Skip to content

tuned intake, added constant spin to grabber #55

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Closed
KaraParikh1 wants to merge 1 commit into from
Closed

tuned intake, added constant spin to grabber #55

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
30 changes: 16 additions & 14 deletions src/main/java/frc/robot/RobotContainer.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -40,7 +40,7 @@ public class RobotContainer {
// used to determine which section of the reef to score on, defaults at start to pole to front and
// left of driver
private int reefSection = 7;

public static boolean stopGrab = false;
// slows down robot during pickup
private Command pickup =
coral
Expand Down Expand Up @@ -206,19 +206,19 @@ private void configureBindings() {
// when b is pressed and if auto is disabled, raises elevator for l1 scoring, when left stick is
// pressed, completes scoring motion
// is auto is enabled, automatically goes to previously selected reef section and l1 scores
controller
.b()
.whileTrue(
Commands.deferredProxy(
() -> {
if (autoDisabled) {
return Commands.startEnd(
() -> speedMultiplier = 0.25, () -> speedMultiplier = 1.0)
.withDeadline(coral.l1Score(controller.leftStick()));
} else {
return coral.goToReef(drivetrain, () -> reefSection, () -> 0);
}
}));
/* controller
.b()
.whileTrue(
Commands.deferredProxy(
() -> {
if (autoDisabled) {
return Commands.startEnd(
() -> speedMultiplier = 0.25, () -> speedMultiplier = 1.0)
.withDeadline(coral.l1Score(controller.leftStick()));
} else {
return coral.goToReef(drivetrain, () -> reefSection, () -> 0);
}
}));*/

// clearing algae off reef, down on plus for l1 clear, right on plus for l2 clear
controller.povDown().onTrue(coral.l1ReefClear(controller.leftStick()));
Expand Down Expand Up @@ -248,6 +248,8 @@ private void configureBindings() {
// when left plus pressed, disable or enable auto, defaults at disabled
controller.povLeft().onTrue(Commands.runOnce(() -> autoDisabled = !autoDisabled));
controller.back().onTrue(Commands.runOnce(() -> gyro.zeroYaw()));
controller.leftStick().onTrue(Commands.runOnce(()->stopGrab = true));
controller.leftStick().onFalse(Commands.runOnce(()->stopGrab = false));
}

// deadbands for driving
Expand Down
8 changes: 4 additions & 4 deletions src/main/java/frc/robot/config/CoralConfig.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,12 +12,12 @@ public class CoralConfig {
public static final double VELOCITY_TOLERANCE = 1.0;

public static final double INTAKE_HEIGHT = 0.065;
public static final Rotation2d INTAKE_ANGLE_UPPER = Rotation2d.fromRadians(5.9);
public static final Rotation2d INTAKE_ANGLE_LOWER = Rotation2d.fromRadians(5.7);
public static final Rotation2d INTAKE_ANGLE_UPPER = Rotation2d.fromRadians(1.65);
public static final Rotation2d INTAKE_ANGLE_LOWER = Rotation2d.fromRadians(1.7);

// all heights are in meters
public static final double INTAKE_HEIGHT_SOURCE = 0.490;
public static final Rotation2d INTAKE_ANGLE_SOURCE = Rotation2d.fromRadians(.497);
public static final double INTAKE_HEIGHT_SOURCE = 0.55;
public static final Rotation2d INTAKE_ANGLE_SOURCE = Rotation2d.fromRadians(.75);

public static final double MOVEMENT_DISTANCE = 1.75;
public static final double L4_OFFSET = Units.inchesToMeters(-18);
Expand Down
10 changes: 6 additions & 4 deletions src/main/java/frc/robot/subsystems/Coral.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -8,11 +8,13 @@
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.RobotContainer;
import frc.robot.config.CoralConfig;
import frc.robot.config.Positions;
import java.util.Set;
import java.util.function.BooleanSupplier;
import java.util.function.IntSupplier;
import frc.robot.RobotContainer;

@Logged
public class Coral extends SubsystemBase {
Expand All @@ -22,6 +24,7 @@ public class Coral extends SubsystemBase {
new PIDController(CoralConfig.MOVEMENT_P, CoralConfig.MOVEMENT_I, CoralConfig.MOVEMENT_D);
private CoralPivot coralPivot = new CoralPivot();


// heights for levels
private double[] elevatorScoringHeights = {0.0, 0.900, 1.29, 1.360};

Expand All @@ -33,10 +36,10 @@ public class Coral extends SubsystemBase {
Rotation2d.fromRadians(0.3)
};
private Rotation2d[] reefClearRotationsPrimary = {
Rotation2d.fromDegrees(-35), Rotation2d.fromDegrees(-35)
Rotation2d.fromRadians(1.5), Rotation2d.fromRadians(1.5)
};
private Rotation2d[] reefClearRotationsSecondary = {
Rotation2d.fromDegrees(30), Rotation2d.fromDegrees(30)
Rotation2d.fromRadians(0.95), Rotation2d.fromRadians(0.95)
};
private double[] reefClearHeights = {0.65, 1.0564};

Expand All @@ -48,7 +51,7 @@ public Coral() {
grabber.setDefaultCommand(
Commands.run(
() -> {
if (!elevator.isAtPosition() || !coralPivot.isPivotReady()) {
if (!elevator.isAtPosition() || !coralPivot.isPivotReady() || !RobotContainer.stopGrab) {
grabber.run();
} else {
grabber.stop();
Expand All @@ -62,7 +65,6 @@ private Command score(int idx, BooleanSupplier completeScore) {
return Commands.waitSeconds(0.3)
.andThen(coralPivot.setPivotAngle(() -> coralScoringRotations[idx]))
.alongWith(elevator.setElevatorHeight(() -> elevatorScoringHeights[idx]))
.alongWith(Commands.run(grabber::run, grabber))
.withDeadline(
Commands.waitUntil(elevator::isAtPosition)
.andThen(Commands.waitUntil(coralPivot::isPivotReady), Commands.waitSeconds(0.8))
Expand Down
Loading