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[examples] Improve Pneumatics example coverage in Solenoid and RapidReactCmdBot examples (#4998)

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This commit is contained in:
Starlight220
2023-07-04 07:23:18 +03:00
committed by GitHub
parent 6b5817836d
commit fffe6a7b9a
14 changed files with 393 additions and 73 deletions
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1
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/examples.json
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@@ -68,6 +68,7 @@
"tags": [
"Hardware",
"Joystick",
"Shuffleboard",
"Pneumatics"
],
"foldername": "solenoid",

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/Constants.java
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@@ -63,7 +63,7 @@ public final class Constants {
public static final class IntakeConstants {
public static final int kMotorPort = 6;
public static final int[] kSolenoidPorts = {0, 1};
public static final int[] kSolenoidPorts = {2, 3};
}
public static final class StorageConstants {

5
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/RapidReactCommandBot.java
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@@ -11,6 +11,7 @@ import edu.wpi.first.wpilibj.examples.rapidreactcommandbot.Constants.OIConstants
import edu.wpi.first.wpilibj.examples.rapidreactcommandbot.Constants.ShooterConstants;
import edu.wpi.first.wpilibj.examples.rapidreactcommandbot.subsystems.Drive;
import edu.wpi.first.wpilibj.examples.rapidreactcommandbot.subsystems.Intake;
import edu.wpi.first.wpilibj.examples.rapidreactcommandbot.subsystems.Pneumatics;
import edu.wpi.first.wpilibj.examples.rapidreactcommandbot.subsystems.Shooter;
import edu.wpi.first.wpilibj.examples.rapidreactcommandbot.subsystems.Storage;
import edu.wpi.first.wpilibj2.command.CommandBase;
@@ -29,6 +30,7 @@ public class RapidReactCommandBot {
private final Intake m_intake = new Intake();
private final Storage m_storage = new Storage();
private final Shooter m_shooter = new Shooter();
private final Pneumatics m_pneumatics = new Pneumatics();
// The driver's controller
CommandXboxController m_driverController =
@@ -69,6 +71,9 @@ public class RapidReactCommandBot {
m_storage.runCommand())
// Since we composed this inline we should give it a name
.withName("Shoot"));
// Toggle compressor with the Start button
m_driverController.start().toggleOnTrue(m_pneumatics.disableCompressorCommand());
}
/**

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Intake.java
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@@ -14,9 +14,11 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Intake extends SubsystemBase {
private final PWMSparkMax m_motor = new PWMSparkMax(IntakeConstants.kMotorPort);
// Double solenoid connected to two channels of a PCM with the default CAN ID
private final DoubleSolenoid m_pistons =
new DoubleSolenoid(
PneumaticsModuleType.REVPH,
PneumaticsModuleType.CTREPCM,
IntakeConstants.kSolenoidPorts[0],
IntakeConstants.kSolenoidPorts[1]);

65
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Pneumatics.java Normal file
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@@ -0,0 +1,65 @@
// 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.
package edu.wpi.first.wpilibj.examples.rapidreactcommandbot.subsystems;
import edu.wpi.first.wpilibj.AnalogPotentiometer;
import edu.wpi.first.wpilibj.Compressor;
import edu.wpi.first.wpilibj.PneumaticsModuleType;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
/** Subsystem for managing the compressor, pressure sensor, etc. */
public class Pneumatics extends SubsystemBase {
// External analog pressure sensor
// product-specific voltage->pressure conversion, see product manual
// in this case, 250(V/5)-25
// the scale parameter in the AnalogPotentiometer constructor is scaled from 1 instead of 5,
// so if r is the raw AnalogPotentiometer output, the pressure is 250r-25
static final double kScale = 250;
static final double kOffset = -25;
private final AnalogPotentiometer m_pressureTransducer =
new AnalogPotentiometer(/* the AnalogIn port*/ 2, kScale, kOffset);
// Compressor connected to a PCM with a default CAN ID (0)
private final Compressor m_compressor = new Compressor(PneumaticsModuleType.CTREPCM);
public Pneumatics() {
var tab = Shuffleboard.getTab("Pneumatics");
tab.addDouble("External Pressure [PSI]", this::getPressure);
}
/**
* Query the analog pressure sensor.
*
* @return the measured pressure, in PSI
*/
private double getPressure() {
// Get the pressure (in PSI) from an analog pressure sensor connected to the RIO.
return m_pressureTransducer.get();
}
/**
* Disable the compressor closed-loop for as long as the command runs.
*
* <p>Structured this way as the compressor is enabled by default.
*
* @return command
*/
public CommandBase disableCompressorCommand() {
return startEnd(
() -> {
// Disable closed-loop mode on the compressor.
m_compressor.disable();
},
() -> {
// Enable closed-loop mode based on the digital pressure switch connected to the
// PCM/PH.
// The switch is open when the pressure is over ~120 PSI.
m_compressor.enableDigital();
})
.withName("Compressor Disabled");
}
}

102
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid/Robot.java
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@@ -4,11 +4,14 @@
package edu.wpi.first.wpilibj.examples.solenoid;
import edu.wpi.first.wpilibj.Compressor;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PneumaticsModuleType;
import edu.wpi.first.wpilibj.Solenoid;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
/**
* This is a sample program showing the use of the solenoid classes during operator control. Three
@@ -25,34 +28,111 @@ public class Robot extends TimedRobot {
private final Joystick m_stick = new Joystick(0);
// Solenoid corresponds to a single solenoid.
private final Solenoid m_solenoid = new Solenoid(PneumaticsModuleType.CTREPCM, 0);
// In this case, it's connected to channel 0 of a PH with the default CAN ID.
private final Solenoid m_solenoid = new Solenoid(PneumaticsModuleType.REVPH, 0);
// DoubleSolenoid corresponds to a double solenoid.
// In this case, it's connected to channels 1 and 2 of a PH with the default CAN ID.
private final DoubleSolenoid m_doubleSolenoid =
new DoubleSolenoid(PneumaticsModuleType.CTREPCM, 1, 2);
new DoubleSolenoid(PneumaticsModuleType.REVPH, 1, 2);
private static final int kSolenoidButton = 1;
private static final int kDoubleSolenoidForward = 2;
private static final int kDoubleSolenoidReverse = 3;
// Compressor connected to a PH with a default CAN ID (1)
private final Compressor m_compressor = new Compressor(PneumaticsModuleType.REVPH);
static final int kSolenoidButton = 1;
static final int kDoubleSolenoidForwardButton = 2;
static final int kDoubleSolenoidReverseButton = 3;
static final int kCompressorButton = 4;
@Override
public void robotInit() {
// Publish elements to shuffleboard.
ShuffleboardTab tab = Shuffleboard.getTab("Pneumatics");
tab.add("Single Solenoid", m_solenoid);
tab.add("Double Solenoid", m_doubleSolenoid);
tab.add("Compressor", m_compressor);
// Also publish some raw data
tab.addDouble(
"PH Pressure [PSI]",
() -> {
// Get the pressure (in PSI) from the analog sensor connected to the PH.
// This function is supported only on the PH!
// On a PCM, this function will return 0.
return m_compressor.getPressure();
});
tab.addDouble(
"Compressor Current",
() -> {
// Get compressor current draw.
return m_compressor.getCurrent();
});
tab.addBoolean(
"Compressor Active",
() -> {
// Get whether the compressor is active.
return m_compressor.isEnabled();
});
tab.addBoolean(
"Pressure Switch",
() -> {
// Get the digital pressure switch connected to the PCM/PH.
// The switch is open when the pressure is over ~120 PSI.
return m_compressor.getPressureSwitchValue();
});
}
@SuppressWarnings("PMD.UnconditionalIfStatement")
@Override
public void teleopPeriodic() {
/*
* The output of GetRawButton is true/false depending on whether
* the button is pressed; Set takes a boolean for whether
* to use the default (false) channel or the other (true).
* to retract the solenoid (false) or extend it (true).
*/
m_solenoid.set(m_stick.getRawButton(kSolenoidButton));
/*
* In order to set the double solenoid, if just one button
* is pressed, set the solenoid to correspond to that button.
* If both are pressed, set the solenoid will be set to Forwards.
* GetRawButtonPressed will only return true once per press.
* If a button is pressed, set the solenoid to the respective channel.
*/
if (m_stick.getRawButton(kDoubleSolenoidForward)) {
if (m_stick.getRawButtonPressed(kDoubleSolenoidForwardButton)) {
m_doubleSolenoid.set(DoubleSolenoid.Value.kForward);
} else if (m_stick.getRawButton(kDoubleSolenoidReverse)) {
} else if (m_stick.getRawButtonPressed(kDoubleSolenoidReverseButton)) {
m_doubleSolenoid.set(DoubleSolenoid.Value.kReverse);
}
// On button press, toggle the compressor.
if (m_stick.getRawButtonPressed(kCompressorButton)) {
// Check whether the compressor is currently enabled.
boolean isCompressorEnabled = m_compressor.isEnabled();
if (isCompressorEnabled) {
// Disable closed-loop mode on the compressor.
m_compressor.disable();
} else {
// Change the if statements to select the closed-loop you want to use:
if (false) {
// Enable closed-loop mode based on the digital pressure switch connected to the PCM/PH.
// The switch is open when the pressure is over ~120 PSI.
m_compressor.enableDigital();
}
if (true) {
// Enable closed-loop mode based on the analog pressure sensor connected to the PH.
// The compressor will run while the pressure reported by the sensor is in the
// specified range ([70 PSI, 120 PSI] in this example).
// Analog mode exists only on the PH! On the PCM, this enables digital control.
m_compressor.enableAnalog(70, 120);
}
if (false) {
// Enable closed-loop mode based on both the digital pressure switch AND the analog
// pressure sensor connected to the PH.
// The compressor will run while the pressure reported by the analog sensor is in the
// specified range ([70 PSI, 120 PSI] in this example) AND the digital switch reports
// that the system is not full.
// Hybrid mode exists only on the PH! On the PCM, this enables digital control.
m_compressor.enableHybrid(70, 120);
}
}
}
}
}