Intake and indexer #19
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# Conflicts: # src/main/java/org/team1540/robot2024/Constants.java # src/main/java/org/team1540/robot2024/RobotContainer.java # src/main/java/org/team1540/robot2024/util/LoggedTunableNumber.java
src/main/java/org/team1540/robot2024/subsystems/indexer/Indexer.java
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| public Command feedToAmp() { | ||
| return Commands.sequence( | ||
| Commands.runOnce(() -> indexerIO.setFeederVelocity(-600), this), | ||
| Commands.waitSeconds(5), |
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This could wait for X time after the note stops being seen (waitUntil), just to make sure it gets out before stopping
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For sequences though I might make them their own classes
| return Commands.sequence( | ||
| Commands.runOnce(() -> indexerIO.setFeederVelocity(1200), this), | ||
| Commands.waitSeconds(1), | ||
| Commands.runOnce(() -> indexerIO.setFeederVelocity(0), this) |
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I might make this not just end after a second. This will only be used in other sequences anyway so maybe just having it return the command to set feeder velocity to 1200 would be good
| public class IndexerIOSim implements IndexerIO { | ||
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| private final DCMotorSim intakeSim = new DCMotorSim(DCMotor.getNEO(1), INTAKE_GEAR_RATIO,0.025); |
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what is 0.025 doing here? (it should probably be in constants file)
| public class IndexerIOSparkMax implements IndexerIO { | ||
| private final CANSparkMax intakeMotor = new CANSparkMax(INTAKE_ID, CANSparkLowLevel.MotorType.kBrushless); | ||
| private final CANSparkMax feederMotor = new CANSparkMax(FEEDER_ID, CANSparkLowLevel.MotorType.kBrushless); | ||
| private final DigitalInput indexerBeamBreak = new DigitalInput(0); |
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constants file for digitalinput id
| public double setpointRPM; | ||
| public double feederPositionError; |
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The setpoint logging should happen in the subsystem, not the IO inputs. Also, why are you logging the position error? Isn't the feeder only velocity controlled?
| public class Indexer extends SubsystemBase { | ||
| private final IndexerIO indexerIO; | ||
| private final IndexerIOInputsAutoLogged indexerInputs = new IndexerIOInputsAutoLogged(); | ||
| private final boolean TUNING = true; |
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There's already a constant called tuningMode in the constants file, use that instead of this
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| default void setFeederVelocity(double velocity) {} | ||
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| default void configurePID(double p, double i, double d) {} |
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This should probably be called configureFeederPID since the intake isn't running a control loop
src/main/java/org/team1540/robot2024/subsystems/indexer/IndexerIOSparkMax.java
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| private boolean isClosedLoop = true; | ||
| private double intakeVoltage = 0.0; | ||
| private double feederVoltage = 0.0; | ||
| private double feederVelocityRPS = 0.0; |
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This should probably called feederSetpointRPS, feederVelocityRPS implies that this is the actual feeder velocity, which this is not.
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