Merge branch 'ShooterFinish' of https://github.com/TitaniumTitans/202…

…4Crescendo into ShooterFinish

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1"
+    id "edu.wpi.first.GradleRIO" version "2024.2.1"
     id "com.peterabeles.gversion" version "1.10"
     id "org.sonarqube" version "4.4.1.3373"
 }

src/main/java/frc/robot/Constants.java

@@ -27,7 +27,7 @@ public final class Constants {
   private Constants() {
     throw new IllegalStateException("Constants class should not be constructed");
   }
-  public static final Mode currentMode = Mode.REAL;
+  public static final Mode currentMode = Mode.SIM;
 
   public enum Mode {
     /** Running on a real robot. */
@@ -99,4 +99,24 @@ private DriveConstants() {
             ModuleConstants.GearRatios.L3
     );
   }
+
+  public static class ShooterConstants {
+    private ShooterConstants() {}
+
+    public static final int TL_SHOOTER_ID = 13;
+    public static final int TR_SHOOTER_ID = 14;
+    public static final int BL_SHOOTER_ID = 15;
+    public static final int BR_SHOOTER_ID = 16;
+    public static final int KICKER_ID = 17;
+    public static final int INTAKE_LEFT_ID = 20;
+    public static final int INTAKE_RIGHT_ID = 21;
+
+    public static final double SHOOTER_KP = 0.05;
+    public static final double SHOOTER_KI = 0.0;
+    public static final double SHOOTER_KD = 0.0;
+
+    public static final double SHOOTER_KV = 0.0;
+    public static final double SHOOTER_KS = 0.0;
+    public static final double SHOOTER_KA = 0.0;
+  }
 }

src/main/java/frc/robot/RobotContainer.java

@@ -37,6 +37,7 @@
 import frc.robot.subsystems.shooter.ShooterIOPrototype;
 import frc.robot.subsystems.shooter.ShooterSubsystem;
 import org.littletonrobotics.junction.networktables.LoggedDashboardChooser;
+import org.littletonrobotics.junction.networktables.LoggedDashboardNumber;
 
 /**
  * This class is where the bulk of the robot should be declared. Since Command-based is a
@@ -55,6 +56,7 @@ public class RobotContainer {
 
   // Dashboard inputs
   private final LoggedDashboardChooser<Command> autoChooser;
+  private final LoggedDashboardNumber intakeSpeed = new LoggedDashboardNumber("Intake Speed", 0.25);
 
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
@@ -141,9 +143,9 @@ private void configureButtonBindings() {
                             m_driveSubsystem)
                 .ignoringDisable(true));
 
-    controller.a().whileTrue(m_shooter.setShooterPowerFactory(0.6, 0.6))
+    controller.a().whileTrue(m_shooter.setShooterPowerFactory(0.625, 0.6))
             .whileFalse(m_shooter.setShooterPowerFactory(0.0, 0.0));
-    controller.b().whileTrue(m_shooter.setIntakePowerFactory(0.75))
+    controller.b().whileTrue(m_shooter.setIntakePowerFactory(intakeSpeed.get()))
             .whileFalse(m_shooter.setIntakePowerFactory(0.0));
 
     controller.leftBumper().whileTrue(m_climber.setClimberPowerFactory(-0.25))

src/main/java/frc/robot/subsystems/shooter/ShooterIO.java

@@ -20,10 +20,17 @@ public class ShooterIOInputs {
     }
 
     public default void updateInputs(ShooterIOInputs inputs){}
+
     default void setMotorVoltageTL(double voltage) {}
     default void setMotorVoltageTR(double voltage) {}
     default void setMotorVoltageBL(double voltage) {}
     default void setMotorVoltageBR(double voltage) {}
+
+
+    default void setVelocityTL(double rpm) {}
+    default void setVelocityTR(double rpm) {}
+    default void setVelocityBL(double rpm) {}
+    default void setVelocityBR(double rpm) {}
     default void setKickerVoltage(double voltage) {}
     default void setIntakeVoltage(double voltage) {}
 

src/main/java/frc/robot/subsystems/shooter/ShooterIOPrototype.java

@@ -1,36 +1,85 @@
 package frc.robot.subsystems.shooter;
 
-import com.revrobotics.CANSparkMax;
-import com.revrobotics.CANSparkFlex;
-import com.revrobotics.CANSparkLowLevel;
+import com.gos.lib.properties.feedforward.SimpleMotorFeedForwardProperty;
+import com.gos.lib.properties.pid.PidProperty;
+import com.gos.lib.rev.properties.pid.RevPidPropertyBuilder;
+import com.revrobotics.*;
+import edu.wpi.first.math.controller.SimpleMotorFeedforward;
+import frc.robot.Constants.ShooterConstants;
 
 public class ShooterIOPrototype implements ShooterIO {
   private final CANSparkFlex m_topLeftMotor;
   private final CANSparkFlex m_topRightMotor;
   private final CANSparkMax m_bottomLeftMotor;
   private final CANSparkMax m_bottomRightMotor;
-  private final CANSparkMax m_kickekMotor;
+  private final CANSparkMax m_kickerMotor;
   private final CANSparkMax m_intakeLeft;
   private final CANSparkMax m_intakeRight;
+
+  private final SparkPIDController m_tlController;
+  private final PidProperty m_tlPid;
+  private final SparkPIDController m_trController;
+  private final PidProperty m_trPid;
+  private final SparkPIDController m_blController;
+  private final PidProperty m_blPid;
+  private final SparkPIDController m_brController;
+  private final PidProperty m_brPid;
+
+  private final SimpleMotorFeedforward m_shooterFF;
+  private final SimpleMotorFeedForwardProperty m_shooterFFProperty;
+
   public ShooterIOPrototype() {
-    m_topLeftMotor = new CANSparkFlex(13, CANSparkLowLevel.MotorType.kBrushless);
-    m_topRightMotor = new CANSparkFlex(14, CANSparkLowLevel.MotorType.kBrushless);
-    m_bottomLeftMotor = new CANSparkMax(15, CANSparkLowLevel.MotorType.kBrushless);
-    m_bottomRightMotor = new CANSparkMax(16, CANSparkLowLevel.MotorType.kBrushless);
-    m_kickekMotor = new CANSparkMax(17, CANSparkLowLevel.MotorType.kBrushless);
-    m_intakeLeft = new CANSparkMax(20, CANSparkLowLevel.MotorType.kBrushless);
-    m_intakeRight = new CANSparkMax(21, CANSparkLowLevel.MotorType.kBrushless);
+    m_topLeftMotor = new CANSparkFlex(ShooterConstants.TL_SHOOTER_ID, CANSparkLowLevel.MotorType.kBrushless);
+    m_topRightMotor = new CANSparkFlex(ShooterConstants.TR_SHOOTER_ID, CANSparkLowLevel.MotorType.kBrushless);
+    m_bottomLeftMotor = new CANSparkMax(ShooterConstants.BL_SHOOTER_ID, CANSparkLowLevel.MotorType.kBrushless);
+    m_bottomRightMotor = new CANSparkMax(ShooterConstants.BR_SHOOTER_ID, CANSparkLowLevel.MotorType.kBrushless);
+    m_kickerMotor = new CANSparkMax(ShooterConstants.KICKER_ID, CANSparkLowLevel.MotorType.kBrushless);
+    m_intakeLeft = new CANSparkMax(ShooterConstants.INTAKE_LEFT_ID, CANSparkLowLevel.MotorType.kBrushless);
+    m_intakeRight = new CANSparkMax(ShooterConstants.INTAKE_RIGHT_ID, CANSparkLowLevel.MotorType.kBrushless);
 
     m_topLeftMotor.setInverted(false);
-    m_bottomLeftMotor.setInverted(true);
+    m_bottomLeftMotor.setInverted(false);
 
     m_intakeRight.setInverted(true);
-    m_intakeLeft.setInverted(false);
+    m_intakeLeft.setInverted(true);
+    m_kickerMotor.setInverted(true);
+
+    m_tlController = m_topLeftMotor.getPIDController();
+    m_tlPid = new RevPidPropertyBuilder("Shooter/TL PID", false, m_tlController, 0)
+            .addP(ShooterConstants.SHOOTER_KP)
+            .addI(ShooterConstants.SHOOTER_KI)
+            .addD(ShooterConstants.SHOOTER_KD)
+            .build();
+
+    m_trController = m_topLeftMotor.getPIDController();
+    m_trPid = new RevPidPropertyBuilder("Shooter/TR PID", false, m_trController, 0)
+            .addP(ShooterConstants.SHOOTER_KP)
+            .addI(ShooterConstants.SHOOTER_KI)
+            .addD(ShooterConstants.SHOOTER_KD)
+            .build();
+
+    m_blController = m_topLeftMotor.getPIDController();
+    m_blPid = new RevPidPropertyBuilder("Shooter/BL PID", false, m_blController, 0)
+            .addP(ShooterConstants.SHOOTER_KP)
+            .addI(ShooterConstants.SHOOTER_KI)
+            .addD(ShooterConstants.SHOOTER_KD)
+            .build();
+
+    m_brController = m_topLeftMotor.getPIDController();
+    m_brPid = new RevPidPropertyBuilder("Shooter/BR PID", false, m_brController, 0)
+            .addP(ShooterConstants.SHOOTER_KP)
+            .addI(ShooterConstants.SHOOTER_KI)
+            .addD(ShooterConstants.SHOOTER_KD)
+            .build();
+
+    m_shooterFF = new SimpleMotorFeedforward(ShooterConstants.SHOOTER_KS, ShooterConstants.SHOOTER_KV);
+    m_shooterFFProperty = new SimpleMotorFeedForwardProperty("Shooter FF", false, m_shooterFF);
 
     m_topLeftMotor.burnFlash();
     m_topRightMotor.burnFlash();
     m_intakeLeft.burnFlash();
     m_intakeRight.burnFlash();
+    m_kickerMotor.burnFlash();
   }
 
     @Override
@@ -39,38 +88,42 @@ public void updateInputs(ShooterIOInputs inputs) {
         inputs.tRAngularVelocity = m_topRightMotor.getEncoder().getVelocity() * Math.PI;
         inputs.bLAngularVelocity = m_bottomLeftMotor.getEncoder().getVelocity() * Math.PI;
         inputs.bRAngularVelocity = m_bottomRightMotor.getEncoder().getVelocity() * Math.PI;
-        inputs.kickerAngularVelocity = m_kickekMotor.getEncoder().getVelocity() * Math.PI;
+        inputs.kickerAngularVelocity = m_kickerMotor.getEncoder().getVelocity() * Math.PI;
 
         inputs.tLAppliedInputs = m_topLeftMotor.getAppliedOutput();
         inputs.tRAppliedInputs = m_topRightMotor.getAppliedOutput();
         inputs.bLAppliedInputs = m_bottomLeftMotor.getAppliedOutput();
         inputs.bRAppliedInputs = m_bottomRightMotor.getAppliedOutput();
-        inputs.kickerAppliedInputs = m_kickekMotor.getAppliedOutput();
+        inputs.kickerAppliedInputs = m_kickerMotor.getAppliedOutput();
     }
 
-    @Override
-    public void setMotorVoltageTL(double voltage) {
-        m_topLeftMotor.setVoltage(voltage);
-    }
+  @Override
+  public void setVelocityTL(double rpm) {
+    m_tlController.setReference(rpm,
+            CANSparkBase.ControlType.kVelocity,
+            0,
+            m_shooterFFProperty.calculate(rpm),
+            SparkPIDController.ArbFFUnits.kVoltage);
+  }
 
   @Override
-  public void setMotorVoltageTR(double voltage) {
-    m_topRightMotor.setVoltage(voltage);
+  public void setVelocityTR(double rpm) {
+    m_topRightMotor.setVoltage(rpm);
   }
 
   @Override
-  public void setMotorVoltageBL(double voltage) {
-    m_bottomLeftMotor.setVoltage(voltage);
+  public void setVelocityBL(double rpm) {
+    m_bottomLeftMotor.setVoltage(rpm);
   }
 
   @Override
-  public void setMotorVoltageBR(double voltage) {
-    m_bottomRightMotor.setVoltage(voltage);
+  public void setVelocityBR(double rpm) {
+    m_bottomRightMotor.setVoltage(rpm);
   }
 
   @Override
   public void setKickerVoltage(double voltage) {
-    m_kickekMotor.setVoltage(voltage);
+    m_kickerMotor.setVoltage(voltage);
   }
 
   @Override

src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java

@@ -17,13 +17,13 @@ public ShooterSubsystem(ShooterIO io) {
   }
 
   public void setShooterPowerLeft(double power) {
-    m_io.setMotorVoltageTL((power * 12.0) * SmartDashboard.getNumber(TOP_WHEEL_RATIO, 0.85));
-    m_io.setMotorVoltageBL(power * 12.0);
+    m_io.setVelocityTL((power * 12.0) * SmartDashboard.getNumber(TOP_WHEEL_RATIO, 0.85));
+    m_io.setVelocityBL(power * 12.0);
   }
 
   public void setShooterPowerRight(double power) {
-    m_io.setMotorVoltageTR((power * 12.0) * SmartDashboard.getNumber(TOP_WHEEL_RATIO, 0.85));
-    m_io.setMotorVoltageBR(power * 12.0);
+    m_io.setVelocityTR((power * 12.0) * SmartDashboard.getNumber(TOP_WHEEL_RATIO, 0.85));
+    m_io.setVelocityBR(power * 12.0);
   }
 
   public void setKickerPower(double power) {

vendordeps/AdvantageKit.json

@@ -1,7 +1,7 @@
 {
   "fileName": "AdvantageKit.json",
   "name": "AdvantageKit",
-  "version": "3.0.0",
+  "version": "3.0.2",
   "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003",
   "frcYear": "2024",
   "mavenUrls": [],
@@ -10,24 +10,24 @@
     {
       "groupId": "org.littletonrobotics.akit.junction",
       "artifactId": "wpilib-shim",
-      "version": "3.0.0"
+      "version": "3.0.2"
     },
     {
       "groupId": "org.littletonrobotics.akit.junction",
       "artifactId": "junction-core",
-      "version": "3.0.0"
+      "version": "3.0.2"
     },
     {
       "groupId": "org.littletonrobotics.akit.conduit",
       "artifactId": "conduit-api",
-      "version": "3.0.0"
+      "version": "3.0.2"
     }
   ],
   "jniDependencies": [
     {
       "groupId": "org.littletonrobotics.akit.conduit",
       "artifactId": "conduit-wpilibio",
-      "version": "3.0.0",
+      "version": "3.0.2",
       "skipInvalidPlatforms": false,
       "isJar": false,
       "validPlatforms": [
@@ -39,4 +39,4 @@
     }
   ],
   "cppDependencies": []
-}
+}