diff --git a/.vscode/settings.json b/.vscode/settings.json index e0f15db..472a289 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -1,3 +1,4 @@ { - "java.configuration.updateBuildConfiguration": "automatic" + "java.configuration.updateBuildConfiguration": "automatic", + "C_Cpp.errorSquiggles": "enabled" } \ No newline at end of file diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index c76a54a..1e45374 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 KD = 80.0; public static final double KV = 0.0; - public static final double KS = 0.0; - public static final double KG = 0.0; + public static final double KS = 0.124; + 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 +748,16 @@ 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_ROT = 15.0 / 12.0; } } diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 44ec208..288ff4a 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -11,6 +11,7 @@ import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.DriverStation.Alliance; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; +import frc.robot.commandGroups.ShootBasicHood; // * KEEP FOR WIN COMMAND TESTING import frc.robot.commands.SwerveCommands.SwerveJoystickCommand; import frc.robot.generated.TunerConstants; @@ -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; @@ -70,6 +72,7 @@ public class RobotContainer { Constants.intakeVisionOnRobot ? new IntakeVisionDetection(Constants.IntakeVision.IntakeVisionCamera.INTAKE_CAM) : null; + public final ShooterSubsystem shooter = new ShooterSubsystem(); // * KEEP FOR INTERMAP TESTING // private double hoodAngle = 18.369; @@ -100,6 +103,27 @@ public RobotContainer() { // } private void configureBindings() { + // Shooter + shooter.setDefaultCommand(shooter.runOnce(shooter::stopShooter)); + joystick + .rightBumper() + .whileTrue( + new ShootBasicHood( + () -> 44.2, + () -> Constants.Shooter.Hood.MIN_HOOD_POSITION, + shooter, + intakeSubsystem, + hopperSubsystem)); + joystick + .rightTrigger() + .whileTrue( + new ShootBasicHood( + () -> 58.2, + () -> Constants.Shooter.Hood.MAX_HOOD_POSITION, + shooter, + intakeSubsystem, + hopperSubsystem)); + // Swerve DoubleSupplier frontBackFunction = () -> -joystick.getLeftY(); DoubleSupplier leftRightFunction = () -> -joystick.getLeftX(); 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..d0263e9 --- /dev/null +++ b/src/main/java/frc/robot/commandGroups/ShootBasicHood.java @@ -0,0 +1,22 @@ +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.IntakeSubsystem; +import frc.robot.subsystems.ShooterSubsystem; +import java.util.function.DoubleSupplier; + +public class ShootBasicHood extends ParallelCommandGroup { + public ShootBasicHood( + DoubleSupplier speed, + DoubleSupplier angle, + ShooterSubsystem shooterSubsystem, + IntakeSubsystem intakeSubsystem, + 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 ee6829c..231f7c2 100644 --- a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java +++ b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java @@ -1,88 +1,197 @@ 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 MotorOutputConifigs 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 MotorOutputConifigs 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; + private final VelocityVoltage velocityRequest = new VelocityVoltage(0.0); + private final PositionVoltage positionRequest = new PositionVoltage(0.0); + private double targetRollerSpeed; + private double targetHoodAngle; + + /* + * 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. + 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(); + rollersSlot0Configs.kV = Constants.Shooter.Rollers.KV; + rollersSlot0Configs.kP = Constants.Shooter.Rollers.KP; + rollersSlot0Configs.kI = Constants.Shooter.Rollers.KI; + rollersSlot0Configs.kD = Constants.Shooter.Rollers.KD; + + // Create a variable of type CurrentLimitsConfigs called rollersClConfigs, and initialize it + // with the stator and supply limits found in Constants + CurrentLimitsConfigs rollersClConfigs = new CurrentLimitsConfigs(); + rollersClConfigs.StatorCurrentLimit = Constants.Shooter.Rollers.STATOR_CURRENT_LIMIT; + rollersClConfigs.SupplyCurrentLimit = 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(); + rollersOutputConfigs.NeutralMode = NeutralModeValue.Coast; + rollersOutputConfigs.Inverted = InvertedValue.Clockwise_Positive; + + TalonFXConfiguration rollersConfig = new TalonFXConfiguration(); + // Set the Slot0, CurrentLimits, and MotorOutput parameters of `rollersConfig` to the configs + // you just created. + rollersConfig.Slot0 = rollersSlot0Configs; + rollersConfig.CurrentLimits = rollersClConfigs; + rollersConfig.MotorOutput = rollersOutputConfigs; + + warmup1.getConfigurator().apply(rollersConfig); + // I just applied the configuration that you just created to warmup1. Apply it to warmup2 and + // warmup3 as well. + warmup2.getConfigurator().apply(rollersConfig); + warmup3.getConfigurator().apply(rollersConfig); + + 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(); + hoodSlot0Configs.kP = Constants.Shooter.Hood.KP; + hoodSlot0Configs.kI = Constants.Shooter.Hood.KI; + hoodSlot0Configs.kD = Constants.Shooter.Hood.KD; + hoodSlot0Configs.kV = Constants.Shooter.Hood.KV; + hoodSlot0Configs.kS = Constants.Shooter.Hood.KS; + hoodSlot0Configs.kG = Constants.Shooter.Hood.KG; + + // Create a variable of type CurrentLimitsConfigs called hoodClConfigs, and initialize it with + // the stator and supply limits found in Constants + CurrentLimitsConfigs hoodCLConfigs = new CurrentLimitsConfigs(); + hoodCLConfigs.StatorCurrentLimit = Constants.Shooter.Hood.STATOR_CURRENT_LIMIT; + hoodCLConfigs.SupplyCurrentLimit = 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(); + hoodOutputConfigs.Inverted = InvertedValue.CounterClockwise_Positive; + hoodOutputConfigs.NeutralMode = 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 + // Create a TalonFXConfiguration called hoodConfig + TalonFXConfiguration hoodConfig = new TalonFXConfiguration(); - // Apply the created configuration to the hood motor + // Set the Slot0, CurrentLimits, MotorOutput, and Feedback parameters to the device configs + // above + hoodConfig.Slot0 = hoodSlot0Configs; + hoodConfig.CurrentLimits = hoodCLConfigs; + hoodConfig.MotorOutput = hoodOutputConfigs; + hoodConfig.Feedback = hoodFeedbackConfigs; - MagnetSensorConfigs hoodCANcoderConfig = + // Apply the created configuration to the hood motor + hood.getConfigurator().apply(hoodConfig); + + 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) { + this.targetHoodAngle = degrees; + hood.setControl(positionRequest); + double clampedDegrees = + MathUtil.clamp( + degrees, + Constants.Shooter.Hood.MIN_HOOD_POSITION, + Constants.Shooter.Hood.MAX_HOOD_POSITION); + double targetRotations = clampedDegrees / 360; + } + + public void setShooterSpeed(double velocityRps) { + this.targetRollerSpeed = velocityRps; + shooter.setControl( + velocityRequest.withVelocity( + velocityRps * Constants.Shooter.Rollers.MOTOR_ROTS_PER_WHEEL_ROT)); + } + + public void stopShooter() { + targetRollerSpeed = 0.0; + shooter.stopMotor(); + } + + public boolean isShooterAtSpeed() { + double currentShooterSpeed = + shooter.getCachedVelocityRps() * Constants.Shooter.Rollers.MOTOR_ROTS_PER_WHEEL_ROT; + if (currentShooterSpeed - 1 <= targetRollerSpeed + || currentShooterSpeed + 1 >= targetRollerSpeed) { + return false; } + return true; + } + + public Command shootWithHood(Double targetRollerSpeed, Double targetHoodAngle) { + return runEnd( + () -> { + setShooterSpeed(targetRollerSpeed); + setHoodAngle(targetHoodAngle); + }, + this::stopShooter); + } }