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[Add] poke setpoints [Fix] climber signal refresh #77

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merged 3 commits into from
Feb 20, 2025
Merged

[Add] poke setpoints [Fix] climber signal refresh #77

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2718462
[Fix] climber signal refresh
eaeaeaosn Feb 20, 2025
c948d48
[Add] poke setpoint heights
eaeaeaosn Feb 20, 2025
cb71bec
refactor: remove magic numbers in ElevatorIOReal
eaeaeaosn Feb 20, 2025
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5 changes: 3 additions & 2 deletions src/main/java/frc/robot/RobotConstants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -404,6 +404,7 @@ public static class ElevatorConstants {
public static final double ELEVATOR_SPOOL_DIAMETER = 0.04 + 0.003; //0.04m for spool diameter, 0.003 for rope diameter
public static final double ELEVATOR_GEAR_RATIO = 3.0;
public static final double ELEVATOR_DANGER_ZONE = 0.4180619200456253;
public static final double ELEVATOR_DEFAULT_POSITION_WHEN_DISABLED = 0.46;

public static final TunableNumber motionAcceleration = new TunableNumber("Elevator/MotionAcceleration",
200);
Expand All @@ -426,9 +427,9 @@ public static class ElevatorConstants {
public static final TunableNumber L4_EXTENSION_METERS = new TunableNumber("ELEVATOR SETPOINTS/L4",
1.57);
public static final TunableNumber P1_EXTENSION_METERS = new TunableNumber("ELEVATOR SETPOINTS/P1",
0.79);
0.50);
public static final TunableNumber P2_EXTENSION_METERS = new TunableNumber("ELEVATOR SETPOINTS/P2",
1.29);
0.80);
public static final TunableNumber FUNNEL_INTAKE_EXTENSION_METERS = new TunableNumber("ELEVATOR SETPOINTS/FunnnelIntake",
0.35);
public static final TunableNumber ELEVATOR_ZEROING_CURRENT = new TunableNumber("Elevator zeroing current",
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9 changes: 9 additions & 0 deletions src/main/java/frc/robot/subsystems/climber/ClimberIOReal.java
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Expand Up @@ -54,6 +54,15 @@ public ClimberIOReal() {
motionMagicConfigs.MotionMagicJerk = ClimberConstants.CLIMBER_JERK.get();
config.withMotionMagic(motionMagicConfigs);

BaseStatusSignal.setUpdateFrequencyForAll(
50.0,
velocityRotPerSec,
tempCelsius,
appliedVolts,
supplyCurrentAmps,
statorCurrentAmps,
currentPositionRot);

motor.getConfigurator().apply(config);
motor.optimizeBusUtilization();
}
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2 changes: 2 additions & 0 deletions src/main/java/frc/robot/subsystems/climber/ClimberSubsystem.java
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Expand Up @@ -4,6 +4,8 @@
import frc.robot.utils.TunableNumber;
import org.littletonrobotics.junction.Logger;

//TODO: change motion logic and reset command afterwards

public class ClimberSubsystem extends SubsystemBase {
private final ClimberIO io;
private final ClimberIOInputsAutoLogged inputs = new ClimberIOInputsAutoLogged();
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4 changes: 2 additions & 2 deletions src/main/java/frc/robot/subsystems/elevator/ElevatorIOReal.java
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Expand Up @@ -54,8 +54,8 @@ public ElevatorIOReal() {
currentLimitsConfigs.StatorCurrentLimit = 80.0;
currentLimitsConfigs.SupplyCurrentLimit = 30.0;

leader.setPosition(heightToTalonPos(0.4));
follower.setPosition(heightToTalonPos(0.4));
leader.setPosition(heightToTalonPos(ELEVATOR_DEFAULT_POSITION_WHEN_DISABLED));
follower.setPosition(heightToTalonPos(ELEVATOR_DEFAULT_POSITION_WHEN_DISABLED));

MotorOutputConfigs leaderMotorConfigs = new MotorOutputConfigs();
leaderMotorConfigs.NeutralMode = NeutralModeValue.Brake;
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32 changes: 12 additions & 20 deletions src/main/java/frc/robot/utils/DestinationSupplier.java
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Expand Up @@ -48,27 +48,19 @@ public void updateChassisSetpoint(chassisSetpoint setpoint) {
public double getElevatorSetpoint(boolean useCoral) {
this.useCoral = useCoral;
if (useCoral) {
switch (currentElevSetpointCoral) {
case L1:
return RobotConstants.ElevatorConstants.L1_EXTENSION_METERS.get();
case L2:
return RobotConstants.ElevatorConstants.L2_EXTENSION_METERS.get();
case L3:
return RobotConstants.ElevatorConstants.L3_EXTENSION_METERS.get();
case L4:
return RobotConstants.ElevatorConstants.L4_EXTENSION_METERS.get();
default:
return RobotConstants.ElevatorConstants.L2_EXTENSION_METERS.get();
}
return switch (currentElevSetpointCoral) {
case L1 -> RobotConstants.ElevatorConstants.L1_EXTENSION_METERS.get();
case L2 -> RobotConstants.ElevatorConstants.L2_EXTENSION_METERS.get();
case L3 -> RobotConstants.ElevatorConstants.L3_EXTENSION_METERS.get();
case L4 -> RobotConstants.ElevatorConstants.L4_EXTENSION_METERS.get();
default -> RobotConstants.ElevatorConstants.L2_EXTENSION_METERS.get();
};
}else{
switch (currentElevSetpointPoke) {
case P1:
return RobotConstants.ElevatorConstants.P1_EXTENSION_METERS.get();
case P2:
return RobotConstants.ElevatorConstants.P2_EXTENSION_METERS.get();
default:
return RobotConstants.ElevatorConstants.P1_EXTENSION_METERS.get();
}
return switch (currentElevSetpointPoke) {
case P1 -> RobotConstants.ElevatorConstants.P1_EXTENSION_METERS.get();
case P2 -> RobotConstants.ElevatorConstants.P2_EXTENSION_METERS.get();
default -> RobotConstants.ElevatorConstants.P1_EXTENSION_METERS.get();
};
}
}

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