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RPM changes for indexer, ramp, and shooter

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Team2890HawkCollective
2026-02-19 17:51:31 -05:00
parent 6b173fab83
commit e98c3834d7
8 changed files with 550 additions and 260 deletions
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188
src/main/java/frc/robot/subsystems/IntakeSubsystem.java
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@@ -1,94 +1,94 @@
package frc.robot.subsystems;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.WaitCommand;
import frc.robot.Constants;
import com.revrobotics.spark.ClosedLoopSlot;
import com.revrobotics.spark.SparkBase.PersistMode;
import com.revrobotics.spark.SparkBase.ResetMode;
import com.revrobotics.spark.SparkClosedLoopController;
import com.revrobotics.spark.SparkFlex;
import com.revrobotics.spark.SparkLowLevel.MotorType;
import com.revrobotics.spark.config.SparkFlexConfig;
import com.revrobotics.RelativeEncoder;
import com.revrobotics.spark.SparkBase.ControlType;
public class IntakeSubsystem extends SubsystemBase {
private static SparkFlex intakeMotor = new SparkFlex(Constants.IntakeConstants.INTAKE_WHEELS_MOTOR_ID,
MotorType.kBrushless);
private static SparkFlex intakeRotatorMotor = new SparkFlex(Constants.IntakeConstants.INTAKE_ROTATOR_MOTOR_ID,
MotorType.kBrushless);
private static SparkClosedLoopController intakeRotatorPIDController;
public static SparkFlexConfig intakeRotatorConfig = new SparkFlexConfig();
public IntakeSubsystem() {
intakeRotatorConfig.closedLoop.pid(Constants.IntakeConstants.IntakeRotatorPID.INTAKE_ROTATOR_P,
Constants.IntakeConstants.IntakeRotatorPID.INTAKE_ROTATOR_I,
Constants.IntakeConstants.IntakeRotatorPID.INTAKE_ROTATOR_D);
intakeRotatorMotor.configure(intakeRotatorConfig, com.revrobotics.ResetMode.kNoResetSafeParameters,
com.revrobotics.PersistMode.kNoPersistParameters);
intakeRotatorPIDController = intakeRotatorMotor.getClosedLoopController();
}
public void startIntakeMotor() {
intakeMotor.set(Constants.IntakeConstants.INTAKE_WHEELS_MOTOR_SPEED);
}
public void reverseIntakeMotor() {
intakeMotor.set(Constants.IntakeConstants.INTAKE_WHEELS_MOTOR_SPEED * -1);
}
public void stopIntakeMotor() {
intakeMotor.set(0);
}
public Command startIntakeMotorCommand() {
return runOnce(() -> startIntakeMotor());
}
public Command reverseIntakeMotorCommand() {
return runOnce(() -> reverseIntakeMotor());
}
public Command stopIntakeMotorCommand() {
return runOnce(() -> stopIntakeMotor());
}
public void deployIntake() {
intakeRotatorPIDController.setSetpoint(Constants.IntakeConstants.INTAKE_COLLECT_ENCODER_VALUE,
ControlType.kPosition);
}
public Command deployintakeCommand() {
return runOnce(() -> deployIntake());
}
public void retractIntake() {
intakeRotatorPIDController.setSetpoint(0, ControlType.kPosition);
}
public Command retractIntakeCommand() {
return runOnce(() -> retractIntake());
}
public void assistFuelIntake() {
intakeRotatorPIDController.setSetpoint(Constants.IntakeConstants.INTAKE_MIDDLE_ENCODER_VALUE,
ControlType.kPosition);
}
public Command assistFuelIntakeCommand() {
return runOnce(() -> assistFuelIntake()).andThen(new WaitCommand(2)).andThen(deployintakeCommand())
.andThen(new WaitCommand(2));
}
@Override
public void periodic() {
SmartDashboard.putNumber("Intake Rotator Motor PID", intakeRotatorMotor.getEncoder().getPosition());
}
}
package frc.robot.subsystems;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.WaitCommand;
import frc.robot.Constants;
import com.revrobotics.spark.ClosedLoopSlot;
import com.revrobotics.spark.SparkBase.PersistMode;
import com.revrobotics.spark.SparkBase.ResetMode;
import com.revrobotics.spark.SparkClosedLoopController;
import com.revrobotics.spark.SparkFlex;
import com.revrobotics.spark.SparkLowLevel.MotorType;
import com.revrobotics.spark.config.SparkFlexConfig;
import com.revrobotics.RelativeEncoder;
import com.revrobotics.spark.SparkBase.ControlType;
public class IntakeSubsystem extends SubsystemBase {
private static SparkFlex intakeMotor = new SparkFlex(Constants.IntakeConstants.INTAKE_WHEELS_MOTOR_ID,
MotorType.kBrushless);
private static SparkFlex intakeRotatorMotor = new SparkFlex(Constants.IntakeConstants.INTAKE_ROTATOR_MOTOR_ID,
MotorType.kBrushless);
private static SparkClosedLoopController intakeRotatorPIDController;
public static SparkFlexConfig intakeRotatorConfig = new SparkFlexConfig();
public IntakeSubsystem() {
intakeRotatorConfig.closedLoop.pid(Constants.IntakeConstants.IntakeRotatorPID.INTAKE_ROTATOR_P,
Constants.IntakeConstants.IntakeRotatorPID.INTAKE_ROTATOR_I,
Constants.IntakeConstants.IntakeRotatorPID.INTAKE_ROTATOR_D);
intakeRotatorMotor.configure(intakeRotatorConfig, com.revrobotics.ResetMode.kNoResetSafeParameters,
com.revrobotics.PersistMode.kNoPersistParameters);
intakeRotatorPIDController = intakeRotatorMotor.getClosedLoopController();
}
public void startIntakeMotor() {
intakeMotor.set(Constants.IntakeConstants.INTAKE_WHEELS_MOTOR_RPM);
}
public void reverseIntakeMotor() {
intakeMotor.set(Constants.IntakeConstants.INTAKE_WHEELS_MOTOR_RPM * -1);
}
public void stopIntakeMotor() {
intakeMotor.set(0);
}
public Command startIntakeMotorCommand() {
return runOnce(() -> startIntakeMotor());
}
public Command reverseIntakeMotorCommand() {
return runOnce(() -> reverseIntakeMotor());
}
public Command stopIntakeMotorCommand() {
return runOnce(() -> stopIntakeMotor());
}
public void deployIntake() {
intakeRotatorPIDController.setSetpoint(Constants.IntakeConstants.INTAKE_COLLECT_ENCODER_VALUE,
ControlType.kPosition);
}
public Command deployintakeCommand() {
return runOnce(() -> deployIntake());
}
public void retractIntake() {
intakeRotatorPIDController.setSetpoint(0, ControlType.kPosition);
}
public Command retractIntakeCommand() {
return runOnce(() -> retractIntake());
}
public void assistFuelIntake() {
intakeRotatorPIDController.setSetpoint(Constants.IntakeConstants.INTAKE_MIDDLE_ENCODER_VALUE,
ControlType.kPosition);
}
public Command assistFuelIntakeCommand() {
return runOnce(() -> assistFuelIntake()).andThen(new WaitCommand(2)).andThen(deployintakeCommand())
.andThen(new WaitCommand(2));
}
@Override
public void periodic() {
SmartDashboard.putNumber("Intake Rotator Motor PID", intakeRotatorMotor.getEncoder().getPosition());
}
}