Yishay Amir

src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java

@@ -0,0 +1,133 @@
+package frc.trigon.robot.subsystems.arm;
+
+import com.ctre.phoenix.motorcontrol.FeedbackDevice;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+import com.ctre.phoenix6.StatusSignal;
+import com.ctre.phoenix6.configs.CANcoderConfiguration;
+import com.ctre.phoenix6.hardware.CANcoder;
+import com.ctre.phoenix6.signals.AbsoluteSensorRangeValue;
+import com.ctre.phoenix6.signals.SensorDirectionValue;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkMaxLowLevel;
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.trajectory.TrapezoidProfile;
+import frc.trigon.robot.utilities.Conversions;
+
+public class ArmConstants {
+    private static final int
+            MASTER_ELEVATOR_MOTOR_ID = 0,
+            FOLLOWER_ELEVATOR_MOTOR_ID = 0,
+            MASTER_ANGLE_MOTOR_ID = 0,
+            FOLLOWER_ANGLE_MOTOR_ID = 0,
+            ANGLE_ENCODER_ID = 0,
+            ELEVATOR_ENCODER_ID = 0;
+    private static final CANSparkMax.IdleMode
+            MASTER_ANGLE_IDLE_MODE = CANSparkMax.IdleMode.kBrake,
+            FOLLOWER_ANGLE_IDLE_MODE = CANSparkMax.IdleMode.kBrake,
+            MASTER_ELEVATOR_IDLE_MODE = CANSparkMax.IdleMode.kBrake,
+            FOLLOWER_ELEVATOR_IDLE_MODE = CANSparkMax.IdleMode.kBrake;
+    private static final boolean
+            MASTER_ANGLE_INVERTED = false,
+            FOLLOWER_ANGLE_INVERTED = false,
+            MASTER_ELEVATOR_INVERTED = false,
+            FOLLOWER_ELEVATOR_INVERTED = false,
+            ELEVATOR_ENCODER_PHASE = false;
+    private static final double VOLTAGE_COMPENSATION_SATURATION = 12;
+    private static final SensorDirectionValue ANGLE_ENCODER_SENSOR_DIRECTION_VALUE = SensorDirectionValue.CounterClockwise_Positive;
+    private static final double
+            ANGLE_ENCODER_OFFSET = 0,
+            ELEVATOR_ENCODER_OFFSET = 0;
+    private static final AbsoluteSensorRangeValue ANGLE_ENCODER_RANGE_VALUE = AbsoluteSensorRangeValue.Signed_PlusMinusHalf;
+    static final CANSparkMax
+            MASTER_ELEVATOR_MOTOR = new CANSparkMax(MASTER_ELEVATOR_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless),
+            FOLLOWER_ELEVATOR_MOTOR = new CANSparkMax(FOLLOWER_ANGLE_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless),
+            MASTER_ANGLE_MOTOR = new CANSparkMax(MASTER_ANGLE_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless),
+            FOLLOWER_ANGLE_MOTOR = new CANSparkMax(FOLLOWER_ELEVATOR_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless);
+    static final CANcoder ANGLE_ENCODER = new CANcoder(ANGLE_ENCODER_ID);
+    static final WPI_TalonSRX ELEVATOR_ENCODER = new WPI_TalonSRX(ELEVATOR_ENCODER_ID);
+
+    private static final double
+            MAX_ANGLE_VELOCITY = 0,
+            MAX_ANGLE_ACCELERATION = 0;
+    static final TrapezoidProfile.Constraints ANGLE_CONSTRAINTS = new TrapezoidProfile.Constraints(
+            MAX_ANGLE_VELOCITY,
+            MAX_ANGLE_ACCELERATION
+    );
+
+    static final StatusSignal<Double>
+            ANGEL_ENCODER_POSITION_SIGNAL = ANGLE_ENCODER.getPosition(),
+            ANGEL_ENCODER_VELOCITY_SIGNAL = ANGLE_ENCODER.getVelocity();
+    private static final double
+            ANGLE_P = 0,
+            ANGLE_I = 0,
+            ANGLE_D = 0;
+    static final PIDController ANGLE_PID_CONTROLLER = new PIDController(
+            ANGLE_P,
+            ANGLE_I,
+            ANGLE_D
+    );
+
+    static {
+        configureAngleMotors();
+        configureElevatorMotors();
+        configureAngleEncoder();
+        configureElevatorEncoder();
+    }
+
+    private static void configureAngleMotors() {
+        MASTER_ANGLE_MOTOR.restoreFactoryDefaults();
+        FOLLOWER_ANGLE_MOTOR.restoreFactoryDefaults();
+        MASTER_ANGLE_MOTOR.setIdleMode(MASTER_ANGLE_IDLE_MODE);
+        FOLLOWER_ANGLE_MOTOR.setIdleMode(FOLLOWER_ANGLE_IDLE_MODE);
+        MASTER_ANGLE_MOTOR.setInverted(MASTER_ANGLE_INVERTED);
+        FOLLOWER_ANGLE_MOTOR.setInverted(FOLLOWER_ANGLE_INVERTED);
+        MASTER_ANGLE_MOTOR.enableVoltageCompensation(VOLTAGE_COMPENSATION_SATURATION);
+        FOLLOWER_ANGLE_MOTOR.enableVoltageCompensation(VOLTAGE_COMPENSATION_SATURATION);
+    }
+
+    private static void configureElevatorMotors() {
+        MASTER_ELEVATOR_MOTOR.restoreFactoryDefaults();
+        FOLLOWER_ELEVATOR_MOTOR.restoreFactoryDefaults();
+        MASTER_ELEVATOR_MOTOR.setIdleMode(MASTER_ELEVATOR_IDLE_MODE);
+        FOLLOWER_ELEVATOR_MOTOR.setIdleMode(FOLLOWER_ELEVATOR_IDLE_MODE);
+        MASTER_ELEVATOR_MOTOR.setInverted(MASTER_ELEVATOR_INVERTED);
+        FOLLOWER_ELEVATOR_MOTOR.setInverted(FOLLOWER_ELEVATOR_INVERTED);
+        MASTER_ELEVATOR_MOTOR.enableVoltageCompensation(VOLTAGE_COMPENSATION_SATURATION);
+        FOLLOWER_ELEVATOR_MOTOR.enableVoltageCompensation(VOLTAGE_COMPENSATION_SATURATION);
+    }
+
+    private static void configureAngleEncoder() {
+        CANcoderConfiguration config = new CANcoderConfiguration();
+        config.MagnetSensor.MagnetOffset = ANGLE_ENCODER_OFFSET;
+        config.MagnetSensor.AbsoluteSensorRange = ANGLE_ENCODER_RANGE_VALUE;
+        config.MagnetSensor.SensorDirection = ANGLE_ENCODER_SENSOR_DIRECTION_VALUE;
+        ANGLE_ENCODER.getConfigurator().apply(config);
+
+        ANGEL_ENCODER_POSITION_SIGNAL.setUpdateFrequency(100);
+        ANGEL_ENCODER_VELOCITY_SIGNAL.setUpdateFrequency(100);
+        ANGLE_ENCODER.optimizeBusUtilization();
+    }
+
+    private static void configureElevatorEncoder() {
+        ELEVATOR_ENCODER.configFactoryDefault();
+        ELEVATOR_ENCODER.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Absolute);
+        ELEVATOR_ENCODER.setSensorPhase(ELEVATOR_ENCODER_PHASE);
+        ELEVATOR_ENCODER.setSelectedSensorPosition(Conversions.offsetRead(ELEVATOR_ENCODER.getSelectedSensorPosition(), ELEVATOR_ENCODER_OFFSET));
+    }
+
+    public enum ArmState {
+        CONE_COLLECTION(Rotation2d.fromDegrees(0), 0),
+        CONE_HIGH_STATE(Rotation2d.fromDegrees(0), 0),
+        CONE_MID_STATE(Rotation2d.fromDegrees(0), 0),
+        CONE_LOW_STATE(Rotation2d.fromDegrees(0), 0);
+
+        final Rotation2d angle;
+        final double elevatorPosition;
+
+        ArmState(Rotation2d angle, double elevatorPosition) {
+            this.angle = angle;
+            this.elevatorPosition = elevatorPosition;
+        }
+    }
+}

src/main/java/frc/trigon/robot/subsystems/sideshooter/SideShooter.java

@@ -0,0 +1,72 @@
+package frc.trigon.robot.subsystems.sideshooter;
+
+import com.ctre.phoenix6.controls.VoltageOut;
+import com.ctre.phoenix6.hardware.TalonFX;
+import com.revrobotics.CANSparkMax;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.trajectory.TrapezoidProfile;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class SideShooter extends SubsystemBase {
+    private final static SideShooter INSTANCE = new SideShooter();
+    private final TalonFX shootingMotor = SideShooterConstants.SHOOTING_MOTOR;
+    private final CANSparkMax angelMotor = SideShooterConstants.ANGEL_MOTOR;
+    private final VoltageOut shootingVoltageRequest = new VoltageOut(0, SideShooterConstants.FOC_ENABLED, false);
+    private TrapezoidProfile angleMotorProfile = null;
+    private double lastAngleMotorProfileGeneration;
+    private double angleTolerance = 1;
+
+    public static SideShooter getInstance() {
+        return INSTANCE;
+    }
+
+    private SideShooter() {
+    }
+
+    void setTargetShootingVoltage(double targetVoltage) {
+        shootingMotor.setControl(shootingVoltageRequest.withOutput(targetVoltage));
+    }
+
+    void generateAngleMotorProfile(Rotation2d targetAngle) {
+        angleMotorProfile = new TrapezoidProfile(
+                SideShooterConstants.ANGLE_CONSTRAINTS,
+                new TrapezoidProfile.State(targetAngle.getDegrees(), 0),
+                new TrapezoidProfile.State(getAnglePosition().getDegrees(), getAngleVelocity())
+        );
+
+        lastAngleMotorProfileGeneration = Timer.getFPGATimestamp();
+    }
+
+    void setTargetAngleFromProfile() {
+        if (angleMotorProfile == null) {
+            angelMotor.stopMotor();
+            return;
+        }
+
+        TrapezoidProfile.State targetState = angleMotorProfile.calculate(getAngleProfileTime());
+        double output = SideShooterConstants.ANGLE_PID_CONTROLLER.calculate(getAnglePosition().getDegrees(), targetState.position);
+        angelMotor.setVoltage(output);
+    }
+
+    void stopShooting() {
+        shootingMotor.stopMotor();
+    }
+
+    boolean atAngle(Rotation2d angle){
+        return  Math.abs(angle.getDegrees() - getAnglePosition().getDegrees()) < angleTolerance;
+    }
+
+    private Rotation2d getAnglePosition() {
+        double positionRevolutions = SideShooterConstants.ANGEL_ENCODER_POSITION_SIGNAL.refresh().getValue();
+        return Rotation2d.fromRotations(positionRevolutions);
+    }
+
+    private double getAngleVelocity() {
+        return SideShooterConstants.ANGEL_ENCODER_VELOCITY_SIGNAL.refresh().getValue();
+    }
+
+    private double getAngleProfileTime() {
+        return Timer.getFPGATimestamp() - lastAngleMotorProfileGeneration;
+    }
+}

src/main/java/frc/trigon/robot/subsystems/sideshooter/SideShooterCommands.java

@@ -0,0 +1,45 @@
+package frc.trigon.robot.subsystems.sideshooter;
+
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import edu.wpi.first.wpilibj2.command.FunctionalCommand;
+import edu.wpi.first.wpilibj2.command.StartEndCommand;
+import frc.trigon.robot.utilities.Commands;
+
+public class SideShooterCommands {
+    private static final SideShooter SIDE_SHOOTER = SideShooter.getInstance();
+
+    public static Command getSetTargetStateCommand(boolean byOrder, SideShooterConstants.SideShooterState targetState) {
+        if (!byOrder) {
+            return new ParallelCommandGroup(
+                    Commands.removeRequirements(getSetTargetAngleCommand(targetState.angle)),
+                    getSetTargetShootingVoltageCommand(targetState.voltage)
+            );
+        }
+        return new SequentialCommandGroup(
+                Commands.removeRequirements(getSetTargetAngleCommand(targetState.angle).until(() -> SIDE_SHOOTER.atAngle(targetState.angle))),
+                getSetTargetShootingVoltageCommand(targetState.voltage)
+        );
+    }
+
+    public static Command getSetTargetAngleCommand(Rotation2d targetAngle) {
+        return new FunctionalCommand(
+                () -> SIDE_SHOOTER.generateAngleMotorProfile(targetAngle),
+                SIDE_SHOOTER::setTargetAngleFromProfile,
+                (interrupted) -> {
+                },
+                () -> false,
+                SIDE_SHOOTER
+        );
+    }
+
+    public static Command getSetTargetShootingVoltageCommand(double targetVoltage) {
+        return new StartEndCommand(
+                () -> SIDE_SHOOTER.setTargetShootingVoltage(targetVoltage),
+                SIDE_SHOOTER::stopShooting,
+                SIDE_SHOOTER
+        );
+    }
+}

src/main/java/frc/trigon/robot/subsystems/sideshooter/SideShooterConstants.java

@@ -0,0 +1,107 @@
+package frc.trigon.robot.subsystems.sideshooter;
+
+import com.ctre.phoenix6.StatusSignal;
+import com.ctre.phoenix6.configs.CANcoderConfiguration;
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.hardware.CANcoder;
+import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.signals.AbsoluteSensorRangeValue;
+import com.ctre.phoenix6.signals.InvertedValue;
+import com.ctre.phoenix6.signals.NeutralModeValue;
+import com.ctre.phoenix6.signals.SensorDirectionValue;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkMaxLowLevel;
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.trajectory.TrapezoidProfile;
+
+public class SideShooterConstants {
+    private static final int
+            SHOOTING_MOTOR_ID = 0,
+            ANGLE_MOTOR_ID = 0,
+            ANGLE_ENCODER_ID = 0;
+    private static final NeutralModeValue SHOOTING_NEUTRAL_MODE_VALUE = NeutralModeValue.Coast;
+    private static final CANSparkMax.IdleMode ANGLE_IDLE_MODE = CANSparkMax.IdleMode.kBrake;
+    private static final InvertedValue SHOOTING_INVERTED_VALUE = InvertedValue.CounterClockwise_Positive;
+    private static final boolean ANGLE_INVERTED = false;
+    private static final SensorDirectionValue ANGLE_ENCODER_SENSOR_DIRECTION_VALUE = SensorDirectionValue.CounterClockwise_Positive;
+    private static final double ENCODER_OFFSET = 0;
+    private static final AbsoluteSensorRangeValue ENCODER_RANGE_VALUE = AbsoluteSensorRangeValue.Signed_PlusMinusHalf;
+    private static final double VOLTAGE_COMPENSATION_SATURATION = 12;
+    static final boolean FOC_ENABLED = true;
+    static final CANcoder ANGLE_ENCODER = new CANcoder(ANGLE_ENCODER_ID);
+    static final TalonFX SHOOTING_MOTOR = new TalonFX(SHOOTING_MOTOR_ID);
+    static final CANSparkMax ANGEL_MOTOR = new CANSparkMax(ANGLE_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless);
+
+    private static final double
+            MAX_ANGLE_VELOCITY = 0,
+            MAX_ANGLE_ACCELERATION = 0;
+    static final TrapezoidProfile.Constraints ANGLE_CONSTRAINTS = new TrapezoidProfile.Constraints(
+            MAX_ANGLE_VELOCITY,
+            MAX_ANGLE_ACCELERATION
+    );
+
+    static final StatusSignal<Double>
+            ANGEL_ENCODER_POSITION_SIGNAL = ANGLE_ENCODER.getPosition(),
+            ANGEL_ENCODER_VELOCITY_SIGNAL = ANGLE_ENCODER.getVelocity();
+
+    private static final double
+            ANGLE_P = 0,
+            ANGLE_I = 0,
+            ANGLE_D = 0;
+    static final PIDController ANGLE_PID_CONTROLLER = new PIDController(
+            ANGLE_P,
+            ANGLE_I,
+            ANGLE_D
+    );
+
+    static {
+        configureShootingMotor();
+        configureAngleMotor();
+        configureAngleEncoder();
+    }
+
+    private static void configureShootingMotor() {
+        TalonFXConfiguration config = new TalonFXConfiguration();
+        config.Audio.BeepOnBoot = false;
+        config.Audio.BeepOnConfig = false;
+        config.MotorOutput.NeutralMode = SHOOTING_NEUTRAL_MODE_VALUE;
+        config.MotorOutput.Inverted = SHOOTING_INVERTED_VALUE;
+        SHOOTING_MOTOR.getConfigurator().apply(config);
+        SHOOTING_MOTOR.optimizeBusUtilization();
+    }
+
+    private static void configureAngleMotor() {
+        ANGEL_MOTOR.restoreFactoryDefaults();
+        ANGEL_MOTOR.setIdleMode(ANGLE_IDLE_MODE);
+        ANGEL_MOTOR.setInverted(ANGLE_INVERTED);
+        ANGEL_MOTOR.enableVoltageCompensation(VOLTAGE_COMPENSATION_SATURATION);
+    }
+
+    private static void configureAngleEncoder() {
+        CANcoderConfiguration config = new CANcoderConfiguration();
+        config.MagnetSensor.MagnetOffset = ENCODER_OFFSET;
+        config.MagnetSensor.AbsoluteSensorRange = ENCODER_RANGE_VALUE;
+        config.MagnetSensor.SensorDirection = ANGLE_ENCODER_SENSOR_DIRECTION_VALUE;
+        ANGLE_ENCODER.getConfigurator().apply(config);
+
+        ANGEL_ENCODER_POSITION_SIGNAL.setUpdateFrequency(100);
+        ANGEL_ENCODER_VELOCITY_SIGNAL.setUpdateFrequency(100);
+        ANGLE_ENCODER.optimizeBusUtilization();
+    }
+
+    public enum SideShooterState {
+        COLLECTION(Rotation2d.fromDegrees(0), 0),
+        HIGH_STATE(Rotation2d.fromDegrees(0), 0),
+        MID_STATE(Rotation2d.fromDegrees(0), 0),
+        LOW_STATE(Rotation2d.fromDegrees(0), 0);
+
+        final Rotation2d angle;
+        final double voltage;
+
+        SideShooterState(Rotation2d angle, double voltage) {
+            this.angle = angle;
+            this.voltage = voltage;
+        }
+    }
+}

src/main/java/frc/trigon/robot/utilities/Commands.java

@@ -1,10 +1,10 @@
 package frc.trigon.robot.utilities;
 
-import edu.wpi.first.wpilibj2.command.CommandBase;
+import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.FunctionalCommand;
 
 public class Commands {
-    public static Command removeRequirements(CommandBase command) {
+    public static Command removeRequirements(Command command) {
         return new FunctionalCommand(
                 command::initialize,
                 command::execute,