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Fix motor IDs & settings
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@team6101
team6101 committed Mar 5, 2024
1 parent df78dca commit 05900f8
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Showing 4 changed files with 57 additions and 36 deletions.
20 changes: 11 additions & 9 deletions src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -6,29 +6,31 @@ public class Constants {
public static final int DRIVE_LEFT_PARENT_ID = 4;
public static final int DRIVE_LEFT_CHILD_ID = 8;
public static final int DRIVE_RIGHT_PARENT_ID = 11;
public static final int DRIVE_RIGHT_CHILD_ID = 3;
public static final int SHOOTER_LEFT_FLYWHEEL_ID = 6;
public static final int DRIVE_RIGHT_CHILD_ID = 14;
public static final int SHOOTER_LEFT_FLYWHEEL_ID = 9;
public static final int SHOOTER_RIGHT_FLYWHEEL_ID = 7;
public static final int SHOOTER_FEEDER_ID = 9;
public static final int SHOOTER_FEEDER_ID = 10;
public static final int INTAKE_ID = 6101;

/*CLIMB MOTOR IDS */

public static final int LEFT_CLIMB_ID = 31;
public static final int RIGHT_CLIMB_ID = 21;
public static final int LEFT_CLIMB_ID = 6;
public static final int RIGHT_CLIMB_ID = 5;

/*SHOOTER CONFIG*/
/**the amount of time we let the wheels rev up when shooting in seconds */
public static final double SHOOTER_FLYWHEEL_STARTUP_TIME = 1.0;
public static final double SHOOTER_FLYWHEEL_STARTUP_TIME = 0.25;
public static final double SHOOTER_LEFT_FLYWHEEL_FLY_SPEED = 1.0;
public static final double SHOOTER_RIGHT_FLYWHEEL_FLY_SPEED = 1.0;
/*The amount of seconds that the feeder should wait before turning off after shooting */
public static final double FEEDER_MOTOR_SHUTOFF_TIME = 0;
public static final double FEEDER_MOTOR_SHUTOFF_TIME = 1.5;
public static final double SHOOTING_VELOCITY_RPM = 4000;

/*CLIMB CONFIG */
public static final double CLIMB_EXTENDED_ENCODER_POSITION = 5;
public static final double CLIMB_RETRACTED_ENCODER_POSITION = 0.5;
/**the % of max power we give to the arm motors while extending */
public static final double CLIMB_EXTENSION_SPEED = .25;
public static final double CLIMB_EXTENSION_SPEED = .5;
/**the % of max power we give to the arm motors while retracting */
public static final double CLIMB_RETRACTION_SPEED = -.25;

Expand Down Expand Up @@ -68,7 +70,7 @@ public class Constants {
public static final int PID_LOOP_IDX = 0;
/** amount of time in ms to wait for confirmation */
public static final int TIMEOUT_MS = 30;
public static final double ENCODER_ROTATION = 4096.0;
public static final int ENCODER_ROTATION = 4096;

/*OTHER CONFIG */
public static final double MOTOR_BACKTRACK_SPEED_PERCENT = -0.5;
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65 changes: 42 additions & 23 deletions src/main/java/frc/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@
import frc.robot.auton.SequentialActionRunner;
import frc.robot.motor.MotorController;
import frc.robot.motor.MotorControllerFactory;
import frc.robot.vision.AprilTagHighlighter;
// import frc.robot.vision.AprilTagHighlighter;
import java.util.ArrayDeque;

/**
Expand All @@ -31,29 +31,20 @@ public class Robot extends TimedRobot {
//hi
// hello!!!!!!!

AprilTagHighlighter aprilTagHighlighter;
// AprilTagHighlighter aprilTagHighlighter;

public static RobotMotors motors;

MotorController driveLeftParent = RobotConfigs.getLeftParent();
MotorController driveLeftChild = RobotConfigs.getLeftChild();
MotorController driveRightParent = RobotConfigs.getRightParent();
MotorController driveRightChild = RobotConfigs.getRightChild();
MotorController leftFlywheel = MotorControllerFactory.create(
Constants.SHOOTER_LEFT_FLYWHEEL_ID,
MotorController.Type.SparkMax
);
MotorController rightFlywheel = MotorControllerFactory.create(
Constants.SHOOTER_RIGHT_FLYWHEEL_ID,
MotorController.Type.SparkMax
);
MotorController feederMotor = MotorControllerFactory.create(
Constants.SHOOTER_FEEDER_ID,
MotorController.Type.SparkMax
);
MotorController leftClimb = MotorControllerFactory.create(Constants.LEFT_CLIMB_ID, MotorController.Type.Talon);
MotorController rightClimb = MotorControllerFactory.create(Constants.RIGHT_CLIMB_ID, MotorController.Type.Talon);
MotorController intake = MotorControllerFactory.create(Constants.INTAKE_ID, MotorController.Type.SparkMax);
MotorController driveLeftParent;
MotorController driveLeftChild;
MotorController driveRightParent;
MotorController driveRightChild;
MotorController leftFlywheel;
MotorController rightFlywheel;
MotorController feederMotor;
MotorController leftClimb;
MotorController rightClimb;
// MotorController intake = MotorControllerFactory.create(Constants.INTAKE_ID, MotorController.Type.SparkMaxBrushless);
XboxController driverController = new XboxController(Constants.DRIVER_CONTROLLER_ID);
XboxController coDriverController = new XboxController(Constants.CODRIVER_CONTROLLER_ID);
static AHRS navX = new AHRS(SPI.Port.kMXP);
Expand All @@ -76,6 +67,23 @@ public static AHRS getGyroscope() {
*/
@Override
public void robotInit() {
driveLeftParent =
MotorControllerFactory.create(Constants.DRIVE_LEFT_PARENT_ID, MotorController.Type.SparkMaxBrushless);
driveLeftChild =
MotorControllerFactory.create(Constants.DRIVE_LEFT_CHILD_ID, MotorController.Type.SparkMaxBrushless);
driveRightParent =
MotorControllerFactory.create(Constants.DRIVE_RIGHT_PARENT_ID, MotorController.Type.SparkMaxBrushless);
driveRightChild =
MotorControllerFactory.create(Constants.DRIVE_RIGHT_CHILD_ID, MotorController.Type.SparkMaxBrushless);
leftFlywheel =
MotorControllerFactory.create(Constants.SHOOTER_LEFT_FLYWHEEL_ID, MotorController.Type.SparkMaxBrushless);
rightFlywheel =
MotorControllerFactory.create(Constants.SHOOTER_RIGHT_FLYWHEEL_ID, MotorController.Type.SparkMaxBrushless);
feederMotor =
MotorControllerFactory.create(Constants.SHOOTER_FEEDER_ID, MotorController.Type.SparkMaxBrushless);
leftClimb = MotorControllerFactory.create(Constants.LEFT_CLIMB_ID, MotorController.Type.SparkMaxBrushed);
rightClimb = MotorControllerFactory.create(Constants.RIGHT_CLIMB_ID, MotorController.Type.SparkMaxBrushed);

initializeSmartMotion(driveLeftParent, Constants.NORMAL_ROBOT_GAINS);
initializeSmartMotion(driveRightParent, Constants.NORMAL_ROBOT_GAINS);

Expand All @@ -91,15 +99,26 @@ public void robotInit() {
driveRightParent.setInverted(false);

feederMotor.setInverted(true);
//This false is required
feederMotor.setBrakeMode(false);

rightFlywheel.setInverted(true);
leftFlywheel.setInverted(false);

System.out.println("Is drive right parent inverted? " + driveRightParent.getInverted());

System.out.println(
"Do we have cool navX? " + getGyroscope().isAltitudeValid() + " temp: " + getGyroscope().getTempC()
);

driveLeftChild.setBrakeMode(false);
driveLeftParent.setBrakeMode(false);
driveRightChild.setBrakeMode(false);
driveRightParent.setBrakeMode(false);

leftClimb.setBrakeMode(true);
rightClimb.setBrakeMode(true);

motors =
new RobotMotors()
.driveLeftParent(driveLeftParent)
Expand All @@ -110,8 +129,8 @@ public void robotInit() {
.leftFlywheel(leftFlywheel)
.rightFlywheel(rightFlywheel)
.leftClimb(leftClimb)
.rightClimb(rightClimb)
.intake(intake);
.rightClimb(rightClimb);
// .intake(intake);
getGyroscope().reset();
System.out.println(Constants.APRIL_TAG_CONFIDENCE_FRAMES);
SmartDashboard.putNumber("rotationGainsP", Constants.ROTATION_GAINS.P);
Expand Down
4 changes: 2 additions & 2 deletions src/main/java/frc/robot/RobotComponents/Shooter.java
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Original file line number Diff line number Diff line change
Expand Up @@ -8,8 +8,8 @@
public class Shooter {

public static void startShooterMotors() {
Robot.motors.getLeftFlywheel().setVelocity(Constants.SHOOTING_VELOCITY_RPM);
Robot.motors.getRightFlywheel().setVelocity(Constants.SHOOTING_VELOCITY_RPM);
Robot.motors.getLeftFlywheel().set(Constants.SHOOTER_LEFT_FLYWHEEL_FLY_SPEED);
Robot.motors.getRightFlywheel().set(Constants.SHOOTER_RIGHT_FLYWHEEL_FLY_SPEED);
}

public static void stopShooterMotors() {
Expand Down
4 changes: 2 additions & 2 deletions src/main/java/frc/robot/auton/AutonShoot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@ public class AutonShoot extends AutonAction {
public boolean isDone() {
if (Timer.getFPGATimestamp() >= revFinishedTime) {
Robot.motors.getFeeder().set(0.2);
Robot.motors.getIntake().set(.2);
//Robot.motors.getIntake().set(.2);
}

return Timer.getFPGATimestamp() >= revFinishedTime + 1.0;
Expand All @@ -21,7 +21,7 @@ public boolean isDone() {
@Override
public void initiate() {
Robot.motors.getLeftFlywheel().set(1.0);
Robot.motors.getRightFlywheel().set(-1.0);
Robot.motors.getRightFlywheel().set(1.0);
revFinishedTime = Timer.getFPGATimestamp() + Constants.SHOOTER_FLYWHEEL_STARTUP_TIME;
}

Expand Down

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