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team4099 · Jan 21, 2024 · c3aa23c · c3aa23c
1 parent c421304
commit c3aa23c
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Showing 4 changed files with 126 additions and 143 deletions.
diff --git a/src/main/kotlin/com/team4099/robot2023/BuildConstants.kt b/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 = 85
-const val GIT_SHA = "7d7deadf46b9a79f2de573bc014aadaf7438f346"
-const val GIT_DATE = "2024-01-21T01:44:35Z"
+const val GIT_REVISION = 86
+const val GIT_SHA = "c4213047cf865f51a94aec532ae4b5e5ab6465da"
+const val GIT_DATE = "2024-01-21T04:31:29Z"
 const val GIT_BRANCH = "shooter"
-const val BUILD_DATE = "2024-01-21T03:43:36Z"
-const val BUILD_UNIX_TIME = 1705826616084L
+const val BUILD_DATE = "2024-01-21T04:32:08Z"
+const val BUILD_UNIX_TIME = 1705829528858L
 const val DIRTY = 1
diff --git a/src/main/kotlin/com/team4099/robot2023/config/constants/Constants.kt b/src/main/kotlin/com/team4099/robot2023/config/constants/Constants.kt
@@ -119,7 +119,6 @@ object Constants {
     const val FLYWHEEL_LEFT_MOTOR_ID = 51
     const val FLYWHEEL_RIGHT_MOTOR_ID = 52
     // TODO find wrist motor id
-
   }
 
   object WRIST {

diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/wrist/WristIONeo.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/wrist/WristIONeo.kt
@@ -35,9 +35,7 @@ object WristIONeo : WristIO {
   // )
 
   private val wristSparkMax =
-    CANSparkMax(
-      Constants.Shooter.SHOOTER_WRIST_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless
-    )
+    CANSparkMax(Constants.WRIST.WRIST_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless)
   private val wristSensor =
     sparkMaxAngularMechanismSensor(
       wristSparkMax, WristConstants.WRIST_GEAR_RATIO, WristConstants.WRIST_VOLTAGE_COMPENSATION

diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/wrist/WristIOTalon.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/wrist/WristIOTalon.kt
@@ -1,29 +1,23 @@
 package com.team4099.robot2023.subsystems.wrist
 
 import com.ctre.phoenix6.StatusSignal
-import com.ctre.phoenix6.configs.CANcoderConfigurator
 import com.ctre.phoenix6.configs.MagnetSensorConfigs
 import com.ctre.phoenix6.configs.MotorOutputConfigs
 import com.ctre.phoenix6.configs.Slot0Configs
 import com.ctre.phoenix6.configs.TalonFXConfiguration
-import com.ctre.phoenix6.controls.Follower
 import com.ctre.phoenix6.hardware.CANcoder
 import com.ctre.phoenix6.hardware.TalonFX
 import com.ctre.phoenix6.signals.AbsoluteSensorRangeValue
 import com.ctre.phoenix6.signals.FeedbackSensorSourceValue
 import com.ctre.phoenix6.signals.NeutralModeValue
 import com.ctre.phoenix6.signals.SensorDirectionValue
 import com.team4099.lib.phoenix6.PositionVoltage
-import com.team4099.lib.phoenix6.VelocityVoltage
 import com.team4099.robot2023.config.constants.Constants
 import com.team4099.robot2023.config.constants.FlywheelConstants
 import com.team4099.robot2023.config.constants.WristConstants
 import com.team4099.robot2023.subsystems.falconspin.Falcon500
 import com.team4099.robot2023.subsystems.falconspin.MotorChecker
 import com.team4099.robot2023.subsystems.falconspin.MotorCollection
-import com.team4099.robot2023.subsystems.flywheel.FlywheelIO
-import org.team4099.lib.units.AngularVelocity
-import org.team4099.lib.units.Velocity
 import org.team4099.lib.units.base.amps
 import org.team4099.lib.units.base.celsius
 import org.team4099.lib.units.base.inAmperes
@@ -40,133 +34,125 @@ import org.team4099.lib.units.derived.inDegrees
 import org.team4099.lib.units.derived.inVolts
 import org.team4099.lib.units.derived.volts
 
-object WristIOTalon : WristIO  {
-
-    private val wristTalon: TalonFX = TalonFX(Constants.WRIST.WRIST_MOTOR_ID)
-
-    private val wristConfiguration: TalonFXConfiguration = TalonFXConfiguration()
-
-    private val absoluteEncoder: CANcoder = CANcoder(Constants.WRIST.CANCODER_ID)
-    private val absoluteEncoderConfiguration: MagnetSensorConfigs = MagnetSensorConfigs()
-
-
-    private val wristSensor =
-        ctreAngularMechanismSensor(
-            wristTalon,
-            FlywheelConstants.RIGHT_GEAR_RATIO,
-            FlywheelConstants.VOLTAGE_COMPENSATION,
-        )
-
-    var statorCurrentSignal: StatusSignal<Double>
-    var supplyCurrentSignal: StatusSignal<Double>
-    var tempSignal: StatusSignal<Double>
-    var dutyCycle: StatusSignal<Double>
-    init {
-        wristTalon.configurator.apply(TalonFXConfiguration())
-
-        wristTalon.clearStickyFaults()
-
-        absoluteEncoderConfiguration.AbsoluteSensorRange = AbsoluteSensorRangeValue.Signed_PlusMinusHalf
-        absoluteEncoderConfiguration.SensorDirection = SensorDirectionValue.CounterClockwise_Positive
-        absoluteEncoderConfiguration.MagnetOffset = WristConstants.ABSOLUTE_ENCODER_OFFSET.inDegrees / 180
-
-        absoluteEncoder.configurator.apply(absoluteEncoderConfiguration)
-
-        wristConfiguration.Feedback.FeedbackRemoteSensorID = absoluteEncoder.deviceID
-        wristConfiguration.Feedback.FeedbackSensorSource = FeedbackSensorSourceValue.FusedCANcoder
-
-        wristConfiguration.Feedback.SensorToMechanismRatio = WristConstants.WRIST_GEAR_RATIO
-        wristConfiguration.Feedback.RotorToSensorRatio = WristConstants.WRIST_ENCODER_GEAR_RATIO
-
-        wristConfiguration.Slot0.kP =
-            wristSensor.proportionalVelocityGainToRawUnits(FlywheelConstants.PID.REAL_KP)
-        wristConfiguration.Slot0.kI =
-            wristSensor.integralVelocityGainToRawUnits(FlywheelConstants.PID.REAL_KI)
-        wristConfiguration.Slot0.kD =
-            wristSensor.derivativeVelocityGainToRawUnits(FlywheelConstants.PID.REAL_KD)
-
-        wristConfiguration.CurrentLimits.SupplyCurrentLimit =
-            FlywheelConstants.LEFT_FLYWHEEL_SUPPLY_CURRENT_LIMIT.inAmperes
-        wristConfiguration.CurrentLimits.SupplyCurrentThreshold =
-            FlywheelConstants.LEFT_FLYWHEEL_THRESHOLD_CURRENT_LIMIT.inAmperes
-        wristConfiguration.CurrentLimits.SupplyTimeThreshold =
-            FlywheelConstants.LEFT_flywheel_TRIGGER_THRESHOLD_TIME.inSeconds
-        wristConfiguration.CurrentLimits.SupplyCurrentLimitEnable = true
-        wristConfiguration.CurrentLimits.StatorCurrentLimit =
-            FlywheelConstants.LEFT_FLYWHEEL_STATOR_CURRENT_LIMIT.inAmperes
-        wristConfiguration.CurrentLimits.StatorCurrentLimitEnable = false
-
-        wristConfiguration.MotorOutput.NeutralMode = NeutralModeValue.Brake
-
-
-
-        wristTalon.configurator.apply(wristConfiguration)
-
-
-
-
-
-        statorCurrentSignal = wristTalon.statorCurrent
-        supplyCurrentSignal = wristTalon.supplyCurrent
-        tempSignal = wristTalon.deviceTemp
-        dutyCycle = wristTalon.dutyCycle
-
-        MotorChecker.add(
-            "Wrist",
-            "Wrist",
-            MotorCollection(
-                mutableListOf(Falcon500(wristTalon, "Wrist Motor")),
-                WristConstants.WRIST_STATOR_CURRENT_LIMIT,
-                90.celsius,
-                WristConstants.WRIST_STATOR_CURRENT_LIMIT- 30.amps,
-                110.celsius
-            )
-        )
-    }
-
-
-    override fun configPID(
-        kP: ProportionalGain<Radian, Volt>,
-        kI: IntegralGain<Radian, Volt>,
-        kD: DerivativeGain<Radian, Volt>
-    ) {
-        val PIDConfig = Slot0Configs()
-        PIDConfig.kP = wristSensor.proportionalPositionGainToRawUnits(kP)
-        PIDConfig.kI = wristSensor.integralPositionGainToRawUnits(kI)
-        PIDConfig.kD = wristSensor.derivativePositionGainToRawUnits(kD)
-
-        wristTalon.configurator.apply(PIDConfig)
+object WristIOTalon : WristIO {
+
+  private val wristTalon: TalonFX = TalonFX(Constants.WRIST.WRIST_MOTOR_ID)
+
+  private val wristConfiguration: TalonFXConfiguration = TalonFXConfiguration()
+
+  private val absoluteEncoder: CANcoder = CANcoder(Constants.WRIST.CANCODER_ID)
+  private val absoluteEncoderConfiguration: MagnetSensorConfigs = MagnetSensorConfigs()
+
+  private val wristSensor =
+    ctreAngularMechanismSensor(
+      wristTalon,
+      FlywheelConstants.RIGHT_GEAR_RATIO,
+      FlywheelConstants.VOLTAGE_COMPENSATION,
+    )
+
+  var statorCurrentSignal: StatusSignal<Double>
+  var supplyCurrentSignal: StatusSignal<Double>
+  var tempSignal: StatusSignal<Double>
+  var dutyCycle: StatusSignal<Double>
+  init {
+    wristTalon.configurator.apply(TalonFXConfiguration())
+
+    wristTalon.clearStickyFaults()
+
+    absoluteEncoderConfiguration.AbsoluteSensorRange = AbsoluteSensorRangeValue.Signed_PlusMinusHalf
+    absoluteEncoderConfiguration.SensorDirection = SensorDirectionValue.CounterClockwise_Positive
+    absoluteEncoderConfiguration.MagnetOffset =
+      WristConstants.ABSOLUTE_ENCODER_OFFSET.inDegrees / 180
+
+    absoluteEncoder.configurator.apply(absoluteEncoderConfiguration)
+
+    wristConfiguration.Feedback.FeedbackRemoteSensorID = absoluteEncoder.deviceID
+    wristConfiguration.Feedback.FeedbackSensorSource = FeedbackSensorSourceValue.FusedCANcoder
+
+    wristConfiguration.Feedback.SensorToMechanismRatio = WristConstants.WRIST_GEAR_RATIO
+    wristConfiguration.Feedback.RotorToSensorRatio = WristConstants.WRIST_ENCODER_GEAR_RATIO
+
+    wristConfiguration.Slot0.kP =
+      wristSensor.proportionalVelocityGainToRawUnits(FlywheelConstants.PID.REAL_KP)
+    wristConfiguration.Slot0.kI =
+      wristSensor.integralVelocityGainToRawUnits(FlywheelConstants.PID.REAL_KI)
+    wristConfiguration.Slot0.kD =
+      wristSensor.derivativeVelocityGainToRawUnits(FlywheelConstants.PID.REAL_KD)
+
+    wristConfiguration.CurrentLimits.SupplyCurrentLimit =
+      FlywheelConstants.LEFT_FLYWHEEL_SUPPLY_CURRENT_LIMIT.inAmperes
+    wristConfiguration.CurrentLimits.SupplyCurrentThreshold =
+      FlywheelConstants.LEFT_FLYWHEEL_THRESHOLD_CURRENT_LIMIT.inAmperes
+    wristConfiguration.CurrentLimits.SupplyTimeThreshold =
+      FlywheelConstants.LEFT_flywheel_TRIGGER_THRESHOLD_TIME.inSeconds
+    wristConfiguration.CurrentLimits.SupplyCurrentLimitEnable = true
+    wristConfiguration.CurrentLimits.StatorCurrentLimit =
+      FlywheelConstants.LEFT_FLYWHEEL_STATOR_CURRENT_LIMIT.inAmperes
+    wristConfiguration.CurrentLimits.StatorCurrentLimitEnable = false
+
+    wristConfiguration.MotorOutput.NeutralMode = NeutralModeValue.Brake
+
+    wristTalon.configurator.apply(wristConfiguration)
+
+    statorCurrentSignal = wristTalon.statorCurrent
+    supplyCurrentSignal = wristTalon.supplyCurrent
+    tempSignal = wristTalon.deviceTemp
+    dutyCycle = wristTalon.dutyCycle
+
+    MotorChecker.add(
+      "Wrist",
+      "Wrist",
+      MotorCollection(
+        mutableListOf(Falcon500(wristTalon, "Wrist Motor")),
+        WristConstants.WRIST_STATOR_CURRENT_LIMIT,
+        90.celsius,
+        WristConstants.WRIST_STATOR_CURRENT_LIMIT - 30.amps,
+        110.celsius
+      )
+    )
+  }
+
+  override fun configPID(
+    kP: ProportionalGain<Radian, Volt>,
+    kI: IntegralGain<Radian, Volt>,
+    kD: DerivativeGain<Radian, Volt>
+  ) {
+    val PIDConfig = Slot0Configs()
+    PIDConfig.kP = wristSensor.proportionalPositionGainToRawUnits(kP)
+    PIDConfig.kI = wristSensor.integralPositionGainToRawUnits(kI)
+    PIDConfig.kD = wristSensor.derivativePositionGainToRawUnits(kD)
+
+    wristTalon.configurator.apply(PIDConfig)
+  }
+
+  override fun setWristVoltage(voltage: ElectricalPotential) {
+    wristTalon.setVoltage(voltage.inVolts)
+  }
+
+  override fun setWristPosition(position: Angle, feedforward: ElectricalPotential) {
+    wristTalon.setControl(
+      PositionVoltage(position, slot = 0, feedforward = feedforward).positionVoltagePhoenix6
+    )
+  }
+  override fun updateInputs(inputs: WristIO.WristIOInputs) {
+    inputs.wristPostion = wristSensor.position
+    inputs.wristVelocity = wristSensor.velocity
+    inputs.wristAppliedVoltage = dutyCycle.value.volts
+    inputs.wristStatorCurrent = statorCurrentSignal.value.amps
+    inputs.wristSupplyCurrent = supplyCurrentSignal.value.amps
+    inputs.wristTemperature = tempSignal.value.celsius
+  }
+
+  override fun setWristBrakeMode(brake: Boolean) {
+    val motorOutputConfig = MotorOutputConfigs()
+
+    if (brake) {
+      motorOutputConfig.NeutralMode = NeutralModeValue.Brake
+    } else {
+      motorOutputConfig.NeutralMode = NeutralModeValue.Coast
     }
+    wristTalon.configurator.apply(motorOutputConfig)
+  }
 
-    override fun setWristVoltage(voltage: ElectricalPotential) {
-        wristTalon.setVoltage(voltage.inVolts)
-    }
-
-    override fun setWristPosition(position: Angle, feedforward: ElectricalPotential) {
-        wristTalon.setControl(
-            PositionVoltage(position, slot = 0, feedforward = feedforward).positionVoltagePhoenix6
-        )
-    }
-    override fun updateInputs(inputs: WristIO.WristIOInputs) {
-        inputs.wristPostion = wristSensor.position
-        inputs.wristVelocity = wristSensor.velocity
-        inputs.wristAppliedVoltage = dutyCycle.value.volts
-        inputs.wristStatorCurrent = statorCurrentSignal.value.amps
-        inputs.wristSupplyCurrent = supplyCurrentSignal.value.amps
-        inputs.wristTemperature = tempSignal.value.celsius
-    }
-
-    override fun setWristBrakeMode(brake: Boolean) {
-        val motorOutputConfig = MotorOutputConfigs()
-
-        if (brake) {
-            motorOutputConfig.NeutralMode = NeutralModeValue.Brake
-        } else {
-            motorOutputConfig.NeutralMode = NeutralModeValue.Coast
-        }
-        wristTalon.configurator.apply(motorOutputConfig)
-    }
-
-    override fun zeroEncoder() {
-    }
-}
+  override fun zeroEncoder() {}
+}