Merge branch 'main' into SZ-W3-AutonAdventuresPart1

Author: Fruggg

README.md

@@ -0,0 +1,4 @@
+#2024 FRC Season
+This is the code base for FRC 3603, Cyber Coyotes, robot for the 2024 season.
+
+Find us on social media @FRC3603

src/main/java/frc/robot/Constants.java

@@ -21,6 +21,9 @@
  * constants are needed, to reduce verbosity.
  */
 public final class Constants {
+
+  public int noteDistanceCheck = 100;
+
   public static class OperatorConstants {
     public static final int K_DRIVER_CONTROLLER_PORT = 0;
   }
@@ -56,7 +59,8 @@ public static class CANIDs {
     public static final int INTAKE_CAN = 10;
     public static final int INDEX_CAN = 11;
 
-    public static final int TIME_OF_FLIGHT_ID = 12;
+    public static final int NOTE_SENSOR_ID = 12; // Time of Flight sensor for the note
+
 
     public static final int BASS_GUITAR = 13;
 

src/main/java/frc/robot/RobotContainer.java

@@ -3,10 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot;
-
 import frc.robot.Constants.OperatorConstants;
-import frc.robot.subsystems.RatioMotorSubsystem;
 import frc.robot.subsystems.CommandSwerveDrivetrain;
+import frc.robot.subsystems.LauncherSubsystem;
 import frc.robot.subsystems.OrchestraSubsystem;
 import com.ctre.phoenix6.hardware.TalonFX;
 import com.ctre.phoenix6.signals.NeutralModeValue;
@@ -48,7 +47,7 @@ public class RobotContainer {
   // #endregion
 
   // #region Subsystems
-  RatioMotorSubsystem shooter;
+  LauncherSubsystem shooter;
   OrchestraSubsystem daTunes;
   // #endregion Subsystems
 
@@ -77,7 +76,7 @@ public RobotContainer() {
     shooterMotorMain = new TalonFX(Constants.CANIDs.RIGHT_FLYWHEEL_CAN);
     // #endregion
 
-    shooter = new RatioMotorSubsystem(shooterMotorMain, shooterMotorSub);
+    shooter = new LauncherSubsystem(shooterMotorMain, shooterMotorSub);
     shooter.SetStatePower(1);
     shooter.SetRatio(1);
 

src/main/java/frc/robot/commands/GetNoteStatus.java

@@ -1,8 +1,39 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.NoteSensorSubsystem;
 
 /* A simple but often used command to get a loaded (true) or nonloaded (false) status of the time of flight sensor pointed at the 'note' */
 public class GetNoteStatus extends Command {
-    
-}
+    /*  */
+
+        private final NoteSensorSubsystem m_noteSensorSub;
+
+        public GetNoteStatus(NoteSensorSubsystem noteSensorSub) {
+            this.m_noteSensorSub = noteSensorSub;
+            addRequirements(noteSensorSub);
+        }
+
+        @Override
+        public void initialize() {
+            // Code to run when the command is first initialized
+        }
+
+        @Override
+        public void execute() {
+            // Code to run repeatedly while the command is scheduled to run
+            m_noteSensorSub.isNoteLoaded();
+        }
+
+        @Override
+        public void end(boolean interrupted) {
+            // Code to run when the command ends or is interrupted
+        }
+
+        @Override
+        public boolean isFinished() {
+            // Return true when the command should end
+            return false;
+        }
+
+    } // end of class GetNoteStatus

src/main/java/frc/robot/subsystems/ArmSubsytem.java

@@ -0,0 +1,5 @@
+package frc.robot.subsystems;
+
+public class ArmSubsytem {
+    
+}

src/main/java/frc/robot/subsystems/IntakeSubsystem.java

@@ -27,7 +27,7 @@ public IntakeSubsystem() {
         dutyCycle = new DutyCycleOut(0);
         motor.setControl(dutyCycle);
 
-        sensor = new TimeOfFlight(Constants.CANIDs.TIME_OF_FLIGHT_ID);
+        sensor = new TimeOfFlight(Constants.CANIDs.NOTE_SENSOR_ID);
         // Every 20ms it updates ()
         sensor.setRangingMode(RangingMode.Short, 1);
     }

src/main/java/frc/robot/subsystems/RatioMotorSubsystem.java renamed to src/main/java/frc/robot/subsystems/LauncherSubsystem.java

@@ -12,7 +12,7 @@
  * Set configs before creating this class/subsystem.
  * {@link #SetStatePower} is used to set the main power.
  */
-public class RatioMotorSubsystem extends SubsystemBase {
+public class LauncherSubsystem extends SubsystemBase {
     /** As opposed to double */
     private boolean singleMotor;
     private TalonFX m_main;
@@ -34,7 +34,7 @@ public class RatioMotorSubsystem extends SubsystemBase {
      * Set configs before creating this class/subsystem.
      * {@link #SetStatePower} is used to set the main power.
      */
-    public RatioMotorSubsystem(TalonFX main, TalonFX sub) {
+    public LauncherSubsystem(TalonFX main, TalonFX sub) {
 
         singleMotor = false;
         this.m_main = main;
@@ -51,7 +51,7 @@ public RatioMotorSubsystem(TalonFX main, TalonFX sub) {
      * Set configs before creating this class/subsystem.
      * {@link #SetStatePower} is used to set the main power.
      */
-    public RatioMotorSubsystem(TalonFX only) {
+    public LauncherSubsystem(TalonFX only) {
 
         this.m_main = only;
         singleMotor = true;

src/main/java/frc/robot/subsystems/LedSubsystem.java

@@ -4,10 +4,73 @@
 * It will be use data from the Time of Flight sensor data (NoteSensorSubsystem) for determining the load status/position of a 'note'
 * It is also partially cosmetic
 */
-public class LedSubsystem {
+
+/* 
+CANdle requires the Phoenix (v5) vendordep
+https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2024-latest.json
+
+com.ctre.phoenix.led.CANdle Class Reference 
+https://api.ctr-electronics.com/phoenix/release/java/
+*/
+
+import com.ctre.phoenix.led.CANdle;
+import com.ctre.phoenix.led.CANdle.LEDStripType;
+import com.ctre.phoenix.led.CANdle.VBatOutputMode;
+import com.ctre.phoenix.led.CANdleConfiguration;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
+
+
+public class LedSubsystem extends SubsystemBase{
+    private final CANdle m_candle = new CANdle(Constants.CANIDs.NOTE_SENSOR_ID, "rio");
 
+    /* Update once the LEDs are installed if using Animations */
+   //  private final int LedCount = 69;
+        
     /* Constructor */
+    //private AnimationTypes m_currentAnimation;
     public LedSubsystem() {
-    }
+        // this.joystick = joy;
+        //changeAnimation(AnimationTypes.SetAll);
+        CANdleConfiguration configAll = new CANdleConfiguration();
+        configAll.statusLedOffWhenActive = true;
+        configAll.disableWhenLOS = false;
+        configAll.stripType = LEDStripType.GRB;
+        configAll.brightnessScalar = 0.1;
+        configAll.vBatOutputMode = VBatOutputMode.Modulated;
+        m_candle.configAllSettings(configAll, 100);
+      }
+
+        public double getVbat() { return m_candle.getBusVoltage(); }
+        public double get5V() { return m_candle.get5VRailVoltage(); }
+        public void configBrightness(double percent, LedSubsystem ledSubsystem) { m_candle.configBrightnessScalar(percent, 0); }
+        public void configLos(boolean disableWhenLos) { m_candle.configLOSBehavior(disableWhenLos, 0); }
+        public void configLedType(LEDStripType type) { m_candle.configLEDType(type, 0); }
+        public void configStatusLedBehavior(boolean offWhenActive) { m_candle.configStatusLedState(offWhenActive, 0); }
+    
+        public void ColorOrange (){
+            m_candle.setLEDs(255,60,0) ;
+         }
+         public void ColorRed (){
+            m_candle.setLEDs(255,0,0) ;
+         }  
+         public void ColorGreen (){
+            m_candle.setLEDs(0,255,0) ;
+         }
+         public void ColorBlue (){
+            m_candle.setLEDs(0,0,255) ;
+         }
+         
+         /*******************************
+         Color       |   RGB Values
+         ----------------------------
+         Red         |   (255, 0, 0)
+         Green       |   (0, 255, 0)
+         Blue        |   (0, 0, 255)
+         Orange      |   (255, 165, 0)
+         Dark Orange |   (255, 60,0)
+     
+         ********************************/
 
-} // end of class LedSubsystem
+    } // end of class LedSubsystem

src/main/java/frc/robot/subsystems/NoteSensorSubsystem.java

@@ -2,12 +2,77 @@
 
 /* Subsystem class to primarily use a Time of Flight sensor from 'Playing with Fusion'.
  * It will read the distance from the sensor to the 'note' and determine if the note is in a load position.
+ * It should return an actual distance reading to the SmartDashboard and a boolean for a method 'isNoteLoaded'
  * This sensor data will change LED status and enable/disable intake and index motors
  */
-public class NoteSensorSubsystem {
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+import com.playingwithfusion.TimeOfFlight;
+import com.playingwithfusion.TimeOfFlight.RangingMode;
+
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import frc.robot.Constants;
+
+public class NoteSensorSubsystem extends SubsystemBase{
 
+     /* Set ID in web interface http://172.22.11.2:5812/  */   
+    private TimeOfFlight noteDistance = new TimeOfFlight(Constants.CANIDs.NOTE_SENSOR_ID);
+
+    /* 
+    * This line declares a private instance variable called `m_ledSubsystem` of type `LedSubsystem`
+    * It is initialized with a new instance of the `LedSubsystem` class
+    * It is needed to control the LEDs based on the method `isNoteLoaded()`
+    */
+    private LedSubsystem m_ledSubsystem = new LedSubsystem();
+
+     /* Set the distance to the note to be considered  load position.'
+     Measure in (mm) to determine an appropriate value.*/
+     public int noteDistanceCheck = 100;
+  
     /* Constructor */
     public NoteSensorSubsystem() {
+        /* Initialize the sensor, and '.setRangingMode(RangingMode.Short)' for this usage.
+        *
+        | Sample value  | Time   |
+        |---------------|--------|
+        | 1             | 20 ms  |
+        | 2             | 33 ms  |
+        | 3             | 50 ms  |
+        | 4 (default)   | 100 ms |
+        | 5             | 200 ms |
+        *****************************/
+    noteDistance.setRangingMode(RangingMode.Short,0.5);
+    }
+
+    public double getNoteDistance() {
+        /* Gets the distance from the sensor to the nearest edge of the note*/
+        return noteDistance.getRange(); // return NoteDistance.
+    }
+
+    public boolean isNoteLoaded() {
+        /* Returns true if the note is loaded, false if not */
+        return noteDistance.getRange() < noteDistanceCheck ; // return NoteDistance.
+    }
+
+    public void setLEDColor() {
+        /* Set the LED color based on the note position.
+        * Requires 'isNoteLoadeded' value and two led methods */
+        if (isNoteLoaded() == true) {
+            // SetColor decide loaded color
+            m_ledSubsystem.ColorGreen();
+
+        } else if (isNoteLoaded() == false) {
+            //SetColor decide UnLoaded color
+            m_ledSubsystem.ColorRed();
+        }
+    }
+    
+    public void periodic() {
+        // This method will be called once per scheduler run
+        // It did not seem to be called on the dashboard until I added a Command to the RobotContainer, but it would display updated data even when the button was not pressed.
+        SmartDashboard.putNumber("Note Distance", noteDistance.getRange());
+        SmartDashboard.putBoolean("Note Loaded", isNoteLoaded());
     }
 
 } // end of class NoteSensorSubsystem

src/main/java/frc/robot/subsystems/PulleySubsystem.java renamed to src/main/java/frc/robot/subsystems/WinchSubsystem.java

@@ -10,11 +10,11 @@
 /**
  * Made of a motor, connected to a pulley. Contains manual drive for now.
  */
-public class PulleySubsystem extends SubsystemBase {
+public class WinchSubsystem extends SubsystemBase {
     private TalonFX m_motor;
     private DutyCycleOut controlRequest;
 
-    public PulleySubsystem(TalonFX motor) {
+    public WinchSubsystem(TalonFX motor) {
         m_motor = motor;
         controlRequest = new DutyCycleOut(0);
         m_motor.setControl(controlRequest);