Skip to content

Update turret sim #46

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

Merged
nlaverdure merged 2 commits into from
Feb 7, 2026
Merged

Update turret sim #46

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
be61c03
rename dioport
nlaverdure Feb 7, 2026
da15f92
changed turret flip to left
BenGamer3 Feb 7, 2026
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
4 changes: 1 addition & 3 deletions src/main/java/frc/robot/subsystems/launcher/LauncherConstants.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -34,17 +34,15 @@ public static final class TurretConstants {
public static final Rotation2d mechanismOffset = Rotation2d.kCCW_Pi_2;

// Absolute encoder
public static final int absEncoderPort = 5;
public static final double encoderPositionFactor = (2 * Math.PI) / 5.0; // Radians
public static final double encoderVelocityFactor = (2 * Math.PI) / (60.0 * 5.0); // Rad/sec

// Position controller
public static final double minInput = 0.0;
public static final double maxInput = 2 * Math.PI;
public static final double kPReal = 0.5;

// Motor controller
public static final int port = 12;
public static final int DIOPort = 5;
public static final double motorReduction = 5.0;
public static final AngularVelocity maxAngularVelocity =
NEO550Constants.kFreeSpeed.div(motorReduction);
Expand Down
11 changes: 8 additions & 3 deletions src/main/java/frc/robot/subsystems/launcher/TurretIOSim.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,9 @@ public TurretIOSim() {
new DCMotorSim(LinearSystemId.createDCMotorSystem(gearbox, 0.004, motorReduction), gearbox);

// Enable wrapping for turn PID
positionController.enableContinuousInput(-Math.PI, Math.PI);
// positionController.enableContinuousInput(-Math.PI, Math.PI);

turnSim.setAngle(-mechanismOffset.getRadians());
}

@Override
Expand All @@ -46,7 +48,7 @@ public void updateInputs(TurretIOInputs inputs) {

// Update turn inputs
inputs.motorControllerConnected = true;
inputs.relativePosition = new Rotation2d(turnSim.getAngularPositionRad());
inputs.relativePosition = new Rotation2d(turnSim.getAngularPositionRad()).plus(mechanismOffset);
inputs.velocityRadPerSec = turnSim.getAngularVelocityRadPerSec();
inputs.appliedVolts = appliedVolts;
inputs.currentAmps = Math.abs(turnSim.getCurrentDrawAmps());
Expand All @@ -61,10 +63,13 @@ public void setOpenLoop(double output) {
@Override
public void setPosition(Rotation2d rotation, AngularVelocity angularVelocity) {
closedLoop = true;
double setpoint =
MathUtil.inputModulus(
rotation.getRadians() - mechanismOffset.getRadians(), 0.0, 2.0 * Math.PI);
this.feedforwardVolts =
RobotConstants.kNominalVoltage
* angularVelocity.in(RadiansPerSecond)
/ maxAngularVelocity.in(RadiansPerSecond);
positionController.setSetpoint(rotation.getRadians());
positionController.setSetpoint(setpoint);
}
}
4 changes: 2 additions & 2 deletions src/main/java/frc/robot/subsystems/launcher/TurretIOSpark.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -44,7 +44,7 @@ public TurretIOSpark() {
controller = new PIDController(kPReal, 0.0, 0.0);
absoluteEncoder =
new DutyCycleEncoder(
new DigitalInput(DIOPort),
new DigitalInput(absEncoderPort),
2 * Math.PI,
absEncoderOffset.getRadians() + mechanismOffset.getRadians());

Expand Down Expand Up @@ -120,7 +120,7 @@ public void setPosition(Rotation2d rotation, AngularVelocity angularVelocity) {
closedLoop = true;
double setpoint =
MathUtil.inputModulus(
rotation.getRadians() - mechanismOffset.getRadians(), minInput, maxInput);
rotation.getRadians() - mechanismOffset.getRadians(), 0.0, 2 * Math.PI);
this.feedforwardVolts =
RobotConstants.kNominalVoltage
* angularVelocity.in(RadiansPerSecond)
Expand Down