WIP arm/gripper

simgui.json

@@ -14,5 +14,12 @@
       "/SmartDashboard/Field": "Field2d",
       "/SmartDashboard/SendableChooser[0]": "String Chooser"
     }
+  },
+  "NetworkTables": {
+    "transitory": {
+      "SmartDashboard": {
+        "open": true
+      }
+    }
   }
 }

src/main/java/frc/robot/commands/ArmCommand.java

@@ -24,7 +24,7 @@ public class ArmCommand extends CommandBase {
       16; // to reduce stick sensitivity, this value indicates how much to scale the returned speed
   // by
   private final double m_minBaseRange = 0; // min range for the arm's base
-  private final double m_maxBaseRange = 1; // max range for the arm's base
+  private final double m_maxBaseRange = 0.5; // max range for the arm's base
 
   public ArmCommand(Arm arm, DoubleSupplier baseSpeed) {
     m_arm = arm;

src/main/java/frc/robot/commands/GripperCommand.java

@@ -1,6 +1,7 @@
 package frc.robot.commands;
 
 import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.Gripper;
 import java.util.function.DoubleSupplier;
@@ -21,7 +22,7 @@ public class GripperCommand extends CommandBase {
   // to prevent stick drift, this value sets the min absolute value the speed needs to be
   // before we assume it is not zero
   private final double m_speedScale =
-      16; // to reduce stick sensitivity, this value indicates how much to scale the returned speed
+      64; // to reduce stick sensitivity, this value indicates how much to scale the returned speed
   // by
   private final double m_minBaseRange = 0; // min range for the gripper's base
   private final double m_maxBaseRange = 1; // max range for the gripper's base
@@ -60,5 +61,8 @@ public void execute() {
 
     // Finally, set the gripper base positon to the new calculated gripper position.
     m_gripper.setClawPosition(newClawPosition);
+
+    SmartDashboard.putNumber("Gripper Position", m_gripper.getClawPosition());
+    SmartDashboard.putNumber("New Gripper Position", newClawPosition);
   }
 }

src/main/java/frc/robot/subsystems/Arm.java

@@ -7,7 +7,7 @@ public class Arm extends SubsystemBase {
   // This code assumes we are using the ROMI's external IO configuration and the arm base servo is
   // connected to Romi Pin EXT4 which is configured as PWM and mapped to port 3
   // https://docs.wpilib.org/en/stable/docs/romi-robot/web-ui.html#external-io-configuration
-  private final Servo m_armBaseServo = new Servo(3);
+  private final Servo m_armBaseServo = new Servo(2);
 
   // Note: If you have a multi-axis arm, you could create another Servo object using a differemt PWM
   // channel and add the corresponding methods for controlling the position.

src/main/java/frc/robot/subsystems/Gripper.java

@@ -7,7 +7,7 @@ public class Gripper extends SubsystemBase {
   // This code assumes we are using the ROMI's external IO configuration and the arm claw servo is
   // connected to Romi Pin EXT4 which is configured as PWM and mapped to port 2
   // https://docs.wpilib.org/en/stable/docs/romi-robot/web-ui.html#external-io-configuration
-  private final Servo m_armClawServo = new Servo(2);
+  private final Servo m_armClawServo = new Servo(3);
 
   // Note: If you have a multi-axis arm, you could create another Servo object using a differemt PWM
   // channel and add the corresponding methods for controlling the position.