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Merged
dracco1993 merged 3 commits into from
Jan 28, 2026
Merged

Better tuning #24

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37f76ca
Better turret tuning
dracco1993 Jan 23, 2026
6c7ee20
Better intake tuning
dracco1993 Jan 23, 2026
cdeef27
No intake pivot during feeding, for SOTM
dracco1993 Jan 24, 2026
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2 changes: 1 addition & 1 deletion src/main/java/frc/robot/controls/OperatorControls.java
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Original file line number Diff line number Diff line change
Expand Up @@ -62,7 +62,7 @@ public static void configure(int port, SwerveSubsystem drivetrain, Superstructur
// }

// REAL CONTROLS
controller.start().onTrue(superstructure.rezeroIntakePivotCommand().ignoringDisable(true));
controller.start().onTrue(superstructure.rezeroIntakePivotAndTurretCommand().ignoringDisable(true));

controller.rightBumper()
.whileTrue(superstructure.setIntakeDeployAndRoll().withName("OperatorControls.intakeDeployed"));
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25 changes: 17 additions & 8 deletions src/main/java/frc/robot/subsystems/IntakeSubsystem.java
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Original file line number Diff line number Diff line change
@@ -1,8 +1,12 @@
package frc.robot.subsystems;

import com.revrobotics.spark.SparkMax;
import com.revrobotics.spark.SparkLowLevel.MotorType;

import com.thethriftybot.ThriftyNova;

import edu.wpi.first.math.controller.ArmFeedforward;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.system.plant.DCMotor;
import static edu.wpi.first.units.Units.Amps;
import static edu.wpi.first.units.Units.Degrees;
Expand Down Expand Up @@ -30,6 +34,7 @@
import yams.motorcontrollers.SmartMotorControllerConfig.MotorMode;
import yams.motorcontrollers.SmartMotorControllerConfig.TelemetryVerbosity;
import yams.motorcontrollers.local.NovaWrapper;
import yams.motorcontrollers.local.SparkWrapper;

public class IntakeSubsystem extends SubsystemBase {

Expand Down Expand Up @@ -60,18 +65,22 @@ public class IntakeSubsystem extends SubsystemBase {
// 5:1, 5:1, 60/18 reduction
private SmartMotorControllerConfig intakePivotSmartMotorConfig = new SmartMotorControllerConfig(this)
.withControlMode(ControlMode.CLOSED_LOOP)
.withClosedLoopController(10, 0, 0, DegreesPerSecond.of(1080), DegreesPerSecondPerSecond.of(1080))
.withFeedforward(new ArmFeedforward(0, 0, 1.3))
.withClosedLoopController(25, 0, 0, DegreesPerSecond.of(360), DegreesPerSecondPerSecond.of(360))
.withFeedforward(new SimpleMotorFeedforward(0, 10, 0))
.withTelemetry("IntakePivotMotor", TelemetryVerbosity.HIGH)
.withGearing(new MechanismGearing(GearBox.fromReductionStages(5, 5, 60.0 / 18.0, 42)))
.withGearing(new MechanismGearing(GearBox.fromReductionStages(5, 5, 60.0 / 18.0)))
// .withGearing(new MechanismGearing(GearBox.fromReductionStages(5, 5, 60.0 /
// 18.0, 42)))
Comment on lines +72 to +73
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Copilot AI Jan 28, 2026

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The commented-out gearing configuration on lines 72-73 appears to be an old version. Remove this commented code to improve clarity, as the active configuration is already defined on line 71.

Suggested change
// .withGearing(new MechanismGearing(GearBox.fromReductionStages(5, 5, 60.0 /
// 18.0, 42)))

Copilot uses AI. Check for mistakes.
.withMotorInverted(false)
.withIdleMode(MotorMode.COAST)
.withSoftLimit(Degrees.of(0), Degrees.of(150))
.withStatorCurrentLimit(Amps.of(10))
.withClosedLoopRampRate(Seconds.of(0.1));
.withClosedLoopRampRate(Seconds.of(0.1))
.withOpenLoopRampRate(Seconds.of(0.1));

private ThriftyNova pivotMotor = new ThriftyNova(Constants.IntakeConstants.kPivotMotorId);
private SparkMax pivotMotor = new SparkMax(Constants.IntakeConstants.kPivotMotorId, MotorType.kBrushless);

private SmartMotorController intakePivotController = new NovaWrapper(pivotMotor, DCMotor.getNeoVortex(1),
private SmartMotorController intakePivotController = new SparkWrapper(pivotMotor, DCMotor.getNeoVortex(1),
intakePivotSmartMotorConfig);

private final ArmConfig intakePivotConfig = new ArmConfig(intakePivotController)
Expand All @@ -85,7 +94,7 @@ public class IntakeSubsystem extends SubsystemBase {
private Arm intakePivot = new Arm(intakePivotConfig);

public IntakeSubsystem() {
pivotMotor.factoryReset();
// pivotMotor.factoryReset();
}

/**
Expand All @@ -107,7 +116,7 @@ public Command setPivotAngle(Angle angle) {
}

public Command rezero() {
return Commands.runOnce(() -> pivotMotor.setEncoderPosition(0), this).withName("IntakePivot.Rezero");
return Commands.runOnce(() -> pivotMotor.getEncoder().setPosition(0), this).withName("IntakePivot.Rezero");
}

/**
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11 changes: 7 additions & 4 deletions src/main/java/frc/robot/subsystems/Superstructure.java
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Original file line number Diff line number Diff line change
Expand Up @@ -240,8 +240,8 @@ public Command kickerStopCommand() {
public Command feedAllCommand() {
return Commands.parallel(
hopper.feedCommand().asProxy(),
kicker.feedCommand().asProxy(),
intake.setPivotAngle(Degrees.of(46)).asProxy()).withName("Superstructure.feedAll");
kicker.feedCommand().asProxy()).withName("Superstructure.feedAll");
// intake.setPivotAngle(Degrees.of(46)).asProxy()).withName("Superstructure.feedAll");
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Copilot AI Jan 28, 2026

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The commented-out code duplicates the withName call from line 243. If this code needs to be re-enabled, remove the withName call from the commented portion to avoid confusion.

Suggested change
// intake.setPivotAngle(Degrees.of(46)).asProxy()).withName("Superstructure.feedAll");
// intake.setPivotAngle(Degrees.of(46)).asProxy());

Copilot uses AI. Check for mistakes.
}

public Command backFeedAllCommand() {
Expand Down Expand Up @@ -295,8 +295,11 @@ public Command stopShootingCommand() {
}

// Re-zero intake pivot if needed
public Command rezeroIntakePivotCommand() {
return intake.rezero().withName("Superstructure.rezeroIntakePivot");
public Command rezeroIntakePivotAndTurretCommand() {
return Commands.parallel(
turret.rezero().withName("Superstructure.rezeroTurret"),
intake.rezero().withName("Superstructure.rezeroIntakePivot"))
.withName("Superstructure.rezeroIntakePivotAndTurret");
}

@Override
Expand Down
11 changes: 8 additions & 3 deletions src/main/java/frc/robot/subsystems/TurretSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
import com.revrobotics.spark.SparkLowLevel.MotorType;
import com.revrobotics.spark.SparkMax;

import edu.wpi.first.math.controller.ArmFeedforward;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Translation3d;
Expand All @@ -22,6 +22,7 @@
import static edu.wpi.first.units.Units.Volts;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants;
import yams.gearing.GearBox;
Expand Down Expand Up @@ -53,8 +54,8 @@ public class TurretSubsystem extends SubsystemBase {

private SmartMotorControllerConfig smcConfig = new SmartMotorControllerConfig(this)
.withControlMode(ControlMode.CLOSED_LOOP)
.withClosedLoopController(60.0, 0, 0, DegreesPerSecond.of(10800), DegreesPerSecondPerSecond.of(10800))
.withFeedforward(new ArmFeedforward(0, 0, 0))
.withClosedLoopController(15.0, 0, 0, DegreesPerSecond.of(2440), DegreesPerSecondPerSecond.of(2440))
.withFeedforward(new SimpleMotorFeedforward(0, 7.5, 0))
.withTelemetry("TurretMotor", TelemetryVerbosity.HIGH)
.withGearing(new MechanismGearing(GearBox.fromReductionStages(4, 10)))
.withMotorInverted(true)
Expand Down Expand Up @@ -105,6 +106,10 @@ public Command set(double dutyCycle) {
return turret.set(dutyCycle);
}

public Command rezero() {
return Commands.runOnce(() -> spark.getEncoder().setPosition(0), this).withName("Turret.Rezero");
}

public Command sysId() {
return turret.sysId(Volts.of(7), Volts.of(2).per(Second), Seconds.of(10));
}
Expand Down