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Merge pull request #25 from Robocubs/indexer-subsystem
Indexer-subsystem
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31 changes: 31 additions & 0 deletions
31
src/main/java/com/team1701/robot/commands/IndexCommand.java
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| package com.team1701.robot.commands; | ||
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| import java.util.function.BooleanSupplier; | ||
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| import com.team1701.robot.subsystems.indexer.Indexer; | ||
| import edu.wpi.first.wpilibj2.command.Command; | ||
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| public class IndexCommand extends Command { | ||
| private final Indexer mIndexer; | ||
| private final BooleanSupplier mShouldLoad; | ||
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| public IndexCommand(Indexer indexer, BooleanSupplier shouldLoad) { | ||
| mIndexer = indexer; | ||
| mShouldLoad = shouldLoad; | ||
| addRequirements(indexer); | ||
| } | ||
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| @Override | ||
| public void execute() { | ||
| if (mIndexer.noteIsLoaded() || !mShouldLoad.getAsBoolean()) { | ||
| mIndexer.stop(); | ||
| } else { | ||
| mIndexer.setForwardLoad(); | ||
| } | ||
| } | ||
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| @Override | ||
| public void end(boolean interrupted) { | ||
| mIndexer.stop(); | ||
| } | ||
| } |
64 changes: 64 additions & 0 deletions
64
src/main/java/com/team1701/robot/subsystems/indexer/Indexer.java
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| package com.team1701.robot.subsystems.indexer; | ||
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| import com.team1701.lib.drivers.digitalinputs.DigitalIO; | ||
| import com.team1701.lib.drivers.digitalinputs.DigitalInputsAutoLogged; | ||
| import com.team1701.lib.drivers.motors.MotorIO; | ||
| import com.team1701.lib.drivers.motors.MotorIOSim; | ||
| import com.team1701.lib.drivers.motors.MotorInputsAutoLogged; | ||
| import com.team1701.robot.Constants; | ||
| import edu.wpi.first.math.system.plant.DCMotor; | ||
| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
| import org.littletonrobotics.junction.AutoLogOutput; | ||
| import org.littletonrobotics.junction.Logger; | ||
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| public class Indexer extends SubsystemBase { | ||
| private final MotorIO mIndexerMotorIO; | ||
| private final MotorInputsAutoLogged mIndexerMotorInputsAutoLogged = new MotorInputsAutoLogged(); | ||
| private final DigitalIO mEntranceSensor; | ||
| private final DigitalInputsAutoLogged mEntranceSensorInputs = new DigitalInputsAutoLogged(); | ||
| private final DigitalIO mExitSensor; | ||
| private final DigitalInputsAutoLogged mExitSensorInputs = new DigitalInputsAutoLogged(); | ||
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| @AutoLogOutput(key = "Indexer/Motor/DemandRadiansPerSecond") | ||
| private double mDemandRadiansPerSecond; | ||
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| public Indexer(MotorIO motor, DigitalIO entranceSensor, DigitalIO exitSensor) { | ||
| mEntranceSensor = entranceSensor; | ||
| mExitSensor = exitSensor; | ||
| mIndexerMotorIO = motor; | ||
| } | ||
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| public static MotorIOSim createSim(DCMotor IndexerMotor) { | ||
| return new MotorIOSim(IndexerMotor, Constants.Indexer.kIndexerReduction, 0.025, Constants.kLoopPeriodSeconds); | ||
| } | ||
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| @Override | ||
| public void periodic() { | ||
| mIndexerMotorIO.updateInputs(mIndexerMotorInputsAutoLogged); | ||
| mEntranceSensor.updateInputs(mEntranceSensorInputs); | ||
| mExitSensor.updateInputs(mExitSensorInputs); | ||
| Logger.processInputs("Indexer/EntranceSensor", mEntranceSensorInputs); | ||
| Logger.processInputs("Indexer/Motor", mIndexerMotorInputsAutoLogged); | ||
| Logger.processInputs("Indexer/ExitSensor", mExitSensorInputs); | ||
| } | ||
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| public boolean noteIsLoaded() { | ||
| return mExitSensorInputs.blocked; | ||
| } | ||
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| public void setForwardLoad() { | ||
| mIndexerMotorIO.setPercentOutput(Constants.Indexer.kIndexerLoadPercent); | ||
| } | ||
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| public void setForwardShoot() { | ||
| mIndexerMotorIO.setPercentOutput(Constants.Indexer.kIndexerFeedPercent); | ||
| } | ||
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| public void setReverse() { | ||
| mIndexerMotorIO.setPercentOutput(-Constants.Indexer.kIndexerFeedPercent); | ||
| } | ||
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| public void stop() { | ||
| mIndexerMotorIO.setPercentOutput(0); | ||
| } | ||
| } |
52 changes: 52 additions & 0 deletions
52
src/main/java/com/team1701/robot/subsystems/indexer/IndexerMotorFactory.java
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| package com.team1701.robot.subsystems.indexer; | ||
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| import java.util.function.Supplier; | ||
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| import com.revrobotics.CANSparkFlex; | ||
| import com.revrobotics.CANSparkLowLevel.MotorType; | ||
| import com.revrobotics.REVLibError; | ||
| import com.team1701.lib.alerts.REVAlert; | ||
| import com.team1701.lib.drivers.motors.MotorIOSparkFlex; | ||
| import com.team1701.robot.Constants; | ||
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| public class IndexerMotorFactory { | ||
| public static MotorIOSparkFlex createDriveMotorIOSparkFlex(int deviceId) { | ||
| var motor = new CANSparkFlex(deviceId, MotorType.kBrushless); | ||
| var encoder = motor.getEncoder(); | ||
| var controller = motor.getPIDController(); | ||
| var errorAlert = new REVAlert(motor, deviceId); | ||
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| motor.setCANTimeout(200); | ||
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| configureWithRetry(() -> motor.restoreFactoryDefaults(), errorAlert); | ||
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| configureWithRetry(() -> motor.setSmartCurrentLimit(20), errorAlert); | ||
| configureWithRetry(() -> motor.enableVoltageCompensation(12), errorAlert); | ||
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| configureWithRetry(() -> encoder.setPosition(0), errorAlert); | ||
| configureWithRetry(() -> encoder.setMeasurementPeriod(10), errorAlert); | ||
| configureWithRetry(() -> encoder.setAverageDepth(2), errorAlert); | ||
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| configureWithRetry(() -> controller.setP(Constants.Indexer.kIndexerKp.get()), errorAlert); | ||
| configureWithRetry(() -> controller.setD(Constants.Indexer.kIndexerKd.get()), errorAlert); | ||
| configureWithRetry(() -> controller.setFF(Constants.Indexer.kIndexerKff.get()), errorAlert); | ||
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| configureWithRetry(() -> motor.burnFlash(), errorAlert); | ||
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| motor.setCANTimeout(0); | ||
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| return new MotorIOSparkFlex(motor, Constants.Shooter.kShooterReduction); | ||
| } | ||
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| private static void configureWithRetry(Supplier<REVLibError> config, REVAlert failureAlert) { | ||
| REVLibError error = REVLibError.kUnknown; | ||
| for (var i = 0; i < 4; i++) { | ||
| error = config.get(); | ||
| if (error == REVLibError.kOk) { | ||
| return; | ||
| } | ||
| } | ||
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| failureAlert.enable(error); | ||
| } | ||
| } |