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Merged
Eddie-Edward merged 2 commits into from
Feb 1, 2025
Merged

Flywheel Commands #5

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4ba7906
Changed the positions for the shooter pivot and added the flywheel co…
joelzoto Feb 1, 2025
c674253
Merge branch 'CrevolutionRoboticsProgramming:main' into main
joelzoto Feb 1, 2025
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16 changes: 16 additions & 0 deletions src/main/java/frc/robot/algaeflywheel/commands/AlgaeFlyWheelCommands.java
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package frc.robot.algaeflywheel.commands;

import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.wpilibj2.command.Command;

import java.util.function.Supplier;

public class AlgaeFlyWheelCommands {
public static Command setAngularVelocity(Supplier<Rotation2d> leftVelocitySupplier, Supplier<Rotation2d> rightVelocitySupplier) {
return new SetVelocityAlgaeFlyWheel(leftVelocitySupplier, rightVelocitySupplier);
}

public static Command setAngularVelocity(Supplier<Rotation2d> velocitySupplier) {
return setAngularVelocity(velocitySupplier, velocitySupplier);
}
}
57 changes: 57 additions & 0 deletions src/main/java/frc/robot/algaeflywheel/commands/SetVelocityAlgaeFlyWheel.java
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package frc.robot.algaeflywheel.commands;

import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.wpilibj.GenericHID.RumbleType;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.algaeflywheel.AlgaeFlyWheel;
import frc.robot.operator.OperatorXbox;

import java.util.function.Supplier;

public class SetVelocityAlgaeFlyWheel extends Command {
private final AlgaeFlyWheel flywheel;
private final Supplier<Rotation2d> leftVelocitySupplier, rightVelocitySupplier;

private final Rotation2d kAllowedError = Rotation2d.fromRotations(5); // 300 RPM

SetVelocityAlgaeFlyWheel(Supplier<Rotation2d> leftVelocitySupplier, Supplier<Rotation2d> rightVelocitySupplier) {
flywheel = AlgaeFlyWheel.getInstance();
this.leftVelocitySupplier = leftVelocitySupplier;
this.rightVelocitySupplier = rightVelocitySupplier;
}

SetVelocityAlgaeFlyWheel(Supplier<Rotation2d> velocitySupplier) {
this(velocitySupplier, velocitySupplier);
}

@Override
public void execute() {
final var leftVel = leftVelocitySupplier.get();
final var rightVel = rightVelocitySupplier.get();
flywheel.setRightFlywheelVelocity(leftVel);
flywheel.setLeftFlywheelVelocity(rightVel);

SmartDashboard.putBoolean("Shooter Ready (left)", (Math.abs(leftVel.getRotations()) - (Math.abs(flywheel.getLeftFlywheelVelocity().getRotations()))) < kAllowedError.getRotations());
SmartDashboard.putBoolean("Shooter Ready (right)", (Math.abs(rightVel.getRotations()) - (Math.abs(flywheel.getRightFlywheelVelocity().getRotations()))) < kAllowedError.getRotations());

var leftAtVel = (Math.abs(leftVel.getRotations()) - (Math.abs(flywheel.getLeftFlywheelVelocity().getRotations()))) < kAllowedError.getRotations();
var rightAtVel = (Math.abs(rightVel.getRotations()) - (Math.abs(flywheel.getRightFlywheelVelocity().getRotations()))) < kAllowedError.getRotations();
if (leftAtVel || rightAtVel) {
OperatorXbox.getInstance().controller.getHID().setRumble(RumbleType.kBothRumble, 1);
} else {
OperatorXbox.getInstance().controller.getHID().setRumble(RumbleType.kBothRumble, 0);
}
}

@Override
public boolean isFinished() {
return false;
}

@Override
public void end(boolean isInterrupted) {
flywheel.setRightFlywheelVelocity(Rotation2d.fromDegrees(0));
flywheel.setLeftFlywheelVelocity(Rotation2d.fromDegrees(0));
}
}
19 changes: 5 additions & 14 deletions src/main/java/frc/robot/algaeshooterpivot/commands/SetAngleAlgaePivot.java
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.


package frc.robot.algaeshooterpivot.commands;

Expand All @@ -10,24 +8,17 @@
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.algaeshooterpivot.AlgaeShooterPivot;

/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
public class SetAngleAlgaePivot extends Command {
AlgaeShooterPivot mAlgaeShooterPivot;
Supplier<Rotation2d> targetSupplier;
boolean singleShot = true;

public enum Preset {
kZero(Rotation2d.fromDegrees(2)),
kHandoff(Rotation2d.fromDegrees(0)),
kHandoffClear(Rotation2d.fromDegrees(5)),
kShooterNear(Rotation2d.fromDegrees(0)),
kShooterMid(Rotation2d.fromDegrees(22.25)),
kShooterFarAuton(Rotation2d.fromDegrees(26)),
kShooterFar(Rotation2d.fromDegrees(25.5)),
kTrap(Rotation2d.fromDegrees(153.15)),
kClimb(Rotation2d.fromDegrees(170)),
kPass(Rotation2d.fromDegrees(10)),
kAmp(Rotation2d.fromDegrees(85));
kStowed(Rotation2d.fromDegrees(0)),
kElveatorHigh(Rotation2d.fromDegrees(0)),
kCoral(Rotation2d.fromDegrees(0)),
kShoot(Rotation2d.fromDegrees(0));

Rotation2d target;

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