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37 changes: 37 additions & 0 deletions
37
src/main/java/org/team1540/robot2024/subsystems/shooter/FlywheelsIO.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,37 @@ | ||
| package org.team1540.robot2024.subsystems.shooter; | ||
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| import org.littletonrobotics.junction.AutoLog; | ||
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| public interface FlywheelsIO { | ||
| @AutoLog | ||
| class FlywheelsIOInputs { | ||
| public double leftAppliedVolts = 0.0; | ||
| public double leftCurrentAmps = 0.0; | ||
| public double leftVelocityRPM = 0.0; | ||
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| public double rightAppliedVolts = 0.0; | ||
| public double rightCurrentAmps = 0.0; | ||
| public double rightVelocityRPM = 0.0; | ||
| } | ||
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| /** | ||
| * Updates the set of loggable inputs | ||
| */ | ||
| default void updateInputs(FlywheelsIOInputs inputs) {} | ||
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| /** | ||
| * Runs open loop at the specified voltages | ||
| */ | ||
| default void setVoltage(double leftVolts, double rightVolts) {} | ||
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| /** | ||
| * Runs closed loop at the specified RPMs | ||
| */ | ||
| default void setSpeeds(double leftRPM, double rightRPM) {} | ||
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| /** | ||
| * Configures the PID controller | ||
| */ | ||
| default void configPID(double kP, double kI, double kD) {} | ||
| } |
74 changes: 74 additions & 0 deletions
74
src/main/java/org/team1540/robot2024/subsystems/shooter/FlywheelsIOSim.java
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,74 @@ | ||
| package org.team1540.robot2024.subsystems.shooter; | ||
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| import edu.wpi.first.math.controller.PIDController; | ||
| import edu.wpi.first.math.controller.SimpleMotorFeedforward; | ||
| import edu.wpi.first.math.system.plant.DCMotor; | ||
| import edu.wpi.first.wpilibj.simulation.FlywheelSim; | ||
| import org.team1540.robot2024.Constants; | ||
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| import static org.team1540.robot2024.Constants.Shooter.Flywheels.*; | ||
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| public class FlywheelsIOSim implements FlywheelsIO{ | ||
| private final FlywheelSim leftSim = | ||
| new FlywheelSim(DCMotor.getFalcon500(1), GEAR_RATIO, SIM_MOI); | ||
| private final FlywheelSim rightSim = | ||
| new FlywheelSim(DCMotor.getFalcon500(1), GEAR_RATIO, SIM_MOI); | ||
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| private final PIDController rightController = new PIDController(KP, KI, KD); | ||
| private final PIDController leftController = new PIDController(KP, KI, KD); | ||
| private final SimpleMotorFeedforward feedforward = new SimpleMotorFeedforward(KS, KV); | ||
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| private boolean isClosedLoop; | ||
| private double leftSetpointRPS; | ||
| private double rightSetpointRPS; | ||
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| private double leftVolts = 0.0; | ||
| private double rightVolts = 0.0; | ||
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| @Override | ||
| public void updateInputs(FlywheelsIOInputs inputs) { | ||
| if (isClosedLoop) { | ||
| leftVolts = | ||
| leftController.calculate(leftSim.getAngularVelocityRPM() / 60, leftSetpointRPS) | ||
| + feedforward.calculate(leftSetpointRPS); | ||
| rightVolts = | ||
| rightController.calculate(rightSim.getAngularVelocityRPM() / 60, rightSetpointRPS) | ||
| + feedforward.calculate(rightSetpointRPS); | ||
| } | ||
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| leftSim.setInputVoltage(leftVolts); | ||
| rightSim.setInputVoltage(rightVolts); | ||
| leftSim.update(Constants.LOOP_PERIOD_SECS); | ||
| rightSim.update(Constants.LOOP_PERIOD_SECS); | ||
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| inputs.leftVelocityRPM = leftSim.getAngularVelocityRPM(); | ||
| inputs.leftAppliedVolts = leftVolts; | ||
| inputs.leftCurrentAmps = leftSim.getCurrentDrawAmps(); | ||
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| inputs.rightVelocityRPM = rightSim.getAngularVelocityRPM(); | ||
| inputs.rightAppliedVolts = rightVolts; | ||
| inputs.rightCurrentAmps = rightSim.getCurrentDrawAmps(); | ||
| } | ||
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| @Override | ||
| public void setVoltage(double leftVolts, double rightVolts) { | ||
| isClosedLoop = false; | ||
| this.leftVolts = leftVolts; | ||
| this.rightVolts = rightVolts; | ||
| } | ||
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| @Override | ||
| public void setSpeeds(double leftRPM, double rightRPM) { | ||
| isClosedLoop = true; | ||
| leftController.reset(); | ||
| rightController.reset(); | ||
| leftSetpointRPS = leftRPM / 60; | ||
| rightSetpointRPS = rightRPM / 60; | ||
| } | ||
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| @Override | ||
| public void configPID(double kP, double kI, double kD) { | ||
| leftController.setPID(kP, kI, kD); | ||
| rightController.setPID(kP, kI, kD); | ||
| } | ||
| } |
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