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105 changes: 105 additions & 0 deletions
105
src/main/java/frc/robot/subsystems/shooter/Shooter.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,105 @@ | ||
| package frc.robot.subsystems.shooter; | ||
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| import edu.wpi.first.wpilibj.DriverStation; | ||
| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
| import frc.robot.util.LoggedTunableNumber; | ||
| import org.littletonrobotics.junction.AutoLogOutput; | ||
| import org.littletonrobotics.junction.Logger; | ||
| import org.littletonrobotics.junction.networktables.LoggedDashboardNumber; | ||
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| public class Shooter extends SubsystemBase { | ||
| private static LoggedTunableNumber feedVolts = new LoggedTunableNumber("Shooter/FeedVolts", 6.0); | ||
| private static LoggedTunableNumber kP = new LoggedTunableNumber("Shooter/kP"); | ||
| private static LoggedTunableNumber kI = new LoggedTunableNumber("Shooter/kI"); | ||
| private static LoggedTunableNumber kD = new LoggedTunableNumber("Shooter/kD"); | ||
| private static LoggedTunableNumber kS = new LoggedTunableNumber("Shooter/kS"); | ||
| private static LoggedTunableNumber kV = new LoggedTunableNumber("Shooter/kV"); | ||
| private static LoggedTunableNumber kA = new LoggedTunableNumber("Shooter/kA"); | ||
| private static LoggedTunableNumber shooterTolerance = | ||
| new LoggedTunableNumber("Shooter/ToleranceRPM"); | ||
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| private final LoggedDashboardNumber leftSpeedRpm = | ||
| new LoggedDashboardNumber("Left Speed RPM", 1500.0); | ||
| private final LoggedDashboardNumber rightSpeedRpm = | ||
| new LoggedDashboardNumber("Right Speed RPM", 1500.0); | ||
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| static { | ||
| kP.initDefault(ShooterConstants.kP); | ||
| kI.initDefault(ShooterConstants.kI); | ||
| kD.initDefault(ShooterConstants.kD); | ||
| kS.initDefault(ShooterConstants.kS); | ||
| kV.initDefault(ShooterConstants.kV); | ||
| kA.initDefault(ShooterConstants.kA); | ||
| shooterTolerance.initDefault(ShooterConstants.shooterToleranceRPM); | ||
| } | ||
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| private ShooterIO shooterIO; | ||
| private ShooterIOInputsAutoLogged shooterInputs = new ShooterIOInputsAutoLogged(); | ||
| private double feederSetpointVolts = 0.0; | ||
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| private boolean characterizing = false; | ||
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| public Shooter(ShooterIO io) { | ||
| shooterIO = io; | ||
| shooterIO.setPID(kP.get(), kI.get(), kD.get()); | ||
| shooterIO.setFF(kS.get(), kV.get(), kA.get()); | ||
| } | ||
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| @Override | ||
| public void periodic() { | ||
| // check controllers | ||
| if (kP.hasChanged(hashCode()) || kI.hasChanged(hashCode()) || kD.hasChanged(hashCode())) | ||
| shooterIO.setPID(kP.get(), kI.get(), kD.get()); | ||
| if (kS.hasChanged(hashCode()) || kV.hasChanged(hashCode()) || kA.hasChanged(hashCode())) | ||
| shooterIO.setFF(kS.get(), kV.get(), kA.get()); | ||
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| shooterIO.updateInputs(shooterInputs); | ||
| Logger.processInputs("Shooter", shooterInputs); | ||
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| if (DriverStation.isDisabled()) { | ||
| shooterIO.stop(); | ||
| } else { | ||
| if (!characterizing) { | ||
| shooterIO.setRPM(leftSpeedRpm.get(), rightSpeedRpm.get()); | ||
| if (leftSpeedRpm.get() > 0 && rightSpeedRpm.get() > 0 && atSetpoint()) { | ||
| feederSetpointVolts = feedVolts.get(); | ||
| } else { | ||
| feederSetpointVolts = 0; | ||
| } | ||
| shooterIO.setFeederVoltage(feederSetpointVolts); | ||
| } | ||
| } | ||
|
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| Logger.recordOutput("Shooter/LeftRPM", shooterInputs.leftFlywheelVelocityRPM); | ||
| Logger.recordOutput("Shooter/RightRPM", shooterInputs.rightFlywheelVelocityRPM); | ||
| Logger.recordOutput("Shooter/FeederRPM", shooterInputs.feederVelocityRPM); | ||
| } | ||
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| public void runLeftCharacterizationVolts(double volts) { | ||
| shooterIO.setLeftCharacterizationVoltage(volts); | ||
| } | ||
|
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| public void runRightCharacterizationVolts(double volts) { | ||
| shooterIO.setRightCharacterizationVoltage(volts); | ||
| } | ||
|
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| public double getLeftCharacterizationVelocity() { | ||
| return shooterInputs.leftFlywheelVelocityRPM; | ||
| } | ||
|
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| public void setCharacterizing(boolean characterizing) { | ||
| this.characterizing = characterizing; | ||
| } | ||
|
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| public double getRightCharacterizationVelocity() { | ||
| return shooterInputs.rightFlywheelVelocityRPM; | ||
| } | ||
|
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| @AutoLogOutput(key = "Shooter/AtSetpoint") | ||
| public boolean atSetpoint() { | ||
| return Math.abs(shooterInputs.leftFlywheelVelocityRPM - leftSpeedRpm.get()) | ||
| <= shooterTolerance.get() | ||
| && Math.abs(shooterInputs.rightFlywheelVelocityRPM - rightSpeedRpm.get()) | ||
| <= shooterTolerance.get(); | ||
| } | ||
| } |
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