Spinner testing and related fixes #54

Mboesn · 2021-07-05T17:36:04Z

No description provided.

lycaon7 · 2021-07-05T17:52:07Z

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

+        // Spinner testing
+
+        // driverXboxController.getButtonX().whenPressed(
+        //         new InstantCommand(subsystemContainer.PITCHER_SS::toggleSolenoid, subsystemContainer.PITCHER_SS));
+        // driverXboxController.getButtonA().whileHeld(commandContainer.SHOOT_CMDGP.withInterrupt(this::cancelShooterCMD));
+        // SmartDashboard.putNumber("Spinner/VelPulse", robotConstants.spinnerConstants.DEFAULT_MOTOR_POWER);
+        // SmartDashboard.putNumber("Spinner/PulseLength", robotConstants.spinnerConstants.PULSE_LENGTH);
+        // SmartDashboard.putNumber("Intake/power", robotConstants.intakeConstants.DEFAULT_MOTOR_POWER);
+        // driverXboxController.getButtonB().whenHeld(new ParallelCommandGroup(new SpinInPulsesCMD(subsystemContainer.SPINNER_SS, robotConstants.spinnerConstants,
+        //  () -> SmartDashboard.getNumber("Spinner/VelPulse", robotConstants.spinnerConstants.PULSE_MOTOR_POWER),
+        //  () -> SmartDashboard.getNumber("Spinner/PulseLength", robotConstants.spinnerConstants.PULSE_LENGTH)), 
+        //  new IntakeCMD(subsystemContainer.INTAKE_SS, null, robotConstants.intakeConstants, 
+        //  () -> SmartDashboard.getNumber("Intake/power", robotConstants.intakeConstants.DEFAULT_MOTOR_POWER))));
+


This shouldn't be merged to main so delete

lycaon7 · 2021-07-05T17:52:23Z

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

+        // Spinner testing
+
+        // overrideXboxController.getButtonA().whenPressed(commandContainer.TOGGLE_PITCHER);
+        // overrideXboxController.getButtonB().whileHeld(new ShootWithoutLimelight(subsystemContainer, robotConstants, () -> 3500)).whenReleased(commandContainer.CLOSE_PITCHER);
+        // overrideXboxController.getButtonY().whileHeld(new ShootCMDGP(subsystemContainer, robotConstants,limelight,  3500));
+        // SmartDashboard.putNumber("Spinner/Vel", robotConstants.spinnerConstants.DEFAULT_MOTOR_POWER);
+        // SmartDashboard.putNumber("Loader/Vel", robotConstants.loaderConstants.DEFAULT_MIXING_VELOCITY);
+        // overrideXboxController.getLeftBumper().whileHeld(new ParallelCommandGroup(
+        //     new LoaderCMD(subsystemContainer.LOADER_SS, robotConstants.loaderConstants,
+        //             () -> subsystemContainer.SPINNER_SS.isStalled() ? 0
+        //                     : SmartDashboard.getNumber("Loader/Vel", robotConstants.loaderConstants.DEFAULT_MIXING_VELOCITY)),
+        //     new SpinnerCMD(subsystemContainer.SPINNER_SS, robotConstants.spinnerConstants, () -> SmartDashboard.getNumber("Spinner/Vel", robotConstants.spinnerConstants.DEFAULT_MOTOR_POWER))));
+        // overrideXboxController.getLeftStickButton().whenPressed(new InstantCommand(() -> {SmartDashboard.putNumber("Spinner/Vel", SmartDashboard.getNumber("Spinner/Vel", robotConstants.spinnerConstants.DEFAULT_MOTOR_POWER) - 0.02);}));
+        // overrideXboxController.getRightStickButton().whenPressed(new InstantCommand(() -> {SmartDashboard.putNumber("Spinner/Vel", SmartDashboard.getNumber("Spinner/Vel", robotConstants.spinnerConstants.DEFAULT_MOTOR_POWER) + 0.02);}));
+        // overrideXboxController.getRightBumper().whenHeld(commandContainer.COLLECT_CMDGP).whenReleased(commandContainer.OPEN_INTAKE_CMD);


This shouldn't be merged to main so delete

lycaon7 · 2021-07-05T17:53:17Z

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

 	/**
 	* Call this method periodically.
 	*/
 	public void periodic() {
 		updateDashboard();
 	}
-}
+}


And I quote GitHub "No new line at end of file"

lycaon7 · 2021-07-05T17:53:56Z

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

+                //  */
+                // KFSum += (output * PIDF_MAX_OUTPUT) / averageVelocity;


lycaon7 · 2021-07-05T17:55:16Z

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

+                //  */
+                // KFSum += (output * PIDF_MAX_OUTPUT) / averageVelocity;
+
+                KFSum += output / averageVelocity;


You sure it isn't KFSum += (output * PIDF_MAX_OUTPUT) / averageVelocity; ?

lycaon7 · 2021-07-05T18:11:36Z

src/main/java/frc/robot/subsystems/loader/LoaderSS.java

-        motor.set(power);
+        motor.setVoltage(power);


Why isn't this giving an error? overriddenMove is inherited. if you change it it will complain that you don't have all inherited functions

lycaon7 · 2021-07-05T18:12:47Z

src/main/java/frc/robot/subsystems/spinner/SpinInPulsesCMD.java

+
+	@Override
+	public void end(boolean interrupted) {
+		spinnerSS.move(0);


spinnerSS.stopMoving(); consistency is key

lycaon7 · 2021-07-05T18:13:16Z

src/main/java/frc/robot/subsystems/spinner/SpinInPulsesCMD.java

+	@Override
+	public boolean isFinished() {
+		return false;
+	}


can be deleted. I think...

lycaon7 · 2021-07-05T18:16:12Z

src/main/java/frc/robot/subsystems/spinner/SpinInPulsesCMD.java

+	public SpinInPulsesCMD(SpinnerSS spinnerSS, SpinnerConstants constants, DoubleSupplier power, DoubleSupplier pulseLength) {
+		this.spinnerSS = spinnerSS;
+		this.constants = constants;
+		this.power = power;
+		this.pulseLength = pulseLength;
+		addRequirements(spinnerSS);
+	}
+
+	public SpinInPulsesCMD(SpinnerSS spinnerSS, SpinnerConstants constants, DoubleSupplier power) {
+		this(spinnerSS, constants, power, () -> constants.PULSE_LENGTH);
+	}
+
+	public SpinInPulsesCMD(SpinnerSS spinnerSS, SpinnerConstants constants) {
+		this(spinnerSS, constants, () -> constants.PULSE_MOTOR_POWER);


What about a supplier that takes pulseLenth but uses default power?

lycaon7 · 2021-07-05T18:18:10Z

src/main/java/frc/robot/subsystems/spinner/SpinnerCMD.java

        addRequirements(spinnerSS);
    }

+    public SpinnerCMD(SpinnerSS spinnerSS, SpinnerConstants constants, DoubleSupplier power) {
+        this(spinnerSS, constants, power, true);


Why is the default to use the logic since it causes issues?

Mboesn added 9 commits June 21, 2021 21:44

Update RobotA.java

b108c90

spinner testing

aed2e7b

added pulse shooting and more tests

8503511

Merge branch 'BranchForCodeReview1' into SpinnerTesting

70acb4c

calibrated Swerve encoder offsets and angle pid

d2d030b

commented default angle out

3e3a327

Merge branch 'DrivetrainCalibration' into SpinnerTesting

34cd2db

fixed based on self code review and added stall logic

5ebad6c

merge branchforcodereview1 into SpinnerTesting

8d3754e

lycaon7 requested changes Jul 5, 2021

View reviewed changes

Mboesn and others added 2 commits July 11, 2021 18:23

changed a lot of stuff

a39d1ac

Competition Code

33c76dc

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Spinner testing and related fixes #54

Spinner testing and related fixes #54

Mboesn commented Jul 5, 2021

lycaon7 Jul 5, 2021

lycaon7 Jul 5, 2021

lycaon7 Jul 5, 2021

lycaon7 Jul 5, 2021

lycaon7 Jul 5, 2021

lycaon7 Jul 5, 2021

lycaon7 Jul 5, 2021

lycaon7 Jul 5, 2021

lycaon7 Jul 5, 2021

lycaon7 Jul 5, 2021

		// */
		// KFSum += (output * PIDF_MAX_OUTPUT) / averageVelocity;

Spinner testing and related fixes #54

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Spinner testing and related fixes #54

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Mboesn commented Jul 5, 2021

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