stuff

simgui-ds.json

@@ -0,0 +1,92 @@
+{
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "decayRate": 0.0,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        }
+      ],
+      "axisCount": 3,
+      "buttonCount": 4,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86
+      ],
+      "povConfig": [
+        {
+          "key0": 328,
+          "key135": 323,
+          "key180": 322,
+          "key225": 321,
+          "key270": 324,
+          "key315": 327,
+          "key45": 329,
+          "key90": 326
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 4,
+      "buttonKeys": [
+        77,
+        44,
+        46,
+        47
+      ],
+      "povCount": 0
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 263,
+          "incKey": 262
+        },
+        {
+          "decKey": 265,
+          "incKey": 264
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 6,
+      "buttonKeys": [
+        260,
+        268,
+        266,
+        261,
+        269,
+        267
+      ],
+      "povCount": 0
+    },
+    {
+      "axisCount": 0,
+      "buttonCount": 0,
+      "povCount": 0
+    }
+  ]
+}

simgui.json

@@ -0,0 +1,9 @@
+{
+  "NTProvider": {
+    "types": {
+      "/FMSInfo": "FMSInfo",
+      "/Shuffleboard/Pre-match/Mode": "String Chooser",
+      "/SmartDashboard/AutonomousMode": "String Chooser"
+    }
+  }
+}

src/main/kotlin/com/team4099/robot2023/BuildConstants.kt

@@ -6,10 +6,10 @@ package com.team4099.robot2023
 const val MAVEN_GROUP = ""
 const val MAVEN_NAME = "Crescendo-2024"
 const val VERSION = "unspecified"
-const val GIT_REVISION = 20
-const val GIT_SHA = "4571cd4f3189ad1982f91f7dde0d0c7d7ec30341"
-const val GIT_DATE = "2024-01-12T19:01:07Z"
+const val GIT_REVISION = 25
+const val GIT_SHA = "b4edbcbc86bce4f445e9dcbf3dc9d1361b02aca3"
+const val GIT_DATE = "2024-01-15T19:28:22Z"
 const val GIT_BRANCH = "intake"
-const val BUILD_DATE = "2024-01-12T19:14:59Z"
-const val BUILD_UNIX_TIME = 1705104899720L
+const val BUILD_DATE = "2024-01-15T19:47:46Z"
+const val BUILD_UNIX_TIME = 1705366066090L
 const val DIRTY = 1

src/main/kotlin/com/team4099/robot2023/RobotContainer.kt

@@ -10,6 +10,9 @@ import com.team4099.robot2023.subsystems.drivetrain.drive.DrivetrainIOReal
 import com.team4099.robot2023.subsystems.drivetrain.drive.DrivetrainIOSim
 import com.team4099.robot2023.subsystems.drivetrain.gyro.GyroIO
 import com.team4099.robot2023.subsystems.drivetrain.gyro.GyroIOPigeon2
+import com.team4099.robot2023.subsystems.intake.Intake
+import com.team4099.robot2023.subsystems.intake.IntakeIONEO
+import com.team4099.robot2023.subsystems.intake.IntakeIOSim
 import com.team4099.robot2023.subsystems.limelight.LimelightVision
 import com.team4099.robot2023.subsystems.limelight.LimelightVisionIO
 import com.team4099.robot2023.subsystems.superstructure.Request
@@ -23,6 +26,7 @@ import org.team4099.lib.units.derived.degrees
 
 object RobotContainer {
   private val drivetrain: Drivetrain
+  private val intake: Intake
   private val vision: Vision
   private val limelight: LimelightVision
 
@@ -31,6 +35,7 @@ object RobotContainer {
       // Real Hardware Implementations
       // drivetrain = Drivetrain(object: GyroIO {},object: DrivetrainIO {}
       drivetrain = Drivetrain(GyroIOPigeon2, DrivetrainIOReal)
+      intake = Intake(IntakeIONEO)
       vision =
         Vision(
           //          object: CameraIO {}
@@ -45,6 +50,7 @@ object RobotContainer {
     } else {
       // Simulation implementations
       drivetrain = Drivetrain(object : GyroIO {}, DrivetrainIOSim)
+      intake = Intake(IntakeIOSim)
       vision =
         Vision(
           CameraIONorthstar("northstar_1"),
@@ -110,6 +116,7 @@ object RobotContainer {
 
   fun mapTeleopControls() {
     ControlBoard.resetGyro.whileTrue(ResetGyroYawCommand(drivetrain, toAngle = 180.degrees))
+    ControlBoard.groundIntakeTest.whileTrue(intake.generateIntakeTestCommand())
     //    ControlBoard.autoLevel.whileActiveContinuous(
     //      GoToAngle(drivetrain).andThen(AutoLevel(drivetrain))
     //    )

src/main/kotlin/com/team4099/robot2023/config/ControlBoard.kt

@@ -97,4 +97,6 @@ object ControlBoard {
 
   // for testing
   val setArmCommand = Trigger { technician.yButton }
+
+  val groundIntakeTest = Trigger { driver.aButton }
 }

src/main/kotlin/com/team4099/robot2023/config/constants/IntakeConstants.kt

@@ -4,7 +4,7 @@ import org.team4099.lib.units.base.amps
 import org.team4099.lib.units.derived.volts
 
 object IntakeConstants {
-    val ROLLER_INERTIA = 0.0014948033 // this one has been updated
+    val ROLLER_INERTIA = 0.002459315 // this one has been updated
     val VOLTAGE_COMPENSATION = 12.0.volts
 
   // TODO: Change gear ratio according to robot

src/main/kotlin/com/team4099/robot2023/subsystems/intake/Intake.kt

@@ -4,6 +4,8 @@ import com.team4099.lib.hal.Clock
 import com.team4099.robot2023.config.constants.Constants
 import com.team4099.robot2023.config.constants.IntakeConstants
 import com.team4099.robot2023.subsystems.superstructure.Request
+import edu.wpi.first.wpilibj2.command.Command
+import edu.wpi.first.wpilibj2.command.Commands.runOnce
 import org.littletonrobotics.junction.Logger
 import org.team4099.lib.units.base.inSeconds
 import org.team4099.lib.units.derived.ElectricalPotential
@@ -82,6 +84,11 @@ class Intake(val io: IntakeIO) {
         io.setRollerVoltage(appliedVoltage)
     }
 
+    fun generateIntakeTestCommand(): Command {
+        val returnCommand = runOnce({ currentRequest = Request.IntakeRequest.OpenLoop(12.volts) })
+        return returnCommand
+    }
+
     companion object {
         enum class IntakeState {
             UNINITIALIZED,

src/main/kotlin/com/team4099/robot2023/subsystems/intake/IntakeIOSim.kt

@@ -14,21 +14,22 @@ import org.team4099.lib.units.derived.rotations
 import org.team4099.lib.units.derived.volts
 import org.team4099.lib.units.perMinute
 
-class IntakeIOSim : IntakeIO {
+object IntakeIOSim : IntakeIO {
     private val rollerSim: FlywheelSim = FlywheelSim(
         DCMotor.getNEO(1),
         IntakeConstants.ROLLER_GEAR_RATIO,
         IntakeConstants.ROLLER_INERTIA
     )
 
+    private var appliedVoltage = 0.volts;
     init{}
 
     override fun updateInputs(inputs: IntakeIO.IntakeIOInputs) {
 
         rollerSim.update(Constants.Universal.LOOP_PERIOD_TIME.inSeconds)
 
         inputs.rollerVelocity = rollerSim.getAngularVelocityRPM().rotations.perMinute
-        inputs.rollerAppliedVoltage = 0.volts
+        inputs.rollerAppliedVoltage = appliedVoltage
         inputs.rollerSupplyCurrent = 0.amps
         inputs.rollerStatorCurrent = rollerSim.currentDrawAmps.amps
         inputs.rollerTemp = 0.0.celsius
@@ -37,6 +38,7 @@ class IntakeIOSim : IntakeIO {
     }
 
     override fun setRollerVoltage(voltage: ElectricalPotential) {
+        appliedVoltage = voltage
         rollerSim.setInputVoltage(
             clamp(
                 voltage,
@@ -46,4 +48,6 @@ class IntakeIOSim : IntakeIO {
                 .inVolts
         )
     }
+
+    override fun setRollerBrakeMode(brake: Boolean) {}
 }