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33 changes: 33 additions & 0 deletions
33
src/main/java/org/team1540/robot2024/commands/TrampCommand.java
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| @@ -0,0 +1,33 @@ | ||
| package org.team1540.robot2024.commands; | ||
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| import org.team1540.robot2024.subsystems.tramp.Tramp; | ||
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| import edu.wpi.first.wpilibj2.command.Command; | ||
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| public class TrampCommand extends Command { | ||
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| private final Tramp tramp; | ||
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| public TrampCommand(Tramp tramp) { | ||
| this.tramp = tramp; | ||
| addRequirements(tramp); | ||
| } | ||
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| @Override | ||
| public void initialize() { | ||
| tramp.setPercent(0.5); | ||
| } | ||
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| @Override | ||
| public void execute() {} | ||
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| @Override | ||
| public boolean isFinished() { | ||
| return tramp.isBeamBreakBlocked(); | ||
| } | ||
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| @Override | ||
| public void end(boolean interrupted) { | ||
| tramp.stopTramp(); | ||
| } | ||
| } |
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33 changes: 33 additions & 0 deletions
33
src/main/java/org/team1540/robot2024/subsystems/tramp/Tramp.java
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,33 @@ | ||
| package org.team1540.robot2024.subsystems.tramp; | ||
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| import edu.wpi.first.wpilibj2.command.Command; | ||
| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
| import org.littletonrobotics.junction.Logger; | ||
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| public class Tramp extends SubsystemBase { | ||
| private final TrampIO io; | ||
| private final TrampIOInputsAutoLogged inputs = new TrampIOInputsAutoLogged(); | ||
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| public Tramp(TrampIO io) { | ||
| this.io = io; | ||
| } | ||
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| public void setPercent(double percentage) { | ||
| io.setVoltage(12.0 * percentage); | ||
| } | ||
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| public boolean isBeamBreakBlocked() { | ||
| return inputs.breamBreakTripped; | ||
| } | ||
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| @Override | ||
| public void periodic() { | ||
| io.updateInputs(inputs); | ||
| Logger.processInputs("Tramp", inputs); | ||
| } | ||
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| public void stopTramp() { | ||
| io.setVoltage(0); | ||
| } | ||
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| } |
16 changes: 16 additions & 0 deletions
16
src/main/java/org/team1540/robot2024/subsystems/tramp/TrampIO.java
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| package org.team1540.robot2024.subsystems.tramp; | ||
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| import org.littletonrobotics.junction.AutoLog; | ||
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| public interface TrampIO { | ||
| @AutoLog | ||
| class TrampIOInputs { | ||
| public boolean breamBreakTripped = false; | ||
| public double velocityRPM = 0.0; | ||
| public double appliedVolts = 0.0; | ||
| public double currentAmps = 0.0; | ||
| } | ||
| default void setVoltage(double volts) {} | ||
| default void updateInputs(TrampIOInputs inputs) {} | ||
| } |
27 changes: 27 additions & 0 deletions
27
src/main/java/org/team1540/robot2024/subsystems/tramp/TrampIOSim.java
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| package org.team1540.robot2024.subsystems.tramp; | ||
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| import edu.wpi.first.math.MathUtil; | ||
| import edu.wpi.first.math.system.plant.DCMotor; | ||
| import edu.wpi.first.wpilibj.simulation.DCMotorSim; | ||
| import org.team1540.robot2024.Constants; | ||
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| import static org.team1540.robot2024.Constants.Tramp.GEAR_RATIO; | ||
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| public class TrampIOSim implements TrampIO{ | ||
| private final DCMotorSim sim = new DCMotorSim(DCMotor.getNEO(1), GEAR_RATIO,0.025); //TODO: Fix MOI its probably wrong :D | ||
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| private double appliedVolts = 0.0; | ||
| @Override | ||
| public void updateInputs(TrampIOInputs inputs) { | ||
| sim.update(Constants.LOOP_PERIOD_SECS); | ||
| inputs.velocityRPM = sim.getAngularVelocityRPM(); | ||
| inputs.appliedVolts = appliedVolts; | ||
| inputs.currentAmps = sim.getCurrentDrawAmps(); | ||
| } | ||
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| @Override | ||
| public void setVoltage(double volts) { | ||
| appliedVolts = MathUtil.clamp(volts, -12, 12); | ||
| sim.setInputVoltage(appliedVolts); | ||
| } | ||
| } |
31 changes: 31 additions & 0 deletions
31
src/main/java/org/team1540/robot2024/subsystems/tramp/TrampIOSparkMax.java
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| package org.team1540.robot2024.subsystems.tramp; | ||
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| import com.revrobotics.CANSparkLowLevel.MotorType; | ||
| import com.revrobotics.CANSparkMax; | ||
| import com.revrobotics.RelativeEncoder; | ||
| import edu.wpi.first.wpilibj.DigitalInput; | ||
| import org.team1540.robot2024.Constants.Tramp; | ||
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| public class TrampIOSparkMax implements TrampIO { | ||
| private final DigitalInput beamBreak = new DigitalInput(0); | ||
| //TODO: Potentially change name :D | ||
| private final CANSparkMax motor = new CANSparkMax(Tramp.TRAMP_MOTOR_ID, MotorType.kBrushless); | ||
| private final RelativeEncoder motorEncoder = motor.getEncoder(); | ||
| public TrampIOSparkMax() { | ||
| motor.setIdleMode(CANSparkMax.IdleMode.kBrake); | ||
| //Potentially invert motor | ||
| motor.setSmartCurrentLimit(40); | ||
| motor.enableVoltageCompensation(12); | ||
| } | ||
| @Override | ||
| public void setVoltage(double volts) { | ||
| motor.setVoltage(volts); | ||
| } | ||
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| public void updateInputs(TrampIOInputs inputs) { | ||
| inputs.breamBreakTripped = !(beamBreak.get()); //I think returns false when broken... Returns true when broken now. | ||
| inputs.velocityRPM = motorEncoder.getVelocity(); | ||
| inputs.appliedVolts = motor.getAppliedOutput() * motor.getBusVoltage(); | ||
| inputs.currentAmps = motor.getOutputCurrent(); | ||
| } | ||
| } |