Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Create PrepareToScoreInAmpCommand #77

Merged
merged 8 commits into from
Feb 7, 2024
Merged

Create PrepareToScoreInAmpCommand #77

Show file tree
Hide file tree
Changes from 2 commits
Commits
Show all changes
8 commits
Select commit Hold shift + click to select a range
23a31fd
add PrepareToScoreInAmpCommand
j0ndough Feb 3, 2024
f831cdc
Merge branch 'main' into PrepareToScoreInAmpCommand
j0ndough Feb 3, 2024
88950c5
add generic function to set arm and shooter
j0ndough Feb 7, 2024
ffcb2ba
Merge branch 'PrepareToScoreInAmpCommand' of github.com:Team488/XBot2…
j0ndough Feb 7, 2024
19002fa
Merge branch 'main' of github.com:Team488/XBot2024 into PrepareToScor…
j0ndough Feb 7, 2024
2a5b191
create command group to set arm and shooter rpm
j0ndough Feb 7, 2024
43f2882
rename to be amp specific command group
j0ndough Feb 7, 2024
0e476e5
Merge branch 'main' into PrepareToScoreInAmpCommand
j0ndough Feb 7, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
13 changes: 13 additions & 0 deletions src/main/java/competition/operator_interface/OperatorCommandMap.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -141,6 +141,19 @@ public void setupMobilityComands(

}

@Inject
public void scoringCommands(
SetArmAngleCommand armAngle,
WarmUpShooterCommand shooter
)
{
// Prepare to score in Amp
armAngle.setArmPosition(ArmSubsystem.UsefulArmPosition.FIRING_IN_AMP);
Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

⭐ I wonder if there's a way we could unify the position -> angle + rpm logic so you can have a single command that's about preparing for an arbitary position that does both? What do you think?

Since very soon we'll have a bunch of these

Copy link
Contributor Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

added a generic helper function that sets arm position and shooter wheel rpm.

shooter.setTargetRpm(ShooterWheelSubsystem.TargetRPM.AMP_SHOT);
var prepareToScoreInAmp = armAngle.alongWith(shooter);
// TODO: Bind command to a button in operatorGamepad
}

@Inject
public void setupOracleCommands(OperatorInterface oi,
SwerveAccordingToOracleCommand oracleSwerve,
Expand Down
7 changes: 6 additions & 1 deletion src/main/java/competition/subsystems/shooter/ShooterWheelSubsystem.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,8 @@ public class ShooterWheelSubsystem extends BaseSetpointSubsystem<Double> impleme
public enum TargetRPM {
SAFE,
NEARSHOT,
DISTANCESHOT
DISTANCESHOT,
AMP_SHOT
}

//need pose for real time calculations
Expand All @@ -35,6 +36,7 @@ public enum TargetRPM {
private final DoubleProperty safeRpm;
private final DoubleProperty nearShotRpm;
private final DoubleProperty distanceShotRpm;
private final DoubleProperty ampShotRpm;
private final DoubleProperty shortRangeErrorToleranceRpm;
private final DoubleProperty longRangeErrorToleranceRpm;
private final DoubleProperty iMaxAccumValueForShooter;
Expand Down Expand Up @@ -62,6 +64,8 @@ public ShooterWheelSubsystem(XCANSparkMax.XCANSparkMaxFactory sparkMaxFactory, P
safeRpm = pf.createPersistentProperty("SafeRpm", 500);
nearShotRpm = pf.createPersistentProperty("NearShotRpm", 1000);
distanceShotRpm = pf.createPersistentProperty("DistanceShotRpm", 3000);
// placeholder value for rpm when preparing to score in amp
ampShotRpm = pf.createPersistentProperty("AmpShotRpm", 2000);

this.pose = pose;
this.converter = new ShooterDistanceToRpmConverter();
Expand Down Expand Up @@ -103,6 +107,7 @@ public void setTargetRPM(TargetRPM target) {
case SAFE -> setTargetValue(safeRpm.get());
case NEARSHOT -> setTargetValue(nearShotRpm.get());
case DISTANCESHOT -> setTargetValue(distanceShotRpm.get());
case AMP_SHOT -> setTargetValue(ampShotRpm.get());
default -> setTargetValue(0.0);
}
}
Expand Down