Ofir

.vscode/launch.json

@@ -4,18 +4,24 @@
   // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
   "version": "0.2.0",
   "configurations": [
-
+    {
+      "type": "java",
+      "name": "Launch Main",
+      "request": "launch",
+      "mainClass": "frc.trigon.robot.Main",
+      "projectName": ""
+    },
     {
       "type": "wpilib",
       "name": "WPILib Desktop Debug",
       "request": "launch",
-      "desktop": true,
+      "desktop": true
     },
     {
       "type": "wpilib",
       "name": "WPILib roboRIO Debug",
       "request": "launch",
-      "desktop": false,
+      "desktop": false
     }
   ]
 }

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

@@ -0,0 +1,150 @@
+package frc.trigon.robot.subsystems.arm;
+
+import com.ctre.phoenix.motorcontrol.FeedbackDevice;
+import com.ctre.phoenix.motorcontrol.can.TalonSRX;
+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.ArmFeedforward;
+import edu.wpi.first.math.controller.ElevatorFeedforward;
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.trajectory.TrapezoidProfile;
+
+public class ArmConstants {
+    private static final double VOLTAGE_COMPENSATION_SATURATION = 12;
+
+    private static final int
+            MASTER_ANGLE_MOTOR_ID = 0,
+            FOLLOWER_ANGLE_MOTOR_ID = 1,
+            MASTER_ELEVATOR_MOTOR_ID = 2,
+            FOLLOWER_ELEVATOR_MOTOR_ID = 3,
+            ELEVATOR_ENCODER_ID = 4,
+            ANGLE_ENCODER_ID = 5;
+
+    private static final double
+            ELEVATOR_ENCODER_OFFSET = 0.0,
+            ANGLE_ENCODER_OFFSET = 0.0;
+
+    private static final boolean
+            MASTER_ANGLE_INVERTED = false,
+            FOLLOWER_ANGLE_INVERTED = false,
+            MASTER_ELEVATOR_INVERTED = false,
+            FOLLOWER_ELEVATOR_INVERTED = true,
+            ELEVATOR_ENCODER_PHASE = true;
+    private static final SensorDirectionValue ANGLE_ENCODER_SENSOR_DIRECTION = SensorDirectionValue.Clockwise_Positive;
+
+    private static final CANSparkMax.IdleMode
+            ANGLE_IDLE_MODE = CANSparkMax.IdleMode.kBrake,
+            ELEVATOR_IDLE_MODE = CANSparkMax.IdleMode.kBrake;
+    private static final AbsoluteSensorRangeValue ANGLE_ENCODER_SENSOR_RANGE = AbsoluteSensorRangeValue.Signed_PlusMinusHalf;
+
+    static final CANSparkMax
+            MASTER_ANGLE_MOTOR = new CANSparkMax(MASTER_ANGLE_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless),
+            FOLLOWER_ANGLE_MOTOR = new CANSparkMax(FOLLOWER_ANGLE_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless),
+            MASTER_ELEVATOR_MOTOR = new CANSparkMax(MASTER_ELEVATOR_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless),
+            FOLLOWER_ELEVATOR_MOTOR = new CANSparkMax(FOLLOWER_ELEVATOR_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless);
+    static final TalonSRX ELEVATOR_ENCODER = new TalonSRX(ELEVATOR_ENCODER_ID);
+    static final CANcoder ANGLE_ENCODER = new CANcoder(ANGLE_ENCODER_ID);
+
+    private static final double
+            ELEVATOR_P = 1.32,
+            ELEVATOR_I = 3.1,
+            ELEVATOR_D = 0,
+            ANGLE_P = 1.32,
+            ANGLE_I = 3.1,
+            ANGLE_D = 0;
+    private static final PIDController
+            ELEVATOR_PID_CONTROLLER = new PIDController(ELEVATOR_P, ELEVATOR_I, ELEVATOR_D),
+            ANGLE_PID_CONTROLLER = new PIDController(ANGLE_P, ANGLE_I, ANGLE_D);
+
+    private static final double
+            ANGLE_MOTOR_KS = 0,
+            ANGLE_MOTOR_KV = 0,
+            ANGLE_MOTOR_KA = 0,
+            ANGLE_MOTOR_KG = 0,
+            ELEVATOR_MOTOR_KS = 0,
+            ELEVATOR_MOTOR_KV = 0,
+            ELEVATOR_MOTOR_KA = 0,
+            ELEVATOR_MOTOR_KG = 0;
+    static final ArmFeedforward ANGLE_MOTOR_FEEDFORWARD = new ArmFeedforward(ANGLE_MOTOR_KS, ANGLE_MOTOR_KG, ANGLE_MOTOR_KV, ANGLE_MOTOR_KA);
+    static final ElevatorFeedforward ELEVATOR_MOTOR_FEEDFORWARD = new ElevatorFeedforward(ELEVATOR_MOTOR_KS, ELEVATOR_MOTOR_KG, ELEVATOR_MOTOR_KV, ELEVATOR_MOTOR_KA);
+
+    private static final double
+            MAX_ANGLE_VELOCITY = 100,
+            MAX_ANGLE_ACCELERATION = 100,
+            MAX_ELEVATOR_VELOCITY = 100,
+            MAX_ELEVATOR_ACCELERATION = 100;
+    static final TrapezoidProfile.Constraints
+            ANGLE_CONSTRAINS = new TrapezoidProfile.Constraints(MAX_ANGLE_VELOCITY, MAX_ANGLE_ACCELERATION),
+            ELEVATOR_CONSTRAINS = new TrapezoidProfile.Constraints(MAX_ELEVATOR_VELOCITY, MAX_ELEVATOR_ACCELERATION);
+
+    static {
+        configureAngleMotors();
+        configureElevatorMotors();
+        configureElevatorEncoder();
+        configureAngleEncoder();
+    }
+
+    private static void configureElevatorMotors() {
+        MASTER_ELEVATOR_MOTOR.restoreFactoryDefaults();
+        FOLLOWER_ELEVATOR_MOTOR.restoreFactoryDefaults();
+
+        MASTER_ELEVATOR_MOTOR.enableVoltageCompensation(VOLTAGE_COMPENSATION_SATURATION);
+        FOLLOWER_ELEVATOR_MOTOR.enableVoltageCompensation(VOLTAGE_COMPENSATION_SATURATION);
+
+        MASTER_ELEVATOR_MOTOR.setInverted(MASTER_ELEVATOR_INVERTED);
+        FOLLOWER_ELEVATOR_MOTOR.setInverted(FOLLOWER_ELEVATOR_INVERTED);
+
+        MASTER_ELEVATOR_MOTOR.setIdleMode(ELEVATOR_IDLE_MODE);
+        FOLLOWER_ELEVATOR_MOTOR.setIdleMode(ELEVATOR_IDLE_MODE);
+    }
+
+    private static void configureElevatorEncoder() {
+        ELEVATOR_ENCODER.configFactoryDefault();
+        ELEVATOR_ENCODER.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Absolute, 0, 10);
+        ELEVATOR_ENCODER.setSelectedSensorPosition(ELEVATOR_ENCODER.getSelectedSensorPosition() - ELEVATOR_ENCODER_OFFSET);
+        ELEVATOR_ENCODER.setSensorPhase(ELEVATOR_ENCODER_PHASE);
+    }
+
+    private static void configureAngleMotors() {
+        MASTER_ANGLE_MOTOR.restoreFactoryDefaults();
+        FOLLOWER_ANGLE_MOTOR.restoreFactoryDefaults();
+
+        MASTER_ANGLE_MOTOR.enableVoltageCompensation(VOLTAGE_COMPENSATION_SATURATION);
+        FOLLOWER_ANGLE_MOTOR.enableVoltageCompensation(VOLTAGE_COMPENSATION_SATURATION);
+
+        MASTER_ANGLE_MOTOR.setInverted(MASTER_ANGLE_INVERTED);
+        FOLLOWER_ANGLE_MOTOR.setInverted(FOLLOWER_ANGLE_INVERTED);
+
+        MASTER_ANGLE_MOTOR.setIdleMode(ANGLE_IDLE_MODE);
+        FOLLOWER_ANGLE_MOTOR.setIdleMode(ANGLE_IDLE_MODE);
+    }
+
+    private static void configureAngleEncoder() {
+        CANcoderConfiguration configureAngleEncoder = new CANcoderConfiguration();
+        configureAngleEncoder.MagnetSensor.MagnetOffset = ANGLE_ENCODER_OFFSET;
+        configureAngleEncoder.MagnetSensor.AbsoluteSensorRange = ANGLE_ENCODER_SENSOR_RANGE;
+        configureAngleEncoder.MagnetSensor.SensorDirection = ANGLE_ENCODER_SENSOR_DIRECTION;
+        ANGLE_ENCODER.getConfigurator().apply(configureAngleEncoder);
+    }
+
+    public enum ArmStates {
+        FIRST_STATE(Rotation2d.fromDegrees(30), 1),
+        SECOND_STATE(Rotation2d.fromDegrees(50), 2),
+        THIRD_STATE(Rotation2d.fromDegrees(100), 3);
+
+        final Rotation2d angle;
+        final double elevatorPosition;
+
+        ArmStates(Rotation2d angle, double elevatorPosition) {
+            this.elevatorPosition = elevatorPosition;
+            this.angle = angle;
+        }
+
+    }
+
+}