Merge branch 'main' into George-ArmPrototype

TitaniumTitans · Feb 9, 2024 · 1b604c6 · 1b604c6
2 parents a5d921d + e21835d
commit 1b604c6
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Showing 8 changed files with 419 additions and 107 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -28,12 +28,15 @@ private Constants() {
     throw new IllegalStateException("Constants class should not be constructed");
   }
   public static final Mode currentMode = Mode.PROTO_ARM;
+  public static final Mode currentMode = Mode.PROTO_SHOOTER;
 
   public enum Mode {
     /** Running on a real robot. */
     REAL,
     PROTO_ARM,
 
+    PROTO_SHOOTER,
+
     /** Running a physics simulator. */
     SIM,
 
@@ -122,6 +125,28 @@ private ArmConstants() {}
     public static double SHOULDER_KV = 0.0;
     public static double SHOULDER_KG = 0.0;
   }
+  public static class ShooterConstants {
+    private ShooterConstants() {
+      throw new IllegalStateException("Static classes should not be constructed");
+    }
+    public static final int TOP_LEFT_ID = 13;
+    public static final int TOP_RIGHT_ID = 14;
+    public static final int BOTTOM_LEFT_ID = 15;
+    public static final int BOTTOM_RIGHT_ID = 16;
+    public static final int KICKER_ID = 17;
+
+    public static final double SHOOTER_KP = 0.000061;
+    public static final double SHOOTER_KI = 0.0;
+    public static final double SHOOTER_KD = 0.005;
+    public static final double SHOOTER_KF = 0.000152;
+
+    public static final boolean TOP_LEFT_INVERTED = false;
+    public static final boolean TOP_RIGHT_INVERTED = true;
+    public static final boolean BOTTOM_LEFT_INVERTED = true;
+    public static final boolean BOTTOM_RIGHT_INVERTED = false;
+    public static final boolean KICKER_INVERTED = true;
+  }
+
   public class ClimberConstants {
     private ClimberConstants() {
       throw new IllegalStateException("Static class should not be constructed");

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -13,6 +13,7 @@
 
 package frc.robot;
 
+import com.gos.lib.properties.PropertyManager;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import org.littletonrobotics.junction.LogFileUtil;
@@ -38,6 +39,8 @@ public class Robot extends LoggedRobot {
    */
   @Override
   public void robotInit() {
+    // Clear dead properties
+    PropertyManager.purgeExtraKeys();
     // Record metadata
     Logger.recordMetadata("ProjectName", BuildConstants.MAVEN_NAME);
     Logger.recordMetadata("BuildDate", BuildConstants.BUILD_DATE);
@@ -60,7 +63,7 @@ public void robotInit() {
     // Set up data receivers & replay source
     switch (Constants.currentMode) {
       case PROTO_ARM:
-      case REAL:
+      case REAL, PROTO_SHOOTER:
         // Running on a real robot, log to a USB stick ("/U/logs")
         Logger.addDataReceiver(new WPILOGWriter());
         Logger.addDataReceiver(new NT4Publisher());

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -37,9 +37,7 @@
 import frc.robot.subsystems.drive.module.ModuleIO;
 import frc.robot.subsystems.drive.module.ModuleIOSim;
 import frc.robot.subsystems.drive.module.ModuleIOTalonFX;
-import frc.robot.subsystems.shooter.ShooterIO;
-import frc.robot.subsystems.shooter.ShooterIOPrototype;
-import frc.robot.subsystems.shooter.ShooterSubsystem;
+import frc.robot.subsystems.shooter.*;
 import org.littletonrobotics.junction.networktables.LoggedDashboardChooser;
 import org.littletonrobotics.junction.networktables.LoggedDashboardNumber;
 
@@ -92,6 +90,15 @@ public RobotContainer() {
           m_shooter = new ShooterSubsystem(new ShooterIO() {});
           m_armSubsystem = new ArmSubsystem(new ArmIOPrototype() {});
           m_climber = new ClimberSubsystem(new ClimberIOPrototype());
+        case PROTO_SHOOTER -> {
+          m_driveSubsystem = new DriveSubsystem(
+                  new GyroIO() {
+                  },
+                  new ModuleIO() {},
+                  new ModuleIO() {},
+                  new ModuleIO() {},
+                  new ModuleIO() {});
+          m_shooter = new ShooterSubsystem(new ShooterIOPrototype());
         }
     case SIM -> {
 //       Sim robot, instantiate physics sim IO implementations
@@ -166,8 +173,8 @@ private void configureButtonBindings() {
             .whileFalse(m_armSubsystem.setWristPowerFactory(0.0));
 
     m_driveSubsystem.setDefaultCommand(
-        DriveCommands.joystickDrive(
-                m_driveSubsystem,
+      DriveCommands.joystickDrive(
+            m_driveSubsystem,
             () -> -controller.getLeftY(),
             () -> -controller.getLeftX(),
             () -> -controller.getRightX()));

diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java
@@ -5,22 +5,178 @@
 public interface ShooterIO {
   @AutoLog
   class ShooterIOInputs {
-    public double topLeftVelocity = 0.0;
-    public double topRightVelocity = 0.0;
-    public double bottomLeftVelocity = 0.0;
-    public double bottomRightVelocity = 0.0;
-    public double appliedOutput = 0.0;
-    public double currentDraw = 0.0;
-    public double temperature = 0.0;
+    protected double tlVelocityRots = 0.0;
+    protected double trVelocityRots = 0.0;
+    protected double blVelocityRots = 0.0;
+    protected double brVelocityRots = 0.0;
+    protected double tlAppliedVolts = 0.0;
+    protected double trAppliedVolts = 0.0;
+    protected double blAppliedVolts = 0.0;
+    protected double brAppliedVolts = 0.0;
+    protected double kickerAppliedVolts = 0.0;
+    protected double tlCurrentDraw = 0.0;
+    protected double trCurrentDraw = 0.0;
+    protected double blCurrentDraw = 0.0;
+    protected double brCurrentDraw = 0.0;
+    protected double kickerCurrentDraw = 0.0;
+    protected double tlTemperature = 0.0;
+    protected double trTemperature = 0.0;
+    protected double blTemperature = 0.0;
+    protected double brTemperature = 0.0;
 
-  }
 
-  default void updateInput(ShooterIOInputs inputs) {}
+    public double getTlVelocityRots() {
+      return tlVelocityRots;
+    }
+
+    public void setTlVelocityRots(double tlVelocityRots) {
+      this.tlVelocityRots = tlVelocityRots;
+    }
+
+    public double getTrVelocityRots() {
+      return trVelocityRots;
+    }
+
+    public void setTrVelocityRots(double trVelocityRots) {
+      this.trVelocityRots = trVelocityRots;
+    }
+
+    public double getBlVelocityRots() {
+      return blVelocityRots;
+    }
+
+    public void setBlVelocityRots(double blVelocityRots) {
+      this.blVelocityRots = blVelocityRots;
+    }
+
+    public double getBrVelocityRots() {
+      return brVelocityRots;
+    }
+
+    public void setBrVelocityRots(double brVelocityRots) {
+      this.brVelocityRots = brVelocityRots;
+    }
+
+    public double getTlAppliedVolts() {
+      return tlAppliedVolts;
+    }
+
+    public void setTlAppliedVolts(double tlAppliedVolts) {
+      this.tlAppliedVolts = tlAppliedVolts;
+    }
+
+    public double getTrAppliedVolts() {
+      return trAppliedVolts;
+    }
+
+    public void setTrAppliedVolts(double trAppliedVolts) {
+      this.trAppliedVolts = trAppliedVolts;
+    }
+
+    public double getBlAppliedVolts() {
+      return blAppliedVolts;
+    }
+
+    public void setBlAppliedVolts(double blAppliedVolts) {
+      this.blAppliedVolts = blAppliedVolts;
+    }
+
+    public double getBrAppliedVolts() {
+      return brAppliedVolts;
+    }
+
+    public void setBrAppliedVolts(double brAppliedVolts) {
+      this.brAppliedVolts = brAppliedVolts;
+    }
+
+    public double getKickerAppliedVolts() {
+      return kickerAppliedVolts;
+    }
+
+    public void setKickerAppliedVolts(double kickerAppliedVolts) {
+      this.kickerAppliedVolts = kickerAppliedVolts;
+    }
+
+    public double getTlCurrentDraw() {
+      return tlCurrentDraw;
+    }
+
+    public void setTlCurrentDraw(double tlCurrentDraw) {
+      this.tlCurrentDraw = tlCurrentDraw;
+    }
+
+    public double getTrCurrentDraw() {
+      return trCurrentDraw;
+    }
+
+    public void setTrCurrentDraw(double trCurrentDraw) {
+      this.trCurrentDraw = trCurrentDraw;
+    }
+
+    public double getBlCurrentDraw() {
+      return blCurrentDraw;
+    }
+
+    public void setBlCurrentDraw(double blCurrentDraw) {
+      this.blCurrentDraw = blCurrentDraw;
+    }
+
+    public double getBrCurrentDraw() {
+      return brCurrentDraw;
+    }
+
+    public void setBrCurrentDraw(double brCurrentDraw) {
+      this.brCurrentDraw = brCurrentDraw;
+    }
+
+    public double getKickerCurrentDraw() {
+      return kickerCurrentDraw;
+    }
+
+    public void setKickerCurrentDraw(double kickerCurrentDraw) {
+      this.kickerCurrentDraw = kickerCurrentDraw;
+    }
+
+    public double getTlTemperature() {
+      return tlTemperature;
+    }
+
+    public void setTlTemperature(double tlTemperature) {
+      this.tlTemperature = tlTemperature;
+    }
+
+    public double getTrTemperature() {
+      return trTemperature;
+    }
+
+    public void setTrTemperature(double trTemperature) {
+      this.trTemperature = trTemperature;
+    }
+
+    public double getBlTemperature() {
+      return blTemperature;
+    }
+
+    public void setBlTemperature(double blTemperature) {
+      this.blTemperature = blTemperature;
+    }
+
+    public double getBrTemperature() {
+      return brTemperature;
+    }
+
+    public void setBrTemperature(double brTemperature) {
+      this.brTemperature = brTemperature;
+    }
+  }
   default void setMotorVoltageTL(double voltage) {}
   default void setMotorVoltageTR(double voltage) {}
   default void setMotorVoltageBL(double voltage) {}
   default void setMotorVoltageBR(double voltage) {}
   default void setKickerVoltage(double voltage) {}
   default void setIntakeVoltage(double voltage) {}
+  default void setLeftVelocityRpm(double rpm) {}
+  default void setRightVelocityRpm(double rpm) {}
+  default void updateInputs(ShooterIOInputs inputs) {}
 
 }