Added a shooter subsystem #44
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,41 @@ | ||
| package frc.robot.commands.shooter; | ||
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| import edu.wpi.first.wpilibj.Timer; | ||
| import frc.robot.constants.Constants; | ||
| import frc.robot.subsystems.ShooterSubsystem; | ||
| import frc.robot.utils.logging.commands.LoggableCommand; | ||
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| public class SpinShooter extends LoggableCommand{ | ||
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| private final ShooterSubsystem subsystem; | ||
| private final double speed; | ||
| private final Timer timer; | ||
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| public SpinShooter(ShooterSubsystem subsystem, double speed) { | ||
| this.subsystem = subsystem; | ||
| this.speed = speed; | ||
| timer = new Timer(); | ||
| addRequirements(subsystem); | ||
| } | ||
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| @Override | ||
| public void initialize() { | ||
| timer.restart(); | ||
| } | ||
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| @Override | ||
| public void execute() { | ||
| subsystem.setPidVelocity(speed); | ||
| } | ||
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| @Override | ||
| public boolean isFinished() { | ||
| return timer.hasElapsed(Constants.SHOOTER_TIMEOUT); | ||
| } | ||
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| @Override | ||
| public void end(boolean interrupted) { | ||
| subsystem.stopMotors(); | ||
| } | ||
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| } | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,80 @@ | ||
| package frc.robot.subsystems; | ||
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| import com.ctre.phoenix6.controls.Follower; | ||
| import com.revrobotics.spark.SparkLowLevel; | ||
| import com.revrobotics.spark.SparkMax; | ||
| import com.revrobotics.spark.SparkBase.PersistMode; | ||
| import com.revrobotics.spark.SparkBase.ResetMode; | ||
| import com.revrobotics.spark.config.SparkBaseConfig; | ||
| import com.revrobotics.spark.config.SparkMaxConfig; | ||
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| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
| import frc.robot.constants.Constants; | ||
| import frc.robot.utils.logging.input.MotorLoggableInputs; | ||
| import frc.robot.utils.logging.io.motor.SparkMaxIo; | ||
| import frc.robot.utils.logging.io.pidmotor.MockSparkMaxPidMotorIo; | ||
| import frc.robot.utils.logging.io.pidmotor.RealSparkMaxPidMotorIo; | ||
| import frc.robot.utils.logging.io.pidmotor.SimSparkMaxPidMotorIo; | ||
| import frc.robot.utils.logging.io.pidmotor.SparkMaxPidConfig; | ||
| import frc.robot.utils.logging.io.pidmotor.SparkMaxPidMotor; | ||
| import frc.robot.utils.logging.io.pidmotor.SparkMaxPidMotorIo; | ||
| import frc.robot.utils.simulation.MotorSimulator; | ||
| import frc.robot.utils.simulation.RobotVisualizer; | ||
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| public class ShooterSubsystem extends SubsystemBase { | ||
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| public static final String LOGGING_NAME = "ShooterSubsystem"; | ||
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| private final SparkMaxPidMotorIo io; | ||
| private final SparkMax followerMotor; | ||
| private final SparkMaxConfig followerConfig; | ||
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| public ShooterSubsystem(SparkMaxPidMotorIo io) { | ||
| this.io = io; | ||
| io.setPid(0.0000002, 0.000015, 0.000015); // Pid needs tuning | ||
| followerMotor = new SparkMax(Constants.SHOOTER_FOLLOWER_MOTOR_ID, SparkLowLevel.MotorType.kBrushless); | ||
| followerConfig = new SparkMaxConfig(); | ||
| followerConfig.follow(Constants.SHOOTER_MOTOR_ID, true); | ||
| followerMotor.configure(followerConfig, ResetMode.kNoResetSafeParameters, PersistMode.kNoPersistParameters); | ||
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| } | ||
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| // setSpeed expects a power value from -1 to 1 | ||
| public void setSpeed(double speed) { | ||
|
Contributor
There was a problem hiding this comment. Add a comment on the units the method expects (this actually takes power value in -1 to +1) |
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| io.set(speed); | ||
| } | ||
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| public void stopMotors() { | ||
| io.stopMotor(); | ||
| } | ||
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| // setPidVelocity expects a speed in RPM | ||
| public void setPidVelocity(double velocity) { | ||
|
Contributor
There was a problem hiding this comment. Add a comment that explains the expected units (this is speed in RPM) |
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| io.setPidVelocity(velocity); | ||
| } | ||
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| @Override | ||
| public void periodic() { | ||
| io.periodic(); | ||
| } | ||
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| public static SparkMaxPidMotorIo createMockIo() { | ||
| return new MockSparkMaxPidMotorIo(LOGGING_NAME, MotorLoggableInputs.allMetrics()); | ||
| } | ||
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| public static SparkMaxPidMotorIo createRealIo() { | ||
| return new RealSparkMaxPidMotorIo(LOGGING_NAME, createMotor(), MotorLoggableInputs.allMetrics()); | ||
| } | ||
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| public static SparkMaxPidMotorIo createSimIo(RobotVisualizer visualizer) { | ||
| SparkMaxPidMotor motor = createMotor(); | ||
| return new SimSparkMaxPidMotorIo(LOGGING_NAME, motor, MotorLoggableInputs.allMetrics(), new MotorSimulator(motor.getNeoMotor(), visualizer.getShooterLigament())); | ||
| } | ||
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| public static SparkMaxPidMotor createMotor() { | ||
| return new SparkMaxPidMotor(Constants.SHOOTER_MOTOR_ID, true); | ||
| } | ||
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| } | ||
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Two comments on the command:
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Fixed.