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8/28 #35

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merged 6 commits into from
Aug 28, 2024
Merged

8/28 #35

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80fe8d7
fix logging
IanShiii Aug 27, 2024
d8a52f5
enable voltage compensation to 12V for cansparkmax motor controllers
IanShiii Aug 27, 2024
7211aeb
burn flash after voltage compensation
IanShiii Aug 27, 2024
10a531f
update led instructions, add voltage compensation setting for motor c…
IanShiii Aug 27, 2024
1ad7f05
forgot to push changes to LEDDefaultMode
IanShiii Aug 27, 2024
c02c265
add attention button, dont apply anti recoil voltage if past max arm …
IanShiii Aug 27, 2024
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36 changes: 10 additions & 26 deletions src/main/java/com/stuypulse/robot/RobotContainer.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -131,15 +131,15 @@ private void configureDriverBindings() {
.onTrue(new ArmToFeed())
// .whileTrue(new SwerveDriveDriveToNote(driver))
.whileTrue(new IntakeAcquire()
.deadlineWith(new LEDSet(LEDInstructions.INTAKING))
.deadlineWith(new LEDSet(LEDInstructions.FIELD_RELATIVE_INTAKING))
.andThen(new BuzzController(driver))
);

// intake robot relative
driver.getLeftTriggerButton()
.onTrue(new ArmToFeed())
.whileTrue(new IntakeAcquire()
.deadlineWith(new LEDSet(LEDInstructions.INTAKING))
.deadlineWith(new LEDSet(LEDInstructions.ROBOT_RELATIVE_INTAKING))
.andThen(new BuzzController(driver))
)
.whileTrue(new SwerveDriveDriveRobotRelative(driver));
Expand All @@ -155,7 +155,7 @@ private void configureDriverBindings() {
.whileTrue(new ConditionalCommand(
new ArmWaitUntilAtTarget()
.withTimeout(Settings.Arm.MAX_WAIT_TO_REACH_TARGET)
.andThen(new ShooterFeederDeacquire()),
.andThen(new ShooterFeederDeacquire().alongWith(new LEDSet(LEDInstructions.AMP_SCORE))),
new SwerveDriveDriveAlignedSpeaker(driver)
.alongWith(new ArmToSpeaker().alongWith(new ShooterSetRPM(Settings.Shooter.SPEAKER))
.andThen(new ArmWaitUntilAtTarget().withTimeout(Settings.Arm.MAX_WAIT_TO_REACH_TARGET)
Expand All @@ -165,10 +165,7 @@ private void configureDriverBindings() {
.alongWith(new IntakeShoot().onlyIf(() -> Arm.getInstance().atIntakeShouldShootAngle()))
)
)
.alongWith(new LEDSet(LEDInstructions.SPEAKER_ALIGN)
.until(() -> swerve.isAlignedToSpeaker())
.andThen(new LEDSet(LEDInstructions.IS_ALIGNED))
),
.alongWith(new LEDSet(LEDInstructions.SPEAKER_ALIGN)),
() -> Arm.getInstance().getState() == Arm.State.AMP))
.onFalse(new ConditionalCommand(
new ShooterFeederStop(),
Expand All @@ -186,10 +183,7 @@ private void configureDriverBindings() {
.alongWith(new IntakeShoot().onlyIf(() -> Arm.getInstance().atIntakeShouldShootAngle()))
)
)
.alongWith(new LEDSet(LEDInstructions.LOB_FERRY_ALIGN)
.until(() -> swerve.isAlignedToLobFerry())
.andThen(new LEDSet(LEDInstructions.IS_ALIGNED))
)
.alongWith(new LEDSet(LEDInstructions.LOB_FERRY_ALIGN))
)
.onFalse(new ConditionalCommand(
new ShooterFeederStop(),
Expand All @@ -208,10 +202,7 @@ private void configureDriverBindings() {
.alongWith(new IntakeShoot().onlyIf(() -> Arm.getInstance().atIntakeShouldShootAngle()))
)
)
.alongWith(new LEDSet(LEDInstructions.LOW_FERRY_ALIGN)
.until(() -> swerve.isAlignedToLowFerry())
.andThen(new LEDSet(LEDInstructions.IS_ALIGNED))
)
.alongWith(new LEDSet(LEDInstructions.LOW_FERRY_ALIGN))
)
.onFalse(new ConditionalCommand(
new ShooterFeederStop(),
Expand Down Expand Up @@ -247,10 +238,7 @@ private void configureDriverBindings() {
.alongWith(new IntakeShoot().onlyIf(() -> Arm.getInstance().atIntakeShouldShootAngle()))
)
)
.alongWith(new LEDSet(LEDInstructions.LOB_FERRY_ALIGN_MANUAL)
.until(() -> swerve.isAlignedToManualLobFerry())
.andThen(new LEDSet(LEDInstructions.IS_ALIGNED))
)
.alongWith(new LEDSet(LEDInstructions.LOB_FERRY_ALIGN_MANUAL))
)
.onFalse(new ConditionalCommand(
new ShooterFeederStop(),
Expand All @@ -268,19 +256,15 @@ private void configureDriverBindings() {
.alongWith(new IntakeShoot().onlyIf(() -> Arm.getInstance().atIntakeShouldShootAngle()))
)
)
.alongWith(new LEDSet(LEDInstructions.LOW_FERRY_ALIGN_MANUAL)
.until(() -> swerve.isAlignedToManualLowFerry())
.andThen(new LEDSet(LEDInstructions.IS_ALIGNED))
)
.alongWith(new LEDSet(LEDInstructions.LOW_FERRY_ALIGN_MANUAL))
)
.onFalse(new ConditionalCommand(
new ShooterFeederStop(),
new ShooterStop(),
() -> Settings.Shooter.ALWAYS_KEEP_AT_SPEED));

// climbing
driver.getRightButton().onTrue(new ArmToPreClimb());
driver.getBottomButton().onTrue(new ArmToClimbing());
// human player attention button
driver.getRightButton().whileTrue(new LEDSet(LEDInstructions.ATTENTION));
}

private void configureOperatorBindings() {
Expand Down
11 changes: 2 additions & 9 deletions src/main/java/com/stuypulse/robot/commands/leds/LEDDefaultMode.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -39,15 +39,8 @@ public LEDDefaultMode() {

private LEDInstruction getInstruction() {

switch (arm.getState()) {
case PRE_CLIMB:
return LEDInstructions.ARM_PRECLIMB;
case CLIMBING:
return LEDInstructions.ARM_POSTCLIMB;
case AMP:
return LEDInstructions.AMP_WITHOUT_ALIGN;
default:
break;
if (Arm.getInstance().getState() == Arm.State.AMP) {
return LEDInstructions.ARM_AT_AMP;
}

if (intake.hasNote() || shooter.hasNote()) {
Expand Down
26 changes: 11 additions & 15 deletions src/main/java/com/stuypulse/robot/constants/LEDInstructions.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -55,29 +55,25 @@ public interface LEDInstructions {

LEDInstruction DEFAULT = LEDInstructions.OFF;

LEDInstruction INTAKING = new LEDPulseColor(SLColor.BLUE);
LEDInstruction DEACQUIRING = new LEDPulseColor(SLColor.RED);
LEDInstruction FIELD_RELATIVE_INTAKING = new LEDRainbow();
LEDInstruction ROBOT_RELATIVE_INTAKING = new LEDPulseColor(SLColor.BLUE);
LEDInstruction DEACQUIRING = new LEDPulseColor(SLColor.GOLD);

LEDInstruction SPEAKER_ALIGN = GREEN;
LEDInstruction SPEAKER_MANUAL = new LEDPulseColor(SLColor.GREEN);
LEDInstruction SPEAKER_MANUAL = new LEDRainbow();

LEDInstruction LOW_FERRY_ALIGN = LIME;
LEDInstruction LOW_FERRY_ALIGN_MANUAL = new LEDPulseColor(SLColor.LIME);
LEDInstruction LOW_FERRY_ALIGN = PURPLE;
LEDInstruction LOW_FERRY_ALIGN_MANUAL = new LEDPulseColor(SLColor.PURPLE);

LEDInstruction LOB_FERRY_ALIGN = AQUA;
LEDInstruction LOB_FERRY_ALIGN_MANUAL = new LEDPulseColor(SLColor.AQUA);
LEDInstruction LOB_FERRY_ALIGN = GREEN;
LEDInstruction LOB_FERRY_ALIGN_MANUAL = new LEDPulseColor(SLColor.GREEN);

LEDInstruction AMP_WITH_ALIGN = VIOLET;
LEDInstruction AMP_WITHOUT_ALIGN = new LEDPulseColor(SLColor.VIOLET);

LEDInstruction IS_ALIGNED = RAINBOW;
LEDInstruction ARM_AT_AMP = YELLOW;
LEDInstruction AMP_SCORE = GREEN;

LEDInstruction ATTENTION = new LED694(0.01, SLColor.BLUE);

LEDInstruction ARM_PRECLIMB = ORANGE;
LEDInstruction ARM_POSTCLIMB = new LEDPulseColor(SLColor.ORANGE);

LEDInstruction CONTAINS_NOTE = GOLD;
LEDInstruction CONTAINS_NOTE = RED;

// TO FUTURE USERS, DONT PUT LEDAlign and LEDAutonChooser (any disabled LEDInstructions) inside
// the LEDInstructions interface
Expand Down
35 changes: 22 additions & 13 deletions src/main/java/com/stuypulse/robot/constants/Motors.java
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -39,20 +39,20 @@ public static void disableStatusFrames(CANSparkBase motor, StatusFrame... ids) {
/** Classes to store all of the values a motor needs */

public interface Arm {
CANSparkConfig LEFT_MOTOR = new CANSparkConfig(false, IdleMode.kBrake, 40, 0.25);
CANSparkConfig RIGHT_MOTOR = new CANSparkConfig(true, IdleMode.kBrake, 40, 0.25);
CANSparkConfig LEFT_MOTOR = new CANSparkConfig(false, IdleMode.kBrake, 40, 0.25, false);
CANSparkConfig RIGHT_MOTOR = new CANSparkConfig(true, IdleMode.kBrake, 40, 0.25, false);
}

public interface Intake {
CANSparkConfig LEFT_FUNNEL_MOTOR_CONFIG = new CANSparkConfig(false, IdleMode.kCoast, 500, 0.25);
CANSparkConfig RIGHT_FUNNEL_MOTOR_CONFIG = new CANSparkConfig(true, IdleMode.kCoast, 500, 0.25);
CANSparkConfig INTAKE_MOTOR_CONFIG = new CANSparkConfig(true, IdleMode.kCoast, 500, 0.25);
CANSparkConfig LEFT_FUNNEL_MOTOR_CONFIG = new CANSparkConfig(false, IdleMode.kCoast, 500, 0.25, true);
CANSparkConfig RIGHT_FUNNEL_MOTOR_CONFIG = new CANSparkConfig(true, IdleMode.kCoast, 500, 0.25, true);
CANSparkConfig INTAKE_MOTOR_CONFIG = new CANSparkConfig(true, IdleMode.kCoast, 500, 0.25, true);
}

public interface Shooter {
CANSparkConfig LEFT_SHOOTER = new CANSparkConfig(true, IdleMode.kCoast, 40, 0.5);
CANSparkConfig RIGHT_SHOOTER = new CANSparkConfig(false, IdleMode.kCoast, 40, 0.5);
CANSparkConfig FEEDER_MOTOR = new CANSparkConfig(true, IdleMode.kBrake, 40, 0.25);
CANSparkConfig LEFT_SHOOTER = new CANSparkConfig(true, IdleMode.kCoast, 40, 0.5, true);
CANSparkConfig RIGHT_SHOOTER = new CANSparkConfig(false, IdleMode.kCoast, 40, 0.5, true);
CANSparkConfig FEEDER_MOTOR = new CANSparkConfig(true, IdleMode.kBrake, 40, 0.25, true);
}

/* Configurations */
Expand Down Expand Up @@ -91,31 +91,37 @@ public static class CANSparkConfig {
public final IdleMode IDLE_MODE;
public final int CURRENT_LIMIT_AMPS;
public final double OPEN_LOOP_RAMP_RATE;
public final boolean ENABLE_VOLTAGE_COMPENSATION;

public CANSparkConfig(
boolean inverted,
IdleMode idleMode,
int currentLimitAmps,
double openLoopRampRate) {
double openLoopRampRate,
boolean enableVoltageCompensation) {
this.INVERTED = inverted;
this.IDLE_MODE = idleMode;
this.CURRENT_LIMIT_AMPS = currentLimitAmps;
this.OPEN_LOOP_RAMP_RATE = openLoopRampRate;
this.ENABLE_VOLTAGE_COMPENSATION = enableVoltageCompensation;
}

public CANSparkConfig(boolean inverted, IdleMode idleMode, int currentLimitAmps) {
this(inverted, idleMode, currentLimitAmps, 0.0);
public CANSparkConfig(boolean inverted, IdleMode idleMode, int currentLimitAmps, boolean enableVoltageCompensation) {
this(inverted, idleMode, currentLimitAmps, 0.0, enableVoltageCompensation);
}

public CANSparkConfig(boolean inverted, IdleMode idleMode) {
this(inverted, idleMode, 80);
public CANSparkConfig(boolean inverted, IdleMode idleMode, boolean enableVoltageCompensation) {
this(inverted, idleMode, 80, enableVoltageCompensation);
}

public void configure(CANSparkBase motor) {
motor.setInverted(INVERTED);
motor.setIdleMode(IDLE_MODE);
motor.setSmartCurrentLimit(CURRENT_LIMIT_AMPS);
motor.setOpenLoopRampRate(OPEN_LOOP_RAMP_RATE);
if (ENABLE_VOLTAGE_COMPENSATION) {
motor.enableVoltageCompensation(12);
}
motor.burnFlash();
}

Expand All @@ -124,6 +130,9 @@ public void configureAsFollower(CANSparkMax motor, CANSparkMax follows) {
motor.setIdleMode(IDLE_MODE);
motor.setSmartCurrentLimit(CURRENT_LIMIT_AMPS);
motor.setOpenLoopRampRate(OPEN_LOOP_RAMP_RATE);
if (ENABLE_VOLTAGE_COMPENSATION) {
motor.enableVoltageCompensation(12);
}
motor.follow(follows);
motor.burnFlash();
}
Expand Down
10 changes: 5 additions & 5 deletions src/main/java/com/stuypulse/robot/subsystems/arm/ArmImpl.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -71,9 +71,7 @@ public boolean atTarget() {
if (state == State.FEED) {
return atValidFeedAngle();
}
boolean atTarget = Math.abs(getTargetDegrees() - getDegrees()) < Settings.Arm.MAX_ANGLE_ERROR.get();
SmartDashboard.putBoolean("test/armAtTarget", atTarget);
return atTarget;
return Math.abs(getTargetDegrees() - getDegrees()) < Settings.Arm.MAX_ANGLE_ERROR.get();
}

@Override
Expand Down Expand Up @@ -184,7 +182,7 @@ else if (getTargetDegrees() == Settings.Arm.MIN_ANGLE.get() && bumpSwitchTrigger
}
else {
controller.update(SLMath.clamp(getTargetDegrees(), Settings.Arm.MIN_ANGLE.get(), Settings.Arm.MAX_ANGLE.get()), getDegrees());
if (Shooter.getInstance().getFeederState() == Shooter.FeederState.SHOOTING) {
if (Shooter.getInstance().getFeederState() == Shooter.FeederState.SHOOTING && getDegrees() < Settings.Arm.MAX_ANGLE.get()) {
setVoltage(controller.getOutput() + 0.31);
}
else {
Expand All @@ -211,6 +209,8 @@ else if (getTargetDegrees() == Settings.Arm.MIN_ANGLE.get() && bumpSwitchTrigger
SmartDashboard.putNumber("Arm/Right Duty Cycle", rightMotor.get());

SmartDashboard.putNumber("Arm/Arm Angle", getDegrees());
SmartDashboard.putNumber("Arm/Shooter Angle", getDegrees() + 96); // shooter is offset 96 degrees counterclockwise from arm (thanks kevin)
SmartDashboard.putNumber("Arm/Shooter Angle", getDegrees() + 96); // shooter is offset 96 degrees counterclockwise from arm (thanks kevin)]

SmartDashboard.putBoolean("Arm/At Target", atTarget());
}
}
5 changes: 1 addition & 4 deletions src/main/java/com/stuypulse/robot/subsystems/swerve/SwerveDrive.java
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -171,10 +171,7 @@ public boolean isAlignedToSpeaker() {
Translation2d speakerPose = Field.getAllianceSpeakerPose().getTranslation();
// Rotate by 180 because the shooter is on the back of the robot
Rotation2d targetAngle = speakerPose.minus(currentPose).getAngle().rotateBy(Rotation2d.fromDegrees(180));
SmartDashboard.putNumber("test/angleError", getPose().getRotation().minus(targetAngle).getDegrees());
boolean isAligned = Math.abs(getPose().getRotation().minus(targetAngle).getDegrees()) < Settings.Alignment.ANGLE_TOLERANCE.get();
SmartDashboard.putBoolean("test/isAligned", isAligned);
return isAligned;
return Math.abs(getPose().getRotation().minus(targetAngle).getDegrees()) < Settings.Alignment.ANGLE_TOLERANCE.get();
}

public boolean isAlignedToLowFerry() {
Expand Down
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