Shooter commands #8

Exr0n · 2020-01-31T00:59:36Z

Everything has been checked and should be all good. Still need to do robot map stuff.

renamed setMotorSpeed to setSpeed created defaultOnSpeed and defaultOffSpeed

Intake

Indexer

Replaced flywheel with original version

Wraps the lift belts and flippers only. Does not include runup belt. No longer extends SubsystemBase Changed some member names for clarity make subsystem data members public

intake now wraps the intake rollers, the funnel motor, and the intake extension solenoid added different default speed constants added various speed setters made subsystem data members public so commands can access them

…4/2020-Code into shooter-commands

add IDLE status to the enum delete boxshot constant update syncstatus for idle

Daniel-E-B

please read through requested changes

Daniel-E-B · 2020-02-17T05:53:18Z

src/main/java/org/usfirst/frc4904/robot/RobotMap.java

    }

-    public static class Component {
+    public static class Digital {
+      public static final int INDEXER_LIMIT_SWITCH = -1;


Where are the ports for hoodLowLimitSwitch and hoodHighLimitSwitch

Daniel-E-B · 2020-02-17T05:54:40Z

src/main/java/org/usfirst/frc4904/robot/RobotMap.java

+    public static class Flywheel {
+      public static final double P = 0;
+      public static final double I = 0;
+      public static final double D = 0;


Daniel-E-B · 2020-02-17T05:54:50Z

src/main/java/org/usfirst/frc4904/robot/RobotMap.java

+    public static class Hood {
+      public static final double P = 0;
+      public static final double I = 0;
+      public static final double D = 0;


Daniel-E-B · 2020-02-17T05:58:04Z

src/main/java/org/usfirst/frc4904/robot/RobotMap.java

+    Component.funnelMotor = new Motor("funnelMotor", new CANTalonSRX(Port.CANMotor.INTAKE_FUNNEL_MOTOR));
+    Component.liftBeltMotor = new Motor("liftBeltMotor", new CANTalonSRX(Port.CANMotor.LIFT_BELT_MOTOR));
+    Component.runUpBeltMotor = new Motor("runUpBeltMotor", new CANTalonSRX(Port.CANMotor.RUN_UP_BELT_MOTOR));
+    CANTalonFX flywheelATalon = new CANTalonFX(Port.CANMotor.FLYWHEEL_MOTOR_A); //TODO: Nicer way to do this?


you could make the Talons separately if you want as Components and pass them in but this is probably fine

I'm going to leave it as-is for now, but question: do we want to average the reading of the two encoders, or just take one?

Daniel-E-B · 2020-02-17T05:58:20Z

src/main/java/org/usfirst/frc4904/robot/RobotMap.java

+    Component.flipperSolenoid = new SolenoidSubsystem(Port.Pneumatics.FLIPPER_SOLENOID.buildDoubleSolenoid());
+    Component.shooterAimSolenoid = new SolenoidSubsystem(Port.Pneumatics.SHOOTER_AIM_SOLENOID.buildDoubleSolenoid());
+
+    // TODO: FIX MOTOR TYPES


does this still need to be done? If so let's do it because its all built

Daniel-E-B · 2020-02-17T06:03:21Z

src/main/java/org/usfirst/frc4904/robot/commands/SetHoodAngle.java

+import org.usfirst.frc4904.robot.subsystems.Hood;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+public class SetHoodAngle extends CommandBase {


should it be some sort of motor position constant?

yes, absolutely

Daniel-E-B · 2020-02-17T06:04:08Z

src/main/java/org/usfirst/frc4904/robot/commands/SetHoodAngle.java

+  @Override
+  public void initialize() {
+    hood.enableMotionController();
+    hood.setPosition(angle);


does this need to be done in execute?

Daniel-E-B · 2020-02-17T06:05:32Z

src/main/java/org/usfirst/frc4904/robot/subsystems/Hood.java

+    public final double DEFAULT_SPEED = 0;
+    private final double LOWER_HOOD_ANGLE = 0; //TODO: Add this value
+    private final double RANGE_HOOD_ANGLES = 35.0;
+    private final double UPPER_HOOD_ANGLE = LOWER_HOOD_ANGLE + RANGE_HOOD_ANGLES; //TODO: Does having all of these theoretical constants negate the zeroing we're doing?


these constants do not negate zeroing. The zeroing is because although the encoder on the servo is absolute, "0" will be a different place every time

I know, I more was wondering if perhaps the angle difference between the lower and upper part of the hood could change over time (if teeth get damaged or something else). For now, we should leave it as is, however, I'd be curious to see what the actual hood rotation amount is.

Daniel-E-B · 2020-02-17T06:06:53Z

src/main/java/org/usfirst/frc4904/robot/subsystems/Hood.java

+     */
+    @Override
+    public void setPosition(double angle) {
+        double safePosition = servoRange.limitValue(hoodAngleToServoPosition(angle)); //TODO: Should we error if we are outside of this value?


Either re-zero the hood and send something to the dashboard or disable the hood entirely

re-zeroing could potentially be extremely dangerous if we're outside of the range

This is only ever called in reference to a setpoint, so I don't think it's a zeroing error. It just means that someone tried to set our hood angle to something impossible.

Daniel-E-B · 2020-02-17T06:08:04Z

src/main/java/org/usfirst/frc4904/robot/subsystems/Shooter.java

+    flywheel.setSpeed(speed);
+  }
+
+  // public void setFlywheelSpeedForDistance(double distance) {


why is this commented out? We will eventually need a method for this

…4/2020-Code into shooter-commands

…rom RobotMap

billwpierce

Just some general comments now that we're getting closer to testing. Nobody specific has to deal with them, I just wanted to get them down somewhere before starting to modify things.

billwpierce · 2020-02-29T01:20:56Z

src/main/java/org/usfirst/frc4904/robot/RobotMap.java

-        public static class CAN {
+        public static class CAN { // TODO: CHANGE CONSTS
+            public static final int HOOD_MOTOR = -1;
+            public static final int HOOD_ENCODER = -1;


No hood encoder—we'll use the encoder that's built into the falcon that's driving the hood.

billwpierce · 2020-02-29T01:21:08Z

src/main/java/org/usfirst/frc4904/robot/RobotMap.java

-        public static class Pneumatics {
+        public static class Pneumatics { // TODO: CHANGE CONSTS
+            public static final PCMPort INTAKE_SOLENOID = new PCMPort(0, -1, -1);
+            public static final PCMPort FLIPPER_SOLENOID = new PCMPort(0, -1, -1);


We probably aren't using a flipper.

billwpierce · 2020-02-29T01:21:23Z

src/main/java/org/usfirst/frc4904/robot/RobotMap.java

+            public static final int HOOD_LOWER_LIMIT_SWITCH = -1;
+            public static final int HOOD_UPPER_LIMIT_SWITCH = -1;


It's currently one limit switch, with two different magnets.

billwpierce · 2020-02-29T01:23:40Z

src/main/java/org/usfirst/frc4904/robot/RobotMap.java

+            }
+        }
+
+        public static class Hood {


Where are the other constants, for converting from motor spins to hood movement?

billwpierce · 2020-02-29T01:25:47Z

src/main/java/org/usfirst/frc4904/robot/RobotMap.java

+            public static final double P = 0.0;
+            public static final double I = 0.0;
+            public static final double D = 0.0;
+            public static final double F = 0.0;


should probably copy over the values that work

billwpierce · 2020-02-29T01:50:31Z

src/main/java/org/usfirst/frc4904/robot/commands/IndexOne.java

+
+import org.usfirst.frc4904.standard.commands.motor.MotorConstant;
+
+public class IndexOne extends SequentialCommandGroup {


IMO IndexOne is a misleading name, because we don't have that precise of control over our mechanisms.

billwpierce · 2020-02-29T01:50:44Z

src/main/java/org/usfirst/frc4904/robot/commands/SetHoodAngle.java

+import org.usfirst.frc4904.robot.subsystems.Hood;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+public class SetHoodAngle extends CommandBase {


yes, absolutely

billwpierce · 2020-02-29T01:51:00Z

src/main/java/org/usfirst/frc4904/robot/commands/Shoot.java

+   * @param shooter The shooter subsystem
+   * @param speed   The target speed of the flywheel
+   */
+  public Shoot(double speed) {


should be modified to also take in a hood angle

billwpierce · 2020-02-29T01:51:51Z

src/main/java/org/usfirst/frc4904/robot/subsystems/Hood.java

+     * towards the upper limit, - speed is towards the lower limit. The LimitType
+     * "true" is upper limit, "false" is lower limit.
+     */
+    public Hood(CANTalonEncoder hoodEncoder, CustomDigitalLimitSwitch limitSwitch) {


shouldn't this have a falcon passed in, instead of a hood encoder?

billwpierce · 2020-02-29T01:52:54Z

src/main/java/org/usfirst/frc4904/robot/commands/Shoot.java

+      return Math.abs(RobotMap.Component.shooter.flywheel.getTargetSpeed() - speed) > SPEED_TOLERANCE;
+    }), new WaitUntil(() -> {
+      return RobotMap.Component.shooter.flywheel.getStatus() == FlywheelStatus.AT_SPEED;
+    }), new IndexOne());


realistically, we won't be shooting—instead, we'll get it all into position, and then the operator will hit the buttons to index the balls

Exr0n and others added 30 commits January 20, 2020 12:18

add branch plans summary in Shoot.java

c16f84b

indexer notes and plan for this class.

81d7450

add summary for intake class.

64d77ea

preliminary Indexer class complete.

8ba0ee3

preliminary Intake.java

92f22cb

rename methods; move default numbers to variables

d0a3fa7

renamed setMotorSpeed to setSpeed created defaultOnSpeed and defaultOffSpeed

Remove funnel and lift motors from the Intake class

564d95e

responding to pr comments

dee813c

delete redundant start() method

4466882

Merge pull request #3 from RoboticsTeam4904/intake

106a003

Intake

change static var naming convention to all caps

54c8acb

delete indexrenotes

6b5a38a

responding to pr comments

b3ff845

Merge pull request #4 from RoboticsTeam4904/indexer

d7c2cda

Indexer

remove limit switch from Indexer; WIP indexONe

8185448

wip extendFlippers; deprecate indexer.java

3a82edb

Added onto Albert's original code with some more piston stuff.

318cd2e

Partial Flywheel implementation

1b61489

Albert's shooter code copied and pasted

f2f24ba

update standard submodule ref; replace flywheel

fd35775

Replaced flywheel with original version

remove uneeded docstrings; remove indexer deprecation

b098fdf

revert intake to original merged code

2e68936

convert indexer.java to new OOP system

9727dca

Wraps the lift belts and flippers only. Does not include runup belt. No longer extends SubsystemBase Changed some member names for clarity make subsystem data members public

update Intake.java for new OOP model

f750125

intake now wraps the intake rollers, the funnel motor, and the intake extension solenoid added different default speed constants added various speed setters made subsystem data members public so commands can access them

Update Shooter.java

5fbf836

Nick and Darrow worked on retract and extend intake commands

36f80d8

Merge branch 'shooter-commands' of https://github.com/RoboticsTeam490…

5d4a445

…4/2020-Code into shooter-commands

remove unecessary semicolon in Shooter.java

65f1d1f

update Flywheel.java for standard integration

b2c3342

add IDLE status to the enum delete boxshot constant update syncstatus for idle

add ExtendIntake.java boilerplate

8a306f5

Daniel-E-B requested changes Feb 17, 2020

View reviewed changes

Billy Pierce and others added 8 commits February 17, 2020 10:17

addressed most of the PR comments

7b083bf

Constructors must be public so that we can instantiate commands

d306139

make constructors public

6ac756f

move lift belts into intake subsystem

740df35

update standard

badd0e6

shoot passes intake to indexone

1c18c16

minor fixes

37b0ff5

ready for testing

d069e3d

NikhilSuresh24 added the ready-for-testing label Feb 19, 2020

Billy Pierce and others added 11 commits February 19, 2020 10:09

moved some things to robotmap

9c3fcac

Merge branch 'shooter-commands' of https://github.com/RoboticsTeam490…

04b8966

…4/2020-Code into shooter-commands

fixed hood for single limit switch

3db1887

fixed zeroing

8292487

hood commands reference robotmap

de56b9c

merge conflicts

0b07aa9

changed number of teeth in servo rotation

bb2da69

fix hood motor and encoder to use falcons

ce9f776

created new FlywheelSpinUp and made old one FlywheelMaintainSpeed

35c75cd

Merge branch 'shooter-commands' of https://github.com/RoboticsTeam490…

3d03fe8

…4/2020-Code into shooter-commands

removed the servo from the Hood and removed servo-related constants f…

4691673

…rom RobotMap

billwpierce reviewed Feb 29, 2020

View reviewed changes

Billy Pierce and others added 8 commits March 1, 2020 11:09

fixed hood zeroing

f6d6c5f

testing

069a10b

flywheel spinup and maintain speed works

0aaaa87

reorganize

547d628

merge conflicts

a8e585f

added basic drive code for the timebeing

bfaedda

flywheel should still work but we need to test chassis encoders

b40ec57

from march 3rd testing

7a80366

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Shooter commands #8

Shooter commands #8

Exr0n commented Jan 31, 2020

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		public static final int HOOD_LOWER_LIMIT_SWITCH = -1;
		public static final int HOOD_UPPER_LIMIT_SWITCH = -1;


		import org.usfirst.frc4904.standard.commands.motor.MotorConstant;

		public class IndexOne extends SequentialCommandGroup {

Shooter commands #8

Are you sure you want to change the base?

Shooter commands #8

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Exr0n commented Jan 31, 2020

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