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Use suppliers for constraints in superstructure #221

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Use suppliers for constraints in superstructure #221

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2 changes: 1 addition & 1 deletion src/main/java/org/littletonrobotics/frc2024/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -656,7 +656,7 @@ private void configureButtonBindings() {
})
.andThen(
superstructure.setGoalWithConstraintsCommand(
Superstructure.Goal.AMP, Arm.smoothProfileConstraints.get()))));
Superstructure.Goal.AMP, Arm.smoothConstraints))));
driver
.rightTrigger()
.and(driver.b())
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3 changes: 1 addition & 2 deletions src/main/java/org/littletonrobotics/frc2024/commands/ClimbingCommands.java
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Expand Up @@ -67,8 +67,7 @@ public static Command trapSequence(
.withTimeout(5.0)
.alongWith(
superstructure.setGoalWithConstraintsCommand(
Superstructure.Goal.PREPARE_CLIMB,
Arm.prepareClimbProfileConstraints.get()),
Superstructure.Goal.PREPARE_CLIMB, Arm.prepareClimbConstraints),
rollers.setGoalCommand(Rollers.Goal.SHUFFLE_BACKPACK)),

// Allow driver to line up and climb
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7 changes: 4 additions & 3 deletions src/main/java/org/littletonrobotics/frc2024/subsystems/superstructure/Superstructure.java
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import java.util.function.Supplier;
import lombok.Getter;
import org.littletonrobotics.frc2024.subsystems.superstructure.arm.Arm;
import org.littletonrobotics.frc2024.subsystems.superstructure.backpackactuator.BackpackActuator;
Expand Down Expand Up @@ -211,10 +212,10 @@ public Command setGoalCommand(Goal goal) {

/** Command to set goal of superstructure with additional profile constraints on arm */
public Command setGoalWithConstraintsCommand(
Goal goal, TrapezoidProfile.Constraints armProfileConstraints) {
Goal goal, Supplier<TrapezoidProfile.Constraints> armProfileConstraints) {
return setGoalCommand(goal)
.beforeStarting(() -> arm.setProfileConstraints(armProfileConstraints))
.finallyDo(() -> arm.setProfileConstraints(Arm.maxProfileConstraints.get()));
.beforeStarting(() -> arm.setProfileConstraints(armProfileConstraints.get()))
.finallyDo(() -> arm.setProfileConstraints(Arm.maxConstraints.get()));
}

/** Command to aim the superstructure with a compensation value in degrees */
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8 changes: 4 additions & 4 deletions src/main/java/org/littletonrobotics/frc2024/subsystems/superstructure/arm/Arm.java
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Expand Up @@ -61,11 +61,11 @@ public class Arm {
private static final LoggedTunableNumber upperLimitDegrees =
new LoggedTunableNumber("Arm/UpperLimitDegrees", maxAngle.getDegrees());
// Profile constraints
public static final Supplier<TrapezoidProfile.Constraints> maxProfileConstraints =
public static final Supplier<TrapezoidProfile.Constraints> maxConstraints =
() -> new TrapezoidProfile.Constraints(maxVelocity.get(), maxAcceleration.get());
public static final Supplier<TrapezoidProfile.Constraints> smoothProfileConstraints =
public static final Supplier<TrapezoidProfile.Constraints> smoothConstraints =
() -> new TrapezoidProfile.Constraints(smoothVelocity.get(), smoothAcceleration.get());
public static final Supplier<TrapezoidProfile.Constraints> prepareClimbProfileConstraints =
public static final Supplier<TrapezoidProfile.Constraints> prepareClimbConstraints =
() ->
new TrapezoidProfile.Constraints(
prepareClimbVelocity.get(), prepareClimbAcceleration.get());
Expand Down Expand Up @@ -103,7 +103,7 @@ private double getRads() {
private final ArmIOInputsAutoLogged inputs = new ArmIOInputsAutoLogged();

@AutoLogOutput @Setter private double currentCompensation = 0.0;
private TrapezoidProfile.Constraints currentConstraints = maxProfileConstraints.get();
private TrapezoidProfile.Constraints currentConstraints = maxConstraints.get();
private TrapezoidProfile profile;
private TrapezoidProfile.State setpointState = new TrapezoidProfile.State();
private ArmFeedforward ff;
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