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# Conflicts: # autonomous.chor # src/main/deploy/choreo/TestingPath.traj # src/main/java/frc/robot/Constants.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,129 @@ | ||
| //package frc.robot.subsystems; | ||
| //import java.util.*; | ||
| //import com.revrobotics.*; | ||
| //import com.revrobotics.CANSparkLowLevel.MotorType; | ||
| // | ||
| //import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; | ||
| //import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; | ||
| //import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | ||
| //import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
| //import frc.robot.Constants; | ||
| // | ||
| //public class HookSubsystem extends SubsystemBase { | ||
| // private CANSparkMax hookMotor; // Create the Spark Max object in the program and include the CAN id and the type of motor used with the controller | ||
| // private RelativeEncoder hookEncoder; // Grab the attached encoder | ||
| // private final SparkPIDController hookController; | ||
| // | ||
| // public HookSubsystem() { | ||
| // hookMotor = new CANSparkMax(Constants.Hook.MOTOR_CAN_ID, MotorType.kBrushless); // Create the Spark Max object in the program and include the CAN id and the type of motor used with the controller | ||
| // hookEncoder = hookMotor.getEncoder(); // Grab the attached encoder | ||
| // hookController = hookMotor.getPIDController(); | ||
| // hookMotor.restoreFactoryDefaults(); | ||
| // hookMotor.setSmartCurrentLimit(Constants.Shooter.driveContinuousCurrentLimit); | ||
| // hookMotor.setInverted(Constants.Shooter.driveInvert); | ||
| // hookMotor.setIdleMode(Constants.Shooter.driveNeutralMode); | ||
| // hookController.setP(1.0); | ||
| // hookController.setI(0); | ||
| // hookController.setD(0); | ||
| // hookController.setFF(0); | ||
| // hookMotor.burnFlash(); | ||
| // hookEncoder.setPosition(0.0); | ||
| // } | ||
| // | ||
| // | ||
| // | ||
| // | ||
| // | ||
| // double i = hookEncoder.getPosition(); | ||
| // | ||
| // //raises the hook motor | ||
| // public void liftHook() { | ||
| // //private CANSparkMax hookRaising = new CANSparkMax(Constants.MAXIMUMHOOK_HEIGHT, MotorType.kBrushless); | ||
| // System.out.println("Raising Hook"); | ||
| // hookController.setReference(Constants.Hook.LIFT_HOOK_HEIGHT, ControlType.kPosition); | ||
| // } | ||
| // | ||
| // //lowers the hook motor | ||
| // public void downHook() { | ||
| // //private CANSparkMax hookDepth = new CANSparkMax(Constants.MAXIMUMHOOK_DEPTH, MotorType.kBrushless); | ||
| // System.out.println("Down Hook"); | ||
| // hookController.setReference(Constants.Hook.WITHDRAWN_HOOK_HEIGHT, ControlType.kPosition); | ||
| // } | ||
| // | ||
| // //lowers the hook motor | ||
| // public void extendHook() { | ||
| // //private CANSparkMax hookDepth = new CANSparkMax(Constants.MAXIMUMHOOK_DEPTH, MotorType.kBrushless); | ||
| // System.out.println("Down Hook"); | ||
| // hookController.setReference(Constants.Hook.EXTENDED_HOOK_HEIGHT, ControlType.kPosition); | ||
| // } | ||
| // | ||
| // //Shuffleboard | ||
| // protected void execute() { | ||
| // SmartDashboard.putNumber("Hook Lifting", hookEncoder.getPosition()); | ||
| // SmartDashboard.putNumber("Hook Extension", hookEncoder.getPosition()); | ||
| // SmartDashboard.putNumber("Hook Withdrawn", hookEncoder.getPosition()); | ||
| // //SmartDashboard.putNumber("Shooter Angle", .getPosition()); | ||
| // //SmartDashboard.putNumber("Speed", ); | ||
| // //SmartDashboard.putNumber("Front Left Drive Encoder", 0); | ||
| // //SmartDashboard.putNumber("Front Right Drive Encoder", 0); | ||
| // //SmartDashboard.putNumber("Back Left Drive Encoder", 0); | ||
| // //SmartDashboard.putNumber("Back Right Drive Encoder", 0); | ||
| // //SmartDashboard.putNumber("Swerve Angle", 0); | ||
| // } | ||
| // Shuffleboard.getTab("Hook Lifting") | ||
| // .addPersistent("Lifting Height", Constants.Hook.LIFT_HOOK_HEIGHT) | ||
| // .withWidget(BuiltInWidgets.kNumberSlider) | ||
| // .withProperties(Map.of("min", 0, "max", 5)) | ||
| // .withSize(330,270) | ||
| // .withPosition(500,0) | ||
| // .getEntry(); | ||
| // Shuffleboard.getTab("Hook Extension") | ||
| // .addPersistent("Extended Height", Constants.Hook.EXTENDED_HOOK_HEIGHT) | ||
| // .withWidget(BuiltInWidgets.kNumberSlider) | ||
| // .withProperties(Map.of("min", 0, "max", 5)) | ||
| // .withSize(330,270) | ||
| // .withPosition(500,275) | ||
| // .getEntry(); | ||
| // Shuffleboard.getTab("Hook Withdrawn") | ||
| // .addPersistent("Max Depth", Constants.Hook.WITHDRAWN_HOOK_HEIGHT) | ||
| // .withWidget(BuiltInWidgets.kNumberSlider) | ||
| // .withProperties(Map.of("min", 0, "max", -5)) | ||
| // .withSize(330,270) | ||
| // .withPosition(500,550) | ||
| // .getEntry(); | ||
| // Shuffleboard.getTab("Shooter Angle") | ||
| // .addPersistent("Shooter Angle", SHOOTER_ANGLE) | ||
| // .withSize(800,530) | ||
| // .withPosition(850,0) | ||
| // .getEntry(); | ||
| // Shuffleboard.getTab("Speed") | ||
| // .addPersistent("Speed", SPEED) | ||
| // .withSize(330,270) | ||
| // .withPosition(500,825) | ||
| // .getEntry(); | ||
| // Shuffleboard.getTab("Front Left Drive Encoder") | ||
| // .addPersistent("Front Left Drive Encoder", FRONTLEFT_DRIVE_ENCODER) | ||
| // .withSize(495,269) | ||
| // .withPosition(0,0) | ||
| // .getEntry(); | ||
| // Shuffleboard.getTab("Front Right Drive Encoder") | ||
| // .addPersistent("Front Right Drive Encoder", FRONTRIGHT_DRIVE_ENCODER) | ||
| // .withSize(495,269) | ||
| // .withPosition(0,270) | ||
| // .getEntry(); | ||
| // Shuffleboard.getTab("Back Left Drive Encoder") | ||
| // .addPersistent("Back Left Drive Encoder", BACKLEFT_DRIVE_ENCODER) | ||
| // .withSize(495,269) | ||
| // .withPosition(0,540) | ||
| // .getEntry(); | ||
| // Shuffleboard.getTab("Right Drive Encoder") | ||
| // .addPersistent("Back Right Drive Encoder", BACKRIGHT_DRIVE_ENCODER) | ||
| // .withSize(495,269) | ||
| // .withPosition(0,810) | ||
| // .getEntry(); | ||
| // Shuffleboard.getTab("Swerve Angle") | ||
| // .addPersistent("Swerve Angle", SWERVE_ANGLE) | ||
| // .withSize(800,530) | ||
| // .withPosition(850,545) | ||
| // .getEntry(); | ||
| //} |
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src/main/java/frc/robot/subsystems/LinearActuatorSubsystem.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,34 @@ | ||
| package frc.robot.subsystems; | ||
|
|
||
| import com.revrobotics.CANSparkBase; | ||
| import com.revrobotics.CANSparkLowLevel.MotorType; | ||
| import com.revrobotics.CANSparkMax; | ||
| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
| import frc.lib.util.CANSparkMaxUtil; | ||
| import frc.lib.util.CANSparkMaxUtil.Usage; | ||
| import frc.robot.Constants; | ||
|
|
||
| public class LinearActuatorSubsystem extends SubsystemBase { | ||
| private final CANSparkMax actuatorMotor; | ||
|
|
||
| public LinearActuatorSubsystem() { | ||
| actuatorMotor = new CANSparkMax(27, MotorType.kBrushed); | ||
|
|
||
| actuatorMotor.restoreFactoryDefaults(); | ||
| CANSparkMaxUtil.setCANSparkMaxBusUsage(actuatorMotor, Usage.kAll); | ||
| actuatorMotor.setSmartCurrentLimit(Constants.Shooter.driveContinuousCurrentLimit); | ||
| actuatorMotor.setIdleMode(CANSparkBase.IdleMode.kBrake); | ||
| actuatorMotor.enableVoltageCompensation(Constants.Shooter.voltageComp); | ||
| actuatorMotor.burnFlash(); | ||
| } | ||
|
|
||
| public void shift(boolean up, boolean down) { | ||
| if (up && !down) { | ||
| actuatorMotor.set(-1.0); | ||
| } else if (!up && down) { | ||
| actuatorMotor.set(1.0); | ||
| } else { | ||
| actuatorMotor.set(0); | ||
| } | ||
| } | ||
| } |
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