mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
70 lines
2.6 KiB
Python
70 lines
2.6 KiB
Python
|
#
|
||
|
|
# Copyright (c) FIRST and other WPILib contributors.
|
||
|
|
# Open Source Software; you can modify and/or share it under the terms of
|
||
|
|
# the WPILib BSD license file in the root directory of this project.
|
||
|
|
#
|
||
|
|
|
||
|
|
from commands2 import Command, InstantCommand, Subsystem, cmd
|
||
|
|
import wpilib
|
||
|
|
import wpimath
|
||
|
|
|
||
|
|
from constants import ShooterConstants
|
||
|
|
|
||
|
|
|
||
|
|
class Shooter(Subsystem):
|
||
|
|
def __init__(self) -> None:
|
||
|
|
"""The shooter subsystem for the robot."""
|
||
|
|
super().__init__()
|
||
|
|
self.shooterMotor = wpilib.PWMSparkMax(ShooterConstants.kShooterMotorPort)
|
||
|
|
self.feederMotor = wpilib.PWMSparkMax(ShooterConstants.kFeederMotorPort)
|
||
|
|
self.shooterEncoder = wpilib.Encoder(
|
||
|
|
ShooterConstants.kEncoderPorts[0],
|
||
|
|
ShooterConstants.kEncoderPorts[1],
|
||
|
|
ShooterConstants.kEncoderReversed,
|
||
|
|
)
|
||
|
|
self.shooterFeedforward = wpimath.SimpleMotorFeedforwardMeters(
|
||
|
|
ShooterConstants.kS, ShooterConstants.kV
|
||
|
|
)
|
||
|
|
self.shooterFeedback = wpimath.PIDController(ShooterConstants.kP, 0.0, 0.0)
|
||
|
|
|
||
|
|
self.shooterFeedback.setTolerance(ShooterConstants.kShooterToleranceRPS)
|
||
|
|
self.shooterEncoder.setDistancePerPulse(
|
||
|
|
ShooterConstants.kEncoderDistancePerPulse
|
||
|
|
)
|
||
|
|
|
||
|
|
# Set default command to turn off both the shooter and feeder motors, and then idle
|
||
|
|
self.setDefaultCommand(
|
||
|
|
self.runOnce(
|
||
|
|
lambda: (
|
||
|
|
self.shooterMotor.disable(),
|
||
|
|
self.feederMotor.disable(),
|
||
|
|
)
|
||
|
|
)
|
||
|
|
.andThen(self.run(lambda: None))
|
||
|
|
.withName("Idle")
|
||
|
|
)
|
||
|
|
|
||
|
|
def shootCommand(self, setpointRotationsPerSecond: float) -> Command:
|
||
|
|
"""Returns a command to shoot the balls currently stored in the robot. Spins the shooter
|
||
|
|
flywheel up to the specified setpoint, and then runs the feeder motor.
|
||
|
|
|
||
|
|
:param setpointRotationsPerSecond: The desired shooter velocity
|
||
|
|
"""
|
||
|
|
|
||
|
|
def _run_shooter() -> None:
|
||
|
|
self.shooterMotor.set(
|
||
|
|
self.shooterFeedforward.calculate(setpointRotationsPerSecond)
|
||
|
|
+ self.shooterFeedback.calculate(
|
||
|
|
self.shooterEncoder.getRate(), setpointRotationsPerSecond
|
||
|
|
)
|
||
|
|
)
|
||
|
|
|
||
|
|
return cmd.parallel(
|
||
|
|
# Run the shooter flywheel at the desired setpoint using feedforward and feedback
|
||
|
|
self.run(_run_shooter),
|
||
|
|
# Wait until the shooter has reached the setpoint, and then run the feeder
|
||
|
|
cmd.waitUntil(self.shooterFeedback.atSetpoint).andThen(
|
||
|
|
InstantCommand(lambda: self.feederMotor.set(1))
|
||
|
|
),
|
||
|
|
).withName("Shoot")
|