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Fix Climber state softlock (。_。) #271

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Fix Climber state softlock (。_。) #271

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5929106
add condition to go back to none state from climbing
Alenguye582 Feb 10, 2025
9ffa7ea
changed to getValue()
Alenguye582 Feb 12, 2025
1f15756
Merge branch 'main' into climbing-state-bug
Alenguye582 Feb 12, 2025
e1fc483
Merge branch 'main' into climbing-state-bug
S0L0GUY Feb 14, 2025
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1 change: 1 addition & 0 deletions src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -389,6 +389,7 @@ public static class constCoralOuttake {
public static class constClimber {
public static final double CLIMBER_MOTOR_DEPLOYING_VELOCITY = 0.5;
public static final double CLIMBER_RETRACT_VELOCITY = -0.1;
public static final Angle VALID_NONE_STATE_THRESHOLD = Units.Degrees.of(15);

public static TalonFXConfiguration CLIMBER_CONFIG = new TalonFXConfiguration();
static {
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3 changes: 1 addition & 2 deletions src/main/java/frc/robot/RobotContainer.java
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Expand Up @@ -214,8 +214,7 @@ private void configureDriverBindings(SN_XboxController controller) {
.onFalse(TRY_NONE);

controller.btn_Y
.whileTrue(TRY_CLIMBER_RETRACTING)
.onFalse(TRY_NONE);
.whileTrue(TRY_CLIMBER_RETRACTING);

controller.btn_North
.onTrue(Commands.runOnce(() -> subDrivetrain.resetPoseToPose(Pose2d.kZero)));
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5 changes: 2 additions & 3 deletions src/main/java/frc/robot/subsystems/Climber.java
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Expand Up @@ -14,7 +14,6 @@

import edu.wpi.first.units.Units;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.Distance;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.epilogue.Logged;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
Expand All @@ -41,8 +40,8 @@ public void setClimberMotorVelocity(double velocity) {
climberMotor2.set(-velocity);
}

public Distance getClimberPosition() {
return Units.Inches.of(climberMotor.get());
public Angle getClimberPosition() {
return climberMotor.getPosition().getValue();
}

public void setPosition(Angle angle) {
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12 changes: 10 additions & 2 deletions src/main/java/frc/robot/subsystems/StateMachine.java
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Expand Up @@ -4,10 +4,13 @@

package frc.robot.subsystems;

import static edu.wpi.first.units.Units.Rotations;

import com.frcteam3255.joystick.SN_XboxController;

import edu.wpi.first.epilogue.Logged;
import edu.wpi.first.epilogue.NotLogged;
import frc.robot.Constants.constClimber;
import frc.robot.Constants.constElevator;
import edu.wpi.first.wpilibj2.command.*;
import frc.robot.commands.states.*;
Expand Down Expand Up @@ -79,10 +82,15 @@ public Command tryState(RobotState desiredState) {
case CLEANING_L3:
case SCORING_CORAL:
case SCORING_ALGAE:
case CLIMBER_DEPLOYING:
case CLIMBER_RETRACTING:
return new None(subStateMachine, subCoralOuttake, subHopper, subAlgaeIntake, subClimber, subElevator,
subLED);
case CLIMBER_DEPLOYING:
if (subClimber.getClimberPosition().lte(constClimber.VALID_NONE_STATE_THRESHOLD)) {
return new None(subStateMachine, subCoralOuttake, subHopper, subAlgaeIntake, subClimber, subElevator,
subLED);
} else {
Commands.print("Climber is too far down!!! Not safe to return to NONE >____<");
}
}
break;

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