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fixed intake and indexer along with their RPM updates from elastic

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This commit is contained in:
Team2890HawkCollective
2026-02-21 09:23:04 -05:00
parent a5db6ce778
commit 26ef775088
4 changed files with 22 additions and 39 deletions
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38
src/main/java/frc/robot/Constants.java
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@@ -68,13 +68,13 @@ public final class Constants {
}
public static class ShooterConstants {
private static GenericEntry shooterVelocity = programmingTab.add("Desired Shooter RPM", -1000)
private static GenericEntry shooterRPM = programmingTab.add("Desired Shooter RPM", -5000)
.withWidget(BuiltInWidgets.kNumberBar).getEntry();
public static double SHOOTER_RPM;
public static void getShooterVelocity() {
SHOOTER_RPM = shooterVelocity.getDouble(-1000);
public static void updateShooterRPM() {
SHOOTER_RPM = shooterRPM.getDouble(-5000);
}
public static final int CENTER_SHOOTER_MOTOR_ID = 42;
@@ -87,27 +87,24 @@ public final class Constants {
public static double SHOOTER_MOTOR_I = 0;
public static double SHOOTER_MOTOR_D = 0;
private static GenericEntry indexerAndRampRPM = programmingTab.add("Desired Ramp + Indexer Speed", 1000)
private static GenericEntry indexerAndRampRPM = programmingTab.add("Desired Ramp + Indexer Speed", 2000)
.withWidget(BuiltInWidgets.kNumberBar).getEntry();
// this method called in robot periodic so values updated in elastic are
// constantly read and applied to RAMP_MOTOR_SPEED
public static void getIndexerAndRampMotorRPM() {
INDEXER_AND_RAMP_MOTOR_RPM = indexerAndRampRPM.getDouble(1000);
public static void updateIndexerAndRampMotorRPM() {
INDEXER_AND_RAMP_MOTOR_RPM = indexerAndRampRPM.getDouble(2000);
}
}
public static class IntakeConstants {
private static GenericEntry intakeSpeed = programmingTab.add("Desired Intake Speed", -0.65)
.withWidget(BuiltInWidgets.kNumberBar).getEntry();
public static double INTAKE_WHEELS_MOTOR_SPEED;
private static GenericEntry intakeRPM = programmingTab.add("Desired Intake RPM", -1000)
.withWidget(BuiltInWidgets.kNumberBar).getEntry();
public static double INTAKE_WHEELS_MOTOR_RPM;
public static void getIntakeWheelsSpeed() {
public static void updateIntakeWheelsRPM() {
INTAKE_WHEELS_MOTOR_RPM = intakeRPM.getDouble(-1000);
}
@@ -119,31 +116,20 @@ public final class Constants {
public static final double INTAKE_ROTATOR_I = 0;
public static final double INTAKE_ROTATOR_D = 0;
}
public static final double INTAKE_MOTOR_P = 0.01;
public static final double INTAKE_MOTOR_I = 0;
public static final double INTAKE_MOTOR_D = 0;
public static final double INTAKE_COLLECT_ENCODER_VALUE = 4.1290459632873535;
public static final double INTAKE_MIDDLE_ENCODER_VALUE = 1.2550222873687744;
public static final double INTAKE_RETRACT_ENCODER_VALUE = 0;
}
public static class RampConstants {
public static final int RAMP_MOTOR_ID = 45;
// create object and a new widget under programming tab in Elastic where object
// retrieves value from widget
private static GenericEntry rampSpeed = programmingTab.add("Desired Ramp Speed", 0.4)
.withWidget(BuiltInWidgets.kNumberBar).getEntry();
// this method called in robot periodic so values updated in elastic are
// constantly read and applied to RAMP_MOTOR_SPEED
public static void getRampMotorSpeed() {
RAMP_MOTOR_SPEED = rampSpeed.getDouble(0.4);
}
public static double RAMP_MOTOR_SPEED = .6;
// create object and a new widget under programming tab in Elastic where object
// retrieves value from widget
}
public static class TargetingConstants {
public static final Pose2d RIGHT_CLIMB_POSE = new Pose2d(1.075, 4.75, Rotation2d.fromDegrees(90));
@@ -154,6 +140,8 @@ public final class Constants {
public static final PhotonCamera RED_PHOTON_CAM = new PhotonCamera("Arducam_OV9281_USB_Camera");
public static final PhotonCamera PURPLE_PHOTON_CAM = new PhotonCamera("Arducam_OV9281_USB_Camera");
public static final Pose2d HUB_POSE = new Pose2d(4.625, 4.03, new Rotation2d());
public static final Transform3d ORANGE_ROBOT_TO_CAM = new Transform3d(new Translation3d(0, 0, 0),
new Rotation3d(0, 0, 0));
public static final Transform3d BLACK_ROBOT_TO_CAM = new Transform3d(new Translation3d(0, 0, 0),

6
src/main/java/frc/robot/Robot.java
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@@ -87,8 +87,10 @@ public class Robot extends TimedRobot {
CommandScheduler.getInstance().run();
// Constants.ShooterConstants.getRampAndIndexerMotorSpeed();
Constants.IntakeConstants.getIntakeWheelsSpeed();
Constants.ShooterConstants.getShooterVelocity();
Constants.IntakeConstants.updateIntakeWheelsRPM();
Constants.ShooterConstants.updateShooterRPM();
Constants.ShooterConstants.updateIndexerAndRampMotorRPM();
TargetingSubsystems.updateRobotPose(Constants.TargetingConstants.ORANGE_PHOTON_CAM,
Constants.TargetingConstants.ORANGE_PHOTON_ESTIMATOR, m_robotContainer.getSwerveDrive());
TargetingSubsystems.updateRobotPose(Constants.TargetingConstants.BLACK_PHOTON_CAM,

9
src/main/java/frc/robot/RobotContainer.java
View File

@@ -175,7 +175,7 @@ public class RobotContainer {
Command driveSetpointGenKeyboard = drivebase.driveWithSetpointGeneratorFieldRelative(
driveDirectAngleKeyboard);
driverXbox.leftTrigger().onTrue(m_IntakeSubsystem.startIntakeMotorCommand())
driverXbox.leftTrigger().whileTrue(m_IntakeSubsystem.startIntakeMotorCommand())
.onFalse(m_IntakeSubsystem.stopIntakeMotorCommand());
driverXbox.leftBumper().whileTrue(m_IntakeSubsystem.reverseIntakeMotorCommand())
.onFalse(m_IntakeSubsystem.stopIntakeMotorCommand());
@@ -202,13 +202,6 @@ public class RobotContainer {
.andThen(m_IntakeSubsystem.deployintakeCommand()));
// driverXbox.a().whileTrue(aimAtHopperCommand(() -> -driverXbox.getLeftY(),
// () -> -driverXbox.getLeftX()));
if (driverXbox.getRightY() < -0.4) {
m_ClimberSubsystem.liftRobotCommand();
} else if (driverXbox.getRightY() > 0.4) {
m_ClimberSubsystem.lowerRobotCommand();
} else {
m_ClimberSubsystem.stopClimberCommand();
}
// driverXbox.b().whileTrue(m_TargetingSubsystems.aimAndRangeToPose(Constants.TargetingConstants.LEFT_CLIMB_POSE));

8
src/main/java/frc/robot/subsystems/IntakeSubsystem.java
View File

@@ -38,9 +38,9 @@ public class IntakeSubsystem extends SubsystemBase {
com.revrobotics.PersistMode.kNoPersistParameters);
intakeRotatorPIDController = intakeRotatorMotor.getClosedLoopController();
intakeWheelsMotorConfig.closedLoop.pid(Constants.ShooterConstants.SHOOTER_MOTOR_P,
Constants.ShooterConstants.SHOOTER_MOTOR_I,
Constants.ShooterConstants.SHOOTER_MOTOR_D);
intakeWheelsMotorConfig.closedLoop.pid(Constants.IntakeConstants.INTAKE_MOTOR_P,
Constants.IntakeConstants.INTAKE_MOTOR_I,
Constants.IntakeConstants.INTAKE_MOTOR_D);
intakeWheelsMotor.configure(intakeWheelsMotorConfig, com.revrobotics.ResetMode.kNoResetSafeParameters,
com.revrobotics.PersistMode.kNoPersistParameters);
intakeWheelsMotorPIDController = intakeWheelsMotor.getClosedLoopController();
@@ -55,7 +55,7 @@ public class IntakeSubsystem extends SubsystemBase {
}
public void stopIntakeMotor() {
intakeWheelsMotorPIDController.setSetpoint(Constants.IntakeConstants.INTAKE_WHEELS_MOTOR_RPM * -1, ControlType.kVelocity);
intakeWheelsMotor.set(0);
}
public Command startIntakeMotorCommand() {