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fixed intake ramp, shooter, and drive PID

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This commit is contained in:
Mehooliu
2026-02-21 17:26:10 -05:00
parent a8f351854f
commit 3d7601387a
15 changed files with 382 additions and 292 deletions
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54
src/main/java/frc/robot/Constants.java
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@@ -68,60 +68,66 @@ public final class Constants {
}
public static class ShooterConstants {
private static GenericEntry shooterRPM = programmingTab.add("Desired Shooter RPM", -5000)
private static GenericEntry shooterRPM = programmingTab.add("Desired Shooter RPM", -4000)
.withWidget(BuiltInWidgets.kNumberBar).getEntry();
public static double SHOOTER_RPM;
public static void updateShooterRPM() {
SHOOTER_RPM = shooterRPM.getDouble(-5000);
SHOOTER_RPM = shooterRPM.getDouble(-4000);
}
public static final int CENTER_SHOOTER_MOTOR_ID = 42;
public static final int LEFT_SHOOTER_MOTOR_ID = 41;
public static final int RIGHT_SHOOTER_MOTOR_ID = 40;
public static final int INDEXER_MOTOR_ID = 43;
public static double INDEXER_AND_RAMP_MOTOR_RPM;
public static double SHOOTER_MOTOR_P = 0.001;
public static double SHOOTER_MOTOR_P = 0.0018;
public static double SHOOTER_MOTOR_I = 0;
public static double SHOOTER_MOTOR_D = 0;
private static GenericEntry indexerAndRampRPM = programmingTab.add("Desired Ramp + Indexer Speed", 2000)
.withWidget(BuiltInWidgets.kNumberBar).getEntry();
public static double INDEXER_MOTOR_P = 0.0001;
public static double INDEXER_MOTOR_I = 0;
public static double INDEXER_MOTOR_D = 0;
/*private static GenericEntry indexerAndRampRPM = programmingTab.add("Desired Ramp + Indexer RPM", 2000)
.withWidget(BuiltInWidgets.kNumberBar).getEntry();*/
public static double INDEXER_AND_RAMP_MOTOR_RPM = 10000;
// this method called in robot periodic so values updated in elastic are
// constantly read and applied to RAMP_MOTOR_SPEED
public static void updateIndexerAndRampMotorRPM() {
/*public static void updateIndexerAndRampMotorRPM() {
INDEXER_AND_RAMP_MOTOR_RPM = indexerAndRampRPM.getDouble(2000);
}
}*/
}
public static class IntakeConstants {
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;
/* private static GenericEntry intakeRPM = programmingTab.add("Desired Intake RPM", -1000)
.withWidget(BuiltInWidgets.kNumberBar).getEntry(); */
public static double INTAKE_WHEELS_MOTOR_RPM = -7000;
public static void updateIntakeWheelsRPM() {
/*public static void updateIntakeWheelsRPM() {
INTAKE_WHEELS_MOTOR_RPM = intakeRPM.getDouble(-1000);
}
}*/
public static final int INTAKE_WHEELS_MOTOR_ID = 50;
public static final int INTAKE_ROTATOR_MOTOR_ID = 51;
public static class IntakeRotatorPID {
public static final double INTAKE_ROTATOR_P = 0.01;
public static final double INTAKE_ROTATOR_P = 0.03;
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_MOTOR_P = 0.0001;
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_COLLECT_ENCODER_VALUE = 5;
public static final double INTAKE_MIDDLE_ENCODER_VALUE = -2.5;
public static final double INTAKE_RETRACT_ENCODER_VALUE = 0;
}
@@ -135,10 +141,10 @@ public final class Constants {
public static final Pose2d RIGHT_CLIMB_POSE = new Pose2d(1.075, 4.75, Rotation2d.fromDegrees(90));
public static final Pose2d LEFT_CLIMB_POSE = new Pose2d(1.075, 2.75, Rotation2d.fromDegrees(-90));
public static final PhotonCamera ORANGE_PHOTON_CAM = new PhotonCamera("Arducam_OV9281_USB_Camera");
public static final PhotonCamera BLACK_PHOTON_CAM = new PhotonCamera("Arducam_OV9281_USB_Camera");
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 PhotonCamera ORANGE_PHOTON_CAM = new PhotonCamera("Rear Left Camera");
public static final PhotonCamera BLACK_PHOTON_CAM = new PhotonCamera("Rear Right Camera");
public static final PhotonCamera RED_PHOTON_CAM = new PhotonCamera("Front Left Camera");
public static final PhotonCamera PURPLE_PHOTON_CAM = new PhotonCamera("Front Right Camera");
public static final Pose2d HUB_POSE = new Pose2d(4.625, 4.03, new Rotation2d());