Skip to content

Subsystem deprecation and refinements #83

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Closed
arcadeArchitect wants to merge 1 commit into from
Closed

Subsystem deprecation and refinements #83

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
220 changes: 27 additions & 193 deletions src/main/java/org/team5924/frc2026/Constants.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -34,8 +34,6 @@
import edu.wpi.first.math.util.Units;
import com.ctre.phoenix6.signals.SensorDirectionValue;

import edu.wpi.first.math.geometry.Translation3d;

import edu.wpi.first.wpilibj.RobotBase;

/**
Expand Down Expand Up @@ -207,9 +205,14 @@ public final class Indexer {


/* General Subsystems */
public final class GeneralShooterHood {
public final class ShooterHood {
public static final String BUS = "rio";
public static final double SIM_MOI = 0.001;
public static final int CAN_ID = 34;

/* CANCoder */
public static final int CANCODER_ID = 36;
public static final double CANCODER_ABSOLUTE_OFFSET = 0.0;

// spur = hood driving gear, mechanism = shooter hood gear
public static final double MOTOR_TO_CANCODER = (40.0 / 12.0) * (24.0 / 17.0);
Expand Down Expand Up @@ -252,25 +255,34 @@ public final class GeneralShooterHood {
.withForwardSoftLimitEnable(false)
.withReverseSoftLimitEnable(false);

public static final FeedbackConfigs GENERAL_FEEDBACK_CONFIGS =
public static final FeedbackConfigs FEEDBACK_CONFIGS =
new FeedbackConfigs()
.withSensorToMechanismRatio(CANCODER_TO_MECHANISM)
.withRotorToSensorRatio(MOTOR_TO_CANCODER)
.withFeedbackSensorSource(FeedbackSensorSourceValue.FusedCANcoder);
.withFeedbackSensorSource(FeedbackSensorSourceValue.FusedCANcoder)
.withFeedbackRemoteSensorID(CANCODER_ID)
.withFeedbackRotorOffset(-CANCODER_ABSOLUTE_OFFSET);

public static final MagnetSensorConfigs GENERAL_CANCODER_CONFIGS =
public static final MagnetSensorConfigs CANCODER_CONFIGS =
new MagnetSensorConfigs()
.withAbsoluteSensorDiscontinuityPoint(1.0)
.withSensorDirection(SensorDirectionValue.Clockwise_Positive);
.withSensorDirection(SensorDirectionValue.Clockwise_Positive)
.withMagnetOffset(-1 * CANCODER_ABSOLUTE_OFFSET);
}

public final class GeneralFlywheel {
public final class Flywheel {
public static final int CAN_ID = 30;
public static final int BEAM_BREAK_ID = 0; // TODO: update later

public static final int FOLLOWER_CAN_ID = 31;
public static final double FOLLOWER_SIM_MOI = 0.001;

public static final double EPSILON_VELOCITY = 2.5;
public static final double MOTOR_TO_MECHANISM = 15.0 / 26.0;
public static final String BUS = "rio";
public static final double SIM_MOI = 0.001;

public static final TalonFXConfiguration GENERAL_CONFIG =
public static final TalonFXConfiguration CONFIG =
new TalonFXConfiguration()
.withCurrentLimits(
new CurrentLimitsConfigs()
Expand All @@ -280,195 +292,17 @@ public final class GeneralFlywheel {
new MotorOutputConfigs()
.withInverted(InvertedValue.Clockwise_Positive)
.withNeutralMode(NeutralModeValue.Coast));

public static final TalonFXConfiguration FOLLOWER_CONFIG =
CONFIG
.withMotorOutput(
new MotorOutputConfigs()
.withInverted(InvertedValue.CounterClockwise_Positive));

public static final FeedbackConfigs FEEDBACK_CONFIGS =
new FeedbackConfigs()
.withFeedbackSensorSource(FeedbackSensorSourceValue.RotorSensor)
.withSensorToMechanismRatio(MOTOR_TO_MECHANISM)
.withRotorToSensorRatio(1.0);
}

public final class GeneralTurret {
public static final String BUS = "rio";

public static final double SIM_MOI = 0.001;

public static final double MOTOR_TO_CANCODER = (20.0 / 12.0);
public static final double CANCODER_TO_MECHANISM = (135.0 / 20.0);
public static final double MOTOR_TO_MECHANISM = MOTOR_TO_CANCODER * CANCODER_TO_MECHANISM;

public static final double EPSILON_RADS = Units.degreesToRadians(10.0);
public static final double STATE_TIMEOUT = 1.0;

/* Configs */
public static final TalonFXConfiguration GENERAL_CONFIG =
new TalonFXConfiguration()
.withCurrentLimits(
new CurrentLimitsConfigs()
.withSupplyCurrentLimit(60)
.withStatorCurrentLimit(10)
.withStatorCurrentLimitEnable(true))
.withMotorOutput(
new MotorOutputConfigs()
.withInverted(InvertedValue.Clockwise_Positive)
.withNeutralMode(NeutralModeValue.Brake));

public static final SoftwareLimitSwitchConfigs GENERAL_SOFTWARE_LIMIT_CONFIGS =
new SoftwareLimitSwitchConfigs()
.withForwardSoftLimitEnable(false)
.withReverseSoftLimitEnable(false);

public static final FeedbackConfigs GENERAL_FEEDBACK_CONFIGS =
new FeedbackConfigs()
.withSensorToMechanismRatio(CANCODER_TO_MECHANISM)
.withRotorToSensorRatio(MOTOR_TO_CANCODER)
.withFeedbackSensorSource(FeedbackSensorSourceValue.FusedCANcoder);

public static final MagnetSensorConfigs GENERAL_CANCODER_CONFIGS =
new MagnetSensorConfigs()
.withAbsoluteSensorDiscontinuityPoint(1)
.withSensorDirection(SensorDirectionValue.CounterClockwise_Positive);
}

/* Left */
public final class ShooterHoodLeft {
public static final int CAN_ID = 34;

/* CANCoder */
public static final int CANCODER_ID = 36;
public static final double CANCODER_ABSOLUTE_OFFSET = 0.0;

public static final FeedbackConfigs FEEDBACK_CONFIGS =
GeneralShooterHood.GENERAL_FEEDBACK_CONFIGS
.withFeedbackRemoteSensorID(CANCODER_ID)
.withFeedbackRotorOffset(-CANCODER_ABSOLUTE_OFFSET);

public static final MagnetSensorConfigs CANCODER_CONFIGS =
GeneralShooterHood.GENERAL_CANCODER_CONFIGS
.withMagnetOffset(-1 * CANCODER_ABSOLUTE_OFFSET);
}

public final class FlywheelLeaderLeft {
public static final int CAN_ID = 30;
public static final int BEAM_BREAK_PORT = 0; // TODO: update later

public static final TalonFXConfiguration CONFIG = GeneralFlywheel.GENERAL_CONFIG;
}

public final class FlywheelFollowerLeft {
public static final int CAN_ID = 31;
public static final double SIM_MOI = 0.001;
public static final int BEAM_BREAK_ID = 0;

public static final TalonFXConfiguration CONFIG =
GeneralFlywheel.GENERAL_CONFIG
.withMotorOutput(
new MotorOutputConfigs()
.withInverted(InvertedValue.CounterClockwise_Positive));
}

public final class TurretLeft {
public static final int CAN_ID = 20;

// +x -> forward; +y -> left
public static final Translation3d ROBOT_TO_TURRET =
new Translation3d(
Units.inchesToMeters(4.5),
Units.inchesToMeters(7.505),
Units.inchesToMeters(15.340));

/* CANCoder */
public static final int CANCODER_ID = 22;
public static final double CANCODER_ABSOLUTE_OFFSET = 0.0;

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_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_ROTATIONS)
.withForwardSoftLimitThreshold(MAX_POSITION_ROTATIONS);

public static final FeedbackConfigs FEEDBACK_CONFIGS =
GeneralTurret.GENERAL_FEEDBACK_CONFIGS
.withFeedbackRemoteSensorID(CANCODER_ID)
.withFeedbackRotorOffset(-CANCODER_ABSOLUTE_OFFSET);

public static final MagnetSensorConfigs CANCODER_CONFIGS =
GeneralTurret.GENERAL_CANCODER_CONFIGS
.withMagnetOffset(-1 * CANCODER_ABSOLUTE_OFFSET);
}

/* Right */
public final class ShooterHoodRight {
public static final int CAN_ID = 35;

/* CANCoder */
public static final int CANCODER_ID = 37;
public static final double CANCODER_ABSOLUTE_OFFSET = 0.0;

public static final FeedbackConfigs FEEDBACK_CONFIGS =
GeneralShooterHood.GENERAL_FEEDBACK_CONFIGS
.withFeedbackRemoteSensorID(CANCODER_ID)
.withFeedbackRotorOffset(-CANCODER_ABSOLUTE_OFFSET);

public static final MagnetSensorConfigs CANCODER_CONFIGS =
GeneralShooterHood.GENERAL_CANCODER_CONFIGS
.withMagnetOffset(-1 * CANCODER_ABSOLUTE_OFFSET);
}

public final class FlywheelLeaderRight {
public static final int CAN_ID = 32;
public static final int BEAM_BREAK_PORT = 0; // TODO: update later

public static final TalonFXConfiguration CONFIG = GeneralFlywheel.GENERAL_CONFIG;
}

public final class FlywheelFollowerRight {
public static final int CAN_ID = 33;

public static final TalonFXConfiguration CONFIG =
GeneralFlywheel.GENERAL_CONFIG
.withMotorOutput(
new MotorOutputConfigs()
.withInverted(InvertedValue.CounterClockwise_Positive));
}

public final class TurretRight {
public static final int CAN_ID = 21;

// +x -> forward; +y -> left
public static final Translation3d ROBOT_TO_TURRET =
new Translation3d(
Units.inchesToMeters(4.5),
Units.inchesToMeters(-7.505),
Units.inchesToMeters(15.340));

/* CANCoder */
public static final int CANCODER_ID = 23;
public static final double CANCODER_ABSOLUTE_OFFSET = 0.0;

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_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_ROTATIONS)
.withForwardSoftLimitThreshold(MAX_POSITION_ROTATIONS);

public static final FeedbackConfigs FEEDBACK_CONFIGS =
GeneralTurret.GENERAL_FEEDBACK_CONFIGS
.withFeedbackRemoteSensorID(CANCODER_ID)
.withFeedbackRotorOffset(-CANCODER_ABSOLUTE_OFFSET);

public static final MagnetSensorConfigs CANCODER_CONFIGS =
GeneralTurret.GENERAL_CANCODER_CONFIGS
.withMagnetOffset(-1 * CANCODER_ABSOLUTE_OFFSET);
}
}
Loading
Loading