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Co-authored-by: reyamiller <[email protected]> Co-authored-by: ambers7 <[email protected]>
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6 changes: 3 additions & 3 deletions
6
src/main/java/com/stuypulse/robot/commands/ElevatorDrive.java
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4 changes: 2 additions & 2 deletions
4
src/main/java/com/stuypulse/robot/commands/ElevatorToBottom.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,11 +1,11 @@ | ||
| package com.stuypulse.robot.commands; | ||
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| import com.stuypulse.robot.subsystems.Elevator; | ||
| import com.stuypulse.robot.subsystems.ElevatorImpl; | ||
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| import static com.stuypulse.robot.constants.Settings.Elevator.*; | ||
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| public class ElevatorToBottom extends ElevatorToHeight { | ||
| public ElevatorToBottom(Elevator elevator) { | ||
| public ElevatorToBottom(ElevatorImpl elevator) { | ||
| super(elevator, MIN_HEIGHT); | ||
| } | ||
| } |
6 changes: 3 additions & 3 deletions
6
src/main/java/com/stuypulse/robot/commands/ElevatorToHeight.java
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4 changes: 2 additions & 2 deletions
4
src/main/java/com/stuypulse/robot/commands/ElevatorToTop.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,11 +1,11 @@ | ||
| package com.stuypulse.robot.commands; | ||
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| import com.stuypulse.robot.subsystems.Elevator; | ||
| import com.stuypulse.robot.subsystems.ElevatorImpl; | ||
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| import static com.stuypulse.robot.constants.Settings.Elevator.*; | ||
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| public class ElevatorToTop extends ElevatorToHeight { | ||
| public ElevatorToTop(Elevator elevator) { | ||
| public ElevatorToTop(ElevatorImpl elevator) { | ||
| super(elevator, MAX_HEIGHT); | ||
| } | ||
| } |
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81 changes: 81 additions & 0 deletions
81
src/main/java/com/stuypulse/robot/subsystems/ElevatorImpl.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,81 @@ | ||
| package com.stuypulse.robot.subsystems; | ||
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| import com.revrobotics.CANSparkMax; | ||
| import com.revrobotics.CANSparkMaxLowLevel.MotorType; | ||
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| import com.stuypulse.robot.constants.Ports; | ||
| import com.revrobotics.RelativeEncoder; | ||
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| import edu.wpi.first.wpilibj.DigitalInput; | ||
| import edu.wpi.first.wpilibj.DriverStation; | ||
| import static com.stuypulse.robot.constants.Settings.Elevator.*; | ||
| import static com.stuypulse.robot.constants.Settings.Elevator.Encoder.*; | ||
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| public class ElevatorImpl extends Elevator { | ||
| // hardware | ||
| public CANSparkMax leftMotor; | ||
| public CANSparkMax rightMotor; | ||
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| public RelativeEncoder leftEncoder; | ||
| public RelativeEncoder rightEncoder; | ||
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| public DigitalInput topLimit; | ||
| public DigitalInput bottomLimit; | ||
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| public ElevatorImpl() { | ||
| // motors | ||
| leftMotor = new CANSparkMax(Ports.Elevator.LEFT, MotorType.kBrushless); | ||
| rightMotor = new CANSparkMax(Ports.Elevator.RIGHT, MotorType.kBrushless); | ||
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| // encoders | ||
| leftEncoder = leftMotor.getEncoder(); | ||
| rightEncoder = rightMotor.getEncoder(); | ||
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| // limit switches | ||
| topLimit = new DigitalInput(Ports.Elevator.TOP_LIMIT_SWITCH); | ||
| bottomLimit = new DigitalInput(Ports.Elevator.BOTTOM_LIMIT_SWITCH); | ||
| } | ||
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| public boolean atTop() { | ||
| return !topLimit.get(); | ||
| } | ||
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| public boolean atBottom() { | ||
| return !bottomLimit.get(); | ||
| } | ||
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| @Override | ||
| public double getVelocity() { // average of the two? | ||
| return (rightEncoder.getVelocity() + leftEncoder.getVelocity()) / 2 * ENCODER_MULTIPLIER; | ||
| } | ||
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| @Override | ||
| public double getHeight() { | ||
| return (leftEncoder.getPosition() + rightEncoder.getPosition()) / 2 * ENCODER_MULTIPLIER; | ||
| } | ||
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| public void setVoltage(double voltage) { | ||
| if (atTop() && voltage > 0) { | ||
| DriverStation.reportWarning("Top Limit Reached", false); | ||
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| voltage = 0.0; | ||
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| leftEncoder.setPosition(MAX_HEIGHT); | ||
| rightEncoder.setPosition(MAX_HEIGHT); | ||
| } else if (atBottom() && voltage < 0) { | ||
| DriverStation.reportWarning("Bottom Limit Reached", false); | ||
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| voltage = 0.0; | ||
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| leftEncoder.setPosition(MIN_HEIGHT); | ||
| rightEncoder.setPosition(MIN_HEIGHT); | ||
| } | ||
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| rightMotor.setVoltage(voltage); | ||
| leftMotor.setVoltage(voltage); | ||
| } | ||
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| public void addTargetHeight(double delta) { | ||
| setTargetHeight(getTargetHeight() + delta); | ||
| } | ||
| } |
28 changes: 10 additions & 18 deletions
28
src/main/java/com/stuypulse/robot/subsystems/SimElevator.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,37 +1,29 @@ | ||
| package com.stuypulse.robot.subsystems; | ||
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| import static com.stuypulse.robot.constants.Settings.Elevator.*; | ||
| import static com.stuypulse.robot.constants.Settings.FeedForward.*; | ||
| import static com.stuypulse.robot.constants.Settings.PID.*; | ||
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| import com.stuypulse.stuylib.control.Controller; | ||
| import com.stuypulse.stuylib.control.feedback.PIDController; | ||
| import com.stuypulse.stuylib.control.feedforward.ElevatorFeedforward; | ||
| import com.stuypulse.stuylib.network.SmartNumber; | ||
| import com.stuypulse.stuylib.streams.filters.MotionProfile; | ||
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| import edu.wpi.first.math.system.plant.DCMotor; | ||
| import edu.wpi.first.wpilibj.simulation.ElevatorSim; | ||
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| public class SimElevator { | ||
| public class SimElevator extends Elevator { | ||
| private ElevatorSim sim; | ||
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| private double height; | ||
| private double velocity; | ||
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| private Controller position; | ||
| private SmartNumber targetHeight; | ||
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| public SimElevator() { | ||
| height = 0.0; | ||
| velocity = 0.0; | ||
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| targetHeight = new SmartNumber("Target Height", MIN_HEIGHT); | ||
| sim = new ElevatorSim(DCMotor.getNEO(2), GEARING, CARRIAGE_MASS, DRUM_RADIUS, MIN_HEIGHT, MAX_HEIGHT, true); | ||
| } | ||
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| position = new PIDController(kP, kI, kD) | ||
| .add(new ElevatorFeedforward(kG)) | ||
| .setOutputFilter(new MotionProfile(VEL_LIMIT, ACC_LIMIT)); | ||
| @Override | ||
| public double getVelocity() { | ||
| return sim.getVelocityMetersPerSecond(); | ||
| } | ||
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| // sim = new ElevatorSim(DCMotor.getCIM(4), 106.94, 2.5, 1.435, MIN_HEIGHT, MAX_HEIGHT, false); | ||
| @Override | ||
| public double getHeight() { | ||
| return sim.getPositionMeters(); | ||
| } | ||
| } |
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