Skip to content
This repository has been archived by the owner on Jan 9, 2025. It is now read-only.

Commit

Permalink
locked in
Browse files Browse the repository at this point in the history
  • Loading branch information
@chaoticthegreat
chaoticthegreat committed Nov 7, 2024
1 parent 87e213b commit e29b2d7
Show file tree
Hide file tree
Showing 10 changed files with 113 additions and 81 deletions.
2 changes: 1 addition & 1 deletion src/main/java/frc/robot/subsystems/ampevator/AmpevatorConstants.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,7 @@

public final class AmpevatorConstants {

public static final int ampevatorID = 62;
public static final int ampevatorID = 47;
public static final int ampevatorBeamBreakID = 0;

public static final TalonFXConfiguration motorConfigs =
Expand Down
2 changes: 1 addition & 1 deletion src/main/java/frc/robot/subsystems/ampevatorrollers/RollerConstants.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,7 @@

public final class RollerConstants {
/* CAN */
public static final int kRollerMotorID = 33;
public static final int kRollerMotorID = 49;

public static final double kRollerOuttakeVoltage = 12;

Expand Down
2 changes: 1 addition & 1 deletion src/main/java/frc/robot/subsystems/climb/ClimbConstants.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,7 @@

public final class ClimbConstants {

public static final int kLeftClimbMotorID = 18;
public static final int kLeftClimbMotorID = 45;
public static final double gearRatio = 20; // needs to be tuned

public static final double kClimbUpPosition = 150 / 20;
Expand Down
2 changes: 1 addition & 1 deletion src/main/java/frc/robot/subsystems/intake/IntakeConstants.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,7 @@

public final class IntakeConstants {
/* CAN */
public static final int kIntakeMotorID = 33;
public static final int kIntakeMotorID = 46;

public static final double kIntakeIntakeVoltage = 12;

Expand Down
14 changes: 7 additions & 7 deletions src/main/java/frc/robot/subsystems/pivotshooter/PivotShooterConstants.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,7 @@ public final class PivotShooterConstants {
public static final double kSubWooferPreset = 3.4 / 138.33; // 3.2
public static final double kFeederPreset = 5.9 / 138.33;

public static final int kPivotMotorID = 60;
public static final int kPivotMotorID = 51;

/* PID */

Expand All @@ -33,7 +33,7 @@ public final class PivotShooterConstants {

/* Misc */
public static final boolean kUseFOC = false;
public static final boolean kUseMotionMagic = true; // idk
public static final boolean kUseMotionMagic = false; // idk
public static final double updateFrequency = 50.0;
public static final int flashConfigRetries = 5;
public static final double kPivotSlamStallCurrent = 50;
Expand All @@ -44,7 +44,7 @@ public final class PivotShooterConstants {
new Slot0Configs()
.withKS(0)
.withKV(0)
.withKP(10)
.withKP(2)
.withKI(0)
.withKD(0)
.withKG(1)
Expand All @@ -54,10 +54,10 @@ public final class PivotShooterConstants {
new MotorOutputConfigs()
.withNeutralMode(NeutralModeValue.Brake)
.withInverted(InvertedValue.Clockwise_Positive))
.withMotionMagic(
new MotionMagicConfigs()
.withMotionMagicAcceleration(400)
.withMotionMagicCruiseVelocity(50))
// .withMotionMagic(
// new MotionMagicConfigs()
// .withMotionMagicAcceleration(400)
// .withMotionMagicCruiseVelocity(50))
.withCurrentLimits(
new CurrentLimitsConfigs()
.withStatorCurrentLimitEnable(true)
Expand Down
10 changes: 5 additions & 5 deletions src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -17,8 +17,8 @@ public final class ShooterConstants {
public static final boolean kUseFOC = true;
public static final boolean kUseShooterRegenBraking = true;
/* CAN */
public static int kShooterMotorID = 11;
public static int kShooterMotorFollowerID = 23;
public static int kShooterMotorRightID = 43;
public static int kShooterMotorLeftID = 48;
/* PID */
// Shooter
public static MotorOutputConfigs motorOutputConfigs =
Expand All @@ -30,12 +30,12 @@ public final class ShooterConstants {
.withSlot0(
new Slot0Configs()
.withKS(0)
.withKV(0.145) // Original 0.145
.withKV(0.15) // Original 0.145
// .withKA(1.48)// Original 0 only for feedforward, might not
// use
.withKP(0.4)
.withKP(8)
.withKI(0)
.withKD(0))
.withKD(0.1))
// For regenerative braking
// we need to make sure that the backcurrent is below the breaker limit
// P = 2 gives us like 102 amps so that's good enough
Expand Down
5 changes: 2 additions & 3 deletions src/main/java/frc/robot/subsystems/shooter/ShooterIOTalonFX.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,7 @@
import frc.robot.utils.PhoenixUtil;

public class ShooterIOTalonFX implements ShooterIO {
private final TalonFX shooterMotor = new TalonFX(ShooterConstants.kShooterMotorID);
private final TalonFX shooterMotor = new TalonFX(ShooterConstants.kShooterMotorRightID);
final VelocityVoltage velocityRequest = new VelocityVoltage(0).withSlot(0);
final MotionMagicVelocityVoltage motionMagicRequest =
new MotionMagicVelocityVoltage(0).withSlot(0);
Expand All @@ -29,8 +29,7 @@ public class ShooterIOTalonFX implements ShooterIO {
private final StatusSignal<Double> shooterMotorReferenceSlope =
shooterMotor.getClosedLoopReferenceSlope();

private final TalonFX shooterMotorFollower =
new TalonFX(ShooterConstants.kShooterMotorFollowerID);
private final TalonFX shooterMotorFollower = new TalonFX(ShooterConstants.kShooterMotorLeftID);
final VelocityVoltage velocityRequestFollower = new VelocityVoltage(0).withSlot(0);
final MotionMagicVelocityVoltage motionMagicRequestFollower =
new MotionMagicVelocityVoltage(0).withSlot(0);
Expand Down
4 changes: 2 additions & 2 deletions src/main/java/frc/robot/subsystems/spindex/SpindexConstants.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@
import com.ctre.phoenix6.signals.NeutralModeValue;

public class SpindexConstants {
public static final int spindexMotorID = 0;
public static final int spindexMotorID = 50;
public static final double spindexMotorVoltage = -7;
public static TalonFXConfiguration spindexMotorConfigs =
new TalonFXConfiguration() // TODO: tune
Expand Down Expand Up @@ -52,6 +52,6 @@ public class SpindexConstants {
.withStatorCurrentLimitEnable(true)
.withStatorCurrentLimit(80));
;
public static int shooterFeederMotorID = 43;
public static int shooterFeederMotorID = 44;
public static double shooterFeederVoltage = 7;
}
147 changes: 90 additions & 57 deletions src/main/java/frc/robot/subsystems/swerve/TunerConstants.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,11 @@

package frc.robot.subsystems.swerve;

import com.ctre.phoenix6.configs.CANcoderConfiguration;
import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
import com.ctre.phoenix6.configs.Pigeon2Configuration;
import com.ctre.phoenix6.configs.Slot0Configs;
import com.ctre.phoenix6.configs.TalonFXConfiguration;
import com.ctre.phoenix6.mechanisms.swerve.SwerveDrivetrainConstants;
import com.ctre.phoenix6.mechanisms.swerve.SwerveModule.ClosedLoopOutputType;
import com.ctre.phoenix6.mechanisms.swerve.SwerveModuleConstants;
Expand All @@ -28,7 +32,7 @@ public class TunerConstants {
// When using closed-loop control, the drive motor uses the control
// output type specified by SwerveModuleConstants.DriveMotorClosedLoopOutput
private static final Slot0Configs driveGains =
new Slot0Configs().withKP(.1).withKI(0).withKD(0).withKS(0).withKV(0.12).withKA(0);
new Slot0Configs().withKP(3).withKI(0).withKD(0).withKS(0).withKV(0).withKA(0);

// The closed-loop output type to use for the steer motors;
// This affects the PID/FF gains for the steer motors
Expand All @@ -39,7 +43,24 @@ 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 double kSlipCurrentA = 75.0;
private static final double kSlipCurrentA = 150.0;

// Initial configs for the drive and steer motors and the CANcoder; these cannot be null.
// Some configs will be overwritten; check the `with*InitialConfigs()` API documentation.
private static final TalonFXConfiguration driveInitialConfigs = new TalonFXConfiguration();
private static final TalonFXConfiguration steerInitialConfigs =
new TalonFXConfiguration()
.withCurrentLimits(
new CurrentLimitsConfigs()
// Swerve azimuth does not require much torque output, so we can set a relatively
// low
// stator current limit to help avoid brownouts without impacting performance.
.withStatorCurrentLimit(60)
.withStatorCurrentLimitEnable(true));
private static final CANcoderConfiguration cancoderInitialConfigs = new CANcoderConfiguration();
// Configs for the Pigeon 2; leave this null to skip applying Pigeon 2 configs
private static final Pigeon2Configuration pigeonConfigs = null;

// Theoretical free speed (m/s) at 12v applied output;
// This needs to be tuned to your individual robot
public static final double kSpeedAt12VoltsMps = 5.96;
Expand All @@ -52,12 +73,11 @@ public class TunerConstants {
private static final double kSteerGearRatio = 21.428571428571427;
private static final double kWheelRadiusInches = 2;

private static final boolean kSteerMotorReversed = true;
private static final boolean kInvertLeftSide = false;
private static final boolean kInvertRightSide = true;

private static final String kCANbusName = "mani";
private static final int kPigeonId = 24;
private static final int kPigeonId = 4;

// These are only used for simulation
private static final double kSteerInertia = 0.00001;
Expand All @@ -67,7 +87,10 @@ public class TunerConstants {
private static final double kDriveFrictionVoltage = 0.25;

private static final SwerveDrivetrainConstants DrivetrainConstants =
new SwerveDrivetrainConstants().withPigeon2Id(kPigeonId).withCANbusName(kCANbusName);
new SwerveDrivetrainConstants()
.withCANbusName(kCANbusName)
.withPigeon2Id(kPigeonId)
.withPigeon2Configs(pigeonConfigs);

private static final SwerveModuleConstantsFactory ConstantCreator =
new SwerveModuleConstantsFactory()
Expand All @@ -86,80 +109,90 @@ public class TunerConstants {
.withDriveFrictionVoltage(kDriveFrictionVoltage)
.withFeedbackSource(SteerFeedbackType.FusedCANcoder)
.withCouplingGearRatio(kCoupleRatio)
.withSteerMotorInverted(kSteerMotorReversed);
.withDriveMotorInitialConfigs(driveInitialConfigs)
.withSteerMotorInitialConfigs(steerInitialConfigs)
.withCANcoderInitialConfigs(cancoderInitialConfigs);

// Front Left
private static final int kFrontLeftDriveMotorId = 1;
private static final int kFrontLeftSteerMotorId = 8;
private static final int kFrontLeftEncoderId = 2;
private static final double kFrontLeftEncoderOffset = -0.067626953125;
private static final int kFrontLeftDriveMotorId = 8;
private static final int kFrontLeftSteerMotorId = 7;
private static final int kFrontLeftEncoderId = 23;
private static final double kFrontLeftEncoderOffset = -0.399658203125;
private static final boolean kFrontLeftSteerInvert = true;

private static final double kFrontLeftXPosInches = 10.375;
private static final double kFrontLeftYPosInches = 10.375;
private static final double kFrontLeftXPosInches = 11;
private static final double kFrontLeftYPosInches = 11;

// Front Right
private static final int kFrontRightDriveMotorId = 6;
private static final int kFrontRightSteerMotorId = 7;
private static final int kFrontRightEncoderId = 9;
private static final double kFrontRightEncoderOffset = -0.27099609375;
private static final int kFrontRightDriveMotorId = 9;
private static final int kFrontRightSteerMotorId = 21;
private static final int kFrontRightEncoderId = 22;
private static final double kFrontRightEncoderOffset = -0.46142578125;
private static final boolean kFrontRightSteerInvert = true;

private static final double kFrontRightXPosInches = 10.375;
private static final double kFrontRightYPosInches = -10.375;
private static final double kFrontRightXPosInches = 11;
private static final double kFrontRightYPosInches = -11;

// Back Left
private static final int kBackLeftDriveMotorId = 2;
private static final int kBackLeftSteerMotorId = 4;
private static final int kBackLeftEncoderId = 1;
private static final double kBackLeftEncoderOffset = -0.125732421875;
private static final int kBackLeftSteerMotorId = 0;
private static final int kBackLeftEncoderId = 24;
private static final double kBackLeftEncoderOffset = 0.275390625;
private static final boolean kBackLeftSteerInvert = true;

private static final double kBackLeftXPosInches = -10.375;
private static final double kBackLeftYPosInches = 10.375;
private static final double kBackLeftXPosInches = -11;
private static final double kBackLeftYPosInches = 11;

// Back Right
private static final int kBackRightDriveMotorId = 5;
private static final int kBackRightSteerMotorId = 0;
private static final int kBackRightEncoderId = 0;
private static final double kBackRightEncoderOffset = 0.41455078125;
private static final int kBackRightDriveMotorId = 1;
private static final int kBackRightSteerMotorId = 3;
private static final int kBackRightEncoderId = 25;
private static final double kBackRightEncoderOffset = -0.2666015625;
private static final boolean kBackRightSteerInvert = true;

private static final double kBackRightXPosInches = -10.375;
private static final double kBackRightYPosInches = -10.375;
private static final double kBackRightXPosInches = -11;
private static final double kBackRightYPosInches = -11;

private static final SwerveModuleConstants FrontLeft =
ConstantCreator.createModuleConstants(
kFrontLeftSteerMotorId,
kFrontLeftDriveMotorId,
kFrontLeftEncoderId,
kFrontLeftEncoderOffset,
Units.inchesToMeters(kFrontLeftXPosInches),
Units.inchesToMeters(kFrontLeftYPosInches),
kInvertLeftSide);
kFrontLeftSteerMotorId,
kFrontLeftDriveMotorId,
kFrontLeftEncoderId,
kFrontLeftEncoderOffset,
Units.inchesToMeters(kFrontLeftXPosInches),
Units.inchesToMeters(kFrontLeftYPosInches),
kInvertLeftSide)
.withSteerMotorInverted(kFrontLeftSteerInvert);
private static final SwerveModuleConstants FrontRight =
ConstantCreator.createModuleConstants(
kFrontRightSteerMotorId,
kFrontRightDriveMotorId,
kFrontRightEncoderId,
kFrontRightEncoderOffset,
Units.inchesToMeters(kFrontRightXPosInches),
Units.inchesToMeters(kFrontRightYPosInches),
kInvertRightSide);
kFrontRightSteerMotorId,
kFrontRightDriveMotorId,
kFrontRightEncoderId,
kFrontRightEncoderOffset,
Units.inchesToMeters(kFrontRightXPosInches),
Units.inchesToMeters(kFrontRightYPosInches),
kInvertRightSide)
.withSteerMotorInverted(kFrontRightSteerInvert);
private static final SwerveModuleConstants BackLeft =
ConstantCreator.createModuleConstants(
kBackLeftSteerMotorId,
kBackLeftDriveMotorId,
kBackLeftEncoderId,
kBackLeftEncoderOffset,
Units.inchesToMeters(kBackLeftXPosInches),
Units.inchesToMeters(kBackLeftYPosInches),
kInvertLeftSide);
kBackLeftSteerMotorId,
kBackLeftDriveMotorId,
kBackLeftEncoderId,
kBackLeftEncoderOffset,
Units.inchesToMeters(kBackLeftXPosInches),
Units.inchesToMeters(kBackLeftYPosInches),
kInvertLeftSide)
.withSteerMotorInverted(kBackLeftSteerInvert);
private static final SwerveModuleConstants BackRight =
ConstantCreator.createModuleConstants(
kBackRightSteerMotorId,
kBackRightDriveMotorId,
kBackRightEncoderId,
kBackRightEncoderOffset,
Units.inchesToMeters(kBackRightXPosInches),
Units.inchesToMeters(kBackRightYPosInches),
kInvertRightSide);
kBackRightSteerMotorId,
kBackRightDriveMotorId,
kBackRightEncoderId,
kBackRightEncoderOffset,
Units.inchesToMeters(kBackRightXPosInches),
Units.inchesToMeters(kBackRightYPosInches),
kInvertRightSide)
.withSteerMotorInverted(kBackRightSteerInvert);

public static final CommandSwerveDrivetrain DriveTrain =
new CommandSwerveDrivetrain(
Expand Down
6 changes: 3 additions & 3 deletions src/main/java/frc/robot/subsystems/turret/TurretConstants.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -14,16 +14,16 @@

public final class TurretConstants {

public static int kCanCoderID1 = 0; // TODO: set id
public static int kCanCoderID2 = 0; // TODO: set id
public static int kCanCoderID1 = 41; // TODO: set id
public static int kCanCoderID2 = 42; // TODO: set id

public static final double gearRatio = 1; // TODO: Set gear ratio
public static final CANcoderConfiguration canCoderConfig =
new CANcoderConfiguration()
.withMagnetSensor(new MagnetSensorConfigs().withMagnetOffset(0)); // TODO: set config
public static final double updateFrequency = 50.0;

public static final int kTurretMotorID = 0; // TODO: Set ID
public static final int kTurretMotorID = 52; // TODO: Set ID

public static final double followTagP = 1;
public static final double followTagI = 0;
Expand Down

0 comments on commit e29b2d7

Please sign in to comment.