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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,101 +1,101 @@ | ||
| // Copyright 2021-2024 FRC 6328, FRC 5829 | ||
| // http://github.com/Mechanical-Advantage | ||
| // | ||
| // This program is free software; you can redistribute it and/or | ||
| // modify it under the terms of the GNU General Public License | ||
| // version 3 as published by the Free Software Foundation or | ||
| // available in the root directory of this project. | ||
| // | ||
| // This program is distributed in the hope that it will be useful, | ||
| // but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
| // GNU General Public License for more details. | ||
| // // Copyright 2021-2024 FRC 6328, FRC 5829 | ||
| // // http://github.com/Mechanical-Advantage | ||
| // // | ||
| // // This program is free software; you can redistribute it and/or | ||
| // // modify it under the terms of the GNU General Public License | ||
| // // version 3 as published by the Free Software Foundation or | ||
| // // available in the root directory of this project. | ||
| // // | ||
| // // This program is distributed in the hope that it will be useful, | ||
| // // but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| // // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
| // // GNU General Public License for more details. | ||
|
|
||
| package frc.robot.subsystems.sticks; | ||
| // package frc.robot.subsystems.sticks; | ||
|
|
||
| import edu.wpi.first.math.util.Units; | ||
| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
| import frc.robot.Constants.EnvironmentalConstants; | ||
| import frc.robot.Constants.SticksConstants; | ||
| import org.littletonrobotics.junction.AutoLogOutput; | ||
| import org.littletonrobotics.junction.Logger; | ||
| // import edu.wpi.first.math.util.Units; | ||
| // import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
| // import frc.robot.Constants.EnvironmentalConstants; | ||
| // import frc.robot.Constants.SticksConstants; | ||
| // import org.littletonrobotics.junction.AutoLogOutput; | ||
| // import org.littletonrobotics.junction.Logger; | ||
|
|
||
| public class Sticks extends SubsystemBase { | ||
| private final SticksIO io; | ||
| private final SticksIOInputsAutoLogged inputs = new SticksIOInputsAutoLogged(); | ||
| // private final SimpleMotorFeedforward ffModel; | ||
| // public class Sticks extends SubsystemBase { | ||
| // private final SticksIO io; | ||
| // private final SticksIOInputsAutoLogged inputs = new SticksIOInputsAutoLogged(); | ||
| // // private final SimpleMotorFeedforward ffModel; | ||
|
|
||
| /** Creates a new Sticks. */ | ||
| public Sticks(SticksIO io) { | ||
| this.io = io; | ||
| // /** Creates a new Sticks. */ | ||
| // public Sticks(SticksIO io) { | ||
| // this.io = io; | ||
|
|
||
| switch (EnvironmentalConstants.currentMode) { | ||
| case REAL: | ||
| io.configurePID(SticksConstants.kP, SticksConstants.kI, SticksConstants.kD); | ||
| case REPLAY: | ||
| // ffModel = new SimpleMotorFeedforward(SticksConstants.ks, SticksConstants.kv); | ||
| io.configurePID(SticksConstants.kP, SticksConstants.kI, SticksConstants.kD); | ||
| break; | ||
| case SIM: | ||
| // ffModel = new SimpleMotorFeedforward(SticksConstants.ks, SticksConstants.kv); | ||
| io.configurePID(SticksConstants.kP, SticksConstants.kI, SticksConstants.kD); | ||
| break; | ||
| default: | ||
| // ffModel = new SimpleMotorFeedforward(SticksConstants.ks, SticksConstants.kv); | ||
| break; | ||
| } | ||
| } | ||
| // switch (EnvironmentalConstants.currentMode) { | ||
| // case REAL: | ||
| // io.configurePID(SticksConstants.kP, SticksConstants.kI, SticksConstants.kD); | ||
| // case REPLAY: | ||
| // // ffModel = new SimpleMotorFeedforward(SticksConstants.ks, SticksConstants.kv); | ||
| // io.configurePID(SticksConstants.kP, SticksConstants.kI, SticksConstants.kD); | ||
| // break; | ||
| // case SIM: | ||
| // // ffModel = new SimpleMotorFeedforward(SticksConstants.ks, SticksConstants.kv); | ||
| // io.configurePID(SticksConstants.kP, SticksConstants.kI, SticksConstants.kD); | ||
| // break; | ||
| // default: | ||
| // // ffModel = new SimpleMotorFeedforward(SticksConstants.ks, SticksConstants.kv); | ||
| // break; | ||
| // } | ||
| // } | ||
|
|
||
| @Override | ||
| public void periodic() { | ||
| io.updateInputs(inputs); | ||
| Logger.processInputs("Sticks", inputs); | ||
| } | ||
| // @Override | ||
| // public void periodic() { | ||
| // io.updateInputs(inputs); | ||
| // Logger.processInputs("Sticks", inputs); | ||
| // } | ||
|
|
||
| /** Run open loop at the specified voltage. */ | ||
| public void runVolts(double volts) { | ||
| io.setVoltage(volts); | ||
| } | ||
| // /** Run open loop at the specified voltage. */ | ||
| // public void runVolts(double volts) { | ||
| // io.setVoltage(volts); | ||
| // } | ||
|
|
||
| /** Run closed loop at the specified velocity. Not used. */ | ||
| // public void runVelocity(double velocityRPM) { | ||
| // var velocityRadPerSec = Units.rotationsPerMinuteToRadiansPerSecond(velocityRPM); | ||
| // io.setVelocity(velocityRadPerSec, ffModel.calculate(velocityRadPerSec)); | ||
| // /** Run closed loop at the specified velocity. Not used. */ | ||
| // // public void runVelocity(double velocityRPM) { | ||
| // // var velocityRadPerSec = Units.rotationsPerMinuteToRadiansPerSecond(velocityRPM); | ||
| // // io.setVelocity(velocityRadPerSec, ffModel.calculate(velocityRadPerSec)); | ||
|
|
||
| // // Log Sticks setpoint | ||
| // Logger.recordOutput("Sticks/SetpointRPM", velocityRPM); | ||
| // } | ||
| // // // Log Sticks setpoint | ||
| // // Logger.recordOutput("Sticks/SetpointRPM", velocityRPM); | ||
| // // } | ||
|
|
||
| /** | ||
| * Sets the targeted PID angle. | ||
| * | ||
| * @param position Angle in radians. | ||
| */ | ||
| public void runTargetAngle(double position) { | ||
| io.setTargetAngle(position); | ||
| } | ||
| // /** | ||
| // * Sets the targeted PID angle. | ||
| // * | ||
| // * @param position Angle in radians. | ||
| // */ | ||
| // public void runTargetAngle(double position) { | ||
| // io.setTargetAngle(position); | ||
| // } | ||
|
|
||
| /** Sets a target velocity. */ | ||
| // public void runTargetVelocity(double targetVelocity) { | ||
| // io.setTargetAngle( | ||
| // inputs.targetPositionRad | ||
| // + 0.02 // correct cycle time here needed | ||
| // * targetVelocity); | ||
| // } | ||
| // /** Sets a target velocity. */ | ||
| // // public void runTargetVelocity(double targetVelocity) { | ||
| // // io.setTargetAngle( | ||
| // // inputs.targetPositionRad | ||
| // // + 0.02 // correct cycle time here needed | ||
| // // * targetVelocity); | ||
| // // } | ||
|
|
||
| /** Stops the Sticks. */ | ||
| public void stop() { | ||
| io.stop(); | ||
| } | ||
| // /** Stops the Sticks. */ | ||
| // public void stop() { | ||
| // io.stop(); | ||
| // } | ||
|
|
||
| /** Returns the current velocity in RPM. */ | ||
| @AutoLogOutput | ||
| public double getVelocityRPM() { | ||
| return Units.radiansPerSecondToRotationsPerMinute(inputs.velocityRadPerSec); | ||
| } | ||
| // /** Returns the current velocity in RPM. */ | ||
| // @AutoLogOutput | ||
| // public double getVelocityRPM() { | ||
| // return Units.radiansPerSecondToRotationsPerMinute(inputs.velocityRadPerSec); | ||
| // } | ||
|
|
||
| /** Returns the current velocity in radians per second. */ | ||
| public double getCharacterizationVelocity() { | ||
| return inputs.velocityRadPerSec; | ||
| } | ||
| } | ||
| // /** Returns the current velocity in radians per second. */ | ||
| // public double getCharacterizationVelocity() { | ||
| // return inputs.velocityRadPerSec; | ||
| // } | ||
| // } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,46 +1,46 @@ | ||
| // Copyright 2021-2024 FRC 6328, FRC 5829 | ||
| // http://github.com/Mechanical-Advantage | ||
| // | ||
| // This program is free software; you can redistribute it and/or | ||
| // modify it under the terms of the GNU General Public License | ||
| // version 3 as published by the Free Software Foundation or | ||
| // available in the root directory of this project. | ||
| // | ||
| // This program is distributed in the hope that it will be useful, | ||
| // but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
| // GNU General Public License for more details. | ||
|
|
||
| package frc.robot.subsystems.sticks; | ||
|
|
||
| import frc.robot.Constants.SticksConstants; | ||
| import org.littletonrobotics.junction.AutoLog; | ||
|
|
||
| public interface SticksIO { | ||
| @AutoLog | ||
| public static class SticksIOInputs { | ||
| public double positionRad = 0.0; | ||
| public double velocityRadPerSec = 0.0; | ||
| public double appliedVolts = 0.0; | ||
| public double[] currentAmps = new double[] {}; | ||
| public double targetPositionRad = SticksConstants.initialAngle; | ||
| } | ||
|
|
||
| /** Updates the set of loggable inputs. */ | ||
| public default void updateInputs(SticksIOInputs inputs) {} | ||
|
|
||
| /** Run open loop at the specified voltage. */ | ||
| public default void setVoltage(double volts) {} | ||
|
|
||
| /** Run closed loop at the specified velocity. */ | ||
| // public default void setVelocity(double velocityRadPerSec, double ffVolts) {} | ||
|
|
||
| /** Run closed loop for the specified target angle. */ | ||
| public default void setTargetAngle(double angle) {} | ||
|
|
||
| /** Stop in open loop. */ | ||
| public default void stop() {} | ||
|
|
||
| /** Set velocity PID constants. */ | ||
| public default void configurePID(double kP, double kI, double kD) {} | ||
| } | ||
| // // Copyright 2021-2024 FRC 6328, FRC 5829 | ||
| // // http://github.com/Mechanical-Advantage | ||
| // // | ||
| // // This program is free software; you can redistribute it and/or | ||
| // // modify it under the terms of the GNU General Public License | ||
| // // version 3 as published by the Free Software Foundation or | ||
| // // available in the root directory of this project. | ||
| // // | ||
| // // This program is distributed in the hope that it will be useful, | ||
| // // but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| // // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
| // // GNU General Public License for more details. | ||
|
|
||
| // package frc.robot.subsystems.sticks; | ||
|
|
||
| // import frc.robot.Constants.SticksConstants; | ||
| // import org.littletonrobotics.junction.AutoLog; | ||
|
|
||
| // public interface SticksIO { | ||
| // @AutoLog | ||
| // public static class SticksIOInputs { | ||
| // public double positionRad = 0.0; | ||
| // public double velocityRadPerSec = 0.0; | ||
| // public double appliedVolts = 0.0; | ||
| // public double[] currentAmps = new double[] {}; | ||
| // public double targetPositionRad = SticksConstants.initialAngle; | ||
| // } | ||
|
|
||
| // /** Updates the set of loggable inputs. */ | ||
| // public default void updateInputs(SticksIOInputs inputs) {} | ||
|
|
||
| // /** Run open loop at the specified voltage. */ | ||
| // public default void setVoltage(double volts) {} | ||
|
|
||
| // /** Run closed loop at the specified velocity. */ | ||
| // // public default void setVelocity(double velocityRadPerSec, double ffVolts) {} | ||
|
|
||
| // /** Run closed loop for the specified target angle. */ | ||
| // public default void setTargetAngle(double angle) {} | ||
|
|
||
| // /** Stop in open loop. */ | ||
| // public default void stop() {} | ||
|
|
||
| // /** Set velocity PID constants. */ | ||
| // public default void configurePID(double kP, double kI, double kD) {} | ||
| // } |
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