems.VisionSubsystem; import frc.robot.util.CustomController; import frc.robot.util.VisionUtils; @@ -41,6 +43,7 @@ public class RobotContainer { Constants.hopperOnRobot ? new HopperSubsystem() : null; public final IntakeSubsystem intakeSubsystem = Constants.intakeOnRobot ? new IntakeSubsystem() : null; + public final ShooterSubsystem shooterSubsystem = new ShooterSubsystem(); // private final AutoRoutines autoRoutines; // private final AutoChooser autoChooser; @@ -178,6 +181,44 @@ private void configureBindings() { // joystick.y().onTrue(new InstantCommand(() -> hoodAngle-=0.2)); // joystick.a().onTrue(new InstantCommand(() -> shooterSpeed+=0.5)); // joystick.b().onTrue(new InstantCommand(() -> shooterSpeed-=0.5)); + + // Shooter + shooterSubsystem.setDefaultCommand(shooterSubsystem.runOnce(shooterSubsystem::stopShooter)); + + // joystick + // .rightBumper() + // .whileTrue( + // new ShootBasicHood( + // () -> 44.2, + // () -> Constants.Shooter.Hood.MIN_HOOD_POSITION, + // shooterSubsystem, + // hopperSubsystem)); + + joystick + .rightBumper() + .whileTrue( + shooterSubsystem + .shootWithHood(44.2, Constants.Shooter.Hood.MIN_HOOD_POSITION) + .alongWith( + Commands.waitUntil(shooterSubsystem::isShooterAtSpeed) + .andThen(hopperSubsystem.runHopperUntilInterruptedCommand()))); + // joystick + // .rightTrigger() + // .whileTrue( + // new ShootBasicHood( + // () -> 58.2, + // () -> Constants.Shooter.Hood.MAX_HOOD_POSITION, + // shooterSubsystem, + // hopperSubsystem)); + + joystick + .rightTrigger() + .whileTrue( + shooterSubsystem + .shootWithHood(58.2, Constants.Shooter.Hood.MAX_HOOD_POSITION) + .alongWith( + Commands.waitUntil(shooterSubsystem::isShooterAtSpeed) + .andThen(hopperSubsystem.runHopperUntilInterruptedCommand()))); } public static boolean isRedAlliance() { diff --git a/src/main/java/frc/robot/commandGroups/ShootBasicHood.java b/src/main/java/frc/robot/commandGroups/ShootBasicHood.java new file mode 100644 index 0000000..7d38005 --- /dev/null +++ b/src/main/java/frc/robot/commandGroups/ShootBasicHood.java @@ -0,0 +1,20 @@ +package frc.robot.commandGroups; + +import edu.wpi.first.wpilibj2.command.Commands; +import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; +import frc.robot.subsystems.HopperSubsystem; +import frc.robot.subsystems.ShooterSubsystem; +import java.util.function.DoubleSupplier; + +public class ShootBasicHood extends ParallelCommandGroup { + public ShootBasicHood( + DoubleSupplier speed, + DoubleSupplier angle, + ShooterSubsystem shooterSubsystem, + HopperSubsystem hopperSubsystem) { + addCommands( + shooterSubsystem.shootWithHood(speed.getAsDouble(), angle.getAsDouble()), + Commands.waitUntil(shooterSubsystem::isShooterAtSpeed) + .andThen(hopperSubsystem.runHopperUntilInterruptedCommand())); + } +} diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java index 4eb7f8f..abf014b 100644 --- a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java +++ b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java @@ -1,88 +1,204 @@ package frc.robot.subsystems; import static edu.wpi.first.units.Units.Rotations; + import com.ctre.phoenix6.CANBus; import com.ctre.phoenix6.configs.CANcoderConfiguration; +import com.ctre.phoenix6.configs.CurrentLimitsConfigs; import com.ctre.phoenix6.configs.FeedbackConfigs; import com.ctre.phoenix6.configs.MagnetSensorConfigs; +import com.ctre.phoenix6.configs.MotorOutputConfigs; +import com.ctre.phoenix6.configs.Slot0Configs; import com.ctre.phoenix6.configs.TalonFXConfiguration; import com.ctre.phoenix6.controls.Follower; +import com.ctre.phoenix6.controls.PositionVoltage; +import com.ctre.phoenix6.controls.VelocityVoltage; import com.ctre.phoenix6.hardware.CANcoder; import com.ctre.phoenix6.signals.FeedbackSensorSourceValue; +import com.ctre.phoenix6.signals.InvertedValue; import com.ctre.phoenix6.signals.MotorAlignmentValue; +import com.ctre.phoenix6.signals.NeutralModeValue; import com.ctre.phoenix6.signals.SensorDirectionValue; - +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.Constants; import frc.robot.util.LoggedTalonFX; - public class ShooterSubsystem extends SubsystemBase { - - private final LoggedTalonFX warmup1, warmup2, warmup3, shooter, hood; - private final CANcoder hoodEncoder; - - - /* - * make instance variables for necessary closed loop control requests: VelocityVoltage, PositionVoltage. Initialize them with value 0.0. - * make instance variables of type double for the target roller speed and target hood angle - */ - - public ShooterSubsystem() { - // The canbus is a communication system that can connect devices like the roboRIO, pdh, and motors. - CANBus canbus = Constants.Swerve.CAN_BUS; - - // LoggedTalonFX is our version of the existing TalonFX class, which automatically logs some motor information - warmup1 = new LoggedTalonFX("ShooterWarmup1", Constants.Shooter.Rollers.WARMUP_1_ID, canbus); - warmup2 = new LoggedTalonFX("ShooterWarmup2", Constants.Shooter.Rollers.WARMUP_2_ID, canbus); - warmup3 = new LoggedTalonFX("ShooterWarmup3", Constants.Shooter.Rollers.WARMUP_3_ID, canbus); - - shooter = warmup3; // warmup1 and warmup2 will be set as "followers" of the "lead" warmup3, so later we can just reference the `shooter` variable - - // Initialize the hood motor just like the warmup motors. You can find the necessary ID in Constants. - - // Create a variable of type Slot0Configs called rollersSlot0Configs, and initialize it with the pid and feedforward gains found in Constants - - // Create a variable of type CurrentLimitsConfigs called rollersClConfigs, and initialize it with the stator and supply limits found in Constants - - // Create a variable of type MotorOutputConfigs called rollersOutputConfigs, and initialize it to treat clockwise as positive, and neutral mode as coast - TalonFXConfiguration rollersConfig = new TalonFXConfiguration(); - // Set the Slot0, CurrentLimits, and MotorOutput parameters of `rollersConfig` to the configs you just created. - - warmup1.getConfigurator().apply(rollersConfig); - // I just applied the configuration that you just created to warmup1. Apply it to warmup2 and warmup3 as well. - - Follower follower = new Follower(Constants.Shooter.Rollers.WARMUP_3_ID, MotorAlignmentValue.Aligned); - // use the `setControl` method of warmup1 and 2 to configure them to use this follower configuration. - - hoodEncoder = new CANcoder(Constants.Shooter.Hood.ENCODER_PORT, Constants.Swerve.CAN_BUS); - - // Create a variable of type Slot0Configs called hoodSlot0Configs, and initialize it with the pid and feedforward gains found in Constants - - // Create a variable of type CurrentLimitsConfigs called hoodClConfigs, and initialize it with the stator and supply limits found in Constants - - // Create a variable of type MotorOutputConfigs called hoodOutputConfigs, and initialize it to treat counterclockwise as positive, and neutral mode as coast - - FeedbackConfigs hoodFeedbackConfigs = + private final LoggedTalonFX warmup1, warmup2, warmup3, shooter, hood; + private final CANcoder hoodEncoder; + + /* + * make instance variables for necessary closed loop control requests: VelocityVoltage, PositionVoltage. Initialize them with value 0.0. + * make instance variables of type double for the target roller speed and target hood angle + */ + + private VelocityVoltage m_velocityReq = new VelocityVoltage(0.0); + private PositionVoltage m_positionReq = new PositionVoltage(0.0); + + private double targetShooterSpeed, targetHoodAngle; + + public ShooterSubsystem() { + // The canbus is a communication system that can connect devices like the roboRIO, pdh, and + // motors. + CANBus canbus = Constants.Swerve.CAN_BUS; + + targetShooterSpeed = 0; + targetHoodAngle = 0; + + // LoggedTalonFX is our version of the existing TalonFX class, which automatically logs some + // motor information + warmup1 = new LoggedTalonFX("ShooterWarmup1", Constants.Shooter.Rollers.WARMUP_1_ID, canbus); + warmup2 = new LoggedTalonFX("ShooterWarmup2", Constants.Shooter.Rollers.WARMUP_2_ID, canbus); + warmup3 = new LoggedTalonFX("ShooterWarmup3", Constants.Shooter.Rollers.WARMUP_3_ID, canbus); + + shooter = + warmup3; // warmup1 and warmup2 will be set as "followers" of the "lead" warmup3, so later + // we can just reference the `shooter` variable + + // Initialize the hood motor just like the warmup motors. You can find the necessary ID in + // Constants. + hood = new LoggedTalonFX("ShooterHood", Constants.Shooter.Hood.HOOD_ID, canbus); + + // Create a variable of type Slot0Configs called rollersSlot0Configs, and initialize it with the + // pid and feedforward gains found in Constants + Slot0Configs rollersSlot0Configs = + new Slot0Configs() + .withKP(Constants.Shooter.Rollers.KP) + .withKI(Constants.Shooter.Rollers.KI) + .withKD(Constants.Shooter.Rollers.KD) + .withKS(Constants.Shooter.Rollers.KS) + .withKV(Constants.Shooter.Rollers.KV); + + // Create a variable of type CurrentLimitsConfigs called rollersClConfigs, and initialize it + // with the stator and supply limits found in Constants + CurrentLimitsConfigs rollersClConfigs = + new CurrentLimitsConfigs() + .withStatorCurrentLimit(Constants.Shooter.Rollers.STATOR_CURRENT_LIMIT) + .withSupplyCurrentLimit(Constants.Shooter.Rollers.SUPPLY_CURRENT_LIMIT); + + // Create a variable of type MotorOutputConifigs called rollersOutputConfigs, and initialize it + // to treat clockwise as positive, and neutral mode as coast + MotorOutputConfigs rollersOutputConfigs = + new MotorOutputConfigs() + .withInverted(InvertedValue.Clockwise_Positive) + .withNeutralMode(NeutralModeValue.Coast); + + TalonFXConfiguration rollersConfig = + new TalonFXConfiguration() + .withSlot0(rollersSlot0Configs) + .withCurrentLimits(rollersClConfigs) + .withMotorOutput(rollersOutputConfigs); + // Set the Slot0, CurrentLimits, and MotorOutput parameters of `rollersConfig` to the configs + // you just created. + + warmup1.getConfigurator().apply(rollersConfig); + warmup2.getConfigurator().apply(rollersConfig); + warmup3.getConfigurator().apply(rollersConfig); + // I just applied the configuration that you just created to warmup1. Apply it to warmup2 and + // warmup3 as well. + + Follower follower = + new Follower(Constants.Shooter.Rollers.WARMUP_3_ID, MotorAlignmentValue.Aligned); + // use the `setControl` method of warmup1 and 2 to configure them to use this follower + // configuration. + warmup1.setControl(follower); + warmup2.setControl(follower); + + hoodEncoder = new CANcoder(Constants.Shooter.Hood.ENCODER_PORT, Constants.Swerve.CAN_BUS); + + // Create a variable of type Slot0Configs called hoodSlot0Configs, and initialize it with the + // pid and feedforward gains found in Constants + Slot0Configs hoodSlot0Configs = + new Slot0Configs() + .withKP(Constants.Shooter.Hood.KP) + .withKI(Constants.Shooter.Hood.KI) + .withKD(Constants.Shooter.Hood.KD) + .withKS(Constants.Shooter.Hood.KS) + .withKG(Constants.Shooter.Hood.KG) + .withKV(Constants.Shooter.Hood.KV); + + // Create a variable of type CurrentLimitsConfigs called hoodClConfigs, and initialize it with + // the stator and supply limits found in Constants + CurrentLimitsConfigs hoodClConfigs = + new CurrentLimitsConfigs() + .withStatorCurrentLimit(Constants.Shooter.Hood.STATOR_CURRENT_LIMIT) + .withSupplyCurrentLimit(Constants.Shooter.Hood.SUPPLY_CURRENT_LIMIT); + + // Create a variable of type MotorOutputConifigs called hoodOutputConfigs, and initialize it to + // treat counterclockwise as positive, and neutral mode as coast + MotorOutputConfigs hoodOutputConfigs = + new MotorOutputConfigs() + .withInverted(InvertedValue.CounterClockwise_Positive) + .withNeutralMode(NeutralModeValue.Coast); + + FeedbackConfigs hoodFeedbackConfigs = new FeedbackConfigs() .withFeedbackRemoteSensorID(hoodEncoder.getDeviceID()) .withFeedbackSensorSource(FeedbackSensorSourceValue.FusedCANcoder) .withSensorToMechanismRatio(Constants.Shooter.Hood.ENCODER_ROTS_PER_HOOD_ROT) .withRotorToSensorRatio(Constants.Shooter.Hood.MOTOR_ROTS_PER_ENCODER_ROT); - // Create a TalonFXConfiguration called hoodConfig - // Set the Slot0, CurrentLimits, MotorOutput, and Feedback parameters to the device configs above - - // Apply the created configuration to the hood motor - - MagnetSensorConfigs hoodCANcoderConfig = + // Create a TalonFXConfiguration called hoodConfig + // Set the Slot0, CurrentLimits, MotorOutput, and Feedback parameters to the device configs + // above + // Apply the created configuration to the hood motor + hood.getConfigurator() + .apply( + new TalonFXConfiguration() + .withSlot0(hoodSlot0Configs) + .withCurrentLimits(hoodClConfigs) + .withMotorOutput(hoodOutputConfigs) + .withFeedback(hoodFeedbackConfigs)); + + MagnetSensorConfigs hoodCANcoderConfig = new CANcoderConfiguration() .MagnetSensor.withAbsoluteSensorDiscontinuityPoint(Rotations.of(1)) .withSensorDirection(SensorDirectionValue.CounterClockwise_Positive) .withMagnetOffset(Rotations.of(Constants.Shooter.Hood.ENCODER_OFFSET)); - // Apply this config to the `hoodEncoder`. Notice how applying a device configuration is similar between motors and other devices - - } + // Apply this config to the `hoodEncoder`. Notice how applying a device configuration is similar + // between motors and other devices + hoodEncoder.getConfigurator().apply(hoodCANcoderConfig); + } + + public void setHoodAngle(double degrees) { + targetHoodAngle = degrees; + hood.setControl( + m_positionReq.withPosition( + MathUtil.clamp( + targetHoodAngle, + Constants.Shooter.Hood.MIN_HOOD_POSITION, + Constants.Shooter.Hood.MAX_HOOD_POSITION) + / 360.0)); + } + + public void setShooterSpeed(double velocityRps) { + targetShooterSpeed = velocityRps; + shooter.setControl( + m_velocityReq.withVelocity( + targetShooterSpeed * Constants.Shooter.Rollers.MOTOR_ROTS_PER_WHEEL_ROTS)); + } + + public void stopShooter() { + targetShooterSpeed = 0.0; + shooter.stopMotor(); + } + + public boolean isShooterAtSpeed() { + double currentVelocity = + shooter.getCachedVelocityRps() / Constants.Shooter.Rollers.MOTOR_ROTS_PER_WHEEL_ROTS; + return Math.abs(currentVelocity - targetShooterSpeed) <= 1.0; + } + + public Command shootWithHood(double hoodAngleDegrees, double shooterVelocityRps) { + return runEnd( + () -> { + setShooterSpeed(shooterVelocityRps); + setHoodAngle(hoodAngleDegrees); + }, + this::stopShooter); + } }