diff --git a/src/main/deploy/choreo/DepotAuto.traj b/src/main/deploy/choreo/DepotAuto.traj index 4b0dddf..f9127a5 100644 --- a/src/main/deploy/choreo/DepotAuto.traj +++ b/src/main/deploy/choreo/DepotAuto.traj @@ -3,8 +3,8 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.605270385742187, "y":0.618207573890686, "heading":3.141592653589793, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":0.5110223293304443, "y":0.6496744751930237, "heading":3.141592653589793, "intervals":45, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.605270385742187, "y":0.618207573890686, "heading":3.141592653589793, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":0.5110223293304443, "y":0.6496744751930237, "heading":3.141592653589793, "intervals":56, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.25, "y":4.0215, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -16,12 +16,12 @@ {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}, {"from":2, "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":2.0}}, "enabled":true}], - "targetDt":0.1 + "targetDt":0.08 }, "params":{ "waypoints":[ - {"x":{"exp":"3.6052703857421875 m", "val":3.605270385742187}, "y":{"exp":"0.618207573890686 m", "val":0.618207573890686}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"0.5110223293304443 m", "val":0.5110223293304443}, "y":{"exp":"0.6496744751930237 m", "val":0.6496744751930237}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":45, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"3.6052703857421875 m", "val":3.605270385742187}, "y":{"exp":"0.618207573890686 m", "val":0.618207573890686}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"0.5110223293304443 m", "val":0.5110223293304443}, "y":{"exp":"0.6496744751930237 m", "val":0.6496744751930237}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":56, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"Score.x", "val":2.25}, "y":{"exp":"Score.y", "val":4.0215}, "heading":{"exp":"Score.heading", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", 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"ax":5.16939, "ay":-8.80618, "alpha":19.36409, "fx":[-11.21826,77.17336,128.76639,39.75821], "fy":[-132.59443,-108.49965,-33.49752,-124.84987]}, {"t":5.52018, "x":3.02203, "y":1.23818, "heading":1.3177, "vx":-0.73154, "vy":0.83349, "omega":-3.23006, "ax":5.97302, "ay":-8.14586, "alpha":19.93238, "fx":[-23.56689,69.63849,127.53936,97.32082], "fy":[-131.00384,-113.52552,-38.12239,-86.83809]}, {"t":5.55051, "x":3.00259, "y":1.25971, "heading":1.21974, "vx":-0.55039, "vy":0.58645, "omega":-2.62556, "ax":6.30602, "ay":-6.77886, "alpha":25.92043, "fx":[-32.89045,63.00245,125.91637,130.00803], "fy":[-129.00653,-117.3663,-43.31067,-17.8003]}, - {"t":5.58084, "x":2.9888, "y":1.27438, "heading":1.14011, "vx":-0.35915, "vy":0.38086, "omega":-1.83946, "ax":6.03076, "ay":-6.28838, "alpha":29.70538, "fx":[-39.62208,57.46117,124.13856,131.57284], "fy":[-127.12117,-120.19618,-48.25032,10.33168]}, + {"t":5.58083, "x":2.9888, "y":1.27438, "heading":1.14011, "vx":-0.35915, "vy":0.38086, "omega":-1.83946, "ax":6.03076, "ay":-6.28838, "alpha":29.70538, "fx":[-39.62208,57.46117,124.13856,131.57284], "fy":[-127.12117,-120.19618,-48.25032,10.33168]}, {"t":5.61116, "x":2.98068, "y":1.28304, "heading":1.08433, "vx":-0.17625, "vy":0.19015, "omega":-0.93857, "ax":5.8115, "ay":-6.27, "alpha":30.94791, "fx":[-43.79213,53.44025,122.54383,131.41345], "fy":[-125.76289,-122.05177,-52.22023,15.6327]}, {"t":5.64149, "x":2.97801, "y":1.28592, "heading":1.05586, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 3f510b5..632ecc8 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -80,7 +80,7 @@ public Robot() { case REAL: // Running on a real robot, log to a USB stick ("/U/logs") Logger.addDataReceiver(new WPILOGWriter()); - // Logger.addDataReceiver(new NT4Publisher()); + Logger.addDataReceiver(new NT4Publisher()); break; case SIM: diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index c0bfe59..217a058 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -397,14 +397,10 @@ private void configureButtonBindings() { .withName("ToggleIntakeDeploy")); // X Button: hold to spin flywheel at manualFlywheelSpeed (tuning, Choreographer off) - /*controller - .x() - .whileTrue( - Commands.parallel( - flywheel.runFixedCommand(manualFlywheelSpeed).withName("TuneFlywheelSpin"), - kicker.runCommand()) - .withName("TuneFlywheelAndKicker")) - .onFalse(Commands.parallel(flywheel.stopCommand(), kicker.stopCommand()));*/ + controller + .x() + .onTrue(choreographer.setGoalCommand(Choreographer.Goal.REVERSE_INDEXER)) + .onFalse(choreographer.setGoalCommand(Choreographer.Goal.IDLE)); // Y Button: hold to move hood to manualHoodAngle (tuning, Choreographer off) controller diff --git a/src/main/java/frc/robot/generated/TunerConstants.java b/src/main/java/frc/robot/generated/TunerConstants.java index 9b5de22..aa1bf0e 100644 --- a/src/main/java/frc/robot/generated/TunerConstants.java +++ b/src/main/java/frc/robot/generated/TunerConstants.java @@ -57,7 +57,7 @@ public class TunerConstants { // The stator current at which the wheels start to slip; // This needs to be tuned to your individual robot - private static final Current kSlipCurrent = Amps.of(100); + private static final Current kSlipCurrent = Amps.of(80); // Initial configs for the drive and steer motors and the azimuth encoder; these cannot be null. // Some configs will be overwritten; check the `with*InitialConfigs()` API documentation. @@ -97,8 +97,8 @@ public class TunerConstants { private static final int kPigeonId = 13; // These are only used for simulation - private static final MomentOfInertia kSteerInertia = KilogramSquareMeters.of(0.01); - private static final MomentOfInertia kDriveInertia = KilogramSquareMeters.of(0.01); + private static final MomentOfInertia kSteerInertia = KilogramSquareMeters.of(0.004); + private static final MomentOfInertia kDriveInertia = KilogramSquareMeters.of(0.025); // Simulated voltage necessary to overcome friction private static final Voltage kSteerFrictionVoltage = Volts.of(0.2); private static final Voltage kDriveFrictionVoltage = Volts.of(0.2); diff --git a/src/main/java/frc/robot/subsystems/Choreographer.java b/src/main/java/frc/robot/subsystems/Choreographer.java index 9550c5d..cc096a4 100644 --- a/src/main/java/frc/robot/subsystems/Choreographer.java +++ b/src/main/java/frc/robot/subsystems/Choreographer.java @@ -35,7 +35,8 @@ public enum Goal { INTAKE, SCORE_HUB, CLIMB_EXTEND, - CLIMB_RETRACT + CLIMB_RETRACT, + REVERSE_INDEXER } public enum State { @@ -45,7 +46,8 @@ public enum State { WAITING_FOR_ALIGNMENT, SHOOTING, CLIMB_EXTENDING, - CLIMB_RETRACTING + CLIMB_RETRACTING, + REVERSING_INDEXER } @Getter @@ -119,6 +121,7 @@ public void periodic() { case SCORE_HUB -> handleScoreHub(); case CLIMB_EXTEND -> handleClimb(State.CLIMB_EXTENDING); case CLIMB_RETRACT -> handleClimb(State.CLIMB_RETRACTING); + case REVERSE_INDEXER -> handleReverseIndexer(); } logOutputs(); @@ -132,6 +135,15 @@ private void handleIdle() { currentState = State.IDLE; } + private void handleReverseIndexer() { + flywheel.stop(); + hood.stow(); + indexer.runReversed(); + kicker.stop(); + + currentState = State.REVERSING_INDEXER; + } + private void handleIntake() { flywheel.stop(); hood.stow(); diff --git a/src/main/java/frc/robot/subsystems/indexer/Indexer.java b/src/main/java/frc/robot/subsystems/indexer/Indexer.java index 3c16da1..4b38fd2 100644 --- a/src/main/java/frc/robot/subsystems/indexer/Indexer.java +++ b/src/main/java/frc/robot/subsystems/indexer/Indexer.java @@ -163,6 +163,11 @@ public void run() { running = true; } + public void runReversed() { + running = true; + reversing = true; + } + /** Run the indexer at a custom voltage (bypasses stall detection). */ public void runVolts(double volts) { running = true; @@ -183,6 +188,10 @@ public Command runCommand() { return runEnd(this::run, this::stop).withName("Indexer.run"); } + public Command runReversedCommand() { + return runEnd(this::runReversed, this::stop).withName("Indexer.runReversed"); + } + /** Command to stop the indexer. */ public Command stopCommand() { return runOnce(this::stop).withName("Indexer.stop"); diff --git a/src/main/java/frc/robot/subsystems/intake/Intake.java b/src/main/java/frc/robot/subsystems/intake/Intake.java index 2f70a43..ef7403b 100644 --- a/src/main/java/frc/robot/subsystems/intake/Intake.java +++ b/src/main/java/frc/robot/subsystems/intake/Intake.java @@ -48,7 +48,7 @@ public class Intake extends FullSubsystem { private static final LoggedTunableNumber toleranceDeg = new LoggedTunableNumber("IntakePivot/ToleranceDeg"); private static final LoggedTunableNumber runVolts = - new LoggedTunableNumber("IntakeRollers/RunVolts", 5.5); + new LoggedTunableNumber("IntakeRollers/RunVolts", 7.25); private static final LoggedTunableNumber homingRollerReverseVolts = new LoggedTunableNumber("Intake/Homing/RollerReverseVolts", -2.0); private static final LoggedTunableNumber homingPulseOnSec = diff --git a/src/main/java/frc/robot/subsystems/shooter/ShotCalculator.java b/src/main/java/frc/robot/subsystems/shooter/ShotCalculator.java index a8f19c7..f5be51a 100644 --- a/src/main/java/frc/robot/subsystems/shooter/ShotCalculator.java +++ b/src/main/java/frc/robot/subsystems/shooter/ShotCalculator.java @@ -163,7 +163,7 @@ public static record LaunchPreset( static { minDistance = 1.969; - maxDistance = 5; + maxDistance = 6; phaseDelay = 0.03; passingMinDistance = 5.4; passingMaxDistance = 17.16; diff --git a/src/main/java/frc/robot/subsystems/shooter/flywheel/Flywheel.java b/src/main/java/frc/robot/subsystems/shooter/flywheel/Flywheel.java index fbfcc9c..9f91b84 100644 --- a/src/main/java/frc/robot/subsystems/shooter/flywheel/Flywheel.java +++ b/src/main/java/frc/robot/subsystems/shooter/flywheel/Flywheel.java @@ -73,7 +73,7 @@ public enum ControlMode { static { switch (Constants.getMode()) { case REAL, REPLAY -> { - voltageKP.initDefault(0.1); + voltageKP.initDefault(.7); voltageKD.initDefault(0.0); voltageKS.initDefault(0.23013); voltageKV.initDefault(0.12021); diff --git a/src/main/java/frc/robot/subsystems/shooter/flywheel/FlywheelIOTalonFX.java b/src/main/java/frc/robot/subsystems/shooter/flywheel/FlywheelIOTalonFX.java index fda406d..4d38ba6 100644 --- a/src/main/java/frc/robot/subsystems/shooter/flywheel/FlywheelIOTalonFX.java +++ b/src/main/java/frc/robot/subsystems/shooter/flywheel/FlywheelIOTalonFX.java @@ -63,12 +63,12 @@ public FlywheelIOTalonFX() { config.MotorOutput.Inverted = InvertedValue.Clockwise_Positive; config.MotorOutput.NeutralMode = NeutralModeValue.Coast; config.Feedback.SensorToMechanismRatio = 1.0; - config.CurrentLimits.SupplyCurrentLimit = 80.0; + config.CurrentLimits.SupplyCurrentLimit = 45.0; config.CurrentLimits.SupplyCurrentLimitEnable = true; var followerConfig = new TalonFXConfiguration(); followerConfig.MotorOutput.NeutralMode = NeutralModeValue.Coast; - followerConfig.CurrentLimits.SupplyCurrentLimit = 80.0; + followerConfig.CurrentLimits.SupplyCurrentLimit = 45.0; followerConfig.CurrentLimits.SupplyCurrentLimitEnable = true; PhoenixUtil.tryUntilOk(5, () -> talon.getConfigurator().apply(config));