From e467c329a9b37b213ee584e1bbf9bc7bb438a9df Mon Sep 17 00:00:00 2001 From: Amrik Verma Date: Tue, 23 Jan 2024 16:31:04 -0800 Subject: [PATCH 01/10] Magazine Subsytem Created --- Robot2024/src/main/java/com/team2813/subsytems/Drive.java | 4 ++++ Robot2024/src/main/java/com/team2813/subsytems/magazine.java | 4 ++++ 2 files changed, 8 insertions(+) create mode 100644 Robot2024/src/main/java/com/team2813/subsytems/Drive.java create mode 100644 Robot2024/src/main/java/com/team2813/subsytems/magazine.java diff --git a/Robot2024/src/main/java/com/team2813/subsytems/Drive.java b/Robot2024/src/main/java/com/team2813/subsytems/Drive.java new file mode 100644 index 0000000..be47961 --- /dev/null +++ b/Robot2024/src/main/java/com/team2813/subsytems/Drive.java @@ -0,0 +1,4 @@ +package com.team2813.subsytems; + +public class Drive { +} diff --git a/Robot2024/src/main/java/com/team2813/subsytems/magazine.java b/Robot2024/src/main/java/com/team2813/subsytems/magazine.java new file mode 100644 index 0000000..2bf3833 --- /dev/null +++ b/Robot2024/src/main/java/com/team2813/subsytems/magazine.java @@ -0,0 +1,4 @@ +package com.team2813.subsytems; + +public class magazine { +} From 8364991716be744ff5f9fe79f8e20bd773c85cd3 Mon Sep 17 00:00:00 2001 From: Amrik Verma Date: Tue, 23 Jan 2024 16:37:34 -0800 Subject: [PATCH 02/10] Delete Drive.java --- Robot2024/src/main/java/com/team2813/subsytems/Drive.java | 4 ---- 1 file changed, 4 deletions(-) delete mode 100644 Robot2024/src/main/java/com/team2813/subsytems/Drive.java diff --git a/Robot2024/src/main/java/com/team2813/subsytems/Drive.java b/Robot2024/src/main/java/com/team2813/subsytems/Drive.java deleted file mode 100644 index be47961..0000000 --- a/Robot2024/src/main/java/com/team2813/subsytems/Drive.java +++ /dev/null @@ -1,4 +0,0 @@ -package com.team2813.subsytems; - -public class Drive { -} From 3eef8e241b07c1888717915c641f4cea4e2f59b9 Mon Sep 17 00:00:00 2001 From: Amrik Verma Date: Tue, 23 Jan 2024 16:47:18 -0800 Subject: [PATCH 03/10] Set up --- .../src/main/java/com/team2813/Constants.java | 45 ++++++++++++++++++- .../java/com/team2813/subsytems/Magazine.java | 13 ++++++ .../java/com/team2813/subsytems/magazine.java | 4 -- 3 files changed, 57 insertions(+), 5 deletions(-) create mode 100644 Robot2024/src/main/java/com/team2813/subsytems/Magazine.java delete mode 100644 Robot2024/src/main/java/com/team2813/subsytems/magazine.java diff --git a/Robot2024/src/main/java/com/team2813/Constants.java b/Robot2024/src/main/java/com/team2813/Constants.java index 0bc2990..18bcf0b 100644 --- a/Robot2024/src/main/java/com/team2813/Constants.java +++ b/Robot2024/src/main/java/com/team2813/Constants.java @@ -4,6 +4,9 @@ package com.team2813; +import edu.wpi.first.wpilibj2.command.button.CommandPS4Controller; +import edu.wpi.first.wpilibj2.command.button.Trigger; + /** * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean * constants. This class should not be used for any other purpose. All constants should be declared @@ -13,7 +16,47 @@ * constants are needed, to reduce verbosity. */ public final class Constants { + + public static class OperatorConstants { - public static final int kDriverControllerPort = 0; + public static final int operatorControllerPort = 0; } + public static class DriverConstants { + public static final int driverControllerPort = 0; + public static final CommandPS4Controller DRIVER_CONTROLLER = new CommandPS4Controller(driverControllerPort); + public static final Trigger SLOWMODE_BUTTON = DRIVER_CONTROLLER.L1(); + } + + // front right swerve module + public static final int FRONT_RIGHT_DRIVE_ID = 1; + public static final int FRONT_RIGHT_ENCODER_ID = 2; + public static final int FRONT_RIGHT_STEER_ID = 3; + + // front left swerve module + public static final int FRONT_LEFT_DRIVE_ID = 4; + public static final int FRONT_LEFT_ENCODER_ID = 5; + public static final int FRONT_LEFT_STEER_ID = 6; + + // back right swerve module + public static final int BACK_RIGHT_DRIVE_ID = 7; + public static final int BACK_RIGHT_ENCODER_ID = 8; + public static final int BACK_RIGHT_STEER_ID = 9; + + // back left swerve module + public static final int BACK_LEFT_DRIVE_ID = 10; + public static final int BACK_LEFT_ENCODER_ID = 11; + public static final int BACK_LEFT_STEER_ID = 12; + + // pigeon + public static final int PIGEON_ID = 13; + + //Mechanism CAN IDs + public static final int INTAKE = 14; + public static final int LEFT_MAGAZINE = 15; + public static final int SHOOTER = 16; + public static final int SHOOTER_PIVOT= 17; + public static final int CLIMBER = 18; + public static final int RIGHT_MAGAZINE = 19; + public static final int INTAKE_PIVOT = 20; + } diff --git a/Robot2024/src/main/java/com/team2813/subsytems/Magazine.java b/Robot2024/src/main/java/com/team2813/subsytems/Magazine.java new file mode 100644 index 0000000..61d236e --- /dev/null +++ b/Robot2024/src/main/java/com/team2813/subsytems/Magazine.java @@ -0,0 +1,13 @@ +package com.team2813.subsytems; + +import com.ctre.phoenix.motorcontrol.TalonFXInvertType; + +//import com.team2813.lib2813.control.motors; +import com.team2813.lib2813.control.motors.TalonFXWrapper; + +import edu.wpi.first.wpilibj2.command.SubsystemBase; + +public class Magazine extends SubsystemBase { + private final TalonFXWrapper intakeMotor = new TalonFXWrapper(LEFT_MAGAZINE, TalonFXInvertType.Clockwise); + private final TalonFXWrapper pivotMotor = new TalonFXWrapper(RIGHT_MAGAZINE, TalonFXInvertType.CounterClockwise); +} \ No newline at end of file diff --git a/Robot2024/src/main/java/com/team2813/subsytems/magazine.java b/Robot2024/src/main/java/com/team2813/subsytems/magazine.java deleted file mode 100644 index 2bf3833..0000000 --- a/Robot2024/src/main/java/com/team2813/subsytems/magazine.java +++ /dev/null @@ -1,4 +0,0 @@ -package com.team2813.subsytems; - -public class magazine { -} From 1332e0a68fd726a33ec809409c84ca5e7066aee4 Mon Sep 17 00:00:00 2001 From: Amrik Verma Date: Tue, 23 Jan 2024 16:55:51 -0800 Subject: [PATCH 04/10] Mag Code with both Motor types --- .../java/com/team2813/subsytems/Magazine.java | 20 ++++++++++++++++--- 1 file changed, 17 insertions(+), 3 deletions(-) diff --git a/Robot2024/src/main/java/com/team2813/subsytems/Magazine.java b/Robot2024/src/main/java/com/team2813/subsytems/Magazine.java index 61d236e..8df8fef 100644 --- a/Robot2024/src/main/java/com/team2813/subsytems/Magazine.java +++ b/Robot2024/src/main/java/com/team2813/subsytems/Magazine.java @@ -1,13 +1,27 @@ package com.team2813.subsytems; +import com.ctre.phoenix.motorcontrol.NeutralMode; import com.ctre.phoenix.motorcontrol.TalonFXInvertType; -//import com.team2813.lib2813.control.motors; +import com.revrobotics.CANSparkLowLevel; import com.team2813.lib2813.control.motors.TalonFXWrapper; +//import com.team2813.lib2813.control.motors.SparkMaxWrapper; +import com.team2813.lib2813.control.ControlMode; import edu.wpi.first.wpilibj2.command.SubsystemBase; +import static com.team2813.Constants.*; public class Magazine extends SubsystemBase { - private final TalonFXWrapper intakeMotor = new TalonFXWrapper(LEFT_MAGAZINE, TalonFXInvertType.Clockwise); - private final TalonFXWrapper pivotMotor = new TalonFXWrapper(RIGHT_MAGAZINE, TalonFXInvertType.CounterClockwise); + private final TalonFXWrapper leftMagMotor = new TalonFXWrapper(LEFT_MAGAZINE, TalonFXInvertType.Clockwise); + private final TalonFXWrapper rightMagMotor = new TalonFXWrapper(RIGHT_MAGAZINE, TalonFXInvertType.Clockwise); + + //private final SparkMaxWrapper leftMagMotor = new SparkMaxWrapper(LEFT_MAGAZINE, CANSparkLowLevel.MotorType.kBrushless, true); + //private final SparkMaxWrapper rightMagMotor = new SparkMaxWrapper(RIGHT_MAGAZINE, CANSparkLowLevel.MotorType.kBrushless, true); + + public Magazine() { + + + } + + public void magazine() { leftMagMotor.set(ControlMode.DUTY_CYCLE, 0.5); rightMagMotor.set(ControlMode.DUTY_CYCLE, 0.5); } } \ No newline at end of file From 84093a76fa6adc62f5bd3917cc53aa8b7ff5885b Mon Sep 17 00:00:00 2001 From: Amrik Verma Date: Tue, 23 Jan 2024 17:18:45 -0800 Subject: [PATCH 05/10] Naming ID Convention Updated --- Robot2024/src/main/java/com/team2813/Constants.java | 4 ++-- .../src/main/java/com/team2813/subsytems/Magazine.java | 8 +++----- 2 files changed, 5 insertions(+), 7 deletions(-) diff --git a/Robot2024/src/main/java/com/team2813/Constants.java b/Robot2024/src/main/java/com/team2813/Constants.java index 18bcf0b..8c226d7 100644 --- a/Robot2024/src/main/java/com/team2813/Constants.java +++ b/Robot2024/src/main/java/com/team2813/Constants.java @@ -52,11 +52,11 @@ public static class DriverConstants { //Mechanism CAN IDs public static final int INTAKE = 14; - public static final int LEFT_MAGAZINE = 15; + public static final int KICKER = 15; //Left-Magazine Motor public static final int SHOOTER = 16; public static final int SHOOTER_PIVOT= 17; public static final int CLIMBER = 18; - public static final int RIGHT_MAGAZINE = 19; + public static final int MAGAZINE = 19; //Right-Magazine Motor public static final int INTAKE_PIVOT = 20; } diff --git a/Robot2024/src/main/java/com/team2813/subsytems/Magazine.java b/Robot2024/src/main/java/com/team2813/subsytems/Magazine.java index 8df8fef..ac1e9be 100644 --- a/Robot2024/src/main/java/com/team2813/subsytems/Magazine.java +++ b/Robot2024/src/main/java/com/team2813/subsytems/Magazine.java @@ -2,18 +2,16 @@ import com.ctre.phoenix.motorcontrol.NeutralMode; import com.ctre.phoenix.motorcontrol.TalonFXInvertType; - import com.revrobotics.CANSparkLowLevel; import com.team2813.lib2813.control.motors.TalonFXWrapper; //import com.team2813.lib2813.control.motors.SparkMaxWrapper; import com.team2813.lib2813.control.ControlMode; - import edu.wpi.first.wpilibj2.command.SubsystemBase; import static com.team2813.Constants.*; public class Magazine extends SubsystemBase { - private final TalonFXWrapper leftMagMotor = new TalonFXWrapper(LEFT_MAGAZINE, TalonFXInvertType.Clockwise); - private final TalonFXWrapper rightMagMotor = new TalonFXWrapper(RIGHT_MAGAZINE, TalonFXInvertType.Clockwise); + private final TalonFXWrapper kickerMotor = new TalonFXWrapper(KICKER, TalonFXInvertType.Clockwise); + private final TalonFXWrapper magazineMotor = new TalonFXWrapper(MAGAZINE, TalonFXInvertType.Clockwise); //private final SparkMaxWrapper leftMagMotor = new SparkMaxWrapper(LEFT_MAGAZINE, CANSparkLowLevel.MotorType.kBrushless, true); //private final SparkMaxWrapper rightMagMotor = new SparkMaxWrapper(RIGHT_MAGAZINE, CANSparkLowLevel.MotorType.kBrushless, true); @@ -23,5 +21,5 @@ public Magazine() { } - public void magazine() { leftMagMotor.set(ControlMode.DUTY_CYCLE, 0.5); rightMagMotor.set(ControlMode.DUTY_CYCLE, 0.5); } + public void magazine() { kickerMotor.set(ControlMode.DUTY_CYCLE, 0.5); magazineMotor.set(ControlMode.DUTY_CYCLE, 0.5); } } \ No newline at end of file From 7f74795a3bdaf6abdce96e39a95ecabdc33fe392 Mon Sep 17 00:00:00 2001 From: Amrik Verma Date: Tue, 23 Jan 2024 17:27:30 -0800 Subject: [PATCH 06/10] Update Constants.java --- Robot2024/src/main/java/com/team2813/Constants.java | 13 ++++++------- 1 file changed, 6 insertions(+), 7 deletions(-) diff --git a/Robot2024/src/main/java/com/team2813/Constants.java b/Robot2024/src/main/java/com/team2813/Constants.java index 8c226d7..6e17570 100644 --- a/Robot2024/src/main/java/com/team2813/Constants.java +++ b/Robot2024/src/main/java/com/team2813/Constants.java @@ -16,8 +16,6 @@ * constants are needed, to reduce verbosity. */ public final class Constants { - - public static class OperatorConstants { public static final int operatorControllerPort = 0; } @@ -52,11 +50,12 @@ public static class DriverConstants { //Mechanism CAN IDs public static final int INTAKE = 14; - public static final int KICKER = 15; //Left-Magazine Motor + public static final int KICKER = 15; public static final int SHOOTER = 16; public static final int SHOOTER_PIVOT= 17; - public static final int CLIMBER = 18; - public static final int MAGAZINE = 19; //Right-Magazine Motor - public static final int INTAKE_PIVOT = 20; - + public static final int SHOOTER_ENCODER = 18; + public static final int CLIMBER = 19; + public static final int MAGAZINE = 20; + public static final int INTAKE_ENCODER = 21; + public static final int INTAKE_PIVOT = 22; } From a20a1e2d565e33a3aa94034f7ee2a69e5d78959b Mon Sep 17 00:00:00 2001 From: Amrik Verma Date: Tue, 23 Jan 2024 17:30:14 -0800 Subject: [PATCH 07/10] funny naming fixed --- .../java/com/team2813/{subsytems => subsystems}/Magazine.java | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) rename Robot2024/src/main/java/com/team2813/{subsytems => subsystems}/Magazine.java (89%) diff --git a/Robot2024/src/main/java/com/team2813/subsytems/Magazine.java b/Robot2024/src/main/java/com/team2813/subsystems/Magazine.java similarity index 89% rename from Robot2024/src/main/java/com/team2813/subsytems/Magazine.java rename to Robot2024/src/main/java/com/team2813/subsystems/Magazine.java index ac1e9be..2fadf19 100644 --- a/Robot2024/src/main/java/com/team2813/subsytems/Magazine.java +++ b/Robot2024/src/main/java/com/team2813/subsystems/Magazine.java @@ -1,8 +1,6 @@ -package com.team2813.subsytems; +package com.team2813.subsystems; -import com.ctre.phoenix.motorcontrol.NeutralMode; import com.ctre.phoenix.motorcontrol.TalonFXInvertType; -import com.revrobotics.CANSparkLowLevel; import com.team2813.lib2813.control.motors.TalonFXWrapper; //import com.team2813.lib2813.control.motors.SparkMaxWrapper; import com.team2813.lib2813.control.ControlMode; From 78e3cb1d422a43a3c5142d9d05c5e6d165cd89ec Mon Sep 17 00:00:00 2001 From: cuttestkittensrule Date: Thu, 1 Feb 2024 16:12:38 -0800 Subject: [PATCH 08/10] changed mag to use Motor interface and addFollower --- .../com/team2813/subsystems/Magazine.java | 22 +++++++++++-------- 1 file changed, 13 insertions(+), 9 deletions(-) diff --git a/Robot2024/src/main/java/com/team2813/subsystems/Magazine.java b/Robot2024/src/main/java/com/team2813/subsystems/Magazine.java index 2fadf19..e7fd3b3 100644 --- a/Robot2024/src/main/java/com/team2813/subsystems/Magazine.java +++ b/Robot2024/src/main/java/com/team2813/subsystems/Magazine.java @@ -2,22 +2,26 @@ import com.ctre.phoenix.motorcontrol.TalonFXInvertType; import com.team2813.lib2813.control.motors.TalonFXWrapper; -//import com.team2813.lib2813.control.motors.SparkMaxWrapper; import com.team2813.lib2813.control.ControlMode; +import com.team2813.lib2813.control.Motor; + import edu.wpi.first.wpilibj2.command.SubsystemBase; import static com.team2813.Constants.*; public class Magazine extends SubsystemBase { - private final TalonFXWrapper kickerMotor = new TalonFXWrapper(KICKER, TalonFXInvertType.Clockwise); - private final TalonFXWrapper magazineMotor = new TalonFXWrapper(MAGAZINE, TalonFXInvertType.Clockwise); - - //private final SparkMaxWrapper leftMagMotor = new SparkMaxWrapper(LEFT_MAGAZINE, CANSparkLowLevel.MotorType.kBrushless, true); - //private final SparkMaxWrapper rightMagMotor = new SparkMaxWrapper(RIGHT_MAGAZINE, CANSparkLowLevel.MotorType.kBrushless, true); + private final Motor kickerMotor; public Magazine() { - - + TalonFXWrapper kickerMotor = new TalonFXWrapper(KICKER, TalonFXInvertType.CounterClockwise); + kickerMotor.addFollower(MAGAZINE, TalonFXInvertType.FollowMaster); + this.kickerMotor = kickerMotor; } - public void magazine() { kickerMotor.set(ControlMode.DUTY_CYCLE, 0.5); magazineMotor.set(ControlMode.DUTY_CYCLE, 0.5); } + public void run() { + kickerMotor.set(ControlMode.DUTY_CYCLE, 0.5); + } + + public void stop() { + kickerMotor.set(ControlMode.DUTY_CYCLE, 0); + } } \ No newline at end of file From 282b0ee7bd567e1d56549dff13daafbb704998ef Mon Sep 17 00:00:00 2001 From: Amrik Verma Date: Thu, 1 Feb 2024 16:36:33 -0800 Subject: [PATCH 09/10] Removed private final --- Robot2024/src/main/java/com/team2813/subsystems/Magazine.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Robot2024/src/main/java/com/team2813/subsystems/Magazine.java b/Robot2024/src/main/java/com/team2813/subsystems/Magazine.java index e7fd3b3..a0cf128 100644 --- a/Robot2024/src/main/java/com/team2813/subsystems/Magazine.java +++ b/Robot2024/src/main/java/com/team2813/subsystems/Magazine.java @@ -9,7 +9,7 @@ import static com.team2813.Constants.*; public class Magazine extends SubsystemBase { - private final Motor kickerMotor; + Motor kickerMotor; public Magazine() { TalonFXWrapper kickerMotor = new TalonFXWrapper(KICKER, TalonFXInvertType.CounterClockwise); From d40e0e1849e21740e2dd5c46b6df68a7cc23ca7b Mon Sep 17 00:00:00 2001 From: Amrik Verma Date: Thu, 1 Feb 2024 16:54:03 -0800 Subject: [PATCH 10/10] Resolving Constants Conflict for Merging --- .../src/main/java/com/team2813/Constants.java | 15 ++++++++------- 1 file changed, 8 insertions(+), 7 deletions(-) diff --git a/Robot2024/src/main/java/com/team2813/Constants.java b/Robot2024/src/main/java/com/team2813/Constants.java index 6e17570..3f8bc4f 100644 --- a/Robot2024/src/main/java/com/team2813/Constants.java +++ b/Robot2024/src/main/java/com/team2813/Constants.java @@ -51,11 +51,12 @@ public static class DriverConstants { //Mechanism CAN IDs public static final int INTAKE = 14; public static final int KICKER = 15; - public static final int SHOOTER = 16; - public static final int SHOOTER_PIVOT= 17; - public static final int SHOOTER_ENCODER = 18; - public static final int CLIMBER = 19; - public static final int MAGAZINE = 20; - public static final int INTAKE_ENCODER = 21; - public static final int INTAKE_PIVOT = 22; + public static final int SHOOTER_1 = 16; + public static final int SHOOTER_2 = 17; + public static final int SHOOTER_PIVOT= 18; + public static final int SHOOTER_ENCODER = 19; + public static final int CLIMBER = 20; + public static final int MAGAZINE = 21; + public static final int INTAKE_ENCODER = 22; + public static final int INTAKE_PIVOT = 23; }