diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index c76a54a..f7d65ed 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -730,6 +730,9 @@ public static final class Hood { public static final double MIN_HOOD_POSITION = 3.8; public static final double MAX_HOOD_POSITION = 18.369; + public static final double MIN_HOOD_ANGLE = 3.8; + public static final double MAX_HOOD_ANGLE = 18.369; + public static double ENCODER_OFFSET = 0.296; // TODO public static final int ENCODER_PORT = 18; @@ -748,14 +751,17 @@ 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 = 5.0 / 12.0; + ; } } diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 44ec208..5d969cd 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; @@ -136,48 +139,31 @@ private void configureBindings() { hopperSubsystem.runHopperUntilInterruptedCommand( -Constants.Hopper.TARGET_SURFACE_SPEED_MPS))); - // * KEEP FOR WIN COMMAND - // joystick - // .a() - // .whileTrue( - // new DriveToAndShoot( - // () -> (new Pose2d(new Translation2d(3.0, 5.0), new Rotation2d())), - // lebron, - // intakeSubsystem, - // hopperSubsystem, - // drivetrain, - // redside)); - - // joystick - // .a() - // .whileTrue( - // new DriveToPose( - // drivetrain, - // () -> - // new Pose2d( - // new Translation2d(2.462480068206787, 2.26101016998291), new - // Rotation2d()))); - - // * KEEP FOR INTERMAP TESTING - // joystick - // .rightTrigger() - // .whileTrue( - // lebron - // .shootAtSpeedHoodCommand(() -> shooterSpeed, () -> hoodAngle) - // .alongWith(Commands.waitUntil(lebron::isAtSpeed).andThen - // - // (hopperSubsystem.runHopperUntilInterruptedCommand().alongWith(Commands.waitSeconds(0.4).andThen(intakeSubsystem.powerRetractRollersCommand()))))); + // Shooter + shooterSubsystem.setDefaultCommand(shooterSubsystem.runOnce(shooterSubsystem::stopShooter)); + + joystick + .rightBumper() + .whileTrue( + shooterSubsystem + .shootWithHood(44.2, Constants.Shooter.Hood.MIN_HOOD_POSITION) + .alongWith( + Commands.waitUntil(shooterSubsystem::isShooterAtSpeed) + .andThen(hopperSubsystem.runHopperUntilInterruptedCommand()))); + + joystick + .rightTrigger() + .whileTrue( + shooterSubsystem + .shootWithHood(58.2, Constants.Shooter.Hood.MAX_HOOD_POSITION) + .alongWith( + Commands.waitUntil(shooterSubsystem::isShooterAtSpeed) + .andThen(hopperSubsystem.runHopperUntilInterruptedCommand()))); secondController.intakeOverride().whileTrue(intakeSubsystem.retractIntakeCommand()); // Hopper hopperSubsystem.setDefaultCommand(hopperSubsystem.run(hopperSubsystem::stop)); - - // * KEEP FOR INTERMAP TESTING - // joystick.x().onTrue(new InstantCommand(() -> hoodAngle+=0.2)); - // joystick.y().onTrue(new InstantCommand(() -> hoodAngle-=0.2)); - // joystick.a().onTrue(new InstantCommand(() -> shooterSpeed+=0.5)); - // joystick.b().onTrue(new InstantCommand(() -> shooterSpeed-=0.5)); } public static boolean isRedAlliance() { diff --git a/src/main/java/frc/robot/commandGroups/ShootCommandGroups/ShootBasicHood.java b/src/main/java/frc/robot/commandGroups/ShootCommandGroups/ShootBasicHood.java new file mode 100644 index 0000000..c05cd1e --- /dev/null +++ b/src/main/java/frc/robot/commandGroups/ShootCommandGroups/ShootBasicHood.java @@ -0,0 +1,16 @@ +package frc.robot.commandGroups.ShootCommandGroups; + +import edu.wpi.first.wpilibj2.command.Commands; +import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; +import frc.robot.subsystems.HopperSubsystem; +import frc.robot.subsystems.ShooterSubsystem; + +public class ShootBasicHood extends ParallelCommandGroup { + public ShootBasicHood( + double speed, double angle, ShooterSubsystem shooter, HopperSubsystem hopper) { + addCommands( + shooter.shootWithHood(speed, angle), + Commands.waitUntil(shooter::isShooterAtSpeed) + .andThen(hopper.runHopperUntilInterruptedCommand())); + } +} diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java index 4eb7f8f..2544fc3 100644 --- a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java +++ b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java @@ -1,88 +1,165 @@ 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; + private final LoggedTalonFX warmup2; + private final LoggedTalonFX warmup3; + private final LoggedTalonFX shooter; + private final LoggedTalonFX hood; + private final CANcoder hoodEncoder; + + private final VelocityVoltage velocityVoltage = new VelocityVoltage(0.0); + private final PositionVoltage positionVoltage = new PositionVoltage(0.0); + private double targetShooterSpeed = 0.0; + private double targetHoodAngle = 0.0; + + public void setHoodAngle(double degrees) { + targetHoodAngle = degrees; + hood.setControl( + positionVoltage.withPosition( + MathUtil.clamp( + degrees, + Constants.Shooter.Hood.MIN_HOOD_ANGLE, + Constants.Shooter.Hood.MAX_HOOD_ANGLE) + / 360.0)); + } + + public void setShooterSpeed(double velocityRps) { + targetShooterSpeed = velocityRps; + shooter.setControl( + velocityVoltage.withVelocity( + velocityRps * Constants.Shooter.Rollers.MOTOR_ROTS_PER_WHEEL_ROT)); + } + + public void stopShooter() { + targetShooterSpeed = 0.0; + shooter.stopMotor(); + } + + public boolean isShooterAtSpeed() { + double currentWheelSpeed = + shooter.getCachedVelocityRps() / Constants.Shooter.Rollers.MOTOR_ROTS_PER_WHEEL_ROT; + return MathUtil.isNear(targetShooterSpeed, currentWheelSpeed, 1.0); + } + + public Command shootWithHood(double shooterSpeedRps, double hoodAngle) { + return runEnd( + () -> { + setShooterSpeed(shooterSpeedRps); + setHoodAngle(hoodAngle); + }, + this::stopShooter); + } + + public ShooterSubsystem() { + CANBus canbus = Constants.Swerve.CAN_BUS; + + 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; + hood = new LoggedTalonFX("Hood", Constants.Shooter.Hood.HOOD_ID, canbus); + + Follower follower = + new Follower(Constants.Shooter.Rollers.WARMUP_3_ID, MotorAlignmentValue.Aligned); + warmup1.setControl(follower); + warmup2.setControl(follower); + + hoodEncoder = new CANcoder(Constants.Shooter.Hood.ENCODER_PORT, canbus); + + // Rollers Configuration + Slot0Configs rollersSlot0Configs = new Slot0Configs(); + rollersSlot0Configs.kP = Constants.Shooter.Rollers.KP; + rollersSlot0Configs.kI = Constants.Shooter.Rollers.KI; + rollersSlot0Configs.kD = Constants.Shooter.Rollers.KD; + rollersSlot0Configs.kV = Constants.Shooter.Rollers.KV; + rollersSlot0Configs.kS = Constants.Shooter.Rollers.KS; + + CurrentLimitsConfigs rollersCLConfigs = new CurrentLimitsConfigs(); + rollersCLConfigs.StatorCurrentLimit = Constants.Shooter.Rollers.STATOR_CURRENT_LIMIT; + rollersCLConfigs.StatorCurrentLimitEnable = true; + rollersCLConfigs.SupplyCurrentLimit = Constants.Shooter.Rollers.SUPPLY_CURRENT_LIMIT; + rollersCLConfigs.SupplyCurrentLimitEnable = true; + + MotorOutputConfigs rollersOutputConfigs = new MotorOutputConfigs(); + rollersOutputConfigs.Inverted = InvertedValue.Clockwise_Positive; + rollersOutputConfigs.NeutralMode = NeutralModeValue.Coast; + + TalonFXConfiguration rollersConfig = new TalonFXConfiguration(); + rollersConfig.Slot0 = rollersSlot0Configs; + rollersConfig.CurrentLimits = rollersCLConfigs; + rollersConfig.MotorOutput = rollersOutputConfigs; + + warmup1.getConfigurator().apply(rollersConfig); + warmup2.getConfigurator().apply(rollersConfig); + warmup3.getConfigurator().apply(rollersConfig); + + // Hood Configuration + 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; + + CurrentLimitsConfigs hoodClConfigs = new CurrentLimitsConfigs(); + hoodClConfigs.StatorCurrentLimit = Constants.Shooter.Hood.STATOR_CURRENT_LIMIT; + hoodClConfigs.StatorCurrentLimitEnable = true; + hoodClConfigs.SupplyCurrentLimit = Constants.Shooter.Hood.SUPPLY_CURRENT_LIMIT; + hoodClConfigs.SupplyCurrentLimitEnable = true; + + 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 + TalonFXConfiguration hoodConfig = new TalonFXConfiguration(); + hoodConfig.Slot0 = hoodSlot0Configs; + hoodConfig.CurrentLimits = hoodClConfigs; + hoodConfig.MotorOutput = hoodOutputConfigs; + hoodConfig.Feedback = hoodFeedbackConfigs; - // Apply the created configuration to the hood motor + hood.getConfigurator().apply(hoodConfig); - MagnetSensorConfigs hoodCANcoderConfig = + 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 - - } + hoodEncoder.getConfigurator().apply(hoodCANcoderConfig); + } }