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Merged
micw1417 merged 9 commits into from
Feb 10, 2026
Merged

Michael #9

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65f7c21
Intake Rollers done
micw1417 Jan 23, 2026
7d01c74
changes 1/31 pivot code finish, and shooter got modify.
micw1417 Jan 31, 2026
24b0851
changes cont. shooter implemnted and magic carpet hopper started
micw1417 Jan 31, 2026
f6f3bfc
Did the mockup of flywheel and of the carpet. Climber TODO
micw1417 Feb 4, 2026
3df6a5b
Climber but needs to have a softlimit as well as angler needs a softl…
micw1417 Feb 5, 2026
775b669
feeder done except feederIO
AlbedoLinguine Feb 7, 2026
1d7cb91
Simed the rollers for intake, saw values move!!! Finsihed other misc,…
micw1417 Feb 7, 2026
3bc3aeb
Merge branch 'michael' of github.com:frc5431/RobotCode2026 into michael
micw1417 Feb 7, 2026
728dea3
will need to decide what I want to do intkae later. Tuner constants f…
micw1417 Feb 8, 2026
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151 changes: 1 addition & 150 deletions src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -8,13 +8,6 @@
package frc.robot;

import com.ctre.phoenix6.CANBus;
import com.ctre.phoenix6.signals.FeedbackSensorSourceValue;
import com.revrobotics.spark.FeedbackSensor;

import edu.wpi.first.units.Units;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.units.measure.Current;
import edu.wpi.first.wpilibj.RobotBase;

/**
Expand All @@ -40,147 +33,5 @@ public static enum Mode {
REPLAY
}

public static class ShooterConstants {

public enum ShooterState {
SHOOTER,
REVERSE,
IDLE
}

public static final boolean attached = true;
public static final int id = 50;
public static final boolean inverted = false;
public static final boolean breakType = false;
public static final double gearRatio = 1 / 1;

public static final double p = 1;
public static final double i = 0;
public static final double d = 0;
// public static final double maxIAccum = 2 * i; //CTRE Doesn't have one? Might Add later

public static final Current stallLimit = Units.Amps.of(60);
public static final Current supplyLimit = Units.Amps.of(80);
public static final double maxForwardOutput = 1;
public static final double maxReverseOutput = 0.5;

public static final AngularVelocity shooterSpeed = Units.RPM.of(4000);
public static final AngularVelocity reverseSpeed = Units.RPM.of(-1000);
public static final AngularVelocity idleSpeed = Units.RPM.of(0);

public enum ShooterModes {
SHOOTER(shooterSpeed, 1.0),
REVERSE(reverseSpeed, -0.5),
IDLE(idleSpeed, 0.0);

public AngularVelocity speed;
public double output;

ShooterModes(AngularVelocity speed, double output) {
this.speed = speed;
this.output = output;
}
}
}

public static class IndexerConstants {

public enum IndexerState {
INDEXER,
REVERSE,
IDLE
}

public static final boolean attached = true;

public static final int id = -1;

public static final double p = 1;
public static final double i = 0;
public static final double d = 0;

public static final boolean invert = false;
public static final boolean breakType = false;
public static final double gearRatio = 1 / 1;


public static final Current stallLimit = Units.Amps.of(60);
public static final Current supplyLimit = Units.Amps.of(80);
public static final double maxForwardOutput = 0.5;
public static final double maxReverseOutput = -0.5;

public static final double indexerSpeed = 0.5;
public static final double reverseSpeed = -0.5;
public static final double idleSpeed = 0.0;

public enum IndexerModes {
INDEXER(indexerSpeed),
REVERSE(reverseSpeed),
IDLE(idleSpeed);

public double output;

IndexerModes(double output) {
this.output = output;
}
}
}

public static final class IntakeRollerIOConstants {
public static final boolean attached = true;
public static final boolean useRpm = false;

public static final int id = -1;

public static final double p = 1;
public static final double i = 0;
public static final double d = 0;
public static final double maxIAccum = 0.2;

public static final double gearRatio = 1 / 1;

public static final Current forwardTorqueLimit = Units.Amps.of(80);
public static final Current reverseTorqueLimit = Units.Amps.of(80);

public static final boolean invert = false;
public static final boolean gravityType = false;
public static final boolean breakType = false;

public static final FeedbackSensorSourceValue feedbackSensorCTRE =
FeedbackSensorSourceValue.FusedCANcoder;
public static final FeedbackSensor feedbackSensorREV =
FeedbackSensor.kPrimaryEncoder;

public static final double maxForwardOutput = 0.5;
public static final double maxReverseOutput = -0.5;

public static final boolean useFMaxRotation = true;
public static final boolean useRMaxRotation = true;
public static final Angle maxReverseRotation = Units.Rotation.of(-0.1);
public static final Angle maxFowardRotation = Units.Rotation.of(5);

public static final boolean useStallLimit = true;
public static final boolean useSupplyLimit = true;
public static final Current stallLimit = Units.Amps.of(80);
public static final Current supplyLimit = Units.Amps.of(60);

public static final AngularVelocity rollerIOSpeed = Units.RPM.of(3000);
public static final AngularVelocity outtakeSpeed = Units.RPM.of(0);
public static final AngularVelocity idleSpeed = Units.RPM.of(0);

public enum RollerIOModes {
IDLE(idleSpeed, 0.0),
INTAKE(rollerIOSpeed, 8.4),
OUTTAKE(outtakeSpeed, -4.8);

public AngularVelocity speed;
// TODO: Make sure voltage is just output * 12 (for 12V)
public double voltage;

RollerIOModes(AngularVelocity speed, double voltage) {
this.speed = speed;
this.voltage = voltage;
}
}
}
}
}
120 changes: 77 additions & 43 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -7,33 +7,47 @@

package frc.robot;

import static frc.robot.subsystems.vision.VisionConstants.*;

import com.pathplanner.lib.auto.AutoBuilder;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
import frc.robot.Constants.IntakeRollerIOConstants.RollerIOModes;
import frc.robot.commands.DriveCommands;
import frc.robot.generated.TunerConstants;
import frc.robot.subsystems.climber.Climber;
import frc.robot.subsystems.climber.ClimberIO;
import frc.robot.subsystems.climber.ClimberIOSim;
import frc.robot.subsystems.climber.ClimberIOSparkFlex;
import frc.robot.subsystems.drive.Drive;
import frc.robot.subsystems.drive.GyroIO;
import frc.robot.subsystems.drive.GyroIOPigeon2;
import frc.robot.subsystems.drive.ModuleIO;
import frc.robot.subsystems.drive.ModuleIOSim;
import frc.robot.subsystems.drive.ModuleIOTalonFX;
import frc.robot.subsystems.intake.roller.Roller;
import frc.robot.subsystems.hopper.Carpet;
import frc.robot.subsystems.hopper.CarpetIO;
import frc.robot.subsystems.hopper.CarpetIOSim;
import frc.robot.subsystems.hopper.CarpetIOSparkFlex;
import frc.robot.subsystems.intake.Intake;
import frc.robot.subsystems.intake.IntakeConstants.IntakeMode;
import frc.robot.subsystems.intake.pivot.PivotIO;
import frc.robot.subsystems.intake.pivot.PivotIOSim;
import frc.robot.subsystems.intake.pivot.PivotIOSparkFlex;
import frc.robot.subsystems.intake.roller.RollerIO;
import frc.robot.subsystems.intake.roller.RollerIOSim;
import frc.robot.subsystems.intake.roller.RollerIOSparkFlex;
import frc.robot.subsystems.vision.Vision;
import frc.robot.subsystems.vision.VisionIO;
import frc.robot.subsystems.vision.VisionIOLimelight;
import frc.robot.subsystems.vision.VisionIOPhotonVisionSim;
import frc.robot.subsystems.shooter.Shooter;
import frc.robot.subsystems.shooter.angler.AnglerIO;
import frc.robot.subsystems.shooter.angler.AnglerIOSim;
import frc.robot.subsystems.shooter.angler.AnglerIOTalonFX;
import frc.robot.subsystems.shooter.flywheel.FlywheelIO;
import frc.robot.subsystems.shooter.flywheel.FlywheelIOSim;
import frc.robot.subsystems.shooter.flywheel.FlywheelIOTalonFX;
import frc.team5431.titan.core.joysticks.CommandXboxController;

import org.littletonrobotics.junction.networktables.LoggedDashboardChooser;
Expand All @@ -47,8 +61,11 @@
public class RobotContainer {
// Subsystems
private final Drive drive;
private final Vision vision;
private final Roller roller;
// private final Vision vision;
private final Intake intake;
private final Shooter shooter;
private final Carpet carpet;
private final Climber climber;

// Controller
private final CommandXboxController driver = new CommandXboxController(0);
Expand All @@ -73,15 +90,16 @@ public RobotContainer() {
new ModuleIOTalonFX(TunerConstants.BackRight));

// Real robot, instantiate hardware IO implementations
vision =
new Vision(
drive::addVisionMeasurement,
new VisionIOLimelight(camera0Name, drive::getRotation),
new VisionIOLimelight(camera1Name, drive::getRotation));
roller =
new Roller(
new RollerIOSparkFlex());

// vision =
// new Vision(
// drive::addVisionMeasurement,
// new VisionIOLimelight(camera0Name, drive::getRotation),
// new VisionIOLimelight(camera1Name, drive::getRotation));

intake = new Intake(new RollerIOSim(), new PivotIOSim());
shooter = new Shooter(new AnglerIOSim(), new FlywheelIOSim());
carpet = new Carpet(new CarpetIOSim());
climber = new Climber(new ClimberIOSim());
// vision =
// new Vision(
// demoDrive::addVisionMeasurement,
Expand Down Expand Up @@ -116,17 +134,21 @@ public RobotContainer() {
new ModuleIOSim(TunerConstants.BackLeft),
new ModuleIOSim(TunerConstants.BackRight));

vision =
new Vision(
drive::addVisionMeasurement,
new VisionIOPhotonVisionSim(camera0Name, robotToCamera0, drive::getPose),
new VisionIOPhotonVisionSim(camera1Name, robotToCamera1, drive::getPose));
// vision =
// new Vision(
// drive::addVisionMeasurement,
// new VisionIOPhotonVisionSim(camera0Name, robotToCamera0, drive::getPose),
// new VisionIOPhotonVisionSim(camera1Name, robotToCamera1, drive::getPose));

roller =
new Roller(
new RollerIOSim() {});
intake =
new Intake(new RollerIOSim(), new PivotIOSim());
shooter =
new Shooter(new AnglerIOSim(), new FlywheelIOSim());
carpet =
new Carpet(new CarpetIOSim());
climber =
new Climber(new ClimberIOSim());
break;

default:
// Replayed robot, disable IO implementations
drive =
Expand All @@ -137,9 +159,11 @@ public RobotContainer() {
new ModuleIO() {},
new ModuleIO() {});

vision = new Vision(drive::addVisionMeasurement, new VisionIO() {}, new VisionIO() {});
roller = new Roller(new RollerIO() {});

// vision = new Vision(drive::addVisionMeasurement, new VisionIO() {}, new VisionIO() {});
intake = new Intake(new RollerIO() {}, new PivotIO() {});
shooter = new Shooter(new AnglerIO() {}, new FlywheelIO() {});
carpet = new Carpet(new CarpetIO() {});
climber = new Climber(new ClimberIO() {});
break;

}
Expand All @@ -165,6 +189,10 @@ public RobotContainer() {

configureDriverBindings();
configureOperatorBindings();


SmartDashboard.putData("Scheduler", CommandScheduler.getInstance());

}

/**
Expand All @@ -182,18 +210,18 @@ private void configureDriverBindings() {
() -> -driver.getLeftX(),
() -> -driver.getRightX()));

// Lock to 0° when A button is held
driver
.a()
.whileTrue(
DriveCommands.joystickDriveAtAngle(
drive,
() -> -driver.getLeftY(),
() -> -driver.getLeftX(),
() -> Rotation2d.kZero));
// // Lock to 0° when A button is held
// driver
// .a()
// .whileTrue(
// DriveCommands.joystickDriveAtAngle(
// drive,
// () -> -driver.getLeftY(),
// () -> -driver.getLeftX(),
// () -> Rotation2d.kZero));

// Switch to X pattern when X button is pressed
driver.x().onTrue(Commands.runOnce(drive::stopWithX, drive));
// // Switch to X pattern when X button is pressed
// driver.x().onTrue(Commands.runOnce(drive::stopWithX, drive));

// Reset gyro to 0° when B button is pressed
driver
Expand Down Expand Up @@ -224,7 +252,13 @@ private void configureDriverBindings() {
}

private void configureOperatorBindings() {
operator.a().onTrue(roller.runIntakeCommand(RollerIOModes.INTAKE, true));
// Default Commands
intake.setDefaultCommand(intake.runIntakeeCommand(IntakeMode.OUT_IDLE));



operator.a().whileTrue(intake.runIntakeeCommand(IntakeMode.INTAKE));
operator.b().whileTrue(intake.runIntakeeCommand(IntakeMode.OUTTAKE));
}
/**
* Use this to pass the autonomous command to the main {@link Robot} class.
Expand Down
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