Skip to content

Add climber ratchet #91

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
Lyssia-Seiden wants to merge 2 commits into
base: main
Choose a base branch
from
Open

Add climber ratchet #91

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
561f5a5
add servo to climber
LewisSeiden Mar 14, 2025
7a3dc21
adjust climb ratio
LewisSeiden Mar 14, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 3 additions & 1 deletion src/main/java/frc/robot/Robot.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -351,7 +351,9 @@ public static enum AlgaeScoreTarget {
new ServoIOReal(1));

private final ClimberSubsystem climber =
new ClimberSubsystem(ROBOT_TYPE != RobotType.SIM ? new ClimberIOReal() : new ClimberIOSim());
new ClimberSubsystem(
ROBOT_TYPE != RobotType.SIM ? new ClimberIOReal() : new ClimberIOSim(),
new ServoIOReal(2));

private final Superstructure superstructure =
new Superstructure(
Expand Down
23 changes: 21 additions & 2 deletions src/main/java/frc/robot/subsystems/climber/ClimberSubsystem.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -4,25 +4,35 @@

package frc.robot.subsystems.climber;

import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.subsystems.servo.ServoIO;
import frc.robot.subsystems.servo.ServoIOInputsAutoLogged;
import org.littletonrobotics.junction.Logger;

public class ClimberSubsystem extends SubsystemBase {
// TODO update
public static final double CLIMBER_ARM_LENGTH_METERS = Units.inchesToMeters(11.0);
public static final double CLIMBER_DRUM_RADIUS_METERS = Units.inchesToMeters(1.0);
public static final double CLIMB_GEAR_RATIO = 125.0;
public static final double CLIMB_GEAR_RATIO = 25.0;
public static final double CLIMB_EXTENDED_POSITION = 3.5;

public static final Rotation2d UNLOCK_POSITION = Rotation2d.fromDegrees(-90.0);
public static final Rotation2d LOCK_POSITION = Rotation2d.fromDegrees(0.0);

private final ClimberIO io;
private final ClimberIOInputsAutoLogged inputs = new ClimberIOInputsAutoLogged();

public ClimberSubsystem(ClimberIO io) {
private final ServoIO servo;
private final ServoIOInputsAutoLogged servoInputs = new ServoIOInputsAutoLogged();

public ClimberSubsystem(ClimberIO io, ServoIO servo) {
this.io = io;
this.servo = servo;

SmartDashboard.putData(
"rezero Climber", Commands.runOnce(() -> io.resetEncoder(0.0)).ignoringDisable(true));
Expand All @@ -32,6 +42,7 @@ public ClimberSubsystem(ClimberIO io) {
@Override
public void periodic() {
io.updateInputs(inputs);
// no servo inputs to update
Logger.processInputs("Climber", inputs);
}

Expand All @@ -46,4 +57,12 @@ public Command resetClimber() {
public Command zeroClimber() {
return Commands.runOnce(() -> io.resetEncoder(0.0)).ignoringDisable(true);
}

public Command unlock() {
return this.runOnce(() -> servo.setPosition(UNLOCK_POSITION));
}

public Command lock() {
return this.runOnce(() -> servo.setPosition(LOCK_POSITION));
}
}