Merge remote-tracking branch 'origin/main' into log-inputs

FRC3636 · Jan 24, 2024 · 9e8714e · 9e8714e
2 parents b4381ad + 1b86662
commit 9e8714e
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Showing 4 changed files with 38 additions and 18 deletions.
diff --git a/src/main/java/com/frcteam3636/frc2024/CAN.kt b/src/main/java/com/frcteam3636/frc2024/CAN.kt
@@ -12,12 +12,12 @@ enum class REVMotorControllerId(val num: Int) {
     BackLeftTurningMotor(2),
     BackRightTurningMotor(3),
     FrontRightTurningMotor(4),
-    LeftShooterFlywheel(0),
-    RightShooterFlywheel(0),
-    OverTheBumperIntakeArm(0),
-    OverTheBumperIntakeFeed(0),
-    UnderTheBumperIntakeRoller(0),
-    ClimberMotor(0),
+    LeftShooterFlywheel(15),
+    RightShooterFlywheel(7),
+    OverTheBumperIntakeArm(31),
+    OverTheBumperIntakeFeed(32),
+    UnderTheBumperIntakeRoller(33),
+    ClimberMotor(34),
 
 }
 

diff --git a/src/main/java/com/frcteam3636/frc2024/RobotContainer.kt b/src/main/java/com/frcteam3636/frc2024/RobotContainer.kt
@@ -1,14 +1,13 @@
 package com.frcteam3636.frc2024
 
-import com.frcteam3636.frc2024.subsystems.intake.Intake
 import com.frcteam3636.frc2024.subsystems.drivetrain.Drivetrain
+import com.frcteam3636.frc2024.subsystems.intake.Intake
+import com.frcteam3636.frc2024.subsystems.shooter.Shooter
 import edu.wpi.first.wpilibj.Joystick
 import edu.wpi.first.wpilibj2.command.Command
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController
 
 
-
-
 /**
  * This class is where the bulk of the robot should be declared. Since Command-based is a
  * "declarative" paradigm, very little robot logic should actually be handled in the [Robot]
@@ -27,14 +26,14 @@ object RobotContainer {
 
     init {
         configureBindings()
-//        Shooter
+        Shooter.register()
         Drivetrain.register()
         Intake.register()
     }
 
     /** Use this method to define your `trigger->command` mappings. */
     private fun configureBindings() {
-//        controller.b().whileTrue(Shooter.shootCommand())
+        controller.x().whileTrue(Shooter.shootCommand())
         controller.b().whileTrue(Intake.intakeCommand())
         Drivetrain.defaultCommand =
             Drivetrain.driveWithJoysticks(translationJoystick = joystickLeft, rotationJoystick = joystickRight)

diff --git a/src/main/java/com/frcteam3636/frc2024/subsystems/shooter/ShooterIO.kt b/src/main/java/com/frcteam3636/frc2024/subsystems/shooter/ShooterIO.kt
@@ -2,16 +2,24 @@ package com.frcteam3636.frc2024.subsystems.shooter
 
 import org.littletonrobotics.junction.LogTable
 import org.littletonrobotics.junction.inputs.LoggableInputs
+import edu.wpi.first.math.geometry.Rotation2d
+import org.littletonrobotics.junction.LogTable
+import org.littletonrobotics.junction.inputs.LoggableInputs
 
 
 interface ShooterIO {
     class ShooterIOInputs: LoggableInputs {
-        override fun fromLog(table: LogTable?) {
+        var leftSpeed = Rotation2d()
+        var rightSpeed = Rotation2d()
 
+        override fun toLog(table: LogTable) {
+            table.put("Left Speed", leftSpeed)
+            table.put("Right Speed", rightSpeed)
         }
 
-        override fun toLog(table: LogTable?) {
-
+        override fun fromLog(table: LogTable) {
+            leftSpeed = table.get("Left Speed", leftSpeed)[0]
+            rightSpeed = table.get("Right Speed", rightSpeed)[0]
         }
     }
 

diff --git a/src/main/java/com/frcteam3636/frc2024/subsystems/shooter/ShooterIOReal.kt b/src/main/java/com/frcteam3636/frc2024/subsystems/shooter/ShooterIOReal.kt
@@ -3,24 +3,37 @@ package com.frcteam3636.frc2024.subsystems.shooter
 import com.frcteam3636.frc2024.can.CANSparkMax
 import com.frcteam3636.frc2024.can.REVMotorControllerId
 import com.revrobotics.CANSparkLowLevel
+import edu.wpi.first.math.geometry.Rotation2d
+import edu.wpi.first.math.util.Units
 
 
 class ShooterIOReal : ShooterIO {
 
-    private val left = CANSparkMax(REVMotorControllerId.LeftShooterFlywheel, CANSparkLowLevel.MotorType.kBrushless)
-    private val right = CANSparkMax(REVMotorControllerId.RightShooterFlywheel, CANSparkLowLevel.MotorType.kBrushless)
+    companion object {
+        const val FLYWHEEL_GEAR_RATIO = 1.0
+    }
+
+    private val left = CANSparkMax(REVMotorControllerId.LeftShooterFlywheel, CANSparkLowLevel.MotorType.kBrushless).apply {
+        inverted = true
+        encoder.velocityConversionFactor = Units.rotationsToRadians(1.0) * FLYWHEEL_GEAR_RATIO / 60
+    }
+
+    private val right = CANSparkMax(REVMotorControllerId.RightShooterFlywheel, CANSparkLowLevel.MotorType.kBrushless).apply {
+        encoder.velocityConversionFactor = Units.rotationsToRadians(1.0) * FLYWHEEL_GEAR_RATIO / 60
+    }
 
     init {
         left.inverted = true
     }
 
     override fun updateInputs(inputs: ShooterIO.ShooterIOInputs?) {
-        // no-op
+        inputs?.leftSpeed = Rotation2d(left.encoder.velocity)
+        inputs?.rightSpeed = Rotation2d(right.encoder.velocity)
     }
 
     override fun shoot(speed: Double) {
         left.set(speed)
-        right.set(speed * 0.5)
+        right.set(speed)
     }
 
     override fun intake(speed: Double) {