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Merged
arcadeArchitect merged 4 commits into from
Mar 18, 2026
Merged

Terune pntake iivot #82

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8a4382d
wip
arcadeArchitect Mar 15, 2026
3f86d95
Merge branch 'main' of https://github.com/Team5924/GoldenGateRobotics…
arcadeArchitect Mar 16, 2026
0530803
intake pivot tuned
maiKuneho Mar 18, 2026
94b1264
tuning mode off
maiKuneho Mar 18, 2026
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56 changes: 28 additions & 28 deletions src/main/java/org/team5924/frc2026/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -143,13 +143,13 @@ public final class IntakePivot {
public static final boolean ENABLE_TIMEOUT = false;

/** how far the intake pivot physically rotates */
public static final double MIN_POSITION_MULTI =
Units.radiansToRotations(IntakePivotState.DOWN.getRads().getAsDouble() - EPSILON_RADS);
public static final double MAX_POSITION_MULTI =
Units.radiansToRotations(IntakePivotState.STOW.getRads().getAsDouble() + EPSILON_RADS);
public static final double MIN_POSITION_ROTATIONS =
Units.radiansToRotations(IntakePivotState.DOWN.getRads().getAsDouble());
public static final double MAX_POSITION_ROTATIONS =
Units.radiansToRotations(IntakePivotState.STOW.getRads().getAsDouble());

public static final double MIN_POSITION_RADS = Units.rotationsToRadians(MIN_POSITION_MULTI);
public static final double MAX_POSITION_RADS = Units.rotationsToRadians(MAX_POSITION_MULTI);
public static final double MIN_POSITION_RADS = Units.rotationsToRadians(MIN_POSITION_ROTATIONS);
public static final double MAX_POSITION_RADS = Units.rotationsToRadians(MAX_POSITION_ROTATIONS);

/* Configs */
public static final TalonFXConfiguration CONFIG =
Expand All @@ -167,10 +167,10 @@ public final class IntakePivot {

public static final SoftwareLimitSwitchConfigs SOFTWARE_LIMIT_CONFIGS =
new SoftwareLimitSwitchConfigs()
.withReverseSoftLimitThreshold(MIN_POSITION_MULTI)
.withForwardSoftLimitThreshold(MAX_POSITION_MULTI)
.withForwardSoftLimitEnable(false)
.withReverseSoftLimitEnable(false);
.withReverseSoftLimitThreshold(MIN_POSITION_ROTATIONS)
.withForwardSoftLimitThreshold(MAX_POSITION_ROTATIONS)
.withForwardSoftLimitEnable(true)
.withReverseSoftLimitEnable(true);

public static final FeedbackConfigs FEEDBACK_CONFIGS =
new FeedbackConfigs()
Expand Down Expand Up @@ -225,11 +225,11 @@ public final class GeneralShooterHood {
public static final double STATE_TIMEOUT = 5.0;
public static final boolean ENABLE_TIMEOUT = false;

public static final double MIN_POSITION_MULTI = 0.0 - Units.radiansToRotations(EPSILON_RADS);
public static final double MAX_POSITION_MULTI = 33.0 / 360.0 + Units.radiansToRotations(EPSILON_RADS);
public static final double MIN_POSITION_ROTATIONS = 0.0 - Units.radiansToRotations(EPSILON_RADS);
public static final double MAX_POSITION_ROTATIONS = 33.0 / 360.0 + Units.radiansToRotations(EPSILON_RADS);

public static final double MIN_POSITION_RADS = Units.rotationsToRadians(MIN_POSITION_MULTI);
public static final double MAX_POSITION_RADS = Units.rotationsToRadians(MAX_POSITION_MULTI);
public static final double MIN_POSITION_RADS = Units.rotationsToRadians(MIN_POSITION_ROTATIONS);
public static final double MAX_POSITION_RADS = Units.rotationsToRadians(MAX_POSITION_ROTATIONS);

/* Configs */
public static final TalonFXConfiguration CONFIG =
Expand All @@ -248,8 +248,8 @@ public final class GeneralShooterHood {

public static final SoftwareLimitSwitchConfigs SOFTWARE_LIMIT_CONFIGS =
new SoftwareLimitSwitchConfigs()
.withReverseSoftLimitThreshold(MIN_POSITION_MULTI)
.withForwardSoftLimitThreshold(MAX_POSITION_MULTI)
.withReverseSoftLimitThreshold(MIN_POSITION_ROTATIONS)
.withForwardSoftLimitThreshold(MAX_POSITION_ROTATIONS)
.withForwardSoftLimitEnable(false)
.withReverseSoftLimitEnable(false);

Expand Down Expand Up @@ -382,16 +382,16 @@ public final class TurretLeft {
public static final int CANCODER_ID = 22;
public static final double CANCODER_ABSOLUTE_OFFSET = 0.0;

public static final double MIN_POSITION_MULTI = 0 - Units.radiansToRotations(GeneralTurret.EPSILON_RADS);
public static final double MAX_POSITION_MULTI = 150.0 / 360.0 + Units.radiansToRotations(GeneralTurret.EPSILON_RADS);
public static final double MIN_POSITION_ROTATIONS = 0 - Units.radiansToRotations(GeneralTurret.EPSILON_RADS);
public static final double MAX_POSITION_ROTATIONS = 150.0 / 360.0 + Units.radiansToRotations(GeneralTurret.EPSILON_RADS);

public static final double MIN_POSITION_RADS = Units.rotationsToRadians(MIN_POSITION_MULTI);
public static final double MAX_POSITION_RADS = Units.rotationsToRadians(MAX_POSITION_MULTI);
public static final double MIN_POSITION_RADS = Units.rotationsToRadians(MIN_POSITION_ROTATIONS);
public static final double MAX_POSITION_RADS = Units.rotationsToRadians(MAX_POSITION_ROTATIONS);

public static final SoftwareLimitSwitchConfigs SOFTWARE_LIMIT_CONFIGS =
GeneralTurret.GENERAL_SOFTWARE_LIMIT_CONFIGS
.withReverseSoftLimitThreshold(MIN_POSITION_MULTI)
.withForwardSoftLimitThreshold(MAX_POSITION_MULTI);
.withReverseSoftLimitThreshold(MIN_POSITION_ROTATIONS)
.withForwardSoftLimitThreshold(MAX_POSITION_ROTATIONS);

public static final FeedbackConfigs FEEDBACK_CONFIGS =
GeneralTurret.GENERAL_FEEDBACK_CONFIGS
Expand Down Expand Up @@ -452,16 +452,16 @@ public final class TurretRight {
public static final int CANCODER_ID = 23;
public static final double CANCODER_ABSOLUTE_OFFSET = 0.0;

public static final double MIN_POSITION_MULTI = -150.0 / 360.0 - Units.radiansToRotations(GeneralTurret.EPSILON_RADS);
public static final double MAX_POSITION_MULTI = 0.0 + Units.radiansToRotations(GeneralTurret.EPSILON_RADS);
public static final double MIN_POSITION_ROTATIONS = -150.0 / 360.0 - Units.radiansToRotations(GeneralTurret.EPSILON_RADS);
public static final double MAX_POSITION_ROTATIONS = 0.0 + Units.radiansToRotations(GeneralTurret.EPSILON_RADS);

public static final double MIN_POSITION_RADS = Units.rotationsToRadians(MIN_POSITION_MULTI);
public static final double MAX_POSITION_RADS = Units.rotationsToRadians(MAX_POSITION_MULTI);
public static final double MIN_POSITION_RADS = Units.rotationsToRadians(MIN_POSITION_ROTATIONS);
public static final double MAX_POSITION_RADS = Units.rotationsToRadians(MAX_POSITION_ROTATIONS);

public static final SoftwareLimitSwitchConfigs SOFTWARE_LIMIT_CONFIGS =
GeneralTurret.GENERAL_SOFTWARE_LIMIT_CONFIGS
.withReverseSoftLimitThreshold(MIN_POSITION_MULTI)
.withForwardSoftLimitThreshold(MAX_POSITION_MULTI);
.withReverseSoftLimitThreshold(MIN_POSITION_ROTATIONS)
.withForwardSoftLimitThreshold(MAX_POSITION_ROTATIONS);

public static final FeedbackConfigs FEEDBACK_CONFIGS =
GeneralTurret.GENERAL_FEEDBACK_CONFIGS
Expand Down
110 changes: 58 additions & 52 deletions src/main/java/org/team5924/frc2026/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -41,10 +41,11 @@
import org.team5924.frc2026.subsystems.flywheel.Flywheel.FlywheelState;
import org.team5924.frc2026.subsystems.flywheel.FlywheelIO;
import org.team5924.frc2026.subsystems.flywheel.FlywheelIOSim;
import org.team5924.frc2026.subsystems.flywheel.FlywheelIOTalonFX;
import org.team5924.frc2026.subsystems.pivots.intakePivot.IntakePivot;
import org.team5924.frc2026.subsystems.pivots.intakePivot.IntakePivot.IntakePivotState;
import org.team5924.frc2026.subsystems.pivots.intakePivot.IntakePivotIO;
import org.team5924.frc2026.subsystems.pivots.intakePivot.IntakePivotIOSim;
import org.team5924.frc2026.subsystems.pivots.intakePivot.IntakePivotIOTalonFX;
import org.team5924.frc2026.subsystems.pivots.shooterHood.ShooterHood;
import org.team5924.frc2026.subsystems.pivots.shooterHood.ShooterHoodIO;
import org.team5924.frc2026.subsystems.pivots.shooterHood.ShooterHoodIOSim;
Expand All @@ -54,8 +55,8 @@
import org.team5924.frc2026.subsystems.rollers.indexer.Indexer;
import org.team5924.frc2026.subsystems.rollers.indexer.IndexerIO;
import org.team5924.frc2026.subsystems.rollers.indexer.IndexerIOSim;
import org.team5924.frc2026.subsystems.rollers.indexer.IndexerIOTalonFX;
import org.team5924.frc2026.subsystems.rollers.intake.Intake;
import org.team5924.frc2026.subsystems.rollers.intake.Intake.IntakeState;
import org.team5924.frc2026.subsystems.rollers.intake.IntakeIO;
import org.team5924.frc2026.subsystems.rollers.intake.IntakeIOSim;
import org.team5924.frc2026.subsystems.turret.Turret;
Expand Down Expand Up @@ -103,16 +104,16 @@ public RobotContainer() {
(pose) -> {});

// intake = new Intake(new IntakeIOTalonFX());
// intakePivot = new IntakePivot(new IntakePivotIOTalonFX());
intakePivot = new IntakePivot(new IntakePivotIOTalonFX());
// hopper = new Hopper(new HopperIOTalonFX());
indexer = new Indexer(new IndexerIOTalonFX());
// indexer = new Indexer(new IndexerIOTalonFX());

// shooterHoodLeft = new ShooterHood(new ShooterHoodIOTalonFX(true), true);
// flywheelLeft = new Flywheel(new FlywheelIOTalonFX(true), true);
// turretLeft = new Turret(new TurretIOTalonFX(true), true);

// shooterHoodRight = new ShooterHood(new ShooterHoodIOTalonFX(false), false);
flywheelRight = new Flywheel(new FlywheelIOTalonFX(false), false);
// flywheelRight = new Flywheel(new FlywheelIOTalonFX(false), false);
// turretRight = new Turret(new TurretIOTalonFX(false), false);

// ---------------------------- IO ----------------------------
Expand All @@ -126,16 +127,16 @@ public RobotContainer() {
// (pose) -> {});

intake = new Intake(new IntakeIO() {});
intakePivot = new IntakePivot(new IntakePivotIO() {});
// intakePivot = new IntakePivot(new IntakePivotIO() {});
hopper = new Hopper(new HopperIO() {});
// indexer = new Indexer(new IndexerIO() {});
indexer = new Indexer(new IndexerIO() {});

shooterHoodLeft = new ShooterHood(new ShooterHoodIO() {}, true);
flywheelLeft = new Flywheel(new FlywheelIO() {}, true);
turretLeft = new Turret(new TurretIO() {}, true);

shooterHoodRight = new ShooterHood(new ShooterHoodIO() {}, false);
// flywheelRight = new Flywheel(new FlywheelIO() {}, false);
flywheelRight = new Flywheel(new FlywheelIO() {}, false);
turretRight = new Turret(new TurretIO() {}, false);
break;

Expand Down Expand Up @@ -325,52 +326,57 @@ private void configureButtonBindings() {
// flywheelRight));

// // ### intake pivot down/stow
// operatorController
// .leftBumper()
// .onTrue(
// Commands.runOnce(
// () -> {
// intakePivot.setGoalState(IntakePivotState.DOWN);
// // intake.setGoalState(IntakeState.INTAKE);
// },
// intakePivot /*,
// intake*/));
// operatorController
// .rightBumper()
// .onTrue(
// Commands.runOnce(
// () -> {
// intakePivot.setGoalState(IntakePivotState.STOW);
// // intake.setGoalState(IntakeState.OFF);
// },
// intakePivot /*,
// intake*/));

intakePivot.setDefaultCommand(
Commands.run(
() -> {
intakePivot.setGoalState(IntakePivotState.MANUAL);
intakePivot.setInput(operatorController.getLeftX());
},
intakePivot));

operatorController
.leftBumper()
.onTrue(
Commands.runOnce(
() -> {
intakePivot.setGoalState(IntakePivotState.DOWN);
// intake.setGoalState(IntakeState.INTAKE);
},
intakePivot /*,
intake*/));
operatorController
.rightBumper()
.onTrue(
Commands.runOnce(
() -> {
intakePivot.setGoalState(IntakePivotState.STOW);
// intake.setGoalState(IntakeState.OFF);
},
intakePivot /*,
intake*/));

// // // ### intake pivot spit
// // driveController
// // .leftTrigger()
// // .onTrue(
// // Commands.runOnce(
// // () -> {
// // intakePivot.setGoalState(IntakePivotState.DOWN);
// // hopper.setGoalState(Hopper.HopperState.SPIT);
// // intake.setGoalState(IntakeState.SPITOUT);
// // },
// // intakePivot,
// // hopper,
// // intake));
// // driveController
// // .leftTrigger()
// // .onFalse(
// // Commands.runOnce(
// // () -> {
// // intakePivot.setGoalState(IntakePivotState.STOW);
// // hopper.setGoalState(Hopper.HopperState.ON);
// // intake.setGoalState(IntakeState.OFF);
// // },
// // intakePivot,
// // hopper,
// // intake));
driveController
.leftTrigger()
.onTrue(
Commands.runOnce(
() -> {
intakePivot.setGoalState(IntakePivotState.DOWN);
intake.setGoalState(IntakeState.SPITOUT);
},
intakePivot,
intake));
driveController
.leftTrigger()
.onFalse(
Commands.runOnce(
() -> {
intakePivot.setGoalState(IntakePivotState.STOW);
intake.setGoalState(IntakeState.OFF);
},
intakePivot,
intake));

// // ### indexing
operatorController
Expand Down
3 changes: 2 additions & 1 deletion src/main/java/org/team5924/frc2026/subsystems/pivots/intakePivot/IntakePivot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -44,7 +44,8 @@ public enum IntakePivotState {
MOVING(() -> 0.0),

DOWN(new LoggedTunableNumber("IntakePivot/DownRads", 0)),
STOW(new LoggedTunableNumber("IntakePivot/StowRads", 2.45)),
STOW(new LoggedTunableNumber("IntakePivot/StowRads", 2.05)),
PHYSICAL_STOW(() -> 2.1),
SHOOTING(new LoggedTunableNumber("IntakePivot/ShootingRads", 1.5)),

// current at which the example subsystem motor moves when controlled by the operator
Expand Down
9 changes: 5 additions & 4 deletions src/main/java/org/team5924/frc2026/subsystems/pivots/intakePivot/IntakePivotIOTalonFX.java
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Original file line number Diff line number Diff line change
Expand Up @@ -57,10 +57,10 @@ public class IntakePivotIOTalonFX implements IntakePivotIO {
private double setpointRads;

/* Gains */
private final LoggedTunableNumber kP = new LoggedTunableNumber("IntakePivot/kP", 70.0);
private final LoggedTunableNumber kP = new LoggedTunableNumber("IntakePivot/kP", 40.0);
private final LoggedTunableNumber kI = new LoggedTunableNumber("IntakePivot/kI", 0.0);
private final LoggedTunableNumber kD = new LoggedTunableNumber("IntakePivot/kD", 0.0);
private final LoggedTunableNumber kS = new LoggedTunableNumber("IntakePivot/kS", 1.5);
private final LoggedTunableNumber kD = new LoggedTunableNumber("IntakePivot/kD", 0.5);
private final LoggedTunableNumber kS = new LoggedTunableNumber("IntakePivot/kS", .2);
private final LoggedTunableNumber kV = new LoggedTunableNumber("IntakePivot/kV", 0.0);
private final LoggedTunableNumber kG = new LoggedTunableNumber("IntakePivot/kG", 2.8);
private final LoggedTunableNumber kA = new LoggedTunableNumber("IntakePivot/kA", 0.0);
Expand Down Expand Up @@ -154,7 +154,8 @@ public IntakePivotIOTalonFX() {
motionMagicCurrent = new MotionMagicTorqueCurrentFOC(0.0).withSlot(0).withUpdateFreqHz(100);

// assuming intake pivot starts stowed
talon.setPosition(Units.radiansToRotations(IntakePivotState.STOW.getRads().getAsDouble()));
talon.setPosition(
Units.radiansToRotations(IntakePivotState.PHYSICAL_STOW.getRads().getAsDouble()));
}

@Override
Expand Down
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