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Merge pull request #19 from flamingchickens1540/intake
Intake and indexer
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30 changes: 30 additions & 0 deletions
30
src/main/java/org/team1540/robot2024/commands/indexer/IntakeCommand.java
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| package org.team1540.robot2024.commands.indexer; | ||
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| import edu.wpi.first.wpilibj2.command.Command; | ||
| import org.team1540.robot2024.subsystems.indexer.Indexer; | ||
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| public class IntakeCommand extends Command { | ||
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| private final Indexer indexer; | ||
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| public IntakeCommand(Indexer indexer) { | ||
| this.indexer = indexer; | ||
| addRequirements(indexer); | ||
| } | ||
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| @Override | ||
| public void initialize() { | ||
| indexer.setIntakePercent(0.4); | ||
| } | ||
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| @Override | ||
| public boolean isFinished() { | ||
| return indexer.isNotePresent(); | ||
| } | ||
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| @Override | ||
| public void end(boolean interrupted) { | ||
| indexer.setIntakePercent(0); | ||
| } | ||
| } |
51 changes: 51 additions & 0 deletions
51
src/main/java/org/team1540/robot2024/subsystems/indexer/Indexer.java
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| package org.team1540.robot2024.subsystems.indexer; | ||
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| import edu.wpi.first.wpilibj2.command.Command; | ||
| import edu.wpi.first.wpilibj2.command.Commands; | ||
| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
| import org.littletonrobotics.junction.Logger; | ||
| import org.team1540.robot2024.util.LoggedTunableNumber; | ||
| import static org.team1540.robot2024.Constants.Indexer.*; | ||
| import static org.team1540.robot2024.Constants.tuningMode; | ||
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| public class Indexer extends SubsystemBase { | ||
| private final IndexerIO indexerIO; | ||
| private final IndexerIOInputsAutoLogged indexerInputs = new IndexerIOInputsAutoLogged(); | ||
| private final LoggedTunableNumber kP = new LoggedTunableNumber("Indexer/kP", FEEDER_KP); | ||
| private final LoggedTunableNumber kI = new LoggedTunableNumber("Indexer/kI", FEEDER_KI); | ||
| private final LoggedTunableNumber kD = new LoggedTunableNumber("Indexer/kD", FEEDER_KD); | ||
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| public Indexer(IndexerIO indexerIO) { | ||
| this.indexerIO = indexerIO; | ||
| } | ||
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| public void periodic() { | ||
| indexerIO.updateInputs(indexerInputs); | ||
| Logger.processInputs("Indexer", indexerInputs); | ||
| if (tuningMode) { | ||
| if (kP.hasChanged(hashCode()) || kI.hasChanged(hashCode()) || kD.hasChanged(hashCode())) { | ||
| indexerIO.configureFeederPID(kP.get(), kI.get(), kD.get()); | ||
| } | ||
| } | ||
| } | ||
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| public void setIntakePercent(double percent) { | ||
| indexerIO.setIntakeVoltage(percent * 12.0); | ||
| } | ||
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| public boolean isNotePresent() { | ||
| return indexerInputs.noteInIntake; | ||
| } | ||
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| public Command feedToAmp() { | ||
| return Commands.runOnce(() -> indexerIO.setFeederVelocity(-600), this); | ||
| } | ||
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| public Command feedToShooter() { | ||
| return Commands.runOnce(() -> indexerIO.setFeederVelocity(1200), this); | ||
| } | ||
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| } |
33 changes: 33 additions & 0 deletions
33
src/main/java/org/team1540/robot2024/subsystems/indexer/IndexerIO.java
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| package org.team1540.robot2024.subsystems.indexer; | ||
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| import org.littletonrobotics.junction.AutoLog; | ||
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| public interface IndexerIO { | ||
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| @AutoLog | ||
| class IndexerIOInputs { | ||
| public double intakeVoltage; | ||
| public double intakeCurrentAmps; | ||
| public double intakeVelocityRPM; | ||
| public double feederVoltage; | ||
| public double feederCurrentAmps; | ||
| public double feederVelocityRPM; | ||
| public boolean noteInIntake = false; | ||
| public double setpointRPM; | ||
| public double feederVelocityError; | ||
| } | ||
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| /** | ||
| * Updates the set of loggable inputs. | ||
| */ | ||
| default void updateInputs(IndexerIOInputs inputs) {} | ||
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| default void setIntakeVoltage(double volts) {} | ||
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| default void setFeederVoltage(double volts) {} | ||
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| default void setFeederVelocity(double velocity) {} | ||
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| default void configureFeederPID(double p, double i, double d) {} | ||
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| } |
66 changes: 66 additions & 0 deletions
66
src/main/java/org/team1540/robot2024/subsystems/indexer/IndexerIOSim.java
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| package org.team1540.robot2024.subsystems.indexer; | ||
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| import edu.wpi.first.math.MathUtil; | ||
| import edu.wpi.first.math.controller.PIDController; | ||
| import edu.wpi.first.math.system.plant.DCMotor; | ||
| import edu.wpi.first.wpilibj.simulation.DCMotorSim; | ||
| import edu.wpi.first.wpilibj.simulation.SimDeviceSim; | ||
| import org.team1540.robot2024.Constants; | ||
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| import static org.team1540.robot2024.Constants.Indexer.*; | ||
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| public class IndexerIOSim implements IndexerIO { | ||
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| private final DCMotorSim intakeSim = new DCMotorSim(DCMotor.getNEO(1), INTAKE_GEAR_RATIO, INTAKE_MOI); | ||
| private final DCMotorSim feederSim = new DCMotorSim(DCMotor.getNEO(1), FEEDER_GEAR_RATIO, FEEDER_MOI); | ||
| // private final SimDeviceSim beamBreakSim = new SimDeviceSim("Indexer Beam Break"); | ||
| private final PIDController feederSimPID = new PIDController(FEEDER_KP, FEEDER_KI,FEEDER_KD); | ||
| private boolean isClosedLoop = true; | ||
| private double intakeVoltage = 0.0; | ||
| private double feederVoltage = 0.0; | ||
| private double feederSetpointRPS = 0.0; | ||
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| @Override | ||
| public void updateInputs(IndexerIOInputs inputs) { | ||
| if (isClosedLoop) { | ||
| feederVoltage = MathUtil.clamp(feederSimPID.calculate(feederSim.getAngularVelocityRPM() / 60, feederSetpointRPS), -12.0, 12.0); | ||
| } | ||
| intakeSim.setInputVoltage(intakeVoltage); | ||
| feederSim.setInputVoltage(feederVoltage); | ||
| intakeSim.update(Constants.LOOP_PERIOD_SECS); | ||
| feederSim.update(Constants.LOOP_PERIOD_SECS); | ||
| inputs.intakeCurrentAmps = intakeSim.getCurrentDrawAmps(); | ||
| inputs.intakeVoltage = intakeVoltage; | ||
| inputs.intakeVelocityRPM = intakeSim.getAngularVelocityRPM(); | ||
| inputs.feederCurrentAmps = feederSim.getCurrentDrawAmps(); | ||
| inputs.feederVoltage = feederVoltage; | ||
| inputs.feederVelocityRPM = feederSim.getAngularVelocityRPM(); | ||
| // inputs.noteInIntake = beamBreakSim.getBoolean("Indexer Beam Break").get(); | ||
| inputs.setpointRPM = feederSimPID.getSetpoint() * 60; | ||
| inputs.feederVelocityError = feederSimPID.getPositionError(); | ||
| } | ||
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| @Override | ||
| public void setIntakeVoltage(double volts) { | ||
| intakeVoltage = MathUtil.clamp(volts, -12.0, 12.0); | ||
| } | ||
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| @Override | ||
| public void configureFeederPID(double p, double i, double d) { | ||
| feederSimPID.setPID(p, i, d); | ||
| } | ||
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| public void setFeederVoltage(double volts) { | ||
| isClosedLoop = false; | ||
| feederVoltage = MathUtil.clamp(volts, -12.0, 12.0); | ||
| } | ||
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| public void setFeederVelocity(double velocity) { | ||
| isClosedLoop = true; | ||
| feederSimPID.reset(); | ||
| feederSetpointRPS = velocity / 60; | ||
| } | ||
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| } |
75 changes: 75 additions & 0 deletions
75
src/main/java/org/team1540/robot2024/subsystems/indexer/IndexerIOSparkMax.java
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| package org.team1540.robot2024.subsystems.indexer; | ||
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| import com.revrobotics.*; | ||
| import edu.wpi.first.math.controller.SimpleMotorFeedforward; | ||
| import edu.wpi.first.wpilibj.DigitalInput; | ||
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| import static org.team1540.robot2024.Constants.Indexer.*; | ||
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| public class IndexerIOSparkMax implements IndexerIO { | ||
| private final CANSparkMax intakeMotor = new CANSparkMax(INTAKE_ID, CANSparkLowLevel.MotorType.kBrushless); | ||
| private final CANSparkMax feederMotor = new CANSparkMax(FEEDER_ID, CANSparkLowLevel.MotorType.kBrushless); | ||
| private final DigitalInput indexerBeamBreak = new DigitalInput(BEAM_BREAK_ID); | ||
| private final SparkPIDController feederPID; | ||
| private final SimpleMotorFeedforward feederFF = new SimpleMotorFeedforward(FEEDER_KS, FEEDER_KV); | ||
| private double setpointRPM; | ||
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| public IndexerIOSparkMax() { | ||
| intakeMotor.setIdleMode(CANSparkBase.IdleMode.kBrake); | ||
| intakeMotor.enableVoltageCompensation(12.0); | ||
| intakeMotor.setSmartCurrentLimit(30); | ||
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| feederMotor.setIdleMode(CANSparkBase.IdleMode.kBrake); | ||
| feederMotor.enableVoltageCompensation(12.0); | ||
| feederMotor.setSmartCurrentLimit(30); | ||
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| feederPID = feederMotor.getPIDController(); | ||
| feederPID.setP(FEEDER_KP, 0); | ||
| feederPID.setI(FEEDER_KI, 0); | ||
| feederPID.setD(FEEDER_KD, 0); | ||
| } | ||
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| @Override | ||
| public void updateInputs(IndexerIOInputs inputs) { | ||
| inputs.intakeCurrentAmps = intakeMotor.getOutputCurrent(); | ||
| inputs.intakeVoltage = intakeMotor.getBusVoltage() * intakeMotor.getAppliedOutput(); | ||
| inputs.intakeVelocityRPM = intakeMotor.getEncoder().getVelocity(); | ||
| inputs.feederCurrentAmps = feederMotor.getOutputCurrent(); | ||
| inputs.feederVoltage = feederMotor.getBusVoltage() * feederMotor.getAppliedOutput(); | ||
| inputs.feederVelocityRPM = feederMotor.getEncoder().getVelocity(); | ||
| inputs.noteInIntake = indexerBeamBreak.get(); | ||
| inputs.setpointRPM = setpointRPM; | ||
| inputs.feederVelocityError = setpointRPM - feederMotor.getEncoder().getVelocity(); | ||
| } | ||
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| @Override | ||
| public void setIntakeVoltage(double volts) { | ||
| intakeMotor.setVoltage(volts); | ||
| } | ||
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| @Override | ||
| public void setFeederVoltage(double volts) { | ||
| feederMotor.setVoltage(volts); | ||
| } | ||
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| @Override | ||
| public void setFeederVelocity(double velocity) { | ||
| setpointRPM = velocity; | ||
| feederPID.setReference( | ||
| velocity / FEEDER_GEAR_RATIO, // Should this be multiplied? | ||
| CANSparkBase.ControlType.kVelocity, | ||
| 0, | ||
| feederFF.calculate(velocity), | ||
| SparkPIDController.ArbFFUnits.kVoltage | ||
| ); | ||
| } | ||
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| @Override | ||
| public void configureFeederPID(double p, double i, double d) { | ||
| feederPID.setP(p); | ||
| feederPID.setI(i); | ||
| feederPID.setD(d); | ||
| } | ||
| } |