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Merged
dracco1993 merged 18 commits into from
Jan 9, 2025
Merged

Ri3d #13

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7ffa726
Add ThriftyLib
dracco1993 Jan 6, 2025
e1a769e
Manual elevator working
dracco1993 Jan 6, 2025
1b87c7f
Add libgrapplefrc2024
dracco1993 Jan 6, 2025
d15afae
Ignore TTB stuff
dracco1993 Jan 7, 2025
6ae279a
Local ttb-maven
dracco1993 Jan 7, 2025
2b2e46d
Motors run
dracco1993 Jan 7, 2025
92b64fa
Elevator works
dracco1993 Jan 7, 2025
e270f78
Driving
dracco1993 Jan 7, 2025
f6d1da4
Wrist and intake work
dracco1993 Jan 7, 2025
d3fa9e2
Update AS config
dracco1993 Jan 7, 2025
cad4e5b
New final controls
dracco1993 Jan 7, 2025
75720ed
Score coral
dracco1993 Jan 7, 2025
566c02b
Basic algae controls
dracco1993 Jan 7, 2025
7853163
RIP
dracco1993 Jan 7, 2025
0a27b3b
Switch to SparkMax for Coral
dracco1993 Jan 7, 2025
e390af8
Fix set points
dracco1993 Jan 7, 2025
02ff877
Elevator motion profiling (#12)
rzblue Jan 7, 2025
c748764
Add tippy mode
dracco1993 Jan 9, 2025
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2 changes: 2 additions & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
Expand Up @@ -179,3 +179,5 @@ ctre_sim/

# gversion build constants file
src/main/java/frc/robot/BuildConstants.java

ttb-maven
205 changes: 199 additions & 6 deletions AdvantageScope.json
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Original file line number Diff line number Diff line change
Expand Up @@ -21,11 +21,17 @@
"/RealOutputs/Auto/DriveTrajectory/1-2-b",
"/RealOutputs/Auto/DriveTrajectory/TargetPose/rotation",
"/RealOutputs/Auto/DriveTrajectory/CurrentPose",
"/RealOutputs/Auto/DriveTrajectory/CurrentPose/rotation"
"/RealOutputs/Auto/DriveTrajectory/CurrentPose/rotation",
"/RealOutputs/Elevator/Position",
"/RealOutputs/Coral/RPM/Left",
"/RealOutputs/Coral/RPM/Right",
"/RealOutputs/Elevator/Output",
"/RealOutputs/Algae",
"/RealOutputs/Algae/Wrist"
]
},
"tabs": {
"selected": 2,
"selected": 4,
"tabs": [
{
"type": 0,
Expand Down Expand Up @@ -78,7 +84,7 @@
"cameraPosition": [
8.846666903479488,
5.635495269604634,
-2.048242193592743
-2.0482421935927437
],
"cameraTarget": [
4.77960094630555,
Expand All @@ -101,12 +107,12 @@
"fields": [
{
"key": "/RealOutputs/Auto/DriveTrajectory/TargetPose/rotation/value",
"color": "#e5b31b",
"color": "#2b66a2",
"show": true
},
{
"key": "/RealOutputs/Auto/DriveTrajectory/CurrentPose/rotation/value",
"color": "#af2437",
"color": "#e5b31b",
"show": true
}
]
Expand All @@ -115,21 +121,208 @@
"fields": [
{
"key": "/RealOutputs/Auto/DriveTrajectory/shouldReplan",
"color": "#af2437",
"show": true
}
]
},
"right": {
"lockedRange": null,
"unitConversion": {
"type": null,
"factor": 1
},
"fields": []
}
},
"title": "PathPlanning"
},
{
"type": 1,
"legendHeight": 0.3,
"legends": {
"left": {
"lockedRange": null,
"unitConversion": {
"type": null,
"factor": 1
},
"fields": [
{
"key": "/RealOutputs/Elevator/Position/Current",
"color": "#2b66a2",
"show": true
},
{
"key": "/RealOutputs/Elevator/Position/Target",
"color": "#e5b31b",
"show": true
}
]
},
"discrete": {
"fields": []
},
"right": {
"lockedRange": null,
"unitConversion": {
"type": null,
"factor": 1
},
"fields": [
{
"key": "/RealOutputs/Elevator/Current/Left",
"color": "#af2437",
"show": true
},
{
"key": "/RealOutputs/Elevator/Current/Right",
"color": "#80588e",
"show": true
}
]
}
},
"title": "Elevator"
},
{
"type": 1,
"legendHeight": 0.3,
"legends": {
"left": {
"lockedRange": null,
"unitConversion": {
"type": null,
"factor": 1
},
"fields": [
{
"key": "/RealOutputs/Algae/Wrist/Frequency",
"color": "#e5b31b",
"show": false
},
{
"key": "/RealOutputs/Algae/Wrist/Output",
"color": "#af2437",
"show": true
},
{
"key": "/RealOutputs/Algae/Wrist/Voltage",
"color": "#e48b32",
"show": true
}
]
},
"discrete": {
"fields": []
},
"right": {
"lockedRange": null,
"unitConversion": {
"type": null,
"factor": 1
},
"fields": [
{
"key": "/RealOutputs/Algae/Wrist/Position",
"color": "#2b66a2",
"show": true
},
{
"key": "/RealOutputs/Algae/Wrist/Target",
"color": "#80588e",
"show": true
}
]
}
},
"title": "Wrist"
},
{
"type": 1,
"legendHeight": 0.3,
"legends": {
"left": {
"lockedRange": null,
"unitConversion": {
"type": null,
"factor": 1
},
"fields": [
{
"key": "/RealOutputs/Coral/RPM/target",
"color": "#af2437",
"show": true
},
{
"key": "/RealOutputs/Coral/RPM/Left/Position",
"color": "#2b66a2",
"show": true
},
{
"key": "/RealOutputs/Coral/RPM/Right/Position",
"color": "#e5b31b",
"show": true
}
]
},
"discrete": {
"fields": []
},
"right": {
"lockedRange": null,
"unitConversion": {
"type": null,
"factor": 1
},
"fields": [
{
"key": "/RealOutputs/Coral/Laser/distance",
"color": "#e48b32",
"show": true
}
]
}
},
"title": "Coral"
},
{
"type": 1,
"legendHeight": 0.3,
"legends": {
"left": {
"lockedRange": null,
"unitConversion": {
"type": null,
"factor": 1
},
"fields": [
{
"key": "/RealOutputs/Algae/Intake/Output",
"color": "#e5b31b",
"show": true
}
]
},
"discrete": {
"fields": []
},
"right": {
"lockedRange": null,
"unitConversion": {
"type": null,
"factor": 1
},
"fields": [
{
"key": "/RealOutputs/Algae/Intake/Current",
"color": "#2b66a2",
"show": true
}
]
}
},
"title": "Line Graph"
"title": "Intake"
},
{
"type": 3,
Expand Down
3 changes: 3 additions & 0 deletions simgui.json
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Original file line number Diff line number Diff line change
Expand Up @@ -28,5 +28,8 @@
"open": true
}
}
},
"NetworkTables Info": {
"visible": true
}
}
97 changes: 91 additions & 6 deletions src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,91 @@ public static class Robot {
public static final double k_length = 28; // Inches
}

public static class Elevator {
public static final int kElevatorLeftMotorId = 9;
public static final int kElevatorRightMotorId = 10;

public static final double kP = 0.15;
public static final double kI = 0;
public static final double kD = 0.0;
public static final double kIZone = 5.0;
public static final double kG = 0.5;

public static final double kMaxVelocity = 65;
public static final double kMaxAcceleration = 200;

public static final int kMaxCurrent = 40;
public static final double kMaxPowerUp = 0.1;
public static final double kMaxPowerDown = 0.1;

public static final double kStowHeight = 0.0;
public static final double kL2Height = 9.0;
public static final double kL3Height = 25.14;
public static final double kL4Height = 52.0;
public static final double kMaxHeight = 56.2;
public static final double kGroundAlgaeHeight = 0.0;
public static final double kScoreAlgaeHeight = 0.0;
public static final double kLowAlgaeHeight = 24.8;
public static final double kHighAlgaeHeight = 42.5;
}

public static class Coral {
public static final int kLeftMotorId = 11;
public static final int kRightMotorId = 12;

public static final int kLaserId = 0;
public static final int kColorId = 16;

public static final double kMaxCurrent = 20;

public static final double kP = 0.0;
public static final double kI = 0.0;
public static final double kD = 0.0;
public static final double kIZone = 0;

public static final double kIntakeSpeed = 0.3;
public static final double kReverseSpeed = -0.3;
public static final double kL1Speed = 0.4;
public static final double kL24Speed = 0.4;
public static final double kIndexSpeed = 0.1;
public static final double kSpeedDifference = kL1Speed * 0.5;
}

public static class Algae {
// WRIST
public static final int kWristMotorId = 13;
public static final int kIntakeMotorId = 14;

public static final int kWristEncoderId = 9;

public static final int kMaxWristCurrent = 10;

public static final double kWristP = 0.01;
public static final double kWristI = 0.0;
public static final double kWristD = 0.0;

public static final double kWristKS = 0.0;
public static final double kWristKG = 0.0;
public static final double kWristKV = 0.100;
public static final double kWristKA = 0.0;

public static final double kWristOffset = 141.0;

public static final double kWristMaxVelocity = 690.0;
public static final double kWristMaxAcceleration = 1380.0;

public static final double kStowAngle = 233.0;
public static final double kDeAlgaeAngle = 215.0;
public static final double kGroundIntakeAngle = 162.0;

// INTAKE
public static final int kMaxIntakeCurrent = 20;

public static final double kIntakeSpeed = 0.6;
public static final double kEjectSpeed = -0.3;
public static final double kGroundIntakeSpeed = -0.3;
}

public static class Intake {
// Motors
public static final int kIntakeMotorId = 9;
Expand Down Expand Up @@ -69,12 +154,12 @@ public static class Intake {

// Drivetrain
public static class Drive {
public static final double kP = 0.00085;//3.6954;//0.085;
public static final double kI = 0.0;//0.0;
public static final double kD = 0.0;//0.0;
public static final double kP = 0.0; // 0.00085;
public static final double kI = 0.0;
public static final double kD = 0.0;

public static final double kS = 0.1695;//0.01;
public static final double kV = 2.8559;//2.6;
public static final double kS = 0.1695;// 0.01;
public static final double kV = 2.8559;// 2.6;
public static final double kA = 0.4864;

public static final int kFLMotorId = 8;
Expand All @@ -93,7 +178,7 @@ public static class Field {
}

public static class LEDs {
public static final int k_PWMId = 0;
public static final int k_PWMId = 9;
public static final int k_totalLength = 300;
}
}
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